Glider dive log

AMOS Oct19 * SG231 * Dive index * Mission links * Dive 30 * 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 30 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 1.3814723 SEABIRD_C_G -9.9463768

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 4.8190155 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 1.3814723 PITCH_CNV 0.0031300001 SEABIRD_T_I 2.1747219e-05

ALTIM_PULSE 3 FG_AHR_24V 4.8190155 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 30 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 091019,143725,7434.373,-14555.169,6,1.8,13,17.8 TGT_LATLONG 7300.000,-14820.200

_CALLS 2 TGT_RADIUS 2000.000

_SM_DEPTHo 1.78 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -81.5 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 091019,144510,7434.356,-14555.153,24,1.4,25,17.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.233 MHEAD_RNG_PITCHd_Wd 163.7,191586,-19.9,-10.000,-23.25

TGT_NAME a D_GRID 180

Post-dive calculations and measurements:

FINISH -0.0,1.025946 _24V_AH 14.11,32.637

SM_CCo 3918.75,4.36,0.662,0,526.0,572.3,479.8,471.95 _10V_AH 15.00,0.000

SM_GC 1.88,0.00,8.07,0.40,0.000,0.072,0.092,519.4,589.0,449.8,459.4,2510.8,0,0,0,30.00,15.87,15.88 FG_AHR_24Vo 4.924

SUPER 51,71,254,1,0,0 FG_AHR_10Vo 1.412

IRIDIUM_FIX 7434.09,-14549.46,091019,143918 MEM 1156084,29,23200,48

TCM_TEMP 8.40 DATA_FILE_SIZE 12939,503

XPDR_PINGS 304 CAP_FILE_SIZE 197749,0

SC_FREEKB 3867104 SDSIZE 3918848,3901632

PM_FREEKB_00 61070400 SDFILEDIR 230,1

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

HUMID 52.05 CURRENT 0.230, 5.1,1

TEMP -0.19 GPS 091019,162610,7434.774,-14554.638,37,1.3,42,17.8

INTERNAL_PRESSURE 8.38267

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 594 2784 23347.82 nil 0 0 0.00

Pitch_motor 21 431 129.17 nil 0 0 0.00

Roll_motor 116 149 246.87 nil 0 0 0.00

Iridium 284 191 767.90 nil 0 0 0.00

Transponder_ping 76 420 450.39 nil 0 0 0.00

GPS 34 15 7.83 nil 0 0 0.00

Core 2310 11 409.01 SciCon 3635 37 2057.72

LPSleep 4117 2 172.92 PMAR 3635 128 7015.13

Compass 842 5 63.15 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 0.00 521.3 582.2 460.3 458.8 2463.5 0.00 0.00 0 34.87 20.65 0.00 0.00 0.006 0.000 0.000 854.81 927.25 782.38 458.69 2463.31 0 0 0 14.21 30.00 30.00

35.13 263 -116.79 -1.09 80.00 855.7 927.6 783.8 459.1 2462.1 3.16 -9.78 2 143.56 86.93 10.27 4.43 0.005 0.431 0.104 2927.44 3120.00 2734.88 2580.62 3953.19 0 0 0 14.18 15.55 15.67

200.44 1028 -116.79 -1.09 0.00 2931.2 3119.1 2743.4 2582.5 3953.9 19.90 -10.16 35 208.13 0.00 0.00 4.18 0.000 0.000 0.057 2932.50 3120.00 2745.00 2598.69 2478.31 0 0 0 30.00 30.00 15.74

386.58 0 -116.79 -1.09 0.00 2930.9 3117.7 2744.2 2599.4 2469.4 38.38 -9.94 54 389.46 0.00 0.00 0.00 0.000 0.000 0.000 2931.81 3120.25 2743.38 2598.31 2467.88 0 0 0 30.00 30.00 30.00

566.52 516 -116.79 -1.09 -80.00 2930.1 3116.4 2743.7 2598.6 2470.0 56.52 -10.04 72 577.95 0.00 0.00 4.91 0.000 0.000 0.083 2930.03 3115.19 2744.88 2618.19 791.38 0 0 0 30.00 30.00 15.74

580.56 1028 -116.79 -1.09 0.00 2928.6 3113.6 2743.6 2618.1 791.6 58.06 -10.06 75 589.28 0.00 0.00 4.95 0.000 0.000 0.062 2928.56 3112.62 2744.50 2596.31 2509.56 0 0 0 30.00 30.00 15.67

772.15 516 -116.79 -1.09 -80.00 2928.4 3111.8 2745.1 2597.6 2509.8 76.85 -9.97 95 783.66 0.00 0.00 5.04 0.000 0.000 0.082 2930.22 3113.38 2747.06 2595.31 789.62 0 0 0 30.00 30.00 15.72

786.26 1028 -116.79 -1.09 0.00 2927.8 3109.5 2746.0 2596.9 790.4 78.30 -9.78 98 794.97 0.00 0.00 4.94 0.000 0.000 0.060 2929.44 3112.69 2746.19 2573.75 2510.06 0 0 0 30.00 30.00 15.75

977.82 516 -116.79 -1.09 -80.00 2928.3 3111.3 2745.2 2575.9 2509.3 97.17 -10.00 118 989.32 0.00 0.00 5.05 0.000 0.000 0.081 2928.44 3110.69 2746.19 2586.75 791.31 0 0 0 30.00 30.00 15.63

1031.85 1028 -116.79 -1.09 0.00 2925.9 3107.8 2744.0 2588.2 791.0 102.69 -10.00 129 1040.62 0.00 0.00 4.95 0.000 0.000 0.062 2927.41 3109.62 2745.19 2565.69 2511.81 0 0 0 30.00 30.00 15.75

1223.80 517 -116.79 -1.09 -80.00 2926.2 3107.9 2744.6 2566.8 2509.8 121.78 -10.23 149 1235.22 0.00 0.14 5.06 0.000 0.293 0.082 2928.09 3109.62 2746.56 2622.88 792.75 0 0 0 30.00 15.63 15.71

1283.91 1028 -116.79 -1.09 0.00 2926.8 3107.1 2746.6 2621.6 792.4 127.71 -9.67 161 1294.86 0.00 0.00 4.96 0.000 0.000 0.064 2928.16 3109.62 2746.69 2599.75 2508.19 0 0 0 30.00 30.00 15.73

1473.50 516 -116.79 -1.09 -80.00 2926.3 3107.1 2745.5 2600.4 2508.2 146.34 -9.81 181 1485.08 0.00 0.00 5.05 0.000 0.000 0.082 2928.03 3109.19 2746.88 2611.25 793.06 0 0 0 30.00 30.00 15.73

1603.45 1028 -116.79 -1.09 0.00 2925.4 3106.4 2744.5 2612.7 792.6 159.25 -10.21 207 1614.88 0.00 0.00 4.94 0.000 0.000 0.063 2927.34 3107.00 2747.69 2589.62 2507.94 0 0 0 30.00 30.00 15.73

1793.51 516 -116.79 -1.09 -80.00 2926.1 3106.4 2745.8 2590.1 2509.3 178.33 -10.18 227 1805.08 0.00 0.00 5.05 0.000 0.000 0.081 2925.53 3106.38 2744.69 2604.12 792.44 0 0 0 30.00 30.00 15.74

1807.66 1028 -116.79 -1.09 0.00 2926.2 3106.9 2745.5 2605.3 792.9 179.82 -10.18 230 1815.22 0.00 0.00 4.53 0.000 0.000 0.057 2928.06 3107.31 2748.81 2585.69 2383.19 0 0 0 30.00 30.00 15.77

1815 end dive: TARGET_DEPTH_EXCEEDED

state 1815 begin apogee

1816.57 3 0.00 -0.19 0.00 2925.6 3104.8 2746.4 2584.2 2413.6 180.35 -10.08 231 1922.20 101.66 1.10 0.10 1.642 0.253 0.150 2448.91 2582.06 2315.75 2891.50 2367.44 0 0 0 12.56 15.68 15.23

1924 end apogee: CONTROL_FINISHED_OK

state 1924 begin climb

1923.93 263 116.79 1.09 80.00 2446.3 2581.1 2311.5 2891.9 2367.3 170.22 0.00 241 2033.67 97.64 1.30 5.08 1.589 0.143 0.118 1969.62 2078.25 1861.00 3303.31 3951.75 0 0 0 12.28 15.26 14.95

2205.57 1030 116.79 1.09 0.00 1961.2 2071.6 1850.8 3301.3 3951.8 141.12 9.85 296 2213.37 0.00 0.00 4.57 0.000 0.000 0.054 1962.00 2072.69 1851.31 3322.94 2380.19 0 0 0 30.00 30.00 15.30

2391.60 518 116.79 1.09 -80.00 1958.6 2073.1 1844.0 3320.7 2374.9 122.19 10.27 315 2403.19 0.00 0.00 5.03 0.000 0.000 0.085 1959.47 2073.69 1845.25 3344.12 691.06 0 0 0 30.00 30.00 15.47

2521.47 1031 116.79 1.09 0.00 1959.1 2074.3 1843.9 3342.6 690.9 109.28 10.08 341 2533.15 0.00 0.19 5.03 0.000 0.254 0.063 1959.22 2074.88 1843.56 3289.75 2409.50 0 0 0 30.00 15.44 15.52

2711.58 262 116.79 1.09 80.00 1956.6 2072.9 1840.2 3291.3 2411.4 90.40 10.00 361 2719.40 0.00 0.00 4.70 0.000 0.000 0.113 1957.38 2074.38 1840.38 3291.56 3952.81 0 0 0 30.00 30.00 15.53

2847.50 1030 116.79 1.09 0.00 1956.2 2072.8 1839.5 3290.5 3951.6 76.93 9.87 388 2855.04 0.00 0.00 4.50 0.000 0.000 0.054 1955.59 2072.19 1839.00 3309.94 2378.75 0 0 0 30.00 30.00 15.56

3032.24 518 116.79 1.09 -80.00 1956.0 2074.5 1837.4 3310.8 2380.2 58.45 10.19 407 3040.17 0.00 0.00 4.98 0.000 0.000 0.087 1954.44 2073.75 1835.12 3331.75 693.25 0 0 0 30.00 30.00 15.59

3252.12 1031 116.79 1.09 0.00 1955.6 2074.6 1836.7 3333.2 693.5 36.50 9.89 451 3260.82 0.00 0.14 4.98 0.000 0.251 0.062 1955.38 2074.12 1836.62 3291.06 2412.69 0 0 0 30.00 15.58 15.60

3443.83 262 116.79 1.09 80.00 1955.1 2075.2 1834.9 3290.4 2411.8 17.63 10.13 471 3451.51 0.00 0.00 4.66 0.000 0.000 0.114 1956.34 2076.19 1836.50 3288.50 3949.44 0 0 0 30.00 30.00 15.63

3579.45 1030 116.79 1.09 0.00 1954.7 2074.4 1834.9 3291.0 3950.8 3.90 10.00 498 3587.15 0.00 0.00 4.46 0.000 0.000 0.053 1953.22 2074.50 1831.94 3309.56 2379.25 0 0 0 30.00 30.00 15.63

3604 end climb: SURFACE_DEPTH_REACHED

state 3604 begin surface coast

3626 end surface coast: CONTROL_FINISHED_OK

state 3626 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	30	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	1.3814723	SEABIRD_C_G	-9.9463768
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	4.8190155	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	091019,143725,7434.373,-14555.169,6,1.8,13,17.8	TGT_LATLONG	7300.000,-14820.200
_CALLS	2	TGT_RADIUS	2000.000
_SM_DEPTHo	1.78	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-81.5	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	091019,144510,7434.356,-14555.153,24,1.4,25,17.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.233	MHEAD_RNG_PITCHd_Wd	163.7,191586,-19.9,-10.000,-23.25
TGT_NAME	a	D_GRID	180

FINISH	-0.0,1.025946	_24V_AH	14.11,32.637
SM_CCo	3918.75,4.36,0.662,0,526.0,572.3,479.8,471.95	_10V_AH	15.00,0.000
SM_GC	1.88,0.00,8.07,0.40,0.000,0.072,0.092,519.4,589.0,449.8,459.4,2510.8,0,0,0,30.00,15.87,15.88	FG_AHR_24Vo	4.924
SUPER	51,71,254,1,0,0	FG_AHR_10Vo	1.412
IRIDIUM_FIX	7434.09,-14549.46,091019,143918	MEM	1156084,29,23200,48
TCM_TEMP	8.40	DATA_FILE_SIZE	12939,503
XPDR_PINGS	304	CAP_FILE_SIZE	197749,0
SC_FREEKB	3867104	SDSIZE	3918848,3901632
PM_FREEKB_00	61070400	SDFILEDIR	230,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0
HUMID	52.05	CURRENT	0.230, 5.1,1
TEMP	-0.19	GPS	091019,162610,7434.774,-14554.638,37,1.3,42,17.8
INTERNAL_PRESSURE	8.38267

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	594	2784	23347.82	nil	0	0	0.00
Pitch_motor	21	431	129.17	nil	0	0	0.00
Roll_motor	116	149	246.87	nil	0	0	0.00
Iridium	284	191	767.90	nil	0	0	0.00
Transponder_ping	76	420	450.39	nil	0	0	0.00
GPS	34	15	7.83	nil	0	0	0.00
Core	2310	11	409.01	SciCon	3635	37	2057.72
LPSleep	4117	2	172.92	PMAR	3635	128	7015.13
Compass	842	5	63.15	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	521.3	582.2	460.3	458.8	2463.5	0.00	0.00	0	34.87	20.65	0.00	0.00	0.006	0.000	0.000	854.81	927.25	782.38	458.69	2463.31	0	0	0	14.21	30.00	30.00
35.13	263	-116.79	-1.09	80.00	855.7	927.6	783.8	459.1	2462.1	3.16	-9.78	2	143.56	86.93	10.27	4.43	0.005	0.431	0.104	2927.44	3120.00	2734.88	2580.62	3953.19	0	0	0	14.18	15.55	15.67
200.44	1028	-116.79	-1.09	0.00	2931.2	3119.1	2743.4	2582.5	3953.9	19.90	-10.16	35	208.13	0.00	0.00	4.18	0.000	0.000	0.057	2932.50	3120.00	2745.00	2598.69	2478.31	0	0	0	30.00	30.00	15.74
386.58	0	-116.79	-1.09	0.00	2930.9	3117.7	2744.2	2599.4	2469.4	38.38	-9.94	54	389.46	0.00	0.00	0.00	0.000	0.000	0.000	2931.81	3120.25	2743.38	2598.31	2467.88	0	0	0	30.00	30.00	30.00
566.52	516	-116.79	-1.09	-80.00	2930.1	3116.4	2743.7	2598.6	2470.0	56.52	-10.04	72	577.95	0.00	0.00	4.91	0.000	0.000	0.083	2930.03	3115.19	2744.88	2618.19	791.38	0	0	0	30.00	30.00	15.74
580.56	1028	-116.79	-1.09	0.00	2928.6	3113.6	2743.6	2618.1	791.6	58.06	-10.06	75	589.28	0.00	0.00	4.95	0.000	0.000	0.062	2928.56	3112.62	2744.50	2596.31	2509.56	0	0	0	30.00	30.00	15.67
772.15	516	-116.79	-1.09	-80.00	2928.4	3111.8	2745.1	2597.6	2509.8	76.85	-9.97	95	783.66	0.00	0.00	5.04	0.000	0.000	0.082	2930.22	3113.38	2747.06	2595.31	789.62	0	0	0	30.00	30.00	15.72
786.26	1028	-116.79	-1.09	0.00	2927.8	3109.5	2746.0	2596.9	790.4	78.30	-9.78	98	794.97	0.00	0.00	4.94	0.000	0.000	0.060	2929.44	3112.69	2746.19	2573.75	2510.06	0	0	0	30.00	30.00	15.75
977.82	516	-116.79	-1.09	-80.00	2928.3	3111.3	2745.2	2575.9	2509.3	97.17	-10.00	118	989.32	0.00	0.00	5.05	0.000	0.000	0.081	2928.44	3110.69	2746.19	2586.75	791.31	0	0	0	30.00	30.00	15.63
1031.85	1028	-116.79	-1.09	0.00	2925.9	3107.8	2744.0	2588.2	791.0	102.69	-10.00	129	1040.62	0.00	0.00	4.95	0.000	0.000	0.062	2927.41	3109.62	2745.19	2565.69	2511.81	0	0	0	30.00	30.00	15.75
1223.80	517	-116.79	-1.09	-80.00	2926.2	3107.9	2744.6	2566.8	2509.8	121.78	-10.23	149	1235.22	0.00	0.14	5.06	0.000	0.293	0.082	2928.09	3109.62	2746.56	2622.88	792.75	0	0	0	30.00	15.63	15.71
1283.91	1028	-116.79	-1.09	0.00	2926.8	3107.1	2746.6	2621.6	792.4	127.71	-9.67	161	1294.86	0.00	0.00	4.96	0.000	0.000	0.064	2928.16	3109.62	2746.69	2599.75	2508.19	0	0	0	30.00	30.00	15.73
1473.50	516	-116.79	-1.09	-80.00	2926.3	3107.1	2745.5	2600.4	2508.2	146.34	-9.81	181	1485.08	0.00	0.00	5.05	0.000	0.000	0.082	2928.03	3109.19	2746.88	2611.25	793.06	0	0	0	30.00	30.00	15.73
1603.45	1028	-116.79	-1.09	0.00	2925.4	3106.4	2744.5	2612.7	792.6	159.25	-10.21	207	1614.88	0.00	0.00	4.94	0.000	0.000	0.063	2927.34	3107.00	2747.69	2589.62	2507.94	0	0	0	30.00	30.00	15.73
1793.51	516	-116.79	-1.09	-80.00	2926.1	3106.4	2745.8	2590.1	2509.3	178.33	-10.18	227	1805.08	0.00	0.00	5.05	0.000	0.000	0.081	2925.53	3106.38	2744.69	2604.12	792.44	0	0	0	30.00	30.00	15.74
1807.66	1028	-116.79	-1.09	0.00	2926.2	3106.9	2745.5	2605.3	792.9	179.82	-10.18	230	1815.22	0.00	0.00	4.53	0.000	0.000	0.057	2928.06	3107.31	2748.81	2585.69	2383.19	0	0	0	30.00	30.00	15.77
1815	end dive: TARGET_DEPTH_EXCEEDED
state	1815	begin apogee
1816.57	3	0.00	-0.19	0.00	2925.6	3104.8	2746.4	2584.2	2413.6	180.35	-10.08	231	1922.20	101.66	1.10	0.10	1.642	0.253	0.150	2448.91	2582.06	2315.75	2891.50	2367.44	0	0	0	12.56	15.68	15.23
1924	end apogee: CONTROL_FINISHED_OK
state	1924	begin climb
1923.93	263	116.79	1.09	80.00	2446.3	2581.1	2311.5	2891.9	2367.3	170.22	0.00	241	2033.67	97.64	1.30	5.08	1.589	0.143	0.118	1969.62	2078.25	1861.00	3303.31	3951.75	0	0	0	12.28	15.26	14.95
2205.57	1030	116.79	1.09	0.00	1961.2	2071.6	1850.8	3301.3	3951.8	141.12	9.85	296	2213.37	0.00	0.00	4.57	0.000	0.000	0.054	1962.00	2072.69	1851.31	3322.94	2380.19	0	0	0	30.00	30.00	15.30
2391.60	518	116.79	1.09	-80.00	1958.6	2073.1	1844.0	3320.7	2374.9	122.19	10.27	315	2403.19	0.00	0.00	5.03	0.000	0.000	0.085	1959.47	2073.69	1845.25	3344.12	691.06	0	0	0	30.00	30.00	15.47
2521.47	1031	116.79	1.09	0.00	1959.1	2074.3	1843.9	3342.6	690.9	109.28	10.08	341	2533.15	0.00	0.19	5.03	0.000	0.254	0.063	1959.22	2074.88	1843.56	3289.75	2409.50	0	0	0	30.00	15.44	15.52
2711.58	262	116.79	1.09	80.00	1956.6	2072.9	1840.2	3291.3	2411.4	90.40	10.00	361	2719.40	0.00	0.00	4.70	0.000	0.000	0.113	1957.38	2074.38	1840.38	3291.56	3952.81	0	0	0	30.00	30.00	15.53
2847.50	1030	116.79	1.09	0.00	1956.2	2072.8	1839.5	3290.5	3951.6	76.93	9.87	388	2855.04	0.00	0.00	4.50	0.000	0.000	0.054	1955.59	2072.19	1839.00	3309.94	2378.75	0	0	0	30.00	30.00	15.56
3032.24	518	116.79	1.09	-80.00	1956.0	2074.5	1837.4	3310.8	2380.2	58.45	10.19	407	3040.17	0.00	0.00	4.98	0.000	0.000	0.087	1954.44	2073.75	1835.12	3331.75	693.25	0	0	0	30.00	30.00	15.59
3252.12	1031	116.79	1.09	0.00	1955.6	2074.6	1836.7	3333.2	693.5	36.50	9.89	451	3260.82	0.00	0.14	4.98	0.000	0.251	0.062	1955.38	2074.12	1836.62	3291.06	2412.69	0	0	0	30.00	15.58	15.60
3443.83	262	116.79	1.09	80.00	1955.1	2075.2	1834.9	3290.4	2411.8	17.63	10.13	471	3451.51	0.00	0.00	4.66	0.000	0.000	0.114	1956.34	2076.19	1836.50	3288.50	3949.44	0	0	0	30.00	30.00	15.63
3579.45	1030	116.79	1.09	0.00	1954.7	2074.4	1834.9	3291.0	3950.8	3.90	10.00	498	3587.15	0.00	0.00	4.46	0.000	0.000	0.053	1953.22	2074.50	1831.94	3309.56	2379.25	0	0	0	30.00	30.00	15.63
3604	end climb: SURFACE_DEPTH_REACHED
state	3604	begin surface coast
3626	end surface coast: CONTROL_FINISHED_OK
state	3626	begin surface