Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 362 * 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 362 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 15.458134 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 62.783974 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 -1 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 15.458134 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 62.783974 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 -1 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 362 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 041022,190631,3755.693,-12451.769,2,0.8,25,13.6 TGT_RADIUS 4000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.23 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 041022,191125,3755.678,-12451.755,2,0.6,4,13.6 MHEAD_RNG_PITCHd_Wd 75.5,79958,-22.0,-10.476,-26.38,1850,0.176

SPEED_LIMITS 0.105,0.211 D_GRID 1000

TGT_NAME East 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 3742.000,-12400.000

Post-dive calculations and measurements:

FINISH 0.1,1.023729 FG_AHR_10Vo 15.498

SM_CCo 5025.86,55.29,0.991,0,962.8,953.6,972.1,350.08 MEM0 60148,1,0,0

SM_GC 1.07,55.29,6.78,2.98,0.991,0.122,0.074,962.8,953.6,972.1,175.0,3250.2,0,0,0,12.25,15.85,15.93 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 908764,96,136024,93

IRIDIUM_FIX 3754.57,-12452.59,041022,174903 DATA_FILE_SIZE 28923,988

TCM_TEMP 17.13 CAP_FILE_SIZE 368607,0

XPDR_PINGS 0,13.0,11.5 SDSIZE 3887104,3785472

SC_FREEKB 3758784 SDFILEDIR 2116,1

HUMID 48.89 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.78 CURRENT 0.187,259.9,1

INTERNAL_PRESSURE 8.79241 MAGCAL 1.000000,-0.053634,-0.019773,-0.096723,1.089383,-0.027988,-0.026328,-0.007635,1.085980,-94.6,-1166.2,-609.1,35,0.0385,0

_24V_AH 14.95,74.800 IMPLIED_C_PITCH 2010,33.48,769,0.0,0.00

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2311,25.177105,395,0

FG_AHR_24Vo 62.903 GPS 041022,203547,3755.608,-12451.768,4,1.0,9,13.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 448 1242 8328.66 nil 0 0 0.00

Pitch_motor 17 468 122.65 nil 0 0 0.00

Roll_motor 51 138 106.94 nil 0 0 0.00

Iridium 187 181 508.71 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.08 nil 0 0 0.00

Core 1162 6 118.57 SciCon 4986 18 1367.24

Fast 30 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 2568 2 77.06

Compass 1327 5 99.56

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

7.68 16386 -126.52 -0.64 0.00 914.1 922.1 906.1 175.3 3106.3 0.00 0.00 0 69.59 61.31 0.00 0.00 0.005 0.000 0.000 2126.59 2169.88 2083.31 175.19 3105.94 0 0 0 15.58 30.00 30.00

69.84 18983 -126.52 -0.64 -40.00 2125.7 2168.0 2083.3 175.1 3106.4 3.29 -3.66 12 106.05 21.00 9.32 2.11 0.006 0.468 0.026 2905.31 2970.81 2839.81 1893.12 1738.62 0 0 0 15.65 15.41 15.59

153.40 1028 -126.52 -0.64 0.00 2908.0 2971.2 2844.8 1893.1 1727.6 16.85 -11.27 29 159.00 0.00 0.00 2.62 0.000 0.000 0.077 2908.25 2971.56 2844.94 1893.31 3248.69 0 0 0 30.00 30.00 15.88

343.42 0 -126.52 -0.64 0.00 2907.8 2970.6 2844.9 1893.1 3248.4 45.25 -14.17 67 344.76 0.00 0.00 0.00 0.000 0.000 0.000 2908.22 2970.81 2845.62 1892.94 3248.12 0 0 0 30.00 30.00 30.00

528.49 260 -126.52 -0.64 40.00 2908.3 2970.5 2846.2 1893.2 3249.2 70.13 -12.35 104 533.22 0.00 0.00 1.10 0.000 0.000 0.093 2910.41 2972.75 2848.06 1889.62 3903.38 0 0 0 30.00 30.00 15.94

568.50 1028 -126.52 -0.64 0.00 2908.8 2970.8 2846.8 1890.1 3903.0 74.77 -11.59 112 573.25 0.00 0.00 1.12 0.000 0.000 0.037 2909.56 2971.56 2847.56 1889.94 3164.94 0 0 0 30.00 30.00 15.99

753.56 260 -126.52 -0.64 40.00 2908.5 2970.2 2846.9 1889.8 3164.8 95.20 -10.61 149 758.33 0.00 0.00 1.26 0.000 0.000 0.090 2910.00 2971.00 2849.00 1885.81 3899.06 0 0 0 30.00 30.00 15.97

788.57 1028 -126.52 -0.64 0.00 2908.8 2970.2 2847.2 1886.6 3899.6 98.88 -10.51 156 793.32 0.00 0.00 1.12 0.000 0.000 0.036 2910.66 2972.19 2849.12 1886.75 3164.56 0 0 0 30.00 30.00 16.01

973.62 516 -126.52 -0.64 -40.00 2908.9 2970.4 2847.3 1886.8 3165.2 118.06 -9.16 193 979.17 0.00 0.00 2.18 0.000 0.000 0.021 2909.19 2970.56 2847.81 1886.44 1704.31 0 0 0 30.00 30.00 16.02

1003.64 1028 -126.52 -0.64 0.00 2908.5 2969.8 2847.2 1886.7 1703.1 120.69 -8.68 199 1009.29 0.00 0.00 2.64 0.000 0.000 0.078 2910.19 2971.12 2849.25 1886.06 3250.00 0 0 0 30.00 30.00 16.01

1313.74 0 -126.52 -0.64 0.00 2908.6 2969.3 2847.9 1887.2 3250.7 146.73 -8.43 261 1315.08 0.00 0.00 0.00 0.000 0.000 0.000 2909.06 2970.06 2848.06 1886.81 3250.31 0 0 0 30.00 30.00 30.00

1618.85 516 -126.52 -0.64 -40.00 2908.4 2969.1 2847.6 1886.8 3250.1 171.26 -7.76 322 1624.43 0.00 0.00 2.35 0.000 0.000 0.023 2908.81 2968.56 2849.06 1886.56 1713.50 0 0 0 30.00 30.00 16.06

1648.87 1028 -126.52 -0.64 0.00 2907.9 2968.4 2847.4 1886.6 1712.4 173.50 -7.58 328 1654.49 0.00 0.00 2.62 0.000 0.000 0.078 2907.91 2967.50 2848.31 1886.50 3250.38 0 0 0 30.00 30.00 16.06

1958.99 32 -126.52 -0.64 0.00 2907.9 2968.2 2847.7 1886.7 3250.2 196.12 -7.27 390 1960.33 0.00 0.00 0.00 0.000 0.000 0.000 2907.03 2966.19 2847.88 1886.12 3250.44 0 0 0 30.00 30.00 30.00

2264.09 516 -126.52 -0.64 -40.00 2907.2 2966.1 2848.2 1886.5 3250.6 219.63 -8.14 451 2269.66 0.00 0.00 2.34 0.000 0.000 0.024 2909.69 2968.94 2850.44 1886.06 1709.81 0 0 0 30.00 30.00 16.09

2273 end dive: TARGET_DEPTH_EXCEEDED

state 2274 begin apogee

2277.72 10243 0.00 -0.11 0.00 2906.1 2964.3 2847.8 1886.7 3021.4 220.49 -8.23 453 2383.57 103.69 0.61 0.09 1.243 0.203 0.139 2386.84 2426.94 2346.75 2069.06 2952.75 0 0 0 12.04 15.95 15.51

2384 end apogee: CONTROL_FINISHED_OK

state 2384 begin climb

2385.90 10759 126.52 0.64 -40.00 2386.9 2427.6 2346.1 2068.9 2952.0 225.81 0.00 474 2491.84 99.36 0.72 2.29 1.213 0.101 0.018 1872.06 1877.88 1866.25 2326.00 1473.44 0 0 0 12.38 15.60 15.37

2649.32 1092 126.52 0.67 0.00 1869.2 1874.6 1863.8 2325.6 1473.0 219.83 9.17 527 2654.87 0.00 0.00 2.64 0.000 0.000 0.064 1867.84 1875.75 1859.94 2326.31 3022.44 0 0 0 30.00 30.00 15.79

2959.34 16386 126.52 0.67 0.00 1865.3 1878.1 1852.4 2326.2 3022.9 184.49 11.33 589 2960.68 0.00 0.00 0.00 0.000 0.000 0.000 1865.28 1878.19 1852.38 2325.50 3022.44 0 0 0 30.00 30.00 30.00

3264.46 16902 126.52 0.67 -40.00 1864.0 1878.8 1849.1 2326.3 3022.8 153.47 10.72 650 3270.04 0.00 0.00 2.35 0.000 0.000 0.017 1864.56 1879.44 1849.69 2336.94 1504.31 0 0 0 30.00 30.00 16.02

3274.46 17414 126.52 0.67 0.00 1864.3 1879.4 1849.2 2337.7 1492.7 152.51 10.40 652 3280.08 0.00 0.00 2.56 0.000 0.000 0.064 1866.03 1881.19 1850.88 2336.50 3021.19 0 0 0 30.00 30.00 16.01

3584.58 16450 126.52 0.72 0.00 1863.0 1878.9 1847.1 2337.6 3020.9 125.27 8.07 714 3585.91 0.00 0.00 0.00 0.000 0.000 0.000 1863.19 1879.00 1847.38 2337.69 3021.25 0 0 0 30.00 30.00 30.00

3889.66 8486 206.86 0.82 40.00 1862.5 1879.1 1846.0 2337.3 3021.2 106.41 6.01 775 3955.36 60.88 0.00 1.49 1.112 0.000 0.078 1544.97 1554.25 1535.69 2337.25 3903.94 0 0 0 12.18 30.00 15.64

3979.65 1028 206.86 0.82 0.00 1543.4 1553.8 1533.1 2337.4 3904.0 98.91 10.96 793 3984.47 0.00 0.00 1.51 0.000 0.000 0.021 1544.06 1554.75 1533.38 2344.69 2864.44 0 0 0 30.00 30.00 15.74

4164.72 260 206.86 0.82 40.00 1540.5 1554.6 1526.4 2345.6 2864.4 77.65 11.36 830 4169.58 0.00 0.00 1.77 0.000 0.000 0.074 1540.97 1555.31 1526.62 2344.31 3903.88 0 0 0 30.00 30.00 15.78

4184.72 1028 206.86 0.82 0.00 1540.1 1554.2 1525.9 2345.1 3904.2 75.03 12.68 834 4189.53 0.00 0.00 1.49 0.000 0.000 0.020 1540.66 1554.88 1526.44 2353.75 2839.38 0 0 0 30.00 30.00 15.81

4369.77 260 206.86 0.82 40.00 1538.7 1554.5 1522.8 2353.8 2837.4 53.47 10.67 871 4374.65 0.00 0.00 1.81 0.000 0.000 0.075 1538.78 1554.81 1522.75 2353.69 3902.50 0 0 0 30.00 30.00 15.88

4419.77 17414 206.86 0.82 0.00 1538.5 1554.3 1522.8 2353.1 3902.1 47.73 11.61 881 4424.58 0.00 0.00 1.48 0.000 0.000 0.022 1538.84 1554.75 1522.94 2361.38 2875.25 0 0 0 30.00 30.00 15.91

4604.85 8486 269.30 0.89 40.00 1538.0 1554.4 1521.6 2361.2 2874.6 33.73 7.01 918 4656.22 46.83 0.00 1.76 1.010 0.000 0.077 1291.06 1301.00 1281.12 2361.75 3904.56 0 0 0 12.20 30.00 15.70

4674.83 1028 269.30 0.89 0.00 1289.4 1300.2 1278.6 2361.3 3904.3 26.46 12.92 932 4679.65 0.00 0.00 1.51 0.000 0.000 0.018 1290.50 1301.25 1279.75 2367.69 2853.44 0 0 0 30.00 30.00 15.76

4859.91 2629 269.30 0.95 -40.00 1285.3 1301.7 1269.0 2368.8 2851.7 8.17 7.51 969 4865.48 0.00 0.10 2.06 0.000 0.095 0.018 1285.00 1301.38 1268.62 2436.88 1500.69 0 0 0 30.00 15.82 15.86

4929 end climb: SURFACE_DEPTH_REACHED

state 4929 begin surface coast

4954 end surface coast: CONTROL_FINISHED_OK

state 4954 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	362	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	15.458134	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	62.783974	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	-1	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	041022,190631,3755.693,-12451.769,2,0.8,25,13.6	TGT_RADIUS	4000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.23	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	041022,191125,3755.678,-12451.755,2,0.6,4,13.6	MHEAD_RNG_PITCHd_Wd	75.5,79958,-22.0,-10.476,-26.38,1850,0.176
SPEED_LIMITS	0.105,0.211	D_GRID	1000
TGT_NAME	East	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	3742.000,-12400.000

FINISH	0.1,1.023729	FG_AHR_10Vo	15.498
SM_CCo	5025.86,55.29,0.991,0,962.8,953.6,972.1,350.08	MEM0	60148,1,0,0
SM_GC	1.07,55.29,6.78,2.98,0.991,0.122,0.074,962.8,953.6,972.1,175.0,3250.2,0,0,0,12.25,15.85,15.93	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	908764,96,136024,93
IRIDIUM_FIX	3754.57,-12452.59,041022,174903	DATA_FILE_SIZE	28923,988
TCM_TEMP	17.13	CAP_FILE_SIZE	368607,0
XPDR_PINGS	0,13.0,11.5	SDSIZE	3887104,3785472
SC_FREEKB	3758784	SDFILEDIR	2116,1
HUMID	48.89	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.78	CURRENT	0.187,259.9,1
INTERNAL_PRESSURE	8.79241	MAGCAL	1.000000,-0.053634,-0.019773,-0.096723,1.089383,-0.027988,-0.026328,-0.007635,1.085980,-94.6,-1166.2,-609.1,35,0.0385,0
_24V_AH	14.95,74.800	IMPLIED_C_PITCH	2010,33.48,769,0.0,0.00
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2311,25.177105,395,0
FG_AHR_24Vo	62.903	GPS	041022,203547,3755.608,-12451.768,4,1.0,9,13.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	448	1242	8328.66	nil	0	0	0.00
Pitch_motor	17	468	122.65	nil	0	0	0.00
Roll_motor	51	138	106.94	nil	0	0	0.00
Iridium	187	181	508.71	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.08	nil	0	0	0.00
Core	1162	6	118.57	SciCon	4986	18	1367.24
Fast	30	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	2568	2	77.06
Compass	1327	5	99.56
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
7.68	16386	-126.52	-0.64	0.00	914.1	922.1	906.1	175.3	3106.3	0.00	0.00	0	69.59	61.31	0.00	0.00	0.005	0.000	0.000	2126.59	2169.88	2083.31	175.19	3105.94	0	0	0	15.58	30.00	30.00
69.84	18983	-126.52	-0.64	-40.00	2125.7	2168.0	2083.3	175.1	3106.4	3.29	-3.66	12	106.05	21.00	9.32	2.11	0.006	0.468	0.026	2905.31	2970.81	2839.81	1893.12	1738.62	0	0	0	15.65	15.41	15.59
153.40	1028	-126.52	-0.64	0.00	2908.0	2971.2	2844.8	1893.1	1727.6	16.85	-11.27	29	159.00	0.00	0.00	2.62	0.000	0.000	0.077	2908.25	2971.56	2844.94	1893.31	3248.69	0	0	0	30.00	30.00	15.88
343.42	0	-126.52	-0.64	0.00	2907.8	2970.6	2844.9	1893.1	3248.4	45.25	-14.17	67	344.76	0.00	0.00	0.00	0.000	0.000	0.000	2908.22	2970.81	2845.62	1892.94	3248.12	0	0	0	30.00	30.00	30.00
528.49	260	-126.52	-0.64	40.00	2908.3	2970.5	2846.2	1893.2	3249.2	70.13	-12.35	104	533.22	0.00	0.00	1.10	0.000	0.000	0.093	2910.41	2972.75	2848.06	1889.62	3903.38	0	0	0	30.00	30.00	15.94
568.50	1028	-126.52	-0.64	0.00	2908.8	2970.8	2846.8	1890.1	3903.0	74.77	-11.59	112	573.25	0.00	0.00	1.12	0.000	0.000	0.037	2909.56	2971.56	2847.56	1889.94	3164.94	0	0	0	30.00	30.00	15.99
753.56	260	-126.52	-0.64	40.00	2908.5	2970.2	2846.9	1889.8	3164.8	95.20	-10.61	149	758.33	0.00	0.00	1.26	0.000	0.000	0.090	2910.00	2971.00	2849.00	1885.81	3899.06	0	0	0	30.00	30.00	15.97
788.57	1028	-126.52	-0.64	0.00	2908.8	2970.2	2847.2	1886.6	3899.6	98.88	-10.51	156	793.32	0.00	0.00	1.12	0.000	0.000	0.036	2910.66	2972.19	2849.12	1886.75	3164.56	0	0	0	30.00	30.00	16.01
973.62	516	-126.52	-0.64	-40.00	2908.9	2970.4	2847.3	1886.8	3165.2	118.06	-9.16	193	979.17	0.00	0.00	2.18	0.000	0.000	0.021	2909.19	2970.56	2847.81	1886.44	1704.31	0	0	0	30.00	30.00	16.02
1003.64	1028	-126.52	-0.64	0.00	2908.5	2969.8	2847.2	1886.7	1703.1	120.69	-8.68	199	1009.29	0.00	0.00	2.64	0.000	0.000	0.078	2910.19	2971.12	2849.25	1886.06	3250.00	0	0	0	30.00	30.00	16.01
1313.74	0	-126.52	-0.64	0.00	2908.6	2969.3	2847.9	1887.2	3250.7	146.73	-8.43	261	1315.08	0.00	0.00	0.00	0.000	0.000	0.000	2909.06	2970.06	2848.06	1886.81	3250.31	0	0	0	30.00	30.00	30.00
1618.85	516	-126.52	-0.64	-40.00	2908.4	2969.1	2847.6	1886.8	3250.1	171.26	-7.76	322	1624.43	0.00	0.00	2.35	0.000	0.000	0.023	2908.81	2968.56	2849.06	1886.56	1713.50	0	0	0	30.00	30.00	16.06
1648.87	1028	-126.52	-0.64	0.00	2907.9	2968.4	2847.4	1886.6	1712.4	173.50	-7.58	328	1654.49	0.00	0.00	2.62	0.000	0.000	0.078	2907.91	2967.50	2848.31	1886.50	3250.38	0	0	0	30.00	30.00	16.06
1958.99	32	-126.52	-0.64	0.00	2907.9	2968.2	2847.7	1886.7	3250.2	196.12	-7.27	390	1960.33	0.00	0.00	0.00	0.000	0.000	0.000	2907.03	2966.19	2847.88	1886.12	3250.44	0	0	0	30.00	30.00	30.00
2264.09	516	-126.52	-0.64	-40.00	2907.2	2966.1	2848.2	1886.5	3250.6	219.63	-8.14	451	2269.66	0.00	0.00	2.34	0.000	0.000	0.024	2909.69	2968.94	2850.44	1886.06	1709.81	0	0	0	30.00	30.00	16.09
2273	end dive: TARGET_DEPTH_EXCEEDED
state	2274	begin apogee
2277.72	10243	0.00	-0.11	0.00	2906.1	2964.3	2847.8	1886.7	3021.4	220.49	-8.23	453	2383.57	103.69	0.61	0.09	1.243	0.203	0.139	2386.84	2426.94	2346.75	2069.06	2952.75	0	0	0	12.04	15.95	15.51
2384	end apogee: CONTROL_FINISHED_OK
state	2384	begin climb
2385.90	10759	126.52	0.64	-40.00	2386.9	2427.6	2346.1	2068.9	2952.0	225.81	0.00	474	2491.84	99.36	0.72	2.29	1.213	0.101	0.018	1872.06	1877.88	1866.25	2326.00	1473.44	0	0	0	12.38	15.60	15.37
2649.32	1092	126.52	0.67	0.00	1869.2	1874.6	1863.8	2325.6	1473.0	219.83	9.17	527	2654.87	0.00	0.00	2.64	0.000	0.000	0.064	1867.84	1875.75	1859.94	2326.31	3022.44	0	0	0	30.00	30.00	15.79
2959.34	16386	126.52	0.67	0.00	1865.3	1878.1	1852.4	2326.2	3022.9	184.49	11.33	589	2960.68	0.00	0.00	0.00	0.000	0.000	0.000	1865.28	1878.19	1852.38	2325.50	3022.44	0	0	0	30.00	30.00	30.00
3264.46	16902	126.52	0.67	-40.00	1864.0	1878.8	1849.1	2326.3	3022.8	153.47	10.72	650	3270.04	0.00	0.00	2.35	0.000	0.000	0.017	1864.56	1879.44	1849.69	2336.94	1504.31	0	0	0	30.00	30.00	16.02
3274.46	17414	126.52	0.67	0.00	1864.3	1879.4	1849.2	2337.7	1492.7	152.51	10.40	652	3280.08	0.00	0.00	2.56	0.000	0.000	0.064	1866.03	1881.19	1850.88	2336.50	3021.19	0	0	0	30.00	30.00	16.01
3584.58	16450	126.52	0.72	0.00	1863.0	1878.9	1847.1	2337.6	3020.9	125.27	8.07	714	3585.91	0.00	0.00	0.00	0.000	0.000	0.000	1863.19	1879.00	1847.38	2337.69	3021.25	0	0	0	30.00	30.00	30.00
3889.66	8486	206.86	0.82	40.00	1862.5	1879.1	1846.0	2337.3	3021.2	106.41	6.01	775	3955.36	60.88	0.00	1.49	1.112	0.000	0.078	1544.97	1554.25	1535.69	2337.25	3903.94	0	0	0	12.18	30.00	15.64
3979.65	1028	206.86	0.82	0.00	1543.4	1553.8	1533.1	2337.4	3904.0	98.91	10.96	793	3984.47	0.00	0.00	1.51	0.000	0.000	0.021	1544.06	1554.75	1533.38	2344.69	2864.44	0	0	0	30.00	30.00	15.74
4164.72	260	206.86	0.82	40.00	1540.5	1554.6	1526.4	2345.6	2864.4	77.65	11.36	830	4169.58	0.00	0.00	1.77	0.000	0.000	0.074	1540.97	1555.31	1526.62	2344.31	3903.88	0	0	0	30.00	30.00	15.78
4184.72	1028	206.86	0.82	0.00	1540.1	1554.2	1525.9	2345.1	3904.2	75.03	12.68	834	4189.53	0.00	0.00	1.49	0.000	0.000	0.020	1540.66	1554.88	1526.44	2353.75	2839.38	0	0	0	30.00	30.00	15.81
4369.77	260	206.86	0.82	40.00	1538.7	1554.5	1522.8	2353.8	2837.4	53.47	10.67	871	4374.65	0.00	0.00	1.81	0.000	0.000	0.075	1538.78	1554.81	1522.75	2353.69	3902.50	0	0	0	30.00	30.00	15.88
4419.77	17414	206.86	0.82	0.00	1538.5	1554.3	1522.8	2353.1	3902.1	47.73	11.61	881	4424.58	0.00	0.00	1.48	0.000	0.000	0.022	1538.84	1554.75	1522.94	2361.38	2875.25	0	0	0	30.00	30.00	15.91
4604.85	8486	269.30	0.89	40.00	1538.0	1554.4	1521.6	2361.2	2874.6	33.73	7.01	918	4656.22	46.83	0.00	1.76	1.010	0.000	0.077	1291.06	1301.00	1281.12	2361.75	3904.56	0	0	0	12.20	30.00	15.70
4674.83	1028	269.30	0.89	0.00	1289.4	1300.2	1278.6	2361.3	3904.3	26.46	12.92	932	4679.65	0.00	0.00	1.51	0.000	0.000	0.018	1290.50	1301.25	1279.75	2367.69	2853.44	0	0	0	30.00	30.00	15.76
4859.91	2629	269.30	0.95	-40.00	1285.3	1301.7	1269.0	2368.8	2851.7	8.17	7.51	969	4865.48	0.00	0.10	2.06	0.000	0.095	0.018	1285.00	1301.38	1268.62	2436.88	1500.69	0	0	0	30.00	15.82	15.86
4929	end climb: SURFACE_DEPTH_REACHED
state	4929	begin surface coast
4954	end surface coast: CONTROL_FINISHED_OK
state	4954	begin surface