Glider dive log

SODA Sep18 * SG230 * Dive index * Mission links * Dive 1 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 230 HEADING -1 C_ROLL_DIVE 2500 ALTIM_PING_DELTA 5

MISSION 2 ESCAPE_HEADING 0 C_ROLL_CLIMB 2200 ALTIM_FREQUENCY 13

DIVE 1 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

N_DIVES 1 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.047120001 ALTIM_SENSITIVITY 2

STOP_T 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_VALID 4

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 45 SM_CC 641.70477 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 2.3

D_ABORT 150 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 1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 W_ADJ_DBAND 0 LOGGERDEVICE1 7

T_DIVE 15 CAPUPLOAD 0 DBDW 0 LOGGERDEVICE2 -1

T_MISSION 35 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 32

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 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 0.0044273403

D_OFFGRID 1020 PITCH_MAX 3830 MAXI_24V 5 SEABIRD_T_H 0.00064357114

RELAUNCH 1 C_PITCH 1950 MAXI_10V 1.4 SEABIRD_T_I 2.694588e-05

APOGEE_PITCH -5 PITCH_DBAND 0.1 FG_AHR_10V 0.2595951 SEABIRD_T_J 3.3888193e-06

MAX_BUOY 150 PITCH_CNV 0.0031300001 FG_AHR_24V 0.54180562 SEABIRD_C_G -10.022948

GLIDE_SLOPE 30 PITCH_GAIN 40 PHONE_SUPPLY 2 SEABIRD_C_H 1.1522003

SPEED_FACTOR 1 PITCH_TIMEOUT 20 PRESSURE_YINT -163.12778 SEABIRD_C_I -0.0021515235

RHO 1.0275 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00010820606 SEABIRD_C_J 0.00023982119

MASS 72313 PITCH_ADJ_GAIN 0.0049999999 COMPASS_USE 4 SC_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 3 ALTIM_PING_FIT 883 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 425 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 0.0044273403

AH0_24V 575 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00064357114

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.694588e-05

ALTIM_FREQUENCY 13 D_TGT 45 N_NOSURFACE 0 SEABIRD_T_J 3.3888193e-06

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PHONE_DEVICE 32 SIM_W 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 641.70477

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_ADJ_DBAND 3 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_10V 0.2595951 PITCH_ADJ_GAIN 0.0049999999 STOP_T 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0.54180562 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 40 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAX 3830 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 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 T_BOOST 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_DIVE 15

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_SLOPE 0.00010820606 T_EPIRB 0

COMM_SEQ 0 ID 230 PRESSURE_YINT -163.12778 T_GPS 5

COMPASS2_DEVICE 55 INT_PRESSURE_SLOPE 1.9639999e-06 PROTOCOL 9 T_LOITER 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT 2.3 RAFOS_CORR_THRESH 60 T_MISSION 35

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 104 T_NO_W 120

C_PITCH 1950 LOGGERDEVICE1 7 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 T_TURN 225

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_VBD 3166 LOGGERDEVICE4 -1 RELAUNCH 1 UNCOM_BLEED 20

DBDW 0 LOGGERS 1 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 72313 ROLL_MAXERRORS 1 VBD_MAX 3960

DEVICE5 -1 MAXI_10V 1.4 ROLL_MIN 425 VBD_MAXERRORS 1

DEVICE6 -1 MAXI_24V 5 ROLL_TIMEOUT 15 VBD_MIN 550

DIVE 1 MAX_BUOY 150 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_ABORT 150 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 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_FINISH 0 MOTHERBOARD 6 SEABIRD_C_G -10.022948 XPDR_VALID 4

D_FLARE 3 NAV_MODE 2 SEABIRD_C_H 1.1522003

D_NO_BLEED 50 NOCOMM_ACTION 161 SEABIRD_C_I -0.0021515235

D_OFFGRID 1020 N_DIVES 1 SEABIRD_C_J 0.00023982119

Pre-dive calculations and measurements:

GPS1 200918,233330,7415.588,-14624.421,1,1.5,6,18.4 TGT_LATLONG 7425.620,-14756.580

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.77 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -70.7 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 200918,233542,7415.590,-14624.413,3,1.5,9,18.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 273.6,49447,-17.6,-10.000,-21.24

TGT_NAME NAV-SW D_GRID 45

Post-dive calculations and measurements:

FINISH 0.5,1.021106 _24V_AH 14.85,1.507

SM_CCo 2090.86,0.00,0.000,0,544.8,398.2,691.4,642.98 _10V_AH 15.00,0.000

SM_GC 2.22,0.00,9.06,1.12,0.000,0.074,0.080,544.8,398.2,691.4,145.3,2505.4,0,0,0,30.00,15.76,15.76 FG_AHR_24Vo 0.673

SUPER 51,70,254,1,0,0 FG_AHR_10Vo 0.284

IRIDIUM_FIX 7439.63,-15300.66,200918,232942 MEM 1165544,30,14000,57

TCM_TEMP 219.22 DATA_FILE_SIZE 10309,289

XPDR_PINGS 130 CAP_FILE_SIZE 162534,0

RAFOS_CLK 0 SDSIZE 3918848,3909600

RAFOS_FIX 7415.585938,-14624.137695,210918,000043,0,1,0.07 ERRORS 0,0,0,0,0,0,0,0

HUMID 55.78 SOUNDSPEED 1465.0

TEMP 2.33 CURRENT 0.056,350.2,1

INTERNAL_PRESSURE 9.23843 GPS 210918,001201,7415.649,-14625.280,32,0.8,33,18.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 712 1472 15568.74 nil 0 0 0.00

Pitch_motor 28 431 180.84 nil 0 0 0.00

Roll_motor 59 169 148.71 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 36 420 227.65 nil 0 0 0.00

GPS 18 15 4.07 nil 0 0 0.00

Core 1218 19 364.16 SciCon 2012 51 1563.17

LPSleep 947 2 32.82 nil 0 0 0.00

Compass 444 5 33.34 nil 0 0 0.00

RAFOS 2160 48 1555.20

Transponder 16 30 7.20

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

10.9 12.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

17.5 20.30 9000.00 0.0 0.00 0.00 20.30 0.0 1.12 1.00

43.6 47.90 47.90 0.0 1.07 1.00 47.90 0.0 1.06 1.00

42.3 5.70 9000.00 0.0 0.31 0.05 0.00 0.0 0.00 0.00

36.7 5.80 9000.00 0.0 4.25 0.41 5.80 0.0 -0.02 1.00

31.6 6.40 9000.00 0.0 -0.06 0.79 6.40 0.0 -0.12 1.00

26.4 6.00 9000.00 0.0 -0.02 0.18 6.00 20.4 0.08 1.00

21.2 5.80 9000.00 0.0 0.05 0.99 5.80 15.4 0.04 1.00

15.3 6.00 9000.00 0.0 0.01 0.12 6.00 0.0 -0.03 1.00

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

4.93 2 -145.99 -0.88 0.00 550.5 427.5 673.6 148.0 2512.1 0.00 0.00 0 77.59 72.03 0.00 0.00 0.005 0.000 0.000 1683.69 1540.88 1826.50 148.12 2511.38 0 0 0 14.82 30.00 30.00

77.86 551 -145.99 -0.88 -80.00 1683.3 1542.4 1824.3 148.2 2515.3 3.04 -2.00 7 155.67 54.36 9.02 5.82 0.005 0.431 0.106 3762.53 3669.19 3855.88 1688.00 798.94 0 0 0 13.46 14.55 14.78

182 end dive: TARGET_DEPTH_EXCEEDED

state 182 begin apogee

189.24 3 0.00 -0.12 0.00 3762.7 3670.0 3855.3 1670.4 2203.8 46.32 -59.51 27 299.64 105.84 2.97 0.11 1.472 0.291 0.170 3166.28 3018.38 3314.19 1905.69 2187.56 0 0 0 11.85 15.70 15.45

300 end apogee: CONTROL_FINISHED_OK

state 300 begin climb

300.33 263 145.99 0.88 80.00 3160.8 3012.2 3309.4 1906.1 2187.6 84.10 0.00 38 424.06 110.36 2.98 6.14 1.410 0.242 0.104 2563.34 2390.75 2735.94 2206.44 3898.62 0 0 0 12.05 15.46 14.70

645.55 1191 503.08 2.13 0.00 2554.4 2388.0 2720.8 2206.4 3899.2 104.58 -6.61 107 918.21 260.65 2.71 5.64 1.400 0.182 0.081 1111.34 934.56 1288.12 2628.25 2190.00 0 0 0 12.10 15.56 15.61

1091.10 423 549.47 2.31 80.00 1107.0 926.8 1287.3 2627.9 2189.8 70.19 7.84 178 1135.26 35.58 0.20 6.07 1.330 0.077 0.111 920.62 747.00 1094.25 2699.88 3899.38 0 0 0 12.12 15.61 15.39

1141.66 1190 579.46 2.42 0.00 921.5 750.2 1092.8 2700.3 3899.3 65.82 8.61 188 1174.48 24.47 0.00 5.84 1.283 0.000 0.088 802.12 635.88 968.38 2720.94 2192.75 0 0 0 12.12 30.00 15.40

1352.34 679 712.50 2.87 -80.00 797.8 630.1 965.6 2721.3 2193.2 57.81 3.81 212 1410.06 48.72 0.48 6.09 1.342 0.058 0.123 546.22 398.75 693.69 2901.56 498.88 0 0 0 12.16 15.64 15.40

1427.23 1031 712.50 2.87 0.00 546.2 399.9 692.4 2902.1 498.7 49.73 12.23 227 1444.33 0.00 0.12 5.68 0.000 0.234 0.080 545.88 399.50 692.25 2859.31 2216.38 0 0 0 30.00 15.41 14.44

1626.54 679 757.02 3.02 -80.00 545.6 398.8 692.4 2860.4 2216.4 30.89 7.93 247 1636.85 0.00 0.19 6.14 0.000 0.083 0.121 545.81 399.12 692.50 2943.81 498.56 0 0 0 30.00 15.68 15.58

1650.82 1190 795.01 3.15 0.00 545.6 399.4 691.8 2944.2 498.6 28.58 8.23 252 1658.49 0.00 0.00 5.62 0.000 0.000 0.080 545.56 398.88 692.25 2937.81 2204.12 0 0 0 30.00 30.00 15.62

1836.43 35 915.35 3.51 0.00 544.9 398.1 691.8 2937.2 2209.9 18.50 4.40 271 1837.96 0.00 0.52 0.00 0.000 0.090 0.000 545.12 398.25 692.00 3077.19 2211.75 0 0 0 30.00 15.74 30.00

2006 end climb: SURFACE_DEPTH_REACHED

state 2006 begin surface coast

2016 end surface coast: CONTROL_FINISHED_OK

state 2016 begin surface

ID	230	HEADING	-1	C_ROLL_DIVE	2500	ALTIM_PING_DELTA	5
MISSION	2	ESCAPE_HEADING	0	C_ROLL_CLIMB	2200	ALTIM_FREQUENCY	13
DIVE	1	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
N_DIVES	1	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.047120001	ALTIM_SENSITIVITY	2
STOP_T	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_VALID	4
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	45	SM_CC	641.70477	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	2.3
D_ABORT	150	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	1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	W_ADJ_DBAND	0	LOGGERDEVICE1	7
T_DIVE	15	CAPUPLOAD	0	DBDW	0	LOGGERDEVICE2	-1
T_MISSION	35	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	32
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	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	0.0044273403
D_OFFGRID	1020	PITCH_MAX	3830	MAXI_24V	5	SEABIRD_T_H	0.00064357114
RELAUNCH	1	C_PITCH	1950	MAXI_10V	1.4	SEABIRD_T_I	2.694588e-05
APOGEE_PITCH	-5	PITCH_DBAND	0.1	FG_AHR_10V	0.2595951	SEABIRD_T_J	3.3888193e-06
MAX_BUOY	150	PITCH_CNV	0.0031300001	FG_AHR_24V	0.54180562	SEABIRD_C_G	-10.022948
GLIDE_SLOPE	30	PITCH_GAIN	40	PHONE_SUPPLY	2	SEABIRD_C_H	1.1522003
SPEED_FACTOR	1	PITCH_TIMEOUT	20	PRESSURE_YINT	-163.12778	SEABIRD_C_I	-0.0021515235
RHO	1.0275	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00010820606	SEABIRD_C_J	0.00023982119
MASS	72313	PITCH_ADJ_GAIN	0.0049999999	COMPASS_USE	4	SC_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	3	ALTIM_PING_FIT	883	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	425	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	200918,233330,7415.588,-14624.421,1,1.5,6,18.4	TGT_LATLONG	7425.620,-14756.580
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.77	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-70.7	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	200918,233542,7415.590,-14624.413,3,1.5,9,18.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	273.6,49447,-17.6,-10.000,-21.24
TGT_NAME	NAV-SW	D_GRID	45

FINISH	0.5,1.021106	_24V_AH	14.85,1.507
SM_CCo	2090.86,0.00,0.000,0,544.8,398.2,691.4,642.98	_10V_AH	15.00,0.000
SM_GC	2.22,0.00,9.06,1.12,0.000,0.074,0.080,544.8,398.2,691.4,145.3,2505.4,0,0,0,30.00,15.76,15.76	FG_AHR_24Vo	0.673
SUPER	51,70,254,1,0,0	FG_AHR_10Vo	0.284
IRIDIUM_FIX	7439.63,-15300.66,200918,232942	MEM	1165544,30,14000,57
TCM_TEMP	219.22	DATA_FILE_SIZE	10309,289
XPDR_PINGS	130	CAP_FILE_SIZE	162534,0
RAFOS_CLK	0	SDSIZE	3918848,3909600
RAFOS_FIX	7415.585938,-14624.137695,210918,000043,0,1,0.07	ERRORS	0,0,0,0,0,0,0,0
HUMID	55.78	SOUNDSPEED	1465.0
TEMP	2.33	CURRENT	0.056,350.2,1
INTERNAL_PRESSURE	9.23843	GPS	210918,001201,7415.649,-14625.280,32,0.8,33,18.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	712	1472	15568.74	nil	0	0	0.00
Pitch_motor	28	431	180.84	nil	0	0	0.00
Roll_motor	59	169	148.71	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	36	420	227.65	nil	0	0	0.00
GPS	18	15	4.07	nil	0	0	0.00
Core	1218	19	364.16	SciCon	2012	51	1563.17
LPSleep	947	2	32.82	nil	0	0	0.00
Compass	444	5	33.34	nil	0	0	0.00
RAFOS	2160	48	1555.20
Transponder	16	30	7.20

		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
10.9	12.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
17.5	20.30	9000.00	0.0	0.00	0.00	20.30	0.0	1.12	1.00
43.6	47.90	47.90	0.0	1.07	1.00	47.90	0.0	1.06	1.00

42.3	5.70	9000.00	0.0	0.31	0.05	0.00	0.0	0.00	0.00
36.7	5.80	9000.00	0.0	4.25	0.41	5.80	0.0	-0.02	1.00
31.6	6.40	9000.00	0.0	-0.06	0.79	6.40	0.0	-0.12	1.00
26.4	6.00	9000.00	0.0	-0.02	0.18	6.00	20.4	0.08	1.00
21.2	5.80	9000.00	0.0	0.05	0.99	5.80	15.4	0.04	1.00
15.3	6.00	9000.00	0.0	0.01	0.12	6.00	0.0	-0.03	1.00

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
4.93	2	-145.99	-0.88	0.00	550.5	427.5	673.6	148.0	2512.1	0.00	0.00	0	77.59	72.03	0.00	0.00	0.005	0.000	0.000	1683.69	1540.88	1826.50	148.12	2511.38	0	0	0	14.82	30.00	30.00
77.86	551	-145.99	-0.88	-80.00	1683.3	1542.4	1824.3	148.2	2515.3	3.04	-2.00	7	155.67	54.36	9.02	5.82	0.005	0.431	0.106	3762.53	3669.19	3855.88	1688.00	798.94	0	0	0	13.46	14.55	14.78
182	end dive: TARGET_DEPTH_EXCEEDED
state	182	begin apogee
189.24	3	0.00	-0.12	0.00	3762.7	3670.0	3855.3	1670.4	2203.8	46.32	-59.51	27	299.64	105.84	2.97	0.11	1.472	0.291	0.170	3166.28	3018.38	3314.19	1905.69	2187.56	0	0	0	11.85	15.70	15.45
300	end apogee: CONTROL_FINISHED_OK
state	300	begin climb
300.33	263	145.99	0.88	80.00	3160.8	3012.2	3309.4	1906.1	2187.6	84.10	0.00	38	424.06	110.36	2.98	6.14	1.410	0.242	0.104	2563.34	2390.75	2735.94	2206.44	3898.62	0	0	0	12.05	15.46	14.70
645.55	1191	503.08	2.13	0.00	2554.4	2388.0	2720.8	2206.4	3899.2	104.58	-6.61	107	918.21	260.65	2.71	5.64	1.400	0.182	0.081	1111.34	934.56	1288.12	2628.25	2190.00	0	0	0	12.10	15.56	15.61
1091.10	423	549.47	2.31	80.00	1107.0	926.8	1287.3	2627.9	2189.8	70.19	7.84	178	1135.26	35.58	0.20	6.07	1.330	0.077	0.111	920.62	747.00	1094.25	2699.88	3899.38	0	0	0	12.12	15.61	15.39
1141.66	1190	579.46	2.42	0.00	921.5	750.2	1092.8	2700.3	3899.3	65.82	8.61	188	1174.48	24.47	0.00	5.84	1.283	0.000	0.088	802.12	635.88	968.38	2720.94	2192.75	0	0	0	12.12	30.00	15.40
1352.34	679	712.50	2.87	-80.00	797.8	630.1	965.6	2721.3	2193.2	57.81	3.81	212	1410.06	48.72	0.48	6.09	1.342	0.058	0.123	546.22	398.75	693.69	2901.56	498.88	0	0	0	12.16	15.64	15.40
1427.23	1031	712.50	2.87	0.00	546.2	399.9	692.4	2902.1	498.7	49.73	12.23	227	1444.33	0.00	0.12	5.68	0.000	0.234	0.080	545.88	399.50	692.25	2859.31	2216.38	0	0	0	30.00	15.41	14.44
1626.54	679	757.02	3.02	-80.00	545.6	398.8	692.4	2860.4	2216.4	30.89	7.93	247	1636.85	0.00	0.19	6.14	0.000	0.083	0.121	545.81	399.12	692.50	2943.81	498.56	0	0	0	30.00	15.68	15.58
1650.82	1190	795.01	3.15	0.00	545.6	399.4	691.8	2944.2	498.6	28.58	8.23	252	1658.49	0.00	0.00	5.62	0.000	0.000	0.080	545.56	398.88	692.25	2937.81	2204.12	0	0	0	30.00	30.00	15.62
1836.43	35	915.35	3.51	0.00	544.9	398.1	691.8	2937.2	2209.9	18.50	4.40	271	1837.96	0.00	0.52	0.00	0.000	0.090	0.000	545.12	398.25	692.00	3077.19	2211.75	0	0	0	30.00	15.74	30.00
2006	end climb: SURFACE_DEPTH_REACHED
state	2006	begin surface coast
2016	end surface coast: CONTROL_FINISHED_OK
state	2016	begin surface