Glider dive log

AMOS Jul22 * SG235 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.5

MISSION 21 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 4 SM_CC 605.40039 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 4 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 6

STOP_T 0 FILEMGR 0 C_VBD 3068.9021 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 100 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 500 N_NOCOMM 1 VBD_TIMEOUT 800 DEVICE5 -1

D_NO_BLEED 50 NOCOMM_ACTION 131 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

D_BOOST 0 N_NOSURFACE 0 UNCOM_BLEED 20 LOGGERS 3

T_BOOST 0 UPLOAD_DIVES_MAX 3 VBD_MAXERRORS 2 LOGGERDEVICE1 7

D_FINISH 10 CALL_TRIES 3 C_VBD_AUTO_DELTA 0.5 LOGGERDEVICE2 35

D_PITCH 2 CALL_WAIT 45 C_VBD_AUTO_MAX 100 LOGGERDEVICE3 -1

D_SAFE 500 CAPUPLOAD 0 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

D_CALL 3 CAPMAXSIZE 10000 DBDW 0 COMPASS_DEVICE 66

SURFACE_URGENCY 20 T_GPS 3 LOITER_W_DBAND 2 COMPASS2_DEVICE -1

SURFACE_URGENCY_TRY 20 N_GPS 100440 LOITER_DBDW 400 PHONE_DEVICE 33

SURFACE_URGENCY_FORCE 40 T_RSLEEP 1 LOITER_D_TOP 400 GPS_DEVICE 48

T_DIVE 30 STROBE 0 LOITER_D_BOTTOM 700 RAFOS_DEVICE 96

T_MISSION 45 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 NAV_DEVICE 6

T_ABORT 1440 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 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 240 PITCH_MIN 230 MINV_24V 0 XPDR_DEVICE -1

T_LOITER 0 PITCH_MAX 3900 MINV_10V 0 SIM_W 0

T_EPIRB 0 C_PITCH 2374.8804 MAXI_24V 5 SEABIRD_T_G 0.004415411

USE_BATHY -1 PITCH_DBAND 0.1 MAXI_10V 2 SEABIRD_T_H 0.00064200663

USE_ICE 0 PITCH_CNV 0.0041299998 FG_AHR_10V 172.16122 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 17.813793 FG_AHR_24V 217.80925 SEABIRD_T_J 3.2522996e-06

D_OFFGRID 1000 PITCH_TIMEOUT 40 PHONE_SUPPLY 2 SEABIRD_C_G -9.8064938

RELAUNCH 1 PITCH_MAXERRORS 1 PRESSURE_YINT -158.7531 SEABIRD_C_H 1.0739573

APOGEE_PITCH -5 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_I -0.002841271

MAX_BUOY 150 PITCH_ADJ_DBAND 2 COMPASS_USE 49156 SEABIRD_C_J 0.00027081851

GLIDE_SLOPE 30 C_PITCH_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 OPTIONS 2

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 7.0

MASS 72594 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 0 SC_NDIVE 1.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MIN 1200 ALTIM_PING_DELTA 0 PM_PROFILE 3.0

HD_A 0.003 ROLL_MAX 3900 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 2750 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING 45 C_ROLL_CLIMB 2600 XPDR_VALID 4 PM_MOTORS 0.0

ESCAPE_HEADING 180 HEAD_ERRBAND 10 XPDR_INHIBIT 90 PM_SENDDEPTH 0.0

ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054945 XPDR_INT 0

FIX_MISSING_TIMEOUT 20 ROLL_TIMEOUT 30 XPDR_REP 0

TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 0 INT_PRESSURE_SLOPE 1.9639999e-06

AH0_10V 0 D_SAFE 500 N_NOSURFACE 0 SEABIRD_C_H 1.0739573

AH0_24V 575 D_SURF 2 OPTIONS 2 SEABIRD_C_I -0.002841271

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 100 PHONE_DEVICE 33 SEABIRD_C_J 0.00027081851

ALTIM_FREQUENCY 13 ESCAPE_HEADING 180 PHONE_SUPPLY 2 SEABIRD_T_G 0.004415411

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SEABIRD_T_H 0.00064200663

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_10V 172.16122 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 217.80925 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 17.813793 SM_CC 605.40039

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 20 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 3900 STROBE 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MAXERRORS 1 SURFACE_URGENCY 20

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_MIN 230 SURFACE_URGENCY_FORCE 40

CALL_TRIES 3 HD_C 1.6e-05 PITCH_TIMEOUT 40 SURFACE_URGENCY_TRY 20

CALL_WAIT 45 HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HEAD_ERRBAND 10 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.1 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 0 ID 235 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 -0.5 PM_PROFILE 3.0 T_DIVE 30

COMPASS_DEVICE 66 KALMAN_USE 2 PM_RECORDABOVE 2000.0 T_EPIRB 0

COMPASS_USE 49156 LOGGERDEVICE1 7 PM_SENDDEPTH 0.0 T_GPS 3

C_PITCH 2374.8804 LOGGERDEVICE2 35 PM_XMITPROFILE 3.0 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE3 -1 PM_XMITRAW 0.0 T_MISSION 45

C_PITCH_AUTO_MAX 200 LOGGERDEVICE4 -1 PRESSURE_DEVICE 34 T_NO_W 240

C_ROLL_CLIMB 2600 LOGGERS 3 PRESSURE_SLOPE 0.00022957686 T_RSLEEP 1

C_ROLL_DIVE 2750 LOITER_DBDW 400 PRESSURE_YINT -158.7531 T_TURN 225

C_VBD 3068.9021 LOITER_D_BOTTOM 700 PROTOCOL 9 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_D_TOP 400 RAFOS_CORR_THRESH 60 UNCOM_BLEED 20

C_VBD_AUTO_MAX 100 LOITER_N_DIVE 0 RAFOS_DEVICE 96 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_W_DBAND 2 RAFOS_HIT_WINDOW 3600 USE_BATHY -1

DEEPGLIDER 0 MASS 72594 RAFOS_MMODEM 0 USE_ICE 0

DEEPGLIDERMB 0 MAXI_10V 2 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 0 ROLL_ADJ_DBAND 0 VBD_MAX 3960

DEVICE4 -1 MINV_24V 0 ROLL_ADJ_GAIN 0 VBD_MAXERRORS 2

DEVICE5 -1 MISSION 21 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 800

DIVE 4 NAV2_DEVICE 6 ROLL_MAX 3900 W_ADJ_DBAND 2

D_ABORT 500 NAV_DEVICE 6 ROLL_MAXERRORS 0 XPDR_DEVICE -1

D_BOOST 0 NAV_MODE 2 ROLL_MIN 1200 XPDR_INHIBIT 90

D_CALL 3 NETWORK_DEVICE 1 ROLL_TIMEOUT 30 XPDR_INT 0

D_FINISH 10 NOCOMM_ACTION 131 SC_NDIVE 1.0 XPDR_REP 0

D_FLARE 3 N_DIVES 4 SC_PROFILE 7.0 XPDR_VALID 4

D_NO_BLEED 50 N_FILEKB 8 SC_RECORDABOVE 2000.0

D_OFFGRID 1000 N_GPS 100440 SC_XMITPROFILE 3.0

D_PITCH 2 N_NOCOMM 1 SEABIRD_C_G -9.8064938

Pre-dive calculations and measurements:

GPS1 120722,215644,4723.470,-12523.909,2,0.7,4,15.8 TGT_RADIUS 1852.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.53 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120722,220138,4723.408,-12523.889,2,0.8,4,15.8 MHEAD_RNG_PITCHd_Wd 19.0,20000,-19.4,-11.111,-22.62,1994,0.168

SPEED_LIMITS 0.192,0.267 D_GRID 1000

TGT_NAME HEADING IRON 1.000000,0.010128,-0.063169,-0.087250,1.072990,-0.045988,-0.003437,0.060541,1.120606,-1044.861328,-999.930542,-222.078873

TGT_LATLONG 4731.044,-12512.582

Post-dive calculations and measurements:

NAV 1657663352,1.5,start _24V_AH 14.85,116.197

NET CACST,8,1,20220712223322.841430,06,339,13,0513,0150,216,01,01,02,01,-1,-01,-01,1,3,11643,0,150,-36.1,0.42,-100,2.58,-01,-1.61,72,10000,5000,0,-1,00,00*68 _10V_AH 14.82,0.000

FREEZE 0.35,16.996,-1.707,0,1,0 FG_AHR_24Vo 217.982

FINISH 0.3,1.022614 FG_AHR_10Vo 172.217

SM_CCo 2309.51,110.50,1.071,0,600.2,659.3,541.0,605.36 MEM0 60108,1,0,0

SM_GC 1.50,110.50,15.48,0.31,1.071,0.052,0.099,600.2,659.3,541.0,216.8,2776.1,0,0,0,11.60,15.65,15.64 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 963748,25,82420,95

IRIDIUM_FIX 4723.35,-12523.76,120722,215724 DATA_FILE_SIZE 9761,347

TCM_TEMP 16.21 CAP_FILE_SIZE 225026,0

SC_FREEKB 3877408 SDSIZE 3918848,3877440

PM_FREEKB_00 62186688 SDFILEDIR 310,3

PM_ACTIVECARD 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.110,165.7,1

HUMID 63.43 MAGCAL 1.000000,0.027468,-0.036378,-0.108856,1.105998,0.008906,-0.010190,-0.048191,1.149593,-1086.0,-1047.0,-189.2,36,0.0896,0

TEMP 14.12 IMPLIED_C_PITCH 2408,18.16,168,2391.4,17.99

INTERNAL_PRESSURE 8.60466 GPS 120722,224122,4723.417,-12523.688,1,1.3,3,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 655 1170 11383.97 nil 0 0 0.00

Pitch_motor 34 278 142.34 nil 0 0 0.00

Roll_motor 40 211 127.20 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.91 nil 0 0 0.00

Core 1484 5 112.64 SciCon 2164 6 206.92

Fast 0 0 0.00 PMAR 2172 10 344.36

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 747 0 3.54

Compass 705 5 52.27

RAFOS 8 40 5.30

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

11.22 16386 -145.99 -1.27 0.00 499.2 545.7 452.7 215.4 2782.6 0.00 0.00 0 108.31 92.19 0.00 0.00 0.005 0.000 0.000 2710.16 2710.00 2710.31 215.25 2782.50 0 0 0 15.27 30.00 30.00

108.63 18983 -145.99 -1.27 -80.00 2708.7 2708.0 2709.4 215.2 2782.6 3.14 -1.64 16 161.77 21.96 14.43 3.56 0.006 0.279 0.114 3662.28 3685.25 3639.31 2067.25 1279.06 0 0 0 15.95 15.76 15.86

195.01 1028 -145.99 -1.27 0.00 3663.1 3687.8 3638.4 2066.2 1279.5 20.58 -18.18 32 201.70 0.00 0.00 3.33 0.000 0.000 0.058 3663.25 3687.94 3638.56 2066.75 2768.12 0 0 0 30.00 30.00 15.89

390.03 260 -145.99 -1.27 80.00 3663.3 3688.4 3638.3 2066.9 2768.5 55.50 -16.07 68 395.69 0.00 0.00 2.74 0.000 0.000 0.112 3663.78 3687.81 3639.75 2066.38 3911.25 0 0 0 30.00 30.00 15.88

424.31 1028 -145.99 -1.27 0.00 3662.8 3686.8 3638.8 2068.2 3912.9 60.97 -15.59 75 431.37 0.00 0.00 2.68 0.000 0.000 0.065 3663.12 3688.38 3637.88 2067.00 2727.19 0 0 0 30.00 30.00 15.91

620.05 516 -145.99 -1.27 -80.00 3664.8 3690.8 3638.7 2067.1 2727.6 87.22 -12.95 95 626.05 0.00 0.00 3.45 0.000 0.000 0.118 3664.16 3689.81 3638.50 2067.44 1280.19 0 0 0 30.00 30.00 15.88

683.18 1028 -145.99 -1.27 0.00 3664.6 3689.9 3639.2 2066.8 1280.5 97.21 -16.54 107 689.14 0.00 0.00 3.35 0.000 0.000 0.061 3665.22 3690.00 3640.44 2067.25 2770.56 0 0 0 30.00 30.00 15.91

703 end dive: TARGET_DEPTH_EXCEEDED

state 703 begin apogee

704.68 10243 0.00 -0.28 0.00 3665.2 3690.2 3640.1 2067.2 2569.3 100.21 -15.29 110 818.56 102.83 1.64 0.09 1.170 0.158 0.211 3066.62 3127.19 3006.06 2307.00 2626.38 0 0 0 11.60 15.86 15.54

821 end apogee: CONTROL_FINISHED_OK

state 821 begin climb

821.93 10759 145.99 1.27 -80.00 3065.4 3124.8 3006.0 2307.2 2627.0 104.36 0.00 121 945.10 107.47 2.51 3.55 1.123 0.104 0.122 2471.44 2540.19 2402.69 2683.81 1188.38 0 0 0 11.55 15.56 15.40

978.38 1028 145.99 1.27 0.00 2466.5 2533.6 2399.5 2684.1 1188.5 89.38 14.25 150 984.28 0.00 0.00 3.29 0.000 0.000 0.055 2468.28 2535.81 2400.75 2685.12 2625.56 0 0 0 30.00 30.00 15.55

1168.39 16386 145.99 1.27 0.00 2462.9 2529.1 2396.8 2683.8 2626.0 69.28 9.13 170 1169.96 0.00 0.00 0.00 0.000 0.000 0.000 2459.16 2525.81 2392.50 2683.31 2625.12 0 0 0 30.00 30.00 30.00

1358.46 8742 227.24 1.37 -80.00 2461.4 2527.1 2395.7 2683.8 2626.2 54.16 6.93 189 1428.74 61.31 0.00 3.56 1.084 0.000 0.126 2136.41 2218.06 2054.75 2683.69 1187.31 0 0 0 11.72 30.00 15.58

1512.03 17414 227.24 1.37 0.00 2132.9 2210.6 2055.2 2684.2 1187.1 41.17 9.65 219 1518.67 0.00 0.00 3.29 0.000 0.000 0.056 2132.78 2208.81 2056.75 2682.75 2626.44 0 0 0 30.00 30.00 15.71

1702.09 10791 334.79 1.50 -80.00 2131.1 2207.9 2054.2 2683.2 2626.9 29.46 5.57 257 1793.00 78.71 0.32 3.57 1.073 0.071 0.127 1700.12 1787.31 1612.94 2751.06 1189.75 0 0 0 11.64 15.81 15.54

1836.24 1028 334.79 1.50 0.00 1696.6 1780.4 1612.8 2751.4 1189.3 18.54 10.50 283 1842.88 0.00 0.00 3.29 0.000 0.000 0.058 1696.44 1779.50 1613.38 2751.25 2623.00 0 0 0 30.00 30.00 15.65

2025.31 8486 464.70 1.66 80.00 1692.6 1775.8 1609.4 2752.8 2622.8 5.23 4.42 320 2109.32 80.21 0.00 0.00 1.052 0.000 0.000 1255.84 1350.75 1160.94 2751.62 2622.19 0 0 0 11.55 30.00 30.00

2110 end climb: SURFACE_DEPTH_REACHED

state 2110 begin surface coast

2163 end surface coast: CONTROL_FINISHED_OK

state 2163 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	21	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	4	SM_CC	605.40039	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	4	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	6
STOP_T	0	FILEMGR	0	C_VBD	3068.9021	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	100	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	500	N_NOCOMM	1	VBD_TIMEOUT	800	DEVICE5	-1
D_NO_BLEED	50	NOCOMM_ACTION	131	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
D_BOOST	0	N_NOSURFACE	0	UNCOM_BLEED	20	LOGGERS	3
T_BOOST	0	UPLOAD_DIVES_MAX	3	VBD_MAXERRORS	2	LOGGERDEVICE1	7
D_FINISH	10	CALL_TRIES	3	C_VBD_AUTO_DELTA	0.5	LOGGERDEVICE2	35
D_PITCH	2	CALL_WAIT	45	C_VBD_AUTO_MAX	100	LOGGERDEVICE3	-1
D_SAFE	500	CAPUPLOAD	0	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
D_CALL	3	CAPMAXSIZE	10000	DBDW	0	COMPASS_DEVICE	66
SURFACE_URGENCY	20	T_GPS	3	LOITER_W_DBAND	2	COMPASS2_DEVICE	-1
SURFACE_URGENCY_TRY	20	N_GPS	100440	LOITER_DBDW	400	PHONE_DEVICE	33
SURFACE_URGENCY_FORCE	40	T_RSLEEP	1	LOITER_D_TOP	400	GPS_DEVICE	48
T_DIVE	30	STROBE	0	LOITER_D_BOTTOM	700	RAFOS_DEVICE	96
T_MISSION	45	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	NAV_DEVICE	6
T_ABORT	1440	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	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	240	PITCH_MIN	230	MINV_24V	0	XPDR_DEVICE	-1
T_LOITER	0	PITCH_MAX	3900	MINV_10V	0	SIM_W	0
T_EPIRB	0	C_PITCH	2374.8804	MAXI_24V	5	SEABIRD_T_G	0.004415411
USE_BATHY	-1	PITCH_DBAND	0.1	MAXI_10V	2	SEABIRD_T_H	0.00064200663
USE_ICE	0	PITCH_CNV	0.0041299998	FG_AHR_10V	172.16122	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	17.813793	FG_AHR_24V	217.80925	SEABIRD_T_J	3.2522996e-06
D_OFFGRID	1000	PITCH_TIMEOUT	40	PHONE_SUPPLY	2	SEABIRD_C_G	-9.8064938
RELAUNCH	1	PITCH_MAXERRORS	1	PRESSURE_YINT	-158.7531	SEABIRD_C_H	1.0739573
APOGEE_PITCH	-5	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_I	-0.002841271
MAX_BUOY	150	PITCH_ADJ_DBAND	2	COMPASS_USE	49156	SEABIRD_C_J	0.00027081851
GLIDE_SLOPE	30	C_PITCH_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	OPTIONS	2
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	7.0
MASS	72594	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	0	SC_NDIVE	1.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MIN	1200	ALTIM_PING_DELTA	0	PM_PROFILE	3.0
HD_A	0.003	ROLL_MAX	3900	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	2750	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
HEADING	45	C_ROLL_CLIMB	2600	XPDR_VALID	4	PM_MOTORS	0.0
ESCAPE_HEADING	180	HEAD_ERRBAND	10	XPDR_INHIBIT	90	PM_SENDDEPTH	0.0
ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054945	XPDR_INT	0
FIX_MISSING_TIMEOUT	20	ROLL_TIMEOUT	30	XPDR_REP	0
TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	0	INT_PRESSURE_SLOPE	1.9639999e-06

GPS1	120722,215644,4723.470,-12523.909,2,0.7,4,15.8	TGT_RADIUS	1852.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120722,220138,4723.408,-12523.889,2,0.8,4,15.8	MHEAD_RNG_PITCHd_Wd	19.0,20000,-19.4,-11.111,-22.62,1994,0.168
SPEED_LIMITS	0.192,0.267	D_GRID	1000
TGT_NAME	HEADING	IRON	1.000000,0.010128,-0.063169,-0.087250,1.072990,-0.045988,-0.003437,0.060541,1.120606,-1044.861328,-999.930542,-222.078873
TGT_LATLONG	4731.044,-12512.582

NAV	1657663352,1.5,start	_24V_AH	14.85,116.197
NET	CACST,8,1,20220712223322.841430,06,339,13,0513,0150,216,01,01,02,01,-1,-01,-01,1,3,11643,0,150,-36.1,0.42,-100,2.58,-01,-1.61,72,10000,5000,0,-1,00,00*68	_10V_AH	14.82,0.000
FREEZE	0.35,16.996,-1.707,0,1,0	FG_AHR_24Vo	217.982
FINISH	0.3,1.022614	FG_AHR_10Vo	172.217
SM_CCo	2309.51,110.50,1.071,0,600.2,659.3,541.0,605.36	MEM0	60108,1,0,0
SM_GC	1.50,110.50,15.48,0.31,1.071,0.052,0.099,600.2,659.3,541.0,216.8,2776.1,0,0,0,11.60,15.65,15.64	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	963748,25,82420,95
IRIDIUM_FIX	4723.35,-12523.76,120722,215724	DATA_FILE_SIZE	9761,347
TCM_TEMP	16.21	CAP_FILE_SIZE	225026,0
SC_FREEKB	3877408	SDSIZE	3918848,3877440
PM_FREEKB_00	62186688	SDFILEDIR	310,3
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.110,165.7,1
HUMID	63.43	MAGCAL	1.000000,0.027468,-0.036378,-0.108856,1.105998,0.008906,-0.010190,-0.048191,1.149593,-1086.0,-1047.0,-189.2,36,0.0896,0
TEMP	14.12	IMPLIED_C_PITCH	2408,18.16,168,2391.4,17.99
INTERNAL_PRESSURE	8.60466	GPS	120722,224122,4723.417,-12523.688,1,1.3,3,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	655	1170	11383.97	nil	0	0	0.00
Pitch_motor	34	278	142.34	nil	0	0	0.00
Roll_motor	40	211	127.20	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.91	nil	0	0	0.00
Core	1484	5	112.64	SciCon	2164	6	206.92
Fast	0	0	0.00	PMAR	2172	10	344.36
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	747	0	3.54
Compass	705	5	52.27
RAFOS	8	40	5.30
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
11.22	16386	-145.99	-1.27	0.00	499.2	545.7	452.7	215.4	2782.6	0.00	0.00	0	108.31	92.19	0.00	0.00	0.005	0.000	0.000	2710.16	2710.00	2710.31	215.25	2782.50	0	0	0	15.27	30.00	30.00
108.63	18983	-145.99	-1.27	-80.00	2708.7	2708.0	2709.4	215.2	2782.6	3.14	-1.64	16	161.77	21.96	14.43	3.56	0.006	0.279	0.114	3662.28	3685.25	3639.31	2067.25	1279.06	0	0	0	15.95	15.76	15.86
195.01	1028	-145.99	-1.27	0.00	3663.1	3687.8	3638.4	2066.2	1279.5	20.58	-18.18	32	201.70	0.00	0.00	3.33	0.000	0.000	0.058	3663.25	3687.94	3638.56	2066.75	2768.12	0	0	0	30.00	30.00	15.89
390.03	260	-145.99	-1.27	80.00	3663.3	3688.4	3638.3	2066.9	2768.5	55.50	-16.07	68	395.69	0.00	0.00	2.74	0.000	0.000	0.112	3663.78	3687.81	3639.75	2066.38	3911.25	0	0	0	30.00	30.00	15.88
424.31	1028	-145.99	-1.27	0.00	3662.8	3686.8	3638.8	2068.2	3912.9	60.97	-15.59	75	431.37	0.00	0.00	2.68	0.000	0.000	0.065	3663.12	3688.38	3637.88	2067.00	2727.19	0	0	0	30.00	30.00	15.91
620.05	516	-145.99	-1.27	-80.00	3664.8	3690.8	3638.7	2067.1	2727.6	87.22	-12.95	95	626.05	0.00	0.00	3.45	0.000	0.000	0.118	3664.16	3689.81	3638.50	2067.44	1280.19	0	0	0	30.00	30.00	15.88
683.18	1028	-145.99	-1.27	0.00	3664.6	3689.9	3639.2	2066.8	1280.5	97.21	-16.54	107	689.14	0.00	0.00	3.35	0.000	0.000	0.061	3665.22	3690.00	3640.44	2067.25	2770.56	0	0	0	30.00	30.00	15.91
703	end dive: TARGET_DEPTH_EXCEEDED
state	703	begin apogee
704.68	10243	0.00	-0.28	0.00	3665.2	3690.2	3640.1	2067.2	2569.3	100.21	-15.29	110	818.56	102.83	1.64	0.09	1.170	0.158	0.211	3066.62	3127.19	3006.06	2307.00	2626.38	0	0	0	11.60	15.86	15.54
821	end apogee: CONTROL_FINISHED_OK
state	821	begin climb
821.93	10759	145.99	1.27	-80.00	3065.4	3124.8	3006.0	2307.2	2627.0	104.36	0.00	121	945.10	107.47	2.51	3.55	1.123	0.104	0.122	2471.44	2540.19	2402.69	2683.81	1188.38	0	0	0	11.55	15.56	15.40
978.38	1028	145.99	1.27	0.00	2466.5	2533.6	2399.5	2684.1	1188.5	89.38	14.25	150	984.28	0.00	0.00	3.29	0.000	0.000	0.055	2468.28	2535.81	2400.75	2685.12	2625.56	0	0	0	30.00	30.00	15.55
1168.39	16386	145.99	1.27	0.00	2462.9	2529.1	2396.8	2683.8	2626.0	69.28	9.13	170	1169.96	0.00	0.00	0.00	0.000	0.000	0.000	2459.16	2525.81	2392.50	2683.31	2625.12	0	0	0	30.00	30.00	30.00
1358.46	8742	227.24	1.37	-80.00	2461.4	2527.1	2395.7	2683.8	2626.2	54.16	6.93	189	1428.74	61.31	0.00	3.56	1.084	0.000	0.126	2136.41	2218.06	2054.75	2683.69	1187.31	0	0	0	11.72	30.00	15.58
1512.03	17414	227.24	1.37	0.00	2132.9	2210.6	2055.2	2684.2	1187.1	41.17	9.65	219	1518.67	0.00	0.00	3.29	0.000	0.000	0.056	2132.78	2208.81	2056.75	2682.75	2626.44	0	0	0	30.00	30.00	15.71
1702.09	10791	334.79	1.50	-80.00	2131.1	2207.9	2054.2	2683.2	2626.9	29.46	5.57	257	1793.00	78.71	0.32	3.57	1.073	0.071	0.127	1700.12	1787.31	1612.94	2751.06	1189.75	0	0	0	11.64	15.81	15.54
1836.24	1028	334.79	1.50	0.00	1696.6	1780.4	1612.8	2751.4	1189.3	18.54	10.50	283	1842.88	0.00	0.00	3.29	0.000	0.000	0.058	1696.44	1779.50	1613.38	2751.25	2623.00	0	0	0	30.00	30.00	15.65
2025.31	8486	464.70	1.66	80.00	1692.6	1775.8	1609.4	2752.8	2622.8	5.23	4.42	320	2109.32	80.21	0.00	0.00	1.052	0.000	0.000	1255.84	1350.75	1160.94	2751.62	2622.19	0	0	0	11.55	30.00	30.00
2110	end climb: SURFACE_DEPTH_REACHED
state	2110	begin surface coast
2163	end surface coast: CONTROL_FINISHED_OK
state	2163	begin surface