Glider dive log

NORSE Jun23 * SG248 * Dive index * Mission links * Dive 84 * 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 84 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 59.794331 SEABIRD_T_I 2.932871e-05

D_OFFGRID 1000 PITCH_GAIN 14 FG_AHR_24V 123.88097 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 17.0

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 59.794331 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

CALL_NDIVES 1 FG_AHR_24V 123.88097 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 17.0 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 84 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 030723,065809,6306.708,-1717.475,28,1.0,28,-9.2 TGT_RADIUS 3000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.83 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -43.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030723,070118,6306.744,-1717.430,2,0.6,3,-9.2 MHEAD_RNG_PITCHd_Wd 267.9,61090,-19.2,-10.040,-24.79,2220,0.153

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 0.0,1.027229 _10V_AH 14.90,0.000

SURF forcing FG_AHR_24Vo 124.049

SM_CCo 5406.46,313.97,0.895,0,534.2,666.5,401.8,604.87 FG_AHR_10Vo 59.848

SM_GC 0.81,313.97,14.07,0.70,0.895,0.065,0.066,534.2,666.5,401.8,183.0,2389.8,0,0,0,12.04,15.82,15.88 MEM0 60108,1,0,0

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

IRIDIUM_FIX 6304.72,-1712.45,030723,052437 MEM2 993632,34,52076,109

TCM_TEMP 11.11 DATA_FILE_SIZE 32160,943

XPDR_PINGS 0,10.3,13.6 CAP_FILE_SIZE 210479,0

CP_FREE 0.000000 SDSIZE 3887104,3850400

CP_POWER 293.030000 SDFILEDIR 469,86

HUMID 52.22 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TEMP 8.90 IMPLIED_C_PITCH 2054,12.48,750,0.0,0.00

INTERNAL_PRESSURE 8.07382 IMPLIED_C_VBD 3055,17.042870,750,0

_24V_AH 14.87,128.718 GPS 030723,083220,6307.185,-1716.825,2,1.4,6,-9.2

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 691 1184 12175.15 SBE_CT 1312 24 468.35

Pitch_motor 30 183 83.00 nil 0 0 0.00

Roll_motor 74 153 170.06 nil 0 0 0.00

Iridium 117 164 288.70 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 12 15 2.90 nil 0 0 0.00

Core 2812 6 284.98 SciCon 0 0 0.00

Fast 1 0 0.00 NCP 5082 25 1893.24

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2420 2 72.12

Compass 1265 5 94.25

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 0.00 527.1 679.5 374.8 182.0 2315.5 0.00 0.00 0 32.52 15.05 0.00 0.00 0.006 0.000 0.000 949.59 1066.56 832.62 181.75 2315.25 0 0 0 15.37 30.00 30.00

32.83 18727 -145.99 -1.59 80.00 949.5 1066.3 832.6 181.8 2315.1 3.06 -9.37 3 182.54 122.83 11.06 4.03 0.005 0.184 0.106 3596.09 3655.19 3537.00 1665.12 3826.19 0 0 0 15.43 15.43 15.35

185.03 1060 -145.99 -1.59 0.00 3595.2 3654.6 3535.9 1665.9 3825.9 18.23 -9.90 32 191.86 0.00 0.00 3.45 0.000 0.000 0.027 3595.38 3654.12 3536.62 1665.81 2307.62 0 0 0 30.00 30.00 15.74

375.09 516 -145.99 -1.59 -80.00 3595.6 3654.4 3536.8 1665.7 2306.6 37.33 -10.17 70 381.93 0.00 0.00 3.57 0.000 0.000 0.089 3595.34 3654.25 3536.44 1665.94 891.25 0 0 0 30.00 30.00 15.45

560.12 1028 -145.99 -1.59 0.00 3595.5 3654.4 3536.7 1665.5 891.1 56.12 -10.18 107 566.91 0.00 0.00 3.49 0.000 0.000 0.040 3595.38 3654.38 3536.38 1665.62 2380.69 0 0 0 30.00 30.00 15.81

750.30 548 -145.99 -1.59 -80.00 3595.2 3654.4 3536.1 1665.1 2380.8 74.78 -9.85 145 757.12 0.00 0.00 3.75 0.000 0.000 0.083 3595.78 3655.12 3536.44 1665.69 890.00 0 0 0 30.00 30.00 15.49

820.19 1028 -145.99 -1.59 0.00 3595.4 3654.4 3536.4 1665.5 890.1 81.73 -10.04 159 826.98 0.00 0.00 3.49 0.000 0.000 0.039 3595.88 3654.62 3537.12 1665.62 2381.25 0 0 0 30.00 30.00 15.84

1010.30 32 -145.99 -1.59 0.00 3595.2 3654.5 3535.9 1665.9 2381.2 100.72 -9.87 197 1011.87 0.00 0.00 0.00 0.000 0.000 0.000 3594.44 3653.69 3535.19 1665.94 2381.25 0 0 0 30.00 30.00 30.00

1315.37 516 -145.99 -1.59 -80.00 3595.4 3654.0 3536.8 1665.8 2381.4 131.36 -10.15 258 1322.31 0.00 0.00 3.73 0.000 0.000 0.085 3596.38 3654.94 3537.81 1665.56 892.25 0 0 0 30.00 30.00 15.82

1350.42 1060 -145.99 -1.59 0.00 3595.5 3654.9 3536.1 1665.7 892.5 134.77 -9.85 265 1357.39 0.00 0.00 3.48 0.000 0.000 0.038 3596.81 3655.81 3537.81 1665.69 2381.50 0 0 0 30.00 30.00 15.50

1660.54 32 -145.99 -1.59 0.00 3595.3 3654.8 3535.8 1666.0 2381.5 165.59 -9.93 327 1662.15 0.00 0.00 0.00 0.000 0.000 0.000 3594.94 3653.69 3536.19 1665.38 2381.44 0 0 0 30.00 30.00 30.00

1965.58 516 -145.99 -1.59 -80.00 3595.4 3654.5 3536.3 1665.2 2381.6 196.00 -10.29 388 1972.73 0.00 0.00 3.75 0.000 0.000 0.085 3596.53 3654.62 3538.44 1665.75 891.31 0 0 0 30.00 30.00 15.37

1985.58 1028 -145.99 -1.59 0.00 3595.1 3653.9 3536.2 1665.4 891.2 198.02 -10.42 392 1992.55 0.00 0.00 3.47 0.000 0.000 0.038 3595.69 3653.94 3537.44 1665.12 2381.12 0 0 0 30.00 30.00 15.88

2295.66 0 -145.99 -1.59 0.00 3595.3 3654.7 3536.0 1665.9 2381.2 229.04 -10.10 454 2297.26 0.00 0.00 0.00 0.000 0.000 0.000 3594.94 3654.75 3535.12 1665.88 2381.00 0 0 0 30.00 30.00 30.00

2505 end dive: TARGET_DEPTH_EXCEEDED

state 2505 begin apogee

2508.12 10243 0.00 -0.36 0.00 3595.3 3654.6 3536.1 1665.1 1988.4 250.15 -10.26 496 2629.66 111.98 2.09 0.12 1.185 0.122 0.154 2999.56 3114.88 2884.25 1965.25 2078.50 0 0 0 11.90 15.79 15.56

2679 end apogee: CONTROL_FINISHED_OK

state 2679 begin climb

2679.73 10759 145.99 1.59 -80.00 2995.2 3109.5 2880.9 1964.9 2081.7 238.74 0.00 516 2869.95 112.68 3.16 4.05 1.155 0.069 0.107 2404.66 2526.62 2282.69 2442.62 559.12 0 0 0 12.40 15.62 15.38

2872.64 17414 145.99 1.59 0.00 2396.1 2513.6 2278.6 2442.2 559.0 212.32 10.67 518 2879.50 0.00 0.00 3.44 0.000 0.000 0.026 2397.00 2514.62 2279.38 2442.44 2068.56 0 0 0 30.00 30.00 15.37

3182.71 292 147.63 1.59 80.00 2393.5 2511.9 2275.0 2441.9 2070.2 181.36 9.96 580 3189.71 0.00 0.00 3.67 0.000 0.000 0.092 2395.72 2513.31 2278.12 2442.12 3492.38 0 0 0 30.00 30.00 15.68

3222.70 1060 148.23 1.59 0.00 2393.1 2511.6 2274.6 2441.9 3492.6 177.36 10.01 588 3229.61 0.00 0.00 3.49 0.000 0.000 0.034 2395.69 2513.56 2277.81 2441.56 1993.06 0 0 0 30.00 30.00 15.69

3532.79 548 148.90 1.60 -80.00 2392.5 2511.2 2273.8 2442.0 1992.6 146.22 10.01 650 3539.91 0.00 0.00 3.71 0.000 0.000 0.110 2393.25 2510.94 2275.56 2442.00 559.25 0 0 0 30.00 30.00 15.36

3577.80 1060 150.00 1.60 0.00 2391.6 2509.6 2273.6 2442.2 558.9 141.75 9.99 659 3584.65 0.00 0.00 3.38 0.000 0.000 0.025 2391.44 2509.38 2273.50 2441.94 2071.00 0 0 0 30.00 30.00 15.45

3887.89 8742 157.73 1.61 -80.00 2391.4 2509.4 2273.4 2442.4 2072.6 110.73 9.68 721 3905.66 9.82 0.00 3.90 0.878 0.000 0.107 2355.38 2476.81 2233.94 2442.06 557.75 0 0 0 11.98 30.00 15.76

4033.27 1028 157.73 1.61 0.00 2353.6 2474.4 2232.8 2442.0 557.9 96.07 10.05 750 4040.20 0.00 0.00 3.37 0.000 0.000 0.026 2353.59 2474.56 2232.62 2441.62 2069.31 0 0 0 30.00 30.00 15.84

4223.33 0 157.73 1.61 0.00 2353.2 2474.6 2231.9 2441.9 2070.2 77.12 10.07 788 4224.94 0.00 0.00 0.00 0.000 0.000 0.000 2352.03 2473.12 2230.94 2442.06 2071.19 0 0 0 30.00 30.00 30.00

4408.44 32 160.59 1.61 0.00 2352.9 2474.1 2231.7 2441.9 2071.1 58.82 9.91 825 4410.05 0.00 0.00 0.00 0.000 0.000 0.000 2352.00 2473.75 2230.25 2442.19 2070.75 0 0 0 30.00 30.00 30.00

4593.50 8742 160.93 1.61 -80.00 2352.6 2474.2 2230.9 2441.9 2070.6 40.18 10.02 862 4606.04 4.72 0.00 3.89 0.557 0.000 0.106 2342.28 2463.94 2220.62 2441.94 558.94 0 0 0 12.06 30.00 15.64

4708.70 1060 163.48 1.62 0.00 2341.6 2463.6 2219.5 2441.9 558.9 28.47 9.92 885 4715.56 0.00 0.00 3.36 0.000 0.000 0.026 2341.59 2463.62 2219.56 2442.12 2069.62 0 0 0 30.00 30.00 15.89

4898.71 0 163.48 1.62 0.00 2341.5 2463.8 2219.3 2442.4 2071.4 9.31 10.28 923 4900.32 0.00 0.00 0.00 0.000 0.000 0.000 2340.22 2462.44 2218.00 2441.69 2071.38 0 0 0 30.00 30.00 30.00

4943 end climb: SURFACE_DEPTH_REACHED

state 4943 begin surface coast

4998 end surface coast: CONTROL_FINISHED_OK

state 4999 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	84	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	59.794331	SEABIRD_T_I	2.932871e-05
D_OFFGRID	1000	PITCH_GAIN	14	FG_AHR_24V	123.88097	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	17.0
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	030723,065809,6306.708,-1717.475,28,1.0,28,-9.2	TGT_RADIUS	3000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.83	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-43.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030723,070118,6306.744,-1717.430,2,0.6,3,-9.2	MHEAD_RNG_PITCHd_Wd	267.9,61090,-19.2,-10.040,-24.79,2220,0.153
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	0.0,1.027229	_10V_AH	14.90,0.000
SURF	forcing	FG_AHR_24Vo	124.049
SM_CCo	5406.46,313.97,0.895,0,534.2,666.5,401.8,604.87	FG_AHR_10Vo	59.848
SM_GC	0.81,313.97,14.07,0.70,0.895,0.065,0.066,534.2,666.5,401.8,183.0,2389.8,0,0,0,12.04,15.82,15.88	MEM0	60108,1,0,0
SUPER	19,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	6304.72,-1712.45,030723,052437	MEM2	993632,34,52076,109
TCM_TEMP	11.11	DATA_FILE_SIZE	32160,943
XPDR_PINGS	0,10.3,13.6	CAP_FILE_SIZE	210479,0
CP_FREE	0.000000	SDSIZE	3887104,3850400
CP_POWER	293.030000	SDFILEDIR	469,86
HUMID	52.22	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TEMP	8.90	IMPLIED_C_PITCH	2054,12.48,750,0.0,0.00
INTERNAL_PRESSURE	8.07382	IMPLIED_C_VBD	3055,17.042870,750,0
_24V_AH	14.87,128.718	GPS	030723,083220,6307.185,-1716.825,2,1.4,6,-9.2

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	691	1184	12175.15	SBE_CT	1312	24	468.35
Pitch_motor	30	183	83.00	nil	0	0	0.00
Roll_motor	74	153	170.06	nil	0	0	0.00
Iridium	117	164	288.70	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	12	15	2.90	nil	0	0	0.00
Core	2812	6	284.98	SciCon	0	0	0.00
Fast	1	0	0.00	NCP	5082	25	1893.24
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2420	2	72.12
Compass	1265	5	94.25
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	527.1	679.5	374.8	182.0	2315.5	0.00	0.00	0	32.52	15.05	0.00	0.00	0.006	0.000	0.000	949.59	1066.56	832.62	181.75	2315.25	0	0	0	15.37	30.00	30.00
32.83	18727	-145.99	-1.59	80.00	949.5	1066.3	832.6	181.8	2315.1	3.06	-9.37	3	182.54	122.83	11.06	4.03	0.005	0.184	0.106	3596.09	3655.19	3537.00	1665.12	3826.19	0	0	0	15.43	15.43	15.35
185.03	1060	-145.99	-1.59	0.00	3595.2	3654.6	3535.9	1665.9	3825.9	18.23	-9.90	32	191.86	0.00	0.00	3.45	0.000	0.000	0.027	3595.38	3654.12	3536.62	1665.81	2307.62	0	0	0	30.00	30.00	15.74
375.09	516	-145.99	-1.59	-80.00	3595.6	3654.4	3536.8	1665.7	2306.6	37.33	-10.17	70	381.93	0.00	0.00	3.57	0.000	0.000	0.089	3595.34	3654.25	3536.44	1665.94	891.25	0	0	0	30.00	30.00	15.45
560.12	1028	-145.99	-1.59	0.00	3595.5	3654.4	3536.7	1665.5	891.1	56.12	-10.18	107	566.91	0.00	0.00	3.49	0.000	0.000	0.040	3595.38	3654.38	3536.38	1665.62	2380.69	0	0	0	30.00	30.00	15.81
750.30	548	-145.99	-1.59	-80.00	3595.2	3654.4	3536.1	1665.1	2380.8	74.78	-9.85	145	757.12	0.00	0.00	3.75	0.000	0.000	0.083	3595.78	3655.12	3536.44	1665.69	890.00	0	0	0	30.00	30.00	15.49
820.19	1028	-145.99	-1.59	0.00	3595.4	3654.4	3536.4	1665.5	890.1	81.73	-10.04	159	826.98	0.00	0.00	3.49	0.000	0.000	0.039	3595.88	3654.62	3537.12	1665.62	2381.25	0	0	0	30.00	30.00	15.84
1010.30	32	-145.99	-1.59	0.00	3595.2	3654.5	3535.9	1665.9	2381.2	100.72	-9.87	197	1011.87	0.00	0.00	0.00	0.000	0.000	0.000	3594.44	3653.69	3535.19	1665.94	2381.25	0	0	0	30.00	30.00	30.00
1315.37	516	-145.99	-1.59	-80.00	3595.4	3654.0	3536.8	1665.8	2381.4	131.36	-10.15	258	1322.31	0.00	0.00	3.73	0.000	0.000	0.085	3596.38	3654.94	3537.81	1665.56	892.25	0	0	0	30.00	30.00	15.82
1350.42	1060	-145.99	-1.59	0.00	3595.5	3654.9	3536.1	1665.7	892.5	134.77	-9.85	265	1357.39	0.00	0.00	3.48	0.000	0.000	0.038	3596.81	3655.81	3537.81	1665.69	2381.50	0	0	0	30.00	30.00	15.50
1660.54	32	-145.99	-1.59	0.00	3595.3	3654.8	3535.8	1666.0	2381.5	165.59	-9.93	327	1662.15	0.00	0.00	0.00	0.000	0.000	0.000	3594.94	3653.69	3536.19	1665.38	2381.44	0	0	0	30.00	30.00	30.00
1965.58	516	-145.99	-1.59	-80.00	3595.4	3654.5	3536.3	1665.2	2381.6	196.00	-10.29	388	1972.73	0.00	0.00	3.75	0.000	0.000	0.085	3596.53	3654.62	3538.44	1665.75	891.31	0	0	0	30.00	30.00	15.37
1985.58	1028	-145.99	-1.59	0.00	3595.1	3653.9	3536.2	1665.4	891.2	198.02	-10.42	392	1992.55	0.00	0.00	3.47	0.000	0.000	0.038	3595.69	3653.94	3537.44	1665.12	2381.12	0	0	0	30.00	30.00	15.88
2295.66	0	-145.99	-1.59	0.00	3595.3	3654.7	3536.0	1665.9	2381.2	229.04	-10.10	454	2297.26	0.00	0.00	0.00	0.000	0.000	0.000	3594.94	3654.75	3535.12	1665.88	2381.00	0	0	0	30.00	30.00	30.00
2505	end dive: TARGET_DEPTH_EXCEEDED
state	2505	begin apogee
2508.12	10243	0.00	-0.36	0.00	3595.3	3654.6	3536.1	1665.1	1988.4	250.15	-10.26	496	2629.66	111.98	2.09	0.12	1.185	0.122	0.154	2999.56	3114.88	2884.25	1965.25	2078.50	0	0	0	11.90	15.79	15.56
2679	end apogee: CONTROL_FINISHED_OK
state	2679	begin climb
2679.73	10759	145.99	1.59	-80.00	2995.2	3109.5	2880.9	1964.9	2081.7	238.74	0.00	516	2869.95	112.68	3.16	4.05	1.155	0.069	0.107	2404.66	2526.62	2282.69	2442.62	559.12	0	0	0	12.40	15.62	15.38
2872.64	17414	145.99	1.59	0.00	2396.1	2513.6	2278.6	2442.2	559.0	212.32	10.67	518	2879.50	0.00	0.00	3.44	0.000	0.000	0.026	2397.00	2514.62	2279.38	2442.44	2068.56	0	0	0	30.00	30.00	15.37
3182.71	292	147.63	1.59	80.00	2393.5	2511.9	2275.0	2441.9	2070.2	181.36	9.96	580	3189.71	0.00	0.00	3.67	0.000	0.000	0.092	2395.72	2513.31	2278.12	2442.12	3492.38	0	0	0	30.00	30.00	15.68
3222.70	1060	148.23	1.59	0.00	2393.1	2511.6	2274.6	2441.9	3492.6	177.36	10.01	588	3229.61	0.00	0.00	3.49	0.000	0.000	0.034	2395.69	2513.56	2277.81	2441.56	1993.06	0	0	0	30.00	30.00	15.69
3532.79	548	148.90	1.60	-80.00	2392.5	2511.2	2273.8	2442.0	1992.6	146.22	10.01	650	3539.91	0.00	0.00	3.71	0.000	0.000	0.110	2393.25	2510.94	2275.56	2442.00	559.25	0	0	0	30.00	30.00	15.36
3577.80	1060	150.00	1.60	0.00	2391.6	2509.6	2273.6	2442.2	558.9	141.75	9.99	659	3584.65	0.00	0.00	3.38	0.000	0.000	0.025	2391.44	2509.38	2273.50	2441.94	2071.00	0	0	0	30.00	30.00	15.45
3887.89	8742	157.73	1.61	-80.00	2391.4	2509.4	2273.4	2442.4	2072.6	110.73	9.68	721	3905.66	9.82	0.00	3.90	0.878	0.000	0.107	2355.38	2476.81	2233.94	2442.06	557.75	0	0	0	11.98	30.00	15.76
4033.27	1028	157.73	1.61	0.00	2353.6	2474.4	2232.8	2442.0	557.9	96.07	10.05	750	4040.20	0.00	0.00	3.37	0.000	0.000	0.026	2353.59	2474.56	2232.62	2441.62	2069.31	0	0	0	30.00	30.00	15.84
4223.33	0	157.73	1.61	0.00	2353.2	2474.6	2231.9	2441.9	2070.2	77.12	10.07	788	4224.94	0.00	0.00	0.00	0.000	0.000	0.000	2352.03	2473.12	2230.94	2442.06	2071.19	0	0	0	30.00	30.00	30.00
4408.44	32	160.59	1.61	0.00	2352.9	2474.1	2231.7	2441.9	2071.1	58.82	9.91	825	4410.05	0.00	0.00	0.00	0.000	0.000	0.000	2352.00	2473.75	2230.25	2442.19	2070.75	0	0	0	30.00	30.00	30.00
4593.50	8742	160.93	1.61	-80.00	2352.6	2474.2	2230.9	2441.9	2070.6	40.18	10.02	862	4606.04	4.72	0.00	3.89	0.557	0.000	0.106	2342.28	2463.94	2220.62	2441.94	558.94	0	0	0	12.06	30.00	15.64
4708.70	1060	163.48	1.62	0.00	2341.6	2463.6	2219.5	2441.9	558.9	28.47	9.92	885	4715.56	0.00	0.00	3.36	0.000	0.000	0.026	2341.59	2463.62	2219.56	2442.12	2069.62	0	0	0	30.00	30.00	15.89
4898.71	0	163.48	1.62	0.00	2341.5	2463.8	2219.3	2442.4	2071.4	9.31	10.28	923	4900.32	0.00	0.00	0.00	0.000	0.000	0.000	2340.22	2462.44	2218.00	2441.69	2071.38	0	0	0	30.00	30.00	30.00
4943	end climb: SURFACE_DEPTH_REACHED
state	4943	begin surface coast
4998	end surface coast: CONTROL_FINISHED_OK
state	4999	begin surface