Glider dive log

Shilshole 05Aug19 * SG232 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 232 HEADING -1 C_ROLL_DIVE 2025 ALTIM_PING_DELTA 0

MISSION 2 ESCAPE_HEADING 0 C_ROLL_CLIMB 2025 ALTIM_FREQUENCY 13

DIVE 4 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

N_DIVES 5 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.047120001 ALTIM_SENSITIVITY 2

STOP_T 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_VALID 6

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 615.51501 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.5

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 2950 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 163 VBD_TIMEOUT 540 DEVICE4 -1

D_CALL 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0012300001 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 65 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 55

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 525 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 450 MINV_10V 11 SEABIRD_T_G 0.0044282433

D_OFFGRID 100 PITCH_MAX 3850 MAXI_24V 5 SEABIRD_T_H 0.0006527552

RELAUNCH 1 C_PITCH 2140 MAXI_10V 1.4 SEABIRD_T_I 2.689452e-05

APOGEE_PITCH -5 PITCH_DBAND 0.1 FG_AHR_10V 0.23842616 SEABIRD_T_J 3.3585216e-06

MAX_BUOY 150 PITCH_CNV 0.0031300001 FG_AHR_24V 1.0989995 SEABIRD_C_G -9.98948

GLIDE_SLOPE 30 PITCH_GAIN 24 PHONE_SUPPLY 2 SEABIRD_C_H 1.1337911

SPEED_FACTOR 1 PITCH_TIMEOUT 15 PRESSURE_YINT -171.06297 SEABIRD_C_I -0.0030350445

RHO 1.023 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00010861728 SEABIRD_C_J 0.00029711783

MASS 72152 PITCH_ADJ_GAIN 0.0099999998 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 300 ALTIM_TOP_TURN_MARGIN 0

HD_B 0.0099999998 ROLL_MAX 3920 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 1.6e-05 ROLL_DEG 80 ALTIM_PING_DEPTH 0

AH0_10V 0 D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0044282433

AH0_24V 525 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.0006527552

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.689452e-05

ALTIM_FREQUENCY 13 D_TGT 150 N_NOSURFACE 0 SEABIRD_T_J 3.3585216e-06

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 615.51501

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_10V 0.23842616 PITCH_ADJ_GAIN 0.0099999998 STOP_T 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 1.0989995 PITCH_CNV 0.0031300001 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 24 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAX 3850 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 450 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HD_B 0.0099999998 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HD_C 1.6e-05 PITCH_VBD_SHIFT 0.0012300001 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 0.00010861728 T_EPIRB 0

COMM_SEQ 0 ID 232 PRESSURE_YINT -171.06297 T_GPS 5

COMPASS2_DEVICE 55 INT_PRESSURE_SLOPE 1.9639999e-06 PROTOCOL 9 T_LOITER 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT 0.5 RAFOS_CORR_THRESH 60 T_MISSION 65

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 104 T_NO_W 120

C_PITCH 2140 LOGGERDEVICE1 7 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

C_ROLL_CLIMB 2025 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 T_TURN 225

C_ROLL_DIVE 2025 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_VBD 2950 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 80 VBD_DBAND 2

DEVICE3 -1 LOITER_W_DBAND 0 ROLL_MAX 3920 VBD_LP_IGNORE 0

DEVICE4 -1 MASS 72152 ROLL_MAXERRORS 1 VBD_MAX 3960

DEVICE5 -1 MAXI_10V 1.4 ROLL_MIN 300 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 540

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 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_FINISH 0 MOTHERBOARD 6 SEABIRD_C_G -9.98948 XPDR_VALID 6

D_FLARE 3 NAV_MODE 2 SEABIRD_C_H 1.1337911

D_NO_BLEED 50 NOCOMM_ACTION 163 SEABIRD_C_I -0.0030350445

D_OFFGRID 100 N_DIVES 5 SEABIRD_C_J 0.00029711783

Pre-dive calculations and measurements:

GPS1 050819,202910,4744.368,-12223.850,0,1.0,2,15.5 TGT_LATLONG 4743.500,-12225.000

_CALLS 1 TGT_RADIUS 100.000

_SM_DEPTHo 0.47 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -23.8 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 050819,203057,4744.379,-12223.854,3,1.0,5,15.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.258 MHEAD_RNG_PITCHd_Wd 179.0,2166,-17.6,-10.000,-21.21

TGT_NAME NW D_GRID 170

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20190805200503.954284,18,32767,45,0209,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*30 INTERNAL_PRESSURE 8.71374

FINISH -0.1,1.022678 _24V_AH 14.72,2.429

SM_CCo 3682.26,0.00,0.000,0,549.4,538.2,560.6,588.87 _10V_AH 14.82,0.000

SM_GC 0.67,0.00,5.61,0.08,0.000,0.050,0.123,549.4,538.2,560.6,422.3,2043.0,0,0,0,30.00,15.79,15.81 FG_AHR_24Vo 1.283

SUPER 51,71,254,1,0,0 FG_AHR_10Vo 0.286

IRIDIUM_FIX 4744.68,-12203.72,050819,202634 MEM 1131312,33,47476,83

TCM_TEMP 248.49 DATA_FILE_SIZE 12935,415

XPDR_PINGS 1 CAP_FILE_SIZE 216585,0

SC_FREEKB 3876448 SDSIZE 3918848,3908544

RAFOS_CLK 0 SDFILEDIR 44,1

MODEM 0,1565035204,47.00000,-122.50000,4.245,6218.2 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 4716.985352,-12322.338867,050819,202003,7,255,-57.09 SOUNDSPEED 1465.0

HUMID 58.50 CURRENT 0.157,347.3,1

TEMP 14.12 GPS 050819,213331,4744.390,-12224.169,2,1.2,3,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 1067 1243 19534.32 nil 0 0 0.00

Pitch_motor 14 400 85.39 nil 0 0 0.00

Roll_motor 88 166 216.34 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 1.55 nil 0 0 0.00

GPS 13 15 2.92 nil 0 0 0.00

Core 1874 19 553.45 SciCon 3267 39 1923.94

LPSleep 1890 2 64.73 nil 0 0 0.00

Compass 452 5 33.54 nil 0 0 0.00

RAFOS 3055 48 2173.20

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

4.40 2 -146.63 -0.91 0.00 545.8 541.8 549.9 435.9 2000.1 0.00 0.00 0 128.29 123.26 0.00 0.00 0.005 0.000 0.000 3300.94 3306.00 3295.88 436.06 1999.94 0 0 0 15.64 30.00 30.00

128.58 295 -146.63 -0.91 80.00 3298.9 3303.6 3294.3 435.9 1999.9 3.12 -2.23 12 150.62 7.32 6.55 4.99 0.008 0.401 0.097 3545.34 3559.50 3531.19 1825.56 3729.44 0 0 0 15.70 15.56 15.67

237.50 1028 -146.63 -0.91 0.00 3545.4 3559.1 3531.8 1825.4 3730.1 19.29 -13.68 34 243.85 0.00 0.00 4.79 0.000 0.000 0.065 3546.38 3560.44 3532.31 1833.38 2008.94 0 0 0 30.00 30.00 15.86

422.76 388 -146.63 -0.90 80.00 3545.6 3559.6 3531.7 1832.1 2008.6 42.47 -12.78 53 429.59 0.00 0.00 4.99 0.000 0.000 0.098 3546.53 3561.12 3531.94 1812.12 3731.38 0 0 0 30.00 30.00 15.73

652.66 1157 -146.63 -0.88 0.00 3546.2 3559.9 3532.4 1812.5 3731.2 72.52 -16.90 99 659.82 0.00 0.16 4.79 0.000 0.214 0.065 3547.53 3560.94 3534.12 1860.25 2008.06 0 0 0 30.00 15.80 15.78

842.96 420 -146.63 -0.89 80.00 3546.1 3559.9 3532.2 1860.4 2003.9 90.21 -9.02 119 849.67 0.00 0.00 4.99 0.000 0.000 0.097 3546.44 3560.19 3532.69 1839.25 3729.50 0 0 0 30.00 30.00 15.80

892.67 1188 -146.63 -0.91 0.00 3545.9 3559.7 3532.2 1839.4 3730.4 95.11 -9.90 129 898.87 0.00 0.00 4.78 0.000 0.000 0.063 3540.41 3554.12 3526.69 1839.88 2006.25 0 0 0 30.00 30.00 15.83

1077.81 0 -146.63 -0.91 0.00 3545.6 3559.6 3531.6 1839.8 2003.2 113.93 -11.15 148 1079.15 0.00 0.00 0.00 0.000 0.000 0.000 3545.56 3559.12 3532.00 1839.56 2003.50 0 0 0 30.00 30.00 30.00

1257.99 516 -146.63 -0.91 -80.00 3545.9 3559.4 3532.4 1839.9 2003.2 134.95 -11.74 166 1264.70 0.00 0.00 4.86 0.000 0.000 0.099 3545.66 3558.50 3532.81 1840.12 319.31 0 0 0 30.00 30.00 15.91

1287.75 1156 -146.63 -0.89 0.00 3546.6 3560.1 3533.0 1839.8 319.4 138.97 -13.43 172 1294.80 0.00 0.00 4.79 0.000 0.000 0.065 3545.88 3559.56 3532.19 1819.38 2039.25 0 0 0 30.00 30.00 15.86

1388 end dive: TARGET_DEPTH_EXCEEDED

state 1388 begin apogee

1389.00 3 0.00 -0.21 0.00 3546.6 3559.9 3533.2 1818.9 2000.9 151.02 -11.72 183 1584.30 193.25 0.84 0.10 1.243 0.197 0.166 2948.47 2973.06 2923.88 2071.75 2044.25 0 0 0 12.39 15.81 15.42

1585 end apogee: CONTROL_FINISHED_OK

state 1585 begin climb

1585.20 3 146.63 0.91 0.00 2947.9 2973.8 2922.0 2074.6 2044.1 157.44 0.00 202 1789.26 202.09 1.10 0.00 1.197 0.121 0.000 2349.34 2371.44 2327.25 2436.88 2044.81 0 0 0 12.77 15.51 30.00

1963.00 162 179.43 0.93 80.00 2344.1 2372.2 2316.0 2436.4 2044.6 133.72 8.48 252 2009.92 46.04 0.00 0.00 1.157 0.000 0.000 2214.16 2236.00 2192.31 2436.81 2044.81 0 0 0 12.56 30.00 30.00

2182.91 550 197.33 0.95 -80.00 2211.3 2237.4 2185.1 2436.7 2044.6 113.37 9.17 274 2216.57 26.38 0.00 5.10 1.120 0.000 0.100 2142.03 2164.06 2120.00 2459.00 318.94 0 0 0 12.70 30.00 15.53

2258.80 1156 197.33 0.93 0.00 2140.3 2161.2 2119.5 2458.2 319.1 105.61 11.28 289 2265.59 0.00 0.00 4.87 0.000 0.000 0.066 2138.75 2160.38 2117.12 2457.38 2036.81 0 0 0 30.00 30.00 15.68

2443.81 260 197.33 0.93 80.00 2138.2 2160.9 2115.6 2457.4 2041.2 85.65 10.66 308 2450.59 0.00 0.00 4.90 0.000 0.000 0.098 2137.81 2160.50 2115.12 2457.12 3728.31 0 0 0 30.00 30.00 15.73

2468.83 1156 197.33 0.91 0.00 2138.7 2161.4 2115.9 2457.4 3728.4 82.96 10.52 313 2475.60 0.00 0.00 4.82 0.000 0.000 0.065 2136.62 2159.12 2114.12 2477.88 2009.62 0 0 0 30.00 30.00 15.73

2653.71 645 197.33 0.89 -80.00 2137.8 2161.9 2113.8 2478.8 2008.6 60.44 12.38 332 2660.71 0.00 0.22 4.93 0.000 0.238 0.101 2136.72 2160.94 2112.50 2436.19 319.25 0 0 0 30.00 15.71 15.71

2688.78 1030 197.33 0.89 0.00 2136.8 2161.0 2112.5 2436.7 319.2 56.30 11.81 339 2695.63 0.00 0.00 4.83 0.000 0.000 0.065 2140.06 2164.56 2115.56 2434.19 2039.19 0 0 0 30.00 30.00 15.71

2873.78 550 222.19 0.92 -80.00 2136.3 2161.0 2111.6 2435.9 2041.8 38.51 8.85 358 2925.81 44.29 0.00 5.09 1.126 0.000 0.102 2042.50 2060.50 2024.50 2456.81 319.12 0 0 0 12.46 30.00 15.67

2993.86 1028 222.19 0.92 0.00 2039.0 2057.7 2020.3 2457.0 319.0 26.13 10.97 382 3000.69 0.00 0.00 4.85 0.000 0.000 0.065 2038.19 2057.69 2018.69 2457.19 2038.50 0 0 0 30.00 30.00 15.77

3178.81 294 238.33 0.94 80.00 2037.7 2057.7 2017.6 2457.2 2040.7 8.36 9.25 401 3210.44 25.14 0.00 4.93 1.080 0.000 0.100 1976.47 1992.75 1960.19 2456.81 3729.81 0 0 0 12.68 30.00 15.67

3223.65 1060 240.76 0.94 0.00 1976.4 1991.9 1960.9 2456.9 3730.1 3.99 9.89 410 3230.01 0.00 0.00 4.82 0.000 0.000 0.065 1976.91 1992.94 1960.88 2478.62 2009.31 0 0 0 30.00 30.00 15.76

3249 end climb: SURFACE_DEPTH_REACHED

state 3249 begin surface coast

3269 end surface coast: CONTROL_FINISHED_OK

state 3269 begin surface

ID	232	HEADING	-1	C_ROLL_DIVE	2025	ALTIM_PING_DELTA	0
MISSION	2	ESCAPE_HEADING	0	C_ROLL_CLIMB	2025	ALTIM_FREQUENCY	13
DIVE	4	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
N_DIVES	5	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.047120001	ALTIM_SENSITIVITY	2
STOP_T	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_VALID	6
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	615.51501	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.5
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	2950	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	163	VBD_TIMEOUT	540	DEVICE4	-1
D_CALL	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0012300001	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	65	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	55
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	525	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	450	MINV_10V	11	SEABIRD_T_G	0.0044282433
D_OFFGRID	100	PITCH_MAX	3850	MAXI_24V	5	SEABIRD_T_H	0.0006527552
RELAUNCH	1	C_PITCH	2140	MAXI_10V	1.4	SEABIRD_T_I	2.689452e-05
APOGEE_PITCH	-5	PITCH_DBAND	0.1	FG_AHR_10V	0.23842616	SEABIRD_T_J	3.3585216e-06
MAX_BUOY	150	PITCH_CNV	0.0031300001	FG_AHR_24V	1.0989995	SEABIRD_C_G	-9.98948
GLIDE_SLOPE	30	PITCH_GAIN	24	PHONE_SUPPLY	2	SEABIRD_C_H	1.1337911
SPEED_FACTOR	1	PITCH_TIMEOUT	15	PRESSURE_YINT	-171.06297	SEABIRD_C_I	-0.0030350445
RHO	1.023	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00010861728	SEABIRD_C_J	0.00029711783
MASS	72152	PITCH_ADJ_GAIN	0.0099999998	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	300	ALTIM_TOP_TURN_MARGIN	0
HD_B	0.0099999998	ROLL_MAX	3920	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	1.6e-05	ROLL_DEG	80	ALTIM_PING_DEPTH	0

GPS1	050819,202910,4744.368,-12223.850,0,1.0,2,15.5	TGT_LATLONG	4743.500,-12225.000
_CALLS	1	TGT_RADIUS	100.000
_SM_DEPTHo	0.47	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-23.8	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	050819,203057,4744.379,-12223.854,3,1.0,5,15.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.258	MHEAD_RNG_PITCHd_Wd	179.0,2166,-17.6,-10.000,-21.21
TGT_NAME	NW	D_GRID	170

MODEM_MSG	CACST,6,1,20190805200503.954284,18,32767,45,0209,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*30	INTERNAL_PRESSURE	8.71374
FINISH	-0.1,1.022678	_24V_AH	14.72,2.429
SM_CCo	3682.26,0.00,0.000,0,549.4,538.2,560.6,588.87	_10V_AH	14.82,0.000
SM_GC	0.67,0.00,5.61,0.08,0.000,0.050,0.123,549.4,538.2,560.6,422.3,2043.0,0,0,0,30.00,15.79,15.81	FG_AHR_24Vo	1.283
SUPER	51,71,254,1,0,0	FG_AHR_10Vo	0.286
IRIDIUM_FIX	4744.68,-12203.72,050819,202634	MEM	1131312,33,47476,83
TCM_TEMP	248.49	DATA_FILE_SIZE	12935,415
XPDR_PINGS	1	CAP_FILE_SIZE	216585,0
SC_FREEKB	3876448	SDSIZE	3918848,3908544
RAFOS_CLK	0	SDFILEDIR	44,1
MODEM	0,1565035204,47.00000,-122.50000,4.245,6218.2	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4716.985352,-12322.338867,050819,202003,7,255,-57.09	SOUNDSPEED	1465.0
HUMID	58.50	CURRENT	0.157,347.3,1
TEMP	14.12	GPS	050819,213331,4744.390,-12224.169,2,1.2,3,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	1067	1243	19534.32	nil	0	0	0.00
Pitch_motor	14	400	85.39	nil	0	0	0.00
Roll_motor	88	166	216.34	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	1.55	nil	0	0	0.00
GPS	13	15	2.92	nil	0	0	0.00
Core	1874	19	553.45	SciCon	3267	39	1923.94
LPSleep	1890	2	64.73	nil	0	0	0.00
Compass	452	5	33.54	nil	0	0	0.00
RAFOS	3055	48	2173.20
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
4.40	2	-146.63	-0.91	0.00	545.8	541.8	549.9	435.9	2000.1	0.00	0.00	0	128.29	123.26	0.00	0.00	0.005	0.000	0.000	3300.94	3306.00	3295.88	436.06	1999.94	0	0	0	15.64	30.00	30.00
128.58	295	-146.63	-0.91	80.00	3298.9	3303.6	3294.3	435.9	1999.9	3.12	-2.23	12	150.62	7.32	6.55	4.99	0.008	0.401	0.097	3545.34	3559.50	3531.19	1825.56	3729.44	0	0	0	15.70	15.56	15.67
237.50	1028	-146.63	-0.91	0.00	3545.4	3559.1	3531.8	1825.4	3730.1	19.29	-13.68	34	243.85	0.00	0.00	4.79	0.000	0.000	0.065	3546.38	3560.44	3532.31	1833.38	2008.94	0	0	0	30.00	30.00	15.86
422.76	388	-146.63	-0.90	80.00	3545.6	3559.6	3531.7	1832.1	2008.6	42.47	-12.78	53	429.59	0.00	0.00	4.99	0.000	0.000	0.098	3546.53	3561.12	3531.94	1812.12	3731.38	0	0	0	30.00	30.00	15.73
652.66	1157	-146.63	-0.88	0.00	3546.2	3559.9	3532.4	1812.5	3731.2	72.52	-16.90	99	659.82	0.00	0.16	4.79	0.000	0.214	0.065	3547.53	3560.94	3534.12	1860.25	2008.06	0	0	0	30.00	15.80	15.78
842.96	420	-146.63	-0.89	80.00	3546.1	3559.9	3532.2	1860.4	2003.9	90.21	-9.02	119	849.67	0.00	0.00	4.99	0.000	0.000	0.097	3546.44	3560.19	3532.69	1839.25	3729.50	0	0	0	30.00	30.00	15.80
892.67	1188	-146.63	-0.91	0.00	3545.9	3559.7	3532.2	1839.4	3730.4	95.11	-9.90	129	898.87	0.00	0.00	4.78	0.000	0.000	0.063	3540.41	3554.12	3526.69	1839.88	2006.25	0	0	0	30.00	30.00	15.83
1077.81	0	-146.63	-0.91	0.00	3545.6	3559.6	3531.6	1839.8	2003.2	113.93	-11.15	148	1079.15	0.00	0.00	0.00	0.000	0.000	0.000	3545.56	3559.12	3532.00	1839.56	2003.50	0	0	0	30.00	30.00	30.00
1257.99	516	-146.63	-0.91	-80.00	3545.9	3559.4	3532.4	1839.9	2003.2	134.95	-11.74	166	1264.70	0.00	0.00	4.86	0.000	0.000	0.099	3545.66	3558.50	3532.81	1840.12	319.31	0	0	0	30.00	30.00	15.91
1287.75	1156	-146.63	-0.89	0.00	3546.6	3560.1	3533.0	1839.8	319.4	138.97	-13.43	172	1294.80	0.00	0.00	4.79	0.000	0.000	0.065	3545.88	3559.56	3532.19	1819.38	2039.25	0	0	0	30.00	30.00	15.86
1388	end dive: TARGET_DEPTH_EXCEEDED
state	1388	begin apogee
1389.00	3	0.00	-0.21	0.00	3546.6	3559.9	3533.2	1818.9	2000.9	151.02	-11.72	183	1584.30	193.25	0.84	0.10	1.243	0.197	0.166	2948.47	2973.06	2923.88	2071.75	2044.25	0	0	0	12.39	15.81	15.42
1585	end apogee: CONTROL_FINISHED_OK
state	1585	begin climb
1585.20	3	146.63	0.91	0.00	2947.9	2973.8	2922.0	2074.6	2044.1	157.44	0.00	202	1789.26	202.09	1.10	0.00	1.197	0.121	0.000	2349.34	2371.44	2327.25	2436.88	2044.81	0	0	0	12.77	15.51	30.00
1963.00	162	179.43	0.93	80.00	2344.1	2372.2	2316.0	2436.4	2044.6	133.72	8.48	252	2009.92	46.04	0.00	0.00	1.157	0.000	0.000	2214.16	2236.00	2192.31	2436.81	2044.81	0	0	0	12.56	30.00	30.00
2182.91	550	197.33	0.95	-80.00	2211.3	2237.4	2185.1	2436.7	2044.6	113.37	9.17	274	2216.57	26.38	0.00	5.10	1.120	0.000	0.100	2142.03	2164.06	2120.00	2459.00	318.94	0	0	0	12.70	30.00	15.53
2258.80	1156	197.33	0.93	0.00	2140.3	2161.2	2119.5	2458.2	319.1	105.61	11.28	289	2265.59	0.00	0.00	4.87	0.000	0.000	0.066	2138.75	2160.38	2117.12	2457.38	2036.81	0	0	0	30.00	30.00	15.68
2443.81	260	197.33	0.93	80.00	2138.2	2160.9	2115.6	2457.4	2041.2	85.65	10.66	308	2450.59	0.00	0.00	4.90	0.000	0.000	0.098	2137.81	2160.50	2115.12	2457.12	3728.31	0	0	0	30.00	30.00	15.73
2468.83	1156	197.33	0.91	0.00	2138.7	2161.4	2115.9	2457.4	3728.4	82.96	10.52	313	2475.60	0.00	0.00	4.82	0.000	0.000	0.065	2136.62	2159.12	2114.12	2477.88	2009.62	0	0	0	30.00	30.00	15.73
2653.71	645	197.33	0.89	-80.00	2137.8	2161.9	2113.8	2478.8	2008.6	60.44	12.38	332	2660.71	0.00	0.22	4.93	0.000	0.238	0.101	2136.72	2160.94	2112.50	2436.19	319.25	0	0	0	30.00	15.71	15.71
2688.78	1030	197.33	0.89	0.00	2136.8	2161.0	2112.5	2436.7	319.2	56.30	11.81	339	2695.63	0.00	0.00	4.83	0.000	0.000	0.065	2140.06	2164.56	2115.56	2434.19	2039.19	0	0	0	30.00	30.00	15.71
2873.78	550	222.19	0.92	-80.00	2136.3	2161.0	2111.6	2435.9	2041.8	38.51	8.85	358	2925.81	44.29	0.00	5.09	1.126	0.000	0.102	2042.50	2060.50	2024.50	2456.81	319.12	0	0	0	12.46	30.00	15.67
2993.86	1028	222.19	0.92	0.00	2039.0	2057.7	2020.3	2457.0	319.0	26.13	10.97	382	3000.69	0.00	0.00	4.85	0.000	0.000	0.065	2038.19	2057.69	2018.69	2457.19	2038.50	0	0	0	30.00	30.00	15.77
3178.81	294	238.33	0.94	80.00	2037.7	2057.7	2017.6	2457.2	2040.7	8.36	9.25	401	3210.44	25.14	0.00	4.93	1.080	0.000	0.100	1976.47	1992.75	1960.19	2456.81	3729.81	0	0	0	12.68	30.00	15.67
3223.65	1060	240.76	0.94	0.00	1976.4	1991.9	1960.9	2456.9	3730.1	3.99	9.89	410	3230.01	0.00	0.00	4.82	0.000	0.000	0.065	1976.91	1992.94	1960.88	2478.62	2009.31	0	0	0	30.00	30.00	15.76
3249	end climb: SURFACE_DEPTH_REACHED
state	3249	begin surface coast
3269	end surface coast: CONTROL_FINISHED_OK
state	3269	begin surface