Glider dive log

NORSE Jun23 * SG248 * Dive index * Mission links * Dive 197 * 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 197 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 70.369583 SEABIRD_T_I 2.932871e-05

D_OFFGRID 1000 PITCH_GAIN 14 FG_AHR_24V 147.05745 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 270.0

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 70.369583 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

CALL_NDIVES 1 FG_AHR_24V 147.05745 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 270.0 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 197 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 170723,025139,6306.457,-1652.241,20,1.1,20,-9.0 TGT_RADIUS 2000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 4.02 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -46.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 170723,025446,6306.451,-1652.158,2,0.7,3,-9.0 MHEAD_RNG_PITCHd_Wd 310.9,1225,-19.1,-10.000,-24.73,2228,0.161

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 0.0,1.027222 _10V_AH 14.87,0.000

SURF forcing FG_AHR_24Vo 147.234

SM_CCo 5813.91,298.14,0.895,0,533.7,672.1,395.2,604.99 FG_AHR_10Vo 70.428

SM_GC 4.02,298.14,14.58,0.71,0.895,0.059,0.061,533.7,672.1,395.2,183.9,2389.5,0,0,0,11.82,15.79,15.87 MEM0 60108,1,0,0

SUPER 19,71,254,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 6306.67,-1648.33,170723,011056 MEM2 995868,34,50500,76

TCM_TEMP 11.10 DATA_FILE_SIZE 35386,980

XPDR_PINGS 0,10.3,13.6 CAP_FILE_SIZE 208012,0

CP_FREE 15811149824.000000 SDSIZE 3887104,3818912

CP_POWER 293.030000 SDFILEDIR 1009,199

CP_POWER1 0.000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

HUMID 52.13 IMPLIED_C_PITCH 2054,12.55,799,0.0,0.00

TEMP 8.89 IMPLIED_C_VBD 3039,19.534943,799,0

INTERNAL_PRESSURE 8.06454 GPS 170723,043300,6306.670,-1652.213,4,1.4,32,-9.0

_24V_AH 14.84,153.130

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 692 1243 12782.73 SBE_CT 1362 24 485.13

Pitch_motor 31 188 87.22 nil 0 0 0.00

Roll_motor 69 148 152.55 nil 0 0 0.00

Iridium 115 160 274.34 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 12 15 2.88 nil 0 0 0.00

Core 2951 6 298.48 SciCon 0 0 0.00

Fast 2 0 0.00 NCP 5503 25 2045.81

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2710 2 80.62

Compass 1315 5 97.78

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

28 end surface: CONTROL_FINISHED_OK

state 28 begin dive

29.73 16386 -145.99 -1.59 0.00 527.1 666.6 387.6 184.0 2317.1 0.00 0.00 0 35.66 5.00 0.00 0.00 0.009 0.000 0.000 669.41 799.62 539.19 184.00 2316.81 0 0 0 15.26 30.00 30.00

35.97 18727 -145.99 -1.59 80.00 669.3 799.5 539.1 184.2 2317.1 4.10 0.00 1 190.48 125.96 11.37 4.05 0.005 0.188 0.103 3594.97 3647.81 3542.12 1667.88 3824.69 0 0 0 15.35 15.19 15.20

418.04 1060 -145.99 -1.59 0.00 3595.2 3647.4 3543.0 1668.4 3824.3 42.32 -9.85 76 424.88 0.00 0.00 3.53 0.000 0.000 0.025 3595.81 3648.06 3543.56 1668.31 2313.44 0 0 0 30.00 30.00 15.38

608.13 260 -145.99 -1.59 80.00 3595.5 3648.1 3543.0 1668.4 2313.8 61.51 -10.26 114 615.23 0.00 0.00 4.06 0.000 0.000 0.099 3595.59 3647.94 3543.25 1667.75 3823.88 0 0 0 30.00 30.00 15.71

843.26 1060 -145.99 -1.59 0.00 3595.4 3647.7 3543.1 1668.2 3823.2 84.96 -9.91 161 850.00 0.00 0.00 3.47 0.000 0.000 0.025 3595.25 3647.31 3543.19 1668.25 2311.38 0 0 0 30.00 30.00 15.81

1033.33 292 -145.99 -1.59 80.00 3595.5 3647.8 3543.2 1668.1 2311.4 104.13 -10.00 199 1040.36 0.00 0.00 4.07 0.000 0.000 0.098 3595.75 3647.56 3543.94 1667.81 3823.00 0 0 0 30.00 30.00 15.33

1098.33 1028 -145.99 -1.59 0.00 3595.5 3647.6 3543.3 1668.2 3823.5 110.58 -10.03 212 1105.09 0.00 0.00 3.46 0.000 0.000 0.025 3596.00 3648.12 3543.88 1668.50 2314.25 0 0 0 30.00 30.00 15.85

1408.46 32 -145.99 -1.59 0.00 3595.6 3647.6 3543.6 1668.7 2311.9 141.10 -9.64 274 1410.03 0.00 0.00 0.00 0.000 0.000 0.000 3594.38 3646.56 3542.19 1668.31 2312.75 0 0 0 30.00 30.00 30.00

1713.53 0 -145.99 -1.59 0.00 3595.7 3648.1 3543.4 1668.5 2312.8 171.64 -10.12 335 1715.10 0.00 0.00 0.00 0.000 0.000 0.000 3594.09 3646.50 3541.69 1668.31 2312.69 0 0 0 30.00 30.00 30.00

2018.70 32 -145.99 -1.59 0.00 3595.4 3647.5 3543.4 1668.2 2311.9 201.99 -9.94 396 2020.31 0.00 0.00 0.00 0.000 0.000 0.000 3594.31 3646.44 3542.19 1668.00 2312.81 0 0 0 30.00 30.00 30.00

2323.79 292 -145.99 -1.59 80.00 3595.1 3647.3 3542.9 1668.2 2312.8 232.40 -9.99 457 2331.02 0.00 0.00 4.07 0.000 0.000 0.101 3595.34 3647.56 3543.12 1668.31 3822.81 0 0 0 30.00 30.00 15.32

2373.74 1028 -145.99 -1.59 0.00 3595.4 3647.8 3543.0 1668.0 3823.2 237.44 -10.07 467 2380.69 0.00 0.00 3.45 0.000 0.000 0.025 3595.38 3647.94 3542.81 1668.50 2311.69 0 0 0 30.00 30.00 15.88

2683.76 0 -145.99 -1.59 0.00 3595.3 3647.9 3542.7 1668.1 2311.6 268.58 -10.08 502 2685.37 0.00 0.00 0.00 0.000 0.000 0.000 3594.81 3647.31 3542.31 1668.12 2311.06 0 0 0 30.00 30.00 30.00

2704 end dive: TARGET_DEPTH_EXCEEDED

state 2704 begin apogee

2706.03 10243 0.00 -0.36 0.00 3595.2 3647.8 3542.5 1668.5 1990.9 270.55 -9.99 503 2827.51 111.19 2.09 0.12 1.243 0.118 0.148 2999.44 3111.19 2887.69 1965.19 2098.12 0 0 0 11.57 15.80 15.47

2877 end apogee: CONTROL_FINISHED_OK

state 2877 begin climb

2877.57 10243 145.99 1.59 0.00 2995.5 3108.2 2882.8 1965.0 2097.9 260.55 0.00 508 3066.02 113.76 3.16 0.00 1.207 0.069 0.000 2398.44 2519.56 2277.31 2439.06 2097.75 0 0 0 12.33 15.58 30.00

3368.70 8742 151.62 1.59 -80.00 2393.8 2515.5 2272.1 2440.4 2098.2 204.06 9.74 570 3382.46 5.40 0.00 4.14 0.687 0.000 0.105 2379.84 2501.50 2258.19 2440.00 558.88 0 0 0 11.79 30.00 15.55

3525.14 1060 153.96 1.60 0.00 2379.7 2500.6 2258.8 2440.0 559.0 188.51 9.89 601 3532.06 0.00 0.00 3.44 0.000 0.000 0.023 2380.38 2501.31 2259.44 2439.81 2072.56 0 0 0 30.00 30.00 15.69

3835.21 516 153.96 1.60 -80.00 2378.9 2500.6 2257.2 2439.8 2073.5 157.57 10.08 663 3842.50 0.00 0.00 4.09 0.000 0.000 0.101 2379.50 2501.38 2257.62 2440.00 558.94 0 0 0 30.00 30.00 15.25

3890.30 1028 153.96 1.60 0.00 2378.6 2500.2 2256.9 2440.4 558.8 151.96 10.37 674 3897.27 0.00 0.00 3.42 0.000 0.000 0.023 2378.84 2500.56 2257.12 2440.75 2072.12 0 0 0 30.00 30.00 15.79

4200.38 8226 157.56 1.60 0.00 2378.6 2500.4 2256.8 2440.4 2074.2 121.21 9.83 736 4210.78 7.02 0.00 0.00 0.793 0.000 0.000 2357.88 2478.75 2237.00 2439.25 2073.25 0 0 0 11.81 30.00 30.00

4515.44 516 157.56 1.60 -80.00 2355.7 2477.6 2233.8 2440.1 2073.9 89.58 10.08 799 4522.75 0.00 0.00 4.05 0.000 0.000 0.100 2356.00 2478.06 2233.94 2440.38 558.94 0 0 0 30.00 30.00 15.69

4590.50 9254 165.20 1.61 0.00 2355.4 2477.1 2233.8 2440.1 559.0 82.41 9.65 814 4607.95 8.48 0.00 3.39 0.837 0.000 0.023 2326.06 2449.81 2202.31 2439.88 2073.62 0 0 0 12.02 30.00 15.66

4790.60 8742 170.59 1.62 -80.00 2324.2 2447.8 2200.7 2440.4 2073.5 62.64 9.75 854 4807.46 6.89 0.00 4.05 0.747 0.000 0.101 2301.84 2424.31 2179.38 2440.25 556.62 0 0 0 12.10 30.00 15.63

4840.61 9254 173.49 1.63 0.00 2302.2 2425.3 2179.0 2440.3 556.6 57.69 9.87 864 4852.88 4.84 0.00 3.44 0.579 0.000 0.022 2291.78 2414.94 2168.62 2439.62 2071.88 0 0 0 12.20 30.00 15.49

5035.68 8226 178.33 1.63 0.00 2290.2 2414.2 2166.1 2440.3 2073.0 38.27 9.78 903 5045.17 6.18 0.00 0.00 0.689 0.000 0.000 2272.62 2397.56 2147.69 2440.44 2072.44 0 0 0 12.14 30.00 30.00

5225.69 516 178.33 1.63 -80.00 2271.2 2395.1 2147.3 2439.9 2073.1 19.12 10.39 941 5233.00 0.00 0.00 4.05 0.000 0.000 0.100 2271.62 2395.88 2147.38 2440.38 558.88 0 0 0 30.00 30.00 15.78

5265.70 1028 178.33 1.63 0.00 2270.8 2394.4 2147.2 2440.4 558.6 15.12 10.01 949 5272.67 0.00 0.00 3.43 0.000 0.000 0.023 2271.88 2395.38 2148.38 2440.00 2070.62 0 0 0 30.00 30.00 15.82

5366 end climb: SURFACE_DEPTH_REACHED

state 5366 begin surface coast

5421 end surface coast: CONTROL_FINISHED_OK

state 5421 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	197	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	70.369583	SEABIRD_T_I	2.932871e-05
D_OFFGRID	1000	PITCH_GAIN	14	FG_AHR_24V	147.05745	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	270.0
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	170723,025139,6306.457,-1652.241,20,1.1,20,-9.0	TGT_RADIUS	2000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	4.02	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-46.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	170723,025446,6306.451,-1652.158,2,0.7,3,-9.0	MHEAD_RNG_PITCHd_Wd	310.9,1225,-19.1,-10.000,-24.73,2228,0.161
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	0.0,1.027222	_10V_AH	14.87,0.000
SURF	forcing	FG_AHR_24Vo	147.234
SM_CCo	5813.91,298.14,0.895,0,533.7,672.1,395.2,604.99	FG_AHR_10Vo	70.428
SM_GC	4.02,298.14,14.58,0.71,0.895,0.059,0.061,533.7,672.1,395.2,183.9,2389.5,0,0,0,11.82,15.79,15.87	MEM0	60108,1,0,0
SUPER	19,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	6306.67,-1648.33,170723,011056	MEM2	995868,34,50500,76
TCM_TEMP	11.10	DATA_FILE_SIZE	35386,980
XPDR_PINGS	0,10.3,13.6	CAP_FILE_SIZE	208012,0
CP_FREE	15811149824.000000	SDSIZE	3887104,3818912
CP_POWER	293.030000	SDFILEDIR	1009,199
CP_POWER1	0.000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
HUMID	52.13	IMPLIED_C_PITCH	2054,12.55,799,0.0,0.00
TEMP	8.89	IMPLIED_C_VBD	3039,19.534943,799,0
INTERNAL_PRESSURE	8.06454	GPS	170723,043300,6306.670,-1652.213,4,1.4,32,-9.0
_24V_AH	14.84,153.130

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	692	1243	12782.73	SBE_CT	1362	24	485.13
Pitch_motor	31	188	87.22	nil	0	0	0.00
Roll_motor	69	148	152.55	nil	0	0	0.00
Iridium	115	160	274.34	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	12	15	2.88	nil	0	0	0.00
Core	2951	6	298.48	SciCon	0	0	0.00
Fast	2	0	0.00	NCP	5503	25	2045.81
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2710	2	80.62
Compass	1315	5	97.78
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
28	end surface: CONTROL_FINISHED_OK
state	28	begin dive
29.73	16386	-145.99	-1.59	0.00	527.1	666.6	387.6	184.0	2317.1	0.00	0.00	0	35.66	5.00	0.00	0.00	0.009	0.000	0.000	669.41	799.62	539.19	184.00	2316.81	0	0	0	15.26	30.00	30.00
35.97	18727	-145.99	-1.59	80.00	669.3	799.5	539.1	184.2	2317.1	4.10	0.00	1	190.48	125.96	11.37	4.05	0.005	0.188	0.103	3594.97	3647.81	3542.12	1667.88	3824.69	0	0	0	15.35	15.19	15.20
418.04	1060	-145.99	-1.59	0.00	3595.2	3647.4	3543.0	1668.4	3824.3	42.32	-9.85	76	424.88	0.00	0.00	3.53	0.000	0.000	0.025	3595.81	3648.06	3543.56	1668.31	2313.44	0	0	0	30.00	30.00	15.38
608.13	260	-145.99	-1.59	80.00	3595.5	3648.1	3543.0	1668.4	2313.8	61.51	-10.26	114	615.23	0.00	0.00	4.06	0.000	0.000	0.099	3595.59	3647.94	3543.25	1667.75	3823.88	0	0	0	30.00	30.00	15.71
843.26	1060	-145.99	-1.59	0.00	3595.4	3647.7	3543.1	1668.2	3823.2	84.96	-9.91	161	850.00	0.00	0.00	3.47	0.000	0.000	0.025	3595.25	3647.31	3543.19	1668.25	2311.38	0	0	0	30.00	30.00	15.81
1033.33	292	-145.99	-1.59	80.00	3595.5	3647.8	3543.2	1668.1	2311.4	104.13	-10.00	199	1040.36	0.00	0.00	4.07	0.000	0.000	0.098	3595.75	3647.56	3543.94	1667.81	3823.00	0	0	0	30.00	30.00	15.33
1098.33	1028	-145.99	-1.59	0.00	3595.5	3647.6	3543.3	1668.2	3823.5	110.58	-10.03	212	1105.09	0.00	0.00	3.46	0.000	0.000	0.025	3596.00	3648.12	3543.88	1668.50	2314.25	0	0	0	30.00	30.00	15.85
1408.46	32	-145.99	-1.59	0.00	3595.6	3647.6	3543.6	1668.7	2311.9	141.10	-9.64	274	1410.03	0.00	0.00	0.00	0.000	0.000	0.000	3594.38	3646.56	3542.19	1668.31	2312.75	0	0	0	30.00	30.00	30.00
1713.53	0	-145.99	-1.59	0.00	3595.7	3648.1	3543.4	1668.5	2312.8	171.64	-10.12	335	1715.10	0.00	0.00	0.00	0.000	0.000	0.000	3594.09	3646.50	3541.69	1668.31	2312.69	0	0	0	30.00	30.00	30.00
2018.70	32	-145.99	-1.59	0.00	3595.4	3647.5	3543.4	1668.2	2311.9	201.99	-9.94	396	2020.31	0.00	0.00	0.00	0.000	0.000	0.000	3594.31	3646.44	3542.19	1668.00	2312.81	0	0	0	30.00	30.00	30.00
2323.79	292	-145.99	-1.59	80.00	3595.1	3647.3	3542.9	1668.2	2312.8	232.40	-9.99	457	2331.02	0.00	0.00	4.07	0.000	0.000	0.101	3595.34	3647.56	3543.12	1668.31	3822.81	0	0	0	30.00	30.00	15.32
2373.74	1028	-145.99	-1.59	0.00	3595.4	3647.8	3543.0	1668.0	3823.2	237.44	-10.07	467	2380.69	0.00	0.00	3.45	0.000	0.000	0.025	3595.38	3647.94	3542.81	1668.50	2311.69	0	0	0	30.00	30.00	15.88
2683.76	0	-145.99	-1.59	0.00	3595.3	3647.9	3542.7	1668.1	2311.6	268.58	-10.08	502	2685.37	0.00	0.00	0.00	0.000	0.000	0.000	3594.81	3647.31	3542.31	1668.12	2311.06	0	0	0	30.00	30.00	30.00
2704	end dive: TARGET_DEPTH_EXCEEDED
state	2704	begin apogee
2706.03	10243	0.00	-0.36	0.00	3595.2	3647.8	3542.5	1668.5	1990.9	270.55	-9.99	503	2827.51	111.19	2.09	0.12	1.243	0.118	0.148	2999.44	3111.19	2887.69	1965.19	2098.12	0	0	0	11.57	15.80	15.47
2877	end apogee: CONTROL_FINISHED_OK
state	2877	begin climb
2877.57	10243	145.99	1.59	0.00	2995.5	3108.2	2882.8	1965.0	2097.9	260.55	0.00	508	3066.02	113.76	3.16	0.00	1.207	0.069	0.000	2398.44	2519.56	2277.31	2439.06	2097.75	0	0	0	12.33	15.58	30.00
3368.70	8742	151.62	1.59	-80.00	2393.8	2515.5	2272.1	2440.4	2098.2	204.06	9.74	570	3382.46	5.40	0.00	4.14	0.687	0.000	0.105	2379.84	2501.50	2258.19	2440.00	558.88	0	0	0	11.79	30.00	15.55
3525.14	1060	153.96	1.60	0.00	2379.7	2500.6	2258.8	2440.0	559.0	188.51	9.89	601	3532.06	0.00	0.00	3.44	0.000	0.000	0.023	2380.38	2501.31	2259.44	2439.81	2072.56	0	0	0	30.00	30.00	15.69
3835.21	516	153.96	1.60	-80.00	2378.9	2500.6	2257.2	2439.8	2073.5	157.57	10.08	663	3842.50	0.00	0.00	4.09	0.000	0.000	0.101	2379.50	2501.38	2257.62	2440.00	558.94	0	0	0	30.00	30.00	15.25
3890.30	1028	153.96	1.60	0.00	2378.6	2500.2	2256.9	2440.4	558.8	151.96	10.37	674	3897.27	0.00	0.00	3.42	0.000	0.000	0.023	2378.84	2500.56	2257.12	2440.75	2072.12	0	0	0	30.00	30.00	15.79
4200.38	8226	157.56	1.60	0.00	2378.6	2500.4	2256.8	2440.4	2074.2	121.21	9.83	736	4210.78	7.02	0.00	0.00	0.793	0.000	0.000	2357.88	2478.75	2237.00	2439.25	2073.25	0	0	0	11.81	30.00	30.00
4515.44	516	157.56	1.60	-80.00	2355.7	2477.6	2233.8	2440.1	2073.9	89.58	10.08	799	4522.75	0.00	0.00	4.05	0.000	0.000	0.100	2356.00	2478.06	2233.94	2440.38	558.94	0	0	0	30.00	30.00	15.69
4590.50	9254	165.20	1.61	0.00	2355.4	2477.1	2233.8	2440.1	559.0	82.41	9.65	814	4607.95	8.48	0.00	3.39	0.837	0.000	0.023	2326.06	2449.81	2202.31	2439.88	2073.62	0	0	0	12.02	30.00	15.66
4790.60	8742	170.59	1.62	-80.00	2324.2	2447.8	2200.7	2440.4	2073.5	62.64	9.75	854	4807.46	6.89	0.00	4.05	0.747	0.000	0.101	2301.84	2424.31	2179.38	2440.25	556.62	0	0	0	12.10	30.00	15.63
4840.61	9254	173.49	1.63	0.00	2302.2	2425.3	2179.0	2440.3	556.6	57.69	9.87	864	4852.88	4.84	0.00	3.44	0.579	0.000	0.022	2291.78	2414.94	2168.62	2439.62	2071.88	0	0	0	12.20	30.00	15.49
5035.68	8226	178.33	1.63	0.00	2290.2	2414.2	2166.1	2440.3	2073.0	38.27	9.78	903	5045.17	6.18	0.00	0.00	0.689	0.000	0.000	2272.62	2397.56	2147.69	2440.44	2072.44	0	0	0	12.14	30.00	30.00
5225.69	516	178.33	1.63	-80.00	2271.2	2395.1	2147.3	2439.9	2073.1	19.12	10.39	941	5233.00	0.00	0.00	4.05	0.000	0.000	0.100	2271.62	2395.88	2147.38	2440.38	558.88	0	0	0	30.00	30.00	15.78
5265.70	1028	178.33	1.63	0.00	2270.8	2394.4	2147.2	2440.4	558.6	15.12	10.01	949	5272.67	0.00	0.00	3.43	0.000	0.000	0.023	2271.88	2395.38	2148.38	2440.00	2070.62	0	0	0	30.00	30.00	15.82
5366	end climb: SURFACE_DEPTH_REACHED
state	5366	begin surface coast
5421	end surface coast: CONTROL_FINISHED_OK
state	5421	begin surface