Glider dive log

AMOS Jul22 * SG240 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 240 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 5 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 8 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 150 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 50 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 75 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 1807.8975 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 16.805683 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 27.751028 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 10.742787 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 180 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 150 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 27.751028 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 10.742787 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 16.805683 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 180 PITCH_MIN 205 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 50

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 1807.8975 KALMAN_USE 2 PRESSURE_SLOPE 0.00022403029 T_MISSION 75

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 8 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 140722,010446,4719.931,-12523.890,1,1.0,3,15.8 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.57 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 140722,010757,4719.915,-12523.856,2,1.0,4,15.8 MHEAD_RNG_PITCHd_Wd 184.4,20000,-17.6,-10.000,-21.24,2209,0.196

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME HEADING IRON 1.000000,0.024488,0.011720,-0.013723,1.065452,-0.105118,-0.016783,-0.012275,0.996087,73.834053,-841.310364,-416.232605

TGT_LATLONG 4709.115,-12523.856

Post-dive calculations and measurements:

MODEM_MSG CACST,8,0,20220714014500.730070,18,32767,45,0101,0000,07,01,01,00,01,1,025,121,0,5,1,0,150,22.9,9.94,-100,-6.94,-01,0.22,47,925,0025,0,1,00,00*2A FG_AHR_24Vo 10.914

NAV 1657763945,8.2,start FG_AHR_10Vo 27.793

FINISH 1.3,1.022725 MEM0 60108,1,0,0

SM_CCo 3307.92,145.99,0.928,0,541.0,556.9,525.1,692.48 MEM1 65508,1,0,0

SM_GC 1.35,145.99,13.06,0.09,0.928,0.081,0.153,541.0,556.9,525.1,186.2,2179.2,0,0,0,11.72,15.73,15.74 MEM2 966648,26,80220,59

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 12919,461

IRIDIUM_FIX 4720.59,-12521.92,130722,235815 CAP_FILE_SIZE 333596,0

TCM_TEMP 18.13 SDSIZE 3887104,3868832

SC_FREEKB 3876224 SDFILEDIR 123,1

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

MODEM 0,1657763100,47.32780,-125.40960,2700.730,3956569.5 SOUNDSPEED 1465.0

RAFOS_FIX 6033.735352,-9800.300781,140722,010100,2,510,3867.59 CURRENT 0.097,126.3,1

HUMID 50.59 MAGCAL 1.000000,0.017857,0.033919,-0.020141,1.066443,-0.079452,-0.026355,-0.042179,0.995785,53.2,-857.3,-407.3,36,0.0355,0

TEMP 10.83 IMPLIED_C_PITCH 1818,16.33,226,1812.9,16.57

INTERNAL_PRESSURE 8.02535 IMPLIED_C_VBD 3697,46.481544,156,3464.0

_24V_AH 14.88,12.352 GPS 140722,020431,4719.502,-12523.788,26,1.1,27,15.8

_10V_AH 14.88,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 705 1099 11540.22 nil 0 0 0.00

Pitch_motor 28 234 99.75 nil 0 0 0.00

Roll_motor 64 203 194.15 nil 0 0 0.00

Iridium 123 224 411.48 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.99 nil 0 0 0.00

Core 2077 5 158.27 SciCon 3137 6 304.30

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1241 0 5.91

Compass 918 5 68.31

RAFOS 2737 40 1629.43

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

6.72 16386 -145.99 -1.23 0.00 537.4 555.7 519.2 193.4 2174.2 0.00 0.00 0 86.75 76.29 0.00 0.00 0.005 0.000 0.000 2637.66 2667.56 2607.75 193.44 2174.44 0 0 0 15.78 30.00 30.00

87.06 18727 -145.99 -1.23 80.00 2636.6 2665.5 2607.7 193.4 2174.7 3.08 -2.02 15 142.66 31.42 9.86 3.53 0.006 0.235 0.122 3960.00 4008.81 3911.19 1509.25 3617.38 0 0 0 15.82 15.68 15.75

241.15 3205 -145.99 -1.11 0.00 3961.8 4008.1 3915.4 1508.9 3617.7 33.92 -18.75 45 248.04 0.00 0.22 3.48 0.000 0.182 0.057 3962.47 4009.56 3915.38 1540.12 2123.81 0 0 0 30.00 15.77 15.83

436.48 644 -145.99 -1.07 -80.00 3962.5 4009.9 3915.1 1540.2 2124.1 62.64 -13.63 75 442.52 0.00 0.00 3.59 0.000 0.000 0.124 3962.16 4009.31 3915.00 1541.00 683.12 0 0 0 30.00 30.00 15.85

611.59 1156 -145.99 -1.02 0.00 3963.6 4012.0 3915.2 1540.6 683.1 89.64 -13.94 110 617.65 0.00 0.00 3.39 0.000 0.000 0.057 3964.19 4012.12 3916.25 1540.31 2173.44 0 0 0 30.00 30.00 15.94

801.59 548 -145.99 -1.02 -80.00 3964.2 4013.5 3915.0 1540.7 2172.6 109.03 -9.66 130 808.91 0.00 0.00 3.70 0.000 0.000 0.121 3964.16 4013.88 3914.44 1540.69 681.81 0 0 0 30.00 30.00 15.92

831.64 1028 -145.99 -1.02 0.00 3964.9 4014.4 3915.3 1540.6 681.9 112.24 -10.16 136 839.25 0.00 0.00 3.38 0.000 0.000 0.055 3964.62 4014.44 3914.81 1540.69 2175.75 0 0 0 30.00 30.00 15.97

1027.45 548 -145.99 -1.02 -80.00 3965.2 4014.8 3915.6 1540.5 2175.3 131.62 -9.88 156 1034.80 0.00 0.00 3.70 0.000 0.000 0.122 3965.47 4015.06 3915.88 1540.00 683.06 0 0 0 30.00 30.00 15.93

1097.65 3205 -145.99 -0.95 0.00 3965.4 4015.2 3915.6 1540.5 683.1 139.22 -10.73 170 1105.39 0.00 0.25 3.37 0.000 0.166 0.057 3966.00 4015.25 3916.75 1579.00 2172.75 0 0 0 30.00 15.93 15.98

1263 end dive: TARGET_DEPTH_EXCEEDED

state 1263 begin apogee

1264.66 10243 0.00 -0.30 0.00 3965.3 4014.8 3915.8 1578.9 2117.5 150.53 -6.34 187 1374.95 102.28 1.02 0.10 1.100 0.128 0.203 3363.66 3424.31 3303.00 1736.19 2179.38 0 0 0 11.73 15.95 15.66

1376 end apogee: CONTROL_FINISHED_OK

state 1376 begin climb

1376.21 10503 145.99 1.23 80.00 3361.6 3422.6 3300.6 1736.6 2179.4 152.34 0.00 197 1499.87 104.77 2.46 3.60 1.071 0.101 0.126 2767.59 2827.75 2707.44 2106.94 3618.19 0 0 0 11.75 15.66 15.45

1558.46 5253 145.99 0.96 0.00 2765.8 2825.4 2706.2 2106.3 3618.0 133.87 16.00 231 1566.06 0.00 0.57 3.51 0.000 0.167 0.058 2763.56 2823.94 2703.19 2032.06 2123.19 0 0 0 30.00 15.56 15.62

1753.42 8742 159.33 0.98 -80.00 2761.3 2824.0 2698.7 2032.1 2123.3 114.39 9.38 251 1775.47 11.46 0.00 3.64 0.887 0.000 0.130 2711.47 2774.38 2648.56 2031.88 682.94 0 0 0 11.63 30.00 15.70

1858.32 1156 159.33 0.91 0.00 2707.8 2771.2 2644.4 2031.2 683.1 102.51 11.30 272 1865.91 0.00 0.00 3.42 0.000 0.000 0.058 2708.22 2771.31 2645.12 2031.81 2171.62 0 0 0 30.00 30.00 15.80

2054.14 10919 252.21 1.08 -80.00 2707.8 2771.1 2644.4 2031.8 2171.9 89.31 5.68 292 2134.52 68.53 0.26 3.77 1.020 0.076 0.127 2333.84 2415.12 2252.56 2078.75 681.81 0 0 0 11.66 15.87 15.64

2172.37 1156 252.21 1.04 0.00 2328.3 2410.2 2246.4 2078.8 681.9 78.67 10.71 315 2179.97 0.00 0.00 3.44 0.000 0.000 0.059 2328.41 2410.12 2246.69 2079.50 2170.88 0 0 0 30.00 30.00 15.73

2368.18 8354 306.23 1.19 0.00 2325.7 2409.9 2241.6 2079.5 2170.4 63.95 7.49 335 2411.34 39.82 0.00 0.00 0.978 0.000 0.000 2110.97 2200.75 2021.19 2079.19 2170.38 0 0 0 11.68 30.00 30.00

2593.21 10919 372.50 1.40 -80.00 2107.8 2201.6 2014.1 2079.1 2169.8 47.64 6.92 360 2653.33 48.01 0.44 3.79 0.969 0.072 0.130 1842.28 1939.50 1745.06 2154.94 684.25 0 0 0 11.79 15.85 15.68

2751.94 1028 372.50 1.40 0.00 1837.7 1933.7 1741.7 2154.8 684.1 28.70 13.10 391 2758.77 0.00 0.00 3.44 0.000 0.000 0.060 1838.53 1935.38 1741.69 2155.19 2169.50 0 0 0 30.00 30.00 15.81

2940.95 10663 444.44 1.61 80.00 1835.3 1933.6 1736.9 2154.9 2169.2 14.80 6.65 428 3005.07 50.99 0.25 3.61 0.940 0.084 0.128 1549.47 1642.50 1456.44 2207.94 3615.50 0 0 0 11.75 15.89 15.72

3090.41 11431 495.89 1.77 0.00 1546.4 1638.1 1454.7 2207.4 3614.4 4.29 7.61 454 3123.96 25.82 0.17 3.48 0.896 0.101 0.058 1413.09 1501.38 1324.81 2243.06 2122.50 0 0 0 11.68 15.80 15.81

3124 end climb: SURFACE_DEPTH_REACHED

state 3124 begin surface coast

3128 end surface coast: CONTROL_FINISHED_OK

state 3128 begin surface

ID	240	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	5	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	8	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	150	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	50	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	75	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	1807.8975	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	16.805683	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	27.751028	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	10.742787	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	180	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	140722,010446,4719.931,-12523.890,1,1.0,3,15.8	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.57	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	140722,010757,4719.915,-12523.856,2,1.0,4,15.8	MHEAD_RNG_PITCHd_Wd	184.4,20000,-17.6,-10.000,-21.24,2209,0.196
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	HEADING	IRON	1.000000,0.024488,0.011720,-0.013723,1.065452,-0.105118,-0.016783,-0.012275,0.996087,73.834053,-841.310364,-416.232605
TGT_LATLONG	4709.115,-12523.856

MODEM_MSG	CACST,8,0,20220714014500.730070,18,32767,45,0101,0000,07,01,01,00,01,1,025,121,0,5,1,0,150,22.9,9.94,-100,-6.94,-01,0.22,47,925,0025,0,1,00,00*2A	FG_AHR_24Vo	10.914
NAV	1657763945,8.2,start	FG_AHR_10Vo	27.793
FINISH	1.3,1.022725	MEM0	60108,1,0,0
SM_CCo	3307.92,145.99,0.928,0,541.0,556.9,525.1,692.48	MEM1	65508,1,0,0
SM_GC	1.35,145.99,13.06,0.09,0.928,0.081,0.153,541.0,556.9,525.1,186.2,2179.2,0,0,0,11.72,15.73,15.74	MEM2	966648,26,80220,59
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	12919,461
IRIDIUM_FIX	4720.59,-12521.92,130722,235815	CAP_FILE_SIZE	333596,0
TCM_TEMP	18.13	SDSIZE	3887104,3868832
SC_FREEKB	3876224	SDFILEDIR	123,1
RAFOS_CLK	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1657763100,47.32780,-125.40960,2700.730,3956569.5	SOUNDSPEED	1465.0
RAFOS_FIX	6033.735352,-9800.300781,140722,010100,2,510,3867.59	CURRENT	0.097,126.3,1
HUMID	50.59	MAGCAL	1.000000,0.017857,0.033919,-0.020141,1.066443,-0.079452,-0.026355,-0.042179,0.995785,53.2,-857.3,-407.3,36,0.0355,0
TEMP	10.83	IMPLIED_C_PITCH	1818,16.33,226,1812.9,16.57
INTERNAL_PRESSURE	8.02535	IMPLIED_C_VBD	3697,46.481544,156,3464.0
_24V_AH	14.88,12.352	GPS	140722,020431,4719.502,-12523.788,26,1.1,27,15.8
_10V_AH	14.88,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	705	1099	11540.22	nil	0	0	0.00
Pitch_motor	28	234	99.75	nil	0	0	0.00
Roll_motor	64	203	194.15	nil	0	0	0.00
Iridium	123	224	411.48	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.99	nil	0	0	0.00
Core	2077	5	158.27	SciCon	3137	6	304.30
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1241	0	5.91
Compass	918	5	68.31
RAFOS	2737	40	1629.43
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
6.72	16386	-145.99	-1.23	0.00	537.4	555.7	519.2	193.4	2174.2	0.00	0.00	0	86.75	76.29	0.00	0.00	0.005	0.000	0.000	2637.66	2667.56	2607.75	193.44	2174.44	0	0	0	15.78	30.00	30.00
87.06	18727	-145.99	-1.23	80.00	2636.6	2665.5	2607.7	193.4	2174.7	3.08	-2.02	15	142.66	31.42	9.86	3.53	0.006	0.235	0.122	3960.00	4008.81	3911.19	1509.25	3617.38	0	0	0	15.82	15.68	15.75
241.15	3205	-145.99	-1.11	0.00	3961.8	4008.1	3915.4	1508.9	3617.7	33.92	-18.75	45	248.04	0.00	0.22	3.48	0.000	0.182	0.057	3962.47	4009.56	3915.38	1540.12	2123.81	0	0	0	30.00	15.77	15.83
436.48	644	-145.99	-1.07	-80.00	3962.5	4009.9	3915.1	1540.2	2124.1	62.64	-13.63	75	442.52	0.00	0.00	3.59	0.000	0.000	0.124	3962.16	4009.31	3915.00	1541.00	683.12	0	0	0	30.00	30.00	15.85
611.59	1156	-145.99	-1.02	0.00	3963.6	4012.0	3915.2	1540.6	683.1	89.64	-13.94	110	617.65	0.00	0.00	3.39	0.000	0.000	0.057	3964.19	4012.12	3916.25	1540.31	2173.44	0	0	0	30.00	30.00	15.94
801.59	548	-145.99	-1.02	-80.00	3964.2	4013.5	3915.0	1540.7	2172.6	109.03	-9.66	130	808.91	0.00	0.00	3.70	0.000	0.000	0.121	3964.16	4013.88	3914.44	1540.69	681.81	0	0	0	30.00	30.00	15.92
831.64	1028	-145.99	-1.02	0.00	3964.9	4014.4	3915.3	1540.6	681.9	112.24	-10.16	136	839.25	0.00	0.00	3.38	0.000	0.000	0.055	3964.62	4014.44	3914.81	1540.69	2175.75	0	0	0	30.00	30.00	15.97
1027.45	548	-145.99	-1.02	-80.00	3965.2	4014.8	3915.6	1540.5	2175.3	131.62	-9.88	156	1034.80	0.00	0.00	3.70	0.000	0.000	0.122	3965.47	4015.06	3915.88	1540.00	683.06	0	0	0	30.00	30.00	15.93
1097.65	3205	-145.99	-0.95	0.00	3965.4	4015.2	3915.6	1540.5	683.1	139.22	-10.73	170	1105.39	0.00	0.25	3.37	0.000	0.166	0.057	3966.00	4015.25	3916.75	1579.00	2172.75	0	0	0	30.00	15.93	15.98
1263	end dive: TARGET_DEPTH_EXCEEDED
state	1263	begin apogee
1264.66	10243	0.00	-0.30	0.00	3965.3	4014.8	3915.8	1578.9	2117.5	150.53	-6.34	187	1374.95	102.28	1.02	0.10	1.100	0.128	0.203	3363.66	3424.31	3303.00	1736.19	2179.38	0	0	0	11.73	15.95	15.66
1376	end apogee: CONTROL_FINISHED_OK
state	1376	begin climb
1376.21	10503	145.99	1.23	80.00	3361.6	3422.6	3300.6	1736.6	2179.4	152.34	0.00	197	1499.87	104.77	2.46	3.60	1.071	0.101	0.126	2767.59	2827.75	2707.44	2106.94	3618.19	0	0	0	11.75	15.66	15.45
1558.46	5253	145.99	0.96	0.00	2765.8	2825.4	2706.2	2106.3	3618.0	133.87	16.00	231	1566.06	0.00	0.57	3.51	0.000	0.167	0.058	2763.56	2823.94	2703.19	2032.06	2123.19	0	0	0	30.00	15.56	15.62
1753.42	8742	159.33	0.98	-80.00	2761.3	2824.0	2698.7	2032.1	2123.3	114.39	9.38	251	1775.47	11.46	0.00	3.64	0.887	0.000	0.130	2711.47	2774.38	2648.56	2031.88	682.94	0	0	0	11.63	30.00	15.70
1858.32	1156	159.33	0.91	0.00	2707.8	2771.2	2644.4	2031.2	683.1	102.51	11.30	272	1865.91	0.00	0.00	3.42	0.000	0.000	0.058	2708.22	2771.31	2645.12	2031.81	2171.62	0	0	0	30.00	30.00	15.80
2054.14	10919	252.21	1.08	-80.00	2707.8	2771.1	2644.4	2031.8	2171.9	89.31	5.68	292	2134.52	68.53	0.26	3.77	1.020	0.076	0.127	2333.84	2415.12	2252.56	2078.75	681.81	0	0	0	11.66	15.87	15.64
2172.37	1156	252.21	1.04	0.00	2328.3	2410.2	2246.4	2078.8	681.9	78.67	10.71	315	2179.97	0.00	0.00	3.44	0.000	0.000	0.059	2328.41	2410.12	2246.69	2079.50	2170.88	0	0	0	30.00	30.00	15.73
2368.18	8354	306.23	1.19	0.00	2325.7	2409.9	2241.6	2079.5	2170.4	63.95	7.49	335	2411.34	39.82	0.00	0.00	0.978	0.000	0.000	2110.97	2200.75	2021.19	2079.19	2170.38	0	0	0	11.68	30.00	30.00
2593.21	10919	372.50	1.40	-80.00	2107.8	2201.6	2014.1	2079.1	2169.8	47.64	6.92	360	2653.33	48.01	0.44	3.79	0.969	0.072	0.130	1842.28	1939.50	1745.06	2154.94	684.25	0	0	0	11.79	15.85	15.68
2751.94	1028	372.50	1.40	0.00	1837.7	1933.7	1741.7	2154.8	684.1	28.70	13.10	391	2758.77	0.00	0.00	3.44	0.000	0.000	0.060	1838.53	1935.38	1741.69	2155.19	2169.50	0	0	0	30.00	30.00	15.81
2940.95	10663	444.44	1.61	80.00	1835.3	1933.6	1736.9	2154.9	2169.2	14.80	6.65	428	3005.07	50.99	0.25	3.61	0.940	0.084	0.128	1549.47	1642.50	1456.44	2207.94	3615.50	0	0	0	11.75	15.89	15.72
3090.41	11431	495.89	1.77	0.00	1546.4	1638.1	1454.7	2207.4	3614.4	4.29	7.61	454	3123.96	25.82	0.17	3.48	0.896	0.101	0.058	1413.09	1501.38	1324.81	2243.06	2122.50	0	0	0	11.68	15.80	15.81
3124	end climb: SURFACE_DEPTH_REACHED
state	3124	begin surface coast
3128	end surface coast: CONTROL_FINISHED_OK
state	3128	begin surface