Glider dive log

ROAMMIZ Jan22 * SG675 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 675 HD_B 0.010078 ROLL_MIN 206 ALTIM_TOP_PING_RANGE 30

MISSION 3 HD_C 9.8500004e-06 ROLL_MAX 3820 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 8 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 10 ESCAPE_HEADING 0 C_ROLL_DIVE 2100 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2050 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT -54 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 200 TGT_DEFAULT_LON 0 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 250 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 SM_CC 200 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_BOOST 15 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 92

T_BOOST 0 FILEMGR 0 VBD_MIN 623 INT_PRESSURE_SLOPE 1.96e-06

D_FINISH 0 CALL_NDIVES 1 VBD_MAX 3960 INT_PRESSURE_YINT 2.5599999

D_PITCH 0 COMM_SEQ 0 C_VBD 2650 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_CALL 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEVICE1 10

SURFACE_URGENCY 0 NOCOMM_ACTION 259 VBD_LP_IGNORE 0 DEVICE2 70

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 35

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 55

T_DIVE 70 CALL_TRIES 5 UNCOM_BLEED 60 DEVICE5 -1

T_MISSION 85 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

T_ABORT 230 CAPUPLOAD 0 W_ADJ_DBAND 0 LOGGERS 0

T_TURN 500 CAPMAXSIZE 400000 DBDW 0 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 LOITER_W_DBAND 0 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 100840 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_LOITER 0 T_RSLEEP 1 LOITER_D_TOP 0 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 LOITER_D_BOTTOM 0 COMPASS_DEVICE 18

USE_BATHY 0 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 0 SHORTING_PLUG 1 PHONE_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 0 AH0_24V 310 GPS_DEVICE 16

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_10V 0 RAFOS_DEVICE -1

RELAUNCH 0 PITCH_MIN 162 MINV_24V 11.5 XPDR_DEVICE 5

APOGEE_PITCH -5 PITCH_MAX 3892 MINV_10V 10 SIM_W 0

MAX_BUOY 120 C_PITCH 2580 MAXI_24V 3 SEABIRD_T_G 0.0044220379

GLIDE_SLOPE 30 PITCH_DBAND 0.1 MAXI_10V 2 SEABIRD_T_H 0.00064413931

SPEED_FACTOR 1 PITCH_CNV 0.0031260001 FG_AHR_10V 0.45648918 SEABIRD_T_I 2.6853917e-05

RHO 1.0275 PITCH_GAIN 30 FG_AHR_24V 2.5246158 SEABIRD_T_J 3.402645e-06

MASS 53587 PITCH_TIMEOUT 25 PHONE_SUPPLY 2 SEABIRD_C_G -10.01496

MASS_COMP 0 PITCH_MAXERRORS 1 PRESSURE_YINT -158.96762 SEABIRD_C_H 1.1201342

NAV_MODE 2 PITCH_ADJ_GAIN 0.029999999 PRESSURE_SLOPE 0.000108611 SEABIRD_C_I -0.0031396081

FERRY_MAX 45 PITCH_ADJ_DBAND 1 COMPASS_USE 4 SEABIRD_C_J 0.00029222821

KALMAN_USE 0 PITCH_W_GAIN 0 ALTIM_PING_FIT 0 SEABIRD_C_Z 0

HD_A 0.0038360001 PITCH_W_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

AH0_10V 0 D_PITCH 0 NOCOMM_ACTION 259 SEABIRD_T_G 0.0044220379

AH0_24V 310 D_SAFE 0 N_DIVES 10 SEABIRD_T_H 0.00064413931

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 N_FILEKB 8 SEABIRD_T_I 2.6853917e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 200 N_GPS 100840 SEABIRD_T_J 3.402645e-06

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 N_NOCOMM 2 SHORTING_PLUG 1

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SIM_W 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PHONE_DEVICE 33 SM_CC 200

ALTIM_PING_FIT 0 FG_AHR_10V 0.45648918 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_24V 2.5246158 PITCH_ADJ_DBAND 1 STOP_T 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_ADJ_GAIN 0.029999999 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0031260001 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 30 GLIDE_SLOPE 30 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 16 PITCH_GAIN 30 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 HD_A 0.0038360001 PITCH_MAX 3892 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_B 0.010078 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -54

CALL_TRIES 5 HD_C 9.8500004e-06 PITCH_MIN 162 TGT_DEFAULT_LON 0

CALL_WAIT 60 HEADING -1 PITCH_TIMEOUT 25 T_ABORT 230

CAPMAXSIZE 400000 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 0

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0 T_DIVE 70

COMM_SEQ 0 ID 675 PITCH_W_GAIN 0 T_EPIRB 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.96e-06 PRESSURE_SLOPE 0.000108611 T_GPS 15

COMPASS_DEVICE 18 INT_PRESSURE_YINT 2.5599999 PRESSURE_YINT -158.96762 T_LOITER 0

COMPASS_USE 4 KALMAN_USE 0 PROTOCOL 9 T_MISSION 85

C_PITCH 2580 LOGGERDEVICE1 -1 RAFOS_CORR_THRESH 0 T_NO_W 120

C_ROLL_CLIMB 2050 LOGGERDEVICE2 -1 RAFOS_DEVICE -1 T_RSLEEP 1

C_ROLL_DIVE 2100 LOGGERDEVICE3 -1 RAFOS_HIT_WINDOW 0 T_TURN 500

C_VBD 2650 LOGGERDEVICE4 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT 5

DBDW 0 LOGGERS 0 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 60

DEEPGLIDER 0 LOITER_DBDW 0 RELAUNCH 0 UPLOAD_DIVES_MAX -1

DEVICE1 10 LOITER_D_BOTTOM 0 RHO 1.0275 USE_BATHY 0

DEVICE2 70 LOITER_D_TOP 0 ROLL_ADJ_DBAND 0 USE_ICE 0

DEVICE3 35 LOITER_N_DIVE 0 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE4 55 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_DBAND 2

DEVICE5 -1 MASS 53587 ROLL_DEG 40 VBD_LP_IGNORE 0

DEVICE6 -1 MASS_COMP 0 ROLL_MAX 3820 VBD_MAX 3960

DIVE 8 MAXI_10V 2 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

D_ABORT 250 MAXI_24V 3 ROLL_MIN 206 VBD_MIN 623

D_BOOST 15 MAX_BUOY 120 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

D_CALL 0 MINV_10V 10 SEABIRD_C_G -10.01496 W_ADJ_DBAND 0

D_FINISH 0 MINV_24V 11.5 SEABIRD_C_H 1.1201342 XPDR_DEVICE 5

D_FLARE 3 MISSION 3 SEABIRD_C_I -0.0031396081 XPDR_INHIBIT 92

D_NO_BLEED 200 MOTHERBOARD 6 SEABIRD_C_J 0.00029222821 XPDR_VALID 4

D_OFFGRID 100 NAV_MODE 2 SEABIRD_C_Z 0

Pre-dive calculations and measurements:

GPS1 230122,201114,-5400.488,0.727,11,1.1,51,-20.5 TGT_LATLONG -5430.000,0.000

_CALLS 1 TGT_RADIUS 200.000

_SM_DEPTHo 1.18 KALMAN_CONTROL -0.108,-0.205

_SM_ANGLEo -61.2 KALMAN_X 324.5,139.2,-94.2,218.7,434.8

GPS2 230122,201431,-5400.501,0.769,11,0.9,33,-20.5 KALMAN_Y 577.9,366.6,14.2,-2000.1,-325.9

SPEED_LIMITS 0.165,0.231 MHEAD_RNG_PITCHd_Wd 230.5,54638,-19.6,-9.524,-22.37

TGT_NAME SOUTH D_GRID 200

Post-dive calculations and measurements:

SM_CCo 3825.03,0.45,0.090,0,623.8,733.2,514.4,497.02 FG_AHR_24Vo 2.689

SM_GC 0.90,0.00,12.76,2.44,0.000,0.121,0.095,613.0,718.8,507.1,149.2,2069.5,0,0,0,30.00,15.53,15.63 FG_AHR_10Vo 0.470

SUPER 59,70,254,1,0,0 MEM 1169004,34,14276,69

IRIDIUM_FIX -5400.29,0.00,230122,200836 DATA_FILE_SIZE 35671,408

TCM_TEMP 14.60 CAP_FILE_SIZE 216775,1

XPDR_PINGS 8 SDSIZE 3931136,3920096

HUMID 58.86 SDFILEDIR 72,2

TEMP 1.33 ERRORS 0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.48234 EOP_CODE POWER_ERROR_DETECTED

_24V_AH 14.55,5.981 RECOV_CODE CURRENT_CUTOFF_24V

_10V_AH 14.89,0.000 GPS 230122,213102,-5400.755,0.708,27,0.8,44,-20.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 1116 1134 18438.21 SBE_CT 733 24 262.68

Pitch_motor 30 390 171.60 AA4831 361 100 526.43

Roll_motor 59 311 268.06 WL_BB2FL 630 43 399.62

Iridium 0 0 0.00 QSP2150 532 6 51.23

Transponder_ping 2 420 12.22 nil 0 0 0.00

GPS 43 12 8.16 nil 0 0 0.00

Core 2161 8 268.72 nil 0 0 0.00

LPSleep 2430 2 79.26 nil 0 0 0.00

Compass 931 15 218.47 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 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

1 end surface: CONTROL_FINISHED_OK

state 1 begin dive

2.05 2 -116.79 -0.80 0.00 1365.3 1441.8 1288.9 161.9 2067.7 0.00 0.00 0 116.19 110.18 0.00 0.08 0.005 0.000 0.311 3123.53 3130.44 3116.62 162.00 2127.62 0 0 0 15.44 30.00 15.37

116.45 293 -116.79 -0.80 40.00 3123.4 3130.8 3116.0 162.1 2127.1 2.30 -1.17 22 137.64 0.00 13.46 2.48 0.000 0.390 0.115 3125.56 3138.12 3113.00 2321.50 3536.44 0 0 0 30.00 15.36 15.56

260.35 1157 -116.79 -0.52 0.00 3124.8 3145.6 3103.9 2321.3 3535.9 25.47 -17.54 51 266.07 0.00 0.47 2.45 0.000 0.258 0.074 3127.09 3147.56 3106.62 2411.38 2072.12 0 0 0 30.00 15.48 15.61

295.38 389 -116.79 -0.33 40.00 3124.9 3147.5 3102.2 2411.6 2069.9 28.99 -10.03 58 301.03 0.00 0.31 2.59 0.000 0.246 0.119 3124.56 3147.56 3101.56 2472.56 3529.12 0 0 0 30.00 15.55 15.58

320.40 1188 -116.79 -0.25 0.00 3124.5 3147.6 3101.4 2472.6 3529.1 30.87 -8.08 63 325.86 0.00 0.00 2.43 0.000 0.000 0.069 3126.56 3149.50 3103.62 2472.94 2074.75 0 0 0 30.00 30.00 15.58

385.40 32 -116.79 -0.25 0.00 3125.2 3150.5 3099.9 2473.4 2071.1 36.84 -9.30 76 386.74 0.00 0.00 0.00 0.000 0.000 0.000 3125.34 3150.75 3099.94 2470.44 2070.81 0 0 0 30.00 30.00 30.00

445.43 32 -116.79 -0.25 0.00 3125.6 3151.9 3099.2 2472.8 2071.1 41.95 -8.20 88 446.77 0.00 0.00 0.00 0.000 0.000 0.000 3125.09 3151.88 3098.31 2470.25 2070.69 0 0 0 30.00 30.00 30.00

505.46 32 -116.79 -0.25 0.00 3125.4 3151.7 3099.2 2473.0 2071.6 46.89 -8.27 100 506.80 0.00 0.00 0.00 0.000 0.000 0.000 3125.28 3152.19 3098.38 2470.25 2071.31 0 0 0 30.00 30.00 30.00

565.48 32 -116.79 -0.25 0.00 3125.3 3151.4 3099.2 2472.6 2071.1 51.32 -7.38 112 566.82 0.00 0.00 0.00 0.000 0.000 0.000 3125.44 3152.12 3098.75 2470.06 2071.31 0 0 0 30.00 30.00 30.00

625.51 548 -116.79 -0.25 -40.00 3125.8 3152.4 3099.1 2473.1 2071.2 56.18 -8.20 124 630.98 0.00 0.00 2.42 0.000 0.000 0.107 3125.34 3151.44 3099.25 2473.06 670.75 0 0 0 30.00 30.00 15.59

665.51 1060 -116.79 -0.25 0.00 3125.6 3152.0 3099.2 2473.5 670.8 59.88 -9.23 132 671.00 0.00 0.00 2.47 0.000 0.000 0.093 3125.69 3152.44 3098.94 2473.38 2117.25 0 0 0 30.00 30.00 15.62

730.56 292 -116.79 -0.25 40.00 3125.5 3152.4 3098.6 2473.1 2118.2 65.56 -8.71 145 736.03 0.00 0.00 2.49 0.000 0.000 0.118 3126.28 3153.25 3099.31 2473.31 3529.06 0 0 0 30.00 30.00 15.60

825.63 1188 -116.79 -0.30 0.00 3125.1 3152.3 3097.8 2472.9 3528.9 73.94 -8.94 164 831.06 0.00 0.00 2.43 0.000 0.000 0.075 3128.22 3154.81 3101.62 2472.88 2075.19 0 0 0 30.00 30.00 15.64

890.61 32 -116.79 -0.30 0.00 3125.3 3152.4 3098.2 2472.9 2072.2 79.89 -9.20 177 891.95 0.00 0.00 0.00 0.000 0.000 0.000 3125.75 3153.00 3098.50 2470.00 2072.00 0 0 0 30.00 30.00 30.00

954.64 292 -116.79 -0.30 40.00 3125.1 3152.1 3098.1 2472.5 2072.6 85.77 -8.95 184 959.94 0.00 0.00 2.56 0.000 0.000 0.117 3125.25 3152.56 3097.94 2472.94 3528.00 0 0 0 30.00 30.00 15.72

1029.67 1188 -116.79 -0.37 0.00 3125.3 3152.6 3097.9 2472.3 3527.8 92.21 -8.66 191 1034.98 0.00 0.00 2.42 0.000 0.000 0.075 3126.50 3154.06 3098.94 2472.94 2071.81 0 0 0 30.00 30.00 15.76

1154.71 548 -116.79 -0.37 -40.00 3125.2 3152.6 3097.9 2473.0 2069.8 103.05 -8.92 204 1159.98 0.00 0.00 2.42 0.000 0.000 0.107 3126.25 3153.75 3098.75 2472.81 669.50 0 0 0 30.00 30.00 15.76

1209.70 1060 -116.79 -0.37 0.00 3125.3 3152.9 3097.7 2473.4 669.5 108.23 -9.40 209 1215.01 0.00 0.00 2.44 0.000 0.000 0.091 3127.38 3154.69 3100.06 2472.31 2117.50 0 0 0 30.00 30.00 15.78

1334.75 292 -116.79 -0.37 40.00 3124.9 3152.8 3097.1 2473.2 2117.9 119.59 -8.94 222 1340.03 0.00 0.00 2.47 0.000 0.000 0.119 3125.72 3153.81 3097.62 2473.06 3529.31 0 0 0 30.00 30.00 15.77

1389.76 1188 -116.79 -0.43 0.00 3125.3 3153.3 3097.4 2473.0 3528.9 124.58 -9.13 227 1395.07 0.00 0.00 2.43 0.000 0.000 0.076 3125.06 3153.25 3096.88 2473.25 2072.38 0 0 0 30.00 30.00 15.80

1514.82 161 -116.79 -0.46 0.00 3125.0 3153.1 3096.9 2472.9 2070.4 134.91 -8.02 240 1516.29 0.00 0.22 0.00 0.000 0.110 0.000 3125.69 3154.31 3097.06 2409.69 2069.44 0 0 0 30.00 15.75 30.00

1634.86 161 -116.79 -0.34 0.00 3124.8 3153.0 3096.7 2413.6 2069.6 146.47 -9.28 252 1636.33 0.00 0.29 0.00 0.000 0.236 0.000 3125.34 3153.81 3096.88 2469.06 2069.31 0 0 0 30.00 15.72 30.00

1754.86 32 -116.79 -0.34 0.00 3124.8 3152.9 3096.7 2469.9 2069.5 154.75 -6.60 264 1756.20 0.00 0.00 0.00 0.000 0.000 0.000 3125.38 3153.62 3097.12 2466.50 2068.38 0 0 0 30.00 30.00 30.00

1874.88 548 -116.79 -0.34 -40.00 3124.9 3153.2 3096.7 2469.4 2069.3 162.48 -6.37 276 1880.14 0.00 0.00 2.39 0.000 0.000 0.107 3124.88 3153.00 3096.75 2470.12 670.88 0 0 0 30.00 30.00 15.83

1919.85 1060 -116.79 -0.34 0.00 3125.0 3153.1 3096.9 2470.1 670.7 165.67 -6.87 280 1926.14 0.00 0.00 2.43 0.000 0.000 0.092 3127.28 3154.44 3100.12 2469.38 2117.94 0 0 0 30.00 30.00 15.85

2045.89 292 -116.79 -0.34 40.00 3124.6 3153.1 3096.1 2469.7 2118.3 173.90 -6.66 293 2050.35 0.00 0.00 2.46 0.000 0.000 0.119 3125.62 3154.62 3096.62 2469.81 3529.12 0 0 0 30.00 30.00 15.83

2089.91 1188 -116.79 -0.40 0.00 3124.6 3153.2 3095.9 2470.2 3529.2 176.76 -6.49 297 2095.21 0.00 0.00 2.40 0.000 0.000 0.076 3126.81 3155.44 3098.19 2469.62 2073.69 0 0 0 30.00 30.00 15.86

2214.96 676 -116.79 -0.43 -40.00 3124.6 3153.6 3095.6 2470.1 2071.9 184.66 -6.49 310 2220.22 0.00 0.00 2.39 0.000 0.000 0.106 3124.84 3153.75 3095.94 2469.62 669.62 0 0 0 30.00 30.00 15.85

2259.92 1060 -116.79 -0.43 0.00 3124.6 3153.8 3095.4 2469.7 669.4 187.98 -7.07 314 2266.09 0.00 0.00 2.43 0.000 0.000 0.092 3124.69 3153.56 3095.81 2470.06 2117.31 0 0 0 30.00 30.00 15.87

2385.91 421 -116.79 -0.47 40.00 3124.3 3153.8 3094.8 2469.8 2117.8 196.39 -6.82 327 2390.55 0.00 0.22 2.44 0.000 0.112 0.118 3125.69 3155.06 3096.31 2409.31 3529.38 0 0 0 30.00 15.81 15.82

2430 end dive: TARGET_DEPTH_EXCEEDED

state 2430 begin apogee

2433.57 3 0.00 -0.17 0.00 3124.6 3154.1 3095.0 2409.9 2024.0 200.20 -8.18 331 2639.09 199.65 0.60 0.06 1.135 0.240 0.227 2648.78 2747.12 2550.44 2524.50 2070.62 0 0 0 12.19 15.73 14.95

2639 end apogee: CONTROL_FINISHED_OK

state 2639 begin climb

2639.41 3 116.79 0.80 0.00 2644.0 2744.2 2543.9 2524.9 2070.2 204.88 0.00 352 2822.53 178.00 1.63 0.00 0.954 0.180 0.000 2168.34 2271.19 2065.50 2836.62 2071.06 0 0 0 11.90 15.00 30.00

2935.49 130 116.79 0.74 -40.00 2151.0 2249.8 2052.2 2836.1 2070.7 176.54 12.13 382 2936.83 0.00 0.00 0.00 0.000 0.000 0.000 2150.62 2249.69 2051.56 2833.88 2070.00 0 0 0 30.00 30.00 30.00

3055.51 131 116.79 0.69 -40.00 2148.9 2247.3 2050.6 2836.4 2070.9 162.27 11.83 394 3056.99 0.00 0.24 0.00 0.000 0.258 0.000 2148.38 2246.38 2050.38 2792.44 2071.31 0 0 0 30.00 15.34 30.00

3175.56 678 126.99 0.74 -40.00 2148.0 2246.1 2049.9 2793.0 2071.1 151.11 8.97 406 3188.15 7.89 0.00 2.61 0.925 0.000 0.124 2126.56 2222.94 2030.19 2792.44 623.62 0 0 0 12.17 30.00 15.38

3190 end climb: POWER_ERROR_DETECTED

ID	675	HD_B	0.010078	ROLL_MIN	206	ALTIM_TOP_PING_RANGE	30
MISSION	3	HD_C	9.8500004e-06	ROLL_MAX	3820	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	8	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	10	ESCAPE_HEADING	0	C_ROLL_DIVE	2100	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2050	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	-54	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	200	TGT_DEFAULT_LON	0	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	250	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	SM_CC	200	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_BOOST	15	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	92
T_BOOST	0	FILEMGR	0	VBD_MIN	623	INT_PRESSURE_SLOPE	1.96e-06
D_FINISH	0	CALL_NDIVES	1	VBD_MAX	3960	INT_PRESSURE_YINT	2.5599999
D_PITCH	0	COMM_SEQ	0	C_VBD	2650	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_CALL	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEVICE1	10
SURFACE_URGENCY	0	NOCOMM_ACTION	259	VBD_LP_IGNORE	0	DEVICE2	70
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	35
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	55
T_DIVE	70	CALL_TRIES	5	UNCOM_BLEED	60	DEVICE5	-1
T_MISSION	85	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
T_ABORT	230	CAPUPLOAD	0	W_ADJ_DBAND	0	LOGGERS	0
T_TURN	500	CAPMAXSIZE	400000	DBDW	0	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	LOITER_W_DBAND	0	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	100840	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_LOITER	0	T_RSLEEP	1	LOITER_D_TOP	0	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	LOITER_D_BOTTOM	0	COMPASS_DEVICE	18
USE_BATHY	0	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	0	SHORTING_PLUG	1	PHONE_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	0	AH0_24V	310	GPS_DEVICE	16
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_10V	0	RAFOS_DEVICE	-1
RELAUNCH	0	PITCH_MIN	162	MINV_24V	11.5	XPDR_DEVICE	5
APOGEE_PITCH	-5	PITCH_MAX	3892	MINV_10V	10	SIM_W	0
MAX_BUOY	120	C_PITCH	2580	MAXI_24V	3	SEABIRD_T_G	0.0044220379
GLIDE_SLOPE	30	PITCH_DBAND	0.1	MAXI_10V	2	SEABIRD_T_H	0.00064413931
SPEED_FACTOR	1	PITCH_CNV	0.0031260001	FG_AHR_10V	0.45648918	SEABIRD_T_I	2.6853917e-05
RHO	1.0275	PITCH_GAIN	30	FG_AHR_24V	2.5246158	SEABIRD_T_J	3.402645e-06
MASS	53587	PITCH_TIMEOUT	25	PHONE_SUPPLY	2	SEABIRD_C_G	-10.01496
MASS_COMP	0	PITCH_MAXERRORS	1	PRESSURE_YINT	-158.96762	SEABIRD_C_H	1.1201342
NAV_MODE	2	PITCH_ADJ_GAIN	0.029999999	PRESSURE_SLOPE	0.000108611	SEABIRD_C_I	-0.0031396081
FERRY_MAX	45	PITCH_ADJ_DBAND	1	COMPASS_USE	4	SEABIRD_C_J	0.00029222821
KALMAN_USE	0	PITCH_W_GAIN	0	ALTIM_PING_FIT	0	SEABIRD_C_Z	0
HD_A	0.0038360001	PITCH_W_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0

GPS1	230122,201114,-5400.488,0.727,11,1.1,51,-20.5	TGT_LATLONG	-5430.000,0.000
_CALLS	1	TGT_RADIUS	200.000
_SM_DEPTHo	1.18	KALMAN_CONTROL	-0.108,-0.205
_SM_ANGLEo	-61.2	KALMAN_X	324.5,139.2,-94.2,218.7,434.8
GPS2	230122,201431,-5400.501,0.769,11,0.9,33,-20.5	KALMAN_Y	577.9,366.6,14.2,-2000.1,-325.9
SPEED_LIMITS	0.165,0.231	MHEAD_RNG_PITCHd_Wd	230.5,54638,-19.6,-9.524,-22.37
TGT_NAME	SOUTH	D_GRID	200

SM_CCo	3825.03,0.45,0.090,0,623.8,733.2,514.4,497.02	FG_AHR_24Vo	2.689
SM_GC	0.90,0.00,12.76,2.44,0.000,0.121,0.095,613.0,718.8,507.1,149.2,2069.5,0,0,0,30.00,15.53,15.63	FG_AHR_10Vo	0.470
SUPER	59,70,254,1,0,0	MEM	1169004,34,14276,69
IRIDIUM_FIX	-5400.29,0.00,230122,200836	DATA_FILE_SIZE	35671,408
TCM_TEMP	14.60	CAP_FILE_SIZE	216775,1
XPDR_PINGS	8	SDSIZE	3931136,3920096
HUMID	58.86	SDFILEDIR	72,2
TEMP	1.33	ERRORS	0,0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.48234	EOP_CODE	POWER_ERROR_DETECTED
_24V_AH	14.55,5.981	RECOV_CODE	CURRENT_CUTOFF_24V
_10V_AH	14.89,0.000	GPS	230122,213102,-5400.755,0.708,27,0.8,44,-20.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	1116	1134	18438.21	SBE_CT	733	24	262.68
Pitch_motor	30	390	171.60	AA4831	361	100	526.43
Roll_motor	59	311	268.06	WL_BB2FL	630	43	399.62
Iridium	0	0	0.00	QSP2150	532	6	51.23
Transponder_ping	2	420	12.22	nil	0	0	0.00
GPS	43	12	8.16	nil	0	0	0.00
Core	2161	8	268.72	nil	0	0	0.00
LPSleep	2430	2	79.26	nil	0	0	0.00
Compass	931	15	218.47	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	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
1	end surface: CONTROL_FINISHED_OK
state	1	begin dive
2.05	2	-116.79	-0.80	0.00	1365.3	1441.8	1288.9	161.9	2067.7	0.00	0.00	0	116.19	110.18	0.00	0.08	0.005	0.000	0.311	3123.53	3130.44	3116.62	162.00	2127.62	0	0	0	15.44	30.00	15.37
116.45	293	-116.79	-0.80	40.00	3123.4	3130.8	3116.0	162.1	2127.1	2.30	-1.17	22	137.64	0.00	13.46	2.48	0.000	0.390	0.115	3125.56	3138.12	3113.00	2321.50	3536.44	0	0	0	30.00	15.36	15.56
260.35	1157	-116.79	-0.52	0.00	3124.8	3145.6	3103.9	2321.3	3535.9	25.47	-17.54	51	266.07	0.00	0.47	2.45	0.000	0.258	0.074	3127.09	3147.56	3106.62	2411.38	2072.12	0	0	0	30.00	15.48	15.61
295.38	389	-116.79	-0.33	40.00	3124.9	3147.5	3102.2	2411.6	2069.9	28.99	-10.03	58	301.03	0.00	0.31	2.59	0.000	0.246	0.119	3124.56	3147.56	3101.56	2472.56	3529.12	0	0	0	30.00	15.55	15.58
320.40	1188	-116.79	-0.25	0.00	3124.5	3147.6	3101.4	2472.6	3529.1	30.87	-8.08	63	325.86	0.00	0.00	2.43	0.000	0.000	0.069	3126.56	3149.50	3103.62	2472.94	2074.75	0	0	0	30.00	30.00	15.58
385.40	32	-116.79	-0.25	0.00	3125.2	3150.5	3099.9	2473.4	2071.1	36.84	-9.30	76	386.74	0.00	0.00	0.00	0.000	0.000	0.000	3125.34	3150.75	3099.94	2470.44	2070.81	0	0	0	30.00	30.00	30.00
445.43	32	-116.79	-0.25	0.00	3125.6	3151.9	3099.2	2472.8	2071.1	41.95	-8.20	88	446.77	0.00	0.00	0.00	0.000	0.000	0.000	3125.09	3151.88	3098.31	2470.25	2070.69	0	0	0	30.00	30.00	30.00
505.46	32	-116.79	-0.25	0.00	3125.4	3151.7	3099.2	2473.0	2071.6	46.89	-8.27	100	506.80	0.00	0.00	0.00	0.000	0.000	0.000	3125.28	3152.19	3098.38	2470.25	2071.31	0	0	0	30.00	30.00	30.00
565.48	32	-116.79	-0.25	0.00	3125.3	3151.4	3099.2	2472.6	2071.1	51.32	-7.38	112	566.82	0.00	0.00	0.00	0.000	0.000	0.000	3125.44	3152.12	3098.75	2470.06	2071.31	0	0	0	30.00	30.00	30.00
625.51	548	-116.79	-0.25	-40.00	3125.8	3152.4	3099.1	2473.1	2071.2	56.18	-8.20	124	630.98	0.00	0.00	2.42	0.000	0.000	0.107	3125.34	3151.44	3099.25	2473.06	670.75	0	0	0	30.00	30.00	15.59
665.51	1060	-116.79	-0.25	0.00	3125.6	3152.0	3099.2	2473.5	670.8	59.88	-9.23	132	671.00	0.00	0.00	2.47	0.000	0.000	0.093	3125.69	3152.44	3098.94	2473.38	2117.25	0	0	0	30.00	30.00	15.62
730.56	292	-116.79	-0.25	40.00	3125.5	3152.4	3098.6	2473.1	2118.2	65.56	-8.71	145	736.03	0.00	0.00	2.49	0.000	0.000	0.118	3126.28	3153.25	3099.31	2473.31	3529.06	0	0	0	30.00	30.00	15.60
825.63	1188	-116.79	-0.30	0.00	3125.1	3152.3	3097.8	2472.9	3528.9	73.94	-8.94	164	831.06	0.00	0.00	2.43	0.000	0.000	0.075	3128.22	3154.81	3101.62	2472.88	2075.19	0	0	0	30.00	30.00	15.64
890.61	32	-116.79	-0.30	0.00	3125.3	3152.4	3098.2	2472.9	2072.2	79.89	-9.20	177	891.95	0.00	0.00	0.00	0.000	0.000	0.000	3125.75	3153.00	3098.50	2470.00	2072.00	0	0	0	30.00	30.00	30.00
954.64	292	-116.79	-0.30	40.00	3125.1	3152.1	3098.1	2472.5	2072.6	85.77	-8.95	184	959.94	0.00	0.00	2.56	0.000	0.000	0.117	3125.25	3152.56	3097.94	2472.94	3528.00	0	0	0	30.00	30.00	15.72
1029.67	1188	-116.79	-0.37	0.00	3125.3	3152.6	3097.9	2472.3	3527.8	92.21	-8.66	191	1034.98	0.00	0.00	2.42	0.000	0.000	0.075	3126.50	3154.06	3098.94	2472.94	2071.81	0	0	0	30.00	30.00	15.76
1154.71	548	-116.79	-0.37	-40.00	3125.2	3152.6	3097.9	2473.0	2069.8	103.05	-8.92	204	1159.98	0.00	0.00	2.42	0.000	0.000	0.107	3126.25	3153.75	3098.75	2472.81	669.50	0	0	0	30.00	30.00	15.76
1209.70	1060	-116.79	-0.37	0.00	3125.3	3152.9	3097.7	2473.4	669.5	108.23	-9.40	209	1215.01	0.00	0.00	2.44	0.000	0.000	0.091	3127.38	3154.69	3100.06	2472.31	2117.50	0	0	0	30.00	30.00	15.78
1334.75	292	-116.79	-0.37	40.00	3124.9	3152.8	3097.1	2473.2	2117.9	119.59	-8.94	222	1340.03	0.00	0.00	2.47	0.000	0.000	0.119	3125.72	3153.81	3097.62	2473.06	3529.31	0	0	0	30.00	30.00	15.77
1389.76	1188	-116.79	-0.43	0.00	3125.3	3153.3	3097.4	2473.0	3528.9	124.58	-9.13	227	1395.07	0.00	0.00	2.43	0.000	0.000	0.076	3125.06	3153.25	3096.88	2473.25	2072.38	0	0	0	30.00	30.00	15.80
1514.82	161	-116.79	-0.46	0.00	3125.0	3153.1	3096.9	2472.9	2070.4	134.91	-8.02	240	1516.29	0.00	0.22	0.00	0.000	0.110	0.000	3125.69	3154.31	3097.06	2409.69	2069.44	0	0	0	30.00	15.75	30.00
1634.86	161	-116.79	-0.34	0.00	3124.8	3153.0	3096.7	2413.6	2069.6	146.47	-9.28	252	1636.33	0.00	0.29	0.00	0.000	0.236	0.000	3125.34	3153.81	3096.88	2469.06	2069.31	0	0	0	30.00	15.72	30.00
1754.86	32	-116.79	-0.34	0.00	3124.8	3152.9	3096.7	2469.9	2069.5	154.75	-6.60	264	1756.20	0.00	0.00	0.00	0.000	0.000	0.000	3125.38	3153.62	3097.12	2466.50	2068.38	0	0	0	30.00	30.00	30.00
1874.88	548	-116.79	-0.34	-40.00	3124.9	3153.2	3096.7	2469.4	2069.3	162.48	-6.37	276	1880.14	0.00	0.00	2.39	0.000	0.000	0.107	3124.88	3153.00	3096.75	2470.12	670.88	0	0	0	30.00	30.00	15.83
1919.85	1060	-116.79	-0.34	0.00	3125.0	3153.1	3096.9	2470.1	670.7	165.67	-6.87	280	1926.14	0.00	0.00	2.43	0.000	0.000	0.092	3127.28	3154.44	3100.12	2469.38	2117.94	0	0	0	30.00	30.00	15.85
2045.89	292	-116.79	-0.34	40.00	3124.6	3153.1	3096.1	2469.7	2118.3	173.90	-6.66	293	2050.35	0.00	0.00	2.46	0.000	0.000	0.119	3125.62	3154.62	3096.62	2469.81	3529.12	0	0	0	30.00	30.00	15.83
2089.91	1188	-116.79	-0.40	0.00	3124.6	3153.2	3095.9	2470.2	3529.2	176.76	-6.49	297	2095.21	0.00	0.00	2.40	0.000	0.000	0.076	3126.81	3155.44	3098.19	2469.62	2073.69	0	0	0	30.00	30.00	15.86
2214.96	676	-116.79	-0.43	-40.00	3124.6	3153.6	3095.6	2470.1	2071.9	184.66	-6.49	310	2220.22	0.00	0.00	2.39	0.000	0.000	0.106	3124.84	3153.75	3095.94	2469.62	669.62	0	0	0	30.00	30.00	15.85
2259.92	1060	-116.79	-0.43	0.00	3124.6	3153.8	3095.4	2469.7	669.4	187.98	-7.07	314	2266.09	0.00	0.00	2.43	0.000	0.000	0.092	3124.69	3153.56	3095.81	2470.06	2117.31	0	0	0	30.00	30.00	15.87
2385.91	421	-116.79	-0.47	40.00	3124.3	3153.8	3094.8	2469.8	2117.8	196.39	-6.82	327	2390.55	0.00	0.22	2.44	0.000	0.112	0.118	3125.69	3155.06	3096.31	2409.31	3529.38	0	0	0	30.00	15.81	15.82
2430	end dive: TARGET_DEPTH_EXCEEDED
state	2430	begin apogee
2433.57	3	0.00	-0.17	0.00	3124.6	3154.1	3095.0	2409.9	2024.0	200.20	-8.18	331	2639.09	199.65	0.60	0.06	1.135	0.240	0.227	2648.78	2747.12	2550.44	2524.50	2070.62	0	0	0	12.19	15.73	14.95
2639	end apogee: CONTROL_FINISHED_OK
state	2639	begin climb
2639.41	3	116.79	0.80	0.00	2644.0	2744.2	2543.9	2524.9	2070.2	204.88	0.00	352	2822.53	178.00	1.63	0.00	0.954	0.180	0.000	2168.34	2271.19	2065.50	2836.62	2071.06	0	0	0	11.90	15.00	30.00
2935.49	130	116.79	0.74	-40.00	2151.0	2249.8	2052.2	2836.1	2070.7	176.54	12.13	382	2936.83	0.00	0.00	0.00	0.000	0.000	0.000	2150.62	2249.69	2051.56	2833.88	2070.00	0	0	0	30.00	30.00	30.00
3055.51	131	116.79	0.69	-40.00	2148.9	2247.3	2050.6	2836.4	2070.9	162.27	11.83	394	3056.99	0.00	0.24	0.00	0.000	0.258	0.000	2148.38	2246.38	2050.38	2792.44	2071.31	0	0	0	30.00	15.34	30.00
3175.56	678	126.99	0.74	-40.00	2148.0	2246.1	2049.9	2793.0	2071.1	151.11	8.97	406	3188.15	7.89	0.00	2.61	0.925	0.000	0.124	2126.56	2222.94	2030.19	2792.44	623.62	0	0	0	12.17	30.00	15.38
3190	end climb: POWER_ERROR_DETECTED