Glider dive log

AMOS Oct19 * SG231 * Dive index * Mission links * Dive 31 * 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 31 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 1.4129392 SEABIRD_C_G -9.9463768

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 4.9297209 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 1.4129392 PITCH_CNV 0.0031300001 SEABIRD_T_I 2.1747219e-05

ALTIM_PULSE 3 FG_AHR_24V 4.9297209 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 31 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 091019,162610,7434.774,-14554.638,37,1.3,42,17.8 TGT_LATLONG 7300.000,-14820.200

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.65 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -81.9 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 091019,163148,7434.766,-14554.620,4,1.3,9,17.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.233 MHEAD_RNG_PITCHd_Wd 167.5,192396,-19.9,-10.000,-23.25

TGT_NAME a D_GRID 180

Post-dive calculations and measurements:

FINISH -0.0,1.025947 _24V_AH 14.11,33.046

SM_CCo 3898.96,4.54,0.696,0,526.1,570.1,482.0,471.94 _10V_AH 15.00,0.000

SM_GC 1.94,0.00,7.95,0.40,0.000,0.062,0.083,519.2,586.8,451.8,460.8,2512.8,0,0,0,30.00,15.88,15.89 FG_AHR_24Vo 5.034

SUPER 59,127,254,1,0,0 FG_AHR_10Vo 1.444

IRIDIUM_FIX 7433.54,-14600.68,091019,144125 MEM 1156032,30,23232,48

TCM_TEMP 8.39 DATA_FILE_SIZE 12923,497

XPDR_PINGS 259 CAP_FILE_SIZE 193475,0

SC_FREEKB 3866656 SDSIZE 3918848,3901408

PM_FREEKB_00 61044928 SDFILEDIR 237,1

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

HUMID 51.88 CURRENT 0.242, 12.1,1

TEMP -0.20 GPS 091019,181401,7435.219,-14553.783,54,0.9,55,17.8

INTERNAL_PRESSURE 8.38436

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 596 2784 23434.46 nil 0 0 0.00

Pitch_motor 21 440 132.39 nil 0 0 0.00

Roll_motor 111 150 238.37 nil 0 0 0.00

Iridium 232 192 630.35 nil 0 0 0.00

Transponder_ping 64 420 383.72 nil 0 0 0.00

GPS 18 15 4.14 nil 0 0 0.00

Core 2234 11 395.47 SciCon 3614 37 2053.47

LPSleep 4126 2 173.31 PMAR 3615 128 6976.32

Compass 842 5 63.18 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

12.11 2 -116.79 -1.09 0.00 521.4 582.8 460.0 457.7 2466.8 0.00 0.00 0 35.02 20.76 0.00 0.00 0.006 0.000 0.000 863.03 944.88 781.19 457.56 2471.81 0 0 0 14.26 30.00 30.00

35.29 263 -116.79 -1.09 80.00 863.5 946.2 780.7 457.5 2469.9 3.25 -10.11 2 143.76 87.90 10.48 4.43 0.005 0.441 0.104 2927.22 3116.12 2738.31 2581.12 3953.56 0 0 0 14.21 15.54 15.67

190.65 1028 -116.79 -1.09 0.00 2931.3 3115.2 2747.3 2581.8 3952.4 19.07 -9.89 33 198.30 0.00 0.00 4.18 0.000 0.000 0.057 2933.03 3117.94 2748.12 2598.75 2480.75 0 0 0 30.00 30.00 15.73

376.63 0 -116.79 -1.09 0.00 2931.8 3116.1 2747.5 2599.6 2471.6 37.47 -9.92 52 379.65 0.00 0.00 0.00 0.000 0.000 0.000 2932.84 3118.19 2747.50 2599.25 2471.75 0 0 0 30.00 30.00 30.00

556.64 516 -116.79 -1.09 -80.00 2930.3 3113.4 2747.2 2600.3 2471.2 55.15 -9.81 70 564.49 0.00 0.00 4.93 0.000 0.000 0.084 2929.16 3112.94 2745.38 2612.06 791.25 0 0 0 30.00 30.00 15.74

566.39 1028 -116.79 -1.09 0.00 2930.6 3112.1 2749.1 2611.9 791.4 56.24 -9.93 72 575.19 0.00 0.00 4.93 0.000 0.000 0.060 2929.19 3110.31 2748.06 2590.50 2511.44 0 0 0 30.00 30.00 15.75

758.27 516 -116.79 -1.09 -80.00 2929.5 3111.8 2747.2 2591.6 2509.8 75.48 -10.23 92 769.57 0.00 0.00 5.04 0.000 0.000 0.082 2930.47 3111.44 2749.50 2602.88 792.69 0 0 0 30.00 30.00 15.69

832.08 1028 -116.79 -1.09 0.00 2927.4 3107.6 2747.2 2605.8 793.0 82.99 -10.02 107 840.91 0.00 0.00 4.95 0.000 0.000 0.063 2926.66 3107.19 2746.12 2582.38 2509.06 0 0 0 30.00 30.00 15.72

1023.71 516 -116.79 -1.09 -80.00 2928.2 3108.2 2748.1 2583.6 2510.0 102.02 -9.83 127 1035.28 0.00 0.00 5.05 0.000 0.000 0.081 2928.50 3108.81 2748.19 2595.19 791.25 0 0 0 30.00 30.00 15.71

1073.71 1028 -116.79 -1.09 0.00 2928.3 3107.8 2748.9 2594.8 791.4 107.06 -10.25 137 1081.62 0.00 0.00 4.95 0.000 0.000 0.062 2925.47 3104.56 2746.38 2573.31 2510.75 0 0 0 30.00 30.00 15.72

1259.11 516 -116.79 -1.09 -80.00 2927.0 3106.7 2747.3 2574.1 2511.0 125.17 -9.96 156 1270.38 0.00 0.00 5.05 0.000 0.000 0.081 2926.94 3106.06 2747.81 2591.12 791.38 0 0 0 30.00 30.00 15.73

1303.08 1028 -116.79 -1.09 0.00 2926.5 3105.6 2747.4 2591.7 791.8 129.70 -10.08 165 1311.52 0.00 0.00 4.93 0.000 0.000 0.061 2926.44 3105.50 2747.38 2570.25 2509.75 0 0 0 30.00 30.00 15.73

1494.86 517 -116.79 -1.09 -80.00 2926.3 3105.0 2747.6 2570.7 2510.4 148.76 -9.71 185 1506.42 0.00 0.12 5.05 0.000 0.300 0.083 2926.06 3104.75 2747.38 2624.75 793.25 0 0 0 30.00 15.67 15.75

1614.34 1028 -116.79 -1.09 0.00 2926.7 3104.7 2748.6 2624.1 792.8 160.99 -9.91 209 1622.27 0.00 0.00 4.95 0.000 0.000 0.064 2925.50 3104.75 2746.25 2602.94 2509.12 0 0 0 30.00 30.00 15.73

1799.74 516 -116.79 -1.09 -80.00 2926.0 3104.6 2747.4 2603.1 2508.8 179.93 -10.03 228 1804.85 0.00 0.00 2.57 0.000 0.000 0.069 2928.84 3107.69 2750.00 2606.06 1623.62 0 0 0 30.00 30.00 15.75

1805 end dive: TARGET_DEPTH_EXCEEDED

state 1805 begin apogee

1808.61 3 0.00 -0.19 0.00 2925.9 3103.7 2748.1 2595.6 2412.1 180.42 -10.07 229 1915.73 101.83 1.06 0.10 1.648 0.247 0.151 2446.22 2581.06 2311.38 2891.19 2366.38 0 0 0 12.52 15.66 15.21

1918 end apogee: CONTROL_FINISHED_OK

state 1918 begin climb

1917.57 263 116.79 1.09 80.00 2445.8 2580.6 2311.0 2892.9 2366.5 169.74 0.00 240 2027.15 97.86 1.32 5.07 1.590 0.146 0.117 1970.94 2079.56 1862.31 3303.56 3949.94 0 0 0 12.30 15.26 14.95

2175.05 1030 116.79 1.09 0.00 1961.5 2069.9 1853.0 3302.6 3952.5 143.17 9.93 290 2182.80 0.00 0.00 4.56 0.000 0.000 0.053 1961.09 2068.62 1853.56 3322.94 2380.56 0 0 0 30.00 30.00 15.33

2360.07 518 116.79 1.09 -80.00 1958.3 2069.8 1846.9 3322.0 2376.1 124.87 10.09 309 2371.41 0.00 0.00 5.05 0.000 0.000 0.086 1959.62 2072.25 1847.00 3344.44 690.69 0 0 0 30.00 30.00 15.39

2500.17 1031 116.79 1.09 0.00 1958.5 2070.5 1846.4 3345.4 690.6 111.06 9.82 337 2511.55 0.00 0.19 5.03 0.000 0.258 0.063 1957.88 2070.62 1845.12 3290.19 2410.44 0 0 0 30.00 15.43 15.47

2690.42 262 116.79 1.09 80.00 1956.5 2070.6 1842.5 3291.0 2410.2 91.69 10.07 357 2701.61 0.00 0.00 4.71 0.000 0.000 0.114 1957.47 2071.44 1843.50 3291.88 3950.94 0 0 0 30.00 30.00 13.94

2834.19 1030 116.79 1.09 0.00 1956.5 2071.1 1841.9 3291.8 3951.8 77.21 10.21 386 2842.06 0.00 0.00 4.49 0.000 0.000 0.053 1957.12 2071.69 1842.56 3309.06 2379.69 0 0 0 30.00 30.00 15.57

3020.28 518 116.79 1.09 -80.00 1956.2 2071.7 1840.7 3311.0 2378.9 58.57 10.07 405 3031.74 0.00 0.00 4.99 0.000 0.000 0.087 1956.94 2071.75 1842.12 3332.00 690.62 0 0 0 30.00 30.00 14.04

3220.30 1031 116.79 1.09 0.00 1956.2 2072.5 1839.9 3333.4 690.9 38.16 10.20 445 3231.80 0.00 0.15 4.99 0.000 0.248 0.063 1956.38 2072.00 1840.75 3290.19 2409.88 0 0 0 30.00 15.57 15.60

3410.21 326 116.79 1.10 80.00 1954.7 2071.3 1838.0 3289.3 2410.6 19.26 9.50 465 3418.12 0.00 0.00 4.68 0.000 0.000 0.114 1953.97 2069.88 1838.06 3290.19 3950.88 0 0 0 30.00 30.00 15.60

3530.00 1030 116.79 1.10 0.00 1954.8 2071.5 1838.2 3289.8 3951.5 7.36 9.82 489 3537.70 0.00 0.00 4.47 0.000 0.000 0.052 1955.44 2071.56 1839.31 3308.88 2380.12 0 0 0 30.00 30.00 15.57

3586 end climb: SURFACE_DEPTH_REACHED

state 3586 begin surface coast

3606 end surface coast: CONTROL_FINISHED_OK

state 3606 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	31	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	1.4129392	SEABIRD_C_G	-9.9463768
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	4.9297209	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	091019,162610,7434.774,-14554.638,37,1.3,42,17.8	TGT_LATLONG	7300.000,-14820.200
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.65	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-81.9	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	091019,163148,7434.766,-14554.620,4,1.3,9,17.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.233	MHEAD_RNG_PITCHd_Wd	167.5,192396,-19.9,-10.000,-23.25
TGT_NAME	a	D_GRID	180

FINISH	-0.0,1.025947	_24V_AH	14.11,33.046
SM_CCo	3898.96,4.54,0.696,0,526.1,570.1,482.0,471.94	_10V_AH	15.00,0.000
SM_GC	1.94,0.00,7.95,0.40,0.000,0.062,0.083,519.2,586.8,451.8,460.8,2512.8,0,0,0,30.00,15.88,15.89	FG_AHR_24Vo	5.034
SUPER	59,127,254,1,0,0	FG_AHR_10Vo	1.444
IRIDIUM_FIX	7433.54,-14600.68,091019,144125	MEM	1156032,30,23232,48
TCM_TEMP	8.39	DATA_FILE_SIZE	12923,497
XPDR_PINGS	259	CAP_FILE_SIZE	193475,0
SC_FREEKB	3866656	SDSIZE	3918848,3901408
PM_FREEKB_00	61044928	SDFILEDIR	237,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	51.88	CURRENT	0.242, 12.1,1
TEMP	-0.20	GPS	091019,181401,7435.219,-14553.783,54,0.9,55,17.8
INTERNAL_PRESSURE	8.38436

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	596	2784	23434.46	nil	0	0	0.00
Pitch_motor	21	440	132.39	nil	0	0	0.00
Roll_motor	111	150	238.37	nil	0	0	0.00
Iridium	232	192	630.35	nil	0	0	0.00
Transponder_ping	64	420	383.72	nil	0	0	0.00
GPS	18	15	4.14	nil	0	0	0.00
Core	2234	11	395.47	SciCon	3614	37	2053.47
LPSleep	4126	2	173.31	PMAR	3615	128	6976.32
Compass	842	5	63.18	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
12.11	2	-116.79	-1.09	0.00	521.4	582.8	460.0	457.7	2466.8	0.00	0.00	0	35.02	20.76	0.00	0.00	0.006	0.000	0.000	863.03	944.88	781.19	457.56	2471.81	0	0	0	14.26	30.00	30.00
35.29	263	-116.79	-1.09	80.00	863.5	946.2	780.7	457.5	2469.9	3.25	-10.11	2	143.76	87.90	10.48	4.43	0.005	0.441	0.104	2927.22	3116.12	2738.31	2581.12	3953.56	0	0	0	14.21	15.54	15.67
190.65	1028	-116.79	-1.09	0.00	2931.3	3115.2	2747.3	2581.8	3952.4	19.07	-9.89	33	198.30	0.00	0.00	4.18	0.000	0.000	0.057	2933.03	3117.94	2748.12	2598.75	2480.75	0	0	0	30.00	30.00	15.73
376.63	0	-116.79	-1.09	0.00	2931.8	3116.1	2747.5	2599.6	2471.6	37.47	-9.92	52	379.65	0.00	0.00	0.00	0.000	0.000	0.000	2932.84	3118.19	2747.50	2599.25	2471.75	0	0	0	30.00	30.00	30.00
556.64	516	-116.79	-1.09	-80.00	2930.3	3113.4	2747.2	2600.3	2471.2	55.15	-9.81	70	564.49	0.00	0.00	4.93	0.000	0.000	0.084	2929.16	3112.94	2745.38	2612.06	791.25	0	0	0	30.00	30.00	15.74
566.39	1028	-116.79	-1.09	0.00	2930.6	3112.1	2749.1	2611.9	791.4	56.24	-9.93	72	575.19	0.00	0.00	4.93	0.000	0.000	0.060	2929.19	3110.31	2748.06	2590.50	2511.44	0	0	0	30.00	30.00	15.75
758.27	516	-116.79	-1.09	-80.00	2929.5	3111.8	2747.2	2591.6	2509.8	75.48	-10.23	92	769.57	0.00	0.00	5.04	0.000	0.000	0.082	2930.47	3111.44	2749.50	2602.88	792.69	0	0	0	30.00	30.00	15.69
832.08	1028	-116.79	-1.09	0.00	2927.4	3107.6	2747.2	2605.8	793.0	82.99	-10.02	107	840.91	0.00	0.00	4.95	0.000	0.000	0.063	2926.66	3107.19	2746.12	2582.38	2509.06	0	0	0	30.00	30.00	15.72
1023.71	516	-116.79	-1.09	-80.00	2928.2	3108.2	2748.1	2583.6	2510.0	102.02	-9.83	127	1035.28	0.00	0.00	5.05	0.000	0.000	0.081	2928.50	3108.81	2748.19	2595.19	791.25	0	0	0	30.00	30.00	15.71
1073.71	1028	-116.79	-1.09	0.00	2928.3	3107.8	2748.9	2594.8	791.4	107.06	-10.25	137	1081.62	0.00	0.00	4.95	0.000	0.000	0.062	2925.47	3104.56	2746.38	2573.31	2510.75	0	0	0	30.00	30.00	15.72
1259.11	516	-116.79	-1.09	-80.00	2927.0	3106.7	2747.3	2574.1	2511.0	125.17	-9.96	156	1270.38	0.00	0.00	5.05	0.000	0.000	0.081	2926.94	3106.06	2747.81	2591.12	791.38	0	0	0	30.00	30.00	15.73
1303.08	1028	-116.79	-1.09	0.00	2926.5	3105.6	2747.4	2591.7	791.8	129.70	-10.08	165	1311.52	0.00	0.00	4.93	0.000	0.000	0.061	2926.44	3105.50	2747.38	2570.25	2509.75	0	0	0	30.00	30.00	15.73
1494.86	517	-116.79	-1.09	-80.00	2926.3	3105.0	2747.6	2570.7	2510.4	148.76	-9.71	185	1506.42	0.00	0.12	5.05	0.000	0.300	0.083	2926.06	3104.75	2747.38	2624.75	793.25	0	0	0	30.00	15.67	15.75
1614.34	1028	-116.79	-1.09	0.00	2926.7	3104.7	2748.6	2624.1	792.8	160.99	-9.91	209	1622.27	0.00	0.00	4.95	0.000	0.000	0.064	2925.50	3104.75	2746.25	2602.94	2509.12	0	0	0	30.00	30.00	15.73
1799.74	516	-116.79	-1.09	-80.00	2926.0	3104.6	2747.4	2603.1	2508.8	179.93	-10.03	228	1804.85	0.00	0.00	2.57	0.000	0.000	0.069	2928.84	3107.69	2750.00	2606.06	1623.62	0	0	0	30.00	30.00	15.75
1805	end dive: TARGET_DEPTH_EXCEEDED
state	1805	begin apogee
1808.61	3	0.00	-0.19	0.00	2925.9	3103.7	2748.1	2595.6	2412.1	180.42	-10.07	229	1915.73	101.83	1.06	0.10	1.648	0.247	0.151	2446.22	2581.06	2311.38	2891.19	2366.38	0	0	0	12.52	15.66	15.21
1918	end apogee: CONTROL_FINISHED_OK
state	1918	begin climb
1917.57	263	116.79	1.09	80.00	2445.8	2580.6	2311.0	2892.9	2366.5	169.74	0.00	240	2027.15	97.86	1.32	5.07	1.590	0.146	0.117	1970.94	2079.56	1862.31	3303.56	3949.94	0	0	0	12.30	15.26	14.95
2175.05	1030	116.79	1.09	0.00	1961.5	2069.9	1853.0	3302.6	3952.5	143.17	9.93	290	2182.80	0.00	0.00	4.56	0.000	0.000	0.053	1961.09	2068.62	1853.56	3322.94	2380.56	0	0	0	30.00	30.00	15.33
2360.07	518	116.79	1.09	-80.00	1958.3	2069.8	1846.9	3322.0	2376.1	124.87	10.09	309	2371.41	0.00	0.00	5.05	0.000	0.000	0.086	1959.62	2072.25	1847.00	3344.44	690.69	0	0	0	30.00	30.00	15.39
2500.17	1031	116.79	1.09	0.00	1958.5	2070.5	1846.4	3345.4	690.6	111.06	9.82	337	2511.55	0.00	0.19	5.03	0.000	0.258	0.063	1957.88	2070.62	1845.12	3290.19	2410.44	0	0	0	30.00	15.43	15.47
2690.42	262	116.79	1.09	80.00	1956.5	2070.6	1842.5	3291.0	2410.2	91.69	10.07	357	2701.61	0.00	0.00	4.71	0.000	0.000	0.114	1957.47	2071.44	1843.50	3291.88	3950.94	0	0	0	30.00	30.00	13.94
2834.19	1030	116.79	1.09	0.00	1956.5	2071.1	1841.9	3291.8	3951.8	77.21	10.21	386	2842.06	0.00	0.00	4.49	0.000	0.000	0.053	1957.12	2071.69	1842.56	3309.06	2379.69	0	0	0	30.00	30.00	15.57
3020.28	518	116.79	1.09	-80.00	1956.2	2071.7	1840.7	3311.0	2378.9	58.57	10.07	405	3031.74	0.00	0.00	4.99	0.000	0.000	0.087	1956.94	2071.75	1842.12	3332.00	690.62	0	0	0	30.00	30.00	14.04
3220.30	1031	116.79	1.09	0.00	1956.2	2072.5	1839.9	3333.4	690.9	38.16	10.20	445	3231.80	0.00	0.15	4.99	0.000	0.248	0.063	1956.38	2072.00	1840.75	3290.19	2409.88	0	0	0	30.00	15.57	15.60
3410.21	326	116.79	1.10	80.00	1954.7	2071.3	1838.0	3289.3	2410.6	19.26	9.50	465	3418.12	0.00	0.00	4.68	0.000	0.000	0.114	1953.97	2069.88	1838.06	3290.19	3950.88	0	0	0	30.00	30.00	15.60
3530.00	1030	116.79	1.10	0.00	1954.8	2071.5	1838.2	3289.8	3951.5	7.36	9.82	489	3537.70	0.00	0.00	4.47	0.000	0.000	0.052	1955.44	2071.56	1839.31	3308.88	2380.12	0	0	0	30.00	30.00	15.57
3586	end climb: SURFACE_DEPTH_REACHED
state	3586	begin surface coast
3606	end surface coast: CONTROL_FINISHED_OK
state	3606	begin surface