Glider dive log

AMOS Aug22 * SG241 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 241 FIX_MISSING_TIMEOUT 20 HEAD_ERRBAND 20 ALTIM_SENSITIVITY 2

MISSION 9 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 2 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_INT 0

STOP_T 0 SM_CC 692.53918 ROLL_ADJ_GAIN 1 XPDR_REP 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT -1.4

D_TGT 180 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1030 COMM_SEQ 7 C_VBD 3364 DEEPGLIDERMB 0

D_NO_BLEED 450 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 129 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 10 N_NOSURFACE 0 VBD_TIMEOUT 800 DEVICE3 -1

D_PITCH 2 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_SAFE 500 CALL_TRIES 3 UNCOM_BLEED 400 DEVICE5 -1

D_CALL 3 CALL_WAIT 45 VBD_MAXERRORS 2 DEVICE6 -1

SURFACE_URGENCY 15 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 7

SURFACE_URGENCY_TRY 15 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 100 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 30 T_GPS 3 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 60 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 100 T_RSLEEP 1 LOITER_W_DBAND 2 LOGGERDEVICE4 -1

T_ABORT 2880 STROBE 0 LOITER_DBDW 400 COMPASS_DEVICE 69

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 400 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 700 PHONE_DEVICE 33

T_NO_W 240 RAFOS_HIT_WINDOW 10800 LOITER_N_DIVE 0 GPS_DEVICE 48

T_LOITER 0 RAFOS_MMODEM 0 CF8_MAXERRORS 0 RAFOS_DEVICE 96

T_EPIRB 0 PITCH_MIN 210 AH0_24V 575 NAV_DEVICE 6

USE_BATHY 0 PITCH_MAX 3628 AH0_10V 0 NAV2_DEVICE 6

USE_ICE 1 C_PITCH 1847.5867 MINV_24V 0 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.07 PITCH_DBAND 0.1 MINV_10V 0 PRESSURE_DEVICE 37

D_OFFGRID 1000 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 17.296249 MAXI_10V 5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_10V 43.092503 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 50.007011 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.015 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 PRESSURE_YINT -189.60248 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 0 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 2

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 EXED pdoscmds

HD_B 0.0099999998 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 1 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MAX 3820 ALTIM_PING_DEPTH 0 SC_PROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_XMITPROFILE 3.0

ESCAPE_HEADING 180 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2148.4861 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 1000 NOCOMM_ACTION 129 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 2 N_DIVES 0 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 500 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 D_TGT 180 N_NOCOMM 0 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 180 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 2 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 EXED pdoscmds PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PHONE_SUPPLY 2 SM_CC 692.53918

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 43.092503 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 50.007011 PITCH_ADJ_GAIN 0.015 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 2 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 20 PITCH_DBAND 0.1 SURFACE_URGENCY 15

CALL_NDIVES 1 GLIDE_SLOPE 30 PITCH_GAIN 17.296249 SURFACE_URGENCY_FORCE 30

CALL_TRIES 3 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 15

CALL_WAIT 45 HD_A 0.003 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HD_B 0.0099999998 PITCH_MAX 3628 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HD_C 1.6e-05 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 0 HEADING -1 PITCH_MIN 210 T_ABORT 2880

COMM_SEQ 7 HEAD_ERRBAND 20 PITCH_TIMEOUT 40 T_BOOST 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.07 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 60

COMPASS_DEVICE 69 ID 241 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 49156 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 3

C_PITCH 1847.5867 INT_PRESSURE_YINT -1.4 PRESSURE_DEVICE 37 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 KALMAN_USE 2 PRESSURE_SLOPE 0.00022588584 T_MISSION 100

C_PITCH_AUTO_MAX 200 LOGGERDEVICE1 7 PRESSURE_YINT -189.60248 T_NO_W 240

C_ROLL_CLIMB 2148.4861 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 1

C_ROLL_DIVE 2150 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3364 LOGGERDEVICE4 -1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOGGERS 7 RAFOS_HIT_WINDOW 10800 UNCOM_BLEED 400

C_VBD_AUTO_MAX 100 LOITER_DBDW 400 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_D_BOTTOM 700 RAFOS_PEAK_OFFSET 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_D_TOP 400 RELAUNCH 1 USE_ICE 1

DEEPGLIDERMB 0 LOITER_N_DIVE 0 RHO 1.0257 VBD_CNV -0.24529999

DEVICE1 -1 LOITER_W_DBAND 2 ROLL_ADJ_DBAND 0.029999999 VBD_DBAND 2

DEVICE2 -1 MASS 72789 ROLL_ADJ_GAIN 1 VBD_LP_IGNORE 0

DEVICE3 -1 MAXI_10V 5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE4 -1 MAXI_24V 5 ROLL_DEG 80 VBD_MAXERRORS 2

DEVICE5 -1 MAX_BUOY 150 ROLL_MAX 3820 VBD_MIN 500

DEVICE6 -1 MINV_10V 0 ROLL_MAXERRORS 0 VBD_TIMEOUT 800

DIVE 2 MINV_24V 0 ROLL_MIN 215 W_ADJ_DBAND 0

D_ABORT 1030 MISSION 9 ROLL_TIMEOUT 30 XPDR_DEVICE -1

D_BOOST 0 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 3 NAV2_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_FINISH 10 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FLARE 3 NAV_MODE 0 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 450 NETWORK_DEVICE 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 220822,201706,7435.990,-14532.229,23,1.5,25,16.1 TGT_RADIUS 4000.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.95 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220822,202143,7436.001,-14532.307,4,1.4,7,16.1 MHEAD_RNG_PITCHd_Wd 59.9,93040,-17.6,-10.000,-21.23,2209,0.142

SPEED_LIMITS 0.173,0.257 D_GRID 180

TGT_NAME IGBH IRON 1.000000,-0.014647,0.011516,-0.009792,1.097700,0.010681,0.037311,-0.056866,0.857331,506.888397,-1504.940674,-138.967773

TGT_LATLONG 7448.192,-14226.389

Post-dive calculations and measurements:

MODEM_MSG CACST,8,0,20220822203606.223922,18,1988,32,0356,0000,246,03,03,00,03,1,025,121,0,5,1,0,150,4.5,12.18,-100,-9.18,-01,-0.40,66,925,0025,0,1,00,00*32 _24V_AH 14.76,16.063

NAV 1661200825,179.1,4,stop _10V_AH 14.97,0.000

FREEZE 1.22,-0.752,-1.374,2,1,0 FG_AHR_24Vo 50.280

FINISH 1.2,1.020264 FG_AHR_10Vo 43.118

SM_CCo 4476.97,0.00,0.000,0,497.6,566.6,428.6,703.14 MEM0 60052,1,0,0

SM_GC 2.65,0.00,14.62,3.57,0.000,0.111,0.077,497.6,566.6,428.6,199.8,2130.2,0,0,0,30.00,15.58,15.63 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 979800,30,66328,92

IRIDIUM_FIX 7438.69,-14547.06,220822,201819 DATA_FILE_SIZE 9743,375

TCM_TEMP 3.54 CAP_FILE_SIZE 175965,0

SC_FREEKB 3878144 SDSIZE 3887104,3871456

RAFOS_CLK -7 SDFILEDIR 58,1

MODEM 2,1661199054,75.22370,-146.73190,54.065,79205.6 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 7435.077148,-14536.274414,220822,202006,4,255,3.01 SOUNDSPEED 1465.0

HUMID 53.62 MAGCAL 1.000000,-0.006565,-0.104721,0.020856,1.072328,-0.097229,0.023172,-0.049768,0.866632,620.2,-1408.8,-157.0,36,0.1131,1

TEMP 1.30 GPS 220822,213901,7436.073,-14530.739,94,0.8,95,16.1

INTERNAL_PRESSURE 7.78916

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 882 1485 19357.23 nil 0 0 0.00

Pitch_motor 31 320 149.99 nil 0 0 0.00

Roll_motor 51 265 202.10 nil 0 0 0.00

Iridium 161 203 484.77 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 16 15 3.72 nil 0 0 0.00

Core 1938 5 148.59 SciCon 4449 6 420.19

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2791 0 13.37

Compass 670 5 50.17

RAFOS 1388 40 831.14

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

6.60 16386 -146.24 -1.20 0.00 496.4 555.2 437.6 201.0 2172.3 0.00 0.00 0 70.90 61.17 0.00 0.00 0.005 0.000 0.000 1587.53 1475.00 1700.06 201.00 2172.75 0 0 0 15.83 30.00 30.00

71.29 18983 -146.24 -1.20 -80.00 1588.6 1478.1 1699.0 201.1 2172.7 3.20 -4.36 6 152.02 55.15 11.18 3.81 0.005 0.321 0.138 3962.59 3921.12 4004.06 1555.00 682.25 0 0 0 15.85 15.59 15.73

234.45 3205 -146.24 -1.06 0.00 3962.4 3938.6 3986.2 1554.0 682.1 56.61 -25.89 38 241.14 0.00 0.24 3.52 0.000 0.231 0.071 3962.81 3939.06 3986.56 1588.31 2168.81 0 0 0 30.00 15.67 15.79

615.32 388 -146.24 -1.01 80.00 3962.1 3944.0 3980.1 1587.8 2168.9 118.76 -14.98 54 622.38 0.00 0.00 3.63 0.000 0.000 0.136 3962.38 3944.12 3980.62 1588.50 3613.56 0 0 0 30.00 30.00 15.80

654.91 3205 -146.24 -0.94 0.04 3962.1 3944.1 3980.1 1588.1 3615.4 125.42 -16.82 62 661.87 0.00 0.22 3.53 0.000 0.216 0.075 3962.56 3944.81 3980.31 1619.69 2127.88 0 0 0 30.00 15.73 15.84

1030.63 260 -146.24 -0.94 80.00 3961.9 3945.4 3978.5 1619.4 2127.0 172.40 -12.24 77 1037.82 0.00 0.00 3.76 0.000 0.000 0.137 3961.75 3945.75 3977.75 1619.62 3615.06 0 0 0 30.00 30.00 15.81

1040.27 1028 -146.24 -0.94 0.16 3962.4 3946.4 3978.4 1619.1 3614.5 173.68 -12.28 79 1047.09 0.00 0.00 3.51 0.000 0.000 0.072 3962.97 3946.06 3979.88 1619.06 2127.38 0 0 0 30.00 30.00 15.86

1116 end dive: TARGET_DEPTH_EXCEEDED

state 1116 begin apogee

1117.40 10243 0.00 -0.29 0.00 3962.4 3946.5 3978.3 1618.8 2167.8 182.68 -11.82 84 1242.52 115.06 1.12 0.08 1.486 0.184 0.265 3365.47 3415.56 3315.38 1776.06 2126.69 0 0 0 10.91 15.80 15.37

1244 end apogee: CONTROL_FINISHED_OK

state 1244 begin climb

1243.68 11271 146.24 1.20 0.00 3361.8 3412.0 3311.7 1777.1 2126.6 189.04 0.00 88 1370.73 115.62 2.57 0.06 1.358 0.151 0.183 2766.00 2836.44 2695.56 2136.88 2166.50 0 0 0 10.89 15.41 15.44

1753.54 8614 224.54 1.21 80.00 2755.2 2817.1 2693.2 2137.1 2165.9 160.02 6.36 125 1825.22 62.19 0.00 3.79 1.348 0.000 0.146 2447.06 2521.06 2373.06 2137.00 3611.19 0 0 0 10.91 30.00 15.41

1847.81 9382 253.30 1.16 0.07 2443.2 2514.4 2372.1 2137.9 3610.8 153.12 8.66 142 1880.89 24.53 0.00 3.61 1.260 0.000 0.076 2329.75 2407.88 2251.62 2138.94 2127.38 0 0 0 10.97 30.00 15.52

2244.13 8742 290.98 1.21 -80.00 2321.2 2392.8 2249.8 2138.4 2127.2 117.53 8.25 161 2282.91 30.78 0.00 3.75 1.292 0.000 0.151 2178.03 2260.62 2095.44 2138.62 682.75 0 0 0 10.99 30.00 15.55

2335.42 9254 297.79 1.22 -0.06 2173.6 2254.4 2092.7 2138.6 683.1 109.29 9.68 179 2351.77 7.68 0.00 3.59 1.008 0.000 0.073 2148.94 2231.12 2066.75 2137.94 2163.25 0 0 0 11.05 30.00 15.66

2721.27 10403 364.21 1.34 -0.06 2143.5 2221.8 2065.2 2138.2 2162.9 80.27 6.92 196 2779.56 54.34 0.22 0.00 1.284 0.113 0.000 1879.12 1978.81 1779.44 2175.94 2163.69 0 0 0 11.21 15.78 30.00

3142.83 10919 447.98 1.51 -80.00 1869.4 1961.0 1777.9 2175.9 2163.2 50.43 6.11 210 3229.20 76.04 0.23 3.91 1.246 0.118 0.150 1536.91 1648.50 1425.31 2215.25 683.00 0 0 0 10.96 15.77 15.45

3281.80 11431 500.96 1.63 -0.17 1533.1 1642.0 1424.2 2215.6 683.3 40.53 7.54 237 3345.50 52.21 0.15 3.61 1.189 0.128 0.074 1321.28 1436.88 1205.69 2245.50 2164.06 0 0 0 11.10 15.56 15.58

3713.83 10403 665.05 1.94 -0.17 1312.7 1419.6 1205.9 2245.2 2163.5 26.72 2.38 273 3907.28 181.84 0.47 0.00 1.172 0.112 0.000 653.12 739.31 566.94 2320.69 2163.69 0 0 0 10.99 15.69 30.00

4210.56 10663 849.93 2.36 80.00 648.3 730.1 566.4 2320.4 2163.8 10.08 1.41 330 4266.27 45.98 0.65 3.80 1.150 0.131 0.145 500.28 571.88 428.69 2418.00 3611.00 0 0 0 11.03 15.61 15.42

4426 end climb: SURFACE_DEPTH_REACHED

state 4426 begin surface coast

4442 end surface coast: CONTROL_FINISHED_OK

state 4442 begin surface

ID	241	FIX_MISSING_TIMEOUT	20	HEAD_ERRBAND	20	ALTIM_SENSITIVITY	2
MISSION	9	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	2	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	30	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_INT	0
STOP_T	0	SM_CC	692.53918	ROLL_ADJ_GAIN	1	XPDR_REP	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	-1.4
D_TGT	180	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1030	COMM_SEQ	7	C_VBD	3364	DEEPGLIDERMB	0
D_NO_BLEED	450	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	129	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	10	N_NOSURFACE	0	VBD_TIMEOUT	800	DEVICE3	-1
D_PITCH	2	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_SAFE	500	CALL_TRIES	3	UNCOM_BLEED	400	DEVICE5	-1
D_CALL	3	CALL_WAIT	45	VBD_MAXERRORS	2	DEVICE6	-1
SURFACE_URGENCY	15	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	7
SURFACE_URGENCY_TRY	15	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	100	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	30	T_GPS	3	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	60	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	100	T_RSLEEP	1	LOITER_W_DBAND	2	LOGGERDEVICE4	-1
T_ABORT	2880	STROBE	0	LOITER_DBDW	400	COMPASS_DEVICE	69
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	400	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	700	PHONE_DEVICE	33
T_NO_W	240	RAFOS_HIT_WINDOW	10800	LOITER_N_DIVE	0	GPS_DEVICE	48
T_LOITER	0	RAFOS_MMODEM	0	CF8_MAXERRORS	0	RAFOS_DEVICE	96
T_EPIRB	0	PITCH_MIN	210	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	0	PITCH_MAX	3628	AH0_10V	0	NAV2_DEVICE	6
USE_ICE	1	C_PITCH	1847.5867	MINV_24V	0	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.07	PITCH_DBAND	0.1	MINV_10V	0	PRESSURE_DEVICE	37
D_OFFGRID	1000	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	17.296249	MAXI_10V	5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_10V	43.092503	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	50.007011	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.015	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-189.60248	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	0	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	2
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	EXED	pdoscmds
HD_B	0.0099999998	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	1	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MAX	3820	ALTIM_PING_DEPTH	0	SC_PROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_XMITPROFILE	3.0
ESCAPE_HEADING	180	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2148.4861	ALTIM_PULSE	3

GPS1	220822,201706,7435.990,-14532.229,23,1.5,25,16.1	TGT_RADIUS	4000.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.95	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220822,202143,7436.001,-14532.307,4,1.4,7,16.1	MHEAD_RNG_PITCHd_Wd	59.9,93040,-17.6,-10.000,-21.23,2209,0.142
SPEED_LIMITS	0.173,0.257	D_GRID	180
TGT_NAME	IGBH	IRON	1.000000,-0.014647,0.011516,-0.009792,1.097700,0.010681,0.037311,-0.056866,0.857331,506.888397,-1504.940674,-138.967773
TGT_LATLONG	7448.192,-14226.389

MODEM_MSG	CACST,8,0,20220822203606.223922,18,1988,32,0356,0000,246,03,03,00,03,1,025,121,0,5,1,0,150,4.5,12.18,-100,-9.18,-01,-0.40,66,925,0025,0,1,00,00*32	_24V_AH	14.76,16.063
NAV	1661200825,179.1,4,stop	_10V_AH	14.97,0.000
FREEZE	1.22,-0.752,-1.374,2,1,0	FG_AHR_24Vo	50.280
FINISH	1.2,1.020264	FG_AHR_10Vo	43.118
SM_CCo	4476.97,0.00,0.000,0,497.6,566.6,428.6,703.14	MEM0	60052,1,0,0
SM_GC	2.65,0.00,14.62,3.57,0.000,0.111,0.077,497.6,566.6,428.6,199.8,2130.2,0,0,0,30.00,15.58,15.63	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	979800,30,66328,92
IRIDIUM_FIX	7438.69,-14547.06,220822,201819	DATA_FILE_SIZE	9743,375
TCM_TEMP	3.54	CAP_FILE_SIZE	175965,0
SC_FREEKB	3878144	SDSIZE	3887104,3871456
RAFOS_CLK	-7	SDFILEDIR	58,1
MODEM	2,1661199054,75.22370,-146.73190,54.065,79205.6	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	7435.077148,-14536.274414,220822,202006,4,255,3.01	SOUNDSPEED	1465.0
HUMID	53.62	MAGCAL	1.000000,-0.006565,-0.104721,0.020856,1.072328,-0.097229,0.023172,-0.049768,0.866632,620.2,-1408.8,-157.0,36,0.1131,1
TEMP	1.30	GPS	220822,213901,7436.073,-14530.739,94,0.8,95,16.1
INTERNAL_PRESSURE	7.78916

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	882	1485	19357.23	nil	0	0	0.00
Pitch_motor	31	320	149.99	nil	0	0	0.00
Roll_motor	51	265	202.10	nil	0	0	0.00
Iridium	161	203	484.77	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	16	15	3.72	nil	0	0	0.00
Core	1938	5	148.59	SciCon	4449	6	420.19
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2791	0	13.37
Compass	670	5	50.17
RAFOS	1388	40	831.14
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
6.60	16386	-146.24	-1.20	0.00	496.4	555.2	437.6	201.0	2172.3	0.00	0.00	0	70.90	61.17	0.00	0.00	0.005	0.000	0.000	1587.53	1475.00	1700.06	201.00	2172.75	0	0	0	15.83	30.00	30.00
71.29	18983	-146.24	-1.20	-80.00	1588.6	1478.1	1699.0	201.1	2172.7	3.20	-4.36	6	152.02	55.15	11.18	3.81	0.005	0.321	0.138	3962.59	3921.12	4004.06	1555.00	682.25	0	0	0	15.85	15.59	15.73
234.45	3205	-146.24	-1.06	0.00	3962.4	3938.6	3986.2	1554.0	682.1	56.61	-25.89	38	241.14	0.00	0.24	3.52	0.000	0.231	0.071	3962.81	3939.06	3986.56	1588.31	2168.81	0	0	0	30.00	15.67	15.79
615.32	388	-146.24	-1.01	80.00	3962.1	3944.0	3980.1	1587.8	2168.9	118.76	-14.98	54	622.38	0.00	0.00	3.63	0.000	0.000	0.136	3962.38	3944.12	3980.62	1588.50	3613.56	0	0	0	30.00	30.00	15.80
654.91	3205	-146.24	-0.94	0.04	3962.1	3944.1	3980.1	1588.1	3615.4	125.42	-16.82	62	661.87	0.00	0.22	3.53	0.000	0.216	0.075	3962.56	3944.81	3980.31	1619.69	2127.88	0	0	0	30.00	15.73	15.84
1030.63	260	-146.24	-0.94	80.00	3961.9	3945.4	3978.5	1619.4	2127.0	172.40	-12.24	77	1037.82	0.00	0.00	3.76	0.000	0.000	0.137	3961.75	3945.75	3977.75	1619.62	3615.06	0	0	0	30.00	30.00	15.81
1040.27	1028	-146.24	-0.94	0.16	3962.4	3946.4	3978.4	1619.1	3614.5	173.68	-12.28	79	1047.09	0.00	0.00	3.51	0.000	0.000	0.072	3962.97	3946.06	3979.88	1619.06	2127.38	0	0	0	30.00	30.00	15.86
1116	end dive: TARGET_DEPTH_EXCEEDED
state	1116	begin apogee
1117.40	10243	0.00	-0.29	0.00	3962.4	3946.5	3978.3	1618.8	2167.8	182.68	-11.82	84	1242.52	115.06	1.12	0.08	1.486	0.184	0.265	3365.47	3415.56	3315.38	1776.06	2126.69	0	0	0	10.91	15.80	15.37
1244	end apogee: CONTROL_FINISHED_OK
state	1244	begin climb
1243.68	11271	146.24	1.20	0.00	3361.8	3412.0	3311.7	1777.1	2126.6	189.04	0.00	88	1370.73	115.62	2.57	0.06	1.358	0.151	0.183	2766.00	2836.44	2695.56	2136.88	2166.50	0	0	0	10.89	15.41	15.44
1753.54	8614	224.54	1.21	80.00	2755.2	2817.1	2693.2	2137.1	2165.9	160.02	6.36	125	1825.22	62.19	0.00	3.79	1.348	0.000	0.146	2447.06	2521.06	2373.06	2137.00	3611.19	0	0	0	10.91	30.00	15.41
1847.81	9382	253.30	1.16	0.07	2443.2	2514.4	2372.1	2137.9	3610.8	153.12	8.66	142	1880.89	24.53	0.00	3.61	1.260	0.000	0.076	2329.75	2407.88	2251.62	2138.94	2127.38	0	0	0	10.97	30.00	15.52
2244.13	8742	290.98	1.21	-80.00	2321.2	2392.8	2249.8	2138.4	2127.2	117.53	8.25	161	2282.91	30.78	0.00	3.75	1.292	0.000	0.151	2178.03	2260.62	2095.44	2138.62	682.75	0	0	0	10.99	30.00	15.55
2335.42	9254	297.79	1.22	-0.06	2173.6	2254.4	2092.7	2138.6	683.1	109.29	9.68	179	2351.77	7.68	0.00	3.59	1.008	0.000	0.073	2148.94	2231.12	2066.75	2137.94	2163.25	0	0	0	11.05	30.00	15.66
2721.27	10403	364.21	1.34	-0.06	2143.5	2221.8	2065.2	2138.2	2162.9	80.27	6.92	196	2779.56	54.34	0.22	0.00	1.284	0.113	0.000	1879.12	1978.81	1779.44	2175.94	2163.69	0	0	0	11.21	15.78	30.00
3142.83	10919	447.98	1.51	-80.00	1869.4	1961.0	1777.9	2175.9	2163.2	50.43	6.11	210	3229.20	76.04	0.23	3.91	1.246	0.118	0.150	1536.91	1648.50	1425.31	2215.25	683.00	0	0	0	10.96	15.77	15.45
3281.80	11431	500.96	1.63	-0.17	1533.1	1642.0	1424.2	2215.6	683.3	40.53	7.54	237	3345.50	52.21	0.15	3.61	1.189	0.128	0.074	1321.28	1436.88	1205.69	2245.50	2164.06	0	0	0	11.10	15.56	15.58
3713.83	10403	665.05	1.94	-0.17	1312.7	1419.6	1205.9	2245.2	2163.5	26.72	2.38	273	3907.28	181.84	0.47	0.00	1.172	0.112	0.000	653.12	739.31	566.94	2320.69	2163.69	0	0	0	10.99	15.69	30.00
4210.56	10663	849.93	2.36	80.00	648.3	730.1	566.4	2320.4	2163.8	10.08	1.41	330	4266.27	45.98	0.65	3.80	1.150	0.131	0.145	500.28	571.88	428.69	2418.00	3611.00	0	0	0	11.03	15.61	15.42
4426	end climb: SURFACE_DEPTH_REACHED
state	4426	begin surface coast
4442	end surface coast: CONTROL_FINISHED_OK
state	4442	begin surface