Glider dive log

AMOS Oct19 * SG231 * Dive index * Mission links * Dive 33 * 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 33 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 1.476589 SEABIRD_C_G -9.9463768

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 5.1475868 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 1.476589 PITCH_CNV 0.0031300001 SEABIRD_T_I 2.1747219e-05

ALTIM_PULSE 3 FG_AHR_24V 5.1475868 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 33 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 091019,200036,7435.609,-14552.346,2,1.0,5,17.8 TGT_LATLONG 7300.000,-14820.200

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.79 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -80.0 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 091019,200548,7435.604,-14552.327,2,1.0,4,17.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.233 MHEAD_RNG_PITCHd_Wd 187.0,194322,-19.9,-10.000,-23.25

TGT_NAME a D_GRID 180

Post-dive calculations and measurements:

FINISH -0.0,1.025944 _24V_AH 14.12,33.859

SM_CCo 3893.98,4.61,0.715,0,525.4,565.9,484.8,472.11 _10V_AH 15.00,0.000

SM_GC 1.74,0.00,7.89,4.14,0.000,0.057,0.061,519.1,585.9,452.2,455.6,2478.9,0,0,0,30.00,15.83,15.85 FG_AHR_24Vo 5.250

SUPER 59,71,254,1,0,0 FG_AHR_10Vo 1.507

IRIDIUM_FIX 7436.97,-14551.62,091019,181731 MEM 1156104,28,23200,48

TCM_TEMP 8.40 DATA_FILE_SIZE 12942,493

XPDR_PINGS 220 CAP_FILE_SIZE 184719,0

SC_FREEKB 3865760 SDSIZE 3918848,3900896

PM_FREEKB_00 60993984 SDFILEDIR 251,1

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

HUMID 52.12 CURRENT 0.228, 32.7,1

TEMP -0.35 GPS 091019,214105,7435.957,-14551.590,32,2.0,58,17.8

INTERNAL_PRESSURE 8.38905

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 590 2784 23210.43 nil 0 0 0.00

Pitch_motor 20 428 126.47 nil 0 0 0.00

Roll_motor 103 157 230.49 nil 0 0 0.00

Iridium 208 173 511.01 nil 0 0 0.00

Transponder_ping 55 420 326.17 nil 0 0 0.00

GPS 14 15 3.17 nil 0 0 0.00

Core 2167 11 383.62 SciCon 3611 37 2047.49

LPSleep 3748 2 157.43 PMAR 3612 128 6970.04

Compass 815 5 61.18 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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

11.30 2 -116.79 -1.09 0.00 521.0 584.5 457.6 455.1 2472.2 0.00 0.00 0 34.10 20.72 0.00 0.00 0.006 0.000 0.000 859.66 935.88 783.44 455.00 2471.81 0 0 0 14.35 30.00 30.00

34.37 519 -116.79 -1.09 -80.00 860.4 937.1 783.7 455.1 2471.9 3.21 -10.02 2 138.90 84.09 10.24 4.90 0.005 0.429 0.082 2927.38 3121.00 2733.75 2622.38 789.94 0 0 0 14.18 15.52 15.69

360.80 1028 -116.79 -1.09 0.00 2930.1 3116.4 2743.8 2622.6 790.0 36.19 -10.09 60 368.66 0.00 0.00 4.97 0.000 0.000 0.065 2930.12 3117.75 2742.50 2601.38 2511.38 0 0 0 30.00 30.00 15.74

546.79 260 -116.79 -1.09 80.00 2929.6 3115.4 2743.9 2600.9 2509.9 54.50 -9.79 79 554.62 0.00 0.00 4.31 0.000 0.000 0.111 2930.00 3115.69 2744.31 2579.88 3951.44 0 0 0 30.00 30.00 15.73

776.58 1028 -116.79 -1.09 0.00 2927.9 3110.6 2745.1 2582.2 3951.9 78.03 -9.87 125 784.22 0.00 0.00 4.16 0.000 0.000 0.053 2928.47 3110.62 2746.31 2597.62 2479.50 0 0 0 30.00 30.00 15.71

962.64 260 -116.79 -1.09 80.00 2928.7 3112.6 2744.9 2598.3 2469.0 96.89 -10.16 144 970.34 0.00 0.00 4.47 0.000 0.000 0.111 2926.66 3108.56 2744.75 2579.44 3950.56 0 0 0 30.00 30.00 15.71

978.26 1028 -116.79 -1.09 0.00 2927.2 3109.0 2745.3 2579.9 3951.9 98.44 -10.19 147 985.86 0.00 0.00 4.14 0.000 0.000 0.051 2928.69 3110.62 2746.75 2597.00 2474.31 0 0 0 30.00 30.00 15.74

1163.24 260 -116.79 -1.09 80.00 2927.2 3109.4 2745.1 2598.0 2465.1 117.06 -9.96 166 1170.94 0.00 0.00 4.49 0.000 0.000 0.111 2928.12 3108.88 2747.38 2579.50 3952.62 0 0 0 30.00 30.00 15.72

1172.81 1028 -116.79 -1.09 0.00 2927.4 3109.6 2745.2 2580.2 3951.5 118.15 -9.95 168 1180.47 0.00 0.00 4.14 0.000 0.000 0.051 2928.56 3109.38 2747.75 2595.50 2475.00 0 0 0 30.00 30.00 15.73

1358.79 0 -116.79 -1.09 0.00 2927.2 3108.9 2745.4 2596.8 2467.1 136.79 -9.79 187 1361.79 0.00 0.00 0.00 0.000 0.000 0.000 2928.38 3109.31 2747.44 2594.56 2466.06 0 0 0 30.00 30.00 30.00

1538.86 516 -116.79 -1.09 -80.00 2927.0 3107.9 2746.1 2597.6 2466.8 154.79 -9.96 205 1550.24 0.00 0.00 4.93 0.000 0.000 0.085 2926.34 3107.62 2745.06 2610.50 791.25 0 0 0 30.00 30.00 15.73

1552.90 1028 -116.79 -1.09 0.00 2926.7 3108.2 2745.2 2610.0 791.1 156.28 -10.01 208 1561.57 0.00 0.00 4.92 0.000 0.000 0.060 2926.06 3107.06 2745.06 2590.19 2509.88 0 0 0 30.00 30.00 15.73

1744.34 516 -116.79 -1.09 -80.00 2927.1 3108.7 2745.6 2589.7 2508.9 175.58 -9.92 228 1752.29 0.00 0.00 5.03 0.000 0.000 0.081 2925.44 3106.81 2744.06 2602.50 791.19 0 0 0 30.00 30.00 15.74

1754.19 1028 -116.79 -1.09 0.00 2926.2 3107.4 2745.0 2603.4 791.4 176.65 -9.85 230 1762.05 0.00 0.00 4.93 0.000 0.000 0.059 2928.44 3109.44 2747.44 2581.44 2509.31 0 0 0 30.00 30.00 15.78

1790 end dive: TARGET_DEPTH_EXCEEDED

state 1790 begin apogee

1791.67 3 0.00 -0.19 0.00 2926.6 3106.8 2746.4 2581.7 2371.7 180.14 -9.96 234 1897.49 101.53 1.12 0.12 1.653 0.257 0.158 2445.50 2582.69 2308.31 2890.69 2417.69 0 0 0 12.53 15.66 15.23

1899 end apogee: CONTROL_FINISHED_OK

state 1899 begin climb

1899.33 3 116.79 1.09 0.00 2445.9 2581.1 2310.7 2892.4 2417.6 170.40 0.00 244 2001.98 97.51 1.32 0.00 1.607 0.146 0.000 1971.72 2083.31 1860.12 3301.31 2418.25 0 0 0 12.30 15.27 30.00

2185.08 262 116.79 1.09 80.00 1961.9 2079.7 1844.1 3301.6 2418.9 140.64 10.13 282 2196.33 0.00 0.00 4.80 0.000 0.000 0.118 1961.31 2078.25 1844.38 3302.31 3952.19 0 0 0 30.00 30.00 15.32

2304.97 1030 116.79 1.09 0.00 1959.9 2077.8 1841.9 3301.6 3952.8 128.72 10.04 306 2312.73 0.00 0.00 4.54 0.000 0.000 0.056 1959.03 2077.44 1840.62 3322.50 2380.19 0 0 0 30.00 30.00 15.41

2490.01 518 116.79 1.09 -80.00 1958.7 2078.9 1838.4 3321.8 2378.9 110.40 10.00 325 2501.53 0.00 0.00 5.06 0.000 0.000 0.092 1959.50 2079.62 1839.38 3344.69 692.12 0 0 0 30.00 30.00 15.46

2630.13 1031 116.79 1.09 0.00 1957.7 2077.7 1837.7 3344.1 692.2 96.65 9.84 353 2641.44 0.00 0.19 5.04 0.000 0.245 0.066 1959.03 2079.25 1838.81 3292.31 2409.69 0 0 0 30.00 15.46 15.52

2820.11 262 116.79 1.09 80.00 1957.0 2077.8 1836.2 3290.8 2409.6 77.55 10.01 373 2827.86 0.00 0.00 4.70 0.000 0.000 0.116 1955.25 2076.19 1834.31 3290.56 3951.25 0 0 0 30.00 30.00 15.50

2965.74 1030 116.79 1.09 0.00 1956.2 2077.3 1835.1 3289.9 3950.9 63.17 9.92 402 2973.47 0.00 0.00 4.49 0.000 0.000 0.054 1955.09 2077.56 1832.62 3310.06 2379.81 0 0 0 30.00 30.00 14.01

3150.99 518 116.79 1.09 -80.00 1954.9 2077.8 1831.9 3310.0 2378.1 44.82 10.09 421 3162.05 0.00 0.00 4.99 0.000 0.000 0.089 1956.19 2079.88 1832.50 3331.31 692.19 0 0 0 30.00 30.00 15.55

3334.82 1031 116.79 1.09 0.00 1954.8 2077.8 1831.9 3331.6 692.6 26.24 9.97 458 3343.56 0.00 0.14 4.99 0.000 0.246 0.065 1954.53 2076.12 1832.94 3288.62 2411.38 0 0 0 30.00 15.56 14.06

3526.56 262 116.79 1.09 80.00 1955.0 2078.6 1831.4 3289.4 2410.6 7.41 9.96 478 3534.26 0.00 0.00 4.68 0.000 0.000 0.115 1956.12 2079.94 1832.31 3290.50 3950.12 0 0 0 30.00 30.00 15.32

3582 end climb: SURFACE_DEPTH_REACHED

state 3582 begin surface coast

3602 end surface coast: CONTROL_FINISHED_OK

state 3602 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	33	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	1.476589	SEABIRD_C_G	-9.9463768
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	5.1475868	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	091019,200036,7435.609,-14552.346,2,1.0,5,17.8	TGT_LATLONG	7300.000,-14820.200
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.79	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-80.0	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	091019,200548,7435.604,-14552.327,2,1.0,4,17.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.233	MHEAD_RNG_PITCHd_Wd	187.0,194322,-19.9,-10.000,-23.25
TGT_NAME	a	D_GRID	180

FINISH	-0.0,1.025944	_24V_AH	14.12,33.859
SM_CCo	3893.98,4.61,0.715,0,525.4,565.9,484.8,472.11	_10V_AH	15.00,0.000
SM_GC	1.74,0.00,7.89,4.14,0.000,0.057,0.061,519.1,585.9,452.2,455.6,2478.9,0,0,0,30.00,15.83,15.85	FG_AHR_24Vo	5.250
SUPER	59,71,254,1,0,0	FG_AHR_10Vo	1.507
IRIDIUM_FIX	7436.97,-14551.62,091019,181731	MEM	1156104,28,23200,48
TCM_TEMP	8.40	DATA_FILE_SIZE	12942,493
XPDR_PINGS	220	CAP_FILE_SIZE	184719,0
SC_FREEKB	3865760	SDSIZE	3918848,3900896
PM_FREEKB_00	60993984	SDFILEDIR	251,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	52.12	CURRENT	0.228, 32.7,1
TEMP	-0.35	GPS	091019,214105,7435.957,-14551.590,32,2.0,58,17.8
INTERNAL_PRESSURE	8.38905

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	590	2784	23210.43	nil	0	0	0.00
Pitch_motor	20	428	126.47	nil	0	0	0.00
Roll_motor	103	157	230.49	nil	0	0	0.00
Iridium	208	173	511.01	nil	0	0	0.00
Transponder_ping	55	420	326.17	nil	0	0	0.00
GPS	14	15	3.17	nil	0	0	0.00
Core	2167	11	383.62	SciCon	3611	37	2047.49
LPSleep	3748	2	157.43	PMAR	3612	128	6970.04
Compass	815	5	61.18	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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
11.30	2	-116.79	-1.09	0.00	521.0	584.5	457.6	455.1	2472.2	0.00	0.00	0	34.10	20.72	0.00	0.00	0.006	0.000	0.000	859.66	935.88	783.44	455.00	2471.81	0	0	0	14.35	30.00	30.00
34.37	519	-116.79	-1.09	-80.00	860.4	937.1	783.7	455.1	2471.9	3.21	-10.02	2	138.90	84.09	10.24	4.90	0.005	0.429	0.082	2927.38	3121.00	2733.75	2622.38	789.94	0	0	0	14.18	15.52	15.69
360.80	1028	-116.79	-1.09	0.00	2930.1	3116.4	2743.8	2622.6	790.0	36.19	-10.09	60	368.66	0.00	0.00	4.97	0.000	0.000	0.065	2930.12	3117.75	2742.50	2601.38	2511.38	0	0	0	30.00	30.00	15.74
546.79	260	-116.79	-1.09	80.00	2929.6	3115.4	2743.9	2600.9	2509.9	54.50	-9.79	79	554.62	0.00	0.00	4.31	0.000	0.000	0.111	2930.00	3115.69	2744.31	2579.88	3951.44	0	0	0	30.00	30.00	15.73
776.58	1028	-116.79	-1.09	0.00	2927.9	3110.6	2745.1	2582.2	3951.9	78.03	-9.87	125	784.22	0.00	0.00	4.16	0.000	0.000	0.053	2928.47	3110.62	2746.31	2597.62	2479.50	0	0	0	30.00	30.00	15.71
962.64	260	-116.79	-1.09	80.00	2928.7	3112.6	2744.9	2598.3	2469.0	96.89	-10.16	144	970.34	0.00	0.00	4.47	0.000	0.000	0.111	2926.66	3108.56	2744.75	2579.44	3950.56	0	0	0	30.00	30.00	15.71
978.26	1028	-116.79	-1.09	0.00	2927.2	3109.0	2745.3	2579.9	3951.9	98.44	-10.19	147	985.86	0.00	0.00	4.14	0.000	0.000	0.051	2928.69	3110.62	2746.75	2597.00	2474.31	0	0	0	30.00	30.00	15.74
1163.24	260	-116.79	-1.09	80.00	2927.2	3109.4	2745.1	2598.0	2465.1	117.06	-9.96	166	1170.94	0.00	0.00	4.49	0.000	0.000	0.111	2928.12	3108.88	2747.38	2579.50	3952.62	0	0	0	30.00	30.00	15.72
1172.81	1028	-116.79	-1.09	0.00	2927.4	3109.6	2745.2	2580.2	3951.5	118.15	-9.95	168	1180.47	0.00	0.00	4.14	0.000	0.000	0.051	2928.56	3109.38	2747.75	2595.50	2475.00	0	0	0	30.00	30.00	15.73
1358.79	0	-116.79	-1.09	0.00	2927.2	3108.9	2745.4	2596.8	2467.1	136.79	-9.79	187	1361.79	0.00	0.00	0.00	0.000	0.000	0.000	2928.38	3109.31	2747.44	2594.56	2466.06	0	0	0	30.00	30.00	30.00
1538.86	516	-116.79	-1.09	-80.00	2927.0	3107.9	2746.1	2597.6	2466.8	154.79	-9.96	205	1550.24	0.00	0.00	4.93	0.000	0.000	0.085	2926.34	3107.62	2745.06	2610.50	791.25	0	0	0	30.00	30.00	15.73
1552.90	1028	-116.79	-1.09	0.00	2926.7	3108.2	2745.2	2610.0	791.1	156.28	-10.01	208	1561.57	0.00	0.00	4.92	0.000	0.000	0.060	2926.06	3107.06	2745.06	2590.19	2509.88	0	0	0	30.00	30.00	15.73
1744.34	516	-116.79	-1.09	-80.00	2927.1	3108.7	2745.6	2589.7	2508.9	175.58	-9.92	228	1752.29	0.00	0.00	5.03	0.000	0.000	0.081	2925.44	3106.81	2744.06	2602.50	791.19	0	0	0	30.00	30.00	15.74
1754.19	1028	-116.79	-1.09	0.00	2926.2	3107.4	2745.0	2603.4	791.4	176.65	-9.85	230	1762.05	0.00	0.00	4.93	0.000	0.000	0.059	2928.44	3109.44	2747.44	2581.44	2509.31	0	0	0	30.00	30.00	15.78
1790	end dive: TARGET_DEPTH_EXCEEDED
state	1790	begin apogee
1791.67	3	0.00	-0.19	0.00	2926.6	3106.8	2746.4	2581.7	2371.7	180.14	-9.96	234	1897.49	101.53	1.12	0.12	1.653	0.257	0.158	2445.50	2582.69	2308.31	2890.69	2417.69	0	0	0	12.53	15.66	15.23
1899	end apogee: CONTROL_FINISHED_OK
state	1899	begin climb
1899.33	3	116.79	1.09	0.00	2445.9	2581.1	2310.7	2892.4	2417.6	170.40	0.00	244	2001.98	97.51	1.32	0.00	1.607	0.146	0.000	1971.72	2083.31	1860.12	3301.31	2418.25	0	0	0	12.30	15.27	30.00
2185.08	262	116.79	1.09	80.00	1961.9	2079.7	1844.1	3301.6	2418.9	140.64	10.13	282	2196.33	0.00	0.00	4.80	0.000	0.000	0.118	1961.31	2078.25	1844.38	3302.31	3952.19	0	0	0	30.00	30.00	15.32
2304.97	1030	116.79	1.09	0.00	1959.9	2077.8	1841.9	3301.6	3952.8	128.72	10.04	306	2312.73	0.00	0.00	4.54	0.000	0.000	0.056	1959.03	2077.44	1840.62	3322.50	2380.19	0	0	0	30.00	30.00	15.41
2490.01	518	116.79	1.09	-80.00	1958.7	2078.9	1838.4	3321.8	2378.9	110.40	10.00	325	2501.53	0.00	0.00	5.06	0.000	0.000	0.092	1959.50	2079.62	1839.38	3344.69	692.12	0	0	0	30.00	30.00	15.46
2630.13	1031	116.79	1.09	0.00	1957.7	2077.7	1837.7	3344.1	692.2	96.65	9.84	353	2641.44	0.00	0.19	5.04	0.000	0.245	0.066	1959.03	2079.25	1838.81	3292.31	2409.69	0	0	0	30.00	15.46	15.52
2820.11	262	116.79	1.09	80.00	1957.0	2077.8	1836.2	3290.8	2409.6	77.55	10.01	373	2827.86	0.00	0.00	4.70	0.000	0.000	0.116	1955.25	2076.19	1834.31	3290.56	3951.25	0	0	0	30.00	30.00	15.50
2965.74	1030	116.79	1.09	0.00	1956.2	2077.3	1835.1	3289.9	3950.9	63.17	9.92	402	2973.47	0.00	0.00	4.49	0.000	0.000	0.054	1955.09	2077.56	1832.62	3310.06	2379.81	0	0	0	30.00	30.00	14.01
3150.99	518	116.79	1.09	-80.00	1954.9	2077.8	1831.9	3310.0	2378.1	44.82	10.09	421	3162.05	0.00	0.00	4.99	0.000	0.000	0.089	1956.19	2079.88	1832.50	3331.31	692.19	0	0	0	30.00	30.00	15.55
3334.82	1031	116.79	1.09	0.00	1954.8	2077.8	1831.9	3331.6	692.6	26.24	9.97	458	3343.56	0.00	0.14	4.99	0.000	0.246	0.065	1954.53	2076.12	1832.94	3288.62	2411.38	0	0	0	30.00	15.56	14.06
3526.56	262	116.79	1.09	80.00	1955.0	2078.6	1831.4	3289.4	2410.6	7.41	9.96	478	3534.26	0.00	0.00	4.68	0.000	0.000	0.115	1956.12	2079.94	1832.31	3290.50	3950.12	0	0	0	30.00	30.00	15.32
3582	end climb: SURFACE_DEPTH_REACHED
state	3582	begin surface coast
3602	end surface coast: CONTROL_FINISHED_OK
state	3602	begin surface