Glider dive log

NORSE Jun23 * SG248 * Dive index * Mission links * Dive 94 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 248 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 1.9639999e-06

MISSION 7 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -1

DIVE 94 SM_CC 605 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

N_DIVES 0 N_FILEKB 8 VBD_MIN 500 DEEPGLIDERMB 0

STOP_T 0 FILEMGR 0 VBD_MAX 3960 MOTHERBOARD 6

D_SURF 5 CALL_NDIVES 1 C_VBD 3000 DEVICE1 10

D_FLARE 3 COMM_SEQ 7 VBD_DBAND 2 DEVICE2 -1

D_TGT 250 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE3 -1

D_ABORT 300 N_NOCOMM 2 VBD_LP_IGNORE 0 DEVICE4 -1

D_NO_BLEED 200 NOCOMM_ACTION 131 VBD_TIMEOUT 720 DEVICE5 -1

D_BOOST 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0015 DEVICE6 -1

T_BOOST 0 UPLOAD_DIVES_MAX -1 UNCOM_BLEED 20 LOGGERS 2

D_FINISH 0 NETBOX 1 VBD_MAXERRORS 1 LOGGERDEVICE1 7

D_PITCH 0 CALL_TRIES 15 C_VBD_AUTO_DELTA 0 LOGGERDEVICE2 72

D_SAFE 0 CALL_WAIT 60 C_VBD_AUTO_MAX 0 LOGGERDEVICE3 -1

D_CALL 0 CAPUPLOAD 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

SURFACE_URGENCY 0 CAPMAXSIZE 100000 DBDW 0 COMPASS_DEVICE 66

SURFACE_URGENCY_TRY 0 T_GPS 30 LOITER_W_DBAND 0 COMPASS2_DEVICE -1

SURFACE_URGENCY_FORCE 0 N_GPS 100440 LOITER_DBDW 0 PHONE_DEVICE 33

T_DIVE 83 T_RSLEEP 2 LOITER_D_TOP 0 GPS_DEVICE 48

T_MISSION 95 STROBE 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE -1

T_ABORT 1440 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 NAV_DEVICE -1

T_TURN 225 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 NAV2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_HIT_WINDOW 3600 AH0_24V 575 NETWORK_DEVICE -1

T_NO_W 120 RAFOS_MMODEM 0 AH0_10V 0 PRESSURE_DEVICE 34

T_LOITER 0 PITCH_MIN 205 MINV_24V 11 XPDR_DEVICE 21

T_EPIRB 0 PITCH_MAX 3600 MINV_10V 11 SIM_W 0.1

USE_BATHY -6 C_PITCH 2050 MAXI_24V 5 SEABIRD_T_G 0.0044090361

USE_ICE 0 PITCH_DBAND 0.1 MAXI_10V 1.5 SEABIRD_T_H 0.00064173015

ICE_FREEZE_MARGIN 0.30000001 PITCH_CNV 0.0041299998 FG_AHR_10V 60.344776 SEABIRD_T_I 2.932871e-05

D_OFFGRID 1000 PITCH_GAIN 14 FG_AHR_24V 125.60712 SEABIRD_T_J 3.827171e-06

RELAUNCH 1 PITCH_TIMEOUT 30 PHONE_SUPPLY 2 SEABIRD_C_G -9.9958668

APOGEE_PITCH -5 PITCH_MAXERRORS 1 PRESSURE_YINT 0 SEABIRD_C_H 1.1120801

MAX_BUOY 150 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 6.9999999e-07 SEABIRD_C_I -0.0034223681

GLIDE_SLOPE 30 PITCH_ADJ_DBAND 0 COMPASS_USE 16388 SEABIRD_C_J 0.00032313328

SPEED_FACTOR 1 C_PITCH_AUTO_DELTA 0 ALTIM_PING_FIT 0 OPTIONS 0

RHO 1.0275 C_PITCH_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

MASS 74553 PITCH_GAIN_AUTO_DELTA 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 3.0

NAV_MODE 0 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

FERRY_MAX 45 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_NDIVE 1.0

KALMAN_USE 2 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 CP_RECORDABOVE 1000.0

HD_A 0.0025118899 ROLL_MIN 265 ALTIM_PING_DELTA 0 CP_PROFILE 3.0

HD_B 0.0146701 ROLL_MAX 3870 ALTIM_FREQUENCY 13 CP_XMITPROFILE 0.0

HD_C 5.7000002e-06 ROLL_DEG 80 ALTIM_PULSE 3 CP_UPLOADMAX 100000.0

HEADING -1 C_ROLL_DIVE 2360 ALTIM_SENSITIVITY 2 CP_STARTS 39.0

ESCAPE_HEADING 0 C_ROLL_CLIMB 2025 XPDR_VALID 4 CP_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 XPDR_INHIBIT 90

FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.054945 XPDR_INT -1

TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_REP -1

AH0_10V 0 D_CALL 0 NETBOX 1 SEABIRD_C_H 1.1120801

AH0_24V 575 D_FINISH 0 NETWORK_DEVICE -1 SEABIRD_C_I -0.0034223681

ALTIM_BOTTOM_TURN_MARGIN 0 D_FLARE 3 NOCOMM_ACTION 131 SEABIRD_C_J 0.00032313328

ALTIM_FREQUENCY 13 D_NO_BLEED 200 N_DIVES 0 SEABIRD_T_G 0.0044090361

ALTIM_PING_DELTA 0 D_OFFGRID 1000 N_FILEKB 8 SEABIRD_T_H 0.00064173015

ALTIM_PING_DEPTH 0 D_PITCH 0 N_GPS 100440 SEABIRD_T_I 2.932871e-05

ALTIM_PING_FIT 0 D_SAFE 0 N_NOCOMM 2 SEABIRD_T_J 3.827171e-06

ALTIM_PULSE 3 D_SURF 5 N_NOSURFACE 0 SIM_W 0.1

ALTIM_SENSITIVITY 2 D_TGT 250 OPTIONS 0 SM_CC 605

ALTIM_TOP_MIN_OBSTACLE 1 ESCAPE_HEADING 0 PHONE_DEVICE 33 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 STROBE 0

APOGEE_PITCH -5 FG_AHR_10V 60.344776 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

CALL_NDIVES 1 FG_AHR_24V 125.60712 PITCH_CNV 0.0041299998 SURFACE_URGENCY_FORCE 0

CALL_TRIES 15 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 14 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_DELTA 0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 GPS_DEVICE 48 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HD_A 0.0025118899 PITCH_MAX 3600 T_ABORT 1440

COMM_SEQ 7 HD_B 0.0146701 PITCH_MAXERRORS 1 T_BOOST 0

COMPASS2_DEVICE -1 HD_C 5.7000002e-06 PITCH_MIN 205 T_DIVE 83

COMPASS_DEVICE 66 HEADING -1 PITCH_TIMEOUT 30 T_EPIRB 0

COMPASS_USE 16388 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0015 T_GPS 30

CP_NDIVE 1.0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0 T_LOITER 0

CP_PROFILE 3.0 ID 248 PITCH_W_GAIN 0 T_MISSION 95

CP_RECORDABOVE 1000.0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_DEVICE 34 T_NO_W 120

CP_STARTS 39.0 INT_PRESSURE_YINT -1 PRESSURE_SLOPE 6.9999999e-07 T_RSLEEP 2

CP_UPLOADMAX 100000.0 KALMAN_USE 2 PRESSURE_YINT 0 T_TURN 225

CP_XMITPROFILE 0.0 LOGGERDEVICE1 7 PROTOCOL 9 T_TURN_SAMPINT -5

C_PITCH 2050 LOGGERDEVICE2 72 RAFOS_CORR_THRESH 60 UNCOM_BLEED 20

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 UPLOAD_DIVES_MAX -1

C_PITCH_AUTO_MAX 0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 USE_BATHY -6

C_ROLL_CLIMB 2025 LOGGERS 2 RAFOS_MMODEM 0 USE_ICE 0

C_ROLL_DIVE 2360 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 VBD_CNV -0.24529999

C_VBD 3000 LOITER_D_BOTTOM 0 RELAUNCH 1 VBD_DBAND 2

C_VBD_AUTO_DELTA 0 LOITER_D_TOP 0 RHO 1.0275 VBD_LP_IGNORE 0

C_VBD_AUTO_MAX 0 LOITER_N_DIVE 0 ROLL_ADJ_DBAND 0 VBD_MAX 3960

DBDW 0 LOITER_W_DBAND 0 ROLL_ADJ_GAIN 0 VBD_MAXERRORS 1

DEEPGLIDER 0 MASS 74553 ROLL_CNV 0.054945 VBD_MIN 500

DEEPGLIDERMB 0 MAXI_10V 1.5 ROLL_DEG 80 VBD_TIMEOUT 720

DEVICE1 10 MAXI_24V 5 ROLL_MAX 3870 W_ADJ_DBAND 0

DEVICE2 -1 MAX_BUOY 150 ROLL_MAXERRORS 1 XPDR_DEVICE 21

DEVICE3 -1 MINV_10V 11 ROLL_MIN 265 XPDR_INHIBIT 90

DEVICE4 -1 MINV_24V 11 ROLL_TIMEOUT 15 XPDR_INT -1

DEVICE5 -1 MISSION 7 SC_NDIVE 1.0 XPDR_REP -1

DEVICE6 -1 MOTHERBOARD 6 SC_PROFILE 3.0 XPDR_VALID 4

DIVE 94 NAV2_DEVICE -1 SC_RECORDABOVE 2000.0

D_ABORT 300 NAV_DEVICE -1 SC_XMITPROFILE 3.0

D_BOOST 0 NAV_MODE 0 SEABIRD_C_G -9.9958668

Pre-dive calculations and measurements:

GPS1 030723,231900,6311.341,-1712.356,26,1.5,26,-9.2 TGT_RADIUS 3000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.70 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -47.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030723,232239,6311.373,-1712.304,3,0.7,6,-9.2 MHEAD_RNG_PITCHd_Wd 261.5,67417,-19.2,-10.040,-24.79,2220,0.156

SPEED_LIMITS 0.174,0.217 D_GRID 1000

TGT_NAME T2 IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,789.000000,-1157.000000,312.000000

TGT_LATLONG 6300.300,-1828.700 OSC 8000266

Post-dive calculations and measurements:

FINISH 0.0,1.027259 FG_AHR_24Vo 125.775

SURF forcing FG_AHR_10Vo 60.399

SM_CCo 5415.51,317.85,0.907,0,534.5,678.9,390.0,604.79 MEM0 60108,1,0,0

SM_GC 0.72,317.85,14.13,0.70,0.907,0.066,0.068,534.5,678.9,390.0,184.1,2387.2,0,0,0,12.10,15.81,15.90 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 993532,39,52076,109

IRIDIUM_FIX 6313.31,-1707.57,030723,214531 DATA_FILE_SIZE 32158,945

TCM_TEMP 10.72 CAP_FILE_SIZE 187575,0

XPDR_PINGS 0,10.3,13.6 SDSIZE 3887104,3848064

HUMID 52.25 SDFILEDIR 518,96

TEMP 8.54 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.06006 IMPLIED_C_PITCH 2054,12.47,755,0.0,0.00

_24V_AH 14.87,130.507 IMPLIED_C_VBD 3057,15.037348,755,0

_10V_AH 14.91,0.000 GPS 040723,005401,6311.538,-1711.973,2,0.9,4,-9.2

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 683 1155 11733.94 SBE_CT 1315 24 469.58

Pitch_motor 30 200 91.88 nil 0 0 0.00

Roll_motor 53 153 122.08 nil 0 0 0.00

Iridium 137 163 333.91 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 15 15 3.39 nil 0 0 0.00

Core 2810 6 284.98 SciCon 0 0 0.00

Fast 1 0 0.00 NCP 5112 25 1905.61

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2455 2 73.22

Compass 1267 5 94.51

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15.74 16386 -145.99 -1.59 0.00 528.2 678.8 377.5 181.8 2317.6 0.00 0.00 0 32.12 15.02 0.00 0.00 0.006 0.000 0.000 948.91 1061.50 836.31 181.88 2316.69 0 0 0 15.40 30.00 30.00

32.39 18951 -145.99 -1.59 -80.00 948.9 1061.4 836.4 181.8 2316.3 3.20 -10.67 3 176.81 117.51 11.44 3.67 0.005 0.200 0.087 3594.56 3653.94 3535.19 1665.56 891.31 0 0 0 15.43 15.53 15.33

179.29 1060 -145.99 -1.59 0.00 3594.2 3653.4 3534.9 1665.2 891.2 17.88 -10.00 31 185.71 0.00 0.00 3.57 0.000 0.000 0.038 3594.84 3654.12 3535.56 1665.94 2382.75 0 0 0 30.00 30.00 15.44

369.38 516 -145.99 -1.59 -80.00 3595.0 3653.6 3536.4 1665.6 2382.4 36.79 -10.09 69 376.36 0.00 0.00 3.83 0.000 0.000 0.083 3595.62 3655.00 3536.25 1665.88 892.44 0 0 0 30.00 30.00 15.75

604.51 1060 -145.99 -1.59 0.00 3595.2 3654.2 3536.3 1665.9 892.2 60.35 -9.92 116 611.30 0.00 0.00 3.53 0.000 0.000 0.039 3596.16 3653.88 3538.44 1665.56 2379.88 0 0 0 30.00 30.00 15.82

794.53 516 -145.99 -1.59 -80.00 3595.4 3654.1 3536.7 1665.8 2379.8 79.42 -10.16 154 801.50 0.00 0.00 3.82 0.000 0.000 0.083 3596.59 3654.50 3538.69 1665.62 892.56 0 0 0 30.00 30.00 15.39

849.60 1060 -145.99 -1.59 0.00 3595.2 3654.2 3536.1 1665.8 892.5 84.85 -9.93 165 856.38 0.00 0.00 3.51 0.000 0.000 0.038 3595.62 3654.50 3536.75 1664.25 2381.25 0 0 0 30.00 30.00 15.84

1039.66 32 -145.99 -1.59 0.00 3595.5 3654.3 3536.6 1665.6 2381.1 103.86 -10.03 203 1041.23 0.00 0.00 0.00 0.000 0.000 0.000 3594.78 3653.31 3536.25 1665.88 2381.38 0 0 0 30.00 30.00 30.00

1344.71 0 -145.99 -1.59 0.00 3595.4 3654.2 3536.7 1665.8 2381.5 134.66 -10.36 264 1346.28 0.00 0.00 0.00 0.000 0.000 0.000 3594.69 3654.06 3535.31 1665.06 2381.75 0 0 0 30.00 30.00 30.00

1649.82 32 -145.99 -1.59 0.00 3595.2 3654.4 3536.1 1665.9 2381.7 165.25 -9.56 325 1651.39 0.00 0.00 0.00 0.000 0.000 0.000 3594.38 3653.25 3535.50 1665.38 2381.19 0 0 0 30.00 30.00 30.00

1954.94 32 -145.99 -1.59 0.00 3595.1 3653.9 3536.2 1665.8 2381.4 196.06 -9.91 386 1956.55 0.00 0.00 0.00 0.000 0.000 0.000 3593.81 3652.75 3534.88 1665.94 2381.62 0 0 0 30.00 30.00 30.00

2259.97 0 -145.99 -1.59 0.00 3595.3 3654.2 3536.5 1665.6 2381.8 226.54 -10.20 447 2261.58 0.00 0.00 0.00 0.000 0.000 0.000 3593.88 3653.12 3534.62 1665.69 2381.44 0 0 0 30.00 30.00 30.00

2500 end dive: TARGET_DEPTH_EXCEEDED

state 2500 begin apogee

2502.43 10243 0.00 -0.36 0.00 3595.1 3654.4 3535.8 1666.0 1989.6 250.45 -10.02 495 2627.08 112.17 2.11 0.12 1.155 0.121 0.154 2999.12 3114.50 2883.75 1965.44 2083.44 0 0 0 11.83 15.39 15.59

2676 end apogee: CONTROL_FINISHED_OK

state 2676 begin climb

2676.80 10759 145.99 1.59 -80.00 2995.8 3111.1 2880.6 1964.9 2083.3 238.41 0.00 516 2865.67 112.02 3.18 4.14 1.129 0.071 0.107 2399.31 2521.38 2277.25 2442.00 560.38 0 0 0 12.38 15.62 15.40

2868.37 17414 145.99 1.59 0.00 2395.8 2516.2 2275.4 2442.6 560.4 212.54 10.72 518 2875.24 0.00 0.00 3.46 0.000 0.000 0.025 2397.00 2517.88 2276.12 2441.50 2068.19 0 0 0 30.00 30.00 15.39

3178.34 16386 145.99 1.59 0.00 2392.5 2513.9 2271.0 2441.7 2070.3 181.53 10.20 580 3179.95 0.00 0.00 0.00 0.000 0.000 0.000 2391.56 2512.62 2270.50 2442.06 2069.75 0 0 0 30.00 30.00 30.00

3483.48 16418 146.77 1.59 0.00 2391.4 2513.9 2268.9 2442.2 2069.9 151.10 10.00 641 3485.09 0.00 0.00 0.00 0.000 0.000 0.000 2390.72 2512.88 2268.56 2442.44 2069.75 0 0 0 30.00 30.00 30.00

3788.56 548 149.85 1.60 -80.00 2391.0 2513.4 2268.6 2442.5 2070.2 120.38 9.90 702 3795.76 0.00 0.00 3.96 0.000 0.000 0.106 2391.72 2513.81 2269.62 2441.88 557.69 0 0 0 30.00 30.00 15.78

3858.53 1028 149.85 1.60 0.00 2390.5 2512.6 2268.5 2442.6 558.0 113.34 10.09 716 3865.50 0.00 0.00 3.40 0.000 0.000 0.026 2390.62 2512.69 2268.56 2442.00 2067.38 0 0 0 30.00 30.00 15.51

4168.66 548 150.30 1.60 -80.00 2390.5 2513.1 2267.9 2442.2 2067.9 82.26 10.02 778 4175.84 0.00 0.00 3.93 0.000 0.000 0.105 2391.47 2513.62 2269.31 2442.06 558.88 0 0 0 30.00 30.00 15.80

4208.67 1060 150.94 1.60 0.00 2390.3 2512.7 2268.0 2441.7 559.2 78.26 10.01 786 4215.54 0.00 0.00 3.38 0.000 0.000 0.026 2390.41 2512.62 2268.19 2442.44 2070.00 0 0 0 30.00 30.00 15.86

4398.68 516 150.94 1.60 -80.00 2390.2 2512.4 2267.9 2442.2 2071.2 59.15 10.16 824 4405.93 0.00 0.00 3.93 0.000 0.000 0.104 2393.22 2515.50 2270.94 2442.38 559.25 0 0 0 30.00 30.00 15.42

4423.68 1028 150.94 1.60 0.00 2390.0 2512.4 2267.6 2441.9 559.2 56.58 10.20 829 4430.60 0.00 0.00 3.38 0.000 0.000 0.026 2389.84 2512.25 2267.44 2441.88 2071.44 0 0 0 30.00 30.00 15.87

4613.79 8226 156.54 1.61 0.00 2390.1 2512.5 2267.6 2442.4 2073.1 37.68 9.78 867 4624.27 8.45 0.00 0.00 0.788 0.000 0.000 2360.53 2484.44 2236.62 2442.00 2072.56 0 0 0 11.90 30.00 30.00

4808.85 32 159.21 1.61 0.00 2358.2 2480.8 2235.6 2442.4 2072.6 18.06 9.92 906 4810.46 0.00 0.00 0.00 0.000 0.000 0.000 2356.91 2479.00 2234.81 2441.50 2073.25 0 0 0 30.00 30.00 30.00

4943 end climb: SURFACE_DEPTH_REACHED

state 4943 begin surface coast

5003 end surface coast: CONTROL_FINISHED_OK

state 5004 begin surface

ID	248	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	1.9639999e-06
MISSION	7	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-1
DIVE	94	SM_CC	605	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
N_DIVES	0	N_FILEKB	8	VBD_MIN	500	DEEPGLIDERMB	0
STOP_T	0	FILEMGR	0	VBD_MAX	3960	MOTHERBOARD	6
D_SURF	5	CALL_NDIVES	1	C_VBD	3000	DEVICE1	10
D_FLARE	3	COMM_SEQ	7	VBD_DBAND	2	DEVICE2	-1
D_TGT	250	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE3	-1
D_ABORT	300	N_NOCOMM	2	VBD_LP_IGNORE	0	DEVICE4	-1
D_NO_BLEED	200	NOCOMM_ACTION	131	VBD_TIMEOUT	720	DEVICE5	-1
D_BOOST	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0015	DEVICE6	-1
T_BOOST	0	UPLOAD_DIVES_MAX	-1	UNCOM_BLEED	20	LOGGERS	2
D_FINISH	0	NETBOX	1	VBD_MAXERRORS	1	LOGGERDEVICE1	7
D_PITCH	0	CALL_TRIES	15	C_VBD_AUTO_DELTA	0	LOGGERDEVICE2	72
D_SAFE	0	CALL_WAIT	60	C_VBD_AUTO_MAX	0	LOGGERDEVICE3	-1
D_CALL	0	CAPUPLOAD	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
SURFACE_URGENCY	0	CAPMAXSIZE	100000	DBDW	0	COMPASS_DEVICE	66
SURFACE_URGENCY_TRY	0	T_GPS	30	LOITER_W_DBAND	0	COMPASS2_DEVICE	-1
SURFACE_URGENCY_FORCE	0	N_GPS	100440	LOITER_DBDW	0	PHONE_DEVICE	33
T_DIVE	83	T_RSLEEP	2	LOITER_D_TOP	0	GPS_DEVICE	48
T_MISSION	95	STROBE	0	LOITER_D_BOTTOM	0	RAFOS_DEVICE	-1
T_ABORT	1440	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	NAV_DEVICE	-1
T_TURN	225	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	NAV2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_HIT_WINDOW	3600	AH0_24V	575	NETWORK_DEVICE	-1
T_NO_W	120	RAFOS_MMODEM	0	AH0_10V	0	PRESSURE_DEVICE	34
T_LOITER	0	PITCH_MIN	205	MINV_24V	11	XPDR_DEVICE	21
T_EPIRB	0	PITCH_MAX	3600	MINV_10V	11	SIM_W	0.1
USE_BATHY	-6	C_PITCH	2050	MAXI_24V	5	SEABIRD_T_G	0.0044090361
USE_ICE	0	PITCH_DBAND	0.1	MAXI_10V	1.5	SEABIRD_T_H	0.00064173015
ICE_FREEZE_MARGIN	0.30000001	PITCH_CNV	0.0041299998	FG_AHR_10V	60.344776	SEABIRD_T_I	2.932871e-05
D_OFFGRID	1000	PITCH_GAIN	14	FG_AHR_24V	125.60712	SEABIRD_T_J	3.827171e-06
RELAUNCH	1	PITCH_TIMEOUT	30	PHONE_SUPPLY	2	SEABIRD_C_G	-9.9958668
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	PRESSURE_YINT	0	SEABIRD_C_H	1.1120801
MAX_BUOY	150	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	6.9999999e-07	SEABIRD_C_I	-0.0034223681
GLIDE_SLOPE	30	PITCH_ADJ_DBAND	0	COMPASS_USE	16388	SEABIRD_C_J	0.00032313328
SPEED_FACTOR	1	C_PITCH_AUTO_DELTA	0	ALTIM_PING_FIT	0	OPTIONS	0
RHO	1.0275	C_PITCH_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
MASS	74553	PITCH_GAIN_AUTO_DELTA	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	3.0
NAV_MODE	0	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
FERRY_MAX	45	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_NDIVE	1.0
KALMAN_USE	2	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	CP_RECORDABOVE	1000.0
HD_A	0.0025118899	ROLL_MIN	265	ALTIM_PING_DELTA	0	CP_PROFILE	3.0
HD_B	0.0146701	ROLL_MAX	3870	ALTIM_FREQUENCY	13	CP_XMITPROFILE	0.0
HD_C	5.7000002e-06	ROLL_DEG	80	ALTIM_PULSE	3	CP_UPLOADMAX	100000.0
HEADING	-1	C_ROLL_DIVE	2360	ALTIM_SENSITIVITY	2	CP_STARTS	39.0
ESCAPE_HEADING	0	C_ROLL_CLIMB	2025	XPDR_VALID	4	CP_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	XPDR_INHIBIT	90
FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.054945	XPDR_INT	-1
TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_REP	-1

GPS1	030723,231900,6311.341,-1712.356,26,1.5,26,-9.2	TGT_RADIUS	3000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.70	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-47.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030723,232239,6311.373,-1712.304,3,0.7,6,-9.2	MHEAD_RNG_PITCHd_Wd	261.5,67417,-19.2,-10.040,-24.79,2220,0.156
SPEED_LIMITS	0.174,0.217	D_GRID	1000
TGT_NAME	T2	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,789.000000,-1157.000000,312.000000
TGT_LATLONG	6300.300,-1828.700	OSC	8000266

FINISH	0.0,1.027259	FG_AHR_24Vo	125.775
SURF	forcing	FG_AHR_10Vo	60.399
SM_CCo	5415.51,317.85,0.907,0,534.5,678.9,390.0,604.79	MEM0	60108,1,0,0
SM_GC	0.72,317.85,14.13,0.70,0.907,0.066,0.068,534.5,678.9,390.0,184.1,2387.2,0,0,0,12.10,15.81,15.90	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	993532,39,52076,109
IRIDIUM_FIX	6313.31,-1707.57,030723,214531	DATA_FILE_SIZE	32158,945
TCM_TEMP	10.72	CAP_FILE_SIZE	187575,0
XPDR_PINGS	0,10.3,13.6	SDSIZE	3887104,3848064
HUMID	52.25	SDFILEDIR	518,96
TEMP	8.54	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.06006	IMPLIED_C_PITCH	2054,12.47,755,0.0,0.00
_24V_AH	14.87,130.507	IMPLIED_C_VBD	3057,15.037348,755,0
_10V_AH	14.91,0.000	GPS	040723,005401,6311.538,-1711.973,2,0.9,4,-9.2

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	683	1155	11733.94	SBE_CT	1315	24	469.58
Pitch_motor	30	200	91.88	nil	0	0	0.00
Roll_motor	53	153	122.08	nil	0	0	0.00
Iridium	137	163	333.91	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	15	15	3.39	nil	0	0	0.00
Core	2810	6	284.98	SciCon	0	0	0.00
Fast	1	0	0.00	NCP	5112	25	1905.61
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2455	2	73.22
Compass	1267	5	94.51
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15.74	16386	-145.99	-1.59	0.00	528.2	678.8	377.5	181.8	2317.6	0.00	0.00	0	32.12	15.02	0.00	0.00	0.006	0.000	0.000	948.91	1061.50	836.31	181.88	2316.69	0	0	0	15.40	30.00	30.00
32.39	18951	-145.99	-1.59	-80.00	948.9	1061.4	836.4	181.8	2316.3	3.20	-10.67	3	176.81	117.51	11.44	3.67	0.005	0.200	0.087	3594.56	3653.94	3535.19	1665.56	891.31	0	0	0	15.43	15.53	15.33
179.29	1060	-145.99	-1.59	0.00	3594.2	3653.4	3534.9	1665.2	891.2	17.88	-10.00	31	185.71	0.00	0.00	3.57	0.000	0.000	0.038	3594.84	3654.12	3535.56	1665.94	2382.75	0	0	0	30.00	30.00	15.44
369.38	516	-145.99	-1.59	-80.00	3595.0	3653.6	3536.4	1665.6	2382.4	36.79	-10.09	69	376.36	0.00	0.00	3.83	0.000	0.000	0.083	3595.62	3655.00	3536.25	1665.88	892.44	0	0	0	30.00	30.00	15.75
604.51	1060	-145.99	-1.59	0.00	3595.2	3654.2	3536.3	1665.9	892.2	60.35	-9.92	116	611.30	0.00	0.00	3.53	0.000	0.000	0.039	3596.16	3653.88	3538.44	1665.56	2379.88	0	0	0	30.00	30.00	15.82
794.53	516	-145.99	-1.59	-80.00	3595.4	3654.1	3536.7	1665.8	2379.8	79.42	-10.16	154	801.50	0.00	0.00	3.82	0.000	0.000	0.083	3596.59	3654.50	3538.69	1665.62	892.56	0	0	0	30.00	30.00	15.39
849.60	1060	-145.99	-1.59	0.00	3595.2	3654.2	3536.1	1665.8	892.5	84.85	-9.93	165	856.38	0.00	0.00	3.51	0.000	0.000	0.038	3595.62	3654.50	3536.75	1664.25	2381.25	0	0	0	30.00	30.00	15.84
1039.66	32	-145.99	-1.59	0.00	3595.5	3654.3	3536.6	1665.6	2381.1	103.86	-10.03	203	1041.23	0.00	0.00	0.00	0.000	0.000	0.000	3594.78	3653.31	3536.25	1665.88	2381.38	0	0	0	30.00	30.00	30.00
1344.71	0	-145.99	-1.59	0.00	3595.4	3654.2	3536.7	1665.8	2381.5	134.66	-10.36	264	1346.28	0.00	0.00	0.00	0.000	0.000	0.000	3594.69	3654.06	3535.31	1665.06	2381.75	0	0	0	30.00	30.00	30.00
1649.82	32	-145.99	-1.59	0.00	3595.2	3654.4	3536.1	1665.9	2381.7	165.25	-9.56	325	1651.39	0.00	0.00	0.00	0.000	0.000	0.000	3594.38	3653.25	3535.50	1665.38	2381.19	0	0	0	30.00	30.00	30.00
1954.94	32	-145.99	-1.59	0.00	3595.1	3653.9	3536.2	1665.8	2381.4	196.06	-9.91	386	1956.55	0.00	0.00	0.00	0.000	0.000	0.000	3593.81	3652.75	3534.88	1665.94	2381.62	0	0	0	30.00	30.00	30.00
2259.97	0	-145.99	-1.59	0.00	3595.3	3654.2	3536.5	1665.6	2381.8	226.54	-10.20	447	2261.58	0.00	0.00	0.00	0.000	0.000	0.000	3593.88	3653.12	3534.62	1665.69	2381.44	0	0	0	30.00	30.00	30.00
2500	end dive: TARGET_DEPTH_EXCEEDED
state	2500	begin apogee
2502.43	10243	0.00	-0.36	0.00	3595.1	3654.4	3535.8	1666.0	1989.6	250.45	-10.02	495	2627.08	112.17	2.11	0.12	1.155	0.121	0.154	2999.12	3114.50	2883.75	1965.44	2083.44	0	0	0	11.83	15.39	15.59
2676	end apogee: CONTROL_FINISHED_OK
state	2676	begin climb
2676.80	10759	145.99	1.59	-80.00	2995.8	3111.1	2880.6	1964.9	2083.3	238.41	0.00	516	2865.67	112.02	3.18	4.14	1.129	0.071	0.107	2399.31	2521.38	2277.25	2442.00	560.38	0	0	0	12.38	15.62	15.40
2868.37	17414	145.99	1.59	0.00	2395.8	2516.2	2275.4	2442.6	560.4	212.54	10.72	518	2875.24	0.00	0.00	3.46	0.000	0.000	0.025	2397.00	2517.88	2276.12	2441.50	2068.19	0	0	0	30.00	30.00	15.39
3178.34	16386	145.99	1.59	0.00	2392.5	2513.9	2271.0	2441.7	2070.3	181.53	10.20	580	3179.95	0.00	0.00	0.00	0.000	0.000	0.000	2391.56	2512.62	2270.50	2442.06	2069.75	0	0	0	30.00	30.00	30.00
3483.48	16418	146.77	1.59	0.00	2391.4	2513.9	2268.9	2442.2	2069.9	151.10	10.00	641	3485.09	0.00	0.00	0.00	0.000	0.000	0.000	2390.72	2512.88	2268.56	2442.44	2069.75	0	0	0	30.00	30.00	30.00
3788.56	548	149.85	1.60	-80.00	2391.0	2513.4	2268.6	2442.5	2070.2	120.38	9.90	702	3795.76	0.00	0.00	3.96	0.000	0.000	0.106	2391.72	2513.81	2269.62	2441.88	557.69	0	0	0	30.00	30.00	15.78
3858.53	1028	149.85	1.60	0.00	2390.5	2512.6	2268.5	2442.6	558.0	113.34	10.09	716	3865.50	0.00	0.00	3.40	0.000	0.000	0.026	2390.62	2512.69	2268.56	2442.00	2067.38	0	0	0	30.00	30.00	15.51
4168.66	548	150.30	1.60	-80.00	2390.5	2513.1	2267.9	2442.2	2067.9	82.26	10.02	778	4175.84	0.00	0.00	3.93	0.000	0.000	0.105	2391.47	2513.62	2269.31	2442.06	558.88	0	0	0	30.00	30.00	15.80
4208.67	1060	150.94	1.60	0.00	2390.3	2512.7	2268.0	2441.7	559.2	78.26	10.01	786	4215.54	0.00	0.00	3.38	0.000	0.000	0.026	2390.41	2512.62	2268.19	2442.44	2070.00	0	0	0	30.00	30.00	15.86
4398.68	516	150.94	1.60	-80.00	2390.2	2512.4	2267.9	2442.2	2071.2	59.15	10.16	824	4405.93	0.00	0.00	3.93	0.000	0.000	0.104	2393.22	2515.50	2270.94	2442.38	559.25	0	0	0	30.00	30.00	15.42
4423.68	1028	150.94	1.60	0.00	2390.0	2512.4	2267.6	2441.9	559.2	56.58	10.20	829	4430.60	0.00	0.00	3.38	0.000	0.000	0.026	2389.84	2512.25	2267.44	2441.88	2071.44	0	0	0	30.00	30.00	15.87
4613.79	8226	156.54	1.61	0.00	2390.1	2512.5	2267.6	2442.4	2073.1	37.68	9.78	867	4624.27	8.45	0.00	0.00	0.788	0.000	0.000	2360.53	2484.44	2236.62	2442.00	2072.56	0	0	0	11.90	30.00	30.00
4808.85	32	159.21	1.61	0.00	2358.2	2480.8	2235.6	2442.4	2072.6	18.06	9.92	906	4810.46	0.00	0.00	0.00	0.000	0.000	0.000	2356.91	2479.00	2234.81	2441.50	2073.25	0	0	0	30.00	30.00	30.00
4943	end climb: SURFACE_DEPTH_REACHED
state	4943	begin surface coast
5003	end surface coast: CONTROL_FINISHED_OK
state	5004	begin surface