Glider dive log

AMOS Oct19 * SG231 * Dive index * Mission links * Dive 44 * 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 44 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 1.7657369 SEABIRD_C_G -9.9463768

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 6.4139686 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 1.7657369 PITCH_CNV 0.0031300001 SEABIRD_T_I 2.1747219e-05

ALTIM_PULSE 3 FG_AHR_24V 6.4139686 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 44 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 101019,185909,7434.655,-14532.633,15,1.0,15,17.9 TGT_LATLONG 7300.000,-14820.200

_CALLS 4 TGT_RADIUS 2000.000

_SM_DEPTHo 1.02 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -82.0 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 101019,190844,7434.621,-14532.771,3,1.0,6,17.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.233 MHEAD_RNG_PITCHd_Wd 234.5,197299,-19.9,-10.000,-23.25

TGT_NAME a D_GRID 180

Post-dive calculations and measurements:

FINISH -0.0,1.025993 _24V_AH 14.11,38.541

SM_CCo 3903.42,4.46,0.660,0,525.9,571.1,480.7,471.99 _10V_AH 15.00,0.000

SM_GC 2.25,0.00,7.99,0.26,0.000,0.070,0.097,520.1,586.8,453.4,458.9,2510.5,0,0,0,30.00,15.85,15.86 FG_AHR_24Vo 6.518

SUPER 51,127,254,1,0,0 FG_AHR_10Vo 1.782

IRIDIUM_FIX 7434.64,-14538.23,101019,190411 MEM 1156100,28,23204,48

TCM_TEMP 8.52 DATA_FILE_SIZE 12938,478

XPDR_PINGS 280 CAP_FILE_SIZE 205187,0

SC_FREEKB 3860832 SDSIZE 3918848,3898016

PM_FREEKB_00 60653696 SDFILEDIR 328,1

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

HUMID 51.96 CURRENT 0.205,156.8,1

TEMP -0.19 GPS 101019,204630,7433.873,-14533.056,52,1.1,52,17.9

INTERNAL_PRESSURE 8.38783

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 599 2784 23537.98 nil 0 0 0.00

Pitch_motor 21 441 133.61 nil 0 0 0.00

Roll_motor 125 161 287.36 nil 0 0 0.00

Iridium 296 163 683.49 nil 0 0 0.00

Transponder_ping 70 420 414.83 nil 0 0 0.00

GPS 15 15 3.57 nil 0 0 0.00

Core 2300 11 407.24 SciCon 3616 6 337.37

LPSleep 4033 2 169.42 PMAR 3620 128 6984.66

Compass 843 5 63.23 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 0.00 521.7 582.2 461.1 457.2 2463.8 0.00 0.00 0 35.00 20.80 0.00 0.00 0.006 0.000 0.000 859.97 943.69 776.25 457.56 2464.56 0 0 0 14.30 30.00 30.00

35.26 263 -116.79 -1.09 80.00 860.3 943.2 777.5 457.3 2468.2 3.19 -10.01 2 145.78 90.64 10.45 4.45 0.005 0.442 0.109 2927.62 3115.31 2739.94 2582.81 3953.62 0 0 0 14.24 15.61 15.70

153.46 1028 -116.79 -1.09 0.00 2928.8 3112.1 2745.5 2582.2 3954.2 15.03 -9.82 24 161.29 0.00 0.00 4.16 0.000 0.000 0.055 2929.62 3113.81 2745.44 2601.56 2479.44 0 0 0 30.00 30.00 15.80

338.55 260 -116.79 -1.09 80.00 2931.2 3112.6 2749.8 2599.9 2468.6 33.68 -9.73 43 346.38 0.00 0.00 4.47 0.000 0.000 0.114 2930.19 3113.12 2747.25 2582.06 3951.44 0 0 0 30.00 30.00 15.77

348.24 1028 -116.79 -1.09 0.00 2931.7 3113.2 2750.2 2582.9 3951.9 34.75 -9.79 45 355.93 0.00 0.00 4.14 0.000 0.000 0.053 2932.59 3113.25 2751.94 2581.38 2477.62 0 0 0 30.00 30.00 15.81

534.31 516 -116.79 -1.09 -80.00 2930.5 3111.9 2749.1 2580.8 2469.5 53.06 -9.81 64 545.79 0.00 0.00 4.91 0.000 0.000 0.087 2931.84 3112.50 2751.19 2590.94 791.19 0 0 0 30.00 30.00 15.83

548.33 1028 -116.79 -1.09 0.00 2930.0 3108.7 2751.2 2592.2 791.1 54.53 -10.08 67 557.12 0.00 0.00 4.94 0.000 0.000 0.065 2930.84 3111.31 2750.38 2570.12 2508.38 0 0 0 30.00 30.00 15.82

740.06 517 -116.79 -1.09 -80.00 2928.8 3107.9 2749.8 2569.2 2510.9 73.57 -9.64 87 751.62 0.00 0.12 5.05 0.000 0.298 0.087 2928.62 3107.38 2749.88 2624.50 791.50 0 0 0 30.00 15.74 15.81

904.09 1028 -116.79 -1.09 0.00 2927.6 3105.1 2750.1 2624.3 791.3 90.05 -10.08 120 912.98 0.00 0.00 4.95 0.000 0.000 0.067 2926.56 3104.50 2748.62 2604.19 2509.06 0 0 0 30.00 30.00 15.84

1096.38 516 -116.79 -1.09 -80.00 2927.5 3105.1 2749.8 2604.5 2510.4 108.98 -9.56 140 1108.00 0.00 0.00 5.04 0.000 0.000 0.087 2928.16 3106.56 2749.75 2617.50 791.31 0 0 0 30.00 30.00 15.84

1176.30 1028 -116.79 -1.09 0.00 2927.1 3104.1 2750.0 2618.5 791.4 116.81 -9.92 156 1187.93 0.00 0.00 4.95 0.000 0.000 0.067 2928.94 3106.69 2751.19 2595.94 2508.44 0 0 0 30.00 30.00 15.84

1366.29 516 -116.79 -1.09 -80.00 2927.7 3104.7 2750.6 2596.9 2509.0 136.20 -10.11 176 1377.93 0.00 0.00 5.05 0.000 0.000 0.086 2928.91 3106.06 2751.75 2609.12 791.44 0 0 0 30.00 30.00 15.84

1436.29 1028 -116.79 -1.09 0.00 2927.5 3104.6 2750.5 2612.1 791.3 143.31 -10.17 190 1447.72 0.00 0.00 4.95 0.000 0.000 0.065 2928.22 3104.94 2751.50 2591.19 2508.75 0 0 0 30.00 30.00 15.86

1626.19 516 -116.79 -1.09 -80.00 2927.0 3103.6 2750.5 2589.8 2508.5 162.49 -10.03 210 1637.59 0.00 0.00 5.04 0.000 0.000 0.086 2927.09 3104.69 2749.50 2606.38 791.38 0 0 0 30.00 30.00 15.85

1719.97 1028 -116.79 -1.09 0.00 2926.2 3101.9 2750.5 2605.2 791.4 172.17 -10.01 229 1728.81 0.00 0.00 4.94 0.000 0.000 0.065 2927.41 3103.19 2751.62 2582.38 2509.44 0 0 0 30.00 30.00 15.85

1802 end dive: TARGET_DEPTH_EXCEEDED

state 1802 begin apogee

1803.10 3 0.00 -0.19 0.00 2927.4 3102.6 2752.2 2583.2 2372.5 180.26 -10.01 238 1908.95 101.83 1.08 0.12 1.624 0.242 0.162 2447.16 2579.50 2314.81 2890.75 2416.06 0 0 0 12.58 15.76 15.28

1911 end apogee: CONTROL_FINISHED_OK

state 1911 begin climb

1910.73 263 116.79 1.09 80.00 2446.2 2578.0 2314.5 2890.5 2417.8 170.47 0.00 248 2020.38 97.68 1.32 4.91 1.579 0.148 0.122 1970.34 2075.31 1865.38 3301.94 3951.75 0 0 0 12.38 15.32 15.01

2078.71 1030 116.79 1.09 0.00 1964.8 2069.6 1860.0 3300.8 3952.1 152.89 10.32 276 2086.25 0.00 0.00 4.61 0.000 0.000 0.053 1962.75 2066.44 1859.06 3321.56 2381.50 0 0 0 30.00 30.00 13.76

2263.34 518 116.79 1.09 -80.00 1960.2 2069.2 1851.1 3321.9 2380.2 134.67 9.93 295 2274.84 0.00 0.00 5.09 0.000 0.000 0.092 1962.16 2071.25 1853.06 3342.50 692.56 0 0 0 30.00 30.00 15.44

2353.29 1031 116.79 1.09 0.00 1960.5 2069.6 1851.5 3344.6 692.6 125.66 9.99 313 2364.69 0.00 0.19 5.06 0.000 0.248 0.066 1961.12 2070.81 1851.44 3290.25 2410.44 0 0 0 30.00 15.41 15.49

2543.26 262 116.79 1.09 80.00 1958.0 2069.9 1846.1 3290.3 2411.2 106.83 9.94 333 2551.12 0.00 0.00 4.72 0.000 0.000 0.118 1958.56 2070.62 1846.50 3290.94 3950.69 0 0 0 30.00 30.00 15.56

2612.99 1030 116.79 1.09 0.00 1957.4 2069.6 1845.2 3290.4 3950.9 99.77 9.98 347 2620.75 0.00 0.00 4.49 0.000 0.000 0.050 1957.84 2068.94 1846.75 3308.81 2379.25 0 0 0 30.00 30.00 13.96

2798.88 518 116.79 1.09 -80.00 1956.0 2069.4 1842.5 3310.4 2379.2 81.13 9.95 366 2806.85 0.00 0.00 4.99 0.000 0.000 0.085 1956.44 2069.88 1843.00 3333.00 690.69 0 0 0 30.00 30.00 15.64

2884.71 1031 116.79 1.09 0.00 1956.6 2070.1 1843.1 3332.5 690.0 72.61 9.87 383 2896.25 0.00 0.14 5.01 0.000 0.245 0.067 1956.81 2070.06 1843.56 3289.81 2409.19 0 0 0 30.00 15.58 15.66

3074.59 262 116.79 1.09 80.00 1955.8 2070.9 1840.8 3291.2 2409.7 53.53 10.09 403 3082.51 0.00 0.00 4.69 0.000 0.000 0.119 1954.75 2068.81 1840.69 3290.00 3951.56 0 0 0 30.00 30.00 15.67

3144.37 1030 116.79 1.09 0.00 1955.2 2070.0 1840.4 3289.9 3951.7 46.35 10.27 417 3152.07 0.00 0.00 4.45 0.000 0.000 0.051 1956.34 2070.62 1842.06 3310.19 2378.44 0 0 0 30.00 30.00 15.70

3330.46 518 116.79 1.09 -80.00 1954.9 2070.7 1839.2 3311.4 2380.1 27.55 9.96 436 3341.92 0.00 0.00 4.97 0.000 0.000 0.089 1956.44 2072.69 1840.19 3331.19 692.31 0 0 0 30.00 30.00 15.73

3460.44 1031 116.79 1.09 0.00 1956.0 2071.6 1840.4 3333.9 692.1 14.62 10.05 462 3471.96 0.00 0.15 4.98 0.000 0.241 0.066 1957.09 2073.06 1841.12 3289.94 2409.38 0 0 0 30.00 15.67 15.75

3591 end climb: SURFACE_DEPTH_REACHED

state 3591 begin surface coast

3611 end surface coast: CONTROL_FINISHED_OK

state 3611 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	44	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	1.7657369	SEABIRD_C_G	-9.9463768
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	6.4139686	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	101019,185909,7434.655,-14532.633,15,1.0,15,17.9	TGT_LATLONG	7300.000,-14820.200
_CALLS	4	TGT_RADIUS	2000.000
_SM_DEPTHo	1.02	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-82.0	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	101019,190844,7434.621,-14532.771,3,1.0,6,17.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.233	MHEAD_RNG_PITCHd_Wd	234.5,197299,-19.9,-10.000,-23.25
TGT_NAME	a	D_GRID	180

FINISH	-0.0,1.025993	_24V_AH	14.11,38.541
SM_CCo	3903.42,4.46,0.660,0,525.9,571.1,480.7,471.99	_10V_AH	15.00,0.000
SM_GC	2.25,0.00,7.99,0.26,0.000,0.070,0.097,520.1,586.8,453.4,458.9,2510.5,0,0,0,30.00,15.85,15.86	FG_AHR_24Vo	6.518
SUPER	51,127,254,1,0,0	FG_AHR_10Vo	1.782
IRIDIUM_FIX	7434.64,-14538.23,101019,190411	MEM	1156100,28,23204,48
TCM_TEMP	8.52	DATA_FILE_SIZE	12938,478
XPDR_PINGS	280	CAP_FILE_SIZE	205187,0
SC_FREEKB	3860832	SDSIZE	3918848,3898016
PM_FREEKB_00	60653696	SDFILEDIR	328,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	51.96	CURRENT	0.205,156.8,1
TEMP	-0.19	GPS	101019,204630,7433.873,-14533.056,52,1.1,52,17.9
INTERNAL_PRESSURE	8.38783

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	599	2784	23537.98	nil	0	0	0.00
Pitch_motor	21	441	133.61	nil	0	0	0.00
Roll_motor	125	161	287.36	nil	0	0	0.00
Iridium	296	163	683.49	nil	0	0	0.00
Transponder_ping	70	420	414.83	nil	0	0	0.00
GPS	15	15	3.57	nil	0	0	0.00
Core	2300	11	407.24	SciCon	3616	6	337.37
LPSleep	4033	2	169.42	PMAR	3620	128	6984.66
Compass	843	5	63.23	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	521.7	582.2	461.1	457.2	2463.8	0.00	0.00	0	35.00	20.80	0.00	0.00	0.006	0.000	0.000	859.97	943.69	776.25	457.56	2464.56	0	0	0	14.30	30.00	30.00
35.26	263	-116.79	-1.09	80.00	860.3	943.2	777.5	457.3	2468.2	3.19	-10.01	2	145.78	90.64	10.45	4.45	0.005	0.442	0.109	2927.62	3115.31	2739.94	2582.81	3953.62	0	0	0	14.24	15.61	15.70
153.46	1028	-116.79	-1.09	0.00	2928.8	3112.1	2745.5	2582.2	3954.2	15.03	-9.82	24	161.29	0.00	0.00	4.16	0.000	0.000	0.055	2929.62	3113.81	2745.44	2601.56	2479.44	0	0	0	30.00	30.00	15.80
338.55	260	-116.79	-1.09	80.00	2931.2	3112.6	2749.8	2599.9	2468.6	33.68	-9.73	43	346.38	0.00	0.00	4.47	0.000	0.000	0.114	2930.19	3113.12	2747.25	2582.06	3951.44	0	0	0	30.00	30.00	15.77
348.24	1028	-116.79	-1.09	0.00	2931.7	3113.2	2750.2	2582.9	3951.9	34.75	-9.79	45	355.93	0.00	0.00	4.14	0.000	0.000	0.053	2932.59	3113.25	2751.94	2581.38	2477.62	0	0	0	30.00	30.00	15.81
534.31	516	-116.79	-1.09	-80.00	2930.5	3111.9	2749.1	2580.8	2469.5	53.06	-9.81	64	545.79	0.00	0.00	4.91	0.000	0.000	0.087	2931.84	3112.50	2751.19	2590.94	791.19	0	0	0	30.00	30.00	15.83
548.33	1028	-116.79	-1.09	0.00	2930.0	3108.7	2751.2	2592.2	791.1	54.53	-10.08	67	557.12	0.00	0.00	4.94	0.000	0.000	0.065	2930.84	3111.31	2750.38	2570.12	2508.38	0	0	0	30.00	30.00	15.82
740.06	517	-116.79	-1.09	-80.00	2928.8	3107.9	2749.8	2569.2	2510.9	73.57	-9.64	87	751.62	0.00	0.12	5.05	0.000	0.298	0.087	2928.62	3107.38	2749.88	2624.50	791.50	0	0	0	30.00	15.74	15.81
904.09	1028	-116.79	-1.09	0.00	2927.6	3105.1	2750.1	2624.3	791.3	90.05	-10.08	120	912.98	0.00	0.00	4.95	0.000	0.000	0.067	2926.56	3104.50	2748.62	2604.19	2509.06	0	0	0	30.00	30.00	15.84
1096.38	516	-116.79	-1.09	-80.00	2927.5	3105.1	2749.8	2604.5	2510.4	108.98	-9.56	140	1108.00	0.00	0.00	5.04	0.000	0.000	0.087	2928.16	3106.56	2749.75	2617.50	791.31	0	0	0	30.00	30.00	15.84
1176.30	1028	-116.79	-1.09	0.00	2927.1	3104.1	2750.0	2618.5	791.4	116.81	-9.92	156	1187.93	0.00	0.00	4.95	0.000	0.000	0.067	2928.94	3106.69	2751.19	2595.94	2508.44	0	0	0	30.00	30.00	15.84
1366.29	516	-116.79	-1.09	-80.00	2927.7	3104.7	2750.6	2596.9	2509.0	136.20	-10.11	176	1377.93	0.00	0.00	5.05	0.000	0.000	0.086	2928.91	3106.06	2751.75	2609.12	791.44	0	0	0	30.00	30.00	15.84
1436.29	1028	-116.79	-1.09	0.00	2927.5	3104.6	2750.5	2612.1	791.3	143.31	-10.17	190	1447.72	0.00	0.00	4.95	0.000	0.000	0.065	2928.22	3104.94	2751.50	2591.19	2508.75	0	0	0	30.00	30.00	15.86
1626.19	516	-116.79	-1.09	-80.00	2927.0	3103.6	2750.5	2589.8	2508.5	162.49	-10.03	210	1637.59	0.00	0.00	5.04	0.000	0.000	0.086	2927.09	3104.69	2749.50	2606.38	791.38	0	0	0	30.00	30.00	15.85
1719.97	1028	-116.79	-1.09	0.00	2926.2	3101.9	2750.5	2605.2	791.4	172.17	-10.01	229	1728.81	0.00	0.00	4.94	0.000	0.000	0.065	2927.41	3103.19	2751.62	2582.38	2509.44	0	0	0	30.00	30.00	15.85
1802	end dive: TARGET_DEPTH_EXCEEDED
state	1802	begin apogee
1803.10	3	0.00	-0.19	0.00	2927.4	3102.6	2752.2	2583.2	2372.5	180.26	-10.01	238	1908.95	101.83	1.08	0.12	1.624	0.242	0.162	2447.16	2579.50	2314.81	2890.75	2416.06	0	0	0	12.58	15.76	15.28
1911	end apogee: CONTROL_FINISHED_OK
state	1911	begin climb
1910.73	263	116.79	1.09	80.00	2446.2	2578.0	2314.5	2890.5	2417.8	170.47	0.00	248	2020.38	97.68	1.32	4.91	1.579	0.148	0.122	1970.34	2075.31	1865.38	3301.94	3951.75	0	0	0	12.38	15.32	15.01
2078.71	1030	116.79	1.09	0.00	1964.8	2069.6	1860.0	3300.8	3952.1	152.89	10.32	276	2086.25	0.00	0.00	4.61	0.000	0.000	0.053	1962.75	2066.44	1859.06	3321.56	2381.50	0	0	0	30.00	30.00	13.76
2263.34	518	116.79	1.09	-80.00	1960.2	2069.2	1851.1	3321.9	2380.2	134.67	9.93	295	2274.84	0.00	0.00	5.09	0.000	0.000	0.092	1962.16	2071.25	1853.06	3342.50	692.56	0	0	0	30.00	30.00	15.44
2353.29	1031	116.79	1.09	0.00	1960.5	2069.6	1851.5	3344.6	692.6	125.66	9.99	313	2364.69	0.00	0.19	5.06	0.000	0.248	0.066	1961.12	2070.81	1851.44	3290.25	2410.44	0	0	0	30.00	15.41	15.49
2543.26	262	116.79	1.09	80.00	1958.0	2069.9	1846.1	3290.3	2411.2	106.83	9.94	333	2551.12	0.00	0.00	4.72	0.000	0.000	0.118	1958.56	2070.62	1846.50	3290.94	3950.69	0	0	0	30.00	30.00	15.56
2612.99	1030	116.79	1.09	0.00	1957.4	2069.6	1845.2	3290.4	3950.9	99.77	9.98	347	2620.75	0.00	0.00	4.49	0.000	0.000	0.050	1957.84	2068.94	1846.75	3308.81	2379.25	0	0	0	30.00	30.00	13.96
2798.88	518	116.79	1.09	-80.00	1956.0	2069.4	1842.5	3310.4	2379.2	81.13	9.95	366	2806.85	0.00	0.00	4.99	0.000	0.000	0.085	1956.44	2069.88	1843.00	3333.00	690.69	0	0	0	30.00	30.00	15.64
2884.71	1031	116.79	1.09	0.00	1956.6	2070.1	1843.1	3332.5	690.0	72.61	9.87	383	2896.25	0.00	0.14	5.01	0.000	0.245	0.067	1956.81	2070.06	1843.56	3289.81	2409.19	0	0	0	30.00	15.58	15.66
3074.59	262	116.79	1.09	80.00	1955.8	2070.9	1840.8	3291.2	2409.7	53.53	10.09	403	3082.51	0.00	0.00	4.69	0.000	0.000	0.119	1954.75	2068.81	1840.69	3290.00	3951.56	0	0	0	30.00	30.00	15.67
3144.37	1030	116.79	1.09	0.00	1955.2	2070.0	1840.4	3289.9	3951.7	46.35	10.27	417	3152.07	0.00	0.00	4.45	0.000	0.000	0.051	1956.34	2070.62	1842.06	3310.19	2378.44	0	0	0	30.00	30.00	15.70
3330.46	518	116.79	1.09	-80.00	1954.9	2070.7	1839.2	3311.4	2380.1	27.55	9.96	436	3341.92	0.00	0.00	4.97	0.000	0.000	0.089	1956.44	2072.69	1840.19	3331.19	692.31	0	0	0	30.00	30.00	15.73
3460.44	1031	116.79	1.09	0.00	1956.0	2071.6	1840.4	3333.9	692.1	14.62	10.05	462	3471.96	0.00	0.15	4.98	0.000	0.241	0.066	1957.09	2073.06	1841.12	3289.94	2409.38	0	0	0	30.00	15.67	15.75
3591	end climb: SURFACE_DEPTH_REACHED
state	3591	begin surface coast
3611	end surface coast: CONTROL_FINISHED_OK
state	3611	begin surface