Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 77 * 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 77 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 13.486593 FG_AHR_10V 4.4275122 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 20.573978 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 4.4275122 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 20.573978 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 13.486593 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 77 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 160823,101212,7601.546,-14220.202,0,9255.0,0,15.8 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 4.03 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160823,101212,7601.546,-14220.202,0,9255.0,0,15.8 MHEAD_RNG_PITCHd_Wd 204.8,76889,-20.2,-9.167,-25.06,1949,0.111

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 1692187170,148.6,start _10V_AH 14.91,0.000

FREEZE 0.82,0.184,-1.367,2,57,0 FG_AHR_24Vo 20.753

FINISH 0.8,1.020150 FG_AHR_10Vo 4.471

SM_CCo 6247.78,0.12,0.196,0,499.3,409.1,589.5,368.13 MEM0 59796,1,0,0

SM_GC 4.07,0.12,19.99,3.68,0.196,0.121,0.086,499.3,409.1,589.5,220.0,2574.0,0,0,0,15.68,15.54,15.59 MEM1 65508,1,0,0

SURF below D_CALL,4.065015/3.000000 MEM2 1023072,31,22556,116

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12961,518

IRIDIUM_FIX 7559.12,-14226.97,130823,164047 CAP_FILE_SIZE 165206,0

TCM_TEMP 1.96 SDSIZE 3918848,3883744

SC_FREEKB 3854112 SDFILEDIR 600,78

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 7601.545898,-14220.202148,160823,101012,8,255,0.01 SOUNDSPEED 1465.0

HUMID 48.06 MAGCAL 1.000000,-0.029216,-0.068334,-0.074338,1.050902,-0.083787,0.070864,0.050481,0.984376,-1039.6,-160.2,402.0,36,0.1295,0

TEMP -0.09 IMPLIED_C_PITCH 2308,13.48,163,0.0,13.48

INTERNAL_PRESSURE 8.09624 GPS 160823,101212,7601.546,-14220.202,0,9255.0,0,15.8

_24V_AH 14.82,24.293

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 668 1238 12268.68 nil 0 0 0.00

Pitch_motor 42 308 193.13 nil 0 0 0.00

Roll_motor 44 261 173.13 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 1890 5 144.34 SciCon 6211 6 596.94

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4355 0 20.78

Compass 887 5 66.16

RAFOS 9 40 5.56

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7.25 16386 -117.30 -1.97 0.00 499.0 414.3 583.6 218.6 2613.6 0.00 0.00 0 28.64 20.34 0.00 0.00 0.006 0.000 0.000 866.94 820.25 913.62 218.62 2613.69 0 0 0 15.82 30.00 30.00

28.86 18435 -117.30 -1.97 0.00 867.0 820.1 913.9 218.7 2613.9 3.49 -9.84 2 109.19 60.58 13.33 0.00 0.005 0.308 0.000 2474.75 2454.31 2495.19 1817.81 2613.62 0 0 0 15.82 15.61 30.00

432.27 548 -117.30 -1.97 -80.00 2480.7 2455.1 2506.2 1818.0 2613.5 57.98 -7.56 29 438.20 0.00 0.00 3.95 0.000 0.000 0.166 2480.97 2453.69 2508.25 1816.62 1191.44 0 0 0 30.00 30.00 15.80

667.34 1060 -117.30 -1.97 0.00 2480.1 2453.5 2506.8 1818.0 1190.9 66.46 -3.03 76 673.19 0.00 0.00 3.52 0.000 0.000 0.078 2480.81 2454.38 2507.25 1818.00 2613.56 0 0 0 30.00 30.00 15.91

1052.35 32 -117.30 -1.97 0.00 2478.9 2451.4 2506.5 1818.0 2612.9 79.16 -4.03 93 1053.79 0.00 0.00 0.00 0.000 0.000 0.000 2479.66 2451.19 2508.12 1816.06 2611.94 0 0 0 30.00 30.00 30.00

1442.42 548 -117.30 -1.97 -80.00 2478.6 2450.4 2506.8 1817.6 2612.9 93.53 -3.30 106 1448.75 0.00 0.00 3.88 0.000 0.000 0.163 2478.34 2449.56 2507.12 1818.25 1192.62 0 0 0 30.00 30.00 15.94

1677.49 1060 -117.30 -1.97 0.00 2478.5 2450.2 2506.7 1818.2 1192.8 101.29 -3.18 153 1683.66 0.00 0.00 3.47 0.000 0.000 0.076 2476.56 2448.50 2504.62 1817.88 2613.88 0 0 0 30.00 30.00 16.02

2062.51 32 -117.30 -1.97 0.00 2478.5 2450.2 2506.8 1818.1 2614.8 111.06 -2.63 170 2064.04 0.00 0.00 0.00 0.000 0.000 0.000 2477.03 2449.38 2504.69 1818.00 2614.38 0 0 0 30.00 30.00 30.00

2452.52 32 -117.30 -1.97 0.00 2478.1 2449.8 2506.4 1818.3 2614.6 121.57 -2.37 183 2454.04 0.00 0.00 0.00 0.000 0.000 0.000 2476.75 2448.75 2504.75 1818.06 2614.50 0 0 0 30.00 30.00 30.00

2842.53 32 -117.30 -1.97 0.00 2478.5 2450.1 2506.8 1817.8 2614.1 129.32 -2.12 196 2844.05 0.00 0.00 0.00 0.000 0.000 0.000 2479.22 2451.38 2507.06 1816.50 2613.62 0 0 0 30.00 30.00 30.00

3220.52 32 -117.30 -1.97 0.00 2478.1 2449.8 2506.3 1817.8 2614.4 137.18 -1.85 210 3222.05 0.00 0.00 0.00 0.000 0.000 0.000 2479.09 2451.19 2507.00 1816.75 2613.81 0 0 0 30.00 30.00 30.00

3610.53 292 -117.30 -1.97 80.00 2478.2 2450.2 2506.2 1818.1 2614.3 144.03 -1.72 223 3616.82 0.00 0.00 3.73 0.000 0.000 0.149 2478.31 2450.88 2505.75 1817.75 4008.69 0 0 0 30.00 30.00 16.05

3845.61 1060 -117.30 -1.97 0.00 2477.6 2448.9 2506.2 1817.8 4009.3 147.80 -1.57 270 3851.81 0.00 0.00 3.57 0.000 0.000 0.091 2478.81 2450.44 2507.19 1817.69 2572.06 0 0 0 30.00 30.00 16.10

4230.62 32 -117.30 -1.97 0.00 2477.7 2448.6 2506.8 1817.8 2572.0 151.83 -1.02 287 4232.14 0.00 0.00 0.00 0.000 0.000 0.000 2478.28 2449.56 2507.00 1818.50 2571.56 0 0 0 30.00 30.00 30.00

4500 end dive: NO_VERTICAL_VELOCITY

state 4500 begin apogee

4502.07 10243 0.00 -0.37 0.00 2477.5 2449.1 2505.9 1818.1 2729.7 153.60 0.00 296 4616.85 105.82 2.80 0.07 1.238 0.186 0.261 1998.09 1918.38 2077.81 2205.88 2697.25 0 0 0 11.81 16.00 15.54

4618 end apogee: CONTROL_FINISHED_OK

state 4618 begin climb

4619.35 10503 117.30 1.97 80.00 1996.5 1916.6 2076.5 2206.2 2697.3 151.36 0.00 299 4734.55 99.74 3.86 3.72 1.145 0.106 0.148 1520.31 1408.19 1632.44 2773.62 4006.12 0 0 0 11.75 15.58 15.33

4782.03 1028 117.30 1.97 0.00 1515.6 1408.9 1622.4 2775.5 4006.4 117.37 26.67 327 4788.08 0.00 0.00 3.42 0.000 0.000 0.085 1515.56 1409.06 1622.06 2775.06 2696.25 0 0 0 30.00 30.00 15.50

5152.74 16902 117.30 1.97 -80.00 1511.9 1408.9 1614.9 2775.3 2695.9 44.48 15.79 341 5160.44 0.00 0.00 4.05 0.000 0.000 0.164 1511.22 1408.75 1613.69 2775.38 1247.94 0 0 0 30.00 30.00 15.68

5388.68 11303 323.36 2.79 0.00 1511.4 1411.7 1611.1 2774.6 1248.2 41.40 -1.65 388 5720.55 314.10 1.26 3.68 0.979 0.078 0.075 683.03 566.56 799.50 2976.44 2733.94 0 0 0 11.92 15.78 15.80

6023.82 10535 499.48 3.49 80.00 678.2 566.3 790.0 2977.5 2734.2 7.90 -0.08 482 6103.16 67.84 1.07 3.55 0.954 0.084 0.146 500.62 407.94 593.31 3148.25 4007.38 0 0 0 11.65 15.66 15.42

6196 end climb: SURFACE_DEPTH_REACHED

state 6196 begin surface coast

6206 end surface coast: CONTROL_FINISHED_OK

state 6206 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	77	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	13.486593	FG_AHR_10V	4.4275122	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	20.573978	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	160823,101212,7601.546,-14220.202,0,9255.0,0,15.8	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	4.03	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160823,101212,7601.546,-14220.202,0,9255.0,0,15.8	MHEAD_RNG_PITCHd_Wd	204.8,76889,-20.2,-9.167,-25.06,1949,0.111
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	1692187170,148.6,start	_10V_AH	14.91,0.000
FREEZE	0.82,0.184,-1.367,2,57,0	FG_AHR_24Vo	20.753
FINISH	0.8,1.020150	FG_AHR_10Vo	4.471
SM_CCo	6247.78,0.12,0.196,0,499.3,409.1,589.5,368.13	MEM0	59796,1,0,0
SM_GC	4.07,0.12,19.99,3.68,0.196,0.121,0.086,499.3,409.1,589.5,220.0,2574.0,0,0,0,15.68,15.54,15.59	MEM1	65508,1,0,0
SURF	below D_CALL,4.065015/3.000000	MEM2	1023072,31,22556,116
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12961,518
IRIDIUM_FIX	7559.12,-14226.97,130823,164047	CAP_FILE_SIZE	165206,0
TCM_TEMP	1.96	SDSIZE	3918848,3883744
SC_FREEKB	3854112	SDFILEDIR	600,78
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	7601.545898,-14220.202148,160823,101012,8,255,0.01	SOUNDSPEED	1465.0
HUMID	48.06	MAGCAL	1.000000,-0.029216,-0.068334,-0.074338,1.050902,-0.083787,0.070864,0.050481,0.984376,-1039.6,-160.2,402.0,36,0.1295,0
TEMP	-0.09	IMPLIED_C_PITCH	2308,13.48,163,0.0,13.48
INTERNAL_PRESSURE	8.09624	GPS	160823,101212,7601.546,-14220.202,0,9255.0,0,15.8
_24V_AH	14.82,24.293

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	668	1238	12268.68	nil	0	0	0.00
Pitch_motor	42	308	193.13	nil	0	0	0.00
Roll_motor	44	261	173.13	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	1890	5	144.34	SciCon	6211	6	596.94
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4355	0	20.78
Compass	887	5	66.16
RAFOS	9	40	5.56
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7.25	16386	-117.30	-1.97	0.00	499.0	414.3	583.6	218.6	2613.6	0.00	0.00	0	28.64	20.34	0.00	0.00	0.006	0.000	0.000	866.94	820.25	913.62	218.62	2613.69	0	0	0	15.82	30.00	30.00
28.86	18435	-117.30	-1.97	0.00	867.0	820.1	913.9	218.7	2613.9	3.49	-9.84	2	109.19	60.58	13.33	0.00	0.005	0.308	0.000	2474.75	2454.31	2495.19	1817.81	2613.62	0	0	0	15.82	15.61	30.00
432.27	548	-117.30	-1.97	-80.00	2480.7	2455.1	2506.2	1818.0	2613.5	57.98	-7.56	29	438.20	0.00	0.00	3.95	0.000	0.000	0.166	2480.97	2453.69	2508.25	1816.62	1191.44	0	0	0	30.00	30.00	15.80
667.34	1060	-117.30	-1.97	0.00	2480.1	2453.5	2506.8	1818.0	1190.9	66.46	-3.03	76	673.19	0.00	0.00	3.52	0.000	0.000	0.078	2480.81	2454.38	2507.25	1818.00	2613.56	0	0	0	30.00	30.00	15.91
1052.35	32	-117.30	-1.97	0.00	2478.9	2451.4	2506.5	1818.0	2612.9	79.16	-4.03	93	1053.79	0.00	0.00	0.00	0.000	0.000	0.000	2479.66	2451.19	2508.12	1816.06	2611.94	0	0	0	30.00	30.00	30.00
1442.42	548	-117.30	-1.97	-80.00	2478.6	2450.4	2506.8	1817.6	2612.9	93.53	-3.30	106	1448.75	0.00	0.00	3.88	0.000	0.000	0.163	2478.34	2449.56	2507.12	1818.25	1192.62	0	0	0	30.00	30.00	15.94
1677.49	1060	-117.30	-1.97	0.00	2478.5	2450.2	2506.7	1818.2	1192.8	101.29	-3.18	153	1683.66	0.00	0.00	3.47	0.000	0.000	0.076	2476.56	2448.50	2504.62	1817.88	2613.88	0	0	0	30.00	30.00	16.02
2062.51	32	-117.30	-1.97	0.00	2478.5	2450.2	2506.8	1818.1	2614.8	111.06	-2.63	170	2064.04	0.00	0.00	0.00	0.000	0.000	0.000	2477.03	2449.38	2504.69	1818.00	2614.38	0	0	0	30.00	30.00	30.00
2452.52	32	-117.30	-1.97	0.00	2478.1	2449.8	2506.4	1818.3	2614.6	121.57	-2.37	183	2454.04	0.00	0.00	0.00	0.000	0.000	0.000	2476.75	2448.75	2504.75	1818.06	2614.50	0	0	0	30.00	30.00	30.00
2842.53	32	-117.30	-1.97	0.00	2478.5	2450.1	2506.8	1817.8	2614.1	129.32	-2.12	196	2844.05	0.00	0.00	0.00	0.000	0.000	0.000	2479.22	2451.38	2507.06	1816.50	2613.62	0	0	0	30.00	30.00	30.00
3220.52	32	-117.30	-1.97	0.00	2478.1	2449.8	2506.3	1817.8	2614.4	137.18	-1.85	210	3222.05	0.00	0.00	0.00	0.000	0.000	0.000	2479.09	2451.19	2507.00	1816.75	2613.81	0	0	0	30.00	30.00	30.00
3610.53	292	-117.30	-1.97	80.00	2478.2	2450.2	2506.2	1818.1	2614.3	144.03	-1.72	223	3616.82	0.00	0.00	3.73	0.000	0.000	0.149	2478.31	2450.88	2505.75	1817.75	4008.69	0	0	0	30.00	30.00	16.05
3845.61	1060	-117.30	-1.97	0.00	2477.6	2448.9	2506.2	1817.8	4009.3	147.80	-1.57	270	3851.81	0.00	0.00	3.57	0.000	0.000	0.091	2478.81	2450.44	2507.19	1817.69	2572.06	0	0	0	30.00	30.00	16.10
4230.62	32	-117.30	-1.97	0.00	2477.7	2448.6	2506.8	1817.8	2572.0	151.83	-1.02	287	4232.14	0.00	0.00	0.00	0.000	0.000	0.000	2478.28	2449.56	2507.00	1818.50	2571.56	0	0	0	30.00	30.00	30.00
4500	end dive: NO_VERTICAL_VELOCITY
state	4500	begin apogee
4502.07	10243	0.00	-0.37	0.00	2477.5	2449.1	2505.9	1818.1	2729.7	153.60	0.00	296	4616.85	105.82	2.80	0.07	1.238	0.186	0.261	1998.09	1918.38	2077.81	2205.88	2697.25	0	0	0	11.81	16.00	15.54
4618	end apogee: CONTROL_FINISHED_OK
state	4618	begin climb
4619.35	10503	117.30	1.97	80.00	1996.5	1916.6	2076.5	2206.2	2697.3	151.36	0.00	299	4734.55	99.74	3.86	3.72	1.145	0.106	0.148	1520.31	1408.19	1632.44	2773.62	4006.12	0	0	0	11.75	15.58	15.33
4782.03	1028	117.30	1.97	0.00	1515.6	1408.9	1622.4	2775.5	4006.4	117.37	26.67	327	4788.08	0.00	0.00	3.42	0.000	0.000	0.085	1515.56	1409.06	1622.06	2775.06	2696.25	0	0	0	30.00	30.00	15.50
5152.74	16902	117.30	1.97	-80.00	1511.9	1408.9	1614.9	2775.3	2695.9	44.48	15.79	341	5160.44	0.00	0.00	4.05	0.000	0.000	0.164	1511.22	1408.75	1613.69	2775.38	1247.94	0	0	0	30.00	30.00	15.68
5388.68	11303	323.36	2.79	0.00	1511.4	1411.7	1611.1	2774.6	1248.2	41.40	-1.65	388	5720.55	314.10	1.26	3.68	0.979	0.078	0.075	683.03	566.56	799.50	2976.44	2733.94	0	0	0	11.92	15.78	15.80
6023.82	10535	499.48	3.49	80.00	678.2	566.3	790.0	2977.5	2734.2	7.90	-0.08	482	6103.16	67.84	1.07	3.55	0.954	0.084	0.146	500.62	407.94	593.31	3148.25	4007.38	0	0	0	11.65	15.66	15.42
6196	end climb: SURFACE_DEPTH_REACHED
state	6196	begin surface coast
6206	end surface coast: CONTROL_FINISHED_OK
state	6206	begin surface