Glider dive log

AMOS Jul22 * SG240 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 240 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 5 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 5 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 180 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 60 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 75 T_RSLEEP 1 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_NO_W 60 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_LOITER 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE 96

T_EPIRB 0 PITCH_MIN 205 AH0_24V 575 NAV_DEVICE 6

USE_BATHY -1 PITCH_MAX 3600 AH0_10V 0 NAV2_DEVICE 6

USE_ICE 0 C_PITCH 1804.3455 MINV_24V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

D_OFFGRID 1000 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 16.901711 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 27.612089 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 10.208321 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 180 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 27.612089 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 10.208321 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN 16.901711 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_MAX 3600 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 205 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 60

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 1804.3455 KALMAN_USE 2 PRESSURE_SLOPE 0.00022403029 T_MISSION 75

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -156.41907 T_NO_W 60

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 1

C_ROLL_CLIMB 2150 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2150 LOGGERDEVICE4 -1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD 3364 LOGGERS 1 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 100 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

DBDW 0 LOITER_D_TOP 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOITER_N_DIVE 0 RHO 1.0275 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE1 -1 MASS 72877 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_10V 1.5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE3 -1 MAXI_24V 5 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 150 ROLL_MAX 3810 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 210 W_ADJ_DBAND 0

DIVE 5 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 130722,215122,4719.956,-12523.802,1,1.3,3,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.54 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130722,215449,4719.963,-12523.778,2,1.3,4,15.8 MHEAD_RNG_PITCHd_Wd 261.8,286,-27.2,-10.000,-30.00,972,0.177

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME HOLD IRON 1.000000,0.022673,0.026171,-0.026509,1.078526,-0.099294,-0.039549,-0.033355,0.973953,61.768238,-833.612061,-395.697815

TGT_LATLONG 4720.000,-12524.000

Post-dive calculations and measurements:

NAV 1657752611,3.8,0,stop FG_AHR_24Vo 10.378

FINISH 0.4,1.022687 FG_AHR_10Vo 27.656

SM_CCo 3562.17,185.07,0.932,0,541.2,562.8,519.7,692.42 MEM0 60108,1,0,0

SM_GC 1.63,185.07,13.20,0.10,0.932,0.062,0.147,541.2,562.8,519.7,190.1,2113.9,0,0,0,11.63,15.83,15.83 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 966780,20,80208,59

IRIDIUM_FIX 4720.59,-12521.92,130722,205127 DATA_FILE_SIZE 16100,526

TCM_TEMP 19.72 CAP_FILE_SIZE 362840,0

SC_FREEKB 3877184 SDSIZE 3887104,3869696

RAFOS_CLK 0 SDFILEDIR 101,1

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 50.85 SOUNDSPEED 1465.0

TEMP 11.93 CURRENT 0.075, 91.1,1

INTERNAL_PRESSURE 8.06593 MAGCAL 1.000000,0.013579,0.020038,-0.015785,1.062269,-0.117509,-0.023073,-0.009225,0.962436,65.2,-826.6,-389.6,35,0.0313,1

_24V_AH 14.94,11.689 IMPLIED_C_PITCH 1805,16.82,219,1804.6,16.86

_10V_AH 14.94,0.000 GPS 130722,225531,4719.966,-12524.055,28,0.8,29,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 697 1127 11750.46 nil 0 0 0.00

Pitch_motor 30 237 106.61 nil 0 0 0.00

Roll_motor 70 187 197.03 nil 0 0 0.00

Iridium 139 214 448.24 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.06 nil 0 0 0.00

Core 2216 5 169.57 SciCon 3350 6 325.17

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1333 0 6.37

Compass 1044 5 78.01

RAFOS 3068 40 1833.66

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

6.65 16386 -63.62 -1.69 0.00 495.4 518.2 472.7 186.1 2174.4 0.00 0.00 0 91.88 81.28 0.00 0.00 0.005 0.000 0.000 2738.09 2766.19 2710.00 186.50 2174.94 0 0 0 15.91 30.00 30.00

92.18 18727 -137.68 -1.78 80.00 2737.6 2766.0 2709.2 186.2 2174.6 3.27 -2.17 16 141.91 27.59 8.78 3.51 0.006 0.237 0.119 3925.69 3973.31 3878.06 1371.75 3619.50 0 0 0 15.96 15.79 15.87

160.38 3205 -137.68 -1.62 0.00 3927.2 3974.1 3880.2 1371.8 3619.1 20.19 -33.18 29 172.54 0.00 0.28 3.45 0.000 0.188 0.057 3927.75 3975.25 3880.25 1412.75 2120.44 0 0 0 30.00 15.84 15.92

358.15 644 -137.68 -1.65 -80.00 3928.7 3976.8 3880.6 1412.8 2120.5 61.49 -18.21 59 364.08 0.00 0.00 3.50 0.000 0.000 0.116 3929.31 3977.62 3881.00 1413.25 681.31 0 0 0 30.00 30.00 15.92

438.17 1156 -137.68 -1.57 0.00 3928.5 3977.4 3879.6 1413.7 681.2 77.48 -19.78 75 444.19 0.00 0.00 3.38 0.000 0.000 0.056 3929.94 3978.06 3881.81 1413.06 2172.69 0 0 0 30.00 30.00 15.96

628.20 644 -137.68 -1.63 -80.00 3929.1 3978.3 3879.9 1413.0 2173.0 109.90 -15.50 95 635.29 0.00 0.00 3.62 0.000 0.000 0.114 3928.81 3978.50 3879.12 1412.88 680.56 0 0 0 30.00 30.00 15.96

796.67 1156 -137.68 -1.56 0.00 3930.4 3979.3 3881.5 1412.4 679.9 138.66 -18.10 128 802.54 0.00 0.00 3.38 0.000 0.000 0.056 3929.91 3979.75 3880.06 1413.12 2173.38 0 0 0 30.00 30.00 16.01

986.69 644 -137.68 -1.61 -80.00 3931.0 3979.8 3882.2 1412.6 2173.5 167.09 -14.55 148 993.78 0.00 0.00 3.62 0.000 0.000 0.115 3931.91 3980.94 3882.88 1413.06 680.62 0 0 0 30.00 30.00 15.99

1062 end dive: TARGET_DEPTH_EXCEEDED

state 1062 begin apogee

1068.23 10243 0.00 -0.30 0.00 3931.4 3980.3 3882.4 1413.1 2175.7 180.37 -18.03 163 1177.46 97.12 2.17 0.10 1.127 0.167 0.187 3365.31 3426.25 3304.38 1731.81 2107.94 0 0 0 11.66 15.96 15.68

1179 end apogee: CONTROL_FINISHED_OK

state 1179 begin climb

1178.63 10503 137.68 1.78 80.00 3361.1 3422.5 3299.8 1733.0 2107.4 186.37 0.00 174 1296.46 98.60 3.35 3.77 1.103 0.103 0.121 2801.22 2858.12 2744.31 2236.38 3615.69 0 0 0 11.66 15.70 15.50

1314.22 5253 137.68 1.54 0.00 2800.5 2856.9 2744.1 2236.7 3616.4 170.31 20.07 199 1322.05 0.00 0.56 3.53 0.000 0.193 0.058 2799.72 2856.12 2743.31 2169.06 2119.31 0 0 0 30.00 15.53 15.60

1509.88 0 137.68 1.54 0.00 2796.1 2855.7 2736.6 2168.9 2119.5 136.76 15.43 219 1511.45 0.00 0.00 0.00 0.000 0.000 0.000 2794.25 2854.19 2734.31 2168.50 2119.56 0 0 0 30.00 30.00 30.00

1699.99 644 137.68 1.58 -80.00 2795.0 2855.3 2734.8 2169.2 2119.8 112.81 10.77 238 1705.98 0.00 0.00 3.53 0.000 0.000 0.123 2794.00 2855.00 2733.00 2168.94 682.94 0 0 0 30.00 30.00 15.85

1820.03 17542 137.68 1.49 0.00 2790.4 2848.8 2732.1 2168.0 683.1 96.74 12.72 262 1826.05 0.00 0.00 3.39 0.000 0.000 0.058 2789.53 2847.75 2731.31 2169.12 2172.50 0 0 0 30.00 30.00 15.92

2010.08 10919 159.29 1.61 -80.00 2791.1 2848.6 2733.7 2168.9 2172.2 79.65 7.71 282 2037.16 16.78 0.19 3.65 0.952 0.088 0.119 2714.28 2775.38 2653.19 2204.50 681.81 0 0 0 11.69 15.94 15.86

2094.97 13479 185.56 1.53 0.00 2708.4 2768.8 2648.1 2205.5 681.8 73.74 7.22 299 2123.70 21.24 0.31 3.39 0.960 0.197 0.056 2605.69 2671.12 2540.25 2167.12 2174.44 0 0 0 11.71 15.85 15.92

2310.70 10919 220.42 1.72 -80.00 2601.9 2669.9 2533.9 2166.6 2173.9 60.37 6.31 323 2348.42 27.00 0.38 3.67 0.971 0.067 0.120 2463.25 2534.31 2392.19 2232.62 683.06 0 0 0 11.70 15.91 15.81

2431.92 5253 220.42 1.66 0.00 2457.7 2530.0 2385.4 2231.2 682.9 46.93 13.21 347 2438.80 0.00 0.29 3.40 0.000 0.201 0.059 2458.66 2531.00 2386.31 2198.75 2171.44 0 0 0 30.00 15.82 15.88

2620.71 10663 254.07 1.85 80.00 2456.8 2530.5 2383.0 2198.5 2171.1 32.40 6.44 384 2658.06 25.67 0.38 3.53 0.945 0.068 0.126 2326.56 2406.12 2247.00 2264.12 3617.31 0 0 0 11.63 15.94 15.81

2741.58 9382 264.78 1.82 0.00 2324.3 2403.8 2244.9 2263.9 3616.5 21.68 8.87 408 2758.83 9.85 0.00 3.46 0.814 0.000 0.058 2282.19 2364.00 2200.38 2264.31 2121.19 0 0 0 11.59 30.00 15.91

2942.32 10919 347.10 2.04 -80.00 2278.6 2363.2 2193.9 2264.1 2121.2 16.48 1.30 448 3012.19 58.30 0.19 3.56 0.959 0.084 0.125 1946.12 2041.56 1850.69 2311.50 683.12 0 0 0 11.60 15.93 15.73

3170.64 9254 417.36 2.12 0.00 1939.0 2033.4 1844.6 2311.5 683.1 10.11 2.57 492 3228.66 49.31 0.00 3.40 0.936 0.000 0.056 1662.44 1756.38 1568.50 2311.62 2175.50 0 0 0 11.97 30.00 15.84

3313 end climb: SURFACE_DEPTH_REACHED

state 3313 begin surface coast

3343 end surface coast: CONTROL_FINISHED_OK

state 3343 begin surface

ID	240	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	5	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	5	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	180	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	60	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	75	T_RSLEEP	1	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_NO_W	60	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_LOITER	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	96
T_EPIRB	0	PITCH_MIN	205	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	-1	PITCH_MAX	3600	AH0_10V	0	NAV2_DEVICE	6
USE_ICE	0	C_PITCH	1804.3455	MINV_24V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
D_OFFGRID	1000	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	16.901711	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	27.612089	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	10.208321	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	130722,215122,4719.956,-12523.802,1,1.3,3,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.54	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130722,215449,4719.963,-12523.778,2,1.3,4,15.8	MHEAD_RNG_PITCHd_Wd	261.8,286,-27.2,-10.000,-30.00,972,0.177
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	HOLD	IRON	1.000000,0.022673,0.026171,-0.026509,1.078526,-0.099294,-0.039549,-0.033355,0.973953,61.768238,-833.612061,-395.697815
TGT_LATLONG	4720.000,-12524.000

NAV	1657752611,3.8,0,stop	FG_AHR_24Vo	10.378
FINISH	0.4,1.022687	FG_AHR_10Vo	27.656
SM_CCo	3562.17,185.07,0.932,0,541.2,562.8,519.7,692.42	MEM0	60108,1,0,0
SM_GC	1.63,185.07,13.20,0.10,0.932,0.062,0.147,541.2,562.8,519.7,190.1,2113.9,0,0,0,11.63,15.83,15.83	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	966780,20,80208,59
IRIDIUM_FIX	4720.59,-12521.92,130722,205127	DATA_FILE_SIZE	16100,526
TCM_TEMP	19.72	CAP_FILE_SIZE	362840,0
SC_FREEKB	3877184	SDSIZE	3887104,3869696
RAFOS_CLK	0	SDFILEDIR	101,1
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	50.85	SOUNDSPEED	1465.0
TEMP	11.93	CURRENT	0.075, 91.1,1
INTERNAL_PRESSURE	8.06593	MAGCAL	1.000000,0.013579,0.020038,-0.015785,1.062269,-0.117509,-0.023073,-0.009225,0.962436,65.2,-826.6,-389.6,35,0.0313,1
_24V_AH	14.94,11.689	IMPLIED_C_PITCH	1805,16.82,219,1804.6,16.86
_10V_AH	14.94,0.000	GPS	130722,225531,4719.966,-12524.055,28,0.8,29,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	697	1127	11750.46	nil	0	0	0.00
Pitch_motor	30	237	106.61	nil	0	0	0.00
Roll_motor	70	187	197.03	nil	0	0	0.00
Iridium	139	214	448.24	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.06	nil	0	0	0.00
Core	2216	5	169.57	SciCon	3350	6	325.17
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1333	0	6.37
Compass	1044	5	78.01
RAFOS	3068	40	1833.66
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
6.65	16386	-63.62	-1.69	0.00	495.4	518.2	472.7	186.1	2174.4	0.00	0.00	0	91.88	81.28	0.00	0.00	0.005	0.000	0.000	2738.09	2766.19	2710.00	186.50	2174.94	0	0	0	15.91	30.00	30.00
92.18	18727	-137.68	-1.78	80.00	2737.6	2766.0	2709.2	186.2	2174.6	3.27	-2.17	16	141.91	27.59	8.78	3.51	0.006	0.237	0.119	3925.69	3973.31	3878.06	1371.75	3619.50	0	0	0	15.96	15.79	15.87
160.38	3205	-137.68	-1.62	0.00	3927.2	3974.1	3880.2	1371.8	3619.1	20.19	-33.18	29	172.54	0.00	0.28	3.45	0.000	0.188	0.057	3927.75	3975.25	3880.25	1412.75	2120.44	0	0	0	30.00	15.84	15.92
358.15	644	-137.68	-1.65	-80.00	3928.7	3976.8	3880.6	1412.8	2120.5	61.49	-18.21	59	364.08	0.00	0.00	3.50	0.000	0.000	0.116	3929.31	3977.62	3881.00	1413.25	681.31	0	0	0	30.00	30.00	15.92
438.17	1156	-137.68	-1.57	0.00	3928.5	3977.4	3879.6	1413.7	681.2	77.48	-19.78	75	444.19	0.00	0.00	3.38	0.000	0.000	0.056	3929.94	3978.06	3881.81	1413.06	2172.69	0	0	0	30.00	30.00	15.96
628.20	644	-137.68	-1.63	-80.00	3929.1	3978.3	3879.9	1413.0	2173.0	109.90	-15.50	95	635.29	0.00	0.00	3.62	0.000	0.000	0.114	3928.81	3978.50	3879.12	1412.88	680.56	0	0	0	30.00	30.00	15.96
796.67	1156	-137.68	-1.56	0.00	3930.4	3979.3	3881.5	1412.4	679.9	138.66	-18.10	128	802.54	0.00	0.00	3.38	0.000	0.000	0.056	3929.91	3979.75	3880.06	1413.12	2173.38	0	0	0	30.00	30.00	16.01
986.69	644	-137.68	-1.61	-80.00	3931.0	3979.8	3882.2	1412.6	2173.5	167.09	-14.55	148	993.78	0.00	0.00	3.62	0.000	0.000	0.115	3931.91	3980.94	3882.88	1413.06	680.62	0	0	0	30.00	30.00	15.99
1062	end dive: TARGET_DEPTH_EXCEEDED
state	1062	begin apogee
1068.23	10243	0.00	-0.30	0.00	3931.4	3980.3	3882.4	1413.1	2175.7	180.37	-18.03	163	1177.46	97.12	2.17	0.10	1.127	0.167	0.187	3365.31	3426.25	3304.38	1731.81	2107.94	0	0	0	11.66	15.96	15.68
1179	end apogee: CONTROL_FINISHED_OK
state	1179	begin climb
1178.63	10503	137.68	1.78	80.00	3361.1	3422.5	3299.8	1733.0	2107.4	186.37	0.00	174	1296.46	98.60	3.35	3.77	1.103	0.103	0.121	2801.22	2858.12	2744.31	2236.38	3615.69	0	0	0	11.66	15.70	15.50
1314.22	5253	137.68	1.54	0.00	2800.5	2856.9	2744.1	2236.7	3616.4	170.31	20.07	199	1322.05	0.00	0.56	3.53	0.000	0.193	0.058	2799.72	2856.12	2743.31	2169.06	2119.31	0	0	0	30.00	15.53	15.60
1509.88	0	137.68	1.54	0.00	2796.1	2855.7	2736.6	2168.9	2119.5	136.76	15.43	219	1511.45	0.00	0.00	0.00	0.000	0.000	0.000	2794.25	2854.19	2734.31	2168.50	2119.56	0	0	0	30.00	30.00	30.00
1699.99	644	137.68	1.58	-80.00	2795.0	2855.3	2734.8	2169.2	2119.8	112.81	10.77	238	1705.98	0.00	0.00	3.53	0.000	0.000	0.123	2794.00	2855.00	2733.00	2168.94	682.94	0	0	0	30.00	30.00	15.85
1820.03	17542	137.68	1.49	0.00	2790.4	2848.8	2732.1	2168.0	683.1	96.74	12.72	262	1826.05	0.00	0.00	3.39	0.000	0.000	0.058	2789.53	2847.75	2731.31	2169.12	2172.50	0	0	0	30.00	30.00	15.92
2010.08	10919	159.29	1.61	-80.00	2791.1	2848.6	2733.7	2168.9	2172.2	79.65	7.71	282	2037.16	16.78	0.19	3.65	0.952	0.088	0.119	2714.28	2775.38	2653.19	2204.50	681.81	0	0	0	11.69	15.94	15.86
2094.97	13479	185.56	1.53	0.00	2708.4	2768.8	2648.1	2205.5	681.8	73.74	7.22	299	2123.70	21.24	0.31	3.39	0.960	0.197	0.056	2605.69	2671.12	2540.25	2167.12	2174.44	0	0	0	11.71	15.85	15.92
2310.70	10919	220.42	1.72	-80.00	2601.9	2669.9	2533.9	2166.6	2173.9	60.37	6.31	323	2348.42	27.00	0.38	3.67	0.971	0.067	0.120	2463.25	2534.31	2392.19	2232.62	683.06	0	0	0	11.70	15.91	15.81
2431.92	5253	220.42	1.66	0.00	2457.7	2530.0	2385.4	2231.2	682.9	46.93	13.21	347	2438.80	0.00	0.29	3.40	0.000	0.201	0.059	2458.66	2531.00	2386.31	2198.75	2171.44	0	0	0	30.00	15.82	15.88
2620.71	10663	254.07	1.85	80.00	2456.8	2530.5	2383.0	2198.5	2171.1	32.40	6.44	384	2658.06	25.67	0.38	3.53	0.945	0.068	0.126	2326.56	2406.12	2247.00	2264.12	3617.31	0	0	0	11.63	15.94	15.81
2741.58	9382	264.78	1.82	0.00	2324.3	2403.8	2244.9	2263.9	3616.5	21.68	8.87	408	2758.83	9.85	0.00	3.46	0.814	0.000	0.058	2282.19	2364.00	2200.38	2264.31	2121.19	0	0	0	11.59	30.00	15.91
2942.32	10919	347.10	2.04	-80.00	2278.6	2363.2	2193.9	2264.1	2121.2	16.48	1.30	448	3012.19	58.30	0.19	3.56	0.959	0.084	0.125	1946.12	2041.56	1850.69	2311.50	683.12	0	0	0	11.60	15.93	15.73
3170.64	9254	417.36	2.12	0.00	1939.0	2033.4	1844.6	2311.5	683.1	10.11	2.57	492	3228.66	49.31	0.00	3.40	0.936	0.000	0.056	1662.44	1756.38	1568.50	2311.62	2175.50	0	0	0	11.97	30.00	15.84
3313	end climb: SURFACE_DEPTH_REACHED
state	3313	begin surface coast
3343	end surface coast: CONTROL_FINISHED_OK
state	3343	begin surface