Glider dive log

NORSE Sep21 * SG135 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 135 TGT_DEFAULT_LAT 4736 VBD_MIN 500 MOTHERBOARD 6

MISSION 3 TGT_DEFAULT_LON -12218 VBD_MAX 3960 DEVICE1 -1

DIVE 3 TGT_AUTO_DEFAULT 0 C_VBD 2970 DEVICE2 -1

N_DIVES 3 SM_CC 595.89099 VBD_DBAND 2 DEVICE3 -1

STOP_T 0 N_FILEKB 4 VBD_CNV -0.24529999 DEVICE4 -1

D_SURF 4 FILEMGR 0 VBD_LP_IGNORE 0 DEVICE5 -1

D_FLARE 3 CALL_NDIVES 1 VBD_TIMEOUT 720 DEVICE6 -1

D_TGT 180 COMM_SEQ 0 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 7

D_ABORT 1000 PROTOCOL 9 UNCOM_BLEED 20 LOGGERDEVICE1 6

D_NO_BLEED 500 N_NOCOMM 2 VBD_MAXERRORS 1 LOGGERDEVICE2 33

D_BOOST 3 NOCOMM_ACTION 163 W_ADJ_DBAND 0 LOGGERDEVICE3 19

T_BOOST 0 N_NOSURFACE 0 DBDW 0 LOGGERDEVICE4 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 LOITER_W_DBAND 0 COMPASS_DEVICE 34

D_PITCH 0 CALL_TRIES 5 LOITER_DBDW 0 COMPASS2_DEVICE -1

D_SAFE 0 CALL_WAIT 60 LOITER_D_TOP 0 PHONE_DEVICE 33

D_CALL 0 CAPUPLOAD 0 LOITER_D_BOTTOM 0 GPS_DEVICE 48

SURFACE_URGENCY 0 CAPMAXSIZE 100000 LOITER_N_DIVE 0 RAFOS_DEVICE -1

SURFACE_URGENCY_TRY 0 T_GPS 5 CF8_MAXERRORS 20 NETWORK_DEVICE -1

SURFACE_URGENCY_FORCE 0 N_GPS 100440 AH0_24V 350 PRESSURE_DEVICE 41

T_DIVE 60 T_RSLEEP 1 AH0_10V 0 XPDR_DEVICE 21

T_MISSION 75 STROBE 0 MINV_24V 11 SIM_W 0

T_ABORT 1440 RAFOS_PEAK_OFFSET 1.5 MINV_10V 11 SEABIRD_T_G 0.0044240318

T_TURN 225 RAFOS_CORR_THRESH 60 MAXI_24V 3 SEABIRD_T_H 0.00064698874

T_TURN_SAMPINT -5 RAFOS_HIT_WINDOW 3600 MAXI_10V 1.5 SEABIRD_T_I 2.7191092e-05

T_NO_W 120 RAFOS_MMODEM 0 FG_AHR_10V 27.425604 SEABIRD_T_J 3.4398734e-06

T_LOITER 0 PITCH_MIN 150 FG_AHR_24V 1036.2545 SEABIRD_C_G -9.9621954

T_EPIRB 0 PITCH_MAX 3614 PHONE_SUPPLY 2 SEABIRD_C_H 1.1055299

USE_BATHY 0 C_PITCH 2440 PRESSURE_YINT -180.72491 SEABIRD_C_I -0.0031133897

USE_ICE 0 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00022931841 SEABIRD_C_J 0.00029840908

ICE_FREEZE_MARGIN 0.30000001 PITCH_CNV 0.0031300001 COMPASS_USE 16388 SC_RECORDABOVE 2000.0

D_OFFGRID 1000 PITCH_GAIN 30 ALTIM_PING_FIT 0 SC_PROFILE 7.0

RELAUNCH 1 PITCH_TIMEOUT 15 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 7.0

APOGEE_PITCH -5 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0 SC_NDIVE 1.0

MAX_BUOY 150 PITCH_ADJ_GAIN 0.015 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_ADJ_DBAND 1 ALTIM_TOP_MIN_OBSTACLE 0 PM_PROFILE 7.0

SPEED_FACTOR 1 PITCH_W_GAIN 0 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 7.0

RHO 1.0275 PITCH_W_DBAND 0 ALTIM_PING_DELTA 0 PM_NDIVE 1.0

MASS 56180 ROLL_MIN 160 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

NAV_MODE 2 ROLL_MAX 3915 ALTIM_PULSE 3 PM_MOTORS 1.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_SENSITIVITY 2 PM_SENDDEPTH 1.0

KALMAN_USE 2 C_ROLL_DIVE 2250 XPDR_VALID 0 TM_RECORDABOVE 2000.0

HD_A 0.003 C_ROLL_CLIMB 1800 XPDR_INHIBIT 90 TM_PROFILE 3.0

HD_B 0.0099999998 HEAD_ERRBAND 10 XPDR_INT 0 TM_XMITPROFILE 3.0

HD_C 1.6e-05 ROLL_CNV 0.028270001 XPDR_REP 0 TM_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 1.9639999e-06 TM_XMITRAW 0.0

ESCAPE_HEADING 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0.75 TM_LOGSAMPLE 0.0

ESCAPE_HEADING_DELTA 10 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

FIX_MISSING_TIMEOUT 0 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

AH0_10V 0 ESCAPE_HEADING 0 PITCH_ADJ_GAIN 0.015 SEABIRD_T_J 3.4398734e-06

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.0031300001 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_DBAND 0.1 SM_CC 595.89099

ALTIM_FREQUENCY 13 FG_AHR_10V 27.425604 PITCH_GAIN 30 SPEED_FACTOR 1

ALTIM_PING_DELTA 0 FG_AHR_24V 1036.2545 PITCH_MAX 3614 STOP_T 0

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_MAXERRORS 1 STROBE 0

ALTIM_PING_FIT 0 FIX_MISSING_TIMEOUT 0 PITCH_MIN 150 SURFACE_URGENCY 0

ALTIM_PULSE 3 GLIDE_SLOPE 30 PITCH_TIMEOUT 15 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 2 GPS_DEVICE 48 PITCH_VBD_SHIFT 0.0012300001 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_A 0.003 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 HD_B 0.0099999998 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 HD_C 1.6e-05 PM_MOTORS 1.0 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 HEADING -1 PM_NDIVE 1.0 TM_LOGSAMPLE 0.0

CALL_NDIVES 1 HEAD_ERRBAND 10 PM_PROFILE 7.0 TM_NDIVE 1.0

CALL_TRIES 5 ICE_FREEZE_MARGIN 0.30000001 PM_RECORDABOVE 2000.0 TM_PROFILE 3.0

CALL_WAIT 60 ID 135 PM_SENDDEPTH 1.0 TM_RECORDABOVE 2000.0

CAPMAXSIZE 100000 INT_PRESSURE_SLOPE 1.9639999e-06 PM_XMITPROFILE 7.0 TM_XMITPROFILE 3.0

CAPUPLOAD 0 INT_PRESSURE_YINT 0.75 PM_XMITRAW 0.0 TM_XMITRAW 0.0

CF8_MAXERRORS 20 KALMAN_USE 2 PRESSURE_DEVICE 41 T_ABORT 1440

COMM_SEQ 0 LOGGERDEVICE1 6 PRESSURE_SLOPE 0.00022931841 T_BOOST 0

COMPASS2_DEVICE -1 LOGGERDEVICE2 33 PRESSURE_YINT -180.72491 T_DIVE 60

COMPASS_DEVICE 34 LOGGERDEVICE3 19 PROTOCOL 9 T_EPIRB 0

COMPASS_USE 16388 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_GPS 5

C_PITCH 2440 LOGGERS 7 RAFOS_DEVICE -1 T_LOITER 0

C_ROLL_CLIMB 1800 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 T_MISSION 75

C_ROLL_DIVE 2250 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 T_NO_W 120

C_VBD 2970 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 1

DBDW 0 LOITER_N_DIVE 0 RELAUNCH 1 T_TURN 225

DEEPGLIDER 0 LOITER_W_DBAND 0 RHO 1.0275 T_TURN_SAMPINT -5

DEEPGLIDERMB 0 MASS 56180 ROLL_ADJ_DBAND 0 UNCOM_BLEED 20

DEVICE1 -1 MAXI_10V 1.5 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEVICE2 -1 MAXI_24V 3 ROLL_CNV 0.028270001 USE_BATHY 0

DEVICE3 -1 MAX_BUOY 150 ROLL_DEG 40 USE_ICE 0

DEVICE4 -1 MINV_10V 11 ROLL_MAX 3915 VBD_CNV -0.24529999

DEVICE5 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE6 -1 MISSION 3 ROLL_MIN 160 VBD_LP_IGNORE 0

DIVE 3 MOTHERBOARD 6 ROLL_TIMEOUT 15 VBD_MAX 3960

D_ABORT 1000 NAV_MODE 2 SC_NDIVE 1.0 VBD_MAXERRORS 1

D_BOOST 3 NETWORK_DEVICE -1 SC_PROFILE 7.0 VBD_MIN 500

D_CALL 0 NOCOMM_ACTION 163 SC_RECORDABOVE 2000.0 VBD_TIMEOUT 720

D_FINISH 0 N_DIVES 3 SC_XMITPROFILE 7.0 W_ADJ_DBAND 0

D_FLARE 3 N_FILEKB 4 SEABIRD_C_G -9.9621954 XPDR_DEVICE 21

D_NO_BLEED 500 N_GPS 100440 SEABIRD_C_H 1.1055299 XPDR_INHIBIT 90

D_OFFGRID 1000 N_NOCOMM 2 SEABIRD_C_I -0.0031133897 XPDR_INT 0

D_PITCH 0 N_NOSURFACE 0 SEABIRD_C_J 0.00029840908 XPDR_REP 0

D_SAFE 0 PHONE_DEVICE 33 SEABIRD_T_G 0.0044240318 XPDR_VALID 0

D_SURF 4 PHONE_SUPPLY 2 SEABIRD_T_H 0.00064698874

D_TGT 180 PITCH_ADJ_DBAND 1 SEABIRD_T_I 2.7191092e-05

Pre-dive calculations and measurements:

GPS1 150921,101433,7101.727,-548.817,30,1.1,31,-5.0 TGT_RADIUS 100.000

_CALLS 4 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.70 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150921,102233,7101.736,-548.672,20,1.3,21,-5.0 MHEAD_RNG_PITCHd_Wd 289.3,9093117,-17.6,-10.000,-21.24

SPEED_LIMITS 0.173,0.257 D_GRID 180

TGT_NAME SE IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-19.000000,49.000000,24.000000

TGT_LATLONG 4743.000,-12224.000

Post-dive calculations and measurements:

WARN HTMICL TMICL logging already stopped _10V_AH 14.60,0.000

FINISH 2.3,1.026538 FG_AHR_24Vo 1036.479

SM_CCo 4106.57,249.53,1.252,0,541.3,503.8,578.9,595.75 FG_AHR_10Vo 27.485

SM_GC 3.09,249.53,7.07,0.87,1.252,0.082,0.045,541.3,503.8,578.9,139.5,2284.9,0,0,0,12.18,15.82,15.84 MEM0 60820,1,0,0

SUPER 27,71,254,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 7100.13,-543.95,150921,101826 MEM2 1030312,26,16516,61

TCM_TEMP 6.40 DATA_FILE_SIZE 12933,500

XPDR_PINGS 147,12.5,11.5 CAP_FILE_SIZE 186167,0

SC_FREEKB 3877600 SDSIZE 3918848,3906752

PM_FREEKB_00 62102016 SDFILEDIR 51,1

PM_FREEKB_01 62343040 ERRORS 0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 0 CURRENT 0.213,116.6,1

TM_FREEKB 7742528 MAGCAL 1.000000,-0.001683,-0.152960,0.000305,1.019400,-0.012315,0.015738,-0.023388,1.081624,119.4,43.9,4.1,36,0.1327,0

HUMID 57.38 IMPLIED_C_PITCH 2395,26.42,262

TEMP 5.41 IMPLIED_C_VBD 2824,27.524275,262

INTERNAL_PRESSURE 8.184 GPS 150921,113211,7101.559,-548.284,20,1.7,21,-5.0

_24V_AH 14.56,5.350

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 715 1519 15831.81 nil 0 0 0.00

Pitch_motor 19 441 124.69 nil 0 0 0.00

Roll_motor 55 109 88.64 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 36 420 224.73 nil 0 0 0.00

GPS 30 15 6.60 nil 0 0 0.00

Core 1800 11 310.23 SciCon 3838 20 1144.06

LPSleep 1976 2 80.80 PMAR 3843 8 498.07

Compass 1030 5 75.25 TMICL 3826 19 1069.77

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

14.85 16386 -145.99 -0.77 0.00 495.0 459.3 530.7 132.8 2302.6 0.00 0.00 0 98.81 78.83 0.00 0.00 0.005 0.000 0.000 2151.12 2086.19 2216.06 132.44 2342.25 0 0 0 15.80 30.00 30.00

99.05 18727 -145.99 -0.77 40.00 2152.1 2088.3 2215.9 132.3 2333.2 3.00 -0.36 8 199.25 80.92 9.90 2.26 0.005 0.442 0.059 3562.28 3503.56 3621.00 2193.88 3690.56 0 0 0 15.23 15.15 15.79

246.84 1028 -145.99 -0.77 0.00 3564.3 3506.4 3622.2 2193.3 3691.4 8.27 -11.73 37 253.36 0.00 0.00 2.37 0.000 0.000 0.027 3565.47 3507.69 3623.25 2194.19 2196.25 0 0 0 30.00 30.00 15.94

439.44 260 -145.99 -0.77 40.00 3562.8 3503.6 3622.0 2192.9 2189.9 29.67 -10.73 57 449.26 0.00 0.00 2.51 0.000 0.000 0.056 3564.00 3505.50 3622.50 2189.56 3689.75 0 0 0 30.00 30.00 15.30

677.35 1060 -145.99 -0.77 0.00 3562.3 3503.1 3621.4 2190.6 3689.7 53.43 -8.93 103 686.86 0.00 0.00 2.38 0.000 0.000 0.026 3563.25 3504.25 3622.25 2190.25 2189.12 0 0 0 30.00 30.00 15.94

874.28 548 -145.99 -0.77 -40.00 3562.2 3503.2 3621.1 2190.1 2184.8 71.45 -9.44 123 880.74 0.00 0.00 2.22 0.000 0.000 0.038 3562.97 3503.12 3622.81 2190.81 796.31 0 0 0 30.00 30.00 15.35

924.80 1060 -145.99 -0.77 0.00 3561.7 3501.6 3621.8 2190.3 795.9 76.44 -9.97 133 930.79 0.00 0.00 2.44 0.000 0.000 0.039 3562.28 3503.38 3621.19 2185.31 2278.38 0 0 0 30.00 30.00 15.95

1114.31 32 -145.99 -0.77 0.00 3561.9 3502.1 3621.7 2185.9 2280.7 95.00 -9.76 153 1118.32 0.00 0.00 0.00 0.000 0.000 0.000 3561.53 3501.25 3621.81 2185.69 2281.06 0 0 0 30.00 30.00 30.00

1304.34 548 -145.99 -0.77 -40.00 3561.8 3502.2 3621.4 2185.1 2280.5 113.39 -9.50 172 1310.85 0.00 0.00 2.46 0.000 0.000 0.037 3564.00 3504.75 3623.25 2184.75 796.25 0 0 0 30.00 30.00 15.95

1384.36 1060 -145.99 -0.77 0.00 3561.9 3502.1 3621.7 2184.6 794.8 121.03 -9.34 188 1390.88 0.00 0.00 2.44 0.000 0.000 0.037 3563.12 3504.00 3622.25 2181.44 2278.88 0 0 0 30.00 30.00 15.94

1574.37 516 -145.99 -0.77 -40.00 3561.2 3501.8 3620.7 2180.5 2277.6 139.89 -10.29 208 1580.91 0.00 0.00 2.45 0.000 0.000 0.037 3563.41 3503.00 3623.81 2179.00 796.25 0 0 0 30.00 30.00 15.94

1614.60 1028 -145.99 -0.77 0.00 3562.2 3502.0 3622.4 2181.2 795.7 144.21 -10.82 216 1620.91 0.00 0.00 2.45 0.000 0.000 0.041 3563.56 3503.56 3623.56 2180.56 2277.62 0 0 0 30.00 30.00 15.96

1804.40 0 -145.99 -0.77 0.00 3560.9 3500.9 3620.9 2180.7 2277.4 164.73 -10.87 236 1808.44 0.00 0.00 0.00 0.000 0.000 0.000 3560.41 3501.19 3619.62 2180.31 2277.88 0 0 0 30.00 30.00 30.00

1946 end dive: TARGET_DEPTH_EXCEEDED

state 1946 begin apogee

1947.09 10243 0.00 -0.17 0.00 3560.8 3500.4 3621.1 2180.5 1735.2 180.11 -10.95 250 2068.16 115.04 0.69 0.18 1.519 0.216 0.110 2969.31 2850.75 3087.88 2387.94 1862.69 0 0 0 12.09 15.86 15.19

2070 end apogee: CONTROL_FINISHED_OK

state 2071 begin climb

2070.31 10759 145.99 0.77 -40.00 2967.3 2848.7 3085.9 2388.0 1862.9 184.12 0.00 262 2192.63 111.06 0.89 2.59 1.416 0.101 0.049 2375.44 2205.75 2545.12 2697.56 363.12 0 0 0 11.99 15.29 15.04

2194.96 5253 145.99 0.64 0.00 2374.2 2206.1 2542.4 2697.0 362.9 175.46 11.01 281 2202.15 0.00 0.23 2.50 0.000 0.264 0.031 2376.62 2208.25 2545.00 2637.12 1835.62 0 0 0 30.00 15.14 15.12

2396.61 388 145.99 0.59 40.00 2372.2 2203.5 2540.8 2637.0 1836.6 154.35 11.04 301 2403.81 0.00 0.00 2.33 0.000 0.000 0.046 2374.12 2205.88 2542.38 2633.50 3243.06 0 0 0 30.00 30.00 15.65

2494.97 1156 145.99 0.53 0.00 2371.6 2204.2 2539.1 2634.4 3243.0 141.95 11.84 320 2501.52 0.00 0.00 2.46 0.000 0.000 0.032 2374.78 2207.81 2541.75 2640.44 1755.12 0 0 0 30.00 30.00 15.60

2684.96 4485 145.99 0.47 40.00 2370.6 2202.9 2538.4 2641.7 1753.6 120.48 11.24 340 2691.58 0.00 0.21 2.50 0.000 0.249 0.045 2374.91 2207.25 2542.56 2582.06 3245.88 0 0 0 30.00 15.67 15.77

2757.55 9254 179.15 0.51 0.00 2370.5 2203.4 2537.6 2581.8 3244.5 114.22 8.46 354 2793.47 26.28 0.00 2.44 1.415 0.000 0.031 2241.22 2060.75 2421.69 2582.81 1753.81 0 0 0 12.13 30.00 15.83

2976.70 10663 215.00 0.59 40.00 2239.5 2061.1 2417.9 2584.1 1753.1 96.19 8.33 380 3013.89 29.35 0.14 2.56 1.352 0.098 0.052 2092.38 1898.81 2285.94 2642.25 3242.12 0 0 0 12.11 15.71 15.03

3051.55 1156 215.00 0.55 0.00 2091.2 1898.8 2283.7 2641.3 3241.6 87.43 12.62 395 3061.39 0.00 0.00 2.46 0.000 0.000 0.033 2090.06 1896.81 2283.31 2642.62 1757.56 0 0 0 30.00 30.00 15.60

3244.00 4741 215.00 0.53 -40.00 2090.8 1898.8 2282.8 2643.2 1756.8 63.86 12.73 415 3250.59 0.00 0.14 2.32 0.000 0.239 0.052 2092.06 1900.06 2284.06 2601.12 360.44 0 0 0 30.00 15.64 15.60

3375.31 11431 244.27 0.63 0.00 2089.9 1898.3 2281.5 2601.1 360.2 51.64 8.64 441 3407.70 24.80 0.12 2.41 1.315 0.097 0.032 1975.31 1773.12 2177.50 2652.19 1835.56 0 0 0 12.15 15.74 15.79

3597.38 260 244.27 0.63 40.00 1969.7 1770.9 2168.4 2651.3 1835.6 26.15 11.32 466 3604.03 0.00 0.00 2.32 0.000 0.000 0.048 1970.62 1771.62 2169.62 2651.25 3241.75 0 0 0 30.00 30.00 15.14

3699.78 1156 244.27 0.61 0.00 1969.1 1771.4 2166.9 2651.7 3241.2 14.22 10.98 486 3707.29 0.00 0.00 2.45 0.000 0.000 0.034 1971.47 1773.12 2169.81 2656.00 1756.94 0 0 0 30.00 30.00 15.78

3795 end climb: SURFACE_DEPTH_REACHED

state 3795 begin surface coast

3838 end surface coast: CONTROL_FINISHED_OK

state 3838 begin surface

ID	135	TGT_DEFAULT_LAT	4736	VBD_MIN	500	MOTHERBOARD	6
MISSION	3	TGT_DEFAULT_LON	-12218	VBD_MAX	3960	DEVICE1	-1
DIVE	3	TGT_AUTO_DEFAULT	0	C_VBD	2970	DEVICE2	-1
N_DIVES	3	SM_CC	595.89099	VBD_DBAND	2	DEVICE3	-1
STOP_T	0	N_FILEKB	4	VBD_CNV	-0.24529999	DEVICE4	-1
D_SURF	4	FILEMGR	0	VBD_LP_IGNORE	0	DEVICE5	-1
D_FLARE	3	CALL_NDIVES	1	VBD_TIMEOUT	720	DEVICE6	-1
D_TGT	180	COMM_SEQ	0	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	7
D_ABORT	1000	PROTOCOL	9	UNCOM_BLEED	20	LOGGERDEVICE1	6
D_NO_BLEED	500	N_NOCOMM	2	VBD_MAXERRORS	1	LOGGERDEVICE2	33
D_BOOST	3	NOCOMM_ACTION	163	W_ADJ_DBAND	0	LOGGERDEVICE3	19
T_BOOST	0	N_NOSURFACE	0	DBDW	0	LOGGERDEVICE4	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	LOITER_W_DBAND	0	COMPASS_DEVICE	34
D_PITCH	0	CALL_TRIES	5	LOITER_DBDW	0	COMPASS2_DEVICE	-1
D_SAFE	0	CALL_WAIT	60	LOITER_D_TOP	0	PHONE_DEVICE	33
D_CALL	0	CAPUPLOAD	0	LOITER_D_BOTTOM	0	GPS_DEVICE	48
SURFACE_URGENCY	0	CAPMAXSIZE	100000	LOITER_N_DIVE	0	RAFOS_DEVICE	-1
SURFACE_URGENCY_TRY	0	T_GPS	5	CF8_MAXERRORS	20	NETWORK_DEVICE	-1
SURFACE_URGENCY_FORCE	0	N_GPS	100440	AH0_24V	350	PRESSURE_DEVICE	41
T_DIVE	60	T_RSLEEP	1	AH0_10V	0	XPDR_DEVICE	21
T_MISSION	75	STROBE	0	MINV_24V	11	SIM_W	0
T_ABORT	1440	RAFOS_PEAK_OFFSET	1.5	MINV_10V	11	SEABIRD_T_G	0.0044240318
T_TURN	225	RAFOS_CORR_THRESH	60	MAXI_24V	3	SEABIRD_T_H	0.00064698874
T_TURN_SAMPINT	-5	RAFOS_HIT_WINDOW	3600	MAXI_10V	1.5	SEABIRD_T_I	2.7191092e-05
T_NO_W	120	RAFOS_MMODEM	0	FG_AHR_10V	27.425604	SEABIRD_T_J	3.4398734e-06
T_LOITER	0	PITCH_MIN	150	FG_AHR_24V	1036.2545	SEABIRD_C_G	-9.9621954
T_EPIRB	0	PITCH_MAX	3614	PHONE_SUPPLY	2	SEABIRD_C_H	1.1055299
USE_BATHY	0	C_PITCH	2440	PRESSURE_YINT	-180.72491	SEABIRD_C_I	-0.0031133897
USE_ICE	0	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00022931841	SEABIRD_C_J	0.00029840908
ICE_FREEZE_MARGIN	0.30000001	PITCH_CNV	0.0031300001	COMPASS_USE	16388	SC_RECORDABOVE	2000.0
D_OFFGRID	1000	PITCH_GAIN	30	ALTIM_PING_FIT	0	SC_PROFILE	7.0
RELAUNCH	1	PITCH_TIMEOUT	15	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	7.0
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0	SC_NDIVE	1.0
MAX_BUOY	150	PITCH_ADJ_GAIN	0.015	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_ADJ_DBAND	1	ALTIM_TOP_MIN_OBSTACLE	0	PM_PROFILE	7.0
SPEED_FACTOR	1	PITCH_W_GAIN	0	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	7.0
RHO	1.0275	PITCH_W_DBAND	0	ALTIM_PING_DELTA	0	PM_NDIVE	1.0
MASS	56180	ROLL_MIN	160	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
NAV_MODE	2	ROLL_MAX	3915	ALTIM_PULSE	3	PM_MOTORS	1.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	1.0
KALMAN_USE	2	C_ROLL_DIVE	2250	XPDR_VALID	0	TM_RECORDABOVE	2000.0
HD_A	0.003	C_ROLL_CLIMB	1800	XPDR_INHIBIT	90	TM_PROFILE	3.0
HD_B	0.0099999998	HEAD_ERRBAND	10	XPDR_INT	0	TM_XMITPROFILE	3.0
HD_C	1.6e-05	ROLL_CNV	0.028270001	XPDR_REP	0	TM_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	1.9639999e-06	TM_XMITRAW	0.0
ESCAPE_HEADING	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0.75	TM_LOGSAMPLE	0.0
ESCAPE_HEADING_DELTA	10	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
FIX_MISSING_TIMEOUT	0	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0

GPS1	150921,101433,7101.727,-548.817,30,1.1,31,-5.0	TGT_RADIUS	100.000
_CALLS	4	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.70	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150921,102233,7101.736,-548.672,20,1.3,21,-5.0	MHEAD_RNG_PITCHd_Wd	289.3,9093117,-17.6,-10.000,-21.24
SPEED_LIMITS	0.173,0.257	D_GRID	180
TGT_NAME	SE	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-19.000000,49.000000,24.000000
TGT_LATLONG	4743.000,-12224.000

WARN	HTMICL TMICL logging already stopped	_10V_AH	14.60,0.000
FINISH	2.3,1.026538	FG_AHR_24Vo	1036.479
SM_CCo	4106.57,249.53,1.252,0,541.3,503.8,578.9,595.75	FG_AHR_10Vo	27.485
SM_GC	3.09,249.53,7.07,0.87,1.252,0.082,0.045,541.3,503.8,578.9,139.5,2284.9,0,0,0,12.18,15.82,15.84	MEM0	60820,1,0,0
SUPER	27,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	7100.13,-543.95,150921,101826	MEM2	1030312,26,16516,61
TCM_TEMP	6.40	DATA_FILE_SIZE	12933,500
XPDR_PINGS	147,12.5,11.5	CAP_FILE_SIZE	186167,0
SC_FREEKB	3877600	SDSIZE	3918848,3906752
PM_FREEKB_00	62102016	SDFILEDIR	51,1
PM_FREEKB_01	62343040	ERRORS	0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	0	CURRENT	0.213,116.6,1
TM_FREEKB	7742528	MAGCAL	1.000000,-0.001683,-0.152960,0.000305,1.019400,-0.012315,0.015738,-0.023388,1.081624,119.4,43.9,4.1,36,0.1327,0
HUMID	57.38	IMPLIED_C_PITCH	2395,26.42,262
TEMP	5.41	IMPLIED_C_VBD	2824,27.524275,262
INTERNAL_PRESSURE	8.184	GPS	150921,113211,7101.559,-548.284,20,1.7,21,-5.0
_24V_AH	14.56,5.350

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	715	1519	15831.81	nil	0	0	0.00
Pitch_motor	19	441	124.69	nil	0	0	0.00
Roll_motor	55	109	88.64	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	36	420	224.73	nil	0	0	0.00
GPS	30	15	6.60	nil	0	0	0.00
Core	1800	11	310.23	SciCon	3838	20	1144.06
LPSleep	1976	2	80.80	PMAR	3843	8	498.07
Compass	1030	5	75.25	TMICL	3826	19	1069.77
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
14.85	16386	-145.99	-0.77	0.00	495.0	459.3	530.7	132.8	2302.6	0.00	0.00	0	98.81	78.83	0.00	0.00	0.005	0.000	0.000	2151.12	2086.19	2216.06	132.44	2342.25	0	0	0	15.80	30.00	30.00
99.05	18727	-145.99	-0.77	40.00	2152.1	2088.3	2215.9	132.3	2333.2	3.00	-0.36	8	199.25	80.92	9.90	2.26	0.005	0.442	0.059	3562.28	3503.56	3621.00	2193.88	3690.56	0	0	0	15.23	15.15	15.79
246.84	1028	-145.99	-0.77	0.00	3564.3	3506.4	3622.2	2193.3	3691.4	8.27	-11.73	37	253.36	0.00	0.00	2.37	0.000	0.000	0.027	3565.47	3507.69	3623.25	2194.19	2196.25	0	0	0	30.00	30.00	15.94
439.44	260	-145.99	-0.77	40.00	3562.8	3503.6	3622.0	2192.9	2189.9	29.67	-10.73	57	449.26	0.00	0.00	2.51	0.000	0.000	0.056	3564.00	3505.50	3622.50	2189.56	3689.75	0	0	0	30.00	30.00	15.30
677.35	1060	-145.99	-0.77	0.00	3562.3	3503.1	3621.4	2190.6	3689.7	53.43	-8.93	103	686.86	0.00	0.00	2.38	0.000	0.000	0.026	3563.25	3504.25	3622.25	2190.25	2189.12	0	0	0	30.00	30.00	15.94
874.28	548	-145.99	-0.77	-40.00	3562.2	3503.2	3621.1	2190.1	2184.8	71.45	-9.44	123	880.74	0.00	0.00	2.22	0.000	0.000	0.038	3562.97	3503.12	3622.81	2190.81	796.31	0	0	0	30.00	30.00	15.35
924.80	1060	-145.99	-0.77	0.00	3561.7	3501.6	3621.8	2190.3	795.9	76.44	-9.97	133	930.79	0.00	0.00	2.44	0.000	0.000	0.039	3562.28	3503.38	3621.19	2185.31	2278.38	0	0	0	30.00	30.00	15.95
1114.31	32	-145.99	-0.77	0.00	3561.9	3502.1	3621.7	2185.9	2280.7	95.00	-9.76	153	1118.32	0.00	0.00	0.00	0.000	0.000	0.000	3561.53	3501.25	3621.81	2185.69	2281.06	0	0	0	30.00	30.00	30.00
1304.34	548	-145.99	-0.77	-40.00	3561.8	3502.2	3621.4	2185.1	2280.5	113.39	-9.50	172	1310.85	0.00	0.00	2.46	0.000	0.000	0.037	3564.00	3504.75	3623.25	2184.75	796.25	0	0	0	30.00	30.00	15.95
1384.36	1060	-145.99	-0.77	0.00	3561.9	3502.1	3621.7	2184.6	794.8	121.03	-9.34	188	1390.88	0.00	0.00	2.44	0.000	0.000	0.037	3563.12	3504.00	3622.25	2181.44	2278.88	0	0	0	30.00	30.00	15.94
1574.37	516	-145.99	-0.77	-40.00	3561.2	3501.8	3620.7	2180.5	2277.6	139.89	-10.29	208	1580.91	0.00	0.00	2.45	0.000	0.000	0.037	3563.41	3503.00	3623.81	2179.00	796.25	0	0	0	30.00	30.00	15.94
1614.60	1028	-145.99	-0.77	0.00	3562.2	3502.0	3622.4	2181.2	795.7	144.21	-10.82	216	1620.91	0.00	0.00	2.45	0.000	0.000	0.041	3563.56	3503.56	3623.56	2180.56	2277.62	0	0	0	30.00	30.00	15.96
1804.40	0	-145.99	-0.77	0.00	3560.9	3500.9	3620.9	2180.7	2277.4	164.73	-10.87	236	1808.44	0.00	0.00	0.00	0.000	0.000	0.000	3560.41	3501.19	3619.62	2180.31	2277.88	0	0	0	30.00	30.00	30.00
1946	end dive: TARGET_DEPTH_EXCEEDED
state	1946	begin apogee
1947.09	10243	0.00	-0.17	0.00	3560.8	3500.4	3621.1	2180.5	1735.2	180.11	-10.95	250	2068.16	115.04	0.69	0.18	1.519	0.216	0.110	2969.31	2850.75	3087.88	2387.94	1862.69	0	0	0	12.09	15.86	15.19
2070	end apogee: CONTROL_FINISHED_OK
state	2071	begin climb
2070.31	10759	145.99	0.77	-40.00	2967.3	2848.7	3085.9	2388.0	1862.9	184.12	0.00	262	2192.63	111.06	0.89	2.59	1.416	0.101	0.049	2375.44	2205.75	2545.12	2697.56	363.12	0	0	0	11.99	15.29	15.04
2194.96	5253	145.99	0.64	0.00	2374.2	2206.1	2542.4	2697.0	362.9	175.46	11.01	281	2202.15	0.00	0.23	2.50	0.000	0.264	0.031	2376.62	2208.25	2545.00	2637.12	1835.62	0	0	0	30.00	15.14	15.12
2396.61	388	145.99	0.59	40.00	2372.2	2203.5	2540.8	2637.0	1836.6	154.35	11.04	301	2403.81	0.00	0.00	2.33	0.000	0.000	0.046	2374.12	2205.88	2542.38	2633.50	3243.06	0	0	0	30.00	30.00	15.65
2494.97	1156	145.99	0.53	0.00	2371.6	2204.2	2539.1	2634.4	3243.0	141.95	11.84	320	2501.52	0.00	0.00	2.46	0.000	0.000	0.032	2374.78	2207.81	2541.75	2640.44	1755.12	0	0	0	30.00	30.00	15.60
2684.96	4485	145.99	0.47	40.00	2370.6	2202.9	2538.4	2641.7	1753.6	120.48	11.24	340	2691.58	0.00	0.21	2.50	0.000	0.249	0.045	2374.91	2207.25	2542.56	2582.06	3245.88	0	0	0	30.00	15.67	15.77
2757.55	9254	179.15	0.51	0.00	2370.5	2203.4	2537.6	2581.8	3244.5	114.22	8.46	354	2793.47	26.28	0.00	2.44	1.415	0.000	0.031	2241.22	2060.75	2421.69	2582.81	1753.81	0	0	0	12.13	30.00	15.83
2976.70	10663	215.00	0.59	40.00	2239.5	2061.1	2417.9	2584.1	1753.1	96.19	8.33	380	3013.89	29.35	0.14	2.56	1.352	0.098	0.052	2092.38	1898.81	2285.94	2642.25	3242.12	0	0	0	12.11	15.71	15.03
3051.55	1156	215.00	0.55	0.00	2091.2	1898.8	2283.7	2641.3	3241.6	87.43	12.62	395	3061.39	0.00	0.00	2.46	0.000	0.000	0.033	2090.06	1896.81	2283.31	2642.62	1757.56	0	0	0	30.00	30.00	15.60
3244.00	4741	215.00	0.53	-40.00	2090.8	1898.8	2282.8	2643.2	1756.8	63.86	12.73	415	3250.59	0.00	0.14	2.32	0.000	0.239	0.052	2092.06	1900.06	2284.06	2601.12	360.44	0	0	0	30.00	15.64	15.60
3375.31	11431	244.27	0.63	0.00	2089.9	1898.3	2281.5	2601.1	360.2	51.64	8.64	441	3407.70	24.80	0.12	2.41	1.315	0.097	0.032	1975.31	1773.12	2177.50	2652.19	1835.56	0	0	0	12.15	15.74	15.79
3597.38	260	244.27	0.63	40.00	1969.7	1770.9	2168.4	2651.3	1835.6	26.15	11.32	466	3604.03	0.00	0.00	2.32	0.000	0.000	0.048	1970.62	1771.62	2169.62	2651.25	3241.75	0	0	0	30.00	30.00	15.14
3699.78	1156	244.27	0.61	0.00	1969.1	1771.4	2166.9	2651.7	3241.2	14.22	10.98	486	3707.29	0.00	0.00	2.45	0.000	0.000	0.034	1971.47	1773.12	2169.81	2656.00	1756.94	0	0	0	30.00	30.00	15.78
3795	end climb: SURFACE_DEPTH_REACHED
state	3795	begin surface coast
3838	end surface coast: CONTROL_FINISHED_OK
state	3838	begin surface