Glider dive log

AMOS Oct19 * SG231 * Dive index * Mission links * Dive 32 * 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 32 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 1.4449732 SEABIRD_C_G -9.9463768

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 5.0391164 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 1.4449732 PITCH_CNV 0.0031300001 SEABIRD_T_I 2.1747219e-05

ALTIM_PULSE 3 FG_AHR_24V 5.0391164 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 32 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 091019,181401,7435.219,-14553.783,54,0.9,55,17.8 TGT_LATLONG 7300.000,-14820.200

_CALLS 2 TGT_RADIUS 2000.000

_SM_DEPTHo 1.83 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -82.7 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 091019,182038,7435.211,-14553.787,3,0.9,5,17.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.233 MHEAD_RNG_PITCHd_Wd 173.8,193334,-19.9,-10.000,-23.25

TGT_NAME a D_GRID 180

Post-dive calculations and measurements:

FINISH -0.0,1.025952 _24V_AH 14.12,33.453

SM_CCo 3904.09,4.44,0.670,0,526.2,573.4,478.9,471.92 _10V_AH 15.00,0.000

SM_GC 1.77,0.00,7.90,0.39,0.000,0.054,0.082,519.5,590.2,448.9,458.7,2512.7,0,0,0,30.00,15.88,15.89 FG_AHR_24Vo 5.143

SUPER 59,71,254,1,0,0 FG_AHR_10Vo 1.476

IRIDIUM_FIX 7437.52,-14540.35,091019,181557 MEM 1156040,31,23204,48

TCM_TEMP 8.40 DATA_FILE_SIZE 12955,509

XPDR_PINGS 129 CAP_FILE_SIZE 197886,0

SC_FREEKB 3866208 SDSIZE 3918848,3901120

PM_FREEKB_00 61019424 SDFILEDIR 244,1

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

HUMID 51.81 CURRENT 0.251, 24.8,1

TEMP -0.21 GPS 091019,200036,7435.609,-14552.346,2,1.0,5,17.8

INTERNAL_PRESSURE 8.38527

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 593 2785 23337.82 nil 0 0 0.00

Pitch_motor 21 439 131.75 nil 0 0 0.00

Roll_motor 117 158 262.91 nil 0 0 0.00

Iridium 236 192 642.32 nil 0 0 0.00

Transponder_ping 32 420 191.26 nil 0 0 0.00

GPS 13 15 3.10 nil 0 0 0.00

Core 2238 11 396.26 SciCon 3619 37 2058.65

LPSleep 4096 2 172.07 PMAR 3620 128 6985.59

Compass 837 5 62.81 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 0.00 521.2 582.1 460.4 456.5 2468.0 0.00 0.00 0 34.96 20.74 0.00 0.00 0.006 0.000 0.000 854.72 925.81 783.62 456.75 2470.06 0 0 0 14.33 30.00 30.00

35.23 263 -116.79 -1.09 80.00 855.1 925.2 784.9 456.4 2473.9 3.19 -9.70 2 139.69 84.22 10.44 4.43 0.005 0.440 0.106 2926.97 3123.56 2730.38 2581.19 3952.50 0 0 0 14.18 15.56 15.66

141.54 1028 -116.79 -1.09 0.00 2928.4 3122.4 2734.4 2582.2 3954.6 14.11 -9.87 22 149.26 0.00 0.00 4.16 0.000 0.000 0.055 2931.31 3123.50 2739.12 2598.81 2479.56 0 0 0 30.00 30.00 14.26

327.55 516 -116.79 -1.09 -80.00 2930.9 3120.7 2741.2 2600.1 2471.2 32.64 -10.18 41 338.90 0.00 0.00 4.91 0.000 0.000 0.084 2931.53 3121.44 2741.62 2620.62 791.50 0 0 0 30.00 30.00 15.76

341.62 1028 -116.79 -1.09 0.00 2929.7 3118.1 2741.4 2620.8 791.8 34.07 -10.12 44 350.28 0.00 0.00 4.95 0.000 0.000 0.062 2929.88 3117.06 2742.69 2601.94 2509.94 0 0 0 30.00 30.00 15.74

534.71 516 -116.79 -1.09 -80.00 2929.7 3118.5 2740.8 2599.9 2509.3 53.28 -10.27 64 545.33 0.00 0.00 5.06 0.000 0.000 0.083 2930.34 3118.81 2741.88 2615.38 791.31 0 0 0 30.00 30.00 15.74

717.56 1028 -116.79 -1.09 0.00 2927.4 3112.9 2741.9 2617.0 791.4 71.48 -9.60 101 726.31 0.00 0.00 4.95 0.000 0.000 0.064 2928.44 3113.06 2743.81 2594.62 2510.50 0 0 0 30.00 30.00 15.75

909.11 516 -116.79 -1.09 -80.00 2927.4 3112.5 2742.3 2595.6 2509.9 90.78 -10.18 121 920.71 0.00 0.00 5.06 0.000 0.000 0.083 2929.31 3114.69 2743.94 2605.75 791.31 0 0 0 30.00 30.00 15.65

953.21 1028 -116.79 -1.09 0.00 2927.2 3111.6 2742.8 2607.9 791.7 95.28 -10.01 130 961.98 0.00 0.00 4.95 0.000 0.000 0.063 2928.12 3112.69 2743.56 2583.75 2508.88 0 0 0 30.00 30.00 15.72

1145.07 516 -116.79 -1.09 -80.00 2926.6 3111.8 2741.4 2586.5 2508.8 114.51 -10.14 150 1156.35 0.00 0.00 5.06 0.000 0.000 0.083 2927.81 3111.81 2743.81 2585.81 791.69 0 0 0 30.00 30.00 15.73

1178.85 1028 -116.79 -1.09 0.00 2926.6 3111.1 2742.2 2585.2 791.8 118.02 -10.44 157 1187.55 0.00 0.00 4.95 0.000 0.000 0.062 2927.50 3111.19 2743.81 2564.25 2507.81 0 0 0 30.00 30.00 15.73

1370.44 517 -116.79 -1.09 -80.00 2926.5 3110.9 2742.1 2564.2 2510.5 136.89 -9.99 177 1381.84 0.00 0.14 5.05 0.000 0.291 0.083 2927.78 3112.88 2742.69 2624.69 792.56 0 0 0 30.00 15.68 15.74

1484.48 1028 -116.79 -1.09 0.00 2925.6 3109.9 2741.4 2624.4 792.9 148.45 -10.02 200 1493.16 0.00 0.00 4.95 0.000 0.000 0.064 2925.03 3106.50 2743.56 2604.62 2511.25 0 0 0 30.00 30.00 15.75

1676.04 516 -116.79 -1.09 -80.00 2926.3 3110.4 2742.1 2602.9 2510.6 167.46 -10.12 220 1687.33 0.00 0.00 5.05 0.000 0.000 0.082 2927.12 3110.38 2743.88 2603.81 791.38 0 0 0 30.00 30.00 15.77

1730.03 1028 -116.79 -1.09 0.00 2925.0 3107.9 2742.1 2603.4 791.5 172.92 -9.80 231 1738.84 0.00 0.00 4.93 0.000 0.000 0.062 2923.88 3105.06 2742.69 2582.94 2511.12 0 0 0 30.00 30.00 15.74

1812 end dive: TARGET_DEPTH_EXCEEDED

state 1812 begin apogee

1812.94 3 0.00 -0.19 0.00 2925.9 3108.1 2743.8 2582.0 2371.0 180.90 -9.78 240 1918.39 101.76 1.10 0.12 1.654 0.243 0.159 2447.44 2583.69 2311.19 2891.25 2417.69 0 0 0 12.54 15.68 15.20

1920 end apogee: CONTROL_FINISHED_OK

state 1920 begin climb

1920.14 263 116.79 1.09 80.00 2445.9 2581.1 2310.8 2892.2 2416.9 170.91 0.00 250 2029.61 97.71 1.31 4.90 1.602 0.144 0.118 1970.62 2080.19 1861.06 3301.12 3950.62 0 0 0 12.32 15.26 14.96

2237.55 1030 116.79 1.09 0.00 1961.5 2073.5 1849.4 3302.1 3950.9 138.25 10.10 312 2245.28 0.00 0.00 4.55 0.000 0.000 0.054 1961.97 2074.06 1849.88 3321.31 2380.44 0 0 0 30.00 30.00 15.38

2422.60 518 116.79 1.09 -80.00 1957.9 2073.2 1842.6 3321.1 2374.3 119.59 10.20 331 2434.08 0.00 0.00 5.03 0.000 0.000 0.085 1958.59 2074.12 1843.06 3344.94 691.81 0 0 0 30.00 30.00 15.45

2562.62 1031 116.79 1.09 0.00 1958.5 2073.9 1843.1 3343.9 691.8 105.54 10.08 359 2574.16 0.00 0.19 5.02 0.000 0.258 0.063 1959.00 2075.75 1842.25 3291.94 2410.75 0 0 0 30.00 15.46 15.50

2752.62 262 116.79 1.09 80.00 1956.4 2074.2 1838.6 3291.6 2410.8 86.15 10.19 379 2760.39 0.00 0.00 4.68 0.000 0.000 0.114 1957.06 2074.19 1839.94 3291.75 3949.06 0 0 0 30.00 30.00 15.52

2888.23 1030 116.79 1.09 0.00 1955.9 2073.0 1838.9 3291.8 3951.3 72.40 10.14 406 2896.04 0.00 0.00 4.49 0.000 0.000 0.053 1957.72 2075.75 1839.69 3310.56 2380.06 0 0 0 30.00 30.00 15.60

3073.34 518 116.79 1.09 -80.00 1955.8 2075.4 1836.2 3310.9 2378.6 53.57 10.18 425 3084.80 0.00 0.00 4.99 0.000 0.000 0.087 1956.50 2075.50 1837.50 3333.81 690.69 0 0 0 30.00 30.00 15.57

3257.42 1031 116.79 1.09 0.00 1955.8 2075.6 1836.1 3333.2 690.8 34.95 10.02 462 3266.33 0.00 0.15 4.97 0.000 0.250 0.062 1954.59 2073.75 1835.44 3290.81 2411.75 0 0 0 30.00 15.56 15.63

3449.12 262 116.79 1.09 80.00 1954.5 2075.2 1833.9 3290.1 2410.6 15.61 10.21 482 3457.05 0.00 0.00 4.67 0.000 0.000 0.114 1956.06 2077.25 1834.88 3290.38 3951.19 0 0 0 30.00 30.00 15.63

3554.86 1030 116.79 1.09 0.00 1955.2 2075.6 1834.8 3289.9 3952.4 4.97 10.08 503 3562.66 0.00 0.00 4.47 0.000 0.000 0.053 1954.62 2074.81 1834.44 3310.88 2378.06 0 0 0 30.00 30.00 15.66

3590 end climb: SURFACE_DEPTH_REACHED

state 3590 begin surface coast

3610 end surface coast: CONTROL_FINISHED_OK

state 3610 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	32	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	1.4449732	SEABIRD_C_G	-9.9463768
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	5.0391164	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	091019,181401,7435.219,-14553.783,54,0.9,55,17.8	TGT_LATLONG	7300.000,-14820.200
_CALLS	2	TGT_RADIUS	2000.000
_SM_DEPTHo	1.83	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-82.7	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	091019,182038,7435.211,-14553.787,3,0.9,5,17.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.233	MHEAD_RNG_PITCHd_Wd	173.8,193334,-19.9,-10.000,-23.25
TGT_NAME	a	D_GRID	180

FINISH	-0.0,1.025952	_24V_AH	14.12,33.453
SM_CCo	3904.09,4.44,0.670,0,526.2,573.4,478.9,471.92	_10V_AH	15.00,0.000
SM_GC	1.77,0.00,7.90,0.39,0.000,0.054,0.082,519.5,590.2,448.9,458.7,2512.7,0,0,0,30.00,15.88,15.89	FG_AHR_24Vo	5.143
SUPER	59,71,254,1,0,0	FG_AHR_10Vo	1.476
IRIDIUM_FIX	7437.52,-14540.35,091019,181557	MEM	1156040,31,23204,48
TCM_TEMP	8.40	DATA_FILE_SIZE	12955,509
XPDR_PINGS	129	CAP_FILE_SIZE	197886,0
SC_FREEKB	3866208	SDSIZE	3918848,3901120
PM_FREEKB_00	61019424	SDFILEDIR	244,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0
HUMID	51.81	CURRENT	0.251, 24.8,1
TEMP	-0.21	GPS	091019,200036,7435.609,-14552.346,2,1.0,5,17.8
INTERNAL_PRESSURE	8.38527

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	593	2785	23337.82	nil	0	0	0.00
Pitch_motor	21	439	131.75	nil	0	0	0.00
Roll_motor	117	158	262.91	nil	0	0	0.00
Iridium	236	192	642.32	nil	0	0	0.00
Transponder_ping	32	420	191.26	nil	0	0	0.00
GPS	13	15	3.10	nil	0	0	0.00
Core	2238	11	396.26	SciCon	3619	37	2058.65
LPSleep	4096	2	172.07	PMAR	3620	128	6985.59
Compass	837	5	62.81	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	521.2	582.1	460.4	456.5	2468.0	0.00	0.00	0	34.96	20.74	0.00	0.00	0.006	0.000	0.000	854.72	925.81	783.62	456.75	2470.06	0	0	0	14.33	30.00	30.00
35.23	263	-116.79	-1.09	80.00	855.1	925.2	784.9	456.4	2473.9	3.19	-9.70	2	139.69	84.22	10.44	4.43	0.005	0.440	0.106	2926.97	3123.56	2730.38	2581.19	3952.50	0	0	0	14.18	15.56	15.66
141.54	1028	-116.79	-1.09	0.00	2928.4	3122.4	2734.4	2582.2	3954.6	14.11	-9.87	22	149.26	0.00	0.00	4.16	0.000	0.000	0.055	2931.31	3123.50	2739.12	2598.81	2479.56	0	0	0	30.00	30.00	14.26
327.55	516	-116.79	-1.09	-80.00	2930.9	3120.7	2741.2	2600.1	2471.2	32.64	-10.18	41	338.90	0.00	0.00	4.91	0.000	0.000	0.084	2931.53	3121.44	2741.62	2620.62	791.50	0	0	0	30.00	30.00	15.76
341.62	1028	-116.79	-1.09	0.00	2929.7	3118.1	2741.4	2620.8	791.8	34.07	-10.12	44	350.28	0.00	0.00	4.95	0.000	0.000	0.062	2929.88	3117.06	2742.69	2601.94	2509.94	0	0	0	30.00	30.00	15.74
534.71	516	-116.79	-1.09	-80.00	2929.7	3118.5	2740.8	2599.9	2509.3	53.28	-10.27	64	545.33	0.00	0.00	5.06	0.000	0.000	0.083	2930.34	3118.81	2741.88	2615.38	791.31	0	0	0	30.00	30.00	15.74
717.56	1028	-116.79	-1.09	0.00	2927.4	3112.9	2741.9	2617.0	791.4	71.48	-9.60	101	726.31	0.00	0.00	4.95	0.000	0.000	0.064	2928.44	3113.06	2743.81	2594.62	2510.50	0	0	0	30.00	30.00	15.75
909.11	516	-116.79	-1.09	-80.00	2927.4	3112.5	2742.3	2595.6	2509.9	90.78	-10.18	121	920.71	0.00	0.00	5.06	0.000	0.000	0.083	2929.31	3114.69	2743.94	2605.75	791.31	0	0	0	30.00	30.00	15.65
953.21	1028	-116.79	-1.09	0.00	2927.2	3111.6	2742.8	2607.9	791.7	95.28	-10.01	130	961.98	0.00	0.00	4.95	0.000	0.000	0.063	2928.12	3112.69	2743.56	2583.75	2508.88	0	0	0	30.00	30.00	15.72
1145.07	516	-116.79	-1.09	-80.00	2926.6	3111.8	2741.4	2586.5	2508.8	114.51	-10.14	150	1156.35	0.00	0.00	5.06	0.000	0.000	0.083	2927.81	3111.81	2743.81	2585.81	791.69	0	0	0	30.00	30.00	15.73
1178.85	1028	-116.79	-1.09	0.00	2926.6	3111.1	2742.2	2585.2	791.8	118.02	-10.44	157	1187.55	0.00	0.00	4.95	0.000	0.000	0.062	2927.50	3111.19	2743.81	2564.25	2507.81	0	0	0	30.00	30.00	15.73
1370.44	517	-116.79	-1.09	-80.00	2926.5	3110.9	2742.1	2564.2	2510.5	136.89	-9.99	177	1381.84	0.00	0.14	5.05	0.000	0.291	0.083	2927.78	3112.88	2742.69	2624.69	792.56	0	0	0	30.00	15.68	15.74
1484.48	1028	-116.79	-1.09	0.00	2925.6	3109.9	2741.4	2624.4	792.9	148.45	-10.02	200	1493.16	0.00	0.00	4.95	0.000	0.000	0.064	2925.03	3106.50	2743.56	2604.62	2511.25	0	0	0	30.00	30.00	15.75
1676.04	516	-116.79	-1.09	-80.00	2926.3	3110.4	2742.1	2602.9	2510.6	167.46	-10.12	220	1687.33	0.00	0.00	5.05	0.000	0.000	0.082	2927.12	3110.38	2743.88	2603.81	791.38	0	0	0	30.00	30.00	15.77
1730.03	1028	-116.79	-1.09	0.00	2925.0	3107.9	2742.1	2603.4	791.5	172.92	-9.80	231	1738.84	0.00	0.00	4.93	0.000	0.000	0.062	2923.88	3105.06	2742.69	2582.94	2511.12	0	0	0	30.00	30.00	15.74
1812	end dive: TARGET_DEPTH_EXCEEDED
state	1812	begin apogee
1812.94	3	0.00	-0.19	0.00	2925.9	3108.1	2743.8	2582.0	2371.0	180.90	-9.78	240	1918.39	101.76	1.10	0.12	1.654	0.243	0.159	2447.44	2583.69	2311.19	2891.25	2417.69	0	0	0	12.54	15.68	15.20
1920	end apogee: CONTROL_FINISHED_OK
state	1920	begin climb
1920.14	263	116.79	1.09	80.00	2445.9	2581.1	2310.8	2892.2	2416.9	170.91	0.00	250	2029.61	97.71	1.31	4.90	1.602	0.144	0.118	1970.62	2080.19	1861.06	3301.12	3950.62	0	0	0	12.32	15.26	14.96
2237.55	1030	116.79	1.09	0.00	1961.5	2073.5	1849.4	3302.1	3950.9	138.25	10.10	312	2245.28	0.00	0.00	4.55	0.000	0.000	0.054	1961.97	2074.06	1849.88	3321.31	2380.44	0	0	0	30.00	30.00	15.38
2422.60	518	116.79	1.09	-80.00	1957.9	2073.2	1842.6	3321.1	2374.3	119.59	10.20	331	2434.08	0.00	0.00	5.03	0.000	0.000	0.085	1958.59	2074.12	1843.06	3344.94	691.81	0	0	0	30.00	30.00	15.45
2562.62	1031	116.79	1.09	0.00	1958.5	2073.9	1843.1	3343.9	691.8	105.54	10.08	359	2574.16	0.00	0.19	5.02	0.000	0.258	0.063	1959.00	2075.75	1842.25	3291.94	2410.75	0	0	0	30.00	15.46	15.50
2752.62	262	116.79	1.09	80.00	1956.4	2074.2	1838.6	3291.6	2410.8	86.15	10.19	379	2760.39	0.00	0.00	4.68	0.000	0.000	0.114	1957.06	2074.19	1839.94	3291.75	3949.06	0	0	0	30.00	30.00	15.52
2888.23	1030	116.79	1.09	0.00	1955.9	2073.0	1838.9	3291.8	3951.3	72.40	10.14	406	2896.04	0.00	0.00	4.49	0.000	0.000	0.053	1957.72	2075.75	1839.69	3310.56	2380.06	0	0	0	30.00	30.00	15.60
3073.34	518	116.79	1.09	-80.00	1955.8	2075.4	1836.2	3310.9	2378.6	53.57	10.18	425	3084.80	0.00	0.00	4.99	0.000	0.000	0.087	1956.50	2075.50	1837.50	3333.81	690.69	0	0	0	30.00	30.00	15.57
3257.42	1031	116.79	1.09	0.00	1955.8	2075.6	1836.1	3333.2	690.8	34.95	10.02	462	3266.33	0.00	0.15	4.97	0.000	0.250	0.062	1954.59	2073.75	1835.44	3290.81	2411.75	0	0	0	30.00	15.56	15.63
3449.12	262	116.79	1.09	80.00	1954.5	2075.2	1833.9	3290.1	2410.6	15.61	10.21	482	3457.05	0.00	0.00	4.67	0.000	0.000	0.114	1956.06	2077.25	1834.88	3290.38	3951.19	0	0	0	30.00	30.00	15.63
3554.86	1030	116.79	1.09	0.00	1955.2	2075.6	1834.8	3289.9	3952.4	4.97	10.08	503	3562.66	0.00	0.00	4.47	0.000	0.000	0.053	1954.62	2074.81	1834.44	3310.88	2378.06	0	0	0	30.00	30.00	15.66
3590	end climb: SURFACE_DEPTH_REACHED
state	3590	begin surface coast
3610	end surface coast: CONTROL_FINISHED_OK
state	3610	begin surface