Glider dive log

Guam Oct19 * SG179 * Dive index * Mission links * Dive 432 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 179 FIX_MISSING_TIMEOUT 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

MISSION 2 TGT_DEFAULT_LAT 4736 ROLL_ADJ_DBAND 0 MOTHERBOARD 6

DIVE 432 TGT_DEFAULT_LON -12218 VBD_MIN 450 DEVICE1 -1

N_DIVES 0 TGT_AUTO_DEFAULT 0 VBD_MAX 3960 DEVICE2 -1

STOP_T 0 SM_CC 588.71997 C_VBD 2850 DEVICE3 -1

D_SURF 2 N_FILEKB 8 VBD_DBAND 2 DEVICE4 -1

D_FLARE 3 FILEMGR 0 VBD_CNV -0.24529999 DEVICE5 -1

D_TGT 360 CALL_NDIVES 1 VBD_LP_IGNORE 0 DEVICE6 -1

D_ABORT 1020 COMM_SEQ 0 VBD_TIMEOUT 720 LOGGERS 1

D_NO_BLEED 200 PROTOCOL 9 PITCH_VBD_SHIFT 0.001 LOGGERDEVICE1 7

D_BOOST 2 N_NOCOMM 2 UNCOM_BLEED 20 LOGGERDEVICE2 22

T_BOOST 0 NOCOMM_ACTION 163 VBD_MAXERRORS 1 LOGGERDEVICE3 40

D_FINISH 0 N_NOSURFACE 0 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 DBDW 0 COMPASS_DEVICE 66

D_SAFE 0 CALL_TRIES 5 LOITER_W_DBAND 0 COMPASS2_DEVICE 55

D_CALL 0 CALL_WAIT 60 LOITER_DBDW 0 PHONE_DEVICE 33

SURFACE_URGENCY 0 CAPUPLOAD 0 LOITER_D_TOP 0 GPS_DEVICE 48

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 LOITER_D_BOTTOM 0 RAFOS_DEVICE -1

SURFACE_URGENCY_FORCE 0 T_GPS 5 LOITER_N_DIVE 0 XPDR_DEVICE 0

T_DIVE 120 N_GPS 80740 CF8_MAXERRORS 20 SIM_W 0

T_MISSION 150 T_RSLEEP 3 AH0_24V 310 SEABIRD_T_G 0.004412075

T_ABORT 1440 STROBE 0 AH0_10V 0 SEABIRD_T_H 0.00063827372

T_TURN 225 RAFOS_PEAK_OFFSET 0 MINV_24V 11 SEABIRD_T_I 2.6317541e-05

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 MINV_10V 11 SEABIRD_T_J 3.254017e-06

T_NO_W 120 RAFOS_HIT_WINDOW 3600 MAXI_24V 5 SEABIRD_C_G -9.9840622

T_LOITER 0 RAFOS_MMODEM 0 MAXI_10V 1.4 SEABIRD_C_H 1.1688964

T_EPIRB 0 PITCH_MIN 450 FG_AHR_10V 46.512913 SEABIRD_C_I -0.0016958674

USE_BATHY -2 PITCH_MAX 3960 FG_AHR_24V 112.99139 SEABIRD_C_J 0.00021397677

USE_ICE 0 C_PITCH 2850 PHONE_SUPPLY 2 SC_RECORDABOVE 2000.0

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 PRESSURE_YINT -166.32359 SC_PROFILE 3.0

D_OFFGRID 1020 PITCH_CNV 0.0031300001 PRESSURE_SLOPE 0.00010612313 SC_XMITPROFILE 3.0

RELAUNCH 1 PITCH_GAIN 25 COMPASS_USE 4 SC_NDIVE 1.0

APOGEE_PITCH -5 PITCH_TIMEOUT 25 ALTIM_PING_FIT 0 TM_RECORDABOVE 200.0

MAX_BUOY 120 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 TM_PROFILE 3.0

GLIDE_SLOPE 45 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 TM_XMITPROFILE 3.0

SPEED_FACTOR 1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 TM_NDIVE 1.0

RHO 1.0275 PITCH_W_GAIN 3 ALTIM_TOP_MIN_OBSTACLE 0 TM_XMITRAW 0.0

MASS 53962 PITCH_W_DBAND 0.5 ALTIM_PING_DEPTH 0 TM_LOGSAMPLE 0.0

NAV_MODE 2 ROLL_MIN 450 ALTIM_PING_DELTA 0 PM_RECORDABOVE 2000.0

FERRY_MAX 45 ROLL_MAX 3950 ALTIM_FREQUENCY 13 PM_PROFILE 3.0

KALMAN_USE 2 ROLL_DEG 40 ALTIM_PULSE 3 PM_XMITPROFILE 3.0

HD_A 0.0025118899 C_ROLL_DIVE 2300 ALTIM_SENSITIVITY 2 PM_NDIVE 1.0

HD_B 0.0139236 C_ROLL_CLIMB 2100 XPDR_VALID 6 PM_XMITRAW 0.0

HD_C 5.7000002e-06 HEAD_ERRBAND 10 XPDR_INHIBIT 90 PM_MOTORS 1.0

HEADING -1 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 1.9639999e-06 PM_SENDDEPTH 1.0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT -2

ESCAPE_HEADING_DELTA 10 ROLL_MAXERRORS 1 DEEPGLIDER 0

AH0_10V 0 D_TGT 360 PITCH_ADJ_DBAND 0 SEABIRD_T_I 2.6317541e-05

AH0_24V 310 ESCAPE_HEADING 0 PITCH_ADJ_GAIN 0 SEABIRD_T_J 3.254017e-06

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.0031300001 SIM_W 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_DBAND 0.1 SM_CC 588.71997

ALTIM_PING_DELTA 0 FG_AHR_10V 46.512913 PITCH_GAIN 25 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 FG_AHR_24V 112.99139 PITCH_MAX 3960 STOP_T 0

ALTIM_PING_FIT 0 FILEMGR 0 PITCH_MAXERRORS 1 STROBE 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_MIN 450 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 45 PITCH_TIMEOUT 25 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 48 PITCH_VBD_SHIFT 0.001 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0025118899 PITCH_W_DBAND 0.5 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0139236 PITCH_W_GAIN 3 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 HD_C 5.7000002e-06 PM_MOTORS 1.0 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HEADING -1 PM_NDIVE 1.0 TM_LOGSAMPLE 0.0

CALL_TRIES 5 HEAD_ERRBAND 10 PM_PROFILE 3.0 TM_NDIVE 1.0

CALL_WAIT 60 ICE_FREEZE_MARGIN 0.30000001 PM_RECORDABOVE 2000.0 TM_PROFILE 3.0

CAPMAXSIZE 100000 ID 179 PM_SENDDEPTH 1.0 TM_RECORDABOVE 200.0

CAPUPLOAD 0 INT_PRESSURE_SLOPE 1.9639999e-06 PM_XMITPROFILE 3.0 TM_XMITPROFILE 3.0

CF8_MAXERRORS 20 INT_PRESSURE_YINT -2 PM_XMITRAW 0.0 TM_XMITRAW 0.0

COMM_SEQ 0 KALMAN_USE 2 PRESSURE_SLOPE 0.00010612313 T_ABORT 1440

COMPASS2_DEVICE 55 LOGGERDEVICE1 7 PRESSURE_YINT -166.32359 T_BOOST 0

COMPASS_DEVICE 66 LOGGERDEVICE2 22 PROTOCOL 9 T_DIVE 120

COMPASS_USE 4 LOGGERDEVICE3 40 RAFOS_CORR_THRESH 60 T_EPIRB 0

C_PITCH 2850 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_GPS 5

C_ROLL_CLIMB 2100 LOGGERS 1 RAFOS_HIT_WINDOW 3600 T_LOITER 0

C_ROLL_DIVE 2300 LOITER_DBDW 0 RAFOS_MMODEM 0 T_MISSION 150

C_VBD 2850 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 T_NO_W 120

DBDW 0 LOITER_D_TOP 0 RELAUNCH 1 T_RSLEEP 3

DEEPGLIDER 0 LOITER_N_DIVE 0 RHO 1.0275 T_TURN 225

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT -5

DEVICE1 -1 MASS 53962 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

DEVICE2 -1 MAXI_10V 1.4 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEVICE3 -1 MAXI_24V 5 ROLL_DEG 40 USE_BATHY -2

DEVICE4 -1 MAX_BUOY 120 ROLL_MAX 3950 USE_ICE 0

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEVICE6 -1 MINV_24V 11 ROLL_MIN 450 VBD_DBAND 2

DIVE 432 MISSION 2 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

D_ABORT 1020 MOTHERBOARD 6 SC_NDIVE 1.0 VBD_MAX 3960

D_BOOST 2 NAV_MODE 2 SC_PROFILE 3.0 VBD_MAXERRORS 1

D_CALL 0 NOCOMM_ACTION 163 SC_RECORDABOVE 2000.0 VBD_MIN 450

D_FINISH 0 N_DIVES 0 SC_XMITPROFILE 3.0 VBD_TIMEOUT 720

D_FLARE 3 N_FILEKB 8 SEABIRD_C_G -9.9840622 W_ADJ_DBAND 2

D_NO_BLEED 200 N_GPS 80740 SEABIRD_C_H 1.1688964 XPDR_DEVICE 0

D_OFFGRID 1020 N_NOCOMM 2 SEABIRD_C_I -0.0016958674 XPDR_INHIBIT 90

D_PITCH 0 N_NOSURFACE 0 SEABIRD_C_J 0.00021397677 XPDR_VALID 6

D_SAFE 0 PHONE_DEVICE 33 SEABIRD_T_G 0.004412075

D_SURF 2 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063827372

Pre-dive calculations and measurements:

GPS1 140120,162259,1326.936,14436.441,0,0.5,2,0.6 TGT_LATLONG 1326.000,14436.300

_CALLS 2 TGT_RADIUS 1500.000

_SM_DEPTHo 0.53 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -63.0 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 140120,162713,1326.908,14436.447,2,0.5,4,0.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.100,0.200 MHEAD_RNG_PITCHd_Wd 193.5,1702,-21.5,-10.000,-26.56

TGT_NAME PICKUP_S D_GRID 229

Post-dive calculations and measurements:

FINISH -0.3,1.013530 _10V_AH 14.90,0.000

SM_CCo 4088.84,0.00,0.009,0,450.2,458.2,442.2,588.67 FG_AHR_24Vo 113.175

SM_GC 0.53,0.00,6.54,0.25,0.009,0.059,0.081,450.2,458.2,442.2,412.9,2345.6,0,0,0,30.36,15.84,15.96 FG_AHR_10Vo 46.531

SUPER 59,71,254,1,0,0 MEM 1098764,28,80160,67

IRIDIUM_FIX 1326.59,14438.31,140120,162337 DATA_FILE_SIZE 16148,505

TCM_TEMP 134.88 CAP_FILE_SIZE 149413,0

XPDR_PINGS 56 SDSIZE 3918848,3782944

SC_FREEKB 3712320 SDFILEDIR 2819,1

HUMID 51.58 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 24.30 CURRENT 0.237,172.1,1

INTERNAL_PRESSURE 9.42727 GPS 140120,173553,1325.910,14436.428,1,0.8,4,0.6

_24V_AH 14.65,161.539

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 658 1368 13205.68 nil 0 0 0.00

Pitch_motor 16 454 112.28 nil 0 0 0.00

Roll_motor 40 110 65.92 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 14 420 86.14 nil 0 0 0.00

GPS 13 15 3.04 nil 0 0 0.00

Core 1609 11 282.92 SciCon 3909 10 619.66

LPSleep 2522 2 105.25 TMICL 0 0 0.00

Compass 544 5 40.59 PMAR 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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.75 2 -116.79 -0.98 0.00 449.8 474.1 425.6 419.4 2385.2 0.00 0.00 0 98.88 91.51 0.00 0.00 0.005 0.000 0.000 2714.66 2738.06 2691.25 415.31 2386.69 0 0 0 14.74 30.00 30.00

99.15 551 -116.79 -0.98 -40.00 2713.9 2737.3 2690.6 415.0 2386.0 3.18 -3.21 9 129.09 14.57 8.22 2.37 0.006 0.454 0.059 3324.50 3374.00 3275.00 2537.94 852.50 0 0 0 15.04 15.02 14.86

351.71 1028 -116.79 -0.98 0.00 3323.7 3372.6 3274.8 2537.3 852.3 68.36 -25.43 60 357.29 0.00 0.00 2.19 0.000 0.000 0.043 3325.38 3373.81 3276.94 2529.06 2331.75 0 0 0 30.00 30.00 15.82

537.06 0 -116.79 -0.98 0.00 3323.7 3372.5 3274.9 2528.9 2330.9 112.36 -18.73 79 538.39 0.00 0.00 0.00 0.000 0.000 0.000 3322.84 3371.38 3274.31 2528.50 2331.25 0 0 0 30.00 30.00 30.00

716.87 0 -116.79 -0.98 0.00 3323.5 3372.1 3274.9 2529.1 2332.1 143.17 -17.86 97 718.20 0.00 0.00 0.00 0.000 0.000 0.000 3322.34 3371.12 3273.56 2528.75 2331.44 0 0 0 30.00 30.00 30.00

896.88 260 -116.79 -0.98 40.00 3323.5 3371.9 3275.1 2528.8 2331.4 173.04 -14.51 115 902.26 0.00 0.00 2.31 0.000 0.000 0.109 3325.03 3373.44 3276.62 2518.25 3732.56 0 0 0 30.00 30.00 15.79

1127.04 1028 -116.79 -0.98 0.00 3323.6 3371.7 3275.4 2518.3 3732.6 208.36 -18.08 161 1132.30 0.00 0.00 2.15 0.000 0.000 0.036 3324.16 3372.38 3275.94 2518.00 2240.44 0 0 0 30.00 30.00 15.85

1267 end dive: TARGET_DEPTH_EXCEEDED

state 1267 begin apogee

1268.39 3 0.00 -0.20 0.00 3323.2 3371.2 3275.2 2518.3 2017.6 230.56 -15.87 176 1364.46 94.24 0.76 0.14 1.369 0.222 0.111 2849.50 2914.12 2784.88 2791.00 2200.00 0 0 0 11.08 15.65 15.23

1366 end apogee: CONTROL_FINISHED_OK

state 1366 begin climb

1366.42 3 116.79 0.98 0.00 2848.3 2913.5 2783.1 2790.6 2202.6 235.06 0.00 185 1464.39 95.68 0.94 0.00 1.304 0.109 0.000 2373.38 2438.50 2308.25 3177.56 2203.31 0 0 0 11.86 15.44 30.00

1646.51 34 156.91 1.02 -40.00 2367.6 2437.4 2297.8 3178.9 2203.7 217.20 7.69 215 1681.19 33.91 0.00 0.00 1.230 0.000 0.000 2211.38 2291.06 2131.69 3177.69 2203.56 0 0 0 11.48 30.00 30.00

1856.62 294 229.13 1.09 40.00 2204.8 2287.4 2122.3 3178.6 2203.4 203.12 5.85 236 1918.39 57.90 0.00 2.24 1.266 0.000 0.107 1914.78 1996.62 1832.94 3178.19 3530.50 0 0 0 11.40 30.00 15.32

2001.33 1028 229.13 1.09 0.00 1913.1 1996.1 1830.1 3178.2 3531.0 188.77 12.06 265 2006.89 0.00 0.00 2.20 0.000 0.000 0.050 1914.25 1997.25 1831.25 3186.19 2051.62 0 0 0 30.00 30.00 15.68

2186.58 516 229.13 1.09 -40.00 1911.1 1996.2 1826.0 3185.8 2051.7 165.86 12.57 284 2191.77 0.00 0.00 2.12 0.000 0.000 0.083 1912.97 1997.81 1828.12 3196.94 654.56 0 0 0 30.00 30.00 15.79

2231.34 1028 229.13 1.09 0.00 1909.4 1993.3 1825.6 3196.2 655.1 160.96 10.54 293 2236.93 0.00 0.00 2.18 0.000 0.000 0.046 1910.12 1993.69 1826.56 3196.81 2134.81 0 0 0 30.00 30.00 15.83

2416.53 294 270.31 1.13 40.00 1909.0 1993.8 1824.3 3196.6 2134.1 144.24 7.63 312 2453.66 33.63 0.00 2.28 1.214 0.000 0.106 1747.81 1832.94 1662.69 3196.56 3530.00 0 0 0 11.41 30.00 15.43

2491.62 1093 270.31 1.19 0.00 1746.4 1831.9 1661.0 3196.6 3530.8 138.44 8.15 327 2496.96 0.00 0.07 2.21 0.000 0.168 0.047 1746.91 1832.81 1661.00 3262.38 2057.19 0 0 0 30.00 15.63 15.75

2681.76 261 270.31 1.19 40.00 1744.1 1831.9 1656.2 3262.6 2057.7 118.07 10.03 347 2687.05 0.00 0.12 2.37 0.000 0.259 0.095 1744.62 1832.50 1656.75 3218.06 3534.81 0 0 0 30.00 15.68 15.66

2706.42 1028 270.31 1.19 0.00 1744.0 1831.8 1656.3 3217.5 3533.7 115.75 9.64 352 2712.17 0.00 0.00 2.19 0.000 0.000 0.047 1745.16 1833.12 1657.19 3224.31 2044.06 0 0 0 30.00 30.00 15.85

2891.71 580 270.31 1.21 -40.00 1743.1 1831.9 1654.2 3224.4 2044.3 100.26 9.07 371 2896.87 0.00 0.00 2.13 0.000 0.000 0.081 1743.69 1832.12 1655.25 3233.00 657.81 0 0 0 30.00 30.00 15.87

2976.45 1062 308.06 1.25 0.00 1741.2 1828.2 1654.3 3232.4 658.1 93.29 7.83 388 3012.43 30.67 0.00 2.17 1.144 0.000 0.044 1593.47 1680.94 1506.00 3232.75 2139.81 0 0 0 11.26 30.00 15.92

3191.67 35 364.27 1.31 0.00 1590.3 1680.2 1500.4 3232.9 2139.6 78.57 6.77 413 3236.70 44.40 0.09 0.00 1.144 0.128 0.000 1365.03 1444.75 1285.31 3308.69 2140.62 0 0 0 11.41 15.81 30.00

3411.75 261 364.27 1.31 40.00 1361.3 1444.1 1278.4 3309.1 2140.0 53.66 11.73 435 3417.08 0.00 0.14 2.26 0.000 0.258 0.097 1361.06 1444.12 1278.00 3258.06 3532.00 0 0 0 30.00 15.65 15.64

3561.73 1028 364.27 1.31 0.00 1361.2 1444.2 1278.1 3258.3 3532.2 36.71 11.28 465 3566.99 0.00 0.00 2.18 0.000 0.000 0.044 1361.22 1444.38 1278.06 3264.69 2045.75 0 0 0 30.00 30.00 15.88

3751.87 516 364.27 1.31 -40.00 1360.9 1444.4 1277.5 3263.8 2045.6 16.14 11.71 485 3757.09 0.00 0.00 2.12 0.000 0.000 0.080 1361.12 1444.62 1277.62 3273.00 654.81 0 0 0 30.00 30.00 15.91

3786.59 1028 364.27 1.31 0.00 1359.8 1442.7 1276.9 3273.0 654.6 12.47 10.56 492 3792.25 0.00 0.00 2.16 0.000 0.000 0.046 1359.81 1442.75 1276.88 3273.19 2140.50 0 0 0 30.00 30.00 15.94

3891 end climb: SURFACE_DEPTH_REACHED

state 3891 begin surface coast

3912 end surface coast: CONTROL_FINISHED_OK

state 3912 begin surface

ID	179	FIX_MISSING_TIMEOUT	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
MISSION	2	TGT_DEFAULT_LAT	4736	ROLL_ADJ_DBAND	0	MOTHERBOARD	6
DIVE	432	TGT_DEFAULT_LON	-12218	VBD_MIN	450	DEVICE1	-1
N_DIVES	0	TGT_AUTO_DEFAULT	0	VBD_MAX	3960	DEVICE2	-1
STOP_T	0	SM_CC	588.71997	C_VBD	2850	DEVICE3	-1
D_SURF	2	N_FILEKB	8	VBD_DBAND	2	DEVICE4	-1
D_FLARE	3	FILEMGR	0	VBD_CNV	-0.24529999	DEVICE5	-1
D_TGT	360	CALL_NDIVES	1	VBD_LP_IGNORE	0	DEVICE6	-1
D_ABORT	1020	COMM_SEQ	0	VBD_TIMEOUT	720	LOGGERS	1
D_NO_BLEED	200	PROTOCOL	9	PITCH_VBD_SHIFT	0.001	LOGGERDEVICE1	7
D_BOOST	2	N_NOCOMM	2	UNCOM_BLEED	20	LOGGERDEVICE2	22
T_BOOST	0	NOCOMM_ACTION	163	VBD_MAXERRORS	1	LOGGERDEVICE3	40
D_FINISH	0	N_NOSURFACE	0	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	DBDW	0	COMPASS_DEVICE	66
D_SAFE	0	CALL_TRIES	5	LOITER_W_DBAND	0	COMPASS2_DEVICE	55
D_CALL	0	CALL_WAIT	60	LOITER_DBDW	0	PHONE_DEVICE	33
SURFACE_URGENCY	0	CAPUPLOAD	0	LOITER_D_TOP	0	GPS_DEVICE	48
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	LOITER_D_BOTTOM	0	RAFOS_DEVICE	-1
SURFACE_URGENCY_FORCE	0	T_GPS	5	LOITER_N_DIVE	0	XPDR_DEVICE	0
T_DIVE	120	N_GPS	80740	CF8_MAXERRORS	20	SIM_W	0
T_MISSION	150	T_RSLEEP	3	AH0_24V	310	SEABIRD_T_G	0.004412075
T_ABORT	1440	STROBE	0	AH0_10V	0	SEABIRD_T_H	0.00063827372
T_TURN	225	RAFOS_PEAK_OFFSET	0	MINV_24V	11	SEABIRD_T_I	2.6317541e-05
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	MINV_10V	11	SEABIRD_T_J	3.254017e-06
T_NO_W	120	RAFOS_HIT_WINDOW	3600	MAXI_24V	5	SEABIRD_C_G	-9.9840622
T_LOITER	0	RAFOS_MMODEM	0	MAXI_10V	1.4	SEABIRD_C_H	1.1688964
T_EPIRB	0	PITCH_MIN	450	FG_AHR_10V	46.512913	SEABIRD_C_I	-0.0016958674
USE_BATHY	-2	PITCH_MAX	3960	FG_AHR_24V	112.99139	SEABIRD_C_J	0.00021397677
USE_ICE	0	C_PITCH	2850	PHONE_SUPPLY	2	SC_RECORDABOVE	2000.0
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	PRESSURE_YINT	-166.32359	SC_PROFILE	3.0
D_OFFGRID	1020	PITCH_CNV	0.0031300001	PRESSURE_SLOPE	0.00010612313	SC_XMITPROFILE	3.0
RELAUNCH	1	PITCH_GAIN	25	COMPASS_USE	4	SC_NDIVE	1.0
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	ALTIM_PING_FIT	0	TM_RECORDABOVE	200.0
MAX_BUOY	120	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	TM_PROFILE	3.0
GLIDE_SLOPE	45	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	TM_XMITPROFILE	3.0
SPEED_FACTOR	1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	TM_NDIVE	1.0
RHO	1.0275	PITCH_W_GAIN	3	ALTIM_TOP_MIN_OBSTACLE	0	TM_XMITRAW	0.0
MASS	53962	PITCH_W_DBAND	0.5	ALTIM_PING_DEPTH	0	TM_LOGSAMPLE	0.0
NAV_MODE	2	ROLL_MIN	450	ALTIM_PING_DELTA	0	PM_RECORDABOVE	2000.0
FERRY_MAX	45	ROLL_MAX	3950	ALTIM_FREQUENCY	13	PM_PROFILE	3.0
KALMAN_USE	2	ROLL_DEG	40	ALTIM_PULSE	3	PM_XMITPROFILE	3.0
HD_A	0.0025118899	C_ROLL_DIVE	2300	ALTIM_SENSITIVITY	2	PM_NDIVE	1.0
HD_B	0.0139236	C_ROLL_CLIMB	2100	XPDR_VALID	6	PM_XMITRAW	0.0
HD_C	5.7000002e-06	HEAD_ERRBAND	10	XPDR_INHIBIT	90	PM_MOTORS	1.0
HEADING	-1	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	1.9639999e-06	PM_SENDDEPTH	1.0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	-2
ESCAPE_HEADING_DELTA	10	ROLL_MAXERRORS	1	DEEPGLIDER	0

GPS1	140120,162259,1326.936,14436.441,0,0.5,2,0.6	TGT_LATLONG	1326.000,14436.300
_CALLS	2	TGT_RADIUS	1500.000
_SM_DEPTHo	0.53	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-63.0	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	140120,162713,1326.908,14436.447,2,0.5,4,0.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.100,0.200	MHEAD_RNG_PITCHd_Wd	193.5,1702,-21.5,-10.000,-26.56
TGT_NAME	PICKUP_S	D_GRID	229

FINISH	-0.3,1.013530	_10V_AH	14.90,0.000
SM_CCo	4088.84,0.00,0.009,0,450.2,458.2,442.2,588.67	FG_AHR_24Vo	113.175
SM_GC	0.53,0.00,6.54,0.25,0.009,0.059,0.081,450.2,458.2,442.2,412.9,2345.6,0,0,0,30.36,15.84,15.96	FG_AHR_10Vo	46.531
SUPER	59,71,254,1,0,0	MEM	1098764,28,80160,67
IRIDIUM_FIX	1326.59,14438.31,140120,162337	DATA_FILE_SIZE	16148,505
TCM_TEMP	134.88	CAP_FILE_SIZE	149413,0
XPDR_PINGS	56	SDSIZE	3918848,3782944
SC_FREEKB	3712320	SDFILEDIR	2819,1
HUMID	51.58	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	24.30	CURRENT	0.237,172.1,1
INTERNAL_PRESSURE	9.42727	GPS	140120,173553,1325.910,14436.428,1,0.8,4,0.6
_24V_AH	14.65,161.539

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	658	1368	13205.68	nil	0	0	0.00
Pitch_motor	16	454	112.28	nil	0	0	0.00
Roll_motor	40	110	65.92	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	14	420	86.14	nil	0	0	0.00
GPS	13	15	3.04	nil	0	0	0.00
Core	1609	11	282.92	SciCon	3909	10	619.66
LPSleep	2522	2	105.25	TMICL	0	0	0.00
Compass	544	5	40.59	PMAR	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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.75	2	-116.79	-0.98	0.00	449.8	474.1	425.6	419.4	2385.2	0.00	0.00	0	98.88	91.51	0.00	0.00	0.005	0.000	0.000	2714.66	2738.06	2691.25	415.31	2386.69	0	0	0	14.74	30.00	30.00
99.15	551	-116.79	-0.98	-40.00	2713.9	2737.3	2690.6	415.0	2386.0	3.18	-3.21	9	129.09	14.57	8.22	2.37	0.006	0.454	0.059	3324.50	3374.00	3275.00	2537.94	852.50	0	0	0	15.04	15.02	14.86
351.71	1028	-116.79	-0.98	0.00	3323.7	3372.6	3274.8	2537.3	852.3	68.36	-25.43	60	357.29	0.00	0.00	2.19	0.000	0.000	0.043	3325.38	3373.81	3276.94	2529.06	2331.75	0	0	0	30.00	30.00	15.82
537.06	0	-116.79	-0.98	0.00	3323.7	3372.5	3274.9	2528.9	2330.9	112.36	-18.73	79	538.39	0.00	0.00	0.00	0.000	0.000	0.000	3322.84	3371.38	3274.31	2528.50	2331.25	0	0	0	30.00	30.00	30.00
716.87	0	-116.79	-0.98	0.00	3323.5	3372.1	3274.9	2529.1	2332.1	143.17	-17.86	97	718.20	0.00	0.00	0.00	0.000	0.000	0.000	3322.34	3371.12	3273.56	2528.75	2331.44	0	0	0	30.00	30.00	30.00
896.88	260	-116.79	-0.98	40.00	3323.5	3371.9	3275.1	2528.8	2331.4	173.04	-14.51	115	902.26	0.00	0.00	2.31	0.000	0.000	0.109	3325.03	3373.44	3276.62	2518.25	3732.56	0	0	0	30.00	30.00	15.79
1127.04	1028	-116.79	-0.98	0.00	3323.6	3371.7	3275.4	2518.3	3732.6	208.36	-18.08	161	1132.30	0.00	0.00	2.15	0.000	0.000	0.036	3324.16	3372.38	3275.94	2518.00	2240.44	0	0	0	30.00	30.00	15.85
1267	end dive: TARGET_DEPTH_EXCEEDED
state	1267	begin apogee
1268.39	3	0.00	-0.20	0.00	3323.2	3371.2	3275.2	2518.3	2017.6	230.56	-15.87	176	1364.46	94.24	0.76	0.14	1.369	0.222	0.111	2849.50	2914.12	2784.88	2791.00	2200.00	0	0	0	11.08	15.65	15.23
1366	end apogee: CONTROL_FINISHED_OK
state	1366	begin climb
1366.42	3	116.79	0.98	0.00	2848.3	2913.5	2783.1	2790.6	2202.6	235.06	0.00	185	1464.39	95.68	0.94	0.00	1.304	0.109	0.000	2373.38	2438.50	2308.25	3177.56	2203.31	0	0	0	11.86	15.44	30.00
1646.51	34	156.91	1.02	-40.00	2367.6	2437.4	2297.8	3178.9	2203.7	217.20	7.69	215	1681.19	33.91	0.00	0.00	1.230	0.000	0.000	2211.38	2291.06	2131.69	3177.69	2203.56	0	0	0	11.48	30.00	30.00
1856.62	294	229.13	1.09	40.00	2204.8	2287.4	2122.3	3178.6	2203.4	203.12	5.85	236	1918.39	57.90	0.00	2.24	1.266	0.000	0.107	1914.78	1996.62	1832.94	3178.19	3530.50	0	0	0	11.40	30.00	15.32
2001.33	1028	229.13	1.09	0.00	1913.1	1996.1	1830.1	3178.2	3531.0	188.77	12.06	265	2006.89	0.00	0.00	2.20	0.000	0.000	0.050	1914.25	1997.25	1831.25	3186.19	2051.62	0	0	0	30.00	30.00	15.68
2186.58	516	229.13	1.09	-40.00	1911.1	1996.2	1826.0	3185.8	2051.7	165.86	12.57	284	2191.77	0.00	0.00	2.12	0.000	0.000	0.083	1912.97	1997.81	1828.12	3196.94	654.56	0	0	0	30.00	30.00	15.79
2231.34	1028	229.13	1.09	0.00	1909.4	1993.3	1825.6	3196.2	655.1	160.96	10.54	293	2236.93	0.00	0.00	2.18	0.000	0.000	0.046	1910.12	1993.69	1826.56	3196.81	2134.81	0	0	0	30.00	30.00	15.83
2416.53	294	270.31	1.13	40.00	1909.0	1993.8	1824.3	3196.6	2134.1	144.24	7.63	312	2453.66	33.63	0.00	2.28	1.214	0.000	0.106	1747.81	1832.94	1662.69	3196.56	3530.00	0	0	0	11.41	30.00	15.43
2491.62	1093	270.31	1.19	0.00	1746.4	1831.9	1661.0	3196.6	3530.8	138.44	8.15	327	2496.96	0.00	0.07	2.21	0.000	0.168	0.047	1746.91	1832.81	1661.00	3262.38	2057.19	0	0	0	30.00	15.63	15.75
2681.76	261	270.31	1.19	40.00	1744.1	1831.9	1656.2	3262.6	2057.7	118.07	10.03	347	2687.05	0.00	0.12	2.37	0.000	0.259	0.095	1744.62	1832.50	1656.75	3218.06	3534.81	0	0	0	30.00	15.68	15.66
2706.42	1028	270.31	1.19	0.00	1744.0	1831.8	1656.3	3217.5	3533.7	115.75	9.64	352	2712.17	0.00	0.00	2.19	0.000	0.000	0.047	1745.16	1833.12	1657.19	3224.31	2044.06	0	0	0	30.00	30.00	15.85
2891.71	580	270.31	1.21	-40.00	1743.1	1831.9	1654.2	3224.4	2044.3	100.26	9.07	371	2896.87	0.00	0.00	2.13	0.000	0.000	0.081	1743.69	1832.12	1655.25	3233.00	657.81	0	0	0	30.00	30.00	15.87
2976.45	1062	308.06	1.25	0.00	1741.2	1828.2	1654.3	3232.4	658.1	93.29	7.83	388	3012.43	30.67	0.00	2.17	1.144	0.000	0.044	1593.47	1680.94	1506.00	3232.75	2139.81	0	0	0	11.26	30.00	15.92
3191.67	35	364.27	1.31	0.00	1590.3	1680.2	1500.4	3232.9	2139.6	78.57	6.77	413	3236.70	44.40	0.09	0.00	1.144	0.128	0.000	1365.03	1444.75	1285.31	3308.69	2140.62	0	0	0	11.41	15.81	30.00
3411.75	261	364.27	1.31	40.00	1361.3	1444.1	1278.4	3309.1	2140.0	53.66	11.73	435	3417.08	0.00	0.14	2.26	0.000	0.258	0.097	1361.06	1444.12	1278.00	3258.06	3532.00	0	0	0	30.00	15.65	15.64
3561.73	1028	364.27	1.31	0.00	1361.2	1444.2	1278.1	3258.3	3532.2	36.71	11.28	465	3566.99	0.00	0.00	2.18	0.000	0.000	0.044	1361.22	1444.38	1278.06	3264.69	2045.75	0	0	0	30.00	30.00	15.88
3751.87	516	364.27	1.31	-40.00	1360.9	1444.4	1277.5	3263.8	2045.6	16.14	11.71	485	3757.09	0.00	0.00	2.12	0.000	0.000	0.080	1361.12	1444.62	1277.62	3273.00	654.81	0	0	0	30.00	30.00	15.91
3786.59	1028	364.27	1.31	0.00	1359.8	1442.7	1276.9	3273.0	654.6	12.47	10.56	492	3792.25	0.00	0.00	2.16	0.000	0.000	0.046	1359.81	1442.75	1276.88	3273.19	2140.50	0	0	0	30.00	30.00	15.94
3891	end climb: SURFACE_DEPTH_REACHED
state	3891	begin surface coast
3912	end surface coast: CONTROL_FINISHED_OK
state	3912	begin surface