Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 262 * 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 262 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 12.193131 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 50.043125 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 0 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 12.193131 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 50.043125 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 0 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 262 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 290922,152110,3723.194,-12500.933,26,1.2,28,13.5 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.31 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 290922,152533,3723.198,-12500.955,3,1.0,7,13.5 MHEAD_RNG_PITCHd_Wd 20.5,6335,-25.5,-10.476,-29.53,1425,0.190

SPEED_LIMITS 0.105,0.185 D_GRID 1000

TGT_NAME HEADING 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 3638.020,-12210.219

Post-dive calculations and measurements:

FREEZE 40.94,15.325,-1.803,0,1,0 FG_AHR_10Vo 12.220

SM_CCo 4186.94,194.76,0.982,0,400.0,406.9,393.2,515.12 MEM0 60148,1,0,0

SM_GC 1.07,0.00,6.84,0.36,0.000,0.102,0.059,395.1,407.0,383.2,174.3,3270.0,0,0,0,30.00,15.58,15.61 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 909832,33,136156,96

IRIDIUM_FIX 3722.54,-12502.63,290922,135846 DATA_FILE_SIZE 22490,795

TCM_TEMP 15.01 CAP_FILE_SIZE 318007,0

XPDR_PINGS 0,13.0,11.5 SDSIZE 3887104,3810400

SC_FREEKB 3797216 SDFILEDIR 1516,1

HUMID 52.22 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 12.02 CURRENT 0.134,282.9,1

INTERNAL_PRESSURE 8.76799 IMPLIED_C_PITCH 2032,32.85,672,0.0,0.00

_24V_AH 15.06,59.474 IMPLIED_C_VBD 2321,32.402725,494,0

_10V_AH 15.00,0.000 GPS 290922,163741,3723.562,-12500.966,13,1.8,15,13.5

FG_AHR_24Vo 50.190

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 541 1231 10039.96 nil 0 0 0.00

Pitch_motor 17 481 129.82 nil 0 0 0.00

Roll_motor 47 148 106.00 nil 0 0 0.00

Iridium 173 191 500.93 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 16 15 3.71 nil 0 0 0.00

Core 956 6 97.61 SciCon 4015 17 1079.11

Fast 19 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 2290 2 68.70

Compass 898 5 67.39

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

7.47 16386 -97.32 -0.69 0.00 1039.3 1035.6 1043.1 176.2 3136.9 0.00 0.00 0 64.27 56.20 0.00 0.00 0.005 0.000 0.000 2133.09 2171.88 2094.31 176.25 3136.25 0 0 0 15.67 30.00 30.00

64.52 18983 -97.32 -0.69 -40.00 2132.8 2172.9 2092.6 176.4 3137.1 3.07 -3.46 11 101.88 22.26 9.48 2.15 0.006 0.482 0.027 2895.44 2958.38 2832.50 1879.00 1738.12 0 0 0 15.71 15.42 15.65

138.94 1028 -97.32 -0.69 0.00 2898.7 2960.0 2837.4 1879.4 1724.5 14.73 -14.04 26 144.57 0.00 0.00 2.64 0.000 0.000 0.086 2898.81 2958.94 2838.69 1879.25 3249.25 0 0 0 30.00 30.00 15.90

328.96 260 -97.32 -0.69 40.00 2898.7 2958.2 2839.2 1879.5 3248.4 46.99 -11.78 64 333.42 0.00 0.00 1.09 0.000 0.000 0.094 2899.41 2959.75 2839.06 1876.56 3900.75 0 0 0 30.00 30.00 15.93

384.04 1028 -97.32 -0.69 0.00 2898.8 2958.4 2839.2 1875.9 3900.8 53.83 -12.44 75 388.52 0.00 0.00 1.12 0.000 0.000 0.038 2900.31 2959.50 2841.12 1876.31 3165.38 0 0 0 30.00 30.00 15.99

569.21 516 -97.32 -0.69 -40.00 2900.1 2958.2 2841.9 1875.9 3165.2 76.87 -11.72 112 574.59 0.00 0.00 2.18 0.000 0.000 0.022 2901.69 2959.19 2844.19 1874.88 1707.12 0 0 0 30.00 30.00 16.01

599.00 1028 -97.32 -0.69 0.00 2900.2 2958.4 2841.9 1875.8 1703.8 80.09 -10.85 118 604.60 0.00 0.00 2.64 0.000 0.000 0.081 2901.03 2958.38 2843.69 1875.81 3248.19 0 0 0 30.00 30.00 16.01

789.02 516 -97.32 -0.69 -40.00 2900.5 2958.2 2842.7 1876.0 3248.9 101.75 -10.99 156 794.56 0.00 0.00 2.35 0.000 0.000 0.024 2901.41 2959.44 2843.38 1875.75 1716.88 0 0 0 30.00 30.00 16.03

819.02 1028 -97.32 -0.69 0.00 2900.9 2959.1 2842.8 1875.4 1704.9 104.68 -10.11 162 824.62 0.00 0.00 2.64 0.000 0.000 0.083 2901.50 2959.06 2843.94 1875.81 3248.25 0 0 0 30.00 30.00 16.02

1129.07 0 -97.32 -0.69 0.00 2900.5 2958.1 2842.9 1875.1 3248.8 137.24 -10.56 224 1130.41 0.00 0.00 0.00 0.000 0.000 0.000 2899.84 2956.50 2843.19 1875.12 3248.81 0 0 0 30.00 30.00 30.00

1434.16 516 -97.32 -0.69 -40.00 2900.6 2958.2 2842.9 1875.9 3248.4 168.35 -10.36 285 1439.70 0.00 0.00 2.34 0.000 0.000 0.025 2901.34 2958.25 2844.44 1875.62 1705.50 0 0 0 30.00 30.00 16.07

1479.17 1028 -97.32 -0.69 0.00 2900.8 2958.0 2843.6 1875.4 1705.1 172.67 -9.47 294 1484.77 0.00 0.00 2.63 0.000 0.000 0.082 2901.78 2958.94 2844.62 1875.62 3248.56 0 0 0 30.00 30.00 16.05

1789.24 516 -97.32 -0.69 -40.00 2900.2 2956.9 2843.4 1876.1 3248.8 204.57 -10.45 356 1794.78 0.00 0.00 2.34 0.000 0.000 0.025 2901.22 2957.75 2844.69 1875.62 1707.44 0 0 0 30.00 30.00 16.10

1824.31 1028 -97.32 -0.69 0.00 2899.4 2955.8 2843.1 1875.6 1705.6 208.05 -10.03 363 1829.84 0.00 0.00 2.62 0.000 0.000 0.082 2900.19 2956.62 2843.75 1875.81 3248.56 0 0 0 30.00 30.00 16.08

1945 end dive: TARGET_DEPTH_EXCEEDED

state 1945 begin apogee

1945.75 10243 0.00 -0.11 0.00 2899.6 2956.0 2843.1 1875.7 2946.4 220.26 -10.48 387 2030.96 81.12 0.66 0.13 1.231 0.227 0.148 2497.78 2535.69 2459.88 2067.94 3024.81 0 0 0 12.33 15.99 15.59

2032 end apogee: CONTROL_FINISHED_OK

state 2032 begin climb

2032.76 10759 97.32 0.69 -40.00 2496.8 2535.5 2458.1 2068.0 3024.9 223.83 0.00 404 2115.62 78.17 0.75 2.41 1.206 0.101 0.019 2100.31 2105.81 2094.81 2337.81 1496.81 0 0 0 12.55 15.68 15.42

2342.72 9254 176.23 0.78 0.00 2095.8 2098.6 2093.0 2339.4 1482.5 223.59 4.79 466 2409.43 61.22 0.00 2.60 1.207 0.000 0.064 1780.59 1784.56 1776.62 2339.50 3022.38 0 0 0 12.41 30.00 15.85

2712.74 16386 176.23 0.78 0.00 1772.5 1783.4 1761.6 2339.4 3022.4 172.15 16.12 540 2714.07 0.00 0.00 0.00 0.000 0.000 0.000 1773.00 1782.94 1763.06 2337.75 3021.81 0 0 0 30.00 30.00 30.00

3017.77 16902 176.23 0.78 -40.00 1771.3 1783.9 1758.7 2339.0 3022.8 123.78 15.55 601 3023.32 0.00 0.00 2.35 0.000 0.000 0.020 1771.03 1783.50 1758.56 2348.81 1519.06 0 0 0 30.00 30.00 15.96

3067.78 17414 176.23 0.78 0.00 1770.8 1783.6 1758.1 2350.2 1505.6 117.05 12.75 611 3073.36 0.00 0.00 2.55 0.000 0.000 0.066 1771.50 1783.31 1759.69 2349.06 3022.38 0 0 0 30.00 30.00 15.95

3377.82 16902 176.23 0.78 -40.00 1769.5 1783.8 1755.2 2350.2 3022.8 77.08 12.31 673 3383.36 0.00 0.00 2.35 0.000 0.000 0.020 1770.19 1784.81 1755.56 2360.31 1520.62 0 0 0 30.00 30.00 15.99

3512.83 17414 176.23 0.78 0.00 1769.2 1783.3 1755.2 2361.4 1507.1 62.38 10.25 700 3518.43 0.00 0.00 2.55 0.000 0.000 0.068 1770.00 1784.31 1755.69 2362.00 3023.62 0 0 0 30.00 30.00 15.95

3702.87 16966 176.23 0.84 -40.00 1768.2 1784.0 1752.4 2362.1 3024.5 43.60 7.67 738 3708.39 0.00 0.00 2.35 0.000 0.000 0.019 1768.72 1784.62 1752.81 2373.56 1496.69 0 0 0 30.00 30.00 15.97

3937.90 11303 334.61 1.03 0.00 1767.2 1781.8 1752.7 2373.9 1497.0 41.53 -0.95 785 3989.53 47.79 0.17 2.55 1.036 0.080 0.065 1522.06 1522.81 1521.31 2469.31 3023.62 0 0 0 12.35 15.97 16.00

3990 end climb: NO_VERTICAL_VELOCITY

state 3990 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	262	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	12.193131	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	50.043125	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	0	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	290922,152110,3723.194,-12500.933,26,1.2,28,13.5	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.31	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	290922,152533,3723.198,-12500.955,3,1.0,7,13.5	MHEAD_RNG_PITCHd_Wd	20.5,6335,-25.5,-10.476,-29.53,1425,0.190
SPEED_LIMITS	0.105,0.185	D_GRID	1000
TGT_NAME	HEADING	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	3638.020,-12210.219

FREEZE	40.94,15.325,-1.803,0,1,0	FG_AHR_10Vo	12.220
SM_CCo	4186.94,194.76,0.982,0,400.0,406.9,393.2,515.12	MEM0	60148,1,0,0
SM_GC	1.07,0.00,6.84,0.36,0.000,0.102,0.059,395.1,407.0,383.2,174.3,3270.0,0,0,0,30.00,15.58,15.61	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	909832,33,136156,96
IRIDIUM_FIX	3722.54,-12502.63,290922,135846	DATA_FILE_SIZE	22490,795
TCM_TEMP	15.01	CAP_FILE_SIZE	318007,0
XPDR_PINGS	0,13.0,11.5	SDSIZE	3887104,3810400
SC_FREEKB	3797216	SDFILEDIR	1516,1
HUMID	52.22	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	12.02	CURRENT	0.134,282.9,1
INTERNAL_PRESSURE	8.76799	IMPLIED_C_PITCH	2032,32.85,672,0.0,0.00
_24V_AH	15.06,59.474	IMPLIED_C_VBD	2321,32.402725,494,0
_10V_AH	15.00,0.000	GPS	290922,163741,3723.562,-12500.966,13,1.8,15,13.5
FG_AHR_24Vo	50.190

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	541	1231	10039.96	nil	0	0	0.00
Pitch_motor	17	481	129.82	nil	0	0	0.00
Roll_motor	47	148	106.00	nil	0	0	0.00
Iridium	173	191	500.93	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	16	15	3.71	nil	0	0	0.00
Core	956	6	97.61	SciCon	4015	17	1079.11
Fast	19	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	2290	2	68.70
Compass	898	5	67.39
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
7.47	16386	-97.32	-0.69	0.00	1039.3	1035.6	1043.1	176.2	3136.9	0.00	0.00	0	64.27	56.20	0.00	0.00	0.005	0.000	0.000	2133.09	2171.88	2094.31	176.25	3136.25	0	0	0	15.67	30.00	30.00
64.52	18983	-97.32	-0.69	-40.00	2132.8	2172.9	2092.6	176.4	3137.1	3.07	-3.46	11	101.88	22.26	9.48	2.15	0.006	0.482	0.027	2895.44	2958.38	2832.50	1879.00	1738.12	0	0	0	15.71	15.42	15.65
138.94	1028	-97.32	-0.69	0.00	2898.7	2960.0	2837.4	1879.4	1724.5	14.73	-14.04	26	144.57	0.00	0.00	2.64	0.000	0.000	0.086	2898.81	2958.94	2838.69	1879.25	3249.25	0	0	0	30.00	30.00	15.90
328.96	260	-97.32	-0.69	40.00	2898.7	2958.2	2839.2	1879.5	3248.4	46.99	-11.78	64	333.42	0.00	0.00	1.09	0.000	0.000	0.094	2899.41	2959.75	2839.06	1876.56	3900.75	0	0	0	30.00	30.00	15.93
384.04	1028	-97.32	-0.69	0.00	2898.8	2958.4	2839.2	1875.9	3900.8	53.83	-12.44	75	388.52	0.00	0.00	1.12	0.000	0.000	0.038	2900.31	2959.50	2841.12	1876.31	3165.38	0	0	0	30.00	30.00	15.99
569.21	516	-97.32	-0.69	-40.00	2900.1	2958.2	2841.9	1875.9	3165.2	76.87	-11.72	112	574.59	0.00	0.00	2.18	0.000	0.000	0.022	2901.69	2959.19	2844.19	1874.88	1707.12	0	0	0	30.00	30.00	16.01
599.00	1028	-97.32	-0.69	0.00	2900.2	2958.4	2841.9	1875.8	1703.8	80.09	-10.85	118	604.60	0.00	0.00	2.64	0.000	0.000	0.081	2901.03	2958.38	2843.69	1875.81	3248.19	0	0	0	30.00	30.00	16.01
789.02	516	-97.32	-0.69	-40.00	2900.5	2958.2	2842.7	1876.0	3248.9	101.75	-10.99	156	794.56	0.00	0.00	2.35	0.000	0.000	0.024	2901.41	2959.44	2843.38	1875.75	1716.88	0	0	0	30.00	30.00	16.03
819.02	1028	-97.32	-0.69	0.00	2900.9	2959.1	2842.8	1875.4	1704.9	104.68	-10.11	162	824.62	0.00	0.00	2.64	0.000	0.000	0.083	2901.50	2959.06	2843.94	1875.81	3248.25	0	0	0	30.00	30.00	16.02
1129.07	0	-97.32	-0.69	0.00	2900.5	2958.1	2842.9	1875.1	3248.8	137.24	-10.56	224	1130.41	0.00	0.00	0.00	0.000	0.000	0.000	2899.84	2956.50	2843.19	1875.12	3248.81	0	0	0	30.00	30.00	30.00
1434.16	516	-97.32	-0.69	-40.00	2900.6	2958.2	2842.9	1875.9	3248.4	168.35	-10.36	285	1439.70	0.00	0.00	2.34	0.000	0.000	0.025	2901.34	2958.25	2844.44	1875.62	1705.50	0	0	0	30.00	30.00	16.07
1479.17	1028	-97.32	-0.69	0.00	2900.8	2958.0	2843.6	1875.4	1705.1	172.67	-9.47	294	1484.77	0.00	0.00	2.63	0.000	0.000	0.082	2901.78	2958.94	2844.62	1875.62	3248.56	0	0	0	30.00	30.00	16.05
1789.24	516	-97.32	-0.69	-40.00	2900.2	2956.9	2843.4	1876.1	3248.8	204.57	-10.45	356	1794.78	0.00	0.00	2.34	0.000	0.000	0.025	2901.22	2957.75	2844.69	1875.62	1707.44	0	0	0	30.00	30.00	16.10
1824.31	1028	-97.32	-0.69	0.00	2899.4	2955.8	2843.1	1875.6	1705.6	208.05	-10.03	363	1829.84	0.00	0.00	2.62	0.000	0.000	0.082	2900.19	2956.62	2843.75	1875.81	3248.56	0	0	0	30.00	30.00	16.08
1945	end dive: TARGET_DEPTH_EXCEEDED
state	1945	begin apogee
1945.75	10243	0.00	-0.11	0.00	2899.6	2956.0	2843.1	1875.7	2946.4	220.26	-10.48	387	2030.96	81.12	0.66	0.13	1.231	0.227	0.148	2497.78	2535.69	2459.88	2067.94	3024.81	0	0	0	12.33	15.99	15.59
2032	end apogee: CONTROL_FINISHED_OK
state	2032	begin climb
2032.76	10759	97.32	0.69	-40.00	2496.8	2535.5	2458.1	2068.0	3024.9	223.83	0.00	404	2115.62	78.17	0.75	2.41	1.206	0.101	0.019	2100.31	2105.81	2094.81	2337.81	1496.81	0	0	0	12.55	15.68	15.42
2342.72	9254	176.23	0.78	0.00	2095.8	2098.6	2093.0	2339.4	1482.5	223.59	4.79	466	2409.43	61.22	0.00	2.60	1.207	0.000	0.064	1780.59	1784.56	1776.62	2339.50	3022.38	0	0	0	12.41	30.00	15.85
2712.74	16386	176.23	0.78	0.00	1772.5	1783.4	1761.6	2339.4	3022.4	172.15	16.12	540	2714.07	0.00	0.00	0.00	0.000	0.000	0.000	1773.00	1782.94	1763.06	2337.75	3021.81	0	0	0	30.00	30.00	30.00
3017.77	16902	176.23	0.78	-40.00	1771.3	1783.9	1758.7	2339.0	3022.8	123.78	15.55	601	3023.32	0.00	0.00	2.35	0.000	0.000	0.020	1771.03	1783.50	1758.56	2348.81	1519.06	0	0	0	30.00	30.00	15.96
3067.78	17414	176.23	0.78	0.00	1770.8	1783.6	1758.1	2350.2	1505.6	117.05	12.75	611	3073.36	0.00	0.00	2.55	0.000	0.000	0.066	1771.50	1783.31	1759.69	2349.06	3022.38	0	0	0	30.00	30.00	15.95
3377.82	16902	176.23	0.78	-40.00	1769.5	1783.8	1755.2	2350.2	3022.8	77.08	12.31	673	3383.36	0.00	0.00	2.35	0.000	0.000	0.020	1770.19	1784.81	1755.56	2360.31	1520.62	0	0	0	30.00	30.00	15.99
3512.83	17414	176.23	0.78	0.00	1769.2	1783.3	1755.2	2361.4	1507.1	62.38	10.25	700	3518.43	0.00	0.00	2.55	0.000	0.000	0.068	1770.00	1784.31	1755.69	2362.00	3023.62	0	0	0	30.00	30.00	15.95
3702.87	16966	176.23	0.84	-40.00	1768.2	1784.0	1752.4	2362.1	3024.5	43.60	7.67	738	3708.39	0.00	0.00	2.35	0.000	0.000	0.019	1768.72	1784.62	1752.81	2373.56	1496.69	0	0	0	30.00	30.00	15.97
3937.90	11303	334.61	1.03	0.00	1767.2	1781.8	1752.7	2373.9	1497.0	41.53	-0.95	785	3989.53	47.79	0.17	2.55	1.036	0.080	0.065	1522.06	1522.81	1521.31	2469.31	3023.62	0	0	0	12.35	15.97	16.00
3990	end climb: NO_VERTICAL_VELOCITY
state	3990	begin surface