Glider dive log

SMODE Aug22 * SG220 * Dive index * Mission links * Dive 273 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 220 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_INT 14

MISSION 7 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_REP 10.5

DIVE 273 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 -9.2399998

STOP_T 0 N_FILEKB 4 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 FILEMGR 0 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 CALL_NDIVES 1 C_VBD 3049 MOTHERBOARD 6

D_TGT 270 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 0 NOCOMM_ACTION 131 VBD_TIMEOUT 720 DEVICE4 -1

T_BOOST 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0012000001 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 6

D_CALL 0 CAPUPLOAD 0 C_VBD_AUTO_MAX 0 LOGGERDEVICE2 19

SURFACE_URGENCY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 3 LOGGERDEVICE3 -1

SURFACE_URGENCY_TRY 0 T_GPS 5 DBDW 0 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 N_GPS 100440 LOITER_W_DBAND 0 COMPASS_DEVICE 34

T_DIVE 90 T_RSLEEP 2 LOITER_DBDW 0 COMPASS2_DEVICE -1

T_MISSION 110 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 190 AH0_10V 0 NETWORK_DEVICE -1

T_EPIRB 0 PITCH_MAX 3888 MINV_24V 11 PRESSURE_DEVICE 41

USE_BATHY -10 C_PITCH 2020 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 1.5 SEABIRD_T_G 0.0044097742

D_OFFGRID 1000 PITCH_GAIN 40 FG_AHR_10V 37.307011 SEABIRD_T_H 0.00063677714

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 71.254051 SEABIRD_T_I 2.6545444e-05

APOGEE_PITCH -5 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_J 3.3307697e-06

MAX_BUOY 180 PITCH_ADJ_GAIN 0 PRESSURE_YINT -162.23586 SEABIRD_C_G -9.9156904

GLIDE_SLOPE 30 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00022240146 SEABIRD_C_H 1.1102111

SPEED_FACTOR 1 C_PITCH_AUTO_DELTA 0 COMPASS_USE 16388 SEABIRD_C_I -0.003043188

RHO 1.0275 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_J 0.00028673469

MASS 56233 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 1 SC_XMITPROFILE 3.0

HD_A 0.00281838 ROLL_MIN 265 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0163117 ROLL_MAX 3829 ALTIM_PING_DELTA 0 TM_RECORDABOVE 200.0

HD_C 5.7000002e-06 ROLL_DEG 40 ALTIM_FREQUENCY 13 TM_PROFILE 1.0

HEADING -1 C_ROLL_DIVE 2750 ALTIM_PULSE 3 TM_XMITPROFILE 3.0

ESCAPE_HEADING 0 C_ROLL_CLIMB 2300 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 0.00063677714

AH0_24V 350 D_SAFE 0 N_NOCOMM 2 SEABIRD_T_I 2.6545444e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_J 3.3307697e-06

ALTIM_FREQUENCY 13 D_TGT 270 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 37.307011 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 71.254051 PITCH_CNV 0.0031300001 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 40 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 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 3888 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_B 0.0163117 PITCH_MAXERRORS 1 TM_LOGSAMPLE 0.0

CALL_WAIT 60 HD_C 5.7000002e-06 PITCH_MIN 190 TM_NDIVE 1.0

CAPMAXSIZE 100000 HEADING -1 PITCH_TIMEOUT 25 TM_PROFILE 1.0

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0012000001 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 220 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 34 INT_PRESSURE_YINT -9.2399998 PRESSURE_SLOPE 0.00022240146 T_BOOST 0

COMPASS_USE 16388 KALMAN_USE 2 PRESSURE_YINT -162.23586 T_DIVE 90

C_PITCH 2020 LOGGERDEVICE1 6 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 -1 RAFOS_DEVICE -1 T_LOITER 0

C_ROLL_CLIMB 2300 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_MISSION 110

C_ROLL_DIVE 2750 LOGGERS 1 RAFOS_MMODEM 0 T_NO_W 120

C_VBD 3049 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 56233 ROLL_CNV 0.028270001 USE_BATHY -10

DEVICE1 -1 MAXI_10V 1.5 ROLL_DEG 40 USE_ICE 0

DEVICE2 -1 MAXI_24V 5 ROLL_MAX 3829 VBD_CNV -0.24529999

DEVICE3 -1 MAX_BUOY 180 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE4 -1 MINV_10V 11 ROLL_MIN 265 VBD_LP_IGNORE 0

DEVICE5 -1 MINV_24V 11 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE6 -1 MISSION 7 SC_NDIVE 1.0 VBD_MAXERRORS 1

DIVE 273 MOTHERBOARD 6 SC_PROFILE 3.0 VBD_MIN 500

D_ABORT 1000 NAV2_DEVICE -1 SC_RECORDABOVE 2000.0 VBD_TIMEOUT 720

D_BOOST 0 NAV_DEVICE -1 SC_XMITPROFILE 3.0 W_ADJ_DBAND 3

D_CALL 0 NAV_MODE 2 SEABIRD_C_G -9.9156904 XPDR_DEVICE 21

D_FINISH 0 NETWORK_DEVICE -1 SEABIRD_C_H 1.1102111 XPDR_INHIBIT 90

D_FLARE 3 NOCOMM_ACTION 131 SEABIRD_C_I -0.003043188 XPDR_INT 14

D_NO_BLEED 200 N_DIVES 0 SEABIRD_C_J 0.00028673469 XPDR_REP 10.5

D_OFFGRID 1000 N_FILEKB 4 SEABIRD_T_G 0.0044097742 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 281022,090840,3642.716,-12441.756,16,1.3,36,13.3 TGT_RADIUS 1000.000

_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 -67.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 281022,091437,3642.703,-12441.614,3,1.3,6,13.3 MHEAD_RNG_PITCHd_Wd 237.1,603,-20.2,-10.000,-25.56,2287,0.131

SPEED_LIMITS 0.173,0.225 D_GRID 1000

TGT_NAME pickup_n IRON 1.000000,0.014008,-0.003391,0.000496,1.036060,0.020088,0.013924,-0.009366,1.058112,15.781581,9.359980,24.242016

TGT_LATLONG 3642.600,-12442.000

Post-dive calculations and measurements:

FINISH 0.8,1.023584 FG_AHR_10Vo 37.366

SM_CCo 5197.59,73.68,1.100,0,1620.6,1701.6,1539.5,350.40 MEM0 60148,1,0,0

SM_GC 1.11,73.68,6.47,3.59,1.100,0.110,0.116,1620.6,1701.6,1539.5,157.7,2759.5,0,0,0,12.20,15.70,15.72 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 909948,65,135660,83

IRIDIUM_FIX 3641.33,-12437.29,281022,063037 DATA_FILE_SIZE 19315,718

TCM_TEMP 19.80 CAP_FILE_SIZE 188909,0

XPDR_PINGS 19,14.0,10.5 SDSIZE 3918848,3829824

SC_FREEKB 3672224 SDFILEDIR 1688,1

HUMID 52.68 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.72 CURRENT 0.138, 98.7,1

INTERNAL_PRESSURE 8.66517 MAGCAL 1.000000,0.023735,0.010728,-0.004261,1.037370,-0.007723,0.006586,0.019096,1.038614,9.9,18.7,28.9,19,0.0081,0

_24V_AH 14.73,92.194 IMPLIED_C_PITCH 2040,27.81,497,0.0,0.00

_10V_AH 14.79,0.000 IMPLIED_C_VBD 3026,21.765368,374,0

FG_AHR_24Vo 71.409 GPS 281022,104210,3642.496,-12441.831,21,0.9,30,13.3

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 460 1438 9758.22 nil 0 0 0.00

Pitch_motor 19 541 154.94 nil 0 0 0.00

Roll_motor 51 177 135.11 nil 0 0 0.00

Iridium 262 209 808.92 nil 0 0 0.00

Transponder_ping 4 420 29.39 nil 0 0 0.00

GPS 15 15 3.44 nil 0 0 0.00

Core 982 6 98.80 SciCon 5141 35 2708.46

Fast 18 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3233 2 95.63

Compass 1021 5 75.58

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.50 16386 -149.60 -0.68 0.00 1610.6 1700.1 1521.1 161.9 2678.2 0.00 0.00 0 67.35 59.83 0.00 0.00 0.006 0.000 0.000 2904.56 2969.44 2839.69 161.81 2678.44 0 0 0 15.21 30.00 30.00

67.55 18727 -175.18 -0.71 40.00 2904.5 2970.2 2838.8 162.0 2678.2 3.31 -3.34 11 104.01 20.26 10.73 2.21 0.006 0.542 0.164 3764.25 3837.56 3690.94 1788.56 3841.06 0 0 0 15.23 15.02 15.31

216.33 1028 -175.18 -0.71 0.00 3765.2 3836.4 3694.0 1788.7 3840.3 34.63 -22.44 41 221.25 0.00 0.00 1.85 0.000 0.000 0.036 3765.69 3837.00 3694.38 1789.06 2683.06 0 0 0 30.00 30.00 15.40

406.39 260 -175.18 -0.71 40.00 3766.4 3836.7 3696.2 1789.3 2679.2 73.30 -20.32 79 411.92 0.00 0.00 2.23 0.000 0.000 0.172 3767.91 3837.88 3697.94 1789.00 3840.81 0 0 0 30.00 30.00 15.53

441.39 1028 -175.18 -0.71 0.00 3766.4 3836.6 3696.2 1788.8 3840.9 80.07 -19.07 86 446.31 0.00 0.00 1.86 0.000 0.000 0.044 3766.53 3837.06 3696.00 1789.12 2679.88 0 0 0 30.00 30.00 15.43

636.44 0 -175.18 -0.71 0.00 3767.5 3836.8 3698.2 1789.1 2677.1 114.42 -17.27 117 637.78 0.00 0.00 0.00 0.000 0.000 0.000 3767.41 3836.38 3698.44 1789.00 2676.69 0 0 0 30.00 30.00 30.00

946.50 0 -175.18 -0.71 0.00 3768.6 3837.1 3700.1 1789.2 2676.2 159.06 -13.55 148 947.84 0.00 0.00 0.00 0.000 0.000 0.000 3768.41 3836.69 3700.12 1789.44 2675.62 0 0 0 30.00 30.00 30.00

1256.54 0 -175.18 -0.71 0.00 3768.9 3837.2 3700.6 1789.2 2676.1 199.93 -12.85 179 1257.89 0.00 0.00 0.00 0.000 0.000 0.000 3768.00 3835.62 3700.38 1789.12 2676.75 0 0 0 30.00 30.00 30.00

1566.58 0 -175.18 -0.71 0.00 3768.8 3837.2 3700.4 1789.1 2676.6 241.00 -13.53 210 1567.93 0.00 0.00 0.00 0.000 0.000 0.000 3768.03 3836.06 3700.00 1789.31 2675.62 0 0 0 30.00 30.00 30.00

1786 end dive: TARGET_DEPTH_EXCEEDED

state 1786 begin apogee

1788.34 10243 0.00 -0.12 0.00 3768.5 3837.5 3699.6 1789.7 2241.1 270.26 -13.23 232 1919.33 126.65 0.66 0.17 1.438 0.231 0.177 3048.84 3162.94 2934.75 1981.38 2314.81 0 0 0 11.98 15.74 15.21

1920 end apogee: CONTROL_FINISHED_OK

state 1920 begin climb

1921.14 10759 175.18 0.71 -40.00 3046.3 3160.6 2932.0 1981.6 2314.7 274.96 0.00 245 2055.43 128.18 0.83 2.71 1.402 0.128 0.058 2332.84 2427.62 2238.06 2264.00 861.81 0 0 0 12.23 15.29 15.07

2082.76 1092 175.18 0.74 0.00 2327.7 2418.2 2237.2 2263.6 860.9 266.46 8.77 277 2088.35 0.00 0.00 2.77 0.000 0.000 0.091 2327.53 2418.19 2236.88 2263.75 2309.62 0 0 0 30.00 30.00 15.31

2392.80 16450 175.18 0.76 0.00 2324.9 2418.1 2231.6 2264.4 2309.8 237.19 9.01 309 2394.14 0.00 0.00 0.00 0.000 0.000 0.000 2323.53 2416.81 2230.25 2263.88 2309.38 0 0 0 30.00 30.00 30.00

2702.83 16710 175.18 0.80 40.00 2324.0 2418.3 2229.8 2264.2 2309.5 212.36 8.04 340 2708.42 0.00 0.00 2.65 0.000 0.000 0.153 2324.81 2419.00 2230.62 2263.81 3724.25 0 0 0 30.00 30.00 15.69

2747.82 17478 175.18 0.81 0.00 2324.3 2417.8 2230.8 2263.9 3724.5 208.17 9.46 349 2753.39 0.00 0.00 2.41 0.000 0.000 0.040 2324.06 2417.94 2230.19 2272.75 2264.81 0 0 0 30.00 30.00 15.79

3062.88 16966 175.18 0.83 -40.00 2322.8 2418.1 2227.6 2273.4 2257.9 180.54 8.98 381 3068.41 0.00 0.00 2.46 0.000 0.000 0.058 2322.69 2418.00 2227.38 2279.88 859.12 0 0 0 30.00 30.00 15.85

3097.85 17478 175.18 0.85 0.00 2321.7 2415.6 2227.8 2279.6 858.6 177.33 9.02 388 3103.47 0.00 0.00 2.68 0.000 0.000 0.091 2323.94 2418.25 2229.62 2279.00 2306.62 0 0 0 30.00 30.00 15.49

3412.91 16386 175.18 0.85 0.00 2320.9 2415.5 2226.4 2279.9 2306.9 146.45 10.03 420 3414.26 0.00 0.00 0.00 0.000 0.000 0.000 2319.62 2414.31 2224.94 2279.44 2307.56 0 0 0 30.00 30.00 30.00

3723.05 16710 175.18 0.91 40.00 2320.2 2415.3 2225.2 2279.9 2307.6 119.91 7.09 451 3728.53 0.00 0.00 2.64 0.000 0.000 0.151 2321.34 2416.81 2225.88 2279.50 3723.62 0 0 0 30.00 30.00 15.65

3842.98 17414 175.18 0.91 0.00 2320.5 2415.4 2225.6 2279.7 3723.9 108.53 10.15 475 3848.54 0.00 0.00 2.42 0.000 0.000 0.043 2320.84 2416.00 2225.69 2289.38 2264.38 0 0 0 30.00 30.00 15.76

4153.10 18759 175.18 0.96 40.00 2319.8 2415.2 2224.4 2289.6 2258.4 85.41 7.24 527 4158.76 0.00 0.10 2.83 0.000 0.081 0.163 2320.38 2415.88 2224.88 2377.00 3724.75 0 0 0 30.00 15.72 15.69

4198.08 21511 175.18 0.96 0.00 2320.0 2414.4 2225.6 2376.8 3724.8 80.88 10.41 536 4203.73 0.00 0.25 2.41 0.000 0.276 0.038 2321.34 2416.19 2226.50 2320.00 2259.38 0 0 0 30.00 15.65 15.74

4388.13 10791 246.95 1.05 -40.00 2319.7 2414.8 2224.6 2319.5 2254.8 67.16 6.78 574 4444.75 52.08 0.10 2.49 1.185 0.086 0.059 2040.84 2145.62 1936.06 2417.88 857.75 0 0 0 12.07 15.69 15.53

4448.12 5125 246.95 1.05 0.00 2038.9 2141.6 1936.2 2417.6 857.1 61.51 10.01 586 4453.82 0.00 0.25 2.73 0.000 0.261 0.092 2038.72 2141.62 1935.81 2348.56 2310.69 0 0 0 30.00 15.50 15.45

4638.15 16902 246.95 1.05 -40.00 2033.8 2141.4 1926.2 2348.1 2310.8 41.05 10.40 624 4643.74 0.00 0.00 2.60 0.000 0.000 0.058 2033.62 2141.38 1925.88 2357.19 861.62 0 0 0 30.00 30.00 15.63

4688.16 17478 246.95 1.06 0.00 2032.3 2139.1 1925.4 2357.4 861.8 36.31 9.35 634 4693.78 0.00 0.00 2.73 0.000 0.000 0.101 2032.56 2139.44 1925.69 2357.75 2306.88 0 0 0 30.00 30.00 15.38

4878.21 16966 246.95 1.07 -40.00 2031.9 2139.8 1924.0 2357.3 2307.6 20.33 9.35 672 4883.75 0.00 0.00 2.59 0.000 0.000 0.057 2031.97 2139.88 1924.06 2368.31 860.25 0 0 0 30.00 30.00 15.70

5098 end climb: SURFACE_DEPTH_REACHED

state 5098 begin surface coast

5108 end surface coast: CONTROL_FINISHED_OK

state 5108 begin surface

ID	220	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_INT	14
MISSION	7	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_REP	10.5
DIVE	273	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	-9.2399998
STOP_T	0	N_FILEKB	4	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	FILEMGR	0	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	CALL_NDIVES	1	C_VBD	3049	MOTHERBOARD	6
D_TGT	270	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	0	NOCOMM_ACTION	131	VBD_TIMEOUT	720	DEVICE4	-1
T_BOOST	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0012000001	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	6
D_CALL	0	CAPUPLOAD	0	C_VBD_AUTO_MAX	0	LOGGERDEVICE2	19
SURFACE_URGENCY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	3	LOGGERDEVICE3	-1
SURFACE_URGENCY_TRY	0	T_GPS	5	DBDW	0	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	N_GPS	100440	LOITER_W_DBAND	0	COMPASS_DEVICE	34
T_DIVE	90	T_RSLEEP	2	LOITER_DBDW	0	COMPASS2_DEVICE	-1
T_MISSION	110	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	190	AH0_10V	0	NETWORK_DEVICE	-1
T_EPIRB	0	PITCH_MAX	3888	MINV_24V	11	PRESSURE_DEVICE	41
USE_BATHY	-10	C_PITCH	2020	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	1.5	SEABIRD_T_G	0.0044097742
D_OFFGRID	1000	PITCH_GAIN	40	FG_AHR_10V	37.307011	SEABIRD_T_H	0.00063677714
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	71.254051	SEABIRD_T_I	2.6545444e-05
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_J	3.3307697e-06
MAX_BUOY	180	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-162.23586	SEABIRD_C_G	-9.9156904
GLIDE_SLOPE	30	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00022240146	SEABIRD_C_H	1.1102111
SPEED_FACTOR	1	C_PITCH_AUTO_DELTA	0	COMPASS_USE	16388	SEABIRD_C_I	-0.003043188
RHO	1.0275	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_J	0.00028673469
MASS	56233	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	1	SC_XMITPROFILE	3.0
HD_A	0.00281838	ROLL_MIN	265	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0163117	ROLL_MAX	3829	ALTIM_PING_DELTA	0	TM_RECORDABOVE	200.0
HD_C	5.7000002e-06	ROLL_DEG	40	ALTIM_FREQUENCY	13	TM_PROFILE	1.0
HEADING	-1	C_ROLL_DIVE	2750	ALTIM_PULSE	3	TM_XMITPROFILE	3.0
ESCAPE_HEADING	0	C_ROLL_CLIMB	2300	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	281022,090840,3642.716,-12441.756,16,1.3,36,13.3	TGT_RADIUS	1000.000
_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	-67.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	281022,091437,3642.703,-12441.614,3,1.3,6,13.3	MHEAD_RNG_PITCHd_Wd	237.1,603,-20.2,-10.000,-25.56,2287,0.131
SPEED_LIMITS	0.173,0.225	D_GRID	1000
TGT_NAME	pickup_n	IRON	1.000000,0.014008,-0.003391,0.000496,1.036060,0.020088,0.013924,-0.009366,1.058112,15.781581,9.359980,24.242016
TGT_LATLONG	3642.600,-12442.000

FINISH	0.8,1.023584	FG_AHR_10Vo	37.366
SM_CCo	5197.59,73.68,1.100,0,1620.6,1701.6,1539.5,350.40	MEM0	60148,1,0,0
SM_GC	1.11,73.68,6.47,3.59,1.100,0.110,0.116,1620.6,1701.6,1539.5,157.7,2759.5,0,0,0,12.20,15.70,15.72	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	909948,65,135660,83
IRIDIUM_FIX	3641.33,-12437.29,281022,063037	DATA_FILE_SIZE	19315,718
TCM_TEMP	19.80	CAP_FILE_SIZE	188909,0
XPDR_PINGS	19,14.0,10.5	SDSIZE	3918848,3829824
SC_FREEKB	3672224	SDFILEDIR	1688,1
HUMID	52.68	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.72	CURRENT	0.138, 98.7,1
INTERNAL_PRESSURE	8.66517	MAGCAL	1.000000,0.023735,0.010728,-0.004261,1.037370,-0.007723,0.006586,0.019096,1.038614,9.9,18.7,28.9,19,0.0081,0
_24V_AH	14.73,92.194	IMPLIED_C_PITCH	2040,27.81,497,0.0,0.00
_10V_AH	14.79,0.000	IMPLIED_C_VBD	3026,21.765368,374,0
FG_AHR_24Vo	71.409	GPS	281022,104210,3642.496,-12441.831,21,0.9,30,13.3

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	460	1438	9758.22	nil	0	0	0.00
Pitch_motor	19	541	154.94	nil	0	0	0.00
Roll_motor	51	177	135.11	nil	0	0	0.00
Iridium	262	209	808.92	nil	0	0	0.00
Transponder_ping	4	420	29.39	nil	0	0	0.00
GPS	15	15	3.44	nil	0	0	0.00
Core	982	6	98.80	SciCon	5141	35	2708.46
Fast	18	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3233	2	95.63
Compass	1021	5	75.58
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.50	16386	-149.60	-0.68	0.00	1610.6	1700.1	1521.1	161.9	2678.2	0.00	0.00	0	67.35	59.83	0.00	0.00	0.006	0.000	0.000	2904.56	2969.44	2839.69	161.81	2678.44	0	0	0	15.21	30.00	30.00
67.55	18727	-175.18	-0.71	40.00	2904.5	2970.2	2838.8	162.0	2678.2	3.31	-3.34	11	104.01	20.26	10.73	2.21	0.006	0.542	0.164	3764.25	3837.56	3690.94	1788.56	3841.06	0	0	0	15.23	15.02	15.31
216.33	1028	-175.18	-0.71	0.00	3765.2	3836.4	3694.0	1788.7	3840.3	34.63	-22.44	41	221.25	0.00	0.00	1.85	0.000	0.000	0.036	3765.69	3837.00	3694.38	1789.06	2683.06	0	0	0	30.00	30.00	15.40
406.39	260	-175.18	-0.71	40.00	3766.4	3836.7	3696.2	1789.3	2679.2	73.30	-20.32	79	411.92	0.00	0.00	2.23	0.000	0.000	0.172	3767.91	3837.88	3697.94	1789.00	3840.81	0	0	0	30.00	30.00	15.53
441.39	1028	-175.18	-0.71	0.00	3766.4	3836.6	3696.2	1788.8	3840.9	80.07	-19.07	86	446.31	0.00	0.00	1.86	0.000	0.000	0.044	3766.53	3837.06	3696.00	1789.12	2679.88	0	0	0	30.00	30.00	15.43
636.44	0	-175.18	-0.71	0.00	3767.5	3836.8	3698.2	1789.1	2677.1	114.42	-17.27	117	637.78	0.00	0.00	0.00	0.000	0.000	0.000	3767.41	3836.38	3698.44	1789.00	2676.69	0	0	0	30.00	30.00	30.00
946.50	0	-175.18	-0.71	0.00	3768.6	3837.1	3700.1	1789.2	2676.2	159.06	-13.55	148	947.84	0.00	0.00	0.00	0.000	0.000	0.000	3768.41	3836.69	3700.12	1789.44	2675.62	0	0	0	30.00	30.00	30.00
1256.54	0	-175.18	-0.71	0.00	3768.9	3837.2	3700.6	1789.2	2676.1	199.93	-12.85	179	1257.89	0.00	0.00	0.00	0.000	0.000	0.000	3768.00	3835.62	3700.38	1789.12	2676.75	0	0	0	30.00	30.00	30.00
1566.58	0	-175.18	-0.71	0.00	3768.8	3837.2	3700.4	1789.1	2676.6	241.00	-13.53	210	1567.93	0.00	0.00	0.00	0.000	0.000	0.000	3768.03	3836.06	3700.00	1789.31	2675.62	0	0	0	30.00	30.00	30.00
1786	end dive: TARGET_DEPTH_EXCEEDED
state	1786	begin apogee
1788.34	10243	0.00	-0.12	0.00	3768.5	3837.5	3699.6	1789.7	2241.1	270.26	-13.23	232	1919.33	126.65	0.66	0.17	1.438	0.231	0.177	3048.84	3162.94	2934.75	1981.38	2314.81	0	0	0	11.98	15.74	15.21
1920	end apogee: CONTROL_FINISHED_OK
state	1920	begin climb
1921.14	10759	175.18	0.71	-40.00	3046.3	3160.6	2932.0	1981.6	2314.7	274.96	0.00	245	2055.43	128.18	0.83	2.71	1.402	0.128	0.058	2332.84	2427.62	2238.06	2264.00	861.81	0	0	0	12.23	15.29	15.07
2082.76	1092	175.18	0.74	0.00	2327.7	2418.2	2237.2	2263.6	860.9	266.46	8.77	277	2088.35	0.00	0.00	2.77	0.000	0.000	0.091	2327.53	2418.19	2236.88	2263.75	2309.62	0	0	0	30.00	30.00	15.31
2392.80	16450	175.18	0.76	0.00	2324.9	2418.1	2231.6	2264.4	2309.8	237.19	9.01	309	2394.14	0.00	0.00	0.00	0.000	0.000	0.000	2323.53	2416.81	2230.25	2263.88	2309.38	0	0	0	30.00	30.00	30.00
2702.83	16710	175.18	0.80	40.00	2324.0	2418.3	2229.8	2264.2	2309.5	212.36	8.04	340	2708.42	0.00	0.00	2.65	0.000	0.000	0.153	2324.81	2419.00	2230.62	2263.81	3724.25	0	0	0	30.00	30.00	15.69
2747.82	17478	175.18	0.81	0.00	2324.3	2417.8	2230.8	2263.9	3724.5	208.17	9.46	349	2753.39	0.00	0.00	2.41	0.000	0.000	0.040	2324.06	2417.94	2230.19	2272.75	2264.81	0	0	0	30.00	30.00	15.79
3062.88	16966	175.18	0.83	-40.00	2322.8	2418.1	2227.6	2273.4	2257.9	180.54	8.98	381	3068.41	0.00	0.00	2.46	0.000	0.000	0.058	2322.69	2418.00	2227.38	2279.88	859.12	0	0	0	30.00	30.00	15.85
3097.85	17478	175.18	0.85	0.00	2321.7	2415.6	2227.8	2279.6	858.6	177.33	9.02	388	3103.47	0.00	0.00	2.68	0.000	0.000	0.091	2323.94	2418.25	2229.62	2279.00	2306.62	0	0	0	30.00	30.00	15.49
3412.91	16386	175.18	0.85	0.00	2320.9	2415.5	2226.4	2279.9	2306.9	146.45	10.03	420	3414.26	0.00	0.00	0.00	0.000	0.000	0.000	2319.62	2414.31	2224.94	2279.44	2307.56	0	0	0	30.00	30.00	30.00
3723.05	16710	175.18	0.91	40.00	2320.2	2415.3	2225.2	2279.9	2307.6	119.91	7.09	451	3728.53	0.00	0.00	2.64	0.000	0.000	0.151	2321.34	2416.81	2225.88	2279.50	3723.62	0	0	0	30.00	30.00	15.65
3842.98	17414	175.18	0.91	0.00	2320.5	2415.4	2225.6	2279.7	3723.9	108.53	10.15	475	3848.54	0.00	0.00	2.42	0.000	0.000	0.043	2320.84	2416.00	2225.69	2289.38	2264.38	0	0	0	30.00	30.00	15.76
4153.10	18759	175.18	0.96	40.00	2319.8	2415.2	2224.4	2289.6	2258.4	85.41	7.24	527	4158.76	0.00	0.10	2.83	0.000	0.081	0.163	2320.38	2415.88	2224.88	2377.00	3724.75	0	0	0	30.00	15.72	15.69
4198.08	21511	175.18	0.96	0.00	2320.0	2414.4	2225.6	2376.8	3724.8	80.88	10.41	536	4203.73	0.00	0.25	2.41	0.000	0.276	0.038	2321.34	2416.19	2226.50	2320.00	2259.38	0	0	0	30.00	15.65	15.74
4388.13	10791	246.95	1.05	-40.00	2319.7	2414.8	2224.6	2319.5	2254.8	67.16	6.78	574	4444.75	52.08	0.10	2.49	1.185	0.086	0.059	2040.84	2145.62	1936.06	2417.88	857.75	0	0	0	12.07	15.69	15.53
4448.12	5125	246.95	1.05	0.00	2038.9	2141.6	1936.2	2417.6	857.1	61.51	10.01	586	4453.82	0.00	0.25	2.73	0.000	0.261	0.092	2038.72	2141.62	1935.81	2348.56	2310.69	0	0	0	30.00	15.50	15.45
4638.15	16902	246.95	1.05	-40.00	2033.8	2141.4	1926.2	2348.1	2310.8	41.05	10.40	624	4643.74	0.00	0.00	2.60	0.000	0.000	0.058	2033.62	2141.38	1925.88	2357.19	861.62	0	0	0	30.00	30.00	15.63
4688.16	17478	246.95	1.06	0.00	2032.3	2139.1	1925.4	2357.4	861.8	36.31	9.35	634	4693.78	0.00	0.00	2.73	0.000	0.000	0.101	2032.56	2139.44	1925.69	2357.75	2306.88	0	0	0	30.00	30.00	15.38
4878.21	16966	246.95	1.07	-40.00	2031.9	2139.8	1924.0	2357.3	2307.6	20.33	9.35	672	4883.75	0.00	0.00	2.59	0.000	0.000	0.057	2031.97	2139.88	1924.06	2368.31	860.25	0	0	0	30.00	30.00	15.70
5098	end climb: SURFACE_DEPTH_REACHED
state	5098	begin surface coast
5108	end surface coast: CONTROL_FINISHED_OK
state	5108	begin surface