Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 79 * 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 79 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 13.493713 FG_AHR_10V 4.5058889 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 20.936922 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 4.5058889 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 20.936922 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 13.493713 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 79 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 160823,101212,7601.546,-14220.202,0,9255.0,0,15.8 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.96 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160823,101212,7601.546,-14220.202,0,9255.0,0,15.8 MHEAD_RNG_PITCHd_Wd 204.8,76889,-20.2,-9.167,-25.06,1949,0.167

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 1692201553,78.8,start _10V_AH 14.93,0.000

FREEZE 0.51,-0.069,-1.366,2,59,0 FG_AHR_24Vo 21.120

FINISH 0.5,1.020151 FG_AHR_10Vo 4.544

SM_CCo 6860.04,0.19,0.121,0,499.3,407.3,591.4,368.11 MEM0 59796,1,0,0

SM_GC 3.88,0.19,18.91,0.40,0.121,0.099,0.124,499.3,407.3,591.4,219.8,2573.8,0,0,0,15.73,15.60,15.63 MEM1 65508,1,0,0

SURF below D_CALL,3.884638/3.000000 MEM2 1023112,29,22556,116

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 19339,711

IRIDIUM_FIX 7559.12,-14226.97,130823,164047 CAP_FILE_SIZE 205078,0

TCM_TEMP 1.85 SDSIZE 3918848,3883136

SC_FREEKB 3853472 SDFILEDIR 614,80

RAFOS_CLK 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 7559.075684,-14342.868164,160823,141412,7,255,2.59 SOUNDSPEED 1465.0

HUMID 48.20 MAGCAL 1.000000,0.009034,-0.080884,-0.079301,1.048738,-0.117408,0.068931,0.002690,1.002239,-1033.1,-118.9,373.2,27,0.1839,0

TEMP -0.18 IMPLIED_C_PITCH 2328,13.37,187,0.0,13.43

INTERNAL_PRESSURE 8.09734 GPS 160823,101212,7601.546,-14220.202,0,9255.0,0,15.8

_24V_AH 14.85,24.727

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 670 1251 12459.45 nil 0 0 0.00

Pitch_motor 40 304 184.22 nil 0 0 0.00

Roll_motor 82 252 308.67 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 2335 5 178.50 SciCon 6831 6 649.45

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4531 0 21.65

Compass 1161 5 86.68

RAFOS 9 40 5.74

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 0.00 499.6 408.0 591.1 218.5 2612.6 0.00 0.00 0 27.24 20.34 0.00 0.00 0.006 0.000 0.000 881.00 831.75 930.25 218.56 2612.94 0 0 0 15.78 30.00 30.00

27.49 18983 -117.30 -1.96 -80.00 881.0 831.7 930.4 218.6 2612.3 3.54 -6.55 2 113.51 59.60 13.32 4.01 0.005 0.304 0.167 2479.72 2456.75 2502.69 1817.75 1192.62 0 0 0 15.77 15.57 15.67

135.81 1028 -117.30 -1.96 0.00 2481.3 2456.3 2506.3 1818.1 1192.2 22.43 -24.32 23 142.10 0.00 0.00 3.55 0.000 0.000 0.073 2483.16 2458.38 2507.94 1817.81 2611.69 0 0 0 30.00 30.00 15.75

471.60 548 -117.30 -1.96 -80.00 2481.7 2456.1 2507.3 1817.8 2611.9 60.51 -5.41 37 477.56 0.00 0.00 3.97 0.000 0.000 0.160 2479.81 2454.44 2505.19 1817.94 1191.75 0 0 0 30.00 30.00 15.79

706.74 1060 -117.30 -1.96 0.00 2481.1 2455.2 2506.9 1818.3 1191.5 67.24 -3.34 84 712.94 0.00 0.00 3.51 0.000 0.000 0.073 2481.81 2455.88 2507.75 1817.94 2613.00 0 0 0 30.00 30.00 15.91

1091.75 548 -117.30 -1.96 -80.00 2479.6 2452.3 2506.9 1817.8 2613.2 80.98 -3.66 101 1098.11 0.00 0.00 3.95 0.000 0.000 0.160 2479.84 2452.25 2507.44 1818.31 1192.62 0 0 0 30.00 30.00 15.90

1326.83 1060 -117.30 -1.96 0.00 2479.3 2451.9 2506.8 1818.0 1192.5 90.70 -4.16 148 1333.01 0.00 0.00 3.48 0.000 0.000 0.072 2480.28 2453.69 2506.88 1816.62 2613.56 0 0 0 30.00 30.00 15.99

1711.85 292 -117.30 -1.96 80.00 2479.0 2450.7 2507.3 1818.0 2613.4 102.13 -2.82 165 1718.12 0.00 0.00 3.73 0.000 0.000 0.144 2478.50 2450.12 2506.88 1818.19 4007.88 0 0 0 30.00 30.00 15.96

1916.91 1060 -117.30 -1.96 0.00 2478.3 2450.3 2506.4 1818.2 4008.8 108.83 -3.16 206 1923.11 0.00 0.00 3.57 0.000 0.000 0.087 2477.31 2449.69 2504.94 1817.88 2572.38 0 0 0 30.00 30.00 16.02

2301.92 548 -117.30 -1.96 -80.00 2478.6 2450.4 2506.7 1818.0 2572.6 117.91 -2.06 223 2308.25 0.00 0.00 3.81 0.000 0.000 0.166 2477.31 2449.38 2505.25 1818.06 1191.56 0 0 0 30.00 30.00 16.00

2537.01 1060 -117.30 -1.96 0.00 2478.5 2450.0 2507.0 1817.9 1191.8 125.56 -3.37 270 2543.38 0.00 0.00 3.46 0.000 0.000 0.073 2479.97 2452.06 2507.88 1818.06 2614.62 0 0 0 30.00 30.00 16.07

2922.05 548 -117.30 -1.96 -80.00 2478.5 2450.1 2506.9 1818.1 2613.6 132.58 -1.68 287 2928.58 0.00 0.00 3.89 0.000 0.000 0.160 2478.28 2449.75 2506.81 1817.81 1192.38 0 0 0 30.00 30.00 16.02

3157.11 1060 -117.30 -1.96 0.00 2478.5 2450.2 2506.8 1817.9 1191.9 137.42 -2.10 334 3163.44 0.00 0.00 3.47 0.000 0.000 0.074 2480.78 2453.38 2508.19 1816.12 2615.38 0 0 0 30.00 30.00 16.08

3542.12 548 -117.30 -1.96 -80.00 2478.5 2449.8 2507.1 1818.0 2615.0 143.63 -1.58 351 3548.65 0.00 0.00 3.89 0.000 0.000 0.162 2480.78 2451.69 2509.88 1817.88 1191.31 0 0 0 30.00 30.00 16.04

3777.17 1060 -117.30 -1.96 0.00 2478.5 2449.9 2507.1 1818.1 1190.8 147.67 -1.63 398 3783.51 0.00 0.00 3.47 0.000 0.000 0.075 2479.09 2450.50 2507.69 1818.06 2614.25 0 0 0 30.00 30.00 16.10

4162.19 548 -117.30 -1.96 -80.00 2478.6 2450.1 2507.1 1817.9 2614.0 152.04 -1.15 415 4168.71 0.00 0.00 3.89 0.000 0.000 0.162 2479.47 2450.69 2508.25 1818.25 1191.69 0 0 0 30.00 30.00 16.05

4397.25 1060 -117.30 -1.96 0.00 2478.4 2450.3 2506.5 1818.1 1191.5 154.97 -1.26 462 4403.60 0.00 0.00 3.45 0.000 0.000 0.075 2478.59 2449.56 2507.62 1817.06 2614.38 0 0 0 30.00 30.00 16.11

4778.25 548 -117.30 -1.96 -80.00 2478.6 2450.3 2506.8 1817.9 2614.9 158.34 -0.88 480 4784.79 0.00 0.00 3.89 0.000 0.000 0.162 2479.25 2450.81 2507.69 1815.81 1191.31 0 0 0 30.00 30.00 16.05

4867 end dive: NO_VERTICAL_VELOCITY

state 4868 begin apogee

4874.29 10243 0.00 -0.37 0.00 2478.2 2449.8 2506.8 1818.1 2728.9 159.31 0.00 498 4988.96 105.78 2.77 0.07 1.251 0.191 0.253 1997.94 1918.81 2077.06 2205.38 2695.31 0 0 0 12.13 16.05 15.62

4991 end apogee: CONTROL_FINISHED_OK

state 4991 begin climb

4991.52 10503 117.30 1.96 80.00 1996.8 1916.3 2077.3 2204.9 2695.6 157.42 0.00 505 5107.88 99.64 3.94 3.69 1.156 0.123 0.151 1520.31 1407.12 1633.50 2773.12 4007.38 0 0 0 11.81 15.64 15.37

5146.06 1028 117.30 1.96 0.00 1515.6 1407.2 1624.0 2773.8 4006.6 125.76 26.37 535 5152.39 0.00 0.00 3.39 0.000 0.000 0.082 1515.91 1407.81 1624.00 2773.94 2695.50 0 0 0 30.00 30.00 15.53

5531.07 16386 117.30 1.96 0.00 1511.8 1407.6 1616.1 2774.1 2695.0 48.35 16.25 552 5532.63 0.00 0.00 0.00 0.000 0.000 0.000 1512.34 1407.94 1616.75 2771.50 2694.56 0 0 0 30.00 30.00 30.00

5921.12 10791 255.74 2.52 -80.00 1510.7 1407.2 1614.2 2774.2 2694.9 40.93 1.90 565 6155.09 218.90 0.83 4.22 0.998 0.077 0.159 957.34 833.62 1081.06 2913.31 1249.19 0 0 0 11.85 15.83 15.29

6382.62 11303 424.15 3.19 0.00 953.4 834.4 1072.4 2913.8 1249.4 10.65 0.33 650 6562.70 166.01 1.02 3.70 0.954 0.085 0.074 500.88 404.75 597.00 3074.19 2733.75 0 0 0 11.79 15.61 15.64

6766 end climb: SURFACE_DEPTH_REACHED

state 6766 begin surface coast

6826 end surface coast: CONTROL_FINISHED_OK

state 6826 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	79	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	13.493713	FG_AHR_10V	4.5058889	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	20.936922	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	160823,101212,7601.546,-14220.202,0,9255.0,0,15.8	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.96	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160823,101212,7601.546,-14220.202,0,9255.0,0,15.8	MHEAD_RNG_PITCHd_Wd	204.8,76889,-20.2,-9.167,-25.06,1949,0.167
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	1692201553,78.8,start	_10V_AH	14.93,0.000
FREEZE	0.51,-0.069,-1.366,2,59,0	FG_AHR_24Vo	21.120
FINISH	0.5,1.020151	FG_AHR_10Vo	4.544
SM_CCo	6860.04,0.19,0.121,0,499.3,407.3,591.4,368.11	MEM0	59796,1,0,0
SM_GC	3.88,0.19,18.91,0.40,0.121,0.099,0.124,499.3,407.3,591.4,219.8,2573.8,0,0,0,15.73,15.60,15.63	MEM1	65508,1,0,0
SURF	below D_CALL,3.884638/3.000000	MEM2	1023112,29,22556,116
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	19339,711
IRIDIUM_FIX	7559.12,-14226.97,130823,164047	CAP_FILE_SIZE	205078,0
TCM_TEMP	1.85	SDSIZE	3918848,3883136
SC_FREEKB	3853472	SDFILEDIR	614,80
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	7559.075684,-14342.868164,160823,141412,7,255,2.59	SOUNDSPEED	1465.0
HUMID	48.20	MAGCAL	1.000000,0.009034,-0.080884,-0.079301,1.048738,-0.117408,0.068931,0.002690,1.002239,-1033.1,-118.9,373.2,27,0.1839,0
TEMP	-0.18	IMPLIED_C_PITCH	2328,13.37,187,0.0,13.43
INTERNAL_PRESSURE	8.09734	GPS	160823,101212,7601.546,-14220.202,0,9255.0,0,15.8
_24V_AH	14.85,24.727

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	670	1251	12459.45	nil	0	0	0.00
Pitch_motor	40	304	184.22	nil	0	0	0.00
Roll_motor	82	252	308.67	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	2335	5	178.50	SciCon	6831	6	649.45
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4531	0	21.65
Compass	1161	5	86.68
RAFOS	9	40	5.74
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	499.6	408.0	591.1	218.5	2612.6	0.00	0.00	0	27.24	20.34	0.00	0.00	0.006	0.000	0.000	881.00	831.75	930.25	218.56	2612.94	0	0	0	15.78	30.00	30.00
27.49	18983	-117.30	-1.96	-80.00	881.0	831.7	930.4	218.6	2612.3	3.54	-6.55	2	113.51	59.60	13.32	4.01	0.005	0.304	0.167	2479.72	2456.75	2502.69	1817.75	1192.62	0	0	0	15.77	15.57	15.67
135.81	1028	-117.30	-1.96	0.00	2481.3	2456.3	2506.3	1818.1	1192.2	22.43	-24.32	23	142.10	0.00	0.00	3.55	0.000	0.000	0.073	2483.16	2458.38	2507.94	1817.81	2611.69	0	0	0	30.00	30.00	15.75
471.60	548	-117.30	-1.96	-80.00	2481.7	2456.1	2507.3	1817.8	2611.9	60.51	-5.41	37	477.56	0.00	0.00	3.97	0.000	0.000	0.160	2479.81	2454.44	2505.19	1817.94	1191.75	0	0	0	30.00	30.00	15.79
706.74	1060	-117.30	-1.96	0.00	2481.1	2455.2	2506.9	1818.3	1191.5	67.24	-3.34	84	712.94	0.00	0.00	3.51	0.000	0.000	0.073	2481.81	2455.88	2507.75	1817.94	2613.00	0	0	0	30.00	30.00	15.91
1091.75	548	-117.30	-1.96	-80.00	2479.6	2452.3	2506.9	1817.8	2613.2	80.98	-3.66	101	1098.11	0.00	0.00	3.95	0.000	0.000	0.160	2479.84	2452.25	2507.44	1818.31	1192.62	0	0	0	30.00	30.00	15.90
1326.83	1060	-117.30	-1.96	0.00	2479.3	2451.9	2506.8	1818.0	1192.5	90.70	-4.16	148	1333.01	0.00	0.00	3.48	0.000	0.000	0.072	2480.28	2453.69	2506.88	1816.62	2613.56	0	0	0	30.00	30.00	15.99
1711.85	292	-117.30	-1.96	80.00	2479.0	2450.7	2507.3	1818.0	2613.4	102.13	-2.82	165	1718.12	0.00	0.00	3.73	0.000	0.000	0.144	2478.50	2450.12	2506.88	1818.19	4007.88	0	0	0	30.00	30.00	15.96
1916.91	1060	-117.30	-1.96	0.00	2478.3	2450.3	2506.4	1818.2	4008.8	108.83	-3.16	206	1923.11	0.00	0.00	3.57	0.000	0.000	0.087	2477.31	2449.69	2504.94	1817.88	2572.38	0	0	0	30.00	30.00	16.02
2301.92	548	-117.30	-1.96	-80.00	2478.6	2450.4	2506.7	1818.0	2572.6	117.91	-2.06	223	2308.25	0.00	0.00	3.81	0.000	0.000	0.166	2477.31	2449.38	2505.25	1818.06	1191.56	0	0	0	30.00	30.00	16.00
2537.01	1060	-117.30	-1.96	0.00	2478.5	2450.0	2507.0	1817.9	1191.8	125.56	-3.37	270	2543.38	0.00	0.00	3.46	0.000	0.000	0.073	2479.97	2452.06	2507.88	1818.06	2614.62	0	0	0	30.00	30.00	16.07
2922.05	548	-117.30	-1.96	-80.00	2478.5	2450.1	2506.9	1818.1	2613.6	132.58	-1.68	287	2928.58	0.00	0.00	3.89	0.000	0.000	0.160	2478.28	2449.75	2506.81	1817.81	1192.38	0	0	0	30.00	30.00	16.02
3157.11	1060	-117.30	-1.96	0.00	2478.5	2450.2	2506.8	1817.9	1191.9	137.42	-2.10	334	3163.44	0.00	0.00	3.47	0.000	0.000	0.074	2480.78	2453.38	2508.19	1816.12	2615.38	0	0	0	30.00	30.00	16.08
3542.12	548	-117.30	-1.96	-80.00	2478.5	2449.8	2507.1	1818.0	2615.0	143.63	-1.58	351	3548.65	0.00	0.00	3.89	0.000	0.000	0.162	2480.78	2451.69	2509.88	1817.88	1191.31	0	0	0	30.00	30.00	16.04
3777.17	1060	-117.30	-1.96	0.00	2478.5	2449.9	2507.1	1818.1	1190.8	147.67	-1.63	398	3783.51	0.00	0.00	3.47	0.000	0.000	0.075	2479.09	2450.50	2507.69	1818.06	2614.25	0	0	0	30.00	30.00	16.10
4162.19	548	-117.30	-1.96	-80.00	2478.6	2450.1	2507.1	1817.9	2614.0	152.04	-1.15	415	4168.71	0.00	0.00	3.89	0.000	0.000	0.162	2479.47	2450.69	2508.25	1818.25	1191.69	0	0	0	30.00	30.00	16.05
4397.25	1060	-117.30	-1.96	0.00	2478.4	2450.3	2506.5	1818.1	1191.5	154.97	-1.26	462	4403.60	0.00	0.00	3.45	0.000	0.000	0.075	2478.59	2449.56	2507.62	1817.06	2614.38	0	0	0	30.00	30.00	16.11
4778.25	548	-117.30	-1.96	-80.00	2478.6	2450.3	2506.8	1817.9	2614.9	158.34	-0.88	480	4784.79	0.00	0.00	3.89	0.000	0.000	0.162	2479.25	2450.81	2507.69	1815.81	1191.31	0	0	0	30.00	30.00	16.05
4867	end dive: NO_VERTICAL_VELOCITY
state	4868	begin apogee
4874.29	10243	0.00	-0.37	0.00	2478.2	2449.8	2506.8	1818.1	2728.9	159.31	0.00	498	4988.96	105.78	2.77	0.07	1.251	0.191	0.253	1997.94	1918.81	2077.06	2205.38	2695.31	0	0	0	12.13	16.05	15.62
4991	end apogee: CONTROL_FINISHED_OK
state	4991	begin climb
4991.52	10503	117.30	1.96	80.00	1996.8	1916.3	2077.3	2204.9	2695.6	157.42	0.00	505	5107.88	99.64	3.94	3.69	1.156	0.123	0.151	1520.31	1407.12	1633.50	2773.12	4007.38	0	0	0	11.81	15.64	15.37
5146.06	1028	117.30	1.96	0.00	1515.6	1407.2	1624.0	2773.8	4006.6	125.76	26.37	535	5152.39	0.00	0.00	3.39	0.000	0.000	0.082	1515.91	1407.81	1624.00	2773.94	2695.50	0	0	0	30.00	30.00	15.53
5531.07	16386	117.30	1.96	0.00	1511.8	1407.6	1616.1	2774.1	2695.0	48.35	16.25	552	5532.63	0.00	0.00	0.00	0.000	0.000	0.000	1512.34	1407.94	1616.75	2771.50	2694.56	0	0	0	30.00	30.00	30.00
5921.12	10791	255.74	2.52	-80.00	1510.7	1407.2	1614.2	2774.2	2694.9	40.93	1.90	565	6155.09	218.90	0.83	4.22	0.998	0.077	0.159	957.34	833.62	1081.06	2913.31	1249.19	0	0	0	11.85	15.83	15.29
6382.62	11303	424.15	3.19	0.00	953.4	834.4	1072.4	2913.8	1249.4	10.65	0.33	650	6562.70	166.01	1.02	3.70	0.954	0.085	0.074	500.88	404.75	597.00	3074.19	2733.75	0	0	0	11.79	15.61	15.64
6766	end climb: SURFACE_DEPTH_REACHED
state	6766	begin surface coast
6826	end surface coast: CONTROL_FINISHED_OK
state	6826	begin surface