Glider dive log

NORSE Oct22 * SG234 * Dive index * Mission links * Dive 39 * 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 39 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 20.732311 SEABIRD_T_G 0.0044182916

MAX_BUOY 200 PITCH_MAXERRORS 1 FG_AHR_24V 24.962303 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 20.732311 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 24.962303 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 39 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 261022,232201,7050.732,-624.210,4,0.9,7,-5.0 TGT_RADIUS 1000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.14 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 261022,232507,7050.740,-624.138,2,0.9,6,-5.0 MHEAD_RNG_PITCHd_Wd 211.5,501,-27.5,-12.121,-30.00,1068,0.446

SPEED_LIMITS 0.210,0.313 D_GRID 530

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 -0.1,1.016264 MEM0 60148,1,0,0

SM_CCo 5112.29,542.10,1.258,0,501.0,563.9,438.0,613.01 MEM1 65508,1,0,0

SM_GC 1.09,542.10,15.83,0.60,1.258,0.072,0.114,501.0,563.9,438.0,188.4,2294.4,0,0,0,12.75,15.98,16.00 MEM2 968296,26,78752,50

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 19416,494

IRIDIUM_FIX 7051.37,-621.14,261022,215012 CAP_FILE_SIZE 216326,0

TCM_TEMP 7.13 SDSIZE 3887104,3865440

XPDR_PINGS 3,12.5,11.5 SDFILEDIR 222,1

HUMID 73.65 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 3.14 CURRENT 0.059, 71.1,1

INTERNAL_PRESSURE 7.87077 MAGCAL 1.000000,-0.056124,-0.101202,-0.089406,1.086568,-0.068157,0.002271,-0.061385,1.163659,-1010.0,-1096.2,-443.4,36,0.0689,0

_24V_AH 14.52,17.019 IMPLIED_C_PITCH 2235,13.88,284,0.0,0.00

_10V_AH 14.56,0.000 IMPLIED_C_VBD 2864,22.480627,284,0

FG_AHR_24Vo 25.301 GPS 271022,005102,7050.470,-624.927,23,0.9,25,-5.0

FG_AHR_10Vo 20.747

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 1005 1821 26588.62 SBE_CT 534 24 186.25

Pitch_motor 36 305 159.97 nil 0 0 0.00

Roll_motor 62 275 252.05 nil 0 0 0.00

Iridium 136 192 382.59 nil 0 0 0.00

Transponder_ping 0 420 4.57 nil 0 0 0.00

GPS 15 15 3.41 nil 0 0 0.00

Core 1722 6 170.55 SciCon 0 0 0.00

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3003 2 87.45

Compass 718 5 52.34

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 1 begin dive

2.22 16386 -84.69 -1.94 0.00 496.5 558.1 434.8 184.3 2252.0 0.00 0.00 0 183.36 179.54 0.00 0.10 0.005 0.000 0.276 3342.41 3389.62 3295.19 184.44 2292.50 0 0 0 14.51 30.00 15.61

183.61 18983 -178.95 -2.05 -80.00 3344.3 3391.2 3297.4 184.1 2292.6 2.63 -3.05 17 219.92 13.60 13.02 4.34 0.007 0.305 0.168 3730.69 3799.44 3661.94 1702.06 818.62 0 0 0 15.65 15.58 15.61

222.44 3205 -178.95 -1.95 0.00 3730.1 3799.5 3660.6 1701.7 818.6 10.29 -16.80 25 228.18 0.00 0.19 3.85 0.000 0.241 0.085 3730.59 3800.00 3661.19 1727.88 2291.50 0 0 0 30.00 15.62 15.68

412.47 260 -178.95 -1.95 80.00 3732.9 3804.8 3661.1 1727.2 2291.2 53.43 -22.93 45 418.01 0.00 0.00 3.04 0.000 0.000 0.164 3733.66 3804.38 3662.94 1727.06 3355.25 0 0 0 30.00 30.00 15.74

647.46 1156 -178.95 -1.90 0.00 3734.0 3804.4 3663.5 1727.5 3355.3 110.84 -21.97 92 653.11 0.00 0.00 2.77 0.000 0.000 0.073 3734.16 3804.69 3663.62 1727.50 2259.69 0 0 0 30.00 30.00 15.84

962.57 260 -178.95 -1.90 80.00 3735.0 3806.6 3663.4 1727.8 2259.8 178.59 -22.88 124 968.14 0.00 0.00 3.11 0.000 0.000 0.159 3734.94 3806.88 3663.00 1727.50 3358.56 0 0 0 30.00 30.00 15.87

1197.55 3205 -178.95 -1.84 0.00 3735.4 3806.3 3664.5 1727.4 3358.0 233.52 -23.09 171 1203.27 0.00 0.20 2.79 0.000 0.230 0.077 3736.75 3807.62 3665.88 1753.88 2261.06 0 0 0 30.00 15.87 15.94

1512.64 260 -178.95 -1.84 80.00 3736.7 3808.6 3664.8 1754.4 2260.4 291.56 -18.11 192 1518.19 0.00 0.00 3.12 0.000 0.000 0.160 3737.78 3809.00 3666.56 1753.75 3357.00 0 0 0 30.00 30.00 15.94

1562.56 1028 -178.95 -1.84 0.00 3736.4 3808.1 3664.6 1754.2 3354.9 300.85 -17.86 202 1568.13 0.00 0.00 2.78 0.000 0.000 0.078 3737.06 3808.62 3665.50 1754.12 2261.44 0 0 0 30.00 30.00 15.98

1872.65 0 -178.95 -1.84 0.00 3737.2 3809.2 3665.2 1754.6 2261.0 353.71 -17.35 219 1874.00 0.00 0.00 0.00 0.000 0.000 0.000 3736.31 3809.00 3663.62 1754.25 2261.06 0 0 0 30.00 30.00 30.00

2173 end dive: TARGET_DEPTH_EXCEEDED

state 2173 begin apogee

2174.67 10243 0.00 -0.33 0.00 3736.9 3809.2 3664.6 1754.0 2007.2 403.17 -17.30 234 2312.11 133.23 2.68 0.09 1.821 0.204 0.234 2997.09 3075.44 2918.75 2118.81 2050.81 0 0 0 12.85 15.98 15.26

2312 end apogee: CONTROL_FINISHED_OK

state 2312 begin climb

2312.60 10243 178.95 2.05 0.00 2998.2 3077.1 2919.4 2119.4 2050.4 409.75 0.00 240 2458.01 136.86 4.14 0.00 1.750 0.126 0.000 2270.00 2352.75 2187.25 2699.94 2050.56 0 0 0 12.31 15.30 30.00

2775.28 16646 178.95 2.05 80.00 2257.5 2338.2 2176.8 2700.1 2050.4 327.02 21.21 276 2780.91 0.00 0.00 3.69 0.000 0.000 0.142 2257.72 2338.88 2176.56 2700.19 3357.44 0 0 0 30.00 30.00 15.66

2820.26 17414 178.95 2.05 0.00 2256.5 2336.4 2176.7 2700.2 3357.4 316.84 21.80 285 2825.89 0.00 0.00 3.49 0.000 0.000 0.080 2257.94 2337.69 2178.19 2699.62 2008.38 0 0 0 30.00 30.00 15.70

3135.32 16902 178.95 2.05 -80.00 2255.7 2336.0 2175.4 2699.9 2006.5 253.90 19.72 303 3140.99 0.00 0.00 3.77 0.000 0.000 0.166 2255.88 2335.81 2175.94 2699.75 692.69 0 0 0 30.00 30.00 15.79

3230.26 17414 178.95 2.05 0.00 2255.0 2334.8 2175.2 2700.3 692.3 232.11 23.28 322 3236.05 0.00 0.00 3.42 0.000 0.000 0.077 2258.12 2338.06 2178.19 2700.38 2042.38 0 0 0 30.00 30.00 15.85

3545.47 16646 178.95 2.05 80.00 2254.2 2333.7 2174.8 2700.4 2041.5 173.00 17.51 354 3551.05 0.00 0.00 3.65 0.000 0.000 0.148 2256.88 2335.69 2178.06 2700.50 3356.50 0 0 0 30.00 30.00 15.88

3640.33 17414 178.95 2.05 0.00 2253.5 2332.2 2174.9 2700.6 3356.6 155.21 19.34 373 3646.12 0.00 0.00 3.41 0.000 0.000 0.080 2255.00 2332.00 2178.00 2699.00 2007.44 0 0 0 30.00 30.00 15.91

3955.54 16646 178.95 2.05 80.00 2252.4 2331.6 2173.2 2700.5 2005.8 101.44 16.67 405 3961.13 0.00 0.00 3.74 0.000 0.000 0.144 2253.06 2332.31 2173.81 2700.19 3357.50 0 0 0 30.00 30.00 15.93

4025.49 17414 178.95 2.05 0.00 2251.8 2330.9 2172.8 2700.8 3356.9 88.78 18.20 419 4031.11 0.00 0.00 3.40 0.000 0.000 0.081 2252.50 2331.25 2173.75 2700.31 2005.81 0 0 0 30.00 30.00 15.97

4215.52 16902 178.95 2.05 -80.00 2251.6 2330.7 2172.4 2700.9 2005.6 59.35 16.59 439 4221.17 0.00 0.00 3.67 0.000 0.000 0.165 2252.06 2331.25 2172.88 2700.25 691.38 0 0 0 30.00 30.00 15.94

4425.56 17414 178.95 2.05 0.00 2251.2 2329.9 2172.6 2700.7 691.0 18.63 19.26 481 4431.17 0.00 0.00 3.38 0.000 0.000 0.076 2253.56 2331.81 2175.31 2700.31 2043.69 0 0 0 30.00 30.00 16.00

4526 end climb: SURFACE_DEPTH_REACHED

state 4526 begin surface coast

4546 end surface coast: CONTROL_FINISHED_OK

state 4546 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	39	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	20.732311	SEABIRD_T_G	0.0044182916
MAX_BUOY	200	PITCH_MAXERRORS	1	FG_AHR_24V	24.962303	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	261022,232201,7050.732,-624.210,4,0.9,7,-5.0	TGT_RADIUS	1000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.14	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	261022,232507,7050.740,-624.138,2,0.9,6,-5.0	MHEAD_RNG_PITCHd_Wd	211.5,501,-27.5,-12.121,-30.00,1068,0.446
SPEED_LIMITS	0.210,0.313	D_GRID	530
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	-0.1,1.016264	MEM0	60148,1,0,0
SM_CCo	5112.29,542.10,1.258,0,501.0,563.9,438.0,613.01	MEM1	65508,1,0,0
SM_GC	1.09,542.10,15.83,0.60,1.258,0.072,0.114,501.0,563.9,438.0,188.4,2294.4,0,0,0,12.75,15.98,16.00	MEM2	968296,26,78752,50
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	19416,494
IRIDIUM_FIX	7051.37,-621.14,261022,215012	CAP_FILE_SIZE	216326,0
TCM_TEMP	7.13	SDSIZE	3887104,3865440
XPDR_PINGS	3,12.5,11.5	SDFILEDIR	222,1
HUMID	73.65	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	3.14	CURRENT	0.059, 71.1,1
INTERNAL_PRESSURE	7.87077	MAGCAL	1.000000,-0.056124,-0.101202,-0.089406,1.086568,-0.068157,0.002271,-0.061385,1.163659,-1010.0,-1096.2,-443.4,36,0.0689,0
_24V_AH	14.52,17.019	IMPLIED_C_PITCH	2235,13.88,284,0.0,0.00
_10V_AH	14.56,0.000	IMPLIED_C_VBD	2864,22.480627,284,0
FG_AHR_24Vo	25.301	GPS	271022,005102,7050.470,-624.927,23,0.9,25,-5.0
FG_AHR_10Vo	20.747

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	1005	1821	26588.62	SBE_CT	534	24	186.25
Pitch_motor	36	305	159.97	nil	0	0	0.00
Roll_motor	62	275	252.05	nil	0	0	0.00
Iridium	136	192	382.59	nil	0	0	0.00
Transponder_ping	0	420	4.57	nil	0	0	0.00
GPS	15	15	3.41	nil	0	0	0.00
Core	1722	6	170.55	SciCon	0	0	0.00
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3003	2	87.45
Compass	718	5	52.34
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	1	begin dive
2.22	16386	-84.69	-1.94	0.00	496.5	558.1	434.8	184.3	2252.0	0.00	0.00	0	183.36	179.54	0.00	0.10	0.005	0.000	0.276	3342.41	3389.62	3295.19	184.44	2292.50	0	0	0	14.51	30.00	15.61
183.61	18983	-178.95	-2.05	-80.00	3344.3	3391.2	3297.4	184.1	2292.6	2.63	-3.05	17	219.92	13.60	13.02	4.34	0.007	0.305	0.168	3730.69	3799.44	3661.94	1702.06	818.62	0	0	0	15.65	15.58	15.61
222.44	3205	-178.95	-1.95	0.00	3730.1	3799.5	3660.6	1701.7	818.6	10.29	-16.80	25	228.18	0.00	0.19	3.85	0.000	0.241	0.085	3730.59	3800.00	3661.19	1727.88	2291.50	0	0	0	30.00	15.62	15.68
412.47	260	-178.95	-1.95	80.00	3732.9	3804.8	3661.1	1727.2	2291.2	53.43	-22.93	45	418.01	0.00	0.00	3.04	0.000	0.000	0.164	3733.66	3804.38	3662.94	1727.06	3355.25	0	0	0	30.00	30.00	15.74
647.46	1156	-178.95	-1.90	0.00	3734.0	3804.4	3663.5	1727.5	3355.3	110.84	-21.97	92	653.11	0.00	0.00	2.77	0.000	0.000	0.073	3734.16	3804.69	3663.62	1727.50	2259.69	0	0	0	30.00	30.00	15.84
962.57	260	-178.95	-1.90	80.00	3735.0	3806.6	3663.4	1727.8	2259.8	178.59	-22.88	124	968.14	0.00	0.00	3.11	0.000	0.000	0.159	3734.94	3806.88	3663.00	1727.50	3358.56	0	0	0	30.00	30.00	15.87
1197.55	3205	-178.95	-1.84	0.00	3735.4	3806.3	3664.5	1727.4	3358.0	233.52	-23.09	171	1203.27	0.00	0.20	2.79	0.000	0.230	0.077	3736.75	3807.62	3665.88	1753.88	2261.06	0	0	0	30.00	15.87	15.94
1512.64	260	-178.95	-1.84	80.00	3736.7	3808.6	3664.8	1754.4	2260.4	291.56	-18.11	192	1518.19	0.00	0.00	3.12	0.000	0.000	0.160	3737.78	3809.00	3666.56	1753.75	3357.00	0	0	0	30.00	30.00	15.94
1562.56	1028	-178.95	-1.84	0.00	3736.4	3808.1	3664.6	1754.2	3354.9	300.85	-17.86	202	1568.13	0.00	0.00	2.78	0.000	0.000	0.078	3737.06	3808.62	3665.50	1754.12	2261.44	0	0	0	30.00	30.00	15.98
1872.65	0	-178.95	-1.84	0.00	3737.2	3809.2	3665.2	1754.6	2261.0	353.71	-17.35	219	1874.00	0.00	0.00	0.00	0.000	0.000	0.000	3736.31	3809.00	3663.62	1754.25	2261.06	0	0	0	30.00	30.00	30.00
2173	end dive: TARGET_DEPTH_EXCEEDED
state	2173	begin apogee
2174.67	10243	0.00	-0.33	0.00	3736.9	3809.2	3664.6	1754.0	2007.2	403.17	-17.30	234	2312.11	133.23	2.68	0.09	1.821	0.204	0.234	2997.09	3075.44	2918.75	2118.81	2050.81	0	0	0	12.85	15.98	15.26
2312	end apogee: CONTROL_FINISHED_OK
state	2312	begin climb
2312.60	10243	178.95	2.05	0.00	2998.2	3077.1	2919.4	2119.4	2050.4	409.75	0.00	240	2458.01	136.86	4.14	0.00	1.750	0.126	0.000	2270.00	2352.75	2187.25	2699.94	2050.56	0	0	0	12.31	15.30	30.00
2775.28	16646	178.95	2.05	80.00	2257.5	2338.2	2176.8	2700.1	2050.4	327.02	21.21	276	2780.91	0.00	0.00	3.69	0.000	0.000	0.142	2257.72	2338.88	2176.56	2700.19	3357.44	0	0	0	30.00	30.00	15.66
2820.26	17414	178.95	2.05	0.00	2256.5	2336.4	2176.7	2700.2	3357.4	316.84	21.80	285	2825.89	0.00	0.00	3.49	0.000	0.000	0.080	2257.94	2337.69	2178.19	2699.62	2008.38	0	0	0	30.00	30.00	15.70
3135.32	16902	178.95	2.05	-80.00	2255.7	2336.0	2175.4	2699.9	2006.5	253.90	19.72	303	3140.99	0.00	0.00	3.77	0.000	0.000	0.166	2255.88	2335.81	2175.94	2699.75	692.69	0	0	0	30.00	30.00	15.79
3230.26	17414	178.95	2.05	0.00	2255.0	2334.8	2175.2	2700.3	692.3	232.11	23.28	322	3236.05	0.00	0.00	3.42	0.000	0.000	0.077	2258.12	2338.06	2178.19	2700.38	2042.38	0	0	0	30.00	30.00	15.85
3545.47	16646	178.95	2.05	80.00	2254.2	2333.7	2174.8	2700.4	2041.5	173.00	17.51	354	3551.05	0.00	0.00	3.65	0.000	0.000	0.148	2256.88	2335.69	2178.06	2700.50	3356.50	0	0	0	30.00	30.00	15.88
3640.33	17414	178.95	2.05	0.00	2253.5	2332.2	2174.9	2700.6	3356.6	155.21	19.34	373	3646.12	0.00	0.00	3.41	0.000	0.000	0.080	2255.00	2332.00	2178.00	2699.00	2007.44	0	0	0	30.00	30.00	15.91
3955.54	16646	178.95	2.05	80.00	2252.4	2331.6	2173.2	2700.5	2005.8	101.44	16.67	405	3961.13	0.00	0.00	3.74	0.000	0.000	0.144	2253.06	2332.31	2173.81	2700.19	3357.50	0	0	0	30.00	30.00	15.93
4025.49	17414	178.95	2.05	0.00	2251.8	2330.9	2172.8	2700.8	3356.9	88.78	18.20	419	4031.11	0.00	0.00	3.40	0.000	0.000	0.081	2252.50	2331.25	2173.75	2700.31	2005.81	0	0	0	30.00	30.00	15.97
4215.52	16902	178.95	2.05	-80.00	2251.6	2330.7	2172.4	2700.9	2005.6	59.35	16.59	439	4221.17	0.00	0.00	3.67	0.000	0.000	0.165	2252.06	2331.25	2172.88	2700.25	691.38	0	0	0	30.00	30.00	15.94
4425.56	17414	178.95	2.05	0.00	2251.2	2329.9	2172.6	2700.7	691.0	18.63	19.26	481	4431.17	0.00	0.00	3.38	0.000	0.000	0.076	2253.56	2331.81	2175.31	2700.31	2043.69	0	0	0	30.00	30.00	16.00
4526	end climb: SURFACE_DEPTH_REACHED
state	4526	begin surface coast
4546	end surface coast: CONTROL_FINISHED_OK
state	4546	begin surface