Glider dive log

AMOS Jul22 * SG240 * Dive index * Mission links * Dive 13 * 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 13 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 1820.7869 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 16.181675 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 27.985191 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 11.643215 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 27.985191 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 11.643215 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 16.181675 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 1820.7869 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 13 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 140722,061509,4718.322,-12523.752,1,2.0,4,15.8 TGT_RADIUS 1500.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.54 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140722,062240,4718.246,-12523.802,3,1.0,27,15.8 MHEAD_RNG_PITCHd_Wd 339.3,2890,-17.6,-10.000,-21.24,2209,0.146

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 outbox0002.n 987 14 FG_AHR_24Vo 11.815

NET_PING 1657782912,27,529.023010,8.800000,-0.693798 FG_AHR_10Vo 28.031

NAV 1657781941,95.8,start MEM0 60108,1,0,0

FINISH 0.5,1.011439 MEM1 65508,1,0,0

SM_CCo 3561.28,170.82,0.940,0,541.0,558.5,523.5,692.48 MEM2 966560,26,80288,60

SM_GC 1.57,170.82,12.60,0.09,0.940,0.064,0.151,541.0,558.5,523.5,189.9,2118.0,0,0,0,11.82,15.80,15.79 DATA_FILE_SIZE 12942,489

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 359686,0

IRIDIUM_FIX 4716.91,-12522.67,140722,061741 SDSIZE 3887104,3867328

TCM_TEMP 17.93 SDFILEDIR 160,1

SC_FREEKB 3874624 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 0.042,195.3,1

HUMID 50.19 MAGCAL 1.000000,0.022585,0.012526,-0.016374,1.066580,-0.068023,0.010799,-0.049704,0.971117,68.8,-864.6,-397.5,32,0.0306,0

TEMP 10.65 IMPLIED_C_PITCH 1822,16.67,246,1821.5,16.42

INTERNAL_PRESSURE 8.01092 IMPLIED_C_VBD 3711,52.420376,175,3464.0

_24V_AH 14.87,13.471 GPS 140722,072301,4718.579,-12523.909,1,0.9,3,15.8

_10V_AH 14.83,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 703 1108 11598.76 nil 0 0 0.00

Pitch_motor 30 245 111.53 nil 0 0 0.00

Roll_motor 72 196 211.04 nil 0 0 0.00

Iridium 278 190 788.11 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 36 15 8.06 nil 0 0 0.00

Core 2387 5 181.30 SciCon 3365 6 324.37

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1425 0 6.77

Compass 977 5 72.51

RAFOS 2103 40 1247.94

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

6.71 16386 -145.99 -1.27 0.00 536.6 553.7 519.4 187.7 2169.5 0.00 0.00 0 91.96 81.30 0.00 0.00 0.005 0.000 0.000 2786.94 2808.88 2765.00 187.25 2169.31 0 0 0 15.83 30.00 30.00

92.27 18983 -145.99 -1.27 -80.00 2785.4 2808.1 2762.8 187.8 2169.7 3.38 -2.25 16 141.94 25.65 10.19 3.69 0.006 0.246 0.118 3960.09 4009.19 3911.00 1510.25 679.44 0 0 0 15.13 15.72 15.77

150.66 3205 -145.99 -0.93 0.00 3961.0 4009.9 3912.1 1511.5 679.4 15.75 -23.66 26 158.47 0.00 0.57 3.43 0.000 0.177 0.055 3961.22 4010.19 3912.25 1594.62 2171.25 0 0 0 30.00 15.76 15.83

341.93 644 -145.99 -0.97 -80.00 3963.3 4014.0 3912.6 1597.0 2171.9 40.19 -12.42 64 348.75 0.00 0.00 3.75 0.000 0.000 0.119 3963.81 4013.94 3913.69 1597.19 681.88 0 0 0 30.00 30.00 15.84

466.48 1028 -145.99 -0.97 0.00 3964.0 4014.9 3913.1 1597.1 681.8 56.24 -12.46 89 474.15 0.00 0.00 3.44 0.000 0.000 0.056 3963.91 4014.31 3913.50 1597.25 2170.19 0 0 0 30.00 30.00 15.91

662.40 4257 -145.99 -1.04 0.00 3963.8 4014.3 3913.2 1597.2 2170.2 75.56 -8.86 109 664.26 0.00 0.27 0.00 0.000 0.077 0.000 3963.75 4013.56 3913.94 1549.94 2170.44 0 0 0 30.00 15.94 30.00

852.27 516 -145.99 -1.04 -80.00 3965.1 4014.1 3916.1 1549.9 2170.6 96.01 -10.73 128 859.69 0.00 0.00 3.70 0.000 0.000 0.118 3965.22 4015.31 3915.12 1549.88 682.12 0 0 0 30.00 30.00 15.93

898.25 3205 -145.99 -0.97 0.00 3964.7 4014.4 3915.1 1550.0 681.9 101.17 -11.56 137 905.76 0.00 0.30 3.42 0.000 0.161 0.055 3964.34 4013.62 3915.06 1587.44 2175.50 0 0 0 30.00 15.93 15.98

1093.34 4773 -145.99 -1.07 -80.00 3965.2 4015.3 3915.1 1587.8 2175.1 114.59 -6.79 157 1100.84 0.00 0.24 3.72 0.000 0.079 0.119 3965.34 4014.94 3915.75 1543.62 683.31 0 0 0 30.00 15.98 15.95

1173.69 3205 -145.99 -0.99 0.00 3965.3 4015.4 3915.3 1543.4 682.8 123.00 -10.77 173 1181.49 0.00 0.30 3.42 0.000 0.165 0.055 3965.47 4015.44 3915.50 1581.06 2174.06 0 0 0 30.00 15.95 16.00

1369.52 676 -145.99 -1.08 -80.00 3965.4 4015.0 3915.8 1580.9 2173.7 139.33 -8.46 193 1376.77 0.00 0.00 3.72 0.000 0.000 0.120 3965.00 4014.38 3915.62 1580.88 682.94 0 0 0 30.00 30.00 15.96

1455.26 1028 -145.99 -1.08 0.00 3965.6 4015.2 3916.0 1581.2 683.0 148.03 -10.38 210 1461.46 0.00 0.00 3.43 0.000 0.000 0.056 3966.03 4016.25 3915.81 1580.88 2174.50 0 0 0 30.00 30.00 16.01

1485 end dive: TARGET_DEPTH_EXCEEDED

state 1485 begin apogee

1486.66 10243 0.00 -0.31 0.00 3965.5 4015.1 3915.9 1581.1 2114.2 150.88 -9.51 214 1597.02 101.93 1.09 0.10 1.108 0.129 0.197 3363.12 3423.56 3302.69 1746.06 2177.75 0 0 0 11.82 15.97 15.64

1598 end apogee: CONTROL_FINISHED_OK

state 1598 begin climb

1598.27 10243 145.99 1.27 0.00 3361.5 3422.6 3300.3 1745.9 2177.2 155.16 0.00 224 1713.49 103.64 2.59 0.00 1.080 0.102 0.000 2767.88 2827.25 2708.50 2130.06 2177.44 0 0 0 11.91 15.66 30.00

1897.02 4741 145.99 1.05 -80.00 2762.0 2823.2 2700.9 2129.6 2177.8 121.16 14.45 254 1904.81 0.00 0.50 3.81 0.000 0.171 0.120 2764.25 2826.00 2702.50 2068.25 683.12 0 0 0 30.00 15.70 15.71

1970.13 21639 145.99 0.86 0.00 2757.4 2818.2 2696.6 2067.8 683.3 110.91 13.51 268 1978.01 0.00 0.31 3.45 0.000 0.165 0.059 2758.38 2819.12 2697.62 2020.19 2170.56 0 0 0 30.00 15.74 15.79

2160.40 10663 201.00 1.00 80.00 2757.7 2818.5 2696.9 2020.4 2170.9 94.74 7.44 287 2210.33 40.90 0.29 3.63 1.015 0.071 0.127 2541.66 2612.44 2470.88 2072.88 3616.31 0 0 0 11.78 15.88 15.71

2238.94 9382 213.45 0.95 0.00 2542.4 2612.7 2472.1 2072.1 3616.7 87.94 9.42 302 2260.81 11.52 0.00 3.49 0.870 0.000 0.056 2494.31 2567.19 2421.44 2072.75 2122.38 0 0 0 11.77 30.00 15.78

2448.97 8614 255.44 1.05 80.00 2487.1 2563.8 2410.4 2072.3 2122.3 70.13 8.05 325 2492.13 31.95 0.00 3.74 0.983 0.000 0.124 2319.97 2402.62 2237.31 2072.38 3616.00 0 0 0 11.84 30.00 15.71

2552.89 9382 284.42 1.14 0.00 2318.3 2401.1 2235.6 2072.8 3614.9 61.69 8.65 345 2586.06 22.88 0.00 3.48 0.947 0.000 0.056 2202.97 2289.06 2116.88 2073.25 2123.50 0 0 0 11.86 30.00 15.78

2767.91 10919 364.58 1.37 -80.00 2197.2 2286.5 2107.9 2071.6 2122.9 46.99 6.27 374 2838.55 57.48 0.52 3.67 0.975 0.067 0.129 1876.25 1973.12 1779.38 2161.12 680.06 0 0 0 11.90 15.82 15.63

2897.11 5253 364.58 1.30 0.00 1870.5 1967.1 1773.9 2161.6 680.6 33.53 12.47 399 2904.21 0.00 0.29 3.49 0.000 0.167 0.058 1872.56 1968.81 1776.31 2126.81 2170.62 0 0 0 30.00 15.68 15.73

3087.84 10919 415.66 1.52 -80.00 1867.5 1966.8 1768.3 2126.4 2170.6 17.09 7.62 437 3135.35 36.69 0.45 3.83 0.936 0.072 0.126 1667.22 1760.56 1573.88 2199.06 683.12 0 0 0 11.79 15.82 15.67

3163.87 9254 440.25 1.55 0.00 1664.8 1757.3 1572.2 2199.2 683.1 10.55 8.86 451 3191.95 19.19 0.00 3.49 0.883 0.000 0.057 1568.44 1660.50 1476.38 2198.50 2171.38 0 0 0 11.76 30.00 15.75

3315 end climb: SURFACE_DEPTH_REACHED

state 3315 begin surface coast

3356 end surface coast: CONTROL_FINISHED_OK

state 3356 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	13	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	1820.7869	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	16.181675	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	27.985191	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	11.643215	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	140722,061509,4718.322,-12523.752,1,2.0,4,15.8	TGT_RADIUS	1500.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.54	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140722,062240,4718.246,-12523.802,3,1.0,27,15.8	MHEAD_RNG_PITCHd_Wd	339.3,2890,-17.6,-10.000,-21.24,2209,0.146
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 outbox0002.n 987 14	FG_AHR_24Vo	11.815
NET_PING	1657782912,27,529.023010,8.800000,-0.693798	FG_AHR_10Vo	28.031
NAV	1657781941,95.8,start	MEM0	60108,1,0,0
FINISH	0.5,1.011439	MEM1	65508,1,0,0
SM_CCo	3561.28,170.82,0.940,0,541.0,558.5,523.5,692.48	MEM2	966560,26,80288,60
SM_GC	1.57,170.82,12.60,0.09,0.940,0.064,0.151,541.0,558.5,523.5,189.9,2118.0,0,0,0,11.82,15.80,15.79	DATA_FILE_SIZE	12942,489
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	359686,0
IRIDIUM_FIX	4716.91,-12522.67,140722,061741	SDSIZE	3887104,3867328
TCM_TEMP	17.93	SDFILEDIR	160,1
SC_FREEKB	3874624	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	0.042,195.3,1
HUMID	50.19	MAGCAL	1.000000,0.022585,0.012526,-0.016374,1.066580,-0.068023,0.010799,-0.049704,0.971117,68.8,-864.6,-397.5,32,0.0306,0
TEMP	10.65	IMPLIED_C_PITCH	1822,16.67,246,1821.5,16.42
INTERNAL_PRESSURE	8.01092	IMPLIED_C_VBD	3711,52.420376,175,3464.0
_24V_AH	14.87,13.471	GPS	140722,072301,4718.579,-12523.909,1,0.9,3,15.8
_10V_AH	14.83,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	703	1108	11598.76	nil	0	0	0.00
Pitch_motor	30	245	111.53	nil	0	0	0.00
Roll_motor	72	196	211.04	nil	0	0	0.00
Iridium	278	190	788.11	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	36	15	8.06	nil	0	0	0.00
Core	2387	5	181.30	SciCon	3365	6	324.37
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1425	0	6.77
Compass	977	5	72.51
RAFOS	2103	40	1247.94
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
6.71	16386	-145.99	-1.27	0.00	536.6	553.7	519.4	187.7	2169.5	0.00	0.00	0	91.96	81.30	0.00	0.00	0.005	0.000	0.000	2786.94	2808.88	2765.00	187.25	2169.31	0	0	0	15.83	30.00	30.00
92.27	18983	-145.99	-1.27	-80.00	2785.4	2808.1	2762.8	187.8	2169.7	3.38	-2.25	16	141.94	25.65	10.19	3.69	0.006	0.246	0.118	3960.09	4009.19	3911.00	1510.25	679.44	0	0	0	15.13	15.72	15.77
150.66	3205	-145.99	-0.93	0.00	3961.0	4009.9	3912.1	1511.5	679.4	15.75	-23.66	26	158.47	0.00	0.57	3.43	0.000	0.177	0.055	3961.22	4010.19	3912.25	1594.62	2171.25	0	0	0	30.00	15.76	15.83
341.93	644	-145.99	-0.97	-80.00	3963.3	4014.0	3912.6	1597.0	2171.9	40.19	-12.42	64	348.75	0.00	0.00	3.75	0.000	0.000	0.119	3963.81	4013.94	3913.69	1597.19	681.88	0	0	0	30.00	30.00	15.84
466.48	1028	-145.99	-0.97	0.00	3964.0	4014.9	3913.1	1597.1	681.8	56.24	-12.46	89	474.15	0.00	0.00	3.44	0.000	0.000	0.056	3963.91	4014.31	3913.50	1597.25	2170.19	0	0	0	30.00	30.00	15.91
662.40	4257	-145.99	-1.04	0.00	3963.8	4014.3	3913.2	1597.2	2170.2	75.56	-8.86	109	664.26	0.00	0.27	0.00	0.000	0.077	0.000	3963.75	4013.56	3913.94	1549.94	2170.44	0	0	0	30.00	15.94	30.00
852.27	516	-145.99	-1.04	-80.00	3965.1	4014.1	3916.1	1549.9	2170.6	96.01	-10.73	128	859.69	0.00	0.00	3.70	0.000	0.000	0.118	3965.22	4015.31	3915.12	1549.88	682.12	0	0	0	30.00	30.00	15.93
898.25	3205	-145.99	-0.97	0.00	3964.7	4014.4	3915.1	1550.0	681.9	101.17	-11.56	137	905.76	0.00	0.30	3.42	0.000	0.161	0.055	3964.34	4013.62	3915.06	1587.44	2175.50	0	0	0	30.00	15.93	15.98
1093.34	4773	-145.99	-1.07	-80.00	3965.2	4015.3	3915.1	1587.8	2175.1	114.59	-6.79	157	1100.84	0.00	0.24	3.72	0.000	0.079	0.119	3965.34	4014.94	3915.75	1543.62	683.31	0	0	0	30.00	15.98	15.95
1173.69	3205	-145.99	-0.99	0.00	3965.3	4015.4	3915.3	1543.4	682.8	123.00	-10.77	173	1181.49	0.00	0.30	3.42	0.000	0.165	0.055	3965.47	4015.44	3915.50	1581.06	2174.06	0	0	0	30.00	15.95	16.00
1369.52	676	-145.99	-1.08	-80.00	3965.4	4015.0	3915.8	1580.9	2173.7	139.33	-8.46	193	1376.77	0.00	0.00	3.72	0.000	0.000	0.120	3965.00	4014.38	3915.62	1580.88	682.94	0	0	0	30.00	30.00	15.96
1455.26	1028	-145.99	-1.08	0.00	3965.6	4015.2	3916.0	1581.2	683.0	148.03	-10.38	210	1461.46	0.00	0.00	3.43	0.000	0.000	0.056	3966.03	4016.25	3915.81	1580.88	2174.50	0	0	0	30.00	30.00	16.01
1485	end dive: TARGET_DEPTH_EXCEEDED
state	1485	begin apogee
1486.66	10243	0.00	-0.31	0.00	3965.5	4015.1	3915.9	1581.1	2114.2	150.88	-9.51	214	1597.02	101.93	1.09	0.10	1.108	0.129	0.197	3363.12	3423.56	3302.69	1746.06	2177.75	0	0	0	11.82	15.97	15.64
1598	end apogee: CONTROL_FINISHED_OK
state	1598	begin climb
1598.27	10243	145.99	1.27	0.00	3361.5	3422.6	3300.3	1745.9	2177.2	155.16	0.00	224	1713.49	103.64	2.59	0.00	1.080	0.102	0.000	2767.88	2827.25	2708.50	2130.06	2177.44	0	0	0	11.91	15.66	30.00
1897.02	4741	145.99	1.05	-80.00	2762.0	2823.2	2700.9	2129.6	2177.8	121.16	14.45	254	1904.81	0.00	0.50	3.81	0.000	0.171	0.120	2764.25	2826.00	2702.50	2068.25	683.12	0	0	0	30.00	15.70	15.71
1970.13	21639	145.99	0.86	0.00	2757.4	2818.2	2696.6	2067.8	683.3	110.91	13.51	268	1978.01	0.00	0.31	3.45	0.000	0.165	0.059	2758.38	2819.12	2697.62	2020.19	2170.56	0	0	0	30.00	15.74	15.79
2160.40	10663	201.00	1.00	80.00	2757.7	2818.5	2696.9	2020.4	2170.9	94.74	7.44	287	2210.33	40.90	0.29	3.63	1.015	0.071	0.127	2541.66	2612.44	2470.88	2072.88	3616.31	0	0	0	11.78	15.88	15.71
2238.94	9382	213.45	0.95	0.00	2542.4	2612.7	2472.1	2072.1	3616.7	87.94	9.42	302	2260.81	11.52	0.00	3.49	0.870	0.000	0.056	2494.31	2567.19	2421.44	2072.75	2122.38	0	0	0	11.77	30.00	15.78
2448.97	8614	255.44	1.05	80.00	2487.1	2563.8	2410.4	2072.3	2122.3	70.13	8.05	325	2492.13	31.95	0.00	3.74	0.983	0.000	0.124	2319.97	2402.62	2237.31	2072.38	3616.00	0	0	0	11.84	30.00	15.71
2552.89	9382	284.42	1.14	0.00	2318.3	2401.1	2235.6	2072.8	3614.9	61.69	8.65	345	2586.06	22.88	0.00	3.48	0.947	0.000	0.056	2202.97	2289.06	2116.88	2073.25	2123.50	0	0	0	11.86	30.00	15.78
2767.91	10919	364.58	1.37	-80.00	2197.2	2286.5	2107.9	2071.6	2122.9	46.99	6.27	374	2838.55	57.48	0.52	3.67	0.975	0.067	0.129	1876.25	1973.12	1779.38	2161.12	680.06	0	0	0	11.90	15.82	15.63
2897.11	5253	364.58	1.30	0.00	1870.5	1967.1	1773.9	2161.6	680.6	33.53	12.47	399	2904.21	0.00	0.29	3.49	0.000	0.167	0.058	1872.56	1968.81	1776.31	2126.81	2170.62	0	0	0	30.00	15.68	15.73
3087.84	10919	415.66	1.52	-80.00	1867.5	1966.8	1768.3	2126.4	2170.6	17.09	7.62	437	3135.35	36.69	0.45	3.83	0.936	0.072	0.126	1667.22	1760.56	1573.88	2199.06	683.12	0	0	0	11.79	15.82	15.67
3163.87	9254	440.25	1.55	0.00	1664.8	1757.3	1572.2	2199.2	683.1	10.55	8.86	451	3191.95	19.19	0.00	3.49	0.883	0.000	0.057	1568.44	1660.50	1476.38	2198.50	2171.38	0	0	0	11.76	30.00	15.75
3315	end climb: SURFACE_DEPTH_REACHED
state	3315	begin surface coast
3356	end surface coast: CONTROL_FINISHED_OK
state	3356	begin surface