Glider dive log

Shilshole 16Jul18 * SG226 * Dive index * Mission links * Dive 5 * 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 1 ESCAPE_HEADING 0 C_ROLL_CLIMB 2800 ALTIM_FREQUENCY 13

DIVE 5 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

N_DIVES 5 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 135 SM_CC 627.77997 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -4

D_ABORT 160 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 7

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 W_ADJ_DBAND 0 LOGGERDEVICE1 7

T_DIVE 45 CAPUPLOAD 0 DBDW 0 LOGGERDEVICE2 -1

T_MISSION 60 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 2790 MAXI_10V 0.80000001 SEABIRD_T_I 2.6926198e-05

APOGEE_PITCH -5 PITCH_DBAND 0.1 FG_AHR_10V 0.19439527 SEABIRD_T_J 3.3427477e-06

MAX_BUOY 150 PITCH_CNV 0.0041975998 FG_AHR_24V 0.66021156 SEABIRD_C_G -9.9959793

GLIDE_SLOPE 30 PITCH_GAIN 17.1 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 0.0049999999 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 0.003 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 135 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 627.77997

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_ADJ_DBAND 3 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_10V 0.19439527 PITCH_ADJ_GAIN 0.0049999999 STOP_T 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0.66021156 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 17.1 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 0.003 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 45

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 60

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 104 T_NO_W 120

C_PITCH 2790 LOGGERDEVICE1 7 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

C_ROLL_CLIMB 2800 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 7 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 5 MAX_BUOY 150 SC_NDIVE 1.0 VBD_TIMEOUT 360

D_ABORT 160 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 1 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 5 SEABIRD_C_J 0.00024419418

Pre-dive calculations and measurements:

GPS1 160718,202003,4744.305,-12224.091,1,0.8,2,15.7 TGT_LATLONG 4743.500,-12225.000

_CALLS 2 TGT_RADIUS 100.000

_SM_DEPTHo 1.55 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -75.4 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 160718,202324,4744.305,-12224.112,2,0.8,3,15.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.258 MHEAD_RNG_PITCHd_Wd 173.9,1856,-17.6,-10.000,-21.21

TGT_NAME NW D_GRID 175

Post-dive calculations and measurements:

FINISH 0.0,1.007416 _24V_AH 15.10,1.849

SM_CCo 2795.11,0.00,0.000,0,497.4,370.4,624.4,577.08 _10V_AH 15.00,0.000

SM_GC 1.50,0.00,8.47,0.94,0.000,0.045,0.021,497.4,370.4,624.4,106.4,2465.5,0,0,0,30.00,15.79,15.81 FG_AHR_24Vo 0.762

SUPER 59,70,254,1,0,0 FG_AHR_10Vo 0.218

IRIDIUM_FIX 4743.02,-12222.38,160718,201629 MEM 1130204,34,47340,153

TCM_TEMP 277.75 DATA_FILE_SIZE 13693,357

XPDR_PINGS 6 CAP_FILE_SIZE 205296,0

RAFOS_CLK 1 SDSIZE 3918848,3908576

RAFOS_FIX 4744.085449,-12224.558594,160718,212144,0,1,0.26 ERRORS 0,0,0,0,0,1,0,0

HUMID 55.85 SOUNDSPEED 1465.0

TEMP 12.98 CURRENT 0.204, 28.9,1

INTERNAL_PRESSURE 9.94672 GPS 160718,211100,4744.310,-12224.372,1,1.2,3,15.7

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 691 1343 14034.54 nil 0 0 0.00

Pitch_motor 24 394 145.97 nil 0 0 0.00

Roll_motor 71 123 132.69 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 9.51 nil 0 0 0.00

GPS 11 5 0.99 nil 0 0 0.00

Core 1398 11 248.60 SciCon 2428 39 1434.44

LPSleep 1467 2 50.87 nil 0 0 0.00

Compass 545 0 0.65 nil 0 0 0.00

RAFOS 492 48 354.24

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

5.36 2 -146.63 -1.04 0.00 496.5 375.8 617.3 132.7 2455.6 0.00 0.00 0 134.67 128.15 0.00 0.00 0.005 0.000 0.000 3090.88 3186.25 2995.50 132.69 2454.69 0 0 0 13.86 30.00 30.00

135.11 295 -146.63 -1.04 80.00 3090.0 3185.2 2994.7 132.6 2454.2 3.23 -1.45 25 166.79 9.06 12.53 4.66 0.007 0.394 0.061 3447.19 3570.69 3323.69 2520.38 3957.44 0 0 0 15.99 15.86 15.98

385.69 1157 -146.63 -1.02 0.00 3446.2 3570.2 3322.3 2520.1 3957.9 54.56 -18.37 76 392.10 0.00 0.06 4.21 0.000 0.195 0.028 3447.06 3571.00 3323.12 2545.88 2479.56 0 0 0 30.00 16.02 16.09

455.84 388 -146.63 -0.97 80.00 3446.7 3571.2 3322.2 2546.2 2475.6 68.51 -20.17 90 462.15 0.00 0.00 4.66 0.000 0.000 0.065 3445.69 3570.06 3321.31 2528.75 3956.38 0 0 0 30.00 30.00 16.08

620.87 1029 -146.63 -0.97 0.00 3446.3 3570.4 3322.2 2528.6 3956.0 97.57 -14.34 122 626.98 0.00 0.07 4.19 0.000 0.215 0.026 3448.56 3572.19 3324.94 2557.62 2477.69 0 0 0 30.00 15.98 16.08

695.95 644 -146.63 -0.94 -80.00 3446.5 3571.0 3322.0 2558.0 2473.2 108.40 -14.37 136 703.24 0.00 0.00 5.12 0.000 0.000 0.043 3448.81 3571.88 3325.75 2578.94 796.62 0 0 0 30.00 30.00 16.11

730.16 1028 -146.63 -0.94 0.00 3446.6 3570.8 3322.4 2579.6 795.8 113.19 -14.12 142 737.29 0.00 0.00 5.32 0.000 0.000 0.054 3445.91 3569.81 3322.00 2557.50 2505.50 0 0 0 30.00 30.00 16.09

800.73 388 -146.63 -0.91 80.00 3446.6 3570.9 3322.2 2557.9 2506.3 121.80 -12.98 155 807.13 0.00 0.00 4.61 0.000 0.000 0.068 3445.41 3569.69 3321.12 2539.31 3956.44 0 0 0 30.00 30.00 16.07

875.66 1029 -146.63 -0.91 0.00 3446.4 3570.2 3322.6 2539.5 3956.5 132.23 -13.07 169 882.10 0.00 0.09 4.21 0.000 0.227 0.027 3448.62 3571.44 3325.81 2572.12 2476.19 0 0 0 30.00 16.01 16.12

901 end dive: TARGET_DEPTH_EXCEEDED

state 901 begin apogee

902.81 3 0.00 -0.29 0.00 3446.7 3570.9 3322.6 2570.7 2812.2 135.51 -13.04 173 1028.31 122.30 1.08 0.09 1.344 0.188 0.124 2844.62 2827.81 2861.44 2717.44 2749.25 0 0 0 12.93 15.99 15.60

1029 end apogee: CONTROL_FINISHED_OK

state 1029 begin climb

1029.08 3 146.63 1.04 0.00 2845.4 2829.2 2861.7 2716.8 2748.9 135.51 0.00 173 1160.29 126.89 2.12 0.00 1.307 0.152 0.000 2250.28 2179.50 2321.06 3037.25 2749.12 0 0 0 12.77 15.62 30.00

1376.97 646 146.63 1.01 -80.00 2242.8 2171.6 2314.0 3037.2 2748.9 106.09 11.90 185 1383.64 0.00 0.00 5.00 0.000 0.000 0.037 2243.31 2171.44 2315.19 3057.81 1090.56 0 0 0 30.00 30.00 15.77

1477.87 1063 154.51 1.02 0.00 2238.8 2163.2 2314.5 3057.8 1090.4 95.72 9.63 194 1495.16 8.82 0.11 5.39 1.031 0.204 0.053 2217.00 2122.50 2311.50 3027.69 2807.62 0 0 0 12.86 15.82 15.84

1683.64 162 160.42 1.00 0.00 2212.7 2121.1 2304.3 3027.5 2808.2 74.77 9.73 211 1692.30 8.03 0.00 0.00 0.999 0.000 0.000 2191.16 2089.69 2292.62 3028.38 2807.88 0 0 0 12.92 30.00 30.00

1863.92 550 233.80 1.00 -80.00 2186.2 2096.6 2275.8 3027.1 2808.5 62.59 6.60 223 1931.21 59.34 0.00 5.38 1.254 0.000 0.045 1894.81 1812.62 1977.00 3049.81 1099.25 0 0 0 12.89 30.00 15.71

2082.08 1190 303.35 1.06 0.00 1885.8 1798.1 1973.4 3049.9 1098.1 47.17 6.78 267 2146.85 54.97 0.00 5.42 1.231 0.000 0.055 1614.66 1521.75 1707.56 3049.25 2805.31 0 0 0 12.88 30.00 15.80

2322.00 678 350.30 1.09 -80.00 1606.0 1512.4 1699.5 3049.7 2805.6 26.05 7.83 293 2367.37 37.95 0.00 5.28 1.203 0.000 0.041 1418.03 1326.69 1509.38 3071.25 1090.50 0 0 0 12.81 30.00 15.66

2611.95 1190 398.59 1.19 0.00 1410.6 1312.4 1508.7 3071.8 1089.3 4.70 7.76 346 2646.19 27.15 0.00 5.32 1.210 0.000 0.047 1282.66 1184.69 1380.62 3051.38 2810.44 0 0 0 12.87 30.00 15.85

2646 end climb: SURFACE_DEPTH_REACHED

state 2647 begin surface coast

2669 end surface coast: CONTROL_FINISHED_OK

state 2669 begin surface

ID	226	HEADING	-1	C_ROLL_DIVE	2500	ALTIM_PING_DELTA	0
MISSION	1	ESCAPE_HEADING	0	C_ROLL_CLIMB	2800	ALTIM_FREQUENCY	13
DIVE	5	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
N_DIVES	5	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	135	SM_CC	627.77997	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-4
D_ABORT	160	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	7
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	W_ADJ_DBAND	0	LOGGERDEVICE1	7
T_DIVE	45	CAPUPLOAD	0	DBDW	0	LOGGERDEVICE2	-1
T_MISSION	60	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	2790	MAXI_10V	0.80000001	SEABIRD_T_I	2.6926198e-05
APOGEE_PITCH	-5	PITCH_DBAND	0.1	FG_AHR_10V	0.19439527	SEABIRD_T_J	3.3427477e-06
MAX_BUOY	150	PITCH_CNV	0.0041975998	FG_AHR_24V	0.66021156	SEABIRD_C_G	-9.9959793
GLIDE_SLOPE	30	PITCH_GAIN	17.1	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	0.0049999999	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	0.003	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	160718,202003,4744.305,-12224.091,1,0.8,2,15.7	TGT_LATLONG	4743.500,-12225.000
_CALLS	2	TGT_RADIUS	100.000
_SM_DEPTHo	1.55	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-75.4	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	160718,202324,4744.305,-12224.112,2,0.8,3,15.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.258	MHEAD_RNG_PITCHd_Wd	173.9,1856,-17.6,-10.000,-21.21
TGT_NAME	NW	D_GRID	175

FINISH	0.0,1.007416	_24V_AH	15.10,1.849
SM_CCo	2795.11,0.00,0.000,0,497.4,370.4,624.4,577.08	_10V_AH	15.00,0.000
SM_GC	1.50,0.00,8.47,0.94,0.000,0.045,0.021,497.4,370.4,624.4,106.4,2465.5,0,0,0,30.00,15.79,15.81	FG_AHR_24Vo	0.762
SUPER	59,70,254,1,0,0	FG_AHR_10Vo	0.218
IRIDIUM_FIX	4743.02,-12222.38,160718,201629	MEM	1130204,34,47340,153
TCM_TEMP	277.75	DATA_FILE_SIZE	13693,357
XPDR_PINGS	6	CAP_FILE_SIZE	205296,0
RAFOS_CLK	1	SDSIZE	3918848,3908576
RAFOS_FIX	4744.085449,-12224.558594,160718,212144,0,1,0.26	ERRORS	0,0,0,0,0,1,0,0
HUMID	55.85	SOUNDSPEED	1465.0
TEMP	12.98	CURRENT	0.204, 28.9,1
INTERNAL_PRESSURE	9.94672	GPS	160718,211100,4744.310,-12224.372,1,1.2,3,15.7

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	691	1343	14034.54	nil	0	0	0.00
Pitch_motor	24	394	145.97	nil	0	0	0.00
Roll_motor	71	123	132.69	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	9.51	nil	0	0	0.00
GPS	11	5	0.99	nil	0	0	0.00
Core	1398	11	248.60	SciCon	2428	39	1434.44
LPSleep	1467	2	50.87	nil	0	0	0.00
Compass	545	0	0.65	nil	0	0	0.00
RAFOS	492	48	354.24
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
5.36	2	-146.63	-1.04	0.00	496.5	375.8	617.3	132.7	2455.6	0.00	0.00	0	134.67	128.15	0.00	0.00	0.005	0.000	0.000	3090.88	3186.25	2995.50	132.69	2454.69	0	0	0	13.86	30.00	30.00
135.11	295	-146.63	-1.04	80.00	3090.0	3185.2	2994.7	132.6	2454.2	3.23	-1.45	25	166.79	9.06	12.53	4.66	0.007	0.394	0.061	3447.19	3570.69	3323.69	2520.38	3957.44	0	0	0	15.99	15.86	15.98
385.69	1157	-146.63	-1.02	0.00	3446.2	3570.2	3322.3	2520.1	3957.9	54.56	-18.37	76	392.10	0.00	0.06	4.21	0.000	0.195	0.028	3447.06	3571.00	3323.12	2545.88	2479.56	0	0	0	30.00	16.02	16.09
455.84	388	-146.63	-0.97	80.00	3446.7	3571.2	3322.2	2546.2	2475.6	68.51	-20.17	90	462.15	0.00	0.00	4.66	0.000	0.000	0.065	3445.69	3570.06	3321.31	2528.75	3956.38	0	0	0	30.00	30.00	16.08
620.87	1029	-146.63	-0.97	0.00	3446.3	3570.4	3322.2	2528.6	3956.0	97.57	-14.34	122	626.98	0.00	0.07	4.19	0.000	0.215	0.026	3448.56	3572.19	3324.94	2557.62	2477.69	0	0	0	30.00	15.98	16.08
695.95	644	-146.63	-0.94	-80.00	3446.5	3571.0	3322.0	2558.0	2473.2	108.40	-14.37	136	703.24	0.00	0.00	5.12	0.000	0.000	0.043	3448.81	3571.88	3325.75	2578.94	796.62	0	0	0	30.00	30.00	16.11
730.16	1028	-146.63	-0.94	0.00	3446.6	3570.8	3322.4	2579.6	795.8	113.19	-14.12	142	737.29	0.00	0.00	5.32	0.000	0.000	0.054	3445.91	3569.81	3322.00	2557.50	2505.50	0	0	0	30.00	30.00	16.09
800.73	388	-146.63	-0.91	80.00	3446.6	3570.9	3322.2	2557.9	2506.3	121.80	-12.98	155	807.13	0.00	0.00	4.61	0.000	0.000	0.068	3445.41	3569.69	3321.12	2539.31	3956.44	0	0	0	30.00	30.00	16.07
875.66	1029	-146.63	-0.91	0.00	3446.4	3570.2	3322.6	2539.5	3956.5	132.23	-13.07	169	882.10	0.00	0.09	4.21	0.000	0.227	0.027	3448.62	3571.44	3325.81	2572.12	2476.19	0	0	0	30.00	16.01	16.12
901	end dive: TARGET_DEPTH_EXCEEDED
state	901	begin apogee
902.81	3	0.00	-0.29	0.00	3446.7	3570.9	3322.6	2570.7	2812.2	135.51	-13.04	173	1028.31	122.30	1.08	0.09	1.344	0.188	0.124	2844.62	2827.81	2861.44	2717.44	2749.25	0	0	0	12.93	15.99	15.60
1029	end apogee: CONTROL_FINISHED_OK
state	1029	begin climb
1029.08	3	146.63	1.04	0.00	2845.4	2829.2	2861.7	2716.8	2748.9	135.51	0.00	173	1160.29	126.89	2.12	0.00	1.307	0.152	0.000	2250.28	2179.50	2321.06	3037.25	2749.12	0	0	0	12.77	15.62	30.00
1376.97	646	146.63	1.01	-80.00	2242.8	2171.6	2314.0	3037.2	2748.9	106.09	11.90	185	1383.64	0.00	0.00	5.00	0.000	0.000	0.037	2243.31	2171.44	2315.19	3057.81	1090.56	0	0	0	30.00	30.00	15.77
1477.87	1063	154.51	1.02	0.00	2238.8	2163.2	2314.5	3057.8	1090.4	95.72	9.63	194	1495.16	8.82	0.11	5.39	1.031	0.204	0.053	2217.00	2122.50	2311.50	3027.69	2807.62	0	0	0	12.86	15.82	15.84
1683.64	162	160.42	1.00	0.00	2212.7	2121.1	2304.3	3027.5	2808.2	74.77	9.73	211	1692.30	8.03	0.00	0.00	0.999	0.000	0.000	2191.16	2089.69	2292.62	3028.38	2807.88	0	0	0	12.92	30.00	30.00
1863.92	550	233.80	1.00	-80.00	2186.2	2096.6	2275.8	3027.1	2808.5	62.59	6.60	223	1931.21	59.34	0.00	5.38	1.254	0.000	0.045	1894.81	1812.62	1977.00	3049.81	1099.25	0	0	0	12.89	30.00	15.71
2082.08	1190	303.35	1.06	0.00	1885.8	1798.1	1973.4	3049.9	1098.1	47.17	6.78	267	2146.85	54.97	0.00	5.42	1.231	0.000	0.055	1614.66	1521.75	1707.56	3049.25	2805.31	0	0	0	12.88	30.00	15.80
2322.00	678	350.30	1.09	-80.00	1606.0	1512.4	1699.5	3049.7	2805.6	26.05	7.83	293	2367.37	37.95	0.00	5.28	1.203	0.000	0.041	1418.03	1326.69	1509.38	3071.25	1090.50	0	0	0	12.81	30.00	15.66
2611.95	1190	398.59	1.19	0.00	1410.6	1312.4	1508.7	3071.8	1089.3	4.70	7.76	346	2646.19	27.15	0.00	5.32	1.210	0.000	0.047	1282.66	1184.69	1380.62	3051.38	2810.44	0	0	0	12.87	30.00	15.85
2646	end climb: SURFACE_DEPTH_REACHED
state	2647	begin surface coast
2669	end surface coast: CONTROL_FINISHED_OK
state	2669	begin surface