Glider dive log

AMOS Sep19 * SG227 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 227 HEADING -1 C_ROLL_DIVE 2125 ALTIM_PING_DELTA 0

MISSION 6 ESCAPE_HEADING 0 C_ROLL_CLIMB 2125 ALTIM_FREQUENCY 13

DIVE 3 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 13 ALTIM_PULSE 3

N_DIVES 3 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.047120001 ALTIM_SENSITIVITY 2

STOP_T 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 30 XPDR_VALID 6

D_SURF 2 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 180 SM_CC 501.6958 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0

D_ABORT 1020 N_FILEKB 8 VBD_MIN 550 DEEPGLIDER 0

D_NO_BLEED 200 FILEMGR 0 VBD_MAX 3960 DEEPGLIDERMB 0

D_BOOST 2 CALL_NDIVES 1 C_VBD 2636 MOTHERBOARD 6

T_BOOST 0 COMM_SEQ 0 VBD_DBAND 2 DEVICE1 -1

D_FINISH 0 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE2 -1

D_PITCH 0 N_NOCOMM 2 VBD_LP_IGNORE 0 DEVICE3 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_TIMEOUT 720 DEVICE4 -1

D_CALL 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.003 DEVICE5 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 UNCOM_BLEED 60 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 W_ADJ_DBAND 0 LOGGERDEVICE1 7

T_DIVE 60 CAPUPLOAD 0 DBDW 0 LOGGERDEVICE2 -1

T_MISSION 80 CAPMAXSIZE 100000 LOITER_W_DBAND 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_GPS 15 LOITER_DBDW 0 LOGGERDEVICE4 -1

T_TURN 225 N_GPS 100440 LOITER_D_TOP 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 T_RSLEEP 2 LOITER_D_BOTTOM 0 COMPASS2_DEVICE 55

T_NO_W 120 STROBE 0 LOITER_N_DIVE 0 PHONE_DEVICE 33

T_LOITER 0 RAFOS_PEAK_OFFSET 0 CF8_MAXERRORS 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_CORR_THRESH 60 AH0_24V 575 RAFOS_DEVICE 104

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 AH0_10V 0 XPDR_DEVICE 0

USE_ICE 0 RAFOS_MMODEM 0 MINV_24V 11 SIM_W 0

ICE_FREEZE_MARGIN 0.1 PITCH_MIN 160 MINV_10V 11 SEABIRD_T_G 0.0043851961

D_OFFGRID 1020 PITCH_MAX 3830 MAXI_24V 5 SEABIRD_T_H 0.00063407799

RELAUNCH 1 C_PITCH 2260 MAXI_10V 2 SEABIRD_T_I 2.5652189e-05

APOGEE_PITCH -5 PITCH_DBAND 0.1 FG_AHR_10V 21.586557 SEABIRD_T_J 2.9095588e-06

MAX_BUOY 150 PITCH_CNV 0.0031300001 FG_AHR_24V 54.028004 SEABIRD_C_G -9.6619873

GLIDE_SLOPE 30 PITCH_GAIN 36 PHONE_SUPPLY 2 SEABIRD_C_H 1.1246239

SPEED_FACTOR 1 PITCH_TIMEOUT 40 PRESSURE_YINT -170.61569 SEABIRD_C_I -0.0018771546

RHO 1.0275 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00010861728 SEABIRD_C_J 0.00021465076

MASS 72247 PITCH_ADJ_GAIN 0.029999999 COMPASS_USE 4 SC_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 1 ALTIM_PING_FIT 0 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_W_GAIN 0 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_W_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_NDIVE 1.0

HD_A 0.00272 ROLL_MIN 310 ALTIM_TOP_TURN_MARGIN 0

HD_B 0.0117 ROLL_MAX 3940 ALTIM_TOP_MIN_OBSTACLE 0

HD_C 1.6e-05 ROLL_DEG 60 ALTIM_PING_DEPTH 0

AH0_10V 0 D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043851961

AH0_24V 575 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063407799

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOCOMM 2 SEABIRD_T_I 2.5652189e-05

ALTIM_FREQUENCY 13 D_TGT 180 N_NOSURFACE 0 SEABIRD_T_J 2.9095588e-06

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 501.6958

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_10V 21.586557 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 54.028004 PITCH_CNV 0.0031300001 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 36 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAX 3830 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_A 0.00272 PITCH_MIN 160 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HD_B 0.0117 PITCH_TIMEOUT 40 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HD_C 1.6e-05 PITCH_VBD_SHIFT 0.003 T_ABORT 1440

CAPMAXSIZE 100000 HEADING -1 PITCH_W_DBAND 0 T_BOOST 0

CAPUPLOAD 0 HEAD_ERRBAND 13 PITCH_W_GAIN 0 T_DIVE 60

CF8_MAXERRORS 0 ICE_FREEZE_MARGIN 0.1 PRESSURE_SLOPE 0.00010861728 T_EPIRB 0

COMM_SEQ 0 ID 227 PRESSURE_YINT -170.61569 T_GPS 15

COMPASS2_DEVICE 55 INT_PRESSURE_SLOPE 1.9639999e-06 PROTOCOL 9 T_LOITER 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT 0 RAFOS_CORR_THRESH 60 T_MISSION 80

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 104 T_NO_W 120

C_PITCH 2260 LOGGERDEVICE1 7 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

C_ROLL_CLIMB 2125 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 T_TURN 225

C_ROLL_DIVE 2125 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_VBD 2636 LOGGERDEVICE4 -1 RELAUNCH 1 UNCOM_BLEED 60

DBDW 0 LOGGERS 1 RHO 1.0275 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDERMB 0 LOITER_D_BOTTOM 0 ROLL_ADJ_GAIN 0 USE_ICE 0

DEVICE1 -1 LOITER_D_TOP 0 ROLL_CNV 0.047120001 VBD_CNV -0.24529999

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_DEG 60 VBD_DBAND 2

DEVICE3 -1 LOITER_W_DBAND 0 ROLL_MAX 3940 VBD_LP_IGNORE 0

DEVICE4 -1 MASS 72247 ROLL_MAXERRORS 1 VBD_MAX 3960

DEVICE5 -1 MAXI_10V 2 ROLL_MIN 310 VBD_MAXERRORS 1

DEVICE6 -1 MAXI_24V 5 ROLL_TIMEOUT 30 VBD_MIN 550

DIVE 3 MAX_BUOY 150 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_ABORT 1020 MINV_10V 11 SC_PROFILE 3.0 W_ADJ_DBAND 0

D_BOOST 2 MINV_24V 11 SC_RECORDABOVE 2000.0 XPDR_DEVICE 0

D_CALL 0 MISSION 6 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_FINISH 0 MOTHERBOARD 6 SEABIRD_C_G -9.6619873 XPDR_VALID 6

D_FLARE 3 NAV_MODE 2 SEABIRD_C_H 1.1246239

D_NO_BLEED 200 NOCOMM_ACTION 163 SEABIRD_C_I -0.0018771546

D_OFFGRID 1020 N_DIVES 3 SEABIRD_C_J 0.00021465076

Pre-dive calculations and measurements:

GPS1 290919,222316,7353.669,-14700.141,1,0.7,2,17.5 TGT_LATLONG 7434.900,-14533.500

_CALLS 3 TGT_RADIUS 2000.000

_SM_DEPTHo 1.67 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -71.8 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 290919,222916,7353.730,-14700.192,2,0.7,3,17.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.238 MHEAD_RNG_PITCHd_Wd 5.2,87382,-18.3,-10.000,-22.82

TGT_NAME 1 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.7,1.021277 _24V_AH 14.95,117.541

SM_CCo 3810.49,0.00,0.000,0,544.9,732.7,357.1,512.95 _10V_AH 15.00,0.000

SM_GC 4.07,0.00,8.77,3.65,0.000,0.123,0.039,544.9,732.7,357.1,138.6,2100.2,0,0,0,30.00,15.70,15.82 FG_AHR_24Vo 54.138

SUPER 59,71,254,1,0,0 FG_AHR_10Vo 21.603

IRIDIUM_FIX 7352.64,-14707.98,290919,222523 MEM 1155684,29,23460,55

TCM_TEMP 4.28 DATA_FILE_SIZE 16142,507

XPDR_PINGS 7 CAP_FILE_SIZE 186201,0

SC_FREEKB 3779200 SDSIZE 3918848,3907968

RAFOS_CLK -6 SDFILEDIR 58,1

RAFOS_FIX 7354.093750,-14700.330078,290919,232319,0,1,0.18 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 60.32 SOUNDSPEED 1465.0

TEMP 1.89 CURRENT 0.102,343.9,1

INTERNAL_PRESSURE 8.16428 GPS 290919,233336,7354.297,-14659.961,2,0.9,3,17.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 611 1466 13406.67 nil 0 0 0.00

Pitch_motor 21 361 115.07 nil 0 0 0.00

Roll_motor 81 95 117.40 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 10.99 nil 0 0 0.00

GPS 12 11 2.25 nil 0 0 0.00

Core 1538 11 265.84 SciCon 3731 18 1060.37

LPSleep 2333 2 102.21 nil 0 0 0.00

Compass 542 5 40.66 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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

4.96 2 -145.99 -0.95 0.00 541.4 719.6 363.2 146.6 2177.8 0.00 0.00 0 56.68 51.22 0.00 0.00 0.005 0.000 0.000 1352.91 1426.94 1278.88 146.38 2177.50 0 0 0 15.48 30.00 30.00

56.97 295 -145.99 -0.95 60.00 1353.1 1426.1 1280.1 146.2 2156.2 3.36 -4.48 5 129.12 57.24 7.79 3.57 0.005 0.362 0.070 3229.47 3166.50 3292.44 1942.81 3411.56 0 0 0 15.59 15.44 15.54

256.24 1157 -145.99 -0.77 0.00 3231.1 3169.6 3292.6 1941.8 3410.9 57.07 -22.99 45 261.89 0.00 0.20 3.63 0.000 0.221 0.037 3233.00 3171.25 3294.75 2016.62 2100.19 0 0 0 30.00 15.74 15.93

446.17 260 -145.99 -0.77 60.00 3231.2 3169.3 3293.1 2016.9 2091.5 84.99 -13.23 65 451.87 0.00 0.00 3.82 0.000 0.000 0.071 3232.94 3171.88 3294.00 2002.19 3408.38 0 0 0 30.00 30.00 15.91

481.05 1028 -145.99 -0.77 0.00 3230.9 3169.1 3292.7 2001.8 3409.1 89.51 -13.02 72 486.99 0.00 0.00 3.64 0.000 0.000 0.036 3234.06 3172.06 3296.06 2013.69 2102.94 0 0 0 30.00 30.00 15.75

666.18 0 -145.99 -0.77 0.00 3230.8 3169.2 3292.4 2013.9 2101.7 110.57 -10.84 91 667.51 0.00 0.00 0.00 0.000 0.000 0.000 3229.84 3168.69 3291.00 2014.12 2101.69 0 0 0 30.00 30.00 30.00

846.25 128 -145.99 -0.80 0.00 3231.4 3169.8 3293.0 2013.8 2101.4 129.33 -10.44 109 847.58 0.00 0.00 0.00 0.000 0.000 0.000 3230.59 3169.31 3291.88 2013.25 2101.50 0 0 0 30.00 30.00 30.00

1026.22 420 -145.99 -0.85 60.00 3231.2 3169.9 3292.4 2013.5 2101.4 147.51 -9.82 127 1031.95 0.00 0.00 3.82 0.000 0.000 0.072 3233.34 3171.50 3295.19 1999.50 3410.19 0 0 0 30.00 30.00 15.91

1071.15 1157 -145.99 -0.95 0.00 3230.8 3169.3 3292.2 1999.4 3409.6 152.22 -10.38 136 1077.26 0.00 0.17 3.63 0.000 0.099 0.037 3231.12 3169.81 3292.44 1937.12 2101.12 0 0 0 30.00 15.80 15.96

1256.50 645 -145.99 -0.89 -60.00 3230.5 3169.1 3291.9 1936.6 2098.8 175.51 -12.74 155 1262.00 0.00 0.14 3.59 0.000 0.226 0.072 3233.72 3171.75 3295.69 1993.69 838.00 0 0 0 30.00 15.79 15.81

1296 end dive: TARGET_DEPTH_EXCEEDED

state 1296 begin apogee

1301.26 3 0.00 -0.14 0.00 3230.4 3168.8 3292.1 1980.7 2144.6 180.11 -11.51 163 1410.91 108.02 0.77 0.17 1.466 0.178 0.096 2637.44 2693.75 2581.12 2219.38 2085.94 0 0 0 11.94 15.84 15.51

1412 end apogee: CONTROL_FINISHED_OK

state 1412 begin climb

1412.38 519 145.99 0.95 -60.00 2631.7 2691.1 2572.2 2219.5 2085.8 183.56 0.00 174 1529.09 109.96 1.06 3.69 1.378 0.120 0.073 2037.56 2163.56 1911.56 2587.25 837.88 0 0 0 12.42 15.57 15.31

1606.01 1191 163.30 0.86 0.00 2028.9 2158.3 1899.5 2586.9 838.1 172.73 9.19 213 1627.23 14.26 0.16 3.74 1.210 0.255 0.038 1967.97 2100.12 1835.81 2529.19 2147.25 0 0 0 12.13 15.40 15.54

1811.13 35 208.41 1.00 0.00 1961.2 2093.6 1828.8 2528.8 2147.8 156.31 7.89 236 1847.05 34.87 0.16 0.00 1.325 0.101 0.000 1785.69 1914.25 1657.12 2593.12 2148.31 0 0 0 11.96 15.64 30.00

2021.16 422 215.03 0.96 60.00 1777.1 1907.2 1646.9 2593.0 2148.1 135.44 9.69 257 2033.20 6.55 0.00 3.62 0.949 0.000 0.073 1760.28 1890.50 1630.06 2578.00 3408.88 0 0 0 12.13 30.00 15.59

2141.07 1191 225.02 0.88 0.00 1755.5 1883.3 1627.8 2578.6 3409.2 123.77 9.53 281 2157.44 10.27 0.21 3.70 1.140 0.226 0.040 1717.59 1846.06 1589.12 2534.00 2099.25 0 0 0 12.09 15.56 15.75

2336.37 423 312.91 1.26 60.00 1712.6 1843.1 1582.0 2534.1 2099.2 111.33 5.89 302 2408.65 65.71 0.38 3.91 1.328 0.078 0.071 1359.47 1512.00 1206.94 2666.44 3408.31 0 0 0 12.05 15.76 15.52

2526.25 1157 312.91 1.17 0.00 1354.5 1506.1 1202.9 2666.0 3407.7 89.58 12.11 340 2532.05 0.00 0.19 3.71 0.000 0.222 0.038 1355.22 1506.94 1203.50 2625.88 2103.88 0 0 0 30.00 15.51 15.63

2716.46 423 389.95 1.50 60.00 1351.2 1506.1 1196.4 2625.7 2103.4 75.26 6.40 360 2780.51 57.85 0.34 3.89 1.275 0.078 0.071 1044.78 1227.88 861.69 2747.75 3408.00 0 0 0 12.06 15.73 15.51

2862.55 1156 389.95 1.43 0.00 1042.1 1224.5 859.7 2747.6 3408.4 60.09 10.47 387 2868.22 0.00 0.00 3.73 0.000 0.000 0.039 1042.53 1225.00 860.06 2762.75 2102.94 0 0 0 30.00 30.00 15.66

3052.66 295 474.47 1.69 60.00 1039.2 1224.2 854.2 2762.9 2102.2 46.14 6.05 407 3124.51 64.67 0.11 3.92 1.234 0.115 0.072 701.78 906.31 497.25 2803.00 3408.69 0 0 0 12.10 15.71 15.48

3197.49 1062 511.28 1.80 0.00 698.8 901.0 496.7 2803.4 3408.6 35.70 8.28 436 3234.15 31.00 0.00 3.73 1.171 0.000 0.038 552.59 744.88 360.31 2818.75 2102.12 0 0 0 12.17 30.00 15.62

3412.58 679 587.81 2.14 -60.00 547.8 736.8 358.7 2819.4 2102.4 21.52 6.42 461 3418.40 0.00 0.36 3.67 0.000 0.076 0.072 547.62 737.12 358.12 2974.62 838.88 0 0 0 30.00 15.66 15.66

3462.90 1191 613.64 2.06 0.00 546.3 735.9 356.7 2974.4 839.1 17.24 8.79 471 3468.38 0.00 0.17 3.70 0.000 0.250 0.040 546.53 736.31 356.75 2910.94 2151.44 0 0 0 30.00 15.58 15.71

3652.85 295 710.46 2.35 60.00 546.2 735.6 356.8 2910.6 2150.7 8.06 5.47 491 3658.40 0.00 0.29 3.62 0.000 0.087 0.072 546.47 735.69 357.25 3016.88 3411.19 0 0 0 30.00 15.74 15.75

3723 end climb: SURFACE_DEPTH_REACHED

state 3723 begin surface coast

3733 end surface coast: CONTROL_FINISHED_OK

state 3733 begin surface

ID	227	HEADING	-1	C_ROLL_DIVE	2125	ALTIM_PING_DELTA	0
MISSION	6	ESCAPE_HEADING	0	C_ROLL_CLIMB	2125	ALTIM_FREQUENCY	13
DIVE	3	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	13	ALTIM_PULSE	3
N_DIVES	3	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.047120001	ALTIM_SENSITIVITY	2
STOP_T	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	30	XPDR_VALID	6
D_SURF	2	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	180	SM_CC	501.6958	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0
D_ABORT	1020	N_FILEKB	8	VBD_MIN	550	DEEPGLIDER	0
D_NO_BLEED	200	FILEMGR	0	VBD_MAX	3960	DEEPGLIDERMB	0
D_BOOST	2	CALL_NDIVES	1	C_VBD	2636	MOTHERBOARD	6
T_BOOST	0	COMM_SEQ	0	VBD_DBAND	2	DEVICE1	-1
D_FINISH	0	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE2	-1
D_PITCH	0	N_NOCOMM	2	VBD_LP_IGNORE	0	DEVICE3	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_TIMEOUT	720	DEVICE4	-1
D_CALL	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.003	DEVICE5	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	UNCOM_BLEED	60	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	W_ADJ_DBAND	0	LOGGERDEVICE1	7
T_DIVE	60	CAPUPLOAD	0	DBDW	0	LOGGERDEVICE2	-1
T_MISSION	80	CAPMAXSIZE	100000	LOITER_W_DBAND	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_GPS	15	LOITER_DBDW	0	LOGGERDEVICE4	-1
T_TURN	225	N_GPS	100440	LOITER_D_TOP	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	T_RSLEEP	2	LOITER_D_BOTTOM	0	COMPASS2_DEVICE	55
T_NO_W	120	STROBE	0	LOITER_N_DIVE	0	PHONE_DEVICE	33
T_LOITER	0	RAFOS_PEAK_OFFSET	0	CF8_MAXERRORS	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_CORR_THRESH	60	AH0_24V	575	RAFOS_DEVICE	104
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	AH0_10V	0	XPDR_DEVICE	0
USE_ICE	0	RAFOS_MMODEM	0	MINV_24V	11	SIM_W	0
ICE_FREEZE_MARGIN	0.1	PITCH_MIN	160	MINV_10V	11	SEABIRD_T_G	0.0043851961
D_OFFGRID	1020	PITCH_MAX	3830	MAXI_24V	5	SEABIRD_T_H	0.00063407799
RELAUNCH	1	C_PITCH	2260	MAXI_10V	2	SEABIRD_T_I	2.5652189e-05
APOGEE_PITCH	-5	PITCH_DBAND	0.1	FG_AHR_10V	21.586557	SEABIRD_T_J	2.9095588e-06
MAX_BUOY	150	PITCH_CNV	0.0031300001	FG_AHR_24V	54.028004	SEABIRD_C_G	-9.6619873
GLIDE_SLOPE	30	PITCH_GAIN	36	PHONE_SUPPLY	2	SEABIRD_C_H	1.1246239
SPEED_FACTOR	1	PITCH_TIMEOUT	40	PRESSURE_YINT	-170.61569	SEABIRD_C_I	-0.0018771546
RHO	1.0275	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00010861728	SEABIRD_C_J	0.00021465076
MASS	72247	PITCH_ADJ_GAIN	0.029999999	COMPASS_USE	4	SC_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	1	ALTIM_PING_FIT	0	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_W_GAIN	0	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_W_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_NDIVE	1.0
HD_A	0.00272	ROLL_MIN	310	ALTIM_TOP_TURN_MARGIN	0
HD_B	0.0117	ROLL_MAX	3940	ALTIM_TOP_MIN_OBSTACLE	0
HD_C	1.6e-05	ROLL_DEG	60	ALTIM_PING_DEPTH	0

GPS1	290919,222316,7353.669,-14700.141,1,0.7,2,17.5	TGT_LATLONG	7434.900,-14533.500
_CALLS	3	TGT_RADIUS	2000.000
_SM_DEPTHo	1.67	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-71.8	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	290919,222916,7353.730,-14700.192,2,0.7,3,17.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.238	MHEAD_RNG_PITCHd_Wd	5.2,87382,-18.3,-10.000,-22.82
TGT_NAME	1	D_GRID	180

FINISH	0.7,1.021277	_24V_AH	14.95,117.541
SM_CCo	3810.49,0.00,0.000,0,544.9,732.7,357.1,512.95	_10V_AH	15.00,0.000
SM_GC	4.07,0.00,8.77,3.65,0.000,0.123,0.039,544.9,732.7,357.1,138.6,2100.2,0,0,0,30.00,15.70,15.82	FG_AHR_24Vo	54.138
SUPER	59,71,254,1,0,0	FG_AHR_10Vo	21.603
IRIDIUM_FIX	7352.64,-14707.98,290919,222523	MEM	1155684,29,23460,55
TCM_TEMP	4.28	DATA_FILE_SIZE	16142,507
XPDR_PINGS	7	CAP_FILE_SIZE	186201,0
SC_FREEKB	3779200	SDSIZE	3918848,3907968
RAFOS_CLK	-6	SDFILEDIR	58,1
RAFOS_FIX	7354.093750,-14700.330078,290919,232319,0,1,0.18	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	60.32	SOUNDSPEED	1465.0
TEMP	1.89	CURRENT	0.102,343.9,1
INTERNAL_PRESSURE	8.16428	GPS	290919,233336,7354.297,-14659.961,2,0.9,3,17.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	611	1466	13406.67	nil	0	0	0.00
Pitch_motor	21	361	115.07	nil	0	0	0.00
Roll_motor	81	95	117.40	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	10.99	nil	0	0	0.00
GPS	12	11	2.25	nil	0	0	0.00
Core	1538	11	265.84	SciCon	3731	18	1060.37
LPSleep	2333	2	102.21	nil	0	0	0.00
Compass	542	5	40.66	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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
4.96	2	-145.99	-0.95	0.00	541.4	719.6	363.2	146.6	2177.8	0.00	0.00	0	56.68	51.22	0.00	0.00	0.005	0.000	0.000	1352.91	1426.94	1278.88	146.38	2177.50	0	0	0	15.48	30.00	30.00
56.97	295	-145.99	-0.95	60.00	1353.1	1426.1	1280.1	146.2	2156.2	3.36	-4.48	5	129.12	57.24	7.79	3.57	0.005	0.362	0.070	3229.47	3166.50	3292.44	1942.81	3411.56	0	0	0	15.59	15.44	15.54
256.24	1157	-145.99	-0.77	0.00	3231.1	3169.6	3292.6	1941.8	3410.9	57.07	-22.99	45	261.89	0.00	0.20	3.63	0.000	0.221	0.037	3233.00	3171.25	3294.75	2016.62	2100.19	0	0	0	30.00	15.74	15.93
446.17	260	-145.99	-0.77	60.00	3231.2	3169.3	3293.1	2016.9	2091.5	84.99	-13.23	65	451.87	0.00	0.00	3.82	0.000	0.000	0.071	3232.94	3171.88	3294.00	2002.19	3408.38	0	0	0	30.00	30.00	15.91
481.05	1028	-145.99	-0.77	0.00	3230.9	3169.1	3292.7	2001.8	3409.1	89.51	-13.02	72	486.99	0.00	0.00	3.64	0.000	0.000	0.036	3234.06	3172.06	3296.06	2013.69	2102.94	0	0	0	30.00	30.00	15.75
666.18	0	-145.99	-0.77	0.00	3230.8	3169.2	3292.4	2013.9	2101.7	110.57	-10.84	91	667.51	0.00	0.00	0.00	0.000	0.000	0.000	3229.84	3168.69	3291.00	2014.12	2101.69	0	0	0	30.00	30.00	30.00
846.25	128	-145.99	-0.80	0.00	3231.4	3169.8	3293.0	2013.8	2101.4	129.33	-10.44	109	847.58	0.00	0.00	0.00	0.000	0.000	0.000	3230.59	3169.31	3291.88	2013.25	2101.50	0	0	0	30.00	30.00	30.00
1026.22	420	-145.99	-0.85	60.00	3231.2	3169.9	3292.4	2013.5	2101.4	147.51	-9.82	127	1031.95	0.00	0.00	3.82	0.000	0.000	0.072	3233.34	3171.50	3295.19	1999.50	3410.19	0	0	0	30.00	30.00	15.91
1071.15	1157	-145.99	-0.95	0.00	3230.8	3169.3	3292.2	1999.4	3409.6	152.22	-10.38	136	1077.26	0.00	0.17	3.63	0.000	0.099	0.037	3231.12	3169.81	3292.44	1937.12	2101.12	0	0	0	30.00	15.80	15.96
1256.50	645	-145.99	-0.89	-60.00	3230.5	3169.1	3291.9	1936.6	2098.8	175.51	-12.74	155	1262.00	0.00	0.14	3.59	0.000	0.226	0.072	3233.72	3171.75	3295.69	1993.69	838.00	0	0	0	30.00	15.79	15.81
1296	end dive: TARGET_DEPTH_EXCEEDED
state	1296	begin apogee
1301.26	3	0.00	-0.14	0.00	3230.4	3168.8	3292.1	1980.7	2144.6	180.11	-11.51	163	1410.91	108.02	0.77	0.17	1.466	0.178	0.096	2637.44	2693.75	2581.12	2219.38	2085.94	0	0	0	11.94	15.84	15.51
1412	end apogee: CONTROL_FINISHED_OK
state	1412	begin climb
1412.38	519	145.99	0.95	-60.00	2631.7	2691.1	2572.2	2219.5	2085.8	183.56	0.00	174	1529.09	109.96	1.06	3.69	1.378	0.120	0.073	2037.56	2163.56	1911.56	2587.25	837.88	0	0	0	12.42	15.57	15.31
1606.01	1191	163.30	0.86	0.00	2028.9	2158.3	1899.5	2586.9	838.1	172.73	9.19	213	1627.23	14.26	0.16	3.74	1.210	0.255	0.038	1967.97	2100.12	1835.81	2529.19	2147.25	0	0	0	12.13	15.40	15.54
1811.13	35	208.41	1.00	0.00	1961.2	2093.6	1828.8	2528.8	2147.8	156.31	7.89	236	1847.05	34.87	0.16	0.00	1.325	0.101	0.000	1785.69	1914.25	1657.12	2593.12	2148.31	0	0	0	11.96	15.64	30.00
2021.16	422	215.03	0.96	60.00	1777.1	1907.2	1646.9	2593.0	2148.1	135.44	9.69	257	2033.20	6.55	0.00	3.62	0.949	0.000	0.073	1760.28	1890.50	1630.06	2578.00	3408.88	0	0	0	12.13	30.00	15.59
2141.07	1191	225.02	0.88	0.00	1755.5	1883.3	1627.8	2578.6	3409.2	123.77	9.53	281	2157.44	10.27	0.21	3.70	1.140	0.226	0.040	1717.59	1846.06	1589.12	2534.00	2099.25	0	0	0	12.09	15.56	15.75
2336.37	423	312.91	1.26	60.00	1712.6	1843.1	1582.0	2534.1	2099.2	111.33	5.89	302	2408.65	65.71	0.38	3.91	1.328	0.078	0.071	1359.47	1512.00	1206.94	2666.44	3408.31	0	0	0	12.05	15.76	15.52
2526.25	1157	312.91	1.17	0.00	1354.5	1506.1	1202.9	2666.0	3407.7	89.58	12.11	340	2532.05	0.00	0.19	3.71	0.000	0.222	0.038	1355.22	1506.94	1203.50	2625.88	2103.88	0	0	0	30.00	15.51	15.63
2716.46	423	389.95	1.50	60.00	1351.2	1506.1	1196.4	2625.7	2103.4	75.26	6.40	360	2780.51	57.85	0.34	3.89	1.275	0.078	0.071	1044.78	1227.88	861.69	2747.75	3408.00	0	0	0	12.06	15.73	15.51
2862.55	1156	389.95	1.43	0.00	1042.1	1224.5	859.7	2747.6	3408.4	60.09	10.47	387	2868.22	0.00	0.00	3.73	0.000	0.000	0.039	1042.53	1225.00	860.06	2762.75	2102.94	0	0	0	30.00	30.00	15.66
3052.66	295	474.47	1.69	60.00	1039.2	1224.2	854.2	2762.9	2102.2	46.14	6.05	407	3124.51	64.67	0.11	3.92	1.234	0.115	0.072	701.78	906.31	497.25	2803.00	3408.69	0	0	0	12.10	15.71	15.48
3197.49	1062	511.28	1.80	0.00	698.8	901.0	496.7	2803.4	3408.6	35.70	8.28	436	3234.15	31.00	0.00	3.73	1.171	0.000	0.038	552.59	744.88	360.31	2818.75	2102.12	0	0	0	12.17	30.00	15.62
3412.58	679	587.81	2.14	-60.00	547.8	736.8	358.7	2819.4	2102.4	21.52	6.42	461	3418.40	0.00	0.36	3.67	0.000	0.076	0.072	547.62	737.12	358.12	2974.62	838.88	0	0	0	30.00	15.66	15.66
3462.90	1191	613.64	2.06	0.00	546.3	735.9	356.7	2974.4	839.1	17.24	8.79	471	3468.38	0.00	0.17	3.70	0.000	0.250	0.040	546.53	736.31	356.75	2910.94	2151.44	0	0	0	30.00	15.58	15.71
3652.85	295	710.46	2.35	60.00	546.2	735.6	356.8	2910.6	2150.7	8.06	5.47	491	3658.40	0.00	0.29	3.62	0.000	0.087	0.072	546.47	735.69	357.25	3016.88	3411.19	0	0	0	30.00	15.74	15.75
3723	end climb: SURFACE_DEPTH_REACHED
state	3723	begin surface coast
3733	end surface coast: CONTROL_FINISHED_OK
state	3733	begin surface