Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 68 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_INHIBIT 90

MISSION 11 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 30 XPDR_INT 13

DIVE 68 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_REP 11.5

N_DIVES 0 SM_CC 662.31 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

STOP_T 0 N_FILEKB 8 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_YINT 0.5

D_SURF 2 FILEMGR 2 VBD_MIN 500 DEEPGLIDER 0

D_FLARE 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDERMB 0

D_TGT 990 COMM_SEQ 7 C_VBD 2000 MOTHERBOARD 6

D_ABORT 1030 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

D_NO_BLEED 450 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

D_BOOST 3 NOCOMM_ACTION 129 VBD_LP_IGNORE 0 DEVICE3 -1

T_BOOST 0 N_NOSURFACE 0 VBD_TIMEOUT 800 DEVICE4 -1

D_FINISH 10 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0040000002 DEVICE5 -1

D_PITCH 2 NETBOX 1 UNCOM_BLEED 400 DEVICE6 -1

D_SAFE 500 CALL_TRIES 3 VBD_MAXERRORS 2 LOGGERS 1

D_CALL 3 CALL_WAIT 45 C_VBD_AUTO_DELTA 0 LOGGERDEVICE1 7

SURFACE_URGENCY 10 CAPUPLOAD 0 C_VBD_AUTO_MAX 0 LOGGERDEVICE2 -1

SURFACE_URGENCY_TRY 10 CAPMAXSIZE 10000 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 20 T_GPS 3 DBDW 0 LOGGERDEVICE4 -1

T_DIVE 360 N_GPS 100440 LOITER_W_DBAND 2 COMPASS_DEVICE 66

T_MISSION 500 T_RSLEEP 2 LOITER_DBDW 400 COMPASS2_DEVICE -1

T_ABORT 2880 STROBE 0 LOITER_D_TOP 400 PHONE_DEVICE 33

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 700 GPS_DEVICE 48

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 96

T_NO_W 240 RAFOS_HIT_WINDOW 10800 CF8_MAXERRORS 0 NAV_DEVICE 6

T_LOITER 0 RAFOS_MMODEM 0 AH0_24V 575 NAV2_DEVICE 6

T_EPIRB 0 PITCH_MIN 230 AH0_10V 0 NAV3_DEVICE -1

USE_BATHY 0 PITCH_MAX 3900 MINV_24V 0 NAV4_DEVICE -1

USE_ICE 1 C_PITCH 2295.5884 MINV_10V 0 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.07 PITCH_DBAND 0.1 MAXI_24V 5 PRESSURE_DEVICE 34

D_OFFGRID 1000 PITCH_CNV 0.0041299998 MAXI_10V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 13.491293 FG_AHR_10V 4.0937362 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 18.956902 SEABIRD_T_G 0.0042874566

MAX_BUOY 120 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062267116

GLIDE_SLOPE 45 PITCH_ADJ_GAIN 0 PRESSURE_YINT -157.91238 SEABIRD_T_I 2.1947648e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 PRESSURE_SLOPE 0.00022957686 SEABIRD_T_J 2.2037441e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 COMPASS_USE 49156 SEABIRD_C_G -9.9419231

MASS 72024 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_H 1.1375728

NAV_MODE 0 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_I -0.0016241658

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 2 ALTIM_BOTTOM_TURN_MARGIN 0 SEABIRD_C_J 0.0002088599

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 OPTIONS 2

HD_A 0.00281838 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 0 SC_RECORDABOVE 2000.0

HD_B 0.0139236 ROLL_MIN 1200 ALTIM_PING_DEPTH 0 SC_PROFILE 7.0

HD_C 5.7000002e-06 ROLL_MAX 4000 ALTIM_PING_DELTA 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_FREQUENCY 13 SC_NDIVE 1.0

ESCAPE_HEADING 180 C_ROLL_DIVE 2593.1365 ALTIM_PULSE 3

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2713.5149 ALTIM_SENSITIVITY 2

FIX_MISSING_TIMEOUT 20 HEAD_ERRBAND 10 XPDR_VALID 6

AH0_10V 0 D_PITCH 2 NOCOMM_ACTION 129 SEABIRD_C_I -0.0016241658

AH0_24V 575 D_SAFE 500 N_DIVES 0 SEABIRD_C_J 0.0002088599

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_FILEKB 8 SEABIRD_T_G 0.0042874566

ALTIM_FREQUENCY 13 D_TGT 990 N_GPS 100440 SEABIRD_T_H 0.00062267116

ALTIM_PING_DELTA 0 ESCAPE_HEADING 180 N_NOCOMM 0 SEABIRD_T_I 2.1947648e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SEABIRD_T_J 2.2037441e-06

ALTIM_PING_FIT 0 FERRY_MAX 45 OPTIONS 2 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 4.0937362 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 18.956902 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 2 PITCH_ADJ_DBAND 2 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 20 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_CNV 0.0041299998 SURFACE_URGENCY 10

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 20

CALL_NDIVES 1 HD_A 0.00281838 PITCH_GAIN 13.491293 SURFACE_URGENCY_TRY 10

CALL_TRIES 3 HD_B 0.0139236 PITCH_GAIN_AUTO_DELTA 0.5 TGT_AUTO_DEFAULT 0

CALL_WAIT 45 HD_C 5.7000002e-06 PITCH_GAIN_AUTO_MAX 2 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 10000 HEADING -1 PITCH_MAX 3900 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_MAXERRORS 1 T_ABORT 2880

CF8_MAXERRORS 0 ICE_FREEZE_MARGIN 0.07 PITCH_MIN 230 T_BOOST 0

COMM_SEQ 7 ID 235 PITCH_TIMEOUT 40 T_DIVE 360

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_VBD_SHIFT 0.0040000002 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT 0.5 PITCH_W_DBAND 0 T_GPS 3

COMPASS_USE 49156 KALMAN_USE 2 PITCH_W_GAIN 0 T_LOITER 0

C_PITCH 2295.5884 LOGGERDEVICE1 7 PRESSURE_DEVICE 34 T_MISSION 500

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 -1 PRESSURE_SLOPE 0.00022957686 T_NO_W 240

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 PRESSURE_YINT -157.91238 T_RSLEEP 2

C_ROLL_CLIMB 2713.5149 LOGGERDEVICE4 -1 PROTOCOL 9 T_TURN 225

C_ROLL_DIVE 2593.1365 LOGGERS 1 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_VBD 2000 LOITER_DBDW 400 RAFOS_DEVICE 96 UNCOM_BLEED 400

C_VBD_AUTO_DELTA 0 LOITER_D_BOTTOM 700 RAFOS_HIT_WINDOW 10800 UPLOAD_DIVES_MAX 3

C_VBD_AUTO_MAX 0 LOITER_D_TOP 400 RAFOS_MMODEM 0 USE_BATHY 0

DBDW 0 LOITER_N_DIVE 0 RAFOS_PEAK_OFFSET 0 USE_ICE 1

DEEPGLIDER 0 LOITER_W_DBAND 2 RELAUNCH 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS 72024 RHO 1.023 VBD_DBAND 2

DEVICE1 -1 MAXI_10V 5 ROLL_ADJ_DBAND 0.029999999 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 5 ROLL_ADJ_GAIN 0 VBD_MAX 3960

DEVICE3 -1 MAX_BUOY 120 ROLL_CNV 0.054945 VBD_MAXERRORS 2

DEVICE4 -1 MINV_10V 0 ROLL_DEG 80 VBD_MIN 500

DEVICE5 -1 MINV_24V 0 ROLL_MAX 4000 VBD_TIMEOUT 800

DEVICE6 -1 MISSION 11 ROLL_MAXERRORS 0 W_ADJ_DBAND 0

DIVE 68 MOTHERBOARD 6 ROLL_MIN 1200 XPDR_DEVICE -1

D_ABORT 1030 NAV2_DEVICE 6 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

D_BOOST 3 NAV3_DEVICE -1 SC_NDIVE 1.0 XPDR_INT 13

D_CALL 3 NAV4_DEVICE -1 SC_PROFILE 7.0 XPDR_REP 11.5

D_FINISH 10 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_VALID 6

D_FLARE 3 NAV_MODE 0 SC_XMITPROFILE 3.0

D_NO_BLEED 450 NETBOX 1 SEABIRD_C_G -9.9419231

D_OFFGRID 1000 NETWORK_DEVICE 1 SEABIRD_C_H 1.1375728

Pre-dive calculations and measurements:

GPS1 150823,164903,7555.193,-14228.708,31,0.9,34,15.8 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 3.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 20.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150823,164903,7555.193,-14228.708,31,0.9,34,15.8 MHEAD_RNG_PITCHd_Wd 208.9,65550,-20.2,-9.167,-25.06,1949,0.109

SPEED_LIMITS 0.092,0.196 D_GRID 990

TGT_NAME Bstart IRON 1.000000,-0.058064,-0.069359,-0.064846,1.037432,-0.079687,0.059845,0.024819,0.912228,-1019.682983,-140.930878,505.300598

TGT_LATLONG 7530.000,-14408.000 OSC 8000307

Post-dive calculations and measurements:

NAV 1692129544,151.4,start _10V_AH 14.93,0.000

FREEZE 0.61,-0.372,-1.343,2,48,0 FG_AHR_24Vo 19.137

FINISH 0.6,1.019822 FG_AHR_10Vo 4.133

SM_CCo 6337.25,0.17,0.136,0,499.2,408.9,589.6,368.13 MEM0 59796,1,0,0

SM_GC 4.10,0.17,19.84,3.38,0.136,0.130,0.076,499.2,408.9,589.6,221.1,2617.8,0,0,0,15.70,15.54,15.62 MEM1 65508,1,0,0

SURF below D_CALL,4.095523/3.000000 MEM2 1023112,29,22556,116

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16135,575

IRIDIUM_FIX 7559.12,-14226.97,130823,164047 CAP_FILE_SIZE 184769,0

TCM_TEMP 1.78 SDSIZE 3918848,3886336

SC_FREEKB 3856992 SDFILEDIR 537,69

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

RAFOS_FIX 7558.357422,-14235.375977,150823,161638,8,255,-5.96 SOUNDSPEED 1465.0

HUMID 48.05 MAGCAL 1.000000,-0.044087,-0.154120,-0.073649,1.083400,-0.115417,0.069443,0.045948,1.007727,-952.5,-112.6,378.4,36,0.1105,0

TEMP -0.24 IMPLIED_C_PITCH 2328,13.20,169,0.0,13.35

INTERNAL_PRESSURE 8.09807 GPS 150823,164903,7555.193,-14228.708,31,0.9,34,15.8

_24V_AH 14.83,22.394

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 661 1242 12189.77 nil 0 0 0.00

Pitch_motor 37 189 104.57 nil 0 0 0.00

Roll_motor 67 272 272.85 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 0 0 0.00 nil 0 0 0.00

Core 2040 5 155.98 SciCon 6301 6 591.44

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4297 0 20.53

Compass 971 5 72.50

RAFOS 9 40 5.61

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

5.86 16386 -117.30 -1.96 0.00 499.8 410.1 589.6 2998.4 2573.4 0.00 0.00 0 13.95 7.20 0.00 0.00 0.008 0.000 0.000 663.44 589.19 737.69 2998.94 2573.31 0 0 0 15.89 30.00 30.00

14.21 20775 -117.30 -1.96 80.00 663.6 589.2 738.0 2998.8 2573.6 3.38 0.00 1 104.67 71.76 8.63 3.94 0.005 0.182 0.147 2479.00 2455.12 2502.88 1803.94 4007.81 0 0 0 15.89 15.74 15.78

112.69 1028 -117.30 -1.96 0.00 2479.8 2455.9 2503.8 1804.3 4006.5 16.54 -19.96 20 118.56 0.00 0.00 3.67 0.000 0.000 0.091 2479.62 2455.25 2504.00 1804.19 2576.44 0 0 0 30.00 30.00 15.81

447.75 548 -117.30 -1.96 -80.00 2480.4 2455.1 2505.7 1804.1 2576.2 62.03 -7.65 36 453.69 0.00 0.00 3.88 0.000 0.000 0.167 2478.44 2452.75 2504.12 1804.38 1192.75 0 0 0 30.00 30.00 15.84

682.83 1060 -117.30 -1.96 0.00 2479.0 2452.3 2505.8 1804.2 1192.4 67.68 -2.07 83 688.96 0.00 0.00 3.50 0.000 0.000 0.075 2479.78 2452.81 2506.75 1804.31 2614.69 0 0 0 30.00 30.00 15.94

1067.93 548 -117.30 -1.96 -80.00 2478.2 2450.6 2505.9 1804.2 2613.5 81.30 -3.93 100 1074.31 0.00 0.00 3.92 0.000 0.000 0.162 2477.75 2450.56 2504.94 1804.50 1192.56 0 0 0 30.00 30.00 15.92

1182.99 1060 -117.30 -1.96 0.00 2477.9 2449.9 2505.9 1804.1 1192.2 86.27 -4.39 123 1189.12 0.00 0.00 3.48 0.000 0.000 0.074 2479.12 2452.25 2506.00 1803.81 2614.88 0 0 0 30.00 30.00 16.00

1567.99 292 -117.30 -1.96 80.00 2478.1 2449.9 2506.3 1804.2 2615.1 99.28 -3.17 140 1574.28 0.00 0.00 3.71 0.000 0.000 0.146 2480.44 2453.56 2507.31 1802.19 4007.31 0 0 0 30.00 30.00 15.98

1803.06 1060 -117.30 -1.96 0.00 2477.3 2449.1 2505.6 1803.6 4007.2 106.16 -2.96 187 1809.30 0.00 0.00 3.60 0.000 0.000 0.090 2478.66 2451.06 2506.25 1804.12 2572.62 0 0 0 30.00 30.00 16.03

2188.08 548 -117.30 -1.96 -80.00 2477.4 2448.8 2506.1 1804.4 2573.1 116.90 -2.61 204 2194.42 0.00 0.00 3.83 0.000 0.000 0.169 2476.91 2448.00 2505.81 1804.88 1191.56 0 0 0 30.00 30.00 15.99

2273.10 1060 -117.30 -1.96 0.00 2477.3 2448.7 2506.0 1804.2 1191.4 119.09 -2.61 221 2279.29 0.00 0.00 3.47 0.000 0.000 0.075 2475.69 2447.69 2503.69 1804.50 2617.25 0 0 0 30.00 30.00 16.06

2658.12 292 -117.30 -1.96 80.00 2477.5 2449.1 2505.9 1804.7 2617.2 126.32 -1.85 238 2664.56 0.00 0.00 3.72 0.000 0.000 0.146 2478.59 2450.50 2506.69 1804.38 4008.12 0 0 0 30.00 30.00 16.03

2893.20 1060 -117.30 -1.96 0.00 2477.2 2448.7 2505.6 1804.2 4008.3 131.62 -2.23 285 2899.58 0.00 0.00 3.58 0.000 0.000 0.090 2479.53 2450.25 2508.81 1804.25 2572.69 0 0 0 30.00 30.00 16.08

3278.22 292 -117.30 -1.96 80.00 2477.2 2448.4 2505.9 1804.2 2572.6 139.14 -1.88 302 3284.75 0.00 0.00 3.85 0.000 0.000 0.143 2477.25 2447.56 2506.94 1802.75 4007.81 0 0 0 30.00 30.00 16.05

3513.29 1060 -117.30 -1.96 0.00 2477.0 2448.6 2505.4 1804.0 4007.5 142.73 -1.29 349 3519.69 0.00 0.00 3.59 0.000 0.000 0.091 2479.31 2449.69 2508.94 1803.88 2572.56 0 0 0 30.00 30.00 16.09

3888.31 292 -117.30 -1.96 80.00 2477.2 2448.4 2506.1 1804.4 2572.9 147.99 -1.38 367 3894.79 0.00 0.00 3.80 0.000 0.000 0.143 2477.94 2449.06 2506.81 1803.62 4008.12 0 0 0 30.00 30.00 16.06

3957.59 1060 -117.30 -1.96 0.00 2476.7 2447.6 2505.8 1803.8 4007.8 148.84 -1.32 381 3963.67 0.00 0.00 3.57 0.000 0.000 0.092 2477.50 2448.88 2506.12 1804.06 2572.75 0 0 0 30.00 30.00 16.09

4333.34 32 -117.30 -1.96 0.00 2477.0 2448.1 2505.9 1803.5 2573.1 151.99 -0.84 396 4334.90 0.00 0.00 0.00 0.000 0.000 0.000 2477.78 2448.25 2507.31 1803.38 2573.44 0 0 0 30.00 30.00 30.00

4393 end dive: NO_VERTICAL_VELOCITY

state 4393 begin apogee

4394.85 10243 0.00 -0.37 0.00 2476.9 2447.9 2505.9 1803.6 2727.5 152.38 0.00 398 4509.62 105.86 2.94 0.06 1.243 0.190 0.273 2001.09 1922.31 2079.88 2203.56 2696.12 0 0 0 11.98 16.05 15.60

4511 end apogee: CONTROL_FINISHED_OK

state 4511 begin climb

4512.11 10243 117.30 1.96 0.00 1996.3 1916.8 2075.8 2206.4 2696.7 150.27 0.00 401 4622.00 99.82 3.92 0.00 1.147 0.123 0.000 1522.28 1410.81 1633.75 2771.88 2695.56 0 0 0 11.80 15.63 30.00

4995.62 16386 117.30 1.96 0.00 1511.2 1407.4 1615.1 2773.4 2696.6 52.46 17.83 418 4997.18 0.00 0.00 0.00 0.000 0.000 0.000 1511.72 1408.19 1615.25 2773.56 2696.75 0 0 0 30.00 30.00 30.00

5385.67 10275 266.60 2.56 0.00 1510.4 1408.8 1611.9 2773.2 2696.5 44.45 1.33 431 5620.98 225.16 0.93 0.00 0.999 0.088 0.000 913.56 791.38 1035.75 2922.88 2695.06 0 0 0 11.83 15.81 30.00

5924.23 10791 405.93 3.12 -80.00 909.1 791.6 1026.7 2921.1 2696.6 9.62 1.85 502 6088.97 151.38 0.86 4.11 0.962 0.086 0.163 500.25 407.12 593.38 3057.06 1248.94 0 0 0 11.69 15.67 15.29

6241 end climb: SURFACE_DEPTH_REACHED

state 6241 begin surface coast

6297 end surface coast: CONTROL_FINISHED_OK

state 6297 begin surface

ID	235	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_INHIBIT	90
MISSION	11	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	30	XPDR_INT	13
DIVE	68	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_REP	11.5
N_DIVES	0	SM_CC	662.31	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
STOP_T	0	N_FILEKB	8	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_YINT	0.5
D_SURF	2	FILEMGR	2	VBD_MIN	500	DEEPGLIDER	0
D_FLARE	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDERMB	0
D_TGT	990	COMM_SEQ	7	C_VBD	2000	MOTHERBOARD	6
D_ABORT	1030	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
D_NO_BLEED	450	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
D_BOOST	3	NOCOMM_ACTION	129	VBD_LP_IGNORE	0	DEVICE3	-1
T_BOOST	0	N_NOSURFACE	0	VBD_TIMEOUT	800	DEVICE4	-1
D_FINISH	10	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0040000002	DEVICE5	-1
D_PITCH	2	NETBOX	1	UNCOM_BLEED	400	DEVICE6	-1
D_SAFE	500	CALL_TRIES	3	VBD_MAXERRORS	2	LOGGERS	1
D_CALL	3	CALL_WAIT	45	C_VBD_AUTO_DELTA	0	LOGGERDEVICE1	7
SURFACE_URGENCY	10	CAPUPLOAD	0	C_VBD_AUTO_MAX	0	LOGGERDEVICE2	-1
SURFACE_URGENCY_TRY	10	CAPMAXSIZE	10000	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	20	T_GPS	3	DBDW	0	LOGGERDEVICE4	-1
T_DIVE	360	N_GPS	100440	LOITER_W_DBAND	2	COMPASS_DEVICE	66
T_MISSION	500	T_RSLEEP	2	LOITER_DBDW	400	COMPASS2_DEVICE	-1
T_ABORT	2880	STROBE	0	LOITER_D_TOP	400	PHONE_DEVICE	33
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	700	GPS_DEVICE	48
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	96
T_NO_W	240	RAFOS_HIT_WINDOW	10800	CF8_MAXERRORS	0	NAV_DEVICE	6
T_LOITER	0	RAFOS_MMODEM	0	AH0_24V	575	NAV2_DEVICE	6
T_EPIRB	0	PITCH_MIN	230	AH0_10V	0	NAV3_DEVICE	-1
USE_BATHY	0	PITCH_MAX	3900	MINV_24V	0	NAV4_DEVICE	-1
USE_ICE	1	C_PITCH	2295.5884	MINV_10V	0	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.07	PITCH_DBAND	0.1	MAXI_24V	5	PRESSURE_DEVICE	34
D_OFFGRID	1000	PITCH_CNV	0.0041299998	MAXI_10V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	13.491293	FG_AHR_10V	4.0937362	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	18.956902	SEABIRD_T_G	0.0042874566
MAX_BUOY	120	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062267116
GLIDE_SLOPE	45	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-157.91238	SEABIRD_T_I	2.1947648e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	PRESSURE_SLOPE	0.00022957686	SEABIRD_T_J	2.2037441e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	COMPASS_USE	49156	SEABIRD_C_G	-9.9419231
MASS	72024	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_H	1.1375728
NAV_MODE	0	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_I	-0.0016241658
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	2	ALTIM_BOTTOM_TURN_MARGIN	0	SEABIRD_C_J	0.0002088599
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	OPTIONS	2
HD_A	0.00281838	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	0	SC_RECORDABOVE	2000.0
HD_B	0.0139236	ROLL_MIN	1200	ALTIM_PING_DEPTH	0	SC_PROFILE	7.0
HD_C	5.7000002e-06	ROLL_MAX	4000	ALTIM_PING_DELTA	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_FREQUENCY	13	SC_NDIVE	1.0
ESCAPE_HEADING	180	C_ROLL_DIVE	2593.1365	ALTIM_PULSE	3
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2713.5149	ALTIM_SENSITIVITY	2
FIX_MISSING_TIMEOUT	20	HEAD_ERRBAND	10	XPDR_VALID	6

GPS1	150823,164903,7555.193,-14228.708,31,0.9,34,15.8	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	3.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	20.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150823,164903,7555.193,-14228.708,31,0.9,34,15.8	MHEAD_RNG_PITCHd_Wd	208.9,65550,-20.2,-9.167,-25.06,1949,0.109
SPEED_LIMITS	0.092,0.196	D_GRID	990
TGT_NAME	Bstart	IRON	1.000000,-0.058064,-0.069359,-0.064846,1.037432,-0.079687,0.059845,0.024819,0.912228,-1019.682983,-140.930878,505.300598
TGT_LATLONG	7530.000,-14408.000	OSC	8000307

NAV	1692129544,151.4,start	_10V_AH	14.93,0.000
FREEZE	0.61,-0.372,-1.343,2,48,0	FG_AHR_24Vo	19.137
FINISH	0.6,1.019822	FG_AHR_10Vo	4.133
SM_CCo	6337.25,0.17,0.136,0,499.2,408.9,589.6,368.13	MEM0	59796,1,0,0
SM_GC	4.10,0.17,19.84,3.38,0.136,0.130,0.076,499.2,408.9,589.6,221.1,2617.8,0,0,0,15.70,15.54,15.62	MEM1	65508,1,0,0
SURF	below D_CALL,4.095523/3.000000	MEM2	1023112,29,22556,116
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16135,575
IRIDIUM_FIX	7559.12,-14226.97,130823,164047	CAP_FILE_SIZE	184769,0
TCM_TEMP	1.78	SDSIZE	3918848,3886336
SC_FREEKB	3856992	SDFILEDIR	537,69
RAFOS_CLK	-1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	7558.357422,-14235.375977,150823,161638,8,255,-5.96	SOUNDSPEED	1465.0
HUMID	48.05	MAGCAL	1.000000,-0.044087,-0.154120,-0.073649,1.083400,-0.115417,0.069443,0.045948,1.007727,-952.5,-112.6,378.4,36,0.1105,0
TEMP	-0.24	IMPLIED_C_PITCH	2328,13.20,169,0.0,13.35
INTERNAL_PRESSURE	8.09807	GPS	150823,164903,7555.193,-14228.708,31,0.9,34,15.8
_24V_AH	14.83,22.394

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	661	1242	12189.77	nil	0	0	0.00
Pitch_motor	37	189	104.57	nil	0	0	0.00
Roll_motor	67	272	272.85	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	0	0	0.00	nil	0	0	0.00
Core	2040	5	155.98	SciCon	6301	6	591.44
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4297	0	20.53
Compass	971	5	72.50
RAFOS	9	40	5.61
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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
5.86	16386	-117.30	-1.96	0.00	499.8	410.1	589.6	2998.4	2573.4	0.00	0.00	0	13.95	7.20	0.00	0.00	0.008	0.000	0.000	663.44	589.19	737.69	2998.94	2573.31	0	0	0	15.89	30.00	30.00
14.21	20775	-117.30	-1.96	80.00	663.6	589.2	738.0	2998.8	2573.6	3.38	0.00	1	104.67	71.76	8.63	3.94	0.005	0.182	0.147	2479.00	2455.12	2502.88	1803.94	4007.81	0	0	0	15.89	15.74	15.78
112.69	1028	-117.30	-1.96	0.00	2479.8	2455.9	2503.8	1804.3	4006.5	16.54	-19.96	20	118.56	0.00	0.00	3.67	0.000	0.000	0.091	2479.62	2455.25	2504.00	1804.19	2576.44	0	0	0	30.00	30.00	15.81
447.75	548	-117.30	-1.96	-80.00	2480.4	2455.1	2505.7	1804.1	2576.2	62.03	-7.65	36	453.69	0.00	0.00	3.88	0.000	0.000	0.167	2478.44	2452.75	2504.12	1804.38	1192.75	0	0	0	30.00	30.00	15.84
682.83	1060	-117.30	-1.96	0.00	2479.0	2452.3	2505.8	1804.2	1192.4	67.68	-2.07	83	688.96	0.00	0.00	3.50	0.000	0.000	0.075	2479.78	2452.81	2506.75	1804.31	2614.69	0	0	0	30.00	30.00	15.94
1067.93	548	-117.30	-1.96	-80.00	2478.2	2450.6	2505.9	1804.2	2613.5	81.30	-3.93	100	1074.31	0.00	0.00	3.92	0.000	0.000	0.162	2477.75	2450.56	2504.94	1804.50	1192.56	0	0	0	30.00	30.00	15.92
1182.99	1060	-117.30	-1.96	0.00	2477.9	2449.9	2505.9	1804.1	1192.2	86.27	-4.39	123	1189.12	0.00	0.00	3.48	0.000	0.000	0.074	2479.12	2452.25	2506.00	1803.81	2614.88	0	0	0	30.00	30.00	16.00
1567.99	292	-117.30	-1.96	80.00	2478.1	2449.9	2506.3	1804.2	2615.1	99.28	-3.17	140	1574.28	0.00	0.00	3.71	0.000	0.000	0.146	2480.44	2453.56	2507.31	1802.19	4007.31	0	0	0	30.00	30.00	15.98
1803.06	1060	-117.30	-1.96	0.00	2477.3	2449.1	2505.6	1803.6	4007.2	106.16	-2.96	187	1809.30	0.00	0.00	3.60	0.000	0.000	0.090	2478.66	2451.06	2506.25	1804.12	2572.62	0	0	0	30.00	30.00	16.03
2188.08	548	-117.30	-1.96	-80.00	2477.4	2448.8	2506.1	1804.4	2573.1	116.90	-2.61	204	2194.42	0.00	0.00	3.83	0.000	0.000	0.169	2476.91	2448.00	2505.81	1804.88	1191.56	0	0	0	30.00	30.00	15.99
2273.10	1060	-117.30	-1.96	0.00	2477.3	2448.7	2506.0	1804.2	1191.4	119.09	-2.61	221	2279.29	0.00	0.00	3.47	0.000	0.000	0.075	2475.69	2447.69	2503.69	1804.50	2617.25	0	0	0	30.00	30.00	16.06
2658.12	292	-117.30	-1.96	80.00	2477.5	2449.1	2505.9	1804.7	2617.2	126.32	-1.85	238	2664.56	0.00	0.00	3.72	0.000	0.000	0.146	2478.59	2450.50	2506.69	1804.38	4008.12	0	0	0	30.00	30.00	16.03
2893.20	1060	-117.30	-1.96	0.00	2477.2	2448.7	2505.6	1804.2	4008.3	131.62	-2.23	285	2899.58	0.00	0.00	3.58	0.000	0.000	0.090	2479.53	2450.25	2508.81	1804.25	2572.69	0	0	0	30.00	30.00	16.08
3278.22	292	-117.30	-1.96	80.00	2477.2	2448.4	2505.9	1804.2	2572.6	139.14	-1.88	302	3284.75	0.00	0.00	3.85	0.000	0.000	0.143	2477.25	2447.56	2506.94	1802.75	4007.81	0	0	0	30.00	30.00	16.05
3513.29	1060	-117.30	-1.96	0.00	2477.0	2448.6	2505.4	1804.0	4007.5	142.73	-1.29	349	3519.69	0.00	0.00	3.59	0.000	0.000	0.091	2479.31	2449.69	2508.94	1803.88	2572.56	0	0	0	30.00	30.00	16.09
3888.31	292	-117.30	-1.96	80.00	2477.2	2448.4	2506.1	1804.4	2572.9	147.99	-1.38	367	3894.79	0.00	0.00	3.80	0.000	0.000	0.143	2477.94	2449.06	2506.81	1803.62	4008.12	0	0	0	30.00	30.00	16.06
3957.59	1060	-117.30	-1.96	0.00	2476.7	2447.6	2505.8	1803.8	4007.8	148.84	-1.32	381	3963.67	0.00	0.00	3.57	0.000	0.000	0.092	2477.50	2448.88	2506.12	1804.06	2572.75	0	0	0	30.00	30.00	16.09
4333.34	32	-117.30	-1.96	0.00	2477.0	2448.1	2505.9	1803.5	2573.1	151.99	-0.84	396	4334.90	0.00	0.00	0.00	0.000	0.000	0.000	2477.78	2448.25	2507.31	1803.38	2573.44	0	0	0	30.00	30.00	30.00
4393	end dive: NO_VERTICAL_VELOCITY
state	4393	begin apogee
4394.85	10243	0.00	-0.37	0.00	2476.9	2447.9	2505.9	1803.6	2727.5	152.38	0.00	398	4509.62	105.86	2.94	0.06	1.243	0.190	0.273	2001.09	1922.31	2079.88	2203.56	2696.12	0	0	0	11.98	16.05	15.60
4511	end apogee: CONTROL_FINISHED_OK
state	4511	begin climb
4512.11	10243	117.30	1.96	0.00	1996.3	1916.8	2075.8	2206.4	2696.7	150.27	0.00	401	4622.00	99.82	3.92	0.00	1.147	0.123	0.000	1522.28	1410.81	1633.75	2771.88	2695.56	0	0	0	11.80	15.63	30.00
4995.62	16386	117.30	1.96	0.00	1511.2	1407.4	1615.1	2773.4	2696.6	52.46	17.83	418	4997.18	0.00	0.00	0.00	0.000	0.000	0.000	1511.72	1408.19	1615.25	2773.56	2696.75	0	0	0	30.00	30.00	30.00
5385.67	10275	266.60	2.56	0.00	1510.4	1408.8	1611.9	2773.2	2696.5	44.45	1.33	431	5620.98	225.16	0.93	0.00	0.999	0.088	0.000	913.56	791.38	1035.75	2922.88	2695.06	0	0	0	11.83	15.81	30.00
5924.23	10791	405.93	3.12	-80.00	909.1	791.6	1026.7	2921.1	2696.6	9.62	1.85	502	6088.97	151.38	0.86	4.11	0.962	0.086	0.163	500.25	407.12	593.38	3057.06	1248.94	0	0	0	11.69	15.67	15.29
6241	end climb: SURFACE_DEPTH_REACHED
state	6241	begin surface coast
6297	end surface coast: CONTROL_FINISHED_OK
state	6297	begin surface