Glider dive log

Shilshole 18Sep20 * SG236 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 236 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 1 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 3 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 4 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 627.77997 VBD_MIN 500 INT_PRESSURE_YINT 0

D_TGT 150 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 FILEMGR 0 C_VBD 2980 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 120

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 0.0012300001 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 0 LOGGERS 1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 DBDW 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 LOITER_W_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 50 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 65 T_GPS 5 LOITER_D_TOP 0 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 0 COMPASS_DEVICE 66

T_TURN 225 T_RSLEEP 3 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 350 GPS_DEVICE 48

T_LOITER 0 RAFOS_CORR_THRESH 60 AH0_10V 0 RAFOS_DEVICE -1

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_24V 11 NETWORK_DEVICE -1

USE_BATHY -1 RAFOS_MMODEM 0 MINV_10V 11 PRESSURE_DEVICE 34

USE_ICE 0 PITCH_MIN 190 MAXI_24V 3 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3920 MAXI_10V 1.5 SIM_W 0

D_OFFGRID 150 C_PITCH 1840 FG_AHR_10V 2.6573122 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 2.8448386 SEABIRD_T_H 0.00063999998

APOGEE_PITCH -5 PITCH_CNV 0.0041299998 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

MAX_BUOY 150 PITCH_GAIN 25 PRESSURE_YINT -170.66119 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.00022638284 SEABIRD_C_G -10

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 4 SEABIRD_C_H 1

RHO 1.023 PITCH_ADJ_GAIN 0.029999999 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

MASS 72297 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

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 670 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 3.0

HD_A 0.003 ROLL_MAX 3465 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 2067 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2067 ALTIM_PULSE 3

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 350 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.4999999e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 150 N_NOSURFACE 0 SEABIRD_T_J 4.3e-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 627.77997

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 2.6573122 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 2.8448386 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3920 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 190 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 1.6e-05 PITCH_VBD_SHIFT 0.0012300001 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 236 PRESSURE_SLOPE 0.00022638284 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -170.66119 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 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 -1 T_RSLEEP 3

C_PITCH 1840 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2067 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2067 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 2980 LOGGERS 1 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 0 RHO 1.023 USE_BATHY -1

DEEPGLIDER 0 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 120 LOITER_N_DIVE 0 ROLL_CNV 0.054945 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_DEG 80 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 72297 ROLL_MAX 3465 VBD_MAX 3960

DEVICE4 -1 MAXI_10V 1.5 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 3 ROLL_MIN 670 VBD_MIN 500

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

DIVE 3 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_ABORT 175 MINV_24V 11 SC_PROFILE 3.0 XPDR_DEVICE 21

D_BOOST 2 MISSION 1 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 XPDR_REP 0

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1 XPDR_VALID 4

D_NO_BLEED 50 NOCOMM_ACTION 163 SEABIRD_C_I -0.0020000001

D_OFFGRID 150 N_DIVES 4 SEABIRD_C_J 0.00019999999

D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043000001

Pre-dive calculations and measurements:

GPS1 180920,172839,4744.811,-12225.153,1,1.0,3,15.4 TGT_LATLONG 4743.500,-12225.000

_CALLS 1 TGT_RADIUS 100.000

_SM_DEPTHo 0.49 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -44.3 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 180920,173010,4744.830,-12225.166,3,1.0,4,15.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.258 MHEAD_RNG_PITCHd_Wd 131.1,2471,-17.6,-10.000,-21.21

TGT_NAME NW D_GRID 150

Post-dive calculations and measurements:

SM_CCo 3583.27,0.00,0.012,0,499.9,518.2,481.6,608.36 _10V_AH 14.94,0.000

SM_GC 0.31,0.00,11.89,0.06,0.012,0.062,0.203,499.9,518.2,481.6,173.2,2082.2,0,0,0,30.36,16.01,16.03 FG_AHR_24Vo 3.036

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 2.684

IRIDIUM_FIX 4744.47,-12222.38,180920,172502 MEM 1162456,27,14892,57

TCM_TEMP 198.21 DATA_FILE_SIZE 19460,538

XPDR_PINGS 13,14.0,11.5 CAP_FILE_SIZE 163506,0

SC_FREEKB 3875424 SDSIZE 3918848,3908096

HUMID 58.55 SDFILEDIR 29,1

TEMP 13.50 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.02007 CURRENT 0.106,104.9,1

_24V_AH 14.90,1.168 GPS 180920,183021,4744.777,-12224.872,1,1.2,3,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 695 1247 12923.17 legato 0 0 0.00

Pitch_motor 26 251 100.19 nil 0 0 0.00

Roll_motor 34 300 153.49 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 3 420 20.34 nil 0 0 0.00

GPS 13 15 2.94 nil 0 0 0.00

Core 1718 11 302.92 SciCon 3314 19 970.02

LPSleep 1634 2 68.37 nil 0 0 0.00

Compass 947 5 70.80 nil 0 0 0.00

RAFOS 0 0 0.00

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

6.14 16386 -146.63 -0.88 0.00 500.3 523.2 477.5 191.4 2077.3 0.00 0.00 0 140.60 134.15 0.00 0.00 0.005 0.000 0.000 3502.78 3482.31 3523.25 191.38 2076.62 0 0 0 14.52 30.00 30.00

140.84 18983 -146.63 -0.88 -80.00 3501.4 3480.9 3521.9 191.4 2077.0 3.22 -2.31 26 161.60 1.89 10.43 3.68 0.016 0.251 0.206 3578.38 3568.81 3587.94 1625.56 663.81 0 0 0 15.94 15.86 15.88

304.37 1188 -146.63 -0.95 0.00 3576.2 3566.8 3585.6 1625.8 663.8 21.52 -9.19 59 310.01 0.00 0.00 3.31 0.000 0.000 0.103 3576.22 3567.00 3585.44 1625.69 2079.75 0 0 0 30.00 30.00 15.95

489.40 4257 -146.63 -1.05 0.00 3576.6 3567.0 3586.1 1626.4 2079.9 34.82 -6.82 96 490.87 0.00 0.34 0.00 0.000 0.071 0.000 3575.44 3566.12 3584.75 1566.75 2079.94 0 0 0 30.00 16.02 30.00

669.43 0 -146.63 -1.05 0.00 3576.4 3566.8 3585.9 1566.4 2079.9 51.97 -10.07 132 670.76 0.00 0.00 0.00 0.000 0.000 0.000 3577.12 3567.75 3586.50 1566.38 2080.38 0 0 0 30.00 30.00 30.00

849.44 260 -146.63 -1.05 80.00 3576.3 3566.9 3585.8 1566.9 2080.1 72.60 -11.36 168 855.13 0.00 0.00 3.36 0.000 0.000 0.145 3576.50 3566.88 3586.12 1566.75 3475.25 0 0 0 30.00 30.00 16.03

964.47 1028 -146.63 -1.05 0.00 3576.5 3566.9 3586.1 1566.6 3475.1 87.17 -12.29 191 970.16 0.00 0.00 3.34 0.000 0.000 0.088 3576.94 3567.19 3586.69 1566.75 2053.81 0 0 0 30.00 30.00 16.07

1149.53 0 -146.63 -1.05 0.00 3576.7 3567.2 3586.2 1566.7 2054.7 108.28 -13.14 222 1150.85 0.00 0.00 0.00 0.000 0.000 0.000 3577.22 3567.75 3586.69 1566.75 2054.25 0 0 0 30.00 30.00 30.00

1449.62 32 -146.63 -1.05 0.00 3576.0 3566.4 3585.7 1566.6 2054.2 139.14 -9.98 252 1450.94 0.00 0.00 0.00 0.000 0.000 0.000 3576.72 3567.12 3586.31 1566.62 2054.25 0 0 0 30.00 30.00 30.00

1569 end dive: TARGET_DEPTH_EXCEEDED

state 1569 begin apogee

1570.69 10243 0.00 -0.20 0.00 3575.8 3566.1 3585.5 1566.5 2077.7 150.79 -9.16 264 1681.08 105.19 1.55 0.06 1.247 0.141 0.301 2977.56 2987.31 2967.81 1793.38 2054.94 0 0 0 12.83 16.06 15.69

1681 end apogee: CONTROL_FINISHED_OK

state 1681 begin climb

1682.09 10243 146.63 0.88 0.00 2977.3 2987.2 2967.4 1793.6 2054.9 150.58 0.00 275 1795.99 111.69 1.66 0.00 1.221 0.094 0.000 2380.56 2401.69 2359.44 2061.06 2054.81 0 0 0 12.77 15.74 30.00

2099.61 10403 238.91 1.11 -80.00 2370.2 2391.4 2348.9 2060.0 2054.7 131.66 5.73 324 2172.12 71.61 0.28 0.00 1.190 0.081 0.000 2007.25 2044.38 1970.12 2120.69 2054.38 0 0 0 12.78 15.89 30.00

2469.68 16806 239.74 1.20 80.00 1993.5 2035.2 1951.8 2120.2 2054.3 92.07 9.96 369 2475.37 0.00 0.00 3.45 0.000 0.000 0.138 1995.12 2036.88 1953.38 2120.19 3474.50 0 0 0 30.00 30.00 15.89

2559.75 17542 239.74 1.23 0.00 1993.1 2034.3 1951.9 2120.6 3474.6 82.06 11.08 387 2565.41 0.00 0.00 3.36 0.000 0.000 0.082 1995.88 2037.25 1954.50 2119.12 2052.81 0 0 0 30.00 30.00 15.93

2744.80 10663 267.35 1.36 80.00 1992.1 2033.5 1950.8 2120.2 2052.8 64.66 8.72 424 2775.49 22.86 0.30 3.45 1.090 0.083 0.136 1889.59 1934.06 1845.12 2180.62 3475.50 0 0 0 12.87 15.97 15.86

2864.82 1156 267.35 1.32 0.00 1884.5 1927.0 1842.1 2180.6 3475.0 47.64 14.82 448 2870.49 0.00 0.00 3.34 0.000 0.000 0.084 1884.78 1927.56 1842.00 2180.44 2052.75 0 0 0 30.00 30.00 15.95

3049.89 260 267.35 1.32 80.00 1882.3 1926.9 1837.7 2180.3 2052.6 25.95 10.44 485 3055.59 0.00 0.00 3.42 0.000 0.000 0.132 1882.47 1927.31 1837.62 2180.25 3474.38 0 0 0 30.00 30.00 15.97

3124.93 5253 267.35 1.27 0.00 1882.1 1927.1 1837.1 2180.7 3474.6 18.01 11.04 500 3130.70 0.00 0.32 3.31 0.000 0.189 0.081 1883.16 1928.19 1838.12 2142.12 2050.94 0 0 0 30.00 15.93 16.00

3294 end climb: SURFACE_DEPTH_REACHED

state 3294 begin surface coast

3314 end surface coast: CONTROL_FINISHED_OK

state 3314 begin surface

ID	236	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	1	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	3	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	4	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	627.77997	VBD_MIN	500	INT_PRESSURE_YINT	0
D_TGT	150	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	FILEMGR	0	C_VBD	2980	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	120
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	0.0012300001	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	0	LOGGERS	1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	DBDW	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	LOITER_W_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	50	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	65	T_GPS	5	LOITER_D_TOP	0	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	0	COMPASS_DEVICE	66
T_TURN	225	T_RSLEEP	3	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	350	GPS_DEVICE	48
T_LOITER	0	RAFOS_CORR_THRESH	60	AH0_10V	0	RAFOS_DEVICE	-1
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_24V	11	NETWORK_DEVICE	-1
USE_BATHY	-1	RAFOS_MMODEM	0	MINV_10V	11	PRESSURE_DEVICE	34
USE_ICE	0	PITCH_MIN	190	MAXI_24V	3	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3920	MAXI_10V	1.5	SIM_W	0
D_OFFGRID	150	C_PITCH	1840	FG_AHR_10V	2.6573122	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	2.8448386	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	150	PITCH_GAIN	25	PRESSURE_YINT	-170.66119	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.00022638284	SEABIRD_C_G	-10
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	4	SEABIRD_C_H	1
RHO	1.023	PITCH_ADJ_GAIN	0.029999999	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
MASS	72297	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
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	670	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	3.0
HD_A	0.003	ROLL_MAX	3465	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	2067	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2067	ALTIM_PULSE	3

GPS1	180920,172839,4744.811,-12225.153,1,1.0,3,15.4	TGT_LATLONG	4743.500,-12225.000
_CALLS	1	TGT_RADIUS	100.000
_SM_DEPTHo	0.49	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-44.3	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	180920,173010,4744.830,-12225.166,3,1.0,4,15.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.258	MHEAD_RNG_PITCHd_Wd	131.1,2471,-17.6,-10.000,-21.21
TGT_NAME	NW	D_GRID	150

SM_CCo	3583.27,0.00,0.012,0,499.9,518.2,481.6,608.36	_10V_AH	14.94,0.000
SM_GC	0.31,0.00,11.89,0.06,0.012,0.062,0.203,499.9,518.2,481.6,173.2,2082.2,0,0,0,30.36,16.01,16.03	FG_AHR_24Vo	3.036
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	2.684
IRIDIUM_FIX	4744.47,-12222.38,180920,172502	MEM	1162456,27,14892,57
TCM_TEMP	198.21	DATA_FILE_SIZE	19460,538
XPDR_PINGS	13,14.0,11.5	CAP_FILE_SIZE	163506,0
SC_FREEKB	3875424	SDSIZE	3918848,3908096
HUMID	58.55	SDFILEDIR	29,1
TEMP	13.50	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.02007	CURRENT	0.106,104.9,1
_24V_AH	14.90,1.168	GPS	180920,183021,4744.777,-12224.872,1,1.2,3,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	695	1247	12923.17	legato	0	0	0.00
Pitch_motor	26	251	100.19	nil	0	0	0.00
Roll_motor	34	300	153.49	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	3	420	20.34	nil	0	0	0.00
GPS	13	15	2.94	nil	0	0	0.00
Core	1718	11	302.92	SciCon	3314	19	970.02
LPSleep	1634	2	68.37	nil	0	0	0.00
Compass	947	5	70.80	nil	0	0	0.00
RAFOS	0	0	0.00
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
6.14	16386	-146.63	-0.88	0.00	500.3	523.2	477.5	191.4	2077.3	0.00	0.00	0	140.60	134.15	0.00	0.00	0.005	0.000	0.000	3502.78	3482.31	3523.25	191.38	2076.62	0	0	0	14.52	30.00	30.00
140.84	18983	-146.63	-0.88	-80.00	3501.4	3480.9	3521.9	191.4	2077.0	3.22	-2.31	26	161.60	1.89	10.43	3.68	0.016	0.251	0.206	3578.38	3568.81	3587.94	1625.56	663.81	0	0	0	15.94	15.86	15.88
304.37	1188	-146.63	-0.95	0.00	3576.2	3566.8	3585.6	1625.8	663.8	21.52	-9.19	59	310.01	0.00	0.00	3.31	0.000	0.000	0.103	3576.22	3567.00	3585.44	1625.69	2079.75	0	0	0	30.00	30.00	15.95
489.40	4257	-146.63	-1.05	0.00	3576.6	3567.0	3586.1	1626.4	2079.9	34.82	-6.82	96	490.87	0.00	0.34	0.00	0.000	0.071	0.000	3575.44	3566.12	3584.75	1566.75	2079.94	0	0	0	30.00	16.02	30.00
669.43	0	-146.63	-1.05	0.00	3576.4	3566.8	3585.9	1566.4	2079.9	51.97	-10.07	132	670.76	0.00	0.00	0.00	0.000	0.000	0.000	3577.12	3567.75	3586.50	1566.38	2080.38	0	0	0	30.00	30.00	30.00
849.44	260	-146.63	-1.05	80.00	3576.3	3566.9	3585.8	1566.9	2080.1	72.60	-11.36	168	855.13	0.00	0.00	3.36	0.000	0.000	0.145	3576.50	3566.88	3586.12	1566.75	3475.25	0	0	0	30.00	30.00	16.03
964.47	1028	-146.63	-1.05	0.00	3576.5	3566.9	3586.1	1566.6	3475.1	87.17	-12.29	191	970.16	0.00	0.00	3.34	0.000	0.000	0.088	3576.94	3567.19	3586.69	1566.75	2053.81	0	0	0	30.00	30.00	16.07
1149.53	0	-146.63	-1.05	0.00	3576.7	3567.2	3586.2	1566.7	2054.7	108.28	-13.14	222	1150.85	0.00	0.00	0.00	0.000	0.000	0.000	3577.22	3567.75	3586.69	1566.75	2054.25	0	0	0	30.00	30.00	30.00
1449.62	32	-146.63	-1.05	0.00	3576.0	3566.4	3585.7	1566.6	2054.2	139.14	-9.98	252	1450.94	0.00	0.00	0.00	0.000	0.000	0.000	3576.72	3567.12	3586.31	1566.62	2054.25	0	0	0	30.00	30.00	30.00
1569	end dive: TARGET_DEPTH_EXCEEDED
state	1569	begin apogee
1570.69	10243	0.00	-0.20	0.00	3575.8	3566.1	3585.5	1566.5	2077.7	150.79	-9.16	264	1681.08	105.19	1.55	0.06	1.247	0.141	0.301	2977.56	2987.31	2967.81	1793.38	2054.94	0	0	0	12.83	16.06	15.69
1681	end apogee: CONTROL_FINISHED_OK
state	1681	begin climb
1682.09	10243	146.63	0.88	0.00	2977.3	2987.2	2967.4	1793.6	2054.9	150.58	0.00	275	1795.99	111.69	1.66	0.00	1.221	0.094	0.000	2380.56	2401.69	2359.44	2061.06	2054.81	0	0	0	12.77	15.74	30.00
2099.61	10403	238.91	1.11	-80.00	2370.2	2391.4	2348.9	2060.0	2054.7	131.66	5.73	324	2172.12	71.61	0.28	0.00	1.190	0.081	0.000	2007.25	2044.38	1970.12	2120.69	2054.38	0	0	0	12.78	15.89	30.00
2469.68	16806	239.74	1.20	80.00	1993.5	2035.2	1951.8	2120.2	2054.3	92.07	9.96	369	2475.37	0.00	0.00	3.45	0.000	0.000	0.138	1995.12	2036.88	1953.38	2120.19	3474.50	0	0	0	30.00	30.00	15.89
2559.75	17542	239.74	1.23	0.00	1993.1	2034.3	1951.9	2120.6	3474.6	82.06	11.08	387	2565.41	0.00	0.00	3.36	0.000	0.000	0.082	1995.88	2037.25	1954.50	2119.12	2052.81	0	0	0	30.00	30.00	15.93
2744.80	10663	267.35	1.36	80.00	1992.1	2033.5	1950.8	2120.2	2052.8	64.66	8.72	424	2775.49	22.86	0.30	3.45	1.090	0.083	0.136	1889.59	1934.06	1845.12	2180.62	3475.50	0	0	0	12.87	15.97	15.86
2864.82	1156	267.35	1.32	0.00	1884.5	1927.0	1842.1	2180.6	3475.0	47.64	14.82	448	2870.49	0.00	0.00	3.34	0.000	0.000	0.084	1884.78	1927.56	1842.00	2180.44	2052.75	0	0	0	30.00	30.00	15.95
3049.89	260	267.35	1.32	80.00	1882.3	1926.9	1837.7	2180.3	2052.6	25.95	10.44	485	3055.59	0.00	0.00	3.42	0.000	0.000	0.132	1882.47	1927.31	1837.62	2180.25	3474.38	0	0	0	30.00	30.00	15.97
3124.93	5253	267.35	1.27	0.00	1882.1	1927.1	1837.1	2180.7	3474.6	18.01	11.04	500	3130.70	0.00	0.32	3.31	0.000	0.189	0.081	1883.16	1928.19	1838.12	2142.12	2050.94	0	0	0	30.00	15.93	16.00
3294	end climb: SURFACE_DEPTH_REACHED
state	3294	begin surface coast
3314	end surface coast: CONTROL_FINISHED_OK
state	3314	begin surface