Glider dive log

AMOS Jul22 * SG240 * Dive index * Mission links * Dive 30 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 240 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 20 ALTIM_SENSITIVITY 2

MISSION 5 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 30 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 150 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 500 COMM_SEQ 7 C_VBD 3365.814 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 50 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 1816.4937 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 16.880039 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 28.675545 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 14.715916 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 150 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 28.675545 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 14.715916 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 16.880039 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 20 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 50

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 1816.4937 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 3365.814 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 30 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 150722,003445,4717.151,-12521.021,1,0.8,3,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.48 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150722,003750,4717.142,-12520.997,2,0.8,4,15.8 MHEAD_RNG_PITCHd_Wd 165.2,921,-17.6,-10.000,-21.24,2209,0.173

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME ans0 IRON 1.000000,0.004969,0.026652,-0.004892,1.062311,-0.049169,-0.018000,-0.082850,0.992013,54.201790,-879.643433,-413.071289

TGT_LATLONG 4716.650,-12520.886

Post-dive calculations and measurements:

NAV 1657848547,21.2,start _10V_AH 14.85,0.000

NET xmit part outbox0014.n 894 0 FG_AHR_24Vo 14.879

NET_PING 1657848316,27,707.251465,38.900002,0.065476 FG_AHR_10Vo 28.723

MODEM_MSG CACST,8,1,20220715004232.462910,18,5698,25,0243,0000,246,03,03,02,05,-1,-01,-01,1,3,0,0,150,-34.5,0.42,-100,2.58,-01,0.11,45,925,0025,0,-1,00,00*1A MEM0 60108,1,0,0

FINISH 0.4,1.019559 MEM1 65508,1,0,0

SM_CCo 3686.73,120.17,0.917,0,542.5,556.5,528.6,692.35 MEM2 966396,25,80492,59

SM_GC 1.46,120.17,12.96,3.46,0.917,0.062,0.056,542.5,556.5,528.6,187.6,2171.9,0,0,0,11.85,15.68,15.70 DATA_FILE_SIZE 12930,499

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 359239,0

IRIDIUM_FIX 4717.45,-12515.65,150722,003258 SDSIZE 3887104,3862272

TCM_TEMP 18.84 SDFILEDIR 284,1

SC_FREEKB 3869184 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 1,1657845752,47.00000,-123.00000,752.463,1102358.1 CURRENT 0.072,112.3,1

RAFOS_FIX 6033.735352,-9800.300781,140722,010100,2,510,3867.59 MAGCAL 1.000000,0.012877,-0.022804,-0.011465,1.084939,-0.115167,0.015701,0.039468,1.092366,82.5,-838.4,-497.9,31,0.0328,0

HUMID 49.71 IMPLIED_C_PITCH 1821,16.86,225,1818.6,16.87

TEMP 11.44 IMPLIED_C_VBD 3816,49.816238,137,3465.8

INTERNAL_PRESSURE 8.03751 GPS 150722,014031,4716.853,-12520.838,2,0.9,24,15.8

_24V_AH 14.89,17.213

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 698 1069 11117.85 nil 0 0 0.00

Pitch_motor 28 227 98.05 nil 0 0 0.00

Roll_motor 57 188 160.77 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.97 nil 0 0 0.00

Core 2037 5 154.93 SciCon 3530 6 339.06

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1548 0 7.36

Compass 977 5 72.61

RAFOS 2703 40 1605.98

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

6.63 16386 -145.99 -1.22 0.00 536.8 555.2 518.4 186.2 2169.3 0.00 0.00 0 83.67 72.57 0.00 0.00 0.005 0.000 0.000 2596.78 2626.81 2566.75 186.19 2169.69 0 0 0 15.98 30.00 30.00

84.03 18727 -145.99 -1.22 80.00 2596.3 2627.1 2565.4 186.5 2169.9 3.42 -1.60 12 141.20 32.69 9.61 3.51 0.006 0.227 0.117 3960.97 4009.06 3912.88 1520.19 3617.31 0 0 0 15.99 15.85 15.91

184.68 3205 -145.99 -1.10 0.00 3962.7 4008.8 3916.5 1520.2 3617.1 19.04 -18.45 31 191.55 0.00 0.20 3.41 0.000 0.186 0.054 3962.91 4009.31 3916.50 1550.56 2122.06 0 0 0 30.00 15.89 15.96

379.76 388 -145.99 -1.05 80.00 3962.9 4009.6 3916.3 1550.2 2121.9 46.28 -13.08 51 387.04 0.00 0.00 3.66 0.000 0.000 0.114 3963.69 4010.31 3917.06 1550.12 3616.81 0 0 0 30.00 30.00 15.95

545.62 3205 -145.99 -0.99 0.00 3963.7 4010.1 3917.4 1551.1 3617.1 68.43 -12.73 84 552.96 0.00 0.15 3.42 0.000 0.180 0.053 3963.19 4010.06 3916.31 1578.00 2121.38 0 0 0 30.00 15.94 16.00

860.72 676 -145.99 -1.04 -80.00 3965.7 4014.0 3917.4 1577.2 2121.4 100.05 -9.10 116 867.88 0.00 0.00 3.59 0.000 0.000 0.122 3966.69 4015.12 3918.25 1576.88 682.31 0 0 0 30.00 30.00 15.99

940.62 1028 -145.99 -1.04 0.00 3966.0 4015.0 3917.0 1577.6 682.0 108.14 -10.12 132 948.28 0.00 0.00 3.40 0.000 0.000 0.053 3966.19 4015.00 3917.38 1577.94 2175.12 0 0 0 30.00 30.00 16.02

1258.26 4773 -145.99 -1.10 -80.00 3966.2 4014.7 3917.8 1577.4 2175.1 132.17 -7.55 163 1268.73 0.00 0.26 3.72 0.000 0.076 0.119 3965.72 4014.62 3916.81 1531.00 681.50 0 0 0 30.00 16.05 16.02

1407 end dive: TARGET_DEPTH_EXCEEDED

state 1407 begin apogee

1413.48 10243 0.00 -0.30 0.00 3965.7 4014.8 3916.7 1531.0 2175.1 150.09 -11.66 193 1523.98 102.53 1.47 0.10 1.069 0.153 0.189 3364.69 3423.62 3305.75 1744.38 2114.19 0 0 0 12.00 15.99 15.70

1525 end apogee: CONTROL_FINISHED_OK

state 1525 begin climb

1525.29 10503 145.99 1.22 80.00 3362.5 3421.8 3303.2 1744.9 2115.2 153.72 0.00 204 1650.22 103.98 2.41 3.77 1.041 0.102 0.120 2769.94 2828.06 2711.81 2115.00 3614.75 0 0 0 12.00 15.70 15.49

1728.88 5253 145.99 0.94 0.00 2766.5 2825.0 2707.9 2114.6 3615.0 131.00 16.37 242 1736.70 0.00 0.61 3.47 0.000 0.181 0.055 2764.97 2823.88 2706.06 2037.31 2122.38 0 0 0 30.00 15.60 15.67

2043.89 8742 183.68 0.99 -80.00 2761.8 2823.6 2699.9 2037.7 2122.4 102.01 8.25 274 2082.18 28.64 0.00 3.63 0.970 0.000 0.126 2613.44 2678.81 2548.06 2037.81 681.81 0 0 0 11.89 30.00 15.73

2165.74 1028 183.68 0.99 0.00 2608.4 2673.6 2543.1 2037.6 681.9 89.88 10.47 298 2172.13 0.00 0.00 3.47 0.000 0.000 0.055 2607.03 2672.62 2541.44 2038.00 2173.44 0 0 0 30.00 30.00 15.82

2475.96 10403 288.86 1.23 0.00 2607.4 2673.6 2541.2 2038.2 2173.8 69.18 5.11 330 2560.93 76.14 0.54 0.00 0.983 0.065 0.000 2188.38 2271.19 2105.56 2124.50 2173.56 0 0 0 11.94 15.90 30.00

2866.00 8870 327.82 1.33 -80.00 2177.3 2265.7 2088.9 2125.7 2174.1 37.09 8.19 374 2904.81 28.61 0.00 3.80 0.930 0.000 0.125 2026.47 2116.62 1936.31 2125.75 680.50 0 0 0 11.91 30.00 15.76

3012.69 9254 338.56 1.35 0.00 2021.0 2113.1 1928.9 2125.6 680.4 23.63 9.50 403 3031.17 9.55 0.00 3.47 0.793 0.000 0.056 1985.44 2078.75 1892.12 2126.00 2173.81 0 0 0 11.99 30.00 15.87

3333.51 10919 516.45 1.78 -80.00 1978.0 2074.6 1881.4 2125.8 2173.8 11.44 1.73 462 3474.00 123.58 0.75 3.86 0.937 0.068 0.124 1258.53 1340.00 1177.06 2256.56 682.88 0 0 0 12.00 15.92 15.58

3503 end climb: SURFACE_DEPTH_REACHED

state 3503 begin surface coast

3528 end surface coast: CONTROL_FINISHED_OK

state 3528 begin surface

ID	240	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	20	ALTIM_SENSITIVITY	2
MISSION	5	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	30	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	150	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	500	COMM_SEQ	7	C_VBD	3365.814	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	50	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	1816.4937	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	16.880039	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	28.675545	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	14.715916	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	150722,003445,4717.151,-12521.021,1,0.8,3,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150722,003750,4717.142,-12520.997,2,0.8,4,15.8	MHEAD_RNG_PITCHd_Wd	165.2,921,-17.6,-10.000,-21.24,2209,0.173
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	ans0	IRON	1.000000,0.004969,0.026652,-0.004892,1.062311,-0.049169,-0.018000,-0.082850,0.992013,54.201790,-879.643433,-413.071289
TGT_LATLONG	4716.650,-12520.886

NAV	1657848547,21.2,start	_10V_AH	14.85,0.000
NET	xmit part outbox0014.n 894 0	FG_AHR_24Vo	14.879
NET_PING	1657848316,27,707.251465,38.900002,0.065476	FG_AHR_10Vo	28.723
MODEM_MSG	CACST,8,1,20220715004232.462910,18,5698,25,0243,0000,246,03,03,02,05,-1,-01,-01,1,3,0,0,150,-34.5,0.42,-100,2.58,-01,0.11,45,925,0025,0,-1,00,00*1A	MEM0	60108,1,0,0
FINISH	0.4,1.019559	MEM1	65508,1,0,0
SM_CCo	3686.73,120.17,0.917,0,542.5,556.5,528.6,692.35	MEM2	966396,25,80492,59
SM_GC	1.46,120.17,12.96,3.46,0.917,0.062,0.056,542.5,556.5,528.6,187.6,2171.9,0,0,0,11.85,15.68,15.70	DATA_FILE_SIZE	12930,499
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	359239,0
IRIDIUM_FIX	4717.45,-12515.65,150722,003258	SDSIZE	3887104,3862272
TCM_TEMP	18.84	SDFILEDIR	284,1
SC_FREEKB	3869184	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	1,1657845752,47.00000,-123.00000,752.463,1102358.1	CURRENT	0.072,112.3,1
RAFOS_FIX	6033.735352,-9800.300781,140722,010100,2,510,3867.59	MAGCAL	1.000000,0.012877,-0.022804,-0.011465,1.084939,-0.115167,0.015701,0.039468,1.092366,82.5,-838.4,-497.9,31,0.0328,0
HUMID	49.71	IMPLIED_C_PITCH	1821,16.86,225,1818.6,16.87
TEMP	11.44	IMPLIED_C_VBD	3816,49.816238,137,3465.8
INTERNAL_PRESSURE	8.03751	GPS	150722,014031,4716.853,-12520.838,2,0.9,24,15.8
_24V_AH	14.89,17.213

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	698	1069	11117.85	nil	0	0	0.00
Pitch_motor	28	227	98.05	nil	0	0	0.00
Roll_motor	57	188	160.77	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.97	nil	0	0	0.00
Core	2037	5	154.93	SciCon	3530	6	339.06
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1548	0	7.36
Compass	977	5	72.61
RAFOS	2703	40	1605.98
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
6.63	16386	-145.99	-1.22	0.00	536.8	555.2	518.4	186.2	2169.3	0.00	0.00	0	83.67	72.57	0.00	0.00	0.005	0.000	0.000	2596.78	2626.81	2566.75	186.19	2169.69	0	0	0	15.98	30.00	30.00
84.03	18727	-145.99	-1.22	80.00	2596.3	2627.1	2565.4	186.5	2169.9	3.42	-1.60	12	141.20	32.69	9.61	3.51	0.006	0.227	0.117	3960.97	4009.06	3912.88	1520.19	3617.31	0	0	0	15.99	15.85	15.91
184.68	3205	-145.99	-1.10	0.00	3962.7	4008.8	3916.5	1520.2	3617.1	19.04	-18.45	31	191.55	0.00	0.20	3.41	0.000	0.186	0.054	3962.91	4009.31	3916.50	1550.56	2122.06	0	0	0	30.00	15.89	15.96
379.76	388	-145.99	-1.05	80.00	3962.9	4009.6	3916.3	1550.2	2121.9	46.28	-13.08	51	387.04	0.00	0.00	3.66	0.000	0.000	0.114	3963.69	4010.31	3917.06	1550.12	3616.81	0	0	0	30.00	30.00	15.95
545.62	3205	-145.99	-0.99	0.00	3963.7	4010.1	3917.4	1551.1	3617.1	68.43	-12.73	84	552.96	0.00	0.15	3.42	0.000	0.180	0.053	3963.19	4010.06	3916.31	1578.00	2121.38	0	0	0	30.00	15.94	16.00
860.72	676	-145.99	-1.04	-80.00	3965.7	4014.0	3917.4	1577.2	2121.4	100.05	-9.10	116	867.88	0.00	0.00	3.59	0.000	0.000	0.122	3966.69	4015.12	3918.25	1576.88	682.31	0	0	0	30.00	30.00	15.99
940.62	1028	-145.99	-1.04	0.00	3966.0	4015.0	3917.0	1577.6	682.0	108.14	-10.12	132	948.28	0.00	0.00	3.40	0.000	0.000	0.053	3966.19	4015.00	3917.38	1577.94	2175.12	0	0	0	30.00	30.00	16.02
1258.26	4773	-145.99	-1.10	-80.00	3966.2	4014.7	3917.8	1577.4	2175.1	132.17	-7.55	163	1268.73	0.00	0.26	3.72	0.000	0.076	0.119	3965.72	4014.62	3916.81	1531.00	681.50	0	0	0	30.00	16.05	16.02
1407	end dive: TARGET_DEPTH_EXCEEDED
state	1407	begin apogee
1413.48	10243	0.00	-0.30	0.00	3965.7	4014.8	3916.7	1531.0	2175.1	150.09	-11.66	193	1523.98	102.53	1.47	0.10	1.069	0.153	0.189	3364.69	3423.62	3305.75	1744.38	2114.19	0	0	0	12.00	15.99	15.70
1525	end apogee: CONTROL_FINISHED_OK
state	1525	begin climb
1525.29	10503	145.99	1.22	80.00	3362.5	3421.8	3303.2	1744.9	2115.2	153.72	0.00	204	1650.22	103.98	2.41	3.77	1.041	0.102	0.120	2769.94	2828.06	2711.81	2115.00	3614.75	0	0	0	12.00	15.70	15.49
1728.88	5253	145.99	0.94	0.00	2766.5	2825.0	2707.9	2114.6	3615.0	131.00	16.37	242	1736.70	0.00	0.61	3.47	0.000	0.181	0.055	2764.97	2823.88	2706.06	2037.31	2122.38	0	0	0	30.00	15.60	15.67
2043.89	8742	183.68	0.99	-80.00	2761.8	2823.6	2699.9	2037.7	2122.4	102.01	8.25	274	2082.18	28.64	0.00	3.63	0.970	0.000	0.126	2613.44	2678.81	2548.06	2037.81	681.81	0	0	0	11.89	30.00	15.73
2165.74	1028	183.68	0.99	0.00	2608.4	2673.6	2543.1	2037.6	681.9	89.88	10.47	298	2172.13	0.00	0.00	3.47	0.000	0.000	0.055	2607.03	2672.62	2541.44	2038.00	2173.44	0	0	0	30.00	30.00	15.82
2475.96	10403	288.86	1.23	0.00	2607.4	2673.6	2541.2	2038.2	2173.8	69.18	5.11	330	2560.93	76.14	0.54	0.00	0.983	0.065	0.000	2188.38	2271.19	2105.56	2124.50	2173.56	0	0	0	11.94	15.90	30.00
2866.00	8870	327.82	1.33	-80.00	2177.3	2265.7	2088.9	2125.7	2174.1	37.09	8.19	374	2904.81	28.61	0.00	3.80	0.930	0.000	0.125	2026.47	2116.62	1936.31	2125.75	680.50	0	0	0	11.91	30.00	15.76
3012.69	9254	338.56	1.35	0.00	2021.0	2113.1	1928.9	2125.6	680.4	23.63	9.50	403	3031.17	9.55	0.00	3.47	0.793	0.000	0.056	1985.44	2078.75	1892.12	2126.00	2173.81	0	0	0	11.99	30.00	15.87
3333.51	10919	516.45	1.78	-80.00	1978.0	2074.6	1881.4	2125.8	2173.8	11.44	1.73	462	3474.00	123.58	0.75	3.86	0.937	0.068	0.124	1258.53	1340.00	1177.06	2256.56	682.88	0	0	0	12.00	15.92	15.58
3503	end climb: SURFACE_DEPTH_REACHED
state	3503	begin surface coast
3528	end surface coast: CONTROL_FINISHED_OK
state	3528	begin surface