Glider dive log

AMOS Jul22 * SG242 * Dive index * Mission links * Dive 28 * 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 28 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 150 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 180 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 50 STROBE 0 LOITER_D_BOTTOM 0 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 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 1688.1064 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 21.80249 SEABIRD_T_I 2.4999999e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 16.240986 FG_AHR_24V 8.4517841 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 10 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 150 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 21.80249 PITCH_CNV 0.0041299998 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FG_AHR_24V 8.4517841 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 16.240986 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 10 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 50

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 1688.1064 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 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 28 NAV2_DEVICE 6 ROLL_MAX 3800 W_ADJ_DBAND 0

D_ABORT 180 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 140722,071000,4718.728,-12523.419,3,1.4,31,15.8 TGT_RADIUS 1500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.65 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140722,071601,4718.685,-12523.451,2,0.8,4,15.8 MHEAD_RNG_PITCHd_Wd 329.7,2178,-17.6,-10.000,-21.24,2209,0.193

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME ans0 IRON 1.000000,0.024598,-0.001075,-0.002681,1.057742,-0.051851,0.011270,-0.041689,1.009950,771.831177,-865.940430,-659.763184

TGT_LATLONG 4719.800,-12524.000

Post-dive calculations and measurements:

NET CACST,8,0,20220714072008.882190,06,32767,45,0200,0150,07,01,01,00,01,1,027,242,0,5,1,0,150,20.4,6.45,-100,-3.45,-01,0.51,51,10000,5000,0,-1,00,00*51 _10V_AH 14.88,0.000

NET_PING 1657783211,27,582.049500,20.400000,0.227749 FG_AHR_24Vo 8.604

NAV 1657785541,37.6,start FG_AHR_10Vo 21.873

FINISH 0.4,1.010715 MEM0 60108,1,0,0

SM_CCo 3167.07,0.25,0.087,0,499.4,561.1,437.8,586.40 MEM1 65508,1,0,0

SM_GC 2.40,0.25,11.93,0.09,0.087,0.045,0.138,499.4,561.1,437.8,197.9,2039.1,0,0,0,15.58,15.49,15.51 MEM2 966208,25,80480,69

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12958,467

IRIDIUM_FIX 4718.38,-12522.67,140722,071125 CAP_FILE_SIZE 172911,0

TCM_TEMP 14.60 SDSIZE 3887104,3861568

SC_FREEKB 3869824 SDFILEDIR 283,1

PM_FREEKB_00 60710656 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 1 CURRENT 0.021,155.7,1

RAFOS_FIX 4747.590820,-12427.612305,140722,060600,2,510,10420.27 MAGCAL 1.000000,0.018388,0.064971,-0.008048,1.065863,-0.059039,-0.006293,-0.041239,1.005851,692.6,-869.9,-646.8,19,0.0295,0

HUMID 51.49 IMPLIED_C_PITCH 1691,16.19,218,1689.6,16.21

TEMP 11.24 IMPLIED_C_VBD 3050,66.183502,164,0

INTERNAL_PRESSURE 7.76619 GPS 140722,081007,4718.989,-12523.466,1,0.8,4,15.8

_24V_AH 14.85,8.682

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 631 1113 10441.83 nil 0 0 0.00

Pitch_motor 25 265 101.86 nil 0 0 0.00

Roll_motor 70 175 184.62 nil 0 0 0.00

Iridium 219 215 704.18 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.06 nil 0 0 0.00

Core 2228 5 169.76 SciCon 3149 6 323.60

Fast 0 0 0.00 PMAR 3158 12 602.05

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1281 0 6.10

Compass 958 5 71.32

RAFOS 2419 40 1440.12

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

12.58 16386 -145.99 -1.27 0.00 494.6 548.8 440.3 199.1 2042.2 0.00 0.00 0 72.89 55.74 0.00 0.00 0.005 0.000 0.000 1854.09 1884.94 1823.25 199.31 2043.50 0 0 0 15.69 30.00 30.00

73.32 18983 -145.99 -1.27 -80.00 1855.0 1887.2 1822.8 199.3 2042.9 3.00 -2.73 11 143.46 43.56 9.37 3.73 0.005 0.265 0.122 3485.06 3519.50 3450.62 1381.12 532.06 0 0 0 15.71 15.56 15.64

146.84 1028 -145.99 -1.27 0.00 3485.4 3520.3 3450.5 1381.2 531.6 16.99 -24.58 24 154.05 0.00 0.00 3.43 0.000 0.000 0.051 3486.50 3521.56 3451.44 1380.94 2029.75 0 0 0 30.00 30.00 15.69

336.01 260 -145.99 -1.27 80.00 3487.3 3523.8 3450.8 1381.4 2030.2 52.45 -18.19 60 343.99 0.00 0.00 3.51 0.000 0.000 0.110 3487.00 3523.75 3450.25 1380.81 3467.94 0 0 0 30.00 30.00 15.70

382.48 1028 -145.99 -1.27 0.00 3487.0 3523.9 3450.1 1381.1 3467.6 60.75 -17.41 69 390.37 0.00 0.00 3.42 0.000 0.000 0.056 3488.12 3524.69 3451.56 1380.25 1973.75 0 0 0 30.00 30.00 15.73

577.50 260 -145.99 -1.27 80.00 3487.5 3524.5 3450.6 1381.2 1973.2 91.03 -13.67 89 585.52 0.00 0.00 3.64 0.000 0.000 0.107 3487.19 3524.81 3449.56 1381.19 3468.69 0 0 0 30.00 30.00 15.74

658.43 1028 -145.99 -1.27 0.00 3488.5 3527.1 3449.9 1381.2 3469.6 102.93 -14.09 105 666.60 0.00 0.00 3.42 0.000 0.000 0.056 3488.75 3526.88 3450.62 1381.19 1971.31 0 0 0 30.00 30.00 15.78

854.03 260 -145.99 -1.27 80.00 3489.1 3527.5 3450.8 1381.2 1971.1 124.27 -11.00 125 862.07 0.00 0.00 3.62 0.000 0.000 0.108 3490.00 3528.62 3451.38 1381.56 3468.75 0 0 0 30.00 30.00 15.77

890.55 1028 -145.99 -1.27 0.00 3489.3 3527.6 3451.0 1381.6 3468.6 128.58 -11.89 132 898.44 0.00 0.00 3.41 0.000 0.000 0.055 3488.28 3526.69 3449.88 1381.06 1970.94 0 0 0 30.00 30.00 15.79

1085 end dive: TARGET_DEPTH_EXCEEDED

state 1085 begin apogee

1087.25 10243 0.00 -0.31 0.00 3489.7 3529.0 3450.3 1381.8 2037.7 150.50 -11.45 152 1205.44 105.10 1.59 0.12 1.114 0.140 0.176 2889.78 2979.62 2799.94 1615.75 1963.31 0 0 0 11.77 15.78 15.43

1207 end apogee: CONTROL_FINISHED_OK

state 1207 begin climb

1207.85 10759 145.99 1.27 -80.00 2886.7 2976.8 2796.6 1616.4 1963.9 154.28 0.00 163 1337.51 106.05 2.50 3.65 1.083 0.091 0.127 2292.47 2389.19 2195.75 1999.19 532.88 0 0 0 11.50 15.45 15.26

1422.49 17414 145.99 1.27 0.00 2284.1 2375.7 2192.6 1998.7 532.6 137.01 13.94 202 1430.95 0.00 0.00 3.47 0.000 0.000 0.050 2285.00 2376.69 2193.31 1997.88 2028.00 0 0 0 30.00 30.00 15.48

1618.26 8486 152.83 1.27 80.00 2283.0 2375.1 2190.8 1999.2 2028.2 116.64 9.68 222 1632.70 6.16 0.00 3.50 0.726 0.000 0.114 2263.34 2357.06 2169.62 1999.50 3466.44 0 0 0 11.53 30.00 15.58

1710.47 1028 152.83 1.27 0.00 2265.3 2359.1 2171.5 1999.2 3465.4 106.31 11.05 240 1718.99 0.00 0.00 3.43 0.000 0.000 0.057 2266.75 2360.31 2173.19 1998.88 1971.00 0 0 0 30.00 30.00 15.65

1906.31 10791 273.35 1.42 -80.00 2263.6 2357.8 2169.4 1999.1 1970.9 94.42 4.39 260 2015.75 86.51 0.21 3.59 1.043 0.075 0.128 1772.69 1875.38 1670.00 2051.69 533.25 0 0 0 11.71 15.74 15.42

2039.49 1028 273.35 1.42 0.00 1768.3 1868.4 1668.2 2051.0 532.8 83.46 12.47 279 2047.59 0.00 0.00 3.45 0.000 0.000 0.051 1766.78 1867.81 1665.75 2050.94 2028.00 0 0 0 30.00 30.00 15.54

2234.57 8486 299.64 1.45 80.00 1765.2 1868.1 1662.4 2051.6 2028.9 63.53 8.78 299 2263.35 19.77 0.00 3.55 0.969 0.000 0.115 1667.53 1768.56 1566.50 2052.31 3467.19 0 0 0 11.71 30.00 15.61

2326.88 1028 299.64 1.45 0.00 1664.6 1763.1 1566.1 2051.0 3466.1 54.54 10.13 317 2334.97 0.00 0.00 3.44 0.000 0.000 0.057 1663.62 1761.94 1565.31 2051.38 1971.50 0 0 0 30.00 30.00 15.69

2516.97 8742 362.79 1.53 -80.00 1663.1 1761.4 1564.7 2051.5 1970.8 39.42 7.06 350 2577.27 46.37 0.00 3.60 0.988 0.000 0.129 1409.06 1506.62 1311.50 2051.69 534.12 0 0 0 11.69 30.00 15.58

2644.05 1028 362.79 1.53 0.00 1404.6 1501.2 1307.9 2051.5 534.2 27.07 11.87 372 2651.86 0.00 0.00 3.45 0.000 0.000 0.052 1404.53 1501.00 1308.06 2051.62 2030.50 0 0 0 30.00 30.00 15.64

2835.39 10535 497.34 1.70 80.00 1401.6 1500.8 1302.4 2051.4 2029.4 16.07 3.74 410 2947.61 96.86 0.28 3.59 0.962 0.066 0.113 861.50 949.44 773.56 2112.50 3468.06 0 0 0 11.82 15.72 15.42

3006.21 9254 596.62 1.82 0.00 858.2 943.5 772.9 2112.1 3467.9 7.80 5.38 442 3084.28 64.82 0.00 3.48 0.929 0.000 0.057 500.09 561.75 438.44 2112.62 1974.12 0 0 0 11.72 30.00 15.54

3102 end climb: SURFACE_DEPTH_REACHED

state 3102 begin surface coast

3137 end surface coast: CONTROL_FINISHED_OK

state 3137 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	28	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	150	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	180	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	50	STROBE	0	LOITER_D_BOTTOM	0	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	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	1688.1064	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	21.80249	SEABIRD_T_I	2.4999999e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	16.240986	FG_AHR_24V	8.4517841	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	10	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	140722,071000,4718.728,-12523.419,3,1.4,31,15.8	TGT_RADIUS	1500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.65	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140722,071601,4718.685,-12523.451,2,0.8,4,15.8	MHEAD_RNG_PITCHd_Wd	329.7,2178,-17.6,-10.000,-21.24,2209,0.193
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	ans0	IRON	1.000000,0.024598,-0.001075,-0.002681,1.057742,-0.051851,0.011270,-0.041689,1.009950,771.831177,-865.940430,-659.763184
TGT_LATLONG	4719.800,-12524.000

NET	CACST,8,0,20220714072008.882190,06,32767,45,0200,0150,07,01,01,00,01,1,027,242,0,5,1,0,150,20.4,6.45,-100,-3.45,-01,0.51,51,10000,5000,0,-1,00,00*51	_10V_AH	14.88,0.000
NET_PING	1657783211,27,582.049500,20.400000,0.227749	FG_AHR_24Vo	8.604
NAV	1657785541,37.6,start	FG_AHR_10Vo	21.873
FINISH	0.4,1.010715	MEM0	60108,1,0,0
SM_CCo	3167.07,0.25,0.087,0,499.4,561.1,437.8,586.40	MEM1	65508,1,0,0
SM_GC	2.40,0.25,11.93,0.09,0.087,0.045,0.138,499.4,561.1,437.8,197.9,2039.1,0,0,0,15.58,15.49,15.51	MEM2	966208,25,80480,69
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12958,467
IRIDIUM_FIX	4718.38,-12522.67,140722,071125	CAP_FILE_SIZE	172911,0
TCM_TEMP	14.60	SDSIZE	3887104,3861568
SC_FREEKB	3869824	SDFILEDIR	283,1
PM_FREEKB_00	60710656	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	1	CURRENT	0.021,155.7,1
RAFOS_FIX	4747.590820,-12427.612305,140722,060600,2,510,10420.27	MAGCAL	1.000000,0.018388,0.064971,-0.008048,1.065863,-0.059039,-0.006293,-0.041239,1.005851,692.6,-869.9,-646.8,19,0.0295,0
HUMID	51.49	IMPLIED_C_PITCH	1691,16.19,218,1689.6,16.21
TEMP	11.24	IMPLIED_C_VBD	3050,66.183502,164,0
INTERNAL_PRESSURE	7.76619	GPS	140722,081007,4718.989,-12523.466,1,0.8,4,15.8
_24V_AH	14.85,8.682

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	631	1113	10441.83	nil	0	0	0.00
Pitch_motor	25	265	101.86	nil	0	0	0.00
Roll_motor	70	175	184.62	nil	0	0	0.00
Iridium	219	215	704.18	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.06	nil	0	0	0.00
Core	2228	5	169.76	SciCon	3149	6	323.60
Fast	0	0	0.00	PMAR	3158	12	602.05
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1281	0	6.10
Compass	958	5	71.32
RAFOS	2419	40	1440.12
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
12.58	16386	-145.99	-1.27	0.00	494.6	548.8	440.3	199.1	2042.2	0.00	0.00	0	72.89	55.74	0.00	0.00	0.005	0.000	0.000	1854.09	1884.94	1823.25	199.31	2043.50	0	0	0	15.69	30.00	30.00
73.32	18983	-145.99	-1.27	-80.00	1855.0	1887.2	1822.8	199.3	2042.9	3.00	-2.73	11	143.46	43.56	9.37	3.73	0.005	0.265	0.122	3485.06	3519.50	3450.62	1381.12	532.06	0	0	0	15.71	15.56	15.64
146.84	1028	-145.99	-1.27	0.00	3485.4	3520.3	3450.5	1381.2	531.6	16.99	-24.58	24	154.05	0.00	0.00	3.43	0.000	0.000	0.051	3486.50	3521.56	3451.44	1380.94	2029.75	0	0	0	30.00	30.00	15.69
336.01	260	-145.99	-1.27	80.00	3487.3	3523.8	3450.8	1381.4	2030.2	52.45	-18.19	60	343.99	0.00	0.00	3.51	0.000	0.000	0.110	3487.00	3523.75	3450.25	1380.81	3467.94	0	0	0	30.00	30.00	15.70
382.48	1028	-145.99	-1.27	0.00	3487.0	3523.9	3450.1	1381.1	3467.6	60.75	-17.41	69	390.37	0.00	0.00	3.42	0.000	0.000	0.056	3488.12	3524.69	3451.56	1380.25	1973.75	0	0	0	30.00	30.00	15.73
577.50	260	-145.99	-1.27	80.00	3487.5	3524.5	3450.6	1381.2	1973.2	91.03	-13.67	89	585.52	0.00	0.00	3.64	0.000	0.000	0.107	3487.19	3524.81	3449.56	1381.19	3468.69	0	0	0	30.00	30.00	15.74
658.43	1028	-145.99	-1.27	0.00	3488.5	3527.1	3449.9	1381.2	3469.6	102.93	-14.09	105	666.60	0.00	0.00	3.42	0.000	0.000	0.056	3488.75	3526.88	3450.62	1381.19	1971.31	0	0	0	30.00	30.00	15.78
854.03	260	-145.99	-1.27	80.00	3489.1	3527.5	3450.8	1381.2	1971.1	124.27	-11.00	125	862.07	0.00	0.00	3.62	0.000	0.000	0.108	3490.00	3528.62	3451.38	1381.56	3468.75	0	0	0	30.00	30.00	15.77
890.55	1028	-145.99	-1.27	0.00	3489.3	3527.6	3451.0	1381.6	3468.6	128.58	-11.89	132	898.44	0.00	0.00	3.41	0.000	0.000	0.055	3488.28	3526.69	3449.88	1381.06	1970.94	0	0	0	30.00	30.00	15.79
1085	end dive: TARGET_DEPTH_EXCEEDED
state	1085	begin apogee
1087.25	10243	0.00	-0.31	0.00	3489.7	3529.0	3450.3	1381.8	2037.7	150.50	-11.45	152	1205.44	105.10	1.59	0.12	1.114	0.140	0.176	2889.78	2979.62	2799.94	1615.75	1963.31	0	0	0	11.77	15.78	15.43
1207	end apogee: CONTROL_FINISHED_OK
state	1207	begin climb
1207.85	10759	145.99	1.27	-80.00	2886.7	2976.8	2796.6	1616.4	1963.9	154.28	0.00	163	1337.51	106.05	2.50	3.65	1.083	0.091	0.127	2292.47	2389.19	2195.75	1999.19	532.88	0	0	0	11.50	15.45	15.26
1422.49	17414	145.99	1.27	0.00	2284.1	2375.7	2192.6	1998.7	532.6	137.01	13.94	202	1430.95	0.00	0.00	3.47	0.000	0.000	0.050	2285.00	2376.69	2193.31	1997.88	2028.00	0	0	0	30.00	30.00	15.48
1618.26	8486	152.83	1.27	80.00	2283.0	2375.1	2190.8	1999.2	2028.2	116.64	9.68	222	1632.70	6.16	0.00	3.50	0.726	0.000	0.114	2263.34	2357.06	2169.62	1999.50	3466.44	0	0	0	11.53	30.00	15.58
1710.47	1028	152.83	1.27	0.00	2265.3	2359.1	2171.5	1999.2	3465.4	106.31	11.05	240	1718.99	0.00	0.00	3.43	0.000	0.000	0.057	2266.75	2360.31	2173.19	1998.88	1971.00	0	0	0	30.00	30.00	15.65
1906.31	10791	273.35	1.42	-80.00	2263.6	2357.8	2169.4	1999.1	1970.9	94.42	4.39	260	2015.75	86.51	0.21	3.59	1.043	0.075	0.128	1772.69	1875.38	1670.00	2051.69	533.25	0	0	0	11.71	15.74	15.42
2039.49	1028	273.35	1.42	0.00	1768.3	1868.4	1668.2	2051.0	532.8	83.46	12.47	279	2047.59	0.00	0.00	3.45	0.000	0.000	0.051	1766.78	1867.81	1665.75	2050.94	2028.00	0	0	0	30.00	30.00	15.54
2234.57	8486	299.64	1.45	80.00	1765.2	1868.1	1662.4	2051.6	2028.9	63.53	8.78	299	2263.35	19.77	0.00	3.55	0.969	0.000	0.115	1667.53	1768.56	1566.50	2052.31	3467.19	0	0	0	11.71	30.00	15.61
2326.88	1028	299.64	1.45	0.00	1664.6	1763.1	1566.1	2051.0	3466.1	54.54	10.13	317	2334.97	0.00	0.00	3.44	0.000	0.000	0.057	1663.62	1761.94	1565.31	2051.38	1971.50	0	0	0	30.00	30.00	15.69
2516.97	8742	362.79	1.53	-80.00	1663.1	1761.4	1564.7	2051.5	1970.8	39.42	7.06	350	2577.27	46.37	0.00	3.60	0.988	0.000	0.129	1409.06	1506.62	1311.50	2051.69	534.12	0	0	0	11.69	30.00	15.58
2644.05	1028	362.79	1.53	0.00	1404.6	1501.2	1307.9	2051.5	534.2	27.07	11.87	372	2651.86	0.00	0.00	3.45	0.000	0.000	0.052	1404.53	1501.00	1308.06	2051.62	2030.50	0	0	0	30.00	30.00	15.64
2835.39	10535	497.34	1.70	80.00	1401.6	1500.8	1302.4	2051.4	2029.4	16.07	3.74	410	2947.61	96.86	0.28	3.59	0.962	0.066	0.113	861.50	949.44	773.56	2112.50	3468.06	0	0	0	11.82	15.72	15.42
3006.21	9254	596.62	1.82	0.00	858.2	943.5	772.9	2112.1	3467.9	7.80	5.38	442	3084.28	64.82	0.00	3.48	0.929	0.000	0.057	500.09	561.75	438.44	2112.62	1974.12	0	0	0	11.72	30.00	15.54
3102	end climb: SURFACE_DEPTH_REACHED
state	3102	begin surface coast
3137	end surface coast: CONTROL_FINISHED_OK
state	3137	begin surface