Glider dive log

AMOS Oct19 * SG231 * Dive index * Mission links * Dive 36 * 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 36 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 1.5704249 SEABIRD_C_G -9.9463768

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 5.4781375 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 1.5704249 PITCH_CNV 0.0031300001 SEABIRD_T_I 2.1747219e-05

ALTIM_PULSE 3 FG_AHR_24V 5.4781375 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 36 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 101019,010939,7436.358,-14548.709,49,1.6,50,17.8 TGT_LATLONG 7300.000,-14820.200

_CALLS 2 TGT_RADIUS 2000.000

_SM_DEPTHo 1.91 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -79.2 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 101019,011734,7436.341,-14548.610,3,1.6,9,17.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.233 MHEAD_RNG_PITCHd_Wd 221.1,196399,-19.9,-10.000,-23.25

TGT_NAME a D_GRID 180

Post-dive calculations and measurements:

FINISH -0.0,1.025993 _24V_AH 14.12,35.091

SM_CCo 3890.97,4.55,0.693,0,526.1,573.8,478.5,471.93 _10V_AH 15.00,0.000

SM_GC 2.01,0.00,7.97,0.26,0.000,0.069,0.091,519.8,589.1,450.6,459.0,2511.9,0,0,0,30.00,15.85,15.87 FG_AHR_24Vo 5.584

SUPER 51,71,254,1,0,0 FG_AHR_10Vo 1.601

IRIDIUM_FIX 7436.97,-14551.62,101019,011144 MEM 1155984,33,23220,48

TCM_TEMP 8.39 DATA_FILE_SIZE 12939,492

XPDR_PINGS 286 CAP_FILE_SIZE 205261,0

SC_FREEKB 3864416 SDSIZE 3918848,3900096

PM_FREEKB_00 60917440 SDFILEDIR 272,1

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

HUMID 51.93 CURRENT 0.198, 62.2,1

TEMP -0.24 GPS 101019,025606,7436.369,-14547.521,92,1.4,92,17.8

INTERNAL_PRESSURE 8.38344

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 599 2786 23570.72 nil 0 0 0.00

Pitch_motor 21 448 137.22 nil 0 0 0.00

Roll_motor 128 151 275.33 nil 0 0 0.00

Iridium 306 187 811.55 nil 0 0 0.00

Transponder_ping 71 420 424.02 nil 0 0 0.00

GPS 18 15 4.15 nil 0 0 0.00

Core 2301 11 407.38 SciCon 3608 37 2049.04

LPSleep 3937 2 165.36 PMAR 3608 128 6964.43

Compass 807 5 60.54 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

12.17 2 -116.79 -1.09 0.00 519.8 568.3 471.2 458.1 2463.2 0.00 0.00 0 35.05 20.76 0.00 0.00 0.006 0.000 0.000 856.78 923.94 789.62 458.38 2472.62 0 0 0 14.33 30.00 30.00

35.32 519 -116.79 -1.09 -80.00 857.1 924.9 789.2 458.1 2463.4 3.17 -9.70 2 149.59 90.63 10.66 4.89 0.005 0.448 0.083 2929.03 3119.06 2739.00 2621.44 791.56 0 0 0 14.21 15.49 15.64

151.50 1028 -116.79 -1.09 0.00 2929.2 3118.2 2740.3 2621.2 791.2 15.11 -9.99 21 160.33 0.00 0.00 4.99 0.000 0.000 0.067 2931.34 3118.31 2744.38 2601.94 2511.00 0 0 0 30.00 30.00 15.71

343.15 516 -116.79 -1.09 -80.00 2931.7 3117.8 2745.6 2601.6 2510.2 34.04 -9.86 41 354.74 0.00 0.00 5.07 0.000 0.000 0.084 2932.31 3117.31 2747.31 2620.94 791.56 0 0 0 30.00 30.00 15.68

423.23 1028 -116.79 -1.09 0.00 2931.3 3114.6 2748.0 2621.3 791.5 41.96 -9.97 57 434.71 0.00 0.00 4.97 0.000 0.000 0.065 2930.72 3112.25 2749.19 2600.31 2509.88 0 0 0 30.00 30.00 15.70

613.11 516 -116.79 -1.09 -80.00 2930.2 3112.5 2747.8 2601.3 2509.9 61.00 -10.11 77 624.79 0.00 0.00 5.08 0.000 0.000 0.084 2930.00 3112.50 2747.50 2620.25 791.25 0 0 0 30.00 30.00 15.69

803.27 1028 -116.79 -1.09 0.00 2929.2 3109.5 2748.9 2622.6 791.8 80.19 -9.88 115 811.18 0.00 0.00 4.99 0.000 0.000 0.066 2928.78 3109.81 2747.75 2599.69 2510.19 0 0 0 30.00 30.00 15.70

988.36 516 -116.79 -1.09 -80.00 2928.7 3108.6 2748.8 2600.8 2510.1 98.75 -9.98 134 999.94 0.00 0.00 5.06 0.000 0.000 0.084 2930.41 3110.44 2750.38 2619.75 792.50 0 0 0 30.00 30.00 15.69

1058.61 1028 -116.79 -1.09 0.00 2928.5 3107.8 2749.2 2619.1 793.0 105.72 -9.96 148 1069.99 0.00 0.00 4.96 0.000 0.000 0.065 2929.34 3108.56 2750.12 2599.00 2510.56 0 0 0 30.00 30.00 15.72

1248.47 516 -116.79 -1.09 -80.00 2928.5 3108.2 2748.8 2599.7 2509.8 124.68 -9.90 168 1260.02 0.00 0.00 5.07 0.000 0.000 0.084 2929.16 3108.62 2749.69 2610.00 791.31 0 0 0 30.00 30.00 15.73

1292.48 1028 -116.79 -1.09 0.00 2927.7 3106.4 2748.9 2610.9 791.6 129.00 -9.56 177 1301.32 0.00 0.00 4.95 0.000 0.000 0.063 2927.88 3105.44 2750.31 2590.12 2511.12 0 0 0 30.00 30.00 15.75

1484.04 516 -116.79 -1.09 -80.00 2928.2 3107.6 2748.7 2589.9 2509.9 148.02 -10.11 197 1495.66 0.00 0.00 5.05 0.000 0.000 0.082 2928.56 3107.31 2749.81 2596.44 793.06 0 0 0 30.00 30.00 15.68

1604.36 1028 -116.79 -1.09 0.00 2926.9 3104.8 2749.0 2595.2 792.6 159.91 -9.98 221 1615.68 0.00 0.00 4.95 0.000 0.000 0.064 2928.62 3107.50 2749.75 2572.25 2509.25 0 0 0 30.00 30.00 15.69

1794.36 516 -116.79 -1.09 -80.00 2927.3 3105.3 2749.2 2575.7 2509.2 178.56 -9.92 241 1805.60 0.00 0.00 5.05 0.000 0.000 0.080 2927.19 3104.56 2749.81 2576.25 790.38 0 0 0 30.00 30.00 15.70

1808 end dive: TARGET_DEPTH_EXCEEDED

state 1808 begin apogee

1814.94 3 0.00 -0.19 0.00 2927.0 3105.1 2748.9 2557.2 2413.5 180.06 -9.83 244 1922.02 102.11 1.24 0.10 1.656 0.270 0.152 2448.53 2582.50 2314.56 2893.06 2366.06 0 0 0 12.50 15.67 15.21

1924 end apogee: CONTROL_FINISHED_OK

state 1924 begin climb

1923.70 263 116.79 1.09 80.00 2446.1 2581.0 2311.2 2893.8 2366.2 169.00 0.00 255 2033.52 97.86 1.31 5.09 1.609 0.144 0.119 1971.06 2080.31 1861.81 3302.31 3950.88 0 0 0 12.30 15.26 14.95

2121.46 1030 116.79 1.09 0.00 1963.3 2072.2 1854.4 3303.2 3950.9 148.57 10.08 293 2129.15 0.00 0.00 4.59 0.000 0.000 0.052 1963.62 2073.31 1853.94 3321.62 2378.25 0 0 0 30.00 30.00 15.26

2306.56 518 116.79 1.09 -80.00 1958.9 2072.4 1845.4 3322.3 2369.6 130.17 9.80 312 2317.86 0.00 0.00 5.04 0.000 0.000 0.083 1959.88 2073.06 1846.69 3344.31 690.69 0 0 0 30.00 30.00 15.33

2396.39 1031 116.79 1.09 0.00 1958.9 2072.2 1845.7 3344.3 690.7 121.11 9.92 330 2407.94 0.00 0.19 5.05 0.000 0.254 0.064 1960.53 2074.56 1846.50 3291.62 2410.75 0 0 0 30.00 15.39 15.43

2586.48 262 116.79 1.09 80.00 1957.8 2072.8 1842.8 3290.6 2411.6 101.79 9.91 350 2594.29 0.00 0.00 4.73 0.000 0.000 0.117 1956.53 2071.75 1841.31 3290.62 3949.81 0 0 0 30.00 30.00 14.10

2656.17 1030 116.79 1.09 0.00 1957.2 2073.0 1841.4 3292.6 3950.2 94.74 9.84 364 2663.82 0.00 0.00 4.49 0.000 0.000 0.052 1958.84 2075.00 1842.69 3310.38 2377.94 0 0 0 30.00 30.00 15.48

2842.16 518 116.79 1.09 -80.00 1956.5 2074.1 1838.9 3310.0 2371.4 76.07 10.33 383 2853.71 0.00 0.00 4.99 0.000 0.000 0.086 1956.19 2072.38 1840.00 3333.06 692.31 0 0 0 30.00 30.00 15.56

2946.26 1031 116.79 1.09 0.00 1956.4 2073.5 1839.4 3332.4 691.8 65.31 9.99 404 2955.03 0.00 0.15 5.01 0.000 0.250 0.066 1955.97 2072.44 1839.50 3289.12 2409.69 0 0 0 30.00 15.52 15.55

3137.98 262 116.79 1.09 80.00 1955.7 2074.1 1837.2 3292.1 2408.8 45.88 10.00 424 3145.74 0.00 0.00 4.70 0.000 0.000 0.118 1954.69 2073.56 1835.81 3291.06 3950.69 0 0 0 30.00 30.00 15.57

3223.72 1030 116.79 1.09 0.00 1956.3 2074.8 1837.8 3290.4 3950.4 37.45 9.72 441 3231.35 0.00 0.00 4.47 0.000 0.000 0.053 1955.44 2073.00 1837.88 3311.06 2379.75 0 0 0 30.00 30.00 15.62

3408.63 518 116.79 1.09 -80.00 1955.1 2074.6 1835.6 3310.2 2374.2 18.63 9.91 460 3420.10 0.00 0.00 4.99 0.000 0.000 0.088 1954.75 2074.00 1835.50 3330.88 691.12 0 0 0 30.00 30.00 15.61

3528.57 1031 116.79 1.09 0.00 1955.4 2074.8 1835.9 3331.1 691.1 6.54 10.30 484 3540.20 0.00 0.15 4.99 0.000 0.248 0.065 1956.25 2074.94 1837.56 3287.81 2409.31 0 0 0 30.00 15.59 15.62

3579 end climb: SURFACE_DEPTH_REACHED

state 3579 begin surface coast

3599 end surface coast: CONTROL_FINISHED_OK

state 3599 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	36	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	1.5704249	SEABIRD_C_G	-9.9463768
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	5.4781375	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	101019,010939,7436.358,-14548.709,49,1.6,50,17.8	TGT_LATLONG	7300.000,-14820.200
_CALLS	2	TGT_RADIUS	2000.000
_SM_DEPTHo	1.91	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-79.2	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	101019,011734,7436.341,-14548.610,3,1.6,9,17.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.233	MHEAD_RNG_PITCHd_Wd	221.1,196399,-19.9,-10.000,-23.25
TGT_NAME	a	D_GRID	180

FINISH	-0.0,1.025993	_24V_AH	14.12,35.091
SM_CCo	3890.97,4.55,0.693,0,526.1,573.8,478.5,471.93	_10V_AH	15.00,0.000
SM_GC	2.01,0.00,7.97,0.26,0.000,0.069,0.091,519.8,589.1,450.6,459.0,2511.9,0,0,0,30.00,15.85,15.87	FG_AHR_24Vo	5.584
SUPER	51,71,254,1,0,0	FG_AHR_10Vo	1.601
IRIDIUM_FIX	7436.97,-14551.62,101019,011144	MEM	1155984,33,23220,48
TCM_TEMP	8.39	DATA_FILE_SIZE	12939,492
XPDR_PINGS	286	CAP_FILE_SIZE	205261,0
SC_FREEKB	3864416	SDSIZE	3918848,3900096
PM_FREEKB_00	60917440	SDFILEDIR	272,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	51.93	CURRENT	0.198, 62.2,1
TEMP	-0.24	GPS	101019,025606,7436.369,-14547.521,92,1.4,92,17.8
INTERNAL_PRESSURE	8.38344

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	599	2786	23570.72	nil	0	0	0.00
Pitch_motor	21	448	137.22	nil	0	0	0.00
Roll_motor	128	151	275.33	nil	0	0	0.00
Iridium	306	187	811.55	nil	0	0	0.00
Transponder_ping	71	420	424.02	nil	0	0	0.00
GPS	18	15	4.15	nil	0	0	0.00
Core	2301	11	407.38	SciCon	3608	37	2049.04
LPSleep	3937	2	165.36	PMAR	3608	128	6964.43
Compass	807	5	60.54	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
12.17	2	-116.79	-1.09	0.00	519.8	568.3	471.2	458.1	2463.2	0.00	0.00	0	35.05	20.76	0.00	0.00	0.006	0.000	0.000	856.78	923.94	789.62	458.38	2472.62	0	0	0	14.33	30.00	30.00
35.32	519	-116.79	-1.09	-80.00	857.1	924.9	789.2	458.1	2463.4	3.17	-9.70	2	149.59	90.63	10.66	4.89	0.005	0.448	0.083	2929.03	3119.06	2739.00	2621.44	791.56	0	0	0	14.21	15.49	15.64
151.50	1028	-116.79	-1.09	0.00	2929.2	3118.2	2740.3	2621.2	791.2	15.11	-9.99	21	160.33	0.00	0.00	4.99	0.000	0.000	0.067	2931.34	3118.31	2744.38	2601.94	2511.00	0	0	0	30.00	30.00	15.71
343.15	516	-116.79	-1.09	-80.00	2931.7	3117.8	2745.6	2601.6	2510.2	34.04	-9.86	41	354.74	0.00	0.00	5.07	0.000	0.000	0.084	2932.31	3117.31	2747.31	2620.94	791.56	0	0	0	30.00	30.00	15.68
423.23	1028	-116.79	-1.09	0.00	2931.3	3114.6	2748.0	2621.3	791.5	41.96	-9.97	57	434.71	0.00	0.00	4.97	0.000	0.000	0.065	2930.72	3112.25	2749.19	2600.31	2509.88	0	0	0	30.00	30.00	15.70
613.11	516	-116.79	-1.09	-80.00	2930.2	3112.5	2747.8	2601.3	2509.9	61.00	-10.11	77	624.79	0.00	0.00	5.08	0.000	0.000	0.084	2930.00	3112.50	2747.50	2620.25	791.25	0	0	0	30.00	30.00	15.69
803.27	1028	-116.79	-1.09	0.00	2929.2	3109.5	2748.9	2622.6	791.8	80.19	-9.88	115	811.18	0.00	0.00	4.99	0.000	0.000	0.066	2928.78	3109.81	2747.75	2599.69	2510.19	0	0	0	30.00	30.00	15.70
988.36	516	-116.79	-1.09	-80.00	2928.7	3108.6	2748.8	2600.8	2510.1	98.75	-9.98	134	999.94	0.00	0.00	5.06	0.000	0.000	0.084	2930.41	3110.44	2750.38	2619.75	792.50	0	0	0	30.00	30.00	15.69
1058.61	1028	-116.79	-1.09	0.00	2928.5	3107.8	2749.2	2619.1	793.0	105.72	-9.96	148	1069.99	0.00	0.00	4.96	0.000	0.000	0.065	2929.34	3108.56	2750.12	2599.00	2510.56	0	0	0	30.00	30.00	15.72
1248.47	516	-116.79	-1.09	-80.00	2928.5	3108.2	2748.8	2599.7	2509.8	124.68	-9.90	168	1260.02	0.00	0.00	5.07	0.000	0.000	0.084	2929.16	3108.62	2749.69	2610.00	791.31	0	0	0	30.00	30.00	15.73
1292.48	1028	-116.79	-1.09	0.00	2927.7	3106.4	2748.9	2610.9	791.6	129.00	-9.56	177	1301.32	0.00	0.00	4.95	0.000	0.000	0.063	2927.88	3105.44	2750.31	2590.12	2511.12	0	0	0	30.00	30.00	15.75
1484.04	516	-116.79	-1.09	-80.00	2928.2	3107.6	2748.7	2589.9	2509.9	148.02	-10.11	197	1495.66	0.00	0.00	5.05	0.000	0.000	0.082	2928.56	3107.31	2749.81	2596.44	793.06	0	0	0	30.00	30.00	15.68
1604.36	1028	-116.79	-1.09	0.00	2926.9	3104.8	2749.0	2595.2	792.6	159.91	-9.98	221	1615.68	0.00	0.00	4.95	0.000	0.000	0.064	2928.62	3107.50	2749.75	2572.25	2509.25	0	0	0	30.00	30.00	15.69
1794.36	516	-116.79	-1.09	-80.00	2927.3	3105.3	2749.2	2575.7	2509.2	178.56	-9.92	241	1805.60	0.00	0.00	5.05	0.000	0.000	0.080	2927.19	3104.56	2749.81	2576.25	790.38	0	0	0	30.00	30.00	15.70
1808	end dive: TARGET_DEPTH_EXCEEDED
state	1808	begin apogee
1814.94	3	0.00	-0.19	0.00	2927.0	3105.1	2748.9	2557.2	2413.5	180.06	-9.83	244	1922.02	102.11	1.24	0.10	1.656	0.270	0.152	2448.53	2582.50	2314.56	2893.06	2366.06	0	0	0	12.50	15.67	15.21
1924	end apogee: CONTROL_FINISHED_OK
state	1924	begin climb
1923.70	263	116.79	1.09	80.00	2446.1	2581.0	2311.2	2893.8	2366.2	169.00	0.00	255	2033.52	97.86	1.31	5.09	1.609	0.144	0.119	1971.06	2080.31	1861.81	3302.31	3950.88	0	0	0	12.30	15.26	14.95
2121.46	1030	116.79	1.09	0.00	1963.3	2072.2	1854.4	3303.2	3950.9	148.57	10.08	293	2129.15	0.00	0.00	4.59	0.000	0.000	0.052	1963.62	2073.31	1853.94	3321.62	2378.25	0	0	0	30.00	30.00	15.26
2306.56	518	116.79	1.09	-80.00	1958.9	2072.4	1845.4	3322.3	2369.6	130.17	9.80	312	2317.86	0.00	0.00	5.04	0.000	0.000	0.083	1959.88	2073.06	1846.69	3344.31	690.69	0	0	0	30.00	30.00	15.33
2396.39	1031	116.79	1.09	0.00	1958.9	2072.2	1845.7	3344.3	690.7	121.11	9.92	330	2407.94	0.00	0.19	5.05	0.000	0.254	0.064	1960.53	2074.56	1846.50	3291.62	2410.75	0	0	0	30.00	15.39	15.43
2586.48	262	116.79	1.09	80.00	1957.8	2072.8	1842.8	3290.6	2411.6	101.79	9.91	350	2594.29	0.00	0.00	4.73	0.000	0.000	0.117	1956.53	2071.75	1841.31	3290.62	3949.81	0	0	0	30.00	30.00	14.10
2656.17	1030	116.79	1.09	0.00	1957.2	2073.0	1841.4	3292.6	3950.2	94.74	9.84	364	2663.82	0.00	0.00	4.49	0.000	0.000	0.052	1958.84	2075.00	1842.69	3310.38	2377.94	0	0	0	30.00	30.00	15.48
2842.16	518	116.79	1.09	-80.00	1956.5	2074.1	1838.9	3310.0	2371.4	76.07	10.33	383	2853.71	0.00	0.00	4.99	0.000	0.000	0.086	1956.19	2072.38	1840.00	3333.06	692.31	0	0	0	30.00	30.00	15.56
2946.26	1031	116.79	1.09	0.00	1956.4	2073.5	1839.4	3332.4	691.8	65.31	9.99	404	2955.03	0.00	0.15	5.01	0.000	0.250	0.066	1955.97	2072.44	1839.50	3289.12	2409.69	0	0	0	30.00	15.52	15.55
3137.98	262	116.79	1.09	80.00	1955.7	2074.1	1837.2	3292.1	2408.8	45.88	10.00	424	3145.74	0.00	0.00	4.70	0.000	0.000	0.118	1954.69	2073.56	1835.81	3291.06	3950.69	0	0	0	30.00	30.00	15.57
3223.72	1030	116.79	1.09	0.00	1956.3	2074.8	1837.8	3290.4	3950.4	37.45	9.72	441	3231.35	0.00	0.00	4.47	0.000	0.000	0.053	1955.44	2073.00	1837.88	3311.06	2379.75	0	0	0	30.00	30.00	15.62
3408.63	518	116.79	1.09	-80.00	1955.1	2074.6	1835.6	3310.2	2374.2	18.63	9.91	460	3420.10	0.00	0.00	4.99	0.000	0.000	0.088	1954.75	2074.00	1835.50	3330.88	691.12	0	0	0	30.00	30.00	15.61
3528.57	1031	116.79	1.09	0.00	1955.4	2074.8	1835.9	3331.1	691.1	6.54	10.30	484	3540.20	0.00	0.15	4.99	0.000	0.248	0.065	1956.25	2074.94	1837.56	3287.81	2409.31	0	0	0	30.00	15.59	15.62
3579	end climb: SURFACE_DEPTH_REACHED
state	3579	begin surface coast
3599	end surface coast: CONTROL_FINISHED_OK
state	3599	begin surface