Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 31 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_INHIBIT 90

MISSION 11 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 30 XPDR_INT 13

DIVE 31 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_REP 11.5

N_DIVES 0 SM_CC 662.31 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

STOP_T 0 N_FILEKB 8 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_YINT 0.5

D_SURF 2 FILEMGR 2 VBD_MIN 500 DEEPGLIDER 0

D_FLARE 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDERMB 0

D_TGT 990 COMM_SEQ 7 C_VBD 2000 MOTHERBOARD 6

D_ABORT 1030 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

D_NO_BLEED 450 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

D_BOOST 3 NOCOMM_ACTION 129 VBD_LP_IGNORE 0 DEVICE3 -1

T_BOOST 0 N_NOSURFACE 0 VBD_TIMEOUT 800 DEVICE4 -1

D_FINISH 10 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0040000002 DEVICE5 -1

D_PITCH 2 NETBOX 1 UNCOM_BLEED 400 DEVICE6 -1

D_SAFE 500 CALL_TRIES 3 VBD_MAXERRORS 2 LOGGERS 1

D_CALL 3 CALL_WAIT 45 C_VBD_AUTO_DELTA 0 LOGGERDEVICE1 7

SURFACE_URGENCY 10 CAPUPLOAD 0 C_VBD_AUTO_MAX 0 LOGGERDEVICE2 -1

SURFACE_URGENCY_TRY 10 CAPMAXSIZE 10000 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 20 T_GPS 3 DBDW 0 LOGGERDEVICE4 -1

T_DIVE 360 N_GPS 100440 LOITER_W_DBAND 2 COMPASS_DEVICE 66

T_MISSION 500 T_RSLEEP 2 LOITER_DBDW 400 COMPASS2_DEVICE -1

T_ABORT 2880 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 240 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 230 AH0_10V 0 NAV3_DEVICE -1

USE_BATHY 0 PITCH_MAX 3900 MINV_24V 0 NAV4_DEVICE -1

USE_ICE 1 C_PITCH 2295.5884 MINV_10V 0 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.07 PITCH_DBAND 0.1 MAXI_24V 5 PRESSURE_DEVICE 34

D_OFFGRID 1000 PITCH_CNV 0.0041299998 MAXI_10V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 13.633753 FG_AHR_10V 2.6197608 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 12.33811 SEABIRD_T_G 0.0042874566

MAX_BUOY 120 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062267116

GLIDE_SLOPE 45 PITCH_ADJ_GAIN 0 PRESSURE_YINT -157.91238 SEABIRD_T_I 2.1947648e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 PRESSURE_SLOPE 0.00022957686 SEABIRD_T_J 2.2037441e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 COMPASS_USE 49156 SEABIRD_C_G -9.9419231

MASS 72024 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_H 1.1375728

NAV_MODE 0 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_I -0.0016241658

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 2 ALTIM_BOTTOM_TURN_MARGIN 0 SEABIRD_C_J 0.0002088599

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 OPTIONS 2

HD_A 0.00281838 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 0 SC_RECORDABOVE 2000.0

HD_B 0.0139236 ROLL_MIN 1200 ALTIM_PING_DEPTH 0 SC_PROFILE 7.0

HD_C 5.7000002e-06 ROLL_MAX 4000 ALTIM_PING_DELTA 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_FREQUENCY 13 SC_NDIVE 1.0

ESCAPE_HEADING 180 C_ROLL_DIVE 2593.1365 ALTIM_PULSE 3

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2713.5149 ALTIM_SENSITIVITY 2

FIX_MISSING_TIMEOUT 20 HEAD_ERRBAND 10 XPDR_VALID 6

AH0_10V 0 D_PITCH 2 NOCOMM_ACTION 129 SEABIRD_C_I -0.0016241658

AH0_24V 575 D_SAFE 500 N_DIVES 0 SEABIRD_C_J 0.0002088599

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_FILEKB 8 SEABIRD_T_G 0.0042874566

ALTIM_FREQUENCY 13 D_TGT 990 N_GPS 100440 SEABIRD_T_H 0.00062267116

ALTIM_PING_DELTA 0 ESCAPE_HEADING 180 N_NOCOMM 0 SEABIRD_T_I 2.1947648e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SEABIRD_T_J 2.2037441e-06

ALTIM_PING_FIT 0 FERRY_MAX 45 OPTIONS 2 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 2.6197608 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 12.33811 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 2 PITCH_ADJ_DBAND 2 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 20 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_CNV 0.0041299998 SURFACE_URGENCY 10

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 20

CALL_NDIVES 1 HD_A 0.00281838 PITCH_GAIN 13.633753 SURFACE_URGENCY_TRY 10

CALL_TRIES 3 HD_B 0.0139236 PITCH_GAIN_AUTO_DELTA 0.5 TGT_AUTO_DEFAULT 0

CALL_WAIT 45 HD_C 5.7000002e-06 PITCH_GAIN_AUTO_MAX 2 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 10000 HEADING -1 PITCH_MAX 3900 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_MAXERRORS 1 T_ABORT 2880

CF8_MAXERRORS 0 ICE_FREEZE_MARGIN 0.07 PITCH_MIN 230 T_BOOST 0

COMM_SEQ 7 ID 235 PITCH_TIMEOUT 40 T_DIVE 360

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_VBD_SHIFT 0.0040000002 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT 0.5 PITCH_W_DBAND 0 T_GPS 3

COMPASS_USE 49156 KALMAN_USE 2 PITCH_W_GAIN 0 T_LOITER 0

C_PITCH 2295.5884 LOGGERDEVICE1 7 PRESSURE_DEVICE 34 T_MISSION 500

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 -1 PRESSURE_SLOPE 0.00022957686 T_NO_W 240

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 PRESSURE_YINT -157.91238 T_RSLEEP 2

C_ROLL_CLIMB 2713.5149 LOGGERDEVICE4 -1 PROTOCOL 9 T_TURN 225

C_ROLL_DIVE 2593.1365 LOGGERS 1 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_VBD 2000 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 3

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 72024 RHO 1.023 VBD_DBAND 2

DEVICE1 -1 MAXI_10V 5 ROLL_ADJ_DBAND 0.029999999 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 5 ROLL_ADJ_GAIN 0 VBD_MAX 3960

DEVICE3 -1 MAX_BUOY 120 ROLL_CNV 0.054945 VBD_MAXERRORS 2

DEVICE4 -1 MINV_10V 0 ROLL_DEG 80 VBD_MIN 500

DEVICE5 -1 MINV_24V 0 ROLL_MAX 4000 VBD_TIMEOUT 800

DEVICE6 -1 MISSION 11 ROLL_MAXERRORS 0 W_ADJ_DBAND 0

DIVE 31 MOTHERBOARD 6 ROLL_MIN 1200 XPDR_DEVICE -1

D_ABORT 1030 NAV2_DEVICE 6 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

D_BOOST 3 NAV3_DEVICE -1 SC_NDIVE 1.0 XPDR_INT 13

D_CALL 3 NAV4_DEVICE -1 SC_PROFILE 7.0 XPDR_REP 11.5

D_FINISH 10 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_VALID 6

D_FLARE 3 NAV_MODE 0 SC_XMITPROFILE 3.0

D_NO_BLEED 450 NETBOX 1 SEABIRD_C_G -9.9419231

D_OFFGRID 1000 NETWORK_DEVICE 1 SEABIRD_C_H 1.1375728

Pre-dive calculations and measurements:

GPS1 120823,221203,7604.216,-14203.885,0,9255.0,0,15.7 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.43 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 22.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120823,221203,7604.216,-14203.885,0,9255.0,0,15.7 MHEAD_RNG_PITCHd_Wd 157.3,63842,-20.2,-9.167,-25.06,1949,0.139

SPEED_LIMITS 0.092,0.196 D_GRID 990

TGT_NAME IGBL IRON 1.000000,-0.058064,-0.069359,-0.064846,1.037432,-0.079687,0.059845,0.024819,0.912228,-1019.682983,-140.930878,505.300598

TGT_LATLONG 7530.000,-14147.136 OSC 8000307

Post-dive calculations and measurements:

NAV 1691884769,150.8,start _10V_AH 14.86,0.000

FREEZE 0.76,-0.734,-1.344,2,11,0 FG_AHR_24Vo 12.516

FINISH 0.8,1.019829 FG_AHR_10Vo 2.660

SM_CCo 6557.48,0.18,0.131,0,499.5,413.8,585.2,368.08 MEM0 59796,1,0,0

SM_GC 4.18,0.18,19.75,0.28,0.131,0.134,0.138,499.5,413.8,585.2,219.8,2576.1,0,0,0,15.64,15.47,15.54 MEM1 65508,1,0,0

SURF below D_CALL,4.180444/3.000000 MEM2 1023032,33,22556,116

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 19317,657

IRIDIUM_FIX 7610.07,-14226.43,100823,065015 CAP_FILE_SIZE 205087,0

TCM_TEMP 1.63 SDSIZE 3918848,3896992

SC_FREEKB 3868832 SDFILEDIR 277,32

RAFOS_CLK 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 7604.215820,-14203.884766,120823,222203,8,255,0.21 SOUNDSPEED 1465.0

HUMID 47.86 MAGCAL 1.000000,-0.037755,-0.031440,-0.071997,1.044279,-0.092310,0.064860,0.012988,0.918478,-1065.7,-134.8,486.7,36,0.1421,0

TEMP -0.27 IMPLIED_C_PITCH 2313,13.54,176,0.0,13.59

INTERNAL_PRESSURE 8.08838 GPS 120823,221203,7604.216,-14203.885,0,9255.0,0,15.7

_24V_AH 14.80,14.588

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 657 1253 12201.12 nil 0 0 0.00

Pitch_motor 36 197 107.80 nil 0 0 0.00

Roll_motor 88 288 377.74 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 2303 5 175.22 SciCon 6526 6 617.55

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4258 0 20.25

Compass 1089 5 80.95

RAFOS 9 40 5.55

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

5.85 16386 -117.30 -1.95 0.00 497.1 413.7 580.5 3050.9 2572.6 0.00 0.00 0 73.82 66.32 0.00 0.00 0.005 0.000 0.000 1728.91 1712.94 1744.88 3051.00 2572.56 0 0 0 15.88 30.00 30.00

74.07 20775 -117.30 -1.95 80.00 1730.2 1711.8 1748.5 3051.2 2572.9 3.35 -1.53 7 125.89 31.63 8.42 3.86 0.006 0.139 0.153 2477.47 2451.62 2503.31 1807.50 4006.88 0 0 0 15.91 15.75 15.77

128.17 1028 -117.30 -1.95 0.00 2478.9 2452.9 2504.9 1807.3 4007.1 12.52 -18.17 16 134.48 0.00 0.00 3.67 0.000 0.000 0.094 2480.66 2454.19 2507.12 1807.62 2575.69 0 0 0 30.00 30.00 15.80

463.98 292 -117.30 -1.95 80.00 2481.3 2452.4 2510.2 1807.7 2575.4 58.40 -7.75 34 469.86 0.00 0.00 3.81 0.000 0.000 0.147 2481.62 2452.25 2511.00 1807.38 4009.06 0 0 0 30.00 30.00 15.85

513.25 1060 -117.30 -1.95 0.00 2480.8 2452.5 2509.2 1807.1 4009.1 60.36 -4.44 44 519.89 0.00 0.00 3.63 0.000 0.000 0.093 2481.81 2453.00 2510.62 1807.38 2574.38 0 0 0 30.00 30.00 15.90

900.09 292 -117.30 -1.95 80.00 2480.2 2450.6 2509.8 1807.2 2574.4 72.04 -3.40 59 906.42 0.00 0.00 3.82 0.000 0.000 0.146 2479.44 2449.50 2509.38 1807.06 4010.12 0 0 0 30.00 30.00 15.91

1034.41 1060 -117.30 -1.95 0.00 2479.9 2450.2 2509.6 1807.2 4010.2 77.62 -4.30 86 1040.34 0.00 0.00 3.62 0.000 0.000 0.094 2481.56 2451.69 2511.44 1806.94 2573.56 0 0 0 30.00 30.00 15.96

1405.15 548 -117.30 -1.95 -80.00 2479.4 2448.9 2509.9 1807.0 2573.9 90.72 -3.35 100 1411.48 0.00 0.00 3.84 0.000 0.000 0.173 2483.19 2453.31 2513.06 1807.38 1191.88 0 0 0 30.00 30.00 15.94

1529.47 1060 -117.30 -1.95 0.00 2479.7 2449.5 2509.8 1808.1 1191.8 94.77 -3.18 125 1535.33 0.00 0.00 3.46 0.000 0.000 0.080 2480.94 2450.88 2511.00 1807.81 2614.44 0 0 0 30.00 30.00 16.01

1910.21 292 -117.30 -1.95 80.00 2479.5 2449.4 2509.6 1807.1 2614.0 105.10 -2.88 141 1916.45 0.00 0.00 3.68 0.000 0.000 0.153 2482.44 2452.69 2512.19 1807.44 4006.75 0 0 0 30.00 30.00 16.00

2145.28 1060 -117.30 -1.95 0.00 2478.8 2448.1 2509.5 1807.1 4007.4 113.39 -3.58 188 2151.47 0.00 0.00 3.60 0.000 0.000 0.094 2478.84 2448.06 2509.62 1807.25 2573.12 0 0 0 30.00 30.00 16.04

2519.30 292 -117.30 -1.95 80.00 2479.2 2448.2 2510.2 1807.4 2572.8 120.70 -1.78 206 2525.75 0.00 0.00 3.76 0.000 0.000 0.147 2479.81 2448.69 2510.94 1805.06 4008.12 0 0 0 30.00 30.00 16.02

2754.39 1060 -117.30 -1.95 0.00 2478.9 2447.6 2510.1 1807.5 4008.5 126.22 -2.40 253 2760.76 0.00 0.00 3.60 0.000 0.000 0.095 2478.06 2447.00 2509.12 1807.12 2575.56 0 0 0 30.00 30.00 16.06

3139.39 548 -117.30 -1.95 -80.00 2478.8 2447.6 2509.9 1807.3 2575.1 133.82 -1.84 270 3145.91 0.00 0.00 3.85 0.000 0.000 0.173 2478.12 2446.69 2509.56 1806.50 1191.81 0 0 0 30.00 30.00 16.02

3308.72 1060 -117.30 -1.95 0.00 2478.6 2447.2 2510.0 1807.6 1191.8 136.57 -1.59 304 3315.47 0.00 0.00 3.45 0.000 0.000 0.081 2478.28 2446.88 2509.69 1807.62 2615.56 0 0 0 30.00 30.00 16.08

3704.46 292 -117.30 -1.95 80.00 2478.6 2447.4 2509.8 1807.2 2614.6 142.40 -1.56 318 3710.87 0.00 0.00 3.67 0.000 0.000 0.154 2480.84 2449.12 2512.56 1806.25 4007.75 0 0 0 30.00 30.00 16.06

3939.52 1060 -117.30 -1.95 0.00 2478.3 2446.7 2509.9 1807.0 4007.6 145.03 -1.05 365 3945.94 0.00 0.00 3.61 0.000 0.000 0.097 2477.12 2445.62 2508.62 1807.38 2573.12 0 0 0 30.00 30.00 16.09

4319.53 292 -117.30 -1.95 80.00 2478.4 2447.2 2509.5 1807.1 2573.4 149.35 -1.21 383 4326.16 0.00 0.00 3.74 0.000 0.000 0.149 2479.12 2447.50 2510.75 1804.81 4007.88 0 0 0 30.00 30.00 16.07

4554.61 1060 -117.30 -1.95 0.00 2478.0 2447.1 2508.9 1807.4 4008.0 151.85 -0.95 430 4561.02 0.00 0.00 3.62 0.000 0.000 0.098 2477.97 2446.31 2509.62 1806.94 2574.44 0 0 0 30.00 30.00 16.10

4789 end dive: NO_VERTICAL_VELOCITY

state 4789 begin apogee

4791.11 10243 0.00 -0.37 0.00 2478.8 2447.4 2510.2 1807.1 2728.4 152.86 0.00 442 4906.38 106.53 2.92 0.06 1.253 0.197 0.288 1997.72 1915.69 2079.75 2206.38 2697.81 0 0 0 11.89 16.06 15.58

4907 end apogee: CONTROL_FINISHED_OK

state 4907 begin climb

4908.87 10503 117.30 1.95 80.00 1996.9 1914.4 2079.4 2206.6 2697.9 150.81 0.00 445 5025.09 99.42 3.86 3.62 1.164 0.119 0.152 1520.66 1411.88 1629.44 2769.69 4006.31 0 0 0 11.84 15.63 15.34

5252.58 17414 117.30 1.95 0.00 1512.7 1412.7 1612.7 2769.9 4007.8 72.84 23.15 513 5258.63 0.00 0.00 3.40 0.000 0.000 0.090 1513.62 1414.00 1613.25 2769.12 2696.44 0 0 0 30.00 30.00 15.66

5633.36 10535 234.92 2.42 80.00 1510.8 1412.2 1609.4 2770.4 2696.4 42.02 2.99 529 5804.85 159.34 0.70 3.63 1.025 0.083 0.145 1041.66 923.94 1159.38 2888.56 4007.75 0 0 0 11.74 15.79 15.33

5807.39 1028 234.92 2.42 0.00 1041.5 924.9 1158.2 2888.6 4007.9 32.48 11.03 560 5813.34 0.00 0.00 3.46 0.000 0.000 0.085 1041.78 925.31 1158.25 2889.75 2695.75 0 0 0 30.00 30.00 15.41

6183.11 10535 372.18 2.97 80.00 1037.5 925.1 1149.9 2889.0 2695.2 11.58 1.96 600 6393.74 194.51 0.81 3.63 0.983 0.085 0.144 500.16 411.81 588.50 3018.06 4008.38 0 0 0 11.79 15.71 15.26

6426.27 11303 452.20 3.29 0.00 498.4 411.5 585.4 3018.8 4008.3 4.04 4.97 647 6433.26 0.00 0.47 3.47 0.000 0.103 0.085 498.88 411.75 586.00 3093.62 2695.19 0 0 0 30.00 15.41 15.42

6471 end climb: SURFACE_DEPTH_REACHED

state 6471 begin surface coast

6521 end surface coast: CONTROL_FINISHED_OK

state 6522 begin surface

ID	235	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_INHIBIT	90
MISSION	11	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	30	XPDR_INT	13
DIVE	31	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_REP	11.5
N_DIVES	0	SM_CC	662.31	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
STOP_T	0	N_FILEKB	8	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_YINT	0.5
D_SURF	2	FILEMGR	2	VBD_MIN	500	DEEPGLIDER	0
D_FLARE	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDERMB	0
D_TGT	990	COMM_SEQ	7	C_VBD	2000	MOTHERBOARD	6
D_ABORT	1030	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
D_NO_BLEED	450	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
D_BOOST	3	NOCOMM_ACTION	129	VBD_LP_IGNORE	0	DEVICE3	-1
T_BOOST	0	N_NOSURFACE	0	VBD_TIMEOUT	800	DEVICE4	-1
D_FINISH	10	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0040000002	DEVICE5	-1
D_PITCH	2	NETBOX	1	UNCOM_BLEED	400	DEVICE6	-1
D_SAFE	500	CALL_TRIES	3	VBD_MAXERRORS	2	LOGGERS	1
D_CALL	3	CALL_WAIT	45	C_VBD_AUTO_DELTA	0	LOGGERDEVICE1	7
SURFACE_URGENCY	10	CAPUPLOAD	0	C_VBD_AUTO_MAX	0	LOGGERDEVICE2	-1
SURFACE_URGENCY_TRY	10	CAPMAXSIZE	10000	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	20	T_GPS	3	DBDW	0	LOGGERDEVICE4	-1
T_DIVE	360	N_GPS	100440	LOITER_W_DBAND	2	COMPASS_DEVICE	66
T_MISSION	500	T_RSLEEP	2	LOITER_DBDW	400	COMPASS2_DEVICE	-1
T_ABORT	2880	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	240	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	230	AH0_10V	0	NAV3_DEVICE	-1
USE_BATHY	0	PITCH_MAX	3900	MINV_24V	0	NAV4_DEVICE	-1
USE_ICE	1	C_PITCH	2295.5884	MINV_10V	0	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.07	PITCH_DBAND	0.1	MAXI_24V	5	PRESSURE_DEVICE	34
D_OFFGRID	1000	PITCH_CNV	0.0041299998	MAXI_10V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	13.633753	FG_AHR_10V	2.6197608	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	12.33811	SEABIRD_T_G	0.0042874566
MAX_BUOY	120	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062267116
GLIDE_SLOPE	45	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-157.91238	SEABIRD_T_I	2.1947648e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	PRESSURE_SLOPE	0.00022957686	SEABIRD_T_J	2.2037441e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	COMPASS_USE	49156	SEABIRD_C_G	-9.9419231
MASS	72024	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_H	1.1375728
NAV_MODE	0	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_I	-0.0016241658
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	2	ALTIM_BOTTOM_TURN_MARGIN	0	SEABIRD_C_J	0.0002088599
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	OPTIONS	2
HD_A	0.00281838	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	0	SC_RECORDABOVE	2000.0
HD_B	0.0139236	ROLL_MIN	1200	ALTIM_PING_DEPTH	0	SC_PROFILE	7.0
HD_C	5.7000002e-06	ROLL_MAX	4000	ALTIM_PING_DELTA	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_FREQUENCY	13	SC_NDIVE	1.0
ESCAPE_HEADING	180	C_ROLL_DIVE	2593.1365	ALTIM_PULSE	3
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2713.5149	ALTIM_SENSITIVITY	2
FIX_MISSING_TIMEOUT	20	HEAD_ERRBAND	10	XPDR_VALID	6

GPS1	120823,221203,7604.216,-14203.885,0,9255.0,0,15.7	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.43	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	22.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120823,221203,7604.216,-14203.885,0,9255.0,0,15.7	MHEAD_RNG_PITCHd_Wd	157.3,63842,-20.2,-9.167,-25.06,1949,0.139
SPEED_LIMITS	0.092,0.196	D_GRID	990
TGT_NAME	IGBL	IRON	1.000000,-0.058064,-0.069359,-0.064846,1.037432,-0.079687,0.059845,0.024819,0.912228,-1019.682983,-140.930878,505.300598
TGT_LATLONG	7530.000,-14147.136	OSC	8000307

NAV	1691884769,150.8,start	_10V_AH	14.86,0.000
FREEZE	0.76,-0.734,-1.344,2,11,0	FG_AHR_24Vo	12.516
FINISH	0.8,1.019829	FG_AHR_10Vo	2.660
SM_CCo	6557.48,0.18,0.131,0,499.5,413.8,585.2,368.08	MEM0	59796,1,0,0
SM_GC	4.18,0.18,19.75,0.28,0.131,0.134,0.138,499.5,413.8,585.2,219.8,2576.1,0,0,0,15.64,15.47,15.54	MEM1	65508,1,0,0
SURF	below D_CALL,4.180444/3.000000	MEM2	1023032,33,22556,116
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	19317,657
IRIDIUM_FIX	7610.07,-14226.43,100823,065015	CAP_FILE_SIZE	205087,0
TCM_TEMP	1.63	SDSIZE	3918848,3896992
SC_FREEKB	3868832	SDFILEDIR	277,32
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	7604.215820,-14203.884766,120823,222203,8,255,0.21	SOUNDSPEED	1465.0
HUMID	47.86	MAGCAL	1.000000,-0.037755,-0.031440,-0.071997,1.044279,-0.092310,0.064860,0.012988,0.918478,-1065.7,-134.8,486.7,36,0.1421,0
TEMP	-0.27	IMPLIED_C_PITCH	2313,13.54,176,0.0,13.59
INTERNAL_PRESSURE	8.08838	GPS	120823,221203,7604.216,-14203.885,0,9255.0,0,15.7
_24V_AH	14.80,14.588

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	657	1253	12201.12	nil	0	0	0.00
Pitch_motor	36	197	107.80	nil	0	0	0.00
Roll_motor	88	288	377.74	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	2303	5	175.22	SciCon	6526	6	617.55
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4258	0	20.25
Compass	1089	5	80.95
RAFOS	9	40	5.55
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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
5.85	16386	-117.30	-1.95	0.00	497.1	413.7	580.5	3050.9	2572.6	0.00	0.00	0	73.82	66.32	0.00	0.00	0.005	0.000	0.000	1728.91	1712.94	1744.88	3051.00	2572.56	0	0	0	15.88	30.00	30.00
74.07	20775	-117.30	-1.95	80.00	1730.2	1711.8	1748.5	3051.2	2572.9	3.35	-1.53	7	125.89	31.63	8.42	3.86	0.006	0.139	0.153	2477.47	2451.62	2503.31	1807.50	4006.88	0	0	0	15.91	15.75	15.77
128.17	1028	-117.30	-1.95	0.00	2478.9	2452.9	2504.9	1807.3	4007.1	12.52	-18.17	16	134.48	0.00	0.00	3.67	0.000	0.000	0.094	2480.66	2454.19	2507.12	1807.62	2575.69	0	0	0	30.00	30.00	15.80
463.98	292	-117.30	-1.95	80.00	2481.3	2452.4	2510.2	1807.7	2575.4	58.40	-7.75	34	469.86	0.00	0.00	3.81	0.000	0.000	0.147	2481.62	2452.25	2511.00	1807.38	4009.06	0	0	0	30.00	30.00	15.85
513.25	1060	-117.30	-1.95	0.00	2480.8	2452.5	2509.2	1807.1	4009.1	60.36	-4.44	44	519.89	0.00	0.00	3.63	0.000	0.000	0.093	2481.81	2453.00	2510.62	1807.38	2574.38	0	0	0	30.00	30.00	15.90
900.09	292	-117.30	-1.95	80.00	2480.2	2450.6	2509.8	1807.2	2574.4	72.04	-3.40	59	906.42	0.00	0.00	3.82	0.000	0.000	0.146	2479.44	2449.50	2509.38	1807.06	4010.12	0	0	0	30.00	30.00	15.91
1034.41	1060	-117.30	-1.95	0.00	2479.9	2450.2	2509.6	1807.2	4010.2	77.62	-4.30	86	1040.34	0.00	0.00	3.62	0.000	0.000	0.094	2481.56	2451.69	2511.44	1806.94	2573.56	0	0	0	30.00	30.00	15.96
1405.15	548	-117.30	-1.95	-80.00	2479.4	2448.9	2509.9	1807.0	2573.9	90.72	-3.35	100	1411.48	0.00	0.00	3.84	0.000	0.000	0.173	2483.19	2453.31	2513.06	1807.38	1191.88	0	0	0	30.00	30.00	15.94
1529.47	1060	-117.30	-1.95	0.00	2479.7	2449.5	2509.8	1808.1	1191.8	94.77	-3.18	125	1535.33	0.00	0.00	3.46	0.000	0.000	0.080	2480.94	2450.88	2511.00	1807.81	2614.44	0	0	0	30.00	30.00	16.01
1910.21	292	-117.30	-1.95	80.00	2479.5	2449.4	2509.6	1807.1	2614.0	105.10	-2.88	141	1916.45	0.00	0.00	3.68	0.000	0.000	0.153	2482.44	2452.69	2512.19	1807.44	4006.75	0	0	0	30.00	30.00	16.00
2145.28	1060	-117.30	-1.95	0.00	2478.8	2448.1	2509.5	1807.1	4007.4	113.39	-3.58	188	2151.47	0.00	0.00	3.60	0.000	0.000	0.094	2478.84	2448.06	2509.62	1807.25	2573.12	0	0	0	30.00	30.00	16.04
2519.30	292	-117.30	-1.95	80.00	2479.2	2448.2	2510.2	1807.4	2572.8	120.70	-1.78	206	2525.75	0.00	0.00	3.76	0.000	0.000	0.147	2479.81	2448.69	2510.94	1805.06	4008.12	0	0	0	30.00	30.00	16.02
2754.39	1060	-117.30	-1.95	0.00	2478.9	2447.6	2510.1	1807.5	4008.5	126.22	-2.40	253	2760.76	0.00	0.00	3.60	0.000	0.000	0.095	2478.06	2447.00	2509.12	1807.12	2575.56	0	0	0	30.00	30.00	16.06
3139.39	548	-117.30	-1.95	-80.00	2478.8	2447.6	2509.9	1807.3	2575.1	133.82	-1.84	270	3145.91	0.00	0.00	3.85	0.000	0.000	0.173	2478.12	2446.69	2509.56	1806.50	1191.81	0	0	0	30.00	30.00	16.02
3308.72	1060	-117.30	-1.95	0.00	2478.6	2447.2	2510.0	1807.6	1191.8	136.57	-1.59	304	3315.47	0.00	0.00	3.45	0.000	0.000	0.081	2478.28	2446.88	2509.69	1807.62	2615.56	0	0	0	30.00	30.00	16.08
3704.46	292	-117.30	-1.95	80.00	2478.6	2447.4	2509.8	1807.2	2614.6	142.40	-1.56	318	3710.87	0.00	0.00	3.67	0.000	0.000	0.154	2480.84	2449.12	2512.56	1806.25	4007.75	0	0	0	30.00	30.00	16.06
3939.52	1060	-117.30	-1.95	0.00	2478.3	2446.7	2509.9	1807.0	4007.6	145.03	-1.05	365	3945.94	0.00	0.00	3.61	0.000	0.000	0.097	2477.12	2445.62	2508.62	1807.38	2573.12	0	0	0	30.00	30.00	16.09
4319.53	292	-117.30	-1.95	80.00	2478.4	2447.2	2509.5	1807.1	2573.4	149.35	-1.21	383	4326.16	0.00	0.00	3.74	0.000	0.000	0.149	2479.12	2447.50	2510.75	1804.81	4007.88	0	0	0	30.00	30.00	16.07
4554.61	1060	-117.30	-1.95	0.00	2478.0	2447.1	2508.9	1807.4	4008.0	151.85	-0.95	430	4561.02	0.00	0.00	3.62	0.000	0.000	0.098	2477.97	2446.31	2509.62	1806.94	2574.44	0	0	0	30.00	30.00	16.10
4789	end dive: NO_VERTICAL_VELOCITY
state	4789	begin apogee
4791.11	10243	0.00	-0.37	0.00	2478.8	2447.4	2510.2	1807.1	2728.4	152.86	0.00	442	4906.38	106.53	2.92	0.06	1.253	0.197	0.288	1997.72	1915.69	2079.75	2206.38	2697.81	0	0	0	11.89	16.06	15.58
4907	end apogee: CONTROL_FINISHED_OK
state	4907	begin climb
4908.87	10503	117.30	1.95	80.00	1996.9	1914.4	2079.4	2206.6	2697.9	150.81	0.00	445	5025.09	99.42	3.86	3.62	1.164	0.119	0.152	1520.66	1411.88	1629.44	2769.69	4006.31	0	0	0	11.84	15.63	15.34
5252.58	17414	117.30	1.95	0.00	1512.7	1412.7	1612.7	2769.9	4007.8	72.84	23.15	513	5258.63	0.00	0.00	3.40	0.000	0.000	0.090	1513.62	1414.00	1613.25	2769.12	2696.44	0	0	0	30.00	30.00	15.66
5633.36	10535	234.92	2.42	80.00	1510.8	1412.2	1609.4	2770.4	2696.4	42.02	2.99	529	5804.85	159.34	0.70	3.63	1.025	0.083	0.145	1041.66	923.94	1159.38	2888.56	4007.75	0	0	0	11.74	15.79	15.33
5807.39	1028	234.92	2.42	0.00	1041.5	924.9	1158.2	2888.6	4007.9	32.48	11.03	560	5813.34	0.00	0.00	3.46	0.000	0.000	0.085	1041.78	925.31	1158.25	2889.75	2695.75	0	0	0	30.00	30.00	15.41
6183.11	10535	372.18	2.97	80.00	1037.5	925.1	1149.9	2889.0	2695.2	11.58	1.96	600	6393.74	194.51	0.81	3.63	0.983	0.085	0.144	500.16	411.81	588.50	3018.06	4008.38	0	0	0	11.79	15.71	15.26
6426.27	11303	452.20	3.29	0.00	498.4	411.5	585.4	3018.8	4008.3	4.04	4.97	647	6433.26	0.00	0.47	3.47	0.000	0.103	0.085	498.88	411.75	586.00	3093.62	2695.19	0	0	0	30.00	15.41	15.42
6471	end climb: SURFACE_DEPTH_REACHED
state	6471	begin surface coast
6521	end surface coast: CONTROL_FINISHED_OK
state	6522	begin surface