Glider dive log

AMOS Aug23 * SG242 * Dive index * Mission links * Dive 367 * 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 367 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 360 COMM_SEQ 7 C_VBD 3350 MOTHERBOARD 6

D_ABORT 500 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 120 N_GPS 100440 LOITER_W_DBAND 2 COMPASS_DEVICE 66

T_MISSION 240 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 420 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 76.75589 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 160.6911 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 360 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 76.75589 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 160.6911 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 120

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 240

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 -1 PRESSURE_SLOPE 0.0014504 T_NO_W 420

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 367 MOTHERBOARD 6 ROLL_MIN 195 XPDR_DEVICE -1

D_ABORT 500 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 281023,043448,7329.959,-15820.424,3,1.0,6,10.3 TGT_RADIUS 5000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.56 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 281023,043854,7329.999,-15820.520,2,1.0,4,10.3 MHEAD_RNG_PITCHd_Wd 102.8,274,-27.2,-10.000,-30.00,972,0.169

SPEED_LIMITS 0.173,0.257 D_GRID 360

TGT_NAME LISTEN IRON 1.000000,-0.009257,-0.053423,0.010116,1.034731,-0.054137,0.017110,-0.053621,0.972647,775.238892,-938.352356,-733.033691

TGT_LATLONG 7330.000,-15820.000 OSC 8000266

Post-dive calculations and measurements:

NAV 1698474012,25.8,1,stop FG_AHR_24Vo 160.970

MODEM_MSG CACST,8,1,20231028060719.498647,18,1228,18,0209,0000,246,00,00,02,03,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*19 FG_AHR_10Vo 76.789

FINISH 0.4,1.021241 MEM0 59796,1,0,0

SM_CCo 6964.01,74.01,1.167,0,501.0,437.7,564.2,698.87 MEM1 65508,1,0,0

SM_GC 0.80,74.01,13.84,3.82,1.167,0.044,0.034,501.0,437.7,564.2,196.9,2129.7,0,0,0,10.41,15.49,15.51 MEM2 1026636,26,20012,70

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 35443,795

IRIDIUM_FIX 7330.68,-15824.58,281023,023445 CAP_FILE_SIZE 213556,0

TCM_TEMP 3.61 SDSIZE 3887104,3758272

RAFOS_CLK -2001 SDFILEDIR 2114,368

MODEM 9,1698473239,74.24940,-137.99570,439.499,643865.6 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 7543.599609,-14558.323242,261023,040428,2,510,305.13 SOUNDSPEED 1465.0

HUMID 49.77 CURRENT 0.057,349.7,1

TEMP 0.51 IMPLIED_C_PITCH 1683,12.79,384,0.0,0.00

INTERNAL_PRESSURE 7.66287 IMPLIED_C_VBD 3243,58.159328,326,0

_24V_AH 14.49,199.056 GPS 281023,063631,7329.827,-15819.396,28,0.8,29,10.3

_10V_AH 14.84,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 827 1667 19996.84 legato 3492 20 1012.25

Pitch_motor 30 243 106.62 nil 0 0 0.00

Roll_motor 75 195 212.28 nil 0 0 0.00

Iridium 138 218 439.21 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.07 nil 0 0 0.00

Core 5096 5 387.25 SciCon 0 0 0.00

Fast 18 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1964 0 9.33

Compass 726 5 53.94

RAFOS 1879 40 1115.72

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 3 begin dive

3.75 16386 -63.62 -2.13 0.00 487.6 427.1 548.1 192.9 2063.2 0.00 0.00 0 87.01 77.27 0.00 0.00 0.005 0.000 0.000 1837.03 1796.38 1877.69 192.81 2061.88 0 0 0 15.62 30.00 30.00

87.44 18727 -120.52 -2.20 80.00 1839.9 1799.2 1880.5 192.7 2062.2 3.25 -3.98 15 162.41 50.12 8.03 3.92 0.005 0.243 0.113 3842.38 3825.12 3859.62 1165.81 3567.75 0 0 0 15.65 15.25 15.46

398.61 1156 -120.52 -2.17 0.00 3845.1 3823.9 3866.4 1165.5 3567.1 87.08 -21.50 66 414.23 0.00 0.00 3.50 0.000 0.000 0.038 3845.62 3824.50 3866.75 1165.62 2068.19 0 0 0 30.00 30.00 15.66

784.06 260 -120.52 -2.17 80.00 3845.6 3824.3 3866.9 1165.8 2067.8 154.92 -17.18 105 800.47 0.00 0.00 3.83 0.000 0.000 0.113 3847.34 3825.38 3869.31 1165.25 3558.31 0 0 0 30.00 30.00 15.62

986.83 1156 -120.52 -2.14 0.00 3845.8 3824.1 3867.6 1165.9 3558.5 193.75 -19.26 133 1003.03 0.00 0.00 3.44 0.000 0.000 0.038 3846.19 3824.75 3867.62 1165.56 2068.94 0 0 0 30.00 30.00 15.74

1373.00 128 -120.52 -2.16 0.00 3845.8 3823.9 3867.7 1165.1 2069.4 245.52 -11.36 172 1382.41 0.00 0.00 0.00 0.000 0.000 0.000 3846.00 3824.19 3867.81 1165.38 2069.69 0 0 0 30.00 30.00 30.00

1753.35 388 -120.52 -2.18 80.00 3845.6 3823.9 3867.4 1165.5 2069.2 287.14 -11.09 188 1762.12 0.00 0.00 3.87 0.000 0.000 0.114 3845.16 3823.56 3866.75 1165.44 3566.00 0 0 0 30.00 30.00 15.68

1863.83 1028 -120.52 -2.18 0.00 3846.0 3823.9 3868.1 1165.6 3566.1 300.46 -12.26 208 1871.79 0.00 0.00 3.43 0.000 0.000 0.038 3845.72 3824.06 3867.38 1165.94 2071.25 0 0 0 30.00 30.00 15.82

2246.71 128 -120.52 -2.22 0.00 3845.2 3823.2 3867.2 1165.8 2070.8 344.89 -11.02 223 2248.46 0.00 0.00 0.00 0.000 0.000 0.000 3844.94 3822.94 3866.94 1165.62 2070.75 0 0 0 30.00 30.00 30.00

2397 end dive: TARGET_DEPTH_EXCEEDED

state 2397 begin apogee

2398.33 10243 0.00 -0.38 0.00 3845.3 3823.2 3867.5 1166.1 1965.4 361.12 -10.82 228 2510.32 97.60 3.17 0.10 1.667 0.137 0.195 3356.31 3278.50 3434.12 1609.31 2036.25 0 0 0 9.95 15.60 15.40

2511 end apogee: CONTROL_FINISHED_OK

state 2511 begin climb

2511.42 10759 120.52 2.20 -80.00 3353.8 3276.1 3431.5 1608.9 2036.0 362.60 0.00 231 2637.12 100.79 4.08 4.11 1.610 0.057 0.117 2861.91 2762.56 2961.25 2248.00 531.00 0 0 0 10.75 15.42 15.14

2776.69 21639 120.52 2.10 0.00 2848.3 2754.4 2942.2 2247.9 531.1 320.04 21.05 276 2785.20 0.00 0.37 3.57 0.000 0.202 0.039 2849.00 2755.00 2943.00 2206.25 2020.44 0 0 0 30.00 15.31 15.46

3149.75 16514 120.52 2.07 0.00 2845.8 2750.4 2941.1 2205.9 2020.9 252.11 16.09 289 3151.54 0.00 0.00 0.00 0.000 0.000 0.000 2844.00 2748.69 2939.31 2206.50 2020.50 0 0 0 30.00 30.00 30.00

3519.47 8870 130.01 2.06 -80.00 2844.3 2748.9 2939.8 2205.6 2021.4 206.47 9.00 324 3538.16 8.01 0.00 3.92 1.228 0.000 0.116 2819.06 2724.81 2913.31 2205.75 530.38 0 0 0 10.22 30.00 15.66

3639.00 9382 154.67 2.02 0.00 2816.9 2723.7 2910.2 2206.2 530.3 197.22 7.39 340 3672.00 22.51 0.00 3.49 1.416 0.000 0.037 2719.22 2621.81 2816.62 2206.12 2025.88 0 0 0 10.24 30.00 15.72

4041.97 8742 194.80 2.07 -80.00 2714.4 2618.7 2810.1 2206.2 2025.9 171.98 5.76 381 4090.03 34.21 0.00 3.97 1.408 0.000 0.116 2553.09 2457.44 2648.75 2205.75 530.06 0 0 0 10.02 30.00 15.57

4276.51 17542 194.80 2.03 0.00 2546.2 2456.0 2636.5 2205.8 529.8 149.05 11.09 413 4293.02 0.00 0.00 3.53 0.000 0.000 0.038 2546.16 2456.31 2636.00 2206.38 2025.00 0 0 0 30.00 30.00 15.67

4662.96 8742 222.91 2.06 -80.00 2545.6 2454.2 2636.9 2206.2 2024.6 119.17 7.03 452 4697.56 23.92 0.00 3.94 1.348 0.000 0.117 2440.62 2345.12 2536.12 2205.94 529.75 0 0 0 9.92 30.00 15.62

4737.90 9382 235.19 2.06 0.00 2435.3 2341.9 2528.8 2206.5 530.1 112.81 8.70 463 4767.21 11.73 0.00 3.52 1.225 0.000 0.037 2392.16 2294.69 2489.62 2206.12 2024.50 0 0 0 10.86 30.00 15.66

5135.47 8354 260.13 2.11 0.00 2386.2 2290.1 2482.2 2206.4 2024.7 78.52 7.36 501 5166.85 22.45 0.00 0.00 1.302 0.000 0.000 2286.91 2187.81 2386.00 2205.81 2024.50 0 0 0 10.16 30.00 30.00

5536.92 10919 309.32 2.21 -80.00 2280.3 2183.8 2376.8 2205.7 2024.5 51.30 4.80 541 5590.08 40.41 0.22 3.97 1.292 0.063 0.117 2086.22 1982.69 2189.75 2258.31 531.31 0 0 0 10.10 15.59 15.48

5697.61 9382 331.82 2.21 0.00 2081.4 1982.2 2180.6 2258.1 531.4 40.13 7.62 570 5727.35 19.96 0.00 3.56 1.239 0.000 0.037 1996.75 1892.25 2101.25 2258.25 2025.00 0 0 0 10.30 30.00 15.58

5909.79 8354 398.33 2.33 0.00 1989.5 1887.2 2091.8 2258.2 2025.0 30.74 2.97 612 5971.42 55.35 0.00 0.00 1.249 0.000 0.000 1725.94 1614.25 1837.62 2256.50 2024.56 0 0 0 10.21 30.00 30.00

6153.87 10663 477.43 2.49 80.00 1716.7 1607.2 1826.2 2258.1 2024.9 24.55 1.64 660 6233.95 65.37 0.26 3.81 1.234 0.054 0.117 1406.16 1306.19 1506.12 2324.56 3455.19 0 0 0 10.23 15.57 15.32

6461.52 9382 568.55 2.63 0.00 1395.6 1304.1 1487.1 2324.9 3455.8 19.76 0.37 720 6554.98 78.79 0.00 3.51 1.219 0.000 0.041 1034.03 946.50 1121.56 2325.19 1966.88 0 0 0 10.17 30.00 15.54

6737.47 10919 618.18 2.78 -80.00 1026.9 941.1 1112.8 2325.3 1966.9 9.18 4.75 774 6794.90 45.21 0.26 3.89 1.192 0.053 0.121 829.44 741.56 917.31 2393.00 530.31 0 0 0 10.44 15.54 15.37

6822 end climb: SURFACE_DEPTH_REACHED

state 6822 begin surface coast

6847 end surface coast: CONTROL_FINISHED_OK

state 6848 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	367	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	360	COMM_SEQ	7	C_VBD	3350	MOTHERBOARD	6
D_ABORT	500	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	120	N_GPS	100440	LOITER_W_DBAND	2	COMPASS_DEVICE	66
T_MISSION	240	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	420	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	76.75589	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	160.6911	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	281023,043448,7329.959,-15820.424,3,1.0,6,10.3	TGT_RADIUS	5000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.56	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	281023,043854,7329.999,-15820.520,2,1.0,4,10.3	MHEAD_RNG_PITCHd_Wd	102.8,274,-27.2,-10.000,-30.00,972,0.169
SPEED_LIMITS	0.173,0.257	D_GRID	360
TGT_NAME	LISTEN	IRON	1.000000,-0.009257,-0.053423,0.010116,1.034731,-0.054137,0.017110,-0.053621,0.972647,775.238892,-938.352356,-733.033691
TGT_LATLONG	7330.000,-15820.000	OSC	8000266

NAV	1698474012,25.8,1,stop	FG_AHR_24Vo	160.970
MODEM_MSG	CACST,8,1,20231028060719.498647,18,1228,18,0209,0000,246,00,00,02,03,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*19	FG_AHR_10Vo	76.789
FINISH	0.4,1.021241	MEM0	59796,1,0,0
SM_CCo	6964.01,74.01,1.167,0,501.0,437.7,564.2,698.87	MEM1	65508,1,0,0
SM_GC	0.80,74.01,13.84,3.82,1.167,0.044,0.034,501.0,437.7,564.2,196.9,2129.7,0,0,0,10.41,15.49,15.51	MEM2	1026636,26,20012,70
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	35443,795
IRIDIUM_FIX	7330.68,-15824.58,281023,023445	CAP_FILE_SIZE	213556,0
TCM_TEMP	3.61	SDSIZE	3887104,3758272
RAFOS_CLK	-2001	SDFILEDIR	2114,368
MODEM	9,1698473239,74.24940,-137.99570,439.499,643865.6	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	7543.599609,-14558.323242,261023,040428,2,510,305.13	SOUNDSPEED	1465.0
HUMID	49.77	CURRENT	0.057,349.7,1
TEMP	0.51	IMPLIED_C_PITCH	1683,12.79,384,0.0,0.00
INTERNAL_PRESSURE	7.66287	IMPLIED_C_VBD	3243,58.159328,326,0
_24V_AH	14.49,199.056	GPS	281023,063631,7329.827,-15819.396,28,0.8,29,10.3
_10V_AH	14.84,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	827	1667	19996.84	legato	3492	20	1012.25
Pitch_motor	30	243	106.62	nil	0	0	0.00
Roll_motor	75	195	212.28	nil	0	0	0.00
Iridium	138	218	439.21	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.07	nil	0	0	0.00
Core	5096	5	387.25	SciCon	0	0	0.00
Fast	18	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1964	0	9.33
Compass	726	5	53.94
RAFOS	1879	40	1115.72
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	3	begin dive
3.75	16386	-63.62	-2.13	0.00	487.6	427.1	548.1	192.9	2063.2	0.00	0.00	0	87.01	77.27	0.00	0.00	0.005	0.000	0.000	1837.03	1796.38	1877.69	192.81	2061.88	0	0	0	15.62	30.00	30.00
87.44	18727	-120.52	-2.20	80.00	1839.9	1799.2	1880.5	192.7	2062.2	3.25	-3.98	15	162.41	50.12	8.03	3.92	0.005	0.243	0.113	3842.38	3825.12	3859.62	1165.81	3567.75	0	0	0	15.65	15.25	15.46
398.61	1156	-120.52	-2.17	0.00	3845.1	3823.9	3866.4	1165.5	3567.1	87.08	-21.50	66	414.23	0.00	0.00	3.50	0.000	0.000	0.038	3845.62	3824.50	3866.75	1165.62	2068.19	0	0	0	30.00	30.00	15.66
784.06	260	-120.52	-2.17	80.00	3845.6	3824.3	3866.9	1165.8	2067.8	154.92	-17.18	105	800.47	0.00	0.00	3.83	0.000	0.000	0.113	3847.34	3825.38	3869.31	1165.25	3558.31	0	0	0	30.00	30.00	15.62
986.83	1156	-120.52	-2.14	0.00	3845.8	3824.1	3867.6	1165.9	3558.5	193.75	-19.26	133	1003.03	0.00	0.00	3.44	0.000	0.000	0.038	3846.19	3824.75	3867.62	1165.56	2068.94	0	0	0	30.00	30.00	15.74
1373.00	128	-120.52	-2.16	0.00	3845.8	3823.9	3867.7	1165.1	2069.4	245.52	-11.36	172	1382.41	0.00	0.00	0.00	0.000	0.000	0.000	3846.00	3824.19	3867.81	1165.38	2069.69	0	0	0	30.00	30.00	30.00
1753.35	388	-120.52	-2.18	80.00	3845.6	3823.9	3867.4	1165.5	2069.2	287.14	-11.09	188	1762.12	0.00	0.00	3.87	0.000	0.000	0.114	3845.16	3823.56	3866.75	1165.44	3566.00	0	0	0	30.00	30.00	15.68
1863.83	1028	-120.52	-2.18	0.00	3846.0	3823.9	3868.1	1165.6	3566.1	300.46	-12.26	208	1871.79	0.00	0.00	3.43	0.000	0.000	0.038	3845.72	3824.06	3867.38	1165.94	2071.25	0	0	0	30.00	30.00	15.82
2246.71	128	-120.52	-2.22	0.00	3845.2	3823.2	3867.2	1165.8	2070.8	344.89	-11.02	223	2248.46	0.00	0.00	0.00	0.000	0.000	0.000	3844.94	3822.94	3866.94	1165.62	2070.75	0	0	0	30.00	30.00	30.00
2397	end dive: TARGET_DEPTH_EXCEEDED
state	2397	begin apogee
2398.33	10243	0.00	-0.38	0.00	3845.3	3823.2	3867.5	1166.1	1965.4	361.12	-10.82	228	2510.32	97.60	3.17	0.10	1.667	0.137	0.195	3356.31	3278.50	3434.12	1609.31	2036.25	0	0	0	9.95	15.60	15.40
2511	end apogee: CONTROL_FINISHED_OK
state	2511	begin climb
2511.42	10759	120.52	2.20	-80.00	3353.8	3276.1	3431.5	1608.9	2036.0	362.60	0.00	231	2637.12	100.79	4.08	4.11	1.610	0.057	0.117	2861.91	2762.56	2961.25	2248.00	531.00	0	0	0	10.75	15.42	15.14
2776.69	21639	120.52	2.10	0.00	2848.3	2754.4	2942.2	2247.9	531.1	320.04	21.05	276	2785.20	0.00	0.37	3.57	0.000	0.202	0.039	2849.00	2755.00	2943.00	2206.25	2020.44	0	0	0	30.00	15.31	15.46
3149.75	16514	120.52	2.07	0.00	2845.8	2750.4	2941.1	2205.9	2020.9	252.11	16.09	289	3151.54	0.00	0.00	0.00	0.000	0.000	0.000	2844.00	2748.69	2939.31	2206.50	2020.50	0	0	0	30.00	30.00	30.00
3519.47	8870	130.01	2.06	-80.00	2844.3	2748.9	2939.8	2205.6	2021.4	206.47	9.00	324	3538.16	8.01	0.00	3.92	1.228	0.000	0.116	2819.06	2724.81	2913.31	2205.75	530.38	0	0	0	10.22	30.00	15.66
3639.00	9382	154.67	2.02	0.00	2816.9	2723.7	2910.2	2206.2	530.3	197.22	7.39	340	3672.00	22.51	0.00	3.49	1.416	0.000	0.037	2719.22	2621.81	2816.62	2206.12	2025.88	0	0	0	10.24	30.00	15.72
4041.97	8742	194.80	2.07	-80.00	2714.4	2618.7	2810.1	2206.2	2025.9	171.98	5.76	381	4090.03	34.21	0.00	3.97	1.408	0.000	0.116	2553.09	2457.44	2648.75	2205.75	530.06	0	0	0	10.02	30.00	15.57
4276.51	17542	194.80	2.03	0.00	2546.2	2456.0	2636.5	2205.8	529.8	149.05	11.09	413	4293.02	0.00	0.00	3.53	0.000	0.000	0.038	2546.16	2456.31	2636.00	2206.38	2025.00	0	0	0	30.00	30.00	15.67
4662.96	8742	222.91	2.06	-80.00	2545.6	2454.2	2636.9	2206.2	2024.6	119.17	7.03	452	4697.56	23.92	0.00	3.94	1.348	0.000	0.117	2440.62	2345.12	2536.12	2205.94	529.75	0	0	0	9.92	30.00	15.62
4737.90	9382	235.19	2.06	0.00	2435.3	2341.9	2528.8	2206.5	530.1	112.81	8.70	463	4767.21	11.73	0.00	3.52	1.225	0.000	0.037	2392.16	2294.69	2489.62	2206.12	2024.50	0	0	0	10.86	30.00	15.66
5135.47	8354	260.13	2.11	0.00	2386.2	2290.1	2482.2	2206.4	2024.7	78.52	7.36	501	5166.85	22.45	0.00	0.00	1.302	0.000	0.000	2286.91	2187.81	2386.00	2205.81	2024.50	0	0	0	10.16	30.00	30.00
5536.92	10919	309.32	2.21	-80.00	2280.3	2183.8	2376.8	2205.7	2024.5	51.30	4.80	541	5590.08	40.41	0.22	3.97	1.292	0.063	0.117	2086.22	1982.69	2189.75	2258.31	531.31	0	0	0	10.10	15.59	15.48
5697.61	9382	331.82	2.21	0.00	2081.4	1982.2	2180.6	2258.1	531.4	40.13	7.62	570	5727.35	19.96	0.00	3.56	1.239	0.000	0.037	1996.75	1892.25	2101.25	2258.25	2025.00	0	0	0	10.30	30.00	15.58
5909.79	8354	398.33	2.33	0.00	1989.5	1887.2	2091.8	2258.2	2025.0	30.74	2.97	612	5971.42	55.35	0.00	0.00	1.249	0.000	0.000	1725.94	1614.25	1837.62	2256.50	2024.56	0	0	0	10.21	30.00	30.00
6153.87	10663	477.43	2.49	80.00	1716.7	1607.2	1826.2	2258.1	2024.9	24.55	1.64	660	6233.95	65.37	0.26	3.81	1.234	0.054	0.117	1406.16	1306.19	1506.12	2324.56	3455.19	0	0	0	10.23	15.57	15.32
6461.52	9382	568.55	2.63	0.00	1395.6	1304.1	1487.1	2324.9	3455.8	19.76	0.37	720	6554.98	78.79	0.00	3.51	1.219	0.000	0.041	1034.03	946.50	1121.56	2325.19	1966.88	0	0	0	10.17	30.00	15.54
6737.47	10919	618.18	2.78	-80.00	1026.9	941.1	1112.8	2325.3	1966.9	9.18	4.75	774	6794.90	45.21	0.26	3.89	1.192	0.053	0.121	829.44	741.56	917.31	2393.00	530.31	0	0	0	10.44	15.54	15.37
6822	end climb: SURFACE_DEPTH_REACHED
state	6822	begin surface coast
6847	end surface coast: CONTROL_FINISHED_OK
state	6848	begin surface