Glider dive log

Shilshole 11Jul19 * SG229 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 229 HEADING -1 C_ROLL_DIVE 2500 ALTIM_PING_DELTA 10

MISSION 6 ESCAPE_HEADING 0 C_ROLL_CLIMB 1900 ALTIM_FREQUENCY 13

DIVE 4 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

N_DIVES 4 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.047120001 ALTIM_SENSITIVITY 3

STOP_T 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_VALID 5

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 150 SM_CC 631.70477 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -2.5

D_ABORT 175 N_FILEKB 8 VBD_MIN 550 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 0 VBD_MAX 3960 DEEPGLIDERMB 0

D_BOOST 2 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 7

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 W_ADJ_DBAND 0 LOGGERDEVICE1 7

T_DIVE 50 CAPUPLOAD 0 DBDW 0 LOGGERDEVICE2 -1

T_MISSION 72 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 2 LOITER_D_BOTTOM 0 COMPASS2_DEVICE -1

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 -6 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 0.0044066384

D_OFFGRID 100 PITCH_MAX 3840 MAXI_24V 5 SEABIRD_T_H 0.00064594403

RELAUNCH 1 C_PITCH 2200 MAXI_10V 1.4 SEABIRD_T_I 2.8872973e-05

APOGEE_PITCH -5 PITCH_DBAND 0.1 FG_AHR_10V 5.9536209 SEABIRD_T_J 3.8119131e-06

MAX_BUOY 150 PITCH_CNV 0.0031300001 FG_AHR_24V 25.050055 SEABIRD_C_G -9.8249397

GLIDE_SLOPE 30 PITCH_GAIN 48 PHONE_SUPPLY 2 SEABIRD_C_H 1.1031885

SPEED_FACTOR 1 PITCH_TIMEOUT 20 PRESSURE_YINT -162.65031 SEABIRD_C_I -0.00041305512

RHO 1.023 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00010777653 SEABIRD_C_J 0.00012297566

MASS 71738 PITCH_ADJ_GAIN 0.02 COMPASS_USE 4 SC_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 1 ALTIM_PING_FIT 0 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 340 ALTIM_TOP_TURN_MARGIN 0

HD_B 0.0099999998 ROLL_MAX 3945 ALTIM_TOP_MIN_OBSTACLE 2

HD_C 1.6e-05 ROLL_DEG 60 ALTIM_PING_DEPTH 0

AH0_10V 0 D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0044066384

AH0_24V 575 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00064594403

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.8872973e-05

ALTIM_FREQUENCY 13 D_TGT 150 N_NOSURFACE 0 SEABIRD_T_J 3.8119131e-06

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 631.70477

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_10V 5.9536209 PITCH_ADJ_GAIN 0.02 STOP_T 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 25.050055 PITCH_CNV 0.0031300001 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 2 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 48 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAX 3840 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 50

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_SLOPE 0.00010777653 T_EPIRB 0

COMM_SEQ 0 ID 229 PRESSURE_YINT -162.65031 T_GPS 5

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PROTOCOL 9 T_LOITER 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT -2.5 RAFOS_CORR_THRESH 60 T_MISSION 72

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 104 T_NO_W 120

C_PITCH 2200 LOGGERDEVICE1 7 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

C_ROLL_CLIMB 1900 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 7 RHO 1.023 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 USE_BATHY -6

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 60 VBD_DBAND 2

DEVICE3 -1 LOITER_W_DBAND 0 ROLL_MAX 3945 VBD_LP_IGNORE 0

DEVICE4 -1 MASS 71738 ROLL_MAXERRORS 1 VBD_MAX 3960

DEVICE5 -1 MAXI_10V 1.4 ROLL_MIN 340 VBD_MAXERRORS 1

DEVICE6 -1 MAXI_24V 5 ROLL_TIMEOUT 15 VBD_MIN 550

DIVE 4 MAX_BUOY 150 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_ABORT 175 MINV_10V 11 SC_PROFILE 3.0 W_ADJ_DBAND 0

D_BOOST 2 MINV_24V 11 SC_RECORDABOVE 2000.0 XPDR_DEVICE 0

D_CALL 0 MISSION 6 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_FINISH 0 MOTHERBOARD 6 SEABIRD_C_G -9.8249397 XPDR_VALID 5

D_FLARE 3 NAV_MODE 2 SEABIRD_C_H 1.1031885

D_NO_BLEED 50 NOCOMM_ACTION 161 SEABIRD_C_I -0.00041305512

D_OFFGRID 100 N_DIVES 4 SEABIRD_C_J 0.00012297566

Pre-dive calculations and measurements:

GPS1 110719,181029,4743.223,-12224.020,1,1.1,2,15.5 TGT_LATLONG 4743.000,-12224.000

_CALLS 1 TGT_RADIUS 100.000

_SM_DEPTHo 1.02 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -46.3 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 110719,181326,4743.201,-12224.040,2,1.0,4,15.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.258 MHEAD_RNG_PITCHd_Wd 133.0,375,-27.2,-10.000,-30.00

TGT_NAME SE D_GRID 167

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20190711182003.085932,18,6187,37,0198,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*03 INTERNAL_PRESSURE 8.83921

FINISH 0.5,1.022138 _24V_AH 14.48,60.385

SM_CCo 2844.53,0.00,0.018,0,591.4,572.3,610.5,631.55 _10V_AH 14.83,0.000

SM_GC 1.02,0.00,7.07,1.74,0.018,0.070,0.030,591.4,572.3,610.5,132.1,2524.6,0,0,0,30.36,12.10,15.91 FG_AHR_24Vo 25.151

SUPER 59,71,254,1,0,0 FG_AHR_10Vo 5.987

IRIDIUM_FIX 4741.67,-12220.67,110719,180743 MEM 1132436,34,46408,82

TCM_TEMP 277.10 DATA_FILE_SIZE 13655,377

XPDR_PINGS 1 CAP_FILE_SIZE 146475,0

SC_FREEKB 3876736 SDSIZE 3918848,3908032

RAFOS_CLK 1 SDFILEDIR 62,1

MODEM 3,1562868903,46.25000,-123.50000,3.422,5013.8 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 4811.620117,-12307.786133,110719,181803,3,255,194.86 SOUNDSPEED 1465.0

HUMID 58.83 CURRENT 0.145,203.8,1

TEMP 12.70 GPS 110719,190225,4742.919,-12223.791,2,1.7,32,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 681 2686 26504.86 nil 0 0 0.00

Pitch_motor 18 425 112.44 nil 0 0 0.00

Roll_motor 51 99 74.70 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 1.52 nil 0 0 0.00

GPS 12 15 2.89 nil 0 0 0.00

Core 1376 19 406.71 SciCon 2496 43 1615.11

LPSleep 1545 2 52.94 nil 0 0 0.00

Compass 592 5 43.97 nil 0 0 0.00

RAFOS 2926 48 2082.84

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

4.54 2 -63.69 -0.76 0.00 589.5 569.6 609.3 139.2 2453.0 0.00 0.00 0 135.43 129.63 0.00 0.19 0.005 0.000 0.100 3421.44 3392.94 3449.94 139.38 2540.56 0 0 0 15.58 30.00 15.55

135.70 551 -146.63 -1.01 -60.00 3422.9 3394.8 3451.0 139.4 2540.5 2.11 -0.83 12 165.79 12.05 8.62 3.70 0.007 0.425 0.044 3762.47 3713.38 3811.56 1893.50 1207.31 0 0 0 15.67 15.46 15.59

387.36 1028 -146.63 -1.01 0.00 3762.3 3711.9 3812.7 1893.9 1206.7 37.41 -17.12 63 393.84 0.00 0.00 3.59 0.000 0.000 0.028 3762.91 3712.62 3813.19 1878.75 2518.31 0 0 0 30.00 30.00 15.79

573.05 644 -146.63 -1.04 -60.00 3763.3 3713.3 3813.3 1879.1 2519.9 66.43 -15.88 82 577.92 0.00 0.00 3.66 0.000 0.000 0.042 3762.72 3712.88 3812.56 1893.38 1208.06 0 0 0 30.00 30.00 15.75

803.09 1157 -146.63 -1.06 0.00 3762.7 3712.4 3813.0 1893.4 1208.2 94.76 -10.79 128 808.08 0.00 0.08 3.59 0.000 0.127 0.028 3762.72 3712.50 3812.94 1839.94 2521.75 0 0 0 30.00 15.75 15.77

993.32 516 -146.63 -1.06 -60.00 3762.3 3712.3 3812.4 1840.4 2522.3 119.98 -12.52 148 998.20 0.00 0.00 3.67 0.000 0.000 0.041 3763.25 3712.94 3813.56 1855.19 1208.00 0 0 0 30.00 30.00 15.69

1197 end dive: TARGET_DEPTH_EXCEEDED

state 1197 begin apogee

1200.52 3 0.00 -0.10 0.00 3762.8 3712.8 3812.9 1847.3 1943.8 150.26 -14.96 189 1305.68 102.76 1.16 0.20 1.289 0.252 0.079 3165.56 3084.62 3246.50 2168.75 1868.94 0 0 0 12.04 15.64 15.49

1306 end apogee: CONTROL_FINISHED_OK

state 1306 begin climb

1306.54 263 146.63 1.01 60.00 3163.0 3082.5 3243.6 2169.1 1868.7 154.04 0.00 200 1418.94 105.93 1.10 3.79 1.194 0.130 0.041 2566.38 2474.81 2657.94 2514.06 3189.88 0 0 0 12.36 15.52 15.36

1536.03 1191 146.64 1.19 0.00 2558.8 2470.2 2647.4 2514.1 3189.2 134.44 10.00 246 1541.01 0.00 0.15 3.63 0.000 0.077 0.027 2557.78 2468.44 2647.12 2597.62 1874.31 0 0 0 30.00 15.59 15.60

1726.18 390 146.64 1.27 60.00 2556.2 2466.1 2646.4 2606.8 1874.0 108.47 14.37 266 1731.13 0.00 0.00 3.69 0.000 0.000 0.040 2556.41 2466.50 2646.31 2591.81 3187.31 0 0 0 30.00 30.00 15.67

1820.43 1159 146.64 1.34 0.00 2556.1 2468.1 2644.1 2592.6 3187.2 95.32 13.92 285 1826.99 0.00 0.06 3.61 0.000 0.138 0.028 2556.97 2468.12 2645.81 2639.88 1875.50 0 0 0 30.00 15.62 15.66

2006.22 390 146.64 1.37 60.00 2555.0 2465.5 2644.5 2639.4 1874.6 66.41 16.05 304 2011.12 0.00 0.00 3.68 0.000 0.000 0.040 2552.38 2464.75 2640.00 2638.75 3190.44 0 0 0 30.00 30.00 15.74

2156.17 1158 146.64 1.40 0.00 2554.1 2466.4 2641.9 2638.4 3189.9 44.15 14.14 334 2161.10 0.00 0.00 3.61 0.000 0.000 0.028 2555.38 2467.56 2643.19 2653.62 1875.31 0 0 0 30.00 30.00 15.76

2346.31 390 146.64 1.44 60.00 2553.8 2464.8 2642.9 2652.8 1874.1 19.10 13.53 354 2351.27 0.00 0.00 3.65 0.000 0.000 0.041 2554.03 2465.25 2642.81 2651.00 3189.62 0 0 0 30.00 30.00 15.78

2416.29 1030 146.64 1.44 0.00 2553.9 2465.3 2642.4 2650.9 3189.8 10.04 12.95 368 2421.25 0.00 0.00 3.58 0.000 0.000 0.028 2554.34 2465.88 2642.81 2666.75 1874.81 0 0 0 30.00 30.00 15.84

2486 end climb: SURFACE_DEPTH_REACHED

state 2486 begin surface coast

2496 end surface coast: CONTROL_FINISHED_OK

state 2496 begin surface

ID	229	HEADING	-1	C_ROLL_DIVE	2500	ALTIM_PING_DELTA	10
MISSION	6	ESCAPE_HEADING	0	C_ROLL_CLIMB	1900	ALTIM_FREQUENCY	13
DIVE	4	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
N_DIVES	4	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.047120001	ALTIM_SENSITIVITY	3
STOP_T	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_VALID	5
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	150	SM_CC	631.70477	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-2.5
D_ABORT	175	N_FILEKB	8	VBD_MIN	550	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	0	VBD_MAX	3960	DEEPGLIDERMB	0
D_BOOST	2	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	7
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	W_ADJ_DBAND	0	LOGGERDEVICE1	7
T_DIVE	50	CAPUPLOAD	0	DBDW	0	LOGGERDEVICE2	-1
T_MISSION	72	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	2	LOITER_D_BOTTOM	0	COMPASS2_DEVICE	-1
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	-6	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	0.0044066384
D_OFFGRID	100	PITCH_MAX	3840	MAXI_24V	5	SEABIRD_T_H	0.00064594403
RELAUNCH	1	C_PITCH	2200	MAXI_10V	1.4	SEABIRD_T_I	2.8872973e-05
APOGEE_PITCH	-5	PITCH_DBAND	0.1	FG_AHR_10V	5.9536209	SEABIRD_T_J	3.8119131e-06
MAX_BUOY	150	PITCH_CNV	0.0031300001	FG_AHR_24V	25.050055	SEABIRD_C_G	-9.8249397
GLIDE_SLOPE	30	PITCH_GAIN	48	PHONE_SUPPLY	2	SEABIRD_C_H	1.1031885
SPEED_FACTOR	1	PITCH_TIMEOUT	20	PRESSURE_YINT	-162.65031	SEABIRD_C_I	-0.00041305512
RHO	1.023	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00010777653	SEABIRD_C_J	0.00012297566
MASS	71738	PITCH_ADJ_GAIN	0.02	COMPASS_USE	4	SC_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	1	ALTIM_PING_FIT	0	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	340	ALTIM_TOP_TURN_MARGIN	0
HD_B	0.0099999998	ROLL_MAX	3945	ALTIM_TOP_MIN_OBSTACLE	2
HD_C	1.6e-05	ROLL_DEG	60	ALTIM_PING_DEPTH	0

GPS1	110719,181029,4743.223,-12224.020,1,1.1,2,15.5	TGT_LATLONG	4743.000,-12224.000
_CALLS	1	TGT_RADIUS	100.000
_SM_DEPTHo	1.02	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-46.3	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	110719,181326,4743.201,-12224.040,2,1.0,4,15.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.258	MHEAD_RNG_PITCHd_Wd	133.0,375,-27.2,-10.000,-30.00
TGT_NAME	SE	D_GRID	167

MODEM_MSG	CACST,6,1,20190711182003.085932,18,6187,37,0198,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*03	INTERNAL_PRESSURE	8.83921
FINISH	0.5,1.022138	_24V_AH	14.48,60.385
SM_CCo	2844.53,0.00,0.018,0,591.4,572.3,610.5,631.55	_10V_AH	14.83,0.000
SM_GC	1.02,0.00,7.07,1.74,0.018,0.070,0.030,591.4,572.3,610.5,132.1,2524.6,0,0,0,30.36,12.10,15.91	FG_AHR_24Vo	25.151
SUPER	59,71,254,1,0,0	FG_AHR_10Vo	5.987
IRIDIUM_FIX	4741.67,-12220.67,110719,180743	MEM	1132436,34,46408,82
TCM_TEMP	277.10	DATA_FILE_SIZE	13655,377
XPDR_PINGS	1	CAP_FILE_SIZE	146475,0
SC_FREEKB	3876736	SDSIZE	3918848,3908032
RAFOS_CLK	1	SDFILEDIR	62,1
MODEM	3,1562868903,46.25000,-123.50000,3.422,5013.8	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4811.620117,-12307.786133,110719,181803,3,255,194.86	SOUNDSPEED	1465.0
HUMID	58.83	CURRENT	0.145,203.8,1
TEMP	12.70	GPS	110719,190225,4742.919,-12223.791,2,1.7,32,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	681	2686	26504.86	nil	0	0	0.00
Pitch_motor	18	425	112.44	nil	0	0	0.00
Roll_motor	51	99	74.70	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	1.52	nil	0	0	0.00
GPS	12	15	2.89	nil	0	0	0.00
Core	1376	19	406.71	SciCon	2496	43	1615.11
LPSleep	1545	2	52.94	nil	0	0	0.00
Compass	592	5	43.97	nil	0	0	0.00
RAFOS	2926	48	2082.84
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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
4.54	2	-63.69	-0.76	0.00	589.5	569.6	609.3	139.2	2453.0	0.00	0.00	0	135.43	129.63	0.00	0.19	0.005	0.000	0.100	3421.44	3392.94	3449.94	139.38	2540.56	0	0	0	15.58	30.00	15.55
135.70	551	-146.63	-1.01	-60.00	3422.9	3394.8	3451.0	139.4	2540.5	2.11	-0.83	12	165.79	12.05	8.62	3.70	0.007	0.425	0.044	3762.47	3713.38	3811.56	1893.50	1207.31	0	0	0	15.67	15.46	15.59
387.36	1028	-146.63	-1.01	0.00	3762.3	3711.9	3812.7	1893.9	1206.7	37.41	-17.12	63	393.84	0.00	0.00	3.59	0.000	0.000	0.028	3762.91	3712.62	3813.19	1878.75	2518.31	0	0	0	30.00	30.00	15.79
573.05	644	-146.63	-1.04	-60.00	3763.3	3713.3	3813.3	1879.1	2519.9	66.43	-15.88	82	577.92	0.00	0.00	3.66	0.000	0.000	0.042	3762.72	3712.88	3812.56	1893.38	1208.06	0	0	0	30.00	30.00	15.75
803.09	1157	-146.63	-1.06	0.00	3762.7	3712.4	3813.0	1893.4	1208.2	94.76	-10.79	128	808.08	0.00	0.08	3.59	0.000	0.127	0.028	3762.72	3712.50	3812.94	1839.94	2521.75	0	0	0	30.00	15.75	15.77
993.32	516	-146.63	-1.06	-60.00	3762.3	3712.3	3812.4	1840.4	2522.3	119.98	-12.52	148	998.20	0.00	0.00	3.67	0.000	0.000	0.041	3763.25	3712.94	3813.56	1855.19	1208.00	0	0	0	30.00	30.00	15.69
1197	end dive: TARGET_DEPTH_EXCEEDED
state	1197	begin apogee
1200.52	3	0.00	-0.10	0.00	3762.8	3712.8	3812.9	1847.3	1943.8	150.26	-14.96	189	1305.68	102.76	1.16	0.20	1.289	0.252	0.079	3165.56	3084.62	3246.50	2168.75	1868.94	0	0	0	12.04	15.64	15.49
1306	end apogee: CONTROL_FINISHED_OK
state	1306	begin climb
1306.54	263	146.63	1.01	60.00	3163.0	3082.5	3243.6	2169.1	1868.7	154.04	0.00	200	1418.94	105.93	1.10	3.79	1.194	0.130	0.041	2566.38	2474.81	2657.94	2514.06	3189.88	0	0	0	12.36	15.52	15.36
1536.03	1191	146.64	1.19	0.00	2558.8	2470.2	2647.4	2514.1	3189.2	134.44	10.00	246	1541.01	0.00	0.15	3.63	0.000	0.077	0.027	2557.78	2468.44	2647.12	2597.62	1874.31	0	0	0	30.00	15.59	15.60
1726.18	390	146.64	1.27	60.00	2556.2	2466.1	2646.4	2606.8	1874.0	108.47	14.37	266	1731.13	0.00	0.00	3.69	0.000	0.000	0.040	2556.41	2466.50	2646.31	2591.81	3187.31	0	0	0	30.00	30.00	15.67
1820.43	1159	146.64	1.34	0.00	2556.1	2468.1	2644.1	2592.6	3187.2	95.32	13.92	285	1826.99	0.00	0.06	3.61	0.000	0.138	0.028	2556.97	2468.12	2645.81	2639.88	1875.50	0	0	0	30.00	15.62	15.66
2006.22	390	146.64	1.37	60.00	2555.0	2465.5	2644.5	2639.4	1874.6	66.41	16.05	304	2011.12	0.00	0.00	3.68	0.000	0.000	0.040	2552.38	2464.75	2640.00	2638.75	3190.44	0	0	0	30.00	30.00	15.74
2156.17	1158	146.64	1.40	0.00	2554.1	2466.4	2641.9	2638.4	3189.9	44.15	14.14	334	2161.10	0.00	0.00	3.61	0.000	0.000	0.028	2555.38	2467.56	2643.19	2653.62	1875.31	0	0	0	30.00	30.00	15.76
2346.31	390	146.64	1.44	60.00	2553.8	2464.8	2642.9	2652.8	1874.1	19.10	13.53	354	2351.27	0.00	0.00	3.65	0.000	0.000	0.041	2554.03	2465.25	2642.81	2651.00	3189.62	0	0	0	30.00	30.00	15.78
2416.29	1030	146.64	1.44	0.00	2553.9	2465.3	2642.4	2650.9	3189.8	10.04	12.95	368	2421.25	0.00	0.00	3.58	0.000	0.000	0.028	2554.34	2465.88	2642.81	2666.75	1874.81	0	0	0	30.00	30.00	15.84
2486	end climb: SURFACE_DEPTH_REACHED
state	2486	begin surface coast
2496	end surface coast: CONTROL_FINISHED_OK
state	2496	begin surface