Glider dive log

SODA 11Oct18 * SG230 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 230 HD_C 1.6e-05 ROLL_MAX 3945 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 HEADING -1 ROLL_DEG 60 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 3 ESCAPE_HEADING 0 C_ROLL_DIVE 2200 ALTIM_PING_DEPTH 0

N_DIVES 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2200 ALTIM_PING_DELTA 5

STOP_T 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_SURF 2 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.047120001 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_TGT 120 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_VALID 4

D_ABORT 200 SM_CC 631.70477 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_NO_BLEED 50 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_BOOST 4 FILEMGR 0 VBD_MIN 550 INT_PRESSURE_YINT 2.3

T_BOOST 0 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_FINISH 0 COMM_SEQ 0 C_VBD 3350 DEEPGLIDERMB 0

D_PITCH 0 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_SAFE 0 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE1 10

D_CALL 0 NOCOMM_ACTION 161 VBD_LP_IGNORE 0 DEVICE2 38

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 55

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.003 DEVICE4 67

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

T_DIVE 40 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

T_MISSION 55 CAPUPLOAD 0 W_ADJ_DBAND 0 LOGGERS 0

T_ABORT 1440 CAPMAXSIZE 100000 DBDW 0 LOGGERDEVICE1 -1

T_TURN 225 T_GPS 5 LOITER_W_DBAND 0 LOGGERDEVICE2 -1

T_TURN_SAMPINT -5 N_GPS 100440 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_NO_W 120 T_RSLEEP 2 LOITER_D_TOP 0 LOGGERDEVICE4 -1

T_LOITER 0 STROBE 0 LOITER_D_BOTTOM 0 COMPASS_DEVICE 66

T_EPIRB 0 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

USE_BATHY 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 PHONE_DEVICE 33

USE_ICE 0 RAFOS_HIT_WINDOW 3600 AH0_24V 575 GPS_DEVICE 48

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 AH0_10V 0 RAFOS_DEVICE 104

D_OFFGRID 1020 PITCH_MIN 150 MINV_24V 11 XPDR_DEVICE 0

RELAUNCH 1 PITCH_MAX 3830 MINV_10V 11 SIM_W 0

APOGEE_PITCH -5 C_PITCH 2200 MAXI_24V 5 SEABIRD_T_G 0.0044273403

MAX_BUOY 150 PITCH_DBAND 0.1 MAXI_10V 1.4 SEABIRD_T_H 0.00064357114

GLIDE_SLOPE 30 PITCH_CNV 0.0031300001 FG_AHR_10V 2.7103319 SEABIRD_T_I 2.694588e-05

SPEED_FACTOR 1 PITCH_GAIN 40 FG_AHR_24V 8.1133442 SEABIRD_T_J 3.3888193e-06

RHO 1.0275 PITCH_TIMEOUT 20 PHONE_SUPPLY 2 SEABIRD_C_G -10.022948

MASS 72271 PITCH_MAXERRORS 1 PRESSURE_YINT -163.05225 SEABIRD_C_H 1.1522003

NAV_MODE 2 PITCH_ADJ_GAIN 0.02 PRESSURE_SLOPE 0.00010820606 SEABIRD_C_I -0.0021515235

FERRY_MAX 45 PITCH_ADJ_DBAND 1 COMPASS_USE 4 SEABIRD_C_J 0.00023982119

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_PING_FIT 883

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 425 ALTIM_BOTTOM_TURN_MARGIN 0

AH0_10V 0 D_OFFGRID 1020 NOCOMM_ACTION 161 SEABIRD_T_H 0.00064357114

AH0_24V 575 D_PITCH 0 N_DIVES 3 SEABIRD_T_I 2.694588e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_T_J 3.3888193e-06

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SIM_W 0

ALTIM_PING_DELTA 5 D_TGT 120 N_NOCOMM 1 SM_CC 631.70477

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SPEED_FACTOR 1

ALTIM_PING_FIT 883 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 33 STOP_T 0

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_SUPPLY 2 STROBE 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 2.7103319 PITCH_ADJ_DBAND 1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 8.1133442 PITCH_ADJ_GAIN 0.02 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_CNV 0.0031300001 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_DBAND 0.1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_MAX 3830 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_A 0.003 PITCH_MAXERRORS 1 T_ABORT 1440

CALL_WAIT 60 HD_B 0.0099999998 PITCH_MIN 150 T_BOOST 0

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_TIMEOUT 20 T_DIVE 40

CAPUPLOAD 0 HEADING -1 PITCH_VBD_SHIFT 0.003 T_EPIRB 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_W_DBAND 0 T_GPS 5

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_GAIN 0 T_LOITER 0

COMPASS2_DEVICE -1 ID 230 PRESSURE_SLOPE 0.00010820606 T_MISSION 55

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -163.05225 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 2.3 PROTOCOL 9 T_RSLEEP 2

C_PITCH 2200 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_CLIMB 2200 LOGGERDEVICE1 -1 RAFOS_DEVICE 104 T_TURN_SAMPINT -5

C_ROLL_DIVE 2200 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD 3350 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 USE_BATHY 0

DEEPGLIDER 0 LOGGERS 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDERMB 0 LOITER_DBDW 0 RHO 1.0275 VBD_CNV -0.24529999

DEVICE1 10 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 38 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE3 55 LOITER_N_DIVE 0 ROLL_CNV 0.047120001 VBD_MAX 3960

DEVICE4 67 LOITER_W_DBAND 0 ROLL_DEG 60 VBD_MAXERRORS 1

DEVICE5 -1 MASS 72271 ROLL_MAX 3945 VBD_MIN 550

DEVICE6 -1 MAXI_10V 1.4 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 3 MAXI_24V 5 ROLL_MIN 425 W_ADJ_DBAND 0

D_ABORT 200 MAX_BUOY 150 ROLL_TIMEOUT 15 XPDR_DEVICE 0

D_BOOST 4 MINV_10V 11 SEABIRD_C_G -10.022948 XPDR_INHIBIT 90

D_CALL 0 MINV_24V 11 SEABIRD_C_H 1.1522003 XPDR_VALID 4

D_FINISH 0 MISSION 4 SEABIRD_C_I -0.0021515235

D_FLARE 3 MOTHERBOARD 6 SEABIRD_C_J 0.00023982119

D_NO_BLEED 50 NAV_MODE 2 SEABIRD_T_G 0.0044273403

Pre-dive calculations and measurements:

GPS1 111018,181626,7432.247,-14612.544,1,1.8,4,18.4 TGT_LATLONG 7415.000,-14625.000

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.72 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -76.9 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 111018,181907,7432.246,-14612.561,2,1.7,5,18.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 151.4,32547,-17.6,-10.000,-21.24

TGT_NAME AB2 D_GRID 120

Post-dive calculations and measurements:

FINISH 0.4,1.021447 _24V_AH 14.80,15.771

SM_CCo 2483.81,0.00,0.000,0,546.8,397.0,696.6,687.62 _10V_AH 14.93,0.000

SM_GC 1.89,0.00,8.27,0.09,0.000,0.086,0.126,546.8,397.0,696.6,134.6,2220.6,0,0,0,30.00,15.64,15.66 FG_AHR_24Vo 8.260

SUPER 59,70,254,1,0,0 FG_AHR_10Vo 2.722

IRIDIUM_FIX 7434.70,-14607.38,111018,181347 MEM 1155288,31,23692,83

TCM_TEMP 5.36 DATA_FILE_SIZE 30873,362

XPDR_PINGS 81 CAP_FILE_SIZE 152137,0

RAFOS_CLK -5 SDSIZE 3918848,3905536

RAFOS_FIX 7432.059082,-14612.569336,111018,181824,0,1,0.14 ERRORS 0,0,0,0,0,0,0,1

HUMID 45.86 SOUNDSPEED 1465.0

TEMP 0.77 CURRENT 0.191,317.0,1

INTERNAL_PRESSURE 9.19088 GPS 111018,190156,7432.250,-14613.209,30,0.7,31,18.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 792 1533 17986.07 SBE_CT 488 24 173.55

Pitch_motor 20 411 125.25 WL_BB2F 386 105 600.93

Roll_motor 38 188 107.30 AA3830 521 33 254.50

Iridium 0 0 0.00 irrad 383 20 113.55

Transponder_ping 31 420 192.70 nil 0 0 0.00

GPS 14 15 3.18 nil 0 0 0.00

Core 1580 19 469.98 nil 0 0 0.00

LPSleep 973 2 33.56 nil 0 0 0.00

Compass 390 5 29.13 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 43 30 19.26

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

11.6 5.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

18.1 20.70 9000.00 0.0 0.00 0.00 20.70 0.0 2.29 1.00

25.2 6.00 9000.00 0.0 -0.02 0.00 6.00 31.2 -2.07 1.00

37.0 5.80 9000.00 0.0 -0.71 0.63 5.80 42.8 -0.02 1.00

49.4 5.90 9000.00 0.0 -0.01 0.37 5.90 0.0 0.01 1.00

55.1 5.80 9000.00 0.0 0.00 0.55 5.80 60.9 -0.02 1.00

60.9 5.80 9000.00 0.0 -0.01 0.95 0.00 0.0 0.00 0.00

66.8 5.90 9000.00 0.0 0.01 0.54 5.90 0.0 0.02 1.00

72.9 5.90 9000.00 0.0 0.01 0.54 0.00 0.0 0.00 0.00

84.2 6.00 9000.00 0.0 0.00 0.71 6.00 0.0 0.01 1.00

89.5 6.50 9000.00 0.0 0.03 0.67 6.50 0.0 0.09 1.00

94.5 5.90 9000.00 0.0 0.00 0.01 5.90 100.4 -0.12 1.00

100.6 6.00 9000.00 0.0 -0.04 0.55 6.00 0.0 0.02 1.00

106.2 6.00 9000.00 0.0 0.01 0.42 0.00 0.0 0.00 0.00

111.9 5.80 9000.00 0.0 -0.01 0.91 5.80 117.7 -0.04 1.00

117.6 5.90 9000.00 0.0 -0.01 0.25 5.90 0.0 0.02 1.00

122.5 6.00 9000.00 0.0 0.01 0.98 6.00 116.5 0.02 1.00

117.3 5.90 9000.00 0.0 0.01 0.91 5.90 111.4 0.02 1.00

112.0 6.00 9000.00 0.0 0.00 0.00 6.00 0.0 -0.02 1.00

106.8 6.00 9000.00 0.0 0.00 0.46 0.00 0.0 0.00 0.00

100.3 5.90 9000.00 0.0 0.01 0.98 5.90 94.4 0.02 1.00

94.2 5.90 9000.00 0.0 0.00 0.96 0.00 0.0 0.00 0.00

88.5 5.90 9000.00 0.0 0.00 0.00 0.00 0.0 0.00 0.00

83.4 6.00 9000.00 0.0 -0.01 0.97 6.00 0.0 -0.02 1.00

73.0 5.90 9000.00 0.0 0.00 0.48 5.90 67.1 0.01 1.00

67.7 5.90 9000.00 0.0 0.00 0.19 0.00 0.0 0.00 0.00

41.1 5.90 9000.00 0.0 0.00 0.12 0.00 0.0 0.00 0.00

35.9 5.80 9000.00 0.0 0.00 0.94 5.80 30.1 0.02 1.00

20.2 5.80 9000.00 0.0 0.00 0.76 0.00 0.0 0.00 0.00

9.8 5.80 9000.00 0.0 0.00 0.86 0.00 0.0 0.00 0.00

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

1 end surface: CONTROL_FINISHED_OK

state 1 begin dive

2.03 2 -145.99 -0.88 0.00 545.1 411.6 678.6 141.2 2184.5 0.00 0.00 0 96.87 94.14 0.00 0.00 0.005 0.000 0.000 1936.62 1807.50 2065.75 141.56 2181.69 0 0 0 15.76 30.00 30.00

97.24 551 -145.99 -0.88 -60.00 1936.7 1808.9 2064.6 141.1 2181.2 3.77 -2.60 9 167.99 48.67 8.19 3.70 0.005 0.412 0.110 3948.53 3857.44 4039.62 1933.25 917.06 0 0 0 14.17 15.59 15.73

402.93 1156 -145.99 -0.75 0.00 3948.9 3857.2 4040.5 1933.1 916.3 94.53 -16.81 66 409.88 0.00 0.00 3.76 0.000 0.000 0.088 3950.72 3858.94 4042.50 1919.12 2209.88 0 0 0 30.00 30.00 15.82

544 end dive: TARGET_DEPTH_EXCEEDED

state 544 begin apogee

545.77 3 0.00 -0.12 0.00 3949.5 3858.1 4040.8 1919.6 2181.6 121.55 -19.32 82 659.52 111.75 0.84 0.10 1.533 0.237 0.188 3351.12 3196.44 3505.81 2159.69 2219.69 0 0 0 12.42 15.83 15.37

659 end apogee: CONTROL_FINISHED_OK

state 659 begin climb

659.95 519 145.99 0.88 -60.00 3342.6 3187.4 3497.8 2160.5 2218.9 130.07 0.00 93 782.64 114.48 1.04 3.99 1.445 0.166 0.106 2744.72 2563.94 2925.50 2500.69 917.50 0 0 0 12.38 15.41 15.16

914.12 1191 395.34 1.53 0.00 2737.3 2560.2 2914.4 2500.9 917.5 134.44 -1.60 144 1113.07 190.38 0.62 3.84 1.411 0.094 0.086 1738.12 1559.81 1916.44 2700.88 2218.88 0 0 0 12.42 15.44 15.46

1297.03 391 395.34 1.37 60.00 1722.8 1543.3 1902.2 2701.4 2218.8 87.14 14.04 201 1307.01 0.00 0.26 3.79 0.000 0.281 0.111 1723.25 1544.38 1902.12 2616.69 3479.25 0 0 0 30.00 15.47 15.52

1422.23 1191 451.10 1.58 0.00 1722.0 1543.9 1900.1 2615.6 3479.6 76.17 7.41 226 1473.08 43.12 0.22 3.81 1.363 0.087 0.087 1512.00 1333.75 1690.25 2723.81 2185.19 0 0 0 12.45 15.55 15.55

1654.43 163 526.51 1.83 0.00 1499.0 1319.4 1678.6 2723.8 2185.5 56.78 6.49 253 1715.10 59.15 0.19 0.00 1.365 0.093 0.000 1201.25 1025.31 1377.19 2801.62 2185.38 0 0 0 12.43 15.65 30.00

1899.02 551 632.30 2.15 -60.00 1193.9 1015.6 1372.2 2801.3 2185.4 42.34 5.08 280 1990.44 82.57 0.25 3.86 1.360 0.094 0.113 767.16 605.44 928.88 2917.69 917.25 0 0 0 12.52 15.63 15.30

2062.08 1190 679.93 2.33 0.00 766.2 605.8 926.7 2917.8 917.5 29.06 7.78 312 2108.56 40.65 0.00 3.83 1.315 0.000 0.087 579.31 426.62 732.00 2902.44 2212.75 0 0 0 12.45 30.00 15.51

2292.28 423 752.40 2.60 60.00 571.8 419.8 723.9 2901.9 2212.5 14.26 6.63 340 2307.17 7.60 0.38 3.79 1.098 0.084 0.110 545.75 395.31 696.19 3029.44 3482.12 0 0 0 12.38 15.60 14.52

2387.28 1159 752.40 2.43 0.00 546.7 397.5 695.8 3029.3 3481.9 2.51 13.07 359 2393.18 0.00 0.29 3.82 0.000 0.285 0.090 546.56 397.56 695.56 2969.69 2186.25 0 0 0 30.00 15.54 14.59

2404 end climb: SURFACE_DEPTH_REACHED

state 2404 begin surface coast

2412 end surface coast: CONTROL_FINISHED_OK

state 2412 begin surface

ID	230	HD_C	1.6e-05	ROLL_MAX	3945	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	HEADING	-1	ROLL_DEG	60	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	3	ESCAPE_HEADING	0	C_ROLL_DIVE	2200	ALTIM_PING_DEPTH	0
N_DIVES	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2200	ALTIM_PING_DELTA	5
STOP_T	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_SURF	2	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.047120001	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_TGT	120	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_VALID	4
D_ABORT	200	SM_CC	631.70477	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_NO_BLEED	50	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_BOOST	4	FILEMGR	0	VBD_MIN	550	INT_PRESSURE_YINT	2.3
T_BOOST	0	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_FINISH	0	COMM_SEQ	0	C_VBD	3350	DEEPGLIDERMB	0
D_PITCH	0	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_SAFE	0	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE1	10
D_CALL	0	NOCOMM_ACTION	161	VBD_LP_IGNORE	0	DEVICE2	38
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	55
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.003	DEVICE4	67
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
T_DIVE	40	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
T_MISSION	55	CAPUPLOAD	0	W_ADJ_DBAND	0	LOGGERS	0
T_ABORT	1440	CAPMAXSIZE	100000	DBDW	0	LOGGERDEVICE1	-1
T_TURN	225	T_GPS	5	LOITER_W_DBAND	0	LOGGERDEVICE2	-1
T_TURN_SAMPINT	-5	N_GPS	100440	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_NO_W	120	T_RSLEEP	2	LOITER_D_TOP	0	LOGGERDEVICE4	-1
T_LOITER	0	STROBE	0	LOITER_D_BOTTOM	0	COMPASS_DEVICE	66
T_EPIRB	0	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
USE_BATHY	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	PHONE_DEVICE	33
USE_ICE	0	RAFOS_HIT_WINDOW	3600	AH0_24V	575	GPS_DEVICE	48
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	AH0_10V	0	RAFOS_DEVICE	104
D_OFFGRID	1020	PITCH_MIN	150	MINV_24V	11	XPDR_DEVICE	0
RELAUNCH	1	PITCH_MAX	3830	MINV_10V	11	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	2200	MAXI_24V	5	SEABIRD_T_G	0.0044273403
MAX_BUOY	150	PITCH_DBAND	0.1	MAXI_10V	1.4	SEABIRD_T_H	0.00064357114
GLIDE_SLOPE	30	PITCH_CNV	0.0031300001	FG_AHR_10V	2.7103319	SEABIRD_T_I	2.694588e-05
SPEED_FACTOR	1	PITCH_GAIN	40	FG_AHR_24V	8.1133442	SEABIRD_T_J	3.3888193e-06
RHO	1.0275	PITCH_TIMEOUT	20	PHONE_SUPPLY	2	SEABIRD_C_G	-10.022948
MASS	72271	PITCH_MAXERRORS	1	PRESSURE_YINT	-163.05225	SEABIRD_C_H	1.1522003
NAV_MODE	2	PITCH_ADJ_GAIN	0.02	PRESSURE_SLOPE	0.00010820606	SEABIRD_C_I	-0.0021515235
FERRY_MAX	45	PITCH_ADJ_DBAND	1	COMPASS_USE	4	SEABIRD_C_J	0.00023982119
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_PING_FIT	883
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	425	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	111018,181626,7432.247,-14612.544,1,1.8,4,18.4	TGT_LATLONG	7415.000,-14625.000
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.72	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-76.9	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	111018,181907,7432.246,-14612.561,2,1.7,5,18.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	151.4,32547,-17.6,-10.000,-21.24
TGT_NAME	AB2	D_GRID	120

FINISH	0.4,1.021447	_24V_AH	14.80,15.771
SM_CCo	2483.81,0.00,0.000,0,546.8,397.0,696.6,687.62	_10V_AH	14.93,0.000
SM_GC	1.89,0.00,8.27,0.09,0.000,0.086,0.126,546.8,397.0,696.6,134.6,2220.6,0,0,0,30.00,15.64,15.66	FG_AHR_24Vo	8.260
SUPER	59,70,254,1,0,0	FG_AHR_10Vo	2.722
IRIDIUM_FIX	7434.70,-14607.38,111018,181347	MEM	1155288,31,23692,83
TCM_TEMP	5.36	DATA_FILE_SIZE	30873,362
XPDR_PINGS	81	CAP_FILE_SIZE	152137,0
RAFOS_CLK	-5	SDSIZE	3918848,3905536
RAFOS_FIX	7432.059082,-14612.569336,111018,181824,0,1,0.14	ERRORS	0,0,0,0,0,0,0,1
HUMID	45.86	SOUNDSPEED	1465.0
TEMP	0.77	CURRENT	0.191,317.0,1
INTERNAL_PRESSURE	9.19088	GPS	111018,190156,7432.250,-14613.209,30,0.7,31,18.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	792	1533	17986.07	SBE_CT	488	24	173.55
Pitch_motor	20	411	125.25	WL_BB2F	386	105	600.93
Roll_motor	38	188	107.30	AA3830	521	33	254.50
Iridium	0	0	0.00	irrad	383	20	113.55
Transponder_ping	31	420	192.70	nil	0	0	0.00
GPS	14	15	3.18	nil	0	0	0.00
Core	1580	19	469.98	nil	0	0	0.00
LPSleep	973	2	33.56	nil	0	0	0.00
Compass	390	5	29.13	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	43	30	19.26

		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
11.6	5.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
18.1	20.70	9000.00	0.0	0.00	0.00	20.70	0.0	2.29	1.00
25.2	6.00	9000.00	0.0	-0.02	0.00	6.00	31.2	-2.07	1.00
37.0	5.80	9000.00	0.0	-0.71	0.63	5.80	42.8	-0.02	1.00
49.4	5.90	9000.00	0.0	-0.01	0.37	5.90	0.0	0.01	1.00
55.1	5.80	9000.00	0.0	0.00	0.55	5.80	60.9	-0.02	1.00
60.9	5.80	9000.00	0.0	-0.01	0.95	0.00	0.0	0.00	0.00
66.8	5.90	9000.00	0.0	0.01	0.54	5.90	0.0	0.02	1.00
72.9	5.90	9000.00	0.0	0.01	0.54	0.00	0.0	0.00	0.00
84.2	6.00	9000.00	0.0	0.00	0.71	6.00	0.0	0.01	1.00
89.5	6.50	9000.00	0.0	0.03	0.67	6.50	0.0	0.09	1.00
94.5	5.90	9000.00	0.0	0.00	0.01	5.90	100.4	-0.12	1.00
100.6	6.00	9000.00	0.0	-0.04	0.55	6.00	0.0	0.02	1.00
106.2	6.00	9000.00	0.0	0.01	0.42	0.00	0.0	0.00	0.00
111.9	5.80	9000.00	0.0	-0.01	0.91	5.80	117.7	-0.04	1.00
117.6	5.90	9000.00	0.0	-0.01	0.25	5.90	0.0	0.02	1.00

122.5	6.00	9000.00	0.0	0.01	0.98	6.00	116.5	0.02	1.00
117.3	5.90	9000.00	0.0	0.01	0.91	5.90	111.4	0.02	1.00
112.0	6.00	9000.00	0.0	0.00	0.00	6.00	0.0	-0.02	1.00
106.8	6.00	9000.00	0.0	0.00	0.46	0.00	0.0	0.00	0.00
100.3	5.90	9000.00	0.0	0.01	0.98	5.90	94.4	0.02	1.00
94.2	5.90	9000.00	0.0	0.00	0.96	0.00	0.0	0.00	0.00
88.5	5.90	9000.00	0.0	0.00	0.00	0.00	0.0	0.00	0.00
83.4	6.00	9000.00	0.0	-0.01	0.97	6.00	0.0	-0.02	1.00
73.0	5.90	9000.00	0.0	0.00	0.48	5.90	67.1	0.01	1.00
67.7	5.90	9000.00	0.0	0.00	0.19	0.00	0.0	0.00	0.00
41.1	5.90	9000.00	0.0	0.00	0.12	0.00	0.0	0.00	0.00
35.9	5.80	9000.00	0.0	0.00	0.94	5.80	30.1	0.02	1.00
20.2	5.80	9000.00	0.0	0.00	0.76	0.00	0.0	0.00	0.00
9.8	5.80	9000.00	0.0	0.00	0.86	0.00	0.0	0.00	0.00

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
1	end surface: CONTROL_FINISHED_OK
state	1	begin dive
2.03	2	-145.99	-0.88	0.00	545.1	411.6	678.6	141.2	2184.5	0.00	0.00	0	96.87	94.14	0.00	0.00	0.005	0.000	0.000	1936.62	1807.50	2065.75	141.56	2181.69	0	0	0	15.76	30.00	30.00
97.24	551	-145.99	-0.88	-60.00	1936.7	1808.9	2064.6	141.1	2181.2	3.77	-2.60	9	167.99	48.67	8.19	3.70	0.005	0.412	0.110	3948.53	3857.44	4039.62	1933.25	917.06	0	0	0	14.17	15.59	15.73
402.93	1156	-145.99	-0.75	0.00	3948.9	3857.2	4040.5	1933.1	916.3	94.53	-16.81	66	409.88	0.00	0.00	3.76	0.000	0.000	0.088	3950.72	3858.94	4042.50	1919.12	2209.88	0	0	0	30.00	30.00	15.82
544	end dive: TARGET_DEPTH_EXCEEDED
state	544	begin apogee
545.77	3	0.00	-0.12	0.00	3949.5	3858.1	4040.8	1919.6	2181.6	121.55	-19.32	82	659.52	111.75	0.84	0.10	1.533	0.237	0.188	3351.12	3196.44	3505.81	2159.69	2219.69	0	0	0	12.42	15.83	15.37
659	end apogee: CONTROL_FINISHED_OK
state	659	begin climb
659.95	519	145.99	0.88	-60.00	3342.6	3187.4	3497.8	2160.5	2218.9	130.07	0.00	93	782.64	114.48	1.04	3.99	1.445	0.166	0.106	2744.72	2563.94	2925.50	2500.69	917.50	0	0	0	12.38	15.41	15.16
914.12	1191	395.34	1.53	0.00	2737.3	2560.2	2914.4	2500.9	917.5	134.44	-1.60	144	1113.07	190.38	0.62	3.84	1.411	0.094	0.086	1738.12	1559.81	1916.44	2700.88	2218.88	0	0	0	12.42	15.44	15.46
1297.03	391	395.34	1.37	60.00	1722.8	1543.3	1902.2	2701.4	2218.8	87.14	14.04	201	1307.01	0.00	0.26	3.79	0.000	0.281	0.111	1723.25	1544.38	1902.12	2616.69	3479.25	0	0	0	30.00	15.47	15.52
1422.23	1191	451.10	1.58	0.00	1722.0	1543.9	1900.1	2615.6	3479.6	76.17	7.41	226	1473.08	43.12	0.22	3.81	1.363	0.087	0.087	1512.00	1333.75	1690.25	2723.81	2185.19	0	0	0	12.45	15.55	15.55
1654.43	163	526.51	1.83	0.00	1499.0	1319.4	1678.6	2723.8	2185.5	56.78	6.49	253	1715.10	59.15	0.19	0.00	1.365	0.093	0.000	1201.25	1025.31	1377.19	2801.62	2185.38	0	0	0	12.43	15.65	30.00
1899.02	551	632.30	2.15	-60.00	1193.9	1015.6	1372.2	2801.3	2185.4	42.34	5.08	280	1990.44	82.57	0.25	3.86	1.360	0.094	0.113	767.16	605.44	928.88	2917.69	917.25	0	0	0	12.52	15.63	15.30
2062.08	1190	679.93	2.33	0.00	766.2	605.8	926.7	2917.8	917.5	29.06	7.78	312	2108.56	40.65	0.00	3.83	1.315	0.000	0.087	579.31	426.62	732.00	2902.44	2212.75	0	0	0	12.45	30.00	15.51
2292.28	423	752.40	2.60	60.00	571.8	419.8	723.9	2901.9	2212.5	14.26	6.63	340	2307.17	7.60	0.38	3.79	1.098	0.084	0.110	545.75	395.31	696.19	3029.44	3482.12	0	0	0	12.38	15.60	14.52
2387.28	1159	752.40	2.43	0.00	546.7	397.5	695.8	3029.3	3481.9	2.51	13.07	359	2393.18	0.00	0.29	3.82	0.000	0.285	0.090	546.56	397.56	695.56	2969.69	2186.25	0	0	0	30.00	15.54	14.59
2404	end climb: SURFACE_DEPTH_REACHED
state	2404	begin surface coast
2412	end surface coast: CONTROL_FINISHED_OK
state	2412	begin surface