Glider dive log

AMOS Jul22 * SG241 * Dive index * Mission links * Dive 17 * 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 17 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 1849.4048 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 17.186974 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 32.511097 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 42.456314 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 32.511097 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 42.456314 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 17.186974 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 1849.4048 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 17 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 150722,151032,4716.021,-12519.039,36,1.0,37,15.7 TGT_RADIUS 1500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.57 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150722,151754,4715.959,-12518.957,2,0.8,5,15.7 MHEAD_RNG_PITCHd_Wd 21.3,455,-27.2,-10.000,-30.00,970,0.150

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 4716.056,-12518.624

Post-dive calculations and measurements:

NET CACST,8,1,20220715162311.103201,06,13670,41,0090,0150,07,01,01,00,01,-1,-01,-01,1,3,2196,0,150,34.0,0.55,-100,2.45,-01,-0.79,47,10000,5000,0,-1,00,00*46 _24V_AH 14.91,15.146

NET_PING 1657900994,27,2005.294556,23.700001,-2.670047 _10V_AH 14.94,0.000

MODEM_MSG CACST,8,0,20220715160001.340487,18,32767,27,0147,0000,126,02,02,03,02,1,025,121,0,5,1,0,150,13.7,6.59,-100,-3.59,-01,0.20,63,925,0025,0,1,00,00*23 FG_AHR_24Vo 42.653

NAV 1657903332,38.0,1,stop FG_AHR_10Vo 32.574

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

FREEZE 12.14,16.150,-1.722,0,1,0 MEM1 65508,1,0,0

SM_CCo 5871.09,222.90,0.898,0,500.7,560.5,440.9,702.36 MEM2 966552,22,80356,61

SM_GC 0.75,0.00,14.02,0.09,0.000,0.069,0.136,495.8,560.4,431.2,194.7,2184.1,0,0,0,30.00,15.52,15.54 DATA_FILE_SIZE 19329,690

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 450592,0

IRIDIUM_FIX 4716.54,-12518.24,150722,151200 SDSIZE 3887104,3865184

TCM_TEMP 13.39 SDFILEDIR 200,1

SC_FREEKB 3873344 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK -3 SOUNDSPEED 1465.0

MODEM 0,1657897951,47.26760,-125.31040,751.969,1101634.2 CURRENT 0.107,131.7,1

RAFOS_FIX 4757.390137,-12957.378906,150722,010131,2,510,8097.23 MAGCAL 1.000000,0.040403,0.061878,-0.009272,1.073192,-0.123750,-0.023237,-0.000909,0.974167,455.0,-1281.4,-218.0,36,0.0332,0

HUMID 48.53 IMPLIED_C_PITCH 1846,17.41,381,1847.6,17.30

TEMP 11.46 IMPLIED_C_VBD 2878,56.591125,284,3264.0

INTERNAL_PRESSURE 8.13759 GPS 150722,165845,4716.112,-12518.141,12,1.6,14,15.7

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 768 1222 13996.63 nil 0 0 0.00

Pitch_motor 34 289 147.08 nil 0 0 0.00

Roll_motor 77 197 226.98 nil 0 0 0.00

Iridium 313 219 1022.88 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.04 nil 0 0 0.00

Core 2999 5 229.44 SciCon 5645 7 661.62

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3164 0 15.13

Compass 1325 5 99.02

RAFOS 4461 40 2666.01

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

6.52 16386 -63.65 -1.66 0.00 533.2 601.2 465.3 195.0 2110.0 0.00 0.00 0 107.32 96.31 0.00 0.00 0.005 0.000 0.000 2750.75 2718.12 2783.38 194.94 2109.56 0 0 0 15.78 30.00 30.00

107.62 18983 -128.00 -1.74 -80.00 2750.1 2718.4 2781.8 194.8 2109.9 3.53 -3.20 19 154.61 25.22 10.01 3.47 0.006 0.290 0.106 3885.47 3871.81 3899.12 1426.31 679.50 0 0 0 15.82 15.64 15.75

268.11 3205 -128.00 -1.53 0.00 3888.7 3880.1 3897.3 1426.2 679.6 48.10 -28.07 50 275.32 0.00 0.38 3.39 0.000 0.212 0.046 3889.03 3880.75 3897.31 1476.25 2176.06 0 0 0 30.00 15.74 15.82

583.33 388 -128.00 -1.57 80.00 3889.8 3883.6 3895.9 1478.3 2176.8 105.67 -13.36 82 590.38 0.00 0.00 3.43 0.000 0.000 0.099 3890.19 3884.19 3896.19 1478.81 3618.62 0 0 0 30.00 30.00 15.87

628.94 1156 -128.00 -1.51 0.00 3889.5 3883.4 3895.6 1478.1 3618.6 112.48 -15.17 91 634.99 0.00 0.00 3.39 0.000 0.000 0.047 3890.25 3884.00 3896.50 1478.25 2115.56 0 0 0 30.00 30.00 15.90

938.98 128 -128.00 -1.54 0.00 3890.9 3886.2 3895.7 1478.6 2114.6 152.27 -13.27 123 940.58 0.00 0.00 0.00 0.000 0.000 0.000 3890.66 3886.31 3895.00 1478.75 2115.38 0 0 0 30.00 30.00 30.00

1249.04 128 -128.00 -1.58 0.00 3891.6 3887.7 3895.5 1478.8 2113.8 198.73 -15.36 154 1250.65 0.00 0.00 0.00 0.000 0.000 0.000 3891.66 3887.50 3895.81 1478.38 2114.25 0 0 0 30.00 30.00 30.00

1559.06 644 -128.00 -1.63 -80.00 3891.8 3888.3 3895.2 1478.1 2114.4 244.59 -14.81 185 1565.17 0.00 0.00 3.48 0.000 0.000 0.114 3892.69 3888.44 3896.94 1478.38 680.88 0 0 0 30.00 30.00 15.98

1613.34 1156 -128.00 -1.59 0.00 3891.8 3888.2 3895.4 1478.7 680.8 254.20 -18.03 196 1620.85 0.00 0.00 3.37 0.000 0.000 0.051 3892.59 3888.56 3896.62 1478.88 2175.50 0 0 0 30.00 30.00 16.02

1919 end dive: TARGET_DEPTH_EXCEEDED

state 1919 begin apogee

1920.37 10243 0.00 -0.29 0.00 3891.9 3888.6 3895.2 1478.2 2115.8 302.93 -15.93 207 2030.13 100.17 2.12 0.09 1.222 0.173 0.198 3363.47 3414.50 3312.44 1778.62 2182.06 0 0 0 11.62 15.99 15.67

2039 end apogee: CONTROL_FINISHED_OK

state 2039 begin climb

2039.38 10759 128.00 1.74 -80.00 3362.5 3412.4 3312.6 1777.9 2182.8 307.01 0.00 210 2159.73 102.15 3.38 3.76 1.181 0.110 0.113 2842.50 2905.94 2779.06 2272.81 680.69 0 0 0 11.75 15.67 15.43

2253.29 5253 128.00 1.45 0.00 2835.3 2894.6 2776.1 2272.2 680.8 284.54 17.07 251 2260.94 0.00 0.67 3.49 0.000 0.232 0.051 2834.00 2893.62 2774.38 2196.31 2173.06 0 0 0 30.00 15.56 15.65

2579.38 16646 128.00 1.45 80.00 2831.8 2890.7 2773.0 2195.9 2172.5 246.97 10.78 266 2585.64 0.00 0.00 3.54 0.000 0.000 0.114 2829.62 2887.94 2771.31 2196.25 3618.50 0 0 0 30.00 30.00 15.80

2643.75 17542 128.00 1.34 0.00 2830.4 2887.6 2773.2 2195.8 3617.6 239.16 12.30 279 2651.33 0.00 0.00 3.43 0.000 0.000 0.053 2831.81 2888.88 2774.75 2196.88 2119.62 0 0 0 30.00 30.00 15.84

2959.41 16902 128.00 1.34 -80.00 2830.3 2886.9 2773.8 2196.5 2119.2 207.23 10.06 311 2965.60 0.00 0.00 3.49 0.000 0.000 0.118 2832.59 2889.44 2775.75 2196.38 682.06 0 0 0 30.00 30.00 15.87

3093.78 21639 128.00 1.24 0.00 2829.3 2885.3 2773.3 2196.2 682.1 192.27 11.47 338 3101.65 0.00 0.37 3.41 0.000 0.214 0.052 2832.09 2887.50 2776.69 2144.50 2175.38 0 0 0 30.00 15.83 15.93

3409.58 10919 154.03 1.40 -80.00 2829.1 2885.7 2772.6 2144.4 2175.9 167.95 7.25 370 3439.43 20.89 0.34 3.65 1.078 0.074 0.118 2735.75 2796.81 2674.69 2198.31 678.25 0 0 0 11.72 15.96 15.86

3592.31 5253 154.03 1.32 0.00 2732.2 2791.1 2673.2 2198.6 678.6 146.65 12.76 406 3600.20 0.00 0.32 3.43 0.000 0.226 0.053 2732.28 2792.06 2672.50 2162.19 2173.62 0 0 0 30.00 15.84 15.92

3908.13 10663 182.26 1.49 80.00 2731.3 2789.3 2673.3 2162.6 2174.6 121.30 7.02 438 3941.71 23.95 0.36 3.54 1.045 0.072 0.118 2620.41 2685.44 2555.38 2221.31 3616.19 0 0 0 11.62 15.95 15.84

3970.28 5253 182.26 1.42 0.00 2617.4 2680.2 2554.6 2221.9 3616.4 115.04 11.11 450 3977.73 0.00 0.32 3.42 0.000 0.222 0.055 2620.25 2682.69 2557.81 2187.94 2119.44 0 0 0 30.00 15.81 15.88

4285.36 10919 212.71 1.60 -80.00 2615.9 2676.7 2555.1 2187.4 2119.6 86.15 6.78 482 4322.46 25.39 0.38 3.51 1.005 0.073 0.119 2495.31 2561.50 2429.12 2244.50 680.81 0 0 0 11.74 15.93 15.83

4360.35 13479 227.89 1.53 0.00 2494.8 2559.9 2429.6 2245.6 680.8 80.38 8.40 497 4383.28 14.40 0.30 3.45 0.925 0.234 0.052 2433.88 2502.94 2364.81 2213.75 2176.56 0 0 0 11.61 15.79 15.87

4686.88 10663 277.36 1.76 80.00 2429.7 2494.1 2365.3 2213.2 2176.9 62.41 4.77 532 4735.72 39.26 0.44 3.54 1.002 0.066 0.114 2231.34 2309.94 2152.75 2285.81 3617.38 0 0 0 11.70 15.90 15.75

4789.34 9382 297.11 1.72 0.00 2227.6 2303.6 2151.6 2286.0 3618.2 55.69 7.91 552 4815.47 16.84 0.00 3.41 0.915 0.000 0.052 2151.38 2233.56 2069.19 2285.75 2120.50 0 0 0 11.64 30.00 15.81

5119.38 8614 315.70 1.82 80.00 2146.2 2223.1 2069.4 2286.3 2119.5 30.59 8.03 588 5145.57 15.73 0.00 3.65 0.900 0.000 0.112 2075.91 2157.81 1994.00 2286.94 3614.75 0 0 0 11.75 30.00 15.82

5374.34 9254 367.34 1.89 0.00 2069.8 2147.0 1992.6 2285.4 3614.9 13.44 4.54 639 5423.63 41.14 0.00 3.39 0.943 0.000 0.053 1866.22 1963.19 1769.25 2286.88 2118.62 0 0 0 11.61 30.00 15.93

5607.26 10919 461.07 2.24 -80.00 1859.3 1951.6 1767.1 2286.4 2118.6 12.43 0.09 685 5633.93 23.75 0.65 0.00 0.909 0.069 0.000 1747.56 1848.00 1647.12 2399.81 2119.19 0 0 0 11.78 15.88 30.00

5635 end climb: NO_VERTICAL_VELOCITY

state 5635 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	17	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	1849.4048	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	17.186974	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	32.511097	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	42.456314	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	150722,151032,4716.021,-12519.039,36,1.0,37,15.7	TGT_RADIUS	1500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.57	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150722,151754,4715.959,-12518.957,2,0.8,5,15.7	MHEAD_RNG_PITCHd_Wd	21.3,455,-27.2,-10.000,-30.00,970,0.150
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	4716.056,-12518.624

NET	CACST,8,1,20220715162311.103201,06,13670,41,0090,0150,07,01,01,00,01,-1,-01,-01,1,3,2196,0,150,34.0,0.55,-100,2.45,-01,-0.79,47,10000,5000,0,-1,00,00*46	_24V_AH	14.91,15.146
NET_PING	1657900994,27,2005.294556,23.700001,-2.670047	_10V_AH	14.94,0.000
MODEM_MSG	CACST,8,0,20220715160001.340487,18,32767,27,0147,0000,126,02,02,03,02,1,025,121,0,5,1,0,150,13.7,6.59,-100,-3.59,-01,0.20,63,925,0025,0,1,00,00*23	FG_AHR_24Vo	42.653
NAV	1657903332,38.0,1,stop	FG_AHR_10Vo	32.574
WARN	HSCICON missed fuel gauge read	MEM0	60108,1,0,0
FREEZE	12.14,16.150,-1.722,0,1,0	MEM1	65508,1,0,0
SM_CCo	5871.09,222.90,0.898,0,500.7,560.5,440.9,702.36	MEM2	966552,22,80356,61
SM_GC	0.75,0.00,14.02,0.09,0.000,0.069,0.136,495.8,560.4,431.2,194.7,2184.1,0,0,0,30.00,15.52,15.54	DATA_FILE_SIZE	19329,690
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	450592,0
IRIDIUM_FIX	4716.54,-12518.24,150722,151200	SDSIZE	3887104,3865184
TCM_TEMP	13.39	SDFILEDIR	200,1
SC_FREEKB	3873344	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-3	SOUNDSPEED	1465.0
MODEM	0,1657897951,47.26760,-125.31040,751.969,1101634.2	CURRENT	0.107,131.7,1
RAFOS_FIX	4757.390137,-12957.378906,150722,010131,2,510,8097.23	MAGCAL	1.000000,0.040403,0.061878,-0.009272,1.073192,-0.123750,-0.023237,-0.000909,0.974167,455.0,-1281.4,-218.0,36,0.0332,0
HUMID	48.53	IMPLIED_C_PITCH	1846,17.41,381,1847.6,17.30
TEMP	11.46	IMPLIED_C_VBD	2878,56.591125,284,3264.0
INTERNAL_PRESSURE	8.13759	GPS	150722,165845,4716.112,-12518.141,12,1.6,14,15.7

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	768	1222	13996.63	nil	0	0	0.00
Pitch_motor	34	289	147.08	nil	0	0	0.00
Roll_motor	77	197	226.98	nil	0	0	0.00
Iridium	313	219	1022.88	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.04	nil	0	0	0.00
Core	2999	5	229.44	SciCon	5645	7	661.62
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3164	0	15.13
Compass	1325	5	99.02
RAFOS	4461	40	2666.01
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
6.52	16386	-63.65	-1.66	0.00	533.2	601.2	465.3	195.0	2110.0	0.00	0.00	0	107.32	96.31	0.00	0.00	0.005	0.000	0.000	2750.75	2718.12	2783.38	194.94	2109.56	0	0	0	15.78	30.00	30.00
107.62	18983	-128.00	-1.74	-80.00	2750.1	2718.4	2781.8	194.8	2109.9	3.53	-3.20	19	154.61	25.22	10.01	3.47	0.006	0.290	0.106	3885.47	3871.81	3899.12	1426.31	679.50	0	0	0	15.82	15.64	15.75
268.11	3205	-128.00	-1.53	0.00	3888.7	3880.1	3897.3	1426.2	679.6	48.10	-28.07	50	275.32	0.00	0.38	3.39	0.000	0.212	0.046	3889.03	3880.75	3897.31	1476.25	2176.06	0	0	0	30.00	15.74	15.82
583.33	388	-128.00	-1.57	80.00	3889.8	3883.6	3895.9	1478.3	2176.8	105.67	-13.36	82	590.38	0.00	0.00	3.43	0.000	0.000	0.099	3890.19	3884.19	3896.19	1478.81	3618.62	0	0	0	30.00	30.00	15.87
628.94	1156	-128.00	-1.51	0.00	3889.5	3883.4	3895.6	1478.1	3618.6	112.48	-15.17	91	634.99	0.00	0.00	3.39	0.000	0.000	0.047	3890.25	3884.00	3896.50	1478.25	2115.56	0	0	0	30.00	30.00	15.90
938.98	128	-128.00	-1.54	0.00	3890.9	3886.2	3895.7	1478.6	2114.6	152.27	-13.27	123	940.58	0.00	0.00	0.00	0.000	0.000	0.000	3890.66	3886.31	3895.00	1478.75	2115.38	0	0	0	30.00	30.00	30.00
1249.04	128	-128.00	-1.58	0.00	3891.6	3887.7	3895.5	1478.8	2113.8	198.73	-15.36	154	1250.65	0.00	0.00	0.00	0.000	0.000	0.000	3891.66	3887.50	3895.81	1478.38	2114.25	0	0	0	30.00	30.00	30.00
1559.06	644	-128.00	-1.63	-80.00	3891.8	3888.3	3895.2	1478.1	2114.4	244.59	-14.81	185	1565.17	0.00	0.00	3.48	0.000	0.000	0.114	3892.69	3888.44	3896.94	1478.38	680.88	0	0	0	30.00	30.00	15.98
1613.34	1156	-128.00	-1.59	0.00	3891.8	3888.2	3895.4	1478.7	680.8	254.20	-18.03	196	1620.85	0.00	0.00	3.37	0.000	0.000	0.051	3892.59	3888.56	3896.62	1478.88	2175.50	0	0	0	30.00	30.00	16.02
1919	end dive: TARGET_DEPTH_EXCEEDED
state	1919	begin apogee
1920.37	10243	0.00	-0.29	0.00	3891.9	3888.6	3895.2	1478.2	2115.8	302.93	-15.93	207	2030.13	100.17	2.12	0.09	1.222	0.173	0.198	3363.47	3414.50	3312.44	1778.62	2182.06	0	0	0	11.62	15.99	15.67
2039	end apogee: CONTROL_FINISHED_OK
state	2039	begin climb
2039.38	10759	128.00	1.74	-80.00	3362.5	3412.4	3312.6	1777.9	2182.8	307.01	0.00	210	2159.73	102.15	3.38	3.76	1.181	0.110	0.113	2842.50	2905.94	2779.06	2272.81	680.69	0	0	0	11.75	15.67	15.43
2253.29	5253	128.00	1.45	0.00	2835.3	2894.6	2776.1	2272.2	680.8	284.54	17.07	251	2260.94	0.00	0.67	3.49	0.000	0.232	0.051	2834.00	2893.62	2774.38	2196.31	2173.06	0	0	0	30.00	15.56	15.65
2579.38	16646	128.00	1.45	80.00	2831.8	2890.7	2773.0	2195.9	2172.5	246.97	10.78	266	2585.64	0.00	0.00	3.54	0.000	0.000	0.114	2829.62	2887.94	2771.31	2196.25	3618.50	0	0	0	30.00	30.00	15.80
2643.75	17542	128.00	1.34	0.00	2830.4	2887.6	2773.2	2195.8	3617.6	239.16	12.30	279	2651.33	0.00	0.00	3.43	0.000	0.000	0.053	2831.81	2888.88	2774.75	2196.88	2119.62	0	0	0	30.00	30.00	15.84
2959.41	16902	128.00	1.34	-80.00	2830.3	2886.9	2773.8	2196.5	2119.2	207.23	10.06	311	2965.60	0.00	0.00	3.49	0.000	0.000	0.118	2832.59	2889.44	2775.75	2196.38	682.06	0	0	0	30.00	30.00	15.87
3093.78	21639	128.00	1.24	0.00	2829.3	2885.3	2773.3	2196.2	682.1	192.27	11.47	338	3101.65	0.00	0.37	3.41	0.000	0.214	0.052	2832.09	2887.50	2776.69	2144.50	2175.38	0	0	0	30.00	15.83	15.93
3409.58	10919	154.03	1.40	-80.00	2829.1	2885.7	2772.6	2144.4	2175.9	167.95	7.25	370	3439.43	20.89	0.34	3.65	1.078	0.074	0.118	2735.75	2796.81	2674.69	2198.31	678.25	0	0	0	11.72	15.96	15.86
3592.31	5253	154.03	1.32	0.00	2732.2	2791.1	2673.2	2198.6	678.6	146.65	12.76	406	3600.20	0.00	0.32	3.43	0.000	0.226	0.053	2732.28	2792.06	2672.50	2162.19	2173.62	0	0	0	30.00	15.84	15.92
3908.13	10663	182.26	1.49	80.00	2731.3	2789.3	2673.3	2162.6	2174.6	121.30	7.02	438	3941.71	23.95	0.36	3.54	1.045	0.072	0.118	2620.41	2685.44	2555.38	2221.31	3616.19	0	0	0	11.62	15.95	15.84
3970.28	5253	182.26	1.42	0.00	2617.4	2680.2	2554.6	2221.9	3616.4	115.04	11.11	450	3977.73	0.00	0.32	3.42	0.000	0.222	0.055	2620.25	2682.69	2557.81	2187.94	2119.44	0	0	0	30.00	15.81	15.88
4285.36	10919	212.71	1.60	-80.00	2615.9	2676.7	2555.1	2187.4	2119.6	86.15	6.78	482	4322.46	25.39	0.38	3.51	1.005	0.073	0.119	2495.31	2561.50	2429.12	2244.50	680.81	0	0	0	11.74	15.93	15.83
4360.35	13479	227.89	1.53	0.00	2494.8	2559.9	2429.6	2245.6	680.8	80.38	8.40	497	4383.28	14.40	0.30	3.45	0.925	0.234	0.052	2433.88	2502.94	2364.81	2213.75	2176.56	0	0	0	11.61	15.79	15.87
4686.88	10663	277.36	1.76	80.00	2429.7	2494.1	2365.3	2213.2	2176.9	62.41	4.77	532	4735.72	39.26	0.44	3.54	1.002	0.066	0.114	2231.34	2309.94	2152.75	2285.81	3617.38	0	0	0	11.70	15.90	15.75
4789.34	9382	297.11	1.72	0.00	2227.6	2303.6	2151.6	2286.0	3618.2	55.69	7.91	552	4815.47	16.84	0.00	3.41	0.915	0.000	0.052	2151.38	2233.56	2069.19	2285.75	2120.50	0	0	0	11.64	30.00	15.81
5119.38	8614	315.70	1.82	80.00	2146.2	2223.1	2069.4	2286.3	2119.5	30.59	8.03	588	5145.57	15.73	0.00	3.65	0.900	0.000	0.112	2075.91	2157.81	1994.00	2286.94	3614.75	0	0	0	11.75	30.00	15.82
5374.34	9254	367.34	1.89	0.00	2069.8	2147.0	1992.6	2285.4	3614.9	13.44	4.54	639	5423.63	41.14	0.00	3.39	0.943	0.000	0.053	1866.22	1963.19	1769.25	2286.88	2118.62	0	0	0	11.61	30.00	15.93
5607.26	10919	461.07	2.24	-80.00	1859.3	1951.6	1767.1	2286.4	2118.6	12.43	0.09	685	5633.93	23.75	0.65	0.00	0.909	0.069	0.000	1747.56	1848.00	1647.12	2399.81	2119.19	0	0	0	11.78	15.88	30.00
5635	end climb: NO_VERTICAL_VELOCITY
state	5635	begin surface