Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 51 * 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 51 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 13.558215 FG_AHR_10V 3.4076562 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 15.895984 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 3.4076562 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 15.895984 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 13.558215 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 51 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 140823,101205,7603.170,-14206.333,0,10255.0,0,15.7 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 3.89 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140823,101205,7603.170,-14206.333,0,10255.0,0,15.7 MHEAD_RNG_PITCHd_Wd 156.0,62072,-20.2,-9.167,-25.06,1949,0.128

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 1692014370,148.3,start _10V_AH 14.98,0.000

FREEZE 1.73,-0.898,-1.343,2,31,0 FG_AHR_24Vo 16.074

FINISH 1.7,1.019816 FG_AHR_10Vo 3.454

SM_CCo 6418.83,0.17,0.132,0,499.5,411.3,587.6,368.08 MEM0 59796,1,0,0

SM_GC 5.24,0.17,20.45,0.28,0.132,0.131,0.134,499.5,411.3,587.6,221.1,2575.0,0,0,0,15.77,15.62,15.69 MEM1 65508,1,0,0

SURF below D_CALL,5.238805/3.000000 MEM2 1023052,32,22556,116

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 19321,666

IRIDIUM_FIX 7559.12,-14226.97,130823,164047 CAP_FILE_SIZE 194003,0

TCM_TEMP 1.70 SDSIZE 3918848,3891264

SC_FREEKB 3862432 SDFILEDIR 417,52

RAFOS_CLK -1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 7603.169922,-14206.333008,140823,101005,9,255,0.03 SOUNDSPEED 1465.0

HUMID 48.09 MAGCAL 1.000000,-0.069888,-0.041421,-0.069765,1.045969,-0.004415,0.068704,0.013590,0.929227,-1059.3,-222.0,460.9,36,0.1079,0

TEMP -0.25 IMPLIED_C_PITCH 2311,13.58,166,0.0,13.57

INTERNAL_PRESSURE 8.09289 GPS 140823,101205,7603.170,-14206.333,0,10255.0,0,15.7

_24V_AH 14.92,18.766

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 650 1247 12107.28 nil 0 0 0.00

Pitch_motor 43 312 201.80 nil 0 0 0.00

Roll_motor 67 266 266.45 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 2278 5 174.75 SciCon 6387 6 614.54

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4144 0 19.87

Compass 1099 5 82.36

RAFOS 10 40 6.13

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 0.00 500.1 413.1 587.0 220.9 2610.2 0.00 0.00 0 16.90 10.11 0.00 0.00 0.007 0.000 0.000 699.50 639.38 759.62 220.94 2610.31 0 0 0 15.88 30.00 30.00

17.15 18727 -117.30 -1.96 80.00 699.8 639.7 759.9 221.4 2610.1 3.30 0.00 1 114.40 72.68 13.52 3.84 0.005 0.312 0.154 2479.75 2455.75 2503.75 1818.75 4006.50 0 0 0 15.85 15.65 15.75

296.75 1028 -117.30 -1.96 0.00 2480.6 2456.0 2505.2 1820.1 4007.4 49.50 -15.63 55 302.36 0.00 0.00 3.72 0.000 0.000 0.097 2483.09 2458.81 2507.38 1820.00 2576.44 0 0 0 30.00 30.00 15.84

672.52 292 -117.30 -1.96 80.00 2479.9 2454.4 2505.5 1820.8 2576.3 66.57 -2.83 70 678.88 0.00 0.00 3.87 0.000 0.000 0.144 2479.94 2453.75 2506.12 1819.44 4007.31 0 0 0 30.00 30.00 15.88

907.66 1060 -117.30 -1.96 0.00 2478.4 2451.2 2505.6 1820.1 4007.9 75.04 -3.84 117 914.02 0.00 0.00 3.66 0.000 0.000 0.093 2477.91 2450.62 2505.19 1820.38 2574.88 0 0 0 30.00 30.00 15.95

1292.67 292 -117.30 -1.96 80.00 2478.2 2450.9 2505.4 1820.5 2574.3 88.74 -3.28 134 1299.00 0.00 0.00 3.83 0.000 0.000 0.143 2476.44 2448.88 2504.00 1820.38 4008.88 0 0 0 30.00 30.00 15.96

1336.96 1060 -117.30 -1.96 0.00 2478.0 2450.2 2505.7 1820.1 4008.2 90.20 -3.10 143 1342.87 0.00 0.00 3.62 0.000 0.000 0.091 2477.78 2448.69 2506.88 1819.38 2573.44 0 0 0 30.00 30.00 15.98

1728.69 292 -117.30 -1.96 80.00 2478.0 2450.4 2505.7 1820.5 2573.1 102.06 -3.09 159 1735.00 0.00 0.00 3.82 0.000 0.000 0.143 2478.66 2450.94 2506.38 1820.75 4008.62 0 0 0 30.00 30.00 15.98

1963.76 1060 -117.30 -1.96 0.00 2477.7 2449.9 2505.6 1820.8 4008.2 109.10 -2.90 206 1970.00 0.00 0.00 3.61 0.000 0.000 0.093 2476.03 2447.62 2504.44 1820.75 2574.75 0 0 0 30.00 30.00 16.02

2348.78 292 -117.30 -1.96 80.00 2477.7 2449.8 2505.5 1820.2 2574.4 118.70 -2.42 223 2355.03 0.00 0.00 3.80 0.000 0.000 0.142 2479.12 2451.38 2506.88 1819.94 4007.50 0 0 0 30.00 30.00 16.01

2583.96 1060 -117.30 -1.96 0.00 2477.4 2449.8 2505.1 1820.8 4007.1 124.58 -2.40 270 2590.30 0.00 0.00 3.63 0.000 0.000 0.093 2477.12 2449.31 2504.94 1820.56 2574.62 0 0 0 30.00 30.00 16.06

2968.89 292 -117.30 -1.96 80.00 2477.7 2449.9 2505.5 1820.6 2574.6 130.96 -1.69 287 2975.42 0.00 0.00 3.82 0.000 0.000 0.142 2477.06 2448.94 2505.19 1820.25 4009.44 0 0 0 30.00 30.00 16.04

3203.93 1060 -117.30 -1.96 0.00 2477.3 2449.4 2505.2 1820.6 4009.0 136.20 -2.40 334 3210.47 0.00 0.00 3.62 0.000 0.000 0.092 2475.75 2447.31 2504.19 1820.81 2574.44 0 0 0 30.00 30.00 16.08

3588.95 292 -117.30 -1.96 80.00 2477.5 2449.3 2505.7 1820.6 2574.4 142.65 -1.47 352 3595.45 0.00 0.00 3.81 0.000 0.000 0.143 2478.72 2451.25 2506.19 1820.06 4008.81 0 0 0 30.00 30.00 16.05

3823.96 1060 -117.30 -1.96 0.00 2477.1 2449.2 2505.0 1819.9 4009.2 145.59 -1.21 399 3830.39 0.00 0.00 3.62 0.000 0.000 0.093 2475.72 2447.56 2503.88 1820.81 2574.19 0 0 0 30.00 30.00 16.09

4208.97 32 -117.30 -1.96 0.00 2477.5 2449.2 2505.8 1820.1 2574.2 149.42 -1.01 416 4210.52 0.00 0.00 0.00 0.000 0.000 0.000 2476.72 2449.56 2503.88 1820.62 2574.38 0 0 0 30.00 30.00 30.00

4478 end dive: NO_VERTICAL_VELOCITY

state 4478 begin apogee

4480.52 10243 0.00 -0.37 0.00 2477.5 2449.3 2505.6 1820.6 2728.2 151.59 0.00 425 4595.14 105.89 2.84 0.07 1.247 0.194 0.266 1996.91 1917.00 2076.81 2206.25 2697.00 0 0 0 12.05 16.00 15.56

4596 end apogee: CONTROL_FINISHED_OK

state 4596 begin climb

4597.62 10243 117.30 1.96 0.00 1996.0 1916.2 2075.8 2206.1 2697.1 149.62 0.00 428 4707.04 99.56 3.94 0.00 1.155 0.128 0.000 1522.16 1410.81 1633.50 2770.81 2697.88 0 0 0 11.87 15.59 30.00

5085.19 16646 117.30 1.96 80.00 1511.4 1408.2 1614.6 2771.5 2697.6 51.94 17.07 455 5091.59 0.00 0.00 3.58 0.000 0.000 0.149 1511.75 1409.25 1614.25 2771.50 4008.88 0 0 0 30.00 30.00 15.68

5318.19 11303 275.73 2.59 0.00 1511.1 1412.1 1610.2 2771.8 4007.8 44.45 0.85 501 5557.58 225.41 0.97 3.39 1.004 0.082 0.085 876.66 755.69 997.62 2931.19 2694.62 0 0 0 11.78 15.77 15.78

5860.82 10535 409.22 3.13 80.00 871.9 756.8 987.1 2930.6 2693.9 9.62 2.16 577 6009.09 136.85 0.79 3.68 0.967 0.076 0.141 500.59 409.50 591.69 3058.44 4007.62 0 0 0 11.79 15.67 15.31

6237.39 11303 547.80 3.68 0.00 497.7 409.2 586.1 3058.4 4008.0 3.46 1.89 651 6245.25 0.00 0.83 3.43 0.000 0.081 0.084 498.00 409.31 586.69 3192.44 2694.94 0 0 0 30.00 15.62 15.63

6292 end climb: SURFACE_DEPTH_REACHED

state 6292 begin surface coast

6382 end surface coast: CONTROL_FINISHED_OK

state 6382 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	51	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	13.558215	FG_AHR_10V	3.4076562	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	15.895984	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	140823,101205,7603.170,-14206.333,0,10255.0,0,15.7	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	3.89	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140823,101205,7603.170,-14206.333,0,10255.0,0,15.7	MHEAD_RNG_PITCHd_Wd	156.0,62072,-20.2,-9.167,-25.06,1949,0.128
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	1692014370,148.3,start	_10V_AH	14.98,0.000
FREEZE	1.73,-0.898,-1.343,2,31,0	FG_AHR_24Vo	16.074
FINISH	1.7,1.019816	FG_AHR_10Vo	3.454
SM_CCo	6418.83,0.17,0.132,0,499.5,411.3,587.6,368.08	MEM0	59796,1,0,0
SM_GC	5.24,0.17,20.45,0.28,0.132,0.131,0.134,499.5,411.3,587.6,221.1,2575.0,0,0,0,15.77,15.62,15.69	MEM1	65508,1,0,0
SURF	below D_CALL,5.238805/3.000000	MEM2	1023052,32,22556,116
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	19321,666
IRIDIUM_FIX	7559.12,-14226.97,130823,164047	CAP_FILE_SIZE	194003,0
TCM_TEMP	1.70	SDSIZE	3918848,3891264
SC_FREEKB	3862432	SDFILEDIR	417,52
RAFOS_CLK	-1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	7603.169922,-14206.333008,140823,101005,9,255,0.03	SOUNDSPEED	1465.0
HUMID	48.09	MAGCAL	1.000000,-0.069888,-0.041421,-0.069765,1.045969,-0.004415,0.068704,0.013590,0.929227,-1059.3,-222.0,460.9,36,0.1079,0
TEMP	-0.25	IMPLIED_C_PITCH	2311,13.58,166,0.0,13.57
INTERNAL_PRESSURE	8.09289	GPS	140823,101205,7603.170,-14206.333,0,10255.0,0,15.7
_24V_AH	14.92,18.766

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	650	1247	12107.28	nil	0	0	0.00
Pitch_motor	43	312	201.80	nil	0	0	0.00
Roll_motor	67	266	266.45	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	2278	5	174.75	SciCon	6387	6	614.54
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4144	0	19.87
Compass	1099	5	82.36
RAFOS	10	40	6.13
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	500.1	413.1	587.0	220.9	2610.2	0.00	0.00	0	16.90	10.11	0.00	0.00	0.007	0.000	0.000	699.50	639.38	759.62	220.94	2610.31	0	0	0	15.88	30.00	30.00
17.15	18727	-117.30	-1.96	80.00	699.8	639.7	759.9	221.4	2610.1	3.30	0.00	1	114.40	72.68	13.52	3.84	0.005	0.312	0.154	2479.75	2455.75	2503.75	1818.75	4006.50	0	0	0	15.85	15.65	15.75
296.75	1028	-117.30	-1.96	0.00	2480.6	2456.0	2505.2	1820.1	4007.4	49.50	-15.63	55	302.36	0.00	0.00	3.72	0.000	0.000	0.097	2483.09	2458.81	2507.38	1820.00	2576.44	0	0	0	30.00	30.00	15.84
672.52	292	-117.30	-1.96	80.00	2479.9	2454.4	2505.5	1820.8	2576.3	66.57	-2.83	70	678.88	0.00	0.00	3.87	0.000	0.000	0.144	2479.94	2453.75	2506.12	1819.44	4007.31	0	0	0	30.00	30.00	15.88
907.66	1060	-117.30	-1.96	0.00	2478.4	2451.2	2505.6	1820.1	4007.9	75.04	-3.84	117	914.02	0.00	0.00	3.66	0.000	0.000	0.093	2477.91	2450.62	2505.19	1820.38	2574.88	0	0	0	30.00	30.00	15.95
1292.67	292	-117.30	-1.96	80.00	2478.2	2450.9	2505.4	1820.5	2574.3	88.74	-3.28	134	1299.00	0.00	0.00	3.83	0.000	0.000	0.143	2476.44	2448.88	2504.00	1820.38	4008.88	0	0	0	30.00	30.00	15.96
1336.96	1060	-117.30	-1.96	0.00	2478.0	2450.2	2505.7	1820.1	4008.2	90.20	-3.10	143	1342.87	0.00	0.00	3.62	0.000	0.000	0.091	2477.78	2448.69	2506.88	1819.38	2573.44	0	0	0	30.00	30.00	15.98
1728.69	292	-117.30	-1.96	80.00	2478.0	2450.4	2505.7	1820.5	2573.1	102.06	-3.09	159	1735.00	0.00	0.00	3.82	0.000	0.000	0.143	2478.66	2450.94	2506.38	1820.75	4008.62	0	0	0	30.00	30.00	15.98
1963.76	1060	-117.30	-1.96	0.00	2477.7	2449.9	2505.6	1820.8	4008.2	109.10	-2.90	206	1970.00	0.00	0.00	3.61	0.000	0.000	0.093	2476.03	2447.62	2504.44	1820.75	2574.75	0	0	0	30.00	30.00	16.02
2348.78	292	-117.30	-1.96	80.00	2477.7	2449.8	2505.5	1820.2	2574.4	118.70	-2.42	223	2355.03	0.00	0.00	3.80	0.000	0.000	0.142	2479.12	2451.38	2506.88	1819.94	4007.50	0	0	0	30.00	30.00	16.01
2583.96	1060	-117.30	-1.96	0.00	2477.4	2449.8	2505.1	1820.8	4007.1	124.58	-2.40	270	2590.30	0.00	0.00	3.63	0.000	0.000	0.093	2477.12	2449.31	2504.94	1820.56	2574.62	0	0	0	30.00	30.00	16.06
2968.89	292	-117.30	-1.96	80.00	2477.7	2449.9	2505.5	1820.6	2574.6	130.96	-1.69	287	2975.42	0.00	0.00	3.82	0.000	0.000	0.142	2477.06	2448.94	2505.19	1820.25	4009.44	0	0	0	30.00	30.00	16.04
3203.93	1060	-117.30	-1.96	0.00	2477.3	2449.4	2505.2	1820.6	4009.0	136.20	-2.40	334	3210.47	0.00	0.00	3.62	0.000	0.000	0.092	2475.75	2447.31	2504.19	1820.81	2574.44	0	0	0	30.00	30.00	16.08
3588.95	292	-117.30	-1.96	80.00	2477.5	2449.3	2505.7	1820.6	2574.4	142.65	-1.47	352	3595.45	0.00	0.00	3.81	0.000	0.000	0.143	2478.72	2451.25	2506.19	1820.06	4008.81	0	0	0	30.00	30.00	16.05
3823.96	1060	-117.30	-1.96	0.00	2477.1	2449.2	2505.0	1819.9	4009.2	145.59	-1.21	399	3830.39	0.00	0.00	3.62	0.000	0.000	0.093	2475.72	2447.56	2503.88	1820.81	2574.19	0	0	0	30.00	30.00	16.09
4208.97	32	-117.30	-1.96	0.00	2477.5	2449.2	2505.8	1820.1	2574.2	149.42	-1.01	416	4210.52	0.00	0.00	0.00	0.000	0.000	0.000	2476.72	2449.56	2503.88	1820.62	2574.38	0	0	0	30.00	30.00	30.00
4478	end dive: NO_VERTICAL_VELOCITY
state	4478	begin apogee
4480.52	10243	0.00	-0.37	0.00	2477.5	2449.3	2505.6	1820.6	2728.2	151.59	0.00	425	4595.14	105.89	2.84	0.07	1.247	0.194	0.266	1996.91	1917.00	2076.81	2206.25	2697.00	0	0	0	12.05	16.00	15.56
4596	end apogee: CONTROL_FINISHED_OK
state	4596	begin climb
4597.62	10243	117.30	1.96	0.00	1996.0	1916.2	2075.8	2206.1	2697.1	149.62	0.00	428	4707.04	99.56	3.94	0.00	1.155	0.128	0.000	1522.16	1410.81	1633.50	2770.81	2697.88	0	0	0	11.87	15.59	30.00
5085.19	16646	117.30	1.96	80.00	1511.4	1408.2	1614.6	2771.5	2697.6	51.94	17.07	455	5091.59	0.00	0.00	3.58	0.000	0.000	0.149	1511.75	1409.25	1614.25	2771.50	4008.88	0	0	0	30.00	30.00	15.68
5318.19	11303	275.73	2.59	0.00	1511.1	1412.1	1610.2	2771.8	4007.8	44.45	0.85	501	5557.58	225.41	0.97	3.39	1.004	0.082	0.085	876.66	755.69	997.62	2931.19	2694.62	0	0	0	11.78	15.77	15.78
5860.82	10535	409.22	3.13	80.00	871.9	756.8	987.1	2930.6	2693.9	9.62	2.16	577	6009.09	136.85	0.79	3.68	0.967	0.076	0.141	500.59	409.50	591.69	3058.44	4007.62	0	0	0	11.79	15.67	15.31
6237.39	11303	547.80	3.68	0.00	497.7	409.2	586.1	3058.4	4008.0	3.46	1.89	651	6245.25	0.00	0.83	3.43	0.000	0.081	0.084	498.00	409.31	586.69	3192.44	2694.94	0	0	0	30.00	15.62	15.63
6292	end climb: SURFACE_DEPTH_REACHED
state	6292	begin surface coast
6382	end surface coast: CONTROL_FINISHED_OK
state	6382	begin surface