Glider dive log

SMODE Aug22 * SG220 * Dive index * Mission links * Dive 276 * 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 276 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 37.49345 SEABIRD_T_H 0.00063677714

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 71.78022 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 37.49345 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 71.78022 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 276 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 281022,142708,3642.154,-12440.459,2,0.8,3,13.3 TGT_RADIUS 1000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.24 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 281022,142958,3642.131,-12440.391,2,0.8,3,13.3 MHEAD_RNG_PITCHd_Wd 271.5,2542,-18.3,-10.000,-23.92,2676,0.163

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 0.2,1.023587 FG_AHR_10Vo 37.554

SM_CCo 5278.03,0.00,0.000,0,1507.1,1636.8,1377.5,378.22 MEM0 60148,1,0,0

SM_GC 1.12,0.00,6.53,0.83,0.000,0.070,0.121,1507.1,1636.8,1377.5,166.3,2762.4,0,0,0,30.00,15.51,15.46 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 910736,26,135652,83

IRIDIUM_FIX 3642.14,-12531.01,281022,142433 DATA_FILE_SIZE 19308,744

TCM_TEMP 19.90 CAP_FILE_SIZE 212229,0

XPDR_PINGS 19,14.0,10.5 SDSIZE 3918848,3829120

SC_FREEKB 3670496 SDFILEDIR 1706,1

HUMID 52.87 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 12.25 CURRENT 0.200,113.4,1

INTERNAL_PRESSURE 8.70546 MAGCAL 1.000000,0.032213,0.006032,-0.004421,1.044819,-0.009828,0.008455,0.019754,1.050122,9.6,21.6,26.7,15,0.0110,0

_24V_AH 14.82,92.852 IMPLIED_C_PITCH 2044,27.64,512,0.0,0.00

_10V_AH 14.92,0.000 IMPLIED_C_VBD 3043,26.913996,369,0

FG_AHR_24Vo 71.934 GPS 281022,155846,3642.076,-12440.427,21,1.6,25,13.3

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 474 1391 9780.86 nil 0 0 0.00

Pitch_motor 17 508 133.66 nil 0 0 0.00

Roll_motor 44 179 118.90 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 4 420 29.57 nil 0 0 0.00

GPS 12 15 2.82 nil 0 0 0.00

Core 770 6 78.16 SciCon 5208 35 2784.42

Fast 0 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3292 2 98.24

Compass 1053 5 78.60

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

6.56 16386 -175.18 -0.67 0.00 1615.1 1701.8 1528.4 190.1 2770.2 0.00 0.00 0 66.76 59.21 0.00 0.00 0.006 0.000 0.000 3009.44 3070.19 2948.69 190.19 2770.19 0 0 0 15.50 30.00 30.00

67.00 18727 -175.18 -0.67 40.00 3008.6 3069.5 2947.8 189.9 2769.9 3.19 -3.47 11 99.15 17.55 9.53 1.96 0.006 0.509 0.165 3763.53 3836.31 3690.75 1802.69 3840.69 0 0 0 15.53 15.15 15.53

221.46 1028 -175.18 -0.67 0.00 3764.6 3835.6 3693.5 1804.0 3840.9 36.66 -18.75 42 226.33 0.00 0.00 1.80 0.000 0.000 0.034 3765.22 3836.31 3694.12 1804.12 2688.12 0 0 0 30.00 30.00 15.81

411.51 260 -175.18 -0.67 40.00 3765.0 3835.4 3694.6 1804.5 2680.9 71.32 -17.40 80 417.02 0.00 0.00 2.23 0.000 0.000 0.179 3765.03 3835.75 3694.31 1804.50 3841.25 0 0 0 30.00 30.00 15.42

426.50 1028 -175.18 -0.67 0.00 3765.0 3835.9 3694.1 1804.6 3840.9 74.04 -18.01 83 431.39 0.00 0.00 1.84 0.000 0.000 0.045 3764.72 3835.75 3693.69 1803.75 2670.25 0 0 0 30.00 30.00 15.56

616.55 516 -175.18 -0.67 -40.00 3765.4 3835.8 3695.0 1803.5 2667.2 103.62 -14.60 119 622.07 0.00 0.00 2.38 0.000 0.000 0.042 3765.59 3835.62 3695.56 1804.62 1304.56 0 0 0 30.00 30.00 15.81

696.58 1028 -175.18 -0.67 0.00 3766.0 3835.7 3696.2 1804.7 1302.6 115.08 -13.61 135 702.18 0.00 0.00 2.84 0.000 0.000 0.121 3765.94 3835.12 3696.75 1803.31 2760.81 0 0 0 30.00 30.00 15.48

1006.64 260 -175.18 -0.67 40.00 3765.5 3835.2 3695.9 1804.2 2760.6 158.89 -14.16 167 1012.05 0.00 0.00 1.98 0.000 0.000 0.162 3765.25 3835.38 3695.12 1804.44 3841.50 0 0 0 30.00 30.00 15.77

1041.62 1028 -175.18 -0.67 0.00 3764.9 3835.1 3694.6 1804.2 3840.9 163.98 -14.55 174 1046.51 0.00 0.00 1.82 0.000 0.000 0.043 3764.97 3834.62 3695.31 1804.62 2669.62 0 0 0 30.00 30.00 15.58

1356.70 0 -175.18 -0.67 0.00 3764.2 3835.2 3693.1 1804.1 2667.6 208.13 -13.27 206 1358.04 0.00 0.00 0.00 0.000 0.000 0.000 3762.94 3834.25 3691.62 1804.38 2668.38 0 0 0 30.00 30.00 30.00

1666.76 0 -175.18 -0.67 0.00 3763.2 3835.4 3691.0 1804.2 2668.0 248.58 -12.95 237 1668.10 0.00 0.00 0.00 0.000 0.000 0.000 3762.50 3834.81 3690.19 1803.94 2667.44 0 0 0 30.00 30.00 30.00

1837 end dive: TARGET_DEPTH_EXCEEDED

state 1837 begin apogee

1838.49 10243 0.00 -0.12 0.00 3762.1 3835.2 3689.0 1804.3 2236.8 270.11 -12.25 254 1968.57 124.54 0.60 0.17 1.392 0.222 0.171 3046.88 3163.38 2930.38 1980.69 2315.69 0 0 0 12.08 15.76 15.30

1970 end apogee: CONTROL_FINISHED_OK

state 1970 begin climb

1970.39 10759 175.18 0.67 -40.00 3046.2 3162.4 2929.9 1981.1 2315.7 274.41 0.00 267 2104.54 126.68 0.78 2.70 1.357 0.127 0.057 2332.75 2427.75 2237.75 2241.19 858.88 0 0 0 12.36 15.36 15.14

2131.86 1092 175.18 0.71 0.00 2327.7 2418.8 2236.6 2240.9 858.6 266.21 7.96 299 2137.43 0.00 0.00 2.72 0.000 0.000 0.081 2328.72 2419.19 2238.25 2240.56 2310.88 0 0 0 30.00 30.00 15.40

2441.91 16450 175.18 0.73 0.00 2324.2 2418.2 2230.2 2241.4 2310.6 239.60 8.79 331 2443.26 0.00 0.00 0.00 0.000 0.000 0.000 2322.91 2417.25 2228.56 2241.12 2310.69 0 0 0 30.00 30.00 30.00

2751.98 16710 175.18 0.76 40.00 2322.6 2418.6 2226.7 2241.2 2310.5 213.40 8.40 362 2757.52 0.00 0.00 2.63 0.000 0.000 0.150 2322.84 2419.06 2226.62 2240.44 3724.38 0 0 0 30.00 30.00 15.76

2821.97 17414 175.18 0.76 0.00 2323.0 2418.6 2227.3 2240.7 3724.6 206.44 10.09 376 2827.50 0.00 0.00 2.40 0.000 0.000 0.040 2324.78 2420.81 2228.75 2249.88 2259.00 0 0 0 30.00 30.00 15.87

3132.02 16386 175.18 0.76 0.00 2321.0 2417.9 2224.0 2250.2 2253.0 177.49 9.75 408 3133.37 0.00 0.00 0.00 0.000 0.000 0.000 2319.69 2417.00 2222.38 2249.75 2252.56 0 0 0 30.00 30.00 30.00

3442.09 16710 175.18 0.80 40.00 2319.2 2418.1 2220.4 2249.9 2252.8 150.92 7.96 439 3447.69 0.00 0.00 2.80 0.000 0.000 0.155 2321.50 2420.50 2222.50 2249.31 3723.69 0 0 0 30.00 30.00 15.82

3522.14 19527 175.18 0.83 0.00 2319.6 2417.6 2221.6 2249.9 3723.4 143.97 8.64 455 3527.67 0.00 0.08 2.41 0.000 0.110 0.041 2320.94 2418.88 2223.00 2325.12 2256.88 0 0 0 30.00 15.84 15.62

3832.16 16450 175.18 0.86 0.00 2318.4 2416.8 2220.1 2324.2 2251.3 115.01 8.51 487 3833.51 0.00 0.00 0.00 0.000 0.000 0.000 2316.78 2415.12 2218.44 2325.25 2251.44 0 0 0 30.00 30.00 30.00

4137.17 16902 175.18 0.86 -40.00 2317.4 2415.6 2219.1 2324.9 2251.1 86.47 9.57 530 4142.71 0.00 0.00 2.44 0.000 0.000 0.056 2319.62 2418.12 2221.12 2331.75 855.88 0 0 0 30.00 30.00 15.54

4372.20 17478 175.18 0.91 0.00 2315.4 2411.4 2219.4 2331.4 856.1 66.05 7.76 577 4377.77 0.00 0.00 2.63 0.000 0.000 0.078 2316.31 2412.00 2220.62 2331.50 2310.38 0 0 0 30.00 30.00 15.80

4562.26 8226 253.35 1.00 0.00 2315.5 2411.6 2219.4 2331.2 2309.9 52.11 7.00 615 4619.35 55.85 0.00 0.00 1.143 0.000 0.000 2014.34 2125.31 1903.38 2332.25 2310.12 0 0 0 12.02 30.00 30.00

4802.27 580 253.35 1.05 -40.00 2009.2 2125.7 1892.8 2331.3 2310.3 33.68 7.30 663 4807.79 0.00 0.00 2.58 0.000 0.000 0.055 2010.31 2127.00 1893.62 2336.12 858.94 0 0 0 30.00 30.00 15.65

4912.24 17478 253.35 1.07 0.00 2006.1 2118.2 1894.0 2336.1 857.7 23.68 9.13 685 4917.82 0.00 0.00 2.67 0.000 0.000 0.087 2006.84 2119.25 1894.44 2336.12 2308.12 0 0 0 30.00 30.00 15.69

5102.29 10535 378.88 1.22 40.00 2004.8 2118.1 1891.6 2336.1 2308.2 13.23 5.18 723 5194.11 90.38 0.20 0.00 1.073 0.056 0.000 1514.69 1640.12 1389.25 2457.88 2308.56 0 0 0 12.17 15.68 30.00

5195 end climb: SURFACE_DEPTH_REACHED

state 5195 begin surface coast

5208 end surface coast: CONTROL_FINISHED_OK

state 5208 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	276	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	37.49345	SEABIRD_T_H	0.00063677714
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	71.78022	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	281022,142708,3642.154,-12440.459,2,0.8,3,13.3	TGT_RADIUS	1000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.24	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	281022,142958,3642.131,-12440.391,2,0.8,3,13.3	MHEAD_RNG_PITCHd_Wd	271.5,2542,-18.3,-10.000,-23.92,2676,0.163
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	0.2,1.023587	FG_AHR_10Vo	37.554
SM_CCo	5278.03,0.00,0.000,0,1507.1,1636.8,1377.5,378.22	MEM0	60148,1,0,0
SM_GC	1.12,0.00,6.53,0.83,0.000,0.070,0.121,1507.1,1636.8,1377.5,166.3,2762.4,0,0,0,30.00,15.51,15.46	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	910736,26,135652,83
IRIDIUM_FIX	3642.14,-12531.01,281022,142433	DATA_FILE_SIZE	19308,744
TCM_TEMP	19.90	CAP_FILE_SIZE	212229,0
XPDR_PINGS	19,14.0,10.5	SDSIZE	3918848,3829120
SC_FREEKB	3670496	SDFILEDIR	1706,1
HUMID	52.87	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	12.25	CURRENT	0.200,113.4,1
INTERNAL_PRESSURE	8.70546	MAGCAL	1.000000,0.032213,0.006032,-0.004421,1.044819,-0.009828,0.008455,0.019754,1.050122,9.6,21.6,26.7,15,0.0110,0
_24V_AH	14.82,92.852	IMPLIED_C_PITCH	2044,27.64,512,0.0,0.00
_10V_AH	14.92,0.000	IMPLIED_C_VBD	3043,26.913996,369,0
FG_AHR_24Vo	71.934	GPS	281022,155846,3642.076,-12440.427,21,1.6,25,13.3

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	474	1391	9780.86	nil	0	0	0.00
Pitch_motor	17	508	133.66	nil	0	0	0.00
Roll_motor	44	179	118.90	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	4	420	29.57	nil	0	0	0.00
GPS	12	15	2.82	nil	0	0	0.00
Core	770	6	78.16	SciCon	5208	35	2784.42
Fast	0	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3292	2	98.24
Compass	1053	5	78.60
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
6.56	16386	-175.18	-0.67	0.00	1615.1	1701.8	1528.4	190.1	2770.2	0.00	0.00	0	66.76	59.21	0.00	0.00	0.006	0.000	0.000	3009.44	3070.19	2948.69	190.19	2770.19	0	0	0	15.50	30.00	30.00
67.00	18727	-175.18	-0.67	40.00	3008.6	3069.5	2947.8	189.9	2769.9	3.19	-3.47	11	99.15	17.55	9.53	1.96	0.006	0.509	0.165	3763.53	3836.31	3690.75	1802.69	3840.69	0	0	0	15.53	15.15	15.53
221.46	1028	-175.18	-0.67	0.00	3764.6	3835.6	3693.5	1804.0	3840.9	36.66	-18.75	42	226.33	0.00	0.00	1.80	0.000	0.000	0.034	3765.22	3836.31	3694.12	1804.12	2688.12	0	0	0	30.00	30.00	15.81
411.51	260	-175.18	-0.67	40.00	3765.0	3835.4	3694.6	1804.5	2680.9	71.32	-17.40	80	417.02	0.00	0.00	2.23	0.000	0.000	0.179	3765.03	3835.75	3694.31	1804.50	3841.25	0	0	0	30.00	30.00	15.42
426.50	1028	-175.18	-0.67	0.00	3765.0	3835.9	3694.1	1804.6	3840.9	74.04	-18.01	83	431.39	0.00	0.00	1.84	0.000	0.000	0.045	3764.72	3835.75	3693.69	1803.75	2670.25	0	0	0	30.00	30.00	15.56
616.55	516	-175.18	-0.67	-40.00	3765.4	3835.8	3695.0	1803.5	2667.2	103.62	-14.60	119	622.07	0.00	0.00	2.38	0.000	0.000	0.042	3765.59	3835.62	3695.56	1804.62	1304.56	0	0	0	30.00	30.00	15.81
696.58	1028	-175.18	-0.67	0.00	3766.0	3835.7	3696.2	1804.7	1302.6	115.08	-13.61	135	702.18	0.00	0.00	2.84	0.000	0.000	0.121	3765.94	3835.12	3696.75	1803.31	2760.81	0	0	0	30.00	30.00	15.48
1006.64	260	-175.18	-0.67	40.00	3765.5	3835.2	3695.9	1804.2	2760.6	158.89	-14.16	167	1012.05	0.00	0.00	1.98	0.000	0.000	0.162	3765.25	3835.38	3695.12	1804.44	3841.50	0	0	0	30.00	30.00	15.77
1041.62	1028	-175.18	-0.67	0.00	3764.9	3835.1	3694.6	1804.2	3840.9	163.98	-14.55	174	1046.51	0.00	0.00	1.82	0.000	0.000	0.043	3764.97	3834.62	3695.31	1804.62	2669.62	0	0	0	30.00	30.00	15.58
1356.70	0	-175.18	-0.67	0.00	3764.2	3835.2	3693.1	1804.1	2667.6	208.13	-13.27	206	1358.04	0.00	0.00	0.00	0.000	0.000	0.000	3762.94	3834.25	3691.62	1804.38	2668.38	0	0	0	30.00	30.00	30.00
1666.76	0	-175.18	-0.67	0.00	3763.2	3835.4	3691.0	1804.2	2668.0	248.58	-12.95	237	1668.10	0.00	0.00	0.00	0.000	0.000	0.000	3762.50	3834.81	3690.19	1803.94	2667.44	0	0	0	30.00	30.00	30.00
1837	end dive: TARGET_DEPTH_EXCEEDED
state	1837	begin apogee
1838.49	10243	0.00	-0.12	0.00	3762.1	3835.2	3689.0	1804.3	2236.8	270.11	-12.25	254	1968.57	124.54	0.60	0.17	1.392	0.222	0.171	3046.88	3163.38	2930.38	1980.69	2315.69	0	0	0	12.08	15.76	15.30
1970	end apogee: CONTROL_FINISHED_OK
state	1970	begin climb
1970.39	10759	175.18	0.67	-40.00	3046.2	3162.4	2929.9	1981.1	2315.7	274.41	0.00	267	2104.54	126.68	0.78	2.70	1.357	0.127	0.057	2332.75	2427.75	2237.75	2241.19	858.88	0	0	0	12.36	15.36	15.14
2131.86	1092	175.18	0.71	0.00	2327.7	2418.8	2236.6	2240.9	858.6	266.21	7.96	299	2137.43	0.00	0.00	2.72	0.000	0.000	0.081	2328.72	2419.19	2238.25	2240.56	2310.88	0	0	0	30.00	30.00	15.40
2441.91	16450	175.18	0.73	0.00	2324.2	2418.2	2230.2	2241.4	2310.6	239.60	8.79	331	2443.26	0.00	0.00	0.00	0.000	0.000	0.000	2322.91	2417.25	2228.56	2241.12	2310.69	0	0	0	30.00	30.00	30.00
2751.98	16710	175.18	0.76	40.00	2322.6	2418.6	2226.7	2241.2	2310.5	213.40	8.40	362	2757.52	0.00	0.00	2.63	0.000	0.000	0.150	2322.84	2419.06	2226.62	2240.44	3724.38	0	0	0	30.00	30.00	15.76
2821.97	17414	175.18	0.76	0.00	2323.0	2418.6	2227.3	2240.7	3724.6	206.44	10.09	376	2827.50	0.00	0.00	2.40	0.000	0.000	0.040	2324.78	2420.81	2228.75	2249.88	2259.00	0	0	0	30.00	30.00	15.87
3132.02	16386	175.18	0.76	0.00	2321.0	2417.9	2224.0	2250.2	2253.0	177.49	9.75	408	3133.37	0.00	0.00	0.00	0.000	0.000	0.000	2319.69	2417.00	2222.38	2249.75	2252.56	0	0	0	30.00	30.00	30.00
3442.09	16710	175.18	0.80	40.00	2319.2	2418.1	2220.4	2249.9	2252.8	150.92	7.96	439	3447.69	0.00	0.00	2.80	0.000	0.000	0.155	2321.50	2420.50	2222.50	2249.31	3723.69	0	0	0	30.00	30.00	15.82
3522.14	19527	175.18	0.83	0.00	2319.6	2417.6	2221.6	2249.9	3723.4	143.97	8.64	455	3527.67	0.00	0.08	2.41	0.000	0.110	0.041	2320.94	2418.88	2223.00	2325.12	2256.88	0	0	0	30.00	15.84	15.62
3832.16	16450	175.18	0.86	0.00	2318.4	2416.8	2220.1	2324.2	2251.3	115.01	8.51	487	3833.51	0.00	0.00	0.00	0.000	0.000	0.000	2316.78	2415.12	2218.44	2325.25	2251.44	0	0	0	30.00	30.00	30.00
4137.17	16902	175.18	0.86	-40.00	2317.4	2415.6	2219.1	2324.9	2251.1	86.47	9.57	530	4142.71	0.00	0.00	2.44	0.000	0.000	0.056	2319.62	2418.12	2221.12	2331.75	855.88	0	0	0	30.00	30.00	15.54
4372.20	17478	175.18	0.91	0.00	2315.4	2411.4	2219.4	2331.4	856.1	66.05	7.76	577	4377.77	0.00	0.00	2.63	0.000	0.000	0.078	2316.31	2412.00	2220.62	2331.50	2310.38	0	0	0	30.00	30.00	15.80
4562.26	8226	253.35	1.00	0.00	2315.5	2411.6	2219.4	2331.2	2309.9	52.11	7.00	615	4619.35	55.85	0.00	0.00	1.143	0.000	0.000	2014.34	2125.31	1903.38	2332.25	2310.12	0	0	0	12.02	30.00	30.00
4802.27	580	253.35	1.05	-40.00	2009.2	2125.7	1892.8	2331.3	2310.3	33.68	7.30	663	4807.79	0.00	0.00	2.58	0.000	0.000	0.055	2010.31	2127.00	1893.62	2336.12	858.94	0	0	0	30.00	30.00	15.65
4912.24	17478	253.35	1.07	0.00	2006.1	2118.2	1894.0	2336.1	857.7	23.68	9.13	685	4917.82	0.00	0.00	2.67	0.000	0.000	0.087	2006.84	2119.25	1894.44	2336.12	2308.12	0	0	0	30.00	30.00	15.69
5102.29	10535	378.88	1.22	40.00	2004.8	2118.1	1891.6	2336.1	2308.2	13.23	5.18	723	5194.11	90.38	0.20	0.00	1.073	0.056	0.000	1514.69	1640.12	1389.25	2457.88	2308.56	0	0	0	12.17	15.68	30.00
5195	end climb: SURFACE_DEPTH_REACHED
state	5195	begin surface coast
5208	end surface coast: CONTROL_FINISHED_OK
state	5208	begin surface