Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 342 * 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 342 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 14.731541 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 60.156254 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 14.731541 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 60.156254 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 342 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 031022,154727,3758.424,-12455.359,4,1.6,7,13.6 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.19 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 031022,155159,3758.445,-12455.345,3,1.6,5,13.6 MHEAD_RNG_PITCHd_Wd 129.1,20000,-22.0,-10.476,-26.38,1850,0.170

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 3753.045,-12443.495

Post-dive calculations and measurements:

FINISH 0.0,1.001439 FG_AHR_10Vo 14.771

SM_CCo 5003.15,58.15,0.983,0,963.5,952.1,974.9,349.91 MEM0 60148,1,0,0

SM_GC 1.58,58.15,6.64,0.63,0.983,0.128,0.082,963.5,952.1,974.9,173.3,3256.9,0,0,0,12.42,15.83,15.89 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 908812,84,136156,96

IRIDIUM_FIX 3757.70,-12457.95,031022,142836 DATA_FILE_SIZE 28906,984

TCM_TEMP 17.43 CAP_FILE_SIZE 365313,0

XPDR_PINGS 0,13.0,11.5 SDSIZE 3887104,3790624

SC_FREEKB 3766464 SDFILEDIR 1996,1

HUMID 52.65 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.77 CURRENT 0.064, 42.9,1

INTERNAL_PRESSURE 8.78434 IMPLIED_C_PITCH 2007,32.68,750,0.0,0.00

_24V_AH 14.94,71.594 IMPLIED_C_VBD 2279,48.138298,436,0

_10V_AH 15.00,0.000 GPS 031022,171637,3758.215,-12454.858,43,1.3,47,13.6

FG_AHR_24Vo 60.273

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 447 1232 8245.68 nil 0 0 0.00

Pitch_motor 17 472 122.73 nil 0 0 0.00

Roll_motor 50 144 108.86 nil 0 0 0.00

Iridium 170 179 455.73 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.12 nil 0 0 0.00

Core 1138 6 116.13 SciCon 4963 18 1361.00

Fast 28 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 2559 2 76.80

Compass 1323 5 99.28

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

7.62 16386 -126.52 -0.64 0.00 956.9 953.5 960.2 175.2 3106.6 0.00 0.00 0 69.58 61.42 0.00 0.00 0.005 0.000 0.000 2159.19 2202.81 2115.56 175.19 3106.94 0 0 0 15.59 30.00 30.00

69.84 18983 -126.52 -0.64 -40.00 2158.4 2201.4 2115.5 175.1 3107.1 3.67 -4.44 12 106.05 19.16 9.43 2.11 0.006 0.472 0.027 2905.44 2970.00 2840.88 1892.50 1747.38 0 0 0 15.64 15.42 15.56

183.39 1028 -126.52 -0.64 0.00 2907.5 2970.0 2845.1 1892.4 1737.2 21.72 -10.52 35 189.01 0.00 0.00 2.61 0.000 0.000 0.079 2908.47 2970.50 2846.44 1891.94 3248.62 0 0 0 30.00 30.00 15.87

373.44 260 -126.52 -0.64 40.00 2907.6 2970.1 2845.1 1892.1 3248.6 44.03 -11.50 73 378.17 0.00 0.00 1.09 0.000 0.000 0.094 2907.94 2970.00 2845.88 1890.06 3899.25 0 0 0 30.00 30.00 15.91

443.45 1028 -126.52 -0.64 0.00 2907.6 2969.1 2846.1 1889.8 3899.5 51.57 -10.27 87 448.20 0.00 0.00 1.12 0.000 0.000 0.038 2910.59 2972.25 2848.94 1888.75 3170.06 0 0 0 30.00 30.00 15.96

628.50 516 -126.52 -0.64 -40.00 2908.0 2969.2 2846.7 1889.6 3169.9 69.63 -9.57 124 634.04 0.00 0.00 2.19 0.000 0.000 0.022 2908.16 2969.69 2846.62 1889.56 1729.38 0 0 0 30.00 30.00 15.99

683.53 1028 -126.52 -0.64 0.00 2908.4 2969.4 2847.4 1889.6 1719.7 74.06 -7.88 135 689.15 0.00 0.00 2.61 0.000 0.000 0.078 2908.50 2969.44 2847.56 1889.19 3248.25 0 0 0 30.00 30.00 15.99

873.58 0 -126.52 -0.64 0.00 2908.4 2969.2 2847.6 1889.1 3248.0 91.03 -9.18 173 874.92 0.00 0.00 0.00 0.000 0.000 0.000 2908.94 2969.81 2848.06 1889.44 3248.06 0 0 0 30.00 30.00 30.00

1058.65 516 -126.52 -0.64 -40.00 2908.2 2969.1 2847.3 1889.0 3247.6 108.58 -9.93 210 1064.22 0.00 0.00 2.36 0.000 0.000 0.024 2909.44 2969.75 2849.12 1889.50 1717.88 0 0 0 30.00 30.00 16.02

1093.73 1028 -126.52 -0.64 0.00 2908.4 2969.2 2847.6 1889.1 1713.9 111.82 -9.32 217 1099.28 0.00 0.00 2.62 0.000 0.000 0.079 2908.59 2969.25 2847.94 1889.62 3250.00 0 0 0 30.00 30.00 16.01

1403.74 260 -126.52 -0.64 40.00 2908.4 2968.8 2848.0 1889.0 3250.1 141.54 -9.11 279 1408.49 0.00 0.00 1.09 0.000 0.000 0.096 2908.47 2969.25 2847.69 1886.25 3901.44 0 0 0 30.00 30.00 16.00

1483.76 1028 -126.52 -0.64 0.00 2908.0 2968.8 2847.2 1885.6 3902.0 148.60 -8.72 295 1488.52 0.00 0.00 1.12 0.000 0.000 0.039 2908.53 2968.94 2848.12 1885.69 3168.44 0 0 0 30.00 30.00 16.04

1788.85 516 -126.52 -0.64 -40.00 2907.9 2968.5 2847.4 1886.0 3168.1 175.40 -8.49 356 1794.38 0.00 0.00 2.18 0.000 0.000 0.023 2908.16 2968.81 2847.50 1886.12 1720.38 0 0 0 30.00 30.00 16.07

1808.87 1028 -126.52 -0.64 0.00 2908.0 2968.1 2847.8 1886.0 1718.8 177.06 -8.37 360 1814.48 0.00 0.00 2.61 0.000 0.000 0.080 2909.19 2968.50 2849.88 1884.81 3248.94 0 0 0 30.00 30.00 16.06

2118.97 32 -126.52 -0.64 0.00 2907.4 2967.1 2847.8 1885.9 3249.0 201.32 -7.27 422 2120.30 0.00 0.00 0.00 0.000 0.000 0.000 2907.56 2967.31 2847.81 1886.00 3249.19 0 0 0 30.00 30.00 30.00

2383 end dive: TARGET_DEPTH_EXCEEDED

state 2383 begin apogee

2385.31 10243 0.00 -0.11 0.00 2906.8 2966.2 2847.4 1885.7 2942.0 220.13 -7.08 475 2491.37 102.94 0.60 0.14 1.232 0.196 0.145 2387.94 2428.56 2347.31 2068.06 3023.25 0 0 0 12.11 15.98 15.49

2492 end apogee: CONTROL_FINISHED_OK

state 2492 begin climb

2493.60 10243 126.52 0.64 0.00 2387.2 2427.9 2346.5 2068.2 3023.4 224.03 0.00 496 2594.20 99.14 0.71 0.00 1.206 0.096 0.000 1873.88 1880.38 1867.38 2315.12 3023.62 0 0 0 12.40 15.60 30.00

2897.09 16902 126.52 0.64 -40.00 1865.3 1881.1 1849.6 2314.9 3022.7 203.77 10.07 577 2902.66 0.00 0.00 2.37 0.000 0.000 0.019 1865.88 1880.75 1851.00 2325.00 1507.56 0 0 0 30.00 30.00 15.90

3012.20 17478 126.52 0.67 0.00 1865.0 1880.1 1849.9 2326.6 1503.4 193.19 9.27 600 3017.73 0.00 0.00 2.55 0.000 0.000 0.062 1865.03 1881.00 1849.06 2326.56 3023.44 0 0 0 30.00 30.00 15.93

3322.20 16710 126.52 0.69 40.00 1864.1 1882.4 1845.8 2326.8 3023.1 163.10 9.27 662 3327.00 0.00 0.00 1.46 0.000 0.000 0.072 1864.22 1882.62 1845.81 2326.38 3908.00 0 0 0 30.00 30.00 15.98

3352.19 17414 126.52 0.69 0.00 1863.8 1881.6 1846.1 2326.1 3907.9 160.02 10.15 668 3356.99 0.00 0.00 1.49 0.000 0.000 0.021 1864.31 1882.31 1846.31 2333.50 2871.00 0 0 0 30.00 30.00 16.02

3662.24 16966 126.52 0.72 -40.00 1863.5 1882.6 1844.4 2333.9 2870.7 130.68 9.06 730 3667.74 0.00 0.00 2.07 0.000 0.000 0.017 1864.00 1882.94 1845.06 2344.88 1482.81 0 0 0 30.00 30.00 15.98

3747.24 9254 184.24 0.79 0.00 1863.2 1881.8 1844.7 2345.0 1482.3 124.41 7.27 747 3797.78 44.20 0.00 2.57 1.111 0.000 0.061 1637.62 1649.00 1626.25 2344.75 3025.50 0 0 0 12.22 30.00 15.93

4102.34 516 184.24 0.79 -40.00 1632.1 1648.9 1615.4 2344.4 3025.4 78.95 13.29 818 4107.92 0.00 0.00 2.37 0.000 0.000 0.020 1632.12 1648.94 1615.31 2355.25 1521.88 0 0 0 30.00 30.00 15.90

4142.35 1028 184.24 0.79 0.00 1631.7 1648.5 1614.9 2357.4 1508.8 73.51 13.44 826 4147.96 0.00 0.00 2.55 0.000 0.000 0.064 1631.59 1648.44 1614.75 2357.00 3022.62 0 0 0 30.00 30.00 15.89

4332.43 8742 242.71 0.86 -40.00 1630.5 1648.4 1612.6 2356.8 3023.4 54.97 7.23 864 4382.94 44.38 0.00 2.38 1.029 0.000 0.020 1399.81 1408.56 1391.06 2367.00 1508.44 0 0 0 12.25 30.00 15.71

4462.44 1028 242.71 0.86 0.00 1396.5 1403.7 1389.4 2368.0 1504.6 43.04 10.80 890 4468.05 0.00 0.00 2.57 0.000 0.000 0.064 1396.31 1404.44 1388.19 2368.50 3022.62 0 0 0 30.00 30.00 15.79

4652.51 260 242.71 0.86 40.00 1394.1 1407.4 1380.8 2368.3 3023.4 20.40 10.97 928 4657.31 0.00 0.00 1.46 0.000 0.000 0.074 1393.72 1407.50 1379.94 2368.50 3905.38 0 0 0 30.00 30.00 15.84

4882.58 9254 299.26 0.93 0.00 1392.1 1407.2 1376.9 2368.1 3905.9 3.24 7.34 974 4903.36 18.47 0.00 1.48 0.917 0.000 0.020 1306.34 1318.25 1294.44 2374.94 2871.06 0 0 0 12.22 30.00 15.92

4903 end climb: SURFACE_DEPTH_REACHED

state 4903 begin surface coast

4932 end surface coast: CONTROL_FINISHED_OK

state 4932 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	342	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	14.731541	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	60.156254	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	031022,154727,3758.424,-12455.359,4,1.6,7,13.6	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.19	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	031022,155159,3758.445,-12455.345,3,1.6,5,13.6	MHEAD_RNG_PITCHd_Wd	129.1,20000,-22.0,-10.476,-26.38,1850,0.170
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	3753.045,-12443.495

FINISH	0.0,1.001439	FG_AHR_10Vo	14.771
SM_CCo	5003.15,58.15,0.983,0,963.5,952.1,974.9,349.91	MEM0	60148,1,0,0
SM_GC	1.58,58.15,6.64,0.63,0.983,0.128,0.082,963.5,952.1,974.9,173.3,3256.9,0,0,0,12.42,15.83,15.89	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	908812,84,136156,96
IRIDIUM_FIX	3757.70,-12457.95,031022,142836	DATA_FILE_SIZE	28906,984
TCM_TEMP	17.43	CAP_FILE_SIZE	365313,0
XPDR_PINGS	0,13.0,11.5	SDSIZE	3887104,3790624
SC_FREEKB	3766464	SDFILEDIR	1996,1
HUMID	52.65	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.77	CURRENT	0.064, 42.9,1
INTERNAL_PRESSURE	8.78434	IMPLIED_C_PITCH	2007,32.68,750,0.0,0.00
_24V_AH	14.94,71.594	IMPLIED_C_VBD	2279,48.138298,436,0
_10V_AH	15.00,0.000	GPS	031022,171637,3758.215,-12454.858,43,1.3,47,13.6
FG_AHR_24Vo	60.273

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	447	1232	8245.68	nil	0	0	0.00
Pitch_motor	17	472	122.73	nil	0	0	0.00
Roll_motor	50	144	108.86	nil	0	0	0.00
Iridium	170	179	455.73	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.12	nil	0	0	0.00
Core	1138	6	116.13	SciCon	4963	18	1361.00
Fast	28	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	2559	2	76.80
Compass	1323	5	99.28
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
7.62	16386	-126.52	-0.64	0.00	956.9	953.5	960.2	175.2	3106.6	0.00	0.00	0	69.58	61.42	0.00	0.00	0.005	0.000	0.000	2159.19	2202.81	2115.56	175.19	3106.94	0	0	0	15.59	30.00	30.00
69.84	18983	-126.52	-0.64	-40.00	2158.4	2201.4	2115.5	175.1	3107.1	3.67	-4.44	12	106.05	19.16	9.43	2.11	0.006	0.472	0.027	2905.44	2970.00	2840.88	1892.50	1747.38	0	0	0	15.64	15.42	15.56
183.39	1028	-126.52	-0.64	0.00	2907.5	2970.0	2845.1	1892.4	1737.2	21.72	-10.52	35	189.01	0.00	0.00	2.61	0.000	0.000	0.079	2908.47	2970.50	2846.44	1891.94	3248.62	0	0	0	30.00	30.00	15.87
373.44	260	-126.52	-0.64	40.00	2907.6	2970.1	2845.1	1892.1	3248.6	44.03	-11.50	73	378.17	0.00	0.00	1.09	0.000	0.000	0.094	2907.94	2970.00	2845.88	1890.06	3899.25	0	0	0	30.00	30.00	15.91
443.45	1028	-126.52	-0.64	0.00	2907.6	2969.1	2846.1	1889.8	3899.5	51.57	-10.27	87	448.20	0.00	0.00	1.12	0.000	0.000	0.038	2910.59	2972.25	2848.94	1888.75	3170.06	0	0	0	30.00	30.00	15.96
628.50	516	-126.52	-0.64	-40.00	2908.0	2969.2	2846.7	1889.6	3169.9	69.63	-9.57	124	634.04	0.00	0.00	2.19	0.000	0.000	0.022	2908.16	2969.69	2846.62	1889.56	1729.38	0	0	0	30.00	30.00	15.99
683.53	1028	-126.52	-0.64	0.00	2908.4	2969.4	2847.4	1889.6	1719.7	74.06	-7.88	135	689.15	0.00	0.00	2.61	0.000	0.000	0.078	2908.50	2969.44	2847.56	1889.19	3248.25	0	0	0	30.00	30.00	15.99
873.58	0	-126.52	-0.64	0.00	2908.4	2969.2	2847.6	1889.1	3248.0	91.03	-9.18	173	874.92	0.00	0.00	0.00	0.000	0.000	0.000	2908.94	2969.81	2848.06	1889.44	3248.06	0	0	0	30.00	30.00	30.00
1058.65	516	-126.52	-0.64	-40.00	2908.2	2969.1	2847.3	1889.0	3247.6	108.58	-9.93	210	1064.22	0.00	0.00	2.36	0.000	0.000	0.024	2909.44	2969.75	2849.12	1889.50	1717.88	0	0	0	30.00	30.00	16.02
1093.73	1028	-126.52	-0.64	0.00	2908.4	2969.2	2847.6	1889.1	1713.9	111.82	-9.32	217	1099.28	0.00	0.00	2.62	0.000	0.000	0.079	2908.59	2969.25	2847.94	1889.62	3250.00	0	0	0	30.00	30.00	16.01
1403.74	260	-126.52	-0.64	40.00	2908.4	2968.8	2848.0	1889.0	3250.1	141.54	-9.11	279	1408.49	0.00	0.00	1.09	0.000	0.000	0.096	2908.47	2969.25	2847.69	1886.25	3901.44	0	0	0	30.00	30.00	16.00
1483.76	1028	-126.52	-0.64	0.00	2908.0	2968.8	2847.2	1885.6	3902.0	148.60	-8.72	295	1488.52	0.00	0.00	1.12	0.000	0.000	0.039	2908.53	2968.94	2848.12	1885.69	3168.44	0	0	0	30.00	30.00	16.04
1788.85	516	-126.52	-0.64	-40.00	2907.9	2968.5	2847.4	1886.0	3168.1	175.40	-8.49	356	1794.38	0.00	0.00	2.18	0.000	0.000	0.023	2908.16	2968.81	2847.50	1886.12	1720.38	0	0	0	30.00	30.00	16.07
1808.87	1028	-126.52	-0.64	0.00	2908.0	2968.1	2847.8	1886.0	1718.8	177.06	-8.37	360	1814.48	0.00	0.00	2.61	0.000	0.000	0.080	2909.19	2968.50	2849.88	1884.81	3248.94	0	0	0	30.00	30.00	16.06
2118.97	32	-126.52	-0.64	0.00	2907.4	2967.1	2847.8	1885.9	3249.0	201.32	-7.27	422	2120.30	0.00	0.00	0.00	0.000	0.000	0.000	2907.56	2967.31	2847.81	1886.00	3249.19	0	0	0	30.00	30.00	30.00
2383	end dive: TARGET_DEPTH_EXCEEDED
state	2383	begin apogee
2385.31	10243	0.00	-0.11	0.00	2906.8	2966.2	2847.4	1885.7	2942.0	220.13	-7.08	475	2491.37	102.94	0.60	0.14	1.232	0.196	0.145	2387.94	2428.56	2347.31	2068.06	3023.25	0	0	0	12.11	15.98	15.49
2492	end apogee: CONTROL_FINISHED_OK
state	2492	begin climb
2493.60	10243	126.52	0.64	0.00	2387.2	2427.9	2346.5	2068.2	3023.4	224.03	0.00	496	2594.20	99.14	0.71	0.00	1.206	0.096	0.000	1873.88	1880.38	1867.38	2315.12	3023.62	0	0	0	12.40	15.60	30.00
2897.09	16902	126.52	0.64	-40.00	1865.3	1881.1	1849.6	2314.9	3022.7	203.77	10.07	577	2902.66	0.00	0.00	2.37	0.000	0.000	0.019	1865.88	1880.75	1851.00	2325.00	1507.56	0	0	0	30.00	30.00	15.90
3012.20	17478	126.52	0.67	0.00	1865.0	1880.1	1849.9	2326.6	1503.4	193.19	9.27	600	3017.73	0.00	0.00	2.55	0.000	0.000	0.062	1865.03	1881.00	1849.06	2326.56	3023.44	0	0	0	30.00	30.00	15.93
3322.20	16710	126.52	0.69	40.00	1864.1	1882.4	1845.8	2326.8	3023.1	163.10	9.27	662	3327.00	0.00	0.00	1.46	0.000	0.000	0.072	1864.22	1882.62	1845.81	2326.38	3908.00	0	0	0	30.00	30.00	15.98
3352.19	17414	126.52	0.69	0.00	1863.8	1881.6	1846.1	2326.1	3907.9	160.02	10.15	668	3356.99	0.00	0.00	1.49	0.000	0.000	0.021	1864.31	1882.31	1846.31	2333.50	2871.00	0	0	0	30.00	30.00	16.02
3662.24	16966	126.52	0.72	-40.00	1863.5	1882.6	1844.4	2333.9	2870.7	130.68	9.06	730	3667.74	0.00	0.00	2.07	0.000	0.000	0.017	1864.00	1882.94	1845.06	2344.88	1482.81	0	0	0	30.00	30.00	15.98
3747.24	9254	184.24	0.79	0.00	1863.2	1881.8	1844.7	2345.0	1482.3	124.41	7.27	747	3797.78	44.20	0.00	2.57	1.111	0.000	0.061	1637.62	1649.00	1626.25	2344.75	3025.50	0	0	0	12.22	30.00	15.93
4102.34	516	184.24	0.79	-40.00	1632.1	1648.9	1615.4	2344.4	3025.4	78.95	13.29	818	4107.92	0.00	0.00	2.37	0.000	0.000	0.020	1632.12	1648.94	1615.31	2355.25	1521.88	0	0	0	30.00	30.00	15.90
4142.35	1028	184.24	0.79	0.00	1631.7	1648.5	1614.9	2357.4	1508.8	73.51	13.44	826	4147.96	0.00	0.00	2.55	0.000	0.000	0.064	1631.59	1648.44	1614.75	2357.00	3022.62	0	0	0	30.00	30.00	15.89
4332.43	8742	242.71	0.86	-40.00	1630.5	1648.4	1612.6	2356.8	3023.4	54.97	7.23	864	4382.94	44.38	0.00	2.38	1.029	0.000	0.020	1399.81	1408.56	1391.06	2367.00	1508.44	0	0	0	12.25	30.00	15.71
4462.44	1028	242.71	0.86	0.00	1396.5	1403.7	1389.4	2368.0	1504.6	43.04	10.80	890	4468.05	0.00	0.00	2.57	0.000	0.000	0.064	1396.31	1404.44	1388.19	2368.50	3022.62	0	0	0	30.00	30.00	15.79
4652.51	260	242.71	0.86	40.00	1394.1	1407.4	1380.8	2368.3	3023.4	20.40	10.97	928	4657.31	0.00	0.00	1.46	0.000	0.000	0.074	1393.72	1407.50	1379.94	2368.50	3905.38	0	0	0	30.00	30.00	15.84
4882.58	9254	299.26	0.93	0.00	1392.1	1407.2	1376.9	2368.1	3905.9	3.24	7.34	974	4903.36	18.47	0.00	1.48	0.917	0.000	0.020	1306.34	1318.25	1294.44	2374.94	2871.06	0	0	0	12.22	30.00	15.92
4903	end climb: SURFACE_DEPTH_REACHED
state	4903	begin surface coast
4932	end surface coast: CONTROL_FINISHED_OK
state	4932	begin surface