Glider dive log

AMOS Jul22 * SG242 * Dive index * Mission links * Dive 21 * 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 21 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 1695.2926 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 21.286911 SEABIRD_T_I 2.4999999e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 17.158968 FG_AHR_24V 7.3176899 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 21.286911 PITCH_CNV 0.0041299998 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FG_AHR_24V 7.3176899 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 17.158968 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 1695.2926 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 21 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 140722,001156,4720.050,-12523.804,3,1.4,10,15.8 TGT_RADIUS 1500.000

_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 -58.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140722,001628,4720.047,-12523.750,3,1.4,11,15.8 MHEAD_RNG_PITCHd_Wd 245.2,326,-17.2,-6.667,-21.65,1733,0.183

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 1657760345,22.5,start FG_AHR_24Vo 7.466

FREEZE 10.22,16.501,-1.716,0,1,0 FG_AHR_10Vo 21.358

SM_CCo 3209.66,0.20,0.109,0,499.6,560.4,438.7,586.37 MEM0 60108,1,0,0

SM_GC 3.29,0.20,12.10,0.14,0.109,0.070,0.136,499.6,560.4,438.7,203.4,1963.2,0,0,0,15.57,15.45,15.47 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 966268,25,80440,68

IRIDIUM_FIX 4721.51,-12528.94,130722,230709 DATA_FILE_SIZE 12958,468

TCM_TEMP 15.63 CAP_FILE_SIZE 160635,0

SC_FREEKB 3872064 SDSIZE 3887104,3863840

PM_FREEKB_00 61026048 SDFILEDIR 220,1

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 0.118,103.6,1

HUMID 50.63 MAGCAL 1.000000,0.028007,0.028619,-0.008057,1.057597,-0.045658,-0.007671,-0.048681,1.021007,753.1,-866.5,-659.6,36,0.0284,0

TEMP 12.47 IMPLIED_C_PITCH 1698,16.30,235,1696.8,16.73

INTERNAL_PRESSURE 7.82502 IMPLIED_C_VBD 3139,66.315605,140,0

_24V_AH 14.83,7.163 GPS 140722,011132,4719.987,-12523.810,4,1.2,19,15.8

_10V_AH 14.87,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 620 1059 9755.88 nil 0 0 0.00

Pitch_motor 25 274 104.85 nil 0 0 0.00

Roll_motor 56 167 140.76 nil 0 0 0.00

Iridium 184 215 590.31 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 20 15 4.56 nil 0 0 0.00

Core 2158 5 164.31 SciCon 3069 6 318.54

Fast 0 0 0.00 PMAR 3079 12 585.04

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1218 0 5.80

Compass 966 5 71.89

RAFOS 2311 40 1374.96

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

12.48 16386 -76.69 -1.10 0.00 494.3 549.7 438.9 202.9 1961.2 0.00 0.00 0 78.13 60.76 0.00 0.00 0.005 0.000 0.000 1998.47 2031.81 1965.12 203.00 1960.94 0 0 0 15.69 30.00 30.00

78.56 18727 -137.77 -1.17 80.00 1998.8 2032.3 1965.2 202.8 1961.5 3.39 -3.05 12 143.18 36.68 9.38 3.63 0.005 0.275 0.111 3451.03 3485.81 3416.25 1411.38 3467.25 0 0 0 15.71 15.55 15.64

204.75 1028 -137.77 -1.17 0.00 3452.6 3488.6 3416.7 1411.1 3466.9 27.29 -16.55 35 211.96 0.00 0.00 3.42 0.000 0.000 0.056 3453.31 3489.62 3417.00 1411.44 1972.50 0 0 0 30.00 30.00 15.70

395.38 260 -137.77 -1.17 80.00 3452.6 3489.5 3415.8 1411.2 1972.6 56.33 -15.52 69 403.41 0.00 0.00 3.62 0.000 0.000 0.108 3454.31 3490.50 3418.12 1410.75 3471.75 0 0 0 30.00 30.00 15.72

421.89 1028 -137.77 -1.17 0.00 3452.9 3489.6 3416.3 1411.2 3471.2 60.49 -15.70 74 429.80 0.00 0.00 3.42 0.000 0.000 0.055 3452.56 3489.31 3415.81 1410.88 1970.88 0 0 0 30.00 30.00 15.74

616.91 260 -137.77 -1.17 80.00 3453.6 3490.9 3416.2 1411.4 1970.7 87.22 -12.97 94 624.97 0.00 0.00 3.62 0.000 0.000 0.107 3453.81 3491.00 3416.62 1411.06 3469.50 0 0 0 30.00 30.00 15.76

653.43 1028 -137.77 -1.17 0.00 3453.8 3491.2 3416.4 1411.0 3468.4 91.71 -12.32 101 661.34 0.00 0.00 3.42 0.000 0.000 0.055 3454.62 3491.69 3417.56 1410.81 1969.31 0 0 0 30.00 30.00 15.78

848.46 0 -137.77 -1.17 0.00 3454.4 3492.7 3416.1 1411.2 1969.7 113.40 -11.00 121 850.21 0.00 0.00 0.00 0.000 0.000 0.000 3453.81 3491.31 3416.31 1411.62 1970.00 0 0 0 30.00 30.00 30.00

908 end dive: TARGET_DEPTH_EXCEEDED

state 908 begin apogee

909.97 10243 0.00 -0.29 0.00 3454.7 3492.4 3417.0 1411.4 2036.9 120.31 -11.62 127 1019.52 98.49 1.43 0.12 1.060 0.131 0.167 2888.28 2974.25 2802.31 1625.75 1964.25 0 0 0 11.71 15.76 15.48

1021 end apogee: CONTROL_FINISHED_OK

state 1022 begin climb

1022.03 10243 137.77 1.17 0.00 2886.2 2972.8 2799.6 1627.4 1964.6 124.45 0.00 137 1137.46 99.47 2.30 0.00 1.033 0.090 0.000 2326.66 2423.06 2230.25 1983.06 1964.31 0 0 0 11.73 15.49 30.00

1320.91 16902 137.77 1.17 -80.00 2319.5 2411.5 2227.4 1982.4 1964.3 104.19 9.28 169 1329.20 0.00 0.00 3.55 0.000 0.000 0.127 2319.81 2411.38 2228.25 1983.19 531.69 0 0 0 30.00 30.00 15.56

1555.36 1060 142.75 1.18 0.00 2315.2 2403.1 2227.3 1983.2 531.8 85.95 6.37 215 1563.81 0.00 0.00 3.41 0.000 0.000 0.051 2315.97 2404.06 2227.88 1983.44 2033.50 0 0 0 30.00 30.00 15.71

1751.13 8742 213.61 1.27 -80.00 2315.3 2403.1 2227.4 1983.4 2033.1 80.17 2.47 235 1818.78 55.13 0.00 3.76 1.011 0.000 0.122 2017.31 2115.94 1918.69 1983.50 531.69 0 0 0 11.71 30.00 15.55

1837.36 11303 292.72 1.36 0.00 2012.9 2108.8 1916.9 1983.6 531.6 78.63 1.98 251 1909.38 57.24 0.26 3.43 0.990 0.069 0.049 1694.78 1795.50 1594.06 2045.69 2036.81 0 0 0 11.94 15.60 15.62

2092.86 16646 292.72 1.36 80.00 1687.0 1786.0 1588.1 2045.4 2036.9 56.63 9.28 283 2100.93 0.00 0.00 3.45 0.000 0.000 0.112 1685.81 1784.62 1587.00 2043.94 3464.94 0 0 0 30.00 30.00 15.64

2163.70 17414 292.72 1.36 0.00 1686.0 1784.7 1587.4 2045.8 3465.0 49.66 9.86 297 2172.24 0.00 0.00 3.43 0.000 0.000 0.057 1686.38 1784.75 1588.00 2045.88 1971.06 0 0 0 30.00 30.00 15.72

2355.78 16902 292.72 1.36 -80.00 1685.0 1783.9 1586.0 2046.2 1970.9 34.07 7.75 335 2363.64 0.00 0.00 3.55 0.000 0.000 0.127 1685.31 1783.38 1587.25 2045.94 531.62 0 0 0 30.00 30.00 15.76

2387.16 17414 292.72 1.36 0.00 1684.2 1782.1 1586.2 2046.1 531.3 30.97 9.68 341 2394.89 0.00 0.00 3.38 0.000 0.000 0.051 1683.97 1781.44 1586.50 2046.56 2033.38 0 0 0 30.00 30.00 15.82

2580.05 8742 316.04 1.39 -80.00 1683.2 1781.1 1585.3 2046.1 2033.2 19.48 5.28 375 2608.56 17.39 0.00 3.72 0.930 0.000 0.125 1600.66 1700.31 1501.00 2046.56 532.75 0 0 0 11.79 30.00 15.73

2742.16 9254 379.11 1.47 0.00 1596.2 1692.3 1500.0 2045.8 532.9 13.33 2.93 407 2798.82 46.01 0.00 3.41 0.956 0.000 0.050 1343.88 1445.06 1242.69 2046.56 2038.94 0 0 0 11.89 30.00 15.78

2982.36 10791 491.64 1.61 -80.00 1337.3 1436.6 1238.0 2046.1 2039.5 11.88 -0.00 454 3058.33 69.56 0.25 0.00 0.948 0.075 0.000 954.12 1045.94 862.31 2098.94 2039.56 0 0 0 11.81 15.73 30.00

3059 end climb: NO_VERTICAL_VELOCITY

state 3059 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	21	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	1695.2926	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	21.286911	SEABIRD_T_I	2.4999999e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	17.158968	FG_AHR_24V	7.3176899	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	140722,001156,4720.050,-12523.804,3,1.4,10,15.8	TGT_RADIUS	1500.000
_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	-58.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140722,001628,4720.047,-12523.750,3,1.4,11,15.8	MHEAD_RNG_PITCHd_Wd	245.2,326,-17.2,-6.667,-21.65,1733,0.183
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	1657760345,22.5,start	FG_AHR_24Vo	7.466
FREEZE	10.22,16.501,-1.716,0,1,0	FG_AHR_10Vo	21.358
SM_CCo	3209.66,0.20,0.109,0,499.6,560.4,438.7,586.37	MEM0	60108,1,0,0
SM_GC	3.29,0.20,12.10,0.14,0.109,0.070,0.136,499.6,560.4,438.7,203.4,1963.2,0,0,0,15.57,15.45,15.47	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	966268,25,80440,68
IRIDIUM_FIX	4721.51,-12528.94,130722,230709	DATA_FILE_SIZE	12958,468
TCM_TEMP	15.63	CAP_FILE_SIZE	160635,0
SC_FREEKB	3872064	SDSIZE	3887104,3863840
PM_FREEKB_00	61026048	SDFILEDIR	220,1
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	0.118,103.6,1
HUMID	50.63	MAGCAL	1.000000,0.028007,0.028619,-0.008057,1.057597,-0.045658,-0.007671,-0.048681,1.021007,753.1,-866.5,-659.6,36,0.0284,0
TEMP	12.47	IMPLIED_C_PITCH	1698,16.30,235,1696.8,16.73
INTERNAL_PRESSURE	7.82502	IMPLIED_C_VBD	3139,66.315605,140,0
_24V_AH	14.83,7.163	GPS	140722,011132,4719.987,-12523.810,4,1.2,19,15.8
_10V_AH	14.87,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	620	1059	9755.88	nil	0	0	0.00
Pitch_motor	25	274	104.85	nil	0	0	0.00
Roll_motor	56	167	140.76	nil	0	0	0.00
Iridium	184	215	590.31	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	20	15	4.56	nil	0	0	0.00
Core	2158	5	164.31	SciCon	3069	6	318.54
Fast	0	0	0.00	PMAR	3079	12	585.04
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1218	0	5.80
Compass	966	5	71.89
RAFOS	2311	40	1374.96
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
12.48	16386	-76.69	-1.10	0.00	494.3	549.7	438.9	202.9	1961.2	0.00	0.00	0	78.13	60.76	0.00	0.00	0.005	0.000	0.000	1998.47	2031.81	1965.12	203.00	1960.94	0	0	0	15.69	30.00	30.00
78.56	18727	-137.77	-1.17	80.00	1998.8	2032.3	1965.2	202.8	1961.5	3.39	-3.05	12	143.18	36.68	9.38	3.63	0.005	0.275	0.111	3451.03	3485.81	3416.25	1411.38	3467.25	0	0	0	15.71	15.55	15.64
204.75	1028	-137.77	-1.17	0.00	3452.6	3488.6	3416.7	1411.1	3466.9	27.29	-16.55	35	211.96	0.00	0.00	3.42	0.000	0.000	0.056	3453.31	3489.62	3417.00	1411.44	1972.50	0	0	0	30.00	30.00	15.70
395.38	260	-137.77	-1.17	80.00	3452.6	3489.5	3415.8	1411.2	1972.6	56.33	-15.52	69	403.41	0.00	0.00	3.62	0.000	0.000	0.108	3454.31	3490.50	3418.12	1410.75	3471.75	0	0	0	30.00	30.00	15.72
421.89	1028	-137.77	-1.17	0.00	3452.9	3489.6	3416.3	1411.2	3471.2	60.49	-15.70	74	429.80	0.00	0.00	3.42	0.000	0.000	0.055	3452.56	3489.31	3415.81	1410.88	1970.88	0	0	0	30.00	30.00	15.74
616.91	260	-137.77	-1.17	80.00	3453.6	3490.9	3416.2	1411.4	1970.7	87.22	-12.97	94	624.97	0.00	0.00	3.62	0.000	0.000	0.107	3453.81	3491.00	3416.62	1411.06	3469.50	0	0	0	30.00	30.00	15.76
653.43	1028	-137.77	-1.17	0.00	3453.8	3491.2	3416.4	1411.0	3468.4	91.71	-12.32	101	661.34	0.00	0.00	3.42	0.000	0.000	0.055	3454.62	3491.69	3417.56	1410.81	1969.31	0	0	0	30.00	30.00	15.78
848.46	0	-137.77	-1.17	0.00	3454.4	3492.7	3416.1	1411.2	1969.7	113.40	-11.00	121	850.21	0.00	0.00	0.00	0.000	0.000	0.000	3453.81	3491.31	3416.31	1411.62	1970.00	0	0	0	30.00	30.00	30.00
908	end dive: TARGET_DEPTH_EXCEEDED
state	908	begin apogee
909.97	10243	0.00	-0.29	0.00	3454.7	3492.4	3417.0	1411.4	2036.9	120.31	-11.62	127	1019.52	98.49	1.43	0.12	1.060	0.131	0.167	2888.28	2974.25	2802.31	1625.75	1964.25	0	0	0	11.71	15.76	15.48
1021	end apogee: CONTROL_FINISHED_OK
state	1022	begin climb
1022.03	10243	137.77	1.17	0.00	2886.2	2972.8	2799.6	1627.4	1964.6	124.45	0.00	137	1137.46	99.47	2.30	0.00	1.033	0.090	0.000	2326.66	2423.06	2230.25	1983.06	1964.31	0	0	0	11.73	15.49	30.00
1320.91	16902	137.77	1.17	-80.00	2319.5	2411.5	2227.4	1982.4	1964.3	104.19	9.28	169	1329.20	0.00	0.00	3.55	0.000	0.000	0.127	2319.81	2411.38	2228.25	1983.19	531.69	0	0	0	30.00	30.00	15.56
1555.36	1060	142.75	1.18	0.00	2315.2	2403.1	2227.3	1983.2	531.8	85.95	6.37	215	1563.81	0.00	0.00	3.41	0.000	0.000	0.051	2315.97	2404.06	2227.88	1983.44	2033.50	0	0	0	30.00	30.00	15.71
1751.13	8742	213.61	1.27	-80.00	2315.3	2403.1	2227.4	1983.4	2033.1	80.17	2.47	235	1818.78	55.13	0.00	3.76	1.011	0.000	0.122	2017.31	2115.94	1918.69	1983.50	531.69	0	0	0	11.71	30.00	15.55
1837.36	11303	292.72	1.36	0.00	2012.9	2108.8	1916.9	1983.6	531.6	78.63	1.98	251	1909.38	57.24	0.26	3.43	0.990	0.069	0.049	1694.78	1795.50	1594.06	2045.69	2036.81	0	0	0	11.94	15.60	15.62
2092.86	16646	292.72	1.36	80.00	1687.0	1786.0	1588.1	2045.4	2036.9	56.63	9.28	283	2100.93	0.00	0.00	3.45	0.000	0.000	0.112	1685.81	1784.62	1587.00	2043.94	3464.94	0	0	0	30.00	30.00	15.64
2163.70	17414	292.72	1.36	0.00	1686.0	1784.7	1587.4	2045.8	3465.0	49.66	9.86	297	2172.24	0.00	0.00	3.43	0.000	0.000	0.057	1686.38	1784.75	1588.00	2045.88	1971.06	0	0	0	30.00	30.00	15.72
2355.78	16902	292.72	1.36	-80.00	1685.0	1783.9	1586.0	2046.2	1970.9	34.07	7.75	335	2363.64	0.00	0.00	3.55	0.000	0.000	0.127	1685.31	1783.38	1587.25	2045.94	531.62	0	0	0	30.00	30.00	15.76
2387.16	17414	292.72	1.36	0.00	1684.2	1782.1	1586.2	2046.1	531.3	30.97	9.68	341	2394.89	0.00	0.00	3.38	0.000	0.000	0.051	1683.97	1781.44	1586.50	2046.56	2033.38	0	0	0	30.00	30.00	15.82
2580.05	8742	316.04	1.39	-80.00	1683.2	1781.1	1585.3	2046.1	2033.2	19.48	5.28	375	2608.56	17.39	0.00	3.72	0.930	0.000	0.125	1600.66	1700.31	1501.00	2046.56	532.75	0	0	0	11.79	30.00	15.73
2742.16	9254	379.11	1.47	0.00	1596.2	1692.3	1500.0	2045.8	532.9	13.33	2.93	407	2798.82	46.01	0.00	3.41	0.956	0.000	0.050	1343.88	1445.06	1242.69	2046.56	2038.94	0	0	0	11.89	30.00	15.78
2982.36	10791	491.64	1.61	-80.00	1337.3	1436.6	1238.0	2046.1	2039.5	11.88	-0.00	454	3058.33	69.56	0.25	0.00	0.948	0.075	0.000	954.12	1045.94	862.31	2098.94	2039.56	0	0	0	11.81	15.73	30.00
3059	end climb: NO_VERTICAL_VELOCITY
state	3059	begin surface