Glider dive log

SMODE Mar23 * SG220 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 220 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 1.9639999e-06

MISSION 8 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -9.2399998

DIVE 7 SM_CC 550 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

N_DIVES 0 N_FILEKB 4 VBD_MIN 500 DEEPGLIDERMB 0

STOP_T 0 FILEMGR 0 VBD_MAX 3960 MOTHERBOARD 6

D_SURF 2 CALL_NDIVES 1 C_VBD 3049 DEVICE1 -1

D_FLARE 3 COMM_SEQ 7 VBD_DBAND 2 DEVICE2 -1

D_TGT 360 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE3 -1

D_ABORT 1000 N_NOCOMM 2 VBD_LP_IGNORE 0 DEVICE4 -1

D_NO_BLEED 200 NOCOMM_ACTION 131 VBD_TIMEOUT 720 DEVICE5 -1

D_BOOST 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0012000001 DEVICE6 -1

T_BOOST 0 UPLOAD_DIVES_MAX -1 UNCOM_BLEED 20 LOGGERS 3

D_FINISH 0 NETBOX 1 VBD_MAXERRORS 1 LOGGERDEVICE1 6

D_PITCH 0 CALL_TRIES 5 C_VBD_AUTO_DELTA 0 LOGGERDEVICE2 19

D_SAFE 0 CALL_WAIT 60 C_VBD_AUTO_MAX 0 LOGGERDEVICE3 -1

D_CALL 0 CAPUPLOAD 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

SURFACE_URGENCY 0 CAPMAXSIZE 100000 DBDW 0 COMPASS_DEVICE 34

SURFACE_URGENCY_TRY 0 T_GPS 5 LOITER_W_DBAND 0 COMPASS2_DEVICE -1

SURFACE_URGENCY_FORCE 0 N_GPS 100440 LOITER_DBDW 0 PHONE_DEVICE 33

T_DIVE 120 T_RSLEEP 1 LOITER_D_TOP 0 GPS_DEVICE 48

T_MISSION 150 STROBE 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE -1

T_ABORT 1440 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 NAV_DEVICE -1

T_TURN 225 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 NAV2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_HIT_WINDOW 3600 AH0_24V 350 NETWORK_DEVICE -1

T_NO_W 120 RAFOS_MMODEM 0 AH0_10V 0 PRESSURE_DEVICE 41

T_LOITER 0 PITCH_MIN 190 MINV_24V 11 XPDR_DEVICE 21

T_EPIRB 0 PITCH_MAX 3888 MINV_10V 11 SIM_W 0

USE_BATHY -3 C_PITCH 2020 MAXI_24V 5 SEABIRD_T_G 0.0044097742

USE_ICE 0 PITCH_DBAND 0.1 MAXI_10V 1.5 SEABIRD_T_H 0.00063677714

ICE_FREEZE_MARGIN 0.30000001 PITCH_CNV 0.0031300001 FG_AHR_10V 82.458565 SEABIRD_T_I 2.6545444e-05

D_OFFGRID 1000 PITCH_GAIN 40 FG_AHR_24V 328.28113 SEABIRD_T_J 3.3307697e-06

RELAUNCH 1 PITCH_TIMEOUT 25 PHONE_SUPPLY 2 SEABIRD_C_G -9.9156904

APOGEE_PITCH -5 PITCH_MAXERRORS 1 PRESSURE_YINT -162.0735 SEABIRD_C_H 1.1102111

MAX_BUOY 150 PITCH_ADJ_GAIN 0.015 PRESSURE_SLOPE 0.00022240146 SEABIRD_C_I -0.003043188

GLIDE_SLOPE 30 PITCH_ADJ_DBAND 1 COMPASS_USE 49156 SEABIRD_C_J 0.00028673469

SPEED_FACTOR 1 C_PITCH_AUTO_DELTA 0 ALTIM_PING_FIT 0 OPTIONS 0

RHO 1.0275 C_PITCH_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

MASS 56233 PITCH_GAIN_AUTO_DELTA 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 3.0

NAV_MODE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

FERRY_MAX 45 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_NDIVE 1.0

KALMAN_USE 2 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 TM_RECORDABOVE 200.0

HD_A 0.00281838 ROLL_MIN 265 ALTIM_PING_DELTA 0 TM_PROFILE 3.0

HD_B 0.0163117 ROLL_MAX 3829 ALTIM_FREQUENCY 13 TM_XMITPROFILE 3.0

HD_C 5.7000002e-06 ROLL_DEG 40 ALTIM_PULSE 3 TM_NDIVE 1.0

HEADING -1 C_ROLL_DIVE 2750 ALTIM_SENSITIVITY 2 TM_XMITRAW 0.0

ESCAPE_HEADING 0 C_ROLL_CLIMB 2300 XPDR_VALID 6 TM_LOGSAMPLE 0.0

ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 XPDR_INHIBIT 90

FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 XPDR_INT 14

TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_REP 10.5

AH0_10V 0 D_SAFE 0 N_NOCOMM 2 SEABIRD_T_J 3.3307697e-06

AH0_24V 350 D_SURF 2 N_NOSURFACE 0 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 360 OPTIONS 0 SM_CC 550

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_DEVICE 33 SPEED_FACTOR 1

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 STOP_T 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 1 STROBE 0

ALTIM_PING_FIT 0 FG_AHR_10V 82.458565 PITCH_ADJ_GAIN 0.015 SURFACE_URGENCY 0

ALTIM_PULSE 3 FG_AHR_24V 328.28113 PITCH_CNV 0.0031300001 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 40 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_DELTA 0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 HD_A 0.00281838 PITCH_MAX 3888 TM_LOGSAMPLE 0.0

CALL_NDIVES 1 HD_B 0.0163117 PITCH_MAXERRORS 1 TM_NDIVE 1.0

CALL_TRIES 5 HD_C 5.7000002e-06 PITCH_MIN 190 TM_PROFILE 3.0

CALL_WAIT 60 HEADING -1 PITCH_TIMEOUT 25 TM_RECORDABOVE 200.0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0012000001 TM_XMITPROFILE 3.0

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0 TM_XMITRAW 0.0

CF8_MAXERRORS 20 ID 220 PITCH_W_GAIN 0 T_ABORT 1440

COMM_SEQ 7 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_DEVICE 41 T_BOOST 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -9.2399998 PRESSURE_SLOPE 0.00022240146 T_DIVE 120

COMPASS_DEVICE 34 KALMAN_USE 2 PRESSURE_YINT -162.0735 T_EPIRB 0

COMPASS_USE 49156 LOGGERDEVICE1 6 PROTOCOL 9 T_GPS 5

C_PITCH 2020 LOGGERDEVICE2 19 RAFOS_CORR_THRESH 60 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_MISSION 150

C_PITCH_AUTO_MAX 0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_NO_W 120

C_ROLL_CLIMB 2300 LOGGERS 3 RAFOS_MMODEM 0 T_RSLEEP 1

C_ROLL_DIVE 2750 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN 225

C_VBD 3049 LOITER_D_BOTTOM 0 RELAUNCH 1 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_D_TOP 0 RHO 1.0275 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_N_DIVE 0 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_W_DBAND 0 ROLL_ADJ_GAIN 0 USE_BATHY -3

DEEPGLIDER 0 MASS 56233 ROLL_CNV 0.028270001 USE_ICE 0

DEEPGLIDERMB 0 MAXI_10V 1.5 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE1 -1 MAXI_24V 5 ROLL_MAX 3829 VBD_DBAND 2

DEVICE2 -1 MAX_BUOY 150 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE3 -1 MINV_10V 11 ROLL_MIN 265 VBD_MAX 3960

DEVICE4 -1 MINV_24V 11 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE5 -1 MISSION 8 SC_NDIVE 1.0 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 SC_PROFILE 3.0 VBD_TIMEOUT 720

DIVE 7 NAV2_DEVICE -1 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_ABORT 1000 NAV_DEVICE -1 SC_XMITPROFILE 3.0 XPDR_DEVICE 21

D_BOOST 0 NAV_MODE 2 SEABIRD_C_G -9.9156904 XPDR_INHIBIT 90

D_CALL 0 NETBOX 1 SEABIRD_C_H 1.1102111 XPDR_INT 14

D_FINISH 0 NETWORK_DEVICE -1 SEABIRD_C_I -0.003043188 XPDR_REP 10.5

D_FLARE 3 NOCOMM_ACTION 131 SEABIRD_C_J 0.00028673469 XPDR_VALID 6

D_NO_BLEED 200 N_DIVES 0 SEABIRD_T_G 0.0044097742

D_OFFGRID 1000 N_FILEKB 4 SEABIRD_T_H 0.00063677714

D_PITCH 0 N_GPS 100440 SEABIRD_T_I 2.6545444e-05

Pre-dive calculations and measurements:

GPS1 080323,023202,3645.851,-12202.299,24,0.8,26,12.9 TGT_RADIUS 1000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.94 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -49.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 080323,023857,3645.843,-12202.263,3,0.6,6,12.9 MHEAD_RNG_PITCHd_Wd 173.9,3800,-20.5,-10.000,-25.82,2232,0.151

SPEED_LIMITS 0.173,0.207 D_GRID 699

TGT_NAME SE IRON 1.000000,0.015724,-0.007976,-0.007475,1.052598,-0.015684,0.007750,0.005203,1.060412,40.986404,26.098803,29.024801

TGT_LATLONG 3643.800,-12202.500 OSC 8000225

Post-dive calculations and measurements:

WARN HTMICL TMICL logging already stopped _10V_AH 14.50,0.000

FINISH 0.3,1.010108 FG_AHR_24Vo 328.500

SURF forcing FG_AHR_10Vo 82.562

SM_CCo 6332.71,190.63,1.137,0,807.2,913.6,700.8,549.92 MEM0 59964,1,0,0

SM_GC 0.96,190.63,5.99,0.89,1.137,0.056,0.080,807.2,913.6,700.8,180.1,2773.7,0,0,0,11.70,15.56,15.57 MEM1 65508,1,0,0

SUPER 0,0,0,0,0,0 MEM2 908480,24,137908,85

IRIDIUM_FIX 3646.80,-12159.18,080323,003249 DATA_FILE_SIZE 22525,817

TCM_TEMP 19.20 CAP_FILE_SIZE 222850,0

XPDR_PINGS -1,-1.0,-1.0 SDSIZE 3918848,3823520

SC_FREEKB 3800448 SDFILEDIR 1826,2

TM_FREEKB 7495296 ERRORS 0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0

HUMID 52.24 CURRENT 0.028,328.1,1

TEMP 10.04 IMPLIED_C_PITCH 2041,25.35,589,0.0,0.00

INTERNAL_PRESSURE 8.53897 IMPLIED_C_VBD 3017,41.573586,589,0

_24V_AH 14.44,96.834 GPS 080323,042528,3645.123,-12202.536,3,1.4,6,12.9

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 661 1586 15164.89 nil 0 0 0.00

Pitch_motor 20 557 165.99 nil 0 0 0.00

Roll_motor 55 114 92.36 nil 0 0 0.00

Iridium 345 233 1165.54 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 15 15 3.28 nil 0 0 0.00

Core 1181 6 116.53 SciCon 6127 32 2873.67

Fast 4 0 0.00 TMICL 3094 18 837.91

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3852 2 111.73

Compass 1165 5 84.47

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

10.77 16386 -145.99 -0.69 0.00 800.0 919.2 680.7 176.5 2680.1 0.00 0.00 0 146.44 130.95 0.00 0.00 0.005 0.000 0.000 3393.88 3479.38 3308.38 176.25 2680.56 0 0 0 15.00 30.00 30.00

146.69 18727 -145.99 -0.69 40.00 3394.2 3480.1 3308.2 176.5 2680.2 3.33 -1.93 26 176.21 5.88 11.60 2.06 0.008 0.557 0.099 3645.16 3723.44 3566.88 1797.94 3845.00 0 0 0 15.25 14.87 15.13

403.78 1028 -145.99 -0.69 0.00 3646.5 3722.6 3570.4 1798.1 3844.5 44.82 -13.59 77 410.38 0.00 0.00 1.85 0.000 0.000 0.031 3647.00 3723.12 3570.88 1797.75 2693.12 0 0 0 30.00 30.00 15.41

593.84 260 -145.99 -0.69 40.00 3646.3 3722.8 3569.8 1798.0 2688.0 70.42 -13.34 115 600.52 0.00 0.00 2.04 0.000 0.000 0.091 3647.66 3723.69 3571.62 1797.44 3845.00 0 0 0 30.00 30.00 15.39

788.91 1028 -145.99 -0.69 0.00 3646.0 3722.0 3570.1 1798.3 3844.7 95.21 -11.73 154 795.50 0.00 0.00 1.84 0.000 0.000 0.031 3646.38 3722.31 3570.44 1798.06 2687.75 0 0 0 30.00 30.00 15.41

983.95 0 -145.99 -0.69 0.00 3646.9 3722.9 3570.9 1797.9 2684.5 118.27 -11.86 178 986.95 0.00 0.00 0.00 0.000 0.000 0.000 3646.75 3722.88 3570.62 1796.12 2683.75 0 0 0 30.00 30.00 30.00

1294.06 128 -145.99 -0.70 0.00 3646.8 3722.4 3571.2 1797.8 2684.0 157.90 -13.82 209 1297.07 0.00 0.00 0.00 0.000 0.000 0.000 3646.41 3722.69 3570.12 1798.19 2684.25 0 0 0 30.00 30.00 30.00

1604.03 0 -145.99 -0.70 0.00 3646.8 3722.6 3571.1 1797.9 2683.6 199.20 -12.91 240 1607.05 0.00 0.00 0.00 0.000 0.000 0.000 3646.66 3722.50 3570.81 1798.06 2683.56 0 0 0 30.00 30.00 30.00

1914.21 128 -145.99 -0.73 0.00 3646.6 3722.8 3570.4 1797.9 2682.8 239.08 -12.67 271 1915.76 0.00 0.00 0.00 0.000 0.000 0.000 3646.62 3722.88 3570.38 1798.12 2682.94 0 0 0 30.00 30.00 30.00

2224.26 644 -145.99 -0.75 -40.00 3646.8 3722.7 3570.9 1797.8 2682.8 276.87 -12.33 302 2230.39 0.00 0.00 2.48 0.000 0.000 0.050 3646.94 3722.50 3571.38 1797.81 1311.62 0 0 0 30.00 30.00 14.98

2279.25 1156 -145.99 -0.78 0.00 3646.7 3722.8 3570.6 1798.3 1310.5 283.49 -11.91 313 2285.52 0.00 0.00 2.67 0.000 0.000 0.068 3646.94 3722.88 3571.00 1797.88 2768.12 0 0 0 30.00 30.00 15.59

2594.32 4225 -145.99 -0.82 0.00 3647.0 3722.8 3571.2 1797.4 2768.9 321.05 -11.65 345 2596.08 0.00 0.14 0.00 0.000 0.103 0.000 3646.59 3722.25 3570.94 1736.69 2769.25 0 0 0 30.00 15.65 30.00

2845 end dive: TARGET_DEPTH_EXCEEDED

state 2845 begin apogee

2847.11 10243 0.00 -0.12 0.00 3646.4 3722.3 3570.6 1736.5 2215.4 360.41 -16.44 370 2963.59 109.17 0.94 0.20 1.587 0.278 0.115 3046.41 3159.56 2933.25 1979.44 2327.94 0 0 0 11.33 15.20 15.04

2965 end apogee: CONTROL_FINISHED_OK

state 2965 begin climb

2965.67 10759 145.99 0.69 -40.00 3046.2 3160.3 2932.0 1979.1 2328.9 365.99 0.00 381 3089.49 111.66 0.83 2.80 1.552 0.140 0.074 2452.50 2546.81 2358.19 2245.06 865.88 0 0 0 11.81 15.12 14.85

3122.29 9382 204.51 0.78 0.00 2446.3 2536.5 2356.2 2244.9 865.9 359.31 7.31 411 3175.74 46.76 0.00 2.65 1.495 0.000 0.049 2215.53 2320.25 2110.81 2244.62 2318.75 0 0 0 11.86 30.00 14.94

3482.23 10919 231.51 0.85 -40.00 2206.7 2317.9 2095.5 2244.2 2318.4 326.15 8.76 452 3510.80 22.35 0.14 2.68 1.403 0.077 0.074 2103.22 2217.56 1988.88 2334.19 865.88 0 0 0 11.62 15.43 15.32

3528.43 5253 231.51 0.79 0.00 2100.4 2211.3 1989.6 2334.5 866.0 320.48 13.02 461 3534.82 0.00 0.25 2.60 0.000 0.235 0.050 2102.56 2213.81 1991.31 2266.06 2319.25 0 0 0 30.00 15.30 15.43

3838.53 8354 254.56 0.84 0.00 2096.9 2212.1 1981.8 2266.4 2319.1 291.43 8.94 493 3860.44 19.94 0.00 0.00 1.369 0.000 0.000 2012.44 2132.69 1892.19 2266.12 2319.38 0 0 0 11.70 30.00 30.00

4168.52 2437 254.56 0.87 40.00 2004.5 2128.1 1880.9 2266.1 2319.4 258.41 10.47 526 4174.77 0.00 0.10 2.45 0.000 0.099 0.082 2004.50 2128.12 1880.88 2334.88 3734.25 0 0 0 30.00 15.58 15.56

4193.51 5253 254.56 0.80 0.00 2004.8 2127.7 1881.9 2335.9 3733.9 254.75 14.60 531 4199.89 0.00 0.26 2.45 0.000 0.264 0.043 2005.19 2128.38 1882.00 2267.69 2275.44 0 0 0 30.00 15.34 15.64

4508.59 8870 283.61 0.86 -40.00 2003.5 2127.6 1879.4 2267.2 2268.4 218.43 8.66 563 4541.05 24.43 0.00 2.55 1.334 0.000 0.077 1890.75 2012.75 1768.75 2267.62 866.19 0 0 0 11.66 30.00 15.47

4578.68 3205 283.61 0.92 0.00 1887.5 2006.4 1768.6 2267.1 864.9 210.77 11.61 577 4585.02 0.00 0.14 2.58 0.000 0.083 0.050 1887.34 2006.94 1767.75 2354.44 2319.31 0 0 0 30.00 15.44 15.54

4888.74 4485 283.61 0.86 40.00 1885.1 2005.6 1764.6 2353.8 2318.3 163.61 15.45 609 4895.95 0.00 0.23 2.44 0.000 0.233 0.077 1885.16 2005.81 1764.50 2287.50 3734.62 0 0 0 30.00 15.38 15.42

4953.66 1028 283.61 0.86 0.00 1884.8 2004.9 1764.8 2287.1 3735.4 154.92 12.58 622 4960.69 0.00 0.00 2.46 0.000 0.000 0.041 1886.31 2005.81 1766.81 2294.44 2273.69 0 0 0 30.00 30.00 15.56

5268.81 17030 283.61 0.88 -40.00 1884.1 2004.6 1763.6 2294.3 2267.8 115.17 13.40 654 5275.78 0.00 0.00 2.55 0.000 0.000 0.075 1884.09 2004.50 1763.69 2301.38 866.19 0 0 0 30.00 30.00 15.48

5308.82 17542 283.61 0.90 0.00 1883.8 2003.5 1764.2 2301.6 866.1 109.79 13.58 662 5315.77 0.00 0.00 2.57 0.000 0.000 0.048 1883.59 2003.56 1763.62 2301.38 2319.19 0 0 0 30.00 30.00 15.47

5618.85 16646 283.61 0.90 40.00 1883.5 2003.8 1763.2 2301.6 2318.9 67.70 13.60 717 5625.84 0.00 0.00 2.45 0.000 0.000 0.077 1884.34 2004.38 1764.31 2301.19 3734.00 0 0 0 30.00 30.00 15.51

5648.85 17414 283.61 0.90 0.00 1883.6 2003.3 1763.9 2301.4 3734.0 63.28 15.01 723 5655.85 0.00 0.00 2.46 0.000 0.000 0.042 1883.94 2003.62 1764.25 2309.31 2274.44 0 0 0 30.00 30.00 15.55

5838.93 16646 283.61 0.90 40.00 1883.4 2003.7 1763.1 2309.4 2269.6 35.91 14.18 761 5845.97 0.00 0.00 2.58 0.000 0.000 0.077 1883.19 2003.31 1763.06 2309.12 3733.94 0 0 0 30.00 30.00 15.38

5884.02 17542 283.61 0.88 0.00 1883.4 2003.2 1763.6 2309.2 3733.9 29.19 15.01 770 5890.93 0.00 0.00 2.47 0.000 0.000 0.043 1884.59 2004.50 1764.69 2313.69 2276.56 0 0 0 30.00 30.00 15.49

6074.01 16386 283.61 0.88 0.00 1883.2 2003.5 1763.0 2313.8 2270.7 4.70 11.73 808 6079.58 0.00 0.00 0.00 0.000 0.000 0.000 1883.22 2003.50 1762.94 2313.94 2270.75 0 0 0 30.00 30.00 30.00

6099 end climb: SURFACE_DEPTH_REACHED

state 6099 begin surface coast

6119 end surface coast: CONTROL_FINISHED_OK

state 6119 begin surface

ID	220	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	1.9639999e-06
MISSION	8	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-9.2399998
DIVE	7	SM_CC	550	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
N_DIVES	0	N_FILEKB	4	VBD_MIN	500	DEEPGLIDERMB	0
STOP_T	0	FILEMGR	0	VBD_MAX	3960	MOTHERBOARD	6
D_SURF	2	CALL_NDIVES	1	C_VBD	3049	DEVICE1	-1
D_FLARE	3	COMM_SEQ	7	VBD_DBAND	2	DEVICE2	-1
D_TGT	360	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE3	-1
D_ABORT	1000	N_NOCOMM	2	VBD_LP_IGNORE	0	DEVICE4	-1
D_NO_BLEED	200	NOCOMM_ACTION	131	VBD_TIMEOUT	720	DEVICE5	-1
D_BOOST	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0012000001	DEVICE6	-1
T_BOOST	0	UPLOAD_DIVES_MAX	-1	UNCOM_BLEED	20	LOGGERS	3
D_FINISH	0	NETBOX	1	VBD_MAXERRORS	1	LOGGERDEVICE1	6
D_PITCH	0	CALL_TRIES	5	C_VBD_AUTO_DELTA	0	LOGGERDEVICE2	19
D_SAFE	0	CALL_WAIT	60	C_VBD_AUTO_MAX	0	LOGGERDEVICE3	-1
D_CALL	0	CAPUPLOAD	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
SURFACE_URGENCY	0	CAPMAXSIZE	100000	DBDW	0	COMPASS_DEVICE	34
SURFACE_URGENCY_TRY	0	T_GPS	5	LOITER_W_DBAND	0	COMPASS2_DEVICE	-1
SURFACE_URGENCY_FORCE	0	N_GPS	100440	LOITER_DBDW	0	PHONE_DEVICE	33
T_DIVE	120	T_RSLEEP	1	LOITER_D_TOP	0	GPS_DEVICE	48
T_MISSION	150	STROBE	0	LOITER_D_BOTTOM	0	RAFOS_DEVICE	-1
T_ABORT	1440	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	NAV_DEVICE	-1
T_TURN	225	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	NAV2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_HIT_WINDOW	3600	AH0_24V	350	NETWORK_DEVICE	-1
T_NO_W	120	RAFOS_MMODEM	0	AH0_10V	0	PRESSURE_DEVICE	41
T_LOITER	0	PITCH_MIN	190	MINV_24V	11	XPDR_DEVICE	21
T_EPIRB	0	PITCH_MAX	3888	MINV_10V	11	SIM_W	0
USE_BATHY	-3	C_PITCH	2020	MAXI_24V	5	SEABIRD_T_G	0.0044097742
USE_ICE	0	PITCH_DBAND	0.1	MAXI_10V	1.5	SEABIRD_T_H	0.00063677714
ICE_FREEZE_MARGIN	0.30000001	PITCH_CNV	0.0031300001	FG_AHR_10V	82.458565	SEABIRD_T_I	2.6545444e-05
D_OFFGRID	1000	PITCH_GAIN	40	FG_AHR_24V	328.28113	SEABIRD_T_J	3.3307697e-06
RELAUNCH	1	PITCH_TIMEOUT	25	PHONE_SUPPLY	2	SEABIRD_C_G	-9.9156904
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	PRESSURE_YINT	-162.0735	SEABIRD_C_H	1.1102111
MAX_BUOY	150	PITCH_ADJ_GAIN	0.015	PRESSURE_SLOPE	0.00022240146	SEABIRD_C_I	-0.003043188
GLIDE_SLOPE	30	PITCH_ADJ_DBAND	1	COMPASS_USE	49156	SEABIRD_C_J	0.00028673469
SPEED_FACTOR	1	C_PITCH_AUTO_DELTA	0	ALTIM_PING_FIT	0	OPTIONS	0
RHO	1.0275	C_PITCH_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
MASS	56233	PITCH_GAIN_AUTO_DELTA	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	3.0
NAV_MODE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
FERRY_MAX	45	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_NDIVE	1.0
KALMAN_USE	2	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	TM_RECORDABOVE	200.0
HD_A	0.00281838	ROLL_MIN	265	ALTIM_PING_DELTA	0	TM_PROFILE	3.0
HD_B	0.0163117	ROLL_MAX	3829	ALTIM_FREQUENCY	13	TM_XMITPROFILE	3.0
HD_C	5.7000002e-06	ROLL_DEG	40	ALTIM_PULSE	3	TM_NDIVE	1.0
HEADING	-1	C_ROLL_DIVE	2750	ALTIM_SENSITIVITY	2	TM_XMITRAW	0.0
ESCAPE_HEADING	0	C_ROLL_CLIMB	2300	XPDR_VALID	6	TM_LOGSAMPLE	0.0
ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	XPDR_INHIBIT	90
FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	XPDR_INT	14
TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_REP	10.5

GPS1	080323,023202,3645.851,-12202.299,24,0.8,26,12.9	TGT_RADIUS	1000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.94	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-49.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	080323,023857,3645.843,-12202.263,3,0.6,6,12.9	MHEAD_RNG_PITCHd_Wd	173.9,3800,-20.5,-10.000,-25.82,2232,0.151
SPEED_LIMITS	0.173,0.207	D_GRID	699
TGT_NAME	SE	IRON	1.000000,0.015724,-0.007976,-0.007475,1.052598,-0.015684,0.007750,0.005203,1.060412,40.986404,26.098803,29.024801
TGT_LATLONG	3643.800,-12202.500	OSC	8000225

WARN	HTMICL TMICL logging already stopped	_10V_AH	14.50,0.000
FINISH	0.3,1.010108	FG_AHR_24Vo	328.500
SURF	forcing	FG_AHR_10Vo	82.562
SM_CCo	6332.71,190.63,1.137,0,807.2,913.6,700.8,549.92	MEM0	59964,1,0,0
SM_GC	0.96,190.63,5.99,0.89,1.137,0.056,0.080,807.2,913.6,700.8,180.1,2773.7,0,0,0,11.70,15.56,15.57	MEM1	65508,1,0,0
SUPER	0,0,0,0,0,0	MEM2	908480,24,137908,85
IRIDIUM_FIX	3646.80,-12159.18,080323,003249	DATA_FILE_SIZE	22525,817
TCM_TEMP	19.20	CAP_FILE_SIZE	222850,0
XPDR_PINGS	-1,-1.0,-1.0	SDSIZE	3918848,3823520
SC_FREEKB	3800448	SDFILEDIR	1826,2
TM_FREEKB	7495296	ERRORS	0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0
HUMID	52.24	CURRENT	0.028,328.1,1
TEMP	10.04	IMPLIED_C_PITCH	2041,25.35,589,0.0,0.00
INTERNAL_PRESSURE	8.53897	IMPLIED_C_VBD	3017,41.573586,589,0
_24V_AH	14.44,96.834	GPS	080323,042528,3645.123,-12202.536,3,1.4,6,12.9

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	661	1586	15164.89	nil	0	0	0.00
Pitch_motor	20	557	165.99	nil	0	0	0.00
Roll_motor	55	114	92.36	nil	0	0	0.00
Iridium	345	233	1165.54	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	15	15	3.28	nil	0	0	0.00
Core	1181	6	116.53	SciCon	6127	32	2873.67
Fast	4	0	0.00	TMICL	3094	18	837.91
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3852	2	111.73
Compass	1165	5	84.47
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
10.77	16386	-145.99	-0.69	0.00	800.0	919.2	680.7	176.5	2680.1	0.00	0.00	0	146.44	130.95	0.00	0.00	0.005	0.000	0.000	3393.88	3479.38	3308.38	176.25	2680.56	0	0	0	15.00	30.00	30.00
146.69	18727	-145.99	-0.69	40.00	3394.2	3480.1	3308.2	176.5	2680.2	3.33	-1.93	26	176.21	5.88	11.60	2.06	0.008	0.557	0.099	3645.16	3723.44	3566.88	1797.94	3845.00	0	0	0	15.25	14.87	15.13
403.78	1028	-145.99	-0.69	0.00	3646.5	3722.6	3570.4	1798.1	3844.5	44.82	-13.59	77	410.38	0.00	0.00	1.85	0.000	0.000	0.031	3647.00	3723.12	3570.88	1797.75	2693.12	0	0	0	30.00	30.00	15.41
593.84	260	-145.99	-0.69	40.00	3646.3	3722.8	3569.8	1798.0	2688.0	70.42	-13.34	115	600.52	0.00	0.00	2.04	0.000	0.000	0.091	3647.66	3723.69	3571.62	1797.44	3845.00	0	0	0	30.00	30.00	15.39
788.91	1028	-145.99	-0.69	0.00	3646.0	3722.0	3570.1	1798.3	3844.7	95.21	-11.73	154	795.50	0.00	0.00	1.84	0.000	0.000	0.031	3646.38	3722.31	3570.44	1798.06	2687.75	0	0	0	30.00	30.00	15.41
983.95	0	-145.99	-0.69	0.00	3646.9	3722.9	3570.9	1797.9	2684.5	118.27	-11.86	178	986.95	0.00	0.00	0.00	0.000	0.000	0.000	3646.75	3722.88	3570.62	1796.12	2683.75	0	0	0	30.00	30.00	30.00
1294.06	128	-145.99	-0.70	0.00	3646.8	3722.4	3571.2	1797.8	2684.0	157.90	-13.82	209	1297.07	0.00	0.00	0.00	0.000	0.000	0.000	3646.41	3722.69	3570.12	1798.19	2684.25	0	0	0	30.00	30.00	30.00
1604.03	0	-145.99	-0.70	0.00	3646.8	3722.6	3571.1	1797.9	2683.6	199.20	-12.91	240	1607.05	0.00	0.00	0.00	0.000	0.000	0.000	3646.66	3722.50	3570.81	1798.06	2683.56	0	0	0	30.00	30.00	30.00
1914.21	128	-145.99	-0.73	0.00	3646.6	3722.8	3570.4	1797.9	2682.8	239.08	-12.67	271	1915.76	0.00	0.00	0.00	0.000	0.000	0.000	3646.62	3722.88	3570.38	1798.12	2682.94	0	0	0	30.00	30.00	30.00
2224.26	644	-145.99	-0.75	-40.00	3646.8	3722.7	3570.9	1797.8	2682.8	276.87	-12.33	302	2230.39	0.00	0.00	2.48	0.000	0.000	0.050	3646.94	3722.50	3571.38	1797.81	1311.62	0	0	0	30.00	30.00	14.98
2279.25	1156	-145.99	-0.78	0.00	3646.7	3722.8	3570.6	1798.3	1310.5	283.49	-11.91	313	2285.52	0.00	0.00	2.67	0.000	0.000	0.068	3646.94	3722.88	3571.00	1797.88	2768.12	0	0	0	30.00	30.00	15.59
2594.32	4225	-145.99	-0.82	0.00	3647.0	3722.8	3571.2	1797.4	2768.9	321.05	-11.65	345	2596.08	0.00	0.14	0.00	0.000	0.103	0.000	3646.59	3722.25	3570.94	1736.69	2769.25	0	0	0	30.00	15.65	30.00
2845	end dive: TARGET_DEPTH_EXCEEDED
state	2845	begin apogee
2847.11	10243	0.00	-0.12	0.00	3646.4	3722.3	3570.6	1736.5	2215.4	360.41	-16.44	370	2963.59	109.17	0.94	0.20	1.587	0.278	0.115	3046.41	3159.56	2933.25	1979.44	2327.94	0	0	0	11.33	15.20	15.04
2965	end apogee: CONTROL_FINISHED_OK
state	2965	begin climb
2965.67	10759	145.99	0.69	-40.00	3046.2	3160.3	2932.0	1979.1	2328.9	365.99	0.00	381	3089.49	111.66	0.83	2.80	1.552	0.140	0.074	2452.50	2546.81	2358.19	2245.06	865.88	0	0	0	11.81	15.12	14.85
3122.29	9382	204.51	0.78	0.00	2446.3	2536.5	2356.2	2244.9	865.9	359.31	7.31	411	3175.74	46.76	0.00	2.65	1.495	0.000	0.049	2215.53	2320.25	2110.81	2244.62	2318.75	0	0	0	11.86	30.00	14.94
3482.23	10919	231.51	0.85	-40.00	2206.7	2317.9	2095.5	2244.2	2318.4	326.15	8.76	452	3510.80	22.35	0.14	2.68	1.403	0.077	0.074	2103.22	2217.56	1988.88	2334.19	865.88	0	0	0	11.62	15.43	15.32
3528.43	5253	231.51	0.79	0.00	2100.4	2211.3	1989.6	2334.5	866.0	320.48	13.02	461	3534.82	0.00	0.25	2.60	0.000	0.235	0.050	2102.56	2213.81	1991.31	2266.06	2319.25	0	0	0	30.00	15.30	15.43
3838.53	8354	254.56	0.84	0.00	2096.9	2212.1	1981.8	2266.4	2319.1	291.43	8.94	493	3860.44	19.94	0.00	0.00	1.369	0.000	0.000	2012.44	2132.69	1892.19	2266.12	2319.38	0	0	0	11.70	30.00	30.00
4168.52	2437	254.56	0.87	40.00	2004.5	2128.1	1880.9	2266.1	2319.4	258.41	10.47	526	4174.77	0.00	0.10	2.45	0.000	0.099	0.082	2004.50	2128.12	1880.88	2334.88	3734.25	0	0	0	30.00	15.58	15.56
4193.51	5253	254.56	0.80	0.00	2004.8	2127.7	1881.9	2335.9	3733.9	254.75	14.60	531	4199.89	0.00	0.26	2.45	0.000	0.264	0.043	2005.19	2128.38	1882.00	2267.69	2275.44	0	0	0	30.00	15.34	15.64
4508.59	8870	283.61	0.86	-40.00	2003.5	2127.6	1879.4	2267.2	2268.4	218.43	8.66	563	4541.05	24.43	0.00	2.55	1.334	0.000	0.077	1890.75	2012.75	1768.75	2267.62	866.19	0	0	0	11.66	30.00	15.47
4578.68	3205	283.61	0.92	0.00	1887.5	2006.4	1768.6	2267.1	864.9	210.77	11.61	577	4585.02	0.00	0.14	2.58	0.000	0.083	0.050	1887.34	2006.94	1767.75	2354.44	2319.31	0	0	0	30.00	15.44	15.54
4888.74	4485	283.61	0.86	40.00	1885.1	2005.6	1764.6	2353.8	2318.3	163.61	15.45	609	4895.95	0.00	0.23	2.44	0.000	0.233	0.077	1885.16	2005.81	1764.50	2287.50	3734.62	0	0	0	30.00	15.38	15.42
4953.66	1028	283.61	0.86	0.00	1884.8	2004.9	1764.8	2287.1	3735.4	154.92	12.58	622	4960.69	0.00	0.00	2.46	0.000	0.000	0.041	1886.31	2005.81	1766.81	2294.44	2273.69	0	0	0	30.00	30.00	15.56
5268.81	17030	283.61	0.88	-40.00	1884.1	2004.6	1763.6	2294.3	2267.8	115.17	13.40	654	5275.78	0.00	0.00	2.55	0.000	0.000	0.075	1884.09	2004.50	1763.69	2301.38	866.19	0	0	0	30.00	30.00	15.48
5308.82	17542	283.61	0.90	0.00	1883.8	2003.5	1764.2	2301.6	866.1	109.79	13.58	662	5315.77	0.00	0.00	2.57	0.000	0.000	0.048	1883.59	2003.56	1763.62	2301.38	2319.19	0	0	0	30.00	30.00	15.47
5618.85	16646	283.61	0.90	40.00	1883.5	2003.8	1763.2	2301.6	2318.9	67.70	13.60	717	5625.84	0.00	0.00	2.45	0.000	0.000	0.077	1884.34	2004.38	1764.31	2301.19	3734.00	0	0	0	30.00	30.00	15.51
5648.85	17414	283.61	0.90	0.00	1883.6	2003.3	1763.9	2301.4	3734.0	63.28	15.01	723	5655.85	0.00	0.00	2.46	0.000	0.000	0.042	1883.94	2003.62	1764.25	2309.31	2274.44	0	0	0	30.00	30.00	15.55
5838.93	16646	283.61	0.90	40.00	1883.4	2003.7	1763.1	2309.4	2269.6	35.91	14.18	761	5845.97	0.00	0.00	2.58	0.000	0.000	0.077	1883.19	2003.31	1763.06	2309.12	3733.94	0	0	0	30.00	30.00	15.38
5884.02	17542	283.61	0.88	0.00	1883.4	2003.2	1763.6	2309.2	3733.9	29.19	15.01	770	5890.93	0.00	0.00	2.47	0.000	0.000	0.043	1884.59	2004.50	1764.69	2313.69	2276.56	0	0	0	30.00	30.00	15.49
6074.01	16386	283.61	0.88	0.00	1883.2	2003.5	1763.0	2313.8	2270.7	4.70	11.73	808	6079.58	0.00	0.00	0.00	0.000	0.000	0.000	1883.22	2003.50	1762.94	2313.94	2270.75	0	0	0	30.00	30.00	30.00
6099	end climb: SURFACE_DEPTH_REACHED
state	6099	begin surface coast
6119	end surface coast: CONTROL_FINISHED_OK
state	6119	begin surface