Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 40 * 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 40 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 13.517683 FG_AHR_10V 2.9724452 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 13.930748 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 2.9724452 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 13.930748 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 13.517683 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 40 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 130823,141204,7604.032,-14206.837,0,10255.0,0,15.7 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 4.03 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 20.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130823,141204,7604.032,-14206.837,0,10255.0,0,15.7 MHEAD_RNG_PITCHd_Wd 156.0,63687,-20.2,-9.167,-25.06,1949,0.141

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 1691942370,138.6,start _10V_AH 14.97,0.000

FREEZE 0.64,-0.591,-1.347,2,20,2 FG_AHR_24Vo 14.104

FINISH 0.6,1.019877 FG_AHR_10Vo 3.013

SURF below D_CALL,3.961380/3.000000 MEM0 59796,1,0,0

SM_CCo 5535.52,0.14,0.175,0,499.2,413.9,584.6,368.14 MEM1 65508,1,0,0

SM_GC 3.96,0.14,20.26,3.35,0.175,0.138,0.076,499.2,413.9,584.6,218.8,2618.8,0,0,0,15.74,15.59,15.68 MEM2 1023012,34,22556,116

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 12941,533

IRIDIUM_FIX 7610.07,-14226.43,100823,065015 CAP_FILE_SIZE 171785,0

TCM_TEMP 1.85 SDSIZE 3918848,3894432

SC_FREEKB 3865952 SDFILEDIR 340,41

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

RAFOS_FIX 7604.032227,-14206.836914,130823,141404,9,255,0.02 SOUNDSPEED 1465.0

HUMID 48.01 MAGCAL 1.000000,-0.036076,0.007401,-0.072500,1.048223,-0.087923,0.061765,0.021269,0.917620,-1105.0,-141.0,492.2,36,0.1161,0

TEMP -0.11 IMPLIED_C_PITCH 2317,13.49,142,0.0,13.50

INTERNAL_PRESSURE 8.09481 GPS 130823,141204,7604.032,-14206.837,181,99.0,181,15.7

_24V_AH 14.87,16.448

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 631 1228 11529.43 nil 0 0 0.00

Pitch_motor 38 193 110.06 nil 0 0 0.00

Roll_motor 59 263 231.43 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 1933 5 148.17 SciCon 5499 6 530.80

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3601 0 17.25

Compass 896 5 67.09

RAFOS 9 40 5.76

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 -1.96 0.00 496.9 412.0 581.9 3047.8 2572.8 0.00 0.00 0 13.95 7.24 0.00 0.00 0.008 0.000 0.000 669.22 599.50 738.94 3047.56 2573.44 0 0 0 15.94 30.00 30.00

14.20 20515 -117.30 -1.96 0.00 669.2 599.4 739.1 3047.9 2573.0 4.01 0.00 1 95.90 65.98 8.79 0.00 0.005 0.182 0.000 2477.69 2454.62 2500.75 1807.19 2573.12 0 0 0 15.92 15.78 30.00

412.11 548 -117.30 -1.96 -80.00 2480.8 2451.9 2509.8 1806.9 2573.6 58.50 -8.11 30 418.00 0.00 0.00 3.87 0.000 0.000 0.168 2481.66 2452.50 2510.81 1805.44 1192.25 0 0 0 30.00 30.00 15.86

647.18 1060 -117.30 -1.96 0.00 2479.8 2449.9 2509.7 1806.8 1192.7 63.82 -2.13 77 652.96 0.00 0.00 3.49 0.000 0.000 0.082 2477.97 2448.44 2507.50 1807.50 2612.69 0 0 0 30.00 30.00 15.95

1019.19 548 -117.30 -1.96 -80.00 2479.2 2448.9 2509.5 1807.6 2612.1 76.98 -3.72 95 1025.12 0.00 0.00 3.93 0.000 0.000 0.164 2480.56 2450.81 2510.31 1807.06 1189.06 0 0 0 30.00 30.00 15.92

1158.58 1060 -117.30 -1.96 0.00 2479.0 2448.7 2509.3 1807.5 1188.6 83.43 -4.84 123 1165.20 0.00 0.00 3.44 0.000 0.000 0.080 2479.59 2448.88 2510.31 1807.75 2614.25 0 0 0 30.00 30.00 16.00

1554.31 292 -117.30 -1.96 80.00 2478.0 2446.6 2509.4 1807.6 2614.4 97.54 -2.96 137 1560.55 0.00 0.00 3.68 0.000 0.000 0.149 2476.75 2445.06 2508.44 1807.56 4007.25 0 0 0 30.00 30.00 15.98

1568.59 1060 -117.30 -1.96 0.00 2477.7 2445.9 2509.6 1807.2 4007.6 98.03 -2.94 140 1574.48 0.00 0.00 3.60 0.000 0.000 0.088 2479.44 2447.69 2511.19 1807.38 2572.81 0 0 0 30.00 30.00 16.01

1939.33 548 -117.30 -1.96 -80.00 2478.1 2446.3 2509.9 1807.2 2572.1 106.91 -2.22 154 1945.64 0.00 0.00 3.84 0.000 0.000 0.168 2480.16 2447.69 2512.62 1807.56 1191.75 0 0 0 30.00 30.00 15.99

2058.64 1060 -117.30 -1.96 0.00 2477.5 2445.6 2509.4 1807.6 1191.7 110.33 -2.89 178 2064.47 0.00 0.00 3.46 0.000 0.000 0.077 2478.22 2445.81 2510.62 1807.25 2615.06 0 0 0 30.00 30.00 16.06

2444.37 292 -117.30 -1.96 80.00 2477.5 2445.4 2509.6 1807.2 2615.3 120.74 -2.38 195 2450.60 0.00 0.00 3.66 0.000 0.000 0.150 2475.84 2444.12 2507.56 1807.62 4008.00 0 0 0 30.00 30.00 16.03

2573.68 1060 -117.30 -1.96 0.00 2477.0 2444.9 2509.2 1806.9 4008.3 123.18 -2.02 221 2579.57 0.00 0.00 3.59 0.000 0.000 0.091 2478.66 2446.19 2511.12 1807.50 2573.50 0 0 0 30.00 30.00 16.06

2969.42 292 -117.30 -1.96 80.00 2477.0 2444.6 2509.4 1807.4 2573.1 130.53 -2.26 238 2975.93 0.00 0.00 3.74 0.000 0.000 0.145 2475.66 2443.62 2507.69 1807.31 4008.00 0 0 0 30.00 30.00 16.03

3204.52 1060 -117.30 -1.96 0.00 2476.8 2443.9 2509.6 1807.4 4008.1 136.21 -2.32 285 3210.94 0.00 0.00 3.61 0.000 0.000 0.092 2477.88 2444.69 2511.06 1807.56 2573.44 0 0 0 30.00 30.00 16.09

3589.53 32 -117.30 -1.96 0.00 2476.9 2444.1 2509.7 1807.1 2573.6 139.96 -0.93 302 3591.09 0.00 0.00 0.00 0.000 0.000 0.000 2477.44 2444.44 2510.44 1807.06 2573.56 0 0 0 30.00 30.00 30.00

3769 end dive: NO_VERTICAL_VELOCITY

state 3769 begin apogee

3771.04 10243 0.00 -0.37 0.00 2477.2 2444.2 2510.1 1807.0 2729.2 141.60 0.00 308 3885.84 105.86 2.93 0.07 1.228 0.194 0.264 2001.00 1921.44 2080.56 2202.50 2697.56 0 0 0 11.94 15.99 15.56

3887 end apogee: CONTROL_FINISHED_OK

state 3887 begin climb

3888.38 10243 117.30 1.96 0.00 1996.5 1915.4 2077.5 2204.9 2696.9 139.67 0.00 311 3997.45 99.50 3.90 0.00 1.141 0.117 0.000 1521.94 1412.50 1631.38 2773.12 2697.19 0 0 0 11.74 15.60 30.00

4375.58 16646 117.30 1.96 80.00 1511.9 1411.8 1612.1 2773.3 2697.6 45.84 15.94 343 4382.00 0.00 0.00 3.53 0.000 0.000 0.149 1511.53 1411.50 1611.56 2773.69 4006.94 0 0 0 30.00 30.00 15.68

4608.13 11303 324.99 2.79 0.00 1511.1 1413.8 1608.4 2773.9 4005.6 43.52 -1.73 389 4913.97 288.67 1.27 3.36 0.992 0.078 0.084 675.78 565.62 785.94 2977.44 2693.56 0 0 0 11.86 15.77 15.78

5217.21 10791 492.25 3.46 -80.00 670.9 565.0 776.8 2977.2 2692.5 7.68 0.39 478 5292.28 63.78 1.01 4.16 0.962 0.077 0.161 500.62 412.81 588.44 3141.75 1247.56 0 0 0 11.75 15.66 15.43

5420 end climb: SURFACE_DEPTH_REACHED

state 5420 begin surface coast

5494 end surface coast: CONTROL_FINISHED_OK

state 5494 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	40	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	13.517683	FG_AHR_10V	2.9724452	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	13.930748	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	130823,141204,7604.032,-14206.837,0,10255.0,0,15.7	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	4.03	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	20.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130823,141204,7604.032,-14206.837,0,10255.0,0,15.7	MHEAD_RNG_PITCHd_Wd	156.0,63687,-20.2,-9.167,-25.06,1949,0.141
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	1691942370,138.6,start	_10V_AH	14.97,0.000
FREEZE	0.64,-0.591,-1.347,2,20,2	FG_AHR_24Vo	14.104
FINISH	0.6,1.019877	FG_AHR_10Vo	3.013
SURF	below D_CALL,3.961380/3.000000	MEM0	59796,1,0,0
SM_CCo	5535.52,0.14,0.175,0,499.2,413.9,584.6,368.14	MEM1	65508,1,0,0
SM_GC	3.96,0.14,20.26,3.35,0.175,0.138,0.076,499.2,413.9,584.6,218.8,2618.8,0,0,0,15.74,15.59,15.68	MEM2	1023012,34,22556,116
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	12941,533
IRIDIUM_FIX	7610.07,-14226.43,100823,065015	CAP_FILE_SIZE	171785,0
TCM_TEMP	1.85	SDSIZE	3918848,3894432
SC_FREEKB	3865952	SDFILEDIR	340,41
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	7604.032227,-14206.836914,130823,141404,9,255,0.02	SOUNDSPEED	1465.0
HUMID	48.01	MAGCAL	1.000000,-0.036076,0.007401,-0.072500,1.048223,-0.087923,0.061765,0.021269,0.917620,-1105.0,-141.0,492.2,36,0.1161,0
TEMP	-0.11	IMPLIED_C_PITCH	2317,13.49,142,0.0,13.50
INTERNAL_PRESSURE	8.09481	GPS	130823,141204,7604.032,-14206.837,181,99.0,181,15.7
_24V_AH	14.87,16.448

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	631	1228	11529.43	nil	0	0	0.00
Pitch_motor	38	193	110.06	nil	0	0	0.00
Roll_motor	59	263	231.43	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	1933	5	148.17	SciCon	5499	6	530.80
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3601	0	17.25
Compass	896	5	67.09
RAFOS	9	40	5.76
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	-1.96	0.00	496.9	412.0	581.9	3047.8	2572.8	0.00	0.00	0	13.95	7.24	0.00	0.00	0.008	0.000	0.000	669.22	599.50	738.94	3047.56	2573.44	0	0	0	15.94	30.00	30.00
14.20	20515	-117.30	-1.96	0.00	669.2	599.4	739.1	3047.9	2573.0	4.01	0.00	1	95.90	65.98	8.79	0.00	0.005	0.182	0.000	2477.69	2454.62	2500.75	1807.19	2573.12	0	0	0	15.92	15.78	30.00
412.11	548	-117.30	-1.96	-80.00	2480.8	2451.9	2509.8	1806.9	2573.6	58.50	-8.11	30	418.00	0.00	0.00	3.87	0.000	0.000	0.168	2481.66	2452.50	2510.81	1805.44	1192.25	0	0	0	30.00	30.00	15.86
647.18	1060	-117.30	-1.96	0.00	2479.8	2449.9	2509.7	1806.8	1192.7	63.82	-2.13	77	652.96	0.00	0.00	3.49	0.000	0.000	0.082	2477.97	2448.44	2507.50	1807.50	2612.69	0	0	0	30.00	30.00	15.95
1019.19	548	-117.30	-1.96	-80.00	2479.2	2448.9	2509.5	1807.6	2612.1	76.98	-3.72	95	1025.12	0.00	0.00	3.93	0.000	0.000	0.164	2480.56	2450.81	2510.31	1807.06	1189.06	0	0	0	30.00	30.00	15.92
1158.58	1060	-117.30	-1.96	0.00	2479.0	2448.7	2509.3	1807.5	1188.6	83.43	-4.84	123	1165.20	0.00	0.00	3.44	0.000	0.000	0.080	2479.59	2448.88	2510.31	1807.75	2614.25	0	0	0	30.00	30.00	16.00
1554.31	292	-117.30	-1.96	80.00	2478.0	2446.6	2509.4	1807.6	2614.4	97.54	-2.96	137	1560.55	0.00	0.00	3.68	0.000	0.000	0.149	2476.75	2445.06	2508.44	1807.56	4007.25	0	0	0	30.00	30.00	15.98
1568.59	1060	-117.30	-1.96	0.00	2477.7	2445.9	2509.6	1807.2	4007.6	98.03	-2.94	140	1574.48	0.00	0.00	3.60	0.000	0.000	0.088	2479.44	2447.69	2511.19	1807.38	2572.81	0	0	0	30.00	30.00	16.01
1939.33	548	-117.30	-1.96	-80.00	2478.1	2446.3	2509.9	1807.2	2572.1	106.91	-2.22	154	1945.64	0.00	0.00	3.84	0.000	0.000	0.168	2480.16	2447.69	2512.62	1807.56	1191.75	0	0	0	30.00	30.00	15.99
2058.64	1060	-117.30	-1.96	0.00	2477.5	2445.6	2509.4	1807.6	1191.7	110.33	-2.89	178	2064.47	0.00	0.00	3.46	0.000	0.000	0.077	2478.22	2445.81	2510.62	1807.25	2615.06	0	0	0	30.00	30.00	16.06
2444.37	292	-117.30	-1.96	80.00	2477.5	2445.4	2509.6	1807.2	2615.3	120.74	-2.38	195	2450.60	0.00	0.00	3.66	0.000	0.000	0.150	2475.84	2444.12	2507.56	1807.62	4008.00	0	0	0	30.00	30.00	16.03
2573.68	1060	-117.30	-1.96	0.00	2477.0	2444.9	2509.2	1806.9	4008.3	123.18	-2.02	221	2579.57	0.00	0.00	3.59	0.000	0.000	0.091	2478.66	2446.19	2511.12	1807.50	2573.50	0	0	0	30.00	30.00	16.06
2969.42	292	-117.30	-1.96	80.00	2477.0	2444.6	2509.4	1807.4	2573.1	130.53	-2.26	238	2975.93	0.00	0.00	3.74	0.000	0.000	0.145	2475.66	2443.62	2507.69	1807.31	4008.00	0	0	0	30.00	30.00	16.03
3204.52	1060	-117.30	-1.96	0.00	2476.8	2443.9	2509.6	1807.4	4008.1	136.21	-2.32	285	3210.94	0.00	0.00	3.61	0.000	0.000	0.092	2477.88	2444.69	2511.06	1807.56	2573.44	0	0	0	30.00	30.00	16.09
3589.53	32	-117.30	-1.96	0.00	2476.9	2444.1	2509.7	1807.1	2573.6	139.96	-0.93	302	3591.09	0.00	0.00	0.00	0.000	0.000	0.000	2477.44	2444.44	2510.44	1807.06	2573.56	0	0	0	30.00	30.00	30.00
3769	end dive: NO_VERTICAL_VELOCITY
state	3769	begin apogee
3771.04	10243	0.00	-0.37	0.00	2477.2	2444.2	2510.1	1807.0	2729.2	141.60	0.00	308	3885.84	105.86	2.93	0.07	1.228	0.194	0.264	2001.00	1921.44	2080.56	2202.50	2697.56	0	0	0	11.94	15.99	15.56
3887	end apogee: CONTROL_FINISHED_OK
state	3887	begin climb
3888.38	10243	117.30	1.96	0.00	1996.5	1915.4	2077.5	2204.9	2696.9	139.67	0.00	311	3997.45	99.50	3.90	0.00	1.141	0.117	0.000	1521.94	1412.50	1631.38	2773.12	2697.19	0	0	0	11.74	15.60	30.00
4375.58	16646	117.30	1.96	80.00	1511.9	1411.8	1612.1	2773.3	2697.6	45.84	15.94	343	4382.00	0.00	0.00	3.53	0.000	0.000	0.149	1511.53	1411.50	1611.56	2773.69	4006.94	0	0	0	30.00	30.00	15.68
4608.13	11303	324.99	2.79	0.00	1511.1	1413.8	1608.4	2773.9	4005.6	43.52	-1.73	389	4913.97	288.67	1.27	3.36	0.992	0.078	0.084	675.78	565.62	785.94	2977.44	2693.56	0	0	0	11.86	15.77	15.78
5217.21	10791	492.25	3.46	-80.00	670.9	565.0	776.8	2977.2	2692.5	7.68	0.39	478	5292.28	63.78	1.01	4.16	0.962	0.077	0.161	500.62	412.81	588.44	3141.75	1247.56	0	0	0	11.75	15.66	15.43
5420	end climb: SURFACE_DEPTH_REACHED
state	5420	begin surface coast
5494	end surface coast: CONTROL_FINISHED_OK
state	5494	begin surface