Glider dive log

NORSE Oct22 * SG234 * Dive index * Mission links * Dive 61 * 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 61 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 21.457367 SEABIRD_T_G 0.0044182916

MAX_BUOY 200 PITCH_MAXERRORS 1 FG_AHR_24V 32.412231 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 21.457367 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 32.412231 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 61 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 281022,171149,7050.112,-624.367,6,1.4,17,-5.0 TGT_RADIUS 1000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.94 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -48.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 281022,171524,7050.112,-624.387,5,1.4,19,-5.0 MHEAD_RNG_PITCHd_Wd 25.5,686,-27.5,-12.121,-30.00,1068,0.561

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 0.7,1.027465 MEM0 60148,1,0,0

SM_CCo 5490.14,546.21,1.185,0,500.9,565.9,435.9,613.03 MEM1 65508,1,0,0

SM_GC 0.89,546.21,15.98,0.70,1.185,0.094,0.090,500.9,565.9,435.9,185.4,2298.1,0,0,0,12.81,15.96,16.01 MEM2 968280,27,78748,50

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 22606,540

IRIDIUM_FIX 7051.59,-614.62,281022,151230 CAP_FILE_SIZE 229247,0

TCM_TEMP 8.59 SDSIZE 3887104,3861792

XPDR_PINGS 1,12.5,11.5 SDFILEDIR 310,1

HUMID 77.33 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 3.62 CURRENT 0.040,201.3,1

INTERNAL_PRESSURE 7.90319 MAGCAL 1.000000,-0.061211,0.034650,-0.058460,1.092691,-0.104094,-0.035346,-0.007474,1.040805,-1108.2,-1055.2,-331.6,36,0.0938,0

_24V_AH 14.53,24.701 IMPLIED_C_PITCH 2231,13.92,320,0.0,0.00

_10V_AH 14.58,0.000 IMPLIED_C_VBD 2948,40.959175,320,0

FG_AHR_24Vo 32.731 GPS 281022,184750,7050.699,-623.617,26,1.0,38,-5.0

FG_AHR_10Vo 21.474

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 999 1749 25406.77 SBE_CT 588 24 205.27

Pitch_motor 35 294 153.53 nil 0 0 0.00

Roll_motor 71 252 262.85 nil 0 0 0.00

Iridium 150 178 391.46 nil 0 0 0.00

Transponder_ping 0 420 1.53 nil 0 0 0.00

GPS 27 15 6.11 nil 0 0 0.00

Core 1830 6 181.47 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 3294 2 96.08

Compass 783 5 57.10

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

2.26 16386 -84.69 -1.94 0.00 496.5 558.6 434.4 186.6 2249.6 0.00 0.00 0 188.43 184.67 0.00 0.12 0.005 0.000 0.253 3342.44 3386.62 3298.25 186.94 2294.75 0 0 0 14.80 30.00 15.64

188.70 18983 -169.43 -2.04 -80.00 3342.7 3387.6 3297.8 187.0 2294.9 2.92 -3.97 18 224.14 12.09 12.84 4.28 0.007 0.294 0.160 3688.78 3757.06 3620.50 1706.00 819.69 0 0 0 15.68 15.63 15.65

271.52 3205 -169.43 -1.93 0.00 3690.9 3759.8 3622.0 1705.9 819.6 21.17 -26.23 35 277.41 0.00 0.20 3.85 0.000 0.225 0.087 3692.81 3762.00 3623.62 1731.88 2290.44 0 0 0 30.00 15.67 15.74

466.60 260 -169.43 -1.93 80.00 3692.3 3762.8 3621.9 1732.3 2290.8 57.35 -19.50 55 472.15 0.00 0.00 3.05 0.000 0.000 0.167 3692.53 3763.19 3621.88 1732.00 3354.00 0 0 0 30.00 30.00 15.78

521.54 1156 -169.43 -1.88 0.00 3692.6 3762.8 3622.5 1732.6 3353.8 70.17 -23.83 66 527.19 0.00 0.00 2.75 0.000 0.000 0.072 3692.19 3762.44 3621.94 1732.50 2256.44 0 0 0 30.00 30.00 15.82

716.62 516 -169.43 -1.88 -80.00 3692.9 3763.4 3622.3 1732.9 2256.5 111.11 -19.74 86 722.35 0.00 0.00 4.07 0.000 0.000 0.161 3693.16 3764.25 3622.06 1733.25 818.62 0 0 0 30.00 30.00 15.83

761.56 3205 -169.43 -1.82 0.00 3693.2 3764.0 3622.5 1732.6 818.2 119.49 -18.51 95 767.44 0.00 0.20 3.78 0.000 0.228 0.084 3693.69 3764.25 3623.12 1759.44 2290.75 0 0 0 30.00 15.82 15.87

1076.64 260 -169.43 -1.82 80.00 3693.4 3764.9 3621.9 1759.6 2291.6 166.47 -15.75 127 1082.17 0.00 0.00 2.99 0.000 0.000 0.165 3694.12 3765.62 3622.62 1759.31 3353.31 0 0 0 30.00 30.00 15.90

1211.62 1028 -169.43 -1.82 0.00 3694.0 3764.9 3623.1 1759.5 3353.6 193.52 -20.86 154 1217.24 0.00 0.00 2.75 0.000 0.000 0.074 3694.16 3765.69 3622.62 1759.56 2258.38 0 0 0 30.00 30.00 15.94

1526.68 516 -169.43 -1.82 -80.00 3694.8 3766.8 3622.8 1759.2 2259.0 241.39 -13.97 186 1532.40 0.00 0.00 4.08 0.000 0.000 0.167 3695.12 3767.25 3623.00 1759.31 819.12 0 0 0 30.00 30.00 15.94

1576.70 1156 -169.43 -1.76 0.00 3694.8 3767.3 3622.2 1759.4 819.2 250.43 -19.52 196 1582.35 0.00 0.00 3.77 0.000 0.000 0.087 3696.50 3768.56 3624.44 1758.31 2290.19 0 0 0 30.00 30.00 15.98

1886.69 0 -169.43 -1.76 0.00 3695.6 3768.2 3622.9 1759.8 2290.3 301.02 -16.52 213 1888.04 0.00 0.00 0.00 0.000 0.000 0.000 3694.84 3767.94 3621.75 1759.25 2290.31 0 0 0 30.00 30.00 30.00

2206.76 388 -169.43 -1.82 80.00 3695.7 3768.2 3623.1 1759.4 2290.8 342.42 -12.27 229 2212.23 0.00 0.00 2.99 0.000 0.000 0.174 3696.00 3769.12 3622.88 1759.44 3354.12 0 0 0 30.00 30.00 16.00

2261.63 1156 -169.43 -1.74 0.00 3695.6 3768.2 3622.9 1759.6 3354.1 351.81 -17.94 240 2267.28 0.00 0.00 2.76 0.000 0.000 0.079 3696.41 3768.62 3624.19 1759.12 2260.44 0 0 0 30.00 30.00 16.04

2527 end dive: TARGET_DEPTH_EXCEEDED

state 2527 begin apogee

2528.55 10243 0.00 -0.33 0.00 3695.6 3768.3 3622.9 1759.3 2008.1 400.95 -17.29 254 2658.55 126.04 2.60 0.09 1.750 0.192 0.234 2999.66 3078.56 2920.75 2118.62 2049.69 0 0 0 12.89 16.00 15.31

2659 end apogee: CONTROL_FINISHED_OK

state 2659 begin climb

2659.14 10759 169.43 2.04 -80.00 2998.5 3078.2 2918.8 2120.0 2049.9 406.93 0.00 260 2801.11 130.38 4.09 4.10 1.716 0.121 0.160 2307.34 2393.06 2221.62 2696.62 692.00 0 0 0 12.36 15.35 15.10

2998.60 17414 169.43 2.04 0.00 2295.0 2380.6 2209.4 2696.7 692.1 340.33 26.66 328 3004.23 0.00 0.00 3.45 0.000 0.000 0.074 2295.78 2381.50 2210.06 2697.88 2041.81 0 0 0 30.00 30.00 15.59

3318.62 16646 169.43 2.04 80.00 2291.9 2379.4 2204.4 2697.0 2042.0 278.03 17.73 347 3324.26 0.00 0.00 3.66 0.000 0.000 0.142 2293.09 2380.69 2205.50 2696.81 3356.12 0 0 0 30.00 30.00 15.76

3378.62 17414 169.43 2.04 0.00 2290.5 2377.2 2203.7 2697.2 3355.5 264.91 22.48 359 3384.24 0.00 0.00 3.44 0.000 0.000 0.077 2290.62 2377.69 2203.56 2697.62 2006.75 0 0 0 30.00 30.00 15.79

3688.72 16386 169.43 2.04 0.00 2289.9 2377.1 2202.8 2697.1 2005.1 198.33 21.39 389 3690.07 0.00 0.00 0.00 0.000 0.000 0.000 2288.66 2375.88 2201.44 2696.94 2005.38 0 0 0 30.00 30.00 30.00

3998.67 16386 169.43 2.04 0.00 2289.5 2375.8 2203.1 2697.6 2004.8 145.33 15.02 420 4000.01 0.00 0.00 0.00 0.000 0.000 0.000 2288.09 2374.69 2201.50 2697.00 2005.31 0 0 0 30.00 30.00 30.00

4308.68 16646 169.43 2.04 80.00 2288.6 2375.5 2201.8 2697.9 2005.4 99.60 17.39 451 4314.34 0.00 0.00 3.73 0.000 0.000 0.140 2288.66 2375.62 2201.69 2697.56 3355.94 0 0 0 30.00 30.00 15.95

4408.68 17414 169.43 2.04 0.00 2287.7 2373.9 2201.4 2697.6 3356.2 81.45 18.37 471 4414.29 0.00 0.00 3.43 0.000 0.000 0.080 2289.41 2375.44 2203.38 2697.19 2006.50 0 0 0 30.00 30.00 15.98

4598.69 16646 169.43 2.04 80.00 2287.3 2373.6 2200.9 2697.4 2005.2 53.35 14.49 491 4604.35 0.00 0.00 3.68 0.000 0.000 0.137 2287.44 2374.31 2200.56 2697.12 3356.12 0 0 0 30.00 30.00 15.98

4758.78 17542 169.43 2.00 0.00 2286.4 2372.1 2200.8 2697.5 3356.1 23.72 19.17 523 4764.29 0.00 0.00 3.39 0.000 0.000 0.080 2287.12 2372.75 2201.50 2697.38 2005.25 0 0 0 30.00 30.00 16.00

4899 end climb: SURFACE_DEPTH_REACHED

state 4899 begin surface coast

4919 end surface coast: CONTROL_FINISHED_OK

state 4919 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	61	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	21.457367	SEABIRD_T_G	0.0044182916
MAX_BUOY	200	PITCH_MAXERRORS	1	FG_AHR_24V	32.412231	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	281022,171149,7050.112,-624.367,6,1.4,17,-5.0	TGT_RADIUS	1000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.94	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-48.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	281022,171524,7050.112,-624.387,5,1.4,19,-5.0	MHEAD_RNG_PITCHd_Wd	25.5,686,-27.5,-12.121,-30.00,1068,0.561
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	0.7,1.027465	MEM0	60148,1,0,0
SM_CCo	5490.14,546.21,1.185,0,500.9,565.9,435.9,613.03	MEM1	65508,1,0,0
SM_GC	0.89,546.21,15.98,0.70,1.185,0.094,0.090,500.9,565.9,435.9,185.4,2298.1,0,0,0,12.81,15.96,16.01	MEM2	968280,27,78748,50
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	22606,540
IRIDIUM_FIX	7051.59,-614.62,281022,151230	CAP_FILE_SIZE	229247,0
TCM_TEMP	8.59	SDSIZE	3887104,3861792
XPDR_PINGS	1,12.5,11.5	SDFILEDIR	310,1
HUMID	77.33	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	3.62	CURRENT	0.040,201.3,1
INTERNAL_PRESSURE	7.90319	MAGCAL	1.000000,-0.061211,0.034650,-0.058460,1.092691,-0.104094,-0.035346,-0.007474,1.040805,-1108.2,-1055.2,-331.6,36,0.0938,0
_24V_AH	14.53,24.701	IMPLIED_C_PITCH	2231,13.92,320,0.0,0.00
_10V_AH	14.58,0.000	IMPLIED_C_VBD	2948,40.959175,320,0
FG_AHR_24Vo	32.731	GPS	281022,184750,7050.699,-623.617,26,1.0,38,-5.0
FG_AHR_10Vo	21.474

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	999	1749	25406.77	SBE_CT	588	24	205.27
Pitch_motor	35	294	153.53	nil	0	0	0.00
Roll_motor	71	252	262.85	nil	0	0	0.00
Iridium	150	178	391.46	nil	0	0	0.00
Transponder_ping	0	420	1.53	nil	0	0	0.00
GPS	27	15	6.11	nil	0	0	0.00
Core	1830	6	181.47	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	3294	2	96.08
Compass	783	5	57.10
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
2.26	16386	-84.69	-1.94	0.00	496.5	558.6	434.4	186.6	2249.6	0.00	0.00	0	188.43	184.67	0.00	0.12	0.005	0.000	0.253	3342.44	3386.62	3298.25	186.94	2294.75	0	0	0	14.80	30.00	15.64
188.70	18983	-169.43	-2.04	-80.00	3342.7	3387.6	3297.8	187.0	2294.9	2.92	-3.97	18	224.14	12.09	12.84	4.28	0.007	0.294	0.160	3688.78	3757.06	3620.50	1706.00	819.69	0	0	0	15.68	15.63	15.65
271.52	3205	-169.43	-1.93	0.00	3690.9	3759.8	3622.0	1705.9	819.6	21.17	-26.23	35	277.41	0.00	0.20	3.85	0.000	0.225	0.087	3692.81	3762.00	3623.62	1731.88	2290.44	0	0	0	30.00	15.67	15.74
466.60	260	-169.43	-1.93	80.00	3692.3	3762.8	3621.9	1732.3	2290.8	57.35	-19.50	55	472.15	0.00	0.00	3.05	0.000	0.000	0.167	3692.53	3763.19	3621.88	1732.00	3354.00	0	0	0	30.00	30.00	15.78
521.54	1156	-169.43	-1.88	0.00	3692.6	3762.8	3622.5	1732.6	3353.8	70.17	-23.83	66	527.19	0.00	0.00	2.75	0.000	0.000	0.072	3692.19	3762.44	3621.94	1732.50	2256.44	0	0	0	30.00	30.00	15.82
716.62	516	-169.43	-1.88	-80.00	3692.9	3763.4	3622.3	1732.9	2256.5	111.11	-19.74	86	722.35	0.00	0.00	4.07	0.000	0.000	0.161	3693.16	3764.25	3622.06	1733.25	818.62	0	0	0	30.00	30.00	15.83
761.56	3205	-169.43	-1.82	0.00	3693.2	3764.0	3622.5	1732.6	818.2	119.49	-18.51	95	767.44	0.00	0.20	3.78	0.000	0.228	0.084	3693.69	3764.25	3623.12	1759.44	2290.75	0	0	0	30.00	15.82	15.87
1076.64	260	-169.43	-1.82	80.00	3693.4	3764.9	3621.9	1759.6	2291.6	166.47	-15.75	127	1082.17	0.00	0.00	2.99	0.000	0.000	0.165	3694.12	3765.62	3622.62	1759.31	3353.31	0	0	0	30.00	30.00	15.90
1211.62	1028	-169.43	-1.82	0.00	3694.0	3764.9	3623.1	1759.5	3353.6	193.52	-20.86	154	1217.24	0.00	0.00	2.75	0.000	0.000	0.074	3694.16	3765.69	3622.62	1759.56	2258.38	0	0	0	30.00	30.00	15.94
1526.68	516	-169.43	-1.82	-80.00	3694.8	3766.8	3622.8	1759.2	2259.0	241.39	-13.97	186	1532.40	0.00	0.00	4.08	0.000	0.000	0.167	3695.12	3767.25	3623.00	1759.31	819.12	0	0	0	30.00	30.00	15.94
1576.70	1156	-169.43	-1.76	0.00	3694.8	3767.3	3622.2	1759.4	819.2	250.43	-19.52	196	1582.35	0.00	0.00	3.77	0.000	0.000	0.087	3696.50	3768.56	3624.44	1758.31	2290.19	0	0	0	30.00	30.00	15.98
1886.69	0	-169.43	-1.76	0.00	3695.6	3768.2	3622.9	1759.8	2290.3	301.02	-16.52	213	1888.04	0.00	0.00	0.00	0.000	0.000	0.000	3694.84	3767.94	3621.75	1759.25	2290.31	0	0	0	30.00	30.00	30.00
2206.76	388	-169.43	-1.82	80.00	3695.7	3768.2	3623.1	1759.4	2290.8	342.42	-12.27	229	2212.23	0.00	0.00	2.99	0.000	0.000	0.174	3696.00	3769.12	3622.88	1759.44	3354.12	0	0	0	30.00	30.00	16.00
2261.63	1156	-169.43	-1.74	0.00	3695.6	3768.2	3622.9	1759.6	3354.1	351.81	-17.94	240	2267.28	0.00	0.00	2.76	0.000	0.000	0.079	3696.41	3768.62	3624.19	1759.12	2260.44	0	0	0	30.00	30.00	16.04
2527	end dive: TARGET_DEPTH_EXCEEDED
state	2527	begin apogee
2528.55	10243	0.00	-0.33	0.00	3695.6	3768.3	3622.9	1759.3	2008.1	400.95	-17.29	254	2658.55	126.04	2.60	0.09	1.750	0.192	0.234	2999.66	3078.56	2920.75	2118.62	2049.69	0	0	0	12.89	16.00	15.31
2659	end apogee: CONTROL_FINISHED_OK
state	2659	begin climb
2659.14	10759	169.43	2.04	-80.00	2998.5	3078.2	2918.8	2120.0	2049.9	406.93	0.00	260	2801.11	130.38	4.09	4.10	1.716	0.121	0.160	2307.34	2393.06	2221.62	2696.62	692.00	0	0	0	12.36	15.35	15.10
2998.60	17414	169.43	2.04	0.00	2295.0	2380.6	2209.4	2696.7	692.1	340.33	26.66	328	3004.23	0.00	0.00	3.45	0.000	0.000	0.074	2295.78	2381.50	2210.06	2697.88	2041.81	0	0	0	30.00	30.00	15.59
3318.62	16646	169.43	2.04	80.00	2291.9	2379.4	2204.4	2697.0	2042.0	278.03	17.73	347	3324.26	0.00	0.00	3.66	0.000	0.000	0.142	2293.09	2380.69	2205.50	2696.81	3356.12	0	0	0	30.00	30.00	15.76
3378.62	17414	169.43	2.04	0.00	2290.5	2377.2	2203.7	2697.2	3355.5	264.91	22.48	359	3384.24	0.00	0.00	3.44	0.000	0.000	0.077	2290.62	2377.69	2203.56	2697.62	2006.75	0	0	0	30.00	30.00	15.79
3688.72	16386	169.43	2.04	0.00	2289.9	2377.1	2202.8	2697.1	2005.1	198.33	21.39	389	3690.07	0.00	0.00	0.00	0.000	0.000	0.000	2288.66	2375.88	2201.44	2696.94	2005.38	0	0	0	30.00	30.00	30.00
3998.67	16386	169.43	2.04	0.00	2289.5	2375.8	2203.1	2697.6	2004.8	145.33	15.02	420	4000.01	0.00	0.00	0.00	0.000	0.000	0.000	2288.09	2374.69	2201.50	2697.00	2005.31	0	0	0	30.00	30.00	30.00
4308.68	16646	169.43	2.04	80.00	2288.6	2375.5	2201.8	2697.9	2005.4	99.60	17.39	451	4314.34	0.00	0.00	3.73	0.000	0.000	0.140	2288.66	2375.62	2201.69	2697.56	3355.94	0	0	0	30.00	30.00	15.95
4408.68	17414	169.43	2.04	0.00	2287.7	2373.9	2201.4	2697.6	3356.2	81.45	18.37	471	4414.29	0.00	0.00	3.43	0.000	0.000	0.080	2289.41	2375.44	2203.38	2697.19	2006.50	0	0	0	30.00	30.00	15.98
4598.69	16646	169.43	2.04	80.00	2287.3	2373.6	2200.9	2697.4	2005.2	53.35	14.49	491	4604.35	0.00	0.00	3.68	0.000	0.000	0.137	2287.44	2374.31	2200.56	2697.12	3356.12	0	0	0	30.00	30.00	15.98
4758.78	17542	169.43	2.00	0.00	2286.4	2372.1	2200.8	2697.5	3356.1	23.72	19.17	523	4764.29	0.00	0.00	3.39	0.000	0.000	0.080	2287.12	2372.75	2201.50	2697.38	2005.25	0	0	0	30.00	30.00	16.00
4899	end climb: SURFACE_DEPTH_REACHED
state	4899	begin surface coast
4919	end surface coast: CONTROL_FINISHED_OK
state	4919	begin surface