Glider dive log

AMOS Jul22 * SG242 * Dive index * Mission links * Dive 24 * 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 24 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 150 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 180 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 50 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 1694.823 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 21.485691 SEABIRD_T_I 2.4999999e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 16.35046 FG_AHR_24V 7.7964067 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 180 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 150 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 21.485691 PITCH_CNV 0.0041299998 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FG_AHR_24V 7.7964067 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 16.35046 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 180 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 50

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 1694.823 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 24 NAV2_DEVICE 6 ROLL_MAX 3800 W_ADJ_DBAND 0

D_ABORT 180 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 140722,031140,4719.198,-12523.246,2,1.0,32,15.8 TGT_RADIUS 1852.000

_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 -57.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140722,031533,4719.152,-12523.217,2,1.0,5,15.8 MHEAD_RNG_PITCHd_Wd 185.1,20000,-17.6,-10.000,-21.24,2209,0.159

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME HEADING IRON 1.000000,0.024598,-0.001075,-0.002681,1.057742,-0.051851,0.011270,-0.041689,1.009950,771.831177,-865.940430,-659.763184

TGT_LATLONG 4708.354,-12523.217

Post-dive calculations and measurements:

NET CACST,8,0,20220714034012.409534,06,1847,32,0231,0150,22,01,01,00,01,1,025,242,0,5,1,0,150,7.4,5.43,-100,-2.43,-01,0.14,47,10000,5000,0,-1,00,00*56 _10V_AH 14.89,0.000

NET_PING 1657770014,25,1629.963013,7.400000,-1.268738 FG_AHR_24Vo 7.949

NAV 1657771144,36.5,start FG_AHR_10Vo 21.559

FINISH 0.4,1.018312 MEM0 60108,1,0,0

SM_CCo 3243.24,31.54,0.921,0,500.3,562.4,438.2,586.18 MEM1 65508,1,0,0

SM_GC 1.51,31.54,11.81,0.09,0.921,0.046,0.140,500.3,562.4,438.2,205.4,2032.8,0,0,0,11.53,15.59,15.59 MEM2 966256,25,80452,68

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12967,470

IRIDIUM_FIX 4720.59,-12521.92,140722,021309 CAP_FILE_SIZE 172660,0

TCM_TEMP 14.89 SDSIZE 3887104,3862848

SC_FREEKB 3871104 SDFILEDIR 247,1

PM_FREEKB_00 60889664 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 0 SOUNDSPEED 1465.0

RAFOS_CLK 1 CURRENT 0.077,135.8,1

RAFOS_FIX 4403.541992,-10126.287109,140722,010100,2,510,8092.18 MAGCAL 1.000000,0.011373,-0.013320,-0.006952,1.035072,-0.061727,0.000718,-0.052556,0.995977,786.3,-862.0,-658.0,36,0.0309,0

HUMID 51.36 IMPLIED_C_PITCH 1689,16.23,215,1691.9,16.29

TEMP 11.52 IMPLIED_C_VBD 3066,72.543663,148,0

INTERNAL_PRESSURE 7.77871 GPS 140722,041110,4718.787,-12523.322,15,1.7,16,15.8

_24V_AH 14.85,7.797

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 630 1117 10456.48 nil 0 0 0.00

Pitch_motor 25 269 102.06 nil 0 0 0.00

Roll_motor 70 171 179.74 nil 0 0 0.00

Iridium 150 216 483.56 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.32 nil 0 0 0.00

Core 2197 5 167.51 SciCon 3191 6 328.61

Fast 0 0 0.00 PMAR 3201 12 610.18

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1229 0 5.86

Compass 969 5 72.18

RAFOS 2315 40 1379.15

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

12.55 16386 -145.99 -1.26 0.00 495.0 549.6 440.4 200.6 2041.9 0.00 0.00 0 78.18 60.76 0.00 0.00 0.005 0.000 0.000 1974.88 2009.19 1940.56 200.62 2042.94 0 0 0 15.69 30.00 30.00

78.61 18727 -145.99 -1.26 80.00 1974.9 2008.7 1941.1 200.2 2043.0 3.45 -3.25 12 143.05 36.78 9.30 3.44 0.005 0.269 0.115 3485.28 3518.75 3451.81 1389.38 3469.88 0 0 0 15.71 15.56 15.65

254.99 1028 -145.99 -1.26 0.00 3487.2 3523.6 3450.7 1390.0 3470.2 38.56 -19.02 45 262.20 0.00 0.00 3.44 0.000 0.000 0.058 3488.16 3525.12 3451.19 1389.12 1973.88 0 0 0 30.00 30.00 15.71

450.67 516 -145.99 -1.26 -80.00 3487.2 3524.1 3450.3 1389.7 1972.7 70.12 -16.14 72 458.58 0.00 0.00 3.56 0.000 0.000 0.124 3488.91 3524.94 3452.88 1390.12 533.00 0 0 0 30.00 30.00 15.72

481.29 1028 -145.99 -1.26 0.00 3487.1 3524.0 3450.2 1389.8 532.8 75.25 -16.45 78 489.58 0.00 0.00 3.40 0.000 0.000 0.050 3488.72 3524.00 3453.44 1389.31 2029.19 0 0 0 30.00 30.00 15.75

677.06 260 -145.99 -1.26 80.00 3488.5 3526.0 3451.0 1389.6 2030.0 99.60 -12.64 98 684.97 0.00 0.00 3.47 0.000 0.000 0.112 3489.28 3527.00 3451.56 1389.88 3468.44 0 0 0 30.00 30.00 15.76

777.70 1028 -145.99 -1.26 0.00 3488.6 3526.4 3450.9 1389.8 3468.3 111.89 -11.93 118 785.98 0.00 0.00 3.40 0.000 0.000 0.056 3489.19 3527.38 3451.00 1390.25 1971.94 0 0 0 30.00 30.00 15.79

973.47 260 -145.99 -1.26 80.00 3489.1 3528.2 3450.1 1389.8 1971.4 133.62 -11.64 138 981.53 0.00 0.00 3.61 0.000 0.000 0.108 3488.66 3527.25 3450.06 1389.75 3466.75 0 0 0 30.00 30.00 15.78

1004.25 1028 -145.99 -1.26 0.00 3489.3 3527.2 3451.4 1389.9 3467.9 137.67 -12.81 144 1012.61 0.00 0.00 3.40 0.000 0.000 0.056 3491.06 3529.44 3452.69 1389.88 1970.50 0 0 0 30.00 30.00 15.80

1109 end dive: TARGET_DEPTH_EXCEEDED

state 1109 begin apogee

1111.53 10243 0.00 -0.31 0.00 3489.5 3528.1 3450.8 1390.2 2038.2 150.40 -11.76 155 1229.81 105.16 1.55 0.12 1.117 0.136 0.172 2889.25 2978.94 2799.56 1621.38 1964.69 0 0 0 11.76 15.76 15.44

1232 end apogee: CONTROL_FINISHED_OK

state 1232 begin climb

1232.65 10759 145.99 1.26 -80.00 2886.6 2975.8 2797.4 1621.9 1965.6 153.82 0.00 166 1361.82 105.78 2.46 3.63 1.087 0.089 0.127 2289.75 2384.81 2194.69 2002.69 534.06 0 0 0 11.53 15.46 15.27

1414.58 17414 145.99 1.26 0.00 2284.7 2375.9 2193.4 2002.6 534.1 141.54 12.66 197 1423.11 0.00 0.00 3.48 0.000 0.000 0.052 2284.84 2375.81 2193.88 2001.88 2030.31 0 0 0 30.00 30.00 15.45

1610.35 16902 145.99 1.26 -80.00 2283.2 2375.2 2191.2 2003.4 2031.3 120.98 10.97 217 1618.67 0.00 0.00 3.73 0.000 0.000 0.124 2283.59 2376.19 2191.00 2002.50 531.44 0 0 0 30.00 30.00 15.58

1661.44 17414 145.99 1.26 0.00 2281.8 2373.1 2190.5 2002.7 531.7 114.21 13.20 227 1669.96 0.00 0.00 3.43 0.000 0.000 0.051 2282.25 2373.19 2191.31 2002.88 2029.38 0 0 0 30.00 30.00 15.64

1857.30 8486 204.56 1.33 80.00 2282.0 2372.9 2191.1 2002.4 2030.5 96.93 7.28 247 1913.59 42.74 0.00 3.49 1.041 0.000 0.113 2054.03 2152.62 1955.44 2002.56 3467.44 0 0 0 11.74 30.00 15.55

1936.42 11303 271.82 1.41 0.00 2052.1 2149.2 1955.1 2002.6 3467.6 91.80 6.87 262 1999.35 49.06 0.22 3.43 1.021 0.073 0.056 1780.66 1882.81 1678.50 2056.38 1974.81 0 0 0 11.54 15.60 15.61

2182.88 548 273.16 1.41 -80.00 1772.1 1874.2 1669.9 2056.3 1975.1 67.73 9.94 292 2190.97 0.00 0.00 3.58 0.000 0.000 0.127 1770.78 1872.50 1669.06 2056.06 531.56 0 0 0 30.00 30.00 15.64

2249.49 1028 273.16 1.41 0.00 1770.1 1870.8 1669.4 2056.0 531.5 60.52 10.87 305 2257.57 0.00 0.00 3.41 0.000 0.000 0.051 1768.91 1869.50 1668.31 2056.75 2030.44 0 0 0 30.00 30.00 15.73

2439.58 8742 346.85 1.50 -80.00 1768.9 1870.6 1667.3 2056.5 2030.4 46.77 6.57 329 2507.00 53.60 0.00 3.76 1.001 0.000 0.127 1473.53 1571.81 1375.25 2055.75 531.56 0 0 0 11.83 30.00 15.60

2614.65 9254 361.46 1.52 0.00 1468.7 1564.6 1372.8 2056.2 531.5 32.42 9.32 361 2638.23 12.02 0.00 3.46 0.884 0.000 0.053 1414.12 1513.81 1314.44 2056.19 2031.56 0 0 0 11.70 30.00 15.70

2821.75 10535 442.40 1.62 80.00 1411.6 1511.2 1311.9 2055.6 2031.4 18.78 6.23 401 2894.74 59.56 0.19 3.55 0.966 0.074 0.115 1085.38 1178.88 991.88 2101.75 3467.00 0 0 0 11.62 15.73 15.52

2958.34 9254 543.11 1.75 0.00 1082.4 1173.3 991.6 2101.9 3466.1 10.90 5.32 427 3047.06 73.25 0.00 3.44 0.945 0.000 0.056 676.66 755.38 597.94 2101.81 1971.81 0 0 0 11.77 30.00 15.61

3140 end climb: SURFACE_DEPTH_REACHED

state 3140 begin surface coast

3180 end surface coast: CONTROL_FINISHED_OK

state 3180 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	24	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	150	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	180	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	50	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	1694.823	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	21.485691	SEABIRD_T_I	2.4999999e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	16.35046	FG_AHR_24V	7.7964067	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	180	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	140722,031140,4719.198,-12523.246,2,1.0,32,15.8	TGT_RADIUS	1852.000
_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	-57.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140722,031533,4719.152,-12523.217,2,1.0,5,15.8	MHEAD_RNG_PITCHd_Wd	185.1,20000,-17.6,-10.000,-21.24,2209,0.159
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	HEADING	IRON	1.000000,0.024598,-0.001075,-0.002681,1.057742,-0.051851,0.011270,-0.041689,1.009950,771.831177,-865.940430,-659.763184
TGT_LATLONG	4708.354,-12523.217

NET	CACST,8,0,20220714034012.409534,06,1847,32,0231,0150,22,01,01,00,01,1,025,242,0,5,1,0,150,7.4,5.43,-100,-2.43,-01,0.14,47,10000,5000,0,-1,00,00*56	_10V_AH	14.89,0.000
NET_PING	1657770014,25,1629.963013,7.400000,-1.268738	FG_AHR_24Vo	7.949
NAV	1657771144,36.5,start	FG_AHR_10Vo	21.559
FINISH	0.4,1.018312	MEM0	60108,1,0,0
SM_CCo	3243.24,31.54,0.921,0,500.3,562.4,438.2,586.18	MEM1	65508,1,0,0
SM_GC	1.51,31.54,11.81,0.09,0.921,0.046,0.140,500.3,562.4,438.2,205.4,2032.8,0,0,0,11.53,15.59,15.59	MEM2	966256,25,80452,68
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12967,470
IRIDIUM_FIX	4720.59,-12521.92,140722,021309	CAP_FILE_SIZE	172660,0
TCM_TEMP	14.89	SDSIZE	3887104,3862848
SC_FREEKB	3871104	SDFILEDIR	247,1
PM_FREEKB_00	60889664	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	0	SOUNDSPEED	1465.0
RAFOS_CLK	1	CURRENT	0.077,135.8,1
RAFOS_FIX	4403.541992,-10126.287109,140722,010100,2,510,8092.18	MAGCAL	1.000000,0.011373,-0.013320,-0.006952,1.035072,-0.061727,0.000718,-0.052556,0.995977,786.3,-862.0,-658.0,36,0.0309,0
HUMID	51.36	IMPLIED_C_PITCH	1689,16.23,215,1691.9,16.29
TEMP	11.52	IMPLIED_C_VBD	3066,72.543663,148,0
INTERNAL_PRESSURE	7.77871	GPS	140722,041110,4718.787,-12523.322,15,1.7,16,15.8
_24V_AH	14.85,7.797

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	630	1117	10456.48	nil	0	0	0.00
Pitch_motor	25	269	102.06	nil	0	0	0.00
Roll_motor	70	171	179.74	nil	0	0	0.00
Iridium	150	216	483.56	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.32	nil	0	0	0.00
Core	2197	5	167.51	SciCon	3191	6	328.61
Fast	0	0	0.00	PMAR	3201	12	610.18
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1229	0	5.86
Compass	969	5	72.18
RAFOS	2315	40	1379.15
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
12.55	16386	-145.99	-1.26	0.00	495.0	549.6	440.4	200.6	2041.9	0.00	0.00	0	78.18	60.76	0.00	0.00	0.005	0.000	0.000	1974.88	2009.19	1940.56	200.62	2042.94	0	0	0	15.69	30.00	30.00
78.61	18727	-145.99	-1.26	80.00	1974.9	2008.7	1941.1	200.2	2043.0	3.45	-3.25	12	143.05	36.78	9.30	3.44	0.005	0.269	0.115	3485.28	3518.75	3451.81	1389.38	3469.88	0	0	0	15.71	15.56	15.65
254.99	1028	-145.99	-1.26	0.00	3487.2	3523.6	3450.7	1390.0	3470.2	38.56	-19.02	45	262.20	0.00	0.00	3.44	0.000	0.000	0.058	3488.16	3525.12	3451.19	1389.12	1973.88	0	0	0	30.00	30.00	15.71
450.67	516	-145.99	-1.26	-80.00	3487.2	3524.1	3450.3	1389.7	1972.7	70.12	-16.14	72	458.58	0.00	0.00	3.56	0.000	0.000	0.124	3488.91	3524.94	3452.88	1390.12	533.00	0	0	0	30.00	30.00	15.72
481.29	1028	-145.99	-1.26	0.00	3487.1	3524.0	3450.2	1389.8	532.8	75.25	-16.45	78	489.58	0.00	0.00	3.40	0.000	0.000	0.050	3488.72	3524.00	3453.44	1389.31	2029.19	0	0	0	30.00	30.00	15.75
677.06	260	-145.99	-1.26	80.00	3488.5	3526.0	3451.0	1389.6	2030.0	99.60	-12.64	98	684.97	0.00	0.00	3.47	0.000	0.000	0.112	3489.28	3527.00	3451.56	1389.88	3468.44	0	0	0	30.00	30.00	15.76
777.70	1028	-145.99	-1.26	0.00	3488.6	3526.4	3450.9	1389.8	3468.3	111.89	-11.93	118	785.98	0.00	0.00	3.40	0.000	0.000	0.056	3489.19	3527.38	3451.00	1390.25	1971.94	0	0	0	30.00	30.00	15.79
973.47	260	-145.99	-1.26	80.00	3489.1	3528.2	3450.1	1389.8	1971.4	133.62	-11.64	138	981.53	0.00	0.00	3.61	0.000	0.000	0.108	3488.66	3527.25	3450.06	1389.75	3466.75	0	0	0	30.00	30.00	15.78
1004.25	1028	-145.99	-1.26	0.00	3489.3	3527.2	3451.4	1389.9	3467.9	137.67	-12.81	144	1012.61	0.00	0.00	3.40	0.000	0.000	0.056	3491.06	3529.44	3452.69	1389.88	1970.50	0	0	0	30.00	30.00	15.80
1109	end dive: TARGET_DEPTH_EXCEEDED
state	1109	begin apogee
1111.53	10243	0.00	-0.31	0.00	3489.5	3528.1	3450.8	1390.2	2038.2	150.40	-11.76	155	1229.81	105.16	1.55	0.12	1.117	0.136	0.172	2889.25	2978.94	2799.56	1621.38	1964.69	0	0	0	11.76	15.76	15.44
1232	end apogee: CONTROL_FINISHED_OK
state	1232	begin climb
1232.65	10759	145.99	1.26	-80.00	2886.6	2975.8	2797.4	1621.9	1965.6	153.82	0.00	166	1361.82	105.78	2.46	3.63	1.087	0.089	0.127	2289.75	2384.81	2194.69	2002.69	534.06	0	0	0	11.53	15.46	15.27
1414.58	17414	145.99	1.26	0.00	2284.7	2375.9	2193.4	2002.6	534.1	141.54	12.66	197	1423.11	0.00	0.00	3.48	0.000	0.000	0.052	2284.84	2375.81	2193.88	2001.88	2030.31	0	0	0	30.00	30.00	15.45
1610.35	16902	145.99	1.26	-80.00	2283.2	2375.2	2191.2	2003.4	2031.3	120.98	10.97	217	1618.67	0.00	0.00	3.73	0.000	0.000	0.124	2283.59	2376.19	2191.00	2002.50	531.44	0	0	0	30.00	30.00	15.58
1661.44	17414	145.99	1.26	0.00	2281.8	2373.1	2190.5	2002.7	531.7	114.21	13.20	227	1669.96	0.00	0.00	3.43	0.000	0.000	0.051	2282.25	2373.19	2191.31	2002.88	2029.38	0	0	0	30.00	30.00	15.64
1857.30	8486	204.56	1.33	80.00	2282.0	2372.9	2191.1	2002.4	2030.5	96.93	7.28	247	1913.59	42.74	0.00	3.49	1.041	0.000	0.113	2054.03	2152.62	1955.44	2002.56	3467.44	0	0	0	11.74	30.00	15.55
1936.42	11303	271.82	1.41	0.00	2052.1	2149.2	1955.1	2002.6	3467.6	91.80	6.87	262	1999.35	49.06	0.22	3.43	1.021	0.073	0.056	1780.66	1882.81	1678.50	2056.38	1974.81	0	0	0	11.54	15.60	15.61
2182.88	548	273.16	1.41	-80.00	1772.1	1874.2	1669.9	2056.3	1975.1	67.73	9.94	292	2190.97	0.00	0.00	3.58	0.000	0.000	0.127	1770.78	1872.50	1669.06	2056.06	531.56	0	0	0	30.00	30.00	15.64
2249.49	1028	273.16	1.41	0.00	1770.1	1870.8	1669.4	2056.0	531.5	60.52	10.87	305	2257.57	0.00	0.00	3.41	0.000	0.000	0.051	1768.91	1869.50	1668.31	2056.75	2030.44	0	0	0	30.00	30.00	15.73
2439.58	8742	346.85	1.50	-80.00	1768.9	1870.6	1667.3	2056.5	2030.4	46.77	6.57	329	2507.00	53.60	0.00	3.76	1.001	0.000	0.127	1473.53	1571.81	1375.25	2055.75	531.56	0	0	0	11.83	30.00	15.60
2614.65	9254	361.46	1.52	0.00	1468.7	1564.6	1372.8	2056.2	531.5	32.42	9.32	361	2638.23	12.02	0.00	3.46	0.884	0.000	0.053	1414.12	1513.81	1314.44	2056.19	2031.56	0	0	0	11.70	30.00	15.70
2821.75	10535	442.40	1.62	80.00	1411.6	1511.2	1311.9	2055.6	2031.4	18.78	6.23	401	2894.74	59.56	0.19	3.55	0.966	0.074	0.115	1085.38	1178.88	991.88	2101.75	3467.00	0	0	0	11.62	15.73	15.52
2958.34	9254	543.11	1.75	0.00	1082.4	1173.3	991.6	2101.9	3466.1	10.90	5.32	427	3047.06	73.25	0.00	3.44	0.945	0.000	0.056	676.66	755.38	597.94	2101.81	1971.81	0	0	0	11.77	30.00	15.61
3140	end climb: SURFACE_DEPTH_REACHED
state	3140	begin surface coast
3180	end surface coast: CONTROL_FINISHED_OK
state	3180	begin surface