Glider dive log

AMOS Jul22 * SG240 * Dive index * Mission links * Dive 4 * 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 4 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 180 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 60 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 1812.703 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 16.554235 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 27.567913 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 10.030031 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 180 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 27.567913 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 10.030031 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 16.554235 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 60

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 1812.703 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 4 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 130722,205018,4720.175,-12523.918,1,1.1,3,15.8 TGT_RADIUS 1500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.48 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -48.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130722,205357,4720.183,-12523.921,2,1.1,4,15.8 MHEAD_RNG_PITCHd_Wd 186.9,353,-27.2,-10.000,-30.00,972,0.163

SPEED_LIMITS 0.173,0.257 D_GRID 1000

TGT_NAME HOLD IRON 1.000000,0.025922,0.024028,-0.006149,1.120442,-0.101038,0.004702,-0.066263,0.906541,59.624489,-812.941956,-314.697754

TGT_LATLONG 4720.000,-12524.000

Post-dive calculations and measurements:

NAV 1657749057,0.4,0,stop FG_AHR_24Vo 10.200

FREEZE 11.67,16.195,-1.721,0,1,0 FG_AHR_10Vo 27.611

SM_CCo 3269.57,219.18,0.918,0,500.8,527.4,474.2,702.35 MEM0 60108,1,0,0

SM_GC 1.75,0.00,13.70,3.54,0.000,0.058,0.062,497.6,524.1,471.1,190.1,2125.1,0,0,0,30.00,15.59,15.60 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 966744,22,80204,59

IRIDIUM_FIX 4720.59,-12521.92,130722,194729 DATA_FILE_SIZE 12973,489

TCM_TEMP 18.50 CAP_FILE_SIZE 340905,0

SC_FREEKB 3877504 SDSIZE 3887104,3870016

RAFOS_CLK 0 SDFILEDIR 94,1

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 51.44 SOUNDSPEED 1465.0

TEMP 11.97 CURRENT 0.056, 83.7,1

INTERNAL_PRESSURE 8.07853 MAGCAL 1.000000,0.022673,0.026171,-0.026509,1.078526,-0.099294,-0.039549,-0.033355,0.973953,61.8,-833.6,-395.7,36,0.0360,1

_24V_AH 15.09,11.470 IMPLIED_C_PITCH 1796,17.25,213,1804.3,16.90

_10V_AH 15.00,0.000 GPS 130722,215122,4719.956,-12523.802,1,1.3,3,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 705 1127 12000.16 nil 0 0 0.00

Pitch_motor 30 239 111.58 nil 0 0 0.00

Roll_motor 63 192 184.48 nil 0 0 0.00

Iridium 153 222 514.44 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.97 nil 0 0 0.00

Core 2076 5 159.49 SciCon 3045 6 298.53

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1272 0 6.11

Compass 955 5 71.70

RAFOS 3208 40 1925.33

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

6.64 16386 -63.62 -1.72 0.00 496.0 518.9 473.1 189.6 2169.9 0.00 0.00 0 93.83 83.17 0.00 0.00 0.005 0.000 0.000 2793.50 2816.88 2770.12 189.75 2170.38 0 0 0 15.94 30.00 30.00

94.13 18727 -141.34 -1.82 80.00 2792.4 2816.4 2768.4 189.7 2169.9 3.21 -1.78 16 144.09 26.52 8.84 3.52 0.006 0.239 0.119 3940.16 3987.69 3892.62 1372.06 3618.06 0 0 0 15.99 15.81 15.89

301.15 3205 -141.34 -1.71 0.00 3942.4 3987.5 3897.4 1371.8 3617.8 57.08 -25.42 54 308.30 0.00 0.19 3.46 0.000 0.204 0.056 3943.91 3988.56 3899.25 1396.75 2121.69 0 0 0 30.00 15.89 15.97

496.16 644 -141.34 -1.75 -80.00 3943.8 3990.2 3897.4 1398.9 2121.8 91.34 -16.02 74 502.15 0.00 0.00 3.52 0.000 0.000 0.115 3943.88 3990.62 3897.12 1398.19 679.38 0 0 0 30.00 30.00 15.96

730.51 1156 -141.34 -1.63 0.00 3945.0 3992.9 3897.2 1398.7 679.6 134.89 -18.70 121 737.85 0.00 0.00 3.40 0.000 0.000 0.056 3945.75 3993.00 3898.50 1398.12 2173.44 0 0 0 30.00 30.00 16.03

926.25 644 -141.34 -1.66 -80.00 3945.6 3994.3 3896.8 1398.8 2172.8 163.56 -13.87 141 933.35 0.00 0.00 3.62 0.000 0.000 0.114 3945.69 3993.81 3897.56 1398.56 682.00 0 0 0 30.00 30.00 16.00

1032 end dive: TARGET_DEPTH_EXCEEDED

state 1032 begin apogee

1037.78 10243 0.00 -0.30 0.00 3945.6 3993.5 3897.8 1398.8 2174.8 180.77 -16.63 162 1148.18 99.03 2.37 0.10 1.127 0.168 0.193 3365.41 3428.31 3302.50 1739.06 2113.56 0 0 0 11.55 15.96 15.70

1149 end apogee: CONTROL_FINISHED_OK

state 1149 begin climb

1149.36 10503 141.34 1.82 80.00 3361.6 3422.9 3300.3 1739.0 2113.4 184.71 0.00 173 1267.19 98.55 3.45 3.76 1.107 0.101 0.120 2788.62 2845.50 2731.75 2255.62 3616.62 0 0 0 11.62 15.70 15.52

1334.97 5253 141.34 1.53 0.00 2784.0 2839.5 2728.6 2254.9 3616.4 154.41 23.93 208 1342.88 0.00 0.64 3.53 0.000 0.193 0.058 2784.44 2840.12 2728.75 2176.25 2123.62 0 0 0 30.00 15.63 15.70

1530.64 16902 141.34 1.53 -80.00 2779.5 2837.9 2721.1 2176.1 2123.4 124.66 12.37 228 1536.72 0.00 0.00 3.57 0.000 0.000 0.121 2778.81 2837.94 2719.69 2175.69 681.88 0 0 0 30.00 30.00 15.81

1645.01 21639 141.34 1.40 0.00 2775.9 2832.4 2719.4 2175.9 681.9 107.44 15.54 251 1652.57 0.00 0.20 3.41 0.000 0.198 0.059 2775.94 2832.12 2719.75 2143.38 2170.25 0 0 0 30.00 15.82 15.90

1840.80 10919 152.74 1.52 -80.00 2776.2 2832.4 2719.9 2143.1 2170.3 86.95 8.79 271 1857.58 9.47 0.28 3.65 0.842 0.076 0.118 2737.25 2796.56 2677.94 2194.38 682.06 0 0 0 11.56 15.94 15.89

2073.70 13479 175.71 1.45 0.00 2735.1 2793.4 2676.8 2193.6 681.7 66.07 7.57 317 2100.78 18.69 0.30 3.40 0.949 0.191 0.058 2646.66 2711.06 2582.25 2155.69 2174.00 0 0 0 11.56 15.90 15.97

2284.26 10663 227.60 1.67 80.00 2642.7 2708.9 2576.4 2156.0 2173.9 54.68 4.51 341 2332.59 38.90 0.41 3.54 0.985 0.063 0.124 2433.66 2508.31 2359.00 2229.69 3616.62 0 0 0 11.60 15.95 15.82

2496.07 9254 245.77 1.70 0.00 2430.8 2506.1 2355.5 2229.4 3618.8 37.85 8.08 383 2518.60 14.94 0.00 3.46 0.896 0.000 0.057 2359.78 2439.81 2279.75 2229.44 2123.25 0 0 0 11.64 30.00 15.93

2700.72 10919 271.95 1.85 -80.00 2355.6 2437.8 2273.4 2230.0 2122.9 22.53 7.23 423 2728.69 20.21 0.18 3.55 0.920 0.089 0.121 2253.22 2337.12 2169.31 2272.12 680.44 0 0 0 11.60 15.93 15.85

2752.12 9254 295.88 1.88 0.00 2249.6 2333.2 2165.9 2273.3 680.6 18.76 7.47 433 2779.84 18.87 0.00 3.41 0.897 0.000 0.056 2155.81 2242.88 2068.75 2273.12 2172.75 0 0 0 11.58 30.00 15.90

2963.43 10663 378.14 2.15 80.00 2150.4 2241.4 2059.4 2272.6 2172.3 12.43 1.30 475 3033.31 58.04 0.35 3.59 0.949 0.070 0.122 1819.59 1915.69 1723.50 2344.31 3617.31 0 0 0 11.57 15.91 15.73

3037 end climb: NO_VERTICAL_VELOCITY

state 3037 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	4	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	180	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	60	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	1812.703	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	16.554235	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	27.567913	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	10.030031	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	130722,205018,4720.175,-12523.918,1,1.1,3,15.8	TGT_RADIUS	1500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-48.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130722,205357,4720.183,-12523.921,2,1.1,4,15.8	MHEAD_RNG_PITCHd_Wd	186.9,353,-27.2,-10.000,-30.00,972,0.163
SPEED_LIMITS	0.173,0.257	D_GRID	1000
TGT_NAME	HOLD	IRON	1.000000,0.025922,0.024028,-0.006149,1.120442,-0.101038,0.004702,-0.066263,0.906541,59.624489,-812.941956,-314.697754
TGT_LATLONG	4720.000,-12524.000

NAV	1657749057,0.4,0,stop	FG_AHR_24Vo	10.200
FREEZE	11.67,16.195,-1.721,0,1,0	FG_AHR_10Vo	27.611
SM_CCo	3269.57,219.18,0.918,0,500.8,527.4,474.2,702.35	MEM0	60108,1,0,0
SM_GC	1.75,0.00,13.70,3.54,0.000,0.058,0.062,497.6,524.1,471.1,190.1,2125.1,0,0,0,30.00,15.59,15.60	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	966744,22,80204,59
IRIDIUM_FIX	4720.59,-12521.92,130722,194729	DATA_FILE_SIZE	12973,489
TCM_TEMP	18.50	CAP_FILE_SIZE	340905,0
SC_FREEKB	3877504	SDSIZE	3887104,3870016
RAFOS_CLK	0	SDFILEDIR	94,1
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	51.44	SOUNDSPEED	1465.0
TEMP	11.97	CURRENT	0.056, 83.7,1
INTERNAL_PRESSURE	8.07853	MAGCAL	1.000000,0.022673,0.026171,-0.026509,1.078526,-0.099294,-0.039549,-0.033355,0.973953,61.8,-833.6,-395.7,36,0.0360,1
_24V_AH	15.09,11.470	IMPLIED_C_PITCH	1796,17.25,213,1804.3,16.90
_10V_AH	15.00,0.000	GPS	130722,215122,4719.956,-12523.802,1,1.3,3,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	705	1127	12000.16	nil	0	0	0.00
Pitch_motor	30	239	111.58	nil	0	0	0.00
Roll_motor	63	192	184.48	nil	0	0	0.00
Iridium	153	222	514.44	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.97	nil	0	0	0.00
Core	2076	5	159.49	SciCon	3045	6	298.53
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1272	0	6.11
Compass	955	5	71.70
RAFOS	3208	40	1925.33
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
6.64	16386	-63.62	-1.72	0.00	496.0	518.9	473.1	189.6	2169.9	0.00	0.00	0	93.83	83.17	0.00	0.00	0.005	0.000	0.000	2793.50	2816.88	2770.12	189.75	2170.38	0	0	0	15.94	30.00	30.00
94.13	18727	-141.34	-1.82	80.00	2792.4	2816.4	2768.4	189.7	2169.9	3.21	-1.78	16	144.09	26.52	8.84	3.52	0.006	0.239	0.119	3940.16	3987.69	3892.62	1372.06	3618.06	0	0	0	15.99	15.81	15.89
301.15	3205	-141.34	-1.71	0.00	3942.4	3987.5	3897.4	1371.8	3617.8	57.08	-25.42	54	308.30	0.00	0.19	3.46	0.000	0.204	0.056	3943.91	3988.56	3899.25	1396.75	2121.69	0	0	0	30.00	15.89	15.97
496.16	644	-141.34	-1.75	-80.00	3943.8	3990.2	3897.4	1398.9	2121.8	91.34	-16.02	74	502.15	0.00	0.00	3.52	0.000	0.000	0.115	3943.88	3990.62	3897.12	1398.19	679.38	0	0	0	30.00	30.00	15.96
730.51	1156	-141.34	-1.63	0.00	3945.0	3992.9	3897.2	1398.7	679.6	134.89	-18.70	121	737.85	0.00	0.00	3.40	0.000	0.000	0.056	3945.75	3993.00	3898.50	1398.12	2173.44	0	0	0	30.00	30.00	16.03
926.25	644	-141.34	-1.66	-80.00	3945.6	3994.3	3896.8	1398.8	2172.8	163.56	-13.87	141	933.35	0.00	0.00	3.62	0.000	0.000	0.114	3945.69	3993.81	3897.56	1398.56	682.00	0	0	0	30.00	30.00	16.00
1032	end dive: TARGET_DEPTH_EXCEEDED
state	1032	begin apogee
1037.78	10243	0.00	-0.30	0.00	3945.6	3993.5	3897.8	1398.8	2174.8	180.77	-16.63	162	1148.18	99.03	2.37	0.10	1.127	0.168	0.193	3365.41	3428.31	3302.50	1739.06	2113.56	0	0	0	11.55	15.96	15.70
1149	end apogee: CONTROL_FINISHED_OK
state	1149	begin climb
1149.36	10503	141.34	1.82	80.00	3361.6	3422.9	3300.3	1739.0	2113.4	184.71	0.00	173	1267.19	98.55	3.45	3.76	1.107	0.101	0.120	2788.62	2845.50	2731.75	2255.62	3616.62	0	0	0	11.62	15.70	15.52
1334.97	5253	141.34	1.53	0.00	2784.0	2839.5	2728.6	2254.9	3616.4	154.41	23.93	208	1342.88	0.00	0.64	3.53	0.000	0.193	0.058	2784.44	2840.12	2728.75	2176.25	2123.62	0	0	0	30.00	15.63	15.70
1530.64	16902	141.34	1.53	-80.00	2779.5	2837.9	2721.1	2176.1	2123.4	124.66	12.37	228	1536.72	0.00	0.00	3.57	0.000	0.000	0.121	2778.81	2837.94	2719.69	2175.69	681.88	0	0	0	30.00	30.00	15.81
1645.01	21639	141.34	1.40	0.00	2775.9	2832.4	2719.4	2175.9	681.9	107.44	15.54	251	1652.57	0.00	0.20	3.41	0.000	0.198	0.059	2775.94	2832.12	2719.75	2143.38	2170.25	0	0	0	30.00	15.82	15.90
1840.80	10919	152.74	1.52	-80.00	2776.2	2832.4	2719.9	2143.1	2170.3	86.95	8.79	271	1857.58	9.47	0.28	3.65	0.842	0.076	0.118	2737.25	2796.56	2677.94	2194.38	682.06	0	0	0	11.56	15.94	15.89
2073.70	13479	175.71	1.45	0.00	2735.1	2793.4	2676.8	2193.6	681.7	66.07	7.57	317	2100.78	18.69	0.30	3.40	0.949	0.191	0.058	2646.66	2711.06	2582.25	2155.69	2174.00	0	0	0	11.56	15.90	15.97
2284.26	10663	227.60	1.67	80.00	2642.7	2708.9	2576.4	2156.0	2173.9	54.68	4.51	341	2332.59	38.90	0.41	3.54	0.985	0.063	0.124	2433.66	2508.31	2359.00	2229.69	3616.62	0	0	0	11.60	15.95	15.82
2496.07	9254	245.77	1.70	0.00	2430.8	2506.1	2355.5	2229.4	3618.8	37.85	8.08	383	2518.60	14.94	0.00	3.46	0.896	0.000	0.057	2359.78	2439.81	2279.75	2229.44	2123.25	0	0	0	11.64	30.00	15.93
2700.72	10919	271.95	1.85	-80.00	2355.6	2437.8	2273.4	2230.0	2122.9	22.53	7.23	423	2728.69	20.21	0.18	3.55	0.920	0.089	0.121	2253.22	2337.12	2169.31	2272.12	680.44	0	0	0	11.60	15.93	15.85
2752.12	9254	295.88	1.88	0.00	2249.6	2333.2	2165.9	2273.3	680.6	18.76	7.47	433	2779.84	18.87	0.00	3.41	0.897	0.000	0.056	2155.81	2242.88	2068.75	2273.12	2172.75	0	0	0	11.58	30.00	15.90
2963.43	10663	378.14	2.15	80.00	2150.4	2241.4	2059.4	2272.6	2172.3	12.43	1.30	475	3033.31	58.04	0.35	3.59	0.949	0.070	0.122	1819.59	1915.69	1723.50	2344.31	3617.31	0	0	0	11.57	15.91	15.73
3037	end climb: NO_VERTICAL_VELOCITY
state	3037	begin surface