Glider dive log

AMOS Jul22 * SG240 * Dive index * Mission links * Dive 37 * 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 37 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 300 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 500 COMM_SEQ 7 C_VBD 3364 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 100 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 140 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 1807.4692 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 17.068619 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 28.992208 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 16.009922 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 300 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 28.992208 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 16.009922 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 17.068619 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 100

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 1807.4692 KALMAN_USE 2 PRESSURE_SLOPE 0.00022403029 T_MISSION 140

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 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 37 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 150722,093355,4716.529,-12520.033,5,1.2,9,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.41 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -48.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150722,093734,4716.547,-12520.016,3,1.2,5,15.8 MHEAD_RNG_PITCHd_Wd 264.2,429,-27.2,-10.000,-30.00,972,0.167

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 4716.620,-12520.340

Post-dive calculations and measurements:

NET xmit part outbox0019.n 1098 0 _24V_AH 14.90,18.843

NET_PING 1657881675,27,1977.730591,32.799999,-2.629737 _10V_AH 14.85,0.000

MODEM_MSG CACST,8,0,20220715090001.016135,18,32767,45,0101,0000,126,02,02,00,02,1,025,121,0,5,1,0,150,13.4,9.02,-100,-6.02,-01,-0.18,65,925,0025,0,1,00,00*03 FG_AHR_24Vo 16.198

NAV 1657882743,15.1,start FG_AHR_10Vo 29.051

FREEZE 16.25,14.232,-1.750,0,1,0 MEM0 60108,1,0,0

SM_CCo 5299.24,294.72,0.974,0,501.2,524.2,478.1,702.26 MEM1 65508,1,0,0

SM_GC 1.76,0.00,13.34,0.09,0.000,0.063,0.147,498.1,520.9,475.4,195.8,2182.1,0,0,0,30.00,15.44,15.44 MEM2 953204,19,93704,64

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16128,610

IRIDIUM_FIX 4716.54,-12518.24,150722,075822 CAP_FILE_SIZE 391088,0

TCM_TEMP 17.04 SDSIZE 3887104,3859840

SC_FREEKB 3866944 SDFILEDIR 343,1

RAFOS_CLK 1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 0,1657875601,47.26460,-125.32280,1.016,1488.6 SOUNDSPEED 1465.0

RAFOS_FIX 6033.735352,-9800.300781,140722,010100,2,510,3867.59 CURRENT 0.037,118.0,1

HUMID 49.83 MAGCAL 1.000000,0.014678,0.032029,-0.018421,1.054686,-0.091045,-0.041199,-0.032937,0.993082,53.8,-872.1,-438.8,36,0.0445,0

TEMP 10.50 IMPLIED_C_PITCH 1812,16.66,345,1809.5,16.86

INTERNAL_PRESSURE 8.00399 GPS 150722,110901,4716.544,-12520.632,21,1.2,22,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 715 1303 13908.18 nil 0 0 0.00

Pitch_motor 30 260 118.40 nil 0 0 0.00

Roll_motor 56 220 186.84 nil 0 0 0.00

Iridium 142 232 492.70 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.20 nil 0 0 0.00

Core 2498 5 189.95 SciCon 4998 6 464.10

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2796 0 13.29

Compass 1168 5 86.78

RAFOS 3089 40 1835.16

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

6.66 16386 -63.62 -1.67 0.00 495.7 514.9 476.4 191.1 2129.9 0.00 0.00 0 97.09 86.23 0.00 0.00 0.005 0.000 0.000 2839.88 2866.75 2813.00 191.06 2130.25 0 0 0 15.77 30.00 30.00

97.40 18983 -133.93 -1.76 -80.00 2838.6 2864.9 2812.2 191.2 2130.1 3.35 -2.57 17 142.36 23.58 9.01 3.62 0.006 0.260 0.114 3911.97 3957.94 3866.00 1380.00 680.56 0 0 0 15.82 15.66 15.74

233.69 3205 -133.93 -1.57 0.00 3914.0 3958.9 3869.1 1380.6 680.6 40.23 -25.28 43 240.94 0.00 0.34 3.43 0.000 0.209 0.054 3914.56 3959.12 3870.00 1427.38 2172.94 0 0 0 30.00 15.74 15.81

548.72 644 -133.93 -1.64 -80.00 3916.2 3962.5 3869.9 1427.3 2172.8 96.76 -15.07 75 555.79 0.00 0.00 3.67 0.000 0.000 0.112 3917.16 3963.06 3871.25 1427.25 679.81 0 0 0 30.00 30.00 15.90

748.63 1156 -133.93 -1.59 0.00 3916.6 3963.4 3869.8 1427.4 679.6 128.78 -16.51 115 756.17 0.00 0.00 3.38 0.000 0.000 0.053 3917.09 3963.31 3870.88 1427.25 2174.06 0 0 0 30.00 30.00 15.98

1064.41 8838 -133.93 -1.65 -80.00 3918.7 3964.7 3872.8 1427.2 2173.6 168.84 -12.97 147 1071.70 0.00 0.00 3.65 0.000 0.000 0.114 3918.62 3964.56 3872.69 1427.19 681.69 0 0 0 30.00 30.00 15.99

1234.58 9350 -133.93 -1.60 0.00 3919.1 3965.0 3873.2 1427.2 681.8 196.76 -16.48 181 1242.09 0.00 0.00 3.37 0.000 0.000 0.056 3919.75 3964.00 3875.50 1427.25 2175.12 0 0 0 30.00 30.00 16.05

1544.25 12935 -133.93 -1.69 -80.00 3918.8 3964.7 3872.9 1427.4 2175.0 239.80 -13.87 212 1551.78 0.00 0.26 3.67 0.000 0.077 0.117 3919.75 3965.69 3873.81 1381.38 681.81 0 0 0 30.00 16.04 16.00

1729.64 11399 -133.93 -1.55 0.00 3919.3 3965.9 3872.8 1381.1 681.6 275.50 -19.68 249 1736.80 0.00 0.41 3.38 0.000 0.206 0.057 3919.94 3965.75 3874.12 1430.88 2172.38 0 0 0 30.00 15.96 16.04

1930 end dive: TARGET_DEPTH_EXCEEDED

state 1930 begin apogee

1931.67 10243 0.00 -0.29 0.00 3919.4 3965.4 3873.5 1430.3 2117.4 303.19 -13.45 259 2038.23 97.84 2.06 0.09 1.304 0.166 0.220 3363.81 3424.56 3303.06 1735.94 2174.56 0 0 0 11.95 15.99 15.62

2039 end apogee: CONTROL_FINISHED_OK

state 2040 begin climb

2039.61 10503 133.93 1.76 80.00 3362.0 3423.2 3300.9 1736.2 2174.3 306.13 0.00 262 2158.54 99.60 3.30 3.68 1.268 0.106 0.124 2816.84 2872.38 2761.31 2234.75 3617.75 0 0 0 11.83 15.64 15.38

2216.39 5253 133.93 1.53 0.00 2814.8 2868.6 2760.9 2235.1 3617.2 283.65 20.88 296 2223.69 0.00 0.53 3.56 0.000 0.210 0.055 2816.97 2870.88 2763.06 2170.50 2123.50 0 0 0 30.00 15.49 15.55

2527.14 0 133.93 1.53 0.00 2810.0 2867.2 2752.8 2170.7 2123.5 237.43 13.84 312 2528.75 0.00 0.00 0.00 0.000 0.000 0.000 2808.50 2866.75 2750.25 2170.31 2123.75 0 0 0 30.00 30.00 30.00

2837.27 16514 133.93 1.57 0.00 2808.6 2867.5 2749.7 2170.4 2123.5 195.81 14.06 343 2838.89 0.00 0.00 0.00 0.000 0.000 0.000 2807.50 2866.56 2748.44 2170.19 2124.00 0 0 0 30.00 30.00 30.00

3147.34 19079 133.93 1.62 -80.00 2807.7 2867.7 2747.7 2170.5 2123.7 158.51 10.99 374 3154.83 0.00 0.20 3.61 0.000 0.091 0.127 2806.72 2866.12 2747.31 2208.94 682.94 0 0 0 30.00 15.93 15.90

3243.41 21639 133.93 1.43 0.00 2804.9 2861.4 2748.5 2208.8 683.1 145.24 14.87 393 3250.91 0.00 0.47 3.42 0.000 0.211 0.061 2803.22 2860.50 2745.94 2148.62 2168.69 0 0 0 30.00 15.87 15.94

3558.50 10403 142.17 1.55 0.00 2804.5 2861.1 2748.0 2148.4 2168.9 116.72 9.13 425 3568.96 6.99 0.25 0.00 0.832 0.084 0.000 2782.97 2840.31 2725.62 2194.44 2169.12 0 0 0 11.94 15.98 30.00

3878.53 8870 185.49 1.64 -80.00 2781.1 2840.2 2722.0 2194.8 2168.8 92.27 5.42 457 3922.49 33.47 0.00 3.73 1.096 0.000 0.123 2606.25 2671.12 2541.38 2194.75 683.12 0 0 0 11.86 30.00 15.84

3935.30 9254 229.33 1.70 0.00 2603.2 2666.5 2539.9 2194.4 682.8 89.07 5.36 467 3979.11 33.96 0.00 3.41 1.061 0.000 0.056 2429.09 2504.50 2353.69 2193.75 2172.88 0 0 0 11.93 30.00 15.89

4282.72 10403 245.46 1.86 0.00 2420.5 2499.4 2341.5 2194.3 2173.4 56.84 8.30 506 4298.68 13.04 0.38 0.00 0.953 0.064 0.000 2364.69 2443.50 2285.88 2271.19 2174.19 0 0 0 11.85 15.91 30.00

4602.67 8486 268.81 1.89 80.00 2358.3 2439.3 2277.2 2271.2 2173.8 31.14 7.53 538 4630.01 18.73 0.00 3.56 0.982 0.000 0.127 2268.88 2350.62 2187.12 2271.50 3617.19 0 0 0 12.04 30.00 15.86

4697.90 9382 276.28 1.84 0.00 2264.5 2344.8 2184.2 2271.1 3617.9 22.17 9.21 557 4715.94 7.75 0.00 3.45 0.793 0.000 0.055 2239.72 2320.69 2158.75 2271.62 2122.50 0 0 0 12.03 30.00 15.93

4987 end climb: NO_VERTICAL_VELOCITY

state 4987 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	37	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	300	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	500	COMM_SEQ	7	C_VBD	3364	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	100	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	140	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	1807.4692	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	17.068619	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	28.992208	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	16.009922	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	150722,093355,4716.529,-12520.033,5,1.2,9,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.41	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-48.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150722,093734,4716.547,-12520.016,3,1.2,5,15.8	MHEAD_RNG_PITCHd_Wd	264.2,429,-27.2,-10.000,-30.00,972,0.167
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	4716.620,-12520.340

NET	xmit part outbox0019.n 1098 0	_24V_AH	14.90,18.843
NET_PING	1657881675,27,1977.730591,32.799999,-2.629737	_10V_AH	14.85,0.000
MODEM_MSG	CACST,8,0,20220715090001.016135,18,32767,45,0101,0000,126,02,02,00,02,1,025,121,0,5,1,0,150,13.4,9.02,-100,-6.02,-01,-0.18,65,925,0025,0,1,00,00*03	FG_AHR_24Vo	16.198
NAV	1657882743,15.1,start	FG_AHR_10Vo	29.051
FREEZE	16.25,14.232,-1.750,0,1,0	MEM0	60108,1,0,0
SM_CCo	5299.24,294.72,0.974,0,501.2,524.2,478.1,702.26	MEM1	65508,1,0,0
SM_GC	1.76,0.00,13.34,0.09,0.000,0.063,0.147,498.1,520.9,475.4,195.8,2182.1,0,0,0,30.00,15.44,15.44	MEM2	953204,19,93704,64
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16128,610
IRIDIUM_FIX	4716.54,-12518.24,150722,075822	CAP_FILE_SIZE	391088,0
TCM_TEMP	17.04	SDSIZE	3887104,3859840
SC_FREEKB	3866944	SDFILEDIR	343,1
RAFOS_CLK	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1657875601,47.26460,-125.32280,1.016,1488.6	SOUNDSPEED	1465.0
RAFOS_FIX	6033.735352,-9800.300781,140722,010100,2,510,3867.59	CURRENT	0.037,118.0,1
HUMID	49.83	MAGCAL	1.000000,0.014678,0.032029,-0.018421,1.054686,-0.091045,-0.041199,-0.032937,0.993082,53.8,-872.1,-438.8,36,0.0445,0
TEMP	10.50	IMPLIED_C_PITCH	1812,16.66,345,1809.5,16.86
INTERNAL_PRESSURE	8.00399	GPS	150722,110901,4716.544,-12520.632,21,1.2,22,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	715	1303	13908.18	nil	0	0	0.00
Pitch_motor	30	260	118.40	nil	0	0	0.00
Roll_motor	56	220	186.84	nil	0	0	0.00
Iridium	142	232	492.70	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.20	nil	0	0	0.00
Core	2498	5	189.95	SciCon	4998	6	464.10
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2796	0	13.29
Compass	1168	5	86.78
RAFOS	3089	40	1835.16
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
6.66	16386	-63.62	-1.67	0.00	495.7	514.9	476.4	191.1	2129.9	0.00	0.00	0	97.09	86.23	0.00	0.00	0.005	0.000	0.000	2839.88	2866.75	2813.00	191.06	2130.25	0	0	0	15.77	30.00	30.00
97.40	18983	-133.93	-1.76	-80.00	2838.6	2864.9	2812.2	191.2	2130.1	3.35	-2.57	17	142.36	23.58	9.01	3.62	0.006	0.260	0.114	3911.97	3957.94	3866.00	1380.00	680.56	0	0	0	15.82	15.66	15.74
233.69	3205	-133.93	-1.57	0.00	3914.0	3958.9	3869.1	1380.6	680.6	40.23	-25.28	43	240.94	0.00	0.34	3.43	0.000	0.209	0.054	3914.56	3959.12	3870.00	1427.38	2172.94	0	0	0	30.00	15.74	15.81
548.72	644	-133.93	-1.64	-80.00	3916.2	3962.5	3869.9	1427.3	2172.8	96.76	-15.07	75	555.79	0.00	0.00	3.67	0.000	0.000	0.112	3917.16	3963.06	3871.25	1427.25	679.81	0	0	0	30.00	30.00	15.90
748.63	1156	-133.93	-1.59	0.00	3916.6	3963.4	3869.8	1427.4	679.6	128.78	-16.51	115	756.17	0.00	0.00	3.38	0.000	0.000	0.053	3917.09	3963.31	3870.88	1427.25	2174.06	0	0	0	30.00	30.00	15.98
1064.41	8838	-133.93	-1.65	-80.00	3918.7	3964.7	3872.8	1427.2	2173.6	168.84	-12.97	147	1071.70	0.00	0.00	3.65	0.000	0.000	0.114	3918.62	3964.56	3872.69	1427.19	681.69	0	0	0	30.00	30.00	15.99
1234.58	9350	-133.93	-1.60	0.00	3919.1	3965.0	3873.2	1427.2	681.8	196.76	-16.48	181	1242.09	0.00	0.00	3.37	0.000	0.000	0.056	3919.75	3964.00	3875.50	1427.25	2175.12	0	0	0	30.00	30.00	16.05
1544.25	12935	-133.93	-1.69	-80.00	3918.8	3964.7	3872.9	1427.4	2175.0	239.80	-13.87	212	1551.78	0.00	0.26	3.67	0.000	0.077	0.117	3919.75	3965.69	3873.81	1381.38	681.81	0	0	0	30.00	16.04	16.00
1729.64	11399	-133.93	-1.55	0.00	3919.3	3965.9	3872.8	1381.1	681.6	275.50	-19.68	249	1736.80	0.00	0.41	3.38	0.000	0.206	0.057	3919.94	3965.75	3874.12	1430.88	2172.38	0	0	0	30.00	15.96	16.04
1930	end dive: TARGET_DEPTH_EXCEEDED
state	1930	begin apogee
1931.67	10243	0.00	-0.29	0.00	3919.4	3965.4	3873.5	1430.3	2117.4	303.19	-13.45	259	2038.23	97.84	2.06	0.09	1.304	0.166	0.220	3363.81	3424.56	3303.06	1735.94	2174.56	0	0	0	11.95	15.99	15.62
2039	end apogee: CONTROL_FINISHED_OK
state	2040	begin climb
2039.61	10503	133.93	1.76	80.00	3362.0	3423.2	3300.9	1736.2	2174.3	306.13	0.00	262	2158.54	99.60	3.30	3.68	1.268	0.106	0.124	2816.84	2872.38	2761.31	2234.75	3617.75	0	0	0	11.83	15.64	15.38
2216.39	5253	133.93	1.53	0.00	2814.8	2868.6	2760.9	2235.1	3617.2	283.65	20.88	296	2223.69	0.00	0.53	3.56	0.000	0.210	0.055	2816.97	2870.88	2763.06	2170.50	2123.50	0	0	0	30.00	15.49	15.55
2527.14	0	133.93	1.53	0.00	2810.0	2867.2	2752.8	2170.7	2123.5	237.43	13.84	312	2528.75	0.00	0.00	0.00	0.000	0.000	0.000	2808.50	2866.75	2750.25	2170.31	2123.75	0	0	0	30.00	30.00	30.00
2837.27	16514	133.93	1.57	0.00	2808.6	2867.5	2749.7	2170.4	2123.5	195.81	14.06	343	2838.89	0.00	0.00	0.00	0.000	0.000	0.000	2807.50	2866.56	2748.44	2170.19	2124.00	0	0	0	30.00	30.00	30.00
3147.34	19079	133.93	1.62	-80.00	2807.7	2867.7	2747.7	2170.5	2123.7	158.51	10.99	374	3154.83	0.00	0.20	3.61	0.000	0.091	0.127	2806.72	2866.12	2747.31	2208.94	682.94	0	0	0	30.00	15.93	15.90
3243.41	21639	133.93	1.43	0.00	2804.9	2861.4	2748.5	2208.8	683.1	145.24	14.87	393	3250.91	0.00	0.47	3.42	0.000	0.211	0.061	2803.22	2860.50	2745.94	2148.62	2168.69	0	0	0	30.00	15.87	15.94
3558.50	10403	142.17	1.55	0.00	2804.5	2861.1	2748.0	2148.4	2168.9	116.72	9.13	425	3568.96	6.99	0.25	0.00	0.832	0.084	0.000	2782.97	2840.31	2725.62	2194.44	2169.12	0	0	0	11.94	15.98	30.00
3878.53	8870	185.49	1.64	-80.00	2781.1	2840.2	2722.0	2194.8	2168.8	92.27	5.42	457	3922.49	33.47	0.00	3.73	1.096	0.000	0.123	2606.25	2671.12	2541.38	2194.75	683.12	0	0	0	11.86	30.00	15.84
3935.30	9254	229.33	1.70	0.00	2603.2	2666.5	2539.9	2194.4	682.8	89.07	5.36	467	3979.11	33.96	0.00	3.41	1.061	0.000	0.056	2429.09	2504.50	2353.69	2193.75	2172.88	0	0	0	11.93	30.00	15.89
4282.72	10403	245.46	1.86	0.00	2420.5	2499.4	2341.5	2194.3	2173.4	56.84	8.30	506	4298.68	13.04	0.38	0.00	0.953	0.064	0.000	2364.69	2443.50	2285.88	2271.19	2174.19	0	0	0	11.85	15.91	30.00
4602.67	8486	268.81	1.89	80.00	2358.3	2439.3	2277.2	2271.2	2173.8	31.14	7.53	538	4630.01	18.73	0.00	3.56	0.982	0.000	0.127	2268.88	2350.62	2187.12	2271.50	3617.19	0	0	0	12.04	30.00	15.86
4697.90	9382	276.28	1.84	0.00	2264.5	2344.8	2184.2	2271.1	3617.9	22.17	9.21	557	4715.94	7.75	0.00	3.45	0.793	0.000	0.055	2239.72	2320.69	2158.75	2271.62	2122.50	0	0	0	12.03	30.00	15.93
4987	end climb: NO_VERTICAL_VELOCITY
state	4987	begin surface