Glider dive log

NORSE Jun23 * SG248 * Dive index * Mission links * Dive 202 * 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 202 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 270 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE3 -1

D_ABORT 500 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 90 T_RSLEEP 2 LOITER_D_TOP 0 GPS_DEVICE 48

T_MISSION 120 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 70.662125 SEABIRD_T_I 2.932871e-05

D_OFFGRID 1000 PITCH_GAIN 14 FG_AHR_24V 147.92627 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 285.0

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 270 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 70.662125 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

CALL_NDIVES 1 FG_AHR_24V 147.92627 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 90

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 120

CP_RECORDABOVE 1000.0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_DEVICE 34 T_NO_W 120

CP_STARTS 285.0 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 202 NAV2_DEVICE -1 SC_RECORDABOVE 2000.0

D_ABORT 500 NAV_DEVICE -1 SC_XMITPROFILE 3.0

D_BOOST 0 NAV_MODE 0 SEABIRD_C_G -9.9958668

Pre-dive calculations and measurements:

GPS1 170723,112000,6306.440,-1650.470,26,0.9,26,-9.0 TGT_RADIUS 2000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 4.02 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -45.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 170723,112337,6306.452,-1650.438,2,0.6,4,-9.0 MHEAD_RNG_PITCHd_Wd 293.5,2564,-19.1,-10.000,-24.73,2228,0.147

SPEED_LIMITS 0.173,0.217 D_GRID 1000

TGT_NAME PICKUP 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 6306.800,-1653.400 OSC 8000307

Post-dive calculations and measurements:

FINISH 0.0,1.027234 FG_AHR_24Vo 148.095

SURF forcing FG_AHR_10Vo 70.723

SM_CCo 5818.72,312.62,0.876,0,534.4,677.2,391.6,604.80 MEM0 60108,1,0,0

SM_GC 4.02,312.62,14.40,0.69,0.876,0.059,0.063,534.4,677.2,391.6,182.9,2390.7,0,0,0,11.72,15.79,15.88 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 995848,35,50500,76

IRIDIUM_FIX 6304.58,-1657.43,170723,094009 DATA_FILE_SIZE 35298,981

TCM_TEMP 11.14 CAP_FILE_SIZE 214747,0

XPDR_PINGS 0,10.3,13.6 SDSIZE 3887104,3817760

HUMID 52.24 SDFILEDIR 1032,204

TEMP 8.95 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.07488 IMPLIED_C_PITCH 2055,12.52,802,0.0,0.00

_24V_AH 14.89,154.012 IMPLIED_C_VBD 3054,15.842411,802,0

_10V_AH 14.92,0.000 GPS 170723,130143,6306.298,-1650.272,2,1.1,5,-9.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 681 1206 12237.16 SBE_CT 1362 24 487.04

Pitch_motor 30 197 90.38 nil 0 0 0.00

Roll_motor 75 146 165.17 nil 0 0 0.00

Iridium 116 152 264.42 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.06 nil 0 0 0.00

Core 2945 6 298.87 SciCon 0 0 0.00

Fast 3 0 0.00 NCP 5538 25 2065.78

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2723 2 81.28

Compass 1315 5 98.15

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17.35 16386 -145.99 -1.59 0.00 527.1 660.6 393.7 181.6 2322.4 0.00 0.00 0 33.69 15.01 0.00 0.00 0.006 0.000 0.000 949.62 1057.56 841.69 181.56 2322.62 0 0 0 15.26 30.00 30.00

34.00 18983 -145.99 -1.59 -80.00 949.6 1057.1 842.1 181.5 2322.1 3.13 -9.77 3 178.83 119.62 11.20 3.75 0.005 0.197 0.084 3594.34 3647.56 3541.12 1667.19 891.44 0 0 0 15.36 15.49 15.25

181.36 1028 -145.99 -1.59 0.00 3594.2 3647.2 3541.3 1667.6 891.9 17.94 -10.02 31 188.20 0.00 0.00 3.55 0.000 0.000 0.035 3594.09 3646.62 3541.56 1667.69 2383.94 0 0 0 30.00 30.00 15.37

371.43 516 -145.99 -1.59 -80.00 3594.7 3646.9 3542.4 1667.1 2384.0 37.20 -10.46 69 378.41 0.00 0.00 3.89 0.000 0.000 0.080 3594.66 3646.88 3542.44 1667.62 892.25 0 0 0 30.00 30.00 15.71

606.56 1060 -145.99 -1.59 0.00 3594.8 3646.6 3542.9 1667.5 892.3 60.63 -9.67 116 613.33 0.00 0.00 3.51 0.000 0.000 0.036 3595.03 3647.19 3542.88 1667.56 2381.31 0 0 0 30.00 30.00 15.80

796.63 548 -145.99 -1.59 -80.00 3594.7 3646.8 3542.6 1667.0 2381.1 79.46 -9.90 154 803.56 0.00 0.00 3.87 0.000 0.000 0.080 3595.88 3647.06 3544.69 1667.44 892.62 0 0 0 30.00 30.00 15.27

871.60 1028 -145.99 -1.59 0.00 3594.9 3646.8 3543.1 1668.0 892.5 86.88 -10.01 169 878.39 0.00 0.00 3.48 0.000 0.000 0.035 3595.75 3647.19 3544.31 1666.75 2380.88 0 0 0 30.00 30.00 15.26

1061.67 0 -145.99 -1.59 0.00 3594.9 3647.1 3542.6 1667.1 2381.4 105.85 -10.02 207 1063.23 0.00 0.00 0.00 0.000 0.000 0.000 3593.66 3645.25 3542.06 1667.75 2381.81 0 0 0 30.00 30.00 30.00

1366.83 32 -145.99 -1.59 0.00 3595.0 3647.2 3542.9 1667.6 2381.2 136.35 -9.65 268 1368.39 0.00 0.00 0.00 0.000 0.000 0.000 3593.62 3646.00 3541.25 1667.88 2381.25 0 0 0 30.00 30.00 30.00

1671.90 516 -145.99 -1.59 -80.00 3595.1 3647.0 3543.1 1667.6 2381.2 167.06 -10.08 329 1679.10 0.00 0.00 3.85 0.000 0.000 0.081 3594.78 3646.38 3543.19 1668.00 892.31 0 0 0 30.00 30.00 15.79

1711.91 1028 -145.99 -1.59 0.00 3594.8 3646.8 3542.8 1667.5 892.5 171.06 -10.01 337 1718.86 0.00 0.00 3.49 0.000 0.000 0.035 3594.66 3646.12 3543.19 1667.44 2381.56 0 0 0 30.00 30.00 15.80

2022.00 0 -145.99 -1.59 0.00 3594.9 3646.9 3543.0 1667.3 2381.6 202.03 -10.01 399 2023.60 0.00 0.00 0.00 0.000 0.000 0.000 3594.09 3645.75 3542.44 1668.06 2381.69 0 0 0 30.00 30.00 30.00

2327.12 548 -145.99 -1.59 -80.00 3594.9 3646.9 3542.9 1667.6 2381.4 232.46 -9.84 460 2334.26 0.00 0.00 3.88 0.000 0.000 0.082 3595.84 3646.25 3545.44 1666.81 892.44 0 0 0 30.00 30.00 15.70

2387.07 1028 -145.99 -1.59 0.00 3594.9 3646.8 3543.0 1667.2 892.4 238.48 -10.06 472 2394.03 0.00 0.00 3.48 0.000 0.000 0.036 3594.34 3645.88 3542.81 1667.38 2382.50 0 0 0 30.00 30.00 15.81

2707 end dive: TARGET_DEPTH_EXCEEDED

state 2707 begin apogee

2709.50 10243 0.00 -0.36 0.00 3595.0 3646.9 3543.1 1668.1 1988.4 270.27 -10.13 506 2829.87 110.07 2.05 0.12 1.206 0.118 0.146 2998.47 3111.19 2885.75 1964.62 2090.69 0 0 0 11.54 15.79 15.52

2879 end apogee: CONTROL_FINISHED_OK

state 2879 begin climb

2879.94 10243 145.99 1.59 0.00 2995.7 3108.4 2882.9 1964.9 2090.4 260.17 0.00 511 3067.95 112.83 3.13 0.00 1.177 0.070 0.000 2402.44 2527.12 2277.75 2440.94 2091.94 0 0 0 12.04 15.58 30.00

3370.63 548 150.66 1.59 -80.00 2393.7 2515.5 2271.8 2442.2 2092.5 203.38 9.78 573 3377.92 0.00 0.00 4.14 0.000 0.000 0.103 2393.56 2515.44 2271.69 2442.12 558.88 0 0 0 30.00 30.00 15.59

3450.59 1028 150.66 1.59 0.00 2392.6 2513.6 2271.5 2441.9 558.8 195.33 10.18 589 3457.56 0.00 0.00 3.41 0.000 0.000 0.023 2393.03 2514.19 2271.88 2441.75 2072.12 0 0 0 30.00 30.00 15.25

3760.70 516 150.66 1.59 -80.00 2392.2 2514.0 2270.5 2441.8 2072.9 164.31 10.16 651 3768.00 0.00 0.00 4.03 0.000 0.000 0.100 2391.72 2513.88 2269.56 2441.50 559.19 0 0 0 30.00 30.00 15.66

3820.77 9254 152.03 1.59 0.00 2391.6 2513.6 2269.6 2442.2 559.2 158.40 9.94 663 3833.03 5.43 0.00 3.38 0.676 0.000 0.023 2380.66 2503.50 2257.81 2440.50 2071.56 0 0 0 11.89 30.00 15.81

4135.82 0 152.03 1.59 0.00 2378.3 2500.4 2256.1 2442.2 2071.9 126.93 10.01 726 4137.43 0.00 0.00 0.00 0.000 0.000 0.000 2376.72 2499.38 2254.06 2442.25 2072.19 0 0 0 30.00 30.00 30.00

4440.93 516 152.03 1.59 -80.00 2378.0 2500.3 2255.7 2442.1 2072.1 96.08 10.20 787 4448.22 0.00 0.00 4.05 0.000 0.000 0.100 2378.12 2500.69 2255.56 2442.00 558.81 0 0 0 30.00 30.00 15.65

4530.96 1028 152.03 1.59 0.00 2377.3 2498.9 2255.7 2441.9 558.9 87.16 10.04 805 4537.85 0.00 0.00 3.38 0.000 0.000 0.023 2377.88 2499.50 2256.25 2441.00 2071.00 0 0 0 30.00 30.00 15.79

4721.02 516 152.03 1.59 -80.00 2377.3 2499.2 2255.5 2442.1 2072.2 68.13 10.11 843 4728.33 0.00 0.00 4.02 0.000 0.000 0.100 2377.34 2499.44 2255.25 2442.12 556.69 0 0 0 30.00 30.00 15.70

4766.08 9254 156.05 1.60 0.00 2376.9 2498.1 2255.7 2442.0 556.5 63.73 9.81 852 4778.33 5.62 0.00 3.38 0.656 0.000 0.022 2362.81 2485.56 2240.06 2442.00 2072.75 0 0 0 11.89 30.00 15.86

4961.07 0 156.05 1.60 0.00 2361.7 2484.4 2238.9 2441.6 2074.1 44.12 10.13 891 4962.68 0.00 0.00 0.00 0.000 0.000 0.000 2360.81 2483.75 2237.88 2442.38 2073.69 0 0 0 30.00 30.00 30.00

5146.10 516 156.05 1.60 -80.00 2361.7 2484.7 2238.7 2442.0 2074.1 25.43 10.12 928 5153.41 0.00 0.00 4.03 0.000 0.000 0.100 2362.69 2484.12 2241.25 2441.25 558.94 0 0 0 30.00 30.00 15.67

5221.10 1028 156.05 1.60 0.00 2361.5 2483.8 2239.1 2442.8 559.1 17.98 10.20 943 5228.02 0.00 0.00 3.39 0.000 0.000 0.023 2362.28 2484.31 2240.25 2441.06 2072.25 0 0 0 30.00 30.00 15.81

5356 end climb: SURFACE_DEPTH_REACHED

state 5356 begin surface coast

5411 end surface coast: CONTROL_FINISHED_OK

state 5411 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	202	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	270	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE3	-1
D_ABORT	500	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	90	T_RSLEEP	2	LOITER_D_TOP	0	GPS_DEVICE	48
T_MISSION	120	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	70.662125	SEABIRD_T_I	2.932871e-05
D_OFFGRID	1000	PITCH_GAIN	14	FG_AHR_24V	147.92627	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	285.0
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	170723,112000,6306.440,-1650.470,26,0.9,26,-9.0	TGT_RADIUS	2000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	4.02	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-45.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	170723,112337,6306.452,-1650.438,2,0.6,4,-9.0	MHEAD_RNG_PITCHd_Wd	293.5,2564,-19.1,-10.000,-24.73,2228,0.147
SPEED_LIMITS	0.173,0.217	D_GRID	1000
TGT_NAME	PICKUP	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	6306.800,-1653.400	OSC	8000307

FINISH	0.0,1.027234	FG_AHR_24Vo	148.095
SURF	forcing	FG_AHR_10Vo	70.723
SM_CCo	5818.72,312.62,0.876,0,534.4,677.2,391.6,604.80	MEM0	60108,1,0,0
SM_GC	4.02,312.62,14.40,0.69,0.876,0.059,0.063,534.4,677.2,391.6,182.9,2390.7,0,0,0,11.72,15.79,15.88	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	995848,35,50500,76
IRIDIUM_FIX	6304.58,-1657.43,170723,094009	DATA_FILE_SIZE	35298,981
TCM_TEMP	11.14	CAP_FILE_SIZE	214747,0
XPDR_PINGS	0,10.3,13.6	SDSIZE	3887104,3817760
HUMID	52.24	SDFILEDIR	1032,204
TEMP	8.95	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.07488	IMPLIED_C_PITCH	2055,12.52,802,0.0,0.00
_24V_AH	14.89,154.012	IMPLIED_C_VBD	3054,15.842411,802,0
_10V_AH	14.92,0.000	GPS	170723,130143,6306.298,-1650.272,2,1.1,5,-9.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	681	1206	12237.16	SBE_CT	1362	24	487.04
Pitch_motor	30	197	90.38	nil	0	0	0.00
Roll_motor	75	146	165.17	nil	0	0	0.00
Iridium	116	152	264.42	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.06	nil	0	0	0.00
Core	2945	6	298.87	SciCon	0	0	0.00
Fast	3	0	0.00	NCP	5538	25	2065.78
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2723	2	81.28
Compass	1315	5	98.15
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17.35	16386	-145.99	-1.59	0.00	527.1	660.6	393.7	181.6	2322.4	0.00	0.00	0	33.69	15.01	0.00	0.00	0.006	0.000	0.000	949.62	1057.56	841.69	181.56	2322.62	0	0	0	15.26	30.00	30.00
34.00	18983	-145.99	-1.59	-80.00	949.6	1057.1	842.1	181.5	2322.1	3.13	-9.77	3	178.83	119.62	11.20	3.75	0.005	0.197	0.084	3594.34	3647.56	3541.12	1667.19	891.44	0	0	0	15.36	15.49	15.25
181.36	1028	-145.99	-1.59	0.00	3594.2	3647.2	3541.3	1667.6	891.9	17.94	-10.02	31	188.20	0.00	0.00	3.55	0.000	0.000	0.035	3594.09	3646.62	3541.56	1667.69	2383.94	0	0	0	30.00	30.00	15.37
371.43	516	-145.99	-1.59	-80.00	3594.7	3646.9	3542.4	1667.1	2384.0	37.20	-10.46	69	378.41	0.00	0.00	3.89	0.000	0.000	0.080	3594.66	3646.88	3542.44	1667.62	892.25	0	0	0	30.00	30.00	15.71
606.56	1060	-145.99	-1.59	0.00	3594.8	3646.6	3542.9	1667.5	892.3	60.63	-9.67	116	613.33	0.00	0.00	3.51	0.000	0.000	0.036	3595.03	3647.19	3542.88	1667.56	2381.31	0	0	0	30.00	30.00	15.80
796.63	548	-145.99	-1.59	-80.00	3594.7	3646.8	3542.6	1667.0	2381.1	79.46	-9.90	154	803.56	0.00	0.00	3.87	0.000	0.000	0.080	3595.88	3647.06	3544.69	1667.44	892.62	0	0	0	30.00	30.00	15.27
871.60	1028	-145.99	-1.59	0.00	3594.9	3646.8	3543.1	1668.0	892.5	86.88	-10.01	169	878.39	0.00	0.00	3.48	0.000	0.000	0.035	3595.75	3647.19	3544.31	1666.75	2380.88	0	0	0	30.00	30.00	15.26
1061.67	0	-145.99	-1.59	0.00	3594.9	3647.1	3542.6	1667.1	2381.4	105.85	-10.02	207	1063.23	0.00	0.00	0.00	0.000	0.000	0.000	3593.66	3645.25	3542.06	1667.75	2381.81	0	0	0	30.00	30.00	30.00
1366.83	32	-145.99	-1.59	0.00	3595.0	3647.2	3542.9	1667.6	2381.2	136.35	-9.65	268	1368.39	0.00	0.00	0.00	0.000	0.000	0.000	3593.62	3646.00	3541.25	1667.88	2381.25	0	0	0	30.00	30.00	30.00
1671.90	516	-145.99	-1.59	-80.00	3595.1	3647.0	3543.1	1667.6	2381.2	167.06	-10.08	329	1679.10	0.00	0.00	3.85	0.000	0.000	0.081	3594.78	3646.38	3543.19	1668.00	892.31	0	0	0	30.00	30.00	15.79
1711.91	1028	-145.99	-1.59	0.00	3594.8	3646.8	3542.8	1667.5	892.5	171.06	-10.01	337	1718.86	0.00	0.00	3.49	0.000	0.000	0.035	3594.66	3646.12	3543.19	1667.44	2381.56	0	0	0	30.00	30.00	15.80
2022.00	0	-145.99	-1.59	0.00	3594.9	3646.9	3543.0	1667.3	2381.6	202.03	-10.01	399	2023.60	0.00	0.00	0.00	0.000	0.000	0.000	3594.09	3645.75	3542.44	1668.06	2381.69	0	0	0	30.00	30.00	30.00
2327.12	548	-145.99	-1.59	-80.00	3594.9	3646.9	3542.9	1667.6	2381.4	232.46	-9.84	460	2334.26	0.00	0.00	3.88	0.000	0.000	0.082	3595.84	3646.25	3545.44	1666.81	892.44	0	0	0	30.00	30.00	15.70
2387.07	1028	-145.99	-1.59	0.00	3594.9	3646.8	3543.0	1667.2	892.4	238.48	-10.06	472	2394.03	0.00	0.00	3.48	0.000	0.000	0.036	3594.34	3645.88	3542.81	1667.38	2382.50	0	0	0	30.00	30.00	15.81
2707	end dive: TARGET_DEPTH_EXCEEDED
state	2707	begin apogee
2709.50	10243	0.00	-0.36	0.00	3595.0	3646.9	3543.1	1668.1	1988.4	270.27	-10.13	506	2829.87	110.07	2.05	0.12	1.206	0.118	0.146	2998.47	3111.19	2885.75	1964.62	2090.69	0	0	0	11.54	15.79	15.52
2879	end apogee: CONTROL_FINISHED_OK
state	2879	begin climb
2879.94	10243	145.99	1.59	0.00	2995.7	3108.4	2882.9	1964.9	2090.4	260.17	0.00	511	3067.95	112.83	3.13	0.00	1.177	0.070	0.000	2402.44	2527.12	2277.75	2440.94	2091.94	0	0	0	12.04	15.58	30.00
3370.63	548	150.66	1.59	-80.00	2393.7	2515.5	2271.8	2442.2	2092.5	203.38	9.78	573	3377.92	0.00	0.00	4.14	0.000	0.000	0.103	2393.56	2515.44	2271.69	2442.12	558.88	0	0	0	30.00	30.00	15.59
3450.59	1028	150.66	1.59	0.00	2392.6	2513.6	2271.5	2441.9	558.8	195.33	10.18	589	3457.56	0.00	0.00	3.41	0.000	0.000	0.023	2393.03	2514.19	2271.88	2441.75	2072.12	0	0	0	30.00	30.00	15.25
3760.70	516	150.66	1.59	-80.00	2392.2	2514.0	2270.5	2441.8	2072.9	164.31	10.16	651	3768.00	0.00	0.00	4.03	0.000	0.000	0.100	2391.72	2513.88	2269.56	2441.50	559.19	0	0	0	30.00	30.00	15.66
3820.77	9254	152.03	1.59	0.00	2391.6	2513.6	2269.6	2442.2	559.2	158.40	9.94	663	3833.03	5.43	0.00	3.38	0.676	0.000	0.023	2380.66	2503.50	2257.81	2440.50	2071.56	0	0	0	11.89	30.00	15.81
4135.82	0	152.03	1.59	0.00	2378.3	2500.4	2256.1	2442.2	2071.9	126.93	10.01	726	4137.43	0.00	0.00	0.00	0.000	0.000	0.000	2376.72	2499.38	2254.06	2442.25	2072.19	0	0	0	30.00	30.00	30.00
4440.93	516	152.03	1.59	-80.00	2378.0	2500.3	2255.7	2442.1	2072.1	96.08	10.20	787	4448.22	0.00	0.00	4.05	0.000	0.000	0.100	2378.12	2500.69	2255.56	2442.00	558.81	0	0	0	30.00	30.00	15.65
4530.96	1028	152.03	1.59	0.00	2377.3	2498.9	2255.7	2441.9	558.9	87.16	10.04	805	4537.85	0.00	0.00	3.38	0.000	0.000	0.023	2377.88	2499.50	2256.25	2441.00	2071.00	0	0	0	30.00	30.00	15.79
4721.02	516	152.03	1.59	-80.00	2377.3	2499.2	2255.5	2442.1	2072.2	68.13	10.11	843	4728.33	0.00	0.00	4.02	0.000	0.000	0.100	2377.34	2499.44	2255.25	2442.12	556.69	0	0	0	30.00	30.00	15.70
4766.08	9254	156.05	1.60	0.00	2376.9	2498.1	2255.7	2442.0	556.5	63.73	9.81	852	4778.33	5.62	0.00	3.38	0.656	0.000	0.022	2362.81	2485.56	2240.06	2442.00	2072.75	0	0	0	11.89	30.00	15.86
4961.07	0	156.05	1.60	0.00	2361.7	2484.4	2238.9	2441.6	2074.1	44.12	10.13	891	4962.68	0.00	0.00	0.00	0.000	0.000	0.000	2360.81	2483.75	2237.88	2442.38	2073.69	0	0	0	30.00	30.00	30.00
5146.10	516	156.05	1.60	-80.00	2361.7	2484.7	2238.7	2442.0	2074.1	25.43	10.12	928	5153.41	0.00	0.00	4.03	0.000	0.000	0.100	2362.69	2484.12	2241.25	2441.25	558.94	0	0	0	30.00	30.00	15.67
5221.10	1028	156.05	1.60	0.00	2361.5	2483.8	2239.1	2442.8	559.1	17.98	10.20	943	5228.02	0.00	0.00	3.39	0.000	0.000	0.023	2362.28	2484.31	2240.25	2441.06	2072.25	0	0	0	30.00	30.00	15.81
5356	end climb: SURFACE_DEPTH_REACHED
state	5356	begin surface coast
5411	end surface coast: CONTROL_FINISHED_OK
state	5411	begin surface