Glider dive log

AMOS Jul22 * SG242 * Dive index * Mission links * Dive 18 * 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 18 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 120 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 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 1680.7729 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 21.019217 SEABIRD_T_I 2.4999999e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 16.725475 FG_AHR_24V 6.8658834 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 120 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 21.019217 PITCH_CNV 0.0041299998 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FG_AHR_24V 6.8658834 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 16.725475 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 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 1680.7729 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 18 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 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 130722,204532,4719.968,-12524.148,19,1.0,20,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130722,204938,4719.981,-12524.147,3,0.7,5,15.8 MHEAD_RNG_PITCHd_Wd 58.1,188,-26.6,-6.667,-30.00,796,0.160

SPEED_LIMITS 0.115,0.220 D_GRID 1000

TGT_NAME HOLD 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 4720.000,-12524.000

Post-dive calculations and measurements:

NAV 1657749070,0.4,0,stop _10V_AH 14.91,0.000

FREEZE 19.32,13.985,-1.764,0,1,0 FG_AHR_24Vo 7.006

SM_CCo 3648.45,0.22,0.108,0,499.3,560.9,437.7,586.44 FG_AHR_10Vo 21.100

SM_GC 2.83,0.22,12.48,0.10,0.108,0.055,0.128,499.3,560.9,437.7,200.3,2036.6,0,0,0,15.52,15.40,15.43 MEM0 60108,1,0,0

SUPER 27,71,254,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 4722.06,-12521.92,130722,193315 MEM2 966252,27,80416,68

TCM_TEMP 14.79 DATA_FILE_SIZE 12960,526

SC_FREEKB 3873024 CAP_FILE_SIZE 163666,0

PM_FREEKB_00 61175552 SDSIZE 3887104,3864800

PM_ACTIVECARD 0 SDFILEDIR 193,1

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

RAFOS_FIX 4700.000000,-12248.580078,130722,000002,2,510,7735.12 SOUNDSPEED 1465.0

HUMID 50.87 CURRENT 0.024,126.4,1

TEMP 11.85 MAGCAL 1.000000,0.029771,-0.018843,-0.003992,1.054736,-0.034559,0.017680,-0.051586,1.014142,783.1,-876.2,-666.9,36,0.0276,0

INTERNAL_PRESSURE 7.79108 IMPLIED_C_PITCH 1687,17.33,308,1683.7,17.03

_24V_AH 14.86,6.528 GPS 130722,215152,4719.990,-12523.991,1,0.9,5,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 585 1052 9163.34 nil 0 0 0.00

Pitch_motor 26 273 107.66 nil 0 0 0.00

Roll_motor 56 160 134.25 nil 0 0 0.00

Iridium 165 226 555.31 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.19 nil 0 0 0.00

Core 2181 5 166.56 SciCon 3398 6 350.95

Fast 0 0 0.00 PMAR 3409 12 647.96

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1496 0 7.14

Compass 1064 5 79.37

RAFOS 3428 40 2044.63

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

12.46 16386 -34.84 -1.63 0.00 493.3 549.2 437.5 199.1 1969.8 0.00 0.00 0 77.95 60.62 0.00 0.00 0.005 0.000 0.000 1978.31 2011.81 1944.81 199.12 1970.44 0 0 0 15.04 30.00 30.00

78.38 18983 -64.66 -1.67 -80.00 1978.1 2012.2 1944.0 199.1 1970.1 3.30 -2.82 11 131.87 30.66 8.30 3.51 0.006 0.274 0.122 3152.50 3185.56 3119.44 1276.12 531.69 0 0 0 15.72 15.54 15.64

210.28 1028 -64.66 -1.67 0.00 3152.0 3187.1 3116.9 1275.7 531.8 36.78 -25.26 36 217.46 0.00 0.00 3.40 0.000 0.000 0.052 3152.34 3187.88 3116.81 1276.06 2027.75 0 0 0 30.00 30.00 15.74

405.80 516 -64.66 -1.67 -80.00 3153.2 3190.2 3116.1 1276.4 2029.2 75.58 -18.63 62 413.98 0.00 0.00 3.68 0.000 0.000 0.118 3152.22 3189.25 3115.19 1276.06 532.62 0 0 0 30.00 30.00 15.76

416.69 1028 -64.66 -1.67 0.00 3153.4 3190.8 3115.9 1275.6 532.8 77.62 -18.33 64 424.99 0.00 0.00 3.38 0.000 0.000 0.050 3153.53 3190.69 3116.38 1276.06 2031.62 0 0 0 30.00 30.00 15.80

607.31 0 -64.66 -1.67 0.00 3153.9 3192.1 3115.8 1275.8 2031.8 106.95 -15.33 83 617.23 0.00 0.00 0.00 0.000 0.000 0.000 3153.91 3192.44 3115.38 1276.19 2031.56 0 0 0 30.00 30.00 30.00

707 end dive: TARGET_DEPTH_EXCEEDED

state 707 begin apogee

708.92 10243 0.00 -0.30 0.00 3154.4 3192.8 3116.0 1275.6 1960.9 120.49 -12.74 93 767.17 48.81 2.28 0.11 1.053 0.169 0.161 2888.00 2966.31 2809.69 1610.00 2041.12 0 0 0 11.68 15.74 15.62

769 end apogee: CONTROL_FINISHED_OK

state 769 begin climb

769.74 10243 64.66 1.67 0.00 2888.5 2966.9 2810.1 1610.1 2041.1 122.79 0.00 98 831.16 48.68 3.07 0.00 1.026 0.091 0.000 2626.56 2708.12 2545.00 2086.88 2039.38 0 0 0 11.70 15.62 30.00

1015.20 8742 83.25 1.69 -80.00 2620.3 2699.4 2541.1 2088.1 2039.5 111.50 4.27 123 1040.33 15.39 0.00 3.71 0.950 0.000 0.119 2548.19 2630.00 2466.38 2088.38 531.62 0 0 0 11.74 30.00 15.56

1268.01 9254 112.09 1.73 0.00 2542.1 2618.8 2465.3 2088.7 531.7 102.79 2.95 172 1302.65 22.85 0.00 3.41 0.997 0.000 0.050 2431.69 2517.25 2346.12 2089.00 2033.62 0 0 0 11.78 30.00 15.70

1487.99 8486 133.69 1.75 80.00 2427.7 2511.2 2344.1 2088.2 2033.9 94.98 3.88 197 1516.50 17.66 0.00 3.44 0.977 0.000 0.109 2343.84 2431.88 2255.81 2088.38 3470.50 0 0 0 11.72 30.00 15.61

1520.19 9254 157.03 1.78 0.00 2343.2 2430.8 2255.8 2088.4 3469.9 93.87 3.65 203 1548.78 19.33 0.00 3.41 0.962 0.000 0.054 2248.19 2340.56 2155.81 2088.12 1968.94 0 0 0 11.78 30.00 15.66

1732.31 10535 163.11 1.79 80.00 2242.4 2332.8 2152.1 2088.4 1968.6 81.08 5.88 227 1750.26 6.31 0.15 3.61 0.727 0.094 0.107 2223.25 2314.56 2131.94 2132.81 3469.56 0 0 0 11.78 15.66 15.64

1977.16 9254 190.95 1.82 0.00 2222.6 2313.0 2132.2 2132.6 3469.1 72.33 3.08 275 2011.74 22.18 0.00 3.40 0.995 0.000 0.056 2112.50 2209.75 2015.25 2133.00 1969.31 0 0 0 11.83 30.00 15.73

2197.16 8486 195.06 1.83 80.00 2104.4 2198.7 2010.2 2132.4 1969.2 59.13 6.14 300 2210.67 4.84 0.00 3.61 0.588 0.000 0.107 2093.03 2187.12 1998.94 2132.69 3473.44 0 0 0 11.67 30.00 15.69

2441.10 9254 235.07 1.88 0.00 2092.6 2186.2 1998.9 2132.2 3472.1 51.65 1.50 348 2485.55 31.02 0.00 3.40 1.005 0.000 0.056 1930.78 2028.88 1832.69 2131.69 1969.25 0 0 0 11.63 30.00 15.76

2671.14 8742 240.38 1.88 -80.00 1924.3 2021.1 1827.5 2132.4 1969.2 43.86 5.98 386 2685.61 5.53 0.00 3.51 0.665 0.000 0.126 1911.03 2008.44 1813.62 2132.25 531.31 0 0 0 11.76 30.00 15.67

2854.21 9254 255.20 1.90 0.00 1905.8 2000.1 1811.4 2132.1 531.8 33.27 4.76 422 2878.14 13.12 0.00 3.40 0.925 0.000 0.052 1847.91 1948.19 1747.62 2132.31 2034.25 0 0 0 11.81 30.00 15.76

3059.09 8486 269.55 1.92 80.00 1844.2 1943.0 1745.4 2132.2 2034.8 24.58 4.82 462 3082.99 12.69 0.00 3.46 0.913 0.000 0.112 1788.88 1892.31 1685.44 2132.25 3467.50 0 0 0 11.76 30.00 15.67

3311.61 11303 324.96 1.99 0.00 1786.7 1887.2 1686.1 2132.6 3468.1 20.86 -0.48 512 3364.16 41.37 0.17 3.41 0.983 0.080 0.057 1565.22 1661.69 1468.75 2175.25 1968.94 0 0 0 11.67 15.75 15.76

3387 end climb: NO_VERTICAL_VELOCITY

state 3387 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	18	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	120	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	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	1680.7729	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	21.019217	SEABIRD_T_I	2.4999999e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	16.725475	FG_AHR_24V	6.8658834	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	130722,204532,4719.968,-12524.148,19,1.0,20,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130722,204938,4719.981,-12524.147,3,0.7,5,15.8	MHEAD_RNG_PITCHd_Wd	58.1,188,-26.6,-6.667,-30.00,796,0.160
SPEED_LIMITS	0.115,0.220	D_GRID	1000
TGT_NAME	HOLD	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	4720.000,-12524.000

NAV	1657749070,0.4,0,stop	_10V_AH	14.91,0.000
FREEZE	19.32,13.985,-1.764,0,1,0	FG_AHR_24Vo	7.006
SM_CCo	3648.45,0.22,0.108,0,499.3,560.9,437.7,586.44	FG_AHR_10Vo	21.100
SM_GC	2.83,0.22,12.48,0.10,0.108,0.055,0.128,499.3,560.9,437.7,200.3,2036.6,0,0,0,15.52,15.40,15.43	MEM0	60108,1,0,0
SUPER	27,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	4722.06,-12521.92,130722,193315	MEM2	966252,27,80416,68
TCM_TEMP	14.79	DATA_FILE_SIZE	12960,526
SC_FREEKB	3873024	CAP_FILE_SIZE	163666,0
PM_FREEKB_00	61175552	SDSIZE	3887104,3864800
PM_ACTIVECARD	0	SDFILEDIR	193,1
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4700.000000,-12248.580078,130722,000002,2,510,7735.12	SOUNDSPEED	1465.0
HUMID	50.87	CURRENT	0.024,126.4,1
TEMP	11.85	MAGCAL	1.000000,0.029771,-0.018843,-0.003992,1.054736,-0.034559,0.017680,-0.051586,1.014142,783.1,-876.2,-666.9,36,0.0276,0
INTERNAL_PRESSURE	7.79108	IMPLIED_C_PITCH	1687,17.33,308,1683.7,17.03
_24V_AH	14.86,6.528	GPS	130722,215152,4719.990,-12523.991,1,0.9,5,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	585	1052	9163.34	nil	0	0	0.00
Pitch_motor	26	273	107.66	nil	0	0	0.00
Roll_motor	56	160	134.25	nil	0	0	0.00
Iridium	165	226	555.31	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.19	nil	0	0	0.00
Core	2181	5	166.56	SciCon	3398	6	350.95
Fast	0	0	0.00	PMAR	3409	12	647.96
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1496	0	7.14
Compass	1064	5	79.37
RAFOS	3428	40	2044.63
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
12.46	16386	-34.84	-1.63	0.00	493.3	549.2	437.5	199.1	1969.8	0.00	0.00	0	77.95	60.62	0.00	0.00	0.005	0.000	0.000	1978.31	2011.81	1944.81	199.12	1970.44	0	0	0	15.04	30.00	30.00
78.38	18983	-64.66	-1.67	-80.00	1978.1	2012.2	1944.0	199.1	1970.1	3.30	-2.82	11	131.87	30.66	8.30	3.51	0.006	0.274	0.122	3152.50	3185.56	3119.44	1276.12	531.69	0	0	0	15.72	15.54	15.64
210.28	1028	-64.66	-1.67	0.00	3152.0	3187.1	3116.9	1275.7	531.8	36.78	-25.26	36	217.46	0.00	0.00	3.40	0.000	0.000	0.052	3152.34	3187.88	3116.81	1276.06	2027.75	0	0	0	30.00	30.00	15.74
405.80	516	-64.66	-1.67	-80.00	3153.2	3190.2	3116.1	1276.4	2029.2	75.58	-18.63	62	413.98	0.00	0.00	3.68	0.000	0.000	0.118	3152.22	3189.25	3115.19	1276.06	532.62	0	0	0	30.00	30.00	15.76
416.69	1028	-64.66	-1.67	0.00	3153.4	3190.8	3115.9	1275.6	532.8	77.62	-18.33	64	424.99	0.00	0.00	3.38	0.000	0.000	0.050	3153.53	3190.69	3116.38	1276.06	2031.62	0	0	0	30.00	30.00	15.80
607.31	0	-64.66	-1.67	0.00	3153.9	3192.1	3115.8	1275.8	2031.8	106.95	-15.33	83	617.23	0.00	0.00	0.00	0.000	0.000	0.000	3153.91	3192.44	3115.38	1276.19	2031.56	0	0	0	30.00	30.00	30.00
707	end dive: TARGET_DEPTH_EXCEEDED
state	707	begin apogee
708.92	10243	0.00	-0.30	0.00	3154.4	3192.8	3116.0	1275.6	1960.9	120.49	-12.74	93	767.17	48.81	2.28	0.11	1.053	0.169	0.161	2888.00	2966.31	2809.69	1610.00	2041.12	0	0	0	11.68	15.74	15.62
769	end apogee: CONTROL_FINISHED_OK
state	769	begin climb
769.74	10243	64.66	1.67	0.00	2888.5	2966.9	2810.1	1610.1	2041.1	122.79	0.00	98	831.16	48.68	3.07	0.00	1.026	0.091	0.000	2626.56	2708.12	2545.00	2086.88	2039.38	0	0	0	11.70	15.62	30.00
1015.20	8742	83.25	1.69	-80.00	2620.3	2699.4	2541.1	2088.1	2039.5	111.50	4.27	123	1040.33	15.39	0.00	3.71	0.950	0.000	0.119	2548.19	2630.00	2466.38	2088.38	531.62	0	0	0	11.74	30.00	15.56
1268.01	9254	112.09	1.73	0.00	2542.1	2618.8	2465.3	2088.7	531.7	102.79	2.95	172	1302.65	22.85	0.00	3.41	0.997	0.000	0.050	2431.69	2517.25	2346.12	2089.00	2033.62	0	0	0	11.78	30.00	15.70
1487.99	8486	133.69	1.75	80.00	2427.7	2511.2	2344.1	2088.2	2033.9	94.98	3.88	197	1516.50	17.66	0.00	3.44	0.977	0.000	0.109	2343.84	2431.88	2255.81	2088.38	3470.50	0	0	0	11.72	30.00	15.61
1520.19	9254	157.03	1.78	0.00	2343.2	2430.8	2255.8	2088.4	3469.9	93.87	3.65	203	1548.78	19.33	0.00	3.41	0.962	0.000	0.054	2248.19	2340.56	2155.81	2088.12	1968.94	0	0	0	11.78	30.00	15.66
1732.31	10535	163.11	1.79	80.00	2242.4	2332.8	2152.1	2088.4	1968.6	81.08	5.88	227	1750.26	6.31	0.15	3.61	0.727	0.094	0.107	2223.25	2314.56	2131.94	2132.81	3469.56	0	0	0	11.78	15.66	15.64
1977.16	9254	190.95	1.82	0.00	2222.6	2313.0	2132.2	2132.6	3469.1	72.33	3.08	275	2011.74	22.18	0.00	3.40	0.995	0.000	0.056	2112.50	2209.75	2015.25	2133.00	1969.31	0	0	0	11.83	30.00	15.73
2197.16	8486	195.06	1.83	80.00	2104.4	2198.7	2010.2	2132.4	1969.2	59.13	6.14	300	2210.67	4.84	0.00	3.61	0.588	0.000	0.107	2093.03	2187.12	1998.94	2132.69	3473.44	0	0	0	11.67	30.00	15.69
2441.10	9254	235.07	1.88	0.00	2092.6	2186.2	1998.9	2132.2	3472.1	51.65	1.50	348	2485.55	31.02	0.00	3.40	1.005	0.000	0.056	1930.78	2028.88	1832.69	2131.69	1969.25	0	0	0	11.63	30.00	15.76
2671.14	8742	240.38	1.88	-80.00	1924.3	2021.1	1827.5	2132.4	1969.2	43.86	5.98	386	2685.61	5.53	0.00	3.51	0.665	0.000	0.126	1911.03	2008.44	1813.62	2132.25	531.31	0	0	0	11.76	30.00	15.67
2854.21	9254	255.20	1.90	0.00	1905.8	2000.1	1811.4	2132.1	531.8	33.27	4.76	422	2878.14	13.12	0.00	3.40	0.925	0.000	0.052	1847.91	1948.19	1747.62	2132.31	2034.25	0	0	0	11.81	30.00	15.76
3059.09	8486	269.55	1.92	80.00	1844.2	1943.0	1745.4	2132.2	2034.8	24.58	4.82	462	3082.99	12.69	0.00	3.46	0.913	0.000	0.112	1788.88	1892.31	1685.44	2132.25	3467.50	0	0	0	11.76	30.00	15.67
3311.61	11303	324.96	1.99	0.00	1786.7	1887.2	1686.1	2132.6	3468.1	20.86	-0.48	512	3364.16	41.37	0.17	3.41	0.983	0.080	0.057	1565.22	1661.69	1468.75	2175.25	1968.94	0	0	0	11.67	15.75	15.76
3387	end climb: NO_VERTICAL_VELOCITY
state	3387	begin surface