Glider dive log

AMOS Jul22 * SG242 * Dive index * Mission links * Dive 33 * 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 33 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 1687.2629 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 22.189718 SEABIRD_T_I 2.4999999e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 16.631561 FG_AHR_24V 9.2655678 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 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 22.189718 PITCH_CNV 0.0041299998 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FG_AHR_24V 9.2655678 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 16.631561 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 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 1687.2629 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 33 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 140722,120438,4719.789,-12523.641,2,1.3,3,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.69 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140722,120844,4719.792,-12523.616,3,1.2,4,15.8 MHEAD_RNG_PITCHd_Wd 269.7,482,-18.5,-10.000,-22.06,2014,0.157

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME ans0 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 4719.800,-12524.000

Post-dive calculations and measurements:

NET CACST,8,0,20220714124013.144676,06,284,24,0154,0150,82,02,02,00,02,1,027,242,0,5,1,0,150,5.6,5.45,-100,-2.45,-01,0.16,55,10000,5000,0,-1,00,00*67 _10V_AH 14.85,0.000

NET_PING 1657802415,27,3684.806885,5.600000,-4.908449 FG_AHR_24Vo 9.420

NAV 1657803542,7.6,start FG_AHR_10Vo 22.263

FINISH 0.4,1.022190 MEM0 60108,1,0,0

SM_CCo 3215.07,27.50,0.900,0,500.8,561.5,440.2,586.06 MEM1 65508,1,0,0

SM_GC 1.44,27.50,11.88,0.12,0.900,0.047,0.134,500.8,561.5,440.2,196.6,1967.0,0,0,0,11.60,15.53,15.53 MEM2 966220,25,80468,69

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12904,473

IRIDIUM_FIX 4719.30,-12520.08,140722,110830 CAP_FILE_SIZE 170231,0

TCM_TEMP 15.02 SDSIZE 3887104,3859968

SC_FREEKB 3868224 SDFILEDIR 328,1

PM_FREEKB_00 60490432 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 0.110,114.3,1

RAFOS_FIX 4747.590820,-12427.612305,140722,060600,2,510,10420.27 MAGCAL 1.000000,0.020107,0.027338,-0.014013,1.051206,-0.034044,0.004088,-0.060870,1.002633,737.5,-886.2,-660.0,21,0.0251,0

HUMID 50.72 IMPLIED_C_PITCH 1696,16.33,223,1691.6,16.48

TEMP 11.54 IMPLIED_C_VBD 3078,65.057243,159,0

INTERNAL_PRESSURE 7.78151 GPS 140722,130401,4719.895,-12523.753,2,0.8,22,15.8

_24V_AH 14.85,9.782

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 635 1110 10484.48 nil 0 0 0.00

Pitch_motor 25 263 100.43 nil 0 0 0.00

Roll_motor 64 193 185.03 nil 0 0 0.00

Iridium 163 218 528.81 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.93 nil 0 0 0.00

Core 2182 5 165.91 SciCon 3167 6 323.85

Fast 1 0 0.00 PMAR 3176 12 604.97

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1233 0 5.86

Compass 973 5 72.25

RAFOS 2743 40 1629.92

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

12.67 16386 -132.95 -1.28 0.00 493.8 548.6 439.1 202.9 1968.6 0.00 0.00 0 71.35 54.17 0.00 0.00 0.005 0.000 0.000 1821.56 1852.75 1790.38 203.00 1968.69 0 0 0 14.45 30.00 30.00

71.80 18727 -145.99 -1.29 80.00 1823.1 1856.7 1789.6 203.2 1968.0 3.06 -2.75 10 141.88 43.94 9.24 3.66 0.005 0.263 0.109 3484.31 3519.12 3449.50 1373.56 3467.12 0 0 0 15.66 15.51 15.62

165.26 1028 -145.99 -1.29 0.00 3486.5 3522.3 3450.8 1373.6 3467.1 23.05 -28.15 27 172.49 0.00 0.00 3.47 0.000 0.000 0.057 3487.44 3522.00 3452.88 1373.56 1975.19 0 0 0 30.00 30.00 15.66

360.93 0 -145.99 -1.29 0.00 3487.3 3523.8 3450.9 1373.7 1974.4 59.56 -18.23 61 362.68 0.00 0.00 0.00 0.000 0.000 0.000 3485.69 3522.88 3448.50 1374.06 1973.94 0 0 0 30.00 30.00 30.00

550.94 260 -145.99 -1.29 80.00 3487.0 3524.1 3449.9 1373.8 1974.6 89.65 -14.83 80 559.00 0.00 0.00 3.64 0.000 0.000 0.108 3487.69 3524.31 3451.06 1374.00 3466.50 0 0 0 30.00 30.00 15.73

597.48 1028 -145.99 -1.29 0.00 3487.0 3524.1 3449.9 1373.8 3465.2 96.59 -14.62 89 605.40 0.00 0.00 3.44 0.000 0.000 0.055 3485.94 3523.12 3448.75 1373.62 1971.25 0 0 0 30.00 30.00 15.77

792.50 516 -145.99 -1.29 -80.00 3487.9 3526.6 3449.2 1373.6 1970.7 120.94 -11.56 109 800.46 0.00 0.00 3.57 0.000 0.000 0.123 3488.44 3527.44 3449.44 1373.62 532.94 0 0 0 30.00 30.00 15.74

808.94 1028 -145.99 -1.29 0.00 3487.8 3525.2 3450.4 1374.1 532.8 123.04 -12.13 112 816.86 0.00 0.00 3.43 0.000 0.000 0.049 3487.09 3524.75 3449.44 1373.94 2030.38 0 0 0 30.00 30.00 15.77

1003.94 260 -145.99 -1.29 80.00 3488.7 3526.7 3450.7 1373.9 2030.4 147.36 -12.16 132 1011.86 0.00 0.00 3.49 0.000 0.000 0.111 3489.28 3527.44 3451.12 1373.88 3466.25 0 0 0 30.00 30.00 15.77

1024 end dive: TARGET_DEPTH_EXCEEDED

state 1024 begin apogee

1031.78 10243 0.00 -0.30 0.00 3488.7 3526.8 3450.7 1373.4 1971.4 150.13 -12.40 136 1148.68 105.31 1.63 0.09 1.111 0.138 0.194 2887.16 2976.69 2797.62 1617.31 2037.38 0 0 0 11.66 15.75 15.43

1151 end apogee: CONTROL_FINISHED_OK

state 1151 begin climb

1151.13 10759 145.99 1.29 -80.00 2886.9 2976.9 2796.8 1617.2 2036.2 154.41 0.00 147 1279.59 106.21 2.52 3.82 1.079 0.088 0.122 2289.84 2387.50 2192.19 2004.12 532.81 0 0 0 11.61 15.44 15.25

1358.14 17414 145.99 1.29 0.00 2284.0 2375.6 2192.3 2004.4 532.8 138.97 12.74 184 1366.23 0.00 0.00 3.49 0.000 0.000 0.049 2282.56 2374.31 2190.81 2004.12 2031.81 0 0 0 30.00 30.00 15.47

1553.21 8486 174.39 1.33 80.00 2282.9 2375.6 2190.1 2004.1 2032.2 119.59 8.55 204 1587.97 21.50 0.00 3.54 1.009 0.000 0.112 2177.03 2274.56 2079.50 2004.50 3470.12 0 0 0 11.77 30.00 15.52

1590.80 9254 216.04 1.38 0.00 2176.9 2274.6 2079.2 2004.4 3469.4 116.62 7.88 209 1633.12 31.95 0.00 3.47 1.014 0.000 0.054 2006.72 2106.19 1907.25 2004.06 1971.38 0 0 0 11.71 30.00 15.56

1816.64 10791 239.77 1.41 -80.00 2001.0 2099.5 1902.5 2003.6 1971.2 96.81 8.79 235 1846.71 18.63 0.16 3.59 0.983 0.085 0.125 1911.03 2010.56 1811.50 2050.12 532.88 0 0 0 11.59 15.62 15.25

1955.24 1028 239.77 1.41 0.00 1905.6 2001.9 1809.3 2050.2 532.4 81.25 11.43 261 1963.34 0.00 0.00 3.45 0.000 0.000 0.050 1903.78 2000.12 1807.44 2050.44 2030.56 0 0 0 30.00 30.00 15.63

2150.34 8742 297.46 1.48 -80.00 1904.2 2002.5 1805.9 2050.4 2031.8 64.99 7.06 281 2206.88 42.79 0.00 3.77 1.008 0.000 0.123 1675.75 1775.50 1576.00 2050.00 533.12 0 0 0 11.78 30.00 15.53

2360.50 1060 300.21 1.48 0.00 1668.8 1766.3 1571.2 2049.4 532.8 44.34 9.86 322 2368.20 0.00 0.00 3.45 0.000 0.000 0.050 1668.88 1766.62 1571.12 2049.50 2030.31 0 0 0 30.00 30.00 15.67

2550.06 8742 370.75 1.57 -80.00 1667.2 1766.2 1568.2 2049.9 2030.5 29.94 6.40 359 2617.45 52.99 0.00 3.76 0.979 0.000 0.125 1377.16 1476.00 1278.31 2050.00 532.75 0 0 0 11.67 30.00 15.57

2776.04 11303 442.89 1.66 0.00 1370.7 1465.8 1275.6 2050.1 533.3 16.47 6.32 403 2843.58 53.16 0.24 3.46 0.954 0.067 0.050 1084.22 1178.00 990.44 2105.25 2035.81 0 0 0 11.87 15.72 15.72

3028.39 8742 564.55 1.81 -80.00 1077.4 1167.6 987.2 2105.3 2035.2 5.64 3.79 449 3112.27 77.53 0.00 0.00 0.937 0.000 0.000 651.59 726.56 576.62 2106.12 2035.62 0 0 0 11.78 30.00 30.00

3112 end climb: SURFACE_DEPTH_REACHED

state 3113 begin surface coast

3156 end surface coast: CONTROL_FINISHED_OK

state 3156 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	33	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	1687.2629	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	22.189718	SEABIRD_T_I	2.4999999e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	16.631561	FG_AHR_24V	9.2655678	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	140722,120438,4719.789,-12523.641,2,1.3,3,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.69	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140722,120844,4719.792,-12523.616,3,1.2,4,15.8	MHEAD_RNG_PITCHd_Wd	269.7,482,-18.5,-10.000,-22.06,2014,0.157
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	ans0	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	4719.800,-12524.000

NET	CACST,8,0,20220714124013.144676,06,284,24,0154,0150,82,02,02,00,02,1,027,242,0,5,1,0,150,5.6,5.45,-100,-2.45,-01,0.16,55,10000,5000,0,-1,00,00*67	_10V_AH	14.85,0.000
NET_PING	1657802415,27,3684.806885,5.600000,-4.908449	FG_AHR_24Vo	9.420
NAV	1657803542,7.6,start	FG_AHR_10Vo	22.263
FINISH	0.4,1.022190	MEM0	60108,1,0,0
SM_CCo	3215.07,27.50,0.900,0,500.8,561.5,440.2,586.06	MEM1	65508,1,0,0
SM_GC	1.44,27.50,11.88,0.12,0.900,0.047,0.134,500.8,561.5,440.2,196.6,1967.0,0,0,0,11.60,15.53,15.53	MEM2	966220,25,80468,69
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12904,473
IRIDIUM_FIX	4719.30,-12520.08,140722,110830	CAP_FILE_SIZE	170231,0
TCM_TEMP	15.02	SDSIZE	3887104,3859968
SC_FREEKB	3868224	SDFILEDIR	328,1
PM_FREEKB_00	60490432	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	0.110,114.3,1
RAFOS_FIX	4747.590820,-12427.612305,140722,060600,2,510,10420.27	MAGCAL	1.000000,0.020107,0.027338,-0.014013,1.051206,-0.034044,0.004088,-0.060870,1.002633,737.5,-886.2,-660.0,21,0.0251,0
HUMID	50.72	IMPLIED_C_PITCH	1696,16.33,223,1691.6,16.48
TEMP	11.54	IMPLIED_C_VBD	3078,65.057243,159,0
INTERNAL_PRESSURE	7.78151	GPS	140722,130401,4719.895,-12523.753,2,0.8,22,15.8
_24V_AH	14.85,9.782

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	635	1110	10484.48	nil	0	0	0.00
Pitch_motor	25	263	100.43	nil	0	0	0.00
Roll_motor	64	193	185.03	nil	0	0	0.00
Iridium	163	218	528.81	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.93	nil	0	0	0.00
Core	2182	5	165.91	SciCon	3167	6	323.85
Fast	1	0	0.00	PMAR	3176	12	604.97
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1233	0	5.86
Compass	973	5	72.25
RAFOS	2743	40	1629.92
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
12.67	16386	-132.95	-1.28	0.00	493.8	548.6	439.1	202.9	1968.6	0.00	0.00	0	71.35	54.17	0.00	0.00	0.005	0.000	0.000	1821.56	1852.75	1790.38	203.00	1968.69	0	0	0	14.45	30.00	30.00
71.80	18727	-145.99	-1.29	80.00	1823.1	1856.7	1789.6	203.2	1968.0	3.06	-2.75	10	141.88	43.94	9.24	3.66	0.005	0.263	0.109	3484.31	3519.12	3449.50	1373.56	3467.12	0	0	0	15.66	15.51	15.62
165.26	1028	-145.99	-1.29	0.00	3486.5	3522.3	3450.8	1373.6	3467.1	23.05	-28.15	27	172.49	0.00	0.00	3.47	0.000	0.000	0.057	3487.44	3522.00	3452.88	1373.56	1975.19	0	0	0	30.00	30.00	15.66
360.93	0	-145.99	-1.29	0.00	3487.3	3523.8	3450.9	1373.7	1974.4	59.56	-18.23	61	362.68	0.00	0.00	0.00	0.000	0.000	0.000	3485.69	3522.88	3448.50	1374.06	1973.94	0	0	0	30.00	30.00	30.00
550.94	260	-145.99	-1.29	80.00	3487.0	3524.1	3449.9	1373.8	1974.6	89.65	-14.83	80	559.00	0.00	0.00	3.64	0.000	0.000	0.108	3487.69	3524.31	3451.06	1374.00	3466.50	0	0	0	30.00	30.00	15.73
597.48	1028	-145.99	-1.29	0.00	3487.0	3524.1	3449.9	1373.8	3465.2	96.59	-14.62	89	605.40	0.00	0.00	3.44	0.000	0.000	0.055	3485.94	3523.12	3448.75	1373.62	1971.25	0	0	0	30.00	30.00	15.77
792.50	516	-145.99	-1.29	-80.00	3487.9	3526.6	3449.2	1373.6	1970.7	120.94	-11.56	109	800.46	0.00	0.00	3.57	0.000	0.000	0.123	3488.44	3527.44	3449.44	1373.62	532.94	0	0	0	30.00	30.00	15.74
808.94	1028	-145.99	-1.29	0.00	3487.8	3525.2	3450.4	1374.1	532.8	123.04	-12.13	112	816.86	0.00	0.00	3.43	0.000	0.000	0.049	3487.09	3524.75	3449.44	1373.94	2030.38	0	0	0	30.00	30.00	15.77
1003.94	260	-145.99	-1.29	80.00	3488.7	3526.7	3450.7	1373.9	2030.4	147.36	-12.16	132	1011.86	0.00	0.00	3.49	0.000	0.000	0.111	3489.28	3527.44	3451.12	1373.88	3466.25	0	0	0	30.00	30.00	15.77
1024	end dive: TARGET_DEPTH_EXCEEDED
state	1024	begin apogee
1031.78	10243	0.00	-0.30	0.00	3488.7	3526.8	3450.7	1373.4	1971.4	150.13	-12.40	136	1148.68	105.31	1.63	0.09	1.111	0.138	0.194	2887.16	2976.69	2797.62	1617.31	2037.38	0	0	0	11.66	15.75	15.43
1151	end apogee: CONTROL_FINISHED_OK
state	1151	begin climb
1151.13	10759	145.99	1.29	-80.00	2886.9	2976.9	2796.8	1617.2	2036.2	154.41	0.00	147	1279.59	106.21	2.52	3.82	1.079	0.088	0.122	2289.84	2387.50	2192.19	2004.12	532.81	0	0	0	11.61	15.44	15.25
1358.14	17414	145.99	1.29	0.00	2284.0	2375.6	2192.3	2004.4	532.8	138.97	12.74	184	1366.23	0.00	0.00	3.49	0.000	0.000	0.049	2282.56	2374.31	2190.81	2004.12	2031.81	0	0	0	30.00	30.00	15.47
1553.21	8486	174.39	1.33	80.00	2282.9	2375.6	2190.1	2004.1	2032.2	119.59	8.55	204	1587.97	21.50	0.00	3.54	1.009	0.000	0.112	2177.03	2274.56	2079.50	2004.50	3470.12	0	0	0	11.77	30.00	15.52
1590.80	9254	216.04	1.38	0.00	2176.9	2274.6	2079.2	2004.4	3469.4	116.62	7.88	209	1633.12	31.95	0.00	3.47	1.014	0.000	0.054	2006.72	2106.19	1907.25	2004.06	1971.38	0	0	0	11.71	30.00	15.56
1816.64	10791	239.77	1.41	-80.00	2001.0	2099.5	1902.5	2003.6	1971.2	96.81	8.79	235	1846.71	18.63	0.16	3.59	0.983	0.085	0.125	1911.03	2010.56	1811.50	2050.12	532.88	0	0	0	11.59	15.62	15.25
1955.24	1028	239.77	1.41	0.00	1905.6	2001.9	1809.3	2050.2	532.4	81.25	11.43	261	1963.34	0.00	0.00	3.45	0.000	0.000	0.050	1903.78	2000.12	1807.44	2050.44	2030.56	0	0	0	30.00	30.00	15.63
2150.34	8742	297.46	1.48	-80.00	1904.2	2002.5	1805.9	2050.4	2031.8	64.99	7.06	281	2206.88	42.79	0.00	3.77	1.008	0.000	0.123	1675.75	1775.50	1576.00	2050.00	533.12	0	0	0	11.78	30.00	15.53
2360.50	1060	300.21	1.48	0.00	1668.8	1766.3	1571.2	2049.4	532.8	44.34	9.86	322	2368.20	0.00	0.00	3.45	0.000	0.000	0.050	1668.88	1766.62	1571.12	2049.50	2030.31	0	0	0	30.00	30.00	15.67
2550.06	8742	370.75	1.57	-80.00	1667.2	1766.2	1568.2	2049.9	2030.5	29.94	6.40	359	2617.45	52.99	0.00	3.76	0.979	0.000	0.125	1377.16	1476.00	1278.31	2050.00	532.75	0	0	0	11.67	30.00	15.57
2776.04	11303	442.89	1.66	0.00	1370.7	1465.8	1275.6	2050.1	533.3	16.47	6.32	403	2843.58	53.16	0.24	3.46	0.954	0.067	0.050	1084.22	1178.00	990.44	2105.25	2035.81	0	0	0	11.87	15.72	15.72
3028.39	8742	564.55	1.81	-80.00	1077.4	1167.6	987.2	2105.3	2035.2	5.64	3.79	449	3112.27	77.53	0.00	0.00	0.937	0.000	0.000	651.59	726.56	576.62	2106.12	2035.62	0	0	0	11.78	30.00	30.00
3112	end climb: SURFACE_DEPTH_REACHED
state	3113	begin surface coast
3156	end surface coast: CONTROL_FINISHED_OK
state	3156	begin surface