Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 44 * 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 44 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 13.556795 FG_AHR_10V 3.1315167 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 14.643917 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 3.1315167 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 14.643917 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 13.556795 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 44 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 130823,203032,7605.418,-14236.475,0,6255.0,0,15.7 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 4.75 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130823,203032,7605.418,-14236.475,0,6255.0,0,15.7 MHEAD_RNG_PITCHd_Wd 145.0,69470,-20.2,-9.167,-25.06,1949,0.125

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 1691971150,3.0,start FG_AHR_24Vo 14.825

FREEZE 2.18,-0.787,-1.348,2,24,0 FG_AHR_10Vo 3.167

FINISH1 2.2,1.0199,215 MEM0 59796,1,0,0

FINISH2 2.2 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 1023052,32,22556,116

IRIDIUM_FIX 7559.12,-14226.97,130823,164047 DATA_FILE_SIZE 22530,786

TCM_TEMP 1.73 CAP_FILE_SIZE 208651,0

SC_FREEKB 3864672 SDSIZE 3918848,3893248

RAFOS_CLK 0 SDFILEDIR 368,45

RAFOS_FIX 7605.417969,-14236.474609,130823,202032,5,255,0.88 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 48.34 SOUNDSPEED 1465.0

TEMP -0.49 MAGCAL 1.000000,-0.017502,-0.057830,-0.069309,1.061234,-0.177583,0.063960,-0.003489,0.918376,-1042.5,-42.7,496.8,36,0.1473,0

INTERNAL_PRESSURE 8.08456 IMPLIED_C_PITCH 2317,13.45,174,0.0,13.50

_24V_AH 14.94,17.301 GPS 130823,203032,7605.418,-14236.475,0,6255.0,0,15.7

_10V_AH 15.00,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 649 1248 12117.82 nil 0 0 0.00

Pitch_motor 25 311 120.69 nil 0 0 0.00

Roll_motor 90 264 356.96 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 2570 5 197.40 SciCon 6995 6 671.73

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4445 0 21.34

Compass 1285 5 96.40

RAFOS 765 40 459.19

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

5.86 16386 -117.30 -1.96 0.00 499.7 408.9 590.4 220.0 2577.5 0.00 0.00 0 27.22 20.38 0.00 0.00 0.006 0.000 0.000 856.09 807.62 904.56 219.94 2578.31 0 0 0 15.72 30.00 30.00

27.45 18695 -117.30 -1.96 80.00 856.3 807.4 905.3 219.6 2578.4 3.05 -10.80 2 113.35 58.80 13.60 3.96 0.005 0.311 0.154 2480.19 2456.69 2503.69 1818.25 4007.56 0 0 0 15.71 15.54 15.64

235.68 1028 -117.30 -1.96 0.00 2480.7 2455.7 2505.6 1819.3 4007.9 43.38 -19.01 43 241.95 0.00 0.00 3.55 0.000 0.000 0.098 2480.88 2456.50 2505.25 1818.94 2575.25 0 0 0 30.00 30.00 15.72

606.74 292 -117.30 -1.96 80.00 2480.7 2456.2 2505.2 1818.9 2573.9 66.27 -2.80 56 615.18 0.00 0.00 3.89 0.000 0.000 0.142 2482.53 2458.19 2506.88 1818.88 4007.38 0 0 0 30.00 30.00 15.76

845.15 1060 -117.30 -1.96 0.00 2478.6 2451.9 2505.3 1819.2 4008.1 73.94 -3.31 104 851.38 0.00 0.00 3.65 0.000 0.000 0.093 2481.47 2456.31 2506.62 1818.00 2575.56 0 0 0 30.00 30.00 15.87

1230.17 292 -117.30 -1.96 80.00 2478.6 2451.6 2505.7 1818.8 2575.7 86.18 -3.64 121 1236.49 0.00 0.00 3.86 0.000 0.000 0.143 2479.62 2453.12 2506.12 1818.94 4008.56 0 0 0 30.00 30.00 15.89

1465.24 1060 -117.30 -1.96 0.00 2478.1 2450.6 2505.7 1818.9 4009.8 94.83 -3.71 168 1471.47 0.00 0.00 3.64 0.000 0.000 0.092 2480.31 2452.25 2508.38 1819.12 2573.12 0 0 0 30.00 30.00 15.97

1850.25 292 -117.30 -1.96 80.00 2478.1 2450.6 2505.6 1819.6 2573.4 105.34 -2.70 185 1856.57 0.00 0.00 3.84 0.000 0.000 0.144 2478.91 2450.88 2506.94 1819.56 4008.38 0 0 0 30.00 30.00 15.96

2085.32 1060 -117.30 -1.96 0.00 2477.7 2450.1 2505.3 1819.1 4008.1 112.93 -3.17 232 2091.56 0.00 0.00 3.64 0.000 0.000 0.093 2479.84 2451.69 2508.00 1819.31 2573.56 0 0 0 30.00 30.00 16.01

2474.34 292 -117.30 -1.96 80.00 2477.9 2450.2 2505.6 1819.0 2573.1 121.36 -1.95 250 2480.65 0.00 0.00 3.82 0.000 0.000 0.144 2476.47 2449.62 2503.31 1819.19 4008.25 0 0 0 30.00 30.00 16.00

2709.44 1060 -117.30 -1.96 0.00 2477.6 2449.8 2505.4 1819.2 4008.1 126.87 -2.41 297 2715.85 0.00 0.00 3.63 0.000 0.000 0.094 2475.94 2447.75 2504.12 1819.50 2574.31 0 0 0 30.00 30.00 16.05

3094.46 292 -117.30 -1.96 80.00 2477.9 2450.0 2505.8 1818.9 2574.8 131.78 -1.18 314 3101.10 0.00 0.00 3.82 0.000 0.000 0.143 2477.41 2450.31 2504.50 1819.50 4008.25 0 0 0 30.00 30.00 16.03

3329.51 1060 -117.30 -1.96 0.00 2477.0 2449.8 2504.3 1819.2 4008.3 135.41 -1.76 361 3335.94 0.00 0.00 3.65 0.000 0.000 0.095 2478.69 2451.31 2506.06 1819.44 2575.75 0 0 0 30.00 30.00 16.07

3714.53 292 -117.30 -1.96 80.00 2477.7 2449.8 2505.6 1819.3 2575.6 141.50 -1.51 378 3721.04 0.00 0.00 3.81 0.000 0.000 0.143 2476.38 2449.06 2503.69 1818.94 4008.38 0 0 0 30.00 30.00 16.05

3949.59 1060 -117.30 -1.96 0.00 2477.6 2450.0 2505.2 1819.1 4008.1 144.09 -1.08 425 3956.02 0.00 0.00 3.64 0.000 0.000 0.096 2478.38 2449.69 2507.06 1819.44 2574.69 0 0 0 30.00 30.00 16.10

4334.61 292 -117.30 -1.96 80.00 2477.9 2449.6 2506.1 1818.8 2574.9 148.34 -1.13 443 4341.13 0.00 0.00 3.81 0.000 0.000 0.144 2478.28 2450.19 2506.38 1819.31 4007.00 0 0 0 30.00 30.00 16.06

4569.66 1060 -117.30 -1.96 0.00 2477.2 2449.4 2504.9 1819.1 4007.1 150.79 -0.94 490 4576.09 0.00 0.00 3.64 0.000 0.000 0.096 2476.06 2447.31 2504.81 1819.25 2575.31 0 0 0 30.00 30.00 16.10

4804 end dive: NO_VERTICAL_VELOCITY

state 4804 begin apogee

4806.18 10243 0.00 -0.37 0.00 2477.3 2449.7 2505.0 1819.1 2728.4 152.33 0.00 502 4920.81 105.86 2.85 0.07 1.249 0.196 0.264 1997.38 1917.19 2077.56 2206.12 2697.19 0 0 0 11.98 16.05 15.61

4922 end apogee: CONTROL_FINISHED_OK

state 4922 begin climb

4923.29 10759 117.30 1.96 -80.00 1996.8 1916.4 2077.2 2206.2 2696.8 150.15 0.00 505 5040.61 99.42 3.94 4.24 1.160 0.129 0.169 1519.53 1409.44 1629.62 2771.62 1249.38 0 0 0 11.77 15.64 15.36

5158.08 1028 117.30 1.96 0.00 1514.2 1409.6 1618.7 2771.2 1249.2 95.42 26.34 551 5165.33 0.00 0.00 3.72 0.000 0.000 0.082 1513.03 1408.75 1617.31 2771.56 2727.00 0 0 0 30.00 30.00 15.62

5553.86 10535 195.02 2.27 80.00 1511.2 1410.2 1612.3 2771.9 2727.6 44.28 5.09 565 5670.85 106.54 0.46 3.57 1.025 0.100 0.149 1204.50 1087.56 1321.44 2850.38 4005.44 0 0 0 11.85 15.83 15.45

5898.38 11303 233.09 2.42 0.00 1200.7 1088.2 1313.2 2850.4 4005.8 22.10 7.17 633 5968.41 60.06 0.19 3.39 0.987 0.123 0.084 1050.75 934.38 1167.12 2886.19 2695.69 0 0 0 11.80 15.69 15.72

6274.12 10535 379.01 3.00 80.00 1046.4 933.5 1159.2 2886.0 2694.8 11.08 1.51 677 6486.61 198.46 0.89 3.68 0.975 0.088 0.142 500.38 408.25 592.50 3029.00 4006.88 0 0 0 11.72 15.76 15.30

6509.88 11303 476.45 3.39 0.00 499.3 408.1 590.6 3027.9 4007.1 4.18 4.05 722 6517.55 0.00 0.57 3.47 0.000 0.093 0.082 499.06 408.00 590.12 3121.44 2695.38 0 0 0 30.00 15.42 15.45

6818.14 10791 646.29 4.07 -80.00 497.0 408.1 585.9 3122.2 2694.9 3.05 0.25 753 6829.48 0.00 1.02 4.13 0.000 0.080 0.161 497.31 408.38 586.25 3289.25 1248.44 0 0 0 30.00 15.69 15.65

6968.15 11303 809.54 4.73 0.00 496.7 408.6 584.8 3290.3 1248.4 2.12 0.60 783 6976.18 0.00 0.95 3.72 0.000 0.094 0.078 496.69 408.62 584.75 3447.88 2730.50 0 0 0 30.00 15.73 15.75

6983 end climb: NO_VERTICAL_VELOCITY

state 6983 begin subsurface finish

6984.54 32039 215.17 0.86 80.00 496.7 408.6 584.9 3447.4 2694.6 2.18 0.57 785 6987.47 0.00 1.47 0.00 0.000 0.273 0.000 496.78 408.69 584.88 3259.56 2695.12 0 0 0 30.00 15.65 30.00

6987 end subsurface finish: NO_VERTICAL_VELOCITY

state 6987 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	44	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	13.556795	FG_AHR_10V	3.1315167	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	14.643917	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	130823,203032,7605.418,-14236.475,0,6255.0,0,15.7	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	4.75	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130823,203032,7605.418,-14236.475,0,6255.0,0,15.7	MHEAD_RNG_PITCHd_Wd	145.0,69470,-20.2,-9.167,-25.06,1949,0.125
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	1691971150,3.0,start	FG_AHR_24Vo	14.825
FREEZE	2.18,-0.787,-1.348,2,24,0	FG_AHR_10Vo	3.167
FINISH1	2.2,1.0199,215	MEM0	59796,1,0,0
FINISH2	2.2	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	1023052,32,22556,116
IRIDIUM_FIX	7559.12,-14226.97,130823,164047	DATA_FILE_SIZE	22530,786
TCM_TEMP	1.73	CAP_FILE_SIZE	208651,0
SC_FREEKB	3864672	SDSIZE	3918848,3893248
RAFOS_CLK	0	SDFILEDIR	368,45
RAFOS_FIX	7605.417969,-14236.474609,130823,202032,5,255,0.88	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	48.34	SOUNDSPEED	1465.0
TEMP	-0.49	MAGCAL	1.000000,-0.017502,-0.057830,-0.069309,1.061234,-0.177583,0.063960,-0.003489,0.918376,-1042.5,-42.7,496.8,36,0.1473,0
INTERNAL_PRESSURE	8.08456	IMPLIED_C_PITCH	2317,13.45,174,0.0,13.50
_24V_AH	14.94,17.301	GPS	130823,203032,7605.418,-14236.475,0,6255.0,0,15.7
_10V_AH	15.00,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	649	1248	12117.82	nil	0	0	0.00
Pitch_motor	25	311	120.69	nil	0	0	0.00
Roll_motor	90	264	356.96	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	2570	5	197.40	SciCon	6995	6	671.73
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4445	0	21.34
Compass	1285	5	96.40
RAFOS	765	40	459.19
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
5.86	16386	-117.30	-1.96	0.00	499.7	408.9	590.4	220.0	2577.5	0.00	0.00	0	27.22	20.38	0.00	0.00	0.006	0.000	0.000	856.09	807.62	904.56	219.94	2578.31	0	0	0	15.72	30.00	30.00
27.45	18695	-117.30	-1.96	80.00	856.3	807.4	905.3	219.6	2578.4	3.05	-10.80	2	113.35	58.80	13.60	3.96	0.005	0.311	0.154	2480.19	2456.69	2503.69	1818.25	4007.56	0	0	0	15.71	15.54	15.64
235.68	1028	-117.30	-1.96	0.00	2480.7	2455.7	2505.6	1819.3	4007.9	43.38	-19.01	43	241.95	0.00	0.00	3.55	0.000	0.000	0.098	2480.88	2456.50	2505.25	1818.94	2575.25	0	0	0	30.00	30.00	15.72
606.74	292	-117.30	-1.96	80.00	2480.7	2456.2	2505.2	1818.9	2573.9	66.27	-2.80	56	615.18	0.00	0.00	3.89	0.000	0.000	0.142	2482.53	2458.19	2506.88	1818.88	4007.38	0	0	0	30.00	30.00	15.76
845.15	1060	-117.30	-1.96	0.00	2478.6	2451.9	2505.3	1819.2	4008.1	73.94	-3.31	104	851.38	0.00	0.00	3.65	0.000	0.000	0.093	2481.47	2456.31	2506.62	1818.00	2575.56	0	0	0	30.00	30.00	15.87
1230.17	292	-117.30	-1.96	80.00	2478.6	2451.6	2505.7	1818.8	2575.7	86.18	-3.64	121	1236.49	0.00	0.00	3.86	0.000	0.000	0.143	2479.62	2453.12	2506.12	1818.94	4008.56	0	0	0	30.00	30.00	15.89
1465.24	1060	-117.30	-1.96	0.00	2478.1	2450.6	2505.7	1818.9	4009.8	94.83	-3.71	168	1471.47	0.00	0.00	3.64	0.000	0.000	0.092	2480.31	2452.25	2508.38	1819.12	2573.12	0	0	0	30.00	30.00	15.97
1850.25	292	-117.30	-1.96	80.00	2478.1	2450.6	2505.6	1819.6	2573.4	105.34	-2.70	185	1856.57	0.00	0.00	3.84	0.000	0.000	0.144	2478.91	2450.88	2506.94	1819.56	4008.38	0	0	0	30.00	30.00	15.96
2085.32	1060	-117.30	-1.96	0.00	2477.7	2450.1	2505.3	1819.1	4008.1	112.93	-3.17	232	2091.56	0.00	0.00	3.64	0.000	0.000	0.093	2479.84	2451.69	2508.00	1819.31	2573.56	0	0	0	30.00	30.00	16.01
2474.34	292	-117.30	-1.96	80.00	2477.9	2450.2	2505.6	1819.0	2573.1	121.36	-1.95	250	2480.65	0.00	0.00	3.82	0.000	0.000	0.144	2476.47	2449.62	2503.31	1819.19	4008.25	0	0	0	30.00	30.00	16.00
2709.44	1060	-117.30	-1.96	0.00	2477.6	2449.8	2505.4	1819.2	4008.1	126.87	-2.41	297	2715.85	0.00	0.00	3.63	0.000	0.000	0.094	2475.94	2447.75	2504.12	1819.50	2574.31	0	0	0	30.00	30.00	16.05
3094.46	292	-117.30	-1.96	80.00	2477.9	2450.0	2505.8	1818.9	2574.8	131.78	-1.18	314	3101.10	0.00	0.00	3.82	0.000	0.000	0.143	2477.41	2450.31	2504.50	1819.50	4008.25	0	0	0	30.00	30.00	16.03
3329.51	1060	-117.30	-1.96	0.00	2477.0	2449.8	2504.3	1819.2	4008.3	135.41	-1.76	361	3335.94	0.00	0.00	3.65	0.000	0.000	0.095	2478.69	2451.31	2506.06	1819.44	2575.75	0	0	0	30.00	30.00	16.07
3714.53	292	-117.30	-1.96	80.00	2477.7	2449.8	2505.6	1819.3	2575.6	141.50	-1.51	378	3721.04	0.00	0.00	3.81	0.000	0.000	0.143	2476.38	2449.06	2503.69	1818.94	4008.38	0	0	0	30.00	30.00	16.05
3949.59	1060	-117.30	-1.96	0.00	2477.6	2450.0	2505.2	1819.1	4008.1	144.09	-1.08	425	3956.02	0.00	0.00	3.64	0.000	0.000	0.096	2478.38	2449.69	2507.06	1819.44	2574.69	0	0	0	30.00	30.00	16.10
4334.61	292	-117.30	-1.96	80.00	2477.9	2449.6	2506.1	1818.8	2574.9	148.34	-1.13	443	4341.13	0.00	0.00	3.81	0.000	0.000	0.144	2478.28	2450.19	2506.38	1819.31	4007.00	0	0	0	30.00	30.00	16.06
4569.66	1060	-117.30	-1.96	0.00	2477.2	2449.4	2504.9	1819.1	4007.1	150.79	-0.94	490	4576.09	0.00	0.00	3.64	0.000	0.000	0.096	2476.06	2447.31	2504.81	1819.25	2575.31	0	0	0	30.00	30.00	16.10
4804	end dive: NO_VERTICAL_VELOCITY
state	4804	begin apogee
4806.18	10243	0.00	-0.37	0.00	2477.3	2449.7	2505.0	1819.1	2728.4	152.33	0.00	502	4920.81	105.86	2.85	0.07	1.249	0.196	0.264	1997.38	1917.19	2077.56	2206.12	2697.19	0	0	0	11.98	16.05	15.61
4922	end apogee: CONTROL_FINISHED_OK
state	4922	begin climb
4923.29	10759	117.30	1.96	-80.00	1996.8	1916.4	2077.2	2206.2	2696.8	150.15	0.00	505	5040.61	99.42	3.94	4.24	1.160	0.129	0.169	1519.53	1409.44	1629.62	2771.62	1249.38	0	0	0	11.77	15.64	15.36
5158.08	1028	117.30	1.96	0.00	1514.2	1409.6	1618.7	2771.2	1249.2	95.42	26.34	551	5165.33	0.00	0.00	3.72	0.000	0.000	0.082	1513.03	1408.75	1617.31	2771.56	2727.00	0	0	0	30.00	30.00	15.62
5553.86	10535	195.02	2.27	80.00	1511.2	1410.2	1612.3	2771.9	2727.6	44.28	5.09	565	5670.85	106.54	0.46	3.57	1.025	0.100	0.149	1204.50	1087.56	1321.44	2850.38	4005.44	0	0	0	11.85	15.83	15.45
5898.38	11303	233.09	2.42	0.00	1200.7	1088.2	1313.2	2850.4	4005.8	22.10	7.17	633	5968.41	60.06	0.19	3.39	0.987	0.123	0.084	1050.75	934.38	1167.12	2886.19	2695.69	0	0	0	11.80	15.69	15.72
6274.12	10535	379.01	3.00	80.00	1046.4	933.5	1159.2	2886.0	2694.8	11.08	1.51	677	6486.61	198.46	0.89	3.68	0.975	0.088	0.142	500.38	408.25	592.50	3029.00	4006.88	0	0	0	11.72	15.76	15.30
6509.88	11303	476.45	3.39	0.00	499.3	408.1	590.6	3027.9	4007.1	4.18	4.05	722	6517.55	0.00	0.57	3.47	0.000	0.093	0.082	499.06	408.00	590.12	3121.44	2695.38	0	0	0	30.00	15.42	15.45
6818.14	10791	646.29	4.07	-80.00	497.0	408.1	585.9	3122.2	2694.9	3.05	0.25	753	6829.48	0.00	1.02	4.13	0.000	0.080	0.161	497.31	408.38	586.25	3289.25	1248.44	0	0	0	30.00	15.69	15.65
6968.15	11303	809.54	4.73	0.00	496.7	408.6	584.8	3290.3	1248.4	2.12	0.60	783	6976.18	0.00	0.95	3.72	0.000	0.094	0.078	496.69	408.62	584.75	3447.88	2730.50	0	0	0	30.00	15.73	15.75
6983	end climb: NO_VERTICAL_VELOCITY
state	6983	begin subsurface finish
6984.54	32039	215.17	0.86	80.00	496.7	408.6	584.9	3447.4	2694.6	2.18	0.57	785	6987.47	0.00	1.47	0.00	0.000	0.273	0.000	496.78	408.69	584.88	3259.56	2695.12	0	0	0	30.00	15.65	30.00
6987	end subsurface finish: NO_VERTICAL_VELOCITY
state	6987	begin surface