Glider dive log

AMOS Oct19 * SG231 * Dive index * Mission links * Dive 27 * 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 27 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 1.2874824 SEABIRD_C_G -9.9463768

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 4.4913559 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 1.2874824 PITCH_CNV 0.0031300001 SEABIRD_T_I 2.1747219e-05

ALTIM_PULSE 3 FG_AHR_24V 4.4913559 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 27 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 091019,091836,7433.224,-14556.122,103,0.8,104,17.8 TGT_LATLONG 7300.000,-14820.200

_CALLS 2 TGT_RADIUS 2000.000

_SM_DEPTHo 1.71 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -79.9 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 091019,092624,7433.207,-14556.138,6,0.8,13,17.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.233 MHEAD_RNG_PITCHd_Wd 144.2,189426,-19.9,-10.000,-23.25

TGT_NAME a D_GRID 180

Post-dive calculations and measurements:

FINISH -0.0,1.025961 _24V_AH 14.11,31.410

SM_CCo 3896.17,4.49,0.690,0,526.0,556.4,495.6,471.96 _10V_AH 15.00,0.000

SM_GC 2.77,0.00,7.99,5.18,0.000,0.057,0.064,518.5,575.0,462.1,454.2,2510.2,0,0,0,30.00,15.86,15.87 FG_AHR_24Vo 4.595

SUPER 51,71,254,1,0,0 FG_AHR_10Vo 1.318

IRIDIUM_FIX 7432.38,-14553.99,091019,092029 MEM 1156116,28,23188,48

TCM_TEMP 8.39 DATA_FILE_SIZE 12926,488

XPDR_PINGS 316 CAP_FILE_SIZE 203172,0

SC_FREEKB 3868448 SDSIZE 3918848,3902400

PM_FREEKB_00 61147296 SDFILEDIR 209,1

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

HUMID 51.97 CURRENT 0.242,357.1,1

TEMP -0.32 GPS 091019,110356,7433.662,-14555.660,36,1.0,84,17.8

INTERNAL_PRESSURE 8.38152

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 595 2782 23369.61 nil 0 0 0.00

Pitch_motor 21 449 136.13 nil 0 0 0.00

Roll_motor 125 169 300.14 nil 0 0 0.00

Iridium 299 197 833.99 nil 0 0 0.00

Transponder_ping 79 420 468.17 nil 0 0 0.00

GPS 22 15 5.07 nil 0 0 0.00

Core 2293 11 405.95 SciCon 3612 37 2039.12

LPSleep 3888 2 163.30 PMAR 3611 128 6969.90

Compass 823 5 61.75 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 0.00 521.6 582.6 460.6 455.4 2475.6 0.00 0.00 0 35.00 20.78 0.00 0.00 0.006 0.000 0.000 858.25 935.94 780.56 455.31 2467.75 0 0 0 14.24 30.00 30.00

35.26 263 -116.79 -1.09 80.00 858.7 936.3 781.0 455.4 2467.1 3.21 -10.05 2 144.78 88.75 10.65 4.42 0.005 0.450 0.105 2926.66 3121.44 2731.88 2581.38 3953.94 0 0 0 14.14 15.56 15.64

282.73 1028 -116.79 -1.09 0.00 2931.2 3119.9 2742.6 2581.8 3953.6 28.21 -10.22 51 290.33 0.00 0.00 4.18 0.000 0.000 0.056 2929.91 3119.12 2740.69 2598.75 2477.25 0 0 0 30.00 30.00 15.74

467.70 260 -116.79 -1.09 80.00 2930.8 3119.9 2741.8 2599.3 2468.2 47.01 -10.36 70 475.42 0.00 0.00 4.46 0.000 0.000 0.111 2928.62 3115.75 2741.50 2580.44 3951.94 0 0 0 30.00 30.00 15.74

477.28 1028 -116.79 -1.09 0.00 2929.6 3117.6 2741.6 2582.8 3951.8 48.02 -9.97 72 484.98 0.00 0.00 4.14 0.000 0.000 0.053 2930.22 3117.50 2742.94 2596.75 2475.56 0 0 0 30.00 30.00 15.75

663.24 516 -116.79 -1.09 -80.00 2928.2 3114.9 2741.5 2597.0 2466.4 66.86 -10.45 91 671.11 0.00 0.00 4.89 0.000 0.000 0.081 2928.81 3114.75 2742.88 2610.88 792.12 0 0 0 30.00 30.00 15.72

672.97 1028 -116.79 -1.09 0.00 2927.2 3112.2 2742.1 2611.9 791.8 67.97 -10.68 93 681.79 0.00 0.00 4.93 0.000 0.000 0.060 2929.22 3113.62 2744.81 2589.12 2508.69 0 0 0 30.00 30.00 15.72

864.65 516 -116.79 -1.09 -80.00 2926.8 3111.4 2742.2 2590.8 2508.8 87.05 -10.19 113 876.13 0.00 0.00 5.03 0.000 0.000 0.080 2927.09 3112.19 2742.00 2607.06 792.50 0 0 0 30.00 30.00 15.73

894.76 1028 -116.79 -1.09 0.00 2926.9 3110.6 2743.3 2608.6 791.7 90.04 -10.00 119 906.22 0.00 0.00 4.94 0.000 0.000 0.062 2929.00 3112.75 2745.25 2586.06 2509.75 0 0 0 30.00 30.00 15.73

1084.71 516 -116.79 -1.09 -80.00 2927.1 3111.4 2742.7 2586.2 2510.3 109.17 -9.89 139 1096.18 0.00 0.00 5.03 0.000 0.000 0.080 2928.12 3111.62 2744.62 2601.38 791.44 0 0 0 30.00 30.00 15.74

1134.75 1028 -116.79 -1.09 0.00 2925.7 3108.1 2743.2 2601.8 791.5 114.27 -10.28 149 1146.37 0.00 0.00 4.93 0.000 0.000 0.062 2927.75 3110.44 2745.06 2580.25 2509.50 0 0 0 30.00 30.00 15.75

1325.02 516 -116.79 -1.09 -80.00 2926.5 3109.8 2743.3 2580.5 2509.7 133.11 -9.89 169 1336.50 0.00 0.00 5.03 0.000 0.000 0.080 2927.62 3111.19 2744.06 2592.62 791.56 0 0 0 30.00 30.00 15.75

1404.63 1028 -116.79 -1.09 0.00 2925.9 3108.6 2743.2 2593.6 791.9 141.08 -9.85 185 1412.53 0.00 0.00 4.93 0.000 0.000 0.062 2927.59 3110.75 2744.44 2574.38 2508.12 0 0 0 30.00 30.00 15.76

1590.01 516 -116.79 -1.09 -80.00 2926.8 3109.6 2744.1 2572.6 2509.7 159.52 -9.82 204 1601.26 0.00 0.00 5.03 0.000 0.000 0.080 2927.25 3109.06 2745.44 2584.62 791.38 0 0 0 30.00 30.00 15.71

1639.71 1028 -116.79 -1.09 0.00 2924.3 3106.2 2742.3 2585.0 791.4 164.47 -10.00 214 1647.61 0.00 0.00 4.93 0.000 0.000 0.061 2923.47 3103.38 2743.56 2562.69 2508.69 0 0 0 30.00 30.00 15.74

1795 end dive: TARGET_DEPTH_EXCEEDED

state 1795 begin apogee

1796.36 3 0.00 -0.19 0.00 2925.8 3108.4 2743.2 2564.2 2371.8 180.15 -10.24 230 1902.00 101.35 1.16 0.12 1.655 0.252 0.170 2446.41 2578.62 2314.19 2891.56 2417.06 0 0 0 12.42 15.69 15.21

1904 end apogee: CONTROL_FINISHED_OK

state 1904 begin climb

1903.85 263 116.79 1.09 80.00 2445.9 2580.9 2310.9 2892.8 2417.4 170.12 0.00 240 2009.99 97.27 1.31 4.89 1.602 0.145 0.118 1968.78 2078.06 1859.50 3302.62 3951.06 0 0 0 12.21 15.26 14.94

2151.89 1030 116.79 1.09 0.00 1961.3 2072.4 1850.3 3302.4 3949.9 144.36 10.43 288 2159.74 0.00 0.00 4.57 0.000 0.000 0.055 1961.78 2073.44 1850.12 3322.50 2381.44 0 0 0 30.00 30.00 15.32

2337.92 518 116.79 1.09 -80.00 1958.0 2073.2 1842.8 3322.0 2374.4 126.28 9.82 307 2349.40 0.00 0.00 5.04 0.000 0.000 0.086 1959.75 2075.31 1844.19 3344.69 692.44 0 0 0 30.00 30.00 15.35

2447.89 1031 116.79 1.09 0.00 1958.3 2073.7 1842.9 3345.3 692.6 115.20 10.13 329 2459.52 0.00 0.19 5.03 0.000 0.259 0.062 1959.16 2074.44 1843.88 3288.12 2408.50 0 0 0 30.00 15.38 13.87

2637.91 262 116.79 1.09 80.00 1956.5 2073.6 1839.5 3291.4 2410.6 96.31 10.03 349 2645.75 0.00 0.00 4.70 0.000 0.000 0.113 1955.22 2071.44 1839.00 3292.12 3955.06 0 0 0 30.00 30.00 15.50

2727.63 1030 116.79 1.09 0.00 1956.3 2073.9 1838.8 3292.4 3952.1 87.23 9.99 367 2735.31 0.00 0.00 4.50 0.000 0.000 0.053 1957.91 2076.44 1839.38 3310.38 2379.69 0 0 0 30.00 30.00 15.53

2913.61 518 116.79 1.09 -80.00 1956.2 2076.0 1836.4 3310.4 2373.5 68.92 10.04 386 2925.04 0.00 0.00 4.98 0.000 0.000 0.086 1957.16 2076.88 1837.44 3332.69 691.06 0 0 0 30.00 30.00 15.58

3063.54 1031 116.79 1.09 0.00 1956.1 2075.9 1836.3 3333.5 690.9 53.58 10.38 416 3075.19 0.00 0.15 4.98 0.000 0.250 0.062 1955.41 2075.88 1834.94 3289.00 2411.81 0 0 0 30.00 15.55 15.62

3253.74 262 116.79 1.09 80.00 1954.9 2076.0 1833.9 3289.7 2411.6 34.56 9.83 436 3261.46 0.00 0.00 4.68 0.000 0.000 0.114 1955.84 2076.94 1834.75 3289.38 3951.00 0 0 0 30.00 30.00 14.82

3371.01 1030 116.79 1.09 0.00 1954.9 2075.6 1834.2 3290.2 3951.8 22.93 10.40 459 3381.09 0.00 0.00 4.47 0.000 0.000 0.054 1955.41 2075.88 1834.94 3308.75 2378.19 0 0 0 30.00 30.00 14.03

3560.17 518 116.79 1.09 -80.00 1953.9 2076.4 1831.5 3309.1 2377.6 3.99 9.81 479 3571.47 0.00 0.00 4.97 0.000 0.000 0.087 1955.69 2078.62 1832.75 3330.56 691.25 0 0 0 30.00 30.00 15.60

3584 end climb: SURFACE_DEPTH_REACHED

state 3584 begin surface coast

3604 end surface coast: CONTROL_FINISHED_OK

state 3604 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	27	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	1.2874824	SEABIRD_C_G	-9.9463768
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	4.4913559	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	091019,091836,7433.224,-14556.122,103,0.8,104,17.8	TGT_LATLONG	7300.000,-14820.200
_CALLS	2	TGT_RADIUS	2000.000
_SM_DEPTHo	1.71	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-79.9	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	091019,092624,7433.207,-14556.138,6,0.8,13,17.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.233	MHEAD_RNG_PITCHd_Wd	144.2,189426,-19.9,-10.000,-23.25
TGT_NAME	a	D_GRID	180

FINISH	-0.0,1.025961	_24V_AH	14.11,31.410
SM_CCo	3896.17,4.49,0.690,0,526.0,556.4,495.6,471.96	_10V_AH	15.00,0.000
SM_GC	2.77,0.00,7.99,5.18,0.000,0.057,0.064,518.5,575.0,462.1,454.2,2510.2,0,0,0,30.00,15.86,15.87	FG_AHR_24Vo	4.595
SUPER	51,71,254,1,0,0	FG_AHR_10Vo	1.318
IRIDIUM_FIX	7432.38,-14553.99,091019,092029	MEM	1156116,28,23188,48
TCM_TEMP	8.39	DATA_FILE_SIZE	12926,488
XPDR_PINGS	316	CAP_FILE_SIZE	203172,0
SC_FREEKB	3868448	SDSIZE	3918848,3902400
PM_FREEKB_00	61147296	SDFILEDIR	209,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	51.97	CURRENT	0.242,357.1,1
TEMP	-0.32	GPS	091019,110356,7433.662,-14555.660,36,1.0,84,17.8
INTERNAL_PRESSURE	8.38152

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	595	2782	23369.61	nil	0	0	0.00
Pitch_motor	21	449	136.13	nil	0	0	0.00
Roll_motor	125	169	300.14	nil	0	0	0.00
Iridium	299	197	833.99	nil	0	0	0.00
Transponder_ping	79	420	468.17	nil	0	0	0.00
GPS	22	15	5.07	nil	0	0	0.00
Core	2293	11	405.95	SciCon	3612	37	2039.12
LPSleep	3888	2	163.30	PMAR	3611	128	6969.90
Compass	823	5	61.75	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	521.6	582.6	460.6	455.4	2475.6	0.00	0.00	0	35.00	20.78	0.00	0.00	0.006	0.000	0.000	858.25	935.94	780.56	455.31	2467.75	0	0	0	14.24	30.00	30.00
35.26	263	-116.79	-1.09	80.00	858.7	936.3	781.0	455.4	2467.1	3.21	-10.05	2	144.78	88.75	10.65	4.42	0.005	0.450	0.105	2926.66	3121.44	2731.88	2581.38	3953.94	0	0	0	14.14	15.56	15.64
282.73	1028	-116.79	-1.09	0.00	2931.2	3119.9	2742.6	2581.8	3953.6	28.21	-10.22	51	290.33	0.00	0.00	4.18	0.000	0.000	0.056	2929.91	3119.12	2740.69	2598.75	2477.25	0	0	0	30.00	30.00	15.74
467.70	260	-116.79	-1.09	80.00	2930.8	3119.9	2741.8	2599.3	2468.2	47.01	-10.36	70	475.42	0.00	0.00	4.46	0.000	0.000	0.111	2928.62	3115.75	2741.50	2580.44	3951.94	0	0	0	30.00	30.00	15.74
477.28	1028	-116.79	-1.09	0.00	2929.6	3117.6	2741.6	2582.8	3951.8	48.02	-9.97	72	484.98	0.00	0.00	4.14	0.000	0.000	0.053	2930.22	3117.50	2742.94	2596.75	2475.56	0	0	0	30.00	30.00	15.75
663.24	516	-116.79	-1.09	-80.00	2928.2	3114.9	2741.5	2597.0	2466.4	66.86	-10.45	91	671.11	0.00	0.00	4.89	0.000	0.000	0.081	2928.81	3114.75	2742.88	2610.88	792.12	0	0	0	30.00	30.00	15.72
672.97	1028	-116.79	-1.09	0.00	2927.2	3112.2	2742.1	2611.9	791.8	67.97	-10.68	93	681.79	0.00	0.00	4.93	0.000	0.000	0.060	2929.22	3113.62	2744.81	2589.12	2508.69	0	0	0	30.00	30.00	15.72
864.65	516	-116.79	-1.09	-80.00	2926.8	3111.4	2742.2	2590.8	2508.8	87.05	-10.19	113	876.13	0.00	0.00	5.03	0.000	0.000	0.080	2927.09	3112.19	2742.00	2607.06	792.50	0	0	0	30.00	30.00	15.73
894.76	1028	-116.79	-1.09	0.00	2926.9	3110.6	2743.3	2608.6	791.7	90.04	-10.00	119	906.22	0.00	0.00	4.94	0.000	0.000	0.062	2929.00	3112.75	2745.25	2586.06	2509.75	0	0	0	30.00	30.00	15.73
1084.71	516	-116.79	-1.09	-80.00	2927.1	3111.4	2742.7	2586.2	2510.3	109.17	-9.89	139	1096.18	0.00	0.00	5.03	0.000	0.000	0.080	2928.12	3111.62	2744.62	2601.38	791.44	0	0	0	30.00	30.00	15.74
1134.75	1028	-116.79	-1.09	0.00	2925.7	3108.1	2743.2	2601.8	791.5	114.27	-10.28	149	1146.37	0.00	0.00	4.93	0.000	0.000	0.062	2927.75	3110.44	2745.06	2580.25	2509.50	0	0	0	30.00	30.00	15.75
1325.02	516	-116.79	-1.09	-80.00	2926.5	3109.8	2743.3	2580.5	2509.7	133.11	-9.89	169	1336.50	0.00	0.00	5.03	0.000	0.000	0.080	2927.62	3111.19	2744.06	2592.62	791.56	0	0	0	30.00	30.00	15.75
1404.63	1028	-116.79	-1.09	0.00	2925.9	3108.6	2743.2	2593.6	791.9	141.08	-9.85	185	1412.53	0.00	0.00	4.93	0.000	0.000	0.062	2927.59	3110.75	2744.44	2574.38	2508.12	0	0	0	30.00	30.00	15.76
1590.01	516	-116.79	-1.09	-80.00	2926.8	3109.6	2744.1	2572.6	2509.7	159.52	-9.82	204	1601.26	0.00	0.00	5.03	0.000	0.000	0.080	2927.25	3109.06	2745.44	2584.62	791.38	0	0	0	30.00	30.00	15.71
1639.71	1028	-116.79	-1.09	0.00	2924.3	3106.2	2742.3	2585.0	791.4	164.47	-10.00	214	1647.61	0.00	0.00	4.93	0.000	0.000	0.061	2923.47	3103.38	2743.56	2562.69	2508.69	0	0	0	30.00	30.00	15.74
1795	end dive: TARGET_DEPTH_EXCEEDED
state	1795	begin apogee
1796.36	3	0.00	-0.19	0.00	2925.8	3108.4	2743.2	2564.2	2371.8	180.15	-10.24	230	1902.00	101.35	1.16	0.12	1.655	0.252	0.170	2446.41	2578.62	2314.19	2891.56	2417.06	0	0	0	12.42	15.69	15.21
1904	end apogee: CONTROL_FINISHED_OK
state	1904	begin climb
1903.85	263	116.79	1.09	80.00	2445.9	2580.9	2310.9	2892.8	2417.4	170.12	0.00	240	2009.99	97.27	1.31	4.89	1.602	0.145	0.118	1968.78	2078.06	1859.50	3302.62	3951.06	0	0	0	12.21	15.26	14.94
2151.89	1030	116.79	1.09	0.00	1961.3	2072.4	1850.3	3302.4	3949.9	144.36	10.43	288	2159.74	0.00	0.00	4.57	0.000	0.000	0.055	1961.78	2073.44	1850.12	3322.50	2381.44	0	0	0	30.00	30.00	15.32
2337.92	518	116.79	1.09	-80.00	1958.0	2073.2	1842.8	3322.0	2374.4	126.28	9.82	307	2349.40	0.00	0.00	5.04	0.000	0.000	0.086	1959.75	2075.31	1844.19	3344.69	692.44	0	0	0	30.00	30.00	15.35
2447.89	1031	116.79	1.09	0.00	1958.3	2073.7	1842.9	3345.3	692.6	115.20	10.13	329	2459.52	0.00	0.19	5.03	0.000	0.259	0.062	1959.16	2074.44	1843.88	3288.12	2408.50	0	0	0	30.00	15.38	13.87
2637.91	262	116.79	1.09	80.00	1956.5	2073.6	1839.5	3291.4	2410.6	96.31	10.03	349	2645.75	0.00	0.00	4.70	0.000	0.000	0.113	1955.22	2071.44	1839.00	3292.12	3955.06	0	0	0	30.00	30.00	15.50
2727.63	1030	116.79	1.09	0.00	1956.3	2073.9	1838.8	3292.4	3952.1	87.23	9.99	367	2735.31	0.00	0.00	4.50	0.000	0.000	0.053	1957.91	2076.44	1839.38	3310.38	2379.69	0	0	0	30.00	30.00	15.53
2913.61	518	116.79	1.09	-80.00	1956.2	2076.0	1836.4	3310.4	2373.5	68.92	10.04	386	2925.04	0.00	0.00	4.98	0.000	0.000	0.086	1957.16	2076.88	1837.44	3332.69	691.06	0	0	0	30.00	30.00	15.58
3063.54	1031	116.79	1.09	0.00	1956.1	2075.9	1836.3	3333.5	690.9	53.58	10.38	416	3075.19	0.00	0.15	4.98	0.000	0.250	0.062	1955.41	2075.88	1834.94	3289.00	2411.81	0	0	0	30.00	15.55	15.62
3253.74	262	116.79	1.09	80.00	1954.9	2076.0	1833.9	3289.7	2411.6	34.56	9.83	436	3261.46	0.00	0.00	4.68	0.000	0.000	0.114	1955.84	2076.94	1834.75	3289.38	3951.00	0	0	0	30.00	30.00	14.82
3371.01	1030	116.79	1.09	0.00	1954.9	2075.6	1834.2	3290.2	3951.8	22.93	10.40	459	3381.09	0.00	0.00	4.47	0.000	0.000	0.054	1955.41	2075.88	1834.94	3308.75	2378.19	0	0	0	30.00	30.00	14.03
3560.17	518	116.79	1.09	-80.00	1953.9	2076.4	1831.5	3309.1	2377.6	3.99	9.81	479	3571.47	0.00	0.00	4.97	0.000	0.000	0.087	1955.69	2078.62	1832.75	3330.56	691.25	0	0	0	30.00	30.00	15.60
3584	end climb: SURFACE_DEPTH_REACHED
state	3584	begin surface coast
3604	end surface coast: CONTROL_FINISHED_OK
state	3604	begin surface