Glider dive log

AMOS Oct19 * SG231 * Dive index * Mission links * Dive 35 * 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 35 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 1.5390891 SEABIRD_C_G -9.9463768

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 5.3665552 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 1.5390891 PITCH_CNV 0.0031300001 SEABIRD_T_I 2.1747219e-05

ALTIM_PULSE 3 FG_AHR_24V 5.3665552 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 35 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 091019,232534,7436.323,-14550.354,1,1.0,37,17.8 TGT_LATLONG 7300.000,-14820.200

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.82 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -79.9 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 091019,233204,7436.315,-14550.316,7,0.9,10,17.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.233 MHEAD_RNG_PITCHd_Wd 205.8,195970,-19.9,-10.000,-23.25

TGT_NAME a D_GRID 180

Post-dive calculations and measurements:

FINISH -0.0,1.025982 _24V_AH 14.12,34.677

SM_CCo 3903.10,4.43,0.667,0,526.0,554.2,497.8,471.95 _10V_AH 15.00,0.000

SM_GC 2.43,0.00,8.03,5.17,0.000,0.068,0.062,518.3,571.7,465.0,459.9,2512.3,0,0,0,30.00,15.85,15.86 FG_AHR_24Vo 5.471

SUPER 59,71,254,1,0,0 FG_AHR_10Vo 1.570

IRIDIUM_FIX 7438.59,-14517.78,091019,214625 MEM 1156056,30,23208,48

TCM_TEMP 8.43 DATA_FILE_SIZE 12936,502

XPDR_PINGS 174 CAP_FILE_SIZE 195895,0

SC_FREEKB 3864864 SDSIZE 3918848,3900384

PM_FREEKB_00 60942880 SDFILEDIR 265,1

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

HUMID 47.22 WARN PPS timeout

TEMP -0.35 CURRENT 0.222, 60.7,1

INTERNAL_PRESSURE 8.38364 GPS 101019,010939,7436.358,-14548.709,49,1.6,50,17.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 592 2785 23320.32 nil 0 0 0.00

Pitch_motor 21 442 134.32 nil 0 0 0.00

Roll_motor 117 175 289.69 nil 0 0 0.00

Iridium 286 177 720.18 nil 0 0 0.00

Transponder_ping 43 420 257.97 nil 0 0 0.00

GPS 19 15 4.45 nil 0 0 0.00

Core 2296 11 406.42 SciCon 3619 37 2043.40

LPSleep 3847 2 161.60 PMAR 3619 128 6985.72

Compass 840 5 63.01 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

12.12 2 -116.79 -1.09 0.00 520.1 576.4 463.7 453.6 2521.2 0.00 0.00 0 40.02 25.73 0.00 0.00 0.006 0.000 0.000 940.06 1025.88 854.25 453.75 2520.69 0 0 0 14.18 30.00 30.00

40.24 263 -116.79 -1.09 80.00 940.6 1024.5 856.8 453.7 2526.5 3.85 -10.09 3 139.44 78.95 10.56 4.30 0.005 0.443 0.109 2925.16 3118.50 2731.81 2584.25 3955.38 0 0 0 14.13 15.53 15.62

141.28 1028 -116.79 -1.09 0.00 2928.8 3116.8 2740.9 2585.1 3953.1 14.09 -10.11 19 148.99 0.00 0.00 4.18 0.000 0.000 0.054 2930.75 3118.62 2742.88 2602.31 2478.06 0 0 0 30.00 30.00 15.71

327.15 516 -116.79 -1.09 -80.00 2931.5 3118.5 2744.4 2602.2 2468.8 32.58 -9.80 38 335.17 0.00 0.00 4.93 0.000 0.000 0.084 2932.88 3119.69 2746.06 2621.44 792.31 0 0 0 30.00 30.00 15.72

437.06 1028 -116.79 -1.09 0.00 2929.3 3113.4 2745.1 2623.9 792.8 43.88 -10.01 60 446.52 0.00 0.00 4.96 0.000 0.000 0.063 2930.91 3113.94 2747.88 2600.56 2507.50 0 0 0 30.00 30.00 15.73

624.73 516 -116.79 -1.09 -80.00 2928.9 3112.6 2745.2 2602.5 2507.9 62.38 -9.87 79 635.43 0.00 0.00 5.05 0.000 0.000 0.082 2930.84 3114.62 2747.06 2602.50 791.88 0 0 0 30.00 30.00 15.68

847.63 1028 -116.79 -1.09 0.00 2927.1 3108.7 2745.5 2602.2 791.4 84.87 -9.99 124 856.49 0.00 0.00 4.94 0.000 0.000 0.062 2927.69 3109.94 2745.44 2581.00 2509.56 0 0 0 30.00 30.00 15.73

1039.46 516 -116.79 -1.09 -80.00 2927.8 3109.3 2746.2 2581.9 2508.9 103.89 -10.04 144 1050.94 0.00 0.00 5.05 0.000 0.000 0.081 2929.31 3111.38 2747.25 2581.62 791.31 0 0 0 30.00 30.00 15.71

1103.40 1028 -116.79 -1.09 0.00 2926.5 3108.0 2745.0 2581.9 791.1 110.26 -9.78 157 1112.24 0.00 0.00 4.96 0.000 0.000 0.062 2928.44 3109.50 2747.38 2558.00 2510.06 0 0 0 30.00 30.00 15.68

1295.24 517 -116.79 -1.09 -80.00 2926.4 3107.1 2745.7 2559.4 2509.8 129.52 -9.96 177 1306.81 0.00 0.17 5.07 0.000 0.297 0.083 2925.84 3107.12 2744.56 2624.31 791.12 0 0 0 30.00 15.66 15.72

1385.23 1028 -116.79 -1.09 0.00 2926.3 3106.5 2746.1 2623.8 791.4 138.56 -10.05 195 1396.68 0.00 0.00 4.96 0.000 0.000 0.062 2927.75 3107.94 2747.56 2603.62 2512.69 0 0 0 30.00 30.00 15.73

1575.03 516 -116.79 -1.09 -80.00 2925.9 3106.4 2745.5 2604.0 2512.1 157.44 -10.11 215 1583.03 0.00 0.00 5.05 0.000 0.000 0.081 2926.03 3104.81 2747.25 2608.06 792.19 0 0 0 30.00 30.00 15.71

1640.76 1028 -116.79 -1.09 0.00 2926.5 3106.8 2746.2 2609.9 792.7 163.97 -9.92 228 1648.73 0.00 0.00 4.94 0.000 0.000 0.062 2924.62 3105.81 2743.44 2590.81 2510.88 0 0 0 30.00 30.00 15.77

1806 end dive: TARGET_DEPTH_EXCEEDED

state 1806 begin apogee

1807.01 3 0.00 -0.19 0.00 2926.6 3107.5 2745.7 2591.8 2371.9 180.33 -10.04 245 1913.21 102.29 1.07 0.11 1.657 0.246 0.175 2448.38 2582.06 2314.69 2891.38 2414.88 0 0 0 12.56 15.65 15.20

1915 end apogee: CONTROL_FINISHED_OK

state 1915 begin climb

1914.92 263 116.79 1.09 80.00 2446.0 2580.8 2311.2 2891.5 2414.6 170.57 0.00 255 2024.66 98.17 1.32 4.91 1.613 0.145 0.118 1971.28 2078.81 1863.75 3301.38 3949.25 0 0 0 12.33 15.26 14.95

2142.84 1030 116.79 1.09 0.00 1962.9 2070.1 1855.8 3301.2 3951.6 146.82 9.92 299 2150.29 0.00 0.00 4.57 0.000 0.000 0.053 1962.22 2069.69 1854.75 3320.31 2381.69 0 0 0 30.00 30.00 15.30

2327.61 518 116.79 1.09 -80.00 1959.3 2071.4 1847.2 3321.4 2372.1 128.68 9.87 318 2338.95 0.00 0.00 5.05 0.000 0.000 0.085 1960.91 2073.31 1848.50 3342.38 691.00 0 0 0 30.00 30.00 15.37

2437.62 1031 116.79 1.09 0.00 1958.6 2070.6 1846.6 3343.8 690.8 117.50 10.03 340 2449.06 0.00 0.19 5.05 0.000 0.258 0.064 1958.38 2070.94 1845.81 3293.81 2411.00 0 0 0 30.00 15.42 15.41

2627.54 262 116.79 1.09 80.00 1957.4 2071.9 1842.9 3292.6 2409.9 98.70 9.69 360 2635.41 0.00 0.00 4.72 0.000 0.000 0.116 1957.81 2072.69 1842.94 3290.88 3950.62 0 0 0 30.00 30.00 15.49

2727.29 1030 116.79 1.09 0.00 1956.6 2071.8 1841.5 3292.7 3949.7 88.46 10.02 380 2735.14 0.00 0.00 4.49 0.000 0.000 0.053 1957.31 2072.38 1842.25 3312.12 2377.31 0 0 0 30.00 30.00 15.51

2913.37 518 116.79 1.09 -80.00 1955.9 2072.2 1839.5 3311.3 2376.7 69.86 10.05 399 2921.32 0.00 0.00 5.00 0.000 0.000 0.088 1955.97 2071.81 1840.12 3334.94 691.62 0 0 0 30.00 30.00 15.58

3069.12 1031 116.79 1.09 0.00 1956.6 2073.2 1840.0 3334.7 691.3 53.99 10.08 430 3080.72 0.00 0.16 5.00 0.000 0.254 0.065 1957.03 2073.06 1841.00 3288.62 2411.31 0 0 0 30.00 15.56 15.59

3259.24 262 116.79 1.09 80.00 1955.3 2072.8 1837.9 3290.8 2410.1 34.79 10.14 450 3267.07 0.00 0.00 4.70 0.000 0.000 0.118 1956.41 2073.56 1839.25 3289.44 3951.25 0 0 0 30.00 30.00 15.54

3364.89 1030 116.79 1.09 0.00 1955.7 2073.2 1838.1 3290.6 3949.4 24.31 9.86 471 3372.68 0.00 0.00 4.47 0.000 0.000 0.054 1955.41 2071.94 1838.88 3311.31 2380.75 0 0 0 30.00 30.00 15.64

3549.97 518 116.79 1.09 -80.00 1955.2 2073.5 1836.8 3310.5 2379.9 5.72 10.12 490 3561.53 0.00 0.00 4.99 0.000 0.000 0.087 1954.88 2072.31 1837.44 3332.62 690.50 0 0 0 30.00 30.00 15.57

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	35	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	1.5390891	SEABIRD_C_G	-9.9463768
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	5.3665552	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	091019,232534,7436.323,-14550.354,1,1.0,37,17.8	TGT_LATLONG	7300.000,-14820.200
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.82	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-79.9	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	091019,233204,7436.315,-14550.316,7,0.9,10,17.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.233	MHEAD_RNG_PITCHd_Wd	205.8,195970,-19.9,-10.000,-23.25
TGT_NAME	a	D_GRID	180

FINISH	-0.0,1.025982	_24V_AH	14.12,34.677
SM_CCo	3903.10,4.43,0.667,0,526.0,554.2,497.8,471.95	_10V_AH	15.00,0.000
SM_GC	2.43,0.00,8.03,5.17,0.000,0.068,0.062,518.3,571.7,465.0,459.9,2512.3,0,0,0,30.00,15.85,15.86	FG_AHR_24Vo	5.471
SUPER	59,71,254,1,0,0	FG_AHR_10Vo	1.570
IRIDIUM_FIX	7438.59,-14517.78,091019,214625	MEM	1156056,30,23208,48
TCM_TEMP	8.43	DATA_FILE_SIZE	12936,502
XPDR_PINGS	174	CAP_FILE_SIZE	195895,0
SC_FREEKB	3864864	SDSIZE	3918848,3900384
PM_FREEKB_00	60942880	SDFILEDIR	265,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	47.22	WARN	PPS timeout
TEMP	-0.35	CURRENT	0.222, 60.7,1
INTERNAL_PRESSURE	8.38364	GPS	101019,010939,7436.358,-14548.709,49,1.6,50,17.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	592	2785	23320.32	nil	0	0	0.00
Pitch_motor	21	442	134.32	nil	0	0	0.00
Roll_motor	117	175	289.69	nil	0	0	0.00
Iridium	286	177	720.18	nil	0	0	0.00
Transponder_ping	43	420	257.97	nil	0	0	0.00
GPS	19	15	4.45	nil	0	0	0.00
Core	2296	11	406.42	SciCon	3619	37	2043.40
LPSleep	3847	2	161.60	PMAR	3619	128	6985.72
Compass	840	5	63.01	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
12.12	2	-116.79	-1.09	0.00	520.1	576.4	463.7	453.6	2521.2	0.00	0.00	0	40.02	25.73	0.00	0.00	0.006	0.000	0.000	940.06	1025.88	854.25	453.75	2520.69	0	0	0	14.18	30.00	30.00
40.24	263	-116.79	-1.09	80.00	940.6	1024.5	856.8	453.7	2526.5	3.85	-10.09	3	139.44	78.95	10.56	4.30	0.005	0.443	0.109	2925.16	3118.50	2731.81	2584.25	3955.38	0	0	0	14.13	15.53	15.62
141.28	1028	-116.79	-1.09	0.00	2928.8	3116.8	2740.9	2585.1	3953.1	14.09	-10.11	19	148.99	0.00	0.00	4.18	0.000	0.000	0.054	2930.75	3118.62	2742.88	2602.31	2478.06	0	0	0	30.00	30.00	15.71
327.15	516	-116.79	-1.09	-80.00	2931.5	3118.5	2744.4	2602.2	2468.8	32.58	-9.80	38	335.17	0.00	0.00	4.93	0.000	0.000	0.084	2932.88	3119.69	2746.06	2621.44	792.31	0	0	0	30.00	30.00	15.72
437.06	1028	-116.79	-1.09	0.00	2929.3	3113.4	2745.1	2623.9	792.8	43.88	-10.01	60	446.52	0.00	0.00	4.96	0.000	0.000	0.063	2930.91	3113.94	2747.88	2600.56	2507.50	0	0	0	30.00	30.00	15.73
624.73	516	-116.79	-1.09	-80.00	2928.9	3112.6	2745.2	2602.5	2507.9	62.38	-9.87	79	635.43	0.00	0.00	5.05	0.000	0.000	0.082	2930.84	3114.62	2747.06	2602.50	791.88	0	0	0	30.00	30.00	15.68
847.63	1028	-116.79	-1.09	0.00	2927.1	3108.7	2745.5	2602.2	791.4	84.87	-9.99	124	856.49	0.00	0.00	4.94	0.000	0.000	0.062	2927.69	3109.94	2745.44	2581.00	2509.56	0	0	0	30.00	30.00	15.73
1039.46	516	-116.79	-1.09	-80.00	2927.8	3109.3	2746.2	2581.9	2508.9	103.89	-10.04	144	1050.94	0.00	0.00	5.05	0.000	0.000	0.081	2929.31	3111.38	2747.25	2581.62	791.31	0	0	0	30.00	30.00	15.71
1103.40	1028	-116.79	-1.09	0.00	2926.5	3108.0	2745.0	2581.9	791.1	110.26	-9.78	157	1112.24	0.00	0.00	4.96	0.000	0.000	0.062	2928.44	3109.50	2747.38	2558.00	2510.06	0	0	0	30.00	30.00	15.68
1295.24	517	-116.79	-1.09	-80.00	2926.4	3107.1	2745.7	2559.4	2509.8	129.52	-9.96	177	1306.81	0.00	0.17	5.07	0.000	0.297	0.083	2925.84	3107.12	2744.56	2624.31	791.12	0	0	0	30.00	15.66	15.72
1385.23	1028	-116.79	-1.09	0.00	2926.3	3106.5	2746.1	2623.8	791.4	138.56	-10.05	195	1396.68	0.00	0.00	4.96	0.000	0.000	0.062	2927.75	3107.94	2747.56	2603.62	2512.69	0	0	0	30.00	30.00	15.73
1575.03	516	-116.79	-1.09	-80.00	2925.9	3106.4	2745.5	2604.0	2512.1	157.44	-10.11	215	1583.03	0.00	0.00	5.05	0.000	0.000	0.081	2926.03	3104.81	2747.25	2608.06	792.19	0	0	0	30.00	30.00	15.71
1640.76	1028	-116.79	-1.09	0.00	2926.5	3106.8	2746.2	2609.9	792.7	163.97	-9.92	228	1648.73	0.00	0.00	4.94	0.000	0.000	0.062	2924.62	3105.81	2743.44	2590.81	2510.88	0	0	0	30.00	30.00	15.77
1806	end dive: TARGET_DEPTH_EXCEEDED
state	1806	begin apogee
1807.01	3	0.00	-0.19	0.00	2926.6	3107.5	2745.7	2591.8	2371.9	180.33	-10.04	245	1913.21	102.29	1.07	0.11	1.657	0.246	0.175	2448.38	2582.06	2314.69	2891.38	2414.88	0	0	0	12.56	15.65	15.20
1915	end apogee: CONTROL_FINISHED_OK
state	1915	begin climb
1914.92	263	116.79	1.09	80.00	2446.0	2580.8	2311.2	2891.5	2414.6	170.57	0.00	255	2024.66	98.17	1.32	4.91	1.613	0.145	0.118	1971.28	2078.81	1863.75	3301.38	3949.25	0	0	0	12.33	15.26	14.95
2142.84	1030	116.79	1.09	0.00	1962.9	2070.1	1855.8	3301.2	3951.6	146.82	9.92	299	2150.29	0.00	0.00	4.57	0.000	0.000	0.053	1962.22	2069.69	1854.75	3320.31	2381.69	0	0	0	30.00	30.00	15.30
2327.61	518	116.79	1.09	-80.00	1959.3	2071.4	1847.2	3321.4	2372.1	128.68	9.87	318	2338.95	0.00	0.00	5.05	0.000	0.000	0.085	1960.91	2073.31	1848.50	3342.38	691.00	0	0	0	30.00	30.00	15.37
2437.62	1031	116.79	1.09	0.00	1958.6	2070.6	1846.6	3343.8	690.8	117.50	10.03	340	2449.06	0.00	0.19	5.05	0.000	0.258	0.064	1958.38	2070.94	1845.81	3293.81	2411.00	0	0	0	30.00	15.42	15.41
2627.54	262	116.79	1.09	80.00	1957.4	2071.9	1842.9	3292.6	2409.9	98.70	9.69	360	2635.41	0.00	0.00	4.72	0.000	0.000	0.116	1957.81	2072.69	1842.94	3290.88	3950.62	0	0	0	30.00	30.00	15.49
2727.29	1030	116.79	1.09	0.00	1956.6	2071.8	1841.5	3292.7	3949.7	88.46	10.02	380	2735.14	0.00	0.00	4.49	0.000	0.000	0.053	1957.31	2072.38	1842.25	3312.12	2377.31	0	0	0	30.00	30.00	15.51
2913.37	518	116.79	1.09	-80.00	1955.9	2072.2	1839.5	3311.3	2376.7	69.86	10.05	399	2921.32	0.00	0.00	5.00	0.000	0.000	0.088	1955.97	2071.81	1840.12	3334.94	691.62	0	0	0	30.00	30.00	15.58
3069.12	1031	116.79	1.09	0.00	1956.6	2073.2	1840.0	3334.7	691.3	53.99	10.08	430	3080.72	0.00	0.16	5.00	0.000	0.254	0.065	1957.03	2073.06	1841.00	3288.62	2411.31	0	0	0	30.00	15.56	15.59
3259.24	262	116.79	1.09	80.00	1955.3	2072.8	1837.9	3290.8	2410.1	34.79	10.14	450	3267.07	0.00	0.00	4.70	0.000	0.000	0.118	1956.41	2073.56	1839.25	3289.44	3951.25	0	0	0	30.00	30.00	15.54
3364.89	1030	116.79	1.09	0.00	1955.7	2073.2	1838.1	3290.6	3949.4	24.31	9.86	471	3372.68	0.00	0.00	4.47	0.000	0.000	0.054	1955.41	2071.94	1838.88	3311.31	2380.75	0	0	0	30.00	30.00	15.64
3549.97	518	116.79	1.09	-80.00	1955.2	2073.5	1836.8	3310.5	2379.9	5.72	10.12	490	3561.53	0.00	0.00	4.99	0.000	0.000	0.087	1954.88	2072.31	1837.44	3332.62	690.50	0	0	0	30.00	30.00	15.57
3590	end climb: SURFACE_DEPTH_REACHED
state	3590	begin surface coast
3610	end surface coast: CONTROL_FINISHED_OK
state	3610	begin surface