Glider dive log

SODA Sep18 * SG229 * Dive index * Mission links * Dive 99 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 229 HEADING -1 C_ROLL_DIVE 2250 ALTIM_PING_DELTA 10

MISSION 2 ESCAPE_HEADING 0 C_ROLL_CLIMB 1900 ALTIM_FREQUENCY 13

DIVE 99 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

N_DIVES 0 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 180 SM_CC 641.70477 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -2.5

D_ABORT 1020 N_FILEKB 8 VBD_MIN 550 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 0 VBD_MAX 3960 DEEPGLIDERMB 0

D_BOOST 4 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 0

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 W_ADJ_DBAND 2 LOGGERDEVICE1 7

T_DIVE 60 CAPUPLOAD 0 DBDW 0 LOGGERDEVICE2 -1

T_MISSION 85 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 8 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 32

T_EPIRB 0 RAFOS_CORR_THRESH 60 AH0_24V 575 RAFOS_DEVICE 104

USE_BATHY 0 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 0.0044283443

D_OFFGRID 1020 PITCH_MAX 3840 MAXI_24V 5 SEABIRD_T_H 0.00066085911

RELAUNCH 1 C_PITCH 1950 MAXI_10V 1.4 SEABIRD_T_I 2.7456792e-05

APOGEE_PITCH -5 PITCH_DBAND 0.1 FG_AHR_10V 5.5379624 SEABIRD_T_J 3.4295531e-06

MAX_BUOY 150 PITCH_CNV 0.0031300001 FG_AHR_24V 23.250048 SEABIRD_C_G -9.9373035

GLIDE_SLOPE 30 PITCH_GAIN 48 PHONE_SUPPLY 2 SEABIRD_C_H 1.1186405

SPEED_FACTOR 1 PITCH_TIMEOUT 20 PRESSURE_YINT -162.53629 SEABIRD_C_I -0.003041792

RHO 1.0275 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00010777653 SEABIRD_C_J 0.00029373623

MASS 72243 PITCH_ADJ_GAIN 0 COMPASS_USE 4 SC_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 ALTIM_PING_FIT 0 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_W_GAIN 1.5 ALTIM_TOP_PING_RANGE 20 SC_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_W_DBAND 0.5 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 80 ALTIM_PING_DEPTH 0

AH0_10V 0 D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0044283443

AH0_24V 575 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00066085911

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.7456792e-05

ALTIM_FREQUENCY 13 D_TGT 180 N_NOSURFACE 0 SEABIRD_T_J 3.4295531e-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 641.70477

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_10V 5.5379624 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 23.250048 PITCH_CNV 0.0031300001 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 2 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 20 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 32 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 0.5 T_BOOST 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_W_GAIN 1.5 T_DIVE 60

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_SLOPE 0.00010777653 T_EPIRB 0

COMM_SEQ 0 ID 229 PRESSURE_YINT -162.53629 T_GPS 5

COMPASS2_DEVICE 55 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 85

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 104 T_NO_W 120

C_PITCH 1950 LOGGERDEVICE1 7 RAFOS_HIT_WINDOW 3600 T_RSLEEP 8

C_ROLL_CLIMB 1900 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 T_TURN 225

C_ROLL_DIVE 2250 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_VBD 3166 LOGGERDEVICE4 -1 RELAUNCH 1 UNCOM_BLEED 20

DBDW 0 LOGGERS 0 RHO 1.0275 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 USE_BATHY 0

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 3945 VBD_LP_IGNORE 0

DEVICE4 -1 MASS 72243 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 99 MAX_BUOY 150 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_ABORT 1020 MINV_10V 11 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_BOOST 4 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 -9.9373035 XPDR_VALID 5

D_FLARE 3 NAV_MODE 2 SEABIRD_C_H 1.1186405

D_NO_BLEED 50 NOCOMM_ACTION 161 SEABIRD_C_I -0.003041792

D_OFFGRID 1020 N_DIVES 0 SEABIRD_C_J 0.00029373623

Pre-dive calculations and measurements:

GPS1 091018,155618,7433.410,-14616.534,7,0.9,8,0.0 TGT_LATLONG 7432.650,-14526.500

_CALLS 3 TGT_RADIUS 2000.000

_SM_DEPTHo 1.74 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -73.7 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 091018,160245,7433.369,-14616.553,2,1.0,3,0.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 138.1,24739,-17.6,-10.000,-21.24

TGT_NAME SG227 D_GRID 180

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20181009161612.309187,18,479,26,0062,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*34 INTERNAL_PRESSURE 9.13851

FINISH 0.1,1.028479 _24V_AH 14.43,46.551

SM_CCo 3295.63,0.00,0.000,0,542.0,624.2,459.8,643.67 _10V_AH 14.92,0.000

SM_GC 3.78,0.00,8.12,1.10,0.000,0.062,0.015,542.0,624.2,459.8,130.4,2282.3,0,0,0,30.00,15.57,15.61 FG_AHR_24Vo 23.422

SUPER 51,70,254,1,0,0 FG_AHR_10Vo 5.555

IRIDIUM_FIX 7435.27,-14625.33,091018,155913 MEM 1165576,34,13908,56

TCM_TEMP 177.30 DATA_FILE_SIZE 17083,435

XPDR_PINGS 0 CAP_FILE_SIZE 147198,0

ALTIM_TOP_PING 19.5,20.3 SDSIZE 3918848,3887488

RAFOS_CLK -1 ERRORS 0,0,0,0,0,0,0,2

RAFOS_FIX 7438.626465,-14608.281250,091018,161612,3,255,13.23 SOUNDSPEED 1465.0

HUMID 53.81 CURRENT 0.240,332.2,1

TEMP -0.68 GPS 091018,165840,7433.539,-14616.893,3,1.8,15,0.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 805 1650 19181.20 nil 0 0 0.00

Pitch_motor 22 392 129.11 nil 0 0 0.00

Roll_motor 47 99 68.61 nil 0 0 0.00

Iridium 204 160 473.81 nil 0 0 0.00

Transponder_ping 0 420 1.52 nil 0 0 0.00

GPS 12 15 2.83 nil 0 0 0.00

Core 1553 19 461.70 SciCon 0 0 0.00

LPSleep 2128 2 73.35 nil 0 0 0.00

Compass 473 5 35.32 nil 0 0 0.00

RAFOS 1957 48 1401.53

Transponder 1 30 0.45

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

1 end surface: CONTROL_FINISHED_OK

state 1 begin dive

5.30 2 -145.99 -0.81 0.00 544.3 602.2 486.4 133.8 2195.2 0.00 0.00 0 48.83 42.99 0.00 0.00 0.005 0.000 0.000 1306.81 1334.31 1279.31 133.56 2195.25 0 0 0 15.62 30.00 30.00

52.23 295 -145.99 -0.81 80.00 1308.3 1335.9 1280.8 133.7 2195.2 3.76 -5.74 4 128.88 58.56 8.73 5.68 0.005 0.393 0.056 3761.69 3776.50 3746.88 1669.31 3948.75 0 0 0 15.58 15.49 15.59

353.47 1028 -145.99 -0.81 0.00 3761.9 3780.3 3743.4 1669.5 3948.9 85.77 -18.12 64 361.45 0.00 0.00 5.16 0.000 0.000 0.026 3763.16 3783.62 3742.69 1687.94 2234.00 0 0 0 30.00 30.00 15.71

548.55 260 -145.99 -0.81 80.00 3761.8 3782.8 3740.9 1688.2 2233.6 125.90 -20.56 85 556.48 0.00 0.00 5.58 0.000 0.000 0.056 3763.66 3785.38 3741.94 1667.94 3949.75 0 0 0 30.00 30.00 15.73

638.62 1028 -145.99 -0.81 0.00 3761.9 3783.4 3740.4 1667.4 3950.4 142.87 -16.89 103 646.36 0.00 0.00 5.14 0.000 0.000 0.024 3762.81 3783.81 3741.81 1687.00 2232.94 0 0 0 30.00 30.00 15.74

828.65 260 -145.99 -0.81 80.00 3761.9 3783.6 3740.2 1687.5 2232.6 179.77 -19.57 123 830.61 0.00 0.00 1.25 0.000 0.000 0.033 3763.88 3786.62 3741.12 1683.81 2671.81 0 0 0 30.00 30.00 15.76

831 end dive: TARGET_DEPTH_EXCEEDED

state 831 begin apogee

837.55 3 0.00 -0.10 0.00 3762.5 3784.7 3740.3 1691.4 1879.8 180.76 -19.44 124 958.01 117.38 1.67 0.12 1.651 0.189 0.100 3165.03 3243.75 3086.31 1913.88 1978.00 0 0 0 12.55 15.67 15.17

958 end apogee: CONTROL_FINISHED_OK

state 958 begin climb

961.42 519 145.99 0.81 -80.00 3161.6 3239.7 3083.6 1914.8 1977.8 191.57 0.00 136 1094.30 123.09 1.91 5.62 1.569 0.153 0.062 2566.81 2658.44 2475.19 2226.00 333.31 0 0 0 12.27 15.16 14.94

1153.84 1063 450.61 1.72 0.00 2558.6 2642.0 2475.2 2227.1 333.2 199.01 -4.17 174 1416.12 253.02 1.12 4.64 1.540 0.073 0.010 1328.78 1421.00 1236.56 2507.44 1973.75 0 0 0 12.30 15.16 15.19

1600.59 262 450.61 1.72 80.00 1319.4 1411.2 1227.6 2508.8 1973.1 144.34 18.36 245 1608.61 0.00 0.00 5.36 0.000 0.000 0.045 1320.03 1411.81 1228.25 2489.88 3605.62 0 0 0 30.00 30.00 15.22

1715.63 1030 450.61 1.72 0.00 1318.5 1408.5 1228.4 2490.2 3604.8 126.73 13.90 268 1723.71 0.00 0.00 5.39 0.000 0.000 0.030 1318.56 1408.81 1228.31 2511.06 1886.31 0 0 0 30.00 30.00 15.32

1910.78 2 450.61 1.72 0.00 1317.3 1408.1 1226.6 2510.8 1886.5 96.98 15.02 289 1912.12 0.00 0.00 0.00 0.000 0.000 0.000 1316.75 1407.44 1226.06 2511.44 1885.88 0 0 0 30.00 30.00 30.00

2090.79 2 450.61 1.72 0.00 1317.1 1408.4 1225.8 2509.9 1885.9 75.76 10.01 307 2092.13 0.00 0.00 0.00 0.000 0.000 0.000 1316.41 1407.50 1225.31 2510.19 1886.50 0 0 0 30.00 30.00 30.00

2270.82 35 544.85 2.00 0.00 1316.4 1407.9 1224.9 2510.7 1886.5 63.01 5.62 325 2375.86 104.04 0.28 0.00 1.423 0.079 0.000 945.66 1037.94 853.38 2594.81 1886.50 0 0 0 12.49 15.59 30.00

2555.88 35 645.54 2.30 80.00 938.9 1029.6 848.2 2595.6 1886.4 46.28 5.32 359 2664.16 106.08 0.34 0.00 1.378 0.074 0.000 548.19 633.69 462.69 2692.06 1886.12 0 0 0 12.47 15.43 30.00

2845.89 35 758.64 2.64 80.00 544.0 627.2 460.7 2692.6 1886.1 27.18 4.74 397 2847.38 0.00 0.37 0.00 0.000 0.072 0.000 544.62 628.00 461.25 2799.75 1886.69 0 0 0 30.00 15.39 30.00

3026.04 35 830.30 2.86 80.00 543.1 625.3 460.8 2799.9 1885.8 15.55 6.67 415 3027.51 0.00 0.22 0.00 0.000 0.080 0.000 543.44 625.62 461.25 2865.50 1885.94 0 0 0 30.00 15.50 30.00

3202 end climb: SURFACE_DEPTH_REACHED

state 3203 begin surface coast

3223 end surface coast: CONTROL_FINISHED_OK

state 3223 begin surface

ID	229	HEADING	-1	C_ROLL_DIVE	2250	ALTIM_PING_DELTA	10
MISSION	2	ESCAPE_HEADING	0	C_ROLL_CLIMB	1900	ALTIM_FREQUENCY	13
DIVE	99	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
N_DIVES	0	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	180	SM_CC	641.70477	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-2.5
D_ABORT	1020	N_FILEKB	8	VBD_MIN	550	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	0	VBD_MAX	3960	DEEPGLIDERMB	0
D_BOOST	4	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	0
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	W_ADJ_DBAND	2	LOGGERDEVICE1	7
T_DIVE	60	CAPUPLOAD	0	DBDW	0	LOGGERDEVICE2	-1
T_MISSION	85	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	8	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	32
T_EPIRB	0	RAFOS_CORR_THRESH	60	AH0_24V	575	RAFOS_DEVICE	104
USE_BATHY	0	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	0.0044283443
D_OFFGRID	1020	PITCH_MAX	3840	MAXI_24V	5	SEABIRD_T_H	0.00066085911
RELAUNCH	1	C_PITCH	1950	MAXI_10V	1.4	SEABIRD_T_I	2.7456792e-05
APOGEE_PITCH	-5	PITCH_DBAND	0.1	FG_AHR_10V	5.5379624	SEABIRD_T_J	3.4295531e-06
MAX_BUOY	150	PITCH_CNV	0.0031300001	FG_AHR_24V	23.250048	SEABIRD_C_G	-9.9373035
GLIDE_SLOPE	30	PITCH_GAIN	48	PHONE_SUPPLY	2	SEABIRD_C_H	1.1186405
SPEED_FACTOR	1	PITCH_TIMEOUT	20	PRESSURE_YINT	-162.53629	SEABIRD_C_I	-0.003041792
RHO	1.0275	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00010777653	SEABIRD_C_J	0.00029373623
MASS	72243	PITCH_ADJ_GAIN	0	COMPASS_USE	4	SC_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	ALTIM_PING_FIT	0	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_W_GAIN	1.5	ALTIM_TOP_PING_RANGE	20	SC_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_W_DBAND	0.5	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	80	ALTIM_PING_DEPTH	0

GPS1	091018,155618,7433.410,-14616.534,7,0.9,8,0.0	TGT_LATLONG	7432.650,-14526.500
_CALLS	3	TGT_RADIUS	2000.000
_SM_DEPTHo	1.74	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-73.7	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	091018,160245,7433.369,-14616.553,2,1.0,3,0.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	138.1,24739,-17.6,-10.000,-21.24
TGT_NAME	SG227	D_GRID	180

MODEM_MSG	CACST,6,1,20181009161612.309187,18,479,26,0062,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*34	INTERNAL_PRESSURE	9.13851
FINISH	0.1,1.028479	_24V_AH	14.43,46.551
SM_CCo	3295.63,0.00,0.000,0,542.0,624.2,459.8,643.67	_10V_AH	14.92,0.000
SM_GC	3.78,0.00,8.12,1.10,0.000,0.062,0.015,542.0,624.2,459.8,130.4,2282.3,0,0,0,30.00,15.57,15.61	FG_AHR_24Vo	23.422
SUPER	51,70,254,1,0,0	FG_AHR_10Vo	5.555
IRIDIUM_FIX	7435.27,-14625.33,091018,155913	MEM	1165576,34,13908,56
TCM_TEMP	177.30	DATA_FILE_SIZE	17083,435
XPDR_PINGS	0	CAP_FILE_SIZE	147198,0
ALTIM_TOP_PING	19.5,20.3	SDSIZE	3918848,3887488
RAFOS_CLK	-1	ERRORS	0,0,0,0,0,0,0,2
RAFOS_FIX	7438.626465,-14608.281250,091018,161612,3,255,13.23	SOUNDSPEED	1465.0
HUMID	53.81	CURRENT	0.240,332.2,1
TEMP	-0.68	GPS	091018,165840,7433.539,-14616.893,3,1.8,15,0.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	805	1650	19181.20	nil	0	0	0.00
Pitch_motor	22	392	129.11	nil	0	0	0.00
Roll_motor	47	99	68.61	nil	0	0	0.00
Iridium	204	160	473.81	nil	0	0	0.00
Transponder_ping	0	420	1.52	nil	0	0	0.00
GPS	12	15	2.83	nil	0	0	0.00
Core	1553	19	461.70	SciCon	0	0	0.00
LPSleep	2128	2	73.35	nil	0	0	0.00
Compass	473	5	35.32	nil	0	0	0.00
RAFOS	1957	48	1401.53
Transponder	1	30	0.45

		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
1	end surface: CONTROL_FINISHED_OK
state	1	begin dive
5.30	2	-145.99	-0.81	0.00	544.3	602.2	486.4	133.8	2195.2	0.00	0.00	0	48.83	42.99	0.00	0.00	0.005	0.000	0.000	1306.81	1334.31	1279.31	133.56	2195.25	0	0	0	15.62	30.00	30.00
52.23	295	-145.99	-0.81	80.00	1308.3	1335.9	1280.8	133.7	2195.2	3.76	-5.74	4	128.88	58.56	8.73	5.68	0.005	0.393	0.056	3761.69	3776.50	3746.88	1669.31	3948.75	0	0	0	15.58	15.49	15.59
353.47	1028	-145.99	-0.81	0.00	3761.9	3780.3	3743.4	1669.5	3948.9	85.77	-18.12	64	361.45	0.00	0.00	5.16	0.000	0.000	0.026	3763.16	3783.62	3742.69	1687.94	2234.00	0	0	0	30.00	30.00	15.71
548.55	260	-145.99	-0.81	80.00	3761.8	3782.8	3740.9	1688.2	2233.6	125.90	-20.56	85	556.48	0.00	0.00	5.58	0.000	0.000	0.056	3763.66	3785.38	3741.94	1667.94	3949.75	0	0	0	30.00	30.00	15.73
638.62	1028	-145.99	-0.81	0.00	3761.9	3783.4	3740.4	1667.4	3950.4	142.87	-16.89	103	646.36	0.00	0.00	5.14	0.000	0.000	0.024	3762.81	3783.81	3741.81	1687.00	2232.94	0	0	0	30.00	30.00	15.74
828.65	260	-145.99	-0.81	80.00	3761.9	3783.6	3740.2	1687.5	2232.6	179.77	-19.57	123	830.61	0.00	0.00	1.25	0.000	0.000	0.033	3763.88	3786.62	3741.12	1683.81	2671.81	0	0	0	30.00	30.00	15.76
831	end dive: TARGET_DEPTH_EXCEEDED
state	831	begin apogee
837.55	3	0.00	-0.10	0.00	3762.5	3784.7	3740.3	1691.4	1879.8	180.76	-19.44	124	958.01	117.38	1.67	0.12	1.651	0.189	0.100	3165.03	3243.75	3086.31	1913.88	1978.00	0	0	0	12.55	15.67	15.17
958	end apogee: CONTROL_FINISHED_OK
state	958	begin climb
961.42	519	145.99	0.81	-80.00	3161.6	3239.7	3083.6	1914.8	1977.8	191.57	0.00	136	1094.30	123.09	1.91	5.62	1.569	0.153	0.062	2566.81	2658.44	2475.19	2226.00	333.31	0	0	0	12.27	15.16	14.94
1153.84	1063	450.61	1.72	0.00	2558.6	2642.0	2475.2	2227.1	333.2	199.01	-4.17	174	1416.12	253.02	1.12	4.64	1.540	0.073	0.010	1328.78	1421.00	1236.56	2507.44	1973.75	0	0	0	12.30	15.16	15.19
1600.59	262	450.61	1.72	80.00	1319.4	1411.2	1227.6	2508.8	1973.1	144.34	18.36	245	1608.61	0.00	0.00	5.36	0.000	0.000	0.045	1320.03	1411.81	1228.25	2489.88	3605.62	0	0	0	30.00	30.00	15.22
1715.63	1030	450.61	1.72	0.00	1318.5	1408.5	1228.4	2490.2	3604.8	126.73	13.90	268	1723.71	0.00	0.00	5.39	0.000	0.000	0.030	1318.56	1408.81	1228.31	2511.06	1886.31	0	0	0	30.00	30.00	15.32
1910.78	2	450.61	1.72	0.00	1317.3	1408.1	1226.6	2510.8	1886.5	96.98	15.02	289	1912.12	0.00	0.00	0.00	0.000	0.000	0.000	1316.75	1407.44	1226.06	2511.44	1885.88	0	0	0	30.00	30.00	30.00
2090.79	2	450.61	1.72	0.00	1317.1	1408.4	1225.8	2509.9	1885.9	75.76	10.01	307	2092.13	0.00	0.00	0.00	0.000	0.000	0.000	1316.41	1407.50	1225.31	2510.19	1886.50	0	0	0	30.00	30.00	30.00
2270.82	35	544.85	2.00	0.00	1316.4	1407.9	1224.9	2510.7	1886.5	63.01	5.62	325	2375.86	104.04	0.28	0.00	1.423	0.079	0.000	945.66	1037.94	853.38	2594.81	1886.50	0	0	0	12.49	15.59	30.00
2555.88	35	645.54	2.30	80.00	938.9	1029.6	848.2	2595.6	1886.4	46.28	5.32	359	2664.16	106.08	0.34	0.00	1.378	0.074	0.000	548.19	633.69	462.69	2692.06	1886.12	0	0	0	12.47	15.43	30.00
2845.89	35	758.64	2.64	80.00	544.0	627.2	460.7	2692.6	1886.1	27.18	4.74	397	2847.38	0.00	0.37	0.00	0.000	0.072	0.000	544.62	628.00	461.25	2799.75	1886.69	0	0	0	30.00	15.39	30.00
3026.04	35	830.30	2.86	80.00	543.1	625.3	460.8	2799.9	1885.8	15.55	6.67	415	3027.51	0.00	0.22	0.00	0.000	0.080	0.000	543.44	625.62	461.25	2865.50	1885.94	0	0	0	30.00	15.50	30.00
3202	end climb: SURFACE_DEPTH_REACHED
state	3203	begin surface coast
3223	end surface coast: CONTROL_FINISHED_OK
state	3223	begin surface