Glider dive log

NORSE Oct22 * SG234 * Dive index * Mission links * Dive 54 * 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 54 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 21.233267 SEABIRD_T_G 0.0044182916

MAX_BUOY 200 PITCH_MAXERRORS 1 FG_AHR_24V 30.087873 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 21.233267 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 30.087873 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 54 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 281022,030535,7050.521,-623.500,5,0.9,9,-5.0 TGT_RADIUS 1000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -53.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 281022,030821,7050.528,-623.495,3,0.9,6,-5.0 MHEAD_RNG_PITCHd_Wd 262.2,383,-27.5,-12.121,-30.00,1068,0.278

SPEED_LIMITS 0.210,0.313 D_GRID 583

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 -0.2,1.027842 MEM0 60148,1,0,0

SM_CCo 5474.26,566.71,1.214,0,501.2,563.1,439.4,612.94 MEM1 65508,1,0,0

SM_GC 1.06,566.71,15.70,0.60,1.214,0.069,0.105,501.2,563.1,439.4,185.5,2293.8,0,0,0,12.83,16.01,16.02 MEM2 968316,25,78752,50

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 19385,508

IRIDIUM_FIX 7051.37,-621.14,281022,012716 CAP_FILE_SIZE 216785,0

TCM_TEMP 8.01 SDSIZE 3887104,3862944

XPDR_PINGS 1,12.5,11.5 SDFILEDIR 282,1

HUMID 76.18 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 3.43 CURRENT 0.128,237.2,1

INTERNAL_PRESSURE 7.88909 MAGCAL 1.000000,-0.061058,-0.053577,-0.082353,1.075279,-0.053063,-0.016210,-0.021062,1.000000,-1038.9,-1092.6,-317.9,29,0.0888,0

_24V_AH 14.53,22.304 IMPLIED_C_PITCH 2235,13.90,316,0.0,0.00

_10V_AH 14.58,0.000 IMPLIED_C_VBD 2896,15.577507,316,0

FG_AHR_24Vo 30.413 GPS 281022,044035,7050.204,-626.743,38,1.1,42,-5.0

FG_AHR_10Vo 21.250

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 1003 1766 25759.88 SBE_CT 577 24 201.32

Pitch_motor 35 301 157.08 nil 0 0 0.00

Roll_motor 58 255 218.18 nil 0 0 0.00

Iridium 116 177 298.82 nil 0 0 0.00

Transponder_ping 0 420 1.53 nil 0 0 0.00

GPS 15 15 3.45 nil 0 0 0.00

Core 1698 6 168.38 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 3344 2 97.54

Compass 738 5 53.87

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 -84.69 -1.94 0.00 496.6 557.7 435.5 184.2 2252.1 0.00 0.00 0 186.54 181.09 0.00 0.12 0.005 0.000 0.256 3342.19 3387.12 3297.25 184.44 2293.12 0 0 0 15.51 30.00 15.61

186.86 18983 -159.93 -2.03 -80.00 3341.9 3386.6 3297.2 184.3 2292.9 3.40 -4.88 18 219.25 10.71 13.07 4.32 0.007 0.301 0.164 3651.56 3717.75 3585.38 1709.12 819.19 0 0 0 15.64 15.57 15.60

286.63 3205 -159.93 -1.92 0.00 3653.1 3721.9 3584.3 1709.1 819.2 25.29 -25.06 38 292.52 0.00 0.19 3.88 0.000 0.236 0.093 3654.06 3722.50 3585.62 1734.81 2289.56 0 0 0 30.00 15.63 15.70

481.71 260 -159.93 -1.92 80.00 3653.9 3723.2 3584.6 1734.6 2288.6 69.20 -21.41 58 487.26 0.00 0.00 3.08 0.000 0.000 0.167 3654.59 3723.75 3585.44 1734.88 3353.88 0 0 0 30.00 30.00 14.67

526.65 1156 -159.93 -1.88 0.00 3654.2 3723.3 3585.1 1735.1 3354.0 78.70 -21.32 67 532.29 0.00 0.00 2.76 0.000 0.000 0.072 3654.03 3723.44 3584.62 1734.94 2258.31 0 0 0 30.00 30.00 15.79

721.72 516 -159.93 -1.88 -80.00 3654.3 3723.4 3585.1 1735.2 2257.6 114.38 -19.26 87 727.46 0.00 0.00 4.09 0.000 0.000 0.161 3655.69 3724.81 3586.56 1735.38 819.25 0 0 0 30.00 30.00 15.81

841.76 3205 -159.93 -1.80 0.00 3654.2 3723.7 3584.6 1735.1 819.2 139.76 -21.98 111 847.49 0.00 0.22 3.79 0.000 0.231 0.089 3654.38 3724.31 3584.44 1764.62 2290.19 0 0 0 30.00 15.81 15.87

1151.50 0 -159.93 -1.80 0.00 3656.3 3727.2 3585.4 1764.2 2290.2 194.93 -17.23 143 1152.84 0.00 0.00 0.00 0.000 0.000 0.000 3656.38 3726.88 3585.88 1764.25 2290.44 0 0 0 30.00 30.00 30.00

1461.77 0 -159.93 -1.80 0.00 3656.8 3728.5 3585.1 1764.2 2290.4 248.53 -18.48 174 1463.11 0.00 0.00 0.00 0.000 0.000 0.000 3656.34 3728.25 3584.44 1764.25 2290.88 0 0 0 30.00 30.00 30.00

1771.78 260 -159.93 -1.80 80.00 3656.8 3728.8 3584.9 1764.5 2290.5 301.35 -16.88 190 1777.33 0.00 0.00 3.03 0.000 0.000 0.171 3658.75 3730.50 3587.00 1764.81 3354.44 0 0 0 30.00 30.00 15.97

1821.71 1028 -159.93 -1.80 0.00 3656.9 3728.5 3585.3 1764.4 3353.5 310.53 -19.46 200 1827.29 0.00 0.00 2.76 0.000 0.000 0.077 3657.97 3729.31 3586.62 1764.44 2260.19 0 0 0 30.00 30.00 16.01

2131.82 516 -159.93 -1.80 -80.00 3657.2 3729.4 3585.0 1764.4 2260.1 364.97 -16.73 217 2137.55 0.00 0.00 4.09 0.000 0.000 0.172 3656.91 3729.00 3584.81 1764.75 819.19 0 0 0 30.00 30.00 15.98

2201.76 1028 -159.93 -1.80 0.00 3657.3 3729.2 3585.4 1764.9 819.2 377.50 -18.58 231 2207.51 0.00 0.00 3.78 0.000 0.000 0.093 3657.94 3729.62 3586.25 1764.62 2289.56 0 0 0 30.00 30.00 16.02

2352 end dive: TARGET_DEPTH_EXCEEDED

state 2352 begin apogee

2353.65 10243 0.00 -0.33 0.00 3657.2 3729.2 3585.2 1764.8 2007.0 402.36 -16.29 240 2479.18 120.78 2.58 0.09 1.766 0.195 0.232 2997.31 3074.75 2919.88 2119.31 2048.88 0 0 0 12.76 15.99 15.32

2479 end apogee: CONTROL_FINISHED_OK

state 2480 begin climb

2479.72 10243 159.93 2.03 0.00 2997.7 3075.0 2920.4 2119.1 2048.8 407.45 0.00 246 2610.11 124.60 4.12 0.00 1.729 0.132 0.000 2346.53 2423.75 2269.31 2693.44 2048.44 0 0 0 12.33 15.37 30.00

2912.61 16902 159.93 2.03 -80.00 2334.4 2411.1 2257.8 2692.9 2048.8 344.80 17.76 286 2918.26 0.00 0.00 3.95 0.000 0.000 0.165 2335.97 2410.94 2261.00 2692.06 693.25 0 0 0 30.00 30.00 15.64

3032.60 17414 159.93 2.03 0.00 2332.8 2407.9 2257.8 2694.0 692.9 320.95 19.47 310 3038.21 0.00 0.00 3.43 0.000 0.000 0.076 2336.22 2411.56 2260.88 2693.44 2040.69 0 0 0 30.00 30.00 15.74

3352.62 16646 159.93 2.03 80.00 2331.4 2407.0 2255.8 2693.1 2040.2 266.27 17.05 329 3358.26 0.00 0.00 3.69 0.000 0.000 0.146 2334.44 2410.19 2258.69 2692.38 3354.88 0 0 0 30.00 30.00 15.83

3417.53 17414 159.93 2.03 0.00 2330.5 2405.2 2255.7 2693.8 3355.2 254.24 18.81 342 3423.23 0.00 0.00 3.43 0.000 0.000 0.080 2330.50 2405.50 2255.50 2694.38 2008.12 0 0 0 30.00 30.00 15.86

3732.66 16386 159.93 2.03 0.00 2329.4 2404.8 2254.1 2693.5 2006.1 197.34 18.65 374 3734.00 0.00 0.00 0.00 0.000 0.000 0.000 2328.16 2404.75 2251.56 2693.75 2006.56 0 0 0 30.00 30.00 30.00

4042.68 16386 159.93 2.03 0.00 2328.2 2403.5 2252.9 2693.2 2006.8 142.42 17.55 405 4044.02 0.00 0.00 0.00 0.000 0.000 0.000 2326.88 2403.19 2250.56 2693.12 2006.62 0 0 0 30.00 30.00 30.00

4352.69 16386 159.93 2.03 0.00 2326.9 2401.8 2252.1 2693.8 2006.2 87.73 17.85 436 4354.03 0.00 0.00 0.00 0.000 0.000 0.000 2326.31 2401.69 2250.94 2693.38 2006.25 0 0 0 30.00 30.00 30.00

4542.68 16902 159.93 2.03 -80.00 2326.3 2402.0 2250.6 2693.9 2006.8 55.72 18.21 455 4548.35 0.00 0.00 3.71 0.000 0.000 0.164 2326.72 2401.25 2252.19 2692.06 691.25 0 0 0 30.00 30.00 15.97

4727.61 17414 159.93 2.03 0.00 2325.5 2400.3 2250.7 2693.4 691.1 23.10 17.18 492 4733.38 0.00 0.00 3.37 0.000 0.000 0.075 2325.44 2399.81 2251.06 2693.50 2040.81 0 0 0 30.00 30.00 16.01

4863 end climb: SURFACE_DEPTH_REACHED

state 4863 begin surface coast

4883 end surface coast: CONTROL_FINISHED_OK

state 4883 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	54	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	21.233267	SEABIRD_T_G	0.0044182916
MAX_BUOY	200	PITCH_MAXERRORS	1	FG_AHR_24V	30.087873	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	281022,030535,7050.521,-623.500,5,0.9,9,-5.0	TGT_RADIUS	1000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.11	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	281022,030821,7050.528,-623.495,3,0.9,6,-5.0	MHEAD_RNG_PITCHd_Wd	262.2,383,-27.5,-12.121,-30.00,1068,0.278
SPEED_LIMITS	0.210,0.313	D_GRID	583
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	-0.2,1.027842	MEM0	60148,1,0,0
SM_CCo	5474.26,566.71,1.214,0,501.2,563.1,439.4,612.94	MEM1	65508,1,0,0
SM_GC	1.06,566.71,15.70,0.60,1.214,0.069,0.105,501.2,563.1,439.4,185.5,2293.8,0,0,0,12.83,16.01,16.02	MEM2	968316,25,78752,50
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	19385,508
IRIDIUM_FIX	7051.37,-621.14,281022,012716	CAP_FILE_SIZE	216785,0
TCM_TEMP	8.01	SDSIZE	3887104,3862944
XPDR_PINGS	1,12.5,11.5	SDFILEDIR	282,1
HUMID	76.18	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	3.43	CURRENT	0.128,237.2,1
INTERNAL_PRESSURE	7.88909	MAGCAL	1.000000,-0.061058,-0.053577,-0.082353,1.075279,-0.053063,-0.016210,-0.021062,1.000000,-1038.9,-1092.6,-317.9,29,0.0888,0
_24V_AH	14.53,22.304	IMPLIED_C_PITCH	2235,13.90,316,0.0,0.00
_10V_AH	14.58,0.000	IMPLIED_C_VBD	2896,15.577507,316,0
FG_AHR_24Vo	30.413	GPS	281022,044035,7050.204,-626.743,38,1.1,42,-5.0
FG_AHR_10Vo	21.250

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	1003	1766	25759.88	SBE_CT	577	24	201.32
Pitch_motor	35	301	157.08	nil	0	0	0.00
Roll_motor	58	255	218.18	nil	0	0	0.00
Iridium	116	177	298.82	nil	0	0	0.00
Transponder_ping	0	420	1.53	nil	0	0	0.00
GPS	15	15	3.45	nil	0	0	0.00
Core	1698	6	168.38	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	3344	2	97.54
Compass	738	5	53.87
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	-84.69	-1.94	0.00	496.6	557.7	435.5	184.2	2252.1	0.00	0.00	0	186.54	181.09	0.00	0.12	0.005	0.000	0.256	3342.19	3387.12	3297.25	184.44	2293.12	0	0	0	15.51	30.00	15.61
186.86	18983	-159.93	-2.03	-80.00	3341.9	3386.6	3297.2	184.3	2292.9	3.40	-4.88	18	219.25	10.71	13.07	4.32	0.007	0.301	0.164	3651.56	3717.75	3585.38	1709.12	819.19	0	0	0	15.64	15.57	15.60
286.63	3205	-159.93	-1.92	0.00	3653.1	3721.9	3584.3	1709.1	819.2	25.29	-25.06	38	292.52	0.00	0.19	3.88	0.000	0.236	0.093	3654.06	3722.50	3585.62	1734.81	2289.56	0	0	0	30.00	15.63	15.70
481.71	260	-159.93	-1.92	80.00	3653.9	3723.2	3584.6	1734.6	2288.6	69.20	-21.41	58	487.26	0.00	0.00	3.08	0.000	0.000	0.167	3654.59	3723.75	3585.44	1734.88	3353.88	0	0	0	30.00	30.00	14.67
526.65	1156	-159.93	-1.88	0.00	3654.2	3723.3	3585.1	1735.1	3354.0	78.70	-21.32	67	532.29	0.00	0.00	2.76	0.000	0.000	0.072	3654.03	3723.44	3584.62	1734.94	2258.31	0	0	0	30.00	30.00	15.79
721.72	516	-159.93	-1.88	-80.00	3654.3	3723.4	3585.1	1735.2	2257.6	114.38	-19.26	87	727.46	0.00	0.00	4.09	0.000	0.000	0.161	3655.69	3724.81	3586.56	1735.38	819.25	0	0	0	30.00	30.00	15.81
841.76	3205	-159.93	-1.80	0.00	3654.2	3723.7	3584.6	1735.1	819.2	139.76	-21.98	111	847.49	0.00	0.22	3.79	0.000	0.231	0.089	3654.38	3724.31	3584.44	1764.62	2290.19	0	0	0	30.00	15.81	15.87
1151.50	0	-159.93	-1.80	0.00	3656.3	3727.2	3585.4	1764.2	2290.2	194.93	-17.23	143	1152.84	0.00	0.00	0.00	0.000	0.000	0.000	3656.38	3726.88	3585.88	1764.25	2290.44	0	0	0	30.00	30.00	30.00
1461.77	0	-159.93	-1.80	0.00	3656.8	3728.5	3585.1	1764.2	2290.4	248.53	-18.48	174	1463.11	0.00	0.00	0.00	0.000	0.000	0.000	3656.34	3728.25	3584.44	1764.25	2290.88	0	0	0	30.00	30.00	30.00
1771.78	260	-159.93	-1.80	80.00	3656.8	3728.8	3584.9	1764.5	2290.5	301.35	-16.88	190	1777.33	0.00	0.00	3.03	0.000	0.000	0.171	3658.75	3730.50	3587.00	1764.81	3354.44	0	0	0	30.00	30.00	15.97
1821.71	1028	-159.93	-1.80	0.00	3656.9	3728.5	3585.3	1764.4	3353.5	310.53	-19.46	200	1827.29	0.00	0.00	2.76	0.000	0.000	0.077	3657.97	3729.31	3586.62	1764.44	2260.19	0	0	0	30.00	30.00	16.01
2131.82	516	-159.93	-1.80	-80.00	3657.2	3729.4	3585.0	1764.4	2260.1	364.97	-16.73	217	2137.55	0.00	0.00	4.09	0.000	0.000	0.172	3656.91	3729.00	3584.81	1764.75	819.19	0	0	0	30.00	30.00	15.98
2201.76	1028	-159.93	-1.80	0.00	3657.3	3729.2	3585.4	1764.9	819.2	377.50	-18.58	231	2207.51	0.00	0.00	3.78	0.000	0.000	0.093	3657.94	3729.62	3586.25	1764.62	2289.56	0	0	0	30.00	30.00	16.02
2352	end dive: TARGET_DEPTH_EXCEEDED
state	2352	begin apogee
2353.65	10243	0.00	-0.33	0.00	3657.2	3729.2	3585.2	1764.8	2007.0	402.36	-16.29	240	2479.18	120.78	2.58	0.09	1.766	0.195	0.232	2997.31	3074.75	2919.88	2119.31	2048.88	0	0	0	12.76	15.99	15.32
2479	end apogee: CONTROL_FINISHED_OK
state	2480	begin climb
2479.72	10243	159.93	2.03	0.00	2997.7	3075.0	2920.4	2119.1	2048.8	407.45	0.00	246	2610.11	124.60	4.12	0.00	1.729	0.132	0.000	2346.53	2423.75	2269.31	2693.44	2048.44	0	0	0	12.33	15.37	30.00
2912.61	16902	159.93	2.03	-80.00	2334.4	2411.1	2257.8	2692.9	2048.8	344.80	17.76	286	2918.26	0.00	0.00	3.95	0.000	0.000	0.165	2335.97	2410.94	2261.00	2692.06	693.25	0	0	0	30.00	30.00	15.64
3032.60	17414	159.93	2.03	0.00	2332.8	2407.9	2257.8	2694.0	692.9	320.95	19.47	310	3038.21	0.00	0.00	3.43	0.000	0.000	0.076	2336.22	2411.56	2260.88	2693.44	2040.69	0	0	0	30.00	30.00	15.74
3352.62	16646	159.93	2.03	80.00	2331.4	2407.0	2255.8	2693.1	2040.2	266.27	17.05	329	3358.26	0.00	0.00	3.69	0.000	0.000	0.146	2334.44	2410.19	2258.69	2692.38	3354.88	0	0	0	30.00	30.00	15.83
3417.53	17414	159.93	2.03	0.00	2330.5	2405.2	2255.7	2693.8	3355.2	254.24	18.81	342	3423.23	0.00	0.00	3.43	0.000	0.000	0.080	2330.50	2405.50	2255.50	2694.38	2008.12	0	0	0	30.00	30.00	15.86
3732.66	16386	159.93	2.03	0.00	2329.4	2404.8	2254.1	2693.5	2006.1	197.34	18.65	374	3734.00	0.00	0.00	0.00	0.000	0.000	0.000	2328.16	2404.75	2251.56	2693.75	2006.56	0	0	0	30.00	30.00	30.00
4042.68	16386	159.93	2.03	0.00	2328.2	2403.5	2252.9	2693.2	2006.8	142.42	17.55	405	4044.02	0.00	0.00	0.00	0.000	0.000	0.000	2326.88	2403.19	2250.56	2693.12	2006.62	0	0	0	30.00	30.00	30.00
4352.69	16386	159.93	2.03	0.00	2326.9	2401.8	2252.1	2693.8	2006.2	87.73	17.85	436	4354.03	0.00	0.00	0.00	0.000	0.000	0.000	2326.31	2401.69	2250.94	2693.38	2006.25	0	0	0	30.00	30.00	30.00
4542.68	16902	159.93	2.03	-80.00	2326.3	2402.0	2250.6	2693.9	2006.8	55.72	18.21	455	4548.35	0.00	0.00	3.71	0.000	0.000	0.164	2326.72	2401.25	2252.19	2692.06	691.25	0	0	0	30.00	30.00	15.97
4727.61	17414	159.93	2.03	0.00	2325.5	2400.3	2250.7	2693.4	691.1	23.10	17.18	492	4733.38	0.00	0.00	3.37	0.000	0.000	0.075	2325.44	2399.81	2251.06	2693.50	2040.81	0	0	0	30.00	30.00	16.01
4863	end climb: SURFACE_DEPTH_REACHED
state	4863	begin surface coast
4883	end surface coast: CONTROL_FINISHED_OK
state	4883	begin surface