Glider dive log

Shilshole 10Aug18 * SG230 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 230 HEADING -1 C_ROLL_DIVE 2500 ALTIM_PING_DELTA 0

MISSION 1 ESCAPE_HEADING 0 C_ROLL_CLIMB 2200 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 2

STOP_T 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_VALID 4

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 590.98499 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 2.3

D_ABORT 175 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 2930 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 360 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 1

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 3 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 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 0.0044273403

D_OFFGRID 100 PITCH_MAX 3830 MAXI_24V 5 SEABIRD_T_H 0.00064357114

RELAUNCH 1 C_PITCH 1950 MAXI_10V 1.4 SEABIRD_T_I 2.694588e-05

APOGEE_PITCH -5 PITCH_DBAND 0.1 FG_AHR_10V 0.13031437 SEABIRD_T_J 3.3888193e-06

MAX_BUOY 150 PITCH_CNV 0.0031300001 FG_AHR_24V 0.30321074 SEABIRD_C_G -10.022948

GLIDE_SLOPE 30 PITCH_GAIN 40 PHONE_SUPPLY 2 SEABIRD_C_H 1.1522003

SPEED_FACTOR 1 PITCH_TIMEOUT 15 PRESSURE_YINT -162.9462 SEABIRD_C_I -0.0021515235

RHO 1.023 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00010820606 SEABIRD_C_J 0.00023982119

MASS 72048 PITCH_ADJ_GAIN 0.0049999999 COMPASS_USE 4 SC_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 3 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 425 ALTIM_TOP_TURN_MARGIN 0

HD_B 0.0099999998 ROLL_MAX 3945 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 0.0044273403

AH0_24V 575 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00064357114

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.694588e-05

ALTIM_FREQUENCY 13 D_TGT 150 N_NOSURFACE 0 SEABIRD_T_J 3.3888193e-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 590.98499

ALTIM_PING_FIT 0 FERRY_MAX 45 PITCH_ADJ_DBAND 3 SPEED_FACTOR 1

ALTIM_PULSE 3 FG_AHR_10V 0.13031437 PITCH_ADJ_GAIN 0.0049999999 STOP_T 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0.30321074 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 40 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAX 3830 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 15 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 0.00010820606 T_EPIRB 0

COMM_SEQ 0 ID 230 PRESSURE_YINT -162.9462 T_GPS 5

COMPASS2_DEVICE 55 INT_PRESSURE_SLOPE 1.9639999e-06 PROTOCOL 9 T_LOITER 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT 2.3 RAFOS_CORR_THRESH 60 T_MISSION 65

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 104 T_NO_W 120

C_PITCH 1950 LOGGERDEVICE1 7 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 T_TURN 225

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_VBD 2930 LOGGERDEVICE4 -1 RELAUNCH 1 UNCOM_BLEED 20

DBDW 0 LOGGERS 1 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 3945 VBD_LP_IGNORE 0

DEVICE4 -1 MASS 72048 ROLL_MAXERRORS 1 VBD_MAX 3960

DEVICE5 -1 MAXI_10V 1.4 ROLL_MIN 425 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 360

D_ABORT 175 MINV_10V 11 SC_PROFILE 3.0 W_ADJ_DBAND 0

D_BOOST 4 MINV_24V 11 SC_RECORDABOVE 2000.0 XPDR_DEVICE 0

D_CALL 0 MISSION 1 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_FINISH 0 MOTHERBOARD 6 SEABIRD_C_G -10.022948 XPDR_VALID 4

D_FLARE 3 NAV_MODE 2 SEABIRD_C_H 1.1522003

D_NO_BLEED 50 NOCOMM_ACTION 163 SEABIRD_C_I -0.0021515235

D_OFFGRID 100 N_DIVES 4 SEABIRD_C_J 0.00023982119

Pre-dive calculations and measurements:

GPS1 100818,190339,4743.521,-12224.764,1,0.9,2,15.7 TGT_LATLONG 4743.500,-12225.000

_CALLS 2 TGT_RADIUS 100.000

_SM_DEPTHo 1.26 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -51.7 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 100818,190709,4743.514,-12224.766,2,0.9,5,15.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.258 MHEAD_RNG_PITCHd_Wd 284.5,293,-27.2,-10.000,-30.00

TGT_NAME NW D_GRID 176

Post-dive calculations and measurements:

FINISH 0.1,1.021824 _24V_AH 15.22,3.401

SM_CCo 2610.58,0.00,0.000,0,548.8,423.8,673.8,584.11 _10V_AH 15.00,0.000

SM_GC 1.20,0.00,6.66,1.25,0.000,0.087,0.085,548.8,423.8,673.8,130.1,2502.8,0,0,0,30.00,16.03,16.05 FG_AHR_24Vo 0.358

SUPER 59,70,254,1,0,0 FG_AHR_10Vo 0.169

IRIDIUM_FIX 4743.02,-12222.38,100818,190004 MEM 1132832,30,46212,82

TCM_TEMP 244.30 DATA_FILE_SIZE 13667,311

XPDR_PINGS 56 CAP_FILE_SIZE 155343,0

RAFOS_CLK -1 SDSIZE 3918848,3909120

RAFOS_FIX 4743.635254,-12225.291016,100818,191944,0,1,0.29 ERRORS 0,0,0,0,0,0,0,0

HUMID 57.08 SOUNDSPEED 1465.0

TEMP 13.59 CURRENT 0.155,187.4,1

INTERNAL_PRESSURE 9.65207 GPS 100818,195135,4743.417,-12225.156,2,0.8,4,15.7

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 575 1186 10389.21 nil 0 0 0.00

Pitch_motor 19 413 122.59 nil 0 0 0.00

Roll_motor 78 208 250.84 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 14 420 89.49 nil 0 0 0.00

GPS 13 15 2.96 nil 0 0 0.00

Core 1193 19 356.74 SciCon 2370 61 2186.32

LPSleep 1487 2 51.56 nil 0 0 0.00

Compass 486 5 36.50 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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

5.04 2 -63.69 -0.87 0.00 546.9 417.1 676.8 149.3 2474.5 0.00 0.00 0 124.64 118.30 0.00 0.11 0.005 0.000 0.209 3185.25 3092.19 3278.31 149.50 2514.38 0 0 0 15.90 30.00 15.92

124.95 551 -143.55 -1.11 -80.00 3186.3 3092.5 3280.2 149.4 2514.8 2.77 -1.57 11 151.65 9.19 8.27 5.65 0.007 0.413 0.090 3515.91 3415.38 3616.44 1613.19 797.50 0 0 0 15.95 15.78 15.90

268.74 1028 -143.55 -1.11 0.00 3513.4 3413.4 3613.3 1612.9 797.8 30.42 -16.56 40 276.26 0.00 0.00 5.61 0.000 0.000 0.084 3514.00 3413.75 3614.25 1592.88 2500.75 0 0 0 30.00 30.00 15.89

453.74 260 -143.55 -1.11 80.00 3513.1 3412.6 3613.6 1593.3 2502.7 64.82 -18.30 59 461.12 0.00 0.00 5.16 0.000 0.000 0.113 3513.34 3412.94 3613.75 1574.06 3945.88 0 0 0 30.00 30.00 15.91

563.05 1028 -143.55 -1.11 0.00 3513.1 3412.6 3613.6 1573.3 3945.5 86.61 -19.50 81 569.74 0.00 0.00 4.67 0.000 0.000 0.069 3513.22 3412.81 3613.62 1585.19 2491.56 0 0 0 30.00 30.00 15.95

748.92 260 -143.55 -1.11 80.00 3513.0 3412.1 3613.9 1585.2 2484.3 117.74 -16.66 100 756.08 0.00 0.00 5.24 0.000 0.000 0.115 3511.69 3411.25 3612.12 1566.69 3946.12 0 0 0 30.00 30.00 15.87

823.94 1157 -143.55 -1.09 0.00 3512.6 3411.8 3613.5 1566.6 3946.2 132.58 -20.67 115 831.12 0.00 0.12 4.70 0.000 0.247 0.072 3513.59 3412.94 3614.25 1599.19 2492.56 0 0 0 30.00 15.85 15.94

929 end dive: TARGET_DEPTH_EXCEEDED

state 929 begin apogee

931.26 3 0.00 -0.12 0.00 3512.7 3411.2 3614.2 1603.4 2186.2 151.72 -17.16 126 1043.59 108.17 2.48 0.09 1.187 0.220 0.173 2927.75 2764.50 3091.00 1907.19 2215.56 0 0 0 12.47 15.83 15.65

1044 end apogee: CONTROL_FINISHED_OK

state 1044 begin climb

1044.30 519 143.55 1.11 -80.00 2925.9 2764.1 3087.8 1907.7 2215.7 155.93 0.00 137 1166.82 110.69 1.95 5.93 1.152 0.122 0.106 2340.03 2175.00 2505.06 2327.06 497.44 0 0 0 12.51 15.67 15.51

1233.92 1158 143.55 1.13 0.00 2334.2 2178.0 2490.3 2327.1 497.4 137.70 11.92 175 1241.34 0.00 0.00 5.56 0.000 0.000 0.077 2336.28 2179.06 2493.50 2305.88 2202.75 0 0 0 30.00 30.00 15.71

1418.92 262 143.55 1.13 80.00 2330.2 2170.0 2490.4 2305.2 2203.1 114.03 13.35 194 1426.48 0.00 0.00 5.87 0.000 0.000 0.109 2330.56 2169.75 2491.38 2294.56 3899.38 0 0 0 30.00 30.00 15.77

1468.21 1158 143.55 1.09 0.00 2330.6 2170.6 2490.7 2293.9 3898.7 105.82 16.91 204 1475.93 0.00 0.00 5.46 0.000 0.000 0.074 2328.53 2168.62 2488.44 2315.69 2191.75 0 0 0 30.00 30.00 15.82

1658.99 262 143.55 1.09 80.00 2328.8 2167.7 2489.9 2316.1 2187.9 79.51 14.58 224 1666.56 0.00 0.00 5.89 0.000 0.000 0.109 2327.69 2166.88 2488.50 2293.94 3899.69 0 0 0 30.00 30.00 15.80

1744.10 1158 143.55 1.08 0.00 2329.6 2169.2 2489.9 2294.2 3898.6 65.14 15.25 241 1751.37 0.00 0.00 5.43 0.000 0.000 0.073 2328.69 2167.25 2490.12 2316.56 2189.81 0 0 0 30.00 30.00 15.90

1929.08 294 153.12 1.11 80.00 2328.8 2167.1 2490.5 2316.2 2187.0 45.09 8.99 260 1944.84 7.89 0.00 5.88 0.852 0.000 0.107 2305.59 2139.44 2471.75 2295.56 3899.56 0 0 0 12.55 30.00 15.87

1983.30 1156 153.12 1.08 0.00 2301.9 2137.4 2466.4 2295.9 3899.4 39.32 11.12 271 1991.05 0.00 0.00 5.40 0.000 0.000 0.072 2300.25 2135.56 2464.94 2317.12 2190.38 0 0 0 30.00 30.00 15.93

2174.08 0 153.12 1.08 0.00 2300.9 2134.4 2467.4 2317.6 2186.7 17.26 11.27 291 2175.41 0.00 0.00 0.00 0.000 0.000 0.000 2298.62 2132.50 2464.75 2317.88 2186.81 0 0 0 30.00 30.00 30.00

2354 end climb: SURFACE_DEPTH_REACHED

state 2354 begin surface coast

2374 end surface coast: CONTROL_FINISHED_OK

state 2374 begin surface

ID	230	HEADING	-1	C_ROLL_DIVE	2500	ALTIM_PING_DELTA	0
MISSION	1	ESCAPE_HEADING	0	C_ROLL_CLIMB	2200	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	2
STOP_T	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_VALID	4
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	590.98499	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	2.3
D_ABORT	175	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	2930	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	360	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	1
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	3	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	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	0.0044273403
D_OFFGRID	100	PITCH_MAX	3830	MAXI_24V	5	SEABIRD_T_H	0.00064357114
RELAUNCH	1	C_PITCH	1950	MAXI_10V	1.4	SEABIRD_T_I	2.694588e-05
APOGEE_PITCH	-5	PITCH_DBAND	0.1	FG_AHR_10V	0.13031437	SEABIRD_T_J	3.3888193e-06
MAX_BUOY	150	PITCH_CNV	0.0031300001	FG_AHR_24V	0.30321074	SEABIRD_C_G	-10.022948
GLIDE_SLOPE	30	PITCH_GAIN	40	PHONE_SUPPLY	2	SEABIRD_C_H	1.1522003
SPEED_FACTOR	1	PITCH_TIMEOUT	15	PRESSURE_YINT	-162.9462	SEABIRD_C_I	-0.0021515235
RHO	1.023	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00010820606	SEABIRD_C_J	0.00023982119
MASS	72048	PITCH_ADJ_GAIN	0.0049999999	COMPASS_USE	4	SC_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	3	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	425	ALTIM_TOP_TURN_MARGIN	0
HD_B	0.0099999998	ROLL_MAX	3945	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	1.6e-05	ROLL_DEG	80	ALTIM_PING_DEPTH	0

GPS1	100818,190339,4743.521,-12224.764,1,0.9,2,15.7	TGT_LATLONG	4743.500,-12225.000
_CALLS	2	TGT_RADIUS	100.000
_SM_DEPTHo	1.26	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-51.7	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	100818,190709,4743.514,-12224.766,2,0.9,5,15.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.258	MHEAD_RNG_PITCHd_Wd	284.5,293,-27.2,-10.000,-30.00
TGT_NAME	NW	D_GRID	176

FINISH	0.1,1.021824	_24V_AH	15.22,3.401
SM_CCo	2610.58,0.00,0.000,0,548.8,423.8,673.8,584.11	_10V_AH	15.00,0.000
SM_GC	1.20,0.00,6.66,1.25,0.000,0.087,0.085,548.8,423.8,673.8,130.1,2502.8,0,0,0,30.00,16.03,16.05	FG_AHR_24Vo	0.358
SUPER	59,70,254,1,0,0	FG_AHR_10Vo	0.169
IRIDIUM_FIX	4743.02,-12222.38,100818,190004	MEM	1132832,30,46212,82
TCM_TEMP	244.30	DATA_FILE_SIZE	13667,311
XPDR_PINGS	56	CAP_FILE_SIZE	155343,0
RAFOS_CLK	-1	SDSIZE	3918848,3909120
RAFOS_FIX	4743.635254,-12225.291016,100818,191944,0,1,0.29	ERRORS	0,0,0,0,0,0,0,0
HUMID	57.08	SOUNDSPEED	1465.0
TEMP	13.59	CURRENT	0.155,187.4,1
INTERNAL_PRESSURE	9.65207	GPS	100818,195135,4743.417,-12225.156,2,0.8,4,15.7

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	575	1186	10389.21	nil	0	0	0.00
Pitch_motor	19	413	122.59	nil	0	0	0.00
Roll_motor	78	208	250.84	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	14	420	89.49	nil	0	0	0.00
GPS	13	15	2.96	nil	0	0	0.00
Core	1193	19	356.74	SciCon	2370	61	2186.32
LPSleep	1487	2	51.56	nil	0	0	0.00
Compass	486	5	36.50	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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
5.04	2	-63.69	-0.87	0.00	546.9	417.1	676.8	149.3	2474.5	0.00	0.00	0	124.64	118.30	0.00	0.11	0.005	0.000	0.209	3185.25	3092.19	3278.31	149.50	2514.38	0	0	0	15.90	30.00	15.92
124.95	551	-143.55	-1.11	-80.00	3186.3	3092.5	3280.2	149.4	2514.8	2.77	-1.57	11	151.65	9.19	8.27	5.65	0.007	0.413	0.090	3515.91	3415.38	3616.44	1613.19	797.50	0	0	0	15.95	15.78	15.90
268.74	1028	-143.55	-1.11	0.00	3513.4	3413.4	3613.3	1612.9	797.8	30.42	-16.56	40	276.26	0.00	0.00	5.61	0.000	0.000	0.084	3514.00	3413.75	3614.25	1592.88	2500.75	0	0	0	30.00	30.00	15.89
453.74	260	-143.55	-1.11	80.00	3513.1	3412.6	3613.6	1593.3	2502.7	64.82	-18.30	59	461.12	0.00	0.00	5.16	0.000	0.000	0.113	3513.34	3412.94	3613.75	1574.06	3945.88	0	0	0	30.00	30.00	15.91
563.05	1028	-143.55	-1.11	0.00	3513.1	3412.6	3613.6	1573.3	3945.5	86.61	-19.50	81	569.74	0.00	0.00	4.67	0.000	0.000	0.069	3513.22	3412.81	3613.62	1585.19	2491.56	0	0	0	30.00	30.00	15.95
748.92	260	-143.55	-1.11	80.00	3513.0	3412.1	3613.9	1585.2	2484.3	117.74	-16.66	100	756.08	0.00	0.00	5.24	0.000	0.000	0.115	3511.69	3411.25	3612.12	1566.69	3946.12	0	0	0	30.00	30.00	15.87
823.94	1157	-143.55	-1.09	0.00	3512.6	3411.8	3613.5	1566.6	3946.2	132.58	-20.67	115	831.12	0.00	0.12	4.70	0.000	0.247	0.072	3513.59	3412.94	3614.25	1599.19	2492.56	0	0	0	30.00	15.85	15.94
929	end dive: TARGET_DEPTH_EXCEEDED
state	929	begin apogee
931.26	3	0.00	-0.12	0.00	3512.7	3411.2	3614.2	1603.4	2186.2	151.72	-17.16	126	1043.59	108.17	2.48	0.09	1.187	0.220	0.173	2927.75	2764.50	3091.00	1907.19	2215.56	0	0	0	12.47	15.83	15.65
1044	end apogee: CONTROL_FINISHED_OK
state	1044	begin climb
1044.30	519	143.55	1.11	-80.00	2925.9	2764.1	3087.8	1907.7	2215.7	155.93	0.00	137	1166.82	110.69	1.95	5.93	1.152	0.122	0.106	2340.03	2175.00	2505.06	2327.06	497.44	0	0	0	12.51	15.67	15.51
1233.92	1158	143.55	1.13	0.00	2334.2	2178.0	2490.3	2327.1	497.4	137.70	11.92	175	1241.34	0.00	0.00	5.56	0.000	0.000	0.077	2336.28	2179.06	2493.50	2305.88	2202.75	0	0	0	30.00	30.00	15.71
1418.92	262	143.55	1.13	80.00	2330.2	2170.0	2490.4	2305.2	2203.1	114.03	13.35	194	1426.48	0.00	0.00	5.87	0.000	0.000	0.109	2330.56	2169.75	2491.38	2294.56	3899.38	0	0	0	30.00	30.00	15.77
1468.21	1158	143.55	1.09	0.00	2330.6	2170.6	2490.7	2293.9	3898.7	105.82	16.91	204	1475.93	0.00	0.00	5.46	0.000	0.000	0.074	2328.53	2168.62	2488.44	2315.69	2191.75	0	0	0	30.00	30.00	15.82
1658.99	262	143.55	1.09	80.00	2328.8	2167.7	2489.9	2316.1	2187.9	79.51	14.58	224	1666.56	0.00	0.00	5.89	0.000	0.000	0.109	2327.69	2166.88	2488.50	2293.94	3899.69	0	0	0	30.00	30.00	15.80
1744.10	1158	143.55	1.08	0.00	2329.6	2169.2	2489.9	2294.2	3898.6	65.14	15.25	241	1751.37	0.00	0.00	5.43	0.000	0.000	0.073	2328.69	2167.25	2490.12	2316.56	2189.81	0	0	0	30.00	30.00	15.90
1929.08	294	153.12	1.11	80.00	2328.8	2167.1	2490.5	2316.2	2187.0	45.09	8.99	260	1944.84	7.89	0.00	5.88	0.852	0.000	0.107	2305.59	2139.44	2471.75	2295.56	3899.56	0	0	0	12.55	30.00	15.87
1983.30	1156	153.12	1.08	0.00	2301.9	2137.4	2466.4	2295.9	3899.4	39.32	11.12	271	1991.05	0.00	0.00	5.40	0.000	0.000	0.072	2300.25	2135.56	2464.94	2317.12	2190.38	0	0	0	30.00	30.00	15.93
2174.08	0	153.12	1.08	0.00	2300.9	2134.4	2467.4	2317.6	2186.7	17.26	11.27	291	2175.41	0.00	0.00	0.00	0.000	0.000	0.000	2298.62	2132.50	2464.75	2317.88	2186.81	0	0	0	30.00	30.00	30.00
2354	end climb: SURFACE_DEPTH_REACHED
state	2354	begin surface coast
2374	end surface coast: CONTROL_FINISHED_OK
state	2374	begin surface