Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 66 * 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 66 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 13.341669 FG_AHR_10V 4.0056338 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 18.588457 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 4.0056338 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 18.588457 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 13.341669 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 66 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 150823,141209,7558.397,-14232.531,0,9255.0,0,15.7 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.24 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150823,141209,7558.397,-14232.531,0,9255.0,0,15.7 MHEAD_RNG_PITCHd_Wd 204.4,68743,-20.2,-9.167,-25.06,1949,0.151

SPEED_LIMITS 0.092,0.196 D_GRID 990

TGT_NAME Bstart 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,-14408.000 OSC 8000307

Post-dive calculations and measurements:

NAV 1692115144,151.5,start _10V_AH 14.96,0.000

FREEZE 0.62,-0.704,-1.350,2,46,0 FG_AHR_24Vo 18.772

FINISH 0.6,1.019921 FG_AHR_10Vo 4.052

SM_CCo 6628.84,0.20,0.118,0,499.4,408.6,590.1,368.10 MEM0 59796,1,0,0

SM_GC 0.94,0.20,21.31,0.28,0.118,0.168,0.134,499.4,408.6,590.1,217.4,2574.3,0,0,0,15.74,15.58,15.65 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 1023112,29,22556,116

IRIDIUM_FIX 7559.12,-14226.97,130823,164047 DATA_FILE_SIZE 19318,690

TCM_TEMP 1.66 CAP_FILE_SIZE 207147,0

SC_FREEKB 3857632 SDSIZE 3918848,3886880

RAFOS_CLK -1 SDFILEDIR 523,67

RAFOS_FIX 7558.397461,-14232.531250,150823,141409,8,255,0.04 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 48.08 SOUNDSPEED 1465.0

TEMP -0.26 MAGCAL 1.000000,-0.000921,-0.117368,-0.064738,1.051663,-0.068093,0.063428,0.036465,0.964714,-998.4,-160.8,419.8,34,0.1764,0

INTERNAL_PRESSURE 8.0902 IMPLIED_C_PITCH 2319,13.60,169,0.0,13.47

_24V_AH 14.87,21.951 GPS 150823,141209,7558.397,-14232.531,181,99.0,181,15.7

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 667 1261 12514.50 nil 0 0 0.00

Pitch_motor 44 314 207.27 nil 0 0 0.00

Roll_motor 81 294 356.84 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 2285 5 175.04 SciCon 6595 6 630.94

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4345 0 20.80

Compass 1133 5 84.78

RAFOS 9 40 5.64

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 5 begin dive

5.86 16386 -117.30 -1.98 0.00 498.8 422.0 575.5 219.9 2611.2 0.00 0.00 0 16.92 10.13 0.00 0.00 0.007 0.000 0.000 702.25 643.12 761.38 219.94 2611.31 0 0 0 15.83 30.00 30.00

17.20 18727 -117.30 -1.98 80.00 702.5 643.3 761.8 219.9 2611.4 3.69 0.00 1 114.42 70.26 13.56 3.80 0.005 0.315 0.155 2478.03 2455.94 2500.12 1815.19 4007.94 0 0 0 15.82 15.61 15.73

196.73 1028 -117.30 -1.98 0.00 2480.4 2456.6 2504.2 1814.9 4008.1 32.82 -19.79 36 203.07 0.00 0.00 3.66 0.000 0.000 0.095 2481.28 2457.44 2505.12 1815.12 2574.69 0 0 0 30.00 30.00 15.79

592.50 548 -117.30 -1.98 -80.00 2480.5 2455.8 2505.1 1814.7 2575.2 66.99 -3.38 50 598.41 0.00 0.00 3.87 0.000 0.000 0.172 2480.34 2456.00 2504.69 1814.69 1191.38 0 0 0 30.00 30.00 15.84

827.64 1060 -117.30 -1.98 0.00 2479.4 2453.8 2505.1 1815.1 1191.8 74.46 -3.35 97 833.81 0.00 0.00 3.49 0.000 0.000 0.080 2478.34 2453.12 2503.56 1814.81 2612.50 0 0 0 30.00 30.00 15.94

1212.68 548 -117.30 -1.98 -80.00 2478.3 2451.6 2505.1 1814.8 2612.6 86.97 -3.44 114 1220.18 0.00 0.00 3.92 0.000 0.000 0.164 2477.84 2450.81 2504.88 1815.12 1191.94 0 0 0 30.00 30.00 15.92

1382.67 1060 -117.30 -1.98 0.00 2478.3 2451.4 2505.2 1814.8 1191.7 94.00 -4.12 148 1389.25 0.00 0.00 3.48 0.000 0.000 0.078 2479.53 2452.94 2506.12 1813.88 2612.81 0 0 0 30.00 30.00 16.00

1778.42 292 -117.30 -1.98 80.00 2477.9 2450.2 2505.6 1815.2 2613.1 104.73 -2.45 162 1784.70 0.00 0.00 3.73 0.000 0.000 0.148 2478.84 2451.75 2505.94 1815.56 4007.81 0 0 0 30.00 30.00 15.98

2013.49 1060 -117.30 -1.98 0.00 2477.3 2449.9 2504.8 1815.1 4008.1 112.05 -3.21 209 2019.68 0.00 0.00 3.58 0.000 0.000 0.091 2477.16 2449.94 2504.38 1814.62 2573.00 0 0 0 30.00 30.00 16.03

2398.50 548 -117.30 -1.98 -80.00 2477.8 2450.5 2505.1 1815.5 2573.7 121.46 -1.97 226 2404.79 0.00 0.00 3.79 0.000 0.000 0.170 2477.69 2450.12 2505.25 1813.25 1190.69 0 0 0 30.00 30.00 16.00

2617.84 1060 -117.30 -1.98 0.00 2477.6 2450.4 2504.8 1815.4 1191.1 126.92 -2.63 270 2623.91 0.00 0.00 3.48 0.000 0.000 0.079 2477.78 2450.56 2505.00 1814.88 2614.06 0 0 0 30.00 30.00 16.08

2993.62 292 -117.30 -1.98 80.00 2477.5 2450.1 2504.9 1814.9 2612.7 133.17 -1.45 285 3000.10 0.00 0.00 3.76 0.000 0.000 0.148 2476.38 2449.44 2503.31 1815.38 4008.12 0 0 0 30.00 30.00 16.04

3182.95 1060 -117.30 -1.98 0.00 2477.1 2450.0 2504.2 1815.1 4007.9 136.35 -1.71 323 3189.00 0.00 0.00 3.59 0.000 0.000 0.092 2477.91 2450.62 2505.19 1815.62 2572.50 0 0 0 30.00 30.00 16.08

3566.69 548 -117.30 -1.98 -80.00 2477.3 2449.6 2505.0 1815.4 2572.8 142.04 -1.43 339 3573.18 0.00 0.00 3.80 0.000 0.000 0.172 2477.50 2450.62 2504.38 1814.62 1192.19 0 0 0 30.00 30.00 16.03

3741.74 1060 -117.30 -1.98 0.00 2477.7 2450.4 2504.9 1815.1 1192.6 144.97 -1.68 374 3748.06 0.00 0.00 3.47 0.000 0.000 0.078 2475.78 2448.44 2503.12 1814.94 2614.50 0 0 0 30.00 30.00 16.10

4126.75 548 -117.30 -1.98 -80.00 2477.4 2450.0 2504.9 1814.7 2614.1 150.52 -1.51 391 4133.28 0.00 0.00 3.89 0.000 0.000 0.165 2478.16 2450.75 2505.56 1814.88 1191.38 0 0 0 30.00 30.00 16.05

4358.80 1060 -117.30 -1.98 0.00 2477.2 2449.6 2504.8 1814.8 1191.5 153.58 -1.23 436 4364.84 0.00 0.00 3.48 0.000 0.000 0.077 2478.72 2451.56 2505.88 1814.06 2615.06 0 0 0 30.00 30.00 16.08

4700 end dive: NO_VERTICAL_VELOCITY

state 4700 begin apogee

4701.02 10243 0.00 -0.37 0.00 2477.7 2450.3 2505.1 1814.3 2726.0 155.41 0.00 449 4815.72 105.99 2.85 0.06 1.261 0.196 0.295 1999.91 1920.06 2079.75 2203.94 2696.25 0 0 0 11.88 15.99 15.54

4818 end apogee: CONTROL_FINISHED_OK

state 4818 begin climb

4818.21 10503 117.30 1.98 80.00 1996.5 1916.9 2076.1 2204.6 2696.7 153.21 0.00 452 4934.68 99.95 4.05 3.73 1.153 0.127 0.153 1519.72 1407.69 1631.75 2777.50 4006.69 0 0 0 11.70 15.57 15.33

5027.13 1028 117.30 1.98 0.00 1514.4 1408.6 1620.3 2776.9 4007.1 107.04 26.21 493 5033.89 0.00 0.00 3.39 0.000 0.000 0.086 1514.47 1408.44 1620.50 2777.94 2695.12 0 0 0 30.00 30.00 15.55

5422.93 10791 154.01 2.13 -80.00 1510.9 1408.4 1613.4 2777.3 2695.8 46.22 7.24 507 5487.20 53.01 0.21 4.09 1.013 0.112 0.163 1371.16 1263.56 1478.75 2815.88 1247.44 0 0 0 11.78 15.75 15.52

5629.71 11303 255.90 2.54 0.00 1368.1 1263.6 1472.7 2815.6 1247.4 38.66 3.82 548 5804.46 160.37 0.61 3.69 0.989 0.082 0.076 957.59 835.25 1079.94 2916.00 2732.69 0 0 0 11.79 15.67 15.68

6107.71 10535 391.67 3.08 80.00 952.3 835.2 1069.4 2916.2 2731.6 9.40 2.04 612 6287.58 167.36 0.83 3.58 0.963 0.091 0.148 500.50 407.50 593.50 3045.50 4006.19 0 0 0 11.76 15.66 15.27

6415.89 11303 527.25 3.62 0.00 497.5 406.8 588.3 3045.9 4006.1 3.67 2.05 672 6423.67 0.00 0.83 3.39 0.000 0.088 0.083 497.59 406.88 588.31 3177.94 2694.75 0 0 0 30.00 15.53 15.54

6491 end climb: SURFACE_DEPTH_REACHED

state 6491 begin surface coast

6591 end surface coast: CONTROL_FINISHED_OK

state 6591 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	66	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	13.341669	FG_AHR_10V	4.0056338	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	18.588457	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	150823,141209,7558.397,-14232.531,0,9255.0,0,15.7	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.24	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150823,141209,7558.397,-14232.531,0,9255.0,0,15.7	MHEAD_RNG_PITCHd_Wd	204.4,68743,-20.2,-9.167,-25.06,1949,0.151
SPEED_LIMITS	0.092,0.196	D_GRID	990
TGT_NAME	Bstart	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,-14408.000	OSC	8000307

NAV	1692115144,151.5,start	_10V_AH	14.96,0.000
FREEZE	0.62,-0.704,-1.350,2,46,0	FG_AHR_24Vo	18.772
FINISH	0.6,1.019921	FG_AHR_10Vo	4.052
SM_CCo	6628.84,0.20,0.118,0,499.4,408.6,590.1,368.10	MEM0	59796,1,0,0
SM_GC	0.94,0.20,21.31,0.28,0.118,0.168,0.134,499.4,408.6,590.1,217.4,2574.3,0,0,0,15.74,15.58,15.65	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	1023112,29,22556,116
IRIDIUM_FIX	7559.12,-14226.97,130823,164047	DATA_FILE_SIZE	19318,690
TCM_TEMP	1.66	CAP_FILE_SIZE	207147,0
SC_FREEKB	3857632	SDSIZE	3918848,3886880
RAFOS_CLK	-1	SDFILEDIR	523,67
RAFOS_FIX	7558.397461,-14232.531250,150823,141409,8,255,0.04	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	48.08	SOUNDSPEED	1465.0
TEMP	-0.26	MAGCAL	1.000000,-0.000921,-0.117368,-0.064738,1.051663,-0.068093,0.063428,0.036465,0.964714,-998.4,-160.8,419.8,34,0.1764,0
INTERNAL_PRESSURE	8.0902	IMPLIED_C_PITCH	2319,13.60,169,0.0,13.47
_24V_AH	14.87,21.951	GPS	150823,141209,7558.397,-14232.531,181,99.0,181,15.7

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	667	1261	12514.50	nil	0	0	0.00
Pitch_motor	44	314	207.27	nil	0	0	0.00
Roll_motor	81	294	356.84	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	2285	5	175.04	SciCon	6595	6	630.94
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4345	0	20.80
Compass	1133	5	84.78
RAFOS	9	40	5.64
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	5	begin dive
5.86	16386	-117.30	-1.98	0.00	498.8	422.0	575.5	219.9	2611.2	0.00	0.00	0	16.92	10.13	0.00	0.00	0.007	0.000	0.000	702.25	643.12	761.38	219.94	2611.31	0	0	0	15.83	30.00	30.00
17.20	18727	-117.30	-1.98	80.00	702.5	643.3	761.8	219.9	2611.4	3.69	0.00	1	114.42	70.26	13.56	3.80	0.005	0.315	0.155	2478.03	2455.94	2500.12	1815.19	4007.94	0	0	0	15.82	15.61	15.73
196.73	1028	-117.30	-1.98	0.00	2480.4	2456.6	2504.2	1814.9	4008.1	32.82	-19.79	36	203.07	0.00	0.00	3.66	0.000	0.000	0.095	2481.28	2457.44	2505.12	1815.12	2574.69	0	0	0	30.00	30.00	15.79
592.50	548	-117.30	-1.98	-80.00	2480.5	2455.8	2505.1	1814.7	2575.2	66.99	-3.38	50	598.41	0.00	0.00	3.87	0.000	0.000	0.172	2480.34	2456.00	2504.69	1814.69	1191.38	0	0	0	30.00	30.00	15.84
827.64	1060	-117.30	-1.98	0.00	2479.4	2453.8	2505.1	1815.1	1191.8	74.46	-3.35	97	833.81	0.00	0.00	3.49	0.000	0.000	0.080	2478.34	2453.12	2503.56	1814.81	2612.50	0	0	0	30.00	30.00	15.94
1212.68	548	-117.30	-1.98	-80.00	2478.3	2451.6	2505.1	1814.8	2612.6	86.97	-3.44	114	1220.18	0.00	0.00	3.92	0.000	0.000	0.164	2477.84	2450.81	2504.88	1815.12	1191.94	0	0	0	30.00	30.00	15.92
1382.67	1060	-117.30	-1.98	0.00	2478.3	2451.4	2505.2	1814.8	1191.7	94.00	-4.12	148	1389.25	0.00	0.00	3.48	0.000	0.000	0.078	2479.53	2452.94	2506.12	1813.88	2612.81	0	0	0	30.00	30.00	16.00
1778.42	292	-117.30	-1.98	80.00	2477.9	2450.2	2505.6	1815.2	2613.1	104.73	-2.45	162	1784.70	0.00	0.00	3.73	0.000	0.000	0.148	2478.84	2451.75	2505.94	1815.56	4007.81	0	0	0	30.00	30.00	15.98
2013.49	1060	-117.30	-1.98	0.00	2477.3	2449.9	2504.8	1815.1	4008.1	112.05	-3.21	209	2019.68	0.00	0.00	3.58	0.000	0.000	0.091	2477.16	2449.94	2504.38	1814.62	2573.00	0	0	0	30.00	30.00	16.03
2398.50	548	-117.30	-1.98	-80.00	2477.8	2450.5	2505.1	1815.5	2573.7	121.46	-1.97	226	2404.79	0.00	0.00	3.79	0.000	0.000	0.170	2477.69	2450.12	2505.25	1813.25	1190.69	0	0	0	30.00	30.00	16.00
2617.84	1060	-117.30	-1.98	0.00	2477.6	2450.4	2504.8	1815.4	1191.1	126.92	-2.63	270	2623.91	0.00	0.00	3.48	0.000	0.000	0.079	2477.78	2450.56	2505.00	1814.88	2614.06	0	0	0	30.00	30.00	16.08
2993.62	292	-117.30	-1.98	80.00	2477.5	2450.1	2504.9	1814.9	2612.7	133.17	-1.45	285	3000.10	0.00	0.00	3.76	0.000	0.000	0.148	2476.38	2449.44	2503.31	1815.38	4008.12	0	0	0	30.00	30.00	16.04
3182.95	1060	-117.30	-1.98	0.00	2477.1	2450.0	2504.2	1815.1	4007.9	136.35	-1.71	323	3189.00	0.00	0.00	3.59	0.000	0.000	0.092	2477.91	2450.62	2505.19	1815.62	2572.50	0	0	0	30.00	30.00	16.08
3566.69	548	-117.30	-1.98	-80.00	2477.3	2449.6	2505.0	1815.4	2572.8	142.04	-1.43	339	3573.18	0.00	0.00	3.80	0.000	0.000	0.172	2477.50	2450.62	2504.38	1814.62	1192.19	0	0	0	30.00	30.00	16.03
3741.74	1060	-117.30	-1.98	0.00	2477.7	2450.4	2504.9	1815.1	1192.6	144.97	-1.68	374	3748.06	0.00	0.00	3.47	0.000	0.000	0.078	2475.78	2448.44	2503.12	1814.94	2614.50	0	0	0	30.00	30.00	16.10
4126.75	548	-117.30	-1.98	-80.00	2477.4	2450.0	2504.9	1814.7	2614.1	150.52	-1.51	391	4133.28	0.00	0.00	3.89	0.000	0.000	0.165	2478.16	2450.75	2505.56	1814.88	1191.38	0	0	0	30.00	30.00	16.05
4358.80	1060	-117.30	-1.98	0.00	2477.2	2449.6	2504.8	1814.8	1191.5	153.58	-1.23	436	4364.84	0.00	0.00	3.48	0.000	0.000	0.077	2478.72	2451.56	2505.88	1814.06	2615.06	0	0	0	30.00	30.00	16.08
4700	end dive: NO_VERTICAL_VELOCITY
state	4700	begin apogee
4701.02	10243	0.00	-0.37	0.00	2477.7	2450.3	2505.1	1814.3	2726.0	155.41	0.00	449	4815.72	105.99	2.85	0.06	1.261	0.196	0.295	1999.91	1920.06	2079.75	2203.94	2696.25	0	0	0	11.88	15.99	15.54
4818	end apogee: CONTROL_FINISHED_OK
state	4818	begin climb
4818.21	10503	117.30	1.98	80.00	1996.5	1916.9	2076.1	2204.6	2696.7	153.21	0.00	452	4934.68	99.95	4.05	3.73	1.153	0.127	0.153	1519.72	1407.69	1631.75	2777.50	4006.69	0	0	0	11.70	15.57	15.33
5027.13	1028	117.30	1.98	0.00	1514.4	1408.6	1620.3	2776.9	4007.1	107.04	26.21	493	5033.89	0.00	0.00	3.39	0.000	0.000	0.086	1514.47	1408.44	1620.50	2777.94	2695.12	0	0	0	30.00	30.00	15.55
5422.93	10791	154.01	2.13	-80.00	1510.9	1408.4	1613.4	2777.3	2695.8	46.22	7.24	507	5487.20	53.01	0.21	4.09	1.013	0.112	0.163	1371.16	1263.56	1478.75	2815.88	1247.44	0	0	0	11.78	15.75	15.52
5629.71	11303	255.90	2.54	0.00	1368.1	1263.6	1472.7	2815.6	1247.4	38.66	3.82	548	5804.46	160.37	0.61	3.69	0.989	0.082	0.076	957.59	835.25	1079.94	2916.00	2732.69	0	0	0	11.79	15.67	15.68
6107.71	10535	391.67	3.08	80.00	952.3	835.2	1069.4	2916.2	2731.6	9.40	2.04	612	6287.58	167.36	0.83	3.58	0.963	0.091	0.148	500.50	407.50	593.50	3045.50	4006.19	0	0	0	11.76	15.66	15.27
6415.89	11303	527.25	3.62	0.00	497.5	406.8	588.3	3045.9	4006.1	3.67	2.05	672	6423.67	0.00	0.83	3.39	0.000	0.088	0.083	497.59	406.88	588.31	3177.94	2694.75	0	0	0	30.00	15.53	15.54
6491	end climb: SURFACE_DEPTH_REACHED
state	6491	begin surface coast
6591	end surface coast: CONTROL_FINISHED_OK
state	6591	begin surface