Glider dive log

AMOS Jul22 * SG242 * Dive index * Mission links * Dive 8 * 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 8 SM_CC 595.40039 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 8 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 180 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 500 N_NOCOMM 1 VBD_TIMEOUT 720 DEVICE5 -1

D_NO_BLEED 200 NOCOMM_ACTION 131 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

D_BOOST 0 N_NOSURFACE 0 UNCOM_BLEED 20 LOGGERS 7

T_BOOST 0 UPLOAD_DIVES_MAX -1 VBD_MAXERRORS 1 LOGGERDEVICE1 7

D_FINISH 0 CALL_TRIES 5 C_VBD_AUTO_DELTA 0 LOGGERDEVICE2 35

D_PITCH 0 CALL_WAIT 60 C_VBD_AUTO_MAX 0 LOGGERDEVICE3 -1

D_SAFE 0 CAPUPLOAD 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

D_CALL 0 CAPMAXSIZE 100000 DBDW 0 COMPASS_DEVICE 66

SURFACE_URGENCY 0 T_GPS 5 LOITER_W_DBAND 0 COMPASS2_DEVICE -1

SURFACE_URGENCY_TRY 0 N_GPS 100440 LOITER_DBDW 0 PHONE_DEVICE 33

SURFACE_URGENCY_FORCE 0 T_RSLEEP 3 LOITER_D_TOP 0 GPS_DEVICE 48

T_DIVE 60 STROBE 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE 96

T_MISSION 75 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 1681.4314 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 19.810846 SEABIRD_T_I 2.4999999e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 16.099613 FG_AHR_24V 4.9077029 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 22 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 180 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 19.810846 PITCH_CNV 0.0041299998 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FG_AHR_24V 4.9077029 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 16.099613 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 22 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 60

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 1681.4314 LOGGERDEVICE2 35 PM_XMITPROFILE 3.0 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE3 -1 PM_XMITRAW 0.0 T_MISSION 75

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 8 NAV2_DEVICE 6 ROLL_MAX 3800 W_ADJ_DBAND 0

D_ABORT 500 NAV_DEVICE 6 ROLL_MAXERRORS 1 XPDR_DEVICE -1

D_BOOST 0 NAV_MODE 2 ROLL_MIN 195 XPDR_INHIBIT 90

D_CALL 0 NETWORK_DEVICE 1 ROLL_TIMEOUT 15 XPDR_INT 0

D_FINISH 0 NOCOMM_ACTION 131 SC_NDIVE 1.0 XPDR_REP 0

D_FLARE 3 N_DIVES 8 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 130722,031339,4722.017,-12522.812,1,1.1,4,15.8 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.64 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130722,031803,4721.979,-12522.870,2,1.2,5,15.8 MHEAD_RNG_PITCHd_Wd 353.4,20000,-17.6,-10.000,-21.24,2209,0.149

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME HEADING IRON 1.000000,0.015334,-0.123591,-0.022416,1.049678,-0.036701,-0.000173,-0.084301,1.124830,859.849731,-817.228638,-700.200439

TGT_LATLONG 4731.992,-12516.879

Post-dive calculations and measurements:

NAV 1657684741,92.9,start FG_AHR_24Vo 5.071

FINISH 0.4,1.022615 FG_AHR_10Vo 19.896

SM_CCo 3760.75,68.79,0.977,0,500.4,563.6,437.3,586.16 MEM0 60108,1,0,0

SM_GC 1.42,68.79,11.77,0.09,0.977,0.060,0.153,500.4,563.6,437.3,203.4,2035.1,0,0,0,11.49,15.66,15.67 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 965572,30,80856,77

IRIDIUM_FIX 4722.06,-12521.92,130722,020742 DATA_FILE_SIZE 16107,557

TCM_TEMP 14.50 CAP_FILE_SIZE 178252,0

SC_FREEKB 3876224 SDSIZE 3887104,3868192

PM_FREEKB_00 61980800 SDFILEDIR 103,1

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 4700.000000,-12248.580078,130722,000002,2,510,7735.12 CURRENT 0.052,166.5,1

HUMID 52.72 MAGCAL 1.000000,0.024180,0.016362,-0.025706,1.045956,-0.064970,0.019622,-0.040697,0.967354,764.5,-855.3,-632.1,30,0.0335,0

TEMP 11.37 IMPLIED_C_PITCH 1673,16.31,249,1677.0,16.20

INTERNAL_PRESSURE 7.77939 IMPLIED_C_VBD 2965,60.191002,210,0

_24V_AH 14.84,3.705 GPS 130722,042239,4722.183,-12522.594,1,1.9,25,15.8

_10V_AH 14.86,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 643 1182 11297.15 nil 0 0 0.00

Pitch_motor 25 254 94.69 nil 0 0 0.00

Roll_motor 70 189 199.65 nil 0 0 0.00

Iridium 184 224 615.85 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.28 nil 0 0 0.00

Core 2397 5 182.37 SciCon 3667 6 372.07

Fast 0 0 0.00 PMAR 3677 12 697.76

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1542 0 7.34

Compass 1126 5 83.66

RAFOS 2196 40 1305.88

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

12.39 16386 -145.99 -1.27 0.00 498.1 563.1 433.1 202.8 2038.4 0.00 0.00 0 87.70 69.87 0.00 0.00 0.005 0.000 0.000 2149.88 2179.00 2120.75 202.81 2038.50 0 0 0 15.03 30.00 30.00

88.14 18467 -145.99 -1.27 0.00 2149.6 2180.2 2119.1 202.9 2039.1 3.48 -3.55 13 140.81 32.44 8.81 0.00 0.005 0.255 0.000 3484.56 3520.38 3448.75 1372.75 2038.38 0 0 0 15.74 15.58 30.00

324.21 260 -145.99 -1.27 80.00 3486.9 3525.6 3448.2 1372.6 2038.2 50.24 -18.85 59 330.65 0.00 0.00 3.47 0.000 0.000 0.118 3486.75 3525.25 3448.25 1372.25 3467.69 0 0 0 30.00 30.00 15.73

424.23 1028 -145.99 -1.27 0.00 3488.1 3528.2 3447.9 1372.6 3467.6 67.77 -15.61 79 430.95 0.00 0.00 3.41 0.000 0.000 0.060 3488.19 3527.88 3448.50 1372.75 1973.81 0 0 0 30.00 30.00 15.77

614.36 260 -145.99 -1.27 80.00 3488.2 3528.5 3447.9 1372.3 1973.7 96.62 -15.07 99 622.43 0.00 0.00 3.62 0.000 0.000 0.114 3487.75 3527.62 3447.88 1372.25 3469.00 0 0 0 30.00 30.00 15.77

650.91 1028 -145.99 -1.27 0.00 3488.3 3528.9 3447.6 1372.5 3467.8 101.99 -14.66 106 658.74 0.00 0.00 3.40 0.000 0.000 0.060 3488.59 3528.94 3448.25 1372.75 1972.00 0 0 0 30.00 30.00 15.81

845.94 260 -145.99 -1.27 80.00 3489.7 3530.4 3448.9 1372.6 1971.8 126.02 -12.36 126 853.98 0.00 0.00 3.62 0.000 0.000 0.115 3491.75 3533.38 3450.12 1372.38 3464.50 0 0 0 30.00 30.00 15.78

872.46 1028 -145.99 -1.27 0.00 3488.7 3529.4 3448.0 1372.2 3465.4 129.56 -12.79 131 880.28 0.00 0.00 3.39 0.000 0.000 0.060 3491.44 3531.62 3451.25 1372.31 1971.81 0 0 0 30.00 30.00 15.81

1067.47 516 -145.99 -1.27 -80.00 3490.6 3531.4 3449.7 1372.1 1971.1 152.44 -11.76 151 1075.46 0.00 0.00 3.53 0.000 0.000 0.131 3489.97 3531.25 3448.69 1372.06 532.88 0 0 0 30.00 30.00 15.79

1113.96 1028 -145.99 -1.27 0.00 3489.8 3530.6 3449.0 1372.6 532.0 158.94 -14.47 160 1121.84 0.00 0.00 3.42 0.000 0.000 0.055 3490.84 3531.62 3450.06 1372.31 2028.06 0 0 0 30.00 30.00 15.84

1288 end dive: TARGET_DEPTH_EXCEEDED

state 1288 begin apogee

1290.56 10243 0.00 -0.31 0.00 3490.3 3531.4 3449.1 1372.6 1964.0 180.14 -11.49 178 1409.06 106.77 1.56 0.10 1.183 0.138 0.190 2888.72 2982.12 2795.31 1608.19 2039.44 0 0 0 11.52 15.76 15.43

1411 end apogee: CONTROL_FINISHED_OK

state 1411 begin climb

1412.06 10759 145.99 1.27 -80.00 2886.7 2979.6 2793.9 1608.7 2038.9 183.95 0.00 189 1541.73 107.97 2.48 3.82 1.153 0.092 0.130 2292.16 2389.19 2195.12 1992.88 532.62 0 0 0 11.46 15.46 15.27

1700.30 17414 145.99 1.27 0.00 2283.2 2375.0 2191.3 1994.2 532.8 161.16 11.01 243 1708.40 0.00 0.00 3.43 0.000 0.000 0.056 2281.94 2374.56 2189.31 1993.81 2027.50 0 0 0 30.00 30.00 15.59

1895.38 8742 195.84 1.34 -80.00 2282.9 2375.4 2190.4 1994.2 2027.8 145.13 7.68 263 1945.61 36.57 0.00 3.71 1.107 0.000 0.130 2090.62 2189.38 1991.88 1994.06 534.00 0 0 0 11.44 30.00 15.56

2093.39 17414 195.84 1.34 0.00 2082.8 2178.8 1986.7 1994.7 533.9 122.29 12.57 302 2101.93 0.00 0.00 3.41 0.000 0.000 0.057 2082.94 2179.31 1986.56 1993.69 2027.38 0 0 0 30.00 30.00 15.75

2289.23 8742 236.85 1.39 -80.00 2082.2 2179.2 1985.2 1993.6 2027.6 105.33 8.09 322 2333.99 30.95 0.00 3.72 1.081 0.000 0.132 1922.84 2022.94 1822.75 1994.44 534.06 0 0 0 11.52 30.00 15.67

2519.57 11303 286.95 1.45 0.00 1916.9 2014.8 1819.1 1994.1 534.1 83.88 7.67 365 2570.64 37.40 0.23 3.40 1.062 0.083 0.056 1719.28 1822.88 1615.69 2047.06 2031.81 0 0 0 11.57 15.75 15.77

2755.35 8486 309.87 1.48 80.00 1712.7 1813.7 1611.6 2046.9 2031.1 64.56 8.93 393 2784.04 18.20 0.00 3.51 1.002 0.000 0.122 1627.22 1726.81 1527.62 2046.69 3467.81 0 0 0 11.58 30.00 15.63

2801.86 1060 311.39 1.48 0.00 1624.3 1722.5 1526.1 2047.2 3467.2 59.96 9.93 402 2810.33 0.00 0.00 3.46 0.000 0.000 0.063 1624.31 1722.75 1525.88 2047.06 1974.69 0 0 0 30.00 30.00 15.67

2992.64 8742 366.07 1.55 -80.00 1621.7 1719.8 1523.6 2046.9 1974.5 44.97 7.46 428 3045.13 41.83 0.00 3.63 1.028 0.000 0.138 1396.12 1497.56 1294.69 2047.19 534.25 0 0 0 11.61 30.00 15.56

3106.31 1060 367.16 1.55 0.00 1392.7 1491.8 1293.6 2047.4 534.1 34.42 9.95 449 3114.04 0.00 0.00 3.45 0.000 0.000 0.056 1392.22 1491.38 1293.06 2047.19 2031.75 0 0 0 30.00 30.00 15.65

3297.57 10535 436.99 1.63 80.00 1390.3 1491.9 1288.8 2046.9 2031.4 20.48 6.75 487 3364.96 52.53 0.18 3.53 1.004 0.087 0.122 1108.25 1206.44 1010.06 2090.06 3468.81 0 0 0 11.58 15.72 15.52

3393.54 9254 489.87 1.70 0.00 1105.2 1201.2 1009.2 2090.6 3467.8 13.34 7.54 505 3444.71 40.26 0.00 3.48 0.970 0.000 0.062 894.09 985.00 803.19 2091.19 1974.25 0 0 0 11.60 30.00 15.59

3613 end climb: SURFACE_DEPTH_REACHED

state 3613 begin surface coast

3658 end surface coast: CONTROL_FINISHED_OK

state 3658 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	8	SM_CC	595.40039	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	8	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	180	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	500	N_NOCOMM	1	VBD_TIMEOUT	720	DEVICE5	-1
D_NO_BLEED	200	NOCOMM_ACTION	131	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
D_BOOST	0	N_NOSURFACE	0	UNCOM_BLEED	20	LOGGERS	7
T_BOOST	0	UPLOAD_DIVES_MAX	-1	VBD_MAXERRORS	1	LOGGERDEVICE1	7
D_FINISH	0	CALL_TRIES	5	C_VBD_AUTO_DELTA	0	LOGGERDEVICE2	35
D_PITCH	0	CALL_WAIT	60	C_VBD_AUTO_MAX	0	LOGGERDEVICE3	-1
D_SAFE	0	CAPUPLOAD	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
D_CALL	0	CAPMAXSIZE	100000	DBDW	0	COMPASS_DEVICE	66
SURFACE_URGENCY	0	T_GPS	5	LOITER_W_DBAND	0	COMPASS2_DEVICE	-1
SURFACE_URGENCY_TRY	0	N_GPS	100440	LOITER_DBDW	0	PHONE_DEVICE	33
SURFACE_URGENCY_FORCE	0	T_RSLEEP	3	LOITER_D_TOP	0	GPS_DEVICE	48
T_DIVE	60	STROBE	0	LOITER_D_BOTTOM	0	RAFOS_DEVICE	96
T_MISSION	75	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	1681.4314	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	19.810846	SEABIRD_T_I	2.4999999e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	16.099613	FG_AHR_24V	4.9077029	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	22	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	130722,031339,4722.017,-12522.812,1,1.1,4,15.8	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.64	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130722,031803,4721.979,-12522.870,2,1.2,5,15.8	MHEAD_RNG_PITCHd_Wd	353.4,20000,-17.6,-10.000,-21.24,2209,0.149
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	HEADING	IRON	1.000000,0.015334,-0.123591,-0.022416,1.049678,-0.036701,-0.000173,-0.084301,1.124830,859.849731,-817.228638,-700.200439
TGT_LATLONG	4731.992,-12516.879

NAV	1657684741,92.9,start	FG_AHR_24Vo	5.071
FINISH	0.4,1.022615	FG_AHR_10Vo	19.896
SM_CCo	3760.75,68.79,0.977,0,500.4,563.6,437.3,586.16	MEM0	60108,1,0,0
SM_GC	1.42,68.79,11.77,0.09,0.977,0.060,0.153,500.4,563.6,437.3,203.4,2035.1,0,0,0,11.49,15.66,15.67	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	965572,30,80856,77
IRIDIUM_FIX	4722.06,-12521.92,130722,020742	DATA_FILE_SIZE	16107,557
TCM_TEMP	14.50	CAP_FILE_SIZE	178252,0
SC_FREEKB	3876224	SDSIZE	3887104,3868192
PM_FREEKB_00	61980800	SDFILEDIR	103,1
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	4700.000000,-12248.580078,130722,000002,2,510,7735.12	CURRENT	0.052,166.5,1
HUMID	52.72	MAGCAL	1.000000,0.024180,0.016362,-0.025706,1.045956,-0.064970,0.019622,-0.040697,0.967354,764.5,-855.3,-632.1,30,0.0335,0
TEMP	11.37	IMPLIED_C_PITCH	1673,16.31,249,1677.0,16.20
INTERNAL_PRESSURE	7.77939	IMPLIED_C_VBD	2965,60.191002,210,0
_24V_AH	14.84,3.705	GPS	130722,042239,4722.183,-12522.594,1,1.9,25,15.8
_10V_AH	14.86,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	643	1182	11297.15	nil	0	0	0.00
Pitch_motor	25	254	94.69	nil	0	0	0.00
Roll_motor	70	189	199.65	nil	0	0	0.00
Iridium	184	224	615.85	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.28	nil	0	0	0.00
Core	2397	5	182.37	SciCon	3667	6	372.07
Fast	0	0	0.00	PMAR	3677	12	697.76
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1542	0	7.34
Compass	1126	5	83.66
RAFOS	2196	40	1305.88
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
12.39	16386	-145.99	-1.27	0.00	498.1	563.1	433.1	202.8	2038.4	0.00	0.00	0	87.70	69.87	0.00	0.00	0.005	0.000	0.000	2149.88	2179.00	2120.75	202.81	2038.50	0	0	0	15.03	30.00	30.00
88.14	18467	-145.99	-1.27	0.00	2149.6	2180.2	2119.1	202.9	2039.1	3.48	-3.55	13	140.81	32.44	8.81	0.00	0.005	0.255	0.000	3484.56	3520.38	3448.75	1372.75	2038.38	0	0	0	15.74	15.58	30.00
324.21	260	-145.99	-1.27	80.00	3486.9	3525.6	3448.2	1372.6	2038.2	50.24	-18.85	59	330.65	0.00	0.00	3.47	0.000	0.000	0.118	3486.75	3525.25	3448.25	1372.25	3467.69	0	0	0	30.00	30.00	15.73
424.23	1028	-145.99	-1.27	0.00	3488.1	3528.2	3447.9	1372.6	3467.6	67.77	-15.61	79	430.95	0.00	0.00	3.41	0.000	0.000	0.060	3488.19	3527.88	3448.50	1372.75	1973.81	0	0	0	30.00	30.00	15.77
614.36	260	-145.99	-1.27	80.00	3488.2	3528.5	3447.9	1372.3	1973.7	96.62	-15.07	99	622.43	0.00	0.00	3.62	0.000	0.000	0.114	3487.75	3527.62	3447.88	1372.25	3469.00	0	0	0	30.00	30.00	15.77
650.91	1028	-145.99	-1.27	0.00	3488.3	3528.9	3447.6	1372.5	3467.8	101.99	-14.66	106	658.74	0.00	0.00	3.40	0.000	0.000	0.060	3488.59	3528.94	3448.25	1372.75	1972.00	0	0	0	30.00	30.00	15.81
845.94	260	-145.99	-1.27	80.00	3489.7	3530.4	3448.9	1372.6	1971.8	126.02	-12.36	126	853.98	0.00	0.00	3.62	0.000	0.000	0.115	3491.75	3533.38	3450.12	1372.38	3464.50	0	0	0	30.00	30.00	15.78
872.46	1028	-145.99	-1.27	0.00	3488.7	3529.4	3448.0	1372.2	3465.4	129.56	-12.79	131	880.28	0.00	0.00	3.39	0.000	0.000	0.060	3491.44	3531.62	3451.25	1372.31	1971.81	0	0	0	30.00	30.00	15.81
1067.47	516	-145.99	-1.27	-80.00	3490.6	3531.4	3449.7	1372.1	1971.1	152.44	-11.76	151	1075.46	0.00	0.00	3.53	0.000	0.000	0.131	3489.97	3531.25	3448.69	1372.06	532.88	0	0	0	30.00	30.00	15.79
1113.96	1028	-145.99	-1.27	0.00	3489.8	3530.6	3449.0	1372.6	532.0	158.94	-14.47	160	1121.84	0.00	0.00	3.42	0.000	0.000	0.055	3490.84	3531.62	3450.06	1372.31	2028.06	0	0	0	30.00	30.00	15.84
1288	end dive: TARGET_DEPTH_EXCEEDED
state	1288	begin apogee
1290.56	10243	0.00	-0.31	0.00	3490.3	3531.4	3449.1	1372.6	1964.0	180.14	-11.49	178	1409.06	106.77	1.56	0.10	1.183	0.138	0.190	2888.72	2982.12	2795.31	1608.19	2039.44	0	0	0	11.52	15.76	15.43
1411	end apogee: CONTROL_FINISHED_OK
state	1411	begin climb
1412.06	10759	145.99	1.27	-80.00	2886.7	2979.6	2793.9	1608.7	2038.9	183.95	0.00	189	1541.73	107.97	2.48	3.82	1.153	0.092	0.130	2292.16	2389.19	2195.12	1992.88	532.62	0	0	0	11.46	15.46	15.27
1700.30	17414	145.99	1.27	0.00	2283.2	2375.0	2191.3	1994.2	532.8	161.16	11.01	243	1708.40	0.00	0.00	3.43	0.000	0.000	0.056	2281.94	2374.56	2189.31	1993.81	2027.50	0	0	0	30.00	30.00	15.59
1895.38	8742	195.84	1.34	-80.00	2282.9	2375.4	2190.4	1994.2	2027.8	145.13	7.68	263	1945.61	36.57	0.00	3.71	1.107	0.000	0.130	2090.62	2189.38	1991.88	1994.06	534.00	0	0	0	11.44	30.00	15.56
2093.39	17414	195.84	1.34	0.00	2082.8	2178.8	1986.7	1994.7	533.9	122.29	12.57	302	2101.93	0.00	0.00	3.41	0.000	0.000	0.057	2082.94	2179.31	1986.56	1993.69	2027.38	0	0	0	30.00	30.00	15.75
2289.23	8742	236.85	1.39	-80.00	2082.2	2179.2	1985.2	1993.6	2027.6	105.33	8.09	322	2333.99	30.95	0.00	3.72	1.081	0.000	0.132	1922.84	2022.94	1822.75	1994.44	534.06	0	0	0	11.52	30.00	15.67
2519.57	11303	286.95	1.45	0.00	1916.9	2014.8	1819.1	1994.1	534.1	83.88	7.67	365	2570.64	37.40	0.23	3.40	1.062	0.083	0.056	1719.28	1822.88	1615.69	2047.06	2031.81	0	0	0	11.57	15.75	15.77
2755.35	8486	309.87	1.48	80.00	1712.7	1813.7	1611.6	2046.9	2031.1	64.56	8.93	393	2784.04	18.20	0.00	3.51	1.002	0.000	0.122	1627.22	1726.81	1527.62	2046.69	3467.81	0	0	0	11.58	30.00	15.63
2801.86	1060	311.39	1.48	0.00	1624.3	1722.5	1526.1	2047.2	3467.2	59.96	9.93	402	2810.33	0.00	0.00	3.46	0.000	0.000	0.063	1624.31	1722.75	1525.88	2047.06	1974.69	0	0	0	30.00	30.00	15.67
2992.64	8742	366.07	1.55	-80.00	1621.7	1719.8	1523.6	2046.9	1974.5	44.97	7.46	428	3045.13	41.83	0.00	3.63	1.028	0.000	0.138	1396.12	1497.56	1294.69	2047.19	534.25	0	0	0	11.61	30.00	15.56
3106.31	1060	367.16	1.55	0.00	1392.7	1491.8	1293.6	2047.4	534.1	34.42	9.95	449	3114.04	0.00	0.00	3.45	0.000	0.000	0.056	1392.22	1491.38	1293.06	2047.19	2031.75	0	0	0	30.00	30.00	15.65
3297.57	10535	436.99	1.63	80.00	1390.3	1491.9	1288.8	2046.9	2031.4	20.48	6.75	487	3364.96	52.53	0.18	3.53	1.004	0.087	0.122	1108.25	1206.44	1010.06	2090.06	3468.81	0	0	0	11.58	15.72	15.52
3393.54	9254	489.87	1.70	0.00	1105.2	1201.2	1009.2	2090.6	3467.8	13.34	7.54	505	3444.71	40.26	0.00	3.48	0.970	0.000	0.062	894.09	985.00	803.19	2091.19	1974.25	0	0	0	11.60	30.00	15.59
3613	end climb: SURFACE_DEPTH_REACHED
state	3613	begin surface coast
3658	end surface coast: CONTROL_FINISHED_OK
state	3658	begin surface