Glider dive log

SMODE Mar23 * SG219 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 219 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 1.9639999e-06

MISSION 6 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -2

DIVE 4 SM_CC 605.40039 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

N_DIVES 5 N_FILEKB 4 VBD_MIN 500 DEEPGLIDERMB 0

STOP_T 0 FILEMGR 0 VBD_MAX 3960 MOTHERBOARD 6

D_SURF 2 CALL_NDIVES 1 C_VBD 2968 DEVICE1 -1

D_FLARE 2 COMM_SEQ 7 VBD_DBAND 2 DEVICE2 -1

D_TGT 180 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE3 -1

D_ABORT 250 N_NOCOMM 2 VBD_LP_IGNORE 0 DEVICE4 -1

D_NO_BLEED 200 NOCOMM_ACTION 131 VBD_TIMEOUT 720 DEVICE5 -1

D_BOOST 2 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0013 DEVICE6 -1

T_BOOST 0 UPLOAD_DIVES_MAX -1 UNCOM_BLEED 20 LOGGERS 3

D_FINISH 0 NETBOX 1 VBD_MAXERRORS 1 LOGGERDEVICE1 7

D_PITCH 0 CALL_TRIES 5 C_VBD_AUTO_DELTA 0 LOGGERDEVICE2 19

D_SAFE 0 CALL_WAIT 60 C_VBD_AUTO_MAX 0 LOGGERDEVICE3 -1

D_CALL 0 CAPUPLOAD 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

SURFACE_URGENCY 0 CAPMAXSIZE 100000 DBDW 0 COMPASS_DEVICE 66

SURFACE_URGENCY_TRY 0 T_GPS 5 LOITER_W_DBAND 0 COMPASS2_DEVICE -1

SURFACE_URGENCY_FORCE 0 N_GPS 100440 LOITER_DBDW 0 PHONE_DEVICE 33

T_DIVE 60 T_RSLEEP 1 LOITER_D_TOP 0 GPS_DEVICE 48

T_MISSION 75 STROBE 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE -1

T_ABORT 1440 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 NAV_DEVICE -1

T_TURN 225 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 NAV2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_HIT_WINDOW 3600 AH0_24V 310 NETWORK_DEVICE -1

T_NO_W 120 RAFOS_MMODEM 0 AH0_10V 0 PRESSURE_DEVICE 41

T_LOITER 0 PITCH_MIN 250 MINV_24V 11 XPDR_DEVICE 21

T_EPIRB 0 PITCH_MAX 3915 MINV_10V 11 SIM_W 0

USE_BATHY -10 C_PITCH 2290 MAXI_24V 5 SEABIRD_T_G 0.0044047111

USE_ICE 0 PITCH_DBAND 0.1 MAXI_10V 1.4 SEABIRD_T_H 0.00064512878

ICE_FREEZE_MARGIN 0.30000001 PITCH_CNV 0.0031300001 FG_AHR_10V 71.781616 SEABIRD_T_I 2.6333068e-05

D_OFFGRID 1000 PITCH_GAIN 40 FG_AHR_24V 112.56541 SEABIRD_T_J 3.284043e-06

RELAUNCH 1 PITCH_TIMEOUT 25 PHONE_SUPPLY 2 SEABIRD_C_G -9.7945557

APOGEE_PITCH -5 PITCH_MAXERRORS 1 PRESSURE_YINT -150.25168 SEABIRD_C_H 1.1460752

MAX_BUOY 150 PITCH_ADJ_GAIN 0.015 PRESSURE_SLOPE 0.00022471976 SEABIRD_C_I -0.0011505114

GLIDE_SLOPE 30 PITCH_ADJ_DBAND 1 COMPASS_USE 49156 SEABIRD_C_J 0.00017395352

SPEED_FACTOR 1 C_PITCH_AUTO_DELTA 0 ALTIM_PING_FIT 0 OPTIONS 0

RHO 1.0275 C_PITCH_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

MASS 56279 PITCH_GAIN_AUTO_DELTA 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 3.0

NAV_MODE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

FERRY_MAX 45 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 0 SC_NDIVE 1.0

KALMAN_USE 2 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 TM_RECORDABOVE 200.0

HD_A 0.0019952599 ROLL_MIN 250 ALTIM_PING_DELTA 0 TM_PROFILE 3.0

HD_B 0.019109501 ROLL_MAX 3825 ALTIM_FREQUENCY 13 TM_XMITPROFILE 3.0

HD_C 5.7000002e-06 ROLL_DEG 40 ALTIM_PULSE 3 TM_NDIVE 1.0

HEADING -1 C_ROLL_DIVE 2800 ALTIM_SENSITIVITY 2 TM_XMITRAW 0.0

ESCAPE_HEADING 0 C_ROLL_CLIMB 2400 XPDR_VALID 6 TM_LOGSAMPLE 0.0

ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 XPDR_INHIBIT 90

FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 XPDR_INT 12.5

TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_REP 11.5

AH0_10V 0 D_SAFE 0 N_NOCOMM 2 SEABIRD_T_J 3.284043e-06

AH0_24V 310 D_SURF 2 N_NOSURFACE 0 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 OPTIONS 0 SM_CC 605.40039

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_DEVICE 33 SPEED_FACTOR 1

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 STOP_T 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 1 STROBE 0

ALTIM_PING_FIT 0 FG_AHR_10V 71.781616 PITCH_ADJ_GAIN 0.015 SURFACE_URGENCY 0

ALTIM_PULSE 3 FG_AHR_24V 112.56541 PITCH_CNV 0.0031300001 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 40 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_DELTA 0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 HD_A 0.0019952599 PITCH_MAX 3915 TM_LOGSAMPLE 0.0

CALL_NDIVES 1 HD_B 0.019109501 PITCH_MAXERRORS 1 TM_NDIVE 1.0

CALL_TRIES 5 HD_C 5.7000002e-06 PITCH_MIN 250 TM_PROFILE 3.0

CALL_WAIT 60 HEADING -1 PITCH_TIMEOUT 25 TM_RECORDABOVE 200.0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0013 TM_XMITPROFILE 3.0

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0 TM_XMITRAW 0.0

CF8_MAXERRORS 20 ID 219 PITCH_W_GAIN 0 T_ABORT 1440

COMM_SEQ 7 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_DEVICE 41 T_BOOST 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -2 PRESSURE_SLOPE 0.00022471976 T_DIVE 60

COMPASS_DEVICE 66 KALMAN_USE 2 PRESSURE_YINT -150.25168 T_EPIRB 0

COMPASS_USE 49156 LOGGERDEVICE1 7 PROTOCOL 9 T_GPS 5

C_PITCH 2290 LOGGERDEVICE2 19 RAFOS_CORR_THRESH 60 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_MISSION 75

C_PITCH_AUTO_MAX 0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_NO_W 120

C_ROLL_CLIMB 2400 LOGGERS 3 RAFOS_MMODEM 0 T_RSLEEP 1

C_ROLL_DIVE 2800 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN 225

C_VBD 2968 LOITER_D_BOTTOM 0 RELAUNCH 1 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_D_TOP 0 RHO 1.0275 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_N_DIVE 0 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_W_DBAND 0 ROLL_ADJ_GAIN 0 USE_BATHY -10

DEEPGLIDER 0 MASS 56279 ROLL_CNV 0.028270001 USE_ICE 0

DEEPGLIDERMB 0 MAXI_10V 1.4 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE1 -1 MAXI_24V 5 ROLL_MAX 3825 VBD_DBAND 2

DEVICE2 -1 MAX_BUOY 150 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE3 -1 MINV_10V 11 ROLL_MIN 250 VBD_MAX 3960

DEVICE4 -1 MINV_24V 11 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE5 -1 MISSION 6 SC_NDIVE 1.0 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 SC_PROFILE 3.0 VBD_TIMEOUT 720

DIVE 4 NAV2_DEVICE -1 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_ABORT 250 NAV_DEVICE -1 SC_XMITPROFILE 3.0 XPDR_DEVICE 21

D_BOOST 2 NAV_MODE 2 SEABIRD_C_G -9.7945557 XPDR_INHIBIT 90

D_CALL 0 NETBOX 1 SEABIRD_C_H 1.1460752 XPDR_INT 12.5

D_FINISH 0 NETWORK_DEVICE -1 SEABIRD_C_I -0.0011505114 XPDR_REP 11.5

D_FLARE 2 NOCOMM_ACTION 131 SEABIRD_C_J 0.00017395352 XPDR_VALID 6

D_NO_BLEED 200 N_DIVES 5 SEABIRD_T_G 0.0044047111

D_OFFGRID 1000 N_FILEKB 4 SEABIRD_T_H 0.00064512878

D_PITCH 0 N_GPS 100440 SEABIRD_T_I 2.6333068e-05

Pre-dive calculations and measurements:

GPS1 070323,223557,3647.153,-12202.521,31,1.9,32,12.9 TGT_RADIUS 1000.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.21 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 070323,224520,3647.215,-12202.513,2,0.8,4,12.9 MHEAD_RNG_PITCHd_Wd 148.7,2251,-19.3,-10.000,-27.95,2212,0.152

SPEED_LIMITS 0.173,0.188 D_GRID 427

TGT_NAME NE IRON 1.000000,-0.015558,0.035280,-0.094684,1.088883,0.021181,-0.014514,-0.003390,1.018531,-501.042023,-690.348999,-634.392578

TGT_LATLONG 3646.000,-12202.500 OSC 8000348

Post-dive calculations and measurements:

WARN HTMICL TMICL logging already stopped FG_AHR_24Vo 112.743

FINISH 0.4,1.021250 FG_AHR_10Vo 71.849

SURF forcing MEM0 59964,1,0,0

SM_CCo 3997.46,231.79,1.040,0,501.0,545.9,456.0,605.16 MEM1 65508,1,0,0

SM_GC 1.19,231.79,6.78,1.64,1.040,0.071,0.021,501.0,545.9,456.0,220.2,2721.2,0,0,0,11.36,15.65,15.78 MEM2 909008,16,138000,62

SUPER 0,0,0,0,0,0 DATA_FILE_SIZE 16123,591

IRIDIUM_FIX 3646.80,-12159.18,070323,223720 CAP_FILE_SIZE 161529,0

TCM_TEMP 349.35 SDSIZE 3887104,3734816

XPDR_PINGS 26,12.5,11.5 SDFILEDIR 2074,2

SC_FREEKB 3791712 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TM_FREEKB 6777024 CURRENT 0.053,317.7,1

HUMID 49.91 MAGCAL 1.000000,-0.014354,-0.075511,-0.078766,1.132198,-0.011569,0.010929,0.004791,1.122514,-423.2,-663.4,-676.5,29,0.0187,0

TEMP 10.40 IMPLIED_C_PITCH 2267,25.31,356,0.0,0.00

INTERNAL_PRESSURE 8.55976 IMPLIED_C_VBD 2903,26.957954,343,0

_24V_AH 14.68,99.792 GPS 070323,235238,3646.933,-12202.526,2,0.9,4,12.9

_10V_AH 14.72,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 711 1256 13117.98 nil 0 0 0.00

Pitch_motor 17 349 88.18 nil 0 0 0.00

Roll_motor 40 92 54.81 nil 0 0 0.00

Iridium 432 213 1357.23 nil 0 0 0.00

Transponder_ping 6 420 40.08 nil 0 0 0.00

GPS 13 15 2.90 nil 0 0 0.00

Core 1043 6 104.46 SciCon 3737 37 2041.21

Fast 5 0 0.00 TMICL 3741 18 1040.39

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2167 2 63.81

Compass 652 5 48.04

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

13 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15.57 16386 -145.99 -0.67 0.00 495.9 542.8 448.9 214.4 2838.9 0.00 0.00 0 128.21 105.53 0.00 0.00 0.005 0.000 0.000 2585.38 2605.75 2565.00 213.50 2841.56 0 0 0 15.02 30.00 30.00

128.64 18727 -145.99 -0.67 40.00 2587.2 2603.9 2570.4 213.6 2842.2 2.03 -0.86 21 197.80 45.14 8.30 1.68 0.005 0.350 0.081 3563.16 3602.25 3524.06 2068.31 3848.31 0 0 0 15.17 14.93 15.04

270.39 1156 -145.99 -0.73 0.00 3563.1 3602.1 3524.1 2069.1 3848.2 12.00 -10.50 48 277.21 0.00 0.00 1.68 0.000 0.000 0.023 3563.97 3603.44 3524.50 2070.06 2704.81 0 0 0 30.00 30.00 15.70

460.43 388 -145.99 -0.77 40.00 3563.7 3602.4 3524.9 2068.3 2700.0 34.05 -12.34 86 467.49 0.00 0.00 1.95 0.000 0.000 0.073 3565.28 3604.19 3526.38 2060.62 3848.25 0 0 0 30.00 30.00 15.66

520.44 5253 -145.99 -0.83 0.00 3563.5 3602.5 3524.5 2060.6 3848.2 41.40 -11.86 98 527.43 0.00 0.12 1.68 0.000 0.089 0.023 3563.78 3602.88 3524.69 1997.12 2703.81 0 0 0 30.00 15.62 15.72

710.47 2437 -145.99 -0.79 40.00 3563.5 3602.9 3524.2 1996.9 2699.4 70.37 -15.80 136 717.75 0.00 0.15 1.93 0.000 0.234 0.073 3563.75 3602.94 3524.56 2031.38 3849.12 0 0 0 30.00 15.39 15.44

770.47 1156 -145.99 -0.81 0.00 3563.4 3602.6 3524.3 2030.9 3849.6 78.73 -13.26 148 777.23 0.00 0.00 1.69 0.000 0.000 0.023 3564.31 3603.50 3525.12 2030.75 2698.75 0 0 0 30.00 30.00 15.67

960.37 0 -145.99 -0.81 0.00 3564.0 3602.9 3525.1 2031.0 2693.8 104.63 -13.82 183 963.47 0.00 0.00 0.00 0.000 0.000 0.000 3562.91 3602.06 3523.75 2030.62 2693.50 0 0 0 30.00 30.00 30.00

1270.45 0 -145.99 -0.81 0.00 3563.7 3602.8 3524.7 2031.1 2693.6 144.54 -13.52 214 1273.63 0.00 0.00 0.00 0.000 0.000 0.000 3563.16 3602.06 3524.25 2030.50 2693.94 0 0 0 30.00 30.00 30.00

1580.42 260 -145.99 -0.81 40.00 3563.8 3603.1 3524.6 2030.9 2693.4 179.88 -12.77 245 1587.26 0.00 0.00 1.96 0.000 0.000 0.073 3565.47 3604.31 3526.62 2022.06 3846.69 0 0 0 30.00 30.00 15.56

1590 end dive: TARGET_DEPTH_EXCEEDED

state 1591 begin apogee

1595.82 10243 0.00 -0.12 0.00 3563.3 3603.1 3523.4 2022.4 2334.8 181.24 -12.91 247 1717.20 110.10 0.81 0.19 1.256 0.197 0.093 2967.28 2995.00 2939.56 2250.38 2439.06 0 0 0 11.27 15.31 15.22

1720 end apogee: CONTROL_FINISHED_OK

state 1720 begin climb

1720.72 10759 145.99 0.67 -40.00 2962.8 2991.5 2934.1 2251.8 2438.7 185.35 0.00 258 1849.48 110.87 0.78 2.88 1.219 0.095 0.035 2372.09 2403.88 2340.31 2524.56 948.06 0 0 0 11.59 15.37 14.70

1977.11 9254 166.90 0.70 0.00 2364.1 2394.9 2333.4 2525.1 948.6 171.90 9.03 306 2003.60 17.67 0.00 2.81 1.116 0.000 0.038 2284.56 2312.00 2257.12 2524.75 2432.94 0 0 0 11.45 30.00 15.45

2306.27 8354 202.64 0.71 0.00 2278.1 2307.9 2248.2 2524.9 2432.2 139.39 8.34 341 2339.06 28.48 0.00 0.00 1.138 0.000 0.000 2139.66 2165.25 2114.06 2525.81 2433.19 0 0 0 11.41 30.00 30.00

2646.23 17030 202.64 0.69 -40.00 2133.6 2160.3 2106.8 2525.1 2432.9 106.00 10.25 376 2653.70 0.00 0.00 2.74 0.000 0.000 0.033 2133.59 2160.38 2106.81 2536.75 952.06 0 0 0 30.00 30.00 14.90

2696.19 17414 202.64 0.69 0.00 2132.8 2158.8 2106.9 2536.9 951.8 100.89 10.22 386 2703.87 0.00 0.00 2.77 0.000 0.000 0.036 2132.88 2159.25 2106.50 2538.25 2433.06 0 0 0 30.00 30.00 15.70

3006.55 4517 203.99 0.67 40.00 2131.9 2158.2 2105.5 2536.4 2434.8 69.75 9.94 448 3014.11 0.00 0.14 2.27 0.000 0.189 0.068 2131.72 2157.62 2105.81 2495.12 3839.81 0 0 0 30.00 15.55 15.55

3041.83 9382 209.90 0.66 0.00 2130.7 2157.2 2104.2 2493.7 3838.8 66.30 9.73 455 3055.89 6.95 0.00 2.31 0.853 0.000 0.023 2113.53 2138.94 2088.12 2502.75 2321.19 0 0 0 11.46 30.00 14.86

3238.55 8614 247.54 0.73 40.00 2109.9 2135.9 2083.8 2503.0 2320.7 49.71 8.25 494 3278.86 31.03 0.00 2.59 1.072 0.000 0.068 1958.25 1981.31 1935.19 2501.19 3839.06 0 0 0 11.37 30.00 15.37

3296.43 9254 267.17 0.75 0.00 1953.8 1975.3 1932.2 2502.8 3839.2 44.60 9.09 505 3321.52 17.05 0.00 2.33 1.012 0.000 0.022 1876.81 1897.56 1856.06 2512.19 2321.06 0 0 0 11.70 30.00 15.64

3504.23 10403 273.17 0.80 0.00 1872.7 1895.2 1850.1 2512.7 2320.2 25.54 9.72 546 3515.29 6.69 0.10 0.00 0.792 0.110 0.000 1854.53 1876.19 1832.88 2563.62 2320.75 0 0 0 11.32 15.53 30.00

3699.15 388 273.17 0.78 40.00 1850.3 1872.7 1828.0 2564.8 2320.2 2.05 11.60 585 3706.70 0.00 0.00 2.59 0.000 0.000 0.064 1852.12 1874.25 1830.00 2563.94 3839.38 0 0 0 30.00 30.00 15.54

3709 end climb: SURFACE_DEPTH_REACHED

state 3709 begin surface coast

3729 end surface coast: CONTROL_FINISHED_OK

state 3729 begin surface

ID	219	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	1.9639999e-06
MISSION	6	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-2
DIVE	4	SM_CC	605.40039	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
N_DIVES	5	N_FILEKB	4	VBD_MIN	500	DEEPGLIDERMB	0
STOP_T	0	FILEMGR	0	VBD_MAX	3960	MOTHERBOARD	6
D_SURF	2	CALL_NDIVES	1	C_VBD	2968	DEVICE1	-1
D_FLARE	2	COMM_SEQ	7	VBD_DBAND	2	DEVICE2	-1
D_TGT	180	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE3	-1
D_ABORT	250	N_NOCOMM	2	VBD_LP_IGNORE	0	DEVICE4	-1
D_NO_BLEED	200	NOCOMM_ACTION	131	VBD_TIMEOUT	720	DEVICE5	-1
D_BOOST	2	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0013	DEVICE6	-1
T_BOOST	0	UPLOAD_DIVES_MAX	-1	UNCOM_BLEED	20	LOGGERS	3
D_FINISH	0	NETBOX	1	VBD_MAXERRORS	1	LOGGERDEVICE1	7
D_PITCH	0	CALL_TRIES	5	C_VBD_AUTO_DELTA	0	LOGGERDEVICE2	19
D_SAFE	0	CALL_WAIT	60	C_VBD_AUTO_MAX	0	LOGGERDEVICE3	-1
D_CALL	0	CAPUPLOAD	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
SURFACE_URGENCY	0	CAPMAXSIZE	100000	DBDW	0	COMPASS_DEVICE	66
SURFACE_URGENCY_TRY	0	T_GPS	5	LOITER_W_DBAND	0	COMPASS2_DEVICE	-1
SURFACE_URGENCY_FORCE	0	N_GPS	100440	LOITER_DBDW	0	PHONE_DEVICE	33
T_DIVE	60	T_RSLEEP	1	LOITER_D_TOP	0	GPS_DEVICE	48
T_MISSION	75	STROBE	0	LOITER_D_BOTTOM	0	RAFOS_DEVICE	-1
T_ABORT	1440	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	NAV_DEVICE	-1
T_TURN	225	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	NAV2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_HIT_WINDOW	3600	AH0_24V	310	NETWORK_DEVICE	-1
T_NO_W	120	RAFOS_MMODEM	0	AH0_10V	0	PRESSURE_DEVICE	41
T_LOITER	0	PITCH_MIN	250	MINV_24V	11	XPDR_DEVICE	21
T_EPIRB	0	PITCH_MAX	3915	MINV_10V	11	SIM_W	0
USE_BATHY	-10	C_PITCH	2290	MAXI_24V	5	SEABIRD_T_G	0.0044047111
USE_ICE	0	PITCH_DBAND	0.1	MAXI_10V	1.4	SEABIRD_T_H	0.00064512878
ICE_FREEZE_MARGIN	0.30000001	PITCH_CNV	0.0031300001	FG_AHR_10V	71.781616	SEABIRD_T_I	2.6333068e-05
D_OFFGRID	1000	PITCH_GAIN	40	FG_AHR_24V	112.56541	SEABIRD_T_J	3.284043e-06
RELAUNCH	1	PITCH_TIMEOUT	25	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7945557
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	PRESSURE_YINT	-150.25168	SEABIRD_C_H	1.1460752
MAX_BUOY	150	PITCH_ADJ_GAIN	0.015	PRESSURE_SLOPE	0.00022471976	SEABIRD_C_I	-0.0011505114
GLIDE_SLOPE	30	PITCH_ADJ_DBAND	1	COMPASS_USE	49156	SEABIRD_C_J	0.00017395352
SPEED_FACTOR	1	C_PITCH_AUTO_DELTA	0	ALTIM_PING_FIT	0	OPTIONS	0
RHO	1.0275	C_PITCH_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
MASS	56279	PITCH_GAIN_AUTO_DELTA	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	3.0
NAV_MODE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
FERRY_MAX	45	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	0	SC_NDIVE	1.0
KALMAN_USE	2	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	TM_RECORDABOVE	200.0
HD_A	0.0019952599	ROLL_MIN	250	ALTIM_PING_DELTA	0	TM_PROFILE	3.0
HD_B	0.019109501	ROLL_MAX	3825	ALTIM_FREQUENCY	13	TM_XMITPROFILE	3.0
HD_C	5.7000002e-06	ROLL_DEG	40	ALTIM_PULSE	3	TM_NDIVE	1.0
HEADING	-1	C_ROLL_DIVE	2800	ALTIM_SENSITIVITY	2	TM_XMITRAW	0.0
ESCAPE_HEADING	0	C_ROLL_CLIMB	2400	XPDR_VALID	6	TM_LOGSAMPLE	0.0
ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	XPDR_INHIBIT	90
FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	XPDR_INT	12.5
TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_REP	11.5

GPS1	070323,223557,3647.153,-12202.521,31,1.9,32,12.9	TGT_RADIUS	1000.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.21	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	070323,224520,3647.215,-12202.513,2,0.8,4,12.9	MHEAD_RNG_PITCHd_Wd	148.7,2251,-19.3,-10.000,-27.95,2212,0.152
SPEED_LIMITS	0.173,0.188	D_GRID	427
TGT_NAME	NE	IRON	1.000000,-0.015558,0.035280,-0.094684,1.088883,0.021181,-0.014514,-0.003390,1.018531,-501.042023,-690.348999,-634.392578
TGT_LATLONG	3646.000,-12202.500	OSC	8000348

WARN	HTMICL TMICL logging already stopped	FG_AHR_24Vo	112.743
FINISH	0.4,1.021250	FG_AHR_10Vo	71.849
SURF	forcing	MEM0	59964,1,0,0
SM_CCo	3997.46,231.79,1.040,0,501.0,545.9,456.0,605.16	MEM1	65508,1,0,0
SM_GC	1.19,231.79,6.78,1.64,1.040,0.071,0.021,501.0,545.9,456.0,220.2,2721.2,0,0,0,11.36,15.65,15.78	MEM2	909008,16,138000,62
SUPER	0,0,0,0,0,0	DATA_FILE_SIZE	16123,591
IRIDIUM_FIX	3646.80,-12159.18,070323,223720	CAP_FILE_SIZE	161529,0
TCM_TEMP	349.35	SDSIZE	3887104,3734816
XPDR_PINGS	26,12.5,11.5	SDFILEDIR	2074,2
SC_FREEKB	3791712	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TM_FREEKB	6777024	CURRENT	0.053,317.7,1
HUMID	49.91	MAGCAL	1.000000,-0.014354,-0.075511,-0.078766,1.132198,-0.011569,0.010929,0.004791,1.122514,-423.2,-663.4,-676.5,29,0.0187,0
TEMP	10.40	IMPLIED_C_PITCH	2267,25.31,356,0.0,0.00
INTERNAL_PRESSURE	8.55976	IMPLIED_C_VBD	2903,26.957954,343,0
_24V_AH	14.68,99.792	GPS	070323,235238,3646.933,-12202.526,2,0.9,4,12.9
_10V_AH	14.72,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	711	1256	13117.98	nil	0	0	0.00
Pitch_motor	17	349	88.18	nil	0	0	0.00
Roll_motor	40	92	54.81	nil	0	0	0.00
Iridium	432	213	1357.23	nil	0	0	0.00
Transponder_ping	6	420	40.08	nil	0	0	0.00
GPS	13	15	2.90	nil	0	0	0.00
Core	1043	6	104.46	SciCon	3737	37	2041.21
Fast	5	0	0.00	TMICL	3741	18	1040.39
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2167	2	63.81
Compass	652	5	48.04
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
13	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15.57	16386	-145.99	-0.67	0.00	495.9	542.8	448.9	214.4	2838.9	0.00	0.00	0	128.21	105.53	0.00	0.00	0.005	0.000	0.000	2585.38	2605.75	2565.00	213.50	2841.56	0	0	0	15.02	30.00	30.00
128.64	18727	-145.99	-0.67	40.00	2587.2	2603.9	2570.4	213.6	2842.2	2.03	-0.86	21	197.80	45.14	8.30	1.68	0.005	0.350	0.081	3563.16	3602.25	3524.06	2068.31	3848.31	0	0	0	15.17	14.93	15.04
270.39	1156	-145.99	-0.73	0.00	3563.1	3602.1	3524.1	2069.1	3848.2	12.00	-10.50	48	277.21	0.00	0.00	1.68	0.000	0.000	0.023	3563.97	3603.44	3524.50	2070.06	2704.81	0	0	0	30.00	30.00	15.70
460.43	388	-145.99	-0.77	40.00	3563.7	3602.4	3524.9	2068.3	2700.0	34.05	-12.34	86	467.49	0.00	0.00	1.95	0.000	0.000	0.073	3565.28	3604.19	3526.38	2060.62	3848.25	0	0	0	30.00	30.00	15.66
520.44	5253	-145.99	-0.83	0.00	3563.5	3602.5	3524.5	2060.6	3848.2	41.40	-11.86	98	527.43	0.00	0.12	1.68	0.000	0.089	0.023	3563.78	3602.88	3524.69	1997.12	2703.81	0	0	0	30.00	15.62	15.72
710.47	2437	-145.99	-0.79	40.00	3563.5	3602.9	3524.2	1996.9	2699.4	70.37	-15.80	136	717.75	0.00	0.15	1.93	0.000	0.234	0.073	3563.75	3602.94	3524.56	2031.38	3849.12	0	0	0	30.00	15.39	15.44
770.47	1156	-145.99	-0.81	0.00	3563.4	3602.6	3524.3	2030.9	3849.6	78.73	-13.26	148	777.23	0.00	0.00	1.69	0.000	0.000	0.023	3564.31	3603.50	3525.12	2030.75	2698.75	0	0	0	30.00	30.00	15.67
960.37	0	-145.99	-0.81	0.00	3564.0	3602.9	3525.1	2031.0	2693.8	104.63	-13.82	183	963.47	0.00	0.00	0.00	0.000	0.000	0.000	3562.91	3602.06	3523.75	2030.62	2693.50	0	0	0	30.00	30.00	30.00
1270.45	0	-145.99	-0.81	0.00	3563.7	3602.8	3524.7	2031.1	2693.6	144.54	-13.52	214	1273.63	0.00	0.00	0.00	0.000	0.000	0.000	3563.16	3602.06	3524.25	2030.50	2693.94	0	0	0	30.00	30.00	30.00
1580.42	260	-145.99	-0.81	40.00	3563.8	3603.1	3524.6	2030.9	2693.4	179.88	-12.77	245	1587.26	0.00	0.00	1.96	0.000	0.000	0.073	3565.47	3604.31	3526.62	2022.06	3846.69	0	0	0	30.00	30.00	15.56
1590	end dive: TARGET_DEPTH_EXCEEDED
state	1591	begin apogee
1595.82	10243	0.00	-0.12	0.00	3563.3	3603.1	3523.4	2022.4	2334.8	181.24	-12.91	247	1717.20	110.10	0.81	0.19	1.256	0.197	0.093	2967.28	2995.00	2939.56	2250.38	2439.06	0	0	0	11.27	15.31	15.22
1720	end apogee: CONTROL_FINISHED_OK
state	1720	begin climb
1720.72	10759	145.99	0.67	-40.00	2962.8	2991.5	2934.1	2251.8	2438.7	185.35	0.00	258	1849.48	110.87	0.78	2.88	1.219	0.095	0.035	2372.09	2403.88	2340.31	2524.56	948.06	0	0	0	11.59	15.37	14.70
1977.11	9254	166.90	0.70	0.00	2364.1	2394.9	2333.4	2525.1	948.6	171.90	9.03	306	2003.60	17.67	0.00	2.81	1.116	0.000	0.038	2284.56	2312.00	2257.12	2524.75	2432.94	0	0	0	11.45	30.00	15.45
2306.27	8354	202.64	0.71	0.00	2278.1	2307.9	2248.2	2524.9	2432.2	139.39	8.34	341	2339.06	28.48	0.00	0.00	1.138	0.000	0.000	2139.66	2165.25	2114.06	2525.81	2433.19	0	0	0	11.41	30.00	30.00
2646.23	17030	202.64	0.69	-40.00	2133.6	2160.3	2106.8	2525.1	2432.9	106.00	10.25	376	2653.70	0.00	0.00	2.74	0.000	0.000	0.033	2133.59	2160.38	2106.81	2536.75	952.06	0	0	0	30.00	30.00	14.90
2696.19	17414	202.64	0.69	0.00	2132.8	2158.8	2106.9	2536.9	951.8	100.89	10.22	386	2703.87	0.00	0.00	2.77	0.000	0.000	0.036	2132.88	2159.25	2106.50	2538.25	2433.06	0	0	0	30.00	30.00	15.70
3006.55	4517	203.99	0.67	40.00	2131.9	2158.2	2105.5	2536.4	2434.8	69.75	9.94	448	3014.11	0.00	0.14	2.27	0.000	0.189	0.068	2131.72	2157.62	2105.81	2495.12	3839.81	0	0	0	30.00	15.55	15.55
3041.83	9382	209.90	0.66	0.00	2130.7	2157.2	2104.2	2493.7	3838.8	66.30	9.73	455	3055.89	6.95	0.00	2.31	0.853	0.000	0.023	2113.53	2138.94	2088.12	2502.75	2321.19	0	0	0	11.46	30.00	14.86
3238.55	8614	247.54	0.73	40.00	2109.9	2135.9	2083.8	2503.0	2320.7	49.71	8.25	494	3278.86	31.03	0.00	2.59	1.072	0.000	0.068	1958.25	1981.31	1935.19	2501.19	3839.06	0	0	0	11.37	30.00	15.37
3296.43	9254	267.17	0.75	0.00	1953.8	1975.3	1932.2	2502.8	3839.2	44.60	9.09	505	3321.52	17.05	0.00	2.33	1.012	0.000	0.022	1876.81	1897.56	1856.06	2512.19	2321.06	0	0	0	11.70	30.00	15.64
3504.23	10403	273.17	0.80	0.00	1872.7	1895.2	1850.1	2512.7	2320.2	25.54	9.72	546	3515.29	6.69	0.10	0.00	0.792	0.110	0.000	1854.53	1876.19	1832.88	2563.62	2320.75	0	0	0	11.32	15.53	30.00
3699.15	388	273.17	0.78	40.00	1850.3	1872.7	1828.0	2564.8	2320.2	2.05	11.60	585	3706.70	0.00	0.00	2.59	0.000	0.000	0.064	1852.12	1874.25	1830.00	2563.94	3839.38	0	0	0	30.00	30.00	15.54
3709	end climb: SURFACE_DEPTH_REACHED
state	3709	begin surface coast
3729	end surface coast: CONTROL_FINISHED_OK
state	3729	begin surface