Glider dive log

AMOS Jul22 * SG242 * Dive index * Mission links * Dive 19 * 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 19 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 1683.6656 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 21.101368 SEABIRD_T_I 2.4999999e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 17.028416 FG_AHR_24V 7.0141006 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 21.101368 PITCH_CNV 0.0041299998 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FG_AHR_24V 7.0141006 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 17.028416 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 1683.6656 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 19 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 130722,215152,4719.990,-12523.991,1,0.9,5,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.63 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130722,215535,4719.999,-12523.969,2,0.9,5,15.8 MHEAD_RNG_PITCHd_Wd 263.3,39,-26.6,-6.667,-30.00,796,0.150

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 1657753144,9.5,start _10V_AH 14.82,0.000

FINISH 0.4,1.022437 FG_AHR_24Vo 7.153

SM_CCo 4108.23,92.69,0.939,0,500.6,558.6,442.6,586.11 FG_AHR_10Vo 21.192

SM_GC 1.29,92.69,12.31,0.12,0.939,0.055,0.140,500.6,558.6,442.6,207.8,1961.5,0,0,0,11.62,15.63,15.64 MEM0 60108,1,0,0

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

IRIDIUM_FIX 4719.67,-12524.51,130722,204659 MEM2 966264,26,80424,68

TCM_TEMP 16.95 DATA_FILE_SIZE 19348,673

SC_FREEKB 3872704 CAP_FILE_SIZE 181988,0

PM_FREEKB_00 61119104 SDSIZE 3887104,3864448

PM_ACTIVECARD 0 SDFILEDIR 202,1

RAFOS_CLK 1 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 50.45 CURRENT 0.066, 79.5,1

TEMP 12.76 MAGCAL 1.000000,0.024598,-0.001075,-0.002681,1.057742,-0.051851,0.011270,-0.041689,1.009950,771.8,-865.9,-659.8,36,0.0244,1

INTERNAL_PRESSURE 7.83876 IMPLIED_C_PITCH 1703,18.08,299,1693.5,17.55

_24V_AH 14.79,6.736 GPS 130722,230539,4719.994,-12523.799,2,1.2,18,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 582 1070 9224.58 nil 0 0 0.00

Pitch_motor 26 270 105.19 nil 0 0 0.00

Roll_motor 70 178 186.00 nil 0 0 0.00

Iridium 141 222 463.50 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.29 nil 0 0 0.00

Core 2643 5 200.62 SciCon 3989 6 410.92

Fast 0 0 0.00 PMAR 3999 12 755.04

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1570 0 7.45

Compass 1348 5 99.92

RAFOS 3086 40 1829.94

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

12.51 16386 -34.84 -1.60 0.00 499.2 560.6 437.8 200.2 1965.9 0.00 0.00 0 72.87 55.78 0.00 0.00 0.005 0.000 0.000 1882.19 1916.06 1848.31 200.44 1965.00 0 0 0 15.75 30.00 30.00

73.29 18983 -63.64 -1.64 -80.00 1882.2 1916.6 1847.8 200.3 1964.8 3.18 -2.95 11 132.11 34.03 8.35 3.49 0.005 0.271 0.124 3148.75 3182.81 3114.69 1287.31 531.75 0 0 0 15.78 15.60 15.69

335.02 1028 -63.64 -1.64 0.00 3148.5 3183.8 3113.2 1286.8 531.6 66.37 -22.57 59 343.02 0.00 0.00 3.41 0.000 0.000 0.053 3149.09 3184.12 3114.06 1287.12 2029.75 0 0 0 30.00 30.00 15.77

530.85 516 -63.64 -1.64 -80.00 3149.3 3186.4 3112.2 1287.1 2028.8 98.82 -15.79 79 538.94 0.00 0.00 3.65 0.000 0.000 0.120 3148.66 3185.94 3111.38 1286.94 531.75 0 0 0 30.00 30.00 15.74

651 end dive: TARGET_DEPTH_EXCEEDED

state 651 begin apogee

658.86 10243 0.00 -0.29 0.00 3150.1 3187.2 3112.9 1287.0 2030.6 120.21 -16.43 103 718.54 48.47 2.25 0.12 1.071 0.176 0.178 2887.53 2964.56 2810.50 1614.19 1962.94 0 0 0 11.87 15.73 15.60

720 end apogee: CONTROL_FINISHED_OK

state 720 begin climb

720.80 10503 63.64 1.64 80.00 2886.9 2963.9 2809.9 1613.8 1962.1 123.68 0.00 109 785.65 47.53 3.04 3.69 1.042 0.093 0.108 2631.12 2712.00 2550.25 2083.31 3470.38 0 0 0 11.66 15.60 15.47

922.16 9254 92.89 1.67 0.00 2627.7 2706.9 2548.4 2084.2 3468.9 116.43 2.89 146 956.53 23.25 0.00 3.43 1.007 0.000 0.055 2511.47 2596.06 2426.88 2083.56 1968.75 0 0 0 11.84 30.00 15.62

1140.07 8742 121.82 1.71 -80.00 2505.3 2587.8 2422.8 2083.7 1968.7 110.62 2.93 171 1174.88 22.90 0.00 3.54 1.009 0.000 0.122 2392.03 2480.25 2303.81 2083.56 532.69 0 0 0 11.63 30.00 15.56

1403.44 17414 121.82 1.71 0.00 2385.0 2468.5 2301.4 2083.5 533.0 93.19 6.84 223 1411.56 0.00 0.00 3.42 0.000 0.000 0.052 2386.28 2470.25 2302.31 2083.00 2034.50 0 0 0 30.00 30.00 15.71

1598.52 10791 156.44 1.75 -80.00 2385.3 2469.4 2301.2 2082.9 2034.1 88.43 2.20 243 1638.13 26.86 0.14 3.69 1.024 0.104 0.119 2251.69 2343.62 2159.75 2130.25 531.19 0 0 0 11.85 15.72 15.61

1866.03 9254 183.61 1.79 0.00 2243.2 2328.9 2157.6 2130.5 531.6 78.57 3.16 296 1896.41 21.09 0.00 3.41 1.005 0.000 0.051 2140.41 2235.06 2045.75 2129.50 2036.19 0 0 0 11.82 30.00 15.73

2081.79 8486 200.66 1.81 80.00 2136.2 2228.4 2044.1 2130.0 2035.9 69.86 4.47 320 2105.83 14.48 0.00 3.45 0.961 0.000 0.112 2071.25 2166.81 1975.69 2128.75 3469.75 0 0 0 11.65 30.00 15.65

2334.47 9254 222.67 1.83 0.00 2068.8 2163.1 1974.6 2129.6 3469.9 56.27 3.83 370 2363.11 18.56 0.00 3.42 0.987 0.000 0.056 1981.56 2077.19 1885.94 2129.56 1969.19 0 0 0 11.93 30.00 15.74

2546.64 8486 247.46 1.86 80.00 1975.3 2071.1 1879.4 2130.1 1968.5 49.17 3.47 396 2576.51 19.72 0.00 3.63 0.983 0.000 0.108 1880.59 1979.88 1781.31 2129.75 3468.81 0 0 0 11.93 30.00 15.64

2803.05 1028 247.46 1.86 0.00 1876.6 1972.6 1780.6 2129.8 3468.2 33.64 6.78 446 2810.86 0.00 0.00 3.42 0.000 0.000 0.058 1876.75 1972.75 1780.75 2129.50 1972.25 0 0 0 30.00 30.00 15.74

2994.41 8486 267.20 1.89 80.00 1874.4 1970.6 1778.1 2130.1 1972.0 24.13 4.12 484 3019.83 16.10 0.00 3.62 0.953 0.000 0.109 1800.03 1901.00 1699.06 2130.56 3469.38 0 0 0 11.92 30.00 15.68

3098.41 9254 293.49 1.92 0.00 1796.9 1896.5 1697.2 2130.1 3468.8 20.78 3.27 504 3129.00 20.95 0.00 3.41 0.959 0.000 0.056 1693.28 1792.81 1593.75 2129.38 1968.44 0 0 0 11.72 30.00 15.74

3310.19 10791 340.49 1.98 -80.00 1685.8 1784.3 1587.4 2129.2 1968.7 18.55 0.60 545 3356.21 34.47 0.19 3.54 0.979 0.076 0.127 1500.25 1595.88 1404.62 2177.94 532.75 0 0 0 11.66 15.75 15.62

3584.82 9254 384.66 2.03 0.00 1493.6 1585.9 1401.3 2178.4 532.9 12.20 0.97 599 3630.21 32.48 0.00 3.42 0.965 0.000 0.052 1320.62 1419.19 1222.06 2178.56 2036.38 0 0 0 11.74 30.00 15.78

3813.42 8742 423.82 2.08 -80.00 1315.9 1412.4 1219.4 2178.0 2037.1 8.74 1.61 642 3856.72 29.76 0.00 3.77 0.951 0.000 0.125 1161.03 1256.62 1065.44 2177.44 531.69 0 0 0 11.93 30.00 15.60

3870.32 9254 453.33 2.12 0.00 1158.6 1252.7 1064.6 2178.0 531.7 6.45 2.86 652 3905.18 23.41 0.00 3.42 0.918 0.000 0.050 1042.47 1133.69 951.25 2178.25 2034.31 0 0 0 11.69 30.00 15.65

3943 end climb: SURFACE_DEPTH_REACHED

state 3943 begin surface coast

3978 end surface coast: CONTROL_FINISHED_OK

state 3978 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	19	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	1683.6656	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	21.101368	SEABIRD_T_I	2.4999999e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	17.028416	FG_AHR_24V	7.0141006	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	130722,215152,4719.990,-12523.991,1,0.9,5,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.63	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130722,215535,4719.999,-12523.969,2,0.9,5,15.8	MHEAD_RNG_PITCHd_Wd	263.3,39,-26.6,-6.667,-30.00,796,0.150
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	1657753144,9.5,start	_10V_AH	14.82,0.000
FINISH	0.4,1.022437	FG_AHR_24Vo	7.153
SM_CCo	4108.23,92.69,0.939,0,500.6,558.6,442.6,586.11	FG_AHR_10Vo	21.192
SM_GC	1.29,92.69,12.31,0.12,0.939,0.055,0.140,500.6,558.6,442.6,207.8,1961.5,0,0,0,11.62,15.63,15.64	MEM0	60108,1,0,0
SUPER	27,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	4719.67,-12524.51,130722,204659	MEM2	966264,26,80424,68
TCM_TEMP	16.95	DATA_FILE_SIZE	19348,673
SC_FREEKB	3872704	CAP_FILE_SIZE	181988,0
PM_FREEKB_00	61119104	SDSIZE	3887104,3864448
PM_ACTIVECARD	0	SDFILEDIR	202,1
RAFOS_CLK	1	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	50.45	CURRENT	0.066, 79.5,1
TEMP	12.76	MAGCAL	1.000000,0.024598,-0.001075,-0.002681,1.057742,-0.051851,0.011270,-0.041689,1.009950,771.8,-865.9,-659.8,36,0.0244,1
INTERNAL_PRESSURE	7.83876	IMPLIED_C_PITCH	1703,18.08,299,1693.5,17.55
_24V_AH	14.79,6.736	GPS	130722,230539,4719.994,-12523.799,2,1.2,18,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	582	1070	9224.58	nil	0	0	0.00
Pitch_motor	26	270	105.19	nil	0	0	0.00
Roll_motor	70	178	186.00	nil	0	0	0.00
Iridium	141	222	463.50	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.29	nil	0	0	0.00
Core	2643	5	200.62	SciCon	3989	6	410.92
Fast	0	0	0.00	PMAR	3999	12	755.04
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1570	0	7.45
Compass	1348	5	99.92
RAFOS	3086	40	1829.94
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
12.51	16386	-34.84	-1.60	0.00	499.2	560.6	437.8	200.2	1965.9	0.00	0.00	0	72.87	55.78	0.00	0.00	0.005	0.000	0.000	1882.19	1916.06	1848.31	200.44	1965.00	0	0	0	15.75	30.00	30.00
73.29	18983	-63.64	-1.64	-80.00	1882.2	1916.6	1847.8	200.3	1964.8	3.18	-2.95	11	132.11	34.03	8.35	3.49	0.005	0.271	0.124	3148.75	3182.81	3114.69	1287.31	531.75	0	0	0	15.78	15.60	15.69
335.02	1028	-63.64	-1.64	0.00	3148.5	3183.8	3113.2	1286.8	531.6	66.37	-22.57	59	343.02	0.00	0.00	3.41	0.000	0.000	0.053	3149.09	3184.12	3114.06	1287.12	2029.75	0	0	0	30.00	30.00	15.77
530.85	516	-63.64	-1.64	-80.00	3149.3	3186.4	3112.2	1287.1	2028.8	98.82	-15.79	79	538.94	0.00	0.00	3.65	0.000	0.000	0.120	3148.66	3185.94	3111.38	1286.94	531.75	0	0	0	30.00	30.00	15.74
651	end dive: TARGET_DEPTH_EXCEEDED
state	651	begin apogee
658.86	10243	0.00	-0.29	0.00	3150.1	3187.2	3112.9	1287.0	2030.6	120.21	-16.43	103	718.54	48.47	2.25	0.12	1.071	0.176	0.178	2887.53	2964.56	2810.50	1614.19	1962.94	0	0	0	11.87	15.73	15.60
720	end apogee: CONTROL_FINISHED_OK
state	720	begin climb
720.80	10503	63.64	1.64	80.00	2886.9	2963.9	2809.9	1613.8	1962.1	123.68	0.00	109	785.65	47.53	3.04	3.69	1.042	0.093	0.108	2631.12	2712.00	2550.25	2083.31	3470.38	0	0	0	11.66	15.60	15.47
922.16	9254	92.89	1.67	0.00	2627.7	2706.9	2548.4	2084.2	3468.9	116.43	2.89	146	956.53	23.25	0.00	3.43	1.007	0.000	0.055	2511.47	2596.06	2426.88	2083.56	1968.75	0	0	0	11.84	30.00	15.62
1140.07	8742	121.82	1.71	-80.00	2505.3	2587.8	2422.8	2083.7	1968.7	110.62	2.93	171	1174.88	22.90	0.00	3.54	1.009	0.000	0.122	2392.03	2480.25	2303.81	2083.56	532.69	0	0	0	11.63	30.00	15.56
1403.44	17414	121.82	1.71	0.00	2385.0	2468.5	2301.4	2083.5	533.0	93.19	6.84	223	1411.56	0.00	0.00	3.42	0.000	0.000	0.052	2386.28	2470.25	2302.31	2083.00	2034.50	0	0	0	30.00	30.00	15.71
1598.52	10791	156.44	1.75	-80.00	2385.3	2469.4	2301.2	2082.9	2034.1	88.43	2.20	243	1638.13	26.86	0.14	3.69	1.024	0.104	0.119	2251.69	2343.62	2159.75	2130.25	531.19	0	0	0	11.85	15.72	15.61
1866.03	9254	183.61	1.79	0.00	2243.2	2328.9	2157.6	2130.5	531.6	78.57	3.16	296	1896.41	21.09	0.00	3.41	1.005	0.000	0.051	2140.41	2235.06	2045.75	2129.50	2036.19	0	0	0	11.82	30.00	15.73
2081.79	8486	200.66	1.81	80.00	2136.2	2228.4	2044.1	2130.0	2035.9	69.86	4.47	320	2105.83	14.48	0.00	3.45	0.961	0.000	0.112	2071.25	2166.81	1975.69	2128.75	3469.75	0	0	0	11.65	30.00	15.65
2334.47	9254	222.67	1.83	0.00	2068.8	2163.1	1974.6	2129.6	3469.9	56.27	3.83	370	2363.11	18.56	0.00	3.42	0.987	0.000	0.056	1981.56	2077.19	1885.94	2129.56	1969.19	0	0	0	11.93	30.00	15.74
2546.64	8486	247.46	1.86	80.00	1975.3	2071.1	1879.4	2130.1	1968.5	49.17	3.47	396	2576.51	19.72	0.00	3.63	0.983	0.000	0.108	1880.59	1979.88	1781.31	2129.75	3468.81	0	0	0	11.93	30.00	15.64
2803.05	1028	247.46	1.86	0.00	1876.6	1972.6	1780.6	2129.8	3468.2	33.64	6.78	446	2810.86	0.00	0.00	3.42	0.000	0.000	0.058	1876.75	1972.75	1780.75	2129.50	1972.25	0	0	0	30.00	30.00	15.74
2994.41	8486	267.20	1.89	80.00	1874.4	1970.6	1778.1	2130.1	1972.0	24.13	4.12	484	3019.83	16.10	0.00	3.62	0.953	0.000	0.109	1800.03	1901.00	1699.06	2130.56	3469.38	0	0	0	11.92	30.00	15.68
3098.41	9254	293.49	1.92	0.00	1796.9	1896.5	1697.2	2130.1	3468.8	20.78	3.27	504	3129.00	20.95	0.00	3.41	0.959	0.000	0.056	1693.28	1792.81	1593.75	2129.38	1968.44	0	0	0	11.72	30.00	15.74
3310.19	10791	340.49	1.98	-80.00	1685.8	1784.3	1587.4	2129.2	1968.7	18.55	0.60	545	3356.21	34.47	0.19	3.54	0.979	0.076	0.127	1500.25	1595.88	1404.62	2177.94	532.75	0	0	0	11.66	15.75	15.62
3584.82	9254	384.66	2.03	0.00	1493.6	1585.9	1401.3	2178.4	532.9	12.20	0.97	599	3630.21	32.48	0.00	3.42	0.965	0.000	0.052	1320.62	1419.19	1222.06	2178.56	2036.38	0	0	0	11.74	30.00	15.78
3813.42	8742	423.82	2.08	-80.00	1315.9	1412.4	1219.4	2178.0	2037.1	8.74	1.61	642	3856.72	29.76	0.00	3.77	0.951	0.000	0.125	1161.03	1256.62	1065.44	2177.44	531.69	0	0	0	11.93	30.00	15.60
3870.32	9254	453.33	2.12	0.00	1158.6	1252.7	1064.6	2178.0	531.7	6.45	2.86	652	3905.18	23.41	0.00	3.42	0.918	0.000	0.050	1042.47	1133.69	951.25	2178.25	2034.31	0	0	0	11.69	30.00	15.65
3943	end climb: SURFACE_DEPTH_REACHED
state	3943	begin surface coast
3978	end surface coast: CONTROL_FINISHED_OK
state	3978	begin surface