Glider dive log

AMOS Jul22 * SG241 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 241 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 20 ALTIM_SENSITIVITY 2

MISSION 8 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 15 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 -1.4

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 7

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 69

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 120 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 210 AH0_24V 575 NAV_DEVICE 6

USE_BATHY -1 PITCH_MAX 3628 AH0_10V 0 NAV2_DEVICE 6

USE_ICE 0 C_PITCH 1855.2461 MINV_24V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 37

D_OFFGRID 1000 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 16.787323 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 32.364677 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 42.027519 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 -190.14957 SEABIRD_T_J 4.3e-06

RHO 1.0257 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022588584 SEABIRD_C_G -10

MASS 72789 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 215 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3820 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 32.364677 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 42.027519 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 16.787323 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 3628 TGT_DEFAULT_LAT 4736

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

CAPUPLOAD 0 HEADING -1 PITCH_MIN 210 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 241 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 69 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT -1.4 PRESSURE_DEVICE 37 T_LOITER 0

C_PITCH 1855.2461 KALMAN_USE 2 PRESSURE_SLOPE 0.00022588584 T_MISSION 140

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -190.14957 T_NO_W 120

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 7 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 1.0257 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE1 -1 MASS 72789 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 3820 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 215 W_ADJ_DBAND 0

DIVE 15 MISSION 8 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 150722,114101,4715.833,-12519.485,29,1.0,30,15.7 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.52 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150722,114437,4715.843,-12519.437,2,0.7,4,15.7 MHEAD_RNG_PITCHd_Wd 26.5,105,-27.2,-10.000,-30.00,970,0.115

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME ans0 IRON 1.000000,0.023869,0.090555,-0.015271,1.082566,-0.073022,-0.025123,-0.065471,1.049104,423.277740,-1286.587769,-244.933807

TGT_LATLONG 4715.876,-12519.368

Post-dive calculations and measurements:

MODEM_MSG CACST,8,0,20220715120000.471910,18,20493,37,0313,0000,07,00,00,01,00,1,025,121,0,5,1,0,150,12.6,4.85,-100,-1.85,-01,-0.10,58,925,0025,0,1,00,00*38 _10V_AH 14.70,0.000

NAV 1657889941,77.6,start FG_AHR_24Vo 42.231

NET xmit part outbox0012.n 1131 0 FG_AHR_10Vo 32.436

NET_PING 1657890191,27,612.773987,29.900000,-0.808365 MEM0 60108,1,0,0

FINISH -0.4,1.022764 MEM1 65508,1,0,0

SM_CCo 6077.21,160.22,0.910,0,542.1,609.6,474.6,692.22 MEM2 957688,23,89140,64

SM_GC 0.57,160.22,13.77,0.10,0.910,0.086,0.140,542.1,609.6,474.6,199.8,2113.6,0,0,0,11.48,15.69,15.71 DATA_FILE_SIZE 22533,738

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 462309,0

IRIDIUM_FIX 4715.62,-12520.83,150722,094628 SDSIZE 3887104,3865888

TCM_TEMP 14.82 SDFILEDIR 182,1

SC_FREEKB 3873984 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

MODEM 0,1657882800,47.26460,-125.32280,0.452,661.8 CURRENT 0.080,123.4,1

RAFOS_FIX 4757.390137,-12957.378906,150722,010131,2,510,8097.23 MAGCAL 1.000000,0.011140,0.117138,-0.013257,1.077230,-0.208514,-0.093460,0.015672,1.142567,422.6,-1256.3,-353.7,36,0.0458,0

HUMID 48.44 IMPLIED_C_PITCH 1853,17.63,381,1854.2,17.21

TEMP 11.64 IMPLIED_C_VBD 2824,46.629028,292,3264.0

INTERNAL_PRESSURE 8.14781 GPS 150722,132702,4715.953,-12518.806,14,1.2,16,15.7

_24V_AH 14.68,14.595

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 765 1238 13922.27 nil 0 0 0.00

Pitch_motor 34 284 142.85 nil 0 0 0.00

Roll_motor 70 212 219.14 nil 0 0 0.00

Iridium 143 218 459.62 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.92 nil 0 0 0.00

Core 3050 5 229.57 SciCon 5891 6 582.20

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3043 0 14.32

Compass 1421 5 104.50

RAFOS 2858 40 1681.02

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

6.55 16386 -63.65 -1.70 0.00 533.9 606.1 461.7 197.3 2111.5 0.00 0.00 0 107.68 96.58 0.00 0.00 0.005 0.000 0.000 2689.53 2651.12 2727.94 197.25 2111.00 0 0 0 15.74 30.00 30.00

107.98 18727 -127.52 -1.78 80.00 2688.3 2649.8 2726.9 197.1 2111.1 3.49 -3.25 19 158.87 26.26 9.88 3.64 0.006 0.284 0.101 3884.41 3868.75 3900.06 1423.56 3619.50 0 0 0 15.82 15.63 15.74

162.33 3205 -127.52 -1.39 0.00 3885.4 3870.4 3900.4 1423.6 3619.3 20.54 -32.17 29 169.72 0.00 0.68 3.45 0.000 0.214 0.051 3885.88 3870.75 3901.00 1516.88 2120.94 0 0 0 30.00 15.71 15.78

477.36 644 -127.52 -1.46 -80.00 3887.3 3880.6 3894.1 1516.1 2120.3 85.68 -17.73 61 483.35 0.00 0.00 3.52 0.000 0.000 0.113 3888.50 3881.44 3895.56 1515.94 681.12 0 0 0 30.00 30.00 15.88

711.66 1028 -127.52 -1.46 0.00 3888.2 3882.1 3894.2 1515.8 680.9 127.18 -17.00 108 719.28 0.00 0.00 3.39 0.000 0.000 0.048 3889.09 3882.62 3895.56 1517.00 2175.75 0 0 0 30.00 30.00 15.97

1029.24 4741 -127.52 -1.57 -80.00 3889.9 3885.2 3894.6 1516.8 2175.9 170.05 -13.59 139 1036.79 0.00 0.36 3.66 0.000 0.081 0.110 3890.44 3886.38 3894.50 1458.81 680.81 0 0 0 30.00 15.96 15.95

1103.83 3205 -127.52 -1.48 0.00 3888.7 3884.1 3893.4 1459.9 680.6 184.44 -20.73 153 1111.64 0.00 0.34 3.38 0.000 0.207 0.049 3890.41 3885.75 3895.06 1497.56 2178.12 0 0 0 30.00 15.88 15.95

1419.69 128 -127.52 -1.56 0.00 3890.6 3886.3 3894.9 1498.0 2178.7 232.87 -15.13 185 1421.30 0.00 0.00 0.00 0.000 0.000 0.000 3890.03 3886.50 3893.56 1497.88 2179.00 0 0 0 30.00 30.00 30.00

1749.70 4485 -127.52 -1.66 80.00 3890.5 3887.1 3893.9 1498.0 2178.7 281.44 -14.96 204 1757.17 0.00 0.35 3.47 0.000 0.080 0.112 3890.44 3886.69 3894.19 1439.94 3617.81 0 0 0 30.00 16.00 15.99

1840 end dive: TARGET_DEPTH_EXCEEDED

state 1840 begin apogee

1846.21 10243 0.00 -0.30 0.00 3890.7 3886.7 3894.7 1440.2 2120.9 300.05 -21.10 222 1957.02 101.31 2.49 0.09 1.239 0.189 0.212 3362.41 3413.69 3311.12 1781.88 2177.25 0 0 0 11.74 15.94 15.61

1958 end apogee: CONTROL_FINISHED_OK

state 1958 begin climb

1958.26 10243 127.52 1.78 0.00 3363.1 3413.8 3312.5 1781.8 2179.3 305.66 0.00 229 2073.01 103.75 3.45 0.00 1.200 0.112 0.000 2844.28 2908.62 2779.94 2287.19 2179.00 0 0 0 11.54 15.60 30.00

2382.18 20871 127.52 1.61 80.00 2834.4 2892.1 2776.7 2287.2 2178.8 257.69 13.91 244 2389.74 0.00 0.43 3.55 0.000 0.225 0.112 2836.69 2894.25 2779.12 2240.81 3618.50 0 0 0 30.00 15.66 15.71

2548.33 21639 127.52 1.41 0.00 2832.3 2888.6 2775.9 2239.5 3619.5 235.71 13.45 277 2555.88 0.00 0.37 3.46 0.000 0.236 0.055 2834.25 2890.12 2778.38 2190.19 2119.69 0 0 0 30.00 15.71 15.81

2863.43 8354 133.58 1.45 0.00 2831.4 2888.1 2774.7 2189.9 2119.8 206.91 9.36 309 2873.48 5.53 0.00 0.00 0.733 0.000 0.000 2819.41 2878.56 2760.25 2190.50 2119.38 0 0 0 11.67 30.00 30.00

3183.48 10403 142.47 1.51 0.00 2818.4 2877.4 2759.4 2190.9 2120.4 176.55 9.06 341 3195.16 9.81 0.25 0.00 0.960 0.086 0.000 2781.44 2842.25 2720.62 2230.44 2119.94 0 0 0 11.70 15.91 30.00

3503.38 8742 156.50 1.53 -80.00 2780.6 2839.6 2721.6 2230.5 2119.6 146.16 8.52 373 3526.55 13.44 0.00 3.53 1.013 0.000 0.122 2724.91 2786.00 2663.81 2231.19 683.25 0 0 0 11.61 30.00 15.85

3695.29 13479 163.28 1.40 0.00 2722.8 2781.8 2663.9 2230.6 683.2 126.86 9.28 411 3712.40 7.81 0.37 3.42 0.854 0.235 0.053 2697.00 2757.69 2636.31 2188.69 2175.12 0 0 0 11.69 15.87 15.96

4016.09 10919 201.38 1.55 -80.00 2695.8 2755.5 2636.2 2188.8 2175.5 105.31 5.97 445 4060.51 31.43 0.32 3.66 1.073 0.077 0.119 2542.03 2609.06 2475.00 2240.88 681.00 0 0 0 11.73 16.00 15.86

4199.19 5253 201.38 1.48 0.00 2538.8 2603.3 2474.2 2240.9 681.1 88.13 10.97 481 4206.86 0.00 0.31 3.43 0.000 0.232 0.053 2537.25 2602.00 2472.50 2207.25 2175.50 0 0 0 30.00 15.86 15.94

4509.40 10919 273.68 1.70 -80.00 2537.1 2599.6 2474.6 2206.8 2175.5 75.74 2.36 512 4579.82 56.12 0.44 3.69 1.060 0.068 0.117 2246.66 2327.94 2165.38 2277.19 682.06 0 0 0 11.89 15.97 15.75

4633.54 9382 290.09 1.66 0.00 2243.5 2322.2 2164.8 2276.1 681.9 67.85 8.27 536 4656.49 14.77 0.00 3.46 0.932 0.000 0.052 2182.22 2264.69 2099.75 2277.38 2174.88 0 0 0 11.79 30.00 15.82

4963.56 8614 315.13 1.76 80.00 2174.1 2250.9 2097.3 2276.9 2175.7 42.75 7.35 571 4992.29 20.02 0.00 3.52 0.958 0.000 0.116 2076.94 2161.94 1991.94 2276.38 3615.62 0 0 0 11.61 30.00 15.78

5115.13 1028 315.13 1.76 0.00 2072.4 2152.8 1992.1 2276.2 3616.6 28.63 10.41 601 5122.98 0.00 0.00 3.43 0.000 0.000 0.054 2073.66 2153.56 1993.75 2276.94 2119.69 0 0 0 30.00 30.00 15.85

5426.11 10919 395.39 2.01 -80.00 2071.3 2149.9 1992.6 2277.2 2119.2 16.27 1.52 650 5502.39 62.06 0.39 3.59 0.976 0.070 0.120 1751.84 1857.12 1646.56 2350.38 682.25 0 0 0 11.40 15.90 15.69

5731.04 9254 469.20 2.10 0.00 1743.9 1842.4 1645.4 2350.6 681.7 9.06 2.20 710 5800.77 56.58 0.00 3.41 0.946 0.000 0.050 1450.00 1563.50 1336.50 2350.25 2177.44 0 0 0 11.52 30.00 15.83

5844 end climb: SURFACE_DEPTH_REACHED

state 5844 begin surface coast

5880 end surface coast: CONTROL_FINISHED_OK

state 5880 begin surface

ID	241	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	20	ALTIM_SENSITIVITY	2
MISSION	8	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	15	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	-1.4
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	7
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	69
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	120	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	210	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	-1	PITCH_MAX	3628	AH0_10V	0	NAV2_DEVICE	6
USE_ICE	0	C_PITCH	1855.2461	MINV_24V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	37
D_OFFGRID	1000	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	16.787323	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	32.364677	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	42.027519	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	-190.14957	SEABIRD_T_J	4.3e-06
RHO	1.0257	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022588584	SEABIRD_C_G	-10
MASS	72789	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	215	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3820	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	150722,114101,4715.833,-12519.485,29,1.0,30,15.7	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.52	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150722,114437,4715.843,-12519.437,2,0.7,4,15.7	MHEAD_RNG_PITCHd_Wd	26.5,105,-27.2,-10.000,-30.00,970,0.115
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	ans0	IRON	1.000000,0.023869,0.090555,-0.015271,1.082566,-0.073022,-0.025123,-0.065471,1.049104,423.277740,-1286.587769,-244.933807
TGT_LATLONG	4715.876,-12519.368

MODEM_MSG	CACST,8,0,20220715120000.471910,18,20493,37,0313,0000,07,00,00,01,00,1,025,121,0,5,1,0,150,12.6,4.85,-100,-1.85,-01,-0.10,58,925,0025,0,1,00,00*38	_10V_AH	14.70,0.000
NAV	1657889941,77.6,start	FG_AHR_24Vo	42.231
NET	xmit part outbox0012.n 1131 0	FG_AHR_10Vo	32.436
NET_PING	1657890191,27,612.773987,29.900000,-0.808365	MEM0	60108,1,0,0
FINISH	-0.4,1.022764	MEM1	65508,1,0,0
SM_CCo	6077.21,160.22,0.910,0,542.1,609.6,474.6,692.22	MEM2	957688,23,89140,64
SM_GC	0.57,160.22,13.77,0.10,0.910,0.086,0.140,542.1,609.6,474.6,199.8,2113.6,0,0,0,11.48,15.69,15.71	DATA_FILE_SIZE	22533,738
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	462309,0
IRIDIUM_FIX	4715.62,-12520.83,150722,094628	SDSIZE	3887104,3865888
TCM_TEMP	14.82	SDFILEDIR	182,1
SC_FREEKB	3873984	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
MODEM	0,1657882800,47.26460,-125.32280,0.452,661.8	CURRENT	0.080,123.4,1
RAFOS_FIX	4757.390137,-12957.378906,150722,010131,2,510,8097.23	MAGCAL	1.000000,0.011140,0.117138,-0.013257,1.077230,-0.208514,-0.093460,0.015672,1.142567,422.6,-1256.3,-353.7,36,0.0458,0
HUMID	48.44	IMPLIED_C_PITCH	1853,17.63,381,1854.2,17.21
TEMP	11.64	IMPLIED_C_VBD	2824,46.629028,292,3264.0
INTERNAL_PRESSURE	8.14781	GPS	150722,132702,4715.953,-12518.806,14,1.2,16,15.7
_24V_AH	14.68,14.595

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	765	1238	13922.27	nil	0	0	0.00
Pitch_motor	34	284	142.85	nil	0	0	0.00
Roll_motor	70	212	219.14	nil	0	0	0.00
Iridium	143	218	459.62	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.92	nil	0	0	0.00
Core	3050	5	229.57	SciCon	5891	6	582.20
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3043	0	14.32
Compass	1421	5	104.50
RAFOS	2858	40	1681.02
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
6.55	16386	-63.65	-1.70	0.00	533.9	606.1	461.7	197.3	2111.5	0.00	0.00	0	107.68	96.58	0.00	0.00	0.005	0.000	0.000	2689.53	2651.12	2727.94	197.25	2111.00	0	0	0	15.74	30.00	30.00
107.98	18727	-127.52	-1.78	80.00	2688.3	2649.8	2726.9	197.1	2111.1	3.49	-3.25	19	158.87	26.26	9.88	3.64	0.006	0.284	0.101	3884.41	3868.75	3900.06	1423.56	3619.50	0	0	0	15.82	15.63	15.74
162.33	3205	-127.52	-1.39	0.00	3885.4	3870.4	3900.4	1423.6	3619.3	20.54	-32.17	29	169.72	0.00	0.68	3.45	0.000	0.214	0.051	3885.88	3870.75	3901.00	1516.88	2120.94	0	0	0	30.00	15.71	15.78
477.36	644	-127.52	-1.46	-80.00	3887.3	3880.6	3894.1	1516.1	2120.3	85.68	-17.73	61	483.35	0.00	0.00	3.52	0.000	0.000	0.113	3888.50	3881.44	3895.56	1515.94	681.12	0	0	0	30.00	30.00	15.88
711.66	1028	-127.52	-1.46	0.00	3888.2	3882.1	3894.2	1515.8	680.9	127.18	-17.00	108	719.28	0.00	0.00	3.39	0.000	0.000	0.048	3889.09	3882.62	3895.56	1517.00	2175.75	0	0	0	30.00	30.00	15.97
1029.24	4741	-127.52	-1.57	-80.00	3889.9	3885.2	3894.6	1516.8	2175.9	170.05	-13.59	139	1036.79	0.00	0.36	3.66	0.000	0.081	0.110	3890.44	3886.38	3894.50	1458.81	680.81	0	0	0	30.00	15.96	15.95
1103.83	3205	-127.52	-1.48	0.00	3888.7	3884.1	3893.4	1459.9	680.6	184.44	-20.73	153	1111.64	0.00	0.34	3.38	0.000	0.207	0.049	3890.41	3885.75	3895.06	1497.56	2178.12	0	0	0	30.00	15.88	15.95
1419.69	128	-127.52	-1.56	0.00	3890.6	3886.3	3894.9	1498.0	2178.7	232.87	-15.13	185	1421.30	0.00	0.00	0.00	0.000	0.000	0.000	3890.03	3886.50	3893.56	1497.88	2179.00	0	0	0	30.00	30.00	30.00
1749.70	4485	-127.52	-1.66	80.00	3890.5	3887.1	3893.9	1498.0	2178.7	281.44	-14.96	204	1757.17	0.00	0.35	3.47	0.000	0.080	0.112	3890.44	3886.69	3894.19	1439.94	3617.81	0	0	0	30.00	16.00	15.99
1840	end dive: TARGET_DEPTH_EXCEEDED
state	1840	begin apogee
1846.21	10243	0.00	-0.30	0.00	3890.7	3886.7	3894.7	1440.2	2120.9	300.05	-21.10	222	1957.02	101.31	2.49	0.09	1.239	0.189	0.212	3362.41	3413.69	3311.12	1781.88	2177.25	0	0	0	11.74	15.94	15.61
1958	end apogee: CONTROL_FINISHED_OK
state	1958	begin climb
1958.26	10243	127.52	1.78	0.00	3363.1	3413.8	3312.5	1781.8	2179.3	305.66	0.00	229	2073.01	103.75	3.45	0.00	1.200	0.112	0.000	2844.28	2908.62	2779.94	2287.19	2179.00	0	0	0	11.54	15.60	30.00
2382.18	20871	127.52	1.61	80.00	2834.4	2892.1	2776.7	2287.2	2178.8	257.69	13.91	244	2389.74	0.00	0.43	3.55	0.000	0.225	0.112	2836.69	2894.25	2779.12	2240.81	3618.50	0	0	0	30.00	15.66	15.71
2548.33	21639	127.52	1.41	0.00	2832.3	2888.6	2775.9	2239.5	3619.5	235.71	13.45	277	2555.88	0.00	0.37	3.46	0.000	0.236	0.055	2834.25	2890.12	2778.38	2190.19	2119.69	0	0	0	30.00	15.71	15.81
2863.43	8354	133.58	1.45	0.00	2831.4	2888.1	2774.7	2189.9	2119.8	206.91	9.36	309	2873.48	5.53	0.00	0.00	0.733	0.000	0.000	2819.41	2878.56	2760.25	2190.50	2119.38	0	0	0	11.67	30.00	30.00
3183.48	10403	142.47	1.51	0.00	2818.4	2877.4	2759.4	2190.9	2120.4	176.55	9.06	341	3195.16	9.81	0.25	0.00	0.960	0.086	0.000	2781.44	2842.25	2720.62	2230.44	2119.94	0	0	0	11.70	15.91	30.00
3503.38	8742	156.50	1.53	-80.00	2780.6	2839.6	2721.6	2230.5	2119.6	146.16	8.52	373	3526.55	13.44	0.00	3.53	1.013	0.000	0.122	2724.91	2786.00	2663.81	2231.19	683.25	0	0	0	11.61	30.00	15.85
3695.29	13479	163.28	1.40	0.00	2722.8	2781.8	2663.9	2230.6	683.2	126.86	9.28	411	3712.40	7.81	0.37	3.42	0.854	0.235	0.053	2697.00	2757.69	2636.31	2188.69	2175.12	0	0	0	11.69	15.87	15.96
4016.09	10919	201.38	1.55	-80.00	2695.8	2755.5	2636.2	2188.8	2175.5	105.31	5.97	445	4060.51	31.43	0.32	3.66	1.073	0.077	0.119	2542.03	2609.06	2475.00	2240.88	681.00	0	0	0	11.73	16.00	15.86
4199.19	5253	201.38	1.48	0.00	2538.8	2603.3	2474.2	2240.9	681.1	88.13	10.97	481	4206.86	0.00	0.31	3.43	0.000	0.232	0.053	2537.25	2602.00	2472.50	2207.25	2175.50	0	0	0	30.00	15.86	15.94
4509.40	10919	273.68	1.70	-80.00	2537.1	2599.6	2474.6	2206.8	2175.5	75.74	2.36	512	4579.82	56.12	0.44	3.69	1.060	0.068	0.117	2246.66	2327.94	2165.38	2277.19	682.06	0	0	0	11.89	15.97	15.75
4633.54	9382	290.09	1.66	0.00	2243.5	2322.2	2164.8	2276.1	681.9	67.85	8.27	536	4656.49	14.77	0.00	3.46	0.932	0.000	0.052	2182.22	2264.69	2099.75	2277.38	2174.88	0	0	0	11.79	30.00	15.82
4963.56	8614	315.13	1.76	80.00	2174.1	2250.9	2097.3	2276.9	2175.7	42.75	7.35	571	4992.29	20.02	0.00	3.52	0.958	0.000	0.116	2076.94	2161.94	1991.94	2276.38	3615.62	0	0	0	11.61	30.00	15.78
5115.13	1028	315.13	1.76	0.00	2072.4	2152.8	1992.1	2276.2	3616.6	28.63	10.41	601	5122.98	0.00	0.00	3.43	0.000	0.000	0.054	2073.66	2153.56	1993.75	2276.94	2119.69	0	0	0	30.00	30.00	15.85
5426.11	10919	395.39	2.01	-80.00	2071.3	2149.9	1992.6	2277.2	2119.2	16.27	1.52	650	5502.39	62.06	0.39	3.59	0.976	0.070	0.120	1751.84	1857.12	1646.56	2350.38	682.25	0	0	0	11.40	15.90	15.69
5731.04	9254	469.20	2.10	0.00	1743.9	1842.4	1645.4	2350.6	681.7	9.06	2.20	710	5800.77	56.58	0.00	3.41	0.946	0.000	0.050	1450.00	1563.50	1336.50	2350.25	2177.44	0	0	0	11.52	30.00	15.83
5844	end climb: SURFACE_DEPTH_REACHED
state	5844	begin surface coast
5880	end surface coast: CONTROL_FINISHED_OK
state	5880	begin surface