Glider dive log

ARCTERX Mar22 * SG526 * Dive index * Mission links * Dive 206 * 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 206 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 121.11945 SEABIRD_T_J 3.1402324e-06

USE_BATHY -6 PITCH_CNV 0.0041299998 FG_AHR_24V 97.730286 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 2851.3284 XPDR_VALID 4 PM_SENDDEPTH 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 2700.0566 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 121.11945 PITCH_DBAND 0.1 SM_CC 613.25

ALTIM_PING_FIT 0 FG_AHR_24V 97.730286 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 2700.0566 LOITER_DBDW 0 PROTOCOL 9 T_LOITER 0

C_ROLL_DIVE 2851.3284 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 206 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 120422,173933,1415.939,14503.200,31,0.8,32,0.3 TGT_RADIUS 2000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.11 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120422,174532,1415.989,14503.201,33,0.8,33,0.3 MHEAD_RNG_PITCHd_Wd 189.4,11117,-23.9,-10.000,-28.69,1492,0.237

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 9.2449

FINISH 0.1,1.010324 _24V_AH 15.02,157.592

SM_CCo 3322.92,219.91,0.724,0,501.0,463.1,538.9,613.00 _10V_AH 15.00,0.000

SM_GC 1.05,219.91,6.62,0.38,0.724,0.031,0.036,501.0,463.1,538.9,116.6,2897.9,0,0,0,11.61,15.96,16.01 FG_AHR_24Vo 97.852

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 121.177

IRIDIUM_FIX 1415.83,14459.57,120422,164715 MEM0 60140,1,0,0

TCM_TEMP 27.20 MEM1 65508,1,0,0

XPDR_PINGS 11,14.5,10.5 MEM2 994784,35,51544,77

SC_FREEKB 3729216 DATA_FILE_SIZE 12929,419

PM_FREEKB_00 65539904 CAP_FILE_SIZE 137224,0

PM_FREEKB_01 52033728 SDSIZE 3887104,3792448

PM_FREEKB_02 124835200 SDFILEDIR 2057,1

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 0.123,334.7,1

TM_FREEKB 5141152 MAGCAL 1.000000,0.009909,-0.010786,0.006129,1.041193,0.009150,0.011399,-0.004870,1.050044,22.6,97.7,14.3,35,0.0019,0

HUMID 54.95 IMPLIED_C_PITCH 2429,27.19,210,0.0,0.00

TEMP 27.23 GPS 120422,184211,1416.020,14503.128,21,1.4,22,0.3

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 618 914 8493.84 nil 0 0 0.00

Pitch_motor 18 379 104.42 nil 0 0 0.00

Roll_motor 33 57 28.87 nil 0 0 0.00

Iridium 198 181 541.54 nil 0 0 0.00

Transponder_ping 2 420 17.35 nil 0 0 0.00

GPS 42 15 9.59 nil 0 0 0.00

Core 705 6 71.95 SciCon 3111 36 1719.51

Fast 16 0 0.00 PMAR 3107 13 641.70

Slow 0 0 0.00 TMICL 3084 9 449.00

LPSleep 1573 2 47.20

Compass 829 5 62.21

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

20.63 16386 -97.32 -0.82 0.00 497.7 466.2 529.1 94.2 2684.9 0.00 0.00 0 119.53 90.96 0.00 0.00 0.005 0.000 0.000 3084.06 3012.75 3155.38 94.38 2686.50 0 0 0 15.26 30.00 30.00

119.79 18983 -97.32 -0.82 -30.00 3084.3 3011.9 3156.7 94.3 2687.0 4.03 -3.75 9 145.60 5.82 9.45 1.41 0.008 0.380 0.015 3397.16 3315.62 3478.69 2136.88 1699.44 0 0 0 15.33 15.16 15.41

223.72 1028 -97.32 -0.82 0.00 3398.8 3314.9 3482.6 2137.1 1680.5 38.16 -23.83 29 231.11 0.00 0.00 1.91 0.000 0.000 0.036 3399.50 3315.56 3483.44 2128.94 2880.94 0 0 0 30.00 30.00 15.82

416.31 260 -97.32 -0.82 30.00 3398.5 3313.9 3483.1 2129.6 2881.9 98.82 -31.78 49 422.19 0.00 0.00 1.68 0.000 0.000 0.041 3399.34 3315.12 3483.56 2120.75 3952.19 0 0 0 30.00 30.00 15.91

506.41 1028 -97.32 -0.82 0.16 3399.1 3314.8 3483.4 2120.6 3951.6 126.44 -31.40 67 512.27 0.00 0.00 1.77 0.000 0.000 0.011 3398.91 3314.62 3483.19 2120.62 2786.75 0 0 0 30.00 30.00 15.94

695.90 516 -97.32 -0.82 -30.00 3398.9 3314.9 3482.9 2120.6 2768.8 170.54 -20.83 87 702.27 0.00 0.00 1.57 0.000 0.000 0.011 3400.34 3316.31 3484.38 2121.31 1720.88 0 0 0 30.00 30.00 15.95

740.53 1028 -97.32 -0.82 -0.16 3398.9 3314.4 3483.3 2120.4 1701.6 179.95 -19.13 96 749.73 0.00 0.00 1.86 0.000 0.000 0.031 3399.78 3315.62 3483.94 2111.81 2883.00 0 0 0 30.00 30.00 15.82

758 end dive: TARGET_DEPTH_EXCEEDED

state 758 begin apogee

759.21 10243 0.00 -0.12 0.00 3399.1 3315.6 3482.7 2112.4 2567.7 182.67 -16.50 98 842.13 77.12 0.68 0.25 0.914 0.242 0.058 3000.19 2895.69 3104.69 2299.06 2756.56 0 0 0 11.57 15.76 15.55

845 end apogee: CONTROL_FINISHED_OK

state 845 begin climb

845.78 10759 97.32 0.82 -30.00 2997.8 2894.1 3101.6 2300.9 2758.1 188.64 0.00 106 931.69 76.32 0.69 1.83 0.913 0.124 0.011 2603.09 2505.06 2701.12 2536.38 1557.12 0 0 0 12.03 15.68 15.76

1019.05 11303 199.12 1.06 0.00 2600.0 2502.5 2697.5 2537.2 1557.6 184.91 2.99 137 1105.38 76.75 0.14 1.88 0.910 0.056 0.027 2187.06 2085.62 2288.50 2635.38 2737.00 0 0 0 11.81 15.74 15.73

1292.53 4357 199.12 1.06 30.00 2183.5 2082.8 2284.2 2635.8 2736.2 159.28 9.55 171 1298.20 0.00 0.20 1.66 0.000 0.223 0.035 2184.00 2083.50 2284.50 2578.44 3798.69 0 0 0 30.00 15.74 15.76

1526.49 11303 252.85 1.18 0.22 2181.1 2082.5 2279.6 2578.1 3799.5 145.23 6.30 218 1577.53 40.97 0.09 1.79 0.848 0.087 0.010 1969.62 1869.06 2070.19 2646.25 2599.00 0 0 0 11.78 15.84 15.91

1760.26 4357 252.85 1.18 30.00 1964.3 1867.4 2061.2 2648.8 2599.6 124.39 10.41 246 1767.75 0.00 0.14 1.93 0.000 0.219 0.033 1964.88 1868.06 2061.69 2608.00 3800.56 0 0 0 30.00 15.71 15.74

1845.11 1092 252.85 1.20 0.04 1963.3 1867.2 2059.5 2608.4 3800.5 116.59 8.85 263 1852.27 0.00 0.00 1.80 0.000 0.000 0.010 1964.25 1868.06 2060.44 2615.50 2621.06 0 0 0 30.00 30.00 15.91

2042.48 10535 292.62 1.29 30.00 1962.6 1866.5 2058.8 2616.3 2602.1 102.18 7.26 283 2079.85 30.69 0.08 1.94 0.780 0.090 0.035 1805.09 1711.31 1898.88 2684.12 3801.56 0 0 0 11.59 15.92 15.69

2102.55 5125 292.62 1.29 0.53 1804.6 1712.9 1896.2 2683.2 3803.0 96.05 12.27 294 2109.62 0.00 0.20 1.77 0.000 0.231 0.011 1805.19 1713.75 1896.62 2636.44 2643.25 0 0 0 30.00 15.70 15.85

2292.36 324 292.62 1.32 30.00 1802.1 1711.9 1892.2 2636.4 2623.1 77.29 8.52 314 2298.78 0.00 0.00 1.89 0.000 0.000 0.033 1803.88 1713.75 1894.00 2635.25 3799.94 0 0 0 30.00 30.00 15.91

2512.45 1028 292.62 1.32 0.44 1801.2 1712.8 1889.7 2636.4 3800.2 53.64 10.94 358 2521.55 0.00 0.00 1.76 0.000 0.000 0.011 1800.91 1712.88 1888.94 2644.12 2646.12 0 0 0 30.00 30.00 15.97

2704.21 0 292.62 1.32 0.44 1800.7 1711.8 1889.6 2644.6 2623.9 34.29 9.63 378 2708.20 0.00 0.00 0.00 0.000 0.000 0.000 1800.47 1711.69 1889.25 2642.81 2623.12 0 0 0 30.00 30.00 30.00

2894.31 324 292.62 1.34 30.00 1800.5 1711.4 1889.5 2644.2 2624.4 16.98 9.40 397 2900.71 0.00 0.00 1.89 0.000 0.000 0.033 1800.75 1712.19 1889.31 2643.56 3799.25 0 0 0 30.00 30.00 15.94

2918.93 1028 292.62 1.34 0.50 1800.5 1711.6 1889.3 2644.7 3799.5 14.41 9.86 402 2926.05 0.00 0.00 1.77 0.000 0.000 0.012 1800.22 1711.56 1888.88 2652.12 2652.62 0 0 0 30.00 30.00 15.89

3055 end climb: SURFACE_DEPTH_REACHED

state 3055 begin surface coast

3085 end surface coast: CONTROL_FINISHED_OK

state 3085 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	206	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	121.11945	SEABIRD_T_J	3.1402324e-06
USE_BATHY	-6	PITCH_CNV	0.0041299998	FG_AHR_24V	97.730286	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	2851.3284	XPDR_VALID	4	PM_SENDDEPTH	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	2700.0566	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	120422,173933,1415.939,14503.200,31,0.8,32,0.3	TGT_RADIUS	2000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.11	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120422,174532,1415.989,14503.201,33,0.8,33,0.3	MHEAD_RNG_PITCHd_Wd	189.4,11117,-23.9,-10.000,-28.69,1492,0.237
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	9.2449
FINISH	0.1,1.010324	_24V_AH	15.02,157.592
SM_CCo	3322.92,219.91,0.724,0,501.0,463.1,538.9,613.00	_10V_AH	15.00,0.000
SM_GC	1.05,219.91,6.62,0.38,0.724,0.031,0.036,501.0,463.1,538.9,116.6,2897.9,0,0,0,11.61,15.96,16.01	FG_AHR_24Vo	97.852
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	121.177
IRIDIUM_FIX	1415.83,14459.57,120422,164715	MEM0	60140,1,0,0
TCM_TEMP	27.20	MEM1	65508,1,0,0
XPDR_PINGS	11,14.5,10.5	MEM2	994784,35,51544,77
SC_FREEKB	3729216	DATA_FILE_SIZE	12929,419
PM_FREEKB_00	65539904	CAP_FILE_SIZE	137224,0
PM_FREEKB_01	52033728	SDSIZE	3887104,3792448
PM_FREEKB_02	124835200	SDFILEDIR	2057,1
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	0.123,334.7,1
TM_FREEKB	5141152	MAGCAL	1.000000,0.009909,-0.010786,0.006129,1.041193,0.009150,0.011399,-0.004870,1.050044,22.6,97.7,14.3,35,0.0019,0
HUMID	54.95	IMPLIED_C_PITCH	2429,27.19,210,0.0,0.00
TEMP	27.23	GPS	120422,184211,1416.020,14503.128,21,1.4,22,0.3

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	618	914	8493.84	nil	0	0	0.00
Pitch_motor	18	379	104.42	nil	0	0	0.00
Roll_motor	33	57	28.87	nil	0	0	0.00
Iridium	198	181	541.54	nil	0	0	0.00
Transponder_ping	2	420	17.35	nil	0	0	0.00
GPS	42	15	9.59	nil	0	0	0.00
Core	705	6	71.95	SciCon	3111	36	1719.51
Fast	16	0	0.00	PMAR	3107	13	641.70
Slow	0	0	0.00	TMICL	3084	9	449.00
LPSleep	1573	2	47.20
Compass	829	5	62.21
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
20.63	16386	-97.32	-0.82	0.00	497.7	466.2	529.1	94.2	2684.9	0.00	0.00	0	119.53	90.96	0.00	0.00	0.005	0.000	0.000	3084.06	3012.75	3155.38	94.38	2686.50	0	0	0	15.26	30.00	30.00
119.79	18983	-97.32	-0.82	-30.00	3084.3	3011.9	3156.7	94.3	2687.0	4.03	-3.75	9	145.60	5.82	9.45	1.41	0.008	0.380	0.015	3397.16	3315.62	3478.69	2136.88	1699.44	0	0	0	15.33	15.16	15.41
223.72	1028	-97.32	-0.82	0.00	3398.8	3314.9	3482.6	2137.1	1680.5	38.16	-23.83	29	231.11	0.00	0.00	1.91	0.000	0.000	0.036	3399.50	3315.56	3483.44	2128.94	2880.94	0	0	0	30.00	30.00	15.82
416.31	260	-97.32	-0.82	30.00	3398.5	3313.9	3483.1	2129.6	2881.9	98.82	-31.78	49	422.19	0.00	0.00	1.68	0.000	0.000	0.041	3399.34	3315.12	3483.56	2120.75	3952.19	0	0	0	30.00	30.00	15.91
506.41	1028	-97.32	-0.82	0.16	3399.1	3314.8	3483.4	2120.6	3951.6	126.44	-31.40	67	512.27	0.00	0.00	1.77	0.000	0.000	0.011	3398.91	3314.62	3483.19	2120.62	2786.75	0	0	0	30.00	30.00	15.94
695.90	516	-97.32	-0.82	-30.00	3398.9	3314.9	3482.9	2120.6	2768.8	170.54	-20.83	87	702.27	0.00	0.00	1.57	0.000	0.000	0.011	3400.34	3316.31	3484.38	2121.31	1720.88	0	0	0	30.00	30.00	15.95
740.53	1028	-97.32	-0.82	-0.16	3398.9	3314.4	3483.3	2120.4	1701.6	179.95	-19.13	96	749.73	0.00	0.00	1.86	0.000	0.000	0.031	3399.78	3315.62	3483.94	2111.81	2883.00	0	0	0	30.00	30.00	15.82
758	end dive: TARGET_DEPTH_EXCEEDED
state	758	begin apogee
759.21	10243	0.00	-0.12	0.00	3399.1	3315.6	3482.7	2112.4	2567.7	182.67	-16.50	98	842.13	77.12	0.68	0.25	0.914	0.242	0.058	3000.19	2895.69	3104.69	2299.06	2756.56	0	0	0	11.57	15.76	15.55
845	end apogee: CONTROL_FINISHED_OK
state	845	begin climb
845.78	10759	97.32	0.82	-30.00	2997.8	2894.1	3101.6	2300.9	2758.1	188.64	0.00	106	931.69	76.32	0.69	1.83	0.913	0.124	0.011	2603.09	2505.06	2701.12	2536.38	1557.12	0	0	0	12.03	15.68	15.76
1019.05	11303	199.12	1.06	0.00	2600.0	2502.5	2697.5	2537.2	1557.6	184.91	2.99	137	1105.38	76.75	0.14	1.88	0.910	0.056	0.027	2187.06	2085.62	2288.50	2635.38	2737.00	0	0	0	11.81	15.74	15.73
1292.53	4357	199.12	1.06	30.00	2183.5	2082.8	2284.2	2635.8	2736.2	159.28	9.55	171	1298.20	0.00	0.20	1.66	0.000	0.223	0.035	2184.00	2083.50	2284.50	2578.44	3798.69	0	0	0	30.00	15.74	15.76
1526.49	11303	252.85	1.18	0.22	2181.1	2082.5	2279.6	2578.1	3799.5	145.23	6.30	218	1577.53	40.97	0.09	1.79	0.848	0.087	0.010	1969.62	1869.06	2070.19	2646.25	2599.00	0	0	0	11.78	15.84	15.91
1760.26	4357	252.85	1.18	30.00	1964.3	1867.4	2061.2	2648.8	2599.6	124.39	10.41	246	1767.75	0.00	0.14	1.93	0.000	0.219	0.033	1964.88	1868.06	2061.69	2608.00	3800.56	0	0	0	30.00	15.71	15.74
1845.11	1092	252.85	1.20	0.04	1963.3	1867.2	2059.5	2608.4	3800.5	116.59	8.85	263	1852.27	0.00	0.00	1.80	0.000	0.000	0.010	1964.25	1868.06	2060.44	2615.50	2621.06	0	0	0	30.00	30.00	15.91
2042.48	10535	292.62	1.29	30.00	1962.6	1866.5	2058.8	2616.3	2602.1	102.18	7.26	283	2079.85	30.69	0.08	1.94	0.780	0.090	0.035	1805.09	1711.31	1898.88	2684.12	3801.56	0	0	0	11.59	15.92	15.69
2102.55	5125	292.62	1.29	0.53	1804.6	1712.9	1896.2	2683.2	3803.0	96.05	12.27	294	2109.62	0.00	0.20	1.77	0.000	0.231	0.011	1805.19	1713.75	1896.62	2636.44	2643.25	0	0	0	30.00	15.70	15.85
2292.36	324	292.62	1.32	30.00	1802.1	1711.9	1892.2	2636.4	2623.1	77.29	8.52	314	2298.78	0.00	0.00	1.89	0.000	0.000	0.033	1803.88	1713.75	1894.00	2635.25	3799.94	0	0	0	30.00	30.00	15.91
2512.45	1028	292.62	1.32	0.44	1801.2	1712.8	1889.7	2636.4	3800.2	53.64	10.94	358	2521.55	0.00	0.00	1.76	0.000	0.000	0.011	1800.91	1712.88	1888.94	2644.12	2646.12	0	0	0	30.00	30.00	15.97
2704.21	0	292.62	1.32	0.44	1800.7	1711.8	1889.6	2644.6	2623.9	34.29	9.63	378	2708.20	0.00	0.00	0.00	0.000	0.000	0.000	1800.47	1711.69	1889.25	2642.81	2623.12	0	0	0	30.00	30.00	30.00
2894.31	324	292.62	1.34	30.00	1800.5	1711.4	1889.5	2644.2	2624.4	16.98	9.40	397	2900.71	0.00	0.00	1.89	0.000	0.000	0.033	1800.75	1712.19	1889.31	2643.56	3799.25	0	0	0	30.00	30.00	15.94
2918.93	1028	292.62	1.34	0.50	1800.5	1711.6	1889.3	2644.7	3799.5	14.41	9.86	402	2926.05	0.00	0.00	1.77	0.000	0.000	0.012	1800.22	1711.56	1888.88	2652.12	2652.62	0	0	0	30.00	30.00	15.89
3055	end climb: SURFACE_DEPTH_REACHED
state	3055	begin surface coast
3085	end surface coast: CONTROL_FINISHED_OK
state	3085	begin surface