Glider dive log

Shilshole 19Jul19 * SG226 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 226 HEADING -1 C_ROLL_DIVE 2110 ALTIM_PING_DELTA 10

MISSION 6 ESCAPE_HEADING 0 C_ROLL_CLIMB 2110 ALTIM_FREQUENCY 13

DIVE 2 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

N_DIVES 2 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.047120001 ALTIM_SENSITIVITY 3

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 150 SM_CC 652.31 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -4

D_ABORT 175 N_FILEKB 8 VBD_MIN 500 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 0 VBD_MAX 3860 DEEPGLIDERMB 0

D_BOOST 2 CALL_NDIVES 1 C_VBD 3000 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 161 VBD_TIMEOUT 720 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 50 CAPUPLOAD 0 DBDW 0 LOGGERDEVICE2 -1

T_MISSION 65 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 2 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 575 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 1950 MAXI_10V 1.4 SEABIRD_T_I 2.6926198e-05

APOGEE_PITCH -5 PITCH_DBAND 0.1 FG_AHR_10V 5.8388634 SEABIRD_T_J 3.3427477e-06

MAX_BUOY 150 PITCH_CNV 0.0041975998 FG_AHR_24V 23.960636 SEABIRD_C_G -9.9959793

GLIDE_SLOPE 30 PITCH_GAIN 37 PHONE_SUPPLY 2 SEABIRD_C_H 1.1392462

SPEED_FACTOR 1 PITCH_TIMEOUT 20 PRESSURE_YINT -139.19508 SEABIRD_C_I -0.0021947562

RHO 1.023 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00010769104 SEABIRD_C_J 0.00024419418

MASS 72012 PITCH_ADJ_GAIN 0.029999999 COMPASS_USE 4 SC_RECORDABOVE 2000.0

NAV_MODE 0 PITCH_ADJ_DBAND 2 ALTIM_PING_FIT 0 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_W_GAIN 2 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 2

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 575 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 150 N_NOSURFACE 0 SEABIRD_T_J 3.3427477e-06

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 652.31

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_10V 5.8388634 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 23.960636 PITCH_CNV 0.0041975998 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 2 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 20 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 2 T_DIVE 50

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_SLOPE 0.00010769104 T_EPIRB 0

COMM_SEQ 0 ID 226 PRESSURE_YINT -139.19508 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 65

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 104 T_NO_W 120

C_PITCH 1950 LOGGERDEVICE1 7 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

C_ROLL_CLIMB 2110 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 T_TURN 225

C_ROLL_DIVE 2110 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_VBD 3000 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 72012 ROLL_MAXERRORS 1 VBD_MAX 3860

DEVICE5 -1 MAXI_10V 1.4 ROLL_MIN 270 VBD_MAXERRORS 1

DEVICE6 -1 MAXI_24V 5 ROLL_TIMEOUT 15 VBD_MIN 500

DIVE 2 MAX_BUOY 150 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_ABORT 175 MINV_10V 11 SC_PROFILE 3.0 W_ADJ_DBAND 0

D_BOOST 2 MINV_24V 11 SC_RECORDABOVE 2000.0 XPDR_DEVICE 0

D_CALL 0 MISSION 6 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 0 SEABIRD_C_H 1.1392462

D_NO_BLEED 50 NOCOMM_ACTION 161 SEABIRD_C_I -0.0021947562

D_OFFGRID 100 N_DIVES 2 SEABIRD_C_J 0.00024419418

Pre-dive calculations and measurements:

GPS1 190719,165435,4743.932,-12223.918,1,1.0,3,15.5 TGT_LATLONG 4743.000,-12224.000

_CALLS 3 TGT_RADIUS 100.000

_SM_DEPTHo 1.17 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -51.0 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 190719,170010,4743.984,-12223.898,2,1.0,4,15.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.263 MHEAD_RNG_PITCHd_Wd 168.4,1827,-19.3,-10.000,-20.84

TGT_NAME SE D_GRID 170

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20190719174504.542277,18,32767,45,0101,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0E INTERNAL_PRESSURE 8.59632

FINISH 0.0,1.022311 _24V_AH 14.87,45.610

SM_CCo 3389.05,0.00,0.000,0,499.7,416.0,583.4,613.32 _10V_AH 14.90,0.000

SM_GC 1.14,0.00,6.22,0.17,0.000,0.058,0.050,499.7,416.0,583.4,88.3,2164.2,0,0,0,30.00,15.91,15.95 FG_AHR_24Vo 24.082

SUPER 59,71,254,1,0,0 FG_AHR_10Vo 5.881

IRIDIUM_FIX 4746.68,-12221.39,190719,165712 MEM 1132836,34,46128,76

TCM_TEMP 198.46 DATA_FILE_SIZE 13722,379

XPDR_PINGS 17 CAP_FILE_SIZE 181639,0

SC_FREEKB 3877632 SDSIZE 3918848,3908576

RAFOS_CLK -2 SDFILEDIR 46,1

MODEM 1,1563555904,47.50000,-123.50000,4.715,6907.4 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 4723.384766,-12211.848633,190719,171704,8,255,15.29 SOUNDSPEED 1465.0

HUMID 58.50 GPS 190719,175809,4743.968,-12224.170,2,1.0,20,15.5

TEMP 14.01

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 730 1295 14077.36 nil 0 0 0.00

Pitch_motor 16 385 93.15 nil 0 0 0.00

Roll_motor 87 67 87.71 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 4 420 26.54 nil 0 0 0.00

GPS 13 5 1.10 nil 0 0 0.00

Core 1517 11 267.87 SciCon 3110 37 1730.76

LPSleep 1957 2 67.38 nil 0 0 0.00

Compass 650 0 0.78 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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

4.45 2 -146.63 -0.96 0.00 500.1 421.2 579.0 120.0 2154.2 0.00 0.00 0 148.59 143.54 0.00 0.00 0.005 0.000 0.000 3579.25 3744.62 3413.88 119.88 2154.69 0 0 0 15.63 30.00 30.00

148.84 551 -146.63 -0.96 -80.00 3578.2 3744.0 3412.4 120.1 2154.0 3.95 -2.24 14 164.94 0.44 7.41 4.97 0.055 0.385 0.052 3597.09 3778.44 3415.75 1743.06 406.88 0 0 0 15.66 15.49 15.65

236.47 1157 -146.63 -1.06 0.00 3596.4 3777.8 3415.0 1743.3 406.6 17.38 -11.18 32 243.00 0.00 0.09 4.72 0.000 0.100 0.020 3597.53 3779.44 3415.62 1671.12 2139.88 0 0 0 30.00 15.80 15.85

422.10 389 -146.63 -0.98 80.00 3596.8 3778.6 3414.9 1671.4 2141.3 41.65 -13.76 51 428.26 0.00 0.16 4.65 0.000 0.195 0.052 3595.81 3778.00 3413.62 1699.62 3821.25 0 0 0 30.00 15.78 15.79

488.94 1028 -146.63 -0.98 0.00 3596.7 3778.3 3415.1 1700.2 3821.0 50.74 -13.51 64 496.99 0.00 0.00 4.68 0.000 0.000 0.019 3596.72 3778.38 3415.06 1720.00 2078.25 0 0 0 30.00 30.00 15.81

678.96 260 -146.63 -0.98 80.00 3596.8 3778.2 3415.4 1719.6 2075.9 71.79 -10.72 84 685.25 0.00 0.00 4.91 0.000 0.000 0.052 3597.03 3778.31 3415.75 1698.31 3821.12 0 0 0 30.00 30.00 15.78

706.75 1028 -146.63 -0.98 0.00 3596.3 3777.6 3415.0 1698.2 3820.9 75.28 -11.65 90 713.23 0.00 0.00 4.68 0.000 0.000 0.019 3598.12 3779.19 3417.06 1710.25 2076.00 0 0 0 30.00 30.00 15.88

892.43 260 -146.63 -0.98 80.00 3596.4 3778.2 3414.5 1710.4 2061.8 96.58 -11.60 109 898.75 0.00 0.00 4.93 0.000 0.000 0.052 3595.91 3778.00 3413.81 1688.88 3821.81 0 0 0 30.00 30.00 15.78

907.35 1029 -146.63 -0.98 0.00 3596.5 3778.2 3414.8 1688.7 3822.1 98.45 -12.03 112 913.70 0.00 0.05 4.70 0.000 0.218 0.020 3596.97 3778.81 3415.12 1720.56 2072.06 0 0 0 30.00 15.79 15.87

1092.38 0 -146.63 -0.98 0.00 3596.6 3778.1 3415.1 1720.9 2062.2 119.24 -10.58 131 1093.71 0.00 0.00 0.00 0.000 0.000 0.000 3597.66 3778.25 3417.06 1718.94 2062.19 0 0 0 30.00 30.00 30.00

1272.45 32 -146.63 -0.98 0.00 3596.4 3778.1 3414.8 1720.9 2058.1 137.88 -9.87 149 1273.78 0.00 0.00 0.00 0.000 0.000 0.000 3598.06 3779.19 3416.94 1719.56 2058.69 0 0 0 30.00 30.00 30.00

1392 end dive: TARGET_DEPTH_EXCEEDED

state 1392 begin apogee

1393.55 3 0.00 -0.14 0.00 3596.7 3778.1 3415.4 1720.6 2151.8 150.36 -10.73 161 1515.09 117.87 0.66 0.20 1.295 0.172 0.067 2997.47 3025.19 2969.75 1922.19 2050.56 0 0 0 12.07 15.66 15.47

1516 end apogee: CONTROL_FINISHED_OK

state 1516 begin climb

1515.95 3 146.63 0.96 0.00 2996.8 3023.7 2969.9 1922.2 2051.1 154.88 0.00 173 1639.32 121.38 0.80 0.00 1.248 0.111 0.000 2399.78 2389.88 2409.69 2187.06 2049.50 0 0 0 12.33 15.53 30.00

1822.49 423 253.81 1.47 80.00 2394.8 2380.8 2408.9 2187.7 2049.6 141.90 5.11 207 1917.45 87.64 0.31 5.12 1.236 0.045 0.051 1961.53 1944.88 1978.19 2312.88 3820.06 0 0 0 12.13 15.68 15.40

1989.60 1028 253.81 1.47 0.00 1960.2 1940.2 1980.2 2312.2 3819.9 122.53 12.49 240 1995.77 0.00 0.00 4.77 0.000 0.000 0.021 1959.19 1939.75 1978.62 2332.75 2078.50 0 0 0 30.00 30.00 15.57

2174.49 261 253.81 1.47 80.00 1958.1 1935.9 1980.3 2333.2 2066.8 101.89 10.36 259 2181.80 0.00 0.14 4.97 0.000 0.223 0.052 1956.56 1934.75 1978.38 2269.62 3819.50 0 0 0 30.00 15.55 15.63

2213.79 1157 253.81 1.54 0.00 1957.9 1935.2 1980.6 2269.1 3819.1 97.79 10.09 267 2220.58 0.00 0.08 4.74 0.000 0.105 0.021 1959.56 1937.31 1981.81 2341.56 2075.31 0 0 0 30.00 15.72 15.67

2399.68 261 253.81 1.54 80.00 1957.9 1935.6 1980.1 2341.6 2059.3 77.69 10.96 286 2407.01 0.00 0.12 4.96 0.000 0.219 0.053 1956.78 1934.69 1978.88 2286.56 3821.50 0 0 0 30.00 15.64 15.68

2448.77 1159 253.81 1.60 0.00 1957.1 1934.1 1980.1 2285.8 3820.1 72.27 10.85 296 2455.63 0.00 0.07 4.73 0.000 0.114 0.021 1957.72 1934.88 1980.56 2355.12 2074.50 0 0 0 30.00 15.77 15.82

2634.64 260 253.81 1.60 80.00 1957.2 1934.2 1980.1 2354.6 2067.6 50.57 11.84 315 2641.83 0.00 0.00 4.95 0.000 0.000 0.053 1955.72 1932.88 1978.56 2335.06 3821.38 0 0 0 30.00 30.00 15.73

2689.76 1030 253.81 1.60 0.00 1956.3 1932.4 1980.3 2334.9 3820.9 43.82 12.13 326 2696.01 0.00 0.00 4.71 0.000 0.000 0.021 1955.66 1932.12 1979.19 2355.44 2082.25 0 0 0 30.00 30.00 15.73

2874.61 263 253.81 1.60 80.00 1956.3 1932.5 1980.2 2355.5 2080.5 24.75 10.10 345 2881.92 0.00 0.12 4.92 0.000 0.243 0.052 1958.25 1933.38 1983.12 2301.75 3821.25 0 0 0 30.00 15.63 15.69

2969.85 1031 253.81 1.60 0.00 1956.1 1931.8 1980.4 2301.6 3821.7 15.11 10.28 364 2976.14 0.00 0.03 4.71 0.000 0.198 0.021 1954.91 1931.06 1978.75 2349.75 2074.38 0 0 0 30.00 15.73 15.78

3095 end climb: SURFACE_DEPTH_REACHED

state 3095 begin surface coast

3115 end surface coast: CONTROL_FINISHED_OK

state 3115 begin surface

ID	226	HEADING	-1	C_ROLL_DIVE	2110	ALTIM_PING_DELTA	10
MISSION	6	ESCAPE_HEADING	0	C_ROLL_CLIMB	2110	ALTIM_FREQUENCY	13
DIVE	2	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
N_DIVES	2	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.047120001	ALTIM_SENSITIVITY	3
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	150	SM_CC	652.31	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-4
D_ABORT	175	N_FILEKB	8	VBD_MIN	500	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	0	VBD_MAX	3860	DEEPGLIDERMB	0
D_BOOST	2	CALL_NDIVES	1	C_VBD	3000	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	161	VBD_TIMEOUT	720	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	50	CAPUPLOAD	0	DBDW	0	LOGGERDEVICE2	-1
T_MISSION	65	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	2	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	575	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	1950	MAXI_10V	1.4	SEABIRD_T_I	2.6926198e-05
APOGEE_PITCH	-5	PITCH_DBAND	0.1	FG_AHR_10V	5.8388634	SEABIRD_T_J	3.3427477e-06
MAX_BUOY	150	PITCH_CNV	0.0041975998	FG_AHR_24V	23.960636	SEABIRD_C_G	-9.9959793
GLIDE_SLOPE	30	PITCH_GAIN	37	PHONE_SUPPLY	2	SEABIRD_C_H	1.1392462
SPEED_FACTOR	1	PITCH_TIMEOUT	20	PRESSURE_YINT	-139.19508	SEABIRD_C_I	-0.0021947562
RHO	1.023	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00010769104	SEABIRD_C_J	0.00024419418
MASS	72012	PITCH_ADJ_GAIN	0.029999999	COMPASS_USE	4	SC_RECORDABOVE	2000.0
NAV_MODE	0	PITCH_ADJ_DBAND	2	ALTIM_PING_FIT	0	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_W_GAIN	2	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	2
HD_C	1.6e-05	ROLL_DEG	80	ALTIM_PING_DEPTH	0

GPS1	190719,165435,4743.932,-12223.918,1,1.0,3,15.5	TGT_LATLONG	4743.000,-12224.000
_CALLS	3	TGT_RADIUS	100.000
_SM_DEPTHo	1.17	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-51.0	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	190719,170010,4743.984,-12223.898,2,1.0,4,15.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.263	MHEAD_RNG_PITCHd_Wd	168.4,1827,-19.3,-10.000,-20.84
TGT_NAME	SE	D_GRID	170

MODEM_MSG	CACST,6,1,20190719174504.542277,18,32767,45,0101,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0E	INTERNAL_PRESSURE	8.59632
FINISH	0.0,1.022311	_24V_AH	14.87,45.610
SM_CCo	3389.05,0.00,0.000,0,499.7,416.0,583.4,613.32	_10V_AH	14.90,0.000
SM_GC	1.14,0.00,6.22,0.17,0.000,0.058,0.050,499.7,416.0,583.4,88.3,2164.2,0,0,0,30.00,15.91,15.95	FG_AHR_24Vo	24.082
SUPER	59,71,254,1,0,0	FG_AHR_10Vo	5.881
IRIDIUM_FIX	4746.68,-12221.39,190719,165712	MEM	1132836,34,46128,76
TCM_TEMP	198.46	DATA_FILE_SIZE	13722,379
XPDR_PINGS	17	CAP_FILE_SIZE	181639,0
SC_FREEKB	3877632	SDSIZE	3918848,3908576
RAFOS_CLK	-2	SDFILEDIR	46,1
MODEM	1,1563555904,47.50000,-123.50000,4.715,6907.4	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4723.384766,-12211.848633,190719,171704,8,255,15.29	SOUNDSPEED	1465.0
HUMID	58.50	GPS	190719,175809,4743.968,-12224.170,2,1.0,20,15.5
TEMP	14.01

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	730	1295	14077.36	nil	0	0	0.00
Pitch_motor	16	385	93.15	nil	0	0	0.00
Roll_motor	87	67	87.71	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	4	420	26.54	nil	0	0	0.00
GPS	13	5	1.10	nil	0	0	0.00
Core	1517	11	267.87	SciCon	3110	37	1730.76
LPSleep	1957	2	67.38	nil	0	0	0.00
Compass	650	0	0.78	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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
4.45	2	-146.63	-0.96	0.00	500.1	421.2	579.0	120.0	2154.2	0.00	0.00	0	148.59	143.54	0.00	0.00	0.005	0.000	0.000	3579.25	3744.62	3413.88	119.88	2154.69	0	0	0	15.63	30.00	30.00
148.84	551	-146.63	-0.96	-80.00	3578.2	3744.0	3412.4	120.1	2154.0	3.95	-2.24	14	164.94	0.44	7.41	4.97	0.055	0.385	0.052	3597.09	3778.44	3415.75	1743.06	406.88	0	0	0	15.66	15.49	15.65
236.47	1157	-146.63	-1.06	0.00	3596.4	3777.8	3415.0	1743.3	406.6	17.38	-11.18	32	243.00	0.00	0.09	4.72	0.000	0.100	0.020	3597.53	3779.44	3415.62	1671.12	2139.88	0	0	0	30.00	15.80	15.85
422.10	389	-146.63	-0.98	80.00	3596.8	3778.6	3414.9	1671.4	2141.3	41.65	-13.76	51	428.26	0.00	0.16	4.65	0.000	0.195	0.052	3595.81	3778.00	3413.62	1699.62	3821.25	0	0	0	30.00	15.78	15.79
488.94	1028	-146.63	-0.98	0.00	3596.7	3778.3	3415.1	1700.2	3821.0	50.74	-13.51	64	496.99	0.00	0.00	4.68	0.000	0.000	0.019	3596.72	3778.38	3415.06	1720.00	2078.25	0	0	0	30.00	30.00	15.81
678.96	260	-146.63	-0.98	80.00	3596.8	3778.2	3415.4	1719.6	2075.9	71.79	-10.72	84	685.25	0.00	0.00	4.91	0.000	0.000	0.052	3597.03	3778.31	3415.75	1698.31	3821.12	0	0	0	30.00	30.00	15.78
706.75	1028	-146.63	-0.98	0.00	3596.3	3777.6	3415.0	1698.2	3820.9	75.28	-11.65	90	713.23	0.00	0.00	4.68	0.000	0.000	0.019	3598.12	3779.19	3417.06	1710.25	2076.00	0	0	0	30.00	30.00	15.88
892.43	260	-146.63	-0.98	80.00	3596.4	3778.2	3414.5	1710.4	2061.8	96.58	-11.60	109	898.75	0.00	0.00	4.93	0.000	0.000	0.052	3595.91	3778.00	3413.81	1688.88	3821.81	0	0	0	30.00	30.00	15.78
907.35	1029	-146.63	-0.98	0.00	3596.5	3778.2	3414.8	1688.7	3822.1	98.45	-12.03	112	913.70	0.00	0.05	4.70	0.000	0.218	0.020	3596.97	3778.81	3415.12	1720.56	2072.06	0	0	0	30.00	15.79	15.87
1092.38	0	-146.63	-0.98	0.00	3596.6	3778.1	3415.1	1720.9	2062.2	119.24	-10.58	131	1093.71	0.00	0.00	0.00	0.000	0.000	0.000	3597.66	3778.25	3417.06	1718.94	2062.19	0	0	0	30.00	30.00	30.00
1272.45	32	-146.63	-0.98	0.00	3596.4	3778.1	3414.8	1720.9	2058.1	137.88	-9.87	149	1273.78	0.00	0.00	0.00	0.000	0.000	0.000	3598.06	3779.19	3416.94	1719.56	2058.69	0	0	0	30.00	30.00	30.00
1392	end dive: TARGET_DEPTH_EXCEEDED
state	1392	begin apogee
1393.55	3	0.00	-0.14	0.00	3596.7	3778.1	3415.4	1720.6	2151.8	150.36	-10.73	161	1515.09	117.87	0.66	0.20	1.295	0.172	0.067	2997.47	3025.19	2969.75	1922.19	2050.56	0	0	0	12.07	15.66	15.47
1516	end apogee: CONTROL_FINISHED_OK
state	1516	begin climb
1515.95	3	146.63	0.96	0.00	2996.8	3023.7	2969.9	1922.2	2051.1	154.88	0.00	173	1639.32	121.38	0.80	0.00	1.248	0.111	0.000	2399.78	2389.88	2409.69	2187.06	2049.50	0	0	0	12.33	15.53	30.00
1822.49	423	253.81	1.47	80.00	2394.8	2380.8	2408.9	2187.7	2049.6	141.90	5.11	207	1917.45	87.64	0.31	5.12	1.236	0.045	0.051	1961.53	1944.88	1978.19	2312.88	3820.06	0	0	0	12.13	15.68	15.40
1989.60	1028	253.81	1.47	0.00	1960.2	1940.2	1980.2	2312.2	3819.9	122.53	12.49	240	1995.77	0.00	0.00	4.77	0.000	0.000	0.021	1959.19	1939.75	1978.62	2332.75	2078.50	0	0	0	30.00	30.00	15.57
2174.49	261	253.81	1.47	80.00	1958.1	1935.9	1980.3	2333.2	2066.8	101.89	10.36	259	2181.80	0.00	0.14	4.97	0.000	0.223	0.052	1956.56	1934.75	1978.38	2269.62	3819.50	0	0	0	30.00	15.55	15.63
2213.79	1157	253.81	1.54	0.00	1957.9	1935.2	1980.6	2269.1	3819.1	97.79	10.09	267	2220.58	0.00	0.08	4.74	0.000	0.105	0.021	1959.56	1937.31	1981.81	2341.56	2075.31	0	0	0	30.00	15.72	15.67
2399.68	261	253.81	1.54	80.00	1957.9	1935.6	1980.1	2341.6	2059.3	77.69	10.96	286	2407.01	0.00	0.12	4.96	0.000	0.219	0.053	1956.78	1934.69	1978.88	2286.56	3821.50	0	0	0	30.00	15.64	15.68
2448.77	1159	253.81	1.60	0.00	1957.1	1934.1	1980.1	2285.8	3820.1	72.27	10.85	296	2455.63	0.00	0.07	4.73	0.000	0.114	0.021	1957.72	1934.88	1980.56	2355.12	2074.50	0	0	0	30.00	15.77	15.82
2634.64	260	253.81	1.60	80.00	1957.2	1934.2	1980.1	2354.6	2067.6	50.57	11.84	315	2641.83	0.00	0.00	4.95	0.000	0.000	0.053	1955.72	1932.88	1978.56	2335.06	3821.38	0	0	0	30.00	30.00	15.73
2689.76	1030	253.81	1.60	0.00	1956.3	1932.4	1980.3	2334.9	3820.9	43.82	12.13	326	2696.01	0.00	0.00	4.71	0.000	0.000	0.021	1955.66	1932.12	1979.19	2355.44	2082.25	0	0	0	30.00	30.00	15.73
2874.61	263	253.81	1.60	80.00	1956.3	1932.5	1980.2	2355.5	2080.5	24.75	10.10	345	2881.92	0.00	0.12	4.92	0.000	0.243	0.052	1958.25	1933.38	1983.12	2301.75	3821.25	0	0	0	30.00	15.63	15.69
2969.85	1031	253.81	1.60	0.00	1956.1	1931.8	1980.4	2301.6	3821.7	15.11	10.28	364	2976.14	0.00	0.03	4.71	0.000	0.198	0.021	1954.91	1931.06	1978.75	2349.75	2074.38	0	0	0	30.00	15.73	15.78
3095	end climb: SURFACE_DEPTH_REACHED
state	3095	begin surface coast
3115	end surface coast: CONTROL_FINISHED_OK
state	3115	begin surface