Glider dive log

Shilshole 20Jul20 * SG233 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 233 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 XPDR_INT 0

MISSION 3 FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_REP 0

DIVE 2 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 30 TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 4

STOP_T 0 TGT_AUTO_DEFAULT 0 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 SM_CC 50 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 C_VBD 2200 MOTHERBOARD 6

D_TGT 150 FILEMGR 0 VBD_DBAND 2 DEVICE1 10

D_ABORT 500 CALL_NDIVES 1 VBD_CNV -0.24529999 DEVICE2 -1

D_NO_BLEED 500 COMM_SEQ 0 VBD_LP_IGNORE 0 DEVICE3 -1

D_BOOST 2 PROTOCOL 9 VBD_TIMEOUT 360 DEVICE4 -1

T_BOOST 0 N_NOCOMM 10 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_FINISH 0 NOCOMM_ACTION 163 UNCOM_BLEED 20 DEVICE6 -1

D_PITCH 0 N_NOSURFACE 0 VBD_MAXERRORS 1 LOGGERS 3

D_SAFE 0 UPLOAD_DIVES_MAX -1 W_ADJ_DBAND 0 LOGGERDEVICE1 7

D_CALL 0 CALL_TRIES 5 DBDW 0 LOGGERDEVICE2 35

SURFACE_URGENCY 0 CALL_WAIT 60 LOITER_W_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 LOITER_DBDW 0 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 LOITER_D_TOP 0 COMPASS_DEVICE 66

T_DIVE 50 T_GPS 5 LOITER_D_BOTTOM 0 COMPASS2_DEVICE -1

T_MISSION 75 N_GPS 100440 LOITER_N_DIVE 0 PHONE_DEVICE 33

T_ABORT 1440 T_RSLEEP 3 CF8_MAXERRORS 20 GPS_DEVICE 48

T_TURN 225 STROBE 0 AH0_24V 350 RAFOS_DEVICE 104

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 AH0_10V 0 NETWORK_DEVICE 1

T_NO_W 120 RAFOS_CORR_THRESH 60 MINV_24V 11 PRESSURE_DEVICE 34

T_LOITER 0 RAFOS_HIT_WINDOW 3600 MINV_10V 11 XPDR_DEVICE -1

T_EPIRB 0 RAFOS_MMODEM 0 MAXI_24V 3 SIM_W 0.1

USE_BATHY -6 PITCH_MIN 210 MAXI_10V 1.5 SEABIRD_T_G 0.0044157342

USE_ICE 0 PITCH_MAX 3900 FG_AHR_10V 10.43049 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2650 FG_AHR_24V 83.970245 SEABIRD_T_I 2.7006432e-05

D_OFFGRID 100 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_J 3.3103631e-06

RELAUNCH 1 PITCH_CNV 0.0041299998 PRESSURE_YINT -169.43823 SEABIRD_C_G -9.9894733

APOGEE_PITCH -5 PITCH_GAIN 25 PRESSURE_SLOPE 0.00022579571 SEABIRD_C_H 1.1093811

MAX_BUOY 50 PITCH_TIMEOUT 30 COMPASS_USE 4 SEABIRD_C_I -0.0026526626

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 ALTIM_PING_FIT 0 SEABIRD_C_J 0.00026268355

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 3.0

MASS 71947 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

NAV_MODE 2 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_NDIVE 1.0

FERRY_MAX 45 ROLL_MIN 580 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MAX 3340 ALTIM_PING_DELTA 0 PM_PROFILE 3.0

HD_A 0.003 ROLL_DEG 80 ALTIM_FREQUENCY 13 PM_XMITPROFILE 3.0

HD_B 0.0099999998 C_ROLL_DIVE 1960 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_CLIMB 1960 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING -1 HEAD_ERRBAND 180 XPDR_VALID 4 PM_MOTORS 0.0

ESCAPE_HEADING 0 ROLL_CNV 0.054945 XPDR_INHIBIT 90 PM_SENDDEPTH 1.0

AH0_10V 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_C_H 1.1093811

AH0_24V 350 D_TGT 150 PHONE_DEVICE 33 SEABIRD_C_I -0.0026526626

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SEABIRD_C_J 0.00026268355

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SEABIRD_T_G 0.0044157342

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SEABIRD_T_H 0.00064262876

ALTIM_PING_DEPTH 0 FG_AHR_10V 10.43049 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FG_AHR_24V 83.970245 PITCH_DBAND 0.1 SEABIRD_T_J 3.3103631e-06

ALTIM_PULSE 3 FILEMGR 0 PITCH_GAIN 25 SIM_W 0.1

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 SM_CC 50

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 48 PITCH_MIN 210 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_TIMEOUT 30 STROBE 0

APOGEE_PITCH -5 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 SURFACE_URGENCY 0

CALL_NDIVES 1 HD_C 1.6e-05 PITCH_W_DBAND 0 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HEADING -1 PITCH_W_GAIN 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HEAD_ERRBAND 180 PM_MOTORS 0.0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PM_NDIVE 1.0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 ID 233 PM_PROFILE 3.0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 1.9639999e-06 PM_RECORDABOVE 2000.0 T_ABORT 1440

COMM_SEQ 0 INT_PRESSURE_YINT 4 PM_SENDDEPTH 1.0 T_BOOST 0

COMPASS2_DEVICE -1 KALMAN_USE 2 PM_XMITPROFILE 3.0 T_DIVE 50

COMPASS_DEVICE 66 LOGGERDEVICE1 7 PM_XMITRAW 0.0 T_EPIRB 0

COMPASS_USE 4 LOGGERDEVICE2 35 PRESSURE_DEVICE 34 T_GPS 5

C_PITCH 2650 LOGGERDEVICE3 -1 PRESSURE_SLOPE 0.00022579571 T_LOITER 0

C_ROLL_CLIMB 1960 LOGGERDEVICE4 -1 PRESSURE_YINT -169.43823 T_MISSION 75

C_ROLL_DIVE 1960 LOGGERS 3 PROTOCOL 9 T_NO_W 120

C_VBD 2200 LOITER_DBDW 0 RAFOS_CORR_THRESH 60 T_RSLEEP 3

DBDW 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE 104 T_TURN 225

DEEPGLIDER 0 LOITER_D_TOP 0 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

DEEPGLIDERMB 0 LOITER_N_DIVE 0 RAFOS_MMODEM 0 UNCOM_BLEED 20

DEVICE1 10 LOITER_W_DBAND 0 RAFOS_PEAK_OFFSET 0 UPLOAD_DIVES_MAX -1

DEVICE2 -1 MASS 71947 RELAUNCH 1 USE_BATHY -6

DEVICE3 -1 MAXI_10V 1.5 RHO 1.0275 USE_ICE 0

DEVICE4 -1 MAXI_24V 3 ROLL_ADJ_DBAND 0 VBD_CNV -0.24529999

DEVICE5 -1 MAX_BUOY 50 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE6 -1 MINV_10V 11 ROLL_CNV 0.054945 VBD_LP_IGNORE 0

DIVE 2 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 500 MISSION 3 ROLL_MAX 3340 VBD_MAXERRORS 1

D_BOOST 2 MOTHERBOARD 6 ROLL_MAXERRORS 1 VBD_MIN 500

D_CALL 0 NAV_MODE 2 ROLL_MIN 580 VBD_TIMEOUT 360

D_FINISH 0 NETWORK_DEVICE 1 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

D_FLARE 3 NOCOMM_ACTION 163 SC_NDIVE 1.0 XPDR_DEVICE -1

D_NO_BLEED 500 N_DIVES 30 SC_PROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 100 N_FILEKB 8 SC_RECORDABOVE 2000.0 XPDR_INT 0

D_PITCH 0 N_GPS 100440 SC_XMITPROFILE 3.0 XPDR_REP 0

D_SAFE 0 N_NOCOMM 10 SEABIRD_C_G -9.9894733 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 240820,003350,5257.213,-14030.084,24,1.4,35,16.5 TGT_LATLONG 5500.000,-14500.000

_CALLS 3 TGT_RADIUS 2000.000

_SM_DEPTHo -0.17 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -78.2 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 240820,004204,5256.861,-14028.853,2,1.1,5,16.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.183 MHEAD_RNG_PITCHd_Wd 246.9,367382,-25.7,-10.000,-28.63

TGT_NAME ans0 D_GRID 100

Post-dive calculations and measurements:

NET_PING 1651,0,2.761012,0.000000 MODEM 0,1598230802,52.93500,-140.43640,2.009,2941.2

NET CACST,6,0,20200824011005.486920,05,32767,45,0101,0150,07,00,00,00,00,1,000,233,0,5,1,0,150,0.3,26.00,-100,-23.00,-01,-0.03,87,10000,5000*69 RAFOS_FIX 5255.830078,-14028.780273,240820,010102,1,2,1.79

_301cd575672fdfaec99ddda187a869201d3b0a2c *3E HUMID 52.99

_7b7c7d7e7f *39 TEMP 16.14

_3b3c3d3e3f *6E INTERNAL_PRESSURE 8.61952

_201d3b0a2c *39 _24V_AH 15.37,5.581

MODEM_MSG CACST,6,0,20200824010002.009089,18,32767,45,0101,0150,126,02,02,00,02,1,000,255,0,5,1,0,150,42.5,27.16,-100,-24.16,-01,0.03,34,925,0025*28 _10V_AH 15.00,0.000

FINISH -0.0,0.999281 FG_AHR_24Vo 84.000

SM_CCo 2089.26,0.00,0.000,0,1976.9,1939.0,2014.9,54.72 FG_AHR_10Vo 10.456

SM_GC -0.15,0.00,16.39,0.06,0.000,0.060,0.182,1976.9,1939.0,2014.9,196.7,1941.1,0,0,0,30.00,16.12,16.13 MEM 1129124,38,47428,87

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 12987,394

IRIDIUM_FIX 5257.13,-14039.12,240820,003643 CAP_FILE_SIZE 80638,0

TCM_TEMP 18.13 SDSIZE 3918848,3875296

SC_FREEKB 3878144 SDFILEDIR 85,1

PM_FREEKB_00 62284928 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PM_FREEKB_01 62343040 SOUNDSPEED 1462.4

PM_ACTIVECARD 0 CURRENT 3.086,115.2,1

RAFOS_CLK 1 GPS 240820,011801,5255.357,-14023.560,2,0.9,5,16.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 102 1092 1717.59 SBE_CT 0 0 0.00

Pitch_motor 38 295 174.19 nil 0 0 0.00

Roll_motor 0 310 1.69 nil 0 0 0.00

Iridium 314 162 785.31 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.28 nil 0 0 0.00

Core 1882 10 285.76 SciCon 2012 6 198.22

LPSleep 707 1 11.89 PMAR 2020 8 259.34

Compass 1092 5 81.94 nil 0 0 0.00

RAFOS 299 40 179.40

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

8 end surface: CONTROL_FINISHED_OK

state 9 begin dive

9.08 16386 -48.66 -1.09 0.00 1969.3 1931.4 2007.1 196.6 1939.4 0.00 0.00 0 32.37 19.82 0.00 0.08 0.006 0.000 0.310 2395.47 2388.00 2402.94 196.56 1976.25 0 0 0 16.07 30.00 16.08

32.60 2049 -48.66 -1.09 0.00 2395.3 2387.6 2403.0 196.5 1976.7 2.89 -10.03 4 55.22 0.00 17.65 0.00 0.000 0.284 0.000 2399.03 2390.69 2407.38 2383.56 1976.50 0 0 0 30.00 15.93 30.00

234.38 32 -48.66 -1.09 0.00 2397.1 2388.4 2405.8 2384.1 1976.6 22.88 -9.89 44 238.89 0.00 0.00 0.00 0.000 0.000 0.000 2397.88 2389.38 2406.38 2384.06 1976.06 0 0 0 30.00 30.00 30.00

419.32 0 -48.66 -1.09 0.00 2397.3 2388.8 2405.8 2384.1 1976.6 41.39 -10.16 81 424.08 0.00 0.00 0.00 0.000 0.000 0.000 2397.62 2389.19 2406.06 2384.50 1976.31 0 0 0 30.00 30.00 30.00

605.32 0 -48.66 -1.09 0.00 2397.6 2389.3 2405.8 2384.0 1976.2 60.05 -10.13 118 610.40 0.00 0.00 0.00 0.000 0.000 0.000 2398.06 2389.69 2406.44 2383.62 1976.19 0 0 0 30.00 30.00 30.00

790.17 32 -48.66 -1.09 0.00 2397.1 2388.6 2405.6 2384.0 1976.4 78.53 -9.95 155 794.97 0.00 0.00 0.00 0.000 0.000 0.000 2397.81 2389.56 2406.06 2384.12 1976.50 0 0 0 30.00 30.00 30.00

975.52 32 -48.66 -1.09 0.00 2397.8 2389.3 2406.3 2383.7 1976.4 97.03 -9.68 192 980.65 0.00 0.00 0.00 0.000 0.000 0.000 2397.94 2389.50 2406.38 2384.06 1976.31 0 0 0 30.00 30.00 30.00

1006 end dive: TARGET_DEPTH_EXCEEDED

state 1006 begin apogee

1007.49 10243 0.00 -0.20 0.00 2397.7 2389.6 2405.9 2383.8 1939.6 100.12 -9.81 197 1049.83 38.13 1.72 0.08 1.092 0.296 0.245 2197.19 2165.94 2228.44 2600.50 1974.81 0 0 0 12.07 16.02 15.97

1052 end apogee: CONTROL_FINISHED_OK

state 1052 begin climb

1052.05 10243 48.66 1.09 0.00 2198.0 2166.2 2229.8 2600.1 1974.2 96.10 0.00 204 1097.39 38.65 2.55 0.00 1.066 0.292 0.000 2001.25 1964.00 2038.50 2912.19 1974.06 0 0 0 12.03 15.88 30.00

1276.15 32 50.53 1.09 0.00 1994.9 1957.2 2032.6 2912.1 1974.7 73.03 9.82 248 1280.95 0.00 0.00 0.00 0.000 0.000 0.000 1994.91 1957.62 2032.19 2911.69 1974.88 0 0 0 30.00 30.00 30.00

1461.24 8226 53.90 1.10 0.00 1994.2 1956.4 2032.0 2912.4 1974.2 54.61 9.68 285 1471.09 5.70 0.00 0.00 0.684 0.000 0.000 1979.75 1942.06 2017.44 2912.38 1974.75 0 0 0 12.00 30.00 30.00

1656.08 32 54.37 1.10 0.00 1978.7 1940.8 2016.6 2912.1 1974.4 35.08 9.96 324 1660.88 0.00 0.00 0.00 0.000 0.000 0.000 1979.19 1941.75 2016.62 2912.56 1974.44 0 0 0 30.00 30.00 30.00

1841.21 0 54.37 1.10 0.00 1978.2 1940.7 2015.7 2912.2 1974.4 16.44 10.40 361 1846.35 0.00 0.00 0.00 0.000 0.000 0.000 1978.62 1941.00 2016.25 2911.62 1974.50 0 0 0 30.00 30.00 30.00

1986 end climb: SURFACE_DEPTH_REACHED

state 1986 begin surface coast

2006 end surface coast: CONTROL_FINISHED_OK

state 2006 begin surface

ID	233	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	3	FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	2	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	30	TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	4
STOP_T	0	TGT_AUTO_DEFAULT	0	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	SM_CC	50	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	C_VBD	2200	MOTHERBOARD	6
D_TGT	150	FILEMGR	0	VBD_DBAND	2	DEVICE1	10
D_ABORT	500	CALL_NDIVES	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_NO_BLEED	500	COMM_SEQ	0	VBD_LP_IGNORE	0	DEVICE3	-1
D_BOOST	2	PROTOCOL	9	VBD_TIMEOUT	360	DEVICE4	-1
T_BOOST	0	N_NOCOMM	10	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_FINISH	0	NOCOMM_ACTION	163	UNCOM_BLEED	20	DEVICE6	-1
D_PITCH	0	N_NOSURFACE	0	VBD_MAXERRORS	1	LOGGERS	3
D_SAFE	0	UPLOAD_DIVES_MAX	-1	W_ADJ_DBAND	0	LOGGERDEVICE1	7
D_CALL	0	CALL_TRIES	5	DBDW	0	LOGGERDEVICE2	35
SURFACE_URGENCY	0	CALL_WAIT	60	LOITER_W_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	LOITER_DBDW	0	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	LOITER_D_TOP	0	COMPASS_DEVICE	66
T_DIVE	50	T_GPS	5	LOITER_D_BOTTOM	0	COMPASS2_DEVICE	-1
T_MISSION	75	N_GPS	100440	LOITER_N_DIVE	0	PHONE_DEVICE	33
T_ABORT	1440	T_RSLEEP	3	CF8_MAXERRORS	20	GPS_DEVICE	48
T_TURN	225	STROBE	0	AH0_24V	350	RAFOS_DEVICE	104
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	AH0_10V	0	NETWORK_DEVICE	1
T_NO_W	120	RAFOS_CORR_THRESH	60	MINV_24V	11	PRESSURE_DEVICE	34
T_LOITER	0	RAFOS_HIT_WINDOW	3600	MINV_10V	11	XPDR_DEVICE	-1
T_EPIRB	0	RAFOS_MMODEM	0	MAXI_24V	3	SIM_W	0.1
USE_BATHY	-6	PITCH_MIN	210	MAXI_10V	1.5	SEABIRD_T_G	0.0044157342
USE_ICE	0	PITCH_MAX	3900	FG_AHR_10V	10.43049	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2650	FG_AHR_24V	83.970245	SEABIRD_T_I	2.7006432e-05
D_OFFGRID	100	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_J	3.3103631e-06
RELAUNCH	1	PITCH_CNV	0.0041299998	PRESSURE_YINT	-169.43823	SEABIRD_C_G	-9.9894733
APOGEE_PITCH	-5	PITCH_GAIN	25	PRESSURE_SLOPE	0.00022579571	SEABIRD_C_H	1.1093811
MAX_BUOY	50	PITCH_TIMEOUT	30	COMPASS_USE	4	SEABIRD_C_I	-0.0026526626
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	ALTIM_PING_FIT	0	SEABIRD_C_J	0.00026268355
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	3.0
MASS	71947	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
NAV_MODE	2	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_NDIVE	1.0
FERRY_MAX	45	ROLL_MIN	580	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MAX	3340	ALTIM_PING_DELTA	0	PM_PROFILE	3.0
HD_A	0.003	ROLL_DEG	80	ALTIM_FREQUENCY	13	PM_XMITPROFILE	3.0
HD_B	0.0099999998	C_ROLL_DIVE	1960	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_CLIMB	1960	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
HEADING	-1	HEAD_ERRBAND	180	XPDR_VALID	4	PM_MOTORS	0.0
ESCAPE_HEADING	0	ROLL_CNV	0.054945	XPDR_INHIBIT	90	PM_SENDDEPTH	1.0

GPS1	240820,003350,5257.213,-14030.084,24,1.4,35,16.5	TGT_LATLONG	5500.000,-14500.000
_CALLS	3	TGT_RADIUS	2000.000
_SM_DEPTHo	-0.17	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-78.2	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	240820,004204,5256.861,-14028.853,2,1.1,5,16.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.183	MHEAD_RNG_PITCHd_Wd	246.9,367382,-25.7,-10.000,-28.63
TGT_NAME	ans0	D_GRID	100

NET_PING	1651,0,2.761012,0.000000	MODEM	0,1598230802,52.93500,-140.43640,2.009,2941.2
NET	CACST,6,0,20200824011005.486920,05,32767,45,0101,0150,07,00,00,00,00,1,000,233,0,5,1,0,150,0.3,26.00,-100,-23.00,-01,-0.03,87,10000,5000*69	RAFOS_FIX	5255.830078,-14028.780273,240820,010102,1,2,1.79
_301cd575672fdfaec99ddda187a869201d3b0a2c	*3E	HUMID	52.99
_7b7c7d7e7f	*39	TEMP	16.14
_3b3c3d3e3f	*6E	INTERNAL_PRESSURE	8.61952
_201d3b0a2c	*39	_24V_AH	15.37,5.581
MODEM_MSG	CACST,6,0,20200824010002.009089,18,32767,45,0101,0150,126,02,02,00,02,1,000,255,0,5,1,0,150,42.5,27.16,-100,-24.16,-01,0.03,34,925,0025*28	_10V_AH	15.00,0.000
FINISH	-0.0,0.999281	FG_AHR_24Vo	84.000
SM_CCo	2089.26,0.00,0.000,0,1976.9,1939.0,2014.9,54.72	FG_AHR_10Vo	10.456
SM_GC	-0.15,0.00,16.39,0.06,0.000,0.060,0.182,1976.9,1939.0,2014.9,196.7,1941.1,0,0,0,30.00,16.12,16.13	MEM	1129124,38,47428,87
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	12987,394
IRIDIUM_FIX	5257.13,-14039.12,240820,003643	CAP_FILE_SIZE	80638,0
TCM_TEMP	18.13	SDSIZE	3918848,3875296
SC_FREEKB	3878144	SDFILEDIR	85,1
PM_FREEKB_00	62284928	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PM_FREEKB_01	62343040	SOUNDSPEED	1462.4
PM_ACTIVECARD	0	CURRENT	3.086,115.2,1
RAFOS_CLK	1	GPS	240820,011801,5255.357,-14023.560,2,0.9,5,16.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	102	1092	1717.59	SBE_CT	0	0	0.00
Pitch_motor	38	295	174.19	nil	0	0	0.00
Roll_motor	0	310	1.69	nil	0	0	0.00
Iridium	314	162	785.31	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.28	nil	0	0	0.00
Core	1882	10	285.76	SciCon	2012	6	198.22
LPSleep	707	1	11.89	PMAR	2020	8	259.34
Compass	1092	5	81.94	nil	0	0	0.00
RAFOS	299	40	179.40
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
8	end surface: CONTROL_FINISHED_OK
state	9	begin dive
9.08	16386	-48.66	-1.09	0.00	1969.3	1931.4	2007.1	196.6	1939.4	0.00	0.00	0	32.37	19.82	0.00	0.08	0.006	0.000	0.310	2395.47	2388.00	2402.94	196.56	1976.25	0	0	0	16.07	30.00	16.08
32.60	2049	-48.66	-1.09	0.00	2395.3	2387.6	2403.0	196.5	1976.7	2.89	-10.03	4	55.22	0.00	17.65	0.00	0.000	0.284	0.000	2399.03	2390.69	2407.38	2383.56	1976.50	0	0	0	30.00	15.93	30.00
234.38	32	-48.66	-1.09	0.00	2397.1	2388.4	2405.8	2384.1	1976.6	22.88	-9.89	44	238.89	0.00	0.00	0.00	0.000	0.000	0.000	2397.88	2389.38	2406.38	2384.06	1976.06	0	0	0	30.00	30.00	30.00
419.32	0	-48.66	-1.09	0.00	2397.3	2388.8	2405.8	2384.1	1976.6	41.39	-10.16	81	424.08	0.00	0.00	0.00	0.000	0.000	0.000	2397.62	2389.19	2406.06	2384.50	1976.31	0	0	0	30.00	30.00	30.00
605.32	0	-48.66	-1.09	0.00	2397.6	2389.3	2405.8	2384.0	1976.2	60.05	-10.13	118	610.40	0.00	0.00	0.00	0.000	0.000	0.000	2398.06	2389.69	2406.44	2383.62	1976.19	0	0	0	30.00	30.00	30.00
790.17	32	-48.66	-1.09	0.00	2397.1	2388.6	2405.6	2384.0	1976.4	78.53	-9.95	155	794.97	0.00	0.00	0.00	0.000	0.000	0.000	2397.81	2389.56	2406.06	2384.12	1976.50	0	0	0	30.00	30.00	30.00
975.52	32	-48.66	-1.09	0.00	2397.8	2389.3	2406.3	2383.7	1976.4	97.03	-9.68	192	980.65	0.00	0.00	0.00	0.000	0.000	0.000	2397.94	2389.50	2406.38	2384.06	1976.31	0	0	0	30.00	30.00	30.00
1006	end dive: TARGET_DEPTH_EXCEEDED
state	1006	begin apogee
1007.49	10243	0.00	-0.20	0.00	2397.7	2389.6	2405.9	2383.8	1939.6	100.12	-9.81	197	1049.83	38.13	1.72	0.08	1.092	0.296	0.245	2197.19	2165.94	2228.44	2600.50	1974.81	0	0	0	12.07	16.02	15.97
1052	end apogee: CONTROL_FINISHED_OK
state	1052	begin climb
1052.05	10243	48.66	1.09	0.00	2198.0	2166.2	2229.8	2600.1	1974.2	96.10	0.00	204	1097.39	38.65	2.55	0.00	1.066	0.292	0.000	2001.25	1964.00	2038.50	2912.19	1974.06	0	0	0	12.03	15.88	30.00
1276.15	32	50.53	1.09	0.00	1994.9	1957.2	2032.6	2912.1	1974.7	73.03	9.82	248	1280.95	0.00	0.00	0.00	0.000	0.000	0.000	1994.91	1957.62	2032.19	2911.69	1974.88	0	0	0	30.00	30.00	30.00
1461.24	8226	53.90	1.10	0.00	1994.2	1956.4	2032.0	2912.4	1974.2	54.61	9.68	285	1471.09	5.70	0.00	0.00	0.684	0.000	0.000	1979.75	1942.06	2017.44	2912.38	1974.75	0	0	0	12.00	30.00	30.00
1656.08	32	54.37	1.10	0.00	1978.7	1940.8	2016.6	2912.1	1974.4	35.08	9.96	324	1660.88	0.00	0.00	0.00	0.000	0.000	0.000	1979.19	1941.75	2016.62	2912.56	1974.44	0	0	0	30.00	30.00	30.00
1841.21	0	54.37	1.10	0.00	1978.2	1940.7	2015.7	2912.2	1974.4	16.44	10.40	361	1846.35	0.00	0.00	0.00	0.000	0.000	0.000	1978.62	1941.00	2016.25	2911.62	1974.50	0	0	0	30.00	30.00	30.00
1986	end climb: SURFACE_DEPTH_REACHED
state	1986	begin surface coast
2006	end surface coast: CONTROL_FINISHED_OK
state	2006	begin surface