Glider dive log

AMOS Sep20 * SG235 * Dive index * Mission links * Dive 2 * 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 2 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 2 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 511.26248 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 C_VBD 2625 MOTHERBOARD 6

D_TGT 150 FILEMGR 0 VBD_DBAND 2 DEVICE1 -1

D_ABORT 250 CALL_NDIVES 1 VBD_CNV -0.24529999 DEVICE2 -1

D_NO_BLEED 500 COMM_SEQ 0 VBD_LP_IGNORE 0 DEVICE3 -1

D_BOOST 2 PROTOCOL 9 VBD_TIMEOUT 720 DEVICE4 -1

T_BOOST 0 N_NOCOMM 2 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_FINISH 0 NOCOMM_ACTION 163 UNCOM_BLEED 20 DEVICE6 -1

D_PITCH 0 N_NOSURFACE 0 VBD_MAXERRORS 1 LOGGERS 3

D_SAFE 0 UPLOAD_DIVES_MAX -1 W_ADJ_DBAND 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 50 T_GPS 5 LOITER_D_BOTTOM 0 COMPASS2_DEVICE -1

T_MISSION 68 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 17.339911 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2575 FG_AHR_24V 22.127337 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 1700 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_CLIMB 2100 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 150 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 17.339911 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 22.127337 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 511.26248

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 50

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 2575 LOGGERDEVICE3 -1 PRESSURE_SLOPE 0.00022957686 T_LOITER 0

C_ROLL_CLIMB 2100 LOGGERDEVICE4 -1 PRESSURE_YINT -158.9099 T_MISSION 68

C_ROLL_DIVE 1700 LOGGERS 3 PROTOCOL 9 T_NO_W 120

C_VBD 2625 LOITER_DBDW 0 RAFOS_CORR_THRESH 60 T_RSLEEP 1

DBDW 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE 104 T_TURN 225

DEEPGLIDER 0 LOITER_D_TOP 0 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

DEEPGLIDERMB 0 LOITER_N_DIVE 0 RAFOS_MMODEM 0 UNCOM_BLEED 20

DEVICE1 -1 LOITER_W_DBAND 0 RAFOS_PEAK_OFFSET 0 UPLOAD_DIVES_MAX -1

DEVICE2 -1 MASS 72133 RELAUNCH 1 USE_BATHY 0

DEVICE3 -1 MAXI_10V 1.5 RHO 1.0275 USE_ICE 0

DEVICE4 -1 MAXI_24V 5 ROLL_ADJ_DBAND 0 VBD_CNV -0.24529999

DEVICE5 -1 MAX_BUOY 150 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE6 -1 MINV_10V 11 ROLL_CNV 0.054945 VBD_LP_IGNORE 0

DIVE 2 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 250 MISSION 6 ROLL_MAX 3400 VBD_MAXERRORS 1

D_BOOST 2 MOTHERBOARD 6 ROLL_MAXERRORS 1 VBD_MIN 500

D_CALL 0 NAV_MODE 2 ROLL_MIN 600 VBD_TIMEOUT 720

D_FINISH 0 NETWORK_DEVICE -1 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

D_FLARE 3 NOCOMM_ACTION 163 SC_NDIVE 1.0 XPDR_DEVICE -1

D_NO_BLEED 500 N_DIVES 2 SC_PROFILE 7.0 XPDR_INHIBIT 90

D_OFFGRID 990 N_FILEKB 8 SC_RECORDABOVE 2000.0 XPDR_INT 0

D_PITCH 0 N_GPS 100440 SC_XMITPROFILE 3.0 XPDR_REP 0

D_SAFE 0 N_NOCOMM 2 SEABIRD_C_G -9.8064938 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 240920,231408,7204.169,-15207.262,1,1.0,2,15.1 TGT_LATLONG 7300.000,-14820.200

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.72 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -65.9 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 240920,231652,7204.197,-15207.297,2,1.0,3,15.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 79.9,160628,-17.6,-10.000,-21.24

TGT_NAME SODAA D_GRID 150

Post-dive calculations and measurements:

FINISH 0.2,1.022730 INTERNAL_PRESSURE 7.67801

SM_CCo 3478.34,0.00,0.000,0,497.6,580.9,414.3,521.85 _24V_AH 14.59,9.543

SM_GC 1.90,0.00,18.25,1.01,0.000,0.080,0.176,497.6,580.9,414.3,221.5,1688.4,0,0,0,30.00,15.26,15.26 _10V_AH 14.68,0.000

SUPER 19,71,254,1,0,0 FG_AHR_24Vo 22.371

IRIDIUM_FIX 7205.46,-15214.16,240920,231228 FG_AHR_10Vo 17.371

TCM_TEMP 3.49 MEM 1153152,27,23976,68

SC_FREEKB 3878144 DATA_FILE_SIZE 16119,595

PM_FREEKB_00 61659328 CAP_FILE_SIZE 184559,0

PM_FREEKB_01 62343040 SDSIZE 3918848,3814784

PM_ACTIVECARD 0 SDFILEDIR 115,1

RAFOS_CLK 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 7204.173828,-15207.089844,250920,000047,0,1,0.04 SOUNDSPEED 1465.0

HUMID 53.52 CURRENT 0.333,354.5,1

TEMP 0.72 GPS 250920,001559,7204.801,-15206.822,1,1.1,4,15.1

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 683 1633 16294.18 nil 0 0 0.00

Pitch_motor 42 284 178.15 nil 0 0 0.00

Roll_motor 59 411 357.93 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 11 15 2.61 nil 0 0 0.00

Core 2436 10 361.94 SciCon 3392 6 335.17

LPSleep 1091 1 17.95 PMAR 3404 10 520.15

Compass 1472 5 108.07 nil 0 0 0.00

RAFOS 2218 40 1302.41

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

10.35 16386 -145.99 -1.06 0.00 538.8 598.8 478.9 231.4 1685.7 0.00 0.00 0 79.76 67.60 0.00 0.00 0.005 0.000 0.000 1656.44 1646.06 1666.81 231.69 1685.44 0 0 0 15.54 30.00 30.00

80.01 18727 -145.99 -1.06 80.00 1656.0 1646.1 1665.9 230.9 1684.9 3.18 -2.26 13 154.95 46.38 16.56 3.88 0.005 0.285 0.183 3221.59 3250.50 3192.69 2313.94 3161.56 0 0 0 15.54 15.41 15.53

238.55 5253 -145.99 -1.20 0.00 3218.2 3247.9 3188.6 2317.2 3160.0 31.52 -13.03 44 249.92 0.00 0.29 3.73 0.000 0.103 0.141 3220.81 3250.50 3191.12 2271.44 1689.50 0 0 0 30.00 15.61 15.51

429.06 516 -145.99 -1.20 -80.00 3218.5 3248.0 3188.9 2272.2 1690.4 56.91 -12.81 82 435.27 0.00 0.00 2.94 0.000 0.000 0.224 3222.03 3251.94 3192.12 2271.38 593.31 0 0 0 30.00 30.00 15.60

604.30 3205 -145.99 -1.10 0.00 3218.2 3248.2 3188.2 2271.6 593.4 81.36 -14.74 117 610.48 0.00 0.31 2.77 0.000 0.201 0.123 3219.75 3249.62 3189.88 2306.38 1712.88 0 0 0 30.00 15.65 15.69

789.17 4485 -145.99 -1.22 80.00 3219.6 3249.7 3189.4 2308.2 1712.3 101.36 -10.48 153 801.00 0.00 0.26 3.82 0.000 0.109 0.198 3219.94 3250.00 3189.88 2267.00 3160.81 0 0 0 30.00 15.72 15.65

929.63 3205 -145.99 -1.17 0.00 3218.2 3248.0 3188.3 2266.6 3159.0 118.95 -13.05 181 936.79 0.00 0.22 3.75 0.000 0.202 0.168 3217.66 3247.31 3188.00 2292.38 1690.75 0 0 0 30.00 15.68 15.65

1225 end dive: TARGET_DEPTH_EXCEEDED

state 1225 begin apogee

1227.10 10243 0.00 -0.25 0.00 3219.2 3249.1 3189.3 2292.1 2107.8 150.03 -9.86 211 1349.02 118.04 1.58 0.04 1.634 0.178 0.412 2626.66 2689.31 2564.00 2513.75 2084.88 0 0 0 11.48 15.71 15.23

1351 end apogee: CONTROL_FINISHED_OK

state 1351 begin climb

1351.37 10759 145.99 1.06 -80.00 2622.0 2683.5 2560.4 2514.3 2084.9 152.82 0.00 223 1483.88 121.40 2.15 4.16 1.537 0.125 0.239 2025.56 2113.69 1937.44 2835.75 637.88 0 0 0 11.58 15.23 14.89

1551.04 21639 145.99 0.49 0.00 2020.7 2102.8 1938.6 2833.8 637.6 136.41 14.22 262 1562.27 0.00 1.15 3.87 0.000 0.236 0.152 2020.31 2103.12 1937.50 2687.31 2108.00 0 0 0 30.00 15.02 15.13

1867.15 10663 259.70 0.73 80.00 2013.6 2097.1 1930.1 2688.1 2107.2 118.61 4.71 295 1970.63 93.63 0.46 3.67 1.523 0.107 0.231 1564.38 1661.25 1467.50 2758.25 3405.62 0 0 0 11.60 15.46 15.03

2059.64 17446 259.86 0.73 0.00 1556.2 1645.1 1467.3 2758.6 3406.4 101.98 9.99 333 2066.26 0.00 0.00 3.38 0.000 0.000 0.138 1555.00 1644.44 1465.56 2757.75 2088.75 0 0 0 30.00 30.00 15.24

2364.54 8614 309.75 0.84 80.00 1552.6 1638.3 1466.9 2758.1 2088.6 77.71 7.68 392 2416.30 42.89 0.00 3.60 1.488 0.000 0.208 1362.34 1455.75 1268.94 2756.44 3405.75 0 0 0 11.50 30.00 15.24

2429.51 11431 322.07 0.94 0.00 1358.6 1450.5 1266.7 2757.4 3405.5 71.84 9.43 405 2451.36 12.86 0.28 3.34 1.297 0.112 0.127 1312.53 1407.31 1217.75 2806.56 2087.94 0 0 0 11.65 15.33 15.31

2629.66 8742 367.02 0.99 -80.00 1305.5 1396.2 1214.8 2806.4 2088.0 52.55 7.91 445 2677.57 39.87 0.00 3.97 1.449 0.000 0.219 1128.69 1226.38 1031.00 2806.75 637.69 0 0 0 11.61 30.00 15.22

2701.27 1156 367.02 1.05 0.00 1126.9 1223.2 1030.6 2805.7 637.6 45.94 10.15 459 2708.30 0.00 0.00 3.68 0.000 0.000 0.115 1125.38 1220.94 1029.81 2806.81 2108.19 0 0 0 30.00 30.00 15.30

2893.70 10663 419.46 1.31 80.00 1123.1 1216.2 1029.9 2805.8 2108.6 30.02 7.56 496 2951.25 47.31 0.56 3.53 1.434 0.103 0.201 914.41 1014.06 814.75 2898.31 3404.81 0 0 0 11.46 15.43 15.18

3020.26 9254 479.03 1.39 0.00 912.2 1008.6 815.8 2899.7 3404.2 20.45 7.23 521 3082.77 54.01 0.00 3.32 1.402 0.000 0.118 672.69 775.81 569.56 2899.38 2086.25 0 0 0 11.50 30.00 15.30

3261.62 10403 628.27 1.84 0.00 667.7 765.9 569.4 2899.1 2086.2 12.19 3.06 569 3308.03 39.69 0.81 0.00 1.385 0.097 0.000 501.12 593.00 409.25 3025.38 2086.56 0 0 0 11.44 15.32 30.00

3377 end climb: SURFACE_DEPTH_REACHED

state 3377 begin surface coast

3391 end surface coast: CONTROL_FINISHED_OK

state 3392 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	2	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	2	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	511.26248	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	C_VBD	2625	MOTHERBOARD	6
D_TGT	150	FILEMGR	0	VBD_DBAND	2	DEVICE1	-1
D_ABORT	250	CALL_NDIVES	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_NO_BLEED	500	COMM_SEQ	0	VBD_LP_IGNORE	0	DEVICE3	-1
D_BOOST	2	PROTOCOL	9	VBD_TIMEOUT	720	DEVICE4	-1
T_BOOST	0	N_NOCOMM	2	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_FINISH	0	NOCOMM_ACTION	163	UNCOM_BLEED	20	DEVICE6	-1
D_PITCH	0	N_NOSURFACE	0	VBD_MAXERRORS	1	LOGGERS	3
D_SAFE	0	UPLOAD_DIVES_MAX	-1	W_ADJ_DBAND	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	50	T_GPS	5	LOITER_D_BOTTOM	0	COMPASS2_DEVICE	-1
T_MISSION	68	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	17.339911	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2575	FG_AHR_24V	22.127337	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	1700	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_CLIMB	2100	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	240920,231408,7204.169,-15207.262,1,1.0,2,15.1	TGT_LATLONG	7300.000,-14820.200
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.72	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-65.9	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	240920,231652,7204.197,-15207.297,2,1.0,3,15.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	79.9,160628,-17.6,-10.000,-21.24
TGT_NAME	SODAA	D_GRID	150

FINISH	0.2,1.022730	INTERNAL_PRESSURE	7.67801
SM_CCo	3478.34,0.00,0.000,0,497.6,580.9,414.3,521.85	_24V_AH	14.59,9.543
SM_GC	1.90,0.00,18.25,1.01,0.000,0.080,0.176,497.6,580.9,414.3,221.5,1688.4,0,0,0,30.00,15.26,15.26	_10V_AH	14.68,0.000
SUPER	19,71,254,1,0,0	FG_AHR_24Vo	22.371
IRIDIUM_FIX	7205.46,-15214.16,240920,231228	FG_AHR_10Vo	17.371
TCM_TEMP	3.49	MEM	1153152,27,23976,68
SC_FREEKB	3878144	DATA_FILE_SIZE	16119,595
PM_FREEKB_00	61659328	CAP_FILE_SIZE	184559,0
PM_FREEKB_01	62343040	SDSIZE	3918848,3814784
PM_ACTIVECARD	0	SDFILEDIR	115,1
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	7204.173828,-15207.089844,250920,000047,0,1,0.04	SOUNDSPEED	1465.0
HUMID	53.52	CURRENT	0.333,354.5,1
TEMP	0.72	GPS	250920,001559,7204.801,-15206.822,1,1.1,4,15.1

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	683	1633	16294.18	nil	0	0	0.00
Pitch_motor	42	284	178.15	nil	0	0	0.00
Roll_motor	59	411	357.93	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	11	15	2.61	nil	0	0	0.00
Core	2436	10	361.94	SciCon	3392	6	335.17
LPSleep	1091	1	17.95	PMAR	3404	10	520.15
Compass	1472	5	108.07	nil	0	0	0.00
RAFOS	2218	40	1302.41
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
10.35	16386	-145.99	-1.06	0.00	538.8	598.8	478.9	231.4	1685.7	0.00	0.00	0	79.76	67.60	0.00	0.00	0.005	0.000	0.000	1656.44	1646.06	1666.81	231.69	1685.44	0	0	0	15.54	30.00	30.00
80.01	18727	-145.99	-1.06	80.00	1656.0	1646.1	1665.9	230.9	1684.9	3.18	-2.26	13	154.95	46.38	16.56	3.88	0.005	0.285	0.183	3221.59	3250.50	3192.69	2313.94	3161.56	0	0	0	15.54	15.41	15.53
238.55	5253	-145.99	-1.20	0.00	3218.2	3247.9	3188.6	2317.2	3160.0	31.52	-13.03	44	249.92	0.00	0.29	3.73	0.000	0.103	0.141	3220.81	3250.50	3191.12	2271.44	1689.50	0	0	0	30.00	15.61	15.51
429.06	516	-145.99	-1.20	-80.00	3218.5	3248.0	3188.9	2272.2	1690.4	56.91	-12.81	82	435.27	0.00	0.00	2.94	0.000	0.000	0.224	3222.03	3251.94	3192.12	2271.38	593.31	0	0	0	30.00	30.00	15.60
604.30	3205	-145.99	-1.10	0.00	3218.2	3248.2	3188.2	2271.6	593.4	81.36	-14.74	117	610.48	0.00	0.31	2.77	0.000	0.201	0.123	3219.75	3249.62	3189.88	2306.38	1712.88	0	0	0	30.00	15.65	15.69
789.17	4485	-145.99	-1.22	80.00	3219.6	3249.7	3189.4	2308.2	1712.3	101.36	-10.48	153	801.00	0.00	0.26	3.82	0.000	0.109	0.198	3219.94	3250.00	3189.88	2267.00	3160.81	0	0	0	30.00	15.72	15.65
929.63	3205	-145.99	-1.17	0.00	3218.2	3248.0	3188.3	2266.6	3159.0	118.95	-13.05	181	936.79	0.00	0.22	3.75	0.000	0.202	0.168	3217.66	3247.31	3188.00	2292.38	1690.75	0	0	0	30.00	15.68	15.65
1225	end dive: TARGET_DEPTH_EXCEEDED
state	1225	begin apogee
1227.10	10243	0.00	-0.25	0.00	3219.2	3249.1	3189.3	2292.1	2107.8	150.03	-9.86	211	1349.02	118.04	1.58	0.04	1.634	0.178	0.412	2626.66	2689.31	2564.00	2513.75	2084.88	0	0	0	11.48	15.71	15.23
1351	end apogee: CONTROL_FINISHED_OK
state	1351	begin climb
1351.37	10759	145.99	1.06	-80.00	2622.0	2683.5	2560.4	2514.3	2084.9	152.82	0.00	223	1483.88	121.40	2.15	4.16	1.537	0.125	0.239	2025.56	2113.69	1937.44	2835.75	637.88	0	0	0	11.58	15.23	14.89
1551.04	21639	145.99	0.49	0.00	2020.7	2102.8	1938.6	2833.8	637.6	136.41	14.22	262	1562.27	0.00	1.15	3.87	0.000	0.236	0.152	2020.31	2103.12	1937.50	2687.31	2108.00	0	0	0	30.00	15.02	15.13
1867.15	10663	259.70	0.73	80.00	2013.6	2097.1	1930.1	2688.1	2107.2	118.61	4.71	295	1970.63	93.63	0.46	3.67	1.523	0.107	0.231	1564.38	1661.25	1467.50	2758.25	3405.62	0	0	0	11.60	15.46	15.03
2059.64	17446	259.86	0.73	0.00	1556.2	1645.1	1467.3	2758.6	3406.4	101.98	9.99	333	2066.26	0.00	0.00	3.38	0.000	0.000	0.138	1555.00	1644.44	1465.56	2757.75	2088.75	0	0	0	30.00	30.00	15.24
2364.54	8614	309.75	0.84	80.00	1552.6	1638.3	1466.9	2758.1	2088.6	77.71	7.68	392	2416.30	42.89	0.00	3.60	1.488	0.000	0.208	1362.34	1455.75	1268.94	2756.44	3405.75	0	0	0	11.50	30.00	15.24
2429.51	11431	322.07	0.94	0.00	1358.6	1450.5	1266.7	2757.4	3405.5	71.84	9.43	405	2451.36	12.86	0.28	3.34	1.297	0.112	0.127	1312.53	1407.31	1217.75	2806.56	2087.94	0	0	0	11.65	15.33	15.31
2629.66	8742	367.02	0.99	-80.00	1305.5	1396.2	1214.8	2806.4	2088.0	52.55	7.91	445	2677.57	39.87	0.00	3.97	1.449	0.000	0.219	1128.69	1226.38	1031.00	2806.75	637.69	0	0	0	11.61	30.00	15.22
2701.27	1156	367.02	1.05	0.00	1126.9	1223.2	1030.6	2805.7	637.6	45.94	10.15	459	2708.30	0.00	0.00	3.68	0.000	0.000	0.115	1125.38	1220.94	1029.81	2806.81	2108.19	0	0	0	30.00	30.00	15.30
2893.70	10663	419.46	1.31	80.00	1123.1	1216.2	1029.9	2805.8	2108.6	30.02	7.56	496	2951.25	47.31	0.56	3.53	1.434	0.103	0.201	914.41	1014.06	814.75	2898.31	3404.81	0	0	0	11.46	15.43	15.18
3020.26	9254	479.03	1.39	0.00	912.2	1008.6	815.8	2899.7	3404.2	20.45	7.23	521	3082.77	54.01	0.00	3.32	1.402	0.000	0.118	672.69	775.81	569.56	2899.38	2086.25	0	0	0	11.50	30.00	15.30
3261.62	10403	628.27	1.84	0.00	667.7	765.9	569.4	2899.1	2086.2	12.19	3.06	569	3308.03	39.69	0.81	0.00	1.385	0.097	0.000	501.12	593.00	409.25	3025.38	2086.56	0	0	0	11.44	15.32	30.00
3377	end climb: SURFACE_DEPTH_REACHED
state	3377	begin surface coast
3391	end surface coast: CONTROL_FINISHED_OK
state	3392	begin surface