Glider dive log

AMOS Oct21 * SG233 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 233 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_INT 0

MISSION 14 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_REP 0

DIVE 3 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 2 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 3 SM_CC 702.04858 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_YINT 4

STOP_T 0 N_FILEKB 8 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 FILEMGR 0 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 CALL_NDIVES 1 C_VBD 3168 MOTHERBOARD 6

D_TGT 180 COMM_SEQ 0 VBD_DBAND 2 DEVICE1 -1

D_ABORT 300 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE2 -1

D_NO_BLEED 200 N_NOCOMM 1 VBD_LP_IGNORE 0 DEVICE3 -1

D_BOOST 0 NOCOMM_ACTION 419 VBD_TIMEOUT 720 DEVICE4 -1

T_BOOST 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 UNCOM_BLEED 20 DEVICE6 -1

D_PITCH 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 3

D_SAFE 0 CALL_WAIT 60 C_VBD_AUTO_DELTA 0.5 LOGGERDEVICE1 7

D_CALL 0 CAPUPLOAD 0 C_VBD_AUTO_MAX 200 LOGGERDEVICE2 35

SURFACE_URGENCY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 2 LOGGERDEVICE3 -1

SURFACE_URGENCY_TRY 0 T_GPS 5 DBDW 0 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 N_GPS 100440 LOITER_W_DBAND 2 COMPASS_DEVICE 66

T_DIVE 60 T_RSLEEP 2 LOITER_DBDW 400 COMPASS2_DEVICE -1

T_MISSION 80 STROBE 0 LOITER_D_TOP 450 PHONE_DEVICE 33

T_ABORT 1440 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 550 GPS_DEVICE 48

T_TURN 225 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 102

T_TURN_SAMPINT -5 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 NETWORK_DEVICE 1

T_NO_W 240 RAFOS_MMODEM 0 AH0_24V 550 PRESSURE_DEVICE 34

T_LOITER 0 PITCH_MIN 210 AH0_10V 0 XPDR_DEVICE -1

T_EPIRB 0 PITCH_MAX 3900 MINV_24V 11 SIM_W 0

USE_BATHY -6 C_PITCH 2120 MINV_10V 11 SEABIRD_T_G 0.0044157342

USE_ICE 0 PITCH_DBAND 0.1 MAXI_24V 5 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 PITCH_CNV 0.0041299998 MAXI_10V 1.5 SEABIRD_T_I 2.7006432e-05

D_OFFGRID 1000 PITCH_GAIN 19 FG_AHR_10V 104.68275 SEABIRD_T_J 3.3103631e-06

RELAUNCH 1 PITCH_TIMEOUT 30 FG_AHR_24V 222.94292 SEABIRD_C_G -9.9894733

APOGEE_PITCH -5 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_C_H 1.1093811

MAX_BUOY 150 PITCH_ADJ_GAIN 0.045000002 PRESSURE_YINT -168.91618 SEABIRD_C_I -0.0026526626

GLIDE_SLOPE 30 PITCH_ADJ_DBAND 2 PRESSURE_SLOPE 0.00022579571 SEABIRD_C_J 0.00026268355

SPEED_FACTOR 1 C_PITCH_AUTO_DELTA 0.5 COMPASS_USE 49156 SC_RECORDABOVE 2000.0

RHO 1.0275 C_PITCH_AUTO_MAX 200 ALTIM_PING_FIT 0 SC_PROFILE 7.0

MASS 72602 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

NAV_MODE 2 PITCH_GAIN_AUTO_MAX 2 ALTIM_BOTTOM_TURN_MARGIN 0 SC_NDIVE 1.0

FERRY_MAX 45 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 0 PM_PROFILE 7.0

HD_A 0.003 ROLL_MIN 1115 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_MAX 3875 ALTIM_PING_DELTA 0 PM_NDIVE 1.0

HD_C 1.6e-05 ROLL_DEG 80 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

HEADING 180 C_ROLL_DIVE 2550 ALTIM_PULSE 3 PM_MOTORS 1.0

ESCAPE_HEADING 0 C_ROLL_CLIMB 2500 ALTIM_SENSITIVITY 2 PM_SENDDEPTH 1.0

ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 XPDR_VALID 4

FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.054945 XPDR_INHIBIT 90

AH0_10V 0 D_PITCH 0 N_NOSURFACE 0 SEABIRD_C_H 1.1093811

AH0_24V 550 D_SAFE 0 PHONE_DEVICE 33 SEABIRD_C_I -0.0026526626

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 PHONE_SUPPLY 2 SEABIRD_C_J 0.00026268355

ALTIM_FREQUENCY 13 D_TGT 180 PITCH_ADJ_DBAND 2 SEABIRD_T_G 0.0044157342

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 PITCH_ADJ_GAIN 0.045000002 SEABIRD_T_H 0.00064262876

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_DBAND 0.1 SEABIRD_T_J 3.3103631e-06

ALTIM_PULSE 3 FG_AHR_10V 104.68275 PITCH_GAIN 19 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 222.94292 PITCH_GAIN_AUTO_DELTA 0.5 SM_CC 702.04858

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_GAIN_AUTO_MAX 2 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 STROBE 0

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_MIN 210 SURFACE_URGENCY 0

CALL_NDIVES 1 HD_A 0.003 PITCH_TIMEOUT 30 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_C 1.6e-05 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 HEADING 180 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEAD_ERRBAND 10 PM_MOTORS 1.0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PM_NDIVE 1.0 T_ABORT 1440

COMM_SEQ 0 ID 233 PM_PROFILE 7.0 T_BOOST 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PM_RECORDABOVE 2000.0 T_DIVE 60

COMPASS_DEVICE 66 INT_PRESSURE_YINT 4 PM_SENDDEPTH 1.0 T_EPIRB 0

COMPASS_USE 49156 KALMAN_USE 2 PM_XMITPROFILE 3.0 T_GPS 5

C_PITCH 2120 LOGGERDEVICE1 7 PM_XMITRAW 0.0 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE2 35 PRESSURE_DEVICE 34 T_MISSION 80

C_PITCH_AUTO_MAX 200 LOGGERDEVICE3 -1 PRESSURE_SLOPE 0.00022579571 T_NO_W 240

C_ROLL_CLIMB 2500 LOGGERDEVICE4 -1 PRESSURE_YINT -168.91618 T_RSLEEP 2

C_ROLL_DIVE 2550 LOGGERS 3 PROTOCOL 9 T_TURN 225

C_VBD 3168 LOITER_DBDW 400 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_D_BOTTOM 550 RAFOS_DEVICE 102 UNCOM_BLEED 20

C_VBD_AUTO_MAX 200 LOITER_D_TOP 450 RAFOS_HIT_WINDOW 3600 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_N_DIVE 0 RAFOS_MMODEM 0 USE_BATHY -6

DEEPGLIDER 0 LOITER_W_DBAND 2 RAFOS_PEAK_OFFSET 0 USE_ICE 0

DEEPGLIDERMB 0 MASS 72602 RELAUNCH 1 VBD_CNV -0.24529999

DEVICE1 -1 MAXI_10V 1.5 RHO 1.0275 VBD_DBAND 2

DEVICE2 -1 MAXI_24V 5 ROLL_ADJ_DBAND 0.029999999 VBD_LP_IGNORE 0

DEVICE3 -1 MAX_BUOY 150 ROLL_ADJ_GAIN 2 VBD_MAX 3960

DEVICE4 -1 MINV_10V 11 ROLL_CNV 0.054945 VBD_MAXERRORS 1

DEVICE5 -1 MINV_24V 11 ROLL_DEG 80 VBD_MIN 500

DEVICE6 -1 MISSION 14 ROLL_MAX 3875 VBD_TIMEOUT 720

DIVE 3 MOTHERBOARD 6 ROLL_MAXERRORS 1 W_ADJ_DBAND 2

D_ABORT 300 NAV_MODE 2 ROLL_MIN 1115 XPDR_DEVICE -1

D_BOOST 0 NETWORK_DEVICE 1 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_CALL 0 NOCOMM_ACTION 419 SC_NDIVE 1.0 XPDR_INT 0

D_FINISH 0 N_DIVES 3 SC_PROFILE 7.0 XPDR_REP 0

D_FLARE 3 N_FILEKB 8 SC_RECORDABOVE 2000.0 XPDR_VALID 4

D_NO_BLEED 200 N_GPS 100440 SC_XMITPROFILE 3.0

D_OFFGRID 1000 N_NOCOMM 1 SEABIRD_C_G -9.9894733

Pre-dive calculations and measurements:

GPS1 141021,001908,7305.175,-15430.508,3,1.4,16,13.3 TGT_RADIUS 1852.000

_CALLS 5 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.29 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 141021,002536,7305.127,-15430.697,10,1.4,20,13.3 MHEAD_RNG_PITCHd_Wd 190.7,20000,-17.6,-10.000,-21.24

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME HEADING IRON 1.000000,-0.020501,0.027036,-0.068964,1.101220,0.020925,0.036160,-0.006187,1.094685,-655.214539,-832.636780,-711.571411

TGT_LATLONG 7254.328,-15430.697

Post-dive calculations and measurements:

NET CACST,8,1,20211014005018.743010,06,9088,39,0118,0150,246,00,00,00,00,0,-01,-01,-1,2,1,1,-999,-99.9,-9.99,-999,-9.99,184,-0.05,-999,25120,4000,0,-1,00,00*77 FG_AHR_24Vo 223.318

FINISH -0.3,1.021334 FG_AHR_10Vo 104.716

SM_CCo 4097.75,0.03,0.761,0,499.3,516.9,481.8,654.63 MEM0 60484,1,0,0

SM_GC 2.08,0.03,17.52,0.12,0.761,0.075,0.136,499.3,516.9,481.8,199.1,2567.7,0,0,0,15.88,15.14,15.17 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 997636,34,49092,58

IRIDIUM_FIX 7304.83,-15432.20,141021,001338 DATA_FILE_SIZE 19289,653

TCM_TEMP 2.98 CAP_FILE_SIZE 569391,0

SC_FREEKB 3877792 SDSIZE 3918848,3899200

PM_FREEKB_00 62228096 SDFILEDIR 181,1

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

RAFOS_CLK -10 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.075,301.7,1

HUMID 59.96 MAGCAL 1.000000,-0.029882,0.013548,-0.078524,1.108789,0.047937,0.033856,0.002353,1.115543,-648.4,-856.4,-725.6,36,0.0655,0

TEMP 1.24 IMPLIED_C_PITCH 2171,17.53,0,2145.6,18.26

INTERNAL_PRESSURE 8.15776 IMPLIED_C_VBD 3168,0.000000,0,3168.0

_24V_AH 14.49,109.889 GPS 141021,013531,7305.015,-15431.868,31,0.9,32,13.3

_10V_AH 14.57,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 1189 1532 26417.11 nil 0 0 0.00

Pitch_motor 41 276 164.89 nil 0 0 0.00

Roll_motor 70 428 440.26 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 29 15 6.51 nil 0 0 0.00

Core 3026 10 446.21 SciCon 4072 6 398.04

LPSleep 1155 1 18.86 PMAR 4081 10 621.12

Compass 1633 5 119.00 nil 0 0 0.00

RAFOS 3265 40 1902.85

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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

9.82 16386 -145.99 -1.11 0.00 500.2 514.9 485.5 200.4 2561.1 0.00 0.00 0 192.40 155.35 0.00 0.05 0.005 0.000 0.428 3764.72 3749.62 3779.81 200.25 2538.25 0 0 0 15.54 30.00 15.35

192.62 2341 -145.99 -1.11 80.00 3764.9 3750.9 3778.9 200.2 2538.4 41.79 0.00 1 216.64 0.00 14.18 3.47 0.000 0.277 0.155 3769.22 3755.00 3783.44 1849.56 3882.44 0 0 0 30.00 15.16 15.37

253.57 3205 -145.99 -0.73 0.00 3768.7 3757.1 3780.2 1850.7 3882.2 70.35 -27.34 12 264.23 0.00 0.69 3.30 0.000 0.183 0.094 3770.19 3758.25 3782.12 1944.44 2536.75 0 0 0 30.00 15.26 15.43

449.35 260 -145.99 -0.73 80.00 3770.2 3760.5 3779.9 1944.2 2535.1 93.43 -10.79 51 459.71 0.00 0.00 3.44 0.000 0.000 0.140 3773.00 3762.56 3783.44 1944.44 3883.75 0 0 0 30.00 30.00 15.34

639.72 5253 -145.99 -0.86 -0.22 3770.5 3761.0 3780.0 1944.9 3884.6 112.96 -9.83 89 649.72 0.00 0.32 3.29 0.000 0.097 0.089 3771.47 3762.75 3780.19 1901.31 2527.44 0 0 0 30.00 15.41 15.45

837.87 516 -145.99 -0.86 -80.00 3770.8 3762.1 3779.6 1901.1 2527.0 136.63 -12.28 110 848.54 0.00 0.00 3.80 0.000 0.000 0.192 3771.78 3762.19 3781.38 1901.19 1105.00 0 0 0 30.00 30.00 15.26

877.18 3205 -145.99 -0.67 -0.31 3771.1 3761.8 3780.4 1902.1 1104.9 142.79 -14.41 118 887.68 0.00 0.49 3.45 0.000 0.183 0.077 3771.03 3762.38 3779.69 1956.88 2567.75 0 0 0 30.00 15.31 15.51

1077.22 4741 -145.99 -0.83 -80.00 3770.8 3762.1 3779.6 1956.6 2567.6 161.91 -9.74 139 1088.77 0.00 0.35 3.88 0.000 0.092 0.186 3771.06 3762.69 3779.44 1907.19 1106.38 0 0 0 30.00 15.46 15.30

1141.05 11399 -145.99 -0.71 -0.49 3771.3 3762.6 3780.1 1907.4 1105.9 170.65 -14.16 152 1148.62 0.00 0.36 3.45 0.000 0.179 0.077 3772.59 3763.75 3781.44 1946.88 2564.50 0 0 0 30.00 15.30 15.47

1237 end dive: TARGET_DEPTH_EXCEEDED

state 1237 begin apogee

1238.34 10243 0.00 -0.26 0.00 3771.8 3763.9 3779.6 1947.6 2473.6 180.55 -9.71 162 1372.46 131.09 0.81 0.08 1.532 0.155 0.258 3167.09 3178.81 3155.38 2054.88 2522.31 0 0 0 10.39 15.30 15.17

1374 end apogee: CONTROL_FINISHED_OK

state 1374 begin climb

1374.65 10503 145.99 1.11 80.00 3165.6 3176.6 3154.6 2057.2 2521.8 187.10 0.00 175 1524.71 137.04 2.51 3.52 1.436 0.156 0.133 2571.78 2585.69 2557.88 2387.88 3884.75 0 0 0 10.92 15.16 15.17

1553.15 5253 145.99 0.73 0.00 2564.8 2575.2 2554.2 2387.7 3883.9 179.22 8.90 209 1564.75 0.00 0.86 3.48 0.000 0.204 0.084 2564.25 2575.06 2553.44 2292.19 2478.75 0 0 0 30.00 15.04 15.13

1753.21 10791 223.75 0.83 -80.00 2557.9 2568.9 2546.9 2292.2 2477.5 165.82 6.38 230 1836.04 73.90 0.25 3.67 1.398 0.109 0.171 2254.03 2259.81 2248.25 2325.69 1103.50 0 0 0 10.45 15.26 15.09

1948.33 17414 223.75 0.83 -0.37 2246.6 2247.2 2246.0 2325.3 1103.4 147.81 9.86 269 1955.89 0.00 0.00 3.41 0.000 0.000 0.078 2246.81 2247.75 2245.88 2325.69 2521.00 0 0 0 30.00 30.00 15.30

2144.18 10919 302.82 1.04 -80.00 2243.3 2245.3 2241.2 2325.0 2522.2 134.24 6.32 290 2260.77 106.39 0.31 3.78 1.324 0.105 0.164 1930.75 1931.50 1930.00 2376.81 1105.31 0 0 0 10.53 15.33 15.10

2365.00 17414 302.82 1.04 -0.91 1925.3 1923.8 1926.9 2377.4 1105.4 115.14 10.06 334 2375.24 0.00 0.00 3.37 0.000 0.000 0.078 1928.09 1927.06 1929.12 2376.69 2511.62 0 0 0 30.00 30.00 15.30

2560.68 10919 354.12 1.24 -80.00 1922.7 1923.8 1921.6 2376.9 2512.1 99.59 7.61 355 2642.66 70.14 0.27 3.71 1.304 0.107 0.167 1722.16 1735.56 1708.75 2425.81 1105.31 0 0 0 10.56 15.33 15.17

2701.57 1028 354.12 1.24 -1.30 1718.9 1734.1 1703.8 2425.2 1105.1 85.44 11.23 382 2712.11 0.00 0.00 3.34 0.000 0.000 0.077 1718.16 1734.00 1702.31 2424.75 2502.25 0 0 0 30.00 30.00 15.32

2897.45 19079 354.12 1.37 -80.00 1715.3 1733.7 1696.9 2425.4 2502.4 68.90 8.05 421 2907.94 0.00 0.16 3.65 0.000 0.124 0.165 1717.44 1736.12 1698.75 2456.56 1105.44 0 0 0 30.00 15.35 15.29

2957.27 21639 354.12 1.27 -1.57 1714.8 1733.2 1696.4 2456.5 1105.2 62.35 11.22 433 2967.90 0.00 0.34 3.33 0.000 0.192 0.077 1716.41 1734.81 1698.00 2420.69 2500.62 0 0 0 30.00 15.27 15.41

3152.41 10919 450.33 1.63 -80.00 1713.1 1733.5 1692.6 2420.8 2500.2 49.93 5.52 472 3318.80 155.52 0.69 3.74 1.267 0.093 0.166 1333.06 1370.38 1295.75 2520.88 1106.00 0 0 0 10.33 15.43 15.07

3462.25 9254 506.43 1.70 -2.10 1328.0 1366.8 1289.2 2521.2 1106.4 26.21 7.39 533 3570.32 98.00 0.00 3.33 1.218 0.000 0.077 1103.38 1152.19 1054.56 2521.38 2492.50 0 0 0 10.66 30.00 15.30

3754.47 10403 672.48 2.26 -2.10 1099.6 1150.8 1048.5 2521.1 2492.1 16.58 2.28 591 4021.86 262.45 0.98 0.00 1.179 0.087 0.000 500.75 521.69 479.81 2672.38 2491.88 0 0 0 10.62 15.30 30.00

4040 end climb: SURFACE_DEPTH_REACHED

state 4040 begin surface coast

4071 end surface coast: CONTROL_FINISHED_OK

state 4071 begin surface

ID	233	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	14	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	3	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	2	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	3	SM_CC	702.04858	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_YINT	4
STOP_T	0	N_FILEKB	8	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	FILEMGR	0	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	CALL_NDIVES	1	C_VBD	3168	MOTHERBOARD	6
D_TGT	180	COMM_SEQ	0	VBD_DBAND	2	DEVICE1	-1
D_ABORT	300	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE2	-1
D_NO_BLEED	200	N_NOCOMM	1	VBD_LP_IGNORE	0	DEVICE3	-1
D_BOOST	0	NOCOMM_ACTION	419	VBD_TIMEOUT	720	DEVICE4	-1
T_BOOST	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	UNCOM_BLEED	20	DEVICE6	-1
D_PITCH	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	3
D_SAFE	0	CALL_WAIT	60	C_VBD_AUTO_DELTA	0.5	LOGGERDEVICE1	7
D_CALL	0	CAPUPLOAD	0	C_VBD_AUTO_MAX	200	LOGGERDEVICE2	35
SURFACE_URGENCY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	2	LOGGERDEVICE3	-1
SURFACE_URGENCY_TRY	0	T_GPS	5	DBDW	0	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	N_GPS	100440	LOITER_W_DBAND	2	COMPASS_DEVICE	66
T_DIVE	60	T_RSLEEP	2	LOITER_DBDW	400	COMPASS2_DEVICE	-1
T_MISSION	80	STROBE	0	LOITER_D_TOP	450	PHONE_DEVICE	33
T_ABORT	1440	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	550	GPS_DEVICE	48
T_TURN	225	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	102
T_TURN_SAMPINT	-5	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	NETWORK_DEVICE	1
T_NO_W	240	RAFOS_MMODEM	0	AH0_24V	550	PRESSURE_DEVICE	34
T_LOITER	0	PITCH_MIN	210	AH0_10V	0	XPDR_DEVICE	-1
T_EPIRB	0	PITCH_MAX	3900	MINV_24V	11	SIM_W	0
USE_BATHY	-6	C_PITCH	2120	MINV_10V	11	SEABIRD_T_G	0.0044157342
USE_ICE	0	PITCH_DBAND	0.1	MAXI_24V	5	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	PITCH_CNV	0.0041299998	MAXI_10V	1.5	SEABIRD_T_I	2.7006432e-05
D_OFFGRID	1000	PITCH_GAIN	19	FG_AHR_10V	104.68275	SEABIRD_T_J	3.3103631e-06
RELAUNCH	1	PITCH_TIMEOUT	30	FG_AHR_24V	222.94292	SEABIRD_C_G	-9.9894733
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_C_H	1.1093811
MAX_BUOY	150	PITCH_ADJ_GAIN	0.045000002	PRESSURE_YINT	-168.91618	SEABIRD_C_I	-0.0026526626
GLIDE_SLOPE	30	PITCH_ADJ_DBAND	2	PRESSURE_SLOPE	0.00022579571	SEABIRD_C_J	0.00026268355
SPEED_FACTOR	1	C_PITCH_AUTO_DELTA	0.5	COMPASS_USE	49156	SC_RECORDABOVE	2000.0
RHO	1.0275	C_PITCH_AUTO_MAX	200	ALTIM_PING_FIT	0	SC_PROFILE	7.0
MASS	72602	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
NAV_MODE	2	PITCH_GAIN_AUTO_MAX	2	ALTIM_BOTTOM_TURN_MARGIN	0	SC_NDIVE	1.0
FERRY_MAX	45	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	0	PM_PROFILE	7.0
HD_A	0.003	ROLL_MIN	1115	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_MAX	3875	ALTIM_PING_DELTA	0	PM_NDIVE	1.0
HD_C	1.6e-05	ROLL_DEG	80	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
HEADING	180	C_ROLL_DIVE	2550	ALTIM_PULSE	3	PM_MOTORS	1.0
ESCAPE_HEADING	0	C_ROLL_CLIMB	2500	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	1.0
ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	XPDR_VALID	4
FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.054945	XPDR_INHIBIT	90

GPS1	141021,001908,7305.175,-15430.508,3,1.4,16,13.3	TGT_RADIUS	1852.000
_CALLS	5	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.29	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	141021,002536,7305.127,-15430.697,10,1.4,20,13.3	MHEAD_RNG_PITCHd_Wd	190.7,20000,-17.6,-10.000,-21.24
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	HEADING	IRON	1.000000,-0.020501,0.027036,-0.068964,1.101220,0.020925,0.036160,-0.006187,1.094685,-655.214539,-832.636780,-711.571411
TGT_LATLONG	7254.328,-15430.697

NET	CACST,8,1,20211014005018.743010,06,9088,39,0118,0150,246,00,00,00,00,0,-01,-01,-1,2,1,1,-999,-99.9,-9.99,-999,-9.99,184,-0.05,-999,25120,4000,0,-1,00,00*77	FG_AHR_24Vo	223.318
FINISH	-0.3,1.021334	FG_AHR_10Vo	104.716
SM_CCo	4097.75,0.03,0.761,0,499.3,516.9,481.8,654.63	MEM0	60484,1,0,0
SM_GC	2.08,0.03,17.52,0.12,0.761,0.075,0.136,499.3,516.9,481.8,199.1,2567.7,0,0,0,15.88,15.14,15.17	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	997636,34,49092,58
IRIDIUM_FIX	7304.83,-15432.20,141021,001338	DATA_FILE_SIZE	19289,653
TCM_TEMP	2.98	CAP_FILE_SIZE	569391,0
SC_FREEKB	3877792	SDSIZE	3918848,3899200
PM_FREEKB_00	62228096	SDFILEDIR	181,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-10	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.075,301.7,1
HUMID	59.96	MAGCAL	1.000000,-0.029882,0.013548,-0.078524,1.108789,0.047937,0.033856,0.002353,1.115543,-648.4,-856.4,-725.6,36,0.0655,0
TEMP	1.24	IMPLIED_C_PITCH	2171,17.53,0,2145.6,18.26
INTERNAL_PRESSURE	8.15776	IMPLIED_C_VBD	3168,0.000000,0,3168.0
_24V_AH	14.49,109.889	GPS	141021,013531,7305.015,-15431.868,31,0.9,32,13.3
_10V_AH	14.57,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	1189	1532	26417.11	nil	0	0	0.00
Pitch_motor	41	276	164.89	nil	0	0	0.00
Roll_motor	70	428	440.26	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	29	15	6.51	nil	0	0	0.00
Core	3026	10	446.21	SciCon	4072	6	398.04
LPSleep	1155	1	18.86	PMAR	4081	10	621.12
Compass	1633	5	119.00	nil	0	0	0.00
RAFOS	3265	40	1902.85
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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
9.82	16386	-145.99	-1.11	0.00	500.2	514.9	485.5	200.4	2561.1	0.00	0.00	0	192.40	155.35	0.00	0.05	0.005	0.000	0.428	3764.72	3749.62	3779.81	200.25	2538.25	0	0	0	15.54	30.00	15.35
192.62	2341	-145.99	-1.11	80.00	3764.9	3750.9	3778.9	200.2	2538.4	41.79	0.00	1	216.64	0.00	14.18	3.47	0.000	0.277	0.155	3769.22	3755.00	3783.44	1849.56	3882.44	0	0	0	30.00	15.16	15.37
253.57	3205	-145.99	-0.73	0.00	3768.7	3757.1	3780.2	1850.7	3882.2	70.35	-27.34	12	264.23	0.00	0.69	3.30	0.000	0.183	0.094	3770.19	3758.25	3782.12	1944.44	2536.75	0	0	0	30.00	15.26	15.43
449.35	260	-145.99	-0.73	80.00	3770.2	3760.5	3779.9	1944.2	2535.1	93.43	-10.79	51	459.71	0.00	0.00	3.44	0.000	0.000	0.140	3773.00	3762.56	3783.44	1944.44	3883.75	0	0	0	30.00	30.00	15.34
639.72	5253	-145.99	-0.86	-0.22	3770.5	3761.0	3780.0	1944.9	3884.6	112.96	-9.83	89	649.72	0.00	0.32	3.29	0.000	0.097	0.089	3771.47	3762.75	3780.19	1901.31	2527.44	0	0	0	30.00	15.41	15.45
837.87	516	-145.99	-0.86	-80.00	3770.8	3762.1	3779.6	1901.1	2527.0	136.63	-12.28	110	848.54	0.00	0.00	3.80	0.000	0.000	0.192	3771.78	3762.19	3781.38	1901.19	1105.00	0	0	0	30.00	30.00	15.26
877.18	3205	-145.99	-0.67	-0.31	3771.1	3761.8	3780.4	1902.1	1104.9	142.79	-14.41	118	887.68	0.00	0.49	3.45	0.000	0.183	0.077	3771.03	3762.38	3779.69	1956.88	2567.75	0	0	0	30.00	15.31	15.51
1077.22	4741	-145.99	-0.83	-80.00	3770.8	3762.1	3779.6	1956.6	2567.6	161.91	-9.74	139	1088.77	0.00	0.35	3.88	0.000	0.092	0.186	3771.06	3762.69	3779.44	1907.19	1106.38	0	0	0	30.00	15.46	15.30
1141.05	11399	-145.99	-0.71	-0.49	3771.3	3762.6	3780.1	1907.4	1105.9	170.65	-14.16	152	1148.62	0.00	0.36	3.45	0.000	0.179	0.077	3772.59	3763.75	3781.44	1946.88	2564.50	0	0	0	30.00	15.30	15.47
1237	end dive: TARGET_DEPTH_EXCEEDED
state	1237	begin apogee
1238.34	10243	0.00	-0.26	0.00	3771.8	3763.9	3779.6	1947.6	2473.6	180.55	-9.71	162	1372.46	131.09	0.81	0.08	1.532	0.155	0.258	3167.09	3178.81	3155.38	2054.88	2522.31	0	0	0	10.39	15.30	15.17
1374	end apogee: CONTROL_FINISHED_OK
state	1374	begin climb
1374.65	10503	145.99	1.11	80.00	3165.6	3176.6	3154.6	2057.2	2521.8	187.10	0.00	175	1524.71	137.04	2.51	3.52	1.436	0.156	0.133	2571.78	2585.69	2557.88	2387.88	3884.75	0	0	0	10.92	15.16	15.17
1553.15	5253	145.99	0.73	0.00	2564.8	2575.2	2554.2	2387.7	3883.9	179.22	8.90	209	1564.75	0.00	0.86	3.48	0.000	0.204	0.084	2564.25	2575.06	2553.44	2292.19	2478.75	0	0	0	30.00	15.04	15.13
1753.21	10791	223.75	0.83	-80.00	2557.9	2568.9	2546.9	2292.2	2477.5	165.82	6.38	230	1836.04	73.90	0.25	3.67	1.398	0.109	0.171	2254.03	2259.81	2248.25	2325.69	1103.50	0	0	0	10.45	15.26	15.09
1948.33	17414	223.75	0.83	-0.37	2246.6	2247.2	2246.0	2325.3	1103.4	147.81	9.86	269	1955.89	0.00	0.00	3.41	0.000	0.000	0.078	2246.81	2247.75	2245.88	2325.69	2521.00	0	0	0	30.00	30.00	15.30
2144.18	10919	302.82	1.04	-80.00	2243.3	2245.3	2241.2	2325.0	2522.2	134.24	6.32	290	2260.77	106.39	0.31	3.78	1.324	0.105	0.164	1930.75	1931.50	1930.00	2376.81	1105.31	0	0	0	10.53	15.33	15.10
2365.00	17414	302.82	1.04	-0.91	1925.3	1923.8	1926.9	2377.4	1105.4	115.14	10.06	334	2375.24	0.00	0.00	3.37	0.000	0.000	0.078	1928.09	1927.06	1929.12	2376.69	2511.62	0	0	0	30.00	30.00	15.30
2560.68	10919	354.12	1.24	-80.00	1922.7	1923.8	1921.6	2376.9	2512.1	99.59	7.61	355	2642.66	70.14	0.27	3.71	1.304	0.107	0.167	1722.16	1735.56	1708.75	2425.81	1105.31	0	0	0	10.56	15.33	15.17
2701.57	1028	354.12	1.24	-1.30	1718.9	1734.1	1703.8	2425.2	1105.1	85.44	11.23	382	2712.11	0.00	0.00	3.34	0.000	0.000	0.077	1718.16	1734.00	1702.31	2424.75	2502.25	0	0	0	30.00	30.00	15.32
2897.45	19079	354.12	1.37	-80.00	1715.3	1733.7	1696.9	2425.4	2502.4	68.90	8.05	421	2907.94	0.00	0.16	3.65	0.000	0.124	0.165	1717.44	1736.12	1698.75	2456.56	1105.44	0	0	0	30.00	15.35	15.29
2957.27	21639	354.12	1.27	-1.57	1714.8	1733.2	1696.4	2456.5	1105.2	62.35	11.22	433	2967.90	0.00	0.34	3.33	0.000	0.192	0.077	1716.41	1734.81	1698.00	2420.69	2500.62	0	0	0	30.00	15.27	15.41
3152.41	10919	450.33	1.63	-80.00	1713.1	1733.5	1692.6	2420.8	2500.2	49.93	5.52	472	3318.80	155.52	0.69	3.74	1.267	0.093	0.166	1333.06	1370.38	1295.75	2520.88	1106.00	0	0	0	10.33	15.43	15.07
3462.25	9254	506.43	1.70	-2.10	1328.0	1366.8	1289.2	2521.2	1106.4	26.21	7.39	533	3570.32	98.00	0.00	3.33	1.218	0.000	0.077	1103.38	1152.19	1054.56	2521.38	2492.50	0	0	0	10.66	30.00	15.30
3754.47	10403	672.48	2.26	-2.10	1099.6	1150.8	1048.5	2521.1	2492.1	16.58	2.28	591	4021.86	262.45	0.98	0.00	1.179	0.087	0.000	500.75	521.69	479.81	2672.38	2491.88	0	0	0	10.62	15.30	30.00
4040	end climb: SURFACE_DEPTH_REACHED
state	4040	begin surface coast
4071	end surface coast: CONTROL_FINISHED_OK
state	4071	begin surface