Glider dive log

AMOS Jul22 * SG240 * Dive index * Mission links * Dive 36 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 240 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 20 ALTIM_SENSITIVITY 2

MISSION 5 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 36 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 300 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 100 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 140 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 1808.583 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 17.199331 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 28.926319 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 15.811238 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 300 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 28.926319 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 15.811238 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 17.199331 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 20 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 100

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 1808.583 KALMAN_USE 2 PRESSURE_SLOPE 0.00022403029 T_MISSION 140

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 36 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 150722,075702,4716.849,-12520.499,25,1.2,26,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -53.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150722,080240,4716.867,-12520.510,3,0.7,4,15.8 MHEAD_RNG_PITCHd_Wd 148.4,505,-27.2,-10.000,-30.00,972,0.145

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME ans0 IRON 1.000000,0.004969,0.026652,-0.004892,1.062311,-0.049169,-0.018000,-0.082850,0.992013,54.201790,-879.643433,-413.071289

TGT_LATLONG 4716.620,-12520.340

Post-dive calculations and measurements:

NAV 1657875542,112.4,start _10V_AH 14.92,0.000

NET xmit part outbox0018.n 1059 0 FG_AHR_24Vo 16.001

NET_PING 1657876872,27,1433.177979,23.700001,-1.903512 FG_AHR_10Vo 28.989

FREEZE 11.01,16.372,-1.708,0,1,0 MEM0 60108,1,0,0

SM_CCo 5287.36,246.76,0.958,0,501.0,524.1,478.0,702.29 MEM1 65508,1,0,0

SM_GC 1.60,0.00,13.53,0.09,0.000,0.063,0.148,498.7,522.0,475.3,192.2,2174.2,0,0,0,30.00,15.49,15.49 MEM2 966604,24,80284,60

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 19325,668

IRIDIUM_FIX 4716.54,-12518.24,150722,061539 CAP_FILE_SIZE 433944,0

TCM_TEMP 18.21 SDSIZE 3887104,3860160

SC_FREEKB 3867264 SDFILEDIR 334,1

RAFOS_CLK 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 6033.735352,-9800.300781,140722,010100,2,510,3867.59 SOUNDSPEED 1465.0

HUMID 49.77 CURRENT 0.030, 51.4,1

TEMP 11.45 MAGCAL 1.000000,0.037313,0.052578,-0.014298,1.070418,-0.086964,-0.012833,-0.019638,1.019084,45.4,-867.9,-450.4,36,0.0407,0

INTERNAL_PRESSURE 8.02693 IMPLIED_C_PITCH 1806,16.94,331,1807.5,17.07

_24V_AH 14.96,18.577 GPS 150722,093355,4716.529,-12520.033,5,1.2,9,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 722 1303 14093.83 nil 0 0 0.00

Pitch_motor 31 263 125.91 nil 0 0 0.00

Roll_motor 79 195 231.23 nil 0 0 0.00

Iridium 265 229 911.30 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.95 nil 0 0 0.00

Core 2796 5 213.64 SciCon 5037 6 470.53

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2660 0 12.70

Compass 1261 5 94.12

RAFOS 2338 40 1395.65

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

6.64 16386 -63.62 -1.66 0.00 536.5 552.8 520.2 184.9 2131.9 0.00 0.00 0 87.86 77.44 0.00 0.00 0.005 0.000 0.000 2643.69 2672.75 2614.62 185.44 2131.75 0 0 0 15.80 30.00 30.00

88.15 18727 -144.25 -1.76 80.00 2642.3 2670.8 2613.8 185.0 2131.9 3.15 -1.47 13 139.61 30.51 9.10 3.66 0.005 0.264 0.116 3952.53 3999.31 3905.75 1381.50 3614.69 0 0 0 15.84 15.68 15.76

153.09 3205 -144.25 -1.53 0.00 3954.8 3999.9 3909.6 1381.3 3615.6 18.07 -29.98 25 160.18 0.00 0.41 3.46 0.000 0.197 0.055 3955.59 3999.44 3911.75 1436.62 2124.69 0 0 0 30.00 15.74 15.80

343.62 644 -144.25 -1.56 -80.00 3956.5 4003.4 3909.6 1438.3 2124.6 60.19 -19.26 45 350.67 0.00 0.00 3.60 0.000 0.000 0.120 3956.47 4003.62 3909.31 1438.38 681.88 0 0 0 30.00 30.00 15.84

579.18 1028 -144.25 -1.56 0.00 3957.3 4005.1 3909.5 1438.1 681.9 105.64 -16.71 92 585.39 0.00 0.00 3.44 0.000 0.000 0.055 3958.03 4005.31 3910.75 1438.12 2174.25 0 0 0 30.00 30.00 15.93

889.32 4741 -144.25 -1.65 -80.00 3959.1 4006.6 3911.6 1439.0 2173.8 147.01 -14.46 124 896.88 0.00 0.28 3.74 0.000 0.076 0.119 3958.91 4006.50 3911.31 1391.19 682.06 0 0 0 30.00 15.97 15.92

975.46 3205 -144.25 -1.52 0.00 3959.0 4006.4 3911.6 1391.7 682.1 163.42 -19.32 141 983.09 0.00 0.42 3.41 0.000 0.203 0.055 3958.78 4006.06 3911.50 1440.31 2174.00 0 0 0 30.00 15.90 15.98

1290.50 644 -144.25 -1.62 -80.00 3960.2 4007.9 3912.4 1439.3 2173.9 207.78 -14.26 173 1297.83 0.00 0.00 3.77 0.000 0.000 0.121 3960.28 4008.38 3912.19 1439.75 682.12 0 0 0 30.00 30.00 15.95

1486.35 13319 -144.25 -1.62 0.00 3960.4 4008.6 3912.2 1440.2 682.1 240.97 -17.38 212 1493.84 0.00 0.23 3.41 0.000 0.080 0.058 3960.44 4007.88 3913.00 1400.12 2171.25 0 0 0 30.00 16.00 16.01

1821.47 8838 -144.25 -1.66 -80.00 3960.8 4008.8 3912.7 1399.1 2171.4 293.95 -15.59 228 1828.79 0.00 0.00 3.76 0.000 0.000 0.124 3960.31 4007.75 3912.88 1399.56 682.81 0 0 0 30.00 30.00 15.98

1857 end dive: TARGET_DEPTH_EXCEEDED

state 1857 begin apogee

1862.80 10243 0.00 -0.29 0.00 3960.2 4008.4 3912.0 1399.8 2172.2 300.33 -18.58 235 1979.04 105.29 2.40 0.09 1.303 0.182 0.196 3366.16 3426.81 3305.50 1738.50 2116.81 0 0 0 11.84 15.95 15.60

1980 end apogee: CONTROL_FINISHED_OK

state 1980 begin climb

1980.48 10503 144.25 1.76 80.00 3361.4 3421.9 3300.9 1738.4 2117.5 304.96 0.00 242 2106.09 107.84 3.33 3.85 1.269 0.104 0.124 2772.31 2829.12 2715.50 2237.50 3613.00 0 0 0 11.75 15.61 15.36

2248.97 5253 144.25 1.55 0.00 2771.7 2826.8 2716.6 2237.7 3613.5 260.18 22.65 294 2257.01 0.00 0.52 3.55 0.000 0.212 0.057 2772.69 2829.12 2716.25 2177.50 2125.19 0 0 0 30.00 15.57 15.64

2564.63 516 144.25 1.55 -80.00 2768.1 2826.4 2709.7 2176.6 2125.8 210.40 14.68 322 2572.11 0.00 0.00 3.65 0.000 0.000 0.128 2768.38 2826.81 2709.94 2177.19 683.38 0 0 0 30.00 30.00 15.81

2630.68 17542 144.25 1.43 0.00 2766.2 2823.8 2708.6 2176.3 682.9 199.20 17.53 335 2636.81 0.00 0.00 3.46 0.000 0.000 0.059 2766.19 2824.12 2708.25 2176.81 2171.19 0 0 0 30.00 30.00 15.88

2940.74 17030 144.25 1.47 -80.00 2765.9 2822.8 2709.0 2176.8 2171.1 156.38 13.18 367 2948.07 0.00 0.00 3.72 0.000 0.000 0.124 2764.00 2821.69 2706.31 2175.94 683.12 0 0 0 30.00 30.00 15.93

3030.91 21639 144.25 1.38 0.00 2764.8 2822.6 2707.1 2176.8 683.1 142.59 14.98 385 3038.75 0.00 0.26 3.43 0.000 0.216 0.059 2765.66 2823.56 2707.75 2135.75 2170.31 0 0 0 30.00 15.90 15.98

3357.25 10403 149.03 1.51 0.00 2764.7 2822.4 2707.0 2136.0 2169.9 112.36 9.49 417 3363.60 4.74 0.28 0.00 0.618 0.075 0.000 2753.03 2812.25 2693.81 2185.69 2170.00 0 0 0 11.91 16.01 30.00

3671.27 8870 185.53 1.62 -80.00 2754.6 2813.5 2695.8 2185.1 2170.1 86.29 6.14 449 3709.19 29.06 0.00 3.74 1.077 0.000 0.124 2603.62 2667.06 2540.19 2186.56 682.75 0 0 0 11.89 30.00 15.88

3807.10 9382 202.16 1.60 0.00 2599.2 2663.2 2535.2 2185.9 683.1 75.96 8.24 476 3829.80 14.18 0.00 3.44 0.980 0.000 0.059 2537.22 2604.12 2470.31 2186.12 2172.75 0 0 0 12.00 30.00 15.94

4133.45 10919 250.65 1.79 -80.00 2533.2 2603.2 2463.1 2186.2 2172.4 58.53 4.87 511 4182.08 36.74 0.34 3.77 1.049 0.067 0.124 2340.78 2413.69 2267.88 2252.44 682.69 0 0 0 11.90 15.95 15.79

4395.74 13479 276.55 1.73 0.00 2332.1 2408.9 2255.4 2254.3 682.8 34.14 7.26 563 4424.38 20.11 0.30 3.44 0.978 0.203 0.058 2233.88 2314.62 2153.12 2220.62 2170.25 0 0 0 11.92 15.83 15.89

4729.27 10663 345.37 2.01 80.00 2229.6 2314.6 2144.7 2220.7 2169.9 16.57 2.72 610 4789.41 49.44 0.51 3.59 1.002 0.060 0.126 1955.09 2042.69 1867.50 2310.12 3616.38 0 0 0 11.83 15.90 15.72

5018.00 9254 448.34 2.14 0.00 1947.5 2035.7 1859.3 2311.2 3616.6 10.94 -0.89 667 5025.17 0.79 0.00 3.48 0.142 0.000 0.055 1948.59 2037.62 1859.56 2310.94 2119.81 0 0 0 15.78 30.00 15.85

5026 end climb: NO_VERTICAL_VELOCITY

state 5026 begin surface

ID	240	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	20	ALTIM_SENSITIVITY	2
MISSION	5	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	36	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	300	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	100	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	140	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	1808.583	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	17.199331	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	28.926319	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	15.811238	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	150722,075702,4716.849,-12520.499,25,1.2,26,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150722,080240,4716.867,-12520.510,3,0.7,4,15.8	MHEAD_RNG_PITCHd_Wd	148.4,505,-27.2,-10.000,-30.00,972,0.145
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	ans0	IRON	1.000000,0.004969,0.026652,-0.004892,1.062311,-0.049169,-0.018000,-0.082850,0.992013,54.201790,-879.643433,-413.071289
TGT_LATLONG	4716.620,-12520.340

NAV	1657875542,112.4,start	_10V_AH	14.92,0.000
NET	xmit part outbox0018.n 1059 0	FG_AHR_24Vo	16.001
NET_PING	1657876872,27,1433.177979,23.700001,-1.903512	FG_AHR_10Vo	28.989
FREEZE	11.01,16.372,-1.708,0,1,0	MEM0	60108,1,0,0
SM_CCo	5287.36,246.76,0.958,0,501.0,524.1,478.0,702.29	MEM1	65508,1,0,0
SM_GC	1.60,0.00,13.53,0.09,0.000,0.063,0.148,498.7,522.0,475.3,192.2,2174.2,0,0,0,30.00,15.49,15.49	MEM2	966604,24,80284,60
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	19325,668
IRIDIUM_FIX	4716.54,-12518.24,150722,061539	CAP_FILE_SIZE	433944,0
TCM_TEMP	18.21	SDSIZE	3887104,3860160
SC_FREEKB	3867264	SDFILEDIR	334,1
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	6033.735352,-9800.300781,140722,010100,2,510,3867.59	SOUNDSPEED	1465.0
HUMID	49.77	CURRENT	0.030, 51.4,1
TEMP	11.45	MAGCAL	1.000000,0.037313,0.052578,-0.014298,1.070418,-0.086964,-0.012833,-0.019638,1.019084,45.4,-867.9,-450.4,36,0.0407,0
INTERNAL_PRESSURE	8.02693	IMPLIED_C_PITCH	1806,16.94,331,1807.5,17.07
_24V_AH	14.96,18.577	GPS	150722,093355,4716.529,-12520.033,5,1.2,9,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	722	1303	14093.83	nil	0	0	0.00
Pitch_motor	31	263	125.91	nil	0	0	0.00
Roll_motor	79	195	231.23	nil	0	0	0.00
Iridium	265	229	911.30	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.95	nil	0	0	0.00
Core	2796	5	213.64	SciCon	5037	6	470.53
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2660	0	12.70
Compass	1261	5	94.12
RAFOS	2338	40	1395.65
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
6.64	16386	-63.62	-1.66	0.00	536.5	552.8	520.2	184.9	2131.9	0.00	0.00	0	87.86	77.44	0.00	0.00	0.005	0.000	0.000	2643.69	2672.75	2614.62	185.44	2131.75	0	0	0	15.80	30.00	30.00
88.15	18727	-144.25	-1.76	80.00	2642.3	2670.8	2613.8	185.0	2131.9	3.15	-1.47	13	139.61	30.51	9.10	3.66	0.005	0.264	0.116	3952.53	3999.31	3905.75	1381.50	3614.69	0	0	0	15.84	15.68	15.76
153.09	3205	-144.25	-1.53	0.00	3954.8	3999.9	3909.6	1381.3	3615.6	18.07	-29.98	25	160.18	0.00	0.41	3.46	0.000	0.197	0.055	3955.59	3999.44	3911.75	1436.62	2124.69	0	0	0	30.00	15.74	15.80
343.62	644	-144.25	-1.56	-80.00	3956.5	4003.4	3909.6	1438.3	2124.6	60.19	-19.26	45	350.67	0.00	0.00	3.60	0.000	0.000	0.120	3956.47	4003.62	3909.31	1438.38	681.88	0	0	0	30.00	30.00	15.84
579.18	1028	-144.25	-1.56	0.00	3957.3	4005.1	3909.5	1438.1	681.9	105.64	-16.71	92	585.39	0.00	0.00	3.44	0.000	0.000	0.055	3958.03	4005.31	3910.75	1438.12	2174.25	0	0	0	30.00	30.00	15.93
889.32	4741	-144.25	-1.65	-80.00	3959.1	4006.6	3911.6	1439.0	2173.8	147.01	-14.46	124	896.88	0.00	0.28	3.74	0.000	0.076	0.119	3958.91	4006.50	3911.31	1391.19	682.06	0	0	0	30.00	15.97	15.92
975.46	3205	-144.25	-1.52	0.00	3959.0	4006.4	3911.6	1391.7	682.1	163.42	-19.32	141	983.09	0.00	0.42	3.41	0.000	0.203	0.055	3958.78	4006.06	3911.50	1440.31	2174.00	0	0	0	30.00	15.90	15.98
1290.50	644	-144.25	-1.62	-80.00	3960.2	4007.9	3912.4	1439.3	2173.9	207.78	-14.26	173	1297.83	0.00	0.00	3.77	0.000	0.000	0.121	3960.28	4008.38	3912.19	1439.75	682.12	0	0	0	30.00	30.00	15.95
1486.35	13319	-144.25	-1.62	0.00	3960.4	4008.6	3912.2	1440.2	682.1	240.97	-17.38	212	1493.84	0.00	0.23	3.41	0.000	0.080	0.058	3960.44	4007.88	3913.00	1400.12	2171.25	0	0	0	30.00	16.00	16.01
1821.47	8838	-144.25	-1.66	-80.00	3960.8	4008.8	3912.7	1399.1	2171.4	293.95	-15.59	228	1828.79	0.00	0.00	3.76	0.000	0.000	0.124	3960.31	4007.75	3912.88	1399.56	682.81	0	0	0	30.00	30.00	15.98
1857	end dive: TARGET_DEPTH_EXCEEDED
state	1857	begin apogee
1862.80	10243	0.00	-0.29	0.00	3960.2	4008.4	3912.0	1399.8	2172.2	300.33	-18.58	235	1979.04	105.29	2.40	0.09	1.303	0.182	0.196	3366.16	3426.81	3305.50	1738.50	2116.81	0	0	0	11.84	15.95	15.60
1980	end apogee: CONTROL_FINISHED_OK
state	1980	begin climb
1980.48	10503	144.25	1.76	80.00	3361.4	3421.9	3300.9	1738.4	2117.5	304.96	0.00	242	2106.09	107.84	3.33	3.85	1.269	0.104	0.124	2772.31	2829.12	2715.50	2237.50	3613.00	0	0	0	11.75	15.61	15.36
2248.97	5253	144.25	1.55	0.00	2771.7	2826.8	2716.6	2237.7	3613.5	260.18	22.65	294	2257.01	0.00	0.52	3.55	0.000	0.212	0.057	2772.69	2829.12	2716.25	2177.50	2125.19	0	0	0	30.00	15.57	15.64
2564.63	516	144.25	1.55	-80.00	2768.1	2826.4	2709.7	2176.6	2125.8	210.40	14.68	322	2572.11	0.00	0.00	3.65	0.000	0.000	0.128	2768.38	2826.81	2709.94	2177.19	683.38	0	0	0	30.00	30.00	15.81
2630.68	17542	144.25	1.43	0.00	2766.2	2823.8	2708.6	2176.3	682.9	199.20	17.53	335	2636.81	0.00	0.00	3.46	0.000	0.000	0.059	2766.19	2824.12	2708.25	2176.81	2171.19	0	0	0	30.00	30.00	15.88
2940.74	17030	144.25	1.47	-80.00	2765.9	2822.8	2709.0	2176.8	2171.1	156.38	13.18	367	2948.07	0.00	0.00	3.72	0.000	0.000	0.124	2764.00	2821.69	2706.31	2175.94	683.12	0	0	0	30.00	30.00	15.93
3030.91	21639	144.25	1.38	0.00	2764.8	2822.6	2707.1	2176.8	683.1	142.59	14.98	385	3038.75	0.00	0.26	3.43	0.000	0.216	0.059	2765.66	2823.56	2707.75	2135.75	2170.31	0	0	0	30.00	15.90	15.98
3357.25	10403	149.03	1.51	0.00	2764.7	2822.4	2707.0	2136.0	2169.9	112.36	9.49	417	3363.60	4.74	0.28	0.00	0.618	0.075	0.000	2753.03	2812.25	2693.81	2185.69	2170.00	0	0	0	11.91	16.01	30.00
3671.27	8870	185.53	1.62	-80.00	2754.6	2813.5	2695.8	2185.1	2170.1	86.29	6.14	449	3709.19	29.06	0.00	3.74	1.077	0.000	0.124	2603.62	2667.06	2540.19	2186.56	682.75	0	0	0	11.89	30.00	15.88
3807.10	9382	202.16	1.60	0.00	2599.2	2663.2	2535.2	2185.9	683.1	75.96	8.24	476	3829.80	14.18	0.00	3.44	0.980	0.000	0.059	2537.22	2604.12	2470.31	2186.12	2172.75	0	0	0	12.00	30.00	15.94
4133.45	10919	250.65	1.79	-80.00	2533.2	2603.2	2463.1	2186.2	2172.4	58.53	4.87	511	4182.08	36.74	0.34	3.77	1.049	0.067	0.124	2340.78	2413.69	2267.88	2252.44	682.69	0	0	0	11.90	15.95	15.79
4395.74	13479	276.55	1.73	0.00	2332.1	2408.9	2255.4	2254.3	682.8	34.14	7.26	563	4424.38	20.11	0.30	3.44	0.978	0.203	0.058	2233.88	2314.62	2153.12	2220.62	2170.25	0	0	0	11.92	15.83	15.89
4729.27	10663	345.37	2.01	80.00	2229.6	2314.6	2144.7	2220.7	2169.9	16.57	2.72	610	4789.41	49.44	0.51	3.59	1.002	0.060	0.126	1955.09	2042.69	1867.50	2310.12	3616.38	0	0	0	11.83	15.90	15.72
5018.00	9254	448.34	2.14	0.00	1947.5	2035.7	1859.3	2311.2	3616.6	10.94	-0.89	667	5025.17	0.79	0.00	3.48	0.142	0.000	0.055	1948.59	2037.62	1859.56	2310.94	2119.81	0	0	0	15.78	30.00	15.85
5026	end climb: NO_VERTICAL_VELOCITY
state	5026	begin surface