Glider dive log

NORSE Oct22 * SG234 * Dive index * Mission links * Dive 50 * 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 50 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 3 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 21.120291 SEABIRD_T_G 0.0044182916

MAX_BUOY 200 PITCH_MAXERRORS 1 FG_AHR_24V 28.757442 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 3 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 21.120291 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 28.757442 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 50 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 271022,195757,7051.187,-623.579,3,0.9,8,-5.0 TGT_RADIUS 1000.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.01 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -50.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 271022,200534,7051.233,-623.478,4,1.2,12,-5.0 MHEAD_RNG_PITCHd_Wd 210.9,1462,-21.4,-12.121,-24.36,1740,0.385

SPEED_LIMITS 0.210,0.313 D_GRID 669

TGT_NAME PICKUP IRON 1.000000,-0.051454,-0.019864,-0.075070,1.095194,-0.049316,-0.024488,-0.039592,1.063816,-1068.962891,-1108.617798,-374.864410

TGT_LATLONG 7050.470,-624.100

Post-dive calculations and measurements:

FINISH -0.1,1.027629 MEM0 60148,1,0,0

SM_CCo 6869.69,536.14,1.221,0,501.1,564.6,437.6,612.98 MEM1 65508,1,0,0

SM_GC 1.10,536.14,15.27,0.71,1.221,0.070,0.099,501.1,564.6,437.6,185.7,2293.4,0,0,0,12.71,15.90,15.92 MEM2 968272,28,78736,50

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 22534,609

IRIDIUM_FIX 7051.37,-621.14,271022,195846 CAP_FILE_SIZE 248005,0

TCM_TEMP 8.32 SDSIZE 3887104,3863552

XPDR_PINGS 1,12.5,11.5 SDFILEDIR 266,1

HUMID 75.31 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 3.54 CURRENT 0.116, 22.1,1

INTERNAL_PRESSURE 7.88068 MAGCAL 1.000000,-0.084110,-0.073638,-0.047507,1.098684,-0.265974,-0.070575,0.077258,0.717008,-972.3,-834.9,94.1,29,0.1451,0

_24V_AH 14.51,20.966 IMPLIED_C_PITCH 2235,13.79,417,0.0,0.00

_10V_AH 14.57,0.000 IMPLIED_C_VBD 2959,24.587019,417,0

FG_AHR_24Vo 29.101 GPS 271022,220054,7050.879,-624.246,17,2.0,32,-5.0

FG_AHR_10Vo 21.141

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 1021 1776 26338.24 SBE_CT 751 24 261.70

Pitch_motor 34 293 147.48 nil 0 0 0.00

Roll_motor 76 243 270.62 nil 0 0 0.00

Iridium 285 182 754.73 nil 0 0 0.00

Transponder_ping 0 420 1.52 nil 0 0 0.00

GPS 21 15 4.66 nil 0 0 0.00

Core 2190 6 217.06 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 4569 2 133.17

Compass 879 5 64.06

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

2 end surface: CONTROL_FINISHED_OK

state 2 begin dive

2.24 16386 -138.60 -1.60 0.00 496.3 558.2 434.4 185.4 2252.6 0.00 0.00 0 187.43 184.59 0.00 0.00 0.005 0.000 0.000 3457.84 3501.94 3413.75 185.50 2252.38 0 0 0 14.79 30.00 30.00

187.68 18727 -165.09 -1.63 80.00 3457.9 3502.2 3413.6 185.4 2251.8 3.79 -10.56 18 217.97 6.84 13.68 3.19 0.008 0.294 0.167 3672.31 3739.25 3605.38 1805.12 3354.12 0 0 0 15.73 15.67 15.70

445.48 3205 -165.09 -1.53 0.00 3675.1 3743.9 3606.2 1804.5 3354.5 54.01 -16.60 70 451.02 0.00 0.18 2.79 0.000 0.218 0.075 3676.44 3744.56 3608.31 1830.19 2259.25 0 0 0 30.00 15.76 15.83

635.48 260 -165.09 -1.53 80.00 3676.0 3745.4 3606.7 1829.7 2259.3 75.87 -13.64 90 641.05 0.00 0.00 3.11 0.000 0.000 0.156 3676.31 3745.31 3607.31 1829.38 3356.00 0 0 0 30.00 30.00 15.85

805.53 1156 -165.09 -1.48 0.00 3676.2 3745.6 3606.9 1830.1 3355.7 102.45 -14.93 124 811.00 0.00 0.00 2.78 0.000 0.000 0.073 3676.53 3745.88 3607.19 1830.25 2257.56 0 0 0 30.00 30.00 15.91

1115.52 516 -165.09 -1.48 -80.00 3677.4 3748.0 3606.9 1829.7 2256.9 144.65 -13.67 156 1121.31 0.00 0.00 4.07 0.000 0.000 0.165 3677.12 3747.88 3606.38 1829.38 818.19 0 0 0 30.00 30.00 15.88

1180.46 3205 -165.09 -1.41 0.00 3677.2 3747.8 3606.6 1829.9 818.2 154.25 -15.04 169 1186.36 0.00 0.20 3.78 0.000 0.212 0.085 3676.91 3747.44 3606.38 1858.88 2291.19 0 0 0 30.00 15.89 15.95

1495.54 0 -165.09 -1.41 0.00 3678.0 3749.5 3606.4 1858.7 2291.1 193.02 -12.33 201 1496.88 0.00 0.00 0.00 0.000 0.000 0.000 3677.75 3749.81 3605.69 1858.69 2290.94 0 0 0 30.00 30.00 30.00

1805.56 0 -165.09 -1.41 0.00 3678.4 3750.4 3606.4 1859.1 2291.3 228.66 -12.36 232 1806.90 0.00 0.00 0.00 0.000 0.000 0.000 3677.78 3749.69 3605.88 1859.00 2291.62 0 0 0 30.00 30.00 30.00

2115.58 260 -165.09 -1.41 80.00 3678.4 3750.5 3606.4 1858.9 2290.9 270.05 -14.09 256 2121.09 0.00 0.00 2.98 0.000 0.000 0.168 3679.91 3751.06 3608.75 1859.00 3354.12 0 0 0 30.00 30.00 16.01

2170.49 1028 -165.09 -1.41 0.00 3678.7 3750.7 3606.7 1859.1 3354.0 278.41 -14.91 267 2176.16 0.00 0.00 2.74 0.000 0.000 0.075 3679.12 3751.12 3607.12 1858.94 2258.62 0 0 0 30.00 30.00 16.04

2495.60 32 -166.35 -1.41 0.00 3678.8 3750.9 3606.7 1859.2 2258.1 318.82 -12.05 284 2496.94 0.00 0.00 0.00 0.000 0.000 0.000 3677.97 3750.38 3605.56 1859.00 2258.31 0 0 0 30.00 30.00 30.00

2815.60 0 -166.35 -1.41 0.00 3678.5 3750.7 3606.4 1858.7 2258.5 357.41 -12.30 300 2816.94 0.00 0.00 0.00 0.000 0.000 0.000 3678.19 3749.75 3606.62 1859.00 2258.44 0 0 0 30.00 30.00 30.00

3135.66 516 -166.35 -1.41 -80.00 3678.4 3750.3 3606.4 1858.3 2258.4 398.67 -12.93 316 3141.35 0.00 0.00 4.11 0.000 0.000 0.174 3678.50 3750.69 3606.31 1859.50 819.19 0 0 0 30.00 30.00 16.05

3151 end dive: TARGET_DEPTH_EXCEEDED

state 3151 begin apogee

3154.83 10243 0.00 -0.33 0.00 3678.3 3750.4 3606.2 1859.4 2041.2 400.31 -13.63 319 3282.45 123.64 1.87 0.09 1.776 0.179 0.244 2997.31 3074.38 2920.25 2120.31 2008.50 0 0 0 12.87 16.04 15.34

3283 end apogee: CONTROL_FINISHED_OK

state 3283 begin climb

3282.98 10243 166.35 1.63 0.00 2998.2 3075.1 2921.4 2120.1 2007.8 406.84 0.00 326 3416.72 128.34 3.41 0.00 1.728 0.128 0.000 2318.06 2404.62 2231.50 2598.62 2007.44 0 0 0 12.35 15.38 30.00

3719.30 16902 166.35 1.63 -80.00 2306.1 2392.4 2219.8 2598.3 2007.8 356.48 15.00 348 3724.94 0.00 0.00 3.84 0.000 0.000 0.168 2306.22 2392.25 2220.19 2599.25 692.38 0 0 0 30.00 30.00 15.65

3764.18 17414 166.35 1.63 0.00 2305.7 2391.6 2219.8 2598.2 692.0 348.73 17.23 357 3769.83 0.00 0.00 3.42 0.000 0.000 0.076 2305.84 2391.81 2219.88 2598.62 2041.38 0 0 0 30.00 30.00 15.71

4079.23 16646 166.35 1.63 80.00 2303.9 2389.2 2218.5 2598.1 2041.1 300.56 15.30 375 4084.88 0.00 0.00 3.66 0.000 0.000 0.148 2303.97 2389.06 2218.88 2597.75 3355.56 0 0 0 30.00 30.00 15.81

4119.24 17414 166.35 1.63 0.00 2303.4 2388.4 2218.4 2597.9 3355.1 293.73 17.44 383 4124.84 0.00 0.00 3.44 0.000 0.000 0.079 2306.19 2391.31 2221.06 2598.19 2006.44 0 0 0 30.00 30.00 15.83

4439.28 16646 166.35 1.63 80.00 2302.2 2387.4 2216.9 2598.4 2005.3 248.26 13.27 402 4444.94 0.00 0.00 3.75 0.000 0.000 0.142 2303.12 2388.62 2217.62 2597.94 3355.56 0 0 0 30.00 30.00 15.89

4489.27 17414 166.35 1.63 0.00 2301.2 2386.2 2216.2 2598.4 3355.1 240.92 15.39 412 4494.88 0.00 0.00 3.44 0.000 0.000 0.081 2302.72 2387.56 2217.88 2598.81 2009.44 0 0 0 30.00 30.00 15.91

4799.42 16386 166.35 1.63 0.00 2300.6 2386.1 2215.1 2598.1 2006.9 195.25 13.70 444 4800.76 0.00 0.00 0.00 0.000 0.000 0.000 2300.16 2385.81 2214.50 2598.19 2007.75 0 0 0 30.00 30.00 30.00

5109.40 16646 166.35 1.63 80.00 2299.9 2384.9 2214.9 2598.0 2007.6 151.55 14.57 475 5115.05 0.00 0.00 3.73 0.000 0.000 0.142 2301.59 2386.88 2216.31 2598.00 3355.38 0 0 0 30.00 30.00 15.97

5164.30 17414 166.35 1.63 0.00 2299.2 2383.9 2214.6 2598.1 3354.8 142.86 16.30 486 5170.11 0.00 0.00 3.40 0.000 0.000 0.081 2299.34 2384.19 2214.50 2597.75 2006.94 0 0 0 30.00 30.00 15.98

5479.52 16646 166.35 1.63 80.00 2299.1 2384.2 2213.9 2598.4 2005.7 99.96 12.60 518 5485.12 0.00 0.00 3.73 0.000 0.000 0.142 2299.34 2385.00 2213.69 2597.75 3356.62 0 0 0 30.00 30.00 15.99

5509.51 17414 166.35 1.63 0.00 2298.2 2382.8 2213.6 2597.7 3356.4 95.69 14.25 524 5515.06 0.00 0.00 3.42 0.000 0.000 0.079 2299.91 2384.38 2215.44 2598.94 2006.44 0 0 0 30.00 30.00 16.01

5699.46 16386 166.35 1.63 0.00 2298.2 2382.8 2213.6 2597.4 2005.5 70.94 12.32 544 5700.81 0.00 0.00 0.00 0.000 0.000 0.000 2297.16 2382.38 2211.94 2598.00 2005.75 0 0 0 30.00 30.00 30.00

5889.48 8226 189.48 1.66 0.00 2297.8 2382.4 2213.3 2598.2 2005.0 49.66 10.76 563 5933.32 42.40 0.00 0.00 1.413 0.000 0.000 2224.66 2308.50 2140.81 2598.44 2005.31 0 0 0 12.78 30.00 30.00

6119.54 292 189.95 1.66 80.00 2221.9 2305.8 2138.1 2598.2 2005.1 23.48 12.09 586 6125.13 0.00 0.00 3.78 0.000 0.000 0.140 2223.25 2307.25 2139.25 2598.75 3357.00 0 0 0 30.00 30.00 15.85

6149.47 1028 189.95 1.66 0.00 2221.0 2304.2 2137.9 2598.4 3357.8 19.55 13.12 592 6155.09 0.00 0.00 3.45 0.000 0.000 0.078 2221.78 2305.31 2138.25 2598.50 2008.69 0 0 0 30.00 30.00 15.87

6290 end climb: SURFACE_DEPTH_REACHED

state 6290 begin surface coast

6310 end surface coast: CONTROL_FINISHED_OK

state 6310 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	50	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	3	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	21.120291	SEABIRD_T_G	0.0044182916
MAX_BUOY	200	PITCH_MAXERRORS	1	FG_AHR_24V	28.757442	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	271022,195757,7051.187,-623.579,3,0.9,8,-5.0	TGT_RADIUS	1000.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.01	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-50.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	271022,200534,7051.233,-623.478,4,1.2,12,-5.0	MHEAD_RNG_PITCHd_Wd	210.9,1462,-21.4,-12.121,-24.36,1740,0.385
SPEED_LIMITS	0.210,0.313	D_GRID	669
TGT_NAME	PICKUP	IRON	1.000000,-0.051454,-0.019864,-0.075070,1.095194,-0.049316,-0.024488,-0.039592,1.063816,-1068.962891,-1108.617798,-374.864410
TGT_LATLONG	7050.470,-624.100

FINISH	-0.1,1.027629	MEM0	60148,1,0,0
SM_CCo	6869.69,536.14,1.221,0,501.1,564.6,437.6,612.98	MEM1	65508,1,0,0
SM_GC	1.10,536.14,15.27,0.71,1.221,0.070,0.099,501.1,564.6,437.6,185.7,2293.4,0,0,0,12.71,15.90,15.92	MEM2	968272,28,78736,50
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	22534,609
IRIDIUM_FIX	7051.37,-621.14,271022,195846	CAP_FILE_SIZE	248005,0
TCM_TEMP	8.32	SDSIZE	3887104,3863552
XPDR_PINGS	1,12.5,11.5	SDFILEDIR	266,1
HUMID	75.31	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	3.54	CURRENT	0.116, 22.1,1
INTERNAL_PRESSURE	7.88068	MAGCAL	1.000000,-0.084110,-0.073638,-0.047507,1.098684,-0.265974,-0.070575,0.077258,0.717008,-972.3,-834.9,94.1,29,0.1451,0
_24V_AH	14.51,20.966	IMPLIED_C_PITCH	2235,13.79,417,0.0,0.00
_10V_AH	14.57,0.000	IMPLIED_C_VBD	2959,24.587019,417,0
FG_AHR_24Vo	29.101	GPS	271022,220054,7050.879,-624.246,17,2.0,32,-5.0
FG_AHR_10Vo	21.141

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	1021	1776	26338.24	SBE_CT	751	24	261.70
Pitch_motor	34	293	147.48	nil	0	0	0.00
Roll_motor	76	243	270.62	nil	0	0	0.00
Iridium	285	182	754.73	nil	0	0	0.00
Transponder_ping	0	420	1.52	nil	0	0	0.00
GPS	21	15	4.66	nil	0	0	0.00
Core	2190	6	217.06	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	4569	2	133.17
Compass	879	5	64.06
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
2	end surface: CONTROL_FINISHED_OK
state	2	begin dive
2.24	16386	-138.60	-1.60	0.00	496.3	558.2	434.4	185.4	2252.6	0.00	0.00	0	187.43	184.59	0.00	0.00	0.005	0.000	0.000	3457.84	3501.94	3413.75	185.50	2252.38	0	0	0	14.79	30.00	30.00
187.68	18727	-165.09	-1.63	80.00	3457.9	3502.2	3413.6	185.4	2251.8	3.79	-10.56	18	217.97	6.84	13.68	3.19	0.008	0.294	0.167	3672.31	3739.25	3605.38	1805.12	3354.12	0	0	0	15.73	15.67	15.70
445.48	3205	-165.09	-1.53	0.00	3675.1	3743.9	3606.2	1804.5	3354.5	54.01	-16.60	70	451.02	0.00	0.18	2.79	0.000	0.218	0.075	3676.44	3744.56	3608.31	1830.19	2259.25	0	0	0	30.00	15.76	15.83
635.48	260	-165.09	-1.53	80.00	3676.0	3745.4	3606.7	1829.7	2259.3	75.87	-13.64	90	641.05	0.00	0.00	3.11	0.000	0.000	0.156	3676.31	3745.31	3607.31	1829.38	3356.00	0	0	0	30.00	30.00	15.85
805.53	1156	-165.09	-1.48	0.00	3676.2	3745.6	3606.9	1830.1	3355.7	102.45	-14.93	124	811.00	0.00	0.00	2.78	0.000	0.000	0.073	3676.53	3745.88	3607.19	1830.25	2257.56	0	0	0	30.00	30.00	15.91
1115.52	516	-165.09	-1.48	-80.00	3677.4	3748.0	3606.9	1829.7	2256.9	144.65	-13.67	156	1121.31	0.00	0.00	4.07	0.000	0.000	0.165	3677.12	3747.88	3606.38	1829.38	818.19	0	0	0	30.00	30.00	15.88
1180.46	3205	-165.09	-1.41	0.00	3677.2	3747.8	3606.6	1829.9	818.2	154.25	-15.04	169	1186.36	0.00	0.20	3.78	0.000	0.212	0.085	3676.91	3747.44	3606.38	1858.88	2291.19	0	0	0	30.00	15.89	15.95
1495.54	0	-165.09	-1.41	0.00	3678.0	3749.5	3606.4	1858.7	2291.1	193.02	-12.33	201	1496.88	0.00	0.00	0.00	0.000	0.000	0.000	3677.75	3749.81	3605.69	1858.69	2290.94	0	0	0	30.00	30.00	30.00
1805.56	0	-165.09	-1.41	0.00	3678.4	3750.4	3606.4	1859.1	2291.3	228.66	-12.36	232	1806.90	0.00	0.00	0.00	0.000	0.000	0.000	3677.78	3749.69	3605.88	1859.00	2291.62	0	0	0	30.00	30.00	30.00
2115.58	260	-165.09	-1.41	80.00	3678.4	3750.5	3606.4	1858.9	2290.9	270.05	-14.09	256	2121.09	0.00	0.00	2.98	0.000	0.000	0.168	3679.91	3751.06	3608.75	1859.00	3354.12	0	0	0	30.00	30.00	16.01
2170.49	1028	-165.09	-1.41	0.00	3678.7	3750.7	3606.7	1859.1	3354.0	278.41	-14.91	267	2176.16	0.00	0.00	2.74	0.000	0.000	0.075	3679.12	3751.12	3607.12	1858.94	2258.62	0	0	0	30.00	30.00	16.04
2495.60	32	-166.35	-1.41	0.00	3678.8	3750.9	3606.7	1859.2	2258.1	318.82	-12.05	284	2496.94	0.00	0.00	0.00	0.000	0.000	0.000	3677.97	3750.38	3605.56	1859.00	2258.31	0	0	0	30.00	30.00	30.00
2815.60	0	-166.35	-1.41	0.00	3678.5	3750.7	3606.4	1858.7	2258.5	357.41	-12.30	300	2816.94	0.00	0.00	0.00	0.000	0.000	0.000	3678.19	3749.75	3606.62	1859.00	2258.44	0	0	0	30.00	30.00	30.00
3135.66	516	-166.35	-1.41	-80.00	3678.4	3750.3	3606.4	1858.3	2258.4	398.67	-12.93	316	3141.35	0.00	0.00	4.11	0.000	0.000	0.174	3678.50	3750.69	3606.31	1859.50	819.19	0	0	0	30.00	30.00	16.05
3151	end dive: TARGET_DEPTH_EXCEEDED
state	3151	begin apogee
3154.83	10243	0.00	-0.33	0.00	3678.3	3750.4	3606.2	1859.4	2041.2	400.31	-13.63	319	3282.45	123.64	1.87	0.09	1.776	0.179	0.244	2997.31	3074.38	2920.25	2120.31	2008.50	0	0	0	12.87	16.04	15.34
3283	end apogee: CONTROL_FINISHED_OK
state	3283	begin climb
3282.98	10243	166.35	1.63	0.00	2998.2	3075.1	2921.4	2120.1	2007.8	406.84	0.00	326	3416.72	128.34	3.41	0.00	1.728	0.128	0.000	2318.06	2404.62	2231.50	2598.62	2007.44	0	0	0	12.35	15.38	30.00
3719.30	16902	166.35	1.63	-80.00	2306.1	2392.4	2219.8	2598.3	2007.8	356.48	15.00	348	3724.94	0.00	0.00	3.84	0.000	0.000	0.168	2306.22	2392.25	2220.19	2599.25	692.38	0	0	0	30.00	30.00	15.65
3764.18	17414	166.35	1.63	0.00	2305.7	2391.6	2219.8	2598.2	692.0	348.73	17.23	357	3769.83	0.00	0.00	3.42	0.000	0.000	0.076	2305.84	2391.81	2219.88	2598.62	2041.38	0	0	0	30.00	30.00	15.71
4079.23	16646	166.35	1.63	80.00	2303.9	2389.2	2218.5	2598.1	2041.1	300.56	15.30	375	4084.88	0.00	0.00	3.66	0.000	0.000	0.148	2303.97	2389.06	2218.88	2597.75	3355.56	0	0	0	30.00	30.00	15.81
4119.24	17414	166.35	1.63	0.00	2303.4	2388.4	2218.4	2597.9	3355.1	293.73	17.44	383	4124.84	0.00	0.00	3.44	0.000	0.000	0.079	2306.19	2391.31	2221.06	2598.19	2006.44	0	0	0	30.00	30.00	15.83
4439.28	16646	166.35	1.63	80.00	2302.2	2387.4	2216.9	2598.4	2005.3	248.26	13.27	402	4444.94	0.00	0.00	3.75	0.000	0.000	0.142	2303.12	2388.62	2217.62	2597.94	3355.56	0	0	0	30.00	30.00	15.89
4489.27	17414	166.35	1.63	0.00	2301.2	2386.2	2216.2	2598.4	3355.1	240.92	15.39	412	4494.88	0.00	0.00	3.44	0.000	0.000	0.081	2302.72	2387.56	2217.88	2598.81	2009.44	0	0	0	30.00	30.00	15.91
4799.42	16386	166.35	1.63	0.00	2300.6	2386.1	2215.1	2598.1	2006.9	195.25	13.70	444	4800.76	0.00	0.00	0.00	0.000	0.000	0.000	2300.16	2385.81	2214.50	2598.19	2007.75	0	0	0	30.00	30.00	30.00
5109.40	16646	166.35	1.63	80.00	2299.9	2384.9	2214.9	2598.0	2007.6	151.55	14.57	475	5115.05	0.00	0.00	3.73	0.000	0.000	0.142	2301.59	2386.88	2216.31	2598.00	3355.38	0	0	0	30.00	30.00	15.97
5164.30	17414	166.35	1.63	0.00	2299.2	2383.9	2214.6	2598.1	3354.8	142.86	16.30	486	5170.11	0.00	0.00	3.40	0.000	0.000	0.081	2299.34	2384.19	2214.50	2597.75	2006.94	0	0	0	30.00	30.00	15.98
5479.52	16646	166.35	1.63	80.00	2299.1	2384.2	2213.9	2598.4	2005.7	99.96	12.60	518	5485.12	0.00	0.00	3.73	0.000	0.000	0.142	2299.34	2385.00	2213.69	2597.75	3356.62	0	0	0	30.00	30.00	15.99
5509.51	17414	166.35	1.63	0.00	2298.2	2382.8	2213.6	2597.7	3356.4	95.69	14.25	524	5515.06	0.00	0.00	3.42	0.000	0.000	0.079	2299.91	2384.38	2215.44	2598.94	2006.44	0	0	0	30.00	30.00	16.01
5699.46	16386	166.35	1.63	0.00	2298.2	2382.8	2213.6	2597.4	2005.5	70.94	12.32	544	5700.81	0.00	0.00	0.00	0.000	0.000	0.000	2297.16	2382.38	2211.94	2598.00	2005.75	0	0	0	30.00	30.00	30.00
5889.48	8226	189.48	1.66	0.00	2297.8	2382.4	2213.3	2598.2	2005.0	49.66	10.76	563	5933.32	42.40	0.00	0.00	1.413	0.000	0.000	2224.66	2308.50	2140.81	2598.44	2005.31	0	0	0	12.78	30.00	30.00
6119.54	292	189.95	1.66	80.00	2221.9	2305.8	2138.1	2598.2	2005.1	23.48	12.09	586	6125.13	0.00	0.00	3.78	0.000	0.000	0.140	2223.25	2307.25	2139.25	2598.75	3357.00	0	0	0	30.00	30.00	15.85
6149.47	1028	189.95	1.66	0.00	2221.0	2304.2	2137.9	2598.4	3357.8	19.55	13.12	592	6155.09	0.00	0.00	3.45	0.000	0.000	0.078	2221.78	2305.31	2138.25	2598.50	2008.69	0	0	0	30.00	30.00	15.87
6290	end climb: SURFACE_DEPTH_REACHED
state	6290	begin surface coast
6310	end surface coast: CONTROL_FINISHED_OK
state	6310	begin surface