Glider dive log

AMOS Jul22 * SG235 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.5

MISSION 21 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 7 SM_CC 605.40039 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 7 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 6

STOP_T 0 FILEMGR 0 C_VBD 3068.9021 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 180 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 500 N_NOCOMM 1 VBD_TIMEOUT 800 DEVICE5 -1

D_NO_BLEED 50 NOCOMM_ACTION 131 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

D_BOOST 0 N_NOSURFACE 0 UNCOM_BLEED 20 LOGGERS 3

T_BOOST 0 UPLOAD_DIVES_MAX 3 VBD_MAXERRORS 2 LOGGERDEVICE1 7

D_FINISH 10 CALL_TRIES 3 C_VBD_AUTO_DELTA 0.5 LOGGERDEVICE2 35

D_PITCH 2 CALL_WAIT 45 C_VBD_AUTO_MAX 100 LOGGERDEVICE3 -1

D_SAFE 500 CAPUPLOAD 0 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

D_CALL 3 CAPMAXSIZE 10000 DBDW 0 COMPASS_DEVICE 66

SURFACE_URGENCY 20 T_GPS 3 LOITER_W_DBAND 2 COMPASS2_DEVICE -1

SURFACE_URGENCY_TRY 20 N_GPS 100440 LOITER_DBDW 400 PHONE_DEVICE 33

SURFACE_URGENCY_FORCE 40 T_RSLEEP 1 LOITER_D_TOP 400 GPS_DEVICE 48

T_DIVE 60 STROBE 0 LOITER_D_BOTTOM 700 RAFOS_DEVICE 96

T_MISSION 85 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 NAV_DEVICE 6

T_ABORT 1440 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 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 240 PITCH_MIN 230 MINV_24V 0 XPDR_DEVICE -1

T_LOITER 0 PITCH_MAX 3900 MINV_10V 0 SIM_W 0

T_EPIRB 0 C_PITCH 2409.0459 MAXI_24V 5 SEABIRD_T_G 0.004415411

USE_BATHY -1 PITCH_DBAND 0.1 MAXI_10V 2 SEABIRD_T_H 0.00064200663

USE_ICE 0 PITCH_CNV 0.0041299998 FG_AHR_10V 172.45311 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 18.219948 FG_AHR_24V 218.47687 SEABIRD_T_J 3.2522996e-06

D_OFFGRID 1000 PITCH_TIMEOUT 40 PHONE_SUPPLY 2 SEABIRD_C_G -9.8064938

RELAUNCH 1 PITCH_MAXERRORS 1 PRESSURE_YINT -158.7531 SEABIRD_C_H 1.0739573

APOGEE_PITCH -5 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_I -0.002841271

MAX_BUOY 150 PITCH_ADJ_DBAND 2 COMPASS_USE 49156 SEABIRD_C_J 0.00027081851

GLIDE_SLOPE 30 C_PITCH_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 OPTIONS 2

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 7.0

MASS 72594 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 0 SC_NDIVE 1.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MIN 1200 ALTIM_PING_DELTA 0 PM_PROFILE 3.0

HD_A 0.003 ROLL_MAX 3900 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 2750 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING 20 C_ROLL_CLIMB 2600 XPDR_VALID 4 PM_MOTORS 0.0

ESCAPE_HEADING 180 HEAD_ERRBAND 10 XPDR_INHIBIT 90 PM_SENDDEPTH 0.0

ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054945 XPDR_INT 0

FIX_MISSING_TIMEOUT 20 ROLL_TIMEOUT 30 XPDR_REP 0

TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 0 INT_PRESSURE_SLOPE 1.9639999e-06

AH0_10V 0 D_SAFE 500 N_NOSURFACE 0 SEABIRD_C_H 1.0739573

AH0_24V 575 D_SURF 2 OPTIONS 2 SEABIRD_C_I -0.002841271

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PHONE_DEVICE 33 SEABIRD_C_J 0.00027081851

ALTIM_FREQUENCY 13 ESCAPE_HEADING 180 PHONE_SUPPLY 2 SEABIRD_T_G 0.004415411

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SEABIRD_T_H 0.00064200663

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_10V 172.45311 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 218.47687 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 18.219948 SM_CC 605.40039

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 20 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 3900 STROBE 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MAXERRORS 1 SURFACE_URGENCY 20

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_MIN 230 SURFACE_URGENCY_FORCE 40

CALL_TRIES 3 HD_C 1.6e-05 PITCH_TIMEOUT 40 SURFACE_URGENCY_TRY 20

CALL_WAIT 45 HEADING 20 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HEAD_ERRBAND 10 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.1 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 0 ID 235 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 -0.5 PM_PROFILE 3.0 T_DIVE 60

COMPASS_DEVICE 66 KALMAN_USE 2 PM_RECORDABOVE 2000.0 T_EPIRB 0

COMPASS_USE 49156 LOGGERDEVICE1 7 PM_SENDDEPTH 0.0 T_GPS 3

C_PITCH 2409.0459 LOGGERDEVICE2 35 PM_XMITPROFILE 3.0 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE3 -1 PM_XMITRAW 0.0 T_MISSION 85

C_PITCH_AUTO_MAX 200 LOGGERDEVICE4 -1 PRESSURE_DEVICE 34 T_NO_W 240

C_ROLL_CLIMB 2600 LOGGERS 3 PRESSURE_SLOPE 0.00022957686 T_RSLEEP 1

C_ROLL_DIVE 2750 LOITER_DBDW 400 PRESSURE_YINT -158.7531 T_TURN 225

C_VBD 3068.9021 LOITER_D_BOTTOM 700 PROTOCOL 9 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_D_TOP 400 RAFOS_CORR_THRESH 60 UNCOM_BLEED 20

C_VBD_AUTO_MAX 100 LOITER_N_DIVE 0 RAFOS_DEVICE 96 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_W_DBAND 2 RAFOS_HIT_WINDOW 3600 USE_BATHY -1

DEEPGLIDER 0 MASS 72594 RAFOS_MMODEM 0 USE_ICE 0

DEEPGLIDERMB 0 MAXI_10V 2 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 0 ROLL_ADJ_DBAND 0 VBD_MAX 3960

DEVICE4 -1 MINV_24V 0 ROLL_ADJ_GAIN 0 VBD_MAXERRORS 2

DEVICE5 -1 MISSION 21 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 800

DIVE 7 NAV2_DEVICE 6 ROLL_MAX 3900 W_ADJ_DBAND 2

D_ABORT 500 NAV_DEVICE 6 ROLL_MAXERRORS 0 XPDR_DEVICE -1

D_BOOST 0 NAV_MODE 2 ROLL_MIN 1200 XPDR_INHIBIT 90

D_CALL 3 NETWORK_DEVICE 1 ROLL_TIMEOUT 30 XPDR_INT 0

D_FINISH 10 NOCOMM_ACTION 131 SC_NDIVE 1.0 XPDR_REP 0

D_FLARE 3 N_DIVES 7 SC_PROFILE 7.0 XPDR_VALID 4

D_NO_BLEED 50 N_FILEKB 8 SC_RECORDABOVE 2000.0

D_OFFGRID 1000 N_GPS 100440 SC_XMITPROFILE 3.0

D_PITCH 2 N_NOCOMM 1 SEABIRD_C_G -9.8064938

Pre-dive calculations and measurements:

GPS1 130722,015345,4722.112,-12523.453,2,1.2,5,15.8 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.52 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130722,015654,4722.069,-12523.480,2,1.2,6,15.8 MHEAD_RNG_PITCHd_Wd 349.1,20000,-17.6,-10.000,-21.24,2209,0.190

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME HEADING IRON 1.000000,0.010128,-0.063169,-0.087250,1.072990,-0.045988,-0.003437,0.060541,1.120606,-1044.861328,-999.930542,-222.078873

TGT_LATLONG 4732.217,-12518.010

Post-dive calculations and measurements:

NAV 1657681287,0.1,start _24V_AH 14.89,117.105

NET CACST,8,1,20220713025524.835894,06,388,13,0718,0150,223,01,01,02,01,-1,-01,-01,1,3,11643,0,150,-36.0,0.70,-100,2.30,-01,-0.76,72,10000,5000,0,-1,00,00*60 _10V_AH 14.87,0.000

MODEM_MSG CAUSB2,1,2022-07-13T02:30:02.638797Z,393.1,0.0,02.6387,18,13400,32767,31600,-22554,0,0,0,0,5*16 FG_AHR_24Vo 218.671

FREEZE 0.64,16.703,-1.706,0,1,0 FG_AHR_10Vo 172.532

FINISH 0.6,1.022667 MEM0 60108,1,0,0

SM_CCo 3834.13,127.87,1.133,0,601.1,656.9,545.2,605.13 MEM1 65508,1,0,0

SM_GC 1.52,127.87,15.42,2.72,1.133,0.048,0.075,601.1,656.9,545.2,217.9,2730.4,0,0,0,11.71,15.80,15.82 MEM2 963748,25,82420,95

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16122,560

IRIDIUM_FIX 4720.59,-12521.92,130722,014811 CAP_FILE_SIZE 278978,0

TCM_TEMP 15.22 SDSIZE 3918848,3876384

SC_FREEKB 3876448 SDFILEDIR 338,3

PM_FREEKB_00 62074176 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 0 SOUNDSPEED 1465.0

RAFOS_CLK 1 CURRENT 0.073,179.9,1

MODEM 3,1657675803,48.15000,-122.50000,3.006,4403.9 MAGCAL 1.000000,-0.023003,-0.018390,-0.097273,1.094745,-0.034522,0.049159,-0.032059,1.114257,-1076.6,-1018.8,-160.9,34,0.0473,0

RAFOS_FIX 4734.519531,-12230.000000,130722,020203,2,510,68814.86 IMPLIED_C_PITCH 2397,18.04,263,2403.1,18.13

HUMID 73.44 IMPLIED_C_VBD 3539,48.291515,137,3168.9

TEMP 12.29 GPS 130722,030218,4722.175,-12523.491,4,2.0,6,15.8

INTERNAL_PRESSURE 8.55503

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 654 1302 12695.34 nil 0 0 0.00

Pitch_motor 34 270 138.17 nil 0 0 0.00

Roll_motor 73 224 245.71 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 15 15 3.50 nil 0 0 0.00

Core 2138 5 162.78 SciCon 3666 6 340.38

Fast 0 0 0.00 PMAR 3672 10 583.10

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1597 0 7.60

Compass 1098 5 81.71

RAFOS 3079 40 1831.86

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

9 end surface: CONTROL_FINISHED_OK

state 10 begin dive

10.88 16386 -145.99 -1.15 0.00 595.9 642.2 549.6 216.6 2774.4 0.00 0.00 0 109.74 94.08 0.00 0.00 0.005 0.000 0.000 2876.56 2877.25 2875.88 215.44 2773.31 0 0 0 15.88 30.00 30.00

110.05 18983 -145.99 -1.15 -80.00 2875.6 2876.0 2875.2 215.5 2774.1 4.25 -4.79 17 157.34 16.08 14.92 3.53 0.006 0.270 0.118 3662.38 3684.62 3640.12 2129.81 1279.38 0 0 0 15.94 15.77 15.85

285.57 1028 -145.99 -1.15 0.00 3664.2 3688.4 3640.0 2130.1 1279.8 36.43 -16.21 51 292.12 0.00 0.00 3.40 0.000 0.000 0.058 3662.91 3688.00 3637.81 2130.00 2770.88 0 0 0 30.00 30.00 15.89

481.00 516 -145.99 -1.15 -80.00 3664.3 3689.7 3638.9 2130.7 2771.1 62.13 -14.02 81 487.87 0.00 0.00 3.54 0.000 0.000 0.115 3664.81 3688.88 3640.75 2131.00 1279.62 0 0 0 30.00 30.00 15.88

676.15 1028 -145.99 -1.15 0.00 3665.3 3690.6 3640.1 2130.8 1279.5 90.70 -12.94 120 682.15 0.00 0.00 3.42 0.000 0.000 0.059 3665.28 3690.69 3639.88 2131.19 2768.56 0 0 0 30.00 30.00 15.93

866.16 260 -145.99 -1.15 80.00 3665.5 3691.2 3639.8 2130.7 2769.4 112.75 -10.29 140 871.83 0.00 0.00 2.80 0.000 0.000 0.118 3666.25 3692.12 3640.38 2130.62 3911.44 0 0 0 30.00 30.00 15.91

910.45 1028 -145.99 -1.15 0.00 3665.3 3691.7 3639.0 2130.6 3911.5 116.93 -9.36 149 917.57 0.00 0.00 2.70 0.000 0.000 0.066 3666.34 3693.06 3639.62 2130.06 2727.50 0 0 0 30.00 30.00 15.94

1106.19 516 -145.99 -1.15 -80.00 3665.8 3692.1 3639.5 2129.5 2727.4 133.70 -9.16 169 1112.21 0.00 0.00 3.47 0.000 0.000 0.122 3666.00 3692.44 3639.56 2130.38 1281.44 0 0 0 30.00 30.00 15.91

1190.47 1028 -145.99 -1.15 0.00 3665.6 3691.9 3639.4 2130.4 1281.3 143.48 -11.93 186 1197.95 0.00 0.00 3.42 0.000 0.000 0.063 3665.00 3691.44 3638.56 2130.69 2767.44 0 0 0 30.00 30.00 15.94

1386.20 516 -145.99 -1.15 -80.00 3666.0 3691.8 3640.2 2130.6 2767.0 163.71 -10.91 206 1392.27 0.00 0.00 3.57 0.000 0.000 0.120 3666.12 3691.88 3640.38 2130.50 1278.94 0 0 0 30.00 30.00 15.91

1490.50 1028 -145.99 -1.15 0.00 3665.3 3691.2 3639.4 2130.5 1278.9 177.18 -12.94 227 1497.97 0.00 0.00 3.43 0.000 0.000 0.065 3665.72 3691.94 3639.50 2130.62 2767.62 0 0 0 30.00 30.00 15.94

1516 end dive: TARGET_DEPTH_EXCEEDED

state 1516 begin apogee

1517.72 10243 0.00 -0.27 0.00 3665.4 3692.1 3638.7 2130.2 2572.2 180.09 -11.76 230 1632.30 104.60 1.42 0.08 1.303 0.141 0.225 3067.22 3130.06 3004.38 2344.25 2621.12 0 0 0 11.74 15.90 15.54

1635 end apogee: CONTROL_FINISHED_OK

state 1635 begin climb

1635.45 10759 145.99 1.15 -80.00 3065.0 3127.7 3002.4 2343.4 2621.4 183.69 0.00 241 1761.96 108.75 2.23 3.56 1.252 0.083 0.127 2470.09 2541.38 2398.81 2694.25 1188.81 0 0 0 11.66 15.56 15.37

1794.49 1028 145.99 1.15 0.00 2466.7 2534.5 2398.8 2692.9 1188.4 167.75 17.57 270 1801.91 0.00 0.00 3.35 0.000 0.000 0.060 2464.06 2532.31 2395.81 2693.00 2620.56 0 0 0 30.00 30.00 15.54

1990.23 16902 145.99 1.15 -80.00 2462.0 2529.8 2394.2 2694.0 2620.8 140.23 13.80 290 1996.23 0.00 0.00 3.48 0.000 0.000 0.127 2461.50 2530.38 2392.62 2692.44 1187.12 0 0 0 30.00 30.00 15.71

2094.53 17414 145.99 1.15 0.00 2461.0 2527.5 2394.6 2693.2 1187.2 123.44 16.38 311 2101.92 0.00 0.00 3.30 0.000 0.000 0.061 2429.91 2466.56 2393.25 2692.00 2622.62 0 0 0 30.00 30.00 15.79

2290.26 16902 145.99 1.15 -80.00 2460.0 2527.5 2392.6 2693.2 2621.8 101.21 9.81 331 2296.32 0.00 0.00 3.51 0.000 0.000 0.128 2461.72 2530.75 2392.69 2693.44 1188.50 0 0 0 30.00 30.00 15.81

2324.54 17414 145.99 1.15 0.00 2459.3 2525.1 2393.4 2693.1 1188.1 97.40 10.87 338 2331.91 0.00 0.00 3.27 0.000 0.000 0.061 2458.94 2524.06 2393.81 2693.88 2622.00 0 0 0 30.00 30.00 15.85

2520.33 10275 249.71 1.27 0.00 2459.3 2526.1 2392.4 2692.9 2621.9 85.69 5.18 358 2604.40 77.60 0.15 0.00 1.201 0.100 0.000 2046.38 2130.12 1962.62 2730.56 2622.56 0 0 0 11.71 15.87 30.00

2790.28 16646 249.71 1.27 80.00 2039.6 2119.7 1959.4 2730.3 2622.2 61.44 9.70 392 2796.24 0.00 0.00 3.21 0.000 0.000 0.125 2038.97 2118.81 1959.12 2730.06 3911.69 0 0 0 30.00 30.00 15.73

2877.64 17414 249.71 1.27 0.00 2037.1 2114.9 1959.2 2730.6 3910.6 53.19 8.91 409 2884.96 0.00 0.00 3.12 0.000 0.000 0.073 2035.25 2113.81 1956.69 2730.56 2578.25 0 0 0 30.00 30.00 15.79

3068.42 8742 313.62 1.35 -80.00 2036.2 2114.6 1957.9 2730.8 2577.5 39.19 7.03 443 3127.13 47.51 0.00 3.47 1.147 0.000 0.138 1786.06 1874.19 1697.94 2730.75 1187.88 0 0 0 11.79 30.00 15.63

3191.35 1028 313.62 1.35 0.00 1782.8 1866.2 1699.4 2730.6 1187.6 28.33 10.01 467 3198.04 0.00 0.00 3.35 0.000 0.000 0.061 1782.12 1865.88 1698.38 2730.62 2624.75 0 0 0 30.00 30.00 15.77

3381.46 10535 419.53 1.48 80.00 1780.2 1864.9 1695.6 2729.9 2624.6 15.82 5.07 505 3471.12 77.92 0.22 3.23 1.130 0.086 0.119 1357.50 1450.38 1264.62 2779.38 3910.00 0 0 0 11.83 15.86 15.54

3649 end climb: SURFACE_DEPTH_REACHED

state 3650 begin surface coast

3664 end surface coast: CONTROL_FINISHED_OK

state 3665 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	21	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	7	SM_CC	605.40039	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	7	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	6
STOP_T	0	FILEMGR	0	C_VBD	3068.9021	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	180	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	500	N_NOCOMM	1	VBD_TIMEOUT	800	DEVICE5	-1
D_NO_BLEED	50	NOCOMM_ACTION	131	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
D_BOOST	0	N_NOSURFACE	0	UNCOM_BLEED	20	LOGGERS	3
T_BOOST	0	UPLOAD_DIVES_MAX	3	VBD_MAXERRORS	2	LOGGERDEVICE1	7
D_FINISH	10	CALL_TRIES	3	C_VBD_AUTO_DELTA	0.5	LOGGERDEVICE2	35
D_PITCH	2	CALL_WAIT	45	C_VBD_AUTO_MAX	100	LOGGERDEVICE3	-1
D_SAFE	500	CAPUPLOAD	0	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
D_CALL	3	CAPMAXSIZE	10000	DBDW	0	COMPASS_DEVICE	66
SURFACE_URGENCY	20	T_GPS	3	LOITER_W_DBAND	2	COMPASS2_DEVICE	-1
SURFACE_URGENCY_TRY	20	N_GPS	100440	LOITER_DBDW	400	PHONE_DEVICE	33
SURFACE_URGENCY_FORCE	40	T_RSLEEP	1	LOITER_D_TOP	400	GPS_DEVICE	48
T_DIVE	60	STROBE	0	LOITER_D_BOTTOM	700	RAFOS_DEVICE	96
T_MISSION	85	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	NAV_DEVICE	6
T_ABORT	1440	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	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	240	PITCH_MIN	230	MINV_24V	0	XPDR_DEVICE	-1
T_LOITER	0	PITCH_MAX	3900	MINV_10V	0	SIM_W	0
T_EPIRB	0	C_PITCH	2409.0459	MAXI_24V	5	SEABIRD_T_G	0.004415411
USE_BATHY	-1	PITCH_DBAND	0.1	MAXI_10V	2	SEABIRD_T_H	0.00064200663
USE_ICE	0	PITCH_CNV	0.0041299998	FG_AHR_10V	172.45311	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	18.219948	FG_AHR_24V	218.47687	SEABIRD_T_J	3.2522996e-06
D_OFFGRID	1000	PITCH_TIMEOUT	40	PHONE_SUPPLY	2	SEABIRD_C_G	-9.8064938
RELAUNCH	1	PITCH_MAXERRORS	1	PRESSURE_YINT	-158.7531	SEABIRD_C_H	1.0739573
APOGEE_PITCH	-5	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_I	-0.002841271
MAX_BUOY	150	PITCH_ADJ_DBAND	2	COMPASS_USE	49156	SEABIRD_C_J	0.00027081851
GLIDE_SLOPE	30	C_PITCH_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	OPTIONS	2
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	7.0
MASS	72594	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	0	SC_NDIVE	1.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MIN	1200	ALTIM_PING_DELTA	0	PM_PROFILE	3.0
HD_A	0.003	ROLL_MAX	3900	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	2750	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
HEADING	20	C_ROLL_CLIMB	2600	XPDR_VALID	4	PM_MOTORS	0.0
ESCAPE_HEADING	180	HEAD_ERRBAND	10	XPDR_INHIBIT	90	PM_SENDDEPTH	0.0
ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054945	XPDR_INT	0
FIX_MISSING_TIMEOUT	20	ROLL_TIMEOUT	30	XPDR_REP	0
TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	0	INT_PRESSURE_SLOPE	1.9639999e-06

GPS1	130722,015345,4722.112,-12523.453,2,1.2,5,15.8	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.52	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130722,015654,4722.069,-12523.480,2,1.2,6,15.8	MHEAD_RNG_PITCHd_Wd	349.1,20000,-17.6,-10.000,-21.24,2209,0.190
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	HEADING	IRON	1.000000,0.010128,-0.063169,-0.087250,1.072990,-0.045988,-0.003437,0.060541,1.120606,-1044.861328,-999.930542,-222.078873
TGT_LATLONG	4732.217,-12518.010

NAV	1657681287,0.1,start	_24V_AH	14.89,117.105
NET	CACST,8,1,20220713025524.835894,06,388,13,0718,0150,223,01,01,02,01,-1,-01,-01,1,3,11643,0,150,-36.0,0.70,-100,2.30,-01,-0.76,72,10000,5000,0,-1,00,00*60	_10V_AH	14.87,0.000
MODEM_MSG	CAUSB2,1,2022-07-13T02:30:02.638797Z,393.1,0.0,02.6387,18,13400,32767,31600,-22554,0,0,0,0,5*16	FG_AHR_24Vo	218.671
FREEZE	0.64,16.703,-1.706,0,1,0	FG_AHR_10Vo	172.532
FINISH	0.6,1.022667	MEM0	60108,1,0,0
SM_CCo	3834.13,127.87,1.133,0,601.1,656.9,545.2,605.13	MEM1	65508,1,0,0
SM_GC	1.52,127.87,15.42,2.72,1.133,0.048,0.075,601.1,656.9,545.2,217.9,2730.4,0,0,0,11.71,15.80,15.82	MEM2	963748,25,82420,95
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16122,560
IRIDIUM_FIX	4720.59,-12521.92,130722,014811	CAP_FILE_SIZE	278978,0
TCM_TEMP	15.22	SDSIZE	3918848,3876384
SC_FREEKB	3876448	SDFILEDIR	338,3
PM_FREEKB_00	62074176	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	0	SOUNDSPEED	1465.0
RAFOS_CLK	1	CURRENT	0.073,179.9,1
MODEM	3,1657675803,48.15000,-122.50000,3.006,4403.9	MAGCAL	1.000000,-0.023003,-0.018390,-0.097273,1.094745,-0.034522,0.049159,-0.032059,1.114257,-1076.6,-1018.8,-160.9,34,0.0473,0
RAFOS_FIX	4734.519531,-12230.000000,130722,020203,2,510,68814.86	IMPLIED_C_PITCH	2397,18.04,263,2403.1,18.13
HUMID	73.44	IMPLIED_C_VBD	3539,48.291515,137,3168.9
TEMP	12.29	GPS	130722,030218,4722.175,-12523.491,4,2.0,6,15.8
INTERNAL_PRESSURE	8.55503

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	654	1302	12695.34	nil	0	0	0.00
Pitch_motor	34	270	138.17	nil	0	0	0.00
Roll_motor	73	224	245.71	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	15	15	3.50	nil	0	0	0.00
Core	2138	5	162.78	SciCon	3666	6	340.38
Fast	0	0	0.00	PMAR	3672	10	583.10
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1597	0	7.60
Compass	1098	5	81.71
RAFOS	3079	40	1831.86
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
9	end surface: CONTROL_FINISHED_OK
state	10	begin dive
10.88	16386	-145.99	-1.15	0.00	595.9	642.2	549.6	216.6	2774.4	0.00	0.00	0	109.74	94.08	0.00	0.00	0.005	0.000	0.000	2876.56	2877.25	2875.88	215.44	2773.31	0	0	0	15.88	30.00	30.00
110.05	18983	-145.99	-1.15	-80.00	2875.6	2876.0	2875.2	215.5	2774.1	4.25	-4.79	17	157.34	16.08	14.92	3.53	0.006	0.270	0.118	3662.38	3684.62	3640.12	2129.81	1279.38	0	0	0	15.94	15.77	15.85
285.57	1028	-145.99	-1.15	0.00	3664.2	3688.4	3640.0	2130.1	1279.8	36.43	-16.21	51	292.12	0.00	0.00	3.40	0.000	0.000	0.058	3662.91	3688.00	3637.81	2130.00	2770.88	0	0	0	30.00	30.00	15.89
481.00	516	-145.99	-1.15	-80.00	3664.3	3689.7	3638.9	2130.7	2771.1	62.13	-14.02	81	487.87	0.00	0.00	3.54	0.000	0.000	0.115	3664.81	3688.88	3640.75	2131.00	1279.62	0	0	0	30.00	30.00	15.88
676.15	1028	-145.99	-1.15	0.00	3665.3	3690.6	3640.1	2130.8	1279.5	90.70	-12.94	120	682.15	0.00	0.00	3.42	0.000	0.000	0.059	3665.28	3690.69	3639.88	2131.19	2768.56	0	0	0	30.00	30.00	15.93
866.16	260	-145.99	-1.15	80.00	3665.5	3691.2	3639.8	2130.7	2769.4	112.75	-10.29	140	871.83	0.00	0.00	2.80	0.000	0.000	0.118	3666.25	3692.12	3640.38	2130.62	3911.44	0	0	0	30.00	30.00	15.91
910.45	1028	-145.99	-1.15	0.00	3665.3	3691.7	3639.0	2130.6	3911.5	116.93	-9.36	149	917.57	0.00	0.00	2.70	0.000	0.000	0.066	3666.34	3693.06	3639.62	2130.06	2727.50	0	0	0	30.00	30.00	15.94
1106.19	516	-145.99	-1.15	-80.00	3665.8	3692.1	3639.5	2129.5	2727.4	133.70	-9.16	169	1112.21	0.00	0.00	3.47	0.000	0.000	0.122	3666.00	3692.44	3639.56	2130.38	1281.44	0	0	0	30.00	30.00	15.91
1190.47	1028	-145.99	-1.15	0.00	3665.6	3691.9	3639.4	2130.4	1281.3	143.48	-11.93	186	1197.95	0.00	0.00	3.42	0.000	0.000	0.063	3665.00	3691.44	3638.56	2130.69	2767.44	0	0	0	30.00	30.00	15.94
1386.20	516	-145.99	-1.15	-80.00	3666.0	3691.8	3640.2	2130.6	2767.0	163.71	-10.91	206	1392.27	0.00	0.00	3.57	0.000	0.000	0.120	3666.12	3691.88	3640.38	2130.50	1278.94	0	0	0	30.00	30.00	15.91
1490.50	1028	-145.99	-1.15	0.00	3665.3	3691.2	3639.4	2130.5	1278.9	177.18	-12.94	227	1497.97	0.00	0.00	3.43	0.000	0.000	0.065	3665.72	3691.94	3639.50	2130.62	2767.62	0	0	0	30.00	30.00	15.94
1516	end dive: TARGET_DEPTH_EXCEEDED
state	1516	begin apogee
1517.72	10243	0.00	-0.27	0.00	3665.4	3692.1	3638.7	2130.2	2572.2	180.09	-11.76	230	1632.30	104.60	1.42	0.08	1.303	0.141	0.225	3067.22	3130.06	3004.38	2344.25	2621.12	0	0	0	11.74	15.90	15.54
1635	end apogee: CONTROL_FINISHED_OK
state	1635	begin climb
1635.45	10759	145.99	1.15	-80.00	3065.0	3127.7	3002.4	2343.4	2621.4	183.69	0.00	241	1761.96	108.75	2.23	3.56	1.252	0.083	0.127	2470.09	2541.38	2398.81	2694.25	1188.81	0	0	0	11.66	15.56	15.37
1794.49	1028	145.99	1.15	0.00	2466.7	2534.5	2398.8	2692.9	1188.4	167.75	17.57	270	1801.91	0.00	0.00	3.35	0.000	0.000	0.060	2464.06	2532.31	2395.81	2693.00	2620.56	0	0	0	30.00	30.00	15.54
1990.23	16902	145.99	1.15	-80.00	2462.0	2529.8	2394.2	2694.0	2620.8	140.23	13.80	290	1996.23	0.00	0.00	3.48	0.000	0.000	0.127	2461.50	2530.38	2392.62	2692.44	1187.12	0	0	0	30.00	30.00	15.71
2094.53	17414	145.99	1.15	0.00	2461.0	2527.5	2394.6	2693.2	1187.2	123.44	16.38	311	2101.92	0.00	0.00	3.30	0.000	0.000	0.061	2429.91	2466.56	2393.25	2692.00	2622.62	0	0	0	30.00	30.00	15.79
2290.26	16902	145.99	1.15	-80.00	2460.0	2527.5	2392.6	2693.2	2621.8	101.21	9.81	331	2296.32	0.00	0.00	3.51	0.000	0.000	0.128	2461.72	2530.75	2392.69	2693.44	1188.50	0	0	0	30.00	30.00	15.81
2324.54	17414	145.99	1.15	0.00	2459.3	2525.1	2393.4	2693.1	1188.1	97.40	10.87	338	2331.91	0.00	0.00	3.27	0.000	0.000	0.061	2458.94	2524.06	2393.81	2693.88	2622.00	0	0	0	30.00	30.00	15.85
2520.33	10275	249.71	1.27	0.00	2459.3	2526.1	2392.4	2692.9	2621.9	85.69	5.18	358	2604.40	77.60	0.15	0.00	1.201	0.100	0.000	2046.38	2130.12	1962.62	2730.56	2622.56	0	0	0	11.71	15.87	30.00
2790.28	16646	249.71	1.27	80.00	2039.6	2119.7	1959.4	2730.3	2622.2	61.44	9.70	392	2796.24	0.00	0.00	3.21	0.000	0.000	0.125	2038.97	2118.81	1959.12	2730.06	3911.69	0	0	0	30.00	30.00	15.73
2877.64	17414	249.71	1.27	0.00	2037.1	2114.9	1959.2	2730.6	3910.6	53.19	8.91	409	2884.96	0.00	0.00	3.12	0.000	0.000	0.073	2035.25	2113.81	1956.69	2730.56	2578.25	0	0	0	30.00	30.00	15.79
3068.42	8742	313.62	1.35	-80.00	2036.2	2114.6	1957.9	2730.8	2577.5	39.19	7.03	443	3127.13	47.51	0.00	3.47	1.147	0.000	0.138	1786.06	1874.19	1697.94	2730.75	1187.88	0	0	0	11.79	30.00	15.63
3191.35	1028	313.62	1.35	0.00	1782.8	1866.2	1699.4	2730.6	1187.6	28.33	10.01	467	3198.04	0.00	0.00	3.35	0.000	0.000	0.061	1782.12	1865.88	1698.38	2730.62	2624.75	0	0	0	30.00	30.00	15.77
3381.46	10535	419.53	1.48	80.00	1780.2	1864.9	1695.6	2729.9	2624.6	15.82	5.07	505	3471.12	77.92	0.22	3.23	1.130	0.086	0.119	1357.50	1450.38	1264.62	2779.38	3910.00	0	0	0	11.83	15.86	15.54
3649	end climb: SURFACE_DEPTH_REACHED
state	3650	begin surface coast
3664	end surface coast: CONTROL_FINISHED_OK
state	3665	begin surface