Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 263 * 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 263 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 12.22089 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 50.198212 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 12.22089 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 50.198212 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 263 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 290922,163741,3723.562,-12500.966,13,1.8,15,13.5 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.18 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 290922,164151,3723.544,-12500.983,5,1.8,8,13.5 MHEAD_RNG_PITCHd_Wd 31.4,6335,-25.5,-10.476,-29.53,1425,0.166

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:

FINISH 0.1,1.023589 FG_AHR_10Vo 12.244

SM_CCo 3462.33,23.60,0.983,0,1072.9,1053.9,1092.0,350.06 MEM0 60148,1,0,0

SM_GC 2.17,23.60,6.21,2.88,0.983,0.067,0.061,1072.9,1053.9,1092.0,176.4,3260.6,0,0,0,12.43,15.98,16.02 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 909760,36,136168,96

IRIDIUM_FIX 3724.69,-12456.63,290922,152251 DATA_FILE_SIZE 19314,682

TCM_TEMP 18.12 CAP_FILE_SIZE 281051,0

XPDR_PINGS 0,13.0,11.5 SDSIZE 3887104,3810176

SC_FREEKB 3796832 SDFILEDIR 1522,1

HUMID 52.55 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.60 CURRENT 0.175,293.8,1

INTERNAL_PRESSURE 8.80651 IMPLIED_C_PITCH 2027,30.81,483,0.0,0.00

_24V_AH 15.03,59.620 IMPLIED_C_VBD 2257,37.797985,476,0

_10V_AH 15.00,0.000 GPS 290922,174041,3723.943,-12500.968,34,1.7,40,13.5

FG_AHR_24Vo 50.314

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 453 1231 8392.63 nil 0 0 0.00

Pitch_motor 17 469 121.54 nil 0 0 0.00

Roll_motor 47 150 107.83 nil 0 0 0.00

Iridium 161 187 454.96 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 17 15 3.84 nil 0 0 0.00

Core 844 6 86.13 SciCon 3448 18 944.56

Fast 18 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 1793 2 53.80

Compass 774 5 58.06

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

7.45 16386 -97.32 -0.69 0.00 392.1 408.2 375.9 173.6 3170.2 0.00 0.00 0 95.08 87.04 0.00 0.00 0.005 0.000 0.000 2122.69 2163.81 2081.56 173.94 3169.69 0 0 0 15.66 30.00 30.00

95.32 18983 -97.32 -0.69 -40.00 2122.4 2164.6 2080.2 173.9 3170.2 3.24 -2.51 17 131.78 21.61 9.23 2.20 0.006 0.469 0.028 2895.66 2960.06 2831.25 1879.00 1747.06 0 0 0 15.73 15.49 15.66

188.84 1028 -97.32 -0.69 0.00 2898.4 2958.9 2838.0 1879.1 1732.7 18.07 -11.38 36 194.44 0.00 0.00 2.62 0.000 0.000 0.083 2899.19 2960.06 2838.31 1879.31 3249.06 0 0 0 30.00 30.00 15.90

378.87 260 -97.32 -0.69 40.00 2898.2 2958.6 2837.9 1879.2 3249.8 47.60 -10.41 74 383.33 0.00 0.00 1.09 0.000 0.000 0.095 2898.50 2958.69 2838.31 1875.75 3901.31 0 0 0 30.00 30.00 15.93

423.88 1028 -97.32 -0.69 0.00 2898.0 2958.1 2838.0 1875.9 3901.1 52.64 -11.33 83 428.36 0.00 0.00 1.12 0.000 0.000 0.038 2899.66 2959.62 2839.69 1876.06 3168.44 0 0 0 30.00 30.00 15.98

609.13 516 -97.32 -0.69 -40.00 2899.4 2958.6 2840.2 1875.7 3168.5 73.45 -11.51 120 614.41 0.00 0.00 2.17 0.000 0.000 0.021 2901.12 2959.62 2842.62 1875.69 1726.81 0 0 0 30.00 30.00 16.02

628.90 1028 -97.32 -0.69 0.00 2899.4 2958.3 2840.5 1875.5 1724.2 75.70 -11.49 124 634.51 0.00 0.00 2.61 0.000 0.000 0.082 2899.81 2958.81 2840.81 1875.44 3249.31 0 0 0 30.00 30.00 16.00

818.93 516 -97.32 -0.69 -40.00 2900.1 2958.4 2841.8 1875.9 3250.1 94.21 -9.27 162 824.47 0.00 0.00 2.35 0.000 0.000 0.024 2901.16 2958.88 2843.44 1875.56 1717.56 0 0 0 30.00 30.00 16.03

878.94 1028 -97.32 -0.69 0.00 2900.5 2958.6 2842.5 1875.6 1705.5 99.28 -8.13 174 884.53 0.00 0.00 2.64 0.000 0.000 0.082 2900.91 2957.94 2843.88 1875.44 3248.38 0 0 0 30.00 30.00 16.03

1068.96 0 -97.32 -0.69 0.00 2900.4 2958.2 2842.6 1875.3 3248.5 117.46 -10.13 212 1070.30 0.00 0.00 0.00 0.000 0.000 0.000 2899.44 2956.50 2842.38 1875.69 3248.69 0 0 0 30.00 30.00 30.00

1373.99 516 -97.32 -0.69 -40.00 2900.3 2958.2 2842.3 1875.5 3248.8 150.94 -11.07 273 1379.53 0.00 0.00 2.35 0.000 0.000 0.024 2900.59 2959.06 2842.12 1875.75 1710.62 0 0 0 30.00 30.00 16.06

1404.00 1028 -97.32 -0.69 0.00 2900.2 2958.0 2842.4 1875.7 1709.4 153.97 -10.17 279 1409.59 0.00 0.00 2.63 0.000 0.000 0.082 2901.69 2959.44 2843.94 1875.62 3250.56 0 0 0 30.00 30.00 16.01

1714.02 516 -97.32 -0.69 -40.00 2900.3 2958.2 2842.3 1875.5 3251.8 183.72 -9.46 341 1719.57 0.00 0.00 2.34 0.000 0.000 0.025 2901.28 2958.69 2843.88 1875.19 1706.94 0 0 0 30.00 30.00 16.09

1749.09 1028 -97.32 -0.69 0.00 2899.4 2956.5 2842.2 1875.8 1705.7 186.82 -8.94 348 1754.62 0.00 0.00 2.63 0.000 0.000 0.082 2899.59 2956.81 2842.38 1876.00 3250.75 0 0 0 30.00 30.00 16.06

2059.11 516 -97.32 -0.69 -40.00 2899.0 2956.1 2841.9 1875.2 3250.8 214.66 -9.39 410 2064.66 0.00 0.00 2.34 0.000 0.000 0.025 2898.69 2955.31 2842.06 1875.44 1713.00 0 0 0 30.00 30.00 16.11

2099.35 1028 -97.32 -0.69 0.00 2898.5 2955.0 2842.1 1875.9 1712.6 218.20 -8.83 418 2104.73 0.00 0.00 2.62 0.000 0.000 0.082 2899.62 2956.12 2843.12 1875.44 3250.06 0 0 0 30.00 30.00 16.08

2124 end dive: TARGET_DEPTH_EXCEEDED

state 2124 begin apogee

2125.40 10243 0.00 -0.11 0.00 2898.5 2954.8 2842.1 1875.1 2944.1 220.35 -8.52 423 2208.01 80.47 0.65 0.13 1.231 0.217 0.151 2497.12 2535.62 2458.62 2068.44 3022.69 0 0 0 12.33 16.00 15.59

2209 end apogee: CONTROL_FINISHED_OK

state 2210 begin climb

2209.83 10759 97.32 0.69 -40.00 2498.1 2536.8 2459.4 2068.2 3022.5 223.82 0.00 439 2295.49 78.55 0.75 2.40 1.200 0.102 0.019 2100.72 2108.94 2092.50 2339.44 1489.19 0 0 0 12.53 15.68 15.43

2328.35 11303 315.17 0.95 0.00 2099.0 2105.5 2092.6 2339.1 1488.9 231.41 -5.23 463 2497.02 162.30 0.19 2.62 1.200 0.067 0.064 1213.75 1210.50 1217.00 2429.31 3022.31 0 0 0 12.48 15.61 15.64

2799.15 0 315.17 0.95 0.00 1208.5 1216.0 1200.9 2429.4 3022.4 119.87 27.84 557 2800.49 0.00 0.00 0.00 0.000 0.000 0.000 1208.44 1215.88 1201.00 2428.69 3021.88 0 0 0 30.00 30.00 30.00

3104.22 16902 315.17 0.95 -40.00 1206.7 1216.5 1196.9 2429.8 3023.1 44.53 22.09 618 3109.77 0.00 0.00 2.36 0.000 0.000 0.024 1207.09 1217.19 1197.00 2440.12 1534.25 0 0 0 30.00 30.00 15.93

3209.24 21511 315.17 0.95 0.00 1205.2 1214.2 1196.2 2441.1 1519.1 28.34 11.32 639 3214.93 0.00 0.18 2.53 0.000 0.353 0.067 1205.59 1214.62 1196.56 2400.25 3027.75 0 0 0 30.00 15.80 15.91

3399.26 16902 315.17 0.95 -40.00 1203.5 1216.0 1190.9 2400.1 3027.2 3.66 15.77 677 3404.80 0.00 0.00 2.34 0.000 0.000 0.018 1204.47 1216.69 1192.25 2409.06 1517.38 0 0 0 30.00 30.00 15.94

3415 end climb: SURFACE_DEPTH_REACHED

state 3415 begin surface coast

3425 end surface coast: CONTROL_FINISHED_OK

state 3425 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	263	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	12.22089	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	50.198212	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	290922,163741,3723.562,-12500.966,13,1.8,15,13.5	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.18	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	290922,164151,3723.544,-12500.983,5,1.8,8,13.5	MHEAD_RNG_PITCHd_Wd	31.4,6335,-25.5,-10.476,-29.53,1425,0.166
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

FINISH	0.1,1.023589	FG_AHR_10Vo	12.244
SM_CCo	3462.33,23.60,0.983,0,1072.9,1053.9,1092.0,350.06	MEM0	60148,1,0,0
SM_GC	2.17,23.60,6.21,2.88,0.983,0.067,0.061,1072.9,1053.9,1092.0,176.4,3260.6,0,0,0,12.43,15.98,16.02	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	909760,36,136168,96
IRIDIUM_FIX	3724.69,-12456.63,290922,152251	DATA_FILE_SIZE	19314,682
TCM_TEMP	18.12	CAP_FILE_SIZE	281051,0
XPDR_PINGS	0,13.0,11.5	SDSIZE	3887104,3810176
SC_FREEKB	3796832	SDFILEDIR	1522,1
HUMID	52.55	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.60	CURRENT	0.175,293.8,1
INTERNAL_PRESSURE	8.80651	IMPLIED_C_PITCH	2027,30.81,483,0.0,0.00
_24V_AH	15.03,59.620	IMPLIED_C_VBD	2257,37.797985,476,0
_10V_AH	15.00,0.000	GPS	290922,174041,3723.943,-12500.968,34,1.7,40,13.5
FG_AHR_24Vo	50.314

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	453	1231	8392.63	nil	0	0	0.00
Pitch_motor	17	469	121.54	nil	0	0	0.00
Roll_motor	47	150	107.83	nil	0	0	0.00
Iridium	161	187	454.96	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	17	15	3.84	nil	0	0	0.00
Core	844	6	86.13	SciCon	3448	18	944.56
Fast	18	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	1793	2	53.80
Compass	774	5	58.06
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
7.45	16386	-97.32	-0.69	0.00	392.1	408.2	375.9	173.6	3170.2	0.00	0.00	0	95.08	87.04	0.00	0.00	0.005	0.000	0.000	2122.69	2163.81	2081.56	173.94	3169.69	0	0	0	15.66	30.00	30.00
95.32	18983	-97.32	-0.69	-40.00	2122.4	2164.6	2080.2	173.9	3170.2	3.24	-2.51	17	131.78	21.61	9.23	2.20	0.006	0.469	0.028	2895.66	2960.06	2831.25	1879.00	1747.06	0	0	0	15.73	15.49	15.66
188.84	1028	-97.32	-0.69	0.00	2898.4	2958.9	2838.0	1879.1	1732.7	18.07	-11.38	36	194.44	0.00	0.00	2.62	0.000	0.000	0.083	2899.19	2960.06	2838.31	1879.31	3249.06	0	0	0	30.00	30.00	15.90
378.87	260	-97.32	-0.69	40.00	2898.2	2958.6	2837.9	1879.2	3249.8	47.60	-10.41	74	383.33	0.00	0.00	1.09	0.000	0.000	0.095	2898.50	2958.69	2838.31	1875.75	3901.31	0	0	0	30.00	30.00	15.93
423.88	1028	-97.32	-0.69	0.00	2898.0	2958.1	2838.0	1875.9	3901.1	52.64	-11.33	83	428.36	0.00	0.00	1.12	0.000	0.000	0.038	2899.66	2959.62	2839.69	1876.06	3168.44	0	0	0	30.00	30.00	15.98
609.13	516	-97.32	-0.69	-40.00	2899.4	2958.6	2840.2	1875.7	3168.5	73.45	-11.51	120	614.41	0.00	0.00	2.17	0.000	0.000	0.021	2901.12	2959.62	2842.62	1875.69	1726.81	0	0	0	30.00	30.00	16.02
628.90	1028	-97.32	-0.69	0.00	2899.4	2958.3	2840.5	1875.5	1724.2	75.70	-11.49	124	634.51	0.00	0.00	2.61	0.000	0.000	0.082	2899.81	2958.81	2840.81	1875.44	3249.31	0	0	0	30.00	30.00	16.00
818.93	516	-97.32	-0.69	-40.00	2900.1	2958.4	2841.8	1875.9	3250.1	94.21	-9.27	162	824.47	0.00	0.00	2.35	0.000	0.000	0.024	2901.16	2958.88	2843.44	1875.56	1717.56	0	0	0	30.00	30.00	16.03
878.94	1028	-97.32	-0.69	0.00	2900.5	2958.6	2842.5	1875.6	1705.5	99.28	-8.13	174	884.53	0.00	0.00	2.64	0.000	0.000	0.082	2900.91	2957.94	2843.88	1875.44	3248.38	0	0	0	30.00	30.00	16.03
1068.96	0	-97.32	-0.69	0.00	2900.4	2958.2	2842.6	1875.3	3248.5	117.46	-10.13	212	1070.30	0.00	0.00	0.00	0.000	0.000	0.000	2899.44	2956.50	2842.38	1875.69	3248.69	0	0	0	30.00	30.00	30.00
1373.99	516	-97.32	-0.69	-40.00	2900.3	2958.2	2842.3	1875.5	3248.8	150.94	-11.07	273	1379.53	0.00	0.00	2.35	0.000	0.000	0.024	2900.59	2959.06	2842.12	1875.75	1710.62	0	0	0	30.00	30.00	16.06
1404.00	1028	-97.32	-0.69	0.00	2900.2	2958.0	2842.4	1875.7	1709.4	153.97	-10.17	279	1409.59	0.00	0.00	2.63	0.000	0.000	0.082	2901.69	2959.44	2843.94	1875.62	3250.56	0	0	0	30.00	30.00	16.01
1714.02	516	-97.32	-0.69	-40.00	2900.3	2958.2	2842.3	1875.5	3251.8	183.72	-9.46	341	1719.57	0.00	0.00	2.34	0.000	0.000	0.025	2901.28	2958.69	2843.88	1875.19	1706.94	0	0	0	30.00	30.00	16.09
1749.09	1028	-97.32	-0.69	0.00	2899.4	2956.5	2842.2	1875.8	1705.7	186.82	-8.94	348	1754.62	0.00	0.00	2.63	0.000	0.000	0.082	2899.59	2956.81	2842.38	1876.00	3250.75	0	0	0	30.00	30.00	16.06
2059.11	516	-97.32	-0.69	-40.00	2899.0	2956.1	2841.9	1875.2	3250.8	214.66	-9.39	410	2064.66	0.00	0.00	2.34	0.000	0.000	0.025	2898.69	2955.31	2842.06	1875.44	1713.00	0	0	0	30.00	30.00	16.11
2099.35	1028	-97.32	-0.69	0.00	2898.5	2955.0	2842.1	1875.9	1712.6	218.20	-8.83	418	2104.73	0.00	0.00	2.62	0.000	0.000	0.082	2899.62	2956.12	2843.12	1875.44	3250.06	0	0	0	30.00	30.00	16.08
2124	end dive: TARGET_DEPTH_EXCEEDED
state	2124	begin apogee
2125.40	10243	0.00	-0.11	0.00	2898.5	2954.8	2842.1	1875.1	2944.1	220.35	-8.52	423	2208.01	80.47	0.65	0.13	1.231	0.217	0.151	2497.12	2535.62	2458.62	2068.44	3022.69	0	0	0	12.33	16.00	15.59
2209	end apogee: CONTROL_FINISHED_OK
state	2210	begin climb
2209.83	10759	97.32	0.69	-40.00	2498.1	2536.8	2459.4	2068.2	3022.5	223.82	0.00	439	2295.49	78.55	0.75	2.40	1.200	0.102	0.019	2100.72	2108.94	2092.50	2339.44	1489.19	0	0	0	12.53	15.68	15.43
2328.35	11303	315.17	0.95	0.00	2099.0	2105.5	2092.6	2339.1	1488.9	231.41	-5.23	463	2497.02	162.30	0.19	2.62	1.200	0.067	0.064	1213.75	1210.50	1217.00	2429.31	3022.31	0	0	0	12.48	15.61	15.64
2799.15	0	315.17	0.95	0.00	1208.5	1216.0	1200.9	2429.4	3022.4	119.87	27.84	557	2800.49	0.00	0.00	0.00	0.000	0.000	0.000	1208.44	1215.88	1201.00	2428.69	3021.88	0	0	0	30.00	30.00	30.00
3104.22	16902	315.17	0.95	-40.00	1206.7	1216.5	1196.9	2429.8	3023.1	44.53	22.09	618	3109.77	0.00	0.00	2.36	0.000	0.000	0.024	1207.09	1217.19	1197.00	2440.12	1534.25	0	0	0	30.00	30.00	15.93
3209.24	21511	315.17	0.95	0.00	1205.2	1214.2	1196.2	2441.1	1519.1	28.34	11.32	639	3214.93	0.00	0.18	2.53	0.000	0.353	0.067	1205.59	1214.62	1196.56	2400.25	3027.75	0	0	0	30.00	15.80	15.91
3399.26	16902	315.17	0.95	-40.00	1203.5	1216.0	1190.9	2400.1	3027.2	3.66	15.77	677	3404.80	0.00	0.00	2.34	0.000	0.000	0.018	1204.47	1216.69	1192.25	2409.06	1517.38	0	0	0	30.00	30.00	15.94
3415	end climb: SURFACE_DEPTH_REACHED
state	3415	begin surface coast
3425	end surface coast: CONTROL_FINISHED_OK
state	3425	begin surface