Glider dive log

AMOS Jul22 * SG242 * Dive index * Mission links * Dive 36 * 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 36 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 1685.9468 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 22.434772 SEABIRD_T_I 2.4999999e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 16.51897 FG_AHR_24V 9.7485046 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 22.434772 PITCH_CNV 0.0041299998 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FG_AHR_24V 9.7485046 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 16.51897 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 1685.9468 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 36 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 140722,150339,4719.756,-12523.847,3,1.2,13,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.65 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140722,150752,4719.745,-12523.823,2,1.1,5,15.8 MHEAD_RNG_PITCHd_Wd 153.5,4135,-17.6,-10.000,-21.24,2209,0.185

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME ans0 IRON 1.000000,0.031783,0.005797,-0.004311,1.043628,-0.065721,0.002818,-0.045487,0.980061,748.768982,-859.469360,-640.198303

TGT_LATLONG 4717.676,-12522.584

Post-dive calculations and measurements:

NET CACST,8,0,20220714154015.781035,06,2192,33,0119,0150,37,02,02,00,02,1,027,242,0,5,1,0,150,23.9,6.06,-100,-3.06,-01,0.05,39,10000,5000,0,-1,00,00*6E _10V_AH 14.81,0.000

NET_PING 1657813218,27,4163.627930,23.900000,-5.542998 FG_AHR_24Vo 9.902

NAV 1657814354,2.6,start FG_AHR_10Vo 22.509

FINISH 0.4,1.019138 MEM0 60108,1,0,0

SM_CCo 3188.32,55.51,0.916,0,500.8,557.6,444.0,586.08 MEM1 65508,1,0,0

SM_GC 1.52,55.51,11.74,0.12,0.916,0.046,0.133,500.8,557.6,444.0,199.4,1965.2,0,0,0,11.83,15.58,15.58 MEM2 952816,21,93872,73

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 12919,444

IRIDIUM_FIX 4719.83,-12513.06,140722,140433 CAP_FILE_SIZE 165598,0

TCM_TEMP 14.65 SDSIZE 3887104,3859008

SC_FREEKB 3867264 SDFILEDIR 355,1

PM_FREEKB_00 60356864 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 0.088,135.8,1

RAFOS_FIX 4747.590820,-12427.612305,140722,060600,2,510,10420.27 MAGCAL 1.000000,0.025314,-0.015002,-0.003940,1.049150,-0.052994,0.005346,-0.063488,0.958986,767.1,-865.2,-621.1,36,0.0245,0

HUMID 50.81 IMPLIED_C_PITCH 1703,15.85,225,1694.3,16.18

TEMP 11.47 IMPLIED_C_VBD 3038,70.141457,192,0

INTERNAL_PRESSURE 7.78378 GPS 140722,160242,4719.276,-12523.703,18,1.3,22,15.8

_24V_AH 14.81,10.433

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 641 1098 10434.58 nil 0 0 0.00

Pitch_motor 25 271 102.31 nil 0 0 0.00

Roll_motor 57 178 151.76 nil 0 0 0.00

Iridium 168 205 512.54 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.31 nil 0 0 0.00

Core 2058 5 156.07 SciCon 3111 6 319.38

Fast 1 0 0.00 PMAR 3121 12 593.03

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1307 0 6.20

Compass 920 5 68.15

RAFOS 2805 40 1662.13

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 -145.99 -1.25 0.00 494.1 547.7 440.5 196.4 2042.8 0.00 0.00 0 72.94 55.72 0.00 0.00 0.005 0.000 0.000 1865.31 1897.19 1833.44 196.69 2043.94 0 0 0 15.67 30.00 30.00

73.37 18727 -145.99 -1.25 80.00 1865.7 1898.4 1832.9 196.4 2043.2 3.06 -2.75 11 142.16 42.40 9.35 3.49 0.005 0.271 0.110 3485.62 3520.38 3450.88 1383.81 3467.06 0 0 0 14.62 15.55 15.61

175.54 1028 -145.99 -1.25 0.00 3487.6 3523.3 3451.8 1383.5 3466.6 22.64 -21.16 29 182.86 0.00 0.00 3.47 0.000 0.000 0.055 3487.44 3523.75 3451.12 1384.31 1973.75 0 0 0 30.00 30.00 15.67

371.27 260 -145.99 -1.25 80.00 3487.9 3524.8 3451.0 1383.4 1973.5 58.49 -16.84 63 379.32 0.00 0.00 3.66 0.000 0.000 0.105 3486.94 3523.56 3450.31 1383.19 3466.94 0 0 0 30.00 30.00 15.70

427.80 1028 -145.99 -1.25 0.00 3488.3 3524.6 3452.0 1383.3 3467.6 67.76 -15.44 74 435.72 0.00 0.00 3.47 0.000 0.000 0.053 3487.41 3523.81 3451.00 1383.62 1972.69 0 0 0 30.00 30.00 15.74

622.82 260 -145.99 -1.25 80.00 3489.0 3526.5 3451.5 1384.0 1972.1 94.65 -13.39 94 630.86 0.00 0.00 3.65 0.000 0.000 0.105 3487.69 3525.75 3449.62 1383.38 3465.62 0 0 0 30.00 30.00 15.74

712.08 1028 -145.99 -1.25 0.00 3488.4 3525.8 3451.1 1383.7 3466.2 106.52 -13.33 111 724.64 0.00 0.00 3.46 0.000 0.000 0.054 3489.41 3526.56 3452.25 1384.12 1971.19 0 0 0 30.00 30.00 15.76

912.11 0 -145.99 -1.25 0.00 3489.7 3527.0 3452.4 1383.8 1971.2 128.14 -11.16 132 913.86 0.00 0.00 0.00 0.000 0.000 0.000 3488.72 3526.69 3450.75 1384.12 1971.19 0 0 0 30.00 30.00 30.00

1102 end dive: TARGET_DEPTH_EXCEEDED

state 1102 begin apogee

1103.71 10243 0.00 -0.30 0.00 3489.9 3528.7 3451.1 1383.8 2036.1 151.13 -11.90 151 1221.57 105.00 1.54 0.12 1.099 0.138 0.178 2888.09 2976.69 2799.50 1615.19 1965.31 0 0 0 11.63 15.75 15.45

1223 end apogee: CONTROL_FINISHED_OK

state 1223 begin climb

1224.01 10759 145.99 1.25 -80.00 2886.9 2975.6 2798.3 1614.9 1964.9 155.98 0.00 162 1351.51 106.02 2.43 3.66 1.070 0.092 0.124 2293.94 2390.81 2197.06 1990.62 532.94 0 0 0 11.56 15.47 15.27

1370.11 9254 186.39 1.30 0.00 2286.6 2379.0 2194.2 1990.6 533.1 149.78 8.12 187 1410.97 30.52 0.00 3.54 1.015 0.000 0.048 2127.53 2227.31 2027.75 1990.44 2032.00 0 0 0 11.62 30.00 15.39

1595.04 516 186.39 1.30 -80.00 2122.3 2218.9 2025.7 1991.1 2031.2 123.52 11.95 213 1603.37 0.00 0.00 3.74 0.000 0.000 0.121 2120.25 2216.88 2023.62 1990.25 534.06 0 0 0 30.00 30.00 15.55

1661.88 17414 186.39 1.30 0.00 2119.3 2214.1 2024.6 1991.1 534.1 113.78 15.03 226 1669.97 0.00 0.00 3.48 0.000 0.000 0.050 2118.41 2212.62 2024.19 1990.75 2031.75 0 0 0 30.00 30.00 15.62

1856.97 8486 228.42 1.35 80.00 2119.9 2214.4 2025.3 1989.9 2031.3 94.47 8.04 246 1901.79 31.76 0.00 3.58 1.009 0.000 0.111 1955.69 2056.25 1855.12 1990.25 3465.94 0 0 0 11.81 30.00 15.48

1915.38 11303 266.01 1.39 0.00 1955.5 2054.9 1856.1 1991.4 3466.8 89.79 8.25 256 1955.12 29.14 0.19 3.48 0.983 0.077 0.054 1805.31 1909.69 1700.94 2041.81 1970.88 0 0 0 11.75 15.59 15.59

2138.64 8226 302.55 1.44 0.00 1796.8 1901.4 1692.2 2041.8 1970.9 69.58 8.30 282 2170.76 27.60 0.00 0.00 0.978 0.000 0.000 1654.94 1756.25 1553.62 2042.00 1971.00 0 0 0 11.72 30.00 30.00

2358.66 8742 309.02 1.45 -80.00 1649.2 1748.3 1550.0 2041.9 1970.9 50.12 9.70 305 2373.28 6.47 0.00 3.60 0.721 0.000 0.128 1627.69 1727.31 1528.06 2041.31 531.50 0 0 0 11.77 30.00 15.63

2476.89 9254 337.19 1.48 0.00 1626.3 1723.9 1528.8 2041.8 531.6 38.22 8.69 328 2510.25 22.72 0.00 3.47 0.952 0.000 0.049 1514.09 1612.94 1415.25 2041.00 2033.12 0 0 0 11.80 30.00 15.71

2693.80 8742 406.53 1.57 -80.00 1509.1 1606.8 1411.4 2041.8 2032.3 24.49 6.77 370 2757.30 51.10 0.00 3.80 0.961 0.000 0.126 1231.06 1328.75 1133.38 2041.38 532.88 0 0 0 11.62 30.00 15.57

2780.89 11303 456.04 1.63 0.00 1228.7 1325.6 1131.7 2041.7 532.8 18.49 7.70 386 2832.09 37.65 0.23 3.51 0.927 0.066 0.050 1031.22 1123.06 939.38 2097.19 2031.69 0 0 0 11.70 15.63 15.64

3015.64 8742 562.95 1.76 -80.00 1024.5 1113.2 935.8 2097.2 2031.9 3.37 5.03 432 3058.86 39.55 0.00 0.00 0.923 0.000 0.000 816.22 905.81 726.62 2096.81 2032.94 0 0 0 11.74 30.00 30.00

3059 end climb: SURFACE_DEPTH_REACHED

state 3059 begin surface coast

3100 end surface coast: CONTROL_FINISHED_OK

state 3100 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	36	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	1685.9468	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	22.434772	SEABIRD_T_I	2.4999999e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	16.51897	FG_AHR_24V	9.7485046	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	140722,150339,4719.756,-12523.847,3,1.2,13,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.65	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140722,150752,4719.745,-12523.823,2,1.1,5,15.8	MHEAD_RNG_PITCHd_Wd	153.5,4135,-17.6,-10.000,-21.24,2209,0.185
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	ans0	IRON	1.000000,0.031783,0.005797,-0.004311,1.043628,-0.065721,0.002818,-0.045487,0.980061,748.768982,-859.469360,-640.198303
TGT_LATLONG	4717.676,-12522.584

NET	CACST,8,0,20220714154015.781035,06,2192,33,0119,0150,37,02,02,00,02,1,027,242,0,5,1,0,150,23.9,6.06,-100,-3.06,-01,0.05,39,10000,5000,0,-1,00,00*6E	_10V_AH	14.81,0.000
NET_PING	1657813218,27,4163.627930,23.900000,-5.542998	FG_AHR_24Vo	9.902
NAV	1657814354,2.6,start	FG_AHR_10Vo	22.509
FINISH	0.4,1.019138	MEM0	60108,1,0,0
SM_CCo	3188.32,55.51,0.916,0,500.8,557.6,444.0,586.08	MEM1	65508,1,0,0
SM_GC	1.52,55.51,11.74,0.12,0.916,0.046,0.133,500.8,557.6,444.0,199.4,1965.2,0,0,0,11.83,15.58,15.58	MEM2	952816,21,93872,73
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	12919,444
IRIDIUM_FIX	4719.83,-12513.06,140722,140433	CAP_FILE_SIZE	165598,0
TCM_TEMP	14.65	SDSIZE	3887104,3859008
SC_FREEKB	3867264	SDFILEDIR	355,1
PM_FREEKB_00	60356864	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	0.088,135.8,1
RAFOS_FIX	4747.590820,-12427.612305,140722,060600,2,510,10420.27	MAGCAL	1.000000,0.025314,-0.015002,-0.003940,1.049150,-0.052994,0.005346,-0.063488,0.958986,767.1,-865.2,-621.1,36,0.0245,0
HUMID	50.81	IMPLIED_C_PITCH	1703,15.85,225,1694.3,16.18
TEMP	11.47	IMPLIED_C_VBD	3038,70.141457,192,0
INTERNAL_PRESSURE	7.78378	GPS	140722,160242,4719.276,-12523.703,18,1.3,22,15.8
_24V_AH	14.81,10.433

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	641	1098	10434.58	nil	0	0	0.00
Pitch_motor	25	271	102.31	nil	0	0	0.00
Roll_motor	57	178	151.76	nil	0	0	0.00
Iridium	168	205	512.54	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.31	nil	0	0	0.00
Core	2058	5	156.07	SciCon	3111	6	319.38
Fast	1	0	0.00	PMAR	3121	12	593.03
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1307	0	6.20
Compass	920	5	68.15
RAFOS	2805	40	1662.13
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	-145.99	-1.25	0.00	494.1	547.7	440.5	196.4	2042.8	0.00	0.00	0	72.94	55.72	0.00	0.00	0.005	0.000	0.000	1865.31	1897.19	1833.44	196.69	2043.94	0	0	0	15.67	30.00	30.00
73.37	18727	-145.99	-1.25	80.00	1865.7	1898.4	1832.9	196.4	2043.2	3.06	-2.75	11	142.16	42.40	9.35	3.49	0.005	0.271	0.110	3485.62	3520.38	3450.88	1383.81	3467.06	0	0	0	14.62	15.55	15.61
175.54	1028	-145.99	-1.25	0.00	3487.6	3523.3	3451.8	1383.5	3466.6	22.64	-21.16	29	182.86	0.00	0.00	3.47	0.000	0.000	0.055	3487.44	3523.75	3451.12	1384.31	1973.75	0	0	0	30.00	30.00	15.67
371.27	260	-145.99	-1.25	80.00	3487.9	3524.8	3451.0	1383.4	1973.5	58.49	-16.84	63	379.32	0.00	0.00	3.66	0.000	0.000	0.105	3486.94	3523.56	3450.31	1383.19	3466.94	0	0	0	30.00	30.00	15.70
427.80	1028	-145.99	-1.25	0.00	3488.3	3524.6	3452.0	1383.3	3467.6	67.76	-15.44	74	435.72	0.00	0.00	3.47	0.000	0.000	0.053	3487.41	3523.81	3451.00	1383.62	1972.69	0	0	0	30.00	30.00	15.74
622.82	260	-145.99	-1.25	80.00	3489.0	3526.5	3451.5	1384.0	1972.1	94.65	-13.39	94	630.86	0.00	0.00	3.65	0.000	0.000	0.105	3487.69	3525.75	3449.62	1383.38	3465.62	0	0	0	30.00	30.00	15.74
712.08	1028	-145.99	-1.25	0.00	3488.4	3525.8	3451.1	1383.7	3466.2	106.52	-13.33	111	724.64	0.00	0.00	3.46	0.000	0.000	0.054	3489.41	3526.56	3452.25	1384.12	1971.19	0	0	0	30.00	30.00	15.76
912.11	0	-145.99	-1.25	0.00	3489.7	3527.0	3452.4	1383.8	1971.2	128.14	-11.16	132	913.86	0.00	0.00	0.00	0.000	0.000	0.000	3488.72	3526.69	3450.75	1384.12	1971.19	0	0	0	30.00	30.00	30.00
1102	end dive: TARGET_DEPTH_EXCEEDED
state	1102	begin apogee
1103.71	10243	0.00	-0.30	0.00	3489.9	3528.7	3451.1	1383.8	2036.1	151.13	-11.90	151	1221.57	105.00	1.54	0.12	1.099	0.138	0.178	2888.09	2976.69	2799.50	1615.19	1965.31	0	0	0	11.63	15.75	15.45
1223	end apogee: CONTROL_FINISHED_OK
state	1223	begin climb
1224.01	10759	145.99	1.25	-80.00	2886.9	2975.6	2798.3	1614.9	1964.9	155.98	0.00	162	1351.51	106.02	2.43	3.66	1.070	0.092	0.124	2293.94	2390.81	2197.06	1990.62	532.94	0	0	0	11.56	15.47	15.27
1370.11	9254	186.39	1.30	0.00	2286.6	2379.0	2194.2	1990.6	533.1	149.78	8.12	187	1410.97	30.52	0.00	3.54	1.015	0.000	0.048	2127.53	2227.31	2027.75	1990.44	2032.00	0	0	0	11.62	30.00	15.39
1595.04	516	186.39	1.30	-80.00	2122.3	2218.9	2025.7	1991.1	2031.2	123.52	11.95	213	1603.37	0.00	0.00	3.74	0.000	0.000	0.121	2120.25	2216.88	2023.62	1990.25	534.06	0	0	0	30.00	30.00	15.55
1661.88	17414	186.39	1.30	0.00	2119.3	2214.1	2024.6	1991.1	534.1	113.78	15.03	226	1669.97	0.00	0.00	3.48	0.000	0.000	0.050	2118.41	2212.62	2024.19	1990.75	2031.75	0	0	0	30.00	30.00	15.62
1856.97	8486	228.42	1.35	80.00	2119.9	2214.4	2025.3	1989.9	2031.3	94.47	8.04	246	1901.79	31.76	0.00	3.58	1.009	0.000	0.111	1955.69	2056.25	1855.12	1990.25	3465.94	0	0	0	11.81	30.00	15.48
1915.38	11303	266.01	1.39	0.00	1955.5	2054.9	1856.1	1991.4	3466.8	89.79	8.25	256	1955.12	29.14	0.19	3.48	0.983	0.077	0.054	1805.31	1909.69	1700.94	2041.81	1970.88	0	0	0	11.75	15.59	15.59
2138.64	8226	302.55	1.44	0.00	1796.8	1901.4	1692.2	2041.8	1970.9	69.58	8.30	282	2170.76	27.60	0.00	0.00	0.978	0.000	0.000	1654.94	1756.25	1553.62	2042.00	1971.00	0	0	0	11.72	30.00	30.00
2358.66	8742	309.02	1.45	-80.00	1649.2	1748.3	1550.0	2041.9	1970.9	50.12	9.70	305	2373.28	6.47	0.00	3.60	0.721	0.000	0.128	1627.69	1727.31	1528.06	2041.31	531.50	0	0	0	11.77	30.00	15.63
2476.89	9254	337.19	1.48	0.00	1626.3	1723.9	1528.8	2041.8	531.6	38.22	8.69	328	2510.25	22.72	0.00	3.47	0.952	0.000	0.049	1514.09	1612.94	1415.25	2041.00	2033.12	0	0	0	11.80	30.00	15.71
2693.80	8742	406.53	1.57	-80.00	1509.1	1606.8	1411.4	2041.8	2032.3	24.49	6.77	370	2757.30	51.10	0.00	3.80	0.961	0.000	0.126	1231.06	1328.75	1133.38	2041.38	532.88	0	0	0	11.62	30.00	15.57
2780.89	11303	456.04	1.63	0.00	1228.7	1325.6	1131.7	2041.7	532.8	18.49	7.70	386	2832.09	37.65	0.23	3.51	0.927	0.066	0.050	1031.22	1123.06	939.38	2097.19	2031.69	0	0	0	11.70	15.63	15.64
3015.64	8742	562.95	1.76	-80.00	1024.5	1113.2	935.8	2097.2	2031.9	3.37	5.03	432	3058.86	39.55	0.00	0.00	0.923	0.000	0.000	816.22	905.81	726.62	2096.81	2032.94	0	0	0	11.74	30.00	30.00
3059	end climb: SURFACE_DEPTH_REACHED
state	3059	begin surface coast
3100	end surface coast: CONTROL_FINISHED_OK
state	3100	begin surface