Glider dive log

AMOS Sep20 * SG235 * Dive index * Mission links * Dive 1 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 XPDR_INT 0

MISSION 6 FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_REP 0

DIVE 1 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 1 TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -0.5

STOP_T 0 TGT_AUTO_DEFAULT 0 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 SM_CC 511.26248 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 C_VBD 2625 MOTHERBOARD 6

D_TGT 45 FILEMGR 0 VBD_DBAND 2 DEVICE1 -1

D_ABORT 250 CALL_NDIVES 1 VBD_CNV -0.24529999 DEVICE2 -1

D_NO_BLEED 500 COMM_SEQ 0 VBD_LP_IGNORE 0 DEVICE3 -1

D_BOOST 2 PROTOCOL 9 VBD_TIMEOUT 720 DEVICE4 -1

T_BOOST 0 N_NOCOMM 2 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_FINISH 0 NOCOMM_ACTION 163 UNCOM_BLEED 20 DEVICE6 -1

D_PITCH 0 N_NOSURFACE 0 VBD_MAXERRORS 1 LOGGERS 3

D_SAFE 0 UPLOAD_DIVES_MAX -1 W_ADJ_DBAND 0 LOGGERDEVICE1 7

D_CALL 0 CALL_TRIES 5 DBDW 0 LOGGERDEVICE2 35

SURFACE_URGENCY 0 CALL_WAIT 60 LOITER_W_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 LOITER_DBDW 0 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 LOITER_D_TOP 0 COMPASS_DEVICE 66

T_DIVE 15 T_GPS 5 LOITER_D_BOTTOM 0 COMPASS2_DEVICE -1

T_MISSION 30 N_GPS 100440 LOITER_N_DIVE 0 PHONE_DEVICE 33

T_ABORT 1440 T_RSLEEP 1 CF8_MAXERRORS 20 GPS_DEVICE 48

T_TURN 225 STROBE 0 AH0_24V 350 RAFOS_DEVICE 104

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 AH0_10V 0 NETWORK_DEVICE -1

T_NO_W 120 RAFOS_CORR_THRESH 60 MINV_24V 11 PRESSURE_DEVICE 34

T_LOITER 0 RAFOS_HIT_WINDOW 3600 MINV_10V 11 XPDR_DEVICE -1

T_EPIRB 0 RAFOS_MMODEM 0 MAXI_24V 5 SIM_W 0

USE_BATHY 0 PITCH_MIN 230 MAXI_10V 1.5 SEABIRD_T_G 0.004415411

USE_ICE 0 PITCH_MAX 3900 FG_AHR_10V 17.325777 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2575 FG_AHR_24V 21.888323 SEABIRD_T_I 2.6329088e-05

D_OFFGRID 990 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_J 3.2522996e-06

RELAUNCH 1 PITCH_CNV 0.0041299998 PRESSURE_YINT -158.9099 SEABIRD_C_G -9.8064938

APOGEE_PITCH -5 PITCH_GAIN 20 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_H 1.0739573

MAX_BUOY 150 PITCH_TIMEOUT 30 COMPASS_USE 4 SEABIRD_C_I -0.002841271

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 ALTIM_PING_FIT 0 SEABIRD_C_J 0.00027081851

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.045000002 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 7.0

MASS 72133 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

NAV_MODE 2 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 0 SC_NDIVE 1.0

FERRY_MAX 45 ROLL_MIN 600 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MAX 3400 ALTIM_PING_DELTA 0 PM_PROFILE 7.0

HD_A 0.003 ROLL_DEG 80 ALTIM_FREQUENCY 13 PM_XMITPROFILE 3.0

HD_B 0.0099999998 C_ROLL_DIVE 1700 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_CLIMB 2100 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING -1 HEAD_ERRBAND 10 XPDR_VALID 4 PM_MOTORS 1.0

ESCAPE_HEADING 0 ROLL_CNV 0.054945 XPDR_INHIBIT 90 PM_SENDDEPTH 1.0

AH0_10V 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_C_H 1.0739573

AH0_24V 350 D_TGT 45 PHONE_DEVICE 33 SEABIRD_C_I -0.002841271

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SEABIRD_C_J 0.00027081851

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SEABIRD_T_G 0.004415411

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0.045000002 SEABIRD_T_H 0.00064200663

ALTIM_PING_DEPTH 0 FG_AHR_10V 17.325777 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 21.888323 PITCH_DBAND 0.1 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FILEMGR 0 PITCH_GAIN 20 SIM_W 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 SM_CC 511.26248

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 48 PITCH_MIN 230 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_TIMEOUT 30 STROBE 0

APOGEE_PITCH -5 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 SURFACE_URGENCY 0

CALL_NDIVES 1 HD_C 1.6e-05 PITCH_W_DBAND 0 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HEADING -1 PITCH_W_GAIN 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HEAD_ERRBAND 10 PM_MOTORS 1.0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PM_NDIVE 1.0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 ID 235 PM_PROFILE 7.0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 1.9639999e-06 PM_RECORDABOVE 2000.0 T_ABORT 1440

COMM_SEQ 0 INT_PRESSURE_YINT -0.5 PM_SENDDEPTH 1.0 T_BOOST 0

COMPASS2_DEVICE -1 KALMAN_USE 2 PM_XMITPROFILE 3.0 T_DIVE 15

COMPASS_DEVICE 66 LOGGERDEVICE1 7 PM_XMITRAW 0.0 T_EPIRB 0

COMPASS_USE 4 LOGGERDEVICE2 35 PRESSURE_DEVICE 34 T_GPS 5

C_PITCH 2575 LOGGERDEVICE3 -1 PRESSURE_SLOPE 0.00022957686 T_LOITER 0

C_ROLL_CLIMB 2100 LOGGERDEVICE4 -1 PRESSURE_YINT -158.9099 T_MISSION 30

C_ROLL_DIVE 1700 LOGGERS 3 PROTOCOL 9 T_NO_W 120

C_VBD 2625 LOITER_DBDW 0 RAFOS_CORR_THRESH 60 T_RSLEEP 1

DBDW 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE 104 T_TURN 225

DEEPGLIDER 0 LOITER_D_TOP 0 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

DEEPGLIDERMB 0 LOITER_N_DIVE 0 RAFOS_MMODEM 0 UNCOM_BLEED 20

DEVICE1 -1 LOITER_W_DBAND 0 RAFOS_PEAK_OFFSET 0 UPLOAD_DIVES_MAX -1

DEVICE2 -1 MASS 72133 RELAUNCH 1 USE_BATHY 0

DEVICE3 -1 MAXI_10V 1.5 RHO 1.0275 USE_ICE 0

DEVICE4 -1 MAXI_24V 5 ROLL_ADJ_DBAND 0 VBD_CNV -0.24529999

DEVICE5 -1 MAX_BUOY 150 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE6 -1 MINV_10V 11 ROLL_CNV 0.054945 VBD_LP_IGNORE 0

DIVE 1 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 250 MISSION 6 ROLL_MAX 3400 VBD_MAXERRORS 1

D_BOOST 2 MOTHERBOARD 6 ROLL_MAXERRORS 1 VBD_MIN 500

D_CALL 0 NAV_MODE 2 ROLL_MIN 600 VBD_TIMEOUT 720

D_FINISH 0 NETWORK_DEVICE -1 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

D_FLARE 3 NOCOMM_ACTION 163 SC_NDIVE 1.0 XPDR_DEVICE -1

D_NO_BLEED 500 N_DIVES 1 SC_PROFILE 7.0 XPDR_INHIBIT 90

D_OFFGRID 990 N_FILEKB 8 SC_RECORDABOVE 2000.0 XPDR_INT 0

D_PITCH 0 N_GPS 100440 SC_XMITPROFILE 3.0 XPDR_REP 0

D_SAFE 0 N_NOCOMM 2 SEABIRD_C_G -9.8064938 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 240920,223056,7203.696,-15206.924,1,1.2,3,15.1 TGT_LATLONG 7300.000,-14820.200

_CALLS 2 TGT_RADIUS 2000.000

_SM_DEPTHo 1.81 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -69.1 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 240920,223437,7203.734,-15207.007,2,1.2,4,15.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 34.6,161061,-17.6,-10.000,-21.24

TGT_NAME SODAA D_GRID 45

Post-dive calculations and measurements:

FINISH 0.2,1.020513 INTERNAL_PRESSURE 7.7063

SM_CCo 1737.73,0.00,0.012,0,541.0,609.6,472.3,511.21 _24V_AH 14.65,9.229

SM_GC 2.79,0.00,18.24,1.07,0.012,0.085,0.144,541.0,609.6,472.3,221.7,1688.5,0,0,0,30.36,15.30,15.30 _10V_AH 14.66,0.000

SUPER 19,71,254,1,0,0 FG_AHR_24Vo 22.109

IRIDIUM_FIX 7204.50,-15207.98,240920,222901 FG_AHR_10Vo 17.338

TCM_TEMP 4.26 MEM 1153208,25,23960,68

SC_FREEKB 3878464 DATA_FILE_SIZE 9730,329

PM_FREEKB_00 61707584 CAP_FILE_SIZE 210378,0

PM_FREEKB_01 62343040 SDSIZE 3918848,3815008

PM_ACTIVECARD 0 SDFILEDIR 108,1

RAFOS_CLK -10 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 7203.634766,-15207.017578,240920,232359,0,1,0.11 SOUNDSPEED 1449.7

HUMID 53.24 CURRENT 0.459,357.4,1

TEMP 1.54 GPS 240920,230521,7204.081,-15207.110,2,2.9,41,15.1

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 679 1557 15493.88 nil 0 0 0.00

Pitch_motor 42 287 177.10 nil 0 0 0.00

Roll_motor 28 369 155.56 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.94 nil 0 0 0.00

Core 1485 10 220.41 SciCon 1690 6 166.29

LPSleep 282 1 4.65 PMAR 1703 11 286.14

Compass 837 5 61.37 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

10.73 16386 -145.99 -1.06 0.00 541.6 604.6 478.5 230.2 1714.6 0.00 0.00 0 90.90 78.31 0.00 0.00 0.005 0.000 0.000 1727.53 1709.25 1745.81 230.38 1713.81 0 0 0 15.64 30.00 30.00

91.15 18983 -145.99 -1.06 -80.00 1727.1 1709.4 1744.7 230.0 1713.7 3.10 -1.85 15 166.81 47.47 16.64 2.99 0.005 0.287 0.214 3217.59 3247.69 3187.50 2317.75 593.62 0 0 0 15.64 15.44 15.67

170.67 3205 -145.99 -0.82 0.00 3221.1 3251.0 3191.1 2317.9 593.5 17.04 -22.40 30 177.41 0.00 0.41 2.73 0.000 0.200 0.108 3220.19 3250.81 3189.56 2376.06 1714.62 0 0 0 30.00 15.67 15.74

356.15 4517 -145.99 -1.14 80.00 3220.2 3250.5 3189.8 2373.5 1713.8 38.36 -8.98 67 367.25 0.00 0.60 3.77 0.000 0.093 0.182 3219.03 3249.06 3189.00 2283.31 3161.19 0 0 0 30.00 15.76 15.69

416 end dive: TARGET_DEPTH_EXCEEDED

state 416 begin apogee

420.48 10243 0.00 -0.25 0.00 3217.9 3248.5 3187.4 2284.3 2085.8 45.47 -12.28 79 548.32 120.14 1.71 0.05 1.557 0.187 0.369 2624.97 2685.88 2564.06 2513.12 2107.75 0 0 0 11.04 15.66 15.27

551 end apogee: CONTROL_FINISHED_OK

state 551 begin climb

550.87 10759 145.99 1.06 -80.00 2621.7 2681.6 2561.8 2513.8 2108.2 49.75 0.00 104 685.08 122.89 2.19 4.07 1.445 0.133 0.203 2025.94 2109.38 1942.50 2833.38 637.56 0 0 0 11.43 15.26 14.96

868.34 13479 209.19 0.78 0.00 2017.7 2093.9 1941.5 2833.5 637.6 29.69 7.06 166 931.06 53.26 0.61 3.69 1.392 0.225 0.111 1770.81 1864.75 1676.88 2758.44 2108.56 0 0 0 11.28 15.28 15.27

1109.40 10919 362.97 1.22 -80.00 1761.8 1851.6 1672.0 2758.2 2107.9 24.70 2.85 214 1248.55 127.39 0.79 4.05 1.391 0.096 0.193 1145.41 1243.44 1047.38 2878.44 637.50 0 0 0 11.44 15.40 14.98

1352.55 11431 473.37 1.50 0.00 1138.8 1231.2 1046.2 2876.9 637.4 14.57 4.86 262 1455.32 93.78 0.40 3.67 1.347 0.100 0.101 696.12 795.06 597.19 2944.31 2110.88 0 0 0 11.35 15.24 15.15

1634.35 10663 559.78 1.85 80.00 691.2 786.0 596.5 2944.1 2110.7 2.93 5.98 318 1654.87 17.83 0.53 0.00 1.267 0.106 0.000 620.88 710.38 531.38 3028.88 2111.62 0 0 0 11.59 15.31 30.00

1655 end climb: SURFACE_DEPTH_REACHED

state 1655 begin surface coast

1689 end surface coast: CONTROL_FINISHED_OK

state 1689 begin surface

ID	235	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	6	FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	1	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	1	TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-0.5
STOP_T	0	TGT_AUTO_DEFAULT	0	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	SM_CC	511.26248	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	C_VBD	2625	MOTHERBOARD	6
D_TGT	45	FILEMGR	0	VBD_DBAND	2	DEVICE1	-1
D_ABORT	250	CALL_NDIVES	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_NO_BLEED	500	COMM_SEQ	0	VBD_LP_IGNORE	0	DEVICE3	-1
D_BOOST	2	PROTOCOL	9	VBD_TIMEOUT	720	DEVICE4	-1
T_BOOST	0	N_NOCOMM	2	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_FINISH	0	NOCOMM_ACTION	163	UNCOM_BLEED	20	DEVICE6	-1
D_PITCH	0	N_NOSURFACE	0	VBD_MAXERRORS	1	LOGGERS	3
D_SAFE	0	UPLOAD_DIVES_MAX	-1	W_ADJ_DBAND	0	LOGGERDEVICE1	7
D_CALL	0	CALL_TRIES	5	DBDW	0	LOGGERDEVICE2	35
SURFACE_URGENCY	0	CALL_WAIT	60	LOITER_W_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	LOITER_DBDW	0	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	LOITER_D_TOP	0	COMPASS_DEVICE	66
T_DIVE	15	T_GPS	5	LOITER_D_BOTTOM	0	COMPASS2_DEVICE	-1
T_MISSION	30	N_GPS	100440	LOITER_N_DIVE	0	PHONE_DEVICE	33
T_ABORT	1440	T_RSLEEP	1	CF8_MAXERRORS	20	GPS_DEVICE	48
T_TURN	225	STROBE	0	AH0_24V	350	RAFOS_DEVICE	104
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	AH0_10V	0	NETWORK_DEVICE	-1
T_NO_W	120	RAFOS_CORR_THRESH	60	MINV_24V	11	PRESSURE_DEVICE	34
T_LOITER	0	RAFOS_HIT_WINDOW	3600	MINV_10V	11	XPDR_DEVICE	-1
T_EPIRB	0	RAFOS_MMODEM	0	MAXI_24V	5	SIM_W	0
USE_BATHY	0	PITCH_MIN	230	MAXI_10V	1.5	SEABIRD_T_G	0.004415411
USE_ICE	0	PITCH_MAX	3900	FG_AHR_10V	17.325777	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2575	FG_AHR_24V	21.888323	SEABIRD_T_I	2.6329088e-05
D_OFFGRID	990	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_J	3.2522996e-06
RELAUNCH	1	PITCH_CNV	0.0041299998	PRESSURE_YINT	-158.9099	SEABIRD_C_G	-9.8064938
APOGEE_PITCH	-5	PITCH_GAIN	20	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_H	1.0739573
MAX_BUOY	150	PITCH_TIMEOUT	30	COMPASS_USE	4	SEABIRD_C_I	-0.002841271
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	ALTIM_PING_FIT	0	SEABIRD_C_J	0.00027081851
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.045000002	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	7.0
MASS	72133	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
NAV_MODE	2	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	0	SC_NDIVE	1.0
FERRY_MAX	45	ROLL_MIN	600	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MAX	3400	ALTIM_PING_DELTA	0	PM_PROFILE	7.0
HD_A	0.003	ROLL_DEG	80	ALTIM_FREQUENCY	13	PM_XMITPROFILE	3.0
HD_B	0.0099999998	C_ROLL_DIVE	1700	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_CLIMB	2100	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
HEADING	-1	HEAD_ERRBAND	10	XPDR_VALID	4	PM_MOTORS	1.0
ESCAPE_HEADING	0	ROLL_CNV	0.054945	XPDR_INHIBIT	90	PM_SENDDEPTH	1.0

GPS1	240920,223056,7203.696,-15206.924,1,1.2,3,15.1	TGT_LATLONG	7300.000,-14820.200
_CALLS	2	TGT_RADIUS	2000.000
_SM_DEPTHo	1.81	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-69.1	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	240920,223437,7203.734,-15207.007,2,1.2,4,15.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	34.6,161061,-17.6,-10.000,-21.24
TGT_NAME	SODAA	D_GRID	45

FINISH	0.2,1.020513	INTERNAL_PRESSURE	7.7063
SM_CCo	1737.73,0.00,0.012,0,541.0,609.6,472.3,511.21	_24V_AH	14.65,9.229
SM_GC	2.79,0.00,18.24,1.07,0.012,0.085,0.144,541.0,609.6,472.3,221.7,1688.5,0,0,0,30.36,15.30,15.30	_10V_AH	14.66,0.000
SUPER	19,71,254,1,0,0	FG_AHR_24Vo	22.109
IRIDIUM_FIX	7204.50,-15207.98,240920,222901	FG_AHR_10Vo	17.338
TCM_TEMP	4.26	MEM	1153208,25,23960,68
SC_FREEKB	3878464	DATA_FILE_SIZE	9730,329
PM_FREEKB_00	61707584	CAP_FILE_SIZE	210378,0
PM_FREEKB_01	62343040	SDSIZE	3918848,3815008
PM_ACTIVECARD	0	SDFILEDIR	108,1
RAFOS_CLK	-10	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	7203.634766,-15207.017578,240920,232359,0,1,0.11	SOUNDSPEED	1449.7
HUMID	53.24	CURRENT	0.459,357.4,1
TEMP	1.54	GPS	240920,230521,7204.081,-15207.110,2,2.9,41,15.1

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	679	1557	15493.88	nil	0	0	0.00
Pitch_motor	42	287	177.10	nil	0	0	0.00
Roll_motor	28	369	155.56	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.94	nil	0	0	0.00
Core	1485	10	220.41	SciCon	1690	6	166.29
LPSleep	282	1	4.65	PMAR	1703	11	286.14
Compass	837	5	61.37	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
10.73	16386	-145.99	-1.06	0.00	541.6	604.6	478.5	230.2	1714.6	0.00	0.00	0	90.90	78.31	0.00	0.00	0.005	0.000	0.000	1727.53	1709.25	1745.81	230.38	1713.81	0	0	0	15.64	30.00	30.00
91.15	18983	-145.99	-1.06	-80.00	1727.1	1709.4	1744.7	230.0	1713.7	3.10	-1.85	15	166.81	47.47	16.64	2.99	0.005	0.287	0.214	3217.59	3247.69	3187.50	2317.75	593.62	0	0	0	15.64	15.44	15.67
170.67	3205	-145.99	-0.82	0.00	3221.1	3251.0	3191.1	2317.9	593.5	17.04	-22.40	30	177.41	0.00	0.41	2.73	0.000	0.200	0.108	3220.19	3250.81	3189.56	2376.06	1714.62	0	0	0	30.00	15.67	15.74
356.15	4517	-145.99	-1.14	80.00	3220.2	3250.5	3189.8	2373.5	1713.8	38.36	-8.98	67	367.25	0.00	0.60	3.77	0.000	0.093	0.182	3219.03	3249.06	3189.00	2283.31	3161.19	0	0	0	30.00	15.76	15.69
416	end dive: TARGET_DEPTH_EXCEEDED
state	416	begin apogee
420.48	10243	0.00	-0.25	0.00	3217.9	3248.5	3187.4	2284.3	2085.8	45.47	-12.28	79	548.32	120.14	1.71	0.05	1.557	0.187	0.369	2624.97	2685.88	2564.06	2513.12	2107.75	0	0	0	11.04	15.66	15.27
551	end apogee: CONTROL_FINISHED_OK
state	551	begin climb
550.87	10759	145.99	1.06	-80.00	2621.7	2681.6	2561.8	2513.8	2108.2	49.75	0.00	104	685.08	122.89	2.19	4.07	1.445	0.133	0.203	2025.94	2109.38	1942.50	2833.38	637.56	0	0	0	11.43	15.26	14.96
868.34	13479	209.19	0.78	0.00	2017.7	2093.9	1941.5	2833.5	637.6	29.69	7.06	166	931.06	53.26	0.61	3.69	1.392	0.225	0.111	1770.81	1864.75	1676.88	2758.44	2108.56	0	0	0	11.28	15.28	15.27
1109.40	10919	362.97	1.22	-80.00	1761.8	1851.6	1672.0	2758.2	2107.9	24.70	2.85	214	1248.55	127.39	0.79	4.05	1.391	0.096	0.193	1145.41	1243.44	1047.38	2878.44	637.50	0	0	0	11.44	15.40	14.98
1352.55	11431	473.37	1.50	0.00	1138.8	1231.2	1046.2	2876.9	637.4	14.57	4.86	262	1455.32	93.78	0.40	3.67	1.347	0.100	0.101	696.12	795.06	597.19	2944.31	2110.88	0	0	0	11.35	15.24	15.15
1634.35	10663	559.78	1.85	80.00	691.2	786.0	596.5	2944.1	2110.7	2.93	5.98	318	1654.87	17.83	0.53	0.00	1.267	0.106	0.000	620.88	710.38	531.38	3028.88	2111.62	0	0	0	11.59	15.31	30.00
1655	end climb: SURFACE_DEPTH_REACHED
state	1655	begin surface coast
1689	end surface coast: CONTROL_FINISHED_OK
state	1689	begin surface