Glider dive log

Shilshole 20Jul20 * SG235 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 XPDR_INT 0

MISSION 2 FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_REP 0

DIVE 2 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 2 TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -0.5

STOP_T 0 TGT_AUTO_DEFAULT 0 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 SM_CC 431.53998 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 C_VBD 2300 MOTHERBOARD 6

D_TGT 150 FILEMGR 0 VBD_DBAND 2 DEVICE1 10

D_ABORT 175 CALL_NDIVES 1 VBD_CNV -0.24529999 DEVICE2 -1

D_NO_BLEED 50 COMM_SEQ 0 VBD_LP_IGNORE 0 DEVICE3 -1

D_BOOST 2 PROTOCOL 9 VBD_TIMEOUT 360 DEVICE4 -1

T_BOOST 0 N_NOCOMM 1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_FINISH 0 NOCOMM_ACTION 163 UNCOM_BLEED 20 DEVICE6 -1

D_PITCH 0 N_NOSURFACE 0 VBD_MAXERRORS 1 LOGGERS 2

D_SAFE 0 UPLOAD_DIVES_MAX -1 W_ADJ_DBAND 0 LOGGERDEVICE1 7

D_CALL 0 CALL_TRIES 5 DBDW 0 LOGGERDEVICE2 35

SURFACE_URGENCY 0 CALL_WAIT 60 LOITER_W_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 LOITER_DBDW 0 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 LOITER_D_TOP 0 COMPASS_DEVICE 66

T_DIVE 50 T_GPS 5 LOITER_D_BOTTOM 0 COMPASS2_DEVICE -1

T_MISSION 65 N_GPS 100440 LOITER_N_DIVE 0 PHONE_DEVICE 33

T_ABORT 1440 T_RSLEEP 3 CF8_MAXERRORS 20 GPS_DEVICE 48

T_TURN 225 STROBE 0 AH0_24V 350 RAFOS_DEVICE 104

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 AH0_10V 0 NETWORK_DEVICE 1

T_NO_W 120 RAFOS_CORR_THRESH 60 MINV_24V 11 PRESSURE_DEVICE 34

T_LOITER 0 RAFOS_HIT_WINDOW 3600 MINV_10V 11 XPDR_DEVICE -1

T_EPIRB 0 RAFOS_MMODEM 0 MAXI_24V 3 SIM_W 0

USE_BATHY -6 PITCH_MIN 230 MAXI_10V 1.5 SEABIRD_T_G 0.004415411

USE_ICE 0 PITCH_MAX 3900 FG_AHR_10V 3.8015904 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2600 FG_AHR_24V 4.3893991 SEABIRD_T_I 2.6329088e-05

D_OFFGRID 100 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_J 3.2522996e-06

RELAUNCH 1 PITCH_CNV 0.0041299998 PRESSURE_YINT -158.82793 SEABIRD_C_G -9.8064938

APOGEE_PITCH -5 PITCH_GAIN 25 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_H 1.0739573

MAX_BUOY 150 PITCH_TIMEOUT 30 COMPASS_USE 4 SEABIRD_C_I -0.002841271

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 ALTIM_PING_FIT 0 SEABIRD_C_J 0.00027081851

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.045000002 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

RHO 1.023 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 3.0

MASS 71966 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

NAV_MODE 2 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_NDIVE 1.0

FERRY_MAX 45 ROLL_MIN 600 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MAX 3400 ALTIM_PING_DELTA 0 PM_PROFILE 3.0

HD_A 0.003 ROLL_DEG 80 ALTIM_FREQUENCY 13 PM_XMITPROFILE 3.0

HD_B 0.0099999998 C_ROLL_DIVE 2000 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_CLIMB 2000 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING -1 HEAD_ERRBAND 10 XPDR_VALID 4 PM_MOTORS 0.0

ESCAPE_HEADING 0 ROLL_CNV 0.054945 XPDR_INHIBIT 90 PM_SENDDEPTH 1.0

AH0_10V 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_C_H 1.0739573

AH0_24V 350 D_TGT 150 PHONE_DEVICE 33 SEABIRD_C_I -0.002841271

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SEABIRD_C_J 0.00027081851

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SEABIRD_T_G 0.004415411

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0.045000002 SEABIRD_T_H 0.00064200663

ALTIM_PING_DEPTH 0 FG_AHR_10V 3.8015904 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 4.3893991 PITCH_DBAND 0.1 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FILEMGR 0 PITCH_GAIN 25 SIM_W 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 SM_CC 431.53998

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 48 PITCH_MIN 230 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_TIMEOUT 30 STROBE 0

APOGEE_PITCH -5 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 SURFACE_URGENCY 0

CALL_NDIVES 1 HD_C 1.6e-05 PITCH_W_DBAND 0 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HEADING -1 PITCH_W_GAIN 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HEAD_ERRBAND 10 PM_MOTORS 0.0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PM_NDIVE 1.0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 ID 235 PM_PROFILE 3.0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 1.9639999e-06 PM_RECORDABOVE 2000.0 T_ABORT 1440

COMM_SEQ 0 INT_PRESSURE_YINT -0.5 PM_SENDDEPTH 1.0 T_BOOST 0

COMPASS2_DEVICE -1 KALMAN_USE 2 PM_XMITPROFILE 3.0 T_DIVE 50

COMPASS_DEVICE 66 LOGGERDEVICE1 7 PM_XMITRAW 0.0 T_EPIRB 0

COMPASS_USE 4 LOGGERDEVICE2 35 PRESSURE_DEVICE 34 T_GPS 5

C_PITCH 2600 LOGGERDEVICE3 -1 PRESSURE_SLOPE 0.00022957686 T_LOITER 0

C_ROLL_CLIMB 2000 LOGGERDEVICE4 -1 PRESSURE_YINT -158.82793 T_MISSION 65

C_ROLL_DIVE 2000 LOGGERS 2 PROTOCOL 9 T_NO_W 120

C_VBD 2300 LOITER_DBDW 0 RAFOS_CORR_THRESH 60 T_RSLEEP 3

DBDW 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE 104 T_TURN 225

DEEPGLIDER 0 LOITER_D_TOP 0 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

DEEPGLIDERMB 0 LOITER_N_DIVE 0 RAFOS_MMODEM 0 UNCOM_BLEED 20

DEVICE1 10 LOITER_W_DBAND 0 RAFOS_PEAK_OFFSET 0 UPLOAD_DIVES_MAX -1

DEVICE2 -1 MASS 71966 RELAUNCH 1 USE_BATHY -6

DEVICE3 -1 MAXI_10V 1.5 RHO 1.023 USE_ICE 0

DEVICE4 -1 MAXI_24V 3 ROLL_ADJ_DBAND 0 VBD_CNV -0.24529999

DEVICE5 -1 MAX_BUOY 150 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE6 -1 MINV_10V 11 ROLL_CNV 0.054945 VBD_LP_IGNORE 0

DIVE 2 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 175 MISSION 2 ROLL_MAX 3400 VBD_MAXERRORS 1

D_BOOST 2 MOTHERBOARD 6 ROLL_MAXERRORS 1 VBD_MIN 500

D_CALL 0 NAV_MODE 2 ROLL_MIN 600 VBD_TIMEOUT 360

D_FINISH 0 NETWORK_DEVICE 1 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

D_FLARE 3 NOCOMM_ACTION 163 SC_NDIVE 1.0 XPDR_DEVICE -1

D_NO_BLEED 50 N_DIVES 2 SC_PROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 100 N_FILEKB 8 SC_RECORDABOVE 2000.0 XPDR_INT 0

D_PITCH 0 N_GPS 100440 SC_XMITPROFILE 3.0 XPDR_REP 0

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_G -9.8064938 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 200720,172042,4744.440,-12224.555,1,0.7,3,15.4 TGT_LATLONG 4743.500,-12225.000

_CALLS 3 TGT_RADIUS 100.000

_SM_DEPTHo 1.54 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -65.8 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 200720,172636,4744.483,-12224.574,2,0.7,3,15.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.258 MHEAD_RNG_PITCHd_Wd 155.9,1896,-17.6,-10.000,-21.21

TGT_NAME NW D_GRID 177

Post-dive calculations and measurements:

NET CACMD,PNR,0,235,0.364557*18 INTERNAL_PRESSURE 8.1058

FINISH 0.2,1.021346 _24V_AH 15.07,1.877

SM_CCo 3276.67,0.00,0.007,0,541.3,600.0,482.7,431.40 _10V_AH 15.00,0.000

SM_GC 1.65,0.00,16.08,0.07,0.007,0.058,0.191,541.3,600.0,482.7,215.2,1984.9,0,0,0,30.36,15.94,15.96 FG_AHR_24Vo 4.547

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 3.855

IRIDIUM_FIX 4744.97,-12226.80,200720,172306 MEM 1121432,18,55976,87

TCM_TEMP 15.39 DATA_FILE_SIZE 19396,550

PM_FREEKB_00 62279360 CAP_FILE_SIZE 179553,0

PM_FREEKB_01 62343040 SDSIZE 3918848,3901568

PM_ACTIVECARD 0 SDFILEDIR 37,1

RAFOS_CLK 0 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 4744.041504,-12224.243164,200720,181857,0,1,0.29 SOUNDSPEED 1465.0

HUMID 57.04 CURRENT 0.279, 19.4,1

TEMP 13.36 GPS 200720,182213,4744.511,-12224.115,2,1.4,3,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 516 1337 10404.05 SBE_CT 922 24 333.58

Pitch_motor 40 270 163.29 nil 0 0 0.00

Roll_motor 60 318 292.82 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.86 nil 0 0 0.00

Core 1845 10 280.14 SciCon 0 0 0.00

LPSleep 1411 1 23.71 PMAR 3202 9 433.18

Compass 953 5 71.53 nil 0 0 0.00

RAFOS 2212 40 1327.20

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

9.74 16386 -146.63 -0.88 0.00 539.0 592.9 485.1 231.1 2017.4 0.00 0.00 0 93.63 83.28 0.00 0.00 0.005 0.000 0.000 2528.66 2536.94 2520.38 231.00 2018.00 0 0 0 16.06 30.00 30.00

93.89 18983 -146.63 -0.88 -80.00 2525.9 2533.4 2518.4 231.0 2018.1 3.44 -2.57 16 127.22 9.15 15.53 3.48 0.007 0.270 0.161 2895.56 2930.12 2861.00 2384.38 591.44 0 0 0 16.12 15.94 16.05

227.15 5253 -146.63 -1.04 0.00 2898.6 2936.2 2861.1 2385.4 591.6 22.89 -13.07 42 232.04 0.00 0.32 3.21 0.000 0.068 0.071 2900.66 2938.38 2862.94 2326.00 2018.19 0 0 0 30.00 16.07 16.02

410.99 516 -146.63 -1.04 -80.00 2898.6 2936.4 2860.7 2325.5 2018.0 44.07 -12.21 79 416.62 0.00 0.00 3.49 0.000 0.000 0.159 2899.75 2938.06 2861.44 2324.38 591.12 0 0 0 30.00 30.00 15.94

495.94 3205 -146.63 -0.92 0.00 2899.6 2937.4 2861.8 2325.3 590.9 57.01 -15.04 96 502.20 0.00 0.39 3.21 0.000 0.169 0.073 2902.28 2940.25 2864.31 2379.12 2015.06 0 0 0 30.00 16.03 15.95

681.77 4773 -146.63 -1.10 -80.00 2898.9 2937.2 2860.6 2379.4 2014.6 73.02 -8.65 133 687.11 0.00 0.34 3.48 0.000 0.066 0.163 2899.47 2937.56 2861.38 2310.31 591.44 0 0 0 30.00 16.13 16.07

797.18 3205 -146.63 -0.95 0.00 2898.9 2937.2 2860.6 2310.2 591.8 88.39 -13.82 156 803.17 0.00 0.44 3.21 0.000 0.168 0.076 2899.50 2937.31 2861.69 2371.56 2016.31 0 0 0 30.00 16.04 16.08

982.11 4773 -146.63 -1.09 -80.00 2898.8 2937.2 2860.3 2371.9 2016.2 103.75 -8.50 189 987.12 0.00 0.29 3.49 0.000 0.072 0.166 2900.28 2938.81 2861.75 2312.56 592.62 0 0 0 30.00 16.14 16.08

1041.69 3205 -146.63 -0.91 0.00 2898.8 2937.6 2860.1 2312.1 592.7 111.86 -15.31 201 1047.13 0.00 0.49 3.21 0.000 0.173 0.077 2899.97 2938.62 2861.31 2380.81 2015.12 0 0 0 30.00 16.08 16.14

1232.46 4773 -146.63 -1.10 -80.00 2899.2 2937.8 2860.6 2380.9 2014.8 131.22 -9.56 221 1238.19 0.00 0.35 3.51 0.000 0.065 0.170 2899.59 2937.19 2862.00 2309.81 590.75 0 0 0 30.00 16.16 16.10

1241.37 1188 -146.63 -1.25 0.00 2898.5 2936.9 2860.1 2309.8 590.9 132.29 -9.66 223 1247.39 0.00 0.00 3.21 0.000 0.000 0.077 2900.06 2937.81 2862.31 2309.75 2015.50 0 0 0 30.00 30.00 16.15

1378 end dive: TARGET_DEPTH_EXCEEDED

state 1378 begin apogee

1379.45 10243 0.00 -0.20 0.00 2899.2 2937.2 2861.1 2309.5 1985.4 150.24 -14.37 237 1488.30 105.53 1.62 0.05 1.338 0.148 0.319 2300.72 2372.81 2228.62 2552.19 2012.06 0 0 0 11.74 16.08 15.74

1489 end apogee: CONTROL_FINISHED_OK

state 1489 begin climb

1489.53 10503 146.63 0.88 80.00 2297.8 2370.2 2225.3 2552.8 2012.2 155.75 0.00 248 1605.49 106.62 1.62 3.49 1.293 0.094 0.148 1700.81 1791.19 1610.44 2818.94 3408.44 0 0 0 11.82 15.74 15.56

1747.72 11431 252.27 1.06 0.00 1694.5 1779.5 1609.5 2818.1 3406.9 146.32 5.11 299 1830.13 77.55 0.22 3.34 1.271 0.084 0.090 1270.75 1363.12 1178.38 2870.56 1982.44 0 0 0 11.72 15.85 15.85

2015.45 128 252.27 1.14 0.00 1265.8 1353.5 1178.2 2870.8 1982.7 122.32 10.35 334 2016.79 0.00 0.00 0.00 0.000 0.000 0.000 1265.25 1353.00 1177.50 2869.88 1982.50 0 0 0 30.00 30.00 30.00

2195.17 2725 254.82 1.23 -80.00 1264.1 1349.8 1178.3 2869.0 1981.4 103.86 9.88 352 2200.58 0.00 0.16 3.51 0.000 0.099 0.176 1265.94 1351.81 1180.06 2911.75 590.88 0 0 0 30.00 15.95 15.91

2305.16 5253 254.82 1.05 0.00 1263.4 1348.2 1178.5 2912.2 590.8 87.78 14.96 374 2311.44 0.00 0.48 3.26 0.000 0.184 0.075 1263.72 1348.31 1179.12 2847.31 2014.25 0 0 0 30.00 15.91 15.92

2490.97 10919 276.66 1.27 -80.00 1263.6 1348.4 1178.7 2848.4 2013.8 69.96 8.99 411 2517.82 19.04 0.41 3.55 1.145 0.069 0.168 1171.97 1259.81 1084.12 2920.12 590.81 0 0 0 11.74 16.02 15.81

2560.93 5253 276.66 1.10 0.00 1170.9 1257.5 1084.3 2919.4 590.6 61.45 12.30 425 2566.85 0.00 0.45 3.24 0.000 0.189 0.072 1170.88 1257.56 1084.19 2859.44 2015.88 0 0 0 30.00 15.90 15.96

2745.80 10403 341.79 1.41 0.00 1169.8 1255.6 1083.9 2859.3 2016.2 47.86 6.98 462 2798.08 50.14 0.54 0.00 1.194 0.064 0.000 907.25 1002.88 811.62 2953.12 2015.94 0 0 0 11.69 15.99 30.00

2975.64 516 341.79 1.41 -80.00 904.1 996.7 811.4 2954.0 2016.0 20.15 12.39 508 2981.40 0.00 0.00 3.55 0.000 0.000 0.163 904.00 996.38 811.62 2953.75 590.62 0 0 0 30.00 30.00 15.81

3046.13 5253 341.79 1.31 0.00 902.9 993.9 811.9 2953.4 590.9 10.42 13.62 522 3051.46 0.00 0.34 3.24 0.000 0.191 0.067 903.28 994.31 812.25 2909.69 2019.88 0 0 0 30.00 15.89 15.85

3156 end climb: SURFACE_DEPTH_REACHED

state 3156 begin surface coast

3186 end surface coast: CONTROL_FINISHED_OK

state 3186 begin surface

ID	235	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	2	FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	2	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	2	TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-0.5
STOP_T	0	TGT_AUTO_DEFAULT	0	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	SM_CC	431.53998	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	C_VBD	2300	MOTHERBOARD	6
D_TGT	150	FILEMGR	0	VBD_DBAND	2	DEVICE1	10
D_ABORT	175	CALL_NDIVES	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_NO_BLEED	50	COMM_SEQ	0	VBD_LP_IGNORE	0	DEVICE3	-1
D_BOOST	2	PROTOCOL	9	VBD_TIMEOUT	360	DEVICE4	-1
T_BOOST	0	N_NOCOMM	1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_FINISH	0	NOCOMM_ACTION	163	UNCOM_BLEED	20	DEVICE6	-1
D_PITCH	0	N_NOSURFACE	0	VBD_MAXERRORS	1	LOGGERS	2
D_SAFE	0	UPLOAD_DIVES_MAX	-1	W_ADJ_DBAND	0	LOGGERDEVICE1	7
D_CALL	0	CALL_TRIES	5	DBDW	0	LOGGERDEVICE2	35
SURFACE_URGENCY	0	CALL_WAIT	60	LOITER_W_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	LOITER_DBDW	0	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	LOITER_D_TOP	0	COMPASS_DEVICE	66
T_DIVE	50	T_GPS	5	LOITER_D_BOTTOM	0	COMPASS2_DEVICE	-1
T_MISSION	65	N_GPS	100440	LOITER_N_DIVE	0	PHONE_DEVICE	33
T_ABORT	1440	T_RSLEEP	3	CF8_MAXERRORS	20	GPS_DEVICE	48
T_TURN	225	STROBE	0	AH0_24V	350	RAFOS_DEVICE	104
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	AH0_10V	0	NETWORK_DEVICE	1
T_NO_W	120	RAFOS_CORR_THRESH	60	MINV_24V	11	PRESSURE_DEVICE	34
T_LOITER	0	RAFOS_HIT_WINDOW	3600	MINV_10V	11	XPDR_DEVICE	-1
T_EPIRB	0	RAFOS_MMODEM	0	MAXI_24V	3	SIM_W	0
USE_BATHY	-6	PITCH_MIN	230	MAXI_10V	1.5	SEABIRD_T_G	0.004415411
USE_ICE	0	PITCH_MAX	3900	FG_AHR_10V	3.8015904	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2600	FG_AHR_24V	4.3893991	SEABIRD_T_I	2.6329088e-05
D_OFFGRID	100	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_J	3.2522996e-06
RELAUNCH	1	PITCH_CNV	0.0041299998	PRESSURE_YINT	-158.82793	SEABIRD_C_G	-9.8064938
APOGEE_PITCH	-5	PITCH_GAIN	25	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_H	1.0739573
MAX_BUOY	150	PITCH_TIMEOUT	30	COMPASS_USE	4	SEABIRD_C_I	-0.002841271
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	ALTIM_PING_FIT	0	SEABIRD_C_J	0.00027081851
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.045000002	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
RHO	1.023	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	3.0
MASS	71966	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
NAV_MODE	2	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_NDIVE	1.0
FERRY_MAX	45	ROLL_MIN	600	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MAX	3400	ALTIM_PING_DELTA	0	PM_PROFILE	3.0
HD_A	0.003	ROLL_DEG	80	ALTIM_FREQUENCY	13	PM_XMITPROFILE	3.0
HD_B	0.0099999998	C_ROLL_DIVE	2000	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_CLIMB	2000	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
HEADING	-1	HEAD_ERRBAND	10	XPDR_VALID	4	PM_MOTORS	0.0
ESCAPE_HEADING	0	ROLL_CNV	0.054945	XPDR_INHIBIT	90	PM_SENDDEPTH	1.0

GPS1	200720,172042,4744.440,-12224.555,1,0.7,3,15.4	TGT_LATLONG	4743.500,-12225.000
_CALLS	3	TGT_RADIUS	100.000
_SM_DEPTHo	1.54	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-65.8	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	200720,172636,4744.483,-12224.574,2,0.7,3,15.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.258	MHEAD_RNG_PITCHd_Wd	155.9,1896,-17.6,-10.000,-21.21
TGT_NAME	NW	D_GRID	177

NET	CACMD,PNR,0,235,0.364557*18	INTERNAL_PRESSURE	8.1058
FINISH	0.2,1.021346	_24V_AH	15.07,1.877
SM_CCo	3276.67,0.00,0.007,0,541.3,600.0,482.7,431.40	_10V_AH	15.00,0.000
SM_GC	1.65,0.00,16.08,0.07,0.007,0.058,0.191,541.3,600.0,482.7,215.2,1984.9,0,0,0,30.36,15.94,15.96	FG_AHR_24Vo	4.547
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	3.855
IRIDIUM_FIX	4744.97,-12226.80,200720,172306	MEM	1121432,18,55976,87
TCM_TEMP	15.39	DATA_FILE_SIZE	19396,550
PM_FREEKB_00	62279360	CAP_FILE_SIZE	179553,0
PM_FREEKB_01	62343040	SDSIZE	3918848,3901568
PM_ACTIVECARD	0	SDFILEDIR	37,1
RAFOS_CLK	0	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4744.041504,-12224.243164,200720,181857,0,1,0.29	SOUNDSPEED	1465.0
HUMID	57.04	CURRENT	0.279, 19.4,1
TEMP	13.36	GPS	200720,182213,4744.511,-12224.115,2,1.4,3,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	516	1337	10404.05	SBE_CT	922	24	333.58
Pitch_motor	40	270	163.29	nil	0	0	0.00
Roll_motor	60	318	292.82	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.86	nil	0	0	0.00
Core	1845	10	280.14	SciCon	0	0	0.00
LPSleep	1411	1	23.71	PMAR	3202	9	433.18
Compass	953	5	71.53	nil	0	0	0.00
RAFOS	2212	40	1327.20
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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
9.74	16386	-146.63	-0.88	0.00	539.0	592.9	485.1	231.1	2017.4	0.00	0.00	0	93.63	83.28	0.00	0.00	0.005	0.000	0.000	2528.66	2536.94	2520.38	231.00	2018.00	0	0	0	16.06	30.00	30.00
93.89	18983	-146.63	-0.88	-80.00	2525.9	2533.4	2518.4	231.0	2018.1	3.44	-2.57	16	127.22	9.15	15.53	3.48	0.007	0.270	0.161	2895.56	2930.12	2861.00	2384.38	591.44	0	0	0	16.12	15.94	16.05
227.15	5253	-146.63	-1.04	0.00	2898.6	2936.2	2861.1	2385.4	591.6	22.89	-13.07	42	232.04	0.00	0.32	3.21	0.000	0.068	0.071	2900.66	2938.38	2862.94	2326.00	2018.19	0	0	0	30.00	16.07	16.02
410.99	516	-146.63	-1.04	-80.00	2898.6	2936.4	2860.7	2325.5	2018.0	44.07	-12.21	79	416.62	0.00	0.00	3.49	0.000	0.000	0.159	2899.75	2938.06	2861.44	2324.38	591.12	0	0	0	30.00	30.00	15.94
495.94	3205	-146.63	-0.92	0.00	2899.6	2937.4	2861.8	2325.3	590.9	57.01	-15.04	96	502.20	0.00	0.39	3.21	0.000	0.169	0.073	2902.28	2940.25	2864.31	2379.12	2015.06	0	0	0	30.00	16.03	15.95
681.77	4773	-146.63	-1.10	-80.00	2898.9	2937.2	2860.6	2379.4	2014.6	73.02	-8.65	133	687.11	0.00	0.34	3.48	0.000	0.066	0.163	2899.47	2937.56	2861.38	2310.31	591.44	0	0	0	30.00	16.13	16.07
797.18	3205	-146.63	-0.95	0.00	2898.9	2937.2	2860.6	2310.2	591.8	88.39	-13.82	156	803.17	0.00	0.44	3.21	0.000	0.168	0.076	2899.50	2937.31	2861.69	2371.56	2016.31	0	0	0	30.00	16.04	16.08
982.11	4773	-146.63	-1.09	-80.00	2898.8	2937.2	2860.3	2371.9	2016.2	103.75	-8.50	189	987.12	0.00	0.29	3.49	0.000	0.072	0.166	2900.28	2938.81	2861.75	2312.56	592.62	0	0	0	30.00	16.14	16.08
1041.69	3205	-146.63	-0.91	0.00	2898.8	2937.6	2860.1	2312.1	592.7	111.86	-15.31	201	1047.13	0.00	0.49	3.21	0.000	0.173	0.077	2899.97	2938.62	2861.31	2380.81	2015.12	0	0	0	30.00	16.08	16.14
1232.46	4773	-146.63	-1.10	-80.00	2899.2	2937.8	2860.6	2380.9	2014.8	131.22	-9.56	221	1238.19	0.00	0.35	3.51	0.000	0.065	0.170	2899.59	2937.19	2862.00	2309.81	590.75	0	0	0	30.00	16.16	16.10
1241.37	1188	-146.63	-1.25	0.00	2898.5	2936.9	2860.1	2309.8	590.9	132.29	-9.66	223	1247.39	0.00	0.00	3.21	0.000	0.000	0.077	2900.06	2937.81	2862.31	2309.75	2015.50	0	0	0	30.00	30.00	16.15
1378	end dive: TARGET_DEPTH_EXCEEDED
state	1378	begin apogee
1379.45	10243	0.00	-0.20	0.00	2899.2	2937.2	2861.1	2309.5	1985.4	150.24	-14.37	237	1488.30	105.53	1.62	0.05	1.338	0.148	0.319	2300.72	2372.81	2228.62	2552.19	2012.06	0	0	0	11.74	16.08	15.74
1489	end apogee: CONTROL_FINISHED_OK
state	1489	begin climb
1489.53	10503	146.63	0.88	80.00	2297.8	2370.2	2225.3	2552.8	2012.2	155.75	0.00	248	1605.49	106.62	1.62	3.49	1.293	0.094	0.148	1700.81	1791.19	1610.44	2818.94	3408.44	0	0	0	11.82	15.74	15.56
1747.72	11431	252.27	1.06	0.00	1694.5	1779.5	1609.5	2818.1	3406.9	146.32	5.11	299	1830.13	77.55	0.22	3.34	1.271	0.084	0.090	1270.75	1363.12	1178.38	2870.56	1982.44	0	0	0	11.72	15.85	15.85
2015.45	128	252.27	1.14	0.00	1265.8	1353.5	1178.2	2870.8	1982.7	122.32	10.35	334	2016.79	0.00	0.00	0.00	0.000	0.000	0.000	1265.25	1353.00	1177.50	2869.88	1982.50	0	0	0	30.00	30.00	30.00
2195.17	2725	254.82	1.23	-80.00	1264.1	1349.8	1178.3	2869.0	1981.4	103.86	9.88	352	2200.58	0.00	0.16	3.51	0.000	0.099	0.176	1265.94	1351.81	1180.06	2911.75	590.88	0	0	0	30.00	15.95	15.91
2305.16	5253	254.82	1.05	0.00	1263.4	1348.2	1178.5	2912.2	590.8	87.78	14.96	374	2311.44	0.00	0.48	3.26	0.000	0.184	0.075	1263.72	1348.31	1179.12	2847.31	2014.25	0	0	0	30.00	15.91	15.92
2490.97	10919	276.66	1.27	-80.00	1263.6	1348.4	1178.7	2848.4	2013.8	69.96	8.99	411	2517.82	19.04	0.41	3.55	1.145	0.069	0.168	1171.97	1259.81	1084.12	2920.12	590.81	0	0	0	11.74	16.02	15.81
2560.93	5253	276.66	1.10	0.00	1170.9	1257.5	1084.3	2919.4	590.6	61.45	12.30	425	2566.85	0.00	0.45	3.24	0.000	0.189	0.072	1170.88	1257.56	1084.19	2859.44	2015.88	0	0	0	30.00	15.90	15.96
2745.80	10403	341.79	1.41	0.00	1169.8	1255.6	1083.9	2859.3	2016.2	47.86	6.98	462	2798.08	50.14	0.54	0.00	1.194	0.064	0.000	907.25	1002.88	811.62	2953.12	2015.94	0	0	0	11.69	15.99	30.00
2975.64	516	341.79	1.41	-80.00	904.1	996.7	811.4	2954.0	2016.0	20.15	12.39	508	2981.40	0.00	0.00	3.55	0.000	0.000	0.163	904.00	996.38	811.62	2953.75	590.62	0	0	0	30.00	30.00	15.81
3046.13	5253	341.79	1.31	0.00	902.9	993.9	811.9	2953.4	590.9	10.42	13.62	522	3051.46	0.00	0.34	3.24	0.000	0.191	0.067	903.28	994.31	812.25	2909.69	2019.88	0	0	0	30.00	15.89	15.85
3156	end climb: SURFACE_DEPTH_REACHED
state	3156	begin surface coast
3186	end surface coast: CONTROL_FINISHED_OK
state	3186	begin surface