Glider dive log

SODA Sep18 * SG229 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 229 HEADING -1 C_ROLL_DIVE 3800 ALTIM_PING_DELTA 10

MISSION 2 ESCAPE_HEADING 0 C_ROLL_CLIMB 3800 ALTIM_FREQUENCY 13

DIVE 14 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 180 ALTIM_PULSE 3

N_DIVES 0 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 631.70477 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 1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 W_ADJ_DBAND 2 LOGGERDEVICE1 7

T_DIVE 50 CAPUPLOAD 0 DBDW 0 LOGGERDEVICE2 -1

T_MISSION 70 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 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 1925 MAXI_10V 1.4 SEABIRD_T_I 2.7456792e-05

APOGEE_PITCH -5 PITCH_DBAND 0.1 FG_AHR_10V 0.76064193 SEABIRD_T_J 3.4295531e-06

MAX_BUOY 70 PITCH_CNV 0.0031300001 FG_AHR_24V 3.166703 SEABIRD_C_G -9.9373035

GLIDE_SLOPE 50 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 883 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_W_GAIN 1.5 ALTIM_TOP_PING_RANGE 0 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 1

HD_C 1.6e-05 ROLL_DEG 0 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 10 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 631.70477

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_10V 0.76064193 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 3.166703 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 50 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 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 180 PITCH_W_GAIN 1.5 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 -162.53629 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 70

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 104 T_NO_W 120

C_PITCH 1925 LOGGERDEVICE1 7 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

C_ROLL_CLIMB 3800 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 T_TURN 225

C_ROLL_DIVE 3800 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 0 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 14 MAX_BUOY 70 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 210918,205553,7420.245,-14653.403,2,0.8,4,18.2 TGT_LATLONG 7425.620,-14756.580

_CALLS 5 TGT_RADIUS 2000.000

_SM_DEPTHo 1.82 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -78.7 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 210918,210742,7420.271,-14653.448,2,0.8,4,18.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.084,0.179 MHEAD_RNG_PITCHd_Wd 299.2,32916,-26.3,-10.000,-29.13

TGT_NAME NAV-SW D_GRID 150

Post-dive calculations and measurements:

FINISH -0.0,1.021228 INTERNAL_PRESSURE 9.13559

SM_CCo 3828.37,0.00,0.000,0,547.4,604.1,490.8,642.33 _24V_AH 14.69,6.777

SM_GC 1.65,0.00,8.44,0.05,0.000,0.080,0.091,547.4,604.1,490.8,145.1,3772.9,0,0,0,30.00,15.49,15.54 _10V_AH 14.86,0.000

SUPER 59,70,254,1,0,0 FG_AHR_24Vo 3.317

IRIDIUM_FIX 7422.00,-14656.23,210918,210223 FG_AHR_10Vo 0.790

TCM_TEMP 177.60 MEM 1165676,26,13928,58

XPDR_PINGS 0 DATA_FILE_SIZE 13734,375

ALTIM_TOP_PING 49.4,50.9 CAP_FILE_SIZE 122968,0

SC_FREEKB 3902240 SDSIZE 3918848,3906976

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

RAFOS_FIX 7420.555176,-14653.362305,210918,222254,0,1,0.14 SOUNDSPEED 1440.9

HUMID 54.20 CURRENT 0.078,173.5,1

TEMP -0.61 GPS 210918,221250,7420.393,-14653.622,9,1.0,11,18.2

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 694 1624 16576.81 nil 0 0 0.00

Pitch_motor 23 436 150.85 nil 0 0 0.00

Roll_motor 10 135 20.47 nil 0 0 0.00

Iridium 395 201 1168.37 nil 0 0 0.00

Transponder_ping 7 420 43.19 nil 0 0 0.00

GPS 13 15 3.03 nil 0 0 0.00

Core 1881 19 557.03 SciCon 3768 36 2053.13

LPSleep 2681 2 92.04 nil 0 0 0.00

Compass 647 5 48.12 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 28 30 12.48

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

11.1 7.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

24.0 27.30 9000.00 0.0 0.00 0.00 27.30 0.0 1.54 1.00

38.3 41.90 9000.00 0.0 1.27 0.99 41.90 0.0 1.02 1.00

48.9 53.80 53.50 0.0 1.06 1.00 53.80 0.0 1.12 1.00

60.2 14.60 9000.00 0.0 -1.27 0.48 14.60 74.8 -3.47 1.00

70.7 14.70 9000.00 0.0 -1.81 0.77 14.70 0.0 0.01 1.00

102.3 43.60 9000.00 0.0 0.74 0.94 43.60 0.0 0.91 1.00

152.8 9.30 9000.00 0.0 -0.12 0.08 9.30 162.1 -0.68 1.00

111.0 116.20 9000.00 0.0 -1.27 0.40 116.20 0.0 -2.56 1.00

100.5 24.00 9000.00 0.0 -0.93 0.20 24.00 76.5 8.78 1.00

80.0 84.20 9000.00 0.0 0.49 0.03 84.20 0.0 -2.94 1.00

69.9 76.40 9000.00 0.0 -1.89 0.81 76.40 -6.5 0.77 1.00

59.7 62.20 63.30 -3.6 1.09 0.97 62.20 -2.5 1.39 1.00

49.4 51.50 50.90 -1.5 1.22 0.99 51.50 -2.1 1.04 1.00

39.0 34.90 9000.00 0.0 1.32 0.98 34.90 4.1 1.60 1.00

29.0 7.80 9000.00 0.0 2.14 0.98 7.80 21.2 2.71 1.00

18.8 10.80 9000.00 0.0 1.19 0.66 10.80 0.0 -0.29 1.00

8.4 8.20 9000.00 0.0 -0.02 0.01 8.20 0.2 0.25 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

5.24 2 -68.13 -0.75 0.00 543.4 594.6 492.2 89.1 3807.2 0.00 0.00 0 57.33 51.44 0.00 0.00 0.005 0.000 0.000 1410.09 1423.31 1396.88 89.06 3807.56 0 0 0 15.59 30.00 30.00

57.83 35 -68.13 -0.75 0.00 1410.2 1422.4 1398.0 89.2 3807.2 4.07 -5.85 5 122.25 48.99 9.48 0.00 0.005 0.437 0.000 3443.91 3453.94 3433.88 1681.56 3806.75 0 0 0 14.28 15.42 30.00

299.44 0 -68.13 -0.75 0.00 3446.5 3460.9 3432.1 1681.7 3806.8 80.95 -25.84 29 300.78 0.00 0.00 0.00 0.000 0.000 0.000 3445.25 3459.88 3430.62 1681.31 3807.69 0 0 0 30.00 30.00 30.00

476.33 0 -68.13 -0.75 0.00 3446.1 3460.9 3431.2 1681.5 3808.8 118.02 -19.40 47 477.67 0.00 0.00 0.00 0.000 0.000 0.000 3446.72 3461.94 3431.50 1681.38 3807.19 0 0 0 30.00 30.00 30.00

656 end dive: TARGET_DEPTH_EXCEEDED

state 656 begin apogee

657.82 3 0.00 -0.10 0.00 3445.8 3461.4 3430.2 1682.2 3761.0 151.04 -17.33 65 719.02 58.15 1.77 0.20 1.624 0.217 0.136 3168.31 3219.88 3116.75 1889.25 3804.50 0 0 0 12.72 15.67 15.39

720 end apogee: CONTROL_FINISHED_OK

state 720 begin climb

719.83 3 68.13 0.75 0.00 3163.8 3214.6 3112.9 1888.6 3803.1 156.87 0.00 71 780.96 58.21 1.72 0.00 1.551 0.152 0.000 2886.28 2952.81 2819.75 2164.31 3803.56 0 0 0 12.49 15.40 30.00

956.48 35 225.01 1.22 0.00 2876.0 2940.2 2811.8 2163.9 3804.2 169.01 -5.50 95 1088.80 128.88 0.55 0.00 1.570 0.067 0.000 2249.66 2322.81 2176.50 2319.44 3803.88 0 0 0 12.42 15.45 30.00

1266.62 66 225.01 1.25 0.00 2234.0 2304.9 2163.1 2319.8 3803.8 160.98 8.20 126 1267.95 0.00 0.00 0.00 0.000 0.000 0.000 2233.06 2304.12 2162.00 2320.50 3803.56 0 0 0 30.00 30.00 30.00

1446.47 35 254.10 1.34 0.00 2231.7 2301.8 2161.6 2319.9 3804.4 146.89 7.13 144 1472.03 24.01 0.12 0.00 1.500 0.129 0.000 2129.84 2199.31 2060.38 2356.19 3804.00 0 0 0 12.52 15.46 30.00

1646.54 66 254.10 1.36 0.00 2121.9 2191.5 2052.2 2356.4 3803.3 129.32 8.14 164 1647.88 0.00 0.00 0.00 0.000 0.000 0.000 2120.88 2191.06 2050.69 2356.25 3803.94 0 0 0 30.00 30.00 30.00

1826.54 35 299.91 1.50 0.00 2120.5 2190.3 2050.7 2356.4 3803.4 117.51 5.47 182 1867.38 39.02 0.18 0.00 1.523 0.098 0.000 1942.50 2015.25 1869.75 2405.69 3803.56 0 0 0 12.54 15.57 30.00

2046.56 34 330.25 1.59 0.00 1931.5 2004.7 1858.2 2405.6 3805.4 101.14 7.00 204 2074.14 26.12 0.00 0.00 1.481 0.000 0.000 1816.94 1889.81 1744.06 2403.75 3803.44 0 0 0 12.45 30.00 30.00

2246.84 35 365.67 1.70 0.00 1810.9 1883.8 1738.0 2406.1 3803.9 87.49 6.50 224 2279.17 30.45 0.24 0.00 1.476 0.102 0.000 1674.25 1744.19 1604.31 2473.69 3803.62 0 0 0 12.50 15.49 30.00

2456.63 35 423.04 1.87 0.00 1665.2 1734.7 1595.8 2474.2 3803.6 75.34 4.33 245 2504.47 46.71 0.18 0.00 1.471 0.098 0.000 1442.66 1515.62 1369.69 2524.88 3803.56 0 0 0 12.62 15.49 30.00

2676.78 35 482.89 2.05 0.00 1432.6 1505.6 1359.6 2524.9 3803.2 65.02 4.09 267 2727.61 48.06 0.21 0.00 1.449 0.103 0.000 1196.25 1268.31 1124.19 2585.75 3803.25 0 0 0 12.58 15.43 30.00

2906.78 35 536.28 2.21 0.00 1190.5 1262.3 1118.7 2586.5 3805.0 53.58 4.73 290 2951.59 43.40 0.17 0.00 1.428 0.097 0.000 977.97 1049.44 906.50 2632.56 3804.62 0 0 0 12.57 15.43 30.00

3126.77 35 586.56 2.36 0.00 973.2 1044.0 902.5 2633.1 3803.4 40.73 5.03 312 3169.67 41.78 0.17 0.00 1.408 0.097 0.000 774.00 845.06 702.94 2684.94 3803.50 0 0 0 12.50 15.42 30.00

3346.77 35 638.23 2.52 0.00 770.3 840.0 700.6 2685.9 3803.5 27.44 4.89 334 3392.64 44.51 0.15 0.00 1.394 0.093 0.000 563.19 626.12 500.25 2731.88 3804.44 0 0 0 12.45 15.43 30.00

3566.84 35 678.63 2.64 0.00 559.8 621.7 497.8 2731.3 3804.4 15.25 6.01 356 3573.44 5.11 0.13 0.00 0.940 0.102 0.000 551.41 609.88 492.94 2776.88 3804.81 0 0 0 12.53 15.42 30.00

3737 end climb: SURFACE_DEPTH_REACHED

state 3737 begin surface coast

3757 end surface coast: CONTROL_FINISHED_OK

state 3757 begin surface

ID	229	HEADING	-1	C_ROLL_DIVE	3800	ALTIM_PING_DELTA	10
MISSION	2	ESCAPE_HEADING	0	C_ROLL_CLIMB	3800	ALTIM_FREQUENCY	13
DIVE	14	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	180	ALTIM_PULSE	3
N_DIVES	0	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	631.70477	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	1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	W_ADJ_DBAND	2	LOGGERDEVICE1	7
T_DIVE	50	CAPUPLOAD	0	DBDW	0	LOGGERDEVICE2	-1
T_MISSION	70	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	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	1925	MAXI_10V	1.4	SEABIRD_T_I	2.7456792e-05
APOGEE_PITCH	-5	PITCH_DBAND	0.1	FG_AHR_10V	0.76064193	SEABIRD_T_J	3.4295531e-06
MAX_BUOY	70	PITCH_CNV	0.0031300001	FG_AHR_24V	3.166703	SEABIRD_C_G	-9.9373035
GLIDE_SLOPE	50	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	883	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_W_GAIN	1.5	ALTIM_TOP_PING_RANGE	0	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	1
HD_C	1.6e-05	ROLL_DEG	0	ALTIM_PING_DEPTH	0

GPS1	210918,205553,7420.245,-14653.403,2,0.8,4,18.2	TGT_LATLONG	7425.620,-14756.580
_CALLS	5	TGT_RADIUS	2000.000
_SM_DEPTHo	1.82	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-78.7	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	210918,210742,7420.271,-14653.448,2,0.8,4,18.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.084,0.179	MHEAD_RNG_PITCHd_Wd	299.2,32916,-26.3,-10.000,-29.13
TGT_NAME	NAV-SW	D_GRID	150

FINISH	-0.0,1.021228	INTERNAL_PRESSURE	9.13559
SM_CCo	3828.37,0.00,0.000,0,547.4,604.1,490.8,642.33	_24V_AH	14.69,6.777
SM_GC	1.65,0.00,8.44,0.05,0.000,0.080,0.091,547.4,604.1,490.8,145.1,3772.9,0,0,0,30.00,15.49,15.54	_10V_AH	14.86,0.000
SUPER	59,70,254,1,0,0	FG_AHR_24Vo	3.317
IRIDIUM_FIX	7422.00,-14656.23,210918,210223	FG_AHR_10Vo	0.790
TCM_TEMP	177.60	MEM	1165676,26,13928,58
XPDR_PINGS	0	DATA_FILE_SIZE	13734,375
ALTIM_TOP_PING	49.4,50.9	CAP_FILE_SIZE	122968,0
SC_FREEKB	3902240	SDSIZE	3918848,3906976
RAFOS_CLK	-4	ERRORS	0,0,0,0,0,0,0,4
RAFOS_FIX	7420.555176,-14653.362305,210918,222254,0,1,0.14	SOUNDSPEED	1440.9
HUMID	54.20	CURRENT	0.078,173.5,1
TEMP	-0.61	GPS	210918,221250,7420.393,-14653.622,9,1.0,11,18.2

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	694	1624	16576.81	nil	0	0	0.00
Pitch_motor	23	436	150.85	nil	0	0	0.00
Roll_motor	10	135	20.47	nil	0	0	0.00
Iridium	395	201	1168.37	nil	0	0	0.00
Transponder_ping	7	420	43.19	nil	0	0	0.00
GPS	13	15	3.03	nil	0	0	0.00
Core	1881	19	557.03	SciCon	3768	36	2053.13
LPSleep	2681	2	92.04	nil	0	0	0.00
Compass	647	5	48.12	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	28	30	12.48

		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
11.1	7.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
24.0	27.30	9000.00	0.0	0.00	0.00	27.30	0.0	1.54	1.00
38.3	41.90	9000.00	0.0	1.27	0.99	41.90	0.0	1.02	1.00
48.9	53.80	53.50	0.0	1.06	1.00	53.80	0.0	1.12	1.00
60.2	14.60	9000.00	0.0	-1.27	0.48	14.60	74.8	-3.47	1.00
70.7	14.70	9000.00	0.0	-1.81	0.77	14.70	0.0	0.01	1.00
102.3	43.60	9000.00	0.0	0.74	0.94	43.60	0.0	0.91	1.00
152.8	9.30	9000.00	0.0	-0.12	0.08	9.30	162.1	-0.68	1.00

111.0	116.20	9000.00	0.0	-1.27	0.40	116.20	0.0	-2.56	1.00
100.5	24.00	9000.00	0.0	-0.93	0.20	24.00	76.5	8.78	1.00
80.0	84.20	9000.00	0.0	0.49	0.03	84.20	0.0	-2.94	1.00
69.9	76.40	9000.00	0.0	-1.89	0.81	76.40	-6.5	0.77	1.00
59.7	62.20	63.30	-3.6	1.09	0.97	62.20	-2.5	1.39	1.00
49.4	51.50	50.90	-1.5	1.22	0.99	51.50	-2.1	1.04	1.00
39.0	34.90	9000.00	0.0	1.32	0.98	34.90	4.1	1.60	1.00
29.0	7.80	9000.00	0.0	2.14	0.98	7.80	21.2	2.71	1.00
18.8	10.80	9000.00	0.0	1.19	0.66	10.80	0.0	-0.29	1.00
8.4	8.20	9000.00	0.0	-0.02	0.01	8.20	0.2	0.25	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
5.24	2	-68.13	-0.75	0.00	543.4	594.6	492.2	89.1	3807.2	0.00	0.00	0	57.33	51.44	0.00	0.00	0.005	0.000	0.000	1410.09	1423.31	1396.88	89.06	3807.56	0	0	0	15.59	30.00	30.00
57.83	35	-68.13	-0.75	0.00	1410.2	1422.4	1398.0	89.2	3807.2	4.07	-5.85	5	122.25	48.99	9.48	0.00	0.005	0.437	0.000	3443.91	3453.94	3433.88	1681.56	3806.75	0	0	0	14.28	15.42	30.00
299.44	0	-68.13	-0.75	0.00	3446.5	3460.9	3432.1	1681.7	3806.8	80.95	-25.84	29	300.78	0.00	0.00	0.00	0.000	0.000	0.000	3445.25	3459.88	3430.62	1681.31	3807.69	0	0	0	30.00	30.00	30.00
476.33	0	-68.13	-0.75	0.00	3446.1	3460.9	3431.2	1681.5	3808.8	118.02	-19.40	47	477.67	0.00	0.00	0.00	0.000	0.000	0.000	3446.72	3461.94	3431.50	1681.38	3807.19	0	0	0	30.00	30.00	30.00
656	end dive: TARGET_DEPTH_EXCEEDED
state	656	begin apogee
657.82	3	0.00	-0.10	0.00	3445.8	3461.4	3430.2	1682.2	3761.0	151.04	-17.33	65	719.02	58.15	1.77	0.20	1.624	0.217	0.136	3168.31	3219.88	3116.75	1889.25	3804.50	0	0	0	12.72	15.67	15.39
720	end apogee: CONTROL_FINISHED_OK
state	720	begin climb
719.83	3	68.13	0.75	0.00	3163.8	3214.6	3112.9	1888.6	3803.1	156.87	0.00	71	780.96	58.21	1.72	0.00	1.551	0.152	0.000	2886.28	2952.81	2819.75	2164.31	3803.56	0	0	0	12.49	15.40	30.00
956.48	35	225.01	1.22	0.00	2876.0	2940.2	2811.8	2163.9	3804.2	169.01	-5.50	95	1088.80	128.88	0.55	0.00	1.570	0.067	0.000	2249.66	2322.81	2176.50	2319.44	3803.88	0	0	0	12.42	15.45	30.00
1266.62	66	225.01	1.25	0.00	2234.0	2304.9	2163.1	2319.8	3803.8	160.98	8.20	126	1267.95	0.00	0.00	0.00	0.000	0.000	0.000	2233.06	2304.12	2162.00	2320.50	3803.56	0	0	0	30.00	30.00	30.00
1446.47	35	254.10	1.34	0.00	2231.7	2301.8	2161.6	2319.9	3804.4	146.89	7.13	144	1472.03	24.01	0.12	0.00	1.500	0.129	0.000	2129.84	2199.31	2060.38	2356.19	3804.00	0	0	0	12.52	15.46	30.00
1646.54	66	254.10	1.36	0.00	2121.9	2191.5	2052.2	2356.4	3803.3	129.32	8.14	164	1647.88	0.00	0.00	0.00	0.000	0.000	0.000	2120.88	2191.06	2050.69	2356.25	3803.94	0	0	0	30.00	30.00	30.00
1826.54	35	299.91	1.50	0.00	2120.5	2190.3	2050.7	2356.4	3803.4	117.51	5.47	182	1867.38	39.02	0.18	0.00	1.523	0.098	0.000	1942.50	2015.25	1869.75	2405.69	3803.56	0	0	0	12.54	15.57	30.00
2046.56	34	330.25	1.59	0.00	1931.5	2004.7	1858.2	2405.6	3805.4	101.14	7.00	204	2074.14	26.12	0.00	0.00	1.481	0.000	0.000	1816.94	1889.81	1744.06	2403.75	3803.44	0	0	0	12.45	30.00	30.00
2246.84	35	365.67	1.70	0.00	1810.9	1883.8	1738.0	2406.1	3803.9	87.49	6.50	224	2279.17	30.45	0.24	0.00	1.476	0.102	0.000	1674.25	1744.19	1604.31	2473.69	3803.62	0	0	0	12.50	15.49	30.00
2456.63	35	423.04	1.87	0.00	1665.2	1734.7	1595.8	2474.2	3803.6	75.34	4.33	245	2504.47	46.71	0.18	0.00	1.471	0.098	0.000	1442.66	1515.62	1369.69	2524.88	3803.56	0	0	0	12.62	15.49	30.00
2676.78	35	482.89	2.05	0.00	1432.6	1505.6	1359.6	2524.9	3803.2	65.02	4.09	267	2727.61	48.06	0.21	0.00	1.449	0.103	0.000	1196.25	1268.31	1124.19	2585.75	3803.25	0	0	0	12.58	15.43	30.00
2906.78	35	536.28	2.21	0.00	1190.5	1262.3	1118.7	2586.5	3805.0	53.58	4.73	290	2951.59	43.40	0.17	0.00	1.428	0.097	0.000	977.97	1049.44	906.50	2632.56	3804.62	0	0	0	12.57	15.43	30.00
3126.77	35	586.56	2.36	0.00	973.2	1044.0	902.5	2633.1	3803.4	40.73	5.03	312	3169.67	41.78	0.17	0.00	1.408	0.097	0.000	774.00	845.06	702.94	2684.94	3803.50	0	0	0	12.50	15.42	30.00
3346.77	35	638.23	2.52	0.00	770.3	840.0	700.6	2685.9	3803.5	27.44	4.89	334	3392.64	44.51	0.15	0.00	1.394	0.093	0.000	563.19	626.12	500.25	2731.88	3804.44	0	0	0	12.45	15.43	30.00
3566.84	35	678.63	2.64	0.00	559.8	621.7	497.8	2731.3	3804.4	15.25	6.01	356	3573.44	5.11	0.13	0.00	0.940	0.102	0.000	551.41	609.88	492.94	2776.88	3804.81	0	0	0	12.53	15.42	30.00
3737	end climb: SURFACE_DEPTH_REACHED
state	3737	begin surface coast
3757	end surface coast: CONTROL_FINISHED_OK
state	3757	begin surface