Glider dive log

SODA Aug19 * SG227 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 227 HEADING -1 C_ROLL_DIVE 2500 ALTIM_PING_DELTA 0

MISSION 5 ESCAPE_HEADING 0 C_ROLL_CLIMB 2500 ALTIM_FREQUENCY 13

DIVE 5 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

N_DIVES 6 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.047120001 ALTIM_SENSITIVITY 2

STOP_T 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_VALID 5

D_SURF 2 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 270 SM_CC 625.51501 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0

D_ABORT 350 N_FILEKB 8 VBD_MIN 550 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 0 VBD_MAX 3960 DEEPGLIDERMB 0

D_BOOST 2 CALL_NDIVES 1 C_VBD 2750 MOTHERBOARD 6

T_BOOST 0 COMM_SEQ 0 VBD_DBAND 2 DEVICE1 -1

D_FINISH 0 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE2 -1

D_PITCH 0 N_NOCOMM 1 VBD_LP_IGNORE 0 DEVICE3 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_TIMEOUT 720 DEVICE4 -1

D_CALL 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.003 DEVICE5 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 UNCOM_BLEED 20 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 7

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 W_ADJ_DBAND 0 LOGGERDEVICE1 7

T_DIVE 90 CAPUPLOAD 0 DBDW 0 LOGGERDEVICE2 -1

T_MISSION 60 CAPMAXSIZE 100000 LOITER_W_DBAND 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_GPS 5 LOITER_DBDW 0 LOGGERDEVICE4 -1

T_TURN 225 N_GPS 100440 LOITER_D_TOP 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 T_RSLEEP 2 LOITER_D_BOTTOM 0 COMPASS2_DEVICE 55

T_NO_W 120 STROBE 0 LOITER_N_DIVE 0 PHONE_DEVICE 33

T_LOITER 0 RAFOS_PEAK_OFFSET 0 CF8_MAXERRORS 20 GPS_DEVICE 48

T_EPIRB 0 RAFOS_CORR_THRESH 60 AH0_24V 350 RAFOS_DEVICE 104

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 AH0_10V 0 XPDR_DEVICE 0

USE_ICE 0 RAFOS_MMODEM 0 MINV_24V 11 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 160 MINV_10V 11 SEABIRD_T_G 0.0043851961

D_OFFGRID 100 PITCH_MAX 3830 MAXI_24V 5 SEABIRD_T_H 0.00063407799

RELAUNCH 1 C_PITCH 2150 MAXI_10V 1.4 SEABIRD_T_I 2.5652189e-05

APOGEE_PITCH -5 PITCH_DBAND 0.1 FG_AHR_10V 0.44304711 SEABIRD_T_J 2.9095588e-06

MAX_BUOY 150 PITCH_CNV 0.0031300001 FG_AHR_24V 1.3704511 SEABIRD_C_G -9.6619873

GLIDE_SLOPE 30 PITCH_GAIN 30 PHONE_SUPPLY 2 SEABIRD_C_H 1.1246239

SPEED_FACTOR 1 PITCH_TIMEOUT 15 PRESSURE_YINT -148.83586 SEABIRD_C_I -0.0018771546

RHO 1.0275 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00010809835 SEABIRD_C_J 0.00021465076

MASS 72247 PITCH_ADJ_GAIN 0.029999999 COMPASS_USE 4 SC_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 1 ALTIM_PING_FIT 0 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_W_GAIN 0 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_W_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_NDIVE 1.0

HD_A 0.003 ROLL_MIN 310 ALTIM_TOP_TURN_MARGIN 0

HD_B 0.0099999998 ROLL_MAX 3940 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 1.6e-05 ROLL_DEG 70 ALTIM_PING_DEPTH 0

AH0_10V 0 D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043851961

AH0_24V 350 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063407799

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.5652189e-05

ALTIM_FREQUENCY 13 D_TGT 270 N_NOSURFACE 0 SEABIRD_T_J 2.9095588e-06

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 625.51501

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_10V 0.44304711 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 1.3704511 PITCH_CNV 0.0031300001 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 30 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAX 3830 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_A 0.003 PITCH_MIN 160 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HD_B 0.0099999998 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HD_C 1.6e-05 PITCH_VBD_SHIFT 0.003 T_ABORT 1440

CAPMAXSIZE 100000 HEADING -1 PITCH_W_DBAND 0 T_BOOST 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_DIVE 90

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_SLOPE 0.00010809835 T_EPIRB 0

COMM_SEQ 0 ID 227 PRESSURE_YINT -148.83586 T_GPS 5

COMPASS2_DEVICE 55 INT_PRESSURE_SLOPE 1.9639999e-06 PROTOCOL 9 T_LOITER 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT 0 RAFOS_CORR_THRESH 60 T_MISSION 60

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 104 T_NO_W 120

C_PITCH 2150 LOGGERDEVICE1 7 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

C_ROLL_CLIMB 2500 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 T_TURN 225

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_VBD 2750 LOGGERDEVICE4 -1 RELAUNCH 1 UNCOM_BLEED 20

DBDW 0 LOGGERS 7 RHO 1.0275 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDERMB 0 LOITER_D_BOTTOM 0 ROLL_ADJ_GAIN 0 USE_ICE 0

DEVICE1 -1 LOITER_D_TOP 0 ROLL_CNV 0.047120001 VBD_CNV -0.24529999

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_DEG 70 VBD_DBAND 2

DEVICE3 -1 LOITER_W_DBAND 0 ROLL_MAX 3940 VBD_LP_IGNORE 0

DEVICE4 -1 MASS 72247 ROLL_MAXERRORS 1 VBD_MAX 3960

DEVICE5 -1 MAXI_10V 1.4 ROLL_MIN 310 VBD_MAXERRORS 1

DEVICE6 -1 MAXI_24V 5 ROLL_TIMEOUT 15 VBD_MIN 550

DIVE 5 MAX_BUOY 150 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_ABORT 350 MINV_10V 11 SC_PROFILE 3.0 W_ADJ_DBAND 0

D_BOOST 2 MINV_24V 11 SC_RECORDABOVE 2000.0 XPDR_DEVICE 0

D_CALL 0 MISSION 5 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_FINISH 0 MOTHERBOARD 6 SEABIRD_C_G -9.6619873 XPDR_VALID 5

D_FLARE 3 NAV_MODE 2 SEABIRD_C_H 1.1246239

D_NO_BLEED 50 NOCOMM_ACTION 163 SEABIRD_C_I -0.0018771546

D_OFFGRID 100 N_DIVES 6 SEABIRD_C_J 0.00021465076

Pre-dive calculations and measurements:

GPS1 060819,024221,7110.311,-14753.824,25,0.9,27,17.4 TGT_LATLONG 7300.000,-14820.200

_CALLS 2 TGT_RADIUS 2000.000

_SM_DEPTHo 1.71 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -68.5 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 060819,025149,7110.248,-14753.483,11,0.9,12,17.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 304.3,203776,-17.6,-10.000,-21.24

TGT_NAME SODAA D_GRID 270

Post-dive calculations and measurements:

FINISH 0.2,1.022235 _24V_AH 14.79,3.265

SM_CCo 4160.92,0.00,0.000,0,540.5,708.9,372.1,541.98 _10V_AH 14.87,0.000

SM_GC 1.77,0.00,8.04,0.10,0.000,0.083,0.078,540.5,708.9,372.1,143.7,2460.3,0,0,0,30.00,15.57,15.62 FG_AHR_24Vo 1.485

SUPER 51,71,254,1,0,0 FG_AHR_10Vo 0.478

IRIDIUM_FIX 7111.25,-14745.54,060819,024424 MEM 1155028,32,24160,64

TCM_TEMP 201.00 DATA_FILE_SIZE 16158,564

XPDR_PINGS 3 CAP_FILE_SIZE 183574,1

SC_FREEKB 3839712 SDSIZE 3918848,3907744

RAFOS_CLK 1 SDFILEDIR 64,1

RAFOS_FIX 7110.673828,-14843.850586,060819,040406,0,1,7.26 ERRORS 0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0

HUMID 59.68 SOUNDSPEED 1465.0

TEMP 1.26 CURRENT 0.220,131.0,1

INTERNAL_PRESSURE 8.5328 GPS 060819,040222,7110.346,-14752.988,23,0.9,26,17.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 618 1511 13827.55 nil 0 0 0.00

Pitch_motor 20 373 115.71 nil 0 0 0.00

Roll_motor 87 133 174.10 nil 0 0 0.00

Iridium 398 205 1210.20 nil 0 0 0.00

Transponder_ping 0 420 4.66 nil 0 0 0.00

GPS 21 11 3.76 nil 0 0 0.00

Core 2122 11 363.53 SciCon 4164 40 2500.96

LPSleep 2583 2 88.73 nil 0 0 0.00

Compass 622 5 46.30 nil 0 0 0.00

RAFOS 2212 48 1578.84

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

4.33 2 -145.99 -1.03 0.00 538.1 687.6 388.6 131.4 2534.4 0.00 0.00 0 77.12 72.28 0.00 0.00 0.005 0.000 0.000 1708.69 1711.69 1705.69 131.50 2535.25 0 0 0 15.59 30.00 30.00

77.38 295 -145.99 -1.03 70.00 1708.3 1710.8 1705.9 131.4 2534.5 3.65 -3.46 7 138.40 44.35 7.43 4.15 0.005 0.373 0.084 3344.97 3309.19 3380.75 1805.94 3950.69 0 0 0 15.62 15.45 15.63

250.33 1157 -145.99 -0.71 0.00 3344.1 3308.4 3379.8 1805.7 3951.1 56.51 -21.66 42 256.41 0.00 0.38 4.14 0.000 0.251 0.037 3345.91 3310.00 3381.81 1924.38 2459.69 0 0 0 30.00 15.61 15.64

435.66 644 -145.99 -0.68 -70.00 3344.6 3309.2 3379.9 1924.2 2439.4 79.40 -12.14 61 441.25 0.00 0.00 4.20 0.000 0.000 0.065 3345.94 3310.62 3381.25 1941.81 1000.19 0 0 0 30.00 30.00 15.69

535.74 1028 -145.99 -0.68 0.00 3344.1 3308.9 3379.2 1941.9 1000.2 91.47 -11.29 81 541.33 0.00 0.00 4.34 0.000 0.000 0.049 3346.56 3311.12 3382.00 1925.31 2515.31 0 0 0 30.00 30.00 15.74

725.57 32 -145.99 -0.68 0.00 3344.7 3309.7 3379.6 1924.1 2517.0 111.84 -9.75 101 726.91 0.00 0.00 0.00 0.000 0.000 0.000 3343.81 3309.50 3378.12 1924.38 2516.62 0 0 0 30.00 30.00 30.00

905.62 516 -145.99 -0.68 -70.00 3344.5 3309.1 3379.9 1924.4 2516.6 129.88 -10.58 119 911.41 0.00 0.00 4.43 0.000 0.000 0.066 3345.69 3310.50 3380.88 1941.38 1000.31 0 0 0 30.00 30.00 15.74

1005.90 1156 -145.99 -0.73 0.00 3344.2 3309.0 3379.5 1941.8 999.9 140.29 -10.17 139 1012.43 0.00 0.00 4.34 0.000 0.000 0.049 3346.97 3310.94 3383.00 1923.19 2517.62 0 0 0 30.00 30.00 15.77

1190.91 160 -145.99 -0.80 0.00 3344.2 3309.5 3378.9 1924.2 2517.4 158.41 -9.00 158 1192.24 0.00 0.00 0.00 0.000 0.000 0.000 3344.47 3310.06 3378.88 1924.31 2517.88 0 0 0 30.00 30.00 30.00

1370.88 677 -145.99 -0.88 -70.00 3344.0 3309.0 3379.0 1923.4 2517.4 173.05 -7.93 176 1376.81 0.00 0.18 4.41 0.000 0.099 0.065 3343.38 3308.50 3378.25 1852.88 1001.38 0 0 0 30.00 15.88 15.85

1500.96 1157 -145.99 -0.82 0.00 3344.3 3309.4 3379.2 1852.5 1000.4 187.52 -11.35 202 1507.59 0.00 0.19 4.32 0.000 0.229 0.050 3343.16 3307.88 3378.44 1890.38 2517.62 0 0 0 30.00 15.82 15.88

1685.92 160 -145.99 -0.86 0.00 3343.3 3308.6 3378.1 1891.0 2516.9 205.26 -9.34 221 1687.25 0.00 0.00 0.00 0.000 0.000 0.000 3343.16 3309.19 3377.12 1890.56 2517.75 0 0 0 30.00 30.00 30.00

1806 end dive: HALF_MISSION_TIME_EXCEEDED

state 1806 begin apogee

1807.10 3 0.00 -0.17 0.00 3344.0 3309.7 3378.3 1891.0 2459.2 216.38 -9.07 233 1913.27 104.57 0.68 0.14 1.512 0.192 0.134 2747.59 2827.31 2667.88 2099.50 2521.75 0 0 0 12.49 15.85 15.34

1914 end apogee: CONTROL_FINISHED_OK

state 1914 begin climb

1914.15 263 145.99 1.03 70.00 2746.7 2827.0 2666.4 2100.4 2521.6 219.19 0.00 243 2030.61 108.50 1.21 4.35 1.422 0.134 0.088 2149.31 2287.56 2011.06 2472.56 3949.25 0 0 0 12.36 15.41 15.08

2252.79 1159 145.99 0.81 0.00 2141.0 2269.7 2012.3 2472.2 3949.8 182.24 13.07 306 2258.75 0.00 0.32 4.19 0.000 0.248 0.039 2141.44 2270.19 2012.69 2402.38 2468.31 0 0 0 30.00 15.45 15.52

2437.91 679 234.30 1.15 -70.00 2138.3 2269.9 2006.8 2402.6 2446.4 169.30 5.89 325 2510.12 63.97 0.34 4.37 1.386 0.086 0.071 1791.38 1930.38 1652.38 2553.75 1000.00 0 0 0 12.43 15.66 15.28

2722.84 1031 234.30 1.15 0.00 1782.0 1928.4 1635.6 2553.5 1000.1 137.03 11.25 382 2728.76 0.00 0.10 4.40 0.000 0.242 0.049 1781.84 1928.44 1635.25 2509.50 2519.25 0 0 0 30.00 15.53 15.59

2907.91 679 273.14 1.30 -70.00 1780.9 1927.5 1634.2 2508.6 2519.2 120.85 8.19 401 2944.58 28.92 0.17 4.53 1.323 0.104 0.067 1634.38 1781.81 1486.94 2597.62 1001.00 0 0 0 12.46 15.67 15.46

2992.64 1157 273.14 1.26 0.00 1630.8 1779.9 1481.7 2597.3 1000.9 111.63 12.09 418 2998.84 0.00 0.13 4.39 0.000 0.226 0.048 1630.44 1779.62 1481.25 2546.31 2517.38 0 0 0 30.00 15.49 15.54

3178.04 679 310.25 1.42 -70.00 1628.2 1779.2 1477.1 2547.1 2517.8 94.14 8.27 437 3214.72 28.60 0.18 4.53 1.299 0.103 0.065 1485.31 1635.81 1334.81 2636.94 999.25 0 0 0 12.39 15.65 15.50

3282.68 1157 310.25 1.36 0.00 1479.1 1632.4 1325.9 2637.5 998.9 83.38 10.64 458 3288.98 0.00 0.16 4.41 0.000 0.235 0.048 1480.12 1633.56 1326.69 2574.94 2518.50 0 0 0 30.00 15.50 15.53

3467.90 679 347.43 1.52 -70.00 1477.4 1631.3 1323.6 2576.0 2518.8 67.18 8.27 477 3504.60 28.78 0.19 4.53 1.270 0.100 0.067 1331.78 1487.62 1175.94 2671.06 1000.88 0 0 0 12.46 15.65 15.49

3582.98 1157 347.43 1.48 0.00 1327.6 1485.2 1170.1 2671.1 1001.4 54.50 10.79 500 3589.84 0.00 0.14 4.41 0.000 0.238 0.049 1326.94 1484.94 1168.94 2617.19 2520.44 0 0 0 30.00 15.51 15.54

3603.04 131 539.66 2.01 0.00 1326.6 1484.6 1168.6 2617.5 2520.6 52.40 10.59 503 3743.10 138.56 0.52 0.00 1.255 0.083 0.000 550.91 725.38 376.44 2807.69 2521.38 0 0 0 12.42 15.59 30.00

3915.54 679 636.64 2.43 -70.00 543.6 715.7 371.4 2808.5 2521.0 19.26 5.49 535 3922.25 0.00 0.35 4.57 0.000 0.078 0.067 543.38 715.50 371.25 2963.75 1000.06 0 0 0 30.00 15.49 15.42

3970.37 1191 666.89 2.31 0.00 542.5 713.9 371.2 2964.1 999.9 14.88 8.59 546 3976.98 0.00 0.23 4.41 0.000 0.252 0.047 542.56 713.69 371.44 2881.44 2521.56 0 0 0 30.00 15.47 15.47

4126 end climb: SURFACE_DEPTH_REACHED

state 4126 begin surface coast

4146 end surface coast: CONTROL_FINISHED_OK

state 4146 begin surface

ID	227	HEADING	-1	C_ROLL_DIVE	2500	ALTIM_PING_DELTA	0
MISSION	5	ESCAPE_HEADING	0	C_ROLL_CLIMB	2500	ALTIM_FREQUENCY	13
DIVE	5	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
N_DIVES	6	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.047120001	ALTIM_SENSITIVITY	2
STOP_T	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_VALID	5
D_SURF	2	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	270	SM_CC	625.51501	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0
D_ABORT	350	N_FILEKB	8	VBD_MIN	550	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	0	VBD_MAX	3960	DEEPGLIDERMB	0
D_BOOST	2	CALL_NDIVES	1	C_VBD	2750	MOTHERBOARD	6
T_BOOST	0	COMM_SEQ	0	VBD_DBAND	2	DEVICE1	-1
D_FINISH	0	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE2	-1
D_PITCH	0	N_NOCOMM	1	VBD_LP_IGNORE	0	DEVICE3	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_TIMEOUT	720	DEVICE4	-1
D_CALL	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.003	DEVICE5	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	UNCOM_BLEED	20	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	7
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	W_ADJ_DBAND	0	LOGGERDEVICE1	7
T_DIVE	90	CAPUPLOAD	0	DBDW	0	LOGGERDEVICE2	-1
T_MISSION	60	CAPMAXSIZE	100000	LOITER_W_DBAND	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_GPS	5	LOITER_DBDW	0	LOGGERDEVICE4	-1
T_TURN	225	N_GPS	100440	LOITER_D_TOP	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	T_RSLEEP	2	LOITER_D_BOTTOM	0	COMPASS2_DEVICE	55
T_NO_W	120	STROBE	0	LOITER_N_DIVE	0	PHONE_DEVICE	33
T_LOITER	0	RAFOS_PEAK_OFFSET	0	CF8_MAXERRORS	20	GPS_DEVICE	48
T_EPIRB	0	RAFOS_CORR_THRESH	60	AH0_24V	350	RAFOS_DEVICE	104
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	AH0_10V	0	XPDR_DEVICE	0
USE_ICE	0	RAFOS_MMODEM	0	MINV_24V	11	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	160	MINV_10V	11	SEABIRD_T_G	0.0043851961
D_OFFGRID	100	PITCH_MAX	3830	MAXI_24V	5	SEABIRD_T_H	0.00063407799
RELAUNCH	1	C_PITCH	2150	MAXI_10V	1.4	SEABIRD_T_I	2.5652189e-05
APOGEE_PITCH	-5	PITCH_DBAND	0.1	FG_AHR_10V	0.44304711	SEABIRD_T_J	2.9095588e-06
MAX_BUOY	150	PITCH_CNV	0.0031300001	FG_AHR_24V	1.3704511	SEABIRD_C_G	-9.6619873
GLIDE_SLOPE	30	PITCH_GAIN	30	PHONE_SUPPLY	2	SEABIRD_C_H	1.1246239
SPEED_FACTOR	1	PITCH_TIMEOUT	15	PRESSURE_YINT	-148.83586	SEABIRD_C_I	-0.0018771546
RHO	1.0275	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00010809835	SEABIRD_C_J	0.00021465076
MASS	72247	PITCH_ADJ_GAIN	0.029999999	COMPASS_USE	4	SC_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	1	ALTIM_PING_FIT	0	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_W_GAIN	0	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_W_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_NDIVE	1.0
HD_A	0.003	ROLL_MIN	310	ALTIM_TOP_TURN_MARGIN	0
HD_B	0.0099999998	ROLL_MAX	3940	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	1.6e-05	ROLL_DEG	70	ALTIM_PING_DEPTH	0

GPS1	060819,024221,7110.311,-14753.824,25,0.9,27,17.4	TGT_LATLONG	7300.000,-14820.200
_CALLS	2	TGT_RADIUS	2000.000
_SM_DEPTHo	1.71	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-68.5	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	060819,025149,7110.248,-14753.483,11,0.9,12,17.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	304.3,203776,-17.6,-10.000,-21.24
TGT_NAME	SODAA	D_GRID	270

FINISH	0.2,1.022235	_24V_AH	14.79,3.265
SM_CCo	4160.92,0.00,0.000,0,540.5,708.9,372.1,541.98	_10V_AH	14.87,0.000
SM_GC	1.77,0.00,8.04,0.10,0.000,0.083,0.078,540.5,708.9,372.1,143.7,2460.3,0,0,0,30.00,15.57,15.62	FG_AHR_24Vo	1.485
SUPER	51,71,254,1,0,0	FG_AHR_10Vo	0.478
IRIDIUM_FIX	7111.25,-14745.54,060819,024424	MEM	1155028,32,24160,64
TCM_TEMP	201.00	DATA_FILE_SIZE	16158,564
XPDR_PINGS	3	CAP_FILE_SIZE	183574,1
SC_FREEKB	3839712	SDSIZE	3918848,3907744
RAFOS_CLK	1	SDFILEDIR	64,1
RAFOS_FIX	7110.673828,-14843.850586,060819,040406,0,1,7.26	ERRORS	0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0
HUMID	59.68	SOUNDSPEED	1465.0
TEMP	1.26	CURRENT	0.220,131.0,1
INTERNAL_PRESSURE	8.5328	GPS	060819,040222,7110.346,-14752.988,23,0.9,26,17.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	618	1511	13827.55	nil	0	0	0.00
Pitch_motor	20	373	115.71	nil	0	0	0.00
Roll_motor	87	133	174.10	nil	0	0	0.00
Iridium	398	205	1210.20	nil	0	0	0.00
Transponder_ping	0	420	4.66	nil	0	0	0.00
GPS	21	11	3.76	nil	0	0	0.00
Core	2122	11	363.53	SciCon	4164	40	2500.96
LPSleep	2583	2	88.73	nil	0	0	0.00
Compass	622	5	46.30	nil	0	0	0.00
RAFOS	2212	48	1578.84
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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
4.33	2	-145.99	-1.03	0.00	538.1	687.6	388.6	131.4	2534.4	0.00	0.00	0	77.12	72.28	0.00	0.00	0.005	0.000	0.000	1708.69	1711.69	1705.69	131.50	2535.25	0	0	0	15.59	30.00	30.00
77.38	295	-145.99	-1.03	70.00	1708.3	1710.8	1705.9	131.4	2534.5	3.65	-3.46	7	138.40	44.35	7.43	4.15	0.005	0.373	0.084	3344.97	3309.19	3380.75	1805.94	3950.69	0	0	0	15.62	15.45	15.63
250.33	1157	-145.99	-0.71	0.00	3344.1	3308.4	3379.8	1805.7	3951.1	56.51	-21.66	42	256.41	0.00	0.38	4.14	0.000	0.251	0.037	3345.91	3310.00	3381.81	1924.38	2459.69	0	0	0	30.00	15.61	15.64
435.66	644	-145.99	-0.68	-70.00	3344.6	3309.2	3379.9	1924.2	2439.4	79.40	-12.14	61	441.25	0.00	0.00	4.20	0.000	0.000	0.065	3345.94	3310.62	3381.25	1941.81	1000.19	0	0	0	30.00	30.00	15.69
535.74	1028	-145.99	-0.68	0.00	3344.1	3308.9	3379.2	1941.9	1000.2	91.47	-11.29	81	541.33	0.00	0.00	4.34	0.000	0.000	0.049	3346.56	3311.12	3382.00	1925.31	2515.31	0	0	0	30.00	30.00	15.74
725.57	32	-145.99	-0.68	0.00	3344.7	3309.7	3379.6	1924.1	2517.0	111.84	-9.75	101	726.91	0.00	0.00	0.00	0.000	0.000	0.000	3343.81	3309.50	3378.12	1924.38	2516.62	0	0	0	30.00	30.00	30.00
905.62	516	-145.99	-0.68	-70.00	3344.5	3309.1	3379.9	1924.4	2516.6	129.88	-10.58	119	911.41	0.00	0.00	4.43	0.000	0.000	0.066	3345.69	3310.50	3380.88	1941.38	1000.31	0	0	0	30.00	30.00	15.74
1005.90	1156	-145.99	-0.73	0.00	3344.2	3309.0	3379.5	1941.8	999.9	140.29	-10.17	139	1012.43	0.00	0.00	4.34	0.000	0.000	0.049	3346.97	3310.94	3383.00	1923.19	2517.62	0	0	0	30.00	30.00	15.77
1190.91	160	-145.99	-0.80	0.00	3344.2	3309.5	3378.9	1924.2	2517.4	158.41	-9.00	158	1192.24	0.00	0.00	0.00	0.000	0.000	0.000	3344.47	3310.06	3378.88	1924.31	2517.88	0	0	0	30.00	30.00	30.00
1370.88	677	-145.99	-0.88	-70.00	3344.0	3309.0	3379.0	1923.4	2517.4	173.05	-7.93	176	1376.81	0.00	0.18	4.41	0.000	0.099	0.065	3343.38	3308.50	3378.25	1852.88	1001.38	0	0	0	30.00	15.88	15.85
1500.96	1157	-145.99	-0.82	0.00	3344.3	3309.4	3379.2	1852.5	1000.4	187.52	-11.35	202	1507.59	0.00	0.19	4.32	0.000	0.229	0.050	3343.16	3307.88	3378.44	1890.38	2517.62	0	0	0	30.00	15.82	15.88
1685.92	160	-145.99	-0.86	0.00	3343.3	3308.6	3378.1	1891.0	2516.9	205.26	-9.34	221	1687.25	0.00	0.00	0.00	0.000	0.000	0.000	3343.16	3309.19	3377.12	1890.56	2517.75	0	0	0	30.00	30.00	30.00
1806	end dive: HALF_MISSION_TIME_EXCEEDED
state	1806	begin apogee
1807.10	3	0.00	-0.17	0.00	3344.0	3309.7	3378.3	1891.0	2459.2	216.38	-9.07	233	1913.27	104.57	0.68	0.14	1.512	0.192	0.134	2747.59	2827.31	2667.88	2099.50	2521.75	0	0	0	12.49	15.85	15.34
1914	end apogee: CONTROL_FINISHED_OK
state	1914	begin climb
1914.15	263	145.99	1.03	70.00	2746.7	2827.0	2666.4	2100.4	2521.6	219.19	0.00	243	2030.61	108.50	1.21	4.35	1.422	0.134	0.088	2149.31	2287.56	2011.06	2472.56	3949.25	0	0	0	12.36	15.41	15.08
2252.79	1159	145.99	0.81	0.00	2141.0	2269.7	2012.3	2472.2	3949.8	182.24	13.07	306	2258.75	0.00	0.32	4.19	0.000	0.248	0.039	2141.44	2270.19	2012.69	2402.38	2468.31	0	0	0	30.00	15.45	15.52
2437.91	679	234.30	1.15	-70.00	2138.3	2269.9	2006.8	2402.6	2446.4	169.30	5.89	325	2510.12	63.97	0.34	4.37	1.386	0.086	0.071	1791.38	1930.38	1652.38	2553.75	1000.00	0	0	0	12.43	15.66	15.28
2722.84	1031	234.30	1.15	0.00	1782.0	1928.4	1635.6	2553.5	1000.1	137.03	11.25	382	2728.76	0.00	0.10	4.40	0.000	0.242	0.049	1781.84	1928.44	1635.25	2509.50	2519.25	0	0	0	30.00	15.53	15.59
2907.91	679	273.14	1.30	-70.00	1780.9	1927.5	1634.2	2508.6	2519.2	120.85	8.19	401	2944.58	28.92	0.17	4.53	1.323	0.104	0.067	1634.38	1781.81	1486.94	2597.62	1001.00	0	0	0	12.46	15.67	15.46
2992.64	1157	273.14	1.26	0.00	1630.8	1779.9	1481.7	2597.3	1000.9	111.63	12.09	418	2998.84	0.00	0.13	4.39	0.000	0.226	0.048	1630.44	1779.62	1481.25	2546.31	2517.38	0	0	0	30.00	15.49	15.54
3178.04	679	310.25	1.42	-70.00	1628.2	1779.2	1477.1	2547.1	2517.8	94.14	8.27	437	3214.72	28.60	0.18	4.53	1.299	0.103	0.065	1485.31	1635.81	1334.81	2636.94	999.25	0	0	0	12.39	15.65	15.50
3282.68	1157	310.25	1.36	0.00	1479.1	1632.4	1325.9	2637.5	998.9	83.38	10.64	458	3288.98	0.00	0.16	4.41	0.000	0.235	0.048	1480.12	1633.56	1326.69	2574.94	2518.50	0	0	0	30.00	15.50	15.53
3467.90	679	347.43	1.52	-70.00	1477.4	1631.3	1323.6	2576.0	2518.8	67.18	8.27	477	3504.60	28.78	0.19	4.53	1.270	0.100	0.067	1331.78	1487.62	1175.94	2671.06	1000.88	0	0	0	12.46	15.65	15.49
3582.98	1157	347.43	1.48	0.00	1327.6	1485.2	1170.1	2671.1	1001.4	54.50	10.79	500	3589.84	0.00	0.14	4.41	0.000	0.238	0.049	1326.94	1484.94	1168.94	2617.19	2520.44	0	0	0	30.00	15.51	15.54
3603.04	131	539.66	2.01	0.00	1326.6	1484.6	1168.6	2617.5	2520.6	52.40	10.59	503	3743.10	138.56	0.52	0.00	1.255	0.083	0.000	550.91	725.38	376.44	2807.69	2521.38	0	0	0	12.42	15.59	30.00
3915.54	679	636.64	2.43	-70.00	543.6	715.7	371.4	2808.5	2521.0	19.26	5.49	535	3922.25	0.00	0.35	4.57	0.000	0.078	0.067	543.38	715.50	371.25	2963.75	1000.06	0	0	0	30.00	15.49	15.42
3970.37	1191	666.89	2.31	0.00	542.5	713.9	371.2	2964.1	999.9	14.88	8.59	546	3976.98	0.00	0.23	4.41	0.000	0.252	0.047	542.56	713.69	371.44	2881.44	2521.56	0	0	0	30.00	15.47	15.47
4126	end climb: SURFACE_DEPTH_REACHED
state	4126	begin surface coast
4146	end surface coast: CONTROL_FINISHED_OK
state	4146	begin surface