Glider dive log

AMOS Jul22 * SG240 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 240 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 5 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 15 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 692.53918 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT -0.1

D_TGT 150 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 500 COMM_SEQ 7 C_VBD 3364 DEEPGLIDERMB 0

D_NO_BLEED 500 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 131 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_SAFE 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 100 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 50 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 75 T_RSLEEP 1 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_NO_W 60 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_LOITER 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE 96

T_EPIRB 0 PITCH_MIN 205 AH0_24V 575 NAV_DEVICE 6

USE_BATHY -1 PITCH_MAX 3600 AH0_10V 0 NAV2_DEVICE 6

USE_ICE 0 C_PITCH 1823.8838 MINV_24V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

D_OFFGRID 1000 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 16.298653 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 28.079685 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 12.001107 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_YINT -156.41907 SEABIRD_T_J 4.3e-06

RHO 1.0275 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022403029 SEABIRD_C_G -10

MASS 72877 C_PITCH_AUTO_MAX 200 COMPASS_USE 49156 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.0099999998 ROLL_MIN 210 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3810 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 1000 N_DIVES 0 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_PITCH 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_SURF 2 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_TGT 150 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_SUPPLY 2 SM_CC 692.53918

ALTIM_SENSITIVITY 2 FG_AHR_10V 28.079685 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 12.001107 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN 16.298653 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_MAX 3600 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 205 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 50

COMPASS2_DEVICE -1 ID 240 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT -0.1 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 1823.8838 KALMAN_USE 2 PRESSURE_SLOPE 0.00022403029 T_MISSION 75

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -156.41907 T_NO_W 60

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 1

C_ROLL_CLIMB 2150 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2150 LOGGERDEVICE4 -1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD 3364 LOGGERS 1 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 100 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

DBDW 0 LOITER_D_TOP 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOITER_N_DIVE 0 RHO 1.0275 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE1 -1 MASS 72877 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_10V 1.5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE3 -1 MAXI_24V 5 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 150 ROLL_MAX 3810 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 210 W_ADJ_DBAND 0

DIVE 15 MISSION 5 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_ABORT 500 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_CALL 0 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FINISH 0 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_FLARE 3 NETWORK_DEVICE 1 SEABIRD_C_G -10

D_NO_BLEED 500 NOCOMM_ACTION 131 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 140722,082308,4718.932,-12523.938,1,1.5,3,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140722,082624,4718.920,-12523.959,2,1.5,4,15.8 MHEAD_RNG_PITCHd_Wd 340.1,1630,-17.6,-10.000,-21.24,2209,0.161

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME ans0 IRON 1.000000,0.024488,0.011720,-0.013723,1.065452,-0.105118,-0.016783,-0.012275,0.996087,73.834053,-841.310364,-416.232605

TGT_LATLONG 4719.800,-12524.000

Post-dive calculations and measurements:

NET xmit part outbox0004.n 989 10 FG_AHR_24Vo 12.172

NET_PING 1657789517,27,1800.338867,28.000000,-1.394524 FG_AHR_10Vo 28.123

NAV 1657789143,106.1,start MEM0 60108,1,0,0

FINISH 0.5,1.013819 MEM1 65508,1,0,0

SM_CCo 3381.22,122.85,0.937,0,541.5,558.8,524.1,692.37 MEM2 966532,28,80276,60

SM_GC 1.53,122.85,12.94,0.08,0.937,0.060,0.150,541.5,558.8,524.1,186.2,2178.6,0,0,0,11.81,15.68,15.67 DATA_FILE_SIZE 12927,485

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 353519,0

IRIDIUM_FIX 4719.67,-12524.51,140722,072412 SDSIZE 3887104,3866752

TCM_TEMP 18.04 SDFILEDIR 174,1

SC_FREEKB 3873984 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 6033.735352,-9800.300781,140722,010100,2,510,3867.59 CURRENT 0.042,163.5,1

HUMID 50.03 MAGCAL 1.000000,-0.023679,0.135865,0.001796,1.023005,-0.052172,-0.004264,-0.059994,0.943383,-17.5,-890.3,-350.9,19,0.0312,0

TEMP 10.74 IMPLIED_C_PITCH 1826,16.48,237,1824.8,16.39

INTERNAL_PRESSURE 8.0116 IMPLIED_C_VBD 3703,45.941544,173,3464.0

_24V_AH 14.88,13.916 GPS 140722,092409,4719.208,-12524.024,1,0.9,25,15.8

_10V_AH 14.84,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 703 1112 11653.42 nil 0 0 0.00

Pitch_motor 31 251 116.94 nil 0 0 0.00

Roll_motor 71 201 215.16 nil 0 0 0.00

Iridium 128 221 422.13 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.98 nil 0 0 0.00

Core 2206 5 167.66 SciCon 3234 6 312.19

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1215 0 5.77

Compass 961 5 71.34

RAFOS 1632 40 969.00

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

6.70 16386 -145.99 -1.26 0.00 536.6 554.4 518.8 186.6 2131.4 0.00 0.00 0 86.75 76.30 0.00 0.00 0.005 0.000 0.000 2640.78 2666.38 2615.19 186.69 2131.38 0 0 0 15.75 30.00 30.00

87.05 18983 -145.99 -1.26 -80.00 2641.0 2667.1 2614.9 186.4 2131.6 3.01 -2.01 15 142.70 30.92 10.18 3.58 0.006 0.251 0.120 3960.31 4010.06 3910.56 1516.25 681.62 0 0 0 15.80 15.65 15.73

151.16 3205 -145.99 -0.89 0.00 3960.6 4009.9 3911.2 1516.4 681.9 16.06 -26.04 27 158.25 0.00 0.62 3.45 0.000 0.184 0.059 3961.09 4009.50 3912.69 1606.50 2171.75 0 0 0 30.00 15.70 15.77

341.71 128 -145.99 -0.94 0.00 3962.7 4013.1 3912.2 1607.6 2171.8 44.63 -13.12 65 346.23 0.00 0.00 0.00 0.000 0.000 0.000 3962.56 4013.56 3911.56 1607.69 2171.56 0 0 0 30.00 30.00 30.00

537.12 4773 -145.99 -1.02 -80.00 3963.2 4014.2 3912.3 1607.2 2171.5 65.50 -9.63 89 544.35 0.00 0.28 3.72 0.000 0.075 0.119 3963.94 4015.81 3912.06 1558.12 683.31 0 0 0 30.00 15.89 15.85

707.23 3205 -145.99 -0.98 0.00 3963.2 4013.9 3912.6 1558.6 682.9 88.53 -12.39 123 715.05 0.00 0.24 3.43 0.000 0.170 0.056 3964.19 4015.25 3913.12 1586.50 2173.00 0 0 0 30.00 15.87 15.92

903.04 676 -145.99 -1.06 -80.00 3964.4 4014.4 3914.4 1586.9 2172.5 106.31 -8.23 143 910.33 0.00 0.00 3.71 0.000 0.000 0.120 3964.16 4014.62 3913.69 1586.94 681.69 0 0 0 30.00 30.00 15.91

1008.97 5285 -145.99 -1.10 0.00 3964.8 4015.1 3914.5 1587.1 682.0 115.97 -9.12 164 1016.30 0.00 0.27 3.43 0.000 0.078 0.056 3964.34 4014.75 3913.94 1539.19 2173.62 0 0 0 30.00 15.95 15.97

1203.90 548 -145.99 -1.10 -80.00 3964.8 4014.7 3914.8 1539.2 2173.7 134.12 -9.36 184 1211.23 0.00 0.00 3.70 0.000 0.000 0.121 3964.72 4014.50 3914.94 1538.94 681.50 0 0 0 30.00 30.00 15.95

1279.80 3205 -145.99 -1.02 0.00 3964.7 4014.7 3914.6 1538.9 681.6 142.70 -11.71 199 1287.28 0.00 0.31 3.41 0.000 0.165 0.056 3965.72 4014.06 3917.38 1576.31 2173.62 0 0 0 30.00 15.94 16.00

1375 end dive: TARGET_DEPTH_EXCEEDED

state 1375 begin apogee

1376.11 10243 0.00 -0.31 0.00 3965.3 4015.1 3915.5 1577.1 2117.6 150.63 -7.80 209 1485.35 101.74 1.14 0.10 1.113 0.131 0.201 3363.31 3424.75 3301.88 1749.56 2179.50 0 0 0 11.90 15.96 15.65

1486 end apogee: CONTROL_FINISHED_OK

state 1486 begin climb

1486.59 10503 145.99 1.26 80.00 3363.3 3424.4 3302.1 1749.6 2179.8 152.94 0.00 219 1610.35 103.42 2.56 3.63 1.081 0.104 0.126 2769.56 2828.56 2710.56 2130.88 3617.94 0 0 0 11.84 15.67 15.45

1623.18 5253 145.99 0.96 0.00 2767.4 2825.9 2708.9 2131.2 3617.6 139.52 15.27 244 1631.27 0.00 0.65 3.53 0.000 0.181 0.056 2767.09 2826.06 2708.12 2050.06 2122.56 0 0 0 30.00 15.50 15.55

1818.93 644 145.99 0.93 -80.00 2763.3 2825.3 2701.2 2049.2 2122.4 117.25 10.61 264 1826.20 0.00 0.00 3.64 0.000 0.000 0.127 2762.94 2823.38 2702.50 2048.12 682.06 0 0 0 30.00 30.00 15.72

1874.76 21639 145.99 0.80 0.00 2759.7 2820.5 2698.8 2049.1 682.0 110.55 12.05 275 1882.19 0.00 0.25 3.47 0.000 0.159 0.057 2758.28 2819.62 2696.94 2008.69 2171.62 0 0 0 30.00 15.75 15.80

2064.40 10919 226.56 0.99 -80.00 2759.7 2820.0 2699.4 2008.8 2171.6 97.50 6.25 294 2134.47 59.35 0.38 3.80 1.032 0.069 0.125 2441.06 2517.56 2364.56 2072.25 683.12 0 0 0 11.80 15.87 15.64

2178.04 5253 226.56 0.90 0.00 2432.5 2510.3 2354.7 2073.4 682.8 87.66 10.77 315 2185.53 0.00 0.31 3.48 0.000 0.157 0.056 2431.72 2510.19 2353.25 2033.12 2172.94 0 0 0 30.00 15.68 15.74

2373.11 10663 301.38 1.13 80.00 2430.7 2510.4 2351.0 2032.8 2172.6 73.71 6.52 335 2438.53 54.49 0.44 3.64 1.005 0.068 0.126 2135.53 2224.19 2046.88 2103.25 3614.62 0 0 0 11.86 15.82 15.64

2441.41 9254 337.63 1.17 0.00 2132.2 2220.5 2044.0 2104.1 3615.2 68.10 8.31 347 2479.89 27.58 0.00 3.49 0.952 0.000 0.056 1986.47 2079.19 1893.75 2104.38 2123.38 0 0 0 11.77 30.00 15.67

2662.16 10919 360.22 1.30 -80.00 1979.8 2078.8 1880.7 2104.8 2123.4 47.25 8.95 375 2690.38 17.60 0.22 3.67 0.917 0.084 0.131 1892.75 1990.38 1795.12 2147.69 681.75 0 0 0 11.77 15.78 15.68

2788.90 1028 360.22 1.30 0.00 1889.8 1986.3 1793.2 2147.9 681.8 32.55 12.12 400 2795.82 0.00 0.00 3.48 0.000 0.000 0.058 1889.31 1985.00 1793.62 2147.31 2171.19 0 0 0 30.00 30.00 15.79

2977.91 10663 432.92 1.51 80.00 1887.9 1986.3 1789.5 2147.6 2171.4 15.95 6.62 437 3043.10 52.10 0.25 3.63 0.955 0.085 0.127 1596.41 1688.38 1504.44 2200.94 3614.25 0 0 0 11.87 15.86 15.67

3111.72 11431 513.15 1.72 0.00 1593.8 1685.6 1502.1 2201.2 3614.9 7.25 6.27 463 3182.14 57.51 0.25 3.51 0.935 0.083 0.057 1272.56 1353.56 1191.56 2248.12 2124.06 0 0 0 11.75 15.75 15.77

3196 end climb: SURFACE_DEPTH_REACHED

state 3196 begin surface coast

3226 end surface coast: CONTROL_FINISHED_OK

state 3226 begin surface

ID	240	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	5	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	15	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	692.53918	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	-0.1
D_TGT	150	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	500	COMM_SEQ	7	C_VBD	3364	DEEPGLIDERMB	0
D_NO_BLEED	500	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	131	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_SAFE	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	100	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	50	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	75	T_RSLEEP	1	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_NO_W	60	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_LOITER	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	96
T_EPIRB	0	PITCH_MIN	205	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	-1	PITCH_MAX	3600	AH0_10V	0	NAV2_DEVICE	6
USE_ICE	0	C_PITCH	1823.8838	MINV_24V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
D_OFFGRID	1000	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	16.298653	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	28.079685	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	12.001107	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-156.41907	SEABIRD_T_J	4.3e-06
RHO	1.0275	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022403029	SEABIRD_C_G	-10
MASS	72877	C_PITCH_AUTO_MAX	200	COMPASS_USE	49156	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.0099999998	ROLL_MIN	210	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3810	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2150	ALTIM_PULSE	3

GPS1	140722,082308,4718.932,-12523.938,1,1.5,3,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140722,082624,4718.920,-12523.959,2,1.5,4,15.8	MHEAD_RNG_PITCHd_Wd	340.1,1630,-17.6,-10.000,-21.24,2209,0.161
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	ans0	IRON	1.000000,0.024488,0.011720,-0.013723,1.065452,-0.105118,-0.016783,-0.012275,0.996087,73.834053,-841.310364,-416.232605
TGT_LATLONG	4719.800,-12524.000

NET	xmit part outbox0004.n 989 10	FG_AHR_24Vo	12.172
NET_PING	1657789517,27,1800.338867,28.000000,-1.394524	FG_AHR_10Vo	28.123
NAV	1657789143,106.1,start	MEM0	60108,1,0,0
FINISH	0.5,1.013819	MEM1	65508,1,0,0
SM_CCo	3381.22,122.85,0.937,0,541.5,558.8,524.1,692.37	MEM2	966532,28,80276,60
SM_GC	1.53,122.85,12.94,0.08,0.937,0.060,0.150,541.5,558.8,524.1,186.2,2178.6,0,0,0,11.81,15.68,15.67	DATA_FILE_SIZE	12927,485
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	353519,0
IRIDIUM_FIX	4719.67,-12524.51,140722,072412	SDSIZE	3887104,3866752
TCM_TEMP	18.04	SDFILEDIR	174,1
SC_FREEKB	3873984	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	6033.735352,-9800.300781,140722,010100,2,510,3867.59	CURRENT	0.042,163.5,1
HUMID	50.03	MAGCAL	1.000000,-0.023679,0.135865,0.001796,1.023005,-0.052172,-0.004264,-0.059994,0.943383,-17.5,-890.3,-350.9,19,0.0312,0
TEMP	10.74	IMPLIED_C_PITCH	1826,16.48,237,1824.8,16.39
INTERNAL_PRESSURE	8.0116	IMPLIED_C_VBD	3703,45.941544,173,3464.0
_24V_AH	14.88,13.916	GPS	140722,092409,4719.208,-12524.024,1,0.9,25,15.8
_10V_AH	14.84,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	703	1112	11653.42	nil	0	0	0.00
Pitch_motor	31	251	116.94	nil	0	0	0.00
Roll_motor	71	201	215.16	nil	0	0	0.00
Iridium	128	221	422.13	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.98	nil	0	0	0.00
Core	2206	5	167.66	SciCon	3234	6	312.19
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1215	0	5.77
Compass	961	5	71.34
RAFOS	1632	40	969.00
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
6.70	16386	-145.99	-1.26	0.00	536.6	554.4	518.8	186.6	2131.4	0.00	0.00	0	86.75	76.30	0.00	0.00	0.005	0.000	0.000	2640.78	2666.38	2615.19	186.69	2131.38	0	0	0	15.75	30.00	30.00
87.05	18983	-145.99	-1.26	-80.00	2641.0	2667.1	2614.9	186.4	2131.6	3.01	-2.01	15	142.70	30.92	10.18	3.58	0.006	0.251	0.120	3960.31	4010.06	3910.56	1516.25	681.62	0	0	0	15.80	15.65	15.73
151.16	3205	-145.99	-0.89	0.00	3960.6	4009.9	3911.2	1516.4	681.9	16.06	-26.04	27	158.25	0.00	0.62	3.45	0.000	0.184	0.059	3961.09	4009.50	3912.69	1606.50	2171.75	0	0	0	30.00	15.70	15.77
341.71	128	-145.99	-0.94	0.00	3962.7	4013.1	3912.2	1607.6	2171.8	44.63	-13.12	65	346.23	0.00	0.00	0.00	0.000	0.000	0.000	3962.56	4013.56	3911.56	1607.69	2171.56	0	0	0	30.00	30.00	30.00
537.12	4773	-145.99	-1.02	-80.00	3963.2	4014.2	3912.3	1607.2	2171.5	65.50	-9.63	89	544.35	0.00	0.28	3.72	0.000	0.075	0.119	3963.94	4015.81	3912.06	1558.12	683.31	0	0	0	30.00	15.89	15.85
707.23	3205	-145.99	-0.98	0.00	3963.2	4013.9	3912.6	1558.6	682.9	88.53	-12.39	123	715.05	0.00	0.24	3.43	0.000	0.170	0.056	3964.19	4015.25	3913.12	1586.50	2173.00	0	0	0	30.00	15.87	15.92
903.04	676	-145.99	-1.06	-80.00	3964.4	4014.4	3914.4	1586.9	2172.5	106.31	-8.23	143	910.33	0.00	0.00	3.71	0.000	0.000	0.120	3964.16	4014.62	3913.69	1586.94	681.69	0	0	0	30.00	30.00	15.91
1008.97	5285	-145.99	-1.10	0.00	3964.8	4015.1	3914.5	1587.1	682.0	115.97	-9.12	164	1016.30	0.00	0.27	3.43	0.000	0.078	0.056	3964.34	4014.75	3913.94	1539.19	2173.62	0	0	0	30.00	15.95	15.97
1203.90	548	-145.99	-1.10	-80.00	3964.8	4014.7	3914.8	1539.2	2173.7	134.12	-9.36	184	1211.23	0.00	0.00	3.70	0.000	0.000	0.121	3964.72	4014.50	3914.94	1538.94	681.50	0	0	0	30.00	30.00	15.95
1279.80	3205	-145.99	-1.02	0.00	3964.7	4014.7	3914.6	1538.9	681.6	142.70	-11.71	199	1287.28	0.00	0.31	3.41	0.000	0.165	0.056	3965.72	4014.06	3917.38	1576.31	2173.62	0	0	0	30.00	15.94	16.00
1375	end dive: TARGET_DEPTH_EXCEEDED
state	1375	begin apogee
1376.11	10243	0.00	-0.31	0.00	3965.3	4015.1	3915.5	1577.1	2117.6	150.63	-7.80	209	1485.35	101.74	1.14	0.10	1.113	0.131	0.201	3363.31	3424.75	3301.88	1749.56	2179.50	0	0	0	11.90	15.96	15.65
1486	end apogee: CONTROL_FINISHED_OK
state	1486	begin climb
1486.59	10503	145.99	1.26	80.00	3363.3	3424.4	3302.1	1749.6	2179.8	152.94	0.00	219	1610.35	103.42	2.56	3.63	1.081	0.104	0.126	2769.56	2828.56	2710.56	2130.88	3617.94	0	0	0	11.84	15.67	15.45
1623.18	5253	145.99	0.96	0.00	2767.4	2825.9	2708.9	2131.2	3617.6	139.52	15.27	244	1631.27	0.00	0.65	3.53	0.000	0.181	0.056	2767.09	2826.06	2708.12	2050.06	2122.56	0	0	0	30.00	15.50	15.55
1818.93	644	145.99	0.93	-80.00	2763.3	2825.3	2701.2	2049.2	2122.4	117.25	10.61	264	1826.20	0.00	0.00	3.64	0.000	0.000	0.127	2762.94	2823.38	2702.50	2048.12	682.06	0	0	0	30.00	30.00	15.72
1874.76	21639	145.99	0.80	0.00	2759.7	2820.5	2698.8	2049.1	682.0	110.55	12.05	275	1882.19	0.00	0.25	3.47	0.000	0.159	0.057	2758.28	2819.62	2696.94	2008.69	2171.62	0	0	0	30.00	15.75	15.80
2064.40	10919	226.56	0.99	-80.00	2759.7	2820.0	2699.4	2008.8	2171.6	97.50	6.25	294	2134.47	59.35	0.38	3.80	1.032	0.069	0.125	2441.06	2517.56	2364.56	2072.25	683.12	0	0	0	11.80	15.87	15.64
2178.04	5253	226.56	0.90	0.00	2432.5	2510.3	2354.7	2073.4	682.8	87.66	10.77	315	2185.53	0.00	0.31	3.48	0.000	0.157	0.056	2431.72	2510.19	2353.25	2033.12	2172.94	0	0	0	30.00	15.68	15.74
2373.11	10663	301.38	1.13	80.00	2430.7	2510.4	2351.0	2032.8	2172.6	73.71	6.52	335	2438.53	54.49	0.44	3.64	1.005	0.068	0.126	2135.53	2224.19	2046.88	2103.25	3614.62	0	0	0	11.86	15.82	15.64
2441.41	9254	337.63	1.17	0.00	2132.2	2220.5	2044.0	2104.1	3615.2	68.10	8.31	347	2479.89	27.58	0.00	3.49	0.952	0.000	0.056	1986.47	2079.19	1893.75	2104.38	2123.38	0	0	0	11.77	30.00	15.67
2662.16	10919	360.22	1.30	-80.00	1979.8	2078.8	1880.7	2104.8	2123.4	47.25	8.95	375	2690.38	17.60	0.22	3.67	0.917	0.084	0.131	1892.75	1990.38	1795.12	2147.69	681.75	0	0	0	11.77	15.78	15.68
2788.90	1028	360.22	1.30	0.00	1889.8	1986.3	1793.2	2147.9	681.8	32.55	12.12	400	2795.82	0.00	0.00	3.48	0.000	0.000	0.058	1889.31	1985.00	1793.62	2147.31	2171.19	0	0	0	30.00	30.00	15.79
2977.91	10663	432.92	1.51	80.00	1887.9	1986.3	1789.5	2147.6	2171.4	15.95	6.62	437	3043.10	52.10	0.25	3.63	0.955	0.085	0.127	1596.41	1688.38	1504.44	2200.94	3614.25	0	0	0	11.87	15.86	15.67
3111.72	11431	513.15	1.72	0.00	1593.8	1685.6	1502.1	2201.2	3614.9	7.25	6.27	463	3182.14	57.51	0.25	3.51	0.935	0.083	0.057	1272.56	1353.56	1191.56	2248.12	2124.06	0	0	0	11.75	15.75	15.77
3196	end climb: SURFACE_DEPTH_REACHED
state	3196	begin surface coast
3226	end surface coast: CONTROL_FINISHED_OK
state	3226	begin surface