Glider dive log

NORSE Oct22 * SG234 * Dive index * Mission links * Dive 64 * 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 64 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 21.535044 SEABIRD_T_G 0.0044182916

MAX_BUOY 200 PITCH_MAXERRORS 1 FG_AHR_24V 33.406013 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 21.535044 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 33.406013 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 64 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 281022,215221,7050.424,-623.425,9,1.1,18,-5.0 TGT_RADIUS 1000.000

_CALLS 5 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.02 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -48.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 281022,220419,7050.455,-623.367,4,1.4,10,-5.0 MHEAD_RNG_PITCHd_Wd 260.4,446,-27.5,-12.121,-30.00,1068,0.450

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 -0.1,1.027701 MEM0 60148,1,0,0

SM_CCo 4933.37,510.62,1.213,0,500.9,566.1,435.8,613.03 MEM1 65508,1,0,0

SM_GC 1.04,510.62,15.94,0.59,1.213,0.068,0.115,500.9,566.1,435.8,185.5,2293.4,0,0,0,12.81,16.00,16.00 MEM2 968348,24,78740,50

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16170,438

IRIDIUM_FIX 7051.37,-621.14,281022,215834 CAP_FILE_SIZE 217905,0

TCM_TEMP 7.23 SDSIZE 3887104,3861248

XPDR_PINGS 3,12.5,11.5 SDFILEDIR 324,1

HUMID 79.03 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 3.21 CURRENT 0.114,357.9,1

INTERNAL_PRESSURE 7.89044 MAGCAL 1.000000,-0.044794,-0.000424,-0.090021,1.087500,-0.096560,-0.043316,-0.008294,0.764200,-1074.7,-1040.3,-42.9,36,0.0877,0

_24V_AH 14.53,25.726 IMPLIED_C_PITCH 2239,13.39,270,0.0,0.00

_10V_AH 14.59,0.000 IMPLIED_C_VBD 2911,23.446827,270,0

FG_AHR_24Vo 33.741 GPS 281022,232711,7050.616,-625.724,11,1.3,21,-5.0

FG_AHR_10Vo 21.550

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 1014 1734 25574.84 SBE_CT 515 24 179.59

Pitch_motor 35 293 153.30 nil 0 0 0.00

Roll_motor 65 235 223.82 nil 0 0 0.00

Iridium 430 186 1166.63 nil 0 0 0.00

Transponder_ping 0 420 4.58 nil 0 0 0.00

GPS 19 15 4.27 nil 0 0 0.00

Core 1942 6 192.69 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 3167 2 92.42

Compass 640 5 46.72

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

2.26 16386 -84.69 -1.94 0.00 495.6 558.4 432.8 184.4 2249.8 0.00 0.00 0 177.19 174.32 0.00 0.00 0.005 0.000 0.000 3319.25 3361.06 3277.44 184.38 2247.69 0 0 0 14.61 30.00 30.00

177.46 18727 -194.65 -2.07 80.00 3319.0 3362.0 3276.0 184.2 2247.6 3.04 -1.31 17 214.56 17.43 12.65 3.15 0.006 0.293 0.163 3792.59 3860.50 3724.69 1698.12 3357.25 0 0 0 14.83 15.71 15.72

442.08 1156 -194.65 -1.98 0.00 3795.3 3863.8 3726.9 1697.9 3357.0 67.73 -25.33 70 447.56 0.00 0.00 2.80 0.000 0.000 0.073 3796.16 3864.50 3727.81 1698.31 2260.31 0 0 0 30.00 30.00 15.86

632.12 2437 -194.65 -1.94 80.00 3795.7 3864.6 3726.8 1697.9 2259.8 107.78 -21.96 90 637.72 0.00 0.24 3.08 0.000 0.217 0.155 3796.31 3865.62 3727.00 1731.12 3354.38 0 0 0 30.00 15.84 15.87

687.09 1028 -194.65 -1.94 0.00 3795.9 3865.1 3726.8 1731.5 3354.4 119.94 -21.46 101 692.70 0.00 0.00 2.76 0.000 0.000 0.072 3795.97 3864.62 3727.31 1731.38 2261.00 0 0 0 30.00 30.00 15.90

1002.16 516 -194.65 -1.94 -80.00 3796.6 3866.7 3726.4 1731.2 2260.1 181.74 -20.26 133 1007.89 0.00 0.00 4.07 0.000 0.000 0.163 3797.59 3867.75 3727.44 1730.69 819.31 0 0 0 30.00 30.00 15.90

1097.12 1156 -194.65 -1.89 0.00 3796.7 3866.8 3726.6 1731.5 819.4 202.63 -22.29 152 1102.96 0.00 0.00 3.71 0.000 0.000 0.086 3796.84 3867.06 3726.62 1731.44 2289.88 0 0 0 30.00 30.00 15.95

1422.32 0 -194.65 -1.89 0.00 3798.0 3869.2 3726.8 1731.2 2290.0 265.86 -19.83 181 1423.66 0.00 0.00 0.00 0.000 0.000 0.000 3797.81 3869.31 3726.31 1730.94 2290.25 0 0 0 30.00 30.00 30.00

1742.25 516 -194.65 -1.89 -80.00 3798.2 3869.6 3726.8 1731.8 2290.4 330.99 -19.61 197 1747.99 0.00 0.00 4.20 0.000 0.000 0.166 3798.44 3869.38 3727.50 1731.19 819.38 0 0 0 30.00 30.00 15.98

1777.18 1156 -194.65 -1.85 0.00 3797.9 3869.4 3726.5 1731.8 819.3 337.93 -19.95 204 1783.02 0.00 0.00 3.73 0.000 0.000 0.091 3798.34 3869.56 3727.12 1731.19 2288.81 0 0 0 30.00 30.00 16.01

2082 end dive: TARGET_DEPTH_EXCEEDED

state 2082 begin apogee

2084.14 10243 0.00 -0.33 0.00 3798.0 3869.4 3726.5 1731.4 2007.3 403.98 -22.24 220 2236.86 147.68 2.81 0.09 1.735 0.194 0.236 3000.31 3079.31 2921.31 2120.00 2047.69 0 0 0 12.83 16.00 15.27

2237 end apogee: CONTROL_FINISHED_OK

state 2237 begin climb

2237.44 10759 194.65 2.07 -80.00 2997.6 3077.3 2917.9 2119.0 2048.2 412.13 0.00 227 2399.89 151.07 4.14 4.11 1.694 0.121 0.163 2205.09 2288.38 2121.81 2703.50 691.75 0 0 0 12.35 15.32 15.11

2402.43 9254 209.13 2.09 0.00 2202.3 2284.7 2119.9 2705.6 691.9 398.49 10.73 242 2423.30 13.45 0.00 3.49 1.412 0.000 0.068 2147.25 2228.12 2066.38 2703.94 2042.88 0 0 0 12.25 30.00 15.23

2737.46 16774 209.13 2.13 80.00 2136.1 2215.9 2056.2 2705.2 2043.0 330.94 20.70 264 2743.01 0.00 0.00 3.65 0.000 0.000 0.147 2136.34 2216.06 2056.62 2705.12 3356.75 0 0 0 30.00 30.00 15.66

2777.38 17414 209.13 2.13 0.00 2135.4 2214.3 2056.5 2704.8 3356.4 321.57 23.56 272 2783.01 0.00 0.00 3.49 0.000 0.000 0.077 2136.62 2215.38 2057.88 2705.25 2007.44 0 0 0 30.00 30.00 15.71

3097.43 17030 209.13 2.17 -80.00 2134.1 2213.2 2054.9 2705.2 2005.6 259.94 18.30 291 3103.10 0.00 0.00 3.80 0.000 0.000 0.165 2133.84 2212.69 2055.00 2705.31 692.50 0 0 0 30.00 30.00 15.79

3132.34 17414 209.13 2.17 0.00 2133.5 2212.5 2054.5 2705.0 692.4 252.78 21.05 298 3138.11 0.00 0.00 3.36 0.000 0.000 0.075 2135.38 2214.69 2056.06 2703.44 2043.75 0 0 0 30.00 30.00 15.83

3447.55 16902 209.13 2.17 -80.00 2132.3 2211.5 2053.2 2704.8 2044.1 194.01 18.90 329 3453.16 0.00 0.00 3.88 0.000 0.000 0.160 2134.19 2213.12 2055.25 2705.25 691.75 0 0 0 30.00 30.00 15.87

3512.41 17414 209.13 2.17 0.00 2132.3 2211.1 2053.4 2704.7 691.8 179.61 22.59 342 3518.18 0.00 0.00 3.35 0.000 0.000 0.076 2132.41 2211.75 2053.06 2705.69 2042.75 0 0 0 30.00 30.00 15.91

3827.63 19079 209.13 2.22 -80.00 2131.0 2210.2 2051.8 2705.2 2043.0 111.30 22.00 374 3833.29 0.00 0.20 3.86 0.000 0.102 0.159 2132.22 2210.69 2053.75 2744.56 691.12 0 0 0 30.00 15.95 15.92

3887.58 17542 209.13 2.17 0.00 2131.1 2210.2 2051.9 2746.3 691.3 95.92 25.81 386 3893.16 0.00 0.00 3.34 0.000 0.000 0.075 2132.44 2211.56 2053.31 2746.00 2043.75 0 0 0 30.00 30.00 15.95

4077.57 16386 209.13 2.17 0.00 2131.0 2209.9 2052.1 2746.8 2044.0 56.50 19.49 406 4078.92 0.00 0.00 0.00 0.000 0.000 0.000 2130.44 2209.75 2051.12 2746.50 2043.81 0 0 0 30.00 30.00 30.00

4267.58 16386 209.13 2.17 0.00 2130.0 2209.3 2050.6 2746.4 2043.5 21.62 17.70 425 4268.93 0.00 0.00 0.00 0.000 0.000 0.000 2130.06 2209.50 2050.62 2746.56 2043.62 0 0 0 30.00 30.00 30.00

4378 end climb: SURFACE_DEPTH_REACHED

state 4378 begin surface coast

4398 end surface coast: CONTROL_FINISHED_OK

state 4398 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	64	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	21.535044	SEABIRD_T_G	0.0044182916
MAX_BUOY	200	PITCH_MAXERRORS	1	FG_AHR_24V	33.406013	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	281022,215221,7050.424,-623.425,9,1.1,18,-5.0	TGT_RADIUS	1000.000
_CALLS	5	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.02	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-48.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	281022,220419,7050.455,-623.367,4,1.4,10,-5.0	MHEAD_RNG_PITCHd_Wd	260.4,446,-27.5,-12.121,-30.00,1068,0.450
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	-0.1,1.027701	MEM0	60148,1,0,0
SM_CCo	4933.37,510.62,1.213,0,500.9,566.1,435.8,613.03	MEM1	65508,1,0,0
SM_GC	1.04,510.62,15.94,0.59,1.213,0.068,0.115,500.9,566.1,435.8,185.5,2293.4,0,0,0,12.81,16.00,16.00	MEM2	968348,24,78740,50
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16170,438
IRIDIUM_FIX	7051.37,-621.14,281022,215834	CAP_FILE_SIZE	217905,0
TCM_TEMP	7.23	SDSIZE	3887104,3861248
XPDR_PINGS	3,12.5,11.5	SDFILEDIR	324,1
HUMID	79.03	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	3.21	CURRENT	0.114,357.9,1
INTERNAL_PRESSURE	7.89044	MAGCAL	1.000000,-0.044794,-0.000424,-0.090021,1.087500,-0.096560,-0.043316,-0.008294,0.764200,-1074.7,-1040.3,-42.9,36,0.0877,0
_24V_AH	14.53,25.726	IMPLIED_C_PITCH	2239,13.39,270,0.0,0.00
_10V_AH	14.59,0.000	IMPLIED_C_VBD	2911,23.446827,270,0
FG_AHR_24Vo	33.741	GPS	281022,232711,7050.616,-625.724,11,1.3,21,-5.0
FG_AHR_10Vo	21.550

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	1014	1734	25574.84	SBE_CT	515	24	179.59
Pitch_motor	35	293	153.30	nil	0	0	0.00
Roll_motor	65	235	223.82	nil	0	0	0.00
Iridium	430	186	1166.63	nil	0	0	0.00
Transponder_ping	0	420	4.58	nil	0	0	0.00
GPS	19	15	4.27	nil	0	0	0.00
Core	1942	6	192.69	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	3167	2	92.42
Compass	640	5	46.72
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
2.26	16386	-84.69	-1.94	0.00	495.6	558.4	432.8	184.4	2249.8	0.00	0.00	0	177.19	174.32	0.00	0.00	0.005	0.000	0.000	3319.25	3361.06	3277.44	184.38	2247.69	0	0	0	14.61	30.00	30.00
177.46	18727	-194.65	-2.07	80.00	3319.0	3362.0	3276.0	184.2	2247.6	3.04	-1.31	17	214.56	17.43	12.65	3.15	0.006	0.293	0.163	3792.59	3860.50	3724.69	1698.12	3357.25	0	0	0	14.83	15.71	15.72
442.08	1156	-194.65	-1.98	0.00	3795.3	3863.8	3726.9	1697.9	3357.0	67.73	-25.33	70	447.56	0.00	0.00	2.80	0.000	0.000	0.073	3796.16	3864.50	3727.81	1698.31	2260.31	0	0	0	30.00	30.00	15.86
632.12	2437	-194.65	-1.94	80.00	3795.7	3864.6	3726.8	1697.9	2259.8	107.78	-21.96	90	637.72	0.00	0.24	3.08	0.000	0.217	0.155	3796.31	3865.62	3727.00	1731.12	3354.38	0	0	0	30.00	15.84	15.87
687.09	1028	-194.65	-1.94	0.00	3795.9	3865.1	3726.8	1731.5	3354.4	119.94	-21.46	101	692.70	0.00	0.00	2.76	0.000	0.000	0.072	3795.97	3864.62	3727.31	1731.38	2261.00	0	0	0	30.00	30.00	15.90
1002.16	516	-194.65	-1.94	-80.00	3796.6	3866.7	3726.4	1731.2	2260.1	181.74	-20.26	133	1007.89	0.00	0.00	4.07	0.000	0.000	0.163	3797.59	3867.75	3727.44	1730.69	819.31	0	0	0	30.00	30.00	15.90
1097.12	1156	-194.65	-1.89	0.00	3796.7	3866.8	3726.6	1731.5	819.4	202.63	-22.29	152	1102.96	0.00	0.00	3.71	0.000	0.000	0.086	3796.84	3867.06	3726.62	1731.44	2289.88	0	0	0	30.00	30.00	15.95
1422.32	0	-194.65	-1.89	0.00	3798.0	3869.2	3726.8	1731.2	2290.0	265.86	-19.83	181	1423.66	0.00	0.00	0.00	0.000	0.000	0.000	3797.81	3869.31	3726.31	1730.94	2290.25	0	0	0	30.00	30.00	30.00
1742.25	516	-194.65	-1.89	-80.00	3798.2	3869.6	3726.8	1731.8	2290.4	330.99	-19.61	197	1747.99	0.00	0.00	4.20	0.000	0.000	0.166	3798.44	3869.38	3727.50	1731.19	819.38	0	0	0	30.00	30.00	15.98
1777.18	1156	-194.65	-1.85	0.00	3797.9	3869.4	3726.5	1731.8	819.3	337.93	-19.95	204	1783.02	0.00	0.00	3.73	0.000	0.000	0.091	3798.34	3869.56	3727.12	1731.19	2288.81	0	0	0	30.00	30.00	16.01
2082	end dive: TARGET_DEPTH_EXCEEDED
state	2082	begin apogee
2084.14	10243	0.00	-0.33	0.00	3798.0	3869.4	3726.5	1731.4	2007.3	403.98	-22.24	220	2236.86	147.68	2.81	0.09	1.735	0.194	0.236	3000.31	3079.31	2921.31	2120.00	2047.69	0	0	0	12.83	16.00	15.27
2237	end apogee: CONTROL_FINISHED_OK
state	2237	begin climb
2237.44	10759	194.65	2.07	-80.00	2997.6	3077.3	2917.9	2119.0	2048.2	412.13	0.00	227	2399.89	151.07	4.14	4.11	1.694	0.121	0.163	2205.09	2288.38	2121.81	2703.50	691.75	0	0	0	12.35	15.32	15.11
2402.43	9254	209.13	2.09	0.00	2202.3	2284.7	2119.9	2705.6	691.9	398.49	10.73	242	2423.30	13.45	0.00	3.49	1.412	0.000	0.068	2147.25	2228.12	2066.38	2703.94	2042.88	0	0	0	12.25	30.00	15.23
2737.46	16774	209.13	2.13	80.00	2136.1	2215.9	2056.2	2705.2	2043.0	330.94	20.70	264	2743.01	0.00	0.00	3.65	0.000	0.000	0.147	2136.34	2216.06	2056.62	2705.12	3356.75	0	0	0	30.00	30.00	15.66
2777.38	17414	209.13	2.13	0.00	2135.4	2214.3	2056.5	2704.8	3356.4	321.57	23.56	272	2783.01	0.00	0.00	3.49	0.000	0.000	0.077	2136.62	2215.38	2057.88	2705.25	2007.44	0	0	0	30.00	30.00	15.71
3097.43	17030	209.13	2.17	-80.00	2134.1	2213.2	2054.9	2705.2	2005.6	259.94	18.30	291	3103.10	0.00	0.00	3.80	0.000	0.000	0.165	2133.84	2212.69	2055.00	2705.31	692.50	0	0	0	30.00	30.00	15.79
3132.34	17414	209.13	2.17	0.00	2133.5	2212.5	2054.5	2705.0	692.4	252.78	21.05	298	3138.11	0.00	0.00	3.36	0.000	0.000	0.075	2135.38	2214.69	2056.06	2703.44	2043.75	0	0	0	30.00	30.00	15.83
3447.55	16902	209.13	2.17	-80.00	2132.3	2211.5	2053.2	2704.8	2044.1	194.01	18.90	329	3453.16	0.00	0.00	3.88	0.000	0.000	0.160	2134.19	2213.12	2055.25	2705.25	691.75	0	0	0	30.00	30.00	15.87
3512.41	17414	209.13	2.17	0.00	2132.3	2211.1	2053.4	2704.7	691.8	179.61	22.59	342	3518.18	0.00	0.00	3.35	0.000	0.000	0.076	2132.41	2211.75	2053.06	2705.69	2042.75	0	0	0	30.00	30.00	15.91
3827.63	19079	209.13	2.22	-80.00	2131.0	2210.2	2051.8	2705.2	2043.0	111.30	22.00	374	3833.29	0.00	0.20	3.86	0.000	0.102	0.159	2132.22	2210.69	2053.75	2744.56	691.12	0	0	0	30.00	15.95	15.92
3887.58	17542	209.13	2.17	0.00	2131.1	2210.2	2051.9	2746.3	691.3	95.92	25.81	386	3893.16	0.00	0.00	3.34	0.000	0.000	0.075	2132.44	2211.56	2053.31	2746.00	2043.75	0	0	0	30.00	30.00	15.95
4077.57	16386	209.13	2.17	0.00	2131.0	2209.9	2052.1	2746.8	2044.0	56.50	19.49	406	4078.92	0.00	0.00	0.00	0.000	0.000	0.000	2130.44	2209.75	2051.12	2746.50	2043.81	0	0	0	30.00	30.00	30.00
4267.58	16386	209.13	2.17	0.00	2130.0	2209.3	2050.6	2746.4	2043.5	21.62	17.70	425	4268.93	0.00	0.00	0.00	0.000	0.000	0.000	2130.06	2209.50	2050.62	2746.56	2043.62	0	0	0	30.00	30.00	30.00
4378	end climb: SURFACE_DEPTH_REACHED
state	4378	begin surface coast
4398	end surface coast: CONTROL_FINISHED_OK
state	4398	begin surface