Glider dive log

SMODE Aug22 * SG237 * Dive index * Mission links * Dive 282 * 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 282 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 37.666584 SEABIRD_T_G 0.0044377348

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 65.512726 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 37.666584 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 65.512726 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 282 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 281022,135512,3642.125,-12440.369,26,1.2,29,13.3 TGT_RADIUS 1000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 281022,140046,3642.091,-12440.225,3,1.2,9,13.3 MHEAD_RNG_PITCHd_Wd 268.4,2799,-21.1,-10.000,-26.76,2232,0.165

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 -0.0,1.023660 FG_AHR_10Vo 37.720

SM_CCo 5256.07,0.00,0.000,0,1010.9,949.3,1072.5,445.00 MEM0 60148,1,0,0

SM_GC 1.39,0.00,15.70,2.20,0.000,0.055,0.041,1010.9,949.3,1072.5,177.1,1974.9,0,0,0,30.00,15.81,15.85 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 909620,73,135748,87

IRIDIUM_FIX 3641.66,-12441.03,281022,122259 DATA_FILE_SIZE 22494,763

TCM_TEMP 16.46 CAP_FILE_SIZE 180185,0

XPDR_PINGS 5,13.0,11.5 SDSIZE 3887104,3797728

SC_FREEKB 3671680 SDFILEDIR 1728,1

HUMID 53.43 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.24 CURRENT 0.221,110.9,1

INTERNAL_PRESSURE 8.68283 IMPLIED_C_PITCH 2148,17.35,478,0.0,0.00

_24V_AH 15.18,100.956 IMPLIED_C_VBD 2913,43.208168,281,0

_10V_AH 15.00,0.000 GPS 281022,152911,3642.029,-12440.048,21,1.3,23,13.3

FG_AHR_24Vo 65.665

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 595 1224 11068.02 nil 0 0 0.00

Pitch_motor 34 284 150.68 nil 0 0 0.00

Roll_motor 61 242 226.07 nil 0 0 0.00

Iridium 228 208 725.73 nil 0 0 0.00

Transponder_ping 1 420 7.97 nil 0 0 0.00

GPS 18 15 4.12 nil 0 0 0.00

Core 2855 6 291.30 SciCon 5207 29 2303.79

Fast 21 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2687 2 80.62

Compass 1617 5 121.31

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 1279.2 1239.6 1318.8 170.6 1965.1 0.00 0.00 0 58.67 51.35 0.00 0.00 0.005 0.000 0.000 2327.44 2329.12 2325.75 170.50 1965.19 0 0 0 15.81 30.00 30.00

58.92 18727 -145.99 -1.18 80.00 2326.9 2328.2 2325.6 170.8 1965.5 3.02 -2.72 9 111.61 29.67 14.33 3.19 0.006 0.285 0.096 3421.19 3398.38 3444.00 1863.62 3189.25 0 0 0 15.80 15.68 15.77

209.74 1028 -145.99 -1.18 0.00 3420.8 3398.4 3443.3 1865.0 3188.8 33.66 -19.56 39 215.38 0.00 0.00 2.90 0.000 0.000 0.037 3421.16 3398.50 3443.81 1864.81 1974.88 0 0 0 30.00 30.00 16.01

399.77 0 -145.99 -1.18 0.00 3421.5 3398.2 3444.7 1864.8 1975.2 65.77 -15.14 77 404.00 0.00 0.00 0.00 0.000 0.000 0.000 3421.25 3398.19 3444.31 1865.00 1975.31 0 0 0 30.00 30.00 30.00

584.80 516 -145.99 -1.18 -80.00 3422.4 3398.2 3446.6 1864.4 1975.4 92.99 -14.05 114 590.62 0.00 0.00 3.87 0.000 0.000 0.110 3424.09 3399.69 3448.50 1863.81 534.81 0 0 0 30.00 30.00 16.01

609.83 1028 -145.99 -1.18 0.00 3422.9 3398.4 3447.3 1865.1 534.7 96.67 -14.47 119 615.56 0.00 0.00 3.44 0.000 0.000 0.032 3422.53 3397.94 3447.12 1864.88 2029.75 0 0 0 30.00 30.00 16.03

804.81 260 -145.99 -1.18 80.00 3423.0 3398.2 3447.8 1864.9 2029.4 126.05 -14.41 141 809.73 0.00 0.00 3.01 0.000 0.000 0.100 3424.41 3398.56 3450.25 1865.00 3188.38 0 0 0 30.00 30.00 16.03

839.06 1028 -145.99 -1.18 0.00 3423.2 3398.1 3448.2 1864.9 3187.9 131.66 -16.21 148 845.48 0.00 0.00 2.85 0.000 0.000 0.034 3424.75 3400.31 3449.19 1864.12 1974.81 0 0 0 30.00 30.00 16.06

1154.85 0 -145.99 -1.18 0.00 3424.2 3398.6 3449.8 1864.6 1975.4 168.90 -11.15 180 1156.19 0.00 0.00 0.00 0.000 0.000 0.000 3423.38 3398.06 3448.69 1864.50 1975.25 0 0 0 30.00 30.00 30.00

1464.88 0 -145.99 -1.18 0.00 3424.2 3397.7 3450.8 1864.6 1975.0 206.09 -11.94 211 1466.22 0.00 0.00 0.00 0.000 0.000 0.000 3423.44 3397.69 3449.19 1864.56 1975.25 0 0 0 30.00 30.00 30.00

1774.90 0 -145.99 -1.18 0.00 3424.5 3398.1 3450.9 1864.7 1975.5 242.49 -11.94 242 1776.24 0.00 0.00 0.00 0.000 0.000 0.000 3425.94 3400.00 3451.88 1863.81 1975.12 0 0 0 30.00 30.00 30.00

2005 end dive: TARGET_DEPTH_EXCEEDED

state 2005 begin apogee

2007.43 10243 0.00 -0.23 0.00 3424.5 3398.4 3450.6 1864.5 1406.7 270.33 -12.22 265 2122.68 112.29 1.62 0.05 1.225 0.150 0.242 2820.81 2798.75 2842.88 2096.50 1480.56 0 0 0 12.55 16.06 15.71

2124 end apogee: CONTROL_FINISHED_OK

state 2124 begin climb

2124.64 10759 145.99 1.18 -80.00 2821.9 2799.3 2844.6 2097.2 1481.0 274.56 0.00 276 2250.92 117.89 2.26 2.87 1.186 0.083 0.123 2228.22 2198.38 2258.06 2441.06 456.62 0 0 0 12.73 15.73 15.56

2429.25 17414 145.99 1.18 0.00 2220.2 2192.5 2247.9 2441.0 456.5 248.43 13.02 336 2433.96 0.00 0.00 2.28 0.000 0.000 0.028 2223.12 2195.12 2251.12 2440.00 1495.88 0 0 0 30.00 30.00 15.90

2739.30 16966 145.99 1.21 -80.00 2217.2 2186.8 2247.7 2440.9 1496.7 218.21 9.07 368 2744.08 0.00 0.00 2.80 0.000 0.000 0.114 2217.31 2187.25 2247.38 2441.81 456.69 0 0 0 30.00 30.00 16.00

2809.25 17414 145.99 1.21 0.00 2216.7 2187.1 2246.4 2441.2 457.1 210.26 11.69 382 2814.01 0.00 0.00 2.26 0.000 0.000 0.029 2216.84 2187.12 2246.56 2442.06 1500.94 0 0 0 30.00 30.00 16.00

3119.35 16966 145.99 1.28 -80.00 2216.1 2186.1 2246.2 2442.0 1501.0 183.78 8.31 414 3124.12 0.00 0.00 2.79 0.000 0.000 0.115 2215.78 2185.62 2245.94 2441.94 454.62 0 0 0 30.00 30.00 16.02

3263.59 17414 145.99 1.28 0.00 2215.1 2186.1 2244.0 2441.2 454.1 169.03 9.77 443 3269.85 0.00 0.00 2.26 0.000 0.000 0.032 2215.41 2186.44 2244.38 2441.44 1495.31 0 0 0 30.00 30.00 16.09

3579.40 18759 145.99 1.37 80.00 2214.7 2185.2 2244.2 2442.2 1495.7 143.40 7.68 475 3584.37 0.00 0.25 3.46 0.000 0.080 0.077 2215.75 2186.56 2244.94 2491.75 2893.06 0 0 0 30.00 16.05 16.05

3729.37 17478 145.99 1.46 0.00 2214.3 2184.9 2243.7 2491.6 2892.8 130.42 7.93 505 3734.37 0.00 0.00 3.67 0.000 0.000 0.056 2214.28 2185.12 2243.44 2491.50 1406.00 0 0 0 30.00 30.00 16.07

4039.39 10535 285.68 1.67 80.00 2213.5 2184.2 2242.8 2491.6 1405.7 116.68 3.57 537 4157.84 112.67 0.38 3.77 1.054 0.068 0.074 1657.56 1616.44 1698.69 2563.25 2891.75 0 0 0 12.56 16.03 15.71

4190.20 1028 285.68 1.67 0.00 1655.4 1614.2 1696.6 2563.3 2890.3 102.25 13.60 567 4196.77 0.00 0.00 3.77 0.000 0.000 0.058 1655.38 1613.94 1696.81 2562.81 1405.31 0 0 0 30.00 30.00 15.78

4501.02 16902 285.68 1.67 -80.00 1651.0 1608.1 1693.9 2562.9 1405.8 58.23 11.63 628 4506.61 0.00 0.00 2.59 0.000 0.000 0.122 1652.47 1608.81 1696.12 2562.75 455.50 0 0 0 30.00 30.00 15.79

4736.06 17414 285.68 1.67 0.00 1649.5 1607.8 1691.2 2562.9 455.8 30.36 9.56 675 4741.59 0.00 0.00 2.27 0.000 0.000 0.031 1650.38 1608.81 1691.94 2562.31 1492.06 0 0 0 30.00 30.00 16.03

4926.16 10535 443.29 1.90 80.00 1648.7 1606.4 1691.0 2562.8 1492.1 21.95 2.75 713 5105.37 171.57 0.31 3.59 0.899 0.076 0.075 1017.59 958.94 1076.25 2620.00 2888.50 0 0 0 12.66 16.02 15.65

5159 end climb: SURFACE_DEPTH_REACHED

state 5159 begin surface coast

5179 end surface coast: CONTROL_FINISHED_OK

state 5179 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	282	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	37.666584	SEABIRD_T_G	0.0044377348
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	65.512726	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	281022,135512,3642.125,-12440.369,26,1.2,29,13.3	TGT_RADIUS	1000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	281022,140046,3642.091,-12440.225,3,1.2,9,13.3	MHEAD_RNG_PITCHd_Wd	268.4,2799,-21.1,-10.000,-26.76,2232,0.165
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	-0.0,1.023660	FG_AHR_10Vo	37.720
SM_CCo	5256.07,0.00,0.000,0,1010.9,949.3,1072.5,445.00	MEM0	60148,1,0,0
SM_GC	1.39,0.00,15.70,2.20,0.000,0.055,0.041,1010.9,949.3,1072.5,177.1,1974.9,0,0,0,30.00,15.81,15.85	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	909620,73,135748,87
IRIDIUM_FIX	3641.66,-12441.03,281022,122259	DATA_FILE_SIZE	22494,763
TCM_TEMP	16.46	CAP_FILE_SIZE	180185,0
XPDR_PINGS	5,13.0,11.5	SDSIZE	3887104,3797728
SC_FREEKB	3671680	SDFILEDIR	1728,1
HUMID	53.43	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.24	CURRENT	0.221,110.9,1
INTERNAL_PRESSURE	8.68283	IMPLIED_C_PITCH	2148,17.35,478,0.0,0.00
_24V_AH	15.18,100.956	IMPLIED_C_VBD	2913,43.208168,281,0
_10V_AH	15.00,0.000	GPS	281022,152911,3642.029,-12440.048,21,1.3,23,13.3
FG_AHR_24Vo	65.665

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	595	1224	11068.02	nil	0	0	0.00
Pitch_motor	34	284	150.68	nil	0	0	0.00
Roll_motor	61	242	226.07	nil	0	0	0.00
Iridium	228	208	725.73	nil	0	0	0.00
Transponder_ping	1	420	7.97	nil	0	0	0.00
GPS	18	15	4.12	nil	0	0	0.00
Core	2855	6	291.30	SciCon	5207	29	2303.79
Fast	21	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2687	2	80.62
Compass	1617	5	121.31
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	1279.2	1239.6	1318.8	170.6	1965.1	0.00	0.00	0	58.67	51.35	0.00	0.00	0.005	0.000	0.000	2327.44	2329.12	2325.75	170.50	1965.19	0	0	0	15.81	30.00	30.00
58.92	18727	-145.99	-1.18	80.00	2326.9	2328.2	2325.6	170.8	1965.5	3.02	-2.72	9	111.61	29.67	14.33	3.19	0.006	0.285	0.096	3421.19	3398.38	3444.00	1863.62	3189.25	0	0	0	15.80	15.68	15.77
209.74	1028	-145.99	-1.18	0.00	3420.8	3398.4	3443.3	1865.0	3188.8	33.66	-19.56	39	215.38	0.00	0.00	2.90	0.000	0.000	0.037	3421.16	3398.50	3443.81	1864.81	1974.88	0	0	0	30.00	30.00	16.01
399.77	0	-145.99	-1.18	0.00	3421.5	3398.2	3444.7	1864.8	1975.2	65.77	-15.14	77	404.00	0.00	0.00	0.00	0.000	0.000	0.000	3421.25	3398.19	3444.31	1865.00	1975.31	0	0	0	30.00	30.00	30.00
584.80	516	-145.99	-1.18	-80.00	3422.4	3398.2	3446.6	1864.4	1975.4	92.99	-14.05	114	590.62	0.00	0.00	3.87	0.000	0.000	0.110	3424.09	3399.69	3448.50	1863.81	534.81	0	0	0	30.00	30.00	16.01
609.83	1028	-145.99	-1.18	0.00	3422.9	3398.4	3447.3	1865.1	534.7	96.67	-14.47	119	615.56	0.00	0.00	3.44	0.000	0.000	0.032	3422.53	3397.94	3447.12	1864.88	2029.75	0	0	0	30.00	30.00	16.03
804.81	260	-145.99	-1.18	80.00	3423.0	3398.2	3447.8	1864.9	2029.4	126.05	-14.41	141	809.73	0.00	0.00	3.01	0.000	0.000	0.100	3424.41	3398.56	3450.25	1865.00	3188.38	0	0	0	30.00	30.00	16.03
839.06	1028	-145.99	-1.18	0.00	3423.2	3398.1	3448.2	1864.9	3187.9	131.66	-16.21	148	845.48	0.00	0.00	2.85	0.000	0.000	0.034	3424.75	3400.31	3449.19	1864.12	1974.81	0	0	0	30.00	30.00	16.06
1154.85	0	-145.99	-1.18	0.00	3424.2	3398.6	3449.8	1864.6	1975.4	168.90	-11.15	180	1156.19	0.00	0.00	0.00	0.000	0.000	0.000	3423.38	3398.06	3448.69	1864.50	1975.25	0	0	0	30.00	30.00	30.00
1464.88	0	-145.99	-1.18	0.00	3424.2	3397.7	3450.8	1864.6	1975.0	206.09	-11.94	211	1466.22	0.00	0.00	0.00	0.000	0.000	0.000	3423.44	3397.69	3449.19	1864.56	1975.25	0	0	0	30.00	30.00	30.00
1774.90	0	-145.99	-1.18	0.00	3424.5	3398.1	3450.9	1864.7	1975.5	242.49	-11.94	242	1776.24	0.00	0.00	0.00	0.000	0.000	0.000	3425.94	3400.00	3451.88	1863.81	1975.12	0	0	0	30.00	30.00	30.00
2005	end dive: TARGET_DEPTH_EXCEEDED
state	2005	begin apogee
2007.43	10243	0.00	-0.23	0.00	3424.5	3398.4	3450.6	1864.5	1406.7	270.33	-12.22	265	2122.68	112.29	1.62	0.05	1.225	0.150	0.242	2820.81	2798.75	2842.88	2096.50	1480.56	0	0	0	12.55	16.06	15.71
2124	end apogee: CONTROL_FINISHED_OK
state	2124	begin climb
2124.64	10759	145.99	1.18	-80.00	2821.9	2799.3	2844.6	2097.2	1481.0	274.56	0.00	276	2250.92	117.89	2.26	2.87	1.186	0.083	0.123	2228.22	2198.38	2258.06	2441.06	456.62	0	0	0	12.73	15.73	15.56
2429.25	17414	145.99	1.18	0.00	2220.2	2192.5	2247.9	2441.0	456.5	248.43	13.02	336	2433.96	0.00	0.00	2.28	0.000	0.000	0.028	2223.12	2195.12	2251.12	2440.00	1495.88	0	0	0	30.00	30.00	15.90
2739.30	16966	145.99	1.21	-80.00	2217.2	2186.8	2247.7	2440.9	1496.7	218.21	9.07	368	2744.08	0.00	0.00	2.80	0.000	0.000	0.114	2217.31	2187.25	2247.38	2441.81	456.69	0	0	0	30.00	30.00	16.00
2809.25	17414	145.99	1.21	0.00	2216.7	2187.1	2246.4	2441.2	457.1	210.26	11.69	382	2814.01	0.00	0.00	2.26	0.000	0.000	0.029	2216.84	2187.12	2246.56	2442.06	1500.94	0	0	0	30.00	30.00	16.00
3119.35	16966	145.99	1.28	-80.00	2216.1	2186.1	2246.2	2442.0	1501.0	183.78	8.31	414	3124.12	0.00	0.00	2.79	0.000	0.000	0.115	2215.78	2185.62	2245.94	2441.94	454.62	0	0	0	30.00	30.00	16.02
3263.59	17414	145.99	1.28	0.00	2215.1	2186.1	2244.0	2441.2	454.1	169.03	9.77	443	3269.85	0.00	0.00	2.26	0.000	0.000	0.032	2215.41	2186.44	2244.38	2441.44	1495.31	0	0	0	30.00	30.00	16.09
3579.40	18759	145.99	1.37	80.00	2214.7	2185.2	2244.2	2442.2	1495.7	143.40	7.68	475	3584.37	0.00	0.25	3.46	0.000	0.080	0.077	2215.75	2186.56	2244.94	2491.75	2893.06	0	0	0	30.00	16.05	16.05
3729.37	17478	145.99	1.46	0.00	2214.3	2184.9	2243.7	2491.6	2892.8	130.42	7.93	505	3734.37	0.00	0.00	3.67	0.000	0.000	0.056	2214.28	2185.12	2243.44	2491.50	1406.00	0	0	0	30.00	30.00	16.07
4039.39	10535	285.68	1.67	80.00	2213.5	2184.2	2242.8	2491.6	1405.7	116.68	3.57	537	4157.84	112.67	0.38	3.77	1.054	0.068	0.074	1657.56	1616.44	1698.69	2563.25	2891.75	0	0	0	12.56	16.03	15.71
4190.20	1028	285.68	1.67	0.00	1655.4	1614.2	1696.6	2563.3	2890.3	102.25	13.60	567	4196.77	0.00	0.00	3.77	0.000	0.000	0.058	1655.38	1613.94	1696.81	2562.81	1405.31	0	0	0	30.00	30.00	15.78
4501.02	16902	285.68	1.67	-80.00	1651.0	1608.1	1693.9	2562.9	1405.8	58.23	11.63	628	4506.61	0.00	0.00	2.59	0.000	0.000	0.122	1652.47	1608.81	1696.12	2562.75	455.50	0	0	0	30.00	30.00	15.79
4736.06	17414	285.68	1.67	0.00	1649.5	1607.8	1691.2	2562.9	455.8	30.36	9.56	675	4741.59	0.00	0.00	2.27	0.000	0.000	0.031	1650.38	1608.81	1691.94	2562.31	1492.06	0	0	0	30.00	30.00	16.03
4926.16	10535	443.29	1.90	80.00	1648.7	1606.4	1691.0	2562.8	1492.1	21.95	2.75	713	5105.37	171.57	0.31	3.59	0.899	0.076	0.075	1017.59	958.94	1076.25	2620.00	2888.50	0	0	0	12.66	16.02	15.65
5159	end climb: SURFACE_DEPTH_REACHED
state	5159	begin surface coast
5179	end surface coast: CONTROL_FINISHED_OK
state	5179	begin surface