Glider dive log

NORSE Oct22 * SG234 * Dive index * Mission links * Dive 47 * 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 47 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 3 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 21.018578 SEABIRD_T_G 0.0044182916

MAX_BUOY 200 PITCH_MAXERRORS 1 FG_AHR_24V 27.737431 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 3 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 21.018578 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 27.737431 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 47 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 271022,141115,7051.301,-620.670,2,0.8,5,-5.0 TGT_RADIUS 1000.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.06 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -49.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 271022,141602,7051.331,-620.599,3,0.8,6,-5.0 MHEAD_RNG_PITCHd_Wd 228.1,2659,-17.9,-12.121,-21.20,2436,0.272

SPEED_LIMITS 0.210,0.313 D_GRID 840

TGT_NAME PICKUP IRON 1.000000,-0.051454,-0.019864,-0.075070,1.095194,-0.049316,-0.024488,-0.039592,1.063816,-1068.962891,-1108.617798,-374.864410

TGT_LATLONG 7050.470,-624.100

Post-dive calculations and measurements:

FINISH 0.1,1.027474 MEM0 60148,1,0,0

SM_CCo 6620.42,410.08,1.283,0,501.2,564.8,437.6,612.97 MEM1 65508,1,0,0

SM_GC 1.18,410.08,15.06,0.60,1.283,0.071,0.112,501.2,564.8,437.6,185.6,2293.4,0,0,0,12.85,16.01,16.02 MEM2 968192,32,78736,50

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 22614,601

IRIDIUM_FIX 7051.59,-614.62,271022,140725 CAP_FILE_SIZE 252420,0

TCM_TEMP 8.10 SDSIZE 3887104,3864064

XPDR_PINGS 3,12.5,11.5 SDFILEDIR 254,1

HUMID 75.62 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 3.33 CURRENT 0.109, 60.6,1

INTERNAL_PRESSURE 7.87558 MAGCAL 1.000000,-0.076386,-0.278445,-0.078347,0.983597,-0.083904,-0.048234,0.043163,0.756009,-758.7,-1018.5,49.4,33,0.1048,0

_24V_AH 14.52,19.910 IMPLIED_C_PITCH 2258,12.48,397,0.0,0.00

_10V_AH 14.58,0.000 IMPLIED_C_VBD 3013,82.791550,397,0

FG_AHR_24Vo 28.076 GPS 271022,160702,7050.764,-621.964,10,1.2,22,-5.0

FG_AHR_10Vo 21.039

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 962 1820 25459.66 SBE_CT 719 24 250.67

Pitch_motor 33 288 142.25 nil 0 0 0.00

Roll_motor 70 223 228.15 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 4.57 nil 0 0 0.00

GPS 15 15 3.38 nil 0 0 0.00

Core 1885 6 186.93 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 4343 2 126.66

Compass 866 5 63.15

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

2.24 16386 -194.65 -1.43 0.00 496.3 558.3 434.3 186.9 2251.1 0.00 0.00 0 182.31 179.43 0.00 0.00 0.005 0.000 0.000 3476.28 3521.44 3431.12 186.62 2250.00 0 0 0 14.71 30.00 30.00

182.66 18727 -194.65 -1.43 80.00 3475.4 3521.2 3429.7 186.8 2250.1 3.78 -1.65 18 213.96 9.69 13.80 3.14 0.007 0.288 0.156 3793.06 3863.81 3722.31 1853.06 3356.69 0 0 0 15.85 15.80 15.84

441.47 1156 -194.65 -1.34 0.00 3795.4 3866.5 3724.3 1852.0 3355.6 50.62 -18.40 70 446.97 0.00 0.00 2.76 0.000 0.000 0.072 3795.19 3866.31 3724.06 1852.19 2257.50 0 0 0 30.00 30.00 15.92

631.51 2693 -194.65 -1.29 -80.00 3796.0 3867.4 3724.7 1852.9 2258.0 80.37 -14.01 90 637.30 0.00 0.23 4.06 0.000 0.190 0.161 3795.81 3867.12 3724.50 1888.19 819.00 0 0 0 30.00 15.90 15.89

701.52 1028 -194.65 -1.29 0.00 3796.2 3868.1 3724.4 1889.0 819.4 90.04 -13.79 104 707.21 0.00 0.00 3.73 0.000 0.000 0.080 3796.88 3868.38 3725.38 1888.81 2291.19 0 0 0 30.00 30.00 15.95

891.56 292 -194.65 -1.29 80.00 3796.1 3868.2 3724.1 1888.7 2291.2 111.56 -10.69 124 897.08 0.00 0.00 2.95 0.000 0.000 0.156 3796.34 3867.81 3724.88 1889.12 3354.88 0 0 0 30.00 30.00 15.95

936.49 1060 -194.65 -1.29 0.00 3796.2 3868.4 3724.1 1889.1 3354.6 116.56 -11.26 133 942.15 0.00 0.00 2.72 0.000 0.000 0.067 3796.69 3868.25 3725.12 1889.06 2256.56 0 0 0 30.00 30.00 15.98

1251.62 516 -194.65 -1.29 -80.00 3796.6 3869.0 3724.2 1889.1 2256.2 152.44 -12.30 165 1257.33 0.00 0.00 4.01 0.000 0.000 0.158 3797.50 3870.12 3724.88 1889.38 819.56 0 0 0 30.00 30.00 15.97

1326.55 1156 -194.65 -1.24 0.00 3796.9 3869.8 3724.1 1889.1 819.4 163.76 -16.60 180 1332.38 0.00 0.00 3.76 0.000 0.000 0.083 3797.16 3869.75 3724.56 1889.19 2291.06 0 0 0 30.00 30.00 16.02

1641.63 0 -194.65 -1.24 0.00 3797.1 3870.1 3724.1 1889.4 2290.9 210.61 -13.55 212 1642.98 0.00 0.00 0.00 0.000 0.000 0.000 3796.34 3870.00 3722.69 1888.94 2291.50 0 0 0 30.00 30.00 30.00

1951.67 32 -194.65 -1.24 0.00 3797.6 3870.6 3724.6 1889.1 2290.9 250.41 -11.98 243 1953.03 0.00 0.00 0.00 0.000 0.000 0.000 3797.44 3871.88 3723.00 1889.38 2291.00 0 0 0 30.00 30.00 30.00

2271.67 292 -194.65 -1.24 80.00 3797.3 3870.7 3723.9 1889.1 2290.9 288.61 -11.46 259 2277.21 0.00 0.00 3.01 0.000 0.000 0.168 3797.44 3870.88 3724.00 1889.38 3354.62 0 0 0 30.00 30.00 16.04

2316.60 1060 -194.65 -1.24 0.00 3797.2 3870.2 3724.1 1888.9 3355.7 293.49 -11.45 268 2322.16 0.00 0.00 2.73 0.000 0.000 0.075 3798.09 3870.75 3725.44 1889.12 2259.94 0 0 0 30.00 30.00 16.08

2631.68 0 -194.65 -1.24 0.00 3797.4 3870.5 3724.2 1889.2 2259.6 327.08 -12.17 286 2633.02 0.00 0.00 0.00 0.000 0.000 0.000 3798.28 3871.75 3724.81 1887.94 2259.62 0 0 0 30.00 30.00 30.00

2951.71 32 -194.65 -1.24 0.00 3796.9 3870.4 3723.4 1889.1 2259.4 362.87 -9.44 302 2953.05 0.00 0.00 0.00 0.000 0.000 0.000 3796.91 3870.38 3723.44 1889.31 2259.44 0 0 0 30.00 30.00 30.00

3212 end dive: TARGET_DEPTH_EXCEEDED

state 3212 begin apogee

3213.53 10243 0.00 -0.33 0.00 3797.2 3870.4 3724.1 1888.9 2004.1 400.05 -14.83 315 3359.72 142.54 1.64 0.09 1.821 0.171 0.223 3000.19 3078.62 2921.75 2120.12 2051.25 0 0 0 12.82 16.08 15.28

3360 end apogee: CONTROL_FINISHED_OK

state 3360 begin climb

3360.24 10243 194.65 1.43 0.00 2998.3 3076.3 2920.2 2120.6 2051.1 408.81 0.00 322 3512.15 147.38 3.06 0.00 1.742 0.128 0.000 2204.78 2290.50 2119.06 2550.25 2051.00 0 0 0 12.33 15.33 30.00

3826.72 10535 293.59 1.56 80.00 2191.7 2276.9 2106.6 2550.1 2051.1 376.76 7.95 360 3908.21 73.89 0.17 3.81 1.701 0.105 0.148 1801.69 1888.75 1714.62 2585.75 3354.69 0 0 0 12.58 15.68 15.27

3956.63 1028 293.59 1.56 0.00 1795.2 1881.0 1709.4 2585.6 3354.1 360.54 15.49 386 3962.35 0.00 0.00 3.55 0.000 0.000 0.080 1795.16 1881.31 1709.00 2585.38 2008.25 0 0 0 30.00 30.00 15.47

4266.73 16386 293.59 1.56 0.00 1789.9 1876.1 1703.8 2585.7 2006.7 299.17 15.31 403 4268.07 0.00 0.00 0.00 0.000 0.000 0.000 1789.31 1876.00 1702.62 2585.12 2006.94 0 0 0 30.00 30.00 30.00

4586.74 16646 293.59 1.56 80.00 1788.2 1874.4 1701.9 2584.9 2006.4 250.74 16.55 419 4592.40 0.00 0.00 3.78 0.000 0.000 0.146 1790.62 1876.94 1704.31 2585.00 3354.69 0 0 0 30.00 30.00 15.82

4616.80 17414 293.59 1.56 0.00 1787.5 1873.6 1701.4 2585.9 3354.9 245.57 18.37 425 4622.35 0.00 0.00 3.45 0.000 0.000 0.082 1788.47 1874.69 1702.25 2585.56 2006.25 0 0 0 30.00 30.00 15.85

4926.83 16646 293.59 1.56 80.00 1787.1 1873.6 1700.7 2585.4 2005.4 194.69 14.82 457 4932.43 0.00 0.00 3.77 0.000 0.000 0.146 1789.19 1875.75 1702.62 2585.50 3356.44 0 0 0 30.00 30.00 15.88

4956.76 17414 293.59 1.56 0.00 1786.6 1872.8 1700.4 2585.4 3355.9 189.41 18.63 463 4962.37 0.00 0.00 3.41 0.000 0.000 0.079 1788.50 1874.31 1702.69 2585.56 2008.12 0 0 0 30.00 30.00 15.91

5266.86 17030 293.59 1.60 -80.00 1786.4 1872.9 1699.9 2585.5 2007.1 135.33 15.25 495 5272.45 0.00 0.00 3.75 0.000 0.000 0.168 1787.28 1873.75 1700.81 2585.00 691.06 0 0 0 30.00 30.00 15.92

5316.77 17414 293.59 1.60 0.00 1785.9 1872.4 1699.4 2585.4 691.2 127.06 17.65 505 5322.38 0.00 0.00 3.38 0.000 0.000 0.077 1785.91 1872.12 1699.69 2585.00 2042.25 0 0 0 30.00 30.00 15.96

5626.79 16386 293.59 1.60 0.00 1785.0 1871.1 1699.0 2585.1 2043.0 80.88 13.66 537 5628.13 0.00 0.00 0.00 0.000 0.000 0.000 1784.50 1871.12 1697.88 2585.19 2043.06 0 0 0 30.00 30.00 30.00

5816.82 17030 293.59 1.65 -80.00 1784.5 1870.4 1698.6 2585.7 2042.7 52.70 15.38 556 5822.50 0.00 0.00 3.84 0.000 0.000 0.165 1784.84 1870.69 1699.00 2585.38 692.19 0 0 0 30.00 30.00 15.97

5886.81 17414 293.59 1.65 0.00 1784.2 1869.7 1698.6 2585.4 691.1 41.25 16.61 570 5892.41 0.00 0.00 3.36 0.000 0.000 0.076 1784.72 1870.62 1698.81 2585.38 2042.69 0 0 0 30.00 30.00 16.00

6076.83 16386 293.59 1.65 0.00 1783.2 1868.8 1697.5 2585.8 2043.1 14.53 14.22 590 6078.18 0.00 0.00 0.00 0.000 0.000 0.000 1782.34 1868.06 1696.62 2585.00 2042.62 0 0 0 30.00 30.00 30.00

6167 end climb: SURFACE_DEPTH_REACHED

state 6167 begin surface coast

6187 end surface coast: CONTROL_FINISHED_OK

state 6187 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	47	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	3	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	21.018578	SEABIRD_T_G	0.0044182916
MAX_BUOY	200	PITCH_MAXERRORS	1	FG_AHR_24V	27.737431	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	271022,141115,7051.301,-620.670,2,0.8,5,-5.0	TGT_RADIUS	1000.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.06	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-49.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	271022,141602,7051.331,-620.599,3,0.8,6,-5.0	MHEAD_RNG_PITCHd_Wd	228.1,2659,-17.9,-12.121,-21.20,2436,0.272
SPEED_LIMITS	0.210,0.313	D_GRID	840
TGT_NAME	PICKUP	IRON	1.000000,-0.051454,-0.019864,-0.075070,1.095194,-0.049316,-0.024488,-0.039592,1.063816,-1068.962891,-1108.617798,-374.864410
TGT_LATLONG	7050.470,-624.100

FINISH	0.1,1.027474	MEM0	60148,1,0,0
SM_CCo	6620.42,410.08,1.283,0,501.2,564.8,437.6,612.97	MEM1	65508,1,0,0
SM_GC	1.18,410.08,15.06,0.60,1.283,0.071,0.112,501.2,564.8,437.6,185.6,2293.4,0,0,0,12.85,16.01,16.02	MEM2	968192,32,78736,50
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	22614,601
IRIDIUM_FIX	7051.59,-614.62,271022,140725	CAP_FILE_SIZE	252420,0
TCM_TEMP	8.10	SDSIZE	3887104,3864064
XPDR_PINGS	3,12.5,11.5	SDFILEDIR	254,1
HUMID	75.62	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	3.33	CURRENT	0.109, 60.6,1
INTERNAL_PRESSURE	7.87558	MAGCAL	1.000000,-0.076386,-0.278445,-0.078347,0.983597,-0.083904,-0.048234,0.043163,0.756009,-758.7,-1018.5,49.4,33,0.1048,0
_24V_AH	14.52,19.910	IMPLIED_C_PITCH	2258,12.48,397,0.0,0.00
_10V_AH	14.58,0.000	IMPLIED_C_VBD	3013,82.791550,397,0
FG_AHR_24Vo	28.076	GPS	271022,160702,7050.764,-621.964,10,1.2,22,-5.0
FG_AHR_10Vo	21.039

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	962	1820	25459.66	SBE_CT	719	24	250.67
Pitch_motor	33	288	142.25	nil	0	0	0.00
Roll_motor	70	223	228.15	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	4.57	nil	0	0	0.00
GPS	15	15	3.38	nil	0	0	0.00
Core	1885	6	186.93	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	4343	2	126.66
Compass	866	5	63.15
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
2.24	16386	-194.65	-1.43	0.00	496.3	558.3	434.3	186.9	2251.1	0.00	0.00	0	182.31	179.43	0.00	0.00	0.005	0.000	0.000	3476.28	3521.44	3431.12	186.62	2250.00	0	0	0	14.71	30.00	30.00
182.66	18727	-194.65	-1.43	80.00	3475.4	3521.2	3429.7	186.8	2250.1	3.78	-1.65	18	213.96	9.69	13.80	3.14	0.007	0.288	0.156	3793.06	3863.81	3722.31	1853.06	3356.69	0	0	0	15.85	15.80	15.84
441.47	1156	-194.65	-1.34	0.00	3795.4	3866.5	3724.3	1852.0	3355.6	50.62	-18.40	70	446.97	0.00	0.00	2.76	0.000	0.000	0.072	3795.19	3866.31	3724.06	1852.19	2257.50	0	0	0	30.00	30.00	15.92
631.51	2693	-194.65	-1.29	-80.00	3796.0	3867.4	3724.7	1852.9	2258.0	80.37	-14.01	90	637.30	0.00	0.23	4.06	0.000	0.190	0.161	3795.81	3867.12	3724.50	1888.19	819.00	0	0	0	30.00	15.90	15.89
701.52	1028	-194.65	-1.29	0.00	3796.2	3868.1	3724.4	1889.0	819.4	90.04	-13.79	104	707.21	0.00	0.00	3.73	0.000	0.000	0.080	3796.88	3868.38	3725.38	1888.81	2291.19	0	0	0	30.00	30.00	15.95
891.56	292	-194.65	-1.29	80.00	3796.1	3868.2	3724.1	1888.7	2291.2	111.56	-10.69	124	897.08	0.00	0.00	2.95	0.000	0.000	0.156	3796.34	3867.81	3724.88	1889.12	3354.88	0	0	0	30.00	30.00	15.95
936.49	1060	-194.65	-1.29	0.00	3796.2	3868.4	3724.1	1889.1	3354.6	116.56	-11.26	133	942.15	0.00	0.00	2.72	0.000	0.000	0.067	3796.69	3868.25	3725.12	1889.06	2256.56	0	0	0	30.00	30.00	15.98
1251.62	516	-194.65	-1.29	-80.00	3796.6	3869.0	3724.2	1889.1	2256.2	152.44	-12.30	165	1257.33	0.00	0.00	4.01	0.000	0.000	0.158	3797.50	3870.12	3724.88	1889.38	819.56	0	0	0	30.00	30.00	15.97
1326.55	1156	-194.65	-1.24	0.00	3796.9	3869.8	3724.1	1889.1	819.4	163.76	-16.60	180	1332.38	0.00	0.00	3.76	0.000	0.000	0.083	3797.16	3869.75	3724.56	1889.19	2291.06	0	0	0	30.00	30.00	16.02
1641.63	0	-194.65	-1.24	0.00	3797.1	3870.1	3724.1	1889.4	2290.9	210.61	-13.55	212	1642.98	0.00	0.00	0.00	0.000	0.000	0.000	3796.34	3870.00	3722.69	1888.94	2291.50	0	0	0	30.00	30.00	30.00
1951.67	32	-194.65	-1.24	0.00	3797.6	3870.6	3724.6	1889.1	2290.9	250.41	-11.98	243	1953.03	0.00	0.00	0.00	0.000	0.000	0.000	3797.44	3871.88	3723.00	1889.38	2291.00	0	0	0	30.00	30.00	30.00
2271.67	292	-194.65	-1.24	80.00	3797.3	3870.7	3723.9	1889.1	2290.9	288.61	-11.46	259	2277.21	0.00	0.00	3.01	0.000	0.000	0.168	3797.44	3870.88	3724.00	1889.38	3354.62	0	0	0	30.00	30.00	16.04
2316.60	1060	-194.65	-1.24	0.00	3797.2	3870.2	3724.1	1888.9	3355.7	293.49	-11.45	268	2322.16	0.00	0.00	2.73	0.000	0.000	0.075	3798.09	3870.75	3725.44	1889.12	2259.94	0	0	0	30.00	30.00	16.08
2631.68	0	-194.65	-1.24	0.00	3797.4	3870.5	3724.2	1889.2	2259.6	327.08	-12.17	286	2633.02	0.00	0.00	0.00	0.000	0.000	0.000	3798.28	3871.75	3724.81	1887.94	2259.62	0	0	0	30.00	30.00	30.00
2951.71	32	-194.65	-1.24	0.00	3796.9	3870.4	3723.4	1889.1	2259.4	362.87	-9.44	302	2953.05	0.00	0.00	0.00	0.000	0.000	0.000	3796.91	3870.38	3723.44	1889.31	2259.44	0	0	0	30.00	30.00	30.00
3212	end dive: TARGET_DEPTH_EXCEEDED
state	3212	begin apogee
3213.53	10243	0.00	-0.33	0.00	3797.2	3870.4	3724.1	1888.9	2004.1	400.05	-14.83	315	3359.72	142.54	1.64	0.09	1.821	0.171	0.223	3000.19	3078.62	2921.75	2120.12	2051.25	0	0	0	12.82	16.08	15.28
3360	end apogee: CONTROL_FINISHED_OK
state	3360	begin climb
3360.24	10243	194.65	1.43	0.00	2998.3	3076.3	2920.2	2120.6	2051.1	408.81	0.00	322	3512.15	147.38	3.06	0.00	1.742	0.128	0.000	2204.78	2290.50	2119.06	2550.25	2051.00	0	0	0	12.33	15.33	30.00
3826.72	10535	293.59	1.56	80.00	2191.7	2276.9	2106.6	2550.1	2051.1	376.76	7.95	360	3908.21	73.89	0.17	3.81	1.701	0.105	0.148	1801.69	1888.75	1714.62	2585.75	3354.69	0	0	0	12.58	15.68	15.27
3956.63	1028	293.59	1.56	0.00	1795.2	1881.0	1709.4	2585.6	3354.1	360.54	15.49	386	3962.35	0.00	0.00	3.55	0.000	0.000	0.080	1795.16	1881.31	1709.00	2585.38	2008.25	0	0	0	30.00	30.00	15.47
4266.73	16386	293.59	1.56	0.00	1789.9	1876.1	1703.8	2585.7	2006.7	299.17	15.31	403	4268.07	0.00	0.00	0.00	0.000	0.000	0.000	1789.31	1876.00	1702.62	2585.12	2006.94	0	0	0	30.00	30.00	30.00
4586.74	16646	293.59	1.56	80.00	1788.2	1874.4	1701.9	2584.9	2006.4	250.74	16.55	419	4592.40	0.00	0.00	3.78	0.000	0.000	0.146	1790.62	1876.94	1704.31	2585.00	3354.69	0	0	0	30.00	30.00	15.82
4616.80	17414	293.59	1.56	0.00	1787.5	1873.6	1701.4	2585.9	3354.9	245.57	18.37	425	4622.35	0.00	0.00	3.45	0.000	0.000	0.082	1788.47	1874.69	1702.25	2585.56	2006.25	0	0	0	30.00	30.00	15.85
4926.83	16646	293.59	1.56	80.00	1787.1	1873.6	1700.7	2585.4	2005.4	194.69	14.82	457	4932.43	0.00	0.00	3.77	0.000	0.000	0.146	1789.19	1875.75	1702.62	2585.50	3356.44	0	0	0	30.00	30.00	15.88
4956.76	17414	293.59	1.56	0.00	1786.6	1872.8	1700.4	2585.4	3355.9	189.41	18.63	463	4962.37	0.00	0.00	3.41	0.000	0.000	0.079	1788.50	1874.31	1702.69	2585.56	2008.12	0	0	0	30.00	30.00	15.91
5266.86	17030	293.59	1.60	-80.00	1786.4	1872.9	1699.9	2585.5	2007.1	135.33	15.25	495	5272.45	0.00	0.00	3.75	0.000	0.000	0.168	1787.28	1873.75	1700.81	2585.00	691.06	0	0	0	30.00	30.00	15.92
5316.77	17414	293.59	1.60	0.00	1785.9	1872.4	1699.4	2585.4	691.2	127.06	17.65	505	5322.38	0.00	0.00	3.38	0.000	0.000	0.077	1785.91	1872.12	1699.69	2585.00	2042.25	0	0	0	30.00	30.00	15.96
5626.79	16386	293.59	1.60	0.00	1785.0	1871.1	1699.0	2585.1	2043.0	80.88	13.66	537	5628.13	0.00	0.00	0.00	0.000	0.000	0.000	1784.50	1871.12	1697.88	2585.19	2043.06	0	0	0	30.00	30.00	30.00
5816.82	17030	293.59	1.65	-80.00	1784.5	1870.4	1698.6	2585.7	2042.7	52.70	15.38	556	5822.50	0.00	0.00	3.84	0.000	0.000	0.165	1784.84	1870.69	1699.00	2585.38	692.19	0	0	0	30.00	30.00	15.97
5886.81	17414	293.59	1.65	0.00	1784.2	1869.7	1698.6	2585.4	691.1	41.25	16.61	570	5892.41	0.00	0.00	3.36	0.000	0.000	0.076	1784.72	1870.62	1698.81	2585.38	2042.69	0	0	0	30.00	30.00	16.00
6076.83	16386	293.59	1.65	0.00	1783.2	1868.8	1697.5	2585.8	2043.1	14.53	14.22	590	6078.18	0.00	0.00	0.00	0.000	0.000	0.000	1782.34	1868.06	1696.62	2585.00	2042.62	0	0	0	30.00	30.00	30.00
6167	end climb: SURFACE_DEPTH_REACHED
state	6167	begin surface coast
6187	end surface coast: CONTROL_FINISHED_OK
state	6187	begin surface