Glider dive log

Shilshole 16Jul20 * SG235 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 XPDR_INT 0

MISSION 1 FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_REP 0

DIVE 2 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 2 TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -0.5

STOP_T 0 TGT_AUTO_DEFAULT 0 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 SM_CC 627.77997 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 C_VBD 3100 MOTHERBOARD 6

D_TGT 90 FILEMGR 0 VBD_DBAND 2 DEVICE1 10

D_ABORT 125 CALL_NDIVES 1 VBD_CNV -0.24529999 DEVICE2 -1

D_NO_BLEED 50 COMM_SEQ 0 VBD_LP_IGNORE 0 DEVICE3 -1

D_BOOST 2 PROTOCOL 9 VBD_TIMEOUT 360 DEVICE4 -1

T_BOOST 0 N_NOCOMM 1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_FINISH 0 NOCOMM_ACTION 163 UNCOM_BLEED 20 DEVICE6 -1

D_PITCH 0 N_NOSURFACE 0 VBD_MAXERRORS 1 LOGGERS 2

D_SAFE 0 UPLOAD_DIVES_MAX -1 W_ADJ_DBAND 0 LOGGERDEVICE1 7

D_CALL 0 CALL_TRIES 5 DBDW 0 LOGGERDEVICE2 35

SURFACE_URGENCY 0 CALL_WAIT 60 LOITER_W_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 LOITER_DBDW 0 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 LOITER_D_TOP 0 COMPASS_DEVICE 66

T_DIVE 30 T_GPS 5 LOITER_D_BOTTOM 0 COMPASS2_DEVICE -1

T_MISSION 45 N_GPS 100440 LOITER_N_DIVE 0 PHONE_DEVICE 33

T_ABORT 1440 T_RSLEEP 3 CF8_MAXERRORS 20 GPS_DEVICE 48

T_TURN 225 STROBE 0 AH0_24V 350 RAFOS_DEVICE 104

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 AH0_10V 0 NETWORK_DEVICE 1

T_NO_W 120 RAFOS_CORR_THRESH 60 MINV_24V 11 PRESSURE_DEVICE 34

T_LOITER 0 RAFOS_HIT_WINDOW 3600 MINV_10V 11 XPDR_DEVICE -1

T_EPIRB 0 RAFOS_MMODEM 0 MAXI_24V 3 SIM_W 0

USE_BATHY -6 PITCH_MIN 230 MAXI_10V 1.5 SEABIRD_T_G 0.004415411

USE_ICE 0 PITCH_MAX 3900 FG_AHR_10V 3.0687242 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2650 FG_AHR_24V 3.0690196 SEABIRD_T_I 2.6329088e-05

D_OFFGRID 100 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_J 3.2522996e-06

RELAUNCH 1 PITCH_CNV 0.0041299998 PRESSURE_YINT -158.82793 SEABIRD_C_G -9.8064938

APOGEE_PITCH -5 PITCH_GAIN 25 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_H 1.0739573

MAX_BUOY 150 PITCH_TIMEOUT 30 COMPASS_USE 4 SEABIRD_C_I -0.002841271

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 ALTIM_PING_FIT 0 SEABIRD_C_J 0.00027081851

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.045000002 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

RHO 1.023 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 3.0

MASS 71634 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

NAV_MODE 2 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_NDIVE 1.0

FERRY_MAX 45 ROLL_MIN 600 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MAX 3400 ALTIM_PING_DELTA 0 PM_PROFILE 3.0

HD_A 0.003 ROLL_DEG 80 ALTIM_FREQUENCY 13 PM_XMITPROFILE 3.0

HD_B 0.0099999998 C_ROLL_DIVE 3000 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_CLIMB 1000 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING -1 HEAD_ERRBAND 10 XPDR_VALID 4 PM_MOTORS 0.0

ESCAPE_HEADING 0 ROLL_CNV 0.054945 XPDR_INHIBIT 90 PM_SENDDEPTH 1.0

AH0_10V 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_C_H 1.0739573

AH0_24V 350 D_TGT 90 PHONE_DEVICE 33 SEABIRD_C_I -0.002841271

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SEABIRD_C_J 0.00027081851

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SEABIRD_T_G 0.004415411

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0.045000002 SEABIRD_T_H 0.00064200663

ALTIM_PING_DEPTH 0 FG_AHR_10V 3.0687242 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 3.0690196 PITCH_DBAND 0.1 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FILEMGR 0 PITCH_GAIN 25 SIM_W 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 SM_CC 627.77997

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 48 PITCH_MIN 230 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_TIMEOUT 30 STROBE 0

APOGEE_PITCH -5 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 SURFACE_URGENCY 0

CALL_NDIVES 1 HD_C 1.6e-05 PITCH_W_DBAND 0 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HEADING -1 PITCH_W_GAIN 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HEAD_ERRBAND 10 PM_MOTORS 0.0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PM_NDIVE 1.0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 ID 235 PM_PROFILE 3.0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 1.9639999e-06 PM_RECORDABOVE 2000.0 T_ABORT 1440

COMM_SEQ 0 INT_PRESSURE_YINT -0.5 PM_SENDDEPTH 1.0 T_BOOST 0

COMPASS2_DEVICE -1 KALMAN_USE 2 PM_XMITPROFILE 3.0 T_DIVE 30

COMPASS_DEVICE 66 LOGGERDEVICE1 7 PM_XMITRAW 0.0 T_EPIRB 0

COMPASS_USE 4 LOGGERDEVICE2 35 PRESSURE_DEVICE 34 T_GPS 5

C_PITCH 2650 LOGGERDEVICE3 -1 PRESSURE_SLOPE 0.00022957686 T_LOITER 0

C_ROLL_CLIMB 1000 LOGGERDEVICE4 -1 PRESSURE_YINT -158.82793 T_MISSION 45

C_ROLL_DIVE 3000 LOGGERS 2 PROTOCOL 9 T_NO_W 120

C_VBD 3100 LOITER_DBDW 0 RAFOS_CORR_THRESH 60 T_RSLEEP 3

DBDW 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE 104 T_TURN 225

DEEPGLIDER 0 LOITER_D_TOP 0 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

DEEPGLIDERMB 0 LOITER_N_DIVE 0 RAFOS_MMODEM 0 UNCOM_BLEED 20

DEVICE1 10 LOITER_W_DBAND 0 RAFOS_PEAK_OFFSET 0 UPLOAD_DIVES_MAX -1

DEVICE2 -1 MASS 71634 RELAUNCH 1 USE_BATHY -6

DEVICE3 -1 MAXI_10V 1.5 RHO 1.023 USE_ICE 0

DEVICE4 -1 MAXI_24V 3 ROLL_ADJ_DBAND 0 VBD_CNV -0.24529999

DEVICE5 -1 MAX_BUOY 150 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE6 -1 MINV_10V 11 ROLL_CNV 0.054945 VBD_LP_IGNORE 0

DIVE 2 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 125 MISSION 1 ROLL_MAX 3400 VBD_MAXERRORS 1

D_BOOST 2 MOTHERBOARD 6 ROLL_MAXERRORS 1 VBD_MIN 500

D_CALL 0 NAV_MODE 2 ROLL_MIN 600 VBD_TIMEOUT 360

D_FINISH 0 NETWORK_DEVICE 1 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

D_FLARE 3 NOCOMM_ACTION 163 SC_NDIVE 1.0 XPDR_DEVICE -1

D_NO_BLEED 50 N_DIVES 2 SC_PROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 100 N_FILEKB 8 SC_RECORDABOVE 2000.0 XPDR_INT 0

D_PITCH 0 N_GPS 100440 SC_XMITPROFILE 3.0 XPDR_REP 0

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_G -9.8064938 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 160720,174629,4744.147,-12224.092,1,0.9,3,15.4 TGT_LATLONG 4743.500,-12225.000

_CALLS 1 TGT_RADIUS 100.000

_SM_DEPTHo 1.53 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -66.9 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 160720,174851,4744.116,-12224.079,1,1.0,3,15.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.258 MHEAD_RNG_PITCHd_Wd 244.3,1618,-17.6,-10.000,-21.21

TGT_NAME NW D_GRID 173

Post-dive calculations and measurements:

FINISH 1.4,1.019921 _24V_AH 14.63,0.909

SM_CCo 2431.85,0.00,2.747,0,542.1,600.8,483.4,627.46 _10V_AH 14.91,0.000

SM_GC 1.57,0.00,16.56,4.74,2.747,0.071,0.113,542.1,600.8,483.4,214.2,3009.9,0,0,0,30.36,15.87,15.90 FG_AHR_24Vo 3.255

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 3.116

IRIDIUM_FIX 4744.47,-12222.38,160720,174247 MEM 1129768,41,47260,85

TCM_TEMP 15.60 DATA_FILE_SIZE 16193,432

PM_FREEKB_00 62290368 CAP_FILE_SIZE 143639,0

PM_FREEKB_01 62343104 SDSIZE 3918848,3904512

PM_ACTIVECARD 0 SDFILEDIR 33,1

RAFOS_CLK 0 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 4743.961914,-12224.606445,160720,181830,0,1,0.33 SOUNDSPEED 1490.3

HUMID 56.10 CURRENT 0.163,139.7,1

TEMP 13.92 GPS 160720,183039,4743.796,-12224.212,2,1.3,20,15.4

INTERNAL_PRESSURE 8.57738

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 672 2747 27015.78 SBE_CT 791 24 277.78

Pitch_motor 36 278 149.21 nil 0 0 0.00

Roll_motor 25 420 159.18 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.86 nil 0 0 0.00

Core 1484 10 223.94 SciCon 0 0 0.00

LPSleep 771 1 12.89 PMAR 2203 13 448.16

Compass 772 5 57.60 nil 0 0 0.00

RAFOS 2217 40 1322.22

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

9.74 16386 -146.63 -0.88 0.00 540.8 592.2 489.4 230.4 2969.6 0.00 0.00 0 112.23 101.92 0.00 0.00 0.005 0.000 0.000 2867.75 2885.56 2849.94 230.19 2970.19 0 0 0 14.99 30.00 30.00

112.49 18727 -146.63 -0.88 80.00 2865.7 2883.9 2847.4 230.2 2969.2 3.61 -2.21 20 158.32 22.58 16.05 1.06 0.006 0.279 0.172 3696.62 3729.12 3664.12 2436.31 3407.94 0 0 0 15.97 15.88 15.99

381.43 5285 -146.63 -1.07 0.00 3698.7 3732.5 3664.9 2435.4 3407.4 27.93 -9.38 74 386.31 0.00 0.34 0.94 0.000 0.066 0.064 3698.78 3732.38 3665.19 2368.38 2959.69 0 0 0 30.00 16.08 16.09

566.07 0 -146.63 -1.07 0.00 3698.8 3732.8 3664.8 2368.7 2958.4 49.26 -11.19 111 567.41 0.00 0.00 0.00 0.000 0.000 0.000 3698.03 3731.81 3664.25 2368.50 2958.31 0 0 0 30.00 30.00 30.00

751.68 516 -146.63 -1.07 -80.00 3698.8 3732.9 3664.6 2368.3 2958.3 71.49 -12.10 147 758.02 0.00 0.00 3.39 0.000 0.000 0.137 3699.97 3733.75 3666.19 2368.62 1532.19 0 0 0 30.00 30.00 15.95

906 end dive: TARGET_DEPTH_EXCEEDED

state 906 begin apogee

908.79 10243 0.00 -0.20 0.00 3698.8 3732.9 3664.8 2368.8 991.9 90.30 -11.55 178 1014.19 100.03 1.59 0.04 1.231 0.164 0.421 3099.34 3162.88 3035.81 2602.31 1038.56 0 0 0 11.32 15.98 15.70

1016 end apogee: CONTROL_FINISHED_OK

state 1016 begin climb

1015.85 10243 146.63 0.88 0.00 3099.2 3162.5 3035.8 2603.1 1039.2 93.58 0.00 199 1122.35 103.07 1.65 0.00 1.201 0.109 0.000 2503.12 2572.06 2434.19 2869.25 1038.62 0 0 0 11.48 15.71 30.00

1300.85 10663 244.59 1.05 80.00 2496.0 2560.7 2431.4 2868.6 1038.9 78.58 5.46 255 1378.21 70.85 0.21 3.46 1.174 0.084 0.121 2101.69 2184.94 2018.44 2918.12 2469.00 0 0 0 11.34 15.81 15.55

1601.13 11431 276.60 1.22 0.00 2095.5 2176.2 2014.8 2917.9 2468.2 52.36 8.52 315 1632.17 24.44 0.17 3.69 1.100 0.097 0.173 1972.06 2054.44 1889.69 2961.50 992.75 0 0 0 11.60 15.87 15.81

1810.84 8486 283.34 1.23 80.00 1967.2 2045.3 1889.1 2961.3 992.6 31.28 9.69 357 1823.13 7.06 0.00 3.49 0.820 0.000 0.115 1942.06 2022.00 1862.12 2960.94 2467.25 0 0 0 11.48 30.00 15.80

2047.07 9382 321.84 1.36 0.00 1940.2 2019.3 1861.0 2960.4 2467.3 10.26 8.22 404 2082.68 29.74 0.00 3.65 1.100 0.000 0.166 1787.25 1873.94 1700.56 2960.38 991.75 0 0 0 11.62 30.00 15.89

2156 end climb: SURFACE_DEPTH_REACHED

state 2156 begin surface coast

2186 end surface coast: CONTROL_FINISHED_OK

state 2186 begin surface

ID	235	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	1	FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	2	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	2	TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-0.5
STOP_T	0	TGT_AUTO_DEFAULT	0	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	SM_CC	627.77997	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	C_VBD	3100	MOTHERBOARD	6
D_TGT	90	FILEMGR	0	VBD_DBAND	2	DEVICE1	10
D_ABORT	125	CALL_NDIVES	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_NO_BLEED	50	COMM_SEQ	0	VBD_LP_IGNORE	0	DEVICE3	-1
D_BOOST	2	PROTOCOL	9	VBD_TIMEOUT	360	DEVICE4	-1
T_BOOST	0	N_NOCOMM	1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_FINISH	0	NOCOMM_ACTION	163	UNCOM_BLEED	20	DEVICE6	-1
D_PITCH	0	N_NOSURFACE	0	VBD_MAXERRORS	1	LOGGERS	2
D_SAFE	0	UPLOAD_DIVES_MAX	-1	W_ADJ_DBAND	0	LOGGERDEVICE1	7
D_CALL	0	CALL_TRIES	5	DBDW	0	LOGGERDEVICE2	35
SURFACE_URGENCY	0	CALL_WAIT	60	LOITER_W_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	LOITER_DBDW	0	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	LOITER_D_TOP	0	COMPASS_DEVICE	66
T_DIVE	30	T_GPS	5	LOITER_D_BOTTOM	0	COMPASS2_DEVICE	-1
T_MISSION	45	N_GPS	100440	LOITER_N_DIVE	0	PHONE_DEVICE	33
T_ABORT	1440	T_RSLEEP	3	CF8_MAXERRORS	20	GPS_DEVICE	48
T_TURN	225	STROBE	0	AH0_24V	350	RAFOS_DEVICE	104
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	AH0_10V	0	NETWORK_DEVICE	1
T_NO_W	120	RAFOS_CORR_THRESH	60	MINV_24V	11	PRESSURE_DEVICE	34
T_LOITER	0	RAFOS_HIT_WINDOW	3600	MINV_10V	11	XPDR_DEVICE	-1
T_EPIRB	0	RAFOS_MMODEM	0	MAXI_24V	3	SIM_W	0
USE_BATHY	-6	PITCH_MIN	230	MAXI_10V	1.5	SEABIRD_T_G	0.004415411
USE_ICE	0	PITCH_MAX	3900	FG_AHR_10V	3.0687242	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2650	FG_AHR_24V	3.0690196	SEABIRD_T_I	2.6329088e-05
D_OFFGRID	100	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_J	3.2522996e-06
RELAUNCH	1	PITCH_CNV	0.0041299998	PRESSURE_YINT	-158.82793	SEABIRD_C_G	-9.8064938
APOGEE_PITCH	-5	PITCH_GAIN	25	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_H	1.0739573
MAX_BUOY	150	PITCH_TIMEOUT	30	COMPASS_USE	4	SEABIRD_C_I	-0.002841271
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	ALTIM_PING_FIT	0	SEABIRD_C_J	0.00027081851
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.045000002	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
RHO	1.023	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	3.0
MASS	71634	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
NAV_MODE	2	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_NDIVE	1.0
FERRY_MAX	45	ROLL_MIN	600	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MAX	3400	ALTIM_PING_DELTA	0	PM_PROFILE	3.0
HD_A	0.003	ROLL_DEG	80	ALTIM_FREQUENCY	13	PM_XMITPROFILE	3.0
HD_B	0.0099999998	C_ROLL_DIVE	3000	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_CLIMB	1000	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
HEADING	-1	HEAD_ERRBAND	10	XPDR_VALID	4	PM_MOTORS	0.0
ESCAPE_HEADING	0	ROLL_CNV	0.054945	XPDR_INHIBIT	90	PM_SENDDEPTH	1.0

GPS1	160720,174629,4744.147,-12224.092,1,0.9,3,15.4	TGT_LATLONG	4743.500,-12225.000
_CALLS	1	TGT_RADIUS	100.000
_SM_DEPTHo	1.53	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-66.9	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	160720,174851,4744.116,-12224.079,1,1.0,3,15.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.258	MHEAD_RNG_PITCHd_Wd	244.3,1618,-17.6,-10.000,-21.21
TGT_NAME	NW	D_GRID	173

FINISH	1.4,1.019921	_24V_AH	14.63,0.909
SM_CCo	2431.85,0.00,2.747,0,542.1,600.8,483.4,627.46	_10V_AH	14.91,0.000
SM_GC	1.57,0.00,16.56,4.74,2.747,0.071,0.113,542.1,600.8,483.4,214.2,3009.9,0,0,0,30.36,15.87,15.90	FG_AHR_24Vo	3.255
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	3.116
IRIDIUM_FIX	4744.47,-12222.38,160720,174247	MEM	1129768,41,47260,85
TCM_TEMP	15.60	DATA_FILE_SIZE	16193,432
PM_FREEKB_00	62290368	CAP_FILE_SIZE	143639,0
PM_FREEKB_01	62343104	SDSIZE	3918848,3904512
PM_ACTIVECARD	0	SDFILEDIR	33,1
RAFOS_CLK	0	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4743.961914,-12224.606445,160720,181830,0,1,0.33	SOUNDSPEED	1490.3
HUMID	56.10	CURRENT	0.163,139.7,1
TEMP	13.92	GPS	160720,183039,4743.796,-12224.212,2,1.3,20,15.4
INTERNAL_PRESSURE	8.57738

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	672	2747	27015.78	SBE_CT	791	24	277.78
Pitch_motor	36	278	149.21	nil	0	0	0.00
Roll_motor	25	420	159.18	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.86	nil	0	0	0.00
Core	1484	10	223.94	SciCon	0	0	0.00
LPSleep	771	1	12.89	PMAR	2203	13	448.16
Compass	772	5	57.60	nil	0	0	0.00
RAFOS	2217	40	1322.22
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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
9.74	16386	-146.63	-0.88	0.00	540.8	592.2	489.4	230.4	2969.6	0.00	0.00	0	112.23	101.92	0.00	0.00	0.005	0.000	0.000	2867.75	2885.56	2849.94	230.19	2970.19	0	0	0	14.99	30.00	30.00
112.49	18727	-146.63	-0.88	80.00	2865.7	2883.9	2847.4	230.2	2969.2	3.61	-2.21	20	158.32	22.58	16.05	1.06	0.006	0.279	0.172	3696.62	3729.12	3664.12	2436.31	3407.94	0	0	0	15.97	15.88	15.99
381.43	5285	-146.63	-1.07	0.00	3698.7	3732.5	3664.9	2435.4	3407.4	27.93	-9.38	74	386.31	0.00	0.34	0.94	0.000	0.066	0.064	3698.78	3732.38	3665.19	2368.38	2959.69	0	0	0	30.00	16.08	16.09
566.07	0	-146.63	-1.07	0.00	3698.8	3732.8	3664.8	2368.7	2958.4	49.26	-11.19	111	567.41	0.00	0.00	0.00	0.000	0.000	0.000	3698.03	3731.81	3664.25	2368.50	2958.31	0	0	0	30.00	30.00	30.00
751.68	516	-146.63	-1.07	-80.00	3698.8	3732.9	3664.6	2368.3	2958.3	71.49	-12.10	147	758.02	0.00	0.00	3.39	0.000	0.000	0.137	3699.97	3733.75	3666.19	2368.62	1532.19	0	0	0	30.00	30.00	15.95
906	end dive: TARGET_DEPTH_EXCEEDED
state	906	begin apogee
908.79	10243	0.00	-0.20	0.00	3698.8	3732.9	3664.8	2368.8	991.9	90.30	-11.55	178	1014.19	100.03	1.59	0.04	1.231	0.164	0.421	3099.34	3162.88	3035.81	2602.31	1038.56	0	0	0	11.32	15.98	15.70
1016	end apogee: CONTROL_FINISHED_OK
state	1016	begin climb
1015.85	10243	146.63	0.88	0.00	3099.2	3162.5	3035.8	2603.1	1039.2	93.58	0.00	199	1122.35	103.07	1.65	0.00	1.201	0.109	0.000	2503.12	2572.06	2434.19	2869.25	1038.62	0	0	0	11.48	15.71	30.00
1300.85	10663	244.59	1.05	80.00	2496.0	2560.7	2431.4	2868.6	1038.9	78.58	5.46	255	1378.21	70.85	0.21	3.46	1.174	0.084	0.121	2101.69	2184.94	2018.44	2918.12	2469.00	0	0	0	11.34	15.81	15.55
1601.13	11431	276.60	1.22	0.00	2095.5	2176.2	2014.8	2917.9	2468.2	52.36	8.52	315	1632.17	24.44	0.17	3.69	1.100	0.097	0.173	1972.06	2054.44	1889.69	2961.50	992.75	0	0	0	11.60	15.87	15.81
1810.84	8486	283.34	1.23	80.00	1967.2	2045.3	1889.1	2961.3	992.6	31.28	9.69	357	1823.13	7.06	0.00	3.49	0.820	0.000	0.115	1942.06	2022.00	1862.12	2960.94	2467.25	0	0	0	11.48	30.00	15.80
2047.07	9382	321.84	1.36	0.00	1940.2	2019.3	1861.0	2960.4	2467.3	10.26	8.22	404	2082.68	29.74	0.00	3.65	1.100	0.000	0.166	1787.25	1873.94	1700.56	2960.38	991.75	0	0	0	11.62	30.00	15.89
2156	end climb: SURFACE_DEPTH_REACHED
state	2156	begin surface coast
2186	end surface coast: CONTROL_FINISHED_OK
state	2186	begin surface