Glider dive log

AMOS Oct19 * SG231 * Dive index * Mission links * Dive 9 * 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 9 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 631.64746 VBD_MIN 525 DEEPGLIDERMB 0

D_TGT 180 N_FILEKB 8 VBD_MAX 3950 MOTHERBOARD 6

D_ABORT 1020 FILEMGR 0 C_VBD 2700 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 2 VBD_TIMEOUT 720 DEVICE5 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0020999999 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 0 LOGGERDEVICE4 -1

T_DIVE 60 CAPMAXSIZE 100000 LOITER_DBDW 0 COMPASS_DEVICE 66

T_MISSION 80 T_GPS 5 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 0 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 0 RAFOS_CORR_THRESH 60 AH0_10V 0 SIM_W 0

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 3000 FG_AHR_10V 0.54496324 SEABIRD_C_G -9.9463768

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 2.1319926 SEABIRD_C_H 1.1384684

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 PHONE_SUPPLY 2 SEABIRD_C_I -0.0018041182

MAX_BUOY 150 PITCH_GAIN 25 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 7.0

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 2 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 0.54496324 PITCH_CNV 0.0031300001 SEABIRD_T_I 2.1747219e-05

ALTIM_PULSE 3 FG_AHR_24V 2.1319926 PITCH_DBAND 0.1 SEABIRD_T_J 2.1565911e-06

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 25 SIM_W 0

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3850 SM_CC 631.64746

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 0.0020999999 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 7.0 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 3000 LOGGERDEVICE2 40 PRESSURE_SLOPE 0.00010800161 T_GPS 5

C_ROLL_CLIMB 2400 LOGGERDEVICE3 -1 PRESSURE_YINT -152.15948 T_LOITER 0

C_ROLL_DIVE 2500 LOGGERDEVICE4 -1 PROTOCOL 9 T_MISSION 80

C_VBD 2700 LOGGERS 3 RAFOS_CORR_THRESH 60 T_NO_W 120

DBDW 0 LOITER_DBDW 0 RAFOS_DEVICE -1 T_RSLEEP 3

DEEPGLIDER 0 LOITER_D_BOTTOM 0 RAFOS_HIT_WINDOW 3600 T_TURN 225

DEEPGLIDERMB 0 LOITER_D_TOP 0 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 0 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 150 ROLL_CNV 0.047120001 VBD_DBAND 2

DIVE 9 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 071019,085238,7435.085,-14533.855,68,1.3,68,17.9 TGT_LATLONG 7434.900,-14533.500

_CALLS 3 TGT_RADIUS 2000.000

_SM_DEPTHo 1.98 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -75.0 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 071019,090121,7435.061,-14533.927,3,0.9,5,17.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 164.6,364,-25.7,-10.000,-28.56

TGT_NAME 1 D_GRID 180

Post-dive calculations and measurements:

FREEZE 29.46,0.201,-1.491,0,1,0 _24V_AH 14.62,20.835

SM_CCo 3727.04,0.00,0.000,0,521.4,590.4,452.4,534.41 _10V_AH 14.85,0.000

SM_GC 3.37,0.00,10.65,0.25,0.000,0.165,0.085,521.4,590.4,452.4,454.9,2513.9,0,0,0,30.00,15.44,15.53 FG_AHR_24Vo 2.234

SUPER 59,71,254,1,0,0 FG_AHR_10Vo 0.572

IRIDIUM_FIX 7433.47,-14531.57,071019,085612 MEM 1156048,31,23196,48

TCM_TEMP 9.14 DATA_FILE_SIZE 16130,507

XPDR_PINGS 277 CAP_FILE_SIZE 171793,0

SC_FREEKB 3874720 SDSIZE 3918848,3906816

PM_FREEKB_00 62089248 SDFILEDIR 91,1

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

HUMID 52.23 CURRENT 0.131, 31.9,1

TEMP 0.62 GPS 071019,100630,7435.087,-14533.560,142,0.8,142,17.9

INTERNAL_PRESSURE 8.4106

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 671 1521 14943.87 nil 0 0 0.00

Pitch_motor 24 438 157.61 nil 0 0 0.00

Roll_motor 77 148 168.69 nil 0 0 0.00

Iridium 303 185 822.36 nil 0 0 0.00

Transponder_ping 69 420 425.22 nil 0 0 0.00

GPS 15 15 3.36 nil 0 0 0.00

Core 2159 11 378.34 SciCon 3402 37 1881.91

LPSleep 2075 2 86.30 PMAR 3403 128 6504.96

Compass 804 5 59.71 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

12.04 2 -71.36 -1.18 0.00 522.2 586.9 457.4 450.8 2465.2 0.00 0.00 0 65.45 51.33 0.00 0.00 0.005 0.000 0.000 1355.50 1473.50 1237.50 450.38 2464.69 0 0 0 13.98 30.00 30.00

65.72 295 -134.03 -1.31 80.00 1356.9 1475.0 1238.8 450.6 2467.4 3.67 -4.09 5 143.28 55.74 10.57 4.45 0.005 0.439 0.101 3247.81 3439.00 3056.62 2559.06 3955.94 0 0 0 13.94 15.35 13.96

356.31 1028 -134.03 -1.31 0.00 3248.7 3431.3 3066.1 2561.1 3954.2 93.32 -23.60 63 363.93 0.00 0.00 4.18 0.000 0.000 0.054 3249.53 3431.88 3067.19 2578.44 2476.19 0 0 0 30.00 30.00 15.60

541.38 516 -134.03 -1.31 -80.00 3248.0 3429.7 3066.2 2577.3 2467.1 127.80 -17.15 82 552.70 0.00 0.00 4.91 0.000 0.000 0.083 3251.41 3433.75 3069.06 2597.81 789.88 0 0 0 30.00 30.00 15.62

641.42 1028 -134.03 -1.31 0.00 3245.9 3425.6 3066.2 2598.3 790.1 145.74 -18.62 102 652.63 0.00 0.00 4.99 0.000 0.000 0.063 3247.88 3427.44 3068.31 2576.94 2510.75 0 0 0 30.00 30.00 15.64

831.32 516 -134.03 -1.31 -80.00 3246.9 3425.8 3068.0 2576.4 2510.6 178.76 -16.98 122 842.88 0.00 0.00 5.05 0.000 0.000 0.080 3245.88 3424.25 3067.50 2592.31 792.38 0 0 0 30.00 30.00 15.64

846 end dive: TARGET_DEPTH_EXCEEDED

state 846 begin apogee

851.97 3 0.00 -0.20 0.00 3245.7 3425.7 3065.7 2574.6 2412.6 181.36 -17.14 125 969.41 111.06 1.32 0.10 1.522 0.261 0.148 2701.34 2834.94 2567.75 2936.12 2366.69 0 0 0 12.36 15.46 15.16

971 end apogee: CONTROL_FINISHED_OK

state 971 begin climb

971.30 263 134.03 1.31 80.00 2696.7 2830.1 2563.2 2935.1 2365.4 187.60 0.00 137 1091.10 107.58 1.52 4.97 1.468 0.121 0.104 2149.34 2260.00 2038.69 3425.44 3950.88 0 0 0 12.23 15.21 14.93

1253.09 1030 134.03 1.31 0.00 2140.6 2255.8 2025.4 3423.8 3950.2 161.25 13.43 192 1260.73 0.00 0.00 4.53 0.000 0.000 0.051 2141.38 2256.81 2025.94 3445.31 2378.06 0 0 0 30.00 30.00 15.29

1439.34 66 134.03 1.32 0.00 2138.4 2257.3 2019.4 3444.9 2378.1 141.95 9.29 211 1442.22 0.00 0.00 0.00 0.000 0.000 0.000 2139.44 2258.81 2020.06 3444.75 2377.38 0 0 0 30.00 30.00 30.00

1619.30 66 134.03 1.36 0.00 2137.6 2259.3 2015.9 3445.0 2377.8 127.15 8.06 229 1622.18 0.00 0.00 0.00 0.000 0.000 0.000 2137.22 2257.62 2016.81 3445.00 2376.75 0 0 0 30.00 30.00 30.00

1799.45 294 179.54 1.46 80.00 2136.0 2256.6 2015.4 3445.0 2377.5 115.60 5.71 247 1845.84 37.44 0.00 4.82 1.388 0.000 0.103 1964.66 2088.69 1840.62 3446.00 3952.31 0 0 0 12.35 30.00 15.38

2069.34 1063 205.08 1.51 0.00 1958.8 2082.1 1835.6 3444.1 3952.2 92.13 7.59 301 2101.65 22.87 0.06 4.47 1.340 0.166 0.050 1864.12 1995.62 1732.62 3492.81 2367.56 0 0 0 12.32 15.52 15.54

2279.30 551 271.13 1.65 -80.00 1856.5 1990.8 1722.2 3491.8 2367.2 81.98 3.77 325 2343.54 55.58 0.10 5.01 1.363 0.117 0.079 1592.12 1724.69 1459.56 3556.94 689.25 0 0 0 12.31 15.54 13.80

2345.49 1062 339.46 1.79 0.00 1591.8 1724.1 1459.5 3558.1 689.5 79.36 3.55 334 2414.11 57.38 0.00 5.03 1.341 0.000 0.054 1317.28 1437.75 1196.81 3557.62 2412.62 0 0 0 12.30 30.00 15.30

2591.47 518 339.46 1.79 -80.00 1307.2 1427.1 1187.4 3557.6 2413.0 55.88 9.61 365 2602.79 0.00 0.00 5.16 0.000 0.000 0.080 1307.56 1426.88 1188.25 3580.62 690.88 0 0 0 30.00 30.00 15.35

2825.49 1063 441.49 2.01 0.00 1305.6 1423.4 1187.8 3580.2 691.2 52.24 0.37 412 2920.25 85.69 0.19 4.97 1.349 0.100 0.054 900.59 984.56 816.62 3656.06 2414.38 0 0 0 12.37 15.49 15.47

3096.44 580 441.49 2.04 -80.00 895.2 978.9 811.6 3656.5 2413.9 34.24 8.56 448 3108.04 0.00 0.00 5.17 0.000 0.000 0.081 895.72 979.50 811.94 3678.19 692.06 0 0 0 30.00 30.00 15.37

3330.57 1063 554.42 2.27 0.00 893.3 975.6 811.1 3678.7 692.2 30.21 -0.66 495 3393.66 54.94 0.14 4.97 1.269 0.103 0.055 657.53 728.25 586.81 3742.75 2414.38 0 0 0 12.34 15.50 15.49

3394 end climb: NO_VERTICAL_VELOCITY

state 3394 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	9	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	631.64746	VBD_MIN	525	DEEPGLIDERMB	0
D_TGT	180	N_FILEKB	8	VBD_MAX	3950	MOTHERBOARD	6
D_ABORT	1020	FILEMGR	0	C_VBD	2700	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	2	VBD_TIMEOUT	720	DEVICE5	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0020999999	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	0	LOGGERDEVICE4	-1
T_DIVE	60	CAPMAXSIZE	100000	LOITER_DBDW	0	COMPASS_DEVICE	66
T_MISSION	80	T_GPS	5	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	0	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	0	RAFOS_CORR_THRESH	60	AH0_10V	0	SIM_W	0
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	3000	FG_AHR_10V	0.54496324	SEABIRD_C_G	-9.9463768
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	2.1319926	SEABIRD_C_H	1.1384684
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	PHONE_SUPPLY	2	SEABIRD_C_I	-0.0018041182
MAX_BUOY	150	PITCH_GAIN	25	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	7.0
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	071019,085238,7435.085,-14533.855,68,1.3,68,17.9	TGT_LATLONG	7434.900,-14533.500
_CALLS	3	TGT_RADIUS	2000.000
_SM_DEPTHo	1.98	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-75.0	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	071019,090121,7435.061,-14533.927,3,0.9,5,17.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	164.6,364,-25.7,-10.000,-28.56
TGT_NAME	1	D_GRID	180

FREEZE	29.46,0.201,-1.491,0,1,0	_24V_AH	14.62,20.835
SM_CCo	3727.04,0.00,0.000,0,521.4,590.4,452.4,534.41	_10V_AH	14.85,0.000
SM_GC	3.37,0.00,10.65,0.25,0.000,0.165,0.085,521.4,590.4,452.4,454.9,2513.9,0,0,0,30.00,15.44,15.53	FG_AHR_24Vo	2.234
SUPER	59,71,254,1,0,0	FG_AHR_10Vo	0.572
IRIDIUM_FIX	7433.47,-14531.57,071019,085612	MEM	1156048,31,23196,48
TCM_TEMP	9.14	DATA_FILE_SIZE	16130,507
XPDR_PINGS	277	CAP_FILE_SIZE	171793,0
SC_FREEKB	3874720	SDSIZE	3918848,3906816
PM_FREEKB_00	62089248	SDFILEDIR	91,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	52.23	CURRENT	0.131, 31.9,1
TEMP	0.62	GPS	071019,100630,7435.087,-14533.560,142,0.8,142,17.9
INTERNAL_PRESSURE	8.4106

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	671	1521	14943.87	nil	0	0	0.00
Pitch_motor	24	438	157.61	nil	0	0	0.00
Roll_motor	77	148	168.69	nil	0	0	0.00
Iridium	303	185	822.36	nil	0	0	0.00
Transponder_ping	69	420	425.22	nil	0	0	0.00
GPS	15	15	3.36	nil	0	0	0.00
Core	2159	11	378.34	SciCon	3402	37	1881.91
LPSleep	2075	2	86.30	PMAR	3403	128	6504.96
Compass	804	5	59.71	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
12.04	2	-71.36	-1.18	0.00	522.2	586.9	457.4	450.8	2465.2	0.00	0.00	0	65.45	51.33	0.00	0.00	0.005	0.000	0.000	1355.50	1473.50	1237.50	450.38	2464.69	0	0	0	13.98	30.00	30.00
65.72	295	-134.03	-1.31	80.00	1356.9	1475.0	1238.8	450.6	2467.4	3.67	-4.09	5	143.28	55.74	10.57	4.45	0.005	0.439	0.101	3247.81	3439.00	3056.62	2559.06	3955.94	0	0	0	13.94	15.35	13.96
356.31	1028	-134.03	-1.31	0.00	3248.7	3431.3	3066.1	2561.1	3954.2	93.32	-23.60	63	363.93	0.00	0.00	4.18	0.000	0.000	0.054	3249.53	3431.88	3067.19	2578.44	2476.19	0	0	0	30.00	30.00	15.60
541.38	516	-134.03	-1.31	-80.00	3248.0	3429.7	3066.2	2577.3	2467.1	127.80	-17.15	82	552.70	0.00	0.00	4.91	0.000	0.000	0.083	3251.41	3433.75	3069.06	2597.81	789.88	0	0	0	30.00	30.00	15.62
641.42	1028	-134.03	-1.31	0.00	3245.9	3425.6	3066.2	2598.3	790.1	145.74	-18.62	102	652.63	0.00	0.00	4.99	0.000	0.000	0.063	3247.88	3427.44	3068.31	2576.94	2510.75	0	0	0	30.00	30.00	15.64
831.32	516	-134.03	-1.31	-80.00	3246.9	3425.8	3068.0	2576.4	2510.6	178.76	-16.98	122	842.88	0.00	0.00	5.05	0.000	0.000	0.080	3245.88	3424.25	3067.50	2592.31	792.38	0	0	0	30.00	30.00	15.64
846	end dive: TARGET_DEPTH_EXCEEDED
state	846	begin apogee
851.97	3	0.00	-0.20	0.00	3245.7	3425.7	3065.7	2574.6	2412.6	181.36	-17.14	125	969.41	111.06	1.32	0.10	1.522	0.261	0.148	2701.34	2834.94	2567.75	2936.12	2366.69	0	0	0	12.36	15.46	15.16
971	end apogee: CONTROL_FINISHED_OK
state	971	begin climb
971.30	263	134.03	1.31	80.00	2696.7	2830.1	2563.2	2935.1	2365.4	187.60	0.00	137	1091.10	107.58	1.52	4.97	1.468	0.121	0.104	2149.34	2260.00	2038.69	3425.44	3950.88	0	0	0	12.23	15.21	14.93
1253.09	1030	134.03	1.31	0.00	2140.6	2255.8	2025.4	3423.8	3950.2	161.25	13.43	192	1260.73	0.00	0.00	4.53	0.000	0.000	0.051	2141.38	2256.81	2025.94	3445.31	2378.06	0	0	0	30.00	30.00	15.29
1439.34	66	134.03	1.32	0.00	2138.4	2257.3	2019.4	3444.9	2378.1	141.95	9.29	211	1442.22	0.00	0.00	0.00	0.000	0.000	0.000	2139.44	2258.81	2020.06	3444.75	2377.38	0	0	0	30.00	30.00	30.00
1619.30	66	134.03	1.36	0.00	2137.6	2259.3	2015.9	3445.0	2377.8	127.15	8.06	229	1622.18	0.00	0.00	0.00	0.000	0.000	0.000	2137.22	2257.62	2016.81	3445.00	2376.75	0	0	0	30.00	30.00	30.00
1799.45	294	179.54	1.46	80.00	2136.0	2256.6	2015.4	3445.0	2377.5	115.60	5.71	247	1845.84	37.44	0.00	4.82	1.388	0.000	0.103	1964.66	2088.69	1840.62	3446.00	3952.31	0	0	0	12.35	30.00	15.38
2069.34	1063	205.08	1.51	0.00	1958.8	2082.1	1835.6	3444.1	3952.2	92.13	7.59	301	2101.65	22.87	0.06	4.47	1.340	0.166	0.050	1864.12	1995.62	1732.62	3492.81	2367.56	0	0	0	12.32	15.52	15.54
2279.30	551	271.13	1.65	-80.00	1856.5	1990.8	1722.2	3491.8	2367.2	81.98	3.77	325	2343.54	55.58	0.10	5.01	1.363	0.117	0.079	1592.12	1724.69	1459.56	3556.94	689.25	0	0	0	12.31	15.54	13.80
2345.49	1062	339.46	1.79	0.00	1591.8	1724.1	1459.5	3558.1	689.5	79.36	3.55	334	2414.11	57.38	0.00	5.03	1.341	0.000	0.054	1317.28	1437.75	1196.81	3557.62	2412.62	0	0	0	12.30	30.00	15.30
2591.47	518	339.46	1.79	-80.00	1307.2	1427.1	1187.4	3557.6	2413.0	55.88	9.61	365	2602.79	0.00	0.00	5.16	0.000	0.000	0.080	1307.56	1426.88	1188.25	3580.62	690.88	0	0	0	30.00	30.00	15.35
2825.49	1063	441.49	2.01	0.00	1305.6	1423.4	1187.8	3580.2	691.2	52.24	0.37	412	2920.25	85.69	0.19	4.97	1.349	0.100	0.054	900.59	984.56	816.62	3656.06	2414.38	0	0	0	12.37	15.49	15.47
3096.44	580	441.49	2.04	-80.00	895.2	978.9	811.6	3656.5	2413.9	34.24	8.56	448	3108.04	0.00	0.00	5.17	0.000	0.000	0.081	895.72	979.50	811.94	3678.19	692.06	0	0	0	30.00	30.00	15.37
3330.57	1063	554.42	2.27	0.00	893.3	975.6	811.1	3678.7	692.2	30.21	-0.66	495	3393.66	54.94	0.14	4.97	1.269	0.103	0.055	657.53	728.25	586.81	3742.75	2414.38	0	0	0	12.34	15.50	15.49
3394	end climb: NO_VERTICAL_VELOCITY
state	3394	begin surface