Glider dive log

NORSE Oct22 * SG234 * Dive index * Mission links * Dive 38 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 234 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 6 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 38 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 613.25 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT 1.6

D_TGT 400 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1000 COMM_SEQ 7 C_VBD 3000 DEEPGLIDERMB 0

D_NO_BLEED 200 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEVICE1 10

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 0.0012300001 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 0

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 110 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 160 T_RSLEEP 2 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 200 AH0_24V 529 NAV_DEVICE -1

USE_BATHY -2 PITCH_MAX 3990 AH0_10V 0 NAV2_DEVICE -1

USE_ICE 0 C_PITCH 2200 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 15 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 20.708633 SEABIRD_T_G 0.0044182916

MAX_BUOY 200 PITCH_MAXERRORS 1 FG_AHR_24V 24.626846 SEABIRD_T_H 0.00064551458

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.02 PHONE_SUPPLY 1 SEABIRD_T_I 2.6832278e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 PRESSURE_YINT -153.81317 SEABIRD_T_J 3.3159545e-06

RHO 1.0275 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022809372 SEABIRD_C_G -10.12649

MASS 71640 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 SEABIRD_C_H 1.1786305

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0019398184

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00023437376

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.0099999998 ROLL_MIN 700 ALTIM_TOP_MIN_OBSTACLE 0 SC_PROFILE 7.0

HD_C 1.6e-05 ROLL_MAX 3350 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 2280 ALTIM_FREQUENCY 11

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2025 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 1000 N_DIVES 0 SEABIRD_C_I -0.0019398184

AH0_24V 529 D_PITCH 0 N_FILEKB 8 SEABIRD_C_J 0.00023437376

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0044182916

ALTIM_FREQUENCY 11 D_SURF 2 N_NOCOMM 2 SEABIRD_T_H 0.00064551458

ALTIM_PING_DELTA 0 D_TGT 400 N_NOSURFACE 0 SEABIRD_T_I 2.6832278e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 3.3159545e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_SUPPLY 1 SM_CC 613.25

ALTIM_SENSITIVITY 2 FG_AHR_10V 20.708633 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 24.626846 PITCH_ADJ_GAIN 0.02 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 15 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_MAX 3990 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 200 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 0.0012300001 T_DIVE 110

COMPASS2_DEVICE -1 ID 234 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT 1.6 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 2200 KALMAN_USE 2 PRESSURE_SLOPE 0.00022809372 T_MISSION 160

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -153.81317 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_CLIMB 2025 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2280 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD 3000 LOGGERS 0 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 -2

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 10 MASS 71640 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 200 ROLL_MAX 3350 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 700 W_ADJ_DBAND 0

DIVE 38 MISSION 6 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 7.0 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 -10.12649

D_NO_BLEED 200 NOCOMM_ACTION 131 SEABIRD_C_H 1.1786305

Pre-dive calculations and measurements:

GPS1 261022,214916,7050.643,-623.795,25,1.2,32,-5.0 TGT_RADIUS 1000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.11 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 261022,215339,7050.663,-623.723,3,0.7,7,-5.0 MHEAD_RNG_PITCHd_Wd 228.2,423,-27.5,-12.121,-30.00,1068,0.320

SPEED_LIMITS 0.210,0.313 D_GRID 583

TGT_NAME PICKUP IRON 1.000000,-0.062213,0.004475,-0.085543,1.083511,0.168474,-0.032701,-0.005343,0.865636,-1126.529663,-1328.667480,-180.709808

TGT_LATLONG 7050.470,-624.100

Post-dive calculations and measurements:

FINISH -0.2,1.018817 MEM0 60148,1,0,0

SM_CCo 5276.82,555.72,1.249,0,501.1,562.2,439.9,612.98 MEM1 65508,1,0,0

SM_GC 1.20,555.72,15.81,0.61,1.249,0.074,0.118,501.1,562.2,439.9,185.7,2291.2,0,0,0,12.73,15.99,16.01 MEM2 968272,28,78736,50

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 19377,495

IRIDIUM_FIX 7051.37,-621.14,261022,195952 CAP_FILE_SIZE 205688,0

TCM_TEMP 6.63 SDSIZE 3887104,3865600

XPDR_PINGS 1,12.5,11.5 SDFILEDIR 218,1

HUMID 73.51 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 3.07 CURRENT 0.136, 46.2,1

INTERNAL_PRESSURE 7.87268 MAGCAL 1.000000,-0.074807,-0.097209,-0.087709,1.090212,-0.094193,0.018256,-0.005254,1.129661,-1006.9,-1077.9,-418.0,36,0.0815,0

_24V_AH 14.51,16.675 IMPLIED_C_PITCH 2237,13.99,298,0.0,0.00

_10V_AH 14.57,0.000 IMPLIED_C_VBD 2900,25.912725,298,0

FG_AHR_24Vo 24.961 GPS 261022,232201,7050.732,-624.210,4,0.9,7,-5.0

FG_AHR_10Vo 20.725

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 998 1796 26037.04 SBE_CT 557 24 194.22

Pitch_motor 35 298 155.15 nil 0 0 0.00

Roll_motor 48 244 172.22 nil 0 0 0.00

Iridium 213 211 653.56 nil 0 0 0.00

Transponder_ping 0 420 1.52 nil 0 0 0.00

GPS 16 15 3.52 nil 0 0 0.00

Core 1786 6 176.99 SciCon 0 0 0.00

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3165 2 92.24

Compass 719 5 52.44

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

1 end surface: CONTROL_FINISHED_OK

state 2 begin dive

2.23 16386 -84.69 -1.94 0.00 496.3 558.3 434.4 184.3 2253.0 0.00 0.00 0 177.19 174.37 0.00 0.00 0.005 0.000 0.000 3273.59 3315.31 3231.88 184.00 2253.25 0 0 0 15.55 30.00 30.00

177.45 18983 -167.82 -2.04 -80.00 3273.4 3316.4 3230.4 184.3 2253.1 3.06 -4.12 17 213.73 15.44 12.84 4.16 0.006 0.299 0.165 3685.19 3754.75 3615.62 1705.94 818.81 0 0 0 15.66 15.61 15.62

256.19 3205 -167.82 -1.93 0.00 3685.8 3756.9 3614.6 1705.8 818.3 17.68 -22.78 33 261.92 0.00 0.19 3.84 0.000 0.242 0.092 3686.78 3757.38 3616.19 1730.81 2290.81 0 0 0 30.00 15.66 15.72

446.20 260 -167.82 -1.93 80.00 3687.3 3759.4 3615.2 1730.8 2290.4 58.86 -21.56 53 451.76 0.00 0.00 3.01 0.000 0.000 0.166 3688.56 3760.75 3616.38 1731.38 3355.44 0 0 0 30.00 30.00 15.76

681.21 1156 -167.82 -1.88 0.00 3687.9 3759.9 3616.0 1731.6 3356.3 106.76 -21.04 100 686.86 0.00 0.00 2.73 0.000 0.000 0.071 3689.34 3760.94 3617.75 1730.94 2260.38 0 0 0 30.00 30.00 15.85

996.33 260 -167.82 -1.88 80.00 3688.8 3761.6 3616.1 1731.4 2260.4 167.34 -19.85 132 1001.87 0.00 0.00 3.09 0.000 0.000 0.159 3690.12 3763.00 3617.25 1730.94 3355.19 0 0 0 30.00 30.00 15.88

1231.33 3205 -167.82 -1.82 0.00 3689.8 3762.1 3617.5 1731.4 3355.4 222.09 -22.49 179 1237.06 0.00 0.22 2.77 0.000 0.234 0.076 3690.78 3762.75 3618.81 1760.06 2261.31 0 0 0 30.00 15.88 15.95

1546.43 260 -167.82 -1.82 80.00 3690.2 3763.3 3617.2 1760.8 2260.8 278.32 -17.34 203 1551.98 0.00 0.00 3.09 0.000 0.000 0.162 3691.78 3764.56 3619.00 1759.69 3353.75 0 0 0 30.00 30.00 15.95

1676.39 1156 -167.82 -1.78 0.00 3690.2 3762.7 3617.6 1760.5 3354.1 300.08 -18.98 229 1681.96 0.00 0.00 2.76 0.000 0.000 0.079 3690.56 3763.56 3617.56 1760.75 2261.44 0 0 0 30.00 30.00 16.00

1986.49 0 -167.82 -1.78 0.00 3690.7 3763.3 3618.1 1760.4 2260.8 353.55 -17.94 246 1987.84 0.00 0.00 0.00 0.000 0.000 0.000 3691.00 3763.62 3618.38 1760.50 2260.94 0 0 0 30.00 30.00 30.00

2306 end dive: TARGET_DEPTH_EXCEEDED

state 2307 begin apogee

2308.29 10243 0.00 -0.33 0.00 3690.5 3763.3 3617.8 1760.1 2006.4 403.35 -15.58 262 2437.66 124.64 2.62 0.09 1.797 0.200 0.244 2998.16 3075.94 2920.38 2119.06 2047.88 0 0 0 12.84 15.99 15.30

2438 end apogee: CONTROL_FINISHED_OK

state 2438 begin climb

2438.15 10243 167.82 2.04 0.00 2999.3 3077.3 2921.3 2119.3 2047.9 406.44 0.00 268 2572.67 128.47 4.14 0.00 1.732 0.129 0.000 2312.72 2395.62 2229.81 2696.31 2048.00 0 0 0 12.32 15.34 30.00

2886.54 16902 167.82 2.04 -80.00 2301.9 2384.2 2219.5 2696.0 2048.3 324.28 20.76 294 2892.24 0.00 0.00 3.97 0.000 0.000 0.162 2301.53 2384.25 2218.81 2696.06 693.00 0 0 0 30.00 30.00 15.65

2981.48 17414 167.82 2.04 0.00 2300.6 2381.9 2219.2 2695.8 692.9 299.27 25.90 313 2987.27 0.00 0.00 3.47 0.000 0.000 0.080 2301.25 2381.25 2221.25 2696.00 2040.19 0 0 0 30.00 30.00 15.73

3296.58 16386 167.82 2.04 0.00 2299.0 2380.1 2217.8 2696.4 2040.3 237.66 19.00 332 3297.92 0.00 0.00 0.00 0.000 0.000 0.000 2298.31 2380.69 2215.94 2695.75 2040.50 0 0 0 30.00 30.00 30.00

3606.61 16386 167.82 2.04 0.00 2297.3 2379.2 2215.4 2696.1 2040.6 181.04 17.29 363 3607.95 0.00 0.00 0.00 0.000 0.000 0.000 2296.00 2378.81 2213.19 2695.81 2040.62 0 0 0 30.00 30.00 30.00

3916.62 16646 167.82 2.04 80.00 2296.8 2378.4 2215.1 2696.3 2040.7 131.65 15.90 394 3922.33 0.00 0.00 3.66 0.000 0.000 0.149 2296.84 2378.69 2215.00 2696.38 3358.44 0 0 0 30.00 30.00 15.93

4036.65 17414 167.82 2.04 0.00 2295.4 2375.9 2214.9 2696.2 3358.8 108.43 20.07 418 4042.27 0.00 0.00 3.46 0.000 0.000 0.082 2295.97 2376.75 2215.19 2695.94 2007.94 0 0 0 30.00 30.00 15.96

4346.65 16902 167.82 2.04 -80.00 2294.7 2375.9 2213.4 2696.2 2006.2 58.13 15.85 450 4352.32 0.00 0.00 3.76 0.000 0.000 0.164 2296.66 2378.12 2215.19 2695.94 689.88 0 0 0 30.00 30.00 15.96

4441.57 17414 167.82 2.04 0.00 2294.6 2375.7 2213.5 2696.1 689.8 38.34 19.77 469 4447.36 0.00 0.00 3.41 0.000 0.000 0.079 2295.97 2376.75 2215.19 2696.06 2042.06 0 0 0 30.00 30.00 15.99

4636.66 16386 167.82 2.04 0.00 2293.7 2374.3 2213.1 2696.1 2041.9 7.34 15.98 489 4638.00 0.00 0.00 0.00 0.000 0.000 0.000 2293.22 2373.62 2212.81 2696.56 2041.81 0 0 0 30.00 30.00 30.00

4677 end climb: SURFACE_DEPTH_REACHED

state 4677 begin surface coast

4697 end surface coast: CONTROL_FINISHED_OK

state 4697 begin surface

ID	234	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	6	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	38	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	613.25	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	1.6
D_TGT	400	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1000	COMM_SEQ	7	C_VBD	3000	DEEPGLIDERMB	0
D_NO_BLEED	200	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEVICE1	10
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	0.0012300001	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	0
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	110	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	160	T_RSLEEP	2	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	200	AH0_24V	529	NAV_DEVICE	-1
USE_BATHY	-2	PITCH_MAX	3990	AH0_10V	0	NAV2_DEVICE	-1
USE_ICE	0	C_PITCH	2200	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	15	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	20.708633	SEABIRD_T_G	0.0044182916
MAX_BUOY	200	PITCH_MAXERRORS	1	FG_AHR_24V	24.626846	SEABIRD_T_H	0.00064551458
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.02	PHONE_SUPPLY	1	SEABIRD_T_I	2.6832278e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-153.81317	SEABIRD_T_J	3.3159545e-06
RHO	1.0275	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022809372	SEABIRD_C_G	-10.12649
MASS	71640	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	SEABIRD_C_H	1.1786305
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0019398184
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00023437376
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.0099999998	ROLL_MIN	700	ALTIM_TOP_MIN_OBSTACLE	0	SC_PROFILE	7.0
HD_C	1.6e-05	ROLL_MAX	3350	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	2280	ALTIM_FREQUENCY	11
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2025	ALTIM_PULSE	3

GPS1	261022,214916,7050.643,-623.795,25,1.2,32,-5.0	TGT_RADIUS	1000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.11	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	261022,215339,7050.663,-623.723,3,0.7,7,-5.0	MHEAD_RNG_PITCHd_Wd	228.2,423,-27.5,-12.121,-30.00,1068,0.320
SPEED_LIMITS	0.210,0.313	D_GRID	583
TGT_NAME	PICKUP	IRON	1.000000,-0.062213,0.004475,-0.085543,1.083511,0.168474,-0.032701,-0.005343,0.865636,-1126.529663,-1328.667480,-180.709808
TGT_LATLONG	7050.470,-624.100

FINISH	-0.2,1.018817	MEM0	60148,1,0,0
SM_CCo	5276.82,555.72,1.249,0,501.1,562.2,439.9,612.98	MEM1	65508,1,0,0
SM_GC	1.20,555.72,15.81,0.61,1.249,0.074,0.118,501.1,562.2,439.9,185.7,2291.2,0,0,0,12.73,15.99,16.01	MEM2	968272,28,78736,50
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	19377,495
IRIDIUM_FIX	7051.37,-621.14,261022,195952	CAP_FILE_SIZE	205688,0
TCM_TEMP	6.63	SDSIZE	3887104,3865600
XPDR_PINGS	1,12.5,11.5	SDFILEDIR	218,1
HUMID	73.51	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	3.07	CURRENT	0.136, 46.2,1
INTERNAL_PRESSURE	7.87268	MAGCAL	1.000000,-0.074807,-0.097209,-0.087709,1.090212,-0.094193,0.018256,-0.005254,1.129661,-1006.9,-1077.9,-418.0,36,0.0815,0
_24V_AH	14.51,16.675	IMPLIED_C_PITCH	2237,13.99,298,0.0,0.00
_10V_AH	14.57,0.000	IMPLIED_C_VBD	2900,25.912725,298,0
FG_AHR_24Vo	24.961	GPS	261022,232201,7050.732,-624.210,4,0.9,7,-5.0
FG_AHR_10Vo	20.725

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	998	1796	26037.04	SBE_CT	557	24	194.22
Pitch_motor	35	298	155.15	nil	0	0	0.00
Roll_motor	48	244	172.22	nil	0	0	0.00
Iridium	213	211	653.56	nil	0	0	0.00
Transponder_ping	0	420	1.52	nil	0	0	0.00
GPS	16	15	3.52	nil	0	0	0.00
Core	1786	6	176.99	SciCon	0	0	0.00
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3165	2	92.24
Compass	719	5	52.44
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
1	end surface: CONTROL_FINISHED_OK
state	2	begin dive
2.23	16386	-84.69	-1.94	0.00	496.3	558.3	434.4	184.3	2253.0	0.00	0.00	0	177.19	174.37	0.00	0.00	0.005	0.000	0.000	3273.59	3315.31	3231.88	184.00	2253.25	0	0	0	15.55	30.00	30.00
177.45	18983	-167.82	-2.04	-80.00	3273.4	3316.4	3230.4	184.3	2253.1	3.06	-4.12	17	213.73	15.44	12.84	4.16	0.006	0.299	0.165	3685.19	3754.75	3615.62	1705.94	818.81	0	0	0	15.66	15.61	15.62
256.19	3205	-167.82	-1.93	0.00	3685.8	3756.9	3614.6	1705.8	818.3	17.68	-22.78	33	261.92	0.00	0.19	3.84	0.000	0.242	0.092	3686.78	3757.38	3616.19	1730.81	2290.81	0	0	0	30.00	15.66	15.72
446.20	260	-167.82	-1.93	80.00	3687.3	3759.4	3615.2	1730.8	2290.4	58.86	-21.56	53	451.76	0.00	0.00	3.01	0.000	0.000	0.166	3688.56	3760.75	3616.38	1731.38	3355.44	0	0	0	30.00	30.00	15.76
681.21	1156	-167.82	-1.88	0.00	3687.9	3759.9	3616.0	1731.6	3356.3	106.76	-21.04	100	686.86	0.00	0.00	2.73	0.000	0.000	0.071	3689.34	3760.94	3617.75	1730.94	2260.38	0	0	0	30.00	30.00	15.85
996.33	260	-167.82	-1.88	80.00	3688.8	3761.6	3616.1	1731.4	2260.4	167.34	-19.85	132	1001.87	0.00	0.00	3.09	0.000	0.000	0.159	3690.12	3763.00	3617.25	1730.94	3355.19	0	0	0	30.00	30.00	15.88
1231.33	3205	-167.82	-1.82	0.00	3689.8	3762.1	3617.5	1731.4	3355.4	222.09	-22.49	179	1237.06	0.00	0.22	2.77	0.000	0.234	0.076	3690.78	3762.75	3618.81	1760.06	2261.31	0	0	0	30.00	15.88	15.95
1546.43	260	-167.82	-1.82	80.00	3690.2	3763.3	3617.2	1760.8	2260.8	278.32	-17.34	203	1551.98	0.00	0.00	3.09	0.000	0.000	0.162	3691.78	3764.56	3619.00	1759.69	3353.75	0	0	0	30.00	30.00	15.95
1676.39	1156	-167.82	-1.78	0.00	3690.2	3762.7	3617.6	1760.5	3354.1	300.08	-18.98	229	1681.96	0.00	0.00	2.76	0.000	0.000	0.079	3690.56	3763.56	3617.56	1760.75	2261.44	0	0	0	30.00	30.00	16.00
1986.49	0	-167.82	-1.78	0.00	3690.7	3763.3	3618.1	1760.4	2260.8	353.55	-17.94	246	1987.84	0.00	0.00	0.00	0.000	0.000	0.000	3691.00	3763.62	3618.38	1760.50	2260.94	0	0	0	30.00	30.00	30.00
2306	end dive: TARGET_DEPTH_EXCEEDED
state	2307	begin apogee
2308.29	10243	0.00	-0.33	0.00	3690.5	3763.3	3617.8	1760.1	2006.4	403.35	-15.58	262	2437.66	124.64	2.62	0.09	1.797	0.200	0.244	2998.16	3075.94	2920.38	2119.06	2047.88	0	0	0	12.84	15.99	15.30
2438	end apogee: CONTROL_FINISHED_OK
state	2438	begin climb
2438.15	10243	167.82	2.04	0.00	2999.3	3077.3	2921.3	2119.3	2047.9	406.44	0.00	268	2572.67	128.47	4.14	0.00	1.732	0.129	0.000	2312.72	2395.62	2229.81	2696.31	2048.00	0	0	0	12.32	15.34	30.00
2886.54	16902	167.82	2.04	-80.00	2301.9	2384.2	2219.5	2696.0	2048.3	324.28	20.76	294	2892.24	0.00	0.00	3.97	0.000	0.000	0.162	2301.53	2384.25	2218.81	2696.06	693.00	0	0	0	30.00	30.00	15.65
2981.48	17414	167.82	2.04	0.00	2300.6	2381.9	2219.2	2695.8	692.9	299.27	25.90	313	2987.27	0.00	0.00	3.47	0.000	0.000	0.080	2301.25	2381.25	2221.25	2696.00	2040.19	0	0	0	30.00	30.00	15.73
3296.58	16386	167.82	2.04	0.00	2299.0	2380.1	2217.8	2696.4	2040.3	237.66	19.00	332	3297.92	0.00	0.00	0.00	0.000	0.000	0.000	2298.31	2380.69	2215.94	2695.75	2040.50	0	0	0	30.00	30.00	30.00
3606.61	16386	167.82	2.04	0.00	2297.3	2379.2	2215.4	2696.1	2040.6	181.04	17.29	363	3607.95	0.00	0.00	0.00	0.000	0.000	0.000	2296.00	2378.81	2213.19	2695.81	2040.62	0	0	0	30.00	30.00	30.00
3916.62	16646	167.82	2.04	80.00	2296.8	2378.4	2215.1	2696.3	2040.7	131.65	15.90	394	3922.33	0.00	0.00	3.66	0.000	0.000	0.149	2296.84	2378.69	2215.00	2696.38	3358.44	0	0	0	30.00	30.00	15.93
4036.65	17414	167.82	2.04	0.00	2295.4	2375.9	2214.9	2696.2	3358.8	108.43	20.07	418	4042.27	0.00	0.00	3.46	0.000	0.000	0.082	2295.97	2376.75	2215.19	2695.94	2007.94	0	0	0	30.00	30.00	15.96
4346.65	16902	167.82	2.04	-80.00	2294.7	2375.9	2213.4	2696.2	2006.2	58.13	15.85	450	4352.32	0.00	0.00	3.76	0.000	0.000	0.164	2296.66	2378.12	2215.19	2695.94	689.88	0	0	0	30.00	30.00	15.96
4441.57	17414	167.82	2.04	0.00	2294.6	2375.7	2213.5	2696.1	689.8	38.34	19.77	469	4447.36	0.00	0.00	3.41	0.000	0.000	0.079	2295.97	2376.75	2215.19	2696.06	2042.06	0	0	0	30.00	30.00	15.99
4636.66	16386	167.82	2.04	0.00	2293.7	2374.3	2213.1	2696.1	2041.9	7.34	15.98	489	4638.00	0.00	0.00	0.00	0.000	0.000	0.000	2293.22	2373.62	2212.81	2696.56	2041.81	0	0	0	30.00	30.00	30.00
4677	end climb: SURFACE_DEPTH_REACHED
state	4677	begin surface coast
4697	end surface coast: CONTROL_FINISHED_OK
state	4697	begin surface