Glider dive log

Shilshole 20Jul18 * 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 2500 ALTIM_PING_DELTA 0

MISSION 2 ESCAPE_HEADING 0 C_ROLL_CLIMB 2500 ALTIM_FREQUENCY 13

DIVE 4 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

N_DIVES 4 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 135 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 9.9999997e-05 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 45 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 1.5 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 2090 MAXI_10V 0.80000001 SEABIRD_T_I 2.6926198e-05

APOGEE_PITCH -5 PITCH_DBAND 0.1 FG_AHR_10V 0.53986877 SEABIRD_T_J 3.3427477e-06

MAX_BUOY 150 PITCH_CNV 0.0041975998 FG_AHR_24V 1.2857922 SEABIRD_C_G -9.9959793

GLIDE_SLOPE 30 PITCH_GAIN 20 PHONE_SUPPLY 2 SEABIRD_C_H 1.1392462

SPEED_FACTOR 1 PITCH_TIMEOUT 15 PRESSURE_YINT -139.18248 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 0.0080000004 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 0.53986877 PITCH_ADJ_GAIN 0.0080000004 STOP_T 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 1.2857922 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 20 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 9.9999997e-05 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 -139.18248 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 45

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 104 T_NO_W 120

C_PITCH 2090 LOGGERDEVICE1 7 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

C_ROLL_CLIMB 2500 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 T_TURN 225

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 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 4 MAX_BUOY 150 SC_NDIVE 1.0 VBD_TIMEOUT 360

D_ABORT 135 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 2 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 4 SEABIRD_C_J 0.00024419418

Pre-dive calculations and measurements:

GPS1 200718,182958,4742.990,-12224.265,1,0.8,3,15.7 TGT_LATLONG 4743.500,-12225.000

_CALLS 2 TGT_RADIUS 100.000

_SM_DEPTHo 1.35 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -58.3 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 200718,183442,4742.983,-12224.260,3,0.7,6,15.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.175,0.264 MHEAD_RNG_PITCHd_Wd 345.4,1329,-19.5,-10.101,-20.97

TGT_NAME NW D_GRID 174

Post-dive calculations and measurements:

FINISH 0.0,1.022015 _24V_AH 15.17,55.990

SM_CCo 2252.48,131.87,0.172,0,540.1,416.0,664.1,566.63 _10V_AH 15.00,0.000

SM_GC 1.41,131.87,6.49,0.09,0.172,0.046,0.071,540.1,416.0,664.1,109.1,2445.4,0,0,0,15.20,15.98,16.04 FG_AHR_24Vo 1.374

SUPER 59,70,254,1,0,0 FG_AHR_10Vo 0.554

IRIDIUM_FIX 4741.80,-12232.20,200718,183046 MEM 1133088,28,46096,77

TCM_TEMP 278.07 DATA_FILE_SIZE 10358,299

XPDR_PINGS 2 CAP_FILE_SIZE 163179,16

RAFOS_CLK -2 SDSIZE 3918848,3908768

RAFOS_FIX 4743.351074,-12224.197266,200718,191930,0,1,0.28 ERRORS 0,0,0,0,0,0,0,0

HUMID 54.22 SOUNDSPEED 1465.0

TEMP 13.41 CURRENT 0.207,195.0,1

INTERNAL_PRESSURE 9.97404 GPS 200718,191315,4743.104,-12224.315,2,0.8,3,15.7

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 643 1311 12800.89 nil 0 0 0.00

Pitch_motor 18 357 101.58 nil 0 0 0.00

Roll_motor 70 109 116.93 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 3.19 nil 0 0 0.00

GPS 14 5 1.17 nil 0 0 0.00

Core 1292 11 229.68 SciCon 1808 42 1139.66

LPSleep 1034 2 35.85 nil 0 0 0.00

Compass 486 0 0.58 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

5.04 2 -146.63 -0.99 0.00 535.5 414.9 656.1 129.1 2451.8 0.00 0.00 0 138.99 133.25 0.00 0.00 0.005 0.000 0.000 3114.25 3236.25 2992.25 129.00 2448.56 0 0 0 15.96 30.00 30.00

139.30 551 -146.63 -0.99 -80.00 3113.7 3234.6 2992.8 129.2 2447.5 3.04 -1.48 26 168.57 10.29 8.89 5.13 0.007 0.358 0.047 3447.00 3602.31 3291.69 1871.31 798.50 0 0 0 15.99 15.84 15.97

389.82 1028 -146.63 -0.99 0.00 3446.8 3602.4 3291.1 1871.2 798.5 34.25 -12.03 77 397.61 0.00 0.00 5.14 0.000 0.000 0.039 3446.81 3602.50 3291.12 1851.69 2510.69 0 0 0 30.00 30.00 16.02

485.48 260 -146.63 -0.99 80.00 3446.3 3601.3 3291.2 1851.7 2510.2 48.00 -14.81 96 491.67 0.00 0.00 4.55 0.000 0.000 0.065 3445.69 3601.69 3289.69 1832.44 3956.31 0 0 0 30.00 30.00 16.06

524.96 1028 -146.63 -0.99 0.00 3446.5 3601.1 3291.9 1831.6 3956.7 54.20 -15.35 103 530.58 0.00 0.00 4.08 0.000 0.000 0.020 3446.59 3601.56 3291.62 1849.50 2474.19 0 0 0 30.00 30.00 16.08

590.58 516 -146.63 -0.99 -80.00 3446.5 3601.5 3291.4 1850.0 2470.8 64.14 -15.14 115 597.78 0.00 0.00 5.13 0.000 0.000 0.043 3445.19 3600.50 3289.88 1870.44 798.19 0 0 0 30.00 30.00 16.08

624.93 1028 -146.63 -0.99 0.00 3446.2 3601.2 3291.2 1870.3 798.2 69.12 -14.37 121 631.78 0.00 0.00 5.18 0.000 0.000 0.042 3445.72 3600.75 3290.69 1850.50 2509.75 0 0 0 30.00 30.00 16.08

695.49 260 -146.63 -0.99 80.00 3446.7 3601.9 3291.4 1850.4 2509.2 78.55 -13.84 134 701.67 0.00 0.00 4.57 0.000 0.000 0.067 3448.59 3602.75 3294.44 1831.25 3955.00 0 0 0 30.00 30.00 16.04

779.83 1157 -146.63 -0.96 0.00 3445.9 3600.9 3290.9 1831.5 3954.9 91.71 -15.06 150 785.62 0.00 0.07 4.07 0.000 0.214 0.019 3448.69 3602.69 3294.69 1858.50 2464.81 0 0 0 30.00 15.98 16.10

840 end dive: TARGET_DEPTH_EXCEEDED

state 840 begin apogee

841.76 3 0.00 -0.25 0.00 3446.2 3600.8 3291.5 1859.8 2519.4 100.18 -13.59 161 965.57 121.06 1.17 0.10 1.311 0.174 0.110 2844.72 2827.00 2862.44 2029.19 2449.38 0 0 0 12.85 16.05 15.66

966 end apogee: CONTROL_FINISHED_OK

state 966 begin climb

966.24 3 146.63 0.99 0.00 2845.6 2828.4 2862.8 2029.7 2449.2 100.18 0.00 161 1094.73 125.28 1.80 0.00 1.296 0.136 0.000 2250.66 2183.38 2317.94 2323.62 2449.69 0 0 0 12.81 15.66 30.00

1324.31 518 146.63 0.99 -80.00 2243.1 2175.1 2311.1 2323.8 2449.3 77.26 10.33 173 1331.60 0.00 0.00 5.16 0.000 0.000 0.044 2241.06 2172.50 2309.62 2345.19 794.88 0 0 0 30.00 30.00 15.83

1399.49 1190 194.13 1.05 0.00 2240.2 2169.0 2311.4 2345.3 794.9 70.88 7.91 187 1446.54 40.27 0.00 5.20 1.249 0.000 0.041 2058.88 1979.94 2137.81 2342.69 2510.44 0 0 0 12.89 30.00 15.90

1514.28 550 267.18 1.05 -80.00 2051.3 1974.5 2128.1 2342.9 2510.5 63.11 6.74 201 1580.92 59.70 0.00 5.41 1.261 0.000 0.044 1757.44 1670.94 1843.94 2364.38 797.12 0 0 0 12.89 30.00 15.61

1619.35 1190 292.24 1.16 0.00 1753.7 1664.7 1842.8 2364.2 797.1 53.33 8.95 209 1648.11 21.74 0.00 5.30 1.185 0.000 0.041 1657.66 1568.81 1746.50 2358.81 2509.50 0 0 0 12.83 30.00 15.73

1744.25 128 292.24 1.20 0.00 1653.0 1564.2 1741.8 2358.9 2509.1 39.88 10.17 228 1745.60 0.00 0.00 0.00 0.000 0.000 0.000 1654.88 1565.75 1744.00 2358.69 2509.19 0 0 0 30.00 30.00 30.00

1834.43 129 292.24 1.25 0.00 1651.2 1561.0 1741.4 2358.5 2508.9 30.79 10.80 246 1835.88 0.00 0.09 0.00 0.000 0.084 0.000 1652.16 1561.94 1742.38 2419.50 2509.00 0 0 0 30.00 15.90 30.00

1934.40 517 292.24 1.25 -80.00 1651.2 1560.5 1741.8 2419.9 2509.7 16.77 14.16 266 1941.80 0.00 0.22 5.46 0.000 0.180 0.050 1650.19 1559.62 1740.75 2404.88 798.62 0 0 0 30.00 15.85 15.92

1979.45 1158 292.24 1.33 0.00 1649.5 1557.4 1741.7 2405.2 798.6 11.71 10.83 274 1986.61 0.00 0.00 5.25 0.000 0.000 0.044 1650.25 1557.75 1742.75 2391.50 2509.06 0 0 0 30.00 30.00 15.93

2084 end climb: SURFACE_DEPTH_REACHED

state 2084 begin surface coast

2109 end surface coast: CONTROL_FINISHED_OK

state 2109 begin surface

ID	226	HEADING	-1	C_ROLL_DIVE	2500	ALTIM_PING_DELTA	0
MISSION	2	ESCAPE_HEADING	0	C_ROLL_CLIMB	2500	ALTIM_FREQUENCY	13
DIVE	4	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
N_DIVES	4	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	135	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	9.9999997e-05	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	45	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	1.5	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	2090	MAXI_10V	0.80000001	SEABIRD_T_I	2.6926198e-05
APOGEE_PITCH	-5	PITCH_DBAND	0.1	FG_AHR_10V	0.53986877	SEABIRD_T_J	3.3427477e-06
MAX_BUOY	150	PITCH_CNV	0.0041975998	FG_AHR_24V	1.2857922	SEABIRD_C_G	-9.9959793
GLIDE_SLOPE	30	PITCH_GAIN	20	PHONE_SUPPLY	2	SEABIRD_C_H	1.1392462
SPEED_FACTOR	1	PITCH_TIMEOUT	15	PRESSURE_YINT	-139.18248	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	0.0080000004	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	200718,182958,4742.990,-12224.265,1,0.8,3,15.7	TGT_LATLONG	4743.500,-12225.000
_CALLS	2	TGT_RADIUS	100.000
_SM_DEPTHo	1.35	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-58.3	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	200718,183442,4742.983,-12224.260,3,0.7,6,15.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.175,0.264	MHEAD_RNG_PITCHd_Wd	345.4,1329,-19.5,-10.101,-20.97
TGT_NAME	NW	D_GRID	174

FINISH	0.0,1.022015	_24V_AH	15.17,55.990
SM_CCo	2252.48,131.87,0.172,0,540.1,416.0,664.1,566.63	_10V_AH	15.00,0.000
SM_GC	1.41,131.87,6.49,0.09,0.172,0.046,0.071,540.1,416.0,664.1,109.1,2445.4,0,0,0,15.20,15.98,16.04	FG_AHR_24Vo	1.374
SUPER	59,70,254,1,0,0	FG_AHR_10Vo	0.554
IRIDIUM_FIX	4741.80,-12232.20,200718,183046	MEM	1133088,28,46096,77
TCM_TEMP	278.07	DATA_FILE_SIZE	10358,299
XPDR_PINGS	2	CAP_FILE_SIZE	163179,16
RAFOS_CLK	-2	SDSIZE	3918848,3908768
RAFOS_FIX	4743.351074,-12224.197266,200718,191930,0,1,0.28	ERRORS	0,0,0,0,0,0,0,0
HUMID	54.22	SOUNDSPEED	1465.0
TEMP	13.41	CURRENT	0.207,195.0,1
INTERNAL_PRESSURE	9.97404	GPS	200718,191315,4743.104,-12224.315,2,0.8,3,15.7

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	643	1311	12800.89	nil	0	0	0.00
Pitch_motor	18	357	101.58	nil	0	0	0.00
Roll_motor	70	109	116.93	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	3.19	nil	0	0	0.00
GPS	14	5	1.17	nil	0	0	0.00
Core	1292	11	229.68	SciCon	1808	42	1139.66
LPSleep	1034	2	35.85	nil	0	0	0.00
Compass	486	0	0.58	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
5.04	2	-146.63	-0.99	0.00	535.5	414.9	656.1	129.1	2451.8	0.00	0.00	0	138.99	133.25	0.00	0.00	0.005	0.000	0.000	3114.25	3236.25	2992.25	129.00	2448.56	0	0	0	15.96	30.00	30.00
139.30	551	-146.63	-0.99	-80.00	3113.7	3234.6	2992.8	129.2	2447.5	3.04	-1.48	26	168.57	10.29	8.89	5.13	0.007	0.358	0.047	3447.00	3602.31	3291.69	1871.31	798.50	0	0	0	15.99	15.84	15.97
389.82	1028	-146.63	-0.99	0.00	3446.8	3602.4	3291.1	1871.2	798.5	34.25	-12.03	77	397.61	0.00	0.00	5.14	0.000	0.000	0.039	3446.81	3602.50	3291.12	1851.69	2510.69	0	0	0	30.00	30.00	16.02
485.48	260	-146.63	-0.99	80.00	3446.3	3601.3	3291.2	1851.7	2510.2	48.00	-14.81	96	491.67	0.00	0.00	4.55	0.000	0.000	0.065	3445.69	3601.69	3289.69	1832.44	3956.31	0	0	0	30.00	30.00	16.06
524.96	1028	-146.63	-0.99	0.00	3446.5	3601.1	3291.9	1831.6	3956.7	54.20	-15.35	103	530.58	0.00	0.00	4.08	0.000	0.000	0.020	3446.59	3601.56	3291.62	1849.50	2474.19	0	0	0	30.00	30.00	16.08
590.58	516	-146.63	-0.99	-80.00	3446.5	3601.5	3291.4	1850.0	2470.8	64.14	-15.14	115	597.78	0.00	0.00	5.13	0.000	0.000	0.043	3445.19	3600.50	3289.88	1870.44	798.19	0	0	0	30.00	30.00	16.08
624.93	1028	-146.63	-0.99	0.00	3446.2	3601.2	3291.2	1870.3	798.2	69.12	-14.37	121	631.78	0.00	0.00	5.18	0.000	0.000	0.042	3445.72	3600.75	3290.69	1850.50	2509.75	0	0	0	30.00	30.00	16.08
695.49	260	-146.63	-0.99	80.00	3446.7	3601.9	3291.4	1850.4	2509.2	78.55	-13.84	134	701.67	0.00	0.00	4.57	0.000	0.000	0.067	3448.59	3602.75	3294.44	1831.25	3955.00	0	0	0	30.00	30.00	16.04
779.83	1157	-146.63	-0.96	0.00	3445.9	3600.9	3290.9	1831.5	3954.9	91.71	-15.06	150	785.62	0.00	0.07	4.07	0.000	0.214	0.019	3448.69	3602.69	3294.69	1858.50	2464.81	0	0	0	30.00	15.98	16.10
840	end dive: TARGET_DEPTH_EXCEEDED
state	840	begin apogee
841.76	3	0.00	-0.25	0.00	3446.2	3600.8	3291.5	1859.8	2519.4	100.18	-13.59	161	965.57	121.06	1.17	0.10	1.311	0.174	0.110	2844.72	2827.00	2862.44	2029.19	2449.38	0	0	0	12.85	16.05	15.66
966	end apogee: CONTROL_FINISHED_OK
state	966	begin climb
966.24	3	146.63	0.99	0.00	2845.6	2828.4	2862.8	2029.7	2449.2	100.18	0.00	161	1094.73	125.28	1.80	0.00	1.296	0.136	0.000	2250.66	2183.38	2317.94	2323.62	2449.69	0	0	0	12.81	15.66	30.00
1324.31	518	146.63	0.99	-80.00	2243.1	2175.1	2311.1	2323.8	2449.3	77.26	10.33	173	1331.60	0.00	0.00	5.16	0.000	0.000	0.044	2241.06	2172.50	2309.62	2345.19	794.88	0	0	0	30.00	30.00	15.83
1399.49	1190	194.13	1.05	0.00	2240.2	2169.0	2311.4	2345.3	794.9	70.88	7.91	187	1446.54	40.27	0.00	5.20	1.249	0.000	0.041	2058.88	1979.94	2137.81	2342.69	2510.44	0	0	0	12.89	30.00	15.90
1514.28	550	267.18	1.05	-80.00	2051.3	1974.5	2128.1	2342.9	2510.5	63.11	6.74	201	1580.92	59.70	0.00	5.41	1.261	0.000	0.044	1757.44	1670.94	1843.94	2364.38	797.12	0	0	0	12.89	30.00	15.61
1619.35	1190	292.24	1.16	0.00	1753.7	1664.7	1842.8	2364.2	797.1	53.33	8.95	209	1648.11	21.74	0.00	5.30	1.185	0.000	0.041	1657.66	1568.81	1746.50	2358.81	2509.50	0	0	0	12.83	30.00	15.73
1744.25	128	292.24	1.20	0.00	1653.0	1564.2	1741.8	2358.9	2509.1	39.88	10.17	228	1745.60	0.00	0.00	0.00	0.000	0.000	0.000	1654.88	1565.75	1744.00	2358.69	2509.19	0	0	0	30.00	30.00	30.00
1834.43	129	292.24	1.25	0.00	1651.2	1561.0	1741.4	2358.5	2508.9	30.79	10.80	246	1835.88	0.00	0.09	0.00	0.000	0.084	0.000	1652.16	1561.94	1742.38	2419.50	2509.00	0	0	0	30.00	15.90	30.00
1934.40	517	292.24	1.25	-80.00	1651.2	1560.5	1741.8	2419.9	2509.7	16.77	14.16	266	1941.80	0.00	0.22	5.46	0.000	0.180	0.050	1650.19	1559.62	1740.75	2404.88	798.62	0	0	0	30.00	15.85	15.92
1979.45	1158	292.24	1.33	0.00	1649.5	1557.4	1741.7	2405.2	798.6	11.71	10.83	274	1986.61	0.00	0.00	5.25	0.000	0.000	0.044	1650.25	1557.75	1742.75	2391.50	2509.06	0	0	0	30.00	30.00	15.93
2084	end climb: SURFACE_DEPTH_REACHED
state	2084	begin surface coast
2109	end surface coast: CONTROL_FINISHED_OK
state	2109	begin surface