Glider dive log

NORSE Jun23 * SG248 * Dive index * Mission links * Dive 76 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 248 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 1.9639999e-06

MISSION 7 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -1

DIVE 76 SM_CC 605 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

N_DIVES 0 N_FILEKB 8 VBD_MIN 500 DEEPGLIDERMB 0

STOP_T 0 FILEMGR 0 VBD_MAX 3960 MOTHERBOARD 6

D_SURF 5 CALL_NDIVES 1 C_VBD 3000 DEVICE1 10

D_FLARE 3 COMM_SEQ 7 VBD_DBAND 2 DEVICE2 -1

D_TGT 200 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE3 -1

D_ABORT 300 N_NOCOMM 2 VBD_LP_IGNORE 0 DEVICE4 -1

D_NO_BLEED 200 NOCOMM_ACTION 131 VBD_TIMEOUT 720 DEVICE5 -1

D_BOOST 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0015 DEVICE6 -1

T_BOOST 0 UPLOAD_DIVES_MAX -1 UNCOM_BLEED 20 LOGGERS 2

D_FINISH 0 NETBOX 1 VBD_MAXERRORS 1 LOGGERDEVICE1 7

D_PITCH 0 CALL_TRIES 15 C_VBD_AUTO_DELTA 0 LOGGERDEVICE2 72

D_SAFE 0 CALL_WAIT 60 C_VBD_AUTO_MAX 0 LOGGERDEVICE3 -1

D_CALL 0 CAPUPLOAD 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

SURFACE_URGENCY 0 CAPMAXSIZE 100000 DBDW 0 COMPASS_DEVICE 66

SURFACE_URGENCY_TRY 0 T_GPS 30 LOITER_W_DBAND 0 COMPASS2_DEVICE -1

SURFACE_URGENCY_FORCE 0 N_GPS 100440 LOITER_DBDW 0 PHONE_DEVICE 33

T_DIVE 66 T_RSLEEP 2 LOITER_D_TOP 0 GPS_DEVICE 48

T_MISSION 75 STROBE 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE -1

T_ABORT 1440 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 NAV_DEVICE -1

T_TURN 225 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 NAV2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_HIT_WINDOW 3600 AH0_24V 575 NETWORK_DEVICE -1

T_NO_W 120 RAFOS_MMODEM 0 AH0_10V 0 PRESSURE_DEVICE 34

T_LOITER 0 PITCH_MIN 205 MINV_24V 11 XPDR_DEVICE 21

T_EPIRB 0 PITCH_MAX 3600 MINV_10V 11 SIM_W 0.1

USE_BATHY -6 C_PITCH 2050 MAXI_24V 5 SEABIRD_T_G 0.0044090361

USE_ICE 0 PITCH_DBAND 0.1 MAXI_10V 1.5 SEABIRD_T_H 0.00064173015

ICE_FREEZE_MARGIN 0.30000001 PITCH_CNV 0.0041299998 FG_AHR_10V 59.358116 SEABIRD_T_I 2.932871e-05

D_OFFGRID 1000 PITCH_GAIN 14 FG_AHR_24V 122.4922 SEABIRD_T_J 3.827171e-06

RELAUNCH 1 PITCH_TIMEOUT 30 PHONE_SUPPLY 2 SEABIRD_C_G -9.9958668

APOGEE_PITCH -5 PITCH_MAXERRORS 1 PRESSURE_YINT 0 SEABIRD_C_H 1.1120801

MAX_BUOY 150 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 6.9999999e-07 SEABIRD_C_I -0.0034223681

GLIDE_SLOPE 30 PITCH_ADJ_DBAND 0 COMPASS_USE 16388 SEABIRD_C_J 0.00032313328

SPEED_FACTOR 1 C_PITCH_AUTO_DELTA 0 ALTIM_PING_FIT 0 OPTIONS 0

RHO 1.0275 C_PITCH_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

MASS 74553 PITCH_GAIN_AUTO_DELTA 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 3.0

NAV_MODE 0 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

FERRY_MAX 45 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_NDIVE 1.0

KALMAN_USE 2 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 CP_RECORDABOVE 1000.0

HD_A 0.0025118899 ROLL_MIN 265 ALTIM_PING_DELTA 0 CP_PROFILE 3.0

HD_B 0.0146701 ROLL_MAX 3870 ALTIM_FREQUENCY 13 CP_XMITPROFILE 3.0

HD_C 5.7000002e-06 ROLL_DEG 80 ALTIM_PULSE 3 CP_UPLOADMAX 100000.0

HEADING -1 C_ROLL_DIVE 2360 ALTIM_SENSITIVITY 2 CP_STARTS 0.0

ESCAPE_HEADING 0 C_ROLL_CLIMB 2025 XPDR_VALID 4 CP_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 XPDR_INHIBIT 90

FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.054945 XPDR_INT -1

TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_REP -1

AH0_10V 0 D_CALL 0 NETBOX 1 SEABIRD_C_H 1.1120801

AH0_24V 575 D_FINISH 0 NETWORK_DEVICE -1 SEABIRD_C_I -0.0034223681

ALTIM_BOTTOM_TURN_MARGIN 0 D_FLARE 3 NOCOMM_ACTION 131 SEABIRD_C_J 0.00032313328

ALTIM_FREQUENCY 13 D_NO_BLEED 200 N_DIVES 0 SEABIRD_T_G 0.0044090361

ALTIM_PING_DELTA 0 D_OFFGRID 1000 N_FILEKB 8 SEABIRD_T_H 0.00064173015

ALTIM_PING_DEPTH 0 D_PITCH 0 N_GPS 100440 SEABIRD_T_I 2.932871e-05

ALTIM_PING_FIT 0 D_SAFE 0 N_NOCOMM 2 SEABIRD_T_J 3.827171e-06

ALTIM_PULSE 3 D_SURF 5 N_NOSURFACE 0 SIM_W 0.1

ALTIM_SENSITIVITY 2 D_TGT 200 OPTIONS 0 SM_CC 605

ALTIM_TOP_MIN_OBSTACLE 1 ESCAPE_HEADING 0 PHONE_DEVICE 33 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 STROBE 0

APOGEE_PITCH -5 FG_AHR_10V 59.358116 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

CALL_NDIVES 1 FG_AHR_24V 122.4922 PITCH_CNV 0.0041299998 SURFACE_URGENCY_FORCE 0

CALL_TRIES 15 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 14 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_DELTA 0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 GPS_DEVICE 48 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HD_A 0.0025118899 PITCH_MAX 3600 T_ABORT 1440

COMM_SEQ 7 HD_B 0.0146701 PITCH_MAXERRORS 1 T_BOOST 0

COMPASS2_DEVICE -1 HD_C 5.7000002e-06 PITCH_MIN 205 T_DIVE 66

COMPASS_DEVICE 66 HEADING -1 PITCH_TIMEOUT 30 T_EPIRB 0

COMPASS_USE 16388 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0015 T_GPS 30

CP_NDIVE 1.0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0 T_LOITER 0

CP_PROFILE 3.0 ID 248 PITCH_W_GAIN 0 T_MISSION 75

CP_RECORDABOVE 1000.0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_DEVICE 34 T_NO_W 120

CP_STARTS 0.0 INT_PRESSURE_YINT -1 PRESSURE_SLOPE 6.9999999e-07 T_RSLEEP 2

CP_UPLOADMAX 100000.0 KALMAN_USE 2 PRESSURE_YINT 0 T_TURN 225

CP_XMITPROFILE 3.0 LOGGERDEVICE1 7 PROTOCOL 9 T_TURN_SAMPINT -5

C_PITCH 2050 LOGGERDEVICE2 72 RAFOS_CORR_THRESH 60 UNCOM_BLEED 20

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 UPLOAD_DIVES_MAX -1

C_PITCH_AUTO_MAX 0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 USE_BATHY -6

C_ROLL_CLIMB 2025 LOGGERS 2 RAFOS_MMODEM 0 USE_ICE 0

C_ROLL_DIVE 2360 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 VBD_CNV -0.24529999

C_VBD 3000 LOITER_D_BOTTOM 0 RELAUNCH 1 VBD_DBAND 2

C_VBD_AUTO_DELTA 0 LOITER_D_TOP 0 RHO 1.0275 VBD_LP_IGNORE 0

C_VBD_AUTO_MAX 0 LOITER_N_DIVE 0 ROLL_ADJ_DBAND 0 VBD_MAX 3960

DBDW 0 LOITER_W_DBAND 0 ROLL_ADJ_GAIN 0 VBD_MAXERRORS 1

DEEPGLIDER 0 MASS 74553 ROLL_CNV 0.054945 VBD_MIN 500

DEEPGLIDERMB 0 MAXI_10V 1.5 ROLL_DEG 80 VBD_TIMEOUT 720

DEVICE1 10 MAXI_24V 5 ROLL_MAX 3870 W_ADJ_DBAND 0

DEVICE2 -1 MAX_BUOY 150 ROLL_MAXERRORS 1 XPDR_DEVICE 21

DEVICE3 -1 MINV_10V 11 ROLL_MIN 265 XPDR_INHIBIT 90

DEVICE4 -1 MINV_24V 11 ROLL_TIMEOUT 15 XPDR_INT -1

DEVICE5 -1 MISSION 7 SC_NDIVE 1.0 XPDR_REP -1

DEVICE6 -1 MOTHERBOARD 6 SC_PROFILE 3.0 XPDR_VALID 4

DIVE 76 NAV2_DEVICE -1 SC_RECORDABOVE 2000.0

D_ABORT 300 NAV_DEVICE -1 SC_XMITPROFILE 3.0

D_BOOST 0 NAV_MODE 0 SEABIRD_C_G -9.9958668

Pre-dive calculations and measurements:

GPS1 020723,181057,6302.747,-1714.212,1,0.8,2,-9.2 TGT_RADIUS 3000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.81 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -44.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 020723,181358,6302.768,-1714.197,2,0.8,4,-9.2 MHEAD_RNG_PITCHd_Wd 275.0,62797,-19.3,-10.101,-24.89,2206,0.208

SPEED_LIMITS 0.175,0.218 D_GRID 1000

TGT_NAME T2 IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,789.000000,-1157.000000,312.000000

TGT_LATLONG 6300.300,-1828.700 OSC 8000266

Post-dive calculations and measurements:

FINISH 0.0,1.027229 _10V_AH 14.93,0.000

SURF forcing FG_AHR_24Vo 122.647

SM_CCo 4418.38,306.57,0.854,0,534.0,698.6,369.4,604.91 FG_AHR_10Vo 59.399

SM_GC 0.84,306.57,14.13,0.90,0.854,0.066,0.057,534.0,698.6,369.4,184.1,2388.4,0,0,0,12.19,15.81,15.90 MEM0 60108,1,0,0

SUPER 19,71,254,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 6302.32,-1715.58,020723,180821 MEM2 993488,43,52060,108

TCM_TEMP 11.39 DATA_FILE_SIZE 28924,784

XPDR_PINGS 0,10.3,13.6 CAP_FILE_SIZE 208915,0

CP_FREE 0.000000 SDSIZE 3887104,3852224

CP_POWER 293.030000 SDFILEDIR 430,78

HUMID 52.11 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 9.26 IMPLIED_C_PITCH 2054,12.43,564,0.0,0.00

INTERNAL_PRESSURE 8.08432 IMPLIED_C_VBD 3069,16.857998,564,0

_24V_AH 14.88,127.251 GPS 020723,192826,6302.933,-1715.061,1,0.7,2,-9.2

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 690 1098 11290.07 SBE_CT 1091 24 389.79

Pitch_motor 30 186 84.82 nil 0 0 0.00

Roll_motor 67 147 148.26 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 2.92 nil 0 0 0.00

Core 2212 6 224.66 SciCon 0 0 0.00

Fast 0 0 0.00 NCP 4085 25 1524.80

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1898 2 56.70

Compass 1053 5 78.67

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15.95 16386 -145.99 -1.60 0.00 527.8 672.2 383.3 179.1 2392.2 0.00 0.00 0 37.50 20.06 0.00 0.00 0.006 0.000 0.000 1077.84 1174.81 980.88 178.94 2392.25 0 0 0 15.41 30.00 30.00

37.77 18951 -145.99 -1.60 -80.00 1078.4 1176.2 980.6 179.1 2391.8 3.49 -10.66 4 184.31 117.78 11.13 3.86 0.005 0.187 0.086 3593.53 3653.81 3533.25 1664.25 891.31 0 0 0 15.46 15.65 15.42

291.90 1028 -145.99 -1.60 0.00 3593.6 3654.1 3533.1 1664.4 891.2 29.33 -10.26 53 298.72 0.00 0.00 3.54 0.000 0.000 0.039 3593.91 3653.88 3533.94 1664.19 2380.81 0 0 0 30.00 30.00 15.80

481.95 516 -145.99 -1.60 -80.00 3594.1 3653.9 3534.2 1664.7 2380.9 48.18 -10.24 91 488.89 0.00 0.00 3.80 0.000 0.000 0.083 3594.28 3654.19 3534.38 1664.31 890.50 0 0 0 30.00 30.00 15.39

527.01 1060 -145.99 -1.60 0.00 3593.9 3653.6 3534.2 1664.5 890.9 52.63 -9.85 100 533.80 0.00 0.00 3.51 0.000 0.000 0.038 3595.81 3655.50 3536.12 1664.44 2380.31 0 0 0 30.00 30.00 15.44

717.05 32 -145.99 -1.60 0.00 3594.2 3653.8 3534.6 1664.4 2380.9 71.58 -10.04 138 718.62 0.00 0.00 0.00 0.000 0.000 0.000 3593.44 3652.69 3534.19 1664.56 2379.69 0 0 0 30.00 30.00 30.00

902.08 548 -145.99 -1.60 -80.00 3593.9 3653.8 3534.1 1664.4 2380.7 90.16 -9.92 175 909.11 0.00 0.00 3.76 0.000 0.000 0.083 3594.44 3654.12 3534.75 1664.06 892.38 0 0 0 30.00 30.00 15.37

952.12 1060 -145.99 -1.60 0.00 3594.0 3653.9 3534.2 1664.1 892.6 95.07 -9.91 185 959.11 0.00 0.00 3.51 0.000 0.000 0.037 3593.78 3653.94 3533.62 1664.31 2382.00 0 0 0 30.00 30.00 15.86

1142.08 260 -145.99 -1.60 80.00 3594.2 3654.2 3534.2 1664.1 2381.3 114.25 -10.37 223 1149.29 0.00 0.00 3.83 0.000 0.000 0.108 3594.56 3654.25 3534.88 1664.62 3821.62 0 0 0 30.00 30.00 15.35

1197.14 1060 -145.99 -1.60 0.00 3594.3 3654.5 3534.2 1664.2 3821.9 119.71 -10.02 234 1204.06 0.00 0.00 3.43 0.000 0.000 0.027 3594.38 3654.12 3534.62 1664.31 2313.25 0 0 0 30.00 30.00 15.90

1507.16 32 -145.99 -1.60 0.00 3593.9 3653.9 3533.8 1664.4 2313.0 150.57 -9.98 296 1508.77 0.00 0.00 0.00 0.000 0.000 0.000 3592.78 3652.75 3532.81 1664.25 2312.56 0 0 0 30.00 30.00 30.00

1812.18 32 -145.99 -1.60 0.00 3593.9 3653.6 3534.3 1664.2 2312.1 181.06 -9.85 357 1813.79 0.00 0.00 0.00 0.000 0.000 0.000 3593.38 3652.75 3534.00 1664.50 2311.69 0 0 0 30.00 30.00 30.00

2002 end dive: TARGET_DEPTH_EXCEEDED

state 2002 begin apogee

2004.45 10243 0.00 -0.36 0.00 3593.5 3653.5 3533.5 1664.3 1990.1 200.07 -10.07 395 2125.17 111.01 2.11 0.12 1.098 0.118 0.147 2998.38 3113.12 2883.62 1965.25 2091.94 0 0 0 11.78 15.82 15.58

2174 end apogee: CONTROL_FINISHED_OK

state 2174 begin climb

2175.24 10759 145.99 1.60 -80.00 2994.2 3108.5 2880.0 1965.0 2095.2 188.38 0.00 418 2306.70 111.68 3.16 4.11 1.072 0.070 0.106 2401.59 2524.75 2278.44 2443.25 558.88 0 0 0 12.26 15.65 15.35

2319.33 1060 147.02 1.60 0.00 2398.3 2518.8 2277.8 2443.2 558.7 168.36 10.05 445 2326.27 0.00 0.00 3.46 0.000 0.000 0.024 2399.75 2520.38 2279.12 2443.00 2071.62 0 0 0 30.00 30.00 15.42

2629.37 516 147.02 1.60 -80.00 2393.2 2513.6 2272.9 2443.4 2072.2 137.07 10.19 507 2636.63 0.00 0.00 3.96 0.000 0.000 0.103 2395.62 2515.56 2275.69 2443.12 559.00 0 0 0 30.00 30.00 15.69

2699.39 1028 147.02 1.60 0.00 2392.5 2512.6 2272.5 2443.7 558.9 130.08 10.16 521 2706.39 0.00 0.00 3.40 0.000 0.000 0.025 2392.97 2513.31 2272.62 2443.62 2069.44 0 0 0 30.00 30.00 15.76

3009.53 8742 152.30 1.61 -80.00 2392.2 2513.1 2271.3 2444.0 2071.6 99.48 9.85 583 3023.20 5.57 0.00 3.91 0.629 0.000 0.103 2380.88 2502.69 2259.06 2443.12 558.12 0 0 0 12.05 30.00 15.72

3105.85 9254 158.51 1.62 0.00 2376.7 2497.6 2255.9 2443.1 557.8 89.91 9.81 602 3122.41 7.24 0.00 3.38 0.730 0.000 0.025 2353.88 2477.38 2230.38 2443.88 2071.88 0 0 0 12.19 30.00 15.84

3305.86 0 158.51 1.62 0.00 2351.8 2474.6 2228.9 2443.6 2070.9 69.66 10.32 642 3307.47 0.00 0.00 0.00 0.000 0.000 0.000 2350.03 2472.75 2227.31 2443.50 2072.06 0 0 0 30.00 30.00 30.00

3490.92 516 158.51 1.62 -80.00 2351.3 2474.2 2228.3 2443.8 2071.8 50.98 10.16 679 3498.20 0.00 0.00 3.91 0.000 0.000 0.103 2353.53 2476.62 2230.44 2443.50 557.62 0 0 0 30.00 30.00 15.70

3535.98 1060 161.06 1.62 0.00 2350.8 2473.4 2228.1 2443.6 557.8 46.48 9.98 688 3542.85 0.00 0.00 3.37 0.000 0.000 0.025 2351.72 2474.62 2228.81 2443.38 2070.50 0 0 0 30.00 30.00 15.82

3726.04 8486 163.73 1.63 80.00 2350.6 2473.4 2227.8 2443.7 2072.6 27.49 9.98 726 3739.60 6.62 0.00 3.62 0.677 0.000 0.092 2330.75 2454.44 2207.06 2443.56 3493.94 0 0 0 12.01 30.00 15.77

3762.24 1060 165.99 1.63 0.00 2330.3 2453.4 2207.1 2444.1 3493.9 23.87 10.00 733 3769.18 0.00 0.00 3.48 0.000 0.000 0.034 2332.66 2455.31 2210.00 2444.06 1990.50 0 0 0 30.00 30.00 15.85

3952.30 8226 172.00 1.64 0.00 2329.4 2452.9 2205.8 2444.1 1990.3 5.04 9.82 771 3957.60 4.34 0.00 0.00 0.475 0.000 0.000 2323.81 2448.06 2199.56 2444.06 1990.50 0 0 0 12.14 30.00 30.00

3958 end climb: SURFACE_DEPTH_REACHED

state 3958 begin surface coast

4017 end surface coast: CONTROL_FINISHED_OK

state 4017 begin surface

ID	248	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	1.9639999e-06
MISSION	7	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-1
DIVE	76	SM_CC	605	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
N_DIVES	0	N_FILEKB	8	VBD_MIN	500	DEEPGLIDERMB	0
STOP_T	0	FILEMGR	0	VBD_MAX	3960	MOTHERBOARD	6
D_SURF	5	CALL_NDIVES	1	C_VBD	3000	DEVICE1	10
D_FLARE	3	COMM_SEQ	7	VBD_DBAND	2	DEVICE2	-1
D_TGT	200	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE3	-1
D_ABORT	300	N_NOCOMM	2	VBD_LP_IGNORE	0	DEVICE4	-1
D_NO_BLEED	200	NOCOMM_ACTION	131	VBD_TIMEOUT	720	DEVICE5	-1
D_BOOST	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0015	DEVICE6	-1
T_BOOST	0	UPLOAD_DIVES_MAX	-1	UNCOM_BLEED	20	LOGGERS	2
D_FINISH	0	NETBOX	1	VBD_MAXERRORS	1	LOGGERDEVICE1	7
D_PITCH	0	CALL_TRIES	15	C_VBD_AUTO_DELTA	0	LOGGERDEVICE2	72
D_SAFE	0	CALL_WAIT	60	C_VBD_AUTO_MAX	0	LOGGERDEVICE3	-1
D_CALL	0	CAPUPLOAD	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
SURFACE_URGENCY	0	CAPMAXSIZE	100000	DBDW	0	COMPASS_DEVICE	66
SURFACE_URGENCY_TRY	0	T_GPS	30	LOITER_W_DBAND	0	COMPASS2_DEVICE	-1
SURFACE_URGENCY_FORCE	0	N_GPS	100440	LOITER_DBDW	0	PHONE_DEVICE	33
T_DIVE	66	T_RSLEEP	2	LOITER_D_TOP	0	GPS_DEVICE	48
T_MISSION	75	STROBE	0	LOITER_D_BOTTOM	0	RAFOS_DEVICE	-1
T_ABORT	1440	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	NAV_DEVICE	-1
T_TURN	225	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	NAV2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_HIT_WINDOW	3600	AH0_24V	575	NETWORK_DEVICE	-1
T_NO_W	120	RAFOS_MMODEM	0	AH0_10V	0	PRESSURE_DEVICE	34
T_LOITER	0	PITCH_MIN	205	MINV_24V	11	XPDR_DEVICE	21
T_EPIRB	0	PITCH_MAX	3600	MINV_10V	11	SIM_W	0.1
USE_BATHY	-6	C_PITCH	2050	MAXI_24V	5	SEABIRD_T_G	0.0044090361
USE_ICE	0	PITCH_DBAND	0.1	MAXI_10V	1.5	SEABIRD_T_H	0.00064173015
ICE_FREEZE_MARGIN	0.30000001	PITCH_CNV	0.0041299998	FG_AHR_10V	59.358116	SEABIRD_T_I	2.932871e-05
D_OFFGRID	1000	PITCH_GAIN	14	FG_AHR_24V	122.4922	SEABIRD_T_J	3.827171e-06
RELAUNCH	1	PITCH_TIMEOUT	30	PHONE_SUPPLY	2	SEABIRD_C_G	-9.9958668
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	PRESSURE_YINT	0	SEABIRD_C_H	1.1120801
MAX_BUOY	150	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	6.9999999e-07	SEABIRD_C_I	-0.0034223681
GLIDE_SLOPE	30	PITCH_ADJ_DBAND	0	COMPASS_USE	16388	SEABIRD_C_J	0.00032313328
SPEED_FACTOR	1	C_PITCH_AUTO_DELTA	0	ALTIM_PING_FIT	0	OPTIONS	0
RHO	1.0275	C_PITCH_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
MASS	74553	PITCH_GAIN_AUTO_DELTA	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	3.0
NAV_MODE	0	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
FERRY_MAX	45	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_NDIVE	1.0
KALMAN_USE	2	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	CP_RECORDABOVE	1000.0
HD_A	0.0025118899	ROLL_MIN	265	ALTIM_PING_DELTA	0	CP_PROFILE	3.0
HD_B	0.0146701	ROLL_MAX	3870	ALTIM_FREQUENCY	13	CP_XMITPROFILE	3.0
HD_C	5.7000002e-06	ROLL_DEG	80	ALTIM_PULSE	3	CP_UPLOADMAX	100000.0
HEADING	-1	C_ROLL_DIVE	2360	ALTIM_SENSITIVITY	2	CP_STARTS	0.0
ESCAPE_HEADING	0	C_ROLL_CLIMB	2025	XPDR_VALID	4	CP_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	XPDR_INHIBIT	90
FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.054945	XPDR_INT	-1
TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_REP	-1

GPS1	020723,181057,6302.747,-1714.212,1,0.8,2,-9.2	TGT_RADIUS	3000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.81	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-44.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	020723,181358,6302.768,-1714.197,2,0.8,4,-9.2	MHEAD_RNG_PITCHd_Wd	275.0,62797,-19.3,-10.101,-24.89,2206,0.208
SPEED_LIMITS	0.175,0.218	D_GRID	1000
TGT_NAME	T2	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,789.000000,-1157.000000,312.000000
TGT_LATLONG	6300.300,-1828.700	OSC	8000266

FINISH	0.0,1.027229	_10V_AH	14.93,0.000
SURF	forcing	FG_AHR_24Vo	122.647
SM_CCo	4418.38,306.57,0.854,0,534.0,698.6,369.4,604.91	FG_AHR_10Vo	59.399
SM_GC	0.84,306.57,14.13,0.90,0.854,0.066,0.057,534.0,698.6,369.4,184.1,2388.4,0,0,0,12.19,15.81,15.90	MEM0	60108,1,0,0
SUPER	19,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	6302.32,-1715.58,020723,180821	MEM2	993488,43,52060,108
TCM_TEMP	11.39	DATA_FILE_SIZE	28924,784
XPDR_PINGS	0,10.3,13.6	CAP_FILE_SIZE	208915,0
CP_FREE	0.000000	SDSIZE	3887104,3852224
CP_POWER	293.030000	SDFILEDIR	430,78
HUMID	52.11	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	9.26	IMPLIED_C_PITCH	2054,12.43,564,0.0,0.00
INTERNAL_PRESSURE	8.08432	IMPLIED_C_VBD	3069,16.857998,564,0
_24V_AH	14.88,127.251	GPS	020723,192826,6302.933,-1715.061,1,0.7,2,-9.2

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	690	1098	11290.07	SBE_CT	1091	24	389.79
Pitch_motor	30	186	84.82	nil	0	0	0.00
Roll_motor	67	147	148.26	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	2.92	nil	0	0	0.00
Core	2212	6	224.66	SciCon	0	0	0.00
Fast	0	0	0.00	NCP	4085	25	1524.80
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1898	2	56.70
Compass	1053	5	78.67
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15.95	16386	-145.99	-1.60	0.00	527.8	672.2	383.3	179.1	2392.2	0.00	0.00	0	37.50	20.06	0.00	0.00	0.006	0.000	0.000	1077.84	1174.81	980.88	178.94	2392.25	0	0	0	15.41	30.00	30.00
37.77	18951	-145.99	-1.60	-80.00	1078.4	1176.2	980.6	179.1	2391.8	3.49	-10.66	4	184.31	117.78	11.13	3.86	0.005	0.187	0.086	3593.53	3653.81	3533.25	1664.25	891.31	0	0	0	15.46	15.65	15.42
291.90	1028	-145.99	-1.60	0.00	3593.6	3654.1	3533.1	1664.4	891.2	29.33	-10.26	53	298.72	0.00	0.00	3.54	0.000	0.000	0.039	3593.91	3653.88	3533.94	1664.19	2380.81	0	0	0	30.00	30.00	15.80
481.95	516	-145.99	-1.60	-80.00	3594.1	3653.9	3534.2	1664.7	2380.9	48.18	-10.24	91	488.89	0.00	0.00	3.80	0.000	0.000	0.083	3594.28	3654.19	3534.38	1664.31	890.50	0	0	0	30.00	30.00	15.39
527.01	1060	-145.99	-1.60	0.00	3593.9	3653.6	3534.2	1664.5	890.9	52.63	-9.85	100	533.80	0.00	0.00	3.51	0.000	0.000	0.038	3595.81	3655.50	3536.12	1664.44	2380.31	0	0	0	30.00	30.00	15.44
717.05	32	-145.99	-1.60	0.00	3594.2	3653.8	3534.6	1664.4	2380.9	71.58	-10.04	138	718.62	0.00	0.00	0.00	0.000	0.000	0.000	3593.44	3652.69	3534.19	1664.56	2379.69	0	0	0	30.00	30.00	30.00
902.08	548	-145.99	-1.60	-80.00	3593.9	3653.8	3534.1	1664.4	2380.7	90.16	-9.92	175	909.11	0.00	0.00	3.76	0.000	0.000	0.083	3594.44	3654.12	3534.75	1664.06	892.38	0	0	0	30.00	30.00	15.37
952.12	1060	-145.99	-1.60	0.00	3594.0	3653.9	3534.2	1664.1	892.6	95.07	-9.91	185	959.11	0.00	0.00	3.51	0.000	0.000	0.037	3593.78	3653.94	3533.62	1664.31	2382.00	0	0	0	30.00	30.00	15.86
1142.08	260	-145.99	-1.60	80.00	3594.2	3654.2	3534.2	1664.1	2381.3	114.25	-10.37	223	1149.29	0.00	0.00	3.83	0.000	0.000	0.108	3594.56	3654.25	3534.88	1664.62	3821.62	0	0	0	30.00	30.00	15.35
1197.14	1060	-145.99	-1.60	0.00	3594.3	3654.5	3534.2	1664.2	3821.9	119.71	-10.02	234	1204.06	0.00	0.00	3.43	0.000	0.000	0.027	3594.38	3654.12	3534.62	1664.31	2313.25	0	0	0	30.00	30.00	15.90
1507.16	32	-145.99	-1.60	0.00	3593.9	3653.9	3533.8	1664.4	2313.0	150.57	-9.98	296	1508.77	0.00	0.00	0.00	0.000	0.000	0.000	3592.78	3652.75	3532.81	1664.25	2312.56	0	0	0	30.00	30.00	30.00
1812.18	32	-145.99	-1.60	0.00	3593.9	3653.6	3534.3	1664.2	2312.1	181.06	-9.85	357	1813.79	0.00	0.00	0.00	0.000	0.000	0.000	3593.38	3652.75	3534.00	1664.50	2311.69	0	0	0	30.00	30.00	30.00
2002	end dive: TARGET_DEPTH_EXCEEDED
state	2002	begin apogee
2004.45	10243	0.00	-0.36	0.00	3593.5	3653.5	3533.5	1664.3	1990.1	200.07	-10.07	395	2125.17	111.01	2.11	0.12	1.098	0.118	0.147	2998.38	3113.12	2883.62	1965.25	2091.94	0	0	0	11.78	15.82	15.58
2174	end apogee: CONTROL_FINISHED_OK
state	2174	begin climb
2175.24	10759	145.99	1.60	-80.00	2994.2	3108.5	2880.0	1965.0	2095.2	188.38	0.00	418	2306.70	111.68	3.16	4.11	1.072	0.070	0.106	2401.59	2524.75	2278.44	2443.25	558.88	0	0	0	12.26	15.65	15.35
2319.33	1060	147.02	1.60	0.00	2398.3	2518.8	2277.8	2443.2	558.7	168.36	10.05	445	2326.27	0.00	0.00	3.46	0.000	0.000	0.024	2399.75	2520.38	2279.12	2443.00	2071.62	0	0	0	30.00	30.00	15.42
2629.37	516	147.02	1.60	-80.00	2393.2	2513.6	2272.9	2443.4	2072.2	137.07	10.19	507	2636.63	0.00	0.00	3.96	0.000	0.000	0.103	2395.62	2515.56	2275.69	2443.12	559.00	0	0	0	30.00	30.00	15.69
2699.39	1028	147.02	1.60	0.00	2392.5	2512.6	2272.5	2443.7	558.9	130.08	10.16	521	2706.39	0.00	0.00	3.40	0.000	0.000	0.025	2392.97	2513.31	2272.62	2443.62	2069.44	0	0	0	30.00	30.00	15.76
3009.53	8742	152.30	1.61	-80.00	2392.2	2513.1	2271.3	2444.0	2071.6	99.48	9.85	583	3023.20	5.57	0.00	3.91	0.629	0.000	0.103	2380.88	2502.69	2259.06	2443.12	558.12	0	0	0	12.05	30.00	15.72
3105.85	9254	158.51	1.62	0.00	2376.7	2497.6	2255.9	2443.1	557.8	89.91	9.81	602	3122.41	7.24	0.00	3.38	0.730	0.000	0.025	2353.88	2477.38	2230.38	2443.88	2071.88	0	0	0	12.19	30.00	15.84
3305.86	0	158.51	1.62	0.00	2351.8	2474.6	2228.9	2443.6	2070.9	69.66	10.32	642	3307.47	0.00	0.00	0.00	0.000	0.000	0.000	2350.03	2472.75	2227.31	2443.50	2072.06	0	0	0	30.00	30.00	30.00
3490.92	516	158.51	1.62	-80.00	2351.3	2474.2	2228.3	2443.8	2071.8	50.98	10.16	679	3498.20	0.00	0.00	3.91	0.000	0.000	0.103	2353.53	2476.62	2230.44	2443.50	557.62	0	0	0	30.00	30.00	15.70
3535.98	1060	161.06	1.62	0.00	2350.8	2473.4	2228.1	2443.6	557.8	46.48	9.98	688	3542.85	0.00	0.00	3.37	0.000	0.000	0.025	2351.72	2474.62	2228.81	2443.38	2070.50	0	0	0	30.00	30.00	15.82
3726.04	8486	163.73	1.63	80.00	2350.6	2473.4	2227.8	2443.7	2072.6	27.49	9.98	726	3739.60	6.62	0.00	3.62	0.677	0.000	0.092	2330.75	2454.44	2207.06	2443.56	3493.94	0	0	0	12.01	30.00	15.77
3762.24	1060	165.99	1.63	0.00	2330.3	2453.4	2207.1	2444.1	3493.9	23.87	10.00	733	3769.18	0.00	0.00	3.48	0.000	0.000	0.034	2332.66	2455.31	2210.00	2444.06	1990.50	0	0	0	30.00	30.00	15.85
3952.30	8226	172.00	1.64	0.00	2329.4	2452.9	2205.8	2444.1	1990.3	5.04	9.82	771	3957.60	4.34	0.00	0.00	0.475	0.000	0.000	2323.81	2448.06	2199.56	2444.06	1990.50	0	0	0	12.14	30.00	30.00
3958	end climb: SURFACE_DEPTH_REACHED
state	3958	begin surface coast
4017	end surface coast: CONTROL_FINISHED_OK
state	4017	begin surface