Glider dive log

NORSE Oct22 * SG234 * Dive index * Mission links * Dive 65 * 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 65 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 180 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 60 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 80 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 21.588711 SEABIRD_T_G 0.0044182916

MAX_BUOY 200 PITCH_MAXERRORS 1 FG_AHR_24V 33.746136 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 180 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 21.588711 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 33.746136 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 60

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 80

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 65 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 281022,234656,7050.730,-625.588,2,1.5,12,-5.0 TGT_RADIUS 1000.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.98 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -46.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 281022,235135,7050.753,-625.523,4,1.5,15,-5.0 MHEAD_RNG_PITCHd_Wd 145.2,1012,-15.0,-10.000,-18.93,2931,0.416

SPEED_LIMITS 0.173,0.292 D_GRID 530

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 -0.1,1.027642 MEM0 60148,1,0,0

SM_CCo 4603.51,428.07,1.148,0,500.8,565.8,435.8,613.05 MEM1 65508,1,0,0

SM_GC 1.17,428.07,14.58,0.70,1.148,0.058,0.089,500.8,565.8,435.8,184.2,2295.6,0,0,0,12.63,15.73,15.74 MEM2 968200,31,78748,50

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 19424,512

IRIDIUM_FIX 7051.59,-614.62,281022,234300 CAP_FILE_SIZE 243497,0

TCM_TEMP 9.38 SDSIZE 3887104,3861120

XPDR_PINGS 6,12.5,11.5 SDFILEDIR 326,1

HUMID 77.35 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 4.09 CURRENT 0.125, 9.9,1

INTERNAL_PRESSURE 7.91923 MAGCAL 1.000000,-0.058985,0.122856,-0.090899,1.100397,-0.071310,-0.049886,0.026251,0.811152,-1195.2,-1082.2,-93.0,35,0.0908,0

_24V_AH 14.56,26.094 IMPLIED_C_PITCH 2241,12.88,287,0.0,0.00

_10V_AH 14.60,0.000 IMPLIED_C_VBD 3271,35.884861,287,0

FG_AHR_24Vo 34.073 GPS 291022,010904,7050.707,-624.167,23,1.0,27,-5.0

FG_AHR_10Vo 21.604

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 1107 1344 21680.78 SBE_CT 611 24 213.63

Pitch_motor 32 285 135.72 nil 0 0 0.00

Roll_motor 72 195 206.55 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 9.17 nil 0 0 0.00

GPS 24 15 5.29 nil 0 0 0.00

Core 1774 6 176.15 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 2428 2 70.92

Compass 741 5 54.11

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 1 begin dive

2.27 16386 -194.65 -1.24 0.00 495.4 558.6 432.3 201.2 2292.7 0.00 0.00 0 177.20 174.38 0.00 0.00 0.005 0.000 0.000 3375.88 3424.75 3327.00 201.56 2293.62 0 0 0 14.67 30.00 30.00

177.47 18983 -194.65 -1.24 -80.00 3375.3 3423.6 3326.9 201.1 2292.9 3.26 -4.69 17 214.04 14.09 13.85 4.26 0.007 0.286 0.160 3792.66 3864.12 3721.19 1899.25 819.38 0 0 0 15.83 15.79 15.81

441.55 1156 -194.65 -1.14 0.00 3795.1 3868.8 3721.4 1899.3 819.1 39.86 -12.43 70 447.30 0.00 0.00 3.77 0.000 0.000 0.085 3795.44 3868.69 3722.19 1899.19 2289.31 0 0 0 30.00 30.00 15.90

636.59 2693 -194.65 -1.08 -80.00 3795.3 3869.1 3721.5 1899.2 2289.6 62.93 -11.25 90 642.39 0.00 0.28 4.19 0.000 0.175 0.156 3795.44 3869.38 3721.50 1940.06 816.75 0 0 0 30.00 15.90 15.91

746.62 1060 -194.65 -1.08 0.00 3795.3 3869.1 3721.4 1939.6 816.9 72.98 -8.28 112 752.27 0.00 0.00 3.72 0.000 0.000 0.082 3795.81 3870.06 3721.56 1939.75 2292.75 0 0 0 30.00 30.00 15.95

936.62 32 -194.65 -1.08 0.00 3795.7 3869.9 3721.6 1940.0 2292.6 85.42 -6.29 132 937.96 0.00 0.00 0.00 0.000 0.000 0.000 3795.06 3869.62 3720.50 1939.50 2292.25 0 0 0 30.00 30.00 30.00

1126.62 32 -194.65 -1.08 0.00 3796.1 3870.4 3721.9 1939.8 2292.0 97.87 -6.77 151 1127.97 0.00 0.00 0.00 0.000 0.000 0.000 3795.09 3869.31 3720.88 1939.81 2293.12 0 0 0 30.00 30.00 30.00

1316.63 548 -194.65 -1.08 -80.00 3796.3 3870.9 3721.7 1939.8 2292.3 108.84 -5.42 170 1322.36 0.00 0.00 4.19 0.000 0.000 0.158 3796.12 3869.81 3722.44 1940.19 818.50 0 0 0 30.00 30.00 15.98

1351.55 1060 -194.65 -1.08 0.00 3796.4 3871.2 3721.6 1940.1 818.0 111.31 -5.81 177 1357.37 0.00 0.00 3.69 0.000 0.000 0.081 3796.88 3871.75 3722.00 1939.31 2291.88 0 0 0 30.00 30.00 16.00

1666.65 292 -194.65 -1.08 80.00 3796.4 3871.1 3721.8 1939.9 2291.2 136.93 -8.93 209 1672.18 0.00 0.00 2.94 0.000 0.000 0.161 3796.81 3871.19 3722.44 1939.81 3355.06 0 0 0 30.00 30.00 16.01

1711.58 1060 -194.65 -1.08 0.00 3796.5 3871.1 3721.9 1939.9 3355.6 140.94 -9.42 218 1717.21 0.00 0.00 2.70 0.000 0.000 0.067 3796.91 3871.81 3722.00 1939.88 2257.50 0 0 0 30.00 30.00 16.04

2026.69 292 -194.65 -1.08 80.00 3796.9 3872.1 3721.7 1939.8 2256.5 167.93 -7.58 250 2032.21 0.00 0.00 3.03 0.000 0.000 0.155 3797.75 3872.31 3723.19 1939.31 3354.94 0 0 0 30.00 30.00 14.85

2071.60 1060 -194.65 -1.08 0.00 3797.1 3872.0 3722.2 1939.8 3355.0 171.92 -8.93 259 2077.27 0.00 0.00 2.71 0.000 0.000 0.069 3796.62 3871.56 3721.69 1939.44 2256.31 0 0 0 30.00 30.00 16.06

2177 end dive: TARGET_DEPTH_EXCEEDED

state 2177 begin apogee

2178.45 10243 0.00 -0.33 0.00 3797.0 3871.8 3722.2 1939.4 2002.9 180.53 -7.96 270 2375.49 194.44 1.25 0.09 1.345 0.149 0.196 2997.75 3077.94 2917.56 2122.31 2053.25 0 0 0 12.78 16.03 15.31

2376 end apogee: CONTROL_FINISHED_OK

state 2376 begin climb

2376.05 10759 194.65 1.24 -80.00 2998.1 3077.9 2918.3 2121.9 2053.2 186.05 0.00 289 2594.32 209.60 2.66 4.08 1.302 0.119 0.159 2202.31 2288.12 2116.50 2503.38 692.00 0 0 0 12.42 15.35 15.18

2596.85 1028 194.65 1.24 0.00 2202.8 2287.9 2117.8 2502.7 692.1 170.37 10.23 317 2602.55 0.00 0.00 3.48 0.000 0.000 0.066 2202.66 2288.19 2117.12 2502.69 2045.44 0 0 0 30.00 30.00 15.29

2911.95 16646 194.65 1.24 80.00 2195.0 2279.5 2110.4 2503.0 2045.4 134.14 11.70 349 2917.51 0.00 0.00 3.60 0.000 0.000 0.140 2194.81 2278.94 2110.69 2502.69 3356.56 0 0 0 30.00 30.00 15.68

3051.92 17414 194.65 1.24 0.00 2193.7 2277.8 2109.6 2502.9 3356.4 115.89 13.18 377 3057.54 0.00 0.00 3.44 0.000 0.000 0.074 2193.97 2278.12 2109.81 2503.25 2007.50 0 0 0 30.00 30.00 15.76

3361.96 16902 194.65 1.24 -80.00 2193.0 2276.6 2109.4 2502.2 2006.8 80.22 10.76 409 3367.65 0.00 0.00 3.76 0.000 0.000 0.163 2193.75 2278.00 2109.50 2502.94 691.12 0 0 0 30.00 30.00 15.83

3402.04 17414 194.65 1.24 0.00 2192.9 2276.3 2109.6 2502.8 691.0 75.57 11.65 417 3407.57 0.00 0.00 3.35 0.000 0.000 0.070 2193.97 2276.69 2111.25 2501.12 2045.06 0 0 0 30.00 30.00 15.86

3592.00 16646 194.65 1.24 80.00 2192.0 2276.3 2107.7 2502.6 2044.9 53.28 11.90 437 3597.63 0.00 0.00 3.55 0.000 0.000 0.140 2193.19 2277.38 2109.00 2503.38 3357.12 0 0 0 30.00 30.00 15.89

3662.01 17414 194.65 1.24 0.00 2190.9 2274.9 2106.9 2503.2 3357.5 44.54 12.10 451 3667.62 0.00 0.00 3.38 0.000 0.000 0.073 2190.72 2274.75 2106.69 2502.88 2005.19 0 0 0 30.00 30.00 15.92

3852.05 8486 219.87 1.27 80.00 2190.3 2274.9 2105.7 2503.4 2004.4 25.69 9.12 471 3898.57 39.92 0.00 3.69 1.272 0.000 0.135 2103.19 2185.69 2020.69 2502.94 3355.06 0 0 0 12.69 30.00 15.70

3922.05 9254 250.59 1.31 0.00 2099.8 2181.1 2018.4 2503.8 3354.9 19.67 8.92 484 3973.76 46.99 0.00 3.41 1.222 0.000 0.072 1977.59 2064.06 1891.12 2503.06 2005.19 0 0 0 12.64 30.00 15.76

4122 end climb: SURFACE_DEPTH_REACHED

state 4122 begin surface coast

4152 end surface coast: CONTROL_FINISHED_OK

state 4152 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	65	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	180	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	60	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	80	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	21.588711	SEABIRD_T_G	0.0044182916
MAX_BUOY	200	PITCH_MAXERRORS	1	FG_AHR_24V	33.746136	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	281022,234656,7050.730,-625.588,2,1.5,12,-5.0	TGT_RADIUS	1000.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.98	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-46.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	281022,235135,7050.753,-625.523,4,1.5,15,-5.0	MHEAD_RNG_PITCHd_Wd	145.2,1012,-15.0,-10.000,-18.93,2931,0.416
SPEED_LIMITS	0.173,0.292	D_GRID	530
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	-0.1,1.027642	MEM0	60148,1,0,0
SM_CCo	4603.51,428.07,1.148,0,500.8,565.8,435.8,613.05	MEM1	65508,1,0,0
SM_GC	1.17,428.07,14.58,0.70,1.148,0.058,0.089,500.8,565.8,435.8,184.2,2295.6,0,0,0,12.63,15.73,15.74	MEM2	968200,31,78748,50
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	19424,512
IRIDIUM_FIX	7051.59,-614.62,281022,234300	CAP_FILE_SIZE	243497,0
TCM_TEMP	9.38	SDSIZE	3887104,3861120
XPDR_PINGS	6,12.5,11.5	SDFILEDIR	326,1
HUMID	77.35	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	4.09	CURRENT	0.125, 9.9,1
INTERNAL_PRESSURE	7.91923	MAGCAL	1.000000,-0.058985,0.122856,-0.090899,1.100397,-0.071310,-0.049886,0.026251,0.811152,-1195.2,-1082.2,-93.0,35,0.0908,0
_24V_AH	14.56,26.094	IMPLIED_C_PITCH	2241,12.88,287,0.0,0.00
_10V_AH	14.60,0.000	IMPLIED_C_VBD	3271,35.884861,287,0
FG_AHR_24Vo	34.073	GPS	291022,010904,7050.707,-624.167,23,1.0,27,-5.0
FG_AHR_10Vo	21.604

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	1107	1344	21680.78	SBE_CT	611	24	213.63
Pitch_motor	32	285	135.72	nil	0	0	0.00
Roll_motor	72	195	206.55	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	9.17	nil	0	0	0.00
GPS	24	15	5.29	nil	0	0	0.00
Core	1774	6	176.15	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	2428	2	70.92
Compass	741	5	54.11
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	1	begin dive
2.27	16386	-194.65	-1.24	0.00	495.4	558.6	432.3	201.2	2292.7	0.00	0.00	0	177.20	174.38	0.00	0.00	0.005	0.000	0.000	3375.88	3424.75	3327.00	201.56	2293.62	0	0	0	14.67	30.00	30.00
177.47	18983	-194.65	-1.24	-80.00	3375.3	3423.6	3326.9	201.1	2292.9	3.26	-4.69	17	214.04	14.09	13.85	4.26	0.007	0.286	0.160	3792.66	3864.12	3721.19	1899.25	819.38	0	0	0	15.83	15.79	15.81
441.55	1156	-194.65	-1.14	0.00	3795.1	3868.8	3721.4	1899.3	819.1	39.86	-12.43	70	447.30	0.00	0.00	3.77	0.000	0.000	0.085	3795.44	3868.69	3722.19	1899.19	2289.31	0	0	0	30.00	30.00	15.90
636.59	2693	-194.65	-1.08	-80.00	3795.3	3869.1	3721.5	1899.2	2289.6	62.93	-11.25	90	642.39	0.00	0.28	4.19	0.000	0.175	0.156	3795.44	3869.38	3721.50	1940.06	816.75	0	0	0	30.00	15.90	15.91
746.62	1060	-194.65	-1.08	0.00	3795.3	3869.1	3721.4	1939.6	816.9	72.98	-8.28	112	752.27	0.00	0.00	3.72	0.000	0.000	0.082	3795.81	3870.06	3721.56	1939.75	2292.75	0	0	0	30.00	30.00	15.95
936.62	32	-194.65	-1.08	0.00	3795.7	3869.9	3721.6	1940.0	2292.6	85.42	-6.29	132	937.96	0.00	0.00	0.00	0.000	0.000	0.000	3795.06	3869.62	3720.50	1939.50	2292.25	0	0	0	30.00	30.00	30.00
1126.62	32	-194.65	-1.08	0.00	3796.1	3870.4	3721.9	1939.8	2292.0	97.87	-6.77	151	1127.97	0.00	0.00	0.00	0.000	0.000	0.000	3795.09	3869.31	3720.88	1939.81	2293.12	0	0	0	30.00	30.00	30.00
1316.63	548	-194.65	-1.08	-80.00	3796.3	3870.9	3721.7	1939.8	2292.3	108.84	-5.42	170	1322.36	0.00	0.00	4.19	0.000	0.000	0.158	3796.12	3869.81	3722.44	1940.19	818.50	0	0	0	30.00	30.00	15.98
1351.55	1060	-194.65	-1.08	0.00	3796.4	3871.2	3721.6	1940.1	818.0	111.31	-5.81	177	1357.37	0.00	0.00	3.69	0.000	0.000	0.081	3796.88	3871.75	3722.00	1939.31	2291.88	0	0	0	30.00	30.00	16.00
1666.65	292	-194.65	-1.08	80.00	3796.4	3871.1	3721.8	1939.9	2291.2	136.93	-8.93	209	1672.18	0.00	0.00	2.94	0.000	0.000	0.161	3796.81	3871.19	3722.44	1939.81	3355.06	0	0	0	30.00	30.00	16.01
1711.58	1060	-194.65	-1.08	0.00	3796.5	3871.1	3721.9	1939.9	3355.6	140.94	-9.42	218	1717.21	0.00	0.00	2.70	0.000	0.000	0.067	3796.91	3871.81	3722.00	1939.88	2257.50	0	0	0	30.00	30.00	16.04
2026.69	292	-194.65	-1.08	80.00	3796.9	3872.1	3721.7	1939.8	2256.5	167.93	-7.58	250	2032.21	0.00	0.00	3.03	0.000	0.000	0.155	3797.75	3872.31	3723.19	1939.31	3354.94	0	0	0	30.00	30.00	14.85
2071.60	1060	-194.65	-1.08	0.00	3797.1	3872.0	3722.2	1939.8	3355.0	171.92	-8.93	259	2077.27	0.00	0.00	2.71	0.000	0.000	0.069	3796.62	3871.56	3721.69	1939.44	2256.31	0	0	0	30.00	30.00	16.06
2177	end dive: TARGET_DEPTH_EXCEEDED
state	2177	begin apogee
2178.45	10243	0.00	-0.33	0.00	3797.0	3871.8	3722.2	1939.4	2002.9	180.53	-7.96	270	2375.49	194.44	1.25	0.09	1.345	0.149	0.196	2997.75	3077.94	2917.56	2122.31	2053.25	0	0	0	12.78	16.03	15.31
2376	end apogee: CONTROL_FINISHED_OK
state	2376	begin climb
2376.05	10759	194.65	1.24	-80.00	2998.1	3077.9	2918.3	2121.9	2053.2	186.05	0.00	289	2594.32	209.60	2.66	4.08	1.302	0.119	0.159	2202.31	2288.12	2116.50	2503.38	692.00	0	0	0	12.42	15.35	15.18
2596.85	1028	194.65	1.24	0.00	2202.8	2287.9	2117.8	2502.7	692.1	170.37	10.23	317	2602.55	0.00	0.00	3.48	0.000	0.000	0.066	2202.66	2288.19	2117.12	2502.69	2045.44	0	0	0	30.00	30.00	15.29
2911.95	16646	194.65	1.24	80.00	2195.0	2279.5	2110.4	2503.0	2045.4	134.14	11.70	349	2917.51	0.00	0.00	3.60	0.000	0.000	0.140	2194.81	2278.94	2110.69	2502.69	3356.56	0	0	0	30.00	30.00	15.68
3051.92	17414	194.65	1.24	0.00	2193.7	2277.8	2109.6	2502.9	3356.4	115.89	13.18	377	3057.54	0.00	0.00	3.44	0.000	0.000	0.074	2193.97	2278.12	2109.81	2503.25	2007.50	0	0	0	30.00	30.00	15.76
3361.96	16902	194.65	1.24	-80.00	2193.0	2276.6	2109.4	2502.2	2006.8	80.22	10.76	409	3367.65	0.00	0.00	3.76	0.000	0.000	0.163	2193.75	2278.00	2109.50	2502.94	691.12	0	0	0	30.00	30.00	15.83
3402.04	17414	194.65	1.24	0.00	2192.9	2276.3	2109.6	2502.8	691.0	75.57	11.65	417	3407.57	0.00	0.00	3.35	0.000	0.000	0.070	2193.97	2276.69	2111.25	2501.12	2045.06	0	0	0	30.00	30.00	15.86
3592.00	16646	194.65	1.24	80.00	2192.0	2276.3	2107.7	2502.6	2044.9	53.28	11.90	437	3597.63	0.00	0.00	3.55	0.000	0.000	0.140	2193.19	2277.38	2109.00	2503.38	3357.12	0	0	0	30.00	30.00	15.89
3662.01	17414	194.65	1.24	0.00	2190.9	2274.9	2106.9	2503.2	3357.5	44.54	12.10	451	3667.62	0.00	0.00	3.38	0.000	0.000	0.073	2190.72	2274.75	2106.69	2502.88	2005.19	0	0	0	30.00	30.00	15.92
3852.05	8486	219.87	1.27	80.00	2190.3	2274.9	2105.7	2503.4	2004.4	25.69	9.12	471	3898.57	39.92	0.00	3.69	1.272	0.000	0.135	2103.19	2185.69	2020.69	2502.94	3355.06	0	0	0	12.69	30.00	15.70
3922.05	9254	250.59	1.31	0.00	2099.8	2181.1	2018.4	2503.8	3354.9	19.67	8.92	484	3973.76	46.99	0.00	3.41	1.222	0.000	0.072	1977.59	2064.06	1891.12	2503.06	2005.19	0	0	0	12.64	30.00	15.76
4122	end climb: SURFACE_DEPTH_REACHED
state	4122	begin surface coast
4152	end surface coast: CONTROL_FINISHED_OK
state	4152	begin surface