Glider dive log

AMOS Jul22 * SG240 * Dive index * Mission links * Dive 11 * 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 11 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 1817.2338 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 16.347479 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 27.886892 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 11.278016 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 27.886892 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 11.278016 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 16.347479 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 1817.2338 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 11 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 140722,040512,4718.587,-12523.619,1,1.4,4,15.8 TGT_RADIUS 1852.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -50.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140722,041039,4718.535,-12523.599,3,1.0,27,15.8 MHEAD_RNG_PITCHd_Wd 174.4,20000,-17.6,-10.000,-21.24,2209,0.171

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 4707.736,-12523.599

Post-dive calculations and measurements:

NAV 1657774743,15.8,start FG_AHR_10Vo 27.928

FINISH 1.1,1.022774 MEM0 60108,1,0,0

SM_CCo 3307.76,106.71,0.928,0,541.5,558.2,524.8,692.36 MEM1 65508,1,0,0

SM_GC 1.52,106.71,12.82,3.47,0.928,0.048,0.055,541.5,558.2,524.8,185.2,2170.0,0,0,0,11.71,15.64,15.64 MEM2 966664,22,80284,59

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12926,471

IRIDIUM_FIX 4718.38,-12522.67,140722,040624 CAP_FILE_SIZE 342362,0

TCM_TEMP 18.26 SDSIZE 3887104,3867936

SC_FREEKB 3875264 SDFILEDIR 145,1

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

RAFOS_FIX 6033.735352,-9800.300781,140722,010100,2,510,3867.59 SOUNDSPEED 1465.0

HUMID 50.24 CURRENT 0.060,152.2,1

TEMP 10.88 MAGCAL 1.000000,-0.000135,-0.091734,-0.023678,1.088985,-0.062244,0.026576,-0.040921,1.077459,152.9,-865.3,-454.5,25,0.0322,0

INTERNAL_PRESSURE 8.02184 IMPLIED_C_PITCH 1820,16.03,231,1818.5,16.19

_24V_AH 14.85,13.018 IMPLIED_C_VBD 3722,27.936230,162,3464.0

_10V_AH 14.85,0.000 GPS 140722,050646,4718.119,-12523.624,1,1.0,3,15.8

FG_AHR_24Vo 11.448

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 707 1100 11554.55 nil 0 0 0.00

Pitch_motor 29 241 104.91 nil 0 0 0.00

Roll_motor 72 195 209.21 nil 0 0 0.00

Iridium 199 206 612.16 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 35 15 8.02 nil 0 0 0.00

Core 2194 5 166.88 SciCon 3173 6 304.77

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1304 0 6.20

Compass 938 5 69.68

RAFOS 2706 40 1607.95

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 -1.26 0.00 536.3 555.5 517.2 192.2 2130.2 0.00 0.00 0 91.98 81.30 0.00 0.00 0.005 0.000 0.000 2769.53 2790.75 2748.31 192.31 2131.56 0 0 0 15.83 30.00 30.00

92.28 18727 -145.99 -1.26 80.00 2767.8 2788.9 2746.6 192.2 2131.1 3.19 -2.20 16 143.05 26.99 10.19 3.68 0.006 0.242 0.122 3960.31 4009.00 3911.62 1512.12 3616.38 0 0 0 15.86 15.71 15.78

310.70 1156 -145.99 -1.17 0.00 3962.5 4009.1 3915.9 1511.7 3616.5 45.20 -16.74 58 317.43 0.00 0.00 3.53 0.000 0.000 0.057 3962.88 4009.06 3916.69 1511.75 2121.38 0 0 0 30.00 30.00 15.87

500.87 2693 -145.99 -1.10 -80.00 3962.7 4009.6 3915.8 1512.4 2121.7 74.61 -14.83 80 508.24 0.00 0.28 3.61 0.000 0.157 0.124 3962.06 4008.94 3915.19 1551.69 681.81 0 0 0 30.00 15.87 15.87

736.76 1028 -145.99 -1.10 0.00 3964.6 4013.9 3915.4 1551.9 682.1 104.28 -11.80 127 742.97 0.00 0.00 3.42 0.000 0.000 0.056 3965.16 4013.81 3916.50 1550.94 2173.12 0 0 0 30.00 30.00 15.96

926.95 160 -145.99 -1.14 0.00 3965.0 4014.4 3915.6 1551.7 2172.9 120.78 -8.33 147 928.57 0.00 0.00 0.00 0.000 0.000 0.000 3964.12 4012.94 3915.31 1551.56 2172.56 0 0 0 30.00 30.00 30.00

1116.97 676 -145.99 -1.17 -80.00 3965.4 4014.9 3915.9 1551.6 2172.1 137.34 -9.27 166 1124.25 0.00 0.00 3.72 0.000 0.000 0.121 3964.59 4013.50 3915.69 1551.62 682.31 0 0 0 30.00 30.00 15.95

1182.82 1156 -145.99 -1.13 0.00 3965.0 4014.4 3915.6 1551.3 682.1 144.59 -11.08 179 1188.93 0.00 0.00 3.40 0.000 0.000 0.056 3965.38 4015.25 3915.50 1552.00 2171.75 0 0 0 30.00 30.00 16.00

1243 end dive: TARGET_DEPTH_EXCEEDED

state 1243 begin apogee

1244.10 10243 0.00 -0.31 0.00 3965.8 4014.7 3916.8 1551.9 2114.7 150.25 -9.22 186 1354.51 101.96 1.28 0.10 1.101 0.132 0.195 3361.88 3422.25 3301.50 1744.44 2180.25 0 0 0 11.80 15.96 15.65

1356 end apogee: CONTROL_FINISHED_OK

state 1356 begin climb

1355.74 10503 145.99 1.26 80.00 3361.4 3422.5 3300.4 1743.9 2179.5 153.13 0.00 196 1476.34 103.90 2.57 3.68 1.074 0.103 0.125 2767.22 2825.56 2708.88 2120.19 3617.62 0 0 0 11.77 15.66 15.44

1484.91 5253 145.99 0.99 0.00 2766.4 2825.6 2707.2 2123.1 3618.1 141.16 14.18 218 1492.55 0.00 0.59 3.58 0.000 0.178 0.057 2765.03 2824.62 2705.44 2051.38 2123.88 0 0 0 30.00 15.46 15.51

1679.93 644 145.99 0.94 -80.00 2762.1 2823.7 2700.6 2050.6 2124.0 118.58 10.37 238 1687.20 0.00 0.00 3.63 0.000 0.000 0.127 2760.47 2822.44 2698.50 2047.88 682.88 0 0 0 30.00 30.00 15.70

1695.76 21639 145.99 0.86 0.00 2759.2 2819.2 2699.1 2050.4 683.2 116.88 10.33 241 1703.29 0.00 0.21 3.48 0.000 0.171 0.056 2757.66 2817.88 2697.44 2017.94 2170.25 0 0 0 30.00 15.69 15.75

1890.84 10663 223.77 0.99 80.00 2758.5 2818.4 2698.5 2018.0 2170.7 102.86 6.38 261 1958.35 57.32 0.29 3.66 1.024 0.069 0.126 2449.50 2524.44 2374.56 2066.56 3615.88 0 0 0 11.80 15.83 15.63

1966.82 1028 223.77 0.99 0.00 2448.2 2523.6 2372.9 2070.9 3615.5 96.08 10.31 274 1973.08 0.00 0.00 3.55 0.000 0.000 0.058 2447.59 2523.69 2371.50 2070.06 2124.38 0 0 0 30.00 30.00 15.69

2156.98 8870 228.74 1.04 -80.00 2444.4 2522.9 2365.9 2070.9 2122.5 75.78 9.77 294 2169.29 5.29 0.00 3.62 0.618 0.000 0.129 2427.69 2505.56 2349.81 2070.56 682.94 0 0 0 11.76 30.00 15.76

2217.91 9382 253.26 1.03 0.00 2427.0 2505.0 2349.1 2070.6 682.8 70.42 8.86 306 2246.26 20.36 0.00 3.48 0.951 0.000 0.056 2332.50 2415.06 2249.94 2070.69 2172.44 0 0 0 11.84 30.00 15.83

2432.94 10919 335.34 1.24 -80.00 2324.1 2409.0 2239.2 2069.8 2172.5 57.57 6.18 330 2502.88 59.29 0.32 3.79 0.992 0.074 0.126 1995.38 2089.06 1901.69 2125.81 683.19 0 0 0 11.85 15.88 15.67

2541.35 1028 335.34 1.24 0.00 1989.8 2084.4 1895.3 2127.9 683.1 46.26 13.08 351 2548.33 0.00 0.00 3.49 0.000 0.000 0.057 1990.19 2085.50 1894.88 2128.00 2171.62 0 0 0 30.00 30.00 15.76

2729.95 8870 346.92 1.34 -80.00 1987.0 2084.5 1889.5 2127.9 2171.6 26.52 9.46 388 2747.54 9.48 0.00 3.77 0.813 0.000 0.127 1949.19 2046.69 1851.69 2127.88 682.19 0 0 0 11.87 30.00 15.79

2806.15 11431 378.03 1.42 0.00 1946.3 2042.3 1850.4 2127.8 682.0 19.66 8.55 403 2839.69 24.23 0.21 3.46 0.926 0.087 0.057 1821.09 1918.81 1723.38 2173.31 2172.81 0 0 0 11.82 15.87 15.88

3022.45 10919 536.54 1.77 -80.00 1815.7 1916.6 1714.8 2173.3 2172.8 10.95 2.63 444 3146.12 110.18 0.46 3.83 0.948 0.073 0.127 1176.22 1253.56 1098.88 2255.81 684.38 0 0 0 11.80 15.86 15.56

3160 end climb: SURFACE_DEPTH_REACHED

state 3160 begin surface coast

3165 end surface coast: CONTROL_FINISHED_OK

state 3165 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	11	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	1817.2338	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	16.347479	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	27.886892	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	11.278016	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	140722,040512,4718.587,-12523.619,1,1.4,4,15.8	TGT_RADIUS	1852.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.50	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-50.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140722,041039,4718.535,-12523.599,3,1.0,27,15.8	MHEAD_RNG_PITCHd_Wd	174.4,20000,-17.6,-10.000,-21.24,2209,0.171
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	4707.736,-12523.599

NAV	1657774743,15.8,start	FG_AHR_10Vo	27.928
FINISH	1.1,1.022774	MEM0	60108,1,0,0
SM_CCo	3307.76,106.71,0.928,0,541.5,558.2,524.8,692.36	MEM1	65508,1,0,0
SM_GC	1.52,106.71,12.82,3.47,0.928,0.048,0.055,541.5,558.2,524.8,185.2,2170.0,0,0,0,11.71,15.64,15.64	MEM2	966664,22,80284,59
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12926,471
IRIDIUM_FIX	4718.38,-12522.67,140722,040624	CAP_FILE_SIZE	342362,0
TCM_TEMP	18.26	SDSIZE	3887104,3867936
SC_FREEKB	3875264	SDFILEDIR	145,1
RAFOS_CLK	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	6033.735352,-9800.300781,140722,010100,2,510,3867.59	SOUNDSPEED	1465.0
HUMID	50.24	CURRENT	0.060,152.2,1
TEMP	10.88	MAGCAL	1.000000,-0.000135,-0.091734,-0.023678,1.088985,-0.062244,0.026576,-0.040921,1.077459,152.9,-865.3,-454.5,25,0.0322,0
INTERNAL_PRESSURE	8.02184	IMPLIED_C_PITCH	1820,16.03,231,1818.5,16.19
_24V_AH	14.85,13.018	IMPLIED_C_VBD	3722,27.936230,162,3464.0
_10V_AH	14.85,0.000	GPS	140722,050646,4718.119,-12523.624,1,1.0,3,15.8
FG_AHR_24Vo	11.448

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	707	1100	11554.55	nil	0	0	0.00
Pitch_motor	29	241	104.91	nil	0	0	0.00
Roll_motor	72	195	209.21	nil	0	0	0.00
Iridium	199	206	612.16	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	35	15	8.02	nil	0	0	0.00
Core	2194	5	166.88	SciCon	3173	6	304.77
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1304	0	6.20
Compass	938	5	69.68
RAFOS	2706	40	1607.95
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	-1.26	0.00	536.3	555.5	517.2	192.2	2130.2	0.00	0.00	0	91.98	81.30	0.00	0.00	0.005	0.000	0.000	2769.53	2790.75	2748.31	192.31	2131.56	0	0	0	15.83	30.00	30.00
92.28	18727	-145.99	-1.26	80.00	2767.8	2788.9	2746.6	192.2	2131.1	3.19	-2.20	16	143.05	26.99	10.19	3.68	0.006	0.242	0.122	3960.31	4009.00	3911.62	1512.12	3616.38	0	0	0	15.86	15.71	15.78
310.70	1156	-145.99	-1.17	0.00	3962.5	4009.1	3915.9	1511.7	3616.5	45.20	-16.74	58	317.43	0.00	0.00	3.53	0.000	0.000	0.057	3962.88	4009.06	3916.69	1511.75	2121.38	0	0	0	30.00	30.00	15.87
500.87	2693	-145.99	-1.10	-80.00	3962.7	4009.6	3915.8	1512.4	2121.7	74.61	-14.83	80	508.24	0.00	0.28	3.61	0.000	0.157	0.124	3962.06	4008.94	3915.19	1551.69	681.81	0	0	0	30.00	15.87	15.87
736.76	1028	-145.99	-1.10	0.00	3964.6	4013.9	3915.4	1551.9	682.1	104.28	-11.80	127	742.97	0.00	0.00	3.42	0.000	0.000	0.056	3965.16	4013.81	3916.50	1550.94	2173.12	0	0	0	30.00	30.00	15.96
926.95	160	-145.99	-1.14	0.00	3965.0	4014.4	3915.6	1551.7	2172.9	120.78	-8.33	147	928.57	0.00	0.00	0.00	0.000	0.000	0.000	3964.12	4012.94	3915.31	1551.56	2172.56	0	0	0	30.00	30.00	30.00
1116.97	676	-145.99	-1.17	-80.00	3965.4	4014.9	3915.9	1551.6	2172.1	137.34	-9.27	166	1124.25	0.00	0.00	3.72	0.000	0.000	0.121	3964.59	4013.50	3915.69	1551.62	682.31	0	0	0	30.00	30.00	15.95
1182.82	1156	-145.99	-1.13	0.00	3965.0	4014.4	3915.6	1551.3	682.1	144.59	-11.08	179	1188.93	0.00	0.00	3.40	0.000	0.000	0.056	3965.38	4015.25	3915.50	1552.00	2171.75	0	0	0	30.00	30.00	16.00
1243	end dive: TARGET_DEPTH_EXCEEDED
state	1243	begin apogee
1244.10	10243	0.00	-0.31	0.00	3965.8	4014.7	3916.8	1551.9	2114.7	150.25	-9.22	186	1354.51	101.96	1.28	0.10	1.101	0.132	0.195	3361.88	3422.25	3301.50	1744.44	2180.25	0	0	0	11.80	15.96	15.65
1356	end apogee: CONTROL_FINISHED_OK
state	1356	begin climb
1355.74	10503	145.99	1.26	80.00	3361.4	3422.5	3300.4	1743.9	2179.5	153.13	0.00	196	1476.34	103.90	2.57	3.68	1.074	0.103	0.125	2767.22	2825.56	2708.88	2120.19	3617.62	0	0	0	11.77	15.66	15.44
1484.91	5253	145.99	0.99	0.00	2766.4	2825.6	2707.2	2123.1	3618.1	141.16	14.18	218	1492.55	0.00	0.59	3.58	0.000	0.178	0.057	2765.03	2824.62	2705.44	2051.38	2123.88	0	0	0	30.00	15.46	15.51
1679.93	644	145.99	0.94	-80.00	2762.1	2823.7	2700.6	2050.6	2124.0	118.58	10.37	238	1687.20	0.00	0.00	3.63	0.000	0.000	0.127	2760.47	2822.44	2698.50	2047.88	682.88	0	0	0	30.00	30.00	15.70
1695.76	21639	145.99	0.86	0.00	2759.2	2819.2	2699.1	2050.4	683.2	116.88	10.33	241	1703.29	0.00	0.21	3.48	0.000	0.171	0.056	2757.66	2817.88	2697.44	2017.94	2170.25	0	0	0	30.00	15.69	15.75
1890.84	10663	223.77	0.99	80.00	2758.5	2818.4	2698.5	2018.0	2170.7	102.86	6.38	261	1958.35	57.32	0.29	3.66	1.024	0.069	0.126	2449.50	2524.44	2374.56	2066.56	3615.88	0	0	0	11.80	15.83	15.63
1966.82	1028	223.77	0.99	0.00	2448.2	2523.6	2372.9	2070.9	3615.5	96.08	10.31	274	1973.08	0.00	0.00	3.55	0.000	0.000	0.058	2447.59	2523.69	2371.50	2070.06	2124.38	0	0	0	30.00	30.00	15.69
2156.98	8870	228.74	1.04	-80.00	2444.4	2522.9	2365.9	2070.9	2122.5	75.78	9.77	294	2169.29	5.29	0.00	3.62	0.618	0.000	0.129	2427.69	2505.56	2349.81	2070.56	682.94	0	0	0	11.76	30.00	15.76
2217.91	9382	253.26	1.03	0.00	2427.0	2505.0	2349.1	2070.6	682.8	70.42	8.86	306	2246.26	20.36	0.00	3.48	0.951	0.000	0.056	2332.50	2415.06	2249.94	2070.69	2172.44	0	0	0	11.84	30.00	15.83
2432.94	10919	335.34	1.24	-80.00	2324.1	2409.0	2239.2	2069.8	2172.5	57.57	6.18	330	2502.88	59.29	0.32	3.79	0.992	0.074	0.126	1995.38	2089.06	1901.69	2125.81	683.19	0	0	0	11.85	15.88	15.67
2541.35	1028	335.34	1.24	0.00	1989.8	2084.4	1895.3	2127.9	683.1	46.26	13.08	351	2548.33	0.00	0.00	3.49	0.000	0.000	0.057	1990.19	2085.50	1894.88	2128.00	2171.62	0	0	0	30.00	30.00	15.76
2729.95	8870	346.92	1.34	-80.00	1987.0	2084.5	1889.5	2127.9	2171.6	26.52	9.46	388	2747.54	9.48	0.00	3.77	0.813	0.000	0.127	1949.19	2046.69	1851.69	2127.88	682.19	0	0	0	11.87	30.00	15.79
2806.15	11431	378.03	1.42	0.00	1946.3	2042.3	1850.4	2127.8	682.0	19.66	8.55	403	2839.69	24.23	0.21	3.46	0.926	0.087	0.057	1821.09	1918.81	1723.38	2173.31	2172.81	0	0	0	11.82	15.87	15.88
3022.45	10919	536.54	1.77	-80.00	1815.7	1916.6	1714.8	2173.3	2172.8	10.95	2.63	444	3146.12	110.18	0.46	3.83	0.948	0.073	0.127	1176.22	1253.56	1098.88	2255.81	684.38	0	0	0	11.80	15.86	15.56
3160	end climb: SURFACE_DEPTH_REACHED
state	3160	begin surface coast
3165	end surface coast: CONTROL_FINISHED_OK
state	3165	begin surface