Glider dive log

ARCTERX Mar22 * SG526 * Dive index * Mission links * Dive 204 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 526 TGT_AUTO_DEFAULT 0 VBD_MIN 500 MOTHERBOARD 6

MISSION 4 SM_CC 613.25 VBD_MAX 3960 DEVICE1 -1

DIVE 204 N_FILEKB 8 C_VBD 3000 DEVICE2 -1

N_DIVES 0 FILEMGR 0 VBD_DBAND 2 DEVICE3 -1

STOP_T 0 CALL_NDIVES 1 VBD_CNV -0.24529999 DEVICE4 -1

D_SURF 2 COMM_SEQ 7 VBD_LP_IGNORE 0 DEVICE5 -1

D_FLARE 3 PROTOCOL 9 VBD_TIMEOUT 720 DEVICE6 -1

D_TGT 180 N_NOCOMM 2 PITCH_VBD_SHIFT 0.0023000001 LOGGERS 7

D_ABORT 1010 NOCOMM_ACTION 163 UNCOM_BLEED 20 LOGGERDEVICE1 6

D_NO_BLEED 50 N_NOSURFACE 0 VBD_MAXERRORS 1 LOGGERDEVICE2 33

D_BOOST 0 UPLOAD_DIVES_MAX -1 C_VBD_AUTO_DELTA 0 LOGGERDEVICE3 19

T_BOOST 0 CALL_TRIES 5 C_VBD_AUTO_MAX 0 LOGGERDEVICE4 -1

D_FINISH 0 CALL_WAIT 60 W_ADJ_DBAND 2 COMPASS_DEVICE 34

D_PITCH 0 CAPUPLOAD 0 DBDW 0 COMPASS2_DEVICE -1

D_SAFE 0 CAPMAXSIZE 100000 LOITER_W_DBAND 0 PHONE_DEVICE 33

D_CALL 0 T_GPS 5 LOITER_DBDW 0 GPS_DEVICE 48

SURFACE_URGENCY 0 N_GPS 100440 LOITER_D_TOP 0 RAFOS_DEVICE -1

SURFACE_URGENCY_TRY 0 T_RSLEEP 3 LOITER_D_BOTTOM 0 NAV_DEVICE -1

SURFACE_URGENCY_FORCE 0 STROBE 0 LOITER_N_DIVE 0 NAV2_DEVICE -1

T_DIVE 60 RAFOS_PEAK_OFFSET 0 CF8_MAXERRORS 20 NETWORK_DEVICE -1

T_MISSION 75 RAFOS_CORR_THRESH 60 AH0_24V 350 PRESSURE_DEVICE 41

T_ABORT 1440 RAFOS_HIT_WINDOW 3600 AH0_10V 0 XPDR_DEVICE 21

T_TURN 225 RAFOS_MMODEM 0 MINV_24V 11 SIM_W 0

T_TURN_SAMPINT -5 PITCH_MIN 150 MINV_10V 11 SEABIRD_T_G 0.00441493

T_NO_W 120 PITCH_MAX 3615 MAXI_24V 4.8000002 SEABIRD_T_H 0.00064107013

T_LOITER 0 C_PITCH 2330 MAXI_10V 1.5 SEABIRD_T_I 2.576065e-05

T_EPIRB 0 PITCH_DBAND 0.1 FG_AHR_10V 121.0097 SEABIRD_T_J 3.1402324e-06

USE_BATHY -6 PITCH_CNV 0.0041299998 FG_AHR_24V 97.461525 SEABIRD_C_G -9.799654

USE_ICE 0 PITCH_GAIN 40 PHONE_SUPPLY 2 SEABIRD_C_H 1.0727782

ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 PRESSURE_YINT -160.7363 SEABIRD_C_I -0.0026193932

D_OFFGRID 1000 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00022843899 SEABIRD_C_J 0.00026435545

RELAUNCH 1 PITCH_ADJ_GAIN 0 COMPASS_USE 16388 OPTIONS 0

APOGEE_PITCH -5 PITCH_ADJ_DBAND 0 ALTIM_PING_FIT 0 SC_RECORDABOVE 2000.0

MAX_BUOY 100 C_PITCH_AUTO_DELTA 0 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 7.0

GLIDE_SLOPE 30 C_PITCH_AUTO_MAX 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_XMITPROFILE 7.0

SPEED_FACTOR 1 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_TURN_MARGIN 0 SC_NDIVE 1.0

RHO 1.0275 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_MIN_OBSTACLE 0 PM_RECORDABOVE 2000.0

MASS 56535 PITCH_W_GAIN 2 ALTIM_PING_DEPTH 0 PM_PROFILE 7.0

NAV_MODE 2 PITCH_W_DBAND 0.5 ALTIM_PING_DELTA 0 PM_XMITPROFILE 7.0

FERRY_MAX 45 ROLL_MIN 380 ALTIM_FREQUENCY 13 PM_NDIVE 1.0

KALMAN_USE 2 ROLL_MAX 3950 ALTIM_PULSE 3 PM_XMITRAW 0.0

HD_A 0.0025118899 ROLL_DEG 30 ALTIM_SENSITIVITY 2 PM_MOTORS 1.0

HD_B 0.0139236 C_ROLL_DIVE 2881.0774 XPDR_VALID 4 PM_SENDDEPTH 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 2682.0085 XPDR_INHIBIT 90 TM_RECORDABOVE 400.0

HEADING -1 HEAD_ERRBAND 10 XPDR_INT 0 TM_PROFILE 3.0

ESCAPE_HEADING 0 ROLL_CNV 0.028270001 XPDR_REP 0 TM_XMITPROFILE 1.0

ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 1.9639999e-06 TM_NDIVE 1.0

FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT -1 TM_XMITRAW 0.0

TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0.5 DEEPGLIDER 0 TM_LOGSAMPLE 0.0

TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0.029999999 DEEPGLIDERMB 0

AH0_10V 0 D_SURF 2 PHONE_DEVICE 33 SEABIRD_T_G 0.00441493

AH0_24V 350 D_TGT 180 PHONE_SUPPLY 2 SEABIRD_T_H 0.00064107013

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 SEABIRD_T_I 2.576065e-05

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SEABIRD_T_J 3.1402324e-06

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_CNV 0.0041299998 SIM_W 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 121.0097 PITCH_DBAND 0.1 SM_CC 613.25

ALTIM_PING_FIT 0 FG_AHR_24V 97.461525 PITCH_GAIN 40 SPEED_FACTOR 1

ALTIM_PULSE 3 FILEMGR 0 PITCH_GAIN_AUTO_DELTA 0 STOP_T 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_GAIN_AUTO_MAX 0 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_MAX 3615 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0025118899 PITCH_MIN 150 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 HD_B 0.0139236 PITCH_TIMEOUT 30 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0023000001 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HEAD_ERRBAND 10 PITCH_W_GAIN 2 TM_LOGSAMPLE 0.0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PM_MOTORS 1.0 TM_NDIVE 1.0

CAPUPLOAD 0 ID 526 PM_NDIVE 1.0 TM_PROFILE 3.0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 1.9639999e-06 PM_PROFILE 7.0 TM_RECORDABOVE 400.0

COMM_SEQ 7 INT_PRESSURE_YINT -1 PM_RECORDABOVE 2000.0 TM_XMITPROFILE 1.0

COMPASS2_DEVICE -1 KALMAN_USE 2 PM_SENDDEPTH 1.0 TM_XMITRAW 0.0

COMPASS_DEVICE 34 LOGGERDEVICE1 6 PM_XMITPROFILE 7.0 T_ABORT 1440

COMPASS_USE 16388 LOGGERDEVICE2 33 PM_XMITRAW 0.0 T_BOOST 0

C_PITCH 2330 LOGGERDEVICE3 19 PRESSURE_DEVICE 41 T_DIVE 60

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE4 -1 PRESSURE_SLOPE 0.00022843899 T_EPIRB 0

C_PITCH_AUTO_MAX 0 LOGGERS 7 PRESSURE_YINT -160.7363 T_GPS 5

C_ROLL_CLIMB 2682.0085 LOITER_DBDW 0 PROTOCOL 9 T_LOITER 0

C_ROLL_DIVE 2881.0774 LOITER_D_BOTTOM 0 RAFOS_CORR_THRESH 60 T_MISSION 75

C_VBD 3000 LOITER_D_TOP 0 RAFOS_DEVICE -1 T_NO_W 120

C_VBD_AUTO_DELTA 0 LOITER_N_DIVE 0 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

C_VBD_AUTO_MAX 0 LOITER_W_DBAND 0 RAFOS_MMODEM 0 T_TURN 225

DBDW 0 MASS 56535 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

DEEPGLIDER 0 MAXI_10V 1.5 RELAUNCH 1 UNCOM_BLEED 20

DEEPGLIDERMB 0 MAXI_24V 4.8000002 RHO 1.0275 UPLOAD_DIVES_MAX -1

DEVICE1 -1 MAX_BUOY 100 ROLL_ADJ_DBAND 0.029999999 USE_BATHY -6

DEVICE2 -1 MINV_10V 11 ROLL_ADJ_GAIN 0.5 USE_ICE 0

DEVICE3 -1 MINV_24V 11 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 4 ROLL_DEG 30 VBD_DBAND 2

DEVICE5 -1 MOTHERBOARD 6 ROLL_MAX 3950 VBD_LP_IGNORE 0

DEVICE6 -1 NAV2_DEVICE -1 ROLL_MAXERRORS 1 VBD_MAX 3960

DIVE 204 NAV_DEVICE -1 ROLL_MIN 380 VBD_MAXERRORS 1

D_ABORT 1010 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_MIN 500

D_BOOST 0 NETWORK_DEVICE -1 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_CALL 0 NOCOMM_ACTION 163 SC_PROFILE 7.0 W_ADJ_DBAND 2

D_FINISH 0 N_DIVES 0 SC_RECORDABOVE 2000.0 XPDR_DEVICE 21

D_FLARE 3 N_FILEKB 8 SC_XMITPROFILE 7.0 XPDR_INHIBIT 90

D_NO_BLEED 50 N_GPS 100440 SEABIRD_C_G -9.799654 XPDR_INT 0

D_OFFGRID 1000 N_NOCOMM 2 SEABIRD_C_H 1.0727782 XPDR_REP 0

D_PITCH 0 N_NOSURFACE 0 SEABIRD_C_I -0.0026193932 XPDR_VALID 4

D_SAFE 0 OPTIONS 0 SEABIRD_C_J 0.00026435545

Pre-dive calculations and measurements:

GPS1 120422,154241,1415.959,14503.340,20,1.1,21,0.3 TGT_RADIUS 2000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.10 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120422,154856,1415.993,14503.376,23,0.8,39,0.3 MHEAD_RNG_PITCHd_Wd 198.0,11345,-23.9,-10.000,-28.69,1492,0.210

SPEED_LIMITS 0.173,0.183 D_GRID 1000

TGT_NAME T1E IRON 1.000000,0.005000,-0.003000,0.013000,1.047000,-0.005000,0.002000,0.001000,1.052000,12.000000,99.000000,12.600000

TGT_LATLONG 1411.748,14458.820

Post-dive calculations and measurements:

WARN HTMICL TMICL logging already stopped INTERNAL_PRESSURE 9.21554

FINISH 0.1,1.021362 _24V_AH 14.98,157.224

SM_CCo 3267.14,214.05,0.730,0,500.7,467.5,533.9,613.07 _10V_AH 15.00,0.000

SM_GC 1.16,214.05,6.74,0.19,0.730,0.036,0.043,500.7,467.5,533.9,105.4,2974.7,0,0,0,11.60,15.98,15.98 FG_AHR_24Vo 97.587

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 121.067

IRIDIUM_FIX 1415.70,14502.67,120422,144357 MEM0 60140,1,0,0

TCM_TEMP 27.40 MEM1 65508,1,0,0

XPDR_PINGS 13,14.5,10.5 MEM2 994764,37,51524,77

SC_FREEKB 3730304 DATA_FILE_SIZE 12931,416

PM_FREEKB_00 65539904 CAP_FILE_SIZE 135203,0

PM_FREEKB_01 52298816 SDSIZE 3887104,3793152

PM_FREEKB_02 124835200 SDFILEDIR 2037,1

PM_FREEKB_03 124835200 ERRORS 0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 1 CURRENT 0.068,344.2,1

TM_FREEKB 5150656 MAGCAL 1.000000,0.012351,-0.011595,0.004277,1.041833,0.001454,0.012843,0.000768,1.052280,23.1,98.1,13.8,35,0.0011,0

HUMID 54.49 IMPLIED_C_PITCH 2426,26.46,209,0.0,0.00

TEMP 26.93 GPS 120422,164456,1415.983,14503.363,21,0.7,37,0.3

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 616 926 8553.40 nil 0 0 0.00

Pitch_motor 18 390 108.22 nil 0 0 0.00

Roll_motor 33 73 36.44 nil 0 0 0.00

Iridium 207 183 570.50 nil 0 0 0.00

Transponder_ping 3 420 20.45 nil 0 0 0.00

GPS 48 15 10.86 nil 0 0 0.00

Core 683 6 69.70 SciCon 3061 36 1688.11

Fast 16 0 0.00 PMAR 3057 13 629.08

Slow 0 0 0.00 TMICL 3032 9 441.38

LPSleep 1480 2 44.40

Compass 868 5 65.13

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

21.52 16386 -97.32 -0.82 0.00 501.0 467.0 535.1 92.9 2780.4 0.00 0.00 0 121.46 90.91 0.00 0.00 0.005 0.000 0.000 3050.31 2981.38 3119.25 92.69 2783.38 0 0 0 15.15 30.00 30.00

121.71 18727 -97.32 -0.82 30.00 3051.0 2980.9 3121.1 92.6 2780.8 3.20 -2.67 9 150.90 6.62 9.77 1.92 0.007 0.390 0.034 3397.00 3314.12 3479.88 2121.06 3989.56 0 0 0 15.32 15.05 15.31

153.22 1028 -97.32 -0.82 0.00 3397.2 3314.4 3479.9 2122.8 3989.4 17.53 -33.33 14 160.34 0.00 0.00 1.81 0.000 0.000 0.009 3398.12 3315.75 3480.50 2128.88 2795.62 0 0 0 30.00 30.00 15.48

348.61 260 -97.32 -0.82 30.00 3397.8 3315.0 3480.7 2128.5 2778.4 86.63 -36.84 34 357.95 0.00 0.00 1.95 0.000 0.000 0.032 3399.38 3316.69 3482.06 2120.88 3984.19 0 0 0 30.00 30.00 15.44

524.73 1028 -97.32 -0.82 -0.10 3397.8 3314.8 3480.9 2121.2 3985.6 136.82 -27.08 68 532.30 0.00 0.00 1.78 0.000 0.000 0.009 3399.38 3316.31 3482.44 2120.00 2799.00 0 0 0 30.00 30.00 15.87

717.04 516 -97.32 -0.82 -30.00 3398.0 3315.6 3480.3 2121.0 2780.7 179.78 -20.77 88 722.60 0.00 0.00 1.53 0.000 0.000 0.013 3397.28 3314.56 3480.00 2121.38 1758.69 0 0 0 30.00 30.00 15.91

727 end dive: TARGET_DEPTH_EXCEEDED

state 727 begin apogee

728.79 10243 0.00 -0.12 0.00 3398.2 3315.3 3481.1 2115.4 2726.4 182.47 -22.02 90 812.16 76.57 0.69 0.14 0.927 0.265 0.074 2999.41 2895.69 3103.12 2298.62 2530.62 0 0 0 11.60 15.63 15.51

815 end apogee: CONTROL_FINISHED_OK

state 815 begin climb

815.77 10503 97.32 0.82 30.00 2998.5 2894.8 3102.2 2299.2 2531.6 189.98 0.00 98 903.82 76.43 0.76 2.05 0.925 0.155 0.037 2602.62 2501.25 2704.00 2533.56 3778.25 0 0 0 12.11 15.60 15.71

1131.22 11303 210.40 1.08 0.00 2598.6 2499.0 2698.2 2533.8 3777.4 183.04 2.21 157 1224.81 84.71 0.14 1.80 0.919 0.067 0.010 2141.94 2040.06 2243.81 2629.94 2571.88 0 0 0 11.70 15.81 15.81

1412.06 4357 210.40 1.08 30.00 2138.2 2037.0 2239.4 2630.4 2571.3 154.66 12.74 194 1420.42 0.00 0.16 1.94 0.000 0.225 0.034 2137.62 2036.19 2239.06 2585.44 3786.12 0 0 0 30.00 15.70 15.73

1647.10 11303 301.31 1.29 0.39 2136.3 2037.0 2235.6 2585.8 3786.1 141.49 3.74 240 1726.47 66.88 0.14 1.80 0.872 0.060 0.009 1771.72 1679.69 1863.75 2667.88 2583.94 0 0 0 11.69 15.80 15.78

1914.21 4357 301.31 1.29 30.00 1766.5 1678.2 1854.8 2668.5 2583.7 115.07 11.41 274 1923.54 0.00 0.12 1.92 0.000 0.223 0.033 1767.50 1679.00 1856.00 2634.88 3783.25 0 0 0 30.00 15.76 15.49

2120.93 1028 301.31 1.29 0.58 1765.2 1678.8 1851.6 2635.6 3782.4 91.70 10.04 315 2128.03 0.00 0.00 1.77 0.000 0.000 0.011 1765.38 1678.94 1851.81 2643.38 2633.88 0 0 0 30.00 30.00 15.83

2316.29 324 301.31 1.31 30.00 1764.6 1677.5 1851.6 2643.0 2613.5 72.85 9.25 335 2322.71 0.00 0.00 1.88 0.000 0.000 0.033 1765.16 1678.38 1851.94 2642.75 3780.31 0 0 0 30.00 30.00 15.85

2340.95 1028 301.31 1.31 0.62 1764.3 1678.0 1850.6 2643.8 3781.9 70.20 9.82 340 2349.38 0.00 0.00 1.77 0.000 0.000 0.012 1764.97 1677.75 1852.19 2651.62 2641.88 0 0 0 30.00 30.00 15.81

2537.82 0 301.31 1.31 0.62 1764.0 1677.2 1850.8 2652.6 2620.3 49.51 10.30 360 2541.93 0.00 0.00 0.00 0.000 0.000 0.000 1763.34 1676.94 1849.75 2652.12 2619.75 0 0 0 30.00 30.00 30.00

2732.37 324 301.31 1.32 30.00 1764.2 1678.0 1850.4 2653.4 2619.1 31.44 9.25 379 2738.97 0.00 0.00 1.88 0.000 0.000 0.033 1764.12 1676.81 1851.44 2652.62 3785.38 0 0 0 30.00 30.00 15.86

2752.63 1028 301.31 1.32 0.70 1764.0 1677.6 1850.4 2652.2 3784.6 28.89 9.87 383 2761.80 0.00 0.00 1.76 0.000 0.000 0.012 1764.25 1677.88 1850.62 2661.88 2643.50 0 0 0 30.00 30.00 15.96

2944.47 516 301.31 1.32 -30.00 1764.1 1677.1 1851.1 2661.8 2621.1 9.08 10.07 403 2950.84 0.00 0.00 1.61 0.000 0.000 0.014 1764.59 1678.19 1851.00 2668.56 1557.06 0 0 0 30.00 30.00 15.83

2974.50 17414 301.31 1.32 0.63 1763.1 1676.9 1849.2 2670.1 1540.6 6.06 10.02 409 2980.90 0.00 0.00 1.90 0.000 0.000 0.026 1764.44 1678.44 1850.44 2669.75 2736.88 0 0 0 30.00 30.00 15.88

3015 end climb: SURFACE_DEPTH_REACHED

state 3015 begin surface coast

3035 end surface coast: CONTROL_FINISHED_OK

state 3035 begin surface

ID	526	TGT_AUTO_DEFAULT	0	VBD_MIN	500	MOTHERBOARD	6
MISSION	4	SM_CC	613.25	VBD_MAX	3960	DEVICE1	-1
DIVE	204	N_FILEKB	8	C_VBD	3000	DEVICE2	-1
N_DIVES	0	FILEMGR	0	VBD_DBAND	2	DEVICE3	-1
STOP_T	0	CALL_NDIVES	1	VBD_CNV	-0.24529999	DEVICE4	-1
D_SURF	2	COMM_SEQ	7	VBD_LP_IGNORE	0	DEVICE5	-1
D_FLARE	3	PROTOCOL	9	VBD_TIMEOUT	720	DEVICE6	-1
D_TGT	180	N_NOCOMM	2	PITCH_VBD_SHIFT	0.0023000001	LOGGERS	7
D_ABORT	1010	NOCOMM_ACTION	163	UNCOM_BLEED	20	LOGGERDEVICE1	6
D_NO_BLEED	50	N_NOSURFACE	0	VBD_MAXERRORS	1	LOGGERDEVICE2	33
D_BOOST	0	UPLOAD_DIVES_MAX	-1	C_VBD_AUTO_DELTA	0	LOGGERDEVICE3	19
T_BOOST	0	CALL_TRIES	5	C_VBD_AUTO_MAX	0	LOGGERDEVICE4	-1
D_FINISH	0	CALL_WAIT	60	W_ADJ_DBAND	2	COMPASS_DEVICE	34
D_PITCH	0	CAPUPLOAD	0	DBDW	0	COMPASS2_DEVICE	-1
D_SAFE	0	CAPMAXSIZE	100000	LOITER_W_DBAND	0	PHONE_DEVICE	33
D_CALL	0	T_GPS	5	LOITER_DBDW	0	GPS_DEVICE	48
SURFACE_URGENCY	0	N_GPS	100440	LOITER_D_TOP	0	RAFOS_DEVICE	-1
SURFACE_URGENCY_TRY	0	T_RSLEEP	3	LOITER_D_BOTTOM	0	NAV_DEVICE	-1
SURFACE_URGENCY_FORCE	0	STROBE	0	LOITER_N_DIVE	0	NAV2_DEVICE	-1
T_DIVE	60	RAFOS_PEAK_OFFSET	0	CF8_MAXERRORS	20	NETWORK_DEVICE	-1
T_MISSION	75	RAFOS_CORR_THRESH	60	AH0_24V	350	PRESSURE_DEVICE	41
T_ABORT	1440	RAFOS_HIT_WINDOW	3600	AH0_10V	0	XPDR_DEVICE	21
T_TURN	225	RAFOS_MMODEM	0	MINV_24V	11	SIM_W	0
T_TURN_SAMPINT	-5	PITCH_MIN	150	MINV_10V	11	SEABIRD_T_G	0.00441493
T_NO_W	120	PITCH_MAX	3615	MAXI_24V	4.8000002	SEABIRD_T_H	0.00064107013
T_LOITER	0	C_PITCH	2330	MAXI_10V	1.5	SEABIRD_T_I	2.576065e-05
T_EPIRB	0	PITCH_DBAND	0.1	FG_AHR_10V	121.0097	SEABIRD_T_J	3.1402324e-06
USE_BATHY	-6	PITCH_CNV	0.0041299998	FG_AHR_24V	97.461525	SEABIRD_C_G	-9.799654
USE_ICE	0	PITCH_GAIN	40	PHONE_SUPPLY	2	SEABIRD_C_H	1.0727782
ICE_FREEZE_MARGIN	0.30000001	PITCH_TIMEOUT	30	PRESSURE_YINT	-160.7363	SEABIRD_C_I	-0.0026193932
D_OFFGRID	1000	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00022843899	SEABIRD_C_J	0.00026435545
RELAUNCH	1	PITCH_ADJ_GAIN	0	COMPASS_USE	16388	OPTIONS	0
APOGEE_PITCH	-5	PITCH_ADJ_DBAND	0	ALTIM_PING_FIT	0	SC_RECORDABOVE	2000.0
MAX_BUOY	100	C_PITCH_AUTO_DELTA	0	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	7.0
GLIDE_SLOPE	30	C_PITCH_AUTO_MAX	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_XMITPROFILE	7.0
SPEED_FACTOR	1	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_TURN_MARGIN	0	SC_NDIVE	1.0
RHO	1.0275	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_MIN_OBSTACLE	0	PM_RECORDABOVE	2000.0
MASS	56535	PITCH_W_GAIN	2	ALTIM_PING_DEPTH	0	PM_PROFILE	7.0
NAV_MODE	2	PITCH_W_DBAND	0.5	ALTIM_PING_DELTA	0	PM_XMITPROFILE	7.0
FERRY_MAX	45	ROLL_MIN	380	ALTIM_FREQUENCY	13	PM_NDIVE	1.0
KALMAN_USE	2	ROLL_MAX	3950	ALTIM_PULSE	3	PM_XMITRAW	0.0
HD_A	0.0025118899	ROLL_DEG	30	ALTIM_SENSITIVITY	2	PM_MOTORS	1.0
HD_B	0.0139236	C_ROLL_DIVE	2881.0774	XPDR_VALID	4	PM_SENDDEPTH	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	2682.0085	XPDR_INHIBIT	90	TM_RECORDABOVE	400.0
HEADING	-1	HEAD_ERRBAND	10	XPDR_INT	0	TM_PROFILE	3.0
ESCAPE_HEADING	0	ROLL_CNV	0.028270001	XPDR_REP	0	TM_XMITPROFILE	1.0
ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	1.9639999e-06	TM_NDIVE	1.0
FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	-1	TM_XMITRAW	0.0
TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0.5	DEEPGLIDER	0	TM_LOGSAMPLE	0.0
TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0.029999999	DEEPGLIDERMB	0

GPS1	120422,154241,1415.959,14503.340,20,1.1,21,0.3	TGT_RADIUS	2000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.10	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120422,154856,1415.993,14503.376,23,0.8,39,0.3	MHEAD_RNG_PITCHd_Wd	198.0,11345,-23.9,-10.000,-28.69,1492,0.210
SPEED_LIMITS	0.173,0.183	D_GRID	1000
TGT_NAME	T1E	IRON	1.000000,0.005000,-0.003000,0.013000,1.047000,-0.005000,0.002000,0.001000,1.052000,12.000000,99.000000,12.600000
TGT_LATLONG	1411.748,14458.820

WARN	HTMICL TMICL logging already stopped	INTERNAL_PRESSURE	9.21554
FINISH	0.1,1.021362	_24V_AH	14.98,157.224
SM_CCo	3267.14,214.05,0.730,0,500.7,467.5,533.9,613.07	_10V_AH	15.00,0.000
SM_GC	1.16,214.05,6.74,0.19,0.730,0.036,0.043,500.7,467.5,533.9,105.4,2974.7,0,0,0,11.60,15.98,15.98	FG_AHR_24Vo	97.587
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	121.067
IRIDIUM_FIX	1415.70,14502.67,120422,144357	MEM0	60140,1,0,0
TCM_TEMP	27.40	MEM1	65508,1,0,0
XPDR_PINGS	13,14.5,10.5	MEM2	994764,37,51524,77
SC_FREEKB	3730304	DATA_FILE_SIZE	12931,416
PM_FREEKB_00	65539904	CAP_FILE_SIZE	135203,0
PM_FREEKB_01	52298816	SDSIZE	3887104,3793152
PM_FREEKB_02	124835200	SDFILEDIR	2037,1
PM_FREEKB_03	124835200	ERRORS	0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	1	CURRENT	0.068,344.2,1
TM_FREEKB	5150656	MAGCAL	1.000000,0.012351,-0.011595,0.004277,1.041833,0.001454,0.012843,0.000768,1.052280,23.1,98.1,13.8,35,0.0011,0
HUMID	54.49	IMPLIED_C_PITCH	2426,26.46,209,0.0,0.00
TEMP	26.93	GPS	120422,164456,1415.983,14503.363,21,0.7,37,0.3

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	616	926	8553.40	nil	0	0	0.00
Pitch_motor	18	390	108.22	nil	0	0	0.00
Roll_motor	33	73	36.44	nil	0	0	0.00
Iridium	207	183	570.50	nil	0	0	0.00
Transponder_ping	3	420	20.45	nil	0	0	0.00
GPS	48	15	10.86	nil	0	0	0.00
Core	683	6	69.70	SciCon	3061	36	1688.11
Fast	16	0	0.00	PMAR	3057	13	629.08
Slow	0	0	0.00	TMICL	3032	9	441.38
LPSleep	1480	2	44.40
Compass	868	5	65.13
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
21.52	16386	-97.32	-0.82	0.00	501.0	467.0	535.1	92.9	2780.4	0.00	0.00	0	121.46	90.91	0.00	0.00	0.005	0.000	0.000	3050.31	2981.38	3119.25	92.69	2783.38	0	0	0	15.15	30.00	30.00
121.71	18727	-97.32	-0.82	30.00	3051.0	2980.9	3121.1	92.6	2780.8	3.20	-2.67	9	150.90	6.62	9.77	1.92	0.007	0.390	0.034	3397.00	3314.12	3479.88	2121.06	3989.56	0	0	0	15.32	15.05	15.31
153.22	1028	-97.32	-0.82	0.00	3397.2	3314.4	3479.9	2122.8	3989.4	17.53	-33.33	14	160.34	0.00	0.00	1.81	0.000	0.000	0.009	3398.12	3315.75	3480.50	2128.88	2795.62	0	0	0	30.00	30.00	15.48
348.61	260	-97.32	-0.82	30.00	3397.8	3315.0	3480.7	2128.5	2778.4	86.63	-36.84	34	357.95	0.00	0.00	1.95	0.000	0.000	0.032	3399.38	3316.69	3482.06	2120.88	3984.19	0	0	0	30.00	30.00	15.44
524.73	1028	-97.32	-0.82	-0.10	3397.8	3314.8	3480.9	2121.2	3985.6	136.82	-27.08	68	532.30	0.00	0.00	1.78	0.000	0.000	0.009	3399.38	3316.31	3482.44	2120.00	2799.00	0	0	0	30.00	30.00	15.87
717.04	516	-97.32	-0.82	-30.00	3398.0	3315.6	3480.3	2121.0	2780.7	179.78	-20.77	88	722.60	0.00	0.00	1.53	0.000	0.000	0.013	3397.28	3314.56	3480.00	2121.38	1758.69	0	0	0	30.00	30.00	15.91
727	end dive: TARGET_DEPTH_EXCEEDED
state	727	begin apogee
728.79	10243	0.00	-0.12	0.00	3398.2	3315.3	3481.1	2115.4	2726.4	182.47	-22.02	90	812.16	76.57	0.69	0.14	0.927	0.265	0.074	2999.41	2895.69	3103.12	2298.62	2530.62	0	0	0	11.60	15.63	15.51
815	end apogee: CONTROL_FINISHED_OK
state	815	begin climb
815.77	10503	97.32	0.82	30.00	2998.5	2894.8	3102.2	2299.2	2531.6	189.98	0.00	98	903.82	76.43	0.76	2.05	0.925	0.155	0.037	2602.62	2501.25	2704.00	2533.56	3778.25	0	0	0	12.11	15.60	15.71
1131.22	11303	210.40	1.08	0.00	2598.6	2499.0	2698.2	2533.8	3777.4	183.04	2.21	157	1224.81	84.71	0.14	1.80	0.919	0.067	0.010	2141.94	2040.06	2243.81	2629.94	2571.88	0	0	0	11.70	15.81	15.81
1412.06	4357	210.40	1.08	30.00	2138.2	2037.0	2239.4	2630.4	2571.3	154.66	12.74	194	1420.42	0.00	0.16	1.94	0.000	0.225	0.034	2137.62	2036.19	2239.06	2585.44	3786.12	0	0	0	30.00	15.70	15.73
1647.10	11303	301.31	1.29	0.39	2136.3	2037.0	2235.6	2585.8	3786.1	141.49	3.74	240	1726.47	66.88	0.14	1.80	0.872	0.060	0.009	1771.72	1679.69	1863.75	2667.88	2583.94	0	0	0	11.69	15.80	15.78
1914.21	4357	301.31	1.29	30.00	1766.5	1678.2	1854.8	2668.5	2583.7	115.07	11.41	274	1923.54	0.00	0.12	1.92	0.000	0.223	0.033	1767.50	1679.00	1856.00	2634.88	3783.25	0	0	0	30.00	15.76	15.49
2120.93	1028	301.31	1.29	0.58	1765.2	1678.8	1851.6	2635.6	3782.4	91.70	10.04	315	2128.03	0.00	0.00	1.77	0.000	0.000	0.011	1765.38	1678.94	1851.81	2643.38	2633.88	0	0	0	30.00	30.00	15.83
2316.29	324	301.31	1.31	30.00	1764.6	1677.5	1851.6	2643.0	2613.5	72.85	9.25	335	2322.71	0.00	0.00	1.88	0.000	0.000	0.033	1765.16	1678.38	1851.94	2642.75	3780.31	0	0	0	30.00	30.00	15.85
2340.95	1028	301.31	1.31	0.62	1764.3	1678.0	1850.6	2643.8	3781.9	70.20	9.82	340	2349.38	0.00	0.00	1.77	0.000	0.000	0.012	1764.97	1677.75	1852.19	2651.62	2641.88	0	0	0	30.00	30.00	15.81
2537.82	0	301.31	1.31	0.62	1764.0	1677.2	1850.8	2652.6	2620.3	49.51	10.30	360	2541.93	0.00	0.00	0.00	0.000	0.000	0.000	1763.34	1676.94	1849.75	2652.12	2619.75	0	0	0	30.00	30.00	30.00
2732.37	324	301.31	1.32	30.00	1764.2	1678.0	1850.4	2653.4	2619.1	31.44	9.25	379	2738.97	0.00	0.00	1.88	0.000	0.000	0.033	1764.12	1676.81	1851.44	2652.62	3785.38	0	0	0	30.00	30.00	15.86
2752.63	1028	301.31	1.32	0.70	1764.0	1677.6	1850.4	2652.2	3784.6	28.89	9.87	383	2761.80	0.00	0.00	1.76	0.000	0.000	0.012	1764.25	1677.88	1850.62	2661.88	2643.50	0	0	0	30.00	30.00	15.96
2944.47	516	301.31	1.32	-30.00	1764.1	1677.1	1851.1	2661.8	2621.1	9.08	10.07	403	2950.84	0.00	0.00	1.61	0.000	0.000	0.014	1764.59	1678.19	1851.00	2668.56	1557.06	0	0	0	30.00	30.00	15.83
2974.50	17414	301.31	1.32	0.63	1763.1	1676.9	1849.2	2670.1	1540.6	6.06	10.02	409	2980.90	0.00	0.00	1.90	0.000	0.000	0.026	1764.44	1678.44	1850.44	2669.75	2736.88	0	0	0	30.00	30.00	15.88
3015	end climb: SURFACE_DEPTH_REACHED
state	3015	begin surface coast
3035	end surface coast: CONTROL_FINISHED_OK
state	3035	begin surface