Glider dive log

Shilshole 19Jul19 * SG226 * Dive index * Mission links * Dive 4 * 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 2300 ALTIM_FREQUENCY 13

DIVE 4 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

N_DIVES 5 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 2800 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 5.9272289 SEABIRD_T_J 3.3427477e-06

MAX_BUOY 150 PITCH_CNV 0.0041975998 FG_AHR_24V 24.214851 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 5.9272289 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 24.214851 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 2300 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 T_TURN 225

C_ROLL_DIVE 2110 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_VBD 2800 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 4 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 5 SEABIRD_C_J 0.00024419418

Pre-dive calculations and measurements:

GPS1 190719,190831,4744.014,-12224.423,2,1.9,29,15.5 TGT_LATLONG 4743.000,-12224.000

_CALLS 1 TGT_RADIUS 100.000

_SM_DEPTHo 1.21 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -51.4 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 190719,191326,4744.037,-12224.371,2,0.6,4,15.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.263 MHEAD_RNG_PITCHd_Wd 150.9,1975,-19.3,-10.000,-20.84

TGT_NAME SE D_GRID 174

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20190719194505.042187,18,32767,45,0101,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*07 INTERNAL_PRESSURE 8.57078

FINISH 0.2,1.022368 _24V_AH 14.75,46.213

SM_CCo 3391.53,0.00,0.000,0,499.2,413.3,585.2,564.37 _10V_AH 14.78,0.000

SM_GC 1.07,0.00,6.24,5.05,0.000,0.038,0.021,499.2,413.3,585.2,112.2,2082.2,0,0,0,30.00,15.81,15.85 FG_AHR_24Vo 24.331

SUPER 59,71,254,1,0,0 FG_AHR_10Vo 5.968

IRIDIUM_FIX 4743.02,-12222.38,190719,180911 MEM 1132868,32,46136,76

TCM_TEMP 198.22 DATA_FILE_SIZE 13668,381

XPDR_PINGS 47 CAP_FILE_SIZE 161208,0

SC_FREEKB 3876480 SDSIZE 3918848,3908224

RAFOS_CLK 1 SDFILEDIR 56,1

MODEM 0,1563562804,47.00000,-122.50000,4.675,6849.4 ERRORS 0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 4741.486328,-12335.792969,190719,191905,8,255,47.20 SOUNDSPEED 1465.0

HUMID 57.73 GPS 190719,201109,4743.909,-12224.583,2,0.9,4,15.5

TEMP 13.36

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 692 1303 13311.60 nil 0 0 0.00

Pitch_motor 15 385 89.51 nil 0 0 0.00

Roll_motor 77 74 84.82 nil 0 0 0.00

Iridium 207 185 569.12 nil 0 0 0.00

Transponder_ping 11 420 72.79 nil 0 0 0.00

GPS 13 5 1.10 nil 0 0 0.00

Core 1693 11 296.67 SciCon 3140 37 1722.76

LPSleep 2006 2 68.52 nil 0 0 0.00

Compass 653 0 0.77 nil 0 0 0.00

RAFOS 3058 48 2169.47

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

4.44 2 -146.63 -0.96 0.00 497.9 410.8 585.1 99.4 2154.1 0.00 0.00 0 138.24 133.34 0.00 0.00 0.005 0.000 0.000 3338.31 3506.25 3170.38 99.19 2154.25 0 0 0 15.48 30.00 30.00

138.51 295 -146.63 -0.96 80.00 3337.1 3505.2 3169.1 98.9 2154.5 3.84 -2.23 13 157.27 1.62 7.55 4.65 0.017 0.386 0.047 3397.97 3573.50 3222.44 1699.25 3823.25 0 0 0 15.60 15.40 15.58

295.70 1157 -146.63 -0.84 0.00 3396.2 3572.4 3220.0 1699.2 3823.3 29.33 -14.89 45 301.99 0.00 0.10 4.75 0.000 0.223 0.022 3396.25 3571.81 3220.69 1751.25 2073.56 0 0 0 30.00 15.61 15.75

480.85 0 -146.63 -0.84 0.00 3396.3 3572.4 3220.1 1751.6 2061.4 50.10 -10.67 64 482.18 0.00 0.00 0.00 0.000 0.000 0.000 3397.41 3572.56 3222.25 1749.69 2060.56 0 0 0 30.00 30.00 30.00

660.97 260 -146.63 -0.84 80.00 3395.9 3572.3 3219.6 1751.7 2061.6 68.91 -11.12 82 667.24 0.00 0.00 4.99 0.000 0.000 0.054 3395.12 3571.31 3218.94 1729.44 3820.31 0 0 0 30.00 30.00 15.73

680.20 1028 -146.63 -0.84 0.00 3396.3 3571.8 3220.8 1729.5 3820.6 71.12 -10.77 86 686.90 0.00 0.00 4.73 0.000 0.000 0.020 3397.44 3572.94 3221.94 1749.75 2081.06 0 0 0 30.00 30.00 15.75

865.87 292 -146.63 -0.84 80.00 3396.2 3572.3 3220.2 1749.1 2078.2 90.27 -9.66 105 872.12 0.00 0.00 4.96 0.000 0.000 0.054 3397.47 3573.38 3221.56 1727.06 3820.94 0 0 0 30.00 30.00 15.77

930.98 1028 -146.63 -0.84 0.00 3396.2 3572.2 3220.2 1727.8 3821.3 97.51 -11.29 118 937.23 0.00 0.00 4.73 0.000 0.000 0.021 3395.06 3571.50 3218.62 1743.75 2076.81 0 0 0 30.00 30.00 15.73

1115.95 0 -146.63 -0.84 0.00 3396.1 3571.9 3220.2 1744.4 2066.1 116.89 -10.43 137 1117.29 0.00 0.00 0.00 0.000 0.000 0.000 3397.31 3572.38 3222.25 1742.38 2066.00 0 0 0 30.00 30.00 30.00

1296.07 32 -146.63 -0.84 0.00 3395.8 3571.8 3219.9 1744.2 2066.7 134.73 -9.58 155 1297.40 0.00 0.00 0.00 0.000 0.000 0.000 3397.84 3573.50 3222.19 1742.12 2066.00 0 0 0 30.00 30.00 30.00

1476 end dive: TARGET_DEPTH_EXCEEDED

state 1476 begin apogee

1477.70 3 0.00 -0.14 0.00 3396.2 3572.1 3220.4 1741.2 2329.8 150.50 -8.37 173 1600.83 121.22 0.59 0.17 1.304 0.172 0.074 2796.84 2830.56 2763.12 1922.00 2226.88 0 0 0 12.05 15.76 15.40

1602 end apogee: CONTROL_FINISHED_OK

state 1602 begin climb

1601.76 3 146.63 0.96 0.00 2797.7 2830.3 2765.0 1921.9 2222.4 154.22 0.00 185 1728.75 123.72 0.81 0.00 1.266 0.125 0.000 2203.16 2188.94 2217.38 2185.06 2218.06 0 0 0 12.38 15.45 30.00

1905.98 423 227.64 1.46 80.00 2195.4 2175.8 2215.0 2186.3 2219.0 137.82 6.31 227 1980.64 67.38 0.31 5.04 1.240 0.044 0.058 1868.03 1845.81 1890.25 2311.19 3960.75 0 0 0 12.20 15.62 15.38

2042.64 1156 227.64 1.52 0.00 1867.2 1842.6 1891.9 2310.9 3960.6 121.97 12.03 254 2049.03 0.00 0.00 4.64 0.000 0.000 0.021 1865.72 1841.06 1890.38 2331.62 2266.38 0 0 0 30.00 30.00 15.59

2227.78 0 227.64 1.52 0.00 1865.3 1838.5 1892.1 2331.5 2244.6 100.92 11.25 273 2229.11 0.00 0.00 0.00 0.000 0.000 0.000 1867.41 1840.56 1894.25 2328.88 2244.69 0 0 0 30.00 30.00 30.00

2407.76 260 227.64 1.52 80.00 1865.0 1838.2 1891.9 2331.8 2243.1 78.97 12.09 291 2413.99 0.00 0.00 4.87 0.000 0.000 0.059 1863.69 1836.88 1890.50 2312.19 3961.94 0 0 0 30.00 30.00 15.69

2457.03 1028 227.64 1.52 0.00 1864.2 1836.8 1891.8 2311.9 3961.9 72.25 13.52 301 2463.85 0.00 0.00 4.59 0.000 0.000 0.021 1865.84 1837.81 1893.88 2331.94 2266.00 0 0 0 30.00 30.00 15.79

2642.78 388 227.64 1.60 80.00 1864.5 1837.0 1892.0 2332.2 2244.7 52.60 10.42 320 2649.05 0.00 0.00 4.85 0.000 0.000 0.059 1863.00 1835.88 1890.12 2311.69 3961.75 0 0 0 30.00 30.00 15.83

2657.99 1028 227.64 1.60 0.00 1864.2 1836.3 1892.1 2311.9 3961.8 50.91 10.53 323 2664.17 0.00 0.00 4.58 0.000 0.000 0.022 1862.78 1835.56 1890.00 2331.75 2268.56 0 0 0 30.00 30.00 15.80

2842.90 644 227.64 1.67 -80.00 1864.0 1836.4 1891.6 2331.8 2263.6 32.04 10.66 342 2849.09 0.00 0.00 4.67 0.000 0.000 0.045 1862.75 1834.88 1890.62 2353.31 587.00 0 0 0 30.00 30.00 15.83

2872.11 1158 227.64 1.78 0.00 1863.2 1834.4 1892.1 2352.9 586.9 28.87 10.41 348 2878.89 0.00 0.00 4.77 0.000 0.000 0.024 1864.53 1835.38 1893.69 2332.69 2322.25 0 0 0 30.00 30.00 15.83

3057.91 293 228.27 1.78 80.00 1863.0 1834.3 1891.7 2333.6 2322.6 10.50 9.97 367 3064.08 0.00 0.12 4.61 0.000 0.087 0.060 1862.34 1833.12 1891.56 2377.69 3960.69 0 0 0 30.00 15.82 15.78

3117 end climb: SURFACE_DEPTH_REACHED

state 3117 begin surface coast

3127 end surface coast: CONTROL_FINISHED_OK

state 3127 begin surface

ID	226	HEADING	-1	C_ROLL_DIVE	2110	ALTIM_PING_DELTA	10
MISSION	6	ESCAPE_HEADING	0	C_ROLL_CLIMB	2300	ALTIM_FREQUENCY	13
DIVE	4	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
N_DIVES	5	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	2800	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	5.9272289	SEABIRD_T_J	3.3427477e-06
MAX_BUOY	150	PITCH_CNV	0.0041975998	FG_AHR_24V	24.214851	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	190719,190831,4744.014,-12224.423,2,1.9,29,15.5	TGT_LATLONG	4743.000,-12224.000
_CALLS	1	TGT_RADIUS	100.000
_SM_DEPTHo	1.21	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-51.4	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	190719,191326,4744.037,-12224.371,2,0.6,4,15.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.263	MHEAD_RNG_PITCHd_Wd	150.9,1975,-19.3,-10.000,-20.84
TGT_NAME	SE	D_GRID	174

MODEM_MSG	CACST,6,1,20190719194505.042187,18,32767,45,0101,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*07	INTERNAL_PRESSURE	8.57078
FINISH	0.2,1.022368	_24V_AH	14.75,46.213
SM_CCo	3391.53,0.00,0.000,0,499.2,413.3,585.2,564.37	_10V_AH	14.78,0.000
SM_GC	1.07,0.00,6.24,5.05,0.000,0.038,0.021,499.2,413.3,585.2,112.2,2082.2,0,0,0,30.00,15.81,15.85	FG_AHR_24Vo	24.331
SUPER	59,71,254,1,0,0	FG_AHR_10Vo	5.968
IRIDIUM_FIX	4743.02,-12222.38,190719,180911	MEM	1132868,32,46136,76
TCM_TEMP	198.22	DATA_FILE_SIZE	13668,381
XPDR_PINGS	47	CAP_FILE_SIZE	161208,0
SC_FREEKB	3876480	SDSIZE	3918848,3908224
RAFOS_CLK	1	SDFILEDIR	56,1
MODEM	0,1563562804,47.00000,-122.50000,4.675,6849.4	ERRORS	0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4741.486328,-12335.792969,190719,191905,8,255,47.20	SOUNDSPEED	1465.0
HUMID	57.73	GPS	190719,201109,4743.909,-12224.583,2,0.9,4,15.5
TEMP	13.36

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	692	1303	13311.60	nil	0	0	0.00
Pitch_motor	15	385	89.51	nil	0	0	0.00
Roll_motor	77	74	84.82	nil	0	0	0.00
Iridium	207	185	569.12	nil	0	0	0.00
Transponder_ping	11	420	72.79	nil	0	0	0.00
GPS	13	5	1.10	nil	0	0	0.00
Core	1693	11	296.67	SciCon	3140	37	1722.76
LPSleep	2006	2	68.52	nil	0	0	0.00
Compass	653	0	0.77	nil	0	0	0.00
RAFOS	3058	48	2169.47
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
4.44	2	-146.63	-0.96	0.00	497.9	410.8	585.1	99.4	2154.1	0.00	0.00	0	138.24	133.34	0.00	0.00	0.005	0.000	0.000	3338.31	3506.25	3170.38	99.19	2154.25	0	0	0	15.48	30.00	30.00
138.51	295	-146.63	-0.96	80.00	3337.1	3505.2	3169.1	98.9	2154.5	3.84	-2.23	13	157.27	1.62	7.55	4.65	0.017	0.386	0.047	3397.97	3573.50	3222.44	1699.25	3823.25	0	0	0	15.60	15.40	15.58
295.70	1157	-146.63	-0.84	0.00	3396.2	3572.4	3220.0	1699.2	3823.3	29.33	-14.89	45	301.99	0.00	0.10	4.75	0.000	0.223	0.022	3396.25	3571.81	3220.69	1751.25	2073.56	0	0	0	30.00	15.61	15.75
480.85	0	-146.63	-0.84	0.00	3396.3	3572.4	3220.1	1751.6	2061.4	50.10	-10.67	64	482.18	0.00	0.00	0.00	0.000	0.000	0.000	3397.41	3572.56	3222.25	1749.69	2060.56	0	0	0	30.00	30.00	30.00
660.97	260	-146.63	-0.84	80.00	3395.9	3572.3	3219.6	1751.7	2061.6	68.91	-11.12	82	667.24	0.00	0.00	4.99	0.000	0.000	0.054	3395.12	3571.31	3218.94	1729.44	3820.31	0	0	0	30.00	30.00	15.73
680.20	1028	-146.63	-0.84	0.00	3396.3	3571.8	3220.8	1729.5	3820.6	71.12	-10.77	86	686.90	0.00	0.00	4.73	0.000	0.000	0.020	3397.44	3572.94	3221.94	1749.75	2081.06	0	0	0	30.00	30.00	15.75
865.87	292	-146.63	-0.84	80.00	3396.2	3572.3	3220.2	1749.1	2078.2	90.27	-9.66	105	872.12	0.00	0.00	4.96	0.000	0.000	0.054	3397.47	3573.38	3221.56	1727.06	3820.94	0	0	0	30.00	30.00	15.77
930.98	1028	-146.63	-0.84	0.00	3396.2	3572.2	3220.2	1727.8	3821.3	97.51	-11.29	118	937.23	0.00	0.00	4.73	0.000	0.000	0.021	3395.06	3571.50	3218.62	1743.75	2076.81	0	0	0	30.00	30.00	15.73
1115.95	0	-146.63	-0.84	0.00	3396.1	3571.9	3220.2	1744.4	2066.1	116.89	-10.43	137	1117.29	0.00	0.00	0.00	0.000	0.000	0.000	3397.31	3572.38	3222.25	1742.38	2066.00	0	0	0	30.00	30.00	30.00
1296.07	32	-146.63	-0.84	0.00	3395.8	3571.8	3219.9	1744.2	2066.7	134.73	-9.58	155	1297.40	0.00	0.00	0.00	0.000	0.000	0.000	3397.84	3573.50	3222.19	1742.12	2066.00	0	0	0	30.00	30.00	30.00
1476	end dive: TARGET_DEPTH_EXCEEDED
state	1476	begin apogee
1477.70	3	0.00	-0.14	0.00	3396.2	3572.1	3220.4	1741.2	2329.8	150.50	-8.37	173	1600.83	121.22	0.59	0.17	1.304	0.172	0.074	2796.84	2830.56	2763.12	1922.00	2226.88	0	0	0	12.05	15.76	15.40
1602	end apogee: CONTROL_FINISHED_OK
state	1602	begin climb
1601.76	3	146.63	0.96	0.00	2797.7	2830.3	2765.0	1921.9	2222.4	154.22	0.00	185	1728.75	123.72	0.81	0.00	1.266	0.125	0.000	2203.16	2188.94	2217.38	2185.06	2218.06	0	0	0	12.38	15.45	30.00
1905.98	423	227.64	1.46	80.00	2195.4	2175.8	2215.0	2186.3	2219.0	137.82	6.31	227	1980.64	67.38	0.31	5.04	1.240	0.044	0.058	1868.03	1845.81	1890.25	2311.19	3960.75	0	0	0	12.20	15.62	15.38
2042.64	1156	227.64	1.52	0.00	1867.2	1842.6	1891.9	2310.9	3960.6	121.97	12.03	254	2049.03	0.00	0.00	4.64	0.000	0.000	0.021	1865.72	1841.06	1890.38	2331.62	2266.38	0	0	0	30.00	30.00	15.59
2227.78	0	227.64	1.52	0.00	1865.3	1838.5	1892.1	2331.5	2244.6	100.92	11.25	273	2229.11	0.00	0.00	0.00	0.000	0.000	0.000	1867.41	1840.56	1894.25	2328.88	2244.69	0	0	0	30.00	30.00	30.00
2407.76	260	227.64	1.52	80.00	1865.0	1838.2	1891.9	2331.8	2243.1	78.97	12.09	291	2413.99	0.00	0.00	4.87	0.000	0.000	0.059	1863.69	1836.88	1890.50	2312.19	3961.94	0	0	0	30.00	30.00	15.69
2457.03	1028	227.64	1.52	0.00	1864.2	1836.8	1891.8	2311.9	3961.9	72.25	13.52	301	2463.85	0.00	0.00	4.59	0.000	0.000	0.021	1865.84	1837.81	1893.88	2331.94	2266.00	0	0	0	30.00	30.00	15.79
2642.78	388	227.64	1.60	80.00	1864.5	1837.0	1892.0	2332.2	2244.7	52.60	10.42	320	2649.05	0.00	0.00	4.85	0.000	0.000	0.059	1863.00	1835.88	1890.12	2311.69	3961.75	0	0	0	30.00	30.00	15.83
2657.99	1028	227.64	1.60	0.00	1864.2	1836.3	1892.1	2311.9	3961.8	50.91	10.53	323	2664.17	0.00	0.00	4.58	0.000	0.000	0.022	1862.78	1835.56	1890.00	2331.75	2268.56	0	0	0	30.00	30.00	15.80
2842.90	644	227.64	1.67	-80.00	1864.0	1836.4	1891.6	2331.8	2263.6	32.04	10.66	342	2849.09	0.00	0.00	4.67	0.000	0.000	0.045	1862.75	1834.88	1890.62	2353.31	587.00	0	0	0	30.00	30.00	15.83
2872.11	1158	227.64	1.78	0.00	1863.2	1834.4	1892.1	2352.9	586.9	28.87	10.41	348	2878.89	0.00	0.00	4.77	0.000	0.000	0.024	1864.53	1835.38	1893.69	2332.69	2322.25	0	0	0	30.00	30.00	15.83
3057.91	293	228.27	1.78	80.00	1863.0	1834.3	1891.7	2333.6	2322.6	10.50	9.97	367	3064.08	0.00	0.12	4.61	0.000	0.087	0.060	1862.34	1833.12	1891.56	2377.69	3960.69	0	0	0	30.00	15.82	15.78
3117	end climb: SURFACE_DEPTH_REACHED
state	3117	begin surface coast
3127	end surface coast: CONTROL_FINISHED_OK
state	3127	begin surface