Glider dive log

AMOS Jul22 * SG242 * Dive index * Mission links * Dive 27 * 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 27 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 1689.325 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 21.71862 SEABIRD_T_I 2.4999999e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 16.19474 FG_AHR_24V 8.2851458 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 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 21.71862 PITCH_CNV 0.0041299998 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FG_AHR_24V 8.2851458 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 16.19474 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 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 1689.325 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 27 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 140722,060841,4718.513,-12523.428,1,0.8,3,15.8 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 -56.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140722,061225,4718.471,-12523.451,2,0.8,5,15.8 MHEAD_RNG_PITCHd_Wd 330.2,2556,-17.6,-10.000,-21.24,2209,0.192

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME ans0 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 4719.800,-12524.000

Post-dive calculations and measurements:

NET CACST,8,0,20220714064012.726412,06,32767,45,0104,0150,07,00,00,00,00,1,027,242,0,5,1,0,150,4.4,2.66,-100,0.34,-01,0.42,76,10000,5000,0,-1,00,00*49 _24V_AH 14.81,8.460

NET_PING 1657780816,27,370.582489,4.400000,-0.490045 _10V_AH 14.85,0.000

MODEM_MSG CACST,8,1,20220714063000.165620,18,32767,33,0105,0000,246,02,02,02,02,-1,-01,-01,2,3,1,0,150,-2.3,4.36,-100,-1.36,-01,0.43,77,925,0025,0,-1,00,00*36 FG_AHR_24Vo 8.440

NAV 1657781942,29.7,start FG_AHR_10Vo 21.794

FINISH 0.4,1.022454 MEM0 60108,1,0,0

SM_CCo 3346.13,46.60,0.933,0,500.2,554.4,446.1,586.21 MEM1 65508,1,0,0

SM_GC 1.92,46.60,11.98,0.13,0.933,0.048,0.145,500.2,554.4,446.1,199.8,1966.2,0,0,0,11.68,15.56,15.55 MEM2 966220,26,80448,69

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 12941,474

IRIDIUM_FIX 4719.30,-12520.08,140722,051244 CAP_FILE_SIZE 164006,0

TCM_TEMP 14.55 SDSIZE 3887104,3861888

SC_FREEKB 3870144 SDFILEDIR 274,1

PM_ACTIVECARD 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

MODEM 0,1657778400,47.33000,-125.40000,0.081,118.9 CURRENT 0.040,186.9,1

RAFOS_FIX 4747.590820,-12427.612305,140722,060600,2,510,10420.27 MAGCAL 1.000000,0.019352,0.012513,-0.001419,1.051284,-0.037408,-0.016256,-0.069495,1.003786,755.9,-883.1,-664.6,32,0.0294,0

HUMID 51.20 IMPLIED_C_PITCH 1687,16.29,233,1688.1,16.24

TEMP 11.25 IMPLIED_C_VBD 3047,75.938248,155,0

INTERNAL_PRESSURE 7.77358 GPS 140722,071000,4718.728,-12523.419,3,1.4,31,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 634 1121 10534.72 nil 0 0 0.00

Pitch_motor 25 264 101.39 nil 0 0 0.00

Roll_motor 56 182 153.56 nil 0 0 0.00

Iridium 141 218 459.17 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.18 nil 0 0 0.00

Core 2197 5 167.04 SciCon 3278 6 334.37

Fast 0 0 0.00 PMAR 3287 12 625.96

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1307 0 6.21

Compass 979 5 72.72

RAFOS 2492 40 1480.27

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

12.62 16386 -145.99 -1.27 0.00 494.2 549.2 439.2 206.4 2040.1 0.00 0.00 0 78.25 60.73 0.00 0.00 0.005 0.000 0.000 1976.75 2010.81 1942.69 206.62 2041.19 0 0 0 15.66 30.00 30.00

78.69 18983 -145.99 -1.27 -80.00 1976.1 2010.1 1942.2 206.7 2040.6 3.42 -3.22 12 143.25 36.58 9.26 3.68 0.005 0.265 0.119 3484.88 3519.31 3450.44 1381.56 532.69 0 0 0 15.69 15.55 15.62

146.64 1028 -145.99 -1.27 0.00 3485.3 3519.6 3451.0 1381.0 532.8 19.06 -24.90 24 153.97 0.00 0.00 3.45 0.000 0.000 0.052 3486.69 3521.31 3452.06 1381.38 2026.62 0 0 0 30.00 30.00 15.67

337.32 260 -145.99 -1.27 80.00 3487.0 3523.8 3450.2 1381.2 2028.4 55.05 -16.65 59 344.28 0.00 0.00 3.50 0.000 0.000 0.111 3487.97 3524.56 3451.38 1381.38 3467.62 0 0 0 30.00 30.00 15.70

367.78 1028 -145.99 -1.27 0.00 3487.5 3524.2 3450.7 1380.9 3465.4 60.02 -16.49 65 375.70 0.00 0.00 3.42 0.000 0.000 0.056 3487.75 3524.50 3451.00 1380.25 1974.25 0 0 0 30.00 30.00 15.73

562.80 260 -145.99 -1.27 80.00 3487.5 3524.8 3450.2 1381.2 1973.5 88.50 -15.27 85 570.88 0.00 0.00 3.64 0.000 0.000 0.108 3487.00 3523.88 3450.12 1381.44 3467.12 0 0 0 30.00 30.00 15.72

649.38 1028 -145.99 -1.27 0.00 3488.0 3526.3 3449.8 1380.7 3468.1 100.94 -13.41 102 657.27 0.00 0.00 3.41 0.000 0.000 0.056 3489.34 3526.94 3451.75 1381.12 1972.06 0 0 0 30.00 30.00 15.78

844.48 32 -145.99 -1.27 0.00 3488.9 3527.6 3450.3 1380.7 1971.1 121.26 -9.95 122 846.23 0.00 0.00 0.00 0.000 0.000 0.000 3488.28 3526.44 3450.12 1381.19 1971.31 0 0 0 30.00 30.00 30.00

1034.40 260 -145.99 -1.27 80.00 3489.1 3527.9 3450.2 1380.8 1971.7 141.36 -11.09 141 1042.50 0.00 0.00 3.64 0.000 0.000 0.110 3489.06 3528.56 3449.56 1380.44 3468.75 0 0 0 30.00 30.00 15.76

1085.21 1028 -145.99 -1.27 0.00 3489.6 3527.6 3451.6 1381.4 3468.3 147.40 -11.96 151 1093.57 0.00 0.00 3.41 0.000 0.000 0.057 3490.22 3528.50 3451.94 1381.06 1970.88 0 0 0 30.00 30.00 15.81

1110 end dive: TARGET_DEPTH_EXCEEDED

state 1111 begin apogee

1112.50 10243 0.00 -0.31 0.00 3489.2 3527.6 3450.9 1381.2 2036.7 150.26 -11.56 154 1230.88 105.17 1.59 0.12 1.122 0.138 0.182 2887.81 2978.19 2797.44 1617.44 1967.00 0 0 0 11.82 15.75 15.43

1233 end apogee: CONTROL_FINISHED_OK

state 1233 begin climb

1233.41 10243 145.99 1.27 0.00 2886.8 2977.4 2796.2 1617.2 1966.6 153.72 0.00 165 1354.94 106.17 2.49 0.00 1.087 0.089 0.000 2293.69 2390.69 2196.69 2000.50 1967.25 0 0 0 11.70 15.46 30.00

1538.38 16902 145.99 1.27 -80.00 2285.3 2380.4 2190.2 2001.2 1966.9 131.00 10.10 195 1546.57 0.00 0.00 3.58 0.000 0.000 0.129 2284.09 2378.50 2189.69 2001.06 532.69 0 0 0 30.00 30.00 15.54

1595.11 17414 145.99 1.27 0.00 2282.5 2375.1 2189.8 2000.4 532.8 124.07 12.85 206 1603.22 0.00 0.00 3.44 0.000 0.000 0.051 2281.22 2374.25 2188.19 2001.00 2030.19 0 0 0 30.00 30.00 15.60

1790.20 8742 155.94 1.28 -80.00 2282.2 2374.4 2190.1 2000.4 2029.9 104.61 9.54 226 1808.21 8.51 0.00 3.71 0.864 0.000 0.126 2251.50 2346.31 2156.69 2000.75 532.88 0 0 0 11.76 30.00 15.63

2036.09 9254 241.52 1.39 0.00 2248.0 2340.1 2155.9 2000.6 532.6 85.39 6.02 275 2113.95 62.96 0.00 3.41 1.042 0.000 0.052 1903.56 2004.19 1802.94 2000.44 2030.12 0 0 0 11.65 30.00 15.73

2297.48 10275 269.04 1.42 0.00 1896.6 1996.1 1797.1 2000.9 2030.4 66.46 8.72 308 2322.44 21.19 0.19 0.00 0.983 0.075 0.000 1791.25 1894.38 1688.12 2050.38 2030.50 0 0 0 11.81 15.69 30.00

2507.49 8486 314.96 1.48 80.00 1786.0 1888.7 1683.4 2050.5 2030.6 49.35 7.86 329 2553.21 34.51 0.00 3.53 0.994 0.000 0.117 1604.34 1701.75 1506.94 2051.19 3467.50 0 0 0 11.75 30.00 15.61

2571.79 9254 363.94 1.54 0.00 1602.2 1697.6 1506.9 2051.3 3467.4 44.61 7.72 341 2618.66 36.69 0.00 3.45 0.970 0.000 0.058 1405.69 1503.12 1308.25 2050.12 1972.44 0 0 0 11.56 30.00 15.67

2801.51 8742 385.96 1.56 -80.00 1398.6 1495.8 1301.3 2051.4 1971.9 25.77 8.98 384 2828.85 17.33 0.00 3.64 0.930 0.000 0.132 1315.12 1413.44 1216.81 2051.69 533.06 0 0 0 11.71 30.00 14.45

3057.44 11303 521.16 1.73 0.00 1310.1 1405.3 1214.9 2050.9 533.2 9.17 3.71 434 3173.50 97.84 0.34 3.45 0.960 0.056 0.051 764.72 849.88 679.56 2121.00 2038.81 0 0 0 11.82 15.71 15.72

3226 end climb: SURFACE_DEPTH_REACHED

state 3227 begin surface coast

3267 end surface coast: CONTROL_FINISHED_OK

state 3267 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	27	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	1689.325	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	21.71862	SEABIRD_T_I	2.4999999e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	16.19474	FG_AHR_24V	8.2851458	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	140722,060841,4718.513,-12523.428,1,0.8,3,15.8	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	-56.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140722,061225,4718.471,-12523.451,2,0.8,5,15.8	MHEAD_RNG_PITCHd_Wd	330.2,2556,-17.6,-10.000,-21.24,2209,0.192
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	ans0	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	4719.800,-12524.000

NET	CACST,8,0,20220714064012.726412,06,32767,45,0104,0150,07,00,00,00,00,1,027,242,0,5,1,0,150,4.4,2.66,-100,0.34,-01,0.42,76,10000,5000,0,-1,00,00*49	_24V_AH	14.81,8.460
NET_PING	1657780816,27,370.582489,4.400000,-0.490045	_10V_AH	14.85,0.000
MODEM_MSG	CACST,8,1,20220714063000.165620,18,32767,33,0105,0000,246,02,02,02,02,-1,-01,-01,2,3,1,0,150,-2.3,4.36,-100,-1.36,-01,0.43,77,925,0025,0,-1,00,00*36	FG_AHR_24Vo	8.440
NAV	1657781942,29.7,start	FG_AHR_10Vo	21.794
FINISH	0.4,1.022454	MEM0	60108,1,0,0
SM_CCo	3346.13,46.60,0.933,0,500.2,554.4,446.1,586.21	MEM1	65508,1,0,0
SM_GC	1.92,46.60,11.98,0.13,0.933,0.048,0.145,500.2,554.4,446.1,199.8,1966.2,0,0,0,11.68,15.56,15.55	MEM2	966220,26,80448,69
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	12941,474
IRIDIUM_FIX	4719.30,-12520.08,140722,051244	CAP_FILE_SIZE	164006,0
TCM_TEMP	14.55	SDSIZE	3887104,3861888
SC_FREEKB	3870144	SDFILEDIR	274,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
MODEM	0,1657778400,47.33000,-125.40000,0.081,118.9	CURRENT	0.040,186.9,1
RAFOS_FIX	4747.590820,-12427.612305,140722,060600,2,510,10420.27	MAGCAL	1.000000,0.019352,0.012513,-0.001419,1.051284,-0.037408,-0.016256,-0.069495,1.003786,755.9,-883.1,-664.6,32,0.0294,0
HUMID	51.20	IMPLIED_C_PITCH	1687,16.29,233,1688.1,16.24
TEMP	11.25	IMPLIED_C_VBD	3047,75.938248,155,0
INTERNAL_PRESSURE	7.77358	GPS	140722,071000,4718.728,-12523.419,3,1.4,31,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	634	1121	10534.72	nil	0	0	0.00
Pitch_motor	25	264	101.39	nil	0	0	0.00
Roll_motor	56	182	153.56	nil	0	0	0.00
Iridium	141	218	459.17	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.18	nil	0	0	0.00
Core	2197	5	167.04	SciCon	3278	6	334.37
Fast	0	0	0.00	PMAR	3287	12	625.96
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1307	0	6.21
Compass	979	5	72.72
RAFOS	2492	40	1480.27
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
12.62	16386	-145.99	-1.27	0.00	494.2	549.2	439.2	206.4	2040.1	0.00	0.00	0	78.25	60.73	0.00	0.00	0.005	0.000	0.000	1976.75	2010.81	1942.69	206.62	2041.19	0	0	0	15.66	30.00	30.00
78.69	18983	-145.99	-1.27	-80.00	1976.1	2010.1	1942.2	206.7	2040.6	3.42	-3.22	12	143.25	36.58	9.26	3.68	0.005	0.265	0.119	3484.88	3519.31	3450.44	1381.56	532.69	0	0	0	15.69	15.55	15.62
146.64	1028	-145.99	-1.27	0.00	3485.3	3519.6	3451.0	1381.0	532.8	19.06	-24.90	24	153.97	0.00	0.00	3.45	0.000	0.000	0.052	3486.69	3521.31	3452.06	1381.38	2026.62	0	0	0	30.00	30.00	15.67
337.32	260	-145.99	-1.27	80.00	3487.0	3523.8	3450.2	1381.2	2028.4	55.05	-16.65	59	344.28	0.00	0.00	3.50	0.000	0.000	0.111	3487.97	3524.56	3451.38	1381.38	3467.62	0	0	0	30.00	30.00	15.70
367.78	1028	-145.99	-1.27	0.00	3487.5	3524.2	3450.7	1380.9	3465.4	60.02	-16.49	65	375.70	0.00	0.00	3.42	0.000	0.000	0.056	3487.75	3524.50	3451.00	1380.25	1974.25	0	0	0	30.00	30.00	15.73
562.80	260	-145.99	-1.27	80.00	3487.5	3524.8	3450.2	1381.2	1973.5	88.50	-15.27	85	570.88	0.00	0.00	3.64	0.000	0.000	0.108	3487.00	3523.88	3450.12	1381.44	3467.12	0	0	0	30.00	30.00	15.72
649.38	1028	-145.99	-1.27	0.00	3488.0	3526.3	3449.8	1380.7	3468.1	100.94	-13.41	102	657.27	0.00	0.00	3.41	0.000	0.000	0.056	3489.34	3526.94	3451.75	1381.12	1972.06	0	0	0	30.00	30.00	15.78
844.48	32	-145.99	-1.27	0.00	3488.9	3527.6	3450.3	1380.7	1971.1	121.26	-9.95	122	846.23	0.00	0.00	0.00	0.000	0.000	0.000	3488.28	3526.44	3450.12	1381.19	1971.31	0	0	0	30.00	30.00	30.00
1034.40	260	-145.99	-1.27	80.00	3489.1	3527.9	3450.2	1380.8	1971.7	141.36	-11.09	141	1042.50	0.00	0.00	3.64	0.000	0.000	0.110	3489.06	3528.56	3449.56	1380.44	3468.75	0	0	0	30.00	30.00	15.76
1085.21	1028	-145.99	-1.27	0.00	3489.6	3527.6	3451.6	1381.4	3468.3	147.40	-11.96	151	1093.57	0.00	0.00	3.41	0.000	0.000	0.057	3490.22	3528.50	3451.94	1381.06	1970.88	0	0	0	30.00	30.00	15.81
1110	end dive: TARGET_DEPTH_EXCEEDED
state	1111	begin apogee
1112.50	10243	0.00	-0.31	0.00	3489.2	3527.6	3450.9	1381.2	2036.7	150.26	-11.56	154	1230.88	105.17	1.59	0.12	1.122	0.138	0.182	2887.81	2978.19	2797.44	1617.44	1967.00	0	0	0	11.82	15.75	15.43
1233	end apogee: CONTROL_FINISHED_OK
state	1233	begin climb
1233.41	10243	145.99	1.27	0.00	2886.8	2977.4	2796.2	1617.2	1966.6	153.72	0.00	165	1354.94	106.17	2.49	0.00	1.087	0.089	0.000	2293.69	2390.69	2196.69	2000.50	1967.25	0	0	0	11.70	15.46	30.00
1538.38	16902	145.99	1.27	-80.00	2285.3	2380.4	2190.2	2001.2	1966.9	131.00	10.10	195	1546.57	0.00	0.00	3.58	0.000	0.000	0.129	2284.09	2378.50	2189.69	2001.06	532.69	0	0	0	30.00	30.00	15.54
1595.11	17414	145.99	1.27	0.00	2282.5	2375.1	2189.8	2000.4	532.8	124.07	12.85	206	1603.22	0.00	0.00	3.44	0.000	0.000	0.051	2281.22	2374.25	2188.19	2001.00	2030.19	0	0	0	30.00	30.00	15.60
1790.20	8742	155.94	1.28	-80.00	2282.2	2374.4	2190.1	2000.4	2029.9	104.61	9.54	226	1808.21	8.51	0.00	3.71	0.864	0.000	0.126	2251.50	2346.31	2156.69	2000.75	532.88	0	0	0	11.76	30.00	15.63
2036.09	9254	241.52	1.39	0.00	2248.0	2340.1	2155.9	2000.6	532.6	85.39	6.02	275	2113.95	62.96	0.00	3.41	1.042	0.000	0.052	1903.56	2004.19	1802.94	2000.44	2030.12	0	0	0	11.65	30.00	15.73
2297.48	10275	269.04	1.42	0.00	1896.6	1996.1	1797.1	2000.9	2030.4	66.46	8.72	308	2322.44	21.19	0.19	0.00	0.983	0.075	0.000	1791.25	1894.38	1688.12	2050.38	2030.50	0	0	0	11.81	15.69	30.00
2507.49	8486	314.96	1.48	80.00	1786.0	1888.7	1683.4	2050.5	2030.6	49.35	7.86	329	2553.21	34.51	0.00	3.53	0.994	0.000	0.117	1604.34	1701.75	1506.94	2051.19	3467.50	0	0	0	11.75	30.00	15.61
2571.79	9254	363.94	1.54	0.00	1602.2	1697.6	1506.9	2051.3	3467.4	44.61	7.72	341	2618.66	36.69	0.00	3.45	0.970	0.000	0.058	1405.69	1503.12	1308.25	2050.12	1972.44	0	0	0	11.56	30.00	15.67
2801.51	8742	385.96	1.56	-80.00	1398.6	1495.8	1301.3	2051.4	1971.9	25.77	8.98	384	2828.85	17.33	0.00	3.64	0.930	0.000	0.132	1315.12	1413.44	1216.81	2051.69	533.06	0	0	0	11.71	30.00	14.45
3057.44	11303	521.16	1.73	0.00	1310.1	1405.3	1214.9	2050.9	533.2	9.17	3.71	434	3173.50	97.84	0.34	3.45	0.960	0.056	0.051	764.72	849.88	679.56	2121.00	2038.81	0	0	0	11.82	15.71	15.72
3226	end climb: SURFACE_DEPTH_REACHED
state	3227	begin surface coast
3267	end surface coast: CONTROL_FINISHED_OK
state	3267	begin surface