Glider dive log

Shilshole 16Jul20 * SG235 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 XPDR_INT 0

MISSION 1 FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_REP 0

DIVE 3 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 3 TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -0.5

STOP_T 0 TGT_AUTO_DEFAULT 0 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 SM_CC 627.77997 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 C_VBD 3100 MOTHERBOARD 6

D_TGT 150 FILEMGR 0 VBD_DBAND 2 DEVICE1 10

D_ABORT 175 CALL_NDIVES 1 VBD_CNV -0.24529999 DEVICE2 -1

D_NO_BLEED 50 COMM_SEQ 0 VBD_LP_IGNORE 0 DEVICE3 -1

D_BOOST 2 PROTOCOL 9 VBD_TIMEOUT 360 DEVICE4 -1

T_BOOST 0 N_NOCOMM 1 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 2

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 65 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

USE_BATHY -6 PITCH_MIN 230 MAXI_10V 1.5 SEABIRD_T_G 0.004415411

USE_ICE 0 PITCH_MAX 3900 FG_AHR_10V 3.1327505 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2650 FG_AHR_24V 3.2732537 SEABIRD_T_I 2.6329088e-05

D_OFFGRID 100 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_J 3.2522996e-06

RELAUNCH 1 PITCH_CNV 0.0041299998 PRESSURE_YINT -158.82793 SEABIRD_C_G -9.8064938

APOGEE_PITCH -5 PITCH_GAIN 25 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_H 1.0739573

MAX_BUOY 150 PITCH_TIMEOUT 30 COMPASS_USE 4 SEABIRD_C_I -0.002841271

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 ALTIM_PING_FIT 0 SEABIRD_C_J 0.00027081851

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.045000002 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

RHO 1.023 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 3.0

MASS 71634 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 600 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MAX 3400 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 2000 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_CLIMB 2000 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING -1 HEAD_ERRBAND 10 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 1.0739573

AH0_24V 350 D_TGT 150 PHONE_DEVICE 33 SEABIRD_C_I -0.002841271

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SEABIRD_C_J 0.00027081851

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SEABIRD_T_G 0.004415411

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0.045000002 SEABIRD_T_H 0.00064200663

ALTIM_PING_DEPTH 0 FG_AHR_10V 3.1327505 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 3.2732537 PITCH_DBAND 0.1 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FILEMGR 0 PITCH_GAIN 25 SIM_W 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 SM_CC 627.77997

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 48 PITCH_MIN 230 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 10 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 235 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 -0.5 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 0.00022957686 T_LOITER 0

C_ROLL_CLIMB 2000 LOGGERDEVICE4 -1 PRESSURE_YINT -158.82793 T_MISSION 65

C_ROLL_DIVE 2000 LOGGERS 2 PROTOCOL 9 T_NO_W 120

C_VBD 3100 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 71634 RELAUNCH 1 USE_BATHY -6

DEVICE3 -1 MAXI_10V 1.5 RHO 1.023 USE_ICE 0

DEVICE4 -1 MAXI_24V 3 ROLL_ADJ_DBAND 0 VBD_CNV -0.24529999

DEVICE5 -1 MAX_BUOY 150 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE6 -1 MINV_10V 11 ROLL_CNV 0.054945 VBD_LP_IGNORE 0

DIVE 3 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 175 MISSION 1 ROLL_MAX 3400 VBD_MAXERRORS 1

D_BOOST 2 MOTHERBOARD 6 ROLL_MAXERRORS 1 VBD_MIN 500

D_CALL 0 NAV_MODE 2 ROLL_MIN 600 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 50 N_DIVES 3 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 1 SEABIRD_C_G -9.8064938 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 160720,185051,4743.544,-12224.262,1,1.2,4,15.4 TGT_LATLONG 4743.500,-12225.000

_CALLS 1 TGT_RADIUS 100.000

_SM_DEPTHo 1.51 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -63.1 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 160720,185219,4743.528,-12224.265,3,1.1,4,15.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.258 MHEAD_RNG_PITCHd_Wd 281.6,917,-17.6,-10.000,-21.21

TGT_NAME NW D_GRID 174

Post-dive calculations and measurements:

NET CACST,6,1,20200716191958.215794,17,32767,45,0106,0150,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,13.0,-91.00,-100,94.00,-01,0.30,72,10000,5000*5A INTERNAL_PRESSURE 8.52472

FINISH 1.2,1.020246 _24V_AH 14.97,1.173

SM_CCo 3502.00,0.00,0.010,0,541.1,597.9,484.2,627.71 _10V_AH 14.95,0.000

SM_GC 1.52,0.00,16.90,0.05,0.010,0.074,0.200,541.1,597.9,484.2,219.2,2014.6,0,0,0,30.36,15.93,15.99 FG_AHR_24Vo 3.473

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 3.192

IRIDIUM_FIX 4744.47,-12222.38,160720,184711 MEM 1129904,34,47264,85

TCM_TEMP 14.89 DATA_FILE_SIZE 22596,569

PM_FREEKB_00 62243776 CAP_FILE_SIZE 209299,0

PM_FREEKB_01 62343104 SDSIZE 3918848,3904256

PM_ACTIVECARD 0 SDFILEDIR 38,1

RAFOS_CLK 0 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 4743.642578,-12225.150391,160720,191912,0,1,0.34 SOUNDSPEED 1465.0

HUMID 56.34 CURRENT 0.162,188.4,1

TEMP 12.70 GPS 160720,195142,4743.337,-12224.918,2,1.4,6,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 680 1328 13542.95 SBE_CT 943 24 338.85

Pitch_motor 40 271 164.26 nil 0 0 0.00

Roll_motor 82 372 460.22 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.89 nil 0 0 0.00

Core 1926 10 291.42 SciCon 0 0 0.00

LPSleep 1427 1 23.90 PMAR 3301 12 630.54

Compass 980 5 73.30 nil 0 0 0.00

RAFOS 2218 40 1326.36

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

9.83 16386 -146.63 -0.88 0.00 541.2 593.3 489.1 231.3 2014.4 0.00 0.00 0 119.21 108.88 0.00 0.00 0.005 0.000 0.000 2992.28 3005.00 2979.56 231.44 2014.06 0 0 0 15.96 30.00 30.00

119.47 18727 -146.63 -0.88 80.00 2990.4 3003.2 2977.6 231.4 2014.9 3.01 -1.60 21 163.55 19.60 15.89 3.35 0.006 0.271 0.148 3695.03 3729.69 3660.38 2435.19 3409.94 0 0 0 16.05 15.84 15.89

301.89 5285 -146.63 -1.08 0.00 3696.8 3731.0 3662.6 2435.6 3410.8 21.64 -9.37 57 307.22 0.00 0.37 3.29 0.000 0.068 0.100 3699.25 3733.75 3664.75 2369.12 1987.31 0 0 0 30.00 16.06 15.94

491.10 260 -146.63 -1.08 80.00 3697.5 3731.8 3663.1 2368.0 1988.2 44.23 -12.20 94 497.67 0.00 0.00 3.45 0.000 0.000 0.154 3697.72 3732.56 3662.88 2368.75 3408.94 0 0 0 30.00 30.00 15.93

506.64 3205 -146.63 -1.03 0.00 3697.6 3732.0 3663.2 2368.1 3408.7 46.10 -12.30 97 512.01 0.00 0.25 3.31 0.000 0.182 0.107 3698.12 3733.00 3663.25 2401.31 1987.31 0 0 0 30.00 15.97 15.99

691.18 4773 -146.63 -1.13 -80.00 3697.2 3732.1 3662.2 2401.4 1987.6 64.57 -9.86 134 696.99 0.00 0.22 3.56 0.000 0.084 0.212 3698.59 3733.75 3663.44 2356.25 592.06 0 0 0 30.00 16.05 15.93

757.00 3205 -146.63 -0.97 0.00 3697.3 3731.6 3663.1 2355.9 591.7 74.18 -15.92 147 762.30 0.00 0.44 3.28 0.000 0.176 0.097 3698.31 3733.25 3663.38 2416.25 2011.88 0 0 0 30.00 15.97 16.02

941.25 4485 -146.63 -1.13 80.00 3697.3 3732.0 3662.6 2415.5 2011.2 93.54 -10.36 184 947.06 0.00 0.30 3.41 0.000 0.074 0.165 3698.09 3732.88 3663.31 2356.62 3408.19 0 0 0 30.00 16.05 15.98

976.99 1028 -146.63 -1.13 0.00 3697.4 3732.3 3662.5 2356.0 3407.0 98.20 -13.59 191 982.29 0.00 0.00 3.33 0.000 0.000 0.112 3698.06 3732.19 3663.94 2355.81 1987.19 0 0 0 30.00 30.00 16.00

1162.01 516 -146.63 -1.13 -80.00 3697.3 3731.5 3663.2 2355.9 1987.8 121.81 -12.79 211 1167.70 0.00 0.00 3.59 0.000 0.000 0.222 3697.03 3732.31 3661.75 2357.50 593.81 0 0 0 30.00 30.00 15.96

1210.96 3205 -146.63 -1.01 0.00 3697.6 3731.7 3663.5 2357.0 593.9 129.24 -15.18 221 1217.33 0.00 0.37 3.30 0.000 0.176 0.106 3697.38 3731.62 3663.12 2405.19 2011.62 0 0 0 30.00 15.98 16.01

1396.41 4741 -146.63 -1.18 -80.00 3697.2 3732.1 3662.4 2405.7 2011.7 149.34 -10.49 240 1401.86 0.00 0.32 3.67 0.000 0.070 0.224 3697.78 3731.94 3663.62 2343.62 594.38 0 0 0 30.00 16.04 15.96

1407 end dive: TARGET_DEPTH_EXCEEDED

state 1407 begin apogee

1411.88 10243 0.00 -0.20 0.00 3697.5 3732.2 3662.9 2343.2 2008.5 150.51 -10.73 242 1518.84 100.60 1.75 0.04 1.329 0.164 0.373 3098.50 3165.12 3031.88 2602.94 1982.62 0 0 0 11.60 15.99 15.66

1520 end apogee: CONTROL_FINISHED_OK

state 1520 begin climb

1520.30 10503 146.63 0.88 80.00 3098.0 3164.8 3031.2 2602.9 1982.2 155.16 0.00 253 1632.85 104.62 1.62 3.65 1.288 0.094 0.176 2503.38 2574.62 2432.12 2868.56 3407.88 0 0 0 11.60 15.67 15.47

1770.91 9254 221.04 0.98 0.00 2494.8 2561.1 2428.5 2868.6 3407.3 143.03 6.55 302 1832.33 55.49 0.00 3.40 1.252 0.000 0.118 2197.56 2281.88 2113.25 2869.06 1989.31 0 0 0 11.47 30.00 15.71

2010.44 10919 265.79 1.23 -80.00 2191.8 2271.9 2111.8 2868.7 1989.5 129.26 7.93 332 2052.51 33.81 0.47 3.70 1.222 0.061 0.230 2015.75 2101.12 1930.38 2962.00 593.75 0 0 0 11.65 15.81 15.64

2091.14 5253 265.79 1.08 0.00 2012.0 2095.4 1928.7 2962.0 593.6 120.71 11.98 348 2096.93 0.00 0.44 3.36 0.000 0.183 0.107 2015.56 2099.19 1931.94 2906.00 2009.00 0 0 0 30.00 15.70 15.73

2276.03 10663 304.96 1.31 80.00 2009.9 2092.9 1926.9 2905.6 2008.3 105.25 8.19 367 2311.65 30.09 0.41 3.55 1.198 0.065 0.184 1856.97 1943.31 1770.62 2981.56 3407.69 0 0 0 11.64 15.84 15.70

2365.46 1028 304.96 1.31 0.00 1851.4 1934.9 1767.9 2981.4 3407.0 94.81 12.28 385 2371.71 0.00 0.00 3.37 0.000 0.000 0.112 1852.22 1935.81 1768.62 2981.62 1988.19 0 0 0 30.00 30.00 15.73

2551.33 260 304.96 1.31 80.00 1849.8 1931.2 1768.4 2980.3 1988.8 72.87 11.31 422 2556.65 0.00 0.00 3.54 0.000 0.000 0.173 1850.69 1932.50 1768.88 2981.88 3407.31 0 0 0 30.00 30.00 15.84

2580.90 1028 304.96 1.31 0.00 1849.4 1930.7 1768.1 2980.0 3407.3 69.19 12.29 428 2586.26 0.00 0.00 3.37 0.000 0.000 0.116 1849.81 1930.88 1768.75 2981.06 1986.81 0 0 0 30.00 30.00 15.85

2765.58 516 304.96 1.31 -80.00 1849.2 1930.4 1768.1 2980.7 1987.2 48.60 11.97 465 2771.37 0.00 0.00 3.57 0.000 0.000 0.211 1849.44 1930.50 1768.38 2980.81 593.56 0 0 0 30.00 30.00 15.82

2810.75 5253 304.96 1.24 0.00 1848.7 1929.5 1767.9 2980.8 593.6 42.30 14.18 474 2816.41 0.00 0.28 3.28 0.000 0.194 0.092 1849.38 1930.56 1768.19 2943.69 2012.56 0 0 0 30.00 15.91 15.95

3000.12 10663 356.83 1.46 80.00 1848.5 1929.3 1767.6 2943.4 2012.2 26.29 7.60 512 3046.78 38.67 0.40 3.45 1.171 0.068 0.166 1644.69 1735.06 1554.31 3016.94 3407.75 0 0 0 11.61 16.01 15.82

3085.40 1028 356.83 1.46 0.00 1641.3 1729.4 1553.2 3017.3 3407.4 17.54 11.05 529 3091.31 0.00 0.00 3.32 0.000 0.000 0.099 1640.66 1728.19 1553.12 3017.62 1985.50 0 0 0 30.00 30.00 15.84

3255 end climb: SURFACE_DEPTH_REACHED

state 3255 begin surface coast

3286 end surface coast: CONTROL_FINISHED_OK

state 3286 begin surface

ID	235	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	1	FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	3	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	3	TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-0.5
STOP_T	0	TGT_AUTO_DEFAULT	0	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	SM_CC	627.77997	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	C_VBD	3100	MOTHERBOARD	6
D_TGT	150	FILEMGR	0	VBD_DBAND	2	DEVICE1	10
D_ABORT	175	CALL_NDIVES	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_NO_BLEED	50	COMM_SEQ	0	VBD_LP_IGNORE	0	DEVICE3	-1
D_BOOST	2	PROTOCOL	9	VBD_TIMEOUT	360	DEVICE4	-1
T_BOOST	0	N_NOCOMM	1	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	2
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	65	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
USE_BATHY	-6	PITCH_MIN	230	MAXI_10V	1.5	SEABIRD_T_G	0.004415411
USE_ICE	0	PITCH_MAX	3900	FG_AHR_10V	3.1327505	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2650	FG_AHR_24V	3.2732537	SEABIRD_T_I	2.6329088e-05
D_OFFGRID	100	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_J	3.2522996e-06
RELAUNCH	1	PITCH_CNV	0.0041299998	PRESSURE_YINT	-158.82793	SEABIRD_C_G	-9.8064938
APOGEE_PITCH	-5	PITCH_GAIN	25	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_H	1.0739573
MAX_BUOY	150	PITCH_TIMEOUT	30	COMPASS_USE	4	SEABIRD_C_I	-0.002841271
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	ALTIM_PING_FIT	0	SEABIRD_C_J	0.00027081851
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.045000002	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
RHO	1.023	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	3.0
MASS	71634	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	600	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MAX	3400	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	2000	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_CLIMB	2000	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
HEADING	-1	HEAD_ERRBAND	10	XPDR_VALID	4	PM_MOTORS	0.0
ESCAPE_HEADING	0	ROLL_CNV	0.054945	XPDR_INHIBIT	90	PM_SENDDEPTH	1.0

GPS1	160720,185051,4743.544,-12224.262,1,1.2,4,15.4	TGT_LATLONG	4743.500,-12225.000
_CALLS	1	TGT_RADIUS	100.000
_SM_DEPTHo	1.51	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-63.1	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	160720,185219,4743.528,-12224.265,3,1.1,4,15.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.258	MHEAD_RNG_PITCHd_Wd	281.6,917,-17.6,-10.000,-21.21
TGT_NAME	NW	D_GRID	174

NET	CACST,6,1,20200716191958.215794,17,32767,45,0106,0150,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,13.0,-91.00,-100,94.00,-01,0.30,72,10000,5000*5A	INTERNAL_PRESSURE	8.52472
FINISH	1.2,1.020246	_24V_AH	14.97,1.173
SM_CCo	3502.00,0.00,0.010,0,541.1,597.9,484.2,627.71	_10V_AH	14.95,0.000
SM_GC	1.52,0.00,16.90,0.05,0.010,0.074,0.200,541.1,597.9,484.2,219.2,2014.6,0,0,0,30.36,15.93,15.99	FG_AHR_24Vo	3.473
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	3.192
IRIDIUM_FIX	4744.47,-12222.38,160720,184711	MEM	1129904,34,47264,85
TCM_TEMP	14.89	DATA_FILE_SIZE	22596,569
PM_FREEKB_00	62243776	CAP_FILE_SIZE	209299,0
PM_FREEKB_01	62343104	SDSIZE	3918848,3904256
PM_ACTIVECARD	0	SDFILEDIR	38,1
RAFOS_CLK	0	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4743.642578,-12225.150391,160720,191912,0,1,0.34	SOUNDSPEED	1465.0
HUMID	56.34	CURRENT	0.162,188.4,1
TEMP	12.70	GPS	160720,195142,4743.337,-12224.918,2,1.4,6,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	680	1328	13542.95	SBE_CT	943	24	338.85
Pitch_motor	40	271	164.26	nil	0	0	0.00
Roll_motor	82	372	460.22	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.89	nil	0	0	0.00
Core	1926	10	291.42	SciCon	0	0	0.00
LPSleep	1427	1	23.90	PMAR	3301	12	630.54
Compass	980	5	73.30	nil	0	0	0.00
RAFOS	2218	40	1326.36
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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
9.83	16386	-146.63	-0.88	0.00	541.2	593.3	489.1	231.3	2014.4	0.00	0.00	0	119.21	108.88	0.00	0.00	0.005	0.000	0.000	2992.28	3005.00	2979.56	231.44	2014.06	0	0	0	15.96	30.00	30.00
119.47	18727	-146.63	-0.88	80.00	2990.4	3003.2	2977.6	231.4	2014.9	3.01	-1.60	21	163.55	19.60	15.89	3.35	0.006	0.271	0.148	3695.03	3729.69	3660.38	2435.19	3409.94	0	0	0	16.05	15.84	15.89
301.89	5285	-146.63	-1.08	0.00	3696.8	3731.0	3662.6	2435.6	3410.8	21.64	-9.37	57	307.22	0.00	0.37	3.29	0.000	0.068	0.100	3699.25	3733.75	3664.75	2369.12	1987.31	0	0	0	30.00	16.06	15.94
491.10	260	-146.63	-1.08	80.00	3697.5	3731.8	3663.1	2368.0	1988.2	44.23	-12.20	94	497.67	0.00	0.00	3.45	0.000	0.000	0.154	3697.72	3732.56	3662.88	2368.75	3408.94	0	0	0	30.00	30.00	15.93
506.64	3205	-146.63	-1.03	0.00	3697.6	3732.0	3663.2	2368.1	3408.7	46.10	-12.30	97	512.01	0.00	0.25	3.31	0.000	0.182	0.107	3698.12	3733.00	3663.25	2401.31	1987.31	0	0	0	30.00	15.97	15.99
691.18	4773	-146.63	-1.13	-80.00	3697.2	3732.1	3662.2	2401.4	1987.6	64.57	-9.86	134	696.99	0.00	0.22	3.56	0.000	0.084	0.212	3698.59	3733.75	3663.44	2356.25	592.06	0	0	0	30.00	16.05	15.93
757.00	3205	-146.63	-0.97	0.00	3697.3	3731.6	3663.1	2355.9	591.7	74.18	-15.92	147	762.30	0.00	0.44	3.28	0.000	0.176	0.097	3698.31	3733.25	3663.38	2416.25	2011.88	0	0	0	30.00	15.97	16.02
941.25	4485	-146.63	-1.13	80.00	3697.3	3732.0	3662.6	2415.5	2011.2	93.54	-10.36	184	947.06	0.00	0.30	3.41	0.000	0.074	0.165	3698.09	3732.88	3663.31	2356.62	3408.19	0	0	0	30.00	16.05	15.98
976.99	1028	-146.63	-1.13	0.00	3697.4	3732.3	3662.5	2356.0	3407.0	98.20	-13.59	191	982.29	0.00	0.00	3.33	0.000	0.000	0.112	3698.06	3732.19	3663.94	2355.81	1987.19	0	0	0	30.00	30.00	16.00
1162.01	516	-146.63	-1.13	-80.00	3697.3	3731.5	3663.2	2355.9	1987.8	121.81	-12.79	211	1167.70	0.00	0.00	3.59	0.000	0.000	0.222	3697.03	3732.31	3661.75	2357.50	593.81	0	0	0	30.00	30.00	15.96
1210.96	3205	-146.63	-1.01	0.00	3697.6	3731.7	3663.5	2357.0	593.9	129.24	-15.18	221	1217.33	0.00	0.37	3.30	0.000	0.176	0.106	3697.38	3731.62	3663.12	2405.19	2011.62	0	0	0	30.00	15.98	16.01
1396.41	4741	-146.63	-1.18	-80.00	3697.2	3732.1	3662.4	2405.7	2011.7	149.34	-10.49	240	1401.86	0.00	0.32	3.67	0.000	0.070	0.224	3697.78	3731.94	3663.62	2343.62	594.38	0	0	0	30.00	16.04	15.96
1407	end dive: TARGET_DEPTH_EXCEEDED
state	1407	begin apogee
1411.88	10243	0.00	-0.20	0.00	3697.5	3732.2	3662.9	2343.2	2008.5	150.51	-10.73	242	1518.84	100.60	1.75	0.04	1.329	0.164	0.373	3098.50	3165.12	3031.88	2602.94	1982.62	0	0	0	11.60	15.99	15.66
1520	end apogee: CONTROL_FINISHED_OK
state	1520	begin climb
1520.30	10503	146.63	0.88	80.00	3098.0	3164.8	3031.2	2602.9	1982.2	155.16	0.00	253	1632.85	104.62	1.62	3.65	1.288	0.094	0.176	2503.38	2574.62	2432.12	2868.56	3407.88	0	0	0	11.60	15.67	15.47
1770.91	9254	221.04	0.98	0.00	2494.8	2561.1	2428.5	2868.6	3407.3	143.03	6.55	302	1832.33	55.49	0.00	3.40	1.252	0.000	0.118	2197.56	2281.88	2113.25	2869.06	1989.31	0	0	0	11.47	30.00	15.71
2010.44	10919	265.79	1.23	-80.00	2191.8	2271.9	2111.8	2868.7	1989.5	129.26	7.93	332	2052.51	33.81	0.47	3.70	1.222	0.061	0.230	2015.75	2101.12	1930.38	2962.00	593.75	0	0	0	11.65	15.81	15.64
2091.14	5253	265.79	1.08	0.00	2012.0	2095.4	1928.7	2962.0	593.6	120.71	11.98	348	2096.93	0.00	0.44	3.36	0.000	0.183	0.107	2015.56	2099.19	1931.94	2906.00	2009.00	0	0	0	30.00	15.70	15.73
2276.03	10663	304.96	1.31	80.00	2009.9	2092.9	1926.9	2905.6	2008.3	105.25	8.19	367	2311.65	30.09	0.41	3.55	1.198	0.065	0.184	1856.97	1943.31	1770.62	2981.56	3407.69	0	0	0	11.64	15.84	15.70
2365.46	1028	304.96	1.31	0.00	1851.4	1934.9	1767.9	2981.4	3407.0	94.81	12.28	385	2371.71	0.00	0.00	3.37	0.000	0.000	0.112	1852.22	1935.81	1768.62	2981.62	1988.19	0	0	0	30.00	30.00	15.73
2551.33	260	304.96	1.31	80.00	1849.8	1931.2	1768.4	2980.3	1988.8	72.87	11.31	422	2556.65	0.00	0.00	3.54	0.000	0.000	0.173	1850.69	1932.50	1768.88	2981.88	3407.31	0	0	0	30.00	30.00	15.84
2580.90	1028	304.96	1.31	0.00	1849.4	1930.7	1768.1	2980.0	3407.3	69.19	12.29	428	2586.26	0.00	0.00	3.37	0.000	0.000	0.116	1849.81	1930.88	1768.75	2981.06	1986.81	0	0	0	30.00	30.00	15.85
2765.58	516	304.96	1.31	-80.00	1849.2	1930.4	1768.1	2980.7	1987.2	48.60	11.97	465	2771.37	0.00	0.00	3.57	0.000	0.000	0.211	1849.44	1930.50	1768.38	2980.81	593.56	0	0	0	30.00	30.00	15.82
2810.75	5253	304.96	1.24	0.00	1848.7	1929.5	1767.9	2980.8	593.6	42.30	14.18	474	2816.41	0.00	0.28	3.28	0.000	0.194	0.092	1849.38	1930.56	1768.19	2943.69	2012.56	0	0	0	30.00	15.91	15.95
3000.12	10663	356.83	1.46	80.00	1848.5	1929.3	1767.6	2943.4	2012.2	26.29	7.60	512	3046.78	38.67	0.40	3.45	1.171	0.068	0.166	1644.69	1735.06	1554.31	3016.94	3407.75	0	0	0	11.61	16.01	15.82
3085.40	1028	356.83	1.46	0.00	1641.3	1729.4	1553.2	3017.3	3407.4	17.54	11.05	529	3091.31	0.00	0.00	3.32	0.000	0.000	0.099	1640.66	1728.19	1553.12	3017.62	1985.50	0	0	0	30.00	30.00	15.84
3255	end climb: SURFACE_DEPTH_REACHED
state	3255	begin surface coast
3286	end surface coast: CONTROL_FINISHED_OK
state	3286	begin surface