Glider dive log

SMODE Aug22 * SG220 * Dive index * Mission links * Dive 274 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 220 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_INT 14

MISSION 7 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_REP 10.5

DIVE 274 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 0 SM_CC 350 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -9.2399998

STOP_T 0 N_FILEKB 4 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 FILEMGR 0 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 CALL_NDIVES 1 C_VBD 3049 MOTHERBOARD 6

D_TGT 270 COMM_SEQ 7 VBD_DBAND 2 DEVICE1 -1

D_ABORT 1000 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE2 -1

D_NO_BLEED 200 N_NOCOMM 2 VBD_LP_IGNORE 0 DEVICE3 -1

D_BOOST 0 NOCOMM_ACTION 131 VBD_TIMEOUT 720 DEVICE4 -1

T_BOOST 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0012000001 DEVICE5 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 UNCOM_BLEED 20 DEVICE6 -1

D_PITCH 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 1

D_SAFE 0 CALL_WAIT 60 C_VBD_AUTO_DELTA 0 LOGGERDEVICE1 6

D_CALL 0 CAPUPLOAD 0 C_VBD_AUTO_MAX 0 LOGGERDEVICE2 19

SURFACE_URGENCY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 3 LOGGERDEVICE3 -1

SURFACE_URGENCY_TRY 0 T_GPS 5 DBDW 0 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 N_GPS 100440 LOITER_W_DBAND 0 COMPASS_DEVICE 34

T_DIVE 90 T_RSLEEP 2 LOITER_DBDW 0 COMPASS2_DEVICE -1

T_MISSION 110 STROBE 0 LOITER_D_TOP 0 PHONE_DEVICE 33

T_ABORT 1440 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 0 GPS_DEVICE 48

T_TURN 225 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 NAV_DEVICE -1

T_NO_W 120 RAFOS_MMODEM 0 AH0_24V 350 NAV2_DEVICE -1

T_LOITER 0 PITCH_MIN 190 AH0_10V 0 NETWORK_DEVICE -1

T_EPIRB 0 PITCH_MAX 3888 MINV_24V 11 PRESSURE_DEVICE 41

USE_BATHY -10 C_PITCH 2020 MINV_10V 11 XPDR_DEVICE 21

USE_ICE 0 PITCH_DBAND 0.1 MAXI_24V 5 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_CNV 0.0031300001 MAXI_10V 1.5 SEABIRD_T_G 0.0044097742

D_OFFGRID 1000 PITCH_GAIN 40 FG_AHR_10V 37.367611 SEABIRD_T_H 0.00063677714

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 71.420311 SEABIRD_T_I 2.6545444e-05

APOGEE_PITCH -5 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_J 3.3307697e-06

MAX_BUOY 180 PITCH_ADJ_GAIN 0 PRESSURE_YINT -162.23586 SEABIRD_C_G -9.9156904

GLIDE_SLOPE 30 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00022240146 SEABIRD_C_H 1.1102111

SPEED_FACTOR 1 C_PITCH_AUTO_DELTA 0 COMPASS_USE 16388 SEABIRD_C_I -0.003043188

RHO 1.0275 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_J 0.00028673469

MASS 56233 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_PING_RANGE 0 OPTIONS 0

NAV_MODE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_GAIN 2 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

KALMAN_USE 2 PITCH_W_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 3.0

HD_A 0.00281838 ROLL_MIN 265 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0163117 ROLL_MAX 3829 ALTIM_PING_DELTA 0 TM_RECORDABOVE 200.0

HD_C 5.7000002e-06 ROLL_DEG 40 ALTIM_FREQUENCY 13 TM_PROFILE 1.0

HEADING -1 C_ROLL_DIVE 2750 ALTIM_PULSE 3 TM_XMITPROFILE 3.0

ESCAPE_HEADING 0 C_ROLL_CLIMB 2300 ALTIM_SENSITIVITY 2 TM_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 XPDR_VALID 6 TM_XMITRAW 0.0

FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 XPDR_INHIBIT 90 TM_LOGSAMPLE 0.0

AH0_10V 0 D_PITCH 0 N_GPS 100440 SEABIRD_T_H 0.00063677714

AH0_24V 350 D_SAFE 0 N_NOCOMM 2 SEABIRD_T_I 2.6545444e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_J 3.3307697e-06

ALTIM_FREQUENCY 13 D_TGT 270 OPTIONS 0 SIM_W 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 PHONE_DEVICE 33 SM_CC 350

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_10V 37.367611 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 71.420311 PITCH_CNV 0.0031300001 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 40 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_DELTA 0 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00281838 PITCH_MAX 3888 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_B 0.0163117 PITCH_MAXERRORS 1 TM_LOGSAMPLE 0.0

CALL_WAIT 60 HD_C 5.7000002e-06 PITCH_MIN 190 TM_NDIVE 1.0

CAPMAXSIZE 100000 HEADING -1 PITCH_TIMEOUT 25 TM_PROFILE 1.0

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0012000001 TM_RECORDABOVE 200.0

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0.5 TM_XMITPROFILE 3.0

COMM_SEQ 7 ID 220 PITCH_W_GAIN 2 TM_XMITRAW 0.0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_DEVICE 41 T_ABORT 1440

COMPASS_DEVICE 34 INT_PRESSURE_YINT -9.2399998 PRESSURE_SLOPE 0.00022240146 T_BOOST 0

COMPASS_USE 16388 KALMAN_USE 2 PRESSURE_YINT -162.23586 T_DIVE 90

C_PITCH 2020 LOGGERDEVICE1 6 PROTOCOL 9 T_EPIRB 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 19 RAFOS_CORR_THRESH 60 T_GPS 5

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_LOITER 0

C_ROLL_CLIMB 2300 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_MISSION 110

C_ROLL_DIVE 2750 LOGGERS 1 RAFOS_MMODEM 0 T_NO_W 120

C_VBD 3049 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_RSLEEP 2

C_VBD_AUTO_DELTA 0 LOITER_D_BOTTOM 0 RELAUNCH 1 T_TURN 225

C_VBD_AUTO_MAX 0 LOITER_D_TOP 0 RHO 1.0275 T_TURN_SAMPINT -5

DBDW 0 LOITER_N_DIVE 0 ROLL_ADJ_DBAND 0 UNCOM_BLEED 20

DEEPGLIDER 0 LOITER_W_DBAND 0 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 56233 ROLL_CNV 0.028270001 USE_BATHY -10

DEVICE1 -1 MAXI_10V 1.5 ROLL_DEG 40 USE_ICE 0

DEVICE2 -1 MAXI_24V 5 ROLL_MAX 3829 VBD_CNV -0.24529999

DEVICE3 -1 MAX_BUOY 180 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE4 -1 MINV_10V 11 ROLL_MIN 265 VBD_LP_IGNORE 0

DEVICE5 -1 MINV_24V 11 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE6 -1 MISSION 7 SC_NDIVE 1.0 VBD_MAXERRORS 1

DIVE 274 MOTHERBOARD 6 SC_PROFILE 3.0 VBD_MIN 500

D_ABORT 1000 NAV2_DEVICE -1 SC_RECORDABOVE 2000.0 VBD_TIMEOUT 720

D_BOOST 0 NAV_DEVICE -1 SC_XMITPROFILE 3.0 W_ADJ_DBAND 3

D_CALL 0 NAV_MODE 2 SEABIRD_C_G -9.9156904 XPDR_DEVICE 21

D_FINISH 0 NETWORK_DEVICE -1 SEABIRD_C_H 1.1102111 XPDR_INHIBIT 90

D_FLARE 3 NOCOMM_ACTION 131 SEABIRD_C_I -0.003043188 XPDR_INT 14

D_NO_BLEED 200 N_DIVES 0 SEABIRD_C_J 0.00028673469 XPDR_REP 10.5

D_OFFGRID 1000 N_FILEKB 4 SEABIRD_T_G 0.0044097742 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 281022,104210,3642.496,-12441.831,21,0.9,30,13.3 TGT_RADIUS 1000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.20 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 281022,104652,3642.470,-12441.721,3,0.9,5,13.3 MHEAD_RNG_PITCHd_Wd 273.8,479,-18.6,-10.000,-24.24,2595,0.132

SPEED_LIMITS 0.173,0.225 D_GRID 1000

TGT_NAME pickup_n IRON 1.000000,0.014008,-0.003391,0.000496,1.036060,0.020088,0.013924,-0.009366,1.058112,15.781581,9.359980,24.242016

TGT_LATLONG 3642.600,-12442.000

Post-dive calculations and measurements:

FINISH 0.2,1.019250 FG_AHR_10Vo 37.425

SM_CCo 5153.54,55.35,1.082,0,1621.8,1706.9,1536.8,350.09 MEM0 60148,1,0,0

SM_GC 1.32,55.35,5.99,0.88,1.082,0.045,0.179,1621.8,1706.9,1536.8,169.9,2758.5,0,0,0,12.20,15.78,15.64 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 910032,61,135656,83

IRIDIUM_FIX 3641.66,-12441.03,281022,091027 DATA_FILE_SIZE 19327,718

TCM_TEMP 19.70 CAP_FILE_SIZE 190488,0

XPDR_PINGS 14,14.0,10.5 SDSIZE 3918848,3829600

SC_FREEKB 3671648 SDFILEDIR 1694,1

HUMID 52.61 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.85 CURRENT 0.216,102.9,1

INTERNAL_PRESSURE 8.67934 MAGCAL 1.000000,0.028992,0.002440,-0.004945,1.036779,-0.008268,0.008683,0.023935,1.040081,12.2,19.3,27.2,19,0.0075,0

_24V_AH 14.75,92.404 IMPLIED_C_PITCH 2041,27.37,499,0.0,0.00

_10V_AH 14.84,0.000 IMPLIED_C_VBD 2997,25.507587,369,0

FG_AHR_24Vo 71.576 GPS 281022,121340,3642.523,-12441.703,28,0.9,29,13.3

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 461 1431 9738.28 nil 0 0 0.00

Pitch_motor 19 548 154.74 nil 0 0 0.00

Roll_motor 54 179 145.21 nil 0 0 0.00

Iridium 192 206 586.97 nil 0 0 0.00

Transponder_ping 3 420 21.68 nil 0 0 0.00

GPS 14 15 3.17 nil 0 0 0.00

Core 947 6 95.65 SciCon 5114 34 2652.11

Fast 16 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3181 2 94.43

Compass 1025 5 76.11

RAFOS 0 0 0.00

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.49 16386 -169.85 -0.67 0.00 1610.8 1698.4 1523.2 157.2 2678.9 0.00 0.00 0 66.74 59.26 0.00 0.00 0.006 0.000 0.000 2880.22 2941.00 2819.44 157.12 2679.25 0 0 0 15.21 30.00 30.00

66.96 18467 -175.18 -0.68 0.00 2879.9 2940.8 2819.0 157.1 2678.6 3.20 -3.36 11 103.05 21.08 11.02 0.00 0.006 0.549 0.000 3763.31 3838.19 3688.44 1801.31 2679.12 0 0 0 15.27 15.09 30.00

285.55 516 -175.18 -0.68 -40.00 3765.4 3837.8 3693.0 1801.4 2678.8 48.52 -18.41 55 291.12 0.00 0.00 2.45 0.000 0.000 0.043 3766.91 3839.19 3694.62 1801.38 1308.31 0 0 0 30.00 30.00 15.74

310.54 1028 -175.18 -0.68 0.00 3766.0 3838.6 3693.3 1802.1 1306.4 53.05 -18.10 60 316.23 0.00 0.00 2.90 0.000 0.000 0.136 3766.91 3839.25 3694.56 1801.88 2759.88 0 0 0 30.00 30.00 15.64

500.65 0 -175.18 -0.68 0.00 3767.0 3838.5 3695.4 1801.8 2760.5 86.28 -17.05 98 502.00 0.00 0.00 0.00 0.000 0.000 0.000 3766.28 3837.94 3694.62 1801.81 2760.06 0 0 0 30.00 30.00 30.00

690.67 516 -175.18 -0.68 -40.00 3767.8 3838.3 3697.2 1801.9 2759.9 116.04 -14.51 126 696.23 0.00 0.00 2.60 0.000 0.000 0.044 3768.94 3839.50 3698.38 1801.38 1307.31 0 0 0 30.00 30.00 15.72

735.65 1028 -175.18 -0.68 0.00 3768.1 3838.5 3697.7 1801.6 1305.8 122.49 -14.05 135 741.31 0.00 0.00 2.86 0.000 0.000 0.126 3768.12 3838.94 3697.31 1802.62 2759.25 0 0 0 30.00 30.00 15.70

1050.72 0 -175.18 -0.68 0.00 3768.3 3838.4 3698.1 1802.0 2759.2 165.85 -13.57 167 1052.06 0.00 0.00 0.00 0.000 0.000 0.000 3767.94 3838.00 3697.88 1801.75 2759.06 0 0 0 30.00 30.00 30.00

1360.75 516 -175.18 -0.68 -40.00 3768.2 3838.2 3698.2 1801.7 2759.1 207.50 -13.34 198 1366.32 0.00 0.00 2.60 0.000 0.000 0.053 3769.88 3839.69 3700.06 1801.69 1310.50 0 0 0 30.00 30.00 15.92

1390.76 1028 -175.18 -0.68 0.00 3768.4 3838.4 3698.4 1801.5 1309.6 211.52 -13.41 204 1396.38 0.00 0.00 2.87 0.000 0.000 0.137 3768.66 3838.94 3698.38 1801.81 2759.69 0 0 0 30.00 30.00 15.77

1700.80 0 -175.18 -0.68 0.00 3767.7 3838.3 3697.1 1801.6 2759.8 253.76 -13.72 236 1702.14 0.00 0.00 0.00 0.000 0.000 0.000 3767.00 3837.88 3696.12 1802.12 2760.00 0 0 0 30.00 30.00 30.00

1830 end dive: TARGET_DEPTH_EXCEEDED

state 1830 begin apogee

1832.62 10243 0.00 -0.12 0.00 3767.1 3837.8 3696.4 1801.7 2244.4 270.83 -12.97 249 1963.64 126.68 0.61 0.17 1.431 0.228 0.179 3048.06 3162.81 2933.31 1980.94 2312.19 0 0 0 11.97 15.77 15.22

1964 end apogee: CONTROL_FINISHED_OK

state 1964 begin climb

1965.45 10243 175.18 0.68 0.00 3046.3 3161.3 2931.2 1981.1 2311.6 275.92 0.00 262 2098.46 128.02 0.80 0.00 1.393 0.128 0.000 2333.25 2428.44 2238.06 2242.38 2311.94 0 0 0 12.37 15.30 30.00

2400.87 580 175.18 0.70 -40.00 2326.8 2426.7 2226.9 2241.6 2312.0 243.97 8.58 316 2406.44 0.00 0.00 2.62 0.000 0.000 0.058 2326.38 2425.00 2227.75 2251.44 860.62 0 0 0 30.00 30.00 15.74

2455.98 17478 175.18 0.73 0.00 2325.0 2421.2 2228.7 2251.1 860.2 239.18 8.75 327 2461.49 0.00 0.00 2.74 0.000 0.000 0.107 2325.50 2422.06 2228.94 2251.12 2309.75 0 0 0 30.00 30.00 15.27

2770.93 16710 175.18 0.78 40.00 2323.9 2421.5 2226.2 2251.0 2310.0 214.34 7.41 359 2776.51 0.00 0.00 2.65 0.000 0.000 0.152 2324.53 2422.06 2227.00 2250.88 3724.50 0 0 0 30.00 30.00 15.72

2860.99 17478 175.18 0.79 0.00 2323.9 2421.1 2226.6 2251.2 3724.3 206.08 9.34 377 2866.50 0.00 0.00 2.41 0.000 0.000 0.039 2325.44 2422.81 2228.06 2258.06 2264.88 0 0 0 30.00 30.00 15.82

3171.01 16450 175.18 0.81 0.00 2323.1 2421.3 2224.8 2258.8 2258.9 179.00 9.05 409 3172.35 0.00 0.00 0.00 0.000 0.000 0.000 2321.59 2419.88 2223.31 2258.81 2258.69 0 0 0 30.00 30.00 30.00

3481.04 16710 175.18 0.84 40.00 2322.4 2421.1 2223.6 2258.6 2259.1 151.63 8.45 440 3486.63 0.00 0.00 2.78 0.000 0.000 0.155 2322.56 2421.06 2224.06 2258.31 3724.50 0 0 0 30.00 30.00 15.79

3511.05 19527 175.18 0.87 0.00 2322.9 2421.4 2224.4 2258.2 3724.6 148.79 8.89 446 3516.63 0.00 0.09 2.41 0.000 0.105 0.043 2323.97 2422.50 2225.44 2351.19 2259.88 0 0 0 30.00 15.85 15.83

3821.09 20807 175.18 0.88 40.00 2321.7 2420.5 2222.9 2351.9 2255.2 117.22 9.26 478 3826.76 0.00 0.21 2.78 0.000 0.253 0.147 2322.28 2421.25 2223.31 2292.81 3723.25 0 0 0 30.00 15.63 15.67

3921.11 17478 175.18 0.93 0.00 2321.8 2420.1 2223.5 2292.6 3723.2 109.07 7.64 498 3926.65 0.00 0.00 2.41 0.000 0.000 0.042 2321.78 2420.25 2223.31 2302.50 2264.12 0 0 0 30.00 30.00 15.80

4231.15 16966 175.18 0.94 -40.00 2320.7 2419.9 2221.4 2302.6 2257.4 84.52 9.24 547 4236.73 0.00 0.00 2.45 0.000 0.000 0.058 2320.38 2419.38 2221.38 2313.00 857.12 0 0 0 30.00 30.00 15.79

4326.14 17478 175.18 0.96 0.00 2319.9 2418.0 2221.8 2312.4 855.9 75.71 9.28 566 4331.76 0.00 0.00 2.72 0.000 0.000 0.104 2321.34 2419.19 2223.50 2313.31 2311.12 0 0 0 30.00 30.00 15.80

4516.19 10791 272.50 1.07 -40.00 2320.3 2418.6 2222.1 2312.9 2311.2 62.00 6.15 604 4593.18 70.94 0.14 2.63 1.176 0.064 0.059 1935.12 2044.19 1826.06 2427.31 857.56 0 0 0 12.05 15.75 15.46

4801.16 21511 272.50 1.07 0.00 1928.4 2035.9 1820.9 2427.8 856.2 27.67 15.63 661 4806.86 0.00 0.26 2.72 0.000 0.252 0.096 1928.12 2036.00 1820.25 2356.62 2307.19 0 0 0 30.00 15.51 15.58

4991.20 16966 272.50 1.10 -40.00 1925.7 2035.9 1815.6 2356.0 2307.0 7.80 8.87 699 4996.77 0.00 0.00 2.58 0.000 0.000 0.053 1925.78 2035.88 1815.69 2364.62 857.31 0 0 0 30.00 30.00 15.67

5046.21 17478 272.50 1.12 0.00 1924.5 2033.3 1815.6 2364.7 855.8 2.92 9.05 710 5051.81 0.00 0.00 2.73 0.000 0.000 0.104 1926.12 2035.12 1817.12 2365.12 2308.19 0 0 0 30.00 30.00 15.68

5061 end climb: SURFACE_DEPTH_REACHED

state 5061 begin surface coast

5086 end surface coast: CONTROL_FINISHED_OK

state 5086 begin surface

ID	220	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_INT	14
MISSION	7	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_REP	10.5
DIVE	274	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	0	SM_CC	350	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-9.2399998
STOP_T	0	N_FILEKB	4	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	FILEMGR	0	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	CALL_NDIVES	1	C_VBD	3049	MOTHERBOARD	6
D_TGT	270	COMM_SEQ	7	VBD_DBAND	2	DEVICE1	-1
D_ABORT	1000	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE2	-1
D_NO_BLEED	200	N_NOCOMM	2	VBD_LP_IGNORE	0	DEVICE3	-1
D_BOOST	0	NOCOMM_ACTION	131	VBD_TIMEOUT	720	DEVICE4	-1
T_BOOST	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0012000001	DEVICE5	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	UNCOM_BLEED	20	DEVICE6	-1
D_PITCH	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	1
D_SAFE	0	CALL_WAIT	60	C_VBD_AUTO_DELTA	0	LOGGERDEVICE1	6
D_CALL	0	CAPUPLOAD	0	C_VBD_AUTO_MAX	0	LOGGERDEVICE2	19
SURFACE_URGENCY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	3	LOGGERDEVICE3	-1
SURFACE_URGENCY_TRY	0	T_GPS	5	DBDW	0	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	N_GPS	100440	LOITER_W_DBAND	0	COMPASS_DEVICE	34
T_DIVE	90	T_RSLEEP	2	LOITER_DBDW	0	COMPASS2_DEVICE	-1
T_MISSION	110	STROBE	0	LOITER_D_TOP	0	PHONE_DEVICE	33
T_ABORT	1440	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	0	GPS_DEVICE	48
T_TURN	225	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	NAV_DEVICE	-1
T_NO_W	120	RAFOS_MMODEM	0	AH0_24V	350	NAV2_DEVICE	-1
T_LOITER	0	PITCH_MIN	190	AH0_10V	0	NETWORK_DEVICE	-1
T_EPIRB	0	PITCH_MAX	3888	MINV_24V	11	PRESSURE_DEVICE	41
USE_BATHY	-10	C_PITCH	2020	MINV_10V	11	XPDR_DEVICE	21
USE_ICE	0	PITCH_DBAND	0.1	MAXI_24V	5	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_CNV	0.0031300001	MAXI_10V	1.5	SEABIRD_T_G	0.0044097742
D_OFFGRID	1000	PITCH_GAIN	40	FG_AHR_10V	37.367611	SEABIRD_T_H	0.00063677714
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	71.420311	SEABIRD_T_I	2.6545444e-05
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_J	3.3307697e-06
MAX_BUOY	180	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-162.23586	SEABIRD_C_G	-9.9156904
GLIDE_SLOPE	30	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00022240146	SEABIRD_C_H	1.1102111
SPEED_FACTOR	1	C_PITCH_AUTO_DELTA	0	COMPASS_USE	16388	SEABIRD_C_I	-0.003043188
RHO	1.0275	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_J	0.00028673469
MASS	56233	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_PING_RANGE	0	OPTIONS	0
NAV_MODE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_GAIN	2	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
KALMAN_USE	2	PITCH_W_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	3.0
HD_A	0.00281838	ROLL_MIN	265	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0163117	ROLL_MAX	3829	ALTIM_PING_DELTA	0	TM_RECORDABOVE	200.0
HD_C	5.7000002e-06	ROLL_DEG	40	ALTIM_FREQUENCY	13	TM_PROFILE	1.0
HEADING	-1	C_ROLL_DIVE	2750	ALTIM_PULSE	3	TM_XMITPROFILE	3.0
ESCAPE_HEADING	0	C_ROLL_CLIMB	2300	ALTIM_SENSITIVITY	2	TM_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	XPDR_VALID	6	TM_XMITRAW	0.0
FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	XPDR_INHIBIT	90	TM_LOGSAMPLE	0.0

GPS1	281022,104210,3642.496,-12441.831,21,0.9,30,13.3	TGT_RADIUS	1000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.20	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	281022,104652,3642.470,-12441.721,3,0.9,5,13.3	MHEAD_RNG_PITCHd_Wd	273.8,479,-18.6,-10.000,-24.24,2595,0.132
SPEED_LIMITS	0.173,0.225	D_GRID	1000
TGT_NAME	pickup_n	IRON	1.000000,0.014008,-0.003391,0.000496,1.036060,0.020088,0.013924,-0.009366,1.058112,15.781581,9.359980,24.242016
TGT_LATLONG	3642.600,-12442.000

FINISH	0.2,1.019250	FG_AHR_10Vo	37.425
SM_CCo	5153.54,55.35,1.082,0,1621.8,1706.9,1536.8,350.09	MEM0	60148,1,0,0
SM_GC	1.32,55.35,5.99,0.88,1.082,0.045,0.179,1621.8,1706.9,1536.8,169.9,2758.5,0,0,0,12.20,15.78,15.64	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	910032,61,135656,83
IRIDIUM_FIX	3641.66,-12441.03,281022,091027	DATA_FILE_SIZE	19327,718
TCM_TEMP	19.70	CAP_FILE_SIZE	190488,0
XPDR_PINGS	14,14.0,10.5	SDSIZE	3918848,3829600
SC_FREEKB	3671648	SDFILEDIR	1694,1
HUMID	52.61	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.85	CURRENT	0.216,102.9,1
INTERNAL_PRESSURE	8.67934	MAGCAL	1.000000,0.028992,0.002440,-0.004945,1.036779,-0.008268,0.008683,0.023935,1.040081,12.2,19.3,27.2,19,0.0075,0
_24V_AH	14.75,92.404	IMPLIED_C_PITCH	2041,27.37,499,0.0,0.00
_10V_AH	14.84,0.000	IMPLIED_C_VBD	2997,25.507587,369,0
FG_AHR_24Vo	71.576	GPS	281022,121340,3642.523,-12441.703,28,0.9,29,13.3

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	461	1431	9738.28	nil	0	0	0.00
Pitch_motor	19	548	154.74	nil	0	0	0.00
Roll_motor	54	179	145.21	nil	0	0	0.00
Iridium	192	206	586.97	nil	0	0	0.00
Transponder_ping	3	420	21.68	nil	0	0	0.00
GPS	14	15	3.17	nil	0	0	0.00
Core	947	6	95.65	SciCon	5114	34	2652.11
Fast	16	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3181	2	94.43
Compass	1025	5	76.11
RAFOS	0	0	0.00
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.49	16386	-169.85	-0.67	0.00	1610.8	1698.4	1523.2	157.2	2678.9	0.00	0.00	0	66.74	59.26	0.00	0.00	0.006	0.000	0.000	2880.22	2941.00	2819.44	157.12	2679.25	0	0	0	15.21	30.00	30.00
66.96	18467	-175.18	-0.68	0.00	2879.9	2940.8	2819.0	157.1	2678.6	3.20	-3.36	11	103.05	21.08	11.02	0.00	0.006	0.549	0.000	3763.31	3838.19	3688.44	1801.31	2679.12	0	0	0	15.27	15.09	30.00
285.55	516	-175.18	-0.68	-40.00	3765.4	3837.8	3693.0	1801.4	2678.8	48.52	-18.41	55	291.12	0.00	0.00	2.45	0.000	0.000	0.043	3766.91	3839.19	3694.62	1801.38	1308.31	0	0	0	30.00	30.00	15.74
310.54	1028	-175.18	-0.68	0.00	3766.0	3838.6	3693.3	1802.1	1306.4	53.05	-18.10	60	316.23	0.00	0.00	2.90	0.000	0.000	0.136	3766.91	3839.25	3694.56	1801.88	2759.88	0	0	0	30.00	30.00	15.64
500.65	0	-175.18	-0.68	0.00	3767.0	3838.5	3695.4	1801.8	2760.5	86.28	-17.05	98	502.00	0.00	0.00	0.00	0.000	0.000	0.000	3766.28	3837.94	3694.62	1801.81	2760.06	0	0	0	30.00	30.00	30.00
690.67	516	-175.18	-0.68	-40.00	3767.8	3838.3	3697.2	1801.9	2759.9	116.04	-14.51	126	696.23	0.00	0.00	2.60	0.000	0.000	0.044	3768.94	3839.50	3698.38	1801.38	1307.31	0	0	0	30.00	30.00	15.72
735.65	1028	-175.18	-0.68	0.00	3768.1	3838.5	3697.7	1801.6	1305.8	122.49	-14.05	135	741.31	0.00	0.00	2.86	0.000	0.000	0.126	3768.12	3838.94	3697.31	1802.62	2759.25	0	0	0	30.00	30.00	15.70
1050.72	0	-175.18	-0.68	0.00	3768.3	3838.4	3698.1	1802.0	2759.2	165.85	-13.57	167	1052.06	0.00	0.00	0.00	0.000	0.000	0.000	3767.94	3838.00	3697.88	1801.75	2759.06	0	0	0	30.00	30.00	30.00
1360.75	516	-175.18	-0.68	-40.00	3768.2	3838.2	3698.2	1801.7	2759.1	207.50	-13.34	198	1366.32	0.00	0.00	2.60	0.000	0.000	0.053	3769.88	3839.69	3700.06	1801.69	1310.50	0	0	0	30.00	30.00	15.92
1390.76	1028	-175.18	-0.68	0.00	3768.4	3838.4	3698.4	1801.5	1309.6	211.52	-13.41	204	1396.38	0.00	0.00	2.87	0.000	0.000	0.137	3768.66	3838.94	3698.38	1801.81	2759.69	0	0	0	30.00	30.00	15.77
1700.80	0	-175.18	-0.68	0.00	3767.7	3838.3	3697.1	1801.6	2759.8	253.76	-13.72	236	1702.14	0.00	0.00	0.00	0.000	0.000	0.000	3767.00	3837.88	3696.12	1802.12	2760.00	0	0	0	30.00	30.00	30.00
1830	end dive: TARGET_DEPTH_EXCEEDED
state	1830	begin apogee
1832.62	10243	0.00	-0.12	0.00	3767.1	3837.8	3696.4	1801.7	2244.4	270.83	-12.97	249	1963.64	126.68	0.61	0.17	1.431	0.228	0.179	3048.06	3162.81	2933.31	1980.94	2312.19	0	0	0	11.97	15.77	15.22
1964	end apogee: CONTROL_FINISHED_OK
state	1964	begin climb
1965.45	10243	175.18	0.68	0.00	3046.3	3161.3	2931.2	1981.1	2311.6	275.92	0.00	262	2098.46	128.02	0.80	0.00	1.393	0.128	0.000	2333.25	2428.44	2238.06	2242.38	2311.94	0	0	0	12.37	15.30	30.00
2400.87	580	175.18	0.70	-40.00	2326.8	2426.7	2226.9	2241.6	2312.0	243.97	8.58	316	2406.44	0.00	0.00	2.62	0.000	0.000	0.058	2326.38	2425.00	2227.75	2251.44	860.62	0	0	0	30.00	30.00	15.74
2455.98	17478	175.18	0.73	0.00	2325.0	2421.2	2228.7	2251.1	860.2	239.18	8.75	327	2461.49	0.00	0.00	2.74	0.000	0.000	0.107	2325.50	2422.06	2228.94	2251.12	2309.75	0	0	0	30.00	30.00	15.27
2770.93	16710	175.18	0.78	40.00	2323.9	2421.5	2226.2	2251.0	2310.0	214.34	7.41	359	2776.51	0.00	0.00	2.65	0.000	0.000	0.152	2324.53	2422.06	2227.00	2250.88	3724.50	0	0	0	30.00	30.00	15.72
2860.99	17478	175.18	0.79	0.00	2323.9	2421.1	2226.6	2251.2	3724.3	206.08	9.34	377	2866.50	0.00	0.00	2.41	0.000	0.000	0.039	2325.44	2422.81	2228.06	2258.06	2264.88	0	0	0	30.00	30.00	15.82
3171.01	16450	175.18	0.81	0.00	2323.1	2421.3	2224.8	2258.8	2258.9	179.00	9.05	409	3172.35	0.00	0.00	0.00	0.000	0.000	0.000	2321.59	2419.88	2223.31	2258.81	2258.69	0	0	0	30.00	30.00	30.00
3481.04	16710	175.18	0.84	40.00	2322.4	2421.1	2223.6	2258.6	2259.1	151.63	8.45	440	3486.63	0.00	0.00	2.78	0.000	0.000	0.155	2322.56	2421.06	2224.06	2258.31	3724.50	0	0	0	30.00	30.00	15.79
3511.05	19527	175.18	0.87	0.00	2322.9	2421.4	2224.4	2258.2	3724.6	148.79	8.89	446	3516.63	0.00	0.09	2.41	0.000	0.105	0.043	2323.97	2422.50	2225.44	2351.19	2259.88	0	0	0	30.00	15.85	15.83
3821.09	20807	175.18	0.88	40.00	2321.7	2420.5	2222.9	2351.9	2255.2	117.22	9.26	478	3826.76	0.00	0.21	2.78	0.000	0.253	0.147	2322.28	2421.25	2223.31	2292.81	3723.25	0	0	0	30.00	15.63	15.67
3921.11	17478	175.18	0.93	0.00	2321.8	2420.1	2223.5	2292.6	3723.2	109.07	7.64	498	3926.65	0.00	0.00	2.41	0.000	0.000	0.042	2321.78	2420.25	2223.31	2302.50	2264.12	0	0	0	30.00	30.00	15.80
4231.15	16966	175.18	0.94	-40.00	2320.7	2419.9	2221.4	2302.6	2257.4	84.52	9.24	547	4236.73	0.00	0.00	2.45	0.000	0.000	0.058	2320.38	2419.38	2221.38	2313.00	857.12	0	0	0	30.00	30.00	15.79
4326.14	17478	175.18	0.96	0.00	2319.9	2418.0	2221.8	2312.4	855.9	75.71	9.28	566	4331.76	0.00	0.00	2.72	0.000	0.000	0.104	2321.34	2419.19	2223.50	2313.31	2311.12	0	0	0	30.00	30.00	15.80
4516.19	10791	272.50	1.07	-40.00	2320.3	2418.6	2222.1	2312.9	2311.2	62.00	6.15	604	4593.18	70.94	0.14	2.63	1.176	0.064	0.059	1935.12	2044.19	1826.06	2427.31	857.56	0	0	0	12.05	15.75	15.46
4801.16	21511	272.50	1.07	0.00	1928.4	2035.9	1820.9	2427.8	856.2	27.67	15.63	661	4806.86	0.00	0.26	2.72	0.000	0.252	0.096	1928.12	2036.00	1820.25	2356.62	2307.19	0	0	0	30.00	15.51	15.58
4991.20	16966	272.50	1.10	-40.00	1925.7	2035.9	1815.6	2356.0	2307.0	7.80	8.87	699	4996.77	0.00	0.00	2.58	0.000	0.000	0.053	1925.78	2035.88	1815.69	2364.62	857.31	0	0	0	30.00	30.00	15.67
5046.21	17478	272.50	1.12	0.00	1924.5	2033.3	1815.6	2364.7	855.8	2.92	9.05	710	5051.81	0.00	0.00	2.73	0.000	0.000	0.104	1926.12	2035.12	1817.12	2365.12	2308.19	0	0	0	30.00	30.00	15.68
5061	end climb: SURFACE_DEPTH_REACHED
state	5061	begin surface coast
5086	end surface coast: CONTROL_FINISHED_OK
state	5086	begin surface