Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 338 * 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 338 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 14.586397 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 59.630207 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 120 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 14.586397 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 59.630207 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 120 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 338 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 031022,102439,3758.772,-12456.098,21,1.3,21,13.6 TGT_RADIUS 1852.000

_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 -70.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 031022,102907,3758.801,-12456.112,2,0.7,5,13.6 MHEAD_RNG_PITCHd_Wd 141.4,20000,-22.0,-10.476,-26.38,1850,0.171

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 3753.402,-12444.262

Post-dive calculations and measurements:

FINISH -0.0,1.023616 FG_AHR_10Vo 14.626

SM_CCo 5004.46,64.31,0.994,0,964.2,952.6,975.9,349.74 MEM0 60148,1,0,0

SM_GC 1.32,64.31,6.95,0.37,0.994,0.139,0.080,964.2,952.6,975.9,174.6,3259.4,0,0,0,12.35,15.84,15.90 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 908892,80,136156,96

IRIDIUM_FIX 3757.70,-12457.95,031022,085801 DATA_FILE_SIZE 28928,983

TCM_TEMP 16.38 CAP_FILE_SIZE 361371,0

XPDR_PINGS 0,13.0,11.5 SDSIZE 3887104,3791648

SC_FREEKB 3768000 SDFILEDIR 1972,1

HUMID 48.28 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.41 CURRENT 0.176, 6.6,1

INTERNAL_PRESSURE 8.77266 MAGCAL 1.000000,-0.009403,-0.094532,-0.134108,1.172845,0.006962,0.006756,-0.056304,1.159788,-3.5,-1155.1,-608.2,32,0.0233,0

_24V_AH 14.91,70.954 IMPLIED_C_PITCH 2007,32.43,767,0.0,0.00

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2258,24.080416,428,0

FG_AHR_24Vo 59.749 GPS 031022,115307,3758.875,-12455.959,5,1.2,8,13.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 451 1243 8361.73 nil 0 0 0.00

Pitch_motor 17 468 123.40 nil 0 0 0.00

Roll_motor 44 151 101.78 nil 0 0 0.00

Iridium 167 189 472.52 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.20 nil 0 0 0.00

Core 1128 6 115.09 SciCon 4958 18 1353.01

Fast 27 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 2562 2 76.86

Compass 1322 5 99.20

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

7.64 16386 -126.52 -0.64 0.00 839.0 843.6 834.4 177.8 3125.9 0.00 0.00 0 74.68 66.43 0.00 0.00 0.005 0.000 0.000 2138.81 2181.38 2096.25 177.50 3126.06 0 0 0 15.60 30.00 30.00

74.98 18727 -126.52 -0.64 40.00 2138.5 2180.1 2096.9 177.4 3125.9 3.45 -3.86 13 110.91 20.36 9.28 1.34 0.006 0.469 0.094 2905.69 2971.31 2840.06 1888.06 3902.44 0 0 0 15.67 15.42 15.58

123.26 1028 -126.52 -0.64 0.00 2907.2 2971.3 2843.1 1889.1 3902.9 13.52 -17.62 23 128.01 0.00 0.00 1.12 0.000 0.000 0.035 2907.41 2971.06 2843.75 1888.50 3168.81 0 0 0 30.00 30.00 15.86

308.33 260 -126.52 -0.64 40.00 2907.7 2970.7 2844.8 1888.3 3168.2 40.10 -12.42 60 313.09 0.00 0.00 1.26 0.000 0.000 0.089 2908.06 2969.69 2846.44 1885.19 3900.62 0 0 0 30.00 30.00 15.89

538.40 1028 -126.52 -0.64 0.00 2908.7 2970.6 2846.8 1886.2 3901.0 68.85 -12.48 106 543.14 0.00 0.00 1.12 0.000 0.000 0.035 2909.00 2969.44 2848.56 1885.38 3166.62 0 0 0 30.00 30.00 15.98

723.44 516 -126.52 -0.64 -40.00 2908.9 2970.8 2847.0 1885.6 3167.0 88.21 -10.16 143 729.00 0.00 0.00 2.18 0.000 0.000 0.021 2909.03 2971.19 2846.88 1885.31 1720.81 0 0 0 30.00 30.00 16.01

748.46 1028 -126.52 -0.64 0.00 2908.9 2970.4 2847.4 1885.2 1718.1 90.61 -9.85 148 754.08 0.00 0.00 2.62 0.000 0.000 0.079 2909.00 2971.00 2847.00 1885.56 3248.94 0 0 0 30.00 30.00 15.99

938.51 0 -126.52 -0.64 0.00 2908.8 2970.4 2847.2 1885.2 3249.1 107.15 -8.38 186 939.85 0.00 0.00 0.00 0.000 0.000 0.000 2907.81 2968.06 2847.56 1885.25 3248.75 0 0 0 30.00 30.00 30.00

1243.61 516 -126.52 -0.64 -40.00 2908.9 2970.3 2847.5 1885.2 3248.6 132.12 -7.77 247 1249.19 0.00 0.00 2.35 0.000 0.000 0.024 2908.56 2970.38 2846.75 1885.81 1716.38 0 0 0 30.00 30.00 16.03

1283.61 1028 -126.52 -0.64 0.00 2907.9 2968.7 2847.1 1885.3 1714.5 135.08 -7.49 255 1289.24 0.00 0.00 2.62 0.000 0.000 0.079 2909.12 2970.06 2848.19 1885.31 3248.81 0 0 0 30.00 30.00 16.03

1593.71 260 -126.52 -0.64 40.00 2908.3 2969.2 2847.4 1885.5 3248.4 161.30 -8.43 317 1598.44 0.00 0.00 1.09 0.000 0.000 0.095 2908.88 2969.19 2848.56 1882.19 3901.00 0 0 0 30.00 30.00 16.01

1618.71 1028 -126.52 -0.64 0.00 2908.0 2968.7 2847.2 1882.2 3900.9 163.43 -8.50 322 1623.46 0.00 0.00 1.12 0.000 0.000 0.040 2909.16 2969.25 2849.06 1881.88 3167.50 0 0 0 30.00 30.00 16.06

1923.80 0 -126.52 -0.64 0.00 2907.7 2968.2 2847.2 1881.8 3168.1 189.23 -8.40 383 1925.14 0.00 0.00 0.00 0.000 0.000 0.000 2906.84 2966.19 2847.50 1881.56 3167.38 0 0 0 30.00 30.00 30.00

2228.88 0 -126.52 -0.64 0.00 2907.2 2967.0 2847.4 1882.4 3168.4 214.64 -8.51 444 2230.22 0.00 0.00 0.00 0.000 0.000 0.000 2907.31 2967.50 2847.12 1882.25 3167.69 0 0 0 30.00 30.00 30.00

2294 end dive: TARGET_DEPTH_EXCEEDED

state 2294 begin apogee

2295.22 10243 0.00 -0.11 0.00 2907.2 2967.0 2847.5 1881.9 2946.8 220.32 -8.75 457 2401.28 103.35 0.62 0.13 1.243 0.200 0.152 2388.84 2428.81 2348.88 2067.56 3022.25 0 0 0 12.20 15.98 15.49

2403 end apogee: CONTROL_FINISHED_OK

state 2403 begin climb

2403.49 10759 126.52 0.64 -40.00 2387.2 2427.9 2346.4 2067.4 3022.4 225.49 0.00 478 2509.66 99.21 0.71 2.41 1.214 0.092 0.019 1871.84 1878.06 1865.62 2326.62 1483.44 0 0 0 12.43 15.60 15.37

2707.16 1092 126.52 0.70 0.00 1868.3 1874.7 1862.0 2326.8 1483.9 218.80 7.60 539 2712.71 0.00 0.00 2.61 0.000 0.000 0.062 1869.66 1876.56 1862.75 2326.19 3023.12 0 0 0 30.00 30.00 15.82

3017.18 16386 126.52 0.70 0.00 1864.4 1877.8 1851.1 2326.6 3023.2 188.84 10.13 601 3018.52 0.00 0.00 0.00 0.000 0.000 0.000 1864.19 1877.25 1851.12 2326.00 3023.06 0 0 0 30.00 30.00 30.00

3322.23 16902 126.52 0.70 -40.00 1863.6 1878.8 1848.4 2326.6 3023.3 156.65 10.55 662 3327.80 0.00 0.00 2.34 0.000 0.000 0.018 1863.72 1877.75 1849.69 2336.88 1504.44 0 0 0 30.00 30.00 16.03

3377.25 17478 126.52 0.71 0.00 1863.7 1879.3 1848.1 2337.9 1499.6 151.20 9.88 673 3382.84 0.00 0.00 2.54 0.000 0.000 0.061 1863.81 1879.31 1848.31 2338.25 3022.88 0 0 0 30.00 30.00 16.03

3687.36 16966 126.52 0.74 -40.00 1862.8 1879.5 1846.1 2338.4 3023.2 121.47 8.99 735 3692.93 0.00 0.00 2.33 0.000 0.000 0.017 1862.97 1878.38 1847.56 2350.06 1496.94 0 0 0 30.00 30.00 15.98

3762.45 9254 193.99 0.83 0.00 1862.9 1879.6 1846.1 2349.8 1493.8 116.24 6.73 750 3819.03 51.35 0.00 2.55 1.112 0.000 0.061 1598.06 1607.62 1588.50 2350.06 3024.50 0 0 0 12.25 30.00 15.93

4122.48 516 193.99 0.83 -40.00 1591.9 1607.6 1576.2 2350.2 3024.4 70.81 11.48 822 4128.04 0.00 0.00 2.36 0.000 0.000 0.019 1591.66 1606.62 1576.69 2359.88 1519.75 0 0 0 30.00 30.00 15.85

4252.52 17478 193.99 0.88 0.00 1590.7 1605.4 1576.0 2362.4 1507.8 58.70 7.59 848 4258.11 0.00 0.00 2.54 0.000 0.000 0.061 1591.03 1606.31 1575.75 2361.81 3024.62 0 0 0 30.00 30.00 15.87

4442.58 18759 193.99 0.93 40.00 1589.8 1606.9 1572.6 2362.3 3024.8 45.07 8.21 886 4447.43 0.00 0.10 1.45 0.000 0.099 0.072 1591.44 1608.88 1574.00 2419.88 3906.88 0 0 0 30.00 15.90 15.90

4482.58 17414 193.99 0.93 0.00 1590.6 1607.0 1574.2 2421.4 3906.2 40.70 11.21 894 4487.38 0.00 0.00 1.49 0.000 0.000 0.019 1591.38 1607.00 1575.75 2428.50 2854.38 0 0 0 30.00 30.00 15.93

4667.65 8742 255.82 1.01 -40.00 1589.4 1606.7 1572.2 2429.1 2854.7 25.65 7.04 931 4719.06 46.10 0.00 2.08 0.999 0.000 0.020 1346.38 1351.75 1341.00 2437.81 1514.69 0 0 0 12.24 30.00 15.74

4777.64 1028 255.82 1.01 0.00 1343.3 1347.8 1338.8 2440.2 1502.3 13.91 13.51 953 4783.26 0.00 0.00 2.57 0.000 0.000 0.060 1343.09 1348.81 1337.38 2440.44 3025.44 0 0 0 30.00 30.00 15.80

4903 end climb: SURFACE_DEPTH_REACHED

state 4903 begin surface coast

4928 end surface coast: CONTROL_FINISHED_OK

state 4928 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	338	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	14.586397	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	59.630207	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	120	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	031022,102439,3758.772,-12456.098,21,1.3,21,13.6	TGT_RADIUS	1852.000
_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	-70.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	031022,102907,3758.801,-12456.112,2,0.7,5,13.6	MHEAD_RNG_PITCHd_Wd	141.4,20000,-22.0,-10.476,-26.38,1850,0.171
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	3753.402,-12444.262

FINISH	-0.0,1.023616	FG_AHR_10Vo	14.626
SM_CCo	5004.46,64.31,0.994,0,964.2,952.6,975.9,349.74	MEM0	60148,1,0,0
SM_GC	1.32,64.31,6.95,0.37,0.994,0.139,0.080,964.2,952.6,975.9,174.6,3259.4,0,0,0,12.35,15.84,15.90	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	908892,80,136156,96
IRIDIUM_FIX	3757.70,-12457.95,031022,085801	DATA_FILE_SIZE	28928,983
TCM_TEMP	16.38	CAP_FILE_SIZE	361371,0
XPDR_PINGS	0,13.0,11.5	SDSIZE	3887104,3791648
SC_FREEKB	3768000	SDFILEDIR	1972,1
HUMID	48.28	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.41	CURRENT	0.176, 6.6,1
INTERNAL_PRESSURE	8.77266	MAGCAL	1.000000,-0.009403,-0.094532,-0.134108,1.172845,0.006962,0.006756,-0.056304,1.159788,-3.5,-1155.1,-608.2,32,0.0233,0
_24V_AH	14.91,70.954	IMPLIED_C_PITCH	2007,32.43,767,0.0,0.00
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2258,24.080416,428,0
FG_AHR_24Vo	59.749	GPS	031022,115307,3758.875,-12455.959,5,1.2,8,13.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	451	1243	8361.73	nil	0	0	0.00
Pitch_motor	17	468	123.40	nil	0	0	0.00
Roll_motor	44	151	101.78	nil	0	0	0.00
Iridium	167	189	472.52	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.20	nil	0	0	0.00
Core	1128	6	115.09	SciCon	4958	18	1353.01
Fast	27	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	2562	2	76.86
Compass	1322	5	99.20
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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
7.64	16386	-126.52	-0.64	0.00	839.0	843.6	834.4	177.8	3125.9	0.00	0.00	0	74.68	66.43	0.00	0.00	0.005	0.000	0.000	2138.81	2181.38	2096.25	177.50	3126.06	0	0	0	15.60	30.00	30.00
74.98	18727	-126.52	-0.64	40.00	2138.5	2180.1	2096.9	177.4	3125.9	3.45	-3.86	13	110.91	20.36	9.28	1.34	0.006	0.469	0.094	2905.69	2971.31	2840.06	1888.06	3902.44	0	0	0	15.67	15.42	15.58
123.26	1028	-126.52	-0.64	0.00	2907.2	2971.3	2843.1	1889.1	3902.9	13.52	-17.62	23	128.01	0.00	0.00	1.12	0.000	0.000	0.035	2907.41	2971.06	2843.75	1888.50	3168.81	0	0	0	30.00	30.00	15.86
308.33	260	-126.52	-0.64	40.00	2907.7	2970.7	2844.8	1888.3	3168.2	40.10	-12.42	60	313.09	0.00	0.00	1.26	0.000	0.000	0.089	2908.06	2969.69	2846.44	1885.19	3900.62	0	0	0	30.00	30.00	15.89
538.40	1028	-126.52	-0.64	0.00	2908.7	2970.6	2846.8	1886.2	3901.0	68.85	-12.48	106	543.14	0.00	0.00	1.12	0.000	0.000	0.035	2909.00	2969.44	2848.56	1885.38	3166.62	0	0	0	30.00	30.00	15.98
723.44	516	-126.52	-0.64	-40.00	2908.9	2970.8	2847.0	1885.6	3167.0	88.21	-10.16	143	729.00	0.00	0.00	2.18	0.000	0.000	0.021	2909.03	2971.19	2846.88	1885.31	1720.81	0	0	0	30.00	30.00	16.01
748.46	1028	-126.52	-0.64	0.00	2908.9	2970.4	2847.4	1885.2	1718.1	90.61	-9.85	148	754.08	0.00	0.00	2.62	0.000	0.000	0.079	2909.00	2971.00	2847.00	1885.56	3248.94	0	0	0	30.00	30.00	15.99
938.51	0	-126.52	-0.64	0.00	2908.8	2970.4	2847.2	1885.2	3249.1	107.15	-8.38	186	939.85	0.00	0.00	0.00	0.000	0.000	0.000	2907.81	2968.06	2847.56	1885.25	3248.75	0	0	0	30.00	30.00	30.00
1243.61	516	-126.52	-0.64	-40.00	2908.9	2970.3	2847.5	1885.2	3248.6	132.12	-7.77	247	1249.19	0.00	0.00	2.35	0.000	0.000	0.024	2908.56	2970.38	2846.75	1885.81	1716.38	0	0	0	30.00	30.00	16.03
1283.61	1028	-126.52	-0.64	0.00	2907.9	2968.7	2847.1	1885.3	1714.5	135.08	-7.49	255	1289.24	0.00	0.00	2.62	0.000	0.000	0.079	2909.12	2970.06	2848.19	1885.31	3248.81	0	0	0	30.00	30.00	16.03
1593.71	260	-126.52	-0.64	40.00	2908.3	2969.2	2847.4	1885.5	3248.4	161.30	-8.43	317	1598.44	0.00	0.00	1.09	0.000	0.000	0.095	2908.88	2969.19	2848.56	1882.19	3901.00	0	0	0	30.00	30.00	16.01
1618.71	1028	-126.52	-0.64	0.00	2908.0	2968.7	2847.2	1882.2	3900.9	163.43	-8.50	322	1623.46	0.00	0.00	1.12	0.000	0.000	0.040	2909.16	2969.25	2849.06	1881.88	3167.50	0	0	0	30.00	30.00	16.06
1923.80	0	-126.52	-0.64	0.00	2907.7	2968.2	2847.2	1881.8	3168.1	189.23	-8.40	383	1925.14	0.00	0.00	0.00	0.000	0.000	0.000	2906.84	2966.19	2847.50	1881.56	3167.38	0	0	0	30.00	30.00	30.00
2228.88	0	-126.52	-0.64	0.00	2907.2	2967.0	2847.4	1882.4	3168.4	214.64	-8.51	444	2230.22	0.00	0.00	0.00	0.000	0.000	0.000	2907.31	2967.50	2847.12	1882.25	3167.69	0	0	0	30.00	30.00	30.00
2294	end dive: TARGET_DEPTH_EXCEEDED
state	2294	begin apogee
2295.22	10243	0.00	-0.11	0.00	2907.2	2967.0	2847.5	1881.9	2946.8	220.32	-8.75	457	2401.28	103.35	0.62	0.13	1.243	0.200	0.152	2388.84	2428.81	2348.88	2067.56	3022.25	0	0	0	12.20	15.98	15.49
2403	end apogee: CONTROL_FINISHED_OK
state	2403	begin climb
2403.49	10759	126.52	0.64	-40.00	2387.2	2427.9	2346.4	2067.4	3022.4	225.49	0.00	478	2509.66	99.21	0.71	2.41	1.214	0.092	0.019	1871.84	1878.06	1865.62	2326.62	1483.44	0	0	0	12.43	15.60	15.37
2707.16	1092	126.52	0.70	0.00	1868.3	1874.7	1862.0	2326.8	1483.9	218.80	7.60	539	2712.71	0.00	0.00	2.61	0.000	0.000	0.062	1869.66	1876.56	1862.75	2326.19	3023.12	0	0	0	30.00	30.00	15.82
3017.18	16386	126.52	0.70	0.00	1864.4	1877.8	1851.1	2326.6	3023.2	188.84	10.13	601	3018.52	0.00	0.00	0.00	0.000	0.000	0.000	1864.19	1877.25	1851.12	2326.00	3023.06	0	0	0	30.00	30.00	30.00
3322.23	16902	126.52	0.70	-40.00	1863.6	1878.8	1848.4	2326.6	3023.3	156.65	10.55	662	3327.80	0.00	0.00	2.34	0.000	0.000	0.018	1863.72	1877.75	1849.69	2336.88	1504.44	0	0	0	30.00	30.00	16.03
3377.25	17478	126.52	0.71	0.00	1863.7	1879.3	1848.1	2337.9	1499.6	151.20	9.88	673	3382.84	0.00	0.00	2.54	0.000	0.000	0.061	1863.81	1879.31	1848.31	2338.25	3022.88	0	0	0	30.00	30.00	16.03
3687.36	16966	126.52	0.74	-40.00	1862.8	1879.5	1846.1	2338.4	3023.2	121.47	8.99	735	3692.93	0.00	0.00	2.33	0.000	0.000	0.017	1862.97	1878.38	1847.56	2350.06	1496.94	0	0	0	30.00	30.00	15.98
3762.45	9254	193.99	0.83	0.00	1862.9	1879.6	1846.1	2349.8	1493.8	116.24	6.73	750	3819.03	51.35	0.00	2.55	1.112	0.000	0.061	1598.06	1607.62	1588.50	2350.06	3024.50	0	0	0	12.25	30.00	15.93
4122.48	516	193.99	0.83	-40.00	1591.9	1607.6	1576.2	2350.2	3024.4	70.81	11.48	822	4128.04	0.00	0.00	2.36	0.000	0.000	0.019	1591.66	1606.62	1576.69	2359.88	1519.75	0	0	0	30.00	30.00	15.85
4252.52	17478	193.99	0.88	0.00	1590.7	1605.4	1576.0	2362.4	1507.8	58.70	7.59	848	4258.11	0.00	0.00	2.54	0.000	0.000	0.061	1591.03	1606.31	1575.75	2361.81	3024.62	0	0	0	30.00	30.00	15.87
4442.58	18759	193.99	0.93	40.00	1589.8	1606.9	1572.6	2362.3	3024.8	45.07	8.21	886	4447.43	0.00	0.10	1.45	0.000	0.099	0.072	1591.44	1608.88	1574.00	2419.88	3906.88	0	0	0	30.00	15.90	15.90
4482.58	17414	193.99	0.93	0.00	1590.6	1607.0	1574.2	2421.4	3906.2	40.70	11.21	894	4487.38	0.00	0.00	1.49	0.000	0.000	0.019	1591.38	1607.00	1575.75	2428.50	2854.38	0	0	0	30.00	30.00	15.93
4667.65	8742	255.82	1.01	-40.00	1589.4	1606.7	1572.2	2429.1	2854.7	25.65	7.04	931	4719.06	46.10	0.00	2.08	0.999	0.000	0.020	1346.38	1351.75	1341.00	2437.81	1514.69	0	0	0	12.24	30.00	15.74
4777.64	1028	255.82	1.01	0.00	1343.3	1347.8	1338.8	2440.2	1502.3	13.91	13.51	953	4783.26	0.00	0.00	2.57	0.000	0.000	0.060	1343.09	1348.81	1337.38	2440.44	3025.44	0	0	0	30.00	30.00	15.80
4903	end climb: SURFACE_DEPTH_REACHED
state	4903	begin surface coast
4928	end surface coast: CONTROL_FINISHED_OK
state	4928	begin surface