Glider dive log

NORSE Jun23 * SG248 * Dive index * Mission links * Dive 196 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 248 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 1.9639999e-06

MISSION 7 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -1

DIVE 196 SM_CC 605 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

N_DIVES 0 N_FILEKB 8 VBD_MIN 500 DEEPGLIDERMB 0

STOP_T 0 FILEMGR 0 VBD_MAX 3960 MOTHERBOARD 6

D_SURF 5 CALL_NDIVES 1 C_VBD 3000 DEVICE1 10

D_FLARE 3 COMM_SEQ 7 VBD_DBAND 2 DEVICE2 -1

D_TGT 270 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE3 -1

D_ABORT 500 N_NOCOMM 2 VBD_LP_IGNORE 0 DEVICE4 -1

D_NO_BLEED 200 NOCOMM_ACTION 131 VBD_TIMEOUT 720 DEVICE5 -1

D_BOOST 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0015 DEVICE6 -1

T_BOOST 0 UPLOAD_DIVES_MAX -1 UNCOM_BLEED 20 LOGGERS 2

D_FINISH 0 NETBOX 1 VBD_MAXERRORS 1 LOGGERDEVICE1 7

D_PITCH 0 CALL_TRIES 15 C_VBD_AUTO_DELTA 0 LOGGERDEVICE2 72

D_SAFE 0 CALL_WAIT 60 C_VBD_AUTO_MAX 0 LOGGERDEVICE3 -1

D_CALL 0 CAPUPLOAD 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

SURFACE_URGENCY 0 CAPMAXSIZE 100000 DBDW 0 COMPASS_DEVICE 66

SURFACE_URGENCY_TRY 0 T_GPS 30 LOITER_W_DBAND 0 COMPASS2_DEVICE -1

SURFACE_URGENCY_FORCE 0 N_GPS 100440 LOITER_DBDW 0 PHONE_DEVICE 33

T_DIVE 90 T_RSLEEP 2 LOITER_D_TOP 0 GPS_DEVICE 48

T_MISSION 120 STROBE 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE -1

T_ABORT 1440 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 NAV_DEVICE -1

T_TURN 225 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 NAV2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_HIT_WINDOW 3600 AH0_24V 575 NETWORK_DEVICE -1

T_NO_W 120 RAFOS_MMODEM 0 AH0_10V 0 PRESSURE_DEVICE 34

T_LOITER 0 PITCH_MIN 205 MINV_24V 11 XPDR_DEVICE 21

T_EPIRB 0 PITCH_MAX 3600 MINV_10V 11 SIM_W 0.1

USE_BATHY -6 C_PITCH 2050 MAXI_24V 5 SEABIRD_T_G 0.0044090361

USE_ICE 0 PITCH_DBAND 0.1 MAXI_10V 1.5 SEABIRD_T_H 0.00064173015

ICE_FREEZE_MARGIN 0.30000001 PITCH_CNV 0.0041299998 FG_AHR_10V 70.310722 SEABIRD_T_I 2.932871e-05

D_OFFGRID 1000 PITCH_GAIN 14 FG_AHR_24V 146.8875 SEABIRD_T_J 3.827171e-06

RELAUNCH 1 PITCH_TIMEOUT 30 PHONE_SUPPLY 2 SEABIRD_C_G -9.9958668

APOGEE_PITCH -5 PITCH_MAXERRORS 1 PRESSURE_YINT 0 SEABIRD_C_H 1.1120801

MAX_BUOY 150 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 6.9999999e-07 SEABIRD_C_I -0.0034223681

GLIDE_SLOPE 30 PITCH_ADJ_DBAND 0 COMPASS_USE 16388 SEABIRD_C_J 0.00032313328

SPEED_FACTOR 1 C_PITCH_AUTO_DELTA 0 ALTIM_PING_FIT 0 OPTIONS 0

RHO 1.0275 C_PITCH_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

MASS 74553 PITCH_GAIN_AUTO_DELTA 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 3.0

NAV_MODE 0 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

FERRY_MAX 45 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_NDIVE 1.0

KALMAN_USE 2 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 CP_RECORDABOVE 1000.0

HD_A 0.0025118899 ROLL_MIN 265 ALTIM_PING_DELTA 0 CP_PROFILE 3.0

HD_B 0.0146701 ROLL_MAX 3870 ALTIM_FREQUENCY 13 CP_XMITPROFILE 0.0

HD_C 5.7000002e-06 ROLL_DEG 80 ALTIM_PULSE 3 CP_UPLOADMAX 100000.0

HEADING -1 C_ROLL_DIVE 2360 ALTIM_SENSITIVITY 2 CP_STARTS 268.0

ESCAPE_HEADING 0 C_ROLL_CLIMB 2025 XPDR_VALID 4 CP_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 XPDR_INHIBIT 90

FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.054945 XPDR_INT -1

TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_REP -1

AH0_10V 0 D_CALL 0 NETBOX 1 SEABIRD_C_H 1.1120801

AH0_24V 575 D_FINISH 0 NETWORK_DEVICE -1 SEABIRD_C_I -0.0034223681

ALTIM_BOTTOM_TURN_MARGIN 0 D_FLARE 3 NOCOMM_ACTION 131 SEABIRD_C_J 0.00032313328

ALTIM_FREQUENCY 13 D_NO_BLEED 200 N_DIVES 0 SEABIRD_T_G 0.0044090361

ALTIM_PING_DELTA 0 D_OFFGRID 1000 N_FILEKB 8 SEABIRD_T_H 0.00064173015

ALTIM_PING_DEPTH 0 D_PITCH 0 N_GPS 100440 SEABIRD_T_I 2.932871e-05

ALTIM_PING_FIT 0 D_SAFE 0 N_NOCOMM 2 SEABIRD_T_J 3.827171e-06

ALTIM_PULSE 3 D_SURF 5 N_NOSURFACE 0 SIM_W 0.1

ALTIM_SENSITIVITY 2 D_TGT 270 OPTIONS 0 SM_CC 605

ALTIM_TOP_MIN_OBSTACLE 1 ESCAPE_HEADING 0 PHONE_DEVICE 33 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 STROBE 0

APOGEE_PITCH -5 FG_AHR_10V 70.310722 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

CALL_NDIVES 1 FG_AHR_24V 146.8875 PITCH_CNV 0.0041299998 SURFACE_URGENCY_FORCE 0

CALL_TRIES 15 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 14 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_DELTA 0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 GPS_DEVICE 48 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HD_A 0.0025118899 PITCH_MAX 3600 T_ABORT 1440

COMM_SEQ 7 HD_B 0.0146701 PITCH_MAXERRORS 1 T_BOOST 0

COMPASS2_DEVICE -1 HD_C 5.7000002e-06 PITCH_MIN 205 T_DIVE 90

COMPASS_DEVICE 66 HEADING -1 PITCH_TIMEOUT 30 T_EPIRB 0

COMPASS_USE 16388 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0015 T_GPS 30

CP_NDIVE 1.0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0 T_LOITER 0

CP_PROFILE 3.0 ID 248 PITCH_W_GAIN 0 T_MISSION 120

CP_RECORDABOVE 1000.0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_DEVICE 34 T_NO_W 120

CP_STARTS 268.0 INT_PRESSURE_YINT -1 PRESSURE_SLOPE 6.9999999e-07 T_RSLEEP 2

CP_UPLOADMAX 100000.0 KALMAN_USE 2 PRESSURE_YINT 0 T_TURN 225

CP_XMITPROFILE 0.0 LOGGERDEVICE1 7 PROTOCOL 9 T_TURN_SAMPINT -5

C_PITCH 2050 LOGGERDEVICE2 72 RAFOS_CORR_THRESH 60 UNCOM_BLEED 20

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 UPLOAD_DIVES_MAX -1

C_PITCH_AUTO_MAX 0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 USE_BATHY -6

C_ROLL_CLIMB 2025 LOGGERS 2 RAFOS_MMODEM 0 USE_ICE 0

C_ROLL_DIVE 2360 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 VBD_CNV -0.24529999

C_VBD 3000 LOITER_D_BOTTOM 0 RELAUNCH 1 VBD_DBAND 2

C_VBD_AUTO_DELTA 0 LOITER_D_TOP 0 RHO 1.0275 VBD_LP_IGNORE 0

C_VBD_AUTO_MAX 0 LOITER_N_DIVE 0 ROLL_ADJ_DBAND 0 VBD_MAX 3960

DBDW 0 LOITER_W_DBAND 0 ROLL_ADJ_GAIN 0 VBD_MAXERRORS 1

DEEPGLIDER 0 MASS 74553 ROLL_CNV 0.054945 VBD_MIN 500

DEEPGLIDERMB 0 MAXI_10V 1.5 ROLL_DEG 80 VBD_TIMEOUT 720

DEVICE1 10 MAXI_24V 5 ROLL_MAX 3870 W_ADJ_DBAND 0

DEVICE2 -1 MAX_BUOY 150 ROLL_MAXERRORS 1 XPDR_DEVICE 21

DEVICE3 -1 MINV_10V 11 ROLL_MIN 265 XPDR_INHIBIT 90

DEVICE4 -1 MINV_24V 11 ROLL_TIMEOUT 15 XPDR_INT -1

DEVICE5 -1 MISSION 7 SC_NDIVE 1.0 XPDR_REP -1

DEVICE6 -1 MOTHERBOARD 6 SC_PROFILE 3.0 XPDR_VALID 4

DIVE 196 NAV2_DEVICE -1 SC_RECORDABOVE 2000.0

D_ABORT 500 NAV_DEVICE -1 SC_XMITPROFILE 3.0

D_BOOST 0 NAV_MODE 0 SEABIRD_C_G -9.9958668

Pre-dive calculations and measurements:

GPS1 170723,010930,6306.175,-1652.101,44,1.7,47,-9.0 TGT_RADIUS 2000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.42 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -48.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 170723,011318,6306.168,-1652.041,3,0.8,4,-9.0 MHEAD_RNG_PITCHd_Wd 324.8,1633,-19.1,-10.000,-24.73,2228,0.135

SPEED_LIMITS 0.173,0.217 D_GRID 1000

TGT_NAME PICKUP IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,789.000000,-1157.000000,312.000000

TGT_LATLONG 6306.800,-1653.400 OSC 8000266

Post-dive calculations and measurements:

FINISH 0.0,1.027086 FG_AHR_24Vo 147.052

SURF forcing FG_AHR_10Vo 70.369

SM_CCo 5816.15,287.77,0.851,0,534.7,676.8,392.6,604.74 MEM0 60108,1,0,0

SM_GC 4.02,287.77,14.52,0.70,0.851,0.058,0.062,534.7,676.8,392.6,183.9,2390.3,0,0,0,11.93,15.80,15.87 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 995028,75,50520,76

IRIDIUM_FIX 6307.77,-1639.22,160723,222829 DATA_FILE_SIZE 35391,985

TCM_TEMP 11.27 CAP_FILE_SIZE 216629,0

XPDR_PINGS 0,10.3,13.6 SDSIZE 3887104,3819136

HUMID 51.99 SDFILEDIR 1005,198

TEMP 9.06 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.07574 IMPLIED_C_PITCH 2054,12.55,796,0.0,0.00

_24V_AH 14.88,152.946 IMPLIED_C_VBD 3018,24.967407,796,0

_10V_AH 14.93,0.000 GPS 170723,025139,6306.457,-1652.241,20,1.1,20,-9.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 684 1190 12125.92 SBE_CT 1367 24 488.33

Pitch_motor 31 195 91.05 nil 0 0 0.00

Roll_motor 76 143 162.37 nil 0 0 0.00

Iridium 145 169 367.55 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 12 15 2.90 nil 0 0 0.00

Core 2988 6 303.38 SciCon 0 0 0.00

Fast 3 0 0.00 NCP 5542 25 2068.69

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2714 2 81.04

Compass 1321 5 98.62

RAFOS 0 0 0.00

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

16.50 16386 -145.99 -1.59 0.00 526.3 655.2 397.4 185.5 2302.5 0.00 0.00 0 32.83 14.99 0.00 0.00 0.006 0.000 0.000 947.59 1049.81 845.38 185.44 2303.38 0 0 0 15.27 30.00 30.00

33.12 18983 -145.99 -1.59 -80.00 947.7 1050.2 845.1 185.9 2303.4 3.13 -9.78 3 177.56 117.33 11.53 3.66 0.005 0.195 0.086 3594.88 3648.38 3541.38 1667.69 890.75 0 0 0 15.32 15.47 15.21

405.27 1028 -145.99 -1.59 0.00 3595.6 3647.9 3543.2 1667.5 890.6 40.76 -10.07 76 412.15 0.00 0.00 3.61 0.000 0.000 0.037 3597.12 3648.44 3545.81 1667.50 2379.75 0 0 0 30.00 30.00 15.34

595.38 32 -145.99 -1.59 0.00 3595.4 3647.6 3543.3 1667.4 2380.4 59.79 -9.87 114 596.94 0.00 0.00 0.00 0.000 0.000 0.000 3594.62 3646.62 3542.62 1667.69 2380.19 0 0 0 30.00 30.00 30.00

780.40 516 -145.99 -1.59 -80.00 3595.7 3648.2 3543.2 1667.4 2380.4 78.43 -10.00 151 787.40 0.00 0.00 3.87 0.000 0.000 0.081 3596.59 3648.69 3544.50 1667.19 890.75 0 0 0 30.00 30.00 15.22

810.40 1028 -145.99 -1.59 0.00 3595.9 3648.7 3543.1 1667.6 891.1 81.51 -10.14 157 817.24 0.00 0.00 3.57 0.000 0.000 0.035 3596.88 3649.56 3544.19 1667.56 2380.25 0 0 0 30.00 30.00 15.21

1000.51 292 -145.99 -1.59 80.00 3596.0 3648.2 3543.8 1667.6 2380.5 100.37 -9.70 195 1007.46 0.00 0.00 3.89 0.000 0.000 0.106 3595.50 3646.94 3544.06 1667.50 3827.12 0 0 0 30.00 30.00 15.63

1045.47 1028 -145.99 -1.59 0.00 3595.9 3648.2 3543.5 1667.8 3826.5 104.88 -10.01 204 1052.28 0.00 0.00 3.46 0.000 0.000 0.025 3596.16 3648.25 3544.06 1668.25 2311.44 0 0 0 30.00 30.00 15.83

1355.58 516 -145.99 -1.59 -80.00 3596.0 3648.3 3543.7 1667.9 2309.6 136.31 -10.12 266 1362.61 0.00 0.00 3.66 0.000 0.000 0.085 3595.81 3647.81 3543.81 1667.81 890.81 0 0 0 30.00 30.00 15.76

1400.61 1028 -145.99 -1.59 0.00 3595.8 3648.4 3543.1 1668.1 891.1 140.89 -10.01 275 1407.64 0.00 0.00 3.53 0.000 0.000 0.035 3595.91 3647.94 3543.88 1667.88 2380.50 0 0 0 30.00 30.00 15.84

1710.75 32 -145.99 -1.59 0.00 3596.1 3648.2 3544.0 1668.0 2380.9 171.83 -9.96 337 1712.36 0.00 0.00 0.00 0.000 0.000 0.000 3594.25 3646.12 3542.38 1667.94 2380.94 0 0 0 30.00 30.00 30.00

2015.83 32 -145.99 -1.59 0.00 3595.9 3648.2 3543.7 1668.2 2381.1 202.03 -9.66 398 2017.44 0.00 0.00 0.00 0.000 0.000 0.000 3594.78 3646.69 3542.88 1668.12 2381.75 0 0 0 30.00 30.00 30.00

2320.91 548 -145.99 -1.59 -80.00 3596.0 3648.1 3543.8 1668.3 2381.5 232.52 -9.82 459 2328.05 0.00 0.00 3.86 0.000 0.000 0.082 3595.75 3647.81 3543.69 1668.12 892.12 0 0 0 30.00 30.00 15.71

2360.86 1028 -145.99 -1.59 0.00 3595.8 3647.9 3543.6 1668.1 892.4 236.58 -10.15 467 2367.89 0.00 0.00 3.52 0.000 0.000 0.035 3595.78 3648.00 3543.56 1667.94 2382.12 0 0 0 30.00 30.00 15.86

2680.97 32 -145.99 -1.59 0.00 3595.8 3648.2 3543.4 1668.0 2382.1 268.24 -9.93 504 2682.58 0.00 0.00 0.00 0.000 0.000 0.000 3595.03 3647.19 3542.88 1668.56 2381.81 0 0 0 30.00 30.00 30.00

2701 end dive: TARGET_DEPTH_EXCEEDED

state 2701 begin apogee

2703.32 10243 0.00 -0.36 0.00 3595.6 3647.5 3543.7 1668.1 1989.2 270.24 -9.94 505 2823.73 110.41 2.12 0.12 1.190 0.120 0.143 3000.28 3111.56 2889.00 1965.06 2091.25 0 0 0 11.53 15.78 15.54

2873 end apogee: CONTROL_FINISHED_OK

state 2873 begin climb

2873.80 10759 145.99 1.59 -80.00 2995.4 3107.9 2882.9 1965.2 2090.9 260.35 0.00 510 3064.12 112.80 3.18 4.20 1.153 0.070 0.103 2395.66 2515.44 2275.88 2439.75 559.31 0 0 0 12.15 15.58 15.37

3066.78 9254 161.52 1.61 0.00 2396.3 2515.9 2276.7 2440.3 559.1 234.87 9.28 512 3089.55 13.56 0.00 3.48 0.971 0.000 0.022 2340.53 2463.56 2217.50 2439.31 2071.81 0 0 0 12.17 30.00 15.29

3392.22 32 162.73 1.61 0.00 2334.9 2456.8 2213.1 2440.3 2072.4 202.32 9.94 577 3393.83 0.00 0.00 0.00 0.000 0.000 0.000 2333.69 2455.69 2211.69 2439.75 2072.38 0 0 0 30.00 30.00 30.00

3697.26 516 162.73 1.61 -80.00 2334.4 2456.9 2211.9 2440.3 2072.1 171.58 10.03 638 3704.57 0.00 0.00 4.07 0.000 0.000 0.100 2335.53 2458.31 2212.75 2439.94 559.31 0 0 0 30.00 30.00 15.28

3752.28 1028 162.73 1.61 0.00 2333.9 2455.8 2212.0 2440.6 559.1 165.98 10.16 649 3759.24 0.00 0.00 3.43 0.000 0.000 0.023 2335.22 2457.94 2212.50 2439.62 2070.81 0 0 0 30.00 30.00 15.79

4062.41 8742 173.63 1.63 -80.00 2333.6 2456.1 2211.1 2440.1 2072.4 135.43 9.50 711 4081.41 10.95 0.00 4.03 0.891 0.000 0.102 2289.22 2413.06 2165.38 2440.31 556.12 0 0 0 11.75 30.00 15.63

4134.04 9254 176.62 1.63 0.00 2289.5 2412.6 2166.4 2440.1 556.5 128.20 9.86 725 4146.34 4.91 0.00 3.46 0.586 0.000 0.022 2279.81 2404.62 2155.00 2439.75 2071.12 0 0 0 12.22 30.00 15.46

4449.07 548 178.90 1.63 -80.00 2277.2 2400.6 2153.7 2440.4 2072.1 96.41 9.90 788 4456.34 0.00 0.00 4.06 0.000 0.000 0.100 2277.53 2400.62 2154.44 2440.31 559.19 0 0 0 30.00 30.00 15.37

4544.03 1028 178.90 1.63 0.00 2276.7 2399.7 2153.6 2440.4 558.9 87.02 10.30 807 4551.00 0.00 0.00 3.41 0.000 0.000 0.023 2277.72 2400.75 2154.69 2439.81 2068.38 0 0 0 30.00 30.00 15.83

4734.12 8226 182.83 1.64 0.00 2276.4 2399.7 2153.2 2440.6 2069.9 68.19 9.82 845 4744.45 7.00 0.00 0.00 0.722 0.000 0.000 2256.56 2379.19 2133.94 2438.62 2070.31 0 0 0 11.84 30.00 30.00

4929.06 0 182.83 1.64 0.00 2253.2 2376.7 2129.8 2439.8 2070.4 48.66 10.08 884 4930.67 0.00 0.00 0.00 0.000 0.000 0.000 2252.28 2375.88 2128.69 2440.50 2070.50 0 0 0 30.00 30.00 30.00

5114.08 516 182.83 1.64 -80.00 2252.6 2376.4 2128.9 2439.8 2070.7 30.36 10.13 921 5121.39 0.00 0.00 4.03 0.000 0.000 0.101 2253.28 2377.19 2129.38 2440.56 556.88 0 0 0 30.00 30.00 15.76

5259.15 9254 185.90 1.65 0.00 2252.1 2375.2 2128.9 2440.2 556.6 16.02 9.86 950 5271.50 5.03 0.00 3.45 0.556 0.000 0.023 2241.09 2365.00 2117.19 2440.81 2072.06 0 0 0 11.88 30.00 15.41

5374 end climb: SURFACE_DEPTH_REACHED

state 5374 begin surface coast

5434 end surface coast: CONTROL_FINISHED_OK

state 5434 begin surface

ID	248	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	1.9639999e-06
MISSION	7	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-1
DIVE	196	SM_CC	605	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
N_DIVES	0	N_FILEKB	8	VBD_MIN	500	DEEPGLIDERMB	0
STOP_T	0	FILEMGR	0	VBD_MAX	3960	MOTHERBOARD	6
D_SURF	5	CALL_NDIVES	1	C_VBD	3000	DEVICE1	10
D_FLARE	3	COMM_SEQ	7	VBD_DBAND	2	DEVICE2	-1
D_TGT	270	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE3	-1
D_ABORT	500	N_NOCOMM	2	VBD_LP_IGNORE	0	DEVICE4	-1
D_NO_BLEED	200	NOCOMM_ACTION	131	VBD_TIMEOUT	720	DEVICE5	-1
D_BOOST	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0015	DEVICE6	-1
T_BOOST	0	UPLOAD_DIVES_MAX	-1	UNCOM_BLEED	20	LOGGERS	2
D_FINISH	0	NETBOX	1	VBD_MAXERRORS	1	LOGGERDEVICE1	7
D_PITCH	0	CALL_TRIES	15	C_VBD_AUTO_DELTA	0	LOGGERDEVICE2	72
D_SAFE	0	CALL_WAIT	60	C_VBD_AUTO_MAX	0	LOGGERDEVICE3	-1
D_CALL	0	CAPUPLOAD	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
SURFACE_URGENCY	0	CAPMAXSIZE	100000	DBDW	0	COMPASS_DEVICE	66
SURFACE_URGENCY_TRY	0	T_GPS	30	LOITER_W_DBAND	0	COMPASS2_DEVICE	-1
SURFACE_URGENCY_FORCE	0	N_GPS	100440	LOITER_DBDW	0	PHONE_DEVICE	33
T_DIVE	90	T_RSLEEP	2	LOITER_D_TOP	0	GPS_DEVICE	48
T_MISSION	120	STROBE	0	LOITER_D_BOTTOM	0	RAFOS_DEVICE	-1
T_ABORT	1440	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	NAV_DEVICE	-1
T_TURN	225	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	NAV2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_HIT_WINDOW	3600	AH0_24V	575	NETWORK_DEVICE	-1
T_NO_W	120	RAFOS_MMODEM	0	AH0_10V	0	PRESSURE_DEVICE	34
T_LOITER	0	PITCH_MIN	205	MINV_24V	11	XPDR_DEVICE	21
T_EPIRB	0	PITCH_MAX	3600	MINV_10V	11	SIM_W	0.1
USE_BATHY	-6	C_PITCH	2050	MAXI_24V	5	SEABIRD_T_G	0.0044090361
USE_ICE	0	PITCH_DBAND	0.1	MAXI_10V	1.5	SEABIRD_T_H	0.00064173015
ICE_FREEZE_MARGIN	0.30000001	PITCH_CNV	0.0041299998	FG_AHR_10V	70.310722	SEABIRD_T_I	2.932871e-05
D_OFFGRID	1000	PITCH_GAIN	14	FG_AHR_24V	146.8875	SEABIRD_T_J	3.827171e-06
RELAUNCH	1	PITCH_TIMEOUT	30	PHONE_SUPPLY	2	SEABIRD_C_G	-9.9958668
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	PRESSURE_YINT	0	SEABIRD_C_H	1.1120801
MAX_BUOY	150	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	6.9999999e-07	SEABIRD_C_I	-0.0034223681
GLIDE_SLOPE	30	PITCH_ADJ_DBAND	0	COMPASS_USE	16388	SEABIRD_C_J	0.00032313328
SPEED_FACTOR	1	C_PITCH_AUTO_DELTA	0	ALTIM_PING_FIT	0	OPTIONS	0
RHO	1.0275	C_PITCH_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
MASS	74553	PITCH_GAIN_AUTO_DELTA	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	3.0
NAV_MODE	0	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
FERRY_MAX	45	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_NDIVE	1.0
KALMAN_USE	2	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	CP_RECORDABOVE	1000.0
HD_A	0.0025118899	ROLL_MIN	265	ALTIM_PING_DELTA	0	CP_PROFILE	3.0
HD_B	0.0146701	ROLL_MAX	3870	ALTIM_FREQUENCY	13	CP_XMITPROFILE	0.0
HD_C	5.7000002e-06	ROLL_DEG	80	ALTIM_PULSE	3	CP_UPLOADMAX	100000.0
HEADING	-1	C_ROLL_DIVE	2360	ALTIM_SENSITIVITY	2	CP_STARTS	268.0
ESCAPE_HEADING	0	C_ROLL_CLIMB	2025	XPDR_VALID	4	CP_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	XPDR_INHIBIT	90
FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.054945	XPDR_INT	-1
TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_REP	-1

GPS1	170723,010930,6306.175,-1652.101,44,1.7,47,-9.0	TGT_RADIUS	2000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.42	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-48.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	170723,011318,6306.168,-1652.041,3,0.8,4,-9.0	MHEAD_RNG_PITCHd_Wd	324.8,1633,-19.1,-10.000,-24.73,2228,0.135
SPEED_LIMITS	0.173,0.217	D_GRID	1000
TGT_NAME	PICKUP	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,789.000000,-1157.000000,312.000000
TGT_LATLONG	6306.800,-1653.400	OSC	8000266

FINISH	0.0,1.027086	FG_AHR_24Vo	147.052
SURF	forcing	FG_AHR_10Vo	70.369
SM_CCo	5816.15,287.77,0.851,0,534.7,676.8,392.6,604.74	MEM0	60108,1,0,0
SM_GC	4.02,287.77,14.52,0.70,0.851,0.058,0.062,534.7,676.8,392.6,183.9,2390.3,0,0,0,11.93,15.80,15.87	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	995028,75,50520,76
IRIDIUM_FIX	6307.77,-1639.22,160723,222829	DATA_FILE_SIZE	35391,985
TCM_TEMP	11.27	CAP_FILE_SIZE	216629,0
XPDR_PINGS	0,10.3,13.6	SDSIZE	3887104,3819136
HUMID	51.99	SDFILEDIR	1005,198
TEMP	9.06	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.07574	IMPLIED_C_PITCH	2054,12.55,796,0.0,0.00
_24V_AH	14.88,152.946	IMPLIED_C_VBD	3018,24.967407,796,0
_10V_AH	14.93,0.000	GPS	170723,025139,6306.457,-1652.241,20,1.1,20,-9.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	684	1190	12125.92	SBE_CT	1367	24	488.33
Pitch_motor	31	195	91.05	nil	0	0	0.00
Roll_motor	76	143	162.37	nil	0	0	0.00
Iridium	145	169	367.55	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	12	15	2.90	nil	0	0	0.00
Core	2988	6	303.38	SciCon	0	0	0.00
Fast	3	0	0.00	NCP	5542	25	2068.69
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2714	2	81.04
Compass	1321	5	98.62
RAFOS	0	0	0.00
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
16.50	16386	-145.99	-1.59	0.00	526.3	655.2	397.4	185.5	2302.5	0.00	0.00	0	32.83	14.99	0.00	0.00	0.006	0.000	0.000	947.59	1049.81	845.38	185.44	2303.38	0	0	0	15.27	30.00	30.00
33.12	18983	-145.99	-1.59	-80.00	947.7	1050.2	845.1	185.9	2303.4	3.13	-9.78	3	177.56	117.33	11.53	3.66	0.005	0.195	0.086	3594.88	3648.38	3541.38	1667.69	890.75	0	0	0	15.32	15.47	15.21
405.27	1028	-145.99	-1.59	0.00	3595.6	3647.9	3543.2	1667.5	890.6	40.76	-10.07	76	412.15	0.00	0.00	3.61	0.000	0.000	0.037	3597.12	3648.44	3545.81	1667.50	2379.75	0	0	0	30.00	30.00	15.34
595.38	32	-145.99	-1.59	0.00	3595.4	3647.6	3543.3	1667.4	2380.4	59.79	-9.87	114	596.94	0.00	0.00	0.00	0.000	0.000	0.000	3594.62	3646.62	3542.62	1667.69	2380.19	0	0	0	30.00	30.00	30.00
780.40	516	-145.99	-1.59	-80.00	3595.7	3648.2	3543.2	1667.4	2380.4	78.43	-10.00	151	787.40	0.00	0.00	3.87	0.000	0.000	0.081	3596.59	3648.69	3544.50	1667.19	890.75	0	0	0	30.00	30.00	15.22
810.40	1028	-145.99	-1.59	0.00	3595.9	3648.7	3543.1	1667.6	891.1	81.51	-10.14	157	817.24	0.00	0.00	3.57	0.000	0.000	0.035	3596.88	3649.56	3544.19	1667.56	2380.25	0	0	0	30.00	30.00	15.21
1000.51	292	-145.99	-1.59	80.00	3596.0	3648.2	3543.8	1667.6	2380.5	100.37	-9.70	195	1007.46	0.00	0.00	3.89	0.000	0.000	0.106	3595.50	3646.94	3544.06	1667.50	3827.12	0	0	0	30.00	30.00	15.63
1045.47	1028	-145.99	-1.59	0.00	3595.9	3648.2	3543.5	1667.8	3826.5	104.88	-10.01	204	1052.28	0.00	0.00	3.46	0.000	0.000	0.025	3596.16	3648.25	3544.06	1668.25	2311.44	0	0	0	30.00	30.00	15.83
1355.58	516	-145.99	-1.59	-80.00	3596.0	3648.3	3543.7	1667.9	2309.6	136.31	-10.12	266	1362.61	0.00	0.00	3.66	0.000	0.000	0.085	3595.81	3647.81	3543.81	1667.81	890.81	0	0	0	30.00	30.00	15.76
1400.61	1028	-145.99	-1.59	0.00	3595.8	3648.4	3543.1	1668.1	891.1	140.89	-10.01	275	1407.64	0.00	0.00	3.53	0.000	0.000	0.035	3595.91	3647.94	3543.88	1667.88	2380.50	0	0	0	30.00	30.00	15.84
1710.75	32	-145.99	-1.59	0.00	3596.1	3648.2	3544.0	1668.0	2380.9	171.83	-9.96	337	1712.36	0.00	0.00	0.00	0.000	0.000	0.000	3594.25	3646.12	3542.38	1667.94	2380.94	0	0	0	30.00	30.00	30.00
2015.83	32	-145.99	-1.59	0.00	3595.9	3648.2	3543.7	1668.2	2381.1	202.03	-9.66	398	2017.44	0.00	0.00	0.00	0.000	0.000	0.000	3594.78	3646.69	3542.88	1668.12	2381.75	0	0	0	30.00	30.00	30.00
2320.91	548	-145.99	-1.59	-80.00	3596.0	3648.1	3543.8	1668.3	2381.5	232.52	-9.82	459	2328.05	0.00	0.00	3.86	0.000	0.000	0.082	3595.75	3647.81	3543.69	1668.12	892.12	0	0	0	30.00	30.00	15.71
2360.86	1028	-145.99	-1.59	0.00	3595.8	3647.9	3543.6	1668.1	892.4	236.58	-10.15	467	2367.89	0.00	0.00	3.52	0.000	0.000	0.035	3595.78	3648.00	3543.56	1667.94	2382.12	0	0	0	30.00	30.00	15.86
2680.97	32	-145.99	-1.59	0.00	3595.8	3648.2	3543.4	1668.0	2382.1	268.24	-9.93	504	2682.58	0.00	0.00	0.00	0.000	0.000	0.000	3595.03	3647.19	3542.88	1668.56	2381.81	0	0	0	30.00	30.00	30.00
2701	end dive: TARGET_DEPTH_EXCEEDED
state	2701	begin apogee
2703.32	10243	0.00	-0.36	0.00	3595.6	3647.5	3543.7	1668.1	1989.2	270.24	-9.94	505	2823.73	110.41	2.12	0.12	1.190	0.120	0.143	3000.28	3111.56	2889.00	1965.06	2091.25	0	0	0	11.53	15.78	15.54
2873	end apogee: CONTROL_FINISHED_OK
state	2873	begin climb
2873.80	10759	145.99	1.59	-80.00	2995.4	3107.9	2882.9	1965.2	2090.9	260.35	0.00	510	3064.12	112.80	3.18	4.20	1.153	0.070	0.103	2395.66	2515.44	2275.88	2439.75	559.31	0	0	0	12.15	15.58	15.37
3066.78	9254	161.52	1.61	0.00	2396.3	2515.9	2276.7	2440.3	559.1	234.87	9.28	512	3089.55	13.56	0.00	3.48	0.971	0.000	0.022	2340.53	2463.56	2217.50	2439.31	2071.81	0	0	0	12.17	30.00	15.29
3392.22	32	162.73	1.61	0.00	2334.9	2456.8	2213.1	2440.3	2072.4	202.32	9.94	577	3393.83	0.00	0.00	0.00	0.000	0.000	0.000	2333.69	2455.69	2211.69	2439.75	2072.38	0	0	0	30.00	30.00	30.00
3697.26	516	162.73	1.61	-80.00	2334.4	2456.9	2211.9	2440.3	2072.1	171.58	10.03	638	3704.57	0.00	0.00	4.07	0.000	0.000	0.100	2335.53	2458.31	2212.75	2439.94	559.31	0	0	0	30.00	30.00	15.28
3752.28	1028	162.73	1.61	0.00	2333.9	2455.8	2212.0	2440.6	559.1	165.98	10.16	649	3759.24	0.00	0.00	3.43	0.000	0.000	0.023	2335.22	2457.94	2212.50	2439.62	2070.81	0	0	0	30.00	30.00	15.79
4062.41	8742	173.63	1.63	-80.00	2333.6	2456.1	2211.1	2440.1	2072.4	135.43	9.50	711	4081.41	10.95	0.00	4.03	0.891	0.000	0.102	2289.22	2413.06	2165.38	2440.31	556.12	0	0	0	11.75	30.00	15.63
4134.04	9254	176.62	1.63	0.00	2289.5	2412.6	2166.4	2440.1	556.5	128.20	9.86	725	4146.34	4.91	0.00	3.46	0.586	0.000	0.022	2279.81	2404.62	2155.00	2439.75	2071.12	0	0	0	12.22	30.00	15.46
4449.07	548	178.90	1.63	-80.00	2277.2	2400.6	2153.7	2440.4	2072.1	96.41	9.90	788	4456.34	0.00	0.00	4.06	0.000	0.000	0.100	2277.53	2400.62	2154.44	2440.31	559.19	0	0	0	30.00	30.00	15.37
4544.03	1028	178.90	1.63	0.00	2276.7	2399.7	2153.6	2440.4	558.9	87.02	10.30	807	4551.00	0.00	0.00	3.41	0.000	0.000	0.023	2277.72	2400.75	2154.69	2439.81	2068.38	0	0	0	30.00	30.00	15.83
4734.12	8226	182.83	1.64	0.00	2276.4	2399.7	2153.2	2440.6	2069.9	68.19	9.82	845	4744.45	7.00	0.00	0.00	0.722	0.000	0.000	2256.56	2379.19	2133.94	2438.62	2070.31	0	0	0	11.84	30.00	30.00
4929.06	0	182.83	1.64	0.00	2253.2	2376.7	2129.8	2439.8	2070.4	48.66	10.08	884	4930.67	0.00	0.00	0.00	0.000	0.000	0.000	2252.28	2375.88	2128.69	2440.50	2070.50	0	0	0	30.00	30.00	30.00
5114.08	516	182.83	1.64	-80.00	2252.6	2376.4	2128.9	2439.8	2070.7	30.36	10.13	921	5121.39	0.00	0.00	4.03	0.000	0.000	0.101	2253.28	2377.19	2129.38	2440.56	556.88	0	0	0	30.00	30.00	15.76
5259.15	9254	185.90	1.65	0.00	2252.1	2375.2	2128.9	2440.2	556.6	16.02	9.86	950	5271.50	5.03	0.00	3.45	0.556	0.000	0.023	2241.09	2365.00	2117.19	2440.81	2072.06	0	0	0	11.88	30.00	15.41
5374	end climb: SURFACE_DEPTH_REACHED
state	5374	begin surface coast
5434	end surface coast: CONTROL_FINISHED_OK
state	5434	begin surface