Glider dive log

AMOS Jul22 * SG240 * Dive index * Mission links * Dive 9 * 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 9 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 1812.9448 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 16.565546 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 27.795891 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 10.921317 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 27.795891 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 10.921317 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 16.565546 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 1812.9448 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 9 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 140722,020431,4719.502,-12523.788,26,1.1,27,15.8 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.54 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140722,020749,4719.478,-12523.754,2,0.8,5,15.8 MHEAD_RNG_PITCHd_Wd 181.8,20000,-17.6,-10.000,-21.24,2209,0.172

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 4708.679,-12523.754

Post-dive calculations and measurements:

MODEM_MSG CACST,8,1,20220714020502.920302,18,29022,44,0163,0000,07,00,00,00,02,-1,-01,-01,1,3,0,0,150,15.1,0.08,-100,2.92,-01,-0.50,38,925,0025,0,-1,00,00*16 FG_AHR_24Vo 11.090

NAV 1657767545,8.0,start FG_AHR_10Vo 27.838

FINISH 0.8,1.022750 MEM0 60108,1,0,0

SM_CCo 3387.44,145.90,0.932,0,541.6,558.1,525.0,692.34 MEM1 65508,1,0,0

SM_GC 1.57,145.90,12.56,0.09,0.932,0.056,0.167,541.6,558.1,525.0,187.6,2178.2,0,0,0,11.74,15.77,15.76 MEM2 966712,22,80236,59

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 12923,486

IRIDIUM_FIX 4720.59,-12521.92,140722,010557 CAP_FILE_SIZE 346899,0

TCM_TEMP 18.23 SDSIZE 3887104,3868544

SC_FREEKB 3875904 SDFILEDIR 130,1

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

MODEM 0,1657764001,47.32780,-125.40960,1.131,1656.3 SOUNDSPEED 1465.0

RAFOS_FIX 6033.735352,-9800.300781,140722,010100,2,510,3867.59 CURRENT 0.116,117.3,1

HUMID 50.47 MAGCAL 1.000000,-0.005972,-0.083137,-0.023310,1.107424,-0.130213,-0.004352,-0.014032,1.078617,162.8,-817.7,-442.6,23,0.0323,0

TEMP 10.89 IMPLIED_C_PITCH 1823,16.23,236,1818.1,16.40

INTERNAL_PRESSURE 8.02964 IMPLIED_C_VBD 3677,50.063625,173,3464.0

_24V_AH 14.88,12.573 GPS 140722,030512,4719.045,-12523.554,1,0.9,3,15.8

_10V_AH 14.86,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 705 1098 11530.47 nil 0 0 0.00

Pitch_motor 28 236 98.99 nil 0 0 0.00

Roll_motor 71 197 210.71 nil 0 0 0.00

Iridium 130 206 401.36 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.15 nil 0 0 0.00

Core 2145 5 163.21 SciCon 3217 6 310.63

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1262 0 6.00

Compass 964 5 71.65

RAFOS 2745 40 1631.81

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 -1.24 0.00 536.8 554.4 519.2 184.9 2133.4 0.00 0.00 0 86.75 76.30 0.00 0.00 0.005 0.000 0.000 2640.69 2665.06 2616.31 185.12 2133.69 0 0 0 15.79 30.00 30.00

87.06 18727 -145.99 -1.24 80.00 2639.8 2665.2 2614.4 185.1 2133.1 3.10 -2.09 15 142.74 31.63 10.02 3.65 0.006 0.236 0.122 3960.41 4008.94 3911.88 1510.19 3617.44 0 0 0 15.83 15.68 15.76

281.28 3205 -145.99 -1.11 0.00 3962.1 4008.9 3915.2 1509.9 3617.9 40.45 -18.35 53 288.20 0.00 0.24 3.51 0.000 0.166 0.058 3962.38 4009.88 3914.88 1545.56 2123.69 0 0 0 30.00 15.80 15.85

476.56 516 -145.99 -1.11 -80.00 3962.5 4009.5 3915.4 1545.8 2123.7 66.65 -12.46 79 482.68 0.00 0.00 3.61 0.000 0.000 0.124 3962.94 4010.25 3915.62 1544.00 681.69 0 0 0 30.00 30.00 15.86

641.02 1156 -145.99 -1.06 0.00 3963.8 4012.6 3915.0 1545.3 681.8 88.83 -12.14 112 648.62 0.00 0.00 3.41 0.000 0.000 0.057 3964.34 4013.50 3915.19 1545.38 2174.12 0 0 0 30.00 30.00 15.93

836.68 516 -145.99 -1.06 -80.00 3964.5 4014.1 3914.9 1545.4 2174.4 108.85 -10.46 132 844.11 0.00 0.00 3.71 0.000 0.000 0.119 3965.03 4014.88 3915.19 1544.94 683.19 0 0 0 30.00 30.00 15.93

962.69 1156 -145.99 -1.01 0.00 3965.0 4014.2 3915.7 1545.1 683.0 123.76 -11.14 157 968.75 0.00 0.00 3.39 0.000 0.000 0.057 3965.28 4015.25 3915.31 1545.56 2173.31 0 0 0 30.00 30.00 15.97

1152.66 548 -145.99 -1.01 -80.00 3965.5 4015.0 3915.9 1545.6 2172.3 140.99 -9.04 177 1160.03 0.00 0.00 3.71 0.000 0.000 0.121 3966.00 4014.88 3917.12 1543.12 681.00 0 0 0 30.00 30.00 15.95

1198.60 3205 -145.99 -0.95 0.00 3964.8 4014.2 3915.3 1545.5 680.8 145.51 -10.05 186 1205.96 0.00 0.23 3.39 0.000 0.168 0.056 3965.78 4014.94 3916.62 1581.69 2174.88 0 0 0 30.00 15.94 15.99

1264 end dive: TARGET_DEPTH_EXCEEDED

state 1264 begin apogee

1264.87 10243 0.00 -0.30 0.00 3965.7 4015.4 3916.0 1582.4 2115.8 150.36 -7.27 193 1375.23 102.31 1.03 0.10 1.099 0.126 0.198 3364.38 3423.62 3305.12 1740.00 2180.75 0 0 0 11.79 15.94 15.64

1376 end apogee: CONTROL_FINISHED_OK

state 1376 begin climb

1376.45 10503 145.99 1.24 80.00 3361.5 3422.4 3300.6 1739.6 2180.6 152.47 0.00 203 1500.38 104.83 2.52 3.63 1.070 0.100 0.126 2767.78 2826.75 2708.81 2116.50 3615.62 0 0 0 11.78 15.66 15.44

1518.94 5253 145.99 0.96 0.00 2766.1 2825.5 2706.8 2115.9 3615.1 138.10 16.13 229 1526.63 0.00 0.61 3.55 0.000 0.170 0.058 2768.69 2827.56 2709.81 2039.19 2123.50 0 0 0 30.00 15.50 15.56

1713.87 516 145.99 0.96 -80.00 2761.8 2824.4 2699.1 2039.8 2123.2 115.45 10.05 249 1721.24 0.00 0.00 3.63 0.000 0.000 0.128 2762.25 2824.31 2700.19 2038.81 683.38 0 0 0 30.00 30.00 15.71

1749.81 17542 145.99 0.88 0.00 2758.1 2819.3 2696.9 2040.3 683.5 111.69 10.49 256 1755.95 0.00 0.00 3.46 0.000 0.000 0.056 2757.47 2818.69 2696.25 2040.00 2170.38 0 0 0 30.00 30.00 15.76

1939.80 8742 226.72 0.98 -80.00 2758.5 2819.4 2697.5 2039.4 2170.1 98.67 6.24 276 2009.59 59.52 0.00 3.79 1.019 0.000 0.127 2437.25 2514.62 2359.88 2039.88 683.12 0 0 0 11.66 30.00 15.63

2057.34 17414 226.72 0.98 0.00 2431.2 2510.1 2352.2 2039.6 683.0 88.28 10.68 299 2065.00 0.00 0.00 3.47 0.000 0.000 0.058 2431.84 2510.94 2352.75 2039.75 2174.00 0 0 0 30.00 30.00 15.73

2253.23 10663 288.06 1.19 80.00 2429.9 2510.0 2349.9 2039.4 2173.9 73.65 7.15 319 2308.15 45.13 0.43 3.62 0.992 0.070 0.128 2188.72 2274.75 2102.69 2109.81 3615.12 0 0 0 11.75 15.82 15.67

2326.67 9254 301.24 1.21 0.00 2186.7 2272.6 2100.9 2109.2 3614.3 67.13 9.39 333 2348.69 11.76 0.00 3.52 0.856 0.000 0.057 2136.47 2223.94 2049.00 2109.62 2123.50 0 0 0 11.76 30.00 15.72

2536.79 8870 331.55 1.31 -80.00 2129.1 2221.0 2037.1 2109.6 2123.4 50.02 8.59 356 2570.09 23.25 0.00 3.67 0.941 0.000 0.132 2010.72 2104.69 1916.75 2109.50 681.81 0 0 0 11.63 30.00 15.72

2688.63 1060 332.07 1.32 0.00 2005.1 2099.1 1911.1 2109.3 681.9 34.70 9.98 386 2695.53 0.00 0.00 3.46 0.000 0.000 0.059 2005.41 2100.62 1910.19 2109.94 2171.81 0 0 0 30.00 30.00 15.85

2876.95 10663 418.21 1.57 80.00 2003.6 2099.9 1907.3 2109.3 2171.8 22.37 5.99 423 2951.86 61.60 0.52 3.62 0.961 0.072 0.129 1656.19 1748.62 1563.75 2200.94 3617.38 0 0 0 11.82 15.91 15.71

3056.38 9382 478.02 1.69 0.00 1651.7 1744.4 1559.0 2201.2 3618.3 8.01 7.22 456 3109.57 42.94 0.00 3.48 0.925 0.000 0.058 1416.31 1507.06 1325.56 2201.56 2122.56 0 0 0 11.72 30.00 15.81

3163 end climb: SURFACE_DEPTH_REACHED

state 3163 begin surface coast

3208 end surface coast: CONTROL_FINISHED_OK

state 3208 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	9	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	1812.9448	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	16.565546	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	27.795891	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	10.921317	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	140722,020431,4719.502,-12523.788,26,1.1,27,15.8	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.54	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140722,020749,4719.478,-12523.754,2,0.8,5,15.8	MHEAD_RNG_PITCHd_Wd	181.8,20000,-17.6,-10.000,-21.24,2209,0.172
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	4708.679,-12523.754

MODEM_MSG	CACST,8,1,20220714020502.920302,18,29022,44,0163,0000,07,00,00,00,02,-1,-01,-01,1,3,0,0,150,15.1,0.08,-100,2.92,-01,-0.50,38,925,0025,0,-1,00,00*16	FG_AHR_24Vo	11.090
NAV	1657767545,8.0,start	FG_AHR_10Vo	27.838
FINISH	0.8,1.022750	MEM0	60108,1,0,0
SM_CCo	3387.44,145.90,0.932,0,541.6,558.1,525.0,692.34	MEM1	65508,1,0,0
SM_GC	1.57,145.90,12.56,0.09,0.932,0.056,0.167,541.6,558.1,525.0,187.6,2178.2,0,0,0,11.74,15.77,15.76	MEM2	966712,22,80236,59
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	12923,486
IRIDIUM_FIX	4720.59,-12521.92,140722,010557	CAP_FILE_SIZE	346899,0
TCM_TEMP	18.23	SDSIZE	3887104,3868544
SC_FREEKB	3875904	SDFILEDIR	130,1
RAFOS_CLK	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1657764001,47.32780,-125.40960,1.131,1656.3	SOUNDSPEED	1465.0
RAFOS_FIX	6033.735352,-9800.300781,140722,010100,2,510,3867.59	CURRENT	0.116,117.3,1
HUMID	50.47	MAGCAL	1.000000,-0.005972,-0.083137,-0.023310,1.107424,-0.130213,-0.004352,-0.014032,1.078617,162.8,-817.7,-442.6,23,0.0323,0
TEMP	10.89	IMPLIED_C_PITCH	1823,16.23,236,1818.1,16.40
INTERNAL_PRESSURE	8.02964	IMPLIED_C_VBD	3677,50.063625,173,3464.0
_24V_AH	14.88,12.573	GPS	140722,030512,4719.045,-12523.554,1,0.9,3,15.8
_10V_AH	14.86,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	705	1098	11530.47	nil	0	0	0.00
Pitch_motor	28	236	98.99	nil	0	0	0.00
Roll_motor	71	197	210.71	nil	0	0	0.00
Iridium	130	206	401.36	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.15	nil	0	0	0.00
Core	2145	5	163.21	SciCon	3217	6	310.63
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1262	0	6.00
Compass	964	5	71.65
RAFOS	2745	40	1631.81
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	-1.24	0.00	536.8	554.4	519.2	184.9	2133.4	0.00	0.00	0	86.75	76.30	0.00	0.00	0.005	0.000	0.000	2640.69	2665.06	2616.31	185.12	2133.69	0	0	0	15.79	30.00	30.00
87.06	18727	-145.99	-1.24	80.00	2639.8	2665.2	2614.4	185.1	2133.1	3.10	-2.09	15	142.74	31.63	10.02	3.65	0.006	0.236	0.122	3960.41	4008.94	3911.88	1510.19	3617.44	0	0	0	15.83	15.68	15.76
281.28	3205	-145.99	-1.11	0.00	3962.1	4008.9	3915.2	1509.9	3617.9	40.45	-18.35	53	288.20	0.00	0.24	3.51	0.000	0.166	0.058	3962.38	4009.88	3914.88	1545.56	2123.69	0	0	0	30.00	15.80	15.85
476.56	516	-145.99	-1.11	-80.00	3962.5	4009.5	3915.4	1545.8	2123.7	66.65	-12.46	79	482.68	0.00	0.00	3.61	0.000	0.000	0.124	3962.94	4010.25	3915.62	1544.00	681.69	0	0	0	30.00	30.00	15.86
641.02	1156	-145.99	-1.06	0.00	3963.8	4012.6	3915.0	1545.3	681.8	88.83	-12.14	112	648.62	0.00	0.00	3.41	0.000	0.000	0.057	3964.34	4013.50	3915.19	1545.38	2174.12	0	0	0	30.00	30.00	15.93
836.68	516	-145.99	-1.06	-80.00	3964.5	4014.1	3914.9	1545.4	2174.4	108.85	-10.46	132	844.11	0.00	0.00	3.71	0.000	0.000	0.119	3965.03	4014.88	3915.19	1544.94	683.19	0	0	0	30.00	30.00	15.93
962.69	1156	-145.99	-1.01	0.00	3965.0	4014.2	3915.7	1545.1	683.0	123.76	-11.14	157	968.75	0.00	0.00	3.39	0.000	0.000	0.057	3965.28	4015.25	3915.31	1545.56	2173.31	0	0	0	30.00	30.00	15.97
1152.66	548	-145.99	-1.01	-80.00	3965.5	4015.0	3915.9	1545.6	2172.3	140.99	-9.04	177	1160.03	0.00	0.00	3.71	0.000	0.000	0.121	3966.00	4014.88	3917.12	1543.12	681.00	0	0	0	30.00	30.00	15.95
1198.60	3205	-145.99	-0.95	0.00	3964.8	4014.2	3915.3	1545.5	680.8	145.51	-10.05	186	1205.96	0.00	0.23	3.39	0.000	0.168	0.056	3965.78	4014.94	3916.62	1581.69	2174.88	0	0	0	30.00	15.94	15.99
1264	end dive: TARGET_DEPTH_EXCEEDED
state	1264	begin apogee
1264.87	10243	0.00	-0.30	0.00	3965.7	4015.4	3916.0	1582.4	2115.8	150.36	-7.27	193	1375.23	102.31	1.03	0.10	1.099	0.126	0.198	3364.38	3423.62	3305.12	1740.00	2180.75	0	0	0	11.79	15.94	15.64
1376	end apogee: CONTROL_FINISHED_OK
state	1376	begin climb
1376.45	10503	145.99	1.24	80.00	3361.5	3422.4	3300.6	1739.6	2180.6	152.47	0.00	203	1500.38	104.83	2.52	3.63	1.070	0.100	0.126	2767.78	2826.75	2708.81	2116.50	3615.62	0	0	0	11.78	15.66	15.44
1518.94	5253	145.99	0.96	0.00	2766.1	2825.5	2706.8	2115.9	3615.1	138.10	16.13	229	1526.63	0.00	0.61	3.55	0.000	0.170	0.058	2768.69	2827.56	2709.81	2039.19	2123.50	0	0	0	30.00	15.50	15.56
1713.87	516	145.99	0.96	-80.00	2761.8	2824.4	2699.1	2039.8	2123.2	115.45	10.05	249	1721.24	0.00	0.00	3.63	0.000	0.000	0.128	2762.25	2824.31	2700.19	2038.81	683.38	0	0	0	30.00	30.00	15.71
1749.81	17542	145.99	0.88	0.00	2758.1	2819.3	2696.9	2040.3	683.5	111.69	10.49	256	1755.95	0.00	0.00	3.46	0.000	0.000	0.056	2757.47	2818.69	2696.25	2040.00	2170.38	0	0	0	30.00	30.00	15.76
1939.80	8742	226.72	0.98	-80.00	2758.5	2819.4	2697.5	2039.4	2170.1	98.67	6.24	276	2009.59	59.52	0.00	3.79	1.019	0.000	0.127	2437.25	2514.62	2359.88	2039.88	683.12	0	0	0	11.66	30.00	15.63
2057.34	17414	226.72	0.98	0.00	2431.2	2510.1	2352.2	2039.6	683.0	88.28	10.68	299	2065.00	0.00	0.00	3.47	0.000	0.000	0.058	2431.84	2510.94	2352.75	2039.75	2174.00	0	0	0	30.00	30.00	15.73
2253.23	10663	288.06	1.19	80.00	2429.9	2510.0	2349.9	2039.4	2173.9	73.65	7.15	319	2308.15	45.13	0.43	3.62	0.992	0.070	0.128	2188.72	2274.75	2102.69	2109.81	3615.12	0	0	0	11.75	15.82	15.67
2326.67	9254	301.24	1.21	0.00	2186.7	2272.6	2100.9	2109.2	3614.3	67.13	9.39	333	2348.69	11.76	0.00	3.52	0.856	0.000	0.057	2136.47	2223.94	2049.00	2109.62	2123.50	0	0	0	11.76	30.00	15.72
2536.79	8870	331.55	1.31	-80.00	2129.1	2221.0	2037.1	2109.6	2123.4	50.02	8.59	356	2570.09	23.25	0.00	3.67	0.941	0.000	0.132	2010.72	2104.69	1916.75	2109.50	681.81	0	0	0	11.63	30.00	15.72
2688.63	1060	332.07	1.32	0.00	2005.1	2099.1	1911.1	2109.3	681.9	34.70	9.98	386	2695.53	0.00	0.00	3.46	0.000	0.000	0.059	2005.41	2100.62	1910.19	2109.94	2171.81	0	0	0	30.00	30.00	15.85
2876.95	10663	418.21	1.57	80.00	2003.6	2099.9	1907.3	2109.3	2171.8	22.37	5.99	423	2951.86	61.60	0.52	3.62	0.961	0.072	0.129	1656.19	1748.62	1563.75	2200.94	3617.38	0	0	0	11.82	15.91	15.71
3056.38	9382	478.02	1.69	0.00	1651.7	1744.4	1559.0	2201.2	3618.3	8.01	7.22	456	3109.57	42.94	0.00	3.48	0.925	0.000	0.058	1416.31	1507.06	1325.56	2201.56	2122.56	0	0	0	11.72	30.00	15.81
3163	end climb: SURFACE_DEPTH_REACHED
state	3163	begin surface coast
3208	end surface coast: CONTROL_FINISHED_OK
state	3208	begin surface