Glider dive log

AMOS Jul22 * SG240 * Dive index * Mission links * Dive 17 * 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 17 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 150 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 50 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 1826.7009 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 16.295555 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 28.173904 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 12.359069 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 150 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 28.173904 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 12.359069 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 16.295555 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 50

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 1826.7009 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 17 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 140722,102534,4719.335,-12524.096,2,1.2,5,15.8 TGT_RADIUS 1500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.55 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140722,103031,4719.349,-12524.098,2,1.2,5,15.8 MHEAD_RNG_PITCHd_Wd 345.5,846,-17.6,-10.000,-21.24,2209,0.185

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME ans0 IRON 1.000000,0.005959,0.139519,0.010941,1.064619,-0.059733,-0.056497,-0.043506,1.020813,-34.689651,-880.867004,-433.031708

TGT_LATLONG 4719.800,-12524.000

Post-dive calculations and measurements:

MODEM_MSG CACST,8,0,20220714100001.591675,18,32767,45,0137,0000,126,03,03,00,03,1,025,121,0,5,1,0,150,18.3,8.02,-100,-5.02,-01,0.06,53,925,0025,0,1,00,00*27 FG_AHR_24Vo 12.529

NAV 1657796345,119.3,start FG_AHR_10Vo 28.214

FINISH 0.4,1.022719 MEM0 60108,1,0,0

SM_CCo 3270.33,120.93,0.931,0,541.8,554.9,528.8,692.28 MEM1 65508,1,0,0

SM_GC 1.52,120.93,12.99,3.46,0.931,0.065,0.056,541.8,554.9,528.8,185.1,2173.2,0,0,0,11.84,15.67,15.68 MEM2 966588,24,80300,60

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12941,477

IRIDIUM_FIX 4721.51,-12528.94,140722,092527 CAP_FILE_SIZE 339367,0

TCM_TEMP 17.97 SDSIZE 3887104,3866176

SC_FREEKB 3873344 SDFILEDIR 188,1

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

RAFOS_FIX 6033.735352,-9800.300781,140722,010100,2,510,3867.59 SOUNDSPEED 1465.0

HUMID 50.06 CURRENT 0.075,144.1,1

TEMP 10.72 MAGCAL 1.000000,0.008194,0.152409,0.011754,1.066992,-0.074555,-0.074007,-0.043101,1.019702,-44.7,-866.3,-432.1,33,0.0345,0

INTERNAL_PRESSURE 8.01204 IMPLIED_C_PITCH 1828,16.41,239,1827.3,16.35

_24V_AH 14.86,14.361 IMPLIED_C_VBD 3653,53.703514,168,3464.0

_10V_AH 14.85,0.000 GPS 140722,112632,4719.588,-12524.033,25,0.9,26,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 707 1106 11639.40 nil 0 0 0.00

Pitch_motor 31 247 113.94 nil 0 0 0.00

Roll_motor 65 195 189.39 nil 0 0 0.00

Iridium 168 215 541.06 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.22 nil 0 0 0.00

Core 2104 5 160.03 SciCon 3120 6 299.63

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1311 0 6.23

Compass 942 5 69.96

RAFOS 1477 40 877.76

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

6.58 16386 -145.99 -1.26 0.00 536.7 553.9 519.4 188.8 2130.4 0.00 0.00 0 91.81 81.22 0.00 0.00 0.005 0.000 0.000 2775.59 2802.00 2749.19 188.81 2130.75 0 0 0 15.79 30.00 30.00

92.11 18983 -145.99 -1.26 -80.00 2774.4 2800.3 2748.4 188.8 2131.0 3.26 -2.33 16 142.81 26.33 10.15 3.61 0.006 0.247 0.122 3960.66 4009.69 3911.62 1519.94 682.06 0 0 0 15.83 15.69 15.76

254.52 3205 -145.99 -1.07 0.00 3963.1 4013.0 3913.2 1520.4 681.4 40.36 -21.12 47 261.56 0.00 0.33 3.43 0.000 0.175 0.057 3963.03 4013.31 3912.75 1569.12 2172.50 0 0 0 30.00 15.77 15.82

449.92 516 -145.99 -1.07 -80.00 3964.0 4014.1 3913.9 1568.7 2172.4 65.04 -10.80 73 457.16 0.00 0.00 3.73 0.000 0.000 0.118 3964.84 4015.38 3914.31 1569.06 679.38 0 0 0 30.00 30.00 15.86

635.67 1028 -145.99 -1.07 0.00 3964.1 4015.2 3913.1 1569.7 679.6 87.92 -12.47 110 641.85 0.00 0.00 3.44 0.000 0.000 0.056 3963.50 4014.19 3912.81 1568.62 2173.00 0 0 0 30.00 30.00 15.93

825.77 644 -145.99 -1.12 -80.00 3965.0 4015.0 3915.0 1569.3 2172.6 107.70 -10.18 130 833.10 0.00 0.00 3.71 0.000 0.000 0.119 3965.00 4014.62 3915.38 1568.94 681.69 0 0 0 30.00 30.00 15.92

924.64 1028 -145.99 -1.12 0.00 3965.6 4015.4 3915.7 1569.4 681.8 118.67 -11.39 149 930.85 0.00 0.00 3.42 0.000 0.000 0.055 3965.16 4015.62 3914.69 1569.81 2173.00 0 0 0 30.00 30.00 15.97

1114.82 4257 -145.99 -1.17 0.00 3965.9 4015.6 3916.1 1569.2 2172.9 135.07 -8.23 169 1116.68 0.00 0.27 0.00 0.000 0.076 0.000 3964.84 4015.19 3914.50 1523.31 2172.62 0 0 0 30.00 15.98 30.00

1265 end dive: TARGET_DEPTH_EXCEEDED

state 1265 begin apogee

1266.06 10243 0.00 -0.31 0.00 3965.7 4015.5 3915.9 1523.9 2113.6 150.32 -10.55 184 1376.65 102.20 1.60 0.10 1.106 0.138 0.196 3366.16 3428.12 3304.19 1752.00 2178.50 0 0 0 11.90 15.99 15.67

1378 end apogee: CONTROL_FINISHED_OK

state 1378 begin climb

1377.88 10503 145.99 1.26 80.00 3362.3 3423.9 3300.7 1751.9 2178.2 153.69 0.00 194 1499.47 103.87 2.53 3.63 1.079 0.099 0.124 2767.59 2827.12 2708.06 2134.56 3617.00 0 0 0 11.80 15.69 15.46

1563.05 5253 145.99 0.91 0.00 2765.8 2823.8 2707.8 2134.0 3616.7 133.21 18.79 228 1570.77 0.00 0.75 3.52 0.000 0.172 0.056 2768.03 2826.19 2709.88 2038.88 2123.81 0 0 0 30.00 15.58 15.63

1752.17 8486 175.05 0.94 80.00 2761.2 2822.6 2699.9 2038.8 2123.4 112.69 8.65 247 1785.59 22.72 0.00 3.75 0.983 0.000 0.122 2649.25 2715.19 2583.31 2039.00 3616.69 0 0 0 11.77 30.00 15.67

1818.40 9254 191.48 0.96 0.00 2648.6 2714.4 2582.8 2038.5 3617.0 106.80 9.24 260 1841.35 14.44 0.00 3.51 0.920 0.000 0.054 2582.47 2651.06 2513.88 2038.81 2122.12 0 0 0 11.74 30.00 15.74

2024.93 10919 238.74 1.10 -80.00 2578.1 2648.6 2507.5 2038.8 2121.4 90.93 7.80 283 2072.14 36.29 0.40 3.68 1.002 0.068 0.127 2387.31 2466.00 2308.62 2105.56 680.75 0 0 0 12.12 15.81 15.67

2155.02 5253 238.74 0.99 0.00 2382.8 2462.6 2303.1 2105.4 680.5 75.00 12.86 308 2162.86 0.00 0.38 3.48 0.000 0.161 0.056 2384.59 2464.31 2304.88 2057.25 2171.69 0 0 0 30.00 15.71 15.77

2350.81 10919 321.03 1.22 -80.00 2381.2 2462.2 2300.1 2057.1 2172.1 61.54 6.17 328 2420.89 59.81 0.47 3.82 0.993 0.069 0.125 2054.69 2145.25 1964.12 2131.31 683.25 0 0 0 11.83 15.84 15.65

2524.55 21639 321.03 1.16 0.00 2046.5 2137.2 1955.8 2131.8 683.2 45.28 11.21 362 2531.54 0.00 0.28 3.48 0.000 0.161 0.058 2047.09 2137.88 1956.31 2099.19 2173.19 0 0 0 30.00 15.71 15.76

2713.81 10919 406.98 1.40 -80.00 2044.0 2136.9 1951.1 2099.2 2173.2 31.84 6.00 399 2788.63 60.86 0.49 3.80 0.968 0.069 0.124 1703.28 1796.94 1609.62 2178.44 684.06 0 0 0 11.83 15.84 15.63

2792.14 9254 419.90 1.42 0.00 1700.9 1793.6 1608.3 2179.0 684.1 25.29 9.40 414 2813.80 11.21 0.00 3.48 0.812 0.000 0.056 1649.78 1741.12 1558.44 2178.12 2170.31 0 0 0 11.87 30.00 15.69

2997.42 10919 515.60 1.72 -80.00 1645.4 1739.4 1551.4 2177.8 2170.4 9.69 5.55 455 3078.70 68.05 0.41 3.83 0.939 0.078 0.126 1262.16 1344.62 1179.69 2251.94 683.44 0 0 0 11.80 15.80 15.58

3102 end climb: SURFACE_DEPTH_REACHED

state 3102 begin surface coast

3112 end surface coast: CONTROL_FINISHED_OK

state 3112 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	17	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	150	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	50	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	1826.7009	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	16.295555	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	28.173904	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	12.359069	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	140722,102534,4719.335,-12524.096,2,1.2,5,15.8	TGT_RADIUS	1500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.55	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140722,103031,4719.349,-12524.098,2,1.2,5,15.8	MHEAD_RNG_PITCHd_Wd	345.5,846,-17.6,-10.000,-21.24,2209,0.185
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	ans0	IRON	1.000000,0.005959,0.139519,0.010941,1.064619,-0.059733,-0.056497,-0.043506,1.020813,-34.689651,-880.867004,-433.031708
TGT_LATLONG	4719.800,-12524.000

MODEM_MSG	CACST,8,0,20220714100001.591675,18,32767,45,0137,0000,126,03,03,00,03,1,025,121,0,5,1,0,150,18.3,8.02,-100,-5.02,-01,0.06,53,925,0025,0,1,00,00*27	FG_AHR_24Vo	12.529
NAV	1657796345,119.3,start	FG_AHR_10Vo	28.214
FINISH	0.4,1.022719	MEM0	60108,1,0,0
SM_CCo	3270.33,120.93,0.931,0,541.8,554.9,528.8,692.28	MEM1	65508,1,0,0
SM_GC	1.52,120.93,12.99,3.46,0.931,0.065,0.056,541.8,554.9,528.8,185.1,2173.2,0,0,0,11.84,15.67,15.68	MEM2	966588,24,80300,60
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12941,477
IRIDIUM_FIX	4721.51,-12528.94,140722,092527	CAP_FILE_SIZE	339367,0
TCM_TEMP	17.97	SDSIZE	3887104,3866176
SC_FREEKB	3873344	SDFILEDIR	188,1
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	6033.735352,-9800.300781,140722,010100,2,510,3867.59	SOUNDSPEED	1465.0
HUMID	50.06	CURRENT	0.075,144.1,1
TEMP	10.72	MAGCAL	1.000000,0.008194,0.152409,0.011754,1.066992,-0.074555,-0.074007,-0.043101,1.019702,-44.7,-866.3,-432.1,33,0.0345,0
INTERNAL_PRESSURE	8.01204	IMPLIED_C_PITCH	1828,16.41,239,1827.3,16.35
_24V_AH	14.86,14.361	IMPLIED_C_VBD	3653,53.703514,168,3464.0
_10V_AH	14.85,0.000	GPS	140722,112632,4719.588,-12524.033,25,0.9,26,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	707	1106	11639.40	nil	0	0	0.00
Pitch_motor	31	247	113.94	nil	0	0	0.00
Roll_motor	65	195	189.39	nil	0	0	0.00
Iridium	168	215	541.06	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.22	nil	0	0	0.00
Core	2104	5	160.03	SciCon	3120	6	299.63
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1311	0	6.23
Compass	942	5	69.96
RAFOS	1477	40	877.76
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
6.58	16386	-145.99	-1.26	0.00	536.7	553.9	519.4	188.8	2130.4	0.00	0.00	0	91.81	81.22	0.00	0.00	0.005	0.000	0.000	2775.59	2802.00	2749.19	188.81	2130.75	0	0	0	15.79	30.00	30.00
92.11	18983	-145.99	-1.26	-80.00	2774.4	2800.3	2748.4	188.8	2131.0	3.26	-2.33	16	142.81	26.33	10.15	3.61	0.006	0.247	0.122	3960.66	4009.69	3911.62	1519.94	682.06	0	0	0	15.83	15.69	15.76
254.52	3205	-145.99	-1.07	0.00	3963.1	4013.0	3913.2	1520.4	681.4	40.36	-21.12	47	261.56	0.00	0.33	3.43	0.000	0.175	0.057	3963.03	4013.31	3912.75	1569.12	2172.50	0	0	0	30.00	15.77	15.82
449.92	516	-145.99	-1.07	-80.00	3964.0	4014.1	3913.9	1568.7	2172.4	65.04	-10.80	73	457.16	0.00	0.00	3.73	0.000	0.000	0.118	3964.84	4015.38	3914.31	1569.06	679.38	0	0	0	30.00	30.00	15.86
635.67	1028	-145.99	-1.07	0.00	3964.1	4015.2	3913.1	1569.7	679.6	87.92	-12.47	110	641.85	0.00	0.00	3.44	0.000	0.000	0.056	3963.50	4014.19	3912.81	1568.62	2173.00	0	0	0	30.00	30.00	15.93
825.77	644	-145.99	-1.12	-80.00	3965.0	4015.0	3915.0	1569.3	2172.6	107.70	-10.18	130	833.10	0.00	0.00	3.71	0.000	0.000	0.119	3965.00	4014.62	3915.38	1568.94	681.69	0	0	0	30.00	30.00	15.92
924.64	1028	-145.99	-1.12	0.00	3965.6	4015.4	3915.7	1569.4	681.8	118.67	-11.39	149	930.85	0.00	0.00	3.42	0.000	0.000	0.055	3965.16	4015.62	3914.69	1569.81	2173.00	0	0	0	30.00	30.00	15.97
1114.82	4257	-145.99	-1.17	0.00	3965.9	4015.6	3916.1	1569.2	2172.9	135.07	-8.23	169	1116.68	0.00	0.27	0.00	0.000	0.076	0.000	3964.84	4015.19	3914.50	1523.31	2172.62	0	0	0	30.00	15.98	30.00
1265	end dive: TARGET_DEPTH_EXCEEDED
state	1265	begin apogee
1266.06	10243	0.00	-0.31	0.00	3965.7	4015.5	3915.9	1523.9	2113.6	150.32	-10.55	184	1376.65	102.20	1.60	0.10	1.106	0.138	0.196	3366.16	3428.12	3304.19	1752.00	2178.50	0	0	0	11.90	15.99	15.67
1378	end apogee: CONTROL_FINISHED_OK
state	1378	begin climb
1377.88	10503	145.99	1.26	80.00	3362.3	3423.9	3300.7	1751.9	2178.2	153.69	0.00	194	1499.47	103.87	2.53	3.63	1.079	0.099	0.124	2767.59	2827.12	2708.06	2134.56	3617.00	0	0	0	11.80	15.69	15.46
1563.05	5253	145.99	0.91	0.00	2765.8	2823.8	2707.8	2134.0	3616.7	133.21	18.79	228	1570.77	0.00	0.75	3.52	0.000	0.172	0.056	2768.03	2826.19	2709.88	2038.88	2123.81	0	0	0	30.00	15.58	15.63
1752.17	8486	175.05	0.94	80.00	2761.2	2822.6	2699.9	2038.8	2123.4	112.69	8.65	247	1785.59	22.72	0.00	3.75	0.983	0.000	0.122	2649.25	2715.19	2583.31	2039.00	3616.69	0	0	0	11.77	30.00	15.67
1818.40	9254	191.48	0.96	0.00	2648.6	2714.4	2582.8	2038.5	3617.0	106.80	9.24	260	1841.35	14.44	0.00	3.51	0.920	0.000	0.054	2582.47	2651.06	2513.88	2038.81	2122.12	0	0	0	11.74	30.00	15.74
2024.93	10919	238.74	1.10	-80.00	2578.1	2648.6	2507.5	2038.8	2121.4	90.93	7.80	283	2072.14	36.29	0.40	3.68	1.002	0.068	0.127	2387.31	2466.00	2308.62	2105.56	680.75	0	0	0	12.12	15.81	15.67
2155.02	5253	238.74	0.99	0.00	2382.8	2462.6	2303.1	2105.4	680.5	75.00	12.86	308	2162.86	0.00	0.38	3.48	0.000	0.161	0.056	2384.59	2464.31	2304.88	2057.25	2171.69	0	0	0	30.00	15.71	15.77
2350.81	10919	321.03	1.22	-80.00	2381.2	2462.2	2300.1	2057.1	2172.1	61.54	6.17	328	2420.89	59.81	0.47	3.82	0.993	0.069	0.125	2054.69	2145.25	1964.12	2131.31	683.25	0	0	0	11.83	15.84	15.65
2524.55	21639	321.03	1.16	0.00	2046.5	2137.2	1955.8	2131.8	683.2	45.28	11.21	362	2531.54	0.00	0.28	3.48	0.000	0.161	0.058	2047.09	2137.88	1956.31	2099.19	2173.19	0	0	0	30.00	15.71	15.76
2713.81	10919	406.98	1.40	-80.00	2044.0	2136.9	1951.1	2099.2	2173.2	31.84	6.00	399	2788.63	60.86	0.49	3.80	0.968	0.069	0.124	1703.28	1796.94	1609.62	2178.44	684.06	0	0	0	11.83	15.84	15.63
2792.14	9254	419.90	1.42	0.00	1700.9	1793.6	1608.3	2179.0	684.1	25.29	9.40	414	2813.80	11.21	0.00	3.48	0.812	0.000	0.056	1649.78	1741.12	1558.44	2178.12	2170.31	0	0	0	11.87	30.00	15.69
2997.42	10919	515.60	1.72	-80.00	1645.4	1739.4	1551.4	2177.8	2170.4	9.69	5.55	455	3078.70	68.05	0.41	3.83	0.939	0.078	0.126	1262.16	1344.62	1179.69	2251.94	683.44	0	0	0	11.80	15.80	15.58
3102	end climb: SURFACE_DEPTH_REACHED
state	3102	begin surface coast
3112	end surface coast: CONTROL_FINISHED_OK
state	3112	begin surface