Glider dive log

ARCTERX Mar22 * SG526 * Dive index * Mission links * Dive 207 * 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 207 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 121.17815 SEABIRD_T_J 3.1402324e-06

USE_BATHY -6 PITCH_CNV 0.0041299998 FG_AHR_24V 97.862808 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 2845.8269 XPDR_VALID 4 PM_SENDDEPTH 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 2717.8376 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 121.17815 PITCH_DBAND 0.1 SM_CC 613.25

ALTIM_PING_FIT 0 FG_AHR_24V 97.862808 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 2717.8376 LOITER_DBDW 0 PROTOCOL 9 T_LOITER 0

C_ROLL_DIVE 2845.8269 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 207 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 120422,184211,1416.020,14503.128,21,1.4,22,0.3 TGT_RADIUS 2000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.07 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120422,184832,1416.064,14503.143,26,0.9,26,0.3 MHEAD_RNG_PITCHd_Wd 185.0,11141,-23.9,-10.000,-28.69,1492,0.219

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 9.24459

FINISH 0.4,1.021902 _24V_AH 15.02,157.776

SM_CCo 3029.25,203.13,0.721,0,499.5,460.3,538.6,613.38 _10V_AH 15.00,0.000

SM_GC 1.11,203.13,6.65,2.01,0.721,0.026,0.026,499.5,460.3,538.6,120.1,2883.1,0,0,0,11.63,16.00,16.01 FG_AHR_24Vo 97.986

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 121.232

IRIDIUM_FIX 1415.57,14505.76,120422,174148 MEM0 60140,1,0,0

TCM_TEMP 27.20 MEM1 65508,1,0,0

XPDR_PINGS 15,14.5,10.5 MEM2 994808,33,51560,77

SC_FREEKB 3728672 DATA_FILE_SIZE 9703,375

PM_FREEKB_00 65539904 CAP_FILE_SIZE 136941,0

PM_FREEKB_01 51902528 SDSIZE 3887104,3792096

PM_FREEKB_02 124835200 SDFILEDIR 2067,1

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 0.103,349.2,1

TM_FREEKB 5136480 MAGCAL 1.000000,0.010245,-0.008914,0.005564,1.040509,0.005093,0.012519,-0.000760,1.051165,22.0,98.1,13.3,27,0.0016,0

HUMID 55.05 IMPLIED_C_PITCH 2434,26.97,191,0.0,0.00

TEMP 27.29 GPS 120422,194031,1416.002,14503.085,35,0.8,36,0.3

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 619 914 8507.30 nil 0 0 0.00

Pitch_motor 18 378 104.41 nil 0 0 0.00

Roll_motor 36 57 31.58 nil 0 0 0.00

Iridium 224 174 586.97 nil 0 0 0.00

Transponder_ping 3 420 23.66 nil 0 0 0.00

GPS 35 15 8.03 nil 0 0 0.00

Core 681 6 69.51 SciCon 2833 37 1589.99

Fast 16 0 0.00 PMAR 2829 13 584.84

Slow 0 0 0.00 TMICL 2805 9 408.59

LPSleep 1382 2 41.48

Compass 772 5 57.96

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

21.00 16386 -97.32 -0.82 0.00 498.9 466.0 531.8 95.8 2666.1 0.00 0.00 0 119.68 90.80 0.00 0.00 0.005 0.000 0.000 3068.78 2998.88 3138.69 95.06 2664.50 0 0 0 15.23 30.00 30.00

119.93 18983 -97.32 -0.82 -30.00 3068.3 2997.7 3138.9 95.1 2664.9 3.91 -3.44 9 143.86 6.12 9.43 1.39 0.008 0.379 0.018 3396.44 3316.06 3476.81 2136.69 1713.25 0 0 0 15.31 15.19 15.42

161.54 1028 -97.32 -0.82 0.00 3398.9 3315.9 3482.0 2136.6 1694.8 21.67 -36.91 17 167.95 0.00 0.00 1.87 0.000 0.000 0.033 3398.84 3316.06 3481.62 2129.81 2878.25 0 0 0 30.00 30.00 15.93

356.60 260 -97.32 -0.82 30.00 3398.7 3315.6 3481.9 2129.5 2879.0 84.68 -32.75 37 362.15 0.00 0.00 1.67 0.000 0.000 0.037 3398.16 3315.50 3480.81 2121.56 3945.75 0 0 0 30.00 30.00 15.92

416.44 1028 -97.32 -0.82 0.03 3398.4 3315.9 3480.9 2121.5 3947.2 104.93 -24.74 49 422.25 0.00 0.00 1.78 0.000 0.000 0.009 3399.75 3317.31 3482.19 2120.81 2767.50 0 0 0 30.00 30.00 15.94

605.86 260 -97.32 -0.82 30.00 3399.0 3316.1 3481.9 2120.6 2750.2 159.82 -21.83 69 612.31 0.00 0.00 1.91 0.000 0.000 0.036 3398.84 3316.31 3481.38 2112.00 3945.88 0 0 0 30.00 30.00 15.94

626.49 1028 -97.32 -0.82 -0.15 3398.8 3317.0 3480.6 2112.1 3946.6 163.94 -20.03 73 632.18 0.00 0.00 1.78 0.000 0.000 0.010 3400.59 3317.75 3483.44 2111.88 2771.19 0 0 0 30.00 30.00 15.97

696 end dive: TARGET_DEPTH_EXCEEDED

state 696 begin apogee

697.07 10243 0.00 -0.12 0.00 3399.0 3316.5 3481.4 2112.7 2558.6 180.09 -23.34 81 779.77 77.29 0.68 0.29 0.911 0.241 0.052 2998.78 2895.50 3102.06 2302.50 2770.31 0 0 0 11.66 15.80 15.50

784 end apogee: CONTROL_FINISHED_OK

state 784 begin climb

784.63 10759 97.32 0.82 -30.00 2997.5 2893.6 3101.3 2301.2 2770.8 186.48 0.00 89 867.00 75.98 0.69 1.83 0.914 0.125 0.012 2602.28 2502.94 2701.62 2534.69 1575.00 0 0 0 11.98 15.69 15.39

921.12 11303 208.89 1.08 0.00 2600.2 2501.9 2698.6 2534.6 1574.4 183.61 2.32 112 1014.77 83.54 0.16 1.88 0.914 0.050 0.027 2147.75 2047.62 2247.88 2645.75 2753.75 0 0 0 11.93 15.73 15.78

1204.34 4357 208.89 1.08 30.00 2142.9 2043.5 2242.4 2645.3 2753.9 149.82 12.06 149 1210.00 0.00 0.22 1.66 0.000 0.214 0.034 2144.19 2044.44 2243.94 2582.81 3813.19 0 0 0 30.00 15.70 15.72

1438.27 11303 273.39 1.23 0.26 2142.4 2043.3 2241.5 2583.1 3814.6 135.85 5.56 196 1499.19 49.06 0.10 1.78 0.840 0.072 0.010 1885.12 1788.62 1981.62 2657.00 2619.31 0 0 0 11.74 15.90 15.93

1685.30 4357 273.39 1.23 30.00 1879.7 1786.4 1973.0 2657.2 2618.8 114.01 9.70 226 1692.01 0.00 0.13 1.90 0.000 0.222 0.034 1879.38 1786.12 1972.62 2618.94 3813.06 0 0 0 30.00 15.79 15.82

1825.40 1092 273.39 1.25 0.57 1879.1 1786.5 1971.7 2619.8 3814.2 101.61 8.61 254 1834.16 0.00 0.00 1.76 0.000 0.000 0.011 1879.62 1786.88 1972.38 2626.38 2666.69 0 0 0 30.00 30.00 15.90

2016.92 10535 318.05 1.36 30.00 1878.7 1785.6 1971.8 2626.7 2647.4 87.95 6.92 274 2057.93 33.63 0.09 1.87 0.767 0.077 0.035 1701.56 1611.50 1791.62 2695.12 3815.44 0 0 0 11.51 15.95 15.66

2141.98 5125 318.05 1.36 0.88 1699.8 1612.1 1787.6 2695.5 3814.6 71.84 14.54 298 2148.44 0.00 0.19 1.74 0.000 0.234 0.011 1699.62 1612.00 1787.25 2650.69 2678.44 0 0 0 30.00 15.59 15.87

2331.98 324 318.05 1.37 30.00 1698.8 1611.6 1785.9 2652.1 2660.6 52.77 9.42 318 2341.14 0.00 0.00 1.86 0.000 0.000 0.033 1698.97 1611.88 1786.06 2650.81 3813.69 0 0 0 30.00 30.00 15.86

2358.55 1028 318.05 1.37 0.93 1698.3 1611.9 1784.7 2651.5 3813.1 49.87 10.04 323 2365.65 0.00 0.00 1.74 0.000 0.000 0.011 1698.25 1612.00 1784.50 2659.31 2683.94 0 0 0 30.00 30.00 15.88

2553.89 516 318.05 1.37 -30.00 1697.6 1611.2 1783.9 2658.9 2664.8 28.70 10.95 343 2560.30 0.00 0.00 1.62 0.000 0.000 0.014 1699.53 1613.38 1785.69 2666.00 1590.06 0 0 0 30.00 30.00 15.86

2574.01 1028 318.05 1.37 0.91 1697.5 1611.8 1783.2 2666.6 1586.2 26.59 10.71 347 2583.15 0.00 0.00 1.93 0.000 0.000 0.025 1698.72 1613.12 1784.31 2666.44 2787.12 0 0 0 30.00 30.00 15.57

2765.88 516 318.05 1.37 -30.00 1697.2 1612.1 1782.4 2665.9 2787.6 4.42 11.80 367 2772.33 0.00 0.00 1.84 0.000 0.000 0.014 1697.94 1612.12 1783.75 2675.25 1594.62 0 0 0 30.00 30.00 15.91

2791 end climb: SURFACE_DEPTH_REACHED

state 2791 begin surface coast

2806 end surface coast: CONTROL_FINISHED_OK

state 2806 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	207	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	121.17815	SEABIRD_T_J	3.1402324e-06
USE_BATHY	-6	PITCH_CNV	0.0041299998	FG_AHR_24V	97.862808	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	2845.8269	XPDR_VALID	4	PM_SENDDEPTH	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	2717.8376	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	120422,184211,1416.020,14503.128,21,1.4,22,0.3	TGT_RADIUS	2000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.07	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120422,184832,1416.064,14503.143,26,0.9,26,0.3	MHEAD_RNG_PITCHd_Wd	185.0,11141,-23.9,-10.000,-28.69,1492,0.219
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	9.24459
FINISH	0.4,1.021902	_24V_AH	15.02,157.776
SM_CCo	3029.25,203.13,0.721,0,499.5,460.3,538.6,613.38	_10V_AH	15.00,0.000
SM_GC	1.11,203.13,6.65,2.01,0.721,0.026,0.026,499.5,460.3,538.6,120.1,2883.1,0,0,0,11.63,16.00,16.01	FG_AHR_24Vo	97.986
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	121.232
IRIDIUM_FIX	1415.57,14505.76,120422,174148	MEM0	60140,1,0,0
TCM_TEMP	27.20	MEM1	65508,1,0,0
XPDR_PINGS	15,14.5,10.5	MEM2	994808,33,51560,77
SC_FREEKB	3728672	DATA_FILE_SIZE	9703,375
PM_FREEKB_00	65539904	CAP_FILE_SIZE	136941,0
PM_FREEKB_01	51902528	SDSIZE	3887104,3792096
PM_FREEKB_02	124835200	SDFILEDIR	2067,1
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	0.103,349.2,1
TM_FREEKB	5136480	MAGCAL	1.000000,0.010245,-0.008914,0.005564,1.040509,0.005093,0.012519,-0.000760,1.051165,22.0,98.1,13.3,27,0.0016,0
HUMID	55.05	IMPLIED_C_PITCH	2434,26.97,191,0.0,0.00
TEMP	27.29	GPS	120422,194031,1416.002,14503.085,35,0.8,36,0.3

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	619	914	8507.30	nil	0	0	0.00
Pitch_motor	18	378	104.41	nil	0	0	0.00
Roll_motor	36	57	31.58	nil	0	0	0.00
Iridium	224	174	586.97	nil	0	0	0.00
Transponder_ping	3	420	23.66	nil	0	0	0.00
GPS	35	15	8.03	nil	0	0	0.00
Core	681	6	69.51	SciCon	2833	37	1589.99
Fast	16	0	0.00	PMAR	2829	13	584.84
Slow	0	0	0.00	TMICL	2805	9	408.59
LPSleep	1382	2	41.48
Compass	772	5	57.96
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
21.00	16386	-97.32	-0.82	0.00	498.9	466.0	531.8	95.8	2666.1	0.00	0.00	0	119.68	90.80	0.00	0.00	0.005	0.000	0.000	3068.78	2998.88	3138.69	95.06	2664.50	0	0	0	15.23	30.00	30.00
119.93	18983	-97.32	-0.82	-30.00	3068.3	2997.7	3138.9	95.1	2664.9	3.91	-3.44	9	143.86	6.12	9.43	1.39	0.008	0.379	0.018	3396.44	3316.06	3476.81	2136.69	1713.25	0	0	0	15.31	15.19	15.42
161.54	1028	-97.32	-0.82	0.00	3398.9	3315.9	3482.0	2136.6	1694.8	21.67	-36.91	17	167.95	0.00	0.00	1.87	0.000	0.000	0.033	3398.84	3316.06	3481.62	2129.81	2878.25	0	0	0	30.00	30.00	15.93
356.60	260	-97.32	-0.82	30.00	3398.7	3315.6	3481.9	2129.5	2879.0	84.68	-32.75	37	362.15	0.00	0.00	1.67	0.000	0.000	0.037	3398.16	3315.50	3480.81	2121.56	3945.75	0	0	0	30.00	30.00	15.92
416.44	1028	-97.32	-0.82	0.03	3398.4	3315.9	3480.9	2121.5	3947.2	104.93	-24.74	49	422.25	0.00	0.00	1.78	0.000	0.000	0.009	3399.75	3317.31	3482.19	2120.81	2767.50	0	0	0	30.00	30.00	15.94
605.86	260	-97.32	-0.82	30.00	3399.0	3316.1	3481.9	2120.6	2750.2	159.82	-21.83	69	612.31	0.00	0.00	1.91	0.000	0.000	0.036	3398.84	3316.31	3481.38	2112.00	3945.88	0	0	0	30.00	30.00	15.94
626.49	1028	-97.32	-0.82	-0.15	3398.8	3317.0	3480.6	2112.1	3946.6	163.94	-20.03	73	632.18	0.00	0.00	1.78	0.000	0.000	0.010	3400.59	3317.75	3483.44	2111.88	2771.19	0	0	0	30.00	30.00	15.97
696	end dive: TARGET_DEPTH_EXCEEDED
state	696	begin apogee
697.07	10243	0.00	-0.12	0.00	3399.0	3316.5	3481.4	2112.7	2558.6	180.09	-23.34	81	779.77	77.29	0.68	0.29	0.911	0.241	0.052	2998.78	2895.50	3102.06	2302.50	2770.31	0	0	0	11.66	15.80	15.50
784	end apogee: CONTROL_FINISHED_OK
state	784	begin climb
784.63	10759	97.32	0.82	-30.00	2997.5	2893.6	3101.3	2301.2	2770.8	186.48	0.00	89	867.00	75.98	0.69	1.83	0.914	0.125	0.012	2602.28	2502.94	2701.62	2534.69	1575.00	0	0	0	11.98	15.69	15.39
921.12	11303	208.89	1.08	0.00	2600.2	2501.9	2698.6	2534.6	1574.4	183.61	2.32	112	1014.77	83.54	0.16	1.88	0.914	0.050	0.027	2147.75	2047.62	2247.88	2645.75	2753.75	0	0	0	11.93	15.73	15.78
1204.34	4357	208.89	1.08	30.00	2142.9	2043.5	2242.4	2645.3	2753.9	149.82	12.06	149	1210.00	0.00	0.22	1.66	0.000	0.214	0.034	2144.19	2044.44	2243.94	2582.81	3813.19	0	0	0	30.00	15.70	15.72
1438.27	11303	273.39	1.23	0.26	2142.4	2043.3	2241.5	2583.1	3814.6	135.85	5.56	196	1499.19	49.06	0.10	1.78	0.840	0.072	0.010	1885.12	1788.62	1981.62	2657.00	2619.31	0	0	0	11.74	15.90	15.93
1685.30	4357	273.39	1.23	30.00	1879.7	1786.4	1973.0	2657.2	2618.8	114.01	9.70	226	1692.01	0.00	0.13	1.90	0.000	0.222	0.034	1879.38	1786.12	1972.62	2618.94	3813.06	0	0	0	30.00	15.79	15.82
1825.40	1092	273.39	1.25	0.57	1879.1	1786.5	1971.7	2619.8	3814.2	101.61	8.61	254	1834.16	0.00	0.00	1.76	0.000	0.000	0.011	1879.62	1786.88	1972.38	2626.38	2666.69	0	0	0	30.00	30.00	15.90
2016.92	10535	318.05	1.36	30.00	1878.7	1785.6	1971.8	2626.7	2647.4	87.95	6.92	274	2057.93	33.63	0.09	1.87	0.767	0.077	0.035	1701.56	1611.50	1791.62	2695.12	3815.44	0	0	0	11.51	15.95	15.66
2141.98	5125	318.05	1.36	0.88	1699.8	1612.1	1787.6	2695.5	3814.6	71.84	14.54	298	2148.44	0.00	0.19	1.74	0.000	0.234	0.011	1699.62	1612.00	1787.25	2650.69	2678.44	0	0	0	30.00	15.59	15.87
2331.98	324	318.05	1.37	30.00	1698.8	1611.6	1785.9	2652.1	2660.6	52.77	9.42	318	2341.14	0.00	0.00	1.86	0.000	0.000	0.033	1698.97	1611.88	1786.06	2650.81	3813.69	0	0	0	30.00	30.00	15.86
2358.55	1028	318.05	1.37	0.93	1698.3	1611.9	1784.7	2651.5	3813.1	49.87	10.04	323	2365.65	0.00	0.00	1.74	0.000	0.000	0.011	1698.25	1612.00	1784.50	2659.31	2683.94	0	0	0	30.00	30.00	15.88
2553.89	516	318.05	1.37	-30.00	1697.6	1611.2	1783.9	2658.9	2664.8	28.70	10.95	343	2560.30	0.00	0.00	1.62	0.000	0.000	0.014	1699.53	1613.38	1785.69	2666.00	1590.06	0	0	0	30.00	30.00	15.86
2574.01	1028	318.05	1.37	0.91	1697.5	1611.8	1783.2	2666.6	1586.2	26.59	10.71	347	2583.15	0.00	0.00	1.93	0.000	0.000	0.025	1698.72	1613.12	1784.31	2666.44	2787.12	0	0	0	30.00	30.00	15.57
2765.88	516	318.05	1.37	-30.00	1697.2	1612.1	1782.4	2665.9	2787.6	4.42	11.80	367	2772.33	0.00	0.00	1.84	0.000	0.000	0.014	1697.94	1612.12	1783.75	2675.25	1594.62	0	0	0	30.00	30.00	15.91
2791	end climb: SURFACE_DEPTH_REACHED
state	2791	begin surface coast
2806	end surface coast: CONTROL_FINISHED_OK
state	2806	begin surface