Glider dive log

AMOS Jul22 * SG242 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 242 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -3.2

MISSION 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 7 SM_CC 595.40039 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 7 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 6

STOP_T 0 FILEMGR 0 C_VBD 2890 DEVICE1 -1

D_SURF 2 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_FLARE 3 COMM_SEQ 15 VBD_CNV -0.24529999 DEVICE3 -1

D_TGT 180 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 500 N_NOCOMM 1 VBD_TIMEOUT 720 DEVICE5 -1

D_NO_BLEED 200 NOCOMM_ACTION 131 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

D_BOOST 0 N_NOSURFACE 0 UNCOM_BLEED 20 LOGGERS 7

T_BOOST 0 UPLOAD_DIVES_MAX -1 VBD_MAXERRORS 1 LOGGERDEVICE1 7

D_FINISH 0 CALL_TRIES 5 C_VBD_AUTO_DELTA 0 LOGGERDEVICE2 35

D_PITCH 0 CALL_WAIT 60 C_VBD_AUTO_MAX 0 LOGGERDEVICE3 -1

D_SAFE 0 CAPUPLOAD 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

D_CALL 0 CAPMAXSIZE 100000 DBDW 0 COMPASS_DEVICE 66

SURFACE_URGENCY 0 T_GPS 5 LOITER_W_DBAND 0 COMPASS2_DEVICE -1

SURFACE_URGENCY_TRY 0 N_GPS 100440 LOITER_DBDW 0 PHONE_DEVICE 33

SURFACE_URGENCY_FORCE 0 T_RSLEEP 3 LOITER_D_TOP 0 GPS_DEVICE 48

T_DIVE 60 STROBE 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE 96

T_MISSION 75 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 NAV_DEVICE 6

T_ABORT 1440 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 NAV2_DEVICE 6

T_TURN 225 RAFOS_HIT_WINDOW 3600 AH0_24V 575 NETWORK_DEVICE 1

T_TURN_SAMPINT -5 RAFOS_MMODEM 0 AH0_10V 0 PRESSURE_DEVICE 34

T_NO_W 120 PITCH_MIN 220 MINV_24V 11 XPDR_DEVICE -1

T_LOITER 0 PITCH_MAX 3610 MINV_10V 11 SIM_W 0

T_EPIRB 0 C_PITCH 1686.3026 MAXI_24V 5 SEABIRD_T_G 0.0043000001

USE_BATHY -1 PITCH_DBAND 0.1 MAXI_10V 1.5 SEABIRD_T_H 0.00063999998

USE_ICE 0 PITCH_CNV 0.0041299998 FG_AHR_10V 19.718168 SEABIRD_T_I 2.4999999e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 16.130341 FG_AHR_24V 4.7358561 SEABIRD_T_J 4.3e-06

D_OFFGRID 100 PITCH_TIMEOUT 30 PHONE_SUPPLY 2 SEABIRD_C_G -10

RELAUNCH 1 PITCH_MAXERRORS 1 PRESSURE_YINT -182.32567 SEABIRD_C_H 1

APOGEE_PITCH -5 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00022512203 SEABIRD_C_I -0.0020000001

MAX_BUOY 150 PITCH_ADJ_DBAND 2 COMPASS_USE 49156 SEABIRD_C_J 0.00019999999

GLIDE_SLOPE 30 C_PITCH_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 OPTIONS 0

SPEED_FACTOR 1 C_PITCH_AUTO_MAX 200 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 3.0

MASS 72936 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

NAV_MODE 2 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_NDIVE 1.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MIN 195 ALTIM_PING_DELTA 0 PM_PROFILE 3.0

HD_A 0.003 ROLL_MAX 3800 ALTIM_FREQUENCY 13 PM_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_DEG 80 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_DIVE 2000 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING 22 C_ROLL_CLIMB 2000 XPDR_VALID 4 PM_MOTORS 0.0

ESCAPE_HEADING 0 HEAD_ERRBAND 10 XPDR_INHIBIT 90 PM_SENDDEPTH 0.0

ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054945 XPDR_INT 0

FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_REP 0

TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 1.9639999e-06

AH0_10V 0 D_SAFE 0 N_NOSURFACE 0 SEABIRD_C_H 1

AH0_24V 575 D_SURF 2 OPTIONS 0 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PHONE_DEVICE 33 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 FG_AHR_10V 19.718168 PITCH_CNV 0.0041299998 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FG_AHR_24V 4.7358561 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 16.130341 SM_CC 595.40039

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_GAIN_AUTO_DELTA 0.5 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_MAX 2 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAX 3610 STROBE 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_MIN 220 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_C 1.6e-05 PITCH_TIMEOUT 30 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HEADING 22 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 ID 242 PM_MOTORS 0.0 T_ABORT 1440

COMM_SEQ 15 INT_PRESSURE_SLOPE 1.9639999e-06 PM_NDIVE 1.0 T_BOOST 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3.2 PM_PROFILE 3.0 T_DIVE 60

COMPASS_DEVICE 66 KALMAN_USE 2 PM_RECORDABOVE 2000.0 T_EPIRB 0

COMPASS_USE 49156 LOGGERDEVICE1 7 PM_SENDDEPTH 0.0 T_GPS 5

C_PITCH 1686.3026 LOGGERDEVICE2 35 PM_XMITPROFILE 3.0 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE3 -1 PM_XMITRAW 0.0 T_MISSION 75

C_PITCH_AUTO_MAX 200 LOGGERDEVICE4 -1 PRESSURE_DEVICE 34 T_NO_W 120

C_ROLL_CLIMB 2000 LOGGERS 7 PRESSURE_SLOPE 0.00022512203 T_RSLEEP 3

C_ROLL_DIVE 2000 LOITER_DBDW 0 PRESSURE_YINT -182.32567 T_TURN 225

C_VBD 2890 LOITER_D_BOTTOM 0 PROTOCOL 9 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_D_TOP 0 RAFOS_CORR_THRESH 60 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_N_DIVE 0 RAFOS_DEVICE 96 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_W_DBAND 0 RAFOS_HIT_WINDOW 3600 USE_BATHY -1

DEEPGLIDER 0 MASS 72936 RAFOS_MMODEM 0 USE_ICE 0

DEEPGLIDERMB 0 MAXI_10V 1.5 RAFOS_PEAK_OFFSET 0 VBD_CNV -0.24529999

DEVICE1 -1 MAXI_24V 5 RELAUNCH 1 VBD_DBAND 2

DEVICE2 -1 MAX_BUOY 150 RHO 1.0275 VBD_LP_IGNORE 0

DEVICE3 -1 MINV_10V 11 ROLL_ADJ_DBAND 0 VBD_MAX 3960

DEVICE4 -1 MINV_24V 11 ROLL_ADJ_GAIN 0 VBD_MAXERRORS 1

DEVICE5 -1 MISSION 2 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 720

DIVE 7 NAV2_DEVICE 6 ROLL_MAX 3800 W_ADJ_DBAND 0

D_ABORT 500 NAV_DEVICE 6 ROLL_MAXERRORS 1 XPDR_DEVICE -1

D_BOOST 0 NAV_MODE 2 ROLL_MIN 195 XPDR_INHIBIT 90

D_CALL 0 NETWORK_DEVICE 1 ROLL_TIMEOUT 15 XPDR_INT 0

D_FINISH 0 NOCOMM_ACTION 131 SC_NDIVE 1.0 XPDR_REP 0

D_FLARE 3 N_DIVES 7 SC_PROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 200 N_FILEKB 8 SC_RECORDABOVE 2000.0

D_OFFGRID 100 N_GPS 100440 SC_XMITPROFILE 3.0

D_PITCH 0 N_NOCOMM 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 130722,020707,4721.824,-12523.001,2,0.9,4,15.8 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.64 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130722,020859,4721.799,-12523.021,3,0.9,6,15.8 MHEAD_RNG_PITCHd_Wd 349.9,20000,-17.6,-10.000,-21.24,2209,0.152

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME HEADING IRON 1.000000,0.015334,-0.123591,-0.022416,1.049678,-0.036701,-0.000173,-0.084301,1.124830,859.849731,-817.228638,-700.200439

TGT_LATLONG 4731.812,-12517.029

Post-dive calculations and measurements:

NAV 1657681141,50.3,start FG_AHR_24Vo 4.896

FINISH 0.4,1.022703 FG_AHR_10Vo 19.804

SM_CCo 3798.51,3.16,0.244,0,500.6,567.3,433.8,586.13 MEM0 60108,1,0,0

SM_GC 2.14,3.16,11.88,3.49,0.244,0.053,0.070,500.6,567.3,433.8,202.9,1977.9,0,0,0,11.42,15.53,15.54 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 965572,30,80856,77

IRIDIUM_FIX 4722.06,-12521.92,130722,020509 DATA_FILE_SIZE 16094,543

TCM_TEMP 14.97 CAP_FILE_SIZE 196142,0

SC_FREEKB 3876544 SDSIZE 3887104,3868512

PM_FREEKB_00 62032768 SDFILEDIR 94,1

PM_ACTIVECARD 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

RAFOS_FIX 4700.000000,-12248.580078,130722,000002,2,510,7735.12 CURRENT 0.073,150.3,1

HUMID 53.59 MAGCAL 1.000000,0.018499,0.066720,-0.016464,1.041157,-0.084738,-0.017321,-0.057581,0.968433,719.4,-828.6,-616.2,35,0.0351,0

TEMP 11.55 IMPLIED_C_PITCH 1677,16.07,250,1681.4,16.10

INTERNAL_PRESSURE 7.79975 IMPLIED_C_VBD 3008,67.221916,194,0

_24V_AH 14.89,3.469 GPS 130722,031339,4722.017,-12522.812,1,1.1,4,15.8

_10V_AH 14.91,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 645 1177 11320.43 nil 0 0 0.00

Pitch_motor 25 248 92.84 nil 0 0 0.00

Roll_motor 77 186 216.44 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 15 15 3.43 nil 0 0 0.00

Core 2216 5 169.23 SciCon 3763 6 386.35

Fast 0 0 0.00 PMAR 3770 12 719.27

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1614 0 7.71

Compass 1120 5 83.51

RAFOS 2790 40 1664.47

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

12.38 16386 -145.99 -1.27 0.00 499.1 567.7 430.5 205.3 1968.5 0.00 0.00 0 76.98 59.76 0.00 0.00 0.005 0.000 0.000 1932.00 1965.31 1898.69 205.38 1966.81 0 0 0 14.36 30.00 30.00

77.40 18983 -145.99 -1.27 -80.00 1931.9 1966.8 1897.1 205.1 1966.1 3.05 -2.45 11 143.83 41.20 8.73 3.52 0.005 0.249 0.128 3482.69 3519.00 3446.38 1379.00 533.00 0 0 0 15.79 15.62 15.70

147.31 1028 -145.99 -1.27 0.00 3483.4 3520.3 3446.6 1379.2 532.8 15.22 -19.38 23 154.92 0.00 0.00 3.44 0.000 0.000 0.054 3485.16 3522.56 3447.75 1378.69 2030.19 0 0 0 30.00 30.00 15.75

343.34 260 -145.99 -1.27 80.00 3485.4 3523.1 3447.6 1379.1 2030.9 51.78 -16.37 61 351.25 0.00 0.00 3.45 0.000 0.000 0.114 3485.31 3524.00 3446.62 1378.25 3467.94 0 0 0 30.00 30.00 15.77

439.74 1028 -145.99 -1.27 0.00 3486.1 3525.4 3446.8 1378.4 3467.2 67.08 -14.93 80 447.65 0.00 0.00 3.41 0.000 0.000 0.060 3485.78 3524.94 3446.62 1378.12 1973.06 0 0 0 30.00 30.00 15.81

629.23 260 -145.99 -1.27 80.00 3486.7 3526.9 3446.5 1379.1 1972.2 93.20 -13.81 99 640.80 0.00 0.00 3.62 0.000 0.000 0.112 3487.38 3526.88 3447.88 1378.44 3467.94 0 0 0 30.00 30.00 15.78

669.40 1028 -145.99 -1.27 0.00 3486.7 3526.1 3447.2 1378.9 3466.9 99.48 -14.27 107 677.19 0.00 0.00 3.41 0.000 0.000 0.060 3489.00 3529.12 3448.88 1378.56 1973.38 0 0 0 30.00 30.00 15.81

864.30 0 -145.99 -1.27 0.00 3487.4 3527.4 3447.5 1378.3 1972.4 121.63 -11.02 127 866.05 0.00 0.00 0.00 0.000 0.000 0.000 3486.22 3526.94 3445.50 1378.62 1972.06 0 0 0 30.00 30.00 30.00

1054.32 0 -145.99 -1.27 0.00 3487.9 3528.8 3446.9 1378.7 1972.9 143.33 -11.83 146 1056.06 0.00 0.00 0.00 0.000 0.000 0.000 3487.22 3528.06 3446.38 1378.81 1972.31 0 0 0 30.00 30.00 30.00

1244.33 516 -145.99 -1.27 -80.00 3487.9 3528.5 3447.2 1378.8 1972.4 167.28 -12.59 165 1252.50 0.00 0.00 3.55 0.000 0.000 0.132 3487.31 3528.31 3446.31 1378.56 530.50 0 0 0 30.00 30.00 15.81

1301.03 1028 -145.99 -1.27 0.00 3488.1 3529.2 3447.0 1378.2 530.1 175.61 -14.94 176 1309.13 0.00 0.00 3.43 0.000 0.000 0.056 3488.84 3529.62 3448.06 1378.50 2028.88 0 0 0 30.00 30.00 15.85

1335 end dive: TARGET_DEPTH_EXCEEDED

state 1336 begin apogee

1337.65 10243 0.00 -0.31 0.00 3488.8 3530.0 3447.6 1378.9 1964.1 180.07 -12.74 180 1456.41 106.47 1.54 0.10 1.177 0.136 0.186 2890.53 2985.50 2795.56 1613.69 2035.44 0 0 0 11.52 15.79 15.46

1458 end apogee: CONTROL_FINISHED_OK

state 1458 begin climb

1458.89 10759 145.99 1.27 -80.00 2886.9 2980.8 2793.1 1613.6 2035.1 184.38 0.00 191 1589.47 108.61 2.46 3.85 1.148 0.091 0.129 2293.41 2391.00 2195.81 1998.62 534.00 0 0 0 11.30 15.49 15.30

1632.24 17414 145.99 1.27 0.00 2285.6 2379.1 2192.1 1997.4 534.1 175.09 11.47 222 1640.83 0.00 0.00 3.46 0.000 0.000 0.056 2288.84 2381.88 2195.81 1998.00 2027.81 0 0 0 30.00 30.00 15.48

1833.34 8742 164.99 1.30 -80.00 2283.9 2378.6 2189.2 1998.1 2027.8 157.22 9.12 242 1857.82 15.12 0.00 3.74 1.024 0.000 0.130 2215.00 2312.12 2117.88 1998.19 533.12 0 0 0 11.48 30.00 15.57

1995.62 1028 164.99 1.30 0.00 2209.9 2303.5 2116.4 1997.8 532.6 138.64 12.37 274 2004.15 0.00 0.00 3.42 0.000 0.000 0.056 2210.75 2305.19 2116.31 1998.31 2029.12 0 0 0 30.00 30.00 15.72

2191.45 8742 219.70 1.36 -80.00 2210.0 2303.9 2116.1 1996.8 2029.0 121.74 7.45 294 2247.21 41.03 0.00 3.77 1.096 0.000 0.131 1991.53 2090.12 1892.94 1996.81 532.75 0 0 0 11.59 30.00 15.58

2260.04 9254 232.27 1.38 0.00 1988.8 2087.1 1890.4 1997.8 533.0 115.98 9.42 307 2279.58 11.03 0.00 3.42 0.929 0.000 0.055 1942.81 2043.00 1842.62 1998.31 2029.31 0 0 0 11.49 30.00 15.66

2465.81 10791 292.58 1.45 -80.00 1937.3 2036.9 1837.7 1997.8 2028.8 98.92 7.19 329 2522.89 44.84 0.25 3.76 1.072 0.073 0.132 1696.66 1796.25 1597.06 2055.06 532.06 0 0 0 11.51 15.73 15.56

2551.41 1028 292.58 1.45 0.00 1692.4 1791.8 1593.0 2054.9 532.6 91.14 10.78 345 2559.52 0.00 0.00 3.42 0.000 0.000 0.056 1693.00 1792.38 1593.62 2054.88 2033.12 0 0 0 30.00 30.00 15.66

2746.42 16646 292.58 1.45 80.00 1688.3 1788.4 1588.2 2055.1 2032.5 70.86 10.85 365 2754.53 0.00 0.00 3.46 0.000 0.000 0.120 1688.19 1788.25 1588.12 2054.50 3465.75 0 0 0 30.00 30.00 15.75

2787.28 17414 292.58 1.45 0.00 1687.4 1786.5 1588.3 2054.4 3466.4 65.83 12.40 373 2795.82 0.00 0.00 3.42 0.000 0.000 0.063 1689.34 1787.81 1590.88 2054.94 1975.56 0 0 0 30.00 30.00 15.79

2976.60 8742 343.00 1.51 -80.00 1687.1 1786.5 1587.7 2055.2 1975.2 49.34 7.65 392 3032.26 36.96 0.00 3.60 1.032 0.000 0.137 1488.91 1588.50 1389.31 2055.19 532.62 0 0 0 11.46 30.00 15.66

3140.87 9254 364.29 1.54 0.00 1485.7 1583.9 1387.5 2055.1 532.6 34.52 9.01 423 3169.92 16.93 0.00 3.43 0.963 0.000 0.057 1404.28 1505.81 1302.75 2055.00 2031.25 0 0 0 11.57 30.00 15.76

3353.46 10275 454.03 1.65 0.00 1400.2 1500.2 1300.2 2054.5 2030.9 21.56 5.83 465 3428.96 66.26 0.19 0.00 1.003 0.080 0.000 1038.19 1134.12 942.25 2100.88 2031.56 0 0 0 11.52 15.76 30.00

3612.50 8486 584.59 1.81 80.00 1033.0 1125.4 940.5 2100.6 2031.7 7.89 3.93 516 3722.05 94.43 0.00 3.58 0.976 0.000 0.123 506.59 577.06 436.12 2101.19 3469.50 0 0 0 11.52 30.00 15.42

3725 end climb: SURFACE_DEPTH_REACHED

state 3725 begin surface coast

3760 end surface coast: CONTROL_FINISHED_OK

state 3760 begin surface

ID	242	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-3.2
MISSION	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	7	SM_CC	595.40039	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	7	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	6
STOP_T	0	FILEMGR	0	C_VBD	2890	DEVICE1	-1
D_SURF	2	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_FLARE	3	COMM_SEQ	15	VBD_CNV	-0.24529999	DEVICE3	-1
D_TGT	180	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	500	N_NOCOMM	1	VBD_TIMEOUT	720	DEVICE5	-1
D_NO_BLEED	200	NOCOMM_ACTION	131	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
D_BOOST	0	N_NOSURFACE	0	UNCOM_BLEED	20	LOGGERS	7
T_BOOST	0	UPLOAD_DIVES_MAX	-1	VBD_MAXERRORS	1	LOGGERDEVICE1	7
D_FINISH	0	CALL_TRIES	5	C_VBD_AUTO_DELTA	0	LOGGERDEVICE2	35
D_PITCH	0	CALL_WAIT	60	C_VBD_AUTO_MAX	0	LOGGERDEVICE3	-1
D_SAFE	0	CAPUPLOAD	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
D_CALL	0	CAPMAXSIZE	100000	DBDW	0	COMPASS_DEVICE	66
SURFACE_URGENCY	0	T_GPS	5	LOITER_W_DBAND	0	COMPASS2_DEVICE	-1
SURFACE_URGENCY_TRY	0	N_GPS	100440	LOITER_DBDW	0	PHONE_DEVICE	33
SURFACE_URGENCY_FORCE	0	T_RSLEEP	3	LOITER_D_TOP	0	GPS_DEVICE	48
T_DIVE	60	STROBE	0	LOITER_D_BOTTOM	0	RAFOS_DEVICE	96
T_MISSION	75	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	NAV_DEVICE	6
T_ABORT	1440	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	NAV2_DEVICE	6
T_TURN	225	RAFOS_HIT_WINDOW	3600	AH0_24V	575	NETWORK_DEVICE	1
T_TURN_SAMPINT	-5	RAFOS_MMODEM	0	AH0_10V	0	PRESSURE_DEVICE	34
T_NO_W	120	PITCH_MIN	220	MINV_24V	11	XPDR_DEVICE	-1
T_LOITER	0	PITCH_MAX	3610	MINV_10V	11	SIM_W	0
T_EPIRB	0	C_PITCH	1686.3026	MAXI_24V	5	SEABIRD_T_G	0.0043000001
USE_BATHY	-1	PITCH_DBAND	0.1	MAXI_10V	1.5	SEABIRD_T_H	0.00063999998
USE_ICE	0	PITCH_CNV	0.0041299998	FG_AHR_10V	19.718168	SEABIRD_T_I	2.4999999e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	16.130341	FG_AHR_24V	4.7358561	SEABIRD_T_J	4.3e-06
D_OFFGRID	100	PITCH_TIMEOUT	30	PHONE_SUPPLY	2	SEABIRD_C_G	-10
RELAUNCH	1	PITCH_MAXERRORS	1	PRESSURE_YINT	-182.32567	SEABIRD_C_H	1
APOGEE_PITCH	-5	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00022512203	SEABIRD_C_I	-0.0020000001
MAX_BUOY	150	PITCH_ADJ_DBAND	2	COMPASS_USE	49156	SEABIRD_C_J	0.00019999999
GLIDE_SLOPE	30	C_PITCH_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	OPTIONS	0
SPEED_FACTOR	1	C_PITCH_AUTO_MAX	200	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	3.0
MASS	72936	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
NAV_MODE	2	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_NDIVE	1.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MIN	195	ALTIM_PING_DELTA	0	PM_PROFILE	3.0
HD_A	0.003	ROLL_MAX	3800	ALTIM_FREQUENCY	13	PM_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_DEG	80	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_DIVE	2000	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
HEADING	22	C_ROLL_CLIMB	2000	XPDR_VALID	4	PM_MOTORS	0.0
ESCAPE_HEADING	0	HEAD_ERRBAND	10	XPDR_INHIBIT	90	PM_SENDDEPTH	0.0
ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054945	XPDR_INT	0
FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_REP	0
TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	1.9639999e-06

GPS1	130722,020707,4721.824,-12523.001,2,0.9,4,15.8	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.64	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130722,020859,4721.799,-12523.021,3,0.9,6,15.8	MHEAD_RNG_PITCHd_Wd	349.9,20000,-17.6,-10.000,-21.24,2209,0.152
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	HEADING	IRON	1.000000,0.015334,-0.123591,-0.022416,1.049678,-0.036701,-0.000173,-0.084301,1.124830,859.849731,-817.228638,-700.200439
TGT_LATLONG	4731.812,-12517.029

NAV	1657681141,50.3,start	FG_AHR_24Vo	4.896
FINISH	0.4,1.022703	FG_AHR_10Vo	19.804
SM_CCo	3798.51,3.16,0.244,0,500.6,567.3,433.8,586.13	MEM0	60108,1,0,0
SM_GC	2.14,3.16,11.88,3.49,0.244,0.053,0.070,500.6,567.3,433.8,202.9,1977.9,0,0,0,11.42,15.53,15.54	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	965572,30,80856,77
IRIDIUM_FIX	4722.06,-12521.92,130722,020509	DATA_FILE_SIZE	16094,543
TCM_TEMP	14.97	CAP_FILE_SIZE	196142,0
SC_FREEKB	3876544	SDSIZE	3887104,3868512
PM_FREEKB_00	62032768	SDFILEDIR	94,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
RAFOS_FIX	4700.000000,-12248.580078,130722,000002,2,510,7735.12	CURRENT	0.073,150.3,1
HUMID	53.59	MAGCAL	1.000000,0.018499,0.066720,-0.016464,1.041157,-0.084738,-0.017321,-0.057581,0.968433,719.4,-828.6,-616.2,35,0.0351,0
TEMP	11.55	IMPLIED_C_PITCH	1677,16.07,250,1681.4,16.10
INTERNAL_PRESSURE	7.79975	IMPLIED_C_VBD	3008,67.221916,194,0
_24V_AH	14.89,3.469	GPS	130722,031339,4722.017,-12522.812,1,1.1,4,15.8
_10V_AH	14.91,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	645	1177	11320.43	nil	0	0	0.00
Pitch_motor	25	248	92.84	nil	0	0	0.00
Roll_motor	77	186	216.44	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	15	15	3.43	nil	0	0	0.00
Core	2216	5	169.23	SciCon	3763	6	386.35
Fast	0	0	0.00	PMAR	3770	12	719.27
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1614	0	7.71
Compass	1120	5	83.51
RAFOS	2790	40	1664.47
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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
12.38	16386	-145.99	-1.27	0.00	499.1	567.7	430.5	205.3	1968.5	0.00	0.00	0	76.98	59.76	0.00	0.00	0.005	0.000	0.000	1932.00	1965.31	1898.69	205.38	1966.81	0	0	0	14.36	30.00	30.00
77.40	18983	-145.99	-1.27	-80.00	1931.9	1966.8	1897.1	205.1	1966.1	3.05	-2.45	11	143.83	41.20	8.73	3.52	0.005	0.249	0.128	3482.69	3519.00	3446.38	1379.00	533.00	0	0	0	15.79	15.62	15.70
147.31	1028	-145.99	-1.27	0.00	3483.4	3520.3	3446.6	1379.2	532.8	15.22	-19.38	23	154.92	0.00	0.00	3.44	0.000	0.000	0.054	3485.16	3522.56	3447.75	1378.69	2030.19	0	0	0	30.00	30.00	15.75
343.34	260	-145.99	-1.27	80.00	3485.4	3523.1	3447.6	1379.1	2030.9	51.78	-16.37	61	351.25	0.00	0.00	3.45	0.000	0.000	0.114	3485.31	3524.00	3446.62	1378.25	3467.94	0	0	0	30.00	30.00	15.77
439.74	1028	-145.99	-1.27	0.00	3486.1	3525.4	3446.8	1378.4	3467.2	67.08	-14.93	80	447.65	0.00	0.00	3.41	0.000	0.000	0.060	3485.78	3524.94	3446.62	1378.12	1973.06	0	0	0	30.00	30.00	15.81
629.23	260	-145.99	-1.27	80.00	3486.7	3526.9	3446.5	1379.1	1972.2	93.20	-13.81	99	640.80	0.00	0.00	3.62	0.000	0.000	0.112	3487.38	3526.88	3447.88	1378.44	3467.94	0	0	0	30.00	30.00	15.78
669.40	1028	-145.99	-1.27	0.00	3486.7	3526.1	3447.2	1378.9	3466.9	99.48	-14.27	107	677.19	0.00	0.00	3.41	0.000	0.000	0.060	3489.00	3529.12	3448.88	1378.56	1973.38	0	0	0	30.00	30.00	15.81
864.30	0	-145.99	-1.27	0.00	3487.4	3527.4	3447.5	1378.3	1972.4	121.63	-11.02	127	866.05	0.00	0.00	0.00	0.000	0.000	0.000	3486.22	3526.94	3445.50	1378.62	1972.06	0	0	0	30.00	30.00	30.00
1054.32	0	-145.99	-1.27	0.00	3487.9	3528.8	3446.9	1378.7	1972.9	143.33	-11.83	146	1056.06	0.00	0.00	0.00	0.000	0.000	0.000	3487.22	3528.06	3446.38	1378.81	1972.31	0	0	0	30.00	30.00	30.00
1244.33	516	-145.99	-1.27	-80.00	3487.9	3528.5	3447.2	1378.8	1972.4	167.28	-12.59	165	1252.50	0.00	0.00	3.55	0.000	0.000	0.132	3487.31	3528.31	3446.31	1378.56	530.50	0	0	0	30.00	30.00	15.81
1301.03	1028	-145.99	-1.27	0.00	3488.1	3529.2	3447.0	1378.2	530.1	175.61	-14.94	176	1309.13	0.00	0.00	3.43	0.000	0.000	0.056	3488.84	3529.62	3448.06	1378.50	2028.88	0	0	0	30.00	30.00	15.85
1335	end dive: TARGET_DEPTH_EXCEEDED
state	1336	begin apogee
1337.65	10243	0.00	-0.31	0.00	3488.8	3530.0	3447.6	1378.9	1964.1	180.07	-12.74	180	1456.41	106.47	1.54	0.10	1.177	0.136	0.186	2890.53	2985.50	2795.56	1613.69	2035.44	0	0	0	11.52	15.79	15.46
1458	end apogee: CONTROL_FINISHED_OK
state	1458	begin climb
1458.89	10759	145.99	1.27	-80.00	2886.9	2980.8	2793.1	1613.6	2035.1	184.38	0.00	191	1589.47	108.61	2.46	3.85	1.148	0.091	0.129	2293.41	2391.00	2195.81	1998.62	534.00	0	0	0	11.30	15.49	15.30
1632.24	17414	145.99	1.27	0.00	2285.6	2379.1	2192.1	1997.4	534.1	175.09	11.47	222	1640.83	0.00	0.00	3.46	0.000	0.000	0.056	2288.84	2381.88	2195.81	1998.00	2027.81	0	0	0	30.00	30.00	15.48
1833.34	8742	164.99	1.30	-80.00	2283.9	2378.6	2189.2	1998.1	2027.8	157.22	9.12	242	1857.82	15.12	0.00	3.74	1.024	0.000	0.130	2215.00	2312.12	2117.88	1998.19	533.12	0	0	0	11.48	30.00	15.57
1995.62	1028	164.99	1.30	0.00	2209.9	2303.5	2116.4	1997.8	532.6	138.64	12.37	274	2004.15	0.00	0.00	3.42	0.000	0.000	0.056	2210.75	2305.19	2116.31	1998.31	2029.12	0	0	0	30.00	30.00	15.72
2191.45	8742	219.70	1.36	-80.00	2210.0	2303.9	2116.1	1996.8	2029.0	121.74	7.45	294	2247.21	41.03	0.00	3.77	1.096	0.000	0.131	1991.53	2090.12	1892.94	1996.81	532.75	0	0	0	11.59	30.00	15.58
2260.04	9254	232.27	1.38	0.00	1988.8	2087.1	1890.4	1997.8	533.0	115.98	9.42	307	2279.58	11.03	0.00	3.42	0.929	0.000	0.055	1942.81	2043.00	1842.62	1998.31	2029.31	0	0	0	11.49	30.00	15.66
2465.81	10791	292.58	1.45	-80.00	1937.3	2036.9	1837.7	1997.8	2028.8	98.92	7.19	329	2522.89	44.84	0.25	3.76	1.072	0.073	0.132	1696.66	1796.25	1597.06	2055.06	532.06	0	0	0	11.51	15.73	15.56
2551.41	1028	292.58	1.45	0.00	1692.4	1791.8	1593.0	2054.9	532.6	91.14	10.78	345	2559.52	0.00	0.00	3.42	0.000	0.000	0.056	1693.00	1792.38	1593.62	2054.88	2033.12	0	0	0	30.00	30.00	15.66
2746.42	16646	292.58	1.45	80.00	1688.3	1788.4	1588.2	2055.1	2032.5	70.86	10.85	365	2754.53	0.00	0.00	3.46	0.000	0.000	0.120	1688.19	1788.25	1588.12	2054.50	3465.75	0	0	0	30.00	30.00	15.75
2787.28	17414	292.58	1.45	0.00	1687.4	1786.5	1588.3	2054.4	3466.4	65.83	12.40	373	2795.82	0.00	0.00	3.42	0.000	0.000	0.063	1689.34	1787.81	1590.88	2054.94	1975.56	0	0	0	30.00	30.00	15.79
2976.60	8742	343.00	1.51	-80.00	1687.1	1786.5	1587.7	2055.2	1975.2	49.34	7.65	392	3032.26	36.96	0.00	3.60	1.032	0.000	0.137	1488.91	1588.50	1389.31	2055.19	532.62	0	0	0	11.46	30.00	15.66
3140.87	9254	364.29	1.54	0.00	1485.7	1583.9	1387.5	2055.1	532.6	34.52	9.01	423	3169.92	16.93	0.00	3.43	0.963	0.000	0.057	1404.28	1505.81	1302.75	2055.00	2031.25	0	0	0	11.57	30.00	15.76
3353.46	10275	454.03	1.65	0.00	1400.2	1500.2	1300.2	2054.5	2030.9	21.56	5.83	465	3428.96	66.26	0.19	0.00	1.003	0.080	0.000	1038.19	1134.12	942.25	2100.88	2031.56	0	0	0	11.52	15.76	30.00
3612.50	8486	584.59	1.81	80.00	1033.0	1125.4	940.5	2100.6	2031.7	7.89	3.93	516	3722.05	94.43	0.00	3.58	0.976	0.000	0.123	506.59	577.06	436.12	2101.19	3469.50	0	0	0	11.52	30.00	15.42
3725	end climb: SURFACE_DEPTH_REACHED
state	3725	begin surface coast
3760	end surface coast: CONTROL_FINISHED_OK
state	3760	begin surface