Glider dive log

AMOS Jul22 * SG242 * Dive index * Mission links * Dive 30 * 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 30 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 150 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 180 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 50 STROBE 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE 96

T_MISSION 85 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 1687.4978 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 21.956818 SEABIRD_T_I 2.4999999e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 16.408283 FG_AHR_24V 8.775876 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 10 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 150 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 21.956818 PITCH_CNV 0.0041299998 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FG_AHR_24V 8.775876 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 16.408283 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 10 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 50

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 1687.4978 LOGGERDEVICE2 35 PM_XMITPROFILE 3.0 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE3 -1 PM_XMITRAW 0.0 T_MISSION 85

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 30 NAV2_DEVICE 6 ROLL_MAX 3800 W_ADJ_DBAND 0

D_ABORT 180 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 140722,090858,4719.257,-12523.550,2,1.2,3,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.68 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140722,091244,4719.251,-12523.565,2,1.0,4,15.8 MHEAD_RNG_PITCHd_Wd 314.9,1154,-17.6,-10.000,-21.24,2209,0.178

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME ans0 IRON 1.000000,0.024598,-0.001075,-0.002681,1.057742,-0.051851,0.011270,-0.041689,1.009950,771.831177,-865.940430,-659.763184

TGT_LATLONG 4719.800,-12524.000

Post-dive calculations and measurements:

NET CACST,8,0,20220714095009.440181,06,9820,39,0124,0150,07,01,01,00,01,1,027,242,0,5,1,0,150,30.1,8.46,-100,-5.46,-01,0.21,38,10000,5000,0,-1,00,00*65 _10V_AH 14.85,0.000

NET_PING 1657792210,27,2403.475342,30.100000,-3.197895 FG_AHR_24Vo 8.930

NAV 1657792745,22.0,start FG_AHR_10Vo 22.029

FINISH 0.6,1.022698 MEM0 60108,1,0,0

SM_CCo 3204.82,78.40,0.945,0,500.4,558.9,441.9,586.17 MEM1 65508,1,0,0

SM_GC 1.94,78.40,11.72,0.09,0.945,0.052,0.138,500.4,558.9,441.9,202.9,2034.2,0,0,0,11.77,15.66,15.67 MEM2 966228,25,80460,69

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12949,449

IRIDIUM_FIX 4719.30,-12520.08,140722,081151 CAP_FILE_SIZE 167329,0

TCM_TEMP 14.39 SDSIZE 3887104,3860928

SC_FREEKB 3869184 SDFILEDIR 301,1

PM_FREEKB_00 60622720 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 0 SOUNDSPEED 1465.0

RAFOS_CLK 1 CURRENT 0.054,150.1,1

RAFOS_FIX 4747.590820,-12427.612305,140722,060600,2,510,10420.27 MAGCAL 1.000000,0.013584,0.042214,-0.006164,1.045281,-0.051685,-0.011646,-0.068662,1.006900,731.1,-873.1,-660.7,16,0.0275,0

HUMID 51.22 IMPLIED_C_PITCH 1697,16.16,221,1692.2,16.29

TEMP 11.18 IMPLIED_C_VBD 3004,78.221291,174,0

INTERNAL_PRESSURE 7.76754 GPS 140722,100759,4719.473,-12523.648,31,1.7,32,15.8

_24V_AH 14.81,9.122

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 632 1118 10487.37 nil 0 0 0.00

Pitch_motor 25 251 94.65 nil 0 0 0.00

Roll_motor 64 191 182.94 nil 0 0 0.00

Iridium 143 223 473.12 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.02 nil 0 0 0.00

Core 2095 5 159.35 SciCon 3103 6 317.35

Fast 1 0 0.00 PMAR 3112 12 592.36

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1235 0 5.87

Compass 926 5 68.77

RAFOS 2482 40 1474.82

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

12.61 16386 -145.99 -1.25 0.00 493.5 549.1 437.9 202.5 1972.2 0.00 0.00 0 72.91 55.72 0.00 0.00 0.005 0.000 0.000 1864.97 1898.06 1831.88 202.00 1972.62 0 0 0 15.67 30.00 30.00

73.34 18467 -145.99 -1.25 0.00 1864.5 1897.6 1831.3 202.3 1973.1 3.30 -2.91 11 135.81 40.83 9.27 0.00 0.005 0.252 0.000 3484.72 3517.81 3451.62 1383.62 1972.38 0 0 0 15.69 15.55 30.00

324.17 260 -145.99 -1.25 80.00 3487.1 3523.1 3451.1 1384.1 1972.0 51.98 -16.91 59 331.80 0.00 0.00 3.69 0.000 0.000 0.109 3486.47 3522.94 3450.00 1383.81 3466.50 0 0 0 30.00 30.00 15.69

394.43 1028 -145.99 -1.25 0.00 3487.7 3524.9 3450.4 1383.6 3468.0 63.67 -15.53 73 407.33 0.00 0.00 3.44 0.000 0.000 0.056 3489.50 3525.06 3453.94 1383.75 1971.00 0 0 0 30.00 30.00 15.74

590.78 260 -145.99 -1.25 80.00 3487.5 3525.3 3449.8 1383.6 1971.8 91.77 -13.53 93 598.84 0.00 0.00 3.65 0.000 0.000 0.107 3487.22 3523.94 3450.50 1383.25 3467.44 0 0 0 30.00 30.00 15.73

607.31 1028 -145.99 -1.25 0.00 3488.1 3525.8 3450.4 1383.8 3468.1 94.06 -13.71 96 615.24 0.00 0.00 3.43 0.000 0.000 0.055 3487.75 3525.75 3449.75 1383.75 1973.06 0 0 0 30.00 30.00 15.75

802.34 260 -145.99 -1.25 80.00 3488.9 3527.3 3450.6 1383.4 1972.9 119.18 -11.70 116 810.39 0.00 0.00 3.66 0.000 0.000 0.107 3488.78 3525.69 3451.88 1383.44 3468.94 0 0 0 30.00 30.00 15.76

853.11 1028 -145.99 -1.25 0.00 3489.3 3527.8 3450.9 1383.7 3468.7 125.57 -12.74 126 861.47 0.00 0.00 3.43 0.000 0.000 0.056 3488.94 3527.56 3450.31 1383.56 1971.56 0 0 0 30.00 30.00 15.80

1048.91 260 -145.99 -1.25 80.00 3489.4 3528.8 3450.0 1383.9 1971.7 148.81 -12.41 146 1056.96 0.00 0.00 3.66 0.000 0.000 0.108 3491.03 3529.38 3452.69 1383.44 3466.56 0 0 0 30.00 30.00 15.76

1059 end dive: TARGET_DEPTH_EXCEEDED

state 1060 begin apogee

1066.79 10243 0.00 -0.30 0.00 3489.5 3528.7 3450.4 1383.7 1969.2 150.24 -12.37 148 1183.58 105.04 1.57 0.09 1.119 0.136 0.192 2889.66 2980.56 2798.75 1615.69 2037.25 0 0 0 11.61 15.76 15.43

1186 end apogee: CONTROL_FINISHED_OK

state 1186 begin climb

1186.29 10759 145.99 1.25 -80.00 2887.2 2977.2 2797.3 1616.3 2037.6 154.88 0.00 159 1315.96 106.29 2.46 3.86 1.086 0.087 0.123 2292.38 2390.19 2194.56 1993.56 532.88 0 0 0 11.69 15.44 15.25

1408.75 17414 145.99 1.25 0.00 2283.3 2375.6 2191.0 1994.3 532.8 138.65 12.10 200 1417.31 0.00 0.00 3.49 0.000 0.000 0.051 2283.06 2374.81 2191.31 1994.44 2028.94 0 0 0 30.00 30.00 15.50

1609.09 8226 158.13 1.27 0.00 2282.1 2374.9 2189.3 1994.8 2028.3 119.75 9.43 220 1625.25 9.97 0.00 0.00 0.902 0.000 0.000 2242.88 2339.06 2146.69 1994.44 2029.12 0 0 0 11.81 30.00 30.00

1814.59 10535 240.70 1.37 80.00 2240.9 2336.6 2145.2 1994.6 2028.7 102.98 6.16 241 1888.03 60.33 0.16 3.56 1.046 0.089 0.114 1905.47 2005.12 1805.81 2039.69 3467.44 0 0 0 11.80 15.68 15.47

1906.54 1028 240.70 1.37 0.00 1904.5 2002.1 1806.9 2039.7 3467.5 95.41 10.45 258 1914.63 0.00 0.00 3.47 0.000 0.000 0.056 1905.12 2002.19 1808.06 2038.06 1972.12 0 0 0 30.00 30.00 15.54

2101.63 8486 271.45 1.41 80.00 1900.0 1999.9 1800.1 2039.2 1971.6 77.38 8.57 278 2136.74 23.65 0.00 3.73 0.994 0.000 0.110 1780.66 1883.50 1677.81 2039.56 3466.19 0 0 0 11.85 30.00 15.56

2139.57 9254 313.79 1.46 0.00 1779.6 1881.9 1677.4 2039.4 3466.1 74.23 8.03 283 2181.92 32.29 0.00 3.45 0.982 0.000 0.056 1610.66 1709.19 1512.12 2039.81 1973.12 0 0 0 11.69 30.00 15.59

2365.45 8742 367.49 1.53 -80.00 1602.8 1699.5 1506.0 2039.7 1972.5 55.42 7.50 309 2415.90 39.44 0.00 3.63 0.988 0.000 0.129 1390.22 1488.81 1291.62 2039.56 532.94 0 0 0 11.62 30.00 15.53

2569.43 1028 367.49 1.53 0.00 1384.1 1479.9 1288.4 2039.5 532.8 35.08 10.41 349 2577.21 0.00 0.00 3.46 0.000 0.000 0.052 1383.69 1479.38 1288.00 2038.88 2030.88 0 0 0 30.00 30.00 15.70

2759.33 10535 432.23 1.61 80.00 1382.2 1479.4 1285.1 2039.6 2030.6 20.81 6.99 385 2819.19 47.57 0.22 3.58 0.970 0.069 0.114 1127.59 1222.56 1032.62 2092.62 3467.81 0 0 0 11.85 15.77 15.56

2832.77 9254 475.30 1.66 0.00 1125.3 1219.3 1031.3 2092.2 3467.0 15.12 8.00 398 2878.34 33.35 0.00 3.46 0.931 0.000 0.057 952.34 1042.88 861.81 2090.88 1970.06 0 0 0 11.66 30.00 15.61

3051 end climb: SURFACE_DEPTH_REACHED

state 3052 begin surface coast

3092 end surface coast: CONTROL_FINISHED_OK

state 3092 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	30	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	150	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	180	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	50	STROBE	0	LOITER_D_BOTTOM	0	RAFOS_DEVICE	96
T_MISSION	85	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	1687.4978	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	21.956818	SEABIRD_T_I	2.4999999e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	16.408283	FG_AHR_24V	8.775876	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	10	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	140722,090858,4719.257,-12523.550,2,1.2,3,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.68	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140722,091244,4719.251,-12523.565,2,1.0,4,15.8	MHEAD_RNG_PITCHd_Wd	314.9,1154,-17.6,-10.000,-21.24,2209,0.178
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	ans0	IRON	1.000000,0.024598,-0.001075,-0.002681,1.057742,-0.051851,0.011270,-0.041689,1.009950,771.831177,-865.940430,-659.763184
TGT_LATLONG	4719.800,-12524.000

NET	CACST,8,0,20220714095009.440181,06,9820,39,0124,0150,07,01,01,00,01,1,027,242,0,5,1,0,150,30.1,8.46,-100,-5.46,-01,0.21,38,10000,5000,0,-1,00,00*65	_10V_AH	14.85,0.000
NET_PING	1657792210,27,2403.475342,30.100000,-3.197895	FG_AHR_24Vo	8.930
NAV	1657792745,22.0,start	FG_AHR_10Vo	22.029
FINISH	0.6,1.022698	MEM0	60108,1,0,0
SM_CCo	3204.82,78.40,0.945,0,500.4,558.9,441.9,586.17	MEM1	65508,1,0,0
SM_GC	1.94,78.40,11.72,0.09,0.945,0.052,0.138,500.4,558.9,441.9,202.9,2034.2,0,0,0,11.77,15.66,15.67	MEM2	966228,25,80460,69
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12949,449
IRIDIUM_FIX	4719.30,-12520.08,140722,081151	CAP_FILE_SIZE	167329,0
TCM_TEMP	14.39	SDSIZE	3887104,3860928
SC_FREEKB	3869184	SDFILEDIR	301,1
PM_FREEKB_00	60622720	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	0	SOUNDSPEED	1465.0
RAFOS_CLK	1	CURRENT	0.054,150.1,1
RAFOS_FIX	4747.590820,-12427.612305,140722,060600,2,510,10420.27	MAGCAL	1.000000,0.013584,0.042214,-0.006164,1.045281,-0.051685,-0.011646,-0.068662,1.006900,731.1,-873.1,-660.7,16,0.0275,0
HUMID	51.22	IMPLIED_C_PITCH	1697,16.16,221,1692.2,16.29
TEMP	11.18	IMPLIED_C_VBD	3004,78.221291,174,0
INTERNAL_PRESSURE	7.76754	GPS	140722,100759,4719.473,-12523.648,31,1.7,32,15.8
_24V_AH	14.81,9.122

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	632	1118	10487.37	nil	0	0	0.00
Pitch_motor	25	251	94.65	nil	0	0	0.00
Roll_motor	64	191	182.94	nil	0	0	0.00
Iridium	143	223	473.12	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.02	nil	0	0	0.00
Core	2095	5	159.35	SciCon	3103	6	317.35
Fast	1	0	0.00	PMAR	3112	12	592.36
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1235	0	5.87
Compass	926	5	68.77
RAFOS	2482	40	1474.82
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
12.61	16386	-145.99	-1.25	0.00	493.5	549.1	437.9	202.5	1972.2	0.00	0.00	0	72.91	55.72	0.00	0.00	0.005	0.000	0.000	1864.97	1898.06	1831.88	202.00	1972.62	0	0	0	15.67	30.00	30.00
73.34	18467	-145.99	-1.25	0.00	1864.5	1897.6	1831.3	202.3	1973.1	3.30	-2.91	11	135.81	40.83	9.27	0.00	0.005	0.252	0.000	3484.72	3517.81	3451.62	1383.62	1972.38	0	0	0	15.69	15.55	30.00
324.17	260	-145.99	-1.25	80.00	3487.1	3523.1	3451.1	1384.1	1972.0	51.98	-16.91	59	331.80	0.00	0.00	3.69	0.000	0.000	0.109	3486.47	3522.94	3450.00	1383.81	3466.50	0	0	0	30.00	30.00	15.69
394.43	1028	-145.99	-1.25	0.00	3487.7	3524.9	3450.4	1383.6	3468.0	63.67	-15.53	73	407.33	0.00	0.00	3.44	0.000	0.000	0.056	3489.50	3525.06	3453.94	1383.75	1971.00	0	0	0	30.00	30.00	15.74
590.78	260	-145.99	-1.25	80.00	3487.5	3525.3	3449.8	1383.6	1971.8	91.77	-13.53	93	598.84	0.00	0.00	3.65	0.000	0.000	0.107	3487.22	3523.94	3450.50	1383.25	3467.44	0	0	0	30.00	30.00	15.73
607.31	1028	-145.99	-1.25	0.00	3488.1	3525.8	3450.4	1383.8	3468.1	94.06	-13.71	96	615.24	0.00	0.00	3.43	0.000	0.000	0.055	3487.75	3525.75	3449.75	1383.75	1973.06	0	0	0	30.00	30.00	15.75
802.34	260	-145.99	-1.25	80.00	3488.9	3527.3	3450.6	1383.4	1972.9	119.18	-11.70	116	810.39	0.00	0.00	3.66	0.000	0.000	0.107	3488.78	3525.69	3451.88	1383.44	3468.94	0	0	0	30.00	30.00	15.76
853.11	1028	-145.99	-1.25	0.00	3489.3	3527.8	3450.9	1383.7	3468.7	125.57	-12.74	126	861.47	0.00	0.00	3.43	0.000	0.000	0.056	3488.94	3527.56	3450.31	1383.56	1971.56	0	0	0	30.00	30.00	15.80
1048.91	260	-145.99	-1.25	80.00	3489.4	3528.8	3450.0	1383.9	1971.7	148.81	-12.41	146	1056.96	0.00	0.00	3.66	0.000	0.000	0.108	3491.03	3529.38	3452.69	1383.44	3466.56	0	0	0	30.00	30.00	15.76
1059	end dive: TARGET_DEPTH_EXCEEDED
state	1060	begin apogee
1066.79	10243	0.00	-0.30	0.00	3489.5	3528.7	3450.4	1383.7	1969.2	150.24	-12.37	148	1183.58	105.04	1.57	0.09	1.119	0.136	0.192	2889.66	2980.56	2798.75	1615.69	2037.25	0	0	0	11.61	15.76	15.43
1186	end apogee: CONTROL_FINISHED_OK
state	1186	begin climb
1186.29	10759	145.99	1.25	-80.00	2887.2	2977.2	2797.3	1616.3	2037.6	154.88	0.00	159	1315.96	106.29	2.46	3.86	1.086	0.087	0.123	2292.38	2390.19	2194.56	1993.56	532.88	0	0	0	11.69	15.44	15.25
1408.75	17414	145.99	1.25	0.00	2283.3	2375.6	2191.0	1994.3	532.8	138.65	12.10	200	1417.31	0.00	0.00	3.49	0.000	0.000	0.051	2283.06	2374.81	2191.31	1994.44	2028.94	0	0	0	30.00	30.00	15.50
1609.09	8226	158.13	1.27	0.00	2282.1	2374.9	2189.3	1994.8	2028.3	119.75	9.43	220	1625.25	9.97	0.00	0.00	0.902	0.000	0.000	2242.88	2339.06	2146.69	1994.44	2029.12	0	0	0	11.81	30.00	30.00
1814.59	10535	240.70	1.37	80.00	2240.9	2336.6	2145.2	1994.6	2028.7	102.98	6.16	241	1888.03	60.33	0.16	3.56	1.046	0.089	0.114	1905.47	2005.12	1805.81	2039.69	3467.44	0	0	0	11.80	15.68	15.47
1906.54	1028	240.70	1.37	0.00	1904.5	2002.1	1806.9	2039.7	3467.5	95.41	10.45	258	1914.63	0.00	0.00	3.47	0.000	0.000	0.056	1905.12	2002.19	1808.06	2038.06	1972.12	0	0	0	30.00	30.00	15.54
2101.63	8486	271.45	1.41	80.00	1900.0	1999.9	1800.1	2039.2	1971.6	77.38	8.57	278	2136.74	23.65	0.00	3.73	0.994	0.000	0.110	1780.66	1883.50	1677.81	2039.56	3466.19	0	0	0	11.85	30.00	15.56
2139.57	9254	313.79	1.46	0.00	1779.6	1881.9	1677.4	2039.4	3466.1	74.23	8.03	283	2181.92	32.29	0.00	3.45	0.982	0.000	0.056	1610.66	1709.19	1512.12	2039.81	1973.12	0	0	0	11.69	30.00	15.59
2365.45	8742	367.49	1.53	-80.00	1602.8	1699.5	1506.0	2039.7	1972.5	55.42	7.50	309	2415.90	39.44	0.00	3.63	0.988	0.000	0.129	1390.22	1488.81	1291.62	2039.56	532.94	0	0	0	11.62	30.00	15.53
2569.43	1028	367.49	1.53	0.00	1384.1	1479.9	1288.4	2039.5	532.8	35.08	10.41	349	2577.21	0.00	0.00	3.46	0.000	0.000	0.052	1383.69	1479.38	1288.00	2038.88	2030.88	0	0	0	30.00	30.00	15.70
2759.33	10535	432.23	1.61	80.00	1382.2	1479.4	1285.1	2039.6	2030.6	20.81	6.99	385	2819.19	47.57	0.22	3.58	0.970	0.069	0.114	1127.59	1222.56	1032.62	2092.62	3467.81	0	0	0	11.85	15.77	15.56
2832.77	9254	475.30	1.66	0.00	1125.3	1219.3	1031.3	2092.2	3467.0	15.12	8.00	398	2878.34	33.35	0.00	3.46	0.931	0.000	0.057	952.34	1042.88	861.81	2090.88	1970.06	0	0	0	11.66	30.00	15.61
3051	end climb: SURFACE_DEPTH_REACHED
state	3052	begin surface coast
3092	end surface coast: CONTROL_FINISHED_OK
state	3092	begin surface