Glider dive log

AMOS Oct19 * SG231 * Dive index * Mission links * Dive 29 * 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 29 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 1.3500077 SEABIRD_C_G -9.9463768

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 4.7089243 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 1.3500077 PITCH_CNV 0.0031300001 SEABIRD_T_I 2.1747219e-05

ALTIM_PULSE 3 FG_AHR_24V 4.7089243 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 29 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 091019,124947,7433.995,-14555.553,7,10.2,47,17.8 TGT_LATLONG 7300.000,-14820.200

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.87 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -82.6 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 091019,125541,7433.976,-14555.517,24,0.9,26,17.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.233 MHEAD_RNG_PITCHd_Wd 160.6,190863,-19.9,-10.000,-23.25

TGT_NAME a D_GRID 180

Post-dive calculations and measurements:

FINISH -0.0,1.025952 _24V_AH 14.11,32.225

SM_CCo 3914.94,4.49,0.682,0,525.8,570.3,481.3,472.00 _10V_AH 15.00,0.000

SM_GC 2.04,0.00,7.99,0.40,0.000,0.066,0.082,519.9,586.3,453.4,461.6,2513.4,0,0,0,30.00,15.88,15.89 FG_AHR_24Vo 4.813

SUPER 59,71,254,1,0,0 FG_AHR_10Vo 1.381

IRIDIUM_FIX 7425.33,-14234.18,091019,110604 MEM 1156040,31,23204,48

TCM_TEMP 8.38 DATA_FILE_SIZE 12951,503

XPDR_PINGS 331 CAP_FILE_SIZE 189375,0

SC_FREEKB 3867552 SDSIZE 3918848,3901920

PM_FREEKB_00 61096032 SDFILEDIR 223,1

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

HUMID 52.07 CURRENT 0.215,359.5,1

TEMP -0.20 GPS 091019,143725,7434.373,-14555.169,6,1.8,13,17.8

INTERNAL_PRESSURE 8.38683

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 592 2784 23287.12 nil 0 0 0.00

Pitch_motor 21 435 130.65 nil 0 0 0.00

Roll_motor 107 173 262.35 nil 0 0 0.00

Iridium 231 189 618.54 nil 0 0 0.00

Transponder_ping 82 420 490.39 nil 0 0 0.00

GPS 36 15 8.10 nil 0 0 0.00

Core 2239 11 396.43 SciCon 3633 37 2051.25

LPSleep 4151 2 174.37 PMAR 3633 128 7011.54

Compass 836 5 62.75 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 0.00 521.1 581.2 460.9 460.0 2474.3 0.00 0.00 0 34.89 20.68 0.00 0.00 0.006 0.000 0.000 860.19 943.44 776.94 459.56 2465.38 0 0 0 14.20 30.00 30.00

35.16 263 -116.79 -1.09 80.00 860.3 943.3 777.4 459.9 2468.8 3.20 -9.88 2 143.25 86.47 10.35 4.43 0.005 0.435 0.106 2927.31 3115.38 2739.25 2582.44 3954.12 0 0 0 14.15 15.56 15.66

235.96 1028 -116.79 -1.09 0.00 2932.0 3115.2 2748.8 2582.4 3952.8 23.50 -10.32 42 243.80 0.00 0.00 4.16 0.000 0.000 0.056 2932.09 3114.12 2750.06 2591.56 2477.50 0 0 0 30.00 30.00 15.75

421.11 0 -116.79 -1.09 0.00 2931.5 3113.4 2749.6 2593.8 2467.7 42.19 -10.17 61 423.98 0.00 0.00 0.00 0.000 0.000 0.000 2932.06 3113.50 2750.62 2592.69 2467.56 0 0 0 30.00 30.00 30.00

601.16 516 -116.79 -1.09 -80.00 2929.7 3111.3 2748.0 2593.9 2467.6 60.34 -10.05 79 609.02 0.00 0.00 4.90 0.000 0.000 0.083 2930.31 3110.56 2750.06 2594.50 792.62 0 0 0 30.00 30.00 15.72

610.88 1028 -116.79 -1.09 0.00 2930.0 3111.8 2748.3 2595.6 792.3 61.45 -9.98 81 619.65 0.00 0.00 4.93 0.000 0.000 0.061 2931.25 3111.25 2751.25 2570.12 2508.12 0 0 0 30.00 30.00 15.72

802.51 516 -116.79 -1.09 -80.00 2930.2 3109.8 2750.6 2574.4 2508.3 80.46 -10.06 101 814.04 0.00 0.00 5.05 0.000 0.000 0.081 2930.03 3110.88 2749.19 2587.44 791.44 0 0 0 30.00 30.00 15.67

826.51 1028 -116.79 -1.09 0.00 2928.7 3107.2 2750.2 2587.6 791.2 82.91 -9.86 106 835.26 0.00 0.00 4.93 0.000 0.000 0.062 2929.94 3109.12 2750.75 2566.12 2509.56 0 0 0 30.00 30.00 15.75

1018.13 517 -116.79 -1.09 -80.00 2928.1 3107.0 2749.2 2565.9 2510.4 102.08 -10.36 126 1029.76 0.00 0.14 5.04 0.000 0.302 0.082 2930.41 3109.94 2750.88 2624.44 792.19 0 0 0 30.00 15.64 15.71

1102.18 1028 -116.79 -1.09 0.00 2927.4 3105.1 2749.8 2624.4 792.5 110.74 -10.21 143 1110.88 0.00 0.00 4.95 0.000 0.000 0.064 2927.47 3106.38 2748.56 2605.81 2507.94 0 0 0 30.00 30.00 15.73

1293.73 516 -116.79 -1.09 -80.00 2927.7 3105.6 2749.8 2604.4 2507.9 129.74 -10.24 163 1305.54 0.00 0.00 5.04 0.000 0.000 0.082 2930.06 3108.81 2751.31 2604.69 792.50 0 0 0 30.00 30.00 15.72

1328.02 1028 -116.79 -1.09 0.00 2927.0 3104.9 2749.1 2604.1 792.4 133.33 -10.09 170 1336.02 0.00 0.00 4.93 0.000 0.000 0.061 2926.94 3104.06 2749.81 2583.50 2510.19 0 0 0 30.00 30.00 15.72

1513.91 516 -116.79 -1.09 -80.00 2927.9 3105.9 2749.9 2583.3 2508.7 151.64 -10.07 189 1525.17 0.00 0.00 5.05 0.000 0.000 0.081 2928.09 3104.62 2751.56 2586.69 791.00 0 0 0 30.00 30.00 15.74

1633.88 1028 -116.79 -1.09 0.00 2925.8 3101.7 2749.8 2588.8 791.2 163.80 -10.18 213 1645.35 0.00 0.00 4.95 0.000 0.000 0.062 2928.22 3103.44 2753.00 2567.75 2512.00 0 0 0 30.00 30.00 15.72

1804 end dive: TARGET_DEPTH_EXCEEDED

state 1804 begin apogee

1805.05 3 0.00 -0.19 0.00 2927.3 3105.2 2749.5 2567.5 2371.8 180.80 -9.96 231 1910.97 101.68 1.15 0.11 1.649 0.254 0.174 2445.97 2580.56 2311.38 2890.69 2416.38 0 0 0 12.54 15.68 15.21

1913 end apogee: CONTROL_FINISHED_OK

state 1913 begin climb

1912.81 263 116.79 1.09 80.00 2446.0 2580.9 2311.1 2891.9 2416.8 170.75 0.00 241 2022.57 97.38 1.32 4.89 1.595 0.145 0.117 1970.09 2078.75 1861.44 3301.44 3952.19 0 0 0 12.28 15.26 13.62

2220.52 1030 116.79 1.09 0.00 1961.3 2071.4 1851.3 3301.4 3950.7 138.92 10.08 301 2228.23 0.00 0.00 4.57 0.000 0.000 0.054 1958.78 2068.25 1849.31 3321.44 2380.00 0 0 0 30.00 30.00 15.37

2405.59 518 116.79 1.09 -80.00 1958.4 2072.2 1844.5 3322.2 2378.8 120.67 10.01 320 2416.85 0.00 0.00 5.03 0.000 0.000 0.085 1958.56 2072.00 1845.12 3342.69 691.00 0 0 0 30.00 30.00 15.43

2509.53 1031 116.79 1.09 0.00 1958.8 2072.2 1845.4 3342.6 691.5 110.39 9.64 341 2518.44 0.00 0.19 5.02 0.000 0.258 0.062 1959.38 2073.81 1844.94 3291.00 2409.75 0 0 0 30.00 15.43 15.51

2701.29 262 116.79 1.09 80.00 1956.5 2072.1 1840.9 3290.8 2409.8 91.50 9.56 361 2709.15 0.00 0.00 4.68 0.000 0.000 0.111 1957.44 2072.88 1842.00 3292.19 3953.94 0 0 0 30.00 30.00 15.52

2816.94 1030 116.79 1.09 0.00 1957.0 2072.6 1841.4 3291.5 3953.6 80.05 10.05 384 2824.82 0.00 0.00 4.49 0.000 0.000 0.052 1955.22 2071.38 1839.06 3311.94 2376.69 0 0 0 30.00 30.00 14.01

3002.03 518 116.79 1.09 -80.00 1955.8 2073.1 1838.5 3309.9 2376.5 61.25 9.99 403 3009.93 0.00 0.00 4.98 0.000 0.000 0.087 1956.47 2073.62 1839.31 3332.94 690.81 0 0 0 30.00 30.00 14.09

3207.75 1031 116.79 1.09 0.00 1955.9 2073.0 1838.9 3332.9 691.0 40.52 10.09 444 3219.39 0.00 0.15 4.99 0.000 0.251 0.063 1957.34 2074.88 1839.81 3289.62 2411.25 0 0 0 30.00 15.57 13.99

3397.90 262 116.79 1.09 80.00 1955.1 2073.2 1837.0 3290.8 2412.1 21.58 10.13 464 3405.64 0.00 0.00 4.67 0.000 0.000 0.114 1954.31 2072.62 1836.00 3290.62 3949.94 0 0 0 30.00 30.00 15.55

3557.53 1030 116.79 1.09 0.00 1955.2 2073.7 1836.7 3290.0 3950.8 5.51 10.00 496 3565.29 0.00 0.00 4.48 0.000 0.000 0.054 1956.19 2075.00 1837.38 3309.69 2377.75 0 0 0 30.00 30.00 15.61

3604 end climb: SURFACE_DEPTH_REACHED

state 3604 begin surface coast

3624 end surface coast: CONTROL_FINISHED_OK

state 3624 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	29	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	1.3500077	SEABIRD_C_G	-9.9463768
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	4.7089243	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	091019,124947,7433.995,-14555.553,7,10.2,47,17.8	TGT_LATLONG	7300.000,-14820.200
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.87	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-82.6	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	091019,125541,7433.976,-14555.517,24,0.9,26,17.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.233	MHEAD_RNG_PITCHd_Wd	160.6,190863,-19.9,-10.000,-23.25
TGT_NAME	a	D_GRID	180

FINISH	-0.0,1.025952	_24V_AH	14.11,32.225
SM_CCo	3914.94,4.49,0.682,0,525.8,570.3,481.3,472.00	_10V_AH	15.00,0.000
SM_GC	2.04,0.00,7.99,0.40,0.000,0.066,0.082,519.9,586.3,453.4,461.6,2513.4,0,0,0,30.00,15.88,15.89	FG_AHR_24Vo	4.813
SUPER	59,71,254,1,0,0	FG_AHR_10Vo	1.381
IRIDIUM_FIX	7425.33,-14234.18,091019,110604	MEM	1156040,31,23204,48
TCM_TEMP	8.38	DATA_FILE_SIZE	12951,503
XPDR_PINGS	331	CAP_FILE_SIZE	189375,0
SC_FREEKB	3867552	SDSIZE	3918848,3901920
PM_FREEKB_00	61096032	SDFILEDIR	223,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	52.07	CURRENT	0.215,359.5,1
TEMP	-0.20	GPS	091019,143725,7434.373,-14555.169,6,1.8,13,17.8
INTERNAL_PRESSURE	8.38683

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	592	2784	23287.12	nil	0	0	0.00
Pitch_motor	21	435	130.65	nil	0	0	0.00
Roll_motor	107	173	262.35	nil	0	0	0.00
Iridium	231	189	618.54	nil	0	0	0.00
Transponder_ping	82	420	490.39	nil	0	0	0.00
GPS	36	15	8.10	nil	0	0	0.00
Core	2239	11	396.43	SciCon	3633	37	2051.25
LPSleep	4151	2	174.37	PMAR	3633	128	7011.54
Compass	836	5	62.75	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	521.1	581.2	460.9	460.0	2474.3	0.00	0.00	0	34.89	20.68	0.00	0.00	0.006	0.000	0.000	860.19	943.44	776.94	459.56	2465.38	0	0	0	14.20	30.00	30.00
35.16	263	-116.79	-1.09	80.00	860.3	943.3	777.4	459.9	2468.8	3.20	-9.88	2	143.25	86.47	10.35	4.43	0.005	0.435	0.106	2927.31	3115.38	2739.25	2582.44	3954.12	0	0	0	14.15	15.56	15.66
235.96	1028	-116.79	-1.09	0.00	2932.0	3115.2	2748.8	2582.4	3952.8	23.50	-10.32	42	243.80	0.00	0.00	4.16	0.000	0.000	0.056	2932.09	3114.12	2750.06	2591.56	2477.50	0	0	0	30.00	30.00	15.75
421.11	0	-116.79	-1.09	0.00	2931.5	3113.4	2749.6	2593.8	2467.7	42.19	-10.17	61	423.98	0.00	0.00	0.00	0.000	0.000	0.000	2932.06	3113.50	2750.62	2592.69	2467.56	0	0	0	30.00	30.00	30.00
601.16	516	-116.79	-1.09	-80.00	2929.7	3111.3	2748.0	2593.9	2467.6	60.34	-10.05	79	609.02	0.00	0.00	4.90	0.000	0.000	0.083	2930.31	3110.56	2750.06	2594.50	792.62	0	0	0	30.00	30.00	15.72
610.88	1028	-116.79	-1.09	0.00	2930.0	3111.8	2748.3	2595.6	792.3	61.45	-9.98	81	619.65	0.00	0.00	4.93	0.000	0.000	0.061	2931.25	3111.25	2751.25	2570.12	2508.12	0	0	0	30.00	30.00	15.72
802.51	516	-116.79	-1.09	-80.00	2930.2	3109.8	2750.6	2574.4	2508.3	80.46	-10.06	101	814.04	0.00	0.00	5.05	0.000	0.000	0.081	2930.03	3110.88	2749.19	2587.44	791.44	0	0	0	30.00	30.00	15.67
826.51	1028	-116.79	-1.09	0.00	2928.7	3107.2	2750.2	2587.6	791.2	82.91	-9.86	106	835.26	0.00	0.00	4.93	0.000	0.000	0.062	2929.94	3109.12	2750.75	2566.12	2509.56	0	0	0	30.00	30.00	15.75
1018.13	517	-116.79	-1.09	-80.00	2928.1	3107.0	2749.2	2565.9	2510.4	102.08	-10.36	126	1029.76	0.00	0.14	5.04	0.000	0.302	0.082	2930.41	3109.94	2750.88	2624.44	792.19	0	0	0	30.00	15.64	15.71
1102.18	1028	-116.79	-1.09	0.00	2927.4	3105.1	2749.8	2624.4	792.5	110.74	-10.21	143	1110.88	0.00	0.00	4.95	0.000	0.000	0.064	2927.47	3106.38	2748.56	2605.81	2507.94	0	0	0	30.00	30.00	15.73
1293.73	516	-116.79	-1.09	-80.00	2927.7	3105.6	2749.8	2604.4	2507.9	129.74	-10.24	163	1305.54	0.00	0.00	5.04	0.000	0.000	0.082	2930.06	3108.81	2751.31	2604.69	792.50	0	0	0	30.00	30.00	15.72
1328.02	1028	-116.79	-1.09	0.00	2927.0	3104.9	2749.1	2604.1	792.4	133.33	-10.09	170	1336.02	0.00	0.00	4.93	0.000	0.000	0.061	2926.94	3104.06	2749.81	2583.50	2510.19	0	0	0	30.00	30.00	15.72
1513.91	516	-116.79	-1.09	-80.00	2927.9	3105.9	2749.9	2583.3	2508.7	151.64	-10.07	189	1525.17	0.00	0.00	5.05	0.000	0.000	0.081	2928.09	3104.62	2751.56	2586.69	791.00	0	0	0	30.00	30.00	15.74
1633.88	1028	-116.79	-1.09	0.00	2925.8	3101.7	2749.8	2588.8	791.2	163.80	-10.18	213	1645.35	0.00	0.00	4.95	0.000	0.000	0.062	2928.22	3103.44	2753.00	2567.75	2512.00	0	0	0	30.00	30.00	15.72
1804	end dive: TARGET_DEPTH_EXCEEDED
state	1804	begin apogee
1805.05	3	0.00	-0.19	0.00	2927.3	3105.2	2749.5	2567.5	2371.8	180.80	-9.96	231	1910.97	101.68	1.15	0.11	1.649	0.254	0.174	2445.97	2580.56	2311.38	2890.69	2416.38	0	0	0	12.54	15.68	15.21
1913	end apogee: CONTROL_FINISHED_OK
state	1913	begin climb
1912.81	263	116.79	1.09	80.00	2446.0	2580.9	2311.1	2891.9	2416.8	170.75	0.00	241	2022.57	97.38	1.32	4.89	1.595	0.145	0.117	1970.09	2078.75	1861.44	3301.44	3952.19	0	0	0	12.28	15.26	13.62
2220.52	1030	116.79	1.09	0.00	1961.3	2071.4	1851.3	3301.4	3950.7	138.92	10.08	301	2228.23	0.00	0.00	4.57	0.000	0.000	0.054	1958.78	2068.25	1849.31	3321.44	2380.00	0	0	0	30.00	30.00	15.37
2405.59	518	116.79	1.09	-80.00	1958.4	2072.2	1844.5	3322.2	2378.8	120.67	10.01	320	2416.85	0.00	0.00	5.03	0.000	0.000	0.085	1958.56	2072.00	1845.12	3342.69	691.00	0	0	0	30.00	30.00	15.43
2509.53	1031	116.79	1.09	0.00	1958.8	2072.2	1845.4	3342.6	691.5	110.39	9.64	341	2518.44	0.00	0.19	5.02	0.000	0.258	0.062	1959.38	2073.81	1844.94	3291.00	2409.75	0	0	0	30.00	15.43	15.51
2701.29	262	116.79	1.09	80.00	1956.5	2072.1	1840.9	3290.8	2409.8	91.50	9.56	361	2709.15	0.00	0.00	4.68	0.000	0.000	0.111	1957.44	2072.88	1842.00	3292.19	3953.94	0	0	0	30.00	30.00	15.52
2816.94	1030	116.79	1.09	0.00	1957.0	2072.6	1841.4	3291.5	3953.6	80.05	10.05	384	2824.82	0.00	0.00	4.49	0.000	0.000	0.052	1955.22	2071.38	1839.06	3311.94	2376.69	0	0	0	30.00	30.00	14.01
3002.03	518	116.79	1.09	-80.00	1955.8	2073.1	1838.5	3309.9	2376.5	61.25	9.99	403	3009.93	0.00	0.00	4.98	0.000	0.000	0.087	1956.47	2073.62	1839.31	3332.94	690.81	0	0	0	30.00	30.00	14.09
3207.75	1031	116.79	1.09	0.00	1955.9	2073.0	1838.9	3332.9	691.0	40.52	10.09	444	3219.39	0.00	0.15	4.99	0.000	0.251	0.063	1957.34	2074.88	1839.81	3289.62	2411.25	0	0	0	30.00	15.57	13.99
3397.90	262	116.79	1.09	80.00	1955.1	2073.2	1837.0	3290.8	2412.1	21.58	10.13	464	3405.64	0.00	0.00	4.67	0.000	0.000	0.114	1954.31	2072.62	1836.00	3290.62	3949.94	0	0	0	30.00	30.00	15.55
3557.53	1030	116.79	1.09	0.00	1955.2	2073.7	1836.7	3290.0	3950.8	5.51	10.00	496	3565.29	0.00	0.00	4.48	0.000	0.000	0.054	1956.19	2075.00	1837.38	3309.69	2377.75	0	0	0	30.00	30.00	15.61
3604	end climb: SURFACE_DEPTH_REACHED
state	3604	begin surface coast
3624	end surface coast: CONTROL_FINISHED_OK
state	3624	begin surface