Glider dive log

AMOS Jul22 * SG240 * Dive index * Mission links * Dive 40 * 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 40 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 1812.2672 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 16.708649 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 29.197277 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 16.612976 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 29.197277 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 16.612976 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 16.708649 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 1812.2672 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 40 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 150722,143901,4716.072,-12518.536,25,1.0,26,15.7 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 -53.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150722,144243,4716.045,-12518.474,2,0.6,4,15.7 MHEAD_RNG_PITCHd_Wd 270.3,704,-22.9,-10.000,-26.03,1354,0.157

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:

NAV 1657900742,68.9,start _24V_AH 14.79,19.636

NET xmit part outbox0022.n 989 0 _10V_AH 14.79,0.000

NET_PING 1657899673,27,2125.034912,12.700000,-2.829703 FG_AHR_24Vo 16.803

MODEM_MSG CACST,8,1,20220715150000.885487,18,32767,33,0265,0000,07,00,00,02,00,-1,-01,-01,1,3,0,0,150,13.4,4.16,-100,-1.16,-01,0.34,51,925,0025,0,-1,00,00*12 FG_AHR_10Vo 29.256

FINISH 0.7,1.022779 MEM0 60108,1,0,0

SM_CCo 5827.12,161.21,0.960,0,542.0,557.4,526.6,692.24 MEM1 65508,1,0,0

SM_GC 1.48,161.21,12.78,0.09,0.960,0.052,0.157,542.0,557.4,526.6,192.0,2177.1,0,0,0,11.85,15.70,15.69 MEM2 966624,23,80284,60

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 19342,693

IRIDIUM_FIX 4716.54,-12518.24,150722,130623 CAP_FILE_SIZE 426008,0

TCM_TEMP 18.44 SDSIZE 3887104,3858688

SC_FREEKB 3865984 SDFILEDIR 370,1

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

MODEM 0,1657897200,47.26780,-125.31720,0.885,1297.2 SOUNDSPEED 1465.0

RAFOS_FIX 6033.735352,-9800.300781,140722,010100,2,510,3867.59 CURRENT 0.088,123.4,1

HUMID 49.42 MAGCAL 1.000000,0.025728,0.026233,-0.024889,1.066771,-0.063361,-0.025312,-0.041759,1.023625,43.3,-894.8,-460.9,36,0.0374,0

TEMP 10.49 IMPLIED_C_PITCH 1805,16.87,370,1808.7,16.79

INTERNAL_PRESSURE 7.99634 GPS 150722,162049,4715.936,-12518.973,2,1.6,7,15.7

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 715 1306 13838.78 nil 0 0 0.00

Pitch_motor 29 262 113.86 nil 0 0 0.00

Roll_motor 64 213 204.50 nil 0 0 0.00

Iridium 145 209 449.77 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.04 nil 0 0 0.00

Core 2764 5 209.33 SciCon 5642 6 520.45

Fast 2 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3086 0 14.61

Compass 1331 5 98.43

RAFOS 2858 40 1691.20

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

6.60 16386 -88.90 -1.48 0.00 495.8 506.2 485.4 186.1 2132.5 0.00 0.00 0 93.99 83.40 0.00 0.00 0.005 0.000 0.000 2762.31 2794.38 2730.25 186.31 2132.62 0 0 0 15.75 30.00 30.00

94.30 18983 -145.99 -1.55 -80.00 2760.7 2792.9 2728.4 186.2 2132.2 3.24 -2.41 16 144.63 27.10 9.41 3.64 0.006 0.262 0.117 3961.28 4009.88 3912.69 1434.25 678.38 0 0 0 15.82 15.66 15.74

188.10 3205 -145.99 -1.36 0.00 3962.4 4009.1 3915.6 1435.8 678.3 25.43 -24.09 34 195.35 0.00 0.31 3.43 0.000 0.207 0.055 3962.25 4008.94 3915.56 1483.50 2172.75 0 0 0 30.00 15.74 15.81

503.03 516 -145.99 -1.36 -80.00 3964.0 4011.3 3916.7 1482.6 2172.3 81.78 -15.87 66 510.25 0.00 0.00 3.71 0.000 0.000 0.116 3963.50 4011.25 3915.75 1483.69 681.75 0 0 0 30.00 30.00 15.88

663.10 1156 -145.99 -1.30 0.00 3964.8 4013.4 3916.1 1483.6 681.9 107.82 -14.69 98 670.68 0.00 0.00 3.41 0.000 0.000 0.054 3965.22 4013.62 3916.81 1483.75 2170.62 0 0 0 30.00 30.00 15.96

972.15 128 -145.99 -1.35 0.00 3966.4 4013.7 3919.1 1483.4 2171.2 143.20 -11.55 129 973.76 0.00 0.00 0.00 0.000 0.000 0.000 3966.69 4014.38 3919.00 1483.56 2171.00 0 0 0 30.00 30.00 30.00

1282.19 8838 -145.99 -1.40 -80.00 3967.6 4014.7 3920.6 1483.6 2171.1 182.16 -12.52 160 1289.46 0.00 0.00 3.70 0.000 0.000 0.120 3967.59 4015.06 3920.12 1483.19 680.69 0 0 0 30.00 30.00 15.96

1412.33 9350 -145.99 -1.35 0.00 3967.9 4014.9 3921.0 1483.4 680.6 200.68 -14.65 186 1419.85 0.00 0.00 3.39 0.000 0.000 0.056 3967.59 4014.75 3920.44 1483.81 2172.75 0 0 0 30.00 30.00 16.00

1728.11 8838 -145.99 -1.41 -80.00 3967.5 4014.8 3920.3 1483.7 2172.7 238.60 -11.51 218 1735.44 0.00 0.00 3.71 0.000 0.000 0.121 3967.47 4013.62 3921.31 1483.69 683.00 0 0 0 30.00 30.00 15.97

1858.31 9350 -145.99 -1.37 0.00 3967.7 4014.9 3920.4 1483.6 682.8 256.61 -14.24 244 1865.14 0.00 0.00 3.43 0.000 0.000 0.057 3967.69 4014.94 3920.44 1483.50 2172.88 0 0 0 30.00 30.00 16.02

2174.05 8838 -145.99 -1.45 -80.00 3967.8 4014.9 3920.7 1482.8 2172.4 295.35 -12.01 257 2181.38 0.00 0.00 3.72 0.000 0.000 0.124 3967.69 4014.44 3920.94 1483.44 681.88 0 0 0 30.00 30.00 15.99

2209 end dive: TARGET_DEPTH_EXCEEDED

state 2209 begin apogee

2215.39 10243 0.00 -0.30 0.00 3967.9 4014.9 3920.9 1483.6 2172.6 300.20 -13.77 264 2331.38 106.35 1.71 0.09 1.307 0.162 0.214 3364.25 3422.75 3305.75 1740.25 2119.50 0 0 0 11.99 15.96 15.56

2333 end apogee: CONTROL_FINISHED_OK

state 2333 begin climb

2332.78 10503 145.99 1.55 80.00 3361.6 3420.4 3302.8 1740.0 2119.1 304.42 0.00 271 2462.99 108.97 2.95 3.85 1.270 0.104 0.123 2768.78 2825.38 2712.19 2191.31 3615.50 0 0 0 11.77 15.59 15.32

2565.91 5253 145.99 1.30 0.00 2764.9 2820.4 2709.4 2190.9 3614.8 272.88 20.25 316 2573.16 0.00 0.56 3.57 0.000 0.199 0.057 2762.97 2819.75 2706.19 2121.94 2125.44 0 0 0 30.00 15.51 15.58

2881.60 0 145.99 1.30 0.00 2761.0 2820.0 2701.9 2121.1 2125.4 230.41 12.97 337 2883.24 0.00 0.00 0.00 0.000 0.000 0.000 2760.03 2819.19 2700.88 2120.56 2124.88 0 0 0 30.00 30.00 30.00

3191.65 516 145.99 1.30 -80.00 2760.8 2820.1 2701.4 2121.2 2125.0 193.49 11.32 368 3199.02 0.00 0.00 3.63 0.000 0.000 0.129 2758.78 2818.69 2698.88 2121.88 682.94 0 0 0 30.00 30.00 15.84

3311.88 21639 145.99 1.17 0.00 2757.8 2816.4 2699.3 2121.3 682.8 177.36 13.67 392 3319.76 0.00 0.22 3.42 0.000 0.187 0.058 2759.53 2817.94 2701.12 2089.00 2170.25 0 0 0 30.00 15.84 15.89

3627.72 10403 164.12 1.28 0.00 2758.4 2816.4 2700.3 2088.5 2170.2 148.01 8.62 424 3647.65 14.72 0.25 0.00 1.063 0.076 0.000 2693.59 2753.50 2633.69 2132.56 2170.50 0 0 0 11.93 15.95 30.00

3957.60 0 164.12 1.28 0.00 2690.5 2752.4 2628.6 2132.0 2169.7 112.42 10.58 457 3959.22 0.00 0.00 0.00 0.000 0.000 0.000 2689.22 2751.44 2627.00 2132.69 2170.19 0 0 0 30.00 30.00 30.00

4267.79 8354 214.00 1.37 0.00 2690.2 2752.4 2628.1 2132.2 2169.9 89.51 6.21 488 4309.81 38.51 0.00 0.00 1.098 0.000 0.000 2492.50 2561.94 2423.06 2132.25 2170.38 0 0 0 11.94 30.00 30.00

4611.21 10919 273.43 1.56 -80.00 2484.6 2556.9 2412.2 2132.2 2169.9 65.48 5.49 522 4666.05 44.36 0.34 3.80 1.060 0.070 0.127 2247.34 2325.06 2169.62 2204.62 684.25 0 0 0 12.02 15.96 15.76

4892.04 13479 291.04 1.50 0.00 2239.4 2321.3 2157.4 2204.4 684.2 37.75 8.66 577 4915.04 14.22 0.31 3.43 0.942 0.185 0.059 2176.94 2259.44 2094.44 2166.44 2170.25 0 0 0 11.94 15.83 15.88

5218.65 10663 375.40 1.76 80.00 2171.4 2256.8 2086.1 2167.3 2169.9 20.53 3.60 612 5293.45 60.82 0.49 3.63 1.009 0.066 0.127 1831.00 1922.31 1739.69 2248.44 3615.56 0 0 0 11.89 15.91 15.68

5522.01 9254 457.44 1.86 0.00 1825.2 1916.0 1734.5 2249.0 3615.0 4.86 3.77 672 5587.32 56.33 0.00 3.51 0.973 0.000 0.054 1509.69 1597.50 1421.88 2249.31 2123.19 0 0 0 12.07 30.00 15.83

5588 end climb: SURFACE_DEPTH_REACHED

state 5588 begin surface coast

5631 end surface coast: CONTROL_FINISHED_OK

state 5631 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	40	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	1812.2672	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	16.708649	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	29.197277	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	16.612976	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	150722,143901,4716.072,-12518.536,25,1.0,26,15.7	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	-53.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150722,144243,4716.045,-12518.474,2,0.6,4,15.7	MHEAD_RNG_PITCHd_Wd	270.3,704,-22.9,-10.000,-26.03,1354,0.157
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

NAV	1657900742,68.9,start	_24V_AH	14.79,19.636
NET	xmit part outbox0022.n 989 0	_10V_AH	14.79,0.000
NET_PING	1657899673,27,2125.034912,12.700000,-2.829703	FG_AHR_24Vo	16.803
MODEM_MSG	CACST,8,1,20220715150000.885487,18,32767,33,0265,0000,07,00,00,02,00,-1,-01,-01,1,3,0,0,150,13.4,4.16,-100,-1.16,-01,0.34,51,925,0025,0,-1,00,00*12	FG_AHR_10Vo	29.256
FINISH	0.7,1.022779	MEM0	60108,1,0,0
SM_CCo	5827.12,161.21,0.960,0,542.0,557.4,526.6,692.24	MEM1	65508,1,0,0
SM_GC	1.48,161.21,12.78,0.09,0.960,0.052,0.157,542.0,557.4,526.6,192.0,2177.1,0,0,0,11.85,15.70,15.69	MEM2	966624,23,80284,60
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	19342,693
IRIDIUM_FIX	4716.54,-12518.24,150722,130623	CAP_FILE_SIZE	426008,0
TCM_TEMP	18.44	SDSIZE	3887104,3858688
SC_FREEKB	3865984	SDFILEDIR	370,1
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1657897200,47.26780,-125.31720,0.885,1297.2	SOUNDSPEED	1465.0
RAFOS_FIX	6033.735352,-9800.300781,140722,010100,2,510,3867.59	CURRENT	0.088,123.4,1
HUMID	49.42	MAGCAL	1.000000,0.025728,0.026233,-0.024889,1.066771,-0.063361,-0.025312,-0.041759,1.023625,43.3,-894.8,-460.9,36,0.0374,0
TEMP	10.49	IMPLIED_C_PITCH	1805,16.87,370,1808.7,16.79
INTERNAL_PRESSURE	7.99634	GPS	150722,162049,4715.936,-12518.973,2,1.6,7,15.7

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	715	1306	13838.78	nil	0	0	0.00
Pitch_motor	29	262	113.86	nil	0	0	0.00
Roll_motor	64	213	204.50	nil	0	0	0.00
Iridium	145	209	449.77	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.04	nil	0	0	0.00
Core	2764	5	209.33	SciCon	5642	6	520.45
Fast	2	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3086	0	14.61
Compass	1331	5	98.43
RAFOS	2858	40	1691.20
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
6.60	16386	-88.90	-1.48	0.00	495.8	506.2	485.4	186.1	2132.5	0.00	0.00	0	93.99	83.40	0.00	0.00	0.005	0.000	0.000	2762.31	2794.38	2730.25	186.31	2132.62	0	0	0	15.75	30.00	30.00
94.30	18983	-145.99	-1.55	-80.00	2760.7	2792.9	2728.4	186.2	2132.2	3.24	-2.41	16	144.63	27.10	9.41	3.64	0.006	0.262	0.117	3961.28	4009.88	3912.69	1434.25	678.38	0	0	0	15.82	15.66	15.74
188.10	3205	-145.99	-1.36	0.00	3962.4	4009.1	3915.6	1435.8	678.3	25.43	-24.09	34	195.35	0.00	0.31	3.43	0.000	0.207	0.055	3962.25	4008.94	3915.56	1483.50	2172.75	0	0	0	30.00	15.74	15.81
503.03	516	-145.99	-1.36	-80.00	3964.0	4011.3	3916.7	1482.6	2172.3	81.78	-15.87	66	510.25	0.00	0.00	3.71	0.000	0.000	0.116	3963.50	4011.25	3915.75	1483.69	681.75	0	0	0	30.00	30.00	15.88
663.10	1156	-145.99	-1.30	0.00	3964.8	4013.4	3916.1	1483.6	681.9	107.82	-14.69	98	670.68	0.00	0.00	3.41	0.000	0.000	0.054	3965.22	4013.62	3916.81	1483.75	2170.62	0	0	0	30.00	30.00	15.96
972.15	128	-145.99	-1.35	0.00	3966.4	4013.7	3919.1	1483.4	2171.2	143.20	-11.55	129	973.76	0.00	0.00	0.00	0.000	0.000	0.000	3966.69	4014.38	3919.00	1483.56	2171.00	0	0	0	30.00	30.00	30.00
1282.19	8838	-145.99	-1.40	-80.00	3967.6	4014.7	3920.6	1483.6	2171.1	182.16	-12.52	160	1289.46	0.00	0.00	3.70	0.000	0.000	0.120	3967.59	4015.06	3920.12	1483.19	680.69	0	0	0	30.00	30.00	15.96
1412.33	9350	-145.99	-1.35	0.00	3967.9	4014.9	3921.0	1483.4	680.6	200.68	-14.65	186	1419.85	0.00	0.00	3.39	0.000	0.000	0.056	3967.59	4014.75	3920.44	1483.81	2172.75	0	0	0	30.00	30.00	16.00
1728.11	8838	-145.99	-1.41	-80.00	3967.5	4014.8	3920.3	1483.7	2172.7	238.60	-11.51	218	1735.44	0.00	0.00	3.71	0.000	0.000	0.121	3967.47	4013.62	3921.31	1483.69	683.00	0	0	0	30.00	30.00	15.97
1858.31	9350	-145.99	-1.37	0.00	3967.7	4014.9	3920.4	1483.6	682.8	256.61	-14.24	244	1865.14	0.00	0.00	3.43	0.000	0.000	0.057	3967.69	4014.94	3920.44	1483.50	2172.88	0	0	0	30.00	30.00	16.02
2174.05	8838	-145.99	-1.45	-80.00	3967.8	4014.9	3920.7	1482.8	2172.4	295.35	-12.01	257	2181.38	0.00	0.00	3.72	0.000	0.000	0.124	3967.69	4014.44	3920.94	1483.44	681.88	0	0	0	30.00	30.00	15.99
2209	end dive: TARGET_DEPTH_EXCEEDED
state	2209	begin apogee
2215.39	10243	0.00	-0.30	0.00	3967.9	4014.9	3920.9	1483.6	2172.6	300.20	-13.77	264	2331.38	106.35	1.71	0.09	1.307	0.162	0.214	3364.25	3422.75	3305.75	1740.25	2119.50	0	0	0	11.99	15.96	15.56
2333	end apogee: CONTROL_FINISHED_OK
state	2333	begin climb
2332.78	10503	145.99	1.55	80.00	3361.6	3420.4	3302.8	1740.0	2119.1	304.42	0.00	271	2462.99	108.97	2.95	3.85	1.270	0.104	0.123	2768.78	2825.38	2712.19	2191.31	3615.50	0	0	0	11.77	15.59	15.32
2565.91	5253	145.99	1.30	0.00	2764.9	2820.4	2709.4	2190.9	3614.8	272.88	20.25	316	2573.16	0.00	0.56	3.57	0.000	0.199	0.057	2762.97	2819.75	2706.19	2121.94	2125.44	0	0	0	30.00	15.51	15.58
2881.60	0	145.99	1.30	0.00	2761.0	2820.0	2701.9	2121.1	2125.4	230.41	12.97	337	2883.24	0.00	0.00	0.00	0.000	0.000	0.000	2760.03	2819.19	2700.88	2120.56	2124.88	0	0	0	30.00	30.00	30.00
3191.65	516	145.99	1.30	-80.00	2760.8	2820.1	2701.4	2121.2	2125.0	193.49	11.32	368	3199.02	0.00	0.00	3.63	0.000	0.000	0.129	2758.78	2818.69	2698.88	2121.88	682.94	0	0	0	30.00	30.00	15.84
3311.88	21639	145.99	1.17	0.00	2757.8	2816.4	2699.3	2121.3	682.8	177.36	13.67	392	3319.76	0.00	0.22	3.42	0.000	0.187	0.058	2759.53	2817.94	2701.12	2089.00	2170.25	0	0	0	30.00	15.84	15.89
3627.72	10403	164.12	1.28	0.00	2758.4	2816.4	2700.3	2088.5	2170.2	148.01	8.62	424	3647.65	14.72	0.25	0.00	1.063	0.076	0.000	2693.59	2753.50	2633.69	2132.56	2170.50	0	0	0	11.93	15.95	30.00
3957.60	0	164.12	1.28	0.00	2690.5	2752.4	2628.6	2132.0	2169.7	112.42	10.58	457	3959.22	0.00	0.00	0.00	0.000	0.000	0.000	2689.22	2751.44	2627.00	2132.69	2170.19	0	0	0	30.00	30.00	30.00
4267.79	8354	214.00	1.37	0.00	2690.2	2752.4	2628.1	2132.2	2169.9	89.51	6.21	488	4309.81	38.51	0.00	0.00	1.098	0.000	0.000	2492.50	2561.94	2423.06	2132.25	2170.38	0	0	0	11.94	30.00	30.00
4611.21	10919	273.43	1.56	-80.00	2484.6	2556.9	2412.2	2132.2	2169.9	65.48	5.49	522	4666.05	44.36	0.34	3.80	1.060	0.070	0.127	2247.34	2325.06	2169.62	2204.62	684.25	0	0	0	12.02	15.96	15.76
4892.04	13479	291.04	1.50	0.00	2239.4	2321.3	2157.4	2204.4	684.2	37.75	8.66	577	4915.04	14.22	0.31	3.43	0.942	0.185	0.059	2176.94	2259.44	2094.44	2166.44	2170.25	0	0	0	11.94	15.83	15.88
5218.65	10663	375.40	1.76	80.00	2171.4	2256.8	2086.1	2167.3	2169.9	20.53	3.60	612	5293.45	60.82	0.49	3.63	1.009	0.066	0.127	1831.00	1922.31	1739.69	2248.44	3615.56	0	0	0	11.89	15.91	15.68
5522.01	9254	457.44	1.86	0.00	1825.2	1916.0	1734.5	2249.0	3615.0	4.86	3.77	672	5587.32	56.33	0.00	3.51	0.973	0.000	0.054	1509.69	1597.50	1421.88	2249.31	2123.19	0	0	0	12.07	30.00	15.83
5588	end climb: SURFACE_DEPTH_REACHED
state	5588	begin surface coast
5631	end surface coast: CONTROL_FINISHED_OK
state	5631	begin surface