Glider dive log

SMODE Aug22 * SG237 * Dive index * Mission links * Dive 280 * 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 280 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 37.553185 SEABIRD_T_G 0.0044377348

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 65.203125 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 37.553185 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 65.203125 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 280 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 281022,104617,3642.143,-12441.153,8,1.8,11,13.3 TGT_RADIUS 1000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 281022,105121,3642.118,-12441.030,2,1.8,4,13.3 MHEAD_RNG_PITCHd_Wd 266.2,1694,-21.1,-10.000,-26.76,2232,0.174

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 -0.1,1.023582 FG_AHR_10Vo 37.609

SM_CCo 5325.07,0.00,0.000,0,1231.8,1178.2,1285.3,390.82 MEM0 60148,1,0,0

SM_GC 1.95,0.00,15.56,3.65,0.000,0.051,0.034,1231.8,1178.2,1285.3,177.1,2031.0,0,0,0,30.00,15.86,15.89 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 909688,69,135760,87

IRIDIUM_FIX 3641.66,-12441.03,281022,091534 DATA_FILE_SIZE 22517,779

TCM_TEMP 15.84 CAP_FILE_SIZE 179393,0

XPDR_PINGS 5,13.0,11.5 SDSIZE 3887104,3798176

SC_FREEKB 3672832 SDFILEDIR 1716,1

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

TEMP 10.87 CURRENT 0.217,100.6,1

INTERNAL_PRESSURE 8.67935 MAGCAL 1.000000,0.010855,-0.066568,-0.128376,1.148706,-0.083549,-0.034694,0.056249,1.162932,-507.7,-832.1,-372.3,34,0.0415,0

_24V_AH 15.22,100.529 IMPLIED_C_PITCH 2145,17.79,498,0.0,0.00

_10V_AH 15.00,0.000 GPS 281022,122109,3642.187,-12440.814,36,1.3,37,13.3

FG_AHR_24Vo 65.350

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 565 1230 10585.34 nil 0 0 0.00

Pitch_motor 34 279 146.44 nil 0 0 0.00

Roll_motor 62 216 205.51 nil 0 0 0.00

Iridium 201 207 634.74 nil 0 0 0.00

Transponder_ping 1 420 7.99 nil 0 0 0.00

GPS 13 15 3.04 nil 0 0 0.00

Core 2855 6 291.27 SciCon 5267 30 2371.10

Fast 21 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2722 2 81.68

Compass 1650 5 123.79

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

6.75 16386 -145.99 -1.18 0.00 1335.4 1298.1 1372.7 175.8 1965.2 0.00 0.00 0 48.45 41.06 0.00 0.00 0.005 0.000 0.000 2171.16 2159.38 2182.94 175.94 1964.94 0 0 0 15.81 30.00 30.00

48.75 18727 -145.99 -1.18 80.00 2170.1 2158.2 2181.9 175.1 1964.4 3.03 -3.84 7 106.71 35.03 14.15 3.22 0.005 0.280 0.099 3419.38 3395.25 3443.50 1864.75 3187.44 0 0 0 15.79 15.67 15.75

139.83 1028 -145.99 -1.18 0.00 3420.1 3396.7 3443.4 1864.5 3187.9 19.65 -21.52 25 145.47 0.00 0.00 2.88 0.000 0.000 0.034 3421.53 3398.50 3444.56 1864.88 1971.94 0 0 0 30.00 30.00 15.98

329.88 516 -145.99 -1.18 -80.00 3420.6 3396.0 3445.2 1864.9 1971.8 56.37 -16.51 63 335.69 0.00 0.00 3.86 0.000 0.000 0.109 3421.03 3396.50 3445.56 1864.44 534.12 0 0 0 30.00 30.00 15.98

369.89 1028 -145.99 -1.18 0.00 3421.2 3396.9 3445.4 1864.5 534.2 63.47 -18.17 71 375.63 0.00 0.00 3.47 0.000 0.000 0.032 3420.81 3396.38 3445.25 1864.81 2026.62 0 0 0 30.00 30.00 15.97

559.89 0 -145.99 -1.18 0.00 3422.1 3396.9 3447.3 1865.0 2027.6 91.30 -13.92 109 564.12 0.00 0.00 0.00 0.000 0.000 0.000 3422.59 3396.94 3448.25 1865.12 2027.00 0 0 0 30.00 30.00 30.00

749.99 0 -145.99 -1.18 0.00 3422.6 3397.0 3448.2 1864.6 2027.4 116.68 -12.72 135 751.33 0.00 0.00 0.00 0.000 0.000 0.000 3421.88 3396.12 3447.62 1864.69 2027.31 0 0 0 30.00 30.00 30.00

1059.94 260 -145.99 -1.18 80.00 3423.6 3397.6 3449.7 1864.7 2026.8 155.36 -12.43 166 1064.85 0.00 0.00 3.03 0.000 0.000 0.101 3424.41 3397.44 3451.38 1864.25 3189.00 0 0 0 30.00 30.00 16.02

1104.19 1028 -145.99 -1.18 0.00 3423.9 3396.9 3451.0 1864.9 3189.4 161.14 -12.98 175 1110.61 0.00 0.00 2.86 0.000 0.000 0.035 3423.41 3396.75 3450.06 1864.75 1975.31 0 0 0 30.00 30.00 16.05

1419.98 516 -145.99 -1.18 -80.00 3423.8 3396.9 3450.8 1864.9 1975.6 199.61 -11.91 207 1426.04 0.00 0.00 3.87 0.000 0.000 0.113 3423.03 3395.88 3450.19 1864.19 535.56 0 0 0 30.00 30.00 16.06

1445.01 1028 -145.99 -1.18 0.00 3424.1 3397.6 3450.6 1864.7 535.8 202.88 -12.57 212 1449.97 0.00 0.00 3.43 0.000 0.000 0.033 3424.75 3398.81 3450.69 1865.31 2029.00 0 0 0 30.00 30.00 15.94

1755.02 0 -145.99 -1.18 0.00 3423.9 3397.1 3450.7 1865.1 2028.1 240.64 -12.50 244 1756.36 0.00 0.00 0.00 0.000 0.000 0.000 3423.78 3396.31 3451.25 1864.50 2028.12 0 0 0 30.00 30.00 30.00

1995 end dive: TARGET_DEPTH_EXCEEDED

state 1995 begin apogee

1998.08 10243 0.00 -0.23 0.00 3424.1 3396.6 3451.6 1864.7 1405.7 271.10 -12.80 268 2113.80 113.07 1.61 0.06 1.231 0.151 0.217 2823.62 2801.06 2846.19 2095.31 1478.75 0 0 0 12.52 16.05 15.69

2115 end apogee: CONTROL_FINISHED_OK

state 2115 begin climb

2115.76 10759 145.99 1.18 -80.00 2822.0 2799.2 2844.7 2095.4 1478.9 275.88 0.00 279 2242.12 118.24 2.26 2.88 1.197 0.086 0.122 2229.06 2199.06 2259.06 2440.75 455.81 0 0 0 12.80 15.72 15.56

2470.30 17414 145.99 1.18 0.00 2219.5 2191.4 2247.6 2440.5 455.8 246.73 12.03 349 2475.08 0.00 0.00 2.29 0.000 0.000 0.030 2219.53 2191.12 2247.94 2440.62 1492.12 0 0 0 30.00 30.00 15.89

2780.42 16450 145.99 1.22 0.00 2217.2 2186.8 2247.7 2440.7 1492.2 218.13 8.84 381 2781.76 0.00 0.00 0.00 0.000 0.000 0.000 2216.41 2185.81 2247.00 2440.50 1492.44 0 0 0 30.00 30.00 30.00

3090.37 19015 145.99 1.31 -80.00 2216.1 2185.9 2246.4 2440.9 1492.6 191.24 7.90 412 3095.27 0.00 0.16 2.79 0.000 0.096 0.115 2216.31 2185.88 2246.75 2476.62 451.88 0 0 0 30.00 16.04 16.04

3314.64 17414 145.99 1.31 0.00 2215.1 2185.9 2244.4 2476.9 451.7 165.20 11.57 457 3320.96 0.00 0.00 2.27 0.000 0.000 0.030 2215.50 2186.25 2244.75 2476.75 1497.94 0 0 0 30.00 30.00 16.08

3630.50 16966 145.99 1.38 -80.00 2214.9 2185.5 2244.3 2476.5 1497.7 138.06 8.10 489 3635.30 0.00 0.00 2.81 0.000 0.000 0.113 2215.19 2186.00 2244.38 2476.94 451.88 0 0 0 30.00 30.00 16.05

3764.77 17478 145.99 1.45 0.00 2213.9 2185.5 2242.4 2476.8 451.9 125.54 8.36 516 3771.00 0.00 0.00 2.27 0.000 0.000 0.031 2215.16 2186.06 2244.25 2476.56 1498.75 0 0 0 30.00 30.00 16.05

4080.49 10535 248.97 1.60 80.00 2213.6 2184.2 2243.0 2477.1 1499.1 108.39 5.26 548 4183.27 93.97 0.38 3.56 1.042 0.081 0.079 1808.22 1771.69 1844.75 2548.06 2890.38 0 0 0 12.60 16.02 15.75

4301.41 1028 248.97 1.60 0.00 1803.8 1766.6 1840.9 2547.4 2890.3 85.52 12.26 592 4307.21 0.00 0.00 3.74 0.000 0.000 0.057 1804.09 1766.69 1841.50 2547.75 1406.88 0 0 0 30.00 30.00 15.88

4491.46 16966 248.97 1.63 -80.00 1800.9 1762.4 1839.4 2548.1 1407.2 64.91 9.21 630 4497.05 0.00 0.00 2.61 0.000 0.000 0.122 1802.06 1763.31 1840.81 2547.75 456.81 0 0 0 30.00 30.00 15.92

4726.47 17414 248.97 1.63 0.00 1799.6 1762.1 1837.1 2547.7 456.6 40.64 9.90 677 4732.01 0.00 0.00 2.28 0.000 0.000 0.032 1800.03 1762.62 1837.44 2548.56 1493.31 0 0 0 30.00 30.00 15.99

4916.57 10791 388.73 1.84 -80.00 1798.9 1760.8 1837.0 2548.0 1493.8 32.44 3.57 715 5085.44 163.74 0.31 2.88 0.915 0.082 0.117 1239.25 1187.69 1290.81 2604.81 456.62 0 0 0 12.55 15.97 15.59

5224 end climb: SURFACE_DEPTH_REACHED

state 5224 begin surface coast

5239 end surface coast: CONTROL_FINISHED_OK

state 5239 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	280	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	37.553185	SEABIRD_T_G	0.0044377348
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	65.203125	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	281022,104617,3642.143,-12441.153,8,1.8,11,13.3	TGT_RADIUS	1000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	281022,105121,3642.118,-12441.030,2,1.8,4,13.3	MHEAD_RNG_PITCHd_Wd	266.2,1694,-21.1,-10.000,-26.76,2232,0.174
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	-0.1,1.023582	FG_AHR_10Vo	37.609
SM_CCo	5325.07,0.00,0.000,0,1231.8,1178.2,1285.3,390.82	MEM0	60148,1,0,0
SM_GC	1.95,0.00,15.56,3.65,0.000,0.051,0.034,1231.8,1178.2,1285.3,177.1,2031.0,0,0,0,30.00,15.86,15.89	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	909688,69,135760,87
IRIDIUM_FIX	3641.66,-12441.03,281022,091534	DATA_FILE_SIZE	22517,779
TCM_TEMP	15.84	CAP_FILE_SIZE	179393,0
XPDR_PINGS	5,13.0,11.5	SDSIZE	3887104,3798176
SC_FREEKB	3672832	SDFILEDIR	1716,1
HUMID	53.24	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	10.87	CURRENT	0.217,100.6,1
INTERNAL_PRESSURE	8.67935	MAGCAL	1.000000,0.010855,-0.066568,-0.128376,1.148706,-0.083549,-0.034694,0.056249,1.162932,-507.7,-832.1,-372.3,34,0.0415,0
_24V_AH	15.22,100.529	IMPLIED_C_PITCH	2145,17.79,498,0.0,0.00
_10V_AH	15.00,0.000	GPS	281022,122109,3642.187,-12440.814,36,1.3,37,13.3
FG_AHR_24Vo	65.350

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	565	1230	10585.34	nil	0	0	0.00
Pitch_motor	34	279	146.44	nil	0	0	0.00
Roll_motor	62	216	205.51	nil	0	0	0.00
Iridium	201	207	634.74	nil	0	0	0.00
Transponder_ping	1	420	7.99	nil	0	0	0.00
GPS	13	15	3.04	nil	0	0	0.00
Core	2855	6	291.27	SciCon	5267	30	2371.10
Fast	21	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2722	2	81.68
Compass	1650	5	123.79
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
6.75	16386	-145.99	-1.18	0.00	1335.4	1298.1	1372.7	175.8	1965.2	0.00	0.00	0	48.45	41.06	0.00	0.00	0.005	0.000	0.000	2171.16	2159.38	2182.94	175.94	1964.94	0	0	0	15.81	30.00	30.00
48.75	18727	-145.99	-1.18	80.00	2170.1	2158.2	2181.9	175.1	1964.4	3.03	-3.84	7	106.71	35.03	14.15	3.22	0.005	0.280	0.099	3419.38	3395.25	3443.50	1864.75	3187.44	0	0	0	15.79	15.67	15.75
139.83	1028	-145.99	-1.18	0.00	3420.1	3396.7	3443.4	1864.5	3187.9	19.65	-21.52	25	145.47	0.00	0.00	2.88	0.000	0.000	0.034	3421.53	3398.50	3444.56	1864.88	1971.94	0	0	0	30.00	30.00	15.98
329.88	516	-145.99	-1.18	-80.00	3420.6	3396.0	3445.2	1864.9	1971.8	56.37	-16.51	63	335.69	0.00	0.00	3.86	0.000	0.000	0.109	3421.03	3396.50	3445.56	1864.44	534.12	0	0	0	30.00	30.00	15.98
369.89	1028	-145.99	-1.18	0.00	3421.2	3396.9	3445.4	1864.5	534.2	63.47	-18.17	71	375.63	0.00	0.00	3.47	0.000	0.000	0.032	3420.81	3396.38	3445.25	1864.81	2026.62	0	0	0	30.00	30.00	15.97
559.89	0	-145.99	-1.18	0.00	3422.1	3396.9	3447.3	1865.0	2027.6	91.30	-13.92	109	564.12	0.00	0.00	0.00	0.000	0.000	0.000	3422.59	3396.94	3448.25	1865.12	2027.00	0	0	0	30.00	30.00	30.00
749.99	0	-145.99	-1.18	0.00	3422.6	3397.0	3448.2	1864.6	2027.4	116.68	-12.72	135	751.33	0.00	0.00	0.00	0.000	0.000	0.000	3421.88	3396.12	3447.62	1864.69	2027.31	0	0	0	30.00	30.00	30.00
1059.94	260	-145.99	-1.18	80.00	3423.6	3397.6	3449.7	1864.7	2026.8	155.36	-12.43	166	1064.85	0.00	0.00	3.03	0.000	0.000	0.101	3424.41	3397.44	3451.38	1864.25	3189.00	0	0	0	30.00	30.00	16.02
1104.19	1028	-145.99	-1.18	0.00	3423.9	3396.9	3451.0	1864.9	3189.4	161.14	-12.98	175	1110.61	0.00	0.00	2.86	0.000	0.000	0.035	3423.41	3396.75	3450.06	1864.75	1975.31	0	0	0	30.00	30.00	16.05
1419.98	516	-145.99	-1.18	-80.00	3423.8	3396.9	3450.8	1864.9	1975.6	199.61	-11.91	207	1426.04	0.00	0.00	3.87	0.000	0.000	0.113	3423.03	3395.88	3450.19	1864.19	535.56	0	0	0	30.00	30.00	16.06
1445.01	1028	-145.99	-1.18	0.00	3424.1	3397.6	3450.6	1864.7	535.8	202.88	-12.57	212	1449.97	0.00	0.00	3.43	0.000	0.000	0.033	3424.75	3398.81	3450.69	1865.31	2029.00	0	0	0	30.00	30.00	15.94
1755.02	0	-145.99	-1.18	0.00	3423.9	3397.1	3450.7	1865.1	2028.1	240.64	-12.50	244	1756.36	0.00	0.00	0.00	0.000	0.000	0.000	3423.78	3396.31	3451.25	1864.50	2028.12	0	0	0	30.00	30.00	30.00
1995	end dive: TARGET_DEPTH_EXCEEDED
state	1995	begin apogee
1998.08	10243	0.00	-0.23	0.00	3424.1	3396.6	3451.6	1864.7	1405.7	271.10	-12.80	268	2113.80	113.07	1.61	0.06	1.231	0.151	0.217	2823.62	2801.06	2846.19	2095.31	1478.75	0	0	0	12.52	16.05	15.69
2115	end apogee: CONTROL_FINISHED_OK
state	2115	begin climb
2115.76	10759	145.99	1.18	-80.00	2822.0	2799.2	2844.7	2095.4	1478.9	275.88	0.00	279	2242.12	118.24	2.26	2.88	1.197	0.086	0.122	2229.06	2199.06	2259.06	2440.75	455.81	0	0	0	12.80	15.72	15.56
2470.30	17414	145.99	1.18	0.00	2219.5	2191.4	2247.6	2440.5	455.8	246.73	12.03	349	2475.08	0.00	0.00	2.29	0.000	0.000	0.030	2219.53	2191.12	2247.94	2440.62	1492.12	0	0	0	30.00	30.00	15.89
2780.42	16450	145.99	1.22	0.00	2217.2	2186.8	2247.7	2440.7	1492.2	218.13	8.84	381	2781.76	0.00	0.00	0.00	0.000	0.000	0.000	2216.41	2185.81	2247.00	2440.50	1492.44	0	0	0	30.00	30.00	30.00
3090.37	19015	145.99	1.31	-80.00	2216.1	2185.9	2246.4	2440.9	1492.6	191.24	7.90	412	3095.27	0.00	0.16	2.79	0.000	0.096	0.115	2216.31	2185.88	2246.75	2476.62	451.88	0	0	0	30.00	16.04	16.04
3314.64	17414	145.99	1.31	0.00	2215.1	2185.9	2244.4	2476.9	451.7	165.20	11.57	457	3320.96	0.00	0.00	2.27	0.000	0.000	0.030	2215.50	2186.25	2244.75	2476.75	1497.94	0	0	0	30.00	30.00	16.08
3630.50	16966	145.99	1.38	-80.00	2214.9	2185.5	2244.3	2476.5	1497.7	138.06	8.10	489	3635.30	0.00	0.00	2.81	0.000	0.000	0.113	2215.19	2186.00	2244.38	2476.94	451.88	0	0	0	30.00	30.00	16.05
3764.77	17478	145.99	1.45	0.00	2213.9	2185.5	2242.4	2476.8	451.9	125.54	8.36	516	3771.00	0.00	0.00	2.27	0.000	0.000	0.031	2215.16	2186.06	2244.25	2476.56	1498.75	0	0	0	30.00	30.00	16.05
4080.49	10535	248.97	1.60	80.00	2213.6	2184.2	2243.0	2477.1	1499.1	108.39	5.26	548	4183.27	93.97	0.38	3.56	1.042	0.081	0.079	1808.22	1771.69	1844.75	2548.06	2890.38	0	0	0	12.60	16.02	15.75
4301.41	1028	248.97	1.60	0.00	1803.8	1766.6	1840.9	2547.4	2890.3	85.52	12.26	592	4307.21	0.00	0.00	3.74	0.000	0.000	0.057	1804.09	1766.69	1841.50	2547.75	1406.88	0	0	0	30.00	30.00	15.88
4491.46	16966	248.97	1.63	-80.00	1800.9	1762.4	1839.4	2548.1	1407.2	64.91	9.21	630	4497.05	0.00	0.00	2.61	0.000	0.000	0.122	1802.06	1763.31	1840.81	2547.75	456.81	0	0	0	30.00	30.00	15.92
4726.47	17414	248.97	1.63	0.00	1799.6	1762.1	1837.1	2547.7	456.6	40.64	9.90	677	4732.01	0.00	0.00	2.28	0.000	0.000	0.032	1800.03	1762.62	1837.44	2548.56	1493.31	0	0	0	30.00	30.00	15.99
4916.57	10791	388.73	1.84	-80.00	1798.9	1760.8	1837.0	2548.0	1493.8	32.44	3.57	715	5085.44	163.74	0.31	2.88	0.915	0.082	0.117	1239.25	1187.69	1290.81	2604.81	456.62	0	0	0	12.55	15.97	15.59
5224	end climb: SURFACE_DEPTH_REACHED
state	5224	begin surface coast
5239	end surface coast: CONTROL_FINISHED_OK
state	5239	begin surface