Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 406 * 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 406 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 17.105858 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 68.581818 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 17.105858 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 68.581818 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 406 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 071022,100633,3759.709,-12444.458,1,1.3,4,13.6 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.20 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 071022,101131,3759.653,-12444.513,2,1.4,5,13.6 MHEAD_RNG_PITCHd_Wd 353.4,20000,-22.0,-10.476,-26.38,1850,0.165

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 3807.290,-12434.806

Post-dive calculations and measurements:

FINISH 0.1,1.023623 FG_AHR_10Vo 17.141

SM_CCo 5030.67,17.80,0.964,0,963.2,953.4,973.1,349.99 MEM0 60148,1,0,0

SM_GC 2.37,17.80,6.80,1.11,0.964,0.106,0.026,963.2,953.4,973.1,175.8,3113.8,0,0,0,12.25,15.69,15.78 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 907788,144,136040,93

IRIDIUM_FIX 3759.93,-12442.06,071022,084007 DATA_FILE_SIZE 28875,997

TCM_TEMP 16.34 CAP_FILE_SIZE 377098,0

XPDR_PINGS 0,13.0,11.5 SDSIZE 3887104,3774208

SC_FREEKB 3741888 SDFILEDIR 2380,1

HUMID 53.74 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.24 CURRENT 0.114,183.4,1

INTERNAL_PRESSURE 8.78985 MAGCAL 1.000000,-0.042725,-0.451122,0.127889,0.556040,-0.405700,0.100002,0.156617,1.232389,65.0,-796.7,-763.9,35,0.1384,0

_24V_AH 15.02,81.920 IMPLIED_C_PITCH 2006,33.00,782,0.0,0.00

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2333,24.464598,413,0

FG_AHR_24Vo 68.700 GPS 071022,113639,3759.796,-12444.392,10,1.2,49,13.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 453 1242 8461.62 nil 0 0 0.00

Pitch_motor 17 472 125.66 nil 0 0 0.00

Roll_motor 58 150 132.20 nil 0 0 0.00

Iridium 180 178 484.77 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.17 nil 0 0 0.00

Core 1173 6 119.67 SciCon 5033 18 1370.76

Fast 38 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 2556 2 76.70

Compass 1341 5 100.62

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

7.79 16386 -126.52 -0.64 0.00 909.7 917.7 901.8 178.4 3142.1 0.00 0.00 0 74.71 66.40 0.00 0.00 0.005 0.000 0.000 2218.94 2257.75 2180.12 178.44 3143.12 0 0 0 15.54 30.00 30.00

75.02 18983 -126.52 -0.64 -40.00 2218.3 2256.1 2180.5 178.4 3142.3 3.86 -4.43 13 107.08 17.19 9.45 2.18 0.006 0.472 0.028 2907.88 2973.75 2842.00 1891.56 1729.75 0 0 0 15.64 15.37 15.54

119.43 1028 -126.52 -0.64 0.00 2907.6 2971.6 2843.6 1892.8 1718.5 14.30 -18.25 22 125.06 0.00 0.00 2.66 0.000 0.000 0.086 2908.03 2971.88 2844.19 1892.81 3246.56 0 0 0 30.00 30.00 15.73

309.44 260 -126.52 -0.64 40.00 2908.3 2971.6 2844.9 1893.2 3246.2 39.46 -10.81 60 314.22 0.00 0.00 1.11 0.000 0.000 0.097 2908.44 2971.25 2845.62 1889.81 3897.75 0 0 0 30.00 30.00 15.86

389.47 1028 -126.52 -0.64 0.00 2908.1 2970.7 2845.6 1889.5 3898.0 48.40 -10.70 76 394.25 0.00 0.00 1.12 0.000 0.000 0.041 2908.19 2970.44 2845.94 1889.25 3177.25 0 0 0 30.00 30.00 15.95

574.52 260 -126.52 -0.64 40.00 2908.7 2970.6 2846.8 1889.7 3177.0 68.71 -10.74 113 579.33 0.00 0.00 1.26 0.000 0.000 0.097 2909.09 2971.12 2847.06 1887.31 3900.81 0 0 0 30.00 30.00 15.94

614.53 1028 -126.52 -0.64 0.00 2908.8 2970.4 2847.3 1887.4 3900.7 73.24 -11.37 121 619.32 0.00 0.00 1.12 0.000 0.000 0.042 2909.12 2971.06 2847.19 1887.81 3176.69 0 0 0 30.00 30.00 15.95

799.59 0 -126.52 -0.64 0.00 2909.2 2971.1 2847.4 1887.6 3175.7 92.50 -9.74 158 800.92 0.00 0.00 0.00 0.000 0.000 0.000 2909.75 2971.62 2847.88 1887.38 3175.56 0 0 0 30.00 30.00 30.00

984.67 516 -126.52 -0.64 -40.00 2908.9 2970.3 2847.5 1887.6 3174.9 109.17 -9.46 195 990.30 0.00 0.00 2.20 0.000 0.000 0.023 2910.56 2972.31 2848.81 1887.31 1708.50 0 0 0 30.00 30.00 16.00

1014.65 1028 -126.52 -0.64 0.00 2909.2 2970.9 2847.4 1887.6 1703.8 111.94 -9.32 201 1020.30 0.00 0.00 2.65 0.000 0.000 0.083 2909.53 2971.69 2847.38 1887.06 3247.19 0 0 0 30.00 30.00 15.77

1324.75 516 -126.52 -0.64 -40.00 2909.1 2970.6 2847.6 1887.3 3247.1 139.55 -8.64 263 1330.35 0.00 0.00 2.36 0.000 0.000 0.025 2909.38 2971.12 2847.62 1887.31 1707.69 0 0 0 30.00 30.00 15.89

1344.75 1028 -126.52 -0.64 0.00 2908.7 2970.0 2847.3 1887.0 1706.5 141.21 -8.41 267 1350.40 0.00 0.00 2.65 0.000 0.000 0.083 2909.31 2970.81 2847.81 1887.50 3247.50 0 0 0 30.00 30.00 15.83

1654.85 516 -126.52 -0.64 -40.00 2908.7 2970.0 2847.4 1887.5 3247.4 165.25 -7.61 329 1660.45 0.00 0.00 2.35 0.000 0.000 0.026 2909.41 2970.75 2848.06 1887.50 1698.25 0 0 0 30.00 30.00 16.04

1669.85 1028 -126.52 -0.64 0.00 2908.0 2968.9 2847.1 1887.9 1697.0 166.40 -7.62 332 1675.51 0.00 0.00 2.66 0.000 0.000 0.085 2909.47 2970.00 2848.94 1887.25 3248.06 0 0 0 30.00 30.00 15.99

1979.95 32 -126.52 -0.64 0.00 2908.1 2968.4 2847.8 1887.0 3249.3 189.36 -7.41 394 1981.29 0.00 0.00 0.00 0.000 0.000 0.000 2908.53 2969.31 2847.75 1887.56 3249.25 0 0 0 30.00 30.00 30.00

2285.05 548 -126.52 -0.64 -40.00 2907.8 2968.1 2847.4 1887.4 3249.1 211.75 -7.14 455 2290.62 0.00 0.00 2.35 0.000 0.000 0.026 2908.75 2969.50 2848.00 1887.44 1713.94 0 0 0 30.00 30.00 16.07

2305.04 1060 -126.52 -0.64 0.00 2907.2 2967.2 2847.1 1887.5 1711.8 213.15 -7.09 459 2310.68 0.00 0.00 2.63 0.000 0.000 0.084 2907.19 2966.94 2847.44 1887.56 3249.44 0 0 0 30.00 30.00 16.02

2409 end dive: TARGET_DEPTH_EXCEEDED

state 2409 begin apogee

2411.37 10243 0.00 -0.11 0.00 2907.4 2966.6 2848.2 1887.6 2948.6 220.31 -6.86 480 2517.43 103.32 0.60 0.13 1.243 0.196 0.151 2388.47 2428.44 2348.50 2068.25 3021.94 0 0 0 11.92 15.93 15.48

2518 end apogee: CONTROL_FINISHED_OK

state 2518 begin climb

2519.99 10759 126.52 0.64 -40.00 2387.2 2427.6 2346.9 2068.4 3021.9 224.42 0.00 501 2625.94 99.05 0.70 2.42 1.213 0.087 0.019 1873.25 1879.38 1867.12 2327.44 1485.88 0 0 0 12.38 15.59 15.35

2828.31 1092 126.52 0.70 0.00 1868.5 1874.9 1862.1 2327.2 1486.4 215.41 7.61 563 2833.96 0.00 0.00 2.62 0.000 0.000 0.068 1867.62 1876.50 1858.75 2327.81 3022.88 0 0 0 30.00 30.00 15.81

3138.40 16710 126.52 0.74 40.00 1865.0 1877.9 1852.2 2327.2 3022.4 187.35 8.40 625 3143.25 0.00 0.00 1.47 0.000 0.000 0.079 1865.41 1878.62 1852.19 2327.12 3902.56 0 0 0 30.00 30.00 15.92

3333.44 17414 126.52 0.74 0.00 1864.2 1878.1 1850.2 2327.3 3902.5 166.40 11.10 664 3338.28 0.00 0.00 1.48 0.000 0.000 0.024 1866.12 1879.94 1852.31 2333.62 2889.88 0 0 0 30.00 30.00 16.00

3638.54 16710 126.52 0.77 40.00 1863.8 1879.0 1848.5 2335.0 2890.3 136.06 9.30 725 3643.43 0.00 0.00 1.73 0.000 0.000 0.079 1863.94 1879.69 1848.19 2335.06 3904.19 0 0 0 30.00 30.00 15.88

3693.55 17478 126.52 0.78 0.00 1863.8 1879.2 1848.4 2334.5 3904.2 130.61 9.91 736 3698.40 0.00 0.00 1.49 0.000 0.000 0.024 1864.19 1879.75 1848.62 2342.62 2880.12 0 0 0 30.00 30.00 15.95

3998.64 8742 184.10 0.85 -40.00 1863.1 1879.5 1846.8 2342.8 2880.0 106.51 7.28 797 4049.17 44.40 0.00 2.12 1.098 0.000 0.020 1638.25 1648.19 1628.31 2353.94 1489.06 0 0 0 12.14 30.00 15.73

4108.65 1028 184.10 0.85 0.00 1635.6 1643.4 1627.7 2353.2 1488.6 95.98 11.15 819 4114.31 0.00 0.00 2.61 0.000 0.000 0.065 1635.88 1644.75 1627.00 2353.31 3023.88 0 0 0 30.00 30.00 15.75

4298.70 516 184.10 0.85 -40.00 1632.7 1647.3 1618.1 2353.9 3023.9 71.02 10.64 857 4304.30 0.00 0.00 2.38 0.000 0.000 0.018 1632.91 1647.81 1618.00 2364.06 1506.06 0 0 0 30.00 30.00 15.81

4368.72 1028 184.10 0.85 0.00 1631.8 1645.6 1618.1 2365.1 1498.3 63.02 10.94 871 4374.41 0.00 0.00 2.57 0.000 0.000 0.065 1633.16 1646.62 1619.69 2364.00 3021.94 0 0 0 30.00 30.00 15.82

4558.78 8742 238.25 0.92 -40.00 1631.8 1648.1 1615.4 2364.8 3022.7 46.05 7.47 909 4605.19 41.42 0.00 2.38 1.020 0.000 0.020 1417.84 1426.31 1409.38 2375.81 1517.69 0 0 0 12.15 30.00 15.70

4653.86 1092 238.25 0.93 0.00 1414.9 1421.9 1407.8 2377.2 1504.0 37.84 9.95 928 4659.42 0.00 0.00 2.58 0.000 0.000 0.066 1414.88 1422.69 1407.06 2376.88 3023.06 0 0 0 30.00 30.00 15.76

4843.85 10535 325.08 1.03 40.00 1412.4 1425.7 1399.1 2377.0 3023.2 20.15 5.65 966 4910.61 63.69 0.16 1.50 0.981 0.079 0.078 1064.72 1070.75 1058.69 2463.75 3904.56 0 0 0 12.21 15.80 15.52

4993 end climb: SURFACE_DEPTH_REACHED

state 4993 begin surface coast

4998 end surface coast: CONTROL_FINISHED_OK

state 4998 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	406	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	17.105858	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	68.581818	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	071022,100633,3759.709,-12444.458,1,1.3,4,13.6	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.20	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	071022,101131,3759.653,-12444.513,2,1.4,5,13.6	MHEAD_RNG_PITCHd_Wd	353.4,20000,-22.0,-10.476,-26.38,1850,0.165
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	3807.290,-12434.806

FINISH	0.1,1.023623	FG_AHR_10Vo	17.141
SM_CCo	5030.67,17.80,0.964,0,963.2,953.4,973.1,349.99	MEM0	60148,1,0,0
SM_GC	2.37,17.80,6.80,1.11,0.964,0.106,0.026,963.2,953.4,973.1,175.8,3113.8,0,0,0,12.25,15.69,15.78	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	907788,144,136040,93
IRIDIUM_FIX	3759.93,-12442.06,071022,084007	DATA_FILE_SIZE	28875,997
TCM_TEMP	16.34	CAP_FILE_SIZE	377098,0
XPDR_PINGS	0,13.0,11.5	SDSIZE	3887104,3774208
SC_FREEKB	3741888	SDFILEDIR	2380,1
HUMID	53.74	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.24	CURRENT	0.114,183.4,1
INTERNAL_PRESSURE	8.78985	MAGCAL	1.000000,-0.042725,-0.451122,0.127889,0.556040,-0.405700,0.100002,0.156617,1.232389,65.0,-796.7,-763.9,35,0.1384,0
_24V_AH	15.02,81.920	IMPLIED_C_PITCH	2006,33.00,782,0.0,0.00
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2333,24.464598,413,0
FG_AHR_24Vo	68.700	GPS	071022,113639,3759.796,-12444.392,10,1.2,49,13.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	453	1242	8461.62	nil	0	0	0.00
Pitch_motor	17	472	125.66	nil	0	0	0.00
Roll_motor	58	150	132.20	nil	0	0	0.00
Iridium	180	178	484.77	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.17	nil	0	0	0.00
Core	1173	6	119.67	SciCon	5033	18	1370.76
Fast	38	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	2556	2	76.70
Compass	1341	5	100.62
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
7.79	16386	-126.52	-0.64	0.00	909.7	917.7	901.8	178.4	3142.1	0.00	0.00	0	74.71	66.40	0.00	0.00	0.005	0.000	0.000	2218.94	2257.75	2180.12	178.44	3143.12	0	0	0	15.54	30.00	30.00
75.02	18983	-126.52	-0.64	-40.00	2218.3	2256.1	2180.5	178.4	3142.3	3.86	-4.43	13	107.08	17.19	9.45	2.18	0.006	0.472	0.028	2907.88	2973.75	2842.00	1891.56	1729.75	0	0	0	15.64	15.37	15.54
119.43	1028	-126.52	-0.64	0.00	2907.6	2971.6	2843.6	1892.8	1718.5	14.30	-18.25	22	125.06	0.00	0.00	2.66	0.000	0.000	0.086	2908.03	2971.88	2844.19	1892.81	3246.56	0	0	0	30.00	30.00	15.73
309.44	260	-126.52	-0.64	40.00	2908.3	2971.6	2844.9	1893.2	3246.2	39.46	-10.81	60	314.22	0.00	0.00	1.11	0.000	0.000	0.097	2908.44	2971.25	2845.62	1889.81	3897.75	0	0	0	30.00	30.00	15.86
389.47	1028	-126.52	-0.64	0.00	2908.1	2970.7	2845.6	1889.5	3898.0	48.40	-10.70	76	394.25	0.00	0.00	1.12	0.000	0.000	0.041	2908.19	2970.44	2845.94	1889.25	3177.25	0	0	0	30.00	30.00	15.95
574.52	260	-126.52	-0.64	40.00	2908.7	2970.6	2846.8	1889.7	3177.0	68.71	-10.74	113	579.33	0.00	0.00	1.26	0.000	0.000	0.097	2909.09	2971.12	2847.06	1887.31	3900.81	0	0	0	30.00	30.00	15.94
614.53	1028	-126.52	-0.64	0.00	2908.8	2970.4	2847.3	1887.4	3900.7	73.24	-11.37	121	619.32	0.00	0.00	1.12	0.000	0.000	0.042	2909.12	2971.06	2847.19	1887.81	3176.69	0	0	0	30.00	30.00	15.95
799.59	0	-126.52	-0.64	0.00	2909.2	2971.1	2847.4	1887.6	3175.7	92.50	-9.74	158	800.92	0.00	0.00	0.00	0.000	0.000	0.000	2909.75	2971.62	2847.88	1887.38	3175.56	0	0	0	30.00	30.00	30.00
984.67	516	-126.52	-0.64	-40.00	2908.9	2970.3	2847.5	1887.6	3174.9	109.17	-9.46	195	990.30	0.00	0.00	2.20	0.000	0.000	0.023	2910.56	2972.31	2848.81	1887.31	1708.50	0	0	0	30.00	30.00	16.00
1014.65	1028	-126.52	-0.64	0.00	2909.2	2970.9	2847.4	1887.6	1703.8	111.94	-9.32	201	1020.30	0.00	0.00	2.65	0.000	0.000	0.083	2909.53	2971.69	2847.38	1887.06	3247.19	0	0	0	30.00	30.00	15.77
1324.75	516	-126.52	-0.64	-40.00	2909.1	2970.6	2847.6	1887.3	3247.1	139.55	-8.64	263	1330.35	0.00	0.00	2.36	0.000	0.000	0.025	2909.38	2971.12	2847.62	1887.31	1707.69	0	0	0	30.00	30.00	15.89
1344.75	1028	-126.52	-0.64	0.00	2908.7	2970.0	2847.3	1887.0	1706.5	141.21	-8.41	267	1350.40	0.00	0.00	2.65	0.000	0.000	0.083	2909.31	2970.81	2847.81	1887.50	3247.50	0	0	0	30.00	30.00	15.83
1654.85	516	-126.52	-0.64	-40.00	2908.7	2970.0	2847.4	1887.5	3247.4	165.25	-7.61	329	1660.45	0.00	0.00	2.35	0.000	0.000	0.026	2909.41	2970.75	2848.06	1887.50	1698.25	0	0	0	30.00	30.00	16.04
1669.85	1028	-126.52	-0.64	0.00	2908.0	2968.9	2847.1	1887.9	1697.0	166.40	-7.62	332	1675.51	0.00	0.00	2.66	0.000	0.000	0.085	2909.47	2970.00	2848.94	1887.25	3248.06	0	0	0	30.00	30.00	15.99
1979.95	32	-126.52	-0.64	0.00	2908.1	2968.4	2847.8	1887.0	3249.3	189.36	-7.41	394	1981.29	0.00	0.00	0.00	0.000	0.000	0.000	2908.53	2969.31	2847.75	1887.56	3249.25	0	0	0	30.00	30.00	30.00
2285.05	548	-126.52	-0.64	-40.00	2907.8	2968.1	2847.4	1887.4	3249.1	211.75	-7.14	455	2290.62	0.00	0.00	2.35	0.000	0.000	0.026	2908.75	2969.50	2848.00	1887.44	1713.94	0	0	0	30.00	30.00	16.07
2305.04	1060	-126.52	-0.64	0.00	2907.2	2967.2	2847.1	1887.5	1711.8	213.15	-7.09	459	2310.68	0.00	0.00	2.63	0.000	0.000	0.084	2907.19	2966.94	2847.44	1887.56	3249.44	0	0	0	30.00	30.00	16.02
2409	end dive: TARGET_DEPTH_EXCEEDED
state	2409	begin apogee
2411.37	10243	0.00	-0.11	0.00	2907.4	2966.6	2848.2	1887.6	2948.6	220.31	-6.86	480	2517.43	103.32	0.60	0.13	1.243	0.196	0.151	2388.47	2428.44	2348.50	2068.25	3021.94	0	0	0	11.92	15.93	15.48
2518	end apogee: CONTROL_FINISHED_OK
state	2518	begin climb
2519.99	10759	126.52	0.64	-40.00	2387.2	2427.6	2346.9	2068.4	3021.9	224.42	0.00	501	2625.94	99.05	0.70	2.42	1.213	0.087	0.019	1873.25	1879.38	1867.12	2327.44	1485.88	0	0	0	12.38	15.59	15.35
2828.31	1092	126.52	0.70	0.00	1868.5	1874.9	1862.1	2327.2	1486.4	215.41	7.61	563	2833.96	0.00	0.00	2.62	0.000	0.000	0.068	1867.62	1876.50	1858.75	2327.81	3022.88	0	0	0	30.00	30.00	15.81
3138.40	16710	126.52	0.74	40.00	1865.0	1877.9	1852.2	2327.2	3022.4	187.35	8.40	625	3143.25	0.00	0.00	1.47	0.000	0.000	0.079	1865.41	1878.62	1852.19	2327.12	3902.56	0	0	0	30.00	30.00	15.92
3333.44	17414	126.52	0.74	0.00	1864.2	1878.1	1850.2	2327.3	3902.5	166.40	11.10	664	3338.28	0.00	0.00	1.48	0.000	0.000	0.024	1866.12	1879.94	1852.31	2333.62	2889.88	0	0	0	30.00	30.00	16.00
3638.54	16710	126.52	0.77	40.00	1863.8	1879.0	1848.5	2335.0	2890.3	136.06	9.30	725	3643.43	0.00	0.00	1.73	0.000	0.000	0.079	1863.94	1879.69	1848.19	2335.06	3904.19	0	0	0	30.00	30.00	15.88
3693.55	17478	126.52	0.78	0.00	1863.8	1879.2	1848.4	2334.5	3904.2	130.61	9.91	736	3698.40	0.00	0.00	1.49	0.000	0.000	0.024	1864.19	1879.75	1848.62	2342.62	2880.12	0	0	0	30.00	30.00	15.95
3998.64	8742	184.10	0.85	-40.00	1863.1	1879.5	1846.8	2342.8	2880.0	106.51	7.28	797	4049.17	44.40	0.00	2.12	1.098	0.000	0.020	1638.25	1648.19	1628.31	2353.94	1489.06	0	0	0	12.14	30.00	15.73
4108.65	1028	184.10	0.85	0.00	1635.6	1643.4	1627.7	2353.2	1488.6	95.98	11.15	819	4114.31	0.00	0.00	2.61	0.000	0.000	0.065	1635.88	1644.75	1627.00	2353.31	3023.88	0	0	0	30.00	30.00	15.75
4298.70	516	184.10	0.85	-40.00	1632.7	1647.3	1618.1	2353.9	3023.9	71.02	10.64	857	4304.30	0.00	0.00	2.38	0.000	0.000	0.018	1632.91	1647.81	1618.00	2364.06	1506.06	0	0	0	30.00	30.00	15.81
4368.72	1028	184.10	0.85	0.00	1631.8	1645.6	1618.1	2365.1	1498.3	63.02	10.94	871	4374.41	0.00	0.00	2.57	0.000	0.000	0.065	1633.16	1646.62	1619.69	2364.00	3021.94	0	0	0	30.00	30.00	15.82
4558.78	8742	238.25	0.92	-40.00	1631.8	1648.1	1615.4	2364.8	3022.7	46.05	7.47	909	4605.19	41.42	0.00	2.38	1.020	0.000	0.020	1417.84	1426.31	1409.38	2375.81	1517.69	0	0	0	12.15	30.00	15.70
4653.86	1092	238.25	0.93	0.00	1414.9	1421.9	1407.8	2377.2	1504.0	37.84	9.95	928	4659.42	0.00	0.00	2.58	0.000	0.000	0.066	1414.88	1422.69	1407.06	2376.88	3023.06	0	0	0	30.00	30.00	15.76
4843.85	10535	325.08	1.03	40.00	1412.4	1425.7	1399.1	2377.0	3023.2	20.15	5.65	966	4910.61	63.69	0.16	1.50	0.981	0.079	0.078	1064.72	1070.75	1058.69	2463.75	3904.56	0	0	0	12.21	15.80	15.52
4993	end climb: SURFACE_DEPTH_REACHED
state	4993	begin surface coast
4998	end surface coast: CONTROL_FINISHED_OK
state	4998	begin surface