Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 33 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_INHIBIT 90

MISSION 11 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 30 XPDR_INT 13

DIVE 33 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_REP 11.5

N_DIVES 0 SM_CC 662.31 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

STOP_T 0 N_FILEKB 8 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_YINT 0.5

D_SURF 2 FILEMGR 2 VBD_MIN 500 DEEPGLIDER 0

D_FLARE 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDERMB 0

D_TGT 990 COMM_SEQ 7 C_VBD 2000 MOTHERBOARD 6

D_ABORT 1030 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

D_NO_BLEED 450 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

D_BOOST 3 NOCOMM_ACTION 129 VBD_LP_IGNORE 0 DEVICE3 -1

T_BOOST 0 N_NOSURFACE 0 VBD_TIMEOUT 800 DEVICE4 -1

D_FINISH 10 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0040000002 DEVICE5 -1

D_PITCH 2 NETBOX 1 UNCOM_BLEED 400 DEVICE6 -1

D_SAFE 500 CALL_TRIES 3 VBD_MAXERRORS 2 LOGGERS 1

D_CALL 3 CALL_WAIT 45 C_VBD_AUTO_DELTA 0 LOGGERDEVICE1 7

SURFACE_URGENCY 10 CAPUPLOAD 0 C_VBD_AUTO_MAX 0 LOGGERDEVICE2 -1

SURFACE_URGENCY_TRY 10 CAPMAXSIZE 10000 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 20 T_GPS 3 DBDW 0 LOGGERDEVICE4 -1

T_DIVE 360 N_GPS 100440 LOITER_W_DBAND 2 COMPASS_DEVICE 66

T_MISSION 500 T_RSLEEP 2 LOITER_DBDW 400 COMPASS2_DEVICE -1

T_ABORT 2880 STROBE 0 LOITER_D_TOP 400 PHONE_DEVICE 33

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 700 GPS_DEVICE 48

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 96

T_NO_W 240 RAFOS_HIT_WINDOW 10800 CF8_MAXERRORS 0 NAV_DEVICE 6

T_LOITER 0 RAFOS_MMODEM 0 AH0_24V 575 NAV2_DEVICE 6

T_EPIRB 0 PITCH_MIN 230 AH0_10V 0 NAV3_DEVICE -1

USE_BATHY 0 PITCH_MAX 3900 MINV_24V 0 NAV4_DEVICE -1

USE_ICE 1 C_PITCH 2295.5884 MINV_10V 0 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.07 PITCH_DBAND 0.1 MAXI_24V 5 PRESSURE_DEVICE 34

D_OFFGRID 1000 PITCH_CNV 0.0041299998 MAXI_10V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 13.414345 FG_AHR_10V 2.7030351 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 12.693333 SEABIRD_T_G 0.0042874566

MAX_BUOY 120 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062267116

GLIDE_SLOPE 45 PITCH_ADJ_GAIN 0 PRESSURE_YINT -157.91238 SEABIRD_T_I 2.1947648e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 PRESSURE_SLOPE 0.00022957686 SEABIRD_T_J 2.2037441e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 COMPASS_USE 49156 SEABIRD_C_G -9.9419231

MASS 72024 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_H 1.1375728

NAV_MODE 0 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_I -0.0016241658

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 2 ALTIM_BOTTOM_TURN_MARGIN 0 SEABIRD_C_J 0.0002088599

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 OPTIONS 2

HD_A 0.00281838 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 0 SC_RECORDABOVE 2000.0

HD_B 0.0139236 ROLL_MIN 1200 ALTIM_PING_DEPTH 0 SC_PROFILE 7.0

HD_C 5.7000002e-06 ROLL_MAX 4000 ALTIM_PING_DELTA 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_FREQUENCY 13 SC_NDIVE 1.0

ESCAPE_HEADING 180 C_ROLL_DIVE 2593.1365 ALTIM_PULSE 3

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2713.5149 ALTIM_SENSITIVITY 2

FIX_MISSING_TIMEOUT 20 HEAD_ERRBAND 10 XPDR_VALID 6

AH0_10V 0 D_PITCH 2 NOCOMM_ACTION 129 SEABIRD_C_I -0.0016241658

AH0_24V 575 D_SAFE 500 N_DIVES 0 SEABIRD_C_J 0.0002088599

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_FILEKB 8 SEABIRD_T_G 0.0042874566

ALTIM_FREQUENCY 13 D_TGT 990 N_GPS 100440 SEABIRD_T_H 0.00062267116

ALTIM_PING_DELTA 0 ESCAPE_HEADING 180 N_NOCOMM 0 SEABIRD_T_I 2.1947648e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SEABIRD_T_J 2.2037441e-06

ALTIM_PING_FIT 0 FERRY_MAX 45 OPTIONS 2 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 2.7030351 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 12.693333 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 2 PITCH_ADJ_DBAND 2 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 20 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_CNV 0.0041299998 SURFACE_URGENCY 10

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 20

CALL_NDIVES 1 HD_A 0.00281838 PITCH_GAIN 13.414345 SURFACE_URGENCY_TRY 10

CALL_TRIES 3 HD_B 0.0139236 PITCH_GAIN_AUTO_DELTA 0.5 TGT_AUTO_DEFAULT 0

CALL_WAIT 45 HD_C 5.7000002e-06 PITCH_GAIN_AUTO_MAX 2 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 10000 HEADING -1 PITCH_MAX 3900 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_MAXERRORS 1 T_ABORT 2880

CF8_MAXERRORS 0 ICE_FREEZE_MARGIN 0.07 PITCH_MIN 230 T_BOOST 0

COMM_SEQ 7 ID 235 PITCH_TIMEOUT 40 T_DIVE 360

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_VBD_SHIFT 0.0040000002 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT 0.5 PITCH_W_DBAND 0 T_GPS 3

COMPASS_USE 49156 KALMAN_USE 2 PITCH_W_GAIN 0 T_LOITER 0

C_PITCH 2295.5884 LOGGERDEVICE1 7 PRESSURE_DEVICE 34 T_MISSION 500

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 -1 PRESSURE_SLOPE 0.00022957686 T_NO_W 240

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 PRESSURE_YINT -157.91238 T_RSLEEP 2

C_ROLL_CLIMB 2713.5149 LOGGERDEVICE4 -1 PROTOCOL 9 T_TURN 225

C_ROLL_DIVE 2593.1365 LOGGERS 1 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_VBD 2000 LOITER_DBDW 400 RAFOS_DEVICE 96 UNCOM_BLEED 400

C_VBD_AUTO_DELTA 0 LOITER_D_BOTTOM 700 RAFOS_HIT_WINDOW 10800 UPLOAD_DIVES_MAX 3

C_VBD_AUTO_MAX 0 LOITER_D_TOP 400 RAFOS_MMODEM 0 USE_BATHY 0

DBDW 0 LOITER_N_DIVE 0 RAFOS_PEAK_OFFSET 0 USE_ICE 1

DEEPGLIDER 0 LOITER_W_DBAND 2 RELAUNCH 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS 72024 RHO 1.023 VBD_DBAND 2

DEVICE1 -1 MAXI_10V 5 ROLL_ADJ_DBAND 0.029999999 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 5 ROLL_ADJ_GAIN 0 VBD_MAX 3960

DEVICE3 -1 MAX_BUOY 120 ROLL_CNV 0.054945 VBD_MAXERRORS 2

DEVICE4 -1 MINV_10V 0 ROLL_DEG 80 VBD_MIN 500

DEVICE5 -1 MINV_24V 0 ROLL_MAX 4000 VBD_TIMEOUT 800

DEVICE6 -1 MISSION 11 ROLL_MAXERRORS 0 W_ADJ_DBAND 0

DIVE 33 MOTHERBOARD 6 ROLL_MIN 1200 XPDR_DEVICE -1

D_ABORT 1030 NAV2_DEVICE 6 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

D_BOOST 3 NAV3_DEVICE -1 SC_NDIVE 1.0 XPDR_INT 13

D_CALL 3 NAV4_DEVICE -1 SC_PROFILE 7.0 XPDR_REP 11.5

D_FINISH 10 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_VALID 6

D_FLARE 3 NAV_MODE 0 SC_XMITPROFILE 3.0

D_NO_BLEED 450 NETBOX 1 SEABIRD_C_G -9.9419231

D_OFFGRID 1000 NETWORK_DEVICE 1 SEABIRD_C_H 1.1375728

Pre-dive calculations and measurements:

GPS1 130823,003031,7605.095,-14239.351,0,8255.0,0,15.7 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 3.71 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130823,003031,7605.095,-14239.351,0,8255.0,0,15.7 MHEAD_RNG_PITCHd_Wd 143.9,69360,-20.2,-9.167,-25.06,1949,0.123

SPEED_LIMITS 0.092,0.196 D_GRID 990

TGT_NAME IGBL IRON 1.000000,-0.058064,-0.069359,-0.064846,1.037432,-0.079687,0.059845,0.024819,0.912228,-1019.682983,-140.930878,505.300598

TGT_LATLONG 7530.000,-14147.136 OSC 8000307

Post-dive calculations and measurements:

NAV 1691899152,6.6,start FG_AHR_24Vo 12.869

FREEZE 2.94,-0.795,-1.352,2,13,0 FG_AHR_10Vo 2.730

FINISH1 2.9,1.0199,212 MEM0 59796,1,0,0

FINISH2 2.9 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 1023052,32,22556,116

IRIDIUM_FIX 7610.07,-14226.43,100823,065015 DATA_FILE_SIZE 16128,641

TCM_TEMP 1.63 CAP_FILE_SIZE 177477,0

SC_FREEKB 3868192 SDSIZE 3918848,3896448

RAFOS_CLK 0 SDFILEDIR 291,34

RAFOS_FIX 7605.095215,-14239.350586,130823,000031,7,255,1.91 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 48.36 SOUNDSPEED 1465.0

TEMP -0.51 MAGCAL 1.000000,-0.037209,-0.068818,-0.070198,1.055901,-0.175207,0.076559,-0.001826,0.945818,-1023.8,-51.2,464.5,36,0.1360,0

INTERNAL_PRESSURE 8.08599 IMPLIED_C_PITCH 2316,13.50,160,0.0,13.46

_24V_AH 14.92,15.005 GPS 130823,003031,7605.095,-14239.351,0,8255.0,0,15.7

_10V_AH 15.00,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 637 1252 11908.97 nil 0 0 0.00

Pitch_motor 24 310 112.04 nil 0 0 0.00

Roll_motor 67 261 263.23 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 0 0 0.00 nil 0 0 0.00

Core 2192 5 168.38 SciCon 6401 6 611.04

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4230 0 20.30

Compass 1070 5 80.26

RAFOS 71 40 42.75

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

5.85 16386 -117.30 -1.97 0.00 499.3 415.1 583.4 219.8 2610.2 0.00 0.00 0 17.64 10.88 0.00 0.00 0.007 0.000 0.000 718.06 660.62 775.50 219.81 2611.00 0 0 0 15.73 30.00 30.00

17.89 18727 -117.30 -1.97 80.00 718.1 660.8 775.5 220.0 2611.0 3.56 0.00 1 114.33 69.72 13.34 3.82 0.005 0.311 0.149 2478.94 2456.19 2501.69 1815.50 4008.38 0 0 0 15.75 15.55 15.66

156.64 1028 -117.30 -1.97 0.00 2481.2 2456.4 2505.9 1816.4 4008.1 26.54 -23.61 28 162.99 0.00 0.00 3.73 0.000 0.000 0.097 2482.38 2457.50 2507.25 1816.50 2576.81 0 0 0 30.00 30.00 15.73

482.42 292 -117.30 -1.97 80.00 2481.5 2455.8 2507.2 1816.3 2576.4 62.85 -5.85 41 488.32 0.00 0.00 3.84 0.000 0.000 0.143 2480.09 2454.62 2505.56 1816.75 4008.81 0 0 0 30.00 30.00 15.82

606.80 1060 -117.30 -1.97 0.00 2480.5 2453.7 2507.3 1816.5 4008.6 66.54 -2.85 66 613.82 0.00 0.00 3.68 0.000 0.000 0.093 2478.34 2450.88 2505.81 1816.88 2574.00 0 0 0 30.00 30.00 15.87

982.69 292 -117.30 -1.97 80.00 2479.9 2452.1 2507.6 1816.2 2574.2 78.15 -3.45 81 989.88 0.00 0.00 3.82 0.000 0.000 0.144 2480.34 2452.44 2508.25 1816.62 4008.50 0 0 0 30.00 30.00 15.90

1218.11 1060 -117.30 -1.97 0.00 2479.0 2450.8 2507.1 1816.3 4007.9 86.07 -3.11 128 1224.35 0.00 0.00 3.65 0.000 0.000 0.094 2478.12 2449.62 2506.62 1816.38 2574.50 0 0 0 30.00 30.00 15.96

1603.13 292 -117.30 -1.97 80.00 2478.8 2450.6 2507.1 1816.3 2574.2 99.43 -3.54 145 1609.40 0.00 0.00 3.80 0.000 0.000 0.144 2481.91 2453.25 2510.56 1816.62 4009.62 0 0 0 30.00 30.00 15.96

1835.58 1060 -117.30 -1.97 0.00 2478.6 2450.3 2506.8 1816.4 4009.3 108.10 -3.43 191 1842.24 0.00 0.00 3.62 0.000 0.000 0.094 2479.41 2450.62 2508.19 1816.88 2573.44 0 0 0 30.00 30.00 16.01

2231.32 292 -117.30 -1.97 80.00 2478.8 2450.0 2507.5 1816.6 2573.3 115.90 -1.95 205 2237.61 0.00 0.00 3.78 0.000 0.000 0.145 2479.59 2450.19 2509.00 1816.81 4008.06 0 0 0 30.00 30.00 16.00

2466.36 1060 -117.30 -1.97 0.00 2478.5 2449.6 2507.4 1816.6 4007.9 121.03 -2.44 252 2472.82 0.00 0.00 3.62 0.000 0.000 0.096 2479.94 2451.44 2508.44 1816.31 2573.31 0 0 0 30.00 30.00 16.05

2851.40 32 -117.30 -1.97 0.00 2478.6 2449.6 2507.6 1816.9 2573.2 128.71 -2.13 269 2852.96 0.00 0.00 0.00 0.000 0.000 0.000 2477.09 2448.31 2505.88 1816.62 2573.44 0 0 0 30.00 30.00 30.00

3241.42 292 -117.30 -1.97 80.00 2478.6 2449.8 2507.4 1816.4 2573.2 135.21 -1.50 282 3248.07 0.00 0.00 3.77 0.000 0.000 0.148 2479.28 2450.25 2508.31 1814.19 4008.12 0 0 0 30.00 30.00 16.04

3476.53 1060 -117.30 -1.97 0.00 2478.2 2449.2 2507.1 1816.5 4008.0 138.65 -1.45 329 3482.91 0.00 0.00 3.62 0.000 0.000 0.097 2476.50 2447.62 2505.38 1816.50 2573.62 0 0 0 30.00 30.00 16.08

3864.33 292 -117.30 -1.97 80.00 2478.1 2449.1 2507.1 1816.5 2573.2 144.15 -1.46 346 3870.79 0.00 0.00 3.73 0.000 0.000 0.146 2477.88 2449.19 2506.56 1816.75 4008.19 0 0 0 30.00 30.00 16.05

4088.62 1060 -117.30 -1.97 0.00 2477.9 2448.6 2507.1 1816.8 4007.9 147.15 -1.23 391 4094.69 0.00 0.00 3.60 0.000 0.000 0.096 2480.00 2451.12 2508.88 1816.62 2573.69 0 0 0 30.00 30.00 16.09

4429 end dive: NO_VERTICAL_VELOCITY

state 4429 begin apogee

4430.86 10243 0.00 -0.37 0.00 2478.2 2449.1 2507.2 1816.6 2729.8 149.14 0.00 404 4545.52 105.77 2.82 0.07 1.252 0.196 0.262 1998.38 1916.88 2079.88 2203.62 2697.19 0 0 0 11.86 16.05 15.62

4547 end apogee: CONTROL_FINISHED_OK

state 4547 begin climb

4548.00 10243 117.30 1.97 0.00 1996.7 1915.4 2077.9 2204.3 2697.2 146.87 0.00 407 4657.06 99.49 3.91 0.00 1.160 0.117 0.000 1521.62 1411.69 1631.56 2776.44 2698.12 0 0 0 11.77 15.65 30.00

5035.20 16646 117.30 1.97 80.00 1511.5 1410.8 1612.3 2775.9 2697.4 48.76 17.11 429 5041.61 0.00 0.00 3.53 0.000 0.000 0.150 1512.44 1411.81 1613.06 2776.06 4007.50 0 0 0 30.00 30.00 15.74

5210.28 11303 250.55 2.51 0.00 1510.9 1413.0 1608.9 2776.4 4007.0 41.80 2.17 464 5403.74 180.45 0.80 3.34 1.018 0.077 0.087 978.81 858.69 1098.94 2911.88 2694.19 0 0 0 11.75 15.83 15.84

5766.93 10791 389.68 3.06 -80.00 973.5 859.0 1087.9 2911.2 2694.4 10.80 1.87 539 5951.64 171.02 0.82 4.18 0.977 0.075 0.165 500.53 412.25 588.81 3045.00 1247.62 0 0 0 11.68 15.75 15.31

6178.08 11303 565.41 3.77 0.00 497.5 412.5 582.5 3044.7 1247.8 2.99 -0.06 618 6186.54 0.00 1.05 3.69 0.000 0.088 0.077 497.75 412.44 583.06 3212.06 2733.12 0 0 0 30.00 15.62 15.64

6390 end climb: NO_VERTICAL_VELOCITY

state 6390 begin subsurface finish

6391.15 32295 212.20 0.85 -80.00 497.0 412.4 581.6 3213.4 2696.0 2.94 -0.09 640 6394.11 0.00 1.42 0.00 0.000 0.264 0.000 497.03 412.50 581.56 3030.12 2696.44 0 0 0 30.00 15.64 30.00

6394 end subsurface finish: NO_VERTICAL_VELOCITY

state 6394 begin surface

ID	235	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_INHIBIT	90
MISSION	11	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	30	XPDR_INT	13
DIVE	33	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_REP	11.5
N_DIVES	0	SM_CC	662.31	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
STOP_T	0	N_FILEKB	8	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_YINT	0.5
D_SURF	2	FILEMGR	2	VBD_MIN	500	DEEPGLIDER	0
D_FLARE	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDERMB	0
D_TGT	990	COMM_SEQ	7	C_VBD	2000	MOTHERBOARD	6
D_ABORT	1030	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
D_NO_BLEED	450	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
D_BOOST	3	NOCOMM_ACTION	129	VBD_LP_IGNORE	0	DEVICE3	-1
T_BOOST	0	N_NOSURFACE	0	VBD_TIMEOUT	800	DEVICE4	-1
D_FINISH	10	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0040000002	DEVICE5	-1
D_PITCH	2	NETBOX	1	UNCOM_BLEED	400	DEVICE6	-1
D_SAFE	500	CALL_TRIES	3	VBD_MAXERRORS	2	LOGGERS	1
D_CALL	3	CALL_WAIT	45	C_VBD_AUTO_DELTA	0	LOGGERDEVICE1	7
SURFACE_URGENCY	10	CAPUPLOAD	0	C_VBD_AUTO_MAX	0	LOGGERDEVICE2	-1
SURFACE_URGENCY_TRY	10	CAPMAXSIZE	10000	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	20	T_GPS	3	DBDW	0	LOGGERDEVICE4	-1
T_DIVE	360	N_GPS	100440	LOITER_W_DBAND	2	COMPASS_DEVICE	66
T_MISSION	500	T_RSLEEP	2	LOITER_DBDW	400	COMPASS2_DEVICE	-1
T_ABORT	2880	STROBE	0	LOITER_D_TOP	400	PHONE_DEVICE	33
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	700	GPS_DEVICE	48
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	96
T_NO_W	240	RAFOS_HIT_WINDOW	10800	CF8_MAXERRORS	0	NAV_DEVICE	6
T_LOITER	0	RAFOS_MMODEM	0	AH0_24V	575	NAV2_DEVICE	6
T_EPIRB	0	PITCH_MIN	230	AH0_10V	0	NAV3_DEVICE	-1
USE_BATHY	0	PITCH_MAX	3900	MINV_24V	0	NAV4_DEVICE	-1
USE_ICE	1	C_PITCH	2295.5884	MINV_10V	0	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.07	PITCH_DBAND	0.1	MAXI_24V	5	PRESSURE_DEVICE	34
D_OFFGRID	1000	PITCH_CNV	0.0041299998	MAXI_10V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	13.414345	FG_AHR_10V	2.7030351	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	12.693333	SEABIRD_T_G	0.0042874566
MAX_BUOY	120	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062267116
GLIDE_SLOPE	45	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-157.91238	SEABIRD_T_I	2.1947648e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	PRESSURE_SLOPE	0.00022957686	SEABIRD_T_J	2.2037441e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	COMPASS_USE	49156	SEABIRD_C_G	-9.9419231
MASS	72024	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_H	1.1375728
NAV_MODE	0	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_I	-0.0016241658
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	2	ALTIM_BOTTOM_TURN_MARGIN	0	SEABIRD_C_J	0.0002088599
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	OPTIONS	2
HD_A	0.00281838	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	0	SC_RECORDABOVE	2000.0
HD_B	0.0139236	ROLL_MIN	1200	ALTIM_PING_DEPTH	0	SC_PROFILE	7.0
HD_C	5.7000002e-06	ROLL_MAX	4000	ALTIM_PING_DELTA	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_FREQUENCY	13	SC_NDIVE	1.0
ESCAPE_HEADING	180	C_ROLL_DIVE	2593.1365	ALTIM_PULSE	3
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2713.5149	ALTIM_SENSITIVITY	2
FIX_MISSING_TIMEOUT	20	HEAD_ERRBAND	10	XPDR_VALID	6

GPS1	130823,003031,7605.095,-14239.351,0,8255.0,0,15.7	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	3.71	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130823,003031,7605.095,-14239.351,0,8255.0,0,15.7	MHEAD_RNG_PITCHd_Wd	143.9,69360,-20.2,-9.167,-25.06,1949,0.123
SPEED_LIMITS	0.092,0.196	D_GRID	990
TGT_NAME	IGBL	IRON	1.000000,-0.058064,-0.069359,-0.064846,1.037432,-0.079687,0.059845,0.024819,0.912228,-1019.682983,-140.930878,505.300598
TGT_LATLONG	7530.000,-14147.136	OSC	8000307

NAV	1691899152,6.6,start	FG_AHR_24Vo	12.869
FREEZE	2.94,-0.795,-1.352,2,13,0	FG_AHR_10Vo	2.730
FINISH1	2.9,1.0199,212	MEM0	59796,1,0,0
FINISH2	2.9	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	1023052,32,22556,116
IRIDIUM_FIX	7610.07,-14226.43,100823,065015	DATA_FILE_SIZE	16128,641
TCM_TEMP	1.63	CAP_FILE_SIZE	177477,0
SC_FREEKB	3868192	SDSIZE	3918848,3896448
RAFOS_CLK	0	SDFILEDIR	291,34
RAFOS_FIX	7605.095215,-14239.350586,130823,000031,7,255,1.91	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	48.36	SOUNDSPEED	1465.0
TEMP	-0.51	MAGCAL	1.000000,-0.037209,-0.068818,-0.070198,1.055901,-0.175207,0.076559,-0.001826,0.945818,-1023.8,-51.2,464.5,36,0.1360,0
INTERNAL_PRESSURE	8.08599	IMPLIED_C_PITCH	2316,13.50,160,0.0,13.46
_24V_AH	14.92,15.005	GPS	130823,003031,7605.095,-14239.351,0,8255.0,0,15.7
_10V_AH	15.00,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	637	1252	11908.97	nil	0	0	0.00
Pitch_motor	24	310	112.04	nil	0	0	0.00
Roll_motor	67	261	263.23	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	0	0	0.00	nil	0	0	0.00
Core	2192	5	168.38	SciCon	6401	6	611.04
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4230	0	20.30
Compass	1070	5	80.26
RAFOS	71	40	42.75
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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
5.85	16386	-117.30	-1.97	0.00	499.3	415.1	583.4	219.8	2610.2	0.00	0.00	0	17.64	10.88	0.00	0.00	0.007	0.000	0.000	718.06	660.62	775.50	219.81	2611.00	0	0	0	15.73	30.00	30.00
17.89	18727	-117.30	-1.97	80.00	718.1	660.8	775.5	220.0	2611.0	3.56	0.00	1	114.33	69.72	13.34	3.82	0.005	0.311	0.149	2478.94	2456.19	2501.69	1815.50	4008.38	0	0	0	15.75	15.55	15.66
156.64	1028	-117.30	-1.97	0.00	2481.2	2456.4	2505.9	1816.4	4008.1	26.54	-23.61	28	162.99	0.00	0.00	3.73	0.000	0.000	0.097	2482.38	2457.50	2507.25	1816.50	2576.81	0	0	0	30.00	30.00	15.73
482.42	292	-117.30	-1.97	80.00	2481.5	2455.8	2507.2	1816.3	2576.4	62.85	-5.85	41	488.32	0.00	0.00	3.84	0.000	0.000	0.143	2480.09	2454.62	2505.56	1816.75	4008.81	0	0	0	30.00	30.00	15.82
606.80	1060	-117.30	-1.97	0.00	2480.5	2453.7	2507.3	1816.5	4008.6	66.54	-2.85	66	613.82	0.00	0.00	3.68	0.000	0.000	0.093	2478.34	2450.88	2505.81	1816.88	2574.00	0	0	0	30.00	30.00	15.87
982.69	292	-117.30	-1.97	80.00	2479.9	2452.1	2507.6	1816.2	2574.2	78.15	-3.45	81	989.88	0.00	0.00	3.82	0.000	0.000	0.144	2480.34	2452.44	2508.25	1816.62	4008.50	0	0	0	30.00	30.00	15.90
1218.11	1060	-117.30	-1.97	0.00	2479.0	2450.8	2507.1	1816.3	4007.9	86.07	-3.11	128	1224.35	0.00	0.00	3.65	0.000	0.000	0.094	2478.12	2449.62	2506.62	1816.38	2574.50	0	0	0	30.00	30.00	15.96
1603.13	292	-117.30	-1.97	80.00	2478.8	2450.6	2507.1	1816.3	2574.2	99.43	-3.54	145	1609.40	0.00	0.00	3.80	0.000	0.000	0.144	2481.91	2453.25	2510.56	1816.62	4009.62	0	0	0	30.00	30.00	15.96
1835.58	1060	-117.30	-1.97	0.00	2478.6	2450.3	2506.8	1816.4	4009.3	108.10	-3.43	191	1842.24	0.00	0.00	3.62	0.000	0.000	0.094	2479.41	2450.62	2508.19	1816.88	2573.44	0	0	0	30.00	30.00	16.01
2231.32	292	-117.30	-1.97	80.00	2478.8	2450.0	2507.5	1816.6	2573.3	115.90	-1.95	205	2237.61	0.00	0.00	3.78	0.000	0.000	0.145	2479.59	2450.19	2509.00	1816.81	4008.06	0	0	0	30.00	30.00	16.00
2466.36	1060	-117.30	-1.97	0.00	2478.5	2449.6	2507.4	1816.6	4007.9	121.03	-2.44	252	2472.82	0.00	0.00	3.62	0.000	0.000	0.096	2479.94	2451.44	2508.44	1816.31	2573.31	0	0	0	30.00	30.00	16.05
2851.40	32	-117.30	-1.97	0.00	2478.6	2449.6	2507.6	1816.9	2573.2	128.71	-2.13	269	2852.96	0.00	0.00	0.00	0.000	0.000	0.000	2477.09	2448.31	2505.88	1816.62	2573.44	0	0	0	30.00	30.00	30.00
3241.42	292	-117.30	-1.97	80.00	2478.6	2449.8	2507.4	1816.4	2573.2	135.21	-1.50	282	3248.07	0.00	0.00	3.77	0.000	0.000	0.148	2479.28	2450.25	2508.31	1814.19	4008.12	0	0	0	30.00	30.00	16.04
3476.53	1060	-117.30	-1.97	0.00	2478.2	2449.2	2507.1	1816.5	4008.0	138.65	-1.45	329	3482.91	0.00	0.00	3.62	0.000	0.000	0.097	2476.50	2447.62	2505.38	1816.50	2573.62	0	0	0	30.00	30.00	16.08
3864.33	292	-117.30	-1.97	80.00	2478.1	2449.1	2507.1	1816.5	2573.2	144.15	-1.46	346	3870.79	0.00	0.00	3.73	0.000	0.000	0.146	2477.88	2449.19	2506.56	1816.75	4008.19	0	0	0	30.00	30.00	16.05
4088.62	1060	-117.30	-1.97	0.00	2477.9	2448.6	2507.1	1816.8	4007.9	147.15	-1.23	391	4094.69	0.00	0.00	3.60	0.000	0.000	0.096	2480.00	2451.12	2508.88	1816.62	2573.69	0	0	0	30.00	30.00	16.09
4429	end dive: NO_VERTICAL_VELOCITY
state	4429	begin apogee
4430.86	10243	0.00	-0.37	0.00	2478.2	2449.1	2507.2	1816.6	2729.8	149.14	0.00	404	4545.52	105.77	2.82	0.07	1.252	0.196	0.262	1998.38	1916.88	2079.88	2203.62	2697.19	0	0	0	11.86	16.05	15.62
4547	end apogee: CONTROL_FINISHED_OK
state	4547	begin climb
4548.00	10243	117.30	1.97	0.00	1996.7	1915.4	2077.9	2204.3	2697.2	146.87	0.00	407	4657.06	99.49	3.91	0.00	1.160	0.117	0.000	1521.62	1411.69	1631.56	2776.44	2698.12	0	0	0	11.77	15.65	30.00
5035.20	16646	117.30	1.97	80.00	1511.5	1410.8	1612.3	2775.9	2697.4	48.76	17.11	429	5041.61	0.00	0.00	3.53	0.000	0.000	0.150	1512.44	1411.81	1613.06	2776.06	4007.50	0	0	0	30.00	30.00	15.74
5210.28	11303	250.55	2.51	0.00	1510.9	1413.0	1608.9	2776.4	4007.0	41.80	2.17	464	5403.74	180.45	0.80	3.34	1.018	0.077	0.087	978.81	858.69	1098.94	2911.88	2694.19	0	0	0	11.75	15.83	15.84
5766.93	10791	389.68	3.06	-80.00	973.5	859.0	1087.9	2911.2	2694.4	10.80	1.87	539	5951.64	171.02	0.82	4.18	0.977	0.075	0.165	500.53	412.25	588.81	3045.00	1247.62	0	0	0	11.68	15.75	15.31
6178.08	11303	565.41	3.77	0.00	497.5	412.5	582.5	3044.7	1247.8	2.99	-0.06	618	6186.54	0.00	1.05	3.69	0.000	0.088	0.077	497.75	412.44	583.06	3212.06	2733.12	0	0	0	30.00	15.62	15.64
6390	end climb: NO_VERTICAL_VELOCITY
state	6390	begin subsurface finish
6391.15	32295	212.20	0.85	-80.00	497.0	412.4	581.6	3213.4	2696.0	2.94	-0.09	640	6394.11	0.00	1.42	0.00	0.000	0.264	0.000	497.03	412.50	581.56	3030.12	2696.44	0	0	0	30.00	15.64	30.00
6394	end subsurface finish: NO_VERTICAL_VELOCITY
state	6394	begin surface