Glider dive log

ARCTERX Mar22 * SG526 * Dive index * Mission links * Dive 113 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 526 TGT_AUTO_DEFAULT 0 VBD_MIN 500 MOTHERBOARD 6

MISSION 4 SM_CC 613.25 VBD_MAX 3960 DEVICE1 -1

DIVE 113 N_FILEKB 8 C_VBD 3000 DEVICE2 -1

N_DIVES 0 FILEMGR 0 VBD_DBAND 2 DEVICE3 -1

STOP_T 0 CALL_NDIVES 1 VBD_CNV -0.24529999 DEVICE4 -1

D_SURF 2 COMM_SEQ 7 VBD_LP_IGNORE 0 DEVICE5 -1

D_FLARE 3 PROTOCOL 9 VBD_TIMEOUT 720 DEVICE6 -1

D_TGT 990 N_NOCOMM 2 PITCH_VBD_SHIFT 0.0023000001 LOGGERS 7

D_ABORT 1010 NOCOMM_ACTION 163 UNCOM_BLEED 20 LOGGERDEVICE1 6

D_NO_BLEED 50 N_NOSURFACE 0 VBD_MAXERRORS 1 LOGGERDEVICE2 33

D_BOOST 0 UPLOAD_DIVES_MAX -1 C_VBD_AUTO_DELTA 0 LOGGERDEVICE3 19

T_BOOST 0 CALL_TRIES 5 C_VBD_AUTO_MAX 0 LOGGERDEVICE4 -1

D_FINISH 0 CALL_WAIT 60 W_ADJ_DBAND 2 COMPASS_DEVICE 34

D_PITCH 0 CAPUPLOAD 0 DBDW 0 COMPASS2_DEVICE -1

D_SAFE 0 CAPMAXSIZE 100000 LOITER_W_DBAND 0 PHONE_DEVICE 33

D_CALL 0 T_GPS 5 LOITER_DBDW 0 GPS_DEVICE 48

SURFACE_URGENCY 0 N_GPS 100440 LOITER_D_TOP 0 RAFOS_DEVICE -1

SURFACE_URGENCY_TRY 0 T_RSLEEP 3 LOITER_D_BOTTOM 0 NAV_DEVICE -1

SURFACE_URGENCY_FORCE 0 STROBE 0 LOITER_N_DIVE 0 NAV2_DEVICE -1

T_DIVE 390 RAFOS_PEAK_OFFSET 0 CF8_MAXERRORS 20 NETWORK_DEVICE -1

T_MISSION 450 RAFOS_CORR_THRESH 60 AH0_24V 350 PRESSURE_DEVICE 41

T_ABORT 1440 RAFOS_HIT_WINDOW 3600 AH0_10V 0 XPDR_DEVICE 21

T_TURN 225 RAFOS_MMODEM 0 MINV_24V 11 SIM_W 0

T_TURN_SAMPINT -5 PITCH_MIN 150 MINV_10V 11 SEABIRD_T_G 0.00441493

T_NO_W 120 PITCH_MAX 3615 MAXI_24V 4.8000002 SEABIRD_T_H 0.00064107013

T_LOITER 0 C_PITCH 2330 MAXI_10V 1.5 SEABIRD_T_I 2.576065e-05

T_EPIRB 0 PITCH_DBAND 0.1 FG_AHR_10V 105.28797 SEABIRD_T_J 3.1402324e-06

USE_BATHY -6 PITCH_CNV 0.0041299998 FG_AHR_24V 77.383072 SEABIRD_C_G -9.799654

USE_ICE 0 PITCH_GAIN 40 PHONE_SUPPLY 2 SEABIRD_C_H 1.0727782

ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 PRESSURE_YINT -160.7363 SEABIRD_C_I -0.0026193932

D_OFFGRID 1000 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00022843899 SEABIRD_C_J 0.00026435545

RELAUNCH 1 PITCH_ADJ_GAIN 0 COMPASS_USE 16388 OPTIONS 0

APOGEE_PITCH -5 PITCH_ADJ_DBAND 0 ALTIM_PING_FIT 0 SC_RECORDABOVE 2000.0

MAX_BUOY 100 C_PITCH_AUTO_DELTA 0 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 7.0

GLIDE_SLOPE 30 C_PITCH_AUTO_MAX 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_XMITPROFILE 7.0

SPEED_FACTOR 1 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_TURN_MARGIN 0 SC_NDIVE 1.0

RHO 1.0275 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_MIN_OBSTACLE 0 PM_RECORDABOVE 2000.0

MASS 56535 PITCH_W_GAIN 2 ALTIM_PING_DEPTH 0 PM_PROFILE 7.0

NAV_MODE 2 PITCH_W_DBAND 0.5 ALTIM_PING_DELTA 0 PM_XMITPROFILE 7.0

FERRY_MAX 45 ROLL_MIN 380 ALTIM_FREQUENCY 13 PM_NDIVE 1.0

KALMAN_USE 2 ROLL_MAX 3950 ALTIM_PULSE 3 PM_XMITRAW 0.0

HD_A 0.0025118899 ROLL_DEG 30 ALTIM_SENSITIVITY 2 PM_MOTORS 1.0

HD_B 0.0139236 C_ROLL_DIVE 2846.6985 XPDR_VALID 4 PM_SENDDEPTH 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 2652.7825 XPDR_INHIBIT 90 TM_RECORDABOVE 400.0

HEADING -1 HEAD_ERRBAND 10 XPDR_INT 0 TM_PROFILE 3.0

ESCAPE_HEADING 0 ROLL_CNV 0.028270001 XPDR_REP 0 TM_XMITPROFILE 1.0

ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 1.9639999e-06 TM_NDIVE 1.0

FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT -1 TM_XMITRAW 0.0

TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0.5 DEEPGLIDER 0 TM_LOGSAMPLE 0.0

TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0.029999999 DEEPGLIDERMB 0

AH0_10V 0 D_SURF 2 PHONE_DEVICE 33 SEABIRD_T_G 0.00441493

AH0_24V 350 D_TGT 990 PHONE_SUPPLY 2 SEABIRD_T_H 0.00064107013

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 SEABIRD_T_I 2.576065e-05

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SEABIRD_T_J 3.1402324e-06

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_CNV 0.0041299998 SIM_W 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 105.28797 PITCH_DBAND 0.1 SM_CC 613.25

ALTIM_PING_FIT 0 FG_AHR_24V 77.383072 PITCH_GAIN 40 SPEED_FACTOR 1

ALTIM_PULSE 3 FILEMGR 0 PITCH_GAIN_AUTO_DELTA 0 STOP_T 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_GAIN_AUTO_MAX 0 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_MAX 3615 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0025118899 PITCH_MIN 150 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 HD_B 0.0139236 PITCH_TIMEOUT 30 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0023000001 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HEAD_ERRBAND 10 PITCH_W_GAIN 2 TM_LOGSAMPLE 0.0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PM_MOTORS 1.0 TM_NDIVE 1.0

CAPUPLOAD 0 ID 526 PM_NDIVE 1.0 TM_PROFILE 3.0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 1.9639999e-06 PM_PROFILE 7.0 TM_RECORDABOVE 400.0

COMM_SEQ 7 INT_PRESSURE_YINT -1 PM_RECORDABOVE 2000.0 TM_XMITPROFILE 1.0

COMPASS2_DEVICE -1 KALMAN_USE 2 PM_SENDDEPTH 1.0 TM_XMITRAW 0.0

COMPASS_DEVICE 34 LOGGERDEVICE1 6 PM_XMITPROFILE 7.0 T_ABORT 1440

COMPASS_USE 16388 LOGGERDEVICE2 33 PM_XMITRAW 0.0 T_BOOST 0

C_PITCH 2330 LOGGERDEVICE3 19 PRESSURE_DEVICE 41 T_DIVE 390

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE4 -1 PRESSURE_SLOPE 0.00022843899 T_EPIRB 0

C_PITCH_AUTO_MAX 0 LOGGERS 7 PRESSURE_YINT -160.7363 T_GPS 5

C_ROLL_CLIMB 2652.7825 LOITER_DBDW 0 PROTOCOL 9 T_LOITER 0

C_ROLL_DIVE 2846.6985 LOITER_D_BOTTOM 0 RAFOS_CORR_THRESH 60 T_MISSION 450

C_VBD 3000 LOITER_D_TOP 0 RAFOS_DEVICE -1 T_NO_W 120

C_VBD_AUTO_DELTA 0 LOITER_N_DIVE 0 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

C_VBD_AUTO_MAX 0 LOITER_W_DBAND 0 RAFOS_MMODEM 0 T_TURN 225

DBDW 0 MASS 56535 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

DEEPGLIDER 0 MAXI_10V 1.5 RELAUNCH 1 UNCOM_BLEED 20

DEEPGLIDERMB 0 MAXI_24V 4.8000002 RHO 1.0275 UPLOAD_DIVES_MAX -1

DEVICE1 -1 MAX_BUOY 100 ROLL_ADJ_DBAND 0.029999999 USE_BATHY -6

DEVICE2 -1 MINV_10V 11 ROLL_ADJ_GAIN 0.5 USE_ICE 0

DEVICE3 -1 MINV_24V 11 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 4 ROLL_DEG 30 VBD_DBAND 2

DEVICE5 -1 MOTHERBOARD 6 ROLL_MAX 3950 VBD_LP_IGNORE 0

DEVICE6 -1 NAV2_DEVICE -1 ROLL_MAXERRORS 1 VBD_MAX 3960

DIVE 113 NAV_DEVICE -1 ROLL_MIN 380 VBD_MAXERRORS 1

D_ABORT 1010 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_MIN 500

D_BOOST 0 NETWORK_DEVICE -1 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_CALL 0 NOCOMM_ACTION 163 SC_PROFILE 7.0 W_ADJ_DBAND 2

D_FINISH 0 N_DIVES 0 SC_RECORDABOVE 2000.0 XPDR_DEVICE 21

D_FLARE 3 N_FILEKB 8 SC_XMITPROFILE 7.0 XPDR_INHIBIT 90

D_NO_BLEED 50 N_GPS 100440 SEABIRD_C_G -9.799654 XPDR_INT 0

D_OFFGRID 1000 N_NOCOMM 2 SEABIRD_C_H 1.0727782 XPDR_REP 0

D_PITCH 0 N_NOSURFACE 0 SEABIRD_C_I -0.0026193932 XPDR_VALID 4

D_SAFE 0 OPTIONS 0 SEABIRD_C_J 0.00026435545

Pre-dive calculations and measurements:

GPS1 280322,082703,1418.164,14452.227,29,0.7,30,0.3 TGT_RADIUS 2000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.08 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280322,083502,1418.132,14452.150,18,0.7,39,0.3 MHEAD_RNG_PITCHd_Wd 69.8,15801,-20.2,-8.462,-25.83,1756,0.187

SPEED_LIMITS 0.147,0.175 D_GRID 1000

TGT_NAME N IRON 1.000000,0.005000,-0.003000,0.013000,1.047000,-0.005000,0.002000,0.001000,1.052000,12.000000,99.000000,12.600000

TGT_LATLONG 1422.000,14500.000

Post-dive calculations and measurements:

WARN HTMICL TMICL logging already stopped INTERNAL_PRESSURE 8.96657

FREEZE 546.89,0.000,0.000,0,1,0 _24V_AH 14.64,122.646

SM_CCo 4872.70,397.76,1.532,0,500.6,445.1,556.1,613.10 _10V_AH 15.00,0.000

SM_GC 0.87,0.00,6.27,2.14,0.000,0.023,0.038,491.2,436.4,545.9,103.1,2862.4,0,0,0,30.00,15.98,15.99 FG_AHR_24Vo 77.624

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 105.346

IRIDIUM_FIX 1417.76,14454.64,280322,050657 MEM0 60140,1,0,0

TCM_TEMP 18.20 MEM1 65508,1,0,0

XPDR_PINGS 15,14.5,10.5 MEM2 995812,23,50996,65

SC_FREEKB 3796576 DATA_FILE_SIZE 12931,420

PM_FREEKB_00 65539904 CAP_FILE_SIZE 164795,0

PM_FREEKB_01 114915328 SDSIZE 3887104,3829728

PM_FREEKB_02 124835200 SDFILEDIR 1128,1

PM_FREEKB_03 124835200 ERRORS 0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 1 CURRENT 0.110,213.9,1

TM_FREEKB 6036960 IMPLIED_C_PITCH 2394,26.32,244,0.0,0.00

HUMID 54.40 IMPLIED_C_VBD 3181,51.021000,235,0

TEMP 21.04 GPS 280322,110733,1417.858,14452.298,24,1.1,25,0.3

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 656 1598 15352.89 nil 0 0 0.00

Pitch_motor 18 412 110.24 nil 0 0 0.00

Roll_motor 44 97 63.47 nil 0 0 0.00

Iridium 335 218 1073.30 nil 0 0 0.00

Transponder_ping 3 420 23.06 nil 0 0 0.00

GPS 48 15 10.84 nil 0 0 0.00

Core 898 6 91.63 SciCon 4495 23 1561.02

Fast 9 0 0.00 PMAR 4486 9 608.03

Slow 0 0 0.00 TMICL 2296 9 331.31

LPSleep 7292 2 218.78

Compass 676 5 50.75

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15.11 16386 -97.32 -0.73 0.00 498.3 460.4 536.2 85.8 2720.0 0.00 0.00 0 109.82 88.98 0.00 0.00 0.005 0.000 0.000 2953.78 2878.62 3028.94 81.50 2723.00 0 0 0 15.08 30.00 30.00

110.07 18983 -97.32 -0.73 -30.00 2954.2 2876.8 3031.5 81.4 2722.1 3.58 -3.19 9 137.86 8.90 10.48 1.51 0.007 0.412 0.015 3394.75 3301.00 3488.50 2156.38 1686.44 0 0 0 15.39 15.17 15.31

150.59 1028 -97.32 -0.73 0.00 3398.1 3301.4 3494.8 2155.6 1671.3 18.45 -36.39 17 156.94 0.00 0.00 1.93 0.000 0.000 0.030 3399.34 3302.75 3495.94 2147.69 2880.44 0 0 0 30.00 30.00 15.73

340.54 260 -97.32 -0.73 30.00 3398.9 3302.2 3495.6 2148.1 2884.4 83.75 -35.57 37 347.41 0.00 0.00 1.69 0.000 0.000 0.036 3399.47 3303.12 3495.81 2141.06 3945.50 0 0 0 30.00 30.00 15.75

360.62 1028 -97.32 -0.73 0.06 3398.7 3302.8 3494.6 2140.2 3946.4 90.37 -33.64 41 366.94 0.00 0.00 1.81 0.000 0.000 0.011 3400.88 3304.75 3497.00 2138.56 2766.19 0 0 0 30.00 30.00 15.78

550.58 516 -97.32 -0.73 -30.00 3398.8 3302.5 3495.1 2140.1 2751.0 149.55 -29.06 61 557.37 0.00 0.00 1.55 0.000 0.000 0.012 3400.22 3303.81 3496.62 2139.19 1710.00 0 0 0 30.00 30.00 15.80

575.30 1028 -97.32 -0.73 -0.01 3399.4 3302.9 3495.8 2139.6 1691.6 156.41 -27.45 66 582.31 0.00 0.00 1.91 0.000 0.000 0.038 3400.12 3304.12 3496.12 2131.12 2873.31 0 0 0 30.00 30.00 15.73

770.53 516 -97.32 -0.73 -30.00 3398.9 3302.5 3495.4 2131.1 2874.5 201.38 -21.37 86 776.95 0.00 0.00 1.77 0.000 0.000 0.012 3399.78 3303.81 3495.75 2132.06 1714.94 0 0 0 30.00 30.00 15.75

855.25 1028 -97.32 -0.73 -0.27 3399.0 3303.2 3494.9 2131.8 1697.2 214.94 -16.59 103 862.20 0.00 0.00 1.88 0.000 0.000 0.034 3400.00 3304.31 3495.69 2123.12 2871.69 0 0 0 30.00 30.00 15.77

1050.62 2049 -97.32 -0.73 -0.27 3399.8 3304.3 3495.4 2122.1 2869.5 248.76 -15.84 123 1054.82 0.00 0.12 0.00 0.000 0.252 0.000 3400.09 3303.88 3496.31 2154.25 2869.75 0 0 0 30.00 15.58 30.00

1240.62 260 -97.32 -0.73 30.00 3400.3 3304.1 3496.5 2154.4 2869.9 275.57 -12.48 133 1247.43 0.00 0.00 1.71 0.000 0.000 0.040 3400.62 3304.06 3497.19 2147.56 3941.69 0 0 0 30.00 30.00 15.82

1255.27 1028 -97.32 -0.73 -0.21 3400.8 3305.0 3496.7 2148.2 3941.0 277.27 -11.50 136 1262.32 0.00 0.00 1.80 0.000 0.000 0.009 3403.50 3307.56 3499.44 2148.50 2746.81 0 0 0 30.00 30.00 15.87

1460.56 516 -97.32 -0.73 -30.00 3401.8 3305.9 3497.6 2147.9 2731.4 299.33 -11.07 147 1466.95 0.00 0.00 1.54 0.000 0.000 0.012 3402.25 3307.12 3497.38 2147.62 1715.94 0 0 0 30.00 30.00 15.79

1605.31 1028 -97.32 -0.73 -0.39 3402.4 3306.8 3498.1 2147.7 1699.9 314.46 -8.95 176 1611.98 0.00 0.00 1.86 0.000 0.000 0.033 3403.59 3308.88 3498.31 2138.31 2864.75 0 0 0 30.00 30.00 15.82

1800.67 260 -97.32 -0.73 30.00 3402.1 3306.1 3498.1 2139.2 2864.2 336.40 -11.34 188 1807.03 0.00 0.00 1.72 0.000 0.000 0.043 3401.88 3306.50 3497.25 2129.69 3940.75 0 0 0 30.00 30.00 15.85

1860.73 1028 -97.32 -0.73 -0.44 3401.7 3306.1 3497.2 2130.1 3940.8 343.85 -13.41 200 1867.07 0.00 0.00 1.82 0.000 0.000 0.010 3403.72 3308.12 3499.31 2130.81 2750.62 0 0 0 30.00 30.00 15.89

2060.65 0 -97.32 -0.73 -0.44 3401.6 3305.6 3497.6 2130.7 2734.1 369.46 -12.65 213 2064.66 0.00 0.00 0.00 0.000 0.000 0.000 3402.25 3305.75 3498.75 2131.12 2733.25 0 0 0 30.00 30.00 30.00

2260.72 260 -97.32 -0.73 30.00 3401.4 3305.4 3497.4 2129.8 2734.5 397.39 -14.34 223 2267.61 0.00 0.00 1.98 0.000 0.000 0.044 3402.03 3305.25 3498.81 2119.88 3942.69 0 0 0 30.00 30.00 15.85

2305.39 3077 -97.32 -0.73 -0.39 3401.6 3305.6 3497.6 2121.2 3941.0 404.43 -15.52 232 2311.59 0.00 0.12 1.82 0.000 0.218 0.010 3401.97 3306.31 3497.62 2154.56 2734.06 0 0 0 30.00 15.64 15.92

2500.76 0 -97.32 -0.73 -0.39 3401.0 3304.9 3497.1 2155.0 2720.8 427.75 -12.12 244 2503.52 0.00 0.00 0.00 0.000 0.000 0.000 3402.06 3306.69 3497.44 2155.12 2720.50 0 0 0 30.00 30.00 30.00

2700.78 0 -97.32 -0.73 -0.39 3400.2 3304.9 3495.4 2155.2 2720.4 449.89 -9.85 254 2703.53 0.00 0.00 0.00 0.000 0.000 0.000 3399.78 3304.44 3495.12 2154.56 2723.38 0 0 0 30.00 30.00 30.00

2900.73 260 -97.32 -0.73 30.00 3398.0 3303.6 3492.3 2155.3 2720.1 469.55 -9.70 264 2906.54 0.00 0.00 2.02 0.000 0.000 0.045 3400.50 3306.62 3494.38 2148.00 3939.12 0 0 0 30.00 30.00 15.74

2940.79 1028 -97.32 -0.73 -0.46 3397.1 3305.1 3489.2 2147.9 3937.9 473.55 -10.07 272 2946.53 0.00 0.00 1.83 0.000 0.000 0.011 3398.03 3306.38 3489.69 2147.88 2749.19 0 0 0 30.00 30.00 15.92

3140.80 260 -97.32 -0.73 30.00 3395.7 3302.8 3488.6 2147.6 2733.8 492.47 -9.34 285 3146.58 0.00 0.00 2.01 0.000 0.000 0.045 3395.94 3302.88 3489.00 2139.19 3938.69 0 0 0 30.00 30.00 15.75

3245.51 1028 -97.32 -0.73 -0.30 3393.0 3301.4 3484.6 2138.2 3938.1 504.41 -11.38 306 3251.58 0.00 0.00 1.83 0.000 0.000 0.011 3392.38 3301.38 3483.38 2138.56 2751.00 0 0 0 30.00 30.00 15.78

3440.84 0 -97.32 -0.73 -0.30 3392.3 3299.0 3485.6 2138.4 2738.1 527.84 -12.16 318 3443.54 0.00 0.00 0.00 0.000 0.000 0.000 3392.31 3300.31 3484.31 2138.81 2738.06 0 0 0 30.00 30.00 30.00

3640.89 0 -97.32 -0.73 -0.30 3388.1 3297.2 3478.9 2137.9 2738.5 548.76 -8.70 328 3643.65 0.00 0.00 0.00 0.000 0.000 0.000 3387.84 3297.38 3478.31 2138.25 2737.50 0 0 0 30.00 30.00 30.00

3840.92 32 -97.32 -0.73 -0.30 3385.8 3296.2 3475.4 2138.4 2739.3 548.76 -2.25 338 3843.68 0.00 0.00 0.00 0.000 0.000 0.000 3385.72 3296.19 3475.25 2138.19 2738.38 0 0 0 30.00 30.00 30.00

4040.87 292 -97.32 -0.73 30.00 3383.0 3292.8 3473.2 2138.1 2735.9 548.76 -1.31 348 4046.66 0.00 0.00 1.98 0.000 0.000 0.039 3384.12 3294.88 3473.38 2128.81 3945.88 0 0 0 30.00 30.00 15.73

4191 end dive: NO_VERTICAL_VELOCITY

state 4191 begin apogee

4194.22 10243 0.00 -0.12 0.00 3382.7 3293.6 3471.7 2129.2 2578.3 548.55 0.00 378 4277.71 78.51 0.62 0.19 1.598 0.234 0.097 2999.28 2885.62 3112.94 2302.50 2696.75 0 0 0 10.85 15.42 15.35

4279 end apogee: CONTROL_FINISHED_OK

state 4279 begin climb

4279.61 10759 97.32 0.73 -30.00 2998.4 2885.6 3111.2 2301.6 2696.8 548.47 0.00 383 4369.44 82.06 0.65 1.89 1.542 0.138 0.019 2604.50 2491.88 2717.12 2509.75 1512.44 0 0 0 12.07 15.41 15.20

4467 end climb: NO_VERTICAL_VELOCITY

state 4467 begin surface

ID	526	TGT_AUTO_DEFAULT	0	VBD_MIN	500	MOTHERBOARD	6
MISSION	4	SM_CC	613.25	VBD_MAX	3960	DEVICE1	-1
DIVE	113	N_FILEKB	8	C_VBD	3000	DEVICE2	-1
N_DIVES	0	FILEMGR	0	VBD_DBAND	2	DEVICE3	-1
STOP_T	0	CALL_NDIVES	1	VBD_CNV	-0.24529999	DEVICE4	-1
D_SURF	2	COMM_SEQ	7	VBD_LP_IGNORE	0	DEVICE5	-1
D_FLARE	3	PROTOCOL	9	VBD_TIMEOUT	720	DEVICE6	-1
D_TGT	990	N_NOCOMM	2	PITCH_VBD_SHIFT	0.0023000001	LOGGERS	7
D_ABORT	1010	NOCOMM_ACTION	163	UNCOM_BLEED	20	LOGGERDEVICE1	6
D_NO_BLEED	50	N_NOSURFACE	0	VBD_MAXERRORS	1	LOGGERDEVICE2	33
D_BOOST	0	UPLOAD_DIVES_MAX	-1	C_VBD_AUTO_DELTA	0	LOGGERDEVICE3	19
T_BOOST	0	CALL_TRIES	5	C_VBD_AUTO_MAX	0	LOGGERDEVICE4	-1
D_FINISH	0	CALL_WAIT	60	W_ADJ_DBAND	2	COMPASS_DEVICE	34
D_PITCH	0	CAPUPLOAD	0	DBDW	0	COMPASS2_DEVICE	-1
D_SAFE	0	CAPMAXSIZE	100000	LOITER_W_DBAND	0	PHONE_DEVICE	33
D_CALL	0	T_GPS	5	LOITER_DBDW	0	GPS_DEVICE	48
SURFACE_URGENCY	0	N_GPS	100440	LOITER_D_TOP	0	RAFOS_DEVICE	-1
SURFACE_URGENCY_TRY	0	T_RSLEEP	3	LOITER_D_BOTTOM	0	NAV_DEVICE	-1
SURFACE_URGENCY_FORCE	0	STROBE	0	LOITER_N_DIVE	0	NAV2_DEVICE	-1
T_DIVE	390	RAFOS_PEAK_OFFSET	0	CF8_MAXERRORS	20	NETWORK_DEVICE	-1
T_MISSION	450	RAFOS_CORR_THRESH	60	AH0_24V	350	PRESSURE_DEVICE	41
T_ABORT	1440	RAFOS_HIT_WINDOW	3600	AH0_10V	0	XPDR_DEVICE	21
T_TURN	225	RAFOS_MMODEM	0	MINV_24V	11	SIM_W	0
T_TURN_SAMPINT	-5	PITCH_MIN	150	MINV_10V	11	SEABIRD_T_G	0.00441493
T_NO_W	120	PITCH_MAX	3615	MAXI_24V	4.8000002	SEABIRD_T_H	0.00064107013
T_LOITER	0	C_PITCH	2330	MAXI_10V	1.5	SEABIRD_T_I	2.576065e-05
T_EPIRB	0	PITCH_DBAND	0.1	FG_AHR_10V	105.28797	SEABIRD_T_J	3.1402324e-06
USE_BATHY	-6	PITCH_CNV	0.0041299998	FG_AHR_24V	77.383072	SEABIRD_C_G	-9.799654
USE_ICE	0	PITCH_GAIN	40	PHONE_SUPPLY	2	SEABIRD_C_H	1.0727782
ICE_FREEZE_MARGIN	0.30000001	PITCH_TIMEOUT	30	PRESSURE_YINT	-160.7363	SEABIRD_C_I	-0.0026193932
D_OFFGRID	1000	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00022843899	SEABIRD_C_J	0.00026435545
RELAUNCH	1	PITCH_ADJ_GAIN	0	COMPASS_USE	16388	OPTIONS	0
APOGEE_PITCH	-5	PITCH_ADJ_DBAND	0	ALTIM_PING_FIT	0	SC_RECORDABOVE	2000.0
MAX_BUOY	100	C_PITCH_AUTO_DELTA	0	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	7.0
GLIDE_SLOPE	30	C_PITCH_AUTO_MAX	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_XMITPROFILE	7.0
SPEED_FACTOR	1	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_TURN_MARGIN	0	SC_NDIVE	1.0
RHO	1.0275	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_MIN_OBSTACLE	0	PM_RECORDABOVE	2000.0
MASS	56535	PITCH_W_GAIN	2	ALTIM_PING_DEPTH	0	PM_PROFILE	7.0
NAV_MODE	2	PITCH_W_DBAND	0.5	ALTIM_PING_DELTA	0	PM_XMITPROFILE	7.0
FERRY_MAX	45	ROLL_MIN	380	ALTIM_FREQUENCY	13	PM_NDIVE	1.0
KALMAN_USE	2	ROLL_MAX	3950	ALTIM_PULSE	3	PM_XMITRAW	0.0
HD_A	0.0025118899	ROLL_DEG	30	ALTIM_SENSITIVITY	2	PM_MOTORS	1.0
HD_B	0.0139236	C_ROLL_DIVE	2846.6985	XPDR_VALID	4	PM_SENDDEPTH	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	2652.7825	XPDR_INHIBIT	90	TM_RECORDABOVE	400.0
HEADING	-1	HEAD_ERRBAND	10	XPDR_INT	0	TM_PROFILE	3.0
ESCAPE_HEADING	0	ROLL_CNV	0.028270001	XPDR_REP	0	TM_XMITPROFILE	1.0
ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	1.9639999e-06	TM_NDIVE	1.0
FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	-1	TM_XMITRAW	0.0
TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0.5	DEEPGLIDER	0	TM_LOGSAMPLE	0.0
TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0.029999999	DEEPGLIDERMB	0

GPS1	280322,082703,1418.164,14452.227,29,0.7,30,0.3	TGT_RADIUS	2000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.08	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280322,083502,1418.132,14452.150,18,0.7,39,0.3	MHEAD_RNG_PITCHd_Wd	69.8,15801,-20.2,-8.462,-25.83,1756,0.187
SPEED_LIMITS	0.147,0.175	D_GRID	1000
TGT_NAME	N	IRON	1.000000,0.005000,-0.003000,0.013000,1.047000,-0.005000,0.002000,0.001000,1.052000,12.000000,99.000000,12.600000
TGT_LATLONG	1422.000,14500.000

WARN	HTMICL TMICL logging already stopped	INTERNAL_PRESSURE	8.96657
FREEZE	546.89,0.000,0.000,0,1,0	_24V_AH	14.64,122.646
SM_CCo	4872.70,397.76,1.532,0,500.6,445.1,556.1,613.10	_10V_AH	15.00,0.000
SM_GC	0.87,0.00,6.27,2.14,0.000,0.023,0.038,491.2,436.4,545.9,103.1,2862.4,0,0,0,30.00,15.98,15.99	FG_AHR_24Vo	77.624
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	105.346
IRIDIUM_FIX	1417.76,14454.64,280322,050657	MEM0	60140,1,0,0
TCM_TEMP	18.20	MEM1	65508,1,0,0
XPDR_PINGS	15,14.5,10.5	MEM2	995812,23,50996,65
SC_FREEKB	3796576	DATA_FILE_SIZE	12931,420
PM_FREEKB_00	65539904	CAP_FILE_SIZE	164795,0
PM_FREEKB_01	114915328	SDSIZE	3887104,3829728
PM_FREEKB_02	124835200	SDFILEDIR	1128,1
PM_FREEKB_03	124835200	ERRORS	0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	1	CURRENT	0.110,213.9,1
TM_FREEKB	6036960	IMPLIED_C_PITCH	2394,26.32,244,0.0,0.00
HUMID	54.40	IMPLIED_C_VBD	3181,51.021000,235,0
TEMP	21.04	GPS	280322,110733,1417.858,14452.298,24,1.1,25,0.3

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	656	1598	15352.89	nil	0	0	0.00
Pitch_motor	18	412	110.24	nil	0	0	0.00
Roll_motor	44	97	63.47	nil	0	0	0.00
Iridium	335	218	1073.30	nil	0	0	0.00
Transponder_ping	3	420	23.06	nil	0	0	0.00
GPS	48	15	10.84	nil	0	0	0.00
Core	898	6	91.63	SciCon	4495	23	1561.02
Fast	9	0	0.00	PMAR	4486	9	608.03
Slow	0	0	0.00	TMICL	2296	9	331.31
LPSleep	7292	2	218.78
Compass	676	5	50.75
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15.11	16386	-97.32	-0.73	0.00	498.3	460.4	536.2	85.8	2720.0	0.00	0.00	0	109.82	88.98	0.00	0.00	0.005	0.000	0.000	2953.78	2878.62	3028.94	81.50	2723.00	0	0	0	15.08	30.00	30.00
110.07	18983	-97.32	-0.73	-30.00	2954.2	2876.8	3031.5	81.4	2722.1	3.58	-3.19	9	137.86	8.90	10.48	1.51	0.007	0.412	0.015	3394.75	3301.00	3488.50	2156.38	1686.44	0	0	0	15.39	15.17	15.31
150.59	1028	-97.32	-0.73	0.00	3398.1	3301.4	3494.8	2155.6	1671.3	18.45	-36.39	17	156.94	0.00	0.00	1.93	0.000	0.000	0.030	3399.34	3302.75	3495.94	2147.69	2880.44	0	0	0	30.00	30.00	15.73
340.54	260	-97.32	-0.73	30.00	3398.9	3302.2	3495.6	2148.1	2884.4	83.75	-35.57	37	347.41	0.00	0.00	1.69	0.000	0.000	0.036	3399.47	3303.12	3495.81	2141.06	3945.50	0	0	0	30.00	30.00	15.75
360.62	1028	-97.32	-0.73	0.06	3398.7	3302.8	3494.6	2140.2	3946.4	90.37	-33.64	41	366.94	0.00	0.00	1.81	0.000	0.000	0.011	3400.88	3304.75	3497.00	2138.56	2766.19	0	0	0	30.00	30.00	15.78
550.58	516	-97.32	-0.73	-30.00	3398.8	3302.5	3495.1	2140.1	2751.0	149.55	-29.06	61	557.37	0.00	0.00	1.55	0.000	0.000	0.012	3400.22	3303.81	3496.62	2139.19	1710.00	0	0	0	30.00	30.00	15.80
575.30	1028	-97.32	-0.73	-0.01	3399.4	3302.9	3495.8	2139.6	1691.6	156.41	-27.45	66	582.31	0.00	0.00	1.91	0.000	0.000	0.038	3400.12	3304.12	3496.12	2131.12	2873.31	0	0	0	30.00	30.00	15.73
770.53	516	-97.32	-0.73	-30.00	3398.9	3302.5	3495.4	2131.1	2874.5	201.38	-21.37	86	776.95	0.00	0.00	1.77	0.000	0.000	0.012	3399.78	3303.81	3495.75	2132.06	1714.94	0	0	0	30.00	30.00	15.75
855.25	1028	-97.32	-0.73	-0.27	3399.0	3303.2	3494.9	2131.8	1697.2	214.94	-16.59	103	862.20	0.00	0.00	1.88	0.000	0.000	0.034	3400.00	3304.31	3495.69	2123.12	2871.69	0	0	0	30.00	30.00	15.77
1050.62	2049	-97.32	-0.73	-0.27	3399.8	3304.3	3495.4	2122.1	2869.5	248.76	-15.84	123	1054.82	0.00	0.12	0.00	0.000	0.252	0.000	3400.09	3303.88	3496.31	2154.25	2869.75	0	0	0	30.00	15.58	30.00
1240.62	260	-97.32	-0.73	30.00	3400.3	3304.1	3496.5	2154.4	2869.9	275.57	-12.48	133	1247.43	0.00	0.00	1.71	0.000	0.000	0.040	3400.62	3304.06	3497.19	2147.56	3941.69	0	0	0	30.00	30.00	15.82
1255.27	1028	-97.32	-0.73	-0.21	3400.8	3305.0	3496.7	2148.2	3941.0	277.27	-11.50	136	1262.32	0.00	0.00	1.80	0.000	0.000	0.009	3403.50	3307.56	3499.44	2148.50	2746.81	0	0	0	30.00	30.00	15.87
1460.56	516	-97.32	-0.73	-30.00	3401.8	3305.9	3497.6	2147.9	2731.4	299.33	-11.07	147	1466.95	0.00	0.00	1.54	0.000	0.000	0.012	3402.25	3307.12	3497.38	2147.62	1715.94	0	0	0	30.00	30.00	15.79
1605.31	1028	-97.32	-0.73	-0.39	3402.4	3306.8	3498.1	2147.7	1699.9	314.46	-8.95	176	1611.98	0.00	0.00	1.86	0.000	0.000	0.033	3403.59	3308.88	3498.31	2138.31	2864.75	0	0	0	30.00	30.00	15.82
1800.67	260	-97.32	-0.73	30.00	3402.1	3306.1	3498.1	2139.2	2864.2	336.40	-11.34	188	1807.03	0.00	0.00	1.72	0.000	0.000	0.043	3401.88	3306.50	3497.25	2129.69	3940.75	0	0	0	30.00	30.00	15.85
1860.73	1028	-97.32	-0.73	-0.44	3401.7	3306.1	3497.2	2130.1	3940.8	343.85	-13.41	200	1867.07	0.00	0.00	1.82	0.000	0.000	0.010	3403.72	3308.12	3499.31	2130.81	2750.62	0	0	0	30.00	30.00	15.89
2060.65	0	-97.32	-0.73	-0.44	3401.6	3305.6	3497.6	2130.7	2734.1	369.46	-12.65	213	2064.66	0.00	0.00	0.00	0.000	0.000	0.000	3402.25	3305.75	3498.75	2131.12	2733.25	0	0	0	30.00	30.00	30.00
2260.72	260	-97.32	-0.73	30.00	3401.4	3305.4	3497.4	2129.8	2734.5	397.39	-14.34	223	2267.61	0.00	0.00	1.98	0.000	0.000	0.044	3402.03	3305.25	3498.81	2119.88	3942.69	0	0	0	30.00	30.00	15.85
2305.39	3077	-97.32	-0.73	-0.39	3401.6	3305.6	3497.6	2121.2	3941.0	404.43	-15.52	232	2311.59	0.00	0.12	1.82	0.000	0.218	0.010	3401.97	3306.31	3497.62	2154.56	2734.06	0	0	0	30.00	15.64	15.92
2500.76	0	-97.32	-0.73	-0.39	3401.0	3304.9	3497.1	2155.0	2720.8	427.75	-12.12	244	2503.52	0.00	0.00	0.00	0.000	0.000	0.000	3402.06	3306.69	3497.44	2155.12	2720.50	0	0	0	30.00	30.00	30.00
2700.78	0	-97.32	-0.73	-0.39	3400.2	3304.9	3495.4	2155.2	2720.4	449.89	-9.85	254	2703.53	0.00	0.00	0.00	0.000	0.000	0.000	3399.78	3304.44	3495.12	2154.56	2723.38	0	0	0	30.00	30.00	30.00
2900.73	260	-97.32	-0.73	30.00	3398.0	3303.6	3492.3	2155.3	2720.1	469.55	-9.70	264	2906.54	0.00	0.00	2.02	0.000	0.000	0.045	3400.50	3306.62	3494.38	2148.00	3939.12	0	0	0	30.00	30.00	15.74
2940.79	1028	-97.32	-0.73	-0.46	3397.1	3305.1	3489.2	2147.9	3937.9	473.55	-10.07	272	2946.53	0.00	0.00	1.83	0.000	0.000	0.011	3398.03	3306.38	3489.69	2147.88	2749.19	0	0	0	30.00	30.00	15.92
3140.80	260	-97.32	-0.73	30.00	3395.7	3302.8	3488.6	2147.6	2733.8	492.47	-9.34	285	3146.58	0.00	0.00	2.01	0.000	0.000	0.045	3395.94	3302.88	3489.00	2139.19	3938.69	0	0	0	30.00	30.00	15.75
3245.51	1028	-97.32	-0.73	-0.30	3393.0	3301.4	3484.6	2138.2	3938.1	504.41	-11.38	306	3251.58	0.00	0.00	1.83	0.000	0.000	0.011	3392.38	3301.38	3483.38	2138.56	2751.00	0	0	0	30.00	30.00	15.78
3440.84	0	-97.32	-0.73	-0.30	3392.3	3299.0	3485.6	2138.4	2738.1	527.84	-12.16	318	3443.54	0.00	0.00	0.00	0.000	0.000	0.000	3392.31	3300.31	3484.31	2138.81	2738.06	0	0	0	30.00	30.00	30.00
3640.89	0	-97.32	-0.73	-0.30	3388.1	3297.2	3478.9	2137.9	2738.5	548.76	-8.70	328	3643.65	0.00	0.00	0.00	0.000	0.000	0.000	3387.84	3297.38	3478.31	2138.25	2737.50	0	0	0	30.00	30.00	30.00
3840.92	32	-97.32	-0.73	-0.30	3385.8	3296.2	3475.4	2138.4	2739.3	548.76	-2.25	338	3843.68	0.00	0.00	0.00	0.000	0.000	0.000	3385.72	3296.19	3475.25	2138.19	2738.38	0	0	0	30.00	30.00	30.00
4040.87	292	-97.32	-0.73	30.00	3383.0	3292.8	3473.2	2138.1	2735.9	548.76	-1.31	348	4046.66	0.00	0.00	1.98	0.000	0.000	0.039	3384.12	3294.88	3473.38	2128.81	3945.88	0	0	0	30.00	30.00	15.73
4191	end dive: NO_VERTICAL_VELOCITY
state	4191	begin apogee
4194.22	10243	0.00	-0.12	0.00	3382.7	3293.6	3471.7	2129.2	2578.3	548.55	0.00	378	4277.71	78.51	0.62	0.19	1.598	0.234	0.097	2999.28	2885.62	3112.94	2302.50	2696.75	0	0	0	10.85	15.42	15.35
4279	end apogee: CONTROL_FINISHED_OK
state	4279	begin climb
4279.61	10759	97.32	0.73	-30.00	2998.4	2885.6	3111.2	2301.6	2696.8	548.47	0.00	383	4369.44	82.06	0.65	1.89	1.542	0.138	0.019	2604.50	2491.88	2717.12	2509.75	1512.44	0	0	0	12.07	15.41	15.20
4467	end climb: NO_VERTICAL_VELOCITY
state	4467	begin surface