Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 331 * 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 331 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 2390 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 14.330181 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 58.714832 SEABIRD_T_I 2.1947648e-05

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

MAX_BUOY 130 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 90 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 14.330181 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 58.714832 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 90 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 2390 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 130 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 331 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 031022,005832,3759.051,-12459.543,18,0.9,20,13.6 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.14 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 031022,010309,3759.054,-12459.521,2,0.6,5,13.6 MHEAD_RNG_PITCHd_Wd 121.4,20000,-22.0,-10.476,-26.38,1850,0.168

SPEED_LIMITS 0.105,0.211 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 3759.054,-12445.820

Post-dive calculations and measurements:

FINISH -0.0,1.023557 FG_AHR_10Vo 14.368

SM_CCo 4880.07,60.06,0.991,0,963.9,958.8,969.0,349.82 MEM0 60148,1,0,0

SM_GC 1.05,60.06,6.97,0.37,0.991,0.147,0.081,963.9,958.8,969.0,176.9,3260.0,0,0,0,12.31,15.84,15.93 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 909052,72,136156,96

IRIDIUM_FIX 3800.49,-12459.52,021022,232659 DATA_FILE_SIZE 25692,959

TCM_TEMP 16.93 CAP_FILE_SIZE 349776,0

XPDR_PINGS 0,13.0,11.5 SDSIZE 3887104,3793472

SC_FREEKB 3770688 SDFILEDIR 1930,1

HUMID 52.45 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.54 CURRENT 0.278, 27.4,1

INTERNAL_PRESSURE 8.78018 IMPLIED_C_PITCH 2009,32.46,753,0.0,0.00

_24V_AH 14.95,69.836 IMPLIED_C_VBD 2239,29.095646,408,0

_10V_AH 15.00,0.000 GPS 031022,022511,3759.332,-12458.756,11,1.5,15,13.6

FG_AHR_24Vo 58.834

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 453 1243 8423.19 nil 0 0 0.00

Pitch_motor 18 469 128.63 nil 0 0 0.00

Roll_motor 38 146 83.11 nil 0 0 0.00

Iridium 174 186 485.71 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.25 nil 0 0 0.00

Core 1107 6 113.00 SciCon 4838 17 1286.30

Fast 26 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 2500 2 75.02

Compass 1289 5 96.70

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

7.59 16386 -126.52 -0.64 0.00 807.3 811.0 803.6 175.4 3124.3 0.00 0.00 0 74.66 66.57 0.00 0.00 0.005 0.000 0.000 2101.06 2145.25 2056.88 175.31 3123.12 0 0 0 15.59 30.00 30.00

74.96 18727 -126.52 -0.64 40.00 2100.3 2143.8 2056.8 175.3 3123.4 3.35 -3.70 13 110.93 22.19 9.37 1.35 0.006 0.470 0.092 2904.19 2970.38 2838.00 1888.81 3901.19 0 0 0 15.67 15.43 15.58

288.29 1028 -126.52 -0.64 0.00 2907.2 2969.1 2845.3 1888.4 3901.2 38.82 -11.84 56 293.03 0.00 0.00 1.12 0.000 0.000 0.034 2908.78 2970.38 2847.19 1887.81 3161.88 0 0 0 30.00 30.00 15.92

473.36 0 -126.52 -0.64 0.00 2907.4 2969.2 2845.6 1888.4 3162.2 61.66 -11.87 93 474.69 0.00 0.00 0.00 0.000 0.000 0.000 2906.59 2967.31 2845.88 1888.25 3162.00 0 0 0 30.00 30.00 30.00

658.42 0 -126.52 -0.64 0.00 2908.0 2969.2 2846.8 1889.2 3162.7 82.55 -9.91 130 659.75 0.00 0.00 0.00 0.000 0.000 0.000 2907.47 2968.50 2846.44 1888.12 3162.00 0 0 0 30.00 30.00 30.00

843.47 260 -126.52 -0.64 40.00 2908.3 2969.4 2847.2 1888.5 3162.1 100.07 -9.39 167 848.25 0.00 0.00 1.27 0.000 0.000 0.089 2908.59 2970.00 2847.19 1885.69 3903.31 0 0 0 30.00 30.00 15.98

873.48 1028 -126.52 -0.64 0.00 2908.1 2969.4 2846.8 1885.6 3903.4 103.15 -10.13 173 878.22 0.00 0.00 1.12 0.000 0.000 0.035 2909.56 2969.81 2849.31 1885.06 3166.56 0 0 0 30.00 30.00 16.02

1178.57 0 -126.52 -0.64 0.00 2908.1 2969.4 2846.9 1885.6 3167.0 133.83 -9.12 234 1179.91 0.00 0.00 0.00 0.000 0.000 0.000 2907.47 2967.62 2847.31 1885.44 3166.56 0 0 0 30.00 30.00 30.00

1483.69 516 -126.52 -0.64 -40.00 2908.0 2968.9 2847.1 1885.8 3166.9 159.76 -8.06 295 1489.22 0.00 0.00 2.18 0.000 0.000 0.023 2908.38 2969.88 2846.88 1885.94 1711.19 0 0 0 30.00 30.00 16.05

1513.71 1028 -126.52 -0.64 0.00 2907.5 2968.2 2846.7 1885.8 1708.9 162.06 -7.83 301 1519.32 0.00 0.00 2.63 0.000 0.000 0.079 2907.62 2968.56 2846.69 1886.00 3250.94 0 0 0 30.00 30.00 16.04

1823.95 0 -126.52 -0.64 0.00 2906.9 2967.6 2846.2 1885.4 3251.2 187.60 -8.06 363 1825.29 0.00 0.00 0.00 0.000 0.000 0.000 2906.50 2966.19 2846.81 1885.50 3250.94 0 0 0 30.00 30.00 30.00

2128.89 516 -126.52 -0.64 -40.00 2907.0 2967.2 2846.7 1885.9 3251.4 211.71 -7.83 424 2134.45 0.00 0.00 2.35 0.000 0.000 0.025 2907.75 2966.31 2849.19 1885.00 1708.50 0 0 0 30.00 30.00 16.09

2168.90 1028 -126.52 -0.64 0.00 2906.0 2965.1 2846.9 1885.9 1708.6 214.69 -7.60 432 2174.52 0.00 0.00 2.62 0.000 0.000 0.080 2907.41 2966.19 2848.62 1885.06 3249.38 0 0 0 30.00 30.00 16.08

2238 end dive: TARGET_DEPTH_EXCEEDED

state 2238 begin apogee

2240.27 10243 0.00 -0.11 0.00 2905.9 2964.7 2847.1 1885.5 2944.3 220.03 -7.69 446 2346.28 102.92 0.61 0.14 1.244 0.199 0.146 2388.12 2428.56 2347.69 2068.62 3022.38 0 0 0 12.17 15.98 15.49

2347 end apogee: CONTROL_FINISHED_OK

state 2347 begin climb

2348.45 10759 126.52 0.64 -40.00 2387.4 2428.6 2346.2 2068.8 3021.8 224.72 0.00 467 2454.55 99.10 0.73 2.43 1.213 0.109 0.020 1871.78 1878.12 1865.44 2325.81 1484.75 0 0 0 12.47 15.60 15.37

2661.99 1092 126.52 0.69 0.00 1868.2 1874.6 1861.9 2325.4 1485.3 214.64 8.35 530 2667.58 0.00 0.00 2.60 0.000 0.000 0.062 1867.41 1876.19 1858.62 2325.44 3024.62 0 0 0 30.00 30.00 15.83

2972.10 16450 126.52 0.73 0.00 1864.5 1878.2 1850.7 2324.4 3024.3 186.54 8.39 592 2973.44 0.00 0.00 0.00 0.000 0.000 0.000 1863.41 1875.94 1850.88 2324.44 3024.62 0 0 0 30.00 30.00 30.00

3277.19 16966 126.52 0.75 -40.00 1863.8 1879.2 1848.5 2325.3 3024.2 158.04 9.34 653 3282.74 0.00 0.00 2.32 0.000 0.000 0.017 1864.38 1879.88 1848.88 2335.56 1503.25 0 0 0 30.00 30.00 16.03

3322.20 17478 126.52 0.79 0.00 1864.2 1880.1 1848.4 2337.2 1496.5 154.29 8.33 662 3327.78 0.00 0.00 2.54 0.000 0.000 0.062 1864.19 1879.62 1848.75 2337.69 3024.12 0 0 0 30.00 30.00 16.02

3632.27 10791 180.67 0.86 -40.00 1863.0 1879.9 1846.1 2336.8 3024.6 130.40 7.47 724 3678.71 41.83 0.11 2.36 1.129 0.079 0.020 1651.50 1659.56 1643.44 2406.62 1515.06 0 0 0 12.20 15.96 15.76

3857.31 5125 180.67 0.86 0.00 1647.4 1653.6 1641.2 2407.6 1502.2 101.31 12.86 769 3862.98 0.00 0.16 2.55 0.000 0.352 0.063 1647.53 1654.81 1640.25 2370.69 3024.25 0 0 0 30.00 15.71 15.82

4167.44 16450 180.67 0.91 0.00 1644.9 1658.0 1631.8 2370.8 3024.1 64.18 7.80 831 4168.78 0.00 0.00 0.00 0.000 0.000 0.000 1644.72 1657.06 1632.38 2370.69 3024.19 0 0 0 30.00 30.00 30.00

4352.51 10535 261.82 1.01 40.00 1644.3 1658.2 1630.5 2370.1 3024.2 51.08 5.97 868 4418.24 60.41 0.16 1.47 1.041 0.083 0.071 1322.16 1323.50 1320.81 2457.31 3906.94 0 0 0 12.30 15.91 15.63

4477.50 5125 261.82 1.01 0.00 1318.6 1322.9 1314.3 2456.9 3907.2 32.74 19.31 893 4482.44 0.00 0.22 1.50 0.000 0.417 0.019 1319.12 1323.38 1314.88 2419.25 2862.06 0 0 0 30.00 15.57 15.75

4667.58 580 261.82 1.05 -40.00 1315.3 1323.9 1306.7 2419.7 2861.2 12.14 8.67 931 4673.11 0.00 0.00 2.07 0.000 0.000 0.019 1315.34 1323.50 1307.19 2427.69 1514.81 0 0 0 30.00 30.00 15.85

4772.61 17478 261.82 1.07 0.00 1313.7 1321.8 1305.7 2429.4 1505.3 2.51 9.34 952 4778.20 0.00 0.00 2.53 0.000 0.000 0.059 1314.25 1322.69 1305.81 2429.25 3023.56 0 0 0 30.00 30.00 15.87

4782 end climb: SURFACE_DEPTH_REACHED

state 4782 begin surface coast

4807 end surface coast: CONTROL_FINISHED_OK

state 4807 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	331	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	2390	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	14.330181	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	58.714832	SEABIRD_T_I	2.1947648e-05
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_J	2.2037441e-06
MAX_BUOY	130	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	90	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	031022,005832,3759.051,-12459.543,18,0.9,20,13.6	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.14	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	031022,010309,3759.054,-12459.521,2,0.6,5,13.6	MHEAD_RNG_PITCHd_Wd	121.4,20000,-22.0,-10.476,-26.38,1850,0.168
SPEED_LIMITS	0.105,0.211	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	3759.054,-12445.820

FINISH	-0.0,1.023557	FG_AHR_10Vo	14.368
SM_CCo	4880.07,60.06,0.991,0,963.9,958.8,969.0,349.82	MEM0	60148,1,0,0
SM_GC	1.05,60.06,6.97,0.37,0.991,0.147,0.081,963.9,958.8,969.0,176.9,3260.0,0,0,0,12.31,15.84,15.93	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	909052,72,136156,96
IRIDIUM_FIX	3800.49,-12459.52,021022,232659	DATA_FILE_SIZE	25692,959
TCM_TEMP	16.93	CAP_FILE_SIZE	349776,0
XPDR_PINGS	0,13.0,11.5	SDSIZE	3887104,3793472
SC_FREEKB	3770688	SDFILEDIR	1930,1
HUMID	52.45	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.54	CURRENT	0.278, 27.4,1
INTERNAL_PRESSURE	8.78018	IMPLIED_C_PITCH	2009,32.46,753,0.0,0.00
_24V_AH	14.95,69.836	IMPLIED_C_VBD	2239,29.095646,408,0
_10V_AH	15.00,0.000	GPS	031022,022511,3759.332,-12458.756,11,1.5,15,13.6
FG_AHR_24Vo	58.834

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	453	1243	8423.19	nil	0	0	0.00
Pitch_motor	18	469	128.63	nil	0	0	0.00
Roll_motor	38	146	83.11	nil	0	0	0.00
Iridium	174	186	485.71	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.25	nil	0	0	0.00
Core	1107	6	113.00	SciCon	4838	17	1286.30
Fast	26	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	2500	2	75.02
Compass	1289	5	96.70
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
7.59	16386	-126.52	-0.64	0.00	807.3	811.0	803.6	175.4	3124.3	0.00	0.00	0	74.66	66.57	0.00	0.00	0.005	0.000	0.000	2101.06	2145.25	2056.88	175.31	3123.12	0	0	0	15.59	30.00	30.00
74.96	18727	-126.52	-0.64	40.00	2100.3	2143.8	2056.8	175.3	3123.4	3.35	-3.70	13	110.93	22.19	9.37	1.35	0.006	0.470	0.092	2904.19	2970.38	2838.00	1888.81	3901.19	0	0	0	15.67	15.43	15.58
288.29	1028	-126.52	-0.64	0.00	2907.2	2969.1	2845.3	1888.4	3901.2	38.82	-11.84	56	293.03	0.00	0.00	1.12	0.000	0.000	0.034	2908.78	2970.38	2847.19	1887.81	3161.88	0	0	0	30.00	30.00	15.92
473.36	0	-126.52	-0.64	0.00	2907.4	2969.2	2845.6	1888.4	3162.2	61.66	-11.87	93	474.69	0.00	0.00	0.00	0.000	0.000	0.000	2906.59	2967.31	2845.88	1888.25	3162.00	0	0	0	30.00	30.00	30.00
658.42	0	-126.52	-0.64	0.00	2908.0	2969.2	2846.8	1889.2	3162.7	82.55	-9.91	130	659.75	0.00	0.00	0.00	0.000	0.000	0.000	2907.47	2968.50	2846.44	1888.12	3162.00	0	0	0	30.00	30.00	30.00
843.47	260	-126.52	-0.64	40.00	2908.3	2969.4	2847.2	1888.5	3162.1	100.07	-9.39	167	848.25	0.00	0.00	1.27	0.000	0.000	0.089	2908.59	2970.00	2847.19	1885.69	3903.31	0	0	0	30.00	30.00	15.98
873.48	1028	-126.52	-0.64	0.00	2908.1	2969.4	2846.8	1885.6	3903.4	103.15	-10.13	173	878.22	0.00	0.00	1.12	0.000	0.000	0.035	2909.56	2969.81	2849.31	1885.06	3166.56	0	0	0	30.00	30.00	16.02
1178.57	0	-126.52	-0.64	0.00	2908.1	2969.4	2846.9	1885.6	3167.0	133.83	-9.12	234	1179.91	0.00	0.00	0.00	0.000	0.000	0.000	2907.47	2967.62	2847.31	1885.44	3166.56	0	0	0	30.00	30.00	30.00
1483.69	516	-126.52	-0.64	-40.00	2908.0	2968.9	2847.1	1885.8	3166.9	159.76	-8.06	295	1489.22	0.00	0.00	2.18	0.000	0.000	0.023	2908.38	2969.88	2846.88	1885.94	1711.19	0	0	0	30.00	30.00	16.05
1513.71	1028	-126.52	-0.64	0.00	2907.5	2968.2	2846.7	1885.8	1708.9	162.06	-7.83	301	1519.32	0.00	0.00	2.63	0.000	0.000	0.079	2907.62	2968.56	2846.69	1886.00	3250.94	0	0	0	30.00	30.00	16.04
1823.95	0	-126.52	-0.64	0.00	2906.9	2967.6	2846.2	1885.4	3251.2	187.60	-8.06	363	1825.29	0.00	0.00	0.00	0.000	0.000	0.000	2906.50	2966.19	2846.81	1885.50	3250.94	0	0	0	30.00	30.00	30.00
2128.89	516	-126.52	-0.64	-40.00	2907.0	2967.2	2846.7	1885.9	3251.4	211.71	-7.83	424	2134.45	0.00	0.00	2.35	0.000	0.000	0.025	2907.75	2966.31	2849.19	1885.00	1708.50	0	0	0	30.00	30.00	16.09
2168.90	1028	-126.52	-0.64	0.00	2906.0	2965.1	2846.9	1885.9	1708.6	214.69	-7.60	432	2174.52	0.00	0.00	2.62	0.000	0.000	0.080	2907.41	2966.19	2848.62	1885.06	3249.38	0	0	0	30.00	30.00	16.08
2238	end dive: TARGET_DEPTH_EXCEEDED
state	2238	begin apogee
2240.27	10243	0.00	-0.11	0.00	2905.9	2964.7	2847.1	1885.5	2944.3	220.03	-7.69	446	2346.28	102.92	0.61	0.14	1.244	0.199	0.146	2388.12	2428.56	2347.69	2068.62	3022.38	0	0	0	12.17	15.98	15.49
2347	end apogee: CONTROL_FINISHED_OK
state	2347	begin climb
2348.45	10759	126.52	0.64	-40.00	2387.4	2428.6	2346.2	2068.8	3021.8	224.72	0.00	467	2454.55	99.10	0.73	2.43	1.213	0.109	0.020	1871.78	1878.12	1865.44	2325.81	1484.75	0	0	0	12.47	15.60	15.37
2661.99	1092	126.52	0.69	0.00	1868.2	1874.6	1861.9	2325.4	1485.3	214.64	8.35	530	2667.58	0.00	0.00	2.60	0.000	0.000	0.062	1867.41	1876.19	1858.62	2325.44	3024.62	0	0	0	30.00	30.00	15.83
2972.10	16450	126.52	0.73	0.00	1864.5	1878.2	1850.7	2324.4	3024.3	186.54	8.39	592	2973.44	0.00	0.00	0.00	0.000	0.000	0.000	1863.41	1875.94	1850.88	2324.44	3024.62	0	0	0	30.00	30.00	30.00
3277.19	16966	126.52	0.75	-40.00	1863.8	1879.2	1848.5	2325.3	3024.2	158.04	9.34	653	3282.74	0.00	0.00	2.32	0.000	0.000	0.017	1864.38	1879.88	1848.88	2335.56	1503.25	0	0	0	30.00	30.00	16.03
3322.20	17478	126.52	0.79	0.00	1864.2	1880.1	1848.4	2337.2	1496.5	154.29	8.33	662	3327.78	0.00	0.00	2.54	0.000	0.000	0.062	1864.19	1879.62	1848.75	2337.69	3024.12	0	0	0	30.00	30.00	16.02
3632.27	10791	180.67	0.86	-40.00	1863.0	1879.9	1846.1	2336.8	3024.6	130.40	7.47	724	3678.71	41.83	0.11	2.36	1.129	0.079	0.020	1651.50	1659.56	1643.44	2406.62	1515.06	0	0	0	12.20	15.96	15.76
3857.31	5125	180.67	0.86	0.00	1647.4	1653.6	1641.2	2407.6	1502.2	101.31	12.86	769	3862.98	0.00	0.16	2.55	0.000	0.352	0.063	1647.53	1654.81	1640.25	2370.69	3024.25	0	0	0	30.00	15.71	15.82
4167.44	16450	180.67	0.91	0.00	1644.9	1658.0	1631.8	2370.8	3024.1	64.18	7.80	831	4168.78	0.00	0.00	0.00	0.000	0.000	0.000	1644.72	1657.06	1632.38	2370.69	3024.19	0	0	0	30.00	30.00	30.00
4352.51	10535	261.82	1.01	40.00	1644.3	1658.2	1630.5	2370.1	3024.2	51.08	5.97	868	4418.24	60.41	0.16	1.47	1.041	0.083	0.071	1322.16	1323.50	1320.81	2457.31	3906.94	0	0	0	12.30	15.91	15.63
4477.50	5125	261.82	1.01	0.00	1318.6	1322.9	1314.3	2456.9	3907.2	32.74	19.31	893	4482.44	0.00	0.22	1.50	0.000	0.417	0.019	1319.12	1323.38	1314.88	2419.25	2862.06	0	0	0	30.00	15.57	15.75
4667.58	580	261.82	1.05	-40.00	1315.3	1323.9	1306.7	2419.7	2861.2	12.14	8.67	931	4673.11	0.00	0.00	2.07	0.000	0.000	0.019	1315.34	1323.50	1307.19	2427.69	1514.81	0	0	0	30.00	30.00	15.85
4772.61	17478	261.82	1.07	0.00	1313.7	1321.8	1305.7	2429.4	1505.3	2.51	9.34	952	4778.20	0.00	0.00	2.53	0.000	0.000	0.059	1314.25	1322.69	1305.81	2429.25	3023.56	0	0	0	30.00	30.00	15.87
4782	end climb: SURFACE_DEPTH_REACHED
state	4782	begin surface coast
4807	end surface coast: CONTROL_FINISHED_OK
state	4807	begin surface