Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 42 * 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 42 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 13.595905 FG_AHR_10V 3.0554364 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 14.285096 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 3.0554364 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 14.285096 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 13.595905 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 42 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 130823,164401,7559.405,-14226.918,31,1.8,32,15.7 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 4.98 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130823,164401,7559.405,-14226.918,31,1.8,32,15.7 MHEAD_RNG_PITCHd_Wd 145.6,57498,-20.2,-9.167,-25.06,1949,0.138

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 1691956761,43.6,start _10V_AH 14.94,0.000

FREEZE 0.61,-0.636,-1.352,2,22,0 FG_AHR_24Vo 14.465

FINISH 0.6,1.019946 FG_AHR_10Vo 3.092

SM_CCo 6627.41,0.22,0.114,0,499.1,408.1,590.1,368.17 MEM0 59796,1,0,0

SM_GC 3.62,0.22,19.34,3.75,0.114,0.132,0.088,499.1,408.1,590.1,218.6,2576.6,0,0,0,15.73,15.59,15.64 MEM1 65508,1,0,0

SURF below D_CALL,3.617924/3.000000 MEM2 1023032,33,22556,116

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 19309,715

IRIDIUM_FIX 7559.12,-14226.97,130823,164047 CAP_FILE_SIZE 205109,0

TCM_TEMP 1.87 SDSIZE 3918848,3893824

SC_FREEKB 3865312 SDFILEDIR 354,43

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 7601.169434,-14155.940430,130823,161622,6,255,-12.73 SOUNDSPEED 1465.0

HUMID 48.14 MAGCAL 1.000000,-0.033031,-0.011955,-0.066634,1.041198,-0.086951,0.067965,0.007104,0.930332,-1086.5,-135.1,479.7,36,0.1632,0

TEMP -0.25 IMPLIED_C_PITCH 2316,13.52,168,0.0,13.56

INTERNAL_PRESSURE 8.09248 GPS 130823,164401,7559.405,-14226.918,31,1.8,32,15.7

_24V_AH 14.86,16.878

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 655 1244 12134.53 nil 0 0 0.00

Pitch_motor 41 313 191.48 nil 0 0 0.00

Roll_motor 81 272 330.80 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 2388 5 182.67 SciCon 6592 6 632.47

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4239 0 20.27

Compass 1175 5 87.82

RAFOS 8 40 5.18

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 -1.95 0.00 499.6 413.6 585.5 219.8 2572.9 0.00 0.00 0 37.53 30.54 0.00 0.00 0.006 0.000 0.000 1026.88 995.88 1057.88 219.81 2573.94 0 0 0 15.84 30.00 30.00

37.79 18727 -117.30 -1.95 80.00 1027.0 995.8 1058.2 219.7 2573.4 3.22 -3.73 3 113.71 51.66 13.45 3.88 0.005 0.313 0.153 2477.50 2452.62 2502.38 1821.44 4007.38 0 0 0 15.83 15.62 15.72

236.03 1028 -117.30 -1.95 0.00 2480.7 2455.7 2505.6 1821.4 4006.7 40.84 -19.56 42 241.65 0.00 0.00 3.70 0.000 0.000 0.095 2480.69 2455.56 2505.81 1821.62 2576.44 0 0 0 30.00 30.00 15.80

611.80 292 -117.30 -1.95 80.00 2479.8 2453.8 2505.8 1821.6 2576.4 65.86 -2.66 57 617.77 0.00 0.00 3.83 0.000 0.000 0.144 2480.75 2454.62 2506.88 1821.81 4008.00 0 0 0 30.00 30.00 15.86

846.95 1060 -117.30 -1.95 0.00 2478.2 2450.7 2505.8 1821.8 4008.0 73.41 -3.45 104 853.18 0.00 0.00 3.66 0.000 0.000 0.093 2476.59 2448.75 2504.44 1821.50 2574.38 0 0 0 30.00 30.00 15.94

1218.96 292 -117.30 -1.95 80.00 2478.3 2450.7 2505.9 1821.6 2574.8 86.75 -3.83 122 1225.22 0.00 0.00 3.80 0.000 0.000 0.143 2479.09 2451.31 2506.88 1821.94 4008.25 0 0 0 30.00 30.00 15.93

1454.04 1060 -117.30 -1.95 0.00 2478.2 2450.4 2506.1 1821.4 4008.8 94.86 -2.88 169 1460.28 0.00 0.00 3.64 0.000 0.000 0.091 2478.66 2450.75 2506.56 1821.62 2574.31 0 0 0 30.00 30.00 15.99

1839.06 292 -117.30 -1.95 80.00 2478.2 2450.3 2506.0 1821.4 2574.7 104.41 -2.41 186 1845.31 0.00 0.00 3.79 0.000 0.000 0.142 2477.75 2450.12 2505.38 1821.75 4007.31 0 0 0 30.00 30.00 15.98

2074.11 1060 -117.30 -1.95 0.00 2477.9 2450.2 2505.6 1822.1 4006.2 110.65 -2.66 233 2080.36 0.00 0.00 3.63 0.000 0.000 0.092 2478.72 2450.62 2506.81 1821.62 2573.75 0 0 0 30.00 30.00 16.03

2459.13 548 -117.30 -1.95 -80.00 2477.7 2449.5 2505.9 1821.6 2573.2 120.69 -2.76 250 2465.57 0.00 0.00 3.82 0.000 0.000 0.171 2477.88 2448.69 2507.06 1820.25 1191.38 0 0 0 30.00 30.00 16.00

2694.22 1060 -117.30 -1.95 0.00 2477.9 2449.3 2506.6 1821.8 1191.2 126.88 -2.35 297 2700.55 0.00 0.00 3.47 0.000 0.000 0.080 2475.69 2447.25 2504.12 1821.56 2615.31 0 0 0 30.00 30.00 16.07

3079.24 548 -117.30 -1.95 -80.00 2477.7 2449.4 2505.9 1821.3 2614.6 133.20 -1.69 315 3085.76 0.00 0.00 3.88 0.000 0.000 0.166 2478.53 2450.06 2507.00 1821.62 1190.62 0 0 0 30.00 30.00 16.02

3148.53 1060 -117.30 -1.95 0.00 2477.7 2449.3 2506.1 1821.4 1190.2 134.68 -1.77 329 3154.54 0.00 0.00 3.45 0.000 0.000 0.078 2478.56 2450.62 2506.50 1821.81 2615.88 0 0 0 30.00 30.00 16.08

3524.27 32 -117.30 -1.95 0.00 2477.6 2449.2 2506.0 1822.0 2615.6 140.36 -1.47 344 3525.83 0.00 0.00 0.00 0.000 0.000 0.000 2478.06 2449.88 2506.25 1822.00 2615.69 0 0 0 30.00 30.00 30.00

3914.28 292 -117.30 -1.95 80.00 2477.8 2449.8 2505.8 1821.8 2615.8 144.95 -1.26 357 3920.71 0.00 0.00 3.68 0.000 0.000 0.154 2480.09 2450.88 2509.31 1821.75 4008.12 0 0 0 30.00 30.00 16.07

4149.34 1060 -117.30 -1.95 0.00 2477.0 2448.3 2505.6 1821.6 4008.1 148.64 -1.53 404 4155.77 0.00 0.00 3.63 0.000 0.000 0.095 2475.78 2447.62 2503.94 1821.50 2572.94 0 0 0 30.00 30.00 16.11

4534.36 292 -117.30 -1.95 80.00 2477.2 2448.1 2506.2 1821.8 2572.6 151.66 -0.77 421 4540.83 0.00 0.00 3.80 0.000 0.000 0.148 2478.41 2451.12 2505.69 1820.50 4006.94 0 0 0 30.00 30.00 16.08

4594 end dive: NO_VERTICAL_VELOCITY

state 4594 begin apogee

4599.61 10243 0.00 -0.37 0.00 2477.2 2448.2 2506.1 1821.9 2693.9 152.16 0.00 433 4736.27 106.83 2.79 0.07 1.245 0.189 0.273 1995.69 1914.75 2076.62 2205.94 2728.62 0 0 0 12.02 16.06 15.59

4738 end apogee: CONTROL_FINISHED_OK

state 4738 begin climb

4738.76 10759 117.30 1.95 -80.00 1994.8 1913.8 2075.8 2206.6 2729.1 147.97 0.00 443 4856.80 100.07 3.83 4.30 1.154 0.119 0.167 1520.31 1411.12 1629.50 2772.00 1248.19 0 0 0 11.78 15.67 15.37

4984.99 1028 117.30 1.95 0.00 1513.8 1410.7 1616.9 2771.4 1248.4 92.21 27.01 491 4991.52 0.00 0.00 3.71 0.000 0.000 0.081 1514.34 1411.31 1617.38 2771.88 2729.38 0 0 0 30.00 30.00 15.64

5379.91 10535 216.66 2.35 80.00 1511.5 1411.3 1611.7 2771.9 2728.9 43.61 3.95 508 5530.98 138.26 0.59 3.56 1.019 0.090 0.151 1116.78 998.56 1235.00 2872.44 4006.06 0 0 0 11.90 15.81 15.37

5758.51 9254 234.34 2.42 0.00 1112.6 999.0 1226.1 2871.4 4006.9 15.11 8.24 583 5796.10 28.08 0.00 3.44 0.959 0.000 0.084 1045.03 930.25 1159.81 2871.94 2695.12 0 0 0 11.67 30.00 15.66

6104.24 10535 404.09 3.10 80.00 1042.1 930.1 1154.1 2871.2 2695.6 11.10 0.26 621 6320.32 200.32 1.12 3.67 0.978 0.075 0.142 500.50 405.56 595.44 3053.94 4005.94 0 0 0 11.76 15.72 15.28

6512 end climb: SURFACE_DEPTH_REACHED

state 6512 begin surface coast

6588 end surface coast: CONTROL_FINISHED_OK

state 6588 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	42	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	13.595905	FG_AHR_10V	3.0554364	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	14.285096	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	130823,164401,7559.405,-14226.918,31,1.8,32,15.7	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	4.98	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130823,164401,7559.405,-14226.918,31,1.8,32,15.7	MHEAD_RNG_PITCHd_Wd	145.6,57498,-20.2,-9.167,-25.06,1949,0.138
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	1691956761,43.6,start	_10V_AH	14.94,0.000
FREEZE	0.61,-0.636,-1.352,2,22,0	FG_AHR_24Vo	14.465
FINISH	0.6,1.019946	FG_AHR_10Vo	3.092
SM_CCo	6627.41,0.22,0.114,0,499.1,408.1,590.1,368.17	MEM0	59796,1,0,0
SM_GC	3.62,0.22,19.34,3.75,0.114,0.132,0.088,499.1,408.1,590.1,218.6,2576.6,0,0,0,15.73,15.59,15.64	MEM1	65508,1,0,0
SURF	below D_CALL,3.617924/3.000000	MEM2	1023032,33,22556,116
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	19309,715
IRIDIUM_FIX	7559.12,-14226.97,130823,164047	CAP_FILE_SIZE	205109,0
TCM_TEMP	1.87	SDSIZE	3918848,3893824
SC_FREEKB	3865312	SDFILEDIR	354,43
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	7601.169434,-14155.940430,130823,161622,6,255,-12.73	SOUNDSPEED	1465.0
HUMID	48.14	MAGCAL	1.000000,-0.033031,-0.011955,-0.066634,1.041198,-0.086951,0.067965,0.007104,0.930332,-1086.5,-135.1,479.7,36,0.1632,0
TEMP	-0.25	IMPLIED_C_PITCH	2316,13.52,168,0.0,13.56
INTERNAL_PRESSURE	8.09248	GPS	130823,164401,7559.405,-14226.918,31,1.8,32,15.7
_24V_AH	14.86,16.878

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	655	1244	12134.53	nil	0	0	0.00
Pitch_motor	41	313	191.48	nil	0	0	0.00
Roll_motor	81	272	330.80	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	2388	5	182.67	SciCon	6592	6	632.47
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4239	0	20.27
Compass	1175	5	87.82
RAFOS	8	40	5.18
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	-1.95	0.00	499.6	413.6	585.5	219.8	2572.9	0.00	0.00	0	37.53	30.54	0.00	0.00	0.006	0.000	0.000	1026.88	995.88	1057.88	219.81	2573.94	0	0	0	15.84	30.00	30.00
37.79	18727	-117.30	-1.95	80.00	1027.0	995.8	1058.2	219.7	2573.4	3.22	-3.73	3	113.71	51.66	13.45	3.88	0.005	0.313	0.153	2477.50	2452.62	2502.38	1821.44	4007.38	0	0	0	15.83	15.62	15.72
236.03	1028	-117.30	-1.95	0.00	2480.7	2455.7	2505.6	1821.4	4006.7	40.84	-19.56	42	241.65	0.00	0.00	3.70	0.000	0.000	0.095	2480.69	2455.56	2505.81	1821.62	2576.44	0	0	0	30.00	30.00	15.80
611.80	292	-117.30	-1.95	80.00	2479.8	2453.8	2505.8	1821.6	2576.4	65.86	-2.66	57	617.77	0.00	0.00	3.83	0.000	0.000	0.144	2480.75	2454.62	2506.88	1821.81	4008.00	0	0	0	30.00	30.00	15.86
846.95	1060	-117.30	-1.95	0.00	2478.2	2450.7	2505.8	1821.8	4008.0	73.41	-3.45	104	853.18	0.00	0.00	3.66	0.000	0.000	0.093	2476.59	2448.75	2504.44	1821.50	2574.38	0	0	0	30.00	30.00	15.94
1218.96	292	-117.30	-1.95	80.00	2478.3	2450.7	2505.9	1821.6	2574.8	86.75	-3.83	122	1225.22	0.00	0.00	3.80	0.000	0.000	0.143	2479.09	2451.31	2506.88	1821.94	4008.25	0	0	0	30.00	30.00	15.93
1454.04	1060	-117.30	-1.95	0.00	2478.2	2450.4	2506.1	1821.4	4008.8	94.86	-2.88	169	1460.28	0.00	0.00	3.64	0.000	0.000	0.091	2478.66	2450.75	2506.56	1821.62	2574.31	0	0	0	30.00	30.00	15.99
1839.06	292	-117.30	-1.95	80.00	2478.2	2450.3	2506.0	1821.4	2574.7	104.41	-2.41	186	1845.31	0.00	0.00	3.79	0.000	0.000	0.142	2477.75	2450.12	2505.38	1821.75	4007.31	0	0	0	30.00	30.00	15.98
2074.11	1060	-117.30	-1.95	0.00	2477.9	2450.2	2505.6	1822.1	4006.2	110.65	-2.66	233	2080.36	0.00	0.00	3.63	0.000	0.000	0.092	2478.72	2450.62	2506.81	1821.62	2573.75	0	0	0	30.00	30.00	16.03
2459.13	548	-117.30	-1.95	-80.00	2477.7	2449.5	2505.9	1821.6	2573.2	120.69	-2.76	250	2465.57	0.00	0.00	3.82	0.000	0.000	0.171	2477.88	2448.69	2507.06	1820.25	1191.38	0	0	0	30.00	30.00	16.00
2694.22	1060	-117.30	-1.95	0.00	2477.9	2449.3	2506.6	1821.8	1191.2	126.88	-2.35	297	2700.55	0.00	0.00	3.47	0.000	0.000	0.080	2475.69	2447.25	2504.12	1821.56	2615.31	0	0	0	30.00	30.00	16.07
3079.24	548	-117.30	-1.95	-80.00	2477.7	2449.4	2505.9	1821.3	2614.6	133.20	-1.69	315	3085.76	0.00	0.00	3.88	0.000	0.000	0.166	2478.53	2450.06	2507.00	1821.62	1190.62	0	0	0	30.00	30.00	16.02
3148.53	1060	-117.30	-1.95	0.00	2477.7	2449.3	2506.1	1821.4	1190.2	134.68	-1.77	329	3154.54	0.00	0.00	3.45	0.000	0.000	0.078	2478.56	2450.62	2506.50	1821.81	2615.88	0	0	0	30.00	30.00	16.08
3524.27	32	-117.30	-1.95	0.00	2477.6	2449.2	2506.0	1822.0	2615.6	140.36	-1.47	344	3525.83	0.00	0.00	0.00	0.000	0.000	0.000	2478.06	2449.88	2506.25	1822.00	2615.69	0	0	0	30.00	30.00	30.00
3914.28	292	-117.30	-1.95	80.00	2477.8	2449.8	2505.8	1821.8	2615.8	144.95	-1.26	357	3920.71	0.00	0.00	3.68	0.000	0.000	0.154	2480.09	2450.88	2509.31	1821.75	4008.12	0	0	0	30.00	30.00	16.07
4149.34	1060	-117.30	-1.95	0.00	2477.0	2448.3	2505.6	1821.6	4008.1	148.64	-1.53	404	4155.77	0.00	0.00	3.63	0.000	0.000	0.095	2475.78	2447.62	2503.94	1821.50	2572.94	0	0	0	30.00	30.00	16.11
4534.36	292	-117.30	-1.95	80.00	2477.2	2448.1	2506.2	1821.8	2572.6	151.66	-0.77	421	4540.83	0.00	0.00	3.80	0.000	0.000	0.148	2478.41	2451.12	2505.69	1820.50	4006.94	0	0	0	30.00	30.00	16.08
4594	end dive: NO_VERTICAL_VELOCITY
state	4594	begin apogee
4599.61	10243	0.00	-0.37	0.00	2477.2	2448.2	2506.1	1821.9	2693.9	152.16	0.00	433	4736.27	106.83	2.79	0.07	1.245	0.189	0.273	1995.69	1914.75	2076.62	2205.94	2728.62	0	0	0	12.02	16.06	15.59
4738	end apogee: CONTROL_FINISHED_OK
state	4738	begin climb
4738.76	10759	117.30	1.95	-80.00	1994.8	1913.8	2075.8	2206.6	2729.1	147.97	0.00	443	4856.80	100.07	3.83	4.30	1.154	0.119	0.167	1520.31	1411.12	1629.50	2772.00	1248.19	0	0	0	11.78	15.67	15.37
4984.99	1028	117.30	1.95	0.00	1513.8	1410.7	1616.9	2771.4	1248.4	92.21	27.01	491	4991.52	0.00	0.00	3.71	0.000	0.000	0.081	1514.34	1411.31	1617.38	2771.88	2729.38	0	0	0	30.00	30.00	15.64
5379.91	10535	216.66	2.35	80.00	1511.5	1411.3	1611.7	2771.9	2728.9	43.61	3.95	508	5530.98	138.26	0.59	3.56	1.019	0.090	0.151	1116.78	998.56	1235.00	2872.44	4006.06	0	0	0	11.90	15.81	15.37
5758.51	9254	234.34	2.42	0.00	1112.6	999.0	1226.1	2871.4	4006.9	15.11	8.24	583	5796.10	28.08	0.00	3.44	0.959	0.000	0.084	1045.03	930.25	1159.81	2871.94	2695.12	0	0	0	11.67	30.00	15.66
6104.24	10535	404.09	3.10	80.00	1042.1	930.1	1154.1	2871.2	2695.6	11.10	0.26	621	6320.32	200.32	1.12	3.67	0.978	0.075	0.142	500.50	405.56	595.44	3053.94	4005.94	0	0	0	11.76	15.72	15.28
6512	end climb: SURFACE_DEPTH_REACHED
state	6512	begin surface coast
6588	end surface coast: CONTROL_FINISHED_OK
state	6588	begin surface