Glider dive log

Shilshole 09Jul20 * SG231 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 231 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 3 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.047120001 XPDR_VALID 6

DIVE 3 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 3 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 462.20248 VBD_MIN 525 INT_PRESSURE_YINT -3.25

D_TGT 150 N_FILEKB 8 VBD_MAX 3950 DEEPGLIDER 0

D_ABORT 175 FILEMGR 0 C_VBD 3050 DEEPGLIDERMB 0

D_NO_BLEED 50 CALL_NDIVES 1 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 2 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 1 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.003 DEVICE4 -1

D_SAFE 0 N_NOSURFACE 0 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CALL_TRIES 5 W_ADJ_DBAND 2 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 DBDW 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 LOITER_W_DBAND 20 LOGGERDEVICE2 -1

T_DIVE 50 CAPMAXSIZE 100000 LOITER_DBDW 40 LOGGERDEVICE3 -1

T_MISSION 65 T_GPS 5 LOITER_D_TOP 100 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 200 COMPASS_DEVICE 66

T_TURN 225 T_RSLEEP 2 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 33

T_NO_W 120 RAFOS_PEAK_OFFSET 0 AH0_24V 575 GPS_DEVICE 48

T_LOITER 0 RAFOS_CORR_THRESH 60 AH0_10V 0 RAFOS_DEVICE 104

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_24V 11 NETWORK_DEVICE -1

USE_BATHY -6 RAFOS_MMODEM 0 MINV_10V 11 PRESSURE_DEVICE 34

USE_ICE 0 PITCH_MIN 471 MAXI_24V 5 XPDR_DEVICE 5

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3850 MAXI_10V 1.4 SIM_W 0

D_OFFGRID 100 C_PITCH 3430 FG_AHR_10V 4.2139039 SEABIRD_T_G 0.0043565771

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 3.324477 SEABIRD_T_H 0.00062677637

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 PHONE_SUPPLY 2 SEABIRD_T_I 2.4431472e-05

MAX_BUOY 150 PITCH_GAIN 27 PRESSURE_YINT -151.62212 SEABIRD_T_J 2.7094229e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 26 PRESSURE_SLOPE 0.00022543591 SEABIRD_C_G -10.133897

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 4 SEABIRD_C_H 1.1473427

RHO 1.023 PITCH_ADJ_GAIN 0.059999999 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0015492893

MASS 71877 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0002031941

NAV_MODE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 345 ALTIM_TOP_MIN_OBSTACLE 0 SC_XMITPROFILE 3.0

HD_A 0.003 ROLL_MAX 3945 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0099999998 ROLL_DEG 80 ALTIM_PING_DELTA 0

HD_C 1.6e-05 C_ROLL_DIVE 2145 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2145 ALTIM_PULSE 3

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00062677637

AH0_24V 575 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.4431472e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 150 N_NOSURFACE 0 SEABIRD_T_J 2.7094229e-06

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 462.20248

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 4.2139039 PITCH_ADJ_GAIN 0.059999999 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 3.324477 PITCH_CNV 0.0031300001 STROBE 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 27 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3850 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MIN 471 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_TIMEOUT 26 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 1.6e-05 PITCH_VBD_SHIFT 0.003 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_DIVE 50

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 34 T_EPIRB 0

CF8_MAXERRORS 20 ID 231 PRESSURE_SLOPE 0.00022543591 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -151.62212 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3.25 PROTOCOL 9 T_MISSION 65

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE1 7 RAFOS_DEVICE 104 T_RSLEEP 2

C_PITCH 3430 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2145 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2145 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 3050 LOGGERS 3 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 40 RHO 1.023 USE_BATHY -6

DEEPGLIDER 0 LOITER_D_BOTTOM 200 ROLL_ADJ_DBAND 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 100 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 -1 LOITER_N_DIVE 0 ROLL_CNV 0.047120001 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 20 ROLL_DEG 80 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 71877 ROLL_MAX 3945 VBD_MAX 3950

DEVICE4 -1 MAXI_10V 1.4 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 5 ROLL_MIN 345 VBD_MIN 525

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

DIVE 3 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 2

D_ABORT 175 MINV_24V 11 SC_PROFILE 3.0 XPDR_DEVICE 5

D_BOOST 2 MISSION 3 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_CALL 0 MOTHERBOARD 6 SC_XMITPROFILE 3.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 2 SEABIRD_C_G -10.133897 XPDR_REP 0

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1.1473427 XPDR_VALID 6

D_NO_BLEED 50 NOCOMM_ACTION 163 SEABIRD_C_I -0.0015492893

D_OFFGRID 100 N_DIVES 3 SEABIRD_C_J 0.0002031941

D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043565771

Pre-dive calculations and measurements:

GPS1 090720,173312,4743.482,-12224.081,1,0.9,2,15.4 TGT_LATLONG 4743.000,-12224.000

_CALLS 2 TGT_RADIUS 100.000

_SM_DEPTHo 1.56 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -69.9 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 090720,173722,4743.489,-12224.057,2,0.8,4,15.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.258 MHEAD_RNG_PITCHd_Wd 115.1,908,-17.6,-10.000,-21.21

TGT_NAME SE D_GRID 171

Post-dive calculations and measurements:

FINISH 0.1,1.018983 _24V_AH 14.80,1.042

SM_CCo 3322.54,0.00,0.009,0,1165.9,1207.3,1124.4,462.18 _10V_AH 15.00,0.000

SM_GC 1.56,0.00,9.17,0.14,0.009,0.055,0.072,1165.9,1207.3,1124.4,454.4,2098.3,0,0,0,30.36,15.93,15.97 FG_AHR_24Vo 3.475

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 4.277

IRIDIUM_FIX 4744.47,-12222.38,090720,173348 MEM 1130420,31,46988,82

TCM_TEMP 15.39 DATA_FILE_SIZE 12932,409

XPDR_PINGS 2,14.0,10.5 CAP_FILE_SIZE 183501,0

SC_FREEKB 3877408 SDSIZE 3918848,3908384

RAFOS_CLK 0 SDFILEDIR 51,1

MODEM 1,1594314353,47.50000,-123.50000,53.728,78711.0 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 4743.237793,-12223.458984,090720,181802,0,1,0.27 SOUNDSPEED 1465.0

HUMID 57.19 CURRENT 0.100, 23.2,1

TEMP 12.73 GPS 090720,183330,4743.403,-12223.555,2,1.9,4,15.4

INTERNAL_PRESSURE 8.73414

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 567 2749 23088.44 nil 0 0 0.00

Pitch_motor 28 424 176.48 nil 0 0 0.00

Roll_motor 86 112 144.07 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 3.11 nil 0 0 0.00

GPS 13 15 3.02 nil 0 0 0.00

Core 1344 11 240.40 SciCon 3220 39 1917.08

LPSleep 2037 2 89.22 nil 0 0 0.00

Compass 372 5 27.96 nil 0 0 0.00

RAFOS 2214 40 1328.40

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.33 16386 -146.63 -1.09 0.00 1158.3 1212.5 1104.1 462.1 2098.2 0.00 0.00 0 114.21 107.30 0.00 0.00 0.005 0.000 0.000 3367.53 3469.06 3266.00 462.12 2098.62 0 0 0 15.92 30.00 30.00

114.52 18727 -146.63 -1.09 80.00 3366.7 3468.5 3264.9 462.3 2098.0 3.30 -1.72 11 145.86 7.64 12.58 4.91 0.008 0.425 0.068 3645.94 3776.00 3515.88 3057.94 3851.69 0 0 0 15.95 15.73 15.94

327.54 3205 -146.63 -0.81 0.00 3648.4 3776.9 3520.0 3059.1 3851.6 32.57 -10.67 54 334.96 0.00 0.38 4.64 0.000 0.226 0.032 3647.56 3775.81 3519.31 3173.88 2115.94 0 0 0 30.00 15.95 16.06

517.94 4225 -146.63 -0.98 0.00 3647.8 3776.0 3519.6 3174.1 2115.2 47.03 -8.27 74 519.39 0.00 0.17 0.00 0.000 0.082 0.000 3649.00 3777.00 3521.00 3088.25 2115.75 0 0 0 30.00 16.06 30.00

697.99 2437 -146.63 -0.89 80.00 3648.4 3776.5 3520.2 3088.2 2115.0 65.37 -9.95 92 704.67 0.00 0.19 4.86 0.000 0.215 0.068 3647.97 3775.44 3520.50 3127.00 3851.56 0 0 0 30.00 16.03 16.06

753.00 1156 -146.63 -1.00 0.00 3647.9 3775.8 3520.1 3126.5 3851.5 70.36 -8.72 103 759.65 0.00 0.00 4.62 0.000 0.000 0.031 3649.94 3778.19 3521.69 3126.00 2123.00 0 0 0 30.00 30.00 16.07

938.01 516 -146.63 -1.00 -80.00 3648.5 3776.6 3520.5 3126.7 2121.6 85.59 -8.68 122 944.62 0.00 0.00 4.69 0.000 0.000 0.071 3648.41 3776.81 3520.00 3126.00 436.94 0 0 0 30.00 30.00 16.06

973.10 1156 -146.63 -0.89 0.00 3648.7 3776.8 3520.7 3126.4 436.7 89.29 -10.57 129 979.79 0.00 0.00 4.61 0.000 0.000 0.030 3647.31 3774.94 3519.69 3103.31 2164.12 0 0 0 30.00 30.00 16.07

1158.06 2565 -146.63 -0.89 -80.00 3648.2 3776.1 3520.4 3103.4 2165.2 106.07 -9.60 148 1164.76 0.00 0.14 4.84 0.000 0.225 0.070 3649.00 3776.75 3521.25 3149.94 436.94 0 0 0 30.00 16.04 16.08

1233.07 1028 -146.63 -0.89 0.00 3648.2 3775.9 3520.6 3149.9 436.9 114.10 -10.50 163 1239.68 0.00 0.00 4.59 0.000 0.000 0.030 3649.16 3777.19 3521.12 3129.12 2166.75 0 0 0 30.00 30.00 16.07

1418.12 128 -146.63 -0.98 0.00 3648.4 3776.1 3520.8 3127.9 2167.8 130.86 -8.92 182 1419.46 0.00 0.00 0.00 0.000 0.000 0.000 3648.09 3776.31 3519.88 3129.00 2167.94 0 0 0 30.00 30.00 30.00

1598.12 516 -146.63 -0.98 -80.00 3648.4 3776.6 3520.2 3128.2 2167.9 146.14 -8.71 200 1604.77 0.00 0.00 4.86 0.000 0.000 0.069 3648.25 3775.69 3520.81 3129.50 435.88 0 0 0 30.00 30.00 16.05

1637 end dive: TARGET_DEPTH_EXCEEDED

state 1637 begin apogee

1644.56 10243 0.00 -0.19 0.00 3648.1 3776.2 3520.0 3106.7 2168.4 150.53 -11.25 208 1759.25 110.49 0.87 0.14 1.226 0.196 0.113 3049.06 3152.62 2945.50 3375.19 2105.75 0 0 0 12.74 15.99 15.66

1760 end apogee: CONTROL_FINISHED_OK

state 1760 begin climb

1760.50 10503 146.63 1.09 80.00 3047.1 3149.6 2944.5 3375.2 2106.1 153.30 0.00 220 1879.04 110.57 1.21 5.07 1.148 0.112 0.069 2451.81 2537.50 2366.12 3785.19 3851.50 0 0 0 12.64 15.68 15.52

1906.00 5253 146.63 0.69 0.00 2444.8 2530.2 2359.5 3787.1 3851.2 141.74 12.60 249 1913.82 0.00 0.57 4.76 0.000 0.251 0.030 2447.03 2533.31 2360.75 3646.12 2117.31 0 0 0 30.00 15.58 15.64

2091.06 10919 213.06 1.13 -80.00 2439.3 2531.0 2347.6 3647.1 2116.9 128.27 6.92 268 2148.84 50.69 0.40 4.76 1.102 0.044 0.066 2176.00 2271.62 2080.38 3840.56 438.12 0 0 0 12.64 15.85 15.66

2226.07 5253 213.06 0.86 0.00 2175.1 2269.3 2080.9 3840.0 437.2 109.37 15.12 295 2232.83 0.00 0.51 4.70 0.000 0.250 0.029 2177.94 2272.81 2083.06 3698.50 2172.75 0 0 0 30.00 15.73 15.76

2411.10 10919 263.39 1.21 -80.00 2171.8 2270.4 2073.2 3698.2 2180.8 92.58 7.67 314 2457.69 38.58 0.34 4.95 1.098 0.049 0.067 1974.84 2075.81 1873.88 3869.19 436.06 0 0 0 12.71 15.89 15.73

2485.75 5253 263.39 0.97 0.00 1972.6 2072.2 1873.0 3869.2 435.6 82.67 14.89 329 2493.19 0.00 0.48 4.71 0.000 0.237 0.031 1971.38 2070.75 1872.00 3731.69 2172.12 0 0 0 30.00 15.74 15.77

2676.14 10403 334.68 1.39 0.00 1969.2 2071.8 1866.5 3733.4 2177.2 67.12 6.70 349 2731.11 53.44 0.33 0.00 1.092 0.048 0.000 1685.38 1786.19 1584.56 3882.62 2180.19 0 0 0 12.70 15.89 30.00

2906.14 4225 334.68 1.21 0.00 1678.1 1782.5 1573.8 3882.9 2181.0 36.48 14.00 372 2907.62 0.00 0.26 0.00 0.000 0.241 0.000 1678.50 1782.25 1574.75 3805.38 2181.56 0 0 0 30.00 15.81 30.00

3086.16 19079 334.68 1.32 -80.00 1676.7 1782.1 1571.3 3805.8 2181.6 15.83 11.90 390 3092.88 0.00 0.14 4.92 0.000 0.081 0.069 1675.75 1781.81 1569.69 3903.69 436.75 0 0 0 30.00 15.92 15.84

3135.80 21639 334.68 1.17 0.00 1676.0 1781.4 1570.6 3902.9 435.9 7.85 16.47 400 3143.25 0.00 0.37 4.68 0.000 0.232 0.031 1676.06 1781.81 1570.31 3797.75 2172.00 0 0 0 30.00 15.86 15.92

3196 end climb: SURFACE_DEPTH_REACHED

state 3196 begin surface coast

3216 end surface coast: CONTROL_FINISHED_OK

state 3216 begin surface

ID	231	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	3	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.047120001	XPDR_VALID	6
DIVE	3	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	3	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	462.20248	VBD_MIN	525	INT_PRESSURE_YINT	-3.25
D_TGT	150	N_FILEKB	8	VBD_MAX	3950	DEEPGLIDER	0
D_ABORT	175	FILEMGR	0	C_VBD	3050	DEEPGLIDERMB	0
D_NO_BLEED	50	CALL_NDIVES	1	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	2	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	1	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.003	DEVICE4	-1
D_SAFE	0	N_NOSURFACE	0	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CALL_TRIES	5	W_ADJ_DBAND	2	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	DBDW	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	LOITER_W_DBAND	20	LOGGERDEVICE2	-1
T_DIVE	50	CAPMAXSIZE	100000	LOITER_DBDW	40	LOGGERDEVICE3	-1
T_MISSION	65	T_GPS	5	LOITER_D_TOP	100	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	200	COMPASS_DEVICE	66
T_TURN	225	T_RSLEEP	2	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	33
T_NO_W	120	RAFOS_PEAK_OFFSET	0	AH0_24V	575	GPS_DEVICE	48
T_LOITER	0	RAFOS_CORR_THRESH	60	AH0_10V	0	RAFOS_DEVICE	104
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_24V	11	NETWORK_DEVICE	-1
USE_BATHY	-6	RAFOS_MMODEM	0	MINV_10V	11	PRESSURE_DEVICE	34
USE_ICE	0	PITCH_MIN	471	MAXI_24V	5	XPDR_DEVICE	5
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3850	MAXI_10V	1.4	SIM_W	0
D_OFFGRID	100	C_PITCH	3430	FG_AHR_10V	4.2139039	SEABIRD_T_G	0.0043565771
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	3.324477	SEABIRD_T_H	0.00062677637
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	PHONE_SUPPLY	2	SEABIRD_T_I	2.4431472e-05
MAX_BUOY	150	PITCH_GAIN	27	PRESSURE_YINT	-151.62212	SEABIRD_T_J	2.7094229e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	26	PRESSURE_SLOPE	0.00022543591	SEABIRD_C_G	-10.133897
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	4	SEABIRD_C_H	1.1473427
RHO	1.023	PITCH_ADJ_GAIN	0.059999999	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0015492893
MASS	71877	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0002031941
NAV_MODE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	345	ALTIM_TOP_MIN_OBSTACLE	0	SC_XMITPROFILE	3.0
HD_A	0.003	ROLL_MAX	3945	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0099999998	ROLL_DEG	80	ALTIM_PING_DELTA	0
HD_C	1.6e-05	C_ROLL_DIVE	2145	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2145	ALTIM_PULSE	3

GPS1	090720,173312,4743.482,-12224.081,1,0.9,2,15.4	TGT_LATLONG	4743.000,-12224.000
_CALLS	2	TGT_RADIUS	100.000
_SM_DEPTHo	1.56	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-69.9	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	090720,173722,4743.489,-12224.057,2,0.8,4,15.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.258	MHEAD_RNG_PITCHd_Wd	115.1,908,-17.6,-10.000,-21.21
TGT_NAME	SE	D_GRID	171

FINISH	0.1,1.018983	_24V_AH	14.80,1.042
SM_CCo	3322.54,0.00,0.009,0,1165.9,1207.3,1124.4,462.18	_10V_AH	15.00,0.000
SM_GC	1.56,0.00,9.17,0.14,0.009,0.055,0.072,1165.9,1207.3,1124.4,454.4,2098.3,0,0,0,30.36,15.93,15.97	FG_AHR_24Vo	3.475
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	4.277
IRIDIUM_FIX	4744.47,-12222.38,090720,173348	MEM	1130420,31,46988,82
TCM_TEMP	15.39	DATA_FILE_SIZE	12932,409
XPDR_PINGS	2,14.0,10.5	CAP_FILE_SIZE	183501,0
SC_FREEKB	3877408	SDSIZE	3918848,3908384
RAFOS_CLK	0	SDFILEDIR	51,1
MODEM	1,1594314353,47.50000,-123.50000,53.728,78711.0	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4743.237793,-12223.458984,090720,181802,0,1,0.27	SOUNDSPEED	1465.0
HUMID	57.19	CURRENT	0.100, 23.2,1
TEMP	12.73	GPS	090720,183330,4743.403,-12223.555,2,1.9,4,15.4
INTERNAL_PRESSURE	8.73414

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	567	2749	23088.44	nil	0	0	0.00
Pitch_motor	28	424	176.48	nil	0	0	0.00
Roll_motor	86	112	144.07	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	3.11	nil	0	0	0.00
GPS	13	15	3.02	nil	0	0	0.00
Core	1344	11	240.40	SciCon	3220	39	1917.08
LPSleep	2037	2	89.22	nil	0	0	0.00
Compass	372	5	27.96	nil	0	0	0.00
RAFOS	2214	40	1328.40
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.33	16386	-146.63	-1.09	0.00	1158.3	1212.5	1104.1	462.1	2098.2	0.00	0.00	0	114.21	107.30	0.00	0.00	0.005	0.000	0.000	3367.53	3469.06	3266.00	462.12	2098.62	0	0	0	15.92	30.00	30.00
114.52	18727	-146.63	-1.09	80.00	3366.7	3468.5	3264.9	462.3	2098.0	3.30	-1.72	11	145.86	7.64	12.58	4.91	0.008	0.425	0.068	3645.94	3776.00	3515.88	3057.94	3851.69	0	0	0	15.95	15.73	15.94
327.54	3205	-146.63	-0.81	0.00	3648.4	3776.9	3520.0	3059.1	3851.6	32.57	-10.67	54	334.96	0.00	0.38	4.64	0.000	0.226	0.032	3647.56	3775.81	3519.31	3173.88	2115.94	0	0	0	30.00	15.95	16.06
517.94	4225	-146.63	-0.98	0.00	3647.8	3776.0	3519.6	3174.1	2115.2	47.03	-8.27	74	519.39	0.00	0.17	0.00	0.000	0.082	0.000	3649.00	3777.00	3521.00	3088.25	2115.75	0	0	0	30.00	16.06	30.00
697.99	2437	-146.63	-0.89	80.00	3648.4	3776.5	3520.2	3088.2	2115.0	65.37	-9.95	92	704.67	0.00	0.19	4.86	0.000	0.215	0.068	3647.97	3775.44	3520.50	3127.00	3851.56	0	0	0	30.00	16.03	16.06
753.00	1156	-146.63	-1.00	0.00	3647.9	3775.8	3520.1	3126.5	3851.5	70.36	-8.72	103	759.65	0.00	0.00	4.62	0.000	0.000	0.031	3649.94	3778.19	3521.69	3126.00	2123.00	0	0	0	30.00	30.00	16.07
938.01	516	-146.63	-1.00	-80.00	3648.5	3776.6	3520.5	3126.7	2121.6	85.59	-8.68	122	944.62	0.00	0.00	4.69	0.000	0.000	0.071	3648.41	3776.81	3520.00	3126.00	436.94	0	0	0	30.00	30.00	16.06
973.10	1156	-146.63	-0.89	0.00	3648.7	3776.8	3520.7	3126.4	436.7	89.29	-10.57	129	979.79	0.00	0.00	4.61	0.000	0.000	0.030	3647.31	3774.94	3519.69	3103.31	2164.12	0	0	0	30.00	30.00	16.07
1158.06	2565	-146.63	-0.89	-80.00	3648.2	3776.1	3520.4	3103.4	2165.2	106.07	-9.60	148	1164.76	0.00	0.14	4.84	0.000	0.225	0.070	3649.00	3776.75	3521.25	3149.94	436.94	0	0	0	30.00	16.04	16.08
1233.07	1028	-146.63	-0.89	0.00	3648.2	3775.9	3520.6	3149.9	436.9	114.10	-10.50	163	1239.68	0.00	0.00	4.59	0.000	0.000	0.030	3649.16	3777.19	3521.12	3129.12	2166.75	0	0	0	30.00	30.00	16.07
1418.12	128	-146.63	-0.98	0.00	3648.4	3776.1	3520.8	3127.9	2167.8	130.86	-8.92	182	1419.46	0.00	0.00	0.00	0.000	0.000	0.000	3648.09	3776.31	3519.88	3129.00	2167.94	0	0	0	30.00	30.00	30.00
1598.12	516	-146.63	-0.98	-80.00	3648.4	3776.6	3520.2	3128.2	2167.9	146.14	-8.71	200	1604.77	0.00	0.00	4.86	0.000	0.000	0.069	3648.25	3775.69	3520.81	3129.50	435.88	0	0	0	30.00	30.00	16.05
1637	end dive: TARGET_DEPTH_EXCEEDED
state	1637	begin apogee
1644.56	10243	0.00	-0.19	0.00	3648.1	3776.2	3520.0	3106.7	2168.4	150.53	-11.25	208	1759.25	110.49	0.87	0.14	1.226	0.196	0.113	3049.06	3152.62	2945.50	3375.19	2105.75	0	0	0	12.74	15.99	15.66
1760	end apogee: CONTROL_FINISHED_OK
state	1760	begin climb
1760.50	10503	146.63	1.09	80.00	3047.1	3149.6	2944.5	3375.2	2106.1	153.30	0.00	220	1879.04	110.57	1.21	5.07	1.148	0.112	0.069	2451.81	2537.50	2366.12	3785.19	3851.50	0	0	0	12.64	15.68	15.52
1906.00	5253	146.63	0.69	0.00	2444.8	2530.2	2359.5	3787.1	3851.2	141.74	12.60	249	1913.82	0.00	0.57	4.76	0.000	0.251	0.030	2447.03	2533.31	2360.75	3646.12	2117.31	0	0	0	30.00	15.58	15.64
2091.06	10919	213.06	1.13	-80.00	2439.3	2531.0	2347.6	3647.1	2116.9	128.27	6.92	268	2148.84	50.69	0.40	4.76	1.102	0.044	0.066	2176.00	2271.62	2080.38	3840.56	438.12	0	0	0	12.64	15.85	15.66
2226.07	5253	213.06	0.86	0.00	2175.1	2269.3	2080.9	3840.0	437.2	109.37	15.12	295	2232.83	0.00	0.51	4.70	0.000	0.250	0.029	2177.94	2272.81	2083.06	3698.50	2172.75	0	0	0	30.00	15.73	15.76
2411.10	10919	263.39	1.21	-80.00	2171.8	2270.4	2073.2	3698.2	2180.8	92.58	7.67	314	2457.69	38.58	0.34	4.95	1.098	0.049	0.067	1974.84	2075.81	1873.88	3869.19	436.06	0	0	0	12.71	15.89	15.73
2485.75	5253	263.39	0.97	0.00	1972.6	2072.2	1873.0	3869.2	435.6	82.67	14.89	329	2493.19	0.00	0.48	4.71	0.000	0.237	0.031	1971.38	2070.75	1872.00	3731.69	2172.12	0	0	0	30.00	15.74	15.77
2676.14	10403	334.68	1.39	0.00	1969.2	2071.8	1866.5	3733.4	2177.2	67.12	6.70	349	2731.11	53.44	0.33	0.00	1.092	0.048	0.000	1685.38	1786.19	1584.56	3882.62	2180.19	0	0	0	12.70	15.89	30.00
2906.14	4225	334.68	1.21	0.00	1678.1	1782.5	1573.8	3882.9	2181.0	36.48	14.00	372	2907.62	0.00	0.26	0.00	0.000	0.241	0.000	1678.50	1782.25	1574.75	3805.38	2181.56	0	0	0	30.00	15.81	30.00
3086.16	19079	334.68	1.32	-80.00	1676.7	1782.1	1571.3	3805.8	2181.6	15.83	11.90	390	3092.88	0.00	0.14	4.92	0.000	0.081	0.069	1675.75	1781.81	1569.69	3903.69	436.75	0	0	0	30.00	15.92	15.84
3135.80	21639	334.68	1.17	0.00	1676.0	1781.4	1570.6	3902.9	435.9	7.85	16.47	400	3143.25	0.00	0.37	4.68	0.000	0.232	0.031	1676.06	1781.81	1570.31	3797.75	2172.00	0	0	0	30.00	15.86	15.92
3196	end climb: SURFACE_DEPTH_REACHED
state	3196	begin surface coast
3216	end surface coast: CONTROL_FINISHED_OK
state	3216	begin surface