Glider dive log

NORSE Jun23 * SG248 * Dive index * Mission links * Dive 89 * 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 89 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 60.066502 SEABIRD_T_I 2.932871e-05

D_OFFGRID 1000 PITCH_GAIN 14 FG_AHR_24V 124.73188 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 0.0

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 29.0

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 60.066502 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

CALL_NDIVES 1 FG_AHR_24V 124.73188 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 29.0 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 0.0 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 89 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 030723,145300,6309.238,-1714.641,31,0.8,31,-9.2 TGT_RADIUS 3000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.71 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -44.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030723,145702,6309.249,-1714.580,3,0.6,5,-9.2 MHEAD_RNG_PITCHd_Wd 264.3,64475,-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 0.0,1.026865 _10V_AH 14.92,0.000

SURF forcing FG_AHR_24Vo 124.891

SM_CCo 5411.69,293.76,0.839,0,534.1,689.1,379.0,604.89 FG_AHR_10Vo 60.121

SM_GC 0.72,293.76,14.10,0.90,0.839,0.064,0.056,534.1,689.1,379.0,184.1,2389.3,0,0,0,12.11,15.80,15.90 MEM0 60108,1,0,0

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

IRIDIUM_FIX 6307.53,-1713.86,030723,131900 MEM2 993572,37,52076,109

TCM_TEMP 11.21 DATA_FILE_SIZE 32181,912

XPDR_PINGS 0,10.3,13.6 CAP_FILE_SIZE 186965,0

CP_FREE 0.000000 SDSIZE 3887104,3849344

CP_POWER 293.030000 SDFILEDIR 492,91

HUMID 51.88 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

TEMP 9.01 IMPLIED_C_PITCH 2054,12.50,752,0.0,0.00

INTERNAL_PRESSURE 8.07837 IMPLIED_C_VBD 3051,19.157797,752,0

_24V_AH 14.87,129.590 GPS 030723,162817,6309.829,-1714.873,2,0.9,5,-9.2

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 691 1141 11744.31 SBE_CT 1269 24 453.12

Pitch_motor 30 191 87.06 nil 0 0 0.00

Roll_motor 53 157 124.28 nil 0 0 0.00

Iridium 171 146 374.48 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.13 nil 0 0 0.00

Core 2979 6 302.33 SciCon 0 0 0.00

Fast 1 0 0.00 NCP 5119 25 1909.71

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2342 2 69.89

Compass 1224 5 91.37

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

197 end surface: CONTROL_FINISHED_OK

state 197 begin dive

198.61 16386 -145.99 -1.59 0.00 525.9 676.5 375.2 181.5 2314.6 0.00 0.00 0 204.55 5.00 0.00 0.00 0.009 0.000 0.000 668.06 801.62 534.50 181.62 2314.50 0 0 0 15.41 30.00 30.00

204.85 18727 -145.99 -1.59 80.00 668.1 801.8 534.4 181.6 2314.4 20.37 0.00 1 360.97 130.05 11.25 3.99 0.005 0.191 0.108 3592.41 3649.62 3535.19 1666.38 3824.50 0 0 0 15.48 15.32 15.38

533.51 1060 -145.99 -1.59 0.00 3594.9 3650.1 3539.6 1666.6 3824.9 53.08 -9.56 65 540.28 0.00 0.00 3.46 0.000 0.000 0.028 3596.97 3653.62 3540.31 1666.69 2315.06 0 0 0 30.00 30.00 15.82

723.65 292 -145.99 -1.59 80.00 3594.9 3650.4 3539.4 1666.1 2313.6 72.21 -9.95 103 730.65 0.00 0.00 3.97 0.000 0.000 0.103 3595.53 3649.56 3541.50 1666.38 3824.38 0 0 0 30.00 30.00 15.73

778.67 1060 -145.99 -1.59 0.00 3594.6 3650.0 3539.2 1666.6 3824.8 77.68 -9.94 114 785.42 0.00 0.00 3.46 0.000 0.000 0.027 3595.78 3650.94 3540.62 1666.19 2315.06 0 0 0 30.00 30.00 15.85

968.69 0 -145.99 -1.59 0.00 3594.6 3650.2 3539.1 1666.4 2314.3 97.09 -10.36 152 970.25 0.00 0.00 0.00 0.000 0.000 0.000 3594.44 3649.44 3539.44 1666.12 2313.88 0 0 0 30.00 30.00 30.00

1153.79 32 -145.99 -1.59 0.00 3594.5 3650.0 3539.0 1666.6 2313.9 115.66 -9.85 189 1155.36 0.00 0.00 0.00 0.000 0.000 0.000 3593.88 3648.62 3539.12 1666.44 2313.88 0 0 0 30.00 30.00 30.00

1458.83 0 -145.99 -1.59 0.00 3594.7 3649.9 3539.4 1666.6 2312.7 146.20 -10.06 250 1460.40 0.00 0.00 0.00 0.000 0.000 0.000 3593.66 3649.44 3537.88 1666.69 2312.75 0 0 0 30.00 30.00 30.00

1763.96 32 -145.99 -1.59 0.00 3594.5 3649.9 3539.1 1666.5 2312.8 176.96 -9.95 311 1765.53 0.00 0.00 0.00 0.000 0.000 0.000 3593.75 3649.12 3538.38 1666.44 2312.69 0 0 0 30.00 30.00 30.00

2068.99 32 -145.99 -1.59 0.00 3594.7 3650.5 3538.9 1666.5 2312.7 207.73 -10.04 372 2070.55 0.00 0.00 0.00 0.000 0.000 0.000 3593.50 3649.12 3537.88 1666.56 2312.81 0 0 0 30.00 30.00 30.00

2373.96 0 -145.99 -1.59 0.00 3594.6 3650.5 3538.7 1666.2 2313.1 238.13 -10.06 433 2375.53 0.00 0.00 0.00 0.000 0.000 0.000 3593.03 3648.56 3537.50 1666.44 2313.25 0 0 0 30.00 30.00 30.00

2494 end dive: TARGET_DEPTH_EXCEEDED

state 2494 begin apogee

2496.34 10243 0.00 -0.36 0.00 3594.1 3649.8 3538.4 1666.3 1992.4 250.30 -9.97 457 2617.80 111.50 2.10 0.11 1.142 0.119 0.157 2998.03 3111.75 2884.31 1964.62 2092.69 0 0 0 11.90 15.83 15.57

2666 end apogee: CONTROL_FINISHED_OK

state 2666 begin climb

2667.51 10243 145.99 1.59 0.00 2994.6 3109.2 2879.9 1965.2 2093.1 238.78 0.00 477 2853.83 112.24 3.15 0.00 1.111 0.070 0.000 2402.28 2526.06 2278.50 2440.81 2092.75 0 0 0 12.33 15.63 30.00

3156.50 8742 151.32 1.60 -80.00 2392.8 2512.2 2273.4 2442.0 2093.0 184.86 9.79 539 3169.17 5.05 0.00 4.04 0.602 0.000 0.110 2382.09 2501.50 2262.69 2439.69 557.44 0 0 0 12.16 30.00 15.45

3316.83 1028 151.32 1.60 0.00 2380.0 2499.1 2260.9 2441.2 557.9 168.80 10.21 571 3323.73 0.00 0.00 3.40 0.000 0.000 0.026 2379.66 2498.81 2260.50 2441.69 2070.19 0 0 0 30.00 30.00 15.78

3626.95 8742 158.27 1.61 -80.00 2378.9 2498.9 2258.9 2441.4 2071.8 138.10 9.72 633 3644.69 7.89 0.00 3.93 0.777 0.000 0.106 2352.31 2474.12 2230.50 2441.69 557.88 0 0 0 12.08 30.00 15.69

3747.35 1060 160.79 1.61 0.00 2351.0 2472.1 2229.8 2441.7 558.1 126.17 9.92 657 3754.22 0.00 0.00 3.38 0.000 0.000 0.025 2351.25 2473.00 2229.50 2441.75 2071.00 0 0 0 30.00 30.00 15.78

4057.44 548 161.42 1.61 -80.00 2350.0 2472.4 2227.7 2441.9 2072.4 95.45 10.01 719 4064.65 0.00 0.00 3.92 0.000 0.000 0.105 2350.41 2472.38 2228.44 2441.44 557.56 0 0 0 30.00 30.00 15.59

4132.41 1028 161.42 1.61 0.00 2349.7 2471.4 2228.0 2441.7 557.9 87.84 10.26 734 4139.33 0.00 0.00 3.37 0.000 0.000 0.025 2349.78 2471.62 2227.94 2440.75 2069.94 0 0 0 30.00 30.00 15.85

4322.52 8226 164.57 1.62 0.00 2349.4 2471.2 2227.5 2441.6 2071.4 68.79 9.89 772 4332.88 6.98 0.00 0.00 0.708 0.000 0.000 2328.94 2452.00 2205.88 2441.19 2071.31 0 0 0 11.96 30.00 30.00

4517.57 8742 171.02 1.63 -80.00 2326.3 2448.8 2203.9 2441.2 2071.6 49.44 9.74 811 4535.25 7.68 0.00 3.89 0.724 0.000 0.106 2300.19 2423.88 2176.50 2441.75 559.44 0 0 0 12.20 30.00 15.66

4587.91 1060 171.28 1.63 0.00 2299.1 2421.8 2176.5 2441.1 559.1 42.31 10.03 825 4594.76 0.00 0.00 3.39 0.000 0.000 0.025 2299.53 2422.00 2177.06 2440.25 2071.38 0 0 0 30.00 30.00 15.84

4777.95 8486 176.60 1.64 80.00 2298.5 2421.9 2175.1 2441.8 2072.1 23.29 9.79 863 4791.50 6.64 0.00 3.62 0.658 0.000 0.092 2276.53 2401.38 2151.69 2442.00 3492.69 0 0 0 12.18 30.00 15.78

4829.15 9254 179.38 1.64 0.00 2277.6 2401.9 2153.4 2441.9 3492.3 18.15 9.91 873 4841.43 4.90 0.00 3.49 0.532 0.000 0.034 2267.00 2390.94 2143.06 2440.44 1990.94 0 0 0 12.40 30.00 15.88

4964 end climb: SURFACE_DEPTH_REACHED

state 4964 begin surface coast

5024 end surface coast: CONTROL_FINISHED_OK

state 5024 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	89	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	60.066502	SEABIRD_T_I	2.932871e-05
D_OFFGRID	1000	PITCH_GAIN	14	FG_AHR_24V	124.73188	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	0.0
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	29.0
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	030723,145300,6309.238,-1714.641,31,0.8,31,-9.2	TGT_RADIUS	3000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.71	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-44.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030723,145702,6309.249,-1714.580,3,0.6,5,-9.2	MHEAD_RNG_PITCHd_Wd	264.3,64475,-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	0.0,1.026865	_10V_AH	14.92,0.000
SURF	forcing	FG_AHR_24Vo	124.891
SM_CCo	5411.69,293.76,0.839,0,534.1,689.1,379.0,604.89	FG_AHR_10Vo	60.121
SM_GC	0.72,293.76,14.10,0.90,0.839,0.064,0.056,534.1,689.1,379.0,184.1,2389.3,0,0,0,12.11,15.80,15.90	MEM0	60108,1,0,0
SUPER	27,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	6307.53,-1713.86,030723,131900	MEM2	993572,37,52076,109
TCM_TEMP	11.21	DATA_FILE_SIZE	32181,912
XPDR_PINGS	0,10.3,13.6	CAP_FILE_SIZE	186965,0
CP_FREE	0.000000	SDSIZE	3887104,3849344
CP_POWER	293.030000	SDFILEDIR	492,91
HUMID	51.88	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
TEMP	9.01	IMPLIED_C_PITCH	2054,12.50,752,0.0,0.00
INTERNAL_PRESSURE	8.07837	IMPLIED_C_VBD	3051,19.157797,752,0
_24V_AH	14.87,129.590	GPS	030723,162817,6309.829,-1714.873,2,0.9,5,-9.2

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	691	1141	11744.31	SBE_CT	1269	24	453.12
Pitch_motor	30	191	87.06	nil	0	0	0.00
Roll_motor	53	157	124.28	nil	0	0	0.00
Iridium	171	146	374.48	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.13	nil	0	0	0.00
Core	2979	6	302.33	SciCon	0	0	0.00
Fast	1	0	0.00	NCP	5119	25	1909.71
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2342	2	69.89
Compass	1224	5	91.37
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
197	end surface: CONTROL_FINISHED_OK
state	197	begin dive
198.61	16386	-145.99	-1.59	0.00	525.9	676.5	375.2	181.5	2314.6	0.00	0.00	0	204.55	5.00	0.00	0.00	0.009	0.000	0.000	668.06	801.62	534.50	181.62	2314.50	0	0	0	15.41	30.00	30.00
204.85	18727	-145.99	-1.59	80.00	668.1	801.8	534.4	181.6	2314.4	20.37	0.00	1	360.97	130.05	11.25	3.99	0.005	0.191	0.108	3592.41	3649.62	3535.19	1666.38	3824.50	0	0	0	15.48	15.32	15.38
533.51	1060	-145.99	-1.59	0.00	3594.9	3650.1	3539.6	1666.6	3824.9	53.08	-9.56	65	540.28	0.00	0.00	3.46	0.000	0.000	0.028	3596.97	3653.62	3540.31	1666.69	2315.06	0	0	0	30.00	30.00	15.82
723.65	292	-145.99	-1.59	80.00	3594.9	3650.4	3539.4	1666.1	2313.6	72.21	-9.95	103	730.65	0.00	0.00	3.97	0.000	0.000	0.103	3595.53	3649.56	3541.50	1666.38	3824.38	0	0	0	30.00	30.00	15.73
778.67	1060	-145.99	-1.59	0.00	3594.6	3650.0	3539.2	1666.6	3824.8	77.68	-9.94	114	785.42	0.00	0.00	3.46	0.000	0.000	0.027	3595.78	3650.94	3540.62	1666.19	2315.06	0	0	0	30.00	30.00	15.85
968.69	0	-145.99	-1.59	0.00	3594.6	3650.2	3539.1	1666.4	2314.3	97.09	-10.36	152	970.25	0.00	0.00	0.00	0.000	0.000	0.000	3594.44	3649.44	3539.44	1666.12	2313.88	0	0	0	30.00	30.00	30.00
1153.79	32	-145.99	-1.59	0.00	3594.5	3650.0	3539.0	1666.6	2313.9	115.66	-9.85	189	1155.36	0.00	0.00	0.00	0.000	0.000	0.000	3593.88	3648.62	3539.12	1666.44	2313.88	0	0	0	30.00	30.00	30.00
1458.83	0	-145.99	-1.59	0.00	3594.7	3649.9	3539.4	1666.6	2312.7	146.20	-10.06	250	1460.40	0.00	0.00	0.00	0.000	0.000	0.000	3593.66	3649.44	3537.88	1666.69	2312.75	0	0	0	30.00	30.00	30.00
1763.96	32	-145.99	-1.59	0.00	3594.5	3649.9	3539.1	1666.5	2312.8	176.96	-9.95	311	1765.53	0.00	0.00	0.00	0.000	0.000	0.000	3593.75	3649.12	3538.38	1666.44	2312.69	0	0	0	30.00	30.00	30.00
2068.99	32	-145.99	-1.59	0.00	3594.7	3650.5	3538.9	1666.5	2312.7	207.73	-10.04	372	2070.55	0.00	0.00	0.00	0.000	0.000	0.000	3593.50	3649.12	3537.88	1666.56	2312.81	0	0	0	30.00	30.00	30.00
2373.96	0	-145.99	-1.59	0.00	3594.6	3650.5	3538.7	1666.2	2313.1	238.13	-10.06	433	2375.53	0.00	0.00	0.00	0.000	0.000	0.000	3593.03	3648.56	3537.50	1666.44	2313.25	0	0	0	30.00	30.00	30.00
2494	end dive: TARGET_DEPTH_EXCEEDED
state	2494	begin apogee
2496.34	10243	0.00	-0.36	0.00	3594.1	3649.8	3538.4	1666.3	1992.4	250.30	-9.97	457	2617.80	111.50	2.10	0.11	1.142	0.119	0.157	2998.03	3111.75	2884.31	1964.62	2092.69	0	0	0	11.90	15.83	15.57
2666	end apogee: CONTROL_FINISHED_OK
state	2666	begin climb
2667.51	10243	145.99	1.59	0.00	2994.6	3109.2	2879.9	1965.2	2093.1	238.78	0.00	477	2853.83	112.24	3.15	0.00	1.111	0.070	0.000	2402.28	2526.06	2278.50	2440.81	2092.75	0	0	0	12.33	15.63	30.00
3156.50	8742	151.32	1.60	-80.00	2392.8	2512.2	2273.4	2442.0	2093.0	184.86	9.79	539	3169.17	5.05	0.00	4.04	0.602	0.000	0.110	2382.09	2501.50	2262.69	2439.69	557.44	0	0	0	12.16	30.00	15.45
3316.83	1028	151.32	1.60	0.00	2380.0	2499.1	2260.9	2441.2	557.9	168.80	10.21	571	3323.73	0.00	0.00	3.40	0.000	0.000	0.026	2379.66	2498.81	2260.50	2441.69	2070.19	0	0	0	30.00	30.00	15.78
3626.95	8742	158.27	1.61	-80.00	2378.9	2498.9	2258.9	2441.4	2071.8	138.10	9.72	633	3644.69	7.89	0.00	3.93	0.777	0.000	0.106	2352.31	2474.12	2230.50	2441.69	557.88	0	0	0	12.08	30.00	15.69
3747.35	1060	160.79	1.61	0.00	2351.0	2472.1	2229.8	2441.7	558.1	126.17	9.92	657	3754.22	0.00	0.00	3.38	0.000	0.000	0.025	2351.25	2473.00	2229.50	2441.75	2071.00	0	0	0	30.00	30.00	15.78
4057.44	548	161.42	1.61	-80.00	2350.0	2472.4	2227.7	2441.9	2072.4	95.45	10.01	719	4064.65	0.00	0.00	3.92	0.000	0.000	0.105	2350.41	2472.38	2228.44	2441.44	557.56	0	0	0	30.00	30.00	15.59
4132.41	1028	161.42	1.61	0.00	2349.7	2471.4	2228.0	2441.7	557.9	87.84	10.26	734	4139.33	0.00	0.00	3.37	0.000	0.000	0.025	2349.78	2471.62	2227.94	2440.75	2069.94	0	0	0	30.00	30.00	15.85
4322.52	8226	164.57	1.62	0.00	2349.4	2471.2	2227.5	2441.6	2071.4	68.79	9.89	772	4332.88	6.98	0.00	0.00	0.708	0.000	0.000	2328.94	2452.00	2205.88	2441.19	2071.31	0	0	0	11.96	30.00	30.00
4517.57	8742	171.02	1.63	-80.00	2326.3	2448.8	2203.9	2441.2	2071.6	49.44	9.74	811	4535.25	7.68	0.00	3.89	0.724	0.000	0.106	2300.19	2423.88	2176.50	2441.75	559.44	0	0	0	12.20	30.00	15.66
4587.91	1060	171.28	1.63	0.00	2299.1	2421.8	2176.5	2441.1	559.1	42.31	10.03	825	4594.76	0.00	0.00	3.39	0.000	0.000	0.025	2299.53	2422.00	2177.06	2440.25	2071.38	0	0	0	30.00	30.00	15.84
4777.95	8486	176.60	1.64	80.00	2298.5	2421.9	2175.1	2441.8	2072.1	23.29	9.79	863	4791.50	6.64	0.00	3.62	0.658	0.000	0.092	2276.53	2401.38	2151.69	2442.00	3492.69	0	0	0	12.18	30.00	15.78
4829.15	9254	179.38	1.64	0.00	2277.6	2401.9	2153.4	2441.9	3492.3	18.15	9.91	873	4841.43	4.90	0.00	3.49	0.532	0.000	0.034	2267.00	2390.94	2143.06	2440.44	1990.94	0	0	0	12.40	30.00	15.88
4964	end climb: SURFACE_DEPTH_REACHED
state	4964	begin surface coast
5024	end surface coast: CONTROL_FINISHED_OK
state	5024	begin surface