Glider dive log

AMOS Oct19 * SG231 * Dive index * Mission links * Dive 28 * 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 28 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 1.3185484 SEABIRD_C_G -9.9463768

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 4.6005926 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 1.3185484 PITCH_CNV 0.0031300001 SEABIRD_T_I 2.1747219e-05

ALTIM_PULSE 3 FG_AHR_24V 4.6005926 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 28 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 091019,110356,7433.662,-14555.660,36,1.0,84,17.8 TGT_LATLONG 7300.000,-14820.200

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.75 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -81.2 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 091019,110913,7433.657,-14555.636,3,0.9,4,17.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.233 MHEAD_RNG_PITCHd_Wd 158.2,190298,-19.9,-10.000,-23.25

TGT_NAME a D_GRID 180

Post-dive calculations and measurements:

FINISH -0.0,1.025939 _24V_AH 14.11,31.815

SM_CCo 3921.85,4.48,0.679,0,526.2,571.1,481.3,471.91 _10V_AH 15.00,0.000

SM_GC 1.66,0.00,7.97,0.40,0.000,0.063,0.083,519.6,587.5,451.6,460.8,2513.8,0,0,0,30.00,15.88,15.88 FG_AHR_24Vo 4.703

SUPER 51,71,254,1,0,0 FG_AHR_10Vo 1.349

IRIDIUM_FIX 7436.42,-14602.87,091019,092452 MEM 1156080,28,23224,48

TCM_TEMP 8.38 DATA_FILE_SIZE 12935,493

XPDR_PINGS 190 CAP_FILE_SIZE 195820,0

SC_FREEKB 3868000 SDSIZE 3918848,3902176

PM_FREEKB_00 61121632 SDFILEDIR 216,1

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

HUMID 51.94 CURRENT 0.216,356.1,1

TEMP -0.22 GPS 091019,124947,7433.995,-14555.553,7,10.2,47,17.8

INTERNAL_PRESSURE 8.3815

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 589 2784 23167.07 nil 0 0 0.00

Pitch_motor 21 441 132.53 nil 0 0 0.00

Roll_motor 115 162 265.02 nil 0 0 0.00

Iridium 214 187 566.44 nil 0 0 0.00

Transponder_ping 47 420 281.49 nil 0 0 0.00

GPS 14 15 3.17 nil 0 0 0.00

Core 2193 11 388.17 SciCon 3638 37 2061.16

LPSleep 4055 2 170.32 PMAR 3638 128 7022.12

Compass 830 5 62.32 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 0.00 519.1 569.4 468.7 452.6 2473.1 0.00 0.00 0 40.20 25.95 0.00 0.00 0.006 0.000 0.000 936.25 1011.06 861.44 452.62 2465.38 0 0 0 14.19 30.00 30.00

40.42 263 -116.79 -1.09 80.00 936.7 1010.6 862.7 452.6 2469.8 3.61 -9.65 3 138.74 77.57 10.51 4.43 0.005 0.442 0.107 2927.12 3118.25 2736.00 2583.38 3952.38 0 0 0 14.14 15.54 15.65

235.61 1028 -116.79 -1.09 0.00 2933.1 3118.8 2747.5 2582.6 3955.9 23.36 -10.23 42 243.22 0.00 0.00 4.18 0.000 0.000 0.057 2933.06 3118.50 2747.62 2601.12 2478.31 0 0 0 30.00 30.00 15.71

421.56 260 -116.79 -1.09 80.00 2931.2 3115.3 2747.1 2601.9 2470.5 42.25 -10.13 61 429.38 0.00 0.00 4.46 0.000 0.000 0.111 2930.12 3115.44 2744.81 2583.88 3954.38 0 0 0 30.00 30.00 15.68

431.24 1028 -116.79 -1.09 0.00 2930.5 3114.8 2746.3 2582.6 3951.5 43.31 -10.12 63 438.79 0.00 0.00 4.15 0.000 0.000 0.052 2931.81 3116.19 2747.44 2597.25 2478.00 0 0 0 30.00 30.00 15.73

617.25 0 -116.79 -1.09 0.00 2929.6 3112.6 2746.6 2597.9 2468.9 61.61 -10.07 82 620.13 0.00 0.00 0.00 0.000 0.000 0.000 2930.62 3113.62 2747.62 2596.19 2468.12 0 0 0 30.00 30.00 30.00

797.23 516 -116.79 -1.09 -80.00 2930.0 3112.4 2747.6 2599.2 2468.8 79.81 -10.38 100 805.13 0.00 0.00 4.91 0.000 0.000 0.083 2928.19 3111.50 2744.88 2620.38 792.00 0 0 0 30.00 30.00 15.72

807.04 1028 -116.79 -1.09 0.00 2928.6 3110.1 2747.1 2619.2 791.6 80.88 -10.20 102 815.87 0.00 0.00 4.93 0.000 0.000 0.062 2927.31 3109.12 2745.50 2598.31 2510.31 0 0 0 30.00 30.00 15.73

998.83 516 -116.79 -1.09 -80.00 2928.6 3110.1 2747.1 2597.9 2508.2 99.52 -9.67 122 1010.07 0.00 0.00 5.05 0.000 0.000 0.082 2930.31 3112.50 2748.12 2617.56 791.12 0 0 0 30.00 30.00 15.69

1012.79 1028 -116.79 -1.09 0.00 2927.6 3108.1 2747.1 2619.6 791.8 101.02 -9.92 125 1021.58 0.00 0.00 4.93 0.000 0.000 0.062 2927.59 3108.31 2746.88 2597.62 2510.88 0 0 0 30.00 30.00 15.76

1204.54 516 -116.79 -1.09 -80.00 2928.0 3108.4 2747.7 2598.1 2508.8 119.82 -10.02 145 1212.52 0.00 0.00 5.05 0.000 0.000 0.083 2928.31 3107.69 2748.94 2608.06 792.69 0 0 0 30.00 30.00 15.68

1214.68 1028 -116.79 -1.09 0.00 2928.0 3107.4 2748.6 2611.9 792.6 120.97 -10.00 147 1223.40 0.00 0.00 4.92 0.000 0.000 0.060 2927.00 3106.94 2747.06 2589.25 2508.38 0 0 0 30.00 30.00 15.73

1406.69 516 -116.79 -1.09 -80.00 2927.8 3107.7 2748.0 2589.4 2510.7 139.93 -9.72 167 1418.08 0.00 0.00 5.04 0.000 0.000 0.081 2928.47 3108.12 2748.81 2604.31 792.88 0 0 0 30.00 30.00 15.76

1526.36 1028 -116.79 -1.09 0.00 2926.6 3105.5 2747.8 2603.4 792.5 151.99 -9.94 191 1537.59 0.00 0.00 4.93 0.000 0.000 0.062 2928.50 3107.19 2749.81 2582.69 2509.38 0 0 0 30.00 30.00 15.77

1716.84 516 -116.79 -1.09 -80.00 2927.9 3107.0 2748.8 2582.6 2509.7 171.01 -9.98 211 1727.85 0.00 0.00 5.03 0.000 0.000 0.080 2928.12 3107.12 2749.12 2596.06 791.62 0 0 0 30.00 30.00 15.78

1730.42 1028 -116.79 -1.09 0.00 2927.0 3106.3 2747.7 2595.6 791.6 172.43 -9.93 214 1739.00 0.00 0.00 4.91 0.000 0.000 0.059 2925.66 3104.19 2747.12 2573.62 2510.25 0 0 0 30.00 30.00 15.76

1812 end dive: TARGET_DEPTH_EXCEEDED

state 1812 begin apogee

1813.49 3 0.00 -0.19 0.00 2926.4 3105.5 2747.2 2574.5 2372.8 180.56 -10.12 223 1918.53 101.43 1.12 0.12 1.654 0.250 0.162 2446.59 2580.19 2313.00 2892.25 2416.31 0 0 0 12.42 15.66 15.20

1920 end apogee: CONTROL_FINISHED_OK

state 1920 begin climb

1920.29 263 116.79 1.09 80.00 2445.8 2580.0 2311.6 2890.6 2416.4 170.86 0.00 233 2029.46 97.36 1.31 4.89 1.596 0.146 0.118 1969.97 2078.12 1861.81 3301.56 3951.69 0 0 0 12.29 15.26 14.94

2217.33 1030 116.79 1.09 0.00 1960.8 2071.8 1849.8 3301.4 3950.1 140.48 9.93 291 2225.15 0.00 0.00 4.55 0.000 0.000 0.053 1959.03 2069.62 1848.44 3319.50 2378.88 0 0 0 30.00 30.00 15.35

2402.32 518 116.79 1.09 -80.00 1958.0 2073.3 1842.7 3320.6 2373.6 121.92 10.30 310 2413.87 0.00 0.00 5.01 0.000 0.000 0.084 1960.12 2075.62 1844.62 3342.38 689.56 0 0 0 30.00 30.00 15.42

2522.50 1031 116.79 1.09 0.00 1958.8 2074.4 1843.2 3344.3 689.7 110.11 9.65 334 2533.85 0.00 0.19 5.01 0.000 0.262 0.061 1958.22 2074.44 1842.00 3291.31 2410.56 0 0 0 30.00 15.43 15.48

2712.47 262 116.79 1.09 80.00 1956.7 2074.2 1839.1 3293.4 2411.0 91.18 10.09 354 2720.29 0.00 0.00 4.68 0.000 0.000 0.112 1957.00 2073.44 1840.56 3291.75 3949.75 0 0 0 30.00 30.00 15.51

2828.14 1030 116.79 1.09 0.00 1956.6 2074.1 1839.1 3291.6 3951.5 79.65 9.87 377 2835.95 0.00 0.00 4.48 0.000 0.000 0.053 1957.12 2074.56 1839.69 3311.69 2379.88 0 0 0 30.00 30.00 15.59

3013.21 518 116.79 1.09 -80.00 1955.7 2074.9 1836.4 3310.8 2376.5 60.96 10.11 396 3024.72 0.00 0.00 4.97 0.000 0.000 0.086 1957.06 2076.81 1837.31 3332.25 690.75 0 0 0 30.00 30.00 15.57

3187.34 1031 116.79 1.09 0.00 1956.2 2075.6 1836.9 3333.4 690.5 43.54 9.85 431 3196.22 0.00 0.15 4.97 0.000 0.255 0.061 1954.38 2072.75 1836.00 3290.56 2412.69 0 0 0 30.00 15.55 15.62

3379.24 262 116.79 1.09 80.00 1954.9 2075.8 1834.1 3291.0 2411.3 24.32 10.29 451 3386.92 0.00 0.00 4.66 0.000 0.000 0.114 1955.38 2076.00 1834.75 3291.94 3950.81 0 0 0 30.00 30.00 15.63

3544.99 1030 116.79 1.09 0.00 1954.7 2075.3 1834.1 3290.6 3951.9 7.64 10.06 484 3552.54 0.00 0.00 4.47 0.000 0.000 0.053 1955.12 2075.62 1834.62 3309.56 2377.19 0 0 0 30.00 30.00 15.63

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	28	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	1.3185484	SEABIRD_C_G	-9.9463768
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	4.6005926	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	091019,110356,7433.662,-14555.660,36,1.0,84,17.8	TGT_LATLONG	7300.000,-14820.200
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.75	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-81.2	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	091019,110913,7433.657,-14555.636,3,0.9,4,17.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.233	MHEAD_RNG_PITCHd_Wd	158.2,190298,-19.9,-10.000,-23.25
TGT_NAME	a	D_GRID	180

FINISH	-0.0,1.025939	_24V_AH	14.11,31.815
SM_CCo	3921.85,4.48,0.679,0,526.2,571.1,481.3,471.91	_10V_AH	15.00,0.000
SM_GC	1.66,0.00,7.97,0.40,0.000,0.063,0.083,519.6,587.5,451.6,460.8,2513.8,0,0,0,30.00,15.88,15.88	FG_AHR_24Vo	4.703
SUPER	51,71,254,1,0,0	FG_AHR_10Vo	1.349
IRIDIUM_FIX	7436.42,-14602.87,091019,092452	MEM	1156080,28,23224,48
TCM_TEMP	8.38	DATA_FILE_SIZE	12935,493
XPDR_PINGS	190	CAP_FILE_SIZE	195820,0
SC_FREEKB	3868000	SDSIZE	3918848,3902176
PM_FREEKB_00	61121632	SDFILEDIR	216,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	51.94	CURRENT	0.216,356.1,1
TEMP	-0.22	GPS	091019,124947,7433.995,-14555.553,7,10.2,47,17.8
INTERNAL_PRESSURE	8.3815

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	589	2784	23167.07	nil	0	0	0.00
Pitch_motor	21	441	132.53	nil	0	0	0.00
Roll_motor	115	162	265.02	nil	0	0	0.00
Iridium	214	187	566.44	nil	0	0	0.00
Transponder_ping	47	420	281.49	nil	0	0	0.00
GPS	14	15	3.17	nil	0	0	0.00
Core	2193	11	388.17	SciCon	3638	37	2061.16
LPSleep	4055	2	170.32	PMAR	3638	128	7022.12
Compass	830	5	62.32	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	519.1	569.4	468.7	452.6	2473.1	0.00	0.00	0	40.20	25.95	0.00	0.00	0.006	0.000	0.000	936.25	1011.06	861.44	452.62	2465.38	0	0	0	14.19	30.00	30.00
40.42	263	-116.79	-1.09	80.00	936.7	1010.6	862.7	452.6	2469.8	3.61	-9.65	3	138.74	77.57	10.51	4.43	0.005	0.442	0.107	2927.12	3118.25	2736.00	2583.38	3952.38	0	0	0	14.14	15.54	15.65
235.61	1028	-116.79	-1.09	0.00	2933.1	3118.8	2747.5	2582.6	3955.9	23.36	-10.23	42	243.22	0.00	0.00	4.18	0.000	0.000	0.057	2933.06	3118.50	2747.62	2601.12	2478.31	0	0	0	30.00	30.00	15.71
421.56	260	-116.79	-1.09	80.00	2931.2	3115.3	2747.1	2601.9	2470.5	42.25	-10.13	61	429.38	0.00	0.00	4.46	0.000	0.000	0.111	2930.12	3115.44	2744.81	2583.88	3954.38	0	0	0	30.00	30.00	15.68
431.24	1028	-116.79	-1.09	0.00	2930.5	3114.8	2746.3	2582.6	3951.5	43.31	-10.12	63	438.79	0.00	0.00	4.15	0.000	0.000	0.052	2931.81	3116.19	2747.44	2597.25	2478.00	0	0	0	30.00	30.00	15.73
617.25	0	-116.79	-1.09	0.00	2929.6	3112.6	2746.6	2597.9	2468.9	61.61	-10.07	82	620.13	0.00	0.00	0.00	0.000	0.000	0.000	2930.62	3113.62	2747.62	2596.19	2468.12	0	0	0	30.00	30.00	30.00
797.23	516	-116.79	-1.09	-80.00	2930.0	3112.4	2747.6	2599.2	2468.8	79.81	-10.38	100	805.13	0.00	0.00	4.91	0.000	0.000	0.083	2928.19	3111.50	2744.88	2620.38	792.00	0	0	0	30.00	30.00	15.72
807.04	1028	-116.79	-1.09	0.00	2928.6	3110.1	2747.1	2619.2	791.6	80.88	-10.20	102	815.87	0.00	0.00	4.93	0.000	0.000	0.062	2927.31	3109.12	2745.50	2598.31	2510.31	0	0	0	30.00	30.00	15.73
998.83	516	-116.79	-1.09	-80.00	2928.6	3110.1	2747.1	2597.9	2508.2	99.52	-9.67	122	1010.07	0.00	0.00	5.05	0.000	0.000	0.082	2930.31	3112.50	2748.12	2617.56	791.12	0	0	0	30.00	30.00	15.69
1012.79	1028	-116.79	-1.09	0.00	2927.6	3108.1	2747.1	2619.6	791.8	101.02	-9.92	125	1021.58	0.00	0.00	4.93	0.000	0.000	0.062	2927.59	3108.31	2746.88	2597.62	2510.88	0	0	0	30.00	30.00	15.76
1204.54	516	-116.79	-1.09	-80.00	2928.0	3108.4	2747.7	2598.1	2508.8	119.82	-10.02	145	1212.52	0.00	0.00	5.05	0.000	0.000	0.083	2928.31	3107.69	2748.94	2608.06	792.69	0	0	0	30.00	30.00	15.68
1214.68	1028	-116.79	-1.09	0.00	2928.0	3107.4	2748.6	2611.9	792.6	120.97	-10.00	147	1223.40	0.00	0.00	4.92	0.000	0.000	0.060	2927.00	3106.94	2747.06	2589.25	2508.38	0	0	0	30.00	30.00	15.73
1406.69	516	-116.79	-1.09	-80.00	2927.8	3107.7	2748.0	2589.4	2510.7	139.93	-9.72	167	1418.08	0.00	0.00	5.04	0.000	0.000	0.081	2928.47	3108.12	2748.81	2604.31	792.88	0	0	0	30.00	30.00	15.76
1526.36	1028	-116.79	-1.09	0.00	2926.6	3105.5	2747.8	2603.4	792.5	151.99	-9.94	191	1537.59	0.00	0.00	4.93	0.000	0.000	0.062	2928.50	3107.19	2749.81	2582.69	2509.38	0	0	0	30.00	30.00	15.77
1716.84	516	-116.79	-1.09	-80.00	2927.9	3107.0	2748.8	2582.6	2509.7	171.01	-9.98	211	1727.85	0.00	0.00	5.03	0.000	0.000	0.080	2928.12	3107.12	2749.12	2596.06	791.62	0	0	0	30.00	30.00	15.78
1730.42	1028	-116.79	-1.09	0.00	2927.0	3106.3	2747.7	2595.6	791.6	172.43	-9.93	214	1739.00	0.00	0.00	4.91	0.000	0.000	0.059	2925.66	3104.19	2747.12	2573.62	2510.25	0	0	0	30.00	30.00	15.76
1812	end dive: TARGET_DEPTH_EXCEEDED
state	1812	begin apogee
1813.49	3	0.00	-0.19	0.00	2926.4	3105.5	2747.2	2574.5	2372.8	180.56	-10.12	223	1918.53	101.43	1.12	0.12	1.654	0.250	0.162	2446.59	2580.19	2313.00	2892.25	2416.31	0	0	0	12.42	15.66	15.20
1920	end apogee: CONTROL_FINISHED_OK
state	1920	begin climb
1920.29	263	116.79	1.09	80.00	2445.8	2580.0	2311.6	2890.6	2416.4	170.86	0.00	233	2029.46	97.36	1.31	4.89	1.596	0.146	0.118	1969.97	2078.12	1861.81	3301.56	3951.69	0	0	0	12.29	15.26	14.94
2217.33	1030	116.79	1.09	0.00	1960.8	2071.8	1849.8	3301.4	3950.1	140.48	9.93	291	2225.15	0.00	0.00	4.55	0.000	0.000	0.053	1959.03	2069.62	1848.44	3319.50	2378.88	0	0	0	30.00	30.00	15.35
2402.32	518	116.79	1.09	-80.00	1958.0	2073.3	1842.7	3320.6	2373.6	121.92	10.30	310	2413.87	0.00	0.00	5.01	0.000	0.000	0.084	1960.12	2075.62	1844.62	3342.38	689.56	0	0	0	30.00	30.00	15.42
2522.50	1031	116.79	1.09	0.00	1958.8	2074.4	1843.2	3344.3	689.7	110.11	9.65	334	2533.85	0.00	0.19	5.01	0.000	0.262	0.061	1958.22	2074.44	1842.00	3291.31	2410.56	0	0	0	30.00	15.43	15.48
2712.47	262	116.79	1.09	80.00	1956.7	2074.2	1839.1	3293.4	2411.0	91.18	10.09	354	2720.29	0.00	0.00	4.68	0.000	0.000	0.112	1957.00	2073.44	1840.56	3291.75	3949.75	0	0	0	30.00	30.00	15.51
2828.14	1030	116.79	1.09	0.00	1956.6	2074.1	1839.1	3291.6	3951.5	79.65	9.87	377	2835.95	0.00	0.00	4.48	0.000	0.000	0.053	1957.12	2074.56	1839.69	3311.69	2379.88	0	0	0	30.00	30.00	15.59
3013.21	518	116.79	1.09	-80.00	1955.7	2074.9	1836.4	3310.8	2376.5	60.96	10.11	396	3024.72	0.00	0.00	4.97	0.000	0.000	0.086	1957.06	2076.81	1837.31	3332.25	690.75	0	0	0	30.00	30.00	15.57
3187.34	1031	116.79	1.09	0.00	1956.2	2075.6	1836.9	3333.4	690.5	43.54	9.85	431	3196.22	0.00	0.15	4.97	0.000	0.255	0.061	1954.38	2072.75	1836.00	3290.56	2412.69	0	0	0	30.00	15.55	15.62
3379.24	262	116.79	1.09	80.00	1954.9	2075.8	1834.1	3291.0	2411.3	24.32	10.29	451	3386.92	0.00	0.00	4.66	0.000	0.000	0.114	1955.38	2076.00	1834.75	3291.94	3950.81	0	0	0	30.00	30.00	15.63
3544.99	1030	116.79	1.09	0.00	1954.7	2075.3	1834.1	3290.6	3951.9	7.64	10.06	484	3552.54	0.00	0.00	4.47	0.000	0.000	0.053	1955.12	2075.62	1834.62	3309.56	2377.19	0	0	0	30.00	30.00	15.63
3610	end climb: SURFACE_DEPTH_REACHED
state	3610	begin surface coast
3630	end surface coast: CONTROL_FINISHED_OK
state	3630	begin surface