Glider dive log

Shilshole 31Jul18 * SG226 * Dive index * Mission links * Dive 1 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 226 HEADING -1 C_ROLL_DIVE 2600 ALTIM_PING_DELTA 0

MISSION 4 ESCAPE_HEADING 0 C_ROLL_CLIMB 2500 ALTIM_FREQUENCY 13

DIVE 1 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

N_DIVES 1 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.047120001 ALTIM_SENSITIVITY 2

STOP_T 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_VALID 6

D_SURF 2 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 100 SM_CC 566.45502 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -4

D_ABORT 145 N_FILEKB 8 VBD_MIN 500 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 0 VBD_MAX 3960 DEEPGLIDERMB 0

D_BOOST 5 CALL_NDIVES 1 C_VBD 2850 MOTHERBOARD 6

T_BOOST 0 COMM_SEQ 0 VBD_DBAND 2 DEVICE1 -1

D_FINISH 0 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE2 -1

D_PITCH 0 N_NOCOMM 1 VBD_LP_IGNORE 0 DEVICE3 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_TIMEOUT 360 DEVICE4 -1

D_CALL 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.003 DEVICE5 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 UNCOM_BLEED 20 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 W_ADJ_DBAND 0 LOGGERDEVICE1 7

T_DIVE 33 CAPUPLOAD 0 DBDW 0 LOGGERDEVICE2 -1

T_MISSION 50 CAPMAXSIZE 100000 LOITER_W_DBAND 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_GPS 5 LOITER_DBDW 0 LOGGERDEVICE4 -1

T_TURN 225 N_GPS 100440 LOITER_D_TOP 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 T_RSLEEP 3 LOITER_D_BOTTOM 0 COMPASS2_DEVICE 55

T_NO_W 120 STROBE 0 LOITER_N_DIVE 0 PHONE_DEVICE 33

T_LOITER 0 RAFOS_PEAK_OFFSET 0 CF8_MAXERRORS 20 GPS_DEVICE 48

T_EPIRB 0 RAFOS_CORR_THRESH 60 AH0_24V 350 RAFOS_DEVICE 104

USE_BATHY -6 RAFOS_HIT_WINDOW 3600 AH0_10V 0 XPDR_DEVICE 0

USE_ICE 0 RAFOS_MMODEM 0 MINV_24V 11 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 135 MINV_10V 11 SEABIRD_T_G 0.0044421619

D_OFFGRID 100 PITCH_MAX 3735 MAXI_24V 5 SEABIRD_T_H 0.0006586102

RELAUNCH 1 C_PITCH 1882 MAXI_10V 0.80000001 SEABIRD_T_I 2.6926198e-05

APOGEE_PITCH -5 PITCH_DBAND 0.1 FG_AHR_10V 0.86847371 SEABIRD_T_J 3.3427477e-06

MAX_BUOY 150 PITCH_CNV 0.0041975998 FG_AHR_24V 2.2790885 SEABIRD_C_G -9.9959793

GLIDE_SLOPE 30 PITCH_GAIN 37 PHONE_SUPPLY 2 SEABIRD_C_H 1.1392462

SPEED_FACTOR 1 PITCH_TIMEOUT 15 PRESSURE_YINT -139.14673 SEABIRD_C_I -0.0021947562

RHO 1.023 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00010769104 SEABIRD_C_J 0.00024419418

MASS 72154 PITCH_ADJ_GAIN 0.0049999999 COMPASS_USE 4 SC_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 3 ALTIM_PING_FIT 0 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_W_GAIN 0 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_W_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_NDIVE 1.0

HD_A 0.0070000002 ROLL_MIN 270 ALTIM_TOP_TURN_MARGIN 0

HD_B 0.0099999998 ROLL_MAX 3950 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 1.6e-05 ROLL_DEG 80 ALTIM_PING_DEPTH 0

AH0_10V 0 D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0044421619

AH0_24V 350 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.0006586102

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.6926198e-05

ALTIM_FREQUENCY 13 D_TGT 100 N_NOSURFACE 0 SEABIRD_T_J 3.3427477e-06

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 566.45502

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_ADJ_DBAND 3 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_10V 0.86847371 PITCH_ADJ_GAIN 0.0049999999 STOP_T 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 2.2790885 PITCH_CNV 0.0041975998 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 37 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAX 3735 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_A 0.0070000002 PITCH_MIN 135 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HD_B 0.0099999998 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HD_C 1.6e-05 PITCH_VBD_SHIFT 0.003 T_ABORT 1440

CAPMAXSIZE 100000 HEADING -1 PITCH_W_DBAND 0 T_BOOST 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_DIVE 33

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_SLOPE 0.00010769104 T_EPIRB 0

COMM_SEQ 0 ID 226 PRESSURE_YINT -139.14673 T_GPS 5

COMPASS2_DEVICE 55 INT_PRESSURE_SLOPE 1.9639999e-06 PROTOCOL 9 T_LOITER 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT -4 RAFOS_CORR_THRESH 60 T_MISSION 50

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 104 T_NO_W 120

C_PITCH 1882 LOGGERDEVICE1 7 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

C_ROLL_CLIMB 2500 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 T_TURN 225

C_ROLL_DIVE 2600 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_VBD 2850 LOGGERDEVICE4 -1 RELAUNCH 1 UNCOM_BLEED 20

DBDW 0 LOGGERS 1 RHO 1.023 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 USE_BATHY -6

DEEPGLIDERMB 0 LOITER_D_BOTTOM 0 ROLL_ADJ_GAIN 0 USE_ICE 0

DEVICE1 -1 LOITER_D_TOP 0 ROLL_CNV 0.047120001 VBD_CNV -0.24529999

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_DEG 80 VBD_DBAND 2

DEVICE3 -1 LOITER_W_DBAND 0 ROLL_MAX 3950 VBD_LP_IGNORE 0

DEVICE4 -1 MASS 72154 ROLL_MAXERRORS 1 VBD_MAX 3960

DEVICE5 -1 MAXI_10V 0.80000001 ROLL_MIN 270 VBD_MAXERRORS 1

DEVICE6 -1 MAXI_24V 5 ROLL_TIMEOUT 15 VBD_MIN 500

DIVE 1 MAX_BUOY 150 SC_NDIVE 1.0 VBD_TIMEOUT 360

D_ABORT 145 MINV_10V 11 SC_PROFILE 3.0 W_ADJ_DBAND 0

D_BOOST 5 MINV_24V 11 SC_RECORDABOVE 2000.0 XPDR_DEVICE 0

D_CALL 0 MISSION 4 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_FINISH 0 MOTHERBOARD 6 SEABIRD_C_G -9.9959793 XPDR_VALID 6

D_FLARE 3 NAV_MODE 2 SEABIRD_C_H 1.1392462

D_NO_BLEED 50 NOCOMM_ACTION 163 SEABIRD_C_I -0.0021947562

D_OFFGRID 100 N_DIVES 1 SEABIRD_C_J 0.00024419418

Pre-dive calculations and measurements:

GPS1 310718,165655,4743.537,-12224.331,1,1.1,3,15.7 TGT_LATLONG 4743.500,-12225.000

_CALLS 1 TGT_RADIUS 100.000

_SM_DEPTHo 0.16 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -4.7 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 310718,165854,4743.558,-12224.312,6,1.1,10,15.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.175,0.264 MHEAD_RNG_PITCHd_Wd 247.2,863,-19.5,-10.101,-20.97

TGT_NAME NW D_GRID 174

Post-dive calculations and measurements:

FINISH 0.1,1.021897 _24V_AH 15.24,58.029

SM_CCo 2252.54,0.05,0.461,0,540.0,415.9,664.0,566.65 _10V_AH 15.00,0.000

SM_GC 1.40,0.05,5.97,0.29,0.461,0.037,0.049,540.0,415.9,664.0,113.2,2617.4,0,0,0,15.92,16.00,16.03 FG_AHR_24Vo 2.358

SUPER 51,70,254,1,0,0 FG_AHR_10Vo 0.900

IRIDIUM_FIX 4744.97,-12226.80,310718,165319 MEM 1132696,33,46248,84

TCM_TEMP 279.88 DATA_FILE_SIZE 13679,325

XPDR_PINGS 49 CAP_FILE_SIZE 178537,0

RAFOS_CLK 0 SDSIZE 3918848,3909152

RAFOS_FIX 4743.564453,-12224.951172,310718,171704,0,1,0.38 ERRORS 0,0,0,0,0,0,0,0

HUMID 55.17 SOUNDSPEED 1465.0

TEMP 15.40 CURRENT 0.162, 35.0,1

INTERNAL_PRESSURE 9.375 GPS 310718,173754,4743.730,-12224.562,2,1.1,31,15.7

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 648 1263 12490.50 nil 0 0 0.00

Pitch_motor 18 403 111.59 nil 0 0 0.00

Roll_motor 66 105 107.67 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 12 420 78.41 nil 0 0 0.00

GPS 19 5 1.65 nil 0 0 0.00

Core 1262 11 224.33 SciCon 2080 42 1310.43

LPSleep 1068 2 37.02 nil 0 0 0.00

Compass 533 0 0.64 nil 0 0 0.00

RAFOS 2187 48 1574.64

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

5.07 2 -146.63 -0.97 0.00 541.6 496.1 587.1 87.7 2621.1 0.00 0.00 0 131.67 125.94 0.00 0.00 0.005 0.000 0.000 3256.62 3365.62 3147.62 87.69 2621.81 0 0 0 15.99 30.00 30.00

131.97 551 -146.63 -0.97 -80.00 3256.7 3364.6 3148.8 87.6 2621.3 3.25 -2.16 23 157.06 5.23 9.05 5.03 0.009 0.403 0.031 3447.41 3573.38 3321.44 1671.50 888.56 0 0 0 16.00 15.84 15.99

194.29 1157 -146.63 -0.99 0.00 3446.9 3572.9 3320.9 1671.5 887.8 11.74 -10.12 36 201.15 0.00 0.05 5.14 0.000 0.108 0.037 3447.81 3573.44 3322.19 1619.19 2612.62 0 0 0 30.00 16.08 16.07

379.20 389 -146.63 -0.97 80.00 3446.8 3572.8 3320.8 1618.9 2612.2 39.27 -15.60 73 385.16 0.00 0.16 4.20 0.000 0.197 0.060 3449.03 3574.62 3323.44 1630.62 3957.69 0 0 0 30.00 15.99 16.04

404.12 1028 -146.63 -0.97 0.00 3446.8 3573.2 3320.3 1631.1 3957.8 43.49 -16.89 78 410.00 0.00 0.00 3.75 0.000 0.000 0.015 3447.09 3573.12 3321.06 1647.31 2561.12 0 0 0 30.00 30.00 16.07

594.31 260 -146.63 -0.97 80.00 3447.0 3573.5 3320.6 1647.4 2557.8 65.57 -11.39 102 600.61 0.00 0.00 4.39 0.000 0.000 0.061 3447.81 3573.88 3321.75 1629.56 3956.50 0 0 0 30.00 30.00 16.06

633.50 1028 -146.63 -0.97 0.00 3446.3 3572.6 3320.1 1630.2 3956.6 70.65 -13.15 110 640.03 0.00 0.00 3.78 0.000 0.000 0.017 3449.19 3574.62 3323.75 1646.50 2562.88 0 0 0 30.00 30.00 16.08

819.28 260 -146.63 -0.97 80.00 3446.7 3572.4 3320.9 1646.5 2558.9 95.35 -13.77 129 825.61 0.00 0.00 4.39 0.000 0.000 0.062 3446.47 3572.44 3320.50 1629.62 3957.31 0 0 0 30.00 30.00 16.07

854 end dive: TARGET_DEPTH_EXCEEDED

state 854 begin apogee

859.99 3 0.00 -0.14 0.00 3446.8 3572.2 3321.4 1646.9 2470.8 100.67 -15.28 136 986.71 124.11 1.32 0.14 1.264 0.162 0.106 2846.34 2825.62 2867.06 1848.00 2523.69 0 0 0 12.71 16.03 15.71

987 end apogee: CONTROL_FINISHED_OK

state 987 begin climb

987.37 519 146.63 0.97 -80.00 2846.0 2825.8 2866.1 1847.7 2523.2 106.30 0.00 144 1121.34 125.26 1.23 5.34 1.229 0.096 0.037 2246.12 2173.19 2319.06 2135.12 798.12 0 0 0 12.82 15.71 15.60

1203.28 1062 207.53 1.15 0.00 2244.4 2168.5 2320.4 2134.6 797.5 96.90 7.30 187 1262.77 52.23 0.00 5.20 1.196 0.000 0.036 2005.22 1927.25 2083.19 2114.06 2511.75 0 0 0 12.84 30.00 15.80

1438.50 35 258.42 1.30 0.00 1995.9 1918.5 2073.3 2115.4 2512.4 78.66 7.76 216 1482.55 43.02 0.25 0.00 1.190 0.054 0.000 1792.19 1707.88 1876.50 2208.25 2511.94 0 0 0 12.96 15.94 30.00

1658.44 646 258.42 1.29 -80.00 1788.0 1703.8 1872.1 2207.9 2511.9 46.60 14.87 240 1665.52 0.00 0.00 5.24 0.000 0.000 0.037 1788.22 1703.12 1873.31 2230.69 796.50 0 0 0 30.00 30.00 15.90

1683.36 1031 258.42 1.29 0.00 1786.9 1700.9 1872.8 2230.2 796.0 43.26 13.41 245 1690.51 0.00 0.16 5.18 0.000 0.206 0.039 1787.75 1701.81 1873.69 2184.25 2511.38 0 0 0 30.00 15.87 15.95

1868.35 518 258.42 1.29 -80.00 1786.2 1699.8 1872.5 2184.9 2511.4 22.42 10.53 282 1875.44 0.00 0.00 5.38 0.000 0.000 0.046 1787.03 1700.12 1873.94 2205.88 797.56 0 0 0 30.00 30.00 15.97

1938.52 1190 278.70 1.38 0.00 1785.2 1697.4 1873.0 2205.6 797.6 15.72 9.17 296 1962.18 16.77 0.00 5.18 1.095 0.000 0.039 1713.22 1632.19 1794.25 2204.00 2509.25 0 0 0 12.92 30.00 16.01

2069 end climb: SURFACE_DEPTH_REACHED

state 2069 begin surface coast

2084 end surface coast: CONTROL_FINISHED_OK

state 2084 begin surface

ID	226	HEADING	-1	C_ROLL_DIVE	2600	ALTIM_PING_DELTA	0
MISSION	4	ESCAPE_HEADING	0	C_ROLL_CLIMB	2500	ALTIM_FREQUENCY	13
DIVE	1	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
N_DIVES	1	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.047120001	ALTIM_SENSITIVITY	2
STOP_T	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_VALID	6
D_SURF	2	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	100	SM_CC	566.45502	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-4
D_ABORT	145	N_FILEKB	8	VBD_MIN	500	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	0	VBD_MAX	3960	DEEPGLIDERMB	0
D_BOOST	5	CALL_NDIVES	1	C_VBD	2850	MOTHERBOARD	6
T_BOOST	0	COMM_SEQ	0	VBD_DBAND	2	DEVICE1	-1
D_FINISH	0	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE2	-1
D_PITCH	0	N_NOCOMM	1	VBD_LP_IGNORE	0	DEVICE3	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_TIMEOUT	360	DEVICE4	-1
D_CALL	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.003	DEVICE5	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	UNCOM_BLEED	20	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	W_ADJ_DBAND	0	LOGGERDEVICE1	7
T_DIVE	33	CAPUPLOAD	0	DBDW	0	LOGGERDEVICE2	-1
T_MISSION	50	CAPMAXSIZE	100000	LOITER_W_DBAND	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_GPS	5	LOITER_DBDW	0	LOGGERDEVICE4	-1
T_TURN	225	N_GPS	100440	LOITER_D_TOP	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	T_RSLEEP	3	LOITER_D_BOTTOM	0	COMPASS2_DEVICE	55
T_NO_W	120	STROBE	0	LOITER_N_DIVE	0	PHONE_DEVICE	33
T_LOITER	0	RAFOS_PEAK_OFFSET	0	CF8_MAXERRORS	20	GPS_DEVICE	48
T_EPIRB	0	RAFOS_CORR_THRESH	60	AH0_24V	350	RAFOS_DEVICE	104
USE_BATHY	-6	RAFOS_HIT_WINDOW	3600	AH0_10V	0	XPDR_DEVICE	0
USE_ICE	0	RAFOS_MMODEM	0	MINV_24V	11	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	135	MINV_10V	11	SEABIRD_T_G	0.0044421619
D_OFFGRID	100	PITCH_MAX	3735	MAXI_24V	5	SEABIRD_T_H	0.0006586102
RELAUNCH	1	C_PITCH	1882	MAXI_10V	0.80000001	SEABIRD_T_I	2.6926198e-05
APOGEE_PITCH	-5	PITCH_DBAND	0.1	FG_AHR_10V	0.86847371	SEABIRD_T_J	3.3427477e-06
MAX_BUOY	150	PITCH_CNV	0.0041975998	FG_AHR_24V	2.2790885	SEABIRD_C_G	-9.9959793
GLIDE_SLOPE	30	PITCH_GAIN	37	PHONE_SUPPLY	2	SEABIRD_C_H	1.1392462
SPEED_FACTOR	1	PITCH_TIMEOUT	15	PRESSURE_YINT	-139.14673	SEABIRD_C_I	-0.0021947562
RHO	1.023	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00010769104	SEABIRD_C_J	0.00024419418
MASS	72154	PITCH_ADJ_GAIN	0.0049999999	COMPASS_USE	4	SC_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	3	ALTIM_PING_FIT	0	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_W_GAIN	0	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_W_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_NDIVE	1.0
HD_A	0.0070000002	ROLL_MIN	270	ALTIM_TOP_TURN_MARGIN	0
HD_B	0.0099999998	ROLL_MAX	3950	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	1.6e-05	ROLL_DEG	80	ALTIM_PING_DEPTH	0

GPS1	310718,165655,4743.537,-12224.331,1,1.1,3,15.7	TGT_LATLONG	4743.500,-12225.000
_CALLS	1	TGT_RADIUS	100.000
_SM_DEPTHo	0.16	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-4.7	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	310718,165854,4743.558,-12224.312,6,1.1,10,15.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.175,0.264	MHEAD_RNG_PITCHd_Wd	247.2,863,-19.5,-10.101,-20.97
TGT_NAME	NW	D_GRID	174

FINISH	0.1,1.021897	_24V_AH	15.24,58.029
SM_CCo	2252.54,0.05,0.461,0,540.0,415.9,664.0,566.65	_10V_AH	15.00,0.000
SM_GC	1.40,0.05,5.97,0.29,0.461,0.037,0.049,540.0,415.9,664.0,113.2,2617.4,0,0,0,15.92,16.00,16.03	FG_AHR_24Vo	2.358
SUPER	51,70,254,1,0,0	FG_AHR_10Vo	0.900
IRIDIUM_FIX	4744.97,-12226.80,310718,165319	MEM	1132696,33,46248,84
TCM_TEMP	279.88	DATA_FILE_SIZE	13679,325
XPDR_PINGS	49	CAP_FILE_SIZE	178537,0
RAFOS_CLK	0	SDSIZE	3918848,3909152
RAFOS_FIX	4743.564453,-12224.951172,310718,171704,0,1,0.38	ERRORS	0,0,0,0,0,0,0,0
HUMID	55.17	SOUNDSPEED	1465.0
TEMP	15.40	CURRENT	0.162, 35.0,1
INTERNAL_PRESSURE	9.375	GPS	310718,173754,4743.730,-12224.562,2,1.1,31,15.7

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	648	1263	12490.50	nil	0	0	0.00
Pitch_motor	18	403	111.59	nil	0	0	0.00
Roll_motor	66	105	107.67	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	12	420	78.41	nil	0	0	0.00
GPS	19	5	1.65	nil	0	0	0.00
Core	1262	11	224.33	SciCon	2080	42	1310.43
LPSleep	1068	2	37.02	nil	0	0	0.00
Compass	533	0	0.64	nil	0	0	0.00
RAFOS	2187	48	1574.64
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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
5.07	2	-146.63	-0.97	0.00	541.6	496.1	587.1	87.7	2621.1	0.00	0.00	0	131.67	125.94	0.00	0.00	0.005	0.000	0.000	3256.62	3365.62	3147.62	87.69	2621.81	0	0	0	15.99	30.00	30.00
131.97	551	-146.63	-0.97	-80.00	3256.7	3364.6	3148.8	87.6	2621.3	3.25	-2.16	23	157.06	5.23	9.05	5.03	0.009	0.403	0.031	3447.41	3573.38	3321.44	1671.50	888.56	0	0	0	16.00	15.84	15.99
194.29	1157	-146.63	-0.99	0.00	3446.9	3572.9	3320.9	1671.5	887.8	11.74	-10.12	36	201.15	0.00	0.05	5.14	0.000	0.108	0.037	3447.81	3573.44	3322.19	1619.19	2612.62	0	0	0	30.00	16.08	16.07
379.20	389	-146.63	-0.97	80.00	3446.8	3572.8	3320.8	1618.9	2612.2	39.27	-15.60	73	385.16	0.00	0.16	4.20	0.000	0.197	0.060	3449.03	3574.62	3323.44	1630.62	3957.69	0	0	0	30.00	15.99	16.04
404.12	1028	-146.63	-0.97	0.00	3446.8	3573.2	3320.3	1631.1	3957.8	43.49	-16.89	78	410.00	0.00	0.00	3.75	0.000	0.000	0.015	3447.09	3573.12	3321.06	1647.31	2561.12	0	0	0	30.00	30.00	16.07
594.31	260	-146.63	-0.97	80.00	3447.0	3573.5	3320.6	1647.4	2557.8	65.57	-11.39	102	600.61	0.00	0.00	4.39	0.000	0.000	0.061	3447.81	3573.88	3321.75	1629.56	3956.50	0	0	0	30.00	30.00	16.06
633.50	1028	-146.63	-0.97	0.00	3446.3	3572.6	3320.1	1630.2	3956.6	70.65	-13.15	110	640.03	0.00	0.00	3.78	0.000	0.000	0.017	3449.19	3574.62	3323.75	1646.50	2562.88	0	0	0	30.00	30.00	16.08
819.28	260	-146.63	-0.97	80.00	3446.7	3572.4	3320.9	1646.5	2558.9	95.35	-13.77	129	825.61	0.00	0.00	4.39	0.000	0.000	0.062	3446.47	3572.44	3320.50	1629.62	3957.31	0	0	0	30.00	30.00	16.07
854	end dive: TARGET_DEPTH_EXCEEDED
state	854	begin apogee
859.99	3	0.00	-0.14	0.00	3446.8	3572.2	3321.4	1646.9	2470.8	100.67	-15.28	136	986.71	124.11	1.32	0.14	1.264	0.162	0.106	2846.34	2825.62	2867.06	1848.00	2523.69	0	0	0	12.71	16.03	15.71
987	end apogee: CONTROL_FINISHED_OK
state	987	begin climb
987.37	519	146.63	0.97	-80.00	2846.0	2825.8	2866.1	1847.7	2523.2	106.30	0.00	144	1121.34	125.26	1.23	5.34	1.229	0.096	0.037	2246.12	2173.19	2319.06	2135.12	798.12	0	0	0	12.82	15.71	15.60
1203.28	1062	207.53	1.15	0.00	2244.4	2168.5	2320.4	2134.6	797.5	96.90	7.30	187	1262.77	52.23	0.00	5.20	1.196	0.000	0.036	2005.22	1927.25	2083.19	2114.06	2511.75	0	0	0	12.84	30.00	15.80
1438.50	35	258.42	1.30	0.00	1995.9	1918.5	2073.3	2115.4	2512.4	78.66	7.76	216	1482.55	43.02	0.25	0.00	1.190	0.054	0.000	1792.19	1707.88	1876.50	2208.25	2511.94	0	0	0	12.96	15.94	30.00
1658.44	646	258.42	1.29	-80.00	1788.0	1703.8	1872.1	2207.9	2511.9	46.60	14.87	240	1665.52	0.00	0.00	5.24	0.000	0.000	0.037	1788.22	1703.12	1873.31	2230.69	796.50	0	0	0	30.00	30.00	15.90
1683.36	1031	258.42	1.29	0.00	1786.9	1700.9	1872.8	2230.2	796.0	43.26	13.41	245	1690.51	0.00	0.16	5.18	0.000	0.206	0.039	1787.75	1701.81	1873.69	2184.25	2511.38	0	0	0	30.00	15.87	15.95
1868.35	518	258.42	1.29	-80.00	1786.2	1699.8	1872.5	2184.9	2511.4	22.42	10.53	282	1875.44	0.00	0.00	5.38	0.000	0.000	0.046	1787.03	1700.12	1873.94	2205.88	797.56	0	0	0	30.00	30.00	15.97
1938.52	1190	278.70	1.38	0.00	1785.2	1697.4	1873.0	2205.6	797.6	15.72	9.17	296	1962.18	16.77	0.00	5.18	1.095	0.000	0.039	1713.22	1632.19	1794.25	2204.00	2509.25	0	0	0	12.92	30.00	16.01
2069	end climb: SURFACE_DEPTH_REACHED
state	2069	begin surface coast
2084	end surface coast: CONTROL_FINISHED_OK
state	2084	begin surface