Glider dive log

AMOS Sep20 * SG235 * Dive index * Mission links * Dive 134 * 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 134 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 300 FILEMGR 0 VBD_DBAND 2 DEVICE1 -1

D_ABORT 750 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 0 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 2 LOGGERDEVICE3 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 LOITER_DBDW 400 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 LOITER_D_TOP 250 COMPASS_DEVICE 66

T_DIVE 100 T_GPS 5 LOITER_D_BOTTOM 400 COMPASS2_DEVICE -1

T_MISSION 300 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 32.649429 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2520 FG_AHR_24V 66.376854 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 300 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 32.649429 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 66.376854 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 100

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 300

C_ROLL_DIVE 2100 LOGGERS 3 PROTOCOL 9 T_NO_W 120

C_VBD 2550 LOITER_DBDW 400 RAFOS_CORR_THRESH 60 T_RSLEEP 1

DBDW 0 LOITER_D_BOTTOM 400 RAFOS_DEVICE 104 T_TURN 225

DEEPGLIDER 0 LOITER_D_TOP 250 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 2 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 134 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 750 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 0 SEABIRD_C_G -9.8064938 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 171020,135730,7148.418,-15142.249,27,0.8,27,15.2 TGT_LATLONG 7149.000,-15142.400

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.90 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -69.5 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 171020,140246,7148.481,-15142.165,2,0.6,2,15.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 303.3,970,-27.2,-10.000,-30.00

TGT_NAME REC D_GRID 300

Post-dive calculations and measurements:

FINISH 0.3,1.023850 _24V_AH 14.44,67.458

SM_CCo 5237.97,0.00,0.008,0,499.8,583.9,415.8,502.90 _10V_AH 14.47,0.000

SM_GC 1.76,0.00,18.01,0.31,0.008,0.088,0.127,499.8,583.9,415.8,217.8,2079.1,0,0,0,30.36,15.45,15.47 FG_AHR_24Vo 66.642

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 32.680

IRIDIUM_FIX 7148.37,-15147.55,171020,120625 MEM 1152412,32,24416,78

TCM_TEMP 3.16 DATA_FILE_SIZE 22537,728

SC_FREEKB 3835840 CAP_FILE_SIZE 209503,0

PM_FREEKB_00 40004160 SDSIZE 3918848,3774400

PM_ACTIVECARD 0 SDFILEDIR 1107,1

RAFOS_CLK -18 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 7148.835449,-15142.817383,171020,151530,0,1,0.15 SOUNDSPEED 1465.0

HUMID 52.86 CURRENT 0.167, 43.1,1

TEMP 0.19 GPS 171020,153120,7149.183,-15142.425,3,1.5,9,15.2

INTERNAL_PRESSURE 7.66114

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 687 1829 18152.81 nil 0 0 0.00

Pitch_motor 46 306 204.41 nil 0 0 0.00

Roll_motor 78 336 379.97 nil 0 0 0.00

Iridium 200 211 614.38 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 11 15 2.56 nil 0 0 0.00

Core 3348 10 490.35 SciCon 5070 5 421.18

LPSleep 2220 1 35.98 PMAR 5081 9 680.23

Compass 1842 5 133.27 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

11.35 16386 -63.62 -1.44 0.00 495.6 567.1 424.1 217.6 2116.8 0.00 0.00 0 85.50 72.24 0.00 0.00 0.005 0.000 0.000 1743.62 1738.50 1748.75 217.88 2118.25 0 0 0 15.41 30.00 30.00

85.80 18983 -138.43 -1.53 -80.00 1744.6 1740.6 1748.6 217.7 2117.8 3.14 -2.09 14 161.09 46.88 16.52 3.86 0.005 0.306 0.166 3114.00 3132.88 3095.12 2147.62 635.62 0 0 0 15.45 15.26 15.43

384.82 1028 -138.43 -1.53 0.00 3114.8 3135.2 3094.4 2148.8 635.7 75.46 -20.54 73 396.05 0.00 0.00 3.57 0.000 0.000 0.096 3116.31 3136.62 3096.00 2148.38 2114.62 0 0 0 30.00 30.00 15.55

580.47 4741 -138.43 -1.65 -80.00 3115.5 3135.2 3095.8 2148.9 2113.3 110.77 -17.00 106 592.30 0.00 0.25 3.83 0.000 0.120 0.172 3115.25 3135.06 3095.44 2108.56 636.38 0 0 0 30.00 15.62 15.48

641.27 3205 -138.43 -1.51 0.00 3114.2 3134.0 3094.5 2109.9 636.7 123.38 -21.93 118 648.07 0.00 0.38 3.55 0.000 0.235 0.095 3114.59 3133.44 3095.75 2152.62 2114.69 0 0 0 30.00 15.57 15.58

946.18 4741 -138.43 -1.69 -80.00 3115.1 3135.5 3094.7 2153.0 2115.2 171.71 -13.44 149 953.14 0.00 0.34 3.87 0.000 0.115 0.188 3115.16 3135.06 3095.25 2098.19 636.12 0 0 0 30.00 15.69 15.62

1035.32 3205 -138.43 -1.55 0.00 3113.9 3133.9 3094.0 2096.8 636.4 187.23 -17.74 167 1043.46 0.00 0.39 3.57 0.000 0.229 0.107 3116.16 3136.06 3096.25 2144.12 2112.94 0 0 0 30.00 15.63 15.62

1342.08 4225 -138.43 -1.74 0.00 3115.8 3135.5 3096.0 2145.5 2114.2 225.17 -12.30 198 1345.12 0.00 0.37 0.00 0.000 0.117 0.000 3114.09 3133.81 3094.38 2087.88 2113.25 0 0 0 30.00 15.74 30.00

1641.92 644 -138.43 -1.79 -80.00 3114.5 3135.1 3094.0 2088.1 2113.5 266.76 -13.85 228 1648.92 0.00 0.00 3.89 0.000 0.000 0.205 3114.09 3134.44 3093.75 2087.44 636.75 0 0 0 30.00 30.00 15.70

1747.68 3205 -138.43 -1.65 0.00 3115.1 3135.3 3094.9 2088.1 636.4 283.93 -16.78 249 1755.04 0.00 0.28 3.59 0.000 0.232 0.123 3115.03 3134.81 3095.25 2118.81 2112.62 0 0 0 30.00 15.73 15.76

1873 end dive: TARGET_DEPTH_EXCEEDED

state 1873 begin apogee

1874.06 10243 0.00 -0.25 0.00 3114.8 3134.6 3095.1 2120.3 2212.3 300.43 -12.59 262 1996.19 116.45 2.54 0.05 1.829 0.206 0.336 2550.62 2612.69 2488.56 2457.44 2187.75 0 0 0 11.85 15.73 15.16

1998 end apogee: CONTROL_FINISHED_OK

state 1998 begin climb

1998.52 10243 138.43 1.53 0.00 2546.8 2609.1 2484.5 2459.0 2186.7 302.63 0.00 268 2126.96 120.20 3.07 0.00 1.711 0.128 0.000 1985.66 2083.31 1888.00 2892.25 2186.44 0 0 0 11.56 15.17 30.00

2422.57 20871 138.43 1.36 80.00 1972.3 2061.7 1882.9 2892.7 2186.8 227.66 19.43 311 2430.07 0.00 0.45 3.26 0.000 0.252 0.185 1975.38 2064.88 1885.88 2842.56 3409.94 0 0 0 30.00 15.28 15.29

2432.23 21639 138.43 1.20 0.00 1972.3 2061.6 1883.0 2844.0 3408.9 225.52 19.69 313 2439.79 0.00 0.28 3.02 0.000 0.263 0.096 1971.62 2060.31 1882.94 2806.56 2183.75 0 0 0 30.00 15.28 15.34

2738.33 19079 138.43 1.33 -80.00 1970.0 2058.9 1881.1 2807.0 2184.2 183.18 12.45 344 2745.88 0.00 0.28 3.79 0.000 0.119 0.178 1968.59 2057.12 1880.06 2845.81 735.19 0 0 0 30.00 15.48 15.45

2754.59 17542 138.43 1.38 0.00 1969.4 2057.4 1881.5 2845.6 735.4 181.06 12.80 347 2761.91 0.00 0.00 3.57 0.000 0.000 0.094 1968.53 2055.94 1881.12 2846.38 2216.31 0 0 0 30.00 30.00 15.48

3059.51 18563 138.43 1.46 0.00 1969.1 2056.8 1881.5 2847.0 2215.9 142.44 10.37 378 3063.22 0.00 0.17 0.00 0.000 0.130 0.000 1967.47 2055.19 1879.75 2877.50 2215.81 0 0 0 30.00 15.60 30.00

3359.52 16902 138.43 1.46 -80.00 1968.9 2056.1 1881.8 2878.4 2215.4 116.38 8.36 408 3367.01 0.00 0.00 3.79 0.000 0.000 0.165 1966.94 2054.00 1879.88 2878.06 736.31 0 0 0 30.00 30.00 15.60

3375.72 17542 138.43 1.42 0.00 1967.7 2053.9 1881.4 2877.8 736.5 115.00 8.32 411 3383.09 0.00 0.00 3.51 0.000 0.000 0.090 1967.62 2054.62 1880.62 2877.19 2213.44 0 0 0 30.00 30.00 15.61

3680.72 8742 176.72 1.46 -80.00 1968.3 2054.9 1881.8 2878.2 2213.0 93.53 5.95 452 3723.41 33.59 0.00 3.82 1.544 0.000 0.166 1827.56 1920.12 1735.00 2878.69 735.38 0 0 0 11.73 30.00 15.50

3787.05 5253 176.72 1.36 0.00 1824.7 1915.5 1733.9 2877.5 734.9 85.45 9.21 473 3797.93 0.00 0.31 3.54 0.000 0.245 0.093 1824.84 1915.62 1734.06 2845.31 2211.38 0 0 0 30.00 15.50 15.55

3977.59 10663 206.60 1.59 80.00 1822.6 1913.8 1731.4 2844.2 2212.2 71.49 6.84 511 4014.03 28.36 0.46 3.10 1.493 0.108 0.173 1706.34 1802.75 1609.94 2910.38 3407.81 0 0 0 11.72 15.63 15.38

4042.28 5253 206.60 1.49 0.00 1703.6 1799.1 1608.1 2912.3 3406.7 65.22 10.67 524 4048.75 0.00 0.31 2.96 0.000 0.242 0.087 1703.91 1799.38 1608.44 2877.12 2178.50 0 0 0 30.00 15.45 15.45

4227.87 10403 237.72 1.71 0.00 1701.8 1796.9 1606.6 2877.7 2179.8 49.69 6.71 561 4263.80 29.68 0.43 0.00 1.463 0.115 0.000 1580.75 1680.00 1481.50 2939.06 2180.50 0 0 0 11.63 15.50 30.00

4442.36 10663 300.86 1.89 80.00 1573.8 1667.9 1479.6 2938.2 2179.9 39.07 3.32 604 4510.01 58.29 0.26 3.20 1.458 0.126 0.158 1323.12 1430.25 1216.00 2984.69 3409.44 0 0 0 11.63 15.42 15.24

4668.27 5253 300.86 1.81 0.00 1317.5 1418.6 1216.3 2983.6 3409.6 23.92 9.21 649 4675.74 0.00 0.28 2.99 0.000 0.246 0.090 1316.19 1417.56 1214.81 2952.81 2178.12 0 0 0 30.00 15.36 15.44

4854.19 10919 341.51 2.07 -80.00 1314.2 1414.8 1213.8 2954.0 2179.7 11.23 5.70 686 4901.49 38.25 0.51 3.78 1.417 0.115 0.163 1156.91 1264.12 1049.69 3024.62 734.75 0 0 0 11.52 15.50 15.32

4965.48 5253 341.51 1.96 0.00 1153.6 1257.4 1049.8 3024.3 735.3 4.74 8.12 708 4975.80 0.00 0.31 3.57 0.000 0.238 0.086 1153.81 1257.44 1050.19 2990.12 2213.81 0 0 0 30.00 15.36 15.35

5025 end climb: SURFACE_DEPTH_REACHED

state 5025 begin surface coast

5065 end surface coast: CONTROL_FINISHED_OK

state 5066 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	134	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	300	FILEMGR	0	VBD_DBAND	2	DEVICE1	-1
D_ABORT	750	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	0	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	2	LOGGERDEVICE3	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	LOITER_DBDW	400	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	LOITER_D_TOP	250	COMPASS_DEVICE	66
T_DIVE	100	T_GPS	5	LOITER_D_BOTTOM	400	COMPASS2_DEVICE	-1
T_MISSION	300	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	32.649429	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2520	FG_AHR_24V	66.376854	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	171020,135730,7148.418,-15142.249,27,0.8,27,15.2	TGT_LATLONG	7149.000,-15142.400
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.90	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-69.5	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	171020,140246,7148.481,-15142.165,2,0.6,2,15.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	303.3,970,-27.2,-10.000,-30.00
TGT_NAME	REC	D_GRID	300

FINISH	0.3,1.023850	_24V_AH	14.44,67.458
SM_CCo	5237.97,0.00,0.008,0,499.8,583.9,415.8,502.90	_10V_AH	14.47,0.000
SM_GC	1.76,0.00,18.01,0.31,0.008,0.088,0.127,499.8,583.9,415.8,217.8,2079.1,0,0,0,30.36,15.45,15.47	FG_AHR_24Vo	66.642
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	32.680
IRIDIUM_FIX	7148.37,-15147.55,171020,120625	MEM	1152412,32,24416,78
TCM_TEMP	3.16	DATA_FILE_SIZE	22537,728
SC_FREEKB	3835840	CAP_FILE_SIZE	209503,0
PM_FREEKB_00	40004160	SDSIZE	3918848,3774400
PM_ACTIVECARD	0	SDFILEDIR	1107,1
RAFOS_CLK	-18	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	7148.835449,-15142.817383,171020,151530,0,1,0.15	SOUNDSPEED	1465.0
HUMID	52.86	CURRENT	0.167, 43.1,1
TEMP	0.19	GPS	171020,153120,7149.183,-15142.425,3,1.5,9,15.2
INTERNAL_PRESSURE	7.66114

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	687	1829	18152.81	nil	0	0	0.00
Pitch_motor	46	306	204.41	nil	0	0	0.00
Roll_motor	78	336	379.97	nil	0	0	0.00
Iridium	200	211	614.38	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	11	15	2.56	nil	0	0	0.00
Core	3348	10	490.35	SciCon	5070	5	421.18
LPSleep	2220	1	35.98	PMAR	5081	9	680.23
Compass	1842	5	133.27	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
11.35	16386	-63.62	-1.44	0.00	495.6	567.1	424.1	217.6	2116.8	0.00	0.00	0	85.50	72.24	0.00	0.00	0.005	0.000	0.000	1743.62	1738.50	1748.75	217.88	2118.25	0	0	0	15.41	30.00	30.00
85.80	18983	-138.43	-1.53	-80.00	1744.6	1740.6	1748.6	217.7	2117.8	3.14	-2.09	14	161.09	46.88	16.52	3.86	0.005	0.306	0.166	3114.00	3132.88	3095.12	2147.62	635.62	0	0	0	15.45	15.26	15.43
384.82	1028	-138.43	-1.53	0.00	3114.8	3135.2	3094.4	2148.8	635.7	75.46	-20.54	73	396.05	0.00	0.00	3.57	0.000	0.000	0.096	3116.31	3136.62	3096.00	2148.38	2114.62	0	0	0	30.00	30.00	15.55
580.47	4741	-138.43	-1.65	-80.00	3115.5	3135.2	3095.8	2148.9	2113.3	110.77	-17.00	106	592.30	0.00	0.25	3.83	0.000	0.120	0.172	3115.25	3135.06	3095.44	2108.56	636.38	0	0	0	30.00	15.62	15.48
641.27	3205	-138.43	-1.51	0.00	3114.2	3134.0	3094.5	2109.9	636.7	123.38	-21.93	118	648.07	0.00	0.38	3.55	0.000	0.235	0.095	3114.59	3133.44	3095.75	2152.62	2114.69	0	0	0	30.00	15.57	15.58
946.18	4741	-138.43	-1.69	-80.00	3115.1	3135.5	3094.7	2153.0	2115.2	171.71	-13.44	149	953.14	0.00	0.34	3.87	0.000	0.115	0.188	3115.16	3135.06	3095.25	2098.19	636.12	0	0	0	30.00	15.69	15.62
1035.32	3205	-138.43	-1.55	0.00	3113.9	3133.9	3094.0	2096.8	636.4	187.23	-17.74	167	1043.46	0.00	0.39	3.57	0.000	0.229	0.107	3116.16	3136.06	3096.25	2144.12	2112.94	0	0	0	30.00	15.63	15.62
1342.08	4225	-138.43	-1.74	0.00	3115.8	3135.5	3096.0	2145.5	2114.2	225.17	-12.30	198	1345.12	0.00	0.37	0.00	0.000	0.117	0.000	3114.09	3133.81	3094.38	2087.88	2113.25	0	0	0	30.00	15.74	30.00
1641.92	644	-138.43	-1.79	-80.00	3114.5	3135.1	3094.0	2088.1	2113.5	266.76	-13.85	228	1648.92	0.00	0.00	3.89	0.000	0.000	0.205	3114.09	3134.44	3093.75	2087.44	636.75	0	0	0	30.00	30.00	15.70
1747.68	3205	-138.43	-1.65	0.00	3115.1	3135.3	3094.9	2088.1	636.4	283.93	-16.78	249	1755.04	0.00	0.28	3.59	0.000	0.232	0.123	3115.03	3134.81	3095.25	2118.81	2112.62	0	0	0	30.00	15.73	15.76
1873	end dive: TARGET_DEPTH_EXCEEDED
state	1873	begin apogee
1874.06	10243	0.00	-0.25	0.00	3114.8	3134.6	3095.1	2120.3	2212.3	300.43	-12.59	262	1996.19	116.45	2.54	0.05	1.829	0.206	0.336	2550.62	2612.69	2488.56	2457.44	2187.75	0	0	0	11.85	15.73	15.16
1998	end apogee: CONTROL_FINISHED_OK
state	1998	begin climb
1998.52	10243	138.43	1.53	0.00	2546.8	2609.1	2484.5	2459.0	2186.7	302.63	0.00	268	2126.96	120.20	3.07	0.00	1.711	0.128	0.000	1985.66	2083.31	1888.00	2892.25	2186.44	0	0	0	11.56	15.17	30.00
2422.57	20871	138.43	1.36	80.00	1972.3	2061.7	1882.9	2892.7	2186.8	227.66	19.43	311	2430.07	0.00	0.45	3.26	0.000	0.252	0.185	1975.38	2064.88	1885.88	2842.56	3409.94	0	0	0	30.00	15.28	15.29
2432.23	21639	138.43	1.20	0.00	1972.3	2061.6	1883.0	2844.0	3408.9	225.52	19.69	313	2439.79	0.00	0.28	3.02	0.000	0.263	0.096	1971.62	2060.31	1882.94	2806.56	2183.75	0	0	0	30.00	15.28	15.34
2738.33	19079	138.43	1.33	-80.00	1970.0	2058.9	1881.1	2807.0	2184.2	183.18	12.45	344	2745.88	0.00	0.28	3.79	0.000	0.119	0.178	1968.59	2057.12	1880.06	2845.81	735.19	0	0	0	30.00	15.48	15.45
2754.59	17542	138.43	1.38	0.00	1969.4	2057.4	1881.5	2845.6	735.4	181.06	12.80	347	2761.91	0.00	0.00	3.57	0.000	0.000	0.094	1968.53	2055.94	1881.12	2846.38	2216.31	0	0	0	30.00	30.00	15.48
3059.51	18563	138.43	1.46	0.00	1969.1	2056.8	1881.5	2847.0	2215.9	142.44	10.37	378	3063.22	0.00	0.17	0.00	0.000	0.130	0.000	1967.47	2055.19	1879.75	2877.50	2215.81	0	0	0	30.00	15.60	30.00
3359.52	16902	138.43	1.46	-80.00	1968.9	2056.1	1881.8	2878.4	2215.4	116.38	8.36	408	3367.01	0.00	0.00	3.79	0.000	0.000	0.165	1966.94	2054.00	1879.88	2878.06	736.31	0	0	0	30.00	30.00	15.60
3375.72	17542	138.43	1.42	0.00	1967.7	2053.9	1881.4	2877.8	736.5	115.00	8.32	411	3383.09	0.00	0.00	3.51	0.000	0.000	0.090	1967.62	2054.62	1880.62	2877.19	2213.44	0	0	0	30.00	30.00	15.61
3680.72	8742	176.72	1.46	-80.00	1968.3	2054.9	1881.8	2878.2	2213.0	93.53	5.95	452	3723.41	33.59	0.00	3.82	1.544	0.000	0.166	1827.56	1920.12	1735.00	2878.69	735.38	0	0	0	11.73	30.00	15.50
3787.05	5253	176.72	1.36	0.00	1824.7	1915.5	1733.9	2877.5	734.9	85.45	9.21	473	3797.93	0.00	0.31	3.54	0.000	0.245	0.093	1824.84	1915.62	1734.06	2845.31	2211.38	0	0	0	30.00	15.50	15.55
3977.59	10663	206.60	1.59	80.00	1822.6	1913.8	1731.4	2844.2	2212.2	71.49	6.84	511	4014.03	28.36	0.46	3.10	1.493	0.108	0.173	1706.34	1802.75	1609.94	2910.38	3407.81	0	0	0	11.72	15.63	15.38
4042.28	5253	206.60	1.49	0.00	1703.6	1799.1	1608.1	2912.3	3406.7	65.22	10.67	524	4048.75	0.00	0.31	2.96	0.000	0.242	0.087	1703.91	1799.38	1608.44	2877.12	2178.50	0	0	0	30.00	15.45	15.45
4227.87	10403	237.72	1.71	0.00	1701.8	1796.9	1606.6	2877.7	2179.8	49.69	6.71	561	4263.80	29.68	0.43	0.00	1.463	0.115	0.000	1580.75	1680.00	1481.50	2939.06	2180.50	0	0	0	11.63	15.50	30.00
4442.36	10663	300.86	1.89	80.00	1573.8	1667.9	1479.6	2938.2	2179.9	39.07	3.32	604	4510.01	58.29	0.26	3.20	1.458	0.126	0.158	1323.12	1430.25	1216.00	2984.69	3409.44	0	0	0	11.63	15.42	15.24
4668.27	5253	300.86	1.81	0.00	1317.5	1418.6	1216.3	2983.6	3409.6	23.92	9.21	649	4675.74	0.00	0.28	2.99	0.000	0.246	0.090	1316.19	1417.56	1214.81	2952.81	2178.12	0	0	0	30.00	15.36	15.44
4854.19	10919	341.51	2.07	-80.00	1314.2	1414.8	1213.8	2954.0	2179.7	11.23	5.70	686	4901.49	38.25	0.51	3.78	1.417	0.115	0.163	1156.91	1264.12	1049.69	3024.62	734.75	0	0	0	11.52	15.50	15.32
4965.48	5253	341.51	1.96	0.00	1153.6	1257.4	1049.8	3024.3	735.3	4.74	8.12	708	4975.80	0.00	0.31	3.57	0.000	0.238	0.086	1153.81	1257.44	1050.19	2990.12	2213.81	0	0	0	30.00	15.36	15.35
5025	end climb: SURFACE_DEPTH_REACHED
state	5025	begin surface coast
5065	end surface coast: CONTROL_FINISHED_OK
state	5066	begin surface