Glider dive log

AMOS Jul22 * SG242 * Dive index * Mission links * Dive 23 * 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 23 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 150 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 180 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 50 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 1692.6528 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 21.441542 SEABIRD_T_I 2.4999999e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 16.575527 FG_AHR_24V 7.6365848 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 180 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 150 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 21.441542 PITCH_CNV 0.0041299998 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FG_AHR_24V 7.6365848 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 16.575527 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 180 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 50

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 1692.6528 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 23 NAV2_DEVICE 6 ROLL_MAX 3800 W_ADJ_DBAND 0

D_ABORT 180 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 140722,021147,4719.574,-12523.377,2,1.2,6,15.8 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 -55.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140722,021546,4719.542,-12523.331,3,1.2,7,15.8 MHEAD_RNG_PITCHd_Wd 182.9,20000,-17.6,-10.000,-21.24,2209,0.195

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME HEADING 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 4708.743,-12523.331

Post-dive calculations and measurements:

NAV 1657767542,41.8,start _10V_AH 14.86,0.000

NET CACST,8,0,20220714025011.827778,06,10218,40,0124,0150,07,01,01,00,01,1,025,242,0,5,1,0,150,21.2,5.02,-100,-2.02,-01,-0.25,46,10000,5000,0,-1,00,00*76 FG_AHR_24Vo 7.788

NET_PING 1657767017,25,1191.929932,21.200001,-0.682661 FG_AHR_10Vo 21.479

FINISH 0.5,1.022722 MEM0 60108,1,0,0

SM_CCo 3243.82,13.43,0.850,0,500.6,557.6,443.7,586.11 MEM1 65508,1,0,0

SM_GC 1.76,13.43,12.10,0.12,0.850,0.054,0.144,500.6,557.6,443.7,200.3,1969.8,0,0,0,11.46,15.51,15.50 MEM2 966264,27,80404,68

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 12903,455

IRIDIUM_FIX 4719.67,-12524.51,140722,011253 CAP_FILE_SIZE 156045,0

TCM_TEMP 14.75 SDSIZE 3887104,3863200

SC_FREEKB 3871424 SDFILEDIR 238,1

PM_FREEKB_00 60934912 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 0 SOUNDSPEED 1465.0

RAFOS_CLK 1 CURRENT 0.106,120.2,1

RAFOS_FIX 4403.541992,-10126.287109,140722,010100,2,510,8092.18 MAGCAL 1.000000,0.006738,-0.007548,-0.015088,1.046365,-0.060889,-0.009374,-0.046104,1.004602,778.5,-856.1,-655.3,36,0.0288,0

HUMID 51.82 IMPLIED_C_PITCH 1697,16.13,227,1694.8,16.35

TEMP 11.23 IMPLIED_C_VBD 3053,72.368744,154,0

INTERNAL_PRESSURE 7.77384 GPS 140722,031140,4719.198,-12523.246,2,1.0,32,15.8

_24V_AH 14.86,7.577

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 633 1115 10499.78 nil 0 0 0.00

Pitch_motor 25 261 99.71 nil 0 0 0.00

Roll_motor 49 177 129.61 nil 0 0 0.00

Iridium 154 223 515.09 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 16 15 3.68 nil 0 0 0.00

Core 2164 5 164.72 SciCon 3211 6 331.15

Fast 0 0 0.00 PMAR 3221 12 611.32

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1287 0 6.12

Compass 946 5 70.35

RAFOS 115 40 68.62

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

12.56 16386 -145.99 -1.24 0.00 494.2 551.2 437.1 201.6 1963.5 0.00 0.00 0 78.20 60.73 0.00 0.00 0.005 0.000 0.000 1970.62 2004.25 1937.00 201.56 1964.00 0 0 0 15.75 30.00 30.00

78.64 18983 -145.99 -1.24 -80.00 1970.6 2003.6 1937.5 201.7 1963.9 3.04 -2.70 12 143.39 39.76 9.10 3.53 0.005 0.261 0.128 3484.47 3518.06 3450.88 1391.62 531.56 0 0 0 15.76 15.62 15.70

305.94 1028 -145.99 -1.24 0.00 3484.3 3519.9 3448.8 1391.4 531.6 49.18 -17.52 55 313.17 0.00 0.00 3.40 0.000 0.000 0.052 3484.62 3520.25 3449.00 1391.38 2030.31 0 0 0 30.00 30.00 15.81

501.00 260 -145.99 -1.24 80.00 3485.2 3521.9 3448.5 1391.6 2030.4 80.72 -15.22 75 508.93 0.00 0.00 3.43 0.000 0.000 0.112 3486.47 3522.81 3450.12 1391.38 3468.88 0 0 0 30.00 30.00 15.83

547.41 1028 -145.99 -1.24 0.00 3485.6 3523.2 3448.1 1392.4 3468.8 87.48 -14.69 84 555.29 0.00 0.00 3.38 0.000 0.000 0.056 3486.53 3524.00 3449.06 1392.25 1972.50 0 0 0 30.00 30.00 15.87

742.43 0 -145.99 -1.24 0.00 3486.0 3523.8 3448.2 1392.8 1972.2 112.71 -13.09 104 744.19 0.00 0.00 0.00 0.000 0.000 0.000 3485.66 3523.12 3448.19 1392.56 1971.81 0 0 0 30.00 30.00 30.00

932.45 260 -145.99 -1.24 80.00 3486.3 3524.6 3448.1 1392.2 1971.6 133.95 -10.58 123 940.44 0.00 0.00 3.59 0.000 0.000 0.110 3485.34 3523.81 3446.88 1392.44 3470.94 0 0 0 30.00 30.00 15.90

988.92 1028 -145.99 -1.24 0.00 3486.4 3525.1 3447.8 1392.8 3471.8 140.45 -11.97 134 995.71 0.00 0.00 3.38 0.000 0.000 0.057 3487.22 3525.50 3448.94 1392.50 1977.56 0 0 0 30.00 30.00 15.95

1089 end dive: TARGET_DEPTH_EXCEEDED

state 1089 begin apogee

1090.65 10243 0.00 -0.30 0.00 3486.7 3524.8 3448.6 1392.4 2039.3 150.49 -9.82 145 1204.70 103.09 1.51 0.12 1.115 0.138 0.177 2891.84 2978.44 2805.25 1621.25 1967.06 0 0 0 11.78 15.90 15.56

1207 end apogee: CONTROL_FINISHED_OK

state 1207 begin climb

1207.52 10243 145.99 1.24 0.00 2888.8 2976.8 2800.8 1620.3 1964.9 152.93 0.00 155 1327.77 105.17 2.41 0.00 1.081 0.091 0.000 2293.34 2389.50 2197.19 1996.88 1965.44 0 0 0 11.60 15.59 30.00

1511.31 548 148.89 1.25 -80.00 2286.7 2380.4 2193.0 1996.8 1965.2 128.74 9.87 185 1519.45 0.00 0.00 3.53 0.000 0.000 0.129 2285.72 2379.62 2191.81 1995.75 533.19 0 0 0 30.00 30.00 15.61

1597.97 1028 148.89 1.25 0.00 2283.9 2374.8 2193.0 1996.2 532.8 119.22 10.98 202 1606.08 0.00 0.00 3.41 0.000 0.000 0.052 2283.38 2373.81 2192.94 1996.94 2030.25 0 0 0 30.00 30.00 15.72

1793.07 8486 211.60 1.32 80.00 2283.7 2374.6 2192.8 1996.8 2030.3 103.52 7.08 222 1854.07 47.83 0.00 3.51 1.045 0.000 0.115 2025.34 2124.19 1926.50 1997.69 3468.25 0 0 0 11.81 30.00 15.61

1891.91 9254 219.98 1.33 0.00 2023.4 2119.2 1927.6 1996.9 3467.9 95.40 9.61 241 1911.21 8.17 0.00 3.41 0.821 0.000 0.056 1993.28 2090.50 1896.06 1997.50 1971.62 0 0 0 11.75 30.00 15.68

2097.67 10791 267.90 1.39 -80.00 1987.4 2084.3 1890.6 1996.6 1971.6 79.18 7.77 263 2144.90 35.87 0.19 3.56 1.014 0.076 0.129 1794.75 1897.06 1692.44 2045.75 534.00 0 0 0 11.92 15.76 15.61

2212.68 1028 267.90 1.39 0.00 1790.0 1890.4 1689.6 2047.6 533.9 67.58 11.06 285 2221.24 0.00 0.00 3.41 0.000 0.000 0.051 1789.66 1890.62 1688.69 2047.19 2031.62 0 0 0 30.00 30.00 15.71

2408.51 8226 340.16 1.48 0.00 1788.0 1890.4 1685.6 2047.6 2030.9 52.42 6.64 305 2467.64 51.94 0.00 0.00 0.999 0.000 0.000 1502.78 1600.31 1405.25 2047.19 2031.81 0 0 0 11.75 30.00 30.00

2649.27 8742 392.11 1.55 -80.00 1495.4 1592.3 1398.5 2047.1 2031.6 34.39 7.58 348 2700.55 38.04 0.00 3.78 0.972 0.000 0.128 1289.97 1388.19 1191.75 2046.75 532.94 0 0 0 11.76 30.00 15.55

2824.16 11303 421.91 1.58 0.00 1284.8 1380.1 1189.6 2047.8 533.0 19.14 8.61 382 2859.20 23.08 0.17 3.46 0.935 0.077 0.053 1169.31 1267.31 1071.31 2090.94 2030.38 0 0 0 11.63 15.67 15.67

3042.74 10275 569.73 1.76 0.00 1164.1 1260.1 1068.0 2091.1 2031.4 7.62 3.12 425 3161.66 106.44 0.18 0.00 0.947 0.090 0.000 566.75 636.50 497.00 2133.50 2032.31 0 0 0 11.77 15.71 30.00

3165 end climb: SURFACE_DEPTH_REACHED

state 3165 begin surface coast

3200 end surface coast: CONTROL_FINISHED_OK

state 3200 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	23	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	150	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	180	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	50	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	1692.6528	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	21.441542	SEABIRD_T_I	2.4999999e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	16.575527	FG_AHR_24V	7.6365848	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	180	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	140722,021147,4719.574,-12523.377,2,1.2,6,15.8	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	-55.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140722,021546,4719.542,-12523.331,3,1.2,7,15.8	MHEAD_RNG_PITCHd_Wd	182.9,20000,-17.6,-10.000,-21.24,2209,0.195
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	HEADING	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	4708.743,-12523.331

NAV	1657767542,41.8,start	_10V_AH	14.86,0.000
NET	CACST,8,0,20220714025011.827778,06,10218,40,0124,0150,07,01,01,00,01,1,025,242,0,5,1,0,150,21.2,5.02,-100,-2.02,-01,-0.25,46,10000,5000,0,-1,00,00*76	FG_AHR_24Vo	7.788
NET_PING	1657767017,25,1191.929932,21.200001,-0.682661	FG_AHR_10Vo	21.479
FINISH	0.5,1.022722	MEM0	60108,1,0,0
SM_CCo	3243.82,13.43,0.850,0,500.6,557.6,443.7,586.11	MEM1	65508,1,0,0
SM_GC	1.76,13.43,12.10,0.12,0.850,0.054,0.144,500.6,557.6,443.7,200.3,1969.8,0,0,0,11.46,15.51,15.50	MEM2	966264,27,80404,68
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	12903,455
IRIDIUM_FIX	4719.67,-12524.51,140722,011253	CAP_FILE_SIZE	156045,0
TCM_TEMP	14.75	SDSIZE	3887104,3863200
SC_FREEKB	3871424	SDFILEDIR	238,1
PM_FREEKB_00	60934912	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	0	SOUNDSPEED	1465.0
RAFOS_CLK	1	CURRENT	0.106,120.2,1
RAFOS_FIX	4403.541992,-10126.287109,140722,010100,2,510,8092.18	MAGCAL	1.000000,0.006738,-0.007548,-0.015088,1.046365,-0.060889,-0.009374,-0.046104,1.004602,778.5,-856.1,-655.3,36,0.0288,0
HUMID	51.82	IMPLIED_C_PITCH	1697,16.13,227,1694.8,16.35
TEMP	11.23	IMPLIED_C_VBD	3053,72.368744,154,0
INTERNAL_PRESSURE	7.77384	GPS	140722,031140,4719.198,-12523.246,2,1.0,32,15.8
_24V_AH	14.86,7.577

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	633	1115	10499.78	nil	0	0	0.00
Pitch_motor	25	261	99.71	nil	0	0	0.00
Roll_motor	49	177	129.61	nil	0	0	0.00
Iridium	154	223	515.09	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	16	15	3.68	nil	0	0	0.00
Core	2164	5	164.72	SciCon	3211	6	331.15
Fast	0	0	0.00	PMAR	3221	12	611.32
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1287	0	6.12
Compass	946	5	70.35
RAFOS	115	40	68.62
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
12.56	16386	-145.99	-1.24	0.00	494.2	551.2	437.1	201.6	1963.5	0.00	0.00	0	78.20	60.73	0.00	0.00	0.005	0.000	0.000	1970.62	2004.25	1937.00	201.56	1964.00	0	0	0	15.75	30.00	30.00
78.64	18983	-145.99	-1.24	-80.00	1970.6	2003.6	1937.5	201.7	1963.9	3.04	-2.70	12	143.39	39.76	9.10	3.53	0.005	0.261	0.128	3484.47	3518.06	3450.88	1391.62	531.56	0	0	0	15.76	15.62	15.70
305.94	1028	-145.99	-1.24	0.00	3484.3	3519.9	3448.8	1391.4	531.6	49.18	-17.52	55	313.17	0.00	0.00	3.40	0.000	0.000	0.052	3484.62	3520.25	3449.00	1391.38	2030.31	0	0	0	30.00	30.00	15.81
501.00	260	-145.99	-1.24	80.00	3485.2	3521.9	3448.5	1391.6	2030.4	80.72	-15.22	75	508.93	0.00	0.00	3.43	0.000	0.000	0.112	3486.47	3522.81	3450.12	1391.38	3468.88	0	0	0	30.00	30.00	15.83
547.41	1028	-145.99	-1.24	0.00	3485.6	3523.2	3448.1	1392.4	3468.8	87.48	-14.69	84	555.29	0.00	0.00	3.38	0.000	0.000	0.056	3486.53	3524.00	3449.06	1392.25	1972.50	0	0	0	30.00	30.00	15.87
742.43	0	-145.99	-1.24	0.00	3486.0	3523.8	3448.2	1392.8	1972.2	112.71	-13.09	104	744.19	0.00	0.00	0.00	0.000	0.000	0.000	3485.66	3523.12	3448.19	1392.56	1971.81	0	0	0	30.00	30.00	30.00
932.45	260	-145.99	-1.24	80.00	3486.3	3524.6	3448.1	1392.2	1971.6	133.95	-10.58	123	940.44	0.00	0.00	3.59	0.000	0.000	0.110	3485.34	3523.81	3446.88	1392.44	3470.94	0	0	0	30.00	30.00	15.90
988.92	1028	-145.99	-1.24	0.00	3486.4	3525.1	3447.8	1392.8	3471.8	140.45	-11.97	134	995.71	0.00	0.00	3.38	0.000	0.000	0.057	3487.22	3525.50	3448.94	1392.50	1977.56	0	0	0	30.00	30.00	15.95
1089	end dive: TARGET_DEPTH_EXCEEDED
state	1089	begin apogee
1090.65	10243	0.00	-0.30	0.00	3486.7	3524.8	3448.6	1392.4	2039.3	150.49	-9.82	145	1204.70	103.09	1.51	0.12	1.115	0.138	0.177	2891.84	2978.44	2805.25	1621.25	1967.06	0	0	0	11.78	15.90	15.56
1207	end apogee: CONTROL_FINISHED_OK
state	1207	begin climb
1207.52	10243	145.99	1.24	0.00	2888.8	2976.8	2800.8	1620.3	1964.9	152.93	0.00	155	1327.77	105.17	2.41	0.00	1.081	0.091	0.000	2293.34	2389.50	2197.19	1996.88	1965.44	0	0	0	11.60	15.59	30.00
1511.31	548	148.89	1.25	-80.00	2286.7	2380.4	2193.0	1996.8	1965.2	128.74	9.87	185	1519.45	0.00	0.00	3.53	0.000	0.000	0.129	2285.72	2379.62	2191.81	1995.75	533.19	0	0	0	30.00	30.00	15.61
1597.97	1028	148.89	1.25	0.00	2283.9	2374.8	2193.0	1996.2	532.8	119.22	10.98	202	1606.08	0.00	0.00	3.41	0.000	0.000	0.052	2283.38	2373.81	2192.94	1996.94	2030.25	0	0	0	30.00	30.00	15.72
1793.07	8486	211.60	1.32	80.00	2283.7	2374.6	2192.8	1996.8	2030.3	103.52	7.08	222	1854.07	47.83	0.00	3.51	1.045	0.000	0.115	2025.34	2124.19	1926.50	1997.69	3468.25	0	0	0	11.81	30.00	15.61
1891.91	9254	219.98	1.33	0.00	2023.4	2119.2	1927.6	1996.9	3467.9	95.40	9.61	241	1911.21	8.17	0.00	3.41	0.821	0.000	0.056	1993.28	2090.50	1896.06	1997.50	1971.62	0	0	0	11.75	30.00	15.68
2097.67	10791	267.90	1.39	-80.00	1987.4	2084.3	1890.6	1996.6	1971.6	79.18	7.77	263	2144.90	35.87	0.19	3.56	1.014	0.076	0.129	1794.75	1897.06	1692.44	2045.75	534.00	0	0	0	11.92	15.76	15.61
2212.68	1028	267.90	1.39	0.00	1790.0	1890.4	1689.6	2047.6	533.9	67.58	11.06	285	2221.24	0.00	0.00	3.41	0.000	0.000	0.051	1789.66	1890.62	1688.69	2047.19	2031.62	0	0	0	30.00	30.00	15.71
2408.51	8226	340.16	1.48	0.00	1788.0	1890.4	1685.6	2047.6	2030.9	52.42	6.64	305	2467.64	51.94	0.00	0.00	0.999	0.000	0.000	1502.78	1600.31	1405.25	2047.19	2031.81	0	0	0	11.75	30.00	30.00
2649.27	8742	392.11	1.55	-80.00	1495.4	1592.3	1398.5	2047.1	2031.6	34.39	7.58	348	2700.55	38.04	0.00	3.78	0.972	0.000	0.128	1289.97	1388.19	1191.75	2046.75	532.94	0	0	0	11.76	30.00	15.55
2824.16	11303	421.91	1.58	0.00	1284.8	1380.1	1189.6	2047.8	533.0	19.14	8.61	382	2859.20	23.08	0.17	3.46	0.935	0.077	0.053	1169.31	1267.31	1071.31	2090.94	2030.38	0	0	0	11.63	15.67	15.67
3042.74	10275	569.73	1.76	0.00	1164.1	1260.1	1068.0	2091.1	2031.4	7.62	3.12	425	3161.66	106.44	0.18	0.00	0.947	0.090	0.000	566.75	636.50	497.00	2133.50	2032.31	0	0	0	11.77	15.71	30.00
3165	end climb: SURFACE_DEPTH_REACHED
state	3165	begin surface coast
3200	end surface coast: CONTROL_FINISHED_OK
state	3200	begin surface