Glider dive log

SMODE Aug22 * SG247 * Dive index * Mission links * Dive 246 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 247 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_INT 12.5

MISSION 2 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_REP 11.5

DIVE 246 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 0 SM_CC 635.32697 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0

STOP_T 0 N_FILEKB 8 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 FILEMGR 0 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 CALL_NDIVES 1 C_VBD 3090 MOTHERBOARD 6

D_TGT 270 COMM_SEQ 7 VBD_DBAND 2 DEVICE1 -1

D_ABORT 1000 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE2 -1

D_NO_BLEED 200 N_NOCOMM 2 VBD_LP_IGNORE 0 DEVICE3 -1

D_BOOST 0 NOCOMM_ACTION 131 VBD_TIMEOUT 720 DEVICE4 -1

T_BOOST 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 UNCOM_BLEED 20 DEVICE6 -1

D_PITCH 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 1

D_SAFE 0 CALL_WAIT 60 C_VBD_AUTO_DELTA 0 LOGGERDEVICE1 7

D_CALL 0 CAPUPLOAD 0 C_VBD_AUTO_MAX 0 LOGGERDEVICE2 19

SURFACE_URGENCY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 3 LOGGERDEVICE3 -1

SURFACE_URGENCY_TRY 0 T_GPS 5 DBDW 0 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 N_GPS 100440 LOITER_W_DBAND 0 COMPASS_DEVICE 66

T_DIVE 90 T_RSLEEP 1 LOITER_DBDW 0 COMPASS2_DEVICE -1

T_MISSION 110 STROBE 0 LOITER_D_TOP 0 PHONE_DEVICE 33

T_ABORT 1440 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 0 GPS_DEVICE 48

T_TURN 225 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 NAV_DEVICE -1

T_NO_W 120 RAFOS_MMODEM 0 AH0_24V 575 NAV2_DEVICE -1

T_LOITER 0 PITCH_MIN 215 AH0_10V 0 NETWORK_DEVICE -1

T_EPIRB 0 PITCH_MAX 3615 MINV_24V 11 PRESSURE_DEVICE 34

USE_BATHY -10 C_PITCH 2330 MINV_10V 11 XPDR_DEVICE 21

USE_ICE 0 PITCH_DBAND 0.1 MAXI_24V 5 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_CNV 0.0041299998 MAXI_10V 1.5 SEABIRD_T_G 0.0043565771

D_OFFGRID 1000 PITCH_GAIN 25 FG_AHR_10V 40.240383 SEABIRD_T_H 0.00062677637

RELAUNCH 1 PITCH_TIMEOUT 30 FG_AHR_24V 62.729988 SEABIRD_T_I 2.4431472e-05

APOGEE_PITCH -5 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_J 2.7094229e-06

MAX_BUOY 180 PITCH_ADJ_GAIN 0 PRESSURE_YINT -186.90315 SEABIRD_C_G -10.133897

GLIDE_SLOPE 30 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00022525644 SEABIRD_C_H 1.1473427

SPEED_FACTOR 1 C_PITCH_AUTO_DELTA 0 COMPASS_USE 16388 SEABIRD_C_I -0.0015492893

RHO 1.0275 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_J 0.0002031941

MASS 74407 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_PING_RANGE 0 OPTIONS 0

NAV_MODE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_GAIN 2 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

KALMAN_USE 2 PITCH_W_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 3.0

HD_A 0.0039810701 ROLL_MIN 255 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0116313 ROLL_MAX 3875 ALTIM_PING_DELTA 0 TM_RECORDABOVE 2000.0

HD_C 5.7000002e-06 ROLL_DEG 80 ALTIM_FREQUENCY 13 TM_PROFILE 3.0

HEADING -1 C_ROLL_DIVE 2840 ALTIM_PULSE 3 TM_XMITPROFILE 3.0

ESCAPE_HEADING 0 C_ROLL_CLIMB 2330 ALTIM_SENSITIVITY 2 TM_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 XPDR_VALID 4 TM_XMITRAW 0.0

FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.054945 XPDR_INHIBIT 90 TM_LOGSAMPLE 0.0

AH0_10V 0 D_PITCH 0 N_GPS 100440 SEABIRD_T_H 0.00062677637

AH0_24V 575 D_SAFE 0 N_NOCOMM 2 SEABIRD_T_I 2.4431472e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_J 2.7094229e-06

ALTIM_FREQUENCY 13 D_TGT 270 OPTIONS 0 SIM_W 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 PHONE_DEVICE 33 SM_CC 635.32697

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_10V 40.240383 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 62.729988 PITCH_CNV 0.0041299998 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 25 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_DELTA 0 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.0039810701 PITCH_MAX 3615 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_B 0.0116313 PITCH_MAXERRORS 1 TM_LOGSAMPLE 0.0

CALL_WAIT 60 HD_C 5.7000002e-06 PITCH_MIN 215 TM_NDIVE 1.0

CAPMAXSIZE 100000 HEADING -1 PITCH_TIMEOUT 30 TM_PROFILE 3.0

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0012300001 TM_RECORDABOVE 2000.0

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0.5 TM_XMITPROFILE 3.0

COMM_SEQ 7 ID 247 PITCH_W_GAIN 2 TM_XMITRAW 0.0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_DEVICE 34 T_ABORT 1440

COMPASS_DEVICE 66 INT_PRESSURE_YINT 0 PRESSURE_SLOPE 0.00022525644 T_BOOST 0

COMPASS_USE 16388 KALMAN_USE 2 PRESSURE_YINT -186.90315 T_DIVE 90

C_PITCH 2330 LOGGERDEVICE1 7 PROTOCOL 9 T_EPIRB 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 19 RAFOS_CORR_THRESH 60 T_GPS 5

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_LOITER 0

C_ROLL_CLIMB 2330 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_MISSION 110

C_ROLL_DIVE 2840 LOGGERS 1 RAFOS_MMODEM 0 T_NO_W 120

C_VBD 3090 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_RSLEEP 1

C_VBD_AUTO_DELTA 0 LOITER_D_BOTTOM 0 RELAUNCH 1 T_TURN 225

C_VBD_AUTO_MAX 0 LOITER_D_TOP 0 RHO 1.0275 T_TURN_SAMPINT -5

DBDW 0 LOITER_N_DIVE 0 ROLL_ADJ_DBAND 0 UNCOM_BLEED 20

DEEPGLIDER 0 LOITER_W_DBAND 0 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 74407 ROLL_CNV 0.054945 USE_BATHY -10

DEVICE1 -1 MAXI_10V 1.5 ROLL_DEG 80 USE_ICE 0

DEVICE2 -1 MAXI_24V 5 ROLL_MAX 3875 VBD_CNV -0.24529999

DEVICE3 -1 MAX_BUOY 180 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE4 -1 MINV_10V 11 ROLL_MIN 255 VBD_LP_IGNORE 0

DEVICE5 -1 MINV_24V 11 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE6 -1 MISSION 2 SC_NDIVE 1.0 VBD_MAXERRORS 1

DIVE 246 MOTHERBOARD 6 SC_PROFILE 3.0 VBD_MIN 500

D_ABORT 1000 NAV2_DEVICE -1 SC_RECORDABOVE 2000.0 VBD_TIMEOUT 720

D_BOOST 0 NAV_DEVICE -1 SC_XMITPROFILE 3.0 W_ADJ_DBAND 3

D_CALL 0 NAV_MODE 2 SEABIRD_C_G -10.133897 XPDR_DEVICE 21

D_FINISH 0 NETWORK_DEVICE -1 SEABIRD_C_H 1.1473427 XPDR_INHIBIT 90

D_FLARE 3 NOCOMM_ACTION 131 SEABIRD_C_I -0.0015492893 XPDR_INT 12.5

D_NO_BLEED 200 N_DIVES 0 SEABIRD_C_J 0.0002031941 XPDR_REP 11.5

D_OFFGRID 1000 N_FILEKB 8 SEABIRD_T_G 0.0043565771 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 281022,094302,3636.269,-12446.124,7,1.2,20,13.3 TGT_RADIUS 2000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.40 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 281022,094904,3636.258,-12446.020,2,0.8,4,13.3 MHEAD_RNG_PITCHd_Wd 199.4,479,-27.6,-10.000,-30.00,1116,0.122

SPEED_LIMITS 0.173,0.266 D_GRID 1000

TGT_NAME pickup IRON 1.000000,0.023454,-0.000145,-0.015094,1.087630,-0.045885,-0.005580,-0.088927,0.987226,629.535095,-1477.875488,-334.674103

TGT_LATLONG 3636.000,-12446.000

Post-dive calculations and measurements:

FINISH 0.2,1.023425 FG_AHR_24Vo 62.872

SM_CCo 5150.21,128.25,0.692,0,500.9,520.0,481.9,635.10 FG_AHR_10Vo 40.297

SM_GC 1.53,128.25,15.21,2.22,0.692,0.042,0.040,500.9,520.0,481.9,192.9,2782.1,0,0,0,12.66,15.05,15.88 MEM0 60148,1,0,0

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

IRIDIUM_FIX 3635.98,-12447.65,281022,063758 MEM2 911616,33,135012,64

TCM_TEMP 16.12 DATA_FILE_SIZE 22533,777

XPDR_PINGS 30,12.5,11.5 CAP_FILE_SIZE 199089,0

SC_FREEKB 3687104 SDSIZE 3887104,3801920

HUMID 50.00 SDFILEDIR 1509,1

TEMP 12.61 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.41502 CURRENT 0.215, 88.0,1

_24V_AH 15.01,93.399 IMPLIED_C_PITCH 2350,17.81,468,0.0,0.00

_10V_AH 15.00,0.000 GPS 281022,111539,3635.908,-12445.675,2,0.8,17,13.3

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 702 999 10530.88 nil 0 0 0.00

Pitch_motor 33 255 130.05 nil 0 0 0.00

Roll_motor 74 144 161.39 nil 0 0 0.00

Iridium 262 249 981.84 nil 0 0 0.00

Transponder_ping 7 420 47.28 nil 0 0 0.00

GPS 13 15 3.07 nil 0 0 0.00

Core 2828 6 288.48 SciCon 5030 30 2290.66

Fast 16 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2508 2 75.26

Compass 1541 5 115.62

RAFOS 0 0 0.00

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

6.88 16386 -72.53 -1.19 0.00 490.4 513.4 467.4 197.8 2863.4 0.00 0.00 0 119.14 110.86 0.00 0.00 0.005 0.000 0.000 2748.44 2830.56 2666.31 197.69 2863.44 0 0 0 15.66 30.00 30.00

119.35 18727 -160.36 -1.30 80.00 2747.2 2828.9 2665.5 197.7 2863.5 3.33 -1.91 21 166.15 23.57 14.18 2.64 0.006 0.256 0.118 3743.81 3883.31 3604.31 2014.44 3886.50 0 0 0 15.69 15.57 15.64

394.20 1028 -160.36 -1.30 0.00 3744.1 3883.3 3604.9 2014.4 3885.9 76.45 -23.95 76 399.75 0.00 0.00 2.42 0.000 0.000 0.038 3744.59 3883.88 3605.31 2015.00 2783.94 0 0 0 30.00 30.00 15.86

589.27 260 -160.36 -1.30 80.00 3744.0 3883.1 3604.9 2014.3 2783.5 107.58 -13.81 110 594.11 0.00 0.00 2.84 0.000 0.000 0.113 3744.09 3883.69 3604.50 2014.06 3884.56 0 0 0 30.00 30.00 15.87

823.55 1028 -160.36 -1.30 0.00 3744.2 3883.3 3605.1 2014.6 3885.6 150.30 -18.83 157 829.82 0.00 0.00 2.41 0.000 0.000 0.038 3745.16 3885.06 3605.25 2014.56 2780.69 0 0 0 30.00 30.00 15.94

1139.31 260 -160.36 -1.30 80.00 3744.7 3883.2 3606.1 2013.2 2781.3 195.26 -14.08 189 1144.18 0.00 0.00 2.86 0.000 0.000 0.116 3745.09 3884.19 3606.00 2014.25 3886.44 0 0 0 30.00 30.00 16.00

1333.61 1028 -160.36 -1.30 0.00 3743.9 3883.2 3604.7 2014.0 3885.1 229.68 -17.80 228 1339.89 0.00 0.00 2.41 0.000 0.000 0.039 3744.28 3883.25 3605.31 2014.12 2783.62 0 0 0 30.00 30.00 16.03

1630 end dive: TARGET_DEPTH_EXCEEDED

state 1630 begin apogee

1631.71 10243 0.00 -0.20 0.00 3743.6 3882.1 3605.0 2014.6 2275.2 270.09 -13.82 258 1753.11 115.96 1.79 0.16 0.999 0.139 0.144 3094.06 3169.69 3018.44 2282.50 2353.19 0 0 0 12.74 15.97 15.69

1755 end apogee: CONTROL_FINISHED_OK

state 1755 begin climb

1754.83 10759 160.36 1.30 -80.00 3089.9 3165.8 3014.0 2282.1 2352.8 274.96 0.00 270 1885.84 119.25 2.33 3.82 0.977 0.087 0.098 2435.19 2497.88 2372.50 2650.31 862.00 0 0 0 12.73 15.73 15.53

1963.13 1028 160.36 1.30 0.00 2431.2 2490.8 2371.8 2648.5 861.9 260.20 11.43 311 1969.56 0.00 0.00 3.63 0.000 0.000 0.053 2432.16 2492.19 2372.12 2649.62 2348.31 0 0 0 30.00 30.00 15.72

2278.83 260 160.36 1.30 80.00 2428.3 2489.9 2366.8 2649.8 2348.4 224.22 11.44 343 2283.88 0.00 0.00 3.81 0.000 0.000 0.114 2430.59 2493.38 2367.81 2649.75 3796.00 0 0 0 30.00 30.00 15.87

2408.86 17414 160.36 1.30 0.00 2428.1 2490.1 2366.1 2649.8 3794.7 206.68 13.28 369 2413.86 0.00 0.00 3.44 0.000 0.000 0.039 2429.09 2490.38 2367.81 2649.69 2286.25 0 0 0 30.00 30.00 15.92

2718.90 16450 160.36 1.34 0.00 2426.2 2489.7 2362.8 2650.8 2282.1 180.20 8.05 401 2720.24 0.00 0.00 0.00 0.000 0.000 0.000 2428.06 2490.38 2365.75 2649.81 2280.88 0 0 0 30.00 30.00 30.00

3028.91 16710 160.36 1.36 80.00 2425.8 2490.2 2361.4 2651.1 2282.1 153.47 8.94 432 3034.99 0.00 0.00 3.92 0.000 0.000 0.116 2423.28 2486.81 2359.75 2651.25 3795.81 0 0 0 30.00 30.00 16.00

3108.18 17414 160.36 1.36 0.00 2425.9 2490.2 2361.6 2650.8 3795.5 145.26 10.10 448 3114.63 0.00 0.00 3.41 0.000 0.000 0.040 2425.97 2490.19 2361.75 2652.31 2278.75 0 0 0 30.00 30.00 16.03

3423.96 10535 211.03 1.42 80.00 2425.3 2489.8 2360.8 2649.6 2279.0 123.74 5.33 480 3469.86 37.79 0.12 3.98 0.905 0.099 0.116 2227.81 2300.44 2155.19 2685.25 3796.50 0 0 0 12.81 15.97 15.85

3528.24 1028 211.03 1.42 0.00 2227.1 2299.1 2155.0 2684.9 3794.9 114.52 11.42 501 3534.68 0.00 0.00 3.43 0.000 0.000 0.040 2227.16 2299.44 2154.88 2685.56 2282.44 0 0 0 30.00 30.00 15.93

3839.07 8486 248.87 1.47 80.00 2225.1 2299.4 2150.7 2684.6 2282.3 90.46 6.51 546 3875.46 29.15 0.00 3.98 0.851 0.000 0.115 2073.38 2149.44 1997.31 2684.44 3793.50 0 0 0 12.77 30.00 15.85

4104.17 1028 248.87 1.47 0.00 2071.6 2145.4 1997.8 2685.5 3793.8 64.23 9.78 599 4109.84 0.00 0.00 3.44 0.000 0.000 0.040 2072.38 2146.56 1998.19 2684.81 2284.94 0 0 0 30.00 30.00 15.89

4294.20 8486 292.57 1.52 80.00 2069.9 2145.9 1993.9 2684.2 2279.9 51.96 5.98 637 4335.39 32.28 0.00 3.96 0.812 0.000 0.116 1896.06 1973.06 1819.06 2684.25 3794.19 0 0 0 12.76 30.00 15.74

4419.20 1028 292.57 1.52 0.00 1893.5 1968.9 1818.1 2686.2 3795.2 41.59 9.85 662 4424.90 0.00 0.00 3.43 0.000 0.000 0.040 1894.62 1970.75 1818.50 2685.38 2286.44 0 0 0 30.00 30.00 15.88

4609.25 10791 368.55 1.62 -80.00 1890.5 1969.1 1811.9 2684.8 2282.0 32.74 3.00 700 4671.10 53.85 0.22 3.60 0.782 0.069 0.101 1586.72 1650.00 1523.44 2740.69 861.81 0 0 0 12.65 15.93 15.76

4679.29 9254 441.49 1.71 0.00 1585.0 1649.2 1520.7 2740.6 861.8 29.99 3.28 714 4737.03 51.21 0.00 3.61 0.753 0.000 0.051 1288.62 1342.62 1234.62 2741.06 2352.31 0 0 0 12.76 30.00 15.84

4920.02 260 441.49 1.71 80.00 1283.5 1343.2 1223.7 2740.7 2351.7 9.13 9.53 762 4925.80 0.00 0.00 3.83 0.000 0.000 0.115 1283.06 1343.19 1222.94 2740.88 3795.69 0 0 0 30.00 30.00 15.81

4980 end climb: SURFACE_DEPTH_REACHED

state 4980 begin surface coast

4995 end surface coast: CONTROL_FINISHED_OK

state 4995 begin surface

ID	247	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_INT	12.5
MISSION	2	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_REP	11.5
DIVE	246	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	0	SM_CC	635.32697	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0
STOP_T	0	N_FILEKB	8	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	FILEMGR	0	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	CALL_NDIVES	1	C_VBD	3090	MOTHERBOARD	6
D_TGT	270	COMM_SEQ	7	VBD_DBAND	2	DEVICE1	-1
D_ABORT	1000	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE2	-1
D_NO_BLEED	200	N_NOCOMM	2	VBD_LP_IGNORE	0	DEVICE3	-1
D_BOOST	0	NOCOMM_ACTION	131	VBD_TIMEOUT	720	DEVICE4	-1
T_BOOST	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	UNCOM_BLEED	20	DEVICE6	-1
D_PITCH	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	1
D_SAFE	0	CALL_WAIT	60	C_VBD_AUTO_DELTA	0	LOGGERDEVICE1	7
D_CALL	0	CAPUPLOAD	0	C_VBD_AUTO_MAX	0	LOGGERDEVICE2	19
SURFACE_URGENCY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	3	LOGGERDEVICE3	-1
SURFACE_URGENCY_TRY	0	T_GPS	5	DBDW	0	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	N_GPS	100440	LOITER_W_DBAND	0	COMPASS_DEVICE	66
T_DIVE	90	T_RSLEEP	1	LOITER_DBDW	0	COMPASS2_DEVICE	-1
T_MISSION	110	STROBE	0	LOITER_D_TOP	0	PHONE_DEVICE	33
T_ABORT	1440	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	0	GPS_DEVICE	48
T_TURN	225	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	NAV_DEVICE	-1
T_NO_W	120	RAFOS_MMODEM	0	AH0_24V	575	NAV2_DEVICE	-1
T_LOITER	0	PITCH_MIN	215	AH0_10V	0	NETWORK_DEVICE	-1
T_EPIRB	0	PITCH_MAX	3615	MINV_24V	11	PRESSURE_DEVICE	34
USE_BATHY	-10	C_PITCH	2330	MINV_10V	11	XPDR_DEVICE	21
USE_ICE	0	PITCH_DBAND	0.1	MAXI_24V	5	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_CNV	0.0041299998	MAXI_10V	1.5	SEABIRD_T_G	0.0043565771
D_OFFGRID	1000	PITCH_GAIN	25	FG_AHR_10V	40.240383	SEABIRD_T_H	0.00062677637
RELAUNCH	1	PITCH_TIMEOUT	30	FG_AHR_24V	62.729988	SEABIRD_T_I	2.4431472e-05
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_J	2.7094229e-06
MAX_BUOY	180	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-186.90315	SEABIRD_C_G	-10.133897
GLIDE_SLOPE	30	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00022525644	SEABIRD_C_H	1.1473427
SPEED_FACTOR	1	C_PITCH_AUTO_DELTA	0	COMPASS_USE	16388	SEABIRD_C_I	-0.0015492893
RHO	1.0275	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_J	0.0002031941
MASS	74407	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_PING_RANGE	0	OPTIONS	0
NAV_MODE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_GAIN	2	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
KALMAN_USE	2	PITCH_W_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	3.0
HD_A	0.0039810701	ROLL_MIN	255	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0116313	ROLL_MAX	3875	ALTIM_PING_DELTA	0	TM_RECORDABOVE	2000.0
HD_C	5.7000002e-06	ROLL_DEG	80	ALTIM_FREQUENCY	13	TM_PROFILE	3.0
HEADING	-1	C_ROLL_DIVE	2840	ALTIM_PULSE	3	TM_XMITPROFILE	3.0
ESCAPE_HEADING	0	C_ROLL_CLIMB	2330	ALTIM_SENSITIVITY	2	TM_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	XPDR_VALID	4	TM_XMITRAW	0.0
FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.054945	XPDR_INHIBIT	90	TM_LOGSAMPLE	0.0

GPS1	281022,094302,3636.269,-12446.124,7,1.2,20,13.3	TGT_RADIUS	2000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.40	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	281022,094904,3636.258,-12446.020,2,0.8,4,13.3	MHEAD_RNG_PITCHd_Wd	199.4,479,-27.6,-10.000,-30.00,1116,0.122
SPEED_LIMITS	0.173,0.266	D_GRID	1000
TGT_NAME	pickup	IRON	1.000000,0.023454,-0.000145,-0.015094,1.087630,-0.045885,-0.005580,-0.088927,0.987226,629.535095,-1477.875488,-334.674103
TGT_LATLONG	3636.000,-12446.000

FINISH	0.2,1.023425	FG_AHR_24Vo	62.872
SM_CCo	5150.21,128.25,0.692,0,500.9,520.0,481.9,635.10	FG_AHR_10Vo	40.297
SM_GC	1.53,128.25,15.21,2.22,0.692,0.042,0.040,500.9,520.0,481.9,192.9,2782.1,0,0,0,12.66,15.05,15.88	MEM0	60148,1,0,0
SUPER	19,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	3635.98,-12447.65,281022,063758	MEM2	911616,33,135012,64
TCM_TEMP	16.12	DATA_FILE_SIZE	22533,777
XPDR_PINGS	30,12.5,11.5	CAP_FILE_SIZE	199089,0
SC_FREEKB	3687104	SDSIZE	3887104,3801920
HUMID	50.00	SDFILEDIR	1509,1
TEMP	12.61	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.41502	CURRENT	0.215, 88.0,1
_24V_AH	15.01,93.399	IMPLIED_C_PITCH	2350,17.81,468,0.0,0.00
_10V_AH	15.00,0.000	GPS	281022,111539,3635.908,-12445.675,2,0.8,17,13.3

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	702	999	10530.88	nil	0	0	0.00
Pitch_motor	33	255	130.05	nil	0	0	0.00
Roll_motor	74	144	161.39	nil	0	0	0.00
Iridium	262	249	981.84	nil	0	0	0.00
Transponder_ping	7	420	47.28	nil	0	0	0.00
GPS	13	15	3.07	nil	0	0	0.00
Core	2828	6	288.48	SciCon	5030	30	2290.66
Fast	16	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2508	2	75.26
Compass	1541	5	115.62
RAFOS	0	0	0.00
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
6.88	16386	-72.53	-1.19	0.00	490.4	513.4	467.4	197.8	2863.4	0.00	0.00	0	119.14	110.86	0.00	0.00	0.005	0.000	0.000	2748.44	2830.56	2666.31	197.69	2863.44	0	0	0	15.66	30.00	30.00
119.35	18727	-160.36	-1.30	80.00	2747.2	2828.9	2665.5	197.7	2863.5	3.33	-1.91	21	166.15	23.57	14.18	2.64	0.006	0.256	0.118	3743.81	3883.31	3604.31	2014.44	3886.50	0	0	0	15.69	15.57	15.64
394.20	1028	-160.36	-1.30	0.00	3744.1	3883.3	3604.9	2014.4	3885.9	76.45	-23.95	76	399.75	0.00	0.00	2.42	0.000	0.000	0.038	3744.59	3883.88	3605.31	2015.00	2783.94	0	0	0	30.00	30.00	15.86
589.27	260	-160.36	-1.30	80.00	3744.0	3883.1	3604.9	2014.3	2783.5	107.58	-13.81	110	594.11	0.00	0.00	2.84	0.000	0.000	0.113	3744.09	3883.69	3604.50	2014.06	3884.56	0	0	0	30.00	30.00	15.87
823.55	1028	-160.36	-1.30	0.00	3744.2	3883.3	3605.1	2014.6	3885.6	150.30	-18.83	157	829.82	0.00	0.00	2.41	0.000	0.000	0.038	3745.16	3885.06	3605.25	2014.56	2780.69	0	0	0	30.00	30.00	15.94
1139.31	260	-160.36	-1.30	80.00	3744.7	3883.2	3606.1	2013.2	2781.3	195.26	-14.08	189	1144.18	0.00	0.00	2.86	0.000	0.000	0.116	3745.09	3884.19	3606.00	2014.25	3886.44	0	0	0	30.00	30.00	16.00
1333.61	1028	-160.36	-1.30	0.00	3743.9	3883.2	3604.7	2014.0	3885.1	229.68	-17.80	228	1339.89	0.00	0.00	2.41	0.000	0.000	0.039	3744.28	3883.25	3605.31	2014.12	2783.62	0	0	0	30.00	30.00	16.03
1630	end dive: TARGET_DEPTH_EXCEEDED
state	1630	begin apogee
1631.71	10243	0.00	-0.20	0.00	3743.6	3882.1	3605.0	2014.6	2275.2	270.09	-13.82	258	1753.11	115.96	1.79	0.16	0.999	0.139	0.144	3094.06	3169.69	3018.44	2282.50	2353.19	0	0	0	12.74	15.97	15.69
1755	end apogee: CONTROL_FINISHED_OK
state	1755	begin climb
1754.83	10759	160.36	1.30	-80.00	3089.9	3165.8	3014.0	2282.1	2352.8	274.96	0.00	270	1885.84	119.25	2.33	3.82	0.977	0.087	0.098	2435.19	2497.88	2372.50	2650.31	862.00	0	0	0	12.73	15.73	15.53
1963.13	1028	160.36	1.30	0.00	2431.2	2490.8	2371.8	2648.5	861.9	260.20	11.43	311	1969.56	0.00	0.00	3.63	0.000	0.000	0.053	2432.16	2492.19	2372.12	2649.62	2348.31	0	0	0	30.00	30.00	15.72
2278.83	260	160.36	1.30	80.00	2428.3	2489.9	2366.8	2649.8	2348.4	224.22	11.44	343	2283.88	0.00	0.00	3.81	0.000	0.000	0.114	2430.59	2493.38	2367.81	2649.75	3796.00	0	0	0	30.00	30.00	15.87
2408.86	17414	160.36	1.30	0.00	2428.1	2490.1	2366.1	2649.8	3794.7	206.68	13.28	369	2413.86	0.00	0.00	3.44	0.000	0.000	0.039	2429.09	2490.38	2367.81	2649.69	2286.25	0	0	0	30.00	30.00	15.92
2718.90	16450	160.36	1.34	0.00	2426.2	2489.7	2362.8	2650.8	2282.1	180.20	8.05	401	2720.24	0.00	0.00	0.00	0.000	0.000	0.000	2428.06	2490.38	2365.75	2649.81	2280.88	0	0	0	30.00	30.00	30.00
3028.91	16710	160.36	1.36	80.00	2425.8	2490.2	2361.4	2651.1	2282.1	153.47	8.94	432	3034.99	0.00	0.00	3.92	0.000	0.000	0.116	2423.28	2486.81	2359.75	2651.25	3795.81	0	0	0	30.00	30.00	16.00
3108.18	17414	160.36	1.36	0.00	2425.9	2490.2	2361.6	2650.8	3795.5	145.26	10.10	448	3114.63	0.00	0.00	3.41	0.000	0.000	0.040	2425.97	2490.19	2361.75	2652.31	2278.75	0	0	0	30.00	30.00	16.03
3423.96	10535	211.03	1.42	80.00	2425.3	2489.8	2360.8	2649.6	2279.0	123.74	5.33	480	3469.86	37.79	0.12	3.98	0.905	0.099	0.116	2227.81	2300.44	2155.19	2685.25	3796.50	0	0	0	12.81	15.97	15.85
3528.24	1028	211.03	1.42	0.00	2227.1	2299.1	2155.0	2684.9	3794.9	114.52	11.42	501	3534.68	0.00	0.00	3.43	0.000	0.000	0.040	2227.16	2299.44	2154.88	2685.56	2282.44	0	0	0	30.00	30.00	15.93
3839.07	8486	248.87	1.47	80.00	2225.1	2299.4	2150.7	2684.6	2282.3	90.46	6.51	546	3875.46	29.15	0.00	3.98	0.851	0.000	0.115	2073.38	2149.44	1997.31	2684.44	3793.50	0	0	0	12.77	30.00	15.85
4104.17	1028	248.87	1.47	0.00	2071.6	2145.4	1997.8	2685.5	3793.8	64.23	9.78	599	4109.84	0.00	0.00	3.44	0.000	0.000	0.040	2072.38	2146.56	1998.19	2684.81	2284.94	0	0	0	30.00	30.00	15.89
4294.20	8486	292.57	1.52	80.00	2069.9	2145.9	1993.9	2684.2	2279.9	51.96	5.98	637	4335.39	32.28	0.00	3.96	0.812	0.000	0.116	1896.06	1973.06	1819.06	2684.25	3794.19	0	0	0	12.76	30.00	15.74
4419.20	1028	292.57	1.52	0.00	1893.5	1968.9	1818.1	2686.2	3795.2	41.59	9.85	662	4424.90	0.00	0.00	3.43	0.000	0.000	0.040	1894.62	1970.75	1818.50	2685.38	2286.44	0	0	0	30.00	30.00	15.88
4609.25	10791	368.55	1.62	-80.00	1890.5	1969.1	1811.9	2684.8	2282.0	32.74	3.00	700	4671.10	53.85	0.22	3.60	0.782	0.069	0.101	1586.72	1650.00	1523.44	2740.69	861.81	0	0	0	12.65	15.93	15.76
4679.29	9254	441.49	1.71	0.00	1585.0	1649.2	1520.7	2740.6	861.8	29.99	3.28	714	4737.03	51.21	0.00	3.61	0.753	0.000	0.051	1288.62	1342.62	1234.62	2741.06	2352.31	0	0	0	12.76	30.00	15.84
4920.02	260	441.49	1.71	80.00	1283.5	1343.2	1223.7	2740.7	2351.7	9.13	9.53	762	4925.80	0.00	0.00	3.83	0.000	0.000	0.115	1283.06	1343.19	1222.94	2740.88	3795.69	0	0	0	30.00	30.00	15.81
4980	end climb: SURFACE_DEPTH_REACHED
state	4980	begin surface coast
4995	end surface coast: CONTROL_FINISHED_OK
state	4995	begin surface