Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 423 * 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 423 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 17.765091 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 70.803787 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 17.765091 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 70.803787 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 423 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 081022,103123,3753.717,-12436.797,15,2.8,54,13.5 TGT_RADIUS 4000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.20 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 081022,103619,3753.680,-12436.841,2,0.7,3,13.5 MHEAD_RNG_PITCHd_Wd 63.7,35383,-22.0,-10.476,-26.38,1850,0.168

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 -0.0,1.011662 FG_AHR_10Vo 17.806

SM_CCo 5215.21,63.58,0.987,0,964.3,948.1,980.6,349.72 MEM0 60148,1,0,0

SM_GC 1.37,63.58,6.59,1.10,0.987,0.099,0.030,964.3,948.1,980.6,173.8,3160.7,0,0,0,12.12,15.84,15.90 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 907088,170,136160,96

IRIDIUM_FIX 3754.74,-12432.90,081022,085925 DATA_FILE_SIZE 28945,1025

TCM_TEMP 16.87 CAP_FILE_SIZE 385026,0

XPDR_PINGS 0,13.0,11.5 SDSIZE 3887104,3769856

SC_FREEKB 3735360 SDFILEDIR 2482,1

HUMID 53.86 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.68 CURRENT 0.353,194.4,1

INTERNAL_PRESSURE 8.79371 MAGCAL 1.000000,0.003190,-0.129102,-0.118624,1.117165,-0.091775,0.004609,0.060628,1.047344,-39.3,-1111.1,-573.8,36,0.0347,0

_24V_AH 14.96,84.652 IMPLIED_C_PITCH 2007,31.99,788,0.0,0.00

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2288,73.166130,440,0

FG_AHR_24Vo 70.923 GPS 081022,120347,3752.735,-12436.612,1,1.1,4,13.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 445 1239 8263.30 nil 0 0 0.00

Pitch_motor 17 470 123.16 nil 0 0 0.00

Roll_motor 58 150 132.95 nil 0 0 0.00

Iridium 174 186 488.50 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 12 15 2.88 nil 0 0 0.00

Core 1215 6 123.99 SciCon 5174 18 1415.99

Fast 41 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 2663 2 79.90

Compass 1378 5 103.38

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

7.79 16386 -126.52 -0.64 0.00 955.5 953.9 957.1 171.2 3123.1 0.00 0.00 0 69.61 61.31 0.00 0.00 0.005 0.000 0.000 2171.66 2214.25 2129.06 171.06 3123.06 0 0 0 15.52 30.00 30.00

69.87 18983 -126.52 -0.64 -40.00 2171.0 2213.4 2128.6 171.2 3123.0 3.72 -4.70 12 106.06 18.86 9.48 2.12 0.006 0.470 0.027 2906.28 2972.44 2840.12 1892.88 1728.31 0 0 0 15.62 15.34 15.48

158.39 1028 -126.52 -0.64 0.00 2908.4 2972.2 2844.5 1892.9 1717.1 18.61 -10.91 30 164.06 0.00 0.00 2.63 0.000 0.000 0.078 2909.75 2973.62 2845.88 1892.44 3248.75 0 0 0 30.00 30.00 15.79

348.44 260 -126.52 -0.64 40.00 2908.0 2971.9 2844.2 1892.7 3248.9 45.72 -15.86 68 353.23 0.00 0.00 1.10 0.000 0.000 0.095 2910.12 2973.62 2846.62 1889.31 3899.31 0 0 0 30.00 30.00 15.83

503.50 1060 -126.52 -0.64 0.00 2908.2 2970.8 2845.6 1889.5 3899.8 61.34 -7.15 99 508.30 0.00 0.00 1.12 0.000 0.000 0.039 2909.53 2972.50 2846.56 1889.12 3169.06 0 0 0 30.00 30.00 15.92

688.54 0 -126.52 -0.64 0.00 2908.5 2971.0 2845.9 1889.2 3167.7 78.38 -10.97 136 689.87 0.00 0.00 0.00 0.000 0.000 0.000 2909.06 2971.94 2846.19 1889.56 3167.94 0 0 0 30.00 30.00 30.00

873.61 32 -126.52 -0.64 0.00 2908.5 2971.0 2845.9 1889.6 3168.0 95.08 -7.40 173 874.94 0.00 0.00 0.00 0.000 0.000 0.000 2909.25 2971.50 2847.00 1889.75 3167.88 0 0 0 30.00 30.00 30.00

1058.66 548 -126.52 -0.64 -40.00 2908.3 2970.4 2846.1 1888.9 3167.6 106.63 -6.44 210 1064.23 0.00 0.00 2.18 0.000 0.000 0.023 2908.59 2970.88 2846.31 1889.38 1720.69 0 0 0 30.00 30.00 15.99

1093.73 1060 -126.52 -0.64 0.00 2908.6 2971.1 2846.0 1889.6 1718.8 108.90 -6.61 217 1099.38 0.00 0.00 2.62 0.000 0.000 0.080 2908.84 2971.12 2846.56 1889.44 3250.31 0 0 0 30.00 30.00 15.98

1403.74 516 -126.52 -0.64 -40.00 2908.3 2970.6 2846.1 1889.3 3250.1 137.28 -9.74 279 1409.36 0.00 0.00 2.35 0.000 0.000 0.025 2910.50 2972.62 2848.38 1888.75 1707.00 0 0 0 30.00 30.00 16.00

1423.75 1028 -126.52 -0.64 0.00 2907.9 2969.6 2846.2 1889.4 1706.2 139.24 -9.77 283 1429.42 0.00 0.00 2.64 0.000 0.000 0.081 2909.09 2970.81 2847.38 1889.50 3249.50 0 0 0 30.00 30.00 15.99

1733.83 516 -126.52 -0.64 -40.00 2907.8 2969.6 2846.0 1889.4 3249.8 167.28 -8.01 345 1739.45 0.00 0.00 2.35 0.000 0.000 0.025 2908.28 2970.31 2846.25 1889.94 1708.69 0 0 0 30.00 30.00 16.03

1753.86 1028 -126.52 -0.64 0.00 2907.5 2968.8 2846.2 1889.5 1707.1 168.79 -7.72 349 1759.51 0.00 0.00 2.63 0.000 0.000 0.082 2907.72 2969.06 2846.38 1889.19 3250.38 0 0 0 30.00 30.00 16.01

2063.94 548 -126.52 -0.64 -40.00 2907.5 2968.9 2846.1 1889.2 3250.5 189.80 -7.32 411 2069.53 0.00 0.00 2.35 0.000 0.000 0.025 2909.34 2970.62 2848.06 1889.62 1713.50 0 0 0 30.00 30.00 16.05

2088.93 1028 -126.52 -0.64 0.00 2906.5 2967.3 2845.8 1889.6 1712.2 191.70 -7.54 416 2094.59 0.00 0.00 2.62 0.000 0.000 0.081 2907.03 2968.31 2845.75 1889.62 3249.25 0 0 0 30.00 30.00 16.03

2399.01 516 -126.52 -0.64 -40.00 2906.8 2967.4 2846.2 1889.5 3248.5 216.79 -7.90 478 2404.62 0.00 0.00 2.35 0.000 0.000 0.025 2908.12 2968.38 2847.88 1889.44 1706.88 0 0 0 30.00 30.00 16.06

2419.02 1028 -126.52 -0.64 0.00 2906.0 2965.9 2846.2 1889.4 1705.7 218.37 -7.93 482 2424.68 0.00 0.00 2.64 0.000 0.000 0.082 2906.34 2965.94 2846.75 1889.81 3250.75 0 0 0 30.00 30.00 16.04

2443 end dive: TARGET_DEPTH_EXCEEDED

state 2443 begin apogee

2445.41 10243 0.00 -0.11 0.00 2906.4 2966.8 2846.1 1889.5 2947.2 220.28 -7.75 487 2551.42 103.37 0.59 0.13 1.240 0.197 0.151 2388.12 2428.06 2348.19 2067.44 3021.56 0 0 0 11.89 15.91 15.45

2552 end apogee: CONTROL_FINISHED_OK

state 2552 begin climb

2554.07 10759 126.52 0.64 -40.00 2387.2 2427.9 2346.4 2067.8 3021.8 225.31 0.00 508 2660.18 99.34 0.72 2.40 1.210 0.101 0.019 1872.53 1877.94 1867.12 2325.62 1487.69 0 0 0 12.35 15.58 15.35

2887.57 1092 126.52 0.69 0.00 1868.4 1874.4 1862.4 2325.8 1488.2 213.21 8.26 575 2893.22 0.00 0.00 2.61 0.000 0.000 0.066 1867.44 1875.81 1859.06 2326.00 3024.31 0 0 0 30.00 30.00 15.82

3197.65 16966 126.52 0.72 -40.00 1865.2 1878.0 1852.3 2325.7 3023.4 184.42 8.78 637 3203.26 0.00 0.00 2.35 0.000 0.000 0.017 1865.81 1878.62 1853.00 2336.81 1510.56 0 0 0 30.00 30.00 15.95

3367.70 17478 126.52 0.76 0.00 1864.9 1877.4 1852.4 2337.5 1499.4 169.91 8.68 671 3373.34 0.00 0.00 2.55 0.000 0.000 0.062 1865.69 1877.94 1853.44 2337.25 3025.62 0 0 0 30.00 30.00 15.97

3677.79 16710 126.52 0.78 40.00 1863.8 1878.6 1849.0 2337.4 3026.1 139.91 9.25 733 3682.64 0.00 0.00 1.45 0.000 0.000 0.074 1863.78 1878.94 1848.62 2337.75 3903.50 0 0 0 30.00 30.00 15.90

3757.79 17414 126.52 0.78 0.00 1863.7 1879.1 1848.4 2337.5 3904.4 131.63 10.47 749 3762.65 0.00 0.00 1.48 0.000 0.000 0.021 1864.12 1879.44 1848.81 2345.31 2873.44 0 0 0 30.00 30.00 15.93

4062.90 8486 194.21 0.87 40.00 1863.0 1878.9 1847.0 2345.0 2872.3 105.18 6.72 810 4119.38 51.63 0.00 1.76 1.095 0.000 0.077 1598.56 1608.00 1589.12 2345.06 3902.00 0 0 0 11.96 30.00 15.67

4122.88 3141 194.21 0.92 0.00 1596.3 1605.8 1586.9 2344.2 3902.6 100.66 7.98 822 4127.88 0.00 0.12 1.50 0.000 0.092 0.021 1596.47 1606.00 1586.94 2414.50 2879.81 0 0 0 30.00 15.75 15.73

4432.97 0 194.21 0.92 0.00 1591.8 1605.7 1577.8 2413.3 2879.5 60.35 14.23 884 4434.31 0.00 0.00 0.00 0.000 0.000 0.000 1591.81 1605.81 1577.81 2413.19 2879.69 0 0 0 30.00 30.00 30.00

4618.03 324 194.21 0.97 40.00 1591.2 1606.1 1576.2 2414.3 2879.7 39.33 7.60 921 4622.94 0.00 0.00 1.73 0.000 0.000 0.071 1591.22 1605.94 1576.50 2414.00 3905.56 0 0 0 30.00 30.00 15.85

4643.03 1092 194.21 1.03 0.00 1591.2 1605.9 1576.6 2414.1 3905.4 37.34 7.79 926 4647.89 0.00 0.00 1.49 0.000 0.000 0.021 1592.06 1606.31 1577.81 2421.56 2849.88 0 0 0 30.00 30.00 15.84

4833.08 8742 257.42 1.11 -40.00 1590.8 1605.7 1575.8 2421.9 2849.8 25.74 6.97 964 4884.57 47.40 0.00 2.08 0.999 0.000 0.021 1339.38 1344.44 1334.31 2430.44 1512.06 0 0 0 12.11 30.00 15.70

4888.32 1092 257.42 1.12 0.00 1339.0 1344.3 1333.8 2432.2 1496.8 20.46 9.73 975 4893.73 0.00 0.00 2.57 0.000 0.000 0.057 1338.72 1344.50 1332.94 2431.81 3025.81 0 0 0 30.00 30.00 15.77

5078.10 260 257.42 1.12 40.00 1333.8 1346.7 1321.0 2431.8 3026.1 6.53 10.03 1013 5082.95 0.00 0.00 1.46 0.000 0.000 0.071 1333.81 1346.62 1321.00 2431.69 3906.62 0 0 0 30.00 30.00 15.78

5118 end climb: SURFACE_DEPTH_REACHED

state 5118 begin surface coast

5138 end surface coast: CONTROL_FINISHED_OK

state 5138 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	423	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	17.765091	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	70.803787	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	081022,103123,3753.717,-12436.797,15,2.8,54,13.5	TGT_RADIUS	4000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.20	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	081022,103619,3753.680,-12436.841,2,0.7,3,13.5	MHEAD_RNG_PITCHd_Wd	63.7,35383,-22.0,-10.476,-26.38,1850,0.168
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	-0.0,1.011662	FG_AHR_10Vo	17.806
SM_CCo	5215.21,63.58,0.987,0,964.3,948.1,980.6,349.72	MEM0	60148,1,0,0
SM_GC	1.37,63.58,6.59,1.10,0.987,0.099,0.030,964.3,948.1,980.6,173.8,3160.7,0,0,0,12.12,15.84,15.90	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	907088,170,136160,96
IRIDIUM_FIX	3754.74,-12432.90,081022,085925	DATA_FILE_SIZE	28945,1025
TCM_TEMP	16.87	CAP_FILE_SIZE	385026,0
XPDR_PINGS	0,13.0,11.5	SDSIZE	3887104,3769856
SC_FREEKB	3735360	SDFILEDIR	2482,1
HUMID	53.86	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.68	CURRENT	0.353,194.4,1
INTERNAL_PRESSURE	8.79371	MAGCAL	1.000000,0.003190,-0.129102,-0.118624,1.117165,-0.091775,0.004609,0.060628,1.047344,-39.3,-1111.1,-573.8,36,0.0347,0
_24V_AH	14.96,84.652	IMPLIED_C_PITCH	2007,31.99,788,0.0,0.00
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2288,73.166130,440,0
FG_AHR_24Vo	70.923	GPS	081022,120347,3752.735,-12436.612,1,1.1,4,13.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	445	1239	8263.30	nil	0	0	0.00
Pitch_motor	17	470	123.16	nil	0	0	0.00
Roll_motor	58	150	132.95	nil	0	0	0.00
Iridium	174	186	488.50	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	12	15	2.88	nil	0	0	0.00
Core	1215	6	123.99	SciCon	5174	18	1415.99
Fast	41	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	2663	2	79.90
Compass	1378	5	103.38
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
7.79	16386	-126.52	-0.64	0.00	955.5	953.9	957.1	171.2	3123.1	0.00	0.00	0	69.61	61.31	0.00	0.00	0.005	0.000	0.000	2171.66	2214.25	2129.06	171.06	3123.06	0	0	0	15.52	30.00	30.00
69.87	18983	-126.52	-0.64	-40.00	2171.0	2213.4	2128.6	171.2	3123.0	3.72	-4.70	12	106.06	18.86	9.48	2.12	0.006	0.470	0.027	2906.28	2972.44	2840.12	1892.88	1728.31	0	0	0	15.62	15.34	15.48
158.39	1028	-126.52	-0.64	0.00	2908.4	2972.2	2844.5	1892.9	1717.1	18.61	-10.91	30	164.06	0.00	0.00	2.63	0.000	0.000	0.078	2909.75	2973.62	2845.88	1892.44	3248.75	0	0	0	30.00	30.00	15.79
348.44	260	-126.52	-0.64	40.00	2908.0	2971.9	2844.2	1892.7	3248.9	45.72	-15.86	68	353.23	0.00	0.00	1.10	0.000	0.000	0.095	2910.12	2973.62	2846.62	1889.31	3899.31	0	0	0	30.00	30.00	15.83
503.50	1060	-126.52	-0.64	0.00	2908.2	2970.8	2845.6	1889.5	3899.8	61.34	-7.15	99	508.30	0.00	0.00	1.12	0.000	0.000	0.039	2909.53	2972.50	2846.56	1889.12	3169.06	0	0	0	30.00	30.00	15.92
688.54	0	-126.52	-0.64	0.00	2908.5	2971.0	2845.9	1889.2	3167.7	78.38	-10.97	136	689.87	0.00	0.00	0.00	0.000	0.000	0.000	2909.06	2971.94	2846.19	1889.56	3167.94	0	0	0	30.00	30.00	30.00
873.61	32	-126.52	-0.64	0.00	2908.5	2971.0	2845.9	1889.6	3168.0	95.08	-7.40	173	874.94	0.00	0.00	0.00	0.000	0.000	0.000	2909.25	2971.50	2847.00	1889.75	3167.88	0	0	0	30.00	30.00	30.00
1058.66	548	-126.52	-0.64	-40.00	2908.3	2970.4	2846.1	1888.9	3167.6	106.63	-6.44	210	1064.23	0.00	0.00	2.18	0.000	0.000	0.023	2908.59	2970.88	2846.31	1889.38	1720.69	0	0	0	30.00	30.00	15.99
1093.73	1060	-126.52	-0.64	0.00	2908.6	2971.1	2846.0	1889.6	1718.8	108.90	-6.61	217	1099.38	0.00	0.00	2.62	0.000	0.000	0.080	2908.84	2971.12	2846.56	1889.44	3250.31	0	0	0	30.00	30.00	15.98
1403.74	516	-126.52	-0.64	-40.00	2908.3	2970.6	2846.1	1889.3	3250.1	137.28	-9.74	279	1409.36	0.00	0.00	2.35	0.000	0.000	0.025	2910.50	2972.62	2848.38	1888.75	1707.00	0	0	0	30.00	30.00	16.00
1423.75	1028	-126.52	-0.64	0.00	2907.9	2969.6	2846.2	1889.4	1706.2	139.24	-9.77	283	1429.42	0.00	0.00	2.64	0.000	0.000	0.081	2909.09	2970.81	2847.38	1889.50	3249.50	0	0	0	30.00	30.00	15.99
1733.83	516	-126.52	-0.64	-40.00	2907.8	2969.6	2846.0	1889.4	3249.8	167.28	-8.01	345	1739.45	0.00	0.00	2.35	0.000	0.000	0.025	2908.28	2970.31	2846.25	1889.94	1708.69	0	0	0	30.00	30.00	16.03
1753.86	1028	-126.52	-0.64	0.00	2907.5	2968.8	2846.2	1889.5	1707.1	168.79	-7.72	349	1759.51	0.00	0.00	2.63	0.000	0.000	0.082	2907.72	2969.06	2846.38	1889.19	3250.38	0	0	0	30.00	30.00	16.01
2063.94	548	-126.52	-0.64	-40.00	2907.5	2968.9	2846.1	1889.2	3250.5	189.80	-7.32	411	2069.53	0.00	0.00	2.35	0.000	0.000	0.025	2909.34	2970.62	2848.06	1889.62	1713.50	0	0	0	30.00	30.00	16.05
2088.93	1028	-126.52	-0.64	0.00	2906.5	2967.3	2845.8	1889.6	1712.2	191.70	-7.54	416	2094.59	0.00	0.00	2.62	0.000	0.000	0.081	2907.03	2968.31	2845.75	1889.62	3249.25	0	0	0	30.00	30.00	16.03
2399.01	516	-126.52	-0.64	-40.00	2906.8	2967.4	2846.2	1889.5	3248.5	216.79	-7.90	478	2404.62	0.00	0.00	2.35	0.000	0.000	0.025	2908.12	2968.38	2847.88	1889.44	1706.88	0	0	0	30.00	30.00	16.06
2419.02	1028	-126.52	-0.64	0.00	2906.0	2965.9	2846.2	1889.4	1705.7	218.37	-7.93	482	2424.68	0.00	0.00	2.64	0.000	0.000	0.082	2906.34	2965.94	2846.75	1889.81	3250.75	0	0	0	30.00	30.00	16.04
2443	end dive: TARGET_DEPTH_EXCEEDED
state	2443	begin apogee
2445.41	10243	0.00	-0.11	0.00	2906.4	2966.8	2846.1	1889.5	2947.2	220.28	-7.75	487	2551.42	103.37	0.59	0.13	1.240	0.197	0.151	2388.12	2428.06	2348.19	2067.44	3021.56	0	0	0	11.89	15.91	15.45
2552	end apogee: CONTROL_FINISHED_OK
state	2552	begin climb
2554.07	10759	126.52	0.64	-40.00	2387.2	2427.9	2346.4	2067.8	3021.8	225.31	0.00	508	2660.18	99.34	0.72	2.40	1.210	0.101	0.019	1872.53	1877.94	1867.12	2325.62	1487.69	0	0	0	12.35	15.58	15.35
2887.57	1092	126.52	0.69	0.00	1868.4	1874.4	1862.4	2325.8	1488.2	213.21	8.26	575	2893.22	0.00	0.00	2.61	0.000	0.000	0.066	1867.44	1875.81	1859.06	2326.00	3024.31	0	0	0	30.00	30.00	15.82
3197.65	16966	126.52	0.72	-40.00	1865.2	1878.0	1852.3	2325.7	3023.4	184.42	8.78	637	3203.26	0.00	0.00	2.35	0.000	0.000	0.017	1865.81	1878.62	1853.00	2336.81	1510.56	0	0	0	30.00	30.00	15.95
3367.70	17478	126.52	0.76	0.00	1864.9	1877.4	1852.4	2337.5	1499.4	169.91	8.68	671	3373.34	0.00	0.00	2.55	0.000	0.000	0.062	1865.69	1877.94	1853.44	2337.25	3025.62	0	0	0	30.00	30.00	15.97
3677.79	16710	126.52	0.78	40.00	1863.8	1878.6	1849.0	2337.4	3026.1	139.91	9.25	733	3682.64	0.00	0.00	1.45	0.000	0.000	0.074	1863.78	1878.94	1848.62	2337.75	3903.50	0	0	0	30.00	30.00	15.90
3757.79	17414	126.52	0.78	0.00	1863.7	1879.1	1848.4	2337.5	3904.4	131.63	10.47	749	3762.65	0.00	0.00	1.48	0.000	0.000	0.021	1864.12	1879.44	1848.81	2345.31	2873.44	0	0	0	30.00	30.00	15.93
4062.90	8486	194.21	0.87	40.00	1863.0	1878.9	1847.0	2345.0	2872.3	105.18	6.72	810	4119.38	51.63	0.00	1.76	1.095	0.000	0.077	1598.56	1608.00	1589.12	2345.06	3902.00	0	0	0	11.96	30.00	15.67
4122.88	3141	194.21	0.92	0.00	1596.3	1605.8	1586.9	2344.2	3902.6	100.66	7.98	822	4127.88	0.00	0.12	1.50	0.000	0.092	0.021	1596.47	1606.00	1586.94	2414.50	2879.81	0	0	0	30.00	15.75	15.73
4432.97	0	194.21	0.92	0.00	1591.8	1605.7	1577.8	2413.3	2879.5	60.35	14.23	884	4434.31	0.00	0.00	0.00	0.000	0.000	0.000	1591.81	1605.81	1577.81	2413.19	2879.69	0	0	0	30.00	30.00	30.00
4618.03	324	194.21	0.97	40.00	1591.2	1606.1	1576.2	2414.3	2879.7	39.33	7.60	921	4622.94	0.00	0.00	1.73	0.000	0.000	0.071	1591.22	1605.94	1576.50	2414.00	3905.56	0	0	0	30.00	30.00	15.85
4643.03	1092	194.21	1.03	0.00	1591.2	1605.9	1576.6	2414.1	3905.4	37.34	7.79	926	4647.89	0.00	0.00	1.49	0.000	0.000	0.021	1592.06	1606.31	1577.81	2421.56	2849.88	0	0	0	30.00	30.00	15.84
4833.08	8742	257.42	1.11	-40.00	1590.8	1605.7	1575.8	2421.9	2849.8	25.74	6.97	964	4884.57	47.40	0.00	2.08	0.999	0.000	0.021	1339.38	1344.44	1334.31	2430.44	1512.06	0	0	0	12.11	30.00	15.70
4888.32	1092	257.42	1.12	0.00	1339.0	1344.3	1333.8	2432.2	1496.8	20.46	9.73	975	4893.73	0.00	0.00	2.57	0.000	0.000	0.057	1338.72	1344.50	1332.94	2431.81	3025.81	0	0	0	30.00	30.00	15.77
5078.10	260	257.42	1.12	40.00	1333.8	1346.7	1321.0	2431.8	3026.1	6.53	10.03	1013	5082.95	0.00	0.00	1.46	0.000	0.000	0.071	1333.81	1346.62	1321.00	2431.69	3906.62	0	0	0	30.00	30.00	15.78
5118	end climb: SURFACE_DEPTH_REACHED
state	5118	begin surface coast
5138	end surface coast: CONTROL_FINISHED_OK
state	5138	begin surface