Glider dive log

AMOS Jul22 * SG242 * Dive index * Mission links * Dive 54 * 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 54 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 1670.8727 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 23.890434 SEABIRD_T_I 2.4999999e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 16.347427 FG_AHR_24V 12.782488 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 23.890434 PITCH_CNV 0.0041299998 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FG_AHR_24V 12.782488 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 16.347427 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 1670.8727 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 54 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 150722,142231,4716.007,-12518.626,2,0.9,28,15.7 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150722,142644,4715.984,-12518.557,2,0.7,5,15.7 MHEAD_RNG_PITCHd_Wd 276.8,617,-25.7,-10.000,-28.56,1089,0.136

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 4716.068,-12519.032

Post-dive calculations and measurements:

MODEM_MSG CACST,8,0,20220715150000.070813,18,11421,28,0124,0000,455,02,02,02,02,1,025,121,0,5,1,0,150,-8.3,6.19,-100,-3.19,-01,0.32,78,925,0025,0,1,00,00*33 _24V_AH 14.81,14.578

NAV 1657900764,0.4,start _10V_AH 14.83,0.000

NET CACST,8,0,20220715150518.261162,06,7499,38,0229,0150,07,01,01,00,01,1,027,242,0,5,1,0,150,13.3,3.90,-100,-0.90,-01,0.42,50,10000,5000,0,-1,00,00*68 FG_AHR_24Vo 12.956

NET_PING 1657897520,27,1601.732910,13.300000,-0.134399 FG_AHR_10Vo 23.989

FINISH 0.3,1.022532 MEM0 60108,1,0,0

SM_CCo 5517.98,65.65,0.955,0,500.3,557.9,442.7,586.20 MEM1 65508,1,0,0

SM_GC 1.90,65.65,12.42,0.09,0.955,0.045,0.138,500.3,557.9,442.7,201.8,2032.7,0,0,0,11.59,15.62,15.61 MEM2 966168,27,80480,69

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 19311,679

IRIDIUM_FIX 4716.54,-12518.24,150722,124629 CAP_FILE_SIZE 189928,0

TCM_TEMP 15.17 SDSIZE 3887104,3853248

SC_FREEKB 3861504 SDFILEDIR 517,1

RAFOS_CLK 1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 0,1657893599,47.26640,-125.30240,3599.625,5273450.5 SOUNDSPEED 1465.0

RAFOS_FIX 4747.590820,-12427.612305,140722,060600,2,510,10420.27 CURRENT 0.102,124.8,1

HUMID 50.51 MAGCAL 1.000000,0.034961,0.029236,-0.007526,1.043503,-0.038655,-0.010849,-0.064213,1.012674,722.0,-892.6,-683.6,36,0.0256,0

TEMP 10.98 IMPLIED_C_PITCH 1673,16.28,342,1672.0,16.31

INTERNAL_PRESSURE 7.75163 GPS 150722,160031,4716.110,-12518.681,2,1.4,7,15.7

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 646 1324 12686.19 nil 0 0 0.00

Pitch_motor 26 257 101.02 nil 0 0 0.00

Roll_motor 71 177 189.09 nil 0 0 0.00

Iridium 163 233 566.59 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.24 nil 0 0 0.00

Core 2760 5 209.64 SciCon 5429 6 484.60

Fast 1 0 0.00 PMAR 5439 12 1032.45

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2921 0 13.87

Compass 1348 5 99.98

RAFOS 3785 40 2245.50

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

12.83 16386 -71.36 -1.66 0.00 499.0 558.8 439.2 203.0 1969.6 0.00 0.00 0 78.37 60.65 0.00 0.00 0.005 0.000 0.000 1942.25 1972.31 1912.19 202.88 1970.44 0 0 0 15.62 30.00 30.00

78.80 18983 -145.99 -1.75 -80.00 1942.8 1974.4 1911.2 202.7 1969.4 3.16 -2.70 12 142.72 39.60 8.00 3.63 0.005 0.258 0.112 3485.12 3515.31 3454.94 1246.75 531.75 0 0 0 15.66 15.51 15.59

186.13 1028 -145.99 -1.75 0.00 3485.7 3516.9 3454.4 1247.1 531.4 31.06 -26.71 32 192.56 0.00 0.00 3.46 0.000 0.000 0.048 3487.69 3519.38 3456.00 1246.81 2020.00 0 0 0 30.00 30.00 15.66

496.13 260 -145.99 -1.75 80.00 3487.4 3520.9 3453.9 1246.4 2029.2 102.62 -20.01 64 504.11 0.00 0.00 3.50 0.000 0.000 0.106 3486.78 3520.56 3453.00 1246.38 3467.31 0 0 0 30.00 30.00 15.69

562.59 1028 -145.99 -1.75 0.00 3488.4 3522.5 3454.2 1246.6 3467.0 116.30 -19.73 77 570.49 0.00 0.00 3.46 0.000 0.000 0.053 3488.25 3522.31 3454.19 1246.94 1971.38 0 0 0 30.00 30.00 15.73

877.62 260 -145.99 -1.75 80.00 3489.5 3524.7 3454.4 1246.5 1971.2 172.02 -17.38 109 885.68 0.00 0.00 3.64 0.000 0.000 0.104 3489.44 3523.69 3455.19 1246.81 3468.19 0 0 0 30.00 30.00 15.74

964.17 1028 -145.99 -1.75 0.00 3489.4 3525.1 3453.8 1246.5 3469.4 187.73 -18.44 126 972.08 0.00 0.00 3.43 0.000 0.000 0.054 3488.94 3524.75 3453.12 1246.31 1972.50 0 0 0 30.00 30.00 15.82

1279.20 0 -145.99 -1.75 0.00 3490.1 3526.2 3453.9 1246.6 1972.6 242.01 -17.97 158 1280.95 0.00 0.00 0.00 0.000 0.000 0.000 3490.03 3526.25 3453.81 1246.94 1972.12 0 0 0 30.00 30.00 30.00

1599 end dive: TARGET_DEPTH_EXCEEDED

state 1599 begin apogee

1600.79 10243 0.00 -0.31 0.00 3491.0 3526.9 3455.0 1246.4 2034.8 301.50 -18.59 172 1720.56 106.32 2.34 0.12 1.325 0.153 0.178 2888.47 2974.19 2802.75 1596.38 1967.50 0 0 0 11.84 15.86 15.48

1723 end apogee: CONTROL_FINISHED_OK

state 1723 begin climb

1723.33 10759 145.99 1.75 -80.00 2887.7 2974.9 2800.4 1596.4 1967.4 305.96 0.00 175 1858.10 108.93 3.22 3.77 1.286 0.085 0.123 2290.97 2383.38 2198.56 2098.56 534.12 0 0 0 11.72 15.50 15.24

1968.45 17414 145.99 1.75 0.00 2283.4 2369.4 2197.4 2098.8 533.9 283.70 15.52 218 1976.23 0.00 0.00 3.49 0.000 0.000 0.049 2284.75 2371.06 2198.44 2096.56 2027.25 0 0 0 30.00 30.00 15.48

2284.68 16902 145.99 1.75 -80.00 2282.5 2369.5 2195.4 2098.5 2028.8 244.71 11.96 234 2297.71 0.00 0.00 3.80 0.000 0.000 0.119 2282.72 2370.19 2195.25 2097.62 532.88 0 0 0 30.00 30.00 15.60

2400.49 17414 145.99 1.75 0.00 2281.6 2367.6 2195.7 2099.0 532.6 227.15 15.15 257 2409.03 0.00 0.00 3.45 0.000 0.000 0.050 2281.97 2368.12 2195.81 2098.12 2030.50 0 0 0 30.00 30.00 15.69

2716.25 16902 145.99 1.75 -80.00 2281.6 2368.1 2195.1 2097.8 2030.8 189.44 11.14 289 2724.59 0.00 0.00 3.76 0.000 0.000 0.120 2279.84 2366.12 2193.56 2097.81 532.81 0 0 0 30.00 30.00 15.70

2953.15 17414 145.99 1.75 0.00 2279.9 2365.1 2194.6 2098.2 532.7 159.31 11.56 336 2961.24 0.00 0.00 3.45 0.000 0.000 0.051 2283.12 2369.00 2197.25 2097.88 2028.94 0 0 0 30.00 30.00 15.77

3268.23 8226 166.54 1.77 0.00 2280.3 2366.3 2194.4 2098.7 2029.6 134.50 8.06 368 3289.46 15.98 0.00 0.00 1.100 0.000 0.000 2209.41 2302.31 2116.50 2098.50 2030.06 0 0 0 11.62 30.00 30.00

3598.25 8486 194.49 1.81 80.00 2206.4 2297.8 2115.1 2098.2 2029.2 105.26 7.36 401 3632.98 22.50 0.00 3.54 1.100 0.000 0.115 2095.19 2190.19 2000.19 2098.31 3466.69 0 0 0 11.78 30.00 15.65

3741.59 9254 207.57 1.83 0.00 2093.2 2186.6 1999.8 2098.8 3467.6 93.40 8.77 429 3765.45 12.08 0.00 3.49 0.999 0.000 0.057 2042.94 2137.88 1948.00 2098.56 1970.69 0 0 0 11.57 30.00 15.71

4071.71 10791 262.24 1.89 -80.00 2036.6 2130.8 1942.4 2098.2 1970.7 74.71 4.84 464 4127.49 41.03 0.17 3.74 1.085 0.081 0.126 1819.84 1918.44 1721.25 2146.75 532.62 0 0 0 11.83 15.75 15.54

4220.35 9254 268.77 1.90 0.00 1812.8 1910.5 1715.1 2147.4 532.7 63.29 9.38 493 4234.78 6.47 0.00 3.48 0.772 0.000 0.051 1792.19 1893.81 1690.56 2147.44 2031.50 0 0 0 11.80 30.00 15.64

4541.14 8742 323.35 1.97 -80.00 1789.3 1891.0 1687.6 2147.3 2030.4 42.85 4.85 526 4596.76 40.72 0.00 3.87 1.045 0.000 0.125 1569.91 1663.50 1476.31 2147.38 531.62 0 0 0 11.89 30.00 15.57

4667.94 9254 328.73 1.97 0.00 1564.9 1657.4 1472.4 2147.4 531.7 32.88 9.49 550 4682.36 5.69 0.00 3.48 0.694 0.000 0.051 1548.41 1643.56 1453.25 2146.69 2030.50 0 0 0 11.73 30.00 15.65

4985.96 8486 404.86 2.07 80.00 1545.0 1639.3 1450.6 2147.1 2030.3 16.65 2.82 596 5054.57 56.04 0.00 3.57 1.012 0.000 0.114 1238.50 1329.88 1147.12 2147.62 3465.62 0 0 0 11.82 30.00 15.57

5283.19 11303 492.98 2.18 0.00 1232.2 1319.0 1145.3 2146.7 3465.8 7.59 1.68 654 5361.67 64.86 0.30 3.49 0.984 0.061 0.056 880.78 966.62 794.94 2214.88 1970.94 0 0 0 11.64 15.71 15.75

5385 end climb: SURFACE_DEPTH_REACHED

state 5385 begin surface coast

5415 end surface coast: CONTROL_FINISHED_OK

state 5415 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	54	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	1670.8727	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	23.890434	SEABIRD_T_I	2.4999999e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	16.347427	FG_AHR_24V	12.782488	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	150722,142231,4716.007,-12518.626,2,0.9,28,15.7	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150722,142644,4715.984,-12518.557,2,0.7,5,15.7	MHEAD_RNG_PITCHd_Wd	276.8,617,-25.7,-10.000,-28.56,1089,0.136
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	4716.068,-12519.032

MODEM_MSG	CACST,8,0,20220715150000.070813,18,11421,28,0124,0000,455,02,02,02,02,1,025,121,0,5,1,0,150,-8.3,6.19,-100,-3.19,-01,0.32,78,925,0025,0,1,00,00*33	_24V_AH	14.81,14.578
NAV	1657900764,0.4,start	_10V_AH	14.83,0.000
NET	CACST,8,0,20220715150518.261162,06,7499,38,0229,0150,07,01,01,00,01,1,027,242,0,5,1,0,150,13.3,3.90,-100,-0.90,-01,0.42,50,10000,5000,0,-1,00,00*68	FG_AHR_24Vo	12.956
NET_PING	1657897520,27,1601.732910,13.300000,-0.134399	FG_AHR_10Vo	23.989
FINISH	0.3,1.022532	MEM0	60108,1,0,0
SM_CCo	5517.98,65.65,0.955,0,500.3,557.9,442.7,586.20	MEM1	65508,1,0,0
SM_GC	1.90,65.65,12.42,0.09,0.955,0.045,0.138,500.3,557.9,442.7,201.8,2032.7,0,0,0,11.59,15.62,15.61	MEM2	966168,27,80480,69
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	19311,679
IRIDIUM_FIX	4716.54,-12518.24,150722,124629	CAP_FILE_SIZE	189928,0
TCM_TEMP	15.17	SDSIZE	3887104,3853248
SC_FREEKB	3861504	SDFILEDIR	517,1
RAFOS_CLK	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1657893599,47.26640,-125.30240,3599.625,5273450.5	SOUNDSPEED	1465.0
RAFOS_FIX	4747.590820,-12427.612305,140722,060600,2,510,10420.27	CURRENT	0.102,124.8,1
HUMID	50.51	MAGCAL	1.000000,0.034961,0.029236,-0.007526,1.043503,-0.038655,-0.010849,-0.064213,1.012674,722.0,-892.6,-683.6,36,0.0256,0
TEMP	10.98	IMPLIED_C_PITCH	1673,16.28,342,1672.0,16.31
INTERNAL_PRESSURE	7.75163	GPS	150722,160031,4716.110,-12518.681,2,1.4,7,15.7

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	646	1324	12686.19	nil	0	0	0.00
Pitch_motor	26	257	101.02	nil	0	0	0.00
Roll_motor	71	177	189.09	nil	0	0	0.00
Iridium	163	233	566.59	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.24	nil	0	0	0.00
Core	2760	5	209.64	SciCon	5429	6	484.60
Fast	1	0	0.00	PMAR	5439	12	1032.45
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2921	0	13.87
Compass	1348	5	99.98
RAFOS	3785	40	2245.50
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
12.83	16386	-71.36	-1.66	0.00	499.0	558.8	439.2	203.0	1969.6	0.00	0.00	0	78.37	60.65	0.00	0.00	0.005	0.000	0.000	1942.25	1972.31	1912.19	202.88	1970.44	0	0	0	15.62	30.00	30.00
78.80	18983	-145.99	-1.75	-80.00	1942.8	1974.4	1911.2	202.7	1969.4	3.16	-2.70	12	142.72	39.60	8.00	3.63	0.005	0.258	0.112	3485.12	3515.31	3454.94	1246.75	531.75	0	0	0	15.66	15.51	15.59
186.13	1028	-145.99	-1.75	0.00	3485.7	3516.9	3454.4	1247.1	531.4	31.06	-26.71	32	192.56	0.00	0.00	3.46	0.000	0.000	0.048	3487.69	3519.38	3456.00	1246.81	2020.00	0	0	0	30.00	30.00	15.66
496.13	260	-145.99	-1.75	80.00	3487.4	3520.9	3453.9	1246.4	2029.2	102.62	-20.01	64	504.11	0.00	0.00	3.50	0.000	0.000	0.106	3486.78	3520.56	3453.00	1246.38	3467.31	0	0	0	30.00	30.00	15.69
562.59	1028	-145.99	-1.75	0.00	3488.4	3522.5	3454.2	1246.6	3467.0	116.30	-19.73	77	570.49	0.00	0.00	3.46	0.000	0.000	0.053	3488.25	3522.31	3454.19	1246.94	1971.38	0	0	0	30.00	30.00	15.73
877.62	260	-145.99	-1.75	80.00	3489.5	3524.7	3454.4	1246.5	1971.2	172.02	-17.38	109	885.68	0.00	0.00	3.64	0.000	0.000	0.104	3489.44	3523.69	3455.19	1246.81	3468.19	0	0	0	30.00	30.00	15.74
964.17	1028	-145.99	-1.75	0.00	3489.4	3525.1	3453.8	1246.5	3469.4	187.73	-18.44	126	972.08	0.00	0.00	3.43	0.000	0.000	0.054	3488.94	3524.75	3453.12	1246.31	1972.50	0	0	0	30.00	30.00	15.82
1279.20	0	-145.99	-1.75	0.00	3490.1	3526.2	3453.9	1246.6	1972.6	242.01	-17.97	158	1280.95	0.00	0.00	0.00	0.000	0.000	0.000	3490.03	3526.25	3453.81	1246.94	1972.12	0	0	0	30.00	30.00	30.00
1599	end dive: TARGET_DEPTH_EXCEEDED
state	1599	begin apogee
1600.79	10243	0.00	-0.31	0.00	3491.0	3526.9	3455.0	1246.4	2034.8	301.50	-18.59	172	1720.56	106.32	2.34	0.12	1.325	0.153	0.178	2888.47	2974.19	2802.75	1596.38	1967.50	0	0	0	11.84	15.86	15.48
1723	end apogee: CONTROL_FINISHED_OK
state	1723	begin climb
1723.33	10759	145.99	1.75	-80.00	2887.7	2974.9	2800.4	1596.4	1967.4	305.96	0.00	175	1858.10	108.93	3.22	3.77	1.286	0.085	0.123	2290.97	2383.38	2198.56	2098.56	534.12	0	0	0	11.72	15.50	15.24
1968.45	17414	145.99	1.75	0.00	2283.4	2369.4	2197.4	2098.8	533.9	283.70	15.52	218	1976.23	0.00	0.00	3.49	0.000	0.000	0.049	2284.75	2371.06	2198.44	2096.56	2027.25	0	0	0	30.00	30.00	15.48
2284.68	16902	145.99	1.75	-80.00	2282.5	2369.5	2195.4	2098.5	2028.8	244.71	11.96	234	2297.71	0.00	0.00	3.80	0.000	0.000	0.119	2282.72	2370.19	2195.25	2097.62	532.88	0	0	0	30.00	30.00	15.60
2400.49	17414	145.99	1.75	0.00	2281.6	2367.6	2195.7	2099.0	532.6	227.15	15.15	257	2409.03	0.00	0.00	3.45	0.000	0.000	0.050	2281.97	2368.12	2195.81	2098.12	2030.50	0	0	0	30.00	30.00	15.69
2716.25	16902	145.99	1.75	-80.00	2281.6	2368.1	2195.1	2097.8	2030.8	189.44	11.14	289	2724.59	0.00	0.00	3.76	0.000	0.000	0.120	2279.84	2366.12	2193.56	2097.81	532.81	0	0	0	30.00	30.00	15.70
2953.15	17414	145.99	1.75	0.00	2279.9	2365.1	2194.6	2098.2	532.7	159.31	11.56	336	2961.24	0.00	0.00	3.45	0.000	0.000	0.051	2283.12	2369.00	2197.25	2097.88	2028.94	0	0	0	30.00	30.00	15.77
3268.23	8226	166.54	1.77	0.00	2280.3	2366.3	2194.4	2098.7	2029.6	134.50	8.06	368	3289.46	15.98	0.00	0.00	1.100	0.000	0.000	2209.41	2302.31	2116.50	2098.50	2030.06	0	0	0	11.62	30.00	30.00
3598.25	8486	194.49	1.81	80.00	2206.4	2297.8	2115.1	2098.2	2029.2	105.26	7.36	401	3632.98	22.50	0.00	3.54	1.100	0.000	0.115	2095.19	2190.19	2000.19	2098.31	3466.69	0	0	0	11.78	30.00	15.65
3741.59	9254	207.57	1.83	0.00	2093.2	2186.6	1999.8	2098.8	3467.6	93.40	8.77	429	3765.45	12.08	0.00	3.49	0.999	0.000	0.057	2042.94	2137.88	1948.00	2098.56	1970.69	0	0	0	11.57	30.00	15.71
4071.71	10791	262.24	1.89	-80.00	2036.6	2130.8	1942.4	2098.2	1970.7	74.71	4.84	464	4127.49	41.03	0.17	3.74	1.085	0.081	0.126	1819.84	1918.44	1721.25	2146.75	532.62	0	0	0	11.83	15.75	15.54
4220.35	9254	268.77	1.90	0.00	1812.8	1910.5	1715.1	2147.4	532.7	63.29	9.38	493	4234.78	6.47	0.00	3.48	0.772	0.000	0.051	1792.19	1893.81	1690.56	2147.44	2031.50	0	0	0	11.80	30.00	15.64
4541.14	8742	323.35	1.97	-80.00	1789.3	1891.0	1687.6	2147.3	2030.4	42.85	4.85	526	4596.76	40.72	0.00	3.87	1.045	0.000	0.125	1569.91	1663.50	1476.31	2147.38	531.62	0	0	0	11.89	30.00	15.57
4667.94	9254	328.73	1.97	0.00	1564.9	1657.4	1472.4	2147.4	531.7	32.88	9.49	550	4682.36	5.69	0.00	3.48	0.694	0.000	0.051	1548.41	1643.56	1453.25	2146.69	2030.50	0	0	0	11.73	30.00	15.65
4985.96	8486	404.86	2.07	80.00	1545.0	1639.3	1450.6	2147.1	2030.3	16.65	2.82	596	5054.57	56.04	0.00	3.57	1.012	0.000	0.114	1238.50	1329.88	1147.12	2147.62	3465.62	0	0	0	11.82	30.00	15.57
5283.19	11303	492.98	2.18	0.00	1232.2	1319.0	1145.3	2146.7	3465.8	7.59	1.68	654	5361.67	64.86	0.30	3.49	0.984	0.061	0.056	880.78	966.62	794.94	2214.88	1970.94	0	0	0	11.64	15.71	15.75
5385	end climb: SURFACE_DEPTH_REACHED
state	5385	begin surface coast
5415	end surface coast: CONTROL_FINISHED_OK
state	5415	begin surface