Glider dive log

AMOS Oct19 * SG231 * Dive index * Mission links * Dive 3 * 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 0

DIVE 3 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 3 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 180 N_FILEKB 8 VBD_MAX 3950 MOTHERBOARD 6

D_ABORT 300 FILEMGR 0 C_VBD 2900 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 0.0020999999 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 0 LOGGERDEVICE2 40

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 DBDW 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_DIVE 60 CAPMAXSIZE 100000 LOITER_DBDW 0 COMPASS_DEVICE 66

T_MISSION 80 T_GPS 5 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 0 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 0 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 3130 FG_AHR_10V 0.335702 SEABIRD_C_G -9.9463768

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 1.4183956 SEABIRD_C_H 1.1384684

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 PHONE_SUPPLY 2 SEABIRD_C_I -0.0018041182

MAX_BUOY 150 PITCH_GAIN 25 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 0.02 ALTIM_PING_FIT 0 SC_XMITPROFILE 3.0

MASS 72301 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0 SC_NDIVE 1.0

NAV_MODE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 PM_PROFILE 7.0

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 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 1 SEABIRD_T_G 0.0042873411

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 SEABIRD_T_H 0.00062238763

ALTIM_PING_FIT 0 FG_AHR_10V 0.335702 PITCH_CNV 0.0031300001 SEABIRD_T_I 2.1747219e-05

ALTIM_PULSE 3 FG_AHR_24V 1.4183956 PITCH_DBAND 0.1 SEABIRD_T_J 2.1565911e-06

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 25 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 0.0020999999 SURFACE_URGENCY 0

CALL_TRIES 5 HD_C 1.6e-05 PITCH_W_DBAND 0 SURFACE_URGENCY_FORCE 0

CALL_WAIT 60 HEADING -1 PITCH_W_GAIN 0 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 7.0 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 3130 LOGGERDEVICE2 40 PRESSURE_SLOPE 0.00010800161 T_GPS 5

C_ROLL_CLIMB 2400 LOGGERDEVICE3 -1 PRESSURE_YINT -152.15948 T_LOITER 0

C_ROLL_DIVE 2500 LOGGERDEVICE4 -1 PROTOCOL 9 T_MISSION 80

C_VBD 2900 LOGGERS 3 RAFOS_CORR_THRESH 60 T_NO_W 120

DBDW 0 LOITER_DBDW 0 RAFOS_DEVICE -1 T_RSLEEP 3

DEEPGLIDER 0 LOITER_D_BOTTOM 0 RAFOS_HIT_WINDOW 3600 T_TURN 225

DEEPGLIDERMB 0 LOITER_D_TOP 0 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 0 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 150 ROLL_CNV 0.047120001 VBD_DBAND 2

DIVE 3 MINV_10V 11 ROLL_DEG 80 VBD_LP_IGNORE 0

D_ABORT 300 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 0

D_NO_BLEED 200 N_DIVES 3 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 0

Pre-dive calculations and measurements:

GPS1 071019,000309,7434.918,-14533.764,25,1.2,25,17.9 TGT_LATLONG 7434.900,-14533.500

_CALLS 2 TGT_RADIUS 2000.000

_SM_DEPTHo 1.82 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -73.0 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 071019,000628,7434.911,-14533.772,3,1.1,6,17.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 125.4,136,-27.2,-10.000,-30.00

TGT_NAME 1 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.2,1.021363 _24V_AH 14.77,18.007

SM_CCo 4082.91,0.00,0.018,0,525.4,594.4,456.5,582.48 _10V_AH 14.90,0.000

SM_GC 2.61,0.00,9.48,0.39,0.018,0.066,0.074,525.4,594.4,456.5,455.6,2514.6,0,0,0,30.36,15.54,15.57 FG_AHR_24Vo 1.531

SUPER 59,71,254,1,0,0 FG_AHR_10Vo 0.368

IRIDIUM_FIX 7435.18,-14526.99,071019,000344 MEM 1156096,29,23188,48

TCM_TEMP 9.34 DATA_FILE_SIZE 19272,600

XPDR_PINGS 354 CAP_FILE_SIZE 214187,0

SC_FREEKB 3877408 SDSIZE 3918848,3908384

PM_FREEKB_00 62273600 SDFILEDIR 49,1

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

HUMID 51.78 CURRENT 0.140, 16.3,1

TEMP 1.74 GPS 071019,011612,7435.010,-14532.562,27,1.5,62,17.9

INTERNAL_PRESSURE 8.46681

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 736 1562 17001.23 nil 0 0 0.00

Pitch_motor 26 430 166.69 nil 0 0 0.00

Roll_motor 104 148 229.75 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 88 420 549.00 nil 0 0 0.00

GPS 15 15 3.53 nil 0 0 0.00

Core 2093 11 368.13 SciCon 4062 37 2288.04

LPSleep 2044 2 85.30 PMAR 4066 128 7787.63

Compass 952 5 70.97 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

11.98 2 -63.62 -1.22 0.00 526.0 598.5 453.4 471.0 2519.3 0.00 0.00 0 80.69 66.54 0.00 0.00 0.005 0.000 0.000 1540.19 1682.38 1398.00 470.81 2522.06 0 0 0 13.94 30.00 30.00

80.93 295 -133.23 -1.37 80.00 1541.7 1686.3 1397.1 471.1 2518.8 3.61 -2.64 7 158.34 55.58 10.66 4.19 0.005 0.430 0.096 3444.47 3644.25 3244.69 2672.50 3953.62 0 0 0 13.88 15.56 15.67

345.29 1156 -133.23 -1.52 0.00 3446.6 3640.0 3253.2 2673.4 3954.6 68.05 -19.80 60 352.81 0.00 0.00 4.09 0.000 0.000 0.050 3449.16 3641.12 3257.19 2673.75 2476.38 0 0 0 30.00 30.00 15.79

531.34 645 -133.23 -1.65 -80.00 3444.8 3636.1 3253.4 2673.1 2466.6 96.46 -14.41 79 542.79 0.00 0.23 4.84 0.000 0.089 0.079 3446.75 3636.06 3257.44 2576.25 791.50 0 0 0 30.00 15.82 13.80

721.38 1028 -133.23 -1.65 0.00 3442.4 3631.2 3253.6 2575.5 791.4 133.17 -19.33 117 732.93 0.00 0.00 4.89 0.000 0.000 0.059 3443.19 3630.56 3255.81 2554.06 2509.94 0 0 0 30.00 30.00 15.80

911.28 517 -133.23 -1.65 -80.00 3443.1 3631.9 3254.4 2554.6 2510.2 168.62 -18.48 137 923.00 0.00 0.17 4.97 0.000 0.277 0.077 3444.72 3632.50 3256.94 2611.88 792.12 0 0 0 30.00 15.76 14.01

982 end dive: TARGET_DEPTH_EXCEEDED

state 982 begin apogee

987.57 3 0.00 -0.20 0.00 3443.1 3628.9 3257.3 2591.4 2411.8 180.47 -16.16 151 1099.89 108.00 1.64 0.10 1.562 0.231 0.148 2901.94 3039.56 2764.31 3065.69 2361.81 0 0 0 12.28 15.75 15.32

1102 end apogee: CONTROL_FINISHED_OK

state 1102 begin climb

1101.75 263 133.23 1.37 80.00 2896.6 3032.9 2760.2 3068.0 2361.1 184.57 0.00 162 1216.01 105.33 1.43 4.86 1.459 0.057 0.092 2353.09 2459.62 2246.56 3583.56 3955.25 0 0 0 12.25 15.40 13.58

1358.85 1159 133.23 0.90 0.00 2344.2 2452.9 2235.6 3582.8 3954.5 181.57 11.25 212 1370.47 0.00 0.85 4.45 0.000 0.381 0.044 2343.84 2454.25 2233.44 3415.31 2365.44 0 0 0 30.00 15.36 15.48

1549.00 422 166.09 0.86 80.00 2340.3 2454.4 2226.1 3415.0 2365.8 167.85 6.52 232 1585.30 26.90 0.00 4.76 1.494 0.000 0.094 2219.03 2340.19 2097.88 3411.19 3952.19 0 0 0 12.30 30.00 15.41

1602.95 1191 182.05 0.71 0.00 2217.2 2337.5 2096.8 3411.2 3953.6 163.52 8.31 243 1626.15 15.07 0.32 4.45 1.402 0.332 0.044 2154.59 2280.69 2028.50 3352.25 2365.44 0 0 0 12.26 15.40 15.51

1803.99 34 200.47 0.75 0.00 2148.8 2279.1 2018.4 3351.9 2364.7 146.67 8.05 265 1824.90 16.49 0.00 0.00 1.360 0.000 0.000 2080.50 2214.06 1946.94 3351.81 2364.81 0 0 0 12.30 30.00 30.00

2003.84 679 225.82 0.84 -80.00 2075.2 2211.2 1939.2 3350.9 2364.7 131.19 7.32 285 2036.36 22.31 0.14 4.89 1.369 0.099 0.075 1975.59 2111.62 1839.56 3438.62 689.88 0 0 0 12.34 15.65 14.03

2068.24 1157 225.82 0.80 0.00 1974.3 2109.6 1839.1 3436.8 689.9 125.13 10.18 298 2077.11 0.00 0.22 4.92 0.000 0.308 0.053 1974.19 2110.12 1838.25 3381.12 2417.31 0 0 0 30.00 15.51 15.57

2259.92 679 251.75 0.90 -80.00 1970.7 2109.6 1831.7 3381.1 2416.0 109.59 7.26 318 2292.50 22.66 0.10 5.06 1.369 0.110 0.074 1871.53 2011.25 1731.81 3453.81 689.31 0 0 0 12.37 15.66 13.98

2424.49 1063 259.67 0.91 0.00 1867.3 2004.6 1730.0 3454.2 689.6 95.16 9.16 351 2442.54 8.70 0.12 4.91 1.174 0.299 0.053 1839.09 1979.19 1699.00 3417.31 2415.06 0 0 0 12.27 15.55 15.56

2620.50 679 303.64 1.06 -80.00 1835.4 1977.5 1693.3 3416.8 2416.2 82.17 5.35 372 2667.20 37.79 0.16 5.07 1.368 0.091 0.074 1662.19 1808.88 1515.50 3505.88 690.88 0 0 0 12.33 15.67 14.00

2750.46 1063 308.90 1.07 0.00 1656.5 1798.8 1514.1 3505.8 690.9 72.15 9.44 398 2766.59 6.50 0.16 4.93 1.028 0.285 0.054 1642.41 1787.25 1497.56 3467.50 2414.56 0 0 0 12.26 15.50 15.59

2950.56 679 376.97 1.29 -80.00 1635.4 1781.4 1489.4 3467.2 2413.2 63.51 2.80 420 3018.90 59.46 0.22 5.09 1.347 0.076 0.073 1362.47 1503.94 1221.00 3581.50 689.44 0 0 0 12.30 15.64 13.96

3106.90 1062 434.97 1.42 0.00 1356.8 1493.8 1219.9 3581.4 689.7 59.01 3.87 451 3165.70 50.04 0.00 4.93 1.351 0.000 0.050 1127.25 1242.75 1011.75 3577.69 2417.31 0 0 0 12.29 30.00 13.85

3341.71 423 471.19 1.57 80.00 1120.0 1231.7 1008.4 3577.4 2418.2 45.65 6.17 480 3384.21 32.07 0.16 4.62 1.302 0.085 0.100 978.06 1079.81 876.31 3650.44 3951.25 0 0 0 12.29 15.54 13.78

3606.20 1190 539.62 1.63 0.00 974.1 1072.0 876.2 3651.9 3951.1 32.04 2.76 533 3676.23 61.73 0.00 4.43 1.302 0.000 0.047 701.22 782.69 619.75 3671.88 2363.56 0 0 0 12.26 30.00 13.98

3859.36 423 586.71 1.84 80.00 697.9 781.8 614.1 3671.9 2363.2 23.19 5.02 565 3911.81 41.72 0.14 4.84 1.290 0.089 0.101 525.34 601.00 449.69 3739.62 3952.12 0 0 0 12.33 15.55 13.76

3999.74 1030 586.71 1.84 0.00 524.7 600.3 449.1 3738.4 3953.4 7.87 13.30 593 4007.45 0.00 0.00 4.49 0.035 0.000 0.050 524.41 600.31 448.50 3759.88 2379.12 0 0 0 30.36 30.00 13.79

4055 end climb: SURFACE_DEPTH_REACHED

state 4055 begin surface coast

4065 end surface coast: CONTROL_FINISHED_OK

state 4065 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	0
DIVE	3	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	3	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	180	N_FILEKB	8	VBD_MAX	3950	MOTHERBOARD	6
D_ABORT	300	FILEMGR	0	C_VBD	2900	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	0.0020999999	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	0	LOGGERDEVICE2	40
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	DBDW	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_DIVE	60	CAPMAXSIZE	100000	LOITER_DBDW	0	COMPASS_DEVICE	66
T_MISSION	80	T_GPS	5	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	0	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	0	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	3130	FG_AHR_10V	0.335702	SEABIRD_C_G	-9.9463768
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	1.4183956	SEABIRD_C_H	1.1384684
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	PHONE_SUPPLY	2	SEABIRD_C_I	-0.0018041182
MAX_BUOY	150	PITCH_GAIN	25	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	0.02	ALTIM_PING_FIT	0	SC_XMITPROFILE	3.0
MASS	72301	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0	SC_NDIVE	1.0
NAV_MODE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	PM_PROFILE	7.0
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	071019,000309,7434.918,-14533.764,25,1.2,25,17.9	TGT_LATLONG	7434.900,-14533.500
_CALLS	2	TGT_RADIUS	2000.000
_SM_DEPTHo	1.82	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-73.0	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	071019,000628,7434.911,-14533.772,3,1.1,6,17.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	125.4,136,-27.2,-10.000,-30.00
TGT_NAME	1	D_GRID	180

FINISH	0.2,1.021363	_24V_AH	14.77,18.007
SM_CCo	4082.91,0.00,0.018,0,525.4,594.4,456.5,582.48	_10V_AH	14.90,0.000
SM_GC	2.61,0.00,9.48,0.39,0.018,0.066,0.074,525.4,594.4,456.5,455.6,2514.6,0,0,0,30.36,15.54,15.57	FG_AHR_24Vo	1.531
SUPER	59,71,254,1,0,0	FG_AHR_10Vo	0.368
IRIDIUM_FIX	7435.18,-14526.99,071019,000344	MEM	1156096,29,23188,48
TCM_TEMP	9.34	DATA_FILE_SIZE	19272,600
XPDR_PINGS	354	CAP_FILE_SIZE	214187,0
SC_FREEKB	3877408	SDSIZE	3918848,3908384
PM_FREEKB_00	62273600	SDFILEDIR	49,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	51.78	CURRENT	0.140, 16.3,1
TEMP	1.74	GPS	071019,011612,7435.010,-14532.562,27,1.5,62,17.9
INTERNAL_PRESSURE	8.46681

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	736	1562	17001.23	nil	0	0	0.00
Pitch_motor	26	430	166.69	nil	0	0	0.00
Roll_motor	104	148	229.75	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	88	420	549.00	nil	0	0	0.00
GPS	15	15	3.53	nil	0	0	0.00
Core	2093	11	368.13	SciCon	4062	37	2288.04
LPSleep	2044	2	85.30	PMAR	4066	128	7787.63
Compass	952	5	70.97	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
11.98	2	-63.62	-1.22	0.00	526.0	598.5	453.4	471.0	2519.3	0.00	0.00	0	80.69	66.54	0.00	0.00	0.005	0.000	0.000	1540.19	1682.38	1398.00	470.81	2522.06	0	0	0	13.94	30.00	30.00
80.93	295	-133.23	-1.37	80.00	1541.7	1686.3	1397.1	471.1	2518.8	3.61	-2.64	7	158.34	55.58	10.66	4.19	0.005	0.430	0.096	3444.47	3644.25	3244.69	2672.50	3953.62	0	0	0	13.88	15.56	15.67
345.29	1156	-133.23	-1.52	0.00	3446.6	3640.0	3253.2	2673.4	3954.6	68.05	-19.80	60	352.81	0.00	0.00	4.09	0.000	0.000	0.050	3449.16	3641.12	3257.19	2673.75	2476.38	0	0	0	30.00	30.00	15.79
531.34	645	-133.23	-1.65	-80.00	3444.8	3636.1	3253.4	2673.1	2466.6	96.46	-14.41	79	542.79	0.00	0.23	4.84	0.000	0.089	0.079	3446.75	3636.06	3257.44	2576.25	791.50	0	0	0	30.00	15.82	13.80
721.38	1028	-133.23	-1.65	0.00	3442.4	3631.2	3253.6	2575.5	791.4	133.17	-19.33	117	732.93	0.00	0.00	4.89	0.000	0.000	0.059	3443.19	3630.56	3255.81	2554.06	2509.94	0	0	0	30.00	30.00	15.80
911.28	517	-133.23	-1.65	-80.00	3443.1	3631.9	3254.4	2554.6	2510.2	168.62	-18.48	137	923.00	0.00	0.17	4.97	0.000	0.277	0.077	3444.72	3632.50	3256.94	2611.88	792.12	0	0	0	30.00	15.76	14.01
982	end dive: TARGET_DEPTH_EXCEEDED
state	982	begin apogee
987.57	3	0.00	-0.20	0.00	3443.1	3628.9	3257.3	2591.4	2411.8	180.47	-16.16	151	1099.89	108.00	1.64	0.10	1.562	0.231	0.148	2901.94	3039.56	2764.31	3065.69	2361.81	0	0	0	12.28	15.75	15.32
1102	end apogee: CONTROL_FINISHED_OK
state	1102	begin climb
1101.75	263	133.23	1.37	80.00	2896.6	3032.9	2760.2	3068.0	2361.1	184.57	0.00	162	1216.01	105.33	1.43	4.86	1.459	0.057	0.092	2353.09	2459.62	2246.56	3583.56	3955.25	0	0	0	12.25	15.40	13.58
1358.85	1159	133.23	0.90	0.00	2344.2	2452.9	2235.6	3582.8	3954.5	181.57	11.25	212	1370.47	0.00	0.85	4.45	0.000	0.381	0.044	2343.84	2454.25	2233.44	3415.31	2365.44	0	0	0	30.00	15.36	15.48
1549.00	422	166.09	0.86	80.00	2340.3	2454.4	2226.1	3415.0	2365.8	167.85	6.52	232	1585.30	26.90	0.00	4.76	1.494	0.000	0.094	2219.03	2340.19	2097.88	3411.19	3952.19	0	0	0	12.30	30.00	15.41
1602.95	1191	182.05	0.71	0.00	2217.2	2337.5	2096.8	3411.2	3953.6	163.52	8.31	243	1626.15	15.07	0.32	4.45	1.402	0.332	0.044	2154.59	2280.69	2028.50	3352.25	2365.44	0	0	0	12.26	15.40	15.51
1803.99	34	200.47	0.75	0.00	2148.8	2279.1	2018.4	3351.9	2364.7	146.67	8.05	265	1824.90	16.49	0.00	0.00	1.360	0.000	0.000	2080.50	2214.06	1946.94	3351.81	2364.81	0	0	0	12.30	30.00	30.00
2003.84	679	225.82	0.84	-80.00	2075.2	2211.2	1939.2	3350.9	2364.7	131.19	7.32	285	2036.36	22.31	0.14	4.89	1.369	0.099	0.075	1975.59	2111.62	1839.56	3438.62	689.88	0	0	0	12.34	15.65	14.03
2068.24	1157	225.82	0.80	0.00	1974.3	2109.6	1839.1	3436.8	689.9	125.13	10.18	298	2077.11	0.00	0.22	4.92	0.000	0.308	0.053	1974.19	2110.12	1838.25	3381.12	2417.31	0	0	0	30.00	15.51	15.57
2259.92	679	251.75	0.90	-80.00	1970.7	2109.6	1831.7	3381.1	2416.0	109.59	7.26	318	2292.50	22.66	0.10	5.06	1.369	0.110	0.074	1871.53	2011.25	1731.81	3453.81	689.31	0	0	0	12.37	15.66	13.98
2424.49	1063	259.67	0.91	0.00	1867.3	2004.6	1730.0	3454.2	689.6	95.16	9.16	351	2442.54	8.70	0.12	4.91	1.174	0.299	0.053	1839.09	1979.19	1699.00	3417.31	2415.06	0	0	0	12.27	15.55	15.56
2620.50	679	303.64	1.06	-80.00	1835.4	1977.5	1693.3	3416.8	2416.2	82.17	5.35	372	2667.20	37.79	0.16	5.07	1.368	0.091	0.074	1662.19	1808.88	1515.50	3505.88	690.88	0	0	0	12.33	15.67	14.00
2750.46	1063	308.90	1.07	0.00	1656.5	1798.8	1514.1	3505.8	690.9	72.15	9.44	398	2766.59	6.50	0.16	4.93	1.028	0.285	0.054	1642.41	1787.25	1497.56	3467.50	2414.56	0	0	0	12.26	15.50	15.59
2950.56	679	376.97	1.29	-80.00	1635.4	1781.4	1489.4	3467.2	2413.2	63.51	2.80	420	3018.90	59.46	0.22	5.09	1.347	0.076	0.073	1362.47	1503.94	1221.00	3581.50	689.44	0	0	0	12.30	15.64	13.96
3106.90	1062	434.97	1.42	0.00	1356.8	1493.8	1219.9	3581.4	689.7	59.01	3.87	451	3165.70	50.04	0.00	4.93	1.351	0.000	0.050	1127.25	1242.75	1011.75	3577.69	2417.31	0	0	0	12.29	30.00	13.85
3341.71	423	471.19	1.57	80.00	1120.0	1231.7	1008.4	3577.4	2418.2	45.65	6.17	480	3384.21	32.07	0.16	4.62	1.302	0.085	0.100	978.06	1079.81	876.31	3650.44	3951.25	0	0	0	12.29	15.54	13.78
3606.20	1190	539.62	1.63	0.00	974.1	1072.0	876.2	3651.9	3951.1	32.04	2.76	533	3676.23	61.73	0.00	4.43	1.302	0.000	0.047	701.22	782.69	619.75	3671.88	2363.56	0	0	0	12.26	30.00	13.98
3859.36	423	586.71	1.84	80.00	697.9	781.8	614.1	3671.9	2363.2	23.19	5.02	565	3911.81	41.72	0.14	4.84	1.290	0.089	0.101	525.34	601.00	449.69	3739.62	3952.12	0	0	0	12.33	15.55	13.76
3999.74	1030	586.71	1.84	0.00	524.7	600.3	449.1	3738.4	3953.4	7.87	13.30	593	4007.45	0.00	0.00	4.49	0.035	0.000	0.050	524.41	600.31	448.50	3759.88	2379.12	0	0	0	30.36	30.00	13.79
4055	end climb: SURFACE_DEPTH_REACHED
state	4055	begin surface coast
4065	end surface coast: CONTROL_FINISHED_OK
state	4065	begin surface