Glider dive log

NORSE Oct22 * SG234 * Dive index * Mission links * Dive 52 * 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 52 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 21.182152 SEABIRD_T_G 0.0044182916

MAX_BUOY 200 PITCH_MAXERRORS 1 FG_AHR_24V 29.438793 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 21.182152 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 29.438793 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 52 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 271022,233646,7050.465,-623.918,12,1.4,19,-5.0 TGT_RADIUS 1000.000

_CALLS 5 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.06 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 271022,234900,7050.518,-623.831,3,1.4,12,-5.0 MHEAD_RNG_PITCHd_Wd 220.8,185,-27.5,-12.121,-30.00,1068,0.315

SPEED_LIMITS 0.210,0.313 D_GRID 583

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 -0.3,1.020524 MEM0 60148,1,0,0

SM_CCo 5696.02,584.82,1.216,0,501.0,562.8,439.2,613.00 MEM1 65508,1,0,0

SM_GC 1.12,584.82,15.69,0.60,1.216,0.070,0.104,501.0,562.8,439.2,184.4,2294.1,0,0,0,12.75,16.01,16.03 MEM2 968328,25,78740,50

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 19384,517

IRIDIUM_FIX 7050.91,-634.17,271022,234503 CAP_FILE_SIZE 205796,0

TCM_TEMP 7.05 SDSIZE 3887104,3863296

XPDR_PINGS 4,12.5,11.5 SDFILEDIR 274,1

HUMID 76.27 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 3.23 CURRENT 0.049, 5.8,1

INTERNAL_PRESSURE 7.87132 MAGCAL 1.000000,-0.010521,-0.076347,-0.080902,1.043773,-0.225031,-0.017124,-0.008004,0.730825,-1004.3,-870.0,80.7,34,0.1014,0

_24V_AH 14.52,21.642 IMPLIED_C_PITCH 2239,14.13,330,0.0,0.00

_10V_AH 14.58,0.000 IMPLIED_C_VBD 2886,15.496157,330,0

FG_AHR_24Vo 29.760 GPS 281022,012445,7050.205,-625.241,25,1.1,32,-5.0

FG_AHR_10Vo 21.199

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 994 1776 25661.31 SBE_CT 599 24 208.91

Pitch_motor 35 307 159.21 nil 0 0 0.00

Roll_motor 40 251 149.52 nil 0 0 0.00

Iridium 446 148 961.83 nil 0 0 0.00

Transponder_ping 1 420 6.10 nil 0 0 0.00

GPS 21 15 4.67 nil 0 0 0.00

Core 2014 6 199.72 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 3800 2 110.82

Compass 751 5 54.78

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

2.24 16386 -84.69 -1.94 0.00 496.0 558.0 434.0 184.5 2251.7 0.00 0.00 0 181.44 177.24 0.00 0.12 0.005 0.000 0.252 3343.22 3387.62 3298.81 185.00 2294.75 0 0 0 14.66 30.00 15.76

181.69 18727 -146.32 -2.01 80.00 3343.1 3388.9 3297.3 184.8 2294.8 2.81 -6.19 17 212.78 8.99 13.02 3.04 0.007 0.307 0.165 3597.25 3663.25 3531.25 1711.69 3356.62 0 0 0 15.78 15.71 15.72

440.30 3205 -146.32 -1.91 0.00 3598.9 3665.9 3531.9 1712.1 3355.4 63.03 -20.82 69 445.84 0.00 0.20 2.79 0.000 0.228 0.072 3600.91 3668.12 3533.69 1738.81 2259.88 0 0 0 30.00 15.80 15.87

630.30 260 -146.32 -1.91 80.00 3599.7 3667.0 3532.4 1738.8 2259.4 96.18 -17.64 89 635.87 0.00 0.00 3.11 0.000 0.000 0.153 3599.88 3667.00 3532.75 1739.31 3355.06 0 0 0 30.00 30.00 15.87

865.30 1156 -146.32 -1.82 0.00 3599.9 3667.6 3532.2 1738.8 3354.6 147.70 -22.81 136 870.96 0.00 0.00 2.78 0.000 0.000 0.073 3600.53 3667.62 3533.44 1738.88 2262.31 0 0 0 30.00 30.00 15.94

1180.44 260 -146.32 -1.82 80.00 3600.5 3668.9 3532.1 1739.4 2262.2 202.27 -16.69 168 1185.98 0.00 0.00 3.09 0.000 0.000 0.156 3600.25 3668.69 3531.81 1738.81 3354.62 0 0 0 30.00 30.00 15.94

1265.38 3205 -146.32 -1.76 0.00 3600.5 3668.7 3532.3 1738.6 3354.1 218.87 -20.13 185 1271.12 0.00 0.26 2.78 0.000 0.223 0.075 3601.69 3669.62 3533.75 1773.56 2261.31 0 0 0 30.00 15.91 15.98

1580.50 0 -146.32 -1.76 0.00 3601.3 3670.3 3532.2 1773.8 2261.1 269.69 -15.22 211 1581.85 0.00 0.00 0.00 0.000 0.000 0.000 3601.62 3670.88 3532.38 1774.38 2261.19 0 0 0 30.00 30.00 30.00

1900.51 0 -146.32 -1.76 0.00 3601.5 3670.8 3532.1 1774.2 2261.0 316.78 -14.80 227 1901.85 0.00 0.00 0.00 0.000 0.000 0.000 3601.31 3671.25 3531.38 1774.12 2261.19 0 0 0 30.00 30.00 30.00

2220.54 0 -146.32 -1.76 0.00 3601.5 3670.9 3532.1 1774.0 2261.2 364.18 -14.80 243 2221.88 0.00 0.00 0.00 0.000 0.000 0.000 3600.69 3670.19 3531.19 1774.06 2260.69 0 0 0 30.00 30.00 30.00

2441 end dive: TARGET_DEPTH_EXCEEDED

state 2441 begin apogee

2442.39 10243 0.00 -0.33 0.00 3601.4 3670.8 3532.0 1774.1 2007.9 400.67 -17.50 254 2556.65 110.07 2.49 0.09 1.777 0.191 0.237 2997.53 3074.69 2920.38 2118.81 2049.94 0 0 0 12.74 16.01 15.37

2557 end apogee: CONTROL_FINISHED_OK

state 2557 begin climb

2557.19 10503 146.32 2.01 80.00 2998.9 3076.3 2921.4 2119.0 2049.6 404.56 0.00 259 2683.66 113.69 4.03 3.87 1.741 0.123 0.139 2403.59 2487.69 2319.50 2689.75 3356.50 0 0 0 12.38 15.41 15.16

2701.08 1028 146.32 2.01 0.00 2395.9 2479.4 2312.3 2690.6 3356.1 389.04 15.92 288 2706.82 0.00 0.00 3.60 0.000 0.000 0.078 2397.19 2480.44 2313.94 2690.56 2009.00 0 0 0 30.00 30.00 15.33

3016.22 16386 146.32 2.01 0.00 2388.0 2471.2 2304.8 2690.0 2007.4 334.61 18.29 306 3017.57 0.00 0.00 0.00 0.000 0.000 0.000 2386.59 2470.06 2303.12 2690.62 2008.25 0 0 0 30.00 30.00 30.00

3336.24 16386 146.32 2.01 0.00 2385.7 2469.0 2302.4 2689.9 2007.9 279.57 17.07 322 3337.59 0.00 0.00 0.00 0.000 0.000 0.000 2385.03 2467.94 2302.12 2690.38 2007.88 0 0 0 30.00 30.00 30.00

3646.29 16386 146.32 2.01 0.00 2384.7 2467.8 2301.5 2690.2 2007.5 224.35 17.20 344 3647.63 0.00 0.00 0.00 0.000 0.000 0.000 2383.97 2466.75 2301.19 2690.19 2008.00 0 0 0 30.00 30.00 30.00

3956.34 16386 146.32 2.01 0.00 2383.4 2466.6 2300.3 2690.0 2007.8 174.91 15.13 375 3957.69 0.00 0.00 0.00 0.000 0.000 0.000 2382.19 2465.62 2298.75 2690.31 2007.88 0 0 0 30.00 30.00 30.00

4266.40 16646 146.32 2.01 80.00 2382.6 2464.6 2300.7 2690.6 2008.2 125.45 15.25 406 4272.06 0.00 0.00 3.74 0.000 0.000 0.138 2382.56 2464.38 2300.75 2690.19 3355.00 0 0 0 30.00 30.00 15.96

4351.32 17414 146.32 2.01 0.00 2381.3 2462.6 2300.1 2690.2 3355.6 111.85 15.78 423 4357.11 0.00 0.00 3.44 0.000 0.000 0.080 2380.97 2462.25 2299.69 2690.12 2006.56 0 0 0 30.00 30.00 15.98

4666.46 16386 146.32 2.01 0.00 2380.6 2462.4 2298.8 2690.3 2005.0 62.35 13.32 455 4667.81 0.00 0.00 0.00 0.000 0.000 0.000 2379.09 2461.38 2296.81 2690.25 2005.25 0 0 0 30.00 30.00 30.00

4856.50 17030 146.32 2.05 -80.00 2380.3 2461.7 2298.9 2690.6 2005.8 34.62 13.79 474 4862.15 0.00 0.00 3.74 0.000 0.000 0.163 2380.06 2461.94 2298.19 2690.00 691.38 0 0 0 30.00 30.00 15.99

5046.52 17414 146.32 2.05 0.00 2379.2 2459.9 2298.4 2690.2 691.1 4.28 17.17 512 5052.13 0.00 0.00 3.39 0.000 0.000 0.076 2381.25 2461.62 2300.88 2690.69 2041.50 0 0 0 30.00 30.00 16.03

5066 end climb: SURFACE_DEPTH_REACHED

state 5067 begin surface coast

5087 end surface coast: CONTROL_FINISHED_OK

state 5087 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	52	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	21.182152	SEABIRD_T_G	0.0044182916
MAX_BUOY	200	PITCH_MAXERRORS	1	FG_AHR_24V	29.438793	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	271022,233646,7050.465,-623.918,12,1.4,19,-5.0	TGT_RADIUS	1000.000
_CALLS	5	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.06	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	271022,234900,7050.518,-623.831,3,1.4,12,-5.0	MHEAD_RNG_PITCHd_Wd	220.8,185,-27.5,-12.121,-30.00,1068,0.315
SPEED_LIMITS	0.210,0.313	D_GRID	583
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	-0.3,1.020524	MEM0	60148,1,0,0
SM_CCo	5696.02,584.82,1.216,0,501.0,562.8,439.2,613.00	MEM1	65508,1,0,0
SM_GC	1.12,584.82,15.69,0.60,1.216,0.070,0.104,501.0,562.8,439.2,184.4,2294.1,0,0,0,12.75,16.01,16.03	MEM2	968328,25,78740,50
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	19384,517
IRIDIUM_FIX	7050.91,-634.17,271022,234503	CAP_FILE_SIZE	205796,0
TCM_TEMP	7.05	SDSIZE	3887104,3863296
XPDR_PINGS	4,12.5,11.5	SDFILEDIR	274,1
HUMID	76.27	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	3.23	CURRENT	0.049, 5.8,1
INTERNAL_PRESSURE	7.87132	MAGCAL	1.000000,-0.010521,-0.076347,-0.080902,1.043773,-0.225031,-0.017124,-0.008004,0.730825,-1004.3,-870.0,80.7,34,0.1014,0
_24V_AH	14.52,21.642	IMPLIED_C_PITCH	2239,14.13,330,0.0,0.00
_10V_AH	14.58,0.000	IMPLIED_C_VBD	2886,15.496157,330,0
FG_AHR_24Vo	29.760	GPS	281022,012445,7050.205,-625.241,25,1.1,32,-5.0
FG_AHR_10Vo	21.199

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	994	1776	25661.31	SBE_CT	599	24	208.91
Pitch_motor	35	307	159.21	nil	0	0	0.00
Roll_motor	40	251	149.52	nil	0	0	0.00
Iridium	446	148	961.83	nil	0	0	0.00
Transponder_ping	1	420	6.10	nil	0	0	0.00
GPS	21	15	4.67	nil	0	0	0.00
Core	2014	6	199.72	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	3800	2	110.82
Compass	751	5	54.78
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
2.24	16386	-84.69	-1.94	0.00	496.0	558.0	434.0	184.5	2251.7	0.00	0.00	0	181.44	177.24	0.00	0.12	0.005	0.000	0.252	3343.22	3387.62	3298.81	185.00	2294.75	0	0	0	14.66	30.00	15.76
181.69	18727	-146.32	-2.01	80.00	3343.1	3388.9	3297.3	184.8	2294.8	2.81	-6.19	17	212.78	8.99	13.02	3.04	0.007	0.307	0.165	3597.25	3663.25	3531.25	1711.69	3356.62	0	0	0	15.78	15.71	15.72
440.30	3205	-146.32	-1.91	0.00	3598.9	3665.9	3531.9	1712.1	3355.4	63.03	-20.82	69	445.84	0.00	0.20	2.79	0.000	0.228	0.072	3600.91	3668.12	3533.69	1738.81	2259.88	0	0	0	30.00	15.80	15.87
630.30	260	-146.32	-1.91	80.00	3599.7	3667.0	3532.4	1738.8	2259.4	96.18	-17.64	89	635.87	0.00	0.00	3.11	0.000	0.000	0.153	3599.88	3667.00	3532.75	1739.31	3355.06	0	0	0	30.00	30.00	15.87
865.30	1156	-146.32	-1.82	0.00	3599.9	3667.6	3532.2	1738.8	3354.6	147.70	-22.81	136	870.96	0.00	0.00	2.78	0.000	0.000	0.073	3600.53	3667.62	3533.44	1738.88	2262.31	0	0	0	30.00	30.00	15.94
1180.44	260	-146.32	-1.82	80.00	3600.5	3668.9	3532.1	1739.4	2262.2	202.27	-16.69	168	1185.98	0.00	0.00	3.09	0.000	0.000	0.156	3600.25	3668.69	3531.81	1738.81	3354.62	0	0	0	30.00	30.00	15.94
1265.38	3205	-146.32	-1.76	0.00	3600.5	3668.7	3532.3	1738.6	3354.1	218.87	-20.13	185	1271.12	0.00	0.26	2.78	0.000	0.223	0.075	3601.69	3669.62	3533.75	1773.56	2261.31	0	0	0	30.00	15.91	15.98
1580.50	0	-146.32	-1.76	0.00	3601.3	3670.3	3532.2	1773.8	2261.1	269.69	-15.22	211	1581.85	0.00	0.00	0.00	0.000	0.000	0.000	3601.62	3670.88	3532.38	1774.38	2261.19	0	0	0	30.00	30.00	30.00
1900.51	0	-146.32	-1.76	0.00	3601.5	3670.8	3532.1	1774.2	2261.0	316.78	-14.80	227	1901.85	0.00	0.00	0.00	0.000	0.000	0.000	3601.31	3671.25	3531.38	1774.12	2261.19	0	0	0	30.00	30.00	30.00
2220.54	0	-146.32	-1.76	0.00	3601.5	3670.9	3532.1	1774.0	2261.2	364.18	-14.80	243	2221.88	0.00	0.00	0.00	0.000	0.000	0.000	3600.69	3670.19	3531.19	1774.06	2260.69	0	0	0	30.00	30.00	30.00
2441	end dive: TARGET_DEPTH_EXCEEDED
state	2441	begin apogee
2442.39	10243	0.00	-0.33	0.00	3601.4	3670.8	3532.0	1774.1	2007.9	400.67	-17.50	254	2556.65	110.07	2.49	0.09	1.777	0.191	0.237	2997.53	3074.69	2920.38	2118.81	2049.94	0	0	0	12.74	16.01	15.37
2557	end apogee: CONTROL_FINISHED_OK
state	2557	begin climb
2557.19	10503	146.32	2.01	80.00	2998.9	3076.3	2921.4	2119.0	2049.6	404.56	0.00	259	2683.66	113.69	4.03	3.87	1.741	0.123	0.139	2403.59	2487.69	2319.50	2689.75	3356.50	0	0	0	12.38	15.41	15.16
2701.08	1028	146.32	2.01	0.00	2395.9	2479.4	2312.3	2690.6	3356.1	389.04	15.92	288	2706.82	0.00	0.00	3.60	0.000	0.000	0.078	2397.19	2480.44	2313.94	2690.56	2009.00	0	0	0	30.00	30.00	15.33
3016.22	16386	146.32	2.01	0.00	2388.0	2471.2	2304.8	2690.0	2007.4	334.61	18.29	306	3017.57	0.00	0.00	0.00	0.000	0.000	0.000	2386.59	2470.06	2303.12	2690.62	2008.25	0	0	0	30.00	30.00	30.00
3336.24	16386	146.32	2.01	0.00	2385.7	2469.0	2302.4	2689.9	2007.9	279.57	17.07	322	3337.59	0.00	0.00	0.00	0.000	0.000	0.000	2385.03	2467.94	2302.12	2690.38	2007.88	0	0	0	30.00	30.00	30.00
3646.29	16386	146.32	2.01	0.00	2384.7	2467.8	2301.5	2690.2	2007.5	224.35	17.20	344	3647.63	0.00	0.00	0.00	0.000	0.000	0.000	2383.97	2466.75	2301.19	2690.19	2008.00	0	0	0	30.00	30.00	30.00
3956.34	16386	146.32	2.01	0.00	2383.4	2466.6	2300.3	2690.0	2007.8	174.91	15.13	375	3957.69	0.00	0.00	0.00	0.000	0.000	0.000	2382.19	2465.62	2298.75	2690.31	2007.88	0	0	0	30.00	30.00	30.00
4266.40	16646	146.32	2.01	80.00	2382.6	2464.6	2300.7	2690.6	2008.2	125.45	15.25	406	4272.06	0.00	0.00	3.74	0.000	0.000	0.138	2382.56	2464.38	2300.75	2690.19	3355.00	0	0	0	30.00	30.00	15.96
4351.32	17414	146.32	2.01	0.00	2381.3	2462.6	2300.1	2690.2	3355.6	111.85	15.78	423	4357.11	0.00	0.00	3.44	0.000	0.000	0.080	2380.97	2462.25	2299.69	2690.12	2006.56	0	0	0	30.00	30.00	15.98
4666.46	16386	146.32	2.01	0.00	2380.6	2462.4	2298.8	2690.3	2005.0	62.35	13.32	455	4667.81	0.00	0.00	0.00	0.000	0.000	0.000	2379.09	2461.38	2296.81	2690.25	2005.25	0	0	0	30.00	30.00	30.00
4856.50	17030	146.32	2.05	-80.00	2380.3	2461.7	2298.9	2690.6	2005.8	34.62	13.79	474	4862.15	0.00	0.00	3.74	0.000	0.000	0.163	2380.06	2461.94	2298.19	2690.00	691.38	0	0	0	30.00	30.00	15.99
5046.52	17414	146.32	2.05	0.00	2379.2	2459.9	2298.4	2690.2	691.1	4.28	17.17	512	5052.13	0.00	0.00	3.39	0.000	0.000	0.076	2381.25	2461.62	2300.88	2690.69	2041.50	0	0	0	30.00	30.00	16.03
5066	end climb: SURFACE_DEPTH_REACHED
state	5067	begin surface coast
5087	end surface coast: CONTROL_FINISHED_OK
state	5087	begin surface