Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 327 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 180 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_INT 13

MISSION 6 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_REP 11.5

DIVE 327 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 0.5

STOP_T 0 N_FILEKB 4 VBD_MIN 400 DEEPGLIDER 0

D_SURF 2 FILEMGR 0 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 CALL_NDIVES 1 C_VBD 2390 MOTHERBOARD 6

D_TGT 220 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 3 NOCOMM_ACTION 131 VBD_TIMEOUT 720 DEVICE4 -1

T_BOOST 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0012300001 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 7

D_CALL 0 CAPUPLOAD 0 C_VBD_AUTO_MAX 0 LOGGERDEVICE2 19

SURFACE_URGENCY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 3 LOGGERDEVICE3 72

SURFACE_URGENCY_TRY 0 T_GPS 5 DBDW 0 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 N_GPS 100440 LOITER_W_DBAND 0 COMPASS_DEVICE 66

T_DIVE 70 T_RSLEEP 2 LOITER_DBDW 0 COMPASS2_DEVICE -1

T_MISSION 100 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 185 AH0_10V 0 NETWORK_DEVICE -1

T_EPIRB 0 PITCH_MAX 3625 MINV_24V 11 PRESSURE_DEVICE 41

USE_BATHY -10 C_PITCH 2100 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 1.4 SEABIRD_T_G 0.0042874566

D_OFFGRID 1000 PITCH_GAIN 45 FG_AHR_10V 14.177433 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 58.195942 SEABIRD_T_I 2.1947648e-05

APOGEE_PITCH -5 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_J 2.2037441e-06

MAX_BUOY 130 PITCH_ADJ_GAIN 0 PRESSURE_YINT -154.46213 SEABIRD_C_G -9.9419231

GLIDE_SLOPE 45 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00022299301 SEABIRD_C_H 1.1375728

SPEED_FACTOR 1 C_PITCH_AUTO_DELTA 0 COMPASS_USE 16388 SEABIRD_C_I -0.0016241658

RHO 1.0275 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_J 0.0002088599

MASS 55693 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 0 SC_XMITPROFILE 3.0

HD_A 0.00281838 ROLL_MIN 360 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0139236 ROLL_MAX 3880 ALTIM_PING_DELTA 0 TM_RECORDABOVE 200.0

HD_C 5.7000002e-06 ROLL_DEG 40 ALTIM_FREQUENCY 13 TM_PROFILE 1.0

HEADING 90 C_ROLL_DIVE 3230 ALTIM_PULSE 3 TM_XMITPROFILE 3.0

ESCAPE_HEADING 0 C_ROLL_CLIMB 3000 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 0.00062267116

AH0_24V 350 D_SAFE 0 N_NOCOMM 2 SEABIRD_T_I 2.1947648e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_J 2.2037441e-06

ALTIM_FREQUENCY 13 D_TGT 220 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 14.177433 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 58.195942 PITCH_CNV 0.0031300001 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 45 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 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 3625 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_B 0.0139236 PITCH_MAXERRORS 1 TM_LOGSAMPLE 0.0

CALL_WAIT 60 HD_C 5.7000002e-06 PITCH_MIN 185 TM_NDIVE 1.0

CAPMAXSIZE 100000 HEADING 90 PITCH_TIMEOUT 25 TM_PROFILE 1.0

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0012300001 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 180 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 66 INT_PRESSURE_YINT 0.5 PRESSURE_SLOPE 0.00022299301 T_BOOST 0

COMPASS_USE 16388 KALMAN_USE 2 PRESSURE_YINT -154.46213 T_DIVE 70

C_PITCH 2100 LOGGERDEVICE1 7 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 72 RAFOS_DEVICE -1 T_LOITER 0

C_ROLL_CLIMB 3000 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_MISSION 100

C_ROLL_DIVE 3230 LOGGERS 1 RAFOS_MMODEM 0 T_NO_W 120

C_VBD 2390 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 55693 ROLL_CNV 0.028270001 USE_BATHY -10

DEVICE1 -1 MAXI_10V 1.4 ROLL_DEG 40 USE_ICE 0

DEVICE2 -1 MAXI_24V 5 ROLL_MAX 3880 VBD_CNV -0.24529999

DEVICE3 -1 MAX_BUOY 130 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE4 -1 MINV_10V 11 ROLL_MIN 360 VBD_LP_IGNORE 0

DEVICE5 -1 MINV_24V 11 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE6 -1 MISSION 6 SC_NDIVE 1.0 VBD_MAXERRORS 1

DIVE 327 MOTHERBOARD 6 SC_PROFILE 3.0 VBD_MIN 400

D_ABORT 1000 NAV2_DEVICE -1 SC_RECORDABOVE 2000.0 VBD_TIMEOUT 720

D_BOOST 3 NAV_DEVICE -1 SC_XMITPROFILE 3.0 W_ADJ_DBAND 3

D_CALL 0 NAV_MODE 2 SEABIRD_C_G -9.9419231 XPDR_DEVICE 21

D_FINISH 0 NETWORK_DEVICE -1 SEABIRD_C_H 1.1375728 XPDR_INHIBIT 90

D_FLARE 3 NOCOMM_ACTION 131 SEABIRD_C_I -0.0016241658 XPDR_INT 13

D_NO_BLEED 200 N_DIVES 0 SEABIRD_C_J 0.0002088599 XPDR_REP 11.5

D_OFFGRID 1000 N_FILEKB 4 SEABIRD_T_G 0.0042874566 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 021022,191936,3756.975,-12501.989,15,1.4,15,13.6 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.16 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021022,192412,3756.992,-12501.975,2,1.5,5,13.6 MHEAD_RNG_PITCHd_Wd 121.4,20000,-22.0,-10.476,-26.38,1850,0.156

SPEED_LIMITS 0.105,0.211 D_GRID 1000

TGT_NAME HEADING IRON 1.000000,-0.027323,0.018337,-0.100663,1.127919,0.016774,-0.036559,0.020363,1.057578,-61.700001,-1219.199951,-586.900024

TGT_LATLONG 3756.992,-12448.280

Post-dive calculations and measurements:

FINISH -0.0,1.023517 FG_AHR_10Vo 14.217

SM_CCo 5118.65,66.89,0.991,0,963.7,941.6,985.8,349.87 MEM0 60148,1,0,0

SM_GC 1.62,66.89,7.01,1.10,0.991,0.129,0.027,963.7,941.6,985.8,177.2,3136.4,0,0,0,12.34,15.84,15.96 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 909132,68,136156,96

IRIDIUM_FIX 3755.55,-12504.00,021022,175247 DATA_FILE_SIZE 28906,1005

TCM_TEMP 16.79 CAP_FILE_SIZE 374010,0

XPDR_PINGS 0,13.0,11.5 SDSIZE 3887104,3794464

SC_FREEKB 3772224 SDFILEDIR 1906,1

HUMID 52.53 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.42 CURRENT 0.331, 4.1,1

INTERNAL_PRESSURE 8.77978 MAGCAL 1.000000,0.031347,-0.100007,-0.094672,1.162720,-0.035298,0.010536,0.089373,1.128249,-3.8,-1160.0,-602.3,30,0.0253,0

_24V_AH 14.94,69.199 IMPLIED_C_PITCH 2005,32.74,785,0.0,0.00

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2250,44.347218,421,0

FG_AHR_24Vo 58.315 GPS 021022,205031,3757.589,-12501.438,31,1.4,33,13.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 445 1248 8300.02 nil 0 0 0.00

Pitch_motor 17 473 127.05 nil 0 0 0.00

Roll_motor 52 145 112.83 nil 0 0 0.00

Iridium 176 176 464.58 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.22 nil 0 0 0.00

Core 1169 6 119.24 SciCon 5068 18 1401.20

Fast 26 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 2626 2 78.80

Compass 1350 5 101.26

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

7.59 16386 -126.52 -0.64 0.00 956.3 951.4 961.2 175.2 3150.0 0.00 0.00 0 69.57 61.51 0.00 0.00 0.005 0.000 0.000 2142.44 2185.56 2099.31 175.44 3149.62 0 0 0 15.60 30.00 30.00

69.83 18727 -126.52 -0.64 40.00 2142.6 2185.8 2099.5 175.4 3150.2 3.47 -4.20 12 105.90 20.09 9.43 1.30 0.006 0.473 0.095 2906.56 2972.62 2840.50 1887.62 3902.69 0 0 0 15.67 15.43 15.57

243.28 1028 -126.52 -0.64 0.00 2908.8 2970.7 2847.0 1887.6 3902.2 34.20 -11.80 47 248.03 0.00 0.00 1.12 0.000 0.000 0.036 2908.91 2970.94 2846.88 1888.25 3172.69 0 0 0 30.00 30.00 15.90

428.33 516 -126.52 -0.64 -40.00 2908.8 2970.6 2847.0 1887.9 3171.7 57.79 -12.88 84 433.88 0.00 0.00 2.19 0.000 0.000 0.022 2909.12 2970.69 2847.56 1888.00 1728.38 0 0 0 30.00 30.00 15.95

453.36 1028 -126.52 -0.64 0.00 2909.0 2970.1 2847.9 1887.7 1720.2 60.72 -11.89 89 458.97 0.00 0.00 2.63 0.000 0.000 0.083 2909.88 2970.81 2848.94 1887.12 3248.12 0 0 0 30.00 30.00 15.94

643.42 516 -126.52 -0.64 -40.00 2909.2 2970.4 2848.1 1887.9 3248.4 80.49 -9.51 127 648.99 0.00 0.00 2.36 0.000 0.000 0.025 2910.09 2970.25 2849.94 1887.56 1722.38 0 0 0 30.00 30.00 15.98

668.45 1028 -126.52 -0.64 0.00 2909.4 2970.4 2848.4 1887.8 1710.9 82.63 -8.81 132 674.04 0.00 0.00 2.64 0.000 0.000 0.082 2909.34 2970.56 2848.12 1887.81 3249.31 0 0 0 30.00 30.00 15.98

858.49 0 -126.52 -0.64 0.00 2909.1 2969.9 2848.3 1887.8 3249.8 97.86 -7.91 170 859.83 0.00 0.00 0.00 0.000 0.000 0.000 2908.88 2968.75 2849.00 1887.50 3249.06 0 0 0 30.00 30.00 30.00

1043.56 0 -126.52 -0.64 0.00 2909.5 2970.4 2848.6 1887.4 3249.3 112.50 -7.88 207 1044.89 0.00 0.00 0.00 0.000 0.000 0.000 2908.62 2968.88 2848.38 1887.31 3248.62 0 0 0 30.00 30.00 30.00

1348.67 516 -126.52 -0.64 -40.00 2909.3 2970.2 2848.5 1887.9 3248.0 138.45 -9.01 268 1354.23 0.00 0.00 2.35 0.000 0.000 0.026 2909.12 2968.75 2849.50 1887.38 1714.88 0 0 0 30.00 30.00 16.03

1393.68 1028 -126.52 -0.64 0.00 2908.7 2968.7 2848.8 1888.0 1713.1 142.44 -8.78 277 1399.29 0.00 0.00 2.62 0.000 0.000 0.081 2909.22 2969.62 2848.81 1888.19 3250.38 0 0 0 30.00 30.00 16.02

1703.78 0 -126.52 -0.64 0.00 2908.5 2968.9 2848.1 1887.6 3250.3 168.90 -7.95 339 1705.11 0.00 0.00 0.00 0.000 0.000 0.000 2909.41 2969.25 2849.56 1888.00 3250.25 0 0 0 30.00 30.00 30.00

2008.89 516 -126.52 -0.64 -40.00 2908.7 2968.8 2848.6 1887.8 3250.3 193.49 -8.42 400 2014.44 0.00 0.00 2.35 0.000 0.000 0.026 2909.56 2969.19 2849.94 1887.69 1710.38 0 0 0 30.00 30.00 16.08

2053.90 1028 -126.52 -0.64 0.00 2908.1 2967.9 2848.3 1887.6 1710.1 197.27 -8.39 409 2059.51 0.00 0.00 2.62 0.000 0.000 0.081 2907.94 2967.44 2848.44 1887.69 3248.88 0 0 0 30.00 30.00 16.07

2318 end dive: TARGET_DEPTH_EXCEEDED

state 2318 begin apogee

2320.26 10243 0.00 -0.11 0.00 2908.1 2967.2 2849.0 1887.4 2944.8 220.09 -8.36 462 2426.29 102.92 0.60 0.14 1.248 0.197 0.145 2387.97 2428.50 2347.44 2069.00 3024.50 0 0 0 12.17 15.98 15.48

2427 end apogee: CONTROL_FINISHED_OK

state 2427 begin climb

2428.45 10503 126.52 0.64 40.00 2386.7 2427.6 2345.8 2069.1 3024.8 225.78 0.00 483 2530.41 98.82 0.71 1.53 1.220 0.097 0.083 1873.09 1878.88 1867.31 2315.12 3902.31 0 0 0 12.42 15.59 15.34

2617.75 1092 126.52 0.67 0.00 1868.1 1877.8 1858.3 2315.9 3901.4 224.85 9.23 521 2622.55 0.00 0.00 1.51 0.000 0.000 0.022 1868.56 1878.38 1858.75 2324.50 2850.94 0 0 0 30.00 30.00 15.70

2922.83 16710 126.52 0.69 40.00 1865.6 1880.6 1850.5 2324.7 2849.8 194.97 9.30 582 2927.68 0.00 0.00 1.80 0.000 0.000 0.078 1865.66 1881.25 1850.06 2324.19 3902.38 0 0 0 30.00 30.00 15.91

2992.85 17478 126.52 0.71 0.00 1865.5 1881.1 1849.9 2324.2 3902.1 187.94 9.84 596 2997.64 0.00 0.00 1.49 0.000 0.000 0.021 1865.69 1881.50 1849.88 2331.06 2871.62 0 0 0 30.00 30.00 15.95

3297.94 16710 126.52 0.75 40.00 1864.8 1881.5 1848.1 2331.4 2869.8 160.95 8.41 657 3302.78 0.00 0.00 1.75 0.000 0.000 0.077 1864.50 1881.06 1847.94 2331.00 3903.88 0 0 0 30.00 30.00 16.00

3338.01 17478 126.52 0.76 0.00 1864.6 1881.4 1847.8 2331.4 3903.8 157.10 9.63 665 3342.80 0.00 0.00 1.48 0.000 0.000 0.021 1864.62 1881.62 1847.62 2339.00 2849.19 0 0 0 30.00 30.00 16.03

3648.04 16966 126.52 0.81 -40.00 1863.7 1881.5 1845.9 2338.9 2848.1 129.69 8.23 727 3653.52 0.00 0.00 2.04 0.000 0.000 0.017 1864.22 1882.31 1846.12 2349.62 1489.69 0 0 0 30.00 30.00 15.98

3688.10 9254 182.38 0.88 0.00 1863.5 1881.1 1845.9 2349.2 1489.4 126.80 7.37 735 3735.46 42.95 0.00 2.55 1.125 0.000 0.061 1644.81 1655.38 1634.25 2349.00 3024.81 0 0 0 12.27 30.00 15.96

4038.12 516 182.38 0.88 -40.00 1639.7 1655.6 1623.7 2348.4 3023.9 82.45 11.72 805 4043.69 0.00 0.00 2.37 0.000 0.000 0.020 1641.16 1656.50 1625.81 2359.12 1524.38 0 0 0 30.00 30.00 15.89

4163.17 3141 182.38 0.93 0.00 1638.6 1654.1 1623.1 2360.2 1511.2 71.87 7.82 830 4168.81 0.00 0.11 2.53 0.000 0.102 0.062 1639.78 1655.00 1624.56 2422.75 3019.31 0 0 0 30.00 15.87 15.87

4353.26 324 182.38 0.98 40.00 1638.4 1654.9 1621.9 2423.4 3020.6 55.45 7.81 868 4358.06 0.00 0.00 1.46 0.000 0.000 0.071 1638.72 1654.94 1622.50 2423.44 3907.44 0 0 0 30.00 30.00 15.90

4418.21 1092 182.38 1.04 0.00 1638.4 1654.8 1622.1 2424.0 3907.6 50.51 7.58 881 4423.00 0.00 0.00 1.49 0.000 0.000 0.020 1638.84 1654.50 1623.19 2430.56 2863.56 0 0 0 30.00 30.00 15.95

4608.23 8742 251.76 1.13 -40.00 1637.8 1654.6 1621.1 2431.2 2863.6 36.76 6.62 919 4664.79 51.92 0.00 2.10 1.027 0.000 0.022 1363.12 1367.31 1358.94 2439.81 1521.00 0 0 0 12.22 30.00 15.71

4768.25 1092 251.76 1.16 0.00 1358.7 1363.1 1354.2 2441.3 1507.6 21.29 8.63 951 4773.83 0.00 0.00 2.56 0.000 0.000 0.062 1359.12 1364.69 1353.56 2441.25 3025.12 0 0 0 30.00 30.00 15.80

4958.31 2373 251.76 1.19 40.00 1355.8 1366.1 1345.5 2441.2 3025.4 8.35 9.13 989 4963.24 0.00 0.12 1.46 0.000 0.086 0.072 1355.62 1366.25 1345.00 2494.62 3905.00 0 0 0 30.00 15.85 15.84

5018 end climb: SURFACE_DEPTH_REACHED

state 5018 begin surface coast

5038 end surface coast: CONTROL_FINISHED_OK

state 5038 begin surface

ID	180	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_INT	13
MISSION	6	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_REP	11.5
DIVE	327	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	0.5
STOP_T	0	N_FILEKB	4	VBD_MIN	400	DEEPGLIDER	0
D_SURF	2	FILEMGR	0	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	CALL_NDIVES	1	C_VBD	2390	MOTHERBOARD	6
D_TGT	220	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	3	NOCOMM_ACTION	131	VBD_TIMEOUT	720	DEVICE4	-1
T_BOOST	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0012300001	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	7
D_CALL	0	CAPUPLOAD	0	C_VBD_AUTO_MAX	0	LOGGERDEVICE2	19
SURFACE_URGENCY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	3	LOGGERDEVICE3	72
SURFACE_URGENCY_TRY	0	T_GPS	5	DBDW	0	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	N_GPS	100440	LOITER_W_DBAND	0	COMPASS_DEVICE	66
T_DIVE	70	T_RSLEEP	2	LOITER_DBDW	0	COMPASS2_DEVICE	-1
T_MISSION	100	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	185	AH0_10V	0	NETWORK_DEVICE	-1
T_EPIRB	0	PITCH_MAX	3625	MINV_24V	11	PRESSURE_DEVICE	41
USE_BATHY	-10	C_PITCH	2100	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	1.4	SEABIRD_T_G	0.0042874566
D_OFFGRID	1000	PITCH_GAIN	45	FG_AHR_10V	14.177433	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	58.195942	SEABIRD_T_I	2.1947648e-05
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_J	2.2037441e-06
MAX_BUOY	130	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-154.46213	SEABIRD_C_G	-9.9419231
GLIDE_SLOPE	45	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00022299301	SEABIRD_C_H	1.1375728
SPEED_FACTOR	1	C_PITCH_AUTO_DELTA	0	COMPASS_USE	16388	SEABIRD_C_I	-0.0016241658
RHO	1.0275	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_J	0.0002088599
MASS	55693	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	0	SC_XMITPROFILE	3.0
HD_A	0.00281838	ROLL_MIN	360	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0139236	ROLL_MAX	3880	ALTIM_PING_DELTA	0	TM_RECORDABOVE	200.0
HD_C	5.7000002e-06	ROLL_DEG	40	ALTIM_FREQUENCY	13	TM_PROFILE	1.0
HEADING	90	C_ROLL_DIVE	3230	ALTIM_PULSE	3	TM_XMITPROFILE	3.0
ESCAPE_HEADING	0	C_ROLL_CLIMB	3000	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	021022,191936,3756.975,-12501.989,15,1.4,15,13.6	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.16	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021022,192412,3756.992,-12501.975,2,1.5,5,13.6	MHEAD_RNG_PITCHd_Wd	121.4,20000,-22.0,-10.476,-26.38,1850,0.156
SPEED_LIMITS	0.105,0.211	D_GRID	1000
TGT_NAME	HEADING	IRON	1.000000,-0.027323,0.018337,-0.100663,1.127919,0.016774,-0.036559,0.020363,1.057578,-61.700001,-1219.199951,-586.900024
TGT_LATLONG	3756.992,-12448.280

FINISH	-0.0,1.023517	FG_AHR_10Vo	14.217
SM_CCo	5118.65,66.89,0.991,0,963.7,941.6,985.8,349.87	MEM0	60148,1,0,0
SM_GC	1.62,66.89,7.01,1.10,0.991,0.129,0.027,963.7,941.6,985.8,177.2,3136.4,0,0,0,12.34,15.84,15.96	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	909132,68,136156,96
IRIDIUM_FIX	3755.55,-12504.00,021022,175247	DATA_FILE_SIZE	28906,1005
TCM_TEMP	16.79	CAP_FILE_SIZE	374010,0
XPDR_PINGS	0,13.0,11.5	SDSIZE	3887104,3794464
SC_FREEKB	3772224	SDFILEDIR	1906,1
HUMID	52.53	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.42	CURRENT	0.331, 4.1,1
INTERNAL_PRESSURE	8.77978	MAGCAL	1.000000,0.031347,-0.100007,-0.094672,1.162720,-0.035298,0.010536,0.089373,1.128249,-3.8,-1160.0,-602.3,30,0.0253,0
_24V_AH	14.94,69.199	IMPLIED_C_PITCH	2005,32.74,785,0.0,0.00
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2250,44.347218,421,0
FG_AHR_24Vo	58.315	GPS	021022,205031,3757.589,-12501.438,31,1.4,33,13.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	445	1248	8300.02	nil	0	0	0.00
Pitch_motor	17	473	127.05	nil	0	0	0.00
Roll_motor	52	145	112.83	nil	0	0	0.00
Iridium	176	176	464.58	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.22	nil	0	0	0.00
Core	1169	6	119.24	SciCon	5068	18	1401.20
Fast	26	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	2626	2	78.80
Compass	1350	5	101.26
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
7.59	16386	-126.52	-0.64	0.00	956.3	951.4	961.2	175.2	3150.0	0.00	0.00	0	69.57	61.51	0.00	0.00	0.005	0.000	0.000	2142.44	2185.56	2099.31	175.44	3149.62	0	0	0	15.60	30.00	30.00
69.83	18727	-126.52	-0.64	40.00	2142.6	2185.8	2099.5	175.4	3150.2	3.47	-4.20	12	105.90	20.09	9.43	1.30	0.006	0.473	0.095	2906.56	2972.62	2840.50	1887.62	3902.69	0	0	0	15.67	15.43	15.57
243.28	1028	-126.52	-0.64	0.00	2908.8	2970.7	2847.0	1887.6	3902.2	34.20	-11.80	47	248.03	0.00	0.00	1.12	0.000	0.000	0.036	2908.91	2970.94	2846.88	1888.25	3172.69	0	0	0	30.00	30.00	15.90
428.33	516	-126.52	-0.64	-40.00	2908.8	2970.6	2847.0	1887.9	3171.7	57.79	-12.88	84	433.88	0.00	0.00	2.19	0.000	0.000	0.022	2909.12	2970.69	2847.56	1888.00	1728.38	0	0	0	30.00	30.00	15.95
453.36	1028	-126.52	-0.64	0.00	2909.0	2970.1	2847.9	1887.7	1720.2	60.72	-11.89	89	458.97	0.00	0.00	2.63	0.000	0.000	0.083	2909.88	2970.81	2848.94	1887.12	3248.12	0	0	0	30.00	30.00	15.94
643.42	516	-126.52	-0.64	-40.00	2909.2	2970.4	2848.1	1887.9	3248.4	80.49	-9.51	127	648.99	0.00	0.00	2.36	0.000	0.000	0.025	2910.09	2970.25	2849.94	1887.56	1722.38	0	0	0	30.00	30.00	15.98
668.45	1028	-126.52	-0.64	0.00	2909.4	2970.4	2848.4	1887.8	1710.9	82.63	-8.81	132	674.04	0.00	0.00	2.64	0.000	0.000	0.082	2909.34	2970.56	2848.12	1887.81	3249.31	0	0	0	30.00	30.00	15.98
858.49	0	-126.52	-0.64	0.00	2909.1	2969.9	2848.3	1887.8	3249.8	97.86	-7.91	170	859.83	0.00	0.00	0.00	0.000	0.000	0.000	2908.88	2968.75	2849.00	1887.50	3249.06	0	0	0	30.00	30.00	30.00
1043.56	0	-126.52	-0.64	0.00	2909.5	2970.4	2848.6	1887.4	3249.3	112.50	-7.88	207	1044.89	0.00	0.00	0.00	0.000	0.000	0.000	2908.62	2968.88	2848.38	1887.31	3248.62	0	0	0	30.00	30.00	30.00
1348.67	516	-126.52	-0.64	-40.00	2909.3	2970.2	2848.5	1887.9	3248.0	138.45	-9.01	268	1354.23	0.00	0.00	2.35	0.000	0.000	0.026	2909.12	2968.75	2849.50	1887.38	1714.88	0	0	0	30.00	30.00	16.03
1393.68	1028	-126.52	-0.64	0.00	2908.7	2968.7	2848.8	1888.0	1713.1	142.44	-8.78	277	1399.29	0.00	0.00	2.62	0.000	0.000	0.081	2909.22	2969.62	2848.81	1888.19	3250.38	0	0	0	30.00	30.00	16.02
1703.78	0	-126.52	-0.64	0.00	2908.5	2968.9	2848.1	1887.6	3250.3	168.90	-7.95	339	1705.11	0.00	0.00	0.00	0.000	0.000	0.000	2909.41	2969.25	2849.56	1888.00	3250.25	0	0	0	30.00	30.00	30.00
2008.89	516	-126.52	-0.64	-40.00	2908.7	2968.8	2848.6	1887.8	3250.3	193.49	-8.42	400	2014.44	0.00	0.00	2.35	0.000	0.000	0.026	2909.56	2969.19	2849.94	1887.69	1710.38	0	0	0	30.00	30.00	16.08
2053.90	1028	-126.52	-0.64	0.00	2908.1	2967.9	2848.3	1887.6	1710.1	197.27	-8.39	409	2059.51	0.00	0.00	2.62	0.000	0.000	0.081	2907.94	2967.44	2848.44	1887.69	3248.88	0	0	0	30.00	30.00	16.07
2318	end dive: TARGET_DEPTH_EXCEEDED
state	2318	begin apogee
2320.26	10243	0.00	-0.11	0.00	2908.1	2967.2	2849.0	1887.4	2944.8	220.09	-8.36	462	2426.29	102.92	0.60	0.14	1.248	0.197	0.145	2387.97	2428.50	2347.44	2069.00	3024.50	0	0	0	12.17	15.98	15.48
2427	end apogee: CONTROL_FINISHED_OK
state	2427	begin climb
2428.45	10503	126.52	0.64	40.00	2386.7	2427.6	2345.8	2069.1	3024.8	225.78	0.00	483	2530.41	98.82	0.71	1.53	1.220	0.097	0.083	1873.09	1878.88	1867.31	2315.12	3902.31	0	0	0	12.42	15.59	15.34
2617.75	1092	126.52	0.67	0.00	1868.1	1877.8	1858.3	2315.9	3901.4	224.85	9.23	521	2622.55	0.00	0.00	1.51	0.000	0.000	0.022	1868.56	1878.38	1858.75	2324.50	2850.94	0	0	0	30.00	30.00	15.70
2922.83	16710	126.52	0.69	40.00	1865.6	1880.6	1850.5	2324.7	2849.8	194.97	9.30	582	2927.68	0.00	0.00	1.80	0.000	0.000	0.078	1865.66	1881.25	1850.06	2324.19	3902.38	0	0	0	30.00	30.00	15.91
2992.85	17478	126.52	0.71	0.00	1865.5	1881.1	1849.9	2324.2	3902.1	187.94	9.84	596	2997.64	0.00	0.00	1.49	0.000	0.000	0.021	1865.69	1881.50	1849.88	2331.06	2871.62	0	0	0	30.00	30.00	15.95
3297.94	16710	126.52	0.75	40.00	1864.8	1881.5	1848.1	2331.4	2869.8	160.95	8.41	657	3302.78	0.00	0.00	1.75	0.000	0.000	0.077	1864.50	1881.06	1847.94	2331.00	3903.88	0	0	0	30.00	30.00	16.00
3338.01	17478	126.52	0.76	0.00	1864.6	1881.4	1847.8	2331.4	3903.8	157.10	9.63	665	3342.80	0.00	0.00	1.48	0.000	0.000	0.021	1864.62	1881.62	1847.62	2339.00	2849.19	0	0	0	30.00	30.00	16.03
3648.04	16966	126.52	0.81	-40.00	1863.7	1881.5	1845.9	2338.9	2848.1	129.69	8.23	727	3653.52	0.00	0.00	2.04	0.000	0.000	0.017	1864.22	1882.31	1846.12	2349.62	1489.69	0	0	0	30.00	30.00	15.98
3688.10	9254	182.38	0.88	0.00	1863.5	1881.1	1845.9	2349.2	1489.4	126.80	7.37	735	3735.46	42.95	0.00	2.55	1.125	0.000	0.061	1644.81	1655.38	1634.25	2349.00	3024.81	0	0	0	12.27	30.00	15.96
4038.12	516	182.38	0.88	-40.00	1639.7	1655.6	1623.7	2348.4	3023.9	82.45	11.72	805	4043.69	0.00	0.00	2.37	0.000	0.000	0.020	1641.16	1656.50	1625.81	2359.12	1524.38	0	0	0	30.00	30.00	15.89
4163.17	3141	182.38	0.93	0.00	1638.6	1654.1	1623.1	2360.2	1511.2	71.87	7.82	830	4168.81	0.00	0.11	2.53	0.000	0.102	0.062	1639.78	1655.00	1624.56	2422.75	3019.31	0	0	0	30.00	15.87	15.87
4353.26	324	182.38	0.98	40.00	1638.4	1654.9	1621.9	2423.4	3020.6	55.45	7.81	868	4358.06	0.00	0.00	1.46	0.000	0.000	0.071	1638.72	1654.94	1622.50	2423.44	3907.44	0	0	0	30.00	30.00	15.90
4418.21	1092	182.38	1.04	0.00	1638.4	1654.8	1622.1	2424.0	3907.6	50.51	7.58	881	4423.00	0.00	0.00	1.49	0.000	0.000	0.020	1638.84	1654.50	1623.19	2430.56	2863.56	0	0	0	30.00	30.00	15.95
4608.23	8742	251.76	1.13	-40.00	1637.8	1654.6	1621.1	2431.2	2863.6	36.76	6.62	919	4664.79	51.92	0.00	2.10	1.027	0.000	0.022	1363.12	1367.31	1358.94	2439.81	1521.00	0	0	0	12.22	30.00	15.71
4768.25	1092	251.76	1.16	0.00	1358.7	1363.1	1354.2	2441.3	1507.6	21.29	8.63	951	4773.83	0.00	0.00	2.56	0.000	0.000	0.062	1359.12	1364.69	1353.56	2441.25	3025.12	0	0	0	30.00	30.00	15.80
4958.31	2373	251.76	1.19	40.00	1355.8	1366.1	1345.5	2441.2	3025.4	8.35	9.13	989	4963.24	0.00	0.12	1.46	0.000	0.086	0.072	1355.62	1366.25	1345.00	2494.62	3905.00	0	0	0	30.00	15.85	15.84
5018	end climb: SURFACE_DEPTH_REACHED
state	5018	begin surface coast
5038	end surface coast: CONTROL_FINISHED_OK
state	5038	begin surface