Glider dive log

SMODE Aug22 * SG180 * Dive index * Mission links * Dive 408 * 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 408 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 17.183977 SEABIRD_T_H 0.00062267116

RELAUNCH 1 PITCH_TIMEOUT 25 FG_AHR_24V 68.839569 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 17.183977 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 68.839569 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 408 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 071022,130716,3800.065,-12444.195,5,1.0,9,13.6 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.26 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 071022,131226,3800.068,-12444.230,2,1.0,4,13.6 MHEAD_RNG_PITCHd_Wd 27.2,20000,-22.0,-10.476,-26.38,1850,0.207

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 3807.705,-12434.523

Post-dive calculations and measurements:

FINISH -0.0,1.005243 FG_AHR_10Vo 17.222

SM_CCo 4742.42,60.74,0.997,0,963.2,951.4,974.9,350.00 MEM0 60148,1,0,0

SM_GC 1.33,60.74,6.52,1.09,0.997,0.117,0.030,963.2,951.4,974.9,173.8,3163.8,0,0,0,12.10,15.88,15.96 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 907748,146,136040,93

IRIDIUM_FIX 3757.46,-12444.30,071022,113847 DATA_FILE_SIZE 25708,931

TCM_TEMP 16.46 CAP_FILE_SIZE 346970,0

XPDR_PINGS 0,13.0,11.5 SDSIZE 3887104,3773728

SC_FREEKB 3741120 SDFILEDIR 2392,1

HUMID 50.33 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 11.43 CURRENT 0.028, 9.1,1

INTERNAL_PRESSURE 8.78681 MAGCAL 1.000000,0.018916,-0.028775,-0.126250,1.123200,-0.039674,-0.015931,0.057710,1.147086,-100.5,-1142.9,-604.6,30,0.0341,0

_24V_AH 14.96,82.242 IMPLIED_C_PITCH 2008,32.06,709,0.0,0.00

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2348,24.777460,615,0

FG_AHR_24Vo 68.961 GPS 071022,143239,3800.421,-12443.840,42,1.0,43,13.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 450 1242 8366.04 nil 0 0 0.00

Pitch_motor 17 477 125.17 nil 0 0 0.00

Roll_motor 44 155 104.51 nil 0 0 0.00

Iridium 190 183 522.96 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.04 nil 0 0 0.00

Core 1101 6 112.31 SciCon 4702 18 1305.30

Fast 38 0 0.00 TMICL 0 0 0.00

Slow 0 0 0.00 NCP 0 0 0.00

LPSleep 2403 2 72.11

Compass 1253 5 94.04

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

7.76 16386 -126.52 -0.64 0.00 871.4 879.1 863.7 171.1 3269.8 0.00 0.00 0 69.60 61.31 0.00 0.00 0.005 0.000 0.000 2063.56 2110.12 2017.00 171.25 3270.75 0 0 0 15.53 30.00 30.00

69.86 18983 -126.52 -0.64 -40.00 2062.9 2109.5 2016.3 171.1 3270.7 3.17 -3.52 12 111.22 23.74 9.65 2.41 0.006 0.478 0.029 2906.12 2971.31 2840.94 1893.00 1738.38 0 0 0 15.62 15.36 15.51

123.52 1028 -126.52 -0.64 0.00 2907.6 2971.9 2843.3 1893.0 1725.4 12.47 -15.29 23 129.21 0.00 0.00 2.66 0.000 0.000 0.088 2909.59 2973.56 2845.62 1893.69 3245.31 0 0 0 30.00 30.00 15.83

313.58 260 -126.52 -0.64 40.00 2907.6 2970.9 2844.2 1893.0 3245.6 36.44 -12.01 61 318.37 0.00 0.00 1.11 0.000 0.000 0.097 2907.91 2971.50 2844.31 1890.00 3899.62 0 0 0 30.00 30.00 15.86

393.61 1028 -126.52 -0.64 0.00 2907.5 2969.8 2845.2 1889.9 3899.5 45.30 -10.10 77 398.40 0.00 0.00 1.12 0.000 0.000 0.040 2907.91 2970.94 2844.88 1889.81 3174.56 0 0 0 30.00 30.00 15.93

578.67 260 -126.52 -0.64 40.00 2907.9 2970.7 2845.2 1889.6 3172.8 66.05 -10.79 114 583.47 0.00 0.00 1.26 0.000 0.000 0.095 2908.28 2970.94 2845.62 1887.94 3899.31 0 0 0 30.00 30.00 15.93

633.68 1028 -126.52 -0.64 0.00 2908.3 2970.2 2846.4 1888.1 3899.3 71.82 -10.36 125 638.47 0.00 0.00 1.12 0.000 0.000 0.040 2908.16 2970.31 2846.00 1887.88 3171.00 0 0 0 30.00 30.00 15.97

818.74 516 -126.52 -0.64 -40.00 2908.4 2970.8 2846.0 1887.8 3171.6 89.82 -9.55 162 824.32 0.00 0.00 2.20 0.000 0.000 0.023 2909.78 2971.75 2847.81 1887.81 1705.62 0 0 0 30.00 30.00 15.99

843.75 1028 -126.52 -0.64 0.00 2908.5 2970.5 2846.4 1887.4 1701.3 92.14 -9.42 167 849.40 0.00 0.00 2.66 0.000 0.000 0.083 2909.06 2971.31 2846.81 1888.00 3248.12 0 0 0 30.00 30.00 15.98

1033.86 0 -126.52 -0.64 0.00 2908.5 2970.7 2846.2 1887.8 3248.8 109.38 -8.54 205 1035.20 0.00 0.00 0.00 0.000 0.000 0.000 2908.97 2971.00 2846.94 1887.94 3248.62 0 0 0 30.00 30.00 30.00

1338.91 32 -126.52 -0.64 0.00 2908.3 2970.4 2846.2 1886.9 3249.1 131.79 -7.30 266 1340.24 0.00 0.00 0.00 0.000 0.000 0.000 2908.81 2971.19 2846.44 1887.62 3248.75 0 0 0 30.00 30.00 30.00

1643.98 260 -126.52 -0.64 40.00 2907.7 2969.5 2845.9 1887.4 3248.9 154.76 -7.50 327 1648.76 0.00 0.00 1.10 0.000 0.000 0.098 2909.22 2971.12 2847.31 1883.69 3900.12 0 0 0 30.00 30.00 15.98

1674.04 1028 -126.52 -0.64 0.00 2907.8 2969.1 2846.5 1883.8 3899.9 157.05 -7.61 333 1678.83 0.00 0.00 1.12 0.000 0.000 0.040 2910.50 2972.00 2849.00 1883.31 3171.00 0 0 0 30.00 30.00 16.03

1979.07 260 -126.52 -0.64 40.00 2907.4 2968.6 2846.2 1883.5 3171.1 181.23 -7.91 394 1983.88 0.00 0.00 1.25 0.000 0.000 0.095 2907.16 2967.88 2846.44 1881.19 3898.50 0 0 0 30.00 30.00 16.02

2064.09 1028 -126.52 -0.64 0.00 2906.8 2967.7 2846.0 1881.1 3898.5 187.82 -7.60 411 2068.88 0.00 0.00 1.12 0.000 0.000 0.041 2909.12 2969.69 2848.56 1881.06 3174.31 0 0 0 30.00 30.00 16.06

2369.12 0 -126.52 -0.64 0.00 2906.6 2967.1 2846.1 1881.2 3174.2 211.03 -7.59 472 2370.46 0.00 0.00 0.00 0.000 0.000 0.000 2907.00 2967.06 2846.94 1881.12 3174.31 0 0 0 30.00 30.00 30.00

2489 end dive: TARGET_DEPTH_EXCEEDED

state 2489 begin apogee

2490.41 10243 0.00 -0.11 0.00 2906.1 2965.8 2846.4 1880.6 2951.2 220.38 -7.88 496 2596.52 103.00 0.62 0.12 1.242 0.203 0.156 2388.66 2428.94 2348.38 2068.38 3023.38 0 0 0 11.97 15.91 15.47

2597 end apogee: CONTROL_FINISHED_OK

state 2598 begin climb

2599.09 10759 126.52 0.64 -40.00 2387.5 2428.7 2346.2 2068.1 3023.4 225.41 0.00 517 2705.02 99.16 0.71 2.42 1.217 0.097 0.019 1874.41 1880.19 1868.62 2326.38 1475.88 0 0 0 12.34 15.59 15.35

2907.39 9254 182.58 0.71 0.00 1868.7 1874.3 1863.0 2326.6 1475.8 219.19 7.36 579 2954.90 43.60 0.00 2.63 1.179 0.000 0.066 1646.00 1652.38 1639.62 2326.62 3024.06 0 0 0 12.12 30.00 15.81

3257.47 260 182.58 0.71 40.00 1638.2 1651.6 1624.9 2326.7 3023.6 172.88 14.14 649 3262.30 0.00 0.00 1.47 0.000 0.000 0.078 1639.75 1653.00 1626.50 2326.31 3903.44 0 0 0 30.00 30.00 15.87

3427.57 1028 182.58 0.71 0.00 1637.8 1651.2 1624.4 2326.1 3904.1 145.75 16.28 683 3432.42 0.00 0.00 1.50 0.000 0.000 0.022 1637.69 1651.38 1624.00 2333.75 2844.88 0 0 0 30.00 30.00 15.89

3737.60 16902 182.58 0.71 -40.00 1637.1 1652.1 1622.2 2334.3 2843.8 100.62 15.05 745 3743.15 0.00 0.00 2.04 0.000 0.000 0.019 1638.56 1653.31 1623.81 2342.94 1513.12 0 0 0 30.00 30.00 15.92

3797.62 17414 182.58 0.71 0.00 1636.4 1652.1 1620.7 2344.1 1501.8 91.88 13.90 757 3803.26 0.00 0.00 2.56 0.000 0.000 0.065 1636.62 1652.94 1620.31 2344.88 3024.25 0 0 0 30.00 30.00 15.91

3987.66 16902 182.58 0.71 -40.00 1635.7 1652.6 1618.9 2344.2 3024.4 64.42 10.94 795 3993.26 0.00 0.00 2.35 0.000 0.000 0.019 1636.78 1653.75 1619.81 2355.88 1503.00 0 0 0 30.00 30.00 15.93

4082.70 9254 260.92 0.81 0.00 1635.8 1652.8 1618.8 2357.1 1496.6 57.93 6.12 814 4145.53 58.64 0.00 2.57 1.043 0.000 0.065 1327.47 1335.31 1319.62 2355.25 3023.94 0 0 0 12.15 30.00 15.88

4327.87 516 260.92 0.81 -40.00 1320.8 1334.5 1307.0 2356.5 3023.9 34.00 11.15 863 4333.48 0.00 0.00 2.38 0.000 0.000 0.019 1320.88 1334.88 1306.88 2367.19 1524.69 0 0 0 30.00 30.00 15.80

4392.90 1028 260.92 0.81 0.00 1319.7 1332.7 1306.6 2368.4 1511.0 26.62 11.21 876 4398.53 0.00 0.00 2.57 0.000 0.000 0.069 1320.16 1333.25 1307.06 2367.62 3020.50 0 0 0 30.00 30.00 15.80

4582.98 16710 260.92 0.86 40.00 1317.8 1335.6 1300.0 2368.9 3021.1 8.83 8.04 914 4587.82 0.00 0.00 1.47 0.000 0.000 0.077 1318.06 1335.75 1300.38 2368.06 3904.00 0 0 0 30.00 30.00 15.84

4647 end climb: SURFACE_DEPTH_REACHED

state 4647 begin surface coast

4668 end surface coast: CONTROL_FINISHED_OK

state 4668 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	408	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	17.183977	SEABIRD_T_H	0.00062267116
RELAUNCH	1	PITCH_TIMEOUT	25	FG_AHR_24V	68.839569	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	071022,130716,3800.065,-12444.195,5,1.0,9,13.6	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.26	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	071022,131226,3800.068,-12444.230,2,1.0,4,13.6	MHEAD_RNG_PITCHd_Wd	27.2,20000,-22.0,-10.476,-26.38,1850,0.207
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	3807.705,-12434.523

FINISH	-0.0,1.005243	FG_AHR_10Vo	17.222
SM_CCo	4742.42,60.74,0.997,0,963.2,951.4,974.9,350.00	MEM0	60148,1,0,0
SM_GC	1.33,60.74,6.52,1.09,0.997,0.117,0.030,963.2,951.4,974.9,173.8,3163.8,0,0,0,12.10,15.88,15.96	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	907748,146,136040,93
IRIDIUM_FIX	3757.46,-12444.30,071022,113847	DATA_FILE_SIZE	25708,931
TCM_TEMP	16.46	CAP_FILE_SIZE	346970,0
XPDR_PINGS	0,13.0,11.5	SDSIZE	3887104,3773728
SC_FREEKB	3741120	SDFILEDIR	2392,1
HUMID	50.33	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	11.43	CURRENT	0.028, 9.1,1
INTERNAL_PRESSURE	8.78681	MAGCAL	1.000000,0.018916,-0.028775,-0.126250,1.123200,-0.039674,-0.015931,0.057710,1.147086,-100.5,-1142.9,-604.6,30,0.0341,0
_24V_AH	14.96,82.242	IMPLIED_C_PITCH	2008,32.06,709,0.0,0.00
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2348,24.777460,615,0
FG_AHR_24Vo	68.961	GPS	071022,143239,3800.421,-12443.840,42,1.0,43,13.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	450	1242	8366.04	nil	0	0	0.00
Pitch_motor	17	477	125.17	nil	0	0	0.00
Roll_motor	44	155	104.51	nil	0	0	0.00
Iridium	190	183	522.96	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.04	nil	0	0	0.00
Core	1101	6	112.31	SciCon	4702	18	1305.30
Fast	38	0	0.00	TMICL	0	0	0.00
Slow	0	0	0.00	NCP	0	0	0.00
LPSleep	2403	2	72.11
Compass	1253	5	94.04
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
7.76	16386	-126.52	-0.64	0.00	871.4	879.1	863.7	171.1	3269.8	0.00	0.00	0	69.60	61.31	0.00	0.00	0.005	0.000	0.000	2063.56	2110.12	2017.00	171.25	3270.75	0	0	0	15.53	30.00	30.00
69.86	18983	-126.52	-0.64	-40.00	2062.9	2109.5	2016.3	171.1	3270.7	3.17	-3.52	12	111.22	23.74	9.65	2.41	0.006	0.478	0.029	2906.12	2971.31	2840.94	1893.00	1738.38	0	0	0	15.62	15.36	15.51
123.52	1028	-126.52	-0.64	0.00	2907.6	2971.9	2843.3	1893.0	1725.4	12.47	-15.29	23	129.21	0.00	0.00	2.66	0.000	0.000	0.088	2909.59	2973.56	2845.62	1893.69	3245.31	0	0	0	30.00	30.00	15.83
313.58	260	-126.52	-0.64	40.00	2907.6	2970.9	2844.2	1893.0	3245.6	36.44	-12.01	61	318.37	0.00	0.00	1.11	0.000	0.000	0.097	2907.91	2971.50	2844.31	1890.00	3899.62	0	0	0	30.00	30.00	15.86
393.61	1028	-126.52	-0.64	0.00	2907.5	2969.8	2845.2	1889.9	3899.5	45.30	-10.10	77	398.40	0.00	0.00	1.12	0.000	0.000	0.040	2907.91	2970.94	2844.88	1889.81	3174.56	0	0	0	30.00	30.00	15.93
578.67	260	-126.52	-0.64	40.00	2907.9	2970.7	2845.2	1889.6	3172.8	66.05	-10.79	114	583.47	0.00	0.00	1.26	0.000	0.000	0.095	2908.28	2970.94	2845.62	1887.94	3899.31	0	0	0	30.00	30.00	15.93
633.68	1028	-126.52	-0.64	0.00	2908.3	2970.2	2846.4	1888.1	3899.3	71.82	-10.36	125	638.47	0.00	0.00	1.12	0.000	0.000	0.040	2908.16	2970.31	2846.00	1887.88	3171.00	0	0	0	30.00	30.00	15.97
818.74	516	-126.52	-0.64	-40.00	2908.4	2970.8	2846.0	1887.8	3171.6	89.82	-9.55	162	824.32	0.00	0.00	2.20	0.000	0.000	0.023	2909.78	2971.75	2847.81	1887.81	1705.62	0	0	0	30.00	30.00	15.99
843.75	1028	-126.52	-0.64	0.00	2908.5	2970.5	2846.4	1887.4	1701.3	92.14	-9.42	167	849.40	0.00	0.00	2.66	0.000	0.000	0.083	2909.06	2971.31	2846.81	1888.00	3248.12	0	0	0	30.00	30.00	15.98
1033.86	0	-126.52	-0.64	0.00	2908.5	2970.7	2846.2	1887.8	3248.8	109.38	-8.54	205	1035.20	0.00	0.00	0.00	0.000	0.000	0.000	2908.97	2971.00	2846.94	1887.94	3248.62	0	0	0	30.00	30.00	30.00
1338.91	32	-126.52	-0.64	0.00	2908.3	2970.4	2846.2	1886.9	3249.1	131.79	-7.30	266	1340.24	0.00	0.00	0.00	0.000	0.000	0.000	2908.81	2971.19	2846.44	1887.62	3248.75	0	0	0	30.00	30.00	30.00
1643.98	260	-126.52	-0.64	40.00	2907.7	2969.5	2845.9	1887.4	3248.9	154.76	-7.50	327	1648.76	0.00	0.00	1.10	0.000	0.000	0.098	2909.22	2971.12	2847.31	1883.69	3900.12	0	0	0	30.00	30.00	15.98
1674.04	1028	-126.52	-0.64	0.00	2907.8	2969.1	2846.5	1883.8	3899.9	157.05	-7.61	333	1678.83	0.00	0.00	1.12	0.000	0.000	0.040	2910.50	2972.00	2849.00	1883.31	3171.00	0	0	0	30.00	30.00	16.03
1979.07	260	-126.52	-0.64	40.00	2907.4	2968.6	2846.2	1883.5	3171.1	181.23	-7.91	394	1983.88	0.00	0.00	1.25	0.000	0.000	0.095	2907.16	2967.88	2846.44	1881.19	3898.50	0	0	0	30.00	30.00	16.02
2064.09	1028	-126.52	-0.64	0.00	2906.8	2967.7	2846.0	1881.1	3898.5	187.82	-7.60	411	2068.88	0.00	0.00	1.12	0.000	0.000	0.041	2909.12	2969.69	2848.56	1881.06	3174.31	0	0	0	30.00	30.00	16.06
2369.12	0	-126.52	-0.64	0.00	2906.6	2967.1	2846.1	1881.2	3174.2	211.03	-7.59	472	2370.46	0.00	0.00	0.00	0.000	0.000	0.000	2907.00	2967.06	2846.94	1881.12	3174.31	0	0	0	30.00	30.00	30.00
2489	end dive: TARGET_DEPTH_EXCEEDED
state	2489	begin apogee
2490.41	10243	0.00	-0.11	0.00	2906.1	2965.8	2846.4	1880.6	2951.2	220.38	-7.88	496	2596.52	103.00	0.62	0.12	1.242	0.203	0.156	2388.66	2428.94	2348.38	2068.38	3023.38	0	0	0	11.97	15.91	15.47
2597	end apogee: CONTROL_FINISHED_OK
state	2598	begin climb
2599.09	10759	126.52	0.64	-40.00	2387.5	2428.7	2346.2	2068.1	3023.4	225.41	0.00	517	2705.02	99.16	0.71	2.42	1.217	0.097	0.019	1874.41	1880.19	1868.62	2326.38	1475.88	0	0	0	12.34	15.59	15.35
2907.39	9254	182.58	0.71	0.00	1868.7	1874.3	1863.0	2326.6	1475.8	219.19	7.36	579	2954.90	43.60	0.00	2.63	1.179	0.000	0.066	1646.00	1652.38	1639.62	2326.62	3024.06	0	0	0	12.12	30.00	15.81
3257.47	260	182.58	0.71	40.00	1638.2	1651.6	1624.9	2326.7	3023.6	172.88	14.14	649	3262.30	0.00	0.00	1.47	0.000	0.000	0.078	1639.75	1653.00	1626.50	2326.31	3903.44	0	0	0	30.00	30.00	15.87
3427.57	1028	182.58	0.71	0.00	1637.8	1651.2	1624.4	2326.1	3904.1	145.75	16.28	683	3432.42	0.00	0.00	1.50	0.000	0.000	0.022	1637.69	1651.38	1624.00	2333.75	2844.88	0	0	0	30.00	30.00	15.89
3737.60	16902	182.58	0.71	-40.00	1637.1	1652.1	1622.2	2334.3	2843.8	100.62	15.05	745	3743.15	0.00	0.00	2.04	0.000	0.000	0.019	1638.56	1653.31	1623.81	2342.94	1513.12	0	0	0	30.00	30.00	15.92
3797.62	17414	182.58	0.71	0.00	1636.4	1652.1	1620.7	2344.1	1501.8	91.88	13.90	757	3803.26	0.00	0.00	2.56	0.000	0.000	0.065	1636.62	1652.94	1620.31	2344.88	3024.25	0	0	0	30.00	30.00	15.91
3987.66	16902	182.58	0.71	-40.00	1635.7	1652.6	1618.9	2344.2	3024.4	64.42	10.94	795	3993.26	0.00	0.00	2.35	0.000	0.000	0.019	1636.78	1653.75	1619.81	2355.88	1503.00	0	0	0	30.00	30.00	15.93
4082.70	9254	260.92	0.81	0.00	1635.8	1652.8	1618.8	2357.1	1496.6	57.93	6.12	814	4145.53	58.64	0.00	2.57	1.043	0.000	0.065	1327.47	1335.31	1319.62	2355.25	3023.94	0	0	0	12.15	30.00	15.88
4327.87	516	260.92	0.81	-40.00	1320.8	1334.5	1307.0	2356.5	3023.9	34.00	11.15	863	4333.48	0.00	0.00	2.38	0.000	0.000	0.019	1320.88	1334.88	1306.88	2367.19	1524.69	0	0	0	30.00	30.00	15.80
4392.90	1028	260.92	0.81	0.00	1319.7	1332.7	1306.6	2368.4	1511.0	26.62	11.21	876	4398.53	0.00	0.00	2.57	0.000	0.000	0.069	1320.16	1333.25	1307.06	2367.62	3020.50	0	0	0	30.00	30.00	15.80
4582.98	16710	260.92	0.86	40.00	1317.8	1335.6	1300.0	2368.9	3021.1	8.83	8.04	914	4587.82	0.00	0.00	1.47	0.000	0.000	0.077	1318.06	1335.75	1300.38	2368.06	3904.00	0	0	0	30.00	30.00	15.84
4647	end climb: SURFACE_DEPTH_REACHED
state	4647	begin surface coast
4668	end surface coast: CONTROL_FINISHED_OK
state	4668	begin surface