Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 252 * 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 252 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 2500 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 11.833728 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 48.828472 SEABIRD_T_I 2.1947648e-05

APOGEE_PITCH -5 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_J 2.2037441e-06

MAX_BUOY 100 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 0 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 11.833728 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 48.828472 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 0 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 2500 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 100 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 252 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 290922,015302,3720.052,-12459.582,76,0.7,77,13.4 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.29 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 290922,015707,3720.032,-12459.588,2,0.6,5,13.4 MHEAD_RNG_PITCHd_Wd 359.7,6335,-25.5,-10.476,-29.53,1425,0.179

SPEED_LIMITS 0.105,0.185 D_GRID 1000

TGT_NAME HEADING 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 3638.020,-12210.219

Post-dive calculations and measurements:

FINISH 0.1,1.023496 FG_AHR_10Vo 11.870

SM_CCo 4605.49,70.16,0.978,0,1073.1,1052.2,1093.9,350.03 MEM0 60148,1,0,0

SM_GC 1.63,70.16,6.72,0.37,0.978,0.123,0.090,1073.1,1052.2,1093.9,175.8,3254.8,0,0,0,12.35,15.91,15.95 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 909820,33,136168,96

IRIDIUM_FIX 3717.70,-12457.30,290922,003524 DATA_FILE_SIZE 25753,902

TCM_TEMP 18.79 CAP_FILE_SIZE 343104,0

XPDR_PINGS 0,13.0,11.5 SDSIZE 3887104,3812928

SC_FREEKB 3801056 SDFILEDIR 1456,1

HUMID 51.81 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 12.23 CURRENT 0.077,226.7,1

INTERNAL_PRESSURE 8.81693 IMPLIED_C_PITCH 2029,33.36,693,0.0,0.00

_24V_AH 14.93,57.948 IMPLIED_C_VBD 2289,25.843714,423,0

_10V_AH 15.00,0.000 GPS 290922,031425,3720.278,-12459.632,3,1.2,5,13.4

FG_AHR_24Vo 48.940

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 418 1235 7729.76 nil 0 0 0.00

Pitch_motor 17 478 127.75 nil 0 0 0.00

Roll_motor 51 146 113.14 nil 0 0 0.00

Iridium 161 185 446.26 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.23 nil 0 0 0.00

Core 1072 6 109.42 SciCon 4548 18 1254.16

Fast 17 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 2523 2 75.71

Compass 1016 5 76.25

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

7.46 16386 -97.32 -0.69 0.00 1067.3 1056.6 1078.1 176.6 3118.2 0.00 0.00 0 64.26 56.22 0.00 0.00 0.005 0.000 0.000 2182.84 2221.12 2144.56 176.62 3117.38 0 0 0 15.66 30.00 30.00

64.51 18983 -97.32 -0.69 -40.00 2182.6 2221.2 2143.9 176.7 3117.8 3.50 -4.37 11 100.66 19.61 9.44 2.11 0.006 0.479 0.026 2896.03 2959.56 2832.50 1879.06 1731.56 0 0 0 15.70 15.44 15.66

118.03 1028 -97.32 -0.69 0.00 2899.0 2960.9 2837.0 1879.6 1729.4 12.82 -14.75 22 123.64 0.00 0.00 2.62 0.000 0.000 0.083 2899.38 2961.12 2837.62 1879.69 3250.88 0 0 0 30.00 30.00 15.87

308.09 260 -97.32 -0.69 40.00 2899.0 2959.8 2838.3 1879.5 3250.2 44.18 -14.07 60 312.55 0.00 0.00 1.09 0.000 0.000 0.096 2899.72 2960.56 2838.88 1876.19 3899.75 0 0 0 30.00 30.00 15.91

343.10 1028 -97.32 -0.69 0.00 2899.3 2959.6 2838.9 1875.6 3899.2 48.84 -13.31 67 347.58 0.00 0.00 1.12 0.000 0.000 0.037 2899.91 2960.00 2839.81 1876.19 3162.38 0 0 0 30.00 30.00 15.96

528.40 516 -97.32 -0.69 -40.00 2900.0 2959.6 2840.5 1875.9 3161.8 71.86 -11.70 104 533.72 0.00 0.00 2.17 0.000 0.000 0.021 2900.56 2958.50 2842.62 1875.50 1726.81 0 0 0 30.00 30.00 16.01

568.40 1028 -97.32 -0.69 0.00 2900.9 2959.9 2841.9 1875.9 1719.1 75.94 -10.18 112 573.76 0.00 0.00 2.62 0.000 0.000 0.081 2901.59 2960.38 2842.81 1875.06 3250.00 0 0 0 30.00 30.00 16.00

758.22 0 -97.32 -0.69 0.00 2901.1 2959.6 2842.7 1875.5 3250.4 97.86 -11.44 150 759.55 0.00 0.00 0.00 0.000 0.000 0.000 2901.47 2959.50 2843.44 1876.00 3250.38 0 0 0 30.00 30.00 30.00

943.25 516 -97.32 -0.69 -40.00 2901.0 2959.6 2842.4 1875.8 3250.3 119.35 -11.26 187 948.79 0.00 0.00 2.35 0.000 0.000 0.024 2901.28 2959.62 2842.94 1875.88 1711.25 0 0 0 30.00 30.00 16.04

988.25 1028 -97.32 -0.69 0.00 2901.0 2959.1 2842.9 1875.8 1705.4 123.91 -10.06 196 993.85 0.00 0.00 2.63 0.000 0.000 0.081 2902.56 2959.69 2845.44 1874.88 3250.12 0 0 0 30.00 30.00 16.03

1298.29 516 -97.32 -0.69 -40.00 2900.6 2959.1 2842.1 1875.9 3250.4 158.12 -10.77 258 1303.83 0.00 0.00 2.35 0.000 0.000 0.024 2901.28 2959.62 2842.94 1875.88 1709.19 0 0 0 30.00 30.00 16.06

1338.53 1028 -97.32 -0.69 0.00 2900.9 2958.9 2842.9 1875.8 1707.4 162.01 -9.71 266 1343.88 0.00 0.00 2.62 0.000 0.000 0.081 2901.03 2959.06 2843.00 1875.44 3248.06 0 0 0 30.00 30.00 16.06

1648.33 260 -97.32 -0.69 40.00 2900.6 2958.2 2842.9 1875.6 3248.2 192.56 -9.71 328 1652.80 0.00 0.00 1.09 0.000 0.000 0.096 2900.56 2958.56 2842.56 1871.50 3900.88 0 0 0 30.00 30.00 16.06

1678.35 1028 -97.32 -0.69 0.00 2900.3 2957.8 2842.9 1871.7 3900.8 195.54 -9.86 334 1682.83 0.00 0.00 1.12 0.000 0.000 0.039 2901.12 2957.62 2844.62 1870.94 3164.88 0 0 0 30.00 30.00 16.10

1954 end dive: TARGET_DEPTH_EXCEEDED

state 1954 begin apogee

1954.59 10243 0.00 -0.11 0.00 2900.0 2957.0 2843.0 1871.4 2944.6 220.38 -8.68 389 2037.25 80.96 0.67 0.14 1.236 0.227 0.146 2499.00 2536.38 2461.62 2066.06 3026.12 0 0 0 12.35 15.99 15.59

2039 end apogee: CONTROL_FINISHED_OK

state 2039 begin climb

2039.01 10243 97.32 0.69 0.00 2497.4 2535.5 2459.4 2066.6 3026.4 221.81 0.00 405 2119.37 77.91 0.73 0.00 1.204 0.061 0.000 2101.59 2108.44 2094.75 2332.69 3025.94 0 0 0 12.54 15.66 30.00

2422.62 8742 158.90 0.76 -40.00 2094.8 2107.2 2082.4 2332.0 3026.3 212.62 6.04 482 2475.11 48.37 0.00 2.39 1.193 0.000 0.021 1849.62 1857.06 1842.19 2342.75 1514.81 0 0 0 12.47 30.00 15.59

2637.70 1028 158.90 0.76 0.00 1845.9 1851.1 1840.8 2343.9 1499.9 191.65 10.32 525 2643.21 0.00 0.00 2.58 0.000 0.000 0.066 1848.28 1854.19 1842.38 2342.50 3022.06 0 0 0 30.00 30.00 15.87

2947.66 16646 158.90 0.76 40.00 1842.5 1854.8 1830.2 2343.6 3020.9 153.02 13.56 587 2952.19 0.00 0.00 1.47 0.000 0.000 0.079 1842.22 1853.44 1831.00 2343.94 3903.62 0 0 0 30.00 30.00 15.97

3012.67 17414 158.90 0.76 0.00 1842.6 1854.9 1830.2 2343.8 3903.2 143.57 14.35 600 3017.21 0.00 0.00 1.48 0.000 0.000 0.023 1842.88 1855.31 1830.44 2352.25 2866.56 0 0 0 30.00 30.00 15.94

3317.71 16902 158.90 0.76 -40.00 1841.3 1854.9 1827.8 2352.0 2866.6 106.61 11.46 661 3323.20 0.00 0.00 2.06 0.000 0.000 0.017 1842.12 1854.62 1829.62 2360.19 1497.94 0 0 0 30.00 30.00 15.99

3437.80 17478 158.90 0.78 0.00 1841.2 1854.4 1828.0 2363.1 1489.0 94.81 9.60 685 3443.31 0.00 0.00 2.56 0.000 0.000 0.065 1841.03 1854.62 1827.44 2362.62 3021.94 0 0 0 30.00 30.00 15.98

3627.76 16966 158.90 0.80 -40.00 1839.9 1854.6 1825.2 2362.7 3022.0 76.60 9.51 723 3633.29 0.00 0.00 2.32 0.000 0.000 0.018 1839.81 1853.31 1826.31 2373.31 1497.38 0 0 0 30.00 30.00 16.00

3677.76 17478 158.90 0.86 0.00 1840.0 1854.3 1825.7 2375.0 1494.1 72.81 7.58 733 3683.34 0.00 0.00 2.54 0.000 0.000 0.064 1842.12 1856.69 1827.56 2373.81 3021.44 0 0 0 30.00 30.00 15.99

3867.78 16966 158.90 0.90 -40.00 1839.6 1854.8 1824.4 2375.2 3021.3 57.87 8.12 771 3873.31 0.00 0.00 2.33 0.000 0.000 0.018 1839.88 1854.00 1825.75 2385.06 1495.62 0 0 0 30.00 30.00 16.00

3997.79 11303 247.29 1.01 0.00 1839.3 1854.2 1824.4 2385.6 1496.0 51.84 4.10 797 4069.64 65.75 0.11 2.54 1.061 0.101 0.063 1492.06 1489.69 1494.44 2460.06 3021.12 0 0 0 12.32 15.99 16.00

4252.81 4613 247.29 1.01 -40.00 1483.9 1488.4 1479.5 2459.9 3021.1 23.56 10.97 848 4258.42 0.00 0.20 2.35 0.000 0.402 0.021 1484.19 1488.81 1479.56 2428.06 1523.12 0 0 0 30.00 15.61 15.78

4337.83 17478 247.29 1.07 0.00 1481.8 1486.8 1476.9 2428.8 1511.0 16.24 7.51 865 4343.40 0.00 0.00 2.54 0.000 0.000 0.063 1481.53 1487.75 1475.31 2428.88 3022.81 0 0 0 30.00 30.00 15.87

4498 end climb: SURFACE_DEPTH_REACHED

state 4498 begin surface coast

4523 end surface coast: CONTROL_FINISHED_OK

state 4523 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	252	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	2500	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	11.833728	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	48.828472	SEABIRD_T_I	2.1947648e-05
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_J	2.2037441e-06
MAX_BUOY	100	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	0	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	290922,015302,3720.052,-12459.582,76,0.7,77,13.4	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.29	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	290922,015707,3720.032,-12459.588,2,0.6,5,13.4	MHEAD_RNG_PITCHd_Wd	359.7,6335,-25.5,-10.476,-29.53,1425,0.179
SPEED_LIMITS	0.105,0.185	D_GRID	1000
TGT_NAME	HEADING	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	3638.020,-12210.219

FINISH	0.1,1.023496	FG_AHR_10Vo	11.870
SM_CCo	4605.49,70.16,0.978,0,1073.1,1052.2,1093.9,350.03	MEM0	60148,1,0,0
SM_GC	1.63,70.16,6.72,0.37,0.978,0.123,0.090,1073.1,1052.2,1093.9,175.8,3254.8,0,0,0,12.35,15.91,15.95	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	909820,33,136168,96
IRIDIUM_FIX	3717.70,-12457.30,290922,003524	DATA_FILE_SIZE	25753,902
TCM_TEMP	18.79	CAP_FILE_SIZE	343104,0
XPDR_PINGS	0,13.0,11.5	SDSIZE	3887104,3812928
SC_FREEKB	3801056	SDFILEDIR	1456,1
HUMID	51.81	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	12.23	CURRENT	0.077,226.7,1
INTERNAL_PRESSURE	8.81693	IMPLIED_C_PITCH	2029,33.36,693,0.0,0.00
_24V_AH	14.93,57.948	IMPLIED_C_VBD	2289,25.843714,423,0
_10V_AH	15.00,0.000	GPS	290922,031425,3720.278,-12459.632,3,1.2,5,13.4
FG_AHR_24Vo	48.940

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	418	1235	7729.76	nil	0	0	0.00
Pitch_motor	17	478	127.75	nil	0	0	0.00
Roll_motor	51	146	113.14	nil	0	0	0.00
Iridium	161	185	446.26	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.23	nil	0	0	0.00
Core	1072	6	109.42	SciCon	4548	18	1254.16
Fast	17	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	2523	2	75.71
Compass	1016	5	76.25
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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
7.46	16386	-97.32	-0.69	0.00	1067.3	1056.6	1078.1	176.6	3118.2	0.00	0.00	0	64.26	56.22	0.00	0.00	0.005	0.000	0.000	2182.84	2221.12	2144.56	176.62	3117.38	0	0	0	15.66	30.00	30.00
64.51	18983	-97.32	-0.69	-40.00	2182.6	2221.2	2143.9	176.7	3117.8	3.50	-4.37	11	100.66	19.61	9.44	2.11	0.006	0.479	0.026	2896.03	2959.56	2832.50	1879.06	1731.56	0	0	0	15.70	15.44	15.66
118.03	1028	-97.32	-0.69	0.00	2899.0	2960.9	2837.0	1879.6	1729.4	12.82	-14.75	22	123.64	0.00	0.00	2.62	0.000	0.000	0.083	2899.38	2961.12	2837.62	1879.69	3250.88	0	0	0	30.00	30.00	15.87
308.09	260	-97.32	-0.69	40.00	2899.0	2959.8	2838.3	1879.5	3250.2	44.18	-14.07	60	312.55	0.00	0.00	1.09	0.000	0.000	0.096	2899.72	2960.56	2838.88	1876.19	3899.75	0	0	0	30.00	30.00	15.91
343.10	1028	-97.32	-0.69	0.00	2899.3	2959.6	2838.9	1875.6	3899.2	48.84	-13.31	67	347.58	0.00	0.00	1.12	0.000	0.000	0.037	2899.91	2960.00	2839.81	1876.19	3162.38	0	0	0	30.00	30.00	15.96
528.40	516	-97.32	-0.69	-40.00	2900.0	2959.6	2840.5	1875.9	3161.8	71.86	-11.70	104	533.72	0.00	0.00	2.17	0.000	0.000	0.021	2900.56	2958.50	2842.62	1875.50	1726.81	0	0	0	30.00	30.00	16.01
568.40	1028	-97.32	-0.69	0.00	2900.9	2959.9	2841.9	1875.9	1719.1	75.94	-10.18	112	573.76	0.00	0.00	2.62	0.000	0.000	0.081	2901.59	2960.38	2842.81	1875.06	3250.00	0	0	0	30.00	30.00	16.00
758.22	0	-97.32	-0.69	0.00	2901.1	2959.6	2842.7	1875.5	3250.4	97.86	-11.44	150	759.55	0.00	0.00	0.00	0.000	0.000	0.000	2901.47	2959.50	2843.44	1876.00	3250.38	0	0	0	30.00	30.00	30.00
943.25	516	-97.32	-0.69	-40.00	2901.0	2959.6	2842.4	1875.8	3250.3	119.35	-11.26	187	948.79	0.00	0.00	2.35	0.000	0.000	0.024	2901.28	2959.62	2842.94	1875.88	1711.25	0	0	0	30.00	30.00	16.04
988.25	1028	-97.32	-0.69	0.00	2901.0	2959.1	2842.9	1875.8	1705.4	123.91	-10.06	196	993.85	0.00	0.00	2.63	0.000	0.000	0.081	2902.56	2959.69	2845.44	1874.88	3250.12	0	0	0	30.00	30.00	16.03
1298.29	516	-97.32	-0.69	-40.00	2900.6	2959.1	2842.1	1875.9	3250.4	158.12	-10.77	258	1303.83	0.00	0.00	2.35	0.000	0.000	0.024	2901.28	2959.62	2842.94	1875.88	1709.19	0	0	0	30.00	30.00	16.06
1338.53	1028	-97.32	-0.69	0.00	2900.9	2958.9	2842.9	1875.8	1707.4	162.01	-9.71	266	1343.88	0.00	0.00	2.62	0.000	0.000	0.081	2901.03	2959.06	2843.00	1875.44	3248.06	0	0	0	30.00	30.00	16.06
1648.33	260	-97.32	-0.69	40.00	2900.6	2958.2	2842.9	1875.6	3248.2	192.56	-9.71	328	1652.80	0.00	0.00	1.09	0.000	0.000	0.096	2900.56	2958.56	2842.56	1871.50	3900.88	0	0	0	30.00	30.00	16.06
1678.35	1028	-97.32	-0.69	0.00	2900.3	2957.8	2842.9	1871.7	3900.8	195.54	-9.86	334	1682.83	0.00	0.00	1.12	0.000	0.000	0.039	2901.12	2957.62	2844.62	1870.94	3164.88	0	0	0	30.00	30.00	16.10
1954	end dive: TARGET_DEPTH_EXCEEDED
state	1954	begin apogee
1954.59	10243	0.00	-0.11	0.00	2900.0	2957.0	2843.0	1871.4	2944.6	220.38	-8.68	389	2037.25	80.96	0.67	0.14	1.236	0.227	0.146	2499.00	2536.38	2461.62	2066.06	3026.12	0	0	0	12.35	15.99	15.59
2039	end apogee: CONTROL_FINISHED_OK
state	2039	begin climb
2039.01	10243	97.32	0.69	0.00	2497.4	2535.5	2459.4	2066.6	3026.4	221.81	0.00	405	2119.37	77.91	0.73	0.00	1.204	0.061	0.000	2101.59	2108.44	2094.75	2332.69	3025.94	0	0	0	12.54	15.66	30.00
2422.62	8742	158.90	0.76	-40.00	2094.8	2107.2	2082.4	2332.0	3026.3	212.62	6.04	482	2475.11	48.37	0.00	2.39	1.193	0.000	0.021	1849.62	1857.06	1842.19	2342.75	1514.81	0	0	0	12.47	30.00	15.59
2637.70	1028	158.90	0.76	0.00	1845.9	1851.1	1840.8	2343.9	1499.9	191.65	10.32	525	2643.21	0.00	0.00	2.58	0.000	0.000	0.066	1848.28	1854.19	1842.38	2342.50	3022.06	0	0	0	30.00	30.00	15.87
2947.66	16646	158.90	0.76	40.00	1842.5	1854.8	1830.2	2343.6	3020.9	153.02	13.56	587	2952.19	0.00	0.00	1.47	0.000	0.000	0.079	1842.22	1853.44	1831.00	2343.94	3903.62	0	0	0	30.00	30.00	15.97
3012.67	17414	158.90	0.76	0.00	1842.6	1854.9	1830.2	2343.8	3903.2	143.57	14.35	600	3017.21	0.00	0.00	1.48	0.000	0.000	0.023	1842.88	1855.31	1830.44	2352.25	2866.56	0	0	0	30.00	30.00	15.94
3317.71	16902	158.90	0.76	-40.00	1841.3	1854.9	1827.8	2352.0	2866.6	106.61	11.46	661	3323.20	0.00	0.00	2.06	0.000	0.000	0.017	1842.12	1854.62	1829.62	2360.19	1497.94	0	0	0	30.00	30.00	15.99
3437.80	17478	158.90	0.78	0.00	1841.2	1854.4	1828.0	2363.1	1489.0	94.81	9.60	685	3443.31	0.00	0.00	2.56	0.000	0.000	0.065	1841.03	1854.62	1827.44	2362.62	3021.94	0	0	0	30.00	30.00	15.98
3627.76	16966	158.90	0.80	-40.00	1839.9	1854.6	1825.2	2362.7	3022.0	76.60	9.51	723	3633.29	0.00	0.00	2.32	0.000	0.000	0.018	1839.81	1853.31	1826.31	2373.31	1497.38	0	0	0	30.00	30.00	16.00
3677.76	17478	158.90	0.86	0.00	1840.0	1854.3	1825.7	2375.0	1494.1	72.81	7.58	733	3683.34	0.00	0.00	2.54	0.000	0.000	0.064	1842.12	1856.69	1827.56	2373.81	3021.44	0	0	0	30.00	30.00	15.99
3867.78	16966	158.90	0.90	-40.00	1839.6	1854.8	1824.4	2375.2	3021.3	57.87	8.12	771	3873.31	0.00	0.00	2.33	0.000	0.000	0.018	1839.88	1854.00	1825.75	2385.06	1495.62	0	0	0	30.00	30.00	16.00
3997.79	11303	247.29	1.01	0.00	1839.3	1854.2	1824.4	2385.6	1496.0	51.84	4.10	797	4069.64	65.75	0.11	2.54	1.061	0.101	0.063	1492.06	1489.69	1494.44	2460.06	3021.12	0	0	0	12.32	15.99	16.00
4252.81	4613	247.29	1.01	-40.00	1483.9	1488.4	1479.5	2459.9	3021.1	23.56	10.97	848	4258.42	0.00	0.20	2.35	0.000	0.402	0.021	1484.19	1488.81	1479.56	2428.06	1523.12	0	0	0	30.00	15.61	15.78
4337.83	17478	247.29	1.07	0.00	1481.8	1486.8	1476.9	2428.8	1511.0	16.24	7.51	865	4343.40	0.00	0.00	2.54	0.000	0.000	0.063	1481.53	1487.75	1475.31	2428.88	3022.81	0	0	0	30.00	30.00	15.87
4498	end climb: SURFACE_DEPTH_REACHED
state	4498	begin surface coast
4523	end surface coast: CONTROL_FINISHED_OK
state	4523	begin surface