Glider dive log

AMOS Oct19 * SG231 * Dive index * Mission links * Dive 24 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 231 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 2 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.047120001 XPDR_VALID 6

DIVE 24 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 1.9639999e-06

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -3.25

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_FLARE 3 SM_CC 435.4075 VBD_MIN 525 DEEPGLIDERMB 0

D_TGT 180 N_FILEKB 8 VBD_MAX 3950 MOTHERBOARD 6

D_ABORT 1020 FILEMGR 0 C_VBD 2450 DEVICE1 -1

D_NO_BLEED 200 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_BOOST 2 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE3 -1

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_FINISH 0 N_NOCOMM 1 VBD_TIMEOUT 720 DEVICE5 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.003 DEVICE6 -1

D_SAFE 0 N_NOSURFACE 0 UNCOM_BLEED 20 LOGGERS 3

D_CALL 0 UPLOAD_DIVES_MAX -1 VBD_MAXERRORS 1 LOGGERDEVICE1 7

SURFACE_URGENCY 0 CALL_TRIES 5 W_ADJ_DBAND 2 LOGGERDEVICE2 40

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 DBDW 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 LOITER_W_DBAND 20 LOGGERDEVICE4 -1

T_DIVE 60 CAPMAXSIZE 100000 LOITER_DBDW 40 COMPASS_DEVICE 66

T_MISSION 75 T_GPS 5 LOITER_D_TOP 100 COMPASS2_DEVICE -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 200 PHONE_DEVICE 33

T_TURN 225 T_RSLEEP -3 LOITER_N_DIVE 0 GPS_DEVICE 48

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 RAFOS_DEVICE -1

T_NO_W 120 RAFOS_PEAK_OFFSET 0 AH0_24V 575 XPDR_DEVICE 0

T_LOITER 21600 RAFOS_CORR_THRESH 60 AH0_10V 0 SIM_W 0.1

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_G 0.0042873411

USE_BATHY 0 RAFOS_MMODEM 0 MINV_10V 11 SEABIRD_T_H 0.00062238763

USE_ICE 0 PITCH_MIN 471 MAXI_24V 5 SEABIRD_T_I 2.1747219e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3850 MAXI_10V 1.4 SEABIRD_T_J 2.1565911e-06

D_OFFGRID 1020 C_PITCH 2950 FG_AHR_10V 1.1914599 SEABIRD_C_G -9.9463768

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 4.1501603 SEABIRD_C_H 1.1384684

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 PHONE_SUPPLY 2 SEABIRD_C_I -0.0018041182

MAX_BUOY 120 PITCH_GAIN 27 PRESSURE_YINT -152.15948 SEABIRD_C_J 0.00021621768

GLIDE_SLOPE 30 PITCH_TIMEOUT 26 PRESSURE_SLOPE 0.00010800161 SC_RECORDABOVE 2000.0

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 4 SC_PROFILE 3.0

RHO 1.0275 PITCH_ADJ_GAIN 0 ALTIM_PING_FIT 0 SC_XMITPROFILE 3.0

MASS 72301 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0 SC_NDIVE 1.0

NAV_MODE 2 PITCH_W_GAIN 2 ALTIM_BOTTOM_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 PM_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 345 ALTIM_TOP_MIN_OBSTACLE 0 PM_XMITPROFILE 3.0

HD_A 0.003 ROLL_MAX 3945 ALTIM_PING_DEPTH 0 PM_NDIVE 1.0

HD_B 0.0099999998 ROLL_DEG 80 ALTIM_PING_DELTA 0 PM_XMITRAW 0.0

HD_C 1.6e-05 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13 PM_MOTORS 1.0

HEADING -1 C_ROLL_CLIMB 2400 ALTIM_PULSE 3 PM_SENDDEPTH 1.0

AH0_10V 0 D_SAFE 0 N_NOCOMM 1 SEABIRD_C_G -9.9463768

AH0_24V 575 D_SURF 2 N_NOSURFACE 0 SEABIRD_C_H 1.1384684

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PHONE_DEVICE 33 SEABIRD_C_I -0.0018041182

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SEABIRD_C_J 0.00021621768

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_G 0.0042873411

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SEABIRD_T_H 0.00062238763

ALTIM_PING_FIT 0 FG_AHR_10V 1.1914599 PITCH_CNV 0.0031300001 SEABIRD_T_I 2.1747219e-05

ALTIM_PULSE 3 FG_AHR_24V 4.1501603 PITCH_DBAND 0.1 SEABIRD_T_J 2.1565911e-06

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 27 SIM_W 0.1

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3850 SM_CC 435.4075

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SPEED_FACTOR 1

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MIN 471 STOP_T 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_TIMEOUT 26 STROBE 0

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.003 SURFACE_URGENCY 0

CALL_TRIES 5 HD_C 1.6e-05 PITCH_W_DBAND 0.5 SURFACE_URGENCY_FORCE 0

CALL_WAIT 60 HEADING -1 PITCH_W_GAIN 2 SURFACE_URGENCY_TRY 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PM_MOTORS 1.0 TGT_AUTO_DEFAULT 0

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PM_NDIVE 1.0 TGT_DEFAULT_LAT 4736

CF8_MAXERRORS 20 ID 231 PM_PROFILE 3.0 TGT_DEFAULT_LON -12218

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PM_RECORDABOVE 2000.0 T_ABORT 1440

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3.25 PM_SENDDEPTH 1.0 T_BOOST 0

COMPASS_DEVICE 66 KALMAN_USE 2 PM_XMITPROFILE 3.0 T_DIVE 60

COMPASS_USE 4 LOGGERDEVICE1 7 PM_XMITRAW 0.0 T_EPIRB 0

C_PITCH 2950 LOGGERDEVICE2 40 PRESSURE_SLOPE 0.00010800161 T_GPS 5

C_ROLL_CLIMB 2400 LOGGERDEVICE3 -1 PRESSURE_YINT -152.15948 T_LOITER 21600

C_ROLL_DIVE 2500 LOGGERDEVICE4 -1 PROTOCOL 9 T_MISSION 75

C_VBD 2450 LOGGERS 3 RAFOS_CORR_THRESH 60 T_NO_W 120

DBDW 0 LOITER_DBDW 40 RAFOS_DEVICE -1 T_RSLEEP -3

DEEPGLIDER 0 LOITER_D_BOTTOM 200 RAFOS_HIT_WINDOW 3600 T_TURN 225

DEEPGLIDERMB 0 LOITER_D_TOP 100 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

DEVICE1 -1 LOITER_N_DIVE 0 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

DEVICE2 -1 LOITER_W_DBAND 20 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DEVICE3 -1 MASS 72301 RHO 1.0275 USE_BATHY 0

DEVICE4 -1 MAXI_10V 1.4 ROLL_ADJ_DBAND 0 USE_ICE 0

DEVICE5 -1 MAXI_24V 5 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE6 -1 MAX_BUOY 120 ROLL_CNV 0.047120001 VBD_DBAND 2

DIVE 24 MINV_10V 11 ROLL_DEG 80 VBD_LP_IGNORE 0

D_ABORT 1020 MINV_24V 11 ROLL_MAX 3945 VBD_MAX 3950

D_BOOST 2 MISSION 2 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

D_CALL 0 MOTHERBOARD 6 ROLL_MIN 345 VBD_MIN 525

D_FINISH 0 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

D_FLARE 3 NOCOMM_ACTION 163 SC_NDIVE 1.0 W_ADJ_DBAND 2

D_NO_BLEED 200 N_DIVES 0 SC_PROFILE 3.0 XPDR_DEVICE 0

D_OFFGRID 1020 N_FILEKB 8 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_PITCH 0 N_GPS 100440 SC_XMITPROFILE 3.0 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 091019,034744,7431.785,-14554.311,285,0.9,287,17.8 TGT_LATLONG 7300.000,-14820.200

_CALLS 3 TGT_RADIUS 2000.000

_SM_DEPTHo -37.03 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -81.0 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 091019,035603,7431.757,-14554.353,3,0.9,5,17.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.233 MHEAD_RNG_PITCHd_Wd 142.1,187389,-19.9,-10.000,-23.25

TGT_NAME a D_GRID 180

Post-dive calculations and measurements:

FINISH -0.0,1.025974 _24V_AH 14.12,30.158

SM_CCo 3921.22,4.48,0.683,0,525.7,555.7,495.6,472.04 _10V_AH 15.00,0.000

SM_GC 1.23,0.00,8.00,5.14,0.000,0.067,0.062,518.6,570.8,466.4,462.9,2511.2,0,0,0,30.00,15.85,15.88 FG_AHR_24Vo 4.254

SUPER 59,71,254,1,0,0 FG_AHR_10Vo 1.222

IRIDIUM_FIX 7430.09,-14558.51,091019,035056 MEM 1156096,29,23188,48

TCM_TEMP 8.38 DATA_FILE_SIZE 12915,485

XPDR_PINGS 315 CAP_FILE_SIZE 192912,107

SC_FREEKB 3869792 SDSIZE 3918848,3903168

PM_FREEKB_00 61223744 SDFILEDIR 188,1

PM_ACTIVECARD 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 52.07 CURRENT 0.270,334.9,1

TEMP -0.26 GPS 091019,053321,7432.177,-14555.290,9,1.4,11,17.8

INTERNAL_PRESSURE 8.39621

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 586 2783 23040.15 nil 0 0 0.00

Pitch_motor 21 437 131.81 nil 0 0 0.00

Roll_motor 96 166 227.17 nil 0 0 0.00

Iridium 300 163 694.38 nil 0 0 0.00

Transponder_ping 78 420 467.02 nil 0 0 0.00

GPS 14 15 3.28 nil 0 0 0.00

Core 2247 11 397.82 SciCon 3632 37 2049.48

LPSleep 4037 2 169.59 PMAR 3638 128 7025.83

Compass 832 5 62.41 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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

12.10 2 -116.79 -1.09 0.00 524.6 581.3 467.9 455.8 2463.8 0.00 0.00 0 35.04 20.83 0.00 0.00 0.006 0.000 0.000 878.41 955.94 800.88 455.75 2471.62 0 0 0 14.08 30.00 30.00

35.30 3 -116.79 -1.09 0.00 878.8 955.8 801.8 455.9 2464.9 3.22 -9.89 2 132.31 81.17 10.52 0.00 0.005 0.438 0.000 2924.78 3108.56 2741.00 2599.06 2462.69 0 0 0 14.06 15.39 30.00

315.25 260 -116.79 -1.09 80.00 2929.9 3109.5 2750.3 2599.9 2463.6 31.31 -9.56 39 322.91 0.00 0.00 4.49 0.000 0.000 0.110 2929.25 3108.00 2750.50 2579.75 3952.31 0 0 0 30.00 30.00 15.60

544.81 1028 -116.79 -1.09 0.00 2927.7 3105.2 2750.2 2580.1 3951.6 54.21 -10.09 85 552.46 0.00 0.00 4.16 0.000 0.000 0.054 2929.53 3107.25 2751.81 2591.81 2477.50 0 0 0 30.00 30.00 15.66

730.94 0 -116.79 -1.09 0.00 2927.7 3105.0 2750.3 2593.2 2468.4 72.60 -10.12 104 733.81 0.00 0.00 0.00 0.000 0.000 0.000 2927.56 3105.56 2749.56 2592.56 2468.88 0 0 0 30.00 30.00 30.00

910.89 0 -116.79 -1.09 0.00 2927.2 3104.4 2749.9 2593.9 2469.2 90.45 -10.03 122 913.76 0.00 0.00 0.00 0.000 0.000 0.000 2926.22 3103.56 2748.88 2593.19 2469.25 0 0 0 30.00 30.00 30.00

1090.97 516 -116.79 -1.09 -80.00 2926.6 3103.1 2750.1 2594.2 2468.2 108.38 -9.87 140 1102.17 0.00 0.00 4.91 0.000 0.000 0.081 2927.78 3104.75 2750.81 2603.69 791.50 0 0 0 30.00 30.00 15.62

1104.93 1028 -116.79 -1.09 0.00 2925.7 3101.4 2750.1 2602.0 791.4 109.85 -9.80 143 1113.76 0.00 0.00 4.95 0.000 0.000 0.061 2926.78 3104.44 2749.12 2581.81 2509.56 0 0 0 30.00 30.00 15.71

1297.12 516 -116.79 -1.09 -80.00 2924.9 3099.9 2749.9 2581.2 2511.1 128.86 -10.10 163 1308.68 0.00 0.00 5.03 0.000 0.000 0.080 2927.09 3102.25 2751.94 2592.62 791.69 0 0 0 30.00 30.00 15.73

1317.04 1028 -116.79 -1.09 0.00 2925.2 3100.6 2749.9 2592.3 791.4 130.85 -10.06 167 1328.65 0.00 0.00 4.93 0.000 0.000 0.060 2925.53 3100.94 2750.12 2570.50 2509.50 0 0 0 30.00 30.00 15.72

1507.02 517 -116.79 -1.09 -80.00 2925.8 3101.6 2749.9 2570.9 2509.1 150.00 -9.89 187 1518.97 0.00 0.12 5.05 0.000 0.306 0.081 2925.22 3100.88 2749.56 2623.62 791.12 0 0 0 30.00 15.65 15.73

1571.10 1028 -116.79 -1.09 0.00 2925.0 3099.0 2751.0 2624.4 791.2 156.54 -10.06 200 1581.77 0.00 0.00 4.94 0.000 0.000 0.064 2927.75 3102.12 2753.38 2602.94 2510.19 0 0 0 30.00 30.00 15.72

1766.79 0 -116.79 -1.09 0.00 2925.1 3099.8 2750.4 2602.3 2509.7 175.73 -10.14 221 1769.76 0.00 0.00 0.00 0.000 0.000 0.000 2925.88 3099.94 2751.81 2604.00 2509.12 0 0 0 30.00 30.00 30.00

1817 end dive: TARGET_DEPTH_EXCEEDED

state 1817 begin apogee

1817.99 3 0.00 -0.19 0.00 2925.6 3100.8 2750.4 2602.7 2368.2 180.78 -10.11 226 1922.67 100.79 1.02 0.12 1.638 0.245 0.166 2446.94 2579.12 2314.75 2892.38 2416.38 0 0 0 12.45 15.65 15.21

1924 end apogee: CONTROL_FINISHED_OK

state 1924 begin climb

1924.41 263 116.79 1.09 80.00 2446.6 2579.3 2313.8 2892.3 2416.5 170.79 0.00 236 2033.80 97.04 1.32 4.88 1.576 0.150 0.117 1969.44 2072.44 1866.44 3302.12 3951.12 0 0 0 12.21 15.25 14.96

2141.82 1030 116.79 1.09 0.00 1962.9 2064.1 1861.8 3301.4 3952.9 148.61 9.94 278 2149.43 0.00 0.00 4.57 0.000 0.000 0.054 1963.56 2065.75 1861.38 3321.56 2379.75 0 0 0 30.00 30.00 15.29

2326.75 518 116.79 1.09 -80.00 1959.2 2064.4 1854.1 3321.2 2369.8 130.16 10.01 297 2338.26 0.00 0.00 5.01 0.000 0.000 0.083 1960.69 2065.94 1855.44 3342.25 692.38 0 0 0 30.00 30.00 14.06

2420.72 1031 116.79 1.09 0.00 1959.1 2064.5 1853.7 3343.5 692.0 120.64 10.09 316 2429.52 0.00 0.20 5.01 0.000 0.278 0.062 1957.53 2062.06 1853.00 3289.50 2410.94 0 0 0 30.00 15.41 15.47

2612.30 262 116.79 1.09 80.00 1957.4 2064.9 1850.0 3291.0 2410.1 101.49 10.41 336 2620.22 0.00 0.00 4.70 0.000 0.000 0.114 1958.09 2066.25 1849.94 3290.62 3951.62 0 0 0 30.00 30.00 15.51

2702.10 1030 116.79 1.09 0.00 1957.5 2065.5 1849.6 3291.7 3952.0 92.44 10.01 354 2709.88 0.00 0.00 4.49 0.000 0.000 0.054 1956.59 2065.00 1848.19 3310.69 2379.00 0 0 0 30.00 30.00 15.56

2888.19 518 116.79 1.09 -80.00 1955.7 2065.8 1845.6 3311.4 2372.1 73.82 9.78 373 2899.62 0.00 0.00 4.97 0.000 0.000 0.084 1957.81 2068.00 1847.62 3332.44 690.81 0 0 0 30.00 30.00 14.08

3042.22 1031 116.79 1.09 0.00 1956.5 2066.2 1846.7 3331.7 691.0 58.12 9.95 404 3051.12 0.00 0.15 4.98 0.000 0.268 0.062 1954.72 2064.44 1845.00 3290.00 2411.50 0 0 0 30.00 15.55 15.61

3234.14 262 116.79 1.09 80.00 1955.1 2066.5 1843.6 3290.1 2411.5 39.14 9.87 424 3241.82 0.00 0.00 4.66 0.000 0.000 0.115 1956.75 2068.06 1845.44 3290.69 3949.56 0 0 0 30.00 30.00 14.08

3333.69 1030 116.79 1.09 0.00 1955.3 2066.4 1844.2 3292.0 3949.0 29.09 9.98 444 3341.31 0.00 0.00 4.46 0.000 0.000 0.053 1955.31 2066.62 1844.00 3310.50 2378.62 0 0 0 30.00 30.00 15.66

3519.69 518 116.79 1.09 -80.00 1955.0 2067.8 1842.2 3311.8 2376.9 10.80 10.28 463 3527.53 0.00 0.00 4.94 0.000 0.000 0.084 1954.09 2065.88 1842.31 3330.56 690.94 0 0 0 30.00 30.00 14.17

3610 end climb: SURFACE_DEPTH_REACHED

state 3610 begin surface coast

3630 end surface coast: CONTROL_FINISHED_OK

state 3630 begin surface

ID	231	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	2	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.047120001	XPDR_VALID	6
DIVE	24	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	1.9639999e-06
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-3.25
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_FLARE	3	SM_CC	435.4075	VBD_MIN	525	DEEPGLIDERMB	0
D_TGT	180	N_FILEKB	8	VBD_MAX	3950	MOTHERBOARD	6
D_ABORT	1020	FILEMGR	0	C_VBD	2450	DEVICE1	-1
D_NO_BLEED	200	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_BOOST	2	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE3	-1
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_FINISH	0	N_NOCOMM	1	VBD_TIMEOUT	720	DEVICE5	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.003	DEVICE6	-1
D_SAFE	0	N_NOSURFACE	0	UNCOM_BLEED	20	LOGGERS	3
D_CALL	0	UPLOAD_DIVES_MAX	-1	VBD_MAXERRORS	1	LOGGERDEVICE1	7
SURFACE_URGENCY	0	CALL_TRIES	5	W_ADJ_DBAND	2	LOGGERDEVICE2	40
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	DBDW	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	LOITER_W_DBAND	20	LOGGERDEVICE4	-1
T_DIVE	60	CAPMAXSIZE	100000	LOITER_DBDW	40	COMPASS_DEVICE	66
T_MISSION	75	T_GPS	5	LOITER_D_TOP	100	COMPASS2_DEVICE	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	200	PHONE_DEVICE	33
T_TURN	225	T_RSLEEP	-3	LOITER_N_DIVE	0	GPS_DEVICE	48
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
T_NO_W	120	RAFOS_PEAK_OFFSET	0	AH0_24V	575	XPDR_DEVICE	0
T_LOITER	21600	RAFOS_CORR_THRESH	60	AH0_10V	0	SIM_W	0.1
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_G	0.0042873411
USE_BATHY	0	RAFOS_MMODEM	0	MINV_10V	11	SEABIRD_T_H	0.00062238763
USE_ICE	0	PITCH_MIN	471	MAXI_24V	5	SEABIRD_T_I	2.1747219e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3850	MAXI_10V	1.4	SEABIRD_T_J	2.1565911e-06
D_OFFGRID	1020	C_PITCH	2950	FG_AHR_10V	1.1914599	SEABIRD_C_G	-9.9463768
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	4.1501603	SEABIRD_C_H	1.1384684
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	PHONE_SUPPLY	2	SEABIRD_C_I	-0.0018041182
MAX_BUOY	120	PITCH_GAIN	27	PRESSURE_YINT	-152.15948	SEABIRD_C_J	0.00021621768
GLIDE_SLOPE	30	PITCH_TIMEOUT	26	PRESSURE_SLOPE	0.00010800161	SC_RECORDABOVE	2000.0
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	4	SC_PROFILE	3.0
RHO	1.0275	PITCH_ADJ_GAIN	0	ALTIM_PING_FIT	0	SC_XMITPROFILE	3.0
MASS	72301	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0	SC_NDIVE	1.0
NAV_MODE	2	PITCH_W_GAIN	2	ALTIM_BOTTOM_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	PM_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	345	ALTIM_TOP_MIN_OBSTACLE	0	PM_XMITPROFILE	3.0
HD_A	0.003	ROLL_MAX	3945	ALTIM_PING_DEPTH	0	PM_NDIVE	1.0
HD_B	0.0099999998	ROLL_DEG	80	ALTIM_PING_DELTA	0	PM_XMITRAW	0.0
HD_C	1.6e-05	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13	PM_MOTORS	1.0
HEADING	-1	C_ROLL_CLIMB	2400	ALTIM_PULSE	3	PM_SENDDEPTH	1.0

GPS1	091019,034744,7431.785,-14554.311,285,0.9,287,17.8	TGT_LATLONG	7300.000,-14820.200
_CALLS	3	TGT_RADIUS	2000.000
_SM_DEPTHo	-37.03	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-81.0	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	091019,035603,7431.757,-14554.353,3,0.9,5,17.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.233	MHEAD_RNG_PITCHd_Wd	142.1,187389,-19.9,-10.000,-23.25
TGT_NAME	a	D_GRID	180

FINISH	-0.0,1.025974	_24V_AH	14.12,30.158
SM_CCo	3921.22,4.48,0.683,0,525.7,555.7,495.6,472.04	_10V_AH	15.00,0.000
SM_GC	1.23,0.00,8.00,5.14,0.000,0.067,0.062,518.6,570.8,466.4,462.9,2511.2,0,0,0,30.00,15.85,15.88	FG_AHR_24Vo	4.254
SUPER	59,71,254,1,0,0	FG_AHR_10Vo	1.222
IRIDIUM_FIX	7430.09,-14558.51,091019,035056	MEM	1156096,29,23188,48
TCM_TEMP	8.38	DATA_FILE_SIZE	12915,485
XPDR_PINGS	315	CAP_FILE_SIZE	192912,107
SC_FREEKB	3869792	SDSIZE	3918848,3903168
PM_FREEKB_00	61223744	SDFILEDIR	188,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	52.07	CURRENT	0.270,334.9,1
TEMP	-0.26	GPS	091019,053321,7432.177,-14555.290,9,1.4,11,17.8
INTERNAL_PRESSURE	8.39621

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	586	2783	23040.15	nil	0	0	0.00
Pitch_motor	21	437	131.81	nil	0	0	0.00
Roll_motor	96	166	227.17	nil	0	0	0.00
Iridium	300	163	694.38	nil	0	0	0.00
Transponder_ping	78	420	467.02	nil	0	0	0.00
GPS	14	15	3.28	nil	0	0	0.00
Core	2247	11	397.82	SciCon	3632	37	2049.48
LPSleep	4037	2	169.59	PMAR	3638	128	7025.83
Compass	832	5	62.41	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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
12.10	2	-116.79	-1.09	0.00	524.6	581.3	467.9	455.8	2463.8	0.00	0.00	0	35.04	20.83	0.00	0.00	0.006	0.000	0.000	878.41	955.94	800.88	455.75	2471.62	0	0	0	14.08	30.00	30.00
35.30	3	-116.79	-1.09	0.00	878.8	955.8	801.8	455.9	2464.9	3.22	-9.89	2	132.31	81.17	10.52	0.00	0.005	0.438	0.000	2924.78	3108.56	2741.00	2599.06	2462.69	0	0	0	14.06	15.39	30.00
315.25	260	-116.79	-1.09	80.00	2929.9	3109.5	2750.3	2599.9	2463.6	31.31	-9.56	39	322.91	0.00	0.00	4.49	0.000	0.000	0.110	2929.25	3108.00	2750.50	2579.75	3952.31	0	0	0	30.00	30.00	15.60
544.81	1028	-116.79	-1.09	0.00	2927.7	3105.2	2750.2	2580.1	3951.6	54.21	-10.09	85	552.46	0.00	0.00	4.16	0.000	0.000	0.054	2929.53	3107.25	2751.81	2591.81	2477.50	0	0	0	30.00	30.00	15.66
730.94	0	-116.79	-1.09	0.00	2927.7	3105.0	2750.3	2593.2	2468.4	72.60	-10.12	104	733.81	0.00	0.00	0.00	0.000	0.000	0.000	2927.56	3105.56	2749.56	2592.56	2468.88	0	0	0	30.00	30.00	30.00
910.89	0	-116.79	-1.09	0.00	2927.2	3104.4	2749.9	2593.9	2469.2	90.45	-10.03	122	913.76	0.00	0.00	0.00	0.000	0.000	0.000	2926.22	3103.56	2748.88	2593.19	2469.25	0	0	0	30.00	30.00	30.00
1090.97	516	-116.79	-1.09	-80.00	2926.6	3103.1	2750.1	2594.2	2468.2	108.38	-9.87	140	1102.17	0.00	0.00	4.91	0.000	0.000	0.081	2927.78	3104.75	2750.81	2603.69	791.50	0	0	0	30.00	30.00	15.62
1104.93	1028	-116.79	-1.09	0.00	2925.7	3101.4	2750.1	2602.0	791.4	109.85	-9.80	143	1113.76	0.00	0.00	4.95	0.000	0.000	0.061	2926.78	3104.44	2749.12	2581.81	2509.56	0	0	0	30.00	30.00	15.71
1297.12	516	-116.79	-1.09	-80.00	2924.9	3099.9	2749.9	2581.2	2511.1	128.86	-10.10	163	1308.68	0.00	0.00	5.03	0.000	0.000	0.080	2927.09	3102.25	2751.94	2592.62	791.69	0	0	0	30.00	30.00	15.73
1317.04	1028	-116.79	-1.09	0.00	2925.2	3100.6	2749.9	2592.3	791.4	130.85	-10.06	167	1328.65	0.00	0.00	4.93	0.000	0.000	0.060	2925.53	3100.94	2750.12	2570.50	2509.50	0	0	0	30.00	30.00	15.72
1507.02	517	-116.79	-1.09	-80.00	2925.8	3101.6	2749.9	2570.9	2509.1	150.00	-9.89	187	1518.97	0.00	0.12	5.05	0.000	0.306	0.081	2925.22	3100.88	2749.56	2623.62	791.12	0	0	0	30.00	15.65	15.73
1571.10	1028	-116.79	-1.09	0.00	2925.0	3099.0	2751.0	2624.4	791.2	156.54	-10.06	200	1581.77	0.00	0.00	4.94	0.000	0.000	0.064	2927.75	3102.12	2753.38	2602.94	2510.19	0	0	0	30.00	30.00	15.72
1766.79	0	-116.79	-1.09	0.00	2925.1	3099.8	2750.4	2602.3	2509.7	175.73	-10.14	221	1769.76	0.00	0.00	0.00	0.000	0.000	0.000	2925.88	3099.94	2751.81	2604.00	2509.12	0	0	0	30.00	30.00	30.00
1817	end dive: TARGET_DEPTH_EXCEEDED
state	1817	begin apogee
1817.99	3	0.00	-0.19	0.00	2925.6	3100.8	2750.4	2602.7	2368.2	180.78	-10.11	226	1922.67	100.79	1.02	0.12	1.638	0.245	0.166	2446.94	2579.12	2314.75	2892.38	2416.38	0	0	0	12.45	15.65	15.21
1924	end apogee: CONTROL_FINISHED_OK
state	1924	begin climb
1924.41	263	116.79	1.09	80.00	2446.6	2579.3	2313.8	2892.3	2416.5	170.79	0.00	236	2033.80	97.04	1.32	4.88	1.576	0.150	0.117	1969.44	2072.44	1866.44	3302.12	3951.12	0	0	0	12.21	15.25	14.96
2141.82	1030	116.79	1.09	0.00	1962.9	2064.1	1861.8	3301.4	3952.9	148.61	9.94	278	2149.43	0.00	0.00	4.57	0.000	0.000	0.054	1963.56	2065.75	1861.38	3321.56	2379.75	0	0	0	30.00	30.00	15.29
2326.75	518	116.79	1.09	-80.00	1959.2	2064.4	1854.1	3321.2	2369.8	130.16	10.01	297	2338.26	0.00	0.00	5.01	0.000	0.000	0.083	1960.69	2065.94	1855.44	3342.25	692.38	0	0	0	30.00	30.00	14.06
2420.72	1031	116.79	1.09	0.00	1959.1	2064.5	1853.7	3343.5	692.0	120.64	10.09	316	2429.52	0.00	0.20	5.01	0.000	0.278	0.062	1957.53	2062.06	1853.00	3289.50	2410.94	0	0	0	30.00	15.41	15.47
2612.30	262	116.79	1.09	80.00	1957.4	2064.9	1850.0	3291.0	2410.1	101.49	10.41	336	2620.22	0.00	0.00	4.70	0.000	0.000	0.114	1958.09	2066.25	1849.94	3290.62	3951.62	0	0	0	30.00	30.00	15.51
2702.10	1030	116.79	1.09	0.00	1957.5	2065.5	1849.6	3291.7	3952.0	92.44	10.01	354	2709.88	0.00	0.00	4.49	0.000	0.000	0.054	1956.59	2065.00	1848.19	3310.69	2379.00	0	0	0	30.00	30.00	15.56
2888.19	518	116.79	1.09	-80.00	1955.7	2065.8	1845.6	3311.4	2372.1	73.82	9.78	373	2899.62	0.00	0.00	4.97	0.000	0.000	0.084	1957.81	2068.00	1847.62	3332.44	690.81	0	0	0	30.00	30.00	14.08
3042.22	1031	116.79	1.09	0.00	1956.5	2066.2	1846.7	3331.7	691.0	58.12	9.95	404	3051.12	0.00	0.15	4.98	0.000	0.268	0.062	1954.72	2064.44	1845.00	3290.00	2411.50	0	0	0	30.00	15.55	15.61
3234.14	262	116.79	1.09	80.00	1955.1	2066.5	1843.6	3290.1	2411.5	39.14	9.87	424	3241.82	0.00	0.00	4.66	0.000	0.000	0.115	1956.75	2068.06	1845.44	3290.69	3949.56	0	0	0	30.00	30.00	14.08
3333.69	1030	116.79	1.09	0.00	1955.3	2066.4	1844.2	3292.0	3949.0	29.09	9.98	444	3341.31	0.00	0.00	4.46	0.000	0.000	0.053	1955.31	2066.62	1844.00	3310.50	2378.62	0	0	0	30.00	30.00	15.66
3519.69	518	116.79	1.09	-80.00	1955.0	2067.8	1842.2	3311.8	2376.9	10.80	10.28	463	3527.53	0.00	0.00	4.94	0.000	0.000	0.084	1954.09	2065.88	1842.31	3330.56	690.94	0	0	0	30.00	30.00	14.17
3610	end climb: SURFACE_DEPTH_REACHED
state	3610	begin surface coast
3630	end surface coast: CONTROL_FINISHED_OK
state	3630	begin surface