Glider dive log

AMOS Jul22 * SG240 * Dive index * Mission links * Dive 3 * 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 3 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 692.53918 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT -0.1

D_TGT 180 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 500 COMM_SEQ 7 C_VBD 3364.7202 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 1811.5286 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 16.510128 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 27.522614 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 9.8537664 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_YINT -156.41907 SEABIRD_T_J 4.3e-06

RHO 1.0275 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022403029 SEABIRD_C_G -10

MASS 72877 C_PITCH_AUTO_MAX 200 COMPASS_USE 49156 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.0099999998 ROLL_MIN 210 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3810 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 1000 N_DIVES 0 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_PITCH 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_SURF 2 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_TGT 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 27.522614 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 9.8537664 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 16.510128 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 1811.5286 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 3364.7202 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 3 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 130722,194508,4719.874,-12524.074,1,0.7,3,15.8 TGT_RADIUS 1500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130722,195003,4719.884,-12524.093,2,0.8,4,15.8 MHEAD_RNG_PITCHd_Wd 9.1,244,-27.2,-10.000,-30.00,972,0.162

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME HOLD IRON 1.000000,0.007582,-0.007608,-0.001367,1.135626,-0.085364,0.032494,-0.022546,0.898010,86.001366,-817.818848,-293.326843

TGT_LATLONG 4720.000,-12524.000

Post-dive calculations and measurements:

MODEM_MSG CACST,8,1,20220713191231.866326,18,5752,07,0098,0000,44,05,05,05,06,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*2B _10V_AH 15.00,0.000

NAV 1657742344,88.2,start FG_AHR_24Vo 10.021

FREEZE 9.71,16.230,-1.718,0,1,0 FG_AHR_10Vo 27.566

SM_CCo 3446.02,248.65,0.923,0,500.7,525.4,475.9,702.38 MEM0 60108,1,0,0

SM_GC 1.61,0.00,13.38,3.53,0.000,0.055,0.057,498.7,524.2,473.1,190.0,2121.6,0,0,0,30.00,15.63,15.64 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 966616,27,80232,59

IRIDIUM_FIX 4651.84,-12347.52,130722,194543 DATA_FILE_SIZE 12951,489

TCM_TEMP 19.27 CAP_FILE_SIZE 367339,0

SC_FREEKB 3877824 SDSIZE 3887104,3870272

RAFOS_CLK 0 SDFILEDIR 87,1

MODEM 0,1657739551,47.25000,-122.25000,751.866,1101484.1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 SOUNDSPEED 1465.0

HUMID 51.85 CURRENT 0.025, 67.3,1

TEMP 12.63 MAGCAL 1.000000,0.025922,0.024028,-0.006149,1.120442,-0.101038,0.004702,-0.066263,0.906541,59.6,-812.9,-314.7,36,0.0466,1

INTERNAL_PRESSURE 8.1057 IMPLIED_C_PITCH 1814,16.60,218,1812.7,16.55

_24V_AH 15.09,11.214 GPS 130722,205018,4720.175,-12523.918,1,1.1,3,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 700 1107 11710.88 nil 0 0 0.00

Pitch_motor 30 234 106.59 nil 0 0 0.00

Roll_motor 63 188 179.86 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 3.03 nil 0 0 0.00

Core 1908 5 146.61 SciCon 3183 6 311.01

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1420 0 6.82

Compass 970 5 72.82

RAFOS 1568 40 940.98

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

6.67 16386 -63.62 -1.73 0.00 538.8 558.1 519.4 185.6 2172.8 0.00 0.00 0 98.67 86.75 0.00 0.00 0.005 0.000 0.000 2984.28 3010.56 2958.00 185.50 2172.81 0 0 0 16.08 30.00 30.00

99.03 18983 -138.56 -1.82 -80.00 2982.9 3008.6 2957.1 185.3 2172.5 3.27 -2.08 17 141.23 20.65 8.84 3.59 0.006 0.235 0.110 3927.78 3976.94 3878.62 1370.06 678.25 0 0 0 16.12 15.95 16.02

184.70 3205 -138.56 -1.64 0.00 3929.1 3977.8 3880.4 1370.7 678.2 26.10 -29.60 33 191.61 0.00 0.31 3.37 0.000 0.198 0.055 3929.69 3978.12 3881.25 1414.75 2174.25 0 0 0 30.00 15.98 16.08

380.05 644 -138.56 -1.69 -80.00 3930.1 3978.5 3881.6 1414.4 2174.1 62.22 -17.16 65 387.08 0.00 0.00 3.59 0.000 0.000 0.109 3930.72 3978.75 3882.69 1414.50 679.69 0 0 0 30.00 30.00 16.06

616.08 1156 -138.56 -1.58 0.00 3930.5 3978.8 3882.2 1414.6 679.8 105.61 -17.96 110 621.96 0.00 0.00 3.34 0.000 0.000 0.054 3930.59 3978.69 3882.50 1414.44 2173.38 0 0 0 30.00 30.00 16.10

806.08 644 -138.56 -1.62 -80.00 3932.0 3980.3 3883.7 1414.2 2174.3 130.59 -11.84 130 813.11 0.00 0.00 3.59 0.000 0.000 0.109 3931.84 3979.94 3883.75 1414.50 679.94 0 0 0 30.00 30.00 16.06

841.60 1156 -138.56 -1.54 0.00 3932.0 3980.1 3884.0 1414.0 679.9 135.31 -13.52 137 847.48 0.00 0.00 3.35 0.000 0.000 0.052 3931.88 3979.88 3883.88 1414.69 2176.12 0 0 0 30.00 30.00 16.11

1031.61 644 -138.56 -1.58 -80.00 3932.6 3981.0 3884.2 1414.5 2175.8 159.69 -12.93 157 1038.65 0.00 0.00 3.59 0.000 0.000 0.112 3932.94 3980.94 3884.94 1414.25 680.88 0 0 0 30.00 30.00 16.07

1140.57 3205 -138.56 -1.50 0.00 3932.8 3980.9 3884.8 1414.1 680.6 176.74 -15.88 178 1147.71 0.00 0.23 3.36 0.000 0.192 0.055 3932.00 3980.19 3883.81 1447.00 2173.12 0 0 0 30.00 16.01 16.11

1166 end dive: TARGET_DEPTH_EXCEEDED

state 1166 begin apogee

1166.82 10243 0.00 -0.30 0.00 3932.7 3981.1 3884.3 1447.4 2114.1 180.08 -13.58 181 1271.56 96.82 1.97 0.10 1.108 0.151 0.188 3361.44 3423.12 3299.75 1737.88 2180.81 0 0 0 11.45 16.02 15.76

1273 end apogee: CONTROL_FINISHED_OK

state 1273 begin climb

1272.75 10243 138.56 1.82 0.00 3361.2 3422.4 3299.9 1737.4 2179.8 182.85 0.00 191 1383.36 98.13 3.43 0.00 1.084 0.099 0.000 2801.22 2855.88 2746.56 2256.12 2180.19 0 0 0 11.66 15.77 30.00

1566.86 4485 138.56 1.67 80.00 2791.7 2848.8 2734.6 2255.4 2180.4 133.32 19.31 228 1574.10 0.00 0.40 3.55 0.000 0.187 0.121 2794.88 2851.94 2737.81 2206.19 3617.25 0 0 0 30.00 15.78 15.81

1632.60 5253 138.56 1.48 0.00 2791.8 2848.4 2735.3 2209.2 3617.2 119.83 20.99 241 1639.86 0.00 0.32 3.49 0.000 0.197 0.058 2791.34 2848.44 2734.25 2163.12 2121.81 0 0 0 30.00 15.81 15.87

1827.64 160 142.30 1.55 0.00 2789.5 2848.0 2730.9 2163.5 2121.6 94.84 9.60 261 1829.21 0.00 0.00 0.00 0.000 0.000 0.000 2788.44 2848.44 2728.44 2163.50 2121.56 0 0 0 30.00 30.00 30.00

2017.65 10919 161.64 1.65 -80.00 2789.1 2848.3 2729.9 2163.2 2121.5 78.05 7.96 280 2044.83 17.81 0.33 3.57 0.938 0.069 0.120 2702.78 2762.69 2642.88 2222.06 680.81 0 0 0 11.59 16.00 15.91

2048.26 9254 177.67 1.67 0.00 2700.0 2759.0 2640.9 2222.1 680.8 75.40 8.30 286 2070.73 13.86 0.00 3.42 0.885 0.000 0.056 2639.28 2701.19 2577.38 2220.88 2173.94 0 0 0 11.64 30.00 15.94

2253.67 8870 200.28 1.74 -80.00 2633.9 2699.4 2568.4 2221.9 2174.8 57.49 7.61 308 2279.56 18.30 0.00 3.71 0.928 0.000 0.117 2544.12 2611.56 2476.69 2222.19 681.81 0 0 0 11.47 30.00 15.88

2307.35 9382 220.36 1.72 0.00 2542.1 2608.1 2476.0 2222.8 681.6 52.93 7.88 319 2330.95 16.76 0.00 3.42 0.903 0.000 0.057 2466.62 2537.50 2395.75 2222.06 2174.25 0 0 0 11.54 30.00 15.93

2513.10 10919 245.80 1.84 -80.00 2459.0 2533.0 2384.9 2222.4 2173.5 37.47 7.31 357 2541.11 20.02 0.20 3.67 0.924 0.082 0.118 2361.66 2437.50 2285.81 2269.00 681.75 0 0 0 11.70 15.95 15.86

2709.64 13479 261.33 1.78 0.00 2353.6 2430.1 2277.1 2269.7 681.8 19.19 8.36 396 2732.19 13.00 0.28 3.42 0.864 0.197 0.058 2297.88 2377.88 2217.88 2236.62 2173.19 0 0 0 11.47 15.88 15.95

2913.67 10663 331.62 2.02 80.00 2292.8 2374.0 2211.7 2236.4 2173.5 13.72 2.57 436 2973.36 49.83 0.44 3.54 0.951 0.066 0.122 2009.25 2097.00 1921.50 2314.56 3616.56 0 0 0 11.45 15.97 15.78

3182 end climb: NO_VERTICAL_VELOCITY

state 3182 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	3	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	692.53918	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	-0.1
D_TGT	180	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	500	COMM_SEQ	7	C_VBD	3364.7202	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	1811.5286	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	16.510128	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	27.522614	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	9.8537664	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	130722,194508,4719.874,-12524.074,1,0.7,3,15.8	TGT_RADIUS	1500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130722,195003,4719.884,-12524.093,2,0.8,4,15.8	MHEAD_RNG_PITCHd_Wd	9.1,244,-27.2,-10.000,-30.00,972,0.162
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	HOLD	IRON	1.000000,0.007582,-0.007608,-0.001367,1.135626,-0.085364,0.032494,-0.022546,0.898010,86.001366,-817.818848,-293.326843
TGT_LATLONG	4720.000,-12524.000

MODEM_MSG	CACST,8,1,20220713191231.866326,18,5752,07,0098,0000,44,05,05,05,06,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*2B	_10V_AH	15.00,0.000
NAV	1657742344,88.2,start	FG_AHR_24Vo	10.021
FREEZE	9.71,16.230,-1.718,0,1,0	FG_AHR_10Vo	27.566
SM_CCo	3446.02,248.65,0.923,0,500.7,525.4,475.9,702.38	MEM0	60108,1,0,0
SM_GC	1.61,0.00,13.38,3.53,0.000,0.055,0.057,498.7,524.2,473.1,190.0,2121.6,0,0,0,30.00,15.63,15.64	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	966616,27,80232,59
IRIDIUM_FIX	4651.84,-12347.52,130722,194543	DATA_FILE_SIZE	12951,489
TCM_TEMP	19.27	CAP_FILE_SIZE	367339,0
SC_FREEKB	3877824	SDSIZE	3887104,3870272
RAFOS_CLK	0	SDFILEDIR	87,1
MODEM	0,1657739551,47.25000,-122.25000,751.866,1101484.1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	SOUNDSPEED	1465.0
HUMID	51.85	CURRENT	0.025, 67.3,1
TEMP	12.63	MAGCAL	1.000000,0.025922,0.024028,-0.006149,1.120442,-0.101038,0.004702,-0.066263,0.906541,59.6,-812.9,-314.7,36,0.0466,1
INTERNAL_PRESSURE	8.1057	IMPLIED_C_PITCH	1814,16.60,218,1812.7,16.55
_24V_AH	15.09,11.214	GPS	130722,205018,4720.175,-12523.918,1,1.1,3,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	700	1107	11710.88	nil	0	0	0.00
Pitch_motor	30	234	106.59	nil	0	0	0.00
Roll_motor	63	188	179.86	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	3.03	nil	0	0	0.00
Core	1908	5	146.61	SciCon	3183	6	311.01
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1420	0	6.82
Compass	970	5	72.82
RAFOS	1568	40	940.98
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
6.67	16386	-63.62	-1.73	0.00	538.8	558.1	519.4	185.6	2172.8	0.00	0.00	0	98.67	86.75	0.00	0.00	0.005	0.000	0.000	2984.28	3010.56	2958.00	185.50	2172.81	0	0	0	16.08	30.00	30.00
99.03	18983	-138.56	-1.82	-80.00	2982.9	3008.6	2957.1	185.3	2172.5	3.27	-2.08	17	141.23	20.65	8.84	3.59	0.006	0.235	0.110	3927.78	3976.94	3878.62	1370.06	678.25	0	0	0	16.12	15.95	16.02
184.70	3205	-138.56	-1.64	0.00	3929.1	3977.8	3880.4	1370.7	678.2	26.10	-29.60	33	191.61	0.00	0.31	3.37	0.000	0.198	0.055	3929.69	3978.12	3881.25	1414.75	2174.25	0	0	0	30.00	15.98	16.08
380.05	644	-138.56	-1.69	-80.00	3930.1	3978.5	3881.6	1414.4	2174.1	62.22	-17.16	65	387.08	0.00	0.00	3.59	0.000	0.000	0.109	3930.72	3978.75	3882.69	1414.50	679.69	0	0	0	30.00	30.00	16.06
616.08	1156	-138.56	-1.58	0.00	3930.5	3978.8	3882.2	1414.6	679.8	105.61	-17.96	110	621.96	0.00	0.00	3.34	0.000	0.000	0.054	3930.59	3978.69	3882.50	1414.44	2173.38	0	0	0	30.00	30.00	16.10
806.08	644	-138.56	-1.62	-80.00	3932.0	3980.3	3883.7	1414.2	2174.3	130.59	-11.84	130	813.11	0.00	0.00	3.59	0.000	0.000	0.109	3931.84	3979.94	3883.75	1414.50	679.94	0	0	0	30.00	30.00	16.06
841.60	1156	-138.56	-1.54	0.00	3932.0	3980.1	3884.0	1414.0	679.9	135.31	-13.52	137	847.48	0.00	0.00	3.35	0.000	0.000	0.052	3931.88	3979.88	3883.88	1414.69	2176.12	0	0	0	30.00	30.00	16.11
1031.61	644	-138.56	-1.58	-80.00	3932.6	3981.0	3884.2	1414.5	2175.8	159.69	-12.93	157	1038.65	0.00	0.00	3.59	0.000	0.000	0.112	3932.94	3980.94	3884.94	1414.25	680.88	0	0	0	30.00	30.00	16.07
1140.57	3205	-138.56	-1.50	0.00	3932.8	3980.9	3884.8	1414.1	680.6	176.74	-15.88	178	1147.71	0.00	0.23	3.36	0.000	0.192	0.055	3932.00	3980.19	3883.81	1447.00	2173.12	0	0	0	30.00	16.01	16.11
1166	end dive: TARGET_DEPTH_EXCEEDED
state	1166	begin apogee
1166.82	10243	0.00	-0.30	0.00	3932.7	3981.1	3884.3	1447.4	2114.1	180.08	-13.58	181	1271.56	96.82	1.97	0.10	1.108	0.151	0.188	3361.44	3423.12	3299.75	1737.88	2180.81	0	0	0	11.45	16.02	15.76
1273	end apogee: CONTROL_FINISHED_OK
state	1273	begin climb
1272.75	10243	138.56	1.82	0.00	3361.2	3422.4	3299.9	1737.4	2179.8	182.85	0.00	191	1383.36	98.13	3.43	0.00	1.084	0.099	0.000	2801.22	2855.88	2746.56	2256.12	2180.19	0	0	0	11.66	15.77	30.00
1566.86	4485	138.56	1.67	80.00	2791.7	2848.8	2734.6	2255.4	2180.4	133.32	19.31	228	1574.10	0.00	0.40	3.55	0.000	0.187	0.121	2794.88	2851.94	2737.81	2206.19	3617.25	0	0	0	30.00	15.78	15.81
1632.60	5253	138.56	1.48	0.00	2791.8	2848.4	2735.3	2209.2	3617.2	119.83	20.99	241	1639.86	0.00	0.32	3.49	0.000	0.197	0.058	2791.34	2848.44	2734.25	2163.12	2121.81	0	0	0	30.00	15.81	15.87
1827.64	160	142.30	1.55	0.00	2789.5	2848.0	2730.9	2163.5	2121.6	94.84	9.60	261	1829.21	0.00	0.00	0.00	0.000	0.000	0.000	2788.44	2848.44	2728.44	2163.50	2121.56	0	0	0	30.00	30.00	30.00
2017.65	10919	161.64	1.65	-80.00	2789.1	2848.3	2729.9	2163.2	2121.5	78.05	7.96	280	2044.83	17.81	0.33	3.57	0.938	0.069	0.120	2702.78	2762.69	2642.88	2222.06	680.81	0	0	0	11.59	16.00	15.91
2048.26	9254	177.67	1.67	0.00	2700.0	2759.0	2640.9	2222.1	680.8	75.40	8.30	286	2070.73	13.86	0.00	3.42	0.885	0.000	0.056	2639.28	2701.19	2577.38	2220.88	2173.94	0	0	0	11.64	30.00	15.94
2253.67	8870	200.28	1.74	-80.00	2633.9	2699.4	2568.4	2221.9	2174.8	57.49	7.61	308	2279.56	18.30	0.00	3.71	0.928	0.000	0.117	2544.12	2611.56	2476.69	2222.19	681.81	0	0	0	11.47	30.00	15.88
2307.35	9382	220.36	1.72	0.00	2542.1	2608.1	2476.0	2222.8	681.6	52.93	7.88	319	2330.95	16.76	0.00	3.42	0.903	0.000	0.057	2466.62	2537.50	2395.75	2222.06	2174.25	0	0	0	11.54	30.00	15.93
2513.10	10919	245.80	1.84	-80.00	2459.0	2533.0	2384.9	2222.4	2173.5	37.47	7.31	357	2541.11	20.02	0.20	3.67	0.924	0.082	0.118	2361.66	2437.50	2285.81	2269.00	681.75	0	0	0	11.70	15.95	15.86
2709.64	13479	261.33	1.78	0.00	2353.6	2430.1	2277.1	2269.7	681.8	19.19	8.36	396	2732.19	13.00	0.28	3.42	0.864	0.197	0.058	2297.88	2377.88	2217.88	2236.62	2173.19	0	0	0	11.47	15.88	15.95
2913.67	10663	331.62	2.02	80.00	2292.8	2374.0	2211.7	2236.4	2173.5	13.72	2.57	436	2973.36	49.83	0.44	3.54	0.951	0.066	0.122	2009.25	2097.00	1921.50	2314.56	3616.56	0	0	0	11.45	15.97	15.78
3182	end climb: NO_VERTICAL_VELOCITY
state	3182	begin surface