Glider dive log

AMOS Jul22 * SG240 * Dive index * Mission links * Dive 16 * 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 16 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 1824.7975 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 16.388069 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 28.125851 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 12.178688 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 28.125851 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 12.178688 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 16.388069 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 1824.7975 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 16 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 140722,092409,4719.208,-12524.024,1,0.9,25,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.59 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140722,092724,4719.199,-12524.045,2,0.8,4,15.8 MHEAD_RNG_PITCHd_Wd 344.0,1115,-17.6,-10.000,-21.24,2209,0.167

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 outbox0005.n 1007 10 FG_AHR_24Vo 12.351

NET_PING 1657793118,27,2384.893555,19.600000,-3.174208 FG_AHR_10Vo 28.170

NAV 1657792749,103.1,start MEM0 60108,1,0,0

FINISH 0.4,1.021998 MEM1 65508,1,0,0

SM_CCo 3433.52,135.51,0.942,0,541.8,558.4,525.2,692.27 MEM2 966544,27,80284,60

SM_GC 1.61,135.51,13.05,0.09,0.942,0.058,0.162,541.8,558.4,525.2,188.7,2173.7,0,0,0,11.84,15.71,15.71 DATA_FILE_SIZE 12962,509

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 354638,0

IRIDIUM_FIX 4719.67,-12524.51,140722,082423 SDSIZE 3887104,3866464

TCM_TEMP 18.26 SDFILEDIR 181,1

SC_FREEKB 3873664 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 0.062,157.7,1

HUMID 50.01 MAGCAL 1.000000,0.005959,0.139519,0.010941,1.064619,-0.059733,-0.056497,-0.043506,1.020813,-34.7,-880.9,-433.0,33,0.0295,1

TEMP 10.90 IMPLIED_C_PITCH 1829,16.20,241,1826.7,16.30

INTERNAL_PRESSURE 8.0176 IMPLIED_C_VBD 3635,40.178753,170,3464.0

_24V_AH 14.85,14.139 GPS 140722,102534,4719.335,-12524.096,2,1.2,5,15.8

_10V_AH 14.84,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 706 1118 11737.43 nil 0 0 0.00

Pitch_motor 29 250 110.94 nil 0 0 0.00

Roll_motor 64 202 194.46 nil 0 0 0.00

Iridium 125 196 366.87 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.01 nil 0 0 0.00

Core 2253 5 171.25 SciCon 3274 6 314.26

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1205 0 5.73

Compass 999 5 74.16

RAFOS 1565 40 929.03

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

6.60 16386 -145.99 -1.26 0.00 536.8 554.5 519.1 186.1 2132.5 0.00 0.00 0 86.76 76.31 0.00 0.00 0.005 0.000 0.000 2637.09 2663.75 2610.44 186.38 2132.56 0 0 0 15.76 30.00 30.00

87.06 18983 -145.99 -1.26 -80.00 2637.3 2663.6 2611.1 186.3 2133.1 3.00 -1.95 15 142.76 30.88 10.18 3.61 0.006 0.250 0.121 3960.75 4008.62 3912.88 1519.69 680.56 0 0 0 15.81 15.66 15.74

266.26 3205 -145.99 -1.06 0.00 3961.5 4010.6 3912.4 1519.8 680.5 43.97 -20.78 50 273.17 0.00 0.32 3.45 0.000 0.181 0.057 3961.88 4011.38 3912.38 1567.88 2172.31 0 0 0 30.00 15.75 15.83

456.46 516 -145.99 -1.06 -80.00 3962.9 4013.4 3912.5 1568.0 2172.4 69.82 -12.46 73 468.35 0.00 0.00 3.73 0.000 0.000 0.119 3963.66 4014.19 3913.12 1568.25 682.81 0 0 0 30.00 30.00 15.83

616.91 1028 -145.99 -1.06 0.00 3964.0 4015.4 3912.6 1567.9 682.4 91.01 -12.39 105 623.04 0.00 0.00 3.43 0.000 0.000 0.056 3963.19 4014.00 3912.38 1567.69 2171.94 0 0 0 30.00 30.00 15.92

807.01 676 -145.99 -1.11 -80.00 3963.8 4013.6 3914.1 1568.3 2171.8 110.07 -9.24 125 814.29 0.00 0.00 3.71 0.000 0.000 0.119 3965.19 4016.38 3914.00 1566.31 682.06 0 0 0 30.00 30.00 15.90

912.80 1028 -145.99 -1.11 0.00 3964.3 4014.5 3914.1 1568.2 681.6 120.75 -10.07 146 919.03 0.00 0.00 3.44 0.000 0.000 0.056 3965.16 4015.75 3914.56 1568.31 2174.25 0 0 0 30.00 30.00 15.97

1102.96 4773 -145.99 -1.17 -80.00 3965.2 4015.3 3915.1 1568.1 2174.2 135.76 -8.04 166 1110.49 0.00 0.27 3.71 0.000 0.079 0.121 3965.94 4017.38 3914.50 1524.00 681.75 0 0 0 30.00 15.97 15.93

1163.33 3205 -145.99 -1.04 0.00 3964.8 4015.0 3914.7 1523.8 681.8 142.49 -11.54 178 1171.20 0.00 0.40 3.43 0.000 0.172 0.056 3965.69 4015.50 3915.88 1573.50 2172.75 0 0 0 30.00 15.91 15.98

1259 end dive: TARGET_DEPTH_EXCEEDED

state 1259 begin apogee

1260.35 10243 0.00 -0.31 0.00 3964.6 4014.4 3914.8 1573.6 2116.2 150.72 -8.35 188 1370.78 102.11 1.16 0.10 1.119 0.132 0.202 3363.16 3424.44 3301.88 1750.88 2177.12 0 0 0 11.85 15.94 15.64

1372 end apogee: CONTROL_FINISHED_OK

state 1372 begin climb

1372.20 10503 145.99 1.26 80.00 3361.8 3422.9 3300.8 1750.8 2177.2 153.47 0.00 198 1495.92 103.89 2.52 3.65 1.087 0.103 0.126 2766.53 2825.88 2707.19 2129.69 3618.38 0 0 0 11.82 15.65 15.44

1514.50 5253 145.99 0.95 0.00 2766.1 2824.9 2707.4 2129.2 3617.9 141.66 13.79 224 1522.16 0.00 0.67 3.51 0.000 0.181 0.056 2768.72 2828.75 2708.69 2045.50 2123.88 0 0 0 30.00 15.50 15.55

1709.39 516 145.99 0.95 -80.00 2761.4 2823.8 2699.1 2046.7 2123.5 120.25 10.34 244 1716.76 0.00 0.00 3.64 0.000 0.000 0.126 2758.12 2819.44 2696.81 2046.19 680.56 0 0 0 30.00 30.00 15.71

1785.33 17542 145.99 0.83 0.00 2757.0 2818.3 2695.7 2046.3 680.6 111.47 11.36 259 1791.46 0.00 0.00 3.47 0.000 0.000 0.056 2754.75 2815.75 2693.75 2046.06 2172.69 0 0 0 30.00 30.00 15.81

1979.19 8742 205.76 0.91 -80.00 2757.9 2819.0 2696.8 2046.3 2173.2 94.80 7.22 279 2033.80 43.64 0.00 3.79 1.031 0.000 0.125 2523.88 2597.12 2450.62 2046.38 683.19 0 0 0 11.85 30.00 15.69

2082.32 9254 227.49 0.93 0.00 2517.8 2591.9 2443.8 2046.3 683.2 86.65 8.99 299 2109.58 17.96 0.00 3.47 0.949 0.000 0.057 2437.38 2515.75 2359.00 2045.94 2172.75 0 0 0 11.82 30.00 15.77

2293.18 10663 324.47 1.18 80.00 2430.2 2511.0 2349.4 2046.1 2173.1 73.29 5.49 323 2374.80 70.56 0.45 3.66 1.013 0.069 0.127 2036.47 2128.31 1944.62 2118.19 3615.19 0 0 0 11.85 15.82 15.59

2568.55 9382 328.88 1.22 0.00 2033.7 2127.8 1939.7 2118.2 3615.6 48.74 9.79 372 2580.59 4.86 0.00 3.50 0.571 0.000 0.058 2024.59 2117.75 1931.44 2118.50 2124.94 0 0 0 11.84 30.00 15.78

2764.22 10663 364.88 1.36 80.00 2019.8 2114.2 1925.2 2118.0 2124.7 30.82 8.33 411 2803.07 27.67 0.22 3.71 0.954 0.085 0.122 1874.75 1972.56 1776.94 2162.88 3614.38 0 0 0 11.83 15.85 15.73

2934.80 9382 418.33 1.46 0.00 1870.8 1969.4 1772.3 2162.9 3616.1 16.57 7.51 444 2983.84 38.90 0.00 3.47 0.952 0.000 0.056 1656.66 1749.94 1563.38 2163.56 2122.44 0 0 0 11.81 30.00 15.83

3167.46 10919 543.54 1.82 -80.00 1650.4 1745.0 1555.8 2163.4 2122.3 5.20 4.18 490 3225.94 54.15 0.64 0.00 0.944 0.074 0.000 1351.16 1435.19 1267.12 2274.00 2122.81 0 0 0 11.84 15.83 30.00

3226 end climb: SURFACE_DEPTH_REACHED

state 3226 begin surface coast

3265 end surface coast: CONTROL_FINISHED_OK

state 3265 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	16	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	1824.7975	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	16.388069	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	28.125851	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	12.178688	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	140722,092409,4719.208,-12524.024,1,0.9,25,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.59	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140722,092724,4719.199,-12524.045,2,0.8,4,15.8	MHEAD_RNG_PITCHd_Wd	344.0,1115,-17.6,-10.000,-21.24,2209,0.167
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 outbox0005.n 1007 10	FG_AHR_24Vo	12.351
NET_PING	1657793118,27,2384.893555,19.600000,-3.174208	FG_AHR_10Vo	28.170
NAV	1657792749,103.1,start	MEM0	60108,1,0,0
FINISH	0.4,1.021998	MEM1	65508,1,0,0
SM_CCo	3433.52,135.51,0.942,0,541.8,558.4,525.2,692.27	MEM2	966544,27,80284,60
SM_GC	1.61,135.51,13.05,0.09,0.942,0.058,0.162,541.8,558.4,525.2,188.7,2173.7,0,0,0,11.84,15.71,15.71	DATA_FILE_SIZE	12962,509
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	354638,0
IRIDIUM_FIX	4719.67,-12524.51,140722,082423	SDSIZE	3887104,3866464
TCM_TEMP	18.26	SDFILEDIR	181,1
SC_FREEKB	3873664	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	0.062,157.7,1
HUMID	50.01	MAGCAL	1.000000,0.005959,0.139519,0.010941,1.064619,-0.059733,-0.056497,-0.043506,1.020813,-34.7,-880.9,-433.0,33,0.0295,1
TEMP	10.90	IMPLIED_C_PITCH	1829,16.20,241,1826.7,16.30
INTERNAL_PRESSURE	8.0176	IMPLIED_C_VBD	3635,40.178753,170,3464.0
_24V_AH	14.85,14.139	GPS	140722,102534,4719.335,-12524.096,2,1.2,5,15.8
_10V_AH	14.84,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	706	1118	11737.43	nil	0	0	0.00
Pitch_motor	29	250	110.94	nil	0	0	0.00
Roll_motor	64	202	194.46	nil	0	0	0.00
Iridium	125	196	366.87	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.01	nil	0	0	0.00
Core	2253	5	171.25	SciCon	3274	6	314.26
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1205	0	5.73
Compass	999	5	74.16
RAFOS	1565	40	929.03
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
6.60	16386	-145.99	-1.26	0.00	536.8	554.5	519.1	186.1	2132.5	0.00	0.00	0	86.76	76.31	0.00	0.00	0.005	0.000	0.000	2637.09	2663.75	2610.44	186.38	2132.56	0	0	0	15.76	30.00	30.00
87.06	18983	-145.99	-1.26	-80.00	2637.3	2663.6	2611.1	186.3	2133.1	3.00	-1.95	15	142.76	30.88	10.18	3.61	0.006	0.250	0.121	3960.75	4008.62	3912.88	1519.69	680.56	0	0	0	15.81	15.66	15.74
266.26	3205	-145.99	-1.06	0.00	3961.5	4010.6	3912.4	1519.8	680.5	43.97	-20.78	50	273.17	0.00	0.32	3.45	0.000	0.181	0.057	3961.88	4011.38	3912.38	1567.88	2172.31	0	0	0	30.00	15.75	15.83
456.46	516	-145.99	-1.06	-80.00	3962.9	4013.4	3912.5	1568.0	2172.4	69.82	-12.46	73	468.35	0.00	0.00	3.73	0.000	0.000	0.119	3963.66	4014.19	3913.12	1568.25	682.81	0	0	0	30.00	30.00	15.83
616.91	1028	-145.99	-1.06	0.00	3964.0	4015.4	3912.6	1567.9	682.4	91.01	-12.39	105	623.04	0.00	0.00	3.43	0.000	0.000	0.056	3963.19	4014.00	3912.38	1567.69	2171.94	0	0	0	30.00	30.00	15.92
807.01	676	-145.99	-1.11	-80.00	3963.8	4013.6	3914.1	1568.3	2171.8	110.07	-9.24	125	814.29	0.00	0.00	3.71	0.000	0.000	0.119	3965.19	4016.38	3914.00	1566.31	682.06	0	0	0	30.00	30.00	15.90
912.80	1028	-145.99	-1.11	0.00	3964.3	4014.5	3914.1	1568.2	681.6	120.75	-10.07	146	919.03	0.00	0.00	3.44	0.000	0.000	0.056	3965.16	4015.75	3914.56	1568.31	2174.25	0	0	0	30.00	30.00	15.97
1102.96	4773	-145.99	-1.17	-80.00	3965.2	4015.3	3915.1	1568.1	2174.2	135.76	-8.04	166	1110.49	0.00	0.27	3.71	0.000	0.079	0.121	3965.94	4017.38	3914.50	1524.00	681.75	0	0	0	30.00	15.97	15.93
1163.33	3205	-145.99	-1.04	0.00	3964.8	4015.0	3914.7	1523.8	681.8	142.49	-11.54	178	1171.20	0.00	0.40	3.43	0.000	0.172	0.056	3965.69	4015.50	3915.88	1573.50	2172.75	0	0	0	30.00	15.91	15.98
1259	end dive: TARGET_DEPTH_EXCEEDED
state	1259	begin apogee
1260.35	10243	0.00	-0.31	0.00	3964.6	4014.4	3914.8	1573.6	2116.2	150.72	-8.35	188	1370.78	102.11	1.16	0.10	1.119	0.132	0.202	3363.16	3424.44	3301.88	1750.88	2177.12	0	0	0	11.85	15.94	15.64
1372	end apogee: CONTROL_FINISHED_OK
state	1372	begin climb
1372.20	10503	145.99	1.26	80.00	3361.8	3422.9	3300.8	1750.8	2177.2	153.47	0.00	198	1495.92	103.89	2.52	3.65	1.087	0.103	0.126	2766.53	2825.88	2707.19	2129.69	3618.38	0	0	0	11.82	15.65	15.44
1514.50	5253	145.99	0.95	0.00	2766.1	2824.9	2707.4	2129.2	3617.9	141.66	13.79	224	1522.16	0.00	0.67	3.51	0.000	0.181	0.056	2768.72	2828.75	2708.69	2045.50	2123.88	0	0	0	30.00	15.50	15.55
1709.39	516	145.99	0.95	-80.00	2761.4	2823.8	2699.1	2046.7	2123.5	120.25	10.34	244	1716.76	0.00	0.00	3.64	0.000	0.000	0.126	2758.12	2819.44	2696.81	2046.19	680.56	0	0	0	30.00	30.00	15.71
1785.33	17542	145.99	0.83	0.00	2757.0	2818.3	2695.7	2046.3	680.6	111.47	11.36	259	1791.46	0.00	0.00	3.47	0.000	0.000	0.056	2754.75	2815.75	2693.75	2046.06	2172.69	0	0	0	30.00	30.00	15.81
1979.19	8742	205.76	0.91	-80.00	2757.9	2819.0	2696.8	2046.3	2173.2	94.80	7.22	279	2033.80	43.64	0.00	3.79	1.031	0.000	0.125	2523.88	2597.12	2450.62	2046.38	683.19	0	0	0	11.85	30.00	15.69
2082.32	9254	227.49	0.93	0.00	2517.8	2591.9	2443.8	2046.3	683.2	86.65	8.99	299	2109.58	17.96	0.00	3.47	0.949	0.000	0.057	2437.38	2515.75	2359.00	2045.94	2172.75	0	0	0	11.82	30.00	15.77
2293.18	10663	324.47	1.18	80.00	2430.2	2511.0	2349.4	2046.1	2173.1	73.29	5.49	323	2374.80	70.56	0.45	3.66	1.013	0.069	0.127	2036.47	2128.31	1944.62	2118.19	3615.19	0	0	0	11.85	15.82	15.59
2568.55	9382	328.88	1.22	0.00	2033.7	2127.8	1939.7	2118.2	3615.6	48.74	9.79	372	2580.59	4.86	0.00	3.50	0.571	0.000	0.058	2024.59	2117.75	1931.44	2118.50	2124.94	0	0	0	11.84	30.00	15.78
2764.22	10663	364.88	1.36	80.00	2019.8	2114.2	1925.2	2118.0	2124.7	30.82	8.33	411	2803.07	27.67	0.22	3.71	0.954	0.085	0.122	1874.75	1972.56	1776.94	2162.88	3614.38	0	0	0	11.83	15.85	15.73
2934.80	9382	418.33	1.46	0.00	1870.8	1969.4	1772.3	2162.9	3616.1	16.57	7.51	444	2983.84	38.90	0.00	3.47	0.952	0.000	0.056	1656.66	1749.94	1563.38	2163.56	2122.44	0	0	0	11.81	30.00	15.83
3167.46	10919	543.54	1.82	-80.00	1650.4	1745.0	1555.8	2163.4	2122.3	5.20	4.18	490	3225.94	54.15	0.64	0.00	0.944	0.074	0.000	1351.16	1435.19	1267.12	2274.00	2122.81	0	0	0	11.84	15.83	30.00
3226	end climb: SURFACE_DEPTH_REACHED
state	3226	begin surface coast
3265	end surface coast: CONTROL_FINISHED_OK
state	3265	begin surface