Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 431 * 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 431 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 18.089483 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 71.850975 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 18.089483 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 71.850975 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 431 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 081022,222756,3748.126,-12437.533,2,0.7,7,13.5 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 081022,223323,3748.070,-12437.537,2,0.9,5,13.5 MHEAD_RNG_PITCHd_Wd 46.8,32098,-22.0,-10.476,-26.38,1850,0.175

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 -0.0,1.023599 FG_AHR_10Vo 18.125

SM_CCo 4555.29,24.27,0.976,0,963.3,952.3,974.3,349.97 MEM0 60148,1,0,0

SM_GC 2.67,24.27,6.78,0.36,0.976,0.106,0.069,963.3,952.3,974.3,175.8,3266.5,0,0,0,12.44,15.74,15.79 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 906956,174,136212,96

IRIDIUM_FIX 3747.02,-12435.85,081022,210250 DATA_FILE_SIZE 25691,901

TCM_TEMP 16.19 CAP_FILE_SIZE 352943,0

XPDR_PINGS 1,13.0,11.5 SDSIZE 3887104,3767840

SC_FREEKB 3732288 SDFILEDIR 2530,1

HUMID 54.01 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.19 CURRENT 0.405,214.3,1

INTERNAL_PRESSURE 8.79224 IMPLIED_C_PITCH 2011,31.05,702,0.0,0.00

_24V_AH 15.01,85.948 IMPLIED_C_VBD 2335,95.893593,604,0

_10V_AH 15.00,0.000 GPS 081022,235027,3747.460,-12437.721,32,1.5,41,13.5

FG_AHR_24Vo 71.970

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 451 1236 8385.36 nil 0 0 0.00

Pitch_motor 17 462 121.68 nil 0 0 0.00

Roll_motor 59 149 133.83 nil 0 0 0.00

Iridium 202 174 530.66 nil 0 0 0.00

Transponder_ping 0 420 1.58 nil 0 0 0.00

GPS 14 15 3.32 nil 0 0 0.00

Core 1091 6 111.32 SciCon 4554 17 1212.37

Fast 42 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 2276 2 68.29

Compass 1213 5 91.01

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 0.00 956.9 957.2 956.7 174.5 3107.8 0.00 0.00 0 69.61 61.30 0.00 0.00 0.005 0.000 0.000 2156.31 2199.00 2113.62 174.75 3108.50 0 0 0 15.49 30.00 30.00

69.87 18983 -126.52 -0.64 -40.00 2156.1 2198.4 2113.8 174.4 3108.4 3.44 -3.98 12 106.05 19.98 9.31 2.11 0.006 0.463 0.027 2905.69 2971.06 2840.31 1891.62 1728.62 0 0 0 15.64 15.37 15.51

143.35 1028 -126.52 -0.64 0.00 2907.8 2970.9 2844.6 1892.3 1716.2 16.30 -12.44 27 149.04 0.00 0.00 2.65 0.000 0.000 0.080 2910.06 2973.31 2846.81 1892.06 3248.06 0 0 0 30.00 30.00 15.78

333.42 260 -126.52 -0.64 40.00 2907.7 2970.5 2844.9 1892.2 3247.4 50.48 -16.27 65 338.21 0.00 0.00 1.10 0.000 0.000 0.096 2908.03 2970.69 2845.38 1889.75 3901.50 0 0 0 30.00 30.00 15.80

403.44 1028 -126.52 -0.64 0.00 2907.3 2969.6 2845.0 1888.9 3900.9 61.72 -16.61 79 408.24 0.00 0.00 1.12 0.000 0.000 0.040 2908.19 2970.56 2845.81 1889.75 3171.44 0 0 0 30.00 30.00 15.87

588.50 516 -126.52 -0.64 -40.00 2908.1 2969.8 2846.4 1889.5 3171.4 82.83 -8.50 116 594.08 0.00 0.00 2.19 0.000 0.000 0.023 2909.66 2971.94 2847.38 1889.62 1724.56 0 0 0 30.00 30.00 15.93

638.52 1060 -126.52 -0.64 0.00 2908.2 2970.0 2846.5 1889.2 1714.4 85.57 -5.90 126 644.20 0.00 0.00 2.63 0.000 0.000 0.080 2908.56 2970.12 2847.00 1889.62 3248.56 0 0 0 30.00 30.00 15.94

828.57 292 -126.52 -0.64 40.00 2908.7 2969.4 2847.9 1888.9 3248.9 94.69 -5.24 164 833.36 0.00 0.00 1.10 0.000 0.000 0.097 2910.50 2971.62 2849.38 1885.25 3900.81 0 0 0 30.00 30.00 15.93

868.58 1060 -126.52 -0.64 0.00 2908.9 2969.6 2848.2 1884.8 3900.6 97.35 -6.43 172 873.39 0.00 0.00 1.12 0.000 0.000 0.040 2910.97 2972.19 2849.75 1885.44 3172.44 0 0 0 30.00 30.00 15.97

1053.63 516 -126.52 -0.64 -40.00 2908.8 2970.1 2847.4 1884.6 3171.2 113.42 -9.67 209 1059.21 0.00 0.00 2.18 0.000 0.000 0.022 2909.09 2970.38 2847.81 1885.19 1714.56 0 0 0 30.00 30.00 15.99

1078.64 1028 -126.52 -0.64 0.00 2908.7 2969.8 2847.6 1885.2 1710.8 115.79 -9.63 214 1084.36 0.00 0.00 2.63 0.000 0.000 0.080 2908.72 2969.94 2847.50 1884.75 3249.00 0 0 0 30.00 30.00 15.98

1388.71 0 -126.52 -0.64 0.00 2908.6 2969.4 2847.8 1884.8 3248.9 146.52 -10.28 276 1390.05 0.00 0.00 0.00 0.000 0.000 0.000 2909.06 2969.75 2848.38 1885.12 3248.81 0 0 0 30.00 30.00 30.00

1693.81 516 -126.52 -0.64 -40.00 2908.2 2969.1 2847.4 1884.6 3249.0 177.27 -9.23 337 1699.43 0.00 0.00 2.34 0.000 0.000 0.025 2908.25 2968.94 2847.56 1884.81 1711.62 0 0 0 30.00 30.00 16.03

1733.81 1028 -126.52 -0.64 0.00 2907.9 2968.2 2847.6 1884.9 1709.8 180.69 -8.61 345 1739.48 0.00 0.00 2.63 0.000 0.000 0.081 2908.59 2968.75 2848.44 1884.19 3249.25 0 0 0 30.00 30.00 16.02

2043.92 548 -126.52 -0.64 -40.00 2907.7 2967.8 2847.6 1884.8 3248.4 200.69 -5.18 407 2049.52 0.00 0.00 2.35 0.000 0.000 0.025 2909.03 2969.25 2848.81 1884.69 1709.75 0 0 0 30.00 30.00 16.05

2068.93 1060 -126.52 -0.64 0.00 2907.0 2966.6 2847.4 1884.9 1707.1 201.86 -4.95 412 2074.58 0.00 0.00 2.63 0.000 0.000 0.082 2907.22 2966.38 2848.06 1884.31 3247.38 0 0 0 30.00 30.00 16.04

2379.01 32 -126.52 -0.64 0.00 2907.0 2966.2 2847.8 1884.9 3247.2 217.18 -5.82 474 2380.35 0.00 0.00 0.00 0.000 0.000 0.000 2907.38 2966.81 2847.94 1885.00 3248.00 0 0 0 30.00 30.00 30.00

2423 end dive: TARGET_DEPTH_EXCEEDED

state 2423 begin apogee

2425.33 10243 0.00 -0.11 0.00 2906.8 2965.9 2847.8 1884.4 2944.6 220.03 -6.28 483 2531.43 103.32 0.61 0.14 1.237 0.196 0.150 2388.81 2428.06 2349.56 2067.75 3022.06 0 0 0 11.92 15.92 15.45

2532 end apogee: CONTROL_FINISHED_OK

state 2533 begin climb

2534.14 10759 126.52 0.64 -40.00 2387.4 2428.2 2346.6 2068.0 3021.2 224.06 0.00 504 2640.21 99.26 0.71 2.40 1.209 0.094 0.019 1873.69 1879.12 1868.25 2326.50 1486.56 0 0 0 12.31 15.59 15.35

2842.58 9254 200.95 0.74 0.00 1868.7 1874.6 1862.8 2326.5 1486.4 219.49 6.34 566 2904.41 57.29 0.00 2.61 1.188 0.000 0.065 1570.25 1576.81 1563.69 2326.75 3021.31 0 0 0 12.16 30.00 15.80

3207.64 516 200.95 0.74 -40.00 1563.0 1576.4 1549.5 2325.6 3021.6 168.24 15.93 639 3213.27 0.00 0.00 2.36 0.000 0.000 0.019 1563.44 1577.12 1549.75 2336.88 1522.50 0 0 0 30.00 30.00 15.90

3327.68 17414 200.95 0.74 0.00 1562.5 1576.1 1548.9 2338.1 1510.3 149.45 16.24 663 3333.34 0.00 0.00 2.54 0.000 0.000 0.063 1562.66 1576.56 1548.75 2338.25 3021.06 0 0 0 30.00 30.00 15.93

3637.77 16902 200.95 0.74 -40.00 1561.2 1577.8 1544.6 2337.4 3021.2 97.24 13.87 725 3643.39 0.00 0.00 2.36 0.000 0.000 0.018 1561.47 1578.12 1544.81 2348.25 1512.75 0 0 0 30.00 30.00 15.86

3667.78 17414 200.95 0.74 0.00 1560.9 1577.3 1544.6 2349.8 1498.9 93.00 14.14 731 3673.43 0.00 0.00 2.57 0.000 0.000 0.065 1562.47 1579.00 1545.94 2348.81 3023.06 0 0 0 30.00 30.00 15.85

3857.84 16966 200.95 0.77 -40.00 1561.0 1578.6 1543.4 2350.4 3022.9 69.67 8.55 769 3863.45 0.00 0.00 2.35 0.000 0.000 0.018 1561.75 1579.25 1544.25 2360.56 1500.69 0 0 0 30.00 30.00 15.88

3897.85 17478 200.95 0.83 0.00 1560.7 1578.0 1543.4 2362.2 1494.0 66.54 7.83 777 3903.51 0.00 0.00 2.56 0.000 0.000 0.064 1560.78 1578.00 1543.56 2361.50 3023.00 0 0 0 30.00 30.00 15.86

4087.90 8742 258.61 0.90 -40.00 1561.0 1579.5 1542.5 2361.6 3022.9 51.28 7.27 815 4135.37 43.35 0.00 2.38 1.027 0.000 0.021 1333.59 1343.75 1323.44 2372.31 1522.62 0 0 0 12.02 30.00 15.73

4207.92 1028 258.61 0.90 0.00 1332.0 1340.4 1323.6 2373.9 1507.6 37.69 12.56 839 4213.56 0.00 0.00 2.57 0.000 0.000 0.066 1332.72 1340.81 1324.62 2373.69 3020.06 0 0 0 30.00 30.00 15.74

4397.99 580 258.61 0.94 -40.00 1330.1 1343.8 1316.3 2373.4 3020.5 13.99 8.17 877 4403.57 0.00 0.00 2.36 0.000 0.000 0.018 1330.69 1344.19 1317.19 2383.12 1496.81 0 0 0 30.00 30.00 15.80

4417.98 11303 315.81 1.01 0.00 1329.8 1343.2 1316.3 2384.6 1496.8 12.64 7.30 881 4465.56 42.85 0.12 2.58 0.965 0.095 0.064 1101.34 1108.06 1094.62 2463.50 3023.38 0 0 0 12.13 15.82 15.79

4502 end climb: SURFACE_DEPTH_REACHED

state 4502 begin surface coast

4517 end surface coast: CONTROL_FINISHED_OK

state 4518 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	431	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	18.089483	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	71.850975	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	081022,222756,3748.126,-12437.533,2,0.7,7,13.5	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	081022,223323,3748.070,-12437.537,2,0.9,5,13.5	MHEAD_RNG_PITCHd_Wd	46.8,32098,-22.0,-10.476,-26.38,1850,0.175
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	-0.0,1.023599	FG_AHR_10Vo	18.125
SM_CCo	4555.29,24.27,0.976,0,963.3,952.3,974.3,349.97	MEM0	60148,1,0,0
SM_GC	2.67,24.27,6.78,0.36,0.976,0.106,0.069,963.3,952.3,974.3,175.8,3266.5,0,0,0,12.44,15.74,15.79	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	906956,174,136212,96
IRIDIUM_FIX	3747.02,-12435.85,081022,210250	DATA_FILE_SIZE	25691,901
TCM_TEMP	16.19	CAP_FILE_SIZE	352943,0
XPDR_PINGS	1,13.0,11.5	SDSIZE	3887104,3767840
SC_FREEKB	3732288	SDFILEDIR	2530,1
HUMID	54.01	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.19	CURRENT	0.405,214.3,1
INTERNAL_PRESSURE	8.79224	IMPLIED_C_PITCH	2011,31.05,702,0.0,0.00
_24V_AH	15.01,85.948	IMPLIED_C_VBD	2335,95.893593,604,0
_10V_AH	15.00,0.000	GPS	081022,235027,3747.460,-12437.721,32,1.5,41,13.5
FG_AHR_24Vo	71.970

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	451	1236	8385.36	nil	0	0	0.00
Pitch_motor	17	462	121.68	nil	0	0	0.00
Roll_motor	59	149	133.83	nil	0	0	0.00
Iridium	202	174	530.66	nil	0	0	0.00
Transponder_ping	0	420	1.58	nil	0	0	0.00
GPS	14	15	3.32	nil	0	0	0.00
Core	1091	6	111.32	SciCon	4554	17	1212.37
Fast	42	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	2276	2	68.29
Compass	1213	5	91.01
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	956.9	957.2	956.7	174.5	3107.8	0.00	0.00	0	69.61	61.30	0.00	0.00	0.005	0.000	0.000	2156.31	2199.00	2113.62	174.75	3108.50	0	0	0	15.49	30.00	30.00
69.87	18983	-126.52	-0.64	-40.00	2156.1	2198.4	2113.8	174.4	3108.4	3.44	-3.98	12	106.05	19.98	9.31	2.11	0.006	0.463	0.027	2905.69	2971.06	2840.31	1891.62	1728.62	0	0	0	15.64	15.37	15.51
143.35	1028	-126.52	-0.64	0.00	2907.8	2970.9	2844.6	1892.3	1716.2	16.30	-12.44	27	149.04	0.00	0.00	2.65	0.000	0.000	0.080	2910.06	2973.31	2846.81	1892.06	3248.06	0	0	0	30.00	30.00	15.78
333.42	260	-126.52	-0.64	40.00	2907.7	2970.5	2844.9	1892.2	3247.4	50.48	-16.27	65	338.21	0.00	0.00	1.10	0.000	0.000	0.096	2908.03	2970.69	2845.38	1889.75	3901.50	0	0	0	30.00	30.00	15.80
403.44	1028	-126.52	-0.64	0.00	2907.3	2969.6	2845.0	1888.9	3900.9	61.72	-16.61	79	408.24	0.00	0.00	1.12	0.000	0.000	0.040	2908.19	2970.56	2845.81	1889.75	3171.44	0	0	0	30.00	30.00	15.87
588.50	516	-126.52	-0.64	-40.00	2908.1	2969.8	2846.4	1889.5	3171.4	82.83	-8.50	116	594.08	0.00	0.00	2.19	0.000	0.000	0.023	2909.66	2971.94	2847.38	1889.62	1724.56	0	0	0	30.00	30.00	15.93
638.52	1060	-126.52	-0.64	0.00	2908.2	2970.0	2846.5	1889.2	1714.4	85.57	-5.90	126	644.20	0.00	0.00	2.63	0.000	0.000	0.080	2908.56	2970.12	2847.00	1889.62	3248.56	0	0	0	30.00	30.00	15.94
828.57	292	-126.52	-0.64	40.00	2908.7	2969.4	2847.9	1888.9	3248.9	94.69	-5.24	164	833.36	0.00	0.00	1.10	0.000	0.000	0.097	2910.50	2971.62	2849.38	1885.25	3900.81	0	0	0	30.00	30.00	15.93
868.58	1060	-126.52	-0.64	0.00	2908.9	2969.6	2848.2	1884.8	3900.6	97.35	-6.43	172	873.39	0.00	0.00	1.12	0.000	0.000	0.040	2910.97	2972.19	2849.75	1885.44	3172.44	0	0	0	30.00	30.00	15.97
1053.63	516	-126.52	-0.64	-40.00	2908.8	2970.1	2847.4	1884.6	3171.2	113.42	-9.67	209	1059.21	0.00	0.00	2.18	0.000	0.000	0.022	2909.09	2970.38	2847.81	1885.19	1714.56	0	0	0	30.00	30.00	15.99
1078.64	1028	-126.52	-0.64	0.00	2908.7	2969.8	2847.6	1885.2	1710.8	115.79	-9.63	214	1084.36	0.00	0.00	2.63	0.000	0.000	0.080	2908.72	2969.94	2847.50	1884.75	3249.00	0	0	0	30.00	30.00	15.98
1388.71	0	-126.52	-0.64	0.00	2908.6	2969.4	2847.8	1884.8	3248.9	146.52	-10.28	276	1390.05	0.00	0.00	0.00	0.000	0.000	0.000	2909.06	2969.75	2848.38	1885.12	3248.81	0	0	0	30.00	30.00	30.00
1693.81	516	-126.52	-0.64	-40.00	2908.2	2969.1	2847.4	1884.6	3249.0	177.27	-9.23	337	1699.43	0.00	0.00	2.34	0.000	0.000	0.025	2908.25	2968.94	2847.56	1884.81	1711.62	0	0	0	30.00	30.00	16.03
1733.81	1028	-126.52	-0.64	0.00	2907.9	2968.2	2847.6	1884.9	1709.8	180.69	-8.61	345	1739.48	0.00	0.00	2.63	0.000	0.000	0.081	2908.59	2968.75	2848.44	1884.19	3249.25	0	0	0	30.00	30.00	16.02
2043.92	548	-126.52	-0.64	-40.00	2907.7	2967.8	2847.6	1884.8	3248.4	200.69	-5.18	407	2049.52	0.00	0.00	2.35	0.000	0.000	0.025	2909.03	2969.25	2848.81	1884.69	1709.75	0	0	0	30.00	30.00	16.05
2068.93	1060	-126.52	-0.64	0.00	2907.0	2966.6	2847.4	1884.9	1707.1	201.86	-4.95	412	2074.58	0.00	0.00	2.63	0.000	0.000	0.082	2907.22	2966.38	2848.06	1884.31	3247.38	0	0	0	30.00	30.00	16.04
2379.01	32	-126.52	-0.64	0.00	2907.0	2966.2	2847.8	1884.9	3247.2	217.18	-5.82	474	2380.35	0.00	0.00	0.00	0.000	0.000	0.000	2907.38	2966.81	2847.94	1885.00	3248.00	0	0	0	30.00	30.00	30.00
2423	end dive: TARGET_DEPTH_EXCEEDED
state	2423	begin apogee
2425.33	10243	0.00	-0.11	0.00	2906.8	2965.9	2847.8	1884.4	2944.6	220.03	-6.28	483	2531.43	103.32	0.61	0.14	1.237	0.196	0.150	2388.81	2428.06	2349.56	2067.75	3022.06	0	0	0	11.92	15.92	15.45
2532	end apogee: CONTROL_FINISHED_OK
state	2533	begin climb
2534.14	10759	126.52	0.64	-40.00	2387.4	2428.2	2346.6	2068.0	3021.2	224.06	0.00	504	2640.21	99.26	0.71	2.40	1.209	0.094	0.019	1873.69	1879.12	1868.25	2326.50	1486.56	0	0	0	12.31	15.59	15.35
2842.58	9254	200.95	0.74	0.00	1868.7	1874.6	1862.8	2326.5	1486.4	219.49	6.34	566	2904.41	57.29	0.00	2.61	1.188	0.000	0.065	1570.25	1576.81	1563.69	2326.75	3021.31	0	0	0	12.16	30.00	15.80
3207.64	516	200.95	0.74	-40.00	1563.0	1576.4	1549.5	2325.6	3021.6	168.24	15.93	639	3213.27	0.00	0.00	2.36	0.000	0.000	0.019	1563.44	1577.12	1549.75	2336.88	1522.50	0	0	0	30.00	30.00	15.90
3327.68	17414	200.95	0.74	0.00	1562.5	1576.1	1548.9	2338.1	1510.3	149.45	16.24	663	3333.34	0.00	0.00	2.54	0.000	0.000	0.063	1562.66	1576.56	1548.75	2338.25	3021.06	0	0	0	30.00	30.00	15.93
3637.77	16902	200.95	0.74	-40.00	1561.2	1577.8	1544.6	2337.4	3021.2	97.24	13.87	725	3643.39	0.00	0.00	2.36	0.000	0.000	0.018	1561.47	1578.12	1544.81	2348.25	1512.75	0	0	0	30.00	30.00	15.86
3667.78	17414	200.95	0.74	0.00	1560.9	1577.3	1544.6	2349.8	1498.9	93.00	14.14	731	3673.43	0.00	0.00	2.57	0.000	0.000	0.065	1562.47	1579.00	1545.94	2348.81	3023.06	0	0	0	30.00	30.00	15.85
3857.84	16966	200.95	0.77	-40.00	1561.0	1578.6	1543.4	2350.4	3022.9	69.67	8.55	769	3863.45	0.00	0.00	2.35	0.000	0.000	0.018	1561.75	1579.25	1544.25	2360.56	1500.69	0	0	0	30.00	30.00	15.88
3897.85	17478	200.95	0.83	0.00	1560.7	1578.0	1543.4	2362.2	1494.0	66.54	7.83	777	3903.51	0.00	0.00	2.56	0.000	0.000	0.064	1560.78	1578.00	1543.56	2361.50	3023.00	0	0	0	30.00	30.00	15.86
4087.90	8742	258.61	0.90	-40.00	1561.0	1579.5	1542.5	2361.6	3022.9	51.28	7.27	815	4135.37	43.35	0.00	2.38	1.027	0.000	0.021	1333.59	1343.75	1323.44	2372.31	1522.62	0	0	0	12.02	30.00	15.73
4207.92	1028	258.61	0.90	0.00	1332.0	1340.4	1323.6	2373.9	1507.6	37.69	12.56	839	4213.56	0.00	0.00	2.57	0.000	0.000	0.066	1332.72	1340.81	1324.62	2373.69	3020.06	0	0	0	30.00	30.00	15.74
4397.99	580	258.61	0.94	-40.00	1330.1	1343.8	1316.3	2373.4	3020.5	13.99	8.17	877	4403.57	0.00	0.00	2.36	0.000	0.000	0.018	1330.69	1344.19	1317.19	2383.12	1496.81	0	0	0	30.00	30.00	15.80
4417.98	11303	315.81	1.01	0.00	1329.8	1343.2	1316.3	2384.6	1496.8	12.64	7.30	881	4465.56	42.85	0.12	2.58	0.965	0.095	0.064	1101.34	1108.06	1094.62	2463.50	3023.38	0	0	0	12.13	15.82	15.79
4502	end climb: SURFACE_DEPTH_REACHED
state	4502	begin surface coast
4517	end surface coast: CONTROL_FINISHED_OK
state	4518	begin surface