Glider dive log

AMOS Jul22 * SG242 * Dive index * Mission links * Dive 49 * 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 49 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 300 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 100 STROBE 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE 96

T_MISSION 140 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 1677.853 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 23.344011 SEABIRD_T_I 2.4999999e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 16.578335 FG_AHR_24V 11.875937 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 20 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 300 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 23.344011 PITCH_CNV 0.0041299998 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FG_AHR_24V 11.875937 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 16.578335 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 20 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 100

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 1677.853 LOGGERDEVICE2 35 PM_XMITPROFILE 3.0 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE3 -1 PM_XMITRAW 0.0 T_MISSION 140

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 49 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 150722,061340,4716.593,-12520.291,2,0.8,4,15.8 TGT_RADIUS 1500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.59 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150722,061710,4716.579,-12520.295,2,0.8,3,15.8 MHEAD_RNG_PITCHd_Wd 309.5,95,-27.2,-10.000,-30.00,972,0.197

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME ans0 IRON 1.000000,0.018360,-0.061028,-0.013170,1.056565,-0.047936,0.016552,-0.057557,1.018688,811.629517,-870.805054,-663.292725

TGT_LATLONG 4716.620,-12520.340

Post-dive calculations and measurements:

NET CACST,8,0,20220715062513.443918,06,32767,45,0246,0150,07,01,01,00,01,1,027,242,0,5,1,0,150,24.2,8.55,-100,-5.55,-01,0.29,45,10000,5000,0,-1,00,00*55 _10V_AH 14.90,0.000

NET_PING 1657866315,27,1744.541992,24.200001,-1.325078 FG_AHR_24Vo 12.046

NAV 1657870331,59.0,0,stop FG_AHR_10Vo 23.433

WARN HSCICON missed fuel gauge read MEM0 60108,1,0,0

FINISH 0.3,1.015262 MEM1 65508,1,0,0

SM_CCo 5760.20,106.29,0.971,0,500.1,554.0,446.2,586.24 MEM2 966216,25,80472,69

SM_GC 1.59,106.29,12.44,0.09,0.971,0.050,0.140,500.1,554.0,446.2,196.7,2036.8,0,0,0,11.61,15.72,15.76 DATA_FILE_SIZE 19355,709

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 210817,0

IRIDIUM_FIX 4716.54,-12518.24,150722,061010 SDSIZE 3887104,3854816

TCM_TEMP 15.17 SDFILEDIR 472,1

SC_FREEKB 3863104 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK -1 SOUNDSPEED 1465.0

RAFOS_FIX 4747.590820,-12427.612305,140722,060600,2,510,10420.27 CURRENT 0.028, 80.9,1

HUMID 51.41 MAGCAL 1.000000,0.023679,0.046906,-0.012739,1.055506,-0.009165,-0.037095,-0.090040,1.046204,709.9,-900.0,-699.4,30,0.0286,0

TEMP 10.97 IMPLIED_C_PITCH 1671,16.38,356,1674.3,16.48

INTERNAL_PRESSURE 7.76063 GPS 150722,075441,4717.010,-12520.417,7,1.4,7,15.8

_24V_AH 14.88,13.261

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 631 1301 12224.23 nil 0 0 0.00

Pitch_motor 26 259 101.71 nil 0 0 0.00

Roll_motor 78 212 247.57 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.91 nil 0 0 0.00

Core 2661 5 203.06 SciCon 5617 7 612.72

Fast 0 0 0.00 PMAR 5624 12 1067.67

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3030 0 14.45

Compass 1401 5 104.44

RAFOS 3777 40 2251.50

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

12.78 16386 -63.62 -1.72 0.00 499.6 557.3 441.9 201.6 2046.4 0.00 0.00 0 83.65 65.67 0.00 0.00 0.005 0.000 0.000 2118.59 2150.44 2086.75 200.75 2047.06 0 0 0 15.83 30.00 30.00

84.08 18983 -136.39 -1.81 -80.00 2118.3 2150.1 2086.4 200.8 2047.2 3.04 -2.30 13 144.16 33.16 7.79 3.77 0.005 0.260 0.111 3446.00 3477.44 3414.56 1239.06 531.50 0 0 0 15.83 15.69 15.75

202.66 1028 -136.39 -1.81 0.00 3448.0 3481.0 3415.1 1239.2 531.7 36.28 -28.36 35 210.47 0.00 0.00 3.40 0.000 0.000 0.047 3448.31 3481.88 3414.75 1238.88 2029.56 0 0 0 30.00 30.00 15.79

517.67 260 -136.39 -1.81 80.00 3449.2 3484.2 3414.2 1239.0 2030.5 98.27 -16.91 67 525.56 0.00 0.00 3.44 0.000 0.000 0.104 3451.59 3486.19 3417.00 1239.12 3469.88 0 0 0 30.00 30.00 15.79

598.29 1028 -136.39 -1.81 0.00 3449.7 3484.6 3414.8 1239.5 3470.0 113.80 -19.65 83 606.65 0.00 0.00 3.43 0.000 0.000 0.051 3451.16 3486.25 3416.06 1239.69 1970.12 0 0 0 30.00 30.00 15.82

914.08 260 -136.39 -1.81 80.00 3450.6 3486.6 3414.6 1239.2 1969.8 165.41 -15.45 115 922.02 0.00 0.00 3.58 0.000 0.000 0.102 3449.75 3485.19 3414.31 1239.19 3469.38 0 0 0 30.00 30.00 15.85

964.74 1028 -136.39 -1.81 0.00 3450.8 3485.8 3415.8 1239.2 3469.1 174.45 -17.71 125 973.11 0.00 0.00 3.42 0.000 0.000 0.051 3450.94 3486.25 3415.62 1239.50 1969.19 0 0 0 30.00 30.00 15.88

1280.53 260 -136.39 -1.81 80.00 3451.3 3487.1 3415.6 1239.3 1969.3 229.21 -17.86 157 1288.70 0.00 0.00 3.57 0.000 0.000 0.104 3450.06 3485.94 3414.19 1239.19 3467.62 0 0 0 30.00 30.00 15.91

1331.47 1028 -136.39 -1.81 0.00 3451.1 3487.0 3415.2 1238.8 3467.8 239.45 -20.44 167 1339.92 0.00 0.00 3.40 0.000 0.000 0.053 3450.84 3485.94 3415.75 1239.50 1971.38 0 0 0 30.00 30.00 15.95

1642.00 260 -136.39 -1.81 80.00 3450.3 3486.4 3414.3 1239.6 1971.2 297.19 -18.85 182 1653.00 0.00 0.00 3.57 0.000 0.000 0.107 3452.53 3488.19 3416.88 1239.25 3466.62 0 0 0 30.00 30.00 15.94

1656 end dive: TARGET_DEPTH_EXCEEDED

state 1656 begin apogee

1663.10 10243 0.00 -0.30 0.00 3450.6 3486.7 3414.6 1239.4 1971.5 300.92 -18.94 185 1777.46 99.54 2.45 0.09 1.302 0.165 0.213 2888.25 2975.56 2800.94 1606.00 2035.44 0 0 0 11.97 15.90 15.55

1787 end apogee: CONTROL_FINISHED_OK

state 1788 begin climb

1788.10 10759 136.39 1.81 -80.00 2886.7 2973.9 2799.4 1606.0 2035.5 307.33 0.00 191 1913.32 101.62 3.24 3.90 1.269 0.082 0.118 2332.66 2425.38 2239.94 2121.81 530.44 0 0 0 11.60 15.57 15.31

1961.08 17414 136.39 1.81 0.00 2324.3 2410.5 2238.1 2121.8 530.2 297.00 13.62 222 1968.88 0.00 0.00 3.48 0.000 0.000 0.048 2324.72 2410.62 2238.81 2120.31 2029.56 0 0 0 30.00 30.00 15.50

2287.33 16902 136.39 1.81 -80.00 2321.2 2409.9 2232.6 2122.2 2030.1 256.52 12.24 237 2295.77 0.00 0.00 3.81 0.000 0.000 0.118 2321.84 2409.44 2234.25 2119.94 531.69 0 0 0 30.00 30.00 15.72

2354.29 17414 136.39 1.81 0.00 2318.7 2405.1 2232.2 2121.4 531.6 246.86 14.72 250 2362.40 0.00 0.00 3.41 0.000 0.000 0.049 2317.66 2404.38 2230.94 2121.50 2031.69 0 0 0 30.00 30.00 15.79

2668.26 16902 136.39 1.81 -80.00 2318.9 2406.1 2231.8 2121.9 2031.2 209.93 10.89 281 2676.69 0.00 0.00 3.82 0.000 0.000 0.118 2318.84 2405.62 2232.06 2121.62 531.31 0 0 0 30.00 30.00 15.77

2729.46 17414 136.39 1.81 0.00 2317.2 2402.9 2231.6 2121.9 531.4 201.92 13.30 293 2738.00 0.00 0.00 3.41 0.000 0.000 0.050 2317.47 2403.56 2231.38 2122.00 2031.31 0 0 0 30.00 30.00 15.82

3045.31 16418 137.30 1.81 0.00 2316.9 2403.2 2230.6 2121.8 2031.8 168.03 9.90 325 3047.10 0.00 0.00 0.00 0.000 0.000 0.000 2315.59 2401.19 2230.00 2122.00 2031.12 0 0 0 30.00 30.00 30.00

3355.33 8226 157.55 1.84 0.00 2316.5 2403.6 2229.3 2120.9 2031.6 141.66 7.86 356 3376.38 15.88 0.00 0.00 1.107 0.000 0.000 2246.88 2340.00 2153.75 2120.12 2031.38 0 0 0 11.75 30.00 30.00

3685.34 8742 163.16 1.84 -80.00 2241.7 2332.7 2150.8 2121.7 2030.7 111.56 9.41 389 3703.04 6.37 0.00 3.69 0.825 0.000 0.123 2221.97 2313.75 2130.19 2121.62 533.00 0 0 0 11.78 30.00 15.75

3930.93 9254 194.24 1.88 0.00 2219.2 2308.1 2130.2 2121.5 532.5 90.67 6.71 438 3965.79 24.82 0.00 3.40 1.098 0.000 0.051 2096.50 2193.25 1999.75 2122.12 2033.19 0 0 0 11.74 30.00 15.81

4269.31 10791 258.29 1.96 -80.00 2090.1 2185.1 1995.2 2121.9 2032.2 72.68 3.23 475 4330.89 48.04 0.17 3.76 1.088 0.084 0.122 1834.59 1931.62 1737.56 2168.50 531.69 0 0 0 11.60 15.76 15.56

4558.89 1060 261.37 1.96 0.00 1825.6 1922.8 1728.4 2167.7 531.4 48.48 9.67 532 4567.33 0.00 0.00 3.41 0.000 0.000 0.051 1825.28 1923.31 1727.25 2168.44 2031.81 0 0 0 30.00 30.00 15.75

4874.66 8486 320.95 2.04 80.00 1823.0 1923.1 1723.0 2168.4 2031.7 32.78 3.70 564 4931.12 44.83 0.00 3.47 1.041 0.000 0.115 1581.03 1676.12 1485.94 2167.88 3468.88 0 0 0 11.89 30.00 15.66

5109.74 9254 354.92 2.08 0.00 1574.4 1663.9 1484.9 2168.5 3468.8 17.67 6.41 610 5145.73 25.70 0.00 3.44 0.995 0.000 0.056 1441.75 1535.38 1348.12 2168.38 1970.81 0 0 0 11.82 30.00 15.79

5327.00 10275 430.86 2.17 0.00 1435.2 1529.1 1341.4 2168.1 1971.5 11.53 1.97 652 5391.64 55.17 0.20 0.00 0.995 0.073 0.000 1132.44 1222.88 1042.00 2223.44 1970.94 0 0 0 11.64 15.77 30.00

5575.18 8226 465.52 2.21 80.00 1125.8 1212.8 1038.8 2222.6 1971.0 2.25 6.34 701 5580.51 4.08 0.00 0.00 0.471 0.000 0.000 1120.56 1208.50 1032.62 2223.06 1971.69 0 0 0 11.65 30.00 30.00

5581 end climb: SURFACE_DEPTH_REACHED

state 5581 begin surface coast

5615 end surface coast: CONTROL_FINISHED_OK

state 5615 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	49	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	300	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	100	STROBE	0	LOITER_D_BOTTOM	0	RAFOS_DEVICE	96
T_MISSION	140	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	1677.853	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	23.344011	SEABIRD_T_I	2.4999999e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	16.578335	FG_AHR_24V	11.875937	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	20	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	150722,061340,4716.593,-12520.291,2,0.8,4,15.8	TGT_RADIUS	1500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.59	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150722,061710,4716.579,-12520.295,2,0.8,3,15.8	MHEAD_RNG_PITCHd_Wd	309.5,95,-27.2,-10.000,-30.00,972,0.197
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	ans0	IRON	1.000000,0.018360,-0.061028,-0.013170,1.056565,-0.047936,0.016552,-0.057557,1.018688,811.629517,-870.805054,-663.292725
TGT_LATLONG	4716.620,-12520.340

NET	CACST,8,0,20220715062513.443918,06,32767,45,0246,0150,07,01,01,00,01,1,027,242,0,5,1,0,150,24.2,8.55,-100,-5.55,-01,0.29,45,10000,5000,0,-1,00,00*55	_10V_AH	14.90,0.000
NET_PING	1657866315,27,1744.541992,24.200001,-1.325078	FG_AHR_24Vo	12.046
NAV	1657870331,59.0,0,stop	FG_AHR_10Vo	23.433
WARN	HSCICON missed fuel gauge read	MEM0	60108,1,0,0
FINISH	0.3,1.015262	MEM1	65508,1,0,0
SM_CCo	5760.20,106.29,0.971,0,500.1,554.0,446.2,586.24	MEM2	966216,25,80472,69
SM_GC	1.59,106.29,12.44,0.09,0.971,0.050,0.140,500.1,554.0,446.2,196.7,2036.8,0,0,0,11.61,15.72,15.76	DATA_FILE_SIZE	19355,709
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	210817,0
IRIDIUM_FIX	4716.54,-12518.24,150722,061010	SDSIZE	3887104,3854816
TCM_TEMP	15.17	SDFILEDIR	472,1
SC_FREEKB	3863104	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-1	SOUNDSPEED	1465.0
RAFOS_FIX	4747.590820,-12427.612305,140722,060600,2,510,10420.27	CURRENT	0.028, 80.9,1
HUMID	51.41	MAGCAL	1.000000,0.023679,0.046906,-0.012739,1.055506,-0.009165,-0.037095,-0.090040,1.046204,709.9,-900.0,-699.4,30,0.0286,0
TEMP	10.97	IMPLIED_C_PITCH	1671,16.38,356,1674.3,16.48
INTERNAL_PRESSURE	7.76063	GPS	150722,075441,4717.010,-12520.417,7,1.4,7,15.8
_24V_AH	14.88,13.261

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	631	1301	12224.23	nil	0	0	0.00
Pitch_motor	26	259	101.71	nil	0	0	0.00
Roll_motor	78	212	247.57	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.91	nil	0	0	0.00
Core	2661	5	203.06	SciCon	5617	7	612.72
Fast	0	0	0.00	PMAR	5624	12	1067.67
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3030	0	14.45
Compass	1401	5	104.44
RAFOS	3777	40	2251.50
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
12.78	16386	-63.62	-1.72	0.00	499.6	557.3	441.9	201.6	2046.4	0.00	0.00	0	83.65	65.67	0.00	0.00	0.005	0.000	0.000	2118.59	2150.44	2086.75	200.75	2047.06	0	0	0	15.83	30.00	30.00
84.08	18983	-136.39	-1.81	-80.00	2118.3	2150.1	2086.4	200.8	2047.2	3.04	-2.30	13	144.16	33.16	7.79	3.77	0.005	0.260	0.111	3446.00	3477.44	3414.56	1239.06	531.50	0	0	0	15.83	15.69	15.75
202.66	1028	-136.39	-1.81	0.00	3448.0	3481.0	3415.1	1239.2	531.7	36.28	-28.36	35	210.47	0.00	0.00	3.40	0.000	0.000	0.047	3448.31	3481.88	3414.75	1238.88	2029.56	0	0	0	30.00	30.00	15.79
517.67	260	-136.39	-1.81	80.00	3449.2	3484.2	3414.2	1239.0	2030.5	98.27	-16.91	67	525.56	0.00	0.00	3.44	0.000	0.000	0.104	3451.59	3486.19	3417.00	1239.12	3469.88	0	0	0	30.00	30.00	15.79
598.29	1028	-136.39	-1.81	0.00	3449.7	3484.6	3414.8	1239.5	3470.0	113.80	-19.65	83	606.65	0.00	0.00	3.43	0.000	0.000	0.051	3451.16	3486.25	3416.06	1239.69	1970.12	0	0	0	30.00	30.00	15.82
914.08	260	-136.39	-1.81	80.00	3450.6	3486.6	3414.6	1239.2	1969.8	165.41	-15.45	115	922.02	0.00	0.00	3.58	0.000	0.000	0.102	3449.75	3485.19	3414.31	1239.19	3469.38	0	0	0	30.00	30.00	15.85
964.74	1028	-136.39	-1.81	0.00	3450.8	3485.8	3415.8	1239.2	3469.1	174.45	-17.71	125	973.11	0.00	0.00	3.42	0.000	0.000	0.051	3450.94	3486.25	3415.62	1239.50	1969.19	0	0	0	30.00	30.00	15.88
1280.53	260	-136.39	-1.81	80.00	3451.3	3487.1	3415.6	1239.3	1969.3	229.21	-17.86	157	1288.70	0.00	0.00	3.57	0.000	0.000	0.104	3450.06	3485.94	3414.19	1239.19	3467.62	0	0	0	30.00	30.00	15.91
1331.47	1028	-136.39	-1.81	0.00	3451.1	3487.0	3415.2	1238.8	3467.8	239.45	-20.44	167	1339.92	0.00	0.00	3.40	0.000	0.000	0.053	3450.84	3485.94	3415.75	1239.50	1971.38	0	0	0	30.00	30.00	15.95
1642.00	260	-136.39	-1.81	80.00	3450.3	3486.4	3414.3	1239.6	1971.2	297.19	-18.85	182	1653.00	0.00	0.00	3.57	0.000	0.000	0.107	3452.53	3488.19	3416.88	1239.25	3466.62	0	0	0	30.00	30.00	15.94
1656	end dive: TARGET_DEPTH_EXCEEDED
state	1656	begin apogee
1663.10	10243	0.00	-0.30	0.00	3450.6	3486.7	3414.6	1239.4	1971.5	300.92	-18.94	185	1777.46	99.54	2.45	0.09	1.302	0.165	0.213	2888.25	2975.56	2800.94	1606.00	2035.44	0	0	0	11.97	15.90	15.55
1787	end apogee: CONTROL_FINISHED_OK
state	1788	begin climb
1788.10	10759	136.39	1.81	-80.00	2886.7	2973.9	2799.4	1606.0	2035.5	307.33	0.00	191	1913.32	101.62	3.24	3.90	1.269	0.082	0.118	2332.66	2425.38	2239.94	2121.81	530.44	0	0	0	11.60	15.57	15.31
1961.08	17414	136.39	1.81	0.00	2324.3	2410.5	2238.1	2121.8	530.2	297.00	13.62	222	1968.88	0.00	0.00	3.48	0.000	0.000	0.048	2324.72	2410.62	2238.81	2120.31	2029.56	0	0	0	30.00	30.00	15.50
2287.33	16902	136.39	1.81	-80.00	2321.2	2409.9	2232.6	2122.2	2030.1	256.52	12.24	237	2295.77	0.00	0.00	3.81	0.000	0.000	0.118	2321.84	2409.44	2234.25	2119.94	531.69	0	0	0	30.00	30.00	15.72
2354.29	17414	136.39	1.81	0.00	2318.7	2405.1	2232.2	2121.4	531.6	246.86	14.72	250	2362.40	0.00	0.00	3.41	0.000	0.000	0.049	2317.66	2404.38	2230.94	2121.50	2031.69	0	0	0	30.00	30.00	15.79
2668.26	16902	136.39	1.81	-80.00	2318.9	2406.1	2231.8	2121.9	2031.2	209.93	10.89	281	2676.69	0.00	0.00	3.82	0.000	0.000	0.118	2318.84	2405.62	2232.06	2121.62	531.31	0	0	0	30.00	30.00	15.77
2729.46	17414	136.39	1.81	0.00	2317.2	2402.9	2231.6	2121.9	531.4	201.92	13.30	293	2738.00	0.00	0.00	3.41	0.000	0.000	0.050	2317.47	2403.56	2231.38	2122.00	2031.31	0	0	0	30.00	30.00	15.82
3045.31	16418	137.30	1.81	0.00	2316.9	2403.2	2230.6	2121.8	2031.8	168.03	9.90	325	3047.10	0.00	0.00	0.00	0.000	0.000	0.000	2315.59	2401.19	2230.00	2122.00	2031.12	0	0	0	30.00	30.00	30.00
3355.33	8226	157.55	1.84	0.00	2316.5	2403.6	2229.3	2120.9	2031.6	141.66	7.86	356	3376.38	15.88	0.00	0.00	1.107	0.000	0.000	2246.88	2340.00	2153.75	2120.12	2031.38	0	0	0	11.75	30.00	30.00
3685.34	8742	163.16	1.84	-80.00	2241.7	2332.7	2150.8	2121.7	2030.7	111.56	9.41	389	3703.04	6.37	0.00	3.69	0.825	0.000	0.123	2221.97	2313.75	2130.19	2121.62	533.00	0	0	0	11.78	30.00	15.75
3930.93	9254	194.24	1.88	0.00	2219.2	2308.1	2130.2	2121.5	532.5	90.67	6.71	438	3965.79	24.82	0.00	3.40	1.098	0.000	0.051	2096.50	2193.25	1999.75	2122.12	2033.19	0	0	0	11.74	30.00	15.81
4269.31	10791	258.29	1.96	-80.00	2090.1	2185.1	1995.2	2121.9	2032.2	72.68	3.23	475	4330.89	48.04	0.17	3.76	1.088	0.084	0.122	1834.59	1931.62	1737.56	2168.50	531.69	0	0	0	11.60	15.76	15.56
4558.89	1060	261.37	1.96	0.00	1825.6	1922.8	1728.4	2167.7	531.4	48.48	9.67	532	4567.33	0.00	0.00	3.41	0.000	0.000	0.051	1825.28	1923.31	1727.25	2168.44	2031.81	0	0	0	30.00	30.00	15.75
4874.66	8486	320.95	2.04	80.00	1823.0	1923.1	1723.0	2168.4	2031.7	32.78	3.70	564	4931.12	44.83	0.00	3.47	1.041	0.000	0.115	1581.03	1676.12	1485.94	2167.88	3468.88	0	0	0	11.89	30.00	15.66
5109.74	9254	354.92	2.08	0.00	1574.4	1663.9	1484.9	2168.5	3468.8	17.67	6.41	610	5145.73	25.70	0.00	3.44	0.995	0.000	0.056	1441.75	1535.38	1348.12	2168.38	1970.81	0	0	0	11.82	30.00	15.79
5327.00	10275	430.86	2.17	0.00	1435.2	1529.1	1341.4	2168.1	1971.5	11.53	1.97	652	5391.64	55.17	0.20	0.00	0.995	0.073	0.000	1132.44	1222.88	1042.00	2223.44	1970.94	0	0	0	11.64	15.77	30.00
5575.18	8226	465.52	2.21	80.00	1125.8	1212.8	1038.8	2222.6	1971.0	2.25	6.34	701	5580.51	4.08	0.00	0.00	0.471	0.000	0.000	1120.56	1208.50	1032.62	2223.06	1971.69	0	0	0	11.65	30.00	30.00
5581	end climb: SURFACE_DEPTH_REACHED
state	5581	begin surface coast
5615	end surface coast: CONTROL_FINISHED_OK
state	5615	begin surface