Glider dive log

AMOS Jul22 * SG240 * Dive index * Mission links * Dive 7 * 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 7 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 1805.6222 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 16.871338 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 27.701128 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 10.562654 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 27.701128 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 10.562654 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 16.871338 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 1805.6222 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 7 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 130722,235704,4720.215,-12523.704,1,0.7,3,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.50 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -49.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140722,000028,4720.218,-12523.666,2,0.8,4,15.8 MHEAD_RNG_PITCHd_Wd 229.3,582,-20.0,-10.000,-23.40,1745,0.205

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME HOLD IRON 1.000000,0.024488,0.011720,-0.013723,1.065452,-0.105118,-0.016783,-0.012275,0.996087,73.834053,-841.310364,-416.232605

TGT_LATLONG 4720.000,-12524.000

Post-dive calculations and measurements:

NAV 1657760341,6.9,start FG_AHR_10Vo 27.748

FINISH 0.4,1.022713 MEM0 60108,1,0,0

SM_CCo 3803.08,174.64,0.939,0,541.7,558.2,525.1,692.31 MEM1 65508,1,0,0

SM_GC 1.56,174.64,12.91,3.45,0.939,0.067,0.056,541.7,558.2,525.1,193.8,2116.4,0,0,0,11.68,15.81,15.83 MEM2 966720,22,80228,59

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16106,546

IRIDIUM_FIX 4721.51,-12528.94,130722,225645 CAP_FILE_SIZE 385073,0

TCM_TEMP 18.37 SDSIZE 3887104,3869120

SC_FREEKB 3876544 SDFILEDIR 115,1

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

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 SOUNDSPEED 1465.0

HUMID 50.69 CURRENT 0.102,119.7,1

TEMP 10.98 MAGCAL 1.000000,0.018399,0.022931,-0.015232,1.061836,-0.097271,-0.017879,-0.029101,0.977313,63.2,-844.2,-393.7,34,0.0336,0

INTERNAL_PRESSURE 8.03583 IMPLIED_C_PITCH 1810,16.74,255,1807.9,16.81

_24V_AH 14.88,12.132 IMPLIED_C_VBD 3726,45.861698,147,3464.0

_10V_AH 14.87,0.000 GPS 140722,010446,4719.931,-12523.890,1,1.0,3,15.8

FG_AHR_24Vo 10.735

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 699 1133 11806.35 nil 0 0 0.00

Pitch_motor 30 239 107.50 nil 0 0 0.00

Roll_motor 85 198 251.56 nil 0 0 0.00

Iridium 137 218 448.38 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 2276 5 173.35 SciCon 3597 6 346.76

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1517 0 7.22

Compass 1066 5 79.32

RAFOS 2951 40 1755.40

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

6.57 16386 -114.95 -1.33 0.00 537.6 557.6 517.6 192.4 2166.3 0.00 0.00 0 92.03 81.50 0.00 0.00 0.005 0.000 0.000 2777.12 2803.88 2750.38 192.50 2166.75 0 0 0 15.82 30.00 30.00

92.33 18727 -145.99 -1.37 80.00 2775.6 2802.2 2748.9 192.1 2166.4 3.22 -1.74 14 142.71 26.83 9.65 3.55 0.006 0.239 0.124 3961.38 4010.00 3912.75 1472.75 3617.31 0 0 0 15.86 15.71 15.78

201.18 3205 -145.99 -1.27 0.00 3961.5 4008.8 3914.3 1472.6 3618.1 27.37 -19.25 35 208.02 0.00 0.16 3.47 0.000 0.187 0.058 3962.19 4009.38 3915.00 1498.44 2122.62 0 0 0 30.00 15.78 15.85

391.46 644 -145.99 -1.24 -80.00 3962.0 4009.6 3914.3 1498.1 2122.7 60.33 -16.97 67 397.46 0.00 0.00 3.54 0.000 0.000 0.120 3962.06 4009.06 3915.06 1496.25 679.50 0 0 0 30.00 30.00 15.87

467.86 3205 -145.99 -1.13 0.00 3962.5 4010.1 3914.9 1498.1 679.7 74.50 -18.18 82 475.47 0.00 0.23 3.42 0.000 0.177 0.056 3962.44 4010.56 3914.31 1532.19 2174.06 0 0 0 30.00 15.86 15.91

663.61 644 -145.99 -1.19 -80.00 3964.1 4013.9 3914.3 1532.5 2174.0 96.36 -10.01 102 670.74 0.00 0.00 3.67 0.000 0.000 0.118 3964.09 4013.38 3914.81 1532.31 682.81 0 0 0 30.00 30.00 15.92

749.15 1028 -145.99 -1.19 0.00 3964.6 4014.4 3914.7 1532.3 682.4 107.28 -13.04 119 755.13 0.00 0.00 3.39 0.000 0.000 0.056 3964.59 4014.50 3914.69 1531.88 2176.19 0 0 0 30.00 30.00 15.97

939.24 4741 -145.99 -1.26 -80.00 3965.2 4014.8 3915.6 1532.4 2176.6 126.92 -10.54 139 946.57 0.00 0.31 3.67 0.000 0.072 0.118 3965.28 4014.38 3916.19 1481.38 680.69 0 0 0 30.00 15.98 15.95

1118.63 3205 -145.99 -1.12 0.00 3965.3 4014.7 3915.9 1481.4 680.6 153.28 -15.02 174 1125.88 0.00 0.43 3.37 0.000 0.172 0.058 3965.12 4014.88 3915.38 1533.81 2173.88 0 0 0 30.00 15.94 16.01

1313.71 676 -145.99 -1.19 -80.00 3965.7 4015.4 3916.0 1534.1 2173.9 171.76 -9.04 194 1320.75 0.00 0.00 3.67 0.000 0.000 0.121 3965.66 4015.25 3916.06 1533.81 683.25 0 0 0 30.00 30.00 15.98

1369.15 1028 -145.99 -1.19 0.00 3965.2 4015.4 3915.0 1533.9 683.0 177.53 -10.69 205 1375.13 0.00 0.00 3.38 0.000 0.000 0.057 3966.03 4015.62 3916.44 1534.12 2174.06 0 0 0 30.00 30.00 16.02

1399 end dive: TARGET_DEPTH_EXCEEDED

state 1399 begin apogee

1400.48 10243 0.00 -0.30 0.00 3965.8 4014.9 3916.6 1533.4 2111.8 180.33 -9.39 209 1510.36 102.44 1.31 0.10 1.134 0.135 0.199 3365.09 3425.75 3304.44 1734.31 2178.12 0 0 0 11.71 15.96 15.65

1511 end apogee: CONTROL_FINISHED_OK

state 1512 begin climb

1511.54 10503 145.99 1.37 80.00 3361.4 3422.4 3300.4 1733.6 2178.1 183.16 0.00 219 1640.26 104.18 2.70 3.61 1.106 0.102 0.126 2767.91 2827.38 2708.44 2138.94 3615.75 0 0 0 11.72 15.67 15.45

1643.02 5253 145.99 1.16 0.00 2766.6 2825.4 2707.8 2138.6 3615.1 170.90 14.03 239 1650.81 0.00 0.51 3.54 0.000 0.172 0.057 2767.38 2826.94 2707.81 2077.06 2122.44 0 0 0 30.00 15.47 15.52

1838.75 644 145.99 1.12 -80.00 2762.3 2825.0 2699.7 2078.1 2122.8 147.61 11.02 259 1845.82 0.00 0.00 3.62 0.000 0.000 0.125 2760.59 2822.75 2698.44 2077.88 682.75 0 0 0 30.00 30.00 15.72

1874.30 21639 145.99 0.99 0.00 2759.0 2819.9 2698.1 2079.2 683.0 143.16 12.71 266 1881.70 0.00 0.25 3.42 0.000 0.164 0.058 2760.19 2821.00 2699.38 2037.50 2171.69 0 0 0 30.00 15.72 15.78

2069.44 10919 165.79 1.09 -80.00 2759.2 2819.6 2698.8 2037.0 2171.7 125.56 8.83 286 2095.88 15.85 0.23 3.72 0.976 0.079 0.126 2684.88 2747.75 2622.00 2081.44 683.00 0 0 0 11.79 15.86 15.78

2281.74 5253 165.79 0.99 0.00 2681.2 2745.1 2617.4 2080.9 683.0 99.56 11.03 328 2289.12 0.00 0.32 3.39 0.000 0.160 0.059 2681.66 2746.56 2616.75 2036.56 2170.38 0 0 0 30.00 15.83 15.89

2476.80 10919 239.79 1.22 -80.00 2680.4 2744.4 2616.4 2037.1 2169.6 87.83 5.64 348 2542.24 54.53 0.44 3.77 1.034 0.067 0.126 2386.50 2465.69 2307.31 2110.94 681.75 0 0 0 11.72 15.92 15.73

2640.82 17542 239.79 1.19 0.00 2377.8 2457.8 2297.7 2110.9 681.7 72.32 10.93 380 2646.94 0.00 0.00 3.42 0.000 0.000 0.060 2378.19 2458.62 2297.75 2107.94 2170.00 0 0 0 30.00 30.00 15.82

2835.74 8614 288.48 1.34 80.00 2376.2 2457.4 2295.1 2110.6 2169.9 57.97 7.13 400 2882.89 36.03 0.00 3.57 0.990 0.000 0.130 2185.22 2271.31 2099.12 2110.19 3614.06 0 0 0 11.68 30.00 15.75

2896.50 11431 332.84 1.50 0.00 2184.3 2270.2 2098.3 2110.8 3614.2 53.26 7.39 412 2940.58 33.28 0.35 3.46 0.964 0.074 0.058 2005.81 2098.38 1913.25 2178.19 2122.62 0 0 0 11.61 15.79 15.81

3124.60 17030 332.84 1.57 -80.00 1998.8 2095.2 1902.3 2178.3 2122.4 29.57 10.63 457 3131.50 0.00 0.00 3.60 0.000 0.000 0.129 1998.53 2095.56 1901.50 2178.00 682.88 0 0 0 30.00 30.00 15.82

3185.06 17542 332.84 1.53 0.00 1996.8 2091.9 1901.7 2178.1 682.9 23.18 10.79 469 3191.91 0.00 0.00 3.42 0.000 0.000 0.060 1997.09 2092.56 1901.62 2178.81 2171.69 0 0 0 30.00 30.00 15.87

3375.51 10663 434.20 1.80 80.00 1995.3 2092.2 1898.4 2178.2 2171.4 12.49 4.03 507 3459.96 70.39 0.38 3.59 0.961 0.075 0.127 1590.88 1683.44 1498.31 2250.75 3615.81 0 0 0 11.70 15.94 15.70

3553 end climb: SURFACE_DEPTH_REACHED

state 3553 begin surface coast

3588 end surface coast: CONTROL_FINISHED_OK

state 3588 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	7	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	1805.6222	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	16.871338	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	27.701128	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	10.562654	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	130722,235704,4720.215,-12523.704,1,0.7,3,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.50	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-49.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140722,000028,4720.218,-12523.666,2,0.8,4,15.8	MHEAD_RNG_PITCHd_Wd	229.3,582,-20.0,-10.000,-23.40,1745,0.205
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	HOLD	IRON	1.000000,0.024488,0.011720,-0.013723,1.065452,-0.105118,-0.016783,-0.012275,0.996087,73.834053,-841.310364,-416.232605
TGT_LATLONG	4720.000,-12524.000

NAV	1657760341,6.9,start	FG_AHR_10Vo	27.748
FINISH	0.4,1.022713	MEM0	60108,1,0,0
SM_CCo	3803.08,174.64,0.939,0,541.7,558.2,525.1,692.31	MEM1	65508,1,0,0
SM_GC	1.56,174.64,12.91,3.45,0.939,0.067,0.056,541.7,558.2,525.1,193.8,2116.4,0,0,0,11.68,15.81,15.83	MEM2	966720,22,80228,59
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16106,546
IRIDIUM_FIX	4721.51,-12528.94,130722,225645	CAP_FILE_SIZE	385073,0
TCM_TEMP	18.37	SDSIZE	3887104,3869120
SC_FREEKB	3876544	SDFILEDIR	115,1
RAFOS_CLK	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	SOUNDSPEED	1465.0
HUMID	50.69	CURRENT	0.102,119.7,1
TEMP	10.98	MAGCAL	1.000000,0.018399,0.022931,-0.015232,1.061836,-0.097271,-0.017879,-0.029101,0.977313,63.2,-844.2,-393.7,34,0.0336,0
INTERNAL_PRESSURE	8.03583	IMPLIED_C_PITCH	1810,16.74,255,1807.9,16.81
_24V_AH	14.88,12.132	IMPLIED_C_VBD	3726,45.861698,147,3464.0
_10V_AH	14.87,0.000	GPS	140722,010446,4719.931,-12523.890,1,1.0,3,15.8
FG_AHR_24Vo	10.735

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	699	1133	11806.35	nil	0	0	0.00
Pitch_motor	30	239	107.50	nil	0	0	0.00
Roll_motor	85	198	251.56	nil	0	0	0.00
Iridium	137	218	448.38	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	2276	5	173.35	SciCon	3597	6	346.76
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1517	0	7.22
Compass	1066	5	79.32
RAFOS	2951	40	1755.40
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
6.57	16386	-114.95	-1.33	0.00	537.6	557.6	517.6	192.4	2166.3	0.00	0.00	0	92.03	81.50	0.00	0.00	0.005	0.000	0.000	2777.12	2803.88	2750.38	192.50	2166.75	0	0	0	15.82	30.00	30.00
92.33	18727	-145.99	-1.37	80.00	2775.6	2802.2	2748.9	192.1	2166.4	3.22	-1.74	14	142.71	26.83	9.65	3.55	0.006	0.239	0.124	3961.38	4010.00	3912.75	1472.75	3617.31	0	0	0	15.86	15.71	15.78
201.18	3205	-145.99	-1.27	0.00	3961.5	4008.8	3914.3	1472.6	3618.1	27.37	-19.25	35	208.02	0.00	0.16	3.47	0.000	0.187	0.058	3962.19	4009.38	3915.00	1498.44	2122.62	0	0	0	30.00	15.78	15.85
391.46	644	-145.99	-1.24	-80.00	3962.0	4009.6	3914.3	1498.1	2122.7	60.33	-16.97	67	397.46	0.00	0.00	3.54	0.000	0.000	0.120	3962.06	4009.06	3915.06	1496.25	679.50	0	0	0	30.00	30.00	15.87
467.86	3205	-145.99	-1.13	0.00	3962.5	4010.1	3914.9	1498.1	679.7	74.50	-18.18	82	475.47	0.00	0.23	3.42	0.000	0.177	0.056	3962.44	4010.56	3914.31	1532.19	2174.06	0	0	0	30.00	15.86	15.91
663.61	644	-145.99	-1.19	-80.00	3964.1	4013.9	3914.3	1532.5	2174.0	96.36	-10.01	102	670.74	0.00	0.00	3.67	0.000	0.000	0.118	3964.09	4013.38	3914.81	1532.31	682.81	0	0	0	30.00	30.00	15.92
749.15	1028	-145.99	-1.19	0.00	3964.6	4014.4	3914.7	1532.3	682.4	107.28	-13.04	119	755.13	0.00	0.00	3.39	0.000	0.000	0.056	3964.59	4014.50	3914.69	1531.88	2176.19	0	0	0	30.00	30.00	15.97
939.24	4741	-145.99	-1.26	-80.00	3965.2	4014.8	3915.6	1532.4	2176.6	126.92	-10.54	139	946.57	0.00	0.31	3.67	0.000	0.072	0.118	3965.28	4014.38	3916.19	1481.38	680.69	0	0	0	30.00	15.98	15.95
1118.63	3205	-145.99	-1.12	0.00	3965.3	4014.7	3915.9	1481.4	680.6	153.28	-15.02	174	1125.88	0.00	0.43	3.37	0.000	0.172	0.058	3965.12	4014.88	3915.38	1533.81	2173.88	0	0	0	30.00	15.94	16.01
1313.71	676	-145.99	-1.19	-80.00	3965.7	4015.4	3916.0	1534.1	2173.9	171.76	-9.04	194	1320.75	0.00	0.00	3.67	0.000	0.000	0.121	3965.66	4015.25	3916.06	1533.81	683.25	0	0	0	30.00	30.00	15.98
1369.15	1028	-145.99	-1.19	0.00	3965.2	4015.4	3915.0	1533.9	683.0	177.53	-10.69	205	1375.13	0.00	0.00	3.38	0.000	0.000	0.057	3966.03	4015.62	3916.44	1534.12	2174.06	0	0	0	30.00	30.00	16.02
1399	end dive: TARGET_DEPTH_EXCEEDED
state	1399	begin apogee
1400.48	10243	0.00	-0.30	0.00	3965.8	4014.9	3916.6	1533.4	2111.8	180.33	-9.39	209	1510.36	102.44	1.31	0.10	1.134	0.135	0.199	3365.09	3425.75	3304.44	1734.31	2178.12	0	0	0	11.71	15.96	15.65
1511	end apogee: CONTROL_FINISHED_OK
state	1512	begin climb
1511.54	10503	145.99	1.37	80.00	3361.4	3422.4	3300.4	1733.6	2178.1	183.16	0.00	219	1640.26	104.18	2.70	3.61	1.106	0.102	0.126	2767.91	2827.38	2708.44	2138.94	3615.75	0	0	0	11.72	15.67	15.45
1643.02	5253	145.99	1.16	0.00	2766.6	2825.4	2707.8	2138.6	3615.1	170.90	14.03	239	1650.81	0.00	0.51	3.54	0.000	0.172	0.057	2767.38	2826.94	2707.81	2077.06	2122.44	0	0	0	30.00	15.47	15.52
1838.75	644	145.99	1.12	-80.00	2762.3	2825.0	2699.7	2078.1	2122.8	147.61	11.02	259	1845.82	0.00	0.00	3.62	0.000	0.000	0.125	2760.59	2822.75	2698.44	2077.88	682.75	0	0	0	30.00	30.00	15.72
1874.30	21639	145.99	0.99	0.00	2759.0	2819.9	2698.1	2079.2	683.0	143.16	12.71	266	1881.70	0.00	0.25	3.42	0.000	0.164	0.058	2760.19	2821.00	2699.38	2037.50	2171.69	0	0	0	30.00	15.72	15.78
2069.44	10919	165.79	1.09	-80.00	2759.2	2819.6	2698.8	2037.0	2171.7	125.56	8.83	286	2095.88	15.85	0.23	3.72	0.976	0.079	0.126	2684.88	2747.75	2622.00	2081.44	683.00	0	0	0	11.79	15.86	15.78
2281.74	5253	165.79	0.99	0.00	2681.2	2745.1	2617.4	2080.9	683.0	99.56	11.03	328	2289.12	0.00	0.32	3.39	0.000	0.160	0.059	2681.66	2746.56	2616.75	2036.56	2170.38	0	0	0	30.00	15.83	15.89
2476.80	10919	239.79	1.22	-80.00	2680.4	2744.4	2616.4	2037.1	2169.6	87.83	5.64	348	2542.24	54.53	0.44	3.77	1.034	0.067	0.126	2386.50	2465.69	2307.31	2110.94	681.75	0	0	0	11.72	15.92	15.73
2640.82	17542	239.79	1.19	0.00	2377.8	2457.8	2297.7	2110.9	681.7	72.32	10.93	380	2646.94	0.00	0.00	3.42	0.000	0.000	0.060	2378.19	2458.62	2297.75	2107.94	2170.00	0	0	0	30.00	30.00	15.82
2835.74	8614	288.48	1.34	80.00	2376.2	2457.4	2295.1	2110.6	2169.9	57.97	7.13	400	2882.89	36.03	0.00	3.57	0.990	0.000	0.130	2185.22	2271.31	2099.12	2110.19	3614.06	0	0	0	11.68	30.00	15.75
2896.50	11431	332.84	1.50	0.00	2184.3	2270.2	2098.3	2110.8	3614.2	53.26	7.39	412	2940.58	33.28	0.35	3.46	0.964	0.074	0.058	2005.81	2098.38	1913.25	2178.19	2122.62	0	0	0	11.61	15.79	15.81
3124.60	17030	332.84	1.57	-80.00	1998.8	2095.2	1902.3	2178.3	2122.4	29.57	10.63	457	3131.50	0.00	0.00	3.60	0.000	0.000	0.129	1998.53	2095.56	1901.50	2178.00	682.88	0	0	0	30.00	30.00	15.82
3185.06	17542	332.84	1.53	0.00	1996.8	2091.9	1901.7	2178.1	682.9	23.18	10.79	469	3191.91	0.00	0.00	3.42	0.000	0.000	0.060	1997.09	2092.56	1901.62	2178.81	2171.69	0	0	0	30.00	30.00	15.87
3375.51	10663	434.20	1.80	80.00	1995.3	2092.2	1898.4	2178.2	2171.4	12.49	4.03	507	3459.96	70.39	0.38	3.59	0.961	0.075	0.127	1590.88	1683.44	1498.31	2250.75	3615.81	0	0	0	11.70	15.94	15.70
3553	end climb: SURFACE_DEPTH_REACHED
state	3553	begin surface coast
3588	end surface coast: CONTROL_FINISHED_OK
state	3588	begin surface