Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 399 * 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 399 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 16.834484 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 67.6735 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 45 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 16.834484 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 67.6735 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 45 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 399 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 061022,234936,3758.794,-12447.250,42,1.2,46,13.6 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.22 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 061022,235415,3758.768,-12447.234,4,1.2,8,13.6 MHEAD_RNG_PITCHd_Wd 40.0,20000,-22.0,-10.476,-26.38,1850,0.188

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 3806.405,-12437.529

Post-dive calculations and measurements:

FINISH 0.0,1.012791 FG_AHR_10Vo 16.876

SM_CCo 5128.85,43.98,0.981,0,963.7,958.4,968.9,349.88 MEM0 60148,1,0,0

SM_GC 0.96,43.98,6.49,0.35,0.981,0.105,0.060,963.7,958.4,968.9,174.7,3273.3,0,0,0,12.19,15.84,15.89 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 907928,137,136040,93

IRIDIUM_FIX 3801.26,-12457.28,061022,224416 DATA_FILE_SIZE 28897,1012

TCM_TEMP 17.53 CAP_FILE_SIZE 370712,0

XPDR_PINGS 1,13.0,11.5 SDSIZE 3887104,3776000

SC_FREEKB 3744576 SDFILEDIR 2338,1

HUMID 53.60 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.87 CURRENT 0.043,260.5,1

INTERNAL_PRESSURE 8.80082 MAGCAL 1.000000,-0.058747,-0.125854,-0.168308,1.140343,-0.155837,-0.025342,0.139391,1.112610,-100.6,-1115.5,-609.0,23,0.0335,0

_24V_AH 15.02,80.790 IMPLIED_C_PITCH 2005,32.80,786,0.0,0.00

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2335,28.364338,448,0

FG_AHR_24Vo 67.791 GPS 071022,012043,3759.022,-12446.866,28,1.1,32,13.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 447 1235 8305.89 nil 0 0 0.00

Pitch_motor 17 467 119.70 nil 0 0 0.00

Roll_motor 48 147 108.05 nil 0 0 0.00

Iridium 162 181 443.77 nil 0 0 0.00

Transponder_ping 0 420 1.58 nil 0 0 0.00

GPS 17 15 3.88 nil 0 0 0.00

Core 1165 6 118.92 SciCon 5105 18 1423.91

Fast 34 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 2628 2 78.84

Compass 1361 5 102.09

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

7.75 16386 -126.52 -0.64 0.00 932.2 943.9 920.5 175.1 3141.0 0.00 0.00 0 69.61 61.31 0.00 0.00 0.005 0.000 0.000 2135.78 2178.88 2092.69 175.38 3140.31 0 0 0 15.61 30.00 30.00

69.87 18983 -126.52 -0.64 -40.00 2135.8 2178.1 2093.4 175.3 3140.1 3.25 -3.80 12 106.06 20.73 9.27 2.16 0.006 0.467 0.027 2905.50 2970.56 2840.44 1892.81 1732.81 0 0 0 15.68 15.44 15.60

143.37 1028 -126.52 -0.64 0.00 2907.1 2969.4 2844.8 1893.1 1719.8 15.57 -11.67 27 149.05 0.00 0.00 2.63 0.000 0.000 0.079 2908.62 2970.50 2846.75 1892.62 3250.06 0 0 0 30.00 30.00 15.87

333.44 260 -126.52 -0.64 40.00 2907.3 2969.2 2845.4 1893.2 3249.4 44.24 -12.29 65 338.20 0.00 0.00 1.10 0.000 0.000 0.096 2907.53 2969.50 2845.56 1890.50 3900.56 0 0 0 30.00 30.00 15.90

383.46 1028 -126.52 -0.64 0.00 2907.4 2968.5 2846.2 1890.2 3900.7 49.90 -11.17 75 388.23 0.00 0.00 1.12 0.000 0.000 0.039 2909.72 2971.12 2848.31 1889.56 3166.12 0 0 0 30.00 30.00 15.96

568.51 516 -126.52 -0.64 -40.00 2907.8 2968.6 2847.1 1890.1 3166.3 71.42 -11.53 112 574.09 0.00 0.00 2.18 0.000 0.000 0.022 2909.16 2969.12 2849.19 1889.31 1717.94 0 0 0 30.00 30.00 15.98

583.52 1028 -126.52 -0.64 0.00 2907.9 2968.8 2847.1 1890.0 1711.4 73.10 -11.31 115 589.17 0.00 0.00 2.63 0.000 0.000 0.080 2908.19 2968.88 2847.50 1889.69 3248.75 0 0 0 30.00 30.00 15.97

773.57 0 -126.52 -0.64 0.00 2908.0 2968.5 2847.4 1889.9 3248.7 91.58 -9.50 153 774.91 0.00 0.00 0.00 0.000 0.000 0.000 2908.44 2968.50 2848.38 1889.62 3248.44 0 0 0 30.00 30.00 30.00

958.64 0 -126.52 -0.64 0.00 2908.3 2969.0 2847.6 1889.9 3249.6 107.72 -8.00 190 959.98 0.00 0.00 0.00 0.000 0.000 0.000 2908.53 2968.81 2848.25 1890.31 3248.38 0 0 0 30.00 30.00 30.00

1263.75 32 -126.52 -0.64 0.00 2907.9 2968.3 2847.5 1889.8 3248.7 129.28 -7.42 251 1265.09 0.00 0.00 0.00 0.000 0.000 0.000 2907.34 2966.94 2847.75 1889.56 3248.62 0 0 0 30.00 30.00 30.00

1568.81 516 -126.52 -0.64 -40.00 2908.1 2968.8 2847.3 1889.9 3248.3 153.34 -7.74 312 1574.41 0.00 0.00 2.34 0.000 0.000 0.024 2908.19 2968.38 2848.00 1889.69 1708.88 0 0 0 30.00 30.00 16.03

1598.83 1028 -126.52 -0.64 0.00 2907.6 2967.2 2847.9 1889.8 1707.6 155.57 -7.50 318 1604.46 0.00 0.00 2.62 0.000 0.000 0.080 2907.84 2968.12 2847.56 1890.12 3249.50 0 0 0 30.00 30.00 16.02

1908.90 260 -126.52 -0.64 40.00 2907.4 2967.2 2847.6 1890.2 3248.5 179.34 -7.95 380 1913.66 0.00 0.00 1.09 0.000 0.000 0.097 2907.50 2966.44 2848.56 1886.75 3898.94 0 0 0 30.00 30.00 16.01

1933.90 1028 -126.52 -0.64 0.00 2906.7 2965.8 2847.7 1886.8 3898.7 181.37 -8.00 385 1938.68 0.00 0.00 1.12 0.000 0.000 0.040 2906.66 2965.44 2847.88 1886.94 3167.44 0 0 0 30.00 30.00 16.06

2238.99 0 -126.52 -0.64 0.00 2906.4 2964.8 2847.9 1886.4 3166.1 205.77 -7.92 446 2240.32 0.00 0.00 0.00 0.000 0.000 0.000 2908.28 2967.38 2849.19 1885.44 3166.50 0 0 0 30.00 30.00 30.00

2433 end dive: TARGET_DEPTH_EXCEEDED

state 2434 begin apogee

2435.32 10243 0.00 -0.11 0.00 2906.0 2964.2 2847.8 1886.6 2946.1 220.15 -7.10 485 2541.41 103.21 0.60 0.13 1.235 0.194 0.148 2388.72 2429.38 2348.06 2069.62 3022.62 0 0 0 12.04 15.94 15.46

2542 end apogee: CONTROL_FINISHED_OK

state 2542 begin climb

2543.96 10503 126.52 0.64 40.00 2387.3 2428.2 2346.4 2069.0 3022.6 224.19 0.00 506 2648.74 99.36 0.70 1.53 1.209 0.090 0.083 1873.06 1880.00 1866.12 2315.44 3900.75 0 0 0 12.42 15.61 15.34

2777.13 1028 126.52 0.64 0.00 1867.5 1878.2 1856.8 2315.7 3900.7 216.70 11.11 553 2781.96 0.00 0.00 1.50 0.000 0.000 0.022 1867.31 1878.62 1856.00 2324.12 2854.69 0 0 0 30.00 30.00 15.77

3087.11 16710 126.52 0.66 40.00 1865.1 1880.7 1849.4 2323.9 2854.0 185.33 9.62 615 3092.00 0.00 0.00 1.78 0.000 0.000 0.079 1865.06 1881.44 1848.69 2323.62 3901.31 0 0 0 30.00 30.00 15.92

3157.11 17414 126.52 0.66 0.00 1865.1 1881.2 1848.9 2323.8 3900.5 177.56 11.51 629 3161.96 0.00 0.00 1.48 0.000 0.000 0.022 1865.16 1881.44 1848.88 2330.94 2875.19 0 0 0 30.00 30.00 15.96

3467.16 16710 126.52 0.69 40.00 1864.1 1881.4 1846.8 2330.8 2874.4 147.43 9.29 691 3472.05 0.00 0.00 1.74 0.000 0.000 0.078 1864.06 1881.75 1846.38 2331.44 3902.31 0 0 0 30.00 30.00 15.91

3532.16 17414 126.52 0.69 0.00 1863.9 1881.3 1846.5 2330.6 3902.1 140.41 10.83 704 3536.99 0.00 0.00 1.48 0.000 0.000 0.023 1864.34 1881.19 1847.50 2339.19 2853.69 0 0 0 30.00 30.00 15.90

3837.25 16966 126.52 0.72 -40.00 1863.3 1881.6 1845.1 2339.5 2854.1 113.13 8.59 765 3842.79 0.00 0.00 2.03 0.000 0.000 0.017 1863.75 1881.12 1846.38 2348.69 1489.56 0 0 0 30.00 30.00 15.96

4042.30 9254 209.61 0.83 0.00 1863.0 1880.8 1845.3 2349.4 1489.4 99.59 5.86 806 4109.18 62.63 0.00 2.55 1.094 0.000 0.064 1534.91 1544.06 1525.75 2349.31 3023.00 0 0 0 12.08 30.00 15.89

4292.34 516 209.61 0.83 -40.00 1528.0 1542.9 1513.2 2349.4 3022.8 68.15 12.07 856 4297.94 0.00 0.00 2.37 0.000 0.000 0.019 1529.59 1544.25 1514.94 2359.19 1506.19 0 0 0 30.00 30.00 15.76

4307.35 1028 209.61 0.83 0.00 1527.4 1541.9 1512.9 2360.8 1495.4 66.56 11.25 859 4312.99 0.00 0.00 2.58 0.000 0.000 0.066 1527.06 1542.38 1511.75 2361.31 3021.25 0 0 0 30.00 30.00 15.80

4497.42 16966 209.61 0.86 -40.00 1526.1 1542.8 1509.4 2361.2 3021.9 48.48 8.93 897 4503.00 0.00 0.00 2.36 0.000 0.000 0.020 1525.94 1542.62 1509.25 2371.06 1520.81 0 0 0 30.00 30.00 15.87

4732.49 9254 286.08 0.95 0.00 1524.8 1540.2 1509.2 2372.6 1507.4 29.84 6.23 944 4794.25 56.42 0.00 2.53 0.999 0.000 0.063 1223.78 1234.25 1213.31 2372.19 3023.75 0 0 0 12.20 30.00 15.89

4977.52 516 286.08 0.95 -40.00 1217.3 1235.2 1199.4 2372.9 3023.4 11.15 11.81 993 4983.12 0.00 0.00 2.37 0.000 0.000 0.019 1217.97 1236.12 1199.81 2382.31 1523.38 0 0 0 30.00 30.00 15.80

5012.59 1028 286.08 0.95 0.00 1216.8 1234.2 1199.4 2383.7 1510.2 6.85 12.27 1000 5018.18 0.00 0.00 2.55 0.000 0.000 0.063 1216.62 1233.94 1199.31 2383.81 3022.94 0 0 0 30.00 30.00 15.80

5052 end climb: SURFACE_DEPTH_REACHED

state 5052 begin surface coast

5072 end surface coast: CONTROL_FINISHED_OK

state 5072 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	399	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	16.834484	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	67.6735	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	45	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	061022,234936,3758.794,-12447.250,42,1.2,46,13.6	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.22	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	061022,235415,3758.768,-12447.234,4,1.2,8,13.6	MHEAD_RNG_PITCHd_Wd	40.0,20000,-22.0,-10.476,-26.38,1850,0.188
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	3806.405,-12437.529

FINISH	0.0,1.012791	FG_AHR_10Vo	16.876
SM_CCo	5128.85,43.98,0.981,0,963.7,958.4,968.9,349.88	MEM0	60148,1,0,0
SM_GC	0.96,43.98,6.49,0.35,0.981,0.105,0.060,963.7,958.4,968.9,174.7,3273.3,0,0,0,12.19,15.84,15.89	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	907928,137,136040,93
IRIDIUM_FIX	3801.26,-12457.28,061022,224416	DATA_FILE_SIZE	28897,1012
TCM_TEMP	17.53	CAP_FILE_SIZE	370712,0
XPDR_PINGS	1,13.0,11.5	SDSIZE	3887104,3776000
SC_FREEKB	3744576	SDFILEDIR	2338,1
HUMID	53.60	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.87	CURRENT	0.043,260.5,1
INTERNAL_PRESSURE	8.80082	MAGCAL	1.000000,-0.058747,-0.125854,-0.168308,1.140343,-0.155837,-0.025342,0.139391,1.112610,-100.6,-1115.5,-609.0,23,0.0335,0
_24V_AH	15.02,80.790	IMPLIED_C_PITCH	2005,32.80,786,0.0,0.00
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2335,28.364338,448,0
FG_AHR_24Vo	67.791	GPS	071022,012043,3759.022,-12446.866,28,1.1,32,13.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	447	1235	8305.89	nil	0	0	0.00
Pitch_motor	17	467	119.70	nil	0	0	0.00
Roll_motor	48	147	108.05	nil	0	0	0.00
Iridium	162	181	443.77	nil	0	0	0.00
Transponder_ping	0	420	1.58	nil	0	0	0.00
GPS	17	15	3.88	nil	0	0	0.00
Core	1165	6	118.92	SciCon	5105	18	1423.91
Fast	34	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	2628	2	78.84
Compass	1361	5	102.09
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
7.75	16386	-126.52	-0.64	0.00	932.2	943.9	920.5	175.1	3141.0	0.00	0.00	0	69.61	61.31	0.00	0.00	0.005	0.000	0.000	2135.78	2178.88	2092.69	175.38	3140.31	0	0	0	15.61	30.00	30.00
69.87	18983	-126.52	-0.64	-40.00	2135.8	2178.1	2093.4	175.3	3140.1	3.25	-3.80	12	106.06	20.73	9.27	2.16	0.006	0.467	0.027	2905.50	2970.56	2840.44	1892.81	1732.81	0	0	0	15.68	15.44	15.60
143.37	1028	-126.52	-0.64	0.00	2907.1	2969.4	2844.8	1893.1	1719.8	15.57	-11.67	27	149.05	0.00	0.00	2.63	0.000	0.000	0.079	2908.62	2970.50	2846.75	1892.62	3250.06	0	0	0	30.00	30.00	15.87
333.44	260	-126.52	-0.64	40.00	2907.3	2969.2	2845.4	1893.2	3249.4	44.24	-12.29	65	338.20	0.00	0.00	1.10	0.000	0.000	0.096	2907.53	2969.50	2845.56	1890.50	3900.56	0	0	0	30.00	30.00	15.90
383.46	1028	-126.52	-0.64	0.00	2907.4	2968.5	2846.2	1890.2	3900.7	49.90	-11.17	75	388.23	0.00	0.00	1.12	0.000	0.000	0.039	2909.72	2971.12	2848.31	1889.56	3166.12	0	0	0	30.00	30.00	15.96
568.51	516	-126.52	-0.64	-40.00	2907.8	2968.6	2847.1	1890.1	3166.3	71.42	-11.53	112	574.09	0.00	0.00	2.18	0.000	0.000	0.022	2909.16	2969.12	2849.19	1889.31	1717.94	0	0	0	30.00	30.00	15.98
583.52	1028	-126.52	-0.64	0.00	2907.9	2968.8	2847.1	1890.0	1711.4	73.10	-11.31	115	589.17	0.00	0.00	2.63	0.000	0.000	0.080	2908.19	2968.88	2847.50	1889.69	3248.75	0	0	0	30.00	30.00	15.97
773.57	0	-126.52	-0.64	0.00	2908.0	2968.5	2847.4	1889.9	3248.7	91.58	-9.50	153	774.91	0.00	0.00	0.00	0.000	0.000	0.000	2908.44	2968.50	2848.38	1889.62	3248.44	0	0	0	30.00	30.00	30.00
958.64	0	-126.52	-0.64	0.00	2908.3	2969.0	2847.6	1889.9	3249.6	107.72	-8.00	190	959.98	0.00	0.00	0.00	0.000	0.000	0.000	2908.53	2968.81	2848.25	1890.31	3248.38	0	0	0	30.00	30.00	30.00
1263.75	32	-126.52	-0.64	0.00	2907.9	2968.3	2847.5	1889.8	3248.7	129.28	-7.42	251	1265.09	0.00	0.00	0.00	0.000	0.000	0.000	2907.34	2966.94	2847.75	1889.56	3248.62	0	0	0	30.00	30.00	30.00
1568.81	516	-126.52	-0.64	-40.00	2908.1	2968.8	2847.3	1889.9	3248.3	153.34	-7.74	312	1574.41	0.00	0.00	2.34	0.000	0.000	0.024	2908.19	2968.38	2848.00	1889.69	1708.88	0	0	0	30.00	30.00	16.03
1598.83	1028	-126.52	-0.64	0.00	2907.6	2967.2	2847.9	1889.8	1707.6	155.57	-7.50	318	1604.46	0.00	0.00	2.62	0.000	0.000	0.080	2907.84	2968.12	2847.56	1890.12	3249.50	0	0	0	30.00	30.00	16.02
1908.90	260	-126.52	-0.64	40.00	2907.4	2967.2	2847.6	1890.2	3248.5	179.34	-7.95	380	1913.66	0.00	0.00	1.09	0.000	0.000	0.097	2907.50	2966.44	2848.56	1886.75	3898.94	0	0	0	30.00	30.00	16.01
1933.90	1028	-126.52	-0.64	0.00	2906.7	2965.8	2847.7	1886.8	3898.7	181.37	-8.00	385	1938.68	0.00	0.00	1.12	0.000	0.000	0.040	2906.66	2965.44	2847.88	1886.94	3167.44	0	0	0	30.00	30.00	16.06
2238.99	0	-126.52	-0.64	0.00	2906.4	2964.8	2847.9	1886.4	3166.1	205.77	-7.92	446	2240.32	0.00	0.00	0.00	0.000	0.000	0.000	2908.28	2967.38	2849.19	1885.44	3166.50	0	0	0	30.00	30.00	30.00
2433	end dive: TARGET_DEPTH_EXCEEDED
state	2434	begin apogee
2435.32	10243	0.00	-0.11	0.00	2906.0	2964.2	2847.8	1886.6	2946.1	220.15	-7.10	485	2541.41	103.21	0.60	0.13	1.235	0.194	0.148	2388.72	2429.38	2348.06	2069.62	3022.62	0	0	0	12.04	15.94	15.46
2542	end apogee: CONTROL_FINISHED_OK
state	2542	begin climb
2543.96	10503	126.52	0.64	40.00	2387.3	2428.2	2346.4	2069.0	3022.6	224.19	0.00	506	2648.74	99.36	0.70	1.53	1.209	0.090	0.083	1873.06	1880.00	1866.12	2315.44	3900.75	0	0	0	12.42	15.61	15.34
2777.13	1028	126.52	0.64	0.00	1867.5	1878.2	1856.8	2315.7	3900.7	216.70	11.11	553	2781.96	0.00	0.00	1.50	0.000	0.000	0.022	1867.31	1878.62	1856.00	2324.12	2854.69	0	0	0	30.00	30.00	15.77
3087.11	16710	126.52	0.66	40.00	1865.1	1880.7	1849.4	2323.9	2854.0	185.33	9.62	615	3092.00	0.00	0.00	1.78	0.000	0.000	0.079	1865.06	1881.44	1848.69	2323.62	3901.31	0	0	0	30.00	30.00	15.92
3157.11	17414	126.52	0.66	0.00	1865.1	1881.2	1848.9	2323.8	3900.5	177.56	11.51	629	3161.96	0.00	0.00	1.48	0.000	0.000	0.022	1865.16	1881.44	1848.88	2330.94	2875.19	0	0	0	30.00	30.00	15.96
3467.16	16710	126.52	0.69	40.00	1864.1	1881.4	1846.8	2330.8	2874.4	147.43	9.29	691	3472.05	0.00	0.00	1.74	0.000	0.000	0.078	1864.06	1881.75	1846.38	2331.44	3902.31	0	0	0	30.00	30.00	15.91
3532.16	17414	126.52	0.69	0.00	1863.9	1881.3	1846.5	2330.6	3902.1	140.41	10.83	704	3536.99	0.00	0.00	1.48	0.000	0.000	0.023	1864.34	1881.19	1847.50	2339.19	2853.69	0	0	0	30.00	30.00	15.90
3837.25	16966	126.52	0.72	-40.00	1863.3	1881.6	1845.1	2339.5	2854.1	113.13	8.59	765	3842.79	0.00	0.00	2.03	0.000	0.000	0.017	1863.75	1881.12	1846.38	2348.69	1489.56	0	0	0	30.00	30.00	15.96
4042.30	9254	209.61	0.83	0.00	1863.0	1880.8	1845.3	2349.4	1489.4	99.59	5.86	806	4109.18	62.63	0.00	2.55	1.094	0.000	0.064	1534.91	1544.06	1525.75	2349.31	3023.00	0	0	0	12.08	30.00	15.89
4292.34	516	209.61	0.83	-40.00	1528.0	1542.9	1513.2	2349.4	3022.8	68.15	12.07	856	4297.94	0.00	0.00	2.37	0.000	0.000	0.019	1529.59	1544.25	1514.94	2359.19	1506.19	0	0	0	30.00	30.00	15.76
4307.35	1028	209.61	0.83	0.00	1527.4	1541.9	1512.9	2360.8	1495.4	66.56	11.25	859	4312.99	0.00	0.00	2.58	0.000	0.000	0.066	1527.06	1542.38	1511.75	2361.31	3021.25	0	0	0	30.00	30.00	15.80
4497.42	16966	209.61	0.86	-40.00	1526.1	1542.8	1509.4	2361.2	3021.9	48.48	8.93	897	4503.00	0.00	0.00	2.36	0.000	0.000	0.020	1525.94	1542.62	1509.25	2371.06	1520.81	0	0	0	30.00	30.00	15.87
4732.49	9254	286.08	0.95	0.00	1524.8	1540.2	1509.2	2372.6	1507.4	29.84	6.23	944	4794.25	56.42	0.00	2.53	0.999	0.000	0.063	1223.78	1234.25	1213.31	2372.19	3023.75	0	0	0	12.20	30.00	15.89
4977.52	516	286.08	0.95	-40.00	1217.3	1235.2	1199.4	2372.9	3023.4	11.15	11.81	993	4983.12	0.00	0.00	2.37	0.000	0.000	0.019	1217.97	1236.12	1199.81	2382.31	1523.38	0	0	0	30.00	30.00	15.80
5012.59	1028	286.08	0.95	0.00	1216.8	1234.2	1199.4	2383.7	1510.2	6.85	12.27	1000	5018.18	0.00	0.00	2.55	0.000	0.000	0.063	1216.62	1233.94	1199.31	2383.81	3022.94	0	0	0	30.00	30.00	15.80
5052	end climb: SURFACE_DEPTH_REACHED
state	5052	begin surface coast
5072	end surface coast: CONTROL_FINISHED_OK
state	5072	begin surface