Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 422 * 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 422 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 17.72262 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 70.676765 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 17.72262 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 70.676765 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 422 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 081022,085715,3754.708,-12437.111,33,2.0,39,13.5 TGT_RADIUS 4000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.25 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 081022,090232,3754.662,-12437.173,4,1.5,9,13.5 MHEAD_RNG_PITCHd_Wd 65.7,36786,-22.0,-10.476,-26.38,1850,0.173

SPEED_LIMITS 0.105,0.211 D_GRID 1000

TGT_NAME LineC_4 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 3743.500,-12416.400

Post-dive calculations and measurements:

FINISH 0.0,1.012821 FG_AHR_10Vo 17.764

SM_CCo 5249.65,53.13,0.990,0,962.2,955.6,968.9,350.23 MEM0 60148,1,0,0

SM_GC 1.06,53.13,6.78,0.35,0.990,0.113,0.068,962.2,955.6,968.9,171.4,3263.9,0,0,0,12.10,15.84,15.90 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 907128,167,136180,96

IRIDIUM_FIX 3757.54,-12434.45,081022,073338 DATA_FILE_SIZE 28922,1034

TCM_TEMP 16.06 CAP_FILE_SIZE 379276,0

XPDR_PINGS 1,13.0,11.5 SDSIZE 3887104,3770112

SC_FREEKB 3735744 SDFILEDIR 2476,1

HUMID 53.87 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.30 CURRENT 0.349,187.9,1

INTERNAL_PRESSURE 8.77536 MAGCAL 1.000000,0.006044,-0.059472,-0.114736,1.108929,-0.074396,-0.039997,0.013753,1.096799,-77.8,-1128.5,-595.3,36,0.0398,0

_24V_AH 14.99,84.493 IMPLIED_C_PITCH 2004,31.83,834,0.0,0.00

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2301,35.738068,471,0

FG_AHR_24Vo 70.795 GPS 081022,103123,3753.717,-12436.797,15,2.8,54,13.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 443 1239 8240.29 nil 0 0 0.00

Pitch_motor 17 471 126.95 nil 0 0 0.00

Roll_motor 50 148 112.37 nil 0 0 0.00

Iridium 191 183 526.76 nil 0 0 0.00

Transponder_ping 0 420 1.57 nil 0 0 0.00

GPS 17 15 4.01 nil 0 0 0.00

Core 1236 6 126.14 SciCon 5218 18 1422.79

Fast 39 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 2698 2 80.95

Compass 1389 5 104.23

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

7.80 16386 -126.52 -0.64 0.00 956.0 953.9 958.1 173.4 3140.9 0.00 0.00 0 69.64 61.26 0.00 0.00 0.005 0.000 0.000 2165.50 2205.62 2125.38 173.75 3141.81 0 0 0 15.52 30.00 30.00

69.89 18983 -126.52 -0.64 -40.00 2166.1 2206.2 2126.0 173.5 3141.7 3.78 -4.78 12 106.09 18.89 9.47 2.16 0.006 0.471 0.025 2906.09 2971.38 2840.81 1892.88 1729.50 0 0 0 15.60 15.40 15.55

163.41 1028 -126.52 -0.64 0.00 2907.7 2970.6 2844.8 1893.3 1725.4 19.00 -10.59 31 169.08 0.00 0.00 2.62 0.000 0.000 0.077 2907.78 2970.88 2844.69 1893.25 3248.44 0 0 0 30.00 30.00 15.80

353.47 0 -126.52 -0.64 0.00 2907.9 2970.6 2845.2 1892.8 3248.4 41.22 -12.39 69 354.81 0.00 0.00 0.00 0.000 0.000 0.000 2908.41 2971.06 2845.75 1892.56 3248.69 0 0 0 30.00 30.00 30.00

538.53 0 -126.52 -0.64 0.00 2908.6 2970.9 2846.2 1893.1 3248.7 59.29 -9.50 106 539.87 0.00 0.00 0.00 0.000 0.000 0.000 2909.12 2971.31 2846.94 1892.81 3249.19 0 0 0 30.00 30.00 30.00

723.59 0 -126.52 -0.64 0.00 2908.9 2970.8 2847.1 1892.8 3248.9 77.82 -9.59 143 724.93 0.00 0.00 0.00 0.000 0.000 0.000 2909.34 2970.94 2847.75 1892.62 3248.81 0 0 0 30.00 30.00 30.00

908.65 0 -126.52 -0.64 0.00 2908.8 2970.6 2847.1 1893.1 3248.7 94.34 -8.82 180 909.99 0.00 0.00 0.00 0.000 0.000 0.000 2909.03 2971.06 2847.00 1892.62 3248.56 0 0 0 30.00 30.00 30.00

1093.71 516 -126.52 -0.64 -40.00 2908.7 2970.5 2846.9 1892.9 3249.0 111.00 -8.61 217 1099.32 0.00 0.00 2.35 0.000 0.000 0.024 2909.00 2970.62 2847.38 1892.81 1711.00 0 0 0 30.00 30.00 16.00

1123.72 1028 -126.52 -0.64 0.00 2908.3 2970.2 2846.5 1892.4 1709.6 113.44 -8.27 223 1129.37 0.00 0.00 2.63 0.000 0.000 0.080 2909.53 2970.88 2848.19 1892.75 3249.62 0 0 0 30.00 30.00 15.99

1433.82 32 -126.52 -0.64 0.00 2907.9 2969.2 2846.7 1893.0 3250.1 135.25 -7.09 285 1435.16 0.00 0.00 0.00 0.000 0.000 0.000 2908.50 2969.94 2847.06 1892.56 3250.06 0 0 0 30.00 30.00 30.00

1738.89 516 -126.52 -0.64 -40.00 2907.7 2968.7 2846.8 1892.7 3249.8 159.63 -8.11 346 1744.50 0.00 0.00 2.35 0.000 0.000 0.024 2909.66 2970.31 2849.00 1892.81 1708.69 0 0 0 30.00 30.00 16.02

1773.97 1028 -126.52 -0.64 0.00 2907.6 2968.5 2846.8 1892.8 1708.0 162.35 -7.83 353 1779.56 0.00 0.00 2.62 0.000 0.000 0.080 2907.97 2968.62 2847.31 1892.75 3248.62 0 0 0 30.00 30.00 16.02

2083.97 516 -126.52 -0.64 -40.00 2907.4 2968.4 2846.3 1892.6 3248.6 186.15 -7.57 415 2089.59 0.00 0.00 2.35 0.000 0.000 0.025 2908.62 2969.88 2847.38 1893.00 1709.00 0 0 0 30.00 30.00 16.05

2109.00 1060 -126.52 -0.64 0.00 2907.1 2967.1 2847.1 1892.8 1707.9 188.04 -7.47 420 2114.65 0.00 0.00 2.63 0.000 0.000 0.081 2907.84 2968.19 2847.50 1892.75 3249.50 0 0 0 30.00 30.00 16.03

2419.07 548 -126.52 -0.64 -40.00 2906.5 2966.3 2846.7 1892.6 3249.6 209.98 -6.84 482 2424.68 0.00 0.00 2.36 0.000 0.000 0.025 2906.44 2966.25 2846.62 1893.19 1707.12 0 0 0 30.00 30.00 16.04

2444.08 1060 -126.52 -0.64 0.00 2905.8 2964.9 2846.8 1892.8 1706.4 211.67 -6.80 487 2449.73 0.00 0.00 2.63 0.000 0.000 0.081 2906.03 2964.50 2847.56 1892.44 3250.12 0 0 0 30.00 30.00 16.05

2569 end dive: TARGET_DEPTH_EXCEEDED

state 2569 begin apogee

2570.42 10243 0.00 -0.11 0.00 2905.6 2964.8 2846.4 1893.2 2946.4 220.06 -6.79 512 2676.49 103.38 0.57 0.13 1.239 0.189 0.149 2388.31 2428.00 2348.62 2069.62 3023.00 0 0 0 11.85 15.93 15.46

2677 end apogee: CONTROL_FINISHED_OK

state 2677 begin climb

2679.12 10759 126.52 0.64 -40.00 2387.2 2427.8 2346.6 2069.4 3023.2 224.67 0.00 533 2785.29 99.33 0.73 2.42 1.212 0.112 0.019 1871.81 1877.25 1866.38 2325.31 1476.00 0 0 0 12.29 15.58 15.34

2917.65 1092 126.52 0.70 0.00 1869.2 1874.2 1864.2 2325.5 1475.9 220.54 7.86 581 2923.30 0.00 0.00 2.64 0.000 0.000 0.065 1868.66 1876.44 1860.88 2325.31 3023.50 0 0 0 30.00 30.00 15.74

3227.73 16966 126.52 0.72 -40.00 1865.5 1877.9 1853.1 2325.4 3024.0 192.24 9.10 643 3233.36 0.00 0.00 2.33 0.000 0.000 0.016 1867.00 1879.62 1854.38 2336.50 1502.44 0 0 0 30.00 30.00 15.92

3462.80 17478 126.52 0.78 0.00 1865.2 1877.7 1852.7 2336.8 1494.4 173.83 7.81 690 3468.43 0.00 0.00 2.55 0.000 0.000 0.062 1867.22 1879.75 1854.69 2336.38 3023.44 0 0 0 30.00 30.00 15.97

3772.87 16966 126.52 0.81 -40.00 1863.8 1878.8 1848.8 2336.9 3024.0 145.51 8.72 752 3778.49 0.00 0.00 2.32 0.000 0.000 0.017 1864.59 1879.56 1849.62 2348.31 1504.44 0 0 0 30.00 30.00 15.89

3822.90 17478 126.52 0.86 0.00 1863.9 1879.1 1848.8 2348.9 1494.3 141.47 8.05 762 3828.53 0.00 0.00 2.54 0.000 0.000 0.062 1864.09 1878.94 1849.25 2349.06 3022.81 0 0 0 30.00 30.00 15.88

4132.98 18499 126.52 0.92 0.00 1863.2 1879.2 1847.2 2348.8 3023.0 114.11 7.65 824 4134.54 0.00 0.13 0.00 0.000 0.085 0.000 1864.28 1880.75 1847.81 2412.94 3023.00 0 0 0 30.00 15.86 30.00

4438.05 16386 126.52 0.92 0.00 1863.2 1879.6 1846.9 2414.0 3023.0 85.75 10.90 885 4439.39 0.00 0.00 0.00 0.000 0.000 0.000 1863.72 1879.94 1847.50 2413.50 3022.62 0 0 0 30.00 30.00 30.00

4623.11 10791 271.79 1.10 -40.00 1863.1 1879.6 1846.5 2414.0 3023.6 79.17 2.41 922 4735.96 107.60 0.11 2.38 1.077 0.101 0.019 1281.84 1277.19 1286.50 2482.25 1510.50 0 0 0 11.93 15.85 15.50

4738.28 5125 271.79 1.10 0.00 1279.8 1275.2 1284.4 2484.5 1496.0 70.54 16.39 945 4743.98 0.00 0.19 2.60 0.000 0.390 0.062 1279.38 1276.31 1282.44 2446.44 3024.94 0 0 0 30.00 15.43 15.56

4928.32 516 271.79 1.10 -40.00 1274.6 1279.7 1269.4 2446.0 3024.6 37.31 13.52 983 4933.94 0.00 0.00 2.35 0.000 0.000 0.018 1274.97 1280.12 1269.81 2456.62 1507.25 0 0 0 30.00 30.00 15.75

4943.32 1028 271.79 1.10 0.00 1274.5 1279.6 1269.4 2458.5 1495.9 35.41 12.99 986 4949.04 0.00 0.00 2.57 0.000 0.000 0.061 1274.56 1279.38 1269.75 2458.25 3023.38 0 0 0 30.00 30.00 15.74

5133.37 16386 271.79 1.10 0.00 1272.0 1280.7 1263.2 2458.2 3023.9 5.27 14.14 1024 5134.71 0.00 0.00 0.00 0.000 0.000 0.000 1272.19 1280.75 1263.62 2458.25 3023.88 0 0 0 30.00 30.00 30.00

5163 end climb: SURFACE_DEPTH_REACHED

state 5163 begin surface coast

5183 end surface coast: CONTROL_FINISHED_OK

state 5183 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	422	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	17.72262	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	70.676765	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	081022,085715,3754.708,-12437.111,33,2.0,39,13.5	TGT_RADIUS	4000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.25	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	081022,090232,3754.662,-12437.173,4,1.5,9,13.5	MHEAD_RNG_PITCHd_Wd	65.7,36786,-22.0,-10.476,-26.38,1850,0.173
SPEED_LIMITS	0.105,0.211	D_GRID	1000
TGT_NAME	LineC_4	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	3743.500,-12416.400

FINISH	0.0,1.012821	FG_AHR_10Vo	17.764
SM_CCo	5249.65,53.13,0.990,0,962.2,955.6,968.9,350.23	MEM0	60148,1,0,0
SM_GC	1.06,53.13,6.78,0.35,0.990,0.113,0.068,962.2,955.6,968.9,171.4,3263.9,0,0,0,12.10,15.84,15.90	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	907128,167,136180,96
IRIDIUM_FIX	3757.54,-12434.45,081022,073338	DATA_FILE_SIZE	28922,1034
TCM_TEMP	16.06	CAP_FILE_SIZE	379276,0
XPDR_PINGS	1,13.0,11.5	SDSIZE	3887104,3770112
SC_FREEKB	3735744	SDFILEDIR	2476,1
HUMID	53.87	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.30	CURRENT	0.349,187.9,1
INTERNAL_PRESSURE	8.77536	MAGCAL	1.000000,0.006044,-0.059472,-0.114736,1.108929,-0.074396,-0.039997,0.013753,1.096799,-77.8,-1128.5,-595.3,36,0.0398,0
_24V_AH	14.99,84.493	IMPLIED_C_PITCH	2004,31.83,834,0.0,0.00
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2301,35.738068,471,0
FG_AHR_24Vo	70.795	GPS	081022,103123,3753.717,-12436.797,15,2.8,54,13.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	443	1239	8240.29	nil	0	0	0.00
Pitch_motor	17	471	126.95	nil	0	0	0.00
Roll_motor	50	148	112.37	nil	0	0	0.00
Iridium	191	183	526.76	nil	0	0	0.00
Transponder_ping	0	420	1.57	nil	0	0	0.00
GPS	17	15	4.01	nil	0	0	0.00
Core	1236	6	126.14	SciCon	5218	18	1422.79
Fast	39	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	2698	2	80.95
Compass	1389	5	104.23
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
7.80	16386	-126.52	-0.64	0.00	956.0	953.9	958.1	173.4	3140.9	0.00	0.00	0	69.64	61.26	0.00	0.00	0.005	0.000	0.000	2165.50	2205.62	2125.38	173.75	3141.81	0	0	0	15.52	30.00	30.00
69.89	18983	-126.52	-0.64	-40.00	2166.1	2206.2	2126.0	173.5	3141.7	3.78	-4.78	12	106.09	18.89	9.47	2.16	0.006	0.471	0.025	2906.09	2971.38	2840.81	1892.88	1729.50	0	0	0	15.60	15.40	15.55
163.41	1028	-126.52	-0.64	0.00	2907.7	2970.6	2844.8	1893.3	1725.4	19.00	-10.59	31	169.08	0.00	0.00	2.62	0.000	0.000	0.077	2907.78	2970.88	2844.69	1893.25	3248.44	0	0	0	30.00	30.00	15.80
353.47	0	-126.52	-0.64	0.00	2907.9	2970.6	2845.2	1892.8	3248.4	41.22	-12.39	69	354.81	0.00	0.00	0.00	0.000	0.000	0.000	2908.41	2971.06	2845.75	1892.56	3248.69	0	0	0	30.00	30.00	30.00
538.53	0	-126.52	-0.64	0.00	2908.6	2970.9	2846.2	1893.1	3248.7	59.29	-9.50	106	539.87	0.00	0.00	0.00	0.000	0.000	0.000	2909.12	2971.31	2846.94	1892.81	3249.19	0	0	0	30.00	30.00	30.00
723.59	0	-126.52	-0.64	0.00	2908.9	2970.8	2847.1	1892.8	3248.9	77.82	-9.59	143	724.93	0.00	0.00	0.00	0.000	0.000	0.000	2909.34	2970.94	2847.75	1892.62	3248.81	0	0	0	30.00	30.00	30.00
908.65	0	-126.52	-0.64	0.00	2908.8	2970.6	2847.1	1893.1	3248.7	94.34	-8.82	180	909.99	0.00	0.00	0.00	0.000	0.000	0.000	2909.03	2971.06	2847.00	1892.62	3248.56	0	0	0	30.00	30.00	30.00
1093.71	516	-126.52	-0.64	-40.00	2908.7	2970.5	2846.9	1892.9	3249.0	111.00	-8.61	217	1099.32	0.00	0.00	2.35	0.000	0.000	0.024	2909.00	2970.62	2847.38	1892.81	1711.00	0	0	0	30.00	30.00	16.00
1123.72	1028	-126.52	-0.64	0.00	2908.3	2970.2	2846.5	1892.4	1709.6	113.44	-8.27	223	1129.37	0.00	0.00	2.63	0.000	0.000	0.080	2909.53	2970.88	2848.19	1892.75	3249.62	0	0	0	30.00	30.00	15.99
1433.82	32	-126.52	-0.64	0.00	2907.9	2969.2	2846.7	1893.0	3250.1	135.25	-7.09	285	1435.16	0.00	0.00	0.00	0.000	0.000	0.000	2908.50	2969.94	2847.06	1892.56	3250.06	0	0	0	30.00	30.00	30.00
1738.89	516	-126.52	-0.64	-40.00	2907.7	2968.7	2846.8	1892.7	3249.8	159.63	-8.11	346	1744.50	0.00	0.00	2.35	0.000	0.000	0.024	2909.66	2970.31	2849.00	1892.81	1708.69	0	0	0	30.00	30.00	16.02
1773.97	1028	-126.52	-0.64	0.00	2907.6	2968.5	2846.8	1892.8	1708.0	162.35	-7.83	353	1779.56	0.00	0.00	2.62	0.000	0.000	0.080	2907.97	2968.62	2847.31	1892.75	3248.62	0	0	0	30.00	30.00	16.02
2083.97	516	-126.52	-0.64	-40.00	2907.4	2968.4	2846.3	1892.6	3248.6	186.15	-7.57	415	2089.59	0.00	0.00	2.35	0.000	0.000	0.025	2908.62	2969.88	2847.38	1893.00	1709.00	0	0	0	30.00	30.00	16.05
2109.00	1060	-126.52	-0.64	0.00	2907.1	2967.1	2847.1	1892.8	1707.9	188.04	-7.47	420	2114.65	0.00	0.00	2.63	0.000	0.000	0.081	2907.84	2968.19	2847.50	1892.75	3249.50	0	0	0	30.00	30.00	16.03
2419.07	548	-126.52	-0.64	-40.00	2906.5	2966.3	2846.7	1892.6	3249.6	209.98	-6.84	482	2424.68	0.00	0.00	2.36	0.000	0.000	0.025	2906.44	2966.25	2846.62	1893.19	1707.12	0	0	0	30.00	30.00	16.04
2444.08	1060	-126.52	-0.64	0.00	2905.8	2964.9	2846.8	1892.8	1706.4	211.67	-6.80	487	2449.73	0.00	0.00	2.63	0.000	0.000	0.081	2906.03	2964.50	2847.56	1892.44	3250.12	0	0	0	30.00	30.00	16.05
2569	end dive: TARGET_DEPTH_EXCEEDED
state	2569	begin apogee
2570.42	10243	0.00	-0.11	0.00	2905.6	2964.8	2846.4	1893.2	2946.4	220.06	-6.79	512	2676.49	103.38	0.57	0.13	1.239	0.189	0.149	2388.31	2428.00	2348.62	2069.62	3023.00	0	0	0	11.85	15.93	15.46
2677	end apogee: CONTROL_FINISHED_OK
state	2677	begin climb
2679.12	10759	126.52	0.64	-40.00	2387.2	2427.8	2346.6	2069.4	3023.2	224.67	0.00	533	2785.29	99.33	0.73	2.42	1.212	0.112	0.019	1871.81	1877.25	1866.38	2325.31	1476.00	0	0	0	12.29	15.58	15.34
2917.65	1092	126.52	0.70	0.00	1869.2	1874.2	1864.2	2325.5	1475.9	220.54	7.86	581	2923.30	0.00	0.00	2.64	0.000	0.000	0.065	1868.66	1876.44	1860.88	2325.31	3023.50	0	0	0	30.00	30.00	15.74
3227.73	16966	126.52	0.72	-40.00	1865.5	1877.9	1853.1	2325.4	3024.0	192.24	9.10	643	3233.36	0.00	0.00	2.33	0.000	0.000	0.016	1867.00	1879.62	1854.38	2336.50	1502.44	0	0	0	30.00	30.00	15.92
3462.80	17478	126.52	0.78	0.00	1865.2	1877.7	1852.7	2336.8	1494.4	173.83	7.81	690	3468.43	0.00	0.00	2.55	0.000	0.000	0.062	1867.22	1879.75	1854.69	2336.38	3023.44	0	0	0	30.00	30.00	15.97
3772.87	16966	126.52	0.81	-40.00	1863.8	1878.8	1848.8	2336.9	3024.0	145.51	8.72	752	3778.49	0.00	0.00	2.32	0.000	0.000	0.017	1864.59	1879.56	1849.62	2348.31	1504.44	0	0	0	30.00	30.00	15.89
3822.90	17478	126.52	0.86	0.00	1863.9	1879.1	1848.8	2348.9	1494.3	141.47	8.05	762	3828.53	0.00	0.00	2.54	0.000	0.000	0.062	1864.09	1878.94	1849.25	2349.06	3022.81	0	0	0	30.00	30.00	15.88
4132.98	18499	126.52	0.92	0.00	1863.2	1879.2	1847.2	2348.8	3023.0	114.11	7.65	824	4134.54	0.00	0.13	0.00	0.000	0.085	0.000	1864.28	1880.75	1847.81	2412.94	3023.00	0	0	0	30.00	15.86	30.00
4438.05	16386	126.52	0.92	0.00	1863.2	1879.6	1846.9	2414.0	3023.0	85.75	10.90	885	4439.39	0.00	0.00	0.00	0.000	0.000	0.000	1863.72	1879.94	1847.50	2413.50	3022.62	0	0	0	30.00	30.00	30.00
4623.11	10791	271.79	1.10	-40.00	1863.1	1879.6	1846.5	2414.0	3023.6	79.17	2.41	922	4735.96	107.60	0.11	2.38	1.077	0.101	0.019	1281.84	1277.19	1286.50	2482.25	1510.50	0	0	0	11.93	15.85	15.50
4738.28	5125	271.79	1.10	0.00	1279.8	1275.2	1284.4	2484.5	1496.0	70.54	16.39	945	4743.98	0.00	0.19	2.60	0.000	0.390	0.062	1279.38	1276.31	1282.44	2446.44	3024.94	0	0	0	30.00	15.43	15.56
4928.32	516	271.79	1.10	-40.00	1274.6	1279.7	1269.4	2446.0	3024.6	37.31	13.52	983	4933.94	0.00	0.00	2.35	0.000	0.000	0.018	1274.97	1280.12	1269.81	2456.62	1507.25	0	0	0	30.00	30.00	15.75
4943.32	1028	271.79	1.10	0.00	1274.5	1279.6	1269.4	2458.5	1495.9	35.41	12.99	986	4949.04	0.00	0.00	2.57	0.000	0.000	0.061	1274.56	1279.38	1269.75	2458.25	3023.38	0	0	0	30.00	30.00	15.74
5133.37	16386	271.79	1.10	0.00	1272.0	1280.7	1263.2	2458.2	3023.9	5.27	14.14	1024	5134.71	0.00	0.00	0.00	0.000	0.000	0.000	1272.19	1280.75	1263.62	2458.25	3023.88	0	0	0	30.00	30.00	30.00
5163	end climb: SURFACE_DEPTH_REACHED
state	5163	begin surface coast
5183	end surface coast: CONTROL_FINISHED_OK
state	5183	begin surface