Glider dive log

AMOS Jul22 * SG240 * Dive index * Mission links * Dive 12 * 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 12 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 1818.5298 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 16.186726 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 27.934187 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 11.460078 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 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 27.934187 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 11.460078 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 16.186726 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 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 1818.5298 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 12 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 140722,050646,4718.119,-12523.624,1,1.0,3,15.8 TGT_RADIUS 1500.000

_CALLS 4 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.51 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -51.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140722,051539,4718.022,-12523.634,3,1.1,5,15.8 MHEAD_RNG_PITCHd_Wd 331.7,3325,-17.6,-10.000,-21.24,2209,0.158

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME ans0 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 4719.800,-12524.000

Post-dive calculations and measurements:

NET xmit part outbox0001.n 907 0 FG_AHR_24Vo 11.631

NET_PING 1657778711,27,602.371460,36.599998,-0.792510 FG_AHR_10Vo 27.979

NAV 1657778345,66.1,start MEM0 60108,1,0,0

FINISH 1.0,1.022736 MEM1 65508,1,0,0

SM_CCo 3515.39,156.77,0.936,0,541.8,558.6,524.9,692.30 MEM2 966544,27,80284,60

SM_GC 1.49,156.77,13.03,0.09,0.936,0.078,0.149,541.8,558.6,524.9,187.5,2122.1,0,0,0,11.76,15.69,15.71 DATA_FILE_SIZE 12942,486

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 358189,0

IRIDIUM_FIX 4716.91,-12522.67,140722,051147 SDSIZE 3887104,3867616

TCM_TEMP 17.81 SDFILEDIR 153,1

SC_FREEKB 3874944 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

RAFOS_FIX 6033.735352,-9800.300781,140722,010100,2,510,3867.59 CURRENT 0.047,175.5,1

HUMID 50.08 MAGCAL 1.000000,0.007325,0.013836,-0.025343,1.076031,-0.041769,-0.004040,-0.074067,1.012569,73.3,-880.5,-428.1,29,0.0318,0

TEMP 10.59 IMPLIED_C_PITCH 1823,16.18,251,1820.8,16.18

INTERNAL_PRESSURE 8.00757 IMPLIED_C_VBD 3775,48.871887,202,3464.0

_24V_AH 14.86,13.244 GPS 140722,061509,4718.322,-12523.752,1,2.0,4,15.8

_10V_AH 14.82,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 704 1101 11533.14 nil 0 0 0.00

Pitch_motor 30 243 109.51 nil 0 0 0.00

Roll_motor 71 200 214.02 nil 0 0 0.00

Iridium 294 228 997.92 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.17 nil 0 0 0.00

Core 2346 5 178.05 SciCon 3333 6 320.18

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1510 0 7.16

Compass 972 5 72.04

RAFOS 2606 40 1545.08

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

6.70 16386 -145.99 -1.27 0.00 536.8 554.9 518.7 185.1 2129.5 0.00 0.00 0 92.74 82.04 0.00 0.00 0.005 0.000 0.000 2798.50 2820.25 2776.75 184.94 2130.31 0 0 0 15.38 30.00 30.00

93.04 18983 -145.99 -1.27 -80.00 2797.9 2819.8 2776.0 185.1 2130.1 3.29 -2.45 15 143.93 25.99 10.18 3.57 0.006 0.244 0.118 3960.19 4009.00 3911.38 1508.88 680.75 0 0 0 15.88 15.74 15.80

152.40 3205 -145.99 -0.95 0.00 3961.0 4009.9 3912.1 1509.2 680.5 15.12 -23.19 26 159.44 0.00 0.55 3.42 0.000 0.177 0.056 3961.28 4009.44 3913.12 1587.12 2171.62 0 0 0 30.00 15.78 15.85

342.97 644 -145.99 -1.00 -80.00 3962.2 4012.3 3912.1 1587.2 2171.3 40.86 -11.60 64 349.72 0.00 0.00 3.71 0.000 0.000 0.117 3962.84 4013.00 3912.69 1587.62 683.00 0 0 0 30.00 30.00 15.86

453.17 1028 -145.99 -1.00 0.00 3963.5 4013.8 3913.2 1587.2 683.2 54.75 -12.18 86 459.41 0.00 0.00 3.42 0.000 0.000 0.055 3962.91 4013.00 3912.81 1587.25 2172.75 0 0 0 30.00 30.00 15.91

643.39 160 -145.99 -1.05 0.00 3964.3 4013.9 3914.7 1587.3 2172.7 73.53 -9.05 106 645.00 0.00 0.00 0.00 0.000 0.000 0.000 3964.06 4014.00 3914.12 1587.00 2172.69 0 0 0 30.00 30.00 30.00

833.37 4773 -145.99 -1.12 -80.00 3965.0 4015.1 3914.9 1587.2 2172.9 89.66 -7.95 125 840.92 0.00 0.34 3.71 0.000 0.069 0.118 3964.78 4014.56 3915.00 1529.94 680.88 0 0 0 30.00 15.97 15.93

859.53 3237 -145.99 -1.09 0.00 3964.7 4014.4 3915.0 1529.1 680.6 92.48 -9.02 130 866.89 0.00 0.25 3.40 0.000 0.174 0.055 3965.28 4015.31 3915.25 1554.38 2172.62 0 0 0 30.00 15.92 15.98

1054.47 548 -145.99 -1.09 -80.00 3965.6 4014.9 3916.4 1555.6 2173.3 107.82 -7.03 150 1061.88 0.00 0.00 3.71 0.000 0.000 0.119 3966.59 4017.50 3915.69 1555.75 681.88 0 0 0 30.00 30.00 15.96

1162.88 1188 -145.99 -1.04 0.00 3965.4 4014.8 3916.0 1555.8 681.9 117.73 -9.85 171 1168.94 0.00 0.00 3.41 0.000 0.000 0.056 3966.38 4015.25 3917.50 1555.44 2172.62 0 0 0 30.00 30.00 16.00

1352.91 676 -145.99 -1.08 -80.00 3966.0 4015.2 3916.8 1555.5 2172.2 134.77 -9.18 191 1360.19 0.00 0.00 3.70 0.000 0.000 0.120 3965.88 4016.31 3915.44 1556.06 683.06 0 0 0 30.00 30.00 15.97

1443.05 1156 -145.99 -1.03 0.00 3965.5 4015.1 3915.8 1554.9 683.0 144.52 -11.05 209 1450.63 0.00 0.00 3.40 0.000 0.000 0.057 3967.03 4015.75 3918.31 1555.50 2172.00 0 0 0 30.00 30.00 16.01

1509 end dive: TARGET_DEPTH_EXCEEDED

state 1509 begin apogee

1510.06 10243 0.00 -0.31 0.00 3966.1 4015.4 3916.9 1555.9 2115.0 150.93 -9.71 216 1620.38 101.79 1.25 0.10 1.101 0.132 0.200 3361.72 3422.12 3301.31 1743.94 2180.94 0 0 0 11.85 15.97 15.67

1621 end apogee: CONTROL_FINISHED_OK

state 1622 begin climb

1621.64 10503 145.99 1.27 80.00 3361.5 3421.9 3301.1 1744.2 2180.7 154.83 0.00 226 1750.24 103.50 2.57 3.62 1.075 0.101 0.125 2768.41 2827.50 2709.31 2127.12 3616.00 0 0 0 11.79 15.68 15.44

1754.19 5253 145.99 1.02 0.00 2766.8 2825.8 2707.9 2127.1 3616.0 144.65 13.74 249 1765.28 0.00 0.56 3.55 0.000 0.176 0.056 2765.78 2825.06 2706.50 2059.69 2122.50 0 0 0 30.00 15.46 15.50

1948.82 644 145.99 0.96 -80.00 2761.9 2823.2 2700.6 2060.2 2122.9 121.70 12.03 270 1956.09 0.00 0.00 3.68 0.000 0.000 0.126 2760.09 2821.31 2698.88 2060.06 682.31 0 0 0 30.00 30.00 15.70

2064.67 21639 145.99 0.79 0.00 2757.0 2817.6 2696.4 2059.9 682.3 106.84 13.09 293 2072.12 0.00 0.35 3.43 0.000 0.149 0.058 2756.03 2817.38 2694.69 2003.62 2171.00 0 0 0 30.00 15.77 15.82

2259.77 10403 250.70 1.02 0.00 2757.2 2817.8 2696.6 2003.2 2170.6 93.44 5.13 313 2343.29 75.96 0.44 0.00 1.026 0.066 0.000 2343.16 2425.00 2261.31 2074.75 2170.75 0 0 0 11.97 15.91 30.00

2526.89 8870 278.13 1.12 -80.00 2333.4 2418.5 2248.2 2076.6 2170.7 70.47 8.72 346 2559.25 21.25 0.00 3.81 0.949 0.000 0.127 2227.09 2313.12 2141.06 2076.12 683.25 0 0 0 11.71 30.00 15.73

2562.12 11431 315.22 1.23 0.00 2225.4 2311.8 2139.1 2076.1 683.2 67.51 8.27 351 2601.17 28.27 0.25 3.48 0.954 0.076 0.057 2077.25 2166.50 1988.00 2125.06 2171.12 0 0 0 11.78 15.77 15.78

2782.50 8870 326.96 1.30 -80.00 2071.1 2164.9 1977.4 2127.6 2171.6 44.24 9.45 380 2800.07 9.96 0.00 3.79 0.825 0.000 0.127 2029.19 2123.12 1935.25 2127.56 684.50 0 0 0 11.81 30.00 15.75

2818.57 9254 353.65 1.33 0.00 2027.3 2120.5 1934.1 2127.6 684.2 41.04 8.76 387 2850.82 21.19 0.00 3.46 0.924 0.000 0.056 1920.62 2018.69 1822.56 2127.75 2171.75 0 0 0 11.80 30.00 15.81

3032.93 10919 389.39 1.51 -80.00 1915.8 2017.1 1814.4 2128.1 2171.6 21.47 8.34 429 3071.74 26.90 0.33 3.80 0.933 0.077 0.126 1776.53 1874.56 1678.50 2192.62 683.12 0 0 0 11.84 15.85 15.71

3260.39 11431 478.69 1.65 0.00 1768.6 1864.0 1673.2 2192.6 683.2 4.73 5.85 474 3320.47 51.19 0.14 3.46 0.939 0.102 0.057 1484.81 1577.56 1392.06 2226.12 2173.50 0 0 0 11.78 15.84 15.85

3321 end climb: SURFACE_DEPTH_REACHED

state 3321 begin surface coast

3324 end surface coast: CONTROL_FINISHED_OK

state 3324 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	12	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	1818.5298	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	16.186726	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	27.934187	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	11.460078	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	140722,050646,4718.119,-12523.624,1,1.0,3,15.8	TGT_RADIUS	1500.000
_CALLS	4	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.51	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-51.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140722,051539,4718.022,-12523.634,3,1.1,5,15.8	MHEAD_RNG_PITCHd_Wd	331.7,3325,-17.6,-10.000,-21.24,2209,0.158
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	ans0	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	4719.800,-12524.000

NET	xmit part outbox0001.n 907 0	FG_AHR_24Vo	11.631
NET_PING	1657778711,27,602.371460,36.599998,-0.792510	FG_AHR_10Vo	27.979
NAV	1657778345,66.1,start	MEM0	60108,1,0,0
FINISH	1.0,1.022736	MEM1	65508,1,0,0
SM_CCo	3515.39,156.77,0.936,0,541.8,558.6,524.9,692.30	MEM2	966544,27,80284,60
SM_GC	1.49,156.77,13.03,0.09,0.936,0.078,0.149,541.8,558.6,524.9,187.5,2122.1,0,0,0,11.76,15.69,15.71	DATA_FILE_SIZE	12942,486
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	358189,0
IRIDIUM_FIX	4716.91,-12522.67,140722,051147	SDSIZE	3887104,3867616
TCM_TEMP	17.81	SDFILEDIR	153,1
SC_FREEKB	3874944	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
RAFOS_FIX	6033.735352,-9800.300781,140722,010100,2,510,3867.59	CURRENT	0.047,175.5,1
HUMID	50.08	MAGCAL	1.000000,0.007325,0.013836,-0.025343,1.076031,-0.041769,-0.004040,-0.074067,1.012569,73.3,-880.5,-428.1,29,0.0318,0
TEMP	10.59	IMPLIED_C_PITCH	1823,16.18,251,1820.8,16.18
INTERNAL_PRESSURE	8.00757	IMPLIED_C_VBD	3775,48.871887,202,3464.0
_24V_AH	14.86,13.244	GPS	140722,061509,4718.322,-12523.752,1,2.0,4,15.8
_10V_AH	14.82,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	704	1101	11533.14	nil	0	0	0.00
Pitch_motor	30	243	109.51	nil	0	0	0.00
Roll_motor	71	200	214.02	nil	0	0	0.00
Iridium	294	228	997.92	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.17	nil	0	0	0.00
Core	2346	5	178.05	SciCon	3333	6	320.18
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1510	0	7.16
Compass	972	5	72.04
RAFOS	2606	40	1545.08
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
6.70	16386	-145.99	-1.27	0.00	536.8	554.9	518.7	185.1	2129.5	0.00	0.00	0	92.74	82.04	0.00	0.00	0.005	0.000	0.000	2798.50	2820.25	2776.75	184.94	2130.31	0	0	0	15.38	30.00	30.00
93.04	18983	-145.99	-1.27	-80.00	2797.9	2819.8	2776.0	185.1	2130.1	3.29	-2.45	15	143.93	25.99	10.18	3.57	0.006	0.244	0.118	3960.19	4009.00	3911.38	1508.88	680.75	0	0	0	15.88	15.74	15.80
152.40	3205	-145.99	-0.95	0.00	3961.0	4009.9	3912.1	1509.2	680.5	15.12	-23.19	26	159.44	0.00	0.55	3.42	0.000	0.177	0.056	3961.28	4009.44	3913.12	1587.12	2171.62	0	0	0	30.00	15.78	15.85
342.97	644	-145.99	-1.00	-80.00	3962.2	4012.3	3912.1	1587.2	2171.3	40.86	-11.60	64	349.72	0.00	0.00	3.71	0.000	0.000	0.117	3962.84	4013.00	3912.69	1587.62	683.00	0	0	0	30.00	30.00	15.86
453.17	1028	-145.99	-1.00	0.00	3963.5	4013.8	3913.2	1587.2	683.2	54.75	-12.18	86	459.41	0.00	0.00	3.42	0.000	0.000	0.055	3962.91	4013.00	3912.81	1587.25	2172.75	0	0	0	30.00	30.00	15.91
643.39	160	-145.99	-1.05	0.00	3964.3	4013.9	3914.7	1587.3	2172.7	73.53	-9.05	106	645.00	0.00	0.00	0.00	0.000	0.000	0.000	3964.06	4014.00	3914.12	1587.00	2172.69	0	0	0	30.00	30.00	30.00
833.37	4773	-145.99	-1.12	-80.00	3965.0	4015.1	3914.9	1587.2	2172.9	89.66	-7.95	125	840.92	0.00	0.34	3.71	0.000	0.069	0.118	3964.78	4014.56	3915.00	1529.94	680.88	0	0	0	30.00	15.97	15.93
859.53	3237	-145.99	-1.09	0.00	3964.7	4014.4	3915.0	1529.1	680.6	92.48	-9.02	130	866.89	0.00	0.25	3.40	0.000	0.174	0.055	3965.28	4015.31	3915.25	1554.38	2172.62	0	0	0	30.00	15.92	15.98
1054.47	548	-145.99	-1.09	-80.00	3965.6	4014.9	3916.4	1555.6	2173.3	107.82	-7.03	150	1061.88	0.00	0.00	3.71	0.000	0.000	0.119	3966.59	4017.50	3915.69	1555.75	681.88	0	0	0	30.00	30.00	15.96
1162.88	1188	-145.99	-1.04	0.00	3965.4	4014.8	3916.0	1555.8	681.9	117.73	-9.85	171	1168.94	0.00	0.00	3.41	0.000	0.000	0.056	3966.38	4015.25	3917.50	1555.44	2172.62	0	0	0	30.00	30.00	16.00
1352.91	676	-145.99	-1.08	-80.00	3966.0	4015.2	3916.8	1555.5	2172.2	134.77	-9.18	191	1360.19	0.00	0.00	3.70	0.000	0.000	0.120	3965.88	4016.31	3915.44	1556.06	683.06	0	0	0	30.00	30.00	15.97
1443.05	1156	-145.99	-1.03	0.00	3965.5	4015.1	3915.8	1554.9	683.0	144.52	-11.05	209	1450.63	0.00	0.00	3.40	0.000	0.000	0.057	3967.03	4015.75	3918.31	1555.50	2172.00	0	0	0	30.00	30.00	16.01
1509	end dive: TARGET_DEPTH_EXCEEDED
state	1509	begin apogee
1510.06	10243	0.00	-0.31	0.00	3966.1	4015.4	3916.9	1555.9	2115.0	150.93	-9.71	216	1620.38	101.79	1.25	0.10	1.101	0.132	0.200	3361.72	3422.12	3301.31	1743.94	2180.94	0	0	0	11.85	15.97	15.67
1621	end apogee: CONTROL_FINISHED_OK
state	1622	begin climb
1621.64	10503	145.99	1.27	80.00	3361.5	3421.9	3301.1	1744.2	2180.7	154.83	0.00	226	1750.24	103.50	2.57	3.62	1.075	0.101	0.125	2768.41	2827.50	2709.31	2127.12	3616.00	0	0	0	11.79	15.68	15.44
1754.19	5253	145.99	1.02	0.00	2766.8	2825.8	2707.9	2127.1	3616.0	144.65	13.74	249	1765.28	0.00	0.56	3.55	0.000	0.176	0.056	2765.78	2825.06	2706.50	2059.69	2122.50	0	0	0	30.00	15.46	15.50
1948.82	644	145.99	0.96	-80.00	2761.9	2823.2	2700.6	2060.2	2122.9	121.70	12.03	270	1956.09	0.00	0.00	3.68	0.000	0.000	0.126	2760.09	2821.31	2698.88	2060.06	682.31	0	0	0	30.00	30.00	15.70
2064.67	21639	145.99	0.79	0.00	2757.0	2817.6	2696.4	2059.9	682.3	106.84	13.09	293	2072.12	0.00	0.35	3.43	0.000	0.149	0.058	2756.03	2817.38	2694.69	2003.62	2171.00	0	0	0	30.00	15.77	15.82
2259.77	10403	250.70	1.02	0.00	2757.2	2817.8	2696.6	2003.2	2170.6	93.44	5.13	313	2343.29	75.96	0.44	0.00	1.026	0.066	0.000	2343.16	2425.00	2261.31	2074.75	2170.75	0	0	0	11.97	15.91	30.00
2526.89	8870	278.13	1.12	-80.00	2333.4	2418.5	2248.2	2076.6	2170.7	70.47	8.72	346	2559.25	21.25	0.00	3.81	0.949	0.000	0.127	2227.09	2313.12	2141.06	2076.12	683.25	0	0	0	11.71	30.00	15.73
2562.12	11431	315.22	1.23	0.00	2225.4	2311.8	2139.1	2076.1	683.2	67.51	8.27	351	2601.17	28.27	0.25	3.48	0.954	0.076	0.057	2077.25	2166.50	1988.00	2125.06	2171.12	0	0	0	11.78	15.77	15.78
2782.50	8870	326.96	1.30	-80.00	2071.1	2164.9	1977.4	2127.6	2171.6	44.24	9.45	380	2800.07	9.96	0.00	3.79	0.825	0.000	0.127	2029.19	2123.12	1935.25	2127.56	684.50	0	0	0	11.81	30.00	15.75
2818.57	9254	353.65	1.33	0.00	2027.3	2120.5	1934.1	2127.6	684.2	41.04	8.76	387	2850.82	21.19	0.00	3.46	0.924	0.000	0.056	1920.62	2018.69	1822.56	2127.75	2171.75	0	0	0	11.80	30.00	15.81
3032.93	10919	389.39	1.51	-80.00	1915.8	2017.1	1814.4	2128.1	2171.6	21.47	8.34	429	3071.74	26.90	0.33	3.80	0.933	0.077	0.126	1776.53	1874.56	1678.50	2192.62	683.12	0	0	0	11.84	15.85	15.71
3260.39	11431	478.69	1.65	0.00	1768.6	1864.0	1673.2	2192.6	683.2	4.73	5.85	474	3320.47	51.19	0.14	3.46	0.939	0.102	0.057	1484.81	1577.56	1392.06	2226.12	2173.50	0	0	0	11.78	15.84	15.85
3321	end climb: SURFACE_DEPTH_REACHED
state	3321	begin surface coast
3324	end surface coast: CONTROL_FINISHED_OK
state	3324	begin surface