Glider dive log

ROAMMIZ Jan22 * SG675 * Dive index * Mission links * Dive 6 * 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 6 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 0.40786505 SEABIRD_T_I 2.6853917e-05

RHO 1.0275 PITCH_GAIN 30 FG_AHR_24V 2.3151507 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 0.40786505 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_24V 2.3151507 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 6 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 230122,165431,-5359.532,-0.268,10,0.9,39,-20.5 TGT_LATLONG -5400.000,0.000

_CALLS 1 TGT_RADIUS 200.000

_SM_DEPTHo 1.14 KALMAN_CONTROL 0.085,-0.199

_SM_ANGLEo -59.7 KALMAN_X -251.1,-117.3,-83.6,-78.6,-55.9

GPS2 230122,165719,-5359.534,-0.271,10,0.9,22,-20.5 KALMAN_Y 669.8,424.7,356.3,-694.4,63.9

SPEED_LIMITS 0.175,0.216 MHEAD_RNG_PITCHd_Wd 166.9,913,-22.6,-10.101,-25.06

TGT_NAME NORTH D_GRID 100

Post-dive calculations and measurements:

FINISH 0.2,1.026990 _10V_AH 14.88,0.000

SM_CCo 2491.36,133.54,0.135,0,1374.8,1454.0,1295.6,300.55 FG_AHR_24Vo 2.378

SM_GC 1.18,133.54,12.79,0.07,0.135,0.097,0.160,1374.8,1454.0,1295.6,153.4,2020.0,0,0,0,15.56,15.59,15.65 FG_AHR_10Vo 0.421

SUPER 51,70,254,1,0,0 MEM 1169132,28,14268,69

IRIDIUM_FIX -5400.29,0.00,230122,165219 DATA_FILE_SIZE 32231,390

TCM_TEMP 8.90 CAP_FILE_SIZE 160142,0

XPDR_PINGS 7 SDSIZE 3931136,3920512

ALTIM_TOP_PING 29.5,999.0 SDFILEDIR 64,2

HUMID 59.06 ERRORS 0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0

TEMP 2.26 CURRENT 0.066,179.6,1

INTERNAL_PRESSURE 8.56715 GPS 230122,174001,-5359.756,-0.143,22,0.9,44,-20.5

_24V_AH 14.75,5.389

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 579 1032 8825.95 SBE_CT 780 24 283.53

Pitch_motor 30 378 169.37 AA4831 434 100 641.42

Roll_motor 55 258 209.92 WL_BB2FL 758 43 487.84

Iridium 0 0 0.00 QSP2150 755 6 73.70

Transponder_ping 2 420 12.39 nil 0 0 0.00

GPS 31 12 5.91 nil 0 0 0.00

Core 1572 8 195.43 nil 0 0 0.00

LPSleep 978 2 31.89 nil 0 0 0.00

Compass 933 15 218.80 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

1.97 2 -97.32 -0.87 0.00 1365.8 1441.9 1289.6 162.9 2077.1 0.00 0.00 0 105.86 101.64 0.00 0.08 0.005 0.000 0.258 2991.59 2994.19 2989.00 162.56 2010.31 0 0 0 15.52 30.00 15.48

106.16 549 -97.32 -0.87 -40.00 2995.7 3000.7 2990.6 162.8 2007.2 1.91 -1.01 20 127.16 0.00 12.82 2.37 0.000 0.379 0.098 2997.50 3022.56 2972.44 2258.31 616.06 0 0 0 30.00 15.47 15.64

284.93 1157 -97.32 -0.50 0.00 2996.7 3028.8 2964.6 2259.1 615.7 22.10 -15.47 56 290.56 0.00 0.68 2.44 0.000 0.314 0.092 2998.22 3030.44 2966.00 2376.12 2068.00 0 0 0 30.00 15.47 15.65

319.88 645 -97.32 -0.27 -40.00 2996.2 3031.8 2960.6 2376.2 2067.8 26.35 -12.11 63 325.51 0.00 0.39 2.50 0.000 0.258 0.106 2996.59 3032.62 2960.56 2450.12 619.81 0 0 0 30.00 15.61 15.65

549.92 1060 -97.32 -0.27 0.00 2996.8 3033.9 2959.6 2450.9 620.6 46.81 -6.49 109 555.40 0.00 0.00 2.46 0.000 0.000 0.091 2997.38 3035.00 2959.75 2450.38 2069.38 0 0 0 30.00 30.00 15.66

615.01 292 -97.32 -0.27 40.00 2996.2 3035.0 2957.5 2450.1 2070.2 50.60 -5.94 122 620.41 0.00 0.00 2.47 0.000 0.000 0.117 2995.97 3035.38 2956.56 2450.44 3477.94 0 0 0 30.00 30.00 15.66

659.96 1188 -97.32 -0.33 0.00 2995.5 3034.8 2956.2 2450.0 3478.4 54.37 -8.91 131 665.42 0.00 0.00 2.44 0.000 0.000 0.077 2997.16 3036.50 2957.81 2449.06 2022.38 0 0 0 30.00 30.00 15.69

724.98 676 -97.32 -0.37 -40.00 2995.8 3035.4 2956.1 2450.3 2020.7 59.09 -6.96 144 730.43 0.00 0.00 2.42 0.000 0.000 0.108 2998.81 3037.50 2960.12 2449.81 619.50 0 0 0 30.00 30.00 15.64

779.97 1060 -97.32 -0.37 0.00 2996.3 3036.0 2956.6 2450.7 619.8 62.87 -6.86 155 785.45 0.00 0.00 2.44 0.000 0.000 0.090 2996.28 3036.44 2956.12 2449.75 2069.69 0 0 0 30.00 30.00 15.66

845.00 677 -97.32 -0.42 -40.00 2995.9 3036.3 2955.4 2450.1 2070.2 66.93 -6.30 168 850.62 0.00 0.25 2.52 0.000 0.104 0.107 2999.59 3040.00 2959.19 2386.06 618.88 0 0 0 30.00 15.72 15.66

985.11 1189 -97.32 -0.25 0.00 2995.8 3035.9 2955.7 2386.8 618.1 79.61 -10.06 196 990.65 0.00 0.39 2.45 0.000 0.264 0.090 2997.97 3038.06 2957.88 2455.44 2067.56 0 0 0 30.00 15.52 15.67

1054.06 160 -97.32 -0.32 0.00 2996.0 3036.6 2955.4 2457.4 2068.8 85.14 -7.62 204 1055.40 0.00 0.00 0.00 0.000 0.000 0.000 2995.28 3036.12 2954.44 2455.00 2068.06 0 0 0 30.00 30.00 30.00

1174.08 161 -97.32 -0.39 0.00 2996.1 3036.4 2955.8 2457.1 2068.9 94.01 -7.44 216 1175.55 0.00 0.23 0.00 0.000 0.102 0.000 2996.47 3037.44 2955.50 2392.44 2069.31 0 0 0 30.00 15.76 30.00

1245 end dive: TARGET_DEPTH_EXCEEDED

state 1245 begin apogee

1246.08 3 0.00 -0.17 0.00 2996.1 3036.9 2955.2 2395.1 2020.2 100.52 -9.49 223 1404.45 155.21 0.47 0.08 1.033 0.241 0.204 2601.16 2698.94 2503.38 2484.12 2076.88 0 0 0 12.16 15.72 15.10

1405 end apogee: CONTROL_FINISHED_OK

state 1405 begin climb

1404.82 519 97.32 0.87 -40.00 2595.0 2693.8 2496.2 2484.9 2076.9 106.89 0.00 238 1556.73 143.79 1.76 2.71 0.899 0.195 0.124 2197.47 2297.81 2097.12 2817.62 619.44 0 0 0 11.99 15.12 15.01

1643.49 1191 130.84 1.08 0.00 2184.2 2286.4 2081.9 2817.4 619.1 92.71 7.77 262 1695.90 45.28 0.34 2.49 0.933 0.120 0.084 2066.00 2160.44 1971.56 2890.38 2072.81 0 0 0 12.08 15.28 15.35

1814.49 646 130.84 1.00 -40.00 2044.8 2139.2 1950.4 2891.6 2072.7 69.39 14.45 286 1820.06 0.00 0.00 2.62 0.000 0.000 0.125 2045.62 2139.94 1951.31 2892.81 622.44 0 0 0 30.00 30.00 15.31

1904.50 1031 130.84 1.00 0.00 2042.8 2136.7 1948.8 2892.9 620.8 56.77 13.54 304 1910.15 0.00 0.22 2.47 0.000 0.261 0.083 2042.56 2137.00 1948.12 2853.50 2071.06 0 0 0 30.00 15.34 15.42

1969.54 262 130.84 1.00 40.00 2041.9 2136.4 1947.3 2852.9 2073.6 48.25 13.25 317 1975.03 0.00 0.00 2.48 0.000 0.000 0.107 2042.25 2136.88 1947.62 2853.19 3477.75 0 0 0 30.00 30.00 15.45

2024.60 1158 130.84 1.06 0.00 2040.8 2133.7 1947.9 2852.9 3477.7 41.29 12.49 328 2030.06 0.00 0.00 2.52 0.000 0.000 0.090 2040.75 2133.81 1947.69 2852.81 2027.94 0 0 0 30.00 30.00 15.51

2089.57 518 130.84 1.06 -40.00 2040.9 2133.7 1948.2 2852.2 2025.4 33.09 13.03 341 2095.08 0.00 0.00 2.51 0.000 0.000 0.127 2042.06 2135.44 1948.69 2850.44 622.25 0 0 0 30.00 30.00 15.50

2109.57 1030 130.84 1.06 0.00 2040.5 2133.4 1947.6 2852.4 621.9 30.32 14.01 345 2119.04 0.00 0.00 2.46 0.000 0.000 0.084 2041.19 2134.19 1948.19 2852.25 2070.69 0 0 0 30.00 30.00 15.53

2176.72 262 130.84 1.06 40.00 2040.3 2133.4 1947.1 2852.5 2072.8 20.61 16.26 358 2182.20 0.00 0.00 2.48 0.000 0.000 0.109 2040.94 2134.38 1947.50 2852.94 3476.44 0 0 0 30.00 30.00 15.51

2216.71 1030 130.84 1.06 0.00 2040.0 2132.3 1947.6 2852.8 3477.0 14.71 14.32 366 2222.20 0.00 0.00 2.50 0.000 0.000 0.094 2042.94 2134.81 1951.06 2851.94 2029.25 0 0 0 30.00 30.00 15.57

2251.72 518 130.84 1.06 -40.00 2039.8 2132.2 1947.4 2852.6 2027.8 11.14 10.56 373 2257.24 0.00 0.00 2.54 0.000 0.000 0.140 2041.81 2134.38 1949.25 2852.12 623.50 0 0 0 30.00 30.00 15.52

2271.72 1030 130.84 1.06 0.00 2039.8 2132.2 1947.4 2852.9 623.6 8.78 10.43 377 2277.23 0.00 0.00 2.44 0.000 0.000 0.081 2039.38 2132.12 1946.62 2852.31 2070.94 0 0 0 30.00 30.00 15.58

2306.75 130 130.84 1.01 0.00 2039.5 2132.5 1946.6 2852.7 2072.3 4.00 13.03 384 2308.09 0.00 0.00 0.00 0.000 0.000 0.000 2038.25 2131.06 1945.44 2851.25 2072.50 0 0 0 30.00 30.00 30.00

2317 end climb: SURFACE_DEPTH_REACHED

state 2317 begin surface coast

2337 end surface coast: CONTROL_FINISHED_OK

state 2337 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	6	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	0.40786505	SEABIRD_T_I	2.6853917e-05
RHO	1.0275	PITCH_GAIN	30	FG_AHR_24V	2.3151507	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	230122,165431,-5359.532,-0.268,10,0.9,39,-20.5	TGT_LATLONG	-5400.000,0.000
_CALLS	1	TGT_RADIUS	200.000
_SM_DEPTHo	1.14	KALMAN_CONTROL	0.085,-0.199
_SM_ANGLEo	-59.7	KALMAN_X	-251.1,-117.3,-83.6,-78.6,-55.9
GPS2	230122,165719,-5359.534,-0.271,10,0.9,22,-20.5	KALMAN_Y	669.8,424.7,356.3,-694.4,63.9
SPEED_LIMITS	0.175,0.216	MHEAD_RNG_PITCHd_Wd	166.9,913,-22.6,-10.101,-25.06
TGT_NAME	NORTH	D_GRID	100

FINISH	0.2,1.026990	_10V_AH	14.88,0.000
SM_CCo	2491.36,133.54,0.135,0,1374.8,1454.0,1295.6,300.55	FG_AHR_24Vo	2.378
SM_GC	1.18,133.54,12.79,0.07,0.135,0.097,0.160,1374.8,1454.0,1295.6,153.4,2020.0,0,0,0,15.56,15.59,15.65	FG_AHR_10Vo	0.421
SUPER	51,70,254,1,0,0	MEM	1169132,28,14268,69
IRIDIUM_FIX	-5400.29,0.00,230122,165219	DATA_FILE_SIZE	32231,390
TCM_TEMP	8.90	CAP_FILE_SIZE	160142,0
XPDR_PINGS	7	SDSIZE	3931136,3920512
ALTIM_TOP_PING	29.5,999.0	SDFILEDIR	64,2
HUMID	59.06	ERRORS	0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0
TEMP	2.26	CURRENT	0.066,179.6,1
INTERNAL_PRESSURE	8.56715	GPS	230122,174001,-5359.756,-0.143,22,0.9,44,-20.5
_24V_AH	14.75,5.389

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	579	1032	8825.95	SBE_CT	780	24	283.53
Pitch_motor	30	378	169.37	AA4831	434	100	641.42
Roll_motor	55	258	209.92	WL_BB2FL	758	43	487.84
Iridium	0	0	0.00	QSP2150	755	6	73.70
Transponder_ping	2	420	12.39	nil	0	0	0.00
GPS	31	12	5.91	nil	0	0	0.00
Core	1572	8	195.43	nil	0	0	0.00
LPSleep	978	2	31.89	nil	0	0	0.00
Compass	933	15	218.80	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
1.97	2	-97.32	-0.87	0.00	1365.8	1441.9	1289.6	162.9	2077.1	0.00	0.00	0	105.86	101.64	0.00	0.08	0.005	0.000	0.258	2991.59	2994.19	2989.00	162.56	2010.31	0	0	0	15.52	30.00	15.48
106.16	549	-97.32	-0.87	-40.00	2995.7	3000.7	2990.6	162.8	2007.2	1.91	-1.01	20	127.16	0.00	12.82	2.37	0.000	0.379	0.098	2997.50	3022.56	2972.44	2258.31	616.06	0	0	0	30.00	15.47	15.64
284.93	1157	-97.32	-0.50	0.00	2996.7	3028.8	2964.6	2259.1	615.7	22.10	-15.47	56	290.56	0.00	0.68	2.44	0.000	0.314	0.092	2998.22	3030.44	2966.00	2376.12	2068.00	0	0	0	30.00	15.47	15.65
319.88	645	-97.32	-0.27	-40.00	2996.2	3031.8	2960.6	2376.2	2067.8	26.35	-12.11	63	325.51	0.00	0.39	2.50	0.000	0.258	0.106	2996.59	3032.62	2960.56	2450.12	619.81	0	0	0	30.00	15.61	15.65
549.92	1060	-97.32	-0.27	0.00	2996.8	3033.9	2959.6	2450.9	620.6	46.81	-6.49	109	555.40	0.00	0.00	2.46	0.000	0.000	0.091	2997.38	3035.00	2959.75	2450.38	2069.38	0	0	0	30.00	30.00	15.66
615.01	292	-97.32	-0.27	40.00	2996.2	3035.0	2957.5	2450.1	2070.2	50.60	-5.94	122	620.41	0.00	0.00	2.47	0.000	0.000	0.117	2995.97	3035.38	2956.56	2450.44	3477.94	0	0	0	30.00	30.00	15.66
659.96	1188	-97.32	-0.33	0.00	2995.5	3034.8	2956.2	2450.0	3478.4	54.37	-8.91	131	665.42	0.00	0.00	2.44	0.000	0.000	0.077	2997.16	3036.50	2957.81	2449.06	2022.38	0	0	0	30.00	30.00	15.69
724.98	676	-97.32	-0.37	-40.00	2995.8	3035.4	2956.1	2450.3	2020.7	59.09	-6.96	144	730.43	0.00	0.00	2.42	0.000	0.000	0.108	2998.81	3037.50	2960.12	2449.81	619.50	0	0	0	30.00	30.00	15.64
779.97	1060	-97.32	-0.37	0.00	2996.3	3036.0	2956.6	2450.7	619.8	62.87	-6.86	155	785.45	0.00	0.00	2.44	0.000	0.000	0.090	2996.28	3036.44	2956.12	2449.75	2069.69	0	0	0	30.00	30.00	15.66
845.00	677	-97.32	-0.42	-40.00	2995.9	3036.3	2955.4	2450.1	2070.2	66.93	-6.30	168	850.62	0.00	0.25	2.52	0.000	0.104	0.107	2999.59	3040.00	2959.19	2386.06	618.88	0	0	0	30.00	15.72	15.66
985.11	1189	-97.32	-0.25	0.00	2995.8	3035.9	2955.7	2386.8	618.1	79.61	-10.06	196	990.65	0.00	0.39	2.45	0.000	0.264	0.090	2997.97	3038.06	2957.88	2455.44	2067.56	0	0	0	30.00	15.52	15.67
1054.06	160	-97.32	-0.32	0.00	2996.0	3036.6	2955.4	2457.4	2068.8	85.14	-7.62	204	1055.40	0.00	0.00	0.00	0.000	0.000	0.000	2995.28	3036.12	2954.44	2455.00	2068.06	0	0	0	30.00	30.00	30.00
1174.08	161	-97.32	-0.39	0.00	2996.1	3036.4	2955.8	2457.1	2068.9	94.01	-7.44	216	1175.55	0.00	0.23	0.00	0.000	0.102	0.000	2996.47	3037.44	2955.50	2392.44	2069.31	0	0	0	30.00	15.76	30.00
1245	end dive: TARGET_DEPTH_EXCEEDED
state	1245	begin apogee
1246.08	3	0.00	-0.17	0.00	2996.1	3036.9	2955.2	2395.1	2020.2	100.52	-9.49	223	1404.45	155.21	0.47	0.08	1.033	0.241	0.204	2601.16	2698.94	2503.38	2484.12	2076.88	0	0	0	12.16	15.72	15.10
1405	end apogee: CONTROL_FINISHED_OK
state	1405	begin climb
1404.82	519	97.32	0.87	-40.00	2595.0	2693.8	2496.2	2484.9	2076.9	106.89	0.00	238	1556.73	143.79	1.76	2.71	0.899	0.195	0.124	2197.47	2297.81	2097.12	2817.62	619.44	0	0	0	11.99	15.12	15.01
1643.49	1191	130.84	1.08	0.00	2184.2	2286.4	2081.9	2817.4	619.1	92.71	7.77	262	1695.90	45.28	0.34	2.49	0.933	0.120	0.084	2066.00	2160.44	1971.56	2890.38	2072.81	0	0	0	12.08	15.28	15.35
1814.49	646	130.84	1.00	-40.00	2044.8	2139.2	1950.4	2891.6	2072.7	69.39	14.45	286	1820.06	0.00	0.00	2.62	0.000	0.000	0.125	2045.62	2139.94	1951.31	2892.81	622.44	0	0	0	30.00	30.00	15.31
1904.50	1031	130.84	1.00	0.00	2042.8	2136.7	1948.8	2892.9	620.8	56.77	13.54	304	1910.15	0.00	0.22	2.47	0.000	0.261	0.083	2042.56	2137.00	1948.12	2853.50	2071.06	0	0	0	30.00	15.34	15.42
1969.54	262	130.84	1.00	40.00	2041.9	2136.4	1947.3	2852.9	2073.6	48.25	13.25	317	1975.03	0.00	0.00	2.48	0.000	0.000	0.107	2042.25	2136.88	1947.62	2853.19	3477.75	0	0	0	30.00	30.00	15.45
2024.60	1158	130.84	1.06	0.00	2040.8	2133.7	1947.9	2852.9	3477.7	41.29	12.49	328	2030.06	0.00	0.00	2.52	0.000	0.000	0.090	2040.75	2133.81	1947.69	2852.81	2027.94	0	0	0	30.00	30.00	15.51
2089.57	518	130.84	1.06	-40.00	2040.9	2133.7	1948.2	2852.2	2025.4	33.09	13.03	341	2095.08	0.00	0.00	2.51	0.000	0.000	0.127	2042.06	2135.44	1948.69	2850.44	622.25	0	0	0	30.00	30.00	15.50
2109.57	1030	130.84	1.06	0.00	2040.5	2133.4	1947.6	2852.4	621.9	30.32	14.01	345	2119.04	0.00	0.00	2.46	0.000	0.000	0.084	2041.19	2134.19	1948.19	2852.25	2070.69	0	0	0	30.00	30.00	15.53
2176.72	262	130.84	1.06	40.00	2040.3	2133.4	1947.1	2852.5	2072.8	20.61	16.26	358	2182.20	0.00	0.00	2.48	0.000	0.000	0.109	2040.94	2134.38	1947.50	2852.94	3476.44	0	0	0	30.00	30.00	15.51
2216.71	1030	130.84	1.06	0.00	2040.0	2132.3	1947.6	2852.8	3477.0	14.71	14.32	366	2222.20	0.00	0.00	2.50	0.000	0.000	0.094	2042.94	2134.81	1951.06	2851.94	2029.25	0	0	0	30.00	30.00	15.57
2251.72	518	130.84	1.06	-40.00	2039.8	2132.2	1947.4	2852.6	2027.8	11.14	10.56	373	2257.24	0.00	0.00	2.54	0.000	0.000	0.140	2041.81	2134.38	1949.25	2852.12	623.50	0	0	0	30.00	30.00	15.52
2271.72	1030	130.84	1.06	0.00	2039.8	2132.2	1947.4	2852.9	623.6	8.78	10.43	377	2277.23	0.00	0.00	2.44	0.000	0.000	0.081	2039.38	2132.12	1946.62	2852.31	2070.94	0	0	0	30.00	30.00	15.58
2306.75	130	130.84	1.01	0.00	2039.5	2132.5	1946.6	2852.7	2072.3	4.00	13.03	384	2308.09	0.00	0.00	0.00	0.000	0.000	0.000	2038.25	2131.06	1945.44	2851.25	2072.50	0	0	0	30.00	30.00	30.00
2317	end climb: SURFACE_DEPTH_REACHED
state	2317	begin surface coast
2337	end surface coast: CONTROL_FINISHED_OK
state	2337	begin surface