Glider dive log

NORSE Jun23 * SG248 * Dive index * Mission links * Dive 198 * 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 198 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 70.429192 SEABIRD_T_I 2.932871e-05

D_OFFGRID 1000 PITCH_GAIN 14 FG_AHR_24V 147.23959 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 272.0

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 70.429192 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

CALL_NDIVES 1 FG_AHR_24V 147.23959 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 272.0 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 198 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 170723,043300,6306.670,-1652.213,4,1.4,32,-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 -47.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 170723,043642,6306.640,-1652.187,2,0.6,5,-9.0 MHEAD_RNG_PITCHd_Wd 295.2,1058,-21.8,-10.000,-27.04,1806,0.157

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 0.0,1.027220 _10V_AH 14.88,0.000

SURF forcing FG_AHR_24Vo 147.405

SM_CCo 5843.00,315.26,0.872,0,534.2,676.1,392.3,604.86 FG_AHR_10Vo 70.486

SM_GC 4.02,315.26,14.85,0.70,0.872,0.063,0.061,534.2,676.1,392.3,184.0,2389.8,0,0,0,11.80,15.79,15.88 MEM0 60108,1,0,0

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

IRIDIUM_FIX 6306.67,-1648.33,170723,025256 MEM2 995820,35,50528,76

TCM_TEMP 11.11 DATA_FILE_SIZE 32151,885

XPDR_PINGS 0,10.3,13.6 CAP_FILE_SIZE 189432,0

CP_FREE 15810789376.000000 SDSIZE 3887104,3818720

CP_POWER 293.030000 SDFILEDIR 1014,200

CP_POWER1 0.000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

HUMID 52.15 IMPLIED_C_PITCH 2057,11.40,706,0.0,0.00

TEMP 8.91 IMPLIED_C_VBD 3030,4.871850,706,0

INTERNAL_PRESSURE 8.0735 GPS 170723,061443,6306.416,-1652.486,3,1.0,5,-9.0

_24V_AH 14.84,153.305

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 668 1235 12250.17 SBE_CT 1225 24 436.41

Pitch_motor 31 195 92.74 nil 0 0 0.00

Roll_motor 46 151 103.41 nil 0 0 0.00

Iridium 136 150 304.39 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.18 nil 0 0 0.00

Core 3211 6 324.98 SciCon 0 0 0.00

Fast 2 0 0.00 NCP 5495 25 2044.31

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2484 2 73.95

Compass 1189 5 88.48

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16.29 16386 -118.14 -1.73 0.00 526.7 662.6 390.8 182.8 2316.5 0.00 0.00 0 32.62 15.02 0.00 0.00 0.006 0.000 0.000 948.41 1052.75 844.06 182.88 2315.44 0 0 0 15.25 30.00 30.00

32.89 18951 -118.14 -1.73 -80.00 948.1 1052.5 843.6 182.8 2316.0 3.32 -10.12 3 172.06 112.01 11.24 3.76 0.005 0.196 0.084 3480.25 3538.25 3422.25 1632.44 889.50 0 0 0 15.36 15.48 15.24

334.61 1028 -118.14 -1.73 0.00 3480.9 3538.8 3422.9 1632.4 889.6 33.73 -10.26 62 341.44 0.00 0.00 3.57 0.000 0.000 0.036 3481.03 3538.94 3423.12 1632.81 2380.12 0 0 0 30.00 30.00 15.76

524.82 32 -119.78 -1.74 0.00 3481.4 3539.1 3423.8 1632.8 2380.0 52.69 -9.91 100 526.39 0.00 0.00 0.00 0.000 0.000 0.000 3480.31 3537.69 3422.94 1632.31 2380.25 0 0 0 30.00 30.00 30.00

709.79 16418 -123.11 -1.74 0.00 3481.4 3538.8 3424.0 1632.8 2380.1 71.02 -9.81 137 711.58 0.11 0.00 0.00 0.198 0.000 0.000 3503.59 3559.00 3448.19 1632.81 2380.12 0 0 0 15.19 30.00 30.00

894.85 16678 -127.01 -1.75 80.00 3503.5 3559.4 3447.6 1632.6 2380.2 89.61 -9.78 174 901.94 0.05 0.00 3.89 0.416 0.000 0.107 3522.31 3578.44 3466.19 1631.56 3823.88 0 0 0 15.21 30.00 15.26

959.83 1028 -127.01 -1.75 0.00 3521.4 3577.1 3465.8 1632.4 3823.3 96.11 -10.05 187 966.60 0.00 0.00 3.49 0.000 0.000 0.025 3521.12 3577.00 3465.25 1632.81 2312.75 0 0 0 30.00 30.00 15.41

1149.90 0 -127.01 -1.75 0.00 3521.5 3577.3 3465.7 1632.7 2310.9 115.32 -10.08 225 1151.47 0.00 0.00 0.00 0.000 0.000 0.000 3519.84 3576.00 3463.69 1633.00 2311.12 0 0 0 30.00 30.00 30.00

1455.01 16418 -132.56 -1.76 0.00 3521.4 3577.4 3465.4 1632.8 2309.6 145.53 -9.68 286 1456.73 0.06 0.00 0.00 0.323 0.000 0.000 3545.00 3598.38 3491.62 1632.56 2309.31 0 0 0 15.14 30.00 30.00

1760.05 292 -133.32 -1.76 80.00 3545.8 3599.3 3492.4 1632.7 2310.3 176.20 -9.96 347 1767.16 0.00 0.00 4.06 0.000 0.000 0.102 3546.66 3599.00 3494.31 1632.25 3823.38 0 0 0 30.00 30.00 15.76

1815.05 1028 -133.32 -1.76 0.00 3545.8 3599.9 3491.8 1632.9 3823.8 181.70 -10.14 358 1822.01 0.00 0.00 3.49 0.000 0.000 0.025 3546.03 3599.81 3492.25 1632.94 2312.69 0 0 0 30.00 30.00 15.39

2125.07 0 -133.32 -1.76 0.00 3545.8 3599.2 3492.2 1632.8 2312.7 212.90 -10.07 420 2126.68 0.00 0.00 0.00 0.000 0.000 0.000 3545.25 3598.56 3491.94 1632.56 2312.44 0 0 0 30.00 30.00 30.00

2430.12 0 -133.32 -1.76 0.00 3545.8 3599.4 3492.2 1632.7 2311.0 243.79 -10.18 481 2431.73 0.00 0.00 0.00 0.000 0.000 0.000 3545.41 3599.12 3491.69 1632.69 2311.31 0 0 0 30.00 30.00 30.00

2695 end dive: TARGET_DEPTH_EXCEEDED

state 2695 begin apogee

2697.47 10243 0.00 -0.36 0.00 3545.7 3599.2 3492.1 1633.2 1989.8 270.78 -10.16 504 2809.56 102.45 2.37 0.12 1.235 0.125 0.151 2998.69 3108.50 2888.88 1965.31 2094.88 0 0 0 11.53 15.76 15.56

2859 end apogee: CONTROL_FINISHED_OK

state 2859 begin climb

2859.63 10759 133.32 1.76 -80.00 2995.5 3107.1 2884.0 1965.7 2095.1 260.65 0.00 509 3213.87 103.10 3.45 4.24 1.200 0.069 0.103 2445.41 2563.75 2327.06 2481.75 559.06 0 0 0 12.32 15.59 15.29

3557.36 1060 135.65 1.76 0.00 2444.9 2564.1 2325.8 2481.7 559.2 218.48 9.87 511 3568.37 0.00 0.00 3.42 0.000 0.000 0.024 2443.34 2562.31 2324.38 2481.75 2070.50 0 0 0 30.00 30.00 15.77

3871.03 8486 138.60 1.76 80.00 2444.3 2563.3 2325.2 2482.1 2071.9 154.40 9.83 573 3883.46 4.77 0.00 3.71 0.597 0.000 0.088 2435.34 2554.44 2316.25 2482.19 3493.56 0 0 0 11.71 30.00 15.63

4111.09 1060 140.60 1.77 0.00 2433.6 2551.7 2315.4 2482.0 3493.2 130.37 9.89 621 4118.07 0.00 0.00 3.55 0.000 0.000 0.032 2433.72 2552.25 2315.19 2482.31 1993.25 0 0 0 30.00 30.00 15.83

4421.16 8226 142.69 1.77 0.00 2433.1 2550.9 2315.3 2481.9 1993.3 99.40 9.88 683 4430.59 5.88 0.00 0.00 0.692 0.000 0.000 2418.59 2538.06 2299.12 2480.75 1992.88 0 0 0 11.89 30.00 30.00

4611.23 548 144.79 1.77 -80.00 2416.3 2536.4 2296.2 2481.4 1993.4 80.39 9.88 721 4618.36 0.00 0.00 3.85 0.000 0.000 0.104 2416.34 2536.31 2296.38 2481.56 557.44 0 0 0 30.00 30.00 15.77

4671.20 1028 144.79 1.77 0.00 2415.8 2534.8 2296.7 2481.4 557.6 74.27 10.23 733 4678.11 0.00 0.00 3.39 0.000 0.000 0.023 2415.84 2534.81 2296.88 2481.94 2071.75 0 0 0 30.00 30.00 15.87

4861.31 8226 151.62 1.78 0.00 2415.8 2535.0 2296.6 2481.2 2072.5 55.46 9.61 771 4872.87 9.51 0.00 0.00 0.824 0.000 0.000 2379.03 2501.31 2256.75 2481.94 2073.06 0 0 0 11.94 30.00 30.00

5056.38 32 152.11 1.78 0.00 2378.5 2501.1 2255.9 2482.4 2072.4 35.83 9.97 810 5057.98 0.00 0.00 0.00 0.000 0.000 0.000 2377.31 2499.81 2254.81 2481.75 2072.94 0 0 0 30.00 30.00 30.00

5241.44 32 152.85 1.79 0.00 2378.3 2501.0 2255.7 2481.8 2073.2 17.45 9.96 847 5243.05 0.00 0.00 0.00 0.000 0.000 0.000 2377.56 2500.75 2254.38 2482.25 2072.62 0 0 0 30.00 30.00 30.00

5371 end climb: SURFACE_DEPTH_REACHED

state 5371 begin surface coast

5431 end surface coast: CONTROL_FINISHED_OK

state 5431 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	198	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	70.429192	SEABIRD_T_I	2.932871e-05
D_OFFGRID	1000	PITCH_GAIN	14	FG_AHR_24V	147.23959	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	272.0
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	170723,043300,6306.670,-1652.213,4,1.4,32,-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	-47.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	170723,043642,6306.640,-1652.187,2,0.6,5,-9.0	MHEAD_RNG_PITCHd_Wd	295.2,1058,-21.8,-10.000,-27.04,1806,0.157
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	0.0,1.027220	_10V_AH	14.88,0.000
SURF	forcing	FG_AHR_24Vo	147.405
SM_CCo	5843.00,315.26,0.872,0,534.2,676.1,392.3,604.86	FG_AHR_10Vo	70.486
SM_GC	4.02,315.26,14.85,0.70,0.872,0.063,0.061,534.2,676.1,392.3,184.0,2389.8,0,0,0,11.80,15.79,15.88	MEM0	60108,1,0,0
SUPER	19,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	6306.67,-1648.33,170723,025256	MEM2	995820,35,50528,76
TCM_TEMP	11.11	DATA_FILE_SIZE	32151,885
XPDR_PINGS	0,10.3,13.6	CAP_FILE_SIZE	189432,0
CP_FREE	15810789376.000000	SDSIZE	3887104,3818720
CP_POWER	293.030000	SDFILEDIR	1014,200
CP_POWER1	0.000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
HUMID	52.15	IMPLIED_C_PITCH	2057,11.40,706,0.0,0.00
TEMP	8.91	IMPLIED_C_VBD	3030,4.871850,706,0
INTERNAL_PRESSURE	8.0735	GPS	170723,061443,6306.416,-1652.486,3,1.0,5,-9.0
_24V_AH	14.84,153.305

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	668	1235	12250.17	SBE_CT	1225	24	436.41
Pitch_motor	31	195	92.74	nil	0	0	0.00
Roll_motor	46	151	103.41	nil	0	0	0.00
Iridium	136	150	304.39	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.18	nil	0	0	0.00
Core	3211	6	324.98	SciCon	0	0	0.00
Fast	2	0	0.00	NCP	5495	25	2044.31
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2484	2	73.95
Compass	1189	5	88.48
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16.29	16386	-118.14	-1.73	0.00	526.7	662.6	390.8	182.8	2316.5	0.00	0.00	0	32.62	15.02	0.00	0.00	0.006	0.000	0.000	948.41	1052.75	844.06	182.88	2315.44	0	0	0	15.25	30.00	30.00
32.89	18951	-118.14	-1.73	-80.00	948.1	1052.5	843.6	182.8	2316.0	3.32	-10.12	3	172.06	112.01	11.24	3.76	0.005	0.196	0.084	3480.25	3538.25	3422.25	1632.44	889.50	0	0	0	15.36	15.48	15.24
334.61	1028	-118.14	-1.73	0.00	3480.9	3538.8	3422.9	1632.4	889.6	33.73	-10.26	62	341.44	0.00	0.00	3.57	0.000	0.000	0.036	3481.03	3538.94	3423.12	1632.81	2380.12	0	0	0	30.00	30.00	15.76
524.82	32	-119.78	-1.74	0.00	3481.4	3539.1	3423.8	1632.8	2380.0	52.69	-9.91	100	526.39	0.00	0.00	0.00	0.000	0.000	0.000	3480.31	3537.69	3422.94	1632.31	2380.25	0	0	0	30.00	30.00	30.00
709.79	16418	-123.11	-1.74	0.00	3481.4	3538.8	3424.0	1632.8	2380.1	71.02	-9.81	137	711.58	0.11	0.00	0.00	0.198	0.000	0.000	3503.59	3559.00	3448.19	1632.81	2380.12	0	0	0	15.19	30.00	30.00
894.85	16678	-127.01	-1.75	80.00	3503.5	3559.4	3447.6	1632.6	2380.2	89.61	-9.78	174	901.94	0.05	0.00	3.89	0.416	0.000	0.107	3522.31	3578.44	3466.19	1631.56	3823.88	0	0	0	15.21	30.00	15.26
959.83	1028	-127.01	-1.75	0.00	3521.4	3577.1	3465.8	1632.4	3823.3	96.11	-10.05	187	966.60	0.00	0.00	3.49	0.000	0.000	0.025	3521.12	3577.00	3465.25	1632.81	2312.75	0	0	0	30.00	30.00	15.41
1149.90	0	-127.01	-1.75	0.00	3521.5	3577.3	3465.7	1632.7	2310.9	115.32	-10.08	225	1151.47	0.00	0.00	0.00	0.000	0.000	0.000	3519.84	3576.00	3463.69	1633.00	2311.12	0	0	0	30.00	30.00	30.00
1455.01	16418	-132.56	-1.76	0.00	3521.4	3577.4	3465.4	1632.8	2309.6	145.53	-9.68	286	1456.73	0.06	0.00	0.00	0.323	0.000	0.000	3545.00	3598.38	3491.62	1632.56	2309.31	0	0	0	15.14	30.00	30.00
1760.05	292	-133.32	-1.76	80.00	3545.8	3599.3	3492.4	1632.7	2310.3	176.20	-9.96	347	1767.16	0.00	0.00	4.06	0.000	0.000	0.102	3546.66	3599.00	3494.31	1632.25	3823.38	0	0	0	30.00	30.00	15.76
1815.05	1028	-133.32	-1.76	0.00	3545.8	3599.9	3491.8	1632.9	3823.8	181.70	-10.14	358	1822.01	0.00	0.00	3.49	0.000	0.000	0.025	3546.03	3599.81	3492.25	1632.94	2312.69	0	0	0	30.00	30.00	15.39
2125.07	0	-133.32	-1.76	0.00	3545.8	3599.2	3492.2	1632.8	2312.7	212.90	-10.07	420	2126.68	0.00	0.00	0.00	0.000	0.000	0.000	3545.25	3598.56	3491.94	1632.56	2312.44	0	0	0	30.00	30.00	30.00
2430.12	0	-133.32	-1.76	0.00	3545.8	3599.4	3492.2	1632.7	2311.0	243.79	-10.18	481	2431.73	0.00	0.00	0.00	0.000	0.000	0.000	3545.41	3599.12	3491.69	1632.69	2311.31	0	0	0	30.00	30.00	30.00
2695	end dive: TARGET_DEPTH_EXCEEDED
state	2695	begin apogee
2697.47	10243	0.00	-0.36	0.00	3545.7	3599.2	3492.1	1633.2	1989.8	270.78	-10.16	504	2809.56	102.45	2.37	0.12	1.235	0.125	0.151	2998.69	3108.50	2888.88	1965.31	2094.88	0	0	0	11.53	15.76	15.56
2859	end apogee: CONTROL_FINISHED_OK
state	2859	begin climb
2859.63	10759	133.32	1.76	-80.00	2995.5	3107.1	2884.0	1965.7	2095.1	260.65	0.00	509	3213.87	103.10	3.45	4.24	1.200	0.069	0.103	2445.41	2563.75	2327.06	2481.75	559.06	0	0	0	12.32	15.59	15.29
3557.36	1060	135.65	1.76	0.00	2444.9	2564.1	2325.8	2481.7	559.2	218.48	9.87	511	3568.37	0.00	0.00	3.42	0.000	0.000	0.024	2443.34	2562.31	2324.38	2481.75	2070.50	0	0	0	30.00	30.00	15.77
3871.03	8486	138.60	1.76	80.00	2444.3	2563.3	2325.2	2482.1	2071.9	154.40	9.83	573	3883.46	4.77	0.00	3.71	0.597	0.000	0.088	2435.34	2554.44	2316.25	2482.19	3493.56	0	0	0	11.71	30.00	15.63
4111.09	1060	140.60	1.77	0.00	2433.6	2551.7	2315.4	2482.0	3493.2	130.37	9.89	621	4118.07	0.00	0.00	3.55	0.000	0.000	0.032	2433.72	2552.25	2315.19	2482.31	1993.25	0	0	0	30.00	30.00	15.83
4421.16	8226	142.69	1.77	0.00	2433.1	2550.9	2315.3	2481.9	1993.3	99.40	9.88	683	4430.59	5.88	0.00	0.00	0.692	0.000	0.000	2418.59	2538.06	2299.12	2480.75	1992.88	0	0	0	11.89	30.00	30.00
4611.23	548	144.79	1.77	-80.00	2416.3	2536.4	2296.2	2481.4	1993.4	80.39	9.88	721	4618.36	0.00	0.00	3.85	0.000	0.000	0.104	2416.34	2536.31	2296.38	2481.56	557.44	0	0	0	30.00	30.00	15.77
4671.20	1028	144.79	1.77	0.00	2415.8	2534.8	2296.7	2481.4	557.6	74.27	10.23	733	4678.11	0.00	0.00	3.39	0.000	0.000	0.023	2415.84	2534.81	2296.88	2481.94	2071.75	0	0	0	30.00	30.00	15.87
4861.31	8226	151.62	1.78	0.00	2415.8	2535.0	2296.6	2481.2	2072.5	55.46	9.61	771	4872.87	9.51	0.00	0.00	0.824	0.000	0.000	2379.03	2501.31	2256.75	2481.94	2073.06	0	0	0	11.94	30.00	30.00
5056.38	32	152.11	1.78	0.00	2378.5	2501.1	2255.9	2482.4	2072.4	35.83	9.97	810	5057.98	0.00	0.00	0.00	0.000	0.000	0.000	2377.31	2499.81	2254.81	2481.75	2072.94	0	0	0	30.00	30.00	30.00
5241.44	32	152.85	1.79	0.00	2378.3	2501.0	2255.7	2481.8	2073.2	17.45	9.96	847	5243.05	0.00	0.00	0.00	0.000	0.000	0.000	2377.56	2500.75	2254.38	2482.25	2072.62	0	0	0	30.00	30.00	30.00
5371	end climb: SURFACE_DEPTH_REACHED
state	5371	begin surface coast
5431	end surface coast: CONTROL_FINISHED_OK
state	5431	begin surface