Glider dive log

SODA Sep18 * SG229 * Dive index * Mission links * Dive 98 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 229 HEADING -1 C_ROLL_DIVE 2250 ALTIM_PING_DELTA 10

MISSION 2 ESCAPE_HEADING 0 C_ROLL_CLIMB 1900 ALTIM_FREQUENCY 13

DIVE 98 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.047120001 ALTIM_SENSITIVITY 3

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 180 SM_CC 641.70477 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -2.5

D_ABORT 1020 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 3166 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 0

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 W_ADJ_DBAND 2 LOGGERDEVICE1 7

T_DIVE 60 CAPUPLOAD 0 DBDW 0 LOGGERDEVICE2 -1

T_MISSION 85 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 8 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 32

T_EPIRB 0 RAFOS_CORR_THRESH 60 AH0_24V 575 RAFOS_DEVICE 104

USE_BATHY 0 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 1020 PITCH_MAX 3840 MAXI_24V 5 SEABIRD_T_H 0.00066085911

RELAUNCH 1 C_PITCH 1950 MAXI_10V 1.4 SEABIRD_T_I 2.7456792e-05

APOGEE_PITCH -5 PITCH_DBAND 0.1 FG_AHR_10V 5.5322108 SEABIRD_T_J 3.4295531e-06

MAX_BUOY 150 PITCH_CNV 0.0031300001 FG_AHR_24V 23.072498 SEABIRD_C_G -9.9373035

GLIDE_SLOPE 30 PITCH_GAIN 48 PHONE_SUPPLY 2 SEABIRD_C_H 1.1186405

SPEED_FACTOR 1 PITCH_TIMEOUT 20 PRESSURE_YINT -162.53629 SEABIRD_C_I -0.003041792

RHO 1.0275 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00010777653 SEABIRD_C_J 0.00029373623

MASS 72243 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 ALTIM_PING_FIT 0 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_W_GAIN 1.5 ALTIM_TOP_PING_RANGE 20 SC_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_W_DBAND 0.5 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 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 0.0044283443

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 180 N_NOSURFACE 0 SEABIRD_T_J 3.4295531e-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 641.70477

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_10V 5.5322108 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 23.072498 PITCH_CNV 0.0031300001 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 2 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 20 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 32 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 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 0.5 T_BOOST 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_W_GAIN 1.5 T_DIVE 60

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_SLOPE 0.00010777653 T_EPIRB 0

COMM_SEQ 0 ID 229 PRESSURE_YINT -162.53629 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 85

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 104 T_NO_W 120

C_PITCH 1950 LOGGERDEVICE1 7 RAFOS_HIT_WINDOW 3600 T_RSLEEP 8

C_ROLL_CLIMB 1900 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 T_TURN 225

C_ROLL_DIVE 2250 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_VBD 3166 LOGGERDEVICE4 -1 RELAUNCH 1 UNCOM_BLEED 20

DBDW 0 LOGGERS 0 RHO 1.0275 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 USE_BATHY 0

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 72243 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 98 MAX_BUOY 150 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_ABORT 1020 MINV_10V 11 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_BOOST 4 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 -9.9373035 XPDR_VALID 5

D_FLARE 3 NAV_MODE 2 SEABIRD_C_H 1.1186405

D_NO_BLEED 50 NOCOMM_ACTION 161 SEABIRD_C_I -0.003041792

D_OFFGRID 1020 N_DIVES 0 SEABIRD_C_J 0.00029373623

Pre-dive calculations and measurements:

GPS1 091018,145634,7433.242,-14615.892,2,0.9,3,0.0 TGT_LATLONG 7432.650,-14526.500

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.77 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -74.5 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 091018,145910,7433.229,-14615.859,2,0.9,4,0.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 137.5,24385,-17.6,-10.000,-21.24

TGT_NAME SG227 D_GRID 180

Post-dive calculations and measurements:

FINISH 0.0,1.028479 _24V_AH 14.52,46.207

SM_CCo 3375.63,0.00,0.000,0,545.2,623.8,466.6,642.88 _10V_AH 14.92,0.000

SM_GC 4.88,0.00,8.20,1.12,0.000,0.070,0.018,545.2,623.8,466.6,134.2,2271.8,0,0,0,30.00,15.55,15.62 FG_AHR_24Vo 23.245

SUPER 59,70,254,1,0,0 FG_AHR_10Vo 5.537

IRIDIUM_FIX 7435.27,-14625.33,091018,144726 MEM 1165528,35,13936,56

TCM_TEMP 177.22 DATA_FILE_SIZE 17060,458

XPDR_PINGS 4 CAP_FILE_SIZE 171133,0

ALTIM_TOP_PING 19.3,20.8 SDSIZE 3918848,3887584

RAFOS_CLK -4 ERRORS 0,0,0,0,0,0,0,2

RAFOS_FIX 7432.920410,-14616.020508,091018,151507,0,1,0.18 SOUNDSPEED 1465.0

HUMID 53.77 CURRENT 0.306,330.6,1

TEMP -0.82 GPS 091018,155618,7433.410,-14616.534,7,0.9,8,0.0

INTERNAL_PRESSURE 9.13539

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 801 1665 19381.12 nil 0 0 0.00

Pitch_motor 22 389 127.96 nil 0 0 0.00

Roll_motor 65 113 107.80 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 7.62 nil 0 0 0.00

GPS 13 15 3.01 nil 0 0 0.00

Core 1397 19 415.41 SciCon 0 0 0.00

LPSleep 2038 2 70.26 nil 0 0 0.00

Compass 494 5 36.92 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 1 30 0.45

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

1 end surface: CONTROL_FINISHED_OK

state 1 begin dive

5.26 2 -145.99 -0.81 0.00 546.1 601.4 490.8 145.6 2301.2 0.00 0.00 0 53.87 48.07 0.00 0.00 0.005 0.000 0.000 1377.78 1399.31 1356.25 145.75 2298.81 0 0 0 15.73 30.00 30.00

57.23 295 -145.99 -0.81 80.00 1378.6 1401.1 1356.1 145.9 2298.8 3.57 -4.48 5 132.97 57.90 8.69 5.37 0.005 0.389 0.058 3763.00 3780.00 3746.00 1670.12 3951.12 0 0 0 15.74 15.61 15.71

357.57 1028 -145.99 -0.81 0.00 3763.8 3782.4 3745.1 1670.7 3949.1 84.81 -17.73 65 365.56 0.00 0.00 5.12 0.000 0.000 0.026 3763.34 3784.19 3742.50 1689.12 2232.19 0 0 0 30.00 30.00 15.86

547.44 260 -145.99 -0.81 80.00 3763.4 3784.9 3741.9 1689.7 2233.1 123.89 -20.70 85 555.60 0.00 0.00 5.54 0.000 0.000 0.056 3763.19 3784.38 3742.00 1669.50 3952.38 0 0 0 30.00 30.00 15.85

592.51 1028 -145.99 -0.81 0.00 3762.8 3784.7 3740.9 1669.5 3951.1 133.07 -19.70 94 600.59 0.00 0.00 5.12 0.000 0.000 0.025 3762.38 3784.38 3740.38 1688.00 2232.06 0 0 0 30.00 30.00 15.87

787.57 260 -145.99 -0.81 80.00 3763.6 3785.9 3741.3 1687.4 2231.8 172.37 -20.55 115 795.63 0.00 0.00 5.51 0.000 0.000 0.056 3764.69 3786.38 3743.00 1667.94 3949.12 0 0 0 30.00 30.00 15.89

824 end dive: TARGET_DEPTH_EXCEEDED

state 824 begin apogee

836.02 3 0.00 -0.10 0.00 3763.9 3786.5 3741.3 1687.6 1886.2 180.35 -19.55 123 955.48 116.86 1.63 0.10 1.666 0.186 0.114 3165.97 3245.00 3086.94 1913.44 1952.69 0 0 0 12.68 15.81 15.28

955 end apogee: CONTROL_FINISHED_OK

state 955 begin climb

958.84 519 145.99 0.81 -80.00 3161.1 3239.2 3083.0 1914.1 1976.4 192.17 0.00 135 1090.62 122.18 1.88 5.59 1.578 0.152 0.063 2566.41 2658.06 2474.75 2226.44 333.62 0 0 0 12.40 15.27 15.00

1275.06 1063 449.87 1.72 0.00 2558.1 2638.5 2477.8 2226.2 333.5 205.44 -4.14 189 1538.45 255.15 1.12 4.59 1.566 0.077 0.012 1330.72 1425.88 1235.56 2507.19 1962.38 0 0 0 12.40 15.35 15.41

1715.07 518 449.87 1.72 -80.00 1323.2 1416.9 1229.4 2506.6 1963.0 150.27 18.87 259 1723.13 0.00 0.00 5.53 0.000 0.000 0.064 1322.84 1416.56 1229.12 2528.38 333.56 0 0 0 30.00 30.00 15.26

1865.10 1030 449.87 1.72 0.00 1320.9 1407.2 1234.5 2528.1 333.4 119.44 19.96 289 1872.24 0.00 0.00 4.69 0.000 0.000 0.015 1321.00 1407.06 1234.94 2509.75 1926.62 0 0 0 30.00 30.00 15.39

2055.21 2 449.87 1.72 0.00 1319.6 1406.9 1232.2 2509.4 1936.9 91.02 13.05 309 2056.55 0.00 0.00 0.00 0.000 0.000 0.000 1319.28 1406.81 1231.75 2509.50 1936.44 0 0 0 30.00 30.00 30.00

2235.40 66 449.87 1.74 0.00 1319.4 1407.6 1231.2 2509.4 1936.8 72.38 8.75 327 2236.74 0.00 0.00 0.00 0.000 0.000 0.000 1318.91 1406.69 1231.12 2509.31 1937.12 0 0 0 30.00 30.00 30.00

2415.34 295 557.08 2.06 80.00 1319.4 1407.6 1231.2 2509.4 1937.2 61.02 5.01 345 2534.78 110.71 0.37 5.39 1.430 0.076 0.043 894.16 985.00 803.31 2608.88 3606.69 0 0 0 12.49 15.65 15.19

2580.42 1063 613.25 2.23 0.00 892.7 979.9 805.5 2609.0 3607.7 50.20 7.39 378 2648.70 59.68 0.12 5.34 1.374 0.098 0.027 666.28 752.62 579.94 2667.38 1883.31 0 0 0 12.40 15.31 15.36

2835.45 35 714.65 2.53 0.00 659.7 744.1 575.2 2669.8 1882.8 31.83 5.28 411 2868.01 30.82 0.32 0.00 1.345 0.076 0.000 548.94 630.56 467.31 2763.94 1883.06 0 0 0 12.46 15.40 30.00

3045.36 35 805.37 2.80 0.00 546.2 625.4 466.9 2763.9 1883.2 20.85 5.78 432 3046.85 0.00 0.31 0.00 0.000 0.084 0.000 546.22 625.31 467.12 2850.00 1883.94 0 0 0 30.00 15.47 30.00

3225.38 66 805.37 2.82 0.00 545.7 624.4 466.9 2849.4 1883.6 5.67 9.07 450 3226.73 0.00 0.00 0.00 0.000 0.000 0.000 545.56 624.19 466.94 2850.69 1883.25 0 0 0 30.00 30.00 30.00

3282 end climb: SURFACE_DEPTH_REACHED

state 3282 begin surface coast

3302 end surface coast: CONTROL_FINISHED_OK

state 3302 begin surface

ID	229	HEADING	-1	C_ROLL_DIVE	2250	ALTIM_PING_DELTA	10
MISSION	2	ESCAPE_HEADING	0	C_ROLL_CLIMB	1900	ALTIM_FREQUENCY	13
DIVE	98	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.047120001	ALTIM_SENSITIVITY	3
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	180	SM_CC	641.70477	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-2.5
D_ABORT	1020	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	3166	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	0
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	W_ADJ_DBAND	2	LOGGERDEVICE1	7
T_DIVE	60	CAPUPLOAD	0	DBDW	0	LOGGERDEVICE2	-1
T_MISSION	85	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	8	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	32
T_EPIRB	0	RAFOS_CORR_THRESH	60	AH0_24V	575	RAFOS_DEVICE	104
USE_BATHY	0	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	1020	PITCH_MAX	3840	MAXI_24V	5	SEABIRD_T_H	0.00066085911
RELAUNCH	1	C_PITCH	1950	MAXI_10V	1.4	SEABIRD_T_I	2.7456792e-05
APOGEE_PITCH	-5	PITCH_DBAND	0.1	FG_AHR_10V	5.5322108	SEABIRD_T_J	3.4295531e-06
MAX_BUOY	150	PITCH_CNV	0.0031300001	FG_AHR_24V	23.072498	SEABIRD_C_G	-9.9373035
GLIDE_SLOPE	30	PITCH_GAIN	48	PHONE_SUPPLY	2	SEABIRD_C_H	1.1186405
SPEED_FACTOR	1	PITCH_TIMEOUT	20	PRESSURE_YINT	-162.53629	SEABIRD_C_I	-0.003041792
RHO	1.0275	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00010777653	SEABIRD_C_J	0.00029373623
MASS	72243	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	ALTIM_PING_FIT	0	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_W_GAIN	1.5	ALTIM_TOP_PING_RANGE	20	SC_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_W_DBAND	0.5	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	2
HD_C	1.6e-05	ROLL_DEG	80	ALTIM_PING_DEPTH	0

GPS1	091018,145634,7433.242,-14615.892,2,0.9,3,0.0	TGT_LATLONG	7432.650,-14526.500
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.77	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-74.5	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	091018,145910,7433.229,-14615.859,2,0.9,4,0.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	137.5,24385,-17.6,-10.000,-21.24
TGT_NAME	SG227	D_GRID	180

FINISH	0.0,1.028479	_24V_AH	14.52,46.207
SM_CCo	3375.63,0.00,0.000,0,545.2,623.8,466.6,642.88	_10V_AH	14.92,0.000
SM_GC	4.88,0.00,8.20,1.12,0.000,0.070,0.018,545.2,623.8,466.6,134.2,2271.8,0,0,0,30.00,15.55,15.62	FG_AHR_24Vo	23.245
SUPER	59,70,254,1,0,0	FG_AHR_10Vo	5.537
IRIDIUM_FIX	7435.27,-14625.33,091018,144726	MEM	1165528,35,13936,56
TCM_TEMP	177.22	DATA_FILE_SIZE	17060,458
XPDR_PINGS	4	CAP_FILE_SIZE	171133,0
ALTIM_TOP_PING	19.3,20.8	SDSIZE	3918848,3887584
RAFOS_CLK	-4	ERRORS	0,0,0,0,0,0,0,2
RAFOS_FIX	7432.920410,-14616.020508,091018,151507,0,1,0.18	SOUNDSPEED	1465.0
HUMID	53.77	CURRENT	0.306,330.6,1
TEMP	-0.82	GPS	091018,155618,7433.410,-14616.534,7,0.9,8,0.0
INTERNAL_PRESSURE	9.13539

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	801	1665	19381.12	nil	0	0	0.00
Pitch_motor	22	389	127.96	nil	0	0	0.00
Roll_motor	65	113	107.80	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	7.62	nil	0	0	0.00
GPS	13	15	3.01	nil	0	0	0.00
Core	1397	19	415.41	SciCon	0	0	0.00
LPSleep	2038	2	70.26	nil	0	0	0.00
Compass	494	5	36.92	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	1	30	0.45

		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
1	end surface: CONTROL_FINISHED_OK
state	1	begin dive
5.26	2	-145.99	-0.81	0.00	546.1	601.4	490.8	145.6	2301.2	0.00	0.00	0	53.87	48.07	0.00	0.00	0.005	0.000	0.000	1377.78	1399.31	1356.25	145.75	2298.81	0	0	0	15.73	30.00	30.00
57.23	295	-145.99	-0.81	80.00	1378.6	1401.1	1356.1	145.9	2298.8	3.57	-4.48	5	132.97	57.90	8.69	5.37	0.005	0.389	0.058	3763.00	3780.00	3746.00	1670.12	3951.12	0	0	0	15.74	15.61	15.71
357.57	1028	-145.99	-0.81	0.00	3763.8	3782.4	3745.1	1670.7	3949.1	84.81	-17.73	65	365.56	0.00	0.00	5.12	0.000	0.000	0.026	3763.34	3784.19	3742.50	1689.12	2232.19	0	0	0	30.00	30.00	15.86
547.44	260	-145.99	-0.81	80.00	3763.4	3784.9	3741.9	1689.7	2233.1	123.89	-20.70	85	555.60	0.00	0.00	5.54	0.000	0.000	0.056	3763.19	3784.38	3742.00	1669.50	3952.38	0	0	0	30.00	30.00	15.85
592.51	1028	-145.99	-0.81	0.00	3762.8	3784.7	3740.9	1669.5	3951.1	133.07	-19.70	94	600.59	0.00	0.00	5.12	0.000	0.000	0.025	3762.38	3784.38	3740.38	1688.00	2232.06	0	0	0	30.00	30.00	15.87
787.57	260	-145.99	-0.81	80.00	3763.6	3785.9	3741.3	1687.4	2231.8	172.37	-20.55	115	795.63	0.00	0.00	5.51	0.000	0.000	0.056	3764.69	3786.38	3743.00	1667.94	3949.12	0	0	0	30.00	30.00	15.89
824	end dive: TARGET_DEPTH_EXCEEDED
state	824	begin apogee
836.02	3	0.00	-0.10	0.00	3763.9	3786.5	3741.3	1687.6	1886.2	180.35	-19.55	123	955.48	116.86	1.63	0.10	1.666	0.186	0.114	3165.97	3245.00	3086.94	1913.44	1952.69	0	0	0	12.68	15.81	15.28
955	end apogee: CONTROL_FINISHED_OK
state	955	begin climb
958.84	519	145.99	0.81	-80.00	3161.1	3239.2	3083.0	1914.1	1976.4	192.17	0.00	135	1090.62	122.18	1.88	5.59	1.578	0.152	0.063	2566.41	2658.06	2474.75	2226.44	333.62	0	0	0	12.40	15.27	15.00
1275.06	1063	449.87	1.72	0.00	2558.1	2638.5	2477.8	2226.2	333.5	205.44	-4.14	189	1538.45	255.15	1.12	4.59	1.566	0.077	0.012	1330.72	1425.88	1235.56	2507.19	1962.38	0	0	0	12.40	15.35	15.41
1715.07	518	449.87	1.72	-80.00	1323.2	1416.9	1229.4	2506.6	1963.0	150.27	18.87	259	1723.13	0.00	0.00	5.53	0.000	0.000	0.064	1322.84	1416.56	1229.12	2528.38	333.56	0	0	0	30.00	30.00	15.26
1865.10	1030	449.87	1.72	0.00	1320.9	1407.2	1234.5	2528.1	333.4	119.44	19.96	289	1872.24	0.00	0.00	4.69	0.000	0.000	0.015	1321.00	1407.06	1234.94	2509.75	1926.62	0	0	0	30.00	30.00	15.39
2055.21	2	449.87	1.72	0.00	1319.6	1406.9	1232.2	2509.4	1936.9	91.02	13.05	309	2056.55	0.00	0.00	0.00	0.000	0.000	0.000	1319.28	1406.81	1231.75	2509.50	1936.44	0	0	0	30.00	30.00	30.00
2235.40	66	449.87	1.74	0.00	1319.4	1407.6	1231.2	2509.4	1936.8	72.38	8.75	327	2236.74	0.00	0.00	0.00	0.000	0.000	0.000	1318.91	1406.69	1231.12	2509.31	1937.12	0	0	0	30.00	30.00	30.00
2415.34	295	557.08	2.06	80.00	1319.4	1407.6	1231.2	2509.4	1937.2	61.02	5.01	345	2534.78	110.71	0.37	5.39	1.430	0.076	0.043	894.16	985.00	803.31	2608.88	3606.69	0	0	0	12.49	15.65	15.19
2580.42	1063	613.25	2.23	0.00	892.7	979.9	805.5	2609.0	3607.7	50.20	7.39	378	2648.70	59.68	0.12	5.34	1.374	0.098	0.027	666.28	752.62	579.94	2667.38	1883.31	0	0	0	12.40	15.31	15.36
2835.45	35	714.65	2.53	0.00	659.7	744.1	575.2	2669.8	1882.8	31.83	5.28	411	2868.01	30.82	0.32	0.00	1.345	0.076	0.000	548.94	630.56	467.31	2763.94	1883.06	0	0	0	12.46	15.40	30.00
3045.36	35	805.37	2.80	0.00	546.2	625.4	466.9	2763.9	1883.2	20.85	5.78	432	3046.85	0.00	0.31	0.00	0.000	0.084	0.000	546.22	625.31	467.12	2850.00	1883.94	0	0	0	30.00	15.47	30.00
3225.38	66	805.37	2.82	0.00	545.7	624.4	466.9	2849.4	1883.6	5.67	9.07	450	3226.73	0.00	0.00	0.00	0.000	0.000	0.000	545.56	624.19	466.94	2850.69	1883.25	0	0	0	30.00	30.00	30.00
3282	end climb: SURFACE_DEPTH_REACHED
state	3282	begin surface coast
3302	end surface coast: CONTROL_FINISHED_OK
state	3302	begin surface