Glider dive log

Shilshole 20Apr21 * SG249 * Dive index * Mission links * Dive 1 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 249 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

MISSION 5 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054949999 XPDR_VALID 4

DIVE 1 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 25 XPDR_INHIBIT 90

N_DIVES 1 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 590.98499 VBD_MIN 500 INT_PRESSURE_YINT -3

D_TGT 150 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 FILEMGR 0 C_VBD 2950 DEEPGLIDERMB 0

D_NO_BLEED 50 CALL_NDIVES 1 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 1 VBD_TIMEOUT 540 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_SAFE 0 N_NOSURFACE 0 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CALL_TRIES 5 W_ADJ_DBAND 0 LOGGERS 7

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 DBDW 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 LOITER_W_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 50 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 65 T_GPS 5 LOITER_D_TOP 0 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 0 COMPASS_DEVICE 66

T_TURN 225 T_RSLEEP 3 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 33

T_NO_W 120 RAFOS_PEAK_OFFSET 0 AH0_24V 550 GPS_DEVICE 48

T_LOITER 0 RAFOS_CORR_THRESH 60 AH0_10V 0 RAFOS_DEVICE -1

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_24V 11 NETWORK_DEVICE -1

USE_BATHY -6 RAFOS_MMODEM 0 MINV_10V 11 PRESSURE_DEVICE 34

USE_ICE 0 PITCH_MIN 200 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3600 MAXI_10V 1.5 SIM_W 0

D_OFFGRID 100 C_PITCH 2020 FG_AHR_10V 11.163868 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 14.333295 SEABIRD_T_H 0.00063999998

APOGEE_PITCH -5 PITCH_CNV 0.0041299998 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

MAX_BUOY 150 PITCH_GAIN 25 PRESSURE_YINT -180.73328 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.00021665409 SEABIRD_C_G -10

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 16388 SEABIRD_C_H 1

RHO 1.023 PITCH_ADJ_GAIN 0.045000002 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

MASS 72565 PITCH_ADJ_DBAND 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

NAV_MODE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 3.0

HD_A 0.003 ROLL_MAX 3825 ALTIM_PING_DEPTH 120 SC_NDIVE 1.0

HD_B 0.0099999998 ROLL_DEG 80 ALTIM_PING_DELTA 10

HD_C 1.6e-05 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2100 ALTIM_PULSE 1

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 550 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.4999999e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 150 N_NOSURFACE 0 SEABIRD_T_J 4.3e-06

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 590.98499

ALTIM_PING_DEPTH 120 FERRY_MAX 45 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 11.163868 PITCH_ADJ_GAIN 0.045000002 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 14.333295 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3600 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MIN 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 1.6e-05 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_DIVE 50

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 34 T_EPIRB 0

CF8_MAXERRORS 20 ID 249 PRESSURE_SLOPE 0.00021665409 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -180.73328 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3 PROTOCOL 9 T_MISSION 65

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 16388 LOGGERDEVICE1 7 RAFOS_DEVICE -1 T_RSLEEP 3

C_PITCH 2020 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2100 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2100 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 2950 LOGGERS 7 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 0 RHO 1.023 USE_BATHY -6

DEEPGLIDER 0 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 -1 LOITER_N_DIVE 0 ROLL_CNV 0.054949999 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_DEG 80 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 72565 ROLL_MAX 3825 VBD_MAX 3960

DEVICE4 -1 MAXI_10V 1.5 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 5 ROLL_MIN 215 VBD_MIN 500

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 25 VBD_TIMEOUT 540

DIVE 1 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_ABORT 175 MINV_24V 11 SC_PROFILE 3.0 XPDR_DEVICE 21

D_BOOST 0 MISSION 5 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_CALL 0 MOTHERBOARD 6 SC_XMITPROFILE 3.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 2 SEABIRD_C_G -10 XPDR_REP 0

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1 XPDR_VALID 4

D_NO_BLEED 50 NOCOMM_ACTION 163 SEABIRD_C_I -0.0020000001

D_OFFGRID 100 N_DIVES 1 SEABIRD_C_J 0.00019999999

D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043000001

Pre-dive calculations and measurements:

GPS1 200421,160908,4743.423,-12224.460,1,1.1,3,15.5 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.75 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -45.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200421,161144,4743.413,-12224.462,2,1.1,4,15.5 MHEAD_RNG_PITCHd_Wd 58.8,598,-23.6,-10.000,-26.65

SPEED_LIMITS 0.173,0.258 D_GRID 174

TGT_NAME NE IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,720.400024,-378.500000,492.899994

TGT_LATLONG 4743.500,-12224.000

Post-dive calculations and measurements:

FINISH -1.4,1.022219 FG_AHR_10Vo 11.185

SM_CCo 3222.11,288.51,1.076,0,541.6,517.8,565.4,590.77 MEM0 60932,1,0,0

SM_GC 0.67,288.51,13.51,0.10,1.076,0.056,0.124,541.6,517.8,565.4,187.8,2141.1,0,0,0,12.52,16.13,16.17 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 998460,23,48428,61

IRIDIUM_FIX 4744.47,-12222.38,200421,160530 DATA_FILE_SIZE 12922,498

TCM_TEMP 271.39 CAP_FILE_SIZE 281058,0

XPDR_PINGS 26,13.0,10.5 SDSIZE 4028416,4018528

ALTIM_BOTTOM_PING 120.5,70.3 SDFILEDIR 33,1

SC_FREEKB 3878272 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 52.28 CURRENT 0.034, 71.9,1

TEMP 82.32 MAGCAL 1.000000,-0.015349,0.068740,-0.045964,1.112477,-0.008317,-0.100696,-0.023068,1.140635,468.5,-418.4,4.8,16,0.0275,0

INTERNAL_PRESSURE 8.86478 IMPLIED_C_PITCH 2056,14.87,287

_24V_AH 14.91,9.707 IMPLIED_C_VBD 3086,22.084585,287

_10V_AH 15.00,0.000 GPS 200421,170603,4743.515,-12224.089,1,1.9,4,15.5

FG_AHR_24Vo 14.505

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 627 1248 11674.46 nil 0 0 0.00

Pitch_motor 33 238 118.03 nil 0 0 0.00

Roll_motor 55 183 153.12 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 7 420 43.84 nil 0 0 0.00

GPS 12 15 2.91 nil 0 0 0.00

Core 1308 11 231.60 SciCon 2910 19 854.36

LPSleep 1646 2 69.15 nil 0 0 0.00

Compass 542 5 40.67 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 2 30 0.90

Compass2 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

6.05 16386 -84.11 -1.05 0.00 537.5 557.9 517.1 182.9 2143.4 0.00 0.00 0 120.46 111.95 0.00 0.14 0.005 0.000 0.184 3292.75 3421.88 3163.62 183.19 2051.94 0 0 0 15.96 30.00 15.87

121.32 18727 -146.63 -1.12 80.00 3291.0 3420.2 3161.8 183.1 2051.7 1.65 -0.99 22 150.76 8.81 11.63 3.63 0.007 0.239 0.095 3546.78 3718.75 3374.81 1748.25 3569.69 0 0 0 15.98 16.05 15.92

328.35 5285 -146.63 -1.32 0.00 3546.5 3718.2 3374.8 1748.0 3569.5 10.71 -5.50 63 334.09 0.00 0.37 3.39 0.000 0.065 0.039 3546.53 3718.25 3374.81 1682.44 2054.50 0 0 0 30.00 16.16 16.21

518.38 676 -146.63 -1.44 -80.00 3546.6 3718.5 3374.7 1682.7 2054.4 25.40 -9.30 101 524.05 0.00 0.00 3.41 0.000 0.000 0.100 3546.72 3718.12 3375.31 1682.19 630.94 0 0 0 30.00 30.00 16.19

723.78 1028 -146.63 -1.44 0.00 3546.3 3717.8 3374.8 1682.4 630.8 50.20 -11.30 142 729.06 0.00 0.00 3.36 0.000 0.000 0.039 3546.56 3717.94 3375.19 1682.69 2137.75 0 0 0 30.00 30.00 16.21

913.46 4517 -146.63 -1.57 80.00 3546.0 3717.2 3374.7 1682.4 2137.0 67.38 -9.35 180 919.16 0.00 0.29 3.40 0.000 0.073 0.097 3546.56 3718.50 3374.62 1621.69 3569.38 0 0 0 30.00 16.19 16.17

1148.48 3205 -146.63 -1.36 0.00 3545.7 3717.0 3374.4 1621.9 3569.4 99.20 -14.71 227 1154.26 0.00 0.50 3.38 0.000 0.177 0.040 3546.34 3717.19 3375.50 1690.38 2059.25 0 0 0 30.00 16.09 16.21

1338.90 4773 -146.63 -1.51 -80.00 3545.3 3716.5 3374.2 1690.1 2058.6 117.51 -9.24 247 1345.04 0.00 0.29 3.44 0.000 0.074 0.102 3544.59 3716.12 3373.06 1635.12 629.56 0 0 0 30.00 16.18 16.17

1483.92 3205 -146.63 -1.33 0.00 3544.9 3715.2 3374.6 1635.0 629.8 136.46 -13.54 276 1490.08 0.00 0.47 3.33 0.000 0.179 0.039 3545.16 3714.94 3375.38 1698.56 2136.19 0 0 0 30.00 16.09 16.20

1638 end dive: TARGET_DEPTH_EXCEEDED

state 1638 begin apogee

1640.33 10243 0.00 -0.20 0.00 3545.0 3714.6 3375.4 1698.8 2052.4 150.18 -8.15 292 1742.90 98.49 1.85 0.13 1.249 0.137 0.161 2951.06 3043.19 2858.94 1973.12 2146.38 0 0 0 12.19 16.12 15.83

1744 end apogee: CONTROL_FINISHED_OK

state 1744 begin climb

1744.78 10759 146.63 1.12 -80.00 2947.8 3040.3 2855.2 1974.4 2146.5 151.55 0.00 302 1855.48 101.02 2.09 3.78 1.210 0.093 0.103 2350.94 2421.75 2280.12 2295.69 631.19 0 0 0 12.53 15.89 15.66

1858.71 11431 169.65 1.48 0.00 2349.0 2420.4 2277.6 2296.6 630.9 143.55 8.15 318 1884.48 18.24 0.51 3.43 1.080 0.059 0.040 2258.34 2331.88 2184.81 2391.31 2134.56 0 0 0 12.46 15.74 15.76

2188.19 388 169.65 1.62 80.00 2250.9 2329.7 2172.1 2390.9 2135.4 98.44 13.74 354 2193.86 0.00 0.00 3.44 0.000 0.000 0.103 2253.16 2331.44 2174.88 2391.00 3569.31 0 0 0 30.00 30.00 16.02

2238.18 1028 169.65 1.62 0.00 2250.6 2329.9 2171.2 2391.1 3569.2 90.29 17.19 364 2244.02 0.00 0.00 3.38 0.000 0.000 0.041 2251.59 2331.25 2171.94 2390.44 2064.00 0 0 0 30.00 30.00 16.06

2428.19 18823 169.65 1.78 80.00 2249.9 2329.9 2170.0 2390.9 2064.2 63.66 14.28 402 2433.96 0.00 0.36 3.60 0.000 0.067 0.099 2252.53 2332.81 2172.25 2464.12 3567.94 0 0 0 30.00 16.08 16.02

2463.21 21639 169.65 1.59 0.00 2249.7 2330.2 2169.1 2464.4 3568.5 57.55 18.23 409 2468.95 0.00 0.50 3.37 0.000 0.175 0.041 2249.72 2330.69 2168.75 2398.00 2062.62 0 0 0 30.00 16.02 16.11

2653.58 18823 169.65 1.76 80.00 2248.7 2329.8 2167.6 2398.2 2062.5 32.43 12.54 447 2659.15 0.00 0.33 3.59 0.000 0.069 0.098 2250.06 2331.19 2168.94 2461.75 3569.88 0 0 0 30.00 16.11 16.12

2733.19 21639 169.65 1.60 0.00 2248.7 2330.1 2167.3 2461.7 3569.4 19.71 16.51 463 2738.95 0.00 0.44 3.34 0.000 0.180 0.041 2248.88 2330.56 2167.19 2400.75 2063.19 0 0 0 30.00 16.04 16.13

2888 end climb: SURFACE_DEPTH_REACHED

state 2888 begin surface coast

2908 end surface coast: CONTROL_FINISHED_OK

state 2908 begin surface

ID	249	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
MISSION	5	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054949999	XPDR_VALID	4
DIVE	1	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	25	XPDR_INHIBIT	90
N_DIVES	1	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	590.98499	VBD_MIN	500	INT_PRESSURE_YINT	-3
D_TGT	150	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	FILEMGR	0	C_VBD	2950	DEEPGLIDERMB	0
D_NO_BLEED	50	CALL_NDIVES	1	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	1	VBD_TIMEOUT	540	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_SAFE	0	N_NOSURFACE	0	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CALL_TRIES	5	W_ADJ_DBAND	0	LOGGERS	7
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	DBDW	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	LOITER_W_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	50	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	65	T_GPS	5	LOITER_D_TOP	0	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	0	COMPASS_DEVICE	66
T_TURN	225	T_RSLEEP	3	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	33
T_NO_W	120	RAFOS_PEAK_OFFSET	0	AH0_24V	550	GPS_DEVICE	48
T_LOITER	0	RAFOS_CORR_THRESH	60	AH0_10V	0	RAFOS_DEVICE	-1
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_24V	11	NETWORK_DEVICE	-1
USE_BATHY	-6	RAFOS_MMODEM	0	MINV_10V	11	PRESSURE_DEVICE	34
USE_ICE	0	PITCH_MIN	200	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3600	MAXI_10V	1.5	SIM_W	0
D_OFFGRID	100	C_PITCH	2020	FG_AHR_10V	11.163868	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	14.333295	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	150	PITCH_GAIN	25	PRESSURE_YINT	-180.73328	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.00021665409	SEABIRD_C_G	-10
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	16388	SEABIRD_C_H	1
RHO	1.023	PITCH_ADJ_GAIN	0.045000002	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
MASS	72565	PITCH_ADJ_DBAND	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
NAV_MODE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	3.0
HD_A	0.003	ROLL_MAX	3825	ALTIM_PING_DEPTH	120	SC_NDIVE	1.0
HD_B	0.0099999998	ROLL_DEG	80	ALTIM_PING_DELTA	10
HD_C	1.6e-05	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_PULSE	1

GPS1	200421,160908,4743.423,-12224.460,1,1.1,3,15.5	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.75	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-45.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200421,161144,4743.413,-12224.462,2,1.1,4,15.5	MHEAD_RNG_PITCHd_Wd	58.8,598,-23.6,-10.000,-26.65
SPEED_LIMITS	0.173,0.258	D_GRID	174
TGT_NAME	NE	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,720.400024,-378.500000,492.899994
TGT_LATLONG	4743.500,-12224.000

FINISH	-1.4,1.022219	FG_AHR_10Vo	11.185
SM_CCo	3222.11,288.51,1.076,0,541.6,517.8,565.4,590.77	MEM0	60932,1,0,0
SM_GC	0.67,288.51,13.51,0.10,1.076,0.056,0.124,541.6,517.8,565.4,187.8,2141.1,0,0,0,12.52,16.13,16.17	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	998460,23,48428,61
IRIDIUM_FIX	4744.47,-12222.38,200421,160530	DATA_FILE_SIZE	12922,498
TCM_TEMP	271.39	CAP_FILE_SIZE	281058,0
XPDR_PINGS	26,13.0,10.5	SDSIZE	4028416,4018528
ALTIM_BOTTOM_PING	120.5,70.3	SDFILEDIR	33,1
SC_FREEKB	3878272	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	52.28	CURRENT	0.034, 71.9,1
TEMP	82.32	MAGCAL	1.000000,-0.015349,0.068740,-0.045964,1.112477,-0.008317,-0.100696,-0.023068,1.140635,468.5,-418.4,4.8,16,0.0275,0
INTERNAL_PRESSURE	8.86478	IMPLIED_C_PITCH	2056,14.87,287
_24V_AH	14.91,9.707	IMPLIED_C_VBD	3086,22.084585,287
_10V_AH	15.00,0.000	GPS	200421,170603,4743.515,-12224.089,1,1.9,4,15.5
FG_AHR_24Vo	14.505

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	627	1248	11674.46	nil	0	0	0.00
Pitch_motor	33	238	118.03	nil	0	0	0.00
Roll_motor	55	183	153.12	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	7	420	43.84	nil	0	0	0.00
GPS	12	15	2.91	nil	0	0	0.00
Core	1308	11	231.60	SciCon	2910	19	854.36
LPSleep	1646	2	69.15	nil	0	0	0.00
Compass	542	5	40.67	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	2	30	0.90
Compass2	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
6.05	16386	-84.11	-1.05	0.00	537.5	557.9	517.1	182.9	2143.4	0.00	0.00	0	120.46	111.95	0.00	0.14	0.005	0.000	0.184	3292.75	3421.88	3163.62	183.19	2051.94	0	0	0	15.96	30.00	15.87
121.32	18727	-146.63	-1.12	80.00	3291.0	3420.2	3161.8	183.1	2051.7	1.65	-0.99	22	150.76	8.81	11.63	3.63	0.007	0.239	0.095	3546.78	3718.75	3374.81	1748.25	3569.69	0	0	0	15.98	16.05	15.92
328.35	5285	-146.63	-1.32	0.00	3546.5	3718.2	3374.8	1748.0	3569.5	10.71	-5.50	63	334.09	0.00	0.37	3.39	0.000	0.065	0.039	3546.53	3718.25	3374.81	1682.44	2054.50	0	0	0	30.00	16.16	16.21
518.38	676	-146.63	-1.44	-80.00	3546.6	3718.5	3374.7	1682.7	2054.4	25.40	-9.30	101	524.05	0.00	0.00	3.41	0.000	0.000	0.100	3546.72	3718.12	3375.31	1682.19	630.94	0	0	0	30.00	30.00	16.19
723.78	1028	-146.63	-1.44	0.00	3546.3	3717.8	3374.8	1682.4	630.8	50.20	-11.30	142	729.06	0.00	0.00	3.36	0.000	0.000	0.039	3546.56	3717.94	3375.19	1682.69	2137.75	0	0	0	30.00	30.00	16.21
913.46	4517	-146.63	-1.57	80.00	3546.0	3717.2	3374.7	1682.4	2137.0	67.38	-9.35	180	919.16	0.00	0.29	3.40	0.000	0.073	0.097	3546.56	3718.50	3374.62	1621.69	3569.38	0	0	0	30.00	16.19	16.17
1148.48	3205	-146.63	-1.36	0.00	3545.7	3717.0	3374.4	1621.9	3569.4	99.20	-14.71	227	1154.26	0.00	0.50	3.38	0.000	0.177	0.040	3546.34	3717.19	3375.50	1690.38	2059.25	0	0	0	30.00	16.09	16.21
1338.90	4773	-146.63	-1.51	-80.00	3545.3	3716.5	3374.2	1690.1	2058.6	117.51	-9.24	247	1345.04	0.00	0.29	3.44	0.000	0.074	0.102	3544.59	3716.12	3373.06	1635.12	629.56	0	0	0	30.00	16.18	16.17
1483.92	3205	-146.63	-1.33	0.00	3544.9	3715.2	3374.6	1635.0	629.8	136.46	-13.54	276	1490.08	0.00	0.47	3.33	0.000	0.179	0.039	3545.16	3714.94	3375.38	1698.56	2136.19	0	0	0	30.00	16.09	16.20
1638	end dive: TARGET_DEPTH_EXCEEDED
state	1638	begin apogee
1640.33	10243	0.00	-0.20	0.00	3545.0	3714.6	3375.4	1698.8	2052.4	150.18	-8.15	292	1742.90	98.49	1.85	0.13	1.249	0.137	0.161	2951.06	3043.19	2858.94	1973.12	2146.38	0	0	0	12.19	16.12	15.83
1744	end apogee: CONTROL_FINISHED_OK
state	1744	begin climb
1744.78	10759	146.63	1.12	-80.00	2947.8	3040.3	2855.2	1974.4	2146.5	151.55	0.00	302	1855.48	101.02	2.09	3.78	1.210	0.093	0.103	2350.94	2421.75	2280.12	2295.69	631.19	0	0	0	12.53	15.89	15.66
1858.71	11431	169.65	1.48	0.00	2349.0	2420.4	2277.6	2296.6	630.9	143.55	8.15	318	1884.48	18.24	0.51	3.43	1.080	0.059	0.040	2258.34	2331.88	2184.81	2391.31	2134.56	0	0	0	12.46	15.74	15.76
2188.19	388	169.65	1.62	80.00	2250.9	2329.7	2172.1	2390.9	2135.4	98.44	13.74	354	2193.86	0.00	0.00	3.44	0.000	0.000	0.103	2253.16	2331.44	2174.88	2391.00	3569.31	0	0	0	30.00	30.00	16.02
2238.18	1028	169.65	1.62	0.00	2250.6	2329.9	2171.2	2391.1	3569.2	90.29	17.19	364	2244.02	0.00	0.00	3.38	0.000	0.000	0.041	2251.59	2331.25	2171.94	2390.44	2064.00	0	0	0	30.00	30.00	16.06
2428.19	18823	169.65	1.78	80.00	2249.9	2329.9	2170.0	2390.9	2064.2	63.66	14.28	402	2433.96	0.00	0.36	3.60	0.000	0.067	0.099	2252.53	2332.81	2172.25	2464.12	3567.94	0	0	0	30.00	16.08	16.02
2463.21	21639	169.65	1.59	0.00	2249.7	2330.2	2169.1	2464.4	3568.5	57.55	18.23	409	2468.95	0.00	0.50	3.37	0.000	0.175	0.041	2249.72	2330.69	2168.75	2398.00	2062.62	0	0	0	30.00	16.02	16.11
2653.58	18823	169.65	1.76	80.00	2248.7	2329.8	2167.6	2398.2	2062.5	32.43	12.54	447	2659.15	0.00	0.33	3.59	0.000	0.069	0.098	2250.06	2331.19	2168.94	2461.75	3569.88	0	0	0	30.00	16.11	16.12
2733.19	21639	169.65	1.60	0.00	2248.7	2330.1	2167.3	2461.7	3569.4	19.71	16.51	463	2738.95	0.00	0.44	3.34	0.000	0.180	0.041	2248.88	2330.56	2167.19	2400.75	2063.19	0	0	0	30.00	16.04	16.13
2888	end climb: SURFACE_DEPTH_REACHED
state	2888	begin surface coast
2908	end surface coast: CONTROL_FINISHED_OK
state	2908	begin surface