Glider dive log

NORSE Oct22 * SG234 * Dive index * Mission links * Dive 55 * 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 55 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 21.259035 SEABIRD_T_G 0.0044182916

MAX_BUOY 200 PITCH_MAXERRORS 1 FG_AHR_24V 30.413952 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 21.259035 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 30.413952 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 55 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 281022,044035,7050.204,-626.743,38,1.1,42,-5.0 TGT_RADIUS 1000.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.07 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 281022,044710,7050.218,-626.735,4,0.7,8,-5.0 MHEAD_RNG_PITCHd_Wd 72.0,1668,-17.9,-12.121,-21.20,2436,0.481

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 -0.3,1.014208 MEM0 60148,1,0,0

SM_CCo 6626.06,386.71,1.241,0,501.0,563.7,438.2,613.01 MEM1 65508,1,0,0

SM_GC 0.91,386.71,15.26,0.70,1.241,0.067,0.097,501.0,563.7,438.2,185.4,2295.4,0,0,0,12.78,16.03,16.05 MEM2 968252,29,78736,50

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 22560,617

IRIDIUM_FIX 7050.91,-634.17,281022,044128 CAP_FILE_SIZE 249360,0

TCM_TEMP 8.84 SDSIZE 3887104,3862752

XPDR_PINGS 1,12.5,11.5 SDFILEDIR 286,1

HUMID 76.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 3.45 CURRENT 0.199,259.5,1

INTERNAL_PRESSURE 7.88456 MAGCAL 1.000000,0.020985,-0.118906,-0.084415,1.067681,-0.081659,-0.036595,0.002978,1.149942,-987.9,-1078.8,-423.9,36,0.0869,0

_24V_AH 14.54,22.647 IMPLIED_C_PITCH 2266,12.12,400,0.0,0.00

_10V_AH 14.59,0.000 IMPLIED_C_VBD 2888,46.347412,400,0

FG_AHR_24Vo 30.747 GPS 281022,063804,7050.479,-625.840,4,1.7,10,-5.0

FG_AHR_10Vo 21.279

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 970 1765 24896.84 SBE_CT 724 24 252.74

Pitch_motor 34 296 149.70 nil 0 0 0.00

Roll_motor 84 235 289.59 nil 0 0 0.00

Iridium 226 172 567.54 nil 0 0 0.00

Transponder_ping 0 420 1.53 nil 0 0 0.00

GPS 16 15 3.63 nil 0 0 0.00

Core 2208 6 219.07 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 4397 2 128.32

Compass 890 5 64.95

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

2.25 16386 -194.65 -1.43 0.00 495.9 556.9 435.0 185.3 2251.8 0.00 0.00 0 187.39 184.49 0.00 0.00 0.005 0.000 0.000 3434.25 3476.88 3391.62 185.31 2252.44 0 0 0 14.68 30.00 30.00

187.69 18727 -194.65 -1.43 80.00 3433.8 3477.1 3390.6 185.4 2252.0 3.66 -10.65 18 223.23 11.52 14.12 3.22 0.007 0.297 0.164 3794.38 3863.06 3725.69 1851.50 3354.56 0 0 0 15.73 15.65 15.67

450.62 3205 -194.65 -1.34 0.00 3796.8 3868.1 3725.6 1851.2 3354.9 52.03 -19.33 71 456.33 0.00 0.16 2.79 0.000 0.211 0.070 3798.41 3869.12 3727.69 1875.50 2257.50 0 0 0 30.00 15.76 15.82

645.69 260 -194.65 -1.34 80.00 3797.2 3868.7 3725.6 1876.4 2257.5 83.34 -16.39 91 651.27 0.00 0.00 3.13 0.000 0.000 0.153 3798.06 3869.94 3726.19 1875.56 3355.69 0 0 0 30.00 30.00 15.84

785.72 1028 -194.65 -1.34 0.00 3797.4 3869.4 3725.5 1876.2 3355.4 106.14 -15.17 119 791.21 0.00 0.00 2.76 0.000 0.000 0.069 3798.03 3870.25 3725.81 1876.31 2258.88 0 0 0 30.00 30.00 15.90

1095.73 260 -194.65 -1.34 80.00 3798.2 3871.0 3725.4 1876.4 2258.0 146.62 -12.28 151 1101.29 0.00 0.00 3.11 0.000 0.000 0.153 3799.59 3871.75 3727.44 1876.12 3356.06 0 0 0 30.00 30.00 15.92

1175.75 1156 -194.65 -1.28 0.00 3798.3 3870.8 3725.9 1876.2 3356.1 156.92 -12.98 167 1181.23 0.00 0.00 2.74 0.000 0.000 0.069 3798.44 3871.31 3725.56 1876.75 2258.19 0 0 0 30.00 30.00 15.95

1485.76 0 -194.65 -1.28 0.00 3799.8 3873.9 3725.6 1876.4 2257.6 195.12 -12.56 199 1487.11 0.00 0.00 0.00 0.000 0.000 0.000 3799.25 3873.38 3725.12 1876.69 2257.75 0 0 0 30.00 30.00 30.00

1795.77 0 -194.65 -1.28 0.00 3800.3 3874.9 3725.8 1876.2 2258.1 235.32 -14.01 230 1797.11 0.00 0.00 0.00 0.000 0.000 0.000 3800.00 3875.06 3724.94 1875.25 2257.62 0 0 0 30.00 30.00 30.00

2105.78 516 -194.65 -1.28 -80.00 3800.5 3875.3 3725.6 1876.7 2257.4 279.77 -14.67 251 2111.50 0.00 0.00 4.07 0.000 0.000 0.165 3801.84 3876.19 3727.50 1876.31 818.50 0 0 0 30.00 30.00 15.99

2140.78 3205 -194.65 -1.22 0.00 3800.6 3875.5 3725.7 1876.1 818.5 285.41 -16.19 258 2146.60 0.00 0.20 3.77 0.000 0.194 0.086 3801.62 3876.00 3727.25 1906.06 2290.81 0 0 0 30.00 15.98 16.03

2465.81 516 -194.65 -1.22 -80.00 3800.6 3875.4 3725.8 1906.5 2290.4 328.19 -12.70 275 2471.55 0.00 0.00 4.20 0.000 0.000 0.165 3801.62 3876.38 3726.88 1906.50 819.31 0 0 0 30.00 30.00 16.02

2510.73 1028 -194.65 -1.22 0.00 3800.5 3875.8 3725.2 1906.7 819.3 334.01 -13.26 284 2516.49 0.00 0.00 3.76 0.000 0.000 0.085 3800.84 3875.69 3726.00 1906.44 2290.50 0 0 0 30.00 30.00 16.05

2825.86 292 -194.65 -1.22 80.00 3800.8 3875.9 3725.7 1906.9 2290.2 371.77 -11.74 302 2831.39 0.00 0.00 3.03 0.000 0.000 0.172 3800.38 3875.88 3724.88 1906.75 3355.94 0 0 0 30.00 30.00 16.04

2890.85 1060 -194.65 -1.22 0.00 3800.4 3875.4 3725.4 1906.3 3356.0 379.30 -12.05 315 2896.37 0.00 0.00 2.76 0.000 0.000 0.076 3801.59 3875.75 3727.44 1906.38 2259.25 0 0 0 30.00 30.00 16.07

3066 end dive: TARGET_DEPTH_EXCEEDED

state 3066 begin apogee

3067.63 10243 0.00 -0.33 0.00 3800.7 3875.9 3725.4 1906.6 2007.6 400.10 -11.45 326 3215.95 144.99 1.50 0.09 1.765 0.160 0.236 2997.53 3077.75 2917.31 2120.75 2047.75 0 0 0 12.82 16.04 15.28

3216 end apogee: CONTROL_FINISHED_OK

state 3216 begin climb

3216.48 10759 194.65 1.43 -80.00 2997.8 3077.9 2917.8 2120.5 2047.9 406.24 0.00 333 3377.88 149.28 3.07 4.11 1.698 0.126 0.166 2206.62 2291.75 2121.50 2549.88 693.12 0 0 0 12.30 15.31 15.10

3380.35 11303 299.23 1.56 0.00 2201.7 2285.6 2117.7 2549.0 693.2 396.31 7.71 348 3467.54 79.64 0.19 3.57 1.648 0.097 0.071 1778.41 1865.25 1691.56 2587.44 2041.31 0 0 0 12.30 15.24 15.24

3775.36 16646 299.23 1.56 80.00 1768.8 1854.1 1683.5 2586.8 2040.8 344.67 13.68 382 3781.01 0.00 0.00 3.76 0.000 0.000 0.150 1769.78 1855.31 1684.25 2586.88 3354.31 0 0 0 30.00 30.00 15.64

3820.34 17414 299.23 1.56 0.00 1768.0 1852.6 1683.4 2588.0 3354.6 338.42 13.72 391 3825.97 0.00 0.00 3.48 0.000 0.000 0.081 1770.19 1854.94 1685.44 2588.56 2006.94 0 0 0 30.00 30.00 15.69

4135.40 8226 315.72 1.58 0.00 1767.1 1852.2 1682.0 2587.9 2006.2 300.56 11.43 409 4150.27 13.48 0.00 0.00 1.468 0.000 0.000 1711.44 1798.12 1624.75 2587.38 2006.31 0 0 0 12.62 30.00 30.00

4455.41 260 315.72 1.58 80.00 1707.3 1793.2 1621.4 2588.1 2006.3 260.31 13.50 425 4461.09 0.00 0.00 3.81 0.000 0.000 0.145 1707.31 1792.88 1621.75 2587.50 3355.31 0 0 0 30.00 30.00 15.82

4480.33 1028 315.72 1.58 0.00 1706.6 1791.9 1621.3 2587.5 3354.2 256.59 14.89 430 4486.04 0.00 0.00 3.41 0.000 0.000 0.082 1707.88 1793.31 1622.44 2587.75 2007.19 0 0 0 30.00 30.00 15.85

4795.55 388 315.72 1.63 80.00 1705.7 1791.2 1620.2 2588.0 2006.3 210.08 15.67 461 4801.12 0.00 0.00 3.76 0.000 0.000 0.144 1706.97 1792.62 1621.31 2588.56 3356.31 0 0 0 30.00 30.00 15.89

4850.37 1028 315.72 1.63 0.00 1705.2 1790.6 1619.8 2587.9 3356.0 201.59 15.31 472 4856.17 0.00 0.00 3.41 0.000 0.000 0.082 1705.50 1790.81 1620.19 2587.69 2007.62 0 0 0 30.00 30.00 15.91

5165.58 16386 315.72 1.63 0.00 1704.4 1790.5 1618.3 2588.0 2006.8 153.62 14.72 504 5166.93 0.00 0.00 0.00 0.000 0.000 0.000 1703.38 1789.19 1617.56 2587.56 2006.81 0 0 0 30.00 30.00 30.00

5475.56 16646 315.72 1.63 80.00 1703.8 1790.2 1617.4 2587.4 2006.8 108.14 15.30 535 5481.22 0.00 0.00 3.75 0.000 0.000 0.144 1704.12 1790.56 1617.69 2587.88 3357.69 0 0 0 30.00 30.00 15.97

5505.56 17414 315.72 1.63 0.00 1703.2 1789.0 1617.4 2587.7 3357.9 103.30 16.85 541 5511.16 0.00 0.00 3.40 0.000 0.000 0.081 1704.19 1790.06 1618.31 2588.19 2007.44 0 0 0 30.00 30.00 15.98

5815.59 16774 315.72 1.69 80.00 1703.2 1789.2 1617.1 2588.1 2006.1 54.51 13.17 573 5821.25 0.00 0.00 3.73 0.000 0.000 0.141 1704.72 1790.44 1619.00 2587.75 3357.12 0 0 0 30.00 30.00 15.99

5845.58 17414 315.72 1.69 0.00 1702.3 1787.9 1616.8 2588.2 3356.8 50.65 12.88 579 5851.19 0.00 0.00 3.40 0.000 0.000 0.079 1702.34 1787.81 1616.88 2587.75 2006.50 0 0 0 30.00 30.00 16.01

6035.60 18563 315.72 1.73 0.00 1701.9 1787.8 1616.1 2588.1 2005.6 26.09 13.15 599 6037.06 0.00 0.19 0.00 0.000 0.106 0.000 1701.91 1787.62 1616.19 2625.44 2005.44 0 0 0 30.00 16.01 30.00

6196 end climb: SURFACE_DEPTH_REACHED

state 6196 begin surface coast

6216 end surface coast: CONTROL_FINISHED_OK

state 6216 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	55	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	21.259035	SEABIRD_T_G	0.0044182916
MAX_BUOY	200	PITCH_MAXERRORS	1	FG_AHR_24V	30.413952	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	281022,044035,7050.204,-626.743,38,1.1,42,-5.0	TGT_RADIUS	1000.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.07	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	281022,044710,7050.218,-626.735,4,0.7,8,-5.0	MHEAD_RNG_PITCHd_Wd	72.0,1668,-17.9,-12.121,-21.20,2436,0.481
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	-0.3,1.014208	MEM0	60148,1,0,0
SM_CCo	6626.06,386.71,1.241,0,501.0,563.7,438.2,613.01	MEM1	65508,1,0,0
SM_GC	0.91,386.71,15.26,0.70,1.241,0.067,0.097,501.0,563.7,438.2,185.4,2295.4,0,0,0,12.78,16.03,16.05	MEM2	968252,29,78736,50
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	22560,617
IRIDIUM_FIX	7050.91,-634.17,281022,044128	CAP_FILE_SIZE	249360,0
TCM_TEMP	8.84	SDSIZE	3887104,3862752
XPDR_PINGS	1,12.5,11.5	SDFILEDIR	286,1
HUMID	76.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	3.45	CURRENT	0.199,259.5,1
INTERNAL_PRESSURE	7.88456	MAGCAL	1.000000,0.020985,-0.118906,-0.084415,1.067681,-0.081659,-0.036595,0.002978,1.149942,-987.9,-1078.8,-423.9,36,0.0869,0
_24V_AH	14.54,22.647	IMPLIED_C_PITCH	2266,12.12,400,0.0,0.00
_10V_AH	14.59,0.000	IMPLIED_C_VBD	2888,46.347412,400,0
FG_AHR_24Vo	30.747	GPS	281022,063804,7050.479,-625.840,4,1.7,10,-5.0
FG_AHR_10Vo	21.279

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	970	1765	24896.84	SBE_CT	724	24	252.74
Pitch_motor	34	296	149.70	nil	0	0	0.00
Roll_motor	84	235	289.59	nil	0	0	0.00
Iridium	226	172	567.54	nil	0	0	0.00
Transponder_ping	0	420	1.53	nil	0	0	0.00
GPS	16	15	3.63	nil	0	0	0.00
Core	2208	6	219.07	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	4397	2	128.32
Compass	890	5	64.95
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
2.25	16386	-194.65	-1.43	0.00	495.9	556.9	435.0	185.3	2251.8	0.00	0.00	0	187.39	184.49	0.00	0.00	0.005	0.000	0.000	3434.25	3476.88	3391.62	185.31	2252.44	0	0	0	14.68	30.00	30.00
187.69	18727	-194.65	-1.43	80.00	3433.8	3477.1	3390.6	185.4	2252.0	3.66	-10.65	18	223.23	11.52	14.12	3.22	0.007	0.297	0.164	3794.38	3863.06	3725.69	1851.50	3354.56	0	0	0	15.73	15.65	15.67
450.62	3205	-194.65	-1.34	0.00	3796.8	3868.1	3725.6	1851.2	3354.9	52.03	-19.33	71	456.33	0.00	0.16	2.79	0.000	0.211	0.070	3798.41	3869.12	3727.69	1875.50	2257.50	0	0	0	30.00	15.76	15.82
645.69	260	-194.65	-1.34	80.00	3797.2	3868.7	3725.6	1876.4	2257.5	83.34	-16.39	91	651.27	0.00	0.00	3.13	0.000	0.000	0.153	3798.06	3869.94	3726.19	1875.56	3355.69	0	0	0	30.00	30.00	15.84
785.72	1028	-194.65	-1.34	0.00	3797.4	3869.4	3725.5	1876.2	3355.4	106.14	-15.17	119	791.21	0.00	0.00	2.76	0.000	0.000	0.069	3798.03	3870.25	3725.81	1876.31	2258.88	0	0	0	30.00	30.00	15.90
1095.73	260	-194.65	-1.34	80.00	3798.2	3871.0	3725.4	1876.4	2258.0	146.62	-12.28	151	1101.29	0.00	0.00	3.11	0.000	0.000	0.153	3799.59	3871.75	3727.44	1876.12	3356.06	0	0	0	30.00	30.00	15.92
1175.75	1156	-194.65	-1.28	0.00	3798.3	3870.8	3725.9	1876.2	3356.1	156.92	-12.98	167	1181.23	0.00	0.00	2.74	0.000	0.000	0.069	3798.44	3871.31	3725.56	1876.75	2258.19	0	0	0	30.00	30.00	15.95
1485.76	0	-194.65	-1.28	0.00	3799.8	3873.9	3725.6	1876.4	2257.6	195.12	-12.56	199	1487.11	0.00	0.00	0.00	0.000	0.000	0.000	3799.25	3873.38	3725.12	1876.69	2257.75	0	0	0	30.00	30.00	30.00
1795.77	0	-194.65	-1.28	0.00	3800.3	3874.9	3725.8	1876.2	2258.1	235.32	-14.01	230	1797.11	0.00	0.00	0.00	0.000	0.000	0.000	3800.00	3875.06	3724.94	1875.25	2257.62	0	0	0	30.00	30.00	30.00
2105.78	516	-194.65	-1.28	-80.00	3800.5	3875.3	3725.6	1876.7	2257.4	279.77	-14.67	251	2111.50	0.00	0.00	4.07	0.000	0.000	0.165	3801.84	3876.19	3727.50	1876.31	818.50	0	0	0	30.00	30.00	15.99
2140.78	3205	-194.65	-1.22	0.00	3800.6	3875.5	3725.7	1876.1	818.5	285.41	-16.19	258	2146.60	0.00	0.20	3.77	0.000	0.194	0.086	3801.62	3876.00	3727.25	1906.06	2290.81	0	0	0	30.00	15.98	16.03
2465.81	516	-194.65	-1.22	-80.00	3800.6	3875.4	3725.8	1906.5	2290.4	328.19	-12.70	275	2471.55	0.00	0.00	4.20	0.000	0.000	0.165	3801.62	3876.38	3726.88	1906.50	819.31	0	0	0	30.00	30.00	16.02
2510.73	1028	-194.65	-1.22	0.00	3800.5	3875.8	3725.2	1906.7	819.3	334.01	-13.26	284	2516.49	0.00	0.00	3.76	0.000	0.000	0.085	3800.84	3875.69	3726.00	1906.44	2290.50	0	0	0	30.00	30.00	16.05
2825.86	292	-194.65	-1.22	80.00	3800.8	3875.9	3725.7	1906.9	2290.2	371.77	-11.74	302	2831.39	0.00	0.00	3.03	0.000	0.000	0.172	3800.38	3875.88	3724.88	1906.75	3355.94	0	0	0	30.00	30.00	16.04
2890.85	1060	-194.65	-1.22	0.00	3800.4	3875.4	3725.4	1906.3	3356.0	379.30	-12.05	315	2896.37	0.00	0.00	2.76	0.000	0.000	0.076	3801.59	3875.75	3727.44	1906.38	2259.25	0	0	0	30.00	30.00	16.07
3066	end dive: TARGET_DEPTH_EXCEEDED
state	3066	begin apogee
3067.63	10243	0.00	-0.33	0.00	3800.7	3875.9	3725.4	1906.6	2007.6	400.10	-11.45	326	3215.95	144.99	1.50	0.09	1.765	0.160	0.236	2997.53	3077.75	2917.31	2120.75	2047.75	0	0	0	12.82	16.04	15.28
3216	end apogee: CONTROL_FINISHED_OK
state	3216	begin climb
3216.48	10759	194.65	1.43	-80.00	2997.8	3077.9	2917.8	2120.5	2047.9	406.24	0.00	333	3377.88	149.28	3.07	4.11	1.698	0.126	0.166	2206.62	2291.75	2121.50	2549.88	693.12	0	0	0	12.30	15.31	15.10
3380.35	11303	299.23	1.56	0.00	2201.7	2285.6	2117.7	2549.0	693.2	396.31	7.71	348	3467.54	79.64	0.19	3.57	1.648	0.097	0.071	1778.41	1865.25	1691.56	2587.44	2041.31	0	0	0	12.30	15.24	15.24
3775.36	16646	299.23	1.56	80.00	1768.8	1854.1	1683.5	2586.8	2040.8	344.67	13.68	382	3781.01	0.00	0.00	3.76	0.000	0.000	0.150	1769.78	1855.31	1684.25	2586.88	3354.31	0	0	0	30.00	30.00	15.64
3820.34	17414	299.23	1.56	0.00	1768.0	1852.6	1683.4	2588.0	3354.6	338.42	13.72	391	3825.97	0.00	0.00	3.48	0.000	0.000	0.081	1770.19	1854.94	1685.44	2588.56	2006.94	0	0	0	30.00	30.00	15.69
4135.40	8226	315.72	1.58	0.00	1767.1	1852.2	1682.0	2587.9	2006.2	300.56	11.43	409	4150.27	13.48	0.00	0.00	1.468	0.000	0.000	1711.44	1798.12	1624.75	2587.38	2006.31	0	0	0	12.62	30.00	30.00
4455.41	260	315.72	1.58	80.00	1707.3	1793.2	1621.4	2588.1	2006.3	260.31	13.50	425	4461.09	0.00	0.00	3.81	0.000	0.000	0.145	1707.31	1792.88	1621.75	2587.50	3355.31	0	0	0	30.00	30.00	15.82
4480.33	1028	315.72	1.58	0.00	1706.6	1791.9	1621.3	2587.5	3354.2	256.59	14.89	430	4486.04	0.00	0.00	3.41	0.000	0.000	0.082	1707.88	1793.31	1622.44	2587.75	2007.19	0	0	0	30.00	30.00	15.85
4795.55	388	315.72	1.63	80.00	1705.7	1791.2	1620.2	2588.0	2006.3	210.08	15.67	461	4801.12	0.00	0.00	3.76	0.000	0.000	0.144	1706.97	1792.62	1621.31	2588.56	3356.31	0	0	0	30.00	30.00	15.89
4850.37	1028	315.72	1.63	0.00	1705.2	1790.6	1619.8	2587.9	3356.0	201.59	15.31	472	4856.17	0.00	0.00	3.41	0.000	0.000	0.082	1705.50	1790.81	1620.19	2587.69	2007.62	0	0	0	30.00	30.00	15.91
5165.58	16386	315.72	1.63	0.00	1704.4	1790.5	1618.3	2588.0	2006.8	153.62	14.72	504	5166.93	0.00	0.00	0.00	0.000	0.000	0.000	1703.38	1789.19	1617.56	2587.56	2006.81	0	0	0	30.00	30.00	30.00
5475.56	16646	315.72	1.63	80.00	1703.8	1790.2	1617.4	2587.4	2006.8	108.14	15.30	535	5481.22	0.00	0.00	3.75	0.000	0.000	0.144	1704.12	1790.56	1617.69	2587.88	3357.69	0	0	0	30.00	30.00	15.97
5505.56	17414	315.72	1.63	0.00	1703.2	1789.0	1617.4	2587.7	3357.9	103.30	16.85	541	5511.16	0.00	0.00	3.40	0.000	0.000	0.081	1704.19	1790.06	1618.31	2588.19	2007.44	0	0	0	30.00	30.00	15.98
5815.59	16774	315.72	1.69	80.00	1703.2	1789.2	1617.1	2588.1	2006.1	54.51	13.17	573	5821.25	0.00	0.00	3.73	0.000	0.000	0.141	1704.72	1790.44	1619.00	2587.75	3357.12	0	0	0	30.00	30.00	15.99
5845.58	17414	315.72	1.69	0.00	1702.3	1787.9	1616.8	2588.2	3356.8	50.65	12.88	579	5851.19	0.00	0.00	3.40	0.000	0.000	0.079	1702.34	1787.81	1616.88	2587.75	2006.50	0	0	0	30.00	30.00	16.01
6035.60	18563	315.72	1.73	0.00	1701.9	1787.8	1616.1	2588.1	2005.6	26.09	13.15	599	6037.06	0.00	0.19	0.00	0.000	0.106	0.000	1701.91	1787.62	1616.19	2625.44	2005.44	0	0	0	30.00	16.01	30.00
6196	end climb: SURFACE_DEPTH_REACHED
state	6196	begin surface coast
6216	end surface coast: CONTROL_FINISHED_OK
state	6216	begin surface