Glider dive log

AMOS Sep20 * SG235 * Dive index * Mission links * Dive 136 * 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 136 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 32.742378 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2520 FG_AHR_24V 66.932823 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 32.742378 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 66.932823 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 136 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 171020,171700,7148.831,-15142.428,1,1.2,4,15.2 TGT_LATLONG 7149.000,-15142.400

_CALLS 2 TGT_RADIUS 2000.000

_SM_DEPTHo 1.97 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -66.9 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 171020,172402,7148.872,-15142.385,2,0.9,5,15.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 304.5,238,-27.2,-10.000,-30.00

TGT_NAME REC D_GRID 300

Post-dive calculations and measurements:

FINISH 0.3,1.023955 _24V_AH 14.08,68.091

SM_CCo 4995.64,0.00,0.013,0,500.8,585.4,416.2,502.67 _10V_AH 14.48,0.000

SM_GC 1.79,0.00,18.16,0.22,0.013,0.099,0.145,500.8,585.4,416.2,218.9,2077.4,0,0,0,30.36,15.48,15.51 FG_AHR_24Vo 67.197

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 32.773

IRIDIUM_FIX 7150.17,-15144.29,171020,171913 MEM 1152440,31,24408,78

TCM_TEMP 3.23 DATA_FILE_SIZE 19350,694

SC_FREEKB 3835200 CAP_FILE_SIZE 175417,0

PM_FREEKB_00 39854016 SDSIZE 3918848,3773920

PM_ACTIVECARD 0 SDFILEDIR 1121,1

RAFOS_CLK -17 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 7149.211426,-15143.037109,171020,181823,0,1,0.15 SOUNDSPEED 1465.0

HUMID 52.94 CURRENT 0.127, 57.9,1

TEMP 0.26 GPS 171020,184838,7149.396,-15142.758,15,1.1,15,15.2

INTERNAL_PRESSURE 7.65543

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 689 2804 27241.12 nil 0 0 0.00

Pitch_motor 43 307 188.71 nil 0 0 0.00

Roll_motor 42 357 214.26 nil 0 0 0.00

Iridium 246 199 691.90 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.00 nil 0 0 0.00

Core 3271 10 479.40 SciCon 4816 5 401.40

LPSleep 2161 1 35.05 PMAR 4827 9 681.55

Compass 1765 5 127.83 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 0.00 493.2 560.5 426.0 220.0 2113.2 0.00 0.00 0 95.71 82.43 0.00 0.00 0.005 0.000 0.000 1897.47 1897.62 1897.31 219.12 2114.69 0 0 0 15.38 30.00 30.00

95.96 18983 -143.03 -1.54 -80.00 1897.1 1897.2 1896.9 219.1 2115.0 3.07 -1.60 16 166.03 39.33 16.53 3.84 0.005 0.307 0.165 3132.53 3149.38 3115.69 2147.88 635.00 0 0 0 15.44 15.32 15.33

389.77 1028 -143.03 -1.54 0.00 3133.8 3153.5 3114.1 2146.6 635.6 77.62 -22.08 74 396.29 0.00 0.00 3.58 0.000 0.000 0.095 3134.47 3154.00 3114.94 2146.06 2111.56 0 0 0 30.00 30.00 15.45

575.29 4225 -143.03 -1.66 0.00 3133.6 3153.9 3113.2 2146.4 2112.8 111.23 -17.49 105 578.32 0.00 0.26 0.00 0.000 0.116 0.000 3134.38 3154.25 3114.50 2104.75 2110.88 0 0 0 30.00 15.61 30.00

875.21 644 -143.03 -1.72 -80.00 3133.7 3153.8 3113.7 2106.8 2113.3 166.35 -16.50 135 882.08 0.00 0.00 3.87 0.000 0.000 0.186 3132.19 3151.12 3113.25 2106.50 636.62 0 0 0 30.00 30.00 15.52

1050.83 1156 -143.03 -1.62 0.00 3134.4 3154.2 3114.7 2106.6 636.6 197.19 -16.25 170 1057.76 0.00 0.00 3.58 0.000 0.000 0.110 3132.62 3153.38 3111.88 2106.44 2112.56 0 0 0 30.00 30.00 15.67

1355.72 128 -143.03 -1.70 0.00 3133.9 3154.1 3113.7 2105.9 2113.2 238.47 -13.22 201 1358.61 0.00 0.00 0.00 0.000 0.000 0.000 3132.91 3153.44 3112.38 2107.06 2114.12 0 0 0 30.00 30.00 30.00

1656.15 644 -143.03 -1.80 -80.00 3132.7 3152.9 3112.4 2106.3 2112.3 279.11 -13.13 231 1662.89 0.00 0.00 3.91 0.000 0.000 0.208 3133.84 3154.94 3112.75 2106.69 636.19 0 0 0 30.00 30.00 15.65

1741.66 1156 -143.03 -1.74 0.00 3132.1 3152.3 3111.8 2105.8 637.1 292.41 -16.13 248 1748.72 0.00 0.00 3.61 0.000 0.000 0.126 3135.41 3156.06 3114.75 2107.00 2112.62 0 0 0 30.00 30.00 15.76

1797 end dive: TARGET_DEPTH_EXCEEDED

state 1797 begin apogee

1797.94 10243 0.00 -0.25 0.00 3132.6 3153.2 3111.9 2105.9 2211.8 300.25 -14.02 254 1924.18 120.15 2.68 0.05 1.816 0.210 0.358 2545.66 2608.56 2482.75 2457.56 2187.94 0 0 0 11.82 15.72 15.14

1927 end apogee: CONTROL_FINISHED_OK

state 1927 begin climb

1926.63 10243 143.03 1.54 0.00 2547.1 2609.7 2484.5 2458.1 2187.4 303.13 0.00 260 2055.34 124.14 3.10 0.00 1.704 0.131 0.000 1964.56 2062.44 1866.69 2893.88 2186.56 0 0 0 11.63 15.15 30.00

2348.63 20611 143.03 1.37 0.00 1954.0 2043.3 1864.8 2893.1 2186.9 228.15 20.34 300 2352.21 0.00 0.41 0.00 0.000 0.250 0.000 1952.19 2041.69 1862.69 2848.12 2187.81 0 0 0 30.00 15.27 30.00

2648.64 16386 143.03 1.37 0.00 1951.2 2040.4 1862.1 2848.8 2187.4 179.15 14.54 330 2652.11 0.00 0.00 0.00 0.000 0.000 0.000 1950.16 2039.50 1860.81 2850.00 2187.56 0 0 0 30.00 30.00 30.00

2948.77 16514 143.03 1.45 0.00 1950.9 2039.6 1862.3 2849.3 2187.6 141.93 10.20 360 2952.45 0.00 0.00 0.00 0.000 0.000 0.000 1949.94 2039.50 1860.38 2848.31 2187.31 0 0 0 30.00 30.00 30.00

3248.97 10919 168.37 1.60 -80.00 1950.3 2038.5 1862.1 2848.5 2187.6 117.54 7.32 390 3281.37 22.26 0.44 3.79 1.517 0.110 0.172 1862.84 1953.38 1772.31 2913.12 737.25 0 0 0 11.76 15.64 15.50

3350.09 5253 168.37 1.37 0.00 1859.4 1947.2 1771.7 2912.8 737.2 106.73 11.60 410 3361.15 0.00 0.55 3.57 0.000 0.256 0.096 1858.84 1947.19 1770.50 2847.00 2212.25 0 0 0 30.00 15.49 15.57

3660.45 10403 197.02 1.58 0.00 1857.5 1945.8 1769.2 2847.1 2212.4 82.70 6.97 465 3691.16 27.39 0.41 0.00 1.499 0.115 0.000 1746.22 1841.19 1651.25 2907.12 2214.75 0 0 0 11.74 15.64 30.00

3870.49 260 197.02 1.58 80.00 1741.0 1834.9 1647.1 2907.5 2212.4 63.26 8.77 507 3877.27 0.00 0.00 3.09 0.000 0.000 0.171 1741.62 1835.12 1648.12 2907.19 3408.00 0 0 0 30.00 30.00 15.55

3956.26 5253 197.02 1.47 0.00 1740.2 1832.6 1647.8 2908.9 3409.0 54.65 10.08 524 3963.01 0.00 0.32 2.95 0.000 0.239 0.088 1738.44 1829.44 1647.44 2871.88 2178.69 0 0 0 30.00 15.54 15.54

4141.27 10403 257.09 1.78 0.00 1738.8 1831.1 1646.6 2872.8 2178.9 45.53 3.65 561 4203.39 55.26 0.56 0.00 1.483 0.101 0.000 1502.06 1603.38 1400.75 2953.50 2177.69 0 0 0 11.71 15.64 30.00

4382.42 10663 323.10 1.94 80.00 1494.8 1590.8 1398.9 2954.6 2178.9 38.57 3.02 609 4449.56 60.49 0.22 3.22 1.442 0.122 0.159 1232.28 1341.00 1123.56 2991.44 3407.75 0 0 0 11.63 15.51 15.22

4488.33 1156 323.10 1.86 0.00 1228.2 1333.9 1122.4 2992.8 3408.1 31.19 11.01 630 4494.27 0.00 0.00 3.02 0.000 0.000 0.085 1229.66 1335.44 1123.88 2994.56 2178.62 0 0 0 30.00 30.00 15.32

4673.64 128 323.10 1.94 0.00 1224.9 1328.8 1121.0 2993.9 2178.8 11.79 9.67 667 4678.78 0.00 0.00 0.00 0.000 0.000 0.000 1224.84 1328.75 1120.94 2994.00 2178.81 0 0 0 30.00 30.00 30.00

4789 end climb: SURFACE_DEPTH_REACHED

state 4789 begin surface coast

4808 end surface coast: CONTROL_FINISHED_OK

state 4808 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	136	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	32.742378	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2520	FG_AHR_24V	66.932823	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	171020,171700,7148.831,-15142.428,1,1.2,4,15.2	TGT_LATLONG	7149.000,-15142.400
_CALLS	2	TGT_RADIUS	2000.000
_SM_DEPTHo	1.97	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-66.9	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	171020,172402,7148.872,-15142.385,2,0.9,5,15.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	304.5,238,-27.2,-10.000,-30.00
TGT_NAME	REC	D_GRID	300

FINISH	0.3,1.023955	_24V_AH	14.08,68.091
SM_CCo	4995.64,0.00,0.013,0,500.8,585.4,416.2,502.67	_10V_AH	14.48,0.000
SM_GC	1.79,0.00,18.16,0.22,0.013,0.099,0.145,500.8,585.4,416.2,218.9,2077.4,0,0,0,30.36,15.48,15.51	FG_AHR_24Vo	67.197
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	32.773
IRIDIUM_FIX	7150.17,-15144.29,171020,171913	MEM	1152440,31,24408,78
TCM_TEMP	3.23	DATA_FILE_SIZE	19350,694
SC_FREEKB	3835200	CAP_FILE_SIZE	175417,0
PM_FREEKB_00	39854016	SDSIZE	3918848,3773920
PM_ACTIVECARD	0	SDFILEDIR	1121,1
RAFOS_CLK	-17	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	7149.211426,-15143.037109,171020,181823,0,1,0.15	SOUNDSPEED	1465.0
HUMID	52.94	CURRENT	0.127, 57.9,1
TEMP	0.26	GPS	171020,184838,7149.396,-15142.758,15,1.1,15,15.2
INTERNAL_PRESSURE	7.65543

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	689	2804	27241.12	nil	0	0	0.00
Pitch_motor	43	307	188.71	nil	0	0	0.00
Roll_motor	42	357	214.26	nil	0	0	0.00
Iridium	246	199	691.90	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.00	nil	0	0	0.00
Core	3271	10	479.40	SciCon	4816	5	401.40
LPSleep	2161	1	35.05	PMAR	4827	9	681.55
Compass	1765	5	127.83	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	493.2	560.5	426.0	220.0	2113.2	0.00	0.00	0	95.71	82.43	0.00	0.00	0.005	0.000	0.000	1897.47	1897.62	1897.31	219.12	2114.69	0	0	0	15.38	30.00	30.00
95.96	18983	-143.03	-1.54	-80.00	1897.1	1897.2	1896.9	219.1	2115.0	3.07	-1.60	16	166.03	39.33	16.53	3.84	0.005	0.307	0.165	3132.53	3149.38	3115.69	2147.88	635.00	0	0	0	15.44	15.32	15.33
389.77	1028	-143.03	-1.54	0.00	3133.8	3153.5	3114.1	2146.6	635.6	77.62	-22.08	74	396.29	0.00	0.00	3.58	0.000	0.000	0.095	3134.47	3154.00	3114.94	2146.06	2111.56	0	0	0	30.00	30.00	15.45
575.29	4225	-143.03	-1.66	0.00	3133.6	3153.9	3113.2	2146.4	2112.8	111.23	-17.49	105	578.32	0.00	0.26	0.00	0.000	0.116	0.000	3134.38	3154.25	3114.50	2104.75	2110.88	0	0	0	30.00	15.61	30.00
875.21	644	-143.03	-1.72	-80.00	3133.7	3153.8	3113.7	2106.8	2113.3	166.35	-16.50	135	882.08	0.00	0.00	3.87	0.000	0.000	0.186	3132.19	3151.12	3113.25	2106.50	636.62	0	0	0	30.00	30.00	15.52
1050.83	1156	-143.03	-1.62	0.00	3134.4	3154.2	3114.7	2106.6	636.6	197.19	-16.25	170	1057.76	0.00	0.00	3.58	0.000	0.000	0.110	3132.62	3153.38	3111.88	2106.44	2112.56	0	0	0	30.00	30.00	15.67
1355.72	128	-143.03	-1.70	0.00	3133.9	3154.1	3113.7	2105.9	2113.2	238.47	-13.22	201	1358.61	0.00	0.00	0.00	0.000	0.000	0.000	3132.91	3153.44	3112.38	2107.06	2114.12	0	0	0	30.00	30.00	30.00
1656.15	644	-143.03	-1.80	-80.00	3132.7	3152.9	3112.4	2106.3	2112.3	279.11	-13.13	231	1662.89	0.00	0.00	3.91	0.000	0.000	0.208	3133.84	3154.94	3112.75	2106.69	636.19	0	0	0	30.00	30.00	15.65
1741.66	1156	-143.03	-1.74	0.00	3132.1	3152.3	3111.8	2105.8	637.1	292.41	-16.13	248	1748.72	0.00	0.00	3.61	0.000	0.000	0.126	3135.41	3156.06	3114.75	2107.00	2112.62	0	0	0	30.00	30.00	15.76
1797	end dive: TARGET_DEPTH_EXCEEDED
state	1797	begin apogee
1797.94	10243	0.00	-0.25	0.00	3132.6	3153.2	3111.9	2105.9	2211.8	300.25	-14.02	254	1924.18	120.15	2.68	0.05	1.816	0.210	0.358	2545.66	2608.56	2482.75	2457.56	2187.94	0	0	0	11.82	15.72	15.14
1927	end apogee: CONTROL_FINISHED_OK
state	1927	begin climb
1926.63	10243	143.03	1.54	0.00	2547.1	2609.7	2484.5	2458.1	2187.4	303.13	0.00	260	2055.34	124.14	3.10	0.00	1.704	0.131	0.000	1964.56	2062.44	1866.69	2893.88	2186.56	0	0	0	11.63	15.15	30.00
2348.63	20611	143.03	1.37	0.00	1954.0	2043.3	1864.8	2893.1	2186.9	228.15	20.34	300	2352.21	0.00	0.41	0.00	0.000	0.250	0.000	1952.19	2041.69	1862.69	2848.12	2187.81	0	0	0	30.00	15.27	30.00
2648.64	16386	143.03	1.37	0.00	1951.2	2040.4	1862.1	2848.8	2187.4	179.15	14.54	330	2652.11	0.00	0.00	0.00	0.000	0.000	0.000	1950.16	2039.50	1860.81	2850.00	2187.56	0	0	0	30.00	30.00	30.00
2948.77	16514	143.03	1.45	0.00	1950.9	2039.6	1862.3	2849.3	2187.6	141.93	10.20	360	2952.45	0.00	0.00	0.00	0.000	0.000	0.000	1949.94	2039.50	1860.38	2848.31	2187.31	0	0	0	30.00	30.00	30.00
3248.97	10919	168.37	1.60	-80.00	1950.3	2038.5	1862.1	2848.5	2187.6	117.54	7.32	390	3281.37	22.26	0.44	3.79	1.517	0.110	0.172	1862.84	1953.38	1772.31	2913.12	737.25	0	0	0	11.76	15.64	15.50
3350.09	5253	168.37	1.37	0.00	1859.4	1947.2	1771.7	2912.8	737.2	106.73	11.60	410	3361.15	0.00	0.55	3.57	0.000	0.256	0.096	1858.84	1947.19	1770.50	2847.00	2212.25	0	0	0	30.00	15.49	15.57
3660.45	10403	197.02	1.58	0.00	1857.5	1945.8	1769.2	2847.1	2212.4	82.70	6.97	465	3691.16	27.39	0.41	0.00	1.499	0.115	0.000	1746.22	1841.19	1651.25	2907.12	2214.75	0	0	0	11.74	15.64	30.00
3870.49	260	197.02	1.58	80.00	1741.0	1834.9	1647.1	2907.5	2212.4	63.26	8.77	507	3877.27	0.00	0.00	3.09	0.000	0.000	0.171	1741.62	1835.12	1648.12	2907.19	3408.00	0	0	0	30.00	30.00	15.55
3956.26	5253	197.02	1.47	0.00	1740.2	1832.6	1647.8	2908.9	3409.0	54.65	10.08	524	3963.01	0.00	0.32	2.95	0.000	0.239	0.088	1738.44	1829.44	1647.44	2871.88	2178.69	0	0	0	30.00	15.54	15.54
4141.27	10403	257.09	1.78	0.00	1738.8	1831.1	1646.6	2872.8	2178.9	45.53	3.65	561	4203.39	55.26	0.56	0.00	1.483	0.101	0.000	1502.06	1603.38	1400.75	2953.50	2177.69	0	0	0	11.71	15.64	30.00
4382.42	10663	323.10	1.94	80.00	1494.8	1590.8	1398.9	2954.6	2178.9	38.57	3.02	609	4449.56	60.49	0.22	3.22	1.442	0.122	0.159	1232.28	1341.00	1123.56	2991.44	3407.75	0	0	0	11.63	15.51	15.22
4488.33	1156	323.10	1.86	0.00	1228.2	1333.9	1122.4	2992.8	3408.1	31.19	11.01	630	4494.27	0.00	0.00	3.02	0.000	0.000	0.085	1229.66	1335.44	1123.88	2994.56	2178.62	0	0	0	30.00	30.00	15.32
4673.64	128	323.10	1.94	0.00	1224.9	1328.8	1121.0	2993.9	2178.8	11.79	9.67	667	4678.78	0.00	0.00	0.00	0.000	0.000	0.000	1224.84	1328.75	1120.94	2994.00	2178.81	0	0	0	30.00	30.00	30.00
4789	end climb: SURFACE_DEPTH_REACHED
state	4789	begin surface coast
4808	end surface coast: CONTROL_FINISHED_OK
state	4808	begin surface