Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 70 * 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 70 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 13.427094 FG_AHR_10V 4.1730309 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 19.316013 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 4.1730309 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 19.316013 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 13.427094 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 70 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 150823,220237,7601.897,-14258.790,0,6255.0,0,15.8 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.65 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 22.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150823,220237,7601.897,-14258.790,0,6255.0,0,15.8 MHEAD_RNG_PITCHd_Wd 192.8,67228,-20.2,-9.167,-25.06,1949,0.137

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:

FREEZE 0.61,-0.117,-1.343,2,50,1 _10V_AH 14.92,0.000

NAV 1692143942,8.0,start FG_AHR_24Vo 19.495

FINISH 0.6,1.019814 FG_AHR_10Vo 4.196

SM_CCo 5975.50,0.14,0.155,0,499.2,409.1,589.3,368.15 MEM0 59796,1,0,0

SM_GC 4.00,0.14,20.84,0.37,0.155,0.140,0.120,499.2,409.1,589.3,221.2,2569.9,0,0,0,15.69,15.53,15.61 MEM1 65508,1,0,0

SURF below D_CALL,4.001167/3.000000 MEM2 1023112,29,22556,116

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16115,586

IRIDIUM_FIX 7559.12,-14226.97,130823,164047 CAP_FILE_SIZE 203754,0

TCM_TEMP 1.73 SDSIZE 3918848,3885728

SC_FREEKB 3856352 SDFILEDIR 551,71

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 7601.896973,-14258.790039,150823,222237,5,255,0.97 SOUNDSPEED 1465.0

HUMID 48.19 MAGCAL 1.000000,-0.073150,-0.035134,-0.075431,1.071321,-0.104562,0.075576,0.057314,1.000179,-1063.7,-138.4,392.4,36,0.1087,0

TEMP -0.45 IMPLIED_C_PITCH 2312,13.60,155,0.0,13.51

INTERNAL_PRESSURE 8.09179 GPS 150823,220237,7601.897,-14258.790,0,6255.0,0,15.8

_24V_AH 14.83,22.823

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 668 1232 12208.86 nil 0 0 0.00

Pitch_motor 39 187 109.16 nil 0 0 0.00

Roll_motor 89 257 343.25 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 2020 5 154.38 SciCon 5942 6 571.47

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3957 0 18.89

Compass 974 5 72.67

RAFOS 9 40 5.51

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

5.86 16386 -117.30 -1.97 0.00 496.6 407.2 586.0 3044.7 2572.4 0.00 0.00 0 42.73 35.67 0.00 0.00 0.006 0.000 0.000 1218.06 1182.25 1253.88 3044.62 2573.06 0 0 0 15.88 30.00 30.00

42.99 20775 -117.30 -1.97 80.00 1218.4 1182.0 1254.9 3045.4 2572.8 3.17 -1.70 4 112.71 50.36 9.02 3.94 0.005 0.184 0.155 2478.69 2455.00 2502.38 1804.25 4007.81 0 0 0 15.88 15.73 15.77

170.74 1028 -117.30 -1.97 0.00 2480.7 2456.1 2505.4 1804.8 4007.8 27.48 -21.77 29 176.62 0.00 0.00 3.65 0.000 0.000 0.093 2480.16 2455.12 2505.19 1804.88 2574.62 0 0 0 30.00 30.00 15.82

485.79 292 -117.30 -1.97 80.00 2481.0 2455.2 2506.8 1805.0 2574.2 61.33 -4.78 41 491.71 0.00 0.00 3.85 0.000 0.000 0.140 2479.75 2454.25 2505.25 1804.38 4007.81 0 0 0 30.00 30.00 15.86

720.85 1060 -117.30 -1.97 0.00 2479.6 2452.4 2506.8 1804.1 4007.4 66.39 -3.12 88 727.23 0.00 0.00 3.62 0.000 0.000 0.092 2479.50 2451.50 2507.50 1803.00 2574.06 0 0 0 30.00 30.00 15.93

1105.98 292 -117.30 -1.97 80.00 2479.1 2451.6 2506.6 1804.4 2573.9 80.92 -4.23 105 1112.27 0.00 0.00 3.84 0.000 0.000 0.142 2477.25 2449.75 2504.75 1804.50 4008.50 0 0 0 30.00 30.00 15.94

1135.22 1060 -117.30 -1.97 0.00 2478.7 2450.8 2506.7 1804.0 4008.9 82.19 -4.27 111 1141.15 0.00 0.00 3.59 0.000 0.000 0.088 2479.81 2451.94 2507.69 1804.62 2573.62 0 0 0 30.00 30.00 15.97

1520.96 548 -117.30 -1.97 -80.00 2478.7 2450.6 2506.8 1804.2 2573.3 93.84 -2.92 128 1527.31 0.00 0.00 3.83 0.000 0.000 0.168 2477.19 2449.31 2505.06 1804.31 1191.88 0 0 0 30.00 30.00 15.96

1756.03 1060 -117.30 -1.97 0.00 2478.8 2450.8 2506.7 1804.6 1191.2 102.32 -3.66 175 1762.20 0.00 0.00 3.47 0.000 0.000 0.075 2480.88 2452.00 2509.75 1804.38 2614.88 0 0 0 30.00 30.00 16.03

2141.05 292 -117.30 -1.97 80.00 2478.7 2450.8 2506.6 1804.3 2614.3 112.47 -2.90 192 2147.34 0.00 0.00 3.73 0.000 0.000 0.147 2479.91 2452.19 2507.62 1803.50 4009.50 0 0 0 30.00 30.00 16.01

2235.34 1060 -117.30 -1.97 0.00 2478.3 2450.1 2506.4 1803.9 4009.6 115.29 -2.92 211 2241.23 0.00 0.00 3.48 0.000 0.000 0.090 2479.34 2451.19 2507.50 1804.38 2571.50 0 0 0 30.00 30.00 16.04

2616.08 292 -117.30 -1.97 80.00 2478.4 2449.9 2506.9 1804.1 2573.1 124.53 -2.37 227 2622.58 0.00 0.00 3.81 0.000 0.000 0.143 2480.75 2451.81 2509.69 1803.56 4009.56 0 0 0 30.00 30.00 16.03

2635.39 1060 -117.30 -1.97 0.00 2478.2 2450.1 2506.2 1803.5 4008.9 125.08 -2.35 231 2642.23 0.00 0.00 3.52 0.000 0.000 0.087 2478.47 2450.31 2506.62 1803.94 2570.56 0 0 0 30.00 30.00 16.07

3031.13 548 -117.30 -1.97 -80.00 2478.6 2450.4 2506.9 1803.4 2571.2 133.22 -1.99 245 3037.62 0.00 0.00 3.76 0.000 0.000 0.169 2477.69 2449.31 2506.06 1803.69 1192.62 0 0 0 30.00 30.00 16.03

3105.41 1060 -117.30 -1.97 0.00 2478.8 2450.2 2507.4 1803.8 1192.7 134.90 -1.91 260 3111.48 0.00 0.00 3.44 0.000 0.000 0.075 2479.50 2450.69 2508.31 1803.38 2614.69 0 0 0 30.00 30.00 16.09

3476.15 292 -117.30 -1.97 80.00 2478.3 2450.3 2506.4 1803.4 2614.7 141.96 -1.88 274 3482.67 0.00 0.00 3.71 0.000 0.000 0.147 2478.56 2450.12 2507.00 1802.19 4008.19 0 0 0 30.00 30.00 16.06

3711.17 1060 -117.30 -1.97 0.00 2477.9 2449.9 2506.0 1803.8 4008.1 145.69 -1.46 321 3717.58 0.00 0.00 3.54 0.000 0.000 0.093 2478.44 2449.94 2506.94 1803.56 2573.50 0 0 0 30.00 30.00 16.09

4096.19 292 -117.30 -1.97 80.00 2478.1 2449.8 2506.4 1803.7 2573.2 149.01 -0.85 338 4102.74 0.00 0.00 3.84 0.000 0.000 0.144 2477.97 2449.44 2506.50 1803.94 4008.50 0 0 0 30.00 30.00 16.06

4126 end dive: NO_VERTICAL_VELOCITY

state 4126 begin apogee

4131.46 10243 0.00 -0.37 0.00 2478.4 2450.2 2506.6 1803.9 2691.8 149.35 0.00 344 4246.30 105.43 2.95 0.07 1.232 0.187 0.257 1999.72 1921.12 2078.31 2204.38 2729.06 0 0 0 12.02 16.05 15.62

4248 end apogee: CONTROL_FINISHED_OK

state 4248 begin climb

4248.79 10759 117.30 1.97 -80.00 1996.6 1917.6 2075.6 2204.2 2729.1 147.59 0.00 351 4365.50 99.42 3.98 4.21 1.141 0.123 0.164 1519.81 1409.44 1630.19 2776.50 1248.44 0 0 0 11.79 15.65 15.37

4442.98 1028 117.30 1.97 0.00 1514.8 1409.4 1620.2 2775.8 1248.2 103.84 27.36 389 4450.24 0.00 0.00 3.71 0.000 0.000 0.076 1513.78 1408.44 1619.12 2776.12 2728.94 0 0 0 30.00 30.00 15.59

4818.69 16902 117.30 1.97 -80.00 1511.1 1409.6 1612.6 2776.3 2729.1 41.93 9.81 404 4826.40 0.00 0.00 4.04 0.000 0.000 0.156 1511.47 1410.81 1612.12 2774.94 1247.44 0 0 0 30.00 30.00 15.76

5057.11 11303 293.46 2.68 0.00 1510.8 1411.8 1609.8 2776.2 1247.6 42.53 -0.08 451 5341.65 266.23 1.10 3.62 0.988 0.091 0.075 803.72 682.81 924.62 2950.44 2735.19 0 0 0 11.85 15.86 15.87

5644.91 10791 431.69 3.23 -80.00 799.6 684.1 915.2 2950.3 2735.3 8.04 1.91 536 5769.96 110.95 0.85 4.16 0.959 0.096 0.154 500.53 407.94 593.12 3083.12 1246.06 0 0 0 11.83 15.71 15.36

5872.53 11303 525.16 3.60 0.00 498.6 407.9 589.2 3083.3 1246.0 2.63 4.26 579 5879.74 0.00 0.56 3.69 0.000 0.101 0.073 498.41 407.88 588.94 3171.75 2733.94 0 0 0 30.00 15.54 15.57

5888 end climb: SURFACE_DEPTH_REACHED

state 5889 begin surface coast

5939 end surface coast: CONTROL_FINISHED_OK

state 5939 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	70	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	13.427094	FG_AHR_10V	4.1730309	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	19.316013	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	150823,220237,7601.897,-14258.790,0,6255.0,0,15.8	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.65	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	22.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150823,220237,7601.897,-14258.790,0,6255.0,0,15.8	MHEAD_RNG_PITCHd_Wd	192.8,67228,-20.2,-9.167,-25.06,1949,0.137
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

FREEZE	0.61,-0.117,-1.343,2,50,1	_10V_AH	14.92,0.000
NAV	1692143942,8.0,start	FG_AHR_24Vo	19.495
FINISH	0.6,1.019814	FG_AHR_10Vo	4.196
SM_CCo	5975.50,0.14,0.155,0,499.2,409.1,589.3,368.15	MEM0	59796,1,0,0
SM_GC	4.00,0.14,20.84,0.37,0.155,0.140,0.120,499.2,409.1,589.3,221.2,2569.9,0,0,0,15.69,15.53,15.61	MEM1	65508,1,0,0
SURF	below D_CALL,4.001167/3.000000	MEM2	1023112,29,22556,116
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16115,586
IRIDIUM_FIX	7559.12,-14226.97,130823,164047	CAP_FILE_SIZE	203754,0
TCM_TEMP	1.73	SDSIZE	3918848,3885728
SC_FREEKB	3856352	SDFILEDIR	551,71
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	7601.896973,-14258.790039,150823,222237,5,255,0.97	SOUNDSPEED	1465.0
HUMID	48.19	MAGCAL	1.000000,-0.073150,-0.035134,-0.075431,1.071321,-0.104562,0.075576,0.057314,1.000179,-1063.7,-138.4,392.4,36,0.1087,0
TEMP	-0.45	IMPLIED_C_PITCH	2312,13.60,155,0.0,13.51
INTERNAL_PRESSURE	8.09179	GPS	150823,220237,7601.897,-14258.790,0,6255.0,0,15.8
_24V_AH	14.83,22.823

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	668	1232	12208.86	nil	0	0	0.00
Pitch_motor	39	187	109.16	nil	0	0	0.00
Roll_motor	89	257	343.25	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	2020	5	154.38	SciCon	5942	6	571.47
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3957	0	18.89
Compass	974	5	72.67
RAFOS	9	40	5.51
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
5.86	16386	-117.30	-1.97	0.00	496.6	407.2	586.0	3044.7	2572.4	0.00	0.00	0	42.73	35.67	0.00	0.00	0.006	0.000	0.000	1218.06	1182.25	1253.88	3044.62	2573.06	0	0	0	15.88	30.00	30.00
42.99	20775	-117.30	-1.97	80.00	1218.4	1182.0	1254.9	3045.4	2572.8	3.17	-1.70	4	112.71	50.36	9.02	3.94	0.005	0.184	0.155	2478.69	2455.00	2502.38	1804.25	4007.81	0	0	0	15.88	15.73	15.77
170.74	1028	-117.30	-1.97	0.00	2480.7	2456.1	2505.4	1804.8	4007.8	27.48	-21.77	29	176.62	0.00	0.00	3.65	0.000	0.000	0.093	2480.16	2455.12	2505.19	1804.88	2574.62	0	0	0	30.00	30.00	15.82
485.79	292	-117.30	-1.97	80.00	2481.0	2455.2	2506.8	1805.0	2574.2	61.33	-4.78	41	491.71	0.00	0.00	3.85	0.000	0.000	0.140	2479.75	2454.25	2505.25	1804.38	4007.81	0	0	0	30.00	30.00	15.86
720.85	1060	-117.30	-1.97	0.00	2479.6	2452.4	2506.8	1804.1	4007.4	66.39	-3.12	88	727.23	0.00	0.00	3.62	0.000	0.000	0.092	2479.50	2451.50	2507.50	1803.00	2574.06	0	0	0	30.00	30.00	15.93
1105.98	292	-117.30	-1.97	80.00	2479.1	2451.6	2506.6	1804.4	2573.9	80.92	-4.23	105	1112.27	0.00	0.00	3.84	0.000	0.000	0.142	2477.25	2449.75	2504.75	1804.50	4008.50	0	0	0	30.00	30.00	15.94
1135.22	1060	-117.30	-1.97	0.00	2478.7	2450.8	2506.7	1804.0	4008.9	82.19	-4.27	111	1141.15	0.00	0.00	3.59	0.000	0.000	0.088	2479.81	2451.94	2507.69	1804.62	2573.62	0	0	0	30.00	30.00	15.97
1520.96	548	-117.30	-1.97	-80.00	2478.7	2450.6	2506.8	1804.2	2573.3	93.84	-2.92	128	1527.31	0.00	0.00	3.83	0.000	0.000	0.168	2477.19	2449.31	2505.06	1804.31	1191.88	0	0	0	30.00	30.00	15.96
1756.03	1060	-117.30	-1.97	0.00	2478.8	2450.8	2506.7	1804.6	1191.2	102.32	-3.66	175	1762.20	0.00	0.00	3.47	0.000	0.000	0.075	2480.88	2452.00	2509.75	1804.38	2614.88	0	0	0	30.00	30.00	16.03
2141.05	292	-117.30	-1.97	80.00	2478.7	2450.8	2506.6	1804.3	2614.3	112.47	-2.90	192	2147.34	0.00	0.00	3.73	0.000	0.000	0.147	2479.91	2452.19	2507.62	1803.50	4009.50	0	0	0	30.00	30.00	16.01
2235.34	1060	-117.30	-1.97	0.00	2478.3	2450.1	2506.4	1803.9	4009.6	115.29	-2.92	211	2241.23	0.00	0.00	3.48	0.000	0.000	0.090	2479.34	2451.19	2507.50	1804.38	2571.50	0	0	0	30.00	30.00	16.04
2616.08	292	-117.30	-1.97	80.00	2478.4	2449.9	2506.9	1804.1	2573.1	124.53	-2.37	227	2622.58	0.00	0.00	3.81	0.000	0.000	0.143	2480.75	2451.81	2509.69	1803.56	4009.56	0	0	0	30.00	30.00	16.03
2635.39	1060	-117.30	-1.97	0.00	2478.2	2450.1	2506.2	1803.5	4008.9	125.08	-2.35	231	2642.23	0.00	0.00	3.52	0.000	0.000	0.087	2478.47	2450.31	2506.62	1803.94	2570.56	0	0	0	30.00	30.00	16.07
3031.13	548	-117.30	-1.97	-80.00	2478.6	2450.4	2506.9	1803.4	2571.2	133.22	-1.99	245	3037.62	0.00	0.00	3.76	0.000	0.000	0.169	2477.69	2449.31	2506.06	1803.69	1192.62	0	0	0	30.00	30.00	16.03
3105.41	1060	-117.30	-1.97	0.00	2478.8	2450.2	2507.4	1803.8	1192.7	134.90	-1.91	260	3111.48	0.00	0.00	3.44	0.000	0.000	0.075	2479.50	2450.69	2508.31	1803.38	2614.69	0	0	0	30.00	30.00	16.09
3476.15	292	-117.30	-1.97	80.00	2478.3	2450.3	2506.4	1803.4	2614.7	141.96	-1.88	274	3482.67	0.00	0.00	3.71	0.000	0.000	0.147	2478.56	2450.12	2507.00	1802.19	4008.19	0	0	0	30.00	30.00	16.06
3711.17	1060	-117.30	-1.97	0.00	2477.9	2449.9	2506.0	1803.8	4008.1	145.69	-1.46	321	3717.58	0.00	0.00	3.54	0.000	0.000	0.093	2478.44	2449.94	2506.94	1803.56	2573.50	0	0	0	30.00	30.00	16.09
4096.19	292	-117.30	-1.97	80.00	2478.1	2449.8	2506.4	1803.7	2573.2	149.01	-0.85	338	4102.74	0.00	0.00	3.84	0.000	0.000	0.144	2477.97	2449.44	2506.50	1803.94	4008.50	0	0	0	30.00	30.00	16.06
4126	end dive: NO_VERTICAL_VELOCITY
state	4126	begin apogee
4131.46	10243	0.00	-0.37	0.00	2478.4	2450.2	2506.6	1803.9	2691.8	149.35	0.00	344	4246.30	105.43	2.95	0.07	1.232	0.187	0.257	1999.72	1921.12	2078.31	2204.38	2729.06	0	0	0	12.02	16.05	15.62
4248	end apogee: CONTROL_FINISHED_OK
state	4248	begin climb
4248.79	10759	117.30	1.97	-80.00	1996.6	1917.6	2075.6	2204.2	2729.1	147.59	0.00	351	4365.50	99.42	3.98	4.21	1.141	0.123	0.164	1519.81	1409.44	1630.19	2776.50	1248.44	0	0	0	11.79	15.65	15.37
4442.98	1028	117.30	1.97	0.00	1514.8	1409.4	1620.2	2775.8	1248.2	103.84	27.36	389	4450.24	0.00	0.00	3.71	0.000	0.000	0.076	1513.78	1408.44	1619.12	2776.12	2728.94	0	0	0	30.00	30.00	15.59
4818.69	16902	117.30	1.97	-80.00	1511.1	1409.6	1612.6	2776.3	2729.1	41.93	9.81	404	4826.40	0.00	0.00	4.04	0.000	0.000	0.156	1511.47	1410.81	1612.12	2774.94	1247.44	0	0	0	30.00	30.00	15.76
5057.11	11303	293.46	2.68	0.00	1510.8	1411.8	1609.8	2776.2	1247.6	42.53	-0.08	451	5341.65	266.23	1.10	3.62	0.988	0.091	0.075	803.72	682.81	924.62	2950.44	2735.19	0	0	0	11.85	15.86	15.87
5644.91	10791	431.69	3.23	-80.00	799.6	684.1	915.2	2950.3	2735.3	8.04	1.91	536	5769.96	110.95	0.85	4.16	0.959	0.096	0.154	500.53	407.94	593.12	3083.12	1246.06	0	0	0	11.83	15.71	15.36
5872.53	11303	525.16	3.60	0.00	498.6	407.9	589.2	3083.3	1246.0	2.63	4.26	579	5879.74	0.00	0.56	3.69	0.000	0.101	0.073	498.41	407.88	588.94	3171.75	2733.94	0	0	0	30.00	15.54	15.57
5888	end climb: SURFACE_DEPTH_REACHED
state	5889	begin surface coast
5939	end surface coast: CONTROL_FINISHED_OK
state	5939	begin surface