Glider dive log

AMOS Jul22 * SG242 * Dive index * Mission links * Dive 16 * 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 16 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 120 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 60 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 1666.9736 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 20.835688 SEABIRD_T_I 2.4999999e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 16.114075 FG_AHR_24V 6.5537162 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 120 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 20.835688 PITCH_CNV 0.0041299998 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FG_AHR_24V 6.5537162 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 16.114075 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 60

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 1666.9736 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 16 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 130722,182709,4720.203,-12524.401,2,1.0,24,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -57.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130722,183237,4720.193,-12524.452,2,0.7,4,15.8 MHEAD_RNG_PITCHd_Wd 104.5,671,-15.6,-6.667,-20.21,2052,0.132

SPEED_LIMITS 0.115,0.220 D_GRID 1000

TGT_NAME HOLD IRON 1.000000,0.015334,-0.123591,-0.022416,1.049678,-0.036701,-0.000173,-0.084301,1.124830,859.849731,-817.228638,-700.200439

TGT_LATLONG 4720.000,-12524.000

Post-dive calculations and measurements:

MODEM_MSG CACST,8,2,20220713181510.199077,18,32767,45,0211,0000,00,00,00,00,00,-1,-01,-01,0,-1,1,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*3B _10V_AH 14.77,0.000

NAV 1657738749,88.3,start FG_AHR_24Vo 6.707

FINISH 0.4,1.022676 FG_AHR_10Vo 20.913

SM_CCo 3469.10,76.49,0.939,0,500.8,561.4,440.2,586.08 MEM0 60108,1,0,0

SM_GC 1.91,76.49,11.52,0.12,0.939,0.055,0.145,500.8,561.4,440.2,200.1,1959.7,0,0,0,11.65,15.56,15.56 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 966220,28,80428,68

IRIDIUM_FIX 4719.67,-12524.51,130722,163630 DATA_FILE_SIZE 16125,530

TCM_TEMP 15.31 CAP_FILE_SIZE 171231,0

SC_FREEKB 3873664 SDSIZE 3887104,3865408

PM_ACTIVECARD 0 SDFILEDIR 175,1

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

MODEM 5,1657736110,47.25000,-122.25000,910.199,1333441.6 SOUNDSPEED 1465.0

RAFOS_FIX 4700.000000,-12248.580078,130722,000002,2,510,7735.12 CURRENT 0.042,187.9,1

HUMID 49.91 MAGCAL 1.000000,0.032927,0.018220,-0.005166,1.033271,-0.069953,0.000311,-0.044875,0.990855,750.5,-865.9,-674.4,36,0.0314,0

TEMP 11.89 IMPLIED_C_PITCH 1688,16.03,259,1677.5,16.07

INTERNAL_PRESSURE 7.78887 IMPLIED_C_VBD 3005,61.901375,156,0

_24V_AH 14.77,6.080 GPS 130722,193145,4719.932,-12524.234,1,1.1,4,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 642 1084 10289.34 nil 0 0 0.00

Pitch_motor 24 281 103.37 nil 0 0 0.00

Roll_motor 64 177 169.40 nil 0 0 0.00

Iridium 246 238 868.74 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.04 nil 0 0 0.00

Core 2378 5 179.84 SciCon 3370 6 342.45

Fast 1 0 0.00 PMAR 3379 12 639.62

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1317 0 6.23

Compass 1083 5 80.05

RAFOS 1390 40 821.31

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

12.53 16386 -91.14 -1.08 0.00 499.4 560.1 438.6 201.4 2040.4 0.00 0.00 0 83.55 65.75 0.00 0.00 0.005 0.000 0.000 2054.31 2087.88 2020.75 201.81 2040.31 0 0 0 15.62 30.00 30.00

83.98 18727 -145.99 -1.15 80.00 2054.8 2088.6 2020.9 201.5 2040.5 3.45 -3.17 13 143.44 34.56 9.27 3.51 0.005 0.281 0.118 3485.03 3519.19 3450.88 1390.25 3466.88 0 0 0 15.64 15.48 15.58

286.84 1028 -145.99 -1.15 0.00 3487.2 3524.3 3450.1 1390.2 3466.5 43.87 -17.00 52 294.05 0.00 0.00 3.46 0.000 0.000 0.062 3488.56 3525.81 3451.31 1389.56 1974.94 0 0 0 30.00 30.00 15.66

477.45 260 -145.99 -1.15 80.00 3487.4 3525.1 3449.8 1389.8 1974.2 74.30 -14.81 75 485.55 0.00 0.00 3.67 0.000 0.000 0.111 3487.69 3526.06 3449.31 1390.06 3467.50 0 0 0 30.00 30.00 15.67

514.09 1028 -145.99 -1.15 0.00 3488.2 3526.0 3450.4 1389.6 3467.8 79.00 -12.80 82 521.99 0.00 0.00 3.45 0.000 0.000 0.058 3488.53 3526.69 3450.38 1389.69 1972.56 0 0 0 30.00 30.00 15.71

709.09 516 -145.99 -1.15 -80.00 3489.4 3528.9 3449.9 1389.9 1972.5 102.58 -12.37 102 717.05 0.00 0.00 3.58 0.000 0.000 0.128 3490.28 3528.19 3452.38 1389.50 532.31 0 0 0 30.00 30.00 15.70

739.77 1028 -145.99 -1.15 0.00 3489.5 3528.5 3450.4 1389.6 532.1 106.75 -13.26 108 748.11 0.00 0.00 3.45 0.000 0.000 0.053 3490.28 3529.50 3451.06 1389.50 2030.62 0 0 0 30.00 30.00 15.74

855 end dive: TARGET_DEPTH_EXCEEDED

state 855 begin apogee

857.11 10243 0.00 -0.31 0.00 3489.9 3529.6 3450.2 1389.8 1963.9 120.38 -11.69 120 974.86 104.75 1.37 0.11 1.085 0.139 0.177 2888.88 2977.69 2800.06 1593.31 2037.69 0 0 0 11.66 15.68 15.39

977 end apogee: CONTROL_FINISHED_OK

state 977 begin climb

977.66 10243 145.99 1.15 0.00 2887.8 2976.2 2799.3 1593.0 2037.6 125.52 0.00 131 1098.28 106.78 2.32 0.00 1.058 0.098 0.000 2293.62 2394.19 2193.06 1947.94 2038.38 0 0 0 11.48 15.40 30.00

1281.75 16902 145.99 1.15 -80.00 2286.2 2381.5 2190.9 1947.9 2037.8 109.88 6.92 166 1290.10 0.00 0.00 3.78 0.000 0.000 0.128 2283.44 2378.56 2188.31 1947.75 531.38 0 0 0 30.00 30.00 15.54

1518.65 17414 145.99 1.15 0.00 2281.6 2373.2 2189.9 1948.2 531.5 90.05 6.77 213 1526.76 0.00 0.00 3.43 0.000 0.000 0.054 2280.41 2372.12 2188.69 1948.19 2030.00 0 0 0 30.00 30.00 15.72

1708.47 8742 215.64 1.23 -80.00 2281.1 2373.2 2188.9 1947.8 2031.1 82.96 3.18 232 1771.00 50.57 0.00 3.78 1.031 0.000 0.127 2009.84 2111.19 1908.50 1947.62 533.00 0 0 0 11.78 30.00 15.53

1999.64 9254 234.07 1.25 0.00 2000.3 2096.6 1904.0 1948.1 532.9 64.33 5.74 289 2023.67 14.82 0.00 3.47 0.950 0.000 0.053 1934.97 2037.38 1832.56 1946.38 2032.75 0 0 0 11.49 30.00 15.67

2215.11 10791 292.30 1.33 -80.00 1929.7 2030.2 1829.1 1946.9 2033.2 56.77 3.75 312 2271.06 43.37 0.23 3.78 1.009 0.073 0.129 1696.78 1800.75 1592.81 2001.88 533.88 0 0 0 11.58 15.67 15.51

2279.58 1028 292.30 1.33 0.00 1693.6 1795.0 1592.2 2001.6 534.1 52.35 7.04 322 2287.67 0.00 0.00 3.49 0.000 0.000 0.053 1694.81 1796.94 1592.69 2001.75 2030.31 0 0 0 30.00 30.00 15.55

2469.67 8486 310.02 1.35 80.00 1689.8 1792.2 1587.5 2001.7 2030.4 39.60 5.78 357 2493.78 14.25 0.00 3.57 0.931 0.000 0.117 1625.16 1727.31 1523.00 2000.38 3467.50 0 0 0 11.60 30.00 15.58

2517.36 9254 320.02 1.36 0.00 1623.2 1724.1 1522.4 2002.1 3469.2 36.63 6.17 366 2535.98 9.85 0.00 3.46 0.846 0.000 0.058 1584.19 1683.94 1484.44 2001.50 1972.56 0 0 0 11.59 30.00 15.61

2719.52 8742 353.11 1.40 -80.00 1579.6 1679.7 1479.5 2001.9 1972.4 25.33 5.01 406 2754.74 25.48 0.00 3.63 0.962 0.000 0.133 1449.50 1552.25 1346.75 2002.19 533.12 0 0 0 11.78 30.00 15.56

2851.11 9254 359.66 1.41 0.00 1444.6 1544.1 1345.1 2001.5 532.8 17.58 6.34 431 2869.36 6.64 0.00 3.48 0.721 0.000 0.054 1422.78 1526.00 1319.56 2002.06 2029.50 0 0 0 11.56 30.00 15.64

3052.90 10791 438.01 1.51 -80.00 1420.2 1522.9 1317.6 2002.7 2030.1 10.92 2.74 471 3125.95 57.95 0.18 3.80 0.966 0.095 0.131 1103.66 1201.38 1005.94 2041.44 533.00 0 0 0 11.57 15.69 15.47

3294.55 9254 480.96 1.56 0.00 1098.0 1193.6 1002.4 2041.7 532.7 3.38 4.52 518 3334.97 30.93 0.00 3.49 0.938 0.000 0.053 939.59 1032.25 846.94 2041.38 2031.56 0 0 0 11.69 30.00 15.61

3335 end climb: SURFACE_DEPTH_REACHED

state 3335 begin surface coast

3358 end surface coast: CONTROL_FINISHED_OK

state 3358 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	16	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	120	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	60	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	1666.9736	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	20.835688	SEABIRD_T_I	2.4999999e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	16.114075	FG_AHR_24V	6.5537162	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	130722,182709,4720.203,-12524.401,2,1.0,24,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.65	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130722,183237,4720.193,-12524.452,2,0.7,4,15.8	MHEAD_RNG_PITCHd_Wd	104.5,671,-15.6,-6.667,-20.21,2052,0.132
SPEED_LIMITS	0.115,0.220	D_GRID	1000
TGT_NAME	HOLD	IRON	1.000000,0.015334,-0.123591,-0.022416,1.049678,-0.036701,-0.000173,-0.084301,1.124830,859.849731,-817.228638,-700.200439
TGT_LATLONG	4720.000,-12524.000

MODEM_MSG	CACST,8,2,20220713181510.199077,18,32767,45,0211,0000,00,00,00,00,00,-1,-01,-01,0,-1,1,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*3B	_10V_AH	14.77,0.000
NAV	1657738749,88.3,start	FG_AHR_24Vo	6.707
FINISH	0.4,1.022676	FG_AHR_10Vo	20.913
SM_CCo	3469.10,76.49,0.939,0,500.8,561.4,440.2,586.08	MEM0	60108,1,0,0
SM_GC	1.91,76.49,11.52,0.12,0.939,0.055,0.145,500.8,561.4,440.2,200.1,1959.7,0,0,0,11.65,15.56,15.56	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	966220,28,80428,68
IRIDIUM_FIX	4719.67,-12524.51,130722,163630	DATA_FILE_SIZE	16125,530
TCM_TEMP	15.31	CAP_FILE_SIZE	171231,0
SC_FREEKB	3873664	SDSIZE	3887104,3865408
PM_ACTIVECARD	0	SDFILEDIR	175,1
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	5,1657736110,47.25000,-122.25000,910.199,1333441.6	SOUNDSPEED	1465.0
RAFOS_FIX	4700.000000,-12248.580078,130722,000002,2,510,7735.12	CURRENT	0.042,187.9,1
HUMID	49.91	MAGCAL	1.000000,0.032927,0.018220,-0.005166,1.033271,-0.069953,0.000311,-0.044875,0.990855,750.5,-865.9,-674.4,36,0.0314,0
TEMP	11.89	IMPLIED_C_PITCH	1688,16.03,259,1677.5,16.07
INTERNAL_PRESSURE	7.78887	IMPLIED_C_VBD	3005,61.901375,156,0
_24V_AH	14.77,6.080	GPS	130722,193145,4719.932,-12524.234,1,1.1,4,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	642	1084	10289.34	nil	0	0	0.00
Pitch_motor	24	281	103.37	nil	0	0	0.00
Roll_motor	64	177	169.40	nil	0	0	0.00
Iridium	246	238	868.74	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.04	nil	0	0	0.00
Core	2378	5	179.84	SciCon	3370	6	342.45
Fast	1	0	0.00	PMAR	3379	12	639.62
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1317	0	6.23
Compass	1083	5	80.05
RAFOS	1390	40	821.31
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
12.53	16386	-91.14	-1.08	0.00	499.4	560.1	438.6	201.4	2040.4	0.00	0.00	0	83.55	65.75	0.00	0.00	0.005	0.000	0.000	2054.31	2087.88	2020.75	201.81	2040.31	0	0	0	15.62	30.00	30.00
83.98	18727	-145.99	-1.15	80.00	2054.8	2088.6	2020.9	201.5	2040.5	3.45	-3.17	13	143.44	34.56	9.27	3.51	0.005	0.281	0.118	3485.03	3519.19	3450.88	1390.25	3466.88	0	0	0	15.64	15.48	15.58
286.84	1028	-145.99	-1.15	0.00	3487.2	3524.3	3450.1	1390.2	3466.5	43.87	-17.00	52	294.05	0.00	0.00	3.46	0.000	0.000	0.062	3488.56	3525.81	3451.31	1389.56	1974.94	0	0	0	30.00	30.00	15.66
477.45	260	-145.99	-1.15	80.00	3487.4	3525.1	3449.8	1389.8	1974.2	74.30	-14.81	75	485.55	0.00	0.00	3.67	0.000	0.000	0.111	3487.69	3526.06	3449.31	1390.06	3467.50	0	0	0	30.00	30.00	15.67
514.09	1028	-145.99	-1.15	0.00	3488.2	3526.0	3450.4	1389.6	3467.8	79.00	-12.80	82	521.99	0.00	0.00	3.45	0.000	0.000	0.058	3488.53	3526.69	3450.38	1389.69	1972.56	0	0	0	30.00	30.00	15.71
709.09	516	-145.99	-1.15	-80.00	3489.4	3528.9	3449.9	1389.9	1972.5	102.58	-12.37	102	717.05	0.00	0.00	3.58	0.000	0.000	0.128	3490.28	3528.19	3452.38	1389.50	532.31	0	0	0	30.00	30.00	15.70
739.77	1028	-145.99	-1.15	0.00	3489.5	3528.5	3450.4	1389.6	532.1	106.75	-13.26	108	748.11	0.00	0.00	3.45	0.000	0.000	0.053	3490.28	3529.50	3451.06	1389.50	2030.62	0	0	0	30.00	30.00	15.74
855	end dive: TARGET_DEPTH_EXCEEDED
state	855	begin apogee
857.11	10243	0.00	-0.31	0.00	3489.9	3529.6	3450.2	1389.8	1963.9	120.38	-11.69	120	974.86	104.75	1.37	0.11	1.085	0.139	0.177	2888.88	2977.69	2800.06	1593.31	2037.69	0	0	0	11.66	15.68	15.39
977	end apogee: CONTROL_FINISHED_OK
state	977	begin climb
977.66	10243	145.99	1.15	0.00	2887.8	2976.2	2799.3	1593.0	2037.6	125.52	0.00	131	1098.28	106.78	2.32	0.00	1.058	0.098	0.000	2293.62	2394.19	2193.06	1947.94	2038.38	0	0	0	11.48	15.40	30.00
1281.75	16902	145.99	1.15	-80.00	2286.2	2381.5	2190.9	1947.9	2037.8	109.88	6.92	166	1290.10	0.00	0.00	3.78	0.000	0.000	0.128	2283.44	2378.56	2188.31	1947.75	531.38	0	0	0	30.00	30.00	15.54
1518.65	17414	145.99	1.15	0.00	2281.6	2373.2	2189.9	1948.2	531.5	90.05	6.77	213	1526.76	0.00	0.00	3.43	0.000	0.000	0.054	2280.41	2372.12	2188.69	1948.19	2030.00	0	0	0	30.00	30.00	15.72
1708.47	8742	215.64	1.23	-80.00	2281.1	2373.2	2188.9	1947.8	2031.1	82.96	3.18	232	1771.00	50.57	0.00	3.78	1.031	0.000	0.127	2009.84	2111.19	1908.50	1947.62	533.00	0	0	0	11.78	30.00	15.53
1999.64	9254	234.07	1.25	0.00	2000.3	2096.6	1904.0	1948.1	532.9	64.33	5.74	289	2023.67	14.82	0.00	3.47	0.950	0.000	0.053	1934.97	2037.38	1832.56	1946.38	2032.75	0	0	0	11.49	30.00	15.67
2215.11	10791	292.30	1.33	-80.00	1929.7	2030.2	1829.1	1946.9	2033.2	56.77	3.75	312	2271.06	43.37	0.23	3.78	1.009	0.073	0.129	1696.78	1800.75	1592.81	2001.88	533.88	0	0	0	11.58	15.67	15.51
2279.58	1028	292.30	1.33	0.00	1693.6	1795.0	1592.2	2001.6	534.1	52.35	7.04	322	2287.67	0.00	0.00	3.49	0.000	0.000	0.053	1694.81	1796.94	1592.69	2001.75	2030.31	0	0	0	30.00	30.00	15.55
2469.67	8486	310.02	1.35	80.00	1689.8	1792.2	1587.5	2001.7	2030.4	39.60	5.78	357	2493.78	14.25	0.00	3.57	0.931	0.000	0.117	1625.16	1727.31	1523.00	2000.38	3467.50	0	0	0	11.60	30.00	15.58
2517.36	9254	320.02	1.36	0.00	1623.2	1724.1	1522.4	2002.1	3469.2	36.63	6.17	366	2535.98	9.85	0.00	3.46	0.846	0.000	0.058	1584.19	1683.94	1484.44	2001.50	1972.56	0	0	0	11.59	30.00	15.61
2719.52	8742	353.11	1.40	-80.00	1579.6	1679.7	1479.5	2001.9	1972.4	25.33	5.01	406	2754.74	25.48	0.00	3.63	0.962	0.000	0.133	1449.50	1552.25	1346.75	2002.19	533.12	0	0	0	11.78	30.00	15.56
2851.11	9254	359.66	1.41	0.00	1444.6	1544.1	1345.1	2001.5	532.8	17.58	6.34	431	2869.36	6.64	0.00	3.48	0.721	0.000	0.054	1422.78	1526.00	1319.56	2002.06	2029.50	0	0	0	11.56	30.00	15.64
3052.90	10791	438.01	1.51	-80.00	1420.2	1522.9	1317.6	2002.7	2030.1	10.92	2.74	471	3125.95	57.95	0.18	3.80	0.966	0.095	0.131	1103.66	1201.38	1005.94	2041.44	533.00	0	0	0	11.57	15.69	15.47
3294.55	9254	480.96	1.56	0.00	1098.0	1193.6	1002.4	2041.7	532.7	3.38	4.52	518	3334.97	30.93	0.00	3.49	0.938	0.000	0.053	939.59	1032.25	846.94	2041.38	2031.56	0	0	0	11.69	30.00	15.61
3335	end climb: SURFACE_DEPTH_REACHED
state	3335	begin surface coast
3358	end surface coast: CONTROL_FINISHED_OK
state	3358	begin surface