Glider dive log

Shilshole 14Jan22 * SG526 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 526 TGT_AUTO_DEFAULT 0 VBD_MIN 500 MOTHERBOARD 6

MISSION 3 SM_CC 676.83997 VBD_MAX 3960 DEVICE1 10

DIVE 5 N_FILEKB 8 C_VBD 3000 DEVICE2 -1

N_DIVES 5 FILEMGR 0 VBD_DBAND 2 DEVICE3 -1

STOP_T 0 CALL_NDIVES 1 VBD_CNV -0.24529999 DEVICE4 -1

D_SURF 2 COMM_SEQ 7 VBD_LP_IGNORE 0 DEVICE5 -1

D_FLARE 3 PROTOCOL 9 VBD_TIMEOUT 720 DEVICE6 -1

D_TGT 150 N_NOCOMM 1 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 7

D_ABORT 175 NOCOMM_ACTION 163 UNCOM_BLEED 20 LOGGERDEVICE1 6

D_NO_BLEED 50 N_NOSURFACE 0 VBD_MAXERRORS 1 LOGGERDEVICE2 33

D_BOOST 3 UPLOAD_DIVES_MAX -1 C_VBD_AUTO_DELTA 0 LOGGERDEVICE3 19

T_BOOST 0 CALL_TRIES 5 C_VBD_AUTO_MAX 0 LOGGERDEVICE4 -1

D_FINISH 0 CALL_WAIT 60 W_ADJ_DBAND 0 COMPASS_DEVICE 34

D_PITCH 0 CAPUPLOAD 0 DBDW 0 COMPASS2_DEVICE -1

D_SAFE 0 CAPMAXSIZE 100000 LOITER_W_DBAND 0 PHONE_DEVICE 33

D_CALL 0 T_GPS 5 LOITER_DBDW 0 GPS_DEVICE 48

SURFACE_URGENCY 0 N_GPS 100440 LOITER_D_TOP 0 RAFOS_DEVICE -1

SURFACE_URGENCY_TRY 0 T_RSLEEP 3 LOITER_D_BOTTOM 0 NAV_DEVICE -1

SURFACE_URGENCY_FORCE 0 STROBE 0 LOITER_N_DIVE 0 NAV2_DEVICE -1

T_DIVE 50 RAFOS_PEAK_OFFSET 0 CF8_MAXERRORS 20 NETWORK_DEVICE -1

T_MISSION 65 RAFOS_CORR_THRESH 60 AH0_24V 350 PRESSURE_DEVICE 41

T_ABORT 1440 RAFOS_HIT_WINDOW 3600 AH0_10V 0 XPDR_DEVICE 21

T_TURN 225 RAFOS_MMODEM 0 MINV_24V 11 SIM_W 0

T_TURN_SAMPINT -5 PITCH_MIN 150 MINV_10V 11 SEABIRD_T_G 0.00441493

T_NO_W 120 PITCH_MAX 3615 MAXI_24V 4.8000002 SEABIRD_T_H 0.00064107013

T_LOITER 0 C_PITCH 2160 MAXI_10V 1.5 SEABIRD_T_I 2.576065e-05

T_EPIRB 0 PITCH_DBAND 0.1 FG_AHR_10V 74.842056 SEABIRD_T_J 3.1402324e-06

USE_BATHY -6 PITCH_CNV 0.0041299998 FG_AHR_24V 46.397991 SEABIRD_C_G -9.799654

USE_ICE 0 PITCH_GAIN 25 PHONE_SUPPLY 2 SEABIRD_C_H 1.0727782

ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 PRESSURE_YINT -160.29816 SEABIRD_C_I -0.0026193932

D_OFFGRID 100 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00022843899 SEABIRD_C_J 0.00026435545

RELAUNCH 1 PITCH_ADJ_GAIN 0.045000002 COMPASS_USE 16388 OPTIONS 0

APOGEE_PITCH -5 PITCH_ADJ_DBAND 1 ALTIM_PING_FIT 0 SC_RECORDABOVE 2000.0

MAX_BUOY 150 C_PITCH_AUTO_DELTA 0 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 7.0

GLIDE_SLOPE 30 C_PITCH_AUTO_MAX 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_XMITPROFILE 7.0

SPEED_FACTOR 1 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_TURN_MARGIN 0 SC_NDIVE 1.0

RHO 1.023 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_MIN_OBSTACLE 0 PM_RECORDABOVE 2000.0

MASS 56248 PITCH_W_GAIN 0 ALTIM_PING_DEPTH 0 PM_PROFILE 7.0

NAV_MODE 2 PITCH_W_DBAND 0 ALTIM_PING_DELTA 0 PM_XMITPROFILE 7.0

FERRY_MAX 45 ROLL_MIN 380 ALTIM_FREQUENCY 13 PM_NDIVE 1.0

KALMAN_USE 2 ROLL_MAX 3950 ALTIM_PULSE 3 PM_XMITRAW 0.0

HD_A 0.003 ROLL_DEG 40 ALTIM_SENSITIVITY 2 PM_MOTORS 1.0

HD_B 0.0099999998 C_ROLL_DIVE 2820 XPDR_VALID 4 PM_SENDDEPTH 1.0

HD_C 1.6e-05 C_ROLL_CLIMB 2620 XPDR_INHIBIT 90 TM_RECORDABOVE 2000.0

HEADING -1 HEAD_ERRBAND 10 XPDR_INT 0 TM_PROFILE 3.0

ESCAPE_HEADING 0 ROLL_CNV 0.028270001 XPDR_REP 0 TM_XMITPROFILE 3.0

ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 1.9639999e-06 TM_NDIVE 1.0

FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT -1 TM_XMITRAW 0.0

TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 DEEPGLIDER 0 TM_LOGSAMPLE 0.0

TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

AH0_10V 0 D_SURF 2 PHONE_DEVICE 33 SEABIRD_T_G 0.00441493

AH0_24V 350 D_TGT 150 PHONE_SUPPLY 2 SEABIRD_T_H 0.00064107013

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 SEABIRD_T_I 2.576065e-05

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0.045000002 SEABIRD_T_J 3.1402324e-06

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_CNV 0.0041299998 SIM_W 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 74.842056 PITCH_DBAND 0.1 SM_CC 676.83997

ALTIM_PING_FIT 0 FG_AHR_24V 46.397991 PITCH_GAIN 25 SPEED_FACTOR 1

ALTIM_PULSE 3 FILEMGR 0 PITCH_GAIN_AUTO_DELTA 0 STOP_T 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_GAIN_AUTO_MAX 0 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_MAX 3615 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_MIN 150 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 HD_B 0.0099999998 PITCH_TIMEOUT 30 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_C 1.6e-05 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HEADING -1 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HEAD_ERRBAND 10 PITCH_W_GAIN 0 TM_LOGSAMPLE 0.0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PM_MOTORS 1.0 TM_NDIVE 1.0

CAPUPLOAD 0 ID 526 PM_NDIVE 1.0 TM_PROFILE 3.0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 1.9639999e-06 PM_PROFILE 7.0 TM_RECORDABOVE 2000.0

COMM_SEQ 7 INT_PRESSURE_YINT -1 PM_RECORDABOVE 2000.0 TM_XMITPROFILE 3.0

COMPASS2_DEVICE -1 KALMAN_USE 2 PM_SENDDEPTH 1.0 TM_XMITRAW 0.0

COMPASS_DEVICE 34 LOGGERDEVICE1 6 PM_XMITPROFILE 7.0 T_ABORT 1440

COMPASS_USE 16388 LOGGERDEVICE2 33 PM_XMITRAW 0.0 T_BOOST 0

C_PITCH 2160 LOGGERDEVICE3 19 PRESSURE_DEVICE 41 T_DIVE 50

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE4 -1 PRESSURE_SLOPE 0.00022843899 T_EPIRB 0

C_PITCH_AUTO_MAX 0 LOGGERS 7 PRESSURE_YINT -160.29816 T_GPS 5

C_ROLL_CLIMB 2620 LOITER_DBDW 0 PROTOCOL 9 T_LOITER 0

C_ROLL_DIVE 2820 LOITER_D_BOTTOM 0 RAFOS_CORR_THRESH 60 T_MISSION 65

C_VBD 3000 LOITER_D_TOP 0 RAFOS_DEVICE -1 T_NO_W 120

C_VBD_AUTO_DELTA 0 LOITER_N_DIVE 0 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

C_VBD_AUTO_MAX 0 LOITER_W_DBAND 0 RAFOS_MMODEM 0 T_TURN 225

DBDW 0 MASS 56248 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

DEEPGLIDER 0 MAXI_10V 1.5 RELAUNCH 1 UNCOM_BLEED 20

DEEPGLIDERMB 0 MAXI_24V 4.8000002 RHO 1.023 UPLOAD_DIVES_MAX -1

DEVICE1 10 MAX_BUOY 150 ROLL_ADJ_DBAND 0 USE_BATHY -6

DEVICE2 -1 MINV_10V 11 ROLL_ADJ_GAIN 0 USE_ICE 0

DEVICE3 -1 MINV_24V 11 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 3 ROLL_DEG 40 VBD_DBAND 2

DEVICE5 -1 MOTHERBOARD 6 ROLL_MAX 3950 VBD_LP_IGNORE 0

DEVICE6 -1 NAV2_DEVICE -1 ROLL_MAXERRORS 1 VBD_MAX 3960

DIVE 5 NAV_DEVICE -1 ROLL_MIN 380 VBD_MAXERRORS 1

D_ABORT 175 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_MIN 500

D_BOOST 3 NETWORK_DEVICE -1 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_CALL 0 NOCOMM_ACTION 163 SC_PROFILE 7.0 W_ADJ_DBAND 0

D_FINISH 0 N_DIVES 5 SC_RECORDABOVE 2000.0 XPDR_DEVICE 21

D_FLARE 3 N_FILEKB 8 SC_XMITPROFILE 7.0 XPDR_INHIBIT 90

D_NO_BLEED 50 N_GPS 100440 SEABIRD_C_G -9.799654 XPDR_INT 0

D_OFFGRID 100 N_NOCOMM 1 SEABIRD_C_H 1.0727782 XPDR_REP 0

D_PITCH 0 N_NOSURFACE 0 SEABIRD_C_I -0.0026193932 XPDR_VALID 4

D_SAFE 0 OPTIONS 0 SEABIRD_C_J 0.00026435545

Pre-dive calculations and measurements:

GPS1 140122,211503,4744.047,-12223.907,31,1.0,32,15.5 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.59 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140122,211703,4744.054,-12223.908,33,1.0,34,15.5 MHEAD_RNG_PITCHd_Wd 169.8,1955,-17.6,-10.000,-21.21,2209,0.167

SPEED_LIMITS 0.173,0.258 D_GRID 170

TGT_NAME SE IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,42.000000,107.000000,9.000000

TGT_LATLONG 4743.000,-12224.000

Post-dive calculations and measurements:

WARN HSCICON missed fuel gauge read _10V_AH 14.66,0.000

FINISH -0.3,1.008700 FG_AHR_24Vo 46.575

SM_CCo 17.05,0.00,0.012,0,500.9,434.7,567.2,613.02 FG_AHR_10Vo 74.933

SM_GC 0.47,0.00,1.31,0.19,0.012,0.054,0.053,500.9,434.7,567.2,128.2,2685.2,0,0,0,30.36,15.95,15.98 MEM0 60140,1,0,0

SUPER 19,71,254,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 4743.02,-12222.38,140122,211045 MEM2 995540,17,51248,72

TCM_TEMP 17.60 DATA_FILE_SIZE 12986,383

XPDR_PINGS 28,14.5,10.5 CAP_FILE_SIZE 180549,0

SC_FREEKB 3876224 SDSIZE 3887104,3876032

PM_FREEKB_00 124482624 SDFILEDIR 65,1

PM_FREEKB_01 124834368 ERRORS 0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0

PM_FREEKB_02 124835200 CURRENT 0.037, 41.3,1

PM_FREEKB_03 124835200 MAGCAL 1.000000,0.009271,-0.001925,0.006935,1.040148,0.000179,0.008152,0.008961,1.052011,44.3,107.2,12.3,32,0.0075,0

PM_ACTIVECARD 0 IMPLIED_C_PITCH 2190,30.96,189,0.0,0.00

TM_FREEKB 7731968 IMPLIED_C_VBD 3038,49.655121,171,0

HUMID 53.88 GPS 240222,230355,1325.142,14440.020,34,1.0,35,0.0

TEMP 9.08 EOP_CODE CONTROL_FINISHED_OK

INTERNAL_PRESSURE 8.40482 RECOV_CODE NO_RECOVERY_REASON

_24V_AH 14.63,75.747 RESTART_TIME Sat Jan 1 00:01:02 2000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 696 1218 12426.60 SBE_CT 545 24 191.52

Pitch_motor 24 447 161.72 nil 0 0 0.00

Roll_motor 46 115 79.41 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 7 420 43.01 nil 0 0 0.00

GPS 43 15 9.52 nil 0 0 0.00

Core 448 6 44.70 SciCon 3022 27 1240.12

Fast 0 0 0.00 PMAR 3019 49 2170.79

Slow 0 0 0.00 TMICL 3002 18 814.48

LPSleep 1578 2 46.29

Compass 659 5 48.34

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

15.68 16386 -146.63 -0.88 0.00 500.3 463.8 536.9 134.0 2729.6 0.00 0.00 0 141.26 119.88 0.00 0.00 0.005 0.000 0.000 3146.34 3068.12 3224.56 133.62 2732.19 0 0 0 15.14 30.00 30.00

141.53 18983 -146.63 -0.88 -40.00 3147.1 3067.6 3226.6 133.7 2731.2 4.02 -4.66 12 177.21 12.53 9.54 2.21 0.006 0.448 0.029 3599.00 3491.94 3706.06 1945.25 1339.31 0 0 0 15.43 15.20 15.34

179.63 3205 -146.63 0.63 0.00 3598.8 3490.9 3706.7 1944.9 1336.6 8.52 -11.17 19 188.14 0.00 1.49 2.55 0.000 0.303 0.060 3600.25 3491.50 3709.00 2312.06 2842.75 0 0 0 30.00 15.24 15.28

370.87 4773 -146.63 -0.85 -40.00 3603.5 3491.1 3715.9 2312.1 2844.9 18.05 -6.15 39 378.75 0.00 1.20 2.46 0.000 0.164 0.032 3603.66 3490.88 3716.44 1954.12 1369.12 0 0 0 30.00 15.39 15.41

501.13 3205 -146.63 -0.37 0.00 3602.8 3490.4 3715.2 1952.9 1351.9 33.56 -14.86 65 511.24 0.00 0.50 2.53 0.000 0.286 0.058 3604.66 3491.88 3717.44 2070.00 2844.38 0 0 0 30.00 15.32 15.10

694.03 292 -146.63 -0.37 40.00 3603.7 3491.6 3715.7 2069.1 2844.8 52.87 -9.56 85 700.45 0.00 0.00 1.92 0.000 0.000 0.062 3604.44 3492.94 3715.94 2061.94 3975.62 0 0 0 30.00 30.00 15.57

758.64 5285 -146.63 -0.58 0.00 3602.7 3491.3 3714.1 2062.2 3976.0 58.43 -8.20 98 765.80 0.00 0.14 1.98 0.000 0.058 0.020 3602.66 3490.50 3714.81 1976.31 2765.06 0 0 0 30.00 15.39 15.49

954.95 2437 -146.63 -0.10 40.00 3603.5 3491.4 3715.6 1975.2 2749.8 89.21 -16.03 118 962.01 0.00 0.60 2.11 0.000 0.255 0.063 3603.34 3489.38 3717.31 2129.44 3974.19 0 0 0 30.00 15.41 15.47

994.36 5253 -146.63 -0.40 0.00 3603.8 3490.9 3716.8 2128.4 3974.6 92.21 -10.18 126 1001.59 0.00 0.22 1.96 0.000 0.085 0.023 3603.56 3491.62 3715.50 2043.00 2764.12 0 0 0 30.00 15.49 15.59

1190.17 2725 -146.63 -0.36 -40.00 3603.7 3491.9 3715.4 2043.1 2748.8 109.67 -9.11 146 1197.26 0.00 0.12 2.28 0.000 0.220 0.028 3602.53 3490.44 3714.62 2076.31 1363.81 0 0 0 30.00 15.31 15.36

1229.63 5285 -146.63 -0.59 0.00 3603.4 3491.2 3715.5 2075.9 1346.0 112.74 -8.21 154 1236.89 0.00 0.16 2.56 0.000 0.051 0.063 3603.91 3492.38 3715.44 1954.12 2842.94 0 0 0 30.00 15.51 15.58

1425.00 2437 -146.63 -0.02 40.00 3603.6 3491.9 3715.2 1954.0 2842.6 146.07 -18.54 174 1432.59 0.00 0.76 1.90 0.000 0.267 0.059 3602.38 3490.06 3714.69 2147.38 3976.69 0 0 0 30.00 15.27 15.36

1501 end dive: TARGET_DEPTH_EXCEEDED

state 1501 begin apogee

1503.86 12291 0.00 -0.20 0.00 3604.3 3493.2 3715.4 2155.9 2568.4 150.20 -5.52 189 1624.23 115.08 0.19 0.14 1.219 0.215 0.116 3000.47 2884.25 3116.69 2103.50 2657.62 0 0 0 11.66 15.44 15.14

1627 end apogee: CONTROL_FINISHED_OK

state 1627 begin climb

1626.80 10759 146.63 0.88 -40.00 2997.2 2881.4 3112.9 2104.1 2658.4 155.98 0.00 201 1747.60 110.21 0.93 2.54 1.192 0.179 0.035 2399.25 2298.88 2499.62 2387.81 1173.06 0 0 0 11.90 15.24 15.02

1804.11 21639 146.63 0.72 0.00 2394.1 2297.9 2490.2 2388.2 1152.1 139.51 12.17 233 1810.94 0.00 0.22 2.57 0.000 0.225 0.058 2395.56 2300.62 2490.50 2328.88 2642.69 0 0 0 30.00 15.23 15.35

1998.41 16774 146.63 0.63 40.00 2392.6 2294.8 2490.3 2328.6 2643.2 117.69 10.55 253 2004.83 0.00 0.00 2.31 0.000 0.000 0.062 2394.12 2296.19 2492.06 2327.56 3973.75 0 0 0 30.00 30.00 15.13

2078.36 21639 146.63 0.54 0.00 2390.3 2294.8 2485.9 2328.4 3974.1 108.43 11.23 269 2084.91 0.00 0.19 2.33 0.000 0.219 0.032 2391.56 2295.81 2487.31 2282.50 2584.12 0 0 0 30.00 15.38 15.59

2268.39 10663 203.88 0.82 40.00 2390.5 2294.2 2486.8 2283.4 2565.2 94.37 7.35 289 2321.32 43.65 0.22 2.45 1.113 0.044 0.063 2169.44 2060.12 2278.75 2389.31 3974.19 0 0 0 11.73 15.49 15.32

2333.65 5253 203.88 0.41 0.00 2164.7 2058.1 2271.2 2389.0 3973.8 84.27 18.28 302 2340.96 0.00 0.54 2.36 0.000 0.248 0.035 2166.47 2060.12 2272.81 2254.00 2584.62 0 0 0 30.00 15.28 15.40

2529.11 10663 312.07 1.04 40.00 2160.7 2053.4 2268.1 2254.1 2566.5 72.54 4.99 322 2617.31 80.47 0.44 2.45 1.103 0.027 0.061 1727.88 1635.62 1820.12 2454.25 3972.12 0 0 0 11.83 15.48 15.20

2650.01 5253 312.07 0.70 0.00 1723.2 1635.1 1811.4 2452.5 3973.1 46.80 23.53 346 2657.82 0.00 0.52 2.36 0.000 0.243 0.036 1725.09 1635.88 1814.31 2320.56 2585.81 0 0 0 30.00 15.26 15.22

2845.11 10403 341.90 1.01 0.00 1719.1 1633.5 1804.8 2321.6 2567.2 27.52 8.62 366 2872.97 23.51 0.24 0.00 0.991 0.043 0.000 1608.00 1524.38 1691.62 2435.50 2566.44 0 0 0 11.79 15.41 30.00

2996 end climb: SURFACE_DEPTH_REACHED

state 2996 begin surface coast

3016 end surface coast: CONTROL_FINISHED_OK

state 3016 begin surface

ID	526	TGT_AUTO_DEFAULT	0	VBD_MIN	500	MOTHERBOARD	6
MISSION	3	SM_CC	676.83997	VBD_MAX	3960	DEVICE1	10
DIVE	5	N_FILEKB	8	C_VBD	3000	DEVICE2	-1
N_DIVES	5	FILEMGR	0	VBD_DBAND	2	DEVICE3	-1
STOP_T	0	CALL_NDIVES	1	VBD_CNV	-0.24529999	DEVICE4	-1
D_SURF	2	COMM_SEQ	7	VBD_LP_IGNORE	0	DEVICE5	-1
D_FLARE	3	PROTOCOL	9	VBD_TIMEOUT	720	DEVICE6	-1
D_TGT	150	N_NOCOMM	1	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	7
D_ABORT	175	NOCOMM_ACTION	163	UNCOM_BLEED	20	LOGGERDEVICE1	6
D_NO_BLEED	50	N_NOSURFACE	0	VBD_MAXERRORS	1	LOGGERDEVICE2	33
D_BOOST	3	UPLOAD_DIVES_MAX	-1	C_VBD_AUTO_DELTA	0	LOGGERDEVICE3	19
T_BOOST	0	CALL_TRIES	5	C_VBD_AUTO_MAX	0	LOGGERDEVICE4	-1
D_FINISH	0	CALL_WAIT	60	W_ADJ_DBAND	0	COMPASS_DEVICE	34
D_PITCH	0	CAPUPLOAD	0	DBDW	0	COMPASS2_DEVICE	-1
D_SAFE	0	CAPMAXSIZE	100000	LOITER_W_DBAND	0	PHONE_DEVICE	33
D_CALL	0	T_GPS	5	LOITER_DBDW	0	GPS_DEVICE	48
SURFACE_URGENCY	0	N_GPS	100440	LOITER_D_TOP	0	RAFOS_DEVICE	-1
SURFACE_URGENCY_TRY	0	T_RSLEEP	3	LOITER_D_BOTTOM	0	NAV_DEVICE	-1
SURFACE_URGENCY_FORCE	0	STROBE	0	LOITER_N_DIVE	0	NAV2_DEVICE	-1
T_DIVE	50	RAFOS_PEAK_OFFSET	0	CF8_MAXERRORS	20	NETWORK_DEVICE	-1
T_MISSION	65	RAFOS_CORR_THRESH	60	AH0_24V	350	PRESSURE_DEVICE	41
T_ABORT	1440	RAFOS_HIT_WINDOW	3600	AH0_10V	0	XPDR_DEVICE	21
T_TURN	225	RAFOS_MMODEM	0	MINV_24V	11	SIM_W	0
T_TURN_SAMPINT	-5	PITCH_MIN	150	MINV_10V	11	SEABIRD_T_G	0.00441493
T_NO_W	120	PITCH_MAX	3615	MAXI_24V	4.8000002	SEABIRD_T_H	0.00064107013
T_LOITER	0	C_PITCH	2160	MAXI_10V	1.5	SEABIRD_T_I	2.576065e-05
T_EPIRB	0	PITCH_DBAND	0.1	FG_AHR_10V	74.842056	SEABIRD_T_J	3.1402324e-06
USE_BATHY	-6	PITCH_CNV	0.0041299998	FG_AHR_24V	46.397991	SEABIRD_C_G	-9.799654
USE_ICE	0	PITCH_GAIN	25	PHONE_SUPPLY	2	SEABIRD_C_H	1.0727782
ICE_FREEZE_MARGIN	0.30000001	PITCH_TIMEOUT	30	PRESSURE_YINT	-160.29816	SEABIRD_C_I	-0.0026193932
D_OFFGRID	100	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00022843899	SEABIRD_C_J	0.00026435545
RELAUNCH	1	PITCH_ADJ_GAIN	0.045000002	COMPASS_USE	16388	OPTIONS	0
APOGEE_PITCH	-5	PITCH_ADJ_DBAND	1	ALTIM_PING_FIT	0	SC_RECORDABOVE	2000.0
MAX_BUOY	150	C_PITCH_AUTO_DELTA	0	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	7.0
GLIDE_SLOPE	30	C_PITCH_AUTO_MAX	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_XMITPROFILE	7.0
SPEED_FACTOR	1	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_TURN_MARGIN	0	SC_NDIVE	1.0
RHO	1.023	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_MIN_OBSTACLE	0	PM_RECORDABOVE	2000.0
MASS	56248	PITCH_W_GAIN	0	ALTIM_PING_DEPTH	0	PM_PROFILE	7.0
NAV_MODE	2	PITCH_W_DBAND	0	ALTIM_PING_DELTA	0	PM_XMITPROFILE	7.0
FERRY_MAX	45	ROLL_MIN	380	ALTIM_FREQUENCY	13	PM_NDIVE	1.0
KALMAN_USE	2	ROLL_MAX	3950	ALTIM_PULSE	3	PM_XMITRAW	0.0
HD_A	0.003	ROLL_DEG	40	ALTIM_SENSITIVITY	2	PM_MOTORS	1.0
HD_B	0.0099999998	C_ROLL_DIVE	2820	XPDR_VALID	4	PM_SENDDEPTH	1.0
HD_C	1.6e-05	C_ROLL_CLIMB	2620	XPDR_INHIBIT	90	TM_RECORDABOVE	2000.0
HEADING	-1	HEAD_ERRBAND	10	XPDR_INT	0	TM_PROFILE	3.0
ESCAPE_HEADING	0	ROLL_CNV	0.028270001	XPDR_REP	0	TM_XMITPROFILE	3.0
ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	1.9639999e-06	TM_NDIVE	1.0
FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	-1	TM_XMITRAW	0.0
TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	DEEPGLIDER	0	TM_LOGSAMPLE	0.0
TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0

GPS1	140122,211503,4744.047,-12223.907,31,1.0,32,15.5	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.59	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140122,211703,4744.054,-12223.908,33,1.0,34,15.5	MHEAD_RNG_PITCHd_Wd	169.8,1955,-17.6,-10.000,-21.21,2209,0.167
SPEED_LIMITS	0.173,0.258	D_GRID	170
TGT_NAME	SE	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,42.000000,107.000000,9.000000
TGT_LATLONG	4743.000,-12224.000

WARN	HSCICON missed fuel gauge read	_10V_AH	14.66,0.000
FINISH	-0.3,1.008700	FG_AHR_24Vo	46.575
SM_CCo	17.05,0.00,0.012,0,500.9,434.7,567.2,613.02	FG_AHR_10Vo	74.933
SM_GC	0.47,0.00,1.31,0.19,0.012,0.054,0.053,500.9,434.7,567.2,128.2,2685.2,0,0,0,30.36,15.95,15.98	MEM0	60140,1,0,0
SUPER	19,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	4743.02,-12222.38,140122,211045	MEM2	995540,17,51248,72
TCM_TEMP	17.60	DATA_FILE_SIZE	12986,383
XPDR_PINGS	28,14.5,10.5	CAP_FILE_SIZE	180549,0
SC_FREEKB	3876224	SDSIZE	3887104,3876032
PM_FREEKB_00	124482624	SDFILEDIR	65,1
PM_FREEKB_01	124834368	ERRORS	0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0
PM_FREEKB_02	124835200	CURRENT	0.037, 41.3,1
PM_FREEKB_03	124835200	MAGCAL	1.000000,0.009271,-0.001925,0.006935,1.040148,0.000179,0.008152,0.008961,1.052011,44.3,107.2,12.3,32,0.0075,0
PM_ACTIVECARD	0	IMPLIED_C_PITCH	2190,30.96,189,0.0,0.00
TM_FREEKB	7731968	IMPLIED_C_VBD	3038,49.655121,171,0
HUMID	53.88	GPS	240222,230355,1325.142,14440.020,34,1.0,35,0.0
TEMP	9.08	EOP_CODE	CONTROL_FINISHED_OK
INTERNAL_PRESSURE	8.40482	RECOV_CODE	NO_RECOVERY_REASON
_24V_AH	14.63,75.747	RESTART_TIME	Sat Jan 1 00:01:02 2000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	696	1218	12426.60	SBE_CT	545	24	191.52
Pitch_motor	24	447	161.72	nil	0	0	0.00
Roll_motor	46	115	79.41	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	7	420	43.01	nil	0	0	0.00
GPS	43	15	9.52	nil	0	0	0.00
Core	448	6	44.70	SciCon	3022	27	1240.12
Fast	0	0	0.00	PMAR	3019	49	2170.79
Slow	0	0	0.00	TMICL	3002	18	814.48
LPSleep	1578	2	46.29
Compass	659	5	48.34
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
15.68	16386	-146.63	-0.88	0.00	500.3	463.8	536.9	134.0	2729.6	0.00	0.00	0	141.26	119.88	0.00	0.00	0.005	0.000	0.000	3146.34	3068.12	3224.56	133.62	2732.19	0	0	0	15.14	30.00	30.00
141.53	18983	-146.63	-0.88	-40.00	3147.1	3067.6	3226.6	133.7	2731.2	4.02	-4.66	12	177.21	12.53	9.54	2.21	0.006	0.448	0.029	3599.00	3491.94	3706.06	1945.25	1339.31	0	0	0	15.43	15.20	15.34
179.63	3205	-146.63	0.63	0.00	3598.8	3490.9	3706.7	1944.9	1336.6	8.52	-11.17	19	188.14	0.00	1.49	2.55	0.000	0.303	0.060	3600.25	3491.50	3709.00	2312.06	2842.75	0	0	0	30.00	15.24	15.28
370.87	4773	-146.63	-0.85	-40.00	3603.5	3491.1	3715.9	2312.1	2844.9	18.05	-6.15	39	378.75	0.00	1.20	2.46	0.000	0.164	0.032	3603.66	3490.88	3716.44	1954.12	1369.12	0	0	0	30.00	15.39	15.41
501.13	3205	-146.63	-0.37	0.00	3602.8	3490.4	3715.2	1952.9	1351.9	33.56	-14.86	65	511.24	0.00	0.50	2.53	0.000	0.286	0.058	3604.66	3491.88	3717.44	2070.00	2844.38	0	0	0	30.00	15.32	15.10
694.03	292	-146.63	-0.37	40.00	3603.7	3491.6	3715.7	2069.1	2844.8	52.87	-9.56	85	700.45	0.00	0.00	1.92	0.000	0.000	0.062	3604.44	3492.94	3715.94	2061.94	3975.62	0	0	0	30.00	30.00	15.57
758.64	5285	-146.63	-0.58	0.00	3602.7	3491.3	3714.1	2062.2	3976.0	58.43	-8.20	98	765.80	0.00	0.14	1.98	0.000	0.058	0.020	3602.66	3490.50	3714.81	1976.31	2765.06	0	0	0	30.00	15.39	15.49
954.95	2437	-146.63	-0.10	40.00	3603.5	3491.4	3715.6	1975.2	2749.8	89.21	-16.03	118	962.01	0.00	0.60	2.11	0.000	0.255	0.063	3603.34	3489.38	3717.31	2129.44	3974.19	0	0	0	30.00	15.41	15.47
994.36	5253	-146.63	-0.40	0.00	3603.8	3490.9	3716.8	2128.4	3974.6	92.21	-10.18	126	1001.59	0.00	0.22	1.96	0.000	0.085	0.023	3603.56	3491.62	3715.50	2043.00	2764.12	0	0	0	30.00	15.49	15.59
1190.17	2725	-146.63	-0.36	-40.00	3603.7	3491.9	3715.4	2043.1	2748.8	109.67	-9.11	146	1197.26	0.00	0.12	2.28	0.000	0.220	0.028	3602.53	3490.44	3714.62	2076.31	1363.81	0	0	0	30.00	15.31	15.36
1229.63	5285	-146.63	-0.59	0.00	3603.4	3491.2	3715.5	2075.9	1346.0	112.74	-8.21	154	1236.89	0.00	0.16	2.56	0.000	0.051	0.063	3603.91	3492.38	3715.44	1954.12	2842.94	0	0	0	30.00	15.51	15.58
1425.00	2437	-146.63	-0.02	40.00	3603.6	3491.9	3715.2	1954.0	2842.6	146.07	-18.54	174	1432.59	0.00	0.76	1.90	0.000	0.267	0.059	3602.38	3490.06	3714.69	2147.38	3976.69	0	0	0	30.00	15.27	15.36
1501	end dive: TARGET_DEPTH_EXCEEDED
state	1501	begin apogee
1503.86	12291	0.00	-0.20	0.00	3604.3	3493.2	3715.4	2155.9	2568.4	150.20	-5.52	189	1624.23	115.08	0.19	0.14	1.219	0.215	0.116	3000.47	2884.25	3116.69	2103.50	2657.62	0	0	0	11.66	15.44	15.14
1627	end apogee: CONTROL_FINISHED_OK
state	1627	begin climb
1626.80	10759	146.63	0.88	-40.00	2997.2	2881.4	3112.9	2104.1	2658.4	155.98	0.00	201	1747.60	110.21	0.93	2.54	1.192	0.179	0.035	2399.25	2298.88	2499.62	2387.81	1173.06	0	0	0	11.90	15.24	15.02
1804.11	21639	146.63	0.72	0.00	2394.1	2297.9	2490.2	2388.2	1152.1	139.51	12.17	233	1810.94	0.00	0.22	2.57	0.000	0.225	0.058	2395.56	2300.62	2490.50	2328.88	2642.69	0	0	0	30.00	15.23	15.35
1998.41	16774	146.63	0.63	40.00	2392.6	2294.8	2490.3	2328.6	2643.2	117.69	10.55	253	2004.83	0.00	0.00	2.31	0.000	0.000	0.062	2394.12	2296.19	2492.06	2327.56	3973.75	0	0	0	30.00	30.00	15.13
2078.36	21639	146.63	0.54	0.00	2390.3	2294.8	2485.9	2328.4	3974.1	108.43	11.23	269	2084.91	0.00	0.19	2.33	0.000	0.219	0.032	2391.56	2295.81	2487.31	2282.50	2584.12	0	0	0	30.00	15.38	15.59
2268.39	10663	203.88	0.82	40.00	2390.5	2294.2	2486.8	2283.4	2565.2	94.37	7.35	289	2321.32	43.65	0.22	2.45	1.113	0.044	0.063	2169.44	2060.12	2278.75	2389.31	3974.19	0	0	0	11.73	15.49	15.32
2333.65	5253	203.88	0.41	0.00	2164.7	2058.1	2271.2	2389.0	3973.8	84.27	18.28	302	2340.96	0.00	0.54	2.36	0.000	0.248	0.035	2166.47	2060.12	2272.81	2254.00	2584.62	0	0	0	30.00	15.28	15.40
2529.11	10663	312.07	1.04	40.00	2160.7	2053.4	2268.1	2254.1	2566.5	72.54	4.99	322	2617.31	80.47	0.44	2.45	1.103	0.027	0.061	1727.88	1635.62	1820.12	2454.25	3972.12	0	0	0	11.83	15.48	15.20
2650.01	5253	312.07	0.70	0.00	1723.2	1635.1	1811.4	2452.5	3973.1	46.80	23.53	346	2657.82	0.00	0.52	2.36	0.000	0.243	0.036	1725.09	1635.88	1814.31	2320.56	2585.81	0	0	0	30.00	15.26	15.22
2845.11	10403	341.90	1.01	0.00	1719.1	1633.5	1804.8	2321.6	2567.2	27.52	8.62	366	2872.97	23.51	0.24	0.00	0.991	0.043	0.000	1608.00	1524.38	1691.62	2435.50	2566.44	0	0	0	11.79	15.41	30.00
2996	end climb: SURFACE_DEPTH_REACHED
state	2996	begin surface coast
3016	end surface coast: CONTROL_FINISHED_OK
state	3016	begin surface