Glider dive log

AMOS Jul22 * SG240 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 240 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 5 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 6 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 -0.1

D_TGT 180 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 500 COMM_SEQ 7 C_VBD 3364 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 1

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 60 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 75 T_RSLEEP 1 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

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 60 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 205 AH0_24V 575 NAV_DEVICE 6

USE_BATHY -1 PITCH_MAX 3600 AH0_10V 0 NAV2_DEVICE 6

USE_ICE 0 C_PITCH 1804.5793 MINV_24V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

D_OFFGRID 1000 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 16.862906 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 27.657021 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 10.386082 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 -156.41907 SEABIRD_T_J 4.3e-06

RHO 1.0275 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022403029 SEABIRD_C_G -10

MASS 72877 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 210 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3810 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 180 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 27.657021 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 10.386082 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 16.862906 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 3600 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 205 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 60

COMPASS2_DEVICE -1 ID 240 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT -0.1 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 1804.5793 KALMAN_USE 2 PRESSURE_SLOPE 0.00022403029 T_MISSION 75

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -156.41907 T_NO_W 60

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 3364 LOGGERS 1 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 1.0275 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE1 -1 MASS 72877 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 3810 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 210 W_ADJ_DBAND 0

DIVE 6 MISSION 5 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 130722,225531,4719.966,-12524.055,28,0.8,29,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.52 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -50.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130722,225902,4719.976,-12524.027,2,0.7,4,15.8 MHEAD_RNG_PITCHd_Wd 1.3,57,-27.2,-10.000,-30.00,972,0.181

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME HOLD IRON 1.000000,0.013579,0.020038,-0.015785,1.062269,-0.117509,-0.023073,-0.009225,0.962436,65.221252,-826.563232,-389.607056

TGT_LATLONG 4720.000,-12524.000

Post-dive calculations and measurements:

NAV 1657756212,11.3,0,stop FG_AHR_24Vo 10.554

NET CACST,8,0,20220713230008.470324,06,32767,45,0101,0150,07,00,00,00,00,1,242,025,0,5,1,0,150,35.2,11.16,-100,-8.16,-01,-0.14,53,10000,5000,0,-1,00,00*4E FG_AHR_10Vo 27.700

FINISH 0.3,1.010042 MEM0 60108,1,0,0

SM_CCo 3427.31,188.81,0.928,0,541.6,561.6,521.6,692.34 MEM1 65508,1,0,0

SM_GC 1.70,188.81,13.31,0.10,0.928,0.062,0.146,541.6,561.6,521.6,192.2,2119.8,0,0,0,11.71,15.83,15.84 MEM2 966784,23,80164,58

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12904,496

IRIDIUM_FIX 4720.59,-12521.92,130722,215231 CAP_FILE_SIZE 345467,0

TCM_TEMP 19.46 SDSIZE 3887104,3869440

SC_FREEKB 3876864 SDFILEDIR 108,1

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

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 SOUNDSPEED 1465.0

HUMID 50.31 CURRENT 0.093,100.0,1

TEMP 11.77 MAGCAL 1.000000,0.024488,0.011720,-0.013723,1.065452,-0.105118,-0.016783,-0.012275,0.996087,73.8,-841.3,-416.2,36,0.0298,1

INTERNAL_PRESSURE 8.06115 IMPLIED_C_PITCH 1807,16.88,208,1805.6,16.87

_24V_AH 14.95,11.908 GPS 130722,235704,4720.215,-12523.704,1,0.7,3,15.8

_10V_AH 14.92,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 698 1127 11778.52 nil 0 0 0.00

Pitch_motor 29 233 102.70 nil 0 0 0.00

Roll_motor 63 186 177.93 nil 0 0 0.00

Iridium 142 207 443.34 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.09 nil 0 0 0.00

Core 2103 5 160.67 SciCon 3212 6 313.08

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1311 0 6.26

Compass 987 5 73.66

RAFOS 3025 40 1805.76

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 -63.62 -1.69 0.00 537.8 558.7 516.9 183.9 2170.7 0.00 0.00 0 92.64 82.07 0.00 0.00 0.005 0.000 0.000 2791.81 2816.44 2767.19 184.19 2170.88 0 0 0 15.54 30.00 30.00

92.95 18983 -140.10 -1.79 -80.00 2790.5 2814.9 2766.1 183.9 2170.1 3.26 -1.91 13 139.12 25.90 8.88 3.64 0.006 0.234 0.113 3936.00 3983.88 3888.12 1371.94 680.31 0 0 0 15.87 15.73 15.80

336.89 3205 -140.10 -1.61 0.00 3938.4 3985.8 3891.1 1372.1 679.9 70.60 -24.47 61 344.54 0.00 0.31 3.43 0.000 0.199 0.058 3938.56 3985.75 3891.38 1414.38 2173.88 0 0 0 30.00 15.82 15.91

532.56 644 -140.10 -1.67 -80.00 3939.5 3987.6 3891.5 1413.9 2174.4 103.74 -14.81 81 539.74 0.00 0.00 3.62 0.000 0.000 0.114 3940.56 3988.50 3892.62 1414.44 681.81 0 0 0 30.00 30.00 15.89

658.25 1156 -140.10 -1.62 0.00 3940.3 3988.6 3892.1 1414.6 681.9 126.86 -18.94 106 664.13 0.00 0.00 3.40 0.000 0.000 0.057 3941.31 3989.12 3893.50 1414.50 2175.06 0 0 0 30.00 30.00 15.96

848.25 388 -140.10 -1.68 80.00 3941.1 3989.2 3893.0 1414.5 2175.1 156.00 -15.08 126 854.24 0.00 0.00 3.52 0.000 0.000 0.123 3940.22 3988.50 3891.94 1414.38 3617.69 0 0 0 30.00 30.00 15.96

882.46 1028 -140.10 -1.68 0.00 3941.0 3989.3 3892.6 1414.2 3618.1 161.69 -16.55 133 889.94 0.00 0.00 3.43 0.000 0.000 0.057 3941.12 3989.31 3892.94 1414.62 2121.31 0 0 0 30.00 30.00 15.99

1018 end dive: TARGET_DEPTH_EXCEEDED

state 1018 begin apogee

1019.52 10243 0.00 -0.30 0.00 3941.5 3990.4 3892.6 1414.8 2180.8 180.96 -13.83 147 1134.50 99.08 2.13 0.10 1.127 0.154 0.186 3361.88 3423.94 3299.81 1731.38 2114.56 0 0 0 11.62 15.93 15.65

1136 end apogee: CONTROL_FINISHED_OK

state 1136 begin climb

1135.68 10503 140.10 1.79 80.00 3361.1 3422.7 3299.4 1731.8 2114.8 183.98 0.00 158 1253.32 100.14 3.38 3.76 1.099 0.100 0.120 2791.22 2847.62 2734.81 2239.62 3616.81 0 0 0 11.66 15.65 15.47

1336.83 5253 140.10 1.54 0.00 2789.2 2844.3 2734.0 2238.3 3616.9 149.84 24.31 196 1344.22 0.00 0.57 3.52 0.000 0.195 0.059 2787.41 2843.12 2731.69 2169.12 2124.19 0 0 0 30.00 15.60 15.67

1531.75 260 140.10 1.54 80.00 2785.7 2844.2 2727.2 2168.2 2123.8 119.60 12.76 216 1538.93 0.00 0.00 3.66 0.000 0.000 0.119 2786.62 2845.12 2728.12 2167.81 3615.56 0 0 0 30.00 30.00 15.78

1607.43 1156 140.10 1.49 0.00 2785.9 2844.1 2727.7 2169.4 3616.1 109.57 13.07 231 1613.38 0.00 0.00 3.47 0.000 0.000 0.058 2786.84 2845.62 2728.06 2169.06 2121.88 0 0 0 30.00 30.00 15.85

1797.43 17030 140.10 1.56 -80.00 2784.7 2843.9 2725.6 2169.3 2122.1 89.77 10.04 251 1804.47 0.00 0.00 3.59 0.000 0.000 0.124 2782.25 2840.31 2724.19 2169.12 680.69 0 0 0 30.00 30.00 15.87

1887.26 9382 168.90 1.54 0.00 2781.5 2838.7 2724.4 2169.1 680.7 82.62 6.95 269 1916.84 21.87 0.00 3.41 0.972 0.000 0.057 2675.28 2737.44 2613.12 2168.81 2174.31 0 0 0 11.75 30.00 15.93

2100.32 10663 201.08 1.72 80.00 2669.8 2734.5 2605.1 2168.4 2173.9 69.82 6.60 293 2133.64 25.12 0.36 3.53 0.974 0.067 0.123 2539.94 2607.06 2472.81 2233.06 3616.12 0 0 0 11.92 15.90 15.80

2142.07 9254 230.16 1.76 0.00 2541.6 2608.6 2474.6 2234.0 3616.9 66.77 6.92 301 2175.05 23.24 0.00 3.46 0.943 0.000 0.057 2424.91 2498.69 2351.12 2233.69 2120.12 0 0 0 11.71 30.00 15.84

2357.16 8870 237.18 1.84 -80.00 2418.9 2496.9 2340.9 2233.2 2119.8 46.57 9.26 329 2374.31 7.01 0.00 3.55 0.727 0.000 0.126 2393.12 2469.69 2316.56 2232.56 680.38 0 0 0 11.64 30.00 15.82

2602.84 9382 275.18 1.85 0.00 2390.2 2467.4 2312.9 2233.3 680.8 27.45 5.98 378 2641.02 29.08 0.00 3.42 0.949 0.000 0.059 2241.00 2325.94 2156.06 2232.94 2172.44 0 0 0 11.65 30.00 15.92

2824.50 10919 341.47 2.09 -80.00 2235.0 2322.9 2147.1 2233.4 2172.6 17.05 2.99 422 2884.08 47.64 0.47 3.74 0.951 0.063 0.120 1972.31 2065.00 1879.62 2323.62 681.75 0 0 0 11.69 15.90 15.74

3025.75 9382 411.24 2.13 0.00 1962.9 2055.6 1870.3 2324.3 681.8 11.58 2.62 461 3084.91 48.88 0.00 3.41 0.938 0.000 0.057 1686.59 1780.06 1593.12 2324.00 2176.31 0 0 0 11.63 30.00 15.86

3178 end climb: SURFACE_DEPTH_REACHED

state 3178 begin surface coast

3203 end surface coast: CONTROL_FINISHED_OK

state 3204 begin surface

ID	240	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	5	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	6	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	-0.1
D_TGT	180	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	500	COMM_SEQ	7	C_VBD	3364	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	1
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	60	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	75	T_RSLEEP	1	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
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	60	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	205	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	-1	PITCH_MAX	3600	AH0_10V	0	NAV2_DEVICE	6
USE_ICE	0	C_PITCH	1804.5793	MINV_24V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
D_OFFGRID	1000	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	16.862906	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	27.657021	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	10.386082	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	-156.41907	SEABIRD_T_J	4.3e-06
RHO	1.0275	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022403029	SEABIRD_C_G	-10
MASS	72877	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	210	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3810	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	130722,225531,4719.966,-12524.055,28,0.8,29,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.52	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-50.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130722,225902,4719.976,-12524.027,2,0.7,4,15.8	MHEAD_RNG_PITCHd_Wd	1.3,57,-27.2,-10.000,-30.00,972,0.181
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	HOLD	IRON	1.000000,0.013579,0.020038,-0.015785,1.062269,-0.117509,-0.023073,-0.009225,0.962436,65.221252,-826.563232,-389.607056
TGT_LATLONG	4720.000,-12524.000

NAV	1657756212,11.3,0,stop	FG_AHR_24Vo	10.554
NET	CACST,8,0,20220713230008.470324,06,32767,45,0101,0150,07,00,00,00,00,1,242,025,0,5,1,0,150,35.2,11.16,-100,-8.16,-01,-0.14,53,10000,5000,0,-1,00,00*4E	FG_AHR_10Vo	27.700
FINISH	0.3,1.010042	MEM0	60108,1,0,0
SM_CCo	3427.31,188.81,0.928,0,541.6,561.6,521.6,692.34	MEM1	65508,1,0,0
SM_GC	1.70,188.81,13.31,0.10,0.928,0.062,0.146,541.6,561.6,521.6,192.2,2119.8,0,0,0,11.71,15.83,15.84	MEM2	966784,23,80164,58
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12904,496
IRIDIUM_FIX	4720.59,-12521.92,130722,215231	CAP_FILE_SIZE	345467,0
TCM_TEMP	19.46	SDSIZE	3887104,3869440
SC_FREEKB	3876864	SDFILEDIR	108,1
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	SOUNDSPEED	1465.0
HUMID	50.31	CURRENT	0.093,100.0,1
TEMP	11.77	MAGCAL	1.000000,0.024488,0.011720,-0.013723,1.065452,-0.105118,-0.016783,-0.012275,0.996087,73.8,-841.3,-416.2,36,0.0298,1
INTERNAL_PRESSURE	8.06115	IMPLIED_C_PITCH	1807,16.88,208,1805.6,16.87
_24V_AH	14.95,11.908	GPS	130722,235704,4720.215,-12523.704,1,0.7,3,15.8
_10V_AH	14.92,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	698	1127	11778.52	nil	0	0	0.00
Pitch_motor	29	233	102.70	nil	0	0	0.00
Roll_motor	63	186	177.93	nil	0	0	0.00
Iridium	142	207	443.34	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.09	nil	0	0	0.00
Core	2103	5	160.67	SciCon	3212	6	313.08
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1311	0	6.26
Compass	987	5	73.66
RAFOS	3025	40	1805.76
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	-63.62	-1.69	0.00	537.8	558.7	516.9	183.9	2170.7	0.00	0.00	0	92.64	82.07	0.00	0.00	0.005	0.000	0.000	2791.81	2816.44	2767.19	184.19	2170.88	0	0	0	15.54	30.00	30.00
92.95	18983	-140.10	-1.79	-80.00	2790.5	2814.9	2766.1	183.9	2170.1	3.26	-1.91	13	139.12	25.90	8.88	3.64	0.006	0.234	0.113	3936.00	3983.88	3888.12	1371.94	680.31	0	0	0	15.87	15.73	15.80
336.89	3205	-140.10	-1.61	0.00	3938.4	3985.8	3891.1	1372.1	679.9	70.60	-24.47	61	344.54	0.00	0.31	3.43	0.000	0.199	0.058	3938.56	3985.75	3891.38	1414.38	2173.88	0	0	0	30.00	15.82	15.91
532.56	644	-140.10	-1.67	-80.00	3939.5	3987.6	3891.5	1413.9	2174.4	103.74	-14.81	81	539.74	0.00	0.00	3.62	0.000	0.000	0.114	3940.56	3988.50	3892.62	1414.44	681.81	0	0	0	30.00	30.00	15.89
658.25	1156	-140.10	-1.62	0.00	3940.3	3988.6	3892.1	1414.6	681.9	126.86	-18.94	106	664.13	0.00	0.00	3.40	0.000	0.000	0.057	3941.31	3989.12	3893.50	1414.50	2175.06	0	0	0	30.00	30.00	15.96
848.25	388	-140.10	-1.68	80.00	3941.1	3989.2	3893.0	1414.5	2175.1	156.00	-15.08	126	854.24	0.00	0.00	3.52	0.000	0.000	0.123	3940.22	3988.50	3891.94	1414.38	3617.69	0	0	0	30.00	30.00	15.96
882.46	1028	-140.10	-1.68	0.00	3941.0	3989.3	3892.6	1414.2	3618.1	161.69	-16.55	133	889.94	0.00	0.00	3.43	0.000	0.000	0.057	3941.12	3989.31	3892.94	1414.62	2121.31	0	0	0	30.00	30.00	15.99
1018	end dive: TARGET_DEPTH_EXCEEDED
state	1018	begin apogee
1019.52	10243	0.00	-0.30	0.00	3941.5	3990.4	3892.6	1414.8	2180.8	180.96	-13.83	147	1134.50	99.08	2.13	0.10	1.127	0.154	0.186	3361.88	3423.94	3299.81	1731.38	2114.56	0	0	0	11.62	15.93	15.65
1136	end apogee: CONTROL_FINISHED_OK
state	1136	begin climb
1135.68	10503	140.10	1.79	80.00	3361.1	3422.7	3299.4	1731.8	2114.8	183.98	0.00	158	1253.32	100.14	3.38	3.76	1.099	0.100	0.120	2791.22	2847.62	2734.81	2239.62	3616.81	0	0	0	11.66	15.65	15.47
1336.83	5253	140.10	1.54	0.00	2789.2	2844.3	2734.0	2238.3	3616.9	149.84	24.31	196	1344.22	0.00	0.57	3.52	0.000	0.195	0.059	2787.41	2843.12	2731.69	2169.12	2124.19	0	0	0	30.00	15.60	15.67
1531.75	260	140.10	1.54	80.00	2785.7	2844.2	2727.2	2168.2	2123.8	119.60	12.76	216	1538.93	0.00	0.00	3.66	0.000	0.000	0.119	2786.62	2845.12	2728.12	2167.81	3615.56	0	0	0	30.00	30.00	15.78
1607.43	1156	140.10	1.49	0.00	2785.9	2844.1	2727.7	2169.4	3616.1	109.57	13.07	231	1613.38	0.00	0.00	3.47	0.000	0.000	0.058	2786.84	2845.62	2728.06	2169.06	2121.88	0	0	0	30.00	30.00	15.85
1797.43	17030	140.10	1.56	-80.00	2784.7	2843.9	2725.6	2169.3	2122.1	89.77	10.04	251	1804.47	0.00	0.00	3.59	0.000	0.000	0.124	2782.25	2840.31	2724.19	2169.12	680.69	0	0	0	30.00	30.00	15.87
1887.26	9382	168.90	1.54	0.00	2781.5	2838.7	2724.4	2169.1	680.7	82.62	6.95	269	1916.84	21.87	0.00	3.41	0.972	0.000	0.057	2675.28	2737.44	2613.12	2168.81	2174.31	0	0	0	11.75	30.00	15.93
2100.32	10663	201.08	1.72	80.00	2669.8	2734.5	2605.1	2168.4	2173.9	69.82	6.60	293	2133.64	25.12	0.36	3.53	0.974	0.067	0.123	2539.94	2607.06	2472.81	2233.06	3616.12	0	0	0	11.92	15.90	15.80
2142.07	9254	230.16	1.76	0.00	2541.6	2608.6	2474.6	2234.0	3616.9	66.77	6.92	301	2175.05	23.24	0.00	3.46	0.943	0.000	0.057	2424.91	2498.69	2351.12	2233.69	2120.12	0	0	0	11.71	30.00	15.84
2357.16	8870	237.18	1.84	-80.00	2418.9	2496.9	2340.9	2233.2	2119.8	46.57	9.26	329	2374.31	7.01	0.00	3.55	0.727	0.000	0.126	2393.12	2469.69	2316.56	2232.56	680.38	0	0	0	11.64	30.00	15.82
2602.84	9382	275.18	1.85	0.00	2390.2	2467.4	2312.9	2233.3	680.8	27.45	5.98	378	2641.02	29.08	0.00	3.42	0.949	0.000	0.059	2241.00	2325.94	2156.06	2232.94	2172.44	0	0	0	11.65	30.00	15.92
2824.50	10919	341.47	2.09	-80.00	2235.0	2322.9	2147.1	2233.4	2172.6	17.05	2.99	422	2884.08	47.64	0.47	3.74	0.951	0.063	0.120	1972.31	2065.00	1879.62	2323.62	681.75	0	0	0	11.69	15.90	15.74
3025.75	9382	411.24	2.13	0.00	1962.9	2055.6	1870.3	2324.3	681.8	11.58	2.62	461	3084.91	48.88	0.00	3.41	0.938	0.000	0.057	1686.59	1780.06	1593.12	2324.00	2176.31	0	0	0	11.63	30.00	15.86
3178	end climb: SURFACE_DEPTH_REACHED
state	3178	begin surface coast
3203	end surface coast: CONTROL_FINISHED_OK
state	3204	begin surface