Glider dive log

AMOS Oct19 * SG231 * Dive index * Mission links * Dive 25 * 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 25 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 1.2230482 SEABIRD_C_G -9.9463768

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 4.2603664 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 1.2230482 PITCH_CNV 0.0031300001 SEABIRD_T_I 2.1747219e-05

ALTIM_PULSE 3 FG_AHR_24V 4.2603664 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 25 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 091019,053321,7432.177,-14555.290,9,1.4,11,17.8 TGT_LATLONG 7300.000,-14820.200

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.42 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -78.2 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 091019,053949,7432.157,-14555.357,5,1.4,7,17.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.233 MHEAD_RNG_PITCHd_Wd 141.9,187831,-19.9,-10.000,-23.25

TGT_NAME a D_GRID 180

Post-dive calculations and measurements:

FINISH -0.0,1.025979 _24V_AH 14.11,30.569

SM_CCo 3906.84,4.49,0.693,0,526.1,572.8,479.3,471.94 _10V_AH 15.00,0.000

SM_GC 1.96,0.00,8.02,0.40,0.000,0.072,0.081,519.8,590.4,449.3,458.6,2515.0,0,0,0,30.00,15.90,15.91 FG_AHR_24Vo 4.365

SUPER 51,71,254,1,0,0 FG_AHR_10Vo 1.254

IRIDIUM_FIX 7434.09,-14549.46,091019,035359 MEM 1156128,26,23216,48

TCM_TEMP 8.36 DATA_FILE_SIZE 12936,482

XPDR_PINGS 309 CAP_FILE_SIZE 194244,41

SC_FREEKB 3869344 SDSIZE 3918848,3902912

PM_FREEKB_00 61198208 SDFILEDIR 195,1

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

HUMID 51.93 CURRENT 0.276,336.5,1

TEMP -0.15 GPS 091019,072539,7432.708,-14556.001,125,1.0,125,17.8

INTERNAL_PRESSURE 8.38382

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 587 2783 23090.01 nil 0 0 0.00

Pitch_motor 21 446 134.88 nil 0 0 0.00

Roll_motor 106 172 260.79 nil 0 0 0.00

Iridium 283 181 724.86 nil 0 0 0.00

Transponder_ping 77 420 457.80 nil 0 0 0.00

GPS 16 15 3.67 nil 0 0 0.00

Core 2243 11 397.04 SciCon 3626 37 2056.92

LPSleep 4312 2 181.15 PMAR 3625 128 6997.19

Compass 823 5 61.73 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

12.08 2 -116.79 -1.09 0.00 519.7 568.8 470.7 460.4 2464.0 0.00 0.00 0 39.94 25.73 0.00 0.00 0.006 0.000 0.000 937.81 1001.50 874.12 459.88 2467.88 0 0 0 14.11 30.00 30.00

40.17 263 -116.79 -1.09 80.00 938.5 1002.4 874.6 460.3 2465.5 3.60 -9.83 3 138.49 77.03 10.57 4.44 0.005 0.446 0.105 2927.94 3118.38 2737.50 2581.31 3953.25 0 0 0 14.13 15.51 15.65

271.34 1028 -116.79 -1.09 0.00 2932.1 3117.4 2746.8 2581.6 3954.0 26.99 -9.93 49 279.06 0.00 0.00 4.17 0.000 0.000 0.055 2931.00 3117.19 2744.81 2598.06 2478.88 0 0 0 30.00 30.00 15.72

456.37 0 -116.79 -1.09 0.00 2931.9 3116.0 2747.8 2598.2 2469.0 45.59 -9.96 68 459.24 0.00 0.00 0.00 0.000 0.000 0.000 2932.31 3117.62 2747.00 2597.88 2468.44 0 0 0 30.00 30.00 30.00

636.38 516 -116.79 -1.09 -80.00 2930.1 3113.5 2746.6 2598.0 2469.4 63.81 -10.03 86 644.28 0.00 0.00 4.91 0.000 0.000 0.083 2930.41 3113.56 2747.25 2620.44 793.19 0 0 0 30.00 30.00 15.71

646.18 1028 -116.79 -1.09 0.00 2929.5 3111.1 2747.9 2620.4 793.1 64.88 -9.88 88 655.02 0.00 0.00 4.94 0.000 0.000 0.062 2930.84 3113.75 2747.94 2596.62 2512.12 0 0 0 30.00 30.00 15.74

837.95 516 -116.79 -1.09 -80.00 2929.2 3111.8 2746.6 2599.6 2511.2 83.69 -9.74 108 849.26 0.00 0.00 5.05 0.000 0.000 0.081 2931.09 3112.88 2749.31 2601.81 791.12 0 0 0 30.00 30.00 15.68

877.77 1028 -116.79 -1.09 0.00 2927.9 3108.2 2747.6 2604.6 791.5 87.70 -10.10 116 885.72 0.00 0.00 4.95 0.000 0.000 0.062 2926.75 3106.50 2747.00 2583.31 2510.94 0 0 0 30.00 30.00 15.72

1063.30 516 -116.79 -1.09 -80.00 2928.7 3109.5 2747.9 2583.1 2510.0 106.23 -9.94 135 1074.66 0.00 0.00 5.04 0.000 0.000 0.080 2928.16 3109.81 2746.50 2597.75 791.38 0 0 0 30.00 30.00 15.71

1116.99 1028 -116.79 -1.09 0.00 2928.1 3106.9 2749.3 2596.6 791.2 111.51 -9.92 146 1125.17 0.00 0.00 4.94 0.000 0.000 0.063 2928.31 3107.50 2749.12 2573.06 2510.06 0 0 0 30.00 30.00 15.75

1302.95 516 -116.79 -1.09 -80.00 2927.5 3107.4 2747.6 2573.8 2510.3 130.06 -10.04 165 1314.26 0.00 0.00 5.03 0.000 0.000 0.079 2928.00 3107.81 2748.19 2591.25 791.00 0 0 0 30.00 30.00 15.73

1366.97 1028 -116.79 -1.09 0.00 2926.7 3105.2 2748.2 2591.1 791.2 136.65 -10.37 178 1375.86 0.00 0.00 4.93 0.000 0.000 0.062 2928.66 3107.94 2749.38 2567.81 2509.94 0 0 0 30.00 30.00 15.76

1558.77 517 -116.79 -1.09 -80.00 2927.4 3106.2 2748.6 2569.3 2510.9 155.86 -10.21 198 1570.17 0.00 0.12 5.05 0.000 0.295 0.081 2927.12 3105.75 2748.50 2615.69 791.31 0 0 0 30.00 15.67 15.68

1618.85 1028 -116.79 -1.09 0.00 2926.3 3104.4 2748.2 2614.9 791.4 161.95 -10.17 210 1630.06 0.00 0.00 4.95 0.000 0.000 0.062 2928.38 3107.12 2749.62 2594.06 2510.25 0 0 0 30.00 30.00 15.70

1809 end dive: TARGET_DEPTH_EXCEEDED

state 1809 begin apogee

1810.01 3 0.00 -0.19 0.00 2927.1 3105.6 2748.6 2594.8 2371.8 180.69 -9.62 230 1916.01 101.78 1.04 0.11 1.645 0.242 0.173 2448.56 2582.31 2314.81 2893.31 2416.50 0 0 0 12.51 15.70 15.21

1918 end apogee: CONTROL_FINISHED_OK

state 1918 begin climb

1917.98 3 116.79 1.09 0.00 2445.9 2579.9 2311.9 2893.0 2416.1 170.82 0.00 240 2020.72 98.06 1.32 0.00 1.588 0.150 0.000 1972.31 2083.19 1861.44 3300.94 2417.44 0 0 0 12.28 15.26 30.00

2203.63 262 116.79 1.09 80.00 1962.2 2080.6 1843.7 3300.3 2416.6 141.17 9.71 278 2211.42 0.00 0.00 4.78 0.000 0.000 0.116 1961.81 2078.69 1844.94 3301.38 3950.00 0 0 0 30.00 30.00 15.32

2339.33 1030 116.79 1.09 0.00 1959.5 2077.9 1841.1 3300.6 3951.6 127.66 10.01 305 2347.09 0.00 0.00 4.51 0.000 0.000 0.053 1959.19 2077.62 1840.75 3320.31 2379.81 0 0 0 30.00 30.00 15.41

2524.20 518 116.79 1.09 -80.00 1957.9 2078.2 1837.6 3320.1 2374.4 109.01 9.94 324 2532.21 0.00 0.00 5.01 0.000 0.000 0.085 1957.28 2076.38 1838.19 3340.19 690.81 0 0 0 30.00 30.00 15.50

2640.00 1031 116.79 1.09 0.00 1958.3 2078.6 1838.0 3342.5 690.9 97.35 10.08 347 2651.61 0.00 0.19 5.01 0.000 0.261 0.062 1957.94 2078.88 1837.00 3290.12 2412.31 0 0 0 30.00 15.46 15.48

2830.18 262 116.79 1.09 80.00 1956.9 2078.6 1835.2 3291.3 2411.8 78.01 9.90 367 2837.92 0.00 0.00 4.68 0.000 0.000 0.113 1955.91 2078.50 1833.31 3291.50 3952.38 0 0 0 30.00 30.00 15.51

2919.79 1030 116.79 1.09 0.00 1955.9 2077.6 1834.1 3291.2 3952.3 68.99 10.12 385 2927.54 0.00 0.00 4.49 0.000 0.000 0.054 1957.00 2078.75 1835.25 3310.31 2377.69 0 0 0 30.00 30.00 14.02

3105.97 518 116.79 1.09 -80.00 1955.3 2078.6 1831.9 3310.4 2375.8 50.39 10.34 404 3117.36 0.00 0.00 4.96 0.000 0.000 0.086 1957.47 2081.31 1833.62 3330.75 690.69 0 0 0 30.00 30.00 15.58

3245.78 1031 116.79 1.09 0.00 1955.2 2078.9 1831.6 3333.4 690.9 36.19 10.11 432 3257.42 0.00 0.15 4.99 0.000 0.261 0.063 1955.41 2079.06 1831.75 3290.31 2412.81 0 0 0 30.00 15.57 14.22

3435.80 262 116.79 1.09 80.00 1955.5 2079.8 1831.2 3290.6 2412.4 17.38 9.74 452 3443.62 0.00 0.00 4.66 0.000 0.000 0.113 1956.47 2080.69 1832.25 3289.06 3952.44 0 0 0 30.00 30.00 15.62

3551.43 1030 116.79 1.09 0.00 1955.5 2078.6 1832.4 3290.0 3954.6 5.65 10.35 475 3559.24 0.00 0.00 4.45 0.000 0.000 0.052 1953.62 2077.56 1829.69 3309.62 2377.00 0 0 0 30.00 30.00 15.64

3596 end climb: SURFACE_DEPTH_REACHED

state 3597 begin surface coast

3617 end surface coast: CONTROL_FINISHED_OK

state 3617 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	25	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	1.2230482	SEABIRD_C_G	-9.9463768
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	4.2603664	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	091019,053321,7432.177,-14555.290,9,1.4,11,17.8	TGT_LATLONG	7300.000,-14820.200
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.42	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-78.2	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	091019,053949,7432.157,-14555.357,5,1.4,7,17.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.233	MHEAD_RNG_PITCHd_Wd	141.9,187831,-19.9,-10.000,-23.25
TGT_NAME	a	D_GRID	180

FINISH	-0.0,1.025979	_24V_AH	14.11,30.569
SM_CCo	3906.84,4.49,0.693,0,526.1,572.8,479.3,471.94	_10V_AH	15.00,0.000
SM_GC	1.96,0.00,8.02,0.40,0.000,0.072,0.081,519.8,590.4,449.3,458.6,2515.0,0,0,0,30.00,15.90,15.91	FG_AHR_24Vo	4.365
SUPER	51,71,254,1,0,0	FG_AHR_10Vo	1.254
IRIDIUM_FIX	7434.09,-14549.46,091019,035359	MEM	1156128,26,23216,48
TCM_TEMP	8.36	DATA_FILE_SIZE	12936,482
XPDR_PINGS	309	CAP_FILE_SIZE	194244,41
SC_FREEKB	3869344	SDSIZE	3918848,3902912
PM_FREEKB_00	61198208	SDFILEDIR	195,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	51.93	CURRENT	0.276,336.5,1
TEMP	-0.15	GPS	091019,072539,7432.708,-14556.001,125,1.0,125,17.8
INTERNAL_PRESSURE	8.38382

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	587	2783	23090.01	nil	0	0	0.00
Pitch_motor	21	446	134.88	nil	0	0	0.00
Roll_motor	106	172	260.79	nil	0	0	0.00
Iridium	283	181	724.86	nil	0	0	0.00
Transponder_ping	77	420	457.80	nil	0	0	0.00
GPS	16	15	3.67	nil	0	0	0.00
Core	2243	11	397.04	SciCon	3626	37	2056.92
LPSleep	4312	2	181.15	PMAR	3625	128	6997.19
Compass	823	5	61.73	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
12.08	2	-116.79	-1.09	0.00	519.7	568.8	470.7	460.4	2464.0	0.00	0.00	0	39.94	25.73	0.00	0.00	0.006	0.000	0.000	937.81	1001.50	874.12	459.88	2467.88	0	0	0	14.11	30.00	30.00
40.17	263	-116.79	-1.09	80.00	938.5	1002.4	874.6	460.3	2465.5	3.60	-9.83	3	138.49	77.03	10.57	4.44	0.005	0.446	0.105	2927.94	3118.38	2737.50	2581.31	3953.25	0	0	0	14.13	15.51	15.65
271.34	1028	-116.79	-1.09	0.00	2932.1	3117.4	2746.8	2581.6	3954.0	26.99	-9.93	49	279.06	0.00	0.00	4.17	0.000	0.000	0.055	2931.00	3117.19	2744.81	2598.06	2478.88	0	0	0	30.00	30.00	15.72
456.37	0	-116.79	-1.09	0.00	2931.9	3116.0	2747.8	2598.2	2469.0	45.59	-9.96	68	459.24	0.00	0.00	0.00	0.000	0.000	0.000	2932.31	3117.62	2747.00	2597.88	2468.44	0	0	0	30.00	30.00	30.00
636.38	516	-116.79	-1.09	-80.00	2930.1	3113.5	2746.6	2598.0	2469.4	63.81	-10.03	86	644.28	0.00	0.00	4.91	0.000	0.000	0.083	2930.41	3113.56	2747.25	2620.44	793.19	0	0	0	30.00	30.00	15.71
646.18	1028	-116.79	-1.09	0.00	2929.5	3111.1	2747.9	2620.4	793.1	64.88	-9.88	88	655.02	0.00	0.00	4.94	0.000	0.000	0.062	2930.84	3113.75	2747.94	2596.62	2512.12	0	0	0	30.00	30.00	15.74
837.95	516	-116.79	-1.09	-80.00	2929.2	3111.8	2746.6	2599.6	2511.2	83.69	-9.74	108	849.26	0.00	0.00	5.05	0.000	0.000	0.081	2931.09	3112.88	2749.31	2601.81	791.12	0	0	0	30.00	30.00	15.68
877.77	1028	-116.79	-1.09	0.00	2927.9	3108.2	2747.6	2604.6	791.5	87.70	-10.10	116	885.72	0.00	0.00	4.95	0.000	0.000	0.062	2926.75	3106.50	2747.00	2583.31	2510.94	0	0	0	30.00	30.00	15.72
1063.30	516	-116.79	-1.09	-80.00	2928.7	3109.5	2747.9	2583.1	2510.0	106.23	-9.94	135	1074.66	0.00	0.00	5.04	0.000	0.000	0.080	2928.16	3109.81	2746.50	2597.75	791.38	0	0	0	30.00	30.00	15.71
1116.99	1028	-116.79	-1.09	0.00	2928.1	3106.9	2749.3	2596.6	791.2	111.51	-9.92	146	1125.17	0.00	0.00	4.94	0.000	0.000	0.063	2928.31	3107.50	2749.12	2573.06	2510.06	0	0	0	30.00	30.00	15.75
1302.95	516	-116.79	-1.09	-80.00	2927.5	3107.4	2747.6	2573.8	2510.3	130.06	-10.04	165	1314.26	0.00	0.00	5.03	0.000	0.000	0.079	2928.00	3107.81	2748.19	2591.25	791.00	0	0	0	30.00	30.00	15.73
1366.97	1028	-116.79	-1.09	0.00	2926.7	3105.2	2748.2	2591.1	791.2	136.65	-10.37	178	1375.86	0.00	0.00	4.93	0.000	0.000	0.062	2928.66	3107.94	2749.38	2567.81	2509.94	0	0	0	30.00	30.00	15.76
1558.77	517	-116.79	-1.09	-80.00	2927.4	3106.2	2748.6	2569.3	2510.9	155.86	-10.21	198	1570.17	0.00	0.12	5.05	0.000	0.295	0.081	2927.12	3105.75	2748.50	2615.69	791.31	0	0	0	30.00	15.67	15.68
1618.85	1028	-116.79	-1.09	0.00	2926.3	3104.4	2748.2	2614.9	791.4	161.95	-10.17	210	1630.06	0.00	0.00	4.95	0.000	0.000	0.062	2928.38	3107.12	2749.62	2594.06	2510.25	0	0	0	30.00	30.00	15.70
1809	end dive: TARGET_DEPTH_EXCEEDED
state	1809	begin apogee
1810.01	3	0.00	-0.19	0.00	2927.1	3105.6	2748.6	2594.8	2371.8	180.69	-9.62	230	1916.01	101.78	1.04	0.11	1.645	0.242	0.173	2448.56	2582.31	2314.81	2893.31	2416.50	0	0	0	12.51	15.70	15.21
1918	end apogee: CONTROL_FINISHED_OK
state	1918	begin climb
1917.98	3	116.79	1.09	0.00	2445.9	2579.9	2311.9	2893.0	2416.1	170.82	0.00	240	2020.72	98.06	1.32	0.00	1.588	0.150	0.000	1972.31	2083.19	1861.44	3300.94	2417.44	0	0	0	12.28	15.26	30.00
2203.63	262	116.79	1.09	80.00	1962.2	2080.6	1843.7	3300.3	2416.6	141.17	9.71	278	2211.42	0.00	0.00	4.78	0.000	0.000	0.116	1961.81	2078.69	1844.94	3301.38	3950.00	0	0	0	30.00	30.00	15.32
2339.33	1030	116.79	1.09	0.00	1959.5	2077.9	1841.1	3300.6	3951.6	127.66	10.01	305	2347.09	0.00	0.00	4.51	0.000	0.000	0.053	1959.19	2077.62	1840.75	3320.31	2379.81	0	0	0	30.00	30.00	15.41
2524.20	518	116.79	1.09	-80.00	1957.9	2078.2	1837.6	3320.1	2374.4	109.01	9.94	324	2532.21	0.00	0.00	5.01	0.000	0.000	0.085	1957.28	2076.38	1838.19	3340.19	690.81	0	0	0	30.00	30.00	15.50
2640.00	1031	116.79	1.09	0.00	1958.3	2078.6	1838.0	3342.5	690.9	97.35	10.08	347	2651.61	0.00	0.19	5.01	0.000	0.261	0.062	1957.94	2078.88	1837.00	3290.12	2412.31	0	0	0	30.00	15.46	15.48
2830.18	262	116.79	1.09	80.00	1956.9	2078.6	1835.2	3291.3	2411.8	78.01	9.90	367	2837.92	0.00	0.00	4.68	0.000	0.000	0.113	1955.91	2078.50	1833.31	3291.50	3952.38	0	0	0	30.00	30.00	15.51
2919.79	1030	116.79	1.09	0.00	1955.9	2077.6	1834.1	3291.2	3952.3	68.99	10.12	385	2927.54	0.00	0.00	4.49	0.000	0.000	0.054	1957.00	2078.75	1835.25	3310.31	2377.69	0	0	0	30.00	30.00	14.02
3105.97	518	116.79	1.09	-80.00	1955.3	2078.6	1831.9	3310.4	2375.8	50.39	10.34	404	3117.36	0.00	0.00	4.96	0.000	0.000	0.086	1957.47	2081.31	1833.62	3330.75	690.69	0	0	0	30.00	30.00	15.58
3245.78	1031	116.79	1.09	0.00	1955.2	2078.9	1831.6	3333.4	690.9	36.19	10.11	432	3257.42	0.00	0.15	4.99	0.000	0.261	0.063	1955.41	2079.06	1831.75	3290.31	2412.81	0	0	0	30.00	15.57	14.22
3435.80	262	116.79	1.09	80.00	1955.5	2079.8	1831.2	3290.6	2412.4	17.38	9.74	452	3443.62	0.00	0.00	4.66	0.000	0.000	0.113	1956.47	2080.69	1832.25	3289.06	3952.44	0	0	0	30.00	30.00	15.62
3551.43	1030	116.79	1.09	0.00	1955.5	2078.6	1832.4	3290.0	3954.6	5.65	10.35	475	3559.24	0.00	0.00	4.45	0.000	0.000	0.052	1953.62	2077.56	1829.69	3309.62	2377.00	0	0	0	30.00	30.00	15.64
3596	end climb: SURFACE_DEPTH_REACHED
state	3597	begin surface coast
3617	end surface coast: CONTROL_FINISHED_OK
state	3617	begin surface