Glider dive log

Shilshole 09Jul20 * SG231 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 231 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 3 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.047120001 XPDR_VALID 6

DIVE 4 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 5 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 462.20248 VBD_MIN 525 INT_PRESSURE_YINT -3.25

D_TGT 150 N_FILEKB 8 VBD_MAX 3950 DEEPGLIDER 0

D_ABORT 175 FILEMGR 0 C_VBD 3050 DEEPGLIDERMB 0

D_NO_BLEED 50 CALL_NDIVES 1 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 2 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 1 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.003 DEVICE4 -1

D_SAFE 0 N_NOSURFACE 0 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CALL_TRIES 5 W_ADJ_DBAND 2 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 DBDW 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 LOITER_W_DBAND 20 LOGGERDEVICE2 -1

T_DIVE 50 CAPMAXSIZE 100000 LOITER_DBDW 40 LOGGERDEVICE3 -1

T_MISSION 65 T_GPS 5 LOITER_D_TOP 100 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 200 COMPASS_DEVICE 66

T_TURN 225 T_RSLEEP 2 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 33

T_NO_W 120 RAFOS_PEAK_OFFSET 0 AH0_24V 575 GPS_DEVICE 48

T_LOITER 0 RAFOS_CORR_THRESH 60 AH0_10V 0 RAFOS_DEVICE 104

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_24V 11 NETWORK_DEVICE -1

USE_BATHY -6 RAFOS_MMODEM 0 MINV_10V 11 PRESSURE_DEVICE 34

USE_ICE 0 PITCH_MIN 471 MAXI_24V 5 XPDR_DEVICE 5

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3850 MAXI_10V 1.4 SIM_W 0

D_OFFGRID 100 C_PITCH 3430 FG_AHR_10V 4.2857661 SEABIRD_T_G 0.0043565771

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 3.4877346 SEABIRD_T_H 0.00062677637

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 PHONE_SUPPLY 2 SEABIRD_T_I 2.4431472e-05

MAX_BUOY 150 PITCH_GAIN 27 PRESSURE_YINT -151.62212 SEABIRD_T_J 2.7094229e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 26 PRESSURE_SLOPE 0.00022543591 SEABIRD_C_G -10.133897

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 4 SEABIRD_C_H 1.1473427

RHO 1.023 PITCH_ADJ_GAIN 0.059999999 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0015492893

MASS 71877 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0002031941

NAV_MODE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 345 ALTIM_TOP_MIN_OBSTACLE 0 SC_XMITPROFILE 3.0

HD_A 0.003 ROLL_MAX 3945 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0099999998 ROLL_DEG 80 ALTIM_PING_DELTA 0

HD_C 1.6e-05 C_ROLL_DIVE 2145 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2145 ALTIM_PULSE 3

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00062677637

AH0_24V 575 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.4431472e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 150 N_NOSURFACE 0 SEABIRD_T_J 2.7094229e-06

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 462.20248

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 4.2857661 PITCH_ADJ_GAIN 0.059999999 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 3.4877346 PITCH_CNV 0.0031300001 STROBE 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 27 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3850 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MIN 471 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_TIMEOUT 26 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 1.6e-05 PITCH_VBD_SHIFT 0.003 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_DIVE 50

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 34 T_EPIRB 0

CF8_MAXERRORS 20 ID 231 PRESSURE_SLOPE 0.00022543591 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -151.62212 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3.25 PROTOCOL 9 T_MISSION 65

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE1 7 RAFOS_DEVICE 104 T_RSLEEP 2

C_PITCH 3430 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2145 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2145 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 3050 LOGGERS 3 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 40 RHO 1.023 USE_BATHY -6

DEEPGLIDER 0 LOITER_D_BOTTOM 200 ROLL_ADJ_DBAND 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 100 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 -1 LOITER_N_DIVE 0 ROLL_CNV 0.047120001 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 20 ROLL_DEG 80 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 71877 ROLL_MAX 3945 VBD_MAX 3950

DEVICE4 -1 MAXI_10V 1.4 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 5 ROLL_MIN 345 VBD_MIN 525

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

DIVE 4 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 2

D_ABORT 175 MINV_24V 11 SC_PROFILE 3.0 XPDR_DEVICE 5

D_BOOST 2 MISSION 3 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_CALL 0 MOTHERBOARD 6 SC_XMITPROFILE 3.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 2 SEABIRD_C_G -10.133897 XPDR_REP 0

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1.1473427 XPDR_VALID 6

D_NO_BLEED 50 NOCOMM_ACTION 163 SEABIRD_C_I -0.0015492893

D_OFFGRID 100 N_DIVES 5 SEABIRD_C_J 0.0002031941

D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043565771

Pre-dive calculations and measurements:

GPS1 090720,184035,4743.419,-12223.542,1,2.0,3,15.4 TGT_LATLONG 4743.000,-12224.000

_CALLS 2 TGT_RADIUS 100.000

_SM_DEPTHo 1.52 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -68.0 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 090720,184502,4743.435,-12223.537,2,0.8,24,15.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.258 MHEAD_RNG_PITCHd_Wd 195.5,990,-17.6,-10.000,-21.21

TGT_NAME SE D_GRID 157

Post-dive calculations and measurements:

FINISH 0.0,1.021618 _24V_AH 14.91,1.266

SM_CCo 3378.74,177.40,1.025,0,1165.2,1188.5,1141.9,462.34 _10V_AH 14.96,0.000

SM_GC 1.45,177.40,8.85,0.14,1.025,0.054,0.077,1165.2,1188.5,1141.9,449.1,2110.9,0,0,0,12.78,15.99,16.02 FG_AHR_24Vo 3.637

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 4.352

IRIDIUM_FIX 4743.51,-12226.80,090720,184109 MEM 1130408,31,47000,82

TCM_TEMP 15.27 DATA_FILE_SIZE 9724,382

XPDR_PINGS 2,14.0,10.5 CAP_FILE_SIZE 178882,0

SC_FREEKB 3876960 SDSIZE 3918848,3908192

RAFOS_CLK 0 SDFILEDIR 56,1

RAFOS_FIX 4743.074707,-12223.929688,090720,191912,0,1,0.26 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 56.93 SOUNDSPEED 1465.0

TEMP 12.50 CURRENT 0.129, 25.0,1

INTERNAL_PRESSURE 8.71579 GPS 090720,194206,4743.289,-12223.650,0,0.7,2,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 560 1238 10349.39 nil 0 0 0.00

Pitch_motor 28 428 182.47 nil 0 0 0.00

Roll_motor 85 114 146.16 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 3.13 nil 0 0 0.00

GPS 33 15 7.42 nil 0 0 0.00

Core 1347 11 240.29 SciCon 3186 39 1898.73

LPSleep 2106 2 92.01 nil 0 0 0.00

Compass 355 5 26.57 nil 0 0 0.00

RAFOS 2216 40 1326.05

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.37 16386 -146.63 -1.09 0.00 1160.2 1211.2 1109.2 462.8 2102.5 0.00 0.00 0 109.18 102.18 0.00 0.00 0.005 0.000 0.000 3232.44 3337.69 3127.19 462.88 2102.50 0 0 0 15.91 30.00 30.00

109.44 18467 -146.63 -1.09 0.00 3232.1 3336.6 3127.6 462.8 2101.9 3.01 -1.54 10 139.59 12.12 12.67 0.00 0.007 0.428 0.000 3645.72 3787.19 3504.25 3079.38 2100.94 0 0 0 15.93 15.75 30.00

317.09 2693 -146.63 -0.89 -80.00 3647.9 3786.4 3509.4 3080.1 2101.4 32.95 -14.19 31 323.76 0.00 0.22 4.67 0.000 0.220 0.073 3647.25 3785.50 3509.00 3149.62 438.31 0 0 0 30.00 15.92 16.00

382.09 1028 -146.63 -0.89 0.00 3648.3 3786.0 3510.6 3150.4 438.2 40.72 -11.78 44 388.85 0.00 0.00 4.62 0.000 0.000 0.031 3649.62 3787.81 3511.44 3129.62 2165.31 0 0 0 30.00 30.00 15.97

567.12 260 -146.63 -0.89 80.00 3648.7 3786.0 3511.4 3128.6 2166.9 62.97 -12.13 63 573.75 0.00 0.00 4.73 0.000 0.000 0.074 3647.59 3785.38 3509.81 3107.50 3852.44 0 0 0 30.00 30.00 15.99

602.19 3077 -146.63 -0.89 0.00 3648.7 3786.9 3510.5 3107.6 3852.0 67.40 -12.84 70 608.80 0.00 0.14 4.64 0.000 0.215 0.032 3647.94 3785.62 3510.25 3150.25 2117.62 0 0 0 30.00 15.98 16.03

787.17 4741 -146.63 -0.98 -80.00 3648.7 3786.4 3511.0 3149.8 2115.6 86.00 -10.25 89 793.95 0.00 0.11 4.68 0.000 0.098 0.071 3649.84 3787.62 3512.06 3087.50 438.44 0 0 0 30.00 16.02 16.04

846.36 3205 -146.63 -0.69 0.00 3648.2 3785.8 3510.7 3087.5 438.4 94.21 -14.84 100 853.15 0.00 0.48 4.62 0.000 0.226 0.033 3650.72 3787.69 3513.75 3210.44 2166.12 0 0 0 30.00 15.94 16.02

1031.35 4257 -146.63 -1.08 0.00 3648.2 3786.2 3510.3 3210.1 2170.4 108.59 -6.86 119 1032.84 0.00 0.35 0.00 0.000 0.054 0.000 3651.19 3788.62 3513.75 3059.25 2174.19 0 0 0 30.00 16.00 30.00

1211.34 2177 -146.63 -0.92 0.00 3648.5 3786.9 3510.1 3060.0 2173.8 126.39 -9.38 137 1212.81 0.00 0.25 0.00 0.000 0.220 0.000 3649.00 3786.38 3511.62 3136.25 2177.38 0 0 0 30.00 15.98 30.00

1391.42 4773 -146.63 -1.04 -80.00 3648.9 3786.2 3511.6 3136.2 2176.9 139.93 -7.54 155 1398.17 0.00 0.12 4.86 0.000 0.088 0.069 3650.53 3788.81 3512.25 3069.50 437.38 0 0 0 30.00 16.03 15.95

1476 end dive: TARGET_DEPTH_EXCEEDED

state 1476 begin apogee

1482.96 10243 0.00 -0.19 0.00 3648.3 3785.4 3511.2 3051.2 2166.9 150.12 -12.69 172 1598.16 111.11 1.09 0.13 1.238 0.226 0.115 3050.81 3154.75 2946.88 3372.38 2104.56 0 0 0 12.76 15.97 15.62

1599 end apogee: CONTROL_FINISHED_OK

state 1599 begin climb

1599.40 10243 146.63 1.09 0.00 3046.6 3149.0 2944.1 3372.5 2104.9 153.14 0.00 184 1713.68 111.28 1.22 0.00 1.204 0.111 0.000 2451.84 2536.50 2367.19 3788.00 2105.38 0 0 0 12.68 15.64 30.00

1896.43 20871 146.63 0.86 80.00 2442.0 2532.8 2351.3 3786.4 2104.9 125.66 9.93 222 1904.23 0.00 0.31 5.01 0.000 0.236 0.071 2441.31 2532.56 2350.06 3697.12 3851.00 0 0 0 30.00 15.72 15.76

1921.39 17542 146.63 0.75 0.00 2439.7 2531.7 2347.7 3698.1 3851.6 123.60 9.12 227 1928.01 0.00 0.00 4.70 0.000 0.000 0.030 2439.62 2531.31 2347.94 3718.25 2120.19 0 0 0 30.00 30.00 15.81

2106.39 20999 146.63 0.75 -80.00 2439.1 2531.8 2346.4 3718.0 2119.3 109.61 8.16 246 2113.19 0.00 0.19 4.72 0.000 0.218 0.067 2437.25 2529.62 2344.88 3680.44 437.06 0 0 0 30.00 15.82 15.86

2146.08 11431 207.34 1.07 0.00 2439.2 2533.0 2345.4 3680.6 437.2 107.08 7.19 254 2199.75 46.45 0.25 4.67 1.120 0.056 0.029 2201.53 2297.81 2105.25 3805.06 2179.00 0 0 0 12.73 15.88 15.86

2376.44 20611 207.34 0.94 0.00 2196.5 2297.8 2095.1 3804.1 2180.1 82.50 10.73 282 2377.92 0.00 0.28 0.00 0.000 0.226 0.000 2199.81 2301.81 2097.81 3722.44 2181.69 0 0 0 30.00 15.80 30.00

2556.47 19079 207.34 1.09 -80.00 2195.0 2297.8 2092.2 3721.3 2181.4 67.42 8.62 300 2563.18 0.00 0.16 4.93 0.000 0.068 0.068 2196.62 2300.00 2093.25 3826.75 436.19 0 0 0 30.00 15.90 15.88

2606.12 21639 207.34 0.83 0.00 2194.2 2297.0 2091.3 3827.1 435.9 60.38 15.75 310 2613.56 0.00 0.48 4.66 0.000 0.242 0.030 2193.44 2296.00 2090.88 3688.50 2174.69 0 0 0 30.00 15.84 15.88

2796.50 18823 207.34 1.13 80.00 2193.8 2298.0 2089.6 3688.2 2179.2 40.03 9.65 330 2803.20 0.00 0.28 4.74 0.000 0.053 0.076 2192.31 2295.62 2089.00 3818.75 3852.62 0 0 0 30.00 15.94 15.91

2826.13 21639 207.34 0.93 0.00 2193.1 2297.1 2089.1 3818.8 3851.9 36.25 12.59 336 2833.57 0.00 0.41 4.68 0.000 0.248 0.032 2192.97 2296.88 2089.06 3721.19 2118.12 0 0 0 30.00 15.86 15.91

3016.54 19079 207.34 1.14 -80.00 2193.1 2297.1 2089.1 3721.0 2116.6 16.13 9.60 356 3023.22 0.00 0.21 4.72 0.000 0.060 0.070 2194.09 2298.19 2090.00 3838.81 438.56 0 0 0 30.00 15.96 15.89

3096.18 21639 207.34 0.85 0.00 2193.0 2296.6 2089.4 3840.4 438.3 6.08 12.84 372 3103.64 0.00 0.50 4.64 0.000 0.242 0.031 2191.66 2295.81 2087.50 3694.69 2176.19 0 0 0 30.00 15.90 15.97

3156 end climb: SURFACE_DEPTH_REACHED

state 3156 begin surface coast

3186 end surface coast: CONTROL_FINISHED_OK

state 3186 begin surface

ID	231	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	3	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.047120001	XPDR_VALID	6
DIVE	4	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	5	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	462.20248	VBD_MIN	525	INT_PRESSURE_YINT	-3.25
D_TGT	150	N_FILEKB	8	VBD_MAX	3950	DEEPGLIDER	0
D_ABORT	175	FILEMGR	0	C_VBD	3050	DEEPGLIDERMB	0
D_NO_BLEED	50	CALL_NDIVES	1	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	2	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	1	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.003	DEVICE4	-1
D_SAFE	0	N_NOSURFACE	0	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CALL_TRIES	5	W_ADJ_DBAND	2	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	DBDW	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	LOITER_W_DBAND	20	LOGGERDEVICE2	-1
T_DIVE	50	CAPMAXSIZE	100000	LOITER_DBDW	40	LOGGERDEVICE3	-1
T_MISSION	65	T_GPS	5	LOITER_D_TOP	100	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	200	COMPASS_DEVICE	66
T_TURN	225	T_RSLEEP	2	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	33
T_NO_W	120	RAFOS_PEAK_OFFSET	0	AH0_24V	575	GPS_DEVICE	48
T_LOITER	0	RAFOS_CORR_THRESH	60	AH0_10V	0	RAFOS_DEVICE	104
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_24V	11	NETWORK_DEVICE	-1
USE_BATHY	-6	RAFOS_MMODEM	0	MINV_10V	11	PRESSURE_DEVICE	34
USE_ICE	0	PITCH_MIN	471	MAXI_24V	5	XPDR_DEVICE	5
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3850	MAXI_10V	1.4	SIM_W	0
D_OFFGRID	100	C_PITCH	3430	FG_AHR_10V	4.2857661	SEABIRD_T_G	0.0043565771
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	3.4877346	SEABIRD_T_H	0.00062677637
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	PHONE_SUPPLY	2	SEABIRD_T_I	2.4431472e-05
MAX_BUOY	150	PITCH_GAIN	27	PRESSURE_YINT	-151.62212	SEABIRD_T_J	2.7094229e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	26	PRESSURE_SLOPE	0.00022543591	SEABIRD_C_G	-10.133897
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	4	SEABIRD_C_H	1.1473427
RHO	1.023	PITCH_ADJ_GAIN	0.059999999	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0015492893
MASS	71877	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0002031941
NAV_MODE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	345	ALTIM_TOP_MIN_OBSTACLE	0	SC_XMITPROFILE	3.0
HD_A	0.003	ROLL_MAX	3945	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0099999998	ROLL_DEG	80	ALTIM_PING_DELTA	0
HD_C	1.6e-05	C_ROLL_DIVE	2145	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2145	ALTIM_PULSE	3

GPS1	090720,184035,4743.419,-12223.542,1,2.0,3,15.4	TGT_LATLONG	4743.000,-12224.000
_CALLS	2	TGT_RADIUS	100.000
_SM_DEPTHo	1.52	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-68.0	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	090720,184502,4743.435,-12223.537,2,0.8,24,15.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.258	MHEAD_RNG_PITCHd_Wd	195.5,990,-17.6,-10.000,-21.21
TGT_NAME	SE	D_GRID	157

FINISH	0.0,1.021618	_24V_AH	14.91,1.266
SM_CCo	3378.74,177.40,1.025,0,1165.2,1188.5,1141.9,462.34	_10V_AH	14.96,0.000
SM_GC	1.45,177.40,8.85,0.14,1.025,0.054,0.077,1165.2,1188.5,1141.9,449.1,2110.9,0,0,0,12.78,15.99,16.02	FG_AHR_24Vo	3.637
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	4.352
IRIDIUM_FIX	4743.51,-12226.80,090720,184109	MEM	1130408,31,47000,82
TCM_TEMP	15.27	DATA_FILE_SIZE	9724,382
XPDR_PINGS	2,14.0,10.5	CAP_FILE_SIZE	178882,0
SC_FREEKB	3876960	SDSIZE	3918848,3908192
RAFOS_CLK	0	SDFILEDIR	56,1
RAFOS_FIX	4743.074707,-12223.929688,090720,191912,0,1,0.26	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	56.93	SOUNDSPEED	1465.0
TEMP	12.50	CURRENT	0.129, 25.0,1
INTERNAL_PRESSURE	8.71579	GPS	090720,194206,4743.289,-12223.650,0,0.7,2,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	560	1238	10349.39	nil	0	0	0.00
Pitch_motor	28	428	182.47	nil	0	0	0.00
Roll_motor	85	114	146.16	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	3.13	nil	0	0	0.00
GPS	33	15	7.42	nil	0	0	0.00
Core	1347	11	240.29	SciCon	3186	39	1898.73
LPSleep	2106	2	92.01	nil	0	0	0.00
Compass	355	5	26.57	nil	0	0	0.00
RAFOS	2216	40	1326.05
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.37	16386	-146.63	-1.09	0.00	1160.2	1211.2	1109.2	462.8	2102.5	0.00	0.00	0	109.18	102.18	0.00	0.00	0.005	0.000	0.000	3232.44	3337.69	3127.19	462.88	2102.50	0	0	0	15.91	30.00	30.00
109.44	18467	-146.63	-1.09	0.00	3232.1	3336.6	3127.6	462.8	2101.9	3.01	-1.54	10	139.59	12.12	12.67	0.00	0.007	0.428	0.000	3645.72	3787.19	3504.25	3079.38	2100.94	0	0	0	15.93	15.75	30.00
317.09	2693	-146.63	-0.89	-80.00	3647.9	3786.4	3509.4	3080.1	2101.4	32.95	-14.19	31	323.76	0.00	0.22	4.67	0.000	0.220	0.073	3647.25	3785.50	3509.00	3149.62	438.31	0	0	0	30.00	15.92	16.00
382.09	1028	-146.63	-0.89	0.00	3648.3	3786.0	3510.6	3150.4	438.2	40.72	-11.78	44	388.85	0.00	0.00	4.62	0.000	0.000	0.031	3649.62	3787.81	3511.44	3129.62	2165.31	0	0	0	30.00	30.00	15.97
567.12	260	-146.63	-0.89	80.00	3648.7	3786.0	3511.4	3128.6	2166.9	62.97	-12.13	63	573.75	0.00	0.00	4.73	0.000	0.000	0.074	3647.59	3785.38	3509.81	3107.50	3852.44	0	0	0	30.00	30.00	15.99
602.19	3077	-146.63	-0.89	0.00	3648.7	3786.9	3510.5	3107.6	3852.0	67.40	-12.84	70	608.80	0.00	0.14	4.64	0.000	0.215	0.032	3647.94	3785.62	3510.25	3150.25	2117.62	0	0	0	30.00	15.98	16.03
787.17	4741	-146.63	-0.98	-80.00	3648.7	3786.4	3511.0	3149.8	2115.6	86.00	-10.25	89	793.95	0.00	0.11	4.68	0.000	0.098	0.071	3649.84	3787.62	3512.06	3087.50	438.44	0	0	0	30.00	16.02	16.04
846.36	3205	-146.63	-0.69	0.00	3648.2	3785.8	3510.7	3087.5	438.4	94.21	-14.84	100	853.15	0.00	0.48	4.62	0.000	0.226	0.033	3650.72	3787.69	3513.75	3210.44	2166.12	0	0	0	30.00	15.94	16.02
1031.35	4257	-146.63	-1.08	0.00	3648.2	3786.2	3510.3	3210.1	2170.4	108.59	-6.86	119	1032.84	0.00	0.35	0.00	0.000	0.054	0.000	3651.19	3788.62	3513.75	3059.25	2174.19	0	0	0	30.00	16.00	30.00
1211.34	2177	-146.63	-0.92	0.00	3648.5	3786.9	3510.1	3060.0	2173.8	126.39	-9.38	137	1212.81	0.00	0.25	0.00	0.000	0.220	0.000	3649.00	3786.38	3511.62	3136.25	2177.38	0	0	0	30.00	15.98	30.00
1391.42	4773	-146.63	-1.04	-80.00	3648.9	3786.2	3511.6	3136.2	2176.9	139.93	-7.54	155	1398.17	0.00	0.12	4.86	0.000	0.088	0.069	3650.53	3788.81	3512.25	3069.50	437.38	0	0	0	30.00	16.03	15.95
1476	end dive: TARGET_DEPTH_EXCEEDED
state	1476	begin apogee
1482.96	10243	0.00	-0.19	0.00	3648.3	3785.4	3511.2	3051.2	2166.9	150.12	-12.69	172	1598.16	111.11	1.09	0.13	1.238	0.226	0.115	3050.81	3154.75	2946.88	3372.38	2104.56	0	0	0	12.76	15.97	15.62
1599	end apogee: CONTROL_FINISHED_OK
state	1599	begin climb
1599.40	10243	146.63	1.09	0.00	3046.6	3149.0	2944.1	3372.5	2104.9	153.14	0.00	184	1713.68	111.28	1.22	0.00	1.204	0.111	0.000	2451.84	2536.50	2367.19	3788.00	2105.38	0	0	0	12.68	15.64	30.00
1896.43	20871	146.63	0.86	80.00	2442.0	2532.8	2351.3	3786.4	2104.9	125.66	9.93	222	1904.23	0.00	0.31	5.01	0.000	0.236	0.071	2441.31	2532.56	2350.06	3697.12	3851.00	0	0	0	30.00	15.72	15.76
1921.39	17542	146.63	0.75	0.00	2439.7	2531.7	2347.7	3698.1	3851.6	123.60	9.12	227	1928.01	0.00	0.00	4.70	0.000	0.000	0.030	2439.62	2531.31	2347.94	3718.25	2120.19	0	0	0	30.00	30.00	15.81
2106.39	20999	146.63	0.75	-80.00	2439.1	2531.8	2346.4	3718.0	2119.3	109.61	8.16	246	2113.19	0.00	0.19	4.72	0.000	0.218	0.067	2437.25	2529.62	2344.88	3680.44	437.06	0	0	0	30.00	15.82	15.86
2146.08	11431	207.34	1.07	0.00	2439.2	2533.0	2345.4	3680.6	437.2	107.08	7.19	254	2199.75	46.45	0.25	4.67	1.120	0.056	0.029	2201.53	2297.81	2105.25	3805.06	2179.00	0	0	0	12.73	15.88	15.86
2376.44	20611	207.34	0.94	0.00	2196.5	2297.8	2095.1	3804.1	2180.1	82.50	10.73	282	2377.92	0.00	0.28	0.00	0.000	0.226	0.000	2199.81	2301.81	2097.81	3722.44	2181.69	0	0	0	30.00	15.80	30.00
2556.47	19079	207.34	1.09	-80.00	2195.0	2297.8	2092.2	3721.3	2181.4	67.42	8.62	300	2563.18	0.00	0.16	4.93	0.000	0.068	0.068	2196.62	2300.00	2093.25	3826.75	436.19	0	0	0	30.00	15.90	15.88
2606.12	21639	207.34	0.83	0.00	2194.2	2297.0	2091.3	3827.1	435.9	60.38	15.75	310	2613.56	0.00	0.48	4.66	0.000	0.242	0.030	2193.44	2296.00	2090.88	3688.50	2174.69	0	0	0	30.00	15.84	15.88
2796.50	18823	207.34	1.13	80.00	2193.8	2298.0	2089.6	3688.2	2179.2	40.03	9.65	330	2803.20	0.00	0.28	4.74	0.000	0.053	0.076	2192.31	2295.62	2089.00	3818.75	3852.62	0	0	0	30.00	15.94	15.91
2826.13	21639	207.34	0.93	0.00	2193.1	2297.1	2089.1	3818.8	3851.9	36.25	12.59	336	2833.57	0.00	0.41	4.68	0.000	0.248	0.032	2192.97	2296.88	2089.06	3721.19	2118.12	0	0	0	30.00	15.86	15.91
3016.54	19079	207.34	1.14	-80.00	2193.1	2297.1	2089.1	3721.0	2116.6	16.13	9.60	356	3023.22	0.00	0.21	4.72	0.000	0.060	0.070	2194.09	2298.19	2090.00	3838.81	438.56	0	0	0	30.00	15.96	15.89
3096.18	21639	207.34	0.85	0.00	2193.0	2296.6	2089.4	3840.4	438.3	6.08	12.84	372	3103.64	0.00	0.50	4.64	0.000	0.242	0.031	2191.66	2295.81	2087.50	3694.69	2176.19	0	0	0	30.00	15.90	15.97
3156	end climb: SURFACE_DEPTH_REACHED
state	3156	begin surface coast
3186	end surface coast: CONTROL_FINISHED_OK
state	3186	begin surface