Glider dive log

NORSE Jun23 * SG248 * Dive index * Mission links * Dive 203 * 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 203 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 70.723763 SEABIRD_T_I 2.932871e-05

D_OFFGRID 1000 PITCH_GAIN 14 FG_AHR_24V 148.10042 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 287.0

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 70.723763 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

CALL_NDIVES 1 FG_AHR_24V 148.10042 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 287.0 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 203 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 170723,130143,6306.298,-1650.272,2,1.1,5,-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 -45.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 170723,130503,6306.311,-1650.242,2,1.1,4,-9.0 MHEAD_RNG_PITCHd_Wd 297.9,2796,-19.1,-10.000,-24.73,2228,0.151

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 8000266

Post-dive calculations and measurements:

FINISH 2.7,1.027194 _10V_AH 14.88,0.000

SURF forcing FG_AHR_24Vo 148.264

SM_CCo 5809.73,309.97,0.863,0,534.1,677.6,390.6,604.89 FG_AHR_10Vo 70.783

SM_GC 4.02,309.97,14.39,4.18,0.863,0.060,0.030,534.1,677.6,390.6,182.8,2387.0,0,0,0,11.93,15.80,15.89 MEM0 60108,1,0,0

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

IRIDIUM_FIX 6304.41,-1642.41,170723,112149 MEM2 995952,30,50496,76

TCM_TEMP 11.18 DATA_FILE_SIZE 35327,1004

XPDR_PINGS 0,10.3,13.6 CAP_FILE_SIZE 211541,0

CP_FREE 15808823296.000000 SDSIZE 3887104,3817568

CP_POWER 293.030000 SDFILEDIR 1036,205

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

HUMID 52.26 IMPLIED_C_PITCH 2055,12.55,814,0.0,0.00

TEMP 8.97 IMPLIED_C_VBD 3052,14.465044,814,0

INTERNAL_PRESSURE 8.07429 GPS 170723,144300,6306.188,-1650.538,21,0.9,21,-9.0

_24V_AH 14.84,154.189

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 680 1205 12181.11 SBE_CT 1389 24 495.06

Pitch_motor 30 177 80.51 nil 0 0 0.00

Roll_motor 75 153 172.48 nil 0 0 0.00

Iridium 125 167 313.03 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 2.93 nil 0 0 0.00

Core 2896 6 293.08 SciCon 0 0 0.00

Fast 3 0 0.00 NCP 5483 25 2039.73

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2755 2 82.01

Compass 1345 5 100.12

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

28 end surface: CONTROL_FINISHED_OK

state 28 begin dive

29.75 16386 -145.99 -1.59 0.00 526.1 667.2 385.0 182.9 2309.3 0.00 0.00 0 35.70 5.01 0.00 0.00 0.009 0.000 0.000 668.59 797.06 540.12 182.81 2309.31 0 0 0 15.23 30.00 30.00

36.00 18983 -145.99 -1.59 -80.00 668.7 797.5 539.9 182.8 2309.2 3.33 0.00 1 192.30 131.26 11.06 3.74 0.005 0.177 0.085 3593.78 3647.25 3540.31 1667.38 891.12 0 0 0 15.35 15.20 15.22

419.92 1060 -145.99 -1.59 0.00 3594.1 3647.2 3541.0 1668.2 891.1 41.74 -9.67 76 426.70 0.00 0.00 3.55 0.000 0.000 0.037 3593.94 3647.00 3540.88 1667.75 2381.50 0 0 0 30.00 30.00 15.72

609.87 516 -145.99 -1.59 -80.00 3594.1 3646.8 3541.4 1667.8 2381.4 61.05 -10.10 114 616.84 0.00 0.00 3.89 0.000 0.000 0.080 3594.34 3647.25 3541.44 1668.19 892.25 0 0 0 30.00 30.00 15.68

649.88 1028 -145.99 -1.59 0.00 3594.2 3647.2 3541.2 1668.5 892.7 65.14 -10.22 122 656.69 0.00 0.00 3.52 0.000 0.000 0.035 3594.22 3647.12 3541.31 1668.75 2381.44 0 0 0 30.00 30.00 15.81

839.91 516 -145.99 -1.59 -80.00 3594.0 3647.0 3541.1 1668.6 2381.2 84.13 -10.13 160 846.91 0.00 0.00 3.89 0.000 0.000 0.080 3594.81 3646.81 3542.81 1668.88 891.06 0 0 0 30.00 30.00 15.67

889.96 1060 -145.99 -1.59 0.00 3594.3 3647.1 3541.6 1669.0 891.4 89.11 -9.94 170 896.73 0.00 0.00 3.51 0.000 0.000 0.035 3593.88 3646.88 3540.88 1668.31 2381.50 0 0 0 30.00 30.00 15.83

1079.95 0 -145.99 -1.59 0.00 3594.1 3646.9 3541.2 1668.9 2381.5 108.21 -10.05 208 1081.53 0.00 0.00 0.00 0.000 0.000 0.000 3592.78 3645.88 3539.69 1668.81 2381.75 0 0 0 30.00 30.00 30.00

1385.06 516 -145.99 -1.59 -80.00 3594.2 3647.0 3541.4 1668.9 2381.1 138.53 -10.05 269 1392.04 0.00 0.00 3.87 0.000 0.000 0.081 3594.78 3647.50 3542.06 1668.81 892.56 0 0 0 30.00 30.00 15.78

1440.12 1060 -145.99 -1.59 0.00 3594.2 3646.9 3541.5 1669.4 892.1 143.94 -9.79 280 1447.00 0.00 0.00 3.50 0.000 0.000 0.035 3595.00 3648.06 3541.94 1668.00 2382.25 0 0 0 30.00 30.00 15.81

1750.19 0 -145.99 -1.59 0.00 3594.1 3647.0 3541.2 1669.2 2382.8 175.14 -10.31 342 1751.81 0.00 0.00 0.00 0.000 0.000 0.000 3592.97 3645.94 3540.00 1668.81 2382.50 0 0 0 30.00 30.00 30.00

2055.27 516 -145.99 -1.59 -80.00 3594.4 3647.1 3541.6 1669.1 2383.4 205.83 -10.02 403 2062.46 0.00 0.00 3.88 0.000 0.000 0.081 3594.47 3647.56 3541.38 1668.88 892.00 0 0 0 30.00 30.00 15.73

2090.37 1028 -145.99 -1.59 0.00 3594.2 3647.1 3541.4 1668.8 892.2 209.36 -10.05 410 2097.23 0.00 0.00 3.49 0.000 0.000 0.035 3593.97 3646.69 3541.25 1669.12 2382.88 0 0 0 30.00 30.00 15.87

2400.42 32 -145.99 -1.59 0.00 3593.7 3646.7 3540.7 1668.9 2382.5 240.41 -10.00 472 2402.03 0.00 0.00 0.00 0.000 0.000 0.000 3592.59 3645.62 3539.56 1669.19 2382.44 0 0 0 30.00 30.00 30.00

2715 end dive: TARGET_DEPTH_EXCEEDED

state 2715 begin apogee

2717.83 10243 0.00 -0.36 0.00 3593.8 3646.7 3540.9 1668.8 1991.0 271.42 -9.08 502 2838.14 110.56 2.06 0.12 1.205 0.118 0.154 2998.34 3110.25 2886.44 1966.44 2091.06 0 0 0 11.54 15.80 15.54

2887 end apogee: CONTROL_FINISHED_OK

state 2887 begin climb

2888.21 10503 145.99 1.59 80.00 2996.0 3108.8 2883.2 1965.8 2091.6 261.26 0.00 507 3020.03 112.83 3.12 3.74 1.172 0.069 0.087 2402.09 2526.31 2277.88 2440.81 3493.25 0 0 0 12.23 15.58 15.30

3022.72 1028 145.99 1.59 0.00 2400.0 2522.8 2277.2 2440.9 3493.1 240.05 10.21 529 3029.69 0.00 0.00 3.63 0.000 0.000 0.031 2400.31 2522.81 2277.81 2441.12 1993.81 0 0 0 30.00 30.00 15.48

3332.78 548 147.14 1.59 -80.00 2393.4 2514.8 2272.1 2440.6 1993.6 209.16 9.95 591 3339.96 0.00 0.00 3.91 0.000 0.000 0.106 2393.09 2514.00 2272.19 2440.62 558.94 0 0 0 30.00 30.00 15.30

3382.74 1028 147.14 1.59 0.00 2393.0 2514.0 2272.1 2440.9 558.7 204.13 10.01 601 3389.70 0.00 0.00 3.41 0.000 0.000 0.023 2393.75 2514.38 2273.12 2440.88 2071.44 0 0 0 30.00 30.00 15.70

3692.83 0 147.14 1.59 0.00 2392.3 2514.0 2270.7 2440.8 2072.2 173.13 10.24 663 3694.44 0.00 0.00 0.00 0.000 0.000 0.000 2391.69 2513.38 2270.00 2441.12 2072.25 0 0 0 30.00 30.00 30.00

3997.88 16902 147.14 1.59 -80.00 2391.8 2513.9 2269.6 2440.8 2072.5 142.84 10.08 724 4005.17 0.00 0.00 4.05 0.000 0.000 0.101 2392.12 2514.31 2269.94 2440.75 557.88 0 0 0 30.00 30.00 15.74

4047.89 17414 147.14 1.59 0.00 2391.3 2513.2 2269.4 2440.7 558.2 137.81 10.10 734 4054.77 0.00 0.00 3.38 0.000 0.000 0.023 2393.72 2515.06 2272.38 2439.00 2070.06 0 0 0 30.00 30.00 15.83

4357.98 32 148.10 1.59 0.00 2391.0 2513.2 2268.8 2440.3 2072.6 106.72 9.96 796 4359.59 0.00 0.00 0.00 0.000 0.000 0.000 2389.31 2511.56 2267.06 2441.12 2072.06 0 0 0 30.00 30.00 30.00

4663.07 8742 153.03 1.60 -80.00 2390.7 2513.1 2268.3 2441.1 2072.1 76.54 9.77 857 4676.77 5.95 0.00 4.01 0.675 0.000 0.102 2375.03 2495.38 2254.69 2439.12 557.88 0 0 0 11.70 30.00 15.69

4764.37 1028 153.03 1.60 0.00 2373.6 2495.8 2251.3 2440.7 557.8 66.46 10.01 877 4771.27 0.00 0.00 3.39 0.000 0.000 0.023 2374.47 2496.25 2252.69 2440.88 2071.44 0 0 0 30.00 30.00 15.87

4954.44 0 153.03 1.60 0.00 2373.5 2495.8 2251.2 2440.6 2072.9 47.52 10.00 915 4956.07 0.00 0.00 0.00 0.000 0.000 0.000 2372.78 2494.88 2250.69 2441.00 2072.94 0 0 0 30.00 30.00 30.00

5139.56 8226 156.71 1.60 0.00 2373.5 2496.1 2251.0 2441.1 2072.8 28.76 9.83 952 5149.00 5.34 0.00 0.00 0.600 0.000 0.000 2359.41 2482.12 2236.69 2440.88 2073.31 0 0 0 11.81 30.00 30.00

5329.62 548 159.05 1.61 -80.00 2358.5 2481.1 2235.9 2440.6 2073.0 9.88 9.89 990 5336.81 0.00 0.00 3.99 0.000 0.000 0.100 2358.94 2481.25 2236.62 2440.75 558.75 0 0 0 30.00 30.00 15.72

5379 end climb: SURFACE_DEPTH_REACHED

state 5379 begin surface coast

5399 end surface coast: CONTROL_FINISHED_OK

state 5400 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	203	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	70.723763	SEABIRD_T_I	2.932871e-05
D_OFFGRID	1000	PITCH_GAIN	14	FG_AHR_24V	148.10042	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	287.0
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	170723,130143,6306.298,-1650.272,2,1.1,5,-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	-45.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	170723,130503,6306.311,-1650.242,2,1.1,4,-9.0	MHEAD_RNG_PITCHd_Wd	297.9,2796,-19.1,-10.000,-24.73,2228,0.151
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	8000266

FINISH	2.7,1.027194	_10V_AH	14.88,0.000
SURF	forcing	FG_AHR_24Vo	148.264
SM_CCo	5809.73,309.97,0.863,0,534.1,677.6,390.6,604.89	FG_AHR_10Vo	70.783
SM_GC	4.02,309.97,14.39,4.18,0.863,0.060,0.030,534.1,677.6,390.6,182.8,2387.0,0,0,0,11.93,15.80,15.89	MEM0	60108,1,0,0
SUPER	19,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	6304.41,-1642.41,170723,112149	MEM2	995952,30,50496,76
TCM_TEMP	11.18	DATA_FILE_SIZE	35327,1004
XPDR_PINGS	0,10.3,13.6	CAP_FILE_SIZE	211541,0
CP_FREE	15808823296.000000	SDSIZE	3887104,3817568
CP_POWER	293.030000	SDFILEDIR	1036,205
CP_POWER1	0.000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	52.26	IMPLIED_C_PITCH	2055,12.55,814,0.0,0.00
TEMP	8.97	IMPLIED_C_VBD	3052,14.465044,814,0
INTERNAL_PRESSURE	8.07429	GPS	170723,144300,6306.188,-1650.538,21,0.9,21,-9.0
_24V_AH	14.84,154.189

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	680	1205	12181.11	SBE_CT	1389	24	495.06
Pitch_motor	30	177	80.51	nil	0	0	0.00
Roll_motor	75	153	172.48	nil	0	0	0.00
Iridium	125	167	313.03	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	2.93	nil	0	0	0.00
Core	2896	6	293.08	SciCon	0	0	0.00
Fast	3	0	0.00	NCP	5483	25	2039.73
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2755	2	82.01
Compass	1345	5	100.12
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
28	end surface: CONTROL_FINISHED_OK
state	28	begin dive
29.75	16386	-145.99	-1.59	0.00	526.1	667.2	385.0	182.9	2309.3	0.00	0.00	0	35.70	5.01	0.00	0.00	0.009	0.000	0.000	668.59	797.06	540.12	182.81	2309.31	0	0	0	15.23	30.00	30.00
36.00	18983	-145.99	-1.59	-80.00	668.7	797.5	539.9	182.8	2309.2	3.33	0.00	1	192.30	131.26	11.06	3.74	0.005	0.177	0.085	3593.78	3647.25	3540.31	1667.38	891.12	0	0	0	15.35	15.20	15.22
419.92	1060	-145.99	-1.59	0.00	3594.1	3647.2	3541.0	1668.2	891.1	41.74	-9.67	76	426.70	0.00	0.00	3.55	0.000	0.000	0.037	3593.94	3647.00	3540.88	1667.75	2381.50	0	0	0	30.00	30.00	15.72
609.87	516	-145.99	-1.59	-80.00	3594.1	3646.8	3541.4	1667.8	2381.4	61.05	-10.10	114	616.84	0.00	0.00	3.89	0.000	0.000	0.080	3594.34	3647.25	3541.44	1668.19	892.25	0	0	0	30.00	30.00	15.68
649.88	1028	-145.99	-1.59	0.00	3594.2	3647.2	3541.2	1668.5	892.7	65.14	-10.22	122	656.69	0.00	0.00	3.52	0.000	0.000	0.035	3594.22	3647.12	3541.31	1668.75	2381.44	0	0	0	30.00	30.00	15.81
839.91	516	-145.99	-1.59	-80.00	3594.0	3647.0	3541.1	1668.6	2381.2	84.13	-10.13	160	846.91	0.00	0.00	3.89	0.000	0.000	0.080	3594.81	3646.81	3542.81	1668.88	891.06	0	0	0	30.00	30.00	15.67
889.96	1060	-145.99	-1.59	0.00	3594.3	3647.1	3541.6	1669.0	891.4	89.11	-9.94	170	896.73	0.00	0.00	3.51	0.000	0.000	0.035	3593.88	3646.88	3540.88	1668.31	2381.50	0	0	0	30.00	30.00	15.83
1079.95	0	-145.99	-1.59	0.00	3594.1	3646.9	3541.2	1668.9	2381.5	108.21	-10.05	208	1081.53	0.00	0.00	0.00	0.000	0.000	0.000	3592.78	3645.88	3539.69	1668.81	2381.75	0	0	0	30.00	30.00	30.00
1385.06	516	-145.99	-1.59	-80.00	3594.2	3647.0	3541.4	1668.9	2381.1	138.53	-10.05	269	1392.04	0.00	0.00	3.87	0.000	0.000	0.081	3594.78	3647.50	3542.06	1668.81	892.56	0	0	0	30.00	30.00	15.78
1440.12	1060	-145.99	-1.59	0.00	3594.2	3646.9	3541.5	1669.4	892.1	143.94	-9.79	280	1447.00	0.00	0.00	3.50	0.000	0.000	0.035	3595.00	3648.06	3541.94	1668.00	2382.25	0	0	0	30.00	30.00	15.81
1750.19	0	-145.99	-1.59	0.00	3594.1	3647.0	3541.2	1669.2	2382.8	175.14	-10.31	342	1751.81	0.00	0.00	0.00	0.000	0.000	0.000	3592.97	3645.94	3540.00	1668.81	2382.50	0	0	0	30.00	30.00	30.00
2055.27	516	-145.99	-1.59	-80.00	3594.4	3647.1	3541.6	1669.1	2383.4	205.83	-10.02	403	2062.46	0.00	0.00	3.88	0.000	0.000	0.081	3594.47	3647.56	3541.38	1668.88	892.00	0	0	0	30.00	30.00	15.73
2090.37	1028	-145.99	-1.59	0.00	3594.2	3647.1	3541.4	1668.8	892.2	209.36	-10.05	410	2097.23	0.00	0.00	3.49	0.000	0.000	0.035	3593.97	3646.69	3541.25	1669.12	2382.88	0	0	0	30.00	30.00	15.87
2400.42	32	-145.99	-1.59	0.00	3593.7	3646.7	3540.7	1668.9	2382.5	240.41	-10.00	472	2402.03	0.00	0.00	0.00	0.000	0.000	0.000	3592.59	3645.62	3539.56	1669.19	2382.44	0	0	0	30.00	30.00	30.00
2715	end dive: TARGET_DEPTH_EXCEEDED
state	2715	begin apogee
2717.83	10243	0.00	-0.36	0.00	3593.8	3646.7	3540.9	1668.8	1991.0	271.42	-9.08	502	2838.14	110.56	2.06	0.12	1.205	0.118	0.154	2998.34	3110.25	2886.44	1966.44	2091.06	0	0	0	11.54	15.80	15.54
2887	end apogee: CONTROL_FINISHED_OK
state	2887	begin climb
2888.21	10503	145.99	1.59	80.00	2996.0	3108.8	2883.2	1965.8	2091.6	261.26	0.00	507	3020.03	112.83	3.12	3.74	1.172	0.069	0.087	2402.09	2526.31	2277.88	2440.81	3493.25	0	0	0	12.23	15.58	15.30
3022.72	1028	145.99	1.59	0.00	2400.0	2522.8	2277.2	2440.9	3493.1	240.05	10.21	529	3029.69	0.00	0.00	3.63	0.000	0.000	0.031	2400.31	2522.81	2277.81	2441.12	1993.81	0	0	0	30.00	30.00	15.48
3332.78	548	147.14	1.59	-80.00	2393.4	2514.8	2272.1	2440.6	1993.6	209.16	9.95	591	3339.96	0.00	0.00	3.91	0.000	0.000	0.106	2393.09	2514.00	2272.19	2440.62	558.94	0	0	0	30.00	30.00	15.30
3382.74	1028	147.14	1.59	0.00	2393.0	2514.0	2272.1	2440.9	558.7	204.13	10.01	601	3389.70	0.00	0.00	3.41	0.000	0.000	0.023	2393.75	2514.38	2273.12	2440.88	2071.44	0	0	0	30.00	30.00	15.70
3692.83	0	147.14	1.59	0.00	2392.3	2514.0	2270.7	2440.8	2072.2	173.13	10.24	663	3694.44	0.00	0.00	0.00	0.000	0.000	0.000	2391.69	2513.38	2270.00	2441.12	2072.25	0	0	0	30.00	30.00	30.00
3997.88	16902	147.14	1.59	-80.00	2391.8	2513.9	2269.6	2440.8	2072.5	142.84	10.08	724	4005.17	0.00	0.00	4.05	0.000	0.000	0.101	2392.12	2514.31	2269.94	2440.75	557.88	0	0	0	30.00	30.00	15.74
4047.89	17414	147.14	1.59	0.00	2391.3	2513.2	2269.4	2440.7	558.2	137.81	10.10	734	4054.77	0.00	0.00	3.38	0.000	0.000	0.023	2393.72	2515.06	2272.38	2439.00	2070.06	0	0	0	30.00	30.00	15.83
4357.98	32	148.10	1.59	0.00	2391.0	2513.2	2268.8	2440.3	2072.6	106.72	9.96	796	4359.59	0.00	0.00	0.00	0.000	0.000	0.000	2389.31	2511.56	2267.06	2441.12	2072.06	0	0	0	30.00	30.00	30.00
4663.07	8742	153.03	1.60	-80.00	2390.7	2513.1	2268.3	2441.1	2072.1	76.54	9.77	857	4676.77	5.95	0.00	4.01	0.675	0.000	0.102	2375.03	2495.38	2254.69	2439.12	557.88	0	0	0	11.70	30.00	15.69
4764.37	1028	153.03	1.60	0.00	2373.6	2495.8	2251.3	2440.7	557.8	66.46	10.01	877	4771.27	0.00	0.00	3.39	0.000	0.000	0.023	2374.47	2496.25	2252.69	2440.88	2071.44	0	0	0	30.00	30.00	15.87
4954.44	0	153.03	1.60	0.00	2373.5	2495.8	2251.2	2440.6	2072.9	47.52	10.00	915	4956.07	0.00	0.00	0.00	0.000	0.000	0.000	2372.78	2494.88	2250.69	2441.00	2072.94	0	0	0	30.00	30.00	30.00
5139.56	8226	156.71	1.60	0.00	2373.5	2496.1	2251.0	2441.1	2072.8	28.76	9.83	952	5149.00	5.34	0.00	0.00	0.600	0.000	0.000	2359.41	2482.12	2236.69	2440.88	2073.31	0	0	0	11.81	30.00	30.00
5329.62	548	159.05	1.61	-80.00	2358.5	2481.1	2235.9	2440.6	2073.0	9.88	9.89	990	5336.81	0.00	0.00	3.99	0.000	0.000	0.100	2358.94	2481.25	2236.62	2440.75	558.75	0	0	0	30.00	30.00	15.72
5379	end climb: SURFACE_DEPTH_REACHED
state	5379	begin surface coast
5399	end surface coast: CONTROL_FINISHED_OK
state	5400	begin surface