Glider dive log

AMOS Jul22 * SG242 * Dive index * Mission links * Dive 50 * 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 50 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 1674.2516 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 23.434275 SEABIRD_T_I 2.4999999e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 16.479927 FG_AHR_24V 12.056502 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 23.434275 PITCH_CNV 0.0041299998 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FG_AHR_24V 12.056502 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 16.479927 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 1674.2516 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 50 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 150722,075441,4717.010,-12520.417,7,1.4,7,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.62 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150722,075914,4717.020,-12520.427,3,1.4,5,15.8 MHEAD_RNG_PITCHd_Wd 165.0,748,-27.2,-10.000,-30.00,972,0.166

SPEED_LIMITS 0.173,0.257 D_GRID 1000

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

TGT_LATLONG 4716.620,-12520.340

Post-dive calculations and measurements:

NAV 1657875550,109.3,start _10V_AH 14.79,0.000

NET CACST,8,0,20220715092512.860738,06,1068,30,0203,0150,22,01,01,00,01,1,027,242,0,5,1,0,150,5.5,4.52,-100,-1.52,-01,0.45,49,10000,5000,0,-1,00,00*5C FG_AHR_24Vo 12.228

NET_PING 1657877114,27,1971.433472,5.500000,-2.622623 FG_AHR_10Vo 23.550

FINISH 0.3,1.022653 MEM0 60108,1,0,0

SM_CCo 5447.00,33.79,0.939,0,500.0,556.2,443.9,586.26 MEM1 65508,1,0,0

SM_GC 2.01,33.79,12.50,0.12,0.939,0.040,0.141,500.0,556.2,443.9,199.1,1959.2,0,0,0,11.45,15.47,15.46 MEM2 966172,27,80476,69

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 19306,645

IRIDIUM_FIX 4716.91,-12522.67,150722,061558 CAP_FILE_SIZE 192044,0

TCM_TEMP 15.27 SDSIZE 3887104,3854528

SC_FREEKB 3862784 SDFILEDIR 481,1

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

RAFOS_FIX 4747.590820,-12427.612305,140722,060600,2,510,10420.27 SOUNDSPEED 1465.0

HUMID 51.13 CURRENT 0.020, 48.4,1

TEMP 11.19 MAGCAL 1.000000,0.022149,0.003631,-0.014056,1.050571,-0.015287,-0.010949,-0.087970,0.951565,744.6,-893.1,-628.2,36,0.0273,0

INTERNAL_PRESSURE 7.76381 IMPLIED_C_PITCH 1673,16.16,341,1673.8,16.32

_24V_AH 14.77,13.507 GPS 150722,093139,4716.596,-12520.539,21,0.9,22,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 646 1319 12592.26 nil 0 0 0.00

Pitch_motor 26 255 99.91 nil 0 0 0.00

Roll_motor 71 190 200.44 nil 0 0 0.00

Iridium 183 218 592.14 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.19 nil 0 0 0.00

Core 2817 5 213.34 SciCon 5393 5 477.70

Fast 1 0 0.00 PMAR 5403 12 1021.89

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2845 0 13.47

Compass 1298 5 96.06

RAFOS 2538 40 1501.78

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

12.85 16386 -63.62 -1.73 0.00 493.1 544.0 442.2 195.8 1958.9 0.00 0.00 0 77.14 59.45 0.00 0.00 0.005 0.000 0.000 1905.53 1940.75 1870.31 195.75 1959.50 0 0 0 15.67 30.00 30.00

77.57 18727 -140.10 -1.82 80.00 1906.0 1941.1 1870.9 195.8 1958.9 3.05 -1.91 9 141.58 40.94 7.82 3.63 0.005 0.255 0.102 3461.53 3493.50 3429.56 1232.00 3467.69 0 0 0 15.72 15.58 15.66

149.97 1028 -140.10 -1.82 0.00 3462.2 3494.0 3430.4 1231.9 3468.4 20.03 -30.64 22 157.19 0.00 0.00 3.44 0.000 0.000 0.054 3462.88 3495.12 3430.62 1232.38 1974.19 0 0 0 30.00 30.00 15.69

465.05 260 -140.10 -1.82 80.00 3464.0 3497.7 3430.2 1232.1 1973.9 95.23 -20.42 54 473.04 0.00 0.00 3.59 0.000 0.000 0.103 3464.38 3498.50 3430.25 1232.62 3467.31 0 0 0 30.00 30.00 15.72

541.53 1028 -140.10 -1.82 0.00 3465.1 3499.7 3430.6 1232.1 3467.0 111.23 -20.82 69 549.46 0.00 0.00 3.42 0.000 0.000 0.053 3464.53 3499.12 3429.94 1231.38 1972.38 0 0 0 30.00 30.00 15.74

856.72 260 -140.10 -1.82 80.00 3465.7 3501.1 3430.3 1232.3 1972.1 170.00 -18.16 101 864.54 0.00 0.00 3.58 0.000 0.000 0.104 3465.19 3500.75 3429.62 1231.81 3466.62 0 0 0 30.00 30.00 15.75

913.02 1028 -140.10 -1.82 0.00 3466.1 3501.1 3431.1 1232.2 3467.6 181.18 -19.98 112 920.95 0.00 0.00 3.42 0.000 0.000 0.053 3465.50 3500.88 3430.12 1232.31 1973.12 0 0 0 30.00 30.00 15.80

1228.05 260 -140.10 -1.82 80.00 3467.3 3502.7 3431.9 1232.2 1972.2 240.00 -18.87 144 1236.02 0.00 0.00 3.58 0.000 0.000 0.105 3466.19 3502.19 3430.19 1231.94 3469.19 0 0 0 30.00 30.00 15.79

1274.50 1028 -140.10 -1.82 0.00 3467.2 3502.5 3432.0 1232.2 3468.9 249.29 -20.15 153 1282.43 0.00 0.00 3.42 0.000 0.000 0.054 3465.81 3501.88 3429.75 1231.44 1971.62 0 0 0 30.00 30.00 15.82

1549 end dive: TARGET_DEPTH_EXCEEDED

state 1549 begin apogee

1551.03 10243 0.00 -0.30 0.00 3467.1 3502.3 3431.9 1231.9 2036.2 301.63 -19.12 163 1668.33 103.68 2.50 0.12 1.320 0.161 0.190 2886.62 2974.31 2798.94 1602.50 1966.38 0 0 0 11.65 15.74 15.38

1671 end apogee: CONTROL_FINISHED_OK

state 1671 begin climb

1671.36 10759 140.10 1.82 -80.00 2887.1 2975.8 2798.5 1602.2 1966.2 306.36 0.00 166 1800.82 104.76 3.34 3.62 1.282 0.087 0.122 2316.50 2411.75 2221.25 2121.94 531.56 0 0 0 11.44 15.40 15.20

1858.61 17414 140.10 1.82 0.00 2308.2 2397.2 2219.2 2121.6 531.2 293.54 14.98 200 1866.42 0.00 0.00 3.50 0.000 0.000 0.048 2309.00 2398.12 2219.88 2121.56 2028.38 0 0 0 30.00 30.00 15.41

2169.88 16902 140.10 1.82 -80.00 2307.2 2396.9 2217.4 2121.5 2029.2 253.60 12.77 212 2178.15 0.00 0.00 3.68 0.000 0.000 0.119 2305.78 2394.12 2217.44 2119.19 533.12 0 0 0 30.00 30.00 15.63

2336.70 17414 140.10 1.82 0.00 2304.7 2392.0 2217.3 2120.9 532.9 228.33 14.93 245 2344.82 0.00 0.00 3.43 0.000 0.000 0.049 2303.41 2390.56 2216.25 2121.44 2029.38 0 0 0 30.00 30.00 15.71

2651.72 16386 140.10 1.82 0.00 2305.1 2392.6 2217.5 2121.0 2028.8 192.45 10.92 277 2653.51 0.00 0.00 0.00 0.000 0.000 0.000 2303.56 2391.25 2215.88 2121.12 2029.44 0 0 0 30.00 30.00 30.00

2962.01 548 142.62 1.83 -80.00 2305.1 2392.4 2217.9 2120.8 2029.4 160.14 9.73 308 2970.04 0.00 0.00 3.63 0.000 0.000 0.121 2304.38 2391.94 2216.81 2121.19 531.94 0 0 0 30.00 30.00 15.84

3148.67 9254 146.86 1.83 0.00 2304.1 2390.2 2218.1 2121.2 531.9 140.09 9.55 345 3162.92 5.67 0.00 3.39 0.776 0.000 0.051 2292.38 2381.19 2203.56 2121.06 2031.50 0 0 0 11.83 30.00 15.90

3466.45 8226 177.21 1.87 0.00 2288.8 2377.8 2199.7 2121.4 2031.5 117.03 6.79 378 3494.41 24.68 0.00 0.00 1.129 0.000 0.000 2164.84 2260.69 2069.00 2121.62 2032.12 0 0 0 11.76 30.00 30.00

3796.39 8226 209.86 1.91 0.00 2161.2 2254.5 2067.8 2121.1 2031.9 90.35 6.55 410 3828.20 25.53 0.00 0.00 1.097 0.000 0.000 2033.56 2131.94 1935.19 2121.81 2031.06 0 0 0 11.76 30.00 30.00

4136.35 10791 260.63 1.97 -80.00 2026.1 2122.1 1930.1 2121.0 2031.8 70.98 4.63 444 4186.93 37.99 0.18 3.69 1.084 0.084 0.123 1825.16 1925.44 1724.88 2167.56 531.75 0 0 0 11.98 15.76 15.60

4220.54 9254 298.39 2.02 0.00 1820.5 1919.1 1721.9 2167.2 531.4 66.82 6.01 460 4259.94 28.96 0.00 3.44 1.044 0.000 0.048 1673.31 1770.50 1576.12 2165.88 2030.88 0 0 0 11.57 30.00 15.66

4563.48 8742 311.16 2.03 -80.00 1662.3 1758.1 1566.6 2167.6 2031.8 35.57 8.65 498 4582.65 10.39 0.00 3.69 0.920 0.000 0.123 1620.72 1716.94 1524.50 2167.50 531.50 0 0 0 11.87 30.00 15.63

4631.26 9254 318.85 2.04 0.00 1617.7 1711.5 1523.8 2167.9 531.7 29.52 9.19 511 4649.00 8.05 0.00 3.43 0.839 0.000 0.049 1591.00 1687.75 1494.25 2167.62 2030.12 0 0 0 11.89 30.00 15.70

4952.55 10275 402.64 2.15 0.00 1584.1 1679.2 1488.9 2167.8 2030.8 17.18 1.14 563 5022.62 60.81 0.16 0.00 1.022 0.082 0.000 1249.47 1342.12 1156.81 2214.69 2031.44 0 0 0 11.76 15.72 30.00

5204.10 8742 489.81 2.25 -80.00 1240.5 1329.6 1151.3 2215.2 2031.4 11.34 0.78 612 5282.39 63.65 0.00 3.78 0.990 0.000 0.124 891.41 979.25 803.56 2214.50 531.88 0 0 0 11.48 30.00 15.42

5285.97 9254 539.73 2.32 0.00 890.5 977.5 803.6 2215.2 531.8 8.29 4.72 627 5336.71 37.71 0.00 3.48 0.943 0.000 0.049 690.34 765.06 615.62 2214.25 2032.75 0 0 0 11.57 30.00 15.49

5355 end climb: SURFACE_DEPTH_REACHED

state 5355 begin surface coast

5380 end surface coast: CONTROL_FINISHED_OK

state 5380 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	50	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	1674.2516	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	23.434275	SEABIRD_T_I	2.4999999e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	16.479927	FG_AHR_24V	12.056502	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	150722,075441,4717.010,-12520.417,7,1.4,7,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.62	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150722,075914,4717.020,-12520.427,3,1.4,5,15.8	MHEAD_RNG_PITCHd_Wd	165.0,748,-27.2,-10.000,-30.00,972,0.166
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	ans0	IRON	1.000000,0.018360,-0.061028,-0.013170,1.056565,-0.047936,0.016552,-0.057557,1.018688,811.629517,-870.805054,-663.292725
TGT_LATLONG	4716.620,-12520.340

NAV	1657875550,109.3,start	_10V_AH	14.79,0.000
NET	CACST,8,0,20220715092512.860738,06,1068,30,0203,0150,22,01,01,00,01,1,027,242,0,5,1,0,150,5.5,4.52,-100,-1.52,-01,0.45,49,10000,5000,0,-1,00,00*5C	FG_AHR_24Vo	12.228
NET_PING	1657877114,27,1971.433472,5.500000,-2.622623	FG_AHR_10Vo	23.550
FINISH	0.3,1.022653	MEM0	60108,1,0,0
SM_CCo	5447.00,33.79,0.939,0,500.0,556.2,443.9,586.26	MEM1	65508,1,0,0
SM_GC	2.01,33.79,12.50,0.12,0.939,0.040,0.141,500.0,556.2,443.9,199.1,1959.2,0,0,0,11.45,15.47,15.46	MEM2	966172,27,80476,69
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	19306,645
IRIDIUM_FIX	4716.91,-12522.67,150722,061558	CAP_FILE_SIZE	192044,0
TCM_TEMP	15.27	SDSIZE	3887104,3854528
SC_FREEKB	3862784	SDFILEDIR	481,1
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4747.590820,-12427.612305,140722,060600,2,510,10420.27	SOUNDSPEED	1465.0
HUMID	51.13	CURRENT	0.020, 48.4,1
TEMP	11.19	MAGCAL	1.000000,0.022149,0.003631,-0.014056,1.050571,-0.015287,-0.010949,-0.087970,0.951565,744.6,-893.1,-628.2,36,0.0273,0
INTERNAL_PRESSURE	7.76381	IMPLIED_C_PITCH	1673,16.16,341,1673.8,16.32
_24V_AH	14.77,13.507	GPS	150722,093139,4716.596,-12520.539,21,0.9,22,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	646	1319	12592.26	nil	0	0	0.00
Pitch_motor	26	255	99.91	nil	0	0	0.00
Roll_motor	71	190	200.44	nil	0	0	0.00
Iridium	183	218	592.14	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.19	nil	0	0	0.00
Core	2817	5	213.34	SciCon	5393	5	477.70
Fast	1	0	0.00	PMAR	5403	12	1021.89
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2845	0	13.47
Compass	1298	5	96.06
RAFOS	2538	40	1501.78
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
12.85	16386	-63.62	-1.73	0.00	493.1	544.0	442.2	195.8	1958.9	0.00	0.00	0	77.14	59.45	0.00	0.00	0.005	0.000	0.000	1905.53	1940.75	1870.31	195.75	1959.50	0	0	0	15.67	30.00	30.00
77.57	18727	-140.10	-1.82	80.00	1906.0	1941.1	1870.9	195.8	1958.9	3.05	-1.91	9	141.58	40.94	7.82	3.63	0.005	0.255	0.102	3461.53	3493.50	3429.56	1232.00	3467.69	0	0	0	15.72	15.58	15.66
149.97	1028	-140.10	-1.82	0.00	3462.2	3494.0	3430.4	1231.9	3468.4	20.03	-30.64	22	157.19	0.00	0.00	3.44	0.000	0.000	0.054	3462.88	3495.12	3430.62	1232.38	1974.19	0	0	0	30.00	30.00	15.69
465.05	260	-140.10	-1.82	80.00	3464.0	3497.7	3430.2	1232.1	1973.9	95.23	-20.42	54	473.04	0.00	0.00	3.59	0.000	0.000	0.103	3464.38	3498.50	3430.25	1232.62	3467.31	0	0	0	30.00	30.00	15.72
541.53	1028	-140.10	-1.82	0.00	3465.1	3499.7	3430.6	1232.1	3467.0	111.23	-20.82	69	549.46	0.00	0.00	3.42	0.000	0.000	0.053	3464.53	3499.12	3429.94	1231.38	1972.38	0	0	0	30.00	30.00	15.74
856.72	260	-140.10	-1.82	80.00	3465.7	3501.1	3430.3	1232.3	1972.1	170.00	-18.16	101	864.54	0.00	0.00	3.58	0.000	0.000	0.104	3465.19	3500.75	3429.62	1231.81	3466.62	0	0	0	30.00	30.00	15.75
913.02	1028	-140.10	-1.82	0.00	3466.1	3501.1	3431.1	1232.2	3467.6	181.18	-19.98	112	920.95	0.00	0.00	3.42	0.000	0.000	0.053	3465.50	3500.88	3430.12	1232.31	1973.12	0	0	0	30.00	30.00	15.80
1228.05	260	-140.10	-1.82	80.00	3467.3	3502.7	3431.9	1232.2	1972.2	240.00	-18.87	144	1236.02	0.00	0.00	3.58	0.000	0.000	0.105	3466.19	3502.19	3430.19	1231.94	3469.19	0	0	0	30.00	30.00	15.79
1274.50	1028	-140.10	-1.82	0.00	3467.2	3502.5	3432.0	1232.2	3468.9	249.29	-20.15	153	1282.43	0.00	0.00	3.42	0.000	0.000	0.054	3465.81	3501.88	3429.75	1231.44	1971.62	0	0	0	30.00	30.00	15.82
1549	end dive: TARGET_DEPTH_EXCEEDED
state	1549	begin apogee
1551.03	10243	0.00	-0.30	0.00	3467.1	3502.3	3431.9	1231.9	2036.2	301.63	-19.12	163	1668.33	103.68	2.50	0.12	1.320	0.161	0.190	2886.62	2974.31	2798.94	1602.50	1966.38	0	0	0	11.65	15.74	15.38
1671	end apogee: CONTROL_FINISHED_OK
state	1671	begin climb
1671.36	10759	140.10	1.82	-80.00	2887.1	2975.8	2798.5	1602.2	1966.2	306.36	0.00	166	1800.82	104.76	3.34	3.62	1.282	0.087	0.122	2316.50	2411.75	2221.25	2121.94	531.56	0	0	0	11.44	15.40	15.20
1858.61	17414	140.10	1.82	0.00	2308.2	2397.2	2219.2	2121.6	531.2	293.54	14.98	200	1866.42	0.00	0.00	3.50	0.000	0.000	0.048	2309.00	2398.12	2219.88	2121.56	2028.38	0	0	0	30.00	30.00	15.41
2169.88	16902	140.10	1.82	-80.00	2307.2	2396.9	2217.4	2121.5	2029.2	253.60	12.77	212	2178.15	0.00	0.00	3.68	0.000	0.000	0.119	2305.78	2394.12	2217.44	2119.19	533.12	0	0	0	30.00	30.00	15.63
2336.70	17414	140.10	1.82	0.00	2304.7	2392.0	2217.3	2120.9	532.9	228.33	14.93	245	2344.82	0.00	0.00	3.43	0.000	0.000	0.049	2303.41	2390.56	2216.25	2121.44	2029.38	0	0	0	30.00	30.00	15.71
2651.72	16386	140.10	1.82	0.00	2305.1	2392.6	2217.5	2121.0	2028.8	192.45	10.92	277	2653.51	0.00	0.00	0.00	0.000	0.000	0.000	2303.56	2391.25	2215.88	2121.12	2029.44	0	0	0	30.00	30.00	30.00
2962.01	548	142.62	1.83	-80.00	2305.1	2392.4	2217.9	2120.8	2029.4	160.14	9.73	308	2970.04	0.00	0.00	3.63	0.000	0.000	0.121	2304.38	2391.94	2216.81	2121.19	531.94	0	0	0	30.00	30.00	15.84
3148.67	9254	146.86	1.83	0.00	2304.1	2390.2	2218.1	2121.2	531.9	140.09	9.55	345	3162.92	5.67	0.00	3.39	0.776	0.000	0.051	2292.38	2381.19	2203.56	2121.06	2031.50	0	0	0	11.83	30.00	15.90
3466.45	8226	177.21	1.87	0.00	2288.8	2377.8	2199.7	2121.4	2031.5	117.03	6.79	378	3494.41	24.68	0.00	0.00	1.129	0.000	0.000	2164.84	2260.69	2069.00	2121.62	2032.12	0	0	0	11.76	30.00	30.00
3796.39	8226	209.86	1.91	0.00	2161.2	2254.5	2067.8	2121.1	2031.9	90.35	6.55	410	3828.20	25.53	0.00	0.00	1.097	0.000	0.000	2033.56	2131.94	1935.19	2121.81	2031.06	0	0	0	11.76	30.00	30.00
4136.35	10791	260.63	1.97	-80.00	2026.1	2122.1	1930.1	2121.0	2031.8	70.98	4.63	444	4186.93	37.99	0.18	3.69	1.084	0.084	0.123	1825.16	1925.44	1724.88	2167.56	531.75	0	0	0	11.98	15.76	15.60
4220.54	9254	298.39	2.02	0.00	1820.5	1919.1	1721.9	2167.2	531.4	66.82	6.01	460	4259.94	28.96	0.00	3.44	1.044	0.000	0.048	1673.31	1770.50	1576.12	2165.88	2030.88	0	0	0	11.57	30.00	15.66
4563.48	8742	311.16	2.03	-80.00	1662.3	1758.1	1566.6	2167.6	2031.8	35.57	8.65	498	4582.65	10.39	0.00	3.69	0.920	0.000	0.123	1620.72	1716.94	1524.50	2167.50	531.50	0	0	0	11.87	30.00	15.63
4631.26	9254	318.85	2.04	0.00	1617.7	1711.5	1523.8	2167.9	531.7	29.52	9.19	511	4649.00	8.05	0.00	3.43	0.839	0.000	0.049	1591.00	1687.75	1494.25	2167.62	2030.12	0	0	0	11.89	30.00	15.70
4952.55	10275	402.64	2.15	0.00	1584.1	1679.2	1488.9	2167.8	2030.8	17.18	1.14	563	5022.62	60.81	0.16	0.00	1.022	0.082	0.000	1249.47	1342.12	1156.81	2214.69	2031.44	0	0	0	11.76	15.72	30.00
5204.10	8742	489.81	2.25	-80.00	1240.5	1329.6	1151.3	2215.2	2031.4	11.34	0.78	612	5282.39	63.65	0.00	3.78	0.990	0.000	0.124	891.41	979.25	803.56	2214.50	531.88	0	0	0	11.48	30.00	15.42
5285.97	9254	539.73	2.32	0.00	890.5	977.5	803.6	2215.2	531.8	8.29	4.72	627	5336.71	37.71	0.00	3.48	0.943	0.000	0.049	690.34	765.06	615.62	2214.25	2032.75	0	0	0	11.57	30.00	15.49
5355	end climb: SURFACE_DEPTH_REACHED
state	5355	begin surface coast
5380	end surface coast: CONTROL_FINISHED_OK
state	5380	begin surface