Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 426 * 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 426 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 17.885622 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 71.195526 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 17.885622 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 71.195526 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 426 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 081022,145637,3751.380,-12436.425,7,2.2,47,13.5 TGT_RADIUS 4000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.17 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 081022,150148,3751.332,-12436.450,4,1.0,6,13.5 MHEAD_RNG_PITCHd_Wd 57.8,32757,-22.0,-10.476,-26.38,1850,0.155

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 0.0,1.023763 FG_AHR_10Vo 17.926

SM_CCo 5051.78,20.28,0.958,0,963.3,949.8,976.9,349.96 MEM0 60148,1,0,0

SM_GC 2.09,20.28,6.41,1.10,0.958,0.068,0.026,963.3,949.8,976.9,175.6,3114.5,0,0,0,12.33,15.72,15.77 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 906984,174,136184,96

IRIDIUM_FIX 3755.08,-12436.70,081022,133451 DATA_FILE_SIZE 28890,1001

TCM_TEMP 16.40 CAP_FILE_SIZE 377390,0

XPDR_PINGS 1,13.0,11.5 SDSIZE 3887104,3769088

SC_FREEKB 3734208 SDFILEDIR 2500,1

HUMID 53.97 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.25 CURRENT 0.309,214.5,1

INTERNAL_PRESSURE 8.78584 IMPLIED_C_PITCH 2006,32.06,791,0.0,0.00

_24V_AH 15.00,85.134 IMPLIED_C_VBD 2343,53.416222,442,0

_10V_AH 15.00,0.000 GPS 081022,162707,3750.742,-12436.509,38,1.4,40,13.5

FG_AHR_24Vo 71.314

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 451 1235 8373.58 nil 0 0 0.00

Pitch_motor 17 475 127.92 nil 0 0 0.00

Roll_motor 57 154 134.28 nil 0 0 0.00

Iridium 187 175 492.58 nil 0 0 0.00

Transponder_ping 0 420 1.57 nil 0 0 0.00

GPS 14 15 3.36 nil 0 0 0.00

Core 1168 6 119.16 SciCon 5053 17 1350.52

Fast 40 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 2570 2 77.10

Compass 1344 5 100.86

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 0.00 957.2 956.3 958.1 174.9 3269.7 0.00 0.00 0 69.60 61.26 0.00 0.00 0.005 0.000 0.000 2154.72 2196.94 2112.50 174.88 3269.81 0 0 0 15.51 30.00 30.00

69.85 18983 -126.52 -0.64 -40.00 2154.4 2195.2 2113.6 174.8 3269.9 3.43 -3.99 12 106.17 19.87 9.58 2.40 0.006 0.475 0.028 2906.12 2971.12 2841.12 1892.50 1721.69 0 0 0 15.61 15.36 15.51

133.47 1028 -126.52 -0.64 0.00 2907.1 2969.7 2844.4 1892.9 1708.7 15.26 -13.73 25 139.17 0.00 0.00 2.67 0.000 0.000 0.084 2907.47 2969.94 2845.00 1892.56 3247.06 0 0 0 30.00 30.00 15.83

323.55 260 -126.52 -0.64 40.00 2907.0 2969.1 2845.0 1893.0 3246.9 39.57 -11.48 63 328.34 0.00 0.00 1.10 0.000 0.000 0.097 2909.62 2972.06 2847.19 1890.06 3899.31 0 0 0 30.00 30.00 15.86

448.56 1028 -126.52 -0.64 0.00 2907.5 2969.2 2845.7 1890.0 3899.4 51.58 -8.96 88 453.36 0.00 0.00 1.12 0.000 0.000 0.041 2907.53 2969.38 2845.69 1889.81 3172.69 0 0 0 30.00 30.00 15.93

633.62 260 -126.52 -0.64 40.00 2907.9 2968.9 2846.9 1889.9 3172.8 68.97 -9.86 125 638.45 0.00 0.00 1.26 0.000 0.000 0.096 2908.34 2969.75 2846.94 1887.06 3897.62 0 0 0 30.00 30.00 15.93

738.64 1028 -126.52 -0.64 0.00 2908.0 2969.4 2846.6 1886.3 3897.6 78.77 -9.18 146 743.45 0.00 0.00 1.12 0.000 0.000 0.042 2908.03 2968.94 2847.12 1886.88 3172.50 0 0 0 30.00 30.00 15.97

923.70 516 -126.52 -0.64 -40.00 2908.0 2968.9 2847.2 1887.0 3171.8 96.69 -10.56 183 929.29 0.00 0.00 2.19 0.000 0.000 0.023 2909.56 2970.56 2848.56 1886.94 1714.81 0 0 0 30.00 30.00 15.99

953.72 1028 -126.52 -0.64 0.00 2908.0 2968.8 2847.3 1886.4 1708.9 99.57 -9.87 189 959.38 0.00 0.00 2.65 0.000 0.000 0.083 2908.41 2969.19 2847.62 1887.19 3248.94 0 0 0 30.00 30.00 15.98

1144.03 260 -126.52 -0.64 40.00 2908.1 2969.2 2846.9 1886.6 3249.8 117.12 -8.96 227 1148.81 0.00 0.00 1.10 0.000 0.000 0.100 2909.69 2970.62 2848.75 1882.69 3899.06 0 0 0 30.00 30.00 15.96

1193.85 1028 -126.52 -0.64 0.00 2907.9 2968.9 2846.9 1883.0 3899.4 121.44 -8.69 237 1198.65 0.00 0.00 1.12 0.000 0.000 0.043 2907.56 2968.12 2847.00 1882.75 3175.56 0 0 0 30.00 30.00 16.00

1503.87 516 -126.52 -0.64 -40.00 2907.8 2968.4 2847.2 1882.8 3175.6 149.59 -9.52 299 1509.46 0.00 0.00 2.19 0.000 0.000 0.025 2907.97 2968.56 2847.38 1882.56 1706.06 0 0 0 30.00 30.00 16.02

1518.89 1028 -126.52 -0.64 0.00 2907.8 2968.1 2847.4 1883.2 1704.1 151.04 -9.60 302 1524.56 0.00 0.00 2.65 0.000 0.000 0.085 2908.34 2968.69 2848.00 1882.69 3248.25 0 0 0 30.00 30.00 15.98

1828.98 516 -126.52 -0.64 -40.00 2907.3 2967.8 2846.9 1882.7 3248.8 177.23 -7.59 364 1834.59 0.00 0.00 2.35 0.000 0.000 0.026 2908.16 2968.19 2848.12 1882.62 1711.19 0 0 0 30.00 30.00 16.04

1859.00 1060 -126.52 -0.64 0.00 2906.4 2965.8 2847.1 1882.7 1709.7 179.39 -7.37 370 1864.64 0.00 0.00 2.64 0.000 0.000 0.085 2907.59 2966.94 2848.25 1882.81 3248.56 0 0 0 30.00 30.00 16.02

2169.08 32 -126.52 -0.64 0.00 2906.5 2966.0 2846.9 1882.6 3248.8 199.69 -5.88 432 2170.42 0.00 0.00 0.00 0.000 0.000 0.000 2906.97 2966.12 2847.81 1882.50 3249.06 0 0 0 30.00 30.00 30.00

2464 end dive: TARGET_DEPTH_EXCEEDED

state 2464 begin apogee

2465.42 10243 0.00 -0.11 0.00 2905.8 2964.6 2847.1 1882.4 2945.6 220.04 -7.64 491 2571.50 103.62 0.62 0.13 1.235 0.201 0.155 2389.78 2429.81 2349.75 2068.81 3020.56 0 0 0 11.88 15.91 15.46

2573 end apogee: CONTROL_FINISHED_OK

state 2573 begin climb

2574.18 10759 126.52 0.64 -40.00 2387.4 2428.3 2346.4 2068.9 3020.7 225.13 0.00 512 2680.26 99.44 0.71 2.41 1.209 0.094 0.021 1872.06 1877.56 1866.56 2326.44 1483.69 0 0 0 12.36 15.57 15.35

2862.64 1092 126.52 0.69 0.00 1868.8 1874.4 1863.1 2326.6 1483.6 218.08 8.28 570 2868.30 0.00 0.00 2.62 0.000 0.000 0.069 1867.91 1876.12 1859.69 2327.06 3019.44 0 0 0 30.00 30.00 15.78

3172.72 16966 126.52 0.71 -40.00 1865.2 1878.0 1852.4 2326.4 3020.2 187.80 9.56 632 3178.33 0.00 0.00 2.35 0.000 0.000 0.019 1866.12 1879.00 1853.25 2337.38 1508.56 0 0 0 30.00 30.00 15.94

3317.76 17478 126.52 0.76 0.00 1865.4 1878.1 1852.6 2338.4 1500.1 176.27 7.64 661 3323.40 0.00 0.00 2.55 0.000 0.000 0.063 1866.19 1879.00 1853.38 2338.62 3025.25 0 0 0 30.00 30.00 15.96

3627.85 16966 126.52 0.80 -40.00 1863.8 1878.8 1848.7 2338.2 3026.2 147.79 8.70 723 3633.48 0.00 0.00 2.34 0.000 0.000 0.017 1865.38 1880.44 1850.31 2349.75 1490.31 0 0 0 30.00 30.00 15.94

3677.86 17478 126.52 0.86 0.00 1864.2 1879.6 1848.8 2350.1 1490.6 144.02 7.56 733 3683.50 0.00 0.00 2.56 0.000 0.000 0.062 1864.84 1879.94 1849.75 2350.19 3025.44 0 0 0 30.00 30.00 15.93

3987.94 10791 181.07 0.92 -40.00 1863.2 1879.3 1847.2 2350.2 3025.6 120.39 7.45 795 4034.44 42.31 0.13 2.38 1.108 0.086 0.021 1650.56 1657.25 1643.88 2425.25 1516.25 0 0 0 11.99 15.91 15.76

4038.01 5125 181.07 0.92 0.00 1649.5 1656.2 1642.9 2427.8 1502.6 115.37 10.72 805 4043.65 0.00 0.17 2.58 0.000 0.361 0.062 1648.84 1656.25 1641.44 2391.50 3026.94 0 0 0 30.00 15.66 15.78

4348.02 516 181.07 0.92 -40.00 1644.8 1656.8 1632.8 2390.6 3027.0 72.58 11.78 867 4353.63 0.00 0.00 2.36 0.000 0.000 0.018 1645.69 1657.44 1633.94 2401.19 1513.25 0 0 0 30.00 30.00 15.86

4403.05 1092 181.07 0.96 0.00 1644.3 1656.2 1632.4 2401.8 1501.9 67.67 8.46 878 4408.68 0.00 0.00 2.55 0.000 0.000 0.061 1643.66 1656.88 1630.44 2401.69 3021.56 0 0 0 30.00 30.00 15.81

4593.08 10535 250.13 1.05 40.00 1643.3 1657.2 1629.5 2401.8 3021.6 55.44 6.64 916 4649.67 52.17 0.10 1.47 1.034 0.100 0.074 1369.19 1370.31 1368.06 2467.69 3905.50 0 0 0 12.09 15.81 15.64

4733.08 5125 250.13 1.05 0.00 1366.5 1370.1 1362.9 2468.4 3905.8 31.11 25.07 944 4738.11 0.00 0.22 1.50 0.000 0.414 0.017 1367.50 1370.81 1364.19 2431.44 2881.50 0 0 0 30.00 15.52 15.72

4923.10 8486 321.94 1.14 40.00 1362.7 1371.5 1353.8 2431.6 2877.5 11.24 6.49 982 4979.62 52.95 0.00 1.76 0.961 0.000 0.075 1076.81 1083.44 1070.19 2431.69 3903.88 0 0 0 12.09 30.00 15.60

5003 end climb: SURFACE_DEPTH_REACHED

state 5003 begin surface coast

5018 end surface coast: CONTROL_FINISHED_OK

state 5018 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	426	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	17.885622	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	71.195526	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	081022,145637,3751.380,-12436.425,7,2.2,47,13.5	TGT_RADIUS	4000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.17	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	081022,150148,3751.332,-12436.450,4,1.0,6,13.5	MHEAD_RNG_PITCHd_Wd	57.8,32757,-22.0,-10.476,-26.38,1850,0.155
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	0.0,1.023763	FG_AHR_10Vo	17.926
SM_CCo	5051.78,20.28,0.958,0,963.3,949.8,976.9,349.96	MEM0	60148,1,0,0
SM_GC	2.09,20.28,6.41,1.10,0.958,0.068,0.026,963.3,949.8,976.9,175.6,3114.5,0,0,0,12.33,15.72,15.77	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	906984,174,136184,96
IRIDIUM_FIX	3755.08,-12436.70,081022,133451	DATA_FILE_SIZE	28890,1001
TCM_TEMP	16.40	CAP_FILE_SIZE	377390,0
XPDR_PINGS	1,13.0,11.5	SDSIZE	3887104,3769088
SC_FREEKB	3734208	SDFILEDIR	2500,1
HUMID	53.97	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.25	CURRENT	0.309,214.5,1
INTERNAL_PRESSURE	8.78584	IMPLIED_C_PITCH	2006,32.06,791,0.0,0.00
_24V_AH	15.00,85.134	IMPLIED_C_VBD	2343,53.416222,442,0
_10V_AH	15.00,0.000	GPS	081022,162707,3750.742,-12436.509,38,1.4,40,13.5
FG_AHR_24Vo	71.314

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	451	1235	8373.58	nil	0	0	0.00
Pitch_motor	17	475	127.92	nil	0	0	0.00
Roll_motor	57	154	134.28	nil	0	0	0.00
Iridium	187	175	492.58	nil	0	0	0.00
Transponder_ping	0	420	1.57	nil	0	0	0.00
GPS	14	15	3.36	nil	0	0	0.00
Core	1168	6	119.16	SciCon	5053	17	1350.52
Fast	40	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	2570	2	77.10
Compass	1344	5	100.86
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	957.2	956.3	958.1	174.9	3269.7	0.00	0.00	0	69.60	61.26	0.00	0.00	0.005	0.000	0.000	2154.72	2196.94	2112.50	174.88	3269.81	0	0	0	15.51	30.00	30.00
69.85	18983	-126.52	-0.64	-40.00	2154.4	2195.2	2113.6	174.8	3269.9	3.43	-3.99	12	106.17	19.87	9.58	2.40	0.006	0.475	0.028	2906.12	2971.12	2841.12	1892.50	1721.69	0	0	0	15.61	15.36	15.51
133.47	1028	-126.52	-0.64	0.00	2907.1	2969.7	2844.4	1892.9	1708.7	15.26	-13.73	25	139.17	0.00	0.00	2.67	0.000	0.000	0.084	2907.47	2969.94	2845.00	1892.56	3247.06	0	0	0	30.00	30.00	15.83
323.55	260	-126.52	-0.64	40.00	2907.0	2969.1	2845.0	1893.0	3246.9	39.57	-11.48	63	328.34	0.00	0.00	1.10	0.000	0.000	0.097	2909.62	2972.06	2847.19	1890.06	3899.31	0	0	0	30.00	30.00	15.86
448.56	1028	-126.52	-0.64	0.00	2907.5	2969.2	2845.7	1890.0	3899.4	51.58	-8.96	88	453.36	0.00	0.00	1.12	0.000	0.000	0.041	2907.53	2969.38	2845.69	1889.81	3172.69	0	0	0	30.00	30.00	15.93
633.62	260	-126.52	-0.64	40.00	2907.9	2968.9	2846.9	1889.9	3172.8	68.97	-9.86	125	638.45	0.00	0.00	1.26	0.000	0.000	0.096	2908.34	2969.75	2846.94	1887.06	3897.62	0	0	0	30.00	30.00	15.93
738.64	1028	-126.52	-0.64	0.00	2908.0	2969.4	2846.6	1886.3	3897.6	78.77	-9.18	146	743.45	0.00	0.00	1.12	0.000	0.000	0.042	2908.03	2968.94	2847.12	1886.88	3172.50	0	0	0	30.00	30.00	15.97
923.70	516	-126.52	-0.64	-40.00	2908.0	2968.9	2847.2	1887.0	3171.8	96.69	-10.56	183	929.29	0.00	0.00	2.19	0.000	0.000	0.023	2909.56	2970.56	2848.56	1886.94	1714.81	0	0	0	30.00	30.00	15.99
953.72	1028	-126.52	-0.64	0.00	2908.0	2968.8	2847.3	1886.4	1708.9	99.57	-9.87	189	959.38	0.00	0.00	2.65	0.000	0.000	0.083	2908.41	2969.19	2847.62	1887.19	3248.94	0	0	0	30.00	30.00	15.98
1144.03	260	-126.52	-0.64	40.00	2908.1	2969.2	2846.9	1886.6	3249.8	117.12	-8.96	227	1148.81	0.00	0.00	1.10	0.000	0.000	0.100	2909.69	2970.62	2848.75	1882.69	3899.06	0	0	0	30.00	30.00	15.96
1193.85	1028	-126.52	-0.64	0.00	2907.9	2968.9	2846.9	1883.0	3899.4	121.44	-8.69	237	1198.65	0.00	0.00	1.12	0.000	0.000	0.043	2907.56	2968.12	2847.00	1882.75	3175.56	0	0	0	30.00	30.00	16.00
1503.87	516	-126.52	-0.64	-40.00	2907.8	2968.4	2847.2	1882.8	3175.6	149.59	-9.52	299	1509.46	0.00	0.00	2.19	0.000	0.000	0.025	2907.97	2968.56	2847.38	1882.56	1706.06	0	0	0	30.00	30.00	16.02
1518.89	1028	-126.52	-0.64	0.00	2907.8	2968.1	2847.4	1883.2	1704.1	151.04	-9.60	302	1524.56	0.00	0.00	2.65	0.000	0.000	0.085	2908.34	2968.69	2848.00	1882.69	3248.25	0	0	0	30.00	30.00	15.98
1828.98	516	-126.52	-0.64	-40.00	2907.3	2967.8	2846.9	1882.7	3248.8	177.23	-7.59	364	1834.59	0.00	0.00	2.35	0.000	0.000	0.026	2908.16	2968.19	2848.12	1882.62	1711.19	0	0	0	30.00	30.00	16.04
1859.00	1060	-126.52	-0.64	0.00	2906.4	2965.8	2847.1	1882.7	1709.7	179.39	-7.37	370	1864.64	0.00	0.00	2.64	0.000	0.000	0.085	2907.59	2966.94	2848.25	1882.81	3248.56	0	0	0	30.00	30.00	16.02
2169.08	32	-126.52	-0.64	0.00	2906.5	2966.0	2846.9	1882.6	3248.8	199.69	-5.88	432	2170.42	0.00	0.00	0.00	0.000	0.000	0.000	2906.97	2966.12	2847.81	1882.50	3249.06	0	0	0	30.00	30.00	30.00
2464	end dive: TARGET_DEPTH_EXCEEDED
state	2464	begin apogee
2465.42	10243	0.00	-0.11	0.00	2905.8	2964.6	2847.1	1882.4	2945.6	220.04	-7.64	491	2571.50	103.62	0.62	0.13	1.235	0.201	0.155	2389.78	2429.81	2349.75	2068.81	3020.56	0	0	0	11.88	15.91	15.46
2573	end apogee: CONTROL_FINISHED_OK
state	2573	begin climb
2574.18	10759	126.52	0.64	-40.00	2387.4	2428.3	2346.4	2068.9	3020.7	225.13	0.00	512	2680.26	99.44	0.71	2.41	1.209	0.094	0.021	1872.06	1877.56	1866.56	2326.44	1483.69	0	0	0	12.36	15.57	15.35
2862.64	1092	126.52	0.69	0.00	1868.8	1874.4	1863.1	2326.6	1483.6	218.08	8.28	570	2868.30	0.00	0.00	2.62	0.000	0.000	0.069	1867.91	1876.12	1859.69	2327.06	3019.44	0	0	0	30.00	30.00	15.78
3172.72	16966	126.52	0.71	-40.00	1865.2	1878.0	1852.4	2326.4	3020.2	187.80	9.56	632	3178.33	0.00	0.00	2.35	0.000	0.000	0.019	1866.12	1879.00	1853.25	2337.38	1508.56	0	0	0	30.00	30.00	15.94
3317.76	17478	126.52	0.76	0.00	1865.4	1878.1	1852.6	2338.4	1500.1	176.27	7.64	661	3323.40	0.00	0.00	2.55	0.000	0.000	0.063	1866.19	1879.00	1853.38	2338.62	3025.25	0	0	0	30.00	30.00	15.96
3627.85	16966	126.52	0.80	-40.00	1863.8	1878.8	1848.7	2338.2	3026.2	147.79	8.70	723	3633.48	0.00	0.00	2.34	0.000	0.000	0.017	1865.38	1880.44	1850.31	2349.75	1490.31	0	0	0	30.00	30.00	15.94
3677.86	17478	126.52	0.86	0.00	1864.2	1879.6	1848.8	2350.1	1490.6	144.02	7.56	733	3683.50	0.00	0.00	2.56	0.000	0.000	0.062	1864.84	1879.94	1849.75	2350.19	3025.44	0	0	0	30.00	30.00	15.93
3987.94	10791	181.07	0.92	-40.00	1863.2	1879.3	1847.2	2350.2	3025.6	120.39	7.45	795	4034.44	42.31	0.13	2.38	1.108	0.086	0.021	1650.56	1657.25	1643.88	2425.25	1516.25	0	0	0	11.99	15.91	15.76
4038.01	5125	181.07	0.92	0.00	1649.5	1656.2	1642.9	2427.8	1502.6	115.37	10.72	805	4043.65	0.00	0.17	2.58	0.000	0.361	0.062	1648.84	1656.25	1641.44	2391.50	3026.94	0	0	0	30.00	15.66	15.78
4348.02	516	181.07	0.92	-40.00	1644.8	1656.8	1632.8	2390.6	3027.0	72.58	11.78	867	4353.63	0.00	0.00	2.36	0.000	0.000	0.018	1645.69	1657.44	1633.94	2401.19	1513.25	0	0	0	30.00	30.00	15.86
4403.05	1092	181.07	0.96	0.00	1644.3	1656.2	1632.4	2401.8	1501.9	67.67	8.46	878	4408.68	0.00	0.00	2.55	0.000	0.000	0.061	1643.66	1656.88	1630.44	2401.69	3021.56	0	0	0	30.00	30.00	15.81
4593.08	10535	250.13	1.05	40.00	1643.3	1657.2	1629.5	2401.8	3021.6	55.44	6.64	916	4649.67	52.17	0.10	1.47	1.034	0.100	0.074	1369.19	1370.31	1368.06	2467.69	3905.50	0	0	0	12.09	15.81	15.64
4733.08	5125	250.13	1.05	0.00	1366.5	1370.1	1362.9	2468.4	3905.8	31.11	25.07	944	4738.11	0.00	0.22	1.50	0.000	0.414	0.017	1367.50	1370.81	1364.19	2431.44	2881.50	0	0	0	30.00	15.52	15.72
4923.10	8486	321.94	1.14	40.00	1362.7	1371.5	1353.8	2431.6	2877.5	11.24	6.49	982	4979.62	52.95	0.00	1.76	0.961	0.000	0.075	1076.81	1083.44	1070.19	2431.69	3903.88	0	0	0	12.09	30.00	15.60
5003	end climb: SURFACE_DEPTH_REACHED
state	5003	begin surface coast
5018	end surface coast: CONTROL_FINISHED_OK
state	5018	begin surface