Glider dive log

AMOS Oct19 * SG231 * Dive index * Mission links * Dive 38 * 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 38 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 1.6192365 SEABIRD_C_G -9.9463768

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 5.7014575 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 1.6192365 PITCH_CNV 0.0031300001 SEABIRD_T_I 2.1747219e-05

ALTIM_PULSE 3 FG_AHR_24V 5.7014575 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 38 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 101019,044242,7436.618,-14546.236,49,1.1,52,17.8 TGT_LATLONG 7300.000,-14820.200

_CALLS 2 TGT_RADIUS 2000.000

_SM_DEPTHo 2.06 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -81.0 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 101019,044854,7436.604,-14546.195,4,1.2,5,17.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.233 MHEAD_RNG_PITCHd_Wd 220.6,197390,-19.9,-10.000,-23.25

TGT_NAME a D_GRID 180

Post-dive calculations and measurements:

FINISH -0.0,1.025943 _24V_AH 14.14,35.847

SM_CCo 3928.97,4.49,0.683,0,526.0,573.9,478.1,471.95 _10V_AH 15.00,0.000

SM_GC 1.59,0.00,7.97,0.25,0.000,0.060,0.087,520.0,594.1,445.9,448.6,2511.8,0,0,0,30.00,15.88,15.90 FG_AHR_24Vo 5.807

SUPER 59,71,254,1,0,0 FG_AHR_10Vo 1.636

IRIDIUM_FIX 7437.52,-14540.35,101019,044432 MEM 1156060,30,23204,48

TCM_TEMP 8.39 DATA_FILE_SIZE 12921,477

XPDR_PINGS 189 CAP_FILE_SIZE 187100,0

SC_FREEKB 3863520 SDSIZE 3918848,3899616

PM_FREEKB_00 60866368 SDFILEDIR 286,1

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

HUMID 51.90 CURRENT 0.206, 72.6,1

TEMP -0.20 GPS 101019,063239,7436.736,-14544.233,59,1.2,59,17.8

INTERNAL_PRESSURE 8.38885

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 598 2790 23622.83 nil 0 0 0.00

Pitch_motor 21 447 135.11 nil 0 0 0.00

Roll_motor 103 165 241.14 nil 0 0 0.00

Iridium 214 171 520.79 nil 0 0 0.00

Transponder_ping 47 420 280.61 nil 0 0 0.00

GPS 14 15 3.23 nil 0 0 0.00

Core 2167 11 383.66 SciCon 3640 6 338.30

LPSleep 4315 2 181.24 PMAR 3646 128 7033.68

Compass 799 5 59.99 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 0.00 520.1 576.6 463.6 455.9 2471.9 0.00 0.00 0 34.91 20.70 0.00 0.00 0.006 0.000 0.000 858.00 944.12 771.88 456.12 2468.06 0 0 0 14.35 30.00 30.00

35.18 263 -116.79 -1.09 80.00 858.8 940.3 777.2 455.9 2463.1 3.17 -10.00 2 149.44 91.40 10.56 4.43 0.005 0.447 0.109 2927.22 3113.81 2740.62 2581.25 3952.31 0 0 0 14.22 15.63 15.70

371.38 1028 -116.79 -1.09 0.00 2930.8 3113.1 2748.6 2581.8 3952.6 37.05 -9.80 61 379.01 0.00 0.00 4.16 0.000 0.000 0.055 2933.16 3115.50 2750.81 2600.88 2477.50 0 0 0 30.00 30.00 15.83

557.50 516 -116.79 -1.09 -80.00 2930.3 3111.3 2749.4 2600.1 2468.9 54.98 -9.91 80 568.96 0.00 0.00 4.89 0.000 0.000 0.085 2930.31 3111.38 2749.25 2617.81 792.31 0 0 0 30.00 30.00 15.84

571.44 1028 -116.79 -1.09 0.00 2928.9 3109.4 2748.4 2617.7 792.2 56.47 -9.84 83 580.25 0.00 0.00 4.93 0.000 0.000 0.064 2928.72 3108.44 2749.00 2595.75 2509.31 0 0 0 30.00 30.00 15.84

763.23 516 -116.79 -1.09 -80.00 2928.9 3108.9 2749.0 2596.8 2509.5 75.52 -10.38 103 774.52 0.00 0.00 5.03 0.000 0.000 0.083 2928.78 3107.56 2750.00 2608.62 792.44 0 0 0 30.00 30.00 15.84

777.17 1028 -116.79 -1.09 0.00 2927.8 3107.6 2748.1 2609.9 792.9 76.95 -10.41 106 785.03 0.00 0.00 4.93 0.000 0.000 0.064 2929.88 3110.06 2749.69 2587.75 2509.06 0 0 0 30.00 30.00 15.84

963.18 260 -116.79 -1.09 80.00 2927.9 3107.2 2748.6 2588.3 2509.5 95.46 -10.08 125 970.85 0.00 0.00 4.31 0.000 0.000 0.114 2926.88 3104.50 2749.25 2569.56 3952.44 0 0 0 30.00 30.00 15.83

972.72 1029 -116.79 -1.09 0.00 2927.8 3106.7 2749.0 2569.8 3952.0 96.51 -9.91 127 980.33 0.00 0.10 4.12 0.000 0.308 0.050 2929.53 3107.69 2751.38 2601.25 2470.94 0 0 0 30.00 15.74 15.85

1158.70 260 -116.79 -1.09 80.00 2927.7 3105.9 2749.5 2601.1 2462.2 114.97 -10.18 146 1166.44 0.00 0.00 4.47 0.000 0.000 0.114 2928.66 3106.56 2750.75 2582.94 3952.94 0 0 0 30.00 30.00 15.80

1388.43 1028 -116.79 -1.09 0.00 2926.5 3103.9 2749.1 2582.6 3952.4 138.31 -10.12 192 1396.01 0.00 0.00 4.14 0.000 0.000 0.053 2925.41 3102.62 2748.19 2593.94 2477.38 0 0 0 30.00 30.00 15.85

1574.48 260 -116.79 -1.09 80.00 2926.9 3104.2 2749.7 2594.1 2468.5 156.67 -9.83 211 1582.15 0.00 0.00 4.47 0.000 0.000 0.114 2927.75 3105.25 2750.25 2575.25 3954.06 0 0 0 30.00 30.00 15.84

1590.41 1028 -116.79 -1.09 0.00 2927.2 3104.2 2750.2 2574.8 3956.1 158.28 -10.08 214 1597.68 0.00 0.00 4.14 0.000 0.000 0.051 2925.88 3102.88 2748.88 2582.19 2476.25 0 0 0 30.00 30.00 15.85

1775.03 0 -116.79 -1.09 0.00 2926.5 3103.1 2750.0 2580.9 2466.9 176.85 -9.84 233 1777.90 0.00 0.00 0.00 0.000 0.000 0.000 2927.81 3104.38 2751.25 2578.62 2468.00 0 0 0 30.00 30.00 30.00

1815 end dive: TARGET_DEPTH_EXCEEDED

state 1815 begin apogee

1816.24 3 0.00 -0.19 0.00 2926.8 3102.4 2751.1 2582.1 2375.1 180.74 -9.61 237 1922.29 101.76 1.10 0.12 1.653 0.256 0.165 2448.28 2581.12 2315.44 2894.00 2415.88 0 0 0 12.58 15.77 15.30

1924 end apogee: CONTROL_FINISHED_OK

state 1924 begin climb

1924.06 3 116.79 1.09 0.00 2446.8 2578.8 2314.9 2892.6 2415.9 171.17 0.00 247 2025.20 97.52 1.30 0.00 1.612 0.149 0.000 1970.81 2071.62 1870.00 3301.81 2415.31 0 0 0 12.39 15.34 30.00

2199.89 518 116.79 1.09 -80.00 1962.8 2072.1 1853.4 3301.3 2416.2 142.86 10.14 277 2211.41 0.00 0.00 5.28 0.000 0.000 0.096 1963.94 2072.81 1855.06 3322.56 693.31 0 0 0 30.00 30.00 15.38

2259.86 1030 116.79 1.09 0.00 1962.0 2071.0 1853.0 3324.6 693.2 136.74 10.33 289 2271.22 0.00 0.00 5.08 0.000 0.000 0.068 1963.19 2071.94 1854.44 3321.50 2409.38 0 0 0 30.00 30.00 15.43

2449.71 262 116.79 1.09 80.00 1960.6 2071.9 1849.3 3323.8 2410.2 117.89 9.88 309 2457.63 0.00 0.00 4.76 0.000 0.000 0.120 1959.34 2069.69 1849.00 3322.75 3949.56 0 0 0 30.00 30.00 15.52

2529.50 1030 116.79 1.09 0.00 1959.4 2070.6 1848.2 3322.5 3952.2 109.83 10.12 325 2537.11 0.00 0.00 4.51 0.000 0.000 0.055 1959.34 2070.56 1848.12 3342.81 2379.88 0 0 0 30.00 30.00 15.56

2715.62 519 116.79 1.09 -80.00 1958.3 2070.9 1845.8 3343.9 2376.6 91.65 9.71 344 2727.10 0.00 0.19 4.97 0.000 0.255 0.084 1959.34 2072.38 1846.31 3310.62 690.88 0 0 0 30.00 15.55 15.61

2845.65 1030 116.79 1.09 0.00 1958.3 2070.6 1846.0 3311.4 690.7 78.60 9.99 370 2856.91 0.00 0.00 4.99 0.000 0.000 0.063 1958.88 2072.50 1845.25 3310.50 2411.25 0 0 0 30.00 30.00 15.65

3035.61 262 116.79 1.09 80.00 1956.7 2070.4 1843.0 3310.6 2411.9 59.47 10.31 390 3043.36 0.00 0.00 4.66 0.000 0.000 0.113 1956.22 2070.88 1841.56 3310.38 3952.62 0 0 0 30.00 30.00 15.68

3161.58 1030 116.79 1.09 0.00 1956.9 2070.6 1843.2 3311.0 3951.1 47.11 9.67 415 3168.99 0.00 0.00 4.47 0.000 0.000 0.053 1956.09 2068.75 1843.44 3329.88 2378.69 0 0 0 30.00 30.00 14.29

3346.21 519 116.79 1.09 -80.00 1956.7 2071.4 1842.0 3330.8 2378.2 28.69 9.89 434 3357.75 0.00 0.14 4.95 0.000 0.246 0.085 1956.91 2071.69 1842.12 3311.06 690.44 0 0 0 30.00 15.66 15.72

3476.41 1030 116.79 1.09 0.00 1956.3 2071.1 1841.5 3310.8 690.7 15.68 10.01 460 3487.73 0.00 0.00 4.96 0.000 0.000 0.064 1957.69 2072.56 1842.81 3309.81 2411.81 0 0 0 30.00 30.00 15.76

3617 end climb: SURFACE_DEPTH_REACHED

state 3617 begin surface coast

3636 end surface coast: CONTROL_FINISHED_OK

state 3637 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	38	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	1.6192365	SEABIRD_C_G	-9.9463768
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	5.7014575	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	101019,044242,7436.618,-14546.236,49,1.1,52,17.8	TGT_LATLONG	7300.000,-14820.200
_CALLS	2	TGT_RADIUS	2000.000
_SM_DEPTHo	2.06	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-81.0	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	101019,044854,7436.604,-14546.195,4,1.2,5,17.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.233	MHEAD_RNG_PITCHd_Wd	220.6,197390,-19.9,-10.000,-23.25
TGT_NAME	a	D_GRID	180

FINISH	-0.0,1.025943	_24V_AH	14.14,35.847
SM_CCo	3928.97,4.49,0.683,0,526.0,573.9,478.1,471.95	_10V_AH	15.00,0.000
SM_GC	1.59,0.00,7.97,0.25,0.000,0.060,0.087,520.0,594.1,445.9,448.6,2511.8,0,0,0,30.00,15.88,15.90	FG_AHR_24Vo	5.807
SUPER	59,71,254,1,0,0	FG_AHR_10Vo	1.636
IRIDIUM_FIX	7437.52,-14540.35,101019,044432	MEM	1156060,30,23204,48
TCM_TEMP	8.39	DATA_FILE_SIZE	12921,477
XPDR_PINGS	189	CAP_FILE_SIZE	187100,0
SC_FREEKB	3863520	SDSIZE	3918848,3899616
PM_FREEKB_00	60866368	SDFILEDIR	286,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	51.90	CURRENT	0.206, 72.6,1
TEMP	-0.20	GPS	101019,063239,7436.736,-14544.233,59,1.2,59,17.8
INTERNAL_PRESSURE	8.38885

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	598	2790	23622.83	nil	0	0	0.00
Pitch_motor	21	447	135.11	nil	0	0	0.00
Roll_motor	103	165	241.14	nil	0	0	0.00
Iridium	214	171	520.79	nil	0	0	0.00
Transponder_ping	47	420	280.61	nil	0	0	0.00
GPS	14	15	3.23	nil	0	0	0.00
Core	2167	11	383.66	SciCon	3640	6	338.30
LPSleep	4315	2	181.24	PMAR	3646	128	7033.68
Compass	799	5	59.99	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	520.1	576.6	463.6	455.9	2471.9	0.00	0.00	0	34.91	20.70	0.00	0.00	0.006	0.000	0.000	858.00	944.12	771.88	456.12	2468.06	0	0	0	14.35	30.00	30.00
35.18	263	-116.79	-1.09	80.00	858.8	940.3	777.2	455.9	2463.1	3.17	-10.00	2	149.44	91.40	10.56	4.43	0.005	0.447	0.109	2927.22	3113.81	2740.62	2581.25	3952.31	0	0	0	14.22	15.63	15.70
371.38	1028	-116.79	-1.09	0.00	2930.8	3113.1	2748.6	2581.8	3952.6	37.05	-9.80	61	379.01	0.00	0.00	4.16	0.000	0.000	0.055	2933.16	3115.50	2750.81	2600.88	2477.50	0	0	0	30.00	30.00	15.83
557.50	516	-116.79	-1.09	-80.00	2930.3	3111.3	2749.4	2600.1	2468.9	54.98	-9.91	80	568.96	0.00	0.00	4.89	0.000	0.000	0.085	2930.31	3111.38	2749.25	2617.81	792.31	0	0	0	30.00	30.00	15.84
571.44	1028	-116.79	-1.09	0.00	2928.9	3109.4	2748.4	2617.7	792.2	56.47	-9.84	83	580.25	0.00	0.00	4.93	0.000	0.000	0.064	2928.72	3108.44	2749.00	2595.75	2509.31	0	0	0	30.00	30.00	15.84
763.23	516	-116.79	-1.09	-80.00	2928.9	3108.9	2749.0	2596.8	2509.5	75.52	-10.38	103	774.52	0.00	0.00	5.03	0.000	0.000	0.083	2928.78	3107.56	2750.00	2608.62	792.44	0	0	0	30.00	30.00	15.84
777.17	1028	-116.79	-1.09	0.00	2927.8	3107.6	2748.1	2609.9	792.9	76.95	-10.41	106	785.03	0.00	0.00	4.93	0.000	0.000	0.064	2929.88	3110.06	2749.69	2587.75	2509.06	0	0	0	30.00	30.00	15.84
963.18	260	-116.79	-1.09	80.00	2927.9	3107.2	2748.6	2588.3	2509.5	95.46	-10.08	125	970.85	0.00	0.00	4.31	0.000	0.000	0.114	2926.88	3104.50	2749.25	2569.56	3952.44	0	0	0	30.00	30.00	15.83
972.72	1029	-116.79	-1.09	0.00	2927.8	3106.7	2749.0	2569.8	3952.0	96.51	-9.91	127	980.33	0.00	0.10	4.12	0.000	0.308	0.050	2929.53	3107.69	2751.38	2601.25	2470.94	0	0	0	30.00	15.74	15.85
1158.70	260	-116.79	-1.09	80.00	2927.7	3105.9	2749.5	2601.1	2462.2	114.97	-10.18	146	1166.44	0.00	0.00	4.47	0.000	0.000	0.114	2928.66	3106.56	2750.75	2582.94	3952.94	0	0	0	30.00	30.00	15.80
1388.43	1028	-116.79	-1.09	0.00	2926.5	3103.9	2749.1	2582.6	3952.4	138.31	-10.12	192	1396.01	0.00	0.00	4.14	0.000	0.000	0.053	2925.41	3102.62	2748.19	2593.94	2477.38	0	0	0	30.00	30.00	15.85
1574.48	260	-116.79	-1.09	80.00	2926.9	3104.2	2749.7	2594.1	2468.5	156.67	-9.83	211	1582.15	0.00	0.00	4.47	0.000	0.000	0.114	2927.75	3105.25	2750.25	2575.25	3954.06	0	0	0	30.00	30.00	15.84
1590.41	1028	-116.79	-1.09	0.00	2927.2	3104.2	2750.2	2574.8	3956.1	158.28	-10.08	214	1597.68	0.00	0.00	4.14	0.000	0.000	0.051	2925.88	3102.88	2748.88	2582.19	2476.25	0	0	0	30.00	30.00	15.85
1775.03	0	-116.79	-1.09	0.00	2926.5	3103.1	2750.0	2580.9	2466.9	176.85	-9.84	233	1777.90	0.00	0.00	0.00	0.000	0.000	0.000	2927.81	3104.38	2751.25	2578.62	2468.00	0	0	0	30.00	30.00	30.00
1815	end dive: TARGET_DEPTH_EXCEEDED
state	1815	begin apogee
1816.24	3	0.00	-0.19	0.00	2926.8	3102.4	2751.1	2582.1	2375.1	180.74	-9.61	237	1922.29	101.76	1.10	0.12	1.653	0.256	0.165	2448.28	2581.12	2315.44	2894.00	2415.88	0	0	0	12.58	15.77	15.30
1924	end apogee: CONTROL_FINISHED_OK
state	1924	begin climb
1924.06	3	116.79	1.09	0.00	2446.8	2578.8	2314.9	2892.6	2415.9	171.17	0.00	247	2025.20	97.52	1.30	0.00	1.612	0.149	0.000	1970.81	2071.62	1870.00	3301.81	2415.31	0	0	0	12.39	15.34	30.00
2199.89	518	116.79	1.09	-80.00	1962.8	2072.1	1853.4	3301.3	2416.2	142.86	10.14	277	2211.41	0.00	0.00	5.28	0.000	0.000	0.096	1963.94	2072.81	1855.06	3322.56	693.31	0	0	0	30.00	30.00	15.38
2259.86	1030	116.79	1.09	0.00	1962.0	2071.0	1853.0	3324.6	693.2	136.74	10.33	289	2271.22	0.00	0.00	5.08	0.000	0.000	0.068	1963.19	2071.94	1854.44	3321.50	2409.38	0	0	0	30.00	30.00	15.43
2449.71	262	116.79	1.09	80.00	1960.6	2071.9	1849.3	3323.8	2410.2	117.89	9.88	309	2457.63	0.00	0.00	4.76	0.000	0.000	0.120	1959.34	2069.69	1849.00	3322.75	3949.56	0	0	0	30.00	30.00	15.52
2529.50	1030	116.79	1.09	0.00	1959.4	2070.6	1848.2	3322.5	3952.2	109.83	10.12	325	2537.11	0.00	0.00	4.51	0.000	0.000	0.055	1959.34	2070.56	1848.12	3342.81	2379.88	0	0	0	30.00	30.00	15.56
2715.62	519	116.79	1.09	-80.00	1958.3	2070.9	1845.8	3343.9	2376.6	91.65	9.71	344	2727.10	0.00	0.19	4.97	0.000	0.255	0.084	1959.34	2072.38	1846.31	3310.62	690.88	0	0	0	30.00	15.55	15.61
2845.65	1030	116.79	1.09	0.00	1958.3	2070.6	1846.0	3311.4	690.7	78.60	9.99	370	2856.91	0.00	0.00	4.99	0.000	0.000	0.063	1958.88	2072.50	1845.25	3310.50	2411.25	0	0	0	30.00	30.00	15.65
3035.61	262	116.79	1.09	80.00	1956.7	2070.4	1843.0	3310.6	2411.9	59.47	10.31	390	3043.36	0.00	0.00	4.66	0.000	0.000	0.113	1956.22	2070.88	1841.56	3310.38	3952.62	0	0	0	30.00	30.00	15.68
3161.58	1030	116.79	1.09	0.00	1956.9	2070.6	1843.2	3311.0	3951.1	47.11	9.67	415	3168.99	0.00	0.00	4.47	0.000	0.000	0.053	1956.09	2068.75	1843.44	3329.88	2378.69	0	0	0	30.00	30.00	14.29
3346.21	519	116.79	1.09	-80.00	1956.7	2071.4	1842.0	3330.8	2378.2	28.69	9.89	434	3357.75	0.00	0.14	4.95	0.000	0.246	0.085	1956.91	2071.69	1842.12	3311.06	690.44	0	0	0	30.00	15.66	15.72
3476.41	1030	116.79	1.09	0.00	1956.3	2071.1	1841.5	3310.8	690.7	15.68	10.01	460	3487.73	0.00	0.00	4.96	0.000	0.000	0.064	1957.69	2072.56	1842.81	3309.81	2411.81	0	0	0	30.00	30.00	15.76
3617	end climb: SURFACE_DEPTH_REACHED
state	3617	begin surface coast
3636	end surface coast: CONTROL_FINISHED_OK
state	3637	begin surface