Glider dive log

SODA Aug19 * SG229 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 229 HEADING -1 C_ROLL_DIVE 2000 ALTIM_PING_DELTA 10

MISSION 7 ESCAPE_HEADING 0 C_ROLL_CLIMB 2000 ALTIM_FREQUENCY 13

DIVE 3 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

N_DIVES 5 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.047120001 ALTIM_SENSITIVITY 3

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 180 SM_CC 625.51501 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -2.5

D_ABORT 220 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 2900 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 161 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 60 CAPUPLOAD 0 DBDW 0 LOGGERDEVICE2 -1

T_MISSION 80 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 575 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 150 MINV_10V 11 SEABIRD_T_G 0.0044066384

D_OFFGRID 100 PITCH_MAX 3840 MAXI_24V 5 SEABIRD_T_H 0.00064594403

RELAUNCH 1 C_PITCH 2050 MAXI_10V 1.4 SEABIRD_T_I 2.8872973e-05

APOGEE_PITCH -5 PITCH_DBAND 0.1 FG_AHR_10V 6.1885967 SEABIRD_T_J 3.8119131e-06

MAX_BUOY 150 PITCH_CNV 0.0031300001 FG_AHR_24V 25.921457 SEABIRD_C_G -9.8249397

GLIDE_SLOPE 30 PITCH_GAIN 30 PHONE_SUPPLY 2 SEABIRD_C_H 1.1031885

SPEED_FACTOR 1 PITCH_TIMEOUT 20 PRESSURE_YINT -162.56323 SEABIRD_C_I -0.00041305512

RHO 1.0275 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00010777653 SEABIRD_C_J 0.00012297566

MASS 72365 PITCH_ADJ_GAIN 0.02 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 340 ALTIM_TOP_TURN_MARGIN 0

HD_B 0.0099999998 ROLL_MAX 3945 ALTIM_TOP_MIN_OBSTACLE 2

HD_C 1.6e-05 ROLL_DEG 80 ALTIM_PING_DEPTH 0

AH0_10V 0 D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0044066384

AH0_24V 575 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00064594403

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.8872973e-05

ALTIM_FREQUENCY 13 D_TGT 180 N_NOSURFACE 0 SEABIRD_T_J 3.8119131e-06

ALTIM_PING_DELTA 10 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 6.1885967 PITCH_ADJ_GAIN 0.02 STOP_T 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 25.921457 PITCH_CNV 0.0031300001 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 2 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 3840 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 150 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HD_B 0.0099999998 PITCH_TIMEOUT 20 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 60

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_SLOPE 0.00010777653 T_EPIRB 0

COMM_SEQ 0 ID 229 PRESSURE_YINT -162.56323 T_GPS 5

COMPASS2_DEVICE 55 INT_PRESSURE_SLOPE 1.9639999e-06 PROTOCOL 9 T_LOITER 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT -2.5 RAFOS_CORR_THRESH 60 T_MISSION 80

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 104 T_NO_W 120

C_PITCH 2050 LOGGERDEVICE1 7 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

C_ROLL_CLIMB 2000 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 T_TURN 225

C_ROLL_DIVE 2000 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_VBD 2900 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 80 VBD_DBAND 2

DEVICE3 -1 LOITER_W_DBAND 0 ROLL_MAX 3945 VBD_LP_IGNORE 0

DEVICE4 -1 MASS 72365 ROLL_MAXERRORS 1 VBD_MAX 3960

DEVICE5 -1 MAXI_10V 1.4 ROLL_MIN 340 VBD_MAXERRORS 1

DEVICE6 -1 MAXI_24V 5 ROLL_TIMEOUT 15 VBD_MIN 550

DIVE 3 MAX_BUOY 150 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_ABORT 220 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 7 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_FINISH 0 MOTHERBOARD 6 SEABIRD_C_G -9.8249397 XPDR_VALID 5

D_FLARE 3 NAV_MODE 2 SEABIRD_C_H 1.1031885

D_NO_BLEED 50 NOCOMM_ACTION 161 SEABIRD_C_I -0.00041305512

D_OFFGRID 100 N_DIVES 5 SEABIRD_C_J 0.00012297566

Pre-dive calculations and measurements:

GPS1 060819,002305,7110.672,-14754.671,2,0.6,2,17.4 TGT_LATLONG 7300.000,-14820.200

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.63 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -70.2 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 060819,002527,7110.656,-14754.634,2,0.6,4,17.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 293.7,202977,-17.6,-10.000,-21.24

TGT_NAME SODAA D_GRID 180

Post-dive calculations and measurements:

FINISH 0.4,1.022173 _24V_AH 14.64,62.261

SM_CCo 3923.73,0.00,0.000,0,544.3,501.7,586.9,577.86 _10V_AH 14.86,0.000

SM_GC 2.59,0.00,7.43,0.15,0.000,0.077,0.061,544.3,501.7,586.9,135.2,2043.8,0,0,0,30.00,15.41,15.50 FG_AHR_24Vo 26.046

SUPER 51,71,254,1,0,0 FG_AHR_10Vo 6.233

IRIDIUM_FIX 7110.61,-14754.73,060819,002055 MEM 1154576,33,24432,72

TCM_TEMP 7.63 DATA_FILE_SIZE 16107,579

XPDR_PINGS 1 CAP_FILE_SIZE 213194,0

SC_FREEKB 3876800 SDSIZE 3918848,3908000

RAFOS_CLK -3 SDFILEDIR 61,1

RAFOS_FIX 7110.870117,-14819.055664,060819,010146,0,1,3.73 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 59.77 SOUNDSPEED 1465.0

TEMP 2.01 CURRENT 0.262,132.3,1

INTERNAL_PRESSURE 8.36549 GPS 060819,013155,7110.492,-14754.216,18,0.7,19,17.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 657 1520 14629.19 nil 0 0 0.00

Pitch_motor 20 398 117.52 nil 0 0 0.00

Roll_motor 110 112 181.33 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 1.54 nil 0 0 0.00

GPS 13 15 3.02 nil 0 0 0.00

Core 1711 19 506.55 SciCon 3908 55 3251.50

LPSleep 2274 2 78.08 nil 0 0 0.00

Compass 609 5 45.29 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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

4.51 2 -145.99 -1.03 0.00 543.7 514.6 572.8 135.6 2045.1 0.00 0.00 0 77.11 71.96 0.00 0.00 0.005 0.000 0.000 1947.84 1873.12 2022.56 135.38 2044.81 0 0 0 15.36 30.00 30.00

77.37 295 -145.99 -1.03 80.00 1947.4 1873.0 2021.9 135.4 2044.8 3.60 -3.40 7 134.96 41.17 7.47 4.89 0.005 0.398 0.070 3493.44 3437.00 3549.88 1702.19 3708.00 0 0 0 15.41 15.24 15.32

302.07 1028 -145.99 -1.03 0.00 3496.0 3441.0 3551.1 1702.2 3707.1 50.17 -12.96 52 308.88 0.00 0.00 4.89 0.000 0.000 0.033 3499.06 3443.62 3554.50 1720.44 1976.38 0 0 0 30.00 30.00 15.56

487.03 388 -145.99 -1.00 80.00 3496.3 3440.8 3551.9 1721.4 1976.4 72.28 -12.07 71 493.93 0.00 0.00 5.10 0.000 0.000 0.064 3496.72 3440.31 3553.12 1701.25 3708.62 0 0 0 30.00 30.00 15.56

532.07 1028 -145.99 -1.00 0.00 3495.9 3440.2 3551.7 1702.0 3708.2 78.06 -12.46 80 538.90 0.00 0.00 4.89 0.000 0.000 0.031 3494.84 3438.94 3550.75 1720.19 1974.31 0 0 0 30.00 30.00 15.56

717.06 260 -145.99 -1.00 80.00 3496.2 3439.9 3552.6 1720.2 1973.8 99.36 -11.61 99 723.96 0.00 0.00 5.09 0.000 0.000 0.064 3497.03 3440.44 3553.62 1701.00 3707.31 0 0 0 30.00 30.00 15.58

812.16 1156 -145.99 -1.02 0.00 3495.8 3439.9 3551.6 1700.0 3705.9 110.43 -11.20 118 818.97 0.00 0.00 4.87 0.000 0.000 0.031 3498.25 3442.50 3554.00 1719.75 1975.62 0 0 0 30.00 30.00 15.52

997.35 420 -145.99 -1.05 80.00 3495.3 3438.3 3552.2 1719.9 1974.0 126.85 -8.14 137 1004.00 0.00 0.00 5.09 0.000 0.000 0.062 3497.28 3441.12 3553.44 1700.00 3709.44 0 0 0 30.00 30.00 15.31

1072.25 1188 -145.99 -1.07 0.00 3496.1 3439.6 3552.5 1700.4 3710.1 134.05 -9.78 152 1078.99 0.00 0.00 4.86 0.000 0.000 0.031 3496.75 3440.19 3553.31 1718.69 1976.12 0 0 0 30.00 30.00 15.70

1257.40 420 -145.99 -1.10 80.00 3495.5 3439.6 3551.4 1719.2 1974.9 151.05 -8.83 171 1264.05 0.00 0.00 5.09 0.000 0.000 0.062 3494.56 3436.94 3552.19 1699.06 3709.44 0 0 0 30.00 30.00 15.57

1332.30 1188 -145.99 -1.15 0.00 3495.8 3438.1 3553.4 1698.6 3709.0 158.59 -9.90 186 1339.03 0.00 0.00 4.86 0.000 0.000 0.032 3493.44 3435.81 3551.06 1718.25 1975.25 0 0 0 30.00 30.00 15.73

1517.26 421 -145.99 -1.21 80.00 3495.0 3437.6 3552.4 1718.8 1975.1 175.52 -9.22 205 1524.15 0.00 0.17 5.07 0.000 0.064 0.063 3493.88 3435.44 3552.31 1612.00 3707.44 0 0 0 30.00 15.70 15.65

1557 end dive: TARGET_DEPTH_EXCEEDED

state 1557 begin apogee

1563.70 3 0.00 -0.17 0.00 3495.4 3437.2 3553.7 1631.4 1974.0 180.45 -12.91 213 1678.64 110.41 1.25 0.14 1.520 0.201 0.112 2901.25 2798.06 3004.44 1999.19 2046.25 0 0 0 11.68 15.50 15.24

1679 end apogee: CONTROL_FINISHED_OK

state 1680 begin climb

1679.64 519 145.99 1.03 -80.00 2896.3 2793.9 2998.6 2001.1 2046.4 183.62 0.00 225 1798.13 109.57 1.07 5.17 1.406 0.029 0.066 2299.22 2200.19 2398.25 2447.38 328.44 0 0 0 11.13 15.34 15.03

1945.30 1159 145.99 0.68 0.00 2288.8 2201.0 2376.6 2446.4 328.2 156.58 16.45 278 1953.25 0.00 0.65 4.84 0.000 0.278 0.032 2287.47 2199.56 2375.38 2260.88 2033.50 0 0 0 30.00 15.30 15.31

2130.28 423 214.91 0.83 80.00 2285.2 2193.5 2377.0 2260.5 2033.5 142.27 6.79 297 2189.32 51.62 0.17 4.95 1.425 0.077 0.064 2023.19 1922.44 2123.94 2313.88 3706.56 0 0 0 11.91 15.51 15.26

2371.28 1189 218.71 0.70 0.00 2013.9 1918.9 2108.8 2314.1 3708.0 117.09 9.82 345 2378.49 0.00 0.25 4.91 0.000 0.223 0.033 2016.50 1920.31 2112.69 2264.31 1976.56 0 0 0 30.00 15.41 15.45

2561.43 423 297.51 0.98 80.00 2010.9 1913.4 2108.4 2264.2 1976.3 105.06 6.33 365 2633.88 62.47 0.28 5.19 1.374 0.057 0.065 1683.41 1590.12 1776.69 2366.00 3708.06 0 0 0 11.77 15.56 15.25

2731.64 1159 297.51 0.89 0.00 1678.7 1589.9 1767.5 2365.2 3706.8 87.78 11.52 399 2738.40 0.00 0.22 4.95 0.000 0.227 0.035 1679.00 1589.75 1768.25 2324.12 1975.94 0 0 0 30.00 15.37 15.48

2916.70 423 381.67 1.19 80.00 1675.1 1585.3 1764.8 2325.1 1976.3 73.99 6.08 418 2989.24 63.29 0.31 5.22 1.329 0.055 0.067 1342.66 1257.06 1428.25 2440.25 3708.81 0 0 0 11.81 15.50 15.25

3141.38 1157 381.67 1.09 0.00 1338.1 1254.5 1421.7 2440.3 3709.8 46.47 13.71 463 3148.88 0.00 0.25 4.95 0.000 0.214 0.036 1338.62 1254.81 1422.44 2389.31 1978.25 0 0 0 30.00 15.40 15.49

3331.57 423 467.54 1.43 80.00 1334.5 1249.1 1419.9 2390.6 1976.1 31.87 6.01 483 3404.22 64.72 0.34 5.20 1.286 0.051 0.062 993.22 919.06 1067.38 2536.81 3708.12 0 0 0 11.82 15.49 15.25

3626.51 1191 651.10 1.92 0.00 989.6 915.4 1063.9 2537.8 3707.7 24.83 1.46 542 3716.66 82.18 0.30 4.96 1.213 0.066 0.033 550.78 503.81 597.75 2676.06 1967.88 0 0 0 11.94 15.48 15.45

3899 end climb: SURFACE_DEPTH_REACHED

state 3899 begin surface coast

3909 end surface coast: CONTROL_FINISHED_OK

state 3909 begin surface

ID	229	HEADING	-1	C_ROLL_DIVE	2000	ALTIM_PING_DELTA	10
MISSION	7	ESCAPE_HEADING	0	C_ROLL_CLIMB	2000	ALTIM_FREQUENCY	13
DIVE	3	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
N_DIVES	5	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.047120001	ALTIM_SENSITIVITY	3
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	180	SM_CC	625.51501	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-2.5
D_ABORT	220	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	2900	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	161	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	60	CAPUPLOAD	0	DBDW	0	LOGGERDEVICE2	-1
T_MISSION	80	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	575	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	150	MINV_10V	11	SEABIRD_T_G	0.0044066384
D_OFFGRID	100	PITCH_MAX	3840	MAXI_24V	5	SEABIRD_T_H	0.00064594403
RELAUNCH	1	C_PITCH	2050	MAXI_10V	1.4	SEABIRD_T_I	2.8872973e-05
APOGEE_PITCH	-5	PITCH_DBAND	0.1	FG_AHR_10V	6.1885967	SEABIRD_T_J	3.8119131e-06
MAX_BUOY	150	PITCH_CNV	0.0031300001	FG_AHR_24V	25.921457	SEABIRD_C_G	-9.8249397
GLIDE_SLOPE	30	PITCH_GAIN	30	PHONE_SUPPLY	2	SEABIRD_C_H	1.1031885
SPEED_FACTOR	1	PITCH_TIMEOUT	20	PRESSURE_YINT	-162.56323	SEABIRD_C_I	-0.00041305512
RHO	1.0275	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00010777653	SEABIRD_C_J	0.00012297566
MASS	72365	PITCH_ADJ_GAIN	0.02	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	340	ALTIM_TOP_TURN_MARGIN	0
HD_B	0.0099999998	ROLL_MAX	3945	ALTIM_TOP_MIN_OBSTACLE	2
HD_C	1.6e-05	ROLL_DEG	80	ALTIM_PING_DEPTH	0

GPS1	060819,002305,7110.672,-14754.671,2,0.6,2,17.4	TGT_LATLONG	7300.000,-14820.200
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.63	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-70.2	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	060819,002527,7110.656,-14754.634,2,0.6,4,17.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	293.7,202977,-17.6,-10.000,-21.24
TGT_NAME	SODAA	D_GRID	180

FINISH	0.4,1.022173	_24V_AH	14.64,62.261
SM_CCo	3923.73,0.00,0.000,0,544.3,501.7,586.9,577.86	_10V_AH	14.86,0.000
SM_GC	2.59,0.00,7.43,0.15,0.000,0.077,0.061,544.3,501.7,586.9,135.2,2043.8,0,0,0,30.00,15.41,15.50	FG_AHR_24Vo	26.046
SUPER	51,71,254,1,0,0	FG_AHR_10Vo	6.233
IRIDIUM_FIX	7110.61,-14754.73,060819,002055	MEM	1154576,33,24432,72
TCM_TEMP	7.63	DATA_FILE_SIZE	16107,579
XPDR_PINGS	1	CAP_FILE_SIZE	213194,0
SC_FREEKB	3876800	SDSIZE	3918848,3908000
RAFOS_CLK	-3	SDFILEDIR	61,1
RAFOS_FIX	7110.870117,-14819.055664,060819,010146,0,1,3.73	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	59.77	SOUNDSPEED	1465.0
TEMP	2.01	CURRENT	0.262,132.3,1
INTERNAL_PRESSURE	8.36549	GPS	060819,013155,7110.492,-14754.216,18,0.7,19,17.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	657	1520	14629.19	nil	0	0	0.00
Pitch_motor	20	398	117.52	nil	0	0	0.00
Roll_motor	110	112	181.33	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	1.54	nil	0	0	0.00
GPS	13	15	3.02	nil	0	0	0.00
Core	1711	19	506.55	SciCon	3908	55	3251.50
LPSleep	2274	2	78.08	nil	0	0	0.00
Compass	609	5	45.29	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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
4.51	2	-145.99	-1.03	0.00	543.7	514.6	572.8	135.6	2045.1	0.00	0.00	0	77.11	71.96	0.00	0.00	0.005	0.000	0.000	1947.84	1873.12	2022.56	135.38	2044.81	0	0	0	15.36	30.00	30.00
77.37	295	-145.99	-1.03	80.00	1947.4	1873.0	2021.9	135.4	2044.8	3.60	-3.40	7	134.96	41.17	7.47	4.89	0.005	0.398	0.070	3493.44	3437.00	3549.88	1702.19	3708.00	0	0	0	15.41	15.24	15.32
302.07	1028	-145.99	-1.03	0.00	3496.0	3441.0	3551.1	1702.2	3707.1	50.17	-12.96	52	308.88	0.00	0.00	4.89	0.000	0.000	0.033	3499.06	3443.62	3554.50	1720.44	1976.38	0	0	0	30.00	30.00	15.56
487.03	388	-145.99	-1.00	80.00	3496.3	3440.8	3551.9	1721.4	1976.4	72.28	-12.07	71	493.93	0.00	0.00	5.10	0.000	0.000	0.064	3496.72	3440.31	3553.12	1701.25	3708.62	0	0	0	30.00	30.00	15.56
532.07	1028	-145.99	-1.00	0.00	3495.9	3440.2	3551.7	1702.0	3708.2	78.06	-12.46	80	538.90	0.00	0.00	4.89	0.000	0.000	0.031	3494.84	3438.94	3550.75	1720.19	1974.31	0	0	0	30.00	30.00	15.56
717.06	260	-145.99	-1.00	80.00	3496.2	3439.9	3552.6	1720.2	1973.8	99.36	-11.61	99	723.96	0.00	0.00	5.09	0.000	0.000	0.064	3497.03	3440.44	3553.62	1701.00	3707.31	0	0	0	30.00	30.00	15.58
812.16	1156	-145.99	-1.02	0.00	3495.8	3439.9	3551.6	1700.0	3705.9	110.43	-11.20	118	818.97	0.00	0.00	4.87	0.000	0.000	0.031	3498.25	3442.50	3554.00	1719.75	1975.62	0	0	0	30.00	30.00	15.52
997.35	420	-145.99	-1.05	80.00	3495.3	3438.3	3552.2	1719.9	1974.0	126.85	-8.14	137	1004.00	0.00	0.00	5.09	0.000	0.000	0.062	3497.28	3441.12	3553.44	1700.00	3709.44	0	0	0	30.00	30.00	15.31
1072.25	1188	-145.99	-1.07	0.00	3496.1	3439.6	3552.5	1700.4	3710.1	134.05	-9.78	152	1078.99	0.00	0.00	4.86	0.000	0.000	0.031	3496.75	3440.19	3553.31	1718.69	1976.12	0	0	0	30.00	30.00	15.70
1257.40	420	-145.99	-1.10	80.00	3495.5	3439.6	3551.4	1719.2	1974.9	151.05	-8.83	171	1264.05	0.00	0.00	5.09	0.000	0.000	0.062	3494.56	3436.94	3552.19	1699.06	3709.44	0	0	0	30.00	30.00	15.57
1332.30	1188	-145.99	-1.15	0.00	3495.8	3438.1	3553.4	1698.6	3709.0	158.59	-9.90	186	1339.03	0.00	0.00	4.86	0.000	0.000	0.032	3493.44	3435.81	3551.06	1718.25	1975.25	0	0	0	30.00	30.00	15.73
1517.26	421	-145.99	-1.21	80.00	3495.0	3437.6	3552.4	1718.8	1975.1	175.52	-9.22	205	1524.15	0.00	0.17	5.07	0.000	0.064	0.063	3493.88	3435.44	3552.31	1612.00	3707.44	0	0	0	30.00	15.70	15.65
1557	end dive: TARGET_DEPTH_EXCEEDED
state	1557	begin apogee
1563.70	3	0.00	-0.17	0.00	3495.4	3437.2	3553.7	1631.4	1974.0	180.45	-12.91	213	1678.64	110.41	1.25	0.14	1.520	0.201	0.112	2901.25	2798.06	3004.44	1999.19	2046.25	0	0	0	11.68	15.50	15.24
1679	end apogee: CONTROL_FINISHED_OK
state	1680	begin climb
1679.64	519	145.99	1.03	-80.00	2896.3	2793.9	2998.6	2001.1	2046.4	183.62	0.00	225	1798.13	109.57	1.07	5.17	1.406	0.029	0.066	2299.22	2200.19	2398.25	2447.38	328.44	0	0	0	11.13	15.34	15.03
1945.30	1159	145.99	0.68	0.00	2288.8	2201.0	2376.6	2446.4	328.2	156.58	16.45	278	1953.25	0.00	0.65	4.84	0.000	0.278	0.032	2287.47	2199.56	2375.38	2260.88	2033.50	0	0	0	30.00	15.30	15.31
2130.28	423	214.91	0.83	80.00	2285.2	2193.5	2377.0	2260.5	2033.5	142.27	6.79	297	2189.32	51.62	0.17	4.95	1.425	0.077	0.064	2023.19	1922.44	2123.94	2313.88	3706.56	0	0	0	11.91	15.51	15.26
2371.28	1189	218.71	0.70	0.00	2013.9	1918.9	2108.8	2314.1	3708.0	117.09	9.82	345	2378.49	0.00	0.25	4.91	0.000	0.223	0.033	2016.50	1920.31	2112.69	2264.31	1976.56	0	0	0	30.00	15.41	15.45
2561.43	423	297.51	0.98	80.00	2010.9	1913.4	2108.4	2264.2	1976.3	105.06	6.33	365	2633.88	62.47	0.28	5.19	1.374	0.057	0.065	1683.41	1590.12	1776.69	2366.00	3708.06	0	0	0	11.77	15.56	15.25
2731.64	1159	297.51	0.89	0.00	1678.7	1589.9	1767.5	2365.2	3706.8	87.78	11.52	399	2738.40	0.00	0.22	4.95	0.000	0.227	0.035	1679.00	1589.75	1768.25	2324.12	1975.94	0	0	0	30.00	15.37	15.48
2916.70	423	381.67	1.19	80.00	1675.1	1585.3	1764.8	2325.1	1976.3	73.99	6.08	418	2989.24	63.29	0.31	5.22	1.329	0.055	0.067	1342.66	1257.06	1428.25	2440.25	3708.81	0	0	0	11.81	15.50	15.25
3141.38	1157	381.67	1.09	0.00	1338.1	1254.5	1421.7	2440.3	3709.8	46.47	13.71	463	3148.88	0.00	0.25	4.95	0.000	0.214	0.036	1338.62	1254.81	1422.44	2389.31	1978.25	0	0	0	30.00	15.40	15.49
3331.57	423	467.54	1.43	80.00	1334.5	1249.1	1419.9	2390.6	1976.1	31.87	6.01	483	3404.22	64.72	0.34	5.20	1.286	0.051	0.062	993.22	919.06	1067.38	2536.81	3708.12	0	0	0	11.82	15.49	15.25
3626.51	1191	651.10	1.92	0.00	989.6	915.4	1063.9	2537.8	3707.7	24.83	1.46	542	3716.66	82.18	0.30	4.96	1.213	0.066	0.033	550.78	503.81	597.75	2676.06	1967.88	0	0	0	11.94	15.48	15.45
3899	end climb: SURFACE_DEPTH_REACHED
state	3899	begin surface coast
3909	end surface coast: CONTROL_FINISHED_OK
state	3909	begin surface