Glider dive log

Shilshole 01Apr21 * SG233 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 233 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 XPDR_INT 0

MISSION 10 FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_REP 0

DIVE 15 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 15 TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 4

STOP_T 0 TGT_AUTO_DEFAULT 0 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 SM_CC 100 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 C_VBD 2825 MOTHERBOARD 6

D_TGT 270 FILEMGR 0 VBD_DBAND 2 DEVICE1 -1

D_ABORT 300 CALL_NDIVES 1 VBD_CNV -0.24529999 DEVICE2 -1

D_NO_BLEED 50 COMM_SEQ 0 VBD_LP_IGNORE 0 DEVICE3 -1

D_BOOST 0 PROTOCOL 9 VBD_TIMEOUT 720 DEVICE4 -1

T_BOOST 0 N_NOCOMM 15 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 0

D_SAFE 0 UPLOAD_DIVES_MAX -1 W_ADJ_DBAND 2 LOGGERDEVICE1 7

D_CALL 0 CALL_TRIES 5 DBDW 0 LOGGERDEVICE2 35

SURFACE_URGENCY 0 CALL_WAIT 60 LOITER_W_DBAND 2 LOGGERDEVICE3 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 LOITER_DBDW 400 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 LOITER_D_TOP 450 COMPASS_DEVICE 66

T_DIVE 90 T_GPS 5 LOITER_D_BOTTOM 550 COMPASS2_DEVICE -1

T_MISSION 110 N_GPS 100440 LOITER_N_DIVE 0 PHONE_DEVICE 33

T_ABORT 1440 T_RSLEEP 2 CF8_MAXERRORS 20 GPS_DEVICE 48

T_TURN 225 STROBE 0 AH0_24V 550 RAFOS_DEVICE 102

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 5 SIM_W 0.1

USE_BATHY 6 PITCH_MIN 210 MAXI_10V 1.5 SEABIRD_T_G 0.0044157342

USE_ICE 0 PITCH_MAX 3900 FG_AHR_10V 73.722229 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2640 FG_AHR_24V 194.03311 SEABIRD_T_I 2.7006432e-05

D_OFFGRID 150 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_J 3.3103631e-06

RELAUNCH 1 PITCH_CNV 0.0041299998 PRESSURE_YINT -169.1727 SEABIRD_C_G -9.9894733

APOGEE_PITCH -5 PITCH_GAIN 25 PRESSURE_SLOPE 0.00022579571 SEABIRD_C_H 1.1093811

MAX_BUOY 100 PITCH_TIMEOUT 30 COMPASS_USE 16388 SEABIRD_C_I -0.0026526626

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 ALTIM_PING_FIT 0 SEABIRD_C_J 0.00026268355

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.029999999 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

RHO 1.023 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 7.0

MASS 72312 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

NAV_MODE 2 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 0 SC_NDIVE 1.0

FERRY_MAX 45 ROLL_MIN 1115 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MAX 3875 ALTIM_PING_DELTA 0 PM_PROFILE 7.0

HD_A 0.003 ROLL_DEG 80 ALTIM_FREQUENCY 13 PM_XMITPROFILE 3.0

HD_B 0.0099999998 C_ROLL_DIVE 2495 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_CLIMB 2495 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING -1 HEAD_ERRBAND 10 XPDR_VALID 4 PM_MOTORS 1.0

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 1.1093811

AH0_24V 550 D_TGT 270 PHONE_DEVICE 33 SEABIRD_C_I -0.0026526626

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SEABIRD_C_J 0.00026268355

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SEABIRD_T_G 0.0044157342

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0.029999999 SEABIRD_T_H 0.00064262876

ALTIM_PING_DEPTH 0 FG_AHR_10V 73.722229 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FG_AHR_24V 194.03311 PITCH_DBAND 0.1 SEABIRD_T_J 3.3103631e-06

ALTIM_PULSE 3 FILEMGR 0 PITCH_GAIN 25 SIM_W 0.1

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 SM_CC 100

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 48 PITCH_MIN 210 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 1.0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PM_NDIVE 1.0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 ID 233 PM_PROFILE 7.0 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 4 PM_SENDDEPTH 1.0 T_BOOST 0

COMPASS2_DEVICE -1 KALMAN_USE 2 PM_XMITPROFILE 3.0 T_DIVE 90

COMPASS_DEVICE 66 LOGGERDEVICE1 7 PM_XMITRAW 0.0 T_EPIRB 0

COMPASS_USE 16388 LOGGERDEVICE2 35 PRESSURE_DEVICE 34 T_GPS 5

C_PITCH 2640 LOGGERDEVICE3 -1 PRESSURE_SLOPE 0.00022579571 T_LOITER 0

C_ROLL_CLIMB 2495 LOGGERDEVICE4 -1 PRESSURE_YINT -169.1727 T_MISSION 110

C_ROLL_DIVE 2495 LOGGERS 0 PROTOCOL 9 T_NO_W 120

C_VBD 2825 LOITER_DBDW 400 RAFOS_CORR_THRESH 60 T_RSLEEP 2

DBDW 0 LOITER_D_BOTTOM 550 RAFOS_DEVICE 102 T_TURN 225

DEEPGLIDER 0 LOITER_D_TOP 450 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

DEEPGLIDERMB 0 LOITER_N_DIVE 0 RAFOS_MMODEM 0 UNCOM_BLEED 20

DEVICE1 -1 LOITER_W_DBAND 2 RAFOS_PEAK_OFFSET 0 UPLOAD_DIVES_MAX -1

DEVICE2 -1 MASS 72312 RELAUNCH 1 USE_BATHY 6

DEVICE3 -1 MAXI_10V 1.5 RHO 1.023 USE_ICE 0

DEVICE4 -1 MAXI_24V 5 ROLL_ADJ_DBAND 0 VBD_CNV -0.24529999

DEVICE5 -1 MAX_BUOY 100 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE6 -1 MINV_10V 11 ROLL_CNV 0.054945 VBD_LP_IGNORE 0

DIVE 15 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 300 MISSION 10 ROLL_MAX 3875 VBD_MAXERRORS 1

D_BOOST 0 MOTHERBOARD 6 ROLL_MAXERRORS 1 VBD_MIN 500

D_CALL 0 NAV_MODE 2 ROLL_MIN 1115 VBD_TIMEOUT 720

D_FINISH 0 NETWORK_DEVICE 1 ROLL_TIMEOUT 15 W_ADJ_DBAND 2

D_FLARE 3 NOCOMM_ACTION 163 SC_NDIVE 1.0 XPDR_DEVICE -1

D_NO_BLEED 50 N_DIVES 15 SC_PROFILE 7.0 XPDR_INHIBIT 90

D_OFFGRID 150 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 15 SEABIRD_C_G -9.9894733 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 030421,163508,4739.313,-12219.017,7,1.3,19,15.5 TGT_RADIUS 100.000

_CALLS 5 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.11 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -89.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030421,164722,4739.312,-12219.015,4,1.4,10,15.5 MHEAD_RNG_PITCHd_Wd 300.1,10760,-21.8,-10.000,-25.03

SPEED_LIMITS 0.173,0.214 D_GRID 150

TGT_NAME NW IRON 1.000000,-0.030000,0.020000,-0.040000,1.110000,0.060000,0.006000,0.020000,1.100000,-478.000000,-884.000000,-444.000000

TGT_LATLONG 4743.500,-12225.000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20210403173255.856377,05,64,-24,0136,0150,216,01,01,07,03,-1,-01,-01,1,3,0,0,150,-14.4,0.50,-100,2.50,-01,-0.31,26,925,0025*0A INTERNAL_PRESSURE 9.25591

NAV 1617471372,9.3,13,stop _24V_AH 15.33,103.758

NET_PING 1617471008,0,0.435000,0.000000 _10V_AH 15.00,0.000

NET xmit part outbox012.n 677 0 FG_AHR_24Vo 194.068

SM_CCo 3034.53,3.14,0.213,0,2415.7,2348.8,2482.5,100.41 FG_AHR_10Vo 73.765

SM_GC 0.10,3.14,16.59,3.25,0.213,0.060,0.079,2415.7,2348.8,2482.5,196.4,2523.1,0,0,0,11.60,16.00,16.06 MEM 1125800,50,50672,86

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16155,562

IRIDIUM_FIX 4740.32,-12218.96,030421,164228 CAP_FILE_SIZE 408462,0

TCM_TEMP 24.19 SDSIZE 3918848,3899200

RAFOS_CLK -7 SDFILEDIR 244,1

MODEM 9,1617468300,47.55000,-122.50000,0.278,407.8 ERRORS 0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 4854.818848,-12201.211914,030421,161645,2,510,-6141.97 CURRENT 0.001, 41.9,1

HUMID 50.38 GPS 030421,173921,4739.313,-12219.013,6,1.1,21,15.5

TEMP 22.66

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 278 675 2879.14 nil 0 0 0.00

Pitch_motor 38 303 181.19 nil 0 0 0.00

Roll_motor 52 173 140.68 nil 0 0 0.00

Iridium 386 167 989.72 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 19 15 4.35 nil 0 0 0.00

Core 1853 10 281.37 SciCon 0 0 0.00

LPSleep 1864 1 31.32 PMAR 0 0 0.00

Compass 509 5 38.24 nil 0 0 0.00

RAFOS 733 40 439.81

Transponder 0 0 0.00

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

2 end surface: CONTROL_FINISHED_OK

state 2 begin dive

3.01 16386 -97.75 -0.99 0.00 498.3 442.6 553.9 196.6 2468.2 0.00 0.00 0 34.12 30.43 0.00 0.00 0.006 0.000 0.000 1203.50 1208.44 1198.56 196.75 2468.25 0 0 0 16.10 30.00 30.00

34.37 18695 -97.75 -0.99 80.00 1202.8 1207.4 1198.2 196.7 2467.6 3.25 -9.91 6 164.85 104.11 18.37 3.34 0.005 0.288 0.087 3219.25 3206.25 3232.25 2397.44 3894.12 0 0 0 14.53 15.78 15.99

386.77 1028 -97.75 -0.99 0.00 3220.7 3207.8 3233.7 2397.2 3894.5 39.07 -10.02 76 392.44 0.00 0.00 3.29 0.000 0.000 0.070 3223.38 3210.69 3236.06 2397.62 2460.62 0 0 0 30.00 30.00 16.03

571.83 260 -97.75 -0.99 80.00 3220.8 3207.8 3233.8 2397.2 2460.4 57.57 -10.27 113 577.50 0.00 0.00 3.32 0.000 0.000 0.081 3222.34 3209.62 3235.06 2397.38 3896.88 0 0 0 30.00 30.00 16.01

801.90 1028 -97.75 -0.99 0.00 3220.5 3207.6 3233.4 2397.4 3896.4 80.70 -10.01 159 807.52 0.00 0.00 3.27 0.000 0.000 0.070 3221.34 3207.94 3234.75 2397.31 2462.75 0 0 0 30.00 30.00 16.04

986.94 260 -97.75 -0.99 80.00 3220.4 3207.2 3233.7 2397.3 2463.5 99.11 -9.95 196 992.56 0.00 0.00 3.30 0.000 0.000 0.081 3220.81 3207.88 3233.75 2397.38 3894.31 0 0 0 30.00 30.00 16.02

1216.97 1028 -97.75 -0.99 0.00 3220.2 3206.8 3233.5 2397.8 3893.5 122.01 -9.99 242 1222.59 0.00 0.00 3.26 0.000 0.000 0.070 3221.88 3208.31 3235.44 2397.50 2463.19 0 0 0 30.00 30.00 16.05

1406.93 260 -97.75 -0.99 80.00 3220.2 3206.6 3233.7 2397.4 2463.1 140.87 -9.95 262 1412.60 0.00 0.00 3.29 0.000 0.000 0.080 3222.44 3208.94 3235.94 2396.50 3894.19 0 0 0 30.00 30.00 16.03

1502 end dive: TARGET_DEPTH_EXCEEDED

state 1502 begin apogee

1506.77 10243 0.00 -0.20 0.00 3220.2 3206.4 3234.0 2397.6 2463.1 150.37 -9.98 281 1580.39 68.64 1.57 0.09 0.675 0.295 0.173 2822.66 2777.56 2867.75 2589.94 2520.25 0 0 0 11.54 15.79 15.98

1581 end apogee: CONTROL_FINISHED_OK

state 1581 begin climb

1581.29 10759 97.75 0.99 -80.00 2822.1 2777.1 2867.2 2589.9 2520.1 142.69 0.00 289 1661.59 71.75 2.41 3.37 0.639 0.303 0.098 2423.62 2364.12 2483.12 2878.81 1097.88 0 0 0 11.85 15.86 15.89

1883.88 1028 97.75 0.99 0.00 2419.0 2355.4 2482.6 2878.6 1097.8 112.04 10.00 350 1889.57 0.00 0.00 3.31 0.000 0.000 0.079 2421.97 2358.62 2485.31 2878.38 2523.00 0 0 0 30.00 30.00 15.98

2068.92 16902 97.75 0.99 -80.00 2418.2 2353.9 2482.5 2878.7 2522.3 93.55 9.68 375 2074.60 0.00 0.00 3.37 0.000 0.000 0.095 2420.97 2356.94 2485.00 2878.50 1098.25 0 0 0 30.00 30.00 15.98

2298.93 17414 97.75 0.99 0.00 2417.9 2353.1 2482.8 2879.3 1098.1 70.45 10.10 421 2304.64 0.00 0.00 3.29 0.000 0.000 0.079 2417.88 2353.12 2482.62 2878.75 2523.44 0 0 0 30.00 30.00 16.03

2483.96 16902 97.75 0.99 -80.00 2417.4 2352.2 2482.6 2878.6 2523.2 51.92 9.80 458 2489.66 0.00 0.00 3.34 0.000 0.000 0.095 2419.59 2354.19 2485.00 2879.50 1096.38 0 0 0 30.00 30.00 16.01

2714.05 17414 97.75 0.99 0.00 2417.3 2352.2 2482.4 2878.7 1096.6 29.09 9.88 504 2719.67 0.00 0.00 3.26 0.000 0.000 0.079 2417.38 2352.19 2482.56 2879.25 2524.31 0 0 0 30.00 30.00 16.06

2899.01 16902 97.75 0.99 -80.00 2417.2 2352.2 2482.2 2878.8 2523.8 10.36 10.11 541 2904.71 0.00 0.00 3.35 0.000 0.000 0.094 2418.47 2353.31 2483.62 2878.44 1098.38 0 0 0 30.00 30.00 16.02

2984 end climb: SURFACE_DEPTH_REACHED

state 2984 begin surface coast

3004 end surface coast: CONTROL_FINISHED_OK

state 3004 begin surface

ID	233	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	10	FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	15	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	15	TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	4
STOP_T	0	TGT_AUTO_DEFAULT	0	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	SM_CC	100	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	C_VBD	2825	MOTHERBOARD	6
D_TGT	270	FILEMGR	0	VBD_DBAND	2	DEVICE1	-1
D_ABORT	300	CALL_NDIVES	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_NO_BLEED	50	COMM_SEQ	0	VBD_LP_IGNORE	0	DEVICE3	-1
D_BOOST	0	PROTOCOL	9	VBD_TIMEOUT	720	DEVICE4	-1
T_BOOST	0	N_NOCOMM	15	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	0
D_SAFE	0	UPLOAD_DIVES_MAX	-1	W_ADJ_DBAND	2	LOGGERDEVICE1	7
D_CALL	0	CALL_TRIES	5	DBDW	0	LOGGERDEVICE2	35
SURFACE_URGENCY	0	CALL_WAIT	60	LOITER_W_DBAND	2	LOGGERDEVICE3	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	LOITER_DBDW	400	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	LOITER_D_TOP	450	COMPASS_DEVICE	66
T_DIVE	90	T_GPS	5	LOITER_D_BOTTOM	550	COMPASS2_DEVICE	-1
T_MISSION	110	N_GPS	100440	LOITER_N_DIVE	0	PHONE_DEVICE	33
T_ABORT	1440	T_RSLEEP	2	CF8_MAXERRORS	20	GPS_DEVICE	48
T_TURN	225	STROBE	0	AH0_24V	550	RAFOS_DEVICE	102
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	5	SIM_W	0.1
USE_BATHY	6	PITCH_MIN	210	MAXI_10V	1.5	SEABIRD_T_G	0.0044157342
USE_ICE	0	PITCH_MAX	3900	FG_AHR_10V	73.722229	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2640	FG_AHR_24V	194.03311	SEABIRD_T_I	2.7006432e-05
D_OFFGRID	150	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_J	3.3103631e-06
RELAUNCH	1	PITCH_CNV	0.0041299998	PRESSURE_YINT	-169.1727	SEABIRD_C_G	-9.9894733
APOGEE_PITCH	-5	PITCH_GAIN	25	PRESSURE_SLOPE	0.00022579571	SEABIRD_C_H	1.1093811
MAX_BUOY	100	PITCH_TIMEOUT	30	COMPASS_USE	16388	SEABIRD_C_I	-0.0026526626
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	ALTIM_PING_FIT	0	SEABIRD_C_J	0.00026268355
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.029999999	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
RHO	1.023	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	7.0
MASS	72312	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
NAV_MODE	2	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	0	SC_NDIVE	1.0
FERRY_MAX	45	ROLL_MIN	1115	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MAX	3875	ALTIM_PING_DELTA	0	PM_PROFILE	7.0
HD_A	0.003	ROLL_DEG	80	ALTIM_FREQUENCY	13	PM_XMITPROFILE	3.0
HD_B	0.0099999998	C_ROLL_DIVE	2495	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_CLIMB	2495	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
HEADING	-1	HEAD_ERRBAND	10	XPDR_VALID	4	PM_MOTORS	1.0
ESCAPE_HEADING	0	ROLL_CNV	0.054945	XPDR_INHIBIT	90	PM_SENDDEPTH	1.0

GPS1	030421,163508,4739.313,-12219.017,7,1.3,19,15.5	TGT_RADIUS	100.000
_CALLS	5	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.11	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-89.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030421,164722,4739.312,-12219.015,4,1.4,10,15.5	MHEAD_RNG_PITCHd_Wd	300.1,10760,-21.8,-10.000,-25.03
SPEED_LIMITS	0.173,0.214	D_GRID	150
TGT_NAME	NW	IRON	1.000000,-0.030000,0.020000,-0.040000,1.110000,0.060000,0.006000,0.020000,1.100000,-478.000000,-884.000000,-444.000000
TGT_LATLONG	4743.500,-12225.000

MODEM_MSG	CACST,6,1,20210403173255.856377,05,64,-24,0136,0150,216,01,01,07,03,-1,-01,-01,1,3,0,0,150,-14.4,0.50,-100,2.50,-01,-0.31,26,925,0025*0A	INTERNAL_PRESSURE	9.25591
NAV	1617471372,9.3,13,stop	_24V_AH	15.33,103.758
NET_PING	1617471008,0,0.435000,0.000000	_10V_AH	15.00,0.000
NET	xmit part outbox012.n 677 0	FG_AHR_24Vo	194.068
SM_CCo	3034.53,3.14,0.213,0,2415.7,2348.8,2482.5,100.41	FG_AHR_10Vo	73.765
SM_GC	0.10,3.14,16.59,3.25,0.213,0.060,0.079,2415.7,2348.8,2482.5,196.4,2523.1,0,0,0,11.60,16.00,16.06	MEM	1125800,50,50672,86
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16155,562
IRIDIUM_FIX	4740.32,-12218.96,030421,164228	CAP_FILE_SIZE	408462,0
TCM_TEMP	24.19	SDSIZE	3918848,3899200
RAFOS_CLK	-7	SDFILEDIR	244,1
MODEM	9,1617468300,47.55000,-122.50000,0.278,407.8	ERRORS	0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4854.818848,-12201.211914,030421,161645,2,510,-6141.97	CURRENT	0.001, 41.9,1
HUMID	50.38	GPS	030421,173921,4739.313,-12219.013,6,1.1,21,15.5
TEMP	22.66

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	278	675	2879.14	nil	0	0	0.00
Pitch_motor	38	303	181.19	nil	0	0	0.00
Roll_motor	52	173	140.68	nil	0	0	0.00
Iridium	386	167	989.72	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	19	15	4.35	nil	0	0	0.00
Core	1853	10	281.37	SciCon	0	0	0.00
LPSleep	1864	1	31.32	PMAR	0	0	0.00
Compass	509	5	38.24	nil	0	0	0.00
RAFOS	733	40	439.81
Transponder	0	0	0.00
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
2	end surface: CONTROL_FINISHED_OK
state	2	begin dive
3.01	16386	-97.75	-0.99	0.00	498.3	442.6	553.9	196.6	2468.2	0.00	0.00	0	34.12	30.43	0.00	0.00	0.006	0.000	0.000	1203.50	1208.44	1198.56	196.75	2468.25	0	0	0	16.10	30.00	30.00
34.37	18695	-97.75	-0.99	80.00	1202.8	1207.4	1198.2	196.7	2467.6	3.25	-9.91	6	164.85	104.11	18.37	3.34	0.005	0.288	0.087	3219.25	3206.25	3232.25	2397.44	3894.12	0	0	0	14.53	15.78	15.99
386.77	1028	-97.75	-0.99	0.00	3220.7	3207.8	3233.7	2397.2	3894.5	39.07	-10.02	76	392.44	0.00	0.00	3.29	0.000	0.000	0.070	3223.38	3210.69	3236.06	2397.62	2460.62	0	0	0	30.00	30.00	16.03
571.83	260	-97.75	-0.99	80.00	3220.8	3207.8	3233.8	2397.2	2460.4	57.57	-10.27	113	577.50	0.00	0.00	3.32	0.000	0.000	0.081	3222.34	3209.62	3235.06	2397.38	3896.88	0	0	0	30.00	30.00	16.01
801.90	1028	-97.75	-0.99	0.00	3220.5	3207.6	3233.4	2397.4	3896.4	80.70	-10.01	159	807.52	0.00	0.00	3.27	0.000	0.000	0.070	3221.34	3207.94	3234.75	2397.31	2462.75	0	0	0	30.00	30.00	16.04
986.94	260	-97.75	-0.99	80.00	3220.4	3207.2	3233.7	2397.3	2463.5	99.11	-9.95	196	992.56	0.00	0.00	3.30	0.000	0.000	0.081	3220.81	3207.88	3233.75	2397.38	3894.31	0	0	0	30.00	30.00	16.02
1216.97	1028	-97.75	-0.99	0.00	3220.2	3206.8	3233.5	2397.8	3893.5	122.01	-9.99	242	1222.59	0.00	0.00	3.26	0.000	0.000	0.070	3221.88	3208.31	3235.44	2397.50	2463.19	0	0	0	30.00	30.00	16.05
1406.93	260	-97.75	-0.99	80.00	3220.2	3206.6	3233.7	2397.4	2463.1	140.87	-9.95	262	1412.60	0.00	0.00	3.29	0.000	0.000	0.080	3222.44	3208.94	3235.94	2396.50	3894.19	0	0	0	30.00	30.00	16.03
1502	end dive: TARGET_DEPTH_EXCEEDED
state	1502	begin apogee
1506.77	10243	0.00	-0.20	0.00	3220.2	3206.4	3234.0	2397.6	2463.1	150.37	-9.98	281	1580.39	68.64	1.57	0.09	0.675	0.295	0.173	2822.66	2777.56	2867.75	2589.94	2520.25	0	0	0	11.54	15.79	15.98
1581	end apogee: CONTROL_FINISHED_OK
state	1581	begin climb
1581.29	10759	97.75	0.99	-80.00	2822.1	2777.1	2867.2	2589.9	2520.1	142.69	0.00	289	1661.59	71.75	2.41	3.37	0.639	0.303	0.098	2423.62	2364.12	2483.12	2878.81	1097.88	0	0	0	11.85	15.86	15.89
1883.88	1028	97.75	0.99	0.00	2419.0	2355.4	2482.6	2878.6	1097.8	112.04	10.00	350	1889.57	0.00	0.00	3.31	0.000	0.000	0.079	2421.97	2358.62	2485.31	2878.38	2523.00	0	0	0	30.00	30.00	15.98
2068.92	16902	97.75	0.99	-80.00	2418.2	2353.9	2482.5	2878.7	2522.3	93.55	9.68	375	2074.60	0.00	0.00	3.37	0.000	0.000	0.095	2420.97	2356.94	2485.00	2878.50	1098.25	0	0	0	30.00	30.00	15.98
2298.93	17414	97.75	0.99	0.00	2417.9	2353.1	2482.8	2879.3	1098.1	70.45	10.10	421	2304.64	0.00	0.00	3.29	0.000	0.000	0.079	2417.88	2353.12	2482.62	2878.75	2523.44	0	0	0	30.00	30.00	16.03
2483.96	16902	97.75	0.99	-80.00	2417.4	2352.2	2482.6	2878.6	2523.2	51.92	9.80	458	2489.66	0.00	0.00	3.34	0.000	0.000	0.095	2419.59	2354.19	2485.00	2879.50	1096.38	0	0	0	30.00	30.00	16.01
2714.05	17414	97.75	0.99	0.00	2417.3	2352.2	2482.4	2878.7	1096.6	29.09	9.88	504	2719.67	0.00	0.00	3.26	0.000	0.000	0.079	2417.38	2352.19	2482.56	2879.25	2524.31	0	0	0	30.00	30.00	16.06
2899.01	16902	97.75	0.99	-80.00	2417.2	2352.2	2482.2	2878.8	2523.8	10.36	10.11	541	2904.71	0.00	0.00	3.35	0.000	0.000	0.094	2418.47	2353.31	2483.62	2878.44	1098.38	0	0	0	30.00	30.00	16.02
2984	end climb: SURFACE_DEPTH_REACHED
state	2984	begin surface coast
3004	end surface coast: CONTROL_FINISHED_OK
state	3004	begin surface