Glider dive log

AMOS Jul22 * SG241 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 241 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 20 ALTIM_SENSITIVITY 2

MISSION 8 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 14 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 692.53918 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT -1.4

D_TGT 300 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 500 COMM_SEQ 7 C_VBD 3364 DEEPGLIDERMB 0

D_NO_BLEED 500 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 131 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_SAFE 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 7

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 100 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 100 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 140 T_RSLEEP 1 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 69

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_NO_W 120 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_LOITER 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE 96

T_EPIRB 0 PITCH_MIN 210 AH0_24V 575 NAV_DEVICE 6

USE_BATHY -1 PITCH_MAX 3628 AH0_10V 0 NAV2_DEVICE 6

USE_ICE 0 C_PITCH 1846.3777 MINV_24V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 37

D_OFFGRID 1000 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 17.51445 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 32.284142 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 41.803982 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_YINT -190.14957 SEABIRD_T_J 4.3e-06

RHO 1.0257 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022588584 SEABIRD_C_G -10

MASS 72789 C_PITCH_AUTO_MAX 200 COMPASS_USE 49156 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.0099999998 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3820 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 1000 N_DIVES 0 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_PITCH 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_SURF 2 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_TGT 300 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_SUPPLY 2 SM_CC 692.53918

ALTIM_SENSITIVITY 2 FG_AHR_10V 32.284142 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 41.803982 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN 17.51445 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_MAX 3628 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 210 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 20 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 100

COMPASS2_DEVICE -1 ID 241 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 69 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT -1.4 PRESSURE_DEVICE 37 T_LOITER 0

C_PITCH 1846.3777 KALMAN_USE 2 PRESSURE_SLOPE 0.00022588584 T_MISSION 140

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -190.14957 T_NO_W 120

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 1

C_ROLL_CLIMB 2150 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2150 LOGGERDEVICE4 -1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD 3364 LOGGERS 7 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 100 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

DBDW 0 LOITER_D_TOP 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOITER_N_DIVE 0 RHO 1.0257 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE1 -1 MASS 72789 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_10V 1.5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE3 -1 MAXI_24V 5 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 150 ROLL_MAX 3820 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 215 W_ADJ_DBAND 0

DIVE 14 MISSION 8 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_ABORT 500 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_CALL 0 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FINISH 0 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_FLARE 3 NETWORK_DEVICE 1 SEABIRD_C_G -10

D_NO_BLEED 500 NOCOMM_ACTION 131 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 150722,094512,4716.521,-12520.358,4,0.9,8,15.8 TGT_RADIUS 1500.000

_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 -55.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150722,094918,4716.539,-12520.335,2,1.7,5,15.8 MHEAD_RNG_PITCHd_Wd 125.2,1728,-17.6,-10.000,-21.23,2209,0.132

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME ans0 IRON 1.000000,0.023869,0.090555,-0.015271,1.082566,-0.073022,-0.025123,-0.065471,1.049104,423.277740,-1286.587769,-244.933807

TGT_LATLONG 4715.876,-12519.368

Post-dive calculations and measurements:

NAV 1657882746,199.6,start _10V_AH 14.79,0.000

NET xmit part outbox0011.n 1160 0 FG_AHR_24Vo 42.019

NET_PING 1657884191,27,668.036987,19.299999,-0.882851 FG_AHR_10Vo 32.361

MODEM_MSG CACST,8,1,20220715100001.961071,18,32767,27,0100,0000,07,00,00,03,00,-1,-01,-01,1,3,0,0,150,3.4,3.50,-100,-0.50,-01,-0.32,58,925,0025,0,-1,00,00*05 MEM0 60108,1,0,0

FINISH 1.4,1.022655 MEM1 65508,1,0,0

SM_CCo 6621.23,84.08,0.911,0,541.9,614.1,469.7,692.26 MEM2 966516,25,80332,61

SM_GC 0.45,84.08,13.69,0.09,0.911,0.102,0.147,541.9,614.1,469.7,197.2,2181.4,0,0,0,11.51,15.58,15.62 DATA_FILE_SIZE 19308,688

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 434288,0

IRIDIUM_FIX 4718.00,-12518.24,150722,080350 SDSIZE 3887104,3866272

TCM_TEMP 12.89 SDFILEDIR 173,1

SC_FREEKB 3874304 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

MODEM 0,1657879201,47.26460,-125.32280,1.961,2873.0 CURRENT 0.039,131.8,1

RAFOS_FIX 4757.390137,-12957.378906,150722,010131,2,510,8097.23 MAGCAL 1.000000,0.021139,0.089765,-0.017430,1.100150,-0.180722,-0.094507,0.044921,1.165176,439.9,-1275.1,-360.3,36,0.0449,0

HUMID 49.09 IMPLIED_C_PITCH 1864,16.06,439,1855.2,16.79

TEMP 10.29 IMPLIED_C_VBD 2886,74.841148,335,3264.0

INTERNAL_PRESSURE 8.09913 GPS 150722,114101,4715.833,-12519.485,29,1.0,30,15.7

_24V_AH 14.75,14.320

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 791 1255 14655.58 nil 0 0 0.00

Pitch_motor 31 286 132.17 nil 0 0 0.00

Roll_motor 57 193 164.66 nil 0 0 0.00

Iridium 174 200 517.39 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.14 nil 0 0 0.00

Core 3050 5 230.97 SciCon 6498 6 642.08

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3701 0 17.52

Compass 1367 5 101.12

RAFOS 2611 40 1545.04

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

6.69 16386 -146.24 -1.19 0.00 535.8 604.0 467.5 194.8 2112.4 0.00 0.00 0 107.49 96.28 0.00 0.00 0.005 0.000 0.000 2704.72 2670.75 2738.69 195.06 2112.38 0 0 0 15.79 30.00 30.00

107.80 18727 -146.24 -1.19 80.00 2703.8 2670.2 2737.4 194.9 2112.9 3.13 -2.81 19 160.37 28.61 10.96 3.65 0.006 0.286 0.102 3961.41 3949.81 3973.00 1556.12 3617.88 0 0 0 15.85 15.64 15.77

253.14 3205 -146.24 -0.96 0.00 3963.3 3953.9 3972.8 1557.8 3617.8 35.02 -20.32 47 260.78 0.00 0.40 3.47 0.000 0.185 0.051 3963.91 3954.56 3973.25 1614.81 2120.88 0 0 0 30.00 15.77 15.86

570.10 516 -146.24 -0.96 -80.00 3964.2 3959.3 3969.0 1614.3 2121.2 76.61 -12.64 78 579.89 0.00 0.00 3.54 0.000 0.000 0.112 3965.38 3960.00 3970.75 1614.31 680.69 0 0 0 30.00 30.00 15.91

608.91 1156 -146.24 -0.92 0.00 3964.2 3959.2 3969.2 1613.9 680.9 83.45 -14.12 86 615.03 0.00 0.00 3.40 0.000 0.000 0.048 3963.44 3959.38 3967.50 1614.44 2177.25 0 0 0 30.00 30.00 15.94

919.00 160 -146.24 -0.96 0.00 3965.1 3961.3 3968.9 1614.2 2177.3 115.84 -8.31 118 920.61 0.00 0.00 0.00 0.000 0.000 0.000 3964.91 3961.06 3968.75 1614.19 2176.94 0 0 0 30.00 30.00 30.00

1229.16 160 -146.24 -1.00 0.00 3965.7 3962.9 3968.4 1613.5 2177.4 142.40 -9.44 149 1230.78 0.00 0.00 0.00 0.000 0.000 0.000 3965.72 3963.00 3968.44 1614.50 2177.31 0 0 0 30.00 30.00 30.00

1539.08 160 -146.24 -1.04 0.00 3966.2 3963.9 3968.6 1614.6 2177.2 171.57 -9.65 180 1540.69 0.00 0.00 0.00 0.000 0.000 0.000 3966.44 3963.62 3969.25 1614.06 2177.88 0 0 0 30.00 30.00 30.00

1849.12 4257 -146.24 -1.08 0.00 3966.6 3964.0 3969.1 1614.1 2177.2 202.55 -9.96 211 1850.98 0.00 0.28 0.00 0.000 0.086 0.000 3965.91 3963.12 3968.69 1568.50 2177.62 0 0 0 30.00 16.00 30.00

2159.10 2177 -146.24 -1.03 0.00 3966.7 3963.7 3969.6 1569.1 2177.4 240.29 -11.69 242 2160.96 0.00 0.24 0.00 0.000 0.174 0.000 3966.09 3963.38 3968.81 1596.56 2176.88 0 0 0 30.00 15.98 30.00

2469.03 0 -146.24 -1.03 0.00 3966.3 3964.0 3968.6 1596.1 2176.9 272.12 -10.20 259 2470.64 0.00 0.00 0.00 0.000 0.000 0.000 3965.53 3963.31 3967.75 1596.06 2177.06 0 0 0 30.00 30.00 30.00

2739 end dive: TARGET_DEPTH_EXCEEDED

state 2739 begin apogee

2740.41 10243 0.00 -0.29 0.00 3965.9 3963.9 3968.0 1596.9 2114.3 300.46 -10.76 268 2866.63 115.32 1.25 0.10 1.255 0.156 0.193 3363.44 3417.88 3309.00 1778.12 2181.00 0 0 0 11.62 15.97 15.57

2868 end apogee: CONTROL_FINISHED_OK

state 2868 begin climb

2867.87 10243 146.24 1.19 0.00 3362.9 3416.6 3309.2 1778.1 2181.3 305.57 0.00 272 2998.22 119.00 2.42 0.00 1.200 0.113 0.000 2765.50 2834.44 2696.56 2135.19 2181.50 0 0 0 11.73 15.59 30.00

3319.15 21127 146.24 1.03 -80.00 2759.0 2820.8 2697.1 2135.0 2181.2 270.72 10.38 293 3326.77 0.00 0.40 3.79 0.000 0.185 0.120 2761.47 2823.00 2699.94 2089.12 681.44 0 0 0 30.00 15.71 15.74

3405.37 21639 146.24 0.88 0.00 2757.9 2818.6 2697.1 2089.1 681.2 261.81 10.26 310 3412.75 0.00 0.24 3.47 0.000 0.198 0.054 2758.69 2819.31 2698.06 2052.06 2173.75 0 0 0 30.00 15.74 15.81

3721.35 10403 255.15 1.04 0.00 2756.7 2817.9 2695.4 2051.5 2173.9 242.94 4.94 334 3816.49 89.49 0.35 0.00 1.186 0.082 0.000 2325.44 2407.00 2243.88 2107.56 2174.25 0 0 0 11.76 15.93 30.00

4121.24 16902 255.15 1.04 -80.00 2314.7 2388.5 2240.9 2107.5 2174.4 203.78 10.36 379 4128.67 0.00 0.00 3.76 0.000 0.000 0.122 2314.19 2387.69 2240.69 2107.94 683.50 0 0 0 30.00 30.00 15.81

4187.32 17542 255.15 0.99 0.00 2314.4 2387.2 2241.5 2108.0 683.6 196.05 11.94 390 4193.44 0.00 0.00 3.47 0.000 0.000 0.053 2308.81 2383.12 2234.50 2107.69 2172.56 0 0 0 30.00 30.00 15.85

4497.28 16386 255.15 0.99 0.00 2313.1 2384.9 2241.2 2107.3 2173.8 162.48 10.81 422 4498.88 0.00 0.00 0.00 0.000 0.000 0.000 2312.09 2384.12 2240.06 2107.12 2173.69 0 0 0 30.00 30.00 30.00

4807.46 8870 267.53 1.03 -80.00 2311.8 2382.8 2240.8 2107.6 2174.7 132.39 9.43 453 4825.44 10.73 0.00 3.74 0.938 0.000 0.125 2271.25 2345.44 2197.06 2107.38 681.94 0 0 0 11.64 30.00 15.87

4853.91 1028 267.53 1.03 0.00 2271.9 2344.9 2198.9 2108.0 681.9 127.28 11.18 462 4860.12 0.00 0.00 3.44 0.000 0.000 0.054 2273.03 2345.75 2200.31 2107.31 2174.69 0 0 0 30.00 30.00 15.92

5164.10 8354 326.84 1.16 0.00 2270.0 2340.6 2199.4 2106.7 2175.0 101.23 7.25 494 5216.70 48.85 0.00 0.00 1.061 0.000 0.000 2030.38 2123.44 1937.31 2106.88 2175.38 0 0 0 11.62 30.00 30.00

5524.15 10919 397.25 1.39 -80.00 2023.6 2110.1 1937.1 2107.3 2175.5 75.26 6.73 533 5589.62 54.65 0.47 3.77 1.038 0.079 0.124 1743.22 1850.56 1635.88 2188.69 680.88 0 0 0 11.60 15.88 15.68

5670.73 1028 397.25 1.39 0.00 1739.0 1842.8 1635.2 2188.0 680.8 60.44 11.15 561 5676.96 0.00 0.00 3.48 0.000 0.000 0.053 1738.09 1841.88 1634.31 2188.38 2174.81 0 0 0 30.00 30.00 15.75

5980.94 8870 412.43 1.47 -80.00 1735.2 1834.6 1635.8 2187.8 2174.5 31.53 9.29 593 6003.68 12.91 0.00 3.76 0.892 0.000 0.121 1681.03 1780.81 1581.25 2188.62 683.06 0 0 0 11.60 30.00 15.79

6016.58 11431 416.47 1.53 0.00 1680.5 1779.5 1581.5 2188.8 682.8 27.96 9.81 600 6030.00 5.62 0.17 3.47 0.647 0.101 0.051 1665.31 1764.06 1566.56 2222.06 2176.56 0 0 0 11.81 15.81 15.83

6332.37 10663 579.88 1.85 80.00 1661.0 1755.6 1566.4 2224.6 2176.4 11.06 2.41 655 6471.75 125.28 0.43 3.62 0.957 0.081 0.117 998.97 1104.62 893.31 2297.94 3615.25 0 0 0 11.64 15.88 15.53

6495.35 9382 597.07 1.91 0.00 995.4 1098.7 892.1 2298.9 3616.5 2.50 9.20 686 6502.38 0.68 0.00 3.55 0.141 0.000 0.055 995.09 1097.94 892.25 2300.12 2123.31 0 0 0 15.54 30.00 15.62

6503 end climb: SURFACE_DEPTH_REACHED

state 6503 begin surface coast

6506 end surface coast: CONTROL_FINISHED_OK

state 6506 begin surface

ID	241	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	20	ALTIM_SENSITIVITY	2
MISSION	8	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	14	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	692.53918	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	-1.4
D_TGT	300	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	500	COMM_SEQ	7	C_VBD	3364	DEEPGLIDERMB	0
D_NO_BLEED	500	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	131	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_SAFE	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	7
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	100	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	100	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	140	T_RSLEEP	1	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	69
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_NO_W	120	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_LOITER	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	96
T_EPIRB	0	PITCH_MIN	210	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	-1	PITCH_MAX	3628	AH0_10V	0	NAV2_DEVICE	6
USE_ICE	0	C_PITCH	1846.3777	MINV_24V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	37
D_OFFGRID	1000	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	17.51445	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	32.284142	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	41.803982	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-190.14957	SEABIRD_T_J	4.3e-06
RHO	1.0257	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022588584	SEABIRD_C_G	-10
MASS	72789	C_PITCH_AUTO_MAX	200	COMPASS_USE	49156	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.0099999998	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3820	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2150	ALTIM_PULSE	3

GPS1	150722,094512,4716.521,-12520.358,4,0.9,8,15.8	TGT_RADIUS	1500.000
_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	-55.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150722,094918,4716.539,-12520.335,2,1.7,5,15.8	MHEAD_RNG_PITCHd_Wd	125.2,1728,-17.6,-10.000,-21.23,2209,0.132
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	ans0	IRON	1.000000,0.023869,0.090555,-0.015271,1.082566,-0.073022,-0.025123,-0.065471,1.049104,423.277740,-1286.587769,-244.933807
TGT_LATLONG	4715.876,-12519.368

NAV	1657882746,199.6,start	_10V_AH	14.79,0.000
NET	xmit part outbox0011.n 1160 0	FG_AHR_24Vo	42.019
NET_PING	1657884191,27,668.036987,19.299999,-0.882851	FG_AHR_10Vo	32.361
MODEM_MSG	CACST,8,1,20220715100001.961071,18,32767,27,0100,0000,07,00,00,03,00,-1,-01,-01,1,3,0,0,150,3.4,3.50,-100,-0.50,-01,-0.32,58,925,0025,0,-1,00,00*05	MEM0	60108,1,0,0
FINISH	1.4,1.022655	MEM1	65508,1,0,0
SM_CCo	6621.23,84.08,0.911,0,541.9,614.1,469.7,692.26	MEM2	966516,25,80332,61
SM_GC	0.45,84.08,13.69,0.09,0.911,0.102,0.147,541.9,614.1,469.7,197.2,2181.4,0,0,0,11.51,15.58,15.62	DATA_FILE_SIZE	19308,688
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	434288,0
IRIDIUM_FIX	4718.00,-12518.24,150722,080350	SDSIZE	3887104,3866272
TCM_TEMP	12.89	SDFILEDIR	173,1
SC_FREEKB	3874304	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
MODEM	0,1657879201,47.26460,-125.32280,1.961,2873.0	CURRENT	0.039,131.8,1
RAFOS_FIX	4757.390137,-12957.378906,150722,010131,2,510,8097.23	MAGCAL	1.000000,0.021139,0.089765,-0.017430,1.100150,-0.180722,-0.094507,0.044921,1.165176,439.9,-1275.1,-360.3,36,0.0449,0
HUMID	49.09	IMPLIED_C_PITCH	1864,16.06,439,1855.2,16.79
TEMP	10.29	IMPLIED_C_VBD	2886,74.841148,335,3264.0
INTERNAL_PRESSURE	8.09913	GPS	150722,114101,4715.833,-12519.485,29,1.0,30,15.7
_24V_AH	14.75,14.320

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	791	1255	14655.58	nil	0	0	0.00
Pitch_motor	31	286	132.17	nil	0	0	0.00
Roll_motor	57	193	164.66	nil	0	0	0.00
Iridium	174	200	517.39	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.14	nil	0	0	0.00
Core	3050	5	230.97	SciCon	6498	6	642.08
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3701	0	17.52
Compass	1367	5	101.12
RAFOS	2611	40	1545.04
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
6.69	16386	-146.24	-1.19	0.00	535.8	604.0	467.5	194.8	2112.4	0.00	0.00	0	107.49	96.28	0.00	0.00	0.005	0.000	0.000	2704.72	2670.75	2738.69	195.06	2112.38	0	0	0	15.79	30.00	30.00
107.80	18727	-146.24	-1.19	80.00	2703.8	2670.2	2737.4	194.9	2112.9	3.13	-2.81	19	160.37	28.61	10.96	3.65	0.006	0.286	0.102	3961.41	3949.81	3973.00	1556.12	3617.88	0	0	0	15.85	15.64	15.77
253.14	3205	-146.24	-0.96	0.00	3963.3	3953.9	3972.8	1557.8	3617.8	35.02	-20.32	47	260.78	0.00	0.40	3.47	0.000	0.185	0.051	3963.91	3954.56	3973.25	1614.81	2120.88	0	0	0	30.00	15.77	15.86
570.10	516	-146.24	-0.96	-80.00	3964.2	3959.3	3969.0	1614.3	2121.2	76.61	-12.64	78	579.89	0.00	0.00	3.54	0.000	0.000	0.112	3965.38	3960.00	3970.75	1614.31	680.69	0	0	0	30.00	30.00	15.91
608.91	1156	-146.24	-0.92	0.00	3964.2	3959.2	3969.2	1613.9	680.9	83.45	-14.12	86	615.03	0.00	0.00	3.40	0.000	0.000	0.048	3963.44	3959.38	3967.50	1614.44	2177.25	0	0	0	30.00	30.00	15.94
919.00	160	-146.24	-0.96	0.00	3965.1	3961.3	3968.9	1614.2	2177.3	115.84	-8.31	118	920.61	0.00	0.00	0.00	0.000	0.000	0.000	3964.91	3961.06	3968.75	1614.19	2176.94	0	0	0	30.00	30.00	30.00
1229.16	160	-146.24	-1.00	0.00	3965.7	3962.9	3968.4	1613.5	2177.4	142.40	-9.44	149	1230.78	0.00	0.00	0.00	0.000	0.000	0.000	3965.72	3963.00	3968.44	1614.50	2177.31	0	0	0	30.00	30.00	30.00
1539.08	160	-146.24	-1.04	0.00	3966.2	3963.9	3968.6	1614.6	2177.2	171.57	-9.65	180	1540.69	0.00	0.00	0.00	0.000	0.000	0.000	3966.44	3963.62	3969.25	1614.06	2177.88	0	0	0	30.00	30.00	30.00
1849.12	4257	-146.24	-1.08	0.00	3966.6	3964.0	3969.1	1614.1	2177.2	202.55	-9.96	211	1850.98	0.00	0.28	0.00	0.000	0.086	0.000	3965.91	3963.12	3968.69	1568.50	2177.62	0	0	0	30.00	16.00	30.00
2159.10	2177	-146.24	-1.03	0.00	3966.7	3963.7	3969.6	1569.1	2177.4	240.29	-11.69	242	2160.96	0.00	0.24	0.00	0.000	0.174	0.000	3966.09	3963.38	3968.81	1596.56	2176.88	0	0	0	30.00	15.98	30.00
2469.03	0	-146.24	-1.03	0.00	3966.3	3964.0	3968.6	1596.1	2176.9	272.12	-10.20	259	2470.64	0.00	0.00	0.00	0.000	0.000	0.000	3965.53	3963.31	3967.75	1596.06	2177.06	0	0	0	30.00	30.00	30.00
2739	end dive: TARGET_DEPTH_EXCEEDED
state	2739	begin apogee
2740.41	10243	0.00	-0.29	0.00	3965.9	3963.9	3968.0	1596.9	2114.3	300.46	-10.76	268	2866.63	115.32	1.25	0.10	1.255	0.156	0.193	3363.44	3417.88	3309.00	1778.12	2181.00	0	0	0	11.62	15.97	15.57
2868	end apogee: CONTROL_FINISHED_OK
state	2868	begin climb
2867.87	10243	146.24	1.19	0.00	3362.9	3416.6	3309.2	1778.1	2181.3	305.57	0.00	272	2998.22	119.00	2.42	0.00	1.200	0.113	0.000	2765.50	2834.44	2696.56	2135.19	2181.50	0	0	0	11.73	15.59	30.00
3319.15	21127	146.24	1.03	-80.00	2759.0	2820.8	2697.1	2135.0	2181.2	270.72	10.38	293	3326.77	0.00	0.40	3.79	0.000	0.185	0.120	2761.47	2823.00	2699.94	2089.12	681.44	0	0	0	30.00	15.71	15.74
3405.37	21639	146.24	0.88	0.00	2757.9	2818.6	2697.1	2089.1	681.2	261.81	10.26	310	3412.75	0.00	0.24	3.47	0.000	0.198	0.054	2758.69	2819.31	2698.06	2052.06	2173.75	0	0	0	30.00	15.74	15.81
3721.35	10403	255.15	1.04	0.00	2756.7	2817.9	2695.4	2051.5	2173.9	242.94	4.94	334	3816.49	89.49	0.35	0.00	1.186	0.082	0.000	2325.44	2407.00	2243.88	2107.56	2174.25	0	0	0	11.76	15.93	30.00
4121.24	16902	255.15	1.04	-80.00	2314.7	2388.5	2240.9	2107.5	2174.4	203.78	10.36	379	4128.67	0.00	0.00	3.76	0.000	0.000	0.122	2314.19	2387.69	2240.69	2107.94	683.50	0	0	0	30.00	30.00	15.81
4187.32	17542	255.15	0.99	0.00	2314.4	2387.2	2241.5	2108.0	683.6	196.05	11.94	390	4193.44	0.00	0.00	3.47	0.000	0.000	0.053	2308.81	2383.12	2234.50	2107.69	2172.56	0	0	0	30.00	30.00	15.85
4497.28	16386	255.15	0.99	0.00	2313.1	2384.9	2241.2	2107.3	2173.8	162.48	10.81	422	4498.88	0.00	0.00	0.00	0.000	0.000	0.000	2312.09	2384.12	2240.06	2107.12	2173.69	0	0	0	30.00	30.00	30.00
4807.46	8870	267.53	1.03	-80.00	2311.8	2382.8	2240.8	2107.6	2174.7	132.39	9.43	453	4825.44	10.73	0.00	3.74	0.938	0.000	0.125	2271.25	2345.44	2197.06	2107.38	681.94	0	0	0	11.64	30.00	15.87
4853.91	1028	267.53	1.03	0.00	2271.9	2344.9	2198.9	2108.0	681.9	127.28	11.18	462	4860.12	0.00	0.00	3.44	0.000	0.000	0.054	2273.03	2345.75	2200.31	2107.31	2174.69	0	0	0	30.00	30.00	15.92
5164.10	8354	326.84	1.16	0.00	2270.0	2340.6	2199.4	2106.7	2175.0	101.23	7.25	494	5216.70	48.85	0.00	0.00	1.061	0.000	0.000	2030.38	2123.44	1937.31	2106.88	2175.38	0	0	0	11.62	30.00	30.00
5524.15	10919	397.25	1.39	-80.00	2023.6	2110.1	1937.1	2107.3	2175.5	75.26	6.73	533	5589.62	54.65	0.47	3.77	1.038	0.079	0.124	1743.22	1850.56	1635.88	2188.69	680.88	0	0	0	11.60	15.88	15.68
5670.73	1028	397.25	1.39	0.00	1739.0	1842.8	1635.2	2188.0	680.8	60.44	11.15	561	5676.96	0.00	0.00	3.48	0.000	0.000	0.053	1738.09	1841.88	1634.31	2188.38	2174.81	0	0	0	30.00	30.00	15.75
5980.94	8870	412.43	1.47	-80.00	1735.2	1834.6	1635.8	2187.8	2174.5	31.53	9.29	593	6003.68	12.91	0.00	3.76	0.892	0.000	0.121	1681.03	1780.81	1581.25	2188.62	683.06	0	0	0	11.60	30.00	15.79
6016.58	11431	416.47	1.53	0.00	1680.5	1779.5	1581.5	2188.8	682.8	27.96	9.81	600	6030.00	5.62	0.17	3.47	0.647	0.101	0.051	1665.31	1764.06	1566.56	2222.06	2176.56	0	0	0	11.81	15.81	15.83
6332.37	10663	579.88	1.85	80.00	1661.0	1755.6	1566.4	2224.6	2176.4	11.06	2.41	655	6471.75	125.28	0.43	3.62	0.957	0.081	0.117	998.97	1104.62	893.31	2297.94	3615.25	0	0	0	11.64	15.88	15.53
6495.35	9382	597.07	1.91	0.00	995.4	1098.7	892.1	2298.9	3616.5	2.50	9.20	686	6502.38	0.68	0.00	3.55	0.141	0.000	0.055	995.09	1097.94	892.25	2300.12	2123.31	0	0	0	15.54	30.00	15.62
6503	end climb: SURFACE_DEPTH_REACHED
state	6503	begin surface coast
6506	end surface coast: CONTROL_FINISHED_OK
state	6506	begin surface