Glider dive log

AMOS Jul22 * SG242 * Dive index * Mission links * Dive 31 * 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 31 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 1692.2407 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 22.035246 SEABIRD_T_I 2.4999999e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 16.285307 FG_AHR_24V 8.9396839 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 22.035246 PITCH_CNV 0.0041299998 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FG_AHR_24V 8.9396839 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 16.285307 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 1692.2407 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 31 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 140722,100759,4719.473,-12523.648,31,1.7,32,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140722,101159,4719.470,-12523.658,2,0.7,5,15.8 MHEAD_RNG_PITCHd_Wd 310.2,748,-17.6,-10.000,-21.24,2209,0.223

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,8,0,20220714105018.076582,06,261,24,0136,0150,82,02,02,00,02,1,027,242,0,5,1,0,150,15.3,5.87,-100,-2.87,-01,0.22,46,10000,5000,0,-1,00,00*59 _24V_AH 14.83,9.343

NET_PING 1657795819,27,2885.828857,15.300000,-3.838498 _10V_AH 14.83,0.000

MODEM_MSG CACST,8,1,20220714103001.920392,18,32767,33,0101,0000,246,02,02,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025,0,-1,00,00*19 FG_AHR_24Vo 9.093

NAV 1657796345,18.7,start FG_AHR_10Vo 22.108

FINISH 0.5,1.018039 MEM0 60108,1,0,0

SM_CCo 3222.77,38.69,0.916,0,499.8,555.6,444.1,586.31 MEM1 65508,1,0,0

SM_GC 2.06,38.69,11.87,0.09,0.916,0.049,0.138,499.8,555.6,444.1,196.8,2035.4,0,0,0,11.75,15.53,15.56 MEM2 966208,25,80480,69

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 12952,480

IRIDIUM_FIX 4718.38,-12522.67,140722,091025 CAP_FILE_SIZE 173626,0

TCM_TEMP 14.60 SDSIZE 3887104,3860608

SC_FREEKB 3868864 SDFILEDIR 310,1

PM_FREEKB_00 60577856 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 0.080,143.5,1

MODEM 2,1657794601,48.25000,-123.50000,1.920,2813.4 MAGCAL 1.000000,0.021731,0.045036,-0.009571,1.062431,-0.029969,-0.002546,-0.062741,1.021336,719.9,-886.0,-672.6,16,0.0260,0

RAFOS_FIX 4747.590820,-12427.612305,140722,060600,2,510,10420.27 IMPLIED_C_PITCH 1691,16.45,224,1691.4,16.37

HUMID 51.20 IMPLIED_C_VBD 3063,66.903908,160,0

TEMP 11.30 GPS 140722,110704,4719.662,-12523.682,1,0.8,4,15.8

INTERNAL_PRESSURE 7.77022

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 635 1119 10552.78 nil 0 0 0.00

Pitch_motor 25 261 99.50 nil 0 0 0.00

Roll_motor 68 191 195.34 nil 0 0 0.00

Iridium 157 214 501.43 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.23 nil 0 0 0.00

Core 2184 5 165.89 SciCon 3163 6 320.80

Fast 1 0 0.00 PMAR 3173 12 602.97

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1221 0 5.80

Compass 975 5 72.30

RAFOS 2538 40 1505.79

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

12.64 16386 -145.99 -1.26 0.00 493.3 548.8 437.9 203.1 1973.2 0.00 0.00 0 78.24 60.74 0.00 0.00 0.005 0.000 0.000 1964.41 1997.12 1931.69 203.12 1973.19 0 0 0 15.68 30.00 30.00

78.67 18983 -145.99 -1.26 -80.00 1965.0 1998.6 1931.4 202.9 1973.2 3.16 -2.83 12 143.29 37.69 9.36 3.54 0.005 0.261 0.122 3485.09 3519.06 3451.12 1386.56 531.69 0 0 0 15.70 15.55 15.63

146.67 1028 -145.99 -1.26 0.00 3486.7 3521.4 3451.9 1386.1 531.8 18.19 -24.06 24 153.90 0.00 0.00 3.44 0.000 0.000 0.051 3487.22 3522.25 3452.19 1386.00 2025.44 0 0 0 30.00 30.00 15.67

337.23 260 -145.99 -1.26 80.00 3487.7 3524.5 3450.8 1386.2 2026.4 53.40 -16.60 60 345.27 0.00 0.00 3.55 0.000 0.000 0.110 3487.03 3523.88 3450.19 1385.88 3468.44 0 0 0 30.00 30.00 15.70

393.76 1028 -145.99 -1.26 0.00 3488.2 3525.4 3450.9 1386.3 3468.2 62.34 -15.18 71 401.65 0.00 0.00 3.45 0.000 0.000 0.056 3487.09 3524.50 3449.69 1385.81 1972.06 0 0 0 30.00 30.00 15.73

588.76 260 -145.99 -1.26 80.00 3488.3 3526.9 3449.8 1386.6 1971.8 92.37 -15.10 91 596.81 0.00 0.00 3.68 0.000 0.000 0.108 3488.34 3526.31 3450.38 1386.12 3469.69 0 0 0 30.00 30.00 15.74

625.29 1028 -145.99 -1.26 0.00 3489.3 3527.4 3451.2 1386.2 3468.8 97.62 -14.50 98 633.19 0.00 0.00 3.43 0.000 0.000 0.056 3488.97 3526.44 3451.50 1386.00 1973.31 0 0 0 30.00 30.00 15.76

820.32 516 -145.99 -1.26 -80.00 3489.5 3528.2 3450.7 1386.1 1972.9 122.21 -12.46 118 828.29 0.00 0.00 3.56 0.000 0.000 0.123 3489.34 3528.19 3450.50 1386.19 531.19 0 0 0 30.00 30.00 15.76

851.00 1028 -145.99 -1.26 0.00 3489.5 3528.3 3450.8 1386.1 531.6 126.44 -13.42 124 859.36 0.00 0.00 3.42 0.000 0.000 0.050 3489.75 3528.50 3451.00 1385.50 2029.12 0 0 0 30.00 30.00 15.79

1051.97 260 -145.99 -1.26 80.00 3489.9 3528.7 3451.2 1386.2 2031.2 149.20 -11.99 144 1056.93 0.00 0.00 2.34 0.000 0.000 0.099 3491.50 3530.19 3452.81 1386.00 3004.06 0 0 0 30.00 30.00 15.77

1057 end dive: TARGET_DEPTH_EXCEEDED

state 1057 begin apogee

1062.63 10243 0.00 -0.31 0.00 3490.5 3529.9 3451.2 1386.3 1970.1 150.38 -12.23 145 1179.70 105.35 1.59 0.09 1.120 0.134 0.192 2888.94 2978.12 2799.75 1619.62 2036.75 0 0 0 11.73 15.74 15.42

1182 end apogee: CONTROL_FINISHED_OK

state 1182 begin climb

1182.68 10759 145.99 1.26 -80.00 2887.2 2976.9 2797.5 1620.1 2036.6 155.24 0.00 156 1312.34 106.32 2.48 3.83 1.085 0.086 0.122 2290.44 2387.56 2193.31 2002.19 531.75 0 0 0 11.65 15.45 15.26

1375.11 17414 145.99 1.26 0.00 2284.1 2375.9 2192.2 2002.4 531.6 143.48 11.19 191 1383.64 0.00 0.00 3.49 0.000 0.000 0.050 2284.34 2376.19 2192.50 2001.44 2030.50 0 0 0 30.00 30.00 15.46

1570.94 8486 156.96 1.28 80.00 2283.2 2376.6 2189.8 2001.8 2029.9 123.08 9.49 211 1588.86 9.14 0.00 3.51 0.878 0.000 0.113 2248.97 2345.00 2152.94 2001.81 3465.94 0 0 0 11.79 30.00 15.56

1699.25 9254 164.62 1.29 0.00 2248.4 2344.1 2152.6 2002.6 3466.1 110.09 9.64 236 1718.50 8.36 0.00 3.44 0.850 0.000 0.055 2216.12 2312.88 2119.38 2002.25 1972.19 0 0 0 11.60 30.00 15.64

1905.02 10791 257.72 1.40 -80.00 2213.4 2309.8 2117.1 2001.8 1972.3 96.58 5.67 258 1988.07 67.53 0.18 3.65 1.044 0.079 0.128 1835.75 1937.25 1734.25 2053.06 532.75 0 0 0 11.90 15.70 15.45

2071.60 17414 257.72 1.40 0.00 1829.8 1930.7 1728.8 2053.6 532.9 79.77 12.45 290 2079.70 0.00 0.00 3.46 0.000 0.000 0.051 1828.03 1928.75 1727.31 2053.50 2030.31 0 0 0 30.00 30.00 15.58

2266.78 8742 320.92 1.48 -80.00 1827.2 1930.5 1723.9 2053.6 2030.5 64.08 7.06 310 2323.48 45.56 0.00 3.79 1.005 0.000 0.125 1580.34 1677.75 1482.94 2053.81 529.06 0 0 0 11.70 30.00 15.52

2507.03 1028 320.92 1.48 0.00 1574.8 1670.1 1479.5 2053.9 529.2 40.44 11.32 357 2514.81 0.00 0.00 3.45 0.000 0.000 0.052 1575.22 1671.12 1479.31 2054.06 2030.19 0 0 0 30.00 30.00 15.72

2698.34 8486 403.11 1.58 80.00 1573.0 1670.2 1475.8 2054.1 2030.0 25.47 6.18 395 2771.19 59.37 0.00 3.58 0.976 0.000 0.116 1244.56 1342.31 1146.81 2054.06 3468.88 0 0 0 11.71 30.00 15.58

2804.34 11303 444.65 1.63 0.00 1242.3 1337.8 1146.8 2053.6 3467.5 17.20 8.07 413 2849.81 31.89 0.20 3.48 0.933 0.071 0.057 1075.88 1168.81 982.94 2102.00 1973.31 0 0 0 11.62 15.62 15.63

3033.35 8226 566.51 1.78 0.00 1070.8 1160.6 981.1 2102.2 1973.4 4.83 4.33 457 3103.58 64.79 0.00 0.00 0.938 0.000 0.000 718.22 800.56 635.88 2102.31 1972.69 0 0 0 11.64 30.00 30.00

3104 end climb: SURFACE_DEPTH_REACHED

state 3104 begin surface coast

3152 end surface coast: CONTROL_FINISHED_OK

state 3152 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	31	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	1692.2407	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	22.035246	SEABIRD_T_I	2.4999999e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	16.285307	FG_AHR_24V	8.9396839	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	140722,100759,4719.473,-12523.648,31,1.7,32,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140722,101159,4719.470,-12523.658,2,0.7,5,15.8	MHEAD_RNG_PITCHd_Wd	310.2,748,-17.6,-10.000,-21.24,2209,0.223
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,8,0,20220714105018.076582,06,261,24,0136,0150,82,02,02,00,02,1,027,242,0,5,1,0,150,15.3,5.87,-100,-2.87,-01,0.22,46,10000,5000,0,-1,00,00*59	_24V_AH	14.83,9.343
NET_PING	1657795819,27,2885.828857,15.300000,-3.838498	_10V_AH	14.83,0.000
MODEM_MSG	CACST,8,1,20220714103001.920392,18,32767,33,0101,0000,246,02,02,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025,0,-1,00,00*19	FG_AHR_24Vo	9.093
NAV	1657796345,18.7,start	FG_AHR_10Vo	22.108
FINISH	0.5,1.018039	MEM0	60108,1,0,0
SM_CCo	3222.77,38.69,0.916,0,499.8,555.6,444.1,586.31	MEM1	65508,1,0,0
SM_GC	2.06,38.69,11.87,0.09,0.916,0.049,0.138,499.8,555.6,444.1,196.8,2035.4,0,0,0,11.75,15.53,15.56	MEM2	966208,25,80480,69
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	12952,480
IRIDIUM_FIX	4718.38,-12522.67,140722,091025	CAP_FILE_SIZE	173626,0
TCM_TEMP	14.60	SDSIZE	3887104,3860608
SC_FREEKB	3868864	SDFILEDIR	310,1
PM_FREEKB_00	60577856	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	0.080,143.5,1
MODEM	2,1657794601,48.25000,-123.50000,1.920,2813.4	MAGCAL	1.000000,0.021731,0.045036,-0.009571,1.062431,-0.029969,-0.002546,-0.062741,1.021336,719.9,-886.0,-672.6,16,0.0260,0
RAFOS_FIX	4747.590820,-12427.612305,140722,060600,2,510,10420.27	IMPLIED_C_PITCH	1691,16.45,224,1691.4,16.37
HUMID	51.20	IMPLIED_C_VBD	3063,66.903908,160,0
TEMP	11.30	GPS	140722,110704,4719.662,-12523.682,1,0.8,4,15.8
INTERNAL_PRESSURE	7.77022

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	635	1119	10552.78	nil	0	0	0.00
Pitch_motor	25	261	99.50	nil	0	0	0.00
Roll_motor	68	191	195.34	nil	0	0	0.00
Iridium	157	214	501.43	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.23	nil	0	0	0.00
Core	2184	5	165.89	SciCon	3163	6	320.80
Fast	1	0	0.00	PMAR	3173	12	602.97
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1221	0	5.80
Compass	975	5	72.30
RAFOS	2538	40	1505.79
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
12.64	16386	-145.99	-1.26	0.00	493.3	548.8	437.9	203.1	1973.2	0.00	0.00	0	78.24	60.74	0.00	0.00	0.005	0.000	0.000	1964.41	1997.12	1931.69	203.12	1973.19	0	0	0	15.68	30.00	30.00
78.67	18983	-145.99	-1.26	-80.00	1965.0	1998.6	1931.4	202.9	1973.2	3.16	-2.83	12	143.29	37.69	9.36	3.54	0.005	0.261	0.122	3485.09	3519.06	3451.12	1386.56	531.69	0	0	0	15.70	15.55	15.63
146.67	1028	-145.99	-1.26	0.00	3486.7	3521.4	3451.9	1386.1	531.8	18.19	-24.06	24	153.90	0.00	0.00	3.44	0.000	0.000	0.051	3487.22	3522.25	3452.19	1386.00	2025.44	0	0	0	30.00	30.00	15.67
337.23	260	-145.99	-1.26	80.00	3487.7	3524.5	3450.8	1386.2	2026.4	53.40	-16.60	60	345.27	0.00	0.00	3.55	0.000	0.000	0.110	3487.03	3523.88	3450.19	1385.88	3468.44	0	0	0	30.00	30.00	15.70
393.76	1028	-145.99	-1.26	0.00	3488.2	3525.4	3450.9	1386.3	3468.2	62.34	-15.18	71	401.65	0.00	0.00	3.45	0.000	0.000	0.056	3487.09	3524.50	3449.69	1385.81	1972.06	0	0	0	30.00	30.00	15.73
588.76	260	-145.99	-1.26	80.00	3488.3	3526.9	3449.8	1386.6	1971.8	92.37	-15.10	91	596.81	0.00	0.00	3.68	0.000	0.000	0.108	3488.34	3526.31	3450.38	1386.12	3469.69	0	0	0	30.00	30.00	15.74
625.29	1028	-145.99	-1.26	0.00	3489.3	3527.4	3451.2	1386.2	3468.8	97.62	-14.50	98	633.19	0.00	0.00	3.43	0.000	0.000	0.056	3488.97	3526.44	3451.50	1386.00	1973.31	0	0	0	30.00	30.00	15.76
820.32	516	-145.99	-1.26	-80.00	3489.5	3528.2	3450.7	1386.1	1972.9	122.21	-12.46	118	828.29	0.00	0.00	3.56	0.000	0.000	0.123	3489.34	3528.19	3450.50	1386.19	531.19	0	0	0	30.00	30.00	15.76
851.00	1028	-145.99	-1.26	0.00	3489.5	3528.3	3450.8	1386.1	531.6	126.44	-13.42	124	859.36	0.00	0.00	3.42	0.000	0.000	0.050	3489.75	3528.50	3451.00	1385.50	2029.12	0	0	0	30.00	30.00	15.79
1051.97	260	-145.99	-1.26	80.00	3489.9	3528.7	3451.2	1386.2	2031.2	149.20	-11.99	144	1056.93	0.00	0.00	2.34	0.000	0.000	0.099	3491.50	3530.19	3452.81	1386.00	3004.06	0	0	0	30.00	30.00	15.77
1057	end dive: TARGET_DEPTH_EXCEEDED
state	1057	begin apogee
1062.63	10243	0.00	-0.31	0.00	3490.5	3529.9	3451.2	1386.3	1970.1	150.38	-12.23	145	1179.70	105.35	1.59	0.09	1.120	0.134	0.192	2888.94	2978.12	2799.75	1619.62	2036.75	0	0	0	11.73	15.74	15.42
1182	end apogee: CONTROL_FINISHED_OK
state	1182	begin climb
1182.68	10759	145.99	1.26	-80.00	2887.2	2976.9	2797.5	1620.1	2036.6	155.24	0.00	156	1312.34	106.32	2.48	3.83	1.085	0.086	0.122	2290.44	2387.56	2193.31	2002.19	531.75	0	0	0	11.65	15.45	15.26
1375.11	17414	145.99	1.26	0.00	2284.1	2375.9	2192.2	2002.4	531.6	143.48	11.19	191	1383.64	0.00	0.00	3.49	0.000	0.000	0.050	2284.34	2376.19	2192.50	2001.44	2030.50	0	0	0	30.00	30.00	15.46
1570.94	8486	156.96	1.28	80.00	2283.2	2376.6	2189.8	2001.8	2029.9	123.08	9.49	211	1588.86	9.14	0.00	3.51	0.878	0.000	0.113	2248.97	2345.00	2152.94	2001.81	3465.94	0	0	0	11.79	30.00	15.56
1699.25	9254	164.62	1.29	0.00	2248.4	2344.1	2152.6	2002.6	3466.1	110.09	9.64	236	1718.50	8.36	0.00	3.44	0.850	0.000	0.055	2216.12	2312.88	2119.38	2002.25	1972.19	0	0	0	11.60	30.00	15.64
1905.02	10791	257.72	1.40	-80.00	2213.4	2309.8	2117.1	2001.8	1972.3	96.58	5.67	258	1988.07	67.53	0.18	3.65	1.044	0.079	0.128	1835.75	1937.25	1734.25	2053.06	532.75	0	0	0	11.90	15.70	15.45
2071.60	17414	257.72	1.40	0.00	1829.8	1930.7	1728.8	2053.6	532.9	79.77	12.45	290	2079.70	0.00	0.00	3.46	0.000	0.000	0.051	1828.03	1928.75	1727.31	2053.50	2030.31	0	0	0	30.00	30.00	15.58
2266.78	8742	320.92	1.48	-80.00	1827.2	1930.5	1723.9	2053.6	2030.5	64.08	7.06	310	2323.48	45.56	0.00	3.79	1.005	0.000	0.125	1580.34	1677.75	1482.94	2053.81	529.06	0	0	0	11.70	30.00	15.52
2507.03	1028	320.92	1.48	0.00	1574.8	1670.1	1479.5	2053.9	529.2	40.44	11.32	357	2514.81	0.00	0.00	3.45	0.000	0.000	0.052	1575.22	1671.12	1479.31	2054.06	2030.19	0	0	0	30.00	30.00	15.72
2698.34	8486	403.11	1.58	80.00	1573.0	1670.2	1475.8	2054.1	2030.0	25.47	6.18	395	2771.19	59.37	0.00	3.58	0.976	0.000	0.116	1244.56	1342.31	1146.81	2054.06	3468.88	0	0	0	11.71	30.00	15.58
2804.34	11303	444.65	1.63	0.00	1242.3	1337.8	1146.8	2053.6	3467.5	17.20	8.07	413	2849.81	31.89	0.20	3.48	0.933	0.071	0.057	1075.88	1168.81	982.94	2102.00	1973.31	0	0	0	11.62	15.62	15.63
3033.35	8226	566.51	1.78	0.00	1070.8	1160.6	981.1	2102.2	1973.4	4.83	4.33	457	3103.58	64.79	0.00	0.00	0.938	0.000	0.000	718.22	800.56	635.88	2102.31	1972.69	0	0	0	11.64	30.00	30.00
3104	end climb: SURFACE_DEPTH_REACHED
state	3104	begin surface coast
3152	end surface coast: CONTROL_FINISHED_OK
state	3152	begin surface