Glider dive log

AMOS Oct19 * SG231 * Dive index * Mission links * Dive 14 * 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 14 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 631.64746 VBD_MIN 525 DEEPGLIDERMB 0

D_TGT 200 N_FILEKB 8 VBD_MAX 3950 MOTHERBOARD 6

D_ABORT 1020 FILEMGR 0 C_VBD 2700 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 2 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 2 LOGGERDEVICE4 -1

T_DIVE 70 CAPMAXSIZE 100000 LOITER_DBDW 400 COMPASS_DEVICE 66

T_MISSION 540 T_GPS 5 LOITER_D_TOP 100 COMPASS2_DEVICE -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 250 PHONE_DEVICE 33

T_TURN 225 T_RSLEEP 3 LOITER_N_DIVE 1 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

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 0.88827121 SEABIRD_C_G -9.9463768

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 2.8751967 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 5.0

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 2 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 200 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 0.88827121 PITCH_CNV 0.0031300001 SEABIRD_T_I 2.1747219e-05

ALTIM_PULSE 3 FG_AHR_24V 2.8751967 PITCH_DBAND 0.1 SEABIRD_T_J 2.1565911e-06

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 27 SIM_W 0

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3850 SM_CC 631.64746

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 5.0 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 70

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 540

C_VBD 2700 LOGGERS 3 RAFOS_CORR_THRESH 60 T_NO_W 120

DBDW 0 LOITER_DBDW 400 RAFOS_DEVICE -1 T_RSLEEP 3

DEEPGLIDER 0 LOITER_D_BOTTOM 250 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 1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

DEVICE2 -1 LOITER_W_DBAND 2 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 14 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 081019,015637,7433.529,-14528.599,162,1.0,163,17.9 TGT_LATLONG 7300.000,-14820.200

_CALLS 3 TGT_RADIUS 2000.000

_SM_DEPTHo 1.19 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -79.0 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 081019,021001,7433.482,-14528.460,3,1.0,7,17.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.165,0.229 MHEAD_RNG_PITCHd_Wd 190.6,196522,-19.0,-9.524,-22.57

TGT_NAME a D_GRID 200

Post-dive calculations and measurements:

FINISH 361.6,1.026317 _24V_AH 14.00,24.961

SM_CCo 4536.54,0.00,0.000,0,524.1,584.5,463.6,533.76 _10V_AH 15.00,0.000

SM_GC 0.07,0.00,3.10,0.25,0.000,0.088,0.089,524.1,584.5,463.6,454.3,2515.9,0,0,0,30.00,15.78,15.81 FG_AHR_24Vo 3.055

SUPER 59,71,254,1,0,0 FG_AHR_10Vo 0.903

IRIDIUM_FIX 7419.77,-15052.86,071019,220512 MEM 1156116,28,23188,48

TCM_TEMP 8.34 DATA_FILE_SIZE 6545,239

XPDR_PINGS 140 CAP_FILE_SIZE 148963,0

SC_FREEKB 3872672 SDSIZE 3918848,3905504

PM_FREEKB_00 61693984 SDFILEDIR 126,1

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

HUMID 47.59 CURRENT 0.071,138.5,1

TEMP -0.13 GPS 081019,032838,7433.140,-14528.058,140,1.2,142,17.9

INTERNAL_PRESSURE 8.3985

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 879 2752 33872.66 nil 0 0 0.00

Pitch_motor 18 429 109.48 nil 0 0 0.00

Roll_motor 39 177 97.60 nil 0 0 0.00

Iridium 541 206 1565.82 nil 0 0 0.00

Transponder_ping 35 420 205.80 nil 0 0 0.00

GPS 16 15 3.82 nil 0 0 0.00

Core 2125 11 376.18 SciCon 1183 34 618.63

LPSleep 3161 2 132.79 PMAR 2305 128 4451.12

Compass 359 5 26.98 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

12.04 2 -116.79 -1.06 0.00 523.5 584.9 462.1 453.4 2464.4 0.00 0.00 0 75.65 61.47 0.00 0.00 0.005 0.000 0.000 1556.34 1676.94 1435.75 453.25 2465.94 0 0 0 14.05 30.00 30.00

75.89 295 -116.79 -1.06 80.00 1558.0 1677.2 1438.9 453.2 2473.1 4.21 -5.91 6 139.35 41.33 10.44 4.44 0.006 0.429 0.102 3179.00 3368.19 2989.81 2590.75 3952.94 0 0 0 14.03 15.46 15.56

157.49 1028 -116.79 -1.06 0.00 3181.0 3364.3 2997.7 2591.4 3953.4 33.68 -45.58 22 164.94 0.00 0.00 4.18 0.000 0.000 0.055 3179.56 3362.31 2996.81 2609.44 2477.62 0 0 0 30.00 30.00 15.66

342.22 0 -116.79 -1.06 0.00 3180.2 3362.8 2997.6 2610.1 2469.2 83.86 -19.78 41 345.37 0.00 0.00 0.00 0.000 0.000 0.000 3180.66 3363.19 2998.12 2608.69 2469.62 0 0 0 30.00 30.00 30.00

522.22 516 -116.79 -1.06 -80.00 3179.0 3359.4 2998.6 2610.6 2469.2 113.42 -15.69 59 530.15 0.00 0.00 4.91 0.000 0.000 0.083 3180.38 3361.06 2999.69 2629.69 791.19 0 0 0 30.00 30.00 15.67

538.00 1028 -116.79 -1.06 0.00 3178.0 3355.5 3000.4 2628.6 791.4 115.93 -15.74 62 549.47 0.00 0.00 4.95 0.000 0.000 0.063 3180.09 3356.75 3003.44 2608.88 2509.88 0 0 0 30.00 30.00 15.60

727.91 516 -116.79 -1.06 -80.00 3177.1 3353.9 3000.4 2609.0 2509.1 147.74 -15.90 82 739.47 0.00 0.00 5.03 0.000 0.000 0.081 3178.38 3354.50 3002.25 2624.44 791.00 0 0 0 30.00 30.00 15.69

792.03 1028 -116.79 -1.06 0.00 3177.7 3351.9 3003.5 2624.6 791.4 158.94 -16.89 95 800.79 0.00 0.00 4.95 0.000 0.000 0.064 3178.53 3353.06 3004.00 2602.56 2508.94 0 0 0 30.00 30.00 15.71

983.58 548 -116.79 -1.06 -80.00 3177.2 3352.1 3002.4 2602.9 2510.4 75.29 212.30 115 995.14 0.00 0.00 5.04 0.000 0.000 0.081 3176.53 3350.62 3002.44 2610.56 791.06 0 0 0 30.00 30.00 15.71

1023.70 1060 -116.79 -1.06 0.00 3176.5 3349.9 3003.1 2611.1 791.1 167.27 216.33 123 1035.15 0.00 0.00 4.95 0.000 0.000 0.063 3177.09 3351.19 3003.00 2587.75 2509.69 0 0 0 30.00 30.00 15.73

1064 end dive: TARGET_DEPTH_EXCEEDED

state 1064 begin apogee

1064.88 3 0.00 -0.19 0.00 3176.8 3350.1 3003.5 2589.2 2371.7 202.41 -100.56 128 1167.78 99.03 1.08 0.10 1.582 0.245 0.178 2696.28 2832.62 2559.94 2893.50 2417.06 0 0 0 12.48 15.66 15.15

1169 end apogee: CONTROL_FINISHED_OK

state 1170 begin loiter

1342.94 2 0.00 -0.19 0.00 2689.6 2824.9 2554.2 2893.1 2416.5 61.59 -3.79 156 1345.92 0.01 0.00 0.00 1.497 0.000 0.000 2701.78 2838.44 2565.12 2891.69 2415.94 0 0 0 30.36 30.00 30.00

1522.90 32 -1.82 -0.19 0.00 2699.9 2836.9 2562.9 2892.8 2415.7 51.23 0.47 174 1525.77 0.00 0.00 0.00 0.000 0.000 0.000 2699.12 2835.62 2562.62 2893.31 2416.12 0 0 0 30.00 30.00 30.00

1702.93 35 -33.23 -0.28 0.00 2698.3 2834.5 2562.1 2892.2 2416.0 55.95 8.07 192 1705.97 0.68 0.12 0.00 0.038 0.093 0.000 2835.88 2981.38 2690.38 2826.06 2416.44 0 0 0 15.58 15.66 30.00

1882.97 35 -126.63 -0.57 0.00 2835.3 2981.6 2688.9 2826.4 2415.5 69.47 23.99 210 1888.04 1.80 0.19 0.00 0.017 0.072 0.000 3217.81 3381.94 3053.69 2741.31 2415.88 0 0 0 15.63 15.70 30.00

2063.21 35 -1377.89 -4.32 0.00 3221.2 3384.4 3057.9 2743.7 2415.5 80.98 321.42 228 2074.47 3.40 3.30 0.00 0.012 0.046 0.000 3953.72 4095.94 3811.50 1551.19 2416.25 0 0 0 14.23 15.73 30.00

2252.94 2 -1377.89 -4.32 0.00 3962.9 4095.9 3829.8 1551.7 2416.1 322.73 9.69 237 2255.83 0.00 0.00 0.00 0.000 0.000 0.000 3962.28 4095.94 3828.62 1550.38 2416.31 0 0 0 30.00 30.00 30.00

2283 end loiter: SURFACE_DEPTH_REACHED

state 2283 begin surface coast

2293 end surface coast: CONTROL_FINISHED_OK

state 2293 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	14	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	631.64746	VBD_MIN	525	DEEPGLIDERMB	0
D_TGT	200	N_FILEKB	8	VBD_MAX	3950	MOTHERBOARD	6
D_ABORT	1020	FILEMGR	0	C_VBD	2700	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	2	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	2	LOGGERDEVICE4	-1
T_DIVE	70	CAPMAXSIZE	100000	LOITER_DBDW	400	COMPASS_DEVICE	66
T_MISSION	540	T_GPS	5	LOITER_D_TOP	100	COMPASS2_DEVICE	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	250	PHONE_DEVICE	33
T_TURN	225	T_RSLEEP	3	LOITER_N_DIVE	1	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
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	0.88827121	SEABIRD_C_G	-9.9463768
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	2.8751967	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	5.0
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	081019,015637,7433.529,-14528.599,162,1.0,163,17.9	TGT_LATLONG	7300.000,-14820.200
_CALLS	3	TGT_RADIUS	2000.000
_SM_DEPTHo	1.19	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-79.0	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	081019,021001,7433.482,-14528.460,3,1.0,7,17.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.165,0.229	MHEAD_RNG_PITCHd_Wd	190.6,196522,-19.0,-9.524,-22.57
TGT_NAME	a	D_GRID	200

FINISH	361.6,1.026317	_24V_AH	14.00,24.961
SM_CCo	4536.54,0.00,0.000,0,524.1,584.5,463.6,533.76	_10V_AH	15.00,0.000
SM_GC	0.07,0.00,3.10,0.25,0.000,0.088,0.089,524.1,584.5,463.6,454.3,2515.9,0,0,0,30.00,15.78,15.81	FG_AHR_24Vo	3.055
SUPER	59,71,254,1,0,0	FG_AHR_10Vo	0.903
IRIDIUM_FIX	7419.77,-15052.86,071019,220512	MEM	1156116,28,23188,48
TCM_TEMP	8.34	DATA_FILE_SIZE	6545,239
XPDR_PINGS	140	CAP_FILE_SIZE	148963,0
SC_FREEKB	3872672	SDSIZE	3918848,3905504
PM_FREEKB_00	61693984	SDFILEDIR	126,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	47.59	CURRENT	0.071,138.5,1
TEMP	-0.13	GPS	081019,032838,7433.140,-14528.058,140,1.2,142,17.9
INTERNAL_PRESSURE	8.3985

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	879	2752	33872.66	nil	0	0	0.00
Pitch_motor	18	429	109.48	nil	0	0	0.00
Roll_motor	39	177	97.60	nil	0	0	0.00
Iridium	541	206	1565.82	nil	0	0	0.00
Transponder_ping	35	420	205.80	nil	0	0	0.00
GPS	16	15	3.82	nil	0	0	0.00
Core	2125	11	376.18	SciCon	1183	34	618.63
LPSleep	3161	2	132.79	PMAR	2305	128	4451.12
Compass	359	5	26.98	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
12.04	2	-116.79	-1.06	0.00	523.5	584.9	462.1	453.4	2464.4	0.00	0.00	0	75.65	61.47	0.00	0.00	0.005	0.000	0.000	1556.34	1676.94	1435.75	453.25	2465.94	0	0	0	14.05	30.00	30.00
75.89	295	-116.79	-1.06	80.00	1558.0	1677.2	1438.9	453.2	2473.1	4.21	-5.91	6	139.35	41.33	10.44	4.44	0.006	0.429	0.102	3179.00	3368.19	2989.81	2590.75	3952.94	0	0	0	14.03	15.46	15.56
157.49	1028	-116.79	-1.06	0.00	3181.0	3364.3	2997.7	2591.4	3953.4	33.68	-45.58	22	164.94	0.00	0.00	4.18	0.000	0.000	0.055	3179.56	3362.31	2996.81	2609.44	2477.62	0	0	0	30.00	30.00	15.66
342.22	0	-116.79	-1.06	0.00	3180.2	3362.8	2997.6	2610.1	2469.2	83.86	-19.78	41	345.37	0.00	0.00	0.00	0.000	0.000	0.000	3180.66	3363.19	2998.12	2608.69	2469.62	0	0	0	30.00	30.00	30.00
522.22	516	-116.79	-1.06	-80.00	3179.0	3359.4	2998.6	2610.6	2469.2	113.42	-15.69	59	530.15	0.00	0.00	4.91	0.000	0.000	0.083	3180.38	3361.06	2999.69	2629.69	791.19	0	0	0	30.00	30.00	15.67
538.00	1028	-116.79	-1.06	0.00	3178.0	3355.5	3000.4	2628.6	791.4	115.93	-15.74	62	549.47	0.00	0.00	4.95	0.000	0.000	0.063	3180.09	3356.75	3003.44	2608.88	2509.88	0	0	0	30.00	30.00	15.60
727.91	516	-116.79	-1.06	-80.00	3177.1	3353.9	3000.4	2609.0	2509.1	147.74	-15.90	82	739.47	0.00	0.00	5.03	0.000	0.000	0.081	3178.38	3354.50	3002.25	2624.44	791.00	0	0	0	30.00	30.00	15.69
792.03	1028	-116.79	-1.06	0.00	3177.7	3351.9	3003.5	2624.6	791.4	158.94	-16.89	95	800.79	0.00	0.00	4.95	0.000	0.000	0.064	3178.53	3353.06	3004.00	2602.56	2508.94	0	0	0	30.00	30.00	15.71
983.58	548	-116.79	-1.06	-80.00	3177.2	3352.1	3002.4	2602.9	2510.4	75.29	212.30	115	995.14	0.00	0.00	5.04	0.000	0.000	0.081	3176.53	3350.62	3002.44	2610.56	791.06	0	0	0	30.00	30.00	15.71
1023.70	1060	-116.79	-1.06	0.00	3176.5	3349.9	3003.1	2611.1	791.1	167.27	216.33	123	1035.15	0.00	0.00	4.95	0.000	0.000	0.063	3177.09	3351.19	3003.00	2587.75	2509.69	0	0	0	30.00	30.00	15.73
1064	end dive: TARGET_DEPTH_EXCEEDED
state	1064	begin apogee
1064.88	3	0.00	-0.19	0.00	3176.8	3350.1	3003.5	2589.2	2371.7	202.41	-100.56	128	1167.78	99.03	1.08	0.10	1.582	0.245	0.178	2696.28	2832.62	2559.94	2893.50	2417.06	0	0	0	12.48	15.66	15.15
1169	end apogee: CONTROL_FINISHED_OK
state	1170	begin loiter
1342.94	2	0.00	-0.19	0.00	2689.6	2824.9	2554.2	2893.1	2416.5	61.59	-3.79	156	1345.92	0.01	0.00	0.00	1.497	0.000	0.000	2701.78	2838.44	2565.12	2891.69	2415.94	0	0	0	30.36	30.00	30.00
1522.90	32	-1.82	-0.19	0.00	2699.9	2836.9	2562.9	2892.8	2415.7	51.23	0.47	174	1525.77	0.00	0.00	0.00	0.000	0.000	0.000	2699.12	2835.62	2562.62	2893.31	2416.12	0	0	0	30.00	30.00	30.00
1702.93	35	-33.23	-0.28	0.00	2698.3	2834.5	2562.1	2892.2	2416.0	55.95	8.07	192	1705.97	0.68	0.12	0.00	0.038	0.093	0.000	2835.88	2981.38	2690.38	2826.06	2416.44	0	0	0	15.58	15.66	30.00
1882.97	35	-126.63	-0.57	0.00	2835.3	2981.6	2688.9	2826.4	2415.5	69.47	23.99	210	1888.04	1.80	0.19	0.00	0.017	0.072	0.000	3217.81	3381.94	3053.69	2741.31	2415.88	0	0	0	15.63	15.70	30.00
2063.21	35	-1377.89	-4.32	0.00	3221.2	3384.4	3057.9	2743.7	2415.5	80.98	321.42	228	2074.47	3.40	3.30	0.00	0.012	0.046	0.000	3953.72	4095.94	3811.50	1551.19	2416.25	0	0	0	14.23	15.73	30.00
2252.94	2	-1377.89	-4.32	0.00	3962.9	4095.9	3829.8	1551.7	2416.1	322.73	9.69	237	2255.83	0.00	0.00	0.00	0.000	0.000	0.000	3962.28	4095.94	3828.62	1550.38	2416.31	0	0	0	30.00	30.00	30.00
2283	end loiter: SURFACE_DEPTH_REACHED
state	2283	begin surface coast
2293	end surface coast: CONTROL_FINISHED_OK
state	2293	begin surface