Glider dive log

ARCTERX Mar22 * SG526 * Dive index * Mission links * Dive 119 * 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 119 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 105.85757 SEABIRD_T_J 3.1402324e-06

USE_BATHY -6 PITCH_CNV 0.0041299998 FG_AHR_24V 78.54631 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 2863.7058 XPDR_VALID 4 PM_SENDDEPTH 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 2626.2161 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 105.85757 PITCH_DBAND 0.1 SM_CC 613.25

ALTIM_PING_FIT 0 FG_AHR_24V 78.54631 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 2626.2161 LOITER_DBDW 0 PROTOCOL 9 T_LOITER 0

C_ROLL_DIVE 2863.7058 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 119 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 280322,220131,1416.433,14450.559,37,0.7,38,0.3 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.11 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280322,220803,1416.429,14450.496,35,1.0,36,0.3 MHEAD_RNG_PITCHd_Wd 134.7,20000,-18.8,-10.000,-24.19,2228,0.194

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 1405.630,14450.496

Post-dive calculations and measurements:

WARN HTMICL TMICL logging already stopped INTERNAL_PRESSURE 9.13992

FINISH 0.2,1.009176 _24V_AH 14.93,124.252

SM_CCo 4418.38,192.76,0.764,0,500.9,463.2,538.7,613.02 _10V_AH 14.95,0.000

SM_GC 1.26,192.76,6.70,0.50,0.764,0.029,0.030,500.9,463.2,538.7,97.3,2896.6,0,0,0,11.57,15.92,15.94 FG_AHR_24Vo 78.699

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 105.924

IRIDIUM_FIX 1417.45,14452.83,280322,204054 MEM0 60140,1,0,0

TCM_TEMP 26.30 MEM1 65508,1,0,0

XPDR_PINGS 16,14.5,10.5 MEM2 995692,29,50996,65

SC_FREEKB 3792992 DATA_FILE_SIZE 12912,496

PM_FREEKB_00 65539904 CAP_FILE_SIZE 158917,0

PM_FREEKB_01 113064896 SDSIZE 3887104,3827616

PM_FREEKB_02 124835200 SDFILEDIR 1187,1

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 0.184,232.6,1

TM_FREEKB 5986016 MAGCAL 1.000000,-0.015545,0.016580,0.027855,1.037247,0.010366,-0.000787,-0.001962,1.048773,19.5,96.7,12.4,35,0.0062,0

HUMID 54.47 IMPLIED_C_PITCH 2407,26.46,279,0.0,0.00

TEMP 25.12 GPS 280322,232311,1415.877,14450.461,35,0.9,35,0.3

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 661 1119 11066.68 nil 0 0 0.00

Pitch_motor 18 392 109.28 nil 0 0 0.00

Roll_motor 44 66 44.82 nil 0 0 0.00

Iridium 258 188 725.84 nil 0 0 0.00

Transponder_ping 4 420 25.08 nil 0 0 0.00

GPS 45 15 10.15 nil 0 0 0.00

Core 841 6 85.51 SciCon 4229 31 2022.90

Fast 7 0 0.00 PMAR 4227 9 580.69

Slow 0 0 0.00 TMICL 4213 9 604.27

LPSleep 2540 2 75.97

Compass 809 5 60.50

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

15.24 16386 -145.99 -0.81 0.00 495.8 458.8 532.9 90.4 2762.6 0.00 0.00 0 109.94 88.86 0.00 0.00 0.005 0.000 0.000 2959.38 2877.06 3041.69 87.06 2763.06 0 0 0 15.18 30.00 30.00

110.19 18983 -145.99 -0.81 -30.00 2960.4 2877.9 3042.9 86.9 2762.0 3.42 -2.80 9 143.19 12.99 9.80 1.53 0.006 0.392 0.015 3595.34 3496.44 3694.25 2141.62 1713.56 0 0 0 15.42 15.26 15.40

165.57 1028 -145.99 -0.81 0.00 3596.8 3494.5 3699.1 2141.2 1696.7 22.38 -33.26 20 172.50 0.00 0.00 1.92 0.000 0.000 0.036 3596.97 3494.69 3699.25 2134.44 2892.94 0 0 0 30.00 30.00 15.82

360.89 260 -145.99 -0.81 30.00 3597.2 3495.3 3699.1 2133.9 2894.0 94.62 -37.09 40 367.25 0.00 0.00 1.70 0.000 0.000 0.038 3598.34 3496.00 3700.69 2124.56 3966.75 0 0 0 30.00 30.00 15.86

410.85 1028 -145.99 -0.81 0.09 3597.0 3495.6 3698.4 2125.1 3967.6 110.55 -29.39 50 417.28 0.00 0.00 1.78 0.000 0.000 0.009 3598.16 3496.44 3699.88 2125.94 2789.06 0 0 0 30.00 30.00 15.85

600.96 516 -145.99 -0.81 -30.00 3597.3 3496.0 3698.6 2124.7 2771.4 167.89 -25.72 70 607.48 0.00 0.00 1.55 0.000 0.000 0.015 3598.09 3496.75 3699.44 2125.06 1739.88 0 0 0 30.00 30.00 15.92

715.64 1028 -145.99 -0.81 -0.14 3597.8 3496.8 3698.8 2125.2 1722.2 192.65 -16.72 93 722.71 0.00 0.00 1.86 0.000 0.000 0.035 3598.09 3496.69 3699.50 2117.25 2886.94 0 0 0 30.00 30.00 15.90

911.01 0 -145.99 -0.81 -0.14 3598.9 3498.4 3699.4 2116.9 2888.2 230.89 -20.98 113 915.09 0.00 0.00 0.00 0.000 0.000 0.000 3598.38 3497.56 3699.19 2117.12 2888.06 0 0 0 30.00 30.00 30.00

1100.99 516 -145.99 -0.81 -30.00 3600.0 3500.4 3699.6 2117.2 2888.4 268.62 -18.06 127 1107.40 0.00 0.00 1.75 0.000 0.000 0.012 3599.97 3499.75 3700.19 2118.12 1736.81 0 0 0 30.00 30.00 15.89

1255.75 1028 -145.99 -0.81 -0.62 3600.4 3500.1 3700.8 2116.6 1720.6 293.37 -14.27 158 1262.83 0.00 0.00 1.84 0.000 0.000 0.036 3600.47 3499.94 3701.00 2108.75 2874.38 0 0 0 30.00 30.00 15.94

1301 end dive: TARGET_DEPTH_EXCEEDED

state 1301 begin apogee

1302.34 10243 0.00 -0.12 0.00 3601.0 3500.5 3701.4 2108.2 2494.6 300.62 -16.19 161 1425.00 114.40 0.67 0.25 1.120 0.218 0.067 2998.38 2883.62 3113.12 2301.38 2680.00 0 0 0 11.43 15.72 15.45

1428 end apogee: CONTROL_FINISHED_OK

state 1428 begin climb

1427.95 10759 145.99 0.81 -30.00 2997.7 2883.1 3112.3 2301.1 2679.5 305.04 0.00 167 1549.02 112.54 0.68 1.86 1.112 0.108 0.012 2402.81 2308.00 2497.62 2533.31 1470.19 0 0 0 12.25 15.54 15.62

1561.45 1092 145.99 0.84 0.00 2401.7 2308.6 2494.8 2533.4 1470.5 297.14 8.48 192 1568.12 0.00 0.00 1.92 0.000 0.000 0.030 2402.59 2308.38 2496.81 2532.81 2661.81 0 0 0 30.00 30.00 15.56

1756.81 16710 145.99 0.86 30.00 2396.6 2298.9 2494.4 2533.1 2662.9 278.78 9.04 204 1763.16 0.00 0.00 1.71 0.000 0.000 0.037 2395.91 2297.62 2494.19 2533.06 3720.75 0 0 0 30.00 30.00 15.80

1841.48 17478 145.99 0.88 0.16 2395.8 2297.9 2493.8 2533.4 3721.2 270.51 8.96 221 1848.21 0.00 0.00 1.80 0.000 0.000 0.011 2397.03 2298.81 2495.25 2542.00 2557.56 0 0 0 30.00 30.00 15.86

2036.85 10275 195.26 0.99 0.16 2394.5 2295.6 2493.4 2542.7 2540.2 255.61 7.73 233 2078.92 38.10 0.08 0.00 1.045 0.093 0.000 2205.16 2099.19 2311.12 2606.94 2538.88 0 0 0 11.65 15.88 30.00

2266.86 4613 195.26 0.99 -30.00 2196.7 2092.4 2301.1 2607.1 2539.2 226.14 16.60 256 2273.25 0.00 0.16 1.59 0.000 0.227 0.015 2196.59 2092.00 2301.19 2567.81 1501.56 0 0 0 30.00 15.71 15.76

2361.55 17414 195.26 0.99 0.21 2194.3 2092.2 2296.4 2567.9 1494.8 214.13 12.73 275 2368.63 0.00 0.00 1.89 0.000 0.000 0.028 2194.09 2091.81 2296.38 2568.38 2670.94 0 0 0 30.00 30.00 15.47

2556.88 10791 251.62 1.12 -30.00 2190.9 2086.3 2295.4 2567.7 2670.9 194.08 7.40 295 2608.73 42.67 0.09 1.82 1.000 0.080 0.018 1972.50 1868.81 2076.19 2643.88 1505.44 0 0 0 11.61 15.75 15.68

2631.65 5125 251.62 1.12 -0.42 1969.1 1867.8 2070.4 2644.4 1500.7 187.35 10.14 310 2638.81 0.00 0.19 1.86 0.000 0.236 0.027 1970.12 1868.69 2071.56 2594.00 2661.19 0 0 0 30.00 15.56 15.46

2826.92 16646 251.62 1.12 30.00 1964.6 1866.7 2062.6 2593.5 2660.6 165.66 11.14 330 2833.33 0.00 0.00 1.73 0.000 0.000 0.036 1966.31 1867.69 2064.94 2594.06 3718.94 0 0 0 30.00 30.00 15.45

2861.62 17414 251.62 1.12 -0.78 1964.0 1866.4 2061.6 2594.6 3718.4 161.73 11.22 337 2868.71 0.00 0.00 1.86 0.000 0.000 0.012 1964.38 1866.75 2062.00 2601.25 2529.94 0 0 0 30.00 30.00 15.85

3057.02 10275 333.03 1.31 -0.78 1961.8 1864.2 2059.4 2602.1 2514.5 145.88 6.25 357 3123.76 59.57 0.12 0.00 0.937 0.061 0.000 1642.34 1556.44 1728.25 2681.00 2514.06 0 0 0 11.66 15.80 30.00

3306.98 4357 333.03 1.31 30.00 1634.6 1554.9 1714.2 2679.9 2514.2 108.55 17.96 387 3313.57 0.00 0.16 1.98 0.000 0.224 0.035 1634.94 1555.25 1714.62 2639.06 3720.19 0 0 0 30.00 15.59 15.44

3407.07 17414 333.03 1.31 -0.64 1632.6 1555.1 1710.0 2638.1 3720.5 91.94 14.97 407 3413.46 0.00 0.00 1.86 0.000 0.000 0.013 1632.41 1555.12 1709.69 2645.69 2549.25 0 0 0 30.00 30.00 15.76

3597.11 16646 333.03 1.31 30.00 1631.8 1554.9 1708.8 2645.5 2532.4 68.71 10.69 427 3603.51 0.00 0.00 1.95 0.000 0.000 0.035 1632.12 1555.12 1709.12 2646.75 3720.94 0 0 0 30.00 30.00 15.77

3641.76 17414 333.03 1.31 -0.50 1631.7 1554.7 1708.6 2645.8 3720.4 63.40 12.15 436 3648.84 0.00 0.00 1.85 0.000 0.000 0.012 1633.09 1556.25 1709.94 2653.75 2550.75 0 0 0 30.00 30.00 15.84

3837.15 16386 333.03 1.31 -0.50 1631.4 1554.8 1708.1 2654.6 2532.4 42.30 11.05 456 3841.23 0.00 0.00 0.00 0.000 0.000 0.000 1631.09 1554.38 1707.81 2655.31 2532.75 0 0 0 30.00 30.00 30.00

4027.14 16646 333.03 1.31 30.00 1631.5 1554.8 1708.2 2654.6 2532.6 20.83 12.62 475 4033.57 0.00 0.00 1.96 0.000 0.000 0.035 1633.31 1557.00 1709.62 2653.94 3722.81 0 0 0 30.00 30.00 15.40

4047.16 17414 333.03 1.31 -0.46 1631.6 1554.9 1708.2 2654.7 3723.2 18.07 13.15 479 4053.56 0.00 0.00 1.85 0.000 0.000 0.013 1632.53 1555.38 1709.69 2663.38 2553.50 0 0 0 30.00 30.00 15.77

4187 end climb: SURFACE_DEPTH_REACHED

state 4188 begin surface coast

4208 end surface coast: CONTROL_FINISHED_OK

state 4208 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	119	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	105.85757	SEABIRD_T_J	3.1402324e-06
USE_BATHY	-6	PITCH_CNV	0.0041299998	FG_AHR_24V	78.54631	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	2863.7058	XPDR_VALID	4	PM_SENDDEPTH	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	2626.2161	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	280322,220131,1416.433,14450.559,37,0.7,38,0.3	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.11	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280322,220803,1416.429,14450.496,35,1.0,36,0.3	MHEAD_RNG_PITCHd_Wd	134.7,20000,-18.8,-10.000,-24.19,2228,0.194
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	1405.630,14450.496

WARN	HTMICL TMICL logging already stopped	INTERNAL_PRESSURE	9.13992
FINISH	0.2,1.009176	_24V_AH	14.93,124.252
SM_CCo	4418.38,192.76,0.764,0,500.9,463.2,538.7,613.02	_10V_AH	14.95,0.000
SM_GC	1.26,192.76,6.70,0.50,0.764,0.029,0.030,500.9,463.2,538.7,97.3,2896.6,0,0,0,11.57,15.92,15.94	FG_AHR_24Vo	78.699
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	105.924
IRIDIUM_FIX	1417.45,14452.83,280322,204054	MEM0	60140,1,0,0
TCM_TEMP	26.30	MEM1	65508,1,0,0
XPDR_PINGS	16,14.5,10.5	MEM2	995692,29,50996,65
SC_FREEKB	3792992	DATA_FILE_SIZE	12912,496
PM_FREEKB_00	65539904	CAP_FILE_SIZE	158917,0
PM_FREEKB_01	113064896	SDSIZE	3887104,3827616
PM_FREEKB_02	124835200	SDFILEDIR	1187,1
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	0.184,232.6,1
TM_FREEKB	5986016	MAGCAL	1.000000,-0.015545,0.016580,0.027855,1.037247,0.010366,-0.000787,-0.001962,1.048773,19.5,96.7,12.4,35,0.0062,0
HUMID	54.47	IMPLIED_C_PITCH	2407,26.46,279,0.0,0.00
TEMP	25.12	GPS	280322,232311,1415.877,14450.461,35,0.9,35,0.3

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	661	1119	11066.68	nil	0	0	0.00
Pitch_motor	18	392	109.28	nil	0	0	0.00
Roll_motor	44	66	44.82	nil	0	0	0.00
Iridium	258	188	725.84	nil	0	0	0.00
Transponder_ping	4	420	25.08	nil	0	0	0.00
GPS	45	15	10.15	nil	0	0	0.00
Core	841	6	85.51	SciCon	4229	31	2022.90
Fast	7	0	0.00	PMAR	4227	9	580.69
Slow	0	0	0.00	TMICL	4213	9	604.27
LPSleep	2540	2	75.97
Compass	809	5	60.50
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
15.24	16386	-145.99	-0.81	0.00	495.8	458.8	532.9	90.4	2762.6	0.00	0.00	0	109.94	88.86	0.00	0.00	0.005	0.000	0.000	2959.38	2877.06	3041.69	87.06	2763.06	0	0	0	15.18	30.00	30.00
110.19	18983	-145.99	-0.81	-30.00	2960.4	2877.9	3042.9	86.9	2762.0	3.42	-2.80	9	143.19	12.99	9.80	1.53	0.006	0.392	0.015	3595.34	3496.44	3694.25	2141.62	1713.56	0	0	0	15.42	15.26	15.40
165.57	1028	-145.99	-0.81	0.00	3596.8	3494.5	3699.1	2141.2	1696.7	22.38	-33.26	20	172.50	0.00	0.00	1.92	0.000	0.000	0.036	3596.97	3494.69	3699.25	2134.44	2892.94	0	0	0	30.00	30.00	15.82
360.89	260	-145.99	-0.81	30.00	3597.2	3495.3	3699.1	2133.9	2894.0	94.62	-37.09	40	367.25	0.00	0.00	1.70	0.000	0.000	0.038	3598.34	3496.00	3700.69	2124.56	3966.75	0	0	0	30.00	30.00	15.86
410.85	1028	-145.99	-0.81	0.09	3597.0	3495.6	3698.4	2125.1	3967.6	110.55	-29.39	50	417.28	0.00	0.00	1.78	0.000	0.000	0.009	3598.16	3496.44	3699.88	2125.94	2789.06	0	0	0	30.00	30.00	15.85
600.96	516	-145.99	-0.81	-30.00	3597.3	3496.0	3698.6	2124.7	2771.4	167.89	-25.72	70	607.48	0.00	0.00	1.55	0.000	0.000	0.015	3598.09	3496.75	3699.44	2125.06	1739.88	0	0	0	30.00	30.00	15.92
715.64	1028	-145.99	-0.81	-0.14	3597.8	3496.8	3698.8	2125.2	1722.2	192.65	-16.72	93	722.71	0.00	0.00	1.86	0.000	0.000	0.035	3598.09	3496.69	3699.50	2117.25	2886.94	0	0	0	30.00	30.00	15.90
911.01	0	-145.99	-0.81	-0.14	3598.9	3498.4	3699.4	2116.9	2888.2	230.89	-20.98	113	915.09	0.00	0.00	0.00	0.000	0.000	0.000	3598.38	3497.56	3699.19	2117.12	2888.06	0	0	0	30.00	30.00	30.00
1100.99	516	-145.99	-0.81	-30.00	3600.0	3500.4	3699.6	2117.2	2888.4	268.62	-18.06	127	1107.40	0.00	0.00	1.75	0.000	0.000	0.012	3599.97	3499.75	3700.19	2118.12	1736.81	0	0	0	30.00	30.00	15.89
1255.75	1028	-145.99	-0.81	-0.62	3600.4	3500.1	3700.8	2116.6	1720.6	293.37	-14.27	158	1262.83	0.00	0.00	1.84	0.000	0.000	0.036	3600.47	3499.94	3701.00	2108.75	2874.38	0	0	0	30.00	30.00	15.94
1301	end dive: TARGET_DEPTH_EXCEEDED
state	1301	begin apogee
1302.34	10243	0.00	-0.12	0.00	3601.0	3500.5	3701.4	2108.2	2494.6	300.62	-16.19	161	1425.00	114.40	0.67	0.25	1.120	0.218	0.067	2998.38	2883.62	3113.12	2301.38	2680.00	0	0	0	11.43	15.72	15.45
1428	end apogee: CONTROL_FINISHED_OK
state	1428	begin climb
1427.95	10759	145.99	0.81	-30.00	2997.7	2883.1	3112.3	2301.1	2679.5	305.04	0.00	167	1549.02	112.54	0.68	1.86	1.112	0.108	0.012	2402.81	2308.00	2497.62	2533.31	1470.19	0	0	0	12.25	15.54	15.62
1561.45	1092	145.99	0.84	0.00	2401.7	2308.6	2494.8	2533.4	1470.5	297.14	8.48	192	1568.12	0.00	0.00	1.92	0.000	0.000	0.030	2402.59	2308.38	2496.81	2532.81	2661.81	0	0	0	30.00	30.00	15.56
1756.81	16710	145.99	0.86	30.00	2396.6	2298.9	2494.4	2533.1	2662.9	278.78	9.04	204	1763.16	0.00	0.00	1.71	0.000	0.000	0.037	2395.91	2297.62	2494.19	2533.06	3720.75	0	0	0	30.00	30.00	15.80
1841.48	17478	145.99	0.88	0.16	2395.8	2297.9	2493.8	2533.4	3721.2	270.51	8.96	221	1848.21	0.00	0.00	1.80	0.000	0.000	0.011	2397.03	2298.81	2495.25	2542.00	2557.56	0	0	0	30.00	30.00	15.86
2036.85	10275	195.26	0.99	0.16	2394.5	2295.6	2493.4	2542.7	2540.2	255.61	7.73	233	2078.92	38.10	0.08	0.00	1.045	0.093	0.000	2205.16	2099.19	2311.12	2606.94	2538.88	0	0	0	11.65	15.88	30.00
2266.86	4613	195.26	0.99	-30.00	2196.7	2092.4	2301.1	2607.1	2539.2	226.14	16.60	256	2273.25	0.00	0.16	1.59	0.000	0.227	0.015	2196.59	2092.00	2301.19	2567.81	1501.56	0	0	0	30.00	15.71	15.76
2361.55	17414	195.26	0.99	0.21	2194.3	2092.2	2296.4	2567.9	1494.8	214.13	12.73	275	2368.63	0.00	0.00	1.89	0.000	0.000	0.028	2194.09	2091.81	2296.38	2568.38	2670.94	0	0	0	30.00	30.00	15.47
2556.88	10791	251.62	1.12	-30.00	2190.9	2086.3	2295.4	2567.7	2670.9	194.08	7.40	295	2608.73	42.67	0.09	1.82	1.000	0.080	0.018	1972.50	1868.81	2076.19	2643.88	1505.44	0	0	0	11.61	15.75	15.68
2631.65	5125	251.62	1.12	-0.42	1969.1	1867.8	2070.4	2644.4	1500.7	187.35	10.14	310	2638.81	0.00	0.19	1.86	0.000	0.236	0.027	1970.12	1868.69	2071.56	2594.00	2661.19	0	0	0	30.00	15.56	15.46
2826.92	16646	251.62	1.12	30.00	1964.6	1866.7	2062.6	2593.5	2660.6	165.66	11.14	330	2833.33	0.00	0.00	1.73	0.000	0.000	0.036	1966.31	1867.69	2064.94	2594.06	3718.94	0	0	0	30.00	30.00	15.45
2861.62	17414	251.62	1.12	-0.78	1964.0	1866.4	2061.6	2594.6	3718.4	161.73	11.22	337	2868.71	0.00	0.00	1.86	0.000	0.000	0.012	1964.38	1866.75	2062.00	2601.25	2529.94	0	0	0	30.00	30.00	15.85
3057.02	10275	333.03	1.31	-0.78	1961.8	1864.2	2059.4	2602.1	2514.5	145.88	6.25	357	3123.76	59.57	0.12	0.00	0.937	0.061	0.000	1642.34	1556.44	1728.25	2681.00	2514.06	0	0	0	11.66	15.80	30.00
3306.98	4357	333.03	1.31	30.00	1634.6	1554.9	1714.2	2679.9	2514.2	108.55	17.96	387	3313.57	0.00	0.16	1.98	0.000	0.224	0.035	1634.94	1555.25	1714.62	2639.06	3720.19	0	0	0	30.00	15.59	15.44
3407.07	17414	333.03	1.31	-0.64	1632.6	1555.1	1710.0	2638.1	3720.5	91.94	14.97	407	3413.46	0.00	0.00	1.86	0.000	0.000	0.013	1632.41	1555.12	1709.69	2645.69	2549.25	0	0	0	30.00	30.00	15.76
3597.11	16646	333.03	1.31	30.00	1631.8	1554.9	1708.8	2645.5	2532.4	68.71	10.69	427	3603.51	0.00	0.00	1.95	0.000	0.000	0.035	1632.12	1555.12	1709.12	2646.75	3720.94	0	0	0	30.00	30.00	15.77
3641.76	17414	333.03	1.31	-0.50	1631.7	1554.7	1708.6	2645.8	3720.4	63.40	12.15	436	3648.84	0.00	0.00	1.85	0.000	0.000	0.012	1633.09	1556.25	1709.94	2653.75	2550.75	0	0	0	30.00	30.00	15.84
3837.15	16386	333.03	1.31	-0.50	1631.4	1554.8	1708.1	2654.6	2532.4	42.30	11.05	456	3841.23	0.00	0.00	0.00	0.000	0.000	0.000	1631.09	1554.38	1707.81	2655.31	2532.75	0	0	0	30.00	30.00	30.00
4027.14	16646	333.03	1.31	30.00	1631.5	1554.8	1708.2	2654.6	2532.6	20.83	12.62	475	4033.57	0.00	0.00	1.96	0.000	0.000	0.035	1633.31	1557.00	1709.62	2653.94	3722.81	0	0	0	30.00	30.00	15.40
4047.16	17414	333.03	1.31	-0.46	1631.6	1554.9	1708.2	2654.7	3723.2	18.07	13.15	479	4053.56	0.00	0.00	1.85	0.000	0.000	0.013	1632.53	1555.38	1709.69	2663.38	2553.50	0	0	0	30.00	30.00	15.77
4187	end climb: SURFACE_DEPTH_REACHED
state	4188	begin surface coast
4208	end surface coast: CONTROL_FINISHED_OK
state	4208	begin surface