Glider dive log

NORSE Oct22 * SG234 * Dive index * Mission links * Dive 62 * 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 62 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 21.483116 SEABIRD_T_G 0.0044182916

MAX_BUOY 200 PITCH_MAXERRORS 1 FG_AHR_24V 32.732494 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 21.483116 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 32.732494 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 62 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 281022,184750,7050.699,-623.617,26,1.0,38,-5.0 TGT_RADIUS 1000.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.06 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -48.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 281022,185415,7050.673,-623.656,3,0.7,7,-5.0 MHEAD_RNG_PITCHd_Wd 223.3,463,-27.5,-12.121,-30.00,1068,0.618

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 -0.1,1.027619 MEM0 60148,1,0,0

SM_CCo 5158.48,525.16,1.206,0,501.0,564.2,437.9,613.00 MEM1 65508,1,0,0

SM_GC 1.00,525.16,15.69,0.58,1.206,0.066,0.104,501.0,564.2,437.9,185.4,2293.4,0,0,0,12.71,16.00,16.02 MEM2 968340,24,78748,50

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 19335,532

IRIDIUM_FIX 7041.25,-229.66,281022,171316 CAP_FILE_SIZE 228467,0

TCM_TEMP 7.53 SDSIZE 3887104,3861632

XPDR_PINGS 3,12.5,11.5 SDFILEDIR 314,1

HUMID 78.17 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 3.39 CURRENT 0.036,320.4,1

INTERNAL_PRESSURE 7.8977 MAGCAL 1.000000,-0.050249,0.047234,-0.078410,1.066911,-0.103735,-0.014022,-0.003004,0.793789,-1129.9,-1030.4,-58.1,36,0.0971,0

_24V_AH 14.53,25.043 IMPLIED_C_PITCH 2236,13.71,291,0.0,0.00

_10V_AH 14.59,0.000 IMPLIED_C_VBD 2812,49.546329,291,0

FG_AHR_24Vo 33.069 GPS 281022,202109,7050.423,-624.902,3,1.0,37,-5.0

FG_AHR_10Vo 21.499

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 1014 1740 25653.53 SBE_CT 540 24 188.52

Pitch_motor 35 292 151.42 nil 0 0 0.00

Roll_motor 70 239 246.86 nil 0 0 0.00

Iridium 215 190 596.25 nil 0 0 0.00

Transponder_ping 0 420 4.58 nil 0 0 0.00

GPS 16 15 3.67 nil 0 0 0.00

Core 1919 6 190.40 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 3068 2 89.53

Compass 772 5 56.38

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

2 end surface: CONTROL_FINISHED_OK

state 2 begin dive

2.26 16386 -84.69 -1.94 0.00 495.9 558.2 433.6 184.4 2248.5 0.00 0.00 0 177.18 174.35 0.00 0.00 0.005 0.000 0.000 3301.28 3345.88 3256.69 184.56 2246.19 0 0 0 14.57 30.00 30.00

177.44 18983 -194.65 -2.07 -80.00 3300.7 3345.4 3255.9 184.4 2245.8 3.26 0.00 17 218.05 17.37 12.70 4.11 0.006 0.292 0.165 3793.28 3860.81 3725.75 1696.81 819.88 0 0 0 15.71 15.64 15.67

220.49 1156 -194.65 -1.98 0.00 3794.1 3862.2 3725.9 1697.5 819.7 10.61 -17.40 26 226.31 0.00 0.00 3.80 0.000 0.000 0.081 3794.50 3863.38 3725.62 1697.25 2291.88 0 0 0 30.00 30.00 15.75

415.58 2437 -194.65 -1.93 80.00 3795.7 3865.6 3725.8 1697.6 2292.0 59.37 -24.23 46 421.17 0.00 0.26 3.00 0.000 0.220 0.163 3796.31 3866.31 3726.31 1732.31 3354.75 0 0 0 30.00 15.76 15.78

650.52 1156 -194.65 -1.89 0.00 3796.2 3866.6 3725.8 1732.4 3354.1 107.77 -20.10 93 656.17 0.00 0.00 2.74 0.000 0.000 0.073 3797.31 3867.00 3727.62 1732.12 2258.88 0 0 0 30.00 30.00 15.87

965.62 260 -194.65 -1.89 80.00 3797.1 3868.1 3726.1 1732.6 2258.8 178.63 -22.25 125 971.16 0.00 0.00 3.10 0.000 0.000 0.156 3797.88 3868.50 3727.25 1732.62 3354.31 0 0 0 30.00 30.00 15.90

1200.57 1156 -194.65 -1.84 0.00 3797.4 3867.9 3726.9 1732.5 3354.2 236.67 -23.71 172 1206.23 0.00 0.00 2.77 0.000 0.000 0.075 3797.59 3867.81 3727.38 1732.56 2260.88 0 0 0 30.00 30.00 15.96

1525.66 260 -194.65 -1.84 80.00 3798.5 3869.9 3727.1 1732.5 2261.0 294.77 -17.13 192 1531.20 0.00 0.00 3.09 0.000 0.000 0.161 3798.81 3869.94 3727.69 1733.00 3356.00 0 0 0 30.00 30.00 15.96

1620.58 1028 -194.65 -1.84 0.00 3798.3 3869.5 3727.1 1732.6 3354.9 315.28 -22.14 211 1626.25 0.00 0.00 2.75 0.000 0.000 0.078 3798.88 3869.94 3727.81 1732.56 2263.75 0 0 0 30.00 30.00 16.00

1945.69 516 -194.65 -1.84 -80.00 3798.5 3869.9 3727.1 1732.4 2262.8 378.58 -17.28 228 1951.42 0.00 0.00 4.11 0.000 0.000 0.171 3799.22 3870.62 3727.81 1732.56 818.31 0 0 0 30.00 30.00 15.99

2010.60 1028 -194.65 -1.84 0.00 3798.5 3870.1 3726.9 1732.6 818.4 392.80 -22.41 241 2016.36 0.00 0.00 3.78 0.000 0.000 0.093 3799.41 3870.62 3728.19 1733.12 2288.75 0 0 0 30.00 30.00 16.02

2046 end dive: TARGET_DEPTH_EXCEEDED

state 2046 begin apogee

2047.46 10243 0.00 -0.33 0.00 3798.5 3870.2 3726.8 1732.4 2006.5 401.01 -24.23 245 2197.95 146.20 2.82 0.09 1.741 0.200 0.240 2998.53 3075.69 2921.38 2118.81 2049.50 0 0 0 12.72 15.98 15.25

2198 end apogee: CONTROL_FINISHED_OK

state 2198 begin climb

2198.51 10759 194.65 2.07 -80.00 2998.9 3076.5 2921.2 2118.9 2049.0 417.10 0.00 252 2360.85 151.15 4.18 4.09 1.709 0.127 0.161 2205.56 2289.88 2121.25 2703.81 692.25 0 0 0 12.27 15.30 15.09

2588.36 17414 194.65 2.07 0.00 2195.1 2276.9 2113.3 2704.2 692.7 353.71 18.56 315 2594.06 0.00 0.00 3.45 0.000 0.000 0.074 2195.47 2277.62 2113.31 2705.00 2040.12 0 0 0 30.00 30.00 15.62

2898.48 16646 194.65 2.07 80.00 2192.6 2275.5 2109.7 2703.9 2040.4 299.06 17.49 332 2904.12 0.00 0.00 3.66 0.000 0.000 0.143 2193.16 2276.38 2109.94 2704.50 3356.75 0 0 0 30.00 30.00 15.76

3063.43 17414 194.65 2.07 0.00 2191.3 2272.8 2109.8 2703.9 3356.2 265.80 20.44 365 3069.12 0.00 0.00 3.45 0.000 0.000 0.080 2191.59 2272.88 2110.31 2704.12 2007.81 0 0 0 30.00 30.00 15.83

3378.55 16646 194.65 2.07 80.00 2190.7 2272.0 2109.4 2704.4 2006.4 213.49 17.77 393 3384.20 0.00 0.00 3.74 0.000 0.000 0.141 2190.75 2272.00 2109.50 2705.06 3356.81 0 0 0 30.00 30.00 15.88

3423.53 17542 194.65 2.03 0.00 2190.2 2270.9 2109.6 2704.4 3357.6 206.03 15.74 402 3429.24 0.00 0.00 3.44 0.000 0.000 0.081 2191.56 2272.44 2110.69 2704.38 2007.94 0 0 0 30.00 30.00 15.90

3738.65 16902 194.65 2.03 -80.00 2189.5 2271.1 2107.9 2704.0 2006.8 151.78 16.31 434 3744.25 0.00 0.00 3.73 0.000 0.000 0.164 2190.16 2272.06 2108.25 2704.25 692.19 0 0 0 30.00 30.00 15.92

3788.57 17414 194.65 2.03 0.00 2189.2 2270.7 2107.8 2704.4 692.3 142.49 18.94 444 3794.17 0.00 0.00 3.37 0.000 0.000 0.075 2190.94 2272.75 2109.12 2703.44 2043.44 0 0 0 30.00 30.00 15.95

4098.65 16386 194.65 2.03 0.00 2188.0 2269.5 2106.4 2704.8 2044.0 99.75 12.82 476 4100.01 0.00 0.00 0.00 0.000 0.000 0.000 2187.00 2269.12 2104.88 2704.44 2043.94 0 0 0 30.00 30.00 30.00

4288.63 16514 194.65 2.07 0.00 2187.0 2269.0 2104.9 2704.4 2043.9 64.52 23.12 495 4289.98 0.00 0.00 0.00 0.000 0.000 0.000 2186.06 2268.56 2103.56 2704.25 2044.12 0 0 0 30.00 30.00 30.00

4478.62 17030 194.65 2.11 -80.00 2186.1 2268.0 2104.2 2704.8 2043.4 23.07 20.52 514 4484.30 0.00 0.00 3.83 0.000 0.000 0.159 2188.00 2270.12 2105.88 2703.38 691.19 0 0 0 30.00 30.00 15.98

4523.53 17414 194.65 2.11 0.00 2185.8 2267.2 2104.5 2704.8 691.6 13.52 21.45 523 4529.30 0.00 0.00 3.33 0.000 0.000 0.073 2186.28 2268.19 2104.38 2704.75 2043.50 0 0 0 30.00 30.00 16.02

4589 end climb: SURFACE_DEPTH_REACHED

state 4589 begin surface coast

4609 end surface coast: CONTROL_FINISHED_OK

state 4609 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	62	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	21.483116	SEABIRD_T_G	0.0044182916
MAX_BUOY	200	PITCH_MAXERRORS	1	FG_AHR_24V	32.732494	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	281022,184750,7050.699,-623.617,26,1.0,38,-5.0	TGT_RADIUS	1000.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.06	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-48.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	281022,185415,7050.673,-623.656,3,0.7,7,-5.0	MHEAD_RNG_PITCHd_Wd	223.3,463,-27.5,-12.121,-30.00,1068,0.618
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	-0.1,1.027619	MEM0	60148,1,0,0
SM_CCo	5158.48,525.16,1.206,0,501.0,564.2,437.9,613.00	MEM1	65508,1,0,0
SM_GC	1.00,525.16,15.69,0.58,1.206,0.066,0.104,501.0,564.2,437.9,185.4,2293.4,0,0,0,12.71,16.00,16.02	MEM2	968340,24,78748,50
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	19335,532
IRIDIUM_FIX	7041.25,-229.66,281022,171316	CAP_FILE_SIZE	228467,0
TCM_TEMP	7.53	SDSIZE	3887104,3861632
XPDR_PINGS	3,12.5,11.5	SDFILEDIR	314,1
HUMID	78.17	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	3.39	CURRENT	0.036,320.4,1
INTERNAL_PRESSURE	7.8977	MAGCAL	1.000000,-0.050249,0.047234,-0.078410,1.066911,-0.103735,-0.014022,-0.003004,0.793789,-1129.9,-1030.4,-58.1,36,0.0971,0
_24V_AH	14.53,25.043	IMPLIED_C_PITCH	2236,13.71,291,0.0,0.00
_10V_AH	14.59,0.000	IMPLIED_C_VBD	2812,49.546329,291,0
FG_AHR_24Vo	33.069	GPS	281022,202109,7050.423,-624.902,3,1.0,37,-5.0
FG_AHR_10Vo	21.499

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	1014	1740	25653.53	SBE_CT	540	24	188.52
Pitch_motor	35	292	151.42	nil	0	0	0.00
Roll_motor	70	239	246.86	nil	0	0	0.00
Iridium	215	190	596.25	nil	0	0	0.00
Transponder_ping	0	420	4.58	nil	0	0	0.00
GPS	16	15	3.67	nil	0	0	0.00
Core	1919	6	190.40	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	3068	2	89.53
Compass	772	5	56.38
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
2	end surface: CONTROL_FINISHED_OK
state	2	begin dive
2.26	16386	-84.69	-1.94	0.00	495.9	558.2	433.6	184.4	2248.5	0.00	0.00	0	177.18	174.35	0.00	0.00	0.005	0.000	0.000	3301.28	3345.88	3256.69	184.56	2246.19	0	0	0	14.57	30.00	30.00
177.44	18983	-194.65	-2.07	-80.00	3300.7	3345.4	3255.9	184.4	2245.8	3.26	0.00	17	218.05	17.37	12.70	4.11	0.006	0.292	0.165	3793.28	3860.81	3725.75	1696.81	819.88	0	0	0	15.71	15.64	15.67
220.49	1156	-194.65	-1.98	0.00	3794.1	3862.2	3725.9	1697.5	819.7	10.61	-17.40	26	226.31	0.00	0.00	3.80	0.000	0.000	0.081	3794.50	3863.38	3725.62	1697.25	2291.88	0	0	0	30.00	30.00	15.75
415.58	2437	-194.65	-1.93	80.00	3795.7	3865.6	3725.8	1697.6	2292.0	59.37	-24.23	46	421.17	0.00	0.26	3.00	0.000	0.220	0.163	3796.31	3866.31	3726.31	1732.31	3354.75	0	0	0	30.00	15.76	15.78
650.52	1156	-194.65	-1.89	0.00	3796.2	3866.6	3725.8	1732.4	3354.1	107.77	-20.10	93	656.17	0.00	0.00	2.74	0.000	0.000	0.073	3797.31	3867.00	3727.62	1732.12	2258.88	0	0	0	30.00	30.00	15.87
965.62	260	-194.65	-1.89	80.00	3797.1	3868.1	3726.1	1732.6	2258.8	178.63	-22.25	125	971.16	0.00	0.00	3.10	0.000	0.000	0.156	3797.88	3868.50	3727.25	1732.62	3354.31	0	0	0	30.00	30.00	15.90
1200.57	1156	-194.65	-1.84	0.00	3797.4	3867.9	3726.9	1732.5	3354.2	236.67	-23.71	172	1206.23	0.00	0.00	2.77	0.000	0.000	0.075	3797.59	3867.81	3727.38	1732.56	2260.88	0	0	0	30.00	30.00	15.96
1525.66	260	-194.65	-1.84	80.00	3798.5	3869.9	3727.1	1732.5	2261.0	294.77	-17.13	192	1531.20	0.00	0.00	3.09	0.000	0.000	0.161	3798.81	3869.94	3727.69	1733.00	3356.00	0	0	0	30.00	30.00	15.96
1620.58	1028	-194.65	-1.84	0.00	3798.3	3869.5	3727.1	1732.6	3354.9	315.28	-22.14	211	1626.25	0.00	0.00	2.75	0.000	0.000	0.078	3798.88	3869.94	3727.81	1732.56	2263.75	0	0	0	30.00	30.00	16.00
1945.69	516	-194.65	-1.84	-80.00	3798.5	3869.9	3727.1	1732.4	2262.8	378.58	-17.28	228	1951.42	0.00	0.00	4.11	0.000	0.000	0.171	3799.22	3870.62	3727.81	1732.56	818.31	0	0	0	30.00	30.00	15.99
2010.60	1028	-194.65	-1.84	0.00	3798.5	3870.1	3726.9	1732.6	818.4	392.80	-22.41	241	2016.36	0.00	0.00	3.78	0.000	0.000	0.093	3799.41	3870.62	3728.19	1733.12	2288.75	0	0	0	30.00	30.00	16.02
2046	end dive: TARGET_DEPTH_EXCEEDED
state	2046	begin apogee
2047.46	10243	0.00	-0.33	0.00	3798.5	3870.2	3726.8	1732.4	2006.5	401.01	-24.23	245	2197.95	146.20	2.82	0.09	1.741	0.200	0.240	2998.53	3075.69	2921.38	2118.81	2049.50	0	0	0	12.72	15.98	15.25
2198	end apogee: CONTROL_FINISHED_OK
state	2198	begin climb
2198.51	10759	194.65	2.07	-80.00	2998.9	3076.5	2921.2	2118.9	2049.0	417.10	0.00	252	2360.85	151.15	4.18	4.09	1.709	0.127	0.161	2205.56	2289.88	2121.25	2703.81	692.25	0	0	0	12.27	15.30	15.09
2588.36	17414	194.65	2.07	0.00	2195.1	2276.9	2113.3	2704.2	692.7	353.71	18.56	315	2594.06	0.00	0.00	3.45	0.000	0.000	0.074	2195.47	2277.62	2113.31	2705.00	2040.12	0	0	0	30.00	30.00	15.62
2898.48	16646	194.65	2.07	80.00	2192.6	2275.5	2109.7	2703.9	2040.4	299.06	17.49	332	2904.12	0.00	0.00	3.66	0.000	0.000	0.143	2193.16	2276.38	2109.94	2704.50	3356.75	0	0	0	30.00	30.00	15.76
3063.43	17414	194.65	2.07	0.00	2191.3	2272.8	2109.8	2703.9	3356.2	265.80	20.44	365	3069.12	0.00	0.00	3.45	0.000	0.000	0.080	2191.59	2272.88	2110.31	2704.12	2007.81	0	0	0	30.00	30.00	15.83
3378.55	16646	194.65	2.07	80.00	2190.7	2272.0	2109.4	2704.4	2006.4	213.49	17.77	393	3384.20	0.00	0.00	3.74	0.000	0.000	0.141	2190.75	2272.00	2109.50	2705.06	3356.81	0	0	0	30.00	30.00	15.88
3423.53	17542	194.65	2.03	0.00	2190.2	2270.9	2109.6	2704.4	3357.6	206.03	15.74	402	3429.24	0.00	0.00	3.44	0.000	0.000	0.081	2191.56	2272.44	2110.69	2704.38	2007.94	0	0	0	30.00	30.00	15.90
3738.65	16902	194.65	2.03	-80.00	2189.5	2271.1	2107.9	2704.0	2006.8	151.78	16.31	434	3744.25	0.00	0.00	3.73	0.000	0.000	0.164	2190.16	2272.06	2108.25	2704.25	692.19	0	0	0	30.00	30.00	15.92
3788.57	17414	194.65	2.03	0.00	2189.2	2270.7	2107.8	2704.4	692.3	142.49	18.94	444	3794.17	0.00	0.00	3.37	0.000	0.000	0.075	2190.94	2272.75	2109.12	2703.44	2043.44	0	0	0	30.00	30.00	15.95
4098.65	16386	194.65	2.03	0.00	2188.0	2269.5	2106.4	2704.8	2044.0	99.75	12.82	476	4100.01	0.00	0.00	0.00	0.000	0.000	0.000	2187.00	2269.12	2104.88	2704.44	2043.94	0	0	0	30.00	30.00	30.00
4288.63	16514	194.65	2.07	0.00	2187.0	2269.0	2104.9	2704.4	2043.9	64.52	23.12	495	4289.98	0.00	0.00	0.00	0.000	0.000	0.000	2186.06	2268.56	2103.56	2704.25	2044.12	0	0	0	30.00	30.00	30.00
4478.62	17030	194.65	2.11	-80.00	2186.1	2268.0	2104.2	2704.8	2043.4	23.07	20.52	514	4484.30	0.00	0.00	3.83	0.000	0.000	0.159	2188.00	2270.12	2105.88	2703.38	691.19	0	0	0	30.00	30.00	15.98
4523.53	17414	194.65	2.11	0.00	2185.8	2267.2	2104.5	2704.8	691.6	13.52	21.45	523	4529.30	0.00	0.00	3.33	0.000	0.000	0.073	2186.28	2268.19	2104.38	2704.75	2043.50	0	0	0	30.00	30.00	16.02
4589	end climb: SURFACE_DEPTH_REACHED
state	4589	begin surface coast
4609	end surface coast: CONTROL_FINISHED_OK
state	4609	begin surface