Glider dive log

NORSE Oct22 * SG234 * Dive index * Mission links * Dive 41 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 234 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 6 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 41 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 613.25 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT 1.6

D_TGT 400 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1000 COMM_SEQ 7 C_VBD 3000 DEEPGLIDERMB 0

D_NO_BLEED 200 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEVICE1 10

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 0.0012300001 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 0

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 110 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 160 T_RSLEEP 2 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 200 AH0_24V 529 NAV_DEVICE -1

USE_BATHY -2 PITCH_MAX 3990 AH0_10V 0 NAV2_DEVICE -1

USE_ICE 0 C_PITCH 2200 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 15 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 20.782352 SEABIRD_T_G 0.0044182916

MAX_BUOY 200 PITCH_MAXERRORS 1 FG_AHR_24V 25.63822 SEABIRD_T_H 0.00064551458

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.02 PHONE_SUPPLY 1 SEABIRD_T_I 2.6832278e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 PRESSURE_YINT -153.81317 SEABIRD_T_J 3.3159545e-06

RHO 1.0275 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022809372 SEABIRD_C_G -10.12649

MASS 71640 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 SEABIRD_C_H 1.1786305

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0019398184

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00023437376

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.0099999998 ROLL_MIN 700 ALTIM_TOP_MIN_OBSTACLE 0 SC_PROFILE 7.0

HD_C 1.6e-05 ROLL_MAX 3350 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 2280 ALTIM_FREQUENCY 11

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2025 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 1000 N_DIVES 0 SEABIRD_C_I -0.0019398184

AH0_24V 529 D_PITCH 0 N_FILEKB 8 SEABIRD_C_J 0.00023437376

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0044182916

ALTIM_FREQUENCY 11 D_SURF 2 N_NOCOMM 2 SEABIRD_T_H 0.00064551458

ALTIM_PING_DELTA 0 D_TGT 400 N_NOSURFACE 0 SEABIRD_T_I 2.6832278e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 3.3159545e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_SUPPLY 1 SM_CC 613.25

ALTIM_SENSITIVITY 2 FG_AHR_10V 20.782352 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 25.63822 PITCH_ADJ_GAIN 0.02 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 15 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_MAX 3990 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 200 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 0.0012300001 T_DIVE 110

COMPASS2_DEVICE -1 ID 234 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT 1.6 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 2200 KALMAN_USE 2 PRESSURE_SLOPE 0.00022809372 T_MISSION 160

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -153.81317 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_CLIMB 2025 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2280 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD 3000 LOGGERS 0 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 -2

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 10 MASS 71640 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 200 ROLL_MAX 3350 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 700 W_ADJ_DBAND 0

DIVE 41 MISSION 6 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 7.0 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 -10.12649

D_NO_BLEED 200 NOCOMM_ACTION 131 SEABIRD_C_H 1.1786305

Pre-dive calculations and measurements:

GPS1 271022,022432,7050.343,-623.452,8,0.7,31,-5.0 TGT_RADIUS 1000.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -51.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 271022,022923,7050.351,-623.430,3,0.6,6,-5.0 MHEAD_RNG_PITCHd_Wd 320.8,463,-27.5,-12.121,-30.00,1068,0.382

SPEED_LIMITS 0.210,0.313 D_GRID 583

TGT_NAME PICKUP IRON 1.000000,-0.062213,0.004475,-0.085543,1.083511,0.168474,-0.032701,-0.005343,0.865636,-1126.529663,-1328.667480,-180.709808

TGT_LATLONG 7050.470,-624.100

Post-dive calculations and measurements:

FINISH 0.0,1.027512 MEM0 60148,1,0,0

SM_CCo 5189.16,542.78,1.261,0,500.8,564.0,437.7,613.04 MEM1 65508,1,0,0

SM_GC 1.25,542.78,15.77,4.01,1.261,0.074,0.083,500.8,564.0,437.7,185.8,2291.9,0,0,0,12.77,16.00,16.01 MEM2 968280,27,78748,50

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 19357,481

IRIDIUM_FIX 7051.37,-621.14,271022,022527 CAP_FILE_SIZE 222582,0

TCM_TEMP 7.73 SDSIZE 3887104,3865120

XPDR_PINGS 4,12.5,11.5 SDFILEDIR 230,1

HUMID 73.99 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 3.29 CURRENT 0.096,208.4,1

INTERNAL_PRESSURE 7.86895 MAGCAL 1.000000,-0.051454,-0.019864,-0.075070,1.095194,-0.049316,-0.024488,-0.039592,1.063816,-1069.0,-1108.6,-374.9,36,0.0648,1

_24V_AH 14.52,17.706 IMPLIED_C_PITCH 2234,13.78,294,0.0,0.00

_10V_AH 14.57,0.000 IMPLIED_C_VBD 2885,18.758831,294,0

FG_AHR_24Vo 25.978 GPS 271022,035620,7050.695,-625.120,6,1.3,10,-5.0

FG_AHR_10Vo 20.798

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 1003 1789 26066.01 SBE_CT 546 24 190.30

Pitch_motor 35 301 157.02 nil 0 0 0.00

Roll_motor 71 252 262.16 nil 0 0 0.00

Iridium 184 193 516.33 nil 0 0 0.00

Transponder_ping 1 420 6.10 nil 0 0 0.00

GPS 15 15 3.35 nil 0 0 0.00

Core 1765 6 174.92 SciCon 0 0 0.00

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3138 2 91.46

Compass 700 5 51.06

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

1 end surface: CONTROL_FINISHED_OK

state 2 begin dive

2.23 16386 -84.69 -1.94 0.00 496.5 558.2 434.8 185.9 2252.1 0.00 0.00 0 182.32 178.26 0.00 0.11 0.005 0.000 0.253 3342.22 3386.94 3297.50 185.69 2298.06 0 0 0 14.52 30.00 15.65

182.58 18727 -176.91 -2.05 80.00 3342.6 3387.8 3297.4 185.6 2298.3 2.78 -3.25 17 217.84 13.54 12.93 3.07 0.007 0.301 0.171 3721.72 3790.12 3653.31 1703.25 3355.56 0 0 0 14.73 15.62 15.63

445.26 1156 -176.91 -1.95 0.00 3724.8 3793.8 3655.9 1703.1 3355.4 66.76 -26.53 70 450.92 0.00 0.00 2.78 0.000 0.000 0.077 3724.59 3793.25 3655.94 1703.25 2261.50 0 0 0 30.00 30.00 15.81

640.36 516 -176.91 -1.95 -80.00 3725.2 3794.9 3655.4 1702.8 2261.0 108.67 -21.29 90 646.09 0.00 0.00 4.09 0.000 0.000 0.169 3726.78 3796.12 3657.44 1703.12 819.12 0 0 0 30.00 30.00 14.86

770.43 3205 -176.91 -1.87 0.00 3725.4 3795.1 3655.8 1702.8 819.2 138.42 -23.19 116 776.19 0.00 0.34 3.82 0.000 0.227 0.092 3725.66 3795.25 3656.06 1746.31 2288.94 0 0 0 30.00 15.81 15.88

1080.45 260 -176.91 -1.87 80.00 3726.9 3797.8 3656.0 1746.6 2289.7 196.52 -19.13 148 1086.01 0.00 0.00 3.01 0.000 0.000 0.166 3726.91 3798.31 3655.50 1746.94 3357.44 0 0 0 30.00 30.00 15.90

1185.39 1028 -176.91 -1.87 0.00 3726.8 3797.8 3655.8 1746.6 3355.9 218.15 -20.96 169 1191.08 0.00 0.00 2.72 0.000 0.000 0.074 3726.56 3798.19 3654.94 1746.75 2259.94 0 0 0 30.00 30.00 15.95

1500.54 516 -176.91 -1.87 -80.00 3728.0 3800.0 3655.9 1746.5 2259.6 276.16 -17.90 194 1506.26 0.00 0.00 4.05 0.000 0.000 0.171 3728.16 3800.12 3656.19 1746.56 817.31 0 0 0 30.00 30.00 15.93

1550.46 1156 -176.91 -1.83 0.00 3728.1 3800.3 3655.9 1747.1 817.2 286.38 -21.12 204 1556.21 0.00 0.00 3.79 0.000 0.000 0.090 3728.53 3800.38 3656.69 1746.75 2290.31 0 0 0 30.00 30.00 15.98

1860.55 0 -176.91 -1.83 0.00 3728.1 3800.4 3655.8 1746.6 2290.6 343.23 -19.01 221 1861.90 0.00 0.00 0.00 0.000 0.000 0.000 3727.91 3799.94 3655.88 1746.50 2290.06 0 0 0 30.00 30.00 30.00

2180.55 516 -176.91 -1.83 -80.00 3727.9 3800.5 3655.2 1746.6 2290.4 399.91 -17.51 237 2186.30 0.00 0.00 4.16 0.000 0.000 0.172 3727.78 3800.75 3654.81 1746.25 818.25 0 0 0 30.00 30.00 15.97

2190 end dive: TARGET_DEPTH_EXCEEDED

state 2190 begin apogee

2195.30 10243 0.00 -0.33 0.00 3728.1 3800.4 3655.7 1746.2 2039.8 401.63 -17.78 239 2332.19 132.28 2.75 0.09 1.789 0.210 0.238 2997.56 3077.12 2918.00 2119.31 2006.44 0 0 0 12.71 15.98 15.28

2332 end apogee: CONTROL_FINISHED_OK

state 2333 begin climb

2332.70 10243 176.91 2.05 0.00 2998.0 3077.7 2918.4 2119.1 2006.3 407.90 0.00 247 2475.61 136.41 4.12 0.00 1.742 0.124 0.000 2275.38 2359.44 2191.31 2700.00 2005.62 0 0 0 12.28 15.32 30.00

2782.98 16902 176.91 2.05 -80.00 2264.3 2348.5 2180.2 2699.6 2005.8 329.70 17.46 270 2788.67 0.00 0.00 3.79 0.000 0.000 0.166 2267.38 2351.12 2183.62 2699.75 692.50 0 0 0 30.00 30.00 15.64

2832.97 17414 176.91 2.05 0.00 2263.7 2347.5 2179.9 2699.0 692.4 320.16 19.98 280 2838.60 0.00 0.00 3.44 0.000 0.000 0.076 2264.22 2347.94 2180.50 2699.50 2040.44 0 0 0 30.00 30.00 15.70

3143.02 16902 176.91 2.05 -80.00 2262.0 2345.5 2178.5 2699.1 2041.2 261.86 19.28 297 3148.70 0.00 0.00 3.86 0.000 0.000 0.163 2263.53 2345.31 2181.75 2698.25 691.38 0 0 0 30.00 30.00 15.79

3172.94 17414 176.91 2.05 0.00 2261.5 2344.4 2178.6 2699.6 691.5 255.22 21.95 303 3178.64 0.00 0.00 3.41 0.000 0.000 0.075 2261.75 2345.19 2178.31 2698.69 2042.62 0 0 0 30.00 30.00 15.83

3483.15 16902 176.91 2.05 -80.00 2260.9 2343.8 2178.1 2699.4 2042.7 195.36 18.90 334 3488.77 0.00 0.00 3.82 0.000 0.000 0.161 2262.41 2345.00 2179.81 2699.44 691.44 0 0 0 30.00 30.00 15.86

3543.10 17414 176.91 2.05 0.00 2260.6 2343.2 2177.9 2699.2 691.5 183.03 20.25 346 3548.70 0.00 0.00 3.38 0.000 0.000 0.076 2262.00 2344.81 2179.19 2699.88 2043.38 0 0 0 30.00 30.00 15.90

3853.21 16386 176.91 2.05 0.00 2259.4 2342.1 2176.8 2699.1 2044.0 126.44 17.93 378 3854.56 0.00 0.00 0.00 0.000 0.000 0.000 2258.19 2341.06 2175.31 2699.69 2043.19 0 0 0 30.00 30.00 30.00

4163.18 16902 176.91 2.05 -80.00 2258.2 2339.3 2177.0 2699.2 2044.3 77.27 14.86 409 4168.85 0.00 0.00 3.79 0.000 0.000 0.159 2258.75 2340.50 2177.00 2699.19 692.25 0 0 0 30.00 30.00 15.95

4398.15 17414 176.91 2.05 0.00 2257.9 2338.9 2177.0 2699.2 692.3 34.81 18.23 456 4403.92 0.00 0.00 3.37 0.000 0.000 0.076 2260.94 2341.75 2180.12 2700.00 2041.56 0 0 0 30.00 30.00 16.00

4593.27 17030 176.91 2.09 -80.00 2256.7 2338.1 2175.3 2699.3 2043.3 2.21 16.90 476 4598.94 0.00 0.00 3.75 0.000 0.000 0.154 2256.94 2338.25 2175.62 2699.56 691.44 0 0 0 30.00 30.00 15.98

4603 end climb: SURFACE_DEPTH_REACHED

state 4603 begin surface coast

4618 end surface coast: CONTROL_FINISHED_OK

state 4618 begin surface

ID	234	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	6	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	41	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	613.25	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	1.6
D_TGT	400	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1000	COMM_SEQ	7	C_VBD	3000	DEEPGLIDERMB	0
D_NO_BLEED	200	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEVICE1	10
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	0.0012300001	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	0
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	110	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	160	T_RSLEEP	2	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	200	AH0_24V	529	NAV_DEVICE	-1
USE_BATHY	-2	PITCH_MAX	3990	AH0_10V	0	NAV2_DEVICE	-1
USE_ICE	0	C_PITCH	2200	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	15	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	20.782352	SEABIRD_T_G	0.0044182916
MAX_BUOY	200	PITCH_MAXERRORS	1	FG_AHR_24V	25.63822	SEABIRD_T_H	0.00064551458
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.02	PHONE_SUPPLY	1	SEABIRD_T_I	2.6832278e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-153.81317	SEABIRD_T_J	3.3159545e-06
RHO	1.0275	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022809372	SEABIRD_C_G	-10.12649
MASS	71640	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	SEABIRD_C_H	1.1786305
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0019398184
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00023437376
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.0099999998	ROLL_MIN	700	ALTIM_TOP_MIN_OBSTACLE	0	SC_PROFILE	7.0
HD_C	1.6e-05	ROLL_MAX	3350	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	2280	ALTIM_FREQUENCY	11
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2025	ALTIM_PULSE	3

GPS1	271022,022432,7050.343,-623.452,8,0.7,31,-5.0	TGT_RADIUS	1000.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.14	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-51.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	271022,022923,7050.351,-623.430,3,0.6,6,-5.0	MHEAD_RNG_PITCHd_Wd	320.8,463,-27.5,-12.121,-30.00,1068,0.382
SPEED_LIMITS	0.210,0.313	D_GRID	583
TGT_NAME	PICKUP	IRON	1.000000,-0.062213,0.004475,-0.085543,1.083511,0.168474,-0.032701,-0.005343,0.865636,-1126.529663,-1328.667480,-180.709808
TGT_LATLONG	7050.470,-624.100

FINISH	0.0,1.027512	MEM0	60148,1,0,0
SM_CCo	5189.16,542.78,1.261,0,500.8,564.0,437.7,613.04	MEM1	65508,1,0,0
SM_GC	1.25,542.78,15.77,4.01,1.261,0.074,0.083,500.8,564.0,437.7,185.8,2291.9,0,0,0,12.77,16.00,16.01	MEM2	968280,27,78748,50
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	19357,481
IRIDIUM_FIX	7051.37,-621.14,271022,022527	CAP_FILE_SIZE	222582,0
TCM_TEMP	7.73	SDSIZE	3887104,3865120
XPDR_PINGS	4,12.5,11.5	SDFILEDIR	230,1
HUMID	73.99	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	3.29	CURRENT	0.096,208.4,1
INTERNAL_PRESSURE	7.86895	MAGCAL	1.000000,-0.051454,-0.019864,-0.075070,1.095194,-0.049316,-0.024488,-0.039592,1.063816,-1069.0,-1108.6,-374.9,36,0.0648,1
_24V_AH	14.52,17.706	IMPLIED_C_PITCH	2234,13.78,294,0.0,0.00
_10V_AH	14.57,0.000	IMPLIED_C_VBD	2885,18.758831,294,0
FG_AHR_24Vo	25.978	GPS	271022,035620,7050.695,-625.120,6,1.3,10,-5.0
FG_AHR_10Vo	20.798

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	1003	1789	26066.01	SBE_CT	546	24	190.30
Pitch_motor	35	301	157.02	nil	0	0	0.00
Roll_motor	71	252	262.16	nil	0	0	0.00
Iridium	184	193	516.33	nil	0	0	0.00
Transponder_ping	1	420	6.10	nil	0	0	0.00
GPS	15	15	3.35	nil	0	0	0.00
Core	1765	6	174.92	SciCon	0	0	0.00
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3138	2	91.46
Compass	700	5	51.06
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
1	end surface: CONTROL_FINISHED_OK
state	2	begin dive
2.23	16386	-84.69	-1.94	0.00	496.5	558.2	434.8	185.9	2252.1	0.00	0.00	0	182.32	178.26	0.00	0.11	0.005	0.000	0.253	3342.22	3386.94	3297.50	185.69	2298.06	0	0	0	14.52	30.00	15.65
182.58	18727	-176.91	-2.05	80.00	3342.6	3387.8	3297.4	185.6	2298.3	2.78	-3.25	17	217.84	13.54	12.93	3.07	0.007	0.301	0.171	3721.72	3790.12	3653.31	1703.25	3355.56	0	0	0	14.73	15.62	15.63
445.26	1156	-176.91	-1.95	0.00	3724.8	3793.8	3655.9	1703.1	3355.4	66.76	-26.53	70	450.92	0.00	0.00	2.78	0.000	0.000	0.077	3724.59	3793.25	3655.94	1703.25	2261.50	0	0	0	30.00	30.00	15.81
640.36	516	-176.91	-1.95	-80.00	3725.2	3794.9	3655.4	1702.8	2261.0	108.67	-21.29	90	646.09	0.00	0.00	4.09	0.000	0.000	0.169	3726.78	3796.12	3657.44	1703.12	819.12	0	0	0	30.00	30.00	14.86
770.43	3205	-176.91	-1.87	0.00	3725.4	3795.1	3655.8	1702.8	819.2	138.42	-23.19	116	776.19	0.00	0.34	3.82	0.000	0.227	0.092	3725.66	3795.25	3656.06	1746.31	2288.94	0	0	0	30.00	15.81	15.88
1080.45	260	-176.91	-1.87	80.00	3726.9	3797.8	3656.0	1746.6	2289.7	196.52	-19.13	148	1086.01	0.00	0.00	3.01	0.000	0.000	0.166	3726.91	3798.31	3655.50	1746.94	3357.44	0	0	0	30.00	30.00	15.90
1185.39	1028	-176.91	-1.87	0.00	3726.8	3797.8	3655.8	1746.6	3355.9	218.15	-20.96	169	1191.08	0.00	0.00	2.72	0.000	0.000	0.074	3726.56	3798.19	3654.94	1746.75	2259.94	0	0	0	30.00	30.00	15.95
1500.54	516	-176.91	-1.87	-80.00	3728.0	3800.0	3655.9	1746.5	2259.6	276.16	-17.90	194	1506.26	0.00	0.00	4.05	0.000	0.000	0.171	3728.16	3800.12	3656.19	1746.56	817.31	0	0	0	30.00	30.00	15.93
1550.46	1156	-176.91	-1.83	0.00	3728.1	3800.3	3655.9	1747.1	817.2	286.38	-21.12	204	1556.21	0.00	0.00	3.79	0.000	0.000	0.090	3728.53	3800.38	3656.69	1746.75	2290.31	0	0	0	30.00	30.00	15.98
1860.55	0	-176.91	-1.83	0.00	3728.1	3800.4	3655.8	1746.6	2290.6	343.23	-19.01	221	1861.90	0.00	0.00	0.00	0.000	0.000	0.000	3727.91	3799.94	3655.88	1746.50	2290.06	0	0	0	30.00	30.00	30.00
2180.55	516	-176.91	-1.83	-80.00	3727.9	3800.5	3655.2	1746.6	2290.4	399.91	-17.51	237	2186.30	0.00	0.00	4.16	0.000	0.000	0.172	3727.78	3800.75	3654.81	1746.25	818.25	0	0	0	30.00	30.00	15.97
2190	end dive: TARGET_DEPTH_EXCEEDED
state	2190	begin apogee
2195.30	10243	0.00	-0.33	0.00	3728.1	3800.4	3655.7	1746.2	2039.8	401.63	-17.78	239	2332.19	132.28	2.75	0.09	1.789	0.210	0.238	2997.56	3077.12	2918.00	2119.31	2006.44	0	0	0	12.71	15.98	15.28
2332	end apogee: CONTROL_FINISHED_OK
state	2333	begin climb
2332.70	10243	176.91	2.05	0.00	2998.0	3077.7	2918.4	2119.1	2006.3	407.90	0.00	247	2475.61	136.41	4.12	0.00	1.742	0.124	0.000	2275.38	2359.44	2191.31	2700.00	2005.62	0	0	0	12.28	15.32	30.00
2782.98	16902	176.91	2.05	-80.00	2264.3	2348.5	2180.2	2699.6	2005.8	329.70	17.46	270	2788.67	0.00	0.00	3.79	0.000	0.000	0.166	2267.38	2351.12	2183.62	2699.75	692.50	0	0	0	30.00	30.00	15.64
2832.97	17414	176.91	2.05	0.00	2263.7	2347.5	2179.9	2699.0	692.4	320.16	19.98	280	2838.60	0.00	0.00	3.44	0.000	0.000	0.076	2264.22	2347.94	2180.50	2699.50	2040.44	0	0	0	30.00	30.00	15.70
3143.02	16902	176.91	2.05	-80.00	2262.0	2345.5	2178.5	2699.1	2041.2	261.86	19.28	297	3148.70	0.00	0.00	3.86	0.000	0.000	0.163	2263.53	2345.31	2181.75	2698.25	691.38	0	0	0	30.00	30.00	15.79
3172.94	17414	176.91	2.05	0.00	2261.5	2344.4	2178.6	2699.6	691.5	255.22	21.95	303	3178.64	0.00	0.00	3.41	0.000	0.000	0.075	2261.75	2345.19	2178.31	2698.69	2042.62	0	0	0	30.00	30.00	15.83
3483.15	16902	176.91	2.05	-80.00	2260.9	2343.8	2178.1	2699.4	2042.7	195.36	18.90	334	3488.77	0.00	0.00	3.82	0.000	0.000	0.161	2262.41	2345.00	2179.81	2699.44	691.44	0	0	0	30.00	30.00	15.86
3543.10	17414	176.91	2.05	0.00	2260.6	2343.2	2177.9	2699.2	691.5	183.03	20.25	346	3548.70	0.00	0.00	3.38	0.000	0.000	0.076	2262.00	2344.81	2179.19	2699.88	2043.38	0	0	0	30.00	30.00	15.90
3853.21	16386	176.91	2.05	0.00	2259.4	2342.1	2176.8	2699.1	2044.0	126.44	17.93	378	3854.56	0.00	0.00	0.00	0.000	0.000	0.000	2258.19	2341.06	2175.31	2699.69	2043.19	0	0	0	30.00	30.00	30.00
4163.18	16902	176.91	2.05	-80.00	2258.2	2339.3	2177.0	2699.2	2044.3	77.27	14.86	409	4168.85	0.00	0.00	3.79	0.000	0.000	0.159	2258.75	2340.50	2177.00	2699.19	692.25	0	0	0	30.00	30.00	15.95
4398.15	17414	176.91	2.05	0.00	2257.9	2338.9	2177.0	2699.2	692.3	34.81	18.23	456	4403.92	0.00	0.00	3.37	0.000	0.000	0.076	2260.94	2341.75	2180.12	2700.00	2041.56	0	0	0	30.00	30.00	16.00
4593.27	17030	176.91	2.09	-80.00	2256.7	2338.1	2175.3	2699.3	2043.3	2.21	16.90	476	4598.94	0.00	0.00	3.75	0.000	0.000	0.154	2256.94	2338.25	2175.62	2699.56	691.44	0	0	0	30.00	30.00	15.98
4603	end climb: SURFACE_DEPTH_REACHED
state	4603	begin surface coast
4618	end surface coast: CONTROL_FINISHED_OK
state	4618	begin surface