Glider dive log

AMOS Jul22 * SG242 * Dive index * Mission links * Dive 20 * 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 20 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 1693.4812 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 21.198973 SEABIRD_T_I 2.4999999e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 17.554016 FG_AHR_24V 7.1640115 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 21.198973 PITCH_CNV 0.0041299998 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FG_AHR_24V 7.1640115 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 17.554016 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 1693.4812 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 20 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 130722,230539,4719.994,-12523.799,2,1.2,18,15.8 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 -56.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130722,231013,4720.007,-12523.749,3,1.1,6,15.8 MHEAD_RNG_PITCHd_Wd 248.4,315,-19.1,-6.667,-23.30,1450,0.157

SPEED_LIMITS 0.115,0.220 D_GRID 1000

TGT_NAME HOLD 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 4720.000,-12524.000

Post-dive calculations and measurements:

NAV 1657756742,19.6,start _10V_AH 14.82,0.000

FINISH 0.4,1.017595 FG_AHR_24Vo 7.307

SM_CCo 3616.85,89.70,0.928,0,500.9,558.2,443.5,586.05 FG_AHR_10Vo 21.280

SM_GC 1.42,89.70,11.66,3.42,0.928,0.045,0.050,500.9,558.2,443.5,202.8,2037.1,0,0,0,11.69,15.64,15.66 MEM0 60108,1,0,0

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

IRIDIUM_FIX 4719.30,-12520.08,130722,215314 MEM2 966272,25,80436,68

TCM_TEMP 16.35 DATA_FILE_SIZE 16147,557

SC_FREEKB 3872384 CAP_FILE_SIZE 170226,0

PM_FREEKB_00 61069568 SDSIZE 3887104,3864128

PM_ACTIVECARD 0 SDFILEDIR 211,1

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 50.56 CURRENT 0.081, 88.0,1

TEMP 12.74 MAGCAL 1.000000,0.037632,0.017535,-0.007238,1.063932,-0.055520,0.003684,-0.031934,1.019814,762.3,-861.3,-658.8,36,0.0267,0

INTERNAL_PRESSURE 7.83527 IMPLIED_C_PITCH 1697,16.76,281,1695.3,17.16

_24V_AH 14.80,6.949 GPS 140722,001156,4720.050,-12523.804,3,1.4,10,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 609 1059 9566.03 nil 0 0 0.00

Pitch_motor 25 271 100.73 nil 0 0 0.00

Roll_motor 63 168 159.00 nil 0 0 0.00

Iridium 190 212 601.02 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 15 15 3.45 nil 0 0 0.00

Core 2373 5 180.12 SciCon 3497 6 361.79

Fast 0 0 0.00 PMAR 3506 12 663.72

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1396 0 6.62

Compass 1143 5 84.71

RAFOS 2685 40 1592.26

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 -63.96 -1.17 0.00 493.9 549.2 438.5 207.7 2042.1 0.00 0.00 0 82.08 64.44 0.00 0.00 0.005 0.000 0.000 2069.97 2101.56 2038.38 207.81 2043.25 0 0 0 14.54 30.00 30.00

82.51 18467 -115.66 -1.23 0.00 2070.1 2102.1 2038.1 207.7 2043.2 3.44 -3.00 12 134.38 32.06 9.18 0.00 0.005 0.271 0.000 3360.59 3393.69 3327.50 1393.94 2042.56 0 0 0 15.69 15.53 30.00

317.73 516 -115.66 -1.23 -80.00 3362.8 3399.5 3326.2 1394.9 2042.9 46.03 -16.87 58 325.14 0.00 0.00 3.72 0.000 0.000 0.120 3363.50 3400.56 3326.44 1395.00 532.81 0 0 0 30.00 30.00 15.69

333.52 1028 -115.66 -1.23 0.00 3363.1 3400.5 3325.6 1394.6 532.6 48.83 -17.48 61 340.84 0.00 0.00 3.41 0.000 0.000 0.051 3363.47 3400.44 3326.50 1394.88 2028.94 0 0 0 30.00 30.00 15.72

524.26 260 -115.66 -1.23 80.00 3363.7 3401.2 3326.1 1394.9 2028.9 78.22 -14.18 81 532.17 0.00 0.00 3.47 0.000 0.000 0.109 3362.78 3400.19 3325.38 1394.62 3468.00 0 0 0 30.00 30.00 15.74

573.99 1028 -115.66 -1.23 0.00 3364.1 3402.0 3326.2 1394.5 3469.0 85.26 -14.32 90 581.85 0.00 0.00 3.43 0.000 0.000 0.056 3363.88 3402.00 3325.75 1394.50 1972.38 0 0 0 30.00 30.00 15.77

768.96 260 -115.66 -1.23 80.00 3364.7 3403.2 3326.2 1395.1 1971.2 106.37 -10.90 110 777.00 0.00 0.00 3.61 0.000 0.000 0.107 3365.53 3404.75 3326.31 1393.50 3469.00 0 0 0 30.00 30.00 15.76

795.47 1028 -115.66 -1.23 0.00 3364.9 3403.2 3326.5 1394.6 3468.1 109.38 -10.93 115 803.37 0.00 0.00 3.41 0.000 0.000 0.055 3364.88 3403.56 3326.19 1395.00 1970.88 0 0 0 30.00 30.00 15.80

890 end dive: TARGET_DEPTH_EXCEEDED

state 890 begin apogee

892.00 10243 0.00 -0.28 0.00 3365.1 3403.9 3326.2 1394.8 2038.9 120.03 -11.55 125 988.33 83.36 1.53 0.12 1.060 0.136 0.169 2888.72 2972.19 2805.25 1626.50 1964.06 0 0 0 11.79 15.74 15.50

991 end apogee: CONTROL_FINISHED_OK

state 991 begin climb

991.33 10503 115.66 1.23 80.00 2886.8 2968.9 2804.6 1626.9 1964.0 123.58 0.00 134 1094.57 84.09 2.37 3.70 1.032 0.092 0.106 2417.06 2511.69 2322.44 1995.62 3468.62 0 0 0 11.83 15.52 15.34

1097.42 9254 140.41 1.26 0.00 2416.0 2510.3 2321.8 1995.7 3467.2 119.79 4.91 148 1127.66 19.94 0.00 3.46 0.945 0.000 0.053 2316.88 2412.75 2221.00 1995.88 1972.06 0 0 0 11.50 30.00 15.41

1313.10 16902 140.41 1.26 -80.00 2308.9 2399.9 2217.9 1996.1 1972.4 101.58 8.72 172 1321.29 0.00 0.00 3.55 0.000 0.000 0.125 2308.00 2398.75 2217.25 1995.31 532.88 0 0 0 30.00 30.00 15.56

1549.90 17446 141.13 1.26 0.00 2305.9 2393.6 2218.2 1995.1 532.9 81.02 6.62 219 1557.85 0.00 0.00 3.40 0.000 0.000 0.051 2305.28 2393.12 2217.44 1996.31 2034.38 0 0 0 30.00 30.00 15.70

1744.91 10791 213.30 1.35 -80.00 2305.7 2393.4 2217.9 1995.5 2033.9 78.00 1.55 239 1810.06 52.44 0.16 3.71 1.010 0.087 0.121 2018.25 2115.31 1921.19 2039.81 531.62 0 0 0 11.86 15.74 15.54

1922.84 17414 213.30 1.35 0.00 2011.5 2104.0 1918.9 2039.0 531.5 67.89 8.82 273 1931.40 0.00 0.00 3.42 0.000 0.000 0.052 2011.12 2103.94 1918.31 2038.81 2031.75 0 0 0 30.00 30.00 15.66

2118.68 8486 226.28 1.37 80.00 2010.1 2104.6 1915.6 2038.6 2031.6 55.87 5.75 293 2137.70 10.68 0.00 3.45 0.878 0.000 0.112 1965.75 2063.06 1868.44 2039.56 3470.31 0 0 0 11.89 30.00 15.66

2366.38 9254 272.55 1.42 0.00 1964.5 2060.4 1868.6 2038.8 3469.9 45.29 3.39 341 2412.14 35.10 0.00 3.40 0.981 0.000 0.056 1779.19 1882.50 1675.88 2038.19 1971.19 0 0 0 11.62 30.00 15.76

2595.70 8226 282.75 1.44 0.00 1771.9 1875.2 1668.7 2038.8 1970.4 32.20 5.94 386 2607.42 9.27 0.00 0.00 0.835 0.000 0.000 1735.66 1839.94 1631.38 2039.50 1970.50 0 0 0 11.80 30.00 30.00

2790.98 8742 327.20 1.49 -80.00 1731.9 1834.8 1629.0 2039.1 1970.9 23.94 3.52 425 2836.63 33.30 0.00 3.56 0.962 0.000 0.130 1554.91 1654.25 1455.56 2037.00 533.31 0 0 0 11.66 30.00 15.68

3065.07 11303 392.76 1.57 0.00 1547.6 1643.3 1451.8 2038.6 532.8 15.50 2.02 475 3127.00 47.49 0.22 3.42 0.958 0.074 0.051 1287.16 1386.12 1188.19 2090.75 2037.38 0 0 0 11.68 15.75 15.77

3310.54 8742 458.18 1.65 -80.00 1282.0 1379.9 1184.0 2091.1 2037.7 10.88 2.03 523 3372.72 48.01 0.00 3.79 0.943 0.000 0.127 1021.12 1113.12 929.12 2091.06 533.00 0 0 0 11.88 30.00 15.53

3456 end climb: SURFACE_DEPTH_REACHED

state 3456 begin surface coast

3486 end surface coast: CONTROL_FINISHED_OK

state 3486 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	20	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	1693.4812	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	21.198973	SEABIRD_T_I	2.4999999e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	17.554016	FG_AHR_24V	7.1640115	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	130722,230539,4719.994,-12523.799,2,1.2,18,15.8	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	-56.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130722,231013,4720.007,-12523.749,3,1.1,6,15.8	MHEAD_RNG_PITCHd_Wd	248.4,315,-19.1,-6.667,-23.30,1450,0.157
SPEED_LIMITS	0.115,0.220	D_GRID	1000
TGT_NAME	HOLD	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	4720.000,-12524.000

NAV	1657756742,19.6,start	_10V_AH	14.82,0.000
FINISH	0.4,1.017595	FG_AHR_24Vo	7.307
SM_CCo	3616.85,89.70,0.928,0,500.9,558.2,443.5,586.05	FG_AHR_10Vo	21.280
SM_GC	1.42,89.70,11.66,3.42,0.928,0.045,0.050,500.9,558.2,443.5,202.8,2037.1,0,0,0,11.69,15.64,15.66	MEM0	60108,1,0,0
SUPER	27,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	4719.30,-12520.08,130722,215314	MEM2	966272,25,80436,68
TCM_TEMP	16.35	DATA_FILE_SIZE	16147,557
SC_FREEKB	3872384	CAP_FILE_SIZE	170226,0
PM_FREEKB_00	61069568	SDSIZE	3887104,3864128
PM_ACTIVECARD	0	SDFILEDIR	211,1
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	50.56	CURRENT	0.081, 88.0,1
TEMP	12.74	MAGCAL	1.000000,0.037632,0.017535,-0.007238,1.063932,-0.055520,0.003684,-0.031934,1.019814,762.3,-861.3,-658.8,36,0.0267,0
INTERNAL_PRESSURE	7.83527	IMPLIED_C_PITCH	1697,16.76,281,1695.3,17.16
_24V_AH	14.80,6.949	GPS	140722,001156,4720.050,-12523.804,3,1.4,10,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	609	1059	9566.03	nil	0	0	0.00
Pitch_motor	25	271	100.73	nil	0	0	0.00
Roll_motor	63	168	159.00	nil	0	0	0.00
Iridium	190	212	601.02	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	15	15	3.45	nil	0	0	0.00
Core	2373	5	180.12	SciCon	3497	6	361.79
Fast	0	0	0.00	PMAR	3506	12	663.72
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1396	0	6.62
Compass	1143	5	84.71
RAFOS	2685	40	1592.26
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	-63.96	-1.17	0.00	493.9	549.2	438.5	207.7	2042.1	0.00	0.00	0	82.08	64.44	0.00	0.00	0.005	0.000	0.000	2069.97	2101.56	2038.38	207.81	2043.25	0	0	0	14.54	30.00	30.00
82.51	18467	-115.66	-1.23	0.00	2070.1	2102.1	2038.1	207.7	2043.2	3.44	-3.00	12	134.38	32.06	9.18	0.00	0.005	0.271	0.000	3360.59	3393.69	3327.50	1393.94	2042.56	0	0	0	15.69	15.53	30.00
317.73	516	-115.66	-1.23	-80.00	3362.8	3399.5	3326.2	1394.9	2042.9	46.03	-16.87	58	325.14	0.00	0.00	3.72	0.000	0.000	0.120	3363.50	3400.56	3326.44	1395.00	532.81	0	0	0	30.00	30.00	15.69
333.52	1028	-115.66	-1.23	0.00	3363.1	3400.5	3325.6	1394.6	532.6	48.83	-17.48	61	340.84	0.00	0.00	3.41	0.000	0.000	0.051	3363.47	3400.44	3326.50	1394.88	2028.94	0	0	0	30.00	30.00	15.72
524.26	260	-115.66	-1.23	80.00	3363.7	3401.2	3326.1	1394.9	2028.9	78.22	-14.18	81	532.17	0.00	0.00	3.47	0.000	0.000	0.109	3362.78	3400.19	3325.38	1394.62	3468.00	0	0	0	30.00	30.00	15.74
573.99	1028	-115.66	-1.23	0.00	3364.1	3402.0	3326.2	1394.5	3469.0	85.26	-14.32	90	581.85	0.00	0.00	3.43	0.000	0.000	0.056	3363.88	3402.00	3325.75	1394.50	1972.38	0	0	0	30.00	30.00	15.77
768.96	260	-115.66	-1.23	80.00	3364.7	3403.2	3326.2	1395.1	1971.2	106.37	-10.90	110	777.00	0.00	0.00	3.61	0.000	0.000	0.107	3365.53	3404.75	3326.31	1393.50	3469.00	0	0	0	30.00	30.00	15.76
795.47	1028	-115.66	-1.23	0.00	3364.9	3403.2	3326.5	1394.6	3468.1	109.38	-10.93	115	803.37	0.00	0.00	3.41	0.000	0.000	0.055	3364.88	3403.56	3326.19	1395.00	1970.88	0	0	0	30.00	30.00	15.80
890	end dive: TARGET_DEPTH_EXCEEDED
state	890	begin apogee
892.00	10243	0.00	-0.28	0.00	3365.1	3403.9	3326.2	1394.8	2038.9	120.03	-11.55	125	988.33	83.36	1.53	0.12	1.060	0.136	0.169	2888.72	2972.19	2805.25	1626.50	1964.06	0	0	0	11.79	15.74	15.50
991	end apogee: CONTROL_FINISHED_OK
state	991	begin climb
991.33	10503	115.66	1.23	80.00	2886.8	2968.9	2804.6	1626.9	1964.0	123.58	0.00	134	1094.57	84.09	2.37	3.70	1.032	0.092	0.106	2417.06	2511.69	2322.44	1995.62	3468.62	0	0	0	11.83	15.52	15.34
1097.42	9254	140.41	1.26	0.00	2416.0	2510.3	2321.8	1995.7	3467.2	119.79	4.91	148	1127.66	19.94	0.00	3.46	0.945	0.000	0.053	2316.88	2412.75	2221.00	1995.88	1972.06	0	0	0	11.50	30.00	15.41
1313.10	16902	140.41	1.26	-80.00	2308.9	2399.9	2217.9	1996.1	1972.4	101.58	8.72	172	1321.29	0.00	0.00	3.55	0.000	0.000	0.125	2308.00	2398.75	2217.25	1995.31	532.88	0	0	0	30.00	30.00	15.56
1549.90	17446	141.13	1.26	0.00	2305.9	2393.6	2218.2	1995.1	532.9	81.02	6.62	219	1557.85	0.00	0.00	3.40	0.000	0.000	0.051	2305.28	2393.12	2217.44	1996.31	2034.38	0	0	0	30.00	30.00	15.70
1744.91	10791	213.30	1.35	-80.00	2305.7	2393.4	2217.9	1995.5	2033.9	78.00	1.55	239	1810.06	52.44	0.16	3.71	1.010	0.087	0.121	2018.25	2115.31	1921.19	2039.81	531.62	0	0	0	11.86	15.74	15.54
1922.84	17414	213.30	1.35	0.00	2011.5	2104.0	1918.9	2039.0	531.5	67.89	8.82	273	1931.40	0.00	0.00	3.42	0.000	0.000	0.052	2011.12	2103.94	1918.31	2038.81	2031.75	0	0	0	30.00	30.00	15.66
2118.68	8486	226.28	1.37	80.00	2010.1	2104.6	1915.6	2038.6	2031.6	55.87	5.75	293	2137.70	10.68	0.00	3.45	0.878	0.000	0.112	1965.75	2063.06	1868.44	2039.56	3470.31	0	0	0	11.89	30.00	15.66
2366.38	9254	272.55	1.42	0.00	1964.5	2060.4	1868.6	2038.8	3469.9	45.29	3.39	341	2412.14	35.10	0.00	3.40	0.981	0.000	0.056	1779.19	1882.50	1675.88	2038.19	1971.19	0	0	0	11.62	30.00	15.76
2595.70	8226	282.75	1.44	0.00	1771.9	1875.2	1668.7	2038.8	1970.4	32.20	5.94	386	2607.42	9.27	0.00	0.00	0.835	0.000	0.000	1735.66	1839.94	1631.38	2039.50	1970.50	0	0	0	11.80	30.00	30.00
2790.98	8742	327.20	1.49	-80.00	1731.9	1834.8	1629.0	2039.1	1970.9	23.94	3.52	425	2836.63	33.30	0.00	3.56	0.962	0.000	0.130	1554.91	1654.25	1455.56	2037.00	533.31	0	0	0	11.66	30.00	15.68
3065.07	11303	392.76	1.57	0.00	1547.6	1643.3	1451.8	2038.6	532.8	15.50	2.02	475	3127.00	47.49	0.22	3.42	0.958	0.074	0.051	1287.16	1386.12	1188.19	2090.75	2037.38	0	0	0	11.68	15.75	15.77
3310.54	8742	458.18	1.65	-80.00	1282.0	1379.9	1184.0	2091.1	2037.7	10.88	2.03	523	3372.72	48.01	0.00	3.79	0.943	0.000	0.127	1021.12	1113.12	929.12	2091.06	533.00	0	0	0	11.88	30.00	15.53
3456	end climb: SURFACE_DEPTH_REACHED
state	3456	begin surface coast
3486	end surface coast: CONTROL_FINISHED_OK
state	3486	begin surface