Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 238 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 180 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_INT 13

MISSION 6 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_REP 11.5

DIVE 238 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 0 SM_CC 350 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.5

STOP_T 0 N_FILEKB 4 VBD_MIN 400 DEEPGLIDER 0

D_SURF 2 FILEMGR 0 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 CALL_NDIVES 1 C_VBD 2500 MOTHERBOARD 6

D_TGT 220 COMM_SEQ 7 VBD_DBAND 2 DEVICE1 -1

D_ABORT 1000 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE2 -1

D_NO_BLEED 200 N_NOCOMM 2 VBD_LP_IGNORE 0 DEVICE3 -1

D_BOOST 3 NOCOMM_ACTION 131 VBD_TIMEOUT 720 DEVICE4 -1

T_BOOST 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 UNCOM_BLEED 20 DEVICE6 -1

D_PITCH 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 1

D_SAFE 0 CALL_WAIT 60 C_VBD_AUTO_DELTA 0 LOGGERDEVICE1 7

D_CALL 0 CAPUPLOAD 0 C_VBD_AUTO_MAX 0 LOGGERDEVICE2 19

SURFACE_URGENCY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 3 LOGGERDEVICE3 72

SURFACE_URGENCY_TRY 0 T_GPS 5 DBDW 0 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 N_GPS 100440 LOITER_W_DBAND 0 COMPASS_DEVICE 66

T_DIVE 70 T_RSLEEP 2 LOITER_DBDW 0 COMPASS2_DEVICE -1

T_MISSION 100 STROBE 0 LOITER_D_TOP 0 PHONE_DEVICE 33

T_ABORT 1440 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 0 GPS_DEVICE 48

T_TURN 225 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 NAV_DEVICE -1

T_NO_W 120 RAFOS_MMODEM 0 AH0_24V 350 NAV2_DEVICE -1

T_LOITER 0 PITCH_MIN 185 AH0_10V 0 NETWORK_DEVICE -1

T_EPIRB 0 PITCH_MAX 3625 MINV_24V 11 PRESSURE_DEVICE 41

USE_BATHY -10 C_PITCH 2100 MINV_10V 11 XPDR_DEVICE 21

USE_ICE 0 PITCH_DBAND 0.1 MAXI_24V 5 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_CNV 0.0031300001 MAXI_10V 1.4 SEABIRD_T_G 0.0042874566

D_OFFGRID 1000 PITCH_GAIN 45 FG_AHR_10V 11.348757 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 47.135036 SEABIRD_T_I 2.1947648e-05

APOGEE_PITCH -5 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_J 2.2037441e-06

MAX_BUOY 100 PITCH_ADJ_GAIN 0 PRESSURE_YINT -154.46213 SEABIRD_C_G -9.9419231

GLIDE_SLOPE 45 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00022299301 SEABIRD_C_H 1.1375728

SPEED_FACTOR 1 C_PITCH_AUTO_DELTA 0 COMPASS_USE 16388 SEABIRD_C_I -0.0016241658

RHO 1.0275 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_J 0.0002088599

MASS 55693 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_PING_RANGE 0 OPTIONS 0

NAV_MODE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_GAIN 2 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

KALMAN_USE 2 PITCH_W_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 0 SC_XMITPROFILE 3.0

HD_A 0.00281838 ROLL_MIN 360 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0139236 ROLL_MAX 3880 ALTIM_PING_DELTA 0 TM_RECORDABOVE 200.0

HD_C 5.7000002e-06 ROLL_DEG 40 ALTIM_FREQUENCY 13 TM_PROFILE 1.0

HEADING -1 C_ROLL_DIVE 3230 ALTIM_PULSE 3 TM_XMITPROFILE 3.0

ESCAPE_HEADING 0 C_ROLL_CLIMB 3000 ALTIM_SENSITIVITY 2 TM_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 XPDR_VALID 6 TM_XMITRAW 0.0

FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 XPDR_INHIBIT 90 TM_LOGSAMPLE 0.0

AH0_10V 0 D_PITCH 0 N_GPS 100440 SEABIRD_T_H 0.00062267116

AH0_24V 350 D_SAFE 0 N_NOCOMM 2 SEABIRD_T_I 2.1947648e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_J 2.2037441e-06

ALTIM_FREQUENCY 13 D_TGT 220 OPTIONS 0 SIM_W 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 PHONE_DEVICE 33 SM_CC 350

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_10V 11.348757 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 47.135036 PITCH_CNV 0.0031300001 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 45 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_GAIN_AUTO_DELTA 0 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00281838 PITCH_MAX 3625 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_B 0.0139236 PITCH_MAXERRORS 1 TM_LOGSAMPLE 0.0

CALL_WAIT 60 HD_C 5.7000002e-06 PITCH_MIN 185 TM_NDIVE 1.0

CAPMAXSIZE 100000 HEADING -1 PITCH_TIMEOUT 25 TM_PROFILE 1.0

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0012300001 TM_RECORDABOVE 200.0

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0.5 TM_XMITPROFILE 3.0

COMM_SEQ 7 ID 180 PITCH_W_GAIN 2 TM_XMITRAW 0.0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_DEVICE 41 T_ABORT 1440

COMPASS_DEVICE 66 INT_PRESSURE_YINT 0.5 PRESSURE_SLOPE 0.00022299301 T_BOOST 0

COMPASS_USE 16388 KALMAN_USE 2 PRESSURE_YINT -154.46213 T_DIVE 70

C_PITCH 2100 LOGGERDEVICE1 7 PROTOCOL 9 T_EPIRB 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 19 RAFOS_CORR_THRESH 60 T_GPS 5

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 72 RAFOS_DEVICE -1 T_LOITER 0

C_ROLL_CLIMB 3000 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_MISSION 100

C_ROLL_DIVE 3230 LOGGERS 1 RAFOS_MMODEM 0 T_NO_W 120

C_VBD 2500 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_RSLEEP 2

C_VBD_AUTO_DELTA 0 LOITER_D_BOTTOM 0 RELAUNCH 1 T_TURN 225

C_VBD_AUTO_MAX 0 LOITER_D_TOP 0 RHO 1.0275 T_TURN_SAMPINT -5

DBDW 0 LOITER_N_DIVE 0 ROLL_ADJ_DBAND 0 UNCOM_BLEED 20

DEEPGLIDER 0 LOITER_W_DBAND 0 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 55693 ROLL_CNV 0.028270001 USE_BATHY -10

DEVICE1 -1 MAXI_10V 1.4 ROLL_DEG 40 USE_ICE 0

DEVICE2 -1 MAXI_24V 5 ROLL_MAX 3880 VBD_CNV -0.24529999

DEVICE3 -1 MAX_BUOY 100 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE4 -1 MINV_10V 11 ROLL_MIN 360 VBD_LP_IGNORE 0

DEVICE5 -1 MINV_24V 11 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE6 -1 MISSION 6 SC_NDIVE 1.0 VBD_MAXERRORS 1

DIVE 238 MOTHERBOARD 6 SC_PROFILE 3.0 VBD_MIN 400

D_ABORT 1000 NAV2_DEVICE -1 SC_RECORDABOVE 2000.0 VBD_TIMEOUT 720

D_BOOST 3 NAV_DEVICE -1 SC_XMITPROFILE 3.0 W_ADJ_DBAND 3

D_CALL 0 NAV_MODE 2 SEABIRD_C_G -9.9419231 XPDR_DEVICE 21

D_FINISH 0 NETWORK_DEVICE -1 SEABIRD_C_H 1.1375728 XPDR_INHIBIT 90

D_FLARE 3 NOCOMM_ACTION 131 SEABIRD_C_I -0.0016241658 XPDR_INT 13

D_NO_BLEED 200 N_DIVES 0 SEABIRD_C_J 0.0002088599 XPDR_REP 11.5

D_OFFGRID 1000 N_FILEKB 4 SEABIRD_T_G 0.0042874566 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 280922,080244,3714.443,-12459.971,37,1.7,43,13.4 TGT_RADIUS 4000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.28 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 280922,080641,3714.422,-12459.914,2,0.7,4,13.4 MHEAD_RNG_PITCHd_Wd 339.2,11071,-25.5,-10.476,-29.53,1425,0.167

SPEED_LIMITS 0.105,0.185 D_GRID 1000

TGT_NAME LineB_1 IRON 1.000000,-0.027323,0.018337,-0.100663,1.127919,0.016774,-0.036559,0.020363,1.057578,-61.700001,-1219.199951,-586.900024

TGT_LATLONG 3720.400,-12500.000

Post-dive calculations and measurements:

FINISH 0.1,1.011028 FG_AHR_10Vo 11.380

SM_CCo 4018.70,9.60,0.915,0,1073.2,1064.9,1081.4,350.00 MEM0 60148,1,0,0

SM_GC 2.67,9.60,6.93,0.37,0.915,0.127,0.070,1073.2,1064.9,1081.4,174.1,3264.8,0,0,0,12.39,15.77,15.81 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 910108,36,135920,91

IRIDIUM_FIX 3713.73,-12503.95,280922,064338 DATA_FILE_SIZE 22501,797

TCM_TEMP 18.37 CAP_FILE_SIZE 309880,0

XPDR_PINGS 0,13.0,11.5 SDSIZE 3887104,3816512

SC_FREEKB 3806432 SDFILEDIR 1372,1

HUMID 52.13 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.70 CURRENT 0.024,191.7,1

INTERNAL_PRESSURE 8.81851 IMPLIED_C_PITCH 2035,32.68,580,0.0,0.00

_24V_AH 15.08,55.873 IMPLIED_C_VBD 2375,27.814419,528,0

_10V_AH 15.00,0.000 GPS 280922,091425,3714.784,-12459.973,15,1.0,18,13.4

FG_AHR_24Vo 47.249

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 424 1235 7913.49 nil 0 0 0.00

Pitch_motor 17 475 127.52 nil 0 0 0.00

Roll_motor 47 148 106.25 nil 0 0 0.00

Iridium 156 190 451.45 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.05 nil 0 0 0.00

Core 951 6 97.04 SciCon 4020 18 1093.18

Fast 15 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 2160 2 64.82

Compass 900 5 67.53

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

7.40 16386 -97.32 -0.69 0.00 1067.1 1055.2 1078.9 177.0 3123.3 0.00 0.00 0 64.25 56.39 0.00 0.00 0.005 0.000 0.000 2150.81 2190.81 2110.81 176.88 3123.69 0 0 0 15.67 30.00 30.00

64.50 18983 -97.32 -0.69 -40.00 2150.4 2189.4 2111.5 176.9 3123.4 3.06 -3.46 11 100.79 20.95 9.35 2.13 0.006 0.475 0.026 2897.44 2963.06 2831.81 1879.50 1742.88 0 0 0 15.69 15.42 15.66

123.01 1028 -97.32 -0.69 0.00 2899.1 2962.6 2835.6 1879.9 1731.3 14.30 -16.75 23 128.62 0.00 0.00 2.62 0.000 0.000 0.084 2900.31 2963.44 2837.19 1879.81 3247.12 0 0 0 30.00 30.00 15.87

313.07 516 -97.32 -0.69 -40.00 2899.2 2960.9 2837.6 1879.1 3247.2 47.89 -14.87 61 318.62 0.00 0.00 2.36 0.000 0.000 0.024 2901.69 2963.50 2839.88 1879.00 1716.44 0 0 0 30.00 30.00 15.95

378.11 1028 -97.32 -0.69 0.00 2899.5 2959.8 2839.3 1879.5 1703.8 55.78 -11.24 74 383.69 0.00 0.00 2.65 0.000 0.000 0.081 2900.69 2960.81 2840.56 1879.81 3248.62 0 0 0 30.00 30.00 15.96

568.14 260 -97.32 -0.69 40.00 2900.6 2960.2 2840.9 1879.7 3249.1 80.30 -13.59 112 572.60 0.00 0.00 1.09 0.000 0.000 0.096 2900.81 2960.38 2841.25 1875.44 3901.38 0 0 0 30.00 30.00 15.97

608.16 1028 -97.32 -0.69 0.00 2900.7 2959.9 2841.4 1875.3 3901.1 86.10 -14.63 120 612.63 0.00 0.00 1.12 0.000 0.000 0.038 2900.97 2960.31 2841.62 1875.00 3166.88 0 0 0 30.00 30.00 16.00

793.19 516 -97.32 -0.69 -40.00 2900.9 2960.2 2841.6 1875.4 3165.6 109.60 -13.01 157 798.71 0.00 0.00 2.18 0.000 0.000 0.022 2902.34 2961.44 2843.25 1874.94 1721.50 0 0 0 30.00 30.00 16.03

818.21 1028 -97.32 -0.69 0.00 2901.1 2959.6 2842.6 1874.4 1718.0 112.66 -12.33 162 823.80 0.00 0.00 2.62 0.000 0.000 0.081 2902.72 2961.62 2843.81 1875.25 3248.62 0 0 0 30.00 30.00 16.02

1128.25 516 -97.32 -0.69 -40.00 2901.2 2959.5 2842.9 1874.7 3248.2 147.49 -9.97 224 1133.80 0.00 0.00 2.35 0.000 0.000 0.024 2901.25 2959.81 2842.69 1875.06 1711.44 0 0 0 30.00 30.00 16.05

1163.33 1028 -97.32 -0.69 0.00 2901.0 2959.6 2842.4 1874.6 1705.5 150.64 -9.13 231 1168.86 0.00 0.00 2.63 0.000 0.000 0.080 2901.34 2960.12 2842.56 1874.75 3248.69 0 0 0 30.00 30.00 16.04

1473.29 0 -97.32 -0.69 0.00 2901.2 2959.4 2842.9 1874.6 3249.2 178.03 -8.02 293 1474.62 0.00 0.00 0.00 0.000 0.000 0.000 2900.59 2958.06 2843.12 1874.75 3248.75 0 0 0 30.00 30.00 30.00

1778.33 516 -97.32 -0.69 -40.00 2901.2 2959.5 2843.0 1875.0 3249.4 202.62 -8.39 354 1783.87 0.00 0.00 2.34 0.000 0.000 0.025 2900.81 2958.62 2843.00 1874.75 1707.50 0 0 0 30.00 30.00 16.11

1833.34 1028 -97.32 -0.69 0.00 2900.8 2958.6 2842.9 1874.9 1706.2 206.83 -7.54 365 1838.93 0.00 0.00 2.62 0.000 0.000 0.081 2900.78 2958.50 2843.06 1874.94 3249.94 0 0 0 30.00 30.00 16.10

1994 end dive: TARGET_DEPTH_EXCEEDED

state 1994 begin apogee

1994.83 10243 0.00 -0.11 0.00 2900.7 2958.4 2843.0 1874.9 2943.8 220.31 -8.67 397 2080.03 80.99 0.66 0.14 1.235 0.228 0.148 2497.81 2535.38 2460.25 2066.44 3022.94 0 0 0 12.33 16.01 15.59

2081 end apogee: CONTROL_FINISHED_OK

state 2081 begin climb

2081.72 10759 97.32 0.69 -40.00 2497.5 2535.3 2459.7 2066.9 3023.4 222.22 0.00 414 2164.68 78.26 0.72 2.40 1.205 0.056 0.019 2099.47 2105.81 2093.12 2343.06 1497.56 0 0 0 12.62 15.67 15.42

2291.82 9254 230.17 0.85 0.00 2097.1 2099.5 2094.7 2344.8 1484.7 224.63 0.90 456 2399.22 100.97 0.00 2.61 1.210 0.000 0.062 1560.78 1564.06 1557.50 2343.94 3023.12 0 0 0 12.48 30.00 15.78

2701.78 516 230.17 0.85 -40.00 1553.6 1563.8 1543.5 2344.1 3023.1 160.68 16.74 538 2707.32 0.00 0.00 2.37 0.000 0.000 0.021 1555.34 1566.00 1544.69 2353.50 1527.69 0 0 0 30.00 30.00 15.92

2742.02 17414 230.17 0.85 0.00 1553.2 1563.8 1542.8 2355.9 1513.8 154.68 14.76 546 2747.36 0.00 0.00 2.56 0.000 0.000 0.068 1553.62 1564.75 1542.50 2356.00 3019.88 0 0 0 30.00 30.00 15.91

3051.82 16902 230.17 0.85 -40.00 1551.8 1565.7 1537.9 2356.1 3020.9 104.02 15.02 608 3057.37 0.00 0.00 2.35 0.000 0.000 0.020 1551.38 1565.19 1537.56 2366.44 1521.25 0 0 0 30.00 30.00 15.92

3076.83 17414 230.17 0.85 0.00 1551.7 1565.6 1537.7 2367.8 1507.9 100.41 14.46 613 3082.40 0.00 0.00 2.56 0.000 0.000 0.069 1551.97 1565.06 1538.88 2367.12 3021.44 0 0 0 30.00 30.00 15.94

3386.86 16386 230.17 0.85 0.00 1551.0 1566.8 1535.2 2367.4 3021.8 51.82 13.49 675 3388.20 0.00 0.00 0.00 0.000 0.000 0.000 1550.84 1566.00 1535.69 2366.94 3020.81 0 0 0 30.00 30.00 30.00

3571.89 16966 230.17 0.88 -40.00 1550.2 1566.8 1533.7 2367.6 3021.0 33.63 8.81 712 3577.42 0.00 0.00 2.35 0.000 0.000 0.019 1551.00 1567.19 1534.81 2377.69 1500.88 0 0 0 30.00 30.00 15.97

3806.92 11303 337.27 1.01 0.00 1548.6 1563.0 1534.1 2380.2 1497.2 23.47 2.75 759 3889.04 77.64 0.13 2.55 0.996 0.090 0.065 1125.94 1126.94 1124.94 2460.88 3021.56 0 0 0 12.40 15.98 16.00

3982 end climb: SURFACE_DEPTH_REACHED

state 3982 begin surface coast

3997 end surface coast: CONTROL_FINISHED_OK

state 3997 begin surface

ID	180	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_INT	13
MISSION	6	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_REP	11.5
DIVE	238	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	0	SM_CC	350	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.5
STOP_T	0	N_FILEKB	4	VBD_MIN	400	DEEPGLIDER	0
D_SURF	2	FILEMGR	0	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	CALL_NDIVES	1	C_VBD	2500	MOTHERBOARD	6
D_TGT	220	COMM_SEQ	7	VBD_DBAND	2	DEVICE1	-1
D_ABORT	1000	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE2	-1
D_NO_BLEED	200	N_NOCOMM	2	VBD_LP_IGNORE	0	DEVICE3	-1
D_BOOST	3	NOCOMM_ACTION	131	VBD_TIMEOUT	720	DEVICE4	-1
T_BOOST	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	UNCOM_BLEED	20	DEVICE6	-1
D_PITCH	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	1
D_SAFE	0	CALL_WAIT	60	C_VBD_AUTO_DELTA	0	LOGGERDEVICE1	7
D_CALL	0	CAPUPLOAD	0	C_VBD_AUTO_MAX	0	LOGGERDEVICE2	19
SURFACE_URGENCY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	3	LOGGERDEVICE3	72
SURFACE_URGENCY_TRY	0	T_GPS	5	DBDW	0	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	N_GPS	100440	LOITER_W_DBAND	0	COMPASS_DEVICE	66
T_DIVE	70	T_RSLEEP	2	LOITER_DBDW	0	COMPASS2_DEVICE	-1
T_MISSION	100	STROBE	0	LOITER_D_TOP	0	PHONE_DEVICE	33
T_ABORT	1440	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	0	GPS_DEVICE	48
T_TURN	225	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	NAV_DEVICE	-1
T_NO_W	120	RAFOS_MMODEM	0	AH0_24V	350	NAV2_DEVICE	-1
T_LOITER	0	PITCH_MIN	185	AH0_10V	0	NETWORK_DEVICE	-1
T_EPIRB	0	PITCH_MAX	3625	MINV_24V	11	PRESSURE_DEVICE	41
USE_BATHY	-10	C_PITCH	2100	MINV_10V	11	XPDR_DEVICE	21
USE_ICE	0	PITCH_DBAND	0.1	MAXI_24V	5	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_CNV	0.0031300001	MAXI_10V	1.4	SEABIRD_T_G	0.0042874566
D_OFFGRID	1000	PITCH_GAIN	45	FG_AHR_10V	11.348757	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	47.135036	SEABIRD_T_I	2.1947648e-05
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_J	2.2037441e-06
MAX_BUOY	100	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-154.46213	SEABIRD_C_G	-9.9419231
GLIDE_SLOPE	45	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00022299301	SEABIRD_C_H	1.1375728
SPEED_FACTOR	1	C_PITCH_AUTO_DELTA	0	COMPASS_USE	16388	SEABIRD_C_I	-0.0016241658
RHO	1.0275	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_J	0.0002088599
MASS	55693	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_PING_RANGE	0	OPTIONS	0
NAV_MODE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_GAIN	2	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
KALMAN_USE	2	PITCH_W_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	0	SC_XMITPROFILE	3.0
HD_A	0.00281838	ROLL_MIN	360	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0139236	ROLL_MAX	3880	ALTIM_PING_DELTA	0	TM_RECORDABOVE	200.0
HD_C	5.7000002e-06	ROLL_DEG	40	ALTIM_FREQUENCY	13	TM_PROFILE	1.0
HEADING	-1	C_ROLL_DIVE	3230	ALTIM_PULSE	3	TM_XMITPROFILE	3.0
ESCAPE_HEADING	0	C_ROLL_CLIMB	3000	ALTIM_SENSITIVITY	2	TM_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	XPDR_VALID	6	TM_XMITRAW	0.0
FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	XPDR_INHIBIT	90	TM_LOGSAMPLE	0.0

GPS1	280922,080244,3714.443,-12459.971,37,1.7,43,13.4	TGT_RADIUS	4000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.28	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	280922,080641,3714.422,-12459.914,2,0.7,4,13.4	MHEAD_RNG_PITCHd_Wd	339.2,11071,-25.5,-10.476,-29.53,1425,0.167
SPEED_LIMITS	0.105,0.185	D_GRID	1000
TGT_NAME	LineB_1	IRON	1.000000,-0.027323,0.018337,-0.100663,1.127919,0.016774,-0.036559,0.020363,1.057578,-61.700001,-1219.199951,-586.900024
TGT_LATLONG	3720.400,-12500.000

FINISH	0.1,1.011028	FG_AHR_10Vo	11.380
SM_CCo	4018.70,9.60,0.915,0,1073.2,1064.9,1081.4,350.00	MEM0	60148,1,0,0
SM_GC	2.67,9.60,6.93,0.37,0.915,0.127,0.070,1073.2,1064.9,1081.4,174.1,3264.8,0,0,0,12.39,15.77,15.81	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	910108,36,135920,91
IRIDIUM_FIX	3713.73,-12503.95,280922,064338	DATA_FILE_SIZE	22501,797
TCM_TEMP	18.37	CAP_FILE_SIZE	309880,0
XPDR_PINGS	0,13.0,11.5	SDSIZE	3887104,3816512
SC_FREEKB	3806432	SDFILEDIR	1372,1
HUMID	52.13	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.70	CURRENT	0.024,191.7,1
INTERNAL_PRESSURE	8.81851	IMPLIED_C_PITCH	2035,32.68,580,0.0,0.00
_24V_AH	15.08,55.873	IMPLIED_C_VBD	2375,27.814419,528,0
_10V_AH	15.00,0.000	GPS	280922,091425,3714.784,-12459.973,15,1.0,18,13.4
FG_AHR_24Vo	47.249

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	424	1235	7913.49	nil	0	0	0.00
Pitch_motor	17	475	127.52	nil	0	0	0.00
Roll_motor	47	148	106.25	nil	0	0	0.00
Iridium	156	190	451.45	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.05	nil	0	0	0.00
Core	951	6	97.04	SciCon	4020	18	1093.18
Fast	15	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	2160	2	64.82
Compass	900	5	67.53
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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
7.40	16386	-97.32	-0.69	0.00	1067.1	1055.2	1078.9	177.0	3123.3	0.00	0.00	0	64.25	56.39	0.00	0.00	0.005	0.000	0.000	2150.81	2190.81	2110.81	176.88	3123.69	0	0	0	15.67	30.00	30.00
64.50	18983	-97.32	-0.69	-40.00	2150.4	2189.4	2111.5	176.9	3123.4	3.06	-3.46	11	100.79	20.95	9.35	2.13	0.006	0.475	0.026	2897.44	2963.06	2831.81	1879.50	1742.88	0	0	0	15.69	15.42	15.66
123.01	1028	-97.32	-0.69	0.00	2899.1	2962.6	2835.6	1879.9	1731.3	14.30	-16.75	23	128.62	0.00	0.00	2.62	0.000	0.000	0.084	2900.31	2963.44	2837.19	1879.81	3247.12	0	0	0	30.00	30.00	15.87
313.07	516	-97.32	-0.69	-40.00	2899.2	2960.9	2837.6	1879.1	3247.2	47.89	-14.87	61	318.62	0.00	0.00	2.36	0.000	0.000	0.024	2901.69	2963.50	2839.88	1879.00	1716.44	0	0	0	30.00	30.00	15.95
378.11	1028	-97.32	-0.69	0.00	2899.5	2959.8	2839.3	1879.5	1703.8	55.78	-11.24	74	383.69	0.00	0.00	2.65	0.000	0.000	0.081	2900.69	2960.81	2840.56	1879.81	3248.62	0	0	0	30.00	30.00	15.96
568.14	260	-97.32	-0.69	40.00	2900.6	2960.2	2840.9	1879.7	3249.1	80.30	-13.59	112	572.60	0.00	0.00	1.09	0.000	0.000	0.096	2900.81	2960.38	2841.25	1875.44	3901.38	0	0	0	30.00	30.00	15.97
608.16	1028	-97.32	-0.69	0.00	2900.7	2959.9	2841.4	1875.3	3901.1	86.10	-14.63	120	612.63	0.00	0.00	1.12	0.000	0.000	0.038	2900.97	2960.31	2841.62	1875.00	3166.88	0	0	0	30.00	30.00	16.00
793.19	516	-97.32	-0.69	-40.00	2900.9	2960.2	2841.6	1875.4	3165.6	109.60	-13.01	157	798.71	0.00	0.00	2.18	0.000	0.000	0.022	2902.34	2961.44	2843.25	1874.94	1721.50	0	0	0	30.00	30.00	16.03
818.21	1028	-97.32	-0.69	0.00	2901.1	2959.6	2842.6	1874.4	1718.0	112.66	-12.33	162	823.80	0.00	0.00	2.62	0.000	0.000	0.081	2902.72	2961.62	2843.81	1875.25	3248.62	0	0	0	30.00	30.00	16.02
1128.25	516	-97.32	-0.69	-40.00	2901.2	2959.5	2842.9	1874.7	3248.2	147.49	-9.97	224	1133.80	0.00	0.00	2.35	0.000	0.000	0.024	2901.25	2959.81	2842.69	1875.06	1711.44	0	0	0	30.00	30.00	16.05
1163.33	1028	-97.32	-0.69	0.00	2901.0	2959.6	2842.4	1874.6	1705.5	150.64	-9.13	231	1168.86	0.00	0.00	2.63	0.000	0.000	0.080	2901.34	2960.12	2842.56	1874.75	3248.69	0	0	0	30.00	30.00	16.04
1473.29	0	-97.32	-0.69	0.00	2901.2	2959.4	2842.9	1874.6	3249.2	178.03	-8.02	293	1474.62	0.00	0.00	0.00	0.000	0.000	0.000	2900.59	2958.06	2843.12	1874.75	3248.75	0	0	0	30.00	30.00	30.00
1778.33	516	-97.32	-0.69	-40.00	2901.2	2959.5	2843.0	1875.0	3249.4	202.62	-8.39	354	1783.87	0.00	0.00	2.34	0.000	0.000	0.025	2900.81	2958.62	2843.00	1874.75	1707.50	0	0	0	30.00	30.00	16.11
1833.34	1028	-97.32	-0.69	0.00	2900.8	2958.6	2842.9	1874.9	1706.2	206.83	-7.54	365	1838.93	0.00	0.00	2.62	0.000	0.000	0.081	2900.78	2958.50	2843.06	1874.94	3249.94	0	0	0	30.00	30.00	16.10
1994	end dive: TARGET_DEPTH_EXCEEDED
state	1994	begin apogee
1994.83	10243	0.00	-0.11	0.00	2900.7	2958.4	2843.0	1874.9	2943.8	220.31	-8.67	397	2080.03	80.99	0.66	0.14	1.235	0.228	0.148	2497.81	2535.38	2460.25	2066.44	3022.94	0	0	0	12.33	16.01	15.59
2081	end apogee: CONTROL_FINISHED_OK
state	2081	begin climb
2081.72	10759	97.32	0.69	-40.00	2497.5	2535.3	2459.7	2066.9	3023.4	222.22	0.00	414	2164.68	78.26	0.72	2.40	1.205	0.056	0.019	2099.47	2105.81	2093.12	2343.06	1497.56	0	0	0	12.62	15.67	15.42
2291.82	9254	230.17	0.85	0.00	2097.1	2099.5	2094.7	2344.8	1484.7	224.63	0.90	456	2399.22	100.97	0.00	2.61	1.210	0.000	0.062	1560.78	1564.06	1557.50	2343.94	3023.12	0	0	0	12.48	30.00	15.78
2701.78	516	230.17	0.85	-40.00	1553.6	1563.8	1543.5	2344.1	3023.1	160.68	16.74	538	2707.32	0.00	0.00	2.37	0.000	0.000	0.021	1555.34	1566.00	1544.69	2353.50	1527.69	0	0	0	30.00	30.00	15.92
2742.02	17414	230.17	0.85	0.00	1553.2	1563.8	1542.8	2355.9	1513.8	154.68	14.76	546	2747.36	0.00	0.00	2.56	0.000	0.000	0.068	1553.62	1564.75	1542.50	2356.00	3019.88	0	0	0	30.00	30.00	15.91
3051.82	16902	230.17	0.85	-40.00	1551.8	1565.7	1537.9	2356.1	3020.9	104.02	15.02	608	3057.37	0.00	0.00	2.35	0.000	0.000	0.020	1551.38	1565.19	1537.56	2366.44	1521.25	0	0	0	30.00	30.00	15.92
3076.83	17414	230.17	0.85	0.00	1551.7	1565.6	1537.7	2367.8	1507.9	100.41	14.46	613	3082.40	0.00	0.00	2.56	0.000	0.000	0.069	1551.97	1565.06	1538.88	2367.12	3021.44	0	0	0	30.00	30.00	15.94
3386.86	16386	230.17	0.85	0.00	1551.0	1566.8	1535.2	2367.4	3021.8	51.82	13.49	675	3388.20	0.00	0.00	0.00	0.000	0.000	0.000	1550.84	1566.00	1535.69	2366.94	3020.81	0	0	0	30.00	30.00	30.00
3571.89	16966	230.17	0.88	-40.00	1550.2	1566.8	1533.7	2367.6	3021.0	33.63	8.81	712	3577.42	0.00	0.00	2.35	0.000	0.000	0.019	1551.00	1567.19	1534.81	2377.69	1500.88	0	0	0	30.00	30.00	15.97
3806.92	11303	337.27	1.01	0.00	1548.6	1563.0	1534.1	2380.2	1497.2	23.47	2.75	759	3889.04	77.64	0.13	2.55	0.996	0.090	0.065	1125.94	1126.94	1124.94	2460.88	3021.56	0	0	0	12.40	15.98	16.00
3982	end climb: SURFACE_DEPTH_REACHED
state	3982	begin surface coast
3997	end surface coast: CONTROL_FINISHED_OK
state	3997	begin surface