Glider dive log

AMOS Jul22 * SG241 * Dive index * Mission links * Dive 12 * 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 12 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 3362.8572 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 1849.7573 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 17.840172 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 32.147751 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 41.385635 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 32.147751 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 41.385635 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 17.840172 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 1849.7573 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 3362.8572 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 12 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 150722,062150,4716.568,-12520.238,1,0.9,4,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.62 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150722,062434,4716.556,-12520.248,2,0.9,4,15.8 MHEAD_RNG_PITCHd_Wd 309.5,166,-27.2,-10.000,-30.00,970,0.233

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 4716.620,-12520.340

Post-dive calculations and measurements:

NAV 1657872099,-0.8,start _24V_AH 14.79,13.789

NET xmit part outbox0009.n 825 0 _10V_AH 14.83,0.000

NET_PING 1657870994,27,2580.859375,13.300000,-3.437551 FG_AHR_24Vo 41.586

MODEM_MSG CACST,8,1,20220715070001.510042,18,32767,45,0101,0000,126,03,03,00,03,-1,-01,-01,2,3,1,0,150,13.9,3.56,-100,-0.56,-01,0.25,58,925,0025,0,-1,00,00*2B FG_AHR_10Vo 32.207

FINISH -0.8,1.022738 MEM0 60108,1,0,0

SM_CCo 5794.00,170.52,0.921,0,539.9,608.8,471.0,692.26 MEM1 65508,1,0,0

SM_GC 0.52,170.52,13.77,0.10,0.921,0.078,0.140,539.9,608.8,471.0,197.9,2113.2,0,0,0,11.50,15.79,15.81 MEM2 966456,28,80332,61

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 19317,677

IRIDIUM_FIX 4716.16,-12513.82,150722,062019 CAP_FILE_SIZE 446740,0

TCM_TEMP 13.81 SDSIZE 3887104,3867040

SC_FREEKB 3874944 SDFILEDIR 154,1

RAFOS_CLK 1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 0,1657868401,47.27700,-125.33900,1.510,2212.2 SOUNDSPEED 1465.0

RAFOS_FIX 4757.390137,-12957.378906,150722,010131,2,510,8097.23 CURRENT 0.031, 83.1,1

HUMID 49.49 IMPLIED_C_PITCH 1844,17.37,374,1847.1,17.61

TEMP 10.97 IMPLIED_C_VBD 2859,54.273697,275,3262.9

INTERNAL_PRESSURE 8.14044 GPS 150722,080231,4717.000,-12520.356,20,1.1,21,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 756 1242 13911.10 nil 0 0 0.00

Pitch_motor 31 272 128.65 nil 0 0 0.00

Roll_motor 63 191 180.39 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.97 nil 0 0 0.00

Core 2686 5 203.99 SciCon 5587 6 560.85

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2958 0 14.04

Compass 1317 5 97.69

RAFOS 4331 40 2569.17

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

6.50 16386 -63.65 -1.60 0.00 535.2 604.1 466.2 197.5 2187.4 0.00 0.00 0 108.29 96.31 0.00 0.00 0.005 0.000 0.000 2789.03 2756.56 2821.50 197.50 2187.25 0 0 0 15.94 30.00 30.00

108.66 18983 -130.56 -1.69 -80.00 2787.8 2755.1 2820.6 197.2 2187.2 3.20 -2.93 19 155.34 24.61 9.48 3.64 0.006 0.273 0.104 3894.44 3879.44 3909.44 1439.94 679.94 0 0 0 15.95 15.78 15.87

293.85 3205 -130.56 -1.55 0.00 3896.9 3889.1 3904.8 1439.8 679.7 54.62 -24.33 55 301.21 0.00 0.22 3.38 0.000 0.207 0.047 3897.75 3889.44 3906.06 1472.31 2177.75 0 0 0 30.00 15.86 15.94

602.18 128 -130.56 -1.59 0.00 3897.4 3891.1 3903.8 1472.9 2178.1 103.07 -14.63 86 603.79 0.00 0.00 0.00 0.000 0.000 0.000 3897.16 3891.25 3903.06 1472.81 2178.25 0 0 0 30.00 30.00 30.00

912.14 0 -130.56 -1.59 0.00 3898.7 3893.3 3904.1 1473.8 2178.8 148.26 -15.07 117 913.75 0.00 0.00 0.00 0.000 0.000 0.000 3898.72 3893.19 3904.25 1473.81 2178.56 0 0 0 30.00 30.00 30.00

1222.27 388 -130.56 -1.62 80.00 3898.4 3893.6 3903.2 1473.0 2179.1 196.50 -15.94 148 1228.38 0.00 0.00 3.44 0.000 0.000 0.104 3898.09 3893.31 3902.88 1473.50 3619.62 0 0 0 30.00 30.00 16.03

1296.54 1156 -130.56 -1.56 0.00 3898.4 3893.6 3903.2 1474.0 3619.4 209.80 -17.75 163 1304.07 0.00 0.00 3.40 0.000 0.000 0.052 3898.59 3893.69 3903.50 1473.50 2118.31 0 0 0 30.00 30.00 16.07

1622.33 388 -130.56 -1.61 80.00 3898.4 3893.7 3903.1 1473.2 2118.2 260.83 -15.95 192 1629.54 0.00 0.00 3.59 0.000 0.000 0.101 3899.84 3894.50 3905.19 1473.31 3616.75 0 0 0 30.00 30.00 16.08

1682.30 1028 -130.56 -1.61 0.00 3898.4 3893.2 3903.5 1473.4 3616.8 271.92 -18.37 204 1689.16 0.00 0.00 3.38 0.000 0.000 0.053 3899.09 3894.00 3904.19 1473.94 2119.44 0 0 0 30.00 30.00 16.12

1858 end dive: TARGET_DEPTH_EXCEEDED

state 1858 begin apogee

1859.40 10243 0.00 -0.28 0.00 3898.4 3893.4 3903.4 1473.1 2182.0 300.46 -16.20 214 1971.34 102.28 2.11 0.10 1.221 0.171 0.191 3360.12 3411.38 3308.88 1782.06 2113.69 0 0 0 11.74 16.05 15.72

1973 end apogee: CONTROL_FINISHED_OK

state 1973 begin climb

1972.55 10243 130.56 1.69 0.00 3360.6 3411.4 3309.8 1781.9 2113.5 304.38 0.00 217 2090.79 105.73 3.16 0.00 1.243 0.106 0.000 2831.28 2895.94 2766.62 2258.88 2113.44 0 0 0 11.63 15.72 30.00

2398.14 20611 130.56 1.57 0.00 2820.9 2878.8 2763.1 2260.1 2113.8 252.59 14.56 232 2400.06 0.00 0.34 0.00 0.000 0.218 0.000 2819.50 2878.19 2760.81 2224.19 2113.19 0 0 0 30.00 15.73 30.00

2708.09 16646 130.56 1.57 80.00 2818.8 2876.4 2761.3 2224.4 2113.2 217.15 11.02 261 2715.56 0.00 0.00 3.64 0.000 0.000 0.108 2819.16 2876.81 2761.50 2224.25 3617.56 0 0 0 30.00 30.00 15.88

2754.12 21639 130.56 1.41 0.00 2817.5 2874.0 2761.1 2224.3 3619.1 211.66 12.11 270 2761.52 0.00 0.28 3.44 0.000 0.231 0.055 2816.91 2873.94 2759.88 2184.50 2118.88 0 0 0 30.00 15.84 15.91

3069.22 8354 143.55 1.48 0.00 2817.3 2874.4 2760.1 2183.9 2117.9 183.66 8.63 302 3081.73 10.93 0.00 0.00 0.987 0.000 0.000 2774.00 2833.69 2714.31 2182.88 2118.88 0 0 0 11.65 30.00 30.00

3389.30 10663 162.26 1.58 80.00 2773.8 2832.1 2715.4 2184.0 2117.9 156.42 8.02 334 3416.82 17.15 0.34 3.63 1.058 0.078 0.110 2699.12 2760.12 2638.12 2239.12 3615.56 0 0 0 11.68 15.98 15.88

3485.64 5253 162.26 1.41 0.00 2696.0 2754.8 2637.2 2238.9 3615.8 146.18 12.29 352 3496.72 0.00 0.46 3.43 0.000 0.228 0.055 2698.25 2756.88 2639.62 2184.44 2121.06 0 0 0 30.00 15.84 15.91

3804.56 10919 176.66 1.53 -80.00 2695.1 2753.4 2636.8 2184.4 2120.8 118.75 8.48 385 3827.52 13.30 0.28 3.56 0.989 0.085 0.120 2643.00 2704.19 2581.81 2229.12 682.06 0 0 0 11.64 15.97 15.90

3890.36 5253 176.66 1.42 0.00 2639.8 2700.0 2579.6 2229.4 682.1 108.22 12.41 402 3898.24 0.00 0.37 3.41 0.000 0.226 0.052 2639.56 2699.50 2579.62 2186.81 2175.75 0 0 0 30.00 15.87 15.95

4206.19 10919 219.54 1.61 -80.00 2638.2 2697.4 2579.1 2186.6 2176.8 84.09 5.47 434 4250.56 35.42 0.38 3.72 1.046 0.073 0.117 2468.03 2535.44 2400.62 2247.50 681.75 0 0 0 11.62 15.98 15.83

4479.23 9382 261.22 1.60 0.00 2461.4 2525.2 2397.7 2246.6 682.2 62.07 5.59 488 4523.00 33.28 0.00 3.40 1.011 0.000 0.052 2296.91 2374.19 2219.62 2247.31 2178.19 0 0 0 11.53 30.00 15.93

4828.60 10919 296.78 1.76 -80.00 2289.3 2359.9 2218.8 2247.2 2178.1 39.01 6.24 527 4866.60 27.81 0.16 3.70 0.977 0.102 0.119 2150.75 2232.88 2068.62 2284.00 680.88 0 0 0 11.57 15.93 15.82

5095.18 9254 321.96 1.79 0.00 2146.4 2224.1 2068.7 2284.1 680.9 19.10 7.34 580 5127.39 21.28 0.00 3.44 0.937 0.000 0.051 2049.25 2135.19 1963.31 2284.31 2177.25 0 0 0 11.65 30.00 15.94

5310.99 10919 383.18 2.00 -80.00 2043.3 2124.8 1961.9 2283.8 2176.4 11.00 3.53 623 5371.01 47.17 0.30 3.73 0.952 0.080 0.115 1799.75 1901.25 1698.25 2342.44 681.06 0 0 0 11.49 15.93 15.78

5374.62 11431 451.06 2.20 0.00 1797.3 1898.1 1696.5 2342.1 681.0 9.57 2.83 635 5438.66 51.20 0.22 3.42 0.930 0.088 0.048 1523.00 1634.31 1411.69 2391.25 2180.31 0 0 0 11.55 15.80 15.82

5557 end climb: SURFACE_DEPTH_REACHED

state 5557 begin surface coast

5587 end surface coast: CONTROL_FINISHED_OK

state 5588 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	12	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	3362.8572	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	1849.7573	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	17.840172	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	32.147751	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	41.385635	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	150722,062150,4716.568,-12520.238,1,0.9,4,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.62	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150722,062434,4716.556,-12520.248,2,0.9,4,15.8	MHEAD_RNG_PITCHd_Wd	309.5,166,-27.2,-10.000,-30.00,970,0.233
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	4716.620,-12520.340

NAV	1657872099,-0.8,start	_24V_AH	14.79,13.789
NET	xmit part outbox0009.n 825 0	_10V_AH	14.83,0.000
NET_PING	1657870994,27,2580.859375,13.300000,-3.437551	FG_AHR_24Vo	41.586
MODEM_MSG	CACST,8,1,20220715070001.510042,18,32767,45,0101,0000,126,03,03,00,03,-1,-01,-01,2,3,1,0,150,13.9,3.56,-100,-0.56,-01,0.25,58,925,0025,0,-1,00,00*2B	FG_AHR_10Vo	32.207
FINISH	-0.8,1.022738	MEM0	60108,1,0,0
SM_CCo	5794.00,170.52,0.921,0,539.9,608.8,471.0,692.26	MEM1	65508,1,0,0
SM_GC	0.52,170.52,13.77,0.10,0.921,0.078,0.140,539.9,608.8,471.0,197.9,2113.2,0,0,0,11.50,15.79,15.81	MEM2	966456,28,80332,61
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	19317,677
IRIDIUM_FIX	4716.16,-12513.82,150722,062019	CAP_FILE_SIZE	446740,0
TCM_TEMP	13.81	SDSIZE	3887104,3867040
SC_FREEKB	3874944	SDFILEDIR	154,1
RAFOS_CLK	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1657868401,47.27700,-125.33900,1.510,2212.2	SOUNDSPEED	1465.0
RAFOS_FIX	4757.390137,-12957.378906,150722,010131,2,510,8097.23	CURRENT	0.031, 83.1,1
HUMID	49.49	IMPLIED_C_PITCH	1844,17.37,374,1847.1,17.61
TEMP	10.97	IMPLIED_C_VBD	2859,54.273697,275,3262.9
INTERNAL_PRESSURE	8.14044	GPS	150722,080231,4717.000,-12520.356,20,1.1,21,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	756	1242	13911.10	nil	0	0	0.00
Pitch_motor	31	272	128.65	nil	0	0	0.00
Roll_motor	63	191	180.39	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.97	nil	0	0	0.00
Core	2686	5	203.99	SciCon	5587	6	560.85
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2958	0	14.04
Compass	1317	5	97.69
RAFOS	4331	40	2569.17
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
6.50	16386	-63.65	-1.60	0.00	535.2	604.1	466.2	197.5	2187.4	0.00	0.00	0	108.29	96.31	0.00	0.00	0.005	0.000	0.000	2789.03	2756.56	2821.50	197.50	2187.25	0	0	0	15.94	30.00	30.00
108.66	18983	-130.56	-1.69	-80.00	2787.8	2755.1	2820.6	197.2	2187.2	3.20	-2.93	19	155.34	24.61	9.48	3.64	0.006	0.273	0.104	3894.44	3879.44	3909.44	1439.94	679.94	0	0	0	15.95	15.78	15.87
293.85	3205	-130.56	-1.55	0.00	3896.9	3889.1	3904.8	1439.8	679.7	54.62	-24.33	55	301.21	0.00	0.22	3.38	0.000	0.207	0.047	3897.75	3889.44	3906.06	1472.31	2177.75	0	0	0	30.00	15.86	15.94
602.18	128	-130.56	-1.59	0.00	3897.4	3891.1	3903.8	1472.9	2178.1	103.07	-14.63	86	603.79	0.00	0.00	0.00	0.000	0.000	0.000	3897.16	3891.25	3903.06	1472.81	2178.25	0	0	0	30.00	30.00	30.00
912.14	0	-130.56	-1.59	0.00	3898.7	3893.3	3904.1	1473.8	2178.8	148.26	-15.07	117	913.75	0.00	0.00	0.00	0.000	0.000	0.000	3898.72	3893.19	3904.25	1473.81	2178.56	0	0	0	30.00	30.00	30.00
1222.27	388	-130.56	-1.62	80.00	3898.4	3893.6	3903.2	1473.0	2179.1	196.50	-15.94	148	1228.38	0.00	0.00	3.44	0.000	0.000	0.104	3898.09	3893.31	3902.88	1473.50	3619.62	0	0	0	30.00	30.00	16.03
1296.54	1156	-130.56	-1.56	0.00	3898.4	3893.6	3903.2	1474.0	3619.4	209.80	-17.75	163	1304.07	0.00	0.00	3.40	0.000	0.000	0.052	3898.59	3893.69	3903.50	1473.50	2118.31	0	0	0	30.00	30.00	16.07
1622.33	388	-130.56	-1.61	80.00	3898.4	3893.7	3903.1	1473.2	2118.2	260.83	-15.95	192	1629.54	0.00	0.00	3.59	0.000	0.000	0.101	3899.84	3894.50	3905.19	1473.31	3616.75	0	0	0	30.00	30.00	16.08
1682.30	1028	-130.56	-1.61	0.00	3898.4	3893.2	3903.5	1473.4	3616.8	271.92	-18.37	204	1689.16	0.00	0.00	3.38	0.000	0.000	0.053	3899.09	3894.00	3904.19	1473.94	2119.44	0	0	0	30.00	30.00	16.12
1858	end dive: TARGET_DEPTH_EXCEEDED
state	1858	begin apogee
1859.40	10243	0.00	-0.28	0.00	3898.4	3893.4	3903.4	1473.1	2182.0	300.46	-16.20	214	1971.34	102.28	2.11	0.10	1.221	0.171	0.191	3360.12	3411.38	3308.88	1782.06	2113.69	0	0	0	11.74	16.05	15.72
1973	end apogee: CONTROL_FINISHED_OK
state	1973	begin climb
1972.55	10243	130.56	1.69	0.00	3360.6	3411.4	3309.8	1781.9	2113.5	304.38	0.00	217	2090.79	105.73	3.16	0.00	1.243	0.106	0.000	2831.28	2895.94	2766.62	2258.88	2113.44	0	0	0	11.63	15.72	30.00
2398.14	20611	130.56	1.57	0.00	2820.9	2878.8	2763.1	2260.1	2113.8	252.59	14.56	232	2400.06	0.00	0.34	0.00	0.000	0.218	0.000	2819.50	2878.19	2760.81	2224.19	2113.19	0	0	0	30.00	15.73	30.00
2708.09	16646	130.56	1.57	80.00	2818.8	2876.4	2761.3	2224.4	2113.2	217.15	11.02	261	2715.56	0.00	0.00	3.64	0.000	0.000	0.108	2819.16	2876.81	2761.50	2224.25	3617.56	0	0	0	30.00	30.00	15.88
2754.12	21639	130.56	1.41	0.00	2817.5	2874.0	2761.1	2224.3	3619.1	211.66	12.11	270	2761.52	0.00	0.28	3.44	0.000	0.231	0.055	2816.91	2873.94	2759.88	2184.50	2118.88	0	0	0	30.00	15.84	15.91
3069.22	8354	143.55	1.48	0.00	2817.3	2874.4	2760.1	2183.9	2117.9	183.66	8.63	302	3081.73	10.93	0.00	0.00	0.987	0.000	0.000	2774.00	2833.69	2714.31	2182.88	2118.88	0	0	0	11.65	30.00	30.00
3389.30	10663	162.26	1.58	80.00	2773.8	2832.1	2715.4	2184.0	2117.9	156.42	8.02	334	3416.82	17.15	0.34	3.63	1.058	0.078	0.110	2699.12	2760.12	2638.12	2239.12	3615.56	0	0	0	11.68	15.98	15.88
3485.64	5253	162.26	1.41	0.00	2696.0	2754.8	2637.2	2238.9	3615.8	146.18	12.29	352	3496.72	0.00	0.46	3.43	0.000	0.228	0.055	2698.25	2756.88	2639.62	2184.44	2121.06	0	0	0	30.00	15.84	15.91
3804.56	10919	176.66	1.53	-80.00	2695.1	2753.4	2636.8	2184.4	2120.8	118.75	8.48	385	3827.52	13.30	0.28	3.56	0.989	0.085	0.120	2643.00	2704.19	2581.81	2229.12	682.06	0	0	0	11.64	15.97	15.90
3890.36	5253	176.66	1.42	0.00	2639.8	2700.0	2579.6	2229.4	682.1	108.22	12.41	402	3898.24	0.00	0.37	3.41	0.000	0.226	0.052	2639.56	2699.50	2579.62	2186.81	2175.75	0	0	0	30.00	15.87	15.95
4206.19	10919	219.54	1.61	-80.00	2638.2	2697.4	2579.1	2186.6	2176.8	84.09	5.47	434	4250.56	35.42	0.38	3.72	1.046	0.073	0.117	2468.03	2535.44	2400.62	2247.50	681.75	0	0	0	11.62	15.98	15.83
4479.23	9382	261.22	1.60	0.00	2461.4	2525.2	2397.7	2246.6	682.2	62.07	5.59	488	4523.00	33.28	0.00	3.40	1.011	0.000	0.052	2296.91	2374.19	2219.62	2247.31	2178.19	0	0	0	11.53	30.00	15.93
4828.60	10919	296.78	1.76	-80.00	2289.3	2359.9	2218.8	2247.2	2178.1	39.01	6.24	527	4866.60	27.81	0.16	3.70	0.977	0.102	0.119	2150.75	2232.88	2068.62	2284.00	680.88	0	0	0	11.57	15.93	15.82
5095.18	9254	321.96	1.79	0.00	2146.4	2224.1	2068.7	2284.1	680.9	19.10	7.34	580	5127.39	21.28	0.00	3.44	0.937	0.000	0.051	2049.25	2135.19	1963.31	2284.31	2177.25	0	0	0	11.65	30.00	15.94
5310.99	10919	383.18	2.00	-80.00	2043.3	2124.8	1961.9	2283.8	2176.4	11.00	3.53	623	5371.01	47.17	0.30	3.73	0.952	0.080	0.115	1799.75	1901.25	1698.25	2342.44	681.06	0	0	0	11.49	15.93	15.78
5374.62	11431	451.06	2.20	0.00	1797.3	1898.1	1696.5	2342.1	681.0	9.57	2.83	635	5438.66	51.20	0.22	3.42	0.930	0.088	0.048	1523.00	1634.31	1411.69	2391.25	2180.31	0	0	0	11.55	15.80	15.82
5557	end climb: SURFACE_DEPTH_REACHED
state	5557	begin surface coast
5587	end surface coast: CONTROL_FINISHED_OK
state	5588	begin surface