Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 409 * 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 409 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 17.223598 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 68.983139 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 17.223598 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 68.983139 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 409 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 071022,143239,3800.421,-12443.840,42,1.0,43,13.6 TGT_RADIUS 1852.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.27 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 071022,144302,3800.434,-12443.863,3,1.0,5,13.6 MHEAD_RNG_PITCHd_Wd 35.8,20000,-22.0,-10.476,-26.38,1850,0.156

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 3808.070,-12434.155

Post-dive calculations and measurements:

FINISH 0.5,1.023656 FG_AHR_10Vo 17.262

SM_CCo 4973.44,56.13,0.988,0,962.6,952.4,972.9,350.14 MEM0 60148,1,0,0

SM_GC 1.34,56.13,7.24,1.10,0.988,0.171,0.026,962.6,952.4,972.9,175.2,3139.2,0,0,0,12.17,15.74,15.91 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 907788,144,136040,93

IRIDIUM_FIX 3802.96,-12457.28,071022,143507 DATA_FILE_SIZE 25676,978

TCM_TEMP 15.72 CAP_FILE_SIZE 367256,0

XPDR_PINGS 0,13.0,11.5 SDSIZE 3887104,3773440

SC_FREEKB 3740736 SDFILEDIR 2398,1

HUMID 53.71 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.20 CURRENT 0.055, 70.2,1

INTERNAL_PRESSURE 8.7751 MAGCAL 1.000000,0.035661,-0.135353,-0.132985,1.128169,-0.037547,0.032239,0.063239,1.117996,-45.6,-1135.0,-602.7,30,0.0350,0

_24V_AH 14.98,82.414 IMPLIED_C_PITCH 2004,33.11,777,0.0,0.00

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2328,26.949913,464,0

FG_AHR_24Vo 69.102 GPS 071022,160706,3800.784,-12443.234,41,1.8,43,13.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 444 1235 8227.60 nil 0 0 0.00

Pitch_motor 18 476 130.69 nil 0 0 0.00

Roll_motor 50 152 115.06 nil 0 0 0.00

Iridium 450 190 1284.29 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.30 nil 0 0 0.00

Core 1388 6 141.64 SciCon 4937 18 1348.91

Fast 38 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 2593 2 77.81

Compass 1316 5 98.72

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

7.78 16386 -126.52 -0.64 0.00 954.2 954.9 953.4 173.7 3274.9 0.00 0.00 0 69.62 61.21 0.00 0.00 0.005 0.000 0.000 2204.09 2243.62 2164.56 173.56 3275.19 0 0 0 15.52 30.00 30.00

69.87 18983 -126.52 -0.64 -40.00 2203.6 2242.1 2165.1 173.5 3274.4 3.57 -4.41 12 105.22 18.26 9.61 2.41 0.006 0.477 0.028 2906.19 2971.12 2841.25 1892.88 1736.75 0 0 0 15.63 15.33 15.50

123.26 1028 -126.52 -0.64 0.00 2906.8 2969.2 2844.4 1893.0 1723.9 13.57 -13.90 23 128.90 0.00 0.00 2.64 0.000 0.000 0.083 2909.16 2971.31 2847.00 1892.88 3248.06 0 0 0 30.00 30.00 15.79

313.30 260 -126.52 -0.64 40.00 2907.8 2969.7 2845.9 1892.9 3246.6 37.72 -12.36 61 318.07 0.00 0.00 1.10 0.000 0.000 0.096 2908.12 2969.88 2846.38 1890.06 3900.00 0 0 0 30.00 30.00 15.82

378.32 1028 -126.52 -0.64 0.00 2908.1 2969.5 2846.8 1890.3 3899.9 45.07 -10.60 74 383.10 0.00 0.00 1.12 0.000 0.000 0.039 2908.34 2969.44 2847.25 1889.75 3174.06 0 0 0 30.00 30.00 15.87

563.38 260 -126.52 -0.64 40.00 2908.3 2969.7 2846.9 1890.1 3172.6 65.23 -11.36 111 568.18 0.00 0.00 1.26 0.000 0.000 0.095 2910.72 2971.88 2849.56 1886.94 3899.81 0 0 0 30.00 30.00 15.87

608.40 1028 -126.52 -0.64 0.00 2908.8 2969.7 2847.9 1886.9 3899.4 70.59 -11.91 120 613.18 0.00 0.00 1.12 0.000 0.000 0.039 2908.62 2969.44 2847.81 1887.50 3169.50 0 0 0 30.00 30.00 15.93

793.45 516 -126.52 -0.64 -40.00 2908.2 2969.2 2847.2 1887.1 3168.1 89.31 -8.89 157 799.01 0.00 0.00 2.19 0.000 0.000 0.022 2908.53 2969.44 2847.62 1887.19 1711.69 0 0 0 30.00 30.00 15.97

823.46 1028 -126.52 -0.64 0.00 2908.4 2969.1 2847.8 1886.9 1710.6 91.83 -8.64 163 829.10 0.00 0.00 2.64 0.000 0.000 0.083 2908.62 2969.12 2848.12 1887.12 3248.56 0 0 0 30.00 30.00 15.96

1013.51 0 -126.52 -0.64 0.00 2907.9 2968.9 2847.0 1886.8 3249.4 107.84 -8.86 201 1014.85 0.00 0.00 0.00 0.000 0.000 0.000 2909.25 2969.62 2848.88 1886.81 3250.00 0 0 0 30.00 30.00 30.00

1318.60 516 -126.52 -0.64 -40.00 2908.5 2968.9 2848.1 1886.8 3249.9 133.73 -8.07 262 1324.21 0.00 0.00 2.36 0.000 0.000 0.025 2909.44 2970.12 2848.75 1886.88 1702.94 0 0 0 30.00 30.00 16.00

1358.61 1028 -126.52 -0.64 0.00 2908.1 2968.7 2847.6 1886.6 1702.7 136.77 -7.65 270 1364.25 0.00 0.00 2.65 0.000 0.000 0.082 2910.16 2970.50 2849.81 1886.50 3249.06 0 0 0 30.00 30.00 16.00

1668.71 32 -126.52 -0.64 0.00 2907.5 2967.8 2847.2 1886.6 3249.2 160.62 -7.42 332 1670.05 0.00 0.00 0.00 0.000 0.000 0.000 2908.16 2968.06 2848.25 1886.69 3249.00 0 0 0 30.00 30.00 30.00

1973.91 516 -126.52 -0.64 -40.00 2906.8 2965.9 2847.8 1886.6 3248.9 183.78 -7.68 393 1979.38 0.00 0.00 2.35 0.000 0.000 0.025 2909.00 2967.38 2850.62 1886.56 1716.19 0 0 0 30.00 30.00 16.05

1998.80 1028 -126.52 -0.64 0.00 2905.8 2963.8 2847.7 1886.5 1704.3 185.65 -7.58 398 2004.61 0.00 0.00 2.64 0.000 0.000 0.083 2906.25 2964.19 2848.31 1886.88 3249.25 0 0 0 30.00 30.00 16.03

2308.88 32 -126.52 -0.64 0.00 2905.1 2962.6 2847.7 1887.1 3249.8 208.64 -7.25 460 2310.22 0.00 0.00 0.00 0.000 0.000 0.000 2905.59 2963.06 2848.12 1886.62 3249.75 0 0 0 30.00 30.00 30.00

2468 end dive: TARGET_DEPTH_EXCEEDED

state 2468 begin apogee

2470.22 10243 0.00 -0.11 0.00 2905.2 2962.3 2848.2 1886.8 2946.1 220.19 -7.15 492 2576.29 102.83 0.61 0.13 1.235 0.199 0.153 2391.75 2431.81 2351.69 2068.94 3021.62 0 0 0 12.02 15.92 15.47

2577 end apogee: CONTROL_FINISHED_OK

state 2577 begin climb

2578.86 10759 126.52 0.64 -40.00 2387.4 2428.8 2346.1 2069.4 3021.1 224.26 0.00 513 2684.75 99.26 0.73 2.41 1.208 0.104 0.019 1874.34 1880.81 1867.88 2326.69 1483.75 0 0 0 12.38 15.58 15.36

2802.24 1092 126.52 0.69 0.00 1869.2 1875.1 1863.2 2326.2 1483.3 220.53 8.33 558 2807.76 0.00 0.00 2.63 0.000 0.000 0.067 1868.06 1876.38 1859.75 2326.56 3023.00 0 0 0 30.00 30.00 15.73

3112.15 16710 126.52 0.70 40.00 1864.9 1878.0 1851.8 2326.4 3022.7 189.19 9.62 620 3116.99 0.00 0.00 1.47 0.000 0.000 0.079 1866.81 1879.88 1853.75 2325.00 3901.44 0 0 0 30.00 30.00 15.89

3242.21 17414 126.52 0.70 0.00 1864.3 1877.8 1850.9 2326.6 3902.4 175.41 10.91 646 3247.05 0.00 0.00 1.48 0.000 0.000 0.024 1864.94 1878.56 1851.31 2334.44 2883.69 0 0 0 30.00 30.00 15.97

3552.19 16710 126.52 0.73 40.00 1863.3 1878.4 1848.3 2333.8 2883.2 146.67 9.06 708 3557.08 0.00 0.00 1.73 0.000 0.000 0.079 1863.56 1879.12 1848.00 2334.19 3900.94 0 0 0 30.00 30.00 15.91

3647.17 17414 126.52 0.73 0.00 1863.2 1878.3 1848.2 2333.9 3900.4 136.76 10.76 727 3652.02 0.00 0.00 1.49 0.000 0.000 0.023 1864.34 1879.62 1849.06 2341.19 2877.69 0 0 0 30.00 30.00 15.90

3952.26 8486 194.42 0.82 40.00 1862.5 1878.8 1846.2 2341.2 2876.4 111.90 6.71 788 4008.74 51.67 0.00 1.76 1.105 0.000 0.081 1596.59 1606.56 1586.62 2341.50 3902.50 0 0 0 12.09 30.00 15.68

4012.26 1092 194.42 0.85 0.00 1595.8 1605.5 1586.0 2341.2 3901.9 106.98 8.99 800 4017.12 0.00 0.00 1.50 0.000 0.000 0.023 1594.81 1604.88 1584.75 2349.62 2869.06 0 0 0 30.00 30.00 15.75

4322.34 516 194.42 0.85 -40.00 1590.7 1605.4 1575.9 2349.6 2867.9 67.52 13.77 862 4327.89 0.00 0.00 2.09 0.000 0.000 0.018 1590.69 1605.56 1575.81 2359.00 1512.44 0 0 0 30.00 30.00 15.85

4377.36 1028 194.42 0.85 0.00 1589.7 1604.0 1575.4 2360.2 1499.5 60.39 12.40 873 4383.00 0.00 0.00 2.56 0.000 0.000 0.065 1589.34 1605.69 1573.00 2360.00 3022.88 0 0 0 30.00 30.00 15.81

4567.43 10535 268.11 0.94 40.00 1588.5 1606.0 1571.1 2360.8 3022.8 44.84 6.38 911 4628.11 55.24 0.12 1.48 1.022 0.092 0.075 1295.69 1301.06 1290.31 2421.69 3907.06 0 0 0 12.11 15.85 15.62

4632.40 1028 268.11 0.94 0.00 1295.4 1300.8 1290.0 2421.6 3906.5 38.49 12.59 924 4637.27 0.00 0.00 1.52 0.000 0.000 0.018 1296.19 1301.50 1290.88 2429.06 2868.12 0 0 0 30.00 30.00 15.70

4822.46 260 268.11 0.94 40.00 1290.2 1302.6 1277.7 2429.8 2864.4 10.81 10.48 962 4827.35 0.00 0.00 1.77 0.000 0.000 0.073 1290.38 1302.88 1277.88 2429.44 3905.19 0 0 0 30.00 30.00 15.77

4892 end climb: SURFACE_DEPTH_REACHED

state 4892 begin surface coast

4902 end surface coast: CONTROL_FINISHED_OK

state 4902 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	409	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	17.223598	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	68.983139	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	071022,143239,3800.421,-12443.840,42,1.0,43,13.6	TGT_RADIUS	1852.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.27	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	071022,144302,3800.434,-12443.863,3,1.0,5,13.6	MHEAD_RNG_PITCHd_Wd	35.8,20000,-22.0,-10.476,-26.38,1850,0.156
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	3808.070,-12434.155

FINISH	0.5,1.023656	FG_AHR_10Vo	17.262
SM_CCo	4973.44,56.13,0.988,0,962.6,952.4,972.9,350.14	MEM0	60148,1,0,0
SM_GC	1.34,56.13,7.24,1.10,0.988,0.171,0.026,962.6,952.4,972.9,175.2,3139.2,0,0,0,12.17,15.74,15.91	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	907788,144,136040,93
IRIDIUM_FIX	3802.96,-12457.28,071022,143507	DATA_FILE_SIZE	25676,978
TCM_TEMP	15.72	CAP_FILE_SIZE	367256,0
XPDR_PINGS	0,13.0,11.5	SDSIZE	3887104,3773440
SC_FREEKB	3740736	SDFILEDIR	2398,1
HUMID	53.71	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.20	CURRENT	0.055, 70.2,1
INTERNAL_PRESSURE	8.7751	MAGCAL	1.000000,0.035661,-0.135353,-0.132985,1.128169,-0.037547,0.032239,0.063239,1.117996,-45.6,-1135.0,-602.7,30,0.0350,0
_24V_AH	14.98,82.414	IMPLIED_C_PITCH	2004,33.11,777,0.0,0.00
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2328,26.949913,464,0
FG_AHR_24Vo	69.102	GPS	071022,160706,3800.784,-12443.234,41,1.8,43,13.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	444	1235	8227.60	nil	0	0	0.00
Pitch_motor	18	476	130.69	nil	0	0	0.00
Roll_motor	50	152	115.06	nil	0	0	0.00
Iridium	450	190	1284.29	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.30	nil	0	0	0.00
Core	1388	6	141.64	SciCon	4937	18	1348.91
Fast	38	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	2593	2	77.81
Compass	1316	5	98.72
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
7.78	16386	-126.52	-0.64	0.00	954.2	954.9	953.4	173.7	3274.9	0.00	0.00	0	69.62	61.21	0.00	0.00	0.005	0.000	0.000	2204.09	2243.62	2164.56	173.56	3275.19	0	0	0	15.52	30.00	30.00
69.87	18983	-126.52	-0.64	-40.00	2203.6	2242.1	2165.1	173.5	3274.4	3.57	-4.41	12	105.22	18.26	9.61	2.41	0.006	0.477	0.028	2906.19	2971.12	2841.25	1892.88	1736.75	0	0	0	15.63	15.33	15.50
123.26	1028	-126.52	-0.64	0.00	2906.8	2969.2	2844.4	1893.0	1723.9	13.57	-13.90	23	128.90	0.00	0.00	2.64	0.000	0.000	0.083	2909.16	2971.31	2847.00	1892.88	3248.06	0	0	0	30.00	30.00	15.79
313.30	260	-126.52	-0.64	40.00	2907.8	2969.7	2845.9	1892.9	3246.6	37.72	-12.36	61	318.07	0.00	0.00	1.10	0.000	0.000	0.096	2908.12	2969.88	2846.38	1890.06	3900.00	0	0	0	30.00	30.00	15.82
378.32	1028	-126.52	-0.64	0.00	2908.1	2969.5	2846.8	1890.3	3899.9	45.07	-10.60	74	383.10	0.00	0.00	1.12	0.000	0.000	0.039	2908.34	2969.44	2847.25	1889.75	3174.06	0	0	0	30.00	30.00	15.87
563.38	260	-126.52	-0.64	40.00	2908.3	2969.7	2846.9	1890.1	3172.6	65.23	-11.36	111	568.18	0.00	0.00	1.26	0.000	0.000	0.095	2910.72	2971.88	2849.56	1886.94	3899.81	0	0	0	30.00	30.00	15.87
608.40	1028	-126.52	-0.64	0.00	2908.8	2969.7	2847.9	1886.9	3899.4	70.59	-11.91	120	613.18	0.00	0.00	1.12	0.000	0.000	0.039	2908.62	2969.44	2847.81	1887.50	3169.50	0	0	0	30.00	30.00	15.93
793.45	516	-126.52	-0.64	-40.00	2908.2	2969.2	2847.2	1887.1	3168.1	89.31	-8.89	157	799.01	0.00	0.00	2.19	0.000	0.000	0.022	2908.53	2969.44	2847.62	1887.19	1711.69	0	0	0	30.00	30.00	15.97
823.46	1028	-126.52	-0.64	0.00	2908.4	2969.1	2847.8	1886.9	1710.6	91.83	-8.64	163	829.10	0.00	0.00	2.64	0.000	0.000	0.083	2908.62	2969.12	2848.12	1887.12	3248.56	0	0	0	30.00	30.00	15.96
1013.51	0	-126.52	-0.64	0.00	2907.9	2968.9	2847.0	1886.8	3249.4	107.84	-8.86	201	1014.85	0.00	0.00	0.00	0.000	0.000	0.000	2909.25	2969.62	2848.88	1886.81	3250.00	0	0	0	30.00	30.00	30.00
1318.60	516	-126.52	-0.64	-40.00	2908.5	2968.9	2848.1	1886.8	3249.9	133.73	-8.07	262	1324.21	0.00	0.00	2.36	0.000	0.000	0.025	2909.44	2970.12	2848.75	1886.88	1702.94	0	0	0	30.00	30.00	16.00
1358.61	1028	-126.52	-0.64	0.00	2908.1	2968.7	2847.6	1886.6	1702.7	136.77	-7.65	270	1364.25	0.00	0.00	2.65	0.000	0.000	0.082	2910.16	2970.50	2849.81	1886.50	3249.06	0	0	0	30.00	30.00	16.00
1668.71	32	-126.52	-0.64	0.00	2907.5	2967.8	2847.2	1886.6	3249.2	160.62	-7.42	332	1670.05	0.00	0.00	0.00	0.000	0.000	0.000	2908.16	2968.06	2848.25	1886.69	3249.00	0	0	0	30.00	30.00	30.00
1973.91	516	-126.52	-0.64	-40.00	2906.8	2965.9	2847.8	1886.6	3248.9	183.78	-7.68	393	1979.38	0.00	0.00	2.35	0.000	0.000	0.025	2909.00	2967.38	2850.62	1886.56	1716.19	0	0	0	30.00	30.00	16.05
1998.80	1028	-126.52	-0.64	0.00	2905.8	2963.8	2847.7	1886.5	1704.3	185.65	-7.58	398	2004.61	0.00	0.00	2.64	0.000	0.000	0.083	2906.25	2964.19	2848.31	1886.88	3249.25	0	0	0	30.00	30.00	16.03
2308.88	32	-126.52	-0.64	0.00	2905.1	2962.6	2847.7	1887.1	3249.8	208.64	-7.25	460	2310.22	0.00	0.00	0.00	0.000	0.000	0.000	2905.59	2963.06	2848.12	1886.62	3249.75	0	0	0	30.00	30.00	30.00
2468	end dive: TARGET_DEPTH_EXCEEDED
state	2468	begin apogee
2470.22	10243	0.00	-0.11	0.00	2905.2	2962.3	2848.2	1886.8	2946.1	220.19	-7.15	492	2576.29	102.83	0.61	0.13	1.235	0.199	0.153	2391.75	2431.81	2351.69	2068.94	3021.62	0	0	0	12.02	15.92	15.47
2577	end apogee: CONTROL_FINISHED_OK
state	2577	begin climb
2578.86	10759	126.52	0.64	-40.00	2387.4	2428.8	2346.1	2069.4	3021.1	224.26	0.00	513	2684.75	99.26	0.73	2.41	1.208	0.104	0.019	1874.34	1880.81	1867.88	2326.69	1483.75	0	0	0	12.38	15.58	15.36
2802.24	1092	126.52	0.69	0.00	1869.2	1875.1	1863.2	2326.2	1483.3	220.53	8.33	558	2807.76	0.00	0.00	2.63	0.000	0.000	0.067	1868.06	1876.38	1859.75	2326.56	3023.00	0	0	0	30.00	30.00	15.73
3112.15	16710	126.52	0.70	40.00	1864.9	1878.0	1851.8	2326.4	3022.7	189.19	9.62	620	3116.99	0.00	0.00	1.47	0.000	0.000	0.079	1866.81	1879.88	1853.75	2325.00	3901.44	0	0	0	30.00	30.00	15.89
3242.21	17414	126.52	0.70	0.00	1864.3	1877.8	1850.9	2326.6	3902.4	175.41	10.91	646	3247.05	0.00	0.00	1.48	0.000	0.000	0.024	1864.94	1878.56	1851.31	2334.44	2883.69	0	0	0	30.00	30.00	15.97
3552.19	16710	126.52	0.73	40.00	1863.3	1878.4	1848.3	2333.8	2883.2	146.67	9.06	708	3557.08	0.00	0.00	1.73	0.000	0.000	0.079	1863.56	1879.12	1848.00	2334.19	3900.94	0	0	0	30.00	30.00	15.91
3647.17	17414	126.52	0.73	0.00	1863.2	1878.3	1848.2	2333.9	3900.4	136.76	10.76	727	3652.02	0.00	0.00	1.49	0.000	0.000	0.023	1864.34	1879.62	1849.06	2341.19	2877.69	0	0	0	30.00	30.00	15.90
3952.26	8486	194.42	0.82	40.00	1862.5	1878.8	1846.2	2341.2	2876.4	111.90	6.71	788	4008.74	51.67	0.00	1.76	1.105	0.000	0.081	1596.59	1606.56	1586.62	2341.50	3902.50	0	0	0	12.09	30.00	15.68
4012.26	1092	194.42	0.85	0.00	1595.8	1605.5	1586.0	2341.2	3901.9	106.98	8.99	800	4017.12	0.00	0.00	1.50	0.000	0.000	0.023	1594.81	1604.88	1584.75	2349.62	2869.06	0	0	0	30.00	30.00	15.75
4322.34	516	194.42	0.85	-40.00	1590.7	1605.4	1575.9	2349.6	2867.9	67.52	13.77	862	4327.89	0.00	0.00	2.09	0.000	0.000	0.018	1590.69	1605.56	1575.81	2359.00	1512.44	0	0	0	30.00	30.00	15.85
4377.36	1028	194.42	0.85	0.00	1589.7	1604.0	1575.4	2360.2	1499.5	60.39	12.40	873	4383.00	0.00	0.00	2.56	0.000	0.000	0.065	1589.34	1605.69	1573.00	2360.00	3022.88	0	0	0	30.00	30.00	15.81
4567.43	10535	268.11	0.94	40.00	1588.5	1606.0	1571.1	2360.8	3022.8	44.84	6.38	911	4628.11	55.24	0.12	1.48	1.022	0.092	0.075	1295.69	1301.06	1290.31	2421.69	3907.06	0	0	0	12.11	15.85	15.62
4632.40	1028	268.11	0.94	0.00	1295.4	1300.8	1290.0	2421.6	3906.5	38.49	12.59	924	4637.27	0.00	0.00	1.52	0.000	0.000	0.018	1296.19	1301.50	1290.88	2429.06	2868.12	0	0	0	30.00	30.00	15.70
4822.46	260	268.11	0.94	40.00	1290.2	1302.6	1277.7	2429.8	2864.4	10.81	10.48	962	4827.35	0.00	0.00	1.77	0.000	0.000	0.073	1290.38	1302.88	1277.88	2429.44	3905.19	0	0	0	30.00	30.00	15.77
4892	end climb: SURFACE_DEPTH_REACHED
state	4892	begin surface coast
4902	end surface coast: CONTROL_FINISHED_OK
state	4902	begin surface