Glider dive log

AMOS Jul22 * SG242 * Dive index * Mission links * Dive 53 * 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 53 SM_CC 595.40039 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 0 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 6

STOP_T 0 FILEMGR 0 C_VBD 2890 DEVICE1 -1

D_SURF 2 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_FLARE 3 COMM_SEQ 15 VBD_CNV -0.24529999 DEVICE3 -1

D_TGT 300 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 500 N_NOCOMM 1 VBD_TIMEOUT 720 DEVICE5 -1

D_NO_BLEED 200 NOCOMM_ACTION 131 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

D_BOOST 0 N_NOSURFACE 0 UNCOM_BLEED 20 LOGGERS 7

T_BOOST 0 UPLOAD_DIVES_MAX -1 VBD_MAXERRORS 1 LOGGERDEVICE1 7

D_FINISH 0 CALL_TRIES 5 C_VBD_AUTO_DELTA 0 LOGGERDEVICE2 35

D_PITCH 0 CALL_WAIT 60 C_VBD_AUTO_MAX 0 LOGGERDEVICE3 -1

D_SAFE 0 CAPUPLOAD 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

D_CALL 0 CAPMAXSIZE 100000 DBDW 0 COMPASS_DEVICE 66

SURFACE_URGENCY 0 T_GPS 5 LOITER_W_DBAND 0 COMPASS2_DEVICE -1

SURFACE_URGENCY_TRY 0 N_GPS 100440 LOITER_DBDW 0 PHONE_DEVICE 33

SURFACE_URGENCY_FORCE 0 T_RSLEEP 3 LOITER_D_TOP 0 GPS_DEVICE 48

T_DIVE 100 STROBE 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE 96

T_MISSION 140 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 NAV_DEVICE 6

T_ABORT 1440 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 NAV2_DEVICE 6

T_TURN 225 RAFOS_HIT_WINDOW 3600 AH0_24V 575 NETWORK_DEVICE 1

T_TURN_SAMPINT -5 RAFOS_MMODEM 0 AH0_10V 0 PRESSURE_DEVICE 34

T_NO_W 120 PITCH_MIN 220 MINV_24V 11 XPDR_DEVICE -1

T_LOITER 0 PITCH_MAX 3610 MINV_10V 11 SIM_W 0

T_EPIRB 0 C_PITCH 1671.9835 MAXI_24V 5 SEABIRD_T_G 0.0043000001

USE_BATHY -1 PITCH_DBAND 0.1 MAXI_10V 1.5 SEABIRD_T_H 0.00063999998

USE_ICE 0 PITCH_CNV 0.0041299998 FG_AHR_10V 23.77718 SEABIRD_T_I 2.4999999e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 16.293028 FG_AHR_24V 12.600963 SEABIRD_T_J 4.3e-06

D_OFFGRID 100 PITCH_TIMEOUT 30 PHONE_SUPPLY 2 SEABIRD_C_G -10

RELAUNCH 1 PITCH_MAXERRORS 1 PRESSURE_YINT -182.32567 SEABIRD_C_H 1

APOGEE_PITCH -5 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00022512203 SEABIRD_C_I -0.0020000001

MAX_BUOY 150 PITCH_ADJ_DBAND 2 COMPASS_USE 49156 SEABIRD_C_J 0.00019999999

GLIDE_SLOPE 30 C_PITCH_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 OPTIONS 0

SPEED_FACTOR 1 C_PITCH_AUTO_MAX 200 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 3.0

MASS 72936 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

NAV_MODE 2 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_NDIVE 1.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MIN 195 ALTIM_PING_DELTA 0 PM_PROFILE 3.0

HD_A 0.003 ROLL_MAX 3800 ALTIM_FREQUENCY 13 PM_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_DEG 80 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_DIVE 2000 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING -1 C_ROLL_CLIMB 2000 XPDR_VALID 4 PM_MOTORS 0.0

ESCAPE_HEADING 0 HEAD_ERRBAND 20 XPDR_INHIBIT 90 PM_SENDDEPTH 0.0

ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054945 XPDR_INT 0

FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_REP 0

TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 1.9639999e-06

AH0_10V 0 D_SAFE 0 N_NOSURFACE 0 SEABIRD_C_H 1

AH0_24V 575 D_SURF 2 OPTIONS 0 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 300 PHONE_DEVICE 33 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 FG_AHR_10V 23.77718 PITCH_CNV 0.0041299998 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FG_AHR_24V 12.600963 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 16.293028 SM_CC 595.40039

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_GAIN_AUTO_DELTA 0.5 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_MAX 2 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAX 3610 STROBE 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_MIN 220 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_C 1.6e-05 PITCH_TIMEOUT 30 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HEADING -1 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 HEAD_ERRBAND 20 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 ID 242 PM_MOTORS 0.0 T_ABORT 1440

COMM_SEQ 15 INT_PRESSURE_SLOPE 1.9639999e-06 PM_NDIVE 1.0 T_BOOST 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3.2 PM_PROFILE 3.0 T_DIVE 100

COMPASS_DEVICE 66 KALMAN_USE 2 PM_RECORDABOVE 2000.0 T_EPIRB 0

COMPASS_USE 49156 LOGGERDEVICE1 7 PM_SENDDEPTH 0.0 T_GPS 5

C_PITCH 1671.9835 LOGGERDEVICE2 35 PM_XMITPROFILE 3.0 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE3 -1 PM_XMITRAW 0.0 T_MISSION 140

C_PITCH_AUTO_MAX 200 LOGGERDEVICE4 -1 PRESSURE_DEVICE 34 T_NO_W 120

C_ROLL_CLIMB 2000 LOGGERS 7 PRESSURE_SLOPE 0.00022512203 T_RSLEEP 3

C_ROLL_DIVE 2000 LOITER_DBDW 0 PRESSURE_YINT -182.32567 T_TURN 225

C_VBD 2890 LOITER_D_BOTTOM 0 PROTOCOL 9 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_D_TOP 0 RAFOS_CORR_THRESH 60 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_N_DIVE 0 RAFOS_DEVICE 96 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_W_DBAND 0 RAFOS_HIT_WINDOW 3600 USE_BATHY -1

DEEPGLIDER 0 MASS 72936 RAFOS_MMODEM 0 USE_ICE 0

DEEPGLIDERMB 0 MAXI_10V 1.5 RAFOS_PEAK_OFFSET 0 VBD_CNV -0.24529999

DEVICE1 -1 MAXI_24V 5 RELAUNCH 1 VBD_DBAND 2

DEVICE2 -1 MAX_BUOY 150 RHO 1.0275 VBD_LP_IGNORE 0

DEVICE3 -1 MINV_10V 11 ROLL_ADJ_DBAND 0 VBD_MAX 3960

DEVICE4 -1 MINV_24V 11 ROLL_ADJ_GAIN 0 VBD_MAXERRORS 1

DEVICE5 -1 MISSION 2 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 720

DIVE 53 NAV2_DEVICE 6 ROLL_MAX 3800 W_ADJ_DBAND 0

D_ABORT 500 NAV_DEVICE 6 ROLL_MAXERRORS 1 XPDR_DEVICE -1

D_BOOST 0 NAV_MODE 2 ROLL_MIN 195 XPDR_INHIBIT 90

D_CALL 0 NETWORK_DEVICE 1 ROLL_TIMEOUT 15 XPDR_INT 0

D_FINISH 0 NOCOMM_ACTION 131 SC_NDIVE 1.0 XPDR_REP 0

D_FLARE 3 N_DIVES 0 SC_PROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 200 N_FILEKB 8 SC_RECORDABOVE 2000.0

D_OFFGRID 100 N_GPS 100440 SC_XMITPROFILE 3.0

D_PITCH 0 N_NOCOMM 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 150722,124501,4715.915,-12519.478,32,0.8,33,15.7 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.59 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150722,124915,4715.913,-12519.405,3,0.6,6,15.7 MHEAD_RNG_PITCHd_Wd 26.6,549,-27.2,-10.000,-30.00,972,0.126

SPEED_LIMITS 0.173,0.257 D_GRID 1000

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

TGT_LATLONG 4716.068,-12519.032

Post-dive calculations and measurements:

NAV 1657893550,77.0,start _24V_AH 14.77,14.302

NET CACST,8,0,20220715140508.443499,06,32767,45,0111,0150,07,00,00,00,00,1,027,242,0,5,1,0,150,29.0,6.00,-100,-3.00,-01,0.06,54,10000,5000,0,-1,00,00*50 _10V_AH 14.81,0.000

NET_PING 1657893911,27,909.833984,29.000000,-0.202324 FG_AHR_24Vo 12.772

WARN HSCICON missed fuel gauge read FG_AHR_10Vo 23.884

FREEZE 12.20,16.094,-1.733,0,1,0 MEM0 60108,1,0,0

SM_CCo 5491.49,0.32,0.073,0,499.0,558.7,439.4,586.50 MEM1 65508,1,0,0

SM_GC 2.50,0.32,12.68,3.54,0.073,0.048,0.047,499.0,558.7,439.4,202.8,2029.9,0,0,0,15.49,15.39,15.40 MEM2 966132,27,80516,69

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 19286,647

IRIDIUM_FIX 4716.54,-12518.24,150722,111009 CAP_FILE_SIZE 181648,0

TCM_TEMP 13.90 SDSIZE 3887104,3853568

SC_FREEKB 3861824 SDFILEDIR 508,1

PM_FREEKB_00 59416640 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

RAFOS_FIX 4747.590820,-12427.612305,140722,060600,2,510,10420.27 CURRENT 0.082,122.8,1

HUMID 51.09 MAGCAL 1.000000,0.030735,0.015758,-0.009095,1.051403,-0.010046,-0.004031,-0.061469,1.028691,734.6,-913.0,-692.1,34,0.0278,0

TEMP 10.71 IMPLIED_C_PITCH 1670,16.40,348,1670.9,16.35

INTERNAL_PRESSURE 7.74225 GPS 150722,142231,4716.007,-12518.626,2,0.9,28,15.7

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 632 1324 12375.00 nil 0 0 0.00

Pitch_motor 26 266 105.09 nil 0 0 0.00

Roll_motor 64 180 171.64 nil 0 0 0.00

Iridium 168 227 565.36 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 15 15 3.37 nil 0 0 0.00

Core 2767 5 209.83 SciCon 5313 7 565.12

Fast 1 0 0.00 PMAR 5322 12 1007.86

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2832 0 13.42

Compass 1279 5 94.75

RAFOS 2601 40 1541.22

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

12.84 16386 -63.62 -1.75 0.00 498.4 554.6 442.1 210.5 2042.2 0.00 0.00 0 78.37 60.65 0.00 0.00 0.005 0.000 0.000 1939.81 1974.81 1904.81 210.25 2043.75 0 0 0 15.71 30.00 30.00

78.80 18727 -134.30 -1.84 80.00 1940.2 1975.8 1904.7 210.5 2043.0 3.11 -2.53 12 142.52 38.83 7.76 3.45 0.005 0.266 0.107 3438.03 3468.81 3407.25 1226.56 3470.94 0 0 0 15.74 15.57 15.67

370.21 1028 -134.30 -1.84 0.00 3440.0 3472.4 3407.6 1226.5 3471.3 81.33 -23.39 69 378.19 0.00 0.00 3.45 0.000 0.000 0.055 3442.62 3475.12 3410.12 1225.56 1971.81 0 0 0 30.00 30.00 15.79

681.28 0 -134.30 -1.84 0.00 3442.6 3477.3 3407.8 1225.8 1972.2 140.21 -17.94 99 683.04 0.00 0.00 0.00 0.000 0.000 0.000 3442.06 3476.88 3407.25 1225.75 1972.50 0 0 0 30.00 30.00 30.00

991.29 260 -134.30 -1.84 80.00 3444.2 3479.6 3408.8 1226.6 1971.0 199.77 -20.29 130 999.33 0.00 0.00 3.65 0.000 0.000 0.105 3444.91 3480.38 3409.44 1225.69 3470.31 0 0 0 30.00 30.00 15.78

1037.81 1028 -134.30 -1.84 0.00 3444.0 3479.4 3408.6 1226.0 3469.6 210.04 -22.33 139 1045.71 0.00 0.00 3.45 0.000 0.000 0.053 3443.84 3479.50 3408.19 1226.25 1972.00 0 0 0 30.00 30.00 15.80

1362.83 260 -134.30 -1.84 80.00 3445.1 3481.4 3408.8 1226.2 1972.0 274.74 -19.97 164 1370.87 0.00 0.00 3.61 0.000 0.000 0.106 3444.41 3480.25 3408.56 1226.12 3466.56 0 0 0 30.00 30.00 15.79

1453.62 1028 -134.30 -1.84 0.00 3445.2 3481.4 3409.1 1226.2 3466.8 294.19 -21.64 182 1461.22 0.00 0.00 3.44 0.000 0.000 0.055 3446.19 3481.69 3410.69 1226.12 1970.81 0 0 0 30.00 30.00 15.83

1509 end dive: TARGET_DEPTH_EXCEEDED

state 1509 begin apogee

1511.17 10243 0.00 -0.31 0.00 3445.4 3481.6 3409.2 1226.4 2038.5 305.27 -19.96 188 1623.59 99.65 2.55 0.12 1.325 0.162 0.180 2889.41 2975.19 2803.62 1597.44 1966.31 0 0 0 11.66 15.76 15.40

1634 end apogee: CONTROL_FINISHED_OK

state 1634 begin climb

1634.26 10243 134.30 1.84 0.00 2887.3 2973.8 2800.8 1597.6 1966.4 310.30 0.00 191 1751.38 100.96 3.36 0.00 1.287 0.086 0.000 2339.91 2435.31 2244.50 2118.88 1966.75 0 0 0 11.50 15.44 30.00

2058.18 16386 134.30 1.84 0.00 2331.2 2420.4 2242.1 2119.1 1966.1 267.61 13.03 206 2059.97 0.00 0.00 0.00 0.000 0.000 0.000 2329.53 2419.25 2239.81 2119.25 1965.75 0 0 0 30.00 30.00 30.00

2368.20 16646 134.30 1.84 80.00 2330.1 2418.8 2241.4 2118.3 1966.8 230.07 11.66 227 2376.48 0.00 0.00 3.70 0.000 0.000 0.109 2328.56 2416.19 2240.94 2119.12 3468.00 0 0 0 30.00 30.00 15.67

2419.32 17414 134.30 1.84 0.00 2329.8 2418.4 2241.2 2118.5 3468.5 223.60 12.63 237 2427.90 0.00 0.00 3.51 0.000 0.000 0.056 2330.53 2419.06 2242.00 2118.50 1972.00 0 0 0 30.00 30.00 15.71

2735.11 8226 144.67 1.85 0.00 2328.7 2417.0 2240.3 2118.5 1972.2 194.80 8.90 269 2745.68 8.46 0.00 0.00 0.984 0.000 0.000 2300.12 2390.38 2209.88 2118.31 1972.06 0 0 0 11.73 30.00 30.00

3055.06 516 144.67 1.85 -80.00 2296.1 2385.6 2206.7 2118.9 1972.3 163.08 10.12 301 3063.25 0.00 0.00 3.60 0.000 0.000 0.123 2294.25 2383.56 2204.94 2117.56 531.50 0 0 0 30.00 30.00 15.73

3246.17 1028 144.67 1.85 0.00 2294.3 2381.5 2207.1 2118.5 531.3 139.84 11.12 339 3254.70 0.00 0.00 3.46 0.000 0.000 0.049 2293.91 2381.44 2206.38 2119.25 2032.69 0 0 0 30.00 30.00 15.83

3562.01 8742 196.15 1.91 -80.00 2293.6 2380.6 2206.6 2119.4 2032.5 120.14 4.56 371 3612.66 39.47 0.00 3.81 1.144 0.000 0.121 2089.00 2186.31 1991.69 2118.94 532.94 0 0 0 11.92 30.00 15.69

3840.47 17414 196.15 1.91 0.00 2081.2 2172.5 1990.0 2118.9 532.8 92.51 10.08 426 3849.00 0.00 0.00 3.44 0.000 0.000 0.050 2083.22 2175.56 1990.88 2118.75 2032.44 0 0 0 30.00 30.00 15.82

4171.50 10791 260.00 1.99 -80.00 2079.8 2172.1 1987.6 2118.6 2032.6 77.04 3.25 458 4232.11 47.40 0.20 3.84 1.094 0.079 0.121 1828.50 1930.81 1726.19 2167.88 532.88 0 0 0 11.78 15.85 15.63

4460.00 9254 276.60 2.01 0.00 1818.7 1916.9 1720.4 2169.3 532.8 51.43 8.25 515 4483.85 13.30 0.00 3.48 0.976 0.000 0.049 1760.59 1863.94 1657.25 2169.25 2032.88 0 0 0 11.72 30.00 15.75

4787.39 8486 333.78 2.08 80.00 1756.1 1857.0 1655.2 2169.6 2032.8 32.46 3.95 550 4843.90 42.37 0.00 3.54 1.033 0.000 0.114 1527.22 1624.44 1430.00 2169.62 3465.12 0 0 0 11.70 30.00 15.56

4902.43 1028 333.78 2.08 0.00 1524.4 1618.6 1430.2 2169.6 3466.4 23.12 10.04 572 4910.59 0.00 0.00 3.52 0.000 0.000 0.057 1523.97 1618.00 1429.94 2169.00 1970.62 0 0 0 30.00 30.00 15.63

5212.54 10791 427.69 2.20 -80.00 1519.8 1614.2 1425.4 2169.0 1970.4 13.67 0.07 631 5296.41 67.77 0.19 3.70 1.009 0.072 0.125 1144.88 1237.25 1052.50 2221.69 531.88 0 0 0 11.67 15.71 15.46

5300 end climb: NO_VERTICAL_VELOCITY

state 5300 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	53	SM_CC	595.40039	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	0	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	6
STOP_T	0	FILEMGR	0	C_VBD	2890	DEVICE1	-1
D_SURF	2	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_FLARE	3	COMM_SEQ	15	VBD_CNV	-0.24529999	DEVICE3	-1
D_TGT	300	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	500	N_NOCOMM	1	VBD_TIMEOUT	720	DEVICE5	-1
D_NO_BLEED	200	NOCOMM_ACTION	131	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
D_BOOST	0	N_NOSURFACE	0	UNCOM_BLEED	20	LOGGERS	7
T_BOOST	0	UPLOAD_DIVES_MAX	-1	VBD_MAXERRORS	1	LOGGERDEVICE1	7
D_FINISH	0	CALL_TRIES	5	C_VBD_AUTO_DELTA	0	LOGGERDEVICE2	35
D_PITCH	0	CALL_WAIT	60	C_VBD_AUTO_MAX	0	LOGGERDEVICE3	-1
D_SAFE	0	CAPUPLOAD	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
D_CALL	0	CAPMAXSIZE	100000	DBDW	0	COMPASS_DEVICE	66
SURFACE_URGENCY	0	T_GPS	5	LOITER_W_DBAND	0	COMPASS2_DEVICE	-1
SURFACE_URGENCY_TRY	0	N_GPS	100440	LOITER_DBDW	0	PHONE_DEVICE	33
SURFACE_URGENCY_FORCE	0	T_RSLEEP	3	LOITER_D_TOP	0	GPS_DEVICE	48
T_DIVE	100	STROBE	0	LOITER_D_BOTTOM	0	RAFOS_DEVICE	96
T_MISSION	140	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	NAV_DEVICE	6
T_ABORT	1440	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	NAV2_DEVICE	6
T_TURN	225	RAFOS_HIT_WINDOW	3600	AH0_24V	575	NETWORK_DEVICE	1
T_TURN_SAMPINT	-5	RAFOS_MMODEM	0	AH0_10V	0	PRESSURE_DEVICE	34
T_NO_W	120	PITCH_MIN	220	MINV_24V	11	XPDR_DEVICE	-1
T_LOITER	0	PITCH_MAX	3610	MINV_10V	11	SIM_W	0
T_EPIRB	0	C_PITCH	1671.9835	MAXI_24V	5	SEABIRD_T_G	0.0043000001
USE_BATHY	-1	PITCH_DBAND	0.1	MAXI_10V	1.5	SEABIRD_T_H	0.00063999998
USE_ICE	0	PITCH_CNV	0.0041299998	FG_AHR_10V	23.77718	SEABIRD_T_I	2.4999999e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	16.293028	FG_AHR_24V	12.600963	SEABIRD_T_J	4.3e-06
D_OFFGRID	100	PITCH_TIMEOUT	30	PHONE_SUPPLY	2	SEABIRD_C_G	-10
RELAUNCH	1	PITCH_MAXERRORS	1	PRESSURE_YINT	-182.32567	SEABIRD_C_H	1
APOGEE_PITCH	-5	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00022512203	SEABIRD_C_I	-0.0020000001
MAX_BUOY	150	PITCH_ADJ_DBAND	2	COMPASS_USE	49156	SEABIRD_C_J	0.00019999999
GLIDE_SLOPE	30	C_PITCH_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	OPTIONS	0
SPEED_FACTOR	1	C_PITCH_AUTO_MAX	200	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	3.0
MASS	72936	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
NAV_MODE	2	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_NDIVE	1.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MIN	195	ALTIM_PING_DELTA	0	PM_PROFILE	3.0
HD_A	0.003	ROLL_MAX	3800	ALTIM_FREQUENCY	13	PM_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_DEG	80	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_DIVE	2000	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
HEADING	-1	C_ROLL_CLIMB	2000	XPDR_VALID	4	PM_MOTORS	0.0
ESCAPE_HEADING	0	HEAD_ERRBAND	20	XPDR_INHIBIT	90	PM_SENDDEPTH	0.0
ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054945	XPDR_INT	0
FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_REP	0
TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	1.9639999e-06

GPS1	150722,124501,4715.915,-12519.478,32,0.8,33,15.7	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.59	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150722,124915,4715.913,-12519.405,3,0.6,6,15.7	MHEAD_RNG_PITCHd_Wd	26.6,549,-27.2,-10.000,-30.00,972,0.126
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	ans0	IRON	1.000000,0.018360,-0.061028,-0.013170,1.056565,-0.047936,0.016552,-0.057557,1.018688,811.629517,-870.805054,-663.292725
TGT_LATLONG	4716.068,-12519.032

NAV	1657893550,77.0,start	_24V_AH	14.77,14.302
NET	CACST,8,0,20220715140508.443499,06,32767,45,0111,0150,07,00,00,00,00,1,027,242,0,5,1,0,150,29.0,6.00,-100,-3.00,-01,0.06,54,10000,5000,0,-1,00,00*50	_10V_AH	14.81,0.000
NET_PING	1657893911,27,909.833984,29.000000,-0.202324	FG_AHR_24Vo	12.772
WARN	HSCICON missed fuel gauge read	FG_AHR_10Vo	23.884
FREEZE	12.20,16.094,-1.733,0,1,0	MEM0	60108,1,0,0
SM_CCo	5491.49,0.32,0.073,0,499.0,558.7,439.4,586.50	MEM1	65508,1,0,0
SM_GC	2.50,0.32,12.68,3.54,0.073,0.048,0.047,499.0,558.7,439.4,202.8,2029.9,0,0,0,15.49,15.39,15.40	MEM2	966132,27,80516,69
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	19286,647
IRIDIUM_FIX	4716.54,-12518.24,150722,111009	CAP_FILE_SIZE	181648,0
TCM_TEMP	13.90	SDSIZE	3887104,3853568
SC_FREEKB	3861824	SDFILEDIR	508,1
PM_FREEKB_00	59416640	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
RAFOS_FIX	4747.590820,-12427.612305,140722,060600,2,510,10420.27	CURRENT	0.082,122.8,1
HUMID	51.09	MAGCAL	1.000000,0.030735,0.015758,-0.009095,1.051403,-0.010046,-0.004031,-0.061469,1.028691,734.6,-913.0,-692.1,34,0.0278,0
TEMP	10.71	IMPLIED_C_PITCH	1670,16.40,348,1670.9,16.35
INTERNAL_PRESSURE	7.74225	GPS	150722,142231,4716.007,-12518.626,2,0.9,28,15.7

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	632	1324	12375.00	nil	0	0	0.00
Pitch_motor	26	266	105.09	nil	0	0	0.00
Roll_motor	64	180	171.64	nil	0	0	0.00
Iridium	168	227	565.36	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	15	15	3.37	nil	0	0	0.00
Core	2767	5	209.83	SciCon	5313	7	565.12
Fast	1	0	0.00	PMAR	5322	12	1007.86
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2832	0	13.42
Compass	1279	5	94.75
RAFOS	2601	40	1541.22
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
12.84	16386	-63.62	-1.75	0.00	498.4	554.6	442.1	210.5	2042.2	0.00	0.00	0	78.37	60.65	0.00	0.00	0.005	0.000	0.000	1939.81	1974.81	1904.81	210.25	2043.75	0	0	0	15.71	30.00	30.00
78.80	18727	-134.30	-1.84	80.00	1940.2	1975.8	1904.7	210.5	2043.0	3.11	-2.53	12	142.52	38.83	7.76	3.45	0.005	0.266	0.107	3438.03	3468.81	3407.25	1226.56	3470.94	0	0	0	15.74	15.57	15.67
370.21	1028	-134.30	-1.84	0.00	3440.0	3472.4	3407.6	1226.5	3471.3	81.33	-23.39	69	378.19	0.00	0.00	3.45	0.000	0.000	0.055	3442.62	3475.12	3410.12	1225.56	1971.81	0	0	0	30.00	30.00	15.79
681.28	0	-134.30	-1.84	0.00	3442.6	3477.3	3407.8	1225.8	1972.2	140.21	-17.94	99	683.04	0.00	0.00	0.00	0.000	0.000	0.000	3442.06	3476.88	3407.25	1225.75	1972.50	0	0	0	30.00	30.00	30.00
991.29	260	-134.30	-1.84	80.00	3444.2	3479.6	3408.8	1226.6	1971.0	199.77	-20.29	130	999.33	0.00	0.00	3.65	0.000	0.000	0.105	3444.91	3480.38	3409.44	1225.69	3470.31	0	0	0	30.00	30.00	15.78
1037.81	1028	-134.30	-1.84	0.00	3444.0	3479.4	3408.6	1226.0	3469.6	210.04	-22.33	139	1045.71	0.00	0.00	3.45	0.000	0.000	0.053	3443.84	3479.50	3408.19	1226.25	1972.00	0	0	0	30.00	30.00	15.80
1362.83	260	-134.30	-1.84	80.00	3445.1	3481.4	3408.8	1226.2	1972.0	274.74	-19.97	164	1370.87	0.00	0.00	3.61	0.000	0.000	0.106	3444.41	3480.25	3408.56	1226.12	3466.56	0	0	0	30.00	30.00	15.79
1453.62	1028	-134.30	-1.84	0.00	3445.2	3481.4	3409.1	1226.2	3466.8	294.19	-21.64	182	1461.22	0.00	0.00	3.44	0.000	0.000	0.055	3446.19	3481.69	3410.69	1226.12	1970.81	0	0	0	30.00	30.00	15.83
1509	end dive: TARGET_DEPTH_EXCEEDED
state	1509	begin apogee
1511.17	10243	0.00	-0.31	0.00	3445.4	3481.6	3409.2	1226.4	2038.5	305.27	-19.96	188	1623.59	99.65	2.55	0.12	1.325	0.162	0.180	2889.41	2975.19	2803.62	1597.44	1966.31	0	0	0	11.66	15.76	15.40
1634	end apogee: CONTROL_FINISHED_OK
state	1634	begin climb
1634.26	10243	134.30	1.84	0.00	2887.3	2973.8	2800.8	1597.6	1966.4	310.30	0.00	191	1751.38	100.96	3.36	0.00	1.287	0.086	0.000	2339.91	2435.31	2244.50	2118.88	1966.75	0	0	0	11.50	15.44	30.00
2058.18	16386	134.30	1.84	0.00	2331.2	2420.4	2242.1	2119.1	1966.1	267.61	13.03	206	2059.97	0.00	0.00	0.00	0.000	0.000	0.000	2329.53	2419.25	2239.81	2119.25	1965.75	0	0	0	30.00	30.00	30.00
2368.20	16646	134.30	1.84	80.00	2330.1	2418.8	2241.4	2118.3	1966.8	230.07	11.66	227	2376.48	0.00	0.00	3.70	0.000	0.000	0.109	2328.56	2416.19	2240.94	2119.12	3468.00	0	0	0	30.00	30.00	15.67
2419.32	17414	134.30	1.84	0.00	2329.8	2418.4	2241.2	2118.5	3468.5	223.60	12.63	237	2427.90	0.00	0.00	3.51	0.000	0.000	0.056	2330.53	2419.06	2242.00	2118.50	1972.00	0	0	0	30.00	30.00	15.71
2735.11	8226	144.67	1.85	0.00	2328.7	2417.0	2240.3	2118.5	1972.2	194.80	8.90	269	2745.68	8.46	0.00	0.00	0.984	0.000	0.000	2300.12	2390.38	2209.88	2118.31	1972.06	0	0	0	11.73	30.00	30.00
3055.06	516	144.67	1.85	-80.00	2296.1	2385.6	2206.7	2118.9	1972.3	163.08	10.12	301	3063.25	0.00	0.00	3.60	0.000	0.000	0.123	2294.25	2383.56	2204.94	2117.56	531.50	0	0	0	30.00	30.00	15.73
3246.17	1028	144.67	1.85	0.00	2294.3	2381.5	2207.1	2118.5	531.3	139.84	11.12	339	3254.70	0.00	0.00	3.46	0.000	0.000	0.049	2293.91	2381.44	2206.38	2119.25	2032.69	0	0	0	30.00	30.00	15.83
3562.01	8742	196.15	1.91	-80.00	2293.6	2380.6	2206.6	2119.4	2032.5	120.14	4.56	371	3612.66	39.47	0.00	3.81	1.144	0.000	0.121	2089.00	2186.31	1991.69	2118.94	532.94	0	0	0	11.92	30.00	15.69
3840.47	17414	196.15	1.91	0.00	2081.2	2172.5	1990.0	2118.9	532.8	92.51	10.08	426	3849.00	0.00	0.00	3.44	0.000	0.000	0.050	2083.22	2175.56	1990.88	2118.75	2032.44	0	0	0	30.00	30.00	15.82
4171.50	10791	260.00	1.99	-80.00	2079.8	2172.1	1987.6	2118.6	2032.6	77.04	3.25	458	4232.11	47.40	0.20	3.84	1.094	0.079	0.121	1828.50	1930.81	1726.19	2167.88	532.88	0	0	0	11.78	15.85	15.63
4460.00	9254	276.60	2.01	0.00	1818.7	1916.9	1720.4	2169.3	532.8	51.43	8.25	515	4483.85	13.30	0.00	3.48	0.976	0.000	0.049	1760.59	1863.94	1657.25	2169.25	2032.88	0	0	0	11.72	30.00	15.75
4787.39	8486	333.78	2.08	80.00	1756.1	1857.0	1655.2	2169.6	2032.8	32.46	3.95	550	4843.90	42.37	0.00	3.54	1.033	0.000	0.114	1527.22	1624.44	1430.00	2169.62	3465.12	0	0	0	11.70	30.00	15.56
4902.43	1028	333.78	2.08	0.00	1524.4	1618.6	1430.2	2169.6	3466.4	23.12	10.04	572	4910.59	0.00	0.00	3.52	0.000	0.000	0.057	1523.97	1618.00	1429.94	2169.00	1970.62	0	0	0	30.00	30.00	15.63
5212.54	10791	427.69	2.20	-80.00	1519.8	1614.2	1425.4	2169.0	1970.4	13.67	0.07	631	5296.41	67.77	0.19	3.70	1.009	0.072	0.125	1144.88	1237.25	1052.50	2221.69	531.88	0	0	0	11.67	15.71	15.46
5300	end climb: NO_VERTICAL_VELOCITY
state	5300	begin surface