Glider dive log

ARCTERX Mar22 * SG526 * Dive index * Mission links * Dive 118 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 526 TGT_AUTO_DEFAULT 0 VBD_MIN 500 MOTHERBOARD 6

MISSION 4 SM_CC 613.25 VBD_MAX 3960 DEVICE1 -1

DIVE 118 N_FILEKB 8 C_VBD 3000 DEVICE2 -1

N_DIVES 0 FILEMGR 0 VBD_DBAND 2 DEVICE3 -1

STOP_T 0 CALL_NDIVES 1 VBD_CNV -0.24529999 DEVICE4 -1

D_SURF 2 COMM_SEQ 7 VBD_LP_IGNORE 0 DEVICE5 -1

D_FLARE 3 PROTOCOL 9 VBD_TIMEOUT 720 DEVICE6 -1

D_TGT 300 N_NOCOMM 2 PITCH_VBD_SHIFT 0.0023000001 LOGGERS 7

D_ABORT 1010 NOCOMM_ACTION 163 UNCOM_BLEED 20 LOGGERDEVICE1 6

D_NO_BLEED 50 N_NOSURFACE 0 VBD_MAXERRORS 1 LOGGERDEVICE2 33

D_BOOST 0 UPLOAD_DIVES_MAX -1 C_VBD_AUTO_DELTA 0 LOGGERDEVICE3 19

T_BOOST 0 CALL_TRIES 5 C_VBD_AUTO_MAX 0 LOGGERDEVICE4 -1

D_FINISH 0 CALL_WAIT 60 W_ADJ_DBAND 2 COMPASS_DEVICE 34

D_PITCH 0 CAPUPLOAD 0 DBDW 0 COMPASS2_DEVICE -1

D_SAFE 0 CAPMAXSIZE 100000 LOITER_W_DBAND 0 PHONE_DEVICE 33

D_CALL 0 T_GPS 5 LOITER_DBDW 0 GPS_DEVICE 48

SURFACE_URGENCY 0 N_GPS 100440 LOITER_D_TOP 0 RAFOS_DEVICE -1

SURFACE_URGENCY_TRY 0 T_RSLEEP 3 LOITER_D_BOTTOM 0 NAV_DEVICE -1

SURFACE_URGENCY_FORCE 0 STROBE 0 LOITER_N_DIVE 0 NAV2_DEVICE -1

T_DIVE 100 RAFOS_PEAK_OFFSET 0 CF8_MAXERRORS 20 NETWORK_DEVICE -1

T_MISSION 330 RAFOS_CORR_THRESH 60 AH0_24V 350 PRESSURE_DEVICE 41

T_ABORT 1440 RAFOS_HIT_WINDOW 3600 AH0_10V 0 XPDR_DEVICE 21

T_TURN 225 RAFOS_MMODEM 0 MINV_24V 11 SIM_W 0

T_TURN_SAMPINT -5 PITCH_MIN 150 MINV_10V 11 SEABIRD_T_G 0.00441493

T_NO_W 120 PITCH_MAX 3615 MAXI_24V 4.8000002 SEABIRD_T_H 0.00064107013

T_LOITER 0 C_PITCH 2330 MAXI_10V 1.5 SEABIRD_T_I 2.576065e-05

T_EPIRB 0 PITCH_DBAND 0.1 FG_AHR_10V 105.78727 SEABIRD_T_J 3.1402324e-06

USE_BATHY -6 PITCH_CNV 0.0041299998 FG_AHR_24V 78.379311 SEABIRD_C_G -9.799654

USE_ICE 0 PITCH_GAIN 40 PHONE_SUPPLY 2 SEABIRD_C_H 1.0727782

ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 PRESSURE_YINT -160.7363 SEABIRD_C_I -0.0026193932

D_OFFGRID 1000 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00022843899 SEABIRD_C_J 0.00026435545

RELAUNCH 1 PITCH_ADJ_GAIN 0 COMPASS_USE 16388 OPTIONS 0

APOGEE_PITCH -5 PITCH_ADJ_DBAND 0 ALTIM_PING_FIT 0 SC_RECORDABOVE 2000.0

MAX_BUOY 150 C_PITCH_AUTO_DELTA 0 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 7.0

GLIDE_SLOPE 30 C_PITCH_AUTO_MAX 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_XMITPROFILE 7.0

SPEED_FACTOR 1 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_TURN_MARGIN 0 SC_NDIVE 1.0

RHO 1.0275 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_MIN_OBSTACLE 0 PM_RECORDABOVE 2000.0

MASS 56535 PITCH_W_GAIN 2 ALTIM_PING_DEPTH 0 PM_PROFILE 7.0

NAV_MODE 2 PITCH_W_DBAND 0.5 ALTIM_PING_DELTA 0 PM_XMITPROFILE 7.0

FERRY_MAX 45 ROLL_MIN 380 ALTIM_FREQUENCY 13 PM_NDIVE 1.0

KALMAN_USE 2 ROLL_MAX 3950 ALTIM_PULSE 3 PM_XMITRAW 0.0

HD_A 0.0025118899 ROLL_DEG 30 ALTIM_SENSITIVITY 2 PM_MOTORS 1.0

HD_B 0.0139236 C_ROLL_DIVE 2857.1387 XPDR_VALID 4 PM_SENDDEPTH 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 2646.1672 XPDR_INHIBIT 90 TM_RECORDABOVE 400.0

HEADING 180 HEAD_ERRBAND 10 XPDR_INT 0 TM_PROFILE 3.0

ESCAPE_HEADING 0 ROLL_CNV 0.028270001 XPDR_REP 0 TM_XMITPROFILE 1.0

ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 1.9639999e-06 TM_NDIVE 1.0

FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT -1 TM_XMITRAW 0.0

TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0.5 DEEPGLIDER 0 TM_LOGSAMPLE 0.0

TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0.029999999 DEEPGLIDERMB 0

AH0_10V 0 D_SURF 2 PHONE_DEVICE 33 SEABIRD_T_G 0.00441493

AH0_24V 350 D_TGT 300 PHONE_SUPPLY 2 SEABIRD_T_H 0.00064107013

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 SEABIRD_T_I 2.576065e-05

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SEABIRD_T_J 3.1402324e-06

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_CNV 0.0041299998 SIM_W 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 105.78727 PITCH_DBAND 0.1 SM_CC 613.25

ALTIM_PING_FIT 0 FG_AHR_24V 78.379311 PITCH_GAIN 40 SPEED_FACTOR 1

ALTIM_PULSE 3 FILEMGR 0 PITCH_GAIN_AUTO_DELTA 0 STOP_T 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_GAIN_AUTO_MAX 0 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_MAX 3615 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0025118899 PITCH_MIN 150 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 HD_B 0.0139236 PITCH_TIMEOUT 30 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0023000001 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HEADING 180 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HEAD_ERRBAND 10 PITCH_W_GAIN 2 TM_LOGSAMPLE 0.0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PM_MOTORS 1.0 TM_NDIVE 1.0

CAPUPLOAD 0 ID 526 PM_NDIVE 1.0 TM_PROFILE 3.0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 1.9639999e-06 PM_PROFILE 7.0 TM_RECORDABOVE 400.0

COMM_SEQ 7 INT_PRESSURE_YINT -1 PM_RECORDABOVE 2000.0 TM_XMITPROFILE 1.0

COMPASS2_DEVICE -1 KALMAN_USE 2 PM_SENDDEPTH 1.0 TM_XMITRAW 0.0

COMPASS_DEVICE 34 LOGGERDEVICE1 6 PM_XMITPROFILE 7.0 T_ABORT 1440

COMPASS_USE 16388 LOGGERDEVICE2 33 PM_XMITRAW 0.0 T_BOOST 0

C_PITCH 2330 LOGGERDEVICE3 19 PRESSURE_DEVICE 41 T_DIVE 100

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE4 -1 PRESSURE_SLOPE 0.00022843899 T_EPIRB 0

C_PITCH_AUTO_MAX 0 LOGGERS 7 PRESSURE_YINT -160.7363 T_GPS 5

C_ROLL_CLIMB 2646.1672 LOITER_DBDW 0 PROTOCOL 9 T_LOITER 0

C_ROLL_DIVE 2857.1387 LOITER_D_BOTTOM 0 RAFOS_CORR_THRESH 60 T_MISSION 330

C_VBD 3000 LOITER_D_TOP 0 RAFOS_DEVICE -1 T_NO_W 120

C_VBD_AUTO_DELTA 0 LOITER_N_DIVE 0 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

C_VBD_AUTO_MAX 0 LOITER_W_DBAND 0 RAFOS_MMODEM 0 T_TURN 225

DBDW 0 MASS 56535 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

DEEPGLIDER 0 MAXI_10V 1.5 RELAUNCH 1 UNCOM_BLEED 20

DEEPGLIDERMB 0 MAXI_24V 4.8000002 RHO 1.0275 UPLOAD_DIVES_MAX -1

DEVICE1 -1 MAX_BUOY 150 ROLL_ADJ_DBAND 0.029999999 USE_BATHY -6

DEVICE2 -1 MINV_10V 11 ROLL_ADJ_GAIN 0.5 USE_ICE 0

DEVICE3 -1 MINV_24V 11 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 4 ROLL_DEG 30 VBD_DBAND 2

DEVICE5 -1 MOTHERBOARD 6 ROLL_MAX 3950 VBD_LP_IGNORE 0

DEVICE6 -1 NAV2_DEVICE -1 ROLL_MAXERRORS 1 VBD_MAX 3960

DIVE 118 NAV_DEVICE -1 ROLL_MIN 380 VBD_MAXERRORS 1

D_ABORT 1010 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_MIN 500

D_BOOST 0 NETWORK_DEVICE -1 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_CALL 0 NOCOMM_ACTION 163 SC_PROFILE 7.0 W_ADJ_DBAND 2

D_FINISH 0 N_DIVES 0 SC_RECORDABOVE 2000.0 XPDR_DEVICE 21

D_FLARE 3 N_FILEKB 8 SC_XMITPROFILE 7.0 XPDR_INHIBIT 90

D_NO_BLEED 50 N_GPS 100440 SEABIRD_C_G -9.799654 XPDR_INT 0

D_OFFGRID 1000 N_NOCOMM 2 SEABIRD_C_H 1.0727782 XPDR_REP 0

D_PITCH 0 N_NOSURFACE 0 SEABIRD_C_I -0.0026193932 XPDR_VALID 4

D_SAFE 0 OPTIONS 0 SEABIRD_C_J 0.00026435545

Pre-dive calculations and measurements:

GPS1 280322,203903,1416.958,14450.851,22,0.8,23,0.3 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.08 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280322,204501,1416.932,14450.780,35,0.8,36,0.3 MHEAD_RNG_PITCHd_Wd 134.7,20000,-18.8,-10.000,-24.19,2228,0.183

SPEED_LIMITS 0.173,0.223 D_GRID 1000

TGT_NAME HEADING IRON 1.000000,0.005000,-0.003000,0.013000,1.047000,-0.005000,0.002000,0.001000,1.052000,12.000000,99.000000,12.600000

TGT_LATLONG 1406.133,14450.780

Post-dive calculations and measurements:

WARN HTMICL TMICL logging already stopped INTERNAL_PRESSURE 9.1325

FINISH 0.2,1.010322 _24V_AH 14.91,124.023

SM_CCo 4496.08,195.18,0.764,0,499.7,457.4,541.9,613.33 _10V_AH 14.94,0.000

SM_GC 1.17,195.18,6.64,0.32,0.764,0.028,0.025,499.7,457.4,541.9,111.4,2976.9,0,0,0,11.49,15.88,15.94 FG_AHR_24Vo 78.533

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 105.856

IRIDIUM_FIX 1413.25,14452.83,280322,191937 MEM0 60140,1,0,0

TCM_TEMP 26.50 MEM1 65508,1,0,0

XPDR_PINGS 17,14.5,10.5 MEM2 995716,28,50992,65

SC_FREEKB 3793536 DATA_FILE_SIZE 16114,535

PM_FREEKB_00 65539904 CAP_FILE_SIZE 159961,0

PM_FREEKB_01 113262016 SDSIZE 3887104,3827968

PM_FREEKB_02 124835200 SDFILEDIR 1177,1

PM_FREEKB_03 124835200 ERRORS 0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 1 CURRENT 0.228,252.3,1

TM_FREEKB 5992928 MAGCAL 1.000000,0.001324,0.046552,0.013853,1.040613,0.018479,-0.034184,-0.011609,1.057338,16.2,95.6,11.6,35,0.0052,0

HUMID 54.26 IMPLIED_C_PITCH 2410,25.72,293,0.0,0.00

TEMP 25.11 GPS 280322,220131,1416.433,14450.559,37,0.7,38,0.3

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 663 1124 11124.84 nil 0 0 0.00

Pitch_motor 18 403 113.95 nil 0 0 0.00

Roll_motor 43 64 42.18 nil 0 0 0.00

Iridium 227 190 646.22 nil 0 0 0.00

Transponder_ping 4 420 26.61 nil 0 0 0.00

GPS 45 15 10.16 nil 0 0 0.00

Core 834 6 84.79 SciCon 4304 32 2078.88

Fast 8 0 0.00 PMAR 4301 9 588.72

Slow 0 0 0.00 TMICL 4287 9 615.69

LPSleep 2519 2 75.29

Compass 900 5 67.25

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

15.21 16386 -145.99 -0.81 0.00 495.9 461.4 530.4 91.2 2711.4 0.00 0.00 0 114.71 93.44 0.00 0.00 0.005 0.000 0.000 3111.31 3032.56 3190.06 89.75 2710.50 0 0 0 15.17 30.00 30.00

114.96 18983 -145.99 -0.81 -30.00 3110.6 3032.2 3189.1 89.8 2710.5 4.70 -5.79 10 142.66 8.65 10.06 1.48 0.007 0.404 0.016 3595.38 3501.56 3689.19 2140.75 1723.69 0 0 0 15.48 15.19 15.36

196.27 1028 -145.99 -0.81 0.00 3598.5 3502.8 3694.2 2142.2 1706.2 36.41 -30.58 26 201.79 0.00 0.00 1.90 0.000 0.000 0.040 3598.78 3504.00 3693.56 2134.06 2884.12 0 0 0 30.00 30.00 15.78

385.44 260 -145.99 -0.81 30.00 3597.9 3502.6 3693.2 2134.4 2883.9 105.08 -37.41 46 391.80 0.00 0.00 1.70 0.000 0.000 0.036 3598.75 3503.12 3694.38 2126.50 3959.31 0 0 0 30.00 30.00 15.83

450.12 1028 -145.99 -0.81 0.12 3598.0 3502.8 3693.2 2126.5 3959.8 125.55 -28.66 59 457.18 0.00 0.00 1.78 0.000 0.000 0.010 3599.06 3503.69 3694.44 2125.25 2785.56 0 0 0 30.00 30.00 15.87

646.30 516 -145.99 -0.81 -30.00 3598.6 3503.2 3694.1 2126.2 2767.9 181.37 -25.72 79 652.18 0.00 0.00 1.56 0.000 0.000 0.014 3599.97 3504.50 3695.44 2126.56 1736.00 0 0 0 30.00 30.00 15.84

775.94 1028 -145.99 -0.81 -0.08 3598.8 3503.9 3693.8 2126.0 1718.2 209.53 -17.73 105 782.33 0.00 0.00 1.86 0.000 0.000 0.035 3600.00 3505.50 3694.50 2117.94 2889.75 0 0 0 30.00 30.00 15.88

965.98 516 -145.99 -0.81 -30.00 3599.4 3503.4 3695.4 2118.1 2889.3 244.15 -19.62 125 972.37 0.00 0.00 1.77 0.000 0.000 0.012 3598.66 3502.25 3695.06 2117.44 1729.12 0 0 0 30.00 30.00 15.86

1086.00 1028 -145.99 -0.81 0.10 3600.2 3503.4 3697.0 2117.4 1712.3 265.79 -18.49 149 1092.41 0.00 0.00 1.88 0.000 0.000 0.034 3599.12 3502.44 3695.81 2108.06 2890.56 0 0 0 30.00 30.00 15.86

1286 end dive: TARGET_DEPTH_EXCEEDED

state 1286 begin apogee

1287.31 10243 0.00 -0.12 0.00 3600.7 3503.6 3697.7 2108.6 2516.0 301.26 -17.14 162 1409.92 114.32 0.67 0.25 1.124 0.217 0.065 2999.47 2885.56 3113.38 2300.94 2701.19 0 0 0 11.36 15.69 15.44

1412 end apogee: CONTROL_FINISHED_OK

state 1412 begin climb

1412.38 10759 145.99 0.81 -30.00 2997.6 2883.8 3111.4 2301.0 2701.5 306.42 0.00 168 1533.98 112.72 0.68 1.87 1.115 0.105 0.012 2402.12 2309.38 2494.88 2531.94 1492.00 0 0 0 12.27 15.52 15.59

1536.40 1092 145.99 0.83 0.00 2401.7 2308.8 2494.6 2532.4 1491.6 299.04 8.95 191 1543.48 0.00 0.00 1.94 0.000 0.000 0.030 2402.16 2309.19 2495.12 2532.69 2681.56 0 0 0 30.00 30.00 15.32

1741.75 260 145.99 0.83 30.00 2396.8 2299.1 2494.5 2533.0 2682.1 275.19 12.01 202 1748.12 0.00 0.00 1.72 0.000 0.000 0.038 2397.19 2299.62 2494.75 2532.94 3744.88 0 0 0 30.00 30.00 15.78

1856.45 17414 145.99 0.83 0.11 2395.2 2297.6 2492.8 2533.1 3744.6 260.35 11.81 225 1863.51 0.00 0.00 1.82 0.000 0.000 0.011 2397.22 2299.38 2495.06 2540.81 2575.31 0 0 0 30.00 30.00 15.85

2051.83 10791 218.20 0.99 -30.00 2394.2 2295.4 2493.1 2541.4 2557.8 245.02 6.67 239 2114.82 54.29 0.09 1.60 1.056 0.087 0.019 2109.78 2002.94 2216.62 2617.69 1527.06 0 0 0 11.74 15.86 15.60

2177.16 5125 218.20 0.99 -0.23 2104.1 2001.5 2206.6 2617.8 1509.7 232.99 11.15 264 2184.31 0.00 0.19 1.87 0.000 0.227 0.029 2105.97 2003.50 2208.44 2563.31 2675.75 0 0 0 30.00 15.58 15.61

2372.53 10791 265.04 1.10 -30.00 2099.7 1996.4 2203.1 2563.6 2676.5 215.99 7.84 284 2415.10 36.31 0.10 1.82 1.007 0.079 0.021 1919.28 1816.00 2022.56 2639.00 1532.25 0 0 0 11.75 15.82 15.41

2642.86 21511 265.04 1.10 -0.59 1910.1 1814.8 2005.4 2639.3 1515.3 175.91 11.82 338 2649.38 0.00 0.18 1.82 0.000 0.228 0.027 1911.19 1815.69 2006.69 2589.56 2671.19 0 0 0 30.00 15.66 15.83

2832.92 16966 265.04 1.12 -30.00 1907.7 1814.9 2000.5 2589.7 2671.6 158.71 8.86 358 2839.26 0.00 0.00 1.80 0.000 0.000 0.016 1907.34 1814.56 2000.12 2595.94 1524.19 0 0 0 30.00 30.00 15.80

2897.58 17478 265.04 1.16 -0.74 1907.2 1814.8 1999.8 2596.7 1517.8 153.24 8.01 371 2904.52 0.00 0.00 1.84 0.000 0.000 0.029 1907.53 1814.62 2000.44 2596.88 2658.31 0 0 0 30.00 30.00 15.74

3092.95 16386 265.04 1.16 -0.74 1905.8 1814.2 1997.4 2596.8 2659.3 132.44 11.45 391 3097.03 0.00 0.00 0.00 0.000 0.000 0.000 1904.84 1813.38 1996.31 2596.94 2660.19 0 0 0 30.00 30.00 30.00

3282.98 10791 331.41 1.32 -30.00 1903.7 1812.2 1995.2 2596.3 2660.1 117.26 6.94 410 3339.86 48.63 0.15 1.78 0.887 0.055 0.017 1646.91 1559.12 1734.69 2689.12 1527.94 0 0 0 11.50 15.83 15.68

3412.93 5125 331.41 1.32 -0.64 1642.9 1558.4 1727.4 2689.9 1510.8 98.05 15.62 436 3419.51 0.00 0.17 1.85 0.000 0.214 0.028 1643.00 1558.44 1727.56 2643.00 2667.00 0 0 0 30.00 15.61 15.42

3603.03 260 331.41 1.32 30.00 1640.8 1558.4 1723.3 2642.5 2667.2 75.21 10.63 456 3609.39 0.00 0.00 1.74 0.000 0.000 0.036 1641.09 1558.31 1723.88 2642.38 3737.56 0 0 0 30.00 30.00 15.77

3663.03 17414 331.41 1.32 -0.56 1640.3 1558.9 1721.7 2642.2 3738.0 68.45 11.56 468 3669.50 0.00 0.00 1.84 0.000 0.000 0.012 1642.22 1560.56 1723.88 2647.56 2570.00 0 0 0 30.00 30.00 15.79

3853.09 16966 331.41 1.35 -30.00 1640.1 1558.2 1721.9 2649.1 2552.6 48.67 8.48 488 3859.41 0.00 0.00 1.58 0.000 0.000 0.015 1641.38 1559.50 1723.25 2655.56 1525.88 0 0 0 30.00 30.00 15.80

3883.09 17478 331.41 1.39 -0.53 1639.8 1557.8 1721.8 2656.5 1521.6 46.11 8.03 494 3889.47 0.00 0.00 1.83 0.000 0.000 0.027 1639.84 1557.94 1721.75 2655.62 2667.50 0 0 0 30.00 30.00 15.80

4073.10 16386 331.41 1.39 -0.53 1639.7 1557.8 1721.5 2656.1 2667.6 26.17 11.95 514 4077.12 0.00 0.00 0.00 0.000 0.000 0.000 1639.78 1557.88 1721.69 2656.25 2667.56 0 0 0 30.00 30.00 30.00

4263 end climb: SURFACE_DEPTH_REACHED

state 4263 begin surface coast

4284 end surface coast: CONTROL_FINISHED_OK

state 4284 begin surface

ID	526	TGT_AUTO_DEFAULT	0	VBD_MIN	500	MOTHERBOARD	6
MISSION	4	SM_CC	613.25	VBD_MAX	3960	DEVICE1	-1
DIVE	118	N_FILEKB	8	C_VBD	3000	DEVICE2	-1
N_DIVES	0	FILEMGR	0	VBD_DBAND	2	DEVICE3	-1
STOP_T	0	CALL_NDIVES	1	VBD_CNV	-0.24529999	DEVICE4	-1
D_SURF	2	COMM_SEQ	7	VBD_LP_IGNORE	0	DEVICE5	-1
D_FLARE	3	PROTOCOL	9	VBD_TIMEOUT	720	DEVICE6	-1
D_TGT	300	N_NOCOMM	2	PITCH_VBD_SHIFT	0.0023000001	LOGGERS	7
D_ABORT	1010	NOCOMM_ACTION	163	UNCOM_BLEED	20	LOGGERDEVICE1	6
D_NO_BLEED	50	N_NOSURFACE	0	VBD_MAXERRORS	1	LOGGERDEVICE2	33
D_BOOST	0	UPLOAD_DIVES_MAX	-1	C_VBD_AUTO_DELTA	0	LOGGERDEVICE3	19
T_BOOST	0	CALL_TRIES	5	C_VBD_AUTO_MAX	0	LOGGERDEVICE4	-1
D_FINISH	0	CALL_WAIT	60	W_ADJ_DBAND	2	COMPASS_DEVICE	34
D_PITCH	0	CAPUPLOAD	0	DBDW	0	COMPASS2_DEVICE	-1
D_SAFE	0	CAPMAXSIZE	100000	LOITER_W_DBAND	0	PHONE_DEVICE	33
D_CALL	0	T_GPS	5	LOITER_DBDW	0	GPS_DEVICE	48
SURFACE_URGENCY	0	N_GPS	100440	LOITER_D_TOP	0	RAFOS_DEVICE	-1
SURFACE_URGENCY_TRY	0	T_RSLEEP	3	LOITER_D_BOTTOM	0	NAV_DEVICE	-1
SURFACE_URGENCY_FORCE	0	STROBE	0	LOITER_N_DIVE	0	NAV2_DEVICE	-1
T_DIVE	100	RAFOS_PEAK_OFFSET	0	CF8_MAXERRORS	20	NETWORK_DEVICE	-1
T_MISSION	330	RAFOS_CORR_THRESH	60	AH0_24V	350	PRESSURE_DEVICE	41
T_ABORT	1440	RAFOS_HIT_WINDOW	3600	AH0_10V	0	XPDR_DEVICE	21
T_TURN	225	RAFOS_MMODEM	0	MINV_24V	11	SIM_W	0
T_TURN_SAMPINT	-5	PITCH_MIN	150	MINV_10V	11	SEABIRD_T_G	0.00441493
T_NO_W	120	PITCH_MAX	3615	MAXI_24V	4.8000002	SEABIRD_T_H	0.00064107013
T_LOITER	0	C_PITCH	2330	MAXI_10V	1.5	SEABIRD_T_I	2.576065e-05
T_EPIRB	0	PITCH_DBAND	0.1	FG_AHR_10V	105.78727	SEABIRD_T_J	3.1402324e-06
USE_BATHY	-6	PITCH_CNV	0.0041299998	FG_AHR_24V	78.379311	SEABIRD_C_G	-9.799654
USE_ICE	0	PITCH_GAIN	40	PHONE_SUPPLY	2	SEABIRD_C_H	1.0727782
ICE_FREEZE_MARGIN	0.30000001	PITCH_TIMEOUT	30	PRESSURE_YINT	-160.7363	SEABIRD_C_I	-0.0026193932
D_OFFGRID	1000	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00022843899	SEABIRD_C_J	0.00026435545
RELAUNCH	1	PITCH_ADJ_GAIN	0	COMPASS_USE	16388	OPTIONS	0
APOGEE_PITCH	-5	PITCH_ADJ_DBAND	0	ALTIM_PING_FIT	0	SC_RECORDABOVE	2000.0
MAX_BUOY	150	C_PITCH_AUTO_DELTA	0	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	7.0
GLIDE_SLOPE	30	C_PITCH_AUTO_MAX	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_XMITPROFILE	7.0
SPEED_FACTOR	1	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_TURN_MARGIN	0	SC_NDIVE	1.0
RHO	1.0275	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_MIN_OBSTACLE	0	PM_RECORDABOVE	2000.0
MASS	56535	PITCH_W_GAIN	2	ALTIM_PING_DEPTH	0	PM_PROFILE	7.0
NAV_MODE	2	PITCH_W_DBAND	0.5	ALTIM_PING_DELTA	0	PM_XMITPROFILE	7.0
FERRY_MAX	45	ROLL_MIN	380	ALTIM_FREQUENCY	13	PM_NDIVE	1.0
KALMAN_USE	2	ROLL_MAX	3950	ALTIM_PULSE	3	PM_XMITRAW	0.0
HD_A	0.0025118899	ROLL_DEG	30	ALTIM_SENSITIVITY	2	PM_MOTORS	1.0
HD_B	0.0139236	C_ROLL_DIVE	2857.1387	XPDR_VALID	4	PM_SENDDEPTH	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	2646.1672	XPDR_INHIBIT	90	TM_RECORDABOVE	400.0
HEADING	180	HEAD_ERRBAND	10	XPDR_INT	0	TM_PROFILE	3.0
ESCAPE_HEADING	0	ROLL_CNV	0.028270001	XPDR_REP	0	TM_XMITPROFILE	1.0
ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	1.9639999e-06	TM_NDIVE	1.0
FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	-1	TM_XMITRAW	0.0
TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0.5	DEEPGLIDER	0	TM_LOGSAMPLE	0.0
TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0.029999999	DEEPGLIDERMB	0

GPS1	280322,203903,1416.958,14450.851,22,0.8,23,0.3	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.08	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280322,204501,1416.932,14450.780,35,0.8,36,0.3	MHEAD_RNG_PITCHd_Wd	134.7,20000,-18.8,-10.000,-24.19,2228,0.183
SPEED_LIMITS	0.173,0.223	D_GRID	1000
TGT_NAME	HEADING	IRON	1.000000,0.005000,-0.003000,0.013000,1.047000,-0.005000,0.002000,0.001000,1.052000,12.000000,99.000000,12.600000
TGT_LATLONG	1406.133,14450.780

WARN	HTMICL TMICL logging already stopped	INTERNAL_PRESSURE	9.1325
FINISH	0.2,1.010322	_24V_AH	14.91,124.023
SM_CCo	4496.08,195.18,0.764,0,499.7,457.4,541.9,613.33	_10V_AH	14.94,0.000
SM_GC	1.17,195.18,6.64,0.32,0.764,0.028,0.025,499.7,457.4,541.9,111.4,2976.9,0,0,0,11.49,15.88,15.94	FG_AHR_24Vo	78.533
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	105.856
IRIDIUM_FIX	1413.25,14452.83,280322,191937	MEM0	60140,1,0,0
TCM_TEMP	26.50	MEM1	65508,1,0,0
XPDR_PINGS	17,14.5,10.5	MEM2	995716,28,50992,65
SC_FREEKB	3793536	DATA_FILE_SIZE	16114,535
PM_FREEKB_00	65539904	CAP_FILE_SIZE	159961,0
PM_FREEKB_01	113262016	SDSIZE	3887104,3827968
PM_FREEKB_02	124835200	SDFILEDIR	1177,1
PM_FREEKB_03	124835200	ERRORS	0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	1	CURRENT	0.228,252.3,1
TM_FREEKB	5992928	MAGCAL	1.000000,0.001324,0.046552,0.013853,1.040613,0.018479,-0.034184,-0.011609,1.057338,16.2,95.6,11.6,35,0.0052,0
HUMID	54.26	IMPLIED_C_PITCH	2410,25.72,293,0.0,0.00
TEMP	25.11	GPS	280322,220131,1416.433,14450.559,37,0.7,38,0.3

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	663	1124	11124.84	nil	0	0	0.00
Pitch_motor	18	403	113.95	nil	0	0	0.00
Roll_motor	43	64	42.18	nil	0	0	0.00
Iridium	227	190	646.22	nil	0	0	0.00
Transponder_ping	4	420	26.61	nil	0	0	0.00
GPS	45	15	10.16	nil	0	0	0.00
Core	834	6	84.79	SciCon	4304	32	2078.88
Fast	8	0	0.00	PMAR	4301	9	588.72
Slow	0	0	0.00	TMICL	4287	9	615.69
LPSleep	2519	2	75.29
Compass	900	5	67.25
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
15.21	16386	-145.99	-0.81	0.00	495.9	461.4	530.4	91.2	2711.4	0.00	0.00	0	114.71	93.44	0.00	0.00	0.005	0.000	0.000	3111.31	3032.56	3190.06	89.75	2710.50	0	0	0	15.17	30.00	30.00
114.96	18983	-145.99	-0.81	-30.00	3110.6	3032.2	3189.1	89.8	2710.5	4.70	-5.79	10	142.66	8.65	10.06	1.48	0.007	0.404	0.016	3595.38	3501.56	3689.19	2140.75	1723.69	0	0	0	15.48	15.19	15.36
196.27	1028	-145.99	-0.81	0.00	3598.5	3502.8	3694.2	2142.2	1706.2	36.41	-30.58	26	201.79	0.00	0.00	1.90	0.000	0.000	0.040	3598.78	3504.00	3693.56	2134.06	2884.12	0	0	0	30.00	30.00	15.78
385.44	260	-145.99	-0.81	30.00	3597.9	3502.6	3693.2	2134.4	2883.9	105.08	-37.41	46	391.80	0.00	0.00	1.70	0.000	0.000	0.036	3598.75	3503.12	3694.38	2126.50	3959.31	0	0	0	30.00	30.00	15.83
450.12	1028	-145.99	-0.81	0.12	3598.0	3502.8	3693.2	2126.5	3959.8	125.55	-28.66	59	457.18	0.00	0.00	1.78	0.000	0.000	0.010	3599.06	3503.69	3694.44	2125.25	2785.56	0	0	0	30.00	30.00	15.87
646.30	516	-145.99	-0.81	-30.00	3598.6	3503.2	3694.1	2126.2	2767.9	181.37	-25.72	79	652.18	0.00	0.00	1.56	0.000	0.000	0.014	3599.97	3504.50	3695.44	2126.56	1736.00	0	0	0	30.00	30.00	15.84
775.94	1028	-145.99	-0.81	-0.08	3598.8	3503.9	3693.8	2126.0	1718.2	209.53	-17.73	105	782.33	0.00	0.00	1.86	0.000	0.000	0.035	3600.00	3505.50	3694.50	2117.94	2889.75	0	0	0	30.00	30.00	15.88
965.98	516	-145.99	-0.81	-30.00	3599.4	3503.4	3695.4	2118.1	2889.3	244.15	-19.62	125	972.37	0.00	0.00	1.77	0.000	0.000	0.012	3598.66	3502.25	3695.06	2117.44	1729.12	0	0	0	30.00	30.00	15.86
1086.00	1028	-145.99	-0.81	0.10	3600.2	3503.4	3697.0	2117.4	1712.3	265.79	-18.49	149	1092.41	0.00	0.00	1.88	0.000	0.000	0.034	3599.12	3502.44	3695.81	2108.06	2890.56	0	0	0	30.00	30.00	15.86
1286	end dive: TARGET_DEPTH_EXCEEDED
state	1286	begin apogee
1287.31	10243	0.00	-0.12	0.00	3600.7	3503.6	3697.7	2108.6	2516.0	301.26	-17.14	162	1409.92	114.32	0.67	0.25	1.124	0.217	0.065	2999.47	2885.56	3113.38	2300.94	2701.19	0	0	0	11.36	15.69	15.44
1412	end apogee: CONTROL_FINISHED_OK
state	1412	begin climb
1412.38	10759	145.99	0.81	-30.00	2997.6	2883.8	3111.4	2301.0	2701.5	306.42	0.00	168	1533.98	112.72	0.68	1.87	1.115	0.105	0.012	2402.12	2309.38	2494.88	2531.94	1492.00	0	0	0	12.27	15.52	15.59
1536.40	1092	145.99	0.83	0.00	2401.7	2308.8	2494.6	2532.4	1491.6	299.04	8.95	191	1543.48	0.00	0.00	1.94	0.000	0.000	0.030	2402.16	2309.19	2495.12	2532.69	2681.56	0	0	0	30.00	30.00	15.32
1741.75	260	145.99	0.83	30.00	2396.8	2299.1	2494.5	2533.0	2682.1	275.19	12.01	202	1748.12	0.00	0.00	1.72	0.000	0.000	0.038	2397.19	2299.62	2494.75	2532.94	3744.88	0	0	0	30.00	30.00	15.78
1856.45	17414	145.99	0.83	0.11	2395.2	2297.6	2492.8	2533.1	3744.6	260.35	11.81	225	1863.51	0.00	0.00	1.82	0.000	0.000	0.011	2397.22	2299.38	2495.06	2540.81	2575.31	0	0	0	30.00	30.00	15.85
2051.83	10791	218.20	0.99	-30.00	2394.2	2295.4	2493.1	2541.4	2557.8	245.02	6.67	239	2114.82	54.29	0.09	1.60	1.056	0.087	0.019	2109.78	2002.94	2216.62	2617.69	1527.06	0	0	0	11.74	15.86	15.60
2177.16	5125	218.20	0.99	-0.23	2104.1	2001.5	2206.6	2617.8	1509.7	232.99	11.15	264	2184.31	0.00	0.19	1.87	0.000	0.227	0.029	2105.97	2003.50	2208.44	2563.31	2675.75	0	0	0	30.00	15.58	15.61
2372.53	10791	265.04	1.10	-30.00	2099.7	1996.4	2203.1	2563.6	2676.5	215.99	7.84	284	2415.10	36.31	0.10	1.82	1.007	0.079	0.021	1919.28	1816.00	2022.56	2639.00	1532.25	0	0	0	11.75	15.82	15.41
2642.86	21511	265.04	1.10	-0.59	1910.1	1814.8	2005.4	2639.3	1515.3	175.91	11.82	338	2649.38	0.00	0.18	1.82	0.000	0.228	0.027	1911.19	1815.69	2006.69	2589.56	2671.19	0	0	0	30.00	15.66	15.83
2832.92	16966	265.04	1.12	-30.00	1907.7	1814.9	2000.5	2589.7	2671.6	158.71	8.86	358	2839.26	0.00	0.00	1.80	0.000	0.000	0.016	1907.34	1814.56	2000.12	2595.94	1524.19	0	0	0	30.00	30.00	15.80
2897.58	17478	265.04	1.16	-0.74	1907.2	1814.8	1999.8	2596.7	1517.8	153.24	8.01	371	2904.52	0.00	0.00	1.84	0.000	0.000	0.029	1907.53	1814.62	2000.44	2596.88	2658.31	0	0	0	30.00	30.00	15.74
3092.95	16386	265.04	1.16	-0.74	1905.8	1814.2	1997.4	2596.8	2659.3	132.44	11.45	391	3097.03	0.00	0.00	0.00	0.000	0.000	0.000	1904.84	1813.38	1996.31	2596.94	2660.19	0	0	0	30.00	30.00	30.00
3282.98	10791	331.41	1.32	-30.00	1903.7	1812.2	1995.2	2596.3	2660.1	117.26	6.94	410	3339.86	48.63	0.15	1.78	0.887	0.055	0.017	1646.91	1559.12	1734.69	2689.12	1527.94	0	0	0	11.50	15.83	15.68
3412.93	5125	331.41	1.32	-0.64	1642.9	1558.4	1727.4	2689.9	1510.8	98.05	15.62	436	3419.51	0.00	0.17	1.85	0.000	0.214	0.028	1643.00	1558.44	1727.56	2643.00	2667.00	0	0	0	30.00	15.61	15.42
3603.03	260	331.41	1.32	30.00	1640.8	1558.4	1723.3	2642.5	2667.2	75.21	10.63	456	3609.39	0.00	0.00	1.74	0.000	0.000	0.036	1641.09	1558.31	1723.88	2642.38	3737.56	0	0	0	30.00	30.00	15.77
3663.03	17414	331.41	1.32	-0.56	1640.3	1558.9	1721.7	2642.2	3738.0	68.45	11.56	468	3669.50	0.00	0.00	1.84	0.000	0.000	0.012	1642.22	1560.56	1723.88	2647.56	2570.00	0	0	0	30.00	30.00	15.79
3853.09	16966	331.41	1.35	-30.00	1640.1	1558.2	1721.9	2649.1	2552.6	48.67	8.48	488	3859.41	0.00	0.00	1.58	0.000	0.000	0.015	1641.38	1559.50	1723.25	2655.56	1525.88	0	0	0	30.00	30.00	15.80
3883.09	17478	331.41	1.39	-0.53	1639.8	1557.8	1721.8	2656.5	1521.6	46.11	8.03	494	3889.47	0.00	0.00	1.83	0.000	0.000	0.027	1639.84	1557.94	1721.75	2655.62	2667.50	0	0	0	30.00	30.00	15.80
4073.10	16386	331.41	1.39	-0.53	1639.7	1557.8	1721.5	2656.1	2667.6	26.17	11.95	514	4077.12	0.00	0.00	0.00	0.000	0.000	0.000	1639.78	1557.88	1721.69	2656.25	2667.56	0	0	0	30.00	30.00	30.00
4263	end climb: SURFACE_DEPTH_REACHED
state	4263	begin surface coast
4284	end surface coast: CONTROL_FINISHED_OK
state	4284	begin surface