Glider dive log

ARCTERX Mar22 * SG526 * Dive index * Mission links * Dive 120 * 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 120 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 105.92484 SEABIRD_T_J 3.1402324e-06

USE_BATHY -6 PITCH_CNV 0.0041299998 FG_AHR_24V 78.711983 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 2841.7131 XPDR_VALID 4 PM_SENDDEPTH 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 2610.0693 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 105.92484 PITCH_DBAND 0.1 SM_CC 613.25

ALTIM_PING_FIT 0 FG_AHR_24V 78.711983 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 2610.0693 LOITER_DBDW 0 PROTOCOL 9 T_LOITER 0

C_ROLL_DIVE 2841.7131 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 120 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 280322,232311,1415.877,14450.461,35,0.9,35,0.3 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 280322,232912,1415.858,14450.412,19,1.8,21,0.3 MHEAD_RNG_PITCHd_Wd 138.6,20000,-18.8,-10.000,-24.19,2228,0.181

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 1405.059,14450.412

Post-dive calculations and measurements:

WARN HTMICL TMICL logging already stopped INTERNAL_PRESSURE 9.15725

FINISH 0.2,1.022131 _24V_AH 14.94,124.482

SM_CCo 4366.50,200.18,0.757,0,500.5,467.4,533.6,613.13 _10V_AH 14.96,0.000

SM_GC 1.13,200.18,6.51,0.50,0.757,0.014,0.037,500.5,467.4,533.6,107.4,2883.2,0,0,0,11.53,15.94,15.95 FG_AHR_24Vo 78.864

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 105.989

IRIDIUM_FIX 1413.38,14449.72,280322,220328 MEM0 60140,1,0,0

TCM_TEMP 26.50 MEM1 65508,1,0,0

XPDR_PINGS 18,14.5,10.5 MEM2 995736,28,50972,65

SC_FREEKB 3792448 DATA_FILE_SIZE 12951,477

PM_FREEKB_00 65539904 CAP_FILE_SIZE 155957,0

PM_FREEKB_01 112870400 SDSIZE 3887104,3827264

PM_FREEKB_02 124835200 SDFILEDIR 1197,1

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 0.220,228.6,1

TM_FREEKB 5979232 MAGCAL 1.000000,-0.019449,0.061521,0.036016,1.040014,-0.039519,-0.050206,0.045939,1.048681,15.9,99.2,13.3,30,0.0030,0

HUMID 54.54 IMPLIED_C_PITCH 2416,26.46,285,0.0,0.00

TEMP 25.41 GPS 290322,004332,1415.171,14450.357,37,0.7,38,0.3

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 658 1120 11029.85 nil 0 0 0.00

Pitch_motor 18 397 109.15 nil 0 0 0.00

Roll_motor 43 80 51.91 nil 0 0 0.00

Iridium 244 193 704.81 nil 0 0 0.00

Transponder_ping 4 420 28.24 nil 0 0 0.00

GPS 30 15 6.85 nil 0 0 0.00

Core 811 6 82.52 SciCon 4171 32 2049.09

Fast 7 0 0.00 PMAR 4167 9 571.95

Slow 0 0 0.00 TMICL 4153 9 596.87

LPSleep 2536 2 75.90

Compass 785 5 58.73

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

15.26 16386 -145.99 -0.81 0.00 498.7 463.6 533.8 78.7 2727.5 0.00 0.00 0 109.95 88.85 0.00 0.00 0.005 0.000 0.000 2963.22 2878.50 3047.94 77.38 2727.94 0 0 0 15.23 30.00 30.00

110.21 18983 -145.99 -0.81 -30.00 2961.9 2877.9 3045.9 77.4 2728.4 3.63 -3.10 9 143.21 12.84 9.94 1.53 0.006 0.398 0.016 3595.69 3493.50 3697.88 2140.62 1696.94 0 0 0 15.46 15.36 15.41

155.68 1028 -145.99 -0.81 0.00 3595.3 3491.6 3699.0 2141.3 1678.1 18.62 -31.83 18 162.62 0.00 0.00 1.90 0.000 0.000 0.036 3595.66 3491.75 3699.56 2132.69 2871.75 0 0 0 30.00 30.00 15.81

350.88 260 -145.99 -0.81 30.00 3595.5 3491.4 3699.6 2133.4 2873.1 95.00 -39.13 38 357.27 0.00 0.00 1.70 0.000 0.000 0.034 3595.97 3491.75 3700.19 2125.56 3943.12 0 0 0 30.00 30.00 15.83

390.93 1028 -145.99 -0.81 0.04 3596.4 3493.6 3699.3 2124.6 3943.4 108.94 -34.09 46 397.30 0.00 0.00 1.79 0.000 0.000 0.010 3598.03 3494.38 3701.69 2125.31 2763.88 0 0 0 30.00 30.00 15.91

580.96 0 -145.99 -0.81 0.04 3596.8 3493.5 3700.1 2124.7 2747.1 168.01 -29.48 66 585.04 0.00 0.00 0.00 0.000 0.000 0.000 3596.50 3494.12 3698.88 2125.12 2746.69 0 0 0 30.00 30.00 30.00

770.96 516 -145.99 -0.81 -30.00 3597.8 3494.9 3700.7 2125.0 2747.2 211.40 -19.83 85 777.32 0.00 0.00 1.54 0.000 0.000 0.012 3598.81 3495.81 3701.81 2125.75 1711.06 0 0 0 30.00 30.00 15.89

791.05 1028 -145.99 -0.81 -0.02 3597.6 3495.5 3699.8 2124.8 1692.6 214.94 -18.54 89 797.80 0.00 0.00 1.87 0.000 0.000 0.033 3598.03 3495.62 3700.44 2116.44 2873.56 0 0 0 30.00 30.00 15.92

980.98 0 -145.99 -0.81 -0.02 3598.8 3497.4 3700.2 2116.3 2874.2 247.12 -15.81 109 985.00 0.00 0.00 0.00 0.000 0.000 0.000 3598.41 3497.00 3699.81 2116.81 2874.06 0 0 0 30.00 30.00 30.00

1181.04 516 -145.99 -0.81 -30.00 3600.2 3498.9 3701.6 2116.9 2874.0 285.63 -19.32 120 1187.78 0.00 0.00 1.76 0.000 0.000 0.011 3600.75 3499.00 3702.50 2117.06 1710.06 0 0 0 30.00 30.00 15.95

1276 end dive: TARGET_DEPTH_EXCEEDED

state 1276 begin apogee

1278.16 10243 0.00 -0.12 0.00 3600.9 3499.1 3702.8 2109.2 2653.8 300.57 -15.09 139 1397.29 113.71 0.67 0.13 1.121 0.221 0.080 3001.44 2887.31 3115.56 2299.75 2488.38 0 0 0 11.33 15.64 15.49

1399 end apogee: CONTROL_FINISHED_OK

state 1399 begin climb

1399.76 10759 145.99 0.81 -30.00 2998.6 2883.9 3113.3 2301.2 2484.6 307.37 0.00 145 1520.44 111.83 0.67 1.54 1.117 0.103 0.012 2403.97 2309.31 2498.62 2532.62 1446.19 0 0 0 12.35 15.55 15.62

1522.85 11303 236.80 1.01 0.00 2402.4 2309.1 2495.7 2532.9 1446.3 304.16 5.81 168 1601.03 68.57 0.12 1.94 1.094 0.058 0.030 2033.06 1934.88 2131.25 2620.25 2645.19 0 0 0 12.22 15.45 15.48

1788.71 4097 236.80 1.01 0.00 2029.4 1931.9 2126.9 2618.9 2645.4 259.38 17.90 194 1792.92 0.00 0.19 0.00 0.000 0.224 0.000 2030.50 1933.25 2127.75 2567.50 2646.00 0 0 0 30.00 15.70 30.00

1978.74 16902 236.80 1.01 -30.00 2026.2 1928.1 2124.3 2568.1 2645.8 230.91 13.95 210 1985.12 0.00 0.00 1.80 0.000 0.000 0.016 2028.22 1929.25 2127.19 2575.25 1486.69 0 0 0 30.00 30.00 15.89

2058.76 17414 236.80 1.01 -0.21 2025.1 1927.8 2122.4 2574.6 1469.4 221.07 11.17 226 2065.20 0.00 0.00 1.85 0.000 0.000 0.028 2026.00 1928.69 2123.31 2575.19 2644.75 0 0 0 30.00 30.00 15.91

2248.80 16646 236.80 1.01 30.00 2023.8 1926.8 2120.8 2574.9 2645.1 198.13 11.23 246 2255.14 0.00 0.00 1.70 0.000 0.000 0.036 2025.03 1927.81 2122.25 2575.06 3701.69 0 0 0 30.00 30.00 15.91

2263.51 17414 236.80 1.01 -0.35 2023.5 1926.8 2120.2 2574.6 3701.2 196.28 11.17 249 2270.52 0.00 0.00 1.83 0.000 0.000 0.013 2023.84 1927.50 2120.19 2583.00 2537.88 0 0 0 30.00 30.00 15.89

2458.83 16646 236.80 1.01 30.00 2021.0 1924.3 2117.7 2584.1 2522.3 174.44 10.77 269 2465.22 0.00 0.00 1.92 0.000 0.000 0.035 2022.78 1926.12 2119.44 2582.19 3702.69 0 0 0 30.00 30.00 15.91

2508.83 17414 236.80 1.01 -0.15 2020.2 1923.9 2116.4 2583.4 3702.2 168.87 11.15 279 2515.22 0.00 0.00 1.81 0.000 0.000 0.012 2022.00 1925.62 2118.38 2592.81 2535.88 0 0 0 30.00 30.00 15.94

2698.94 10791 322.78 1.21 -30.00 2018.4 1920.6 2116.1 2593.2 2519.9 155.19 6.04 299 2771.12 62.88 0.09 1.60 0.956 0.082 0.019 1683.44 1592.00 1774.88 2670.12 1482.94 0 0 0 11.63 15.91 15.45

2808.88 5125 322.78 1.21 -0.18 1679.7 1590.6 1768.8 2669.5 1479.6 143.91 11.79 321 2815.40 0.00 0.19 1.87 0.000 0.217 0.026 1680.12 1591.38 1768.88 2617.31 2648.44 0 0 0 30.00 15.63 15.76

2998.92 516 322.78 1.21 -30.00 1676.6 1590.9 1762.2 2616.9 2649.6 123.78 10.85 341 3005.29 0.00 0.00 1.83 0.000 0.000 0.015 1677.88 1591.75 1764.00 2623.69 1483.50 0 0 0 30.00 30.00 15.80

3023.56 1028 322.78 1.21 -0.18 1676.0 1590.8 1761.2 2624.0 1477.2 121.07 10.78 346 3030.65 0.00 0.00 1.87 0.000 0.000 0.028 1677.84 1592.19 1763.50 2622.94 2643.38 0 0 0 30.00 30.00 15.75

3218.89 16646 322.78 1.21 30.00 1675.2 1590.9 1759.4 2624.0 2644.1 96.24 12.13 366 3225.31 0.00 0.00 1.72 0.000 0.000 0.036 1675.88 1591.00 1760.75 2623.31 3705.00 0 0 0 30.00 30.00 15.71

3353.65 17414 322.78 1.21 0.05 1673.9 1590.9 1756.9 2623.9 3704.7 80.49 10.59 393 3360.72 0.00 0.00 1.82 0.000 0.000 0.012 1674.28 1591.25 1757.31 2632.44 2546.69 0 0 0 30.00 30.00 15.83

3549.01 16710 322.78 1.23 30.00 1673.1 1590.4 1755.8 2633.6 2529.8 61.95 9.11 413 3555.42 0.00 0.00 1.93 0.000 0.000 0.036 1674.81 1592.00 1757.62 2632.38 3701.88 0 0 0 30.00 30.00 15.41

3583.68 17414 322.78 1.23 0.12 1672.9 1590.5 1755.4 2632.4 3701.3 58.23 10.61 420 3590.74 0.00 0.00 1.80 0.000 0.000 0.012 1673.69 1590.94 1756.44 2640.56 2549.50 0 0 0 30.00 30.00 15.89

3779.07 16386 322.78 1.23 0.12 1672.9 1590.2 1755.6 2642.0 2532.2 38.46 10.67 440 3783.15 0.00 0.00 0.00 0.000 0.000 0.000 1672.78 1590.06 1755.50 2641.75 2531.88 0 0 0 30.00 30.00 30.00

3969.05 16450 322.78 1.24 0.12 1673.0 1590.5 1755.6 2641.6 2532.0 19.03 9.44 459 3973.06 0.00 0.00 0.00 0.000 0.000 0.000 1673.03 1590.31 1755.75 2642.25 2531.12 0 0 0 30.00 30.00 30.00

4129 end climb: SURFACE_DEPTH_REACHED

state 4129 begin surface coast

4149 end surface coast: CONTROL_FINISHED_OK

state 4149 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	120	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	105.92484	SEABIRD_T_J	3.1402324e-06
USE_BATHY	-6	PITCH_CNV	0.0041299998	FG_AHR_24V	78.711983	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	2841.7131	XPDR_VALID	4	PM_SENDDEPTH	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	2610.0693	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	280322,232311,1415.877,14450.461,35,0.9,35,0.3	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	280322,232912,1415.858,14450.412,19,1.8,21,0.3	MHEAD_RNG_PITCHd_Wd	138.6,20000,-18.8,-10.000,-24.19,2228,0.181
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	1405.059,14450.412

WARN	HTMICL TMICL logging already stopped	INTERNAL_PRESSURE	9.15725
FINISH	0.2,1.022131	_24V_AH	14.94,124.482
SM_CCo	4366.50,200.18,0.757,0,500.5,467.4,533.6,613.13	_10V_AH	14.96,0.000
SM_GC	1.13,200.18,6.51,0.50,0.757,0.014,0.037,500.5,467.4,533.6,107.4,2883.2,0,0,0,11.53,15.94,15.95	FG_AHR_24Vo	78.864
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	105.989
IRIDIUM_FIX	1413.38,14449.72,280322,220328	MEM0	60140,1,0,0
TCM_TEMP	26.50	MEM1	65508,1,0,0
XPDR_PINGS	18,14.5,10.5	MEM2	995736,28,50972,65
SC_FREEKB	3792448	DATA_FILE_SIZE	12951,477
PM_FREEKB_00	65539904	CAP_FILE_SIZE	155957,0
PM_FREEKB_01	112870400	SDSIZE	3887104,3827264
PM_FREEKB_02	124835200	SDFILEDIR	1197,1
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	0.220,228.6,1
TM_FREEKB	5979232	MAGCAL	1.000000,-0.019449,0.061521,0.036016,1.040014,-0.039519,-0.050206,0.045939,1.048681,15.9,99.2,13.3,30,0.0030,0
HUMID	54.54	IMPLIED_C_PITCH	2416,26.46,285,0.0,0.00
TEMP	25.41	GPS	290322,004332,1415.171,14450.357,37,0.7,38,0.3

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	658	1120	11029.85	nil	0	0	0.00
Pitch_motor	18	397	109.15	nil	0	0	0.00
Roll_motor	43	80	51.91	nil	0	0	0.00
Iridium	244	193	704.81	nil	0	0	0.00
Transponder_ping	4	420	28.24	nil	0	0	0.00
GPS	30	15	6.85	nil	0	0	0.00
Core	811	6	82.52	SciCon	4171	32	2049.09
Fast	7	0	0.00	PMAR	4167	9	571.95
Slow	0	0	0.00	TMICL	4153	9	596.87
LPSleep	2536	2	75.90
Compass	785	5	58.73
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
15.26	16386	-145.99	-0.81	0.00	498.7	463.6	533.8	78.7	2727.5	0.00	0.00	0	109.95	88.85	0.00	0.00	0.005	0.000	0.000	2963.22	2878.50	3047.94	77.38	2727.94	0	0	0	15.23	30.00	30.00
110.21	18983	-145.99	-0.81	-30.00	2961.9	2877.9	3045.9	77.4	2728.4	3.63	-3.10	9	143.21	12.84	9.94	1.53	0.006	0.398	0.016	3595.69	3493.50	3697.88	2140.62	1696.94	0	0	0	15.46	15.36	15.41
155.68	1028	-145.99	-0.81	0.00	3595.3	3491.6	3699.0	2141.3	1678.1	18.62	-31.83	18	162.62	0.00	0.00	1.90	0.000	0.000	0.036	3595.66	3491.75	3699.56	2132.69	2871.75	0	0	0	30.00	30.00	15.81
350.88	260	-145.99	-0.81	30.00	3595.5	3491.4	3699.6	2133.4	2873.1	95.00	-39.13	38	357.27	0.00	0.00	1.70	0.000	0.000	0.034	3595.97	3491.75	3700.19	2125.56	3943.12	0	0	0	30.00	30.00	15.83
390.93	1028	-145.99	-0.81	0.04	3596.4	3493.6	3699.3	2124.6	3943.4	108.94	-34.09	46	397.30	0.00	0.00	1.79	0.000	0.000	0.010	3598.03	3494.38	3701.69	2125.31	2763.88	0	0	0	30.00	30.00	15.91
580.96	0	-145.99	-0.81	0.04	3596.8	3493.5	3700.1	2124.7	2747.1	168.01	-29.48	66	585.04	0.00	0.00	0.00	0.000	0.000	0.000	3596.50	3494.12	3698.88	2125.12	2746.69	0	0	0	30.00	30.00	30.00
770.96	516	-145.99	-0.81	-30.00	3597.8	3494.9	3700.7	2125.0	2747.2	211.40	-19.83	85	777.32	0.00	0.00	1.54	0.000	0.000	0.012	3598.81	3495.81	3701.81	2125.75	1711.06	0	0	0	30.00	30.00	15.89
791.05	1028	-145.99	-0.81	-0.02	3597.6	3495.5	3699.8	2124.8	1692.6	214.94	-18.54	89	797.80	0.00	0.00	1.87	0.000	0.000	0.033	3598.03	3495.62	3700.44	2116.44	2873.56	0	0	0	30.00	30.00	15.92
980.98	0	-145.99	-0.81	-0.02	3598.8	3497.4	3700.2	2116.3	2874.2	247.12	-15.81	109	985.00	0.00	0.00	0.00	0.000	0.000	0.000	3598.41	3497.00	3699.81	2116.81	2874.06	0	0	0	30.00	30.00	30.00
1181.04	516	-145.99	-0.81	-30.00	3600.2	3498.9	3701.6	2116.9	2874.0	285.63	-19.32	120	1187.78	0.00	0.00	1.76	0.000	0.000	0.011	3600.75	3499.00	3702.50	2117.06	1710.06	0	0	0	30.00	30.00	15.95
1276	end dive: TARGET_DEPTH_EXCEEDED
state	1276	begin apogee
1278.16	10243	0.00	-0.12	0.00	3600.9	3499.1	3702.8	2109.2	2653.8	300.57	-15.09	139	1397.29	113.71	0.67	0.13	1.121	0.221	0.080	3001.44	2887.31	3115.56	2299.75	2488.38	0	0	0	11.33	15.64	15.49
1399	end apogee: CONTROL_FINISHED_OK
state	1399	begin climb
1399.76	10759	145.99	0.81	-30.00	2998.6	2883.9	3113.3	2301.2	2484.6	307.37	0.00	145	1520.44	111.83	0.67	1.54	1.117	0.103	0.012	2403.97	2309.31	2498.62	2532.62	1446.19	0	0	0	12.35	15.55	15.62
1522.85	11303	236.80	1.01	0.00	2402.4	2309.1	2495.7	2532.9	1446.3	304.16	5.81	168	1601.03	68.57	0.12	1.94	1.094	0.058	0.030	2033.06	1934.88	2131.25	2620.25	2645.19	0	0	0	12.22	15.45	15.48
1788.71	4097	236.80	1.01	0.00	2029.4	1931.9	2126.9	2618.9	2645.4	259.38	17.90	194	1792.92	0.00	0.19	0.00	0.000	0.224	0.000	2030.50	1933.25	2127.75	2567.50	2646.00	0	0	0	30.00	15.70	30.00
1978.74	16902	236.80	1.01	-30.00	2026.2	1928.1	2124.3	2568.1	2645.8	230.91	13.95	210	1985.12	0.00	0.00	1.80	0.000	0.000	0.016	2028.22	1929.25	2127.19	2575.25	1486.69	0	0	0	30.00	30.00	15.89
2058.76	17414	236.80	1.01	-0.21	2025.1	1927.8	2122.4	2574.6	1469.4	221.07	11.17	226	2065.20	0.00	0.00	1.85	0.000	0.000	0.028	2026.00	1928.69	2123.31	2575.19	2644.75	0	0	0	30.00	30.00	15.91
2248.80	16646	236.80	1.01	30.00	2023.8	1926.8	2120.8	2574.9	2645.1	198.13	11.23	246	2255.14	0.00	0.00	1.70	0.000	0.000	0.036	2025.03	1927.81	2122.25	2575.06	3701.69	0	0	0	30.00	30.00	15.91
2263.51	17414	236.80	1.01	-0.35	2023.5	1926.8	2120.2	2574.6	3701.2	196.28	11.17	249	2270.52	0.00	0.00	1.83	0.000	0.000	0.013	2023.84	1927.50	2120.19	2583.00	2537.88	0	0	0	30.00	30.00	15.89
2458.83	16646	236.80	1.01	30.00	2021.0	1924.3	2117.7	2584.1	2522.3	174.44	10.77	269	2465.22	0.00	0.00	1.92	0.000	0.000	0.035	2022.78	1926.12	2119.44	2582.19	3702.69	0	0	0	30.00	30.00	15.91
2508.83	17414	236.80	1.01	-0.15	2020.2	1923.9	2116.4	2583.4	3702.2	168.87	11.15	279	2515.22	0.00	0.00	1.81	0.000	0.000	0.012	2022.00	1925.62	2118.38	2592.81	2535.88	0	0	0	30.00	30.00	15.94
2698.94	10791	322.78	1.21	-30.00	2018.4	1920.6	2116.1	2593.2	2519.9	155.19	6.04	299	2771.12	62.88	0.09	1.60	0.956	0.082	0.019	1683.44	1592.00	1774.88	2670.12	1482.94	0	0	0	11.63	15.91	15.45
2808.88	5125	322.78	1.21	-0.18	1679.7	1590.6	1768.8	2669.5	1479.6	143.91	11.79	321	2815.40	0.00	0.19	1.87	0.000	0.217	0.026	1680.12	1591.38	1768.88	2617.31	2648.44	0	0	0	30.00	15.63	15.76
2998.92	516	322.78	1.21	-30.00	1676.6	1590.9	1762.2	2616.9	2649.6	123.78	10.85	341	3005.29	0.00	0.00	1.83	0.000	0.000	0.015	1677.88	1591.75	1764.00	2623.69	1483.50	0	0	0	30.00	30.00	15.80
3023.56	1028	322.78	1.21	-0.18	1676.0	1590.8	1761.2	2624.0	1477.2	121.07	10.78	346	3030.65	0.00	0.00	1.87	0.000	0.000	0.028	1677.84	1592.19	1763.50	2622.94	2643.38	0	0	0	30.00	30.00	15.75
3218.89	16646	322.78	1.21	30.00	1675.2	1590.9	1759.4	2624.0	2644.1	96.24	12.13	366	3225.31	0.00	0.00	1.72	0.000	0.000	0.036	1675.88	1591.00	1760.75	2623.31	3705.00	0	0	0	30.00	30.00	15.71
3353.65	17414	322.78	1.21	0.05	1673.9	1590.9	1756.9	2623.9	3704.7	80.49	10.59	393	3360.72	0.00	0.00	1.82	0.000	0.000	0.012	1674.28	1591.25	1757.31	2632.44	2546.69	0	0	0	30.00	30.00	15.83
3549.01	16710	322.78	1.23	30.00	1673.1	1590.4	1755.8	2633.6	2529.8	61.95	9.11	413	3555.42	0.00	0.00	1.93	0.000	0.000	0.036	1674.81	1592.00	1757.62	2632.38	3701.88	0	0	0	30.00	30.00	15.41
3583.68	17414	322.78	1.23	0.12	1672.9	1590.5	1755.4	2632.4	3701.3	58.23	10.61	420	3590.74	0.00	0.00	1.80	0.000	0.000	0.012	1673.69	1590.94	1756.44	2640.56	2549.50	0	0	0	30.00	30.00	15.89
3779.07	16386	322.78	1.23	0.12	1672.9	1590.2	1755.6	2642.0	2532.2	38.46	10.67	440	3783.15	0.00	0.00	0.00	0.000	0.000	0.000	1672.78	1590.06	1755.50	2641.75	2531.88	0	0	0	30.00	30.00	30.00
3969.05	16450	322.78	1.24	0.12	1673.0	1590.5	1755.6	2641.6	2532.0	19.03	9.44	459	3973.06	0.00	0.00	0.00	0.000	0.000	0.000	1673.03	1590.31	1755.75	2642.25	2531.12	0	0	0	30.00	30.00	30.00
4129	end climb: SURFACE_DEPTH_REACHED
state	4129	begin surface coast
4149	end surface coast: CONTROL_FINISHED_OK
state	4149	begin surface