Glider dive log

AMOS Oct19 * SG231 * Dive index * Mission links * Dive 40 * 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 40 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 1.6546037 SEABIRD_C_G -9.9463768

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 5.9214339 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 1.6546037 PITCH_CNV 0.0031300001 SEABIRD_T_I 2.1747219e-05

ALTIM_PULSE 3 FG_AHR_24V 5.9214339 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 40 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 101019,081539,7436.801,-14541.986,145,0.8,146,17.8 TGT_LATLONG 7300.000,-14820.200

_CALLS 5 TGT_RADIUS 2000.000

_SM_DEPTHo 1.99 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -78.5 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 101019,082858,7436.788,-14541.879,3,0.9,5,17.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.233 MHEAD_RNG_PITCHd_Wd 232.7,198696,-19.9,-10.000,-23.25

TGT_NAME a D_GRID 180

Post-dive calculations and measurements:

FINISH 0.0,1.025990 _24V_AH 14.14,36.605

SM_CCo 3913.82,4.51,0.680,0,526.0,558.4,493.6,471.96 _10V_AH 15.00,0.000

SM_GC 1.91,0.00,8.06,5.17,0.000,0.072,0.062,518.9,572.8,465.1,461.6,2511.7,0,0,0,30.00,15.84,15.87 FG_AHR_24Vo 6.027

SUPER 59,71,254,1,0,0 FG_AHR_10Vo 1.671

IRIDIUM_FIX 7436.97,-14551.62,101019,082521 MEM 1156040,31,23204,48

TCM_TEMP 8.46 DATA_FILE_SIZE 12879,502

XPDR_PINGS 270 CAP_FILE_SIZE 199876,0

SC_FREEKB 3862624 SDSIZE 3918848,3899072

PM_FREEKB_00 60815232 SDFILEDIR 300,1

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

HUMID 51.99 CURRENT 0.256, 96.6,1

TEMP -0.33 GPS 101019,100600,7436.464,-14539.892,60,0.8,60,17.8

INTERNAL_PRESSURE 8.38299

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 597 2788 23550.20 nil 0 0 0.00

Pitch_motor 21 443 134.44 nil 0 0 0.00

Roll_motor 118 165 276.92 nil 0 0 0.00

Iridium 467 183 1212.34 nil 0 0 0.00

Transponder_ping 67 420 400.87 nil 0 0 0.00

GPS 15 15 3.40 nil 0 0 0.00

Core 2453 11 434.33 SciCon 3623 6 339.33

LPSleep 4054 2 170.29 PMAR 3629 128 7001.32

Compass 821 5 61.60 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 0.00 521.6 582.1 461.0 454.3 2519.9 0.00 0.00 0 34.94 20.70 0.00 0.00 0.006 0.000 0.000 857.72 941.56 773.88 454.31 2520.94 0 0 0 14.21 30.00 30.00

35.20 519 -116.79 -1.09 -80.00 858.1 941.4 774.8 454.1 2526.0 3.15 -10.37 2 145.85 89.25 10.56 5.07 0.005 0.444 0.086 2926.03 3117.12 2734.94 2623.44 791.31 0 0 0 14.20 15.59 15.70

147.74 1028 -116.79 -1.09 0.00 2929.1 3117.6 2740.6 2623.8 789.9 14.61 -9.89 24 156.57 0.00 0.00 4.97 0.000 0.000 0.067 2929.19 3117.75 2740.62 2603.56 2509.56 0 0 0 30.00 30.00 15.79

339.60 516 -116.79 -1.09 -80.00 2930.9 3117.4 2744.4 2604.6 2509.8 33.83 -10.07 44 350.85 0.00 0.00 5.05 0.000 0.000 0.085 2931.31 3118.06 2744.56 2618.00 790.81 0 0 0 30.00 30.00 15.78

573.58 1028 -116.79 -1.09 0.00 2929.1 3112.9 2745.2 2616.8 791.3 57.34 -10.07 91 582.46 0.00 0.00 4.95 0.000 0.000 0.066 2928.09 3113.25 2742.94 2598.00 2508.31 0 0 0 30.00 30.00 15.82

765.28 516 -116.79 -1.09 -80.00 2928.8 3112.6 2744.9 2596.4 2510.7 76.61 -10.20 111 776.89 0.00 0.00 5.04 0.000 0.000 0.084 2930.78 3116.00 2745.56 2614.94 792.88 0 0 0 30.00 30.00 15.83

999.50 1028 -116.79 -1.09 0.00 2928.3 3110.8 2745.8 2613.3 792.6 100.33 -10.00 158 1008.14 0.00 0.00 4.93 0.000 0.000 0.065 2928.03 3110.12 2745.94 2593.19 2510.25 0 0 0 30.00 30.00 15.83

1191.06 516 -116.79 -1.09 -80.00 2927.8 3110.0 2745.5 2593.7 2509.8 119.37 -9.84 178 1202.56 0.00 0.00 5.03 0.000 0.000 0.084 2927.47 3111.00 2743.94 2606.38 791.56 0 0 0 30.00 30.00 15.84

1331.22 1028 -116.79 -1.09 0.00 2926.9 3108.6 2745.2 2604.8 791.3 133.22 -9.86 206 1342.64 0.00 0.00 4.94 0.000 0.000 0.065 2929.00 3111.19 2746.81 2584.31 2510.44 0 0 0 30.00 30.00 15.85

1520.92 516 -116.79 -1.09 -80.00 2927.3 3108.5 2746.1 2584.5 2512.2 151.98 -10.18 226 1532.60 0.00 0.00 5.03 0.000 0.000 0.084 2927.53 3109.19 2745.88 2595.94 792.94 0 0 0 30.00 30.00 15.85

1571.03 1028 -116.79 -1.09 0.00 2926.5 3108.7 2744.4 2597.6 792.8 157.03 -10.00 236 1582.61 0.00 0.00 4.93 0.000 0.000 0.064 2927.50 3109.06 2745.94 2574.38 2509.38 0 0 0 30.00 30.00 15.86

1761.02 516 -116.79 -1.09 -80.00 2927.1 3107.9 2746.2 2574.6 2509.4 176.16 -9.88 256 1772.54 0.00 0.00 5.02 0.000 0.000 0.083 2927.72 3110.12 2745.31 2589.75 791.38 0 0 0 30.00 30.00 15.85

1775.20 1028 -116.79 -1.09 0.00 2926.8 3108.6 2744.9 2589.6 792.0 177.71 -9.99 259 1783.82 0.00 0.00 4.90 0.000 0.000 0.062 2926.34 3106.44 2746.25 2567.69 2508.56 0 0 0 30.00 30.00 15.86

1807 end dive: TARGET_DEPTH_EXCEEDED

state 1807 begin apogee

1807.95 3 0.00 -0.19 0.00 2925.9 3107.4 2744.4 2569.1 2373.2 180.80 -10.16 263 1913.74 101.96 1.15 0.12 1.650 0.254 0.166 2448.28 2588.75 2307.81 2892.56 2417.19 0 0 0 12.61 15.78 15.29

1916 end apogee: CONTROL_FINISHED_OK

state 1916 begin climb

1915.54 3 116.79 1.09 0.00 2446.6 2585.2 2308.1 2893.9 2415.7 171.00 0.00 273 2015.82 96.79 1.30 0.00 1.597 0.149 0.000 1971.69 2071.31 1872.06 3300.94 2415.38 0 0 0 12.38 15.32 30.00

2191.55 262 116.79 1.09 80.00 1962.8 2067.1 1858.4 3300.5 2415.6 142.64 9.74 307 2199.49 0.00 0.00 4.80 0.000 0.000 0.120 1961.72 2066.81 1856.62 3300.75 3949.56 0 0 0 30.00 30.00 15.36

2261.36 1030 116.79 1.09 0.00 1961.0 2063.9 1858.1 3301.7 3951.3 135.55 10.25 321 2269.13 0.00 0.00 4.53 0.000 0.000 0.053 1961.50 2065.12 1857.88 3321.44 2380.94 0 0 0 30.00 30.00 15.43

2447.42 518 116.79 1.09 -80.00 1959.2 2064.4 1853.9 3320.6 2371.4 116.91 10.13 340 2458.89 0.00 0.00 5.00 0.000 0.000 0.084 1959.81 2066.00 1853.62 3343.00 692.38 0 0 0 30.00 30.00 15.54

2527.29 1031 116.79 1.09 0.00 1958.8 2063.8 1853.7 3342.8 692.1 108.91 9.98 356 2538.95 0.00 0.19 5.03 0.000 0.247 0.066 1959.28 2064.75 1853.81 3288.44 2410.75 0 0 0 30.00 15.49 13.97

2717.36 262 116.79 1.09 80.00 1957.4 2063.9 1850.9 3289.0 2410.2 89.55 10.24 376 2725.25 0.00 0.00 4.70 0.000 0.000 0.118 1958.62 2064.75 1852.50 3288.75 3950.75 0 0 0 30.00 30.00 15.59

2797.13 1030 116.79 1.09 0.00 1957.9 2064.5 1851.3 3290.0 3950.4 81.56 9.79 392 2805.01 0.00 0.00 4.47 0.000 0.000 0.053 1957.09 2063.75 1850.44 3308.25 2378.69 0 0 0 30.00 30.00 15.64

2983.01 518 116.79 1.09 -80.00 1956.8 2063.9 1849.8 3309.0 2378.8 63.17 10.10 411 2991.01 0.00 0.00 4.96 0.000 0.000 0.086 1957.56 2065.56 1849.56 3330.19 691.94 0 0 0 30.00 30.00 15.68

3088.88 1031 116.79 1.09 0.00 1956.8 2064.3 1849.3 3330.4 692.4 52.76 9.77 432 3100.52 0.00 0.14 4.99 0.000 0.245 0.067 1957.81 2065.12 1850.50 3289.56 2409.44 0 0 0 30.00 15.61 14.06

3278.95 262 116.79 1.09 80.00 1956.0 2064.1 1847.8 3290.1 2411.0 34.00 9.71 452 3286.67 0.00 0.00 4.69 0.000 0.000 0.120 1955.53 2063.19 1847.88 3292.56 3951.44 0 0 0 30.00 30.00 14.30

3354.62 1030 116.79 1.09 0.00 1956.2 2064.2 1848.1 3290.8 3949.8 26.49 9.78 467 3362.27 0.00 0.00 4.44 0.000 0.000 0.053 1955.66 2065.19 1846.12 3308.94 2379.69 0 0 0 30.00 30.00 15.72

3539.59 518 116.79 1.09 -80.00 1955.2 2063.0 1847.4 3310.2 2378.7 8.04 9.79 486 3550.90 0.00 0.00 4.95 0.000 0.000 0.088 1957.00 2065.00 1849.00 3332.25 691.06 0 0 0 30.00 30.00 14.34

3600 end climb: SURFACE_DEPTH_REACHED

state 3600 begin surface coast

3620 end surface coast: CONTROL_FINISHED_OK

state 3620 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	40	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	1.6546037	SEABIRD_C_G	-9.9463768
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	5.9214339	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	101019,081539,7436.801,-14541.986,145,0.8,146,17.8	TGT_LATLONG	7300.000,-14820.200
_CALLS	5	TGT_RADIUS	2000.000
_SM_DEPTHo	1.99	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-78.5	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	101019,082858,7436.788,-14541.879,3,0.9,5,17.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.233	MHEAD_RNG_PITCHd_Wd	232.7,198696,-19.9,-10.000,-23.25
TGT_NAME	a	D_GRID	180

FINISH	0.0,1.025990	_24V_AH	14.14,36.605
SM_CCo	3913.82,4.51,0.680,0,526.0,558.4,493.6,471.96	_10V_AH	15.00,0.000
SM_GC	1.91,0.00,8.06,5.17,0.000,0.072,0.062,518.9,572.8,465.1,461.6,2511.7,0,0,0,30.00,15.84,15.87	FG_AHR_24Vo	6.027
SUPER	59,71,254,1,0,0	FG_AHR_10Vo	1.671
IRIDIUM_FIX	7436.97,-14551.62,101019,082521	MEM	1156040,31,23204,48
TCM_TEMP	8.46	DATA_FILE_SIZE	12879,502
XPDR_PINGS	270	CAP_FILE_SIZE	199876,0
SC_FREEKB	3862624	SDSIZE	3918848,3899072
PM_FREEKB_00	60815232	SDFILEDIR	300,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	51.99	CURRENT	0.256, 96.6,1
TEMP	-0.33	GPS	101019,100600,7436.464,-14539.892,60,0.8,60,17.8
INTERNAL_PRESSURE	8.38299

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	597	2788	23550.20	nil	0	0	0.00
Pitch_motor	21	443	134.44	nil	0	0	0.00
Roll_motor	118	165	276.92	nil	0	0	0.00
Iridium	467	183	1212.34	nil	0	0	0.00
Transponder_ping	67	420	400.87	nil	0	0	0.00
GPS	15	15	3.40	nil	0	0	0.00
Core	2453	11	434.33	SciCon	3623	6	339.33
LPSleep	4054	2	170.29	PMAR	3629	128	7001.32
Compass	821	5	61.60	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	521.6	582.1	461.0	454.3	2519.9	0.00	0.00	0	34.94	20.70	0.00	0.00	0.006	0.000	0.000	857.72	941.56	773.88	454.31	2520.94	0	0	0	14.21	30.00	30.00
35.20	519	-116.79	-1.09	-80.00	858.1	941.4	774.8	454.1	2526.0	3.15	-10.37	2	145.85	89.25	10.56	5.07	0.005	0.444	0.086	2926.03	3117.12	2734.94	2623.44	791.31	0	0	0	14.20	15.59	15.70
147.74	1028	-116.79	-1.09	0.00	2929.1	3117.6	2740.6	2623.8	789.9	14.61	-9.89	24	156.57	0.00	0.00	4.97	0.000	0.000	0.067	2929.19	3117.75	2740.62	2603.56	2509.56	0	0	0	30.00	30.00	15.79
339.60	516	-116.79	-1.09	-80.00	2930.9	3117.4	2744.4	2604.6	2509.8	33.83	-10.07	44	350.85	0.00	0.00	5.05	0.000	0.000	0.085	2931.31	3118.06	2744.56	2618.00	790.81	0	0	0	30.00	30.00	15.78
573.58	1028	-116.79	-1.09	0.00	2929.1	3112.9	2745.2	2616.8	791.3	57.34	-10.07	91	582.46	0.00	0.00	4.95	0.000	0.000	0.066	2928.09	3113.25	2742.94	2598.00	2508.31	0	0	0	30.00	30.00	15.82
765.28	516	-116.79	-1.09	-80.00	2928.8	3112.6	2744.9	2596.4	2510.7	76.61	-10.20	111	776.89	0.00	0.00	5.04	0.000	0.000	0.084	2930.78	3116.00	2745.56	2614.94	792.88	0	0	0	30.00	30.00	15.83
999.50	1028	-116.79	-1.09	0.00	2928.3	3110.8	2745.8	2613.3	792.6	100.33	-10.00	158	1008.14	0.00	0.00	4.93	0.000	0.000	0.065	2928.03	3110.12	2745.94	2593.19	2510.25	0	0	0	30.00	30.00	15.83
1191.06	516	-116.79	-1.09	-80.00	2927.8	3110.0	2745.5	2593.7	2509.8	119.37	-9.84	178	1202.56	0.00	0.00	5.03	0.000	0.000	0.084	2927.47	3111.00	2743.94	2606.38	791.56	0	0	0	30.00	30.00	15.84
1331.22	1028	-116.79	-1.09	0.00	2926.9	3108.6	2745.2	2604.8	791.3	133.22	-9.86	206	1342.64	0.00	0.00	4.94	0.000	0.000	0.065	2929.00	3111.19	2746.81	2584.31	2510.44	0	0	0	30.00	30.00	15.85
1520.92	516	-116.79	-1.09	-80.00	2927.3	3108.5	2746.1	2584.5	2512.2	151.98	-10.18	226	1532.60	0.00	0.00	5.03	0.000	0.000	0.084	2927.53	3109.19	2745.88	2595.94	792.94	0	0	0	30.00	30.00	15.85
1571.03	1028	-116.79	-1.09	0.00	2926.5	3108.7	2744.4	2597.6	792.8	157.03	-10.00	236	1582.61	0.00	0.00	4.93	0.000	0.000	0.064	2927.50	3109.06	2745.94	2574.38	2509.38	0	0	0	30.00	30.00	15.86
1761.02	516	-116.79	-1.09	-80.00	2927.1	3107.9	2746.2	2574.6	2509.4	176.16	-9.88	256	1772.54	0.00	0.00	5.02	0.000	0.000	0.083	2927.72	3110.12	2745.31	2589.75	791.38	0	0	0	30.00	30.00	15.85
1775.20	1028	-116.79	-1.09	0.00	2926.8	3108.6	2744.9	2589.6	792.0	177.71	-9.99	259	1783.82	0.00	0.00	4.90	0.000	0.000	0.062	2926.34	3106.44	2746.25	2567.69	2508.56	0	0	0	30.00	30.00	15.86
1807	end dive: TARGET_DEPTH_EXCEEDED
state	1807	begin apogee
1807.95	3	0.00	-0.19	0.00	2925.9	3107.4	2744.4	2569.1	2373.2	180.80	-10.16	263	1913.74	101.96	1.15	0.12	1.650	0.254	0.166	2448.28	2588.75	2307.81	2892.56	2417.19	0	0	0	12.61	15.78	15.29
1916	end apogee: CONTROL_FINISHED_OK
state	1916	begin climb
1915.54	3	116.79	1.09	0.00	2446.6	2585.2	2308.1	2893.9	2415.7	171.00	0.00	273	2015.82	96.79	1.30	0.00	1.597	0.149	0.000	1971.69	2071.31	1872.06	3300.94	2415.38	0	0	0	12.38	15.32	30.00
2191.55	262	116.79	1.09	80.00	1962.8	2067.1	1858.4	3300.5	2415.6	142.64	9.74	307	2199.49	0.00	0.00	4.80	0.000	0.000	0.120	1961.72	2066.81	1856.62	3300.75	3949.56	0	0	0	30.00	30.00	15.36
2261.36	1030	116.79	1.09	0.00	1961.0	2063.9	1858.1	3301.7	3951.3	135.55	10.25	321	2269.13	0.00	0.00	4.53	0.000	0.000	0.053	1961.50	2065.12	1857.88	3321.44	2380.94	0	0	0	30.00	30.00	15.43
2447.42	518	116.79	1.09	-80.00	1959.2	2064.4	1853.9	3320.6	2371.4	116.91	10.13	340	2458.89	0.00	0.00	5.00	0.000	0.000	0.084	1959.81	2066.00	1853.62	3343.00	692.38	0	0	0	30.00	30.00	15.54
2527.29	1031	116.79	1.09	0.00	1958.8	2063.8	1853.7	3342.8	692.1	108.91	9.98	356	2538.95	0.00	0.19	5.03	0.000	0.247	0.066	1959.28	2064.75	1853.81	3288.44	2410.75	0	0	0	30.00	15.49	13.97
2717.36	262	116.79	1.09	80.00	1957.4	2063.9	1850.9	3289.0	2410.2	89.55	10.24	376	2725.25	0.00	0.00	4.70	0.000	0.000	0.118	1958.62	2064.75	1852.50	3288.75	3950.75	0	0	0	30.00	30.00	15.59
2797.13	1030	116.79	1.09	0.00	1957.9	2064.5	1851.3	3290.0	3950.4	81.56	9.79	392	2805.01	0.00	0.00	4.47	0.000	0.000	0.053	1957.09	2063.75	1850.44	3308.25	2378.69	0	0	0	30.00	30.00	15.64
2983.01	518	116.79	1.09	-80.00	1956.8	2063.9	1849.8	3309.0	2378.8	63.17	10.10	411	2991.01	0.00	0.00	4.96	0.000	0.000	0.086	1957.56	2065.56	1849.56	3330.19	691.94	0	0	0	30.00	30.00	15.68
3088.88	1031	116.79	1.09	0.00	1956.8	2064.3	1849.3	3330.4	692.4	52.76	9.77	432	3100.52	0.00	0.14	4.99	0.000	0.245	0.067	1957.81	2065.12	1850.50	3289.56	2409.44	0	0	0	30.00	15.61	14.06
3278.95	262	116.79	1.09	80.00	1956.0	2064.1	1847.8	3290.1	2411.0	34.00	9.71	452	3286.67	0.00	0.00	4.69	0.000	0.000	0.120	1955.53	2063.19	1847.88	3292.56	3951.44	0	0	0	30.00	30.00	14.30
3354.62	1030	116.79	1.09	0.00	1956.2	2064.2	1848.1	3290.8	3949.8	26.49	9.78	467	3362.27	0.00	0.00	4.44	0.000	0.000	0.053	1955.66	2065.19	1846.12	3308.94	2379.69	0	0	0	30.00	30.00	15.72
3539.59	518	116.79	1.09	-80.00	1955.2	2063.0	1847.4	3310.2	2378.7	8.04	9.79	486	3550.90	0.00	0.00	4.95	0.000	0.000	0.088	1957.00	2065.00	1849.00	3332.25	691.06	0	0	0	30.00	30.00	14.34
3600	end climb: SURFACE_DEPTH_REACHED
state	3600	begin surface coast
3620	end surface coast: CONTROL_FINISHED_OK
state	3620	begin surface