Glider dive log

AMOS Sep20 * SG233 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 233 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 XPDR_INT 0

MISSION 7 FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_REP 0

DIVE 4 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 4 TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 4

STOP_T 0 TGT_AUTO_DEFAULT 0 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 SM_CC 570.32251 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 C_VBD 2825 MOTHERBOARD 6

D_TGT 270 FILEMGR 0 VBD_DBAND 2 DEVICE1 -1

D_ABORT 500 CALL_NDIVES 1 VBD_CNV -0.24529999 DEVICE2 -1

D_NO_BLEED 500 COMM_SEQ 0 VBD_LP_IGNORE 0 DEVICE3 -1

D_BOOST 2 PROTOCOL 9 VBD_TIMEOUT 720 DEVICE4 -1

T_BOOST 0 N_NOCOMM 2 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_FINISH 0 NOCOMM_ACTION 163 UNCOM_BLEED 20 DEVICE6 -1

D_PITCH 0 N_NOSURFACE 0 VBD_MAXERRORS 1 LOGGERS 3

D_SAFE 0 UPLOAD_DIVES_MAX -1 W_ADJ_DBAND 0 LOGGERDEVICE1 7

D_CALL 0 CALL_TRIES 5 DBDW 0 LOGGERDEVICE2 35

SURFACE_URGENCY 0 CALL_WAIT 60 LOITER_W_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 LOITER_DBDW 0 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 LOITER_D_TOP 0 COMPASS_DEVICE 66

T_DIVE 90 T_GPS 5 LOITER_D_BOTTOM 0 COMPASS2_DEVICE -1

T_MISSION 120 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 210 MAXI_10V 1.5 SEABIRD_T_G 0.0044157342

USE_ICE 0 PITCH_MAX 3900 FG_AHR_10V 18.23728 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2650 FG_AHR_24V 98.867584 SEABIRD_T_I 2.7006432e-05

D_OFFGRID 990 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_J 3.3103631e-06

RELAUNCH 1 PITCH_CNV 0.0041299998 PRESSURE_YINT -168.21758 SEABIRD_C_G -9.9894733

APOGEE_PITCH -5 PITCH_GAIN 25 PRESSURE_SLOPE 0.00022579571 SEABIRD_C_H 1.1093811

MAX_BUOY 150 PITCH_TIMEOUT 30 COMPASS_USE 4 SEABIRD_C_I -0.0026526626

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 ALTIM_PING_FIT 0 SEABIRD_C_J 0.00026268355

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.029999999 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 72131 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 580 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MAX 3340 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 1960 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_CLIMB 1900 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 1.1093811

AH0_24V 350 D_TGT 270 PHONE_DEVICE 33 SEABIRD_C_I -0.0026526626

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SEABIRD_C_J 0.00026268355

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SEABIRD_T_G 0.0044157342

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0.029999999 SEABIRD_T_H 0.00064262876

ALTIM_PING_DEPTH 0 FG_AHR_10V 18.23728 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FG_AHR_24V 98.867584 PITCH_DBAND 0.1 SEABIRD_T_J 3.3103631e-06

ALTIM_PULSE 3 FILEMGR 0 PITCH_GAIN 25 SIM_W 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 SM_CC 570.32251

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 48 PITCH_MIN 210 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 233 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 4 PM_SENDDEPTH 1.0 T_BOOST 0

COMPASS2_DEVICE -1 KALMAN_USE 2 PM_XMITPROFILE 3.0 T_DIVE 90

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 2650 LOGGERDEVICE3 -1 PRESSURE_SLOPE 0.00022579571 T_LOITER 0

C_ROLL_CLIMB 1900 LOGGERDEVICE4 -1 PRESSURE_YINT -168.21758 T_MISSION 120

C_ROLL_DIVE 1960 LOGGERS 3 PROTOCOL 9 T_NO_W 120

C_VBD 2825 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 72131 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 4 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 500 MISSION 7 ROLL_MAX 3340 VBD_MAXERRORS 1

D_BOOST 2 MOTHERBOARD 6 ROLL_MAXERRORS 1 VBD_MIN 500

D_CALL 0 NAV_MODE 2 ROLL_MIN 580 VBD_TIMEOUT 720

D_FINISH 0 NETWORK_DEVICE -1 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

D_FLARE 3 NOCOMM_ACTION 163 SC_NDIVE 1.0 XPDR_DEVICE -1

D_NO_BLEED 500 N_DIVES 4 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 -9.9894733 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 250920,020339,7205.484,-15204.965,46,1.2,46,15.1 TGT_LATLONG 7300.000,-14820.200

_CALLS 2 TGT_RADIUS 2000.000

_SM_DEPTHo 1.71 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -72.8 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 250920,021110,7205.588,-15205.301,3,1.3,6,15.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 80.3,158148,-17.6,-10.000,-21.24

TGT_NAME SODAA D_GRID 270

Post-dive calculations and measurements:

FINISH 0.4,1.022125 INTERNAL_PRESSURE 8.15204

SM_CCo 5724.49,0.00,0.000,0,494.2,491.1,497.3,571.74 _24V_AH 14.64,17.176

SM_GC 2.28,0.00,19.08,0.22,0.000,0.088,0.107,494.2,491.1,497.3,197.9,1988.9,0,0,0,30.00,15.31,15.33 _10V_AH 14.68,0.000

SUPER 27,71,254,1,0,0 FG_AHR_24Vo 99.141

IRIDIUM_FIX 7208.12,-15201.43,250920,020531 FG_AHR_10Vo 18.273

TCM_TEMP 2.28 MEM 1153028,32,24000,68

SC_FREEKB 3877472 DATA_FILE_SIZE 22469,812

PM_FREEKB_00 61525824 CAP_FILE_SIZE 218271,0

PM_FREEKB_01 62343040 SDSIZE 3918848,3822016

PM_ACTIVECARD 0 SDFILEDIR 135,1

RAFOS_CLK -11 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 7205.448242,-15204.751953,250920,030319,0,1,0.07 SOUNDSPEED 1465.0

HUMID 52.73 CURRENT 0.221,336.8,1

TEMP 0.57 GPS 250920,034801,7206.082,-15204.406,22,0.8,23,15.1

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 797 1602 18719.45 nil 0 0 0.00

Pitch_motor 44 286 187.06 nil 0 0 0.00

Roll_motor 77 245 276.38 nil 0 0 0.00

Iridium 296 225 975.31 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 15 15 3.32 nil 0 0 0.00

Core 3633 10 539.85 SciCon 5645 5 472.19

LPSleep 2551 1 41.96 PMAR 5668 10 902.04

Compass 2024 5 148.59 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

10.11 16386 -145.99 -0.88 0.00 496.7 487.1 506.2 201.4 1944.8 0.00 0.00 0 79.52 67.32 0.00 0.00 0.005 0.000 0.000 1615.69 1621.06 1610.31 201.56 1943.50 0 0 0 15.45 30.00 30.00

79.78 18983 -145.99 -0.88 -80.00 1616.5 1620.0 1612.9 201.6 1943.5 3.53 -3.05 13 165.65 54.62 18.36 3.60 0.005 0.286 0.175 3423.56 3442.81 3404.31 2433.75 572.38 0 0 0 15.44 15.34 15.45

259.36 1028 -145.99 -0.88 0.00 3424.9 3443.4 3406.4 2433.8 572.5 39.10 -16.64 48 266.13 0.00 0.00 3.38 0.000 0.000 0.080 3426.25 3444.81 3407.69 2433.62 1979.94 0 0 0 30.00 30.00 15.54

445.14 420 -145.99 -0.92 80.00 3424.8 3443.5 3406.2 2433.2 1980.2 60.88 -10.00 85 451.89 0.00 0.00 3.53 0.000 0.000 0.159 3424.09 3443.19 3405.00 2434.19 3347.75 0 0 0 30.00 30.00 15.55

675.66 1156 -145.99 -0.98 0.00 3425.2 3444.4 3406.0 2434.1 3348.0 86.80 -10.65 131 682.50 0.00 0.00 3.39 0.000 0.000 0.082 3426.75 3445.06 3408.44 2432.94 1938.56 0 0 0 30.00 30.00 15.59

861.50 4485 -145.99 -1.03 80.00 3423.9 3443.4 3404.4 2434.7 1939.0 106.63 -10.89 162 868.28 0.00 0.32 3.59 0.000 0.102 0.151 3425.12 3444.12 3406.12 2389.88 3345.94 0 0 0 30.00 15.68 15.64

946.99 3205 -145.99 -0.96 0.00 3425.4 3444.8 3406.1 2389.5 3345.8 118.63 -14.63 179 953.98 0.00 0.26 3.37 0.000 0.210 0.085 3426.72 3445.44 3408.00 2414.31 1939.50 0 0 0 30.00 15.64 15.61

1251.54 388 -145.99 -1.01 80.00 3424.6 3444.6 3404.6 2415.9 1939.6 153.43 -10.66 210 1258.97 0.00 0.00 3.58 0.000 0.000 0.151 3424.59 3444.19 3405.00 2416.06 3346.50 0 0 0 30.00 30.00 15.70

1341.20 5253 -145.99 -1.07 0.00 3425.2 3445.4 3405.1 2416.1 3346.5 162.86 -10.18 228 1348.74 0.00 0.26 3.36 0.000 0.120 0.083 3425.50 3446.12 3404.88 2378.88 1938.94 0 0 0 30.00 15.74 15.73

1647.22 292 -145.99 -1.07 80.00 3425.3 3445.7 3405.0 2378.2 1938.7 194.13 -9.49 259 1654.66 0.00 0.00 3.58 0.000 0.000 0.154 3425.09 3444.94 3405.25 2378.75 3346.88 0 0 0 30.00 30.00 15.74

1726.82 1028 -145.99 -1.07 0.00 3426.0 3446.1 3405.9 2378.8 3346.6 202.26 -10.09 275 1734.35 0.00 0.00 3.36 0.000 0.000 0.085 3426.25 3446.62 3405.88 2378.69 1938.56 0 0 0 30.00 30.00 15.80

2033.49 32 -145.99 -1.07 0.00 3425.2 3444.9 3405.5 2379.1 1939.2 230.61 -9.23 306 2037.40 0.00 0.00 0.00 0.000 0.000 0.000 3425.09 3444.88 3405.31 2378.56 1938.19 0 0 0 30.00 30.00 30.00

2333.79 420 -145.99 -1.11 80.00 3425.4 3445.5 3405.4 2377.9 1939.4 257.02 -8.91 336 2341.09 0.00 0.00 3.57 0.000 0.000 0.155 3425.03 3444.94 3405.12 2379.00 3348.50 0 0 0 30.00 30.00 15.79

2383.25 1060 -145.99 -1.11 0.00 3425.0 3444.8 3405.2 2378.8 3347.5 261.88 -9.57 346 2390.85 0.00 0.00 3.35 0.000 0.000 0.085 3425.84 3444.50 3407.19 2378.50 1938.75 0 0 0 30.00 30.00 15.85

2479 end dive: TARGET_DEPTH_EXCEEDED

state 2479 begin apogee

2480.61 10243 0.00 -0.20 0.00 3424.7 3444.4 3405.1 2378.9 1874.9 270.35 -8.83 356 2606.72 121.15 1.63 0.08 1.602 0.181 0.245 2823.44 2832.38 2814.50 2599.38 1920.69 0 0 0 11.49 15.79 15.28

2609 end apogee: CONTROL_FINISHED_OK

state 2609 begin climb

2609.00 10243 145.99 0.88 0.00 2821.5 2832.7 2810.3 2601.9 1919.9 272.41 0.00 368 2740.45 126.18 1.85 0.00 1.515 0.125 0.000 2228.22 2243.75 2212.69 2865.12 1920.00 0 0 0 11.44 15.26 30.00

3044.53 21127 145.99 0.65 -80.00 2211.8 2227.6 2196.1 2866.0 1920.5 220.00 13.62 421 3055.92 0.00 0.57 3.54 0.000 0.220 0.159 2211.66 2227.44 2195.88 2801.25 572.69 0 0 0 30.00 15.34 15.35

3084.92 21639 145.99 0.45 0.00 2210.0 2223.5 2196.5 2802.1 572.4 214.72 13.19 429 3091.82 0.00 0.34 3.23 0.000 0.220 0.075 2209.00 2223.12 2194.88 2754.12 1922.12 0 0 0 30.00 15.35 15.41

3390.14 10663 207.11 0.57 80.00 2208.0 2222.9 2193.0 2754.8 1924.6 190.20 7.16 460 3452.03 51.81 0.30 3.70 1.488 0.119 0.143 1979.00 1994.31 1963.69 2793.00 3348.88 0 0 0 11.68 15.54 15.27

3454.20 9382 233.96 0.57 0.00 1976.2 1992.8 1959.8 2795.3 3347.6 184.65 8.75 468 3487.36 25.33 0.00 3.62 1.417 0.000 0.080 1870.81 1890.56 1851.06 2795.38 1881.69 0 0 0 11.48 30.00 15.35

3786.04 8354 283.33 0.69 0.00 1857.0 1881.3 1832.8 2794.8 1881.4 155.13 7.70 504 3830.64 42.58 0.00 0.00 1.445 0.000 0.000 1668.38 1693.81 1642.94 2794.88 1881.81 0 0 0 11.58 30.00 30.00

4125.34 10403 349.67 0.90 0.00 1657.2 1687.6 1626.9 2794.0 1881.7 129.11 6.91 538 4187.42 57.76 0.47 0.00 1.411 0.107 0.000 1399.81 1430.69 1368.94 2874.31 1881.88 0 0 0 11.53 15.49 30.00

4485.35 16902 349.67 0.90 -80.00 1388.5 1426.2 1350.8 2874.2 1881.7 90.09 10.70 583 4492.84 0.00 0.00 3.41 0.000 0.000 0.163 1389.88 1427.12 1352.62 2873.19 571.25 0 0 0 30.00 30.00 15.44

4526.06 17542 349.67 0.85 0.00 1387.8 1425.0 1350.7 2873.7 571.4 85.03 12.60 591 4532.51 0.00 0.00 3.21 0.000 0.000 0.074 1389.25 1426.56 1351.94 2873.25 1923.81 0 0 0 30.00 30.00 15.46

4711.68 16386 349.67 0.85 0.00 1386.5 1424.9 1348.1 2874.1 1926.2 66.08 10.05 628 4716.88 0.00 0.00 0.00 0.000 0.000 0.000 1386.53 1425.06 1348.00 2874.00 1925.94 0 0 0 30.00 30.00 30.00

4896.92 8870 376.08 0.93 -80.00 1385.2 1423.7 1346.8 2874.1 1925.3 48.74 8.77 665 4933.48 27.12 0.00 3.52 1.300 0.000 0.160 1291.53 1328.50 1254.56 2875.31 571.62 0 0 0 11.84 30.00 15.47

4967.45 9254 401.08 0.96 0.00 1288.5 1323.1 1253.9 2874.7 571.2 42.61 8.84 679 5004.00 28.52 0.00 3.22 1.279 0.000 0.074 1189.75 1226.69 1152.81 2874.31 1926.81 0 0 0 11.91 30.00 15.45

5183.01 10663 508.71 1.31 80.00 1183.8 1223.9 1143.6 2874.8 1927.4 28.66 4.99 722 5312.37 122.21 0.62 3.76 1.276 0.105 0.145 751.12 775.38 726.88 2973.44 3347.75 0 0 0 11.55 15.51 15.09

5370.61 11431 602.07 1.65 0.00 747.8 770.6 725.0 2972.2 3347.9 17.20 5.66 759 5453.72 73.38 0.53 3.66 1.245 0.105 0.082 500.97 497.25 504.69 3055.81 1879.94 0 0 0 11.53 15.21 15.17

5602 end climb: SURFACE_DEPTH_REACHED

state 5602 begin surface coast

5638 end surface coast: CONTROL_FINISHED_OK

state 5638 begin surface

ID	233	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	7	FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	4	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	4	TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	4
STOP_T	0	TGT_AUTO_DEFAULT	0	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	SM_CC	570.32251	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	C_VBD	2825	MOTHERBOARD	6
D_TGT	270	FILEMGR	0	VBD_DBAND	2	DEVICE1	-1
D_ABORT	500	CALL_NDIVES	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_NO_BLEED	500	COMM_SEQ	0	VBD_LP_IGNORE	0	DEVICE3	-1
D_BOOST	2	PROTOCOL	9	VBD_TIMEOUT	720	DEVICE4	-1
T_BOOST	0	N_NOCOMM	2	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_FINISH	0	NOCOMM_ACTION	163	UNCOM_BLEED	20	DEVICE6	-1
D_PITCH	0	N_NOSURFACE	0	VBD_MAXERRORS	1	LOGGERS	3
D_SAFE	0	UPLOAD_DIVES_MAX	-1	W_ADJ_DBAND	0	LOGGERDEVICE1	7
D_CALL	0	CALL_TRIES	5	DBDW	0	LOGGERDEVICE2	35
SURFACE_URGENCY	0	CALL_WAIT	60	LOITER_W_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	LOITER_DBDW	0	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	LOITER_D_TOP	0	COMPASS_DEVICE	66
T_DIVE	90	T_GPS	5	LOITER_D_BOTTOM	0	COMPASS2_DEVICE	-1
T_MISSION	120	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	210	MAXI_10V	1.5	SEABIRD_T_G	0.0044157342
USE_ICE	0	PITCH_MAX	3900	FG_AHR_10V	18.23728	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2650	FG_AHR_24V	98.867584	SEABIRD_T_I	2.7006432e-05
D_OFFGRID	990	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_J	3.3103631e-06
RELAUNCH	1	PITCH_CNV	0.0041299998	PRESSURE_YINT	-168.21758	SEABIRD_C_G	-9.9894733
APOGEE_PITCH	-5	PITCH_GAIN	25	PRESSURE_SLOPE	0.00022579571	SEABIRD_C_H	1.1093811
MAX_BUOY	150	PITCH_TIMEOUT	30	COMPASS_USE	4	SEABIRD_C_I	-0.0026526626
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	ALTIM_PING_FIT	0	SEABIRD_C_J	0.00026268355
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.029999999	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	72131	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	580	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MAX	3340	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	1960	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_CLIMB	1900	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	250920,020339,7205.484,-15204.965,46,1.2,46,15.1	TGT_LATLONG	7300.000,-14820.200
_CALLS	2	TGT_RADIUS	2000.000
_SM_DEPTHo	1.71	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-72.8	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	250920,021110,7205.588,-15205.301,3,1.3,6,15.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	80.3,158148,-17.6,-10.000,-21.24
TGT_NAME	SODAA	D_GRID	270

FINISH	0.4,1.022125	INTERNAL_PRESSURE	8.15204
SM_CCo	5724.49,0.00,0.000,0,494.2,491.1,497.3,571.74	_24V_AH	14.64,17.176
SM_GC	2.28,0.00,19.08,0.22,0.000,0.088,0.107,494.2,491.1,497.3,197.9,1988.9,0,0,0,30.00,15.31,15.33	_10V_AH	14.68,0.000
SUPER	27,71,254,1,0,0	FG_AHR_24Vo	99.141
IRIDIUM_FIX	7208.12,-15201.43,250920,020531	FG_AHR_10Vo	18.273
TCM_TEMP	2.28	MEM	1153028,32,24000,68
SC_FREEKB	3877472	DATA_FILE_SIZE	22469,812
PM_FREEKB_00	61525824	CAP_FILE_SIZE	218271,0
PM_FREEKB_01	62343040	SDSIZE	3918848,3822016
PM_ACTIVECARD	0	SDFILEDIR	135,1
RAFOS_CLK	-11	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	7205.448242,-15204.751953,250920,030319,0,1,0.07	SOUNDSPEED	1465.0
HUMID	52.73	CURRENT	0.221,336.8,1
TEMP	0.57	GPS	250920,034801,7206.082,-15204.406,22,0.8,23,15.1

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	797	1602	18719.45	nil	0	0	0.00
Pitch_motor	44	286	187.06	nil	0	0	0.00
Roll_motor	77	245	276.38	nil	0	0	0.00
Iridium	296	225	975.31	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	15	15	3.32	nil	0	0	0.00
Core	3633	10	539.85	SciCon	5645	5	472.19
LPSleep	2551	1	41.96	PMAR	5668	10	902.04
Compass	2024	5	148.59	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
10.11	16386	-145.99	-0.88	0.00	496.7	487.1	506.2	201.4	1944.8	0.00	0.00	0	79.52	67.32	0.00	0.00	0.005	0.000	0.000	1615.69	1621.06	1610.31	201.56	1943.50	0	0	0	15.45	30.00	30.00
79.78	18983	-145.99	-0.88	-80.00	1616.5	1620.0	1612.9	201.6	1943.5	3.53	-3.05	13	165.65	54.62	18.36	3.60	0.005	0.286	0.175	3423.56	3442.81	3404.31	2433.75	572.38	0	0	0	15.44	15.34	15.45
259.36	1028	-145.99	-0.88	0.00	3424.9	3443.4	3406.4	2433.8	572.5	39.10	-16.64	48	266.13	0.00	0.00	3.38	0.000	0.000	0.080	3426.25	3444.81	3407.69	2433.62	1979.94	0	0	0	30.00	30.00	15.54
445.14	420	-145.99	-0.92	80.00	3424.8	3443.5	3406.2	2433.2	1980.2	60.88	-10.00	85	451.89	0.00	0.00	3.53	0.000	0.000	0.159	3424.09	3443.19	3405.00	2434.19	3347.75	0	0	0	30.00	30.00	15.55
675.66	1156	-145.99	-0.98	0.00	3425.2	3444.4	3406.0	2434.1	3348.0	86.80	-10.65	131	682.50	0.00	0.00	3.39	0.000	0.000	0.082	3426.75	3445.06	3408.44	2432.94	1938.56	0	0	0	30.00	30.00	15.59
861.50	4485	-145.99	-1.03	80.00	3423.9	3443.4	3404.4	2434.7	1939.0	106.63	-10.89	162	868.28	0.00	0.32	3.59	0.000	0.102	0.151	3425.12	3444.12	3406.12	2389.88	3345.94	0	0	0	30.00	15.68	15.64
946.99	3205	-145.99	-0.96	0.00	3425.4	3444.8	3406.1	2389.5	3345.8	118.63	-14.63	179	953.98	0.00	0.26	3.37	0.000	0.210	0.085	3426.72	3445.44	3408.00	2414.31	1939.50	0	0	0	30.00	15.64	15.61
1251.54	388	-145.99	-1.01	80.00	3424.6	3444.6	3404.6	2415.9	1939.6	153.43	-10.66	210	1258.97	0.00	0.00	3.58	0.000	0.000	0.151	3424.59	3444.19	3405.00	2416.06	3346.50	0	0	0	30.00	30.00	15.70
1341.20	5253	-145.99	-1.07	0.00	3425.2	3445.4	3405.1	2416.1	3346.5	162.86	-10.18	228	1348.74	0.00	0.26	3.36	0.000	0.120	0.083	3425.50	3446.12	3404.88	2378.88	1938.94	0	0	0	30.00	15.74	15.73
1647.22	292	-145.99	-1.07	80.00	3425.3	3445.7	3405.0	2378.2	1938.7	194.13	-9.49	259	1654.66	0.00	0.00	3.58	0.000	0.000	0.154	3425.09	3444.94	3405.25	2378.75	3346.88	0	0	0	30.00	30.00	15.74
1726.82	1028	-145.99	-1.07	0.00	3426.0	3446.1	3405.9	2378.8	3346.6	202.26	-10.09	275	1734.35	0.00	0.00	3.36	0.000	0.000	0.085	3426.25	3446.62	3405.88	2378.69	1938.56	0	0	0	30.00	30.00	15.80
2033.49	32	-145.99	-1.07	0.00	3425.2	3444.9	3405.5	2379.1	1939.2	230.61	-9.23	306	2037.40	0.00	0.00	0.00	0.000	0.000	0.000	3425.09	3444.88	3405.31	2378.56	1938.19	0	0	0	30.00	30.00	30.00
2333.79	420	-145.99	-1.11	80.00	3425.4	3445.5	3405.4	2377.9	1939.4	257.02	-8.91	336	2341.09	0.00	0.00	3.57	0.000	0.000	0.155	3425.03	3444.94	3405.12	2379.00	3348.50	0	0	0	30.00	30.00	15.79
2383.25	1060	-145.99	-1.11	0.00	3425.0	3444.8	3405.2	2378.8	3347.5	261.88	-9.57	346	2390.85	0.00	0.00	3.35	0.000	0.000	0.085	3425.84	3444.50	3407.19	2378.50	1938.75	0	0	0	30.00	30.00	15.85
2479	end dive: TARGET_DEPTH_EXCEEDED
state	2479	begin apogee
2480.61	10243	0.00	-0.20	0.00	3424.7	3444.4	3405.1	2378.9	1874.9	270.35	-8.83	356	2606.72	121.15	1.63	0.08	1.602	0.181	0.245	2823.44	2832.38	2814.50	2599.38	1920.69	0	0	0	11.49	15.79	15.28
2609	end apogee: CONTROL_FINISHED_OK
state	2609	begin climb
2609.00	10243	145.99	0.88	0.00	2821.5	2832.7	2810.3	2601.9	1919.9	272.41	0.00	368	2740.45	126.18	1.85	0.00	1.515	0.125	0.000	2228.22	2243.75	2212.69	2865.12	1920.00	0	0	0	11.44	15.26	30.00
3044.53	21127	145.99	0.65	-80.00	2211.8	2227.6	2196.1	2866.0	1920.5	220.00	13.62	421	3055.92	0.00	0.57	3.54	0.000	0.220	0.159	2211.66	2227.44	2195.88	2801.25	572.69	0	0	0	30.00	15.34	15.35
3084.92	21639	145.99	0.45	0.00	2210.0	2223.5	2196.5	2802.1	572.4	214.72	13.19	429	3091.82	0.00	0.34	3.23	0.000	0.220	0.075	2209.00	2223.12	2194.88	2754.12	1922.12	0	0	0	30.00	15.35	15.41
3390.14	10663	207.11	0.57	80.00	2208.0	2222.9	2193.0	2754.8	1924.6	190.20	7.16	460	3452.03	51.81	0.30	3.70	1.488	0.119	0.143	1979.00	1994.31	1963.69	2793.00	3348.88	0	0	0	11.68	15.54	15.27
3454.20	9382	233.96	0.57	0.00	1976.2	1992.8	1959.8	2795.3	3347.6	184.65	8.75	468	3487.36	25.33	0.00	3.62	1.417	0.000	0.080	1870.81	1890.56	1851.06	2795.38	1881.69	0	0	0	11.48	30.00	15.35
3786.04	8354	283.33	0.69	0.00	1857.0	1881.3	1832.8	2794.8	1881.4	155.13	7.70	504	3830.64	42.58	0.00	0.00	1.445	0.000	0.000	1668.38	1693.81	1642.94	2794.88	1881.81	0	0	0	11.58	30.00	30.00
4125.34	10403	349.67	0.90	0.00	1657.2	1687.6	1626.9	2794.0	1881.7	129.11	6.91	538	4187.42	57.76	0.47	0.00	1.411	0.107	0.000	1399.81	1430.69	1368.94	2874.31	1881.88	0	0	0	11.53	15.49	30.00
4485.35	16902	349.67	0.90	-80.00	1388.5	1426.2	1350.8	2874.2	1881.7	90.09	10.70	583	4492.84	0.00	0.00	3.41	0.000	0.000	0.163	1389.88	1427.12	1352.62	2873.19	571.25	0	0	0	30.00	30.00	15.44
4526.06	17542	349.67	0.85	0.00	1387.8	1425.0	1350.7	2873.7	571.4	85.03	12.60	591	4532.51	0.00	0.00	3.21	0.000	0.000	0.074	1389.25	1426.56	1351.94	2873.25	1923.81	0	0	0	30.00	30.00	15.46
4711.68	16386	349.67	0.85	0.00	1386.5	1424.9	1348.1	2874.1	1926.2	66.08	10.05	628	4716.88	0.00	0.00	0.00	0.000	0.000	0.000	1386.53	1425.06	1348.00	2874.00	1925.94	0	0	0	30.00	30.00	30.00
4896.92	8870	376.08	0.93	-80.00	1385.2	1423.7	1346.8	2874.1	1925.3	48.74	8.77	665	4933.48	27.12	0.00	3.52	1.300	0.000	0.160	1291.53	1328.50	1254.56	2875.31	571.62	0	0	0	11.84	30.00	15.47
4967.45	9254	401.08	0.96	0.00	1288.5	1323.1	1253.9	2874.7	571.2	42.61	8.84	679	5004.00	28.52	0.00	3.22	1.279	0.000	0.074	1189.75	1226.69	1152.81	2874.31	1926.81	0	0	0	11.91	30.00	15.45
5183.01	10663	508.71	1.31	80.00	1183.8	1223.9	1143.6	2874.8	1927.4	28.66	4.99	722	5312.37	122.21	0.62	3.76	1.276	0.105	0.145	751.12	775.38	726.88	2973.44	3347.75	0	0	0	11.55	15.51	15.09
5370.61	11431	602.07	1.65	0.00	747.8	770.6	725.0	2972.2	3347.9	17.20	5.66	759	5453.72	73.38	0.53	3.66	1.245	0.105	0.082	500.97	497.25	504.69	3055.81	1879.94	0	0	0	11.53	15.21	15.17
5602	end climb: SURFACE_DEPTH_REACHED
state	5602	begin surface coast
5638	end surface coast: CONTROL_FINISHED_OK
state	5638	begin surface