Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 318 * 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 318 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 2390 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 13.862424 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 57.090775 SEABIRD_T_I 2.1947648e-05

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

MAX_BUOY 100 PITCH_ADJ_GAIN 0 PRESSURE_YINT -154.46213 SEABIRD_C_G -9.9419231

GLIDE_SLOPE 45 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00022299301 SEABIRD_C_H 1.1375728

SPEED_FACTOR 1 C_PITCH_AUTO_DELTA 0 COMPASS_USE 16388 SEABIRD_C_I -0.0016241658

RHO 1.0275 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_J 0.0002088599

MASS 55693 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_PING_RANGE 0 OPTIONS 0

NAV_MODE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_GAIN 2 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

KALMAN_USE 2 PITCH_W_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 0 SC_XMITPROFILE 3.0

HD_A 0.00281838 ROLL_MIN 360 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0139236 ROLL_MAX 3880 ALTIM_PING_DELTA 0 TM_RECORDABOVE 200.0

HD_C 5.7000002e-06 ROLL_DEG 40 ALTIM_FREQUENCY 13 TM_PROFILE 1.0

HEADING -1 C_ROLL_DIVE 3230 ALTIM_PULSE 3 TM_XMITPROFILE 3.0

ESCAPE_HEADING 0 C_ROLL_CLIMB 3000 ALTIM_SENSITIVITY 2 TM_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 XPDR_VALID 6 TM_XMITRAW 0.0

FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 XPDR_INHIBIT 90 TM_LOGSAMPLE 0.0

AH0_10V 0 D_PITCH 0 N_GPS 100440 SEABIRD_T_H 0.00062267116

AH0_24V 350 D_SAFE 0 N_NOCOMM 2 SEABIRD_T_I 2.1947648e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_J 2.2037441e-06

ALTIM_FREQUENCY 13 D_TGT 220 OPTIONS 0 SIM_W 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 PHONE_DEVICE 33 SM_CC 350

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_10V 13.862424 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 57.090775 PITCH_CNV 0.0031300001 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 45 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_GAIN_AUTO_DELTA 0 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00281838 PITCH_MAX 3625 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_B 0.0139236 PITCH_MAXERRORS 1 TM_LOGSAMPLE 0.0

CALL_WAIT 60 HD_C 5.7000002e-06 PITCH_MIN 185 TM_NDIVE 1.0

CAPMAXSIZE 100000 HEADING -1 PITCH_TIMEOUT 25 TM_PROFILE 1.0

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0012300001 TM_RECORDABOVE 200.0

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0.5 TM_XMITPROFILE 3.0

COMM_SEQ 7 ID 180 PITCH_W_GAIN 2 TM_XMITRAW 0.0

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

COMPASS_DEVICE 66 INT_PRESSURE_YINT 0.5 PRESSURE_SLOPE 0.00022299301 T_BOOST 0

COMPASS_USE 16388 KALMAN_USE 2 PRESSURE_YINT -154.46213 T_DIVE 70

C_PITCH 2100 LOGGERDEVICE1 7 PROTOCOL 9 T_EPIRB 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 19 RAFOS_CORR_THRESH 60 T_GPS 5

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 72 RAFOS_DEVICE -1 T_LOITER 0

C_ROLL_CLIMB 3000 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_MISSION 100

C_ROLL_DIVE 3230 LOGGERS 1 RAFOS_MMODEM 0 T_NO_W 120

C_VBD 2390 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 318 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 021022,072950,3752.436,-12503.366,9,0.8,40,13.6 TGT_RADIUS 4000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.14 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021022,073356,3752.443,-12503.397,2,0.9,3,13.6 MHEAD_RNG_PITCHd_Wd 164.2,55495,-25.5,-10.476,-29.53,1425,0.193

SPEED_LIMITS 0.105,0.185 D_GRID 1000

TGT_NAME LineB_2 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 3722.600,-12500.000

Post-dive calculations and measurements:

FINISH -0.1,1.001213 FG_AHR_10Vo 13.899

SM_CCo 4552.94,9.35,0.919,0,962.6,959.1,966.1,350.15 MEM0 60148,1,0,0

SM_GC 2.52,9.35,6.72,0.37,0.919,0.114,0.084,962.6,959.1,966.1,176.4,3256.1,0,0,0,12.42,15.74,15.76 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 909296,60,136152,96

IRIDIUM_FIX 3753.08,-12506.23,021022,063044 DATA_FILE_SIZE 25678,904

TCM_TEMP 16.95 CAP_FILE_SIZE 321126,0

XPDR_PINGS 0,13.0,11.5 SDSIZE 3887104,3796832

SC_FREEKB 3775712 SDFILEDIR 1852,1

HUMID 52.53 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.35 CURRENT 0.358,357.9,1

INTERNAL_PRESSURE 8.78372 IMPLIED_C_PITCH 2019,33.65,694,0.0,0.00

_24V_AH 15.04,67.830 IMPLIED_C_VBD 2272,31.770365,475,0

_10V_AH 15.00,0.000 GPS 021022,085030,3752.911,-12503.474,11,1.2,13,13.6

FG_AHR_24Vo 57.201

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 425 1238 7918.30 nil 0 0 0.00

Pitch_motor 17 477 126.56 nil 0 0 0.00

Roll_motor 27 153 63.51 nil 0 0 0.00

Iridium 155 175 408.74 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 12 15 2.88 nil 0 0 0.00

Core 1040 6 106.08 SciCon 4558 18 1242.97

Fast 23 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 2369 2 71.07

Compass 1183 5 88.76

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

7.57 16386 -97.32 -0.69 0.00 958.5 956.0 961.1 175.3 3142.1 0.00 0.00 0 69.59 61.54 0.00 0.00 0.005 0.000 0.000 2151.09 2196.94 2105.25 175.25 3143.06 0 0 0 15.66 30.00 30.00

69.84 18983 -97.32 -0.69 -40.00 2150.9 2196.2 2105.6 175.2 3142.2 3.63 -4.42 12 100.77 16.58 9.39 2.16 0.006 0.478 0.027 2784.94 2848.25 2721.62 1878.88 1753.12 0 0 0 15.70 15.45 15.65

258.06 1028 -97.32 -0.69 0.00 2788.9 2849.1 2728.8 1879.3 1722.2 33.06 -11.25 50 263.67 0.00 0.00 2.63 0.000 0.000 0.084 2789.19 2849.69 2728.69 1879.38 3248.81 0 0 0 30.00 30.00 15.89

448.36 260 -97.32 -0.69 40.00 2788.9 2849.0 2728.9 1879.1 3248.7 55.75 -11.70 88 453.08 0.00 0.00 1.10 0.000 0.000 0.098 2789.38 2849.75 2729.00 1876.44 3901.06 0 0 0 30.00 30.00 15.95

478.37 1028 -97.32 -0.69 0.00 2789.5 2848.9 2730.1 1875.9 3901.1 59.14 -11.32 94 483.11 0.00 0.00 1.12 0.000 0.000 0.039 2790.56 2849.56 2731.56 1875.06 3167.69 0 0 0 30.00 30.00 15.99

663.42 0 -97.32 -0.69 0.00 2789.6 2849.4 2729.8 1876.0 3167.2 79.81 -11.10 131 664.76 0.00 0.00 0.00 0.000 0.000 0.000 2789.56 2848.88 2730.25 1876.56 3167.25 0 0 0 30.00 30.00 30.00

848.24 0 -97.32 -0.69 0.00 2789.6 2849.0 2730.2 1876.2 3168.0 101.28 -11.81 168 849.57 0.00 0.00 0.00 0.000 0.000 0.000 2789.84 2848.88 2730.81 1876.12 3167.06 0 0 0 30.00 30.00 30.00

1153.56 0 -97.32 -0.69 0.00 2789.4 2849.0 2729.9 1875.9 3167.4 133.57 -9.23 229 1154.89 0.00 0.00 0.00 0.000 0.000 0.000 2789.97 2849.00 2730.94 1876.38 3167.31 0 0 0 30.00 30.00 30.00

1458.65 0 -97.32 -0.69 0.00 2789.8 2849.1 2730.4 1876.2 3167.4 159.77 -9.13 290 1459.99 0.00 0.00 0.00 0.000 0.000 0.000 2788.84 2847.19 2730.50 1875.81 3167.06 0 0 0 30.00 30.00 30.00

1763.75 516 -97.32 -0.69 -40.00 2789.7 2849.1 2730.2 1876.1 3167.4 188.46 -9.25 351 1769.27 0.00 0.00 2.17 0.000 0.000 0.023 2789.31 2848.38 2730.25 1875.94 1717.00 0 0 0 30.00 30.00 16.08

1788.51 1028 -97.32 -0.69 0.00 2788.7 2847.2 2730.1 1876.0 1715.9 190.58 -8.73 356 1794.13 0.00 0.00 2.62 0.000 0.000 0.083 2788.72 2847.50 2729.94 1875.38 3250.56 0 0 0 30.00 30.00 16.07

2098.85 0 -97.32 -0.69 0.00 2788.5 2846.9 2730.1 1876.0 3250.5 216.65 -8.16 418 2100.19 0.00 0.00 0.00 0.000 0.000 0.000 2788.44 2846.81 2730.06 1875.31 3250.56 0 0 0 30.00 30.00 30.00

2143 end dive: TARGET_DEPTH_EXCEEDED

state 2143 begin apogee

2145.12 10243 0.00 -0.11 0.00 2788.7 2847.3 2730.1 1875.8 2947.3 220.34 -8.19 427 2229.81 80.71 0.65 0.13 1.239 0.216 0.153 2388.00 2433.19 2342.81 2068.12 3023.44 0 0 0 12.23 15.97 15.58

2230 end apogee: CONTROL_FINISHED_OK

state 2230 begin climb

2231.85 10243 97.32 0.69 0.00 2387.4 2433.1 2341.8 2067.2 3023.6 222.84 0.00 444 2312.25 77.75 0.74 0.00 1.208 0.080 0.000 1991.66 2004.62 1978.69 2329.44 3024.44 0 0 0 12.48 15.67 30.00

2615.55 8742 168.79 0.77 -40.00 1985.3 2004.1 1966.5 2329.6 3024.2 215.80 5.32 521 2676.29 54.96 0.00 2.40 1.202 0.000 0.023 1701.34 1712.50 1690.19 2339.31 1519.62 0 0 0 12.36 30.00 15.55

2905.57 1028 168.79 0.77 0.00 1696.0 1704.9 1687.1 2340.9 1509.2 183.36 12.36 579 2911.17 0.00 0.00 2.55 0.000 0.000 0.063 1695.72 1707.06 1684.38 2341.25 3021.81 0 0 0 30.00 30.00 15.89

3215.69 16386 168.79 0.77 0.00 1692.3 1708.1 1676.5 2341.0 3022.6 138.31 12.96 641 3217.02 0.00 0.00 0.00 0.000 0.000 0.000 1692.62 1708.25 1677.00 2340.50 3022.50 0 0 0 30.00 30.00 30.00

3520.80 16386 168.79 0.77 0.00 1691.2 1708.1 1674.4 2341.1 3022.0 98.45 12.98 702 3522.14 0.00 0.00 0.00 0.000 0.000 0.000 1691.53 1708.44 1674.62 2340.88 3023.12 0 0 0 30.00 30.00 30.00

3705.87 16902 168.79 0.77 -40.00 1691.1 1708.1 1674.1 2340.8 3022.5 76.31 11.10 739 3711.18 0.00 0.00 2.33 0.000 0.000 0.019 1692.19 1709.38 1675.00 2351.88 1518.12 0 0 0 30.00 30.00 15.97

3755.89 17478 168.79 0.81 0.00 1691.3 1708.6 1674.0 2353.0 1506.1 71.94 8.56 749 3761.47 0.00 0.00 2.53 0.000 0.000 0.063 1691.66 1708.94 1674.38 2352.81 3021.50 0 0 0 30.00 30.00 15.96

3945.96 10275 245.79 0.91 0.00 1691.2 1708.9 1673.6 2352.9 3021.8 59.60 4.92 787 4006.28 57.40 0.10 0.00 1.056 0.098 0.000 1389.31 1392.94 1385.69 2411.06 3021.44 0 0 0 12.25 15.95 30.00

4191.01 516 245.79 0.91 -40.00 1381.5 1392.5 1370.6 2410.8 3021.9 27.28 12.99 836 4196.32 0.00 0.00 2.36 0.000 0.000 0.018 1382.72 1394.19 1371.25 2420.56 1511.81 0 0 0 30.00 30.00 15.84

4386.05 9254 337.71 1.02 0.00 1379.4 1388.6 1370.2 2423.3 1503.0 17.63 3.85 875 4458.01 66.76 0.00 2.54 0.982 0.000 0.062 1014.25 1018.69 1009.81 2423.44 3026.50 0 0 0 12.35 30.00 15.88

4515 end climb: SURFACE_DEPTH_REACHED

state 4515 begin surface coast

4531 end surface coast: CONTROL_FINISHED_OK

state 4531 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	318	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	2390	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	13.862424	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	57.090775	SEABIRD_T_I	2.1947648e-05
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_J	2.2037441e-06
MAX_BUOY	100	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-154.46213	SEABIRD_C_G	-9.9419231
GLIDE_SLOPE	45	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00022299301	SEABIRD_C_H	1.1375728
SPEED_FACTOR	1	C_PITCH_AUTO_DELTA	0	COMPASS_USE	16388	SEABIRD_C_I	-0.0016241658
RHO	1.0275	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_J	0.0002088599
MASS	55693	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_PING_RANGE	0	OPTIONS	0
NAV_MODE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_GAIN	2	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
KALMAN_USE	2	PITCH_W_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	0	SC_XMITPROFILE	3.0
HD_A	0.00281838	ROLL_MIN	360	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0139236	ROLL_MAX	3880	ALTIM_PING_DELTA	0	TM_RECORDABOVE	200.0
HD_C	5.7000002e-06	ROLL_DEG	40	ALTIM_FREQUENCY	13	TM_PROFILE	1.0
HEADING	-1	C_ROLL_DIVE	3230	ALTIM_PULSE	3	TM_XMITPROFILE	3.0
ESCAPE_HEADING	0	C_ROLL_CLIMB	3000	ALTIM_SENSITIVITY	2	TM_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	XPDR_VALID	6	TM_XMITRAW	0.0
FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	XPDR_INHIBIT	90	TM_LOGSAMPLE	0.0

GPS1	021022,072950,3752.436,-12503.366,9,0.8,40,13.6	TGT_RADIUS	4000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.14	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021022,073356,3752.443,-12503.397,2,0.9,3,13.6	MHEAD_RNG_PITCHd_Wd	164.2,55495,-25.5,-10.476,-29.53,1425,0.193
SPEED_LIMITS	0.105,0.185	D_GRID	1000
TGT_NAME	LineB_2	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	3722.600,-12500.000

FINISH	-0.1,1.001213	FG_AHR_10Vo	13.899
SM_CCo	4552.94,9.35,0.919,0,962.6,959.1,966.1,350.15	MEM0	60148,1,0,0
SM_GC	2.52,9.35,6.72,0.37,0.919,0.114,0.084,962.6,959.1,966.1,176.4,3256.1,0,0,0,12.42,15.74,15.76	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	909296,60,136152,96
IRIDIUM_FIX	3753.08,-12506.23,021022,063044	DATA_FILE_SIZE	25678,904
TCM_TEMP	16.95	CAP_FILE_SIZE	321126,0
XPDR_PINGS	0,13.0,11.5	SDSIZE	3887104,3796832
SC_FREEKB	3775712	SDFILEDIR	1852,1
HUMID	52.53	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.35	CURRENT	0.358,357.9,1
INTERNAL_PRESSURE	8.78372	IMPLIED_C_PITCH	2019,33.65,694,0.0,0.00
_24V_AH	15.04,67.830	IMPLIED_C_VBD	2272,31.770365,475,0
_10V_AH	15.00,0.000	GPS	021022,085030,3752.911,-12503.474,11,1.2,13,13.6
FG_AHR_24Vo	57.201

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	425	1238	7918.30	nil	0	0	0.00
Pitch_motor	17	477	126.56	nil	0	0	0.00
Roll_motor	27	153	63.51	nil	0	0	0.00
Iridium	155	175	408.74	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	12	15	2.88	nil	0	0	0.00
Core	1040	6	106.08	SciCon	4558	18	1242.97
Fast	23	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	2369	2	71.07
Compass	1183	5	88.76
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
7.57	16386	-97.32	-0.69	0.00	958.5	956.0	961.1	175.3	3142.1	0.00	0.00	0	69.59	61.54	0.00	0.00	0.005	0.000	0.000	2151.09	2196.94	2105.25	175.25	3143.06	0	0	0	15.66	30.00	30.00
69.84	18983	-97.32	-0.69	-40.00	2150.9	2196.2	2105.6	175.2	3142.2	3.63	-4.42	12	100.77	16.58	9.39	2.16	0.006	0.478	0.027	2784.94	2848.25	2721.62	1878.88	1753.12	0	0	0	15.70	15.45	15.65
258.06	1028	-97.32	-0.69	0.00	2788.9	2849.1	2728.8	1879.3	1722.2	33.06	-11.25	50	263.67	0.00	0.00	2.63	0.000	0.000	0.084	2789.19	2849.69	2728.69	1879.38	3248.81	0	0	0	30.00	30.00	15.89
448.36	260	-97.32	-0.69	40.00	2788.9	2849.0	2728.9	1879.1	3248.7	55.75	-11.70	88	453.08	0.00	0.00	1.10	0.000	0.000	0.098	2789.38	2849.75	2729.00	1876.44	3901.06	0	0	0	30.00	30.00	15.95
478.37	1028	-97.32	-0.69	0.00	2789.5	2848.9	2730.1	1875.9	3901.1	59.14	-11.32	94	483.11	0.00	0.00	1.12	0.000	0.000	0.039	2790.56	2849.56	2731.56	1875.06	3167.69	0	0	0	30.00	30.00	15.99
663.42	0	-97.32	-0.69	0.00	2789.6	2849.4	2729.8	1876.0	3167.2	79.81	-11.10	131	664.76	0.00	0.00	0.00	0.000	0.000	0.000	2789.56	2848.88	2730.25	1876.56	3167.25	0	0	0	30.00	30.00	30.00
848.24	0	-97.32	-0.69	0.00	2789.6	2849.0	2730.2	1876.2	3168.0	101.28	-11.81	168	849.57	0.00	0.00	0.00	0.000	0.000	0.000	2789.84	2848.88	2730.81	1876.12	3167.06	0	0	0	30.00	30.00	30.00
1153.56	0	-97.32	-0.69	0.00	2789.4	2849.0	2729.9	1875.9	3167.4	133.57	-9.23	229	1154.89	0.00	0.00	0.00	0.000	0.000	0.000	2789.97	2849.00	2730.94	1876.38	3167.31	0	0	0	30.00	30.00	30.00
1458.65	0	-97.32	-0.69	0.00	2789.8	2849.1	2730.4	1876.2	3167.4	159.77	-9.13	290	1459.99	0.00	0.00	0.00	0.000	0.000	0.000	2788.84	2847.19	2730.50	1875.81	3167.06	0	0	0	30.00	30.00	30.00
1763.75	516	-97.32	-0.69	-40.00	2789.7	2849.1	2730.2	1876.1	3167.4	188.46	-9.25	351	1769.27	0.00	0.00	2.17	0.000	0.000	0.023	2789.31	2848.38	2730.25	1875.94	1717.00	0	0	0	30.00	30.00	16.08
1788.51	1028	-97.32	-0.69	0.00	2788.7	2847.2	2730.1	1876.0	1715.9	190.58	-8.73	356	1794.13	0.00	0.00	2.62	0.000	0.000	0.083	2788.72	2847.50	2729.94	1875.38	3250.56	0	0	0	30.00	30.00	16.07
2098.85	0	-97.32	-0.69	0.00	2788.5	2846.9	2730.1	1876.0	3250.5	216.65	-8.16	418	2100.19	0.00	0.00	0.00	0.000	0.000	0.000	2788.44	2846.81	2730.06	1875.31	3250.56	0	0	0	30.00	30.00	30.00
2143	end dive: TARGET_DEPTH_EXCEEDED
state	2143	begin apogee
2145.12	10243	0.00	-0.11	0.00	2788.7	2847.3	2730.1	1875.8	2947.3	220.34	-8.19	427	2229.81	80.71	0.65	0.13	1.239	0.216	0.153	2388.00	2433.19	2342.81	2068.12	3023.44	0	0	0	12.23	15.97	15.58
2230	end apogee: CONTROL_FINISHED_OK
state	2230	begin climb
2231.85	10243	97.32	0.69	0.00	2387.4	2433.1	2341.8	2067.2	3023.6	222.84	0.00	444	2312.25	77.75	0.74	0.00	1.208	0.080	0.000	1991.66	2004.62	1978.69	2329.44	3024.44	0	0	0	12.48	15.67	30.00
2615.55	8742	168.79	0.77	-40.00	1985.3	2004.1	1966.5	2329.6	3024.2	215.80	5.32	521	2676.29	54.96	0.00	2.40	1.202	0.000	0.023	1701.34	1712.50	1690.19	2339.31	1519.62	0	0	0	12.36	30.00	15.55
2905.57	1028	168.79	0.77	0.00	1696.0	1704.9	1687.1	2340.9	1509.2	183.36	12.36	579	2911.17	0.00	0.00	2.55	0.000	0.000	0.063	1695.72	1707.06	1684.38	2341.25	3021.81	0	0	0	30.00	30.00	15.89
3215.69	16386	168.79	0.77	0.00	1692.3	1708.1	1676.5	2341.0	3022.6	138.31	12.96	641	3217.02	0.00	0.00	0.00	0.000	0.000	0.000	1692.62	1708.25	1677.00	2340.50	3022.50	0	0	0	30.00	30.00	30.00
3520.80	16386	168.79	0.77	0.00	1691.2	1708.1	1674.4	2341.1	3022.0	98.45	12.98	702	3522.14	0.00	0.00	0.00	0.000	0.000	0.000	1691.53	1708.44	1674.62	2340.88	3023.12	0	0	0	30.00	30.00	30.00
3705.87	16902	168.79	0.77	-40.00	1691.1	1708.1	1674.1	2340.8	3022.5	76.31	11.10	739	3711.18	0.00	0.00	2.33	0.000	0.000	0.019	1692.19	1709.38	1675.00	2351.88	1518.12	0	0	0	30.00	30.00	15.97
3755.89	17478	168.79	0.81	0.00	1691.3	1708.6	1674.0	2353.0	1506.1	71.94	8.56	749	3761.47	0.00	0.00	2.53	0.000	0.000	0.063	1691.66	1708.94	1674.38	2352.81	3021.50	0	0	0	30.00	30.00	15.96
3945.96	10275	245.79	0.91	0.00	1691.2	1708.9	1673.6	2352.9	3021.8	59.60	4.92	787	4006.28	57.40	0.10	0.00	1.056	0.098	0.000	1389.31	1392.94	1385.69	2411.06	3021.44	0	0	0	12.25	15.95	30.00
4191.01	516	245.79	0.91	-40.00	1381.5	1392.5	1370.6	2410.8	3021.9	27.28	12.99	836	4196.32	0.00	0.00	2.36	0.000	0.000	0.018	1382.72	1394.19	1371.25	2420.56	1511.81	0	0	0	30.00	30.00	15.84
4386.05	9254	337.71	1.02	0.00	1379.4	1388.6	1370.2	2423.3	1503.0	17.63	3.85	875	4458.01	66.76	0.00	2.54	0.982	0.000	0.062	1014.25	1018.69	1009.81	2423.44	3026.50	0	0	0	12.35	30.00	15.88
4515	end climb: SURFACE_DEPTH_REACHED
state	4515	begin surface coast
4531	end surface coast: CONTROL_FINISHED_OK
state	4531	begin surface