Glider dive log

AMOS Jul22 * SG240 * Dive index * Mission links * Dive 39 * 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 39 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 1813.0458 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 16.658682 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 29.132967 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 16.413712 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 29.132967 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 16.413712 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 16.658682 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 1813.0458 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 39 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 150722,130504,4716.075,-12519.476,6,1.6,10,15.7 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.58 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150722,130849,4716.075,-12519.402,2,0.8,4,15.7 MHEAD_RNG_PITCHd_Wd 70.7,465,-27.2,-10.000,-30.00,972,0.231

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 4716.068,-12519.032

Post-dive calculations and measurements:

NET xmit part outbox0021.n 1231 0 _24V_AH 14.93,19.365

NET_PING 1657891272,27,973.661987,28.799999,-0.293682 _10V_AH 14.89,0.000

MODEM_MSG CACST,8,1,20220715130000.744548,18,32767,27,0227,0000,126,02,02,03,02,-1,-01,-01,2,3,1,0,150,-5.7,1.78,-100,1.22,-01,-0.27,71,925,0025,0,-1,00,00*37 FG_AHR_24Vo 16.605

NAV 1657893550,149.1,start FG_AHR_10Vo 29.194

FREEZE 15.13,15.132,-1.752,0,1,0 MEM0 60108,1,0,0

SM_CCo 5214.57,237.43,0.959,0,500.3,513.1,487.5,702.47 MEM1 65508,1,0,0

SM_GC 1.60,0.00,13.59,3.55,0.000,0.060,0.062,497.6,509.8,485.4,186.4,2171.7,0,0,0,30.00,15.45,15.46 MEM2 966616,23,80292,60

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 19294,651

IRIDIUM_FIX 4716.54,-12518.24,150722,111018 CAP_FILE_SIZE 407012,0

TCM_TEMP 17.30 SDSIZE 3887104,3859072

SC_FREEKB 3866304 SDFILEDIR 361,1

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

MODEM 0,1657890000,47.26780,-125.31720,0.745,1090.8 SOUNDSPEED 1465.0

RAFOS_FIX 6033.735352,-9800.300781,140722,010100,2,510,3867.59 CURRENT 0.093,122.1,1

HUMID 49.12 MAGCAL 1.000000,0.032797,0.022634,-0.022633,1.063021,-0.070181,-0.029642,-0.034279,1.046333,48.6,-891.7,-478.2,36,0.0401,0

TEMP 10.71 IMPLIED_C_PITCH 1811,16.76,343,1812.3,16.71

INTERNAL_PRESSURE 8.00355 GPS 150722,143901,4716.072,-12518.536,25,1.0,26,15.7

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 712 1313 13973.78 nil 0 0 0.00

Pitch_motor 30 260 120.51 nil 0 0 0.00

Roll_motor 64 216 208.21 nil 0 0 0.00

Iridium 146 237 518.06 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.07 nil 0 0 0.00

Core 2545 5 194.03 SciCon 4974 6 462.15

Fast 2 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2728 0 13.00

Compass 1226 5 91.29

RAFOS 2226 40 1325.86

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

6.65 16386 -63.62 -1.71 0.00 537.0 553.9 520.1 187.4 2168.9 0.00 0.00 0 91.82 81.24 0.00 0.00 0.005 0.000 0.000 2724.75 2753.69 2695.81 187.38 2168.25 0 0 0 15.72 30.00 30.00

92.13 18727 -136.27 -1.80 80.00 2723.2 2751.9 2694.6 187.4 2168.6 3.31 -2.32 16 142.05 26.61 9.00 3.60 0.006 0.261 0.118 3920.41 3965.88 3874.94 1375.50 3617.12 0 0 0 15.77 15.62 15.70

339.89 3205 -136.27 -1.66 0.00 3923.2 3966.4 3880.1 1375.1 3616.3 73.70 -25.50 65 347.47 0.00 0.25 3.49 0.000 0.208 0.054 3923.44 3967.31 3879.56 1411.06 2125.19 0 0 0 30.00 15.73 15.81

655.68 644 -136.27 -1.71 -80.00 3924.8 3969.8 3879.9 1410.6 2125.2 126.82 -14.16 97 662.92 0.00 0.00 3.58 0.000 0.000 0.123 3926.22 3971.62 3880.81 1410.81 682.00 0 0 0 30.00 30.00 15.86

889.96 1156 -136.27 -1.62 0.00 3925.1 3970.6 3879.6 1410.8 681.8 164.66 -14.96 143 897.54 0.00 0.00 3.43 0.000 0.000 0.055 3925.78 3971.44 3880.12 1410.38 2173.88 0 0 0 30.00 30.00 15.92

1205.75 644 -136.27 -1.67 -80.00 3926.9 3972.9 3881.0 1410.6 2173.1 209.67 -15.66 175 1213.07 0.00 0.00 3.70 0.000 0.000 0.122 3926.03 3973.00 3879.06 1410.75 682.00 0 0 0 30.00 30.00 15.92

1441.68 1156 -136.27 -1.60 0.00 3926.7 3973.6 3879.8 1410.8 681.7 252.16 -17.89 222 1447.80 0.00 0.00 3.42 0.000 0.000 0.057 3927.78 3973.50 3882.06 1410.38 2171.75 0 0 0 30.00 30.00 15.97

1772 end dive: TARGET_DEPTH_EXCEEDED

state 1772 begin apogee

1773.03 10243 0.00 -0.30 0.00 3927.9 3974.3 3881.4 1410.6 2118.0 302.57 -14.94 238 1882.82 100.22 2.25 0.09 1.314 0.167 0.216 3362.56 3423.88 3301.25 1739.81 2173.81 0 0 0 11.98 15.93 15.58

1884 end apogee: CONTROL_FINISHED_OK

state 1884 begin climb

1884.23 10503 136.27 1.80 80.00 3362.1 3422.7 3301.4 1739.6 2174.8 305.82 0.00 241 2005.95 101.52 3.40 3.72 1.279 0.105 0.125 2809.38 2865.38 2753.38 2250.44 3616.50 0 0 0 11.89 15.59 15.33

2134.54 5253 136.27 1.55 0.00 2803.1 2857.2 2748.9 2250.6 3616.8 266.25 22.42 289 2142.16 0.00 0.58 3.55 0.000 0.218 0.057 2801.66 2856.75 2746.56 2181.69 2123.62 0 0 0 30.00 15.54 15.63

2450.61 16386 136.27 1.55 0.00 2800.0 2857.2 2742.7 2181.8 2123.5 218.55 13.92 317 2452.22 0.00 0.00 0.00 0.000 0.000 0.000 2798.50 2855.81 2741.19 2181.88 2123.62 0 0 0 30.00 30.00 30.00

2760.66 16386 136.27 1.55 0.00 2799.1 2856.9 2741.3 2181.6 2124.2 176.78 12.21 348 2762.28 0.00 0.00 0.00 0.000 0.000 0.000 2797.91 2855.75 2740.06 2181.19 2123.44 0 0 0 30.00 30.00 30.00

3064.22 17030 136.27 1.59 -80.00 2798.8 2856.9 2740.6 2181.1 2123.6 140.98 10.76 378 3071.51 0.00 0.00 3.61 0.000 0.000 0.131 2797.91 2855.81 2740.00 2181.75 682.06 0 0 0 30.00 30.00 15.93

3168.02 17542 136.27 1.50 0.00 2795.9 2852.6 2739.2 2181.0 682.0 129.02 10.85 398 3175.59 0.00 0.00 3.41 0.000 0.000 0.060 2796.69 2852.94 2740.44 2181.00 2171.25 0 0 0 30.00 30.00 15.97

3483.84 8870 167.15 1.60 -80.00 2796.2 2852.3 2740.0 2181.3 2171.1 105.48 6.73 430 3517.25 23.70 0.00 3.75 1.091 0.000 0.125 2679.75 2740.31 2619.19 2181.94 681.75 0 0 0 11.87 30.00 15.86

3660.17 1188 167.72 1.55 0.00 2674.8 2735.4 2614.2 2181.6 682.0 89.74 9.94 465 3667.72 0.00 0.00 3.42 0.000 0.000 0.059 2675.38 2736.12 2614.62 2181.06 2172.81 0 0 0 30.00 30.00 15.93

3975.94 10919 224.18 1.73 -80.00 2674.8 2735.6 2614.1 2181.7 2173.0 71.76 4.03 497 4030.69 42.65 0.37 3.78 1.078 0.064 0.123 2450.66 2523.31 2378.00 2246.12 683.00 0 0 0 11.97 15.95 15.78

4069.32 13479 230.52 1.63 0.00 2444.3 2516.2 2372.4 2246.4 682.8 64.87 9.33 514 4086.14 6.86 0.38 3.43 0.768 0.201 0.057 2424.75 2497.69 2351.81 2201.62 2171.00 0 0 0 11.89 15.78 15.84

4389.75 10663 274.88 1.83 80.00 2418.8 2495.9 2341.6 2201.2 2171.8 45.88 5.31 548 4433.92 33.61 0.40 3.61 1.034 0.065 0.126 2241.44 2322.12 2160.75 2272.00 3615.00 0 0 0 11.86 15.88 15.75

4572.50 5253 274.88 1.78 0.00 2238.3 2319.0 2157.6 2271.2 3616.1 27.28 11.00 584 4579.91 0.00 0.28 3.50 0.000 0.212 0.055 2236.16 2317.38 2154.94 2239.19 2122.50 0 0 0 30.00 15.77 15.83

4882.64 10919 357.74 2.05 -80.00 2235.1 2318.6 2151.7 2239.5 2122.6 16.39 1.24 636 4953.25 58.58 0.47 3.65 1.011 0.062 0.124 1904.47 1994.81 1814.12 2322.75 682.19 0 0 0 12.01 15.89 15.69

4962 end climb: NO_VERTICAL_VELOCITY

state 4962 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	39	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	1813.0458	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	16.658682	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	29.132967	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	16.413712	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	150722,130504,4716.075,-12519.476,6,1.6,10,15.7	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.58	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150722,130849,4716.075,-12519.402,2,0.8,4,15.7	MHEAD_RNG_PITCHd_Wd	70.7,465,-27.2,-10.000,-30.00,972,0.231
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	4716.068,-12519.032

NET	xmit part outbox0021.n 1231 0	_24V_AH	14.93,19.365
NET_PING	1657891272,27,973.661987,28.799999,-0.293682	_10V_AH	14.89,0.000
MODEM_MSG	CACST,8,1,20220715130000.744548,18,32767,27,0227,0000,126,02,02,03,02,-1,-01,-01,2,3,1,0,150,-5.7,1.78,-100,1.22,-01,-0.27,71,925,0025,0,-1,00,00*37	FG_AHR_24Vo	16.605
NAV	1657893550,149.1,start	FG_AHR_10Vo	29.194
FREEZE	15.13,15.132,-1.752,0,1,0	MEM0	60108,1,0,0
SM_CCo	5214.57,237.43,0.959,0,500.3,513.1,487.5,702.47	MEM1	65508,1,0,0
SM_GC	1.60,0.00,13.59,3.55,0.000,0.060,0.062,497.6,509.8,485.4,186.4,2171.7,0,0,0,30.00,15.45,15.46	MEM2	966616,23,80292,60
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	19294,651
IRIDIUM_FIX	4716.54,-12518.24,150722,111018	CAP_FILE_SIZE	407012,0
TCM_TEMP	17.30	SDSIZE	3887104,3859072
SC_FREEKB	3866304	SDFILEDIR	361,1
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1657890000,47.26780,-125.31720,0.745,1090.8	SOUNDSPEED	1465.0
RAFOS_FIX	6033.735352,-9800.300781,140722,010100,2,510,3867.59	CURRENT	0.093,122.1,1
HUMID	49.12	MAGCAL	1.000000,0.032797,0.022634,-0.022633,1.063021,-0.070181,-0.029642,-0.034279,1.046333,48.6,-891.7,-478.2,36,0.0401,0
TEMP	10.71	IMPLIED_C_PITCH	1811,16.76,343,1812.3,16.71
INTERNAL_PRESSURE	8.00355	GPS	150722,143901,4716.072,-12518.536,25,1.0,26,15.7

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	712	1313	13973.78	nil	0	0	0.00
Pitch_motor	30	260	120.51	nil	0	0	0.00
Roll_motor	64	216	208.21	nil	0	0	0.00
Iridium	146	237	518.06	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.07	nil	0	0	0.00
Core	2545	5	194.03	SciCon	4974	6	462.15
Fast	2	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2728	0	13.00
Compass	1226	5	91.29
RAFOS	2226	40	1325.86
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
6.65	16386	-63.62	-1.71	0.00	537.0	553.9	520.1	187.4	2168.9	0.00	0.00	0	91.82	81.24	0.00	0.00	0.005	0.000	0.000	2724.75	2753.69	2695.81	187.38	2168.25	0	0	0	15.72	30.00	30.00
92.13	18727	-136.27	-1.80	80.00	2723.2	2751.9	2694.6	187.4	2168.6	3.31	-2.32	16	142.05	26.61	9.00	3.60	0.006	0.261	0.118	3920.41	3965.88	3874.94	1375.50	3617.12	0	0	0	15.77	15.62	15.70
339.89	3205	-136.27	-1.66	0.00	3923.2	3966.4	3880.1	1375.1	3616.3	73.70	-25.50	65	347.47	0.00	0.25	3.49	0.000	0.208	0.054	3923.44	3967.31	3879.56	1411.06	2125.19	0	0	0	30.00	15.73	15.81
655.68	644	-136.27	-1.71	-80.00	3924.8	3969.8	3879.9	1410.6	2125.2	126.82	-14.16	97	662.92	0.00	0.00	3.58	0.000	0.000	0.123	3926.22	3971.62	3880.81	1410.81	682.00	0	0	0	30.00	30.00	15.86
889.96	1156	-136.27	-1.62	0.00	3925.1	3970.6	3879.6	1410.8	681.8	164.66	-14.96	143	897.54	0.00	0.00	3.43	0.000	0.000	0.055	3925.78	3971.44	3880.12	1410.38	2173.88	0	0	0	30.00	30.00	15.92
1205.75	644	-136.27	-1.67	-80.00	3926.9	3972.9	3881.0	1410.6	2173.1	209.67	-15.66	175	1213.07	0.00	0.00	3.70	0.000	0.000	0.122	3926.03	3973.00	3879.06	1410.75	682.00	0	0	0	30.00	30.00	15.92
1441.68	1156	-136.27	-1.60	0.00	3926.7	3973.6	3879.8	1410.8	681.7	252.16	-17.89	222	1447.80	0.00	0.00	3.42	0.000	0.000	0.057	3927.78	3973.50	3882.06	1410.38	2171.75	0	0	0	30.00	30.00	15.97
1772	end dive: TARGET_DEPTH_EXCEEDED
state	1772	begin apogee
1773.03	10243	0.00	-0.30	0.00	3927.9	3974.3	3881.4	1410.6	2118.0	302.57	-14.94	238	1882.82	100.22	2.25	0.09	1.314	0.167	0.216	3362.56	3423.88	3301.25	1739.81	2173.81	0	0	0	11.98	15.93	15.58
1884	end apogee: CONTROL_FINISHED_OK
state	1884	begin climb
1884.23	10503	136.27	1.80	80.00	3362.1	3422.7	3301.4	1739.6	2174.8	305.82	0.00	241	2005.95	101.52	3.40	3.72	1.279	0.105	0.125	2809.38	2865.38	2753.38	2250.44	3616.50	0	0	0	11.89	15.59	15.33
2134.54	5253	136.27	1.55	0.00	2803.1	2857.2	2748.9	2250.6	3616.8	266.25	22.42	289	2142.16	0.00	0.58	3.55	0.000	0.218	0.057	2801.66	2856.75	2746.56	2181.69	2123.62	0	0	0	30.00	15.54	15.63
2450.61	16386	136.27	1.55	0.00	2800.0	2857.2	2742.7	2181.8	2123.5	218.55	13.92	317	2452.22	0.00	0.00	0.00	0.000	0.000	0.000	2798.50	2855.81	2741.19	2181.88	2123.62	0	0	0	30.00	30.00	30.00
2760.66	16386	136.27	1.55	0.00	2799.1	2856.9	2741.3	2181.6	2124.2	176.78	12.21	348	2762.28	0.00	0.00	0.00	0.000	0.000	0.000	2797.91	2855.75	2740.06	2181.19	2123.44	0	0	0	30.00	30.00	30.00
3064.22	17030	136.27	1.59	-80.00	2798.8	2856.9	2740.6	2181.1	2123.6	140.98	10.76	378	3071.51	0.00	0.00	3.61	0.000	0.000	0.131	2797.91	2855.81	2740.00	2181.75	682.06	0	0	0	30.00	30.00	15.93
3168.02	17542	136.27	1.50	0.00	2795.9	2852.6	2739.2	2181.0	682.0	129.02	10.85	398	3175.59	0.00	0.00	3.41	0.000	0.000	0.060	2796.69	2852.94	2740.44	2181.00	2171.25	0	0	0	30.00	30.00	15.97
3483.84	8870	167.15	1.60	-80.00	2796.2	2852.3	2740.0	2181.3	2171.1	105.48	6.73	430	3517.25	23.70	0.00	3.75	1.091	0.000	0.125	2679.75	2740.31	2619.19	2181.94	681.75	0	0	0	11.87	30.00	15.86
3660.17	1188	167.72	1.55	0.00	2674.8	2735.4	2614.2	2181.6	682.0	89.74	9.94	465	3667.72	0.00	0.00	3.42	0.000	0.000	0.059	2675.38	2736.12	2614.62	2181.06	2172.81	0	0	0	30.00	30.00	15.93
3975.94	10919	224.18	1.73	-80.00	2674.8	2735.6	2614.1	2181.7	2173.0	71.76	4.03	497	4030.69	42.65	0.37	3.78	1.078	0.064	0.123	2450.66	2523.31	2378.00	2246.12	683.00	0	0	0	11.97	15.95	15.78
4069.32	13479	230.52	1.63	0.00	2444.3	2516.2	2372.4	2246.4	682.8	64.87	9.33	514	4086.14	6.86	0.38	3.43	0.768	0.201	0.057	2424.75	2497.69	2351.81	2201.62	2171.00	0	0	0	11.89	15.78	15.84
4389.75	10663	274.88	1.83	80.00	2418.8	2495.9	2341.6	2201.2	2171.8	45.88	5.31	548	4433.92	33.61	0.40	3.61	1.034	0.065	0.126	2241.44	2322.12	2160.75	2272.00	3615.00	0	0	0	11.86	15.88	15.75
4572.50	5253	274.88	1.78	0.00	2238.3	2319.0	2157.6	2271.2	3616.1	27.28	11.00	584	4579.91	0.00	0.28	3.50	0.000	0.212	0.055	2236.16	2317.38	2154.94	2239.19	2122.50	0	0	0	30.00	15.77	15.83
4882.64	10919	357.74	2.05	-80.00	2235.1	2318.6	2151.7	2239.5	2122.6	16.39	1.24	636	4953.25	58.58	0.47	3.65	1.011	0.062	0.124	1904.47	1994.81	1814.12	2322.75	682.19	0	0	0	12.01	15.89	15.69
4962	end climb: NO_VERTICAL_VELOCITY
state	4962	begin surface