Glider dive log

NORSE Jun23 * SG248 * Dive index * Mission links * Dive 82 * 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 82 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 250 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 83 T_RSLEEP 2 LOITER_D_TOP 0 GPS_DEVICE 48

T_MISSION 95 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 59.682507 SEABIRD_T_I 2.932871e-05

D_OFFGRID 1000 PITCH_GAIN 14 FG_AHR_24V 123.53796 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 13.0

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 250 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 59.682507 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

CALL_NDIVES 1 FG_AHR_24V 123.53796 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 83

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 95

CP_RECORDABOVE 1000.0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_DEVICE 34 T_NO_W 120

CP_STARTS 13.0 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 82 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 030723,034831,6305.349,-1717.193,27,0.9,28,-9.2 TGT_RADIUS 3000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.87 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -37.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030723,035210,6305.378,-1717.193,2,0.7,3,-9.2 MHEAD_RNG_PITCHd_Wd 270.3,60843,-19.2,-10.040,-24.79,2220,0.149

SPEED_LIMITS 0.174,0.217 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 0.0,1.027221 _10V_AH 14.90,0.000

SURF forcing FG_AHR_24Vo 123.702

SM_CCo 5417.51,318.21,0.885,0,534.1,690.5,377.6,604.89 FG_AHR_10Vo 59.740

SM_GC 0.82,318.21,14.08,0.71,0.885,0.065,0.067,534.1,690.5,377.6,183.4,2388.8,0,0,0,12.09,15.81,15.91 MEM0 60108,1,0,0

SUPER 27,71,254,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 6308.22,-1724.37,030723,021142 MEM2 993668,34,52040,109

TCM_TEMP 11.18 DATA_FILE_SIZE 35318,979

XPDR_PINGS 0,10.3,13.6 CAP_FILE_SIZE 212071,0

CP_FREE 0.000000 SDSIZE 3887104,3850816

CP_POWER 293.030000 SDFILEDIR 459,84

HUMID 52.25 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 8.94 IMPLIED_C_PITCH 2053,12.46,758,0.0,0.00

INTERNAL_PRESSURE 8.07316 IMPLIED_C_VBD 3059,14.294799,758,0

_24V_AH 14.86,128.360 GPS 030723,052321,6305.965,-1717.695,1,1.7,5,-9.2

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 685 1185 12079.55 SBE_CT 1362 24 485.90

Pitch_motor 30 200 90.99 nil 0 0 0.00

Roll_motor 75 149 168.87 nil 0 0 0.00

Iridium 132 160 314.17 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 12 15 2.83 nil 0 0 0.00

Core 2805 6 284.21 SciCon 0 0 0.00

Fast 1 0 0.00 NCP 5102 25 1900.52

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2462 2 73.38

Compass 1312 5 97.78

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

16.17 16386 -145.99 -1.59 0.00 527.2 683.9 370.4 182.8 2317.2 0.00 0.00 0 32.52 15.06 0.00 0.00 0.006 0.000 0.000 947.16 1066.12 828.19 182.75 2317.00 0 0 0 15.42 30.00 30.00

32.79 18695 -145.99 -1.59 80.00 947.1 1066.2 827.9 182.7 2317.2 3.17 -10.06 3 182.77 121.84 11.27 4.05 0.005 0.200 0.108 3595.28 3653.38 3537.19 1664.56 3824.44 0 0 0 15.44 15.48 15.32

410.42 1028 -145.99 -1.59 0.00 3596.6 3653.6 3539.6 1664.6 3825.2 41.09 -10.18 77 417.23 0.00 0.00 3.51 0.000 0.000 0.028 3596.31 3653.38 3539.25 1664.75 2316.19 0 0 0 30.00 30.00 15.79

600.46 260 -145.99 -1.59 80.00 3596.4 3653.6 3539.1 1664.1 2315.2 60.22 -10.17 115 607.53 0.00 0.00 4.05 0.000 0.000 0.104 3596.75 3654.50 3539.00 1664.38 3825.19 0 0 0 30.00 30.00 15.44

835.60 1060 -145.99 -1.59 0.00 3596.1 3653.2 3538.9 1664.2 3825.0 83.85 -10.01 162 842.33 0.00 0.00 3.48 0.000 0.000 0.028 3596.50 3653.75 3539.25 1664.56 2316.00 0 0 0 30.00 30.00 15.86

1025.58 260 -145.99 -1.59 80.00 3596.2 3653.0 3539.5 1664.5 2316.2 102.95 -10.07 200 1032.68 0.00 0.00 4.01 0.000 0.000 0.103 3596.50 3653.81 3539.19 1664.44 3825.69 0 0 0 30.00 30.00 15.79

1115.60 1028 -145.99 -1.59 0.00 3596.2 3653.2 3539.2 1664.4 3825.8 112.01 -10.14 218 1122.40 0.00 0.00 3.48 0.000 0.000 0.028 3596.44 3653.81 3539.06 1664.25 2315.88 0 0 0 30.00 30.00 15.87

1425.73 548 -145.99 -1.59 -80.00 3596.2 3653.0 3539.4 1663.8 2315.6 142.75 -9.92 280 1432.65 0.00 0.00 3.64 0.000 0.000 0.088 3596.34 3653.81 3538.88 1664.31 892.25 0 0 0 30.00 30.00 15.71

1460.78 1060 -145.99 -1.59 0.00 3596.3 3653.4 3539.3 1664.7 892.1 146.21 -9.92 287 1467.77 0.00 0.00 3.51 0.000 0.000 0.038 3596.22 3653.19 3539.25 1664.56 2381.62 0 0 0 30.00 30.00 15.88

1770.85 32 -145.99 -1.59 0.00 3596.2 3653.3 3539.2 1664.5 2381.1 177.15 -10.02 349 1774.73 0.00 0.00 0.00 0.000 0.000 0.000 3595.28 3652.50 3538.06 1664.06 2381.31 0 0 0 30.00 30.00 30.00

2075.88 0 -145.99 -1.59 0.00 3596.0 3652.9 3539.0 1664.4 2381.5 207.53 -10.06 410 2077.49 0.00 0.00 0.00 0.000 0.000 0.000 3594.81 3652.12 3537.50 1664.25 2381.44 0 0 0 30.00 30.00 30.00

2381.02 32 -145.99 -1.59 0.00 3596.0 3653.8 3538.3 1664.4 2381.1 238.07 -9.91 471 2382.64 0.00 0.00 0.00 0.000 0.000 0.000 3594.66 3651.81 3537.50 1664.56 2381.31 0 0 0 30.00 30.00 30.00

2501 end dive: TARGET_DEPTH_EXCEEDED

state 2501 begin apogee

2503.40 10243 0.00 -0.36 0.00 3596.0 3653.1 3538.9 1664.6 1989.6 250.07 -10.02 495 2627.97 112.07 2.09 0.12 1.185 0.120 0.150 2997.97 3112.38 2883.56 1963.94 2086.50 0 0 0 12.00 15.39 15.57

2677 end apogee: CONTROL_FINISHED_OK

state 2677 begin climb

2678.05 10759 145.99 1.59 -80.00 2994.9 3108.9 2880.9 1964.1 2086.2 237.96 0.00 516 2810.26 112.92 3.15 4.13 1.153 0.070 0.106 2404.06 2527.56 2280.56 2441.19 558.94 0 0 0 12.37 15.62 15.33

2857.86 17414 145.99 1.59 0.00 2396.0 2515.7 2276.4 2442.8 559.1 214.12 10.11 550 2864.84 0.00 0.00 3.46 0.000 0.000 0.025 2396.62 2516.12 2277.12 2441.62 2068.81 0 0 0 30.00 30.00 15.54

3167.99 16934 146.28 1.59 -80.00 2392.2 2513.1 2271.4 2442.3 2069.9 183.05 10.03 612 3175.27 0.00 0.00 4.01 0.000 0.000 0.103 2392.84 2514.06 2271.62 2442.44 557.94 0 0 0 30.00 30.00 15.41

3232.95 17414 146.28 1.59 0.00 2391.6 2511.9 2271.4 2442.6 557.8 176.57 10.10 625 3239.93 0.00 0.00 3.41 0.000 0.000 0.026 2393.50 2514.56 2272.44 2441.44 2065.81 0 0 0 30.00 30.00 15.76

3543.04 16902 146.28 1.59 -80.00 2391.2 2512.8 2269.7 2441.9 2067.1 145.45 10.05 687 3550.47 0.00 0.00 3.97 0.000 0.000 0.104 2391.00 2512.06 2269.94 2442.31 557.62 0 0 0 30.00 30.00 15.46

3578.08 17414 146.28 1.59 0.00 2390.5 2511.4 2269.6 2441.5 558.0 141.89 10.17 694 3584.97 0.00 0.00 3.39 0.000 0.000 0.026 2390.84 2512.06 2269.62 2442.56 2068.81 0 0 0 30.00 30.00 15.82

3888.08 16902 146.28 1.59 -80.00 2390.3 2511.5 2269.1 2442.1 2070.4 110.81 10.32 756 3895.34 0.00 0.00 3.94 0.000 0.000 0.103 2391.69 2511.88 2271.50 2441.50 558.94 0 0 0 30.00 30.00 15.47

3943.08 17414 146.28 1.59 0.00 2389.7 2510.7 2268.8 2441.9 558.8 105.40 10.17 767 3950.03 0.00 0.00 3.38 0.000 0.000 0.025 2389.88 2510.62 2269.12 2442.00 2069.50 0 0 0 30.00 30.00 15.87

4253.16 8742 152.90 1.60 -80.00 2389.8 2511.0 2268.5 2441.8 2071.6 74.41 9.73 829 4266.83 5.61 0.00 3.95 0.657 0.000 0.105 2373.50 2496.19 2250.81 2441.69 557.62 0 0 0 11.87 30.00 15.77

4339.42 1028 152.90 1.60 0.00 2374.5 2497.4 2251.6 2442.0 557.8 65.70 10.13 846 4346.36 0.00 0.00 3.39 0.000 0.000 0.025 2374.56 2497.38 2251.75 2442.06 2069.62 0 0 0 30.00 30.00 15.82

4529.51 516 152.90 1.60 -80.00 2374.4 2497.4 2251.4 2442.6 2071.2 46.53 10.20 884 4536.78 0.00 0.00 3.97 0.000 0.000 0.103 2374.38 2497.94 2250.81 2442.62 559.19 0 0 0 30.00 30.00 15.52

4574.54 1060 153.37 1.60 0.00 2374.2 2497.5 2251.0 2442.1 559.3 42.01 10.02 893 4581.42 0.00 0.00 3.37 0.000 0.000 0.025 2377.09 2500.06 2254.12 2441.81 2068.19 0 0 0 30.00 30.00 15.89

4764.61 32 154.24 1.60 0.00 2374.2 2497.2 2251.1 2442.4 2069.7 23.11 10.00 931 4766.22 0.00 0.00 0.00 0.000 0.000 0.000 2372.50 2495.50 2249.50 2442.00 2070.50 0 0 0 30.00 30.00 30.00

4949 end climb: SURFACE_DEPTH_REACHED

state 4949 begin surface coast

5004 end surface coast: CONTROL_FINISHED_OK

state 5004 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	82	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	250	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	83	T_RSLEEP	2	LOITER_D_TOP	0	GPS_DEVICE	48
T_MISSION	95	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	59.682507	SEABIRD_T_I	2.932871e-05
D_OFFGRID	1000	PITCH_GAIN	14	FG_AHR_24V	123.53796	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	13.0
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	030723,034831,6305.349,-1717.193,27,0.9,28,-9.2	TGT_RADIUS	3000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.87	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-37.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030723,035210,6305.378,-1717.193,2,0.7,3,-9.2	MHEAD_RNG_PITCHd_Wd	270.3,60843,-19.2,-10.040,-24.79,2220,0.149
SPEED_LIMITS	0.174,0.217	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	0.0,1.027221	_10V_AH	14.90,0.000
SURF	forcing	FG_AHR_24Vo	123.702
SM_CCo	5417.51,318.21,0.885,0,534.1,690.5,377.6,604.89	FG_AHR_10Vo	59.740
SM_GC	0.82,318.21,14.08,0.71,0.885,0.065,0.067,534.1,690.5,377.6,183.4,2388.8,0,0,0,12.09,15.81,15.91	MEM0	60108,1,0,0
SUPER	27,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	6308.22,-1724.37,030723,021142	MEM2	993668,34,52040,109
TCM_TEMP	11.18	DATA_FILE_SIZE	35318,979
XPDR_PINGS	0,10.3,13.6	CAP_FILE_SIZE	212071,0
CP_FREE	0.000000	SDSIZE	3887104,3850816
CP_POWER	293.030000	SDFILEDIR	459,84
HUMID	52.25	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	8.94	IMPLIED_C_PITCH	2053,12.46,758,0.0,0.00
INTERNAL_PRESSURE	8.07316	IMPLIED_C_VBD	3059,14.294799,758,0
_24V_AH	14.86,128.360	GPS	030723,052321,6305.965,-1717.695,1,1.7,5,-9.2

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	685	1185	12079.55	SBE_CT	1362	24	485.90
Pitch_motor	30	200	90.99	nil	0	0	0.00
Roll_motor	75	149	168.87	nil	0	0	0.00
Iridium	132	160	314.17	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	12	15	2.83	nil	0	0	0.00
Core	2805	6	284.21	SciCon	0	0	0.00
Fast	1	0	0.00	NCP	5102	25	1900.52
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2462	2	73.38
Compass	1312	5	97.78
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
16.17	16386	-145.99	-1.59	0.00	527.2	683.9	370.4	182.8	2317.2	0.00	0.00	0	32.52	15.06	0.00	0.00	0.006	0.000	0.000	947.16	1066.12	828.19	182.75	2317.00	0	0	0	15.42	30.00	30.00
32.79	18695	-145.99	-1.59	80.00	947.1	1066.2	827.9	182.7	2317.2	3.17	-10.06	3	182.77	121.84	11.27	4.05	0.005	0.200	0.108	3595.28	3653.38	3537.19	1664.56	3824.44	0	0	0	15.44	15.48	15.32
410.42	1028	-145.99	-1.59	0.00	3596.6	3653.6	3539.6	1664.6	3825.2	41.09	-10.18	77	417.23	0.00	0.00	3.51	0.000	0.000	0.028	3596.31	3653.38	3539.25	1664.75	2316.19	0	0	0	30.00	30.00	15.79
600.46	260	-145.99	-1.59	80.00	3596.4	3653.6	3539.1	1664.1	2315.2	60.22	-10.17	115	607.53	0.00	0.00	4.05	0.000	0.000	0.104	3596.75	3654.50	3539.00	1664.38	3825.19	0	0	0	30.00	30.00	15.44
835.60	1060	-145.99	-1.59	0.00	3596.1	3653.2	3538.9	1664.2	3825.0	83.85	-10.01	162	842.33	0.00	0.00	3.48	0.000	0.000	0.028	3596.50	3653.75	3539.25	1664.56	2316.00	0	0	0	30.00	30.00	15.86
1025.58	260	-145.99	-1.59	80.00	3596.2	3653.0	3539.5	1664.5	2316.2	102.95	-10.07	200	1032.68	0.00	0.00	4.01	0.000	0.000	0.103	3596.50	3653.81	3539.19	1664.44	3825.69	0	0	0	30.00	30.00	15.79
1115.60	1028	-145.99	-1.59	0.00	3596.2	3653.2	3539.2	1664.4	3825.8	112.01	-10.14	218	1122.40	0.00	0.00	3.48	0.000	0.000	0.028	3596.44	3653.81	3539.06	1664.25	2315.88	0	0	0	30.00	30.00	15.87
1425.73	548	-145.99	-1.59	-80.00	3596.2	3653.0	3539.4	1663.8	2315.6	142.75	-9.92	280	1432.65	0.00	0.00	3.64	0.000	0.000	0.088	3596.34	3653.81	3538.88	1664.31	892.25	0	0	0	30.00	30.00	15.71
1460.78	1060	-145.99	-1.59	0.00	3596.3	3653.4	3539.3	1664.7	892.1	146.21	-9.92	287	1467.77	0.00	0.00	3.51	0.000	0.000	0.038	3596.22	3653.19	3539.25	1664.56	2381.62	0	0	0	30.00	30.00	15.88
1770.85	32	-145.99	-1.59	0.00	3596.2	3653.3	3539.2	1664.5	2381.1	177.15	-10.02	349	1774.73	0.00	0.00	0.00	0.000	0.000	0.000	3595.28	3652.50	3538.06	1664.06	2381.31	0	0	0	30.00	30.00	30.00
2075.88	0	-145.99	-1.59	0.00	3596.0	3652.9	3539.0	1664.4	2381.5	207.53	-10.06	410	2077.49	0.00	0.00	0.00	0.000	0.000	0.000	3594.81	3652.12	3537.50	1664.25	2381.44	0	0	0	30.00	30.00	30.00
2381.02	32	-145.99	-1.59	0.00	3596.0	3653.8	3538.3	1664.4	2381.1	238.07	-9.91	471	2382.64	0.00	0.00	0.00	0.000	0.000	0.000	3594.66	3651.81	3537.50	1664.56	2381.31	0	0	0	30.00	30.00	30.00
2501	end dive: TARGET_DEPTH_EXCEEDED
state	2501	begin apogee
2503.40	10243	0.00	-0.36	0.00	3596.0	3653.1	3538.9	1664.6	1989.6	250.07	-10.02	495	2627.97	112.07	2.09	0.12	1.185	0.120	0.150	2997.97	3112.38	2883.56	1963.94	2086.50	0	0	0	12.00	15.39	15.57
2677	end apogee: CONTROL_FINISHED_OK
state	2677	begin climb
2678.05	10759	145.99	1.59	-80.00	2994.9	3108.9	2880.9	1964.1	2086.2	237.96	0.00	516	2810.26	112.92	3.15	4.13	1.153	0.070	0.106	2404.06	2527.56	2280.56	2441.19	558.94	0	0	0	12.37	15.62	15.33
2857.86	17414	145.99	1.59	0.00	2396.0	2515.7	2276.4	2442.8	559.1	214.12	10.11	550	2864.84	0.00	0.00	3.46	0.000	0.000	0.025	2396.62	2516.12	2277.12	2441.62	2068.81	0	0	0	30.00	30.00	15.54
3167.99	16934	146.28	1.59	-80.00	2392.2	2513.1	2271.4	2442.3	2069.9	183.05	10.03	612	3175.27	0.00	0.00	4.01	0.000	0.000	0.103	2392.84	2514.06	2271.62	2442.44	557.94	0	0	0	30.00	30.00	15.41
3232.95	17414	146.28	1.59	0.00	2391.6	2511.9	2271.4	2442.6	557.8	176.57	10.10	625	3239.93	0.00	0.00	3.41	0.000	0.000	0.026	2393.50	2514.56	2272.44	2441.44	2065.81	0	0	0	30.00	30.00	15.76
3543.04	16902	146.28	1.59	-80.00	2391.2	2512.8	2269.7	2441.9	2067.1	145.45	10.05	687	3550.47	0.00	0.00	3.97	0.000	0.000	0.104	2391.00	2512.06	2269.94	2442.31	557.62	0	0	0	30.00	30.00	15.46
3578.08	17414	146.28	1.59	0.00	2390.5	2511.4	2269.6	2441.5	558.0	141.89	10.17	694	3584.97	0.00	0.00	3.39	0.000	0.000	0.026	2390.84	2512.06	2269.62	2442.56	2068.81	0	0	0	30.00	30.00	15.82
3888.08	16902	146.28	1.59	-80.00	2390.3	2511.5	2269.1	2442.1	2070.4	110.81	10.32	756	3895.34	0.00	0.00	3.94	0.000	0.000	0.103	2391.69	2511.88	2271.50	2441.50	558.94	0	0	0	30.00	30.00	15.47
3943.08	17414	146.28	1.59	0.00	2389.7	2510.7	2268.8	2441.9	558.8	105.40	10.17	767	3950.03	0.00	0.00	3.38	0.000	0.000	0.025	2389.88	2510.62	2269.12	2442.00	2069.50	0	0	0	30.00	30.00	15.87
4253.16	8742	152.90	1.60	-80.00	2389.8	2511.0	2268.5	2441.8	2071.6	74.41	9.73	829	4266.83	5.61	0.00	3.95	0.657	0.000	0.105	2373.50	2496.19	2250.81	2441.69	557.62	0	0	0	11.87	30.00	15.77
4339.42	1028	152.90	1.60	0.00	2374.5	2497.4	2251.6	2442.0	557.8	65.70	10.13	846	4346.36	0.00	0.00	3.39	0.000	0.000	0.025	2374.56	2497.38	2251.75	2442.06	2069.62	0	0	0	30.00	30.00	15.82
4529.51	516	152.90	1.60	-80.00	2374.4	2497.4	2251.4	2442.6	2071.2	46.53	10.20	884	4536.78	0.00	0.00	3.97	0.000	0.000	0.103	2374.38	2497.94	2250.81	2442.62	559.19	0	0	0	30.00	30.00	15.52
4574.54	1060	153.37	1.60	0.00	2374.2	2497.5	2251.0	2442.1	559.3	42.01	10.02	893	4581.42	0.00	0.00	3.37	0.000	0.000	0.025	2377.09	2500.06	2254.12	2441.81	2068.19	0	0	0	30.00	30.00	15.89
4764.61	32	154.24	1.60	0.00	2374.2	2497.2	2251.1	2442.4	2069.7	23.11	10.00	931	4766.22	0.00	0.00	0.00	0.000	0.000	0.000	2372.50	2495.50	2249.50	2442.00	2070.50	0	0	0	30.00	30.00	30.00
4949	end climb: SURFACE_DEPTH_REACHED
state	4949	begin surface coast
5004	end surface coast: CONTROL_FINISHED_OK
state	5004	begin surface