Glider dive log

NORSE Jun23 * SG248 * Dive index * Mission links * Dive 201 * 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 201 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 70.604202 SEABIRD_T_I 2.932871e-05

D_OFFGRID 1000 PITCH_GAIN 14 FG_AHR_24V 147.75124 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 281.0

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 70.604202 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

CALL_NDIVES 1 FG_AHR_24V 147.75124 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 281.0 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 201 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 170723,093850,6306.732,-1651.260,3,1.4,5,-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 -46.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 170723,094204,6306.735,-1651.219,2,1.4,5,-9.0 MHEAD_RNG_PITCHd_Wd 282.7,1831,-19.1,-10.000,-24.73,2228,0.153

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 8000307

Post-dive calculations and measurements:

FINISH 2.6,1.027204 _10V_AH 14.90,0.000

SURF forcing FG_AHR_24Vo 147.921

SM_CCo 5789.10,308.45,0.892,0,534.3,666.2,402.4,604.83 FG_AHR_10Vo 70.661

SM_GC 4.02,308.45,14.41,4.18,0.892,0.060,0.030,534.3,666.2,402.4,182.8,2388.7,0,0,0,11.74,15.80,15.89 MEM0 60108,1,0,0

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

IRIDIUM_FIX 6303.85,-1646.96,170723,075825 MEM2 995836,33,50552,76

TCM_TEMP 11.11 DATA_FILE_SIZE 28942,870

XPDR_PINGS 0,10.3,13.6 CAP_FILE_SIZE 202089,0

CP_FREE 0.000000 SDSIZE 3887104,3818080

CP_POWER 293.030000 SDFILEDIR 1027,203

HUMID 52.22 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

TEMP 8.91 IMPLIED_C_PITCH 2055,12.56,699,0.0,0.00

INTERNAL_PRESSURE 8.07486 IMPLIED_C_VBD 3047,18.519897,699,0

_24V_AH 14.86,153.835 GPS 170723,112000,6306.440,-1650.470,26,0.9,26,-9.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 685 1218 12413.30 SBE_CT 1204 24 429.46

Pitch_motor 30 180 81.88 nil 0 0 0.00

Roll_motor 68 152 155.72 nil 0 0 0.00

Iridium 121 164 296.31 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.12 nil 0 0 0.00

Core 3208 6 325.10 SciCon 0 0 0.00

Fast 3 0 0.00 NCP 5458 25 2033.21

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2421 2 72.16

Compass 1169 5 87.12

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

29.77 16386 -145.99 -1.59 0.00 526.6 667.1 386.1 182.9 2331.8 0.00 0.00 0 35.69 5.00 0.00 0.00 0.009 0.000 0.000 670.03 796.56 543.50 182.75 2332.12 0 0 0 15.25 30.00 30.00

35.99 18727 -145.99 -1.59 80.00 670.0 796.6 543.5 182.9 2332.6 3.38 0.00 1 191.25 127.74 11.02 3.99 0.005 0.180 0.102 3594.41 3646.69 3542.12 1669.38 3824.69 0 0 0 15.35 15.19 15.21

418.77 1060 -145.99 -1.59 0.00 3595.8 3647.1 3544.4 1669.4 3824.8 41.63 -9.85 76 425.67 0.00 0.00 3.54 0.000 0.000 0.025 3595.66 3646.75 3544.56 1668.81 2312.44 0 0 0 30.00 30.00 15.37

608.83 260 -145.99 -1.59 80.00 3595.8 3647.1 3544.4 1669.4 2311.6 60.47 -10.16 114 615.84 0.00 0.00 3.97 0.000 0.000 0.100 3595.41 3646.06 3544.75 1668.94 3825.88 0 0 0 30.00 30.00 15.71

698.89 1060 -145.99 -1.59 0.00 3595.7 3646.9 3544.4 1669.2 3825.9 69.34 -9.73 132 705.61 0.00 0.00 3.48 0.000 0.000 0.025 3595.84 3646.44 3545.25 1669.44 2312.56 0 0 0 30.00 30.00 15.82

888.96 32 -145.99 -1.59 0.00 3595.7 3647.0 3544.4 1669.4 2312.4 88.19 -9.62 170 890.53 0.00 0.00 0.00 0.000 0.000 0.000 3594.69 3646.06 3543.31 1669.44 2312.81 0 0 0 30.00 30.00 30.00

1074.03 32 -145.99 -1.59 0.00 3595.8 3647.3 3544.2 1668.9 2311.6 106.42 -9.80 207 1075.60 0.00 0.00 0.00 0.000 0.000 0.000 3595.28 3647.38 3543.19 1669.25 2311.38 0 0 0 30.00 30.00 30.00

1379.13 292 -145.99 -1.59 80.00 3595.8 3647.0 3544.6 1669.6 2311.6 137.00 -9.95 268 1386.16 0.00 0.00 4.03 0.000 0.000 0.100 3595.66 3646.94 3544.38 1669.38 3823.44 0 0 0 30.00 30.00 15.32

1424.14 1060 -145.99 -1.59 0.00 3595.6 3646.9 3544.2 1669.9 3822.9 141.50 -9.98 277 1430.86 0.00 0.00 3.47 0.000 0.000 0.025 3596.06 3647.19 3544.94 1669.75 2313.88 0 0 0 30.00 30.00 15.31

1734.25 32 -145.99 -1.59 0.00 3595.5 3646.2 3544.8 1669.3 2312.7 172.41 -9.89 339 1735.83 0.00 0.00 0.00 0.000 0.000 0.000 3594.06 3645.56 3542.56 1669.25 2312.69 0 0 0 30.00 30.00 30.00

2039.37 292 -145.99 -1.59 80.00 3595.5 3646.4 3544.7 1669.3 2311.5 203.21 -9.88 400 2046.60 0.00 0.00 4.03 0.000 0.000 0.101 3595.72 3647.00 3544.44 1669.50 3825.81 0 0 0 30.00 30.00 15.42

2089.32 1028 -145.99 -1.59 0.00 3595.7 3646.9 3544.6 1668.8 3826.2 208.22 -10.13 410 2096.28 0.00 0.00 3.46 0.000 0.000 0.025 3595.56 3646.75 3544.38 1669.44 2314.88 0 0 0 30.00 30.00 15.88

2399.42 0 -145.99 -1.59 0.00 3595.1 3646.3 3543.9 1669.2 2314.8 239.57 -10.25 472 2401.04 0.00 0.00 0.00 0.000 0.000 0.000 3594.47 3645.56 3543.38 1669.25 2315.19 0 0 0 30.00 30.00 30.00

2704 end dive: TARGET_DEPTH_EXCEEDED

state 2704 begin apogee

2706.81 10243 0.00 -0.36 0.00 3595.0 3646.6 3543.4 1669.6 1991.6 270.45 -10.27 503 2828.24 111.24 2.07 0.11 1.219 0.119 0.153 2996.72 3108.75 2884.69 1966.69 2094.38 0 0 0 11.57 15.81 15.53

2877 end apogee: CONTROL_FINISHED_OK

state 2877 begin climb

2878.30 10759 145.99 1.59 -80.00 2994.7 3107.5 2881.9 1966.8 2094.6 259.99 0.00 508 3232.76 112.96 3.09 4.19 1.186 0.069 0.103 2395.72 2514.44 2277.00 2440.69 557.69 0 0 0 12.20 15.58 15.37

3576.26 1060 147.86 1.59 0.00 2392.7 2513.6 2271.7 2440.2 558.1 217.17 9.91 510 3587.17 0.00 0.00 3.39 0.000 0.000 0.023 2390.66 2511.19 2270.12 2440.19 2071.62 0 0 0 30.00 30.00 15.77

3889.82 8486 156.15 1.60 80.00 2391.9 2513.3 2270.4 2440.1 2072.4 152.18 9.62 572 3907.49 8.65 0.00 3.70 0.863 0.000 0.088 2363.09 2485.50 2240.69 2440.06 3493.38 0 0 0 11.77 30.00 15.59

4135.17 9254 160.27 1.61 0.00 2359.5 2480.6 2238.5 2440.6 3494.2 127.74 9.81 621 4147.55 5.70 0.00 3.54 0.680 0.000 0.033 2345.50 2467.38 2223.62 2440.94 1989.75 0 0 0 12.02 30.00 15.84

4450.29 292 161.35 1.61 80.00 2343.8 2466.3 2221.3 2441.2 1989.4 96.10 9.95 684 4457.43 0.00 0.00 3.87 0.000 0.000 0.083 2344.16 2467.06 2221.25 2440.62 3495.12 0 0 0 30.00 30.00 15.79

4510.35 1060 162.45 1.61 0.00 2343.4 2465.7 2221.2 2440.7 3494.5 90.13 9.95 696 4517.31 0.00 0.00 3.53 0.000 0.000 0.032 2344.62 2466.81 2222.44 2440.38 1993.56 0 0 0 30.00 30.00 15.85

4700.38 8226 164.31 1.61 0.00 2343.2 2465.1 2221.3 2440.8 1993.2 71.01 9.91 734 4709.80 5.58 0.00 0.00 0.659 0.000 0.000 2329.84 2452.06 2207.62 2440.19 1993.06 0 0 0 11.89 30.00 30.00

4890.39 0 164.31 1.61 0.00 2327.7 2450.4 2205.0 2441.1 1993.4 51.85 10.05 772 4892.00 0.00 0.00 0.00 0.000 0.000 0.000 2326.91 2449.31 2204.50 2440.81 1993.75 0 0 0 30.00 30.00 30.00

5075.46 516 164.31 1.61 -80.00 2327.4 2450.3 2204.5 2441.2 1993.1 33.38 10.02 809 5082.60 0.00 0.00 3.80 0.000 0.000 0.106 2327.44 2450.00 2204.88 2440.88 559.12 0 0 0 30.00 30.00 15.77

5145.48 1028 164.31 1.61 0.00 2327.2 2449.8 2204.6 2440.4 558.9 26.07 10.65 823 5152.45 0.00 0.00 3.41 0.000 0.000 0.023 2327.62 2450.25 2205.00 2440.81 2073.12 0 0 0 30.00 30.00 15.42

5335.60 548 164.46 1.61 -80.00 2327.2 2449.9 2204.5 2440.5 2075.1 7.15 9.99 861 5342.84 0.00 0.00 4.01 0.000 0.000 0.100 2327.03 2449.62 2204.44 2440.88 558.81 0 0 0 30.00 30.00 15.77

5360 end climb: SURFACE_DEPTH_REACHED

state 5361 begin surface coast

5381 end surface coast: CONTROL_FINISHED_OK

state 5381 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	201	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	70.604202	SEABIRD_T_I	2.932871e-05
D_OFFGRID	1000	PITCH_GAIN	14	FG_AHR_24V	147.75124	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	281.0
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	170723,093850,6306.732,-1651.260,3,1.4,5,-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	-46.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	170723,094204,6306.735,-1651.219,2,1.4,5,-9.0	MHEAD_RNG_PITCHd_Wd	282.7,1831,-19.1,-10.000,-24.73,2228,0.153
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	8000307

FINISH	2.6,1.027204	_10V_AH	14.90,0.000
SURF	forcing	FG_AHR_24Vo	147.921
SM_CCo	5789.10,308.45,0.892,0,534.3,666.2,402.4,604.83	FG_AHR_10Vo	70.661
SM_GC	4.02,308.45,14.41,4.18,0.892,0.060,0.030,534.3,666.2,402.4,182.8,2388.7,0,0,0,11.74,15.80,15.89	MEM0	60108,1,0,0
SUPER	19,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	6303.85,-1646.96,170723,075825	MEM2	995836,33,50552,76
TCM_TEMP	11.11	DATA_FILE_SIZE	28942,870
XPDR_PINGS	0,10.3,13.6	CAP_FILE_SIZE	202089,0
CP_FREE	0.000000	SDSIZE	3887104,3818080
CP_POWER	293.030000	SDFILEDIR	1027,203
HUMID	52.22	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
TEMP	8.91	IMPLIED_C_PITCH	2055,12.56,699,0.0,0.00
INTERNAL_PRESSURE	8.07486	IMPLIED_C_VBD	3047,18.519897,699,0
_24V_AH	14.86,153.835	GPS	170723,112000,6306.440,-1650.470,26,0.9,26,-9.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	685	1218	12413.30	SBE_CT	1204	24	429.46
Pitch_motor	30	180	81.88	nil	0	0	0.00
Roll_motor	68	152	155.72	nil	0	0	0.00
Iridium	121	164	296.31	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.12	nil	0	0	0.00
Core	3208	6	325.10	SciCon	0	0	0.00
Fast	3	0	0.00	NCP	5458	25	2033.21
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2421	2	72.16
Compass	1169	5	87.12
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
29.77	16386	-145.99	-1.59	0.00	526.6	667.1	386.1	182.9	2331.8	0.00	0.00	0	35.69	5.00	0.00	0.00	0.009	0.000	0.000	670.03	796.56	543.50	182.75	2332.12	0	0	0	15.25	30.00	30.00
35.99	18727	-145.99	-1.59	80.00	670.0	796.6	543.5	182.9	2332.6	3.38	0.00	1	191.25	127.74	11.02	3.99	0.005	0.180	0.102	3594.41	3646.69	3542.12	1669.38	3824.69	0	0	0	15.35	15.19	15.21
418.77	1060	-145.99	-1.59	0.00	3595.8	3647.1	3544.4	1669.4	3824.8	41.63	-9.85	76	425.67	0.00	0.00	3.54	0.000	0.000	0.025	3595.66	3646.75	3544.56	1668.81	2312.44	0	0	0	30.00	30.00	15.37
608.83	260	-145.99	-1.59	80.00	3595.8	3647.1	3544.4	1669.4	2311.6	60.47	-10.16	114	615.84	0.00	0.00	3.97	0.000	0.000	0.100	3595.41	3646.06	3544.75	1668.94	3825.88	0	0	0	30.00	30.00	15.71
698.89	1060	-145.99	-1.59	0.00	3595.7	3646.9	3544.4	1669.2	3825.9	69.34	-9.73	132	705.61	0.00	0.00	3.48	0.000	0.000	0.025	3595.84	3646.44	3545.25	1669.44	2312.56	0	0	0	30.00	30.00	15.82
888.96	32	-145.99	-1.59	0.00	3595.7	3647.0	3544.4	1669.4	2312.4	88.19	-9.62	170	890.53	0.00	0.00	0.00	0.000	0.000	0.000	3594.69	3646.06	3543.31	1669.44	2312.81	0	0	0	30.00	30.00	30.00
1074.03	32	-145.99	-1.59	0.00	3595.8	3647.3	3544.2	1668.9	2311.6	106.42	-9.80	207	1075.60	0.00	0.00	0.00	0.000	0.000	0.000	3595.28	3647.38	3543.19	1669.25	2311.38	0	0	0	30.00	30.00	30.00
1379.13	292	-145.99	-1.59	80.00	3595.8	3647.0	3544.6	1669.6	2311.6	137.00	-9.95	268	1386.16	0.00	0.00	4.03	0.000	0.000	0.100	3595.66	3646.94	3544.38	1669.38	3823.44	0	0	0	30.00	30.00	15.32
1424.14	1060	-145.99	-1.59	0.00	3595.6	3646.9	3544.2	1669.9	3822.9	141.50	-9.98	277	1430.86	0.00	0.00	3.47	0.000	0.000	0.025	3596.06	3647.19	3544.94	1669.75	2313.88	0	0	0	30.00	30.00	15.31
1734.25	32	-145.99	-1.59	0.00	3595.5	3646.2	3544.8	1669.3	2312.7	172.41	-9.89	339	1735.83	0.00	0.00	0.00	0.000	0.000	0.000	3594.06	3645.56	3542.56	1669.25	2312.69	0	0	0	30.00	30.00	30.00
2039.37	292	-145.99	-1.59	80.00	3595.5	3646.4	3544.7	1669.3	2311.5	203.21	-9.88	400	2046.60	0.00	0.00	4.03	0.000	0.000	0.101	3595.72	3647.00	3544.44	1669.50	3825.81	0	0	0	30.00	30.00	15.42
2089.32	1028	-145.99	-1.59	0.00	3595.7	3646.9	3544.6	1668.8	3826.2	208.22	-10.13	410	2096.28	0.00	0.00	3.46	0.000	0.000	0.025	3595.56	3646.75	3544.38	1669.44	2314.88	0	0	0	30.00	30.00	15.88
2399.42	0	-145.99	-1.59	0.00	3595.1	3646.3	3543.9	1669.2	2314.8	239.57	-10.25	472	2401.04	0.00	0.00	0.00	0.000	0.000	0.000	3594.47	3645.56	3543.38	1669.25	2315.19	0	0	0	30.00	30.00	30.00
2704	end dive: TARGET_DEPTH_EXCEEDED
state	2704	begin apogee
2706.81	10243	0.00	-0.36	0.00	3595.0	3646.6	3543.4	1669.6	1991.6	270.45	-10.27	503	2828.24	111.24	2.07	0.11	1.219	0.119	0.153	2996.72	3108.75	2884.69	1966.69	2094.38	0	0	0	11.57	15.81	15.53
2877	end apogee: CONTROL_FINISHED_OK
state	2877	begin climb
2878.30	10759	145.99	1.59	-80.00	2994.7	3107.5	2881.9	1966.8	2094.6	259.99	0.00	508	3232.76	112.96	3.09	4.19	1.186	0.069	0.103	2395.72	2514.44	2277.00	2440.69	557.69	0	0	0	12.20	15.58	15.37
3576.26	1060	147.86	1.59	0.00	2392.7	2513.6	2271.7	2440.2	558.1	217.17	9.91	510	3587.17	0.00	0.00	3.39	0.000	0.000	0.023	2390.66	2511.19	2270.12	2440.19	2071.62	0	0	0	30.00	30.00	15.77
3889.82	8486	156.15	1.60	80.00	2391.9	2513.3	2270.4	2440.1	2072.4	152.18	9.62	572	3907.49	8.65	0.00	3.70	0.863	0.000	0.088	2363.09	2485.50	2240.69	2440.06	3493.38	0	0	0	11.77	30.00	15.59
4135.17	9254	160.27	1.61	0.00	2359.5	2480.6	2238.5	2440.6	3494.2	127.74	9.81	621	4147.55	5.70	0.00	3.54	0.680	0.000	0.033	2345.50	2467.38	2223.62	2440.94	1989.75	0	0	0	12.02	30.00	15.84
4450.29	292	161.35	1.61	80.00	2343.8	2466.3	2221.3	2441.2	1989.4	96.10	9.95	684	4457.43	0.00	0.00	3.87	0.000	0.000	0.083	2344.16	2467.06	2221.25	2440.62	3495.12	0	0	0	30.00	30.00	15.79
4510.35	1060	162.45	1.61	0.00	2343.4	2465.7	2221.2	2440.7	3494.5	90.13	9.95	696	4517.31	0.00	0.00	3.53	0.000	0.000	0.032	2344.62	2466.81	2222.44	2440.38	1993.56	0	0	0	30.00	30.00	15.85
4700.38	8226	164.31	1.61	0.00	2343.2	2465.1	2221.3	2440.8	1993.2	71.01	9.91	734	4709.80	5.58	0.00	0.00	0.659	0.000	0.000	2329.84	2452.06	2207.62	2440.19	1993.06	0	0	0	11.89	30.00	30.00
4890.39	0	164.31	1.61	0.00	2327.7	2450.4	2205.0	2441.1	1993.4	51.85	10.05	772	4892.00	0.00	0.00	0.00	0.000	0.000	0.000	2326.91	2449.31	2204.50	2440.81	1993.75	0	0	0	30.00	30.00	30.00
5075.46	516	164.31	1.61	-80.00	2327.4	2450.3	2204.5	2441.2	1993.1	33.38	10.02	809	5082.60	0.00	0.00	3.80	0.000	0.000	0.106	2327.44	2450.00	2204.88	2440.88	559.12	0	0	0	30.00	30.00	15.77
5145.48	1028	164.31	1.61	0.00	2327.2	2449.8	2204.6	2440.4	558.9	26.07	10.65	823	5152.45	0.00	0.00	3.41	0.000	0.000	0.023	2327.62	2450.25	2205.00	2440.81	2073.12	0	0	0	30.00	30.00	15.42
5335.60	548	164.46	1.61	-80.00	2327.2	2449.9	2204.5	2440.5	2075.1	7.15	9.99	861	5342.84	0.00	0.00	4.01	0.000	0.000	0.100	2327.03	2449.62	2204.44	2440.88	558.81	0	0	0	30.00	30.00	15.77
5360	end climb: SURFACE_DEPTH_REACHED
state	5361	begin surface coast
5381	end surface coast: CONTROL_FINISHED_OK
state	5381	begin surface