Glider dive log

AMOS Sep20 * SG235 * Dive index * Mission links * Dive 12 * 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 12 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 0 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 502.86499 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 C_VBD 2550 MOTHERBOARD 6

D_TGT 180 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 2 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 60 T_GPS 5 LOITER_D_BOTTOM 0 COMPASS2_DEVICE -1

T_MISSION 85 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 18.054676 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2520 FG_AHR_24V 25.449095 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 2100 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_CLIMB 2200 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 180 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 18.054676 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 25.449095 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 502.86499

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 60

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 2520 LOGGERDEVICE3 -1 PRESSURE_SLOPE 0.00022957686 T_LOITER 0

C_ROLL_CLIMB 2200 LOGGERDEVICE4 -1 PRESSURE_YINT -158.9099 T_MISSION 85

C_ROLL_DIVE 2100 LOGGERS 3 PROTOCOL 9 T_NO_W 120

C_VBD 2550 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 12 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 2

D_FLARE 3 NOCOMM_ACTION 163 SC_NDIVE 1.0 XPDR_DEVICE -1

D_NO_BLEED 500 N_DIVES 0 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 250920,233031,7214.660,-15202.646,301,99.0,301,15.1 TGT_LATLONG 7301.100,-14934.700

_CALLS 5 TGT_RADIUS 3000.000

_SM_DEPTHo 2.20 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -71.7 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 260920,011209,7216.010,-15204.460,58,1.5,58,15.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 344.0,116341,-17.6,-10.000,-21.24

TGT_NAME SIO3 D_GRID 180

Post-dive calculations and measurements:

FREEZE 8.22,0.614,-1.458,0,1,0 _24V_AH 14.53,13.537

SM_CCo 4292.46,0.00,0.000,0,492.9,571.4,414.4,504.61 _10V_AH 14.92,0.000

SM_GC 5.49,0.00,19.94,0.23,0.000,0.127,0.158,492.9,571.4,414.4,221.4,2082.7,0,0,0,30.00,15.48,15.54 FG_AHR_24Vo 25.694

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 18.094

IRIDIUM_FIX 7216.79,-15203.96,260920,010647 MEM 1152564,32,24324,75

TCM_TEMP 3.15 DATA_FILE_SIZE 19297,657

SC_FREEKB 3874944 CAP_FILE_SIZE 205115,0

PM_FREEKB_00 60564800 SDSIZE 3918848,3811616

PM_ACTIVECARD 0 SDFILEDIR 185,1

RAFOS_CLK -15 ERRORS 0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 7216.328125,-15204.404297,260920,020230,0,1,0.14 SOUNDSPEED 1465.0

HUMID 52.83 CURRENT 0.343,321.3,1

TEMP 0.25 GPS 260920,022745,7216.979,-15205.997,21,2.6,177,15.1

INTERNAL_PRESSURE 7.65556

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 652 1680 15925.39 nil 0 0 0.00

Pitch_motor 45 306 203.18 nil 0 0 0.00

Roll_motor 79 369 426.55 nil 0 0 0.00

Iridium 890 225 2916.98 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 66 15 14.96 nil 0 0 0.00

Core 3661 10 552.81 SciCon 4081 6 406.86

LPSleep 1893 1 31.64 PMAR 4112 20 1248.62

Compass 1646 5 122.80 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

10.79 16386 -145.99 -1.06 0.00 497.3 563.0 431.6 216.4 2111.2 0.00 0.00 0 54.69 41.97 0.00 0.00 0.005 0.000 0.000 1254.28 1260.25 1248.31 216.50 2110.25 0 0 0 15.55 30.00 30.00

54.95 18983 -145.99 -1.06 -80.00 1253.2 1259.8 1246.6 216.4 2111.6 3.56 -3.96 8 135.55 50.81 17.27 4.05 0.005 0.307 0.198 3145.34 3170.56 3120.12 2260.94 637.69 0 0 0 15.57 15.47 15.52

164.26 3205 -145.99 -0.86 0.00 3145.1 3172.0 3118.2 2262.3 637.4 25.94 -21.32 29 175.34 0.00 0.38 3.68 0.000 0.202 0.107 3146.47 3173.69 3119.25 2312.88 2110.38 0 0 0 30.00 15.55 15.52

354.36 260 -145.99 -0.86 80.00 3144.5 3171.8 3117.3 2311.7 2110.1 52.76 -11.91 67 360.82 0.00 0.00 3.51 0.000 0.000 0.188 3147.69 3174.62 3120.75 2312.06 3406.88 0 0 0 30.00 30.00 15.51

584.78 1028 -145.99 -0.86 0.00 3145.9 3172.9 3118.9 2311.9 3406.6 80.47 -11.69 113 591.55 0.00 0.00 3.33 0.000 0.000 0.119 3144.50 3170.81 3118.19 2312.06 2087.44 0 0 0 30.00 30.00 15.60

775.32 388 -145.99 -0.93 80.00 3145.2 3172.5 3118.0 2312.9 2087.6 101.49 -10.99 150 782.26 0.00 0.00 3.56 0.000 0.000 0.190 3145.78 3173.38 3118.19 2313.38 3403.62 0 0 0 30.00 30.00 15.65

824.42 5253 -145.99 -0.97 0.00 3145.4 3172.9 3117.9 2313.1 3404.6 107.42 -11.78 160 832.51 0.00 0.28 3.32 0.000 0.112 0.120 3147.12 3174.00 3120.25 2273.06 2086.81 0 0 0 30.00 15.70 15.63

1130.85 516 -145.99 -0.97 -80.00 3145.1 3171.9 3118.2 2272.4 2087.4 147.02 -12.80 191 1142.67 0.00 0.00 4.03 0.000 0.000 0.228 3145.28 3171.88 3118.69 2271.81 639.50 0 0 0 30.00 30.00 15.68

1231.40 3205 -145.99 -0.93 0.00 3145.0 3172.0 3117.9 2271.1 638.6 161.15 -13.97 211 1238.45 0.00 0.20 3.70 0.000 0.204 0.133 3143.97 3171.50 3116.44 2295.31 2107.31 0 0 0 30.00 15.72 15.69

1416 end dive: TARGET_DEPTH_EXCEEDED

state 1416 begin apogee

1417.59 10243 0.00 -0.25 0.00 3146.6 3173.9 3119.3 2294.9 2208.8 180.61 -9.68 230 1542.15 120.18 1.21 0.05 1.681 0.179 0.369 2546.09 2609.56 2482.62 2459.38 2185.25 0 0 0 11.92 15.73 15.18

1544 end apogee: CONTROL_FINISHED_OK

state 1544 begin climb

1544.27 10759 145.99 1.06 -80.00 2546.6 2609.4 2483.8 2459.6 2186.0 184.80 0.00 242 1676.91 123.32 2.28 4.33 1.567 0.144 0.225 1952.97 2051.81 1854.12 2777.38 738.81 0 0 0 11.60 15.17 14.82

1700.65 5253 145.99 0.81 0.00 1947.8 2042.5 1853.1 2778.4 739.2 175.09 9.56 272 1712.19 0.00 0.56 3.93 0.000 0.231 0.134 1949.19 2043.88 1854.50 2712.25 2209.19 0 0 0 30.00 14.94 14.97

2011.28 10663 236.05 1.02 80.00 1941.0 2032.9 1849.1 2711.5 2207.4 154.40 5.81 304 2094.75 76.04 0.41 3.46 1.540 0.100 0.213 1585.28 1688.75 1481.81 2775.31 3404.75 0 0 0 11.57 15.37 14.97

2107.97 1028 236.05 1.02 0.00 1582.7 1682.8 1482.6 2773.8 3403.8 146.63 9.07 323 2115.35 0.00 0.00 3.21 0.000 0.000 0.120 1582.03 1681.25 1482.81 2774.94 2188.00 0 0 0 30.00 30.00 15.09

2413.01 8354 281.00 1.13 0.00 1575.6 1668.6 1482.6 2774.9 2189.3 120.25 7.91 354 2455.57 39.21 0.00 0.00 1.498 0.000 0.000 1404.12 1504.25 1304.00 2775.06 2189.50 0 0 0 11.63 30.00 30.00

2753.64 10919 333.42 1.33 -80.00 1396.0 1490.8 1301.2 2775.6 2188.5 94.34 7.56 395 2811.61 46.60 0.44 4.14 1.495 0.100 0.209 1190.19 1294.25 1086.12 2847.88 738.69 0 0 0 11.79 15.44 15.18

2835.59 5253 333.42 1.23 0.00 1187.6 1289.8 1085.5 2846.8 738.0 85.61 12.26 411 2846.43 0.00 0.32 3.78 0.000 0.219 0.112 1188.03 1290.06 1086.00 2812.06 2208.94 0 0 0 30.00 15.22 15.24

3026.06 2437 333.42 1.35 80.00 1185.0 1285.0 1085.1 2813.3 2209.1 68.92 8.08 449 3032.92 0.00 0.27 3.32 0.000 0.113 0.194 1184.75 1284.88 1084.62 2853.50 3404.62 0 0 0 30.00 15.41 15.33

3051.66 1028 333.42 1.35 0.00 1183.7 1282.2 1085.2 2854.6 3405.9 66.42 9.06 454 3058.92 0.00 0.00 3.10 0.000 0.000 0.108 1184.50 1282.94 1086.06 2853.62 2185.56 0 0 0 30.00 30.00 15.37

3237.91 8742 385.24 1.41 -80.00 1183.2 1280.9 1085.4 2853.1 2186.1 50.07 7.59 491 3294.43 46.78 0.00 4.08 1.467 0.000 0.201 978.88 1085.25 872.50 2854.06 736.94 0 0 0 11.82 30.00 15.24

3313.35 11431 440.07 1.57 0.00 977.3 1082.1 872.6 2854.0 736.7 44.36 7.45 506 3370.80 49.91 0.32 3.73 1.414 0.107 0.104 756.50 865.81 647.19 2908.81 2210.81 0 0 0 11.58 15.31 15.30

3549.81 10403 508.40 1.83 0.00 750.3 853.6 647.1 2908.4 2210.4 24.34 6.82 553 3611.07 57.29 0.37 0.00 1.401 0.104 0.000 500.59 596.81 404.38 2969.19 2211.50 0 0 0 11.61 15.33 30.00

3789.35 10663 634.47 2.17 80.00 496.2 587.6 404.9 2968.2 2210.3 10.47 4.14 601 3799.94 0.00 0.51 3.27 0.000 0.098 0.176 497.09 587.25 406.94 3051.69 3404.75 0 0 0 30.00 15.31 15.28

3809.39 11431 761.55 2.45 0.00 496.6 585.0 408.1 3050.9 3406.2 9.45 4.09 605 3816.83 0.00 0.40 3.09 0.000 0.106 0.093 496.47 584.88 408.06 3116.62 2181.69 0 0 0 30.00 15.34 15.32

3995.84 10663 985.55 2.64 80.00 495.9 583.7 408.1 3115.9 2181.4 8.75 -0.42 642 4003.28 0.00 0.28 3.30 0.000 0.112 0.168 496.50 584.00 409.00 3165.75 3404.50 0 0 0 30.00 15.44 15.39

4021.51 11431 1201.83 2.77 0.00 495.7 581.7 409.7 3164.4 3403.2 8.46 -0.06 647 4028.97 0.00 0.16 3.04 0.000 0.137 0.091 495.62 581.56 409.69 3193.38 2181.56 0 0 0 30.00 15.44 15.44

4073 end climb: NO_VERTICAL_VELOCITY

state 4073 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	12	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	0	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	502.86499	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	C_VBD	2550	MOTHERBOARD	6
D_TGT	180	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	2	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	60	T_GPS	5	LOITER_D_BOTTOM	0	COMPASS2_DEVICE	-1
T_MISSION	85	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	18.054676	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2520	FG_AHR_24V	25.449095	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	2100	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_CLIMB	2200	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	250920,233031,7214.660,-15202.646,301,99.0,301,15.1	TGT_LATLONG	7301.100,-14934.700
_CALLS	5	TGT_RADIUS	3000.000
_SM_DEPTHo	2.20	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-71.7	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	260920,011209,7216.010,-15204.460,58,1.5,58,15.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	344.0,116341,-17.6,-10.000,-21.24
TGT_NAME	SIO3	D_GRID	180

FREEZE	8.22,0.614,-1.458,0,1,0	_24V_AH	14.53,13.537
SM_CCo	4292.46,0.00,0.000,0,492.9,571.4,414.4,504.61	_10V_AH	14.92,0.000
SM_GC	5.49,0.00,19.94,0.23,0.000,0.127,0.158,492.9,571.4,414.4,221.4,2082.7,0,0,0,30.00,15.48,15.54	FG_AHR_24Vo	25.694
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	18.094
IRIDIUM_FIX	7216.79,-15203.96,260920,010647	MEM	1152564,32,24324,75
TCM_TEMP	3.15	DATA_FILE_SIZE	19297,657
SC_FREEKB	3874944	CAP_FILE_SIZE	205115,0
PM_FREEKB_00	60564800	SDSIZE	3918848,3811616
PM_ACTIVECARD	0	SDFILEDIR	185,1
RAFOS_CLK	-15	ERRORS	0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	7216.328125,-15204.404297,260920,020230,0,1,0.14	SOUNDSPEED	1465.0
HUMID	52.83	CURRENT	0.343,321.3,1
TEMP	0.25	GPS	260920,022745,7216.979,-15205.997,21,2.6,177,15.1
INTERNAL_PRESSURE	7.65556

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	652	1680	15925.39	nil	0	0	0.00
Pitch_motor	45	306	203.18	nil	0	0	0.00
Roll_motor	79	369	426.55	nil	0	0	0.00
Iridium	890	225	2916.98	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	66	15	14.96	nil	0	0	0.00
Core	3661	10	552.81	SciCon	4081	6	406.86
LPSleep	1893	1	31.64	PMAR	4112	20	1248.62
Compass	1646	5	122.80	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
10.79	16386	-145.99	-1.06	0.00	497.3	563.0	431.6	216.4	2111.2	0.00	0.00	0	54.69	41.97	0.00	0.00	0.005	0.000	0.000	1254.28	1260.25	1248.31	216.50	2110.25	0	0	0	15.55	30.00	30.00
54.95	18983	-145.99	-1.06	-80.00	1253.2	1259.8	1246.6	216.4	2111.6	3.56	-3.96	8	135.55	50.81	17.27	4.05	0.005	0.307	0.198	3145.34	3170.56	3120.12	2260.94	637.69	0	0	0	15.57	15.47	15.52
164.26	3205	-145.99	-0.86	0.00	3145.1	3172.0	3118.2	2262.3	637.4	25.94	-21.32	29	175.34	0.00	0.38	3.68	0.000	0.202	0.107	3146.47	3173.69	3119.25	2312.88	2110.38	0	0	0	30.00	15.55	15.52
354.36	260	-145.99	-0.86	80.00	3144.5	3171.8	3117.3	2311.7	2110.1	52.76	-11.91	67	360.82	0.00	0.00	3.51	0.000	0.000	0.188	3147.69	3174.62	3120.75	2312.06	3406.88	0	0	0	30.00	30.00	15.51
584.78	1028	-145.99	-0.86	0.00	3145.9	3172.9	3118.9	2311.9	3406.6	80.47	-11.69	113	591.55	0.00	0.00	3.33	0.000	0.000	0.119	3144.50	3170.81	3118.19	2312.06	2087.44	0	0	0	30.00	30.00	15.60
775.32	388	-145.99	-0.93	80.00	3145.2	3172.5	3118.0	2312.9	2087.6	101.49	-10.99	150	782.26	0.00	0.00	3.56	0.000	0.000	0.190	3145.78	3173.38	3118.19	2313.38	3403.62	0	0	0	30.00	30.00	15.65
824.42	5253	-145.99	-0.97	0.00	3145.4	3172.9	3117.9	2313.1	3404.6	107.42	-11.78	160	832.51	0.00	0.28	3.32	0.000	0.112	0.120	3147.12	3174.00	3120.25	2273.06	2086.81	0	0	0	30.00	15.70	15.63
1130.85	516	-145.99	-0.97	-80.00	3145.1	3171.9	3118.2	2272.4	2087.4	147.02	-12.80	191	1142.67	0.00	0.00	4.03	0.000	0.000	0.228	3145.28	3171.88	3118.69	2271.81	639.50	0	0	0	30.00	30.00	15.68
1231.40	3205	-145.99	-0.93	0.00	3145.0	3172.0	3117.9	2271.1	638.6	161.15	-13.97	211	1238.45	0.00	0.20	3.70	0.000	0.204	0.133	3143.97	3171.50	3116.44	2295.31	2107.31	0	0	0	30.00	15.72	15.69
1416	end dive: TARGET_DEPTH_EXCEEDED
state	1416	begin apogee
1417.59	10243	0.00	-0.25	0.00	3146.6	3173.9	3119.3	2294.9	2208.8	180.61	-9.68	230	1542.15	120.18	1.21	0.05	1.681	0.179	0.369	2546.09	2609.56	2482.62	2459.38	2185.25	0	0	0	11.92	15.73	15.18
1544	end apogee: CONTROL_FINISHED_OK
state	1544	begin climb
1544.27	10759	145.99	1.06	-80.00	2546.6	2609.4	2483.8	2459.6	2186.0	184.80	0.00	242	1676.91	123.32	2.28	4.33	1.567	0.144	0.225	1952.97	2051.81	1854.12	2777.38	738.81	0	0	0	11.60	15.17	14.82
1700.65	5253	145.99	0.81	0.00	1947.8	2042.5	1853.1	2778.4	739.2	175.09	9.56	272	1712.19	0.00	0.56	3.93	0.000	0.231	0.134	1949.19	2043.88	1854.50	2712.25	2209.19	0	0	0	30.00	14.94	14.97
2011.28	10663	236.05	1.02	80.00	1941.0	2032.9	1849.1	2711.5	2207.4	154.40	5.81	304	2094.75	76.04	0.41	3.46	1.540	0.100	0.213	1585.28	1688.75	1481.81	2775.31	3404.75	0	0	0	11.57	15.37	14.97
2107.97	1028	236.05	1.02	0.00	1582.7	1682.8	1482.6	2773.8	3403.8	146.63	9.07	323	2115.35	0.00	0.00	3.21	0.000	0.000	0.120	1582.03	1681.25	1482.81	2774.94	2188.00	0	0	0	30.00	30.00	15.09
2413.01	8354	281.00	1.13	0.00	1575.6	1668.6	1482.6	2774.9	2189.3	120.25	7.91	354	2455.57	39.21	0.00	0.00	1.498	0.000	0.000	1404.12	1504.25	1304.00	2775.06	2189.50	0	0	0	11.63	30.00	30.00
2753.64	10919	333.42	1.33	-80.00	1396.0	1490.8	1301.2	2775.6	2188.5	94.34	7.56	395	2811.61	46.60	0.44	4.14	1.495	0.100	0.209	1190.19	1294.25	1086.12	2847.88	738.69	0	0	0	11.79	15.44	15.18
2835.59	5253	333.42	1.23	0.00	1187.6	1289.8	1085.5	2846.8	738.0	85.61	12.26	411	2846.43	0.00	0.32	3.78	0.000	0.219	0.112	1188.03	1290.06	1086.00	2812.06	2208.94	0	0	0	30.00	15.22	15.24
3026.06	2437	333.42	1.35	80.00	1185.0	1285.0	1085.1	2813.3	2209.1	68.92	8.08	449	3032.92	0.00	0.27	3.32	0.000	0.113	0.194	1184.75	1284.88	1084.62	2853.50	3404.62	0	0	0	30.00	15.41	15.33
3051.66	1028	333.42	1.35	0.00	1183.7	1282.2	1085.2	2854.6	3405.9	66.42	9.06	454	3058.92	0.00	0.00	3.10	0.000	0.000	0.108	1184.50	1282.94	1086.06	2853.62	2185.56	0	0	0	30.00	30.00	15.37
3237.91	8742	385.24	1.41	-80.00	1183.2	1280.9	1085.4	2853.1	2186.1	50.07	7.59	491	3294.43	46.78	0.00	4.08	1.467	0.000	0.201	978.88	1085.25	872.50	2854.06	736.94	0	0	0	11.82	30.00	15.24
3313.35	11431	440.07	1.57	0.00	977.3	1082.1	872.6	2854.0	736.7	44.36	7.45	506	3370.80	49.91	0.32	3.73	1.414	0.107	0.104	756.50	865.81	647.19	2908.81	2210.81	0	0	0	11.58	15.31	15.30
3549.81	10403	508.40	1.83	0.00	750.3	853.6	647.1	2908.4	2210.4	24.34	6.82	553	3611.07	57.29	0.37	0.00	1.401	0.104	0.000	500.59	596.81	404.38	2969.19	2211.50	0	0	0	11.61	15.33	30.00
3789.35	10663	634.47	2.17	80.00	496.2	587.6	404.9	2968.2	2210.3	10.47	4.14	601	3799.94	0.00	0.51	3.27	0.000	0.098	0.176	497.09	587.25	406.94	3051.69	3404.75	0	0	0	30.00	15.31	15.28
3809.39	11431	761.55	2.45	0.00	496.6	585.0	408.1	3050.9	3406.2	9.45	4.09	605	3816.83	0.00	0.40	3.09	0.000	0.106	0.093	496.47	584.88	408.06	3116.62	2181.69	0	0	0	30.00	15.34	15.32
3995.84	10663	985.55	2.64	80.00	495.9	583.7	408.1	3115.9	2181.4	8.75	-0.42	642	4003.28	0.00	0.28	3.30	0.000	0.112	0.168	496.50	584.00	409.00	3165.75	3404.50	0	0	0	30.00	15.44	15.39
4021.51	11431	1201.83	2.77	0.00	495.7	581.7	409.7	3164.4	3403.2	8.46	-0.06	647	4028.97	0.00	0.16	3.04	0.000	0.137	0.091	495.62	581.56	409.69	3193.38	2181.56	0	0	0	30.00	15.44	15.44
4073	end climb: NO_VERTICAL_VELOCITY
state	4073	begin surface