Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 381 * 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 381 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 16.160412 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 65.31752 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 45 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 16.160412 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 65.31752 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 45 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 381 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 051022,221609,3755.632,-12451.795,60,0.8,63,13.6 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.15 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 051022,222118,3755.627,-12451.803,2,0.8,6,13.6 MHEAD_RNG_PITCHd_Wd 76.4,20000,-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 3803.263,-12442.105

Post-dive calculations and measurements:

FINISH 0.1,1.023602 FG_AHR_10Vo 16.199

SM_CCo 5020.54,49.40,0.997,0,963.4,959.3,967.4,349.95 MEM0 60148,1,0,0

SM_GC 1.05,49.40,6.72,1.10,0.997,0.106,0.032,963.4,959.3,967.4,174.8,3091.4,0,0,0,12.24,15.81,15.91 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 908344,117,136024,93

IRIDIUM_FIX 3755.00,-12446.54,051022,204912 DATA_FILE_SIZE 28907,989

TCM_TEMP 16.89 CAP_FILE_SIZE 376984,0

XPDR_PINGS 0,13.0,11.5 SDSIZE 3887104,3780608

SC_FREEKB 3751488 SDFILEDIR 2230,1

HUMID 53.45 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.53 CURRENT 0.215,289.0,1

INTERNAL_PRESSURE 8.78935 IMPLIED_C_PITCH 2007,32.20,772,0.0,0.00

_24V_AH 14.97,77.896 IMPLIED_C_VBD 2276,28.037239,434,0

_10V_AH 15.00,0.000 GPS 051022,234602,3755.758,-12451.939,34,1.0,36,13.6

FG_AHR_24Vo 65.437

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 445 1244 8303.54 nil 0 0 0.00

Pitch_motor 18 478 129.24 nil 0 0 0.00

Roll_motor 62 143 134.71 nil 0 0 0.00

Iridium 197 192 567.83 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 15 15 3.54 nil 0 0 0.00

Core 1179 6 120.27 SciCon 4991 17 1340.91

Fast 32 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 2556 2 76.70

Compass 1329 5 99.74

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

7.77 16386 -126.52 -0.64 0.00 955.5 953.8 957.2 172.3 3284.1 0.00 0.00 0 64.49 56.17 0.00 0.00 0.005 0.000 0.000 2058.81 2108.88 2008.75 172.50 3284.06 0 0 0 15.56 30.00 30.00

64.74 18983 -126.52 -0.64 -40.00 2059.1 2107.9 2010.2 172.4 3284.0 3.12 -3.64 11 105.26 23.39 9.62 2.43 0.006 0.478 0.030 2907.00 2972.38 2841.62 1892.00 1757.81 0 0 0 15.64 15.37 15.53

168.25 1028 -126.52 -0.64 0.00 2907.2 2970.4 2844.1 1892.1 1744.1 18.73 -11.30 32 173.85 0.00 0.00 2.59 0.000 0.000 0.080 2908.16 2971.00 2845.31 1891.69 3249.25 0 0 0 30.00 30.00 15.80

358.29 260 -126.52 -0.64 40.00 2907.1 2969.5 2844.8 1892.1 3249.3 44.35 -13.83 70 363.04 0.00 0.00 1.09 0.000 0.000 0.094 2907.94 2970.31 2845.56 1889.44 3900.94 0 0 0 30.00 30.00 15.83

478.32 1028 -126.52 -0.64 0.00 2906.9 2968.7 2845.1 1888.6 3900.9 59.70 -11.25 94 483.09 0.00 0.00 1.12 0.000 0.000 0.039 2908.97 2970.75 2847.19 1888.75 3167.88 0 0 0 30.00 30.00 15.90

663.38 0 -126.52 -0.64 0.00 2907.6 2969.6 2845.6 1889.2 3168.3 80.28 -10.41 131 664.72 0.00 0.00 0.00 0.000 0.000 0.000 2906.88 2967.69 2846.06 1888.56 3168.44 0 0 0 30.00 30.00 30.00

848.44 516 -126.52 -0.64 -40.00 2908.1 2969.4 2846.8 1889.1 3167.6 98.38 -9.96 168 854.00 0.00 0.00 2.18 0.000 0.000 0.023 2908.97 2970.06 2847.88 1888.50 1710.12 0 0 0 30.00 30.00 15.98

868.45 1028 -126.52 -0.64 0.00 2908.7 2969.8 2847.6 1888.8 1708.1 100.22 -9.50 172 874.09 0.00 0.00 2.63 0.000 0.000 0.080 2909.09 2970.25 2847.94 1888.69 3250.50 0 0 0 30.00 30.00 15.98

1178.55 516 -126.52 -0.64 -40.00 2908.2 2969.1 2847.3 1888.8 3251.2 127.52 -7.99 234 1184.13 0.00 0.00 2.35 0.000 0.000 0.024 2909.12 2970.00 2848.25 1888.75 1711.12 0 0 0 30.00 30.00 16.01

1228.56 1028 -126.52 -0.64 0.00 2908.3 2969.1 2847.6 1888.9 1710.4 131.50 -7.91 244 1234.19 0.00 0.00 2.62 0.000 0.000 0.079 2908.84 2969.31 2848.38 1888.38 3250.38 0 0 0 30.00 30.00 16.00

1538.66 516 -126.52 -0.64 -40.00 2907.8 2968.7 2846.9 1888.1 3250.2 158.78 -9.01 306 1544.25 0.00 0.00 2.34 0.000 0.000 0.024 2907.66 2968.44 2846.88 1889.06 1708.19 0 0 0 30.00 30.00 16.04

1558.66 1028 -126.52 -0.64 0.00 2908.0 2968.8 2847.2 1888.7 1706.9 160.50 -8.81 310 1564.30 0.00 0.00 2.63 0.000 0.000 0.080 2907.56 2967.81 2847.31 1888.75 3250.56 0 0 0 30.00 30.00 16.03

1868.77 548 -126.52 -0.64 -40.00 2907.6 2967.9 2847.3 1888.4 3250.1 184.71 -7.31 372 1874.34 0.00 0.00 2.34 0.000 0.000 0.024 2908.75 2968.88 2848.62 1889.00 1714.31 0 0 0 30.00 30.00 16.06

1888.78 1060 -126.52 -0.64 0.00 2906.6 2966.1 2847.1 1888.9 1713.0 186.16 -7.27 376 1894.38 0.00 0.00 2.62 0.000 0.000 0.080 2906.75 2965.38 2848.12 1889.12 3248.69 0 0 0 30.00 30.00 16.05

2198.86 548 -126.52 -0.64 -40.00 2906.4 2965.6 2847.2 1888.7 3248.9 207.26 -7.03 438 2204.46 0.00 0.00 2.34 0.000 0.000 0.025 2906.09 2965.12 2847.06 1888.62 1710.25 0 0 0 30.00 30.00 16.08

2228.87 1060 -126.52 -0.64 0.00 2905.5 2963.9 2847.1 1888.9 1708.8 209.35 -7.02 444 2234.49 0.00 0.00 2.62 0.000 0.000 0.080 2906.31 2964.50 2848.12 1888.81 3250.88 0 0 0 30.00 30.00 16.07

2378 end dive: TARGET_DEPTH_EXCEEDED

state 2378 begin apogee

2380.25 10243 0.00 -0.11 0.00 2905.9 2964.0 2847.8 1888.7 2942.6 220.32 -7.46 474 2486.27 103.22 0.60 0.14 1.245 0.197 0.144 2388.78 2428.88 2348.69 2068.94 3024.25 0 0 0 12.02 15.95 15.48

2487 end apogee: CONTROL_FINISHED_OK

state 2487 begin climb

2488.71 10759 126.52 0.64 -40.00 2387.6 2428.6 2346.6 2069.0 3024.2 224.86 0.00 495 2594.66 99.46 0.71 2.41 1.215 0.096 0.019 1871.88 1877.69 1866.06 2326.38 1487.81 0 0 0 12.36 15.59 15.37

2822.12 1092 126.52 0.70 0.00 1868.2 1874.6 1861.8 2325.6 1487.8 214.53 7.89 562 2827.73 0.00 0.00 2.59 0.000 0.000 0.065 1867.34 1875.88 1858.81 2325.94 3022.75 0 0 0 30.00 30.00 15.83

3132.13 16902 126.52 0.70 -40.00 1864.4 1878.0 1850.8 2325.4 3022.9 183.41 10.19 624 3137.72 0.00 0.00 2.34 0.000 0.000 0.018 1865.44 1879.06 1851.81 2335.31 1501.75 0 0 0 30.00 30.00 15.97

3222.16 17478 126.52 0.74 0.00 1864.6 1878.4 1850.8 2337.4 1496.8 175.53 8.51 642 3227.77 0.00 0.00 2.56 0.000 0.000 0.065 1864.19 1876.44 1851.94 2337.12 3022.69 0 0 0 30.00 30.00 15.98

3532.21 16710 126.52 0.78 40.00 1863.3 1878.5 1848.1 2336.9 3023.8 147.19 8.45 704 3537.03 0.00 0.00 1.46 0.000 0.000 0.077 1864.50 1879.88 1849.12 2336.69 3903.50 0 0 0 30.00 30.00 15.88

3652.22 17414 126.52 0.78 0.00 1863.4 1879.1 1847.7 2337.1 3903.8 134.69 10.84 728 3657.04 0.00 0.00 1.48 0.000 0.000 0.022 1864.53 1880.06 1849.00 2344.88 2865.44 0 0 0 30.00 30.00 15.93

3957.50 10791 208.26 0.88 -40.00 1862.9 1879.6 1846.3 2344.9 2864.9 109.70 5.94 789 4024.17 62.01 0.10 2.10 1.122 0.082 0.020 1541.12 1546.19 1536.06 2409.31 1515.31 0 0 0 12.04 15.94 15.66

4077.33 1028 208.26 0.88 0.00 1536.4 1539.4 1533.4 2411.7 1502.9 97.76 13.73 813 4082.96 0.00 0.00 2.59 0.000 0.000 0.065 1535.72 1538.81 1532.62 2411.44 3022.25 0 0 0 30.00 30.00 15.73

4267.38 516 208.26 0.88 -40.00 1533.2 1543.6 1522.8 2411.1 3022.4 70.01 13.57 851 4272.97 0.00 0.00 2.36 0.000 0.000 0.019 1534.16 1543.75 1524.56 2420.81 1523.81 0 0 0 30.00 30.00 15.83

4307.39 21511 208.26 0.88 0.00 1532.6 1542.2 1522.9 2422.2 1512.1 65.63 10.75 859 4313.09 0.00 0.20 2.54 0.000 0.353 0.062 1533.16 1543.12 1523.19 2376.06 3027.25 0 0 0 30.00 15.67 15.83

4497.51 16902 208.26 0.88 -40.00 1531.8 1544.6 1518.9 2375.9 3028.1 45.81 10.26 897 4503.04 0.00 0.00 2.36 0.000 0.000 0.019 1531.78 1543.75 1519.81 2385.00 1501.56 0 0 0 30.00 30.00 15.88

4662.51 9254 278.32 0.96 0.00 1531.0 1543.0 1518.9 2387.1 1498.6 33.46 6.58 930 4719.21 52.04 0.00 2.56 1.018 0.000 0.062 1254.53 1261.88 1247.19 2386.94 3024.62 0 0 0 12.18 30.00 15.89

4902.59 2373 278.32 1.00 40.00 1248.3 1263.3 1233.2 2385.8 3024.7 8.30 8.52 978 4907.46 0.00 0.10 1.46 0.000 0.097 0.071 1248.28 1263.38 1233.19 2454.31 3903.25 0 0 0 30.00 15.78 15.81

4947 end climb: SURFACE_DEPTH_REACHED

state 4947 begin surface coast

4957 end surface coast: CONTROL_FINISHED_OK

state 4957 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	381	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	16.160412	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	65.31752	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	45	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	051022,221609,3755.632,-12451.795,60,0.8,63,13.6	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.15	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	051022,222118,3755.627,-12451.803,2,0.8,6,13.6	MHEAD_RNG_PITCHd_Wd	76.4,20000,-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	3803.263,-12442.105

FINISH	0.1,1.023602	FG_AHR_10Vo	16.199
SM_CCo	5020.54,49.40,0.997,0,963.4,959.3,967.4,349.95	MEM0	60148,1,0,0
SM_GC	1.05,49.40,6.72,1.10,0.997,0.106,0.032,963.4,959.3,967.4,174.8,3091.4,0,0,0,12.24,15.81,15.91	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	908344,117,136024,93
IRIDIUM_FIX	3755.00,-12446.54,051022,204912	DATA_FILE_SIZE	28907,989
TCM_TEMP	16.89	CAP_FILE_SIZE	376984,0
XPDR_PINGS	0,13.0,11.5	SDSIZE	3887104,3780608
SC_FREEKB	3751488	SDFILEDIR	2230,1
HUMID	53.45	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.53	CURRENT	0.215,289.0,1
INTERNAL_PRESSURE	8.78935	IMPLIED_C_PITCH	2007,32.20,772,0.0,0.00
_24V_AH	14.97,77.896	IMPLIED_C_VBD	2276,28.037239,434,0
_10V_AH	15.00,0.000	GPS	051022,234602,3755.758,-12451.939,34,1.0,36,13.6
FG_AHR_24Vo	65.437

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	445	1244	8303.54	nil	0	0	0.00
Pitch_motor	18	478	129.24	nil	0	0	0.00
Roll_motor	62	143	134.71	nil	0	0	0.00
Iridium	197	192	567.83	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	15	15	3.54	nil	0	0	0.00
Core	1179	6	120.27	SciCon	4991	17	1340.91
Fast	32	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	2556	2	76.70
Compass	1329	5	99.74
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
7.77	16386	-126.52	-0.64	0.00	955.5	953.8	957.2	172.3	3284.1	0.00	0.00	0	64.49	56.17	0.00	0.00	0.005	0.000	0.000	2058.81	2108.88	2008.75	172.50	3284.06	0	0	0	15.56	30.00	30.00
64.74	18983	-126.52	-0.64	-40.00	2059.1	2107.9	2010.2	172.4	3284.0	3.12	-3.64	11	105.26	23.39	9.62	2.43	0.006	0.478	0.030	2907.00	2972.38	2841.62	1892.00	1757.81	0	0	0	15.64	15.37	15.53
168.25	1028	-126.52	-0.64	0.00	2907.2	2970.4	2844.1	1892.1	1744.1	18.73	-11.30	32	173.85	0.00	0.00	2.59	0.000	0.000	0.080	2908.16	2971.00	2845.31	1891.69	3249.25	0	0	0	30.00	30.00	15.80
358.29	260	-126.52	-0.64	40.00	2907.1	2969.5	2844.8	1892.1	3249.3	44.35	-13.83	70	363.04	0.00	0.00	1.09	0.000	0.000	0.094	2907.94	2970.31	2845.56	1889.44	3900.94	0	0	0	30.00	30.00	15.83
478.32	1028	-126.52	-0.64	0.00	2906.9	2968.7	2845.1	1888.6	3900.9	59.70	-11.25	94	483.09	0.00	0.00	1.12	0.000	0.000	0.039	2908.97	2970.75	2847.19	1888.75	3167.88	0	0	0	30.00	30.00	15.90
663.38	0	-126.52	-0.64	0.00	2907.6	2969.6	2845.6	1889.2	3168.3	80.28	-10.41	131	664.72	0.00	0.00	0.00	0.000	0.000	0.000	2906.88	2967.69	2846.06	1888.56	3168.44	0	0	0	30.00	30.00	30.00
848.44	516	-126.52	-0.64	-40.00	2908.1	2969.4	2846.8	1889.1	3167.6	98.38	-9.96	168	854.00	0.00	0.00	2.18	0.000	0.000	0.023	2908.97	2970.06	2847.88	1888.50	1710.12	0	0	0	30.00	30.00	15.98
868.45	1028	-126.52	-0.64	0.00	2908.7	2969.8	2847.6	1888.8	1708.1	100.22	-9.50	172	874.09	0.00	0.00	2.63	0.000	0.000	0.080	2909.09	2970.25	2847.94	1888.69	3250.50	0	0	0	30.00	30.00	15.98
1178.55	516	-126.52	-0.64	-40.00	2908.2	2969.1	2847.3	1888.8	3251.2	127.52	-7.99	234	1184.13	0.00	0.00	2.35	0.000	0.000	0.024	2909.12	2970.00	2848.25	1888.75	1711.12	0	0	0	30.00	30.00	16.01
1228.56	1028	-126.52	-0.64	0.00	2908.3	2969.1	2847.6	1888.9	1710.4	131.50	-7.91	244	1234.19	0.00	0.00	2.62	0.000	0.000	0.079	2908.84	2969.31	2848.38	1888.38	3250.38	0	0	0	30.00	30.00	16.00
1538.66	516	-126.52	-0.64	-40.00	2907.8	2968.7	2846.9	1888.1	3250.2	158.78	-9.01	306	1544.25	0.00	0.00	2.34	0.000	0.000	0.024	2907.66	2968.44	2846.88	1889.06	1708.19	0	0	0	30.00	30.00	16.04
1558.66	1028	-126.52	-0.64	0.00	2908.0	2968.8	2847.2	1888.7	1706.9	160.50	-8.81	310	1564.30	0.00	0.00	2.63	0.000	0.000	0.080	2907.56	2967.81	2847.31	1888.75	3250.56	0	0	0	30.00	30.00	16.03
1868.77	548	-126.52	-0.64	-40.00	2907.6	2967.9	2847.3	1888.4	3250.1	184.71	-7.31	372	1874.34	0.00	0.00	2.34	0.000	0.000	0.024	2908.75	2968.88	2848.62	1889.00	1714.31	0	0	0	30.00	30.00	16.06
1888.78	1060	-126.52	-0.64	0.00	2906.6	2966.1	2847.1	1888.9	1713.0	186.16	-7.27	376	1894.38	0.00	0.00	2.62	0.000	0.000	0.080	2906.75	2965.38	2848.12	1889.12	3248.69	0	0	0	30.00	30.00	16.05
2198.86	548	-126.52	-0.64	-40.00	2906.4	2965.6	2847.2	1888.7	3248.9	207.26	-7.03	438	2204.46	0.00	0.00	2.34	0.000	0.000	0.025	2906.09	2965.12	2847.06	1888.62	1710.25	0	0	0	30.00	30.00	16.08
2228.87	1060	-126.52	-0.64	0.00	2905.5	2963.9	2847.1	1888.9	1708.8	209.35	-7.02	444	2234.49	0.00	0.00	2.62	0.000	0.000	0.080	2906.31	2964.50	2848.12	1888.81	3250.88	0	0	0	30.00	30.00	16.07
2378	end dive: TARGET_DEPTH_EXCEEDED
state	2378	begin apogee
2380.25	10243	0.00	-0.11	0.00	2905.9	2964.0	2847.8	1888.7	2942.6	220.32	-7.46	474	2486.27	103.22	0.60	0.14	1.245	0.197	0.144	2388.78	2428.88	2348.69	2068.94	3024.25	0	0	0	12.02	15.95	15.48
2487	end apogee: CONTROL_FINISHED_OK
state	2487	begin climb
2488.71	10759	126.52	0.64	-40.00	2387.6	2428.6	2346.6	2069.0	3024.2	224.86	0.00	495	2594.66	99.46	0.71	2.41	1.215	0.096	0.019	1871.88	1877.69	1866.06	2326.38	1487.81	0	0	0	12.36	15.59	15.37
2822.12	1092	126.52	0.70	0.00	1868.2	1874.6	1861.8	2325.6	1487.8	214.53	7.89	562	2827.73	0.00	0.00	2.59	0.000	0.000	0.065	1867.34	1875.88	1858.81	2325.94	3022.75	0	0	0	30.00	30.00	15.83
3132.13	16902	126.52	0.70	-40.00	1864.4	1878.0	1850.8	2325.4	3022.9	183.41	10.19	624	3137.72	0.00	0.00	2.34	0.000	0.000	0.018	1865.44	1879.06	1851.81	2335.31	1501.75	0	0	0	30.00	30.00	15.97
3222.16	17478	126.52	0.74	0.00	1864.6	1878.4	1850.8	2337.4	1496.8	175.53	8.51	642	3227.77	0.00	0.00	2.56	0.000	0.000	0.065	1864.19	1876.44	1851.94	2337.12	3022.69	0	0	0	30.00	30.00	15.98
3532.21	16710	126.52	0.78	40.00	1863.3	1878.5	1848.1	2336.9	3023.8	147.19	8.45	704	3537.03	0.00	0.00	1.46	0.000	0.000	0.077	1864.50	1879.88	1849.12	2336.69	3903.50	0	0	0	30.00	30.00	15.88
3652.22	17414	126.52	0.78	0.00	1863.4	1879.1	1847.7	2337.1	3903.8	134.69	10.84	728	3657.04	0.00	0.00	1.48	0.000	0.000	0.022	1864.53	1880.06	1849.00	2344.88	2865.44	0	0	0	30.00	30.00	15.93
3957.50	10791	208.26	0.88	-40.00	1862.9	1879.6	1846.3	2344.9	2864.9	109.70	5.94	789	4024.17	62.01	0.10	2.10	1.122	0.082	0.020	1541.12	1546.19	1536.06	2409.31	1515.31	0	0	0	12.04	15.94	15.66
4077.33	1028	208.26	0.88	0.00	1536.4	1539.4	1533.4	2411.7	1502.9	97.76	13.73	813	4082.96	0.00	0.00	2.59	0.000	0.000	0.065	1535.72	1538.81	1532.62	2411.44	3022.25	0	0	0	30.00	30.00	15.73
4267.38	516	208.26	0.88	-40.00	1533.2	1543.6	1522.8	2411.1	3022.4	70.01	13.57	851	4272.97	0.00	0.00	2.36	0.000	0.000	0.019	1534.16	1543.75	1524.56	2420.81	1523.81	0	0	0	30.00	30.00	15.83
4307.39	21511	208.26	0.88	0.00	1532.6	1542.2	1522.9	2422.2	1512.1	65.63	10.75	859	4313.09	0.00	0.20	2.54	0.000	0.353	0.062	1533.16	1543.12	1523.19	2376.06	3027.25	0	0	0	30.00	15.67	15.83
4497.51	16902	208.26	0.88	-40.00	1531.8	1544.6	1518.9	2375.9	3028.1	45.81	10.26	897	4503.04	0.00	0.00	2.36	0.000	0.000	0.019	1531.78	1543.75	1519.81	2385.00	1501.56	0	0	0	30.00	30.00	15.88
4662.51	9254	278.32	0.96	0.00	1531.0	1543.0	1518.9	2387.1	1498.6	33.46	6.58	930	4719.21	52.04	0.00	2.56	1.018	0.000	0.062	1254.53	1261.88	1247.19	2386.94	3024.62	0	0	0	12.18	30.00	15.89
4902.59	2373	278.32	1.00	40.00	1248.3	1263.3	1233.2	2385.8	3024.7	8.30	8.52	978	4907.46	0.00	0.10	1.46	0.000	0.097	0.071	1248.28	1263.38	1233.19	2454.31	3903.25	0	0	0	30.00	15.78	15.81
4947	end climb: SURFACE_DEPTH_REACHED
state	4947	begin surface coast
4957	end surface coast: CONTROL_FINISHED_OK
state	4957	begin surface