Glider dive log

AMOS Oct19 * SG231 * Dive index * Mission links * Dive 26 * 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 26 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 1.2554816 SEABIRD_C_G -9.9463768

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 4.3788214 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 1.2554816 PITCH_CNV 0.0031300001 SEABIRD_T_I 2.1747219e-05

ALTIM_PULSE 3 FG_AHR_24V 4.3788214 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 26 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 091019,072539,7432.708,-14556.001,125,1.0,125,17.8 TGT_LATLONG 7300.000,-14820.200

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.77 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -80.6 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 091019,073524,7432.695,-14556.058,4,1.0,7,17.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.233 MHEAD_RNG_PITCHd_Wd 141.7,188581,-19.9,-10.000,-23.25

TGT_NAME a D_GRID 180

Post-dive calculations and measurements:

FINISH -0.0,1.025943 _24V_AH 14.11,30.996

SM_CCo 3899.00,4.43,0.669,0,526.0,572.3,479.8,471.95 _10V_AH 15.00,0.000

SM_GC 1.78,0.00,8.00,0.40,0.000,0.067,0.084,519.8,588.5,451.0,459.3,2512.8,0,0,0,30.00,15.88,15.90 FG_AHR_24Vo 4.484

SUPER 59,71,254,1,0,0 FG_AHR_10Vo 1.287

IRIDIUM_FIX 7434.09,-14549.46,091019,053529 MEM 1156112,27,23212,48

TCM_TEMP 8.39 DATA_FILE_SIZE 12940,492

XPDR_PINGS 318 CAP_FILE_SIZE 191863,0

SC_FREEKB 3868896 SDSIZE 3918848,3902688

PM_FREEKB_00 61172736 SDFILEDIR 202,1

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

HUMID 51.90 CURRENT 0.254,346.2,1

TEMP -0.15 GPS 091019,091836,7433.224,-14556.122,103,0.8,104,17.8

INTERNAL_PRESSURE 8.39174

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 598 2783 23495.69 nil 0 0 0.00

Pitch_motor 21 436 131.23 nil 0 0 0.00

Roll_motor 107 164 248.05 nil 0 0 0.00

Iridium 485 219 1499.68 nil 0 0 0.00

Transponder_ping 79 420 471.13 nil 0 0 0.00

GPS 16 15 3.78 nil 0 0 0.00

Core 2442 11 432.41 SciCon 3617 37 2039.23

LPSleep 4174 2 175.32 PMAR 3617 128 6982.56

Compass 812 5 60.91 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

12.07 2 -116.79 -1.09 0.00 521.7 582.0 461.4 450.7 2464.8 0.00 0.00 0 34.98 20.75 0.00 0.00 0.006 0.000 0.000 860.72 933.75 787.69 450.94 2465.94 0 0 0 14.12 30.00 30.00

35.24 263 -116.79 -1.09 80.00 861.1 934.7 787.4 450.9 2474.0 3.22 -10.76 2 149.89 93.07 10.51 4.45 0.005 0.437 0.106 2927.84 3120.88 2734.81 2582.56 3952.19 0 0 0 14.05 15.46 15.59

241.75 1028 -116.79 -1.09 0.00 2932.9 3120.1 2745.7 2583.7 3953.0 24.03 -10.07 43 249.30 0.00 0.00 4.17 0.000 0.000 0.056 2933.44 3121.25 2745.62 2599.88 2479.00 0 0 0 30.00 30.00 15.61

427.76 0 -116.79 -1.09 0.00 2932.1 3118.6 2745.6 2600.4 2469.1 42.52 -10.09 62 430.63 0.00 0.00 0.00 0.000 0.000 0.000 2932.56 3119.44 2745.69 2601.44 2470.00 0 0 0 30.00 30.00 30.00

607.74 516 -116.79 -1.09 -80.00 2930.1 3114.4 2745.7 2600.8 2470.1 60.76 -9.99 80 615.62 0.00 0.00 4.92 0.000 0.000 0.083 2929.91 3115.69 2744.12 2618.69 793.00 0 0 0 30.00 30.00 15.69

633.45 1028 -116.79 -1.09 0.00 2929.1 3113.2 2745.1 2618.8 791.6 63.33 -9.98 85 646.67 0.00 0.00 4.95 0.000 0.000 0.062 2930.97 3113.50 2748.44 2596.81 2509.81 0 0 0 30.00 30.00 15.68

823.41 516 -116.79 -1.09 -80.00 2928.3 3111.6 2745.1 2597.8 2510.4 82.67 -10.00 105 836.70 0.00 0.00 5.05 0.000 0.000 0.081 2929.66 3112.19 2747.12 2613.00 790.94 0 0 0 30.00 30.00 15.67

878.56 1028 -116.79 -1.09 0.00 2927.3 3108.9 2745.7 2613.1 791.6 88.27 -10.23 116 887.40 0.00 0.00 4.96 0.000 0.000 0.063 2929.41 3111.19 2747.62 2592.00 2509.06 0 0 0 30.00 30.00 15.68

1070.39 516 -116.79 -1.09 -80.00 2927.6 3109.4 2745.7 2592.5 2510.4 106.88 -9.75 136 1081.84 0.00 0.00 5.04 0.000 0.000 0.081 2929.62 3111.44 2747.81 2607.25 792.62 0 0 0 30.00 30.00 15.62

1120.37 1028 -116.79 -1.09 0.00 2927.6 3109.3 2745.9 2606.8 791.9 111.99 -10.38 146 1131.65 0.00 0.00 4.95 0.000 0.000 0.062 2929.09 3110.38 2747.81 2585.62 2508.31 0 0 0 30.00 30.00 15.68

1310.36 516 -116.79 -1.09 -80.00 2927.6 3108.7 2746.5 2585.2 2509.4 131.20 -10.17 166 1321.68 0.00 0.00 5.04 0.000 0.000 0.081 2927.75 3109.38 2746.12 2602.94 790.81 0 0 0 30.00 30.00 15.69

1380.30 1028 -116.79 -1.09 0.00 2926.8 3106.7 2746.9 2601.7 791.4 138.03 -9.80 180 1391.79 0.00 0.00 4.95 0.000 0.000 0.062 2926.62 3107.44 2745.81 2581.38 2510.50 0 0 0 30.00 30.00 15.68

1570.35 516 -116.79 -1.09 -80.00 2926.9 3107.1 2746.8 2581.6 2509.4 157.06 -10.20 200 1581.81 0.00 0.00 5.04 0.000 0.000 0.080 2928.53 3108.00 2749.06 2593.31 791.69 0 0 0 30.00 30.00 14.05

1650.49 1028 -116.79 -1.09 0.00 2926.6 3106.2 2746.9 2596.6 791.3 165.22 -10.27 216 1661.81 0.00 0.00 4.94 0.000 0.000 0.061 2926.84 3106.94 2746.75 2574.12 2510.56 0 0 0 30.00 30.00 14.06

1800 end dive: TARGET_DEPTH_EXCEEDED

state 1800 begin apogee

1801.58 3 0.00 -0.19 0.00 2927.7 3107.6 2747.7 2575.3 2369.1 180.35 -10.48 232 1906.70 101.39 1.12 0.12 1.644 0.251 0.164 2449.31 2583.25 2315.38 2890.62 2413.62 0 0 0 12.45 15.68 15.20

1908 end apogee: CONTROL_FINISHED_OK

state 1909 begin climb

1908.54 263 116.79 1.09 80.00 2446.0 2579.9 2312.1 2891.4 2415.2 170.42 0.00 242 2018.19 97.20 1.32 4.89 1.596 0.147 0.117 1971.75 2082.38 1861.12 3301.38 3948.81 0 0 0 12.28 15.25 14.94

2186.02 1030 116.79 1.09 0.00 1961.0 2073.1 1848.9 3302.6 3949.8 141.73 9.87 296 2193.83 0.00 0.00 4.55 0.000 0.000 0.053 1962.34 2075.75 1848.94 3321.94 2380.69 0 0 0 30.00 30.00 15.34

2371.07 518 116.79 1.09 -80.00 1958.5 2075.2 1841.9 3323.2 2374.1 123.28 9.97 315 2382.61 0.00 0.00 5.03 0.000 0.000 0.084 1958.91 2075.56 1842.25 3344.50 692.06 0 0 0 30.00 30.00 13.94

2491.11 1031 116.79 1.09 0.00 1958.5 2075.1 1842.0 3344.2 691.8 111.12 10.36 339 2502.67 0.00 0.19 5.02 0.000 0.263 0.063 1957.75 2074.75 1840.75 3293.19 2411.19 0 0 0 30.00 15.44 15.47

2681.37 262 116.79 1.09 80.00 1956.3 2074.6 1838.1 3293.8 2410.6 91.75 10.11 359 2688.93 0.00 0.00 4.69 0.000 0.000 0.114 1955.62 2074.31 1836.94 3292.00 3950.56 0 0 0 30.00 30.00 14.02

2780.81 1030 116.79 1.09 0.00 1956.7 2075.2 1838.2 3291.9 3950.6 81.54 10.03 379 2788.51 0.00 0.00 4.48 0.000 0.000 0.052 1957.50 2075.56 1839.44 3313.19 2379.62 0 0 0 30.00 30.00 15.56

2966.83 518 116.79 1.09 -80.00 1955.9 2076.4 1835.5 3311.1 2373.2 62.69 10.07 398 2978.30 0.00 0.00 4.96 0.000 0.000 0.085 1957.03 2077.81 1836.25 3334.00 690.75 0 0 0 30.00 30.00 15.60

3110.86 1031 116.79 1.09 0.00 1956.0 2077.2 1834.7 3334.0 690.8 48.22 9.79 427 3119.65 0.00 0.15 4.97 0.000 0.256 0.062 1955.16 2076.00 1834.31 3290.81 2410.31 0 0 0 30.00 15.54 14.05

3302.66 262 116.79 1.09 80.00 1954.7 2077.1 1832.3 3290.9 2411.9 29.28 9.86 447 3310.34 0.00 0.00 4.67 0.000 0.000 0.115 1955.03 2076.00 1834.06 3290.75 3951.56 0 0 0 30.00 30.00 15.60

3442.25 1030 116.79 1.09 0.00 1954.2 2076.4 1832.0 3292.1 3951.6 15.39 9.67 475 3449.84 0.00 0.00 4.47 0.000 0.000 0.053 1955.06 2077.69 1832.44 3311.25 2377.06 0 0 0 30.00 30.00 15.64

3588 end climb: SURFACE_DEPTH_REACHED

state 3588 begin surface coast

3608 end surface coast: CONTROL_FINISHED_OK

state 3608 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	26	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	1.2554816	SEABIRD_C_G	-9.9463768
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	4.3788214	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	091019,072539,7432.708,-14556.001,125,1.0,125,17.8	TGT_LATLONG	7300.000,-14820.200
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.77	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-80.6	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	091019,073524,7432.695,-14556.058,4,1.0,7,17.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.233	MHEAD_RNG_PITCHd_Wd	141.7,188581,-19.9,-10.000,-23.25
TGT_NAME	a	D_GRID	180

FINISH	-0.0,1.025943	_24V_AH	14.11,30.996
SM_CCo	3899.00,4.43,0.669,0,526.0,572.3,479.8,471.95	_10V_AH	15.00,0.000
SM_GC	1.78,0.00,8.00,0.40,0.000,0.067,0.084,519.8,588.5,451.0,459.3,2512.8,0,0,0,30.00,15.88,15.90	FG_AHR_24Vo	4.484
SUPER	59,71,254,1,0,0	FG_AHR_10Vo	1.287
IRIDIUM_FIX	7434.09,-14549.46,091019,053529	MEM	1156112,27,23212,48
TCM_TEMP	8.39	DATA_FILE_SIZE	12940,492
XPDR_PINGS	318	CAP_FILE_SIZE	191863,0
SC_FREEKB	3868896	SDSIZE	3918848,3902688
PM_FREEKB_00	61172736	SDFILEDIR	202,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	51.90	CURRENT	0.254,346.2,1
TEMP	-0.15	GPS	091019,091836,7433.224,-14556.122,103,0.8,104,17.8
INTERNAL_PRESSURE	8.39174

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	598	2783	23495.69	nil	0	0	0.00
Pitch_motor	21	436	131.23	nil	0	0	0.00
Roll_motor	107	164	248.05	nil	0	0	0.00
Iridium	485	219	1499.68	nil	0	0	0.00
Transponder_ping	79	420	471.13	nil	0	0	0.00
GPS	16	15	3.78	nil	0	0	0.00
Core	2442	11	432.41	SciCon	3617	37	2039.23
LPSleep	4174	2	175.32	PMAR	3617	128	6982.56
Compass	812	5	60.91	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
12.07	2	-116.79	-1.09	0.00	521.7	582.0	461.4	450.7	2464.8	0.00	0.00	0	34.98	20.75	0.00	0.00	0.006	0.000	0.000	860.72	933.75	787.69	450.94	2465.94	0	0	0	14.12	30.00	30.00
35.24	263	-116.79	-1.09	80.00	861.1	934.7	787.4	450.9	2474.0	3.22	-10.76	2	149.89	93.07	10.51	4.45	0.005	0.437	0.106	2927.84	3120.88	2734.81	2582.56	3952.19	0	0	0	14.05	15.46	15.59
241.75	1028	-116.79	-1.09	0.00	2932.9	3120.1	2745.7	2583.7	3953.0	24.03	-10.07	43	249.30	0.00	0.00	4.17	0.000	0.000	0.056	2933.44	3121.25	2745.62	2599.88	2479.00	0	0	0	30.00	30.00	15.61
427.76	0	-116.79	-1.09	0.00	2932.1	3118.6	2745.6	2600.4	2469.1	42.52	-10.09	62	430.63	0.00	0.00	0.00	0.000	0.000	0.000	2932.56	3119.44	2745.69	2601.44	2470.00	0	0	0	30.00	30.00	30.00
607.74	516	-116.79	-1.09	-80.00	2930.1	3114.4	2745.7	2600.8	2470.1	60.76	-9.99	80	615.62	0.00	0.00	4.92	0.000	0.000	0.083	2929.91	3115.69	2744.12	2618.69	793.00	0	0	0	30.00	30.00	15.69
633.45	1028	-116.79	-1.09	0.00	2929.1	3113.2	2745.1	2618.8	791.6	63.33	-9.98	85	646.67	0.00	0.00	4.95	0.000	0.000	0.062	2930.97	3113.50	2748.44	2596.81	2509.81	0	0	0	30.00	30.00	15.68
823.41	516	-116.79	-1.09	-80.00	2928.3	3111.6	2745.1	2597.8	2510.4	82.67	-10.00	105	836.70	0.00	0.00	5.05	0.000	0.000	0.081	2929.66	3112.19	2747.12	2613.00	790.94	0	0	0	30.00	30.00	15.67
878.56	1028	-116.79	-1.09	0.00	2927.3	3108.9	2745.7	2613.1	791.6	88.27	-10.23	116	887.40	0.00	0.00	4.96	0.000	0.000	0.063	2929.41	3111.19	2747.62	2592.00	2509.06	0	0	0	30.00	30.00	15.68
1070.39	516	-116.79	-1.09	-80.00	2927.6	3109.4	2745.7	2592.5	2510.4	106.88	-9.75	136	1081.84	0.00	0.00	5.04	0.000	0.000	0.081	2929.62	3111.44	2747.81	2607.25	792.62	0	0	0	30.00	30.00	15.62
1120.37	1028	-116.79	-1.09	0.00	2927.6	3109.3	2745.9	2606.8	791.9	111.99	-10.38	146	1131.65	0.00	0.00	4.95	0.000	0.000	0.062	2929.09	3110.38	2747.81	2585.62	2508.31	0	0	0	30.00	30.00	15.68
1310.36	516	-116.79	-1.09	-80.00	2927.6	3108.7	2746.5	2585.2	2509.4	131.20	-10.17	166	1321.68	0.00	0.00	5.04	0.000	0.000	0.081	2927.75	3109.38	2746.12	2602.94	790.81	0	0	0	30.00	30.00	15.69
1380.30	1028	-116.79	-1.09	0.00	2926.8	3106.7	2746.9	2601.7	791.4	138.03	-9.80	180	1391.79	0.00	0.00	4.95	0.000	0.000	0.062	2926.62	3107.44	2745.81	2581.38	2510.50	0	0	0	30.00	30.00	15.68
1570.35	516	-116.79	-1.09	-80.00	2926.9	3107.1	2746.8	2581.6	2509.4	157.06	-10.20	200	1581.81	0.00	0.00	5.04	0.000	0.000	0.080	2928.53	3108.00	2749.06	2593.31	791.69	0	0	0	30.00	30.00	14.05
1650.49	1028	-116.79	-1.09	0.00	2926.6	3106.2	2746.9	2596.6	791.3	165.22	-10.27	216	1661.81	0.00	0.00	4.94	0.000	0.000	0.061	2926.84	3106.94	2746.75	2574.12	2510.56	0	0	0	30.00	30.00	14.06
1800	end dive: TARGET_DEPTH_EXCEEDED
state	1800	begin apogee
1801.58	3	0.00	-0.19	0.00	2927.7	3107.6	2747.7	2575.3	2369.1	180.35	-10.48	232	1906.70	101.39	1.12	0.12	1.644	0.251	0.164	2449.31	2583.25	2315.38	2890.62	2413.62	0	0	0	12.45	15.68	15.20
1908	end apogee: CONTROL_FINISHED_OK
state	1909	begin climb
1908.54	263	116.79	1.09	80.00	2446.0	2579.9	2312.1	2891.4	2415.2	170.42	0.00	242	2018.19	97.20	1.32	4.89	1.596	0.147	0.117	1971.75	2082.38	1861.12	3301.38	3948.81	0	0	0	12.28	15.25	14.94
2186.02	1030	116.79	1.09	0.00	1961.0	2073.1	1848.9	3302.6	3949.8	141.73	9.87	296	2193.83	0.00	0.00	4.55	0.000	0.000	0.053	1962.34	2075.75	1848.94	3321.94	2380.69	0	0	0	30.00	30.00	15.34
2371.07	518	116.79	1.09	-80.00	1958.5	2075.2	1841.9	3323.2	2374.1	123.28	9.97	315	2382.61	0.00	0.00	5.03	0.000	0.000	0.084	1958.91	2075.56	1842.25	3344.50	692.06	0	0	0	30.00	30.00	13.94
2491.11	1031	116.79	1.09	0.00	1958.5	2075.1	1842.0	3344.2	691.8	111.12	10.36	339	2502.67	0.00	0.19	5.02	0.000	0.263	0.063	1957.75	2074.75	1840.75	3293.19	2411.19	0	0	0	30.00	15.44	15.47
2681.37	262	116.79	1.09	80.00	1956.3	2074.6	1838.1	3293.8	2410.6	91.75	10.11	359	2688.93	0.00	0.00	4.69	0.000	0.000	0.114	1955.62	2074.31	1836.94	3292.00	3950.56	0	0	0	30.00	30.00	14.02
2780.81	1030	116.79	1.09	0.00	1956.7	2075.2	1838.2	3291.9	3950.6	81.54	10.03	379	2788.51	0.00	0.00	4.48	0.000	0.000	0.052	1957.50	2075.56	1839.44	3313.19	2379.62	0	0	0	30.00	30.00	15.56
2966.83	518	116.79	1.09	-80.00	1955.9	2076.4	1835.5	3311.1	2373.2	62.69	10.07	398	2978.30	0.00	0.00	4.96	0.000	0.000	0.085	1957.03	2077.81	1836.25	3334.00	690.75	0	0	0	30.00	30.00	15.60
3110.86	1031	116.79	1.09	0.00	1956.0	2077.2	1834.7	3334.0	690.8	48.22	9.79	427	3119.65	0.00	0.15	4.97	0.000	0.256	0.062	1955.16	2076.00	1834.31	3290.81	2410.31	0	0	0	30.00	15.54	14.05
3302.66	262	116.79	1.09	80.00	1954.7	2077.1	1832.3	3290.9	2411.9	29.28	9.86	447	3310.34	0.00	0.00	4.67	0.000	0.000	0.115	1955.03	2076.00	1834.06	3290.75	3951.56	0	0	0	30.00	30.00	15.60
3442.25	1030	116.79	1.09	0.00	1954.2	2076.4	1832.0	3292.1	3951.6	15.39	9.67	475	3449.84	0.00	0.00	4.47	0.000	0.000	0.053	1955.06	2077.69	1832.44	3311.25	2377.06	0	0	0	30.00	30.00	15.64
3588	end climb: SURFACE_DEPTH_REACHED
state	3588	begin surface coast
3608	end surface coast: CONTROL_FINISHED_OK
state	3608	begin surface