Glider dive log

AMOS Jul22 * SG235 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.5

MISSION 21 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 13 SM_CC 605.40039 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 0 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 6

STOP_T 0 FILEMGR 0 C_VBD 3183.2034 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 360 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 500 N_NOCOMM 1 VBD_TIMEOUT 800 DEVICE5 -1

D_NO_BLEED 50 NOCOMM_ACTION 131 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

D_BOOST 0 N_NOSURFACE 0 UNCOM_BLEED 20 LOGGERS 3

T_BOOST 0 UPLOAD_DIVES_MAX 3 VBD_MAXERRORS 2 LOGGERDEVICE1 7

D_FINISH 10 CALL_TRIES 3 C_VBD_AUTO_DELTA 0.5 LOGGERDEVICE2 35

D_PITCH 2 CALL_WAIT 45 C_VBD_AUTO_MAX 100 LOGGERDEVICE3 -1

D_SAFE 500 CAPUPLOAD 0 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

D_CALL 3 CAPMAXSIZE 10000 DBDW 0 COMPASS_DEVICE 66

SURFACE_URGENCY 20 T_GPS 3 LOITER_W_DBAND 2 COMPASS2_DEVICE -1

SURFACE_URGENCY_TRY 20 N_GPS 100440 LOITER_DBDW 400 PHONE_DEVICE 33

SURFACE_URGENCY_FORCE 40 T_RSLEEP 1 LOITER_D_TOP 400 GPS_DEVICE 48

T_DIVE 120 STROBE 0 LOITER_D_BOTTOM 700 RAFOS_DEVICE 96

T_MISSION 150 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 NAV_DEVICE 6

T_ABORT 1440 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 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 240 PITCH_MIN 230 MINV_24V 0 XPDR_DEVICE -1

T_LOITER 0 PITCH_MAX 3900 MINV_10V 0 SIM_W 0

T_EPIRB 0 C_PITCH 2378.5479 MAXI_24V 5 SEABIRD_T_G 0.004415411

USE_BATHY -1 PITCH_DBAND 0.1 MAXI_10V 2 SEABIRD_T_H 0.00064200663

USE_ICE 0 PITCH_CNV 0.0041299998 FG_AHR_10V 173.21974 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 17.821392 FG_AHR_24V 219.90729 SEABIRD_T_J 3.2522996e-06

D_OFFGRID 1000 PITCH_TIMEOUT 40 PHONE_SUPPLY 2 SEABIRD_C_G -9.8064938

RELAUNCH 1 PITCH_MAXERRORS 1 PRESSURE_YINT -158.7531 SEABIRD_C_H 1.0739573

APOGEE_PITCH -5 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_I -0.002841271

MAX_BUOY 150 PITCH_ADJ_DBAND 2 COMPASS_USE 49156 SEABIRD_C_J 0.00027081851

GLIDE_SLOPE 30 C_PITCH_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 OPTIONS 2

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 7.0

MASS 72594 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 0 SC_NDIVE 1.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MIN 1200 ALTIM_PING_DELTA 0 PM_PROFILE 3.0

HD_A 0.003 ROLL_MAX 3900 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 2750 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING -1 C_ROLL_CLIMB 2600 XPDR_VALID 4 PM_MOTORS 0.0

ESCAPE_HEADING 180 HEAD_ERRBAND 10 XPDR_INHIBIT 90 PM_SENDDEPTH 0.0

ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054945 XPDR_INT 0

FIX_MISSING_TIMEOUT 20 ROLL_TIMEOUT 30 XPDR_REP 0

TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 0 INT_PRESSURE_SLOPE 1.9639999e-06

AH0_10V 0 D_SAFE 500 N_NOSURFACE 0 SEABIRD_C_H 1.0739573

AH0_24V 575 D_SURF 2 OPTIONS 2 SEABIRD_C_I -0.002841271

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 360 PHONE_DEVICE 33 SEABIRD_C_J 0.00027081851

ALTIM_FREQUENCY 13 ESCAPE_HEADING 180 PHONE_SUPPLY 2 SEABIRD_T_G 0.004415411

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SEABIRD_T_H 0.00064200663

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_10V 173.21974 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 219.90729 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 17.821392 SM_CC 605.40039

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 20 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 3900 STROBE 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MAXERRORS 1 SURFACE_URGENCY 20

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_MIN 230 SURFACE_URGENCY_FORCE 40

CALL_TRIES 3 HD_C 1.6e-05 PITCH_TIMEOUT 40 SURFACE_URGENCY_TRY 20

CALL_WAIT 45 HEADING -1 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HEAD_ERRBAND 10 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.1 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 0 ID 235 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 -0.5 PM_PROFILE 3.0 T_DIVE 120

COMPASS_DEVICE 66 KALMAN_USE 2 PM_RECORDABOVE 2000.0 T_EPIRB 0

COMPASS_USE 49156 LOGGERDEVICE1 7 PM_SENDDEPTH 0.0 T_GPS 3

C_PITCH 2378.5479 LOGGERDEVICE2 35 PM_XMITPROFILE 3.0 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE3 -1 PM_XMITRAW 0.0 T_MISSION 150

C_PITCH_AUTO_MAX 200 LOGGERDEVICE4 -1 PRESSURE_DEVICE 34 T_NO_W 240

C_ROLL_CLIMB 2600 LOGGERS 3 PRESSURE_SLOPE 0.00022957686 T_RSLEEP 1

C_ROLL_DIVE 2750 LOITER_DBDW 400 PRESSURE_YINT -158.7531 T_TURN 225

C_VBD 3183.2034 LOITER_D_BOTTOM 700 PROTOCOL 9 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_D_TOP 400 RAFOS_CORR_THRESH 60 UNCOM_BLEED 20

C_VBD_AUTO_MAX 100 LOITER_N_DIVE 0 RAFOS_DEVICE 96 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_W_DBAND 2 RAFOS_HIT_WINDOW 3600 USE_BATHY -1

DEEPGLIDER 0 MASS 72594 RAFOS_MMODEM 0 USE_ICE 0

DEEPGLIDERMB 0 MAXI_10V 2 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 0 ROLL_ADJ_DBAND 0 VBD_MAX 3960

DEVICE4 -1 MINV_24V 0 ROLL_ADJ_GAIN 0 VBD_MAXERRORS 2

DEVICE5 -1 MISSION 21 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 800

DIVE 13 NAV2_DEVICE 6 ROLL_MAX 3900 W_ADJ_DBAND 2

D_ABORT 500 NAV_DEVICE 6 ROLL_MAXERRORS 0 XPDR_DEVICE -1

D_BOOST 0 NAV_MODE 2 ROLL_MIN 1200 XPDR_INHIBIT 90

D_CALL 3 NETWORK_DEVICE 1 ROLL_TIMEOUT 30 XPDR_INT 0

D_FINISH 10 NOCOMM_ACTION 131 SC_NDIVE 1.0 XPDR_REP 0

D_FLARE 3 N_DIVES 0 SC_PROFILE 7.0 XPDR_VALID 4

D_NO_BLEED 50 N_FILEKB 8 SC_RECORDABOVE 2000.0

D_OFFGRID 1000 N_GPS 100440 SC_XMITPROFILE 3.0

D_PITCH 2 N_NOCOMM 1 SEABIRD_C_G -9.8064938

Pre-dive calculations and measurements:

GPS1 130722,120835,4719.629,-12524.231,1,1.5,4,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.58 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130722,121322,4719.594,-12524.183,2,1.5,4,15.8 MHEAD_RNG_PITCHd_Wd 335.0,787,-25.7,-10.000,-28.56,1089,0.170

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME HOLD IRON 1.000000,0.010128,-0.063169,-0.087250,1.072990,-0.045988,-0.003437,0.060541,1.120606,-1044.861328,-999.930542,-222.078873

TGT_LATLONG 4720.000,-12524.000

Post-dive calculations and measurements:

NET CACST,8,1,20220713134519.747116,06,408,14,0092,0150,276,02,02,02,02,-1,-01,-01,1,3,11634,0,150,-36.1,6.03,-100,-3.03,-01,4.69,66,10000,5000,0,-1,00,00*65 INTERNAL_PRESSURE 8.49659

WARN HSCICON missed fuel gauge read _24V_AH 14.77,119.066

NAV 1657716613,343.1,0,stop _10V_AH 14.82,0.000

FREEZE 4.89,16.562,-1.718,0,1,0 FG_AHR_24Vo 220.137

FINISH 4.9,1.022814 FG_AHR_10Vo 173.299

SM_CCo 6081.10,101.51,1.164,0,715.0,777.6,652.3,605.41 MEM0 60108,1,0,0

SM_GC 1.47,101.51,16.58,2.72,1.164,0.083,0.071,715.0,777.6,652.3,214.0,2728.0,0,0,0,11.73,15.59,15.64 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 964472,25,81916,84

IRIDIUM_FIX 4719.67,-12524.51,130722,102632 DATA_FILE_SIZE 16103,585

TCM_TEMP 12.25 CAP_FILE_SIZE 280248,9

SC_FREEKB 3874528 SDSIZE 3918848,3874272

PM_FREEKB_00 61568896 SDFILEDIR 392,3

PM_ACTIVECARD 0 ERRORS 0,0,0,0,0,0,0,397,3,0,0,0,0,0,0,0,0,0

RAFOS_CLK -12 SOUNDSPEED 1452.0

RAFOS_FIX 4930.521484,-12154.555664,130722,030302,2,510,7659.95 CURRENT 0.219,137.5,1

HUMID 86.55 IMPLIED_C_PITCH 12377,0.70,384,2578.5,15.82

TEMP 10.52 GPS 130722,135626,4719.644,-12523.694,35,0.9,36,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 677 1618 16207.85 nil 0 0 0.00

Pitch_motor 36 283 152.79 nil 0 0 0.00

Roll_motor 40 267 160.35 nil 0 0 0.00

Iridium 195 233 674.70 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.89 nil 0 0 0.00

Core 3574 5 271.26 SciCon 5948 7 657.42

Fast 0 0 0.00 PMAR 5952 10 935.19

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2658 0 12.61

Compass 2236 5 165.70

RAFOS 2488 40 1474.96

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

11.03 16386 -71.36 -1.53 0.00 709.2 761.4 657.1 210.4 2723.4 0.00 0.00 0 93.03 78.69 0.00 0.00 0.005 0.000 0.000 2469.59 2470.25 2468.94 210.38 2722.75 0 0 0 15.28 30.00 30.00

93.29 18983 -145.99 -1.62 -80.00 2472.8 2475.4 2470.1 210.1 2723.2 3.48 -2.68 15 151.17 29.82 14.36 3.47 0.005 0.283 0.120 3779.59 3794.94 3764.25 1984.62 1279.75 0 0 0 15.68 15.52 15.62

154.35 1028 -145.99 -1.62 0.00 3779.0 3794.2 3763.8 1984.4 1279.9 19.10 -29.49 26 160.90 0.00 0.00 3.41 0.000 0.000 0.064 3781.38 3797.81 3764.94 1984.62 2768.75 0 0 0 30.00 30.00 15.65

349.37 516 -145.99 -1.62 -80.00 3782.3 3800.8 3763.8 1984.5 2768.4 71.46 -25.71 57 355.23 0.00 0.00 3.58 0.000 0.000 0.120 3781.75 3799.69 3763.81 1984.56 1279.62 0 0 0 30.00 30.00 15.70

403.64 1028 -145.99 -1.62 0.00 3782.3 3800.9 3763.7 1984.2 1279.6 86.21 -28.39 68 410.88 0.00 0.00 3.39 0.000 0.000 0.066 3781.75 3800.06 3763.44 1984.31 2768.94 0 0 0 30.00 30.00 15.74

600.34 516 -145.99 -1.62 -80.00 3783.7 3804.0 3763.4 1984.0 2769.2 129.16 -20.43 88 606.27 0.00 0.00 3.56 0.000 0.000 0.120 3783.75 3803.62 3763.88 1984.69 1281.12 0 0 0 30.00 30.00 15.75

644.52 1028 -145.99 -1.62 0.00 3783.8 3803.2 3764.5 1983.9 1280.5 139.80 -24.29 97 650.47 0.00 0.00 3.38 0.000 0.000 0.066 3783.94 3804.00 3763.88 1984.06 2768.00 0 0 0 30.00 30.00 15.78

834.54 516 -145.99 -1.62 -80.00 3785.9 3807.4 3764.5 1984.5 2768.4 178.94 -20.56 117 840.59 0.00 0.00 3.54 0.000 0.000 0.121 3785.47 3806.19 3764.75 1983.75 1280.25 0 0 0 30.00 30.00 15.78

848.81 1028 -145.99 -1.62 0.00 3785.5 3806.7 3764.3 1984.3 1279.6 182.17 -20.86 120 856.22 0.00 0.00 3.37 0.000 0.000 0.067 3785.66 3807.44 3763.88 1984.62 2768.31 0 0 0 30.00 30.00 15.80

1044.57 0 -145.99 -1.62 0.00 3786.2 3808.4 3764.1 1983.6 2768.9 221.62 -19.60 140 1046.12 0.00 0.00 0.00 0.000 0.000 0.000 3784.88 3806.75 3763.00 1983.88 2768.81 0 0 0 30.00 30.00 30.00

1226.61 0 -145.99 -1.62 0.00 3785.7 3808.1 3763.3 1983.9 2769.9 256.56 -19.34 156 1228.17 0.00 0.00 0.00 0.000 0.000 0.000 3784.53 3807.19 3761.88 1983.69 2768.62 0 0 0 30.00 30.00 30.00

1557.04 0 -145.99 -1.62 0.00 3785.8 3807.2 3764.3 1984.1 2769.0 321.42 -19.99 167 1558.60 0.00 0.00 0.00 0.000 0.000 0.000 3785.19 3807.69 3762.69 1984.00 2768.75 0 0 0 30.00 30.00 30.00

1767 end dive: TARGET_DEPTH_EXCEEDED

state 1767 begin apogee

1768.58 10243 0.00 -0.28 0.00 3785.9 3807.9 3763.9 1984.0 2576.9 364.73 -20.75 174 1886.93 109.28 2.23 0.08 1.619 0.183 0.267 3181.38 3244.50 3118.25 2308.62 2619.81 0 0 0 11.75 15.79 15.34

1898 end apogee: CONTROL_FINISHED_OK

state 1898 begin climb

1898.60 10243 145.99 1.62 0.00 3179.3 3240.4 3118.2 2309.1 2619.2 371.20 0.00 177 2022.25 112.53 3.05 0.00 1.561 0.101 0.000 2582.91 2649.62 2516.19 2775.62 2619.44 0 0 0 11.64 15.39 30.00

2327.91 16386 145.99 1.62 0.00 2576.4 2637.6 2515.2 2775.8 2619.9 321.13 14.67 192 2329.47 0.00 0.00 0.00 0.000 0.000 0.000 2572.69 2633.81 2511.56 2775.12 2619.06 0 0 0 30.00 30.00 30.00

2639.25 16386 145.99 1.62 0.00 2573.9 2634.2 2513.5 2775.1 2618.9 277.93 13.63 203 2640.81 0.00 0.00 0.00 0.000 0.000 0.000 2570.25 2630.69 2509.81 2775.75 2619.62 0 0 0 30.00 30.00 30.00

2944.78 16386 145.99 1.62 0.00 2572.8 2632.9 2512.6 2774.9 2619.2 239.14 11.63 220 2946.35 0.00 0.00 0.00 0.000 0.000 0.000 2569.28 2629.81 2508.75 2774.69 2619.25 0 0 0 30.00 30.00 30.00

3134.79 16386 145.99 1.62 0.00 2572.6 2633.2 2512.0 2775.4 2619.4 216.44 12.24 239 3136.35 0.00 0.00 0.00 0.000 0.000 0.000 2568.88 2630.31 2507.44 2775.44 2620.12 0 0 0 30.00 30.00 30.00

3325.26 16386 145.99 1.62 0.00 2572.0 2632.4 2511.5 2775.9 2619.2 194.33 11.12 258 3326.82 0.00 0.00 0.00 0.000 0.000 0.000 2567.97 2629.06 2506.88 2775.50 2619.19 0 0 0 30.00 30.00 30.00

3515.26 16386 145.99 1.62 0.00 2571.0 2631.6 2510.3 2775.3 2619.8 174.87 9.90 277 3516.83 0.00 0.00 0.00 0.000 0.000 0.000 2567.72 2627.62 2507.81 2774.31 2620.06 0 0 0 30.00 30.00 30.00

3706.26 16386 145.99 1.62 0.00 2570.6 2631.3 2509.9 2774.8 2618.4 156.78 8.47 296 3707.81 0.00 0.00 0.00 0.000 0.000 0.000 2566.62 2627.50 2505.75 2774.69 2618.00 0 0 0 30.00 30.00 30.00

3896.25 16386 145.99 1.62 0.00 2570.3 2631.1 2509.5 2775.6 2619.0 140.52 8.38 315 3897.82 0.00 0.00 0.00 0.000 0.000 0.000 2566.69 2627.38 2506.00 2774.75 2620.06 0 0 0 30.00 30.00 30.00

4084.84 8226 181.45 1.66 0.00 2570.2 2630.6 2509.9 2774.7 2619.1 126.71 6.65 334 4116.24 27.14 0.00 0.00 1.339 0.000 0.000 2441.03 2511.06 2371.00 2775.25 2619.88 0 0 0 11.97 30.00 30.00

4304.84 8226 208.33 1.70 0.00 2436.6 2505.5 2367.6 2775.1 2619.2 109.81 7.46 356 4335.38 22.58 0.00 0.00 1.279 0.000 0.000 2328.88 2405.25 2252.50 2775.38 2619.19 0 0 0 12.02 30.00 30.00

4524.81 0 208.33 1.70 0.00 2326.8 2402.2 2251.3 2774.4 2619.7 91.91 8.21 378 4526.38 0.00 0.00 0.00 0.000 0.000 0.000 2322.34 2397.56 2247.12 2774.88 2618.94 0 0 0 30.00 30.00 30.00

4714.87 10275 245.91 1.74 0.00 2324.9 2399.9 2249.9 2775.0 2618.9 79.27 6.45 397 4748.06 29.94 0.15 0.00 1.261 0.107 0.000 2171.38 2245.00 2097.75 2810.88 2618.56 0 0 0 11.84 15.92 30.00

4934.87 8226 273.51 1.78 0.00 2172.7 2251.3 2094.0 2812.9 2619.9 63.15 7.40 419 4959.65 22.38 0.00 0.00 1.209 0.000 0.000 2069.06 2151.62 1986.50 2811.75 2619.44 0 0 0 11.94 30.00 30.00

5140.45 8226 296.38 1.80 0.00 2059.5 2138.2 1980.9 2812.4 2619.0 47.24 7.84 443 5161.85 18.90 0.00 0.00 1.173 0.000 0.000 1972.00 2054.62 1889.38 2811.69 2619.25 0 0 0 12.09 30.00 30.00

5345.09 8486 317.71 1.83 80.00 1968.2 2048.8 1887.8 2812.1 2619.9 31.24 7.99 484 5372.55 18.14 0.00 3.20 1.146 0.000 0.120 1884.44 1967.25 1801.62 2811.38 3912.12 0 0 0 11.97 30.00 15.74

5600.59 11303 379.50 1.91 0.00 1879.2 1957.8 1800.7 2811.4 3912.9 17.82 4.17 531 5658.39 47.17 0.17 3.09 1.190 0.099 0.074 1635.34 1725.50 1545.19 2852.56 2575.69 0 0 0 11.85 15.85 15.85

5842.61 8486 459.63 2.01 80.00 1626.4 1710.2 1542.6 2851.5 2575.9 9.06 2.44 571 5913.39 59.81 0.00 3.31 1.163 0.000 0.116 1307.75 1404.75 1210.75 2851.81 3909.69 0 0 0 11.87 30.00 15.55

5932 end climb: SURFACE_DEPTH_REACHED

state 5932 begin surface coast

5938 end surface coast: CONTROL_FINISHED_OK

state 5938 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	21	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	13	SM_CC	605.40039	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	0	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	6
STOP_T	0	FILEMGR	0	C_VBD	3183.2034	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	360	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	500	N_NOCOMM	1	VBD_TIMEOUT	800	DEVICE5	-1
D_NO_BLEED	50	NOCOMM_ACTION	131	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
D_BOOST	0	N_NOSURFACE	0	UNCOM_BLEED	20	LOGGERS	3
T_BOOST	0	UPLOAD_DIVES_MAX	3	VBD_MAXERRORS	2	LOGGERDEVICE1	7
D_FINISH	10	CALL_TRIES	3	C_VBD_AUTO_DELTA	0.5	LOGGERDEVICE2	35
D_PITCH	2	CALL_WAIT	45	C_VBD_AUTO_MAX	100	LOGGERDEVICE3	-1
D_SAFE	500	CAPUPLOAD	0	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
D_CALL	3	CAPMAXSIZE	10000	DBDW	0	COMPASS_DEVICE	66
SURFACE_URGENCY	20	T_GPS	3	LOITER_W_DBAND	2	COMPASS2_DEVICE	-1
SURFACE_URGENCY_TRY	20	N_GPS	100440	LOITER_DBDW	400	PHONE_DEVICE	33
SURFACE_URGENCY_FORCE	40	T_RSLEEP	1	LOITER_D_TOP	400	GPS_DEVICE	48
T_DIVE	120	STROBE	0	LOITER_D_BOTTOM	700	RAFOS_DEVICE	96
T_MISSION	150	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	NAV_DEVICE	6
T_ABORT	1440	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	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	240	PITCH_MIN	230	MINV_24V	0	XPDR_DEVICE	-1
T_LOITER	0	PITCH_MAX	3900	MINV_10V	0	SIM_W	0
T_EPIRB	0	C_PITCH	2378.5479	MAXI_24V	5	SEABIRD_T_G	0.004415411
USE_BATHY	-1	PITCH_DBAND	0.1	MAXI_10V	2	SEABIRD_T_H	0.00064200663
USE_ICE	0	PITCH_CNV	0.0041299998	FG_AHR_10V	173.21974	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	17.821392	FG_AHR_24V	219.90729	SEABIRD_T_J	3.2522996e-06
D_OFFGRID	1000	PITCH_TIMEOUT	40	PHONE_SUPPLY	2	SEABIRD_C_G	-9.8064938
RELAUNCH	1	PITCH_MAXERRORS	1	PRESSURE_YINT	-158.7531	SEABIRD_C_H	1.0739573
APOGEE_PITCH	-5	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_I	-0.002841271
MAX_BUOY	150	PITCH_ADJ_DBAND	2	COMPASS_USE	49156	SEABIRD_C_J	0.00027081851
GLIDE_SLOPE	30	C_PITCH_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	OPTIONS	2
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	7.0
MASS	72594	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	0	SC_NDIVE	1.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MIN	1200	ALTIM_PING_DELTA	0	PM_PROFILE	3.0
HD_A	0.003	ROLL_MAX	3900	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	2750	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
HEADING	-1	C_ROLL_CLIMB	2600	XPDR_VALID	4	PM_MOTORS	0.0
ESCAPE_HEADING	180	HEAD_ERRBAND	10	XPDR_INHIBIT	90	PM_SENDDEPTH	0.0
ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054945	XPDR_INT	0
FIX_MISSING_TIMEOUT	20	ROLL_TIMEOUT	30	XPDR_REP	0
TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	0	INT_PRESSURE_SLOPE	1.9639999e-06

GPS1	130722,120835,4719.629,-12524.231,1,1.5,4,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.58	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130722,121322,4719.594,-12524.183,2,1.5,4,15.8	MHEAD_RNG_PITCHd_Wd	335.0,787,-25.7,-10.000,-28.56,1089,0.170
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	HOLD	IRON	1.000000,0.010128,-0.063169,-0.087250,1.072990,-0.045988,-0.003437,0.060541,1.120606,-1044.861328,-999.930542,-222.078873
TGT_LATLONG	4720.000,-12524.000

NET	CACST,8,1,20220713134519.747116,06,408,14,0092,0150,276,02,02,02,02,-1,-01,-01,1,3,11634,0,150,-36.1,6.03,-100,-3.03,-01,4.69,66,10000,5000,0,-1,00,00*65	INTERNAL_PRESSURE	8.49659
WARN	HSCICON missed fuel gauge read	_24V_AH	14.77,119.066
NAV	1657716613,343.1,0,stop	_10V_AH	14.82,0.000
FREEZE	4.89,16.562,-1.718,0,1,0	FG_AHR_24Vo	220.137
FINISH	4.9,1.022814	FG_AHR_10Vo	173.299
SM_CCo	6081.10,101.51,1.164,0,715.0,777.6,652.3,605.41	MEM0	60108,1,0,0
SM_GC	1.47,101.51,16.58,2.72,1.164,0.083,0.071,715.0,777.6,652.3,214.0,2728.0,0,0,0,11.73,15.59,15.64	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	964472,25,81916,84
IRIDIUM_FIX	4719.67,-12524.51,130722,102632	DATA_FILE_SIZE	16103,585
TCM_TEMP	12.25	CAP_FILE_SIZE	280248,9
SC_FREEKB	3874528	SDSIZE	3918848,3874272
PM_FREEKB_00	61568896	SDFILEDIR	392,3
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,397,3,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-12	SOUNDSPEED	1452.0
RAFOS_FIX	4930.521484,-12154.555664,130722,030302,2,510,7659.95	CURRENT	0.219,137.5,1
HUMID	86.55	IMPLIED_C_PITCH	12377,0.70,384,2578.5,15.82
TEMP	10.52	GPS	130722,135626,4719.644,-12523.694,35,0.9,36,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	677	1618	16207.85	nil	0	0	0.00
Pitch_motor	36	283	152.79	nil	0	0	0.00
Roll_motor	40	267	160.35	nil	0	0	0.00
Iridium	195	233	674.70	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.89	nil	0	0	0.00
Core	3574	5	271.26	SciCon	5948	7	657.42
Fast	0	0	0.00	PMAR	5952	10	935.19
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2658	0	12.61
Compass	2236	5	165.70
RAFOS	2488	40	1474.96
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
11.03	16386	-71.36	-1.53	0.00	709.2	761.4	657.1	210.4	2723.4	0.00	0.00	0	93.03	78.69	0.00	0.00	0.005	0.000	0.000	2469.59	2470.25	2468.94	210.38	2722.75	0	0	0	15.28	30.00	30.00
93.29	18983	-145.99	-1.62	-80.00	2472.8	2475.4	2470.1	210.1	2723.2	3.48	-2.68	15	151.17	29.82	14.36	3.47	0.005	0.283	0.120	3779.59	3794.94	3764.25	1984.62	1279.75	0	0	0	15.68	15.52	15.62
154.35	1028	-145.99	-1.62	0.00	3779.0	3794.2	3763.8	1984.4	1279.9	19.10	-29.49	26	160.90	0.00	0.00	3.41	0.000	0.000	0.064	3781.38	3797.81	3764.94	1984.62	2768.75	0	0	0	30.00	30.00	15.65
349.37	516	-145.99	-1.62	-80.00	3782.3	3800.8	3763.8	1984.5	2768.4	71.46	-25.71	57	355.23	0.00	0.00	3.58	0.000	0.000	0.120	3781.75	3799.69	3763.81	1984.56	1279.62	0	0	0	30.00	30.00	15.70
403.64	1028	-145.99	-1.62	0.00	3782.3	3800.9	3763.7	1984.2	1279.6	86.21	-28.39	68	410.88	0.00	0.00	3.39	0.000	0.000	0.066	3781.75	3800.06	3763.44	1984.31	2768.94	0	0	0	30.00	30.00	15.74
600.34	516	-145.99	-1.62	-80.00	3783.7	3804.0	3763.4	1984.0	2769.2	129.16	-20.43	88	606.27	0.00	0.00	3.56	0.000	0.000	0.120	3783.75	3803.62	3763.88	1984.69	1281.12	0	0	0	30.00	30.00	15.75
644.52	1028	-145.99	-1.62	0.00	3783.8	3803.2	3764.5	1983.9	1280.5	139.80	-24.29	97	650.47	0.00	0.00	3.38	0.000	0.000	0.066	3783.94	3804.00	3763.88	1984.06	2768.00	0	0	0	30.00	30.00	15.78
834.54	516	-145.99	-1.62	-80.00	3785.9	3807.4	3764.5	1984.5	2768.4	178.94	-20.56	117	840.59	0.00	0.00	3.54	0.000	0.000	0.121	3785.47	3806.19	3764.75	1983.75	1280.25	0	0	0	30.00	30.00	15.78
848.81	1028	-145.99	-1.62	0.00	3785.5	3806.7	3764.3	1984.3	1279.6	182.17	-20.86	120	856.22	0.00	0.00	3.37	0.000	0.000	0.067	3785.66	3807.44	3763.88	1984.62	2768.31	0	0	0	30.00	30.00	15.80
1044.57	0	-145.99	-1.62	0.00	3786.2	3808.4	3764.1	1983.6	2768.9	221.62	-19.60	140	1046.12	0.00	0.00	0.00	0.000	0.000	0.000	3784.88	3806.75	3763.00	1983.88	2768.81	0	0	0	30.00	30.00	30.00
1226.61	0	-145.99	-1.62	0.00	3785.7	3808.1	3763.3	1983.9	2769.9	256.56	-19.34	156	1228.17	0.00	0.00	0.00	0.000	0.000	0.000	3784.53	3807.19	3761.88	1983.69	2768.62	0	0	0	30.00	30.00	30.00
1557.04	0	-145.99	-1.62	0.00	3785.8	3807.2	3764.3	1984.1	2769.0	321.42	-19.99	167	1558.60	0.00	0.00	0.00	0.000	0.000	0.000	3785.19	3807.69	3762.69	1984.00	2768.75	0	0	0	30.00	30.00	30.00
1767	end dive: TARGET_DEPTH_EXCEEDED
state	1767	begin apogee
1768.58	10243	0.00	-0.28	0.00	3785.9	3807.9	3763.9	1984.0	2576.9	364.73	-20.75	174	1886.93	109.28	2.23	0.08	1.619	0.183	0.267	3181.38	3244.50	3118.25	2308.62	2619.81	0	0	0	11.75	15.79	15.34
1898	end apogee: CONTROL_FINISHED_OK
state	1898	begin climb
1898.60	10243	145.99	1.62	0.00	3179.3	3240.4	3118.2	2309.1	2619.2	371.20	0.00	177	2022.25	112.53	3.05	0.00	1.561	0.101	0.000	2582.91	2649.62	2516.19	2775.62	2619.44	0	0	0	11.64	15.39	30.00
2327.91	16386	145.99	1.62	0.00	2576.4	2637.6	2515.2	2775.8	2619.9	321.13	14.67	192	2329.47	0.00	0.00	0.00	0.000	0.000	0.000	2572.69	2633.81	2511.56	2775.12	2619.06	0	0	0	30.00	30.00	30.00
2639.25	16386	145.99	1.62	0.00	2573.9	2634.2	2513.5	2775.1	2618.9	277.93	13.63	203	2640.81	0.00	0.00	0.00	0.000	0.000	0.000	2570.25	2630.69	2509.81	2775.75	2619.62	0	0	0	30.00	30.00	30.00
2944.78	16386	145.99	1.62	0.00	2572.8	2632.9	2512.6	2774.9	2619.2	239.14	11.63	220	2946.35	0.00	0.00	0.00	0.000	0.000	0.000	2569.28	2629.81	2508.75	2774.69	2619.25	0	0	0	30.00	30.00	30.00
3134.79	16386	145.99	1.62	0.00	2572.6	2633.2	2512.0	2775.4	2619.4	216.44	12.24	239	3136.35	0.00	0.00	0.00	0.000	0.000	0.000	2568.88	2630.31	2507.44	2775.44	2620.12	0	0	0	30.00	30.00	30.00
3325.26	16386	145.99	1.62	0.00	2572.0	2632.4	2511.5	2775.9	2619.2	194.33	11.12	258	3326.82	0.00	0.00	0.00	0.000	0.000	0.000	2567.97	2629.06	2506.88	2775.50	2619.19	0	0	0	30.00	30.00	30.00
3515.26	16386	145.99	1.62	0.00	2571.0	2631.6	2510.3	2775.3	2619.8	174.87	9.90	277	3516.83	0.00	0.00	0.00	0.000	0.000	0.000	2567.72	2627.62	2507.81	2774.31	2620.06	0	0	0	30.00	30.00	30.00
3706.26	16386	145.99	1.62	0.00	2570.6	2631.3	2509.9	2774.8	2618.4	156.78	8.47	296	3707.81	0.00	0.00	0.00	0.000	0.000	0.000	2566.62	2627.50	2505.75	2774.69	2618.00	0	0	0	30.00	30.00	30.00
3896.25	16386	145.99	1.62	0.00	2570.3	2631.1	2509.5	2775.6	2619.0	140.52	8.38	315	3897.82	0.00	0.00	0.00	0.000	0.000	0.000	2566.69	2627.38	2506.00	2774.75	2620.06	0	0	0	30.00	30.00	30.00
4084.84	8226	181.45	1.66	0.00	2570.2	2630.6	2509.9	2774.7	2619.1	126.71	6.65	334	4116.24	27.14	0.00	0.00	1.339	0.000	0.000	2441.03	2511.06	2371.00	2775.25	2619.88	0	0	0	11.97	30.00	30.00
4304.84	8226	208.33	1.70	0.00	2436.6	2505.5	2367.6	2775.1	2619.2	109.81	7.46	356	4335.38	22.58	0.00	0.00	1.279	0.000	0.000	2328.88	2405.25	2252.50	2775.38	2619.19	0	0	0	12.02	30.00	30.00
4524.81	0	208.33	1.70	0.00	2326.8	2402.2	2251.3	2774.4	2619.7	91.91	8.21	378	4526.38	0.00	0.00	0.00	0.000	0.000	0.000	2322.34	2397.56	2247.12	2774.88	2618.94	0	0	0	30.00	30.00	30.00
4714.87	10275	245.91	1.74	0.00	2324.9	2399.9	2249.9	2775.0	2618.9	79.27	6.45	397	4748.06	29.94	0.15	0.00	1.261	0.107	0.000	2171.38	2245.00	2097.75	2810.88	2618.56	0	0	0	11.84	15.92	30.00
4934.87	8226	273.51	1.78	0.00	2172.7	2251.3	2094.0	2812.9	2619.9	63.15	7.40	419	4959.65	22.38	0.00	0.00	1.209	0.000	0.000	2069.06	2151.62	1986.50	2811.75	2619.44	0	0	0	11.94	30.00	30.00
5140.45	8226	296.38	1.80	0.00	2059.5	2138.2	1980.9	2812.4	2619.0	47.24	7.84	443	5161.85	18.90	0.00	0.00	1.173	0.000	0.000	1972.00	2054.62	1889.38	2811.69	2619.25	0	0	0	12.09	30.00	30.00
5345.09	8486	317.71	1.83	80.00	1968.2	2048.8	1887.8	2812.1	2619.9	31.24	7.99	484	5372.55	18.14	0.00	3.20	1.146	0.000	0.120	1884.44	1967.25	1801.62	2811.38	3912.12	0	0	0	11.97	30.00	15.74
5600.59	11303	379.50	1.91	0.00	1879.2	1957.8	1800.7	2811.4	3912.9	17.82	4.17	531	5658.39	47.17	0.17	3.09	1.190	0.099	0.074	1635.34	1725.50	1545.19	2852.56	2575.69	0	0	0	11.85	15.85	15.85
5842.61	8486	459.63	2.01	80.00	1626.4	1710.2	1542.6	2851.5	2575.9	9.06	2.44	571	5913.39	59.81	0.00	3.31	1.163	0.000	0.116	1307.75	1404.75	1210.75	2851.81	3909.69	0	0	0	11.87	30.00	15.55
5932	end climb: SURFACE_DEPTH_REACHED
state	5932	begin surface coast
5938	end surface coast: CONTROL_FINISHED_OK
state	5938	begin surface