Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 346 * 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 346 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 14.875526 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 60.671131 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 14.875526 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 60.671131 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 346 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 031022,211120,3757.534,-12453.794,1,1.9,6,13.6 TGT_RADIUS 1852.000

_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 -72.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 031022,211544,3757.531,-12453.799,3,2.0,7,13.6 MHEAD_RNG_PITCHd_Wd 105.5,20000,-22.0,-10.476,-26.38,1850,0.174

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 3752.131,-12441.952

Post-dive calculations and measurements:

FINISH 0.0,1.023828 FG_AHR_10Vo 14.916

SM_CCo 5157.43,29.07,0.987,0,962.5,948.2,976.8,350.17 MEM0 60148,1,0,0

SM_GC 2.76,29.07,7.09,2.96,0.987,0.137,0.070,962.5,948.2,976.8,175.4,3249.3,0,0,0,12.36,15.73,15.81 MEM1 65508,1,0,0

SUPER 19,127,254,1,0,0 MEM2 908752,87,136156,96

IRIDIUM_FIX 3758.13,-12451.91,031022,195628 DATA_FILE_SIZE 28925,1020

TCM_TEMP 16.31 CAP_FILE_SIZE 374146,0

XPDR_PINGS 0,13.0,11.5 SDSIZE 3887104,3789600

SC_FREEKB 3764928 SDFILEDIR 2020,1

HUMID 52.81 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.35 CURRENT 0.103,292.9,1

INTERNAL_PRESSURE 8.78077 MAGCAL 1.000000,-0.029433,-0.025490,-0.092008,1.054237,-0.102662,0.020146,0.050562,1.072716,-74.1,-1146.0,-620.8,27,0.0281,0

_24V_AH 14.98,72.227 IMPLIED_C_PITCH 2009,32.68,796,0.0,0.00

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2373,34.494995,440,0

FG_AHR_24Vo 60.789 GPS 031022,224301,3757.353,-12453.626,51,0.7,52,13.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 447 1254 8399.22 nil 0 0 0.00

Pitch_motor 18 469 127.51 nil 0 0 0.00

Roll_motor 49 143 107.62 nil 0 0 0.00

Iridium 160 174 417.67 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 15 15 3.57 nil 0 0 0.00

Core 1166 6 118.95 SciCon 5143 18 1399.18

Fast 28 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 2653 2 79.61

Compass 1369 5 102.73

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

7.63 16386 -126.52 -0.64 0.00 944.8 950.6 938.9 173.4 3109.9 0.00 0.00 0 69.60 61.44 0.00 0.00 0.005 0.000 0.000 2147.38 2190.94 2103.81 173.38 3110.12 0 0 0 15.60 30.00 30.00

69.86 18983 -126.52 -0.64 -40.00 2147.3 2189.7 2104.9 173.6 3109.6 3.44 -3.98 12 106.05 20.03 9.35 2.11 0.006 0.469 0.026 2906.09 2970.38 2841.81 1892.94 1744.06 0 0 0 15.67 15.44 15.61

168.39 1028 -126.52 -0.64 0.00 2908.2 2969.8 2846.7 1893.5 1733.1 19.76 -11.39 32 174.17 0.00 0.00 2.61 0.000 0.000 0.080 2908.66 2970.44 2846.88 1892.50 3250.38 0 0 0 30.00 30.00 15.88

358.43 260 -126.52 -0.64 40.00 2908.5 2969.9 2847.1 1892.2 3250.8 46.74 -13.81 70 363.17 0.00 0.00 1.10 0.000 0.000 0.093 2908.56 2968.44 2848.69 1889.25 3902.44 0 0 0 30.00 30.00 15.91

453.52 1028 -126.52 -0.64 0.00 2908.6 2969.4 2847.8 1889.4 3902.5 58.71 -12.02 89 458.27 0.00 0.00 1.12 0.000 0.000 0.038 2910.97 2971.38 2850.56 1888.69 3164.69 0 0 0 30.00 30.00 15.97

638.51 0 -126.52 -0.64 0.00 2909.1 2969.5 2848.6 1889.8 3165.4 79.96 -11.93 126 639.85 0.00 0.00 0.00 0.000 0.000 0.000 2908.16 2967.75 2848.56 1889.50 3164.38 0 0 0 30.00 30.00 30.00

823.58 260 -126.52 -0.64 40.00 2908.9 2969.6 2848.2 1889.0 3164.5 100.29 -10.31 163 828.37 0.00 0.00 1.26 0.000 0.000 0.091 2910.25 2969.75 2850.75 1886.88 3900.81 0 0 0 30.00 30.00 15.98

853.58 1028 -126.52 -0.64 0.00 2909.1 2969.4 2848.9 1887.6 3901.4 103.13 -9.69 169 858.33 0.00 0.00 1.12 0.000 0.000 0.037 2910.03 2969.69 2850.38 1887.44 3165.44 0 0 0 30.00 30.00 16.00

1158.76 516 -126.52 -0.64 -40.00 2908.9 2969.5 2848.3 1887.4 3165.1 129.48 -7.89 230 1164.23 0.00 0.00 2.18 0.000 0.000 0.021 2911.09 2971.62 2850.56 1887.00 1721.88 0 0 0 30.00 30.00 16.02

1178.77 1028 -126.52 -0.64 0.00 2908.6 2968.7 2848.5 1887.4 1718.9 130.98 -7.67 234 1184.32 0.00 0.00 2.61 0.000 0.000 0.078 2910.22 2970.12 2850.31 1887.19 3250.12 0 0 0 30.00 30.00 16.02

1488.82 548 -126.52 -0.64 -40.00 2908.8 2969.1 2848.6 1887.4 3249.9 152.36 -6.73 296 1494.38 0.00 0.00 2.36 0.000 0.000 0.024 2909.47 2969.38 2849.56 1887.25 1715.00 0 0 0 30.00 30.00 16.04

1508.83 1060 -126.52 -0.64 0.00 2909.0 2968.8 2849.2 1887.1 1712.7 153.65 -6.55 300 1514.43 0.00 0.00 2.62 0.000 0.000 0.079 2909.31 2969.31 2849.31 1886.94 3250.62 0 0 0 30.00 30.00 16.03

1818.91 32 -126.52 -0.64 0.00 2908.5 2968.1 2848.9 1887.0 3250.2 174.90 -7.48 362 1820.25 0.00 0.00 0.00 0.000 0.000 0.000 2907.75 2966.88 2848.62 1886.94 3250.75 0 0 0 30.00 30.00 30.00

2124.03 548 -126.52 -0.64 -40.00 2908.0 2967.7 2848.3 1887.1 3250.3 197.69 -7.36 423 2129.59 0.00 0.00 2.35 0.000 0.000 0.024 2907.97 2967.00 2848.94 1887.19 1714.25 0 0 0 30.00 30.00 16.09

2154.05 1060 -126.52 -0.64 0.00 2907.4 2966.1 2848.8 1887.8 1711.9 199.86 -7.30 429 2159.64 0.00 0.00 2.62 0.000 0.000 0.079 2909.47 2967.44 2851.50 1887.62 3250.56 0 0 0 30.00 30.00 16.08

2423 end dive: TARGET_DEPTH_EXCEEDED

state 2424 begin apogee

2425.40 10243 0.00 -0.11 0.00 2907.4 2966.1 2848.7 1887.7 2942.5 220.30 -8.21 483 2531.46 103.22 0.60 0.14 1.254 0.194 0.144 2388.84 2427.69 2350.00 2068.94 3024.69 0 0 0 12.10 15.98 15.49

2532 end apogee: CONTROL_FINISHED_OK

state 2532 begin climb

2533.71 10759 126.52 0.64 -40.00 2387.2 2427.4 2346.9 2069.2 3024.3 225.28 0.00 504 2638.85 98.94 0.69 2.42 1.221 0.075 0.019 1871.59 1877.81 1865.38 2329.38 1488.88 0 0 0 12.40 15.60 15.36

2827.14 1092 126.52 0.69 0.00 1868.3 1874.9 1861.8 2329.2 1488.8 217.15 8.27 563 2832.73 0.00 0.00 2.60 0.000 0.000 0.062 1869.03 1876.56 1861.50 2329.38 3028.06 0 0 0 30.00 30.00 15.81

3137.19 16902 126.52 0.69 -40.00 1864.5 1877.9 1851.1 2330.0 3028.1 184.43 11.25 625 3142.76 0.00 0.00 2.37 0.000 0.000 0.018 1864.78 1878.25 1851.31 2339.62 1511.31 0 0 0 30.00 30.00 15.97

3332.29 17478 126.52 0.71 0.00 1864.5 1877.7 1851.4 2340.8 1501.8 165.16 9.33 664 3337.82 0.00 0.00 2.55 0.000 0.000 0.061 1865.12 1878.56 1851.69 2340.94 3024.62 0 0 0 30.00 30.00 16.00

3642.34 16450 126.52 0.74 0.00 1863.7 1879.4 1847.9 2341.1 3025.1 137.10 9.08 726 3643.67 0.00 0.00 0.00 0.000 0.000 0.000 1863.94 1878.38 1849.50 2339.75 3025.75 0 0 0 30.00 30.00 30.00

3947.46 16450 126.52 0.78 0.00 1862.7 1879.2 1846.2 2341.2 3025.2 110.11 8.37 787 3948.79 0.00 0.00 0.00 0.000 0.000 0.000 1862.56 1878.94 1846.19 2340.56 3025.00 0 0 0 30.00 30.00 30.00

4252.56 10791 214.49 0.89 -40.00 1862.7 1879.9 1845.4 2340.5 3025.4 91.53 5.59 848 4324.57 66.02 0.12 2.39 1.103 0.077 0.020 1513.81 1519.88 1507.75 2416.88 1516.06 0 0 0 12.16 15.95 15.64

4367.55 5125 214.49 0.89 0.00 1511.0 1515.1 1506.9 2418.1 1504.5 78.79 15.20 871 4373.23 0.00 0.17 2.59 0.000 0.348 0.065 1510.91 1514.88 1506.94 2380.25 3023.88 0 0 0 30.00 15.62 15.74

4557.68 516 214.49 0.89 -40.00 1508.0 1519.8 1496.2 2380.3 3023.8 51.08 13.03 909 4563.19 0.00 0.00 2.37 0.000 0.000 0.018 1508.03 1519.56 1496.50 2390.12 1509.94 0 0 0 30.00 30.00 15.84

4582.63 1028 214.49 0.89 0.00 1507.8 1519.2 1496.3 2391.4 1498.3 48.26 11.65 914 4588.23 0.00 0.00 2.57 0.000 0.000 0.062 1507.84 1518.50 1497.19 2391.56 3023.06 0 0 0 30.00 30.00 15.83

4772.71 16450 214.49 0.91 0.00 1507.2 1520.6 1493.7 2391.1 3022.9 28.90 9.23 952 4774.05 0.00 0.00 0.00 0.000 0.000 0.000 1507.22 1520.06 1494.38 2390.88 3023.25 0 0 0 30.00 30.00 30.00

4957.77 10791 308.47 1.03 -40.00 1506.1 1520.9 1491.4 2391.9 3024.0 14.60 5.26 989 5029.84 68.28 0.12 2.40 0.993 0.094 0.020 1131.66 1136.56 1126.75 2478.94 1522.44 0 0 0 12.20 15.92 15.64

5097 end climb: SURFACE_DEPTH_REACHED

state 5097 begin surface coast

5112 end surface coast: CONTROL_FINISHED_OK

state 5112 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	346	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	14.875526	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	60.671131	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	031022,211120,3757.534,-12453.794,1,1.9,6,13.6	TGT_RADIUS	1852.000
_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	-72.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	031022,211544,3757.531,-12453.799,3,2.0,7,13.6	MHEAD_RNG_PITCHd_Wd	105.5,20000,-22.0,-10.476,-26.38,1850,0.174
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	3752.131,-12441.952

FINISH	0.0,1.023828	FG_AHR_10Vo	14.916
SM_CCo	5157.43,29.07,0.987,0,962.5,948.2,976.8,350.17	MEM0	60148,1,0,0
SM_GC	2.76,29.07,7.09,2.96,0.987,0.137,0.070,962.5,948.2,976.8,175.4,3249.3,0,0,0,12.36,15.73,15.81	MEM1	65508,1,0,0
SUPER	19,127,254,1,0,0	MEM2	908752,87,136156,96
IRIDIUM_FIX	3758.13,-12451.91,031022,195628	DATA_FILE_SIZE	28925,1020
TCM_TEMP	16.31	CAP_FILE_SIZE	374146,0
XPDR_PINGS	0,13.0,11.5	SDSIZE	3887104,3789600
SC_FREEKB	3764928	SDFILEDIR	2020,1
HUMID	52.81	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.35	CURRENT	0.103,292.9,1
INTERNAL_PRESSURE	8.78077	MAGCAL	1.000000,-0.029433,-0.025490,-0.092008,1.054237,-0.102662,0.020146,0.050562,1.072716,-74.1,-1146.0,-620.8,27,0.0281,0
_24V_AH	14.98,72.227	IMPLIED_C_PITCH	2009,32.68,796,0.0,0.00
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2373,34.494995,440,0
FG_AHR_24Vo	60.789	GPS	031022,224301,3757.353,-12453.626,51,0.7,52,13.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	447	1254	8399.22	nil	0	0	0.00
Pitch_motor	18	469	127.51	nil	0	0	0.00
Roll_motor	49	143	107.62	nil	0	0	0.00
Iridium	160	174	417.67	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	15	15	3.57	nil	0	0	0.00
Core	1166	6	118.95	SciCon	5143	18	1399.18
Fast	28	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	2653	2	79.61
Compass	1369	5	102.73
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
7.63	16386	-126.52	-0.64	0.00	944.8	950.6	938.9	173.4	3109.9	0.00	0.00	0	69.60	61.44	0.00	0.00	0.005	0.000	0.000	2147.38	2190.94	2103.81	173.38	3110.12	0	0	0	15.60	30.00	30.00
69.86	18983	-126.52	-0.64	-40.00	2147.3	2189.7	2104.9	173.6	3109.6	3.44	-3.98	12	106.05	20.03	9.35	2.11	0.006	0.469	0.026	2906.09	2970.38	2841.81	1892.94	1744.06	0	0	0	15.67	15.44	15.61
168.39	1028	-126.52	-0.64	0.00	2908.2	2969.8	2846.7	1893.5	1733.1	19.76	-11.39	32	174.17	0.00	0.00	2.61	0.000	0.000	0.080	2908.66	2970.44	2846.88	1892.50	3250.38	0	0	0	30.00	30.00	15.88
358.43	260	-126.52	-0.64	40.00	2908.5	2969.9	2847.1	1892.2	3250.8	46.74	-13.81	70	363.17	0.00	0.00	1.10	0.000	0.000	0.093	2908.56	2968.44	2848.69	1889.25	3902.44	0	0	0	30.00	30.00	15.91
453.52	1028	-126.52	-0.64	0.00	2908.6	2969.4	2847.8	1889.4	3902.5	58.71	-12.02	89	458.27	0.00	0.00	1.12	0.000	0.000	0.038	2910.97	2971.38	2850.56	1888.69	3164.69	0	0	0	30.00	30.00	15.97
638.51	0	-126.52	-0.64	0.00	2909.1	2969.5	2848.6	1889.8	3165.4	79.96	-11.93	126	639.85	0.00	0.00	0.00	0.000	0.000	0.000	2908.16	2967.75	2848.56	1889.50	3164.38	0	0	0	30.00	30.00	30.00
823.58	260	-126.52	-0.64	40.00	2908.9	2969.6	2848.2	1889.0	3164.5	100.29	-10.31	163	828.37	0.00	0.00	1.26	0.000	0.000	0.091	2910.25	2969.75	2850.75	1886.88	3900.81	0	0	0	30.00	30.00	15.98
853.58	1028	-126.52	-0.64	0.00	2909.1	2969.4	2848.9	1887.6	3901.4	103.13	-9.69	169	858.33	0.00	0.00	1.12	0.000	0.000	0.037	2910.03	2969.69	2850.38	1887.44	3165.44	0	0	0	30.00	30.00	16.00
1158.76	516	-126.52	-0.64	-40.00	2908.9	2969.5	2848.3	1887.4	3165.1	129.48	-7.89	230	1164.23	0.00	0.00	2.18	0.000	0.000	0.021	2911.09	2971.62	2850.56	1887.00	1721.88	0	0	0	30.00	30.00	16.02
1178.77	1028	-126.52	-0.64	0.00	2908.6	2968.7	2848.5	1887.4	1718.9	130.98	-7.67	234	1184.32	0.00	0.00	2.61	0.000	0.000	0.078	2910.22	2970.12	2850.31	1887.19	3250.12	0	0	0	30.00	30.00	16.02
1488.82	548	-126.52	-0.64	-40.00	2908.8	2969.1	2848.6	1887.4	3249.9	152.36	-6.73	296	1494.38	0.00	0.00	2.36	0.000	0.000	0.024	2909.47	2969.38	2849.56	1887.25	1715.00	0	0	0	30.00	30.00	16.04
1508.83	1060	-126.52	-0.64	0.00	2909.0	2968.8	2849.2	1887.1	1712.7	153.65	-6.55	300	1514.43	0.00	0.00	2.62	0.000	0.000	0.079	2909.31	2969.31	2849.31	1886.94	3250.62	0	0	0	30.00	30.00	16.03
1818.91	32	-126.52	-0.64	0.00	2908.5	2968.1	2848.9	1887.0	3250.2	174.90	-7.48	362	1820.25	0.00	0.00	0.00	0.000	0.000	0.000	2907.75	2966.88	2848.62	1886.94	3250.75	0	0	0	30.00	30.00	30.00
2124.03	548	-126.52	-0.64	-40.00	2908.0	2967.7	2848.3	1887.1	3250.3	197.69	-7.36	423	2129.59	0.00	0.00	2.35	0.000	0.000	0.024	2907.97	2967.00	2848.94	1887.19	1714.25	0	0	0	30.00	30.00	16.09
2154.05	1060	-126.52	-0.64	0.00	2907.4	2966.1	2848.8	1887.8	1711.9	199.86	-7.30	429	2159.64	0.00	0.00	2.62	0.000	0.000	0.079	2909.47	2967.44	2851.50	1887.62	3250.56	0	0	0	30.00	30.00	16.08
2423	end dive: TARGET_DEPTH_EXCEEDED
state	2424	begin apogee
2425.40	10243	0.00	-0.11	0.00	2907.4	2966.1	2848.7	1887.7	2942.5	220.30	-8.21	483	2531.46	103.22	0.60	0.14	1.254	0.194	0.144	2388.84	2427.69	2350.00	2068.94	3024.69	0	0	0	12.10	15.98	15.49
2532	end apogee: CONTROL_FINISHED_OK
state	2532	begin climb
2533.71	10759	126.52	0.64	-40.00	2387.2	2427.4	2346.9	2069.2	3024.3	225.28	0.00	504	2638.85	98.94	0.69	2.42	1.221	0.075	0.019	1871.59	1877.81	1865.38	2329.38	1488.88	0	0	0	12.40	15.60	15.36
2827.14	1092	126.52	0.69	0.00	1868.3	1874.9	1861.8	2329.2	1488.8	217.15	8.27	563	2832.73	0.00	0.00	2.60	0.000	0.000	0.062	1869.03	1876.56	1861.50	2329.38	3028.06	0	0	0	30.00	30.00	15.81
3137.19	16902	126.52	0.69	-40.00	1864.5	1877.9	1851.1	2330.0	3028.1	184.43	11.25	625	3142.76	0.00	0.00	2.37	0.000	0.000	0.018	1864.78	1878.25	1851.31	2339.62	1511.31	0	0	0	30.00	30.00	15.97
3332.29	17478	126.52	0.71	0.00	1864.5	1877.7	1851.4	2340.8	1501.8	165.16	9.33	664	3337.82	0.00	0.00	2.55	0.000	0.000	0.061	1865.12	1878.56	1851.69	2340.94	3024.62	0	0	0	30.00	30.00	16.00
3642.34	16450	126.52	0.74	0.00	1863.7	1879.4	1847.9	2341.1	3025.1	137.10	9.08	726	3643.67	0.00	0.00	0.00	0.000	0.000	0.000	1863.94	1878.38	1849.50	2339.75	3025.75	0	0	0	30.00	30.00	30.00
3947.46	16450	126.52	0.78	0.00	1862.7	1879.2	1846.2	2341.2	3025.2	110.11	8.37	787	3948.79	0.00	0.00	0.00	0.000	0.000	0.000	1862.56	1878.94	1846.19	2340.56	3025.00	0	0	0	30.00	30.00	30.00
4252.56	10791	214.49	0.89	-40.00	1862.7	1879.9	1845.4	2340.5	3025.4	91.53	5.59	848	4324.57	66.02	0.12	2.39	1.103	0.077	0.020	1513.81	1519.88	1507.75	2416.88	1516.06	0	0	0	12.16	15.95	15.64
4367.55	5125	214.49	0.89	0.00	1511.0	1515.1	1506.9	2418.1	1504.5	78.79	15.20	871	4373.23	0.00	0.17	2.59	0.000	0.348	0.065	1510.91	1514.88	1506.94	2380.25	3023.88	0	0	0	30.00	15.62	15.74
4557.68	516	214.49	0.89	-40.00	1508.0	1519.8	1496.2	2380.3	3023.8	51.08	13.03	909	4563.19	0.00	0.00	2.37	0.000	0.000	0.018	1508.03	1519.56	1496.50	2390.12	1509.94	0	0	0	30.00	30.00	15.84
4582.63	1028	214.49	0.89	0.00	1507.8	1519.2	1496.3	2391.4	1498.3	48.26	11.65	914	4588.23	0.00	0.00	2.57	0.000	0.000	0.062	1507.84	1518.50	1497.19	2391.56	3023.06	0	0	0	30.00	30.00	15.83
4772.71	16450	214.49	0.91	0.00	1507.2	1520.6	1493.7	2391.1	3022.9	28.90	9.23	952	4774.05	0.00	0.00	0.00	0.000	0.000	0.000	1507.22	1520.06	1494.38	2390.88	3023.25	0	0	0	30.00	30.00	30.00
4957.77	10791	308.47	1.03	-40.00	1506.1	1520.9	1491.4	2391.9	3024.0	14.60	5.26	989	5029.84	68.28	0.12	2.40	0.993	0.094	0.020	1131.66	1136.56	1126.75	2478.94	1522.44	0	0	0	12.20	15.92	15.64
5097	end climb: SURFACE_DEPTH_REACHED
state	5097	begin surface coast
5112	end surface coast: CONTROL_FINISHED_OK
state	5112	begin surface