Glider dive log

NORSE Jun23 * SG248 * Dive index * Mission links * Dive 93 * 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 93 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 60.288807 SEABIRD_T_I 2.932871e-05

D_OFFGRID 1000 PITCH_GAIN 14 FG_AHR_24V 125.44395 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 37.0

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 60.288807 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

CALL_NDIVES 1 FG_AHR_24V 125.44395 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 37.0 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 93 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 030723,214409,6311.128,-1712.961,18,1.2,18,-9.2 TGT_RADIUS 3000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.73 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -51.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030723,214748,6311.146,-1712.912,3,1.2,6,-9.2 MHEAD_RNG_PITCHd_Wd 261.7,66803,-19.2,-10.040,-24.79,2220,0.152

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 0.0,1.026521 _10V_AH 14.89,0.000

SURF forcing FG_AHR_24Vo 125.601

SM_CCo 5402.23,298.64,0.836,0,533.8,687.8,379.8,604.96 FG_AHR_10Vo 60.344

SM_GC 0.69,298.64,13.71,0.90,0.836,0.034,0.058,533.8,687.8,379.8,190.4,2391.5,0,0,0,12.03,15.83,15.91 MEM0 60108,1,0,0

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

IRIDIUM_FIX 6309.93,-1710.72,030723,201006 MEM2 993404,42,52144,109

TCM_TEMP 11.18 DATA_FILE_SIZE 32170,909

XPDR_PINGS 0,10.3,13.6 CAP_FILE_SIZE 215907,0

CP_FREE 15886909440.000000 SDSIZE 3887104,3848320

CP_POWER 293.030000 SDFILEDIR 512,95

CP_POWER1 0.000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

HUMID 52.07 IMPLIED_C_PITCH 2054,12.48,744,0.0,0.00

TEMP 9.04 IMPLIED_C_VBD 3052,24.465286,744,0

INTERNAL_PRESSURE 8.08401 GPS 030723,231900,6311.341,-1712.356,26,1.5,26,-9.2

_24V_AH 14.86,130.328

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 691 1128 11589.79 SBE_CT 1265 24 451.43

Pitch_motor 30 198 89.15 nil 0 0 0.00

Roll_motor 90 153 206.51 nil 0 0 0.00

Iridium 146 153 335.33 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 15 15 3.48 nil 0 0 0.00

Core 2989 6 302.65 SciCon 0 0 0.00

Fast 1 0 0.00 NCP 5091 25 1895.29

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2296 2 68.39

Compass 1220 5 90.86

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

198.49 16386 -145.99 -1.59 0.00 528.6 676.3 380.8 181.8 2319.9 0.00 0.00 0 204.43 4.99 0.00 0.00 0.009 0.000 0.000 669.09 797.75 540.44 181.50 2319.56 0 0 0 15.39 30.00 30.00

204.73 18983 -145.99 -1.59 -80.00 669.1 797.8 540.4 181.3 2318.9 20.98 0.00 1 366.22 135.46 11.30 3.72 0.005 0.198 0.092 3594.12 3652.94 3535.31 1665.19 891.31 0 0 0 15.48 15.32 15.39

373.69 1028 -145.99 -1.59 0.00 3594.6 3653.2 3535.9 1665.6 891.2 38.14 -10.57 33 380.22 0.00 0.00 3.51 0.000 0.000 0.038 3595.44 3654.00 3536.88 1665.38 2381.69 0 0 0 30.00 30.00 15.78

563.79 516 -145.99 -1.59 -80.00 3595.2 3653.7 3536.8 1665.9 2382.5 57.14 -10.17 71 570.79 0.00 0.00 3.82 0.000 0.000 0.084 3597.03 3654.62 3539.44 1665.62 892.44 0 0 0 30.00 30.00 15.78

603.81 1028 -145.99 -1.59 0.00 3595.3 3653.3 3537.2 1665.4 892.4 61.24 -10.15 79 610.60 0.00 0.00 3.49 0.000 0.000 0.038 3596.38 3654.06 3538.69 1665.31 2379.50 0 0 0 30.00 30.00 15.79

793.93 292 -145.99 -1.59 80.00 3595.4 3653.9 3537.0 1665.9 2378.9 80.26 -9.97 117 800.87 0.00 0.00 3.82 0.000 0.000 0.109 3595.81 3654.25 3537.38 1665.88 3823.69 0 0 0 30.00 30.00 15.36

843.93 1060 -145.99 -1.59 0.00 3595.3 3653.2 3537.4 1665.6 3823.6 85.37 -9.93 127 850.74 0.00 0.00 3.55 0.000 0.000 0.028 3595.34 3653.12 3537.56 1665.88 2314.00 0 0 0 30.00 30.00 15.80

1033.97 292 -145.99 -1.59 80.00 3595.6 3653.9 3537.4 1665.3 2312.3 104.40 -9.66 165 1040.99 0.00 0.00 4.00 0.000 0.000 0.104 3595.12 3653.44 3536.81 1665.94 3825.00 0 0 0 30.00 30.00 15.36

1113.93 1028 -145.99 -1.59 0.00 3595.4 3653.6 3537.2 1665.6 3824.8 112.55 -10.11 181 1120.73 0.00 0.00 3.46 0.000 0.000 0.027 3595.34 3653.44 3537.25 1665.81 2314.00 0 0 0 30.00 30.00 15.83

1423.96 0 -145.99 -1.59 0.00 3595.3 3653.1 3537.4 1665.5 2312.1 143.53 -10.24 243 1425.53 0.00 0.00 0.00 0.000 0.000 0.000 3594.12 3652.38 3535.88 1665.56 2311.94 0 0 0 30.00 30.00 30.00

1729.01 260 -145.99 -1.59 80.00 3595.1 3653.1 3537.1 1665.3 2311.6 173.67 -10.12 304 1736.42 0.00 0.00 4.00 0.000 0.000 0.105 3595.22 3653.88 3536.56 1665.69 3826.00 0 0 0 30.00 30.00 15.77

1764.06 1060 -145.99 -1.59 0.00 3595.3 3653.5 3537.2 1665.9 3825.5 177.15 -10.02 311 1771.00 0.00 0.00 3.45 0.000 0.000 0.027 3595.19 3653.31 3537.06 1665.81 2315.50 0 0 0 30.00 30.00 15.87

2074.03 0 -145.99 -1.59 0.00 3595.3 3653.5 3537.1 1665.5 2315.1 207.86 -10.06 373 2075.64 0.00 0.00 0.00 0.000 0.000 0.000 3594.56 3652.94 3536.19 1665.50 2315.44 0 0 0 30.00 30.00 30.00

2379.15 292 -145.99 -1.59 80.00 3595.3 3653.4 3537.2 1665.4 2314.2 238.45 -9.88 434 2386.32 0.00 0.00 4.00 0.000 0.000 0.105 3595.84 3654.00 3537.69 1665.50 3826.25 0 0 0 30.00 30.00 15.81

2419.07 1028 -145.99 -1.59 0.00 3595.2 3653.8 3536.6 1665.8 3826.2 242.52 -10.16 442 2426.05 0.00 0.00 3.47 0.000 0.000 0.028 3596.62 3654.75 3538.50 1665.69 2317.38 0 0 0 30.00 30.00 15.85

2494 end dive: TARGET_DEPTH_EXCEEDED

state 2494 begin apogee

2496.44 10243 0.00 -0.36 0.00 3595.4 3654.1 3536.6 1665.6 1992.2 250.04 -10.06 457 2617.89 111.23 2.10 0.11 1.128 0.121 0.154 2997.53 3112.31 2882.75 1965.25 2091.38 0 0 0 11.93 15.82 15.57

2666 end apogee: CONTROL_FINISHED_OK

state 2667 begin climb

2667.60 10759 145.99 1.59 -80.00 2995.5 3110.4 2880.7 1965.1 2091.3 238.56 0.00 477 2856.27 111.89 3.16 4.16 1.097 0.070 0.108 2397.72 2517.56 2277.88 2441.88 559.50 0 0 0 12.35 15.62 15.40

2868.90 9254 152.84 1.60 0.00 2396.1 2514.8 2277.4 2441.3 558.3 213.13 9.72 481 2882.35 6.67 0.00 3.43 0.726 0.000 0.025 2376.59 2498.00 2255.19 2441.75 2072.06 0 0 0 12.19 30.00 15.57

3185.00 548 153.06 1.60 -80.00 2372.1 2492.9 2251.4 2441.9 2072.3 181.19 10.03 544 3192.21 0.00 0.00 3.96 0.000 0.000 0.105 2373.03 2493.81 2252.25 2441.38 557.56 0 0 0 30.00 30.00 15.68

3225.00 9254 160.46 1.61 0.00 2371.4 2491.4 2251.4 2441.6 557.9 177.30 9.70 552 3242.42 7.92 0.00 3.40 0.782 0.000 0.025 2344.62 2466.69 2222.56 2441.31 2072.44 0 0 0 12.12 30.00 15.73

3545.04 548 161.39 1.61 -80.00 2343.1 2465.4 2220.7 2441.3 2072.8 145.30 10.00 616 3552.27 0.00 0.00 3.95 0.000 0.000 0.104 2342.56 2464.56 2220.56 2441.56 558.06 0 0 0 30.00 30.00 15.75

3590.04 9254 169.99 1.63 0.00 2342.3 2464.2 2220.4 2441.9 558.1 140.93 9.64 625 3607.53 9.90 0.00 3.38 0.826 0.000 0.025 2306.66 2430.75 2182.56 2441.44 2072.44 0 0 0 11.96 30.00 15.82

3910.18 0 169.99 1.63 0.00 2302.7 2426.0 2179.4 2441.8 2072.2 108.72 10.12 689 3911.80 0.00 0.00 0.00 0.000 0.000 0.000 2301.94 2424.75 2179.12 2441.50 2072.38 0 0 0 30.00 30.00 30.00

4215.31 8742 173.63 1.63 -80.00 2302.3 2425.2 2179.4 2442.1 2072.1 78.27 9.87 750 4227.89 4.68 0.00 3.93 0.525 0.000 0.106 2293.34 2417.31 2169.38 2441.12 559.06 0 0 0 12.13 30.00 15.74

4305.54 1060 174.04 1.63 0.00 2291.6 2414.8 2168.4 2441.3 559.4 69.16 10.02 768 4312.44 0.00 0.00 3.39 0.000 0.000 0.025 2294.12 2417.56 2170.69 2441.12 2067.50 0 0 0 30.00 30.00 15.86

4495.55 516 174.04 1.63 -80.00 2291.4 2414.7 2168.1 2441.7 2068.8 50.27 10.17 806 4502.83 0.00 0.00 3.97 0.000 0.000 0.104 2291.81 2414.94 2168.69 2441.56 558.12 0 0 0 30.00 30.00 15.48

4525.55 1028 174.04 1.63 0.00 2291.4 2414.9 2167.8 2442.1 558.0 47.28 10.09 812 4532.54 0.00 0.00 3.41 0.000 0.000 0.025 2291.47 2414.56 2168.38 2441.31 2071.56 0 0 0 30.00 30.00 15.54

4715.61 260 174.04 1.63 80.00 2291.2 2414.6 2167.9 2441.7 2072.2 28.17 10.13 850 4722.72 0.00 0.00 3.65 0.000 0.000 0.091 2291.66 2415.00 2168.31 2442.00 3495.31 0 0 0 30.00 30.00 15.83

4795.63 1028 174.04 1.63 0.00 2291.0 2414.2 2167.9 2441.9 3495.6 20.05 10.06 866 4802.76 0.00 0.00 3.52 0.000 0.000 0.034 2292.03 2415.19 2168.88 2441.94 1991.06 0 0 0 30.00 30.00 15.52

4950 end climb: SURFACE_DEPTH_REACHED

state 4950 begin surface coast

5010 end surface coast: CONTROL_FINISHED_OK

state 5011 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	93	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	60.288807	SEABIRD_T_I	2.932871e-05
D_OFFGRID	1000	PITCH_GAIN	14	FG_AHR_24V	125.44395	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	37.0
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	030723,214409,6311.128,-1712.961,18,1.2,18,-9.2	TGT_RADIUS	3000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.73	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-51.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030723,214748,6311.146,-1712.912,3,1.2,6,-9.2	MHEAD_RNG_PITCHd_Wd	261.7,66803,-19.2,-10.040,-24.79,2220,0.152
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	0.0,1.026521	_10V_AH	14.89,0.000
SURF	forcing	FG_AHR_24Vo	125.601
SM_CCo	5402.23,298.64,0.836,0,533.8,687.8,379.8,604.96	FG_AHR_10Vo	60.344
SM_GC	0.69,298.64,13.71,0.90,0.836,0.034,0.058,533.8,687.8,379.8,190.4,2391.5,0,0,0,12.03,15.83,15.91	MEM0	60108,1,0,0
SUPER	19,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	6309.93,-1710.72,030723,201006	MEM2	993404,42,52144,109
TCM_TEMP	11.18	DATA_FILE_SIZE	32170,909
XPDR_PINGS	0,10.3,13.6	CAP_FILE_SIZE	215907,0
CP_FREE	15886909440.000000	SDSIZE	3887104,3848320
CP_POWER	293.030000	SDFILEDIR	512,95
CP_POWER1	0.000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
HUMID	52.07	IMPLIED_C_PITCH	2054,12.48,744,0.0,0.00
TEMP	9.04	IMPLIED_C_VBD	3052,24.465286,744,0
INTERNAL_PRESSURE	8.08401	GPS	030723,231900,6311.341,-1712.356,26,1.5,26,-9.2
_24V_AH	14.86,130.328

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	691	1128	11589.79	SBE_CT	1265	24	451.43
Pitch_motor	30	198	89.15	nil	0	0	0.00
Roll_motor	90	153	206.51	nil	0	0	0.00
Iridium	146	153	335.33	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	15	15	3.48	nil	0	0	0.00
Core	2989	6	302.65	SciCon	0	0	0.00
Fast	1	0	0.00	NCP	5091	25	1895.29
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2296	2	68.39
Compass	1220	5	90.86
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
198.49	16386	-145.99	-1.59	0.00	528.6	676.3	380.8	181.8	2319.9	0.00	0.00	0	204.43	4.99	0.00	0.00	0.009	0.000	0.000	669.09	797.75	540.44	181.50	2319.56	0	0	0	15.39	30.00	30.00
204.73	18983	-145.99	-1.59	-80.00	669.1	797.8	540.4	181.3	2318.9	20.98	0.00	1	366.22	135.46	11.30	3.72	0.005	0.198	0.092	3594.12	3652.94	3535.31	1665.19	891.31	0	0	0	15.48	15.32	15.39
373.69	1028	-145.99	-1.59	0.00	3594.6	3653.2	3535.9	1665.6	891.2	38.14	-10.57	33	380.22	0.00	0.00	3.51	0.000	0.000	0.038	3595.44	3654.00	3536.88	1665.38	2381.69	0	0	0	30.00	30.00	15.78
563.79	516	-145.99	-1.59	-80.00	3595.2	3653.7	3536.8	1665.9	2382.5	57.14	-10.17	71	570.79	0.00	0.00	3.82	0.000	0.000	0.084	3597.03	3654.62	3539.44	1665.62	892.44	0	0	0	30.00	30.00	15.78
603.81	1028	-145.99	-1.59	0.00	3595.3	3653.3	3537.2	1665.4	892.4	61.24	-10.15	79	610.60	0.00	0.00	3.49	0.000	0.000	0.038	3596.38	3654.06	3538.69	1665.31	2379.50	0	0	0	30.00	30.00	15.79
793.93	292	-145.99	-1.59	80.00	3595.4	3653.9	3537.0	1665.9	2378.9	80.26	-9.97	117	800.87	0.00	0.00	3.82	0.000	0.000	0.109	3595.81	3654.25	3537.38	1665.88	3823.69	0	0	0	30.00	30.00	15.36
843.93	1060	-145.99	-1.59	0.00	3595.3	3653.2	3537.4	1665.6	3823.6	85.37	-9.93	127	850.74	0.00	0.00	3.55	0.000	0.000	0.028	3595.34	3653.12	3537.56	1665.88	2314.00	0	0	0	30.00	30.00	15.80
1033.97	292	-145.99	-1.59	80.00	3595.6	3653.9	3537.4	1665.3	2312.3	104.40	-9.66	165	1040.99	0.00	0.00	4.00	0.000	0.000	0.104	3595.12	3653.44	3536.81	1665.94	3825.00	0	0	0	30.00	30.00	15.36
1113.93	1028	-145.99	-1.59	0.00	3595.4	3653.6	3537.2	1665.6	3824.8	112.55	-10.11	181	1120.73	0.00	0.00	3.46	0.000	0.000	0.027	3595.34	3653.44	3537.25	1665.81	2314.00	0	0	0	30.00	30.00	15.83
1423.96	0	-145.99	-1.59	0.00	3595.3	3653.1	3537.4	1665.5	2312.1	143.53	-10.24	243	1425.53	0.00	0.00	0.00	0.000	0.000	0.000	3594.12	3652.38	3535.88	1665.56	2311.94	0	0	0	30.00	30.00	30.00
1729.01	260	-145.99	-1.59	80.00	3595.1	3653.1	3537.1	1665.3	2311.6	173.67	-10.12	304	1736.42	0.00	0.00	4.00	0.000	0.000	0.105	3595.22	3653.88	3536.56	1665.69	3826.00	0	0	0	30.00	30.00	15.77
1764.06	1060	-145.99	-1.59	0.00	3595.3	3653.5	3537.2	1665.9	3825.5	177.15	-10.02	311	1771.00	0.00	0.00	3.45	0.000	0.000	0.027	3595.19	3653.31	3537.06	1665.81	2315.50	0	0	0	30.00	30.00	15.87
2074.03	0	-145.99	-1.59	0.00	3595.3	3653.5	3537.1	1665.5	2315.1	207.86	-10.06	373	2075.64	0.00	0.00	0.00	0.000	0.000	0.000	3594.56	3652.94	3536.19	1665.50	2315.44	0	0	0	30.00	30.00	30.00
2379.15	292	-145.99	-1.59	80.00	3595.3	3653.4	3537.2	1665.4	2314.2	238.45	-9.88	434	2386.32	0.00	0.00	4.00	0.000	0.000	0.105	3595.84	3654.00	3537.69	1665.50	3826.25	0	0	0	30.00	30.00	15.81
2419.07	1028	-145.99	-1.59	0.00	3595.2	3653.8	3536.6	1665.8	3826.2	242.52	-10.16	442	2426.05	0.00	0.00	3.47	0.000	0.000	0.028	3596.62	3654.75	3538.50	1665.69	2317.38	0	0	0	30.00	30.00	15.85
2494	end dive: TARGET_DEPTH_EXCEEDED
state	2494	begin apogee
2496.44	10243	0.00	-0.36	0.00	3595.4	3654.1	3536.6	1665.6	1992.2	250.04	-10.06	457	2617.89	111.23	2.10	0.11	1.128	0.121	0.154	2997.53	3112.31	2882.75	1965.25	2091.38	0	0	0	11.93	15.82	15.57
2666	end apogee: CONTROL_FINISHED_OK
state	2667	begin climb
2667.60	10759	145.99	1.59	-80.00	2995.5	3110.4	2880.7	1965.1	2091.3	238.56	0.00	477	2856.27	111.89	3.16	4.16	1.097	0.070	0.108	2397.72	2517.56	2277.88	2441.88	559.50	0	0	0	12.35	15.62	15.40
2868.90	9254	152.84	1.60	0.00	2396.1	2514.8	2277.4	2441.3	558.3	213.13	9.72	481	2882.35	6.67	0.00	3.43	0.726	0.000	0.025	2376.59	2498.00	2255.19	2441.75	2072.06	0	0	0	12.19	30.00	15.57
3185.00	548	153.06	1.60	-80.00	2372.1	2492.9	2251.4	2441.9	2072.3	181.19	10.03	544	3192.21	0.00	0.00	3.96	0.000	0.000	0.105	2373.03	2493.81	2252.25	2441.38	557.56	0	0	0	30.00	30.00	15.68
3225.00	9254	160.46	1.61	0.00	2371.4	2491.4	2251.4	2441.6	557.9	177.30	9.70	552	3242.42	7.92	0.00	3.40	0.782	0.000	0.025	2344.62	2466.69	2222.56	2441.31	2072.44	0	0	0	12.12	30.00	15.73
3545.04	548	161.39	1.61	-80.00	2343.1	2465.4	2220.7	2441.3	2072.8	145.30	10.00	616	3552.27	0.00	0.00	3.95	0.000	0.000	0.104	2342.56	2464.56	2220.56	2441.56	558.06	0	0	0	30.00	30.00	15.75
3590.04	9254	169.99	1.63	0.00	2342.3	2464.2	2220.4	2441.9	558.1	140.93	9.64	625	3607.53	9.90	0.00	3.38	0.826	0.000	0.025	2306.66	2430.75	2182.56	2441.44	2072.44	0	0	0	11.96	30.00	15.82
3910.18	0	169.99	1.63	0.00	2302.7	2426.0	2179.4	2441.8	2072.2	108.72	10.12	689	3911.80	0.00	0.00	0.00	0.000	0.000	0.000	2301.94	2424.75	2179.12	2441.50	2072.38	0	0	0	30.00	30.00	30.00
4215.31	8742	173.63	1.63	-80.00	2302.3	2425.2	2179.4	2442.1	2072.1	78.27	9.87	750	4227.89	4.68	0.00	3.93	0.525	0.000	0.106	2293.34	2417.31	2169.38	2441.12	559.06	0	0	0	12.13	30.00	15.74
4305.54	1060	174.04	1.63	0.00	2291.6	2414.8	2168.4	2441.3	559.4	69.16	10.02	768	4312.44	0.00	0.00	3.39	0.000	0.000	0.025	2294.12	2417.56	2170.69	2441.12	2067.50	0	0	0	30.00	30.00	15.86
4495.55	516	174.04	1.63	-80.00	2291.4	2414.7	2168.1	2441.7	2068.8	50.27	10.17	806	4502.83	0.00	0.00	3.97	0.000	0.000	0.104	2291.81	2414.94	2168.69	2441.56	558.12	0	0	0	30.00	30.00	15.48
4525.55	1028	174.04	1.63	0.00	2291.4	2414.9	2167.8	2442.1	558.0	47.28	10.09	812	4532.54	0.00	0.00	3.41	0.000	0.000	0.025	2291.47	2414.56	2168.38	2441.31	2071.56	0	0	0	30.00	30.00	15.54
4715.61	260	174.04	1.63	80.00	2291.2	2414.6	2167.9	2441.7	2072.2	28.17	10.13	850	4722.72	0.00	0.00	3.65	0.000	0.000	0.091	2291.66	2415.00	2168.31	2442.00	3495.31	0	0	0	30.00	30.00	15.83
4795.63	1028	174.04	1.63	0.00	2291.0	2414.2	2167.9	2441.9	3495.6	20.05	10.06	866	4802.76	0.00	0.00	3.52	0.000	0.000	0.034	2292.03	2415.19	2168.88	2441.94	1991.06	0	0	0	30.00	30.00	15.52
4950	end climb: SURFACE_DEPTH_REACHED
state	4950	begin surface coast
5010	end surface coast: CONTROL_FINISHED_OK
state	5011	begin surface