Glider dive log

Shilshole 10Aug18 * SG229 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 229 HEADING -1 C_ROLL_DIVE 2350 ALTIM_PING_DELTA 0

MISSION 1 ESCAPE_HEADING 0 C_ROLL_CLIMB 2400 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 5

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 590.98499 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -2.5

D_ABORT 175 N_FILEKB 8 VBD_MIN 550 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 0 VBD_MAX 3960 DEEPGLIDERMB 0

D_BOOST 4 CALL_NDIVES 1 C_VBD 3100 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 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 66 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 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 150 MINV_10V 11 SEABIRD_T_G 0.0044283443

D_OFFGRID 100 PITCH_MAX 3840 MAXI_24V 5 SEABIRD_T_H 0.00066085911

RELAUNCH 1 C_PITCH 1660 MAXI_10V 1.4 SEABIRD_T_I 2.7456792e-05

APOGEE_PITCH -5 PITCH_DBAND 0.1 FG_AHR_10V 0.16101103 SEABIRD_T_J 3.4295531e-06

MAX_BUOY 150 PITCH_CNV 0.0031300001 FG_AHR_24V 0.36487836 SEABIRD_C_G -9.9373035

GLIDE_SLOPE 30 PITCH_GAIN 48 PHONE_SUPPLY 2 SEABIRD_C_H 1.1186405

SPEED_FACTOR 1 PITCH_TIMEOUT 15 PRESSURE_YINT -162.61021 SEABIRD_C_I -0.003041792

RHO 1.023 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00010777653 SEABIRD_C_J 0.00029373623

MASS 71919 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 340 ALTIM_TOP_TURN_MARGIN 0

HD_B 0.0099999998 ROLL_MAX 3945 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 0.0044283443

AH0_24V 575 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00066085911

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.7456792e-05

ALTIM_FREQUENCY 13 D_TGT 150 N_NOSURFACE 0 SEABIRD_T_J 3.4295531e-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 590.98499

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_ADJ_DBAND 3 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_10V 0.16101103 PITCH_ADJ_GAIN 0.0049999999 STOP_T 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0.36487836 PITCH_CNV 0.0031300001 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 48 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAX 3840 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 150 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 0.003 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 50

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_SLOPE 0.00010777653 T_EPIRB 0

COMM_SEQ 0 ID 229 PRESSURE_YINT -162.61021 T_GPS 5

COMPASS2_DEVICE 55 INT_PRESSURE_SLOPE 1.9639999e-06 PROTOCOL 9 T_LOITER 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT -2.5 RAFOS_CORR_THRESH 60 T_MISSION 66

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 104 T_NO_W 120

C_PITCH 1660 LOGGERDEVICE1 7 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

C_ROLL_CLIMB 2400 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 T_TURN 225

C_ROLL_DIVE 2350 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_VBD 3100 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 3945 VBD_LP_IGNORE 0

DEVICE4 -1 MASS 71919 ROLL_MAXERRORS 1 VBD_MAX 3960

DEVICE5 -1 MAXI_10V 1.4 ROLL_MIN 340 VBD_MAXERRORS 1

DEVICE6 -1 MAXI_24V 5 ROLL_TIMEOUT 15 VBD_MIN 550

DIVE 5 MAX_BUOY 150 SC_NDIVE 1.0 VBD_TIMEOUT 360

D_ABORT 175 MINV_10V 11 SC_PROFILE 3.0 W_ADJ_DBAND 0

D_BOOST 4 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 -9.9373035 XPDR_VALID 5

D_FLARE 3 NAV_MODE 2 SEABIRD_C_H 1.1186405

D_NO_BLEED 50 NOCOMM_ACTION 163 SEABIRD_C_I -0.003041792

D_OFFGRID 100 N_DIVES 5 SEABIRD_C_J 0.00029373623

Pre-dive calculations and measurements:

GPS1 100818,201057,4743.317,-12225.215,1,1.8,3,15.7 TGT_LATLONG 4743.500,-12225.000

_CALLS 2 TGT_RADIUS 100.000

_SM_DEPTHo 0.35 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -15.5 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 100818,201529,4743.298,-12225.241,2,1.7,3,15.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.258 MHEAD_RNG_PITCHd_Wd 0.1,480,-17.6,-10.000,-21.21

TGT_NAME NW D_GRID 181

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20180810203502.358414,18,1603,07,0283,0150,246,00,00,02,03,-1,-01,-01,6,3,1,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0D INTERNAL_PRESSURE 9.83172

FINISH 0.1,1.022162 _24V_AH 14.79,18.885

SM_CCo 3211.39,0.00,2.745,0,690.6,765.3,615.8,591.04 _10V_AH 15.00,0.000

SM_GC 0.75,0.00,5.61,0.11,2.745,0.070,0.068,690.6,765.3,615.8,129.3,2298.1,0,0,0,30.36,15.82,15.89 FG_AHR_24Vo 0.431

SUPER 59,70,254,1,0,0 FG_AHR_10Vo 0.196

IRIDIUM_FIX 4742.17,-12225.08,100818,201130 MEM 1132908,28,46176,82

TCM_TEMP 198.66 DATA_FILE_SIZE 17096,425

XPDR_PINGS 18 CAP_FILE_SIZE 186204,0

RAFOS_CLK 1 SDSIZE 3918848,3908896

RAFOS 5,0,0.000000,0.000000,255,0,0,0,0,0,0,0,0,0,0,0 ERRORS 0,0,0,0,0,0,0,3

RAFOS_FIX 4716.296387,-12201.152344,100818,202001,1,2,104.01 SOUNDSPEED 1465.0

HUMID 57.40 CURRENT 0.322,197.9,1

TEMP 13.07 GPS 100818,211010,4743.097,-12225.353,3,0.9,19,15.7

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 592 2745 24051.56 nil 0 0 0.00

Pitch_motor 17 449 115.53 nil 0 0 0.00

Roll_motor 100 123 184.25 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 4 420 27.95 nil 0 0 0.00

GPS 12 15 2.89 nil 0 0 0.00

Core 1391 19 415.72 SciCon 3044 41 1914.11

LPSleep 1890 2 65.50 nil 0 0 0.00

Compass 649 5 48.74 nil 0 0 0.00

RAFOS 2215 48 1594.80

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

5.12 2 -146.63 -0.81 0.00 684.6 758.9 610.4 138.6 2304.3 0.00 0.00 0 138.83 133.21 0.00 0.00 0.005 0.000 0.000 3398.28 3399.00 3397.56 138.44 2303.69 0 0 0 15.90 30.00 30.00

139.15 551 -146.63 -0.81 -80.00 3397.5 3399.1 3395.9 138.4 2304.2 3.12 -2.30 13 164.66 8.54 8.12 5.01 0.007 0.449 0.046 3697.62 3707.06 3688.19 1419.81 641.50 0 0 0 15.89 15.71 15.86

371.67 1188 -146.63 -0.83 0.00 3696.6 3705.8 3687.4 1420.6 641.3 28.62 -9.20 60 379.01 0.00 0.00 5.09 0.000 0.000 0.038 3696.72 3705.56 3687.88 1401.38 2355.56 0 0 0 30.00 30.00 15.95

556.85 260 -146.63 -0.83 80.00 3697.0 3708.1 3685.9 1400.9 2357.5 49.44 -11.26 79 564.15 0.00 0.00 5.20 0.000 0.000 0.074 3697.56 3708.12 3687.00 1380.75 3948.81 0 0 0 30.00 30.00 15.94

646.10 1028 -146.63 -0.83 0.00 3697.8 3708.4 3687.2 1380.2 3949.4 61.28 -14.03 97 652.74 0.00 0.00 4.68 0.000 0.000 0.027 3697.81 3709.00 3686.62 1398.06 2329.50 0 0 0 30.00 30.00 16.00

831.78 516 -146.63 -0.83 -80.00 3697.6 3710.1 3685.2 1398.8 2328.1 82.99 -10.35 116 839.15 0.00 0.00 5.14 0.000 0.000 0.049 3696.72 3708.88 3684.56 1419.25 642.94 0 0 0 30.00 30.00 15.97

861.13 1060 -146.63 -0.83 0.00 3697.6 3710.1 3685.1 1420.1 642.9 85.62 -9.93 122 867.85 0.00 0.00 5.07 0.000 0.000 0.037 3699.12 3711.00 3687.25 1399.88 2358.50 0 0 0 30.00 30.00 15.99

1046.75 260 -146.63 -0.83 80.00 3697.4 3709.8 3685.1 1400.3 2358.4 105.27 -10.10 141 1054.33 0.00 0.00 5.16 0.000 0.000 0.074 3697.62 3708.75 3686.50 1379.88 3948.31 0 0 0 30.00 30.00 15.96

1166.12 1028 -146.63 -0.83 0.00 3697.7 3709.4 3686.0 1379.3 3950.5 120.31 -10.05 165 1172.76 0.00 0.00 4.64 0.000 0.000 0.024 3699.44 3710.75 3688.12 1397.75 2323.94 0 0 0 30.00 30.00 15.98

1352.05 260 -146.63 -0.83 80.00 3697.2 3709.7 3684.7 1397.9 2324.9 142.78 -11.49 184 1359.43 0.00 0.00 5.38 0.000 0.000 0.076 3697.06 3708.62 3685.50 1378.81 3948.88 0 0 0 30.00 30.00 16.01

1376.90 1028 -146.63 -0.83 0.00 3697.5 3709.6 3685.4 1379.4 3948.4 145.10 -10.84 189 1383.20 0.00 0.00 4.68 0.000 0.000 0.028 3697.59 3708.88 3686.31 1397.00 2328.81 0 0 0 30.00 30.00 16.03

1422 end dive: TARGET_DEPTH_EXCEEDED

state 1422 begin apogee

1423.11 3 0.00 -0.10 0.00 3697.8 3710.6 3685.1 1397.1 2416.9 150.31 -11.54 194 1537.46 111.39 1.69 0.10 1.227 0.194 0.124 3095.59 3162.44 3028.75 1625.00 2353.81 0 0 0 12.56 15.96 15.62

1538 end apogee: CONTROL_FINISHED_OK

state 1538 begin climb

1538.13 519 146.63 0.81 -80.00 3096.8 3162.7 3030.9 1624.1 2353.9 153.22 0.00 205 1665.65 117.46 1.24 5.17 1.188 0.095 0.046 2499.22 2575.00 2423.44 1939.62 691.25 0 0 0 12.57 15.66 15.47

1747.62 1158 146.63 0.79 0.00 2490.3 2557.6 2423.1 1940.4 690.9 138.94 10.49 247 1755.20 0.00 0.00 5.17 0.000 0.000 0.036 2494.19 2560.44 2427.94 1919.81 2407.12 0 0 0 30.00 30.00 15.69

1932.75 390 146.63 0.75 80.00 2489.0 2557.2 2420.8 1921.5 2408.5 118.87 11.09 266 1940.07 0.00 0.00 5.05 0.000 0.000 0.071 2489.81 2555.81 2423.81 1903.31 3945.38 0 0 0 30.00 30.00 15.82

2032.04 1158 146.63 0.70 0.00 2488.0 2552.6 2423.3 1905.1 3946.0 105.53 14.32 286 2038.68 0.00 0.00 4.55 0.000 0.000 0.026 2489.28 2554.00 2424.56 1922.50 2377.25 0 0 0 30.00 30.00 15.86

2217.72 647 146.63 0.66 -80.00 2486.8 2553.0 2420.5 1923.1 2376.0 83.67 10.93 305 2225.52 0.00 0.44 5.12 0.000 0.237 0.048 2484.25 2551.38 2417.12 1889.69 691.88 0 0 0 30.00 15.84 15.89

2292.87 1030 146.63 0.66 0.00 2485.4 2550.5 2420.3 1889.2 690.7 75.73 10.19 320 2300.27 0.00 0.00 5.07 0.000 0.000 0.035 2485.00 2550.44 2419.56 1876.56 2409.00 0 0 0 30.00 30.00 15.94

2477.75 548 150.42 0.67 -80.00 2485.5 2551.2 2419.8 1876.3 2408.6 57.18 9.82 339 2485.11 0.00 0.00 5.15 0.000 0.000 0.042 2485.25 2550.75 2419.75 1896.19 689.19 0 0 0 30.00 30.00 15.97

2622.35 1028 150.42 0.67 0.00 2485.0 2549.5 2420.5 1896.6 688.8 40.86 10.88 366 2628.92 0.00 0.00 5.03 0.000 0.000 0.034 2483.91 2545.06 2422.75 1878.25 2411.44 0 0 0 30.00 30.00 15.96

2807.55 295 236.02 0.93 80.00 2484.3 2549.3 2419.2 1878.9 2411.2 29.33 6.04 385 2884.28 69.45 0.28 5.14 1.098 0.074 0.077 2135.09 2216.31 2053.88 1960.06 3944.94 0 0 0 12.64 15.98 15.68

2961.77 1156 236.02 0.91 0.00 2130.4 2205.1 2055.7 1958.9 3946.9 10.93 14.29 416 2968.38 0.00 0.00 4.59 0.000 0.000 0.028 2130.19 2206.00 2054.38 1978.75 2378.88 0 0 0 30.00 30.00 15.80

3037 end climb: SURFACE_DEPTH_REACHED

state 3038 begin surface coast

3048 end surface coast: CONTROL_FINISHED_OK

state 3048 begin surface

ID	229	HEADING	-1	C_ROLL_DIVE	2350	ALTIM_PING_DELTA	0
MISSION	1	ESCAPE_HEADING	0	C_ROLL_CLIMB	2400	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	5
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	590.98499	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-2.5
D_ABORT	175	N_FILEKB	8	VBD_MIN	550	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	0	VBD_MAX	3960	DEEPGLIDERMB	0
D_BOOST	4	CALL_NDIVES	1	C_VBD	3100	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	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	66	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	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	150	MINV_10V	11	SEABIRD_T_G	0.0044283443
D_OFFGRID	100	PITCH_MAX	3840	MAXI_24V	5	SEABIRD_T_H	0.00066085911
RELAUNCH	1	C_PITCH	1660	MAXI_10V	1.4	SEABIRD_T_I	2.7456792e-05
APOGEE_PITCH	-5	PITCH_DBAND	0.1	FG_AHR_10V	0.16101103	SEABIRD_T_J	3.4295531e-06
MAX_BUOY	150	PITCH_CNV	0.0031300001	FG_AHR_24V	0.36487836	SEABIRD_C_G	-9.9373035
GLIDE_SLOPE	30	PITCH_GAIN	48	PHONE_SUPPLY	2	SEABIRD_C_H	1.1186405
SPEED_FACTOR	1	PITCH_TIMEOUT	15	PRESSURE_YINT	-162.61021	SEABIRD_C_I	-0.003041792
RHO	1.023	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00010777653	SEABIRD_C_J	0.00029373623
MASS	71919	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	340	ALTIM_TOP_TURN_MARGIN	0
HD_B	0.0099999998	ROLL_MAX	3945	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	1.6e-05	ROLL_DEG	80	ALTIM_PING_DEPTH	0

GPS1	100818,201057,4743.317,-12225.215,1,1.8,3,15.7	TGT_LATLONG	4743.500,-12225.000
_CALLS	2	TGT_RADIUS	100.000
_SM_DEPTHo	0.35	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-15.5	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	100818,201529,4743.298,-12225.241,2,1.7,3,15.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.258	MHEAD_RNG_PITCHd_Wd	0.1,480,-17.6,-10.000,-21.21
TGT_NAME	NW	D_GRID	181

MODEM_MSG	CACST,6,1,20180810203502.358414,18,1603,07,0283,0150,246,00,00,02,03,-1,-01,-01,6,3,1,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0D	INTERNAL_PRESSURE	9.83172
FINISH	0.1,1.022162	_24V_AH	14.79,18.885
SM_CCo	3211.39,0.00,2.745,0,690.6,765.3,615.8,591.04	_10V_AH	15.00,0.000
SM_GC	0.75,0.00,5.61,0.11,2.745,0.070,0.068,690.6,765.3,615.8,129.3,2298.1,0,0,0,30.36,15.82,15.89	FG_AHR_24Vo	0.431
SUPER	59,70,254,1,0,0	FG_AHR_10Vo	0.196
IRIDIUM_FIX	4742.17,-12225.08,100818,201130	MEM	1132908,28,46176,82
TCM_TEMP	198.66	DATA_FILE_SIZE	17096,425
XPDR_PINGS	18	CAP_FILE_SIZE	186204,0
RAFOS_CLK	1	SDSIZE	3918848,3908896
RAFOS	5,0,0.000000,0.000000,255,0,0,0,0,0,0,0,0,0,0,0	ERRORS	0,0,0,0,0,0,0,3
RAFOS_FIX	4716.296387,-12201.152344,100818,202001,1,2,104.01	SOUNDSPEED	1465.0
HUMID	57.40	CURRENT	0.322,197.9,1
TEMP	13.07	GPS	100818,211010,4743.097,-12225.353,3,0.9,19,15.7

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	592	2745	24051.56	nil	0	0	0.00
Pitch_motor	17	449	115.53	nil	0	0	0.00
Roll_motor	100	123	184.25	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	4	420	27.95	nil	0	0	0.00
GPS	12	15	2.89	nil	0	0	0.00
Core	1391	19	415.72	SciCon	3044	41	1914.11
LPSleep	1890	2	65.50	nil	0	0	0.00
Compass	649	5	48.74	nil	0	0	0.00
RAFOS	2215	48	1594.80
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
5.12	2	-146.63	-0.81	0.00	684.6	758.9	610.4	138.6	2304.3	0.00	0.00	0	138.83	133.21	0.00	0.00	0.005	0.000	0.000	3398.28	3399.00	3397.56	138.44	2303.69	0	0	0	15.90	30.00	30.00
139.15	551	-146.63	-0.81	-80.00	3397.5	3399.1	3395.9	138.4	2304.2	3.12	-2.30	13	164.66	8.54	8.12	5.01	0.007	0.449	0.046	3697.62	3707.06	3688.19	1419.81	641.50	0	0	0	15.89	15.71	15.86
371.67	1188	-146.63	-0.83	0.00	3696.6	3705.8	3687.4	1420.6	641.3	28.62	-9.20	60	379.01	0.00	0.00	5.09	0.000	0.000	0.038	3696.72	3705.56	3687.88	1401.38	2355.56	0	0	0	30.00	30.00	15.95
556.85	260	-146.63	-0.83	80.00	3697.0	3708.1	3685.9	1400.9	2357.5	49.44	-11.26	79	564.15	0.00	0.00	5.20	0.000	0.000	0.074	3697.56	3708.12	3687.00	1380.75	3948.81	0	0	0	30.00	30.00	15.94
646.10	1028	-146.63	-0.83	0.00	3697.8	3708.4	3687.2	1380.2	3949.4	61.28	-14.03	97	652.74	0.00	0.00	4.68	0.000	0.000	0.027	3697.81	3709.00	3686.62	1398.06	2329.50	0	0	0	30.00	30.00	16.00
831.78	516	-146.63	-0.83	-80.00	3697.6	3710.1	3685.2	1398.8	2328.1	82.99	-10.35	116	839.15	0.00	0.00	5.14	0.000	0.000	0.049	3696.72	3708.88	3684.56	1419.25	642.94	0	0	0	30.00	30.00	15.97
861.13	1060	-146.63	-0.83	0.00	3697.6	3710.1	3685.1	1420.1	642.9	85.62	-9.93	122	867.85	0.00	0.00	5.07	0.000	0.000	0.037	3699.12	3711.00	3687.25	1399.88	2358.50	0	0	0	30.00	30.00	15.99
1046.75	260	-146.63	-0.83	80.00	3697.4	3709.8	3685.1	1400.3	2358.4	105.27	-10.10	141	1054.33	0.00	0.00	5.16	0.000	0.000	0.074	3697.62	3708.75	3686.50	1379.88	3948.31	0	0	0	30.00	30.00	15.96
1166.12	1028	-146.63	-0.83	0.00	3697.7	3709.4	3686.0	1379.3	3950.5	120.31	-10.05	165	1172.76	0.00	0.00	4.64	0.000	0.000	0.024	3699.44	3710.75	3688.12	1397.75	2323.94	0	0	0	30.00	30.00	15.98
1352.05	260	-146.63	-0.83	80.00	3697.2	3709.7	3684.7	1397.9	2324.9	142.78	-11.49	184	1359.43	0.00	0.00	5.38	0.000	0.000	0.076	3697.06	3708.62	3685.50	1378.81	3948.88	0	0	0	30.00	30.00	16.01
1376.90	1028	-146.63	-0.83	0.00	3697.5	3709.6	3685.4	1379.4	3948.4	145.10	-10.84	189	1383.20	0.00	0.00	4.68	0.000	0.000	0.028	3697.59	3708.88	3686.31	1397.00	2328.81	0	0	0	30.00	30.00	16.03
1422	end dive: TARGET_DEPTH_EXCEEDED
state	1422	begin apogee
1423.11	3	0.00	-0.10	0.00	3697.8	3710.6	3685.1	1397.1	2416.9	150.31	-11.54	194	1537.46	111.39	1.69	0.10	1.227	0.194	0.124	3095.59	3162.44	3028.75	1625.00	2353.81	0	0	0	12.56	15.96	15.62
1538	end apogee: CONTROL_FINISHED_OK
state	1538	begin climb
1538.13	519	146.63	0.81	-80.00	3096.8	3162.7	3030.9	1624.1	2353.9	153.22	0.00	205	1665.65	117.46	1.24	5.17	1.188	0.095	0.046	2499.22	2575.00	2423.44	1939.62	691.25	0	0	0	12.57	15.66	15.47
1747.62	1158	146.63	0.79	0.00	2490.3	2557.6	2423.1	1940.4	690.9	138.94	10.49	247	1755.20	0.00	0.00	5.17	0.000	0.000	0.036	2494.19	2560.44	2427.94	1919.81	2407.12	0	0	0	30.00	30.00	15.69
1932.75	390	146.63	0.75	80.00	2489.0	2557.2	2420.8	1921.5	2408.5	118.87	11.09	266	1940.07	0.00	0.00	5.05	0.000	0.000	0.071	2489.81	2555.81	2423.81	1903.31	3945.38	0	0	0	30.00	30.00	15.82
2032.04	1158	146.63	0.70	0.00	2488.0	2552.6	2423.3	1905.1	3946.0	105.53	14.32	286	2038.68	0.00	0.00	4.55	0.000	0.000	0.026	2489.28	2554.00	2424.56	1922.50	2377.25	0	0	0	30.00	30.00	15.86
2217.72	647	146.63	0.66	-80.00	2486.8	2553.0	2420.5	1923.1	2376.0	83.67	10.93	305	2225.52	0.00	0.44	5.12	0.000	0.237	0.048	2484.25	2551.38	2417.12	1889.69	691.88	0	0	0	30.00	15.84	15.89
2292.87	1030	146.63	0.66	0.00	2485.4	2550.5	2420.3	1889.2	690.7	75.73	10.19	320	2300.27	0.00	0.00	5.07	0.000	0.000	0.035	2485.00	2550.44	2419.56	1876.56	2409.00	0	0	0	30.00	30.00	15.94
2477.75	548	150.42	0.67	-80.00	2485.5	2551.2	2419.8	1876.3	2408.6	57.18	9.82	339	2485.11	0.00	0.00	5.15	0.000	0.000	0.042	2485.25	2550.75	2419.75	1896.19	689.19	0	0	0	30.00	30.00	15.97
2622.35	1028	150.42	0.67	0.00	2485.0	2549.5	2420.5	1896.6	688.8	40.86	10.88	366	2628.92	0.00	0.00	5.03	0.000	0.000	0.034	2483.91	2545.06	2422.75	1878.25	2411.44	0	0	0	30.00	30.00	15.96
2807.55	295	236.02	0.93	80.00	2484.3	2549.3	2419.2	1878.9	2411.2	29.33	6.04	385	2884.28	69.45	0.28	5.14	1.098	0.074	0.077	2135.09	2216.31	2053.88	1960.06	3944.94	0	0	0	12.64	15.98	15.68
2961.77	1156	236.02	0.91	0.00	2130.4	2205.1	2055.7	1958.9	3946.9	10.93	14.29	416	2968.38	0.00	0.00	4.59	0.000	0.000	0.028	2130.19	2206.00	2054.38	1978.75	2378.88	0	0	0	30.00	30.00	15.80
3037	end climb: SURFACE_DEPTH_REACHED
state	3038	begin surface coast
3048	end surface coast: CONTROL_FINISHED_OK
state	3048	begin surface