Glider dive log

SMODE Aug22 * SG237 * Dive index * Mission links * Dive 279 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 237 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 8 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 279 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 350 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 N_FILEKB 4 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT -1.7

D_TGT 270 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1000 COMM_SEQ 7 C_VBD 2825 DEEPGLIDERMB 0

D_NO_BLEED 200 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 131 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0015 DEVICE4 -1

D_SAFE 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 10 W_ADJ_DBAND 3 LOGGERDEVICE2 -1

T_DIVE 90 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 110 T_RSLEEP 1 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_NO_W 120 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_LOITER 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE -1

T_EPIRB 0 PITCH_MIN 190 AH0_24V 510 NAV_DEVICE -1

USE_BATHY -10 PITCH_MAX 3000 AH0_10V 0 NAV2_DEVICE -1

USE_ICE 0 C_PITCH 2150 MINV_24V 11 NETWORK_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

D_OFFGRID 1000 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE 21

RELAUNCH 1 PITCH_GAIN 22 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 37.497303 SEABIRD_T_G 0.0044377348

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 65.053192 SEABIRD_T_H 0.00065905828

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0 PHONE_SUPPLY 2 SEABIRD_T_I 2.8700548e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 0 PRESSURE_YINT -147.90448 SEABIRD_T_J 3.7153247e-06

RHO 1.0275 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022584078 SEABIRD_C_G -10.010999

MASS 74223 C_PITCH_AUTO_MAX 0 COMPASS_USE 16388 SEABIRD_C_H 1.1050601

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0026294682

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00026764351

KALMAN_USE 2 PITCH_W_GAIN 4 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.00281838 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.017708899 ROLL_MIN 465 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 5.7000002e-06 ROLL_MAX 3180 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2000 ALTIM_FREQUENCY 14

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1425 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 1000 N_DIVES 0 SEABIRD_C_I -0.0026294682

AH0_24V 510 D_PITCH 0 N_FILEKB 4 SEABIRD_C_J 0.00026764351

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0044377348

ALTIM_FREQUENCY 14 D_SURF 2 N_NOCOMM 2 SEABIRD_T_H 0.00065905828

ALTIM_PING_DELTA 0 D_TGT 270 N_NOSURFACE 0 SEABIRD_T_I 2.8700548e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 3.7153247e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_SUPPLY 2 SM_CC 350

ALTIM_SENSITIVITY 2 FG_AHR_10V 37.497303 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 65.053192 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN 22 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.00281838 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.017708899 PITCH_MAX 3000 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 5.7000002e-06 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 190 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0015 T_DIVE 90

COMPASS2_DEVICE -1 ID 237 PITCH_W_DBAND 0.5 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 4 T_GPS 10

COMPASS_USE 16388 INT_PRESSURE_YINT -1.7 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 2150 KALMAN_USE 2 PRESSURE_SLOPE 0.00022584078 T_MISSION 110

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -147.90448 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 1

C_ROLL_CLIMB 1425 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2000 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD 2825 LOGGERS 1 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -10

DBDW 0 LOITER_D_TOP 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOITER_N_DIVE 0 RHO 1.0275 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE1 -1 MASS 74223 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_10V 1.5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE3 -1 MAXI_24V 5 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 150 ROLL_MAX 3180 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 465 W_ADJ_DBAND 3

DIVE 279 MISSION 8 ROLL_TIMEOUT 15 XPDR_DEVICE 21

D_ABORT 1000 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE -1 SC_PROFILE 3.0 XPDR_INT 0

D_CALL 0 NAV_DEVICE -1 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FINISH 0 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_G -10.010999

D_NO_BLEED 200 NOCOMM_ACTION 131 SEABIRD_C_H 1.1050601

Pre-dive calculations and measurements:

GPS1 281022,090531,3642.049,-12441.397,30,0.9,31,13.3 TGT_RADIUS 1000.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 281022,091807,3641.993,-12441.101,2,0.8,4,13.3 MHEAD_RNG_PITCHd_Wd 268.9,1745,-21.1,-10.000,-26.76,2232,0.129

SPEED_LIMITS 0.173,0.198 D_GRID 1000

TGT_NAME pickup_n IRON 1.000000,-0.018011,-0.123579,-0.089884,1.070449,-0.006723,-0.077865,0.054267,1.259402,-479.715576,-875.456970,-484.821747

TGT_LATLONG 3642.600,-12442.000

Post-dive calculations and measurements:

FINISH -0.1,1.004816 FG_AHR_10Vo 37.552

SM_CCo 5253.06,0.00,0.000,0,1340.3,1288.8,1391.9,364.19 MEM0 60148,1,0,0

SM_GC 1.92,0.00,15.26,3.65,0.000,0.054,0.035,1340.3,1288.8,1391.9,177.1,2025.2,0,0,0,30.00,15.89,15.93 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 909680,70,135748,87

IRIDIUM_FIX 3641.66,-12441.03,281022,090721 DATA_FILE_SIZE 22484,754

TCM_TEMP 15.43 CAP_FILE_SIZE 172823,0

XPDR_PINGS 5,13.0,11.5 SDSIZE 3887104,3798400

SC_FREEKB 3673408 SDFILEDIR 1710,1

HUMID 53.24 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 10.42 CURRENT 0.156, 92.9,1

INTERNAL_PRESSURE 8.67368 IMPLIED_C_PITCH 2141,17.89,483,0.0,0.00

_24V_AH 15.25,100.315 IMPLIED_C_VBD 2885,30.921604,254,0

_10V_AH 15.00,0.000 GPS 281022,104617,3642.143,-12441.153,8,1.8,11,13.3

FG_AHR_24Vo 65.192

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 542 1215 10059.99 nil 0 0 0.00

Pitch_motor 34 277 144.00 nil 0 0 0.00

Roll_motor 52 240 193.69 nil 0 0 0.00

Iridium 600 234 2147.31 nil 0 0 0.00

Transponder_ping 1 420 8.01 nil 0 0 0.00

GPS 13 15 3.09 nil 0 0 0.00

Core 3160 6 322.42 SciCon 5199 29 2324.03

Fast 23 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2795 2 83.86

Compass 1608 5 120.60

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

6.74 16386 -145.99 -1.18 0.00 1232.2 1194.6 1269.9 173.3 1965.6 0.00 0.00 0 63.51 56.17 0.00 0.00 0.005 0.000 0.000 2441.00 2448.12 2433.88 173.44 1965.81 0 0 0 15.76 30.00 30.00

63.77 18727 -145.99 -1.18 80.00 2440.0 2446.2 2433.9 173.4 1965.9 3.53 -3.36 10 111.28 24.23 14.26 3.22 0.006 0.278 0.101 3419.28 3394.38 3444.19 1864.44 3187.69 0 0 0 15.77 15.63 15.71

149.39 1028 -145.99 -1.18 0.00 3420.3 3396.3 3444.2 1863.5 3188.4 19.12 -15.67 27 155.06 0.00 0.00 2.88 0.000 0.000 0.036 3420.91 3397.12 3444.69 1864.19 1975.00 0 0 0 30.00 30.00 15.95

339.43 0 -145.99 -1.18 0.00 3420.8 3396.5 3445.2 1864.2 1975.2 53.90 -16.77 65 343.66 0.00 0.00 0.00 0.000 0.000 0.000 3421.44 3397.12 3445.75 1864.31 1975.00 0 0 0 30.00 30.00 30.00

524.46 260 -145.99 -1.18 80.00 3421.9 3396.4 3447.3 1864.7 1974.8 81.86 -14.45 102 530.16 0.00 0.00 3.16 0.000 0.000 0.096 3421.56 3395.75 3447.38 1864.69 3189.38 0 0 0 30.00 30.00 15.98

584.49 1028 -145.99 -1.18 0.00 3422.0 3396.1 3448.0 1864.4 3189.6 91.40 -15.91 114 590.12 0.00 0.00 2.89 0.000 0.000 0.035 3422.28 3396.38 3448.19 1864.44 1975.25 0 0 0 30.00 30.00 16.03

774.50 0 -145.99 -1.18 0.00 3422.6 3396.3 3448.9 1863.9 1975.2 117.67 -13.13 139 775.84 0.00 0.00 0.00 0.000 0.000 0.000 3422.69 3395.88 3449.50 1864.62 1974.50 0 0 0 30.00 30.00 30.00

1084.51 0 -145.99 -1.18 0.00 3422.8 3396.0 3449.6 1864.1 1975.0 154.03 -11.26 170 1085.85 0.00 0.00 0.00 0.000 0.000 0.000 3422.75 3396.12 3449.38 1864.69 1975.19 0 0 0 30.00 30.00 30.00

1394.55 0 -145.99 -1.18 0.00 3423.5 3396.4 3450.7 1864.8 1975.2 189.18 -11.57 201 1395.89 0.00 0.00 0.00 0.000 0.000 0.000 3423.12 3396.25 3450.00 1865.06 1974.81 0 0 0 30.00 30.00 30.00

1704.57 0 -145.99 -1.18 0.00 3423.3 3395.8 3450.9 1864.6 1975.4 225.74 -12.26 232 1705.91 0.00 0.00 0.00 0.000 0.000 0.000 3422.41 3395.81 3449.00 1864.50 1975.19 0 0 0 30.00 30.00 30.00

2014.59 0 -145.99 -1.18 0.00 3423.1 3395.9 3450.3 1864.2 1975.4 265.00 -12.78 263 2015.93 0.00 0.00 0.00 0.000 0.000 0.000 3422.59 3394.88 3450.31 1864.50 1975.56 0 0 0 30.00 30.00 30.00

2055 end dive: TARGET_DEPTH_EXCEEDED

state 2055 begin apogee

2057.05 10243 0.00 -0.23 0.00 3423.3 3396.3 3450.3 1864.8 1407.5 270.04 -12.63 267 2172.28 112.00 1.61 0.05 1.216 0.152 0.241 2821.12 2798.19 2844.06 2096.50 1478.12 0 0 0 12.60 16.04 15.69

2174 end apogee: CONTROL_FINISHED_OK

state 2174 begin climb

2174.31 10759 145.99 1.18 -80.00 2821.6 2798.4 2844.8 2097.0 1478.5 274.40 0.00 278 2300.65 118.78 2.27 2.89 1.188 0.085 0.123 2227.50 2197.62 2257.38 2440.69 454.94 0 0 0 12.78 15.73 15.56

2523.06 17414 145.99 1.18 0.00 2220.1 2192.1 2248.0 2440.4 455.1 244.05 12.66 347 2529.37 0.00 0.00 2.29 0.000 0.000 0.029 2221.38 2193.88 2248.88 2440.81 1495.94 0 0 0 30.00 30.00 15.91

2838.93 16966 145.99 1.21 -80.00 2217.1 2186.6 2247.6 2440.2 1496.2 215.19 9.14 379 2843.72 0.00 0.00 2.83 0.000 0.000 0.115 2216.88 2187.06 2246.69 2441.19 452.88 0 0 0 30.00 30.00 15.94

2883.10 17414 145.99 1.21 0.00 2216.5 2186.7 2246.4 2440.4 453.1 210.34 11.12 388 2889.41 0.00 0.00 2.28 0.000 0.000 0.030 2219.03 2189.31 2248.75 2439.56 1497.12 0 0 0 30.00 30.00 16.02

3198.98 16966 145.99 1.27 -80.00 2215.8 2185.8 2245.9 2440.4 1497.8 181.75 8.47 420 3203.77 0.00 0.00 2.81 0.000 0.000 0.115 2215.84 2186.19 2245.50 2441.25 453.38 0 0 0 30.00 30.00 15.99

3408.94 17414 145.99 1.27 0.00 2214.5 2185.8 2243.2 2440.2 453.6 158.86 10.84 462 3413.71 0.00 0.00 2.28 0.000 0.000 0.031 2217.44 2188.75 2246.12 2439.38 1497.06 0 0 0 30.00 30.00 16.08

3719.03 19015 145.99 1.37 -80.00 2213.8 2184.2 2243.3 2440.1 1497.5 134.95 7.48 494 3723.89 0.00 0.25 2.80 0.000 0.076 0.115 2214.00 2184.44 2243.56 2496.31 451.94 0 0 0 30.00 16.03 16.03

3859.00 17414 145.99 1.37 0.00 2213.2 2184.2 2242.1 2496.4 451.9 120.14 10.31 522 3863.77 0.00 0.00 2.28 0.000 0.000 0.031 2213.31 2184.50 2242.12 2496.44 1492.50 0 0 0 30.00 30.00 16.06

4164.08 10791 263.45 1.55 -80.00 2212.9 2183.6 2242.2 2495.8 1493.0 99.45 4.59 554 4281.98 112.57 0.17 2.86 1.023 0.097 0.119 1749.69 1710.75 1788.62 2535.62 456.88 0 0 0 12.57 16.00 15.70

4510.15 1028 263.45 1.55 0.00 1743.3 1704.9 1781.8 2536.4 456.6 59.22 12.12 623 4515.67 0.00 0.00 2.29 0.000 0.000 0.031 1745.09 1707.06 1783.12 2535.94 1495.44 0 0 0 30.00 30.00 15.90

4700.28 16710 263.45 1.58 80.00 1741.3 1700.7 1782.0 2536.2 1495.8 40.06 9.20 661 4705.94 0.00 0.00 3.52 0.000 0.000 0.075 1742.03 1701.38 1782.69 2536.44 2892.00 0 0 0 30.00 30.00 15.82

4820.23 11303 361.96 1.73 0.00 1740.9 1700.4 1781.4 2536.6 2891.6 32.99 5.47 685 4944.52 118.91 0.20 3.70 0.919 0.085 0.055 1348.59 1300.12 1397.06 2576.94 1405.69 0 0 0 12.56 15.92 15.85

5127.67 516 361.96 1.73 -80.00 1344.2 1294.2 1394.1 2577.8 1405.4 2.98 9.72 746 5133.29 0.00 0.00 2.62 0.000 0.000 0.122 1344.19 1294.31 1394.06 2576.88 456.94 0 0 0 30.00 30.00 15.88

5143 end climb: SURFACE_DEPTH_REACHED

state 5143 begin surface coast

5168 end surface coast: CONTROL_FINISHED_OK

state 5168 begin surface

ID	237	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	8	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	279	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	350	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	N_FILEKB	4	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	-1.7
D_TGT	270	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1000	COMM_SEQ	7	C_VBD	2825	DEEPGLIDERMB	0
D_NO_BLEED	200	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	131	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0015	DEVICE4	-1
D_SAFE	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	10	W_ADJ_DBAND	3	LOGGERDEVICE2	-1
T_DIVE	90	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	110	T_RSLEEP	1	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_NO_W	120	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_LOITER	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
T_EPIRB	0	PITCH_MIN	190	AH0_24V	510	NAV_DEVICE	-1
USE_BATHY	-10	PITCH_MAX	3000	AH0_10V	0	NAV2_DEVICE	-1
USE_ICE	0	C_PITCH	2150	MINV_24V	11	NETWORK_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
D_OFFGRID	1000	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	21
RELAUNCH	1	PITCH_GAIN	22	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	37.497303	SEABIRD_T_G	0.0044377348
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	65.053192	SEABIRD_T_H	0.00065905828
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	2	SEABIRD_T_I	2.8700548e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-147.90448	SEABIRD_T_J	3.7153247e-06
RHO	1.0275	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022584078	SEABIRD_C_G	-10.010999
MASS	74223	C_PITCH_AUTO_MAX	0	COMPASS_USE	16388	SEABIRD_C_H	1.1050601
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0026294682
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00026764351
KALMAN_USE	2	PITCH_W_GAIN	4	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.00281838	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.017708899	ROLL_MIN	465	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	5.7000002e-06	ROLL_MAX	3180	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2000	ALTIM_FREQUENCY	14
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1425	ALTIM_PULSE	3

GPS1	281022,090531,3642.049,-12441.397,30,0.9,31,13.3	TGT_RADIUS	1000.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	281022,091807,3641.993,-12441.101,2,0.8,4,13.3	MHEAD_RNG_PITCHd_Wd	268.9,1745,-21.1,-10.000,-26.76,2232,0.129
SPEED_LIMITS	0.173,0.198	D_GRID	1000
TGT_NAME	pickup_n	IRON	1.000000,-0.018011,-0.123579,-0.089884,1.070449,-0.006723,-0.077865,0.054267,1.259402,-479.715576,-875.456970,-484.821747
TGT_LATLONG	3642.600,-12442.000

FINISH	-0.1,1.004816	FG_AHR_10Vo	37.552
SM_CCo	5253.06,0.00,0.000,0,1340.3,1288.8,1391.9,364.19	MEM0	60148,1,0,0
SM_GC	1.92,0.00,15.26,3.65,0.000,0.054,0.035,1340.3,1288.8,1391.9,177.1,2025.2,0,0,0,30.00,15.89,15.93	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	909680,70,135748,87
IRIDIUM_FIX	3641.66,-12441.03,281022,090721	DATA_FILE_SIZE	22484,754
TCM_TEMP	15.43	CAP_FILE_SIZE	172823,0
XPDR_PINGS	5,13.0,11.5	SDSIZE	3887104,3798400
SC_FREEKB	3673408	SDFILEDIR	1710,1
HUMID	53.24	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	10.42	CURRENT	0.156, 92.9,1
INTERNAL_PRESSURE	8.67368	IMPLIED_C_PITCH	2141,17.89,483,0.0,0.00
_24V_AH	15.25,100.315	IMPLIED_C_VBD	2885,30.921604,254,0
_10V_AH	15.00,0.000	GPS	281022,104617,3642.143,-12441.153,8,1.8,11,13.3
FG_AHR_24Vo	65.192

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	542	1215	10059.99	nil	0	0	0.00
Pitch_motor	34	277	144.00	nil	0	0	0.00
Roll_motor	52	240	193.69	nil	0	0	0.00
Iridium	600	234	2147.31	nil	0	0	0.00
Transponder_ping	1	420	8.01	nil	0	0	0.00
GPS	13	15	3.09	nil	0	0	0.00
Core	3160	6	322.42	SciCon	5199	29	2324.03
Fast	23	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2795	2	83.86
Compass	1608	5	120.60
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
6.74	16386	-145.99	-1.18	0.00	1232.2	1194.6	1269.9	173.3	1965.6	0.00	0.00	0	63.51	56.17	0.00	0.00	0.005	0.000	0.000	2441.00	2448.12	2433.88	173.44	1965.81	0	0	0	15.76	30.00	30.00
63.77	18727	-145.99	-1.18	80.00	2440.0	2446.2	2433.9	173.4	1965.9	3.53	-3.36	10	111.28	24.23	14.26	3.22	0.006	0.278	0.101	3419.28	3394.38	3444.19	1864.44	3187.69	0	0	0	15.77	15.63	15.71
149.39	1028	-145.99	-1.18	0.00	3420.3	3396.3	3444.2	1863.5	3188.4	19.12	-15.67	27	155.06	0.00	0.00	2.88	0.000	0.000	0.036	3420.91	3397.12	3444.69	1864.19	1975.00	0	0	0	30.00	30.00	15.95
339.43	0	-145.99	-1.18	0.00	3420.8	3396.5	3445.2	1864.2	1975.2	53.90	-16.77	65	343.66	0.00	0.00	0.00	0.000	0.000	0.000	3421.44	3397.12	3445.75	1864.31	1975.00	0	0	0	30.00	30.00	30.00
524.46	260	-145.99	-1.18	80.00	3421.9	3396.4	3447.3	1864.7	1974.8	81.86	-14.45	102	530.16	0.00	0.00	3.16	0.000	0.000	0.096	3421.56	3395.75	3447.38	1864.69	3189.38	0	0	0	30.00	30.00	15.98
584.49	1028	-145.99	-1.18	0.00	3422.0	3396.1	3448.0	1864.4	3189.6	91.40	-15.91	114	590.12	0.00	0.00	2.89	0.000	0.000	0.035	3422.28	3396.38	3448.19	1864.44	1975.25	0	0	0	30.00	30.00	16.03
774.50	0	-145.99	-1.18	0.00	3422.6	3396.3	3448.9	1863.9	1975.2	117.67	-13.13	139	775.84	0.00	0.00	0.00	0.000	0.000	0.000	3422.69	3395.88	3449.50	1864.62	1974.50	0	0	0	30.00	30.00	30.00
1084.51	0	-145.99	-1.18	0.00	3422.8	3396.0	3449.6	1864.1	1975.0	154.03	-11.26	170	1085.85	0.00	0.00	0.00	0.000	0.000	0.000	3422.75	3396.12	3449.38	1864.69	1975.19	0	0	0	30.00	30.00	30.00
1394.55	0	-145.99	-1.18	0.00	3423.5	3396.4	3450.7	1864.8	1975.2	189.18	-11.57	201	1395.89	0.00	0.00	0.00	0.000	0.000	0.000	3423.12	3396.25	3450.00	1865.06	1974.81	0	0	0	30.00	30.00	30.00
1704.57	0	-145.99	-1.18	0.00	3423.3	3395.8	3450.9	1864.6	1975.4	225.74	-12.26	232	1705.91	0.00	0.00	0.00	0.000	0.000	0.000	3422.41	3395.81	3449.00	1864.50	1975.19	0	0	0	30.00	30.00	30.00
2014.59	0	-145.99	-1.18	0.00	3423.1	3395.9	3450.3	1864.2	1975.4	265.00	-12.78	263	2015.93	0.00	0.00	0.00	0.000	0.000	0.000	3422.59	3394.88	3450.31	1864.50	1975.56	0	0	0	30.00	30.00	30.00
2055	end dive: TARGET_DEPTH_EXCEEDED
state	2055	begin apogee
2057.05	10243	0.00	-0.23	0.00	3423.3	3396.3	3450.3	1864.8	1407.5	270.04	-12.63	267	2172.28	112.00	1.61	0.05	1.216	0.152	0.241	2821.12	2798.19	2844.06	2096.50	1478.12	0	0	0	12.60	16.04	15.69
2174	end apogee: CONTROL_FINISHED_OK
state	2174	begin climb
2174.31	10759	145.99	1.18	-80.00	2821.6	2798.4	2844.8	2097.0	1478.5	274.40	0.00	278	2300.65	118.78	2.27	2.89	1.188	0.085	0.123	2227.50	2197.62	2257.38	2440.69	454.94	0	0	0	12.78	15.73	15.56
2523.06	17414	145.99	1.18	0.00	2220.1	2192.1	2248.0	2440.4	455.1	244.05	12.66	347	2529.37	0.00	0.00	2.29	0.000	0.000	0.029	2221.38	2193.88	2248.88	2440.81	1495.94	0	0	0	30.00	30.00	15.91
2838.93	16966	145.99	1.21	-80.00	2217.1	2186.6	2247.6	2440.2	1496.2	215.19	9.14	379	2843.72	0.00	0.00	2.83	0.000	0.000	0.115	2216.88	2187.06	2246.69	2441.19	452.88	0	0	0	30.00	30.00	15.94
2883.10	17414	145.99	1.21	0.00	2216.5	2186.7	2246.4	2440.4	453.1	210.34	11.12	388	2889.41	0.00	0.00	2.28	0.000	0.000	0.030	2219.03	2189.31	2248.75	2439.56	1497.12	0	0	0	30.00	30.00	16.02
3198.98	16966	145.99	1.27	-80.00	2215.8	2185.8	2245.9	2440.4	1497.8	181.75	8.47	420	3203.77	0.00	0.00	2.81	0.000	0.000	0.115	2215.84	2186.19	2245.50	2441.25	453.38	0	0	0	30.00	30.00	15.99
3408.94	17414	145.99	1.27	0.00	2214.5	2185.8	2243.2	2440.2	453.6	158.86	10.84	462	3413.71	0.00	0.00	2.28	0.000	0.000	0.031	2217.44	2188.75	2246.12	2439.38	1497.06	0	0	0	30.00	30.00	16.08
3719.03	19015	145.99	1.37	-80.00	2213.8	2184.2	2243.3	2440.1	1497.5	134.95	7.48	494	3723.89	0.00	0.25	2.80	0.000	0.076	0.115	2214.00	2184.44	2243.56	2496.31	451.94	0	0	0	30.00	16.03	16.03
3859.00	17414	145.99	1.37	0.00	2213.2	2184.2	2242.1	2496.4	451.9	120.14	10.31	522	3863.77	0.00	0.00	2.28	0.000	0.000	0.031	2213.31	2184.50	2242.12	2496.44	1492.50	0	0	0	30.00	30.00	16.06
4164.08	10791	263.45	1.55	-80.00	2212.9	2183.6	2242.2	2495.8	1493.0	99.45	4.59	554	4281.98	112.57	0.17	2.86	1.023	0.097	0.119	1749.69	1710.75	1788.62	2535.62	456.88	0	0	0	12.57	16.00	15.70
4510.15	1028	263.45	1.55	0.00	1743.3	1704.9	1781.8	2536.4	456.6	59.22	12.12	623	4515.67	0.00	0.00	2.29	0.000	0.000	0.031	1745.09	1707.06	1783.12	2535.94	1495.44	0	0	0	30.00	30.00	15.90
4700.28	16710	263.45	1.58	80.00	1741.3	1700.7	1782.0	2536.2	1495.8	40.06	9.20	661	4705.94	0.00	0.00	3.52	0.000	0.000	0.075	1742.03	1701.38	1782.69	2536.44	2892.00	0	0	0	30.00	30.00	15.82
4820.23	11303	361.96	1.73	0.00	1740.9	1700.4	1781.4	2536.6	2891.6	32.99	5.47	685	4944.52	118.91	0.20	3.70	0.919	0.085	0.055	1348.59	1300.12	1397.06	2576.94	1405.69	0	0	0	12.56	15.92	15.85
5127.67	516	361.96	1.73	-80.00	1344.2	1294.2	1394.1	2577.8	1405.4	2.98	9.72	746	5133.29	0.00	0.00	2.62	0.000	0.000	0.122	1344.19	1294.31	1394.06	2576.88	456.94	0	0	0	30.00	30.00	15.88
5143	end climb: SURFACE_DEPTH_REACHED
state	5143	begin surface coast
5168	end surface coast: CONTROL_FINISHED_OK
state	5168	begin surface