Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 385 * 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 385 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 16.30587 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 65.846367 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 16.30587 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 65.846367 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 385 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 061022,034533,3756.454,-12451.471,6,0.9,11,13.6 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.27 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 061022,035035,3756.415,-12451.427,2,1.1,4,13.6 MHEAD_RNG_PITCHd_Wd 76.4,20000,-22.0,-10.476,-26.38,1850,0.180

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 3804.051,-12441.727

Post-dive calculations and measurements:

FINISH 0.3,1.023532 FG_AHR_10Vo 16.346

SM_CCo 5028.51,45.24,0.996,0,963.2,947.8,978.5,350.00 MEM0 60148,1,0,0

SM_GC 1.25,45.24,6.77,2.92,0.996,0.122,0.065,963.2,947.8,978.5,176.8,3255.1,0,0,0,12.20,15.79,15.88 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 908228,122,136040,93

IRIDIUM_FIX 3755.33,-12450.35,061022,021929 DATA_FILE_SIZE 28858,991

TCM_TEMP 16.87 CAP_FILE_SIZE 375187,0

XPDR_PINGS 1,13.0,11.5 SDSIZE 3887104,3779584

SC_FREEKB 3749952 SDFILEDIR 2254,1

HUMID 53.37 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.64 CURRENT 0.117,308.8,1

INTERNAL_PRESSURE 8.7924 MAGCAL 1.000000,-0.013272,-0.039815,-0.116050,1.099153,-0.096859,-0.039054,0.031105,1.137844,-93.2,-1132.2,-629.3,31,0.0398,0

_24V_AH 14.98,78.542 IMPLIED_C_PITCH 2008,32.29,781,0.0,0.00

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2267,34.555870,416,0

FG_AHR_24Vo 65.966 GPS 061022,051540,3756.591,-12451.170,48,0.9,49,13.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 445 1237 8261.86 nil 0 0 0.00

Pitch_motor 17 475 127.62 nil 0 0 0.00

Roll_motor 60 140 126.81 nil 0 0 0.00

Iridium 188 183 518.76 nil 0 0 0.00

Transponder_ping 0 420 1.57 nil 0 0 0.00

GPS 13 15 3.05 nil 0 0 0.00

Core 1163 6 118.63 SciCon 5001 18 1359.65

Fast 34 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 2563 2 76.92

Compass 1331 5 99.86

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

7.74 16386 -126.52 -0.64 0.00 957.7 958.9 956.5 171.2 3191.0 0.00 0.00 0 64.52 56.17 0.00 0.00 0.005 0.000 0.000 2057.34 2100.06 2014.62 171.12 3192.38 0 0 0 15.55 30.00 30.00

64.78 18983 -126.52 -0.64 -40.00 2056.4 2099.0 2013.9 171.1 3192.2 3.17 -3.57 11 105.27 23.32 9.52 2.26 0.006 0.475 0.028 2905.22 2971.25 2839.19 1892.50 1753.12 0 0 0 15.64 15.41 15.51

178.30 1028 -126.52 -0.64 0.00 2907.6 2971.4 2843.7 1892.1 1738.4 18.83 -10.82 34 183.90 0.00 0.00 2.60 0.000 0.000 0.079 2907.47 2971.25 2843.69 1892.69 3249.56 0 0 0 30.00 30.00 15.82

368.34 516 -126.52 -0.64 -40.00 2906.9 2969.8 2843.9 1892.7 3250.1 48.78 -13.23 72 373.94 0.00 0.00 2.37 0.000 0.000 0.024 2906.88 2970.25 2843.50 1892.81 1721.56 0 0 0 30.00 30.00 15.88

403.42 1028 -126.52 -0.64 0.00 2906.4 2969.3 2843.6 1892.5 1708.9 52.42 -10.41 79 408.99 0.00 0.00 2.64 0.000 0.000 0.079 2907.72 2970.88 2844.56 1892.31 3248.06 0 0 0 30.00 30.00 15.90

593.41 260 -126.52 -0.64 40.00 2907.4 2969.2 2845.6 1892.8 3247.8 73.99 -11.88 117 598.16 0.00 0.00 1.09 0.000 0.000 0.094 2907.56 2969.81 2845.31 1889.62 3898.25 0 0 0 30.00 30.00 15.90

638.43 1028 -126.52 -0.64 0.00 2907.8 2969.5 2846.1 1889.6 3898.4 78.87 -10.79 126 643.20 0.00 0.00 1.12 0.000 0.000 0.038 2907.56 2968.88 2846.25 1890.00 3166.56 0 0 0 30.00 30.00 15.95

823.49 516 -126.52 -0.64 -40.00 2908.2 2969.2 2847.2 1889.8 3166.8 96.62 -9.03 163 829.05 0.00 0.00 2.18 0.000 0.000 0.022 2908.03 2968.25 2847.81 1889.38 1719.00 0 0 0 30.00 30.00 15.99

848.50 1028 -126.52 -0.64 0.00 2908.2 2969.2 2847.2 1889.4 1717.1 98.73 -8.73 168 854.14 0.00 0.00 2.62 0.000 0.000 0.080 2908.41 2969.75 2847.06 1889.38 3250.81 0 0 0 30.00 30.00 15.98

1038.56 0 -126.52 -0.64 0.00 2908.0 2968.6 2847.4 1889.4 3250.8 115.23 -9.06 206 1039.90 0.00 0.00 0.00 0.000 0.000 0.000 2907.62 2967.38 2847.88 1888.94 3250.75 0 0 0 30.00 30.00 30.00

1343.66 516 -126.52 -0.64 -40.00 2908.3 2969.3 2847.4 1889.2 3250.3 140.55 -8.60 267 1349.24 0.00 0.00 2.36 0.000 0.000 0.023 2908.69 2969.25 2848.12 1889.75 1711.94 0 0 0 30.00 30.00 16.00

1398.67 1028 -126.52 -0.64 0.00 2907.9 2968.4 2847.5 1889.6 1710.4 145.00 -7.85 278 1404.30 0.00 0.00 2.62 0.000 0.000 0.078 2908.38 2969.56 2847.19 1889.56 3248.06 0 0 0 30.00 30.00 16.01

1708.78 0 -126.52 -0.64 0.00 2908.0 2969.0 2847.1 1889.0 3248.1 169.93 -8.31 340 1710.12 0.00 0.00 0.00 0.000 0.000 0.000 2906.97 2966.31 2847.62 1889.38 3247.75 0 0 0 30.00 30.00 30.00

2013.84 516 -126.52 -0.64 -40.00 2907.5 2968.0 2846.9 1889.2 3247.6 196.40 -8.36 401 2019.43 0.00 0.00 2.34 0.000 0.000 0.024 2907.88 2967.50 2848.25 1889.50 1709.62 0 0 0 30.00 30.00 16.07

2048.92 1028 -126.52 -0.64 0.00 2906.3 2965.7 2846.9 1889.6 1709.0 199.23 -8.12 408 2054.50 0.00 0.00 2.62 0.000 0.000 0.079 2906.56 2965.00 2848.12 1888.94 3248.62 0 0 0 30.00 30.00 16.06

2328 end dive: TARGET_DEPTH_EXCEEDED

state 2328 begin apogee

2330.24 10243 0.00 -0.11 0.00 2906.3 2965.6 2846.9 1889.2 2941.6 220.25 -7.21 464 2436.30 103.19 0.59 0.14 1.238 0.197 0.141 2387.91 2427.88 2347.94 2068.69 3024.75 0 0 0 12.01 15.95 15.48

2437 end apogee: CONTROL_FINISHED_OK

state 2437 begin climb

2438.77 10759 126.52 0.64 -40.00 2387.0 2427.9 2346.1 2068.4 3024.2 224.43 0.00 485 2544.69 99.46 0.73 2.42 1.208 0.108 0.019 1872.69 1878.06 1867.31 2325.25 1486.00 0 0 0 12.38 15.59 15.37

2677.12 1092 126.52 0.67 0.00 1869.3 1874.5 1864.1 2325.6 1486.1 219.75 8.96 533 2682.75 0.00 0.00 2.62 0.000 0.000 0.064 1868.25 1875.69 1860.81 2325.50 3021.25 0 0 0 30.00 30.00 15.76

2987.17 16966 126.52 0.70 -40.00 1865.1 1877.6 1852.5 2325.8 3020.8 188.52 9.22 595 2992.74 0.00 0.00 2.35 0.000 0.000 0.017 1866.19 1879.12 1853.25 2335.94 1499.81 0 0 0 30.00 30.00 15.94

3042.18 17478 126.52 0.75 0.00 1865.0 1877.7 1852.4 2337.1 1494.3 184.21 7.75 606 3047.79 0.00 0.00 2.56 0.000 0.000 0.063 1864.97 1876.25 1853.69 2337.12 3024.25 0 0 0 30.00 30.00 15.93

3352.22 16450 126.52 0.79 0.00 1863.7 1878.5 1848.9 2336.7 3024.4 157.71 8.68 668 3353.55 0.00 0.00 0.00 0.000 0.000 0.000 1865.34 1880.38 1850.31 2336.00 3025.06 0 0 0 30.00 30.00 30.00

3657.29 16710 126.52 0.82 40.00 1863.1 1878.5 1847.6 2337.2 3024.1 130.47 8.84 729 3662.11 0.00 0.00 1.45 0.000 0.000 0.076 1863.94 1879.44 1848.44 2336.62 3903.94 0 0 0 30.00 30.00 15.88

3687.30 17478 126.52 0.84 0.00 1863.1 1879.1 1847.1 2337.0 3903.4 127.48 9.73 735 3692.12 0.00 0.00 1.48 0.000 0.000 0.020 1862.34 1878.75 1845.94 2345.06 2846.88 0 0 0 30.00 30.00 15.92

3992.38 10791 205.28 0.93 -40.00 1862.7 1879.2 1846.1 2345.2 2845.9 108.59 6.10 796 4058.26 59.77 0.16 2.07 1.112 0.074 0.019 1551.75 1555.00 1548.50 2433.56 1495.25 0 0 0 12.12 15.93 15.67

4182.41 5125 205.28 0.93 0.00 1547.8 1550.4 1545.2 2433.7 1486.8 84.78 12.64 834 4188.09 0.00 0.17 2.59 0.000 0.353 0.061 1547.91 1552.00 1543.81 2395.38 3026.31 0 0 0 30.00 15.62 15.77

4372.52 516 205.28 0.93 -40.00 1545.7 1555.8 1535.7 2394.2 3025.7 62.22 10.24 872 4378.05 0.00 0.00 2.36 0.000 0.000 0.017 1546.28 1556.31 1536.25 2404.69 1503.75 0 0 0 30.00 30.00 15.86

4397.48 1092 205.28 0.95 0.00 1546.0 1555.9 1536.2 2405.7 1499.8 59.80 9.78 877 4403.09 0.00 0.00 2.56 0.000 0.000 0.063 1546.22 1556.06 1536.38 2405.50 3022.81 0 0 0 30.00 30.00 15.82

4587.53 16966 205.28 0.98 -40.00 1544.5 1556.2 1532.8 2405.8 3022.6 39.01 9.03 915 4593.11 0.00 0.00 2.36 0.000 0.000 0.018 1545.31 1557.12 1533.50 2416.38 1500.56 0 0 0 30.00 30.00 15.89

4672.56 9254 283.97 1.07 0.00 1544.3 1555.5 1533.1 2417.4 1498.4 33.77 6.11 932 4735.36 58.37 0.00 2.55 1.011 0.000 0.062 1231.38 1236.50 1226.25 2416.88 3024.00 0 0 0 12.22 30.00 15.90

4917.70 516 283.97 1.07 -40.00 1225.0 1238.8 1211.2 2416.8 3023.1 5.34 13.48 981 4923.30 0.00 0.00 2.38 0.000 0.000 0.021 1225.88 1239.19 1212.56 2425.25 1524.12 0 0 0 30.00 30.00 15.80

4947 end climb: SURFACE_DEPTH_REACHED

state 4947 begin surface coast

4967 end surface coast: CONTROL_FINISHED_OK

state 4967 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	385	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	16.30587	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	65.846367	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	061022,034533,3756.454,-12451.471,6,0.9,11,13.6	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.27	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	061022,035035,3756.415,-12451.427,2,1.1,4,13.6	MHEAD_RNG_PITCHd_Wd	76.4,20000,-22.0,-10.476,-26.38,1850,0.180
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	3804.051,-12441.727

FINISH	0.3,1.023532	FG_AHR_10Vo	16.346
SM_CCo	5028.51,45.24,0.996,0,963.2,947.8,978.5,350.00	MEM0	60148,1,0,0
SM_GC	1.25,45.24,6.77,2.92,0.996,0.122,0.065,963.2,947.8,978.5,176.8,3255.1,0,0,0,12.20,15.79,15.88	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	908228,122,136040,93
IRIDIUM_FIX	3755.33,-12450.35,061022,021929	DATA_FILE_SIZE	28858,991
TCM_TEMP	16.87	CAP_FILE_SIZE	375187,0
XPDR_PINGS	1,13.0,11.5	SDSIZE	3887104,3779584
SC_FREEKB	3749952	SDFILEDIR	2254,1
HUMID	53.37	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.64	CURRENT	0.117,308.8,1
INTERNAL_PRESSURE	8.7924	MAGCAL	1.000000,-0.013272,-0.039815,-0.116050,1.099153,-0.096859,-0.039054,0.031105,1.137844,-93.2,-1132.2,-629.3,31,0.0398,0
_24V_AH	14.98,78.542	IMPLIED_C_PITCH	2008,32.29,781,0.0,0.00
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2267,34.555870,416,0
FG_AHR_24Vo	65.966	GPS	061022,051540,3756.591,-12451.170,48,0.9,49,13.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	445	1237	8261.86	nil	0	0	0.00
Pitch_motor	17	475	127.62	nil	0	0	0.00
Roll_motor	60	140	126.81	nil	0	0	0.00
Iridium	188	183	518.76	nil	0	0	0.00
Transponder_ping	0	420	1.57	nil	0	0	0.00
GPS	13	15	3.05	nil	0	0	0.00
Core	1163	6	118.63	SciCon	5001	18	1359.65
Fast	34	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	2563	2	76.92
Compass	1331	5	99.86
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
7.74	16386	-126.52	-0.64	0.00	957.7	958.9	956.5	171.2	3191.0	0.00	0.00	0	64.52	56.17	0.00	0.00	0.005	0.000	0.000	2057.34	2100.06	2014.62	171.12	3192.38	0	0	0	15.55	30.00	30.00
64.78	18983	-126.52	-0.64	-40.00	2056.4	2099.0	2013.9	171.1	3192.2	3.17	-3.57	11	105.27	23.32	9.52	2.26	0.006	0.475	0.028	2905.22	2971.25	2839.19	1892.50	1753.12	0	0	0	15.64	15.41	15.51
178.30	1028	-126.52	-0.64	0.00	2907.6	2971.4	2843.7	1892.1	1738.4	18.83	-10.82	34	183.90	0.00	0.00	2.60	0.000	0.000	0.079	2907.47	2971.25	2843.69	1892.69	3249.56	0	0	0	30.00	30.00	15.82
368.34	516	-126.52	-0.64	-40.00	2906.9	2969.8	2843.9	1892.7	3250.1	48.78	-13.23	72	373.94	0.00	0.00	2.37	0.000	0.000	0.024	2906.88	2970.25	2843.50	1892.81	1721.56	0	0	0	30.00	30.00	15.88
403.42	1028	-126.52	-0.64	0.00	2906.4	2969.3	2843.6	1892.5	1708.9	52.42	-10.41	79	408.99	0.00	0.00	2.64	0.000	0.000	0.079	2907.72	2970.88	2844.56	1892.31	3248.06	0	0	0	30.00	30.00	15.90
593.41	260	-126.52	-0.64	40.00	2907.4	2969.2	2845.6	1892.8	3247.8	73.99	-11.88	117	598.16	0.00	0.00	1.09	0.000	0.000	0.094	2907.56	2969.81	2845.31	1889.62	3898.25	0	0	0	30.00	30.00	15.90
638.43	1028	-126.52	-0.64	0.00	2907.8	2969.5	2846.1	1889.6	3898.4	78.87	-10.79	126	643.20	0.00	0.00	1.12	0.000	0.000	0.038	2907.56	2968.88	2846.25	1890.00	3166.56	0	0	0	30.00	30.00	15.95
823.49	516	-126.52	-0.64	-40.00	2908.2	2969.2	2847.2	1889.8	3166.8	96.62	-9.03	163	829.05	0.00	0.00	2.18	0.000	0.000	0.022	2908.03	2968.25	2847.81	1889.38	1719.00	0	0	0	30.00	30.00	15.99
848.50	1028	-126.52	-0.64	0.00	2908.2	2969.2	2847.2	1889.4	1717.1	98.73	-8.73	168	854.14	0.00	0.00	2.62	0.000	0.000	0.080	2908.41	2969.75	2847.06	1889.38	3250.81	0	0	0	30.00	30.00	15.98
1038.56	0	-126.52	-0.64	0.00	2908.0	2968.6	2847.4	1889.4	3250.8	115.23	-9.06	206	1039.90	0.00	0.00	0.00	0.000	0.000	0.000	2907.62	2967.38	2847.88	1888.94	3250.75	0	0	0	30.00	30.00	30.00
1343.66	516	-126.52	-0.64	-40.00	2908.3	2969.3	2847.4	1889.2	3250.3	140.55	-8.60	267	1349.24	0.00	0.00	2.36	0.000	0.000	0.023	2908.69	2969.25	2848.12	1889.75	1711.94	0	0	0	30.00	30.00	16.00
1398.67	1028	-126.52	-0.64	0.00	2907.9	2968.4	2847.5	1889.6	1710.4	145.00	-7.85	278	1404.30	0.00	0.00	2.62	0.000	0.000	0.078	2908.38	2969.56	2847.19	1889.56	3248.06	0	0	0	30.00	30.00	16.01
1708.78	0	-126.52	-0.64	0.00	2908.0	2969.0	2847.1	1889.0	3248.1	169.93	-8.31	340	1710.12	0.00	0.00	0.00	0.000	0.000	0.000	2906.97	2966.31	2847.62	1889.38	3247.75	0	0	0	30.00	30.00	30.00
2013.84	516	-126.52	-0.64	-40.00	2907.5	2968.0	2846.9	1889.2	3247.6	196.40	-8.36	401	2019.43	0.00	0.00	2.34	0.000	0.000	0.024	2907.88	2967.50	2848.25	1889.50	1709.62	0	0	0	30.00	30.00	16.07
2048.92	1028	-126.52	-0.64	0.00	2906.3	2965.7	2846.9	1889.6	1709.0	199.23	-8.12	408	2054.50	0.00	0.00	2.62	0.000	0.000	0.079	2906.56	2965.00	2848.12	1888.94	3248.62	0	0	0	30.00	30.00	16.06
2328	end dive: TARGET_DEPTH_EXCEEDED
state	2328	begin apogee
2330.24	10243	0.00	-0.11	0.00	2906.3	2965.6	2846.9	1889.2	2941.6	220.25	-7.21	464	2436.30	103.19	0.59	0.14	1.238	0.197	0.141	2387.91	2427.88	2347.94	2068.69	3024.75	0	0	0	12.01	15.95	15.48
2437	end apogee: CONTROL_FINISHED_OK
state	2437	begin climb
2438.77	10759	126.52	0.64	-40.00	2387.0	2427.9	2346.1	2068.4	3024.2	224.43	0.00	485	2544.69	99.46	0.73	2.42	1.208	0.108	0.019	1872.69	1878.06	1867.31	2325.25	1486.00	0	0	0	12.38	15.59	15.37
2677.12	1092	126.52	0.67	0.00	1869.3	1874.5	1864.1	2325.6	1486.1	219.75	8.96	533	2682.75	0.00	0.00	2.62	0.000	0.000	0.064	1868.25	1875.69	1860.81	2325.50	3021.25	0	0	0	30.00	30.00	15.76
2987.17	16966	126.52	0.70	-40.00	1865.1	1877.6	1852.5	2325.8	3020.8	188.52	9.22	595	2992.74	0.00	0.00	2.35	0.000	0.000	0.017	1866.19	1879.12	1853.25	2335.94	1499.81	0	0	0	30.00	30.00	15.94
3042.18	17478	126.52	0.75	0.00	1865.0	1877.7	1852.4	2337.1	1494.3	184.21	7.75	606	3047.79	0.00	0.00	2.56	0.000	0.000	0.063	1864.97	1876.25	1853.69	2337.12	3024.25	0	0	0	30.00	30.00	15.93
3352.22	16450	126.52	0.79	0.00	1863.7	1878.5	1848.9	2336.7	3024.4	157.71	8.68	668	3353.55	0.00	0.00	0.00	0.000	0.000	0.000	1865.34	1880.38	1850.31	2336.00	3025.06	0	0	0	30.00	30.00	30.00
3657.29	16710	126.52	0.82	40.00	1863.1	1878.5	1847.6	2337.2	3024.1	130.47	8.84	729	3662.11	0.00	0.00	1.45	0.000	0.000	0.076	1863.94	1879.44	1848.44	2336.62	3903.94	0	0	0	30.00	30.00	15.88
3687.30	17478	126.52	0.84	0.00	1863.1	1879.1	1847.1	2337.0	3903.4	127.48	9.73	735	3692.12	0.00	0.00	1.48	0.000	0.000	0.020	1862.34	1878.75	1845.94	2345.06	2846.88	0	0	0	30.00	30.00	15.92
3992.38	10791	205.28	0.93	-40.00	1862.7	1879.2	1846.1	2345.2	2845.9	108.59	6.10	796	4058.26	59.77	0.16	2.07	1.112	0.074	0.019	1551.75	1555.00	1548.50	2433.56	1495.25	0	0	0	12.12	15.93	15.67
4182.41	5125	205.28	0.93	0.00	1547.8	1550.4	1545.2	2433.7	1486.8	84.78	12.64	834	4188.09	0.00	0.17	2.59	0.000	0.353	0.061	1547.91	1552.00	1543.81	2395.38	3026.31	0	0	0	30.00	15.62	15.77
4372.52	516	205.28	0.93	-40.00	1545.7	1555.8	1535.7	2394.2	3025.7	62.22	10.24	872	4378.05	0.00	0.00	2.36	0.000	0.000	0.017	1546.28	1556.31	1536.25	2404.69	1503.75	0	0	0	30.00	30.00	15.86
4397.48	1092	205.28	0.95	0.00	1546.0	1555.9	1536.2	2405.7	1499.8	59.80	9.78	877	4403.09	0.00	0.00	2.56	0.000	0.000	0.063	1546.22	1556.06	1536.38	2405.50	3022.81	0	0	0	30.00	30.00	15.82
4587.53	16966	205.28	0.98	-40.00	1544.5	1556.2	1532.8	2405.8	3022.6	39.01	9.03	915	4593.11	0.00	0.00	2.36	0.000	0.000	0.018	1545.31	1557.12	1533.50	2416.38	1500.56	0	0	0	30.00	30.00	15.89
4672.56	9254	283.97	1.07	0.00	1544.3	1555.5	1533.1	2417.4	1498.4	33.77	6.11	932	4735.36	58.37	0.00	2.55	1.011	0.000	0.062	1231.38	1236.50	1226.25	2416.88	3024.00	0	0	0	12.22	30.00	15.90
4917.70	516	283.97	1.07	-40.00	1225.0	1238.8	1211.2	2416.8	3023.1	5.34	13.48	981	4923.30	0.00	0.00	2.38	0.000	0.000	0.021	1225.88	1239.19	1212.56	2425.25	1524.12	0	0	0	30.00	30.00	15.80
4947	end climb: SURFACE_DEPTH_REACHED
state	4947	begin surface coast
4967	end surface coast: CONTROL_FINISHED_OK
state	4967	begin surface