Glider dive log

AMOS Jul22 * SG240 * Dive index * Mission links * Dive 2 * 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 2 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 2 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 1818.3074 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 16.855078 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 27.452623 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 9.6515694 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 2 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 27.452623 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 9.6515694 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 16.855078 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 1818.3074 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 2 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 130722,181049,4719.750,-12524.497,1,1.0,3,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.39 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -47.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130722,181339,4719.745,-12524.531,2,1.0,4,15.8 MHEAD_RNG_PITCHd_Wd 47.2,817,-17.6,-10.000,-21.24,2209,0.254

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME HOLD IRON 1.000000,0.003185,0.120530,-0.000879,1.090121,-0.056068,0.018160,-0.009387,1.003343,-80.211082,-908.014526,-417.389099

TGT_LATLONG 4720.000,-12524.000

Post-dive calculations and measurements:

MODEM_MSG CACST,8,1,20220713181512.203574,18,2176,03,0233,0000,44,00,00,05,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*29 FG_AHR_24Vo 9.823

NAV 1657738750,104.1,start FG_AHR_10Vo 27.505

FINISH 0.5,1.022460 MEM0 60108,1,0,0

SM_CCo 4178.01,190.95,0.945,0,541.3,561.6,521.1,692.40 MEM1 65508,1,0,0

SM_GC 1.67,190.95,12.45,3.38,0.945,0.061,0.058,541.3,561.6,521.1,186.0,2168.4,0,0,0,11.53,15.96,15.98 MEM2 966660,24,80248,59

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16115,603

IRIDIUM_FIX 4720.05,-12528.94,130722,180922 CAP_FILE_SIZE 421859,0

TCM_TEMP 18.67 SDSIZE 3887104,3870528

SC_FREEKB 3878144 SDFILEDIR 80,1

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

MODEM 0,1657736112,47.25000,-122.25000,912.204,1354515.6 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.032,188.4,1

HUMID 53.39 MAGCAL 1.000000,0.007582,-0.007608,-0.001367,1.135626,-0.085364,0.032494,-0.022546,0.898010,86.0,-817.8,-293.3,36,0.0492,1

TEMP 11.67 IMPLIED_C_PITCH 1809,16.40,299,1813.8,16.63

INTERNAL_PRESSURE 8.0932 IMPLIED_C_VBD 3685,50.146416,223,3464.0

_24V_AH 15.01,10.973 GPS 130722,192439,4719.873,-12523.950,1,1.1,25,15.8

_10V_AH 15.00,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 700 1116 11732.12 nil 0 0 0.00

Pitch_motor 28 230 97.69 nil 0 0 0.00

Roll_motor 78 195 229.63 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.99 nil 0 0 0.00

Core 2327 5 178.74 SciCon 3951 6 382.20

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1678 0 8.06

Compass 1171 5 87.85

RAFOS 2240 40 1344.07

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

6.71 16386 -145.99 -1.23 0.00 538.2 561.4 515.1 182.8 2125.0 0.00 0.00 0 98.18 86.26 0.00 0.00 0.005 0.000 0.000 2979.16 3004.88 2953.44 182.88 2125.56 0 0 0 16.16 30.00 30.00

98.54 18983 -145.99 -1.23 -80.00 2978.2 3003.6 2952.7 182.9 2124.2 3.05 -5.06 17 145.39 22.50 9.93 3.56 0.006 0.230 0.115 3960.09 4009.75 3910.44 1520.81 680.69 0 0 0 16.16 15.98 16.05

241.56 3205 -145.99 -1.09 0.00 3960.2 4009.9 3910.5 1520.4 681.0 28.81 -16.83 44 248.38 0.00 0.22 3.40 0.000 0.166 0.051 3960.69 4010.62 3910.75 1554.19 2175.38 0 0 0 30.00 16.01 16.08

436.75 516 -145.99 -1.09 -80.00 3960.9 4009.9 3911.9 1554.4 2175.1 52.70 -12.52 81 443.91 0.00 0.00 3.68 0.000 0.000 0.111 3961.53 4010.50 3912.56 1553.38 682.00 0 0 0 30.00 30.00 16.07

502.39 1156 -145.99 -1.04 0.00 3960.6 4009.6 3911.5 1554.2 682.2 61.31 -13.03 94 508.27 0.00 0.00 3.37 0.000 0.000 0.051 3961.47 4010.50 3912.44 1554.00 2176.12 0 0 0 30.00 30.00 16.12

692.32 0 -145.99 -1.04 0.00 3961.6 4010.2 3913.0 1554.3 2176.6 82.49 -10.65 114 693.89 0.00 0.00 0.00 0.000 0.000 0.000 3960.78 4009.25 3912.31 1554.00 2177.00 0 0 0 30.00 30.00 30.00

882.47 676 -145.99 -1.07 -80.00 3962.0 4011.2 3912.8 1554.2 2176.1 99.98 -8.78 133 889.50 0.00 0.00 3.67 0.000 0.000 0.113 3962.66 4010.75 3914.56 1553.88 680.69 0 0 0 30.00 30.00 16.08

1098.04 1156 -145.99 -1.02 0.00 3962.3 4012.2 3912.4 1553.8 680.8 121.25 -10.01 176 1103.93 0.00 0.00 3.37 0.000 0.000 0.053 3963.41 4013.00 3913.81 1553.38 2176.06 0 0 0 30.00 30.00 16.14

1288.00 548 -145.99 -1.02 -80.00 3962.7 4012.9 3912.5 1554.1 2175.3 138.02 -9.06 196 1295.12 0.00 0.00 3.68 0.000 0.000 0.115 3963.69 4013.75 3913.62 1554.00 680.75 0 0 0 30.00 30.00 16.08

1403.62 3205 -145.99 -0.98 0.00 3962.6 4012.4 3912.8 1554.1 680.6 150.26 -10.63 219 1409.66 0.00 0.17 3.38 0.000 0.170 0.055 3963.00 4012.69 3913.31 1582.19 2175.69 0 0 0 30.00 16.06 16.14

1593.68 676 -145.99 -1.07 -80.00 3962.1 4011.9 3912.2 1582.7 2175.2 166.10 -8.28 239 1600.72 0.00 0.00 3.68 0.000 0.000 0.118 3963.72 4013.81 3913.62 1582.38 681.81 0 0 0 30.00 30.00 16.08

1693.45 1060 -145.99 -1.07 0.00 3962.4 4012.3 3912.6 1582.1 682.2 175.84 -9.70 259 1700.83 0.00 0.00 3.38 0.000 0.000 0.056 3962.88 4012.88 3912.88 1581.94 2173.25 0 0 0 30.00 30.00 16.13

1749 end dive: TARGET_DEPTH_EXCEEDED

state 1749 begin apogee

1750.46 10243 0.00 -0.30 0.00 3962.7 4012.8 3912.5 1582.7 2113.9 180.38 -8.13 265 1858.03 100.64 1.07 0.10 1.117 0.124 0.196 3363.00 3425.44 3300.56 1746.94 2180.44 0 0 0 11.21 16.06 15.80

1859 end apogee: CONTROL_FINISHED_OK

state 1859 begin climb

1859.26 10503 145.99 1.23 80.00 3361.9 3423.5 3300.2 1747.2 2180.3 183.85 0.00 275 1976.82 103.40 2.43 3.60 1.086 0.098 0.123 2766.25 2825.75 2706.75 2117.88 3615.44 0 0 0 11.57 15.81 15.62

2000.31 5253 145.99 0.92 0.00 2766.0 2825.4 2706.6 2117.6 3615.4 171.70 14.96 301 2007.68 0.00 0.65 3.50 0.000 0.155 0.057 2765.47 2825.75 2705.19 2032.88 2121.62 0 0 0 30.00 15.68 15.75

2195.27 548 147.17 0.92 -80.00 2760.9 2823.8 2697.9 2032.4 2121.9 150.65 9.94 321 2201.32 0.00 0.00 3.58 0.000 0.000 0.122 2757.38 2820.31 2694.44 2033.06 680.69 0 0 0 30.00 30.00 15.90

2259.57 1156 147.17 0.79 0.00 2757.3 2818.9 2695.8 2032.8 680.6 143.16 11.80 334 2266.98 0.00 0.00 3.41 0.000 0.000 0.058 2759.72 2821.00 2698.44 2032.94 2171.75 0 0 0 30.00 30.00 15.97

2455.27 8742 178.26 0.83 -80.00 2757.0 2818.2 2695.8 2032.6 2171.4 125.20 8.55 354 2488.46 24.18 0.00 3.71 1.007 0.000 0.122 2634.75 2699.12 2570.38 2033.62 679.50 0 0 0 11.48 30.00 15.93

2586.95 5253 178.26 0.77 0.00 2630.0 2695.5 2564.4 2032.6 679.4 112.07 10.74 380 2594.16 0.00 0.23 3.40 0.000 0.152 0.057 2629.91 2695.94 2563.88 1996.50 2172.12 0 0 0 30.00 15.98 16.03

2784.13 10919 243.85 0.98 -80.00 2629.4 2695.9 2563.0 1996.2 2172.0 98.51 6.95 399 2841.77 48.61 0.41 3.73 1.028 0.070 0.121 2364.88 2442.44 2287.31 2066.81 682.56 0 0 0 11.49 16.04 15.86

2844.47 9254 253.97 0.99 0.00 2364.6 2441.9 2287.3 2066.8 682.1 92.92 9.53 407 2862.51 9.64 0.00 3.41 0.817 0.000 0.056 2326.53 2405.06 2248.00 2067.94 2173.19 0 0 0 11.57 30.00 15.91

3050.31 8870 267.56 1.10 -80.00 2320.6 2403.1 2238.1 2067.6 2172.9 73.11 9.37 429 3072.02 11.35 0.00 3.71 0.872 0.000 0.123 2274.00 2356.75 2191.25 2066.12 682.75 0 0 0 11.50 30.00 15.91

3252.58 11431 314.65 1.21 0.00 2265.7 2351.0 2180.3 2067.1 683.0 55.36 7.81 469 3296.39 35.19 0.27 3.41 0.982 0.077 0.058 2078.97 2168.62 1989.31 2121.75 2172.00 0 0 0 11.46 15.97 15.98

3477.68 8354 359.43 1.33 0.00 2073.2 2165.6 1980.8 2120.9 2172.4 37.76 7.92 510 3514.22 32.62 0.00 0.00 0.961 0.000 0.000 1897.25 1994.88 1799.62 2121.50 2172.56 0 0 0 11.51 30.00 30.00

3697.71 10919 407.68 1.53 -80.00 1890.7 1991.6 1789.7 2121.2 2172.2 20.26 7.76 554 3741.63 34.65 0.42 3.74 0.948 0.073 0.122 1700.19 1796.19 1604.19 2201.19 682.94 0 0 0 11.42 15.98 15.83

3919 end climb: SURFACE_DEPTH_REACHED

state 3919 begin surface coast

3949 end surface coast: CONTROL_FINISHED_OK

state 3949 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	2	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	2	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	1818.3074	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	16.855078	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	27.452623	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	9.6515694	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	130722,181049,4719.750,-12524.497,1,1.0,3,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.39	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-47.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130722,181339,4719.745,-12524.531,2,1.0,4,15.8	MHEAD_RNG_PITCHd_Wd	47.2,817,-17.6,-10.000,-21.24,2209,0.254
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	HOLD	IRON	1.000000,0.003185,0.120530,-0.000879,1.090121,-0.056068,0.018160,-0.009387,1.003343,-80.211082,-908.014526,-417.389099
TGT_LATLONG	4720.000,-12524.000

MODEM_MSG	CACST,8,1,20220713181512.203574,18,2176,03,0233,0000,44,00,00,05,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*29	FG_AHR_24Vo	9.823
NAV	1657738750,104.1,start	FG_AHR_10Vo	27.505
FINISH	0.5,1.022460	MEM0	60108,1,0,0
SM_CCo	4178.01,190.95,0.945,0,541.3,561.6,521.1,692.40	MEM1	65508,1,0,0
SM_GC	1.67,190.95,12.45,3.38,0.945,0.061,0.058,541.3,561.6,521.1,186.0,2168.4,0,0,0,11.53,15.96,15.98	MEM2	966660,24,80248,59
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16115,603
IRIDIUM_FIX	4720.05,-12528.94,130722,180922	CAP_FILE_SIZE	421859,0
TCM_TEMP	18.67	SDSIZE	3887104,3870528
SC_FREEKB	3878144	SDFILEDIR	80,1
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1657736112,47.25000,-122.25000,912.204,1354515.6	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.032,188.4,1
HUMID	53.39	MAGCAL	1.000000,0.007582,-0.007608,-0.001367,1.135626,-0.085364,0.032494,-0.022546,0.898010,86.0,-817.8,-293.3,36,0.0492,1
TEMP	11.67	IMPLIED_C_PITCH	1809,16.40,299,1813.8,16.63
INTERNAL_PRESSURE	8.0932	IMPLIED_C_VBD	3685,50.146416,223,3464.0
_24V_AH	15.01,10.973	GPS	130722,192439,4719.873,-12523.950,1,1.1,25,15.8
_10V_AH	15.00,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	700	1116	11732.12	nil	0	0	0.00
Pitch_motor	28	230	97.69	nil	0	0	0.00
Roll_motor	78	195	229.63	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.99	nil	0	0	0.00
Core	2327	5	178.74	SciCon	3951	6	382.20
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1678	0	8.06
Compass	1171	5	87.85
RAFOS	2240	40	1344.07
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
6.71	16386	-145.99	-1.23	0.00	538.2	561.4	515.1	182.8	2125.0	0.00	0.00	0	98.18	86.26	0.00	0.00	0.005	0.000	0.000	2979.16	3004.88	2953.44	182.88	2125.56	0	0	0	16.16	30.00	30.00
98.54	18983	-145.99	-1.23	-80.00	2978.2	3003.6	2952.7	182.9	2124.2	3.05	-5.06	17	145.39	22.50	9.93	3.56	0.006	0.230	0.115	3960.09	4009.75	3910.44	1520.81	680.69	0	0	0	16.16	15.98	16.05
241.56	3205	-145.99	-1.09	0.00	3960.2	4009.9	3910.5	1520.4	681.0	28.81	-16.83	44	248.38	0.00	0.22	3.40	0.000	0.166	0.051	3960.69	4010.62	3910.75	1554.19	2175.38	0	0	0	30.00	16.01	16.08
436.75	516	-145.99	-1.09	-80.00	3960.9	4009.9	3911.9	1554.4	2175.1	52.70	-12.52	81	443.91	0.00	0.00	3.68	0.000	0.000	0.111	3961.53	4010.50	3912.56	1553.38	682.00	0	0	0	30.00	30.00	16.07
502.39	1156	-145.99	-1.04	0.00	3960.6	4009.6	3911.5	1554.2	682.2	61.31	-13.03	94	508.27	0.00	0.00	3.37	0.000	0.000	0.051	3961.47	4010.50	3912.44	1554.00	2176.12	0	0	0	30.00	30.00	16.12
692.32	0	-145.99	-1.04	0.00	3961.6	4010.2	3913.0	1554.3	2176.6	82.49	-10.65	114	693.89	0.00	0.00	0.00	0.000	0.000	0.000	3960.78	4009.25	3912.31	1554.00	2177.00	0	0	0	30.00	30.00	30.00
882.47	676	-145.99	-1.07	-80.00	3962.0	4011.2	3912.8	1554.2	2176.1	99.98	-8.78	133	889.50	0.00	0.00	3.67	0.000	0.000	0.113	3962.66	4010.75	3914.56	1553.88	680.69	0	0	0	30.00	30.00	16.08
1098.04	1156	-145.99	-1.02	0.00	3962.3	4012.2	3912.4	1553.8	680.8	121.25	-10.01	176	1103.93	0.00	0.00	3.37	0.000	0.000	0.053	3963.41	4013.00	3913.81	1553.38	2176.06	0	0	0	30.00	30.00	16.14
1288.00	548	-145.99	-1.02	-80.00	3962.7	4012.9	3912.5	1554.1	2175.3	138.02	-9.06	196	1295.12	0.00	0.00	3.68	0.000	0.000	0.115	3963.69	4013.75	3913.62	1554.00	680.75	0	0	0	30.00	30.00	16.08
1403.62	3205	-145.99	-0.98	0.00	3962.6	4012.4	3912.8	1554.1	680.6	150.26	-10.63	219	1409.66	0.00	0.17	3.38	0.000	0.170	0.055	3963.00	4012.69	3913.31	1582.19	2175.69	0	0	0	30.00	16.06	16.14
1593.68	676	-145.99	-1.07	-80.00	3962.1	4011.9	3912.2	1582.7	2175.2	166.10	-8.28	239	1600.72	0.00	0.00	3.68	0.000	0.000	0.118	3963.72	4013.81	3913.62	1582.38	681.81	0	0	0	30.00	30.00	16.08
1693.45	1060	-145.99	-1.07	0.00	3962.4	4012.3	3912.6	1582.1	682.2	175.84	-9.70	259	1700.83	0.00	0.00	3.38	0.000	0.000	0.056	3962.88	4012.88	3912.88	1581.94	2173.25	0	0	0	30.00	30.00	16.13
1749	end dive: TARGET_DEPTH_EXCEEDED
state	1749	begin apogee
1750.46	10243	0.00	-0.30	0.00	3962.7	4012.8	3912.5	1582.7	2113.9	180.38	-8.13	265	1858.03	100.64	1.07	0.10	1.117	0.124	0.196	3363.00	3425.44	3300.56	1746.94	2180.44	0	0	0	11.21	16.06	15.80
1859	end apogee: CONTROL_FINISHED_OK
state	1859	begin climb
1859.26	10503	145.99	1.23	80.00	3361.9	3423.5	3300.2	1747.2	2180.3	183.85	0.00	275	1976.82	103.40	2.43	3.60	1.086	0.098	0.123	2766.25	2825.75	2706.75	2117.88	3615.44	0	0	0	11.57	15.81	15.62
2000.31	5253	145.99	0.92	0.00	2766.0	2825.4	2706.6	2117.6	3615.4	171.70	14.96	301	2007.68	0.00	0.65	3.50	0.000	0.155	0.057	2765.47	2825.75	2705.19	2032.88	2121.62	0	0	0	30.00	15.68	15.75
2195.27	548	147.17	0.92	-80.00	2760.9	2823.8	2697.9	2032.4	2121.9	150.65	9.94	321	2201.32	0.00	0.00	3.58	0.000	0.000	0.122	2757.38	2820.31	2694.44	2033.06	680.69	0	0	0	30.00	30.00	15.90
2259.57	1156	147.17	0.79	0.00	2757.3	2818.9	2695.8	2032.8	680.6	143.16	11.80	334	2266.98	0.00	0.00	3.41	0.000	0.000	0.058	2759.72	2821.00	2698.44	2032.94	2171.75	0	0	0	30.00	30.00	15.97
2455.27	8742	178.26	0.83	-80.00	2757.0	2818.2	2695.8	2032.6	2171.4	125.20	8.55	354	2488.46	24.18	0.00	3.71	1.007	0.000	0.122	2634.75	2699.12	2570.38	2033.62	679.50	0	0	0	11.48	30.00	15.93
2586.95	5253	178.26	0.77	0.00	2630.0	2695.5	2564.4	2032.6	679.4	112.07	10.74	380	2594.16	0.00	0.23	3.40	0.000	0.152	0.057	2629.91	2695.94	2563.88	1996.50	2172.12	0	0	0	30.00	15.98	16.03
2784.13	10919	243.85	0.98	-80.00	2629.4	2695.9	2563.0	1996.2	2172.0	98.51	6.95	399	2841.77	48.61	0.41	3.73	1.028	0.070	0.121	2364.88	2442.44	2287.31	2066.81	682.56	0	0	0	11.49	16.04	15.86
2844.47	9254	253.97	0.99	0.00	2364.6	2441.9	2287.3	2066.8	682.1	92.92	9.53	407	2862.51	9.64	0.00	3.41	0.817	0.000	0.056	2326.53	2405.06	2248.00	2067.94	2173.19	0	0	0	11.57	30.00	15.91
3050.31	8870	267.56	1.10	-80.00	2320.6	2403.1	2238.1	2067.6	2172.9	73.11	9.37	429	3072.02	11.35	0.00	3.71	0.872	0.000	0.123	2274.00	2356.75	2191.25	2066.12	682.75	0	0	0	11.50	30.00	15.91
3252.58	11431	314.65	1.21	0.00	2265.7	2351.0	2180.3	2067.1	683.0	55.36	7.81	469	3296.39	35.19	0.27	3.41	0.982	0.077	0.058	2078.97	2168.62	1989.31	2121.75	2172.00	0	0	0	11.46	15.97	15.98
3477.68	8354	359.43	1.33	0.00	2073.2	2165.6	1980.8	2120.9	2172.4	37.76	7.92	510	3514.22	32.62	0.00	0.00	0.961	0.000	0.000	1897.25	1994.88	1799.62	2121.50	2172.56	0	0	0	11.51	30.00	30.00
3697.71	10919	407.68	1.53	-80.00	1890.7	1991.6	1789.7	2121.2	2172.2	20.26	7.76	554	3741.63	34.65	0.42	3.74	0.948	0.073	0.122	1700.19	1796.19	1604.19	2201.19	682.94	0	0	0	11.42	15.98	15.83
3919	end climb: SURFACE_DEPTH_REACHED
state	3919	begin surface coast
3949	end surface coast: CONTROL_FINISHED_OK
state	3949	begin surface