Glider dive log

NORSE Oct22 * SG234 * Dive index * Mission links * Dive 53 * 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 53 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 21.2101 SEABIRD_T_G 0.0044182916

MAX_BUOY 200 PITCH_MAXERRORS 1 FG_AHR_24V 29.761868 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 21.2101 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 29.761868 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 53 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 281022,012445,7050.205,-625.241,25,1.1,32,-5.0 TGT_RADIUS 1000.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.05 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 281022,012955,7050.243,-625.225,4,0.6,8,-5.0 MHEAD_RNG_PITCHd_Wd 73.9,803,-27.5,-12.121,-30.00,1068,0.333

SPEED_LIMITS 0.210,0.313 D_GRID 530

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 -0.2,1.017730 MEM0 60148,1,0,0

SM_CCo 5712.98,572.61,1.215,0,501.1,562.6,439.5,612.99 MEM1 65508,1,0,0

SM_GC 0.98,572.61,15.65,0.59,1.215,0.071,0.102,501.1,562.6,439.5,184.5,2295.6,0,0,0,12.74,16.02,16.03 MEM2 968272,28,78736,50

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 19488,502

IRIDIUM_FIX 7051.59,-614.62,271022,234705 CAP_FILE_SIZE 217307,0

TCM_TEMP 7.88 SDSIZE 3887104,3863104

XPDR_PINGS 3,12.5,11.5 SDFILEDIR 278,1

HUMID 75.89 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 3.46 CURRENT 0.026,224.2,1

INTERNAL_PRESSURE 7.88967 MAGCAL 1.000000,-0.045706,0.003198,-0.082344,1.082028,-0.012584,-0.007236,-0.051001,0.752812,-1090.3,-1120.2,7.7,36,0.0985,0

_24V_AH 14.53,21.974 IMPLIED_C_PITCH 2235,14.10,333,0.0,0.00

_10V_AH 14.58,0.000 IMPLIED_C_VBD 2873,26.010118,333,0

FG_AHR_24Vo 30.087 GPS 281022,030535,7050.521,-623.500,5,0.9,9,-5.0

FG_AHR_10Vo 21.227

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 996 1776 25710.73 SBE_CT 609 24 212.48

Pitch_motor 35 304 158.16 nil 0 0 0.00

Roll_motor 60 259 226.50 nil 0 0 0.00

Iridium 200 217 634.14 nil 0 0 0.00

Transponder_ping 0 420 4.58 nil 0 0 0.00

GPS 17 15 3.89 nil 0 0 0.00

Core 1797 6 178.23 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 3622 2 105.64

Compass 729 5 53.18

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

2.27 16386 -84.69 -1.94 0.00 496.3 557.3 435.3 184.1 2254.2 0.00 0.00 0 186.50 180.64 0.00 0.11 0.005 0.000 0.260 3342.19 3386.50 3297.88 184.44 2296.25 0 0 0 14.64 30.00 15.65

186.76 18983 -153.70 -2.02 -80.00 3341.8 3386.3 3297.2 184.2 2295.8 3.61 -5.48 18 218.08 9.48 13.08 4.33 0.007 0.304 0.162 3627.00 3693.00 3561.00 1709.38 819.62 0 0 0 15.68 15.62 15.65

445.60 3205 -153.70 -1.92 0.00 3628.5 3696.9 3560.0 1709.4 819.4 69.82 -22.09 70 451.32 0.00 0.19 3.87 0.000 0.236 0.093 3629.22 3697.44 3561.00 1734.12 2289.38 0 0 0 30.00 15.73 15.80

635.59 516 -153.70 -1.92 -80.00 3629.3 3698.9 3559.8 1733.2 2289.2 101.12 -16.53 90 641.35 0.00 0.00 4.24 0.000 0.000 0.160 3629.81 3699.81 3559.81 1734.38 818.94 0 0 0 30.00 30.00 15.81

765.63 1156 -153.70 -1.86 0.00 3629.5 3699.0 3559.9 1733.7 818.9 124.05 -17.08 116 771.30 0.00 0.00 3.86 0.000 0.000 0.092 3629.72 3699.56 3559.88 1735.06 2289.00 0 0 0 30.00 30.00 15.88

1075.62 260 -153.70 -1.86 80.00 3630.6 3700.9 3560.3 1734.2 2289.4 179.75 -21.29 148 1081.18 0.00 0.00 3.03 0.000 0.000 0.168 3631.81 3701.75 3561.88 1734.62 3355.25 0 0 0 30.00 30.00 15.89

1120.57 3205 -153.70 -1.80 0.00 3630.3 3700.8 3559.9 1733.9 3355.8 189.89 -21.50 157 1126.35 0.00 0.22 2.76 0.000 0.230 0.073 3631.19 3701.31 3561.06 1764.44 2259.06 0 0 0 30.00 15.87 15.94

1435.71 516 -153.70 -1.80 -80.00 3631.3 3702.2 3560.4 1764.7 2259.2 245.52 -15.80 189 1441.37 0.00 0.00 4.09 0.000 0.000 0.166 3630.94 3701.75 3560.12 1764.12 819.00 0 0 0 30.00 30.00 15.93

1510.58 1028 -153.70 -1.80 0.00 3631.2 3702.2 3560.2 1764.4 819.2 258.83 -18.51 204 1516.42 0.00 0.00 3.79 0.000 0.000 0.090 3631.62 3702.75 3560.50 1764.25 2289.94 0 0 0 30.00 30.00 15.96

1835.65 0 -153.70 -1.80 0.00 3631.4 3702.4 3560.4 1764.4 2290.1 311.59 -15.27 221 1837.00 0.00 0.00 0.00 0.000 0.000 0.000 3630.59 3702.12 3559.06 1764.75 2290.00 0 0 0 30.00 30.00 30.00

2155.66 0 -153.70 -1.80 0.00 3631.6 3702.8 3560.5 1764.4 2289.8 362.30 -15.79 237 2157.01 0.00 0.00 0.00 0.000 0.000 0.000 3630.94 3701.94 3559.94 1764.75 2290.06 0 0 0 30.00 30.00 30.00

2416 end dive: TARGET_DEPTH_EXCEEDED

state 2416 begin apogee

2417.53 10243 0.00 -0.33 0.00 3631.2 3702.7 3559.7 1764.6 2006.7 400.41 -14.63 250 2538.59 114.75 2.57 0.09 1.777 0.192 0.232 2999.75 3076.50 2923.00 2119.06 2048.69 0 0 0 12.80 16.00 15.34

2539 end apogee: CONTROL_FINISHED_OK

state 2539 begin climb

2539.12 10243 153.70 2.02 0.00 2998.2 3074.8 2921.6 2119.2 2048.6 402.98 0.00 256 2663.17 118.56 4.09 0.00 1.731 0.125 0.000 2371.12 2448.50 2293.75 2692.88 2048.44 0 0 0 12.39 15.39 30.00

2975.70 16386 153.70 2.02 0.00 2358.4 2436.1 2280.6 2693.1 2048.7 337.05 17.69 278 2977.04 0.00 0.00 0.00 0.000 0.000 0.000 2357.50 2435.62 2279.38 2692.56 2048.38 0 0 0 30.00 30.00 30.00

3295.69 16386 153.70 2.02 0.00 2356.3 2433.6 2279.0 2692.5 2048.4 280.90 17.87 294 3297.04 0.00 0.00 0.00 0.000 0.000 0.000 2355.41 2433.56 2277.25 2692.31 2048.25 0 0 0 30.00 30.00 30.00

3605.70 16386 153.70 2.02 0.00 2355.4 2431.8 2279.0 2692.8 2048.8 226.39 16.66 316 3607.05 0.00 0.00 0.00 0.000 0.000 0.000 2353.91 2431.25 2276.56 2692.56 2048.62 0 0 0 30.00 30.00 30.00

3915.72 16902 153.70 2.02 -80.00 2354.2 2431.0 2277.4 2693.0 2048.3 181.71 13.06 347 3921.41 0.00 0.00 3.89 0.000 0.000 0.163 2354.25 2431.00 2277.50 2692.94 691.06 0 0 0 30.00 30.00 15.91

3980.63 17414 153.70 2.02 0.00 2354.0 2430.5 2277.5 2692.8 691.0 171.09 17.52 360 3986.43 0.00 0.00 3.40 0.000 0.000 0.077 2354.22 2431.06 2277.38 2693.62 2042.81 0 0 0 30.00 30.00 15.94

4295.80 16646 153.70 2.02 80.00 2352.8 2429.1 2276.6 2693.2 2042.8 119.01 15.68 392 4301.38 0.00 0.00 3.64 0.000 0.000 0.145 2353.03 2429.38 2276.69 2693.81 3358.00 0 0 0 30.00 30.00 15.96

4415.74 17414 153.70 2.02 0.00 2351.3 2426.1 2276.6 2693.5 3357.5 98.01 18.04 416 4421.35 0.00 0.00 3.41 0.000 0.000 0.080 2353.22 2428.25 2278.19 2692.56 2007.50 0 0 0 30.00 30.00 15.99

4605.75 16646 153.70 2.02 80.00 2351.1 2426.2 2275.9 2693.2 2006.4 69.03 13.71 436 4611.39 0.00 0.00 3.70 0.000 0.000 0.137 2354.31 2429.62 2279.00 2694.12 3355.44 0 0 0 30.00 30.00 15.99

4710.66 17414 153.70 2.02 0.00 2350.9 2425.8 2276.0 2693.4 3355.9 54.82 13.77 457 4716.45 0.00 0.00 3.41 0.000 0.000 0.081 2352.31 2427.38 2277.25 2693.44 2007.31 0 0 0 30.00 30.00 16.01

4905.76 16902 153.70 2.02 -80.00 2350.6 2425.7 2275.4 2693.8 2006.5 29.12 13.29 477 4911.42 0.00 0.00 3.68 0.000 0.000 0.162 2351.78 2427.00 2276.56 2694.31 691.12 0 0 0 30.00 30.00 15.99

4940.69 17414 153.70 2.02 0.00 2350.4 2425.5 2275.2 2693.4 691.2 23.68 15.89 484 4946.46 0.00 0.00 3.35 0.000 0.000 0.073 2350.41 2425.44 2275.38 2693.50 2044.25 0 0 0 30.00 30.00 16.02

5096 end climb: SURFACE_DEPTH_REACHED

state 5096 begin surface coast

5116 end surface coast: CONTROL_FINISHED_OK

state 5116 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	53	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	21.2101	SEABIRD_T_G	0.0044182916
MAX_BUOY	200	PITCH_MAXERRORS	1	FG_AHR_24V	29.761868	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	281022,012445,7050.205,-625.241,25,1.1,32,-5.0	TGT_RADIUS	1000.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.05	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	281022,012955,7050.243,-625.225,4,0.6,8,-5.0	MHEAD_RNG_PITCHd_Wd	73.9,803,-27.5,-12.121,-30.00,1068,0.333
SPEED_LIMITS	0.210,0.313	D_GRID	530
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	-0.2,1.017730	MEM0	60148,1,0,0
SM_CCo	5712.98,572.61,1.215,0,501.1,562.6,439.5,612.99	MEM1	65508,1,0,0
SM_GC	0.98,572.61,15.65,0.59,1.215,0.071,0.102,501.1,562.6,439.5,184.5,2295.6,0,0,0,12.74,16.02,16.03	MEM2	968272,28,78736,50
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	19488,502
IRIDIUM_FIX	7051.59,-614.62,271022,234705	CAP_FILE_SIZE	217307,0
TCM_TEMP	7.88	SDSIZE	3887104,3863104
XPDR_PINGS	3,12.5,11.5	SDFILEDIR	278,1
HUMID	75.89	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	3.46	CURRENT	0.026,224.2,1
INTERNAL_PRESSURE	7.88967	MAGCAL	1.000000,-0.045706,0.003198,-0.082344,1.082028,-0.012584,-0.007236,-0.051001,0.752812,-1090.3,-1120.2,7.7,36,0.0985,0
_24V_AH	14.53,21.974	IMPLIED_C_PITCH	2235,14.10,333,0.0,0.00
_10V_AH	14.58,0.000	IMPLIED_C_VBD	2873,26.010118,333,0
FG_AHR_24Vo	30.087	GPS	281022,030535,7050.521,-623.500,5,0.9,9,-5.0
FG_AHR_10Vo	21.227

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	996	1776	25710.73	SBE_CT	609	24	212.48
Pitch_motor	35	304	158.16	nil	0	0	0.00
Roll_motor	60	259	226.50	nil	0	0	0.00
Iridium	200	217	634.14	nil	0	0	0.00
Transponder_ping	0	420	4.58	nil	0	0	0.00
GPS	17	15	3.89	nil	0	0	0.00
Core	1797	6	178.23	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	3622	2	105.64
Compass	729	5	53.18
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
2.27	16386	-84.69	-1.94	0.00	496.3	557.3	435.3	184.1	2254.2	0.00	0.00	0	186.50	180.64	0.00	0.11	0.005	0.000	0.260	3342.19	3386.50	3297.88	184.44	2296.25	0	0	0	14.64	30.00	15.65
186.76	18983	-153.70	-2.02	-80.00	3341.8	3386.3	3297.2	184.2	2295.8	3.61	-5.48	18	218.08	9.48	13.08	4.33	0.007	0.304	0.162	3627.00	3693.00	3561.00	1709.38	819.62	0	0	0	15.68	15.62	15.65
445.60	3205	-153.70	-1.92	0.00	3628.5	3696.9	3560.0	1709.4	819.4	69.82	-22.09	70	451.32	0.00	0.19	3.87	0.000	0.236	0.093	3629.22	3697.44	3561.00	1734.12	2289.38	0	0	0	30.00	15.73	15.80
635.59	516	-153.70	-1.92	-80.00	3629.3	3698.9	3559.8	1733.2	2289.2	101.12	-16.53	90	641.35	0.00	0.00	4.24	0.000	0.000	0.160	3629.81	3699.81	3559.81	1734.38	818.94	0	0	0	30.00	30.00	15.81
765.63	1156	-153.70	-1.86	0.00	3629.5	3699.0	3559.9	1733.7	818.9	124.05	-17.08	116	771.30	0.00	0.00	3.86	0.000	0.000	0.092	3629.72	3699.56	3559.88	1735.06	2289.00	0	0	0	30.00	30.00	15.88
1075.62	260	-153.70	-1.86	80.00	3630.6	3700.9	3560.3	1734.2	2289.4	179.75	-21.29	148	1081.18	0.00	0.00	3.03	0.000	0.000	0.168	3631.81	3701.75	3561.88	1734.62	3355.25	0	0	0	30.00	30.00	15.89
1120.57	3205	-153.70	-1.80	0.00	3630.3	3700.8	3559.9	1733.9	3355.8	189.89	-21.50	157	1126.35	0.00	0.22	2.76	0.000	0.230	0.073	3631.19	3701.31	3561.06	1764.44	2259.06	0	0	0	30.00	15.87	15.94
1435.71	516	-153.70	-1.80	-80.00	3631.3	3702.2	3560.4	1764.7	2259.2	245.52	-15.80	189	1441.37	0.00	0.00	4.09	0.000	0.000	0.166	3630.94	3701.75	3560.12	1764.12	819.00	0	0	0	30.00	30.00	15.93
1510.58	1028	-153.70	-1.80	0.00	3631.2	3702.2	3560.2	1764.4	819.2	258.83	-18.51	204	1516.42	0.00	0.00	3.79	0.000	0.000	0.090	3631.62	3702.75	3560.50	1764.25	2289.94	0	0	0	30.00	30.00	15.96
1835.65	0	-153.70	-1.80	0.00	3631.4	3702.4	3560.4	1764.4	2290.1	311.59	-15.27	221	1837.00	0.00	0.00	0.00	0.000	0.000	0.000	3630.59	3702.12	3559.06	1764.75	2290.00	0	0	0	30.00	30.00	30.00
2155.66	0	-153.70	-1.80	0.00	3631.6	3702.8	3560.5	1764.4	2289.8	362.30	-15.79	237	2157.01	0.00	0.00	0.00	0.000	0.000	0.000	3630.94	3701.94	3559.94	1764.75	2290.06	0	0	0	30.00	30.00	30.00
2416	end dive: TARGET_DEPTH_EXCEEDED
state	2416	begin apogee
2417.53	10243	0.00	-0.33	0.00	3631.2	3702.7	3559.7	1764.6	2006.7	400.41	-14.63	250	2538.59	114.75	2.57	0.09	1.777	0.192	0.232	2999.75	3076.50	2923.00	2119.06	2048.69	0	0	0	12.80	16.00	15.34
2539	end apogee: CONTROL_FINISHED_OK
state	2539	begin climb
2539.12	10243	153.70	2.02	0.00	2998.2	3074.8	2921.6	2119.2	2048.6	402.98	0.00	256	2663.17	118.56	4.09	0.00	1.731	0.125	0.000	2371.12	2448.50	2293.75	2692.88	2048.44	0	0	0	12.39	15.39	30.00
2975.70	16386	153.70	2.02	0.00	2358.4	2436.1	2280.6	2693.1	2048.7	337.05	17.69	278	2977.04	0.00	0.00	0.00	0.000	0.000	0.000	2357.50	2435.62	2279.38	2692.56	2048.38	0	0	0	30.00	30.00	30.00
3295.69	16386	153.70	2.02	0.00	2356.3	2433.6	2279.0	2692.5	2048.4	280.90	17.87	294	3297.04	0.00	0.00	0.00	0.000	0.000	0.000	2355.41	2433.56	2277.25	2692.31	2048.25	0	0	0	30.00	30.00	30.00
3605.70	16386	153.70	2.02	0.00	2355.4	2431.8	2279.0	2692.8	2048.8	226.39	16.66	316	3607.05	0.00	0.00	0.00	0.000	0.000	0.000	2353.91	2431.25	2276.56	2692.56	2048.62	0	0	0	30.00	30.00	30.00
3915.72	16902	153.70	2.02	-80.00	2354.2	2431.0	2277.4	2693.0	2048.3	181.71	13.06	347	3921.41	0.00	0.00	3.89	0.000	0.000	0.163	2354.25	2431.00	2277.50	2692.94	691.06	0	0	0	30.00	30.00	15.91
3980.63	17414	153.70	2.02	0.00	2354.0	2430.5	2277.5	2692.8	691.0	171.09	17.52	360	3986.43	0.00	0.00	3.40	0.000	0.000	0.077	2354.22	2431.06	2277.38	2693.62	2042.81	0	0	0	30.00	30.00	15.94
4295.80	16646	153.70	2.02	80.00	2352.8	2429.1	2276.6	2693.2	2042.8	119.01	15.68	392	4301.38	0.00	0.00	3.64	0.000	0.000	0.145	2353.03	2429.38	2276.69	2693.81	3358.00	0	0	0	30.00	30.00	15.96
4415.74	17414	153.70	2.02	0.00	2351.3	2426.1	2276.6	2693.5	3357.5	98.01	18.04	416	4421.35	0.00	0.00	3.41	0.000	0.000	0.080	2353.22	2428.25	2278.19	2692.56	2007.50	0	0	0	30.00	30.00	15.99
4605.75	16646	153.70	2.02	80.00	2351.1	2426.2	2275.9	2693.2	2006.4	69.03	13.71	436	4611.39	0.00	0.00	3.70	0.000	0.000	0.137	2354.31	2429.62	2279.00	2694.12	3355.44	0	0	0	30.00	30.00	15.99
4710.66	17414	153.70	2.02	0.00	2350.9	2425.8	2276.0	2693.4	3355.9	54.82	13.77	457	4716.45	0.00	0.00	3.41	0.000	0.000	0.081	2352.31	2427.38	2277.25	2693.44	2007.31	0	0	0	30.00	30.00	16.01
4905.76	16902	153.70	2.02	-80.00	2350.6	2425.7	2275.4	2693.8	2006.5	29.12	13.29	477	4911.42	0.00	0.00	3.68	0.000	0.000	0.162	2351.78	2427.00	2276.56	2694.31	691.12	0	0	0	30.00	30.00	15.99
4940.69	17414	153.70	2.02	0.00	2350.4	2425.5	2275.2	2693.4	691.2	23.68	15.89	484	4946.46	0.00	0.00	3.35	0.000	0.000	0.073	2350.41	2425.44	2275.38	2693.50	2044.25	0	0	0	30.00	30.00	16.02
5096	end climb: SURFACE_DEPTH_REACHED
state	5096	begin surface coast
5116	end surface coast: CONTROL_FINISHED_OK
state	5116	begin surface