Glider dive log

SODA Sep18 * SG230 * Dive index * Mission links * Dive 2 * 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 2 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

N_DIVES 2 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 90 SM_CC 641.70477 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 2.3

D_ABORT 250 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 30 CAPUPLOAD 0 DBDW 0 LOGGERDEVICE2 -1

T_MISSION 45 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 0.0044273403

D_OFFGRID 1020 PITCH_MAX 3830 MAXI_24V 5 SEABIRD_T_H 0.00064357114

RELAUNCH 1 C_PITCH 2200 MAXI_10V 1.4 SEABIRD_T_I 2.694588e-05

APOGEE_PITCH -5 PITCH_DBAND 0.1 FG_AHR_10V 0.296976 SEABIRD_T_J 3.3888193e-06

MAX_BUOY 150 PITCH_CNV 0.0031300001 FG_AHR_24V 0.69243771 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 90 N_NOSURFACE 0 SEABIRD_T_J 3.3888193e-06

ALTIM_PING_DELTA 5 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 883 FERRY_MAX 45 PITCH_ADJ_DBAND 3 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_10V 0.296976 PITCH_ADJ_GAIN 0.0049999999 STOP_T 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0.69243771 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 30

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 45

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 104 T_NO_W 120

C_PITCH 2200 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 2 MAX_BUOY 150 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_ABORT 250 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 2 SEABIRD_C_J 0.00023982119

Pre-dive calculations and measurements:

GPS1 210918,003136,7415.635,-14625.217,1,0.9,1,18.4 TGT_LATLONG 7425.620,-14756.580

_CALLS 3 TGT_RADIUS 2000.000

_SM_DEPTHo 1.84 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -71.6 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 210918,003715,7415.631,-14625.213,2,0.9,3,18.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 263.2,49050,-17.6,-10.000,-21.24

TGT_NAME NAV-SW D_GRID 90

Post-dive calculations and measurements:

FINISH 0.2,1.021079 _24V_AH 14.78,1.829

SM_CCo 2173.84,0.00,0.000,0,545.2,399.4,690.9,642.89 _10V_AH 14.95,0.000

SM_GC 1.70,0.00,9.07,1.18,0.000,0.095,0.086,545.2,399.4,690.9,141.1,2503.9,0,0,0,30.00,15.64,15.66 FG_AHR_24Vo 0.830

SUPER 51,70,254,1,0,0 FG_AHR_10Vo 0.317

IRIDIUM_FIX 7414.00,-14627.38,210918,003341 MEM 1165660,28,13924,57

TCM_TEMP 5.67 DATA_FILE_SIZE 13726,322

XPDR_PINGS 198 CAP_FILE_SIZE 154594,0

RAFOS_CLK -3 SDSIZE 3918848,3909408

RAFOS_FIX 7415.575195,-14625.099609,210918,010109,0,1,0.06 ERRORS 0,0,0,0,0,0,0,0

HUMID 56.61 SOUNDSPEED 1465.0

TEMP 1.27 CURRENT 0.042,275.8,1

INTERNAL_PRESSURE 9.20055 GPS 210918,011434,7415.581,-14625.737,2,1.0,3,18.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 737 1514 16517.80 nil 0 0 0.00

Pitch_motor 25 422 157.84 nil 0 0 0.00

Roll_motor 50 183 136.10 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 58 420 360.04 nil 0 0 0.00

GPS 12 15 2.79 nil 0 0 0.00

Core 1302 19 387.92 SciCon 2092 51 1598.30

LPSleep 947 2 32.73 nil 0 0 0.00

Compass 482 5 36.03 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 34 30 15.25

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

16.0 7.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

29.7 5.80 9000.00 0.0 0.00 0.00 5.80 35.5 -0.11 1.00

46.6 6.10 9000.00 0.0 -0.04 0.53 6.10 0.0 0.02 1.00

52.3 6.10 9000.00 0.0 0.01 0.97 0.00 0.0 0.00 0.00

63.3 6.50 9000.00 0.0 0.03 0.91 6.50 0.0 0.04 1.00

74.1 78.20 9000.00 0.0 3.30 0.75 78.20 0.0 6.64 1.00

90.9 9.90 9000.00 0.0 -0.24 0.01 9.90 100.8 -4.07 1.00

93.0 6.10 9000.00 0.0 -3.91 1.00 6.10 99.1 -1.81 1.00

76.8 7.30 9000.00 0.0 0.02 0.01 7.30 0.0 -0.07 1.00

71.5 9.30 9000.00 0.0 -0.13 0.82 9.30 0.0 -0.38 1.00

66.3 6.80 9000.00 0.0 0.05 0.03 6.80 59.5 0.48 1.00

50.7 5.90 9000.00 0.0 0.14 0.73 5.90 44.8 0.06 1.00

45.6 5.90 9000.00 0.0 0.04 0.90 0.00 0.0 0.00 0.00

40.2 6.70 9000.00 0.0 -0.08 0.83 6.70 0.0 -0.15 1.00

34.9 5.80 9000.00 0.0 0.01 0.01 5.80 29.1 0.17 1.00

18.9 5.80 9000.00 0.0 0.03 0.50 0.00 0.0 0.00 0.00

13.4 5.90 9000.00 0.0 0.00 0.26 5.90 0.0 -0.02 1.00

2.6 9.70 9000.00 0.0 -0.25 0.90 9.70 0.0 -0.35 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

4.92 2 -145.99 -0.88 0.00 545.3 416.3 674.2 149.8 2515.0 0.00 0.00 0 67.39 61.77 0.00 0.00 0.005 0.000 0.000 1503.84 1367.81 1639.88 149.94 2509.25 0 0 0 14.58 30.00 30.00

67.67 551 -145.99 -0.88 -80.00 1503.7 1368.9 1638.4 149.9 2513.8 3.11 -2.53 6 147.69 59.28 10.20 6.00 0.005 0.423 0.115 3763.12 3659.44 3866.81 1936.31 798.75 0 0 0 13.68 14.71 14.04

345.42 1156 -145.99 -0.85 0.00 3762.5 3660.2 3864.9 1936.6 799.1 85.92 -19.71 60 353.05 0.00 0.00 5.76 0.000 0.000 0.090 3762.84 3660.12 3865.56 1916.88 2501.44 0 0 0 30.00 30.00 15.78

371 end dive: TARGET_DEPTH_EXCEEDED

state 371 begin apogee

373.92 3 0.00 -0.12 0.00 3762.4 3659.4 3865.4 1918.6 2192.1 90.93 -19.80 64 490.40 112.00 1.91 0.09 1.514 0.212 0.184 3166.81 3005.25 3328.38 2155.75 2215.38 0 0 0 12.09 15.67 15.33

491 end apogee: CONTROL_FINISHED_OK

state 491 begin climb

491.11 3 145.99 0.88 0.00 3157.8 2993.9 3321.6 2157.1 2216.0 102.05 0.00 76 610.34 114.14 2.10 0.00 1.426 0.162 0.000 2562.22 2381.69 2742.75 2478.50 2215.19 0 0 0 12.12 15.36 30.00

787.68 295 422.14 1.71 80.00 2553.7 2372.2 2735.2 2477.8 2215.6 109.29 -2.85 114 1008.65 211.15 1.00 6.16 1.378 0.076 0.111 1436.25 1262.31 1610.19 2729.75 3898.25 0 0 0 12.13 15.57 15.07

1231.45 1191 460.89 1.80 0.00 1433.1 1262.5 1603.6 2729.6 3899.7 62.62 8.20 202 1270.52 31.43 0.09 5.80 1.312 0.133 0.089 1288.56 1111.44 1465.69 2781.88 2192.88 0 0 0 12.19 15.56 14.79

1452.84 295 584.24 2.17 80.00 1277.2 1098.1 1456.4 2781.2 2192.6 51.46 4.26 228 1560.12 97.35 0.41 6.16 1.326 0.080 0.111 778.62 619.50 937.75 2879.00 3899.00 0 0 0 12.23 15.64 15.21

1647.22 1063 607.96 2.24 0.00 777.7 621.5 933.8 2879.1 3899.2 36.60 8.90 267 1676.45 20.94 0.06 5.82 1.254 0.135 0.089 685.88 532.25 839.50 2923.12 2193.06 0 0 0 12.21 15.46 14.60

1858.56 551 737.71 2.63 -80.00 681.2 527.3 835.1 2923.1 2193.4 22.87 3.96 291 1896.85 29.88 0.41 6.05 1.288 0.074 0.119 544.72 398.38 691.06 3066.62 500.00 0 0 0 12.23 15.62 15.37

1919.18 1190 772.89 2.69 0.00 544.4 400.4 688.4 3066.7 499.9 18.26 8.36 303 1926.77 0.00 0.00 5.71 0.000 0.000 0.084 544.16 400.00 688.31 3045.62 2202.69 0 0 0 30.00 30.00 15.47

2079 end climb: SURFACE_DEPTH_REACHED

state 2079 begin surface coast

2099 end surface coast: CONTROL_FINISHED_OK

state 2099 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	2	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
N_DIVES	2	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	90	SM_CC	641.70477	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	2.3
D_ABORT	250	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	30	CAPUPLOAD	0	DBDW	0	LOGGERDEVICE2	-1
T_MISSION	45	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	0.0044273403
D_OFFGRID	1020	PITCH_MAX	3830	MAXI_24V	5	SEABIRD_T_H	0.00064357114
RELAUNCH	1	C_PITCH	2200	MAXI_10V	1.4	SEABIRD_T_I	2.694588e-05
APOGEE_PITCH	-5	PITCH_DBAND	0.1	FG_AHR_10V	0.296976	SEABIRD_T_J	3.3888193e-06
MAX_BUOY	150	PITCH_CNV	0.0031300001	FG_AHR_24V	0.69243771	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	210918,003136,7415.635,-14625.217,1,0.9,1,18.4	TGT_LATLONG	7425.620,-14756.580
_CALLS	3	TGT_RADIUS	2000.000
_SM_DEPTHo	1.84	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-71.6	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	210918,003715,7415.631,-14625.213,2,0.9,3,18.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	263.2,49050,-17.6,-10.000,-21.24
TGT_NAME	NAV-SW	D_GRID	90

FINISH	0.2,1.021079	_24V_AH	14.78,1.829
SM_CCo	2173.84,0.00,0.000,0,545.2,399.4,690.9,642.89	_10V_AH	14.95,0.000
SM_GC	1.70,0.00,9.07,1.18,0.000,0.095,0.086,545.2,399.4,690.9,141.1,2503.9,0,0,0,30.00,15.64,15.66	FG_AHR_24Vo	0.830
SUPER	51,70,254,1,0,0	FG_AHR_10Vo	0.317
IRIDIUM_FIX	7414.00,-14627.38,210918,003341	MEM	1165660,28,13924,57
TCM_TEMP	5.67	DATA_FILE_SIZE	13726,322
XPDR_PINGS	198	CAP_FILE_SIZE	154594,0
RAFOS_CLK	-3	SDSIZE	3918848,3909408
RAFOS_FIX	7415.575195,-14625.099609,210918,010109,0,1,0.06	ERRORS	0,0,0,0,0,0,0,0
HUMID	56.61	SOUNDSPEED	1465.0
TEMP	1.27	CURRENT	0.042,275.8,1
INTERNAL_PRESSURE	9.20055	GPS	210918,011434,7415.581,-14625.737,2,1.0,3,18.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	737	1514	16517.80	nil	0	0	0.00
Pitch_motor	25	422	157.84	nil	0	0	0.00
Roll_motor	50	183	136.10	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	58	420	360.04	nil	0	0	0.00
GPS	12	15	2.79	nil	0	0	0.00
Core	1302	19	387.92	SciCon	2092	51	1598.30
LPSleep	947	2	32.73	nil	0	0	0.00
Compass	482	5	36.03	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	34	30	15.25

		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
16.0	7.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
29.7	5.80	9000.00	0.0	0.00	0.00	5.80	35.5	-0.11	1.00
46.6	6.10	9000.00	0.0	-0.04	0.53	6.10	0.0	0.02	1.00
52.3	6.10	9000.00	0.0	0.01	0.97	0.00	0.0	0.00	0.00
63.3	6.50	9000.00	0.0	0.03	0.91	6.50	0.0	0.04	1.00
74.1	78.20	9000.00	0.0	3.30	0.75	78.20	0.0	6.64	1.00
90.9	9.90	9000.00	0.0	-0.24	0.01	9.90	100.8	-4.07	1.00
93.0	6.10	9000.00	0.0	-3.91	1.00	6.10	99.1	-1.81	1.00

76.8	7.30	9000.00	0.0	0.02	0.01	7.30	0.0	-0.07	1.00
71.5	9.30	9000.00	0.0	-0.13	0.82	9.30	0.0	-0.38	1.00
66.3	6.80	9000.00	0.0	0.05	0.03	6.80	59.5	0.48	1.00
50.7	5.90	9000.00	0.0	0.14	0.73	5.90	44.8	0.06	1.00
45.6	5.90	9000.00	0.0	0.04	0.90	0.00	0.0	0.00	0.00
40.2	6.70	9000.00	0.0	-0.08	0.83	6.70	0.0	-0.15	1.00
34.9	5.80	9000.00	0.0	0.01	0.01	5.80	29.1	0.17	1.00
18.9	5.80	9000.00	0.0	0.03	0.50	0.00	0.0	0.00	0.00
13.4	5.90	9000.00	0.0	0.00	0.26	5.90	0.0	-0.02	1.00
2.6	9.70	9000.00	0.0	-0.25	0.90	9.70	0.0	-0.35	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
4.92	2	-145.99	-0.88	0.00	545.3	416.3	674.2	149.8	2515.0	0.00	0.00	0	67.39	61.77	0.00	0.00	0.005	0.000	0.000	1503.84	1367.81	1639.88	149.94	2509.25	0	0	0	14.58	30.00	30.00
67.67	551	-145.99	-0.88	-80.00	1503.7	1368.9	1638.4	149.9	2513.8	3.11	-2.53	6	147.69	59.28	10.20	6.00	0.005	0.423	0.115	3763.12	3659.44	3866.81	1936.31	798.75	0	0	0	13.68	14.71	14.04
345.42	1156	-145.99	-0.85	0.00	3762.5	3660.2	3864.9	1936.6	799.1	85.92	-19.71	60	353.05	0.00	0.00	5.76	0.000	0.000	0.090	3762.84	3660.12	3865.56	1916.88	2501.44	0	0	0	30.00	30.00	15.78
371	end dive: TARGET_DEPTH_EXCEEDED
state	371	begin apogee
373.92	3	0.00	-0.12	0.00	3762.4	3659.4	3865.4	1918.6	2192.1	90.93	-19.80	64	490.40	112.00	1.91	0.09	1.514	0.212	0.184	3166.81	3005.25	3328.38	2155.75	2215.38	0	0	0	12.09	15.67	15.33
491	end apogee: CONTROL_FINISHED_OK
state	491	begin climb
491.11	3	145.99	0.88	0.00	3157.8	2993.9	3321.6	2157.1	2216.0	102.05	0.00	76	610.34	114.14	2.10	0.00	1.426	0.162	0.000	2562.22	2381.69	2742.75	2478.50	2215.19	0	0	0	12.12	15.36	30.00
787.68	295	422.14	1.71	80.00	2553.7	2372.2	2735.2	2477.8	2215.6	109.29	-2.85	114	1008.65	211.15	1.00	6.16	1.378	0.076	0.111	1436.25	1262.31	1610.19	2729.75	3898.25	0	0	0	12.13	15.57	15.07
1231.45	1191	460.89	1.80	0.00	1433.1	1262.5	1603.6	2729.6	3899.7	62.62	8.20	202	1270.52	31.43	0.09	5.80	1.312	0.133	0.089	1288.56	1111.44	1465.69	2781.88	2192.88	0	0	0	12.19	15.56	14.79
1452.84	295	584.24	2.17	80.00	1277.2	1098.1	1456.4	2781.2	2192.6	51.46	4.26	228	1560.12	97.35	0.41	6.16	1.326	0.080	0.111	778.62	619.50	937.75	2879.00	3899.00	0	0	0	12.23	15.64	15.21
1647.22	1063	607.96	2.24	0.00	777.7	621.5	933.8	2879.1	3899.2	36.60	8.90	267	1676.45	20.94	0.06	5.82	1.254	0.135	0.089	685.88	532.25	839.50	2923.12	2193.06	0	0	0	12.21	15.46	14.60
1858.56	551	737.71	2.63	-80.00	681.2	527.3	835.1	2923.1	2193.4	22.87	3.96	291	1896.85	29.88	0.41	6.05	1.288	0.074	0.119	544.72	398.38	691.06	3066.62	500.00	0	0	0	12.23	15.62	15.37
1919.18	1190	772.89	2.69	0.00	544.4	400.4	688.4	3066.7	499.9	18.26	8.36	303	1926.77	0.00	0.00	5.71	0.000	0.000	0.084	544.16	400.00	688.31	3045.62	2202.69	0	0	0	30.00	30.00	15.47
2079	end climb: SURFACE_DEPTH_REACHED
state	2079	begin surface coast
2099	end surface coast: CONTROL_FINISHED_OK
state	2099	begin surface