Glider dive log

AMOS Jul22 * SG240 * Dive index * Mission links * Dive 38 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 240 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 20 ALTIM_SENSITIVITY 2

MISSION 5 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 38 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 -0.1

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 1

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 66

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 60 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 205 AH0_24V 575 NAV_DEVICE 6

USE_BATHY -1 PITCH_MAX 3600 AH0_10V 0 NAV2_DEVICE 6

USE_ICE 0 C_PITCH 1809.5219 MINV_24V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

D_OFFGRID 1000 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 16.864433 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 29.058212 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 16.206549 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 -156.41907 SEABIRD_T_J 4.3e-06

RHO 1.0275 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022403029 SEABIRD_C_G -10

MASS 72877 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 210 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3810 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 29.058212 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 16.206549 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 16.864433 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 3600 TGT_DEFAULT_LAT 4736

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

CAPUPLOAD 0 HEADING -1 PITCH_MIN 205 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 240 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT -0.1 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 1809.5219 KALMAN_USE 2 PRESSURE_SLOPE 0.00022403029 T_MISSION 140

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -156.41907 T_NO_W 60

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 1 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 1.0275 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE1 -1 MASS 72877 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 3810 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 210 W_ADJ_DBAND 0

DIVE 38 MISSION 5 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 150722,110901,4716.544,-12520.632,21,1.2,22,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.51 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150722,111242,4716.562,-12520.592,2,0.9,5,15.8 MHEAD_RNG_PITCHd_Wd 115.6,1995,-17.6,-10.000,-21.24,2209,0.151

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME ans0 IRON 1.000000,0.004969,0.026652,-0.004892,1.062311,-0.049169,-0.018000,-0.082850,0.992013,54.201790,-879.643433,-413.071289

TGT_LATLONG 4715.876,-12519.368

Post-dive calculations and measurements:

NET xmit part outbox0020.n 1078 0 _10V_AH 14.81,0.000

NET_PING 1657888878,27,1291.396484,34.700001,-1.706974 FG_AHR_24Vo 16.404

MODEM_MSG CACST,8,0,20220715120000.952114,18,3306,29,0245,0000,126,02,02,01,02,1,025,121,0,5,1,0,150,4.0,6.12,-100,-3.12,-01,-0.17,72,925,0025,0,1,00,00*00 FG_AHR_10Vo 29.130

NAV 1657889944,10.8,start MEM0 60108,1,0,0

FINISH 0.8,1.022757 MEM1 65508,1,0,0

SM_CCo 6681.01,85.76,0.965,0,541.4,557.4,525.4,692.37 MEM2 966616,24,80272,60

SM_GC 1.52,85.76,13.06,0.09,0.965,0.060,0.154,541.4,557.4,525.4,187.4,2119.4,0,0,0,11.75,15.62,15.62 DATA_FILE_SIZE 22512,805

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 514265,0

IRIDIUM_FIX 4716.54,-12518.24,150722,093516 SDSIZE 3887104,3859360

TCM_TEMP 17.87 SDFILEDIR 352,1

SC_FREEKB 3866624 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 0,1657882802,47.26460,-125.32280,2.669,3910.2 CURRENT 0.044,111.8,1

RAFOS_FIX 6033.735352,-9800.300781,140722,010100,2,510,3867.59 MAGCAL 1.000000,0.027960,-0.018515,-0.014017,1.056833,-0.079334,-0.033541,-0.013766,1.042598,86.0,-885.4,-474.9,33,0.0431,0

HUMID 49.73 IMPLIED_C_PITCH 1817,16.45,445,1813.0,16.66

TEMP 9.91 IMPLIED_C_VBD 3606,47.799809,419,3464.0

INTERNAL_PRESSURE 7.98169 GPS 150722,130504,4716.075,-12519.476,6,1.6,10,15.7

_24V_AH 14.83,19.126

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 723 1336 14347.71 nil 0 0 0.00

Pitch_motor 31 261 121.94 nil 0 0 0.00

Roll_motor 93 222 309.58 nil 0 0 0.00

Iridium 146 224 487.96 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.21 nil 0 0 0.00

Core 3254 5 246.81 SciCon 6576 6 608.79

Fast 2 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3530 0 16.73

Compass 1528 5 113.20

RAFOS 4594 40 2721.67

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

6.73 16386 -145.99 -1.22 0.00 495.2 514.4 475.9 194.7 2130.1 0.00 0.00 0 91.92 81.25 0.00 0.00 0.005 0.000 0.000 2700.47 2725.56 2675.38 194.81 2130.12 0 0 0 15.71 30.00 30.00

92.22 18727 -145.99 -1.22 80.00 2699.4 2724.5 2674.4 194.8 2129.9 3.18 -2.39 16 145.36 29.14 9.98 3.69 0.005 0.261 0.119 3961.38 4010.00 3912.75 1512.00 3615.62 0 0 0 15.78 15.62 15.71

193.83 3205 -145.99 -0.91 0.00 3962.5 4008.7 3916.4 1511.2 3615.5 26.99 -25.76 35 201.23 0.00 0.52 3.52 0.000 0.180 0.053 3963.06 4008.62 3917.50 1588.62 2121.69 0 0 0 30.00 15.71 15.77

508.82 644 -145.99 -0.94 -80.00 3965.1 4014.4 3915.8 1588.4 2121.6 66.23 -11.71 67 516.18 0.00 0.00 3.63 0.000 0.000 0.118 3965.44 4015.12 3915.75 1588.88 682.25 0 0 0 30.00 30.00 15.81

639.68 1028 -145.99 -0.94 0.00 3964.7 4014.1 3915.2 1588.8 682.2 82.02 -11.45 93 645.88 0.00 0.00 3.42 0.000 0.000 0.054 3965.91 4015.44 3916.38 1588.44 2172.69 0 0 0 30.00 30.00 15.89

949.87 4773 -145.99 -1.03 -80.00 3966.7 4015.8 3917.6 1588.8 2172.9 109.49 -7.53 125 957.39 0.00 0.26 3.75 0.000 0.079 0.117 3966.50 4015.69 3917.31 1544.25 681.75 0 0 0 30.00 15.92 15.90

1105.99 3205 -145.99 -0.95 0.00 3966.7 4015.5 3917.8 1543.7 681.6 127.48 -12.18 156 1113.38 0.00 0.29 3.41 0.000 0.175 0.054 3966.25 4015.50 3917.00 1579.38 2175.12 0 0 0 30.00 15.90 15.95

1421.08 8870 -145.99 -1.02 -80.00 3967.4 4016.1 3918.8 1579.4 2175.4 156.13 -9.05 188 1428.38 0.00 0.00 3.74 0.000 0.000 0.120 3967.19 4015.81 3918.56 1579.50 681.88 0 0 0 30.00 30.00 15.94

1591.21 9254 -145.99 -1.02 0.00 3968.2 4017.2 3919.2 1579.2 681.8 172.55 -9.33 222 1598.83 0.00 0.00 3.42 0.000 0.000 0.056 3968.06 4017.12 3919.00 1578.94 2174.12 0 0 0 30.00 30.00 16.00

1907.07 12967 -145.99 -1.09 -80.00 3967.9 4016.9 3918.9 1578.9 2173.5 197.82 -8.55 254 1914.62 0.00 0.30 3.73 0.000 0.076 0.122 3967.16 4015.38 3918.94 1526.94 682.00 0 0 0 30.00 16.02 15.99

1987.47 11399 -145.99 -0.98 0.00 3968.0 4016.8 3919.1 1527.2 681.8 207.94 -13.32 270 1995.33 0.00 0.37 3.41 0.000 0.177 0.056 3968.41 4017.50 3919.31 1573.56 2173.00 0 0 0 30.00 15.97 16.04

2303.29 8870 -145.99 -1.05 -80.00 3968.1 4017.1 3919.0 1573.4 2172.4 235.26 -7.77 302 2310.56 0.00 0.00 3.73 0.000 0.000 0.125 3967.47 4016.38 3918.56 1573.38 680.75 0 0 0 30.00 30.00 16.03

2433.48 13479 -145.99 -1.09 0.00 3968.2 4017.2 3919.1 1573.1 680.7 246.70 -8.77 328 2441.25 0.00 0.25 3.41 0.000 0.081 0.056 3968.12 4017.00 3919.25 1529.44 2173.62 0 0 0 30.00 16.07 16.09

2760.23 8742 -145.99 -1.09 -80.00 3967.5 4016.1 3919.0 1529.2 2173.4 276.73 -9.83 342 2769.72 0.00 0.00 3.71 0.000 0.000 0.126 3967.84 4016.69 3919.00 1529.75 683.00 0 0 0 30.00 30.00 16.05

2873.75 11399 -145.99 -1.01 0.00 3967.9 4016.8 3919.0 1528.9 682.9 290.47 -11.63 364 2884.63 0.00 0.30 3.40 0.000 0.177 0.059 3967.97 4016.81 3919.12 1564.94 2172.44 0 0 0 30.00 16.02 16.07

3003 end dive: TARGET_DEPTH_EXCEEDED

state 3003 begin apogee

3003.93 10243 0.00 -0.30 0.00 3967.9 4016.9 3918.8 1564.6 2118.1 301.42 -7.85 370 3118.43 106.33 1.12 0.09 1.336 0.138 0.222 3362.38 3423.50 3301.25 1739.31 2175.81 0 0 0 12.04 16.02 15.61

3120 end apogee: CONTROL_FINISHED_OK

state 3120 begin climb

3119.84 10503 145.99 1.22 80.00 3362.3 3423.2 3301.4 1739.4 2176.2 303.39 0.00 373 3248.96 109.61 2.43 3.70 1.280 0.104 0.130 2766.84 2827.06 2706.62 2108.44 3614.56 0 0 0 11.99 15.63 15.35

3281.80 5253 145.99 0.99 0.00 2765.5 2824.9 2706.0 2108.9 3614.9 289.69 13.84 404 3289.11 0.00 0.52 3.58 0.000 0.184 0.056 2765.03 2824.94 2705.12 2042.25 2125.31 0 0 0 30.00 15.44 15.50

3607.70 8742 159.88 1.01 -80.00 2760.3 2824.1 2696.5 2041.4 2124.6 257.38 9.35 419 3629.73 12.07 0.00 3.70 1.079 0.000 0.134 2708.84 2771.19 2646.50 2042.56 683.81 0 0 0 11.84 30.00 15.69

3712.60 1156 159.88 0.89 0.00 2706.4 2769.6 2643.2 2042.1 684.2 245.39 12.10 440 3720.18 0.00 0.00 3.49 0.000 0.000 0.060 2707.50 2770.81 2644.19 2041.94 2170.31 0 0 0 30.00 30.00 15.78

4028.32 8742 187.89 0.93 -80.00 2706.2 2769.6 2642.9 2042.3 2169.7 216.55 8.70 472 4061.79 23.34 0.00 3.80 1.174 0.000 0.130 2596.31 2664.56 2528.06 2042.56 681.69 0 0 0 11.82 30.00 15.74

4134.26 5253 187.89 0.86 0.00 2591.0 2659.4 2522.7 2042.6 681.8 205.75 11.23 492 4141.61 0.00 0.20 3.48 0.000 0.177 0.060 2589.88 2659.00 2520.75 2010.75 2171.94 0 0 0 30.00 15.76 15.80

4449.34 10403 212.37 0.99 0.00 2590.7 2659.2 2522.1 2011.2 2172.6 177.63 8.86 524 4472.75 20.45 0.28 0.00 1.138 0.078 0.000 2498.31 2571.75 2424.88 2059.25 2172.00 0 0 0 12.09 15.89 30.00

4779.24 516 212.37 0.99 -80.00 2492.4 2569.6 2415.2 2059.1 2172.4 143.04 10.37 557 4786.74 0.00 0.00 3.81 0.000 0.000 0.129 2493.25 2569.88 2416.62 2058.50 681.62 0 0 0 30.00 30.00 15.86

4879.60 5253 212.37 0.92 0.00 2490.6 2568.1 2413.0 2059.7 682.1 131.26 11.21 577 4887.42 0.00 0.28 3.46 0.000 0.164 0.060 2493.81 2571.56 2416.06 2022.88 2170.44 0 0 0 30.00 15.87 15.91

5195.41 10919 298.31 1.15 -80.00 2490.5 2568.4 2412.6 2024.2 2170.2 111.12 6.00 609 5271.52 64.22 0.44 3.83 1.137 0.070 0.130 2146.28 2232.94 2059.62 2095.50 682.94 0 0 0 11.86 15.95 15.68

5292.98 1028 298.31 1.15 0.00 2141.6 2228.3 2054.9 2095.9 683.0 101.53 11.59 623 5299.31 0.00 0.00 3.50 0.000 0.000 0.059 2140.25 2227.19 2053.31 2096.56 2170.25 0 0 0 30.00 30.00 15.72

5603.27 10919 357.38 1.31 -80.00 2136.9 2228.2 2045.6 2095.8 2170.5 73.36 7.25 655 5657.93 43.05 0.17 3.80 1.071 0.097 0.131 1906.12 2002.75 1809.50 2133.25 684.25 0 0 0 11.87 15.89 15.71

5766.40 1028 357.38 1.31 0.00 1899.3 1995.0 1803.6 2132.4 683.9 56.30 12.04 687 5772.63 0.00 0.00 3.46 0.000 0.000 0.059 1901.91 1998.25 1805.56 2131.12 2170.31 0 0 0 30.00 30.00 15.82

6076.58 10403 413.39 1.45 0.00 1896.8 1995.6 1798.1 2132.2 2170.2 26.56 7.39 719 6119.95 40.29 0.17 0.00 1.019 0.100 0.000 1677.34 1771.38 1583.31 2171.88 2169.75 0 0 0 11.91 15.92 30.00

6421.34 10403 578.15 1.83 0.00 1670.7 1765.9 1575.4 2171.8 2169.9 9.12 2.34 778 6536.29 108.44 0.50 0.00 0.993 0.077 0.000 1050.75 1122.88 978.62 2261.44 2170.38 0 0 0 11.90 15.88 30.00

6537 end climb: SURFACE_DEPTH_REACHED

state 6537 begin surface coast

6565 end surface coast: CONTROL_FINISHED_OK

state 6565 begin surface

ID	240	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	20	ALTIM_SENSITIVITY	2
MISSION	5	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	38	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	-0.1
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	1
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	66
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	60	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	205	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	-1	PITCH_MAX	3600	AH0_10V	0	NAV2_DEVICE	6
USE_ICE	0	C_PITCH	1809.5219	MINV_24V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
D_OFFGRID	1000	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	16.864433	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	29.058212	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	16.206549	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	-156.41907	SEABIRD_T_J	4.3e-06
RHO	1.0275	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022403029	SEABIRD_C_G	-10
MASS	72877	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	210	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3810	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	150722,110901,4716.544,-12520.632,21,1.2,22,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.51	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150722,111242,4716.562,-12520.592,2,0.9,5,15.8	MHEAD_RNG_PITCHd_Wd	115.6,1995,-17.6,-10.000,-21.24,2209,0.151
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	ans0	IRON	1.000000,0.004969,0.026652,-0.004892,1.062311,-0.049169,-0.018000,-0.082850,0.992013,54.201790,-879.643433,-413.071289
TGT_LATLONG	4715.876,-12519.368

NET	xmit part outbox0020.n 1078 0	_10V_AH	14.81,0.000
NET_PING	1657888878,27,1291.396484,34.700001,-1.706974	FG_AHR_24Vo	16.404
MODEM_MSG	CACST,8,0,20220715120000.952114,18,3306,29,0245,0000,126,02,02,01,02,1,025,121,0,5,1,0,150,4.0,6.12,-100,-3.12,-01,-0.17,72,925,0025,0,1,00,00*00	FG_AHR_10Vo	29.130
NAV	1657889944,10.8,start	MEM0	60108,1,0,0
FINISH	0.8,1.022757	MEM1	65508,1,0,0
SM_CCo	6681.01,85.76,0.965,0,541.4,557.4,525.4,692.37	MEM2	966616,24,80272,60
SM_GC	1.52,85.76,13.06,0.09,0.965,0.060,0.154,541.4,557.4,525.4,187.4,2119.4,0,0,0,11.75,15.62,15.62	DATA_FILE_SIZE	22512,805
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	514265,0
IRIDIUM_FIX	4716.54,-12518.24,150722,093516	SDSIZE	3887104,3859360
TCM_TEMP	17.87	SDFILEDIR	352,1
SC_FREEKB	3866624	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	0,1657882802,47.26460,-125.32280,2.669,3910.2	CURRENT	0.044,111.8,1
RAFOS_FIX	6033.735352,-9800.300781,140722,010100,2,510,3867.59	MAGCAL	1.000000,0.027960,-0.018515,-0.014017,1.056833,-0.079334,-0.033541,-0.013766,1.042598,86.0,-885.4,-474.9,33,0.0431,0
HUMID	49.73	IMPLIED_C_PITCH	1817,16.45,445,1813.0,16.66
TEMP	9.91	IMPLIED_C_VBD	3606,47.799809,419,3464.0
INTERNAL_PRESSURE	7.98169	GPS	150722,130504,4716.075,-12519.476,6,1.6,10,15.7
_24V_AH	14.83,19.126

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	723	1336	14347.71	nil	0	0	0.00
Pitch_motor	31	261	121.94	nil	0	0	0.00
Roll_motor	93	222	309.58	nil	0	0	0.00
Iridium	146	224	487.96	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.21	nil	0	0	0.00
Core	3254	5	246.81	SciCon	6576	6	608.79
Fast	2	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3530	0	16.73
Compass	1528	5	113.20
RAFOS	4594	40	2721.67
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
6.73	16386	-145.99	-1.22	0.00	495.2	514.4	475.9	194.7	2130.1	0.00	0.00	0	91.92	81.25	0.00	0.00	0.005	0.000	0.000	2700.47	2725.56	2675.38	194.81	2130.12	0	0	0	15.71	30.00	30.00
92.22	18727	-145.99	-1.22	80.00	2699.4	2724.5	2674.4	194.8	2129.9	3.18	-2.39	16	145.36	29.14	9.98	3.69	0.005	0.261	0.119	3961.38	4010.00	3912.75	1512.00	3615.62	0	0	0	15.78	15.62	15.71
193.83	3205	-145.99	-0.91	0.00	3962.5	4008.7	3916.4	1511.2	3615.5	26.99	-25.76	35	201.23	0.00	0.52	3.52	0.000	0.180	0.053	3963.06	4008.62	3917.50	1588.62	2121.69	0	0	0	30.00	15.71	15.77
508.82	644	-145.99	-0.94	-80.00	3965.1	4014.4	3915.8	1588.4	2121.6	66.23	-11.71	67	516.18	0.00	0.00	3.63	0.000	0.000	0.118	3965.44	4015.12	3915.75	1588.88	682.25	0	0	0	30.00	30.00	15.81
639.68	1028	-145.99	-0.94	0.00	3964.7	4014.1	3915.2	1588.8	682.2	82.02	-11.45	93	645.88	0.00	0.00	3.42	0.000	0.000	0.054	3965.91	4015.44	3916.38	1588.44	2172.69	0	0	0	30.00	30.00	15.89
949.87	4773	-145.99	-1.03	-80.00	3966.7	4015.8	3917.6	1588.8	2172.9	109.49	-7.53	125	957.39	0.00	0.26	3.75	0.000	0.079	0.117	3966.50	4015.69	3917.31	1544.25	681.75	0	0	0	30.00	15.92	15.90
1105.99	3205	-145.99	-0.95	0.00	3966.7	4015.5	3917.8	1543.7	681.6	127.48	-12.18	156	1113.38	0.00	0.29	3.41	0.000	0.175	0.054	3966.25	4015.50	3917.00	1579.38	2175.12	0	0	0	30.00	15.90	15.95
1421.08	8870	-145.99	-1.02	-80.00	3967.4	4016.1	3918.8	1579.4	2175.4	156.13	-9.05	188	1428.38	0.00	0.00	3.74	0.000	0.000	0.120	3967.19	4015.81	3918.56	1579.50	681.88	0	0	0	30.00	30.00	15.94
1591.21	9254	-145.99	-1.02	0.00	3968.2	4017.2	3919.2	1579.2	681.8	172.55	-9.33	222	1598.83	0.00	0.00	3.42	0.000	0.000	0.056	3968.06	4017.12	3919.00	1578.94	2174.12	0	0	0	30.00	30.00	16.00
1907.07	12967	-145.99	-1.09	-80.00	3967.9	4016.9	3918.9	1578.9	2173.5	197.82	-8.55	254	1914.62	0.00	0.30	3.73	0.000	0.076	0.122	3967.16	4015.38	3918.94	1526.94	682.00	0	0	0	30.00	16.02	15.99
1987.47	11399	-145.99	-0.98	0.00	3968.0	4016.8	3919.1	1527.2	681.8	207.94	-13.32	270	1995.33	0.00	0.37	3.41	0.000	0.177	0.056	3968.41	4017.50	3919.31	1573.56	2173.00	0	0	0	30.00	15.97	16.04
2303.29	8870	-145.99	-1.05	-80.00	3968.1	4017.1	3919.0	1573.4	2172.4	235.26	-7.77	302	2310.56	0.00	0.00	3.73	0.000	0.000	0.125	3967.47	4016.38	3918.56	1573.38	680.75	0	0	0	30.00	30.00	16.03
2433.48	13479	-145.99	-1.09	0.00	3968.2	4017.2	3919.1	1573.1	680.7	246.70	-8.77	328	2441.25	0.00	0.25	3.41	0.000	0.081	0.056	3968.12	4017.00	3919.25	1529.44	2173.62	0	0	0	30.00	16.07	16.09
2760.23	8742	-145.99	-1.09	-80.00	3967.5	4016.1	3919.0	1529.2	2173.4	276.73	-9.83	342	2769.72	0.00	0.00	3.71	0.000	0.000	0.126	3967.84	4016.69	3919.00	1529.75	683.00	0	0	0	30.00	30.00	16.05
2873.75	11399	-145.99	-1.01	0.00	3967.9	4016.8	3919.0	1528.9	682.9	290.47	-11.63	364	2884.63	0.00	0.30	3.40	0.000	0.177	0.059	3967.97	4016.81	3919.12	1564.94	2172.44	0	0	0	30.00	16.02	16.07
3003	end dive: TARGET_DEPTH_EXCEEDED
state	3003	begin apogee
3003.93	10243	0.00	-0.30	0.00	3967.9	4016.9	3918.8	1564.6	2118.1	301.42	-7.85	370	3118.43	106.33	1.12	0.09	1.336	0.138	0.222	3362.38	3423.50	3301.25	1739.31	2175.81	0	0	0	12.04	16.02	15.61
3120	end apogee: CONTROL_FINISHED_OK
state	3120	begin climb
3119.84	10503	145.99	1.22	80.00	3362.3	3423.2	3301.4	1739.4	2176.2	303.39	0.00	373	3248.96	109.61	2.43	3.70	1.280	0.104	0.130	2766.84	2827.06	2706.62	2108.44	3614.56	0	0	0	11.99	15.63	15.35
3281.80	5253	145.99	0.99	0.00	2765.5	2824.9	2706.0	2108.9	3614.9	289.69	13.84	404	3289.11	0.00	0.52	3.58	0.000	0.184	0.056	2765.03	2824.94	2705.12	2042.25	2125.31	0	0	0	30.00	15.44	15.50
3607.70	8742	159.88	1.01	-80.00	2760.3	2824.1	2696.5	2041.4	2124.6	257.38	9.35	419	3629.73	12.07	0.00	3.70	1.079	0.000	0.134	2708.84	2771.19	2646.50	2042.56	683.81	0	0	0	11.84	30.00	15.69
3712.60	1156	159.88	0.89	0.00	2706.4	2769.6	2643.2	2042.1	684.2	245.39	12.10	440	3720.18	0.00	0.00	3.49	0.000	0.000	0.060	2707.50	2770.81	2644.19	2041.94	2170.31	0	0	0	30.00	30.00	15.78
4028.32	8742	187.89	0.93	-80.00	2706.2	2769.6	2642.9	2042.3	2169.7	216.55	8.70	472	4061.79	23.34	0.00	3.80	1.174	0.000	0.130	2596.31	2664.56	2528.06	2042.56	681.69	0	0	0	11.82	30.00	15.74
4134.26	5253	187.89	0.86	0.00	2591.0	2659.4	2522.7	2042.6	681.8	205.75	11.23	492	4141.61	0.00	0.20	3.48	0.000	0.177	0.060	2589.88	2659.00	2520.75	2010.75	2171.94	0	0	0	30.00	15.76	15.80
4449.34	10403	212.37	0.99	0.00	2590.7	2659.2	2522.1	2011.2	2172.6	177.63	8.86	524	4472.75	20.45	0.28	0.00	1.138	0.078	0.000	2498.31	2571.75	2424.88	2059.25	2172.00	0	0	0	12.09	15.89	30.00
4779.24	516	212.37	0.99	-80.00	2492.4	2569.6	2415.2	2059.1	2172.4	143.04	10.37	557	4786.74	0.00	0.00	3.81	0.000	0.000	0.129	2493.25	2569.88	2416.62	2058.50	681.62	0	0	0	30.00	30.00	15.86
4879.60	5253	212.37	0.92	0.00	2490.6	2568.1	2413.0	2059.7	682.1	131.26	11.21	577	4887.42	0.00	0.28	3.46	0.000	0.164	0.060	2493.81	2571.56	2416.06	2022.88	2170.44	0	0	0	30.00	15.87	15.91
5195.41	10919	298.31	1.15	-80.00	2490.5	2568.4	2412.6	2024.2	2170.2	111.12	6.00	609	5271.52	64.22	0.44	3.83	1.137	0.070	0.130	2146.28	2232.94	2059.62	2095.50	682.94	0	0	0	11.86	15.95	15.68
5292.98	1028	298.31	1.15	0.00	2141.6	2228.3	2054.9	2095.9	683.0	101.53	11.59	623	5299.31	0.00	0.00	3.50	0.000	0.000	0.059	2140.25	2227.19	2053.31	2096.56	2170.25	0	0	0	30.00	30.00	15.72
5603.27	10919	357.38	1.31	-80.00	2136.9	2228.2	2045.6	2095.8	2170.5	73.36	7.25	655	5657.93	43.05	0.17	3.80	1.071	0.097	0.131	1906.12	2002.75	1809.50	2133.25	684.25	0	0	0	11.87	15.89	15.71
5766.40	1028	357.38	1.31	0.00	1899.3	1995.0	1803.6	2132.4	683.9	56.30	12.04	687	5772.63	0.00	0.00	3.46	0.000	0.000	0.059	1901.91	1998.25	1805.56	2131.12	2170.31	0	0	0	30.00	30.00	15.82
6076.58	10403	413.39	1.45	0.00	1896.8	1995.6	1798.1	2132.2	2170.2	26.56	7.39	719	6119.95	40.29	0.17	0.00	1.019	0.100	0.000	1677.34	1771.38	1583.31	2171.88	2169.75	0	0	0	11.91	15.92	30.00
6421.34	10403	578.15	1.83	0.00	1670.7	1765.9	1575.4	2171.8	2169.9	9.12	2.34	778	6536.29	108.44	0.50	0.00	0.993	0.077	0.000	1050.75	1122.88	978.62	2261.44	2170.38	0	0	0	11.90	15.88	30.00
6537	end climb: SURFACE_DEPTH_REACHED
state	6537	begin surface coast
6565	end surface coast: CONTROL_FINISHED_OK
state	6565	begin surface