Glider dive log

SMODE Mar23 * SG219 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 219 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 1.9639999e-06

MISSION 6 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -2

DIVE 3 SM_CC 605.40039 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

N_DIVES 3 N_FILEKB 4 VBD_MIN 500 DEEPGLIDERMB 0

STOP_T 0 FILEMGR 0 VBD_MAX 3960 MOTHERBOARD 6

D_SURF 2 CALL_NDIVES 1 C_VBD 2968 DEVICE1 -1

D_FLARE 2 COMM_SEQ 7 VBD_DBAND 2 DEVICE2 -1

D_TGT 180 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE3 -1

D_ABORT 250 N_NOCOMM 2 VBD_LP_IGNORE 0 DEVICE4 -1

D_NO_BLEED 200 NOCOMM_ACTION 131 VBD_TIMEOUT 720 DEVICE5 -1

D_BOOST 2 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0013 DEVICE6 -1

T_BOOST 0 UPLOAD_DIVES_MAX -1 UNCOM_BLEED 20 LOGGERS 3

D_FINISH 0 NETBOX 1 VBD_MAXERRORS 1 LOGGERDEVICE1 7

D_PITCH 0 CALL_TRIES 5 C_VBD_AUTO_DELTA 0 LOGGERDEVICE2 19

D_SAFE 0 CALL_WAIT 60 C_VBD_AUTO_MAX 0 LOGGERDEVICE3 -1

D_CALL 0 CAPUPLOAD 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

SURFACE_URGENCY 0 CAPMAXSIZE 100000 DBDW 0 COMPASS_DEVICE 66

SURFACE_URGENCY_TRY 0 T_GPS 5 LOITER_W_DBAND 0 COMPASS2_DEVICE -1

SURFACE_URGENCY_FORCE 0 N_GPS 100440 LOITER_DBDW 0 PHONE_DEVICE 33

T_DIVE 60 T_RSLEEP 1 LOITER_D_TOP 0 GPS_DEVICE 48

T_MISSION 75 STROBE 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE -1

T_ABORT 1440 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 NAV_DEVICE -1

T_TURN 225 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 NAV2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_HIT_WINDOW 3600 AH0_24V 310 NETWORK_DEVICE -1

T_NO_W 120 RAFOS_MMODEM 0 AH0_10V 0 PRESSURE_DEVICE 41

T_LOITER 0 PITCH_MIN 250 MINV_24V 11 XPDR_DEVICE 21

T_EPIRB 0 PITCH_MAX 3915 MINV_10V 11 SIM_W 0

USE_BATHY -10 C_PITCH 2290 MAXI_24V 5 SEABIRD_T_G 0.0044047111

USE_ICE 0 PITCH_DBAND 0.1 MAXI_10V 1.4 SEABIRD_T_H 0.00064512878

ICE_FREEZE_MARGIN 0.30000001 PITCH_CNV 0.0031300001 FG_AHR_10V 71.713493 SEABIRD_T_I 2.6333068e-05

D_OFFGRID 1000 PITCH_GAIN 40 FG_AHR_24V 112.36507 SEABIRD_T_J 3.284043e-06

RELAUNCH 1 PITCH_TIMEOUT 25 PHONE_SUPPLY 2 SEABIRD_C_G -9.7945557

APOGEE_PITCH -5 PITCH_MAXERRORS 1 PRESSURE_YINT -150.25168 SEABIRD_C_H 1.1460752

MAX_BUOY 150 PITCH_ADJ_GAIN 0.015 PRESSURE_SLOPE 0.00022471976 SEABIRD_C_I -0.0011505114

GLIDE_SLOPE 30 PITCH_ADJ_DBAND 1 COMPASS_USE 49156 SEABIRD_C_J 0.00017395352

SPEED_FACTOR 1 C_PITCH_AUTO_DELTA 0 ALTIM_PING_FIT 0 OPTIONS 0

RHO 1.0275 C_PITCH_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

MASS 56279 PITCH_GAIN_AUTO_DELTA 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 3.0

NAV_MODE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

FERRY_MAX 45 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 0 SC_NDIVE 1.0

KALMAN_USE 2 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 TM_RECORDABOVE 200.0

HD_A 0.0019952599 ROLL_MIN 250 ALTIM_PING_DELTA 0 TM_PROFILE 3.0

HD_B 0.019109501 ROLL_MAX 3825 ALTIM_FREQUENCY 13 TM_XMITPROFILE 3.0

HD_C 5.7000002e-06 ROLL_DEG 40 ALTIM_PULSE 3 TM_NDIVE 1.0

HEADING 180 C_ROLL_DIVE 2800 ALTIM_SENSITIVITY 2 TM_XMITRAW 0.0

ESCAPE_HEADING 0 C_ROLL_CLIMB 2400 XPDR_VALID 6 TM_LOGSAMPLE 0.0

ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 XPDR_INHIBIT 90

FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 XPDR_INT 12.5

TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_REP 11.5

AH0_10V 0 D_SAFE 0 N_NOCOMM 2 SEABIRD_T_J 3.284043e-06

AH0_24V 310 D_SURF 2 N_NOSURFACE 0 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 OPTIONS 0 SM_CC 605.40039

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_DEVICE 33 SPEED_FACTOR 1

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 STOP_T 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 1 STROBE 0

ALTIM_PING_FIT 0 FG_AHR_10V 71.713493 PITCH_ADJ_GAIN 0.015 SURFACE_URGENCY 0

ALTIM_PULSE 3 FG_AHR_24V 112.36507 PITCH_CNV 0.0031300001 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 40 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_DELTA 0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 HD_A 0.0019952599 PITCH_MAX 3915 TM_LOGSAMPLE 0.0

CALL_NDIVES 1 HD_B 0.019109501 PITCH_MAXERRORS 1 TM_NDIVE 1.0

CALL_TRIES 5 HD_C 5.7000002e-06 PITCH_MIN 250 TM_PROFILE 3.0

CALL_WAIT 60 HEADING 180 PITCH_TIMEOUT 25 TM_RECORDABOVE 200.0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0013 TM_XMITPROFILE 3.0

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0 TM_XMITRAW 0.0

CF8_MAXERRORS 20 ID 219 PITCH_W_GAIN 0 T_ABORT 1440

COMM_SEQ 7 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_DEVICE 41 T_BOOST 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -2 PRESSURE_SLOPE 0.00022471976 T_DIVE 60

COMPASS_DEVICE 66 KALMAN_USE 2 PRESSURE_YINT -150.25168 T_EPIRB 0

COMPASS_USE 49156 LOGGERDEVICE1 7 PROTOCOL 9 T_GPS 5

C_PITCH 2290 LOGGERDEVICE2 19 RAFOS_CORR_THRESH 60 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_MISSION 75

C_PITCH_AUTO_MAX 0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_NO_W 120

C_ROLL_CLIMB 2400 LOGGERS 3 RAFOS_MMODEM 0 T_RSLEEP 1

C_ROLL_DIVE 2800 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN 225

C_VBD 2968 LOITER_D_BOTTOM 0 RELAUNCH 1 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_D_TOP 0 RHO 1.0275 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_N_DIVE 0 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_W_DBAND 0 ROLL_ADJ_GAIN 0 USE_BATHY -10

DEEPGLIDER 0 MASS 56279 ROLL_CNV 0.028270001 USE_ICE 0

DEEPGLIDERMB 0 MAXI_10V 1.4 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE1 -1 MAXI_24V 5 ROLL_MAX 3825 VBD_DBAND 2

DEVICE2 -1 MAX_BUOY 150 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE3 -1 MINV_10V 11 ROLL_MIN 250 VBD_MAX 3960

DEVICE4 -1 MINV_24V 11 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE5 -1 MISSION 6 SC_NDIVE 1.0 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 SC_PROFILE 3.0 VBD_TIMEOUT 720

DIVE 3 NAV2_DEVICE -1 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_ABORT 250 NAV_DEVICE -1 SC_XMITPROFILE 3.0 XPDR_DEVICE 21

D_BOOST 2 NAV_MODE 2 SEABIRD_C_G -9.7945557 XPDR_INHIBIT 90

D_CALL 0 NETBOX 1 SEABIRD_C_H 1.1460752 XPDR_INT 12.5

D_FINISH 0 NETWORK_DEVICE -1 SEABIRD_C_I -0.0011505114 XPDR_REP 11.5

D_FLARE 2 NOCOMM_ACTION 131 SEABIRD_C_J 0.00017395352 XPDR_VALID 6

D_NO_BLEED 200 N_DIVES 3 SEABIRD_T_G 0.0044047111

D_OFFGRID 1000 N_FILEKB 4 SEABIRD_T_H 0.00064512878

D_PITCH 0 N_GPS 100440 SEABIRD_T_I 2.6333068e-05

Pre-dive calculations and measurements:

GPS1 070323,212434,3647.331,-12202.591,1,1.2,3,12.9 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.19 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 070323,212706,3647.348,-12202.599,2,1.3,4,12.9 MHEAD_RNG_PITCHd_Wd 122.1,20000,-19.3,-10.000,-27.95,2212,0.153

SPEED_LIMITS 0.173,0.188 D_GRID 360

TGT_NAME HEADING IRON 1.000000,-0.015558,0.035280,-0.094684,1.088883,0.021181,-0.014514,-0.003390,1.018531,-501.042023,-690.348999,-634.392578

TGT_LATLONG 3636.549,-12202.599 OSC 8000307

Post-dive calculations and measurements:

WARN HTMICL TMICL logging already stopped FG_AHR_24Vo 112.541

FINISH 0.4,0.999582 FG_AHR_10Vo 71.780

SURF forcing MEM0 59964,1,0,0

SM_CCo 4061.71,221.81,1.036,0,500.3,546.5,454.1,605.33 MEM1 65508,1,0,0

SM_GC 1.25,221.81,6.67,1.57,1.036,0.067,0.024,500.3,546.5,454.1,219.0,2731.0,0,0,0,11.39,15.66,15.74 MEM2 909260,21,137768,56

SUPER 0,0,0,0,0,0 DATA_FILE_SIZE 16161,612

IRIDIUM_FIX 3646.52,-12205.17,070323,212259 CAP_FILE_SIZE 172164,0

TCM_TEMP 349.08 SDSIZE 3887104,3735072

XPDR_PINGS 24,12.5,11.5 SDFILEDIR 2066,2

SC_FREEKB 3792288 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TM_FREEKB 6789152 CURRENT 0.068,301.3,1

HUMID 49.78 MAGCAL 1.000000,-0.026453,0.039123,-0.077522,1.095814,0.020589,-0.022411,-0.039150,1.084058,-510.7,-684.3,-677.9,33,0.0198,0

TEMP 10.32 IMPLIED_C_PITCH 2270,24.81,364,0.0,0.00

INTERNAL_PRESSURE 8.55307 IMPLIED_C_VBD 2946,30.095934,352,0

_24V_AH 14.66,99.528 GPS 070323,223557,3647.153,-12202.521,31,1.9,32,12.9

_10V_AH 14.72,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 701 1265 13007.35 nil 0 0 0.00

Pitch_motor 17 346 86.56 nil 0 0 0.00

Roll_motor 44 85 55.43 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 6 420 36.94 nil 0 0 0.00

GPS 13 15 2.99 nil 0 0 0.00

Core 642 6 64.32 SciCon 3805 37 2087.42

Fast 0 0 0.00 TMICL 3802 18 1053.10

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2132 2 62.78

Compass 680 5 50.09

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

13 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15.34 16386 -145.99 -0.67 0.00 495.5 540.7 450.4 251.1 2854.2 0.00 0.00 0 127.96 105.39 0.00 0.00 0.005 0.000 0.000 2613.38 2630.62 2596.12 250.88 2855.69 0 0 0 14.97 30.00 30.00

128.39 18727 -145.99 -0.67 40.00 2614.6 2631.1 2598.1 250.7 2855.8 2.00 -0.81 21 194.34 43.79 8.06 1.65 0.005 0.346 0.082 3562.22 3601.56 3522.88 2068.25 3849.56 0 0 0 15.19 15.00 15.10

311.94 1156 -145.99 -0.73 0.00 3563.8 3602.2 3525.2 2068.1 3848.9 16.03 -10.18 56 318.76 0.00 0.00 1.70 0.000 0.000 0.023 3563.81 3602.56 3525.06 2069.25 2705.62 0 0 0 30.00 30.00 15.59

501.98 388 -145.99 -0.77 40.00 3563.6 3601.9 3525.3 2068.5 2701.1 36.22 -10.62 94 508.96 0.00 0.00 1.94 0.000 0.000 0.073 3565.12 3603.38 3526.88 2060.06 3846.00 0 0 0 30.00 30.00 15.38

566.98 5253 -145.99 -0.83 0.00 3564.0 3602.7 3525.4 2060.2 3846.2 42.93 -10.11 107 574.03 0.00 0.12 1.68 0.000 0.089 0.023 3564.94 3603.69 3526.19 1998.38 2702.25 0 0 0 30.00 15.43 15.54

757.02 2437 -145.99 -0.79 40.00 3563.6 3602.5 3524.6 1997.1 2698.6 69.00 -14.80 145 764.31 0.00 0.15 1.95 0.000 0.234 0.073 3565.72 3604.19 3527.25 2031.88 3848.38 0 0 0 30.00 15.43 15.42

862.03 1156 -145.99 -0.82 0.00 3563.5 3602.4 3524.6 2031.6 3847.8 81.91 -11.61 166 868.86 0.00 0.00 1.67 0.000 0.000 0.023 3563.69 3602.50 3524.88 2031.75 2707.25 0 0 0 30.00 30.00 15.48

1056.94 260 -145.99 -0.82 40.00 3563.6 3602.6 3524.7 2031.8 2702.6 104.79 -11.65 201 1063.78 0.00 0.00 1.93 0.000 0.000 0.072 3564.72 3602.62 3526.81 2021.81 3848.69 0 0 0 30.00 30.00 15.24

1111.81 1156 -145.99 -0.83 0.00 3563.7 3602.4 3525.0 2023.6 3848.4 111.41 -11.88 212 1118.85 0.00 0.00 1.67 0.000 0.000 0.023 3563.88 3602.50 3525.25 2023.38 2702.12 0 0 0 30.00 30.00 15.44

1427.00 0 -145.99 -0.83 0.00 3563.3 3602.4 3524.3 2023.6 2698.4 148.32 -10.92 244 1430.14 0.00 0.00 0.00 0.000 0.000 0.000 3562.81 3602.00 3523.62 2023.19 2698.19 0 0 0 30.00 30.00 30.00

1717 end dive: TARGET_DEPTH_EXCEEDED

state 1717 begin apogee

1718.89 10243 0.00 -0.12 0.00 3563.1 3602.4 3523.8 2023.1 2306.4 180.62 -11.04 273 1839.71 108.96 0.80 0.22 1.265 0.196 0.085 2964.88 2993.94 2935.81 2252.75 2441.31 0 0 0 11.16 15.40 15.19

1842 end apogee: CONTROL_FINISHED_OK

state 1843 begin climb

1843.22 10759 145.99 0.67 -40.00 2962.1 2992.4 2931.8 2252.0 2441.3 182.90 0.00 284 1969.00 109.68 0.78 2.85 1.213 0.097 0.035 2368.59 2400.00 2337.19 2524.81 951.00 0 0 0 11.56 15.36 14.61

2086.62 9254 209.63 0.76 0.00 2364.0 2393.0 2335.1 2524.9 950.6 173.95 7.04 329 2148.22 48.66 0.00 2.82 1.168 0.000 0.037 2112.16 2136.44 2087.88 2524.44 2434.44 0 0 0 11.35 30.00 15.07

2450.67 16646 209.63 0.76 40.00 2103.7 2129.5 2077.9 2524.8 2433.5 137.25 11.85 371 2457.99 0.00 0.00 2.30 0.000 0.000 0.068 2104.44 2130.88 2078.00 2524.62 3837.06 0 0 0 30.00 30.00 15.59

2500.81 17542 209.63 0.70 0.00 2102.6 2127.5 2077.7 2524.3 3837.5 131.31 11.75 381 2508.02 0.00 0.00 2.33 0.000 0.000 0.023 2102.91 2127.62 2078.19 2534.88 2337.88 0 0 0 30.00 30.00 14.74

2810.85 16514 209.63 0.68 0.00 2101.7 2127.3 2076.1 2534.9 2323.4 97.61 10.64 415 2815.80 0.00 0.00 0.00 0.000 0.000 0.000 2102.03 2128.00 2076.06 2535.69 2322.38 0 0 0 30.00 30.00 30.00

3000.96 4773 210.70 0.66 -40.00 2101.3 2126.8 2075.8 2534.9 2322.4 78.65 9.95 453 3008.69 0.00 0.15 2.58 0.000 0.204 0.036 2102.06 2127.62 2076.50 2501.31 953.06 0 0 0 30.00 15.49 14.68

3031.41 9382 237.02 0.72 0.00 2101.4 2126.8 2076.0 2501.1 952.7 76.09 8.78 459 3062.03 21.84 0.00 2.79 1.081 0.000 0.036 1999.12 2021.94 1976.31 2500.81 2433.69 0 0 0 11.38 30.00 15.08

3244.74 10663 283.17 0.81 40.00 1995.0 2018.9 1971.1 2501.1 2434.5 59.28 7.86 501 3290.43 36.33 0.14 2.33 1.085 0.098 0.070 1812.09 1829.38 1794.81 2568.38 3839.31 0 0 0 11.49 15.40 15.40

3298.06 5253 283.17 0.76 0.00 1810.2 1826.9 1793.4 2568.1 3837.6 53.19 12.47 511 3305.77 0.00 0.19 2.35 0.000 0.226 0.023 1811.06 1827.31 1794.81 2526.00 2342.75 0 0 0 30.00 15.43 14.84

3489.66 8614 287.16 0.79 40.00 1805.7 1825.4 1785.9 2525.8 2327.5 34.16 9.81 549 3502.49 4.84 0.00 2.55 0.623 0.000 0.068 1798.19 1817.88 1778.50 2524.88 3838.69 0 0 0 11.28 30.00 15.34

3549.99 1028 287.16 0.79 0.00 1795.0 1813.6 1776.4 2525.2 3838.8 27.48 10.94 561 3557.60 0.00 0.00 2.34 0.000 0.000 0.023 1795.06 1813.88 1776.25 2536.00 2341.31 0 0 0 30.00 30.00 15.58

3740.06 260 287.16 0.79 40.00 1794.1 1813.1 1775.1 2535.8 2326.5 7.79 10.72 599 3747.74 0.00 0.00 2.57 0.000 0.000 0.067 1794.19 1813.50 1774.88 2535.50 3837.06 0 0 0 30.00 30.00 15.55

3790 end climb: SURFACE_DEPTH_REACHED

state 3791 begin surface coast

3805 end surface coast: CONTROL_FINISHED_OK

state 3806 begin surface

ID	219	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	1.9639999e-06
MISSION	6	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-2
DIVE	3	SM_CC	605.40039	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
N_DIVES	3	N_FILEKB	4	VBD_MIN	500	DEEPGLIDERMB	0
STOP_T	0	FILEMGR	0	VBD_MAX	3960	MOTHERBOARD	6
D_SURF	2	CALL_NDIVES	1	C_VBD	2968	DEVICE1	-1
D_FLARE	2	COMM_SEQ	7	VBD_DBAND	2	DEVICE2	-1
D_TGT	180	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE3	-1
D_ABORT	250	N_NOCOMM	2	VBD_LP_IGNORE	0	DEVICE4	-1
D_NO_BLEED	200	NOCOMM_ACTION	131	VBD_TIMEOUT	720	DEVICE5	-1
D_BOOST	2	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0013	DEVICE6	-1
T_BOOST	0	UPLOAD_DIVES_MAX	-1	UNCOM_BLEED	20	LOGGERS	3
D_FINISH	0	NETBOX	1	VBD_MAXERRORS	1	LOGGERDEVICE1	7
D_PITCH	0	CALL_TRIES	5	C_VBD_AUTO_DELTA	0	LOGGERDEVICE2	19
D_SAFE	0	CALL_WAIT	60	C_VBD_AUTO_MAX	0	LOGGERDEVICE3	-1
D_CALL	0	CAPUPLOAD	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
SURFACE_URGENCY	0	CAPMAXSIZE	100000	DBDW	0	COMPASS_DEVICE	66
SURFACE_URGENCY_TRY	0	T_GPS	5	LOITER_W_DBAND	0	COMPASS2_DEVICE	-1
SURFACE_URGENCY_FORCE	0	N_GPS	100440	LOITER_DBDW	0	PHONE_DEVICE	33
T_DIVE	60	T_RSLEEP	1	LOITER_D_TOP	0	GPS_DEVICE	48
T_MISSION	75	STROBE	0	LOITER_D_BOTTOM	0	RAFOS_DEVICE	-1
T_ABORT	1440	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	NAV_DEVICE	-1
T_TURN	225	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	NAV2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_HIT_WINDOW	3600	AH0_24V	310	NETWORK_DEVICE	-1
T_NO_W	120	RAFOS_MMODEM	0	AH0_10V	0	PRESSURE_DEVICE	41
T_LOITER	0	PITCH_MIN	250	MINV_24V	11	XPDR_DEVICE	21
T_EPIRB	0	PITCH_MAX	3915	MINV_10V	11	SIM_W	0
USE_BATHY	-10	C_PITCH	2290	MAXI_24V	5	SEABIRD_T_G	0.0044047111
USE_ICE	0	PITCH_DBAND	0.1	MAXI_10V	1.4	SEABIRD_T_H	0.00064512878
ICE_FREEZE_MARGIN	0.30000001	PITCH_CNV	0.0031300001	FG_AHR_10V	71.713493	SEABIRD_T_I	2.6333068e-05
D_OFFGRID	1000	PITCH_GAIN	40	FG_AHR_24V	112.36507	SEABIRD_T_J	3.284043e-06
RELAUNCH	1	PITCH_TIMEOUT	25	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7945557
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	PRESSURE_YINT	-150.25168	SEABIRD_C_H	1.1460752
MAX_BUOY	150	PITCH_ADJ_GAIN	0.015	PRESSURE_SLOPE	0.00022471976	SEABIRD_C_I	-0.0011505114
GLIDE_SLOPE	30	PITCH_ADJ_DBAND	1	COMPASS_USE	49156	SEABIRD_C_J	0.00017395352
SPEED_FACTOR	1	C_PITCH_AUTO_DELTA	0	ALTIM_PING_FIT	0	OPTIONS	0
RHO	1.0275	C_PITCH_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
MASS	56279	PITCH_GAIN_AUTO_DELTA	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	3.0
NAV_MODE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
FERRY_MAX	45	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	0	SC_NDIVE	1.0
KALMAN_USE	2	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	TM_RECORDABOVE	200.0
HD_A	0.0019952599	ROLL_MIN	250	ALTIM_PING_DELTA	0	TM_PROFILE	3.0
HD_B	0.019109501	ROLL_MAX	3825	ALTIM_FREQUENCY	13	TM_XMITPROFILE	3.0
HD_C	5.7000002e-06	ROLL_DEG	40	ALTIM_PULSE	3	TM_NDIVE	1.0
HEADING	180	C_ROLL_DIVE	2800	ALTIM_SENSITIVITY	2	TM_XMITRAW	0.0
ESCAPE_HEADING	0	C_ROLL_CLIMB	2400	XPDR_VALID	6	TM_LOGSAMPLE	0.0
ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	XPDR_INHIBIT	90
FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	XPDR_INT	12.5
TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_REP	11.5

GPS1	070323,212434,3647.331,-12202.591,1,1.2,3,12.9	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.19	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	070323,212706,3647.348,-12202.599,2,1.3,4,12.9	MHEAD_RNG_PITCHd_Wd	122.1,20000,-19.3,-10.000,-27.95,2212,0.153
SPEED_LIMITS	0.173,0.188	D_GRID	360
TGT_NAME	HEADING	IRON	1.000000,-0.015558,0.035280,-0.094684,1.088883,0.021181,-0.014514,-0.003390,1.018531,-501.042023,-690.348999,-634.392578
TGT_LATLONG	3636.549,-12202.599	OSC	8000307

WARN	HTMICL TMICL logging already stopped	FG_AHR_24Vo	112.541
FINISH	0.4,0.999582	FG_AHR_10Vo	71.780
SURF	forcing	MEM0	59964,1,0,0
SM_CCo	4061.71,221.81,1.036,0,500.3,546.5,454.1,605.33	MEM1	65508,1,0,0
SM_GC	1.25,221.81,6.67,1.57,1.036,0.067,0.024,500.3,546.5,454.1,219.0,2731.0,0,0,0,11.39,15.66,15.74	MEM2	909260,21,137768,56
SUPER	0,0,0,0,0,0	DATA_FILE_SIZE	16161,612
IRIDIUM_FIX	3646.52,-12205.17,070323,212259	CAP_FILE_SIZE	172164,0
TCM_TEMP	349.08	SDSIZE	3887104,3735072
XPDR_PINGS	24,12.5,11.5	SDFILEDIR	2066,2
SC_FREEKB	3792288	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TM_FREEKB	6789152	CURRENT	0.068,301.3,1
HUMID	49.78	MAGCAL	1.000000,-0.026453,0.039123,-0.077522,1.095814,0.020589,-0.022411,-0.039150,1.084058,-510.7,-684.3,-677.9,33,0.0198,0
TEMP	10.32	IMPLIED_C_PITCH	2270,24.81,364,0.0,0.00
INTERNAL_PRESSURE	8.55307	IMPLIED_C_VBD	2946,30.095934,352,0
_24V_AH	14.66,99.528	GPS	070323,223557,3647.153,-12202.521,31,1.9,32,12.9
_10V_AH	14.72,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	701	1265	13007.35	nil	0	0	0.00
Pitch_motor	17	346	86.56	nil	0	0	0.00
Roll_motor	44	85	55.43	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	6	420	36.94	nil	0	0	0.00
GPS	13	15	2.99	nil	0	0	0.00
Core	642	6	64.32	SciCon	3805	37	2087.42
Fast	0	0	0.00	TMICL	3802	18	1053.10
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2132	2	62.78
Compass	680	5	50.09
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
13	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15.34	16386	-145.99	-0.67	0.00	495.5	540.7	450.4	251.1	2854.2	0.00	0.00	0	127.96	105.39	0.00	0.00	0.005	0.000	0.000	2613.38	2630.62	2596.12	250.88	2855.69	0	0	0	14.97	30.00	30.00
128.39	18727	-145.99	-0.67	40.00	2614.6	2631.1	2598.1	250.7	2855.8	2.00	-0.81	21	194.34	43.79	8.06	1.65	0.005	0.346	0.082	3562.22	3601.56	3522.88	2068.25	3849.56	0	0	0	15.19	15.00	15.10
311.94	1156	-145.99	-0.73	0.00	3563.8	3602.2	3525.2	2068.1	3848.9	16.03	-10.18	56	318.76	0.00	0.00	1.70	0.000	0.000	0.023	3563.81	3602.56	3525.06	2069.25	2705.62	0	0	0	30.00	30.00	15.59
501.98	388	-145.99	-0.77	40.00	3563.6	3601.9	3525.3	2068.5	2701.1	36.22	-10.62	94	508.96	0.00	0.00	1.94	0.000	0.000	0.073	3565.12	3603.38	3526.88	2060.06	3846.00	0	0	0	30.00	30.00	15.38
566.98	5253	-145.99	-0.83	0.00	3564.0	3602.7	3525.4	2060.2	3846.2	42.93	-10.11	107	574.03	0.00	0.12	1.68	0.000	0.089	0.023	3564.94	3603.69	3526.19	1998.38	2702.25	0	0	0	30.00	15.43	15.54
757.02	2437	-145.99	-0.79	40.00	3563.6	3602.5	3524.6	1997.1	2698.6	69.00	-14.80	145	764.31	0.00	0.15	1.95	0.000	0.234	0.073	3565.72	3604.19	3527.25	2031.88	3848.38	0	0	0	30.00	15.43	15.42
862.03	1156	-145.99	-0.82	0.00	3563.5	3602.4	3524.6	2031.6	3847.8	81.91	-11.61	166	868.86	0.00	0.00	1.67	0.000	0.000	0.023	3563.69	3602.50	3524.88	2031.75	2707.25	0	0	0	30.00	30.00	15.48
1056.94	260	-145.99	-0.82	40.00	3563.6	3602.6	3524.7	2031.8	2702.6	104.79	-11.65	201	1063.78	0.00	0.00	1.93	0.000	0.000	0.072	3564.72	3602.62	3526.81	2021.81	3848.69	0	0	0	30.00	30.00	15.24
1111.81	1156	-145.99	-0.83	0.00	3563.7	3602.4	3525.0	2023.6	3848.4	111.41	-11.88	212	1118.85	0.00	0.00	1.67	0.000	0.000	0.023	3563.88	3602.50	3525.25	2023.38	2702.12	0	0	0	30.00	30.00	15.44
1427.00	0	-145.99	-0.83	0.00	3563.3	3602.4	3524.3	2023.6	2698.4	148.32	-10.92	244	1430.14	0.00	0.00	0.00	0.000	0.000	0.000	3562.81	3602.00	3523.62	2023.19	2698.19	0	0	0	30.00	30.00	30.00
1717	end dive: TARGET_DEPTH_EXCEEDED
state	1717	begin apogee
1718.89	10243	0.00	-0.12	0.00	3563.1	3602.4	3523.8	2023.1	2306.4	180.62	-11.04	273	1839.71	108.96	0.80	0.22	1.265	0.196	0.085	2964.88	2993.94	2935.81	2252.75	2441.31	0	0	0	11.16	15.40	15.19
1842	end apogee: CONTROL_FINISHED_OK
state	1843	begin climb
1843.22	10759	145.99	0.67	-40.00	2962.1	2992.4	2931.8	2252.0	2441.3	182.90	0.00	284	1969.00	109.68	0.78	2.85	1.213	0.097	0.035	2368.59	2400.00	2337.19	2524.81	951.00	0	0	0	11.56	15.36	14.61
2086.62	9254	209.63	0.76	0.00	2364.0	2393.0	2335.1	2524.9	950.6	173.95	7.04	329	2148.22	48.66	0.00	2.82	1.168	0.000	0.037	2112.16	2136.44	2087.88	2524.44	2434.44	0	0	0	11.35	30.00	15.07
2450.67	16646	209.63	0.76	40.00	2103.7	2129.5	2077.9	2524.8	2433.5	137.25	11.85	371	2457.99	0.00	0.00	2.30	0.000	0.000	0.068	2104.44	2130.88	2078.00	2524.62	3837.06	0	0	0	30.00	30.00	15.59
2500.81	17542	209.63	0.70	0.00	2102.6	2127.5	2077.7	2524.3	3837.5	131.31	11.75	381	2508.02	0.00	0.00	2.33	0.000	0.000	0.023	2102.91	2127.62	2078.19	2534.88	2337.88	0	0	0	30.00	30.00	14.74
2810.85	16514	209.63	0.68	0.00	2101.7	2127.3	2076.1	2534.9	2323.4	97.61	10.64	415	2815.80	0.00	0.00	0.00	0.000	0.000	0.000	2102.03	2128.00	2076.06	2535.69	2322.38	0	0	0	30.00	30.00	30.00
3000.96	4773	210.70	0.66	-40.00	2101.3	2126.8	2075.8	2534.9	2322.4	78.65	9.95	453	3008.69	0.00	0.15	2.58	0.000	0.204	0.036	2102.06	2127.62	2076.50	2501.31	953.06	0	0	0	30.00	15.49	14.68
3031.41	9382	237.02	0.72	0.00	2101.4	2126.8	2076.0	2501.1	952.7	76.09	8.78	459	3062.03	21.84	0.00	2.79	1.081	0.000	0.036	1999.12	2021.94	1976.31	2500.81	2433.69	0	0	0	11.38	30.00	15.08
3244.74	10663	283.17	0.81	40.00	1995.0	2018.9	1971.1	2501.1	2434.5	59.28	7.86	501	3290.43	36.33	0.14	2.33	1.085	0.098	0.070	1812.09	1829.38	1794.81	2568.38	3839.31	0	0	0	11.49	15.40	15.40
3298.06	5253	283.17	0.76	0.00	1810.2	1826.9	1793.4	2568.1	3837.6	53.19	12.47	511	3305.77	0.00	0.19	2.35	0.000	0.226	0.023	1811.06	1827.31	1794.81	2526.00	2342.75	0	0	0	30.00	15.43	14.84
3489.66	8614	287.16	0.79	40.00	1805.7	1825.4	1785.9	2525.8	2327.5	34.16	9.81	549	3502.49	4.84	0.00	2.55	0.623	0.000	0.068	1798.19	1817.88	1778.50	2524.88	3838.69	0	0	0	11.28	30.00	15.34
3549.99	1028	287.16	0.79	0.00	1795.0	1813.6	1776.4	2525.2	3838.8	27.48	10.94	561	3557.60	0.00	0.00	2.34	0.000	0.000	0.023	1795.06	1813.88	1776.25	2536.00	2341.31	0	0	0	30.00	30.00	15.58
3740.06	260	287.16	0.79	40.00	1794.1	1813.1	1775.1	2535.8	2326.5	7.79	10.72	599	3747.74	0.00	0.00	2.57	0.000	0.000	0.067	1794.19	1813.50	1774.88	2535.50	3837.06	0	0	0	30.00	30.00	15.55
3790	end climb: SURFACE_DEPTH_REACHED
state	3791	begin surface coast
3805	end surface coast: CONTROL_FINISHED_OK
state	3806	begin surface