Glider dive log

ROAMMIZ Jan22 * SG675 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 675 HD_B 0.010078 ROLL_MIN 206 ALTIM_TOP_PING_RANGE 30

MISSION 3 HD_C 9.8500004e-06 ROLL_MAX 3820 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 5 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 8 ESCAPE_HEADING 0 C_ROLL_DIVE 2050 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2050 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT -54 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 100 TGT_DEFAULT_LON 0 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 150 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 SM_CC 300 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_BOOST 15 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 92

T_BOOST 0 FILEMGR 0 VBD_MIN 623 INT_PRESSURE_SLOPE 1.96e-06

D_FINISH 0 CALL_NDIVES 1 VBD_MAX 3960 INT_PRESSURE_YINT 2.5599999

D_PITCH 0 COMM_SEQ 0 C_VBD 2600 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_CALL 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEVICE1 10

SURFACE_URGENCY 0 NOCOMM_ACTION 259 VBD_LP_IGNORE 0 DEVICE2 70

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 35

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 55

T_DIVE 33 CALL_TRIES 5 UNCOM_BLEED 60 DEVICE5 -1

T_MISSION 43 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

T_ABORT 100 CAPUPLOAD 1 W_ADJ_DBAND 0 LOGGERS 0

T_TURN 500 CAPMAXSIZE 400000 DBDW 0 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 LOITER_W_DBAND 0 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 100840 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_LOITER 0 T_RSLEEP 1 LOITER_D_TOP 0 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 LOITER_D_BOTTOM 0 COMPASS_DEVICE 18

USE_BATHY 0 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 0 SHORTING_PLUG 1 PHONE_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 0 AH0_24V 310 GPS_DEVICE 16

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_10V 0 RAFOS_DEVICE -1

RELAUNCH 0 PITCH_MIN 162 MINV_24V 11.5 XPDR_DEVICE 5

APOGEE_PITCH -5 PITCH_MAX 3892 MINV_10V 10 SIM_W 0

MAX_BUOY 100 C_PITCH 2539 MAXI_24V 3 SEABIRD_T_G 0.0044220379

GLIDE_SLOPE 30 PITCH_DBAND 0.1 MAXI_10V 2 SEABIRD_T_H 0.00064413931

SPEED_FACTOR 1 PITCH_CNV 0.0031260001 FG_AHR_10V 0.39174116 SEABIRD_T_I 2.6853917e-05

RHO 1.0275 PITCH_GAIN 30 FG_AHR_24V 2.2331262 SEABIRD_T_J 3.402645e-06

MASS 53587 PITCH_TIMEOUT 25 PHONE_SUPPLY 2 SEABIRD_C_G -10.01496

MASS_COMP 0 PITCH_MAXERRORS 1 PRESSURE_YINT -158.96762 SEABIRD_C_H 1.1201342

NAV_MODE 2 PITCH_ADJ_GAIN 0.029999999 PRESSURE_SLOPE 0.000108611 SEABIRD_C_I -0.0031396081

FERRY_MAX 45 PITCH_ADJ_DBAND 1 COMPASS_USE 4 SEABIRD_C_J 0.00029222821

KALMAN_USE 0 PITCH_W_GAIN 0 ALTIM_PING_FIT 0 SEABIRD_C_Z 0

HD_A 0.0038360001 PITCH_W_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

AH0_10V 0 D_PITCH 0 NOCOMM_ACTION 259 SEABIRD_T_G 0.0044220379

AH0_24V 310 D_SAFE 0 N_DIVES 8 SEABIRD_T_H 0.00064413931

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 N_FILEKB 8 SEABIRD_T_I 2.6853917e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 100 N_GPS 100840 SEABIRD_T_J 3.402645e-06

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 N_NOCOMM 2 SHORTING_PLUG 1

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SIM_W 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PHONE_DEVICE 33 SM_CC 300

ALTIM_PING_FIT 0 FG_AHR_10V 0.39174116 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_24V 2.2331262 PITCH_ADJ_DBAND 1 STOP_T 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_ADJ_GAIN 0.029999999 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0031260001 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 30 GLIDE_SLOPE 30 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 16 PITCH_GAIN 30 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 HD_A 0.0038360001 PITCH_MAX 3892 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_B 0.010078 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -54

CALL_TRIES 5 HD_C 9.8500004e-06 PITCH_MIN 162 TGT_DEFAULT_LON 0

CALL_WAIT 60 HEADING -1 PITCH_TIMEOUT 25 T_ABORT 100

CAPMAXSIZE 400000 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 0

CAPUPLOAD 1 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0 T_DIVE 33

COMM_SEQ 0 ID 675 PITCH_W_GAIN 0 T_EPIRB 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.96e-06 PRESSURE_SLOPE 0.000108611 T_GPS 15

COMPASS_DEVICE 18 INT_PRESSURE_YINT 2.5599999 PRESSURE_YINT -158.96762 T_LOITER 0

COMPASS_USE 4 KALMAN_USE 0 PROTOCOL 9 T_MISSION 43

C_PITCH 2539 LOGGERDEVICE1 -1 RAFOS_CORR_THRESH 0 T_NO_W 120

C_ROLL_CLIMB 2050 LOGGERDEVICE2 -1 RAFOS_DEVICE -1 T_RSLEEP 1

C_ROLL_DIVE 2050 LOGGERDEVICE3 -1 RAFOS_HIT_WINDOW 0 T_TURN 500

C_VBD 2600 LOGGERDEVICE4 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT 5

DBDW 0 LOGGERS 0 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 60

DEEPGLIDER 0 LOITER_DBDW 0 RELAUNCH 0 UPLOAD_DIVES_MAX -1

DEVICE1 10 LOITER_D_BOTTOM 0 RHO 1.0275 USE_BATHY 0

DEVICE2 70 LOITER_D_TOP 0 ROLL_ADJ_DBAND 0 USE_ICE 0

DEVICE3 35 LOITER_N_DIVE 0 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE4 55 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_DBAND 2

DEVICE5 -1 MASS 53587 ROLL_DEG 40 VBD_LP_IGNORE 0

DEVICE6 -1 MASS_COMP 0 ROLL_MAX 3820 VBD_MAX 3960

DIVE 5 MAXI_10V 2 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

D_ABORT 150 MAXI_24V 3 ROLL_MIN 206 VBD_MIN 623

D_BOOST 15 MAX_BUOY 100 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

D_CALL 0 MINV_10V 10 SEABIRD_C_G -10.01496 W_ADJ_DBAND 0

D_FINISH 0 MINV_24V 11.5 SEABIRD_C_H 1.1201342 XPDR_DEVICE 5

D_FLARE 3 MISSION 3 SEABIRD_C_I -0.0031396081 XPDR_INHIBIT 92

D_NO_BLEED 200 MOTHERBOARD 6 SEABIRD_C_J 0.00029222821 XPDR_VALID 4

D_OFFGRID 100 NAV_MODE 2 SEABIRD_C_Z 0

Pre-dive calculations and measurements:

GPS1 230122,155125,-5359.385,-0.175,18,1.1,54,-20.5 TGT_LATLONG -5400.000,0.000

_CALLS 2 TGT_RADIUS 200.000

_SM_DEPTHo 1.15 KALMAN_CONTROL 0.055,-0.209

_SM_ANGLEo -55.3 KALMAN_X -150.4,-55.2,-47.7,-173.8,-65.6

GPS2 230122,155506,-5359.375,-0.176,11,1.1,22,-20.5 KALMAN_Y 595.9,378.7,350.2,-278.4,149.2

SPEED_LIMITS 0.175,0.216 MHEAD_RNG_PITCHd_Wd 177.7,1174,-22.6,-10.101,-25.06

TGT_NAME NORTH D_GRID 100

Post-dive calculations and measurements:

FINISH 1.4,1.026988 _10V_AH 14.91,0.000

SM_CCo 2475.20,141.51,0.134,0,1372.8,1457.6,1288.1,301.02 FG_AHR_24Vo 2.295

SM_GC 1.14,141.51,12.68,2.41,0.134,0.114,0.087,1372.8,1457.6,1288.1,151.5,2067.8,0,0,0,15.57,15.61,15.03 FG_AHR_10Vo 0.405

SUPER 59,70,254,1,0,0 MEM 1169124,29,14256,69

IRIDIUM_FIX -5400.29,0.00,230122,155207 DATA_FILE_SIZE 32142,380

TCM_TEMP 8.90 CAP_FILE_SIZE 167995,0

XPDR_PINGS 7 SDSIZE 3931136,3920608

ALTIM_TOP_PING 29.9,29.5 SDFILEDIR 61,2

HUMID 59.22 ERRORS 0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0

TEMP 2.59 CURRENT 0.056,262.4,1

INTERNAL_PRESSURE 8.57867 GPS 230122,163750,-5359.535,-0.267,21,1.2,62,-20.5

_24V_AH 14.76,5.218

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 574 1068 9055.85 SBE_CT 755 24 274.66

Pitch_motor 30 382 173.45 AA4831 420 100 620.20

Roll_motor 64 288 276.91 WL_BB2FL 733 43 471.62

Iridium 0 0 0.00 QSP2150 726 6 70.88

Transponder_ping 2 420 12.40 nil 0 0 0.00

GPS 31 12 5.97 nil 0 0 0.00

Core 1572 8 195.74 nil 0 0 0.00

LPSleep 963 2 31.45 nil 0 0 0.00

Compass 916 15 215.20 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 1 30 0.45

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

2.05 2 -97.32 -0.87 0.00 1370.7 1450.1 1291.3 162.1 2075.2 0.00 0.00 0 105.87 100.78 0.00 0.07 0.005 0.000 0.289 2994.81 2998.81 2990.81 162.19 2016.44 0 0 0 15.53 30.00 15.49

106.22 293 -97.32 -0.87 40.00 2995.3 2999.8 2990.9 161.7 2012.7 1.95 -1.04 20 127.30 0.00 12.92 2.54 0.000 0.383 0.105 2996.28 3019.69 2972.88 2256.75 3477.44 0 0 0 30.00 15.44 15.59

440.04 1157 -97.32 -0.49 0.00 2998.9 3032.6 2965.2 2256.2 3478.0 44.61 -14.81 87 445.75 0.00 0.68 2.44 0.000 0.284 0.080 3001.06 3034.50 2967.62 2378.94 2023.00 0 0 0 30.00 15.56 15.66

505.08 421 -97.32 -0.34 40.00 2998.8 3036.7 2960.9 2379.2 2019.1 50.79 -8.75 100 510.68 0.00 0.25 2.57 0.000 0.254 0.120 3000.59 3038.31 2962.88 2425.12 3480.94 0 0 0 30.00 15.64 15.67

575.09 1060 -97.32 -0.34 0.00 2998.7 3037.1 2960.3 2427.4 3481.4 56.65 -8.35 114 580.54 0.00 0.00 2.44 0.000 0.000 0.079 3002.09 3040.06 2964.12 2427.44 2025.12 0 0 0 30.00 30.00 15.69

640.08 548 -97.32 -0.34 -40.00 2999.4 3038.9 2960.0 2427.1 2023.6 61.44 -7.41 127 645.55 0.00 0.00 2.43 0.000 0.000 0.112 3000.91 3040.06 2961.75 2425.25 620.62 0 0 0 30.00 30.00 14.97

685.09 1188 -97.32 -0.29 0.00 2999.9 3039.9 2959.9 2427.2 620.6 64.84 -7.53 136 690.56 0.00 0.00 2.43 0.000 0.000 0.090 2999.84 3040.12 2959.56 2427.81 2067.81 0 0 0 30.00 30.00 15.70

750.10 32 -97.32 -0.29 0.00 2999.6 3040.0 2959.1 2427.0 2069.0 69.72 -7.70 149 751.44 0.00 0.00 0.00 0.000 0.000 0.000 2999.44 3040.44 2958.44 2425.12 2068.06 0 0 0 30.00 30.00 30.00

810.13 548 -97.32 -0.29 -40.00 2999.7 3040.3 2959.0 2427.5 2068.9 74.40 -7.70 161 815.60 0.00 0.00 2.49 0.000 0.000 0.110 3003.41 3043.88 2962.94 2426.62 619.19 0 0 0 30.00 30.00 15.67

860.15 1189 -97.32 -0.23 0.00 3000.2 3041.3 2959.2 2427.4 618.2 78.18 -8.03 171 865.75 0.00 0.19 2.44 0.000 0.262 0.090 3001.56 3043.06 2960.06 2462.88 2068.12 0 0 0 30.00 15.55 15.70

925.19 676 -97.32 -0.31 -40.00 2999.9 3040.9 2958.9 2463.1 2068.1 81.93 -5.89 181 929.64 0.00 0.00 2.52 0.000 0.000 0.109 3001.06 3042.44 2959.69 2462.31 620.56 0 0 0 30.00 30.00 15.77

994.22 1189 -97.32 -0.34 0.00 3000.3 3041.8 2958.9 2462.9 620.0 85.98 -5.80 188 999.66 0.00 0.19 2.43 0.000 0.109 0.090 3002.03 3043.56 2960.50 2405.44 2071.62 0 0 0 30.00 15.70 15.82

1125.25 677 -97.32 -0.29 -40.00 3000.3 3042.1 2958.5 2407.2 2073.2 94.69 -6.84 201 1129.84 0.00 0.20 2.51 0.000 0.239 0.108 3000.31 3042.00 2958.62 2447.06 619.31 0 0 0 30.00 15.73 15.76

1169.23 1060 -97.32 -0.29 0.00 3000.6 3042.9 2958.3 2446.8 618.4 97.90 -7.14 205 1174.54 0.00 0.00 2.45 0.000 0.000 0.091 3002.12 3045.31 2958.94 2445.69 2068.56 0 0 0 30.00 30.00 15.84

1205 end dive: TARGET_DEPTH_EXCEEDED

state 1205 begin apogee

1206.40 3 0.00 -0.17 0.00 3000.3 3043.0 2957.7 2447.1 2017.6 100.41 -7.18 209 1374.87 165.56 0.19 0.08 1.068 0.240 0.202 2598.22 2697.00 2499.44 2481.50 2075.38 0 0 0 12.11 15.71 15.09

1375 end apogee: CONTROL_FINISHED_OK

state 1375 begin climb

1375.22 519 97.32 0.87 -40.00 2594.3 2693.4 2495.2 2484.2 2076.0 105.09 0.00 225 1526.25 143.15 1.75 2.70 0.918 0.192 0.125 2196.22 2297.06 2095.38 2817.06 623.62 0 0 0 12.05 15.11 15.03

1607.95 1191 111.57 1.07 0.00 2185.2 2287.3 2083.0 2816.5 622.8 88.96 9.11 248 1629.93 17.29 0.31 2.48 0.951 0.120 0.084 2145.72 2244.88 2046.56 2885.56 2073.44 0 0 0 12.07 15.30 15.38

1748.97 646 111.57 1.00 -40.00 2128.2 2223.1 2033.4 2886.4 2073.6 70.52 13.89 268 1754.46 0.00 0.00 2.60 0.000 0.000 0.125 2132.06 2227.44 2036.69 2885.75 623.38 0 0 0 30.00 30.00 15.38

1849.01 1030 111.57 1.00 0.00 2126.8 2221.9 2031.6 2886.5 622.6 57.21 12.98 288 1854.46 0.00 0.00 2.45 0.000 0.000 0.080 2128.00 2223.62 2032.38 2886.81 2071.81 0 0 0 30.00 30.00 15.51

1914.00 391 111.57 0.94 40.00 2126.6 2221.9 2031.4 2886.4 2073.5 48.33 13.64 301 1919.62 0.00 0.29 2.46 0.000 0.260 0.110 2128.62 2224.00 2033.25 2831.25 3480.50 0 0 0 30.00 15.48 14.91

1954.01 1158 111.57 1.00 0.00 2125.0 2218.6 2031.3 2830.9 3479.8 43.08 12.82 309 1959.49 0.00 0.00 2.50 0.000 0.000 0.092 2126.69 2219.88 2033.50 2831.38 2029.50 0 0 0 30.00 30.00 15.54

2019.04 131 111.57 1.06 0.00 2124.6 2218.3 2030.9 2831.1 2027.6 35.57 10.44 322 2020.51 0.00 0.22 0.00 0.000 0.121 0.000 2127.62 2221.69 2033.56 2881.00 2026.94 0 0 0 30.00 15.60 30.00

2080.38 390 111.57 0.99 40.00 2124.9 2218.4 2031.4 2882.1 2027.2 27.74 12.93 334 2085.86 0.00 0.00 2.56 0.000 0.000 0.111 2127.59 2220.62 2034.56 2881.50 3477.69 0 0 0 30.00 30.00 15.57

2110.37 1159 111.57 0.92 0.00 2123.5 2216.1 2031.0 2881.9 3478.1 23.30 14.31 340 2116.02 0.00 0.31 2.48 0.000 0.257 0.093 2125.00 2217.75 2032.25 2826.81 2024.94 0 0 0 30.00 15.46 15.58

2145.38 518 111.57 0.92 -40.00 2123.5 2215.9 2031.1 2826.9 2023.8 18.99 12.36 347 2150.87 0.00 0.00 2.49 0.000 0.000 0.124 2124.91 2217.94 2031.88 2827.25 621.06 0 0 0 30.00 30.00 15.57

2160.39 1159 111.57 1.01 0.00 2123.4 2215.8 2031.0 2826.4 620.8 17.05 12.16 350 2166.01 0.00 0.17 2.44 0.000 0.122 0.079 2125.03 2217.62 2032.44 2870.88 2072.25 0 0 0 30.00 15.55 15.61

2195.41 390 111.57 0.94 40.00 2123.1 2215.9 2030.2 2870.9 2074.5 12.87 11.73 357 2200.88 0.00 0.00 2.44 0.000 0.000 0.105 2123.84 2216.38 2031.31 2870.31 3477.50 0 0 0 30.00 30.00 15.58

2230.39 1030 111.57 0.94 0.00 2122.6 2214.9 2030.3 2871.0 3477.5 9.38 10.41 364 2235.89 0.00 0.00 2.47 0.000 0.000 0.088 2126.75 2219.25 2034.25 2871.25 2027.00 0 0 0 30.00 30.00 15.60

2265.45 679 124.13 0.85 -40.00 2122.8 2214.9 2030.7 2871.4 2024.8 6.16 9.23 371 2276.24 6.17 0.37 2.51 0.155 0.265 0.129 2087.34 2179.50 1995.19 2804.56 623.50 0 0 0 15.54 15.57 15.59

2290 end climb: SURFACE_DEPTH_REACHED

state 2290 begin surface coast

2310 end surface coast: CONTROL_FINISHED_OK

state 2310 begin surface

ID	675	HD_B	0.010078	ROLL_MIN	206	ALTIM_TOP_PING_RANGE	30
MISSION	3	HD_C	9.8500004e-06	ROLL_MAX	3820	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	5	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	8	ESCAPE_HEADING	0	C_ROLL_DIVE	2050	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2050	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	-54	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	100	TGT_DEFAULT_LON	0	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	150	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	SM_CC	300	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_BOOST	15	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	92
T_BOOST	0	FILEMGR	0	VBD_MIN	623	INT_PRESSURE_SLOPE	1.96e-06
D_FINISH	0	CALL_NDIVES	1	VBD_MAX	3960	INT_PRESSURE_YINT	2.5599999
D_PITCH	0	COMM_SEQ	0	C_VBD	2600	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_CALL	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEVICE1	10
SURFACE_URGENCY	0	NOCOMM_ACTION	259	VBD_LP_IGNORE	0	DEVICE2	70
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	35
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	55
T_DIVE	33	CALL_TRIES	5	UNCOM_BLEED	60	DEVICE5	-1
T_MISSION	43	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
T_ABORT	100	CAPUPLOAD	1	W_ADJ_DBAND	0	LOGGERS	0
T_TURN	500	CAPMAXSIZE	400000	DBDW	0	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	LOITER_W_DBAND	0	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	100840	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_LOITER	0	T_RSLEEP	1	LOITER_D_TOP	0	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	LOITER_D_BOTTOM	0	COMPASS_DEVICE	18
USE_BATHY	0	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	0	SHORTING_PLUG	1	PHONE_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	0	AH0_24V	310	GPS_DEVICE	16
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_10V	0	RAFOS_DEVICE	-1
RELAUNCH	0	PITCH_MIN	162	MINV_24V	11.5	XPDR_DEVICE	5
APOGEE_PITCH	-5	PITCH_MAX	3892	MINV_10V	10	SIM_W	0
MAX_BUOY	100	C_PITCH	2539	MAXI_24V	3	SEABIRD_T_G	0.0044220379
GLIDE_SLOPE	30	PITCH_DBAND	0.1	MAXI_10V	2	SEABIRD_T_H	0.00064413931
SPEED_FACTOR	1	PITCH_CNV	0.0031260001	FG_AHR_10V	0.39174116	SEABIRD_T_I	2.6853917e-05
RHO	1.0275	PITCH_GAIN	30	FG_AHR_24V	2.2331262	SEABIRD_T_J	3.402645e-06
MASS	53587	PITCH_TIMEOUT	25	PHONE_SUPPLY	2	SEABIRD_C_G	-10.01496
MASS_COMP	0	PITCH_MAXERRORS	1	PRESSURE_YINT	-158.96762	SEABIRD_C_H	1.1201342
NAV_MODE	2	PITCH_ADJ_GAIN	0.029999999	PRESSURE_SLOPE	0.000108611	SEABIRD_C_I	-0.0031396081
FERRY_MAX	45	PITCH_ADJ_DBAND	1	COMPASS_USE	4	SEABIRD_C_J	0.00029222821
KALMAN_USE	0	PITCH_W_GAIN	0	ALTIM_PING_FIT	0	SEABIRD_C_Z	0
HD_A	0.0038360001	PITCH_W_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0

GPS1	230122,155125,-5359.385,-0.175,18,1.1,54,-20.5	TGT_LATLONG	-5400.000,0.000
_CALLS	2	TGT_RADIUS	200.000
_SM_DEPTHo	1.15	KALMAN_CONTROL	0.055,-0.209
_SM_ANGLEo	-55.3	KALMAN_X	-150.4,-55.2,-47.7,-173.8,-65.6
GPS2	230122,155506,-5359.375,-0.176,11,1.1,22,-20.5	KALMAN_Y	595.9,378.7,350.2,-278.4,149.2
SPEED_LIMITS	0.175,0.216	MHEAD_RNG_PITCHd_Wd	177.7,1174,-22.6,-10.101,-25.06
TGT_NAME	NORTH	D_GRID	100

FINISH	1.4,1.026988	_10V_AH	14.91,0.000
SM_CCo	2475.20,141.51,0.134,0,1372.8,1457.6,1288.1,301.02	FG_AHR_24Vo	2.295
SM_GC	1.14,141.51,12.68,2.41,0.134,0.114,0.087,1372.8,1457.6,1288.1,151.5,2067.8,0,0,0,15.57,15.61,15.03	FG_AHR_10Vo	0.405
SUPER	59,70,254,1,0,0	MEM	1169124,29,14256,69
IRIDIUM_FIX	-5400.29,0.00,230122,155207	DATA_FILE_SIZE	32142,380
TCM_TEMP	8.90	CAP_FILE_SIZE	167995,0
XPDR_PINGS	7	SDSIZE	3931136,3920608
ALTIM_TOP_PING	29.9,29.5	SDFILEDIR	61,2
HUMID	59.22	ERRORS	0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0
TEMP	2.59	CURRENT	0.056,262.4,1
INTERNAL_PRESSURE	8.57867	GPS	230122,163750,-5359.535,-0.267,21,1.2,62,-20.5
_24V_AH	14.76,5.218

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	574	1068	9055.85	SBE_CT	755	24	274.66
Pitch_motor	30	382	173.45	AA4831	420	100	620.20
Roll_motor	64	288	276.91	WL_BB2FL	733	43	471.62
Iridium	0	0	0.00	QSP2150	726	6	70.88
Transponder_ping	2	420	12.40	nil	0	0	0.00
GPS	31	12	5.97	nil	0	0	0.00
Core	1572	8	195.74	nil	0	0	0.00
LPSleep	963	2	31.45	nil	0	0	0.00
Compass	916	15	215.20	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	1	30	0.45

		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
2.05	2	-97.32	-0.87	0.00	1370.7	1450.1	1291.3	162.1	2075.2	0.00	0.00	0	105.87	100.78	0.00	0.07	0.005	0.000	0.289	2994.81	2998.81	2990.81	162.19	2016.44	0	0	0	15.53	30.00	15.49
106.22	293	-97.32	-0.87	40.00	2995.3	2999.8	2990.9	161.7	2012.7	1.95	-1.04	20	127.30	0.00	12.92	2.54	0.000	0.383	0.105	2996.28	3019.69	2972.88	2256.75	3477.44	0	0	0	30.00	15.44	15.59
440.04	1157	-97.32	-0.49	0.00	2998.9	3032.6	2965.2	2256.2	3478.0	44.61	-14.81	87	445.75	0.00	0.68	2.44	0.000	0.284	0.080	3001.06	3034.50	2967.62	2378.94	2023.00	0	0	0	30.00	15.56	15.66
505.08	421	-97.32	-0.34	40.00	2998.8	3036.7	2960.9	2379.2	2019.1	50.79	-8.75	100	510.68	0.00	0.25	2.57	0.000	0.254	0.120	3000.59	3038.31	2962.88	2425.12	3480.94	0	0	0	30.00	15.64	15.67
575.09	1060	-97.32	-0.34	0.00	2998.7	3037.1	2960.3	2427.4	3481.4	56.65	-8.35	114	580.54	0.00	0.00	2.44	0.000	0.000	0.079	3002.09	3040.06	2964.12	2427.44	2025.12	0	0	0	30.00	30.00	15.69
640.08	548	-97.32	-0.34	-40.00	2999.4	3038.9	2960.0	2427.1	2023.6	61.44	-7.41	127	645.55	0.00	0.00	2.43	0.000	0.000	0.112	3000.91	3040.06	2961.75	2425.25	620.62	0	0	0	30.00	30.00	14.97
685.09	1188	-97.32	-0.29	0.00	2999.9	3039.9	2959.9	2427.2	620.6	64.84	-7.53	136	690.56	0.00	0.00	2.43	0.000	0.000	0.090	2999.84	3040.12	2959.56	2427.81	2067.81	0	0	0	30.00	30.00	15.70
750.10	32	-97.32	-0.29	0.00	2999.6	3040.0	2959.1	2427.0	2069.0	69.72	-7.70	149	751.44	0.00	0.00	0.00	0.000	0.000	0.000	2999.44	3040.44	2958.44	2425.12	2068.06	0	0	0	30.00	30.00	30.00
810.13	548	-97.32	-0.29	-40.00	2999.7	3040.3	2959.0	2427.5	2068.9	74.40	-7.70	161	815.60	0.00	0.00	2.49	0.000	0.000	0.110	3003.41	3043.88	2962.94	2426.62	619.19	0	0	0	30.00	30.00	15.67
860.15	1189	-97.32	-0.23	0.00	3000.2	3041.3	2959.2	2427.4	618.2	78.18	-8.03	171	865.75	0.00	0.19	2.44	0.000	0.262	0.090	3001.56	3043.06	2960.06	2462.88	2068.12	0	0	0	30.00	15.55	15.70
925.19	676	-97.32	-0.31	-40.00	2999.9	3040.9	2958.9	2463.1	2068.1	81.93	-5.89	181	929.64	0.00	0.00	2.52	0.000	0.000	0.109	3001.06	3042.44	2959.69	2462.31	620.56	0	0	0	30.00	30.00	15.77
994.22	1189	-97.32	-0.34	0.00	3000.3	3041.8	2958.9	2462.9	620.0	85.98	-5.80	188	999.66	0.00	0.19	2.43	0.000	0.109	0.090	3002.03	3043.56	2960.50	2405.44	2071.62	0	0	0	30.00	15.70	15.82
1125.25	677	-97.32	-0.29	-40.00	3000.3	3042.1	2958.5	2407.2	2073.2	94.69	-6.84	201	1129.84	0.00	0.20	2.51	0.000	0.239	0.108	3000.31	3042.00	2958.62	2447.06	619.31	0	0	0	30.00	15.73	15.76
1169.23	1060	-97.32	-0.29	0.00	3000.6	3042.9	2958.3	2446.8	618.4	97.90	-7.14	205	1174.54	0.00	0.00	2.45	0.000	0.000	0.091	3002.12	3045.31	2958.94	2445.69	2068.56	0	0	0	30.00	30.00	15.84
1205	end dive: TARGET_DEPTH_EXCEEDED
state	1205	begin apogee
1206.40	3	0.00	-0.17	0.00	3000.3	3043.0	2957.7	2447.1	2017.6	100.41	-7.18	209	1374.87	165.56	0.19	0.08	1.068	0.240	0.202	2598.22	2697.00	2499.44	2481.50	2075.38	0	0	0	12.11	15.71	15.09
1375	end apogee: CONTROL_FINISHED_OK
state	1375	begin climb
1375.22	519	97.32	0.87	-40.00	2594.3	2693.4	2495.2	2484.2	2076.0	105.09	0.00	225	1526.25	143.15	1.75	2.70	0.918	0.192	0.125	2196.22	2297.06	2095.38	2817.06	623.62	0	0	0	12.05	15.11	15.03
1607.95	1191	111.57	1.07	0.00	2185.2	2287.3	2083.0	2816.5	622.8	88.96	9.11	248	1629.93	17.29	0.31	2.48	0.951	0.120	0.084	2145.72	2244.88	2046.56	2885.56	2073.44	0	0	0	12.07	15.30	15.38
1748.97	646	111.57	1.00	-40.00	2128.2	2223.1	2033.4	2886.4	2073.6	70.52	13.89	268	1754.46	0.00	0.00	2.60	0.000	0.000	0.125	2132.06	2227.44	2036.69	2885.75	623.38	0	0	0	30.00	30.00	15.38
1849.01	1030	111.57	1.00	0.00	2126.8	2221.9	2031.6	2886.5	622.6	57.21	12.98	288	1854.46	0.00	0.00	2.45	0.000	0.000	0.080	2128.00	2223.62	2032.38	2886.81	2071.81	0	0	0	30.00	30.00	15.51
1914.00	391	111.57	0.94	40.00	2126.6	2221.9	2031.4	2886.4	2073.5	48.33	13.64	301	1919.62	0.00	0.29	2.46	0.000	0.260	0.110	2128.62	2224.00	2033.25	2831.25	3480.50	0	0	0	30.00	15.48	14.91
1954.01	1158	111.57	1.00	0.00	2125.0	2218.6	2031.3	2830.9	3479.8	43.08	12.82	309	1959.49	0.00	0.00	2.50	0.000	0.000	0.092	2126.69	2219.88	2033.50	2831.38	2029.50	0	0	0	30.00	30.00	15.54
2019.04	131	111.57	1.06	0.00	2124.6	2218.3	2030.9	2831.1	2027.6	35.57	10.44	322	2020.51	0.00	0.22	0.00	0.000	0.121	0.000	2127.62	2221.69	2033.56	2881.00	2026.94	0	0	0	30.00	15.60	30.00
2080.38	390	111.57	0.99	40.00	2124.9	2218.4	2031.4	2882.1	2027.2	27.74	12.93	334	2085.86	0.00	0.00	2.56	0.000	0.000	0.111	2127.59	2220.62	2034.56	2881.50	3477.69	0	0	0	30.00	30.00	15.57
2110.37	1159	111.57	0.92	0.00	2123.5	2216.1	2031.0	2881.9	3478.1	23.30	14.31	340	2116.02	0.00	0.31	2.48	0.000	0.257	0.093	2125.00	2217.75	2032.25	2826.81	2024.94	0	0	0	30.00	15.46	15.58
2145.38	518	111.57	0.92	-40.00	2123.5	2215.9	2031.1	2826.9	2023.8	18.99	12.36	347	2150.87	0.00	0.00	2.49	0.000	0.000	0.124	2124.91	2217.94	2031.88	2827.25	621.06	0	0	0	30.00	30.00	15.57
2160.39	1159	111.57	1.01	0.00	2123.4	2215.8	2031.0	2826.4	620.8	17.05	12.16	350	2166.01	0.00	0.17	2.44	0.000	0.122	0.079	2125.03	2217.62	2032.44	2870.88	2072.25	0	0	0	30.00	15.55	15.61
2195.41	390	111.57	0.94	40.00	2123.1	2215.9	2030.2	2870.9	2074.5	12.87	11.73	357	2200.88	0.00	0.00	2.44	0.000	0.000	0.105	2123.84	2216.38	2031.31	2870.31	3477.50	0	0	0	30.00	30.00	15.58
2230.39	1030	111.57	0.94	0.00	2122.6	2214.9	2030.3	2871.0	3477.5	9.38	10.41	364	2235.89	0.00	0.00	2.47	0.000	0.000	0.088	2126.75	2219.25	2034.25	2871.25	2027.00	0	0	0	30.00	30.00	15.60
2265.45	679	124.13	0.85	-40.00	2122.8	2214.9	2030.7	2871.4	2024.8	6.16	9.23	371	2276.24	6.17	0.37	2.51	0.155	0.265	0.129	2087.34	2179.50	1995.19	2804.56	623.50	0	0	0	15.54	15.57	15.59
2290	end climb: SURFACE_DEPTH_REACHED
state	2290	begin surface coast
2310	end surface coast: CONTROL_FINISHED_OK
state	2310	begin surface