Glider dive log

SMODE Aug22 * SG237 * Dive index * Mission links * Dive 281 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 237 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 8 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 281 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 350 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 N_FILEKB 4 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT -1.7

D_TGT 270 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1000 COMM_SEQ 7 C_VBD 2825 DEEPGLIDERMB 0

D_NO_BLEED 200 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 131 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0015 DEVICE4 -1

D_SAFE 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 10 W_ADJ_DBAND 3 LOGGERDEVICE2 -1

T_DIVE 90 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 110 T_RSLEEP 1 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_NO_W 120 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_LOITER 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE -1

T_EPIRB 0 PITCH_MIN 190 AH0_24V 510 NAV_DEVICE -1

USE_BATHY -10 PITCH_MAX 3000 AH0_10V 0 NAV2_DEVICE -1

USE_ICE 0 C_PITCH 2150 MINV_24V 11 NETWORK_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

D_OFFGRID 1000 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE 21

RELAUNCH 1 PITCH_GAIN 22 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 37.610382 SEABIRD_T_G 0.0044377348

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 65.360825 SEABIRD_T_H 0.00065905828

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0 PHONE_SUPPLY 2 SEABIRD_T_I 2.8700548e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 0 PRESSURE_YINT -147.90448 SEABIRD_T_J 3.7153247e-06

RHO 1.0275 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022584078 SEABIRD_C_G -10.010999

MASS 74223 C_PITCH_AUTO_MAX 0 COMPASS_USE 16388 SEABIRD_C_H 1.1050601

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0026294682

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00026764351

KALMAN_USE 2 PITCH_W_GAIN 4 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.00281838 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.017708899 ROLL_MIN 465 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 5.7000002e-06 ROLL_MAX 3180 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2000 ALTIM_FREQUENCY 14

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1425 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 1000 N_DIVES 0 SEABIRD_C_I -0.0026294682

AH0_24V 510 D_PITCH 0 N_FILEKB 4 SEABIRD_C_J 0.00026764351

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0044377348

ALTIM_FREQUENCY 14 D_SURF 2 N_NOCOMM 2 SEABIRD_T_H 0.00065905828

ALTIM_PING_DELTA 0 D_TGT 270 N_NOSURFACE 0 SEABIRD_T_I 2.8700548e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 3.7153247e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_SUPPLY 2 SM_CC 350

ALTIM_SENSITIVITY 2 FG_AHR_10V 37.610382 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 65.360825 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN 22 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.00281838 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.017708899 PITCH_MAX 3000 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 5.7000002e-06 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 190 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0015 T_DIVE 90

COMPASS2_DEVICE -1 ID 237 PITCH_W_DBAND 0.5 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 4 T_GPS 10

COMPASS_USE 16388 INT_PRESSURE_YINT -1.7 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 2150 KALMAN_USE 2 PRESSURE_SLOPE 0.00022584078 T_MISSION 110

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -147.90448 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 1

C_ROLL_CLIMB 1425 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2000 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD 2825 LOGGERS 1 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -10

DBDW 0 LOITER_D_TOP 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOITER_N_DIVE 0 RHO 1.0275 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE1 -1 MASS 74223 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_10V 1.5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE3 -1 MAXI_24V 5 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 150 ROLL_MAX 3180 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 465 W_ADJ_DBAND 3

DIVE 281 MISSION 8 ROLL_TIMEOUT 15 XPDR_DEVICE 21

D_ABORT 1000 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE -1 SC_PROFILE 3.0 XPDR_INT 0

D_CALL 0 NAV_DEVICE -1 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FINISH 0 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_G -10.010999

D_NO_BLEED 200 NOCOMM_ACTION 131 SEABIRD_C_H 1.1050601

Pre-dive calculations and measurements:

GPS1 281022,122109,3642.187,-12440.814,36,1.3,37,13.3 TGT_RADIUS 1000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.60 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 281022,122601,3642.159,-12440.658,5,1.3,7,13.3 MHEAD_RNG_PITCHd_Wd 266.2,2153,-21.1,-10.000,-26.76,2232,0.134

SPEED_LIMITS 0.173,0.198 D_GRID 1000

TGT_NAME pickup_n IRON 1.000000,-0.018011,-0.123579,-0.089884,1.070449,-0.006723,-0.077865,0.054267,1.259402,-479.715576,-875.456970,-484.821747

TGT_LATLONG 3642.600,-12442.000

Post-dive calculations and measurements:

FINISH -0.1,1.024351 FG_AHR_10Vo 37.665

SM_CCo 5296.04,0.00,0.000,0,1284.6,1230.9,1338.2,377.87 MEM0 60148,1,0,0

SM_GC 2.09,0.00,15.49,1.20,0.000,0.054,0.034,1284.6,1230.9,1338.2,170.3,2037.4,0,0,0,30.00,15.90,15.94 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 909680,71,135728,87

IRIDIUM_FIX 3641.66,-12441.03,281022,104800 DATA_FILE_SIZE 22525,769

TCM_TEMP 16.38 CAP_FILE_SIZE 175976,0

XPDR_PINGS 7,13.0,11.5 SDSIZE 3887104,3797952

SC_FREEKB 3672256 SDFILEDIR 1722,1

HUMID 53.31 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.16 CURRENT 0.243,103.1,1

INTERNAL_PRESSURE 8.69388 MAGCAL 1.000000,-0.059208,0.114066,-0.097780,1.085819,-0.160194,-0.149802,0.050800,1.176953,-611.2,-794.1,-374.3,33,0.0441,0

_24V_AH 15.27,100.735 IMPLIED_C_PITCH 2149,17.48,490,0.0,0.00

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2923,44.164917,271,0

FG_AHR_24Vo 65.500 GPS 281022,135512,3642.125,-12440.369,26,1.2,29,13.3

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 537 1231 10098.91 nil 0 0 0.00

Pitch_motor 34 284 149.75 nil 0 0 0.00

Roll_motor 59 220 201.64 nil 0 0 0.00

Iridium 188 208 600.67 nil 0 0 0.00

Transponder_ping 1 420 11.22 nil 0 0 0.00

GPS 16 15 3.61 nil 0 0 0.00

Core 2812 6 286.86 SciCon 5241 29 2334.71

Fast 20 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2730 2 81.92

Compass 1636 5 122.74

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

6.73 16386 -145.99 -1.18 0.00 1226.9 1186.6 1267.2 176.4 1958.0 0.00 0.00 0 58.67 51.35 0.00 0.00 0.005 0.000 0.000 2293.09 2291.25 2294.94 176.19 1957.50 0 0 0 15.81 30.00 30.00

58.92 18727 -145.99 -1.18 80.00 2292.7 2291.7 2293.8 175.9 1957.3 3.26 -3.40 9 111.61 30.05 14.27 3.22 0.006 0.285 0.101 3420.06 3396.50 3443.62 1864.62 3188.75 0 0 0 15.80 15.67 15.76

184.74 1028 -145.99 -1.18 0.00 3420.9 3397.9 3443.9 1864.2 3188.0 28.37 -18.74 34 190.38 0.00 0.00 2.88 0.000 0.000 0.034 3420.97 3398.06 3443.88 1864.50 1974.38 0 0 0 30.00 30.00 15.97

374.77 516 -145.99 -1.18 -80.00 3421.4 3397.4 3445.4 1865.0 1973.6 63.45 -16.07 72 380.60 0.00 0.00 3.86 0.000 0.000 0.108 3422.16 3398.12 3446.19 1865.19 534.62 0 0 0 30.00 30.00 15.96

419.79 1028 -145.99 -1.18 0.00 3421.4 3397.7 3445.1 1864.4 534.8 71.00 -17.38 81 425.54 0.00 0.00 3.47 0.000 0.000 0.033 3423.59 3400.25 3446.94 1863.88 2024.50 0 0 0 30.00 30.00 16.02

609.80 0 -145.99 -1.18 0.00 3422.6 3397.7 3447.4 1864.9 2024.9 98.12 -12.89 119 614.03 0.00 0.00 0.00 0.000 0.000 0.000 3422.94 3397.81 3448.06 1864.75 2025.06 0 0 0 30.00 30.00 30.00

794.83 0 -145.99 -1.18 0.00 3423.2 3397.8 3448.8 1864.5 2025.0 122.02 -12.19 139 796.17 0.00 0.00 0.00 0.000 0.000 0.000 3422.34 3397.75 3446.94 1864.56 2025.31 0 0 0 30.00 30.00 30.00

1104.85 0 -145.99 -1.18 0.00 3424.2 3397.6 3450.8 1864.6 2025.4 159.27 -11.51 170 1106.19 0.00 0.00 0.00 0.000 0.000 0.000 3423.62 3396.75 3450.50 1864.75 2024.75 0 0 0 30.00 30.00 30.00

1414.87 260 -145.99 -1.18 80.00 3424.6 3397.8 3451.3 1864.0 2024.9 197.95 -12.76 201 1419.79 0.00 0.00 3.03 0.000 0.000 0.103 3424.59 3397.56 3451.62 1865.44 3186.75 0 0 0 30.00 30.00 16.07

1449.12 1028 -145.99 -1.18 0.00 3424.5 3397.6 3451.4 1864.8 3187.3 202.60 -13.26 208 1455.53 0.00 0.00 2.85 0.000 0.000 0.034 3426.12 3399.75 3452.50 1864.62 1974.44 0 0 0 30.00 30.00 16.08

1764.91 0 -145.99 -1.18 0.00 3424.6 3397.7 3451.5 1864.5 1974.5 239.47 -11.80 240 1766.25 0.00 0.00 0.00 0.000 0.000 0.000 3424.03 3397.19 3450.88 1864.31 1974.62 0 0 0 30.00 30.00 30.00

2015 end dive: TARGET_DEPTH_EXCEEDED

state 2015 begin apogee

2017.45 10243 0.00 -0.23 0.00 3424.5 3397.6 3451.3 1864.4 1405.4 270.31 -12.21 265 2132.70 112.54 1.63 0.06 1.231 0.149 0.221 2822.69 2800.31 2845.06 2097.56 1476.44 0 0 0 12.59 15.90 15.71

2134 end apogee: CONTROL_FINISHED_OK

state 2134 begin climb

2134.64 10759 145.99 1.18 -80.00 2821.8 2799.4 2844.3 2096.5 1477.1 274.46 0.00 276 2261.01 118.26 2.25 2.88 1.187 0.086 0.123 2229.44 2199.38 2259.50 2439.88 456.75 0 0 0 12.77 15.73 15.55

2389.19 17414 145.99 1.18 0.00 2220.3 2192.4 2248.2 2440.5 456.7 253.93 13.55 326 2393.95 0.00 0.00 2.29 0.000 0.000 0.029 2220.31 2192.25 2248.38 2440.81 1498.19 0 0 0 30.00 30.00 15.86

2699.22 16902 145.99 1.18 -80.00 2217.1 2186.9 2247.2 2440.2 1498.5 221.00 10.12 358 2704.10 0.00 0.00 2.83 0.000 0.000 0.116 2217.16 2186.94 2247.38 2440.81 452.81 0 0 0 30.00 30.00 15.96

2749.25 17414 145.99 1.18 0.00 2216.7 2186.9 2246.6 2440.7 452.7 215.05 12.33 368 2754.01 0.00 0.00 2.28 0.000 0.000 0.030 2216.66 2186.81 2246.50 2440.44 1493.94 0 0 0 30.00 30.00 16.01

3059.35 16966 145.99 1.24 -80.00 2216.0 2186.1 2246.0 2440.6 1494.3 185.48 8.37 400 3064.12 0.00 0.00 2.80 0.000 0.000 0.116 2216.66 2186.56 2246.75 2440.38 456.00 0 0 0 30.00 30.00 16.03

3153.52 17414 145.99 1.24 0.00 2214.9 2185.5 2244.4 2440.5 455.9 175.52 11.02 419 3159.82 0.00 0.00 2.27 0.000 0.000 0.031 2217.78 2188.75 2246.81 2439.00 1495.25 0 0 0 30.00 30.00 16.07

3469.38 19015 145.99 1.33 -80.00 2214.8 2185.2 2244.2 2440.8 1496.0 151.40 7.69 451 3474.21 0.00 0.20 2.79 0.000 0.090 0.114 2215.44 2186.00 2244.88 2482.00 456.69 0 0 0 30.00 16.06 16.07

3639.35 17414 145.99 1.33 0.00 2214.0 2185.4 2242.6 2482.2 456.8 132.84 9.66 485 3644.11 0.00 0.00 2.27 0.000 0.000 0.031 2213.94 2185.25 2242.62 2481.94 1497.38 0 0 0 30.00 30.00 16.07

3949.37 10535 270.37 1.52 80.00 2213.6 2184.2 2242.9 2482.0 1497.6 118.09 4.27 517 4056.49 100.67 0.22 3.57 1.067 0.095 0.079 1720.53 1681.00 1760.06 2527.56 2891.38 0 0 0 12.55 16.03 15.73

4244.64 1028 270.37 1.52 0.00 1714.8 1674.0 1755.6 2527.2 2891.1 82.38 13.47 576 4250.46 0.00 0.00 3.72 0.000 0.000 0.058 1715.28 1673.94 1756.62 2527.50 1406.56 0 0 0 30.00 30.00 15.90

4434.68 16902 270.37 1.52 -80.00 1713.6 1671.8 1755.4 2527.4 1406.3 61.95 10.38 614 4440.27 0.00 0.00 2.60 0.000 0.000 0.122 1715.69 1673.75 1757.62 2525.81 455.88 0 0 0 30.00 30.00 15.94

4669.73 17478 270.37 1.64 0.00 1712.8 1671.9 1753.7 2526.8 456.0 39.20 7.05 661 4675.24 0.00 0.00 2.27 0.000 0.000 0.032 1714.19 1672.50 1755.88 2527.31 1487.38 0 0 0 30.00 30.00 16.00

4859.80 10791 375.85 1.80 -80.00 1711.9 1670.2 1753.6 2527.1 1487.5 29.88 5.15 699 4989.02 124.22 0.37 2.85 0.916 0.073 0.119 1290.97 1240.12 1341.81 2596.94 455.62 0 0 0 12.59 15.95 15.69

5052.16 1028 375.85 1.80 0.00 1289.0 1239.9 1338.2 2596.4 456.0 15.08 11.28 737 5057.69 0.00 0.00 2.30 0.000 0.000 0.031 1289.66 1239.75 1339.56 2595.38 1490.12 0 0 0 30.00 30.00 15.75

5188 end climb: SURFACE_DEPTH_REACHED

state 5188 begin surface coast

5213 end surface coast: CONTROL_FINISHED_OK

state 5213 begin surface

ID	237	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	8	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	281	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	350	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	N_FILEKB	4	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	-1.7
D_TGT	270	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1000	COMM_SEQ	7	C_VBD	2825	DEEPGLIDERMB	0
D_NO_BLEED	200	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	131	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0015	DEVICE4	-1
D_SAFE	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	10	W_ADJ_DBAND	3	LOGGERDEVICE2	-1
T_DIVE	90	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	110	T_RSLEEP	1	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_NO_W	120	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_LOITER	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
T_EPIRB	0	PITCH_MIN	190	AH0_24V	510	NAV_DEVICE	-1
USE_BATHY	-10	PITCH_MAX	3000	AH0_10V	0	NAV2_DEVICE	-1
USE_ICE	0	C_PITCH	2150	MINV_24V	11	NETWORK_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
D_OFFGRID	1000	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	21
RELAUNCH	1	PITCH_GAIN	22	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	37.610382	SEABIRD_T_G	0.0044377348
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	65.360825	SEABIRD_T_H	0.00065905828
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	2	SEABIRD_T_I	2.8700548e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-147.90448	SEABIRD_T_J	3.7153247e-06
RHO	1.0275	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022584078	SEABIRD_C_G	-10.010999
MASS	74223	C_PITCH_AUTO_MAX	0	COMPASS_USE	16388	SEABIRD_C_H	1.1050601
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0026294682
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00026764351
KALMAN_USE	2	PITCH_W_GAIN	4	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.00281838	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.017708899	ROLL_MIN	465	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	5.7000002e-06	ROLL_MAX	3180	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2000	ALTIM_FREQUENCY	14
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1425	ALTIM_PULSE	3

GPS1	281022,122109,3642.187,-12440.814,36,1.3,37,13.3	TGT_RADIUS	1000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.60	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	281022,122601,3642.159,-12440.658,5,1.3,7,13.3	MHEAD_RNG_PITCHd_Wd	266.2,2153,-21.1,-10.000,-26.76,2232,0.134
SPEED_LIMITS	0.173,0.198	D_GRID	1000
TGT_NAME	pickup_n	IRON	1.000000,-0.018011,-0.123579,-0.089884,1.070449,-0.006723,-0.077865,0.054267,1.259402,-479.715576,-875.456970,-484.821747
TGT_LATLONG	3642.600,-12442.000

FINISH	-0.1,1.024351	FG_AHR_10Vo	37.665
SM_CCo	5296.04,0.00,0.000,0,1284.6,1230.9,1338.2,377.87	MEM0	60148,1,0,0
SM_GC	2.09,0.00,15.49,1.20,0.000,0.054,0.034,1284.6,1230.9,1338.2,170.3,2037.4,0,0,0,30.00,15.90,15.94	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	909680,71,135728,87
IRIDIUM_FIX	3641.66,-12441.03,281022,104800	DATA_FILE_SIZE	22525,769
TCM_TEMP	16.38	CAP_FILE_SIZE	175976,0
XPDR_PINGS	7,13.0,11.5	SDSIZE	3887104,3797952
SC_FREEKB	3672256	SDFILEDIR	1722,1
HUMID	53.31	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.16	CURRENT	0.243,103.1,1
INTERNAL_PRESSURE	8.69388	MAGCAL	1.000000,-0.059208,0.114066,-0.097780,1.085819,-0.160194,-0.149802,0.050800,1.176953,-611.2,-794.1,-374.3,33,0.0441,0
_24V_AH	15.27,100.735	IMPLIED_C_PITCH	2149,17.48,490,0.0,0.00
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2923,44.164917,271,0
FG_AHR_24Vo	65.500	GPS	281022,135512,3642.125,-12440.369,26,1.2,29,13.3

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	537	1231	10098.91	nil	0	0	0.00
Pitch_motor	34	284	149.75	nil	0	0	0.00
Roll_motor	59	220	201.64	nil	0	0	0.00
Iridium	188	208	600.67	nil	0	0	0.00
Transponder_ping	1	420	11.22	nil	0	0	0.00
GPS	16	15	3.61	nil	0	0	0.00
Core	2812	6	286.86	SciCon	5241	29	2334.71
Fast	20	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2730	2	81.92
Compass	1636	5	122.74
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
6.73	16386	-145.99	-1.18	0.00	1226.9	1186.6	1267.2	176.4	1958.0	0.00	0.00	0	58.67	51.35	0.00	0.00	0.005	0.000	0.000	2293.09	2291.25	2294.94	176.19	1957.50	0	0	0	15.81	30.00	30.00
58.92	18727	-145.99	-1.18	80.00	2292.7	2291.7	2293.8	175.9	1957.3	3.26	-3.40	9	111.61	30.05	14.27	3.22	0.006	0.285	0.101	3420.06	3396.50	3443.62	1864.62	3188.75	0	0	0	15.80	15.67	15.76
184.74	1028	-145.99	-1.18	0.00	3420.9	3397.9	3443.9	1864.2	3188.0	28.37	-18.74	34	190.38	0.00	0.00	2.88	0.000	0.000	0.034	3420.97	3398.06	3443.88	1864.50	1974.38	0	0	0	30.00	30.00	15.97
374.77	516	-145.99	-1.18	-80.00	3421.4	3397.4	3445.4	1865.0	1973.6	63.45	-16.07	72	380.60	0.00	0.00	3.86	0.000	0.000	0.108	3422.16	3398.12	3446.19	1865.19	534.62	0	0	0	30.00	30.00	15.96
419.79	1028	-145.99	-1.18	0.00	3421.4	3397.7	3445.1	1864.4	534.8	71.00	-17.38	81	425.54	0.00	0.00	3.47	0.000	0.000	0.033	3423.59	3400.25	3446.94	1863.88	2024.50	0	0	0	30.00	30.00	16.02
609.80	0	-145.99	-1.18	0.00	3422.6	3397.7	3447.4	1864.9	2024.9	98.12	-12.89	119	614.03	0.00	0.00	0.00	0.000	0.000	0.000	3422.94	3397.81	3448.06	1864.75	2025.06	0	0	0	30.00	30.00	30.00
794.83	0	-145.99	-1.18	0.00	3423.2	3397.8	3448.8	1864.5	2025.0	122.02	-12.19	139	796.17	0.00	0.00	0.00	0.000	0.000	0.000	3422.34	3397.75	3446.94	1864.56	2025.31	0	0	0	30.00	30.00	30.00
1104.85	0	-145.99	-1.18	0.00	3424.2	3397.6	3450.8	1864.6	2025.4	159.27	-11.51	170	1106.19	0.00	0.00	0.00	0.000	0.000	0.000	3423.62	3396.75	3450.50	1864.75	2024.75	0	0	0	30.00	30.00	30.00
1414.87	260	-145.99	-1.18	80.00	3424.6	3397.8	3451.3	1864.0	2024.9	197.95	-12.76	201	1419.79	0.00	0.00	3.03	0.000	0.000	0.103	3424.59	3397.56	3451.62	1865.44	3186.75	0	0	0	30.00	30.00	16.07
1449.12	1028	-145.99	-1.18	0.00	3424.5	3397.6	3451.4	1864.8	3187.3	202.60	-13.26	208	1455.53	0.00	0.00	2.85	0.000	0.000	0.034	3426.12	3399.75	3452.50	1864.62	1974.44	0	0	0	30.00	30.00	16.08
1764.91	0	-145.99	-1.18	0.00	3424.6	3397.7	3451.5	1864.5	1974.5	239.47	-11.80	240	1766.25	0.00	0.00	0.00	0.000	0.000	0.000	3424.03	3397.19	3450.88	1864.31	1974.62	0	0	0	30.00	30.00	30.00
2015	end dive: TARGET_DEPTH_EXCEEDED
state	2015	begin apogee
2017.45	10243	0.00	-0.23	0.00	3424.5	3397.6	3451.3	1864.4	1405.4	270.31	-12.21	265	2132.70	112.54	1.63	0.06	1.231	0.149	0.221	2822.69	2800.31	2845.06	2097.56	1476.44	0	0	0	12.59	15.90	15.71
2134	end apogee: CONTROL_FINISHED_OK
state	2134	begin climb
2134.64	10759	145.99	1.18	-80.00	2821.8	2799.4	2844.3	2096.5	1477.1	274.46	0.00	276	2261.01	118.26	2.25	2.88	1.187	0.086	0.123	2229.44	2199.38	2259.50	2439.88	456.75	0	0	0	12.77	15.73	15.55
2389.19	17414	145.99	1.18	0.00	2220.3	2192.4	2248.2	2440.5	456.7	253.93	13.55	326	2393.95	0.00	0.00	2.29	0.000	0.000	0.029	2220.31	2192.25	2248.38	2440.81	1498.19	0	0	0	30.00	30.00	15.86
2699.22	16902	145.99	1.18	-80.00	2217.1	2186.9	2247.2	2440.2	1498.5	221.00	10.12	358	2704.10	0.00	0.00	2.83	0.000	0.000	0.116	2217.16	2186.94	2247.38	2440.81	452.81	0	0	0	30.00	30.00	15.96
2749.25	17414	145.99	1.18	0.00	2216.7	2186.9	2246.6	2440.7	452.7	215.05	12.33	368	2754.01	0.00	0.00	2.28	0.000	0.000	0.030	2216.66	2186.81	2246.50	2440.44	1493.94	0	0	0	30.00	30.00	16.01
3059.35	16966	145.99	1.24	-80.00	2216.0	2186.1	2246.0	2440.6	1494.3	185.48	8.37	400	3064.12	0.00	0.00	2.80	0.000	0.000	0.116	2216.66	2186.56	2246.75	2440.38	456.00	0	0	0	30.00	30.00	16.03
3153.52	17414	145.99	1.24	0.00	2214.9	2185.5	2244.4	2440.5	455.9	175.52	11.02	419	3159.82	0.00	0.00	2.27	0.000	0.000	0.031	2217.78	2188.75	2246.81	2439.00	1495.25	0	0	0	30.00	30.00	16.07
3469.38	19015	145.99	1.33	-80.00	2214.8	2185.2	2244.2	2440.8	1496.0	151.40	7.69	451	3474.21	0.00	0.20	2.79	0.000	0.090	0.114	2215.44	2186.00	2244.88	2482.00	456.69	0	0	0	30.00	16.06	16.07
3639.35	17414	145.99	1.33	0.00	2214.0	2185.4	2242.6	2482.2	456.8	132.84	9.66	485	3644.11	0.00	0.00	2.27	0.000	0.000	0.031	2213.94	2185.25	2242.62	2481.94	1497.38	0	0	0	30.00	30.00	16.07
3949.37	10535	270.37	1.52	80.00	2213.6	2184.2	2242.9	2482.0	1497.6	118.09	4.27	517	4056.49	100.67	0.22	3.57	1.067	0.095	0.079	1720.53	1681.00	1760.06	2527.56	2891.38	0	0	0	12.55	16.03	15.73
4244.64	1028	270.37	1.52	0.00	1714.8	1674.0	1755.6	2527.2	2891.1	82.38	13.47	576	4250.46	0.00	0.00	3.72	0.000	0.000	0.058	1715.28	1673.94	1756.62	2527.50	1406.56	0	0	0	30.00	30.00	15.90
4434.68	16902	270.37	1.52	-80.00	1713.6	1671.8	1755.4	2527.4	1406.3	61.95	10.38	614	4440.27	0.00	0.00	2.60	0.000	0.000	0.122	1715.69	1673.75	1757.62	2525.81	455.88	0	0	0	30.00	30.00	15.94
4669.73	17478	270.37	1.64	0.00	1712.8	1671.9	1753.7	2526.8	456.0	39.20	7.05	661	4675.24	0.00	0.00	2.27	0.000	0.000	0.032	1714.19	1672.50	1755.88	2527.31	1487.38	0	0	0	30.00	30.00	16.00
4859.80	10791	375.85	1.80	-80.00	1711.9	1670.2	1753.6	2527.1	1487.5	29.88	5.15	699	4989.02	124.22	0.37	2.85	0.916	0.073	0.119	1290.97	1240.12	1341.81	2596.94	455.62	0	0	0	12.59	15.95	15.69
5052.16	1028	375.85	1.80	0.00	1289.0	1239.9	1338.2	2596.4	456.0	15.08	11.28	737	5057.69	0.00	0.00	2.30	0.000	0.000	0.031	1289.66	1239.75	1339.56	2595.38	1490.12	0	0	0	30.00	30.00	15.75
5188	end climb: SURFACE_DEPTH_REACHED
state	5188	begin surface coast
5213	end surface coast: CONTROL_FINISHED_OK
state	5213	begin surface