Glider dive log

AMOS Oct19 * SG231 * Dive index * Mission links * Dive 39 * 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 39 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 1.6367397 SEABIRD_C_G -9.9463768

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 5.8104892 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 1.6367397 PITCH_CNV 0.0031300001 SEABIRD_T_I 2.1747219e-05

ALTIM_PULSE 3 FG_AHR_24V 5.8104892 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 39 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 101019,063239,7436.736,-14544.233,59,1.2,59,17.8 TGT_LATLONG 7300.000,-14820.200

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.95 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -81.7 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 101019,063720,7436.732,-14544.197,4,1.2,8,17.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.233 MHEAD_RNG_PITCHd_Wd 228.0,198064,-19.9,-10.000,-23.25

TGT_NAME a D_GRID 180

Post-dive calculations and measurements:

FINISH -0.0,1.025942 _24V_AH 14.69,36.217

SM_CCo 3905.75,0.00,0.000,0,524.9,572.4,477.4,472.23 _10V_AH 15.00,0.000

SM_GC 1.92,0.00,8.03,2.26,0.000,0.062,0.054,518.4,589.2,447.6,460.5,2476.4,0,0,0,30.00,15.84,15.86 FG_AHR_24Vo 5.913

SUPER 59,71,254,1,0,0 FG_AHR_10Vo 1.653

IRIDIUM_FIX 7434.64,-14538.23,101019,044607 MEM 1156064,30,23200,48

TCM_TEMP 8.42 DATA_FILE_SIZE 12932,480

XPDR_PINGS 198 CAP_FILE_SIZE 181072,0

SC_FREEKB 3863072 SDSIZE 3918848,3899360

PM_FREEKB_00 60840800 SDFILEDIR 293,1

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

HUMID 52.11 CURRENT 0.243, 81.0,1

TEMP -0.25 GPS 101019,081539,7436.801,-14541.986,145,0.8,146,17.8

INTERNAL_PRESSURE 8.39267

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 581 1646 14070.60 nil 0 0 0.00

Pitch_motor 21 452 143.01 nil 0 0 0.00

Roll_motor 97 155 223.32 nil 0 0 0.00

Iridium 179 163 431.22 nil 0 0 0.00

Transponder_ping 49 420 305.41 nil 0 0 0.00

GPS 17 15 3.88 nil 0 0 0.00

Core 2096 11 371.06 SciCon 3622 6 340.59

LPSleep 3883 2 163.13 PMAR 3627 128 6996.27

Compass 800 5 60.07 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 0.00 521.4 583.1 459.7 445.0 2468.3 0.00 0.00 0 34.96 20.70 0.00 0.00 0.006 0.000 0.000 861.19 951.00 771.38 444.69 2461.31 0 0 0 14.40 30.00 30.00

35.23 263 -116.79 -1.09 80.00 861.6 950.1 773.1 444.8 2467.2 3.30 -10.00 2 135.65 80.06 10.72 4.43 0.005 0.452 0.105 2927.03 3121.50 2732.56 2581.06 3953.75 0 0 0 14.23 15.63 15.72

357.57 1028 -116.79 -1.09 0.00 2929.6 3117.7 2741.6 2581.9 3953.3 35.70 -9.91 66 365.32 0.00 0.00 4.16 0.000 0.000 0.056 2931.53 3119.88 2743.19 2589.31 2475.06 0 0 0 30.00 30.00 15.84

543.85 516 -116.79 -1.09 -80.00 2929.0 3116.1 2741.9 2588.4 2466.4 54.14 -10.15 85 555.08 0.00 0.00 4.89 0.000 0.000 0.085 2929.38 3115.12 2743.62 2602.38 790.94 0 0 0 30.00 30.00 15.85

557.62 1028 -116.79 -1.09 0.00 2927.7 3112.8 2742.6 2604.8 791.6 55.60 -10.06 88 566.44 0.00 0.00 4.91 0.000 0.000 0.062 2928.44 3112.94 2743.94 2581.19 2510.19 0 0 0 30.00 30.00 15.85

749.42 260 -116.79 -1.09 80.00 2927.8 3112.8 2742.9 2583.5 2511.4 74.78 -10.12 108 757.02 0.00 0.00 4.29 0.000 0.000 0.110 2927.84 3112.25 2743.44 2562.81 3954.00 0 0 0 30.00 30.00 15.84

758.96 1029 -116.79 -1.09 0.00 2927.7 3114.1 2741.3 2562.8 3953.9 75.85 -10.05 110 766.51 0.00 0.12 4.13 0.000 0.316 0.053 2928.97 3114.25 2743.69 2605.12 2471.38 0 0 0 30.00 15.74 15.85

944.99 260 -116.79 -1.09 80.00 2927.6 3112.0 2743.2 2602.3 2464.2 94.58 -10.20 129 952.62 0.00 0.00 4.47 0.000 0.000 0.113 2926.22 3111.50 2740.94 2584.62 3953.62 0 0 0 30.00 30.00 15.84

1174.69 1028 -116.79 -1.09 0.00 2926.0 3108.9 2743.1 2585.6 3952.8 117.69 -9.93 175 1182.12 0.00 0.00 4.16 0.000 0.000 0.055 2925.88 3108.56 2743.19 2602.88 2478.81 0 0 0 30.00 30.00 15.86

1360.46 260 -116.79 -1.09 80.00 2926.3 3109.1 2743.6 2601.9 2469.1 136.25 -9.91 194 1368.29 0.00 0.00 4.46 0.000 0.000 0.113 2925.38 3110.12 2740.62 2583.88 3951.81 0 0 0 30.00 30.00 15.84

1380.18 1028 -116.79 -1.09 0.00 2925.7 3108.1 2743.2 2582.4 3953.2 138.25 -9.78 198 1387.96 0.00 0.00 4.14 0.000 0.000 0.053 2927.28 3109.88 2744.69 2600.25 2477.88 0 0 0 30.00 30.00 15.86

1566.12 0 -116.79 -1.09 0.00 2925.3 3107.4 2743.2 2599.9 2477.0 156.56 -9.85 217 1568.99 0.00 0.00 0.00 0.000 0.000 0.000 2927.59 3110.06 2745.12 2598.75 2476.44 0 0 0 30.00 30.00 30.00

1746.07 0 -116.79 -1.09 0.00 2924.8 3106.9 2742.8 2600.5 2475.6 174.81 -10.22 235 1748.95 0.00 0.00 0.00 0.000 0.000 0.000 2926.50 3108.62 2744.38 2598.81 2475.00 0 0 0 30.00 30.00 30.00

1806 end dive: TARGET_DEPTH_EXCEEDED

state 1806 begin apogee

1807.25 3 0.00 -0.19 0.00 2925.8 3109.1 2742.5 2601.8 2375.4 180.78 -9.88 241 1912.57 100.97 1.02 0.12 1.647 0.251 0.155 2449.16 2584.75 2313.56 2889.12 2420.38 0 0 0 12.65 15.79 15.31

1914 end apogee: CONTROL_FINISHED_OK

state 1914 begin climb

1914.31 3 116.79 1.09 0.00 2445.9 2581.1 2310.8 2892.6 2420.8 170.86 0.00 251 2016.72 97.12 1.30 0.00 1.598 0.148 0.000 1973.31 2077.38 1869.25 3300.81 2419.81 0 0 0 12.40 15.35 30.00

2199.70 518 116.79 1.09 -80.00 1962.7 2074.2 1851.2 3301.0 2420.7 141.87 10.23 289 2211.08 0.00 0.00 5.27 0.000 0.000 0.093 1962.88 2075.19 1850.56 3323.44 693.38 0 0 0 30.00 30.00 15.39

2263.74 1030 116.79 1.09 0.00 1961.9 2072.8 1851.1 3324.8 692.8 135.47 10.07 302 2272.55 0.00 0.00 5.06 0.000 0.000 0.065 1962.53 2073.25 1851.81 3323.88 2408.19 0 0 0 30.00 30.00 15.44

2455.33 262 116.79 1.09 80.00 1959.8 2073.8 1845.8 3323.6 2408.4 116.26 9.88 322 2463.23 0.00 0.00 4.73 0.000 0.000 0.117 1960.50 2074.06 1846.94 3323.06 3951.56 0 0 0 30.00 30.00 14.09

2525.09 1030 116.79 1.09 0.00 1959.3 2073.4 1845.2 3324.6 3951.6 109.17 9.97 336 2532.73 0.00 0.00 4.51 0.000 0.000 0.053 1960.12 2073.81 1846.44 3344.19 2379.81 0 0 0 30.00 30.00 15.58

2711.08 519 116.79 1.09 -80.00 1958.4 2073.6 1843.2 3344.8 2377.9 90.50 10.04 355 2722.75 0.00 0.19 4.97 0.000 0.248 0.083 1958.69 2074.25 1843.12 3310.12 692.50 0 0 0 30.00 15.55 15.62

2805.16 1030 116.79 1.09 0.00 1957.6 2072.6 1842.6 3310.2 692.3 80.90 10.23 374 2813.97 0.00 0.00 4.99 0.000 0.000 0.065 1958.91 2074.25 1843.56 3309.00 2407.25 0 0 0 30.00 30.00 15.66

2996.82 262 116.79 1.09 80.00 1957.4 2073.2 1841.7 3311.1 2408.2 61.60 10.30 394 3004.78 0.00 0.00 4.70 0.000 0.000 0.119 1959.00 2075.19 1842.81 3309.50 3951.81 0 0 0 30.00 30.00 15.66

3092.59 1030 116.79 1.09 0.00 1956.9 2072.9 1840.9 3312.1 3950.8 51.88 10.21 413 3100.38 0.00 0.00 4.45 0.000 0.000 0.052 1957.16 2073.38 1840.94 3330.38 2378.56 0 0 0 30.00 30.00 15.70

3277.73 519 116.79 1.09 -80.00 1956.7 2074.1 1839.2 3331.3 2378.0 33.33 9.97 432 3289.26 0.00 0.14 4.93 0.000 0.247 0.085 1957.66 2074.56 1840.75 3310.19 691.38 0 0 0 30.00 15.65 15.71

3397.82 1030 116.79 1.09 0.00 1956.1 2072.8 1839.3 3310.9 690.5 21.46 9.97 456 3409.29 0.00 0.00 4.96 0.000 0.000 0.065 1956.88 2074.56 1839.19 3311.62 2413.44 0 0 0 30.00 30.00 15.74

3587.73 262 116.79 1.09 80.00 1956.3 2073.6 1839.0 3311.5 2413.0 2.42 9.97 476 3593.12 0.00 0.00 2.62 0.000 0.000 0.110 1957.38 2074.19 1840.56 3310.88 3288.00 0 0 0 30.00 30.00 15.75

3593 end climb: SURFACE_DEPTH_REACHED

state 3593 begin surface coast

3618 end surface coast: CONTROL_FINISHED_OK

state 3618 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	39	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	1.6367397	SEABIRD_C_G	-9.9463768
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	5.8104892	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	101019,063239,7436.736,-14544.233,59,1.2,59,17.8	TGT_LATLONG	7300.000,-14820.200
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.95	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-81.7	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	101019,063720,7436.732,-14544.197,4,1.2,8,17.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.233	MHEAD_RNG_PITCHd_Wd	228.0,198064,-19.9,-10.000,-23.25
TGT_NAME	a	D_GRID	180

FINISH	-0.0,1.025942	_24V_AH	14.69,36.217
SM_CCo	3905.75,0.00,0.000,0,524.9,572.4,477.4,472.23	_10V_AH	15.00,0.000
SM_GC	1.92,0.00,8.03,2.26,0.000,0.062,0.054,518.4,589.2,447.6,460.5,2476.4,0,0,0,30.00,15.84,15.86	FG_AHR_24Vo	5.913
SUPER	59,71,254,1,0,0	FG_AHR_10Vo	1.653
IRIDIUM_FIX	7434.64,-14538.23,101019,044607	MEM	1156064,30,23200,48
TCM_TEMP	8.42	DATA_FILE_SIZE	12932,480
XPDR_PINGS	198	CAP_FILE_SIZE	181072,0
SC_FREEKB	3863072	SDSIZE	3918848,3899360
PM_FREEKB_00	60840800	SDFILEDIR	293,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	52.11	CURRENT	0.243, 81.0,1
TEMP	-0.25	GPS	101019,081539,7436.801,-14541.986,145,0.8,146,17.8
INTERNAL_PRESSURE	8.39267

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	581	1646	14070.60	nil	0	0	0.00
Pitch_motor	21	452	143.01	nil	0	0	0.00
Roll_motor	97	155	223.32	nil	0	0	0.00
Iridium	179	163	431.22	nil	0	0	0.00
Transponder_ping	49	420	305.41	nil	0	0	0.00
GPS	17	15	3.88	nil	0	0	0.00
Core	2096	11	371.06	SciCon	3622	6	340.59
LPSleep	3883	2	163.13	PMAR	3627	128	6996.27
Compass	800	5	60.07	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	583.1	459.7	445.0	2468.3	0.00	0.00	0	34.96	20.70	0.00	0.00	0.006	0.000	0.000	861.19	951.00	771.38	444.69	2461.31	0	0	0	14.40	30.00	30.00
35.23	263	-116.79	-1.09	80.00	861.6	950.1	773.1	444.8	2467.2	3.30	-10.00	2	135.65	80.06	10.72	4.43	0.005	0.452	0.105	2927.03	3121.50	2732.56	2581.06	3953.75	0	0	0	14.23	15.63	15.72
357.57	1028	-116.79	-1.09	0.00	2929.6	3117.7	2741.6	2581.9	3953.3	35.70	-9.91	66	365.32	0.00	0.00	4.16	0.000	0.000	0.056	2931.53	3119.88	2743.19	2589.31	2475.06	0	0	0	30.00	30.00	15.84
543.85	516	-116.79	-1.09	-80.00	2929.0	3116.1	2741.9	2588.4	2466.4	54.14	-10.15	85	555.08	0.00	0.00	4.89	0.000	0.000	0.085	2929.38	3115.12	2743.62	2602.38	790.94	0	0	0	30.00	30.00	15.85
557.62	1028	-116.79	-1.09	0.00	2927.7	3112.8	2742.6	2604.8	791.6	55.60	-10.06	88	566.44	0.00	0.00	4.91	0.000	0.000	0.062	2928.44	3112.94	2743.94	2581.19	2510.19	0	0	0	30.00	30.00	15.85
749.42	260	-116.79	-1.09	80.00	2927.8	3112.8	2742.9	2583.5	2511.4	74.78	-10.12	108	757.02	0.00	0.00	4.29	0.000	0.000	0.110	2927.84	3112.25	2743.44	2562.81	3954.00	0	0	0	30.00	30.00	15.84
758.96	1029	-116.79	-1.09	0.00	2927.7	3114.1	2741.3	2562.8	3953.9	75.85	-10.05	110	766.51	0.00	0.12	4.13	0.000	0.316	0.053	2928.97	3114.25	2743.69	2605.12	2471.38	0	0	0	30.00	15.74	15.85
944.99	260	-116.79	-1.09	80.00	2927.6	3112.0	2743.2	2602.3	2464.2	94.58	-10.20	129	952.62	0.00	0.00	4.47	0.000	0.000	0.113	2926.22	3111.50	2740.94	2584.62	3953.62	0	0	0	30.00	30.00	15.84
1174.69	1028	-116.79	-1.09	0.00	2926.0	3108.9	2743.1	2585.6	3952.8	117.69	-9.93	175	1182.12	0.00	0.00	4.16	0.000	0.000	0.055	2925.88	3108.56	2743.19	2602.88	2478.81	0	0	0	30.00	30.00	15.86
1360.46	260	-116.79	-1.09	80.00	2926.3	3109.1	2743.6	2601.9	2469.1	136.25	-9.91	194	1368.29	0.00	0.00	4.46	0.000	0.000	0.113	2925.38	3110.12	2740.62	2583.88	3951.81	0	0	0	30.00	30.00	15.84
1380.18	1028	-116.79	-1.09	0.00	2925.7	3108.1	2743.2	2582.4	3953.2	138.25	-9.78	198	1387.96	0.00	0.00	4.14	0.000	0.000	0.053	2927.28	3109.88	2744.69	2600.25	2477.88	0	0	0	30.00	30.00	15.86
1566.12	0	-116.79	-1.09	0.00	2925.3	3107.4	2743.2	2599.9	2477.0	156.56	-9.85	217	1568.99	0.00	0.00	0.00	0.000	0.000	0.000	2927.59	3110.06	2745.12	2598.75	2476.44	0	0	0	30.00	30.00	30.00
1746.07	0	-116.79	-1.09	0.00	2924.8	3106.9	2742.8	2600.5	2475.6	174.81	-10.22	235	1748.95	0.00	0.00	0.00	0.000	0.000	0.000	2926.50	3108.62	2744.38	2598.81	2475.00	0	0	0	30.00	30.00	30.00
1806	end dive: TARGET_DEPTH_EXCEEDED
state	1806	begin apogee
1807.25	3	0.00	-0.19	0.00	2925.8	3109.1	2742.5	2601.8	2375.4	180.78	-9.88	241	1912.57	100.97	1.02	0.12	1.647	0.251	0.155	2449.16	2584.75	2313.56	2889.12	2420.38	0	0	0	12.65	15.79	15.31
1914	end apogee: CONTROL_FINISHED_OK
state	1914	begin climb
1914.31	3	116.79	1.09	0.00	2445.9	2581.1	2310.8	2892.6	2420.8	170.86	0.00	251	2016.72	97.12	1.30	0.00	1.598	0.148	0.000	1973.31	2077.38	1869.25	3300.81	2419.81	0	0	0	12.40	15.35	30.00
2199.70	518	116.79	1.09	-80.00	1962.7	2074.2	1851.2	3301.0	2420.7	141.87	10.23	289	2211.08	0.00	0.00	5.27	0.000	0.000	0.093	1962.88	2075.19	1850.56	3323.44	693.38	0	0	0	30.00	30.00	15.39
2263.74	1030	116.79	1.09	0.00	1961.9	2072.8	1851.1	3324.8	692.8	135.47	10.07	302	2272.55	0.00	0.00	5.06	0.000	0.000	0.065	1962.53	2073.25	1851.81	3323.88	2408.19	0	0	0	30.00	30.00	15.44
2455.33	262	116.79	1.09	80.00	1959.8	2073.8	1845.8	3323.6	2408.4	116.26	9.88	322	2463.23	0.00	0.00	4.73	0.000	0.000	0.117	1960.50	2074.06	1846.94	3323.06	3951.56	0	0	0	30.00	30.00	14.09
2525.09	1030	116.79	1.09	0.00	1959.3	2073.4	1845.2	3324.6	3951.6	109.17	9.97	336	2532.73	0.00	0.00	4.51	0.000	0.000	0.053	1960.12	2073.81	1846.44	3344.19	2379.81	0	0	0	30.00	30.00	15.58
2711.08	519	116.79	1.09	-80.00	1958.4	2073.6	1843.2	3344.8	2377.9	90.50	10.04	355	2722.75	0.00	0.19	4.97	0.000	0.248	0.083	1958.69	2074.25	1843.12	3310.12	692.50	0	0	0	30.00	15.55	15.62
2805.16	1030	116.79	1.09	0.00	1957.6	2072.6	1842.6	3310.2	692.3	80.90	10.23	374	2813.97	0.00	0.00	4.99	0.000	0.000	0.065	1958.91	2074.25	1843.56	3309.00	2407.25	0	0	0	30.00	30.00	15.66
2996.82	262	116.79	1.09	80.00	1957.4	2073.2	1841.7	3311.1	2408.2	61.60	10.30	394	3004.78	0.00	0.00	4.70	0.000	0.000	0.119	1959.00	2075.19	1842.81	3309.50	3951.81	0	0	0	30.00	30.00	15.66
3092.59	1030	116.79	1.09	0.00	1956.9	2072.9	1840.9	3312.1	3950.8	51.88	10.21	413	3100.38	0.00	0.00	4.45	0.000	0.000	0.052	1957.16	2073.38	1840.94	3330.38	2378.56	0	0	0	30.00	30.00	15.70
3277.73	519	116.79	1.09	-80.00	1956.7	2074.1	1839.2	3331.3	2378.0	33.33	9.97	432	3289.26	0.00	0.14	4.93	0.000	0.247	0.085	1957.66	2074.56	1840.75	3310.19	691.38	0	0	0	30.00	15.65	15.71
3397.82	1030	116.79	1.09	0.00	1956.1	2072.8	1839.3	3310.9	690.5	21.46	9.97	456	3409.29	0.00	0.00	4.96	0.000	0.000	0.065	1956.88	2074.56	1839.19	3311.62	2413.44	0	0	0	30.00	30.00	15.74
3587.73	262	116.79	1.09	80.00	1956.3	2073.6	1839.0	3311.5	2413.0	2.42	9.97	476	3593.12	0.00	0.00	2.62	0.000	0.000	0.110	1957.38	2074.19	1840.56	3310.88	3288.00	0	0	0	30.00	30.00	15.75
3593	end climb: SURFACE_DEPTH_REACHED
state	3593	begin surface coast
3618	end surface coast: CONTROL_FINISHED_OK
state	3618	begin surface