Glider dive log

AMOS Jul22 * SG242 * Dive index * Mission links * Dive 15 * 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 15 SM_CC 595.40039 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 0 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 360 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 120 STROBE 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE 96

T_MISSION 145 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 1674.8381 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 20.690323 SEABIRD_T_I 2.4999999e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 15.828384 FG_AHR_24V 6.3512979 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 -1 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 360 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 20.690323 PITCH_CNV 0.0041299998 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FG_AHR_24V 6.3512979 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 15.828384 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 -1 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 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 5

C_PITCH 1674.8381 LOGGERDEVICE2 35 PM_XMITPROFILE 3.0 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE3 -1 PM_XMITRAW 0.0 T_MISSION 145

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 15 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 0 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 130722,163502,4720.191,-12523.679,26,1.1,27,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130722,163942,4720.142,-12523.722,2,0.9,4,15.8 MHEAD_RNG_PITCHd_Wd 239.9,437,-27.2,-10.000,-30.00,972,0.216

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME HOLD 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 4720.000,-12524.000

Post-dive calculations and measurements:

NAV 1657735141,94.7,start _10V_AH 14.79,0.000

NET CACST,8,1,20220713173009.929513,06,431,20,0418,0150,74,01,01,01,01,-1,-01,-01,1,3,10287,0,150,19.8,0.62,-100,2.38,-01,2.38,61,10000,5000,0,-1,00,00*5A FG_AHR_24Vo 6.538

FREEZE 10.01,16.427,-1.713,0,1,0 FG_AHR_10Vo 20.828

SM_CCo 6346.41,0.25,0.089,0,499.8,560.7,438.9,586.32 MEM0 60108,1,0,0

SM_GC 2.35,0.25,12.98,0.12,0.089,0.051,0.147,499.8,560.7,438.9,201.7,1968.5,0,0,0,15.49,15.38,15.38 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 966264,26,80424,68

IRIDIUM_FIX 4719.30,-12520.08,130722,143836 DATA_FILE_SIZE 22467,791

TCM_TEMP 14.53 CAP_FILE_SIZE 225581,0

SC_FREEKB 3873984 SDSIZE 3887104,3865728

PM_FREEKB_00 61327488 SDFILEDIR 166,1

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

RAFOS_CLK 0 SOUNDSPEED 1465.0

RAFOS_FIX 4700.000000,-12248.580078,130722,000002,2,510,7735.12 CURRENT 0.009,168.5,1

HUMID 50.96 MAGCAL 1.000000,0.009376,0.038881,-0.002691,1.048183,-0.080890,-0.013914,-0.056050,0.977640,735.9,-863.1,-656.0,33,0.0293,0

TEMP 10.76 IMPLIED_C_PITCH 1659,16.40,384,1667.0,16.11

INTERNAL_PRESSURE 7.73991 IMPLIED_C_VBD 2873,72.715836,224,0

_24V_AH 14.78,5.852 GPS 130722,182709,4720.203,-12524.401,2,1.0,24,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 644 1435 13661.46 nil 0 0 0.00

Pitch_motor 27 276 112.27 nil 0 0 0.00

Roll_motor 99 214 314.32 nil 0 0 0.00

Iridium 196 241 700.72 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.09 nil 0 0 0.00

Core 3210 5 243.08 SciCon 6225 5 517.70

Fast 1 0 0.00 PMAR 6235 12 1179.71

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3323 0 15.73

Compass 1539 5 113.88

RAFOS 3980 40 2354.67

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

12.50 16386 -63.62 -1.80 0.00 499.1 562.9 435.3 207.8 2034.8 0.00 0.00 0 75.87 58.63 0.00 0.00 0.005 0.000 0.000 1881.38 1918.88 1843.88 208.00 2035.44 0 0 0 15.02 30.00 30.00

76.30 18727 -132.07 -1.88 80.00 1882.0 1917.9 1846.1 207.7 2034.9 3.23 -2.76 11 140.09 39.35 7.86 3.52 0.005 0.277 0.117 3428.28 3461.12 3395.44 1218.00 3469.25 0 0 0 15.65 15.49 15.59

247.72 1028 -132.07 -1.88 0.00 3429.7 3463.2 3396.2 1218.1 3468.9 52.35 -27.05 44 255.70 0.00 0.00 3.44 0.000 0.000 0.063 3431.81 3464.94 3398.69 1217.94 1974.88 0 0 0 30.00 30.00 15.65

443.50 260 -132.07 -1.88 80.00 3430.6 3465.3 3395.9 1218.1 1974.6 97.10 -19.61 64 451.62 0.00 0.00 3.62 0.000 0.000 0.110 3431.88 3465.12 3398.62 1218.81 3464.75 0 0 0 30.00 30.00 15.67

534.37 1028 -132.07 -1.88 0.00 3431.0 3465.5 3396.5 1218.2 3465.1 118.02 -23.01 82 542.73 0.00 0.00 3.40 0.000 0.000 0.061 3431.75 3467.00 3396.50 1217.62 1973.62 0 0 0 30.00 30.00 15.70

730.16 260 -132.07 -1.88 80.00 3432.3 3468.6 3396.1 1218.1 1973.8 155.86 -18.04 102 738.11 0.00 0.00 3.59 0.000 0.000 0.111 3432.72 3468.38 3397.06 1218.31 3465.12 0 0 0 30.00 30.00 15.75

756.58 1028 -132.07 -1.88 0.00 3432.1 3467.8 3396.4 1218.3 3463.4 160.84 -18.82 107 764.44 0.00 0.00 3.38 0.000 0.000 0.060 3434.22 3469.94 3398.50 1218.12 1974.06 0 0 0 30.00 30.00 15.78

951.60 260 -132.07 -1.88 80.00 3433.4 3470.4 3396.5 1218.2 1973.3 197.32 -18.48 127 959.57 0.00 0.00 3.60 0.000 0.000 0.111 3435.22 3473.44 3397.00 1218.12 3468.62 0 0 0 30.00 30.00 15.80

1012.30 1028 -132.07 -1.88 0.00 3434.0 3470.2 3397.9 1218.2 3469.5 209.98 -21.09 139 1020.59 0.00 0.00 3.38 0.000 0.000 0.061 3433.78 3470.12 3397.44 1218.19 1972.31 0 0 0 30.00 30.00 15.85

1203.38 0 -132.07 -1.88 0.00 3433.8 3470.6 3396.9 1218.4 1972.1 245.41 -18.51 158 1213.30 0.00 0.00 0.00 0.000 0.000 0.000 3433.38 3470.00 3396.75 1218.38 1972.62 0 0 0 30.00 30.00 30.00

1413.39 260 -132.07 -1.88 80.00 3433.6 3471.0 3396.1 1218.2 1972.3 285.22 -19.12 167 1421.45 0.00 0.00 3.62 0.000 0.000 0.114 3434.31 3471.75 3396.88 1217.50 3468.12 0 0 0 30.00 30.00 15.80

1429.16 1028 -132.07 -1.88 0.00 3434.1 3470.3 3397.8 1218.3 3468.1 288.57 -19.38 170 1436.75 0.00 0.00 3.38 0.000 0.000 0.061 3434.50 3471.25 3397.75 1218.00 1974.12 0 0 0 30.00 30.00 15.83

1740.22 260 -132.07 -1.88 80.00 3433.9 3470.2 3397.6 1217.9 1973.8 348.79 -19.20 182 1748.49 0.00 0.00 3.62 0.000 0.000 0.116 3433.19 3470.19 3396.19 1218.00 3466.19 0 0 0 30.00 30.00 15.79

1786.15 1028 -132.07 -1.88 0.00 3434.1 3470.8 3397.4 1218.0 3466.6 357.54 -21.31 190 1796.99 0.00 0.00 3.39 0.000 0.000 0.062 3433.50 3469.75 3397.25 1218.12 1973.44 0 0 0 30.00 30.00 15.81

1800 end dive: TARGET_DEPTH_EXCEEDED

state 1800 begin apogee

1802.00 10243 0.00 -0.32 0.00 3433.7 3470.4 3397.0 1218.3 2032.6 361.42 -21.19 193 1916.23 100.04 2.63 0.10 1.435 0.177 0.214 2887.81 2978.44 2797.19 1598.69 1970.56 0 0 0 11.71 15.74 15.33

1918 end apogee: CONTROL_FINISHED_OK

state 1918 begin climb

1918.83 10243 132.07 1.88 0.00 2886.9 2977.1 2796.8 1598.7 1970.9 366.03 0.00 196 2035.09 100.25 3.50 0.00 1.397 0.095 0.000 2349.94 2446.25 2253.62 2134.50 1971.31 0 0 0 11.39 15.38 30.00

2342.80 16902 132.07 1.88 -80.00 2340.2 2432.4 2248.0 2134.0 1970.9 332.73 11.05 211 2351.01 0.00 0.00 3.60 0.000 0.000 0.135 2337.62 2429.12 2246.12 2134.00 532.75 0 0 0 30.00 30.00 15.56

2446.31 17414 132.07 1.88 0.00 2338.1 2427.7 2248.4 2134.0 532.7 319.39 13.41 231 2454.09 0.00 0.00 3.47 0.000 0.000 0.058 2340.25 2429.19 2251.31 2133.62 2028.81 0 0 0 30.00 30.00 15.62

2762.62 548 134.70 1.89 -80.00 2337.7 2427.8 2247.6 2133.7 2028.8 287.57 9.72 244 2770.90 0.00 0.00 3.72 0.000 0.000 0.130 2335.59 2425.12 2246.06 2134.38 531.81 0 0 0 30.00 30.00 15.68

3001.07 1028 134.70 1.89 0.00 2336.0 2424.0 2248.0 2134.8 531.4 258.68 12.54 291 3009.24 0.00 0.00 3.44 0.000 0.000 0.058 2336.56 2424.12 2249.00 2134.56 2026.69 0 0 0 30.00 30.00 15.73

3317.78 8742 159.06 1.92 -80.00 2336.1 2424.2 2247.9 2133.8 2026.2 230.56 7.42 321 3351.71 20.63 0.00 3.76 1.256 0.000 0.133 2240.31 2333.38 2147.25 2134.56 532.94 0 0 0 11.66 30.00 15.64

3585.16 1028 159.06 1.92 0.00 2234.3 2324.1 2144.6 2134.2 532.7 202.44 11.39 373 3596.81 0.00 0.00 3.45 0.000 0.000 0.058 2236.59 2326.25 2146.94 2133.25 2027.44 0 0 0 30.00 30.00 15.72

3784.15 8486 170.14 1.93 80.00 2234.3 2323.8 2144.8 2134.1 2027.7 184.00 8.83 394 3803.26 10.13 0.00 3.52 1.080 0.000 0.122 2193.28 2287.25 2099.31 2134.12 3466.25 0 0 0 11.59 30.00 15.68

4031.84 1028 170.14 1.93 0.00 2194.7 2288.3 2101.1 2134.0 3466.1 159.00 10.60 443 4039.95 0.00 0.00 3.43 0.000 0.000 0.065 2195.12 2288.00 2102.25 2131.62 1973.19 0 0 0 30.00 30.00 15.75

4226.92 8742 184.02 1.95 -80.00 2193.2 2286.6 2099.8 2133.2 1973.2 141.53 8.53 463 4250.88 12.80 0.00 3.56 1.109 0.000 0.136 2139.59 2234.38 2044.81 2134.06 532.50 0 0 0 11.78 30.00 15.70

4479.50 1060 184.90 1.95 0.00 2133.5 2224.7 2042.3 2134.1 532.6 114.21 9.91 513 4487.54 0.00 0.00 3.42 0.000 0.000 0.058 2131.81 2223.00 2040.62 2133.94 2025.19 0 0 0 30.00 30.00 15.82

4674.50 8742 205.88 1.97 -80.00 2132.7 2224.6 2040.8 2132.7 2025.4 98.69 7.78 533 4703.28 18.12 0.00 3.68 1.124 0.000 0.133 2049.34 2145.81 1952.88 2134.25 531.38 0 0 0 11.71 30.00 15.74

4922.41 11303 237.45 2.01 0.00 2043.9 2135.9 1951.8 2133.9 531.4 79.55 6.66 580 4957.61 25.02 0.17 3.43 1.120 0.091 0.058 1921.16 2018.56 1823.75 2172.50 2031.50 0 0 0 11.92 15.76 15.77

5141.16 8226 287.17 2.07 0.00 1916.0 2012.2 1819.7 2171.8 2030.9 69.35 4.74 605 5184.13 37.69 0.00 0.00 1.110 0.000 0.000 1719.44 1817.00 1621.88 2172.56 2031.00 0 0 0 11.80 30.00 30.00

5371.20 8742 322.71 2.12 -80.00 1710.6 1806.9 1614.4 2171.8 2031.0 53.41 6.24 628 5409.56 26.99 0.00 3.77 1.068 0.000 0.133 1573.97 1668.94 1479.00 2171.88 531.69 0 0 0 11.56 30.00 15.51

5638.21 11303 356.92 2.16 0.00 1566.0 1657.8 1474.3 2172.1 531.6 30.87 6.38 680 5674.45 25.89 0.14 3.46 1.042 0.096 0.056 1432.91 1530.50 1335.31 2210.88 2032.25 0 0 0 11.79 15.65 15.67

5858.00 8742 403.35 2.22 -80.00 1428.5 1525.4 1331.6 2211.2 2031.4 18.35 5.09 723 5903.93 34.81 0.00 3.77 1.032 0.000 0.131 1244.75 1342.12 1147.38 2210.94 532.88 0 0 0 11.72 30.00 15.49

6130.18 11303 502.94 2.34 0.00 1237.8 1330.2 1145.4 2210.9 532.9 11.77 -0.53 776 6214.12 70.31 0.17 3.45 1.021 0.086 0.054 853.81 941.25 766.38 2250.75 2033.31 0 0 0 11.54 15.62 15.65

6214 end climb: NO_VERTICAL_VELOCITY

state 6214 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	15	SM_CC	595.40039	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	0	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	360	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	120	STROBE	0	LOITER_D_BOTTOM	0	RAFOS_DEVICE	96
T_MISSION	145	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	1674.8381	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	20.690323	SEABIRD_T_I	2.4999999e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	15.828384	FG_AHR_24V	6.3512979	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	-1	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	130722,163502,4720.191,-12523.679,26,1.1,27,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130722,163942,4720.142,-12523.722,2,0.9,4,15.8	MHEAD_RNG_PITCHd_Wd	239.9,437,-27.2,-10.000,-30.00,972,0.216
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	HOLD	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	4720.000,-12524.000

NAV	1657735141,94.7,start	_10V_AH	14.79,0.000
NET	CACST,8,1,20220713173009.929513,06,431,20,0418,0150,74,01,01,01,01,-1,-01,-01,1,3,10287,0,150,19.8,0.62,-100,2.38,-01,2.38,61,10000,5000,0,-1,00,00*5A	FG_AHR_24Vo	6.538
FREEZE	10.01,16.427,-1.713,0,1,0	FG_AHR_10Vo	20.828
SM_CCo	6346.41,0.25,0.089,0,499.8,560.7,438.9,586.32	MEM0	60108,1,0,0
SM_GC	2.35,0.25,12.98,0.12,0.089,0.051,0.147,499.8,560.7,438.9,201.7,1968.5,0,0,0,15.49,15.38,15.38	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	966264,26,80424,68
IRIDIUM_FIX	4719.30,-12520.08,130722,143836	DATA_FILE_SIZE	22467,791
TCM_TEMP	14.53	CAP_FILE_SIZE	225581,0
SC_FREEKB	3873984	SDSIZE	3887104,3865728
PM_FREEKB_00	61327488	SDFILEDIR	166,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
RAFOS_FIX	4700.000000,-12248.580078,130722,000002,2,510,7735.12	CURRENT	0.009,168.5,1
HUMID	50.96	MAGCAL	1.000000,0.009376,0.038881,-0.002691,1.048183,-0.080890,-0.013914,-0.056050,0.977640,735.9,-863.1,-656.0,33,0.0293,0
TEMP	10.76	IMPLIED_C_PITCH	1659,16.40,384,1667.0,16.11
INTERNAL_PRESSURE	7.73991	IMPLIED_C_VBD	2873,72.715836,224,0
_24V_AH	14.78,5.852	GPS	130722,182709,4720.203,-12524.401,2,1.0,24,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	644	1435	13661.46	nil	0	0	0.00
Pitch_motor	27	276	112.27	nil	0	0	0.00
Roll_motor	99	214	314.32	nil	0	0	0.00
Iridium	196	241	700.72	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.09	nil	0	0	0.00
Core	3210	5	243.08	SciCon	6225	5	517.70
Fast	1	0	0.00	PMAR	6235	12	1179.71
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3323	0	15.73
Compass	1539	5	113.88
RAFOS	3980	40	2354.67
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
12.50	16386	-63.62	-1.80	0.00	499.1	562.9	435.3	207.8	2034.8	0.00	0.00	0	75.87	58.63	0.00	0.00	0.005	0.000	0.000	1881.38	1918.88	1843.88	208.00	2035.44	0	0	0	15.02	30.00	30.00
76.30	18727	-132.07	-1.88	80.00	1882.0	1917.9	1846.1	207.7	2034.9	3.23	-2.76	11	140.09	39.35	7.86	3.52	0.005	0.277	0.117	3428.28	3461.12	3395.44	1218.00	3469.25	0	0	0	15.65	15.49	15.59
247.72	1028	-132.07	-1.88	0.00	3429.7	3463.2	3396.2	1218.1	3468.9	52.35	-27.05	44	255.70	0.00	0.00	3.44	0.000	0.000	0.063	3431.81	3464.94	3398.69	1217.94	1974.88	0	0	0	30.00	30.00	15.65
443.50	260	-132.07	-1.88	80.00	3430.6	3465.3	3395.9	1218.1	1974.6	97.10	-19.61	64	451.62	0.00	0.00	3.62	0.000	0.000	0.110	3431.88	3465.12	3398.62	1218.81	3464.75	0	0	0	30.00	30.00	15.67
534.37	1028	-132.07	-1.88	0.00	3431.0	3465.5	3396.5	1218.2	3465.1	118.02	-23.01	82	542.73	0.00	0.00	3.40	0.000	0.000	0.061	3431.75	3467.00	3396.50	1217.62	1973.62	0	0	0	30.00	30.00	15.70
730.16	260	-132.07	-1.88	80.00	3432.3	3468.6	3396.1	1218.1	1973.8	155.86	-18.04	102	738.11	0.00	0.00	3.59	0.000	0.000	0.111	3432.72	3468.38	3397.06	1218.31	3465.12	0	0	0	30.00	30.00	15.75
756.58	1028	-132.07	-1.88	0.00	3432.1	3467.8	3396.4	1218.3	3463.4	160.84	-18.82	107	764.44	0.00	0.00	3.38	0.000	0.000	0.060	3434.22	3469.94	3398.50	1218.12	1974.06	0	0	0	30.00	30.00	15.78
951.60	260	-132.07	-1.88	80.00	3433.4	3470.4	3396.5	1218.2	1973.3	197.32	-18.48	127	959.57	0.00	0.00	3.60	0.000	0.000	0.111	3435.22	3473.44	3397.00	1218.12	3468.62	0	0	0	30.00	30.00	15.80
1012.30	1028	-132.07	-1.88	0.00	3434.0	3470.2	3397.9	1218.2	3469.5	209.98	-21.09	139	1020.59	0.00	0.00	3.38	0.000	0.000	0.061	3433.78	3470.12	3397.44	1218.19	1972.31	0	0	0	30.00	30.00	15.85
1203.38	0	-132.07	-1.88	0.00	3433.8	3470.6	3396.9	1218.4	1972.1	245.41	-18.51	158	1213.30	0.00	0.00	0.00	0.000	0.000	0.000	3433.38	3470.00	3396.75	1218.38	1972.62	0	0	0	30.00	30.00	30.00
1413.39	260	-132.07	-1.88	80.00	3433.6	3471.0	3396.1	1218.2	1972.3	285.22	-19.12	167	1421.45	0.00	0.00	3.62	0.000	0.000	0.114	3434.31	3471.75	3396.88	1217.50	3468.12	0	0	0	30.00	30.00	15.80
1429.16	1028	-132.07	-1.88	0.00	3434.1	3470.3	3397.8	1218.3	3468.1	288.57	-19.38	170	1436.75	0.00	0.00	3.38	0.000	0.000	0.061	3434.50	3471.25	3397.75	1218.00	1974.12	0	0	0	30.00	30.00	15.83
1740.22	260	-132.07	-1.88	80.00	3433.9	3470.2	3397.6	1217.9	1973.8	348.79	-19.20	182	1748.49	0.00	0.00	3.62	0.000	0.000	0.116	3433.19	3470.19	3396.19	1218.00	3466.19	0	0	0	30.00	30.00	15.79
1786.15	1028	-132.07	-1.88	0.00	3434.1	3470.8	3397.4	1218.0	3466.6	357.54	-21.31	190	1796.99	0.00	0.00	3.39	0.000	0.000	0.062	3433.50	3469.75	3397.25	1218.12	1973.44	0	0	0	30.00	30.00	15.81
1800	end dive: TARGET_DEPTH_EXCEEDED
state	1800	begin apogee
1802.00	10243	0.00	-0.32	0.00	3433.7	3470.4	3397.0	1218.3	2032.6	361.42	-21.19	193	1916.23	100.04	2.63	0.10	1.435	0.177	0.214	2887.81	2978.44	2797.19	1598.69	1970.56	0	0	0	11.71	15.74	15.33
1918	end apogee: CONTROL_FINISHED_OK
state	1918	begin climb
1918.83	10243	132.07	1.88	0.00	2886.9	2977.1	2796.8	1598.7	1970.9	366.03	0.00	196	2035.09	100.25	3.50	0.00	1.397	0.095	0.000	2349.94	2446.25	2253.62	2134.50	1971.31	0	0	0	11.39	15.38	30.00
2342.80	16902	132.07	1.88	-80.00	2340.2	2432.4	2248.0	2134.0	1970.9	332.73	11.05	211	2351.01	0.00	0.00	3.60	0.000	0.000	0.135	2337.62	2429.12	2246.12	2134.00	532.75	0	0	0	30.00	30.00	15.56
2446.31	17414	132.07	1.88	0.00	2338.1	2427.7	2248.4	2134.0	532.7	319.39	13.41	231	2454.09	0.00	0.00	3.47	0.000	0.000	0.058	2340.25	2429.19	2251.31	2133.62	2028.81	0	0	0	30.00	30.00	15.62
2762.62	548	134.70	1.89	-80.00	2337.7	2427.8	2247.6	2133.7	2028.8	287.57	9.72	244	2770.90	0.00	0.00	3.72	0.000	0.000	0.130	2335.59	2425.12	2246.06	2134.38	531.81	0	0	0	30.00	30.00	15.68
3001.07	1028	134.70	1.89	0.00	2336.0	2424.0	2248.0	2134.8	531.4	258.68	12.54	291	3009.24	0.00	0.00	3.44	0.000	0.000	0.058	2336.56	2424.12	2249.00	2134.56	2026.69	0	0	0	30.00	30.00	15.73
3317.78	8742	159.06	1.92	-80.00	2336.1	2424.2	2247.9	2133.8	2026.2	230.56	7.42	321	3351.71	20.63	0.00	3.76	1.256	0.000	0.133	2240.31	2333.38	2147.25	2134.56	532.94	0	0	0	11.66	30.00	15.64
3585.16	1028	159.06	1.92	0.00	2234.3	2324.1	2144.6	2134.2	532.7	202.44	11.39	373	3596.81	0.00	0.00	3.45	0.000	0.000	0.058	2236.59	2326.25	2146.94	2133.25	2027.44	0	0	0	30.00	30.00	15.72
3784.15	8486	170.14	1.93	80.00	2234.3	2323.8	2144.8	2134.1	2027.7	184.00	8.83	394	3803.26	10.13	0.00	3.52	1.080	0.000	0.122	2193.28	2287.25	2099.31	2134.12	3466.25	0	0	0	11.59	30.00	15.68
4031.84	1028	170.14	1.93	0.00	2194.7	2288.3	2101.1	2134.0	3466.1	159.00	10.60	443	4039.95	0.00	0.00	3.43	0.000	0.000	0.065	2195.12	2288.00	2102.25	2131.62	1973.19	0	0	0	30.00	30.00	15.75
4226.92	8742	184.02	1.95	-80.00	2193.2	2286.6	2099.8	2133.2	1973.2	141.53	8.53	463	4250.88	12.80	0.00	3.56	1.109	0.000	0.136	2139.59	2234.38	2044.81	2134.06	532.50	0	0	0	11.78	30.00	15.70
4479.50	1060	184.90	1.95	0.00	2133.5	2224.7	2042.3	2134.1	532.6	114.21	9.91	513	4487.54	0.00	0.00	3.42	0.000	0.000	0.058	2131.81	2223.00	2040.62	2133.94	2025.19	0	0	0	30.00	30.00	15.82
4674.50	8742	205.88	1.97	-80.00	2132.7	2224.6	2040.8	2132.7	2025.4	98.69	7.78	533	4703.28	18.12	0.00	3.68	1.124	0.000	0.133	2049.34	2145.81	1952.88	2134.25	531.38	0	0	0	11.71	30.00	15.74
4922.41	11303	237.45	2.01	0.00	2043.9	2135.9	1951.8	2133.9	531.4	79.55	6.66	580	4957.61	25.02	0.17	3.43	1.120	0.091	0.058	1921.16	2018.56	1823.75	2172.50	2031.50	0	0	0	11.92	15.76	15.77
5141.16	8226	287.17	2.07	0.00	1916.0	2012.2	1819.7	2171.8	2030.9	69.35	4.74	605	5184.13	37.69	0.00	0.00	1.110	0.000	0.000	1719.44	1817.00	1621.88	2172.56	2031.00	0	0	0	11.80	30.00	30.00
5371.20	8742	322.71	2.12	-80.00	1710.6	1806.9	1614.4	2171.8	2031.0	53.41	6.24	628	5409.56	26.99	0.00	3.77	1.068	0.000	0.133	1573.97	1668.94	1479.00	2171.88	531.69	0	0	0	11.56	30.00	15.51
5638.21	11303	356.92	2.16	0.00	1566.0	1657.8	1474.3	2172.1	531.6	30.87	6.38	680	5674.45	25.89	0.14	3.46	1.042	0.096	0.056	1432.91	1530.50	1335.31	2210.88	2032.25	0	0	0	11.79	15.65	15.67
5858.00	8742	403.35	2.22	-80.00	1428.5	1525.4	1331.6	2211.2	2031.4	18.35	5.09	723	5903.93	34.81	0.00	3.77	1.032	0.000	0.131	1244.75	1342.12	1147.38	2210.94	532.88	0	0	0	11.72	30.00	15.49
6130.18	11303	502.94	2.34	0.00	1237.8	1330.2	1145.4	2210.9	532.9	11.77	-0.53	776	6214.12	70.31	0.17	3.45	1.021	0.086	0.054	853.81	941.25	766.38	2250.75	2033.31	0	0	0	11.54	15.62	15.65
6214	end climb: NO_VERTICAL_VELOCITY
state	6214	begin surface