Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 407 * 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 407 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 17.142504 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 68.709549 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 17.142504 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 68.709549 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 407 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 071022,113639,3759.796,-12444.392,10,1.2,49,13.6 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.24 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 071022,114135,3759.779,-12444.441,2,0.8,4,13.6 MHEAD_RNG_PITCHd_Wd 10.5,20000,-22.0,-10.476,-26.38,1850,0.162

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 3807.415,-12434.734

Post-dive calculations and measurements:

FINISH 0.4,1.023731 FG_AHR_10Vo 17.183

SM_CCo 5105.93,0.00,0.000,0,876.0,891.1,860.9,371.38 MEM0 60148,1,0,0

SM_GC 1.12,0.00,6.99,1.11,0.000,0.114,0.027,876.0,891.1,860.9,171.8,3133.5,0,0,0,30.00,15.58,15.71 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 907788,144,136040,93

IRIDIUM_FIX 3800.26,-12445.86,071022,100841 DATA_FILE_SIZE 28919,1004

TCM_TEMP 16.44 CAP_FILE_SIZE 367870,0

XPDR_PINGS 0,13.0,11.5 SDSIZE 3887104,3773952

SC_FREEKB 3741504 SDFILEDIR 2386,1

HUMID 53.77 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.53 CURRENT 0.040,201.9,1

INTERNAL_PRESSURE 8.78836 MAGCAL 1.000000,0.018023,-0.322985,0.166773,0.511607,-0.267547,0.047602,0.131197,1.249672,51.0,-890.7,-725.3,33,0.1824,0

_24V_AH 15.01,82.083 IMPLIED_C_PITCH 2003,32.73,787,0.0,0.00

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2340,35.986561,447,0

FG_AHR_24Vo 68.830 GPS 071022,130716,3800.065,-12444.195,5,1.0,9,13.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 460 1237 8549.39 nil 0 0 0.00

Pitch_motor 18 477 131.81 nil 0 0 0.00

Roll_motor 45 156 108.18 nil 0 0 0.00

Iridium 178 187 503.20 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 2.99 nil 0 0 0.00

Core 1179 6 120.36 SciCon 5068 17 1364.03

Fast 37 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 2634 2 79.02

Compass 1350 5 101.32

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

7.75 16386 -126.52 -0.64 0.00 956.8 956.1 957.6 175.7 3273.6 0.00 0.00 0 69.60 61.35 0.00 0.00 0.005 0.000 0.000 2170.97 2215.00 2126.94 175.75 3274.50 0 0 0 15.52 30.00 30.00

69.86 18983 -126.52 -0.64 -40.00 2170.5 2213.2 2127.8 175.7 3273.8 3.77 -4.64 12 106.14 18.72 9.60 2.41 0.006 0.478 0.028 2905.72 2971.19 2840.25 1892.81 1720.12 0 0 0 15.62 15.40 15.49

113.43 1028 -126.52 -0.64 0.00 2907.3 2971.4 2843.2 1892.1 1718.6 14.28 -20.81 21 119.11 0.00 0.00 2.67 0.000 0.000 0.085 2907.56 2971.44 2843.69 1892.38 3248.19 0 0 0 30.00 30.00 15.83

303.51 260 -126.52 -0.64 40.00 2907.9 2970.8 2845.0 1892.5 3248.9 39.54 -12.21 59 308.27 0.00 0.00 1.10 0.000 0.000 0.097 2910.59 2973.62 2847.56 1889.88 3896.12 0 0 0 30.00 30.00 15.86

408.53 1028 -126.52 -0.64 0.00 2908.1 2970.1 2846.0 1889.6 3896.8 51.89 -11.35 80 413.31 0.00 0.00 1.12 0.000 0.000 0.040 2909.75 2971.88 2847.62 1889.56 3174.62 0 0 0 30.00 30.00 15.93

593.59 260 -126.52 -0.64 40.00 2908.9 2970.3 2847.5 1889.5 3173.9 72.81 -11.05 117 598.39 0.00 0.00 1.26 0.000 0.000 0.097 2910.38 2971.75 2849.00 1886.94 3896.31 0 0 0 30.00 30.00 15.93

663.61 1028 -126.52 -0.64 0.00 2909.0 2970.4 2847.5 1886.6 3896.4 81.41 -11.93 131 668.40 0.00 0.00 1.12 0.000 0.000 0.041 2909.16 2970.50 2847.81 1887.00 3173.81 0 0 0 30.00 30.00 15.98

848.66 516 -126.52 -0.64 -40.00 2908.9 2970.6 2847.3 1886.4 3174.4 100.82 -10.23 168 854.26 0.00 0.00 2.20 0.000 0.000 0.024 2909.03 2970.44 2847.62 1886.94 1717.50 0 0 0 30.00 30.00 15.99

878.68 1028 -126.52 -0.64 0.00 2908.6 2970.4 2846.8 1886.8 1715.9 103.63 -9.59 174 884.33 0.00 0.00 2.64 0.000 0.000 0.084 2910.19 2971.56 2848.81 1886.44 3248.06 0 0 0 30.00 30.00 15.98

1188.77 516 -126.52 -0.64 -40.00 2909.0 2970.1 2847.8 1886.7 3248.6 129.58 -7.80 236 1194.38 0.00 0.00 2.36 0.000 0.000 0.026 2911.41 2972.50 2850.31 1885.62 1705.19 0 0 0 30.00 30.00 16.00

1213.85 1028 -126.52 -0.64 0.00 2908.6 2969.4 2847.8 1886.7 1704.4 131.45 -7.66 241 1219.43 0.00 0.00 2.65 0.000 0.000 0.084 2908.94 2970.06 2847.81 1886.56 3249.00 0 0 0 30.00 30.00 16.00

1523.88 32 -126.52 -0.64 0.00 2908.4 2969.6 2847.3 1886.7 3248.4 154.15 -7.16 303 1525.22 0.00 0.00 0.00 0.000 0.000 0.000 2909.00 2970.38 2847.62 1886.62 3248.62 0 0 0 30.00 30.00 30.00

1828.97 548 -126.52 -0.64 -40.00 2908.4 2969.4 2847.4 1886.0 3248.4 175.61 -7.13 364 1834.55 0.00 0.00 2.36 0.000 0.000 0.026 2910.72 2971.75 2849.69 1885.94 1709.62 0 0 0 30.00 30.00 16.05

1858.98 1060 -126.52 -0.64 0.00 2908.1 2968.2 2848.0 1886.4 1708.8 177.69 -7.00 370 1864.60 0.00 0.00 2.63 0.000 0.000 0.084 2907.78 2968.00 2847.56 1886.06 3247.88 0 0 0 30.00 30.00 16.04

2169.06 292 -126.52 -0.64 40.00 2907.8 2968.0 2847.5 1886.7 3247.6 200.27 -7.32 432 2173.83 0.00 0.00 1.10 0.000 0.000 0.099 2908.25 2968.19 2848.31 1882.56 3901.06 0 0 0 30.00 30.00 16.02

2189.05 1060 -126.52 -0.64 0.00 2907.9 2967.5 2848.3 1882.2 3901.2 201.78 -7.43 436 2193.84 0.00 0.00 1.12 0.000 0.000 0.042 2907.88 2967.75 2848.00 1882.75 3176.19 0 0 0 30.00 30.00 16.07

2434 end dive: TARGET_DEPTH_EXCEEDED

state 2434 begin apogee

2435.40 10243 0.00 -0.11 0.00 2907.4 2966.8 2848.0 1882.5 2950.1 220.19 -7.54 485 2541.50 103.22 0.62 0.12 1.238 0.199 0.157 2388.06 2428.00 2348.12 2067.19 3022.81 0 0 0 11.95 15.92 15.46

2542 end apogee: CONTROL_FINISHED_OK

state 2543 begin climb

2544.09 10759 126.52 0.64 -40.00 2387.0 2427.7 2346.4 2067.4 3022.6 224.38 0.00 506 2649.86 98.93 0.70 2.42 1.216 0.078 0.020 1872.19 1877.75 1866.62 2329.19 1486.50 0 0 0 12.34 15.59 15.34

2872.31 1092 126.52 0.69 0.00 1868.5 1874.2 1862.8 2329.1 1486.2 212.11 8.15 572 2877.96 0.00 0.00 2.61 0.000 0.000 0.068 1867.81 1876.19 1859.44 2329.25 3020.94 0 0 0 30.00 30.00 15.82

3182.39 16710 126.52 0.72 40.00 1865.1 1877.7 1852.5 2329.2 3021.2 182.39 9.14 634 3187.24 0.00 0.00 1.47 0.000 0.000 0.079 1864.94 1877.88 1852.00 2329.38 3902.88 0 0 0 30.00 30.00 15.92

3302.41 17414 126.52 0.72 0.00 1864.6 1877.9 1851.3 2328.2 3902.1 169.73 10.36 658 3307.26 0.00 0.00 1.49 0.000 0.000 0.024 1864.62 1878.31 1850.94 2336.56 2878.31 0 0 0 30.00 30.00 15.99

3607.52 16710 126.52 0.75 40.00 1863.6 1878.2 1848.9 2336.3 2877.7 142.55 8.86 719 3612.41 0.00 0.00 1.74 0.000 0.000 0.079 1863.69 1878.69 1848.69 2336.56 3900.62 0 0 0 30.00 30.00 15.88

3697.53 17414 126.52 0.75 0.00 1863.7 1878.6 1848.8 2336.1 3900.8 133.40 10.21 737 3702.37 0.00 0.00 1.49 0.000 0.000 0.024 1864.84 1879.75 1849.94 2343.94 2881.31 0 0 0 30.00 30.00 15.90

4002.64 16450 126.52 0.79 0.00 1863.1 1878.6 1847.7 2344.4 2880.9 106.84 8.23 798 4003.97 0.00 0.00 0.00 0.000 0.000 0.000 1863.75 1878.56 1848.94 2342.44 2880.75 0 0 0 30.00 30.00 30.00

4307.72 10275 236.39 0.93 0.00 1862.5 1878.6 1846.4 2344.2 2880.9 90.90 4.37 859 4393.60 82.29 0.15 0.00 1.091 0.074 0.000 1424.66 1425.81 1423.50 2418.69 2880.38 0 0 0 12.02 15.87 30.00

4577.76 516 236.39 0.93 -40.00 1418.9 1426.4 1411.3 2418.1 2880.2 46.51 15.17 913 4583.33 0.00 0.00 2.12 0.000 0.000 0.019 1419.00 1426.75 1411.25 2427.50 1506.06 0 0 0 30.00 30.00 15.74

4707.79 21511 236.39 0.93 0.00 1417.4 1424.2 1410.6 2429.4 1494.1 30.55 12.34 939 4713.48 0.00 0.16 2.59 0.000 0.342 0.067 1417.62 1425.12 1410.12 2392.12 3023.31 0 0 0 30.00 15.65 15.80

4897.93 10535 370.04 1.09 40.00 1415.5 1428.2 1402.7 2392.4 3023.8 18.91 3.05 977 4996.25 95.71 0.17 1.50 0.981 0.078 0.077 881.19 884.50 877.88 2483.81 3903.62 0 0 0 12.19 15.83 15.49

5023 end climb: SURFACE_DEPTH_REACHED

state 5023 begin surface coast

5033 end surface coast: CONTROL_FINISHED_OK

state 5033 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	407	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	17.142504	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	68.709549	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	071022,113639,3759.796,-12444.392,10,1.2,49,13.6	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.24	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	071022,114135,3759.779,-12444.441,2,0.8,4,13.6	MHEAD_RNG_PITCHd_Wd	10.5,20000,-22.0,-10.476,-26.38,1850,0.162
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	3807.415,-12434.734

FINISH	0.4,1.023731	FG_AHR_10Vo	17.183
SM_CCo	5105.93,0.00,0.000,0,876.0,891.1,860.9,371.38	MEM0	60148,1,0,0
SM_GC	1.12,0.00,6.99,1.11,0.000,0.114,0.027,876.0,891.1,860.9,171.8,3133.5,0,0,0,30.00,15.58,15.71	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	907788,144,136040,93
IRIDIUM_FIX	3800.26,-12445.86,071022,100841	DATA_FILE_SIZE	28919,1004
TCM_TEMP	16.44	CAP_FILE_SIZE	367870,0
XPDR_PINGS	0,13.0,11.5	SDSIZE	3887104,3773952
SC_FREEKB	3741504	SDFILEDIR	2386,1
HUMID	53.77	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.53	CURRENT	0.040,201.9,1
INTERNAL_PRESSURE	8.78836	MAGCAL	1.000000,0.018023,-0.322985,0.166773,0.511607,-0.267547,0.047602,0.131197,1.249672,51.0,-890.7,-725.3,33,0.1824,0
_24V_AH	15.01,82.083	IMPLIED_C_PITCH	2003,32.73,787,0.0,0.00
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2340,35.986561,447,0
FG_AHR_24Vo	68.830	GPS	071022,130716,3800.065,-12444.195,5,1.0,9,13.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	460	1237	8549.39	nil	0	0	0.00
Pitch_motor	18	477	131.81	nil	0	0	0.00
Roll_motor	45	156	108.18	nil	0	0	0.00
Iridium	178	187	503.20	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	2.99	nil	0	0	0.00
Core	1179	6	120.36	SciCon	5068	17	1364.03
Fast	37	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	2634	2	79.02
Compass	1350	5	101.32
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
7.75	16386	-126.52	-0.64	0.00	956.8	956.1	957.6	175.7	3273.6	0.00	0.00	0	69.60	61.35	0.00	0.00	0.005	0.000	0.000	2170.97	2215.00	2126.94	175.75	3274.50	0	0	0	15.52	30.00	30.00
69.86	18983	-126.52	-0.64	-40.00	2170.5	2213.2	2127.8	175.7	3273.8	3.77	-4.64	12	106.14	18.72	9.60	2.41	0.006	0.478	0.028	2905.72	2971.19	2840.25	1892.81	1720.12	0	0	0	15.62	15.40	15.49
113.43	1028	-126.52	-0.64	0.00	2907.3	2971.4	2843.2	1892.1	1718.6	14.28	-20.81	21	119.11	0.00	0.00	2.67	0.000	0.000	0.085	2907.56	2971.44	2843.69	1892.38	3248.19	0	0	0	30.00	30.00	15.83
303.51	260	-126.52	-0.64	40.00	2907.9	2970.8	2845.0	1892.5	3248.9	39.54	-12.21	59	308.27	0.00	0.00	1.10	0.000	0.000	0.097	2910.59	2973.62	2847.56	1889.88	3896.12	0	0	0	30.00	30.00	15.86
408.53	1028	-126.52	-0.64	0.00	2908.1	2970.1	2846.0	1889.6	3896.8	51.89	-11.35	80	413.31	0.00	0.00	1.12	0.000	0.000	0.040	2909.75	2971.88	2847.62	1889.56	3174.62	0	0	0	30.00	30.00	15.93
593.59	260	-126.52	-0.64	40.00	2908.9	2970.3	2847.5	1889.5	3173.9	72.81	-11.05	117	598.39	0.00	0.00	1.26	0.000	0.000	0.097	2910.38	2971.75	2849.00	1886.94	3896.31	0	0	0	30.00	30.00	15.93
663.61	1028	-126.52	-0.64	0.00	2909.0	2970.4	2847.5	1886.6	3896.4	81.41	-11.93	131	668.40	0.00	0.00	1.12	0.000	0.000	0.041	2909.16	2970.50	2847.81	1887.00	3173.81	0	0	0	30.00	30.00	15.98
848.66	516	-126.52	-0.64	-40.00	2908.9	2970.6	2847.3	1886.4	3174.4	100.82	-10.23	168	854.26	0.00	0.00	2.20	0.000	0.000	0.024	2909.03	2970.44	2847.62	1886.94	1717.50	0	0	0	30.00	30.00	15.99
878.68	1028	-126.52	-0.64	0.00	2908.6	2970.4	2846.8	1886.8	1715.9	103.63	-9.59	174	884.33	0.00	0.00	2.64	0.000	0.000	0.084	2910.19	2971.56	2848.81	1886.44	3248.06	0	0	0	30.00	30.00	15.98
1188.77	516	-126.52	-0.64	-40.00	2909.0	2970.1	2847.8	1886.7	3248.6	129.58	-7.80	236	1194.38	0.00	0.00	2.36	0.000	0.000	0.026	2911.41	2972.50	2850.31	1885.62	1705.19	0	0	0	30.00	30.00	16.00
1213.85	1028	-126.52	-0.64	0.00	2908.6	2969.4	2847.8	1886.7	1704.4	131.45	-7.66	241	1219.43	0.00	0.00	2.65	0.000	0.000	0.084	2908.94	2970.06	2847.81	1886.56	3249.00	0	0	0	30.00	30.00	16.00
1523.88	32	-126.52	-0.64	0.00	2908.4	2969.6	2847.3	1886.7	3248.4	154.15	-7.16	303	1525.22	0.00	0.00	0.00	0.000	0.000	0.000	2909.00	2970.38	2847.62	1886.62	3248.62	0	0	0	30.00	30.00	30.00
1828.97	548	-126.52	-0.64	-40.00	2908.4	2969.4	2847.4	1886.0	3248.4	175.61	-7.13	364	1834.55	0.00	0.00	2.36	0.000	0.000	0.026	2910.72	2971.75	2849.69	1885.94	1709.62	0	0	0	30.00	30.00	16.05
1858.98	1060	-126.52	-0.64	0.00	2908.1	2968.2	2848.0	1886.4	1708.8	177.69	-7.00	370	1864.60	0.00	0.00	2.63	0.000	0.000	0.084	2907.78	2968.00	2847.56	1886.06	3247.88	0	0	0	30.00	30.00	16.04
2169.06	292	-126.52	-0.64	40.00	2907.8	2968.0	2847.5	1886.7	3247.6	200.27	-7.32	432	2173.83	0.00	0.00	1.10	0.000	0.000	0.099	2908.25	2968.19	2848.31	1882.56	3901.06	0	0	0	30.00	30.00	16.02
2189.05	1060	-126.52	-0.64	0.00	2907.9	2967.5	2848.3	1882.2	3901.2	201.78	-7.43	436	2193.84	0.00	0.00	1.12	0.000	0.000	0.042	2907.88	2967.75	2848.00	1882.75	3176.19	0	0	0	30.00	30.00	16.07
2434	end dive: TARGET_DEPTH_EXCEEDED
state	2434	begin apogee
2435.40	10243	0.00	-0.11	0.00	2907.4	2966.8	2848.0	1882.5	2950.1	220.19	-7.54	485	2541.50	103.22	0.62	0.12	1.238	0.199	0.157	2388.06	2428.00	2348.12	2067.19	3022.81	0	0	0	11.95	15.92	15.46
2542	end apogee: CONTROL_FINISHED_OK
state	2543	begin climb
2544.09	10759	126.52	0.64	-40.00	2387.0	2427.7	2346.4	2067.4	3022.6	224.38	0.00	506	2649.86	98.93	0.70	2.42	1.216	0.078	0.020	1872.19	1877.75	1866.62	2329.19	1486.50	0	0	0	12.34	15.59	15.34
2872.31	1092	126.52	0.69	0.00	1868.5	1874.2	1862.8	2329.1	1486.2	212.11	8.15	572	2877.96	0.00	0.00	2.61	0.000	0.000	0.068	1867.81	1876.19	1859.44	2329.25	3020.94	0	0	0	30.00	30.00	15.82
3182.39	16710	126.52	0.72	40.00	1865.1	1877.7	1852.5	2329.2	3021.2	182.39	9.14	634	3187.24	0.00	0.00	1.47	0.000	0.000	0.079	1864.94	1877.88	1852.00	2329.38	3902.88	0	0	0	30.00	30.00	15.92
3302.41	17414	126.52	0.72	0.00	1864.6	1877.9	1851.3	2328.2	3902.1	169.73	10.36	658	3307.26	0.00	0.00	1.49	0.000	0.000	0.024	1864.62	1878.31	1850.94	2336.56	2878.31	0	0	0	30.00	30.00	15.99
3607.52	16710	126.52	0.75	40.00	1863.6	1878.2	1848.9	2336.3	2877.7	142.55	8.86	719	3612.41	0.00	0.00	1.74	0.000	0.000	0.079	1863.69	1878.69	1848.69	2336.56	3900.62	0	0	0	30.00	30.00	15.88
3697.53	17414	126.52	0.75	0.00	1863.7	1878.6	1848.8	2336.1	3900.8	133.40	10.21	737	3702.37	0.00	0.00	1.49	0.000	0.000	0.024	1864.84	1879.75	1849.94	2343.94	2881.31	0	0	0	30.00	30.00	15.90
4002.64	16450	126.52	0.79	0.00	1863.1	1878.6	1847.7	2344.4	2880.9	106.84	8.23	798	4003.97	0.00	0.00	0.00	0.000	0.000	0.000	1863.75	1878.56	1848.94	2342.44	2880.75	0	0	0	30.00	30.00	30.00
4307.72	10275	236.39	0.93	0.00	1862.5	1878.6	1846.4	2344.2	2880.9	90.90	4.37	859	4393.60	82.29	0.15	0.00	1.091	0.074	0.000	1424.66	1425.81	1423.50	2418.69	2880.38	0	0	0	12.02	15.87	30.00
4577.76	516	236.39	0.93	-40.00	1418.9	1426.4	1411.3	2418.1	2880.2	46.51	15.17	913	4583.33	0.00	0.00	2.12	0.000	0.000	0.019	1419.00	1426.75	1411.25	2427.50	1506.06	0	0	0	30.00	30.00	15.74
4707.79	21511	236.39	0.93	0.00	1417.4	1424.2	1410.6	2429.4	1494.1	30.55	12.34	939	4713.48	0.00	0.16	2.59	0.000	0.342	0.067	1417.62	1425.12	1410.12	2392.12	3023.31	0	0	0	30.00	15.65	15.80
4897.93	10535	370.04	1.09	40.00	1415.5	1428.2	1402.7	2392.4	3023.8	18.91	3.05	977	4996.25	95.71	0.17	1.50	0.981	0.078	0.077	881.19	884.50	877.88	2483.81	3903.62	0	0	0	12.19	15.83	15.49
5023	end climb: SURFACE_DEPTH_REACHED
state	5023	begin surface coast
5033	end surface coast: CONTROL_FINISHED_OK
state	5033	begin surface