Glider dive log

AMOS Jul22 * SG240 * Dive index * Mission links * Dive 10 * 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 10 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 150 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 50 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 1818.0808 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 16.398289 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 27.840555 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 11.0976 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 180 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 150 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 27.840555 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 11.0976 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 16.398289 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 180 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 50

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 1818.0808 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 10 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 140722,030512,4719.045,-12523.554,1,0.9,3,15.8 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.53 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -51.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140722,030818,4719.014,-12523.524,3,0.9,4,15.8 MHEAD_RNG_PITCHd_Wd 187.8,20000,-17.6,-10.000,-21.24,2209,0.217

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME HEADING 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 4708.215,-12523.524

Post-dive calculations and measurements:

NET xmit part outbox0000.n 931 0 FG_AHR_24Vo 11.268

NET_PING 1657769119,25,1664.302490,25.000000,-1.314234 FG_AHR_10Vo 27.882

NAV 1657771144,15.7,start MEM0 60108,1,0,0

FINISH 0.5,1.022695 MEM1 65508,1,0,0

SM_CCo 3360.40,111.47,0.932,0,541.1,561.9,520.4,692.45 MEM2 966700,24,80208,59

SM_GC 1.63,111.47,13.03,0.09,0.932,0.067,0.157,541.1,561.9,520.4,192.4,2176.6,0,0,0,11.70,15.71,15.70 DATA_FILE_SIZE 12932,467

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 327016,0

IRIDIUM_FIX 4719.67,-12524.51,140722,020542 SDSIZE 3887104,3868256

TCM_TEMP 18.12 SDFILEDIR 138,1

SC_FREEKB 3875584 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

RAFOS_FIX 6033.735352,-9800.300781,140722,010100,2,510,3867.59 CURRENT 0.080,145.1,1

HUMID 50.42 MAGCAL 1.000000,-0.004661,-0.114752,-0.022627,1.108225,-0.103289,0.025797,-0.029045,1.102212,182.6,-837.7,-461.1,23,0.0303,0

TEMP 10.78 IMPLIED_C_PITCH 1816,16.30,238,1817.2,16.35

INTERNAL_PRESSURE 8.02146 IMPLIED_C_VBD 3683,48.285797,172,3464.0

_24V_AH 14.89,12.794 GPS 140722,040512,4718.587,-12523.619,1,1.4,4,15.8

_10V_AH 14.86,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 702 1105 11564.80 nil 0 0 0.00

Pitch_motor 29 240 104.19 nil 0 0 0.00

Roll_motor 57 201 172.93 nil 0 0 0.00

Iridium 122 213 391.53 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.95 nil 0 0 0.00

Core 2112 5 160.73 SciCon 3226 6 310.69

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1294 0 6.16

Compass 936 5 69.57

RAFOS 2708 40 1609.80

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

6.74 16386 -145.99 -1.25 0.00 537.1 555.1 519.1 187.4 2134.2 0.00 0.00 0 91.98 81.28 0.00 0.00 0.005 0.000 0.000 2773.97 2801.62 2746.31 187.62 2133.75 0 0 0 15.76 30.00 30.00

92.29 18727 -145.99 -1.25 80.00 2773.9 2800.5 2747.4 187.4 2133.7 3.29 -2.36 16 142.82 26.30 10.18 3.68 0.006 0.240 0.123 3960.59 4009.44 3911.75 1511.62 3615.38 0 0 0 15.82 15.67 15.74

261.30 3205 -145.99 -1.11 0.00 3962.3 4009.1 3915.6 1512.9 3615.8 38.20 -18.98 49 268.22 0.00 0.26 3.52 0.000 0.163 0.057 3963.41 4009.88 3916.94 1551.19 2124.00 0 0 0 30.00 15.78 15.83

451.59 516 -145.99 -1.11 -80.00 3963.0 4010.6 3915.4 1551.1 2123.2 65.47 -13.04 76 457.71 0.00 0.00 3.62 0.000 0.000 0.125 3963.41 4011.38 3915.44 1551.25 681.81 0 0 0 30.00 30.00 15.85

651.81 1156 -145.99 -1.04 0.00 3964.7 4014.0 3915.4 1550.7 681.8 89.51 -10.20 116 657.93 0.00 0.00 3.43 0.000 0.000 0.057 3964.75 4014.06 3915.44 1551.19 2171.38 0 0 0 30.00 30.00 15.92

841.89 160 -145.99 -1.08 0.00 3965.4 4014.8 3916.1 1550.6 2171.3 108.51 -9.75 136 843.50 0.00 0.00 0.00 0.000 0.000 0.000 3964.66 4014.62 3914.69 1551.19 2171.75 0 0 0 30.00 30.00 30.00

1032.58 548 -145.99 -1.08 -80.00 3965.5 4015.2 3915.8 1550.9 2171.4 125.08 -8.20 155 1039.20 0.00 0.00 3.71 0.000 0.000 0.121 3965.75 4015.50 3916.00 1551.12 683.00 0 0 0 30.00 30.00 15.93

1061.99 1060 -145.99 -1.08 0.00 3964.7 4014.1 3915.2 1551.2 683.1 127.88 -8.45 161 1069.59 0.00 0.00 3.41 0.000 0.000 0.056 3966.28 4015.75 3916.81 1551.44 2174.38 0 0 0 30.00 30.00 15.98

1257.85 676 -145.99 -1.11 -80.00 3965.5 4014.8 3916.3 1551.2 2173.8 143.48 -8.15 181 1265.13 0.00 0.00 3.73 0.000 0.000 0.123 3965.50 4015.31 3915.69 1551.00 683.00 0 0 0 30.00 30.00 15.95

1324 end dive: TARGET_DEPTH_EXCEEDED

state 1324 begin apogee

1329.88 10243 0.00 -0.30 0.00 3965.7 4015.2 3916.2 1551.2 2172.1 150.15 -10.48 194 1440.38 102.38 1.30 0.09 1.105 0.137 0.201 3364.03 3425.38 3302.69 1745.19 2117.25 0 0 0 11.82 15.96 15.64

1441 end apogee: CONTROL_FINISHED_OK

state 1441 begin climb

1441.62 10503 145.99 1.25 80.00 3361.8 3422.8 3300.7 1746.0 2117.2 153.46 0.00 205 1565.34 104.50 2.54 3.84 1.081 0.101 0.124 2767.81 2827.06 2708.56 2120.75 3616.56 0 0 0 11.68 15.66 15.44

1611.14 5253 145.99 0.94 0.00 2765.6 2825.1 2706.1 2122.8 3616.9 135.96 16.01 236 1619.27 0.00 0.68 3.55 0.000 0.170 0.058 2765.66 2826.25 2705.06 2037.25 2123.94 0 0 0 30.00 15.52 15.59

1806.80 516 145.99 0.94 -80.00 2761.5 2824.1 2698.9 2037.1 2124.3 114.88 10.17 256 1814.17 0.00 0.00 3.67 0.000 0.000 0.129 2760.94 2822.75 2699.12 2033.25 682.19 0 0 0 30.00 30.00 15.72

1897.03 17542 145.99 0.82 0.00 2757.5 2819.2 2695.7 2036.5 682.4 104.15 12.35 274 1904.65 0.00 0.00 3.46 0.000 0.000 0.059 2759.06 2820.69 2697.44 2036.12 2171.19 0 0 0 30.00 30.00 15.81

2092.77 8226 227.62 0.92 0.00 2757.3 2818.1 2696.5 2036.8 2171.9 88.94 6.20 294 2159.31 59.99 0.00 0.00 1.023 0.000 0.000 2434.00 2511.94 2356.06 2037.44 2171.19 0 0 0 11.73 30.00 30.00

2342.91 10403 311.74 1.15 -80.00 2427.3 2509.3 2345.4 2037.1 2171.6 73.31 6.09 322 2408.60 61.12 0.44 0.00 1.001 0.070 0.000 2090.09 2180.25 1999.94 2107.44 2172.31 0 0 0 11.76 15.82 30.00

2592.93 10919 346.26 1.29 -80.00 2084.5 2178.4 1990.7 2106.2 2171.4 51.72 8.39 347 2630.68 25.75 0.16 3.82 0.947 0.097 0.128 1948.62 2045.19 1852.06 2140.25 683.25 0 0 0 12.23 15.81 15.70

2759.18 1028 346.26 1.29 0.00 1944.9 2041.4 1848.3 2140.1 682.8 33.06 11.28 380 2766.11 0.00 0.00 3.46 0.000 0.000 0.060 1945.75 2042.81 1848.69 2138.38 2172.50 0 0 0 30.00 30.00 15.84

2947.96 10663 452.13 1.54 80.00 1943.2 2041.7 1844.7 2139.4 2172.9 20.14 5.08 417 3034.74 73.96 0.29 3.65 0.960 0.081 0.127 1519.38 1611.25 1427.50 2198.75 3617.19 0 0 0 11.78 15.91 15.67

3053.35 11431 529.91 1.75 0.00 1517.2 1607.6 1426.8 2198.8 3617.3 13.36 6.38 435 3118.64 55.86 0.26 3.54 0.926 0.081 0.058 1204.12 1285.06 1123.19 2249.44 2122.88 0 0 0 11.76 15.71 15.71

3192 end climb: SURFACE_DEPTH_REACHED

state 3192 begin surface coast

3217 end surface coast: CONTROL_FINISHED_OK

state 3217 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	10	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	150	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	50	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	1818.0808	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	16.398289	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	27.840555	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	11.0976	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	180	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	140722,030512,4719.045,-12523.554,1,0.9,3,15.8	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-51.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140722,030818,4719.014,-12523.524,3,0.9,4,15.8	MHEAD_RNG_PITCHd_Wd	187.8,20000,-17.6,-10.000,-21.24,2209,0.217
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	HEADING	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	4708.215,-12523.524

NET	xmit part outbox0000.n 931 0	FG_AHR_24Vo	11.268
NET_PING	1657769119,25,1664.302490,25.000000,-1.314234	FG_AHR_10Vo	27.882
NAV	1657771144,15.7,start	MEM0	60108,1,0,0
FINISH	0.5,1.022695	MEM1	65508,1,0,0
SM_CCo	3360.40,111.47,0.932,0,541.1,561.9,520.4,692.45	MEM2	966700,24,80208,59
SM_GC	1.63,111.47,13.03,0.09,0.932,0.067,0.157,541.1,561.9,520.4,192.4,2176.6,0,0,0,11.70,15.71,15.70	DATA_FILE_SIZE	12932,467
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	327016,0
IRIDIUM_FIX	4719.67,-12524.51,140722,020542	SDSIZE	3887104,3868256
TCM_TEMP	18.12	SDFILEDIR	138,1
SC_FREEKB	3875584	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
RAFOS_FIX	6033.735352,-9800.300781,140722,010100,2,510,3867.59	CURRENT	0.080,145.1,1
HUMID	50.42	MAGCAL	1.000000,-0.004661,-0.114752,-0.022627,1.108225,-0.103289,0.025797,-0.029045,1.102212,182.6,-837.7,-461.1,23,0.0303,0
TEMP	10.78	IMPLIED_C_PITCH	1816,16.30,238,1817.2,16.35
INTERNAL_PRESSURE	8.02146	IMPLIED_C_VBD	3683,48.285797,172,3464.0
_24V_AH	14.89,12.794	GPS	140722,040512,4718.587,-12523.619,1,1.4,4,15.8
_10V_AH	14.86,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	702	1105	11564.80	nil	0	0	0.00
Pitch_motor	29	240	104.19	nil	0	0	0.00
Roll_motor	57	201	172.93	nil	0	0	0.00
Iridium	122	213	391.53	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.95	nil	0	0	0.00
Core	2112	5	160.73	SciCon	3226	6	310.69
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1294	0	6.16
Compass	936	5	69.57
RAFOS	2708	40	1609.80
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
6.74	16386	-145.99	-1.25	0.00	537.1	555.1	519.1	187.4	2134.2	0.00	0.00	0	91.98	81.28	0.00	0.00	0.005	0.000	0.000	2773.97	2801.62	2746.31	187.62	2133.75	0	0	0	15.76	30.00	30.00
92.29	18727	-145.99	-1.25	80.00	2773.9	2800.5	2747.4	187.4	2133.7	3.29	-2.36	16	142.82	26.30	10.18	3.68	0.006	0.240	0.123	3960.59	4009.44	3911.75	1511.62	3615.38	0	0	0	15.82	15.67	15.74
261.30	3205	-145.99	-1.11	0.00	3962.3	4009.1	3915.6	1512.9	3615.8	38.20	-18.98	49	268.22	0.00	0.26	3.52	0.000	0.163	0.057	3963.41	4009.88	3916.94	1551.19	2124.00	0	0	0	30.00	15.78	15.83
451.59	516	-145.99	-1.11	-80.00	3963.0	4010.6	3915.4	1551.1	2123.2	65.47	-13.04	76	457.71	0.00	0.00	3.62	0.000	0.000	0.125	3963.41	4011.38	3915.44	1551.25	681.81	0	0	0	30.00	30.00	15.85
651.81	1156	-145.99	-1.04	0.00	3964.7	4014.0	3915.4	1550.7	681.8	89.51	-10.20	116	657.93	0.00	0.00	3.43	0.000	0.000	0.057	3964.75	4014.06	3915.44	1551.19	2171.38	0	0	0	30.00	30.00	15.92
841.89	160	-145.99	-1.08	0.00	3965.4	4014.8	3916.1	1550.6	2171.3	108.51	-9.75	136	843.50	0.00	0.00	0.00	0.000	0.000	0.000	3964.66	4014.62	3914.69	1551.19	2171.75	0	0	0	30.00	30.00	30.00
1032.58	548	-145.99	-1.08	-80.00	3965.5	4015.2	3915.8	1550.9	2171.4	125.08	-8.20	155	1039.20	0.00	0.00	3.71	0.000	0.000	0.121	3965.75	4015.50	3916.00	1551.12	683.00	0	0	0	30.00	30.00	15.93
1061.99	1060	-145.99	-1.08	0.00	3964.7	4014.1	3915.2	1551.2	683.1	127.88	-8.45	161	1069.59	0.00	0.00	3.41	0.000	0.000	0.056	3966.28	4015.75	3916.81	1551.44	2174.38	0	0	0	30.00	30.00	15.98
1257.85	676	-145.99	-1.11	-80.00	3965.5	4014.8	3916.3	1551.2	2173.8	143.48	-8.15	181	1265.13	0.00	0.00	3.73	0.000	0.000	0.123	3965.50	4015.31	3915.69	1551.00	683.00	0	0	0	30.00	30.00	15.95
1324	end dive: TARGET_DEPTH_EXCEEDED
state	1324	begin apogee
1329.88	10243	0.00	-0.30	0.00	3965.7	4015.2	3916.2	1551.2	2172.1	150.15	-10.48	194	1440.38	102.38	1.30	0.09	1.105	0.137	0.201	3364.03	3425.38	3302.69	1745.19	2117.25	0	0	0	11.82	15.96	15.64
1441	end apogee: CONTROL_FINISHED_OK
state	1441	begin climb
1441.62	10503	145.99	1.25	80.00	3361.8	3422.8	3300.7	1746.0	2117.2	153.46	0.00	205	1565.34	104.50	2.54	3.84	1.081	0.101	0.124	2767.81	2827.06	2708.56	2120.75	3616.56	0	0	0	11.68	15.66	15.44
1611.14	5253	145.99	0.94	0.00	2765.6	2825.1	2706.1	2122.8	3616.9	135.96	16.01	236	1619.27	0.00	0.68	3.55	0.000	0.170	0.058	2765.66	2826.25	2705.06	2037.25	2123.94	0	0	0	30.00	15.52	15.59
1806.80	516	145.99	0.94	-80.00	2761.5	2824.1	2698.9	2037.1	2124.3	114.88	10.17	256	1814.17	0.00	0.00	3.67	0.000	0.000	0.129	2760.94	2822.75	2699.12	2033.25	682.19	0	0	0	30.00	30.00	15.72
1897.03	17542	145.99	0.82	0.00	2757.5	2819.2	2695.7	2036.5	682.4	104.15	12.35	274	1904.65	0.00	0.00	3.46	0.000	0.000	0.059	2759.06	2820.69	2697.44	2036.12	2171.19	0	0	0	30.00	30.00	15.81
2092.77	8226	227.62	0.92	0.00	2757.3	2818.1	2696.5	2036.8	2171.9	88.94	6.20	294	2159.31	59.99	0.00	0.00	1.023	0.000	0.000	2434.00	2511.94	2356.06	2037.44	2171.19	0	0	0	11.73	30.00	30.00
2342.91	10403	311.74	1.15	-80.00	2427.3	2509.3	2345.4	2037.1	2171.6	73.31	6.09	322	2408.60	61.12	0.44	0.00	1.001	0.070	0.000	2090.09	2180.25	1999.94	2107.44	2172.31	0	0	0	11.76	15.82	30.00
2592.93	10919	346.26	1.29	-80.00	2084.5	2178.4	1990.7	2106.2	2171.4	51.72	8.39	347	2630.68	25.75	0.16	3.82	0.947	0.097	0.128	1948.62	2045.19	1852.06	2140.25	683.25	0	0	0	12.23	15.81	15.70
2759.18	1028	346.26	1.29	0.00	1944.9	2041.4	1848.3	2140.1	682.8	33.06	11.28	380	2766.11	0.00	0.00	3.46	0.000	0.000	0.060	1945.75	2042.81	1848.69	2138.38	2172.50	0	0	0	30.00	30.00	15.84
2947.96	10663	452.13	1.54	80.00	1943.2	2041.7	1844.7	2139.4	2172.9	20.14	5.08	417	3034.74	73.96	0.29	3.65	0.960	0.081	0.127	1519.38	1611.25	1427.50	2198.75	3617.19	0	0	0	11.78	15.91	15.67
3053.35	11431	529.91	1.75	0.00	1517.2	1607.6	1426.8	2198.8	3617.3	13.36	6.38	435	3118.64	55.86	0.26	3.54	0.926	0.081	0.058	1204.12	1285.06	1123.19	2249.44	2122.88	0	0	0	11.76	15.71	15.71
3192	end climb: SURFACE_DEPTH_REACHED
state	3192	begin surface coast
3217	end surface coast: CONTROL_FINISHED_OK
state	3217	begin surface