Glider dive log

AMOS Aug23 * SG242 * Dive index * Mission links * Dive 207 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 242 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_INHIBIT 90

MISSION 9 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 30 XPDR_INT 0

DIVE 207 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_REP 0

N_DIVES 0 SM_CC 699.10498 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

STOP_T 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -3.2

D_SURF 2 FILEMGR 0 VBD_MIN 500 DEEPGLIDER 0

D_FLARE 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDERMB 0

D_TGT 300 COMM_SEQ 7 C_VBD 3350 MOTHERBOARD 6

D_ABORT 450 PROTOCOL 9 VBD_DBAND 2 DEVICE1 120

D_NO_BLEED 50 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE2 -1

D_BOOST 0 NOCOMM_ACTION 129 VBD_LP_IGNORE 0 DEVICE3 -1

T_BOOST 0 N_NOSURFACE 0 VBD_TIMEOUT 540 DEVICE4 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_PITCH 0 NETBOX 3 UNCOM_BLEED 400 DEVICE6 -1

D_SAFE 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 0

D_CALL 0 CALL_WAIT 60 C_VBD_AUTO_DELTA 0 LOGGERDEVICE1 7

SURFACE_URGENCY 6 CAPUPLOAD 0 C_VBD_AUTO_MAX 0 LOGGERDEVICE2 -1

SURFACE_URGENCY_TRY 6 CAPMAXSIZE 10000 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 12 T_GPS 3 DBDW 0 LOGGERDEVICE4 -1

T_DIVE 100 N_GPS 100440 LOITER_W_DBAND 2 COMPASS_DEVICE 66

T_MISSION 200 T_RSLEEP 2 LOITER_DBDW 400 COMPASS2_DEVICE -1

T_ABORT 1440 STROBE 0 LOITER_D_TOP 400 PHONE_DEVICE 33

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 700 GPS_DEVICE 48

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 96

T_NO_W 120 RAFOS_HIT_WINDOW 10800 CF8_MAXERRORS 0 NAV_DEVICE 6

T_LOITER 0 RAFOS_MMODEM 0 AH0_24V 575 NAV2_DEVICE 6

T_EPIRB 0 PITCH_MIN 220 AH0_10V 0 NAV3_DEVICE -1

USE_BATHY 0 PITCH_MAX 3610 MINV_24V 0 NAV4_DEVICE -1

USE_ICE 1 C_PITCH 1700 MINV_10V 0 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.07 PITCH_DBAND 0.1 MAXI_24V 5 PRESSURE_DEVICE 56

D_OFFGRID 1000 PITCH_CNV 0.0041299998 MAXI_10V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 13.240061 FG_AHR_10V 65.928177 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 109.14349 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.0099999998 PRESSURE_YINT -14.5 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_SLOPE 0.0014504 SEABIRD_T_J 4.3e-06

RHO 1.0275 C_PITCH_AUTO_DELTA 0 COMPASS_USE 114692 SEABIRD_C_G -10

MASS 72651 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 ALTIM_BOTTOM_TURN_MARGIN 0 SEABIRD_C_J 0.00019999999

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 OPTIONS 0

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_RECORDABOVE 2000.0

HD_B 0.0099999998 ROLL_MIN 195 ALTIM_PING_DEPTH 0 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3800 ALTIM_PING_DELTA 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_FREQUENCY 13 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2100 ALTIM_PULSE 3

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1997 ALTIM_SENSITIVITY 2

FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 20 XPDR_VALID 4

AH0_10V 0 D_PITCH 0 NOCOMM_ACTION 129 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_SAFE 0 N_DIVES 0 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_FILEKB 8 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_TGT 300 N_GPS 100440 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 N_NOCOMM 1 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 FERRY_MAX 45 OPTIONS 0 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 65.928177 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 109.14349 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_ADJ_DBAND 1 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_ADJ_GAIN 0.0099999998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_CNV 0.0041299998 SURFACE_URGENCY 6

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 12

CALL_NDIVES 1 HD_A 0.003 PITCH_GAIN 13.240061 SURFACE_URGENCY_TRY 6

CALL_TRIES 5 HD_B 0.0099999998 PITCH_GAIN_AUTO_DELTA 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_C 1.6e-05 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 10000 HEADING -1 PITCH_MAX 3610 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEAD_ERRBAND 20 PITCH_MAXERRORS 1 T_ABORT 1440

CF8_MAXERRORS 0 ICE_FREEZE_MARGIN 0.07 PITCH_MIN 220 T_BOOST 0

COMM_SEQ 7 ID 242 PITCH_TIMEOUT 40 T_DIVE 100

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_VBD_SHIFT 0.0012300001 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT -3.2 PITCH_W_DBAND 0 T_GPS 3

COMPASS_USE 114692 KALMAN_USE 2 PITCH_W_GAIN 0 T_LOITER 0

C_PITCH 1700 LOGGERDEVICE1 7 PRESSURE_DEVICE 56 T_MISSION 200

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 -1 PRESSURE_SLOPE 0.0014504 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 PRESSURE_YINT -14.5 T_RSLEEP 2

C_ROLL_CLIMB 1997 LOGGERDEVICE4 -1 PROTOCOL 9 T_TURN 225

C_ROLL_DIVE 2100 LOGGERS 0 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_VBD 3350 LOITER_DBDW 400 RAFOS_DEVICE 96 UNCOM_BLEED 400

C_VBD_AUTO_DELTA 0 LOITER_D_BOTTOM 700 RAFOS_HIT_WINDOW 10800 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_D_TOP 400 RAFOS_MMODEM 0 USE_BATHY 0

DBDW 0 LOITER_N_DIVE 0 RAFOS_PEAK_OFFSET 0 USE_ICE 1

DEEPGLIDER 0 LOITER_W_DBAND 2 RELAUNCH 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS 72651 RHO 1.0275 VBD_DBAND 2

DEVICE1 120 MAXI_10V 5 ROLL_ADJ_DBAND 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 5 ROLL_ADJ_GAIN 0 VBD_MAX 3960

DEVICE3 -1 MAX_BUOY 150 ROLL_CNV 0.054945 VBD_MAXERRORS 1

DEVICE4 -1 MINV_10V 0 ROLL_DEG 80 VBD_MIN 500

DEVICE5 -1 MINV_24V 0 ROLL_MAX 3800 VBD_TIMEOUT 540

DEVICE6 -1 MISSION 9 ROLL_MAXERRORS 0 W_ADJ_DBAND 0

DIVE 207 MOTHERBOARD 6 ROLL_MIN 195 XPDR_DEVICE -1

D_ABORT 450 NAV2_DEVICE 6 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

D_BOOST 0 NAV3_DEVICE -1 SC_NDIVE 1.0 XPDR_INT 0

D_CALL 0 NAV4_DEVICE -1 SC_PROFILE 3.0 XPDR_REP 0

D_FINISH 0 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_VALID 4

D_FLARE 3 NAV_MODE 2 SC_XMITPROFILE 3.0

D_NO_BLEED 50 NETBOX 3 SEABIRD_C_G -10

D_OFFGRID 1000 NETWORK_DEVICE 1 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 021023,141741,7334.131,-15847.717,0,3510.0,0,10.2 TGT_RADIUS 5000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 7.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -21.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021023,141741,7334.131,-15847.717,0,3510.0,0,10.2 MHEAD_RNG_PITCHd_Wd 28.1,33888,-17.6,-10.000,-21.24,2209,0.101

SPEED_LIMITS 0.173,0.257 D_GRID 300

TGT_NAME LISTEN IRON 1.000000,0.004896,-0.030416,0.010336,1.021238,-0.023270,0.014349,-0.070588,0.920704,765.280151,-967.023987,-681.286743

TGT_LATLONG 7350.000,-15815.000 OSC 8000225

Post-dive calculations and measurements:

NAV 1696279516,59.4,0,stop FG_AHR_10Vo 65.973

FINISH 0.0,1.021218 MEM0 59796,1,0,0

SM_CCo 6609.91,0.00,0.000,0,489.8,430.1,549.5,701.61 MEM1 65508,1,0,0

SM_GC 0.54,0.00,12.89,0.33,0.000,0.046,0.076,489.8,430.1,549.5,196.8,2131.2,0,0,0,30.00,15.55,15.54 MEM2 1026696,26,19952,70

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 32274,755

IRIDIUM_FIX 7336.65,-15833.14,021023,081055 CAP_FILE_SIZE 218182,0

TCM_TEMP 3.67 SDSIZE 3887104,3795776

RAFOS_CLK -5 SDFILEDIR 1474,208

RAFOS_FIX 7334.130859,-15847.716797,021023,141441,2,510,0.54 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 49.73 SOUNDSPEED 1465.0

TEMP 0.73 CURRENT 2.340, 49.4,1

INTERNAL_PRESSURE 7.66974 MAGCAL 1.000000,0.007902,-0.003361,-0.002938,1.019120,-0.018971,-0.002853,-0.085179,0.907366,740.3,-963.9,-655.2,36,0.0883,0

_24V_AH 14.63,133.909 IMPLIED_C_PITCH 1679,12.31,405,0.0,0.00

_10V_AH 15.00,0.000 IMPLIED_C_VBD 3315,53.058029,395,0

FG_AHR_24Vo 109.423 GPS 021023,210501,7340.017,-15822.767,34,0.7,35,10.2

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 757 1597 17702.71 legato 3717 20 1087.75

Pitch_motor 22 182 60.95 nil 0 0 0.00

Roll_motor 100 198 292.19 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 0 0 0.00 nil 0 0 0.00

Core 5123 5 393.46 SciCon 0 0 0.00

Fast 4 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1520 0 7.30

Compass 682 5 51.20

RAFOS 2776 40 1665.65

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

2 end surface: CONTROL_FINISHED_OK

state 2 begin dive

3.73 16386 -145.99 -1.51 0.00 1527.7 1466.1 1589.3 1821.1 2068.6 0.00 0.00 0 16.75 11.48 0.00 0.00 0.007 0.000 0.000 1885.44 1820.94 1949.94 1821.06 2068.62 0 0 0 15.81 30.00 30.00

17.32 20515 -145.99 -1.51 0.00 1885.6 1821.1 1950.0 1821.0 2068.4 9.34 0.00 1 75.39 48.12 3.04 0.00 0.005 0.043 0.000 3943.91 3925.56 3962.25 1319.81 2068.50 0 0 0 15.79 15.66 30.00

260.24 388 -145.99 -1.48 80.00 3949.0 3927.1 3970.9 1319.9 2068.2 58.56 -17.21 44 267.64 0.00 0.00 3.82 0.000 0.000 0.115 3948.72 3926.19 3971.25 1318.81 3563.56 0 0 0 30.00 30.00 15.67

412.58 3205 -145.99 -1.44 0.00 3949.5 3926.9 3972.1 1318.6 3563.8 83.45 -16.11 66 427.00 0.00 0.28 3.53 0.000 0.153 0.040 3949.53 3926.38 3972.69 1354.38 2072.75 0 0 0 30.00 15.67 15.80

796.77 260 -145.99 -1.44 80.00 3950.3 3926.8 3973.9 1354.5 2073.2 127.23 -10.84 104 804.03 0.00 0.00 3.79 0.000 0.000 0.116 3957.25 3933.38 3981.12 1355.00 3566.19 0 0 0 30.00 30.00 15.74

934.58 1028 -145.99 -1.44 0.00 3950.5 3926.5 3974.5 1355.0 3565.9 143.51 -11.94 124 949.15 0.00 0.00 3.53 0.000 0.000 0.040 3950.56 3926.75 3974.38 1354.56 2072.12 0 0 0 30.00 30.00 15.85

1319.13 388 -145.99 -1.45 80.00 3951.5 3927.1 3975.9 1354.4 2073.0 183.48 -10.04 162 1335.49 0.00 0.00 3.78 0.000 0.000 0.118 3948.91 3925.31 3972.50 1355.25 3565.75 0 0 0 30.00 30.00 15.77

1421.73 1028 -145.99 -1.45 0.00 3951.0 3926.2 3975.7 1355.1 3566.0 194.49 -10.71 176 1437.94 0.00 0.00 3.52 0.000 0.000 0.041 3951.09 3926.44 3975.75 1354.62 2075.75 0 0 0 30.00 30.00 15.87

1807.99 420 -145.99 -1.48 80.00 3951.3 3926.7 3976.0 1354.4 2075.9 227.41 -7.57 215 1824.34 0.00 0.00 3.74 0.000 0.000 0.118 3952.91 3928.00 3977.81 1355.06 3560.81 0 0 0 30.00 30.00 15.80

1939.37 1188 -145.99 -1.50 0.00 3951.6 3927.0 3976.1 1355.1 3560.7 238.53 -8.34 233 1955.53 0.00 0.00 3.48 0.000 0.000 0.041 3951.44 3926.50 3976.38 1354.31 2076.00 0 0 0 30.00 30.00 15.89

2345.54 4257 -145.99 -1.53 0.00 3951.7 3926.7 3976.8 1354.8 2076.2 265.94 -6.66 258 2347.61 0.00 0.22 0.00 0.000 0.078 0.000 3949.91 3925.19 3974.62 1314.94 2076.25 0 0 0 30.00 15.94 30.00

2724.83 420 -145.99 -1.55 80.00 3951.2 3925.2 3977.1 1314.7 2076.1 293.52 -7.53 270 2733.68 0.00 0.00 3.76 0.000 0.000 0.119 3951.91 3926.44 3977.38 1313.75 3565.88 0 0 0 30.00 30.00 15.81

2794 end dive: TARGET_DEPTH_EXCEEDED

state 2794 begin apogee

2802.32 10243 0.00 -0.38 0.00 3951.7 3926.2 3977.2 1313.9 1970.4 301.03 -8.05 282 2933.29 116.86 2.05 0.09 1.597 0.118 0.199 3349.00 3265.56 3432.44 1610.81 2035.12 0 0 0 10.50 15.78 15.39

2933 end apogee: CONTROL_FINISHED_OK

state 2934 begin climb

2934.40 10759 145.99 1.51 -80.00 3348.3 3264.0 3432.6 1610.5 2034.9 303.09 0.00 286 3075.66 117.21 2.97 4.19 1.537 0.064 0.121 2754.09 2648.81 2859.38 2075.62 532.62 0 0 0 11.29 15.42 15.14

3157.47 21639 145.99 1.40 0.00 2745.9 2646.1 2845.6 2075.6 532.9 277.68 14.54 324 3165.99 0.00 0.35 3.56 0.000 0.183 0.040 2751.25 2650.69 2851.81 2034.25 2019.75 0 0 0 30.00 15.28 15.39

3536.03 17030 145.99 1.36 -80.00 2742.0 2642.8 2841.2 2034.2 2019.5 227.94 10.28 350 3552.96 0.00 0.00 4.05 0.000 0.000 0.118 2740.88 2642.56 2839.19 2034.00 530.12 0 0 0 30.00 30.00 15.54

3626.82 17542 145.99 1.29 0.00 2739.6 2641.8 2837.4 2034.0 530.1 218.28 11.04 363 3641.46 0.00 0.00 3.51 0.000 0.000 0.039 2740.12 2642.19 2838.06 2034.38 2024.94 0 0 0 30.00 30.00 15.65

4011.52 8614 247.87 1.38 80.00 2739.9 2642.1 2837.8 2034.1 2024.0 192.85 5.26 401 4107.48 81.56 0.00 3.74 1.446 0.000 0.121 2336.19 2233.25 2439.12 2033.25 3459.25 0 0 0 10.75 30.00 15.37

4165.47 1188 250.61 1.36 0.00 2332.2 2234.6 2429.8 2034.1 3459.9 180.23 9.87 422 4182.13 0.00 0.00 3.63 0.000 0.000 0.044 2331.97 2232.12 2431.81 2034.69 1973.44 0 0 0 30.00 30.00 15.51

4552.09 8742 291.45 1.41 -80.00 2325.7 2225.4 2426.0 2034.7 1972.6 146.28 8.10 461 4600.19 34.96 0.00 3.97 1.380 0.000 0.125 2158.31 2054.44 2262.19 2034.06 532.75 0 0 0 10.59 30.00 15.49

4715.27 17542 291.45 1.40 0.00 2152.5 2050.4 2254.5 2033.5 532.5 129.67 11.07 483 4731.80 0.00 0.00 3.54 0.000 0.000 0.039 2153.62 2052.00 2255.25 2033.62 2021.69 0 0 0 30.00 30.00 15.62

5101.92 8614 326.24 1.46 80.00 2149.3 2047.4 2251.2 2033.6 2021.0 96.22 8.38 522 5149.35 28.56 0.00 3.70 1.332 0.000 0.122 2017.41 1913.31 2121.50 2033.75 3464.50 0 0 0 10.56 30.00 15.55

5180.41 11431 348.23 1.50 0.00 2015.5 1912.6 2118.4 2033.1 3463.0 89.38 8.98 533 5210.81 19.91 0.22 3.61 1.276 0.061 0.044 1931.38 1825.50 2037.25 2086.44 1972.75 0 0 0 11.04 15.61 15.63

5581.06 8870 383.48 1.55 -80.00 1920.2 1814.9 2025.4 2086.8 1973.3 50.84 8.36 573 5621.27 29.02 0.00 3.93 1.284 0.000 0.125 1787.53 1678.69 1896.38 2086.69 530.06 0 0 0 10.78 30.00 15.55

5693.62 9254 407.37 1.58 0.00 1782.8 1675.2 1890.5 2086.9 530.6 41.11 8.89 594 5723.61 20.91 0.00 3.53 1.237 0.000 0.038 1690.84 1581.00 1800.69 2087.12 2022.56 0 0 0 10.88 30.00 15.66

5906.06 10919 523.07 1.77 -80.00 1685.3 1576.5 1794.2 2087.1 2022.2 28.14 4.62 636 6017.88 95.57 0.23 4.13 1.244 0.059 0.121 1217.38 1124.75 1310.00 2147.06 531.69 0 0 0 10.78 15.69 15.34

6020.48 9382 567.30 1.87 0.00 1216.8 1125.2 1308.4 2146.6 531.4 19.64 7.94 657 6070.72 39.42 0.00 3.56 1.183 0.000 0.036 1037.72 950.50 1124.94 2146.00 2021.94 0 0 0 11.07 30.00 15.44

6253.20 10663 775.03 2.22 80.00 1031.0 947.5 1114.5 2146.8 2022.6 17.24 0.34 703 6385.40 114.07 0.55 3.78 1.201 0.052 0.118 497.94 437.75 558.12 2249.06 3461.94 0 0 0 10.88 15.60 15.27

6442.90 9382 806.39 2.29 0.00 492.2 432.6 551.8 2248.8 3461.9 5.90 8.54 739 6451.02 0.00 0.00 3.62 0.000 0.000 0.045 491.78 432.00 551.56 2249.38 1976.69 0 0 0 30.00 30.00 15.47

6493 end climb: SURFACE_DEPTH_REACHED

state 6493 begin surface coast

6523 end surface coast: CONTROL_FINISHED_OK

state 6523 begin surface

ID	242	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_INHIBIT	90
MISSION	9	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	30	XPDR_INT	0
DIVE	207	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_REP	0
N_DIVES	0	SM_CC	699.10498	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
STOP_T	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-3.2
D_SURF	2	FILEMGR	0	VBD_MIN	500	DEEPGLIDER	0
D_FLARE	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDERMB	0
D_TGT	300	COMM_SEQ	7	C_VBD	3350	MOTHERBOARD	6
D_ABORT	450	PROTOCOL	9	VBD_DBAND	2	DEVICE1	120
D_NO_BLEED	50	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_BOOST	0	NOCOMM_ACTION	129	VBD_LP_IGNORE	0	DEVICE3	-1
T_BOOST	0	N_NOSURFACE	0	VBD_TIMEOUT	540	DEVICE4	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_PITCH	0	NETBOX	3	UNCOM_BLEED	400	DEVICE6	-1
D_SAFE	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	0
D_CALL	0	CALL_WAIT	60	C_VBD_AUTO_DELTA	0	LOGGERDEVICE1	7
SURFACE_URGENCY	6	CAPUPLOAD	0	C_VBD_AUTO_MAX	0	LOGGERDEVICE2	-1
SURFACE_URGENCY_TRY	6	CAPMAXSIZE	10000	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	12	T_GPS	3	DBDW	0	LOGGERDEVICE4	-1
T_DIVE	100	N_GPS	100440	LOITER_W_DBAND	2	COMPASS_DEVICE	66
T_MISSION	200	T_RSLEEP	2	LOITER_DBDW	400	COMPASS2_DEVICE	-1
T_ABORT	1440	STROBE	0	LOITER_D_TOP	400	PHONE_DEVICE	33
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	700	GPS_DEVICE	48
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	96
T_NO_W	120	RAFOS_HIT_WINDOW	10800	CF8_MAXERRORS	0	NAV_DEVICE	6
T_LOITER	0	RAFOS_MMODEM	0	AH0_24V	575	NAV2_DEVICE	6
T_EPIRB	0	PITCH_MIN	220	AH0_10V	0	NAV3_DEVICE	-1
USE_BATHY	0	PITCH_MAX	3610	MINV_24V	0	NAV4_DEVICE	-1
USE_ICE	1	C_PITCH	1700	MINV_10V	0	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.07	PITCH_DBAND	0.1	MAXI_24V	5	PRESSURE_DEVICE	56
D_OFFGRID	1000	PITCH_CNV	0.0041299998	MAXI_10V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	13.240061	FG_AHR_10V	65.928177	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	109.14349	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.0099999998	PRESSURE_YINT	-14.5	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_SLOPE	0.0014504	SEABIRD_T_J	4.3e-06
RHO	1.0275	C_PITCH_AUTO_DELTA	0	COMPASS_USE	114692	SEABIRD_C_G	-10
MASS	72651	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	ALTIM_BOTTOM_TURN_MARGIN	0	SEABIRD_C_J	0.00019999999
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	OPTIONS	0
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_RECORDABOVE	2000.0
HD_B	0.0099999998	ROLL_MIN	195	ALTIM_PING_DEPTH	0	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3800	ALTIM_PING_DELTA	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_FREQUENCY	13	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2100	ALTIM_PULSE	3
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1997	ALTIM_SENSITIVITY	2
FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	20	XPDR_VALID	4

GPS1	021023,141741,7334.131,-15847.717,0,3510.0,0,10.2	TGT_RADIUS	5000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	7.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-21.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021023,141741,7334.131,-15847.717,0,3510.0,0,10.2	MHEAD_RNG_PITCHd_Wd	28.1,33888,-17.6,-10.000,-21.24,2209,0.101
SPEED_LIMITS	0.173,0.257	D_GRID	300
TGT_NAME	LISTEN	IRON	1.000000,0.004896,-0.030416,0.010336,1.021238,-0.023270,0.014349,-0.070588,0.920704,765.280151,-967.023987,-681.286743
TGT_LATLONG	7350.000,-15815.000	OSC	8000225

NAV	1696279516,59.4,0,stop	FG_AHR_10Vo	65.973
FINISH	0.0,1.021218	MEM0	59796,1,0,0
SM_CCo	6609.91,0.00,0.000,0,489.8,430.1,549.5,701.61	MEM1	65508,1,0,0
SM_GC	0.54,0.00,12.89,0.33,0.000,0.046,0.076,489.8,430.1,549.5,196.8,2131.2,0,0,0,30.00,15.55,15.54	MEM2	1026696,26,19952,70
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	32274,755
IRIDIUM_FIX	7336.65,-15833.14,021023,081055	CAP_FILE_SIZE	218182,0
TCM_TEMP	3.67	SDSIZE	3887104,3795776
RAFOS_CLK	-5	SDFILEDIR	1474,208
RAFOS_FIX	7334.130859,-15847.716797,021023,141441,2,510,0.54	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	49.73	SOUNDSPEED	1465.0
TEMP	0.73	CURRENT	2.340, 49.4,1
INTERNAL_PRESSURE	7.66974	MAGCAL	1.000000,0.007902,-0.003361,-0.002938,1.019120,-0.018971,-0.002853,-0.085179,0.907366,740.3,-963.9,-655.2,36,0.0883,0
_24V_AH	14.63,133.909	IMPLIED_C_PITCH	1679,12.31,405,0.0,0.00
_10V_AH	15.00,0.000	IMPLIED_C_VBD	3315,53.058029,395,0
FG_AHR_24Vo	109.423	GPS	021023,210501,7340.017,-15822.767,34,0.7,35,10.2

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	757	1597	17702.71	legato	3717	20	1087.75
Pitch_motor	22	182	60.95	nil	0	0	0.00
Roll_motor	100	198	292.19	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	0	0	0.00	nil	0	0	0.00
Core	5123	5	393.46	SciCon	0	0	0.00
Fast	4	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1520	0	7.30
Compass	682	5	51.20
RAFOS	2776	40	1665.65
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
2	end surface: CONTROL_FINISHED_OK
state	2	begin dive
3.73	16386	-145.99	-1.51	0.00	1527.7	1466.1	1589.3	1821.1	2068.6	0.00	0.00	0	16.75	11.48	0.00	0.00	0.007	0.000	0.000	1885.44	1820.94	1949.94	1821.06	2068.62	0	0	0	15.81	30.00	30.00
17.32	20515	-145.99	-1.51	0.00	1885.6	1821.1	1950.0	1821.0	2068.4	9.34	0.00	1	75.39	48.12	3.04	0.00	0.005	0.043	0.000	3943.91	3925.56	3962.25	1319.81	2068.50	0	0	0	15.79	15.66	30.00
260.24	388	-145.99	-1.48	80.00	3949.0	3927.1	3970.9	1319.9	2068.2	58.56	-17.21	44	267.64	0.00	0.00	3.82	0.000	0.000	0.115	3948.72	3926.19	3971.25	1318.81	3563.56	0	0	0	30.00	30.00	15.67
412.58	3205	-145.99	-1.44	0.00	3949.5	3926.9	3972.1	1318.6	3563.8	83.45	-16.11	66	427.00	0.00	0.28	3.53	0.000	0.153	0.040	3949.53	3926.38	3972.69	1354.38	2072.75	0	0	0	30.00	15.67	15.80
796.77	260	-145.99	-1.44	80.00	3950.3	3926.8	3973.9	1354.5	2073.2	127.23	-10.84	104	804.03	0.00	0.00	3.79	0.000	0.000	0.116	3957.25	3933.38	3981.12	1355.00	3566.19	0	0	0	30.00	30.00	15.74
934.58	1028	-145.99	-1.44	0.00	3950.5	3926.5	3974.5	1355.0	3565.9	143.51	-11.94	124	949.15	0.00	0.00	3.53	0.000	0.000	0.040	3950.56	3926.75	3974.38	1354.56	2072.12	0	0	0	30.00	30.00	15.85
1319.13	388	-145.99	-1.45	80.00	3951.5	3927.1	3975.9	1354.4	2073.0	183.48	-10.04	162	1335.49	0.00	0.00	3.78	0.000	0.000	0.118	3948.91	3925.31	3972.50	1355.25	3565.75	0	0	0	30.00	30.00	15.77
1421.73	1028	-145.99	-1.45	0.00	3951.0	3926.2	3975.7	1355.1	3566.0	194.49	-10.71	176	1437.94	0.00	0.00	3.52	0.000	0.000	0.041	3951.09	3926.44	3975.75	1354.62	2075.75	0	0	0	30.00	30.00	15.87
1807.99	420	-145.99	-1.48	80.00	3951.3	3926.7	3976.0	1354.4	2075.9	227.41	-7.57	215	1824.34	0.00	0.00	3.74	0.000	0.000	0.118	3952.91	3928.00	3977.81	1355.06	3560.81	0	0	0	30.00	30.00	15.80
1939.37	1188	-145.99	-1.50	0.00	3951.6	3927.0	3976.1	1355.1	3560.7	238.53	-8.34	233	1955.53	0.00	0.00	3.48	0.000	0.000	0.041	3951.44	3926.50	3976.38	1354.31	2076.00	0	0	0	30.00	30.00	15.89
2345.54	4257	-145.99	-1.53	0.00	3951.7	3926.7	3976.8	1354.8	2076.2	265.94	-6.66	258	2347.61	0.00	0.22	0.00	0.000	0.078	0.000	3949.91	3925.19	3974.62	1314.94	2076.25	0	0	0	30.00	15.94	30.00
2724.83	420	-145.99	-1.55	80.00	3951.2	3925.2	3977.1	1314.7	2076.1	293.52	-7.53	270	2733.68	0.00	0.00	3.76	0.000	0.000	0.119	3951.91	3926.44	3977.38	1313.75	3565.88	0	0	0	30.00	30.00	15.81
2794	end dive: TARGET_DEPTH_EXCEEDED
state	2794	begin apogee
2802.32	10243	0.00	-0.38	0.00	3951.7	3926.2	3977.2	1313.9	1970.4	301.03	-8.05	282	2933.29	116.86	2.05	0.09	1.597	0.118	0.199	3349.00	3265.56	3432.44	1610.81	2035.12	0	0	0	10.50	15.78	15.39
2933	end apogee: CONTROL_FINISHED_OK
state	2934	begin climb
2934.40	10759	145.99	1.51	-80.00	3348.3	3264.0	3432.6	1610.5	2034.9	303.09	0.00	286	3075.66	117.21	2.97	4.19	1.537	0.064	0.121	2754.09	2648.81	2859.38	2075.62	532.62	0	0	0	11.29	15.42	15.14
3157.47	21639	145.99	1.40	0.00	2745.9	2646.1	2845.6	2075.6	532.9	277.68	14.54	324	3165.99	0.00	0.35	3.56	0.000	0.183	0.040	2751.25	2650.69	2851.81	2034.25	2019.75	0	0	0	30.00	15.28	15.39
3536.03	17030	145.99	1.36	-80.00	2742.0	2642.8	2841.2	2034.2	2019.5	227.94	10.28	350	3552.96	0.00	0.00	4.05	0.000	0.000	0.118	2740.88	2642.56	2839.19	2034.00	530.12	0	0	0	30.00	30.00	15.54
3626.82	17542	145.99	1.29	0.00	2739.6	2641.8	2837.4	2034.0	530.1	218.28	11.04	363	3641.46	0.00	0.00	3.51	0.000	0.000	0.039	2740.12	2642.19	2838.06	2034.38	2024.94	0	0	0	30.00	30.00	15.65
4011.52	8614	247.87	1.38	80.00	2739.9	2642.1	2837.8	2034.1	2024.0	192.85	5.26	401	4107.48	81.56	0.00	3.74	1.446	0.000	0.121	2336.19	2233.25	2439.12	2033.25	3459.25	0	0	0	10.75	30.00	15.37
4165.47	1188	250.61	1.36	0.00	2332.2	2234.6	2429.8	2034.1	3459.9	180.23	9.87	422	4182.13	0.00	0.00	3.63	0.000	0.000	0.044	2331.97	2232.12	2431.81	2034.69	1973.44	0	0	0	30.00	30.00	15.51
4552.09	8742	291.45	1.41	-80.00	2325.7	2225.4	2426.0	2034.7	1972.6	146.28	8.10	461	4600.19	34.96	0.00	3.97	1.380	0.000	0.125	2158.31	2054.44	2262.19	2034.06	532.75	0	0	0	10.59	30.00	15.49
4715.27	17542	291.45	1.40	0.00	2152.5	2050.4	2254.5	2033.5	532.5	129.67	11.07	483	4731.80	0.00	0.00	3.54	0.000	0.000	0.039	2153.62	2052.00	2255.25	2033.62	2021.69	0	0	0	30.00	30.00	15.62
5101.92	8614	326.24	1.46	80.00	2149.3	2047.4	2251.2	2033.6	2021.0	96.22	8.38	522	5149.35	28.56	0.00	3.70	1.332	0.000	0.122	2017.41	1913.31	2121.50	2033.75	3464.50	0	0	0	10.56	30.00	15.55
5180.41	11431	348.23	1.50	0.00	2015.5	1912.6	2118.4	2033.1	3463.0	89.38	8.98	533	5210.81	19.91	0.22	3.61	1.276	0.061	0.044	1931.38	1825.50	2037.25	2086.44	1972.75	0	0	0	11.04	15.61	15.63
5581.06	8870	383.48	1.55	-80.00	1920.2	1814.9	2025.4	2086.8	1973.3	50.84	8.36	573	5621.27	29.02	0.00	3.93	1.284	0.000	0.125	1787.53	1678.69	1896.38	2086.69	530.06	0	0	0	10.78	30.00	15.55
5693.62	9254	407.37	1.58	0.00	1782.8	1675.2	1890.5	2086.9	530.6	41.11	8.89	594	5723.61	20.91	0.00	3.53	1.237	0.000	0.038	1690.84	1581.00	1800.69	2087.12	2022.56	0	0	0	10.88	30.00	15.66
5906.06	10919	523.07	1.77	-80.00	1685.3	1576.5	1794.2	2087.1	2022.2	28.14	4.62	636	6017.88	95.57	0.23	4.13	1.244	0.059	0.121	1217.38	1124.75	1310.00	2147.06	531.69	0	0	0	10.78	15.69	15.34
6020.48	9382	567.30	1.87	0.00	1216.8	1125.2	1308.4	2146.6	531.4	19.64	7.94	657	6070.72	39.42	0.00	3.56	1.183	0.000	0.036	1037.72	950.50	1124.94	2146.00	2021.94	0	0	0	11.07	30.00	15.44
6253.20	10663	775.03	2.22	80.00	1031.0	947.5	1114.5	2146.8	2022.6	17.24	0.34	703	6385.40	114.07	0.55	3.78	1.201	0.052	0.118	497.94	437.75	558.12	2249.06	3461.94	0	0	0	10.88	15.60	15.27
6442.90	9382	806.39	2.29	0.00	492.2	432.6	551.8	2248.8	3461.9	5.90	8.54	739	6451.02	0.00	0.00	3.62	0.000	0.000	0.045	491.78	432.00	551.56	2249.38	1976.69	0	0	0	30.00	30.00	15.47
6493	end climb: SURFACE_DEPTH_REACHED
state	6493	begin surface coast
6523	end surface coast: CONTROL_FINISHED_OK
state	6523	begin surface