Glider dive log

ARCTERX Mar22 * SG526 * Dive index * Mission links * Dive 210 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 526 TGT_AUTO_DEFAULT 0 VBD_MIN 500 MOTHERBOARD 6

MISSION 4 SM_CC 613.25 VBD_MAX 3960 DEVICE1 -1

DIVE 210 N_FILEKB 8 C_VBD 3000 DEVICE2 -1

N_DIVES 0 FILEMGR 0 VBD_DBAND 2 DEVICE3 -1

STOP_T 0 CALL_NDIVES 1 VBD_CNV -0.24529999 DEVICE4 -1

D_SURF 2 COMM_SEQ 7 VBD_LP_IGNORE 0 DEVICE5 -1

D_FLARE 3 PROTOCOL 9 VBD_TIMEOUT 720 DEVICE6 -1

D_TGT 180 N_NOCOMM 2 PITCH_VBD_SHIFT 0.0023000001 LOGGERS 7

D_ABORT 1010 NOCOMM_ACTION 163 UNCOM_BLEED 20 LOGGERDEVICE1 6

D_NO_BLEED 50 N_NOSURFACE 0 VBD_MAXERRORS 1 LOGGERDEVICE2 33

D_BOOST 0 UPLOAD_DIVES_MAX -1 C_VBD_AUTO_DELTA 0 LOGGERDEVICE3 19

T_BOOST 0 CALL_TRIES 5 C_VBD_AUTO_MAX 0 LOGGERDEVICE4 -1

D_FINISH 0 CALL_WAIT 60 W_ADJ_DBAND 2 COMPASS_DEVICE 34

D_PITCH 0 CAPUPLOAD 0 DBDW 0 COMPASS2_DEVICE -1

D_SAFE 0 CAPMAXSIZE 100000 LOITER_W_DBAND 0 PHONE_DEVICE 33

D_CALL 0 T_GPS 5 LOITER_DBDW 0 GPS_DEVICE 48

SURFACE_URGENCY 0 N_GPS 100440 LOITER_D_TOP 0 RAFOS_DEVICE -1

SURFACE_URGENCY_TRY 0 T_RSLEEP 3 LOITER_D_BOTTOM 0 NAV_DEVICE -1

SURFACE_URGENCY_FORCE 0 STROBE 0 LOITER_N_DIVE 0 NAV2_DEVICE -1

T_DIVE 60 RAFOS_PEAK_OFFSET 0 CF8_MAXERRORS 20 NETWORK_DEVICE -1

T_MISSION 75 RAFOS_CORR_THRESH 60 AH0_24V 350 PRESSURE_DEVICE 41

T_ABORT 1440 RAFOS_HIT_WINDOW 3600 AH0_10V 0 XPDR_DEVICE 21

T_TURN 225 RAFOS_MMODEM 0 MINV_24V 11 SIM_W 0

T_TURN_SAMPINT -5 PITCH_MIN 150 MINV_10V 11 SEABIRD_T_G 0.00441493

T_NO_W 120 PITCH_MAX 3615 MAXI_24V 4.8000002 SEABIRD_T_H 0.00064107013

T_LOITER 0 C_PITCH 2330 MAXI_10V 1.5 SEABIRD_T_I 2.576065e-05

T_EPIRB 0 PITCH_DBAND 0.1 FG_AHR_10V 121.34717 SEABIRD_T_J 3.1402324e-06

USE_BATHY -6 PITCH_CNV 0.0041299998 FG_AHR_24V 98.259506 SEABIRD_C_G -9.799654

USE_ICE 0 PITCH_GAIN 40 PHONE_SUPPLY 2 SEABIRD_C_H 1.0727782

ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 PRESSURE_YINT -160.7363 SEABIRD_C_I -0.0026193932

D_OFFGRID 1000 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00022843899 SEABIRD_C_J 0.00026435545

RELAUNCH 1 PITCH_ADJ_GAIN 0 COMPASS_USE 16388 OPTIONS 0

APOGEE_PITCH -5 PITCH_ADJ_DBAND 0 ALTIM_PING_FIT 0 SC_RECORDABOVE 2000.0

MAX_BUOY 100 C_PITCH_AUTO_DELTA 0 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 7.0

GLIDE_SLOPE 30 C_PITCH_AUTO_MAX 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_XMITPROFILE 7.0

SPEED_FACTOR 1 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_TURN_MARGIN 0 SC_NDIVE 1.0

RHO 1.0275 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_MIN_OBSTACLE 0 PM_RECORDABOVE 2000.0

MASS 56535 PITCH_W_GAIN 2 ALTIM_PING_DEPTH 0 PM_PROFILE 7.0

NAV_MODE 2 PITCH_W_DBAND 0.5 ALTIM_PING_DELTA 0 PM_XMITPROFILE 7.0

FERRY_MAX 45 ROLL_MIN 380 ALTIM_FREQUENCY 13 PM_NDIVE 1.0

KALMAN_USE 2 ROLL_MAX 3950 ALTIM_PULSE 3 PM_XMITRAW 0.0

HD_A 0.0025118899 ROLL_DEG 30 ALTIM_SENSITIVITY 2 PM_MOTORS 1.0

HD_B 0.0139236 C_ROLL_DIVE 2821.5269 XPDR_VALID 4 PM_SENDDEPTH 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 2768.8105 XPDR_INHIBIT 90 TM_RECORDABOVE 400.0

HEADING -1 HEAD_ERRBAND 10 XPDR_INT 0 TM_PROFILE 3.0

ESCAPE_HEADING 0 ROLL_CNV 0.028270001 XPDR_REP 0 TM_XMITPROFILE 1.0

ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 1.9639999e-06 TM_NDIVE 1.0

FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT -1 TM_XMITRAW 0.0

TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0.5 DEEPGLIDER 0 TM_LOGSAMPLE 0.0

TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0.029999999 DEEPGLIDERMB 0

AH0_10V 0 D_SURF 2 PHONE_DEVICE 33 SEABIRD_T_G 0.00441493

AH0_24V 350 D_TGT 180 PHONE_SUPPLY 2 SEABIRD_T_H 0.00064107013

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 SEABIRD_T_I 2.576065e-05

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SEABIRD_T_J 3.1402324e-06

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_CNV 0.0041299998 SIM_W 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 121.34717 PITCH_DBAND 0.1 SM_CC 613.25

ALTIM_PING_FIT 0 FG_AHR_24V 98.259506 PITCH_GAIN 40 SPEED_FACTOR 1

ALTIM_PULSE 3 FILEMGR 0 PITCH_GAIN_AUTO_DELTA 0 STOP_T 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_GAIN_AUTO_MAX 0 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_MAX 3615 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0025118899 PITCH_MIN 150 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 HD_B 0.0139236 PITCH_TIMEOUT 30 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0023000001 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HEAD_ERRBAND 10 PITCH_W_GAIN 2 TM_LOGSAMPLE 0.0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PM_MOTORS 1.0 TM_NDIVE 1.0

CAPUPLOAD 0 ID 526 PM_NDIVE 1.0 TM_PROFILE 3.0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 1.9639999e-06 PM_PROFILE 7.0 TM_RECORDABOVE 400.0

COMM_SEQ 7 INT_PRESSURE_YINT -1 PM_RECORDABOVE 2000.0 TM_XMITPROFILE 1.0

COMPASS2_DEVICE -1 KALMAN_USE 2 PM_SENDDEPTH 1.0 TM_XMITRAW 0.0

COMPASS_DEVICE 34 LOGGERDEVICE1 6 PM_XMITPROFILE 7.0 T_ABORT 1440

COMPASS_USE 16388 LOGGERDEVICE2 33 PM_XMITRAW 0.0 T_BOOST 0

C_PITCH 2330 LOGGERDEVICE3 19 PRESSURE_DEVICE 41 T_DIVE 60

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE4 -1 PRESSURE_SLOPE 0.00022843899 T_EPIRB 0

C_PITCH_AUTO_MAX 0 LOGGERS 7 PRESSURE_YINT -160.7363 T_GPS 5

C_ROLL_CLIMB 2768.8105 LOITER_DBDW 0 PROTOCOL 9 T_LOITER 0

C_ROLL_DIVE 2821.5269 LOITER_D_BOTTOM 0 RAFOS_CORR_THRESH 60 T_MISSION 75

C_VBD 3000 LOITER_D_TOP 0 RAFOS_DEVICE -1 T_NO_W 120

C_VBD_AUTO_DELTA 0 LOITER_N_DIVE 0 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

C_VBD_AUTO_MAX 0 LOITER_W_DBAND 0 RAFOS_MMODEM 0 T_TURN 225

DBDW 0 MASS 56535 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

DEEPGLIDER 0 MAXI_10V 1.5 RELAUNCH 1 UNCOM_BLEED 20

DEEPGLIDERMB 0 MAXI_24V 4.8000002 RHO 1.0275 UPLOAD_DIVES_MAX -1

DEVICE1 -1 MAX_BUOY 100 ROLL_ADJ_DBAND 0.029999999 USE_BATHY -6

DEVICE2 -1 MINV_10V 11 ROLL_ADJ_GAIN 0.5 USE_ICE 0

DEVICE3 -1 MINV_24V 11 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 4 ROLL_DEG 30 VBD_DBAND 2

DEVICE5 -1 MOTHERBOARD 6 ROLL_MAX 3950 VBD_LP_IGNORE 0

DEVICE6 -1 NAV2_DEVICE -1 ROLL_MAXERRORS 1 VBD_MAX 3960

DIVE 210 NAV_DEVICE -1 ROLL_MIN 380 VBD_MAXERRORS 1

D_ABORT 1010 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_MIN 500

D_BOOST 0 NETWORK_DEVICE -1 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_CALL 0 NOCOMM_ACTION 163 SC_PROFILE 7.0 W_ADJ_DBAND 2

D_FINISH 0 N_DIVES 0 SC_RECORDABOVE 2000.0 XPDR_DEVICE 21

D_FLARE 3 N_FILEKB 8 SC_XMITPROFILE 7.0 XPDR_INHIBIT 90

D_NO_BLEED 50 N_GPS 100440 SEABIRD_C_G -9.799654 XPDR_INT 0

D_OFFGRID 1000 N_NOCOMM 2 SEABIRD_C_H 1.0727782 XPDR_REP 0

D_PITCH 0 N_NOSURFACE 0 SEABIRD_C_I -0.0026193932 XPDR_VALID 4

D_SAFE 0 OPTIONS 0 SEABIRD_C_J 0.00026435545

Pre-dive calculations and measurements:

GPS1 120422,214033,1415.976,14503.041,27,0.8,28,0.3 TGT_RADIUS 2000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.09 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120422,214656,1416.016,14503.075,21,0.9,35,0.3 MHEAD_RNG_PITCHd_Wd 211.0,10993,-23.9,-10.000,-28.69,1492,0.208

SPEED_LIMITS 0.173,0.183 D_GRID 1000

TGT_NAME T1E IRON 1.000000,0.005000,-0.003000,0.013000,1.047000,-0.005000,0.002000,0.001000,1.052000,12.000000,99.000000,12.600000

TGT_LATLONG 1411.748,14458.820

Post-dive calculations and measurements:

WARN HTMICL TMICL logging already stopped INTERNAL_PRESSURE 9.26486

FINISH 0.2,1.010229 _24V_AH 15.05,158.327

SM_CCo 3180.38,223.94,0.710,0,500.5,460.6,540.4,613.14 _10V_AH 15.00,0.000

SM_GC 1.10,223.94,6.49,0.00,0.710,0.015,0.023,500.5,460.6,540.4,118.7,2814.2,0,0,0,11.62,15.99,30.36 FG_AHR_24Vo 98.380

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 121.403

IRIDIUM_FIX 1413.16,14503.94,120422,204218 MEM0 60140,1,0,0

TCM_TEMP 27.30 MEM1 65508,1,0,0

XPDR_PINGS 14,14.5,10.5 MEM2 994764,37,51524,77

SC_FREEKB 3727040 DATA_FILE_SIZE 9744,362

PM_FREEKB_00 65539904 CAP_FILE_SIZE 137490,0

PM_FREEKB_01 51494784 SDSIZE 3887104,3791040

PM_FREEKB_02 124835200 SDFILEDIR 2097,1

PM_FREEKB_03 124835200 ERRORS 0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 1 CURRENT 0.134, 27.8,1

TM_FREEKB 5121920 MAGCAL 1.000000,0.006722,0.019409,0.006565,1.051387,0.024165,-0.014465,-0.019966,1.054836,24.3,97.3,12.9,21,0.0017,0

HUMID 55.33 IMPLIED_C_PITCH 2441,26.83,196,0.0,0.00

TEMP 27.45 GPS 120422,224112,1415.989,14503.008,17,1.7,19,0.3

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 618 904 8421.99 nil 0 0 0.00

Pitch_motor 17 372 100.14 nil 0 0 0.00

Roll_motor 35 70 37.91 nil 0 0 0.00

Iridium 220 175 581.71 nil 0 0 0.00

Transponder_ping 3 420 22.12 nil 0 0 0.00

GPS 44 15 9.98 nil 0 0 0.00

Core 651 6 66.50 SciCon 2966 37 1651.51

Fast 17 0 0.00 PMAR 2961 13 610.80

Slow 0 0 0.00 TMICL 2937 9 428.48

LPSleep 1497 2 44.94

Compass 785 5 58.91

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

21.67 16386 -97.32 -0.82 0.00 504.0 472.9 535.1 84.9 2715.0 0.00 0.00 0 120.84 91.21 0.00 0.00 0.005 0.000 0.000 3065.22 2991.88 3138.56 80.94 2718.38 0 0 0 15.28 30.00 30.00

121.11 18983 -97.32 -0.82 -30.00 3064.9 2991.4 3138.4 80.9 2716.0 3.31 -2.72 9 150.05 6.41 9.35 1.52 0.007 0.372 0.018 3397.75 3316.00 3479.50 2137.19 1685.62 0 0 0 15.35 15.20 15.42

207.70 1028 -97.32 -0.82 0.00 3398.8 3315.8 3481.8 2137.8 1666.3 32.83 -25.42 25 214.13 0.00 0.00 1.88 0.000 0.000 0.035 3399.78 3315.69 3483.88 2130.69 2853.31 0 0 0 30.00 30.00 15.88

397.80 260 -97.32 -0.82 30.00 3399.0 3315.7 3482.3 2130.2 2854.9 94.46 -33.24 45 404.16 0.00 0.00 1.67 0.000 0.000 0.036 3399.97 3316.44 3483.50 2121.56 3920.75 0 0 0 30.00 30.00 15.93

447.76 1028 -97.32 -0.82 -0.09 3398.2 3315.2 3481.2 2121.8 3920.1 111.10 -31.38 55 454.53 0.00 0.00 1.79 0.000 0.000 0.011 3398.84 3315.38 3482.31 2121.19 2749.38 0 0 0 30.00 30.00 15.95

637.83 260 -97.32 -0.82 30.00 3398.6 3315.2 3481.9 2121.1 2731.5 164.03 -23.60 75 644.26 0.00 0.00 1.89 0.000 0.000 0.032 3399.78 3316.75 3482.81 2112.75 3918.12 0 0 0 30.00 30.00 15.95

647.85 1028 -97.32 -0.82 -0.17 3398.7 3315.7 3481.8 2112.9 3918.2 166.50 -22.42 77 657.01 0.00 0.00 1.79 0.000 0.000 0.008 3400.28 3316.25 3484.31 2111.56 2730.31 0 0 0 30.00 30.00 15.60

710 end dive: TARGET_DEPTH_EXCEEDED

state 710 begin apogee

710.91 10243 0.00 -0.12 0.00 3399.1 3315.2 3482.9 2111.9 2843.0 182.04 -24.78 84 795.90 76.45 0.67 0.16 0.903 0.237 0.063 2998.66 2894.06 3103.25 2298.44 2643.31 0 0 0 11.66 15.75 15.58

799 end apogee: CONTROL_FINISHED_OK

state 799 begin climb

799.17 10759 97.32 0.82 -30.00 2998.9 2893.9 3103.8 2299.1 2642.6 188.97 0.00 92 886.13 76.39 0.69 1.51 0.904 0.122 0.011 2601.41 2500.88 2701.94 2536.44 1597.69 0 0 0 12.09 15.70 15.79

963.52 11303 208.85 1.08 0.00 2600.8 2502.1 2699.5 2536.6 1596.8 186.17 2.32 121 1057.19 84.20 0.15 1.92 0.903 0.055 0.028 2146.66 2045.81 2247.50 2642.00 2808.31 0 0 0 11.87 15.76 15.75

1244.38 4097 208.85 1.08 0.00 2144.0 2044.7 2243.2 2641.8 2808.5 151.38 12.45 158 1251.27 0.00 0.20 0.00 0.000 0.211 0.000 2145.12 2045.50 2244.75 2582.12 2807.62 0 0 0 30.00 15.77 30.00

1439.94 10535 288.98 1.26 30.00 2142.7 2041.8 2243.6 2583.6 2808.2 141.08 4.48 178 1507.36 60.17 0.15 1.67 0.845 0.056 0.038 1821.88 1727.56 1916.19 2667.56 3866.44 0 0 0 11.81 15.95 15.40

1519.69 5125 288.98 1.26 -0.18 1820.0 1726.6 1913.4 2667.5 3868.1 134.84 9.71 193 1526.98 0.00 0.17 1.81 0.000 0.220 0.011 1820.25 1727.19 1913.31 2629.00 2693.94 0 0 0 30.00 15.68 15.78

1715.12 324 288.98 1.28 30.00 1816.6 1726.1 1907.1 2629.9 2677.9 115.35 9.29 213 1724.29 0.00 0.00 1.92 0.000 0.000 0.034 1817.97 1727.56 1908.38 2628.06 3866.81 0 0 0 30.00 30.00 15.89

1781.72 1028 288.98 1.28 -0.10 1816.3 1726.8 1905.9 2630.1 3865.2 109.02 9.60 226 1791.60 0.00 0.00 1.80 0.000 0.000 0.011 1816.28 1726.56 1906.00 2637.81 2696.88 0 0 0 30.00 30.00 15.84

1978.81 580 288.98 1.29 -30.00 1815.6 1725.9 1905.2 2637.5 2679.9 91.32 9.24 246 1985.14 0.00 0.00 1.55 0.000 0.000 0.013 1815.22 1725.50 1904.94 2644.19 1637.62 0 0 0 30.00 30.00 15.88

2018.81 1092 288.98 1.32 -0.07 1814.7 1725.5 1903.9 2644.4 1629.7 87.78 8.85 254 2027.61 0.00 0.00 1.85 0.000 0.000 0.026 1814.81 1725.50 1904.12 2645.31 2803.44 0 0 0 30.00 30.00 15.86

2210.35 580 288.98 1.34 -30.00 1814.7 1725.4 1903.9 2645.4 2805.0 71.23 8.59 274 2216.85 0.00 0.00 1.78 0.000 0.000 0.014 1816.09 1726.56 1905.62 2651.81 1635.38 0 0 0 30.00 30.00 15.93

2289.50 1092 288.98 1.36 -0.26 1813.9 1725.8 1902.1 2652.6 1619.9 64.18 9.12 289 2298.66 0.00 0.00 1.85 0.000 0.000 0.027 1815.12 1726.75 1903.50 2652.31 2796.12 0 0 0 30.00 30.00 15.91

2486.57 260 288.98 1.36 30.00 1813.8 1725.4 1902.1 2653.4 2797.1 45.27 9.66 309 2492.95 0.00 0.00 1.68 0.000 0.000 0.035 1813.75 1725.56 1901.94 2652.88 3867.62 0 0 0 30.00 30.00 15.92

2531.21 1028 288.98 1.36 -0.20 1813.9 1725.6 1902.2 2653.6 3867.0 40.45 10.88 318 2539.96 0.00 0.00 1.80 0.000 0.000 0.011 1813.94 1726.12 1901.75 2661.44 2695.56 0 0 0 30.00 30.00 15.85

2728.29 16902 288.98 1.36 -30.00 1813.7 1725.8 1901.7 2661.4 2677.4 19.21 10.76 338 2734.65 0.00 0.00 1.55 0.000 0.000 0.013 1814.66 1726.62 1902.69 2668.25 1638.44 0 0 0 30.00 30.00 15.89

2748.29 17414 288.98 1.36 -0.30 1813.6 1725.9 1901.2 2670.3 1622.8 17.28 10.05 342 2754.69 0.00 0.00 1.84 0.000 0.000 0.027 1813.38 1725.69 1901.06 2671.06 2794.25 0 0 0 30.00 30.00 15.84

2909 end climb: SURFACE_DEPTH_REACHED

state 2909 begin surface coast

2939 end surface coast: CONTROL_FINISHED_OK

state 2939 begin surface

ID	526	TGT_AUTO_DEFAULT	0	VBD_MIN	500	MOTHERBOARD	6
MISSION	4	SM_CC	613.25	VBD_MAX	3960	DEVICE1	-1
DIVE	210	N_FILEKB	8	C_VBD	3000	DEVICE2	-1
N_DIVES	0	FILEMGR	0	VBD_DBAND	2	DEVICE3	-1
STOP_T	0	CALL_NDIVES	1	VBD_CNV	-0.24529999	DEVICE4	-1
D_SURF	2	COMM_SEQ	7	VBD_LP_IGNORE	0	DEVICE5	-1
D_FLARE	3	PROTOCOL	9	VBD_TIMEOUT	720	DEVICE6	-1
D_TGT	180	N_NOCOMM	2	PITCH_VBD_SHIFT	0.0023000001	LOGGERS	7
D_ABORT	1010	NOCOMM_ACTION	163	UNCOM_BLEED	20	LOGGERDEVICE1	6
D_NO_BLEED	50	N_NOSURFACE	0	VBD_MAXERRORS	1	LOGGERDEVICE2	33
D_BOOST	0	UPLOAD_DIVES_MAX	-1	C_VBD_AUTO_DELTA	0	LOGGERDEVICE3	19
T_BOOST	0	CALL_TRIES	5	C_VBD_AUTO_MAX	0	LOGGERDEVICE4	-1
D_FINISH	0	CALL_WAIT	60	W_ADJ_DBAND	2	COMPASS_DEVICE	34
D_PITCH	0	CAPUPLOAD	0	DBDW	0	COMPASS2_DEVICE	-1
D_SAFE	0	CAPMAXSIZE	100000	LOITER_W_DBAND	0	PHONE_DEVICE	33
D_CALL	0	T_GPS	5	LOITER_DBDW	0	GPS_DEVICE	48
SURFACE_URGENCY	0	N_GPS	100440	LOITER_D_TOP	0	RAFOS_DEVICE	-1
SURFACE_URGENCY_TRY	0	T_RSLEEP	3	LOITER_D_BOTTOM	0	NAV_DEVICE	-1
SURFACE_URGENCY_FORCE	0	STROBE	0	LOITER_N_DIVE	0	NAV2_DEVICE	-1
T_DIVE	60	RAFOS_PEAK_OFFSET	0	CF8_MAXERRORS	20	NETWORK_DEVICE	-1
T_MISSION	75	RAFOS_CORR_THRESH	60	AH0_24V	350	PRESSURE_DEVICE	41
T_ABORT	1440	RAFOS_HIT_WINDOW	3600	AH0_10V	0	XPDR_DEVICE	21
T_TURN	225	RAFOS_MMODEM	0	MINV_24V	11	SIM_W	0
T_TURN_SAMPINT	-5	PITCH_MIN	150	MINV_10V	11	SEABIRD_T_G	0.00441493
T_NO_W	120	PITCH_MAX	3615	MAXI_24V	4.8000002	SEABIRD_T_H	0.00064107013
T_LOITER	0	C_PITCH	2330	MAXI_10V	1.5	SEABIRD_T_I	2.576065e-05
T_EPIRB	0	PITCH_DBAND	0.1	FG_AHR_10V	121.34717	SEABIRD_T_J	3.1402324e-06
USE_BATHY	-6	PITCH_CNV	0.0041299998	FG_AHR_24V	98.259506	SEABIRD_C_G	-9.799654
USE_ICE	0	PITCH_GAIN	40	PHONE_SUPPLY	2	SEABIRD_C_H	1.0727782
ICE_FREEZE_MARGIN	0.30000001	PITCH_TIMEOUT	30	PRESSURE_YINT	-160.7363	SEABIRD_C_I	-0.0026193932
D_OFFGRID	1000	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00022843899	SEABIRD_C_J	0.00026435545
RELAUNCH	1	PITCH_ADJ_GAIN	0	COMPASS_USE	16388	OPTIONS	0
APOGEE_PITCH	-5	PITCH_ADJ_DBAND	0	ALTIM_PING_FIT	0	SC_RECORDABOVE	2000.0
MAX_BUOY	100	C_PITCH_AUTO_DELTA	0	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	7.0
GLIDE_SLOPE	30	C_PITCH_AUTO_MAX	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_XMITPROFILE	7.0
SPEED_FACTOR	1	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_TURN_MARGIN	0	SC_NDIVE	1.0
RHO	1.0275	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_MIN_OBSTACLE	0	PM_RECORDABOVE	2000.0
MASS	56535	PITCH_W_GAIN	2	ALTIM_PING_DEPTH	0	PM_PROFILE	7.0
NAV_MODE	2	PITCH_W_DBAND	0.5	ALTIM_PING_DELTA	0	PM_XMITPROFILE	7.0
FERRY_MAX	45	ROLL_MIN	380	ALTIM_FREQUENCY	13	PM_NDIVE	1.0
KALMAN_USE	2	ROLL_MAX	3950	ALTIM_PULSE	3	PM_XMITRAW	0.0
HD_A	0.0025118899	ROLL_DEG	30	ALTIM_SENSITIVITY	2	PM_MOTORS	1.0
HD_B	0.0139236	C_ROLL_DIVE	2821.5269	XPDR_VALID	4	PM_SENDDEPTH	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	2768.8105	XPDR_INHIBIT	90	TM_RECORDABOVE	400.0
HEADING	-1	HEAD_ERRBAND	10	XPDR_INT	0	TM_PROFILE	3.0
ESCAPE_HEADING	0	ROLL_CNV	0.028270001	XPDR_REP	0	TM_XMITPROFILE	1.0
ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	1.9639999e-06	TM_NDIVE	1.0
FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	-1	TM_XMITRAW	0.0
TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0.5	DEEPGLIDER	0	TM_LOGSAMPLE	0.0
TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0.029999999	DEEPGLIDERMB	0

GPS1	120422,214033,1415.976,14503.041,27,0.8,28,0.3	TGT_RADIUS	2000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.09	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120422,214656,1416.016,14503.075,21,0.9,35,0.3	MHEAD_RNG_PITCHd_Wd	211.0,10993,-23.9,-10.000,-28.69,1492,0.208
SPEED_LIMITS	0.173,0.183	D_GRID	1000
TGT_NAME	T1E	IRON	1.000000,0.005000,-0.003000,0.013000,1.047000,-0.005000,0.002000,0.001000,1.052000,12.000000,99.000000,12.600000
TGT_LATLONG	1411.748,14458.820

WARN	HTMICL TMICL logging already stopped	INTERNAL_PRESSURE	9.26486
FINISH	0.2,1.010229	_24V_AH	15.05,158.327
SM_CCo	3180.38,223.94,0.710,0,500.5,460.6,540.4,613.14	_10V_AH	15.00,0.000
SM_GC	1.10,223.94,6.49,0.00,0.710,0.015,0.023,500.5,460.6,540.4,118.7,2814.2,0,0,0,11.62,15.99,30.36	FG_AHR_24Vo	98.380
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	121.403
IRIDIUM_FIX	1413.16,14503.94,120422,204218	MEM0	60140,1,0,0
TCM_TEMP	27.30	MEM1	65508,1,0,0
XPDR_PINGS	14,14.5,10.5	MEM2	994764,37,51524,77
SC_FREEKB	3727040	DATA_FILE_SIZE	9744,362
PM_FREEKB_00	65539904	CAP_FILE_SIZE	137490,0
PM_FREEKB_01	51494784	SDSIZE	3887104,3791040
PM_FREEKB_02	124835200	SDFILEDIR	2097,1
PM_FREEKB_03	124835200	ERRORS	0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	1	CURRENT	0.134, 27.8,1
TM_FREEKB	5121920	MAGCAL	1.000000,0.006722,0.019409,0.006565,1.051387,0.024165,-0.014465,-0.019966,1.054836,24.3,97.3,12.9,21,0.0017,0
HUMID	55.33	IMPLIED_C_PITCH	2441,26.83,196,0.0,0.00
TEMP	27.45	GPS	120422,224112,1415.989,14503.008,17,1.7,19,0.3

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	618	904	8421.99	nil	0	0	0.00
Pitch_motor	17	372	100.14	nil	0	0	0.00
Roll_motor	35	70	37.91	nil	0	0	0.00
Iridium	220	175	581.71	nil	0	0	0.00
Transponder_ping	3	420	22.12	nil	0	0	0.00
GPS	44	15	9.98	nil	0	0	0.00
Core	651	6	66.50	SciCon	2966	37	1651.51
Fast	17	0	0.00	PMAR	2961	13	610.80
Slow	0	0	0.00	TMICL	2937	9	428.48
LPSleep	1497	2	44.94
Compass	785	5	58.91
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
21.67	16386	-97.32	-0.82	0.00	504.0	472.9	535.1	84.9	2715.0	0.00	0.00	0	120.84	91.21	0.00	0.00	0.005	0.000	0.000	3065.22	2991.88	3138.56	80.94	2718.38	0	0	0	15.28	30.00	30.00
121.11	18983	-97.32	-0.82	-30.00	3064.9	2991.4	3138.4	80.9	2716.0	3.31	-2.72	9	150.05	6.41	9.35	1.52	0.007	0.372	0.018	3397.75	3316.00	3479.50	2137.19	1685.62	0	0	0	15.35	15.20	15.42
207.70	1028	-97.32	-0.82	0.00	3398.8	3315.8	3481.8	2137.8	1666.3	32.83	-25.42	25	214.13	0.00	0.00	1.88	0.000	0.000	0.035	3399.78	3315.69	3483.88	2130.69	2853.31	0	0	0	30.00	30.00	15.88
397.80	260	-97.32	-0.82	30.00	3399.0	3315.7	3482.3	2130.2	2854.9	94.46	-33.24	45	404.16	0.00	0.00	1.67	0.000	0.000	0.036	3399.97	3316.44	3483.50	2121.56	3920.75	0	0	0	30.00	30.00	15.93
447.76	1028	-97.32	-0.82	-0.09	3398.2	3315.2	3481.2	2121.8	3920.1	111.10	-31.38	55	454.53	0.00	0.00	1.79	0.000	0.000	0.011	3398.84	3315.38	3482.31	2121.19	2749.38	0	0	0	30.00	30.00	15.95
637.83	260	-97.32	-0.82	30.00	3398.6	3315.2	3481.9	2121.1	2731.5	164.03	-23.60	75	644.26	0.00	0.00	1.89	0.000	0.000	0.032	3399.78	3316.75	3482.81	2112.75	3918.12	0	0	0	30.00	30.00	15.95
647.85	1028	-97.32	-0.82	-0.17	3398.7	3315.7	3481.8	2112.9	3918.2	166.50	-22.42	77	657.01	0.00	0.00	1.79	0.000	0.000	0.008	3400.28	3316.25	3484.31	2111.56	2730.31	0	0	0	30.00	30.00	15.60
710	end dive: TARGET_DEPTH_EXCEEDED
state	710	begin apogee
710.91	10243	0.00	-0.12	0.00	3399.1	3315.2	3482.9	2111.9	2843.0	182.04	-24.78	84	795.90	76.45	0.67	0.16	0.903	0.237	0.063	2998.66	2894.06	3103.25	2298.44	2643.31	0	0	0	11.66	15.75	15.58
799	end apogee: CONTROL_FINISHED_OK
state	799	begin climb
799.17	10759	97.32	0.82	-30.00	2998.9	2893.9	3103.8	2299.1	2642.6	188.97	0.00	92	886.13	76.39	0.69	1.51	0.904	0.122	0.011	2601.41	2500.88	2701.94	2536.44	1597.69	0	0	0	12.09	15.70	15.79
963.52	11303	208.85	1.08	0.00	2600.8	2502.1	2699.5	2536.6	1596.8	186.17	2.32	121	1057.19	84.20	0.15	1.92	0.903	0.055	0.028	2146.66	2045.81	2247.50	2642.00	2808.31	0	0	0	11.87	15.76	15.75
1244.38	4097	208.85	1.08	0.00	2144.0	2044.7	2243.2	2641.8	2808.5	151.38	12.45	158	1251.27	0.00	0.20	0.00	0.000	0.211	0.000	2145.12	2045.50	2244.75	2582.12	2807.62	0	0	0	30.00	15.77	30.00
1439.94	10535	288.98	1.26	30.00	2142.7	2041.8	2243.6	2583.6	2808.2	141.08	4.48	178	1507.36	60.17	0.15	1.67	0.845	0.056	0.038	1821.88	1727.56	1916.19	2667.56	3866.44	0	0	0	11.81	15.95	15.40
1519.69	5125	288.98	1.26	-0.18	1820.0	1726.6	1913.4	2667.5	3868.1	134.84	9.71	193	1526.98	0.00	0.17	1.81	0.000	0.220	0.011	1820.25	1727.19	1913.31	2629.00	2693.94	0	0	0	30.00	15.68	15.78
1715.12	324	288.98	1.28	30.00	1816.6	1726.1	1907.1	2629.9	2677.9	115.35	9.29	213	1724.29	0.00	0.00	1.92	0.000	0.000	0.034	1817.97	1727.56	1908.38	2628.06	3866.81	0	0	0	30.00	30.00	15.89
1781.72	1028	288.98	1.28	-0.10	1816.3	1726.8	1905.9	2630.1	3865.2	109.02	9.60	226	1791.60	0.00	0.00	1.80	0.000	0.000	0.011	1816.28	1726.56	1906.00	2637.81	2696.88	0	0	0	30.00	30.00	15.84
1978.81	580	288.98	1.29	-30.00	1815.6	1725.9	1905.2	2637.5	2679.9	91.32	9.24	246	1985.14	0.00	0.00	1.55	0.000	0.000	0.013	1815.22	1725.50	1904.94	2644.19	1637.62	0	0	0	30.00	30.00	15.88
2018.81	1092	288.98	1.32	-0.07	1814.7	1725.5	1903.9	2644.4	1629.7	87.78	8.85	254	2027.61	0.00	0.00	1.85	0.000	0.000	0.026	1814.81	1725.50	1904.12	2645.31	2803.44	0	0	0	30.00	30.00	15.86
2210.35	580	288.98	1.34	-30.00	1814.7	1725.4	1903.9	2645.4	2805.0	71.23	8.59	274	2216.85	0.00	0.00	1.78	0.000	0.000	0.014	1816.09	1726.56	1905.62	2651.81	1635.38	0	0	0	30.00	30.00	15.93
2289.50	1092	288.98	1.36	-0.26	1813.9	1725.8	1902.1	2652.6	1619.9	64.18	9.12	289	2298.66	0.00	0.00	1.85	0.000	0.000	0.027	1815.12	1726.75	1903.50	2652.31	2796.12	0	0	0	30.00	30.00	15.91
2486.57	260	288.98	1.36	30.00	1813.8	1725.4	1902.1	2653.4	2797.1	45.27	9.66	309	2492.95	0.00	0.00	1.68	0.000	0.000	0.035	1813.75	1725.56	1901.94	2652.88	3867.62	0	0	0	30.00	30.00	15.92
2531.21	1028	288.98	1.36	-0.20	1813.9	1725.6	1902.2	2653.6	3867.0	40.45	10.88	318	2539.96	0.00	0.00	1.80	0.000	0.000	0.011	1813.94	1726.12	1901.75	2661.44	2695.56	0	0	0	30.00	30.00	15.85
2728.29	16902	288.98	1.36	-30.00	1813.7	1725.8	1901.7	2661.4	2677.4	19.21	10.76	338	2734.65	0.00	0.00	1.55	0.000	0.000	0.013	1814.66	1726.62	1902.69	2668.25	1638.44	0	0	0	30.00	30.00	15.89
2748.29	17414	288.98	1.36	-0.30	1813.6	1725.9	1901.2	2670.3	1622.8	17.28	10.05	342	2754.69	0.00	0.00	1.84	0.000	0.000	0.027	1813.38	1725.69	1901.06	2671.06	2794.25	0	0	0	30.00	30.00	15.84
2909	end climb: SURFACE_DEPTH_REACHED
state	2909	begin surface coast
2939	end surface coast: CONTROL_FINISHED_OK
state	2939	begin surface