Glider dive log

Guam Oct19 * SG179 * Dive index * Mission links * Dive 434 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 179 FIX_MISSING_TIMEOUT 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

MISSION 2 TGT_DEFAULT_LAT 4736 ROLL_ADJ_DBAND 0 MOTHERBOARD 6

DIVE 434 TGT_DEFAULT_LON -12218 VBD_MIN 450 DEVICE1 -1

N_DIVES 0 TGT_AUTO_DEFAULT 0 VBD_MAX 3960 DEVICE2 -1

STOP_T 0 SM_CC 588.71997 C_VBD 2850 DEVICE3 -1

D_SURF 2 N_FILEKB 8 VBD_DBAND 2 DEVICE4 -1

D_FLARE 3 FILEMGR 0 VBD_CNV -0.24529999 DEVICE5 -1

D_TGT 360 CALL_NDIVES 1 VBD_LP_IGNORE 0 DEVICE6 -1

D_ABORT 1020 COMM_SEQ 0 VBD_TIMEOUT 720 LOGGERS 1

D_NO_BLEED 200 PROTOCOL 9 PITCH_VBD_SHIFT 0.001 LOGGERDEVICE1 7

D_BOOST 2 N_NOCOMM 2 UNCOM_BLEED 20 LOGGERDEVICE2 22

T_BOOST 0 NOCOMM_ACTION 163 VBD_MAXERRORS 1 LOGGERDEVICE3 40

D_FINISH 0 N_NOSURFACE 0 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 DBDW 0 COMPASS_DEVICE 66

D_SAFE 0 CALL_TRIES 5 LOITER_W_DBAND 0 COMPASS2_DEVICE 55

D_CALL 0 CALL_WAIT 60 LOITER_DBDW 0 PHONE_DEVICE 33

SURFACE_URGENCY 0 CAPUPLOAD 0 LOITER_D_TOP 0 GPS_DEVICE 48

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 LOITER_D_BOTTOM 0 RAFOS_DEVICE -1

SURFACE_URGENCY_FORCE 0 T_GPS 5 LOITER_N_DIVE 0 XPDR_DEVICE 0

T_DIVE 120 N_GPS 80740 CF8_MAXERRORS 20 SIM_W 0

T_MISSION 150 T_RSLEEP 3 AH0_24V 310 SEABIRD_T_G 0.004412075

T_ABORT 1440 STROBE 0 AH0_10V 0 SEABIRD_T_H 0.00063827372

T_TURN 225 RAFOS_PEAK_OFFSET 0 MINV_24V 11 SEABIRD_T_I 2.6317541e-05

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 MINV_10V 11 SEABIRD_T_J 3.254017e-06

T_NO_W 120 RAFOS_HIT_WINDOW 3600 MAXI_24V 5 SEABIRD_C_G -9.9840622

T_LOITER 0 RAFOS_MMODEM 0 MAXI_10V 1.4 SEABIRD_C_H 1.1688964

T_EPIRB 0 PITCH_MIN 450 FG_AHR_10V 46.559505 SEABIRD_C_I -0.0016958674

USE_BATHY -2 PITCH_MAX 3960 FG_AHR_24V 113.39358 SEABIRD_C_J 0.00021397677

USE_ICE 0 C_PITCH 2850 PHONE_SUPPLY 2 SC_RECORDABOVE 2000.0

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 PRESSURE_YINT -166.32359 SC_PROFILE 3.0

D_OFFGRID 1020 PITCH_CNV 0.0031300001 PRESSURE_SLOPE 0.00010612313 SC_XMITPROFILE 3.0

RELAUNCH 1 PITCH_GAIN 25 COMPASS_USE 4 SC_NDIVE 1.0

APOGEE_PITCH -5 PITCH_TIMEOUT 25 ALTIM_PING_FIT 0 TM_RECORDABOVE 200.0

MAX_BUOY 120 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 TM_PROFILE 3.0

GLIDE_SLOPE 45 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 TM_XMITPROFILE 3.0

SPEED_FACTOR 1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 TM_NDIVE 1.0

RHO 1.0275 PITCH_W_GAIN 3 ALTIM_TOP_MIN_OBSTACLE 0 TM_XMITRAW 0.0

MASS 53962 PITCH_W_DBAND 0.5 ALTIM_PING_DEPTH 0 TM_LOGSAMPLE 0.0

NAV_MODE 2 ROLL_MIN 450 ALTIM_PING_DELTA 0 PM_RECORDABOVE 2000.0

FERRY_MAX 45 ROLL_MAX 3950 ALTIM_FREQUENCY 13 PM_PROFILE 3.0

KALMAN_USE 2 ROLL_DEG 40 ALTIM_PULSE 3 PM_XMITPROFILE 3.0

HD_A 0.0025118899 C_ROLL_DIVE 2300 ALTIM_SENSITIVITY 2 PM_NDIVE 1.0

HD_B 0.0139236 C_ROLL_CLIMB 2100 XPDR_VALID 6 PM_XMITRAW 0.0

HD_C 5.7000002e-06 HEAD_ERRBAND 10 XPDR_INHIBIT 90 PM_MOTORS 1.0

HEADING -1 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 1.9639999e-06 PM_SENDDEPTH 1.0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT -2

ESCAPE_HEADING_DELTA 10 ROLL_MAXERRORS 1 DEEPGLIDER 0

AH0_10V 0 D_TGT 360 PITCH_ADJ_DBAND 0 SEABIRD_T_I 2.6317541e-05

AH0_24V 310 ESCAPE_HEADING 0 PITCH_ADJ_GAIN 0 SEABIRD_T_J 3.254017e-06

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.0031300001 SIM_W 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_DBAND 0.1 SM_CC 588.71997

ALTIM_PING_DELTA 0 FG_AHR_10V 46.559505 PITCH_GAIN 25 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 FG_AHR_24V 113.39358 PITCH_MAX 3960 STOP_T 0

ALTIM_PING_FIT 0 FILEMGR 0 PITCH_MAXERRORS 1 STROBE 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_MIN 450 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 45 PITCH_TIMEOUT 25 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 48 PITCH_VBD_SHIFT 0.001 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0025118899 PITCH_W_DBAND 0.5 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0139236 PITCH_W_GAIN 3 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 HD_C 5.7000002e-06 PM_MOTORS 1.0 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HEADING -1 PM_NDIVE 1.0 TM_LOGSAMPLE 0.0

CALL_TRIES 5 HEAD_ERRBAND 10 PM_PROFILE 3.0 TM_NDIVE 1.0

CALL_WAIT 60 ICE_FREEZE_MARGIN 0.30000001 PM_RECORDABOVE 2000.0 TM_PROFILE 3.0

CAPMAXSIZE 100000 ID 179 PM_SENDDEPTH 1.0 TM_RECORDABOVE 200.0

CAPUPLOAD 0 INT_PRESSURE_SLOPE 1.9639999e-06 PM_XMITPROFILE 3.0 TM_XMITPROFILE 3.0

CF8_MAXERRORS 20 INT_PRESSURE_YINT -2 PM_XMITRAW 0.0 TM_XMITRAW 0.0

COMM_SEQ 0 KALMAN_USE 2 PRESSURE_SLOPE 0.00010612313 T_ABORT 1440

COMPASS2_DEVICE 55 LOGGERDEVICE1 7 PRESSURE_YINT -166.32359 T_BOOST 0

COMPASS_DEVICE 66 LOGGERDEVICE2 22 PROTOCOL 9 T_DIVE 120

COMPASS_USE 4 LOGGERDEVICE3 40 RAFOS_CORR_THRESH 60 T_EPIRB 0

C_PITCH 2850 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_GPS 5

C_ROLL_CLIMB 2100 LOGGERS 1 RAFOS_HIT_WINDOW 3600 T_LOITER 0

C_ROLL_DIVE 2300 LOITER_DBDW 0 RAFOS_MMODEM 0 T_MISSION 150

C_VBD 2850 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 T_NO_W 120

DBDW 0 LOITER_D_TOP 0 RELAUNCH 1 T_RSLEEP 3

DEEPGLIDER 0 LOITER_N_DIVE 0 RHO 1.0275 T_TURN 225

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT -5

DEVICE1 -1 MASS 53962 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

DEVICE2 -1 MAXI_10V 1.4 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEVICE3 -1 MAXI_24V 5 ROLL_DEG 40 USE_BATHY -2

DEVICE4 -1 MAX_BUOY 120 ROLL_MAX 3950 USE_ICE 0

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEVICE6 -1 MINV_24V 11 ROLL_MIN 450 VBD_DBAND 2

DIVE 434 MISSION 2 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

D_ABORT 1020 MOTHERBOARD 6 SC_NDIVE 1.0 VBD_MAX 3960

D_BOOST 2 NAV_MODE 2 SC_PROFILE 3.0 VBD_MAXERRORS 1

D_CALL 0 NOCOMM_ACTION 163 SC_RECORDABOVE 2000.0 VBD_MIN 450

D_FINISH 0 N_DIVES 0 SC_XMITPROFILE 3.0 VBD_TIMEOUT 720

D_FLARE 3 N_FILEKB 8 SEABIRD_C_G -9.9840622 W_ADJ_DBAND 2

D_NO_BLEED 200 N_GPS 80740 SEABIRD_C_H 1.1688964 XPDR_DEVICE 0

D_OFFGRID 1020 N_NOCOMM 2 SEABIRD_C_I -0.0016958674 XPDR_INHIBIT 90

D_PITCH 0 N_NOSURFACE 0 SEABIRD_C_J 0.00021397677 XPDR_VALID 6

D_SAFE 0 PHONE_DEVICE 33 SEABIRD_T_G 0.004412075

D_SURF 2 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063827372

Pre-dive calculations and measurements:

GPS1 140120,192915,1326.159,14436.784,2,1.5,6,0.6 TGT_LATLONG 1326.000,14436.300

_CALLS 1 TGT_RADIUS 1500.000

_SM_DEPTHo 0.56 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -60.6 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 140120,193452,1326.167,14436.775,2,1.5,6,0.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.100,0.200 MHEAD_RNG_PITCHd_Wd 294.5,912,-21.5,-10.000,-26.56

TGT_NAME PICKUP_S D_GRID 243

Post-dive calculations and measurements:

FINISH 0.3,1.022094 _10V_AH 14.96,0.000

SM_CCo 4163.76,0.00,0.010,0,450.1,457.2,442.9,588.70 FG_AHR_24Vo 113.568

SM_GC 0.58,0.00,6.66,0.38,0.010,0.085,0.049,450.1,457.2,442.9,418.2,2341.7,0,0,0,30.36,15.88,16.00 FG_AHR_10Vo 46.579

SUPER 51,71,254,1,0,0 MEM 1098692,31,80172,67

IRIDIUM_FIX 1328.41,14436.50,140120,173821 DATA_FILE_SIZE 19303,572

TCM_TEMP 134.88 CAP_FILE_SIZE 150683,0

XPDR_PINGS 39 SDSIZE 3918848,3782560

SC_FREEKB 3711552 SDFILEDIR 2829,1

HUMID 52.51 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 24.68 CURRENT 0.104,152.1,1

INTERNAL_PRESSURE 9.45517 GPS 140120,204510,1326.166,14436.440,24,1.1,25,0.6

_24V_AH 14.81,161.990

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 652 1329 12853.14 nil 0 0 0.00

Pitch_motor 16 447 110.06 nil 0 0 0.00

Roll_motor 50 117 87.35 nil 0 0 0.00

Iridium 197 162 475.53 nil 0 0 0.00

Transponder_ping 9 420 60.65 nil 0 0 0.00

GPS 15 15 3.41 nil 0 0 0.00

Core 1975 11 348.67 SciCon 4015 10 642.15

LPSleep 2502 2 104.83 TMICL 0 0 0.00

Compass 612 5 45.84 PMAR 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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.86 2 -116.79 -0.98 0.00 449.2 459.6 438.8 395.9 2187.9 0.00 0.00 0 109.16 101.69 0.00 0.00 0.005 0.000 0.000 3013.59 3059.44 2967.75 393.00 2182.75 0 0 0 15.06 30.00 30.00

109.42 263 -116.79 -0.98 40.00 3012.6 3058.3 2966.8 393.1 2182.6 5.38 -8.95 10 129.47 6.24 8.02 2.51 0.008 0.447 0.093 3324.47 3370.12 3278.81 2525.25 3736.25 0 0 0 15.10 15.30 15.12

297.15 1028 -116.79 -0.98 0.00 3323.8 3369.5 3278.2 2524.8 3736.2 58.51 -25.65 48 302.24 0.00 0.00 2.18 0.000 0.000 0.041 3323.94 3369.69 3278.19 2525.38 2259.12 0 0 0 30.00 30.00 15.94

487.05 0 -116.79 -0.98 0.00 3323.8 3369.2 3278.4 2524.9 2260.2 103.07 -22.23 68 488.38 0.00 0.00 0.00 0.000 0.000 0.000 3323.31 3369.00 3277.62 2526.31 2260.38 0 0 0 30.00 30.00 30.00

667.00 516 -116.79 -0.98 -40.00 3323.9 3369.4 3278.4 2525.0 2259.2 134.74 -17.25 86 672.28 0.00 0.00 2.14 0.000 0.000 0.069 3323.97 3370.25 3277.69 2525.38 855.62 0 0 0 30.00 30.00 15.87

897.07 1028 -116.79 -0.98 0.00 3324.2 3369.8 3278.8 2524.9 855.6 174.47 -14.70 132 902.35 0.00 0.00 2.20 0.000 0.000 0.055 3324.56 3370.12 3279.00 2516.50 2326.19 0 0 0 30.00 30.00 15.99

1087.28 0 -116.79 -0.98 0.00 3323.6 3369.3 3277.9 2515.9 2327.0 199.26 -14.04 152 1088.62 0.00 0.00 0.00 0.000 0.000 0.000 3323.75 3369.50 3278.00 2516.00 2326.81 0 0 0 30.00 30.00 30.00

1267.15 260 -116.79 -0.98 40.00 3323.8 3369.4 3278.2 2516.3 2326.6 220.72 -12.66 170 1272.41 0.00 0.00 2.29 0.000 0.000 0.118 3324.50 3370.00 3279.00 2506.25 3730.56 0 0 0 30.00 30.00 15.91

1422.25 1029 -116.79 -0.98 0.00 3323.2 3369.2 3277.2 2505.3 3730.8 239.71 -12.80 201 1427.83 0.00 0.10 2.21 0.000 0.282 0.048 3323.59 3369.56 3277.62 2541.75 2255.12 0 0 0 30.00 15.77 16.01

1467 end dive: TARGET_DEPTH_EXCEEDED

state 1467 begin apogee

1468.49 3 0.00 -0.20 0.00 3323.1 3369.2 3277.1 2541.8 2014.8 243.77 -8.54 206 1564.39 93.57 0.67 0.15 1.330 0.198 0.103 2848.31 2913.75 2782.88 2794.12 2195.25 0 0 0 11.35 15.87 15.38

1566 end apogee: CONTROL_FINISHED_OK

state 1566 begin climb

1566.41 519 116.79 0.98 -40.00 2848.5 2914.0 2783.0 2793.6 2194.6 239.93 0.00 215 1668.04 94.29 0.91 2.46 1.253 0.094 0.081 2372.06 2437.62 2306.50 3193.44 655.06 0 0 0 11.92 15.55 15.29

1890.32 1062 212.14 1.07 0.00 2366.3 2433.4 2299.1 3193.0 655.2 214.33 4.51 280 1968.73 75.19 0.00 2.22 1.232 0.000 0.050 1984.78 2063.69 1905.88 3192.00 2130.25 0 0 0 11.41 30.00 15.84

2150.92 294 247.21 1.11 40.00 1978.0 2062.2 1893.8 3192.6 2130.7 189.06 7.98 314 2183.97 28.80 0.00 2.34 1.163 0.000 0.112 1840.16 1924.06 1756.25 3192.12 3533.00 0 0 0 11.58 30.00 15.48

2300.91 1028 247.21 1.11 0.00 1839.8 1925.4 1754.1 3192.9 3533.8 167.42 16.06 344 2306.71 0.00 0.00 2.21 0.000 0.000 0.041 1839.88 1925.75 1754.00 3199.50 2051.56 0 0 0 30.00 30.00 15.85

2486.05 550 292.57 1.15 -40.00 1838.0 1925.7 1750.2 3199.7 2051.8 149.98 7.39 363 2527.56 36.46 0.00 2.21 1.177 0.000 0.081 1656.88 1743.19 1570.56 3210.69 658.69 0 0 0 11.51 30.00 15.50

2650.91 1028 292.57 1.15 0.00 1651.5 1735.6 1567.5 3211.2 658.2 132.27 11.80 396 2656.70 0.00 0.00 2.21 0.000 0.000 0.046 1651.84 1735.81 1567.88 3209.81 2131.12 0 0 0 30.00 30.00 15.89

2836.14 260 292.57 1.15 40.00 1650.6 1735.8 1565.5 3211.0 2132.2 111.14 12.50 415 2841.40 0.00 0.00 2.28 0.000 0.000 0.100 1651.59 1736.75 1566.44 3210.81 3532.81 0 0 0 30.00 30.00 15.90

2886.15 1028 292.57 1.15 0.00 1650.7 1735.9 1565.4 3210.6 3532.4 105.72 10.57 425 2891.39 0.00 0.00 2.17 0.000 0.000 0.041 1650.31 1734.75 1565.88 3215.56 2054.56 0 0 0 30.00 30.00 15.94

3076.11 550 369.59 1.23 -40.00 1649.6 1735.6 1563.6 3215.8 2054.3 96.17 5.57 445 3139.03 58.94 0.00 2.22 1.137 0.000 0.083 1341.97 1423.75 1260.19 3216.62 659.44 0 0 0 11.46 30.00 15.48

3206.09 1093 369.59 1.28 0.00 1339.2 1419.6 1258.8 3216.4 659.0 86.60 8.18 471 3211.93 0.00 0.12 2.18 0.000 0.123 0.042 1339.84 1420.44 1259.25 3304.06 2144.69 0 0 0 30.00 15.69 15.81

3391.26 261 369.59 1.28 40.00 1338.6 1419.9 1257.3 3305.3 2145.5 63.33 11.62 490 3396.64 0.00 0.15 2.22 0.000 0.255 0.092 1338.69 1420.19 1257.19 3247.62 3535.94 0 0 0 30.00 15.76 15.76

3501.31 1028 369.59 1.28 0.00 1338.5 1419.9 1257.1 3246.6 3534.8 51.84 10.17 512 3506.48 0.00 0.00 2.20 0.000 0.000 0.042 1338.97 1420.00 1257.94 3253.00 2054.00 0 0 0 30.00 30.00 15.95

3691.22 516 369.59 1.28 -40.00 1338.1 1419.8 1256.4 3253.8 2053.3 32.41 11.21 532 3696.51 0.00 0.00 2.19 0.000 0.000 0.082 1338.88 1420.56 1257.19 3261.62 656.81 0 0 0 30.00 30.00 15.97

3731.25 1028 369.59 1.28 0.00 1337.7 1419.8 1255.6 3262.1 656.6 27.79 11.62 540 3736.52 0.00 0.00 2.15 0.000 0.000 0.046 1338.03 1420.31 1255.75 3260.81 2136.19 0 0 0 30.00 30.00 15.97

3921.40 324 369.59 1.31 40.00 1337.8 1420.0 1255.6 3260.4 2136.1 8.38 9.31 560 3926.56 0.00 0.00 2.29 0.000 0.000 0.111 1338.38 1420.62 1256.12 3261.25 3529.94 0 0 0 30.00 30.00 15.95

3961.20 1028 369.59 1.31 0.00 1337.8 1420.1 1255.4 3260.9 3529.0 3.80 11.50 568 3966.56 0.00 0.00 2.21 0.000 0.000 0.049 1338.06 1419.88 1256.25 3268.25 2062.19 0 0 0 30.00 30.00 15.91

3981 end climb: SURFACE_DEPTH_REACHED

state 3981 begin surface coast

3991 end surface coast: CONTROL_FINISHED_OK

state 3991 begin surface

ID	179	FIX_MISSING_TIMEOUT	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
MISSION	2	TGT_DEFAULT_LAT	4736	ROLL_ADJ_DBAND	0	MOTHERBOARD	6
DIVE	434	TGT_DEFAULT_LON	-12218	VBD_MIN	450	DEVICE1	-1
N_DIVES	0	TGT_AUTO_DEFAULT	0	VBD_MAX	3960	DEVICE2	-1
STOP_T	0	SM_CC	588.71997	C_VBD	2850	DEVICE3	-1
D_SURF	2	N_FILEKB	8	VBD_DBAND	2	DEVICE4	-1
D_FLARE	3	FILEMGR	0	VBD_CNV	-0.24529999	DEVICE5	-1
D_TGT	360	CALL_NDIVES	1	VBD_LP_IGNORE	0	DEVICE6	-1
D_ABORT	1020	COMM_SEQ	0	VBD_TIMEOUT	720	LOGGERS	1
D_NO_BLEED	200	PROTOCOL	9	PITCH_VBD_SHIFT	0.001	LOGGERDEVICE1	7
D_BOOST	2	N_NOCOMM	2	UNCOM_BLEED	20	LOGGERDEVICE2	22
T_BOOST	0	NOCOMM_ACTION	163	VBD_MAXERRORS	1	LOGGERDEVICE3	40
D_FINISH	0	N_NOSURFACE	0	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	DBDW	0	COMPASS_DEVICE	66
D_SAFE	0	CALL_TRIES	5	LOITER_W_DBAND	0	COMPASS2_DEVICE	55
D_CALL	0	CALL_WAIT	60	LOITER_DBDW	0	PHONE_DEVICE	33
SURFACE_URGENCY	0	CAPUPLOAD	0	LOITER_D_TOP	0	GPS_DEVICE	48
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	LOITER_D_BOTTOM	0	RAFOS_DEVICE	-1
SURFACE_URGENCY_FORCE	0	T_GPS	5	LOITER_N_DIVE	0	XPDR_DEVICE	0
T_DIVE	120	N_GPS	80740	CF8_MAXERRORS	20	SIM_W	0
T_MISSION	150	T_RSLEEP	3	AH0_24V	310	SEABIRD_T_G	0.004412075
T_ABORT	1440	STROBE	0	AH0_10V	0	SEABIRD_T_H	0.00063827372
T_TURN	225	RAFOS_PEAK_OFFSET	0	MINV_24V	11	SEABIRD_T_I	2.6317541e-05
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	MINV_10V	11	SEABIRD_T_J	3.254017e-06
T_NO_W	120	RAFOS_HIT_WINDOW	3600	MAXI_24V	5	SEABIRD_C_G	-9.9840622
T_LOITER	0	RAFOS_MMODEM	0	MAXI_10V	1.4	SEABIRD_C_H	1.1688964
T_EPIRB	0	PITCH_MIN	450	FG_AHR_10V	46.559505	SEABIRD_C_I	-0.0016958674
USE_BATHY	-2	PITCH_MAX	3960	FG_AHR_24V	113.39358	SEABIRD_C_J	0.00021397677
USE_ICE	0	C_PITCH	2850	PHONE_SUPPLY	2	SC_RECORDABOVE	2000.0
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	PRESSURE_YINT	-166.32359	SC_PROFILE	3.0
D_OFFGRID	1020	PITCH_CNV	0.0031300001	PRESSURE_SLOPE	0.00010612313	SC_XMITPROFILE	3.0
RELAUNCH	1	PITCH_GAIN	25	COMPASS_USE	4	SC_NDIVE	1.0
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	ALTIM_PING_FIT	0	TM_RECORDABOVE	200.0
MAX_BUOY	120	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	TM_PROFILE	3.0
GLIDE_SLOPE	45	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	TM_XMITPROFILE	3.0
SPEED_FACTOR	1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	TM_NDIVE	1.0
RHO	1.0275	PITCH_W_GAIN	3	ALTIM_TOP_MIN_OBSTACLE	0	TM_XMITRAW	0.0
MASS	53962	PITCH_W_DBAND	0.5	ALTIM_PING_DEPTH	0	TM_LOGSAMPLE	0.0
NAV_MODE	2	ROLL_MIN	450	ALTIM_PING_DELTA	0	PM_RECORDABOVE	2000.0
FERRY_MAX	45	ROLL_MAX	3950	ALTIM_FREQUENCY	13	PM_PROFILE	3.0
KALMAN_USE	2	ROLL_DEG	40	ALTIM_PULSE	3	PM_XMITPROFILE	3.0
HD_A	0.0025118899	C_ROLL_DIVE	2300	ALTIM_SENSITIVITY	2	PM_NDIVE	1.0
HD_B	0.0139236	C_ROLL_CLIMB	2100	XPDR_VALID	6	PM_XMITRAW	0.0
HD_C	5.7000002e-06	HEAD_ERRBAND	10	XPDR_INHIBIT	90	PM_MOTORS	1.0
HEADING	-1	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	1.9639999e-06	PM_SENDDEPTH	1.0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	-2
ESCAPE_HEADING_DELTA	10	ROLL_MAXERRORS	1	DEEPGLIDER	0

GPS1	140120,192915,1326.159,14436.784,2,1.5,6,0.6	TGT_LATLONG	1326.000,14436.300
_CALLS	1	TGT_RADIUS	1500.000
_SM_DEPTHo	0.56	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-60.6	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	140120,193452,1326.167,14436.775,2,1.5,6,0.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.100,0.200	MHEAD_RNG_PITCHd_Wd	294.5,912,-21.5,-10.000,-26.56
TGT_NAME	PICKUP_S	D_GRID	243

FINISH	0.3,1.022094	_10V_AH	14.96,0.000
SM_CCo	4163.76,0.00,0.010,0,450.1,457.2,442.9,588.70	FG_AHR_24Vo	113.568
SM_GC	0.58,0.00,6.66,0.38,0.010,0.085,0.049,450.1,457.2,442.9,418.2,2341.7,0,0,0,30.36,15.88,16.00	FG_AHR_10Vo	46.579
SUPER	51,71,254,1,0,0	MEM	1098692,31,80172,67
IRIDIUM_FIX	1328.41,14436.50,140120,173821	DATA_FILE_SIZE	19303,572
TCM_TEMP	134.88	CAP_FILE_SIZE	150683,0
XPDR_PINGS	39	SDSIZE	3918848,3782560
SC_FREEKB	3711552	SDFILEDIR	2829,1
HUMID	52.51	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	24.68	CURRENT	0.104,152.1,1
INTERNAL_PRESSURE	9.45517	GPS	140120,204510,1326.166,14436.440,24,1.1,25,0.6
_24V_AH	14.81,161.990

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	652	1329	12853.14	nil	0	0	0.00
Pitch_motor	16	447	110.06	nil	0	0	0.00
Roll_motor	50	117	87.35	nil	0	0	0.00
Iridium	197	162	475.53	nil	0	0	0.00
Transponder_ping	9	420	60.65	nil	0	0	0.00
GPS	15	15	3.41	nil	0	0	0.00
Core	1975	11	348.67	SciCon	4015	10	642.15
LPSleep	2502	2	104.83	TMICL	0	0	0.00
Compass	612	5	45.84	PMAR	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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.86	2	-116.79	-0.98	0.00	449.2	459.6	438.8	395.9	2187.9	0.00	0.00	0	109.16	101.69	0.00	0.00	0.005	0.000	0.000	3013.59	3059.44	2967.75	393.00	2182.75	0	0	0	15.06	30.00	30.00
109.42	263	-116.79	-0.98	40.00	3012.6	3058.3	2966.8	393.1	2182.6	5.38	-8.95	10	129.47	6.24	8.02	2.51	0.008	0.447	0.093	3324.47	3370.12	3278.81	2525.25	3736.25	0	0	0	15.10	15.30	15.12
297.15	1028	-116.79	-0.98	0.00	3323.8	3369.5	3278.2	2524.8	3736.2	58.51	-25.65	48	302.24	0.00	0.00	2.18	0.000	0.000	0.041	3323.94	3369.69	3278.19	2525.38	2259.12	0	0	0	30.00	30.00	15.94
487.05	0	-116.79	-0.98	0.00	3323.8	3369.2	3278.4	2524.9	2260.2	103.07	-22.23	68	488.38	0.00	0.00	0.00	0.000	0.000	0.000	3323.31	3369.00	3277.62	2526.31	2260.38	0	0	0	30.00	30.00	30.00
667.00	516	-116.79	-0.98	-40.00	3323.9	3369.4	3278.4	2525.0	2259.2	134.74	-17.25	86	672.28	0.00	0.00	2.14	0.000	0.000	0.069	3323.97	3370.25	3277.69	2525.38	855.62	0	0	0	30.00	30.00	15.87
897.07	1028	-116.79	-0.98	0.00	3324.2	3369.8	3278.8	2524.9	855.6	174.47	-14.70	132	902.35	0.00	0.00	2.20	0.000	0.000	0.055	3324.56	3370.12	3279.00	2516.50	2326.19	0	0	0	30.00	30.00	15.99
1087.28	0	-116.79	-0.98	0.00	3323.6	3369.3	3277.9	2515.9	2327.0	199.26	-14.04	152	1088.62	0.00	0.00	0.00	0.000	0.000	0.000	3323.75	3369.50	3278.00	2516.00	2326.81	0	0	0	30.00	30.00	30.00
1267.15	260	-116.79	-0.98	40.00	3323.8	3369.4	3278.2	2516.3	2326.6	220.72	-12.66	170	1272.41	0.00	0.00	2.29	0.000	0.000	0.118	3324.50	3370.00	3279.00	2506.25	3730.56	0	0	0	30.00	30.00	15.91
1422.25	1029	-116.79	-0.98	0.00	3323.2	3369.2	3277.2	2505.3	3730.8	239.71	-12.80	201	1427.83	0.00	0.10	2.21	0.000	0.282	0.048	3323.59	3369.56	3277.62	2541.75	2255.12	0	0	0	30.00	15.77	16.01
1467	end dive: TARGET_DEPTH_EXCEEDED
state	1467	begin apogee
1468.49	3	0.00	-0.20	0.00	3323.1	3369.2	3277.1	2541.8	2014.8	243.77	-8.54	206	1564.39	93.57	0.67	0.15	1.330	0.198	0.103	2848.31	2913.75	2782.88	2794.12	2195.25	0	0	0	11.35	15.87	15.38
1566	end apogee: CONTROL_FINISHED_OK
state	1566	begin climb
1566.41	519	116.79	0.98	-40.00	2848.5	2914.0	2783.0	2793.6	2194.6	239.93	0.00	215	1668.04	94.29	0.91	2.46	1.253	0.094	0.081	2372.06	2437.62	2306.50	3193.44	655.06	0	0	0	11.92	15.55	15.29
1890.32	1062	212.14	1.07	0.00	2366.3	2433.4	2299.1	3193.0	655.2	214.33	4.51	280	1968.73	75.19	0.00	2.22	1.232	0.000	0.050	1984.78	2063.69	1905.88	3192.00	2130.25	0	0	0	11.41	30.00	15.84
2150.92	294	247.21	1.11	40.00	1978.0	2062.2	1893.8	3192.6	2130.7	189.06	7.98	314	2183.97	28.80	0.00	2.34	1.163	0.000	0.112	1840.16	1924.06	1756.25	3192.12	3533.00	0	0	0	11.58	30.00	15.48
2300.91	1028	247.21	1.11	0.00	1839.8	1925.4	1754.1	3192.9	3533.8	167.42	16.06	344	2306.71	0.00	0.00	2.21	0.000	0.000	0.041	1839.88	1925.75	1754.00	3199.50	2051.56	0	0	0	30.00	30.00	15.85
2486.05	550	292.57	1.15	-40.00	1838.0	1925.7	1750.2	3199.7	2051.8	149.98	7.39	363	2527.56	36.46	0.00	2.21	1.177	0.000	0.081	1656.88	1743.19	1570.56	3210.69	658.69	0	0	0	11.51	30.00	15.50
2650.91	1028	292.57	1.15	0.00	1651.5	1735.6	1567.5	3211.2	658.2	132.27	11.80	396	2656.70	0.00	0.00	2.21	0.000	0.000	0.046	1651.84	1735.81	1567.88	3209.81	2131.12	0	0	0	30.00	30.00	15.89
2836.14	260	292.57	1.15	40.00	1650.6	1735.8	1565.5	3211.0	2132.2	111.14	12.50	415	2841.40	0.00	0.00	2.28	0.000	0.000	0.100	1651.59	1736.75	1566.44	3210.81	3532.81	0	0	0	30.00	30.00	15.90
2886.15	1028	292.57	1.15	0.00	1650.7	1735.9	1565.4	3210.6	3532.4	105.72	10.57	425	2891.39	0.00	0.00	2.17	0.000	0.000	0.041	1650.31	1734.75	1565.88	3215.56	2054.56	0	0	0	30.00	30.00	15.94
3076.11	550	369.59	1.23	-40.00	1649.6	1735.6	1563.6	3215.8	2054.3	96.17	5.57	445	3139.03	58.94	0.00	2.22	1.137	0.000	0.083	1341.97	1423.75	1260.19	3216.62	659.44	0	0	0	11.46	30.00	15.48
3206.09	1093	369.59	1.28	0.00	1339.2	1419.6	1258.8	3216.4	659.0	86.60	8.18	471	3211.93	0.00	0.12	2.18	0.000	0.123	0.042	1339.84	1420.44	1259.25	3304.06	2144.69	0	0	0	30.00	15.69	15.81
3391.26	261	369.59	1.28	40.00	1338.6	1419.9	1257.3	3305.3	2145.5	63.33	11.62	490	3396.64	0.00	0.15	2.22	0.000	0.255	0.092	1338.69	1420.19	1257.19	3247.62	3535.94	0	0	0	30.00	15.76	15.76
3501.31	1028	369.59	1.28	0.00	1338.5	1419.9	1257.1	3246.6	3534.8	51.84	10.17	512	3506.48	0.00	0.00	2.20	0.000	0.000	0.042	1338.97	1420.00	1257.94	3253.00	2054.00	0	0	0	30.00	30.00	15.95
3691.22	516	369.59	1.28	-40.00	1338.1	1419.8	1256.4	3253.8	2053.3	32.41	11.21	532	3696.51	0.00	0.00	2.19	0.000	0.000	0.082	1338.88	1420.56	1257.19	3261.62	656.81	0	0	0	30.00	30.00	15.97
3731.25	1028	369.59	1.28	0.00	1337.7	1419.8	1255.6	3262.1	656.6	27.79	11.62	540	3736.52	0.00	0.00	2.15	0.000	0.000	0.046	1338.03	1420.31	1255.75	3260.81	2136.19	0	0	0	30.00	30.00	15.97
3921.40	324	369.59	1.31	40.00	1337.8	1420.0	1255.6	3260.4	2136.1	8.38	9.31	560	3926.56	0.00	0.00	2.29	0.000	0.000	0.111	1338.38	1420.62	1256.12	3261.25	3529.94	0	0	0	30.00	30.00	15.95
3961.20	1028	369.59	1.31	0.00	1337.8	1420.1	1255.4	3260.9	3529.0	3.80	11.50	568	3966.56	0.00	0.00	2.21	0.000	0.000	0.049	1338.06	1419.88	1256.25	3268.25	2062.19	0	0	0	30.00	30.00	15.91
3981	end climb: SURFACE_DEPTH_REACHED
state	3981	begin surface coast
3991	end surface coast: CONTROL_FINISHED_OK
state	3991	begin surface