Glider dive log

SMODE Mar23 * SG248 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 248 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

MISSION 5 SM_CC 646.36548 VBD_MIN 500 MOTHERBOARD 6

DIVE 4 N_FILEKB 4 VBD_MAX 3960 DEVICE1 -1

N_DIVES 6 FILEMGR 0 C_VBD 3135 DEVICE2 -1

STOP_T 0 CALL_NDIVES 1 VBD_DBAND 2 DEVICE3 -1

D_SURF 2 COMM_SEQ 7 VBD_CNV -0.24529999 DEVICE4 -1

D_FLARE 3 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE5 -1

D_TGT 180 N_NOCOMM 2 VBD_TIMEOUT 720 DEVICE6 -1

D_ABORT 250 NOCOMM_ACTION 131 PITCH_VBD_SHIFT 0.0014 LOGGERS 3

D_NO_BLEED 500 N_NOSURFACE 0 UNCOM_BLEED 20 LOGGERDEVICE1 7

D_BOOST 0 UPLOAD_DIVES_MAX -1 VBD_MAXERRORS 1 LOGGERDEVICE2 19

T_BOOST 0 NETBOX 1 C_VBD_AUTO_DELTA 0 LOGGERDEVICE3 72

D_FINISH 0 CALL_TRIES 5 C_VBD_AUTO_MAX 0 LOGGERDEVICE4 -1

D_PITCH 0 CALL_WAIT 60 W_ADJ_DBAND 0 COMPASS_DEVICE 66

D_SAFE 0 CAPUPLOAD 0 DBDW 0 COMPASS2_DEVICE -1

D_CALL 0 CAPMAXSIZE 100000 LOITER_W_DBAND 0 PHONE_DEVICE 33

SURFACE_URGENCY 0 T_GPS 5 LOITER_DBDW 0 GPS_DEVICE 48

SURFACE_URGENCY_TRY 0 N_GPS 100440 LOITER_D_TOP 0 RAFOS_DEVICE -1

SURFACE_URGENCY_FORCE 0 T_RSLEEP 2 LOITER_D_BOTTOM 0 NAV_DEVICE -1

T_DIVE 60 STROBE 0 LOITER_N_DIVE 0 NAV2_DEVICE -1

T_MISSION 75 RAFOS_PEAK_OFFSET 0 CF8_MAXERRORS 20 NETWORK_DEVICE -1

T_ABORT 1440 RAFOS_CORR_THRESH 60 AH0_24V 575 PRESSURE_DEVICE 34

T_TURN 225 RAFOS_HIT_WINDOW 3600 AH0_10V 0 XPDR_DEVICE 21

T_TURN_SAMPINT -5 RAFOS_MMODEM 0 MINV_24V 11 SIM_W 0

T_NO_W 120 PITCH_MIN 205 MINV_10V 11 SEABIRD_T_G 0.0044151177

T_LOITER 0 PITCH_MAX 3600 MAXI_24V 5 SEABIRD_T_H 0.00064099889

T_EPIRB 0 C_PITCH 2470 MAXI_10V 1.5 SEABIRD_T_I 2.58445e-05

USE_BATHY -3 PITCH_DBAND 0.1 FG_AHR_10V 40.065212 SEABIRD_T_J 3.0430085e-06

USE_ICE 0 PITCH_CNV 0.0041299998 FG_AHR_24V 67.889549 SEABIRD_C_G -9.9848051

ICE_FREEZE_MARGIN 0.30000001 PITCH_GAIN 20 PHONE_SUPPLY 2 SEABIRD_C_H 1.1086454

D_OFFGRID 1000 PITCH_TIMEOUT 30 PRESSURE_YINT -179.66158 SEABIRD_C_I -0.0025343813

RELAUNCH 1 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00022536858 SEABIRD_C_J 0.00025995917

APOGEE_PITCH -5 PITCH_ADJ_GAIN 0.015 COMPASS_USE 49156 OPTIONS 0

MAX_BUOY 150 PITCH_ADJ_DBAND 1 ALTIM_PING_FIT 0 SC_RECORDABOVE 2000.0

GLIDE_SLOPE 30 C_PITCH_AUTO_DELTA 0 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 3.0

SPEED_FACTOR 1 C_PITCH_AUTO_MAX 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_XMITPROFILE 3.0

RHO 1.0275 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_TURN_MARGIN 0 SC_NDIVE 1.0

MASS 75305 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_MIN_OBSTACLE 1 TM_RECORDABOVE 200.0

NAV_MODE 2 PITCH_W_GAIN 0 ALTIM_PING_DEPTH 0 TM_PROFILE 3.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_PING_DELTA 0 TM_XMITPROFILE 3.0

KALMAN_USE 2 ROLL_MIN 265 ALTIM_FREQUENCY 13 TM_NDIVE 1.0

HD_A 0.003 ROLL_MAX 3870 ALTIM_PULSE 3 TM_XMITRAW 0.0

HD_B 0.0099999998 ROLL_DEG 80 ALTIM_SENSITIVITY 2 TM_LOGSAMPLE 0.0

HD_C 1.6e-05 C_ROLL_DIVE 2900 XPDR_VALID 4 CP_RECORDABOVE 0.0

HEADING -1 C_ROLL_CLIMB 2300 XPDR_INHIBIT 90 CP_PROFILE 0.0

ESCAPE_HEADING 0 HEAD_ERRBAND 10 XPDR_INT 13.5 CP_XMITPROFILE 0.0

ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054945 XPDR_REP 11.5 CP_UPLOADMAX 0.0

FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 1.9639999e-06 CP_STARTS 0.0

TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0 CP_NDIVE 1.0

TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

AH0_10V 0 D_FINISH 0 NOCOMM_ACTION 131 SEABIRD_T_G 0.0044151177

AH0_24V 575 D_FLARE 3 N_DIVES 6 SEABIRD_T_H 0.00064099889

ALTIM_BOTTOM_TURN_MARGIN 0 D_NO_BLEED 500 N_FILEKB 4 SEABIRD_T_I 2.58445e-05

ALTIM_FREQUENCY 13 D_OFFGRID 1000 N_GPS 100440 SEABIRD_T_J 3.0430085e-06

ALTIM_PING_DELTA 0 D_PITCH 0 N_NOCOMM 2 SIM_W 0

ALTIM_PING_DEPTH 0 D_SAFE 0 N_NOSURFACE 0 SM_CC 646.36548

ALTIM_PING_FIT 0 D_SURF 2 OPTIONS 0 SPEED_FACTOR 1

ALTIM_PULSE 3 D_TGT 180 PHONE_DEVICE 33 STOP_T 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING 0 PHONE_SUPPLY 2 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 1 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0.015 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 FG_AHR_10V 40.065212 PITCH_CNV 0.0041299998 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 FG_AHR_24V 67.889549 PITCH_DBAND 0.1 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 FILEMGR 0 PITCH_GAIN 20 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 FIX_MISSING_TIMEOUT 0 PITCH_GAIN_AUTO_DELTA 0 TGT_DEFAULT_LON -12218

CALL_WAIT 60 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_MAX 0 TM_LOGSAMPLE 0.0

CAPMAXSIZE 100000 GPS_DEVICE 48 PITCH_MAX 3600 TM_NDIVE 1.0

CAPUPLOAD 0 HD_A 0.003 PITCH_MAXERRORS 1 TM_PROFILE 3.0

CF8_MAXERRORS 20 HD_B 0.0099999998 PITCH_MIN 205 TM_RECORDABOVE 200.0

COMM_SEQ 7 HD_C 1.6e-05 PITCH_TIMEOUT 30 TM_XMITPROFILE 3.0

COMPASS2_DEVICE -1 HEADING -1 PITCH_VBD_SHIFT 0.0014 TM_XMITRAW 0.0

COMPASS_DEVICE 66 HEAD_ERRBAND 10 PITCH_W_DBAND 0 T_ABORT 1440

COMPASS_USE 49156 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_GAIN 0 T_BOOST 0

CP_NDIVE 1.0 ID 248 PRESSURE_DEVICE 34 T_DIVE 60

CP_PROFILE 0.0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_SLOPE 0.00022536858 T_EPIRB 0

CP_RECORDABOVE 0.0 INT_PRESSURE_YINT 0 PRESSURE_YINT -179.66158 T_GPS 5

CP_STARTS 0.0 KALMAN_USE 2 PROTOCOL 9 T_LOITER 0

CP_UPLOADMAX 0.0 LOGGERDEVICE1 7 RAFOS_CORR_THRESH 60 T_MISSION 75

CP_XMITPROFILE 0.0 LOGGERDEVICE2 19 RAFOS_DEVICE -1 T_NO_W 120

C_PITCH 2470 LOGGERDEVICE3 72 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE4 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH_AUTO_MAX 0 LOGGERS 3 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2300 LOITER_DBDW 0 RELAUNCH 1 UNCOM_BLEED 20

C_ROLL_DIVE 2900 LOITER_D_BOTTOM 0 RHO 1.0275 UPLOAD_DIVES_MAX -1

C_VBD 3135 LOITER_D_TOP 0 ROLL_ADJ_DBAND 0 USE_BATHY -3

C_VBD_AUTO_DELTA 0 LOITER_N_DIVE 0 ROLL_ADJ_GAIN 0 USE_ICE 0

C_VBD_AUTO_MAX 0 LOITER_W_DBAND 0 ROLL_CNV 0.054945 VBD_CNV -0.24529999

DBDW 0 MASS 75305 ROLL_DEG 80 VBD_DBAND 2

DEEPGLIDER 0 MAXI_10V 1.5 ROLL_MAX 3870 VBD_LP_IGNORE 0

DEEPGLIDERMB 0 MAXI_24V 5 ROLL_MAXERRORS 1 VBD_MAX 3960

DEVICE1 -1 MAX_BUOY 150 ROLL_MIN 265 VBD_MAXERRORS 1

DEVICE2 -1 MINV_10V 11 ROLL_TIMEOUT 15 VBD_MIN 500

DEVICE3 -1 MINV_24V 11 SC_NDIVE 1.0 VBD_TIMEOUT 720

DEVICE4 -1 MISSION 5 SC_PROFILE 3.0 W_ADJ_DBAND 0

DEVICE5 -1 MOTHERBOARD 6 SC_RECORDABOVE 2000.0 XPDR_DEVICE 21

DEVICE6 -1 NAV2_DEVICE -1 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

DIVE 4 NAV_DEVICE -1 SEABIRD_C_G -9.9848051 XPDR_INT 13.5

D_ABORT 250 NAV_MODE 2 SEABIRD_C_H 1.1086454 XPDR_REP 11.5

D_BOOST 0 NETBOX 1 SEABIRD_C_I -0.0025343813 XPDR_VALID 4

D_CALL 0 NETWORK_DEVICE -1 SEABIRD_C_J 0.00025995917

Pre-dive calculations and measurements:

GPS1 070323,225613,3647.295,-12203.066,1,1.2,3,12.9 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 -63.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 070323,225817,3647.307,-12203.062,2,1.2,4,12.9 MHEAD_RNG_PITCHd_Wd 132.8,2560,-17.6,-10.000,-21.24,2209,0.254

SPEED_LIMITS 0.173,0.257 D_GRID 340

TGT_NAME NE IRON 1.000000,0.050867,-0.027148,-0.041418,1.036505,-0.047304,-0.041761,-0.061604,1.038738,751.954590,-987.656311,313.353058

TGT_LATLONG 3646.000,-12202.500 OSC 8000266

Post-dive calculations and measurements:

WARN HTMICL TMICL logging already stopped FG_AHR_24Vo 68.055

FINISH 0.4,1.024980 FG_AHR_10Vo 40.143

SURF forcing MEM0 59964,1,0,0

SM_CCo 4364.67,238.07,0.874,0,501.2,625.6,376.8,646.07 MEM1 65508,1,0,0

SM_GC 1.59,238.07,15.52,1.64,0.874,0.056,0.128,501.2,625.6,376.8,190.1,2909.7,0,0,0,12.25,15.80,15.80 MEM2 907432,25,138756,94

SUPER 0,0,0,0,0,0 DATA_FILE_SIZE 19353,654

IRIDIUM_FIX 3646.11,-12201.46,070323,225342 CAP_FILE_SIZE 208498,0

TCM_TEMP 12.28 SDSIZE 3887104,3848352

XPDR_PINGS 38,13.5,11.5 SDFILEDIR 595,2

SC_FREEKB 3876928 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TM_FREEKB 7813888 CURRENT 0.086,285.7,1

HUMID 49.58 MAGCAL 1.000000,0.024943,-0.124887,-0.025733,1.107893,-0.064314,0.016734,-0.029406,1.123385,1034.0,-1010.3,334.6,20,0.0225,1

TEMP 9.72 IMPLIED_C_PITCH 2434,16.70,414,0.0,0.00

INTERNAL_PRESSURE 8.63495 IMPLIED_C_VBD 3288,52.265488,369,0

_24V_AH 14.84,38.757 GPS 080323,001201,3647.032,-12203.055,20,0.9,21,12.9

_10V_AH 14.89,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 692 1107 11389.05 nil 0 0 0.00

Pitch_motor 34 265 137.28 nil 0 0 0.00

Roll_motor 66 196 195.00 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 9 420 59.21 nil 0 0 0.00

GPS 12 15 2.89 nil 0 0 0.00

Core 2278 6 230.74 SciCon 4083 38 2311.95

Fast 0 0 0.00 TMICL 4081 18 1139.18

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 1856 2 55.29

Compass 1311 5 97.67

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15.77 16386 -145.99 -1.09 0.00 499.5 627.8 371.2 190.3 2861.0 0.00 0.00 0 122.71 100.29 0.00 0.00 0.005 0.000 0.000 3213.50 3246.31 3180.69 190.44 2861.50 0 0 0 15.69 30.00 30.00

123.07 18727 -145.99 -1.09 80.00 3214.8 3248.4 3181.2 190.6 2861.0 3.09 -1.48 20 167.84 12.43 15.12 2.79 0.007 0.265 0.154 3732.38 3777.31 3687.44 2206.19 3877.00 0 0 0 15.71 15.51 15.65

396.15 1156 -145.99 -1.04 0.00 3737.1 3780.2 3693.9 2205.4 3876.8 37.81 -12.78 73 403.03 0.00 0.00 2.46 0.000 0.000 0.056 3738.28 3780.25 3696.31 2205.69 2856.62 0 0 0 30.00 30.00 15.85

586.32 420 -145.99 -1.07 80.00 3737.3 3780.2 3694.4 2206.0 2857.3 56.62 -9.30 111 593.29 0.00 0.00 2.78 0.000 0.000 0.149 3738.22 3781.69 3694.75 2205.56 3875.62 0 0 0 30.00 30.00 15.72

716.50 1028 -145.99 -1.07 0.00 3737.9 3781.2 3694.6 2206.1 3875.7 70.61 -10.72 137 723.44 0.00 0.00 2.44 0.000 0.000 0.055 3739.25 3781.69 3696.81 2205.69 2858.75 0 0 0 30.00 30.00 15.85

906.49 160 -145.99 -1.11 0.00 3738.0 3781.5 3694.5 2206.1 2858.1 85.54 -7.69 175 912.18 0.00 0.00 0.00 0.000 0.000 0.000 3737.78 3781.12 3694.44 2206.25 2858.50 0 0 0 30.00 30.00 30.00

1096.74 160 -145.99 -1.15 0.00 3738.1 3781.2 3694.9 2206.5 2858.1 102.02 -8.90 211 1099.68 0.00 0.00 0.00 0.000 0.000 0.000 3737.22 3780.81 3693.62 2206.38 2858.12 0 0 0 30.00 30.00 30.00

1406.76 12451 -145.99 -1.19 0.00 3738.8 3781.4 3696.1 2206.1 2858.2 130.98 -9.06 242 1409.91 0.00 0.20 0.00 0.000 0.075 0.000 3737.81 3780.62 3695.00 2161.31 2858.56 0 0 0 30.00 15.86 30.00

1716.64 8710 -145.99 -1.19 -80.00 3738.6 3781.7 3695.5 2161.6 2858.6 166.85 -12.49 273 1724.52 0.00 0.00 3.63 0.000 0.000 0.083 3738.75 3781.38 3696.12 2161.31 1426.81 0 0 0 30.00 30.00 15.88

1742.72 9222 -145.99 -1.19 0.00 3738.6 3781.4 3695.9 2161.2 1426.5 169.84 -12.02 278 1750.65 0.00 0.00 3.71 0.000 0.000 0.094 3739.44 3781.50 3697.38 2161.44 2911.44 0 0 0 30.00 30.00 15.60

1837 end dive: TARGET_DEPTH_EXCEEDED

state 1837 begin apogee

1840.82 10243 0.00 -0.25 0.00 3738.6 3781.6 3695.6 2161.4 2267.1 180.50 -10.87 288 1961.14 110.49 1.68 0.12 1.108 0.138 0.197 3133.38 3236.00 3030.75 2410.19 2324.50 0 0 0 12.12 15.83 15.48

1963 end apogee: CONTROL_FINISHED_OK

state 1963 begin climb

1963.40 10759 145.99 1.09 -80.00 3132.4 3234.1 3030.7 2410.1 2325.3 183.06 0.00 299 2091.50 109.40 2.07 3.97 1.070 0.070 0.105 2535.22 2651.06 2419.38 2741.25 833.00 0 0 0 12.30 15.60 15.29

2229.78 21639 145.99 0.99 0.00 2529.1 2640.2 2417.9 2740.4 832.6 166.80 10.95 349 2241.64 0.00 0.31 3.60 0.000 0.186 0.068 2529.72 2642.25 2417.19 2701.94 2315.56 0 0 0 30.00 15.54 15.64

2549.85 8614 204.47 1.04 80.00 2526.7 2640.1 2413.2 2701.8 2315.8 142.05 7.28 382 2604.77 44.47 0.00 3.94 1.037 0.000 0.139 2298.97 2429.06 2168.88 2702.44 3764.12 0 0 0 12.31 30.00 15.53

2633.04 1156 204.47 0.95 0.00 2295.8 2423.1 2168.5 2701.4 3764.0 134.91 10.21 398 2644.59 0.00 0.00 3.64 0.000 0.000 0.056 2296.84 2423.81 2169.88 2702.12 2268.69 0 0 0 30.00 30.00 15.64

2953.05 8486 230.37 0.99 80.00 2291.5 2418.8 2164.2 2702.3 2267.7 107.79 8.80 431 2985.95 20.82 0.00 4.05 0.972 0.000 0.138 2194.19 2326.12 2062.25 2702.31 3763.31 0 0 0 12.26 30.00 15.57

3024.21 1156 230.37 0.91 0.00 2190.6 2320.8 2060.4 2701.9 3761.9 100.18 12.06 445 3031.97 0.00 0.00 3.60 0.000 0.000 0.056 2190.66 2319.06 2062.25 2700.94 2269.12 0 0 0 30.00 30.00 15.72

3335.22 8486 268.76 0.96 80.00 2187.8 2317.1 2058.4 2702.1 2266.0 73.53 8.21 507 3375.59 30.10 0.00 4.02 0.969 0.000 0.138 2037.00 2175.06 1898.94 2700.81 3763.19 0 0 0 12.18 30.00 15.61

3469.02 1156 268.76 0.91 0.00 2032.8 2166.6 1899.1 2702.0 3763.1 59.18 12.43 533 3477.38 0.00 0.00 3.66 0.000 0.000 0.056 2032.84 2166.44 1899.25 2701.75 2271.81 0 0 0 30.00 30.00 15.60

3660.67 8614 273.57 0.95 80.00 2030.8 2163.8 1897.9 2702.6 2268.9 39.67 9.78 571 3674.63 5.06 0.00 3.99 0.580 0.000 0.139 2017.88 2151.62 1884.12 2702.50 3764.38 0 0 0 12.20 30.00 15.68

3707.90 1156 273.57 0.92 0.00 2018.0 2151.1 1884.8 2701.8 3763.6 34.40 11.39 580 3715.30 0.00 0.00 3.59 0.000 0.000 0.055 2017.41 2150.75 1884.06 2702.19 2277.31 0 0 0 30.00 30.00 15.62

3898.58 8614 299.76 1.00 80.00 2016.9 2149.4 1884.4 2702.2 2267.6 18.31 8.78 618 3932.13 21.70 0.00 4.00 0.905 0.000 0.139 1909.81 2049.12 1770.50 2702.00 3763.19 0 0 0 12.21 30.00 15.66

4005.56 1156 299.76 0.97 0.00 1907.2 2043.6 1770.8 2702.2 3763.2 6.61 11.96 639 4013.91 0.00 0.00 3.62 0.000 0.000 0.056 1907.62 2043.88 1771.38 2701.31 2270.38 0 0 0 30.00 30.00 15.78

4057 end climb: SURFACE_DEPTH_REACHED

state 4057 begin surface coast

4082 end surface coast: CONTROL_FINISHED_OK

state 4082 begin surface

ID	248	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
MISSION	5	SM_CC	646.36548	VBD_MIN	500	MOTHERBOARD	6
DIVE	4	N_FILEKB	4	VBD_MAX	3960	DEVICE1	-1
N_DIVES	6	FILEMGR	0	C_VBD	3135	DEVICE2	-1
STOP_T	0	CALL_NDIVES	1	VBD_DBAND	2	DEVICE3	-1
D_SURF	2	COMM_SEQ	7	VBD_CNV	-0.24529999	DEVICE4	-1
D_FLARE	3	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE5	-1
D_TGT	180	N_NOCOMM	2	VBD_TIMEOUT	720	DEVICE6	-1
D_ABORT	250	NOCOMM_ACTION	131	PITCH_VBD_SHIFT	0.0014	LOGGERS	3
D_NO_BLEED	500	N_NOSURFACE	0	UNCOM_BLEED	20	LOGGERDEVICE1	7
D_BOOST	0	UPLOAD_DIVES_MAX	-1	VBD_MAXERRORS	1	LOGGERDEVICE2	19
T_BOOST	0	NETBOX	1	C_VBD_AUTO_DELTA	0	LOGGERDEVICE3	72
D_FINISH	0	CALL_TRIES	5	C_VBD_AUTO_MAX	0	LOGGERDEVICE4	-1
D_PITCH	0	CALL_WAIT	60	W_ADJ_DBAND	0	COMPASS_DEVICE	66
D_SAFE	0	CAPUPLOAD	0	DBDW	0	COMPASS2_DEVICE	-1
D_CALL	0	CAPMAXSIZE	100000	LOITER_W_DBAND	0	PHONE_DEVICE	33
SURFACE_URGENCY	0	T_GPS	5	LOITER_DBDW	0	GPS_DEVICE	48
SURFACE_URGENCY_TRY	0	N_GPS	100440	LOITER_D_TOP	0	RAFOS_DEVICE	-1
SURFACE_URGENCY_FORCE	0	T_RSLEEP	2	LOITER_D_BOTTOM	0	NAV_DEVICE	-1
T_DIVE	60	STROBE	0	LOITER_N_DIVE	0	NAV2_DEVICE	-1
T_MISSION	75	RAFOS_PEAK_OFFSET	0	CF8_MAXERRORS	20	NETWORK_DEVICE	-1
T_ABORT	1440	RAFOS_CORR_THRESH	60	AH0_24V	575	PRESSURE_DEVICE	34
T_TURN	225	RAFOS_HIT_WINDOW	3600	AH0_10V	0	XPDR_DEVICE	21
T_TURN_SAMPINT	-5	RAFOS_MMODEM	0	MINV_24V	11	SIM_W	0
T_NO_W	120	PITCH_MIN	205	MINV_10V	11	SEABIRD_T_G	0.0044151177
T_LOITER	0	PITCH_MAX	3600	MAXI_24V	5	SEABIRD_T_H	0.00064099889
T_EPIRB	0	C_PITCH	2470	MAXI_10V	1.5	SEABIRD_T_I	2.58445e-05
USE_BATHY	-3	PITCH_DBAND	0.1	FG_AHR_10V	40.065212	SEABIRD_T_J	3.0430085e-06
USE_ICE	0	PITCH_CNV	0.0041299998	FG_AHR_24V	67.889549	SEABIRD_C_G	-9.9848051
ICE_FREEZE_MARGIN	0.30000001	PITCH_GAIN	20	PHONE_SUPPLY	2	SEABIRD_C_H	1.1086454
D_OFFGRID	1000	PITCH_TIMEOUT	30	PRESSURE_YINT	-179.66158	SEABIRD_C_I	-0.0025343813
RELAUNCH	1	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00022536858	SEABIRD_C_J	0.00025995917
APOGEE_PITCH	-5	PITCH_ADJ_GAIN	0.015	COMPASS_USE	49156	OPTIONS	0
MAX_BUOY	150	PITCH_ADJ_DBAND	1	ALTIM_PING_FIT	0	SC_RECORDABOVE	2000.0
GLIDE_SLOPE	30	C_PITCH_AUTO_DELTA	0	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	3.0
SPEED_FACTOR	1	C_PITCH_AUTO_MAX	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_XMITPROFILE	3.0
RHO	1.0275	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_TURN_MARGIN	0	SC_NDIVE	1.0
MASS	75305	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_MIN_OBSTACLE	1	TM_RECORDABOVE	200.0
NAV_MODE	2	PITCH_W_GAIN	0	ALTIM_PING_DEPTH	0	TM_PROFILE	3.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_PING_DELTA	0	TM_XMITPROFILE	3.0
KALMAN_USE	2	ROLL_MIN	265	ALTIM_FREQUENCY	13	TM_NDIVE	1.0
HD_A	0.003	ROLL_MAX	3870	ALTIM_PULSE	3	TM_XMITRAW	0.0
HD_B	0.0099999998	ROLL_DEG	80	ALTIM_SENSITIVITY	2	TM_LOGSAMPLE	0.0
HD_C	1.6e-05	C_ROLL_DIVE	2900	XPDR_VALID	4	CP_RECORDABOVE	0.0
HEADING	-1	C_ROLL_CLIMB	2300	XPDR_INHIBIT	90	CP_PROFILE	0.0
ESCAPE_HEADING	0	HEAD_ERRBAND	10	XPDR_INT	13.5	CP_XMITPROFILE	0.0
ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054945	XPDR_REP	11.5	CP_UPLOADMAX	0.0
FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	1.9639999e-06	CP_STARTS	0.0
TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0	CP_NDIVE	1.0
TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	DEEPGLIDER	0

GPS1	070323,225613,3647.295,-12203.066,1,1.2,3,12.9	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	-63.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	070323,225817,3647.307,-12203.062,2,1.2,4,12.9	MHEAD_RNG_PITCHd_Wd	132.8,2560,-17.6,-10.000,-21.24,2209,0.254
SPEED_LIMITS	0.173,0.257	D_GRID	340
TGT_NAME	NE	IRON	1.000000,0.050867,-0.027148,-0.041418,1.036505,-0.047304,-0.041761,-0.061604,1.038738,751.954590,-987.656311,313.353058
TGT_LATLONG	3646.000,-12202.500	OSC	8000266

WARN	HTMICL TMICL logging already stopped	FG_AHR_24Vo	68.055
FINISH	0.4,1.024980	FG_AHR_10Vo	40.143
SURF	forcing	MEM0	59964,1,0,0
SM_CCo	4364.67,238.07,0.874,0,501.2,625.6,376.8,646.07	MEM1	65508,1,0,0
SM_GC	1.59,238.07,15.52,1.64,0.874,0.056,0.128,501.2,625.6,376.8,190.1,2909.7,0,0,0,12.25,15.80,15.80	MEM2	907432,25,138756,94
SUPER	0,0,0,0,0,0	DATA_FILE_SIZE	19353,654
IRIDIUM_FIX	3646.11,-12201.46,070323,225342	CAP_FILE_SIZE	208498,0
TCM_TEMP	12.28	SDSIZE	3887104,3848352
XPDR_PINGS	38,13.5,11.5	SDFILEDIR	595,2
SC_FREEKB	3876928	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TM_FREEKB	7813888	CURRENT	0.086,285.7,1
HUMID	49.58	MAGCAL	1.000000,0.024943,-0.124887,-0.025733,1.107893,-0.064314,0.016734,-0.029406,1.123385,1034.0,-1010.3,334.6,20,0.0225,1
TEMP	9.72	IMPLIED_C_PITCH	2434,16.70,414,0.0,0.00
INTERNAL_PRESSURE	8.63495	IMPLIED_C_VBD	3288,52.265488,369,0
_24V_AH	14.84,38.757	GPS	080323,001201,3647.032,-12203.055,20,0.9,21,12.9
_10V_AH	14.89,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	692	1107	11389.05	nil	0	0	0.00
Pitch_motor	34	265	137.28	nil	0	0	0.00
Roll_motor	66	196	195.00	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	9	420	59.21	nil	0	0	0.00
GPS	12	15	2.89	nil	0	0	0.00
Core	2278	6	230.74	SciCon	4083	38	2311.95
Fast	0	0	0.00	TMICL	4081	18	1139.18
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	1856	2	55.29
Compass	1311	5	97.67
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15.77	16386	-145.99	-1.09	0.00	499.5	627.8	371.2	190.3	2861.0	0.00	0.00	0	122.71	100.29	0.00	0.00	0.005	0.000	0.000	3213.50	3246.31	3180.69	190.44	2861.50	0	0	0	15.69	30.00	30.00
123.07	18727	-145.99	-1.09	80.00	3214.8	3248.4	3181.2	190.6	2861.0	3.09	-1.48	20	167.84	12.43	15.12	2.79	0.007	0.265	0.154	3732.38	3777.31	3687.44	2206.19	3877.00	0	0	0	15.71	15.51	15.65
396.15	1156	-145.99	-1.04	0.00	3737.1	3780.2	3693.9	2205.4	3876.8	37.81	-12.78	73	403.03	0.00	0.00	2.46	0.000	0.000	0.056	3738.28	3780.25	3696.31	2205.69	2856.62	0	0	0	30.00	30.00	15.85
586.32	420	-145.99	-1.07	80.00	3737.3	3780.2	3694.4	2206.0	2857.3	56.62	-9.30	111	593.29	0.00	0.00	2.78	0.000	0.000	0.149	3738.22	3781.69	3694.75	2205.56	3875.62	0	0	0	30.00	30.00	15.72
716.50	1028	-145.99	-1.07	0.00	3737.9	3781.2	3694.6	2206.1	3875.7	70.61	-10.72	137	723.44	0.00	0.00	2.44	0.000	0.000	0.055	3739.25	3781.69	3696.81	2205.69	2858.75	0	0	0	30.00	30.00	15.85
906.49	160	-145.99	-1.11	0.00	3738.0	3781.5	3694.5	2206.1	2858.1	85.54	-7.69	175	912.18	0.00	0.00	0.00	0.000	0.000	0.000	3737.78	3781.12	3694.44	2206.25	2858.50	0	0	0	30.00	30.00	30.00
1096.74	160	-145.99	-1.15	0.00	3738.1	3781.2	3694.9	2206.5	2858.1	102.02	-8.90	211	1099.68	0.00	0.00	0.00	0.000	0.000	0.000	3737.22	3780.81	3693.62	2206.38	2858.12	0	0	0	30.00	30.00	30.00
1406.76	12451	-145.99	-1.19	0.00	3738.8	3781.4	3696.1	2206.1	2858.2	130.98	-9.06	242	1409.91	0.00	0.20	0.00	0.000	0.075	0.000	3737.81	3780.62	3695.00	2161.31	2858.56	0	0	0	30.00	15.86	30.00
1716.64	8710	-145.99	-1.19	-80.00	3738.6	3781.7	3695.5	2161.6	2858.6	166.85	-12.49	273	1724.52	0.00	0.00	3.63	0.000	0.000	0.083	3738.75	3781.38	3696.12	2161.31	1426.81	0	0	0	30.00	30.00	15.88
1742.72	9222	-145.99	-1.19	0.00	3738.6	3781.4	3695.9	2161.2	1426.5	169.84	-12.02	278	1750.65	0.00	0.00	3.71	0.000	0.000	0.094	3739.44	3781.50	3697.38	2161.44	2911.44	0	0	0	30.00	30.00	15.60
1837	end dive: TARGET_DEPTH_EXCEEDED
state	1837	begin apogee
1840.82	10243	0.00	-0.25	0.00	3738.6	3781.6	3695.6	2161.4	2267.1	180.50	-10.87	288	1961.14	110.49	1.68	0.12	1.108	0.138	0.197	3133.38	3236.00	3030.75	2410.19	2324.50	0	0	0	12.12	15.83	15.48
1963	end apogee: CONTROL_FINISHED_OK
state	1963	begin climb
1963.40	10759	145.99	1.09	-80.00	3132.4	3234.1	3030.7	2410.1	2325.3	183.06	0.00	299	2091.50	109.40	2.07	3.97	1.070	0.070	0.105	2535.22	2651.06	2419.38	2741.25	833.00	0	0	0	12.30	15.60	15.29
2229.78	21639	145.99	0.99	0.00	2529.1	2640.2	2417.9	2740.4	832.6	166.80	10.95	349	2241.64	0.00	0.31	3.60	0.000	0.186	0.068	2529.72	2642.25	2417.19	2701.94	2315.56	0	0	0	30.00	15.54	15.64
2549.85	8614	204.47	1.04	80.00	2526.7	2640.1	2413.2	2701.8	2315.8	142.05	7.28	382	2604.77	44.47	0.00	3.94	1.037	0.000	0.139	2298.97	2429.06	2168.88	2702.44	3764.12	0	0	0	12.31	30.00	15.53
2633.04	1156	204.47	0.95	0.00	2295.8	2423.1	2168.5	2701.4	3764.0	134.91	10.21	398	2644.59	0.00	0.00	3.64	0.000	0.000	0.056	2296.84	2423.81	2169.88	2702.12	2268.69	0	0	0	30.00	30.00	15.64
2953.05	8486	230.37	0.99	80.00	2291.5	2418.8	2164.2	2702.3	2267.7	107.79	8.80	431	2985.95	20.82	0.00	4.05	0.972	0.000	0.138	2194.19	2326.12	2062.25	2702.31	3763.31	0	0	0	12.26	30.00	15.57
3024.21	1156	230.37	0.91	0.00	2190.6	2320.8	2060.4	2701.9	3761.9	100.18	12.06	445	3031.97	0.00	0.00	3.60	0.000	0.000	0.056	2190.66	2319.06	2062.25	2700.94	2269.12	0	0	0	30.00	30.00	15.72
3335.22	8486	268.76	0.96	80.00	2187.8	2317.1	2058.4	2702.1	2266.0	73.53	8.21	507	3375.59	30.10	0.00	4.02	0.969	0.000	0.138	2037.00	2175.06	1898.94	2700.81	3763.19	0	0	0	12.18	30.00	15.61
3469.02	1156	268.76	0.91	0.00	2032.8	2166.6	1899.1	2702.0	3763.1	59.18	12.43	533	3477.38	0.00	0.00	3.66	0.000	0.000	0.056	2032.84	2166.44	1899.25	2701.75	2271.81	0	0	0	30.00	30.00	15.60
3660.67	8614	273.57	0.95	80.00	2030.8	2163.8	1897.9	2702.6	2268.9	39.67	9.78	571	3674.63	5.06	0.00	3.99	0.580	0.000	0.139	2017.88	2151.62	1884.12	2702.50	3764.38	0	0	0	12.20	30.00	15.68
3707.90	1156	273.57	0.92	0.00	2018.0	2151.1	1884.8	2701.8	3763.6	34.40	11.39	580	3715.30	0.00	0.00	3.59	0.000	0.000	0.055	2017.41	2150.75	1884.06	2702.19	2277.31	0	0	0	30.00	30.00	15.62
3898.58	8614	299.76	1.00	80.00	2016.9	2149.4	1884.4	2702.2	2267.6	18.31	8.78	618	3932.13	21.70	0.00	4.00	0.905	0.000	0.139	1909.81	2049.12	1770.50	2702.00	3763.19	0	0	0	12.21	30.00	15.66
4005.56	1156	299.76	0.97	0.00	1907.2	2043.6	1770.8	2702.2	3763.2	6.61	11.96	639	4013.91	0.00	0.00	3.62	0.000	0.000	0.056	1907.62	2043.88	1771.38	2701.31	2270.38	0	0	0	30.00	30.00	15.78
4057	end climb: SURFACE_DEPTH_REACHED
state	4057	begin surface coast
4082	end surface coast: CONTROL_FINISHED_OK
state	4082	begin surface