Glider dive log

AMOS Jul22 * SG242 * Dive index * Mission links * Dive 51 * 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 51 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 300 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 500 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 100 STROBE 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE 96

T_MISSION 140 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 1673.8306 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 23.55687 SEABIRD_T_I 2.4999999e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 16.317661 FG_AHR_24V 12.238843 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 20 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 300 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 23.55687 PITCH_CNV 0.0041299998 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FG_AHR_24V 12.238843 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 16.317661 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 20 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 100

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 1673.8306 LOGGERDEVICE2 35 PM_XMITPROFILE 3.0 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE3 -1 PM_XMITRAW 0.0 T_MISSION 140

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 51 NAV2_DEVICE 6 ROLL_MAX 3800 W_ADJ_DBAND 0

D_ABORT 500 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 150722,093139,4716.596,-12520.539,21,0.9,22,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150722,093558,4716.618,-12520.520,3,0.6,3,15.8 MHEAD_RNG_PITCHd_Wd 77.4,226,-27.2,-10.000,-30.00,972,0.237

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME ans0 IRON 1.000000,0.018360,-0.061028,-0.013170,1.056565,-0.047936,0.016552,-0.057557,1.018688,811.629517,-870.805054,-663.292725

TGT_LATLONG 4716.620,-12520.340

Post-dive calculations and measurements:

MODEM_MSG CACST,8,1,20220715100001.984047,18,29401,32,0239,0000,455,02,02,02,02,-1,-01,-01,1,3,0,0,150,-23.4,4.58,-100,-1.58,-01,-0.34,79,925,0025,0,-1,00,00*24 _24V_AH 14.76,13.782

NAV 1657882743,19.7,start _10V_AH 14.80,0.000

NET CACST,8,0,20220715110512.593165,06,32767,45,0200,0150,07,00,00,00,00,1,027,242,0,5,1,0,150,22.5,8.85,-100,-5.85,-01,-0.32,52,10000,5000,0,-1,00,00*7D FG_AHR_24Vo 12.409

NET_PING 1657883113,27,1002.848999,22.500000,-1.329512 FG_AHR_10Vo 23.657

FINISH 0.3,1.011018 MEM0 60108,1,0,0

SM_CCo 5468.02,72.26,0.959,0,500.2,557.1,443.4,586.21 MEM1 65508,1,0,0

SM_GC 1.75,72.26,12.59,3.51,0.959,0.049,0.059,500.2,557.1,443.4,201.6,1969.0,0,0,0,11.56,15.54,15.55 MEM2 966188,26,80480,69

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 19337,653

IRIDIUM_FIX 4716.54,-12518.24,150722,075613 CAP_FILE_SIZE 184957,0

TCM_TEMP 14.64 SDSIZE 3887104,3854208

SC_FREEKB 3862464 SDFILEDIR 490,1

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,-125.32280,1.350,1977.8 SOUNDSPEED 1465.0

RAFOS_FIX 4747.590820,-12427.612305,140722,060600,2,510,10420.27 CURRENT 0.022,121.2,1

HUMID 51.06 MAGCAL 1.000000,0.031146,0.008320,-0.017658,1.080607,-0.050023,-0.020463,-0.050826,0.995154,739.1,-878.9,-666.3,36,0.0325,0

TEMP 10.71 IMPLIED_C_PITCH 1668,16.26,347,1671.1,16.29

INTERNAL_PRESSURE 7.74618 GPS 150722,110835,4716.364,-12519.844,2,1.5,5,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 639 1325 12522.41 nil 0 0 0.00

Pitch_motor 26 255 100.54 nil 0 0 0.00

Roll_motor 64 184 175.24 nil 0 0 0.00

Iridium 171 238 604.31 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.69 nil 0 0 0.00

Core 2735 5 207.27 SciCon 5366 5 474.04

Fast 1 0 0.00 PMAR 5376 12 1017.08

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2889 0 13.68

Compass 1299 5 96.15

RAFOS 3243 40 1920.32

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

12.86 16386 -63.62 -1.75 0.00 493.5 546.7 440.2 198.9 2043.7 0.00 0.00 0 78.44 60.66 0.00 0.00 0.005 0.000 0.000 1933.47 1964.81 1902.12 199.12 2045.31 0 0 0 15.63 30.00 30.00

78.87 18727 -133.56 -1.83 80.00 1934.3 1967.4 1901.3 199.2 2045.7 3.09 -2.60 12 142.68 39.04 7.84 3.44 0.005 0.256 0.109 3434.16 3464.62 3403.69 1228.44 3469.75 0 0 0 15.66 15.52 15.60

236.08 1028 -133.56 -1.83 0.00 3436.7 3469.5 3403.9 1228.3 3469.4 43.31 -24.65 42 243.60 0.00 0.00 3.46 0.000 0.000 0.056 3436.56 3469.50 3403.62 1228.31 1972.81 0 0 0 30.00 30.00 15.67

551.24 0 -133.56 -1.83 0.00 3437.5 3470.8 3404.2 1228.4 1973.1 107.80 -18.05 74 552.99 0.00 0.00 0.00 0.000 0.000 0.000 3437.00 3471.19 3402.81 1228.44 1972.69 0 0 0 30.00 30.00 30.00

861.17 260 -133.56 -1.83 80.00 3438.9 3473.8 3404.0 1228.3 1972.2 164.50 -17.69 105 869.14 0.00 0.00 3.59 0.000 0.000 0.104 3438.69 3475.31 3402.06 1228.69 3470.38 0 0 0 30.00 30.00 15.83

987.62 1028 -133.56 -1.83 0.00 3440.0 3474.8 3405.2 1228.1 3470.4 189.36 -19.79 130 995.52 0.00 0.00 3.42 0.000 0.000 0.056 3441.38 3475.75 3407.00 1228.62 1973.00 0 0 0 30.00 30.00 15.89

1302.66 0 -133.56 -1.83 0.00 3440.6 3476.1 3405.1 1228.5 1971.0 248.56 -18.50 162 1304.41 0.00 0.00 0.00 0.000 0.000 0.000 3439.44 3474.88 3404.00 1228.31 1971.19 0 0 0 30.00 30.00 30.00

1582 end dive: TARGET_DEPTH_EXCEEDED

state 1583 begin apogee

1584.17 10243 0.00 -0.31 0.00 3440.6 3476.1 3405.2 1228.3 2033.6 302.29 -19.42 172 1695.54 98.43 2.52 0.12 1.326 0.161 0.185 2886.97 2973.88 2800.06 1601.25 1965.06 0 0 0 11.80 15.85 15.46

1698 end apogee: CONTROL_FINISHED_OK

state 1698 begin climb

1698.29 10759 133.56 1.83 -80.00 2886.5 2974.1 2798.9 1601.0 1965.2 307.24 0.00 175 1822.09 100.76 3.34 3.65 1.287 0.084 0.123 2343.81 2438.06 2249.56 2121.38 531.38 0 0 0 11.70 15.47 15.22

1870.62 17414 133.56 1.83 0.00 2335.8 2423.0 2248.5 2121.0 531.4 295.72 14.14 205 1878.75 0.00 0.00 3.48 0.000 0.000 0.048 2336.75 2424.38 2249.12 2120.50 2028.25 0 0 0 30.00 30.00 15.41

2197.20 16902 133.56 1.83 -80.00 2332.8 2422.8 2242.8 2120.9 2030.2 252.19 13.32 220 2205.55 0.00 0.00 3.74 0.000 0.000 0.119 2333.12 2420.94 2245.31 2120.44 532.50 0 0 0 30.00 30.00 15.62

2408.36 17414 133.56 1.83 0.00 2330.3 2417.6 2243.0 2121.5 532.8 221.08 13.62 262 2416.92 0.00 0.00 3.42 0.000 0.000 0.050 2330.28 2417.50 2243.06 2121.38 2030.06 0 0 0 30.00 30.00 15.72

2724.21 8742 141.85 1.84 -80.00 2330.8 2418.0 2243.6 2121.0 2030.4 190.08 9.12 294 2741.97 6.74 0.00 3.71 0.886 0.000 0.121 2310.03 2398.62 2221.44 2122.50 532.69 0 0 0 11.80 30.00 15.71

2865.52 1028 141.85 1.84 0.00 2307.9 2394.8 2221.1 2121.1 532.5 173.69 12.49 322 2873.61 0.00 0.00 3.41 0.000 0.000 0.051 2307.81 2394.38 2221.25 2119.12 2028.19 0 0 0 30.00 30.00 15.76

3180.61 8226 162.89 1.87 0.00 2307.9 2394.4 2221.5 2121.2 2030.0 145.41 7.78 354 3202.02 18.25 0.00 0.00 1.129 0.000 0.000 2224.72 2318.12 2131.31 2121.56 2029.75 0 0 0 11.66 30.00 30.00

3510.63 8742 173.62 1.88 -80.00 2219.2 2310.0 2128.4 2121.8 2030.2 115.29 8.87 387 3529.81 9.98 0.00 3.75 0.998 0.000 0.124 2181.62 2274.50 2088.75 2122.31 531.69 0 0 0 11.73 30.00 15.69

3648.48 9254 193.46 1.91 0.00 2176.4 2266.1 2086.8 2121.1 531.6 103.61 7.90 414 3676.75 16.68 0.00 3.42 1.077 0.000 0.050 2099.94 2196.12 2003.75 2121.75 2031.00 0 0 0 11.84 30.00 15.74

3980.30 10275 249.62 1.97 0.00 2095.4 2190.1 2000.8 2121.9 2031.2 84.36 4.06 450 4028.21 42.47 0.18 0.00 1.109 0.084 0.000 1871.44 1969.88 1773.00 2168.25 2031.25 0 0 0 11.88 15.78 30.00

4331.75 8742 274.44 2.01 -80.00 1862.2 1959.1 1765.2 2168.0 2031.2 61.19 7.38 487 4360.66 19.11 0.00 3.75 1.044 0.000 0.124 1769.03 1870.00 1668.06 2168.69 532.56 0 0 0 11.69 30.00 15.67

4588.54 9254 294.90 2.03 0.00 1762.6 1858.4 1666.9 2168.4 532.9 35.53 7.84 538 4613.80 16.31 0.00 3.43 1.003 0.000 0.051 1686.28 1786.81 1585.75 2167.94 2032.00 0 0 0 11.73 30.00 15.81

4919.31 8486 362.81 2.11 80.00 1681.4 1778.3 1584.6 2168.2 2031.6 20.08 2.82 573 4981.40 50.12 0.00 3.53 1.031 0.000 0.112 1408.38 1503.62 1313.12 2168.12 3470.38 0 0 0 11.64 30.00 15.62

5004.98 11303 416.16 2.18 0.00 1406.7 1499.6 1313.8 2168.0 3469.8 16.63 4.36 586 5056.32 39.45 0.19 3.49 0.989 0.075 0.056 1193.91 1285.12 1102.69 2219.31 1973.44 0 0 0 11.58 15.65 15.65

5239.91 8486 483.33 2.26 80.00 1185.3 1272.8 1097.8 2218.7 1972.5 5.92 2.90 632 5302.03 49.62 0.00 3.72 0.979 0.000 0.107 918.25 1006.88 829.62 2220.06 3468.81 0 0 0 11.64 30.00 15.47

5324 end climb: SURFACE_DEPTH_REACHED

state 5324 begin surface coast

5354 end surface coast: CONTROL_FINISHED_OK

state 5354 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	51	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	300	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	500	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	100	STROBE	0	LOITER_D_BOTTOM	0	RAFOS_DEVICE	96
T_MISSION	140	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	1673.8306	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	23.55687	SEABIRD_T_I	2.4999999e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	16.317661	FG_AHR_24V	12.238843	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	20	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	150722,093139,4716.596,-12520.539,21,0.9,22,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150722,093558,4716.618,-12520.520,3,0.6,3,15.8	MHEAD_RNG_PITCHd_Wd	77.4,226,-27.2,-10.000,-30.00,972,0.237
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	ans0	IRON	1.000000,0.018360,-0.061028,-0.013170,1.056565,-0.047936,0.016552,-0.057557,1.018688,811.629517,-870.805054,-663.292725
TGT_LATLONG	4716.620,-12520.340

MODEM_MSG	CACST,8,1,20220715100001.984047,18,29401,32,0239,0000,455,02,02,02,02,-1,-01,-01,1,3,0,0,150,-23.4,4.58,-100,-1.58,-01,-0.34,79,925,0025,0,-1,00,00*24	_24V_AH	14.76,13.782
NAV	1657882743,19.7,start	_10V_AH	14.80,0.000
NET	CACST,8,0,20220715110512.593165,06,32767,45,0200,0150,07,00,00,00,00,1,027,242,0,5,1,0,150,22.5,8.85,-100,-5.85,-01,-0.32,52,10000,5000,0,-1,00,00*7D	FG_AHR_24Vo	12.409
NET_PING	1657883113,27,1002.848999,22.500000,-1.329512	FG_AHR_10Vo	23.657
FINISH	0.3,1.011018	MEM0	60108,1,0,0
SM_CCo	5468.02,72.26,0.959,0,500.2,557.1,443.4,586.21	MEM1	65508,1,0,0
SM_GC	1.75,72.26,12.59,3.51,0.959,0.049,0.059,500.2,557.1,443.4,201.6,1969.0,0,0,0,11.56,15.54,15.55	MEM2	966188,26,80480,69
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	19337,653
IRIDIUM_FIX	4716.54,-12518.24,150722,075613	CAP_FILE_SIZE	184957,0
TCM_TEMP	14.64	SDSIZE	3887104,3854208
SC_FREEKB	3862464	SDFILEDIR	490,1
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,-125.32280,1.350,1977.8	SOUNDSPEED	1465.0
RAFOS_FIX	4747.590820,-12427.612305,140722,060600,2,510,10420.27	CURRENT	0.022,121.2,1
HUMID	51.06	MAGCAL	1.000000,0.031146,0.008320,-0.017658,1.080607,-0.050023,-0.020463,-0.050826,0.995154,739.1,-878.9,-666.3,36,0.0325,0
TEMP	10.71	IMPLIED_C_PITCH	1668,16.26,347,1671.1,16.29
INTERNAL_PRESSURE	7.74618	GPS	150722,110835,4716.364,-12519.844,2,1.5,5,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	639	1325	12522.41	nil	0	0	0.00
Pitch_motor	26	255	100.54	nil	0	0	0.00
Roll_motor	64	184	175.24	nil	0	0	0.00
Iridium	171	238	604.31	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.69	nil	0	0	0.00
Core	2735	5	207.27	SciCon	5366	5	474.04
Fast	1	0	0.00	PMAR	5376	12	1017.08
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2889	0	13.68
Compass	1299	5	96.15
RAFOS	3243	40	1920.32
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
12.86	16386	-63.62	-1.75	0.00	493.5	546.7	440.2	198.9	2043.7	0.00	0.00	0	78.44	60.66	0.00	0.00	0.005	0.000	0.000	1933.47	1964.81	1902.12	199.12	2045.31	0	0	0	15.63	30.00	30.00
78.87	18727	-133.56	-1.83	80.00	1934.3	1967.4	1901.3	199.2	2045.7	3.09	-2.60	12	142.68	39.04	7.84	3.44	0.005	0.256	0.109	3434.16	3464.62	3403.69	1228.44	3469.75	0	0	0	15.66	15.52	15.60
236.08	1028	-133.56	-1.83	0.00	3436.7	3469.5	3403.9	1228.3	3469.4	43.31	-24.65	42	243.60	0.00	0.00	3.46	0.000	0.000	0.056	3436.56	3469.50	3403.62	1228.31	1972.81	0	0	0	30.00	30.00	15.67
551.24	0	-133.56	-1.83	0.00	3437.5	3470.8	3404.2	1228.4	1973.1	107.80	-18.05	74	552.99	0.00	0.00	0.00	0.000	0.000	0.000	3437.00	3471.19	3402.81	1228.44	1972.69	0	0	0	30.00	30.00	30.00
861.17	260	-133.56	-1.83	80.00	3438.9	3473.8	3404.0	1228.3	1972.2	164.50	-17.69	105	869.14	0.00	0.00	3.59	0.000	0.000	0.104	3438.69	3475.31	3402.06	1228.69	3470.38	0	0	0	30.00	30.00	15.83
987.62	1028	-133.56	-1.83	0.00	3440.0	3474.8	3405.2	1228.1	3470.4	189.36	-19.79	130	995.52	0.00	0.00	3.42	0.000	0.000	0.056	3441.38	3475.75	3407.00	1228.62	1973.00	0	0	0	30.00	30.00	15.89
1302.66	0	-133.56	-1.83	0.00	3440.6	3476.1	3405.1	1228.5	1971.0	248.56	-18.50	162	1304.41	0.00	0.00	0.00	0.000	0.000	0.000	3439.44	3474.88	3404.00	1228.31	1971.19	0	0	0	30.00	30.00	30.00
1582	end dive: TARGET_DEPTH_EXCEEDED
state	1583	begin apogee
1584.17	10243	0.00	-0.31	0.00	3440.6	3476.1	3405.2	1228.3	2033.6	302.29	-19.42	172	1695.54	98.43	2.52	0.12	1.326	0.161	0.185	2886.97	2973.88	2800.06	1601.25	1965.06	0	0	0	11.80	15.85	15.46
1698	end apogee: CONTROL_FINISHED_OK
state	1698	begin climb
1698.29	10759	133.56	1.83	-80.00	2886.5	2974.1	2798.9	1601.0	1965.2	307.24	0.00	175	1822.09	100.76	3.34	3.65	1.287	0.084	0.123	2343.81	2438.06	2249.56	2121.38	531.38	0	0	0	11.70	15.47	15.22
1870.62	17414	133.56	1.83	0.00	2335.8	2423.0	2248.5	2121.0	531.4	295.72	14.14	205	1878.75	0.00	0.00	3.48	0.000	0.000	0.048	2336.75	2424.38	2249.12	2120.50	2028.25	0	0	0	30.00	30.00	15.41
2197.20	16902	133.56	1.83	-80.00	2332.8	2422.8	2242.8	2120.9	2030.2	252.19	13.32	220	2205.55	0.00	0.00	3.74	0.000	0.000	0.119	2333.12	2420.94	2245.31	2120.44	532.50	0	0	0	30.00	30.00	15.62
2408.36	17414	133.56	1.83	0.00	2330.3	2417.6	2243.0	2121.5	532.8	221.08	13.62	262	2416.92	0.00	0.00	3.42	0.000	0.000	0.050	2330.28	2417.50	2243.06	2121.38	2030.06	0	0	0	30.00	30.00	15.72
2724.21	8742	141.85	1.84	-80.00	2330.8	2418.0	2243.6	2121.0	2030.4	190.08	9.12	294	2741.97	6.74	0.00	3.71	0.886	0.000	0.121	2310.03	2398.62	2221.44	2122.50	532.69	0	0	0	11.80	30.00	15.71
2865.52	1028	141.85	1.84	0.00	2307.9	2394.8	2221.1	2121.1	532.5	173.69	12.49	322	2873.61	0.00	0.00	3.41	0.000	0.000	0.051	2307.81	2394.38	2221.25	2119.12	2028.19	0	0	0	30.00	30.00	15.76
3180.61	8226	162.89	1.87	0.00	2307.9	2394.4	2221.5	2121.2	2030.0	145.41	7.78	354	3202.02	18.25	0.00	0.00	1.129	0.000	0.000	2224.72	2318.12	2131.31	2121.56	2029.75	0	0	0	11.66	30.00	30.00
3510.63	8742	173.62	1.88	-80.00	2219.2	2310.0	2128.4	2121.8	2030.2	115.29	8.87	387	3529.81	9.98	0.00	3.75	0.998	0.000	0.124	2181.62	2274.50	2088.75	2122.31	531.69	0	0	0	11.73	30.00	15.69
3648.48	9254	193.46	1.91	0.00	2176.4	2266.1	2086.8	2121.1	531.6	103.61	7.90	414	3676.75	16.68	0.00	3.42	1.077	0.000	0.050	2099.94	2196.12	2003.75	2121.75	2031.00	0	0	0	11.84	30.00	15.74
3980.30	10275	249.62	1.97	0.00	2095.4	2190.1	2000.8	2121.9	2031.2	84.36	4.06	450	4028.21	42.47	0.18	0.00	1.109	0.084	0.000	1871.44	1969.88	1773.00	2168.25	2031.25	0	0	0	11.88	15.78	30.00
4331.75	8742	274.44	2.01	-80.00	1862.2	1959.1	1765.2	2168.0	2031.2	61.19	7.38	487	4360.66	19.11	0.00	3.75	1.044	0.000	0.124	1769.03	1870.00	1668.06	2168.69	532.56	0	0	0	11.69	30.00	15.67
4588.54	9254	294.90	2.03	0.00	1762.6	1858.4	1666.9	2168.4	532.9	35.53	7.84	538	4613.80	16.31	0.00	3.43	1.003	0.000	0.051	1686.28	1786.81	1585.75	2167.94	2032.00	0	0	0	11.73	30.00	15.81
4919.31	8486	362.81	2.11	80.00	1681.4	1778.3	1584.6	2168.2	2031.6	20.08	2.82	573	4981.40	50.12	0.00	3.53	1.031	0.000	0.112	1408.38	1503.62	1313.12	2168.12	3470.38	0	0	0	11.64	30.00	15.62
5004.98	11303	416.16	2.18	0.00	1406.7	1499.6	1313.8	2168.0	3469.8	16.63	4.36	586	5056.32	39.45	0.19	3.49	0.989	0.075	0.056	1193.91	1285.12	1102.69	2219.31	1973.44	0	0	0	11.58	15.65	15.65
5239.91	8486	483.33	2.26	80.00	1185.3	1272.8	1097.8	2218.7	1972.5	5.92	2.90	632	5302.03	49.62	0.00	3.72	0.979	0.000	0.107	918.25	1006.88	829.62	2220.06	3468.81	0	0	0	11.64	30.00	15.47
5324	end climb: SURFACE_DEPTH_REACHED
state	5324	begin surface coast
5354	end surface coast: CONTROL_FINISHED_OK
state	5354	begin surface