Glider dive log

AMOS Jul22 * SG235 * Dive index * Mission links * Dive 8 * 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 8 SM_CC 605.40039 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 8 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 6

STOP_T 0 FILEMGR 0 C_VBD 3168.9021 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 2403.1367 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 172.53864 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 18.127787 FG_AHR_24V 218.68135 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 172.53864 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 218.68135 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 18.127787 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 2403.1367 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 3168.9021 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 8 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 8 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 130722,030218,4722.175,-12523.491,4,2.0,6,15.8 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.51 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130722,030709,4722.125,-12523.551,40,1.0,40,15.8 MHEAD_RNG_PITCHd_Wd 358.6,20000,-17.6,-10.000,-21.24,2209,0.188

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 4732.273,-12518.079

Post-dive calculations and measurements:

NET CACST,8,1,20220713040524.945064,06,247,11,0161,0150,201,01,01,02,01,-1,-01,-01,1,3,11643,0,150,-36.1,0.70,-100,2.30,-01,-0.95,72,10000,5000,0,-1,00,00*66 _24V_AH 14.85,117.360

MODEM_MSG CACST,8,1,20220713034502.119532,18,32767,33,0102,0000,455,02,02,02,02,-1,-01,-01,1,3,0,0,150,-4.1,0.52,-100,2.48,-01,0.09,12,925,0025,0,-1,00,00*1C _10V_AH 14.82,0.000

NAV 1657684742,28.9,start FG_AHR_24Vo 218.878

FREEZE 0.30,16.600,-1.700,0,1,0 FG_AHR_10Vo 172.619

FINISH 0.3,1.022611 MEM0 60108,1,0,0

SM_CCo 3746.22,100.65,1.142,0,700.5,764.9,636.1,605.28 MEM1 65508,1,0,0

SM_GC 1.43,100.65,15.57,0.43,1.142,0.055,0.086,700.5,764.9,636.1,214.6,2776.2,0,0,0,11.82,15.73,15.72 MEM2 963796,23,82412,95

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16147,534

IRIDIUM_FIX 4723.35,-12523.76,130722,015427 CAP_FILE_SIZE 252430,0

TCM_TEMP 15.10 SDSIZE 3918848,3876064

SC_FREEKB 3876128 SDFILEDIR 347,3

PM_FREEKB_00 62022912 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 0 CURRENT 0.054,183.9,1

MODEM 1,1657682102,47.00000,-123.00000,302.535,443214.0 MAGCAL 1.000000,-0.019287,-0.019580,-0.100051,1.092469,-0.024848,0.055653,-0.030707,1.106261,-1081.5,-1034.6,-157.6,34,0.0505,0

RAFOS_FIX 4930.521484,-12154.555664,130722,030302,2,510,7659.95 IMPLIED_C_PITCH 2384,18.11,255,2393.4,18.12

HUMID 75.32 IMPLIED_C_VBD 3361,48.641644,163,3265.1

TEMP 12.00 GPS 130722,041104,4722.341,-12523.432,2,1.9,15,15.8

INTERNAL_PRESSURE 8.54459

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 663 1330 13118.92 nil 0 0 0.00

Pitch_motor 34 269 138.43 nil 0 0 0.00

Roll_motor 67 255 256.90 nil 0 0 0.00

Iridium 162 221 534.15 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 49 15 11.04 nil 0 0 0.00

Core 2357 5 178.87 SciCon 3624 6 339.00

Fast 0 0 0.00 PMAR 3627 10 575.42

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1553 0 7.37

Compass 1064 5 78.84

RAFOS 2879 40 1707.15

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

12.29 16386 -145.99 -1.15 0.00 595.2 644.4 546.1 216.6 2769.7 0.00 0.00 0 101.61 85.82 0.00 0.00 0.005 0.000 0.000 2548.97 2550.88 2547.06 216.62 2769.00 0 0 0 15.80 30.00 30.00

101.86 18983 -145.99 -1.15 -80.00 2547.9 2550.2 2545.7 216.4 2769.4 3.43 -2.48 17 157.45 27.60 14.94 3.59 0.006 0.270 0.120 3763.88 3783.94 3743.81 2123.38 1276.69 0 0 0 15.83 15.67 15.75

160.63 1028 -145.99 -1.15 0.00 3764.2 3784.6 3743.8 2123.4 1276.1 15.63 -19.17 28 167.18 0.00 0.00 3.49 0.000 0.000 0.064 3765.22 3785.50 3744.94 2122.44 2767.94 0 0 0 30.00 30.00 15.78

350.66 260 -145.99 -1.15 80.00 3765.3 3788.2 3742.4 2122.2 2769.1 48.21 -16.90 66 356.96 0.00 0.00 2.83 0.000 0.000 0.116 3766.72 3788.44 3745.00 2122.56 3909.00 0 0 0 30.00 30.00 15.81

443.52 1028 -145.99 -1.15 0.00 3764.6 3786.4 3742.9 2121.9 3909.3 62.81 -15.02 84 448.92 0.00 0.00 2.74 0.000 0.000 0.069 3766.16 3787.50 3744.81 2121.81 2729.06 0 0 0 30.00 30.00 15.78

633.32 0 -145.99 -1.15 0.00 3766.7 3791.1 3742.3 2122.4 2729.2 90.12 -14.60 104 634.84 0.00 0.00 0.00 0.000 0.000 0.000 3765.94 3789.75 3742.12 2121.75 2728.69 0 0 0 30.00 30.00 30.00

823.34 516 -145.99 -1.15 -80.00 3767.6 3791.9 3743.2 2121.7 2728.1 114.76 -12.01 123 829.21 0.00 0.00 3.52 0.000 0.000 0.127 3767.66 3792.75 3742.56 2122.06 1281.00 0 0 0 30.00 30.00 15.86

903.39 1028 -145.99 -1.15 0.00 3767.8 3792.3 3743.4 2123.2 1280.5 125.39 -13.55 139 909.40 0.00 0.00 3.47 0.000 0.000 0.064 3767.41 3791.81 3743.00 2122.88 2766.88 0 0 0 30.00 30.00 15.89

1093.40 0 -145.99 -1.15 0.00 3768.0 3792.9 3743.1 2122.6 2767.2 147.80 -11.55 159 1094.96 0.00 0.00 0.00 0.000 0.000 0.000 3768.34 3792.81 3743.88 2121.88 2766.94 0 0 0 30.00 30.00 30.00

1283.41 516 -145.99 -1.15 -80.00 3768.5 3794.2 3742.7 2122.5 2767.4 169.84 -11.58 178 1289.52 0.00 0.00 3.61 0.000 0.000 0.125 3767.69 3792.00 3743.38 2122.69 1281.12 0 0 0 30.00 30.00 15.87

1363 end dive: TARGET_DEPTH_EXCEEDED

state 1363 begin apogee

1369.23 10243 0.00 -0.28 0.00 3768.4 3792.8 3744.1 2122.4 2620.8 180.01 -12.86 194 1481.86 105.24 1.47 0.07 1.331 0.146 0.256 3164.19 3226.75 3101.62 2338.19 2579.56 0 0 0 11.66 15.87 15.48

1484 end apogee: CONTROL_FINISHED_OK

state 1484 begin climb

1485.18 10243 145.99 1.15 0.00 3165.9 3227.8 3104.1 2337.6 2579.1 183.50 0.00 205 1605.48 108.21 2.26 0.00 1.285 0.084 0.000 2572.75 2639.94 2505.56 2687.38 2579.19 0 0 0 11.71 15.52 30.00

1789.05 16902 145.99 1.15 -80.00 2563.1 2625.1 2501.1 2686.9 2579.6 153.61 11.49 236 1794.92 0.00 0.00 3.44 0.000 0.000 0.128 2559.69 2621.56 2497.81 2688.56 1187.69 0 0 0 30.00 30.00 15.65

1948.97 17414 145.99 1.15 0.00 2561.7 2621.9 2501.5 2687.3 1188.2 129.42 15.89 268 1954.92 0.00 0.00 3.33 0.000 0.000 0.061 2561.41 2621.75 2501.06 2686.81 2621.06 0 0 0 30.00 30.00 15.76

2138.98 16902 145.99 1.15 -80.00 2560.7 2621.3 2500.1 2687.3 2620.5 107.47 11.25 288 2145.02 0.00 0.00 3.51 0.000 0.000 0.129 2560.03 2620.44 2499.62 2687.81 1187.06 0 0 0 30.00 30.00 15.79

2209.00 17414 145.99 1.15 0.00 2560.1 2619.9 2500.2 2687.9 1187.2 99.05 11.41 302 2214.91 0.00 0.00 3.30 0.000 0.000 0.061 2560.28 2619.44 2501.12 2687.38 2623.31 0 0 0 30.00 30.00 15.83

2399.03 10791 246.18 1.28 -80.00 2559.5 2619.4 2499.6 2686.5 2622.9 86.16 5.34 322 2484.80 76.03 0.15 3.61 1.225 0.106 0.131 2159.41 2241.31 2077.50 2720.50 1189.06 0 0 0 11.72 15.85 15.54

2497.32 1028 246.18 1.28 0.00 2159.4 2239.2 2079.6 2720.7 1188.2 79.29 9.13 341 2504.74 0.00 0.00 3.36 0.000 0.000 0.061 2157.75 2236.38 2079.12 2720.00 2622.81 0 0 0 30.00 30.00 15.61

2693.09 8742 298.81 1.34 -80.00 2154.2 2232.0 2076.4 2720.2 2621.7 62.27 7.55 361 2741.12 39.90 0.00 3.58 1.166 0.000 0.134 1946.47 2031.19 1861.75 2720.88 1189.44 0 0 0 11.77 30.00 15.61

2768.63 1028 298.81 1.34 0.00 1943.9 2025.3 1862.4 2720.1 1189.1 55.40 10.44 376 2776.07 0.00 0.00 3.38 0.000 0.000 0.062 1943.41 2025.56 1861.25 2719.50 2621.69 0 0 0 30.00 30.00 15.71

2957.43 16902 298.81 1.34 -80.00 1940.4 2020.3 1860.5 2720.6 2621.4 39.61 8.44 407 2964.21 0.00 0.00 3.54 0.000 0.000 0.134 1939.78 2019.69 1859.88 2720.75 1189.38 0 0 0 30.00 30.00 15.78

3037.46 17414 298.81 1.34 0.00 1939.0 2017.5 1860.5 2720.8 1189.4 31.64 9.50 423 3044.14 0.00 0.00 3.34 0.000 0.000 0.062 1939.06 2017.38 1860.75 2720.31 2623.56 0 0 0 30.00 30.00 15.86

3225.92 10535 376.97 1.44 80.00 1937.8 2016.3 1859.3 2720.2 2623.3 18.89 6.36 459 3295.50 58.01 0.17 3.27 1.153 0.094 0.123 1627.06 1713.69 1540.44 2762.31 3912.12 0 0 0 11.73 15.85 15.61

3338.78 9254 460.23 1.54 0.00 1625.5 1709.2 1541.8 2762.6 3912.8 11.81 6.13 481 3409.44 62.39 0.00 3.15 1.128 0.000 0.072 1289.41 1385.19 1193.62 2762.38 2578.50 0 0 0 11.79 30.00 15.69

3560 end climb: SURFACE_DEPTH_REACHED

state 3561 begin surface coast

3611 end surface coast: CONTROL_FINISHED_OK

state 3611 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	8	SM_CC	605.40039	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	8	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	6
STOP_T	0	FILEMGR	0	C_VBD	3168.9021	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	2403.1367	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	172.53864	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	18.127787	FG_AHR_24V	218.68135	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	130722,030218,4722.175,-12523.491,4,2.0,6,15.8	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.51	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130722,030709,4722.125,-12523.551,40,1.0,40,15.8	MHEAD_RNG_PITCHd_Wd	358.6,20000,-17.6,-10.000,-21.24,2209,0.188
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	4732.273,-12518.079

NET	CACST,8,1,20220713040524.945064,06,247,11,0161,0150,201,01,01,02,01,-1,-01,-01,1,3,11643,0,150,-36.1,0.70,-100,2.30,-01,-0.95,72,10000,5000,0,-1,00,00*66	_24V_AH	14.85,117.360
MODEM_MSG	CACST,8,1,20220713034502.119532,18,32767,33,0102,0000,455,02,02,02,02,-1,-01,-01,1,3,0,0,150,-4.1,0.52,-100,2.48,-01,0.09,12,925,0025,0,-1,00,00*1C	_10V_AH	14.82,0.000
NAV	1657684742,28.9,start	FG_AHR_24Vo	218.878
FREEZE	0.30,16.600,-1.700,0,1,0	FG_AHR_10Vo	172.619
FINISH	0.3,1.022611	MEM0	60108,1,0,0
SM_CCo	3746.22,100.65,1.142,0,700.5,764.9,636.1,605.28	MEM1	65508,1,0,0
SM_GC	1.43,100.65,15.57,0.43,1.142,0.055,0.086,700.5,764.9,636.1,214.6,2776.2,0,0,0,11.82,15.73,15.72	MEM2	963796,23,82412,95
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16147,534
IRIDIUM_FIX	4723.35,-12523.76,130722,015427	CAP_FILE_SIZE	252430,0
TCM_TEMP	15.10	SDSIZE	3918848,3876064
SC_FREEKB	3876128	SDFILEDIR	347,3
PM_FREEKB_00	62022912	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	0	CURRENT	0.054,183.9,1
MODEM	1,1657682102,47.00000,-123.00000,302.535,443214.0	MAGCAL	1.000000,-0.019287,-0.019580,-0.100051,1.092469,-0.024848,0.055653,-0.030707,1.106261,-1081.5,-1034.6,-157.6,34,0.0505,0
RAFOS_FIX	4930.521484,-12154.555664,130722,030302,2,510,7659.95	IMPLIED_C_PITCH	2384,18.11,255,2393.4,18.12
HUMID	75.32	IMPLIED_C_VBD	3361,48.641644,163,3265.1
TEMP	12.00	GPS	130722,041104,4722.341,-12523.432,2,1.9,15,15.8
INTERNAL_PRESSURE	8.54459

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	663	1330	13118.92	nil	0	0	0.00
Pitch_motor	34	269	138.43	nil	0	0	0.00
Roll_motor	67	255	256.90	nil	0	0	0.00
Iridium	162	221	534.15	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	49	15	11.04	nil	0	0	0.00
Core	2357	5	178.87	SciCon	3624	6	339.00
Fast	0	0	0.00	PMAR	3627	10	575.42
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1553	0	7.37
Compass	1064	5	78.84
RAFOS	2879	40	1707.15
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
12.29	16386	-145.99	-1.15	0.00	595.2	644.4	546.1	216.6	2769.7	0.00	0.00	0	101.61	85.82	0.00	0.00	0.005	0.000	0.000	2548.97	2550.88	2547.06	216.62	2769.00	0	0	0	15.80	30.00	30.00
101.86	18983	-145.99	-1.15	-80.00	2547.9	2550.2	2545.7	216.4	2769.4	3.43	-2.48	17	157.45	27.60	14.94	3.59	0.006	0.270	0.120	3763.88	3783.94	3743.81	2123.38	1276.69	0	0	0	15.83	15.67	15.75
160.63	1028	-145.99	-1.15	0.00	3764.2	3784.6	3743.8	2123.4	1276.1	15.63	-19.17	28	167.18	0.00	0.00	3.49	0.000	0.000	0.064	3765.22	3785.50	3744.94	2122.44	2767.94	0	0	0	30.00	30.00	15.78
350.66	260	-145.99	-1.15	80.00	3765.3	3788.2	3742.4	2122.2	2769.1	48.21	-16.90	66	356.96	0.00	0.00	2.83	0.000	0.000	0.116	3766.72	3788.44	3745.00	2122.56	3909.00	0	0	0	30.00	30.00	15.81
443.52	1028	-145.99	-1.15	0.00	3764.6	3786.4	3742.9	2121.9	3909.3	62.81	-15.02	84	448.92	0.00	0.00	2.74	0.000	0.000	0.069	3766.16	3787.50	3744.81	2121.81	2729.06	0	0	0	30.00	30.00	15.78
633.32	0	-145.99	-1.15	0.00	3766.7	3791.1	3742.3	2122.4	2729.2	90.12	-14.60	104	634.84	0.00	0.00	0.00	0.000	0.000	0.000	3765.94	3789.75	3742.12	2121.75	2728.69	0	0	0	30.00	30.00	30.00
823.34	516	-145.99	-1.15	-80.00	3767.6	3791.9	3743.2	2121.7	2728.1	114.76	-12.01	123	829.21	0.00	0.00	3.52	0.000	0.000	0.127	3767.66	3792.75	3742.56	2122.06	1281.00	0	0	0	30.00	30.00	15.86
903.39	1028	-145.99	-1.15	0.00	3767.8	3792.3	3743.4	2123.2	1280.5	125.39	-13.55	139	909.40	0.00	0.00	3.47	0.000	0.000	0.064	3767.41	3791.81	3743.00	2122.88	2766.88	0	0	0	30.00	30.00	15.89
1093.40	0	-145.99	-1.15	0.00	3768.0	3792.9	3743.1	2122.6	2767.2	147.80	-11.55	159	1094.96	0.00	0.00	0.00	0.000	0.000	0.000	3768.34	3792.81	3743.88	2121.88	2766.94	0	0	0	30.00	30.00	30.00
1283.41	516	-145.99	-1.15	-80.00	3768.5	3794.2	3742.7	2122.5	2767.4	169.84	-11.58	178	1289.52	0.00	0.00	3.61	0.000	0.000	0.125	3767.69	3792.00	3743.38	2122.69	1281.12	0	0	0	30.00	30.00	15.87
1363	end dive: TARGET_DEPTH_EXCEEDED
state	1363	begin apogee
1369.23	10243	0.00	-0.28	0.00	3768.4	3792.8	3744.1	2122.4	2620.8	180.01	-12.86	194	1481.86	105.24	1.47	0.07	1.331	0.146	0.256	3164.19	3226.75	3101.62	2338.19	2579.56	0	0	0	11.66	15.87	15.48
1484	end apogee: CONTROL_FINISHED_OK
state	1484	begin climb
1485.18	10243	145.99	1.15	0.00	3165.9	3227.8	3104.1	2337.6	2579.1	183.50	0.00	205	1605.48	108.21	2.26	0.00	1.285	0.084	0.000	2572.75	2639.94	2505.56	2687.38	2579.19	0	0	0	11.71	15.52	30.00
1789.05	16902	145.99	1.15	-80.00	2563.1	2625.1	2501.1	2686.9	2579.6	153.61	11.49	236	1794.92	0.00	0.00	3.44	0.000	0.000	0.128	2559.69	2621.56	2497.81	2688.56	1187.69	0	0	0	30.00	30.00	15.65
1948.97	17414	145.99	1.15	0.00	2561.7	2621.9	2501.5	2687.3	1188.2	129.42	15.89	268	1954.92	0.00	0.00	3.33	0.000	0.000	0.061	2561.41	2621.75	2501.06	2686.81	2621.06	0	0	0	30.00	30.00	15.76
2138.98	16902	145.99	1.15	-80.00	2560.7	2621.3	2500.1	2687.3	2620.5	107.47	11.25	288	2145.02	0.00	0.00	3.51	0.000	0.000	0.129	2560.03	2620.44	2499.62	2687.81	1187.06	0	0	0	30.00	30.00	15.79
2209.00	17414	145.99	1.15	0.00	2560.1	2619.9	2500.2	2687.9	1187.2	99.05	11.41	302	2214.91	0.00	0.00	3.30	0.000	0.000	0.061	2560.28	2619.44	2501.12	2687.38	2623.31	0	0	0	30.00	30.00	15.83
2399.03	10791	246.18	1.28	-80.00	2559.5	2619.4	2499.6	2686.5	2622.9	86.16	5.34	322	2484.80	76.03	0.15	3.61	1.225	0.106	0.131	2159.41	2241.31	2077.50	2720.50	1189.06	0	0	0	11.72	15.85	15.54
2497.32	1028	246.18	1.28	0.00	2159.4	2239.2	2079.6	2720.7	1188.2	79.29	9.13	341	2504.74	0.00	0.00	3.36	0.000	0.000	0.061	2157.75	2236.38	2079.12	2720.00	2622.81	0	0	0	30.00	30.00	15.61
2693.09	8742	298.81	1.34	-80.00	2154.2	2232.0	2076.4	2720.2	2621.7	62.27	7.55	361	2741.12	39.90	0.00	3.58	1.166	0.000	0.134	1946.47	2031.19	1861.75	2720.88	1189.44	0	0	0	11.77	30.00	15.61
2768.63	1028	298.81	1.34	0.00	1943.9	2025.3	1862.4	2720.1	1189.1	55.40	10.44	376	2776.07	0.00	0.00	3.38	0.000	0.000	0.062	1943.41	2025.56	1861.25	2719.50	2621.69	0	0	0	30.00	30.00	15.71
2957.43	16902	298.81	1.34	-80.00	1940.4	2020.3	1860.5	2720.6	2621.4	39.61	8.44	407	2964.21	0.00	0.00	3.54	0.000	0.000	0.134	1939.78	2019.69	1859.88	2720.75	1189.38	0	0	0	30.00	30.00	15.78
3037.46	17414	298.81	1.34	0.00	1939.0	2017.5	1860.5	2720.8	1189.4	31.64	9.50	423	3044.14	0.00	0.00	3.34	0.000	0.000	0.062	1939.06	2017.38	1860.75	2720.31	2623.56	0	0	0	30.00	30.00	15.86
3225.92	10535	376.97	1.44	80.00	1937.8	2016.3	1859.3	2720.2	2623.3	18.89	6.36	459	3295.50	58.01	0.17	3.27	1.153	0.094	0.123	1627.06	1713.69	1540.44	2762.31	3912.12	0	0	0	11.73	15.85	15.61
3338.78	9254	460.23	1.54	0.00	1625.5	1709.2	1541.8	2762.6	3912.8	11.81	6.13	481	3409.44	62.39	0.00	3.15	1.128	0.000	0.072	1289.41	1385.19	1193.62	2762.38	2578.50	0	0	0	11.79	30.00	15.69
3560	end climb: SURFACE_DEPTH_REACHED
state	3561	begin surface coast
3611	end surface coast: CONTROL_FINISHED_OK
state	3611	begin surface