Glider dive log

AMOS Sep20 * SG235 * Dive index * Mission links * Dive 13 * 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 13 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 18.096291 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2520 FG_AHR_24V 25.715219 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 18.096291 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 25.715219 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 13 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 260920,022745,7216.979,-15205.997,21,2.6,177,15.1 TGT_LATLONG 7301.100,-14934.700

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo 2.17 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -72.1 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 260920,023939,7217.189,-15206.519,293,1.3,299,15.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 75.2,115572,-17.6,-10.000,-21.24

TGT_NAME SIO3 D_GRID 180

Post-dive calculations and measurements:

FREEZE 7.69,0.626,-1.442,0,1,0 _24V_AH 14.53,13.846

SM_CCo 4285.46,0.00,0.000,0,493.7,573.4,414.0,504.41 _10V_AH 14.88,0.000

SM_GC 6.05,0.00,19.07,0.23,0.000,0.110,0.163,493.7,573.4,414.0,220.2,2083.2,0,0,0,30.00,15.46,15.50 FG_AHR_24Vo 25.962

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 18.131

IRIDIUM_FIX 7216.79,-15203.96,260920,010859 MEM 1152524,35,24304,75

TCM_TEMP 3.07 DATA_FILE_SIZE 19346,658

SC_FREEKB 3874624 CAP_FILE_SIZE 201576,0

PM_FREEKB_00 60507008 SDSIZE 3918848,3811360

PM_ACTIVECARD 0 SDFILEDIR 192,1

RAFOS_CLK -16 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 7217.185547,-15206.042969,260920,030352,0,1,0.07 SOUNDSPEED 1465.0

HUMID 52.81 WARN PPS timeout

TEMP 0.17 CURRENT 0.368,315.5,1

INTERNAL_PRESSURE 7.66093 GPS 260920,035637,7217.834,-15207.122,262,1.4,268,15.1

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 654 1682 15989.76 nil 0 0 0.00

Pitch_motor 43 305 194.94 nil 0 0 0.00

Roll_motor 85 365 454.00 nil 0 0 0.00

Iridium 344 217 1087.73 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 308 15 68.90 nil 0 0 0.00

Core 3344 10 503.59 SciCon 4079 6 400.47

LPSleep 1648 1 27.48 PMAR 4089 16 1031.19

Compass 1648 5 122.68 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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

10.15 16386 -145.99 -1.06 0.00 491.4 559.8 423.1 220.2 2113.9 0.00 0.00 0 48.98 36.85 0.00 0.00 0.005 0.000 0.000 1157.31 1170.69 1143.94 220.31 2114.81 0 0 0 15.62 30.00 30.00

49.24 18727 -145.99 -1.06 80.00 1157.5 1171.3 1143.7 220.3 2115.6 3.31 -3.80 7 134.73 55.37 17.05 3.44 0.005 0.305 0.179 3144.44 3169.00 3119.88 2260.88 3406.94 0 0 0 15.64 15.51 15.57

228.61 3205 -145.99 -0.88 0.00 3143.7 3168.2 3119.2 2262.8 3409.1 41.38 -20.11 42 235.16 0.00 0.31 3.30 0.000 0.201 0.110 3143.88 3168.38 3119.38 2304.62 2087.00 0 0 0 30.00 15.62 15.65

413.88 516 -145.99 -0.88 -80.00 3144.8 3170.7 3118.9 2304.1 2088.5 66.27 -12.12 79 424.93 0.00 0.00 3.98 0.000 0.000 0.209 3148.50 3174.00 3123.00 2304.81 637.50 0 0 0 30.00 30.00 15.59

473.89 1028 -145.99 -0.88 0.00 3145.1 3171.2 3118.9 2305.6 637.6 73.94 -12.89 91 480.42 0.00 0.00 3.65 0.000 0.000 0.109 3149.09 3175.00 3123.19 2306.25 2110.50 0 0 0 30.00 30.00 15.68

659.22 260 -145.99 -0.88 80.00 3145.1 3171.2 3119.0 2305.1 2110.9 95.34 -11.47 128 666.54 0.00 0.00 3.49 0.000 0.000 0.193 3143.59 3169.19 3118.00 2306.44 3404.81 0 0 0 30.00 30.00 15.66

708.70 1028 -145.99 -0.88 0.00 3145.1 3170.7 3119.4 2305.7 3405.2 101.48 -12.11 138 716.76 0.00 0.00 3.31 0.000 0.000 0.118 3145.19 3171.50 3118.88 2306.44 2088.56 0 0 0 30.00 30.00 15.70

1015.33 4741 -145.99 -0.99 -80.00 3145.4 3171.4 3119.4 2305.4 2089.1 136.85 -11.27 169 1026.90 0.00 0.25 4.03 0.000 0.113 0.224 3147.81 3174.38 3121.25 2269.12 637.50 0 0 0 30.00 15.74 15.68

1065.98 3205 -145.99 -0.89 0.00 3145.4 3171.6 3119.2 2269.1 637.6 144.07 -14.92 179 1072.67 0.00 0.29 3.68 0.000 0.202 0.128 3148.72 3175.00 3122.44 2303.19 2108.88 0 0 0 30.00 15.70 15.69

1370.81 4485 -145.99 -1.03 80.00 3145.7 3171.7 3119.8 2302.9 2108.9 175.59 -8.93 210 1377.79 0.00 0.29 3.54 0.000 0.116 0.214 3144.44 3171.38 3117.50 2259.38 3405.19 0 0 0 30.00 15.78 15.67

1410 end dive: TARGET_DEPTH_EXCEEDED

state 1410 begin apogee

1414.16 10243 0.00 -0.25 0.00 3144.9 3171.9 3117.9 2259.6 2188.0 180.30 -11.61 218 1541.19 120.40 1.55 0.05 1.682 0.194 0.365 2549.56 2612.56 2486.56 2458.88 2209.75 0 0 0 11.83 15.72 15.17

1543 end apogee: CONTROL_FINISHED_OK

state 1543 begin climb

1543.25 10503 145.99 1.06 80.00 2546.6 2609.0 2484.2 2459.2 2209.4 184.80 0.00 231 1675.76 123.64 2.28 3.51 1.575 0.147 0.210 1952.56 2051.75 1853.38 2778.12 3401.69 0 0 0 11.57 15.17 14.78

1709.00 5253 145.99 0.82 0.00 1948.0 2041.9 1854.2 2778.1 3403.1 174.32 9.65 263 1716.53 0.00 0.55 3.24 0.000 0.225 0.130 1948.50 2042.31 1854.69 2712.38 2189.12 0 0 0 30.00 14.96 14.99

2014.04 10919 247.69 1.04 -80.00 1941.6 2032.4 1850.8 2712.2 2188.6 155.34 5.27 294 2108.52 85.89 0.43 4.26 1.548 0.102 0.228 1537.62 1639.94 1435.31 2779.81 738.00 0 0 0 11.80 15.38 14.98

2122.42 1028 247.69 1.04 0.00 1535.7 1635.5 1435.8 2779.9 737.9 146.47 9.31 314 2129.80 0.00 0.00 3.88 0.000 0.000 0.126 1535.38 1634.38 1436.38 2779.38 2208.75 0 0 0 30.00 30.00 15.06

2427.35 8614 294.24 1.15 80.00 1529.2 1622.8 1435.7 2778.9 2208.3 120.24 7.83 345 2474.84 40.88 0.00 3.39 1.505 0.000 0.206 1349.09 1450.81 1247.38 2778.50 3404.69 0 0 0 11.76 30.00 15.16

2497.06 3205 294.24 1.24 0.00 1347.2 1446.6 1247.7 2779.0 3405.9 114.31 8.68 359 2504.64 0.00 0.28 3.17 0.000 0.110 0.118 1347.91 1446.56 1249.25 2827.12 2187.25 0 0 0 30.00 15.22 15.23

2803.19 516 294.24 1.24 -80.00 1342.5 1437.8 1247.2 2827.5 2187.9 83.72 9.51 406 2814.30 0.00 0.00 4.03 0.000 0.000 0.209 1341.97 1436.38 1247.56 2827.00 738.50 0 0 0 30.00 30.00 15.39

2873.80 17542 294.24 1.19 0.00 1341.5 1435.9 1247.2 2826.4 738.1 76.48 10.22 420 2884.72 0.00 0.00 3.72 0.000 0.000 0.112 1342.25 1436.25 1248.25 2826.31 2210.06 0 0 0 30.00 30.00 15.44

3064.43 8614 341.96 1.30 80.00 1340.9 1434.9 1246.9 2826.9 2210.5 60.54 7.78 458 3116.62 43.17 0.00 3.31 1.489 0.000 0.192 1154.28 1256.94 1051.62 2827.88 3406.12 0 0 0 11.74 30.00 15.26

3150.59 3205 341.96 1.41 0.00 1152.7 1253.4 1052.1 2827.0 3405.2 53.79 8.16 475 3157.34 0.00 0.22 3.10 0.000 0.112 0.107 1153.00 1253.69 1052.31 2867.81 2185.50 0 0 0 30.00 15.37 15.36

3335.61 10919 395.48 1.56 -80.00 1150.7 1249.9 1051.5 2866.1 2185.3 38.77 7.51 512 3393.23 48.93 0.19 4.01 1.451 0.120 0.199 937.44 1044.69 830.19 2902.50 738.38 0 0 0 11.80 15.48 15.22

3426.45 9254 450.89 1.62 0.00 936.2 1041.9 830.4 2902.5 738.2 32.09 7.42 530 3484.03 50.75 0.00 3.70 1.404 0.000 0.100 712.53 822.62 602.44 2903.44 2210.56 0 0 0 11.56 30.00 15.30

3662.85 10663 555.49 1.97 80.00 707.0 811.5 602.4 2902.4 2210.9 18.45 5.13 577 3720.22 48.33 0.63 3.30 1.388 0.094 0.178 500.12 595.50 404.75 3004.56 3405.94 0 0 0 11.51 15.31 15.04

3943.57 11431 747.65 2.36 0.00 496.7 585.4 408.0 3004.2 3404.9 7.69 1.06 633 3951.05 0.00 0.57 3.06 0.000 0.096 0.095 496.56 584.94 408.19 3098.19 2184.81 0 0 0 30.00 15.35 15.37

4070 end climb: NO_VERTICAL_VELOCITY

state 4070 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	13	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	18.096291	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2520	FG_AHR_24V	25.715219	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	260920,022745,7216.979,-15205.997,21,2.6,177,15.1	TGT_LATLONG	7301.100,-14934.700
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	2.17	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-72.1	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	260920,023939,7217.189,-15206.519,293,1.3,299,15.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	75.2,115572,-17.6,-10.000,-21.24
TGT_NAME	SIO3	D_GRID	180

FREEZE	7.69,0.626,-1.442,0,1,0	_24V_AH	14.53,13.846
SM_CCo	4285.46,0.00,0.000,0,493.7,573.4,414.0,504.41	_10V_AH	14.88,0.000
SM_GC	6.05,0.00,19.07,0.23,0.000,0.110,0.163,493.7,573.4,414.0,220.2,2083.2,0,0,0,30.00,15.46,15.50	FG_AHR_24Vo	25.962
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	18.131
IRIDIUM_FIX	7216.79,-15203.96,260920,010859	MEM	1152524,35,24304,75
TCM_TEMP	3.07	DATA_FILE_SIZE	19346,658
SC_FREEKB	3874624	CAP_FILE_SIZE	201576,0
PM_FREEKB_00	60507008	SDSIZE	3918848,3811360
PM_ACTIVECARD	0	SDFILEDIR	192,1
RAFOS_CLK	-16	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	7217.185547,-15206.042969,260920,030352,0,1,0.07	SOUNDSPEED	1465.0
HUMID	52.81	WARN	PPS timeout
TEMP	0.17	CURRENT	0.368,315.5,1
INTERNAL_PRESSURE	7.66093	GPS	260920,035637,7217.834,-15207.122,262,1.4,268,15.1

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	654	1682	15989.76	nil	0	0	0.00
Pitch_motor	43	305	194.94	nil	0	0	0.00
Roll_motor	85	365	454.00	nil	0	0	0.00
Iridium	344	217	1087.73	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	308	15	68.90	nil	0	0	0.00
Core	3344	10	503.59	SciCon	4079	6	400.47
LPSleep	1648	1	27.48	PMAR	4089	16	1031.19
Compass	1648	5	122.68	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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
10.15	16386	-145.99	-1.06	0.00	491.4	559.8	423.1	220.2	2113.9	0.00	0.00	0	48.98	36.85	0.00	0.00	0.005	0.000	0.000	1157.31	1170.69	1143.94	220.31	2114.81	0	0	0	15.62	30.00	30.00
49.24	18727	-145.99	-1.06	80.00	1157.5	1171.3	1143.7	220.3	2115.6	3.31	-3.80	7	134.73	55.37	17.05	3.44	0.005	0.305	0.179	3144.44	3169.00	3119.88	2260.88	3406.94	0	0	0	15.64	15.51	15.57
228.61	3205	-145.99	-0.88	0.00	3143.7	3168.2	3119.2	2262.8	3409.1	41.38	-20.11	42	235.16	0.00	0.31	3.30	0.000	0.201	0.110	3143.88	3168.38	3119.38	2304.62	2087.00	0	0	0	30.00	15.62	15.65
413.88	516	-145.99	-0.88	-80.00	3144.8	3170.7	3118.9	2304.1	2088.5	66.27	-12.12	79	424.93	0.00	0.00	3.98	0.000	0.000	0.209	3148.50	3174.00	3123.00	2304.81	637.50	0	0	0	30.00	30.00	15.59
473.89	1028	-145.99	-0.88	0.00	3145.1	3171.2	3118.9	2305.6	637.6	73.94	-12.89	91	480.42	0.00	0.00	3.65	0.000	0.000	0.109	3149.09	3175.00	3123.19	2306.25	2110.50	0	0	0	30.00	30.00	15.68
659.22	260	-145.99	-0.88	80.00	3145.1	3171.2	3119.0	2305.1	2110.9	95.34	-11.47	128	666.54	0.00	0.00	3.49	0.000	0.000	0.193	3143.59	3169.19	3118.00	2306.44	3404.81	0	0	0	30.00	30.00	15.66
708.70	1028	-145.99	-0.88	0.00	3145.1	3170.7	3119.4	2305.7	3405.2	101.48	-12.11	138	716.76	0.00	0.00	3.31	0.000	0.000	0.118	3145.19	3171.50	3118.88	2306.44	2088.56	0	0	0	30.00	30.00	15.70
1015.33	4741	-145.99	-0.99	-80.00	3145.4	3171.4	3119.4	2305.4	2089.1	136.85	-11.27	169	1026.90	0.00	0.25	4.03	0.000	0.113	0.224	3147.81	3174.38	3121.25	2269.12	637.50	0	0	0	30.00	15.74	15.68
1065.98	3205	-145.99	-0.89	0.00	3145.4	3171.6	3119.2	2269.1	637.6	144.07	-14.92	179	1072.67	0.00	0.29	3.68	0.000	0.202	0.128	3148.72	3175.00	3122.44	2303.19	2108.88	0	0	0	30.00	15.70	15.69
1370.81	4485	-145.99	-1.03	80.00	3145.7	3171.7	3119.8	2302.9	2108.9	175.59	-8.93	210	1377.79	0.00	0.29	3.54	0.000	0.116	0.214	3144.44	3171.38	3117.50	2259.38	3405.19	0	0	0	30.00	15.78	15.67
1410	end dive: TARGET_DEPTH_EXCEEDED
state	1410	begin apogee
1414.16	10243	0.00	-0.25	0.00	3144.9	3171.9	3117.9	2259.6	2188.0	180.30	-11.61	218	1541.19	120.40	1.55	0.05	1.682	0.194	0.365	2549.56	2612.56	2486.56	2458.88	2209.75	0	0	0	11.83	15.72	15.17
1543	end apogee: CONTROL_FINISHED_OK
state	1543	begin climb
1543.25	10503	145.99	1.06	80.00	2546.6	2609.0	2484.2	2459.2	2209.4	184.80	0.00	231	1675.76	123.64	2.28	3.51	1.575	0.147	0.210	1952.56	2051.75	1853.38	2778.12	3401.69	0	0	0	11.57	15.17	14.78
1709.00	5253	145.99	0.82	0.00	1948.0	2041.9	1854.2	2778.1	3403.1	174.32	9.65	263	1716.53	0.00	0.55	3.24	0.000	0.225	0.130	1948.50	2042.31	1854.69	2712.38	2189.12	0	0	0	30.00	14.96	14.99
2014.04	10919	247.69	1.04	-80.00	1941.6	2032.4	1850.8	2712.2	2188.6	155.34	5.27	294	2108.52	85.89	0.43	4.26	1.548	0.102	0.228	1537.62	1639.94	1435.31	2779.81	738.00	0	0	0	11.80	15.38	14.98
2122.42	1028	247.69	1.04	0.00	1535.7	1635.5	1435.8	2779.9	737.9	146.47	9.31	314	2129.80	0.00	0.00	3.88	0.000	0.000	0.126	1535.38	1634.38	1436.38	2779.38	2208.75	0	0	0	30.00	30.00	15.06
2427.35	8614	294.24	1.15	80.00	1529.2	1622.8	1435.7	2778.9	2208.3	120.24	7.83	345	2474.84	40.88	0.00	3.39	1.505	0.000	0.206	1349.09	1450.81	1247.38	2778.50	3404.69	0	0	0	11.76	30.00	15.16
2497.06	3205	294.24	1.24	0.00	1347.2	1446.6	1247.7	2779.0	3405.9	114.31	8.68	359	2504.64	0.00	0.28	3.17	0.000	0.110	0.118	1347.91	1446.56	1249.25	2827.12	2187.25	0	0	0	30.00	15.22	15.23
2803.19	516	294.24	1.24	-80.00	1342.5	1437.8	1247.2	2827.5	2187.9	83.72	9.51	406	2814.30	0.00	0.00	4.03	0.000	0.000	0.209	1341.97	1436.38	1247.56	2827.00	738.50	0	0	0	30.00	30.00	15.39
2873.80	17542	294.24	1.19	0.00	1341.5	1435.9	1247.2	2826.4	738.1	76.48	10.22	420	2884.72	0.00	0.00	3.72	0.000	0.000	0.112	1342.25	1436.25	1248.25	2826.31	2210.06	0	0	0	30.00	30.00	15.44
3064.43	8614	341.96	1.30	80.00	1340.9	1434.9	1246.9	2826.9	2210.5	60.54	7.78	458	3116.62	43.17	0.00	3.31	1.489	0.000	0.192	1154.28	1256.94	1051.62	2827.88	3406.12	0	0	0	11.74	30.00	15.26
3150.59	3205	341.96	1.41	0.00	1152.7	1253.4	1052.1	2827.0	3405.2	53.79	8.16	475	3157.34	0.00	0.22	3.10	0.000	0.112	0.107	1153.00	1253.69	1052.31	2867.81	2185.50	0	0	0	30.00	15.37	15.36
3335.61	10919	395.48	1.56	-80.00	1150.7	1249.9	1051.5	2866.1	2185.3	38.77	7.51	512	3393.23	48.93	0.19	4.01	1.451	0.120	0.199	937.44	1044.69	830.19	2902.50	738.38	0	0	0	11.80	15.48	15.22
3426.45	9254	450.89	1.62	0.00	936.2	1041.9	830.4	2902.5	738.2	32.09	7.42	530	3484.03	50.75	0.00	3.70	1.404	0.000	0.100	712.53	822.62	602.44	2903.44	2210.56	0	0	0	11.56	30.00	15.30
3662.85	10663	555.49	1.97	80.00	707.0	811.5	602.4	2902.4	2210.9	18.45	5.13	577	3720.22	48.33	0.63	3.30	1.388	0.094	0.178	500.12	595.50	404.75	3004.56	3405.94	0	0	0	11.51	15.31	15.04
3943.57	11431	747.65	2.36	0.00	496.7	585.4	408.0	3004.2	3404.9	7.69	1.06	633	3951.05	0.00	0.57	3.06	0.000	0.096	0.095	496.56	584.94	408.19	3098.19	2184.81	0	0	0	30.00	15.35	15.37
4070	end climb: NO_VERTICAL_VELOCITY
state	4070	begin surface