Glider dive log

AMOS Oct19 * SG231 * Dive index * Mission links * Dive 37 * 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 37 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 1.6019238 SEABIRD_C_G -9.9463768

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 5.5911202 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 1.6019238 PITCH_CNV 0.0031300001 SEABIRD_T_I 2.1747219e-05

ALTIM_PULSE 3 FG_AHR_24V 5.5911202 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 37 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 101019,025606,7436.369,-14547.521,92,1.4,92,17.8 TGT_LATLONG 7300.000,-14820.200

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.90 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -80.6 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 101019,030225,7436.355,-14547.477,4,1.1,7,17.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.233 MHEAD_RNG_PITCHd_Wd 218.0,196680,-19.9,-10.000,-23.25

TGT_NAME a D_GRID 180

Post-dive calculations and measurements:

FINISH 1.2,1.025963 _24V_AH 14.13,35.473

SM_CCo 3884.71,4.55,0.694,0,526.3,567.8,484.8,471.88 _10V_AH 15.00,0.000

SM_GC 2.40,0.00,7.96,2.58,0.000,0.058,0.074,519.4,585.5,453.3,459.3,2510.5,0,0,0,30.00,15.88,15.89 FG_AHR_24Vo 5.697

SUPER 59,71,254,1,0,0 FG_AHR_10Vo 1.619

IRIDIUM_FIX 7435.81,-14544.92,101019,011359 MEM 1155972,33,23232,48

TCM_TEMP 8.43 DATA_FILE_SIZE 12904,493

XPDR_PINGS 320 CAP_FILE_SIZE 195885,0

SC_FREEKB 3863968 SDSIZE 3918848,3899872

PM_FREEKB_00 60892064 SDFILEDIR 279,1

PM_ACTIVECARD 0 ERRORS 0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0

HUMID 51.96 CURRENT 0.219, 60.8,1

TEMP -0.22 GPS 101019,044242,7436.618,-14546.236,49,1.1,52,17.8

INTERNAL_PRESSURE 8.38254

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 599 2788 23609.02 nil 0 0 0.00

Pitch_motor 21 451 136.98 nil 0 0 0.00

Roll_motor 113 153 247.55 nil 0 0 0.00

Iridium 270 192 736.32 nil 0 0 0.00

Transponder_ping 80 420 474.77 nil 0 0 0.00

GPS 16 15 3.68 nil 0 0 0.00

Core 2254 11 399.13 SciCon 3601 6 334.68

LPSleep 4031 2 169.34 PMAR 3600 128 6946.99

Compass 814 5 61.10 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

12.12 2 -116.79 -1.09 0.00 521.8 582.4 461.2 455.9 2469.3 0.00 0.00 0 35.04 20.84 0.00 0.00 0.006 0.000 0.000 868.72 950.75 786.69 456.12 2470.06 0 0 0 14.19 30.00 30.00

35.31 519 -116.79 -1.09 -80.00 868.9 950.2 787.5 456.3 2475.0 3.45 -10.10 2 149.61 90.74 10.72 4.91 0.005 0.451 0.085 2927.00 3112.31 2741.69 2623.12 791.06 0 0 0 14.19 15.56 15.67

371.55 1028 -116.79 -1.09 0.00 2930.3 3110.3 2750.4 2623.2 790.1 36.72 -9.91 63 380.40 0.00 0.00 4.96 0.000 0.000 0.067 2929.22 3108.69 2749.75 2603.12 2509.38 0 0 0 30.00 30.00 15.79

563.20 260 -116.79 -1.09 80.00 2929.1 3107.8 2750.4 2601.7 2509.9 55.49 -9.74 83 570.99 0.00 0.00 4.31 0.000 0.000 0.113 2929.31 3108.50 2750.12 2582.19 3952.19 0 0 0 30.00 30.00 15.79

792.90 1028 -116.79 -1.09 0.00 2927.3 3103.2 2751.5 2583.5 3952.8 78.52 -9.97 129 800.43 0.00 0.00 4.14 0.000 0.000 0.054 2928.00 3104.88 2751.12 2598.81 2477.19 0 0 0 30.00 30.00 15.82

978.98 260 -116.79 -1.09 80.00 2927.3 3103.6 2751.0 2597.3 2467.4 97.07 -10.17 148 986.65 0.00 0.00 4.46 0.000 0.000 0.112 2927.88 3103.75 2752.00 2578.38 3951.19 0 0 0 30.00 30.00 15.79

1008.52 1028 -116.79 -1.09 0.00 2926.4 3102.1 2750.6 2579.2 3951.1 100.10 -9.91 154 1016.07 0.00 0.00 4.14 0.000 0.000 0.051 2928.59 3104.75 2752.44 2586.25 2475.06 0 0 0 30.00 30.00 15.83

1194.52 260 -116.79 -1.09 80.00 2926.0 3101.4 2750.6 2586.7 2466.8 118.58 -10.41 173 1202.26 0.00 0.00 4.46 0.000 0.000 0.111 2927.22 3102.56 2751.88 2565.81 3953.25 0 0 0 30.00 30.00 15.82

1204.12 1029 -116.79 -1.09 0.00 2925.9 3101.4 2750.4 2568.4 3953.9 119.59 -10.21 175 1211.91 0.00 0.09 4.12 0.000 0.310 0.050 2927.16 3102.31 2752.00 2605.75 2468.50 0 0 0 30.00 15.73 15.83

1390.20 0 -116.79 -1.09 0.00 2926.0 3101.2 2750.8 2604.4 2462.9 138.53 -10.35 194 1393.07 0.00 0.00 0.00 0.000 0.000 0.000 2927.81 3103.44 2752.19 2602.19 2464.38 0 0 0 30.00 30.00 30.00

1570.14 516 -116.79 -1.09 -80.00 2925.8 3101.1 2750.5 2604.4 2462.8 156.49 -10.19 212 1578.01 0.00 0.00 4.88 0.000 0.000 0.084 2926.12 3101.50 2750.75 2626.00 791.19 0 0 0 30.00 30.00 15.84

1579.88 1028 -116.79 -1.09 0.00 2925.8 3101.0 2750.5 2626.3 791.2 157.58 -10.32 214 1588.57 0.00 0.00 4.91 0.000 0.000 0.062 2924.38 3098.88 2749.88 2604.75 2510.56 0 0 0 30.00 30.00 15.83

1771.59 516 -116.79 -1.09 -80.00 2925.8 3101.4 2750.1 2604.0 2509.9 176.74 -9.99 234 1783.06 0.00 0.00 5.03 0.000 0.000 0.083 2927.81 3103.75 2751.88 2614.94 791.25 0 0 0 30.00 30.00 15.85

1785.52 1028 -116.79 -1.09 0.00 2925.2 3099.9 2750.5 2613.9 791.6 178.25 -10.13 237 1794.15 0.00 0.00 4.92 0.000 0.000 0.061 2925.06 3099.75 2750.38 2592.88 2510.62 0 0 0 30.00 30.00 15.84

1807 end dive: TARGET_DEPTH_EXCEEDED

state 1807 begin apogee

1808.27 3 0.00 -0.19 0.00 2925.5 3101.4 2749.6 2593.6 2370.4 180.36 -10.31 240 1913.67 100.90 1.06 0.13 1.641 0.250 0.154 2450.19 2580.12 2320.25 2891.19 2416.69 0 0 0 12.65 15.76 15.28

1915 end apogee: CONTROL_FINISHED_OK

state 1915 begin climb

1915.48 263 116.79 1.09 80.00 2446.9 2577.0 2316.8 2892.7 2417.2 170.46 0.00 250 2024.52 97.31 1.31 4.89 1.596 0.148 0.121 1971.62 2071.75 1871.50 3301.62 3949.50 0 0 0 12.40 15.32 15.01

2086.41 1030 116.79 1.09 0.00 1965.6 2063.7 1867.4 3301.8 3949.4 152.60 9.90 283 2094.16 0.00 0.00 4.59 0.000 0.000 0.055 1965.62 2063.44 1867.81 3322.31 2379.50 0 0 0 30.00 30.00 15.26

2272.33 518 116.79 1.09 -80.00 1961.7 2064.2 1859.2 3321.1 2375.5 134.01 10.13 302 2283.84 0.00 0.00 5.06 0.000 0.000 0.087 1963.28 2065.81 1860.75 3341.12 692.12 0 0 0 30.00 30.00 14.07

2366.47 1031 116.79 1.09 0.00 1960.9 2063.6 1858.1 3342.4 692.1 124.37 9.87 321 2375.32 0.00 0.19 5.03 0.000 0.253 0.064 1960.69 2064.06 1857.31 3292.25 2409.50 0 0 0 30.00 15.42 15.50

2558.11 262 116.79 1.09 80.00 1958.7 2064.5 1852.9 3292.8 2410.0 104.98 10.09 341 2566.06 0.00 0.00 4.73 0.000 0.000 0.118 1957.25 2061.69 1852.81 3292.00 3952.56 0 0 0 30.00 30.00 15.55

2657.94 1030 116.79 1.09 0.00 1958.3 2063.8 1852.9 3292.1 3951.4 94.63 10.48 361 2665.55 0.00 0.00 4.49 0.000 0.000 0.053 1957.88 2064.00 1851.75 3311.94 2379.69 0 0 0 30.00 30.00 15.61

2843.99 518 116.79 1.09 -80.00 1956.7 2064.2 1849.2 3312.0 2380.0 75.91 10.05 380 2855.28 0.00 0.00 4.98 0.000 0.000 0.088 1958.06 2066.25 1849.88 3334.88 691.88 0 0 0 30.00 30.00 14.12

2977.99 1031 116.79 1.09 0.00 1957.3 2065.1 1849.5 3333.2 692.0 62.45 9.94 407 2986.99 0.00 0.16 4.99 0.000 0.245 0.065 1955.78 2063.81 1847.75 3289.75 2410.31 0 0 0 30.00 15.60 15.67

3169.99 262 116.79 1.09 80.00 1956.2 2065.1 1847.3 3288.8 2410.2 43.11 10.04 427 3177.68 0.00 0.00 4.68 0.000 0.000 0.118 1956.31 2063.88 1848.75 3288.88 3951.38 0 0 0 30.00 30.00 15.69

3265.50 1030 116.79 1.09 0.00 1956.2 2065.1 1847.2 3289.2 3951.5 33.62 9.88 446 3273.29 0.00 0.00 4.45 0.000 0.000 0.053 1955.44 2065.00 1845.88 3309.50 2381.19 0 0 0 30.00 30.00 15.71

3450.63 518 116.79 1.09 -80.00 1955.8 2065.9 1845.6 3309.4 2379.8 15.29 9.95 465 3462.12 0.00 0.00 4.95 0.000 0.000 0.088 1956.78 2066.62 1846.94 3330.69 691.00 0 0 0 30.00 30.00 15.74

3580.93 1031 116.79 1.09 0.00 1956.0 2066.3 1845.8 3330.5 690.9 2.26 10.13 491 3585.99 0.00 0.00 2.56 0.000 0.000 0.054 1958.50 2069.56 1847.44 3332.06 1588.25 0 0 0 30.00 30.00 15.74

3586 end climb: SURFACE_DEPTH_REACHED

state 3586 begin surface coast

3591 end surface coast: CONTROL_FINISHED_OK

state 3591 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	37	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	1.6019238	SEABIRD_C_G	-9.9463768
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	5.5911202	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	101019,025606,7436.369,-14547.521,92,1.4,92,17.8	TGT_LATLONG	7300.000,-14820.200
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.90	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-80.6	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	101019,030225,7436.355,-14547.477,4,1.1,7,17.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.233	MHEAD_RNG_PITCHd_Wd	218.0,196680,-19.9,-10.000,-23.25
TGT_NAME	a	D_GRID	180

FINISH	1.2,1.025963	_24V_AH	14.13,35.473
SM_CCo	3884.71,4.55,0.694,0,526.3,567.8,484.8,471.88	_10V_AH	15.00,0.000
SM_GC	2.40,0.00,7.96,2.58,0.000,0.058,0.074,519.4,585.5,453.3,459.3,2510.5,0,0,0,30.00,15.88,15.89	FG_AHR_24Vo	5.697
SUPER	59,71,254,1,0,0	FG_AHR_10Vo	1.619
IRIDIUM_FIX	7435.81,-14544.92,101019,011359	MEM	1155972,33,23232,48
TCM_TEMP	8.43	DATA_FILE_SIZE	12904,493
XPDR_PINGS	320	CAP_FILE_SIZE	195885,0
SC_FREEKB	3863968	SDSIZE	3918848,3899872
PM_FREEKB_00	60892064	SDFILEDIR	279,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0
HUMID	51.96	CURRENT	0.219, 60.8,1
TEMP	-0.22	GPS	101019,044242,7436.618,-14546.236,49,1.1,52,17.8
INTERNAL_PRESSURE	8.38254

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	599	2788	23609.02	nil	0	0	0.00
Pitch_motor	21	451	136.98	nil	0	0	0.00
Roll_motor	113	153	247.55	nil	0	0	0.00
Iridium	270	192	736.32	nil	0	0	0.00
Transponder_ping	80	420	474.77	nil	0	0	0.00
GPS	16	15	3.68	nil	0	0	0.00
Core	2254	11	399.13	SciCon	3601	6	334.68
LPSleep	4031	2	169.34	PMAR	3600	128	6946.99
Compass	814	5	61.10	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
12.12	2	-116.79	-1.09	0.00	521.8	582.4	461.2	455.9	2469.3	0.00	0.00	0	35.04	20.84	0.00	0.00	0.006	0.000	0.000	868.72	950.75	786.69	456.12	2470.06	0	0	0	14.19	30.00	30.00
35.31	519	-116.79	-1.09	-80.00	868.9	950.2	787.5	456.3	2475.0	3.45	-10.10	2	149.61	90.74	10.72	4.91	0.005	0.451	0.085	2927.00	3112.31	2741.69	2623.12	791.06	0	0	0	14.19	15.56	15.67
371.55	1028	-116.79	-1.09	0.00	2930.3	3110.3	2750.4	2623.2	790.1	36.72	-9.91	63	380.40	0.00	0.00	4.96	0.000	0.000	0.067	2929.22	3108.69	2749.75	2603.12	2509.38	0	0	0	30.00	30.00	15.79
563.20	260	-116.79	-1.09	80.00	2929.1	3107.8	2750.4	2601.7	2509.9	55.49	-9.74	83	570.99	0.00	0.00	4.31	0.000	0.000	0.113	2929.31	3108.50	2750.12	2582.19	3952.19	0	0	0	30.00	30.00	15.79
792.90	1028	-116.79	-1.09	0.00	2927.3	3103.2	2751.5	2583.5	3952.8	78.52	-9.97	129	800.43	0.00	0.00	4.14	0.000	0.000	0.054	2928.00	3104.88	2751.12	2598.81	2477.19	0	0	0	30.00	30.00	15.82
978.98	260	-116.79	-1.09	80.00	2927.3	3103.6	2751.0	2597.3	2467.4	97.07	-10.17	148	986.65	0.00	0.00	4.46	0.000	0.000	0.112	2927.88	3103.75	2752.00	2578.38	3951.19	0	0	0	30.00	30.00	15.79
1008.52	1028	-116.79	-1.09	0.00	2926.4	3102.1	2750.6	2579.2	3951.1	100.10	-9.91	154	1016.07	0.00	0.00	4.14	0.000	0.000	0.051	2928.59	3104.75	2752.44	2586.25	2475.06	0	0	0	30.00	30.00	15.83
1194.52	260	-116.79	-1.09	80.00	2926.0	3101.4	2750.6	2586.7	2466.8	118.58	-10.41	173	1202.26	0.00	0.00	4.46	0.000	0.000	0.111	2927.22	3102.56	2751.88	2565.81	3953.25	0	0	0	30.00	30.00	15.82
1204.12	1029	-116.79	-1.09	0.00	2925.9	3101.4	2750.4	2568.4	3953.9	119.59	-10.21	175	1211.91	0.00	0.09	4.12	0.000	0.310	0.050	2927.16	3102.31	2752.00	2605.75	2468.50	0	0	0	30.00	15.73	15.83
1390.20	0	-116.79	-1.09	0.00	2926.0	3101.2	2750.8	2604.4	2462.9	138.53	-10.35	194	1393.07	0.00	0.00	0.00	0.000	0.000	0.000	2927.81	3103.44	2752.19	2602.19	2464.38	0	0	0	30.00	30.00	30.00
1570.14	516	-116.79	-1.09	-80.00	2925.8	3101.1	2750.5	2604.4	2462.8	156.49	-10.19	212	1578.01	0.00	0.00	4.88	0.000	0.000	0.084	2926.12	3101.50	2750.75	2626.00	791.19	0	0	0	30.00	30.00	15.84
1579.88	1028	-116.79	-1.09	0.00	2925.8	3101.0	2750.5	2626.3	791.2	157.58	-10.32	214	1588.57	0.00	0.00	4.91	0.000	0.000	0.062	2924.38	3098.88	2749.88	2604.75	2510.56	0	0	0	30.00	30.00	15.83
1771.59	516	-116.79	-1.09	-80.00	2925.8	3101.4	2750.1	2604.0	2509.9	176.74	-9.99	234	1783.06	0.00	0.00	5.03	0.000	0.000	0.083	2927.81	3103.75	2751.88	2614.94	791.25	0	0	0	30.00	30.00	15.85
1785.52	1028	-116.79	-1.09	0.00	2925.2	3099.9	2750.5	2613.9	791.6	178.25	-10.13	237	1794.15	0.00	0.00	4.92	0.000	0.000	0.061	2925.06	3099.75	2750.38	2592.88	2510.62	0	0	0	30.00	30.00	15.84
1807	end dive: TARGET_DEPTH_EXCEEDED
state	1807	begin apogee
1808.27	3	0.00	-0.19	0.00	2925.5	3101.4	2749.6	2593.6	2370.4	180.36	-10.31	240	1913.67	100.90	1.06	0.13	1.641	0.250	0.154	2450.19	2580.12	2320.25	2891.19	2416.69	0	0	0	12.65	15.76	15.28
1915	end apogee: CONTROL_FINISHED_OK
state	1915	begin climb
1915.48	263	116.79	1.09	80.00	2446.9	2577.0	2316.8	2892.7	2417.2	170.46	0.00	250	2024.52	97.31	1.31	4.89	1.596	0.148	0.121	1971.62	2071.75	1871.50	3301.62	3949.50	0	0	0	12.40	15.32	15.01
2086.41	1030	116.79	1.09	0.00	1965.6	2063.7	1867.4	3301.8	3949.4	152.60	9.90	283	2094.16	0.00	0.00	4.59	0.000	0.000	0.055	1965.62	2063.44	1867.81	3322.31	2379.50	0	0	0	30.00	30.00	15.26
2272.33	518	116.79	1.09	-80.00	1961.7	2064.2	1859.2	3321.1	2375.5	134.01	10.13	302	2283.84	0.00	0.00	5.06	0.000	0.000	0.087	1963.28	2065.81	1860.75	3341.12	692.12	0	0	0	30.00	30.00	14.07
2366.47	1031	116.79	1.09	0.00	1960.9	2063.6	1858.1	3342.4	692.1	124.37	9.87	321	2375.32	0.00	0.19	5.03	0.000	0.253	0.064	1960.69	2064.06	1857.31	3292.25	2409.50	0	0	0	30.00	15.42	15.50
2558.11	262	116.79	1.09	80.00	1958.7	2064.5	1852.9	3292.8	2410.0	104.98	10.09	341	2566.06	0.00	0.00	4.73	0.000	0.000	0.118	1957.25	2061.69	1852.81	3292.00	3952.56	0	0	0	30.00	30.00	15.55
2657.94	1030	116.79	1.09	0.00	1958.3	2063.8	1852.9	3292.1	3951.4	94.63	10.48	361	2665.55	0.00	0.00	4.49	0.000	0.000	0.053	1957.88	2064.00	1851.75	3311.94	2379.69	0	0	0	30.00	30.00	15.61
2843.99	518	116.79	1.09	-80.00	1956.7	2064.2	1849.2	3312.0	2380.0	75.91	10.05	380	2855.28	0.00	0.00	4.98	0.000	0.000	0.088	1958.06	2066.25	1849.88	3334.88	691.88	0	0	0	30.00	30.00	14.12
2977.99	1031	116.79	1.09	0.00	1957.3	2065.1	1849.5	3333.2	692.0	62.45	9.94	407	2986.99	0.00	0.16	4.99	0.000	0.245	0.065	1955.78	2063.81	1847.75	3289.75	2410.31	0	0	0	30.00	15.60	15.67
3169.99	262	116.79	1.09	80.00	1956.2	2065.1	1847.3	3288.8	2410.2	43.11	10.04	427	3177.68	0.00	0.00	4.68	0.000	0.000	0.118	1956.31	2063.88	1848.75	3288.88	3951.38	0	0	0	30.00	30.00	15.69
3265.50	1030	116.79	1.09	0.00	1956.2	2065.1	1847.2	3289.2	3951.5	33.62	9.88	446	3273.29	0.00	0.00	4.45	0.000	0.000	0.053	1955.44	2065.00	1845.88	3309.50	2381.19	0	0	0	30.00	30.00	15.71
3450.63	518	116.79	1.09	-80.00	1955.8	2065.9	1845.6	3309.4	2379.8	15.29	9.95	465	3462.12	0.00	0.00	4.95	0.000	0.000	0.088	1956.78	2066.62	1846.94	3330.69	691.00	0	0	0	30.00	30.00	15.74
3580.93	1031	116.79	1.09	0.00	1956.0	2066.3	1845.8	3330.5	690.9	2.26	10.13	491	3585.99	0.00	0.00	2.56	0.000	0.000	0.054	1958.50	2069.56	1847.44	3332.06	1588.25	0	0	0	30.00	30.00	15.74
3586	end climb: SURFACE_DEPTH_REACHED
state	3586	begin surface coast
3591	end surface coast: CONTROL_FINISHED_OK
state	3591	begin surface