Glider dive log

AMOS Jul22 * SG242 * Dive index * Mission links * Dive 34 * 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 34 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 1691.601 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 22.269117 SEABIRD_T_I 2.4999999e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 16.479393 FG_AHR_24V 9.4281521 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 22.269117 PITCH_CNV 0.0041299998 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FG_AHR_24V 9.4281521 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 16.479393 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 1691.601 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 34 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 140722,130401,4719.895,-12523.753,2,0.8,22,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140722,130750,4719.902,-12523.721,2,0.7,3,15.8 MHEAD_RNG_PITCHd_Wd 249.8,398,-21.7,-10.000,-24.92,1502,0.260

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,8,0,20220714132014.469888,06,17556,42,0209,0150,07,01,01,00,01,1,027,242,0,5,1,0,150,33.4,7.88,-100,-4.88,-01,-0.03,35,10000,5000,0,-1,00,00*75 _24V_AH 14.75,9.999

NET_PING 1657804815,27,3936.997559,33.400002,-5.244658 _10V_AH 14.79,0.000

NAV 1657807143,3.6,start FG_AHR_24Vo 9.581

FINISH 0.4,1.013178 FG_AHR_10Vo 22.344

SM_CCo 3236.43,92.10,0.929,0,500.8,554.7,446.9,586.08 MEM0 60108,1,0,0

SM_GC 1.67,92.10,12.13,0.12,0.929,0.048,0.135,500.8,554.7,446.9,200.2,1962.5,0,0,0,11.55,15.63,15.64 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 952760,22,93908,73

IRIDIUM_FIX 4721.32,-12623.60,140722,120622 DATA_FILE_SIZE 12922,476

TCM_TEMP 15.36 CAP_FILE_SIZE 164308,0

SC_FREEKB 3867904 SDSIZE 3887104,3859648

PM_FREEKB_00 60446208 SDFILEDIR 337,1

PM_ACTIVECARD 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

RAFOS_FIX 4747.590820,-12427.612305,140722,060600,2,510,10420.27 CURRENT 0.113,131.3,1

HUMID 50.80 MAGCAL 1.000000,0.028800,-0.003300,-0.011946,1.038534,-0.040762,0.015677,-0.045789,0.989874,761.0,-880.6,-656.6,26,0.0250,0

TEMP 11.83 IMPLIED_C_PITCH 1686,16.69,211,1688.8,16.59

INTERNAL_PRESSURE 7.79218 GPS 140722,140307,4719.798,-12523.907,1,1.0,4,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 631 1109 10335.33 nil 0 0 0.00

Pitch_motor 26 269 104.40 nil 0 0 0.00

Roll_motor 57 175 147.95 nil 0 0 0.00

Iridium 146 216 466.76 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.88 nil 0 0 0.00

Core 2117 5 160.36 SciCon 3118 6 317.60

Fast 1 0 0.00 PMAR 3128 12 593.14

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1232 0 5.83

Compass 975 5 72.16

RAFOS 2772 40 1640.42

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

12.64 16386 -98.75 -1.44 0.00 494.6 551.8 437.4 196.6 2041.8 0.00 0.00 0 78.36 60.71 0.00 0.00 0.005 0.000 0.000 1971.72 2005.12 1938.31 196.62 2042.75 0 0 0 15.68 30.00 30.00

78.80 18727 -145.99 -1.50 80.00 1972.2 2006.4 1938.0 196.6 2042.3 3.41 -3.16 12 141.44 36.85 8.92 3.49 0.005 0.270 0.109 3485.69 3518.88 3452.50 1329.94 3468.38 0 0 0 14.83 15.55 15.62

149.83 1028 -145.99 -1.50 0.00 3486.1 3520.2 3452.0 1330.0 3469.8 21.37 -30.65 24 157.04 0.00 0.00 3.47 0.000 0.000 0.056 3487.22 3521.00 3453.44 1329.56 1973.25 0 0 0 30.00 30.00 15.67

340.47 260 -145.99 -1.50 80.00 3487.2 3522.8 3451.6 1329.8 1973.5 62.24 -19.82 56 348.51 0.00 0.00 3.64 0.000 0.000 0.106 3486.34 3522.38 3450.31 1330.25 3469.06 0 0 0 30.00 30.00 15.69

366.99 1028 -145.99 -1.50 0.00 3487.9 3524.0 3451.8 1330.1 3468.9 67.47 -19.66 61 374.90 0.00 0.00 3.44 0.000 0.000 0.054 3486.81 3523.12 3450.50 1330.38 1972.88 0 0 0 30.00 30.00 15.72

562.01 0 -145.99 -1.50 0.00 3488.2 3524.0 3452.4 1329.8 1972.4 99.91 -14.94 81 563.76 0.00 0.00 0.00 0.000 0.000 0.000 3487.66 3524.06 3451.25 1330.00 1972.69 0 0 0 30.00 30.00 30.00

752.01 516 -145.99 -1.50 -80.00 3488.8 3525.2 3452.2 1330.4 1971.3 128.71 -15.55 100 759.99 0.00 0.00 3.54 0.000 0.000 0.122 3489.38 3526.25 3452.50 1329.31 532.88 0 0 0 30.00 30.00 15.74

768.64 1028 -145.99 -1.50 0.00 3488.7 3525.8 3451.6 1329.8 532.8 131.41 -15.82 103 776.35 0.00 0.00 3.42 0.000 0.000 0.049 3487.38 3523.75 3451.00 1330.00 2029.31 0 0 0 30.00 30.00 15.78

893 end dive: TARGET_DEPTH_EXCEEDED

state 893 begin apogee

895.04 10243 0.00 -0.30 0.00 3489.2 3526.6 3451.8 1330.3 1961.5 150.97 -15.42 116 1013.32 105.01 1.97 0.11 1.110 0.143 0.176 2889.41 2977.81 2801.00 1619.75 2039.25 0 0 0 11.69 15.73 15.43

1015 end apogee: CONTROL_FINISHED_OK

state 1016 begin climb

1016.08 10759 145.99 1.50 -80.00 2887.5 2976.5 2798.5 1619.3 2039.2 155.74 0.00 127 1145.99 106.22 2.84 3.83 1.078 0.086 0.120 2292.78 2387.69 2197.88 2055.81 531.81 0 0 0 11.44 15.44 15.26

1254.53 17414 145.99 1.50 0.00 2283.1 2373.2 2192.9 2057.1 531.6 136.63 13.30 171 1262.62 0.00 0.00 3.47 0.000 0.000 0.050 2284.28 2374.44 2194.12 2057.06 2029.38 0 0 0 30.00 30.00 15.52

1449.53 16902 145.99 1.50 -80.00 2282.8 2373.8 2191.9 2057.1 2028.8 116.36 10.27 191 1457.88 0.00 0.00 3.70 0.000 0.000 0.119 2282.28 2372.75 2191.81 2054.75 531.38 0 0 0 30.00 30.00 15.60

1686.51 9254 174.79 1.53 0.00 2280.4 2369.8 2190.9 2057.1 531.5 91.16 8.03 238 1720.21 21.55 0.00 3.43 0.999 0.000 0.049 2175.50 2271.94 2079.06 2056.75 2032.44 0 0 0 11.98 30.00 15.72

1901.13 10791 247.79 1.62 -80.00 2171.3 2266.6 2076.0 2057.4 2033.0 78.83 5.01 262 1967.85 53.25 0.16 3.74 1.020 0.084 0.121 1877.66 1975.94 1779.38 2101.94 533.00 0 0 0 11.71 15.69 15.51

2000.62 1028 247.79 1.62 0.00 1873.1 1968.9 1777.4 2101.4 532.8 71.04 10.45 281 2009.16 0.00 0.00 3.46 0.000 0.000 0.051 1875.03 1971.69 1778.38 2102.38 2029.31 0 0 0 30.00 30.00 15.58

2196.45 8486 280.00 1.66 80.00 1869.7 1967.7 1771.6 2102.9 2029.1 53.31 7.80 301 2231.38 24.17 0.00 3.53 0.972 0.000 0.111 1746.88 1848.31 1645.44 2100.44 3468.12 0 0 0 11.58 30.00 15.58

2304.99 9254 299.56 1.69 0.00 1743.7 1842.3 1645.1 2101.9 3468.1 44.36 8.66 322 2330.14 15.89 0.00 3.46 0.924 0.000 0.055 1666.94 1764.88 1569.00 2102.00 1970.62 0 0 0 11.62 30.00 15.64

2511.14 8742 335.49 1.73 -80.00 1661.9 1758.9 1564.9 2101.6 1970.9 25.95 7.54 362 2551.27 27.44 0.00 3.62 0.954 0.000 0.127 1520.22 1615.94 1424.50 2102.50 533.94 0 0 0 11.69 30.00 15.59

2779.87 11303 432.81 1.85 0.00 1514.9 1608.5 1421.3 2102.1 534.1 12.71 3.34 415 2863.80 70.03 0.23 3.42 0.956 0.068 0.050 1127.50 1221.94 1033.06 2158.25 2037.75 0 0 0 11.86 15.77 15.77

3044.49 8226 503.14 1.94 0.00 1119.4 1209.8 1028.9 2158.8 2037.8 3.60 5.19 464 3064.91 18.22 0.00 0.00 0.902 0.000 0.000 1033.25 1123.12 943.38 2158.44 2038.06 0 0 0 11.83 30.00 30.00

3065 end climb: SURFACE_DEPTH_REACHED

state 3065 begin surface coast

3107 end surface coast: CONTROL_FINISHED_OK

state 3107 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	34	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	1691.601	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	22.269117	SEABIRD_T_I	2.4999999e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	16.479393	FG_AHR_24V	9.4281521	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	140722,130401,4719.895,-12523.753,2,0.8,22,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140722,130750,4719.902,-12523.721,2,0.7,3,15.8	MHEAD_RNG_PITCHd_Wd	249.8,398,-21.7,-10.000,-24.92,1502,0.260
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,8,0,20220714132014.469888,06,17556,42,0209,0150,07,01,01,00,01,1,027,242,0,5,1,0,150,33.4,7.88,-100,-4.88,-01,-0.03,35,10000,5000,0,-1,00,00*75	_24V_AH	14.75,9.999
NET_PING	1657804815,27,3936.997559,33.400002,-5.244658	_10V_AH	14.79,0.000
NAV	1657807143,3.6,start	FG_AHR_24Vo	9.581
FINISH	0.4,1.013178	FG_AHR_10Vo	22.344
SM_CCo	3236.43,92.10,0.929,0,500.8,554.7,446.9,586.08	MEM0	60108,1,0,0
SM_GC	1.67,92.10,12.13,0.12,0.929,0.048,0.135,500.8,554.7,446.9,200.2,1962.5,0,0,0,11.55,15.63,15.64	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	952760,22,93908,73
IRIDIUM_FIX	4721.32,-12623.60,140722,120622	DATA_FILE_SIZE	12922,476
TCM_TEMP	15.36	CAP_FILE_SIZE	164308,0
SC_FREEKB	3867904	SDSIZE	3887104,3859648
PM_FREEKB_00	60446208	SDFILEDIR	337,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
RAFOS_FIX	4747.590820,-12427.612305,140722,060600,2,510,10420.27	CURRENT	0.113,131.3,1
HUMID	50.80	MAGCAL	1.000000,0.028800,-0.003300,-0.011946,1.038534,-0.040762,0.015677,-0.045789,0.989874,761.0,-880.6,-656.6,26,0.0250,0
TEMP	11.83	IMPLIED_C_PITCH	1686,16.69,211,1688.8,16.59
INTERNAL_PRESSURE	7.79218	GPS	140722,140307,4719.798,-12523.907,1,1.0,4,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	631	1109	10335.33	nil	0	0	0.00
Pitch_motor	26	269	104.40	nil	0	0	0.00
Roll_motor	57	175	147.95	nil	0	0	0.00
Iridium	146	216	466.76	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.88	nil	0	0	0.00
Core	2117	5	160.36	SciCon	3118	6	317.60
Fast	1	0	0.00	PMAR	3128	12	593.14
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1232	0	5.83
Compass	975	5	72.16
RAFOS	2772	40	1640.42
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
12.64	16386	-98.75	-1.44	0.00	494.6	551.8	437.4	196.6	2041.8	0.00	0.00	0	78.36	60.71	0.00	0.00	0.005	0.000	0.000	1971.72	2005.12	1938.31	196.62	2042.75	0	0	0	15.68	30.00	30.00
78.80	18727	-145.99	-1.50	80.00	1972.2	2006.4	1938.0	196.6	2042.3	3.41	-3.16	12	141.44	36.85	8.92	3.49	0.005	0.270	0.109	3485.69	3518.88	3452.50	1329.94	3468.38	0	0	0	14.83	15.55	15.62
149.83	1028	-145.99	-1.50	0.00	3486.1	3520.2	3452.0	1330.0	3469.8	21.37	-30.65	24	157.04	0.00	0.00	3.47	0.000	0.000	0.056	3487.22	3521.00	3453.44	1329.56	1973.25	0	0	0	30.00	30.00	15.67
340.47	260	-145.99	-1.50	80.00	3487.2	3522.8	3451.6	1329.8	1973.5	62.24	-19.82	56	348.51	0.00	0.00	3.64	0.000	0.000	0.106	3486.34	3522.38	3450.31	1330.25	3469.06	0	0	0	30.00	30.00	15.69
366.99	1028	-145.99	-1.50	0.00	3487.9	3524.0	3451.8	1330.1	3468.9	67.47	-19.66	61	374.90	0.00	0.00	3.44	0.000	0.000	0.054	3486.81	3523.12	3450.50	1330.38	1972.88	0	0	0	30.00	30.00	15.72
562.01	0	-145.99	-1.50	0.00	3488.2	3524.0	3452.4	1329.8	1972.4	99.91	-14.94	81	563.76	0.00	0.00	0.00	0.000	0.000	0.000	3487.66	3524.06	3451.25	1330.00	1972.69	0	0	0	30.00	30.00	30.00
752.01	516	-145.99	-1.50	-80.00	3488.8	3525.2	3452.2	1330.4	1971.3	128.71	-15.55	100	759.99	0.00	0.00	3.54	0.000	0.000	0.122	3489.38	3526.25	3452.50	1329.31	532.88	0	0	0	30.00	30.00	15.74
768.64	1028	-145.99	-1.50	0.00	3488.7	3525.8	3451.6	1329.8	532.8	131.41	-15.82	103	776.35	0.00	0.00	3.42	0.000	0.000	0.049	3487.38	3523.75	3451.00	1330.00	2029.31	0	0	0	30.00	30.00	15.78
893	end dive: TARGET_DEPTH_EXCEEDED
state	893	begin apogee
895.04	10243	0.00	-0.30	0.00	3489.2	3526.6	3451.8	1330.3	1961.5	150.97	-15.42	116	1013.32	105.01	1.97	0.11	1.110	0.143	0.176	2889.41	2977.81	2801.00	1619.75	2039.25	0	0	0	11.69	15.73	15.43
1015	end apogee: CONTROL_FINISHED_OK
state	1016	begin climb
1016.08	10759	145.99	1.50	-80.00	2887.5	2976.5	2798.5	1619.3	2039.2	155.74	0.00	127	1145.99	106.22	2.84	3.83	1.078	0.086	0.120	2292.78	2387.69	2197.88	2055.81	531.81	0	0	0	11.44	15.44	15.26
1254.53	17414	145.99	1.50	0.00	2283.1	2373.2	2192.9	2057.1	531.6	136.63	13.30	171	1262.62	0.00	0.00	3.47	0.000	0.000	0.050	2284.28	2374.44	2194.12	2057.06	2029.38	0	0	0	30.00	30.00	15.52
1449.53	16902	145.99	1.50	-80.00	2282.8	2373.8	2191.9	2057.1	2028.8	116.36	10.27	191	1457.88	0.00	0.00	3.70	0.000	0.000	0.119	2282.28	2372.75	2191.81	2054.75	531.38	0	0	0	30.00	30.00	15.60
1686.51	9254	174.79	1.53	0.00	2280.4	2369.8	2190.9	2057.1	531.5	91.16	8.03	238	1720.21	21.55	0.00	3.43	0.999	0.000	0.049	2175.50	2271.94	2079.06	2056.75	2032.44	0	0	0	11.98	30.00	15.72
1901.13	10791	247.79	1.62	-80.00	2171.3	2266.6	2076.0	2057.4	2033.0	78.83	5.01	262	1967.85	53.25	0.16	3.74	1.020	0.084	0.121	1877.66	1975.94	1779.38	2101.94	533.00	0	0	0	11.71	15.69	15.51
2000.62	1028	247.79	1.62	0.00	1873.1	1968.9	1777.4	2101.4	532.8	71.04	10.45	281	2009.16	0.00	0.00	3.46	0.000	0.000	0.051	1875.03	1971.69	1778.38	2102.38	2029.31	0	0	0	30.00	30.00	15.58
2196.45	8486	280.00	1.66	80.00	1869.7	1967.7	1771.6	2102.9	2029.1	53.31	7.80	301	2231.38	24.17	0.00	3.53	0.972	0.000	0.111	1746.88	1848.31	1645.44	2100.44	3468.12	0	0	0	11.58	30.00	15.58
2304.99	9254	299.56	1.69	0.00	1743.7	1842.3	1645.1	2101.9	3468.1	44.36	8.66	322	2330.14	15.89	0.00	3.46	0.924	0.000	0.055	1666.94	1764.88	1569.00	2102.00	1970.62	0	0	0	11.62	30.00	15.64
2511.14	8742	335.49	1.73	-80.00	1661.9	1758.9	1564.9	2101.6	1970.9	25.95	7.54	362	2551.27	27.44	0.00	3.62	0.954	0.000	0.127	1520.22	1615.94	1424.50	2102.50	533.94	0	0	0	11.69	30.00	15.59
2779.87	11303	432.81	1.85	0.00	1514.9	1608.5	1421.3	2102.1	534.1	12.71	3.34	415	2863.80	70.03	0.23	3.42	0.956	0.068	0.050	1127.50	1221.94	1033.06	2158.25	2037.75	0	0	0	11.86	15.77	15.77
3044.49	8226	503.14	1.94	0.00	1119.4	1209.8	1028.9	2158.8	2037.8	3.60	5.19	464	3064.91	18.22	0.00	0.00	0.902	0.000	0.000	1033.25	1123.12	943.38	2158.44	2038.06	0	0	0	11.83	30.00	30.00
3065	end climb: SURFACE_DEPTH_REACHED
state	3065	begin surface coast
3107	end surface coast: CONTROL_FINISHED_OK
state	3107	begin surface