Glider dive log

Shilshole 01Apr21 * SG233 * Dive index * Mission links * Dive 21 * 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 9 FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_REP 0

DIVE 21 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 50 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 570.32251 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 C_VBD 2825 MOTHERBOARD 6

D_TGT 180 FILEMGR 0 VBD_DBAND 2 DEVICE1 -1

D_ABORT 201 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 3

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 60 T_GPS 5 LOITER_D_BOTTOM 550 COMPASS2_DEVICE -1

T_MISSION 75 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 72.817078 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2640 FG_AHR_24V 192.23924 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 180 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 72.817078 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FG_AHR_24V 192.23924 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 570.32251

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 60

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 75

C_ROLL_DIVE 2495 LOGGERS 3 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 21 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 201 MISSION 9 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 50 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 020421,115310,4739.310,-12219.013,3,0.9,10,15.5 TGT_RADIUS 100.000

_CALLS 5 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.07 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -89.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 020421,121105,4739.312,-12219.017,34,0.8,38,15.5 MHEAD_RNG_PITCHd_Wd 300.3,10757,-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:

NAV 1617368341,16.9,start HUMID 50.20

NET_PING 1617367808,0,0.382500,0.000000 TEMP 22.65

NET xmit part outbox013.n 603 0 INTERNAL_PRESSURE 9.18819

MODEM_MSG CACST,6,1,20210402122001.568544,05,163,-20,0246,0150,216,01,01,07,03,-1,-01,-01,1,3,3,0,150,-21.2,0.62,-100,2.38,-01,-0.03,30,925,0025*32 _24V_AH 15.08,101.504

SM_CCo 3379.15,336.52,0.634,0,500.8,444.6,556.9,570.14 _10V_AH 15.00,0.000

SM_GC 0.09,336.52,16.52,3.22,0.634,0.056,0.080,500.8,444.6,556.9,196.8,2523.4,0,0,0,11.26,16.02,16.05 FG_AHR_24Vo 192.336

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 72.879

IRIDIUM_FIX 4739.72,-12216.25,020421,120513 MEM 1123264,45,52748,114

TCM_TEMP 24.80 DATA_FILE_SIZE 16124,552

SC_FREEKB 3873312 CAP_FILE_SIZE 589423,0

PM_FREEKB_00 61816896 SDSIZE 3918848,3896800

PM_ACTIVECARD 0 SDFILEDIR 315,1

RAFOS_CLK -7 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 0,1617357600,47.00000,-122.50000,0.146,213.5 CURRENT 0.001, 53.4,1

RAFOS_FIX 4553.052734,-12138.057617,020421,101059,6,255,-2008.37 GPS 020421,130850,4739.313,-12219.015,2,1.0,5,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 610 634 5847.12 nil 0 0 0.00

Pitch_motor 38 304 178.79 nil 0 0 0.00

Roll_motor 52 168 134.57 nil 0 0 0.00

Iridium 639 193 1863.69 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 46 15 10.57 nil 0 0 0.00

Core 3167 10 480.81 SciCon 3023 2 127.01

LPSleep 899 1 15.11 PMAR 3032 10 486.27

Compass 1649 5 123.72 nil 0 0 0.00

RAFOS 1074 40 644.42

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

10.42 16386 -97.75 -0.99 0.00 498.7 442.8 554.6 197.8 2467.5 0.00 0.00 0 36.06 22.80 0.00 0.00 0.006 0.000 0.000 1031.44 1024.62 1038.25 198.00 2467.50 0 0 0 14.64 30.00 30.00

36.31 18695 -97.75 -0.99 80.00 1030.7 1023.4 1037.9 197.9 2467.2 3.21 -10.10 4 179.22 112.57 18.42 3.32 0.005 0.290 0.088 3222.22 3207.44 3237.00 2396.62 3893.88 0 0 0 16.04 15.82 15.97

403.50 1028 -97.75 -0.99 0.00 3220.8 3206.6 3235.1 2397.2 3894.6 39.98 -9.77 76 409.90 0.00 0.00 3.27 0.000 0.000 0.072 3221.06 3206.38 3235.75 2397.06 2462.69 0 0 0 30.00 30.00 16.01

591.37 260 -97.75 -0.99 80.00 3220.8 3205.8 3235.8 2397.2 2462.5 59.01 -10.06 113 598.32 0.00 0.00 3.30 0.000 0.000 0.081 3221.16 3206.75 3235.56 2397.19 3893.25 0 0 0 30.00 30.00 16.01

822.79 1028 -97.75 -0.99 0.00 3220.7 3205.6 3235.8 2397.1 3893.8 82.18 -9.97 159 829.79 0.00 0.00 3.25 0.000 0.000 0.072 3220.62 3205.62 3235.62 2397.06 2462.06 0 0 0 30.00 30.00 16.02

1009.42 260 -97.75 -0.99 80.00 3220.5 3205.4 3235.5 2397.1 2461.3 100.97 -10.06 195 1016.35 0.00 0.00 3.32 0.000 0.000 0.081 3221.06 3206.12 3236.00 2397.06 3894.19 0 0 0 30.00 30.00 16.02

1239.66 1028 -97.75 -0.99 0.00 3219.9 3204.4 3235.4 2397.7 3893.8 124.26 -9.87 241 1248.13 0.00 0.00 3.24 0.000 0.000 0.072 3220.53 3205.25 3235.81 2397.94 2462.69 0 0 0 30.00 30.00 16.04

1427.87 260 -97.75 -0.99 80.00 3220.0 3204.1 3235.9 2397.5 2463.4 142.52 -9.97 260 1435.02 0.00 0.00 3.30 0.000 0.000 0.082 3219.50 3204.62 3234.38 2396.88 3895.12 0 0 0 30.00 30.00 16.00

1509 end dive: TARGET_DEPTH_EXCEEDED

state 1509 begin apogee

1514.17 10243 0.00 -0.20 0.00 3219.3 3203.9 3234.7 2396.9 2461.4 150.49 -9.86 275 1586.86 67.79 1.57 0.10 0.635 0.294 0.169 2826.38 2782.75 2870.00 2588.69 2519.94 0 0 0 11.40 15.78 15.97

1590 end apogee: CONTROL_FINISHED_OK

state 1590 begin climb

1590.30 10759 97.75 0.99 -80.00 2821.5 2776.3 2866.6 2589.9 2520.5 143.37 0.00 282 1672.29 71.17 2.42 3.39 0.618 0.304 0.103 2423.22 2363.38 2483.06 2879.06 1097.94 0 0 0 11.61 15.82 15.87

1897.49 1028 97.75 0.99 0.00 2419.4 2355.7 2483.1 2878.8 1098.4 111.26 10.17 342 1904.22 0.00 0.00 3.29 0.000 0.000 0.079 2418.88 2354.75 2483.00 2878.75 2523.44 0 0 0 30.00 30.00 15.96

2083.22 516 97.75 0.99 -80.00 2418.6 2353.9 2483.3 2879.0 2523.7 92.76 10.18 368 2089.66 0.00 0.00 3.36 0.000 0.000 0.097 2418.91 2354.38 2483.44 2878.94 1097.69 0 0 0 30.00 30.00 15.96

2317.57 17414 97.75 0.99 0.00 2418.1 2352.9 2483.2 2879.2 1097.8 69.60 10.26 414 2323.99 0.00 0.00 3.29 0.000 0.000 0.079 2420.44 2355.50 2485.38 2878.50 2523.56 0 0 0 30.00 30.00 16.01

2502.97 16902 97.75 0.99 -80.00 2417.8 2352.4 2483.2 2879.9 2523.2 50.96 10.14 451 2510.12 0.00 0.00 3.35 0.000 0.000 0.097 2418.19 2352.38 2484.00 2879.62 1098.06 0 0 0 30.00 30.00 16.00

2734.68 17414 97.75 0.99 0.00 2417.7 2352.4 2483.0 2879.1 1098.2 27.70 10.05 497 2741.60 0.00 0.00 3.26 0.000 0.000 0.079 2418.00 2352.38 2483.62 2879.50 2524.06 0 0 0 30.00 30.00 16.02

2921.15 16902 97.75 0.99 -80.00 2417.3 2351.6 2483.0 2879.2 2523.3 9.03 9.92 534 2928.18 0.00 0.00 3.35 0.000 0.000 0.096 2418.00 2352.94 2483.06 2879.31 1097.75 0 0 0 30.00 30.00 15.99

2992 end climb: SURFACE_DEPTH_REACHED

state 2992 begin surface coast

3012 end surface coast: CONTROL_FINISHED_OK

state 3012 begin surface

ID	233	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	9	FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	21	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	50	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	570.32251	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	C_VBD	2825	MOTHERBOARD	6
D_TGT	180	FILEMGR	0	VBD_DBAND	2	DEVICE1	-1
D_ABORT	201	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	3
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	60	T_GPS	5	LOITER_D_BOTTOM	550	COMPASS2_DEVICE	-1
T_MISSION	75	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	72.817078	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2640	FG_AHR_24V	192.23924	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	020421,115310,4739.310,-12219.013,3,0.9,10,15.5	TGT_RADIUS	100.000
_CALLS	5	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.07	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-89.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	020421,121105,4739.312,-12219.017,34,0.8,38,15.5	MHEAD_RNG_PITCHd_Wd	300.3,10757,-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

NAV	1617368341,16.9,start	HUMID	50.20
NET_PING	1617367808,0,0.382500,0.000000	TEMP	22.65
NET	xmit part outbox013.n 603 0	INTERNAL_PRESSURE	9.18819
MODEM_MSG	CACST,6,1,20210402122001.568544,05,163,-20,0246,0150,216,01,01,07,03,-1,-01,-01,1,3,3,0,150,-21.2,0.62,-100,2.38,-01,-0.03,30,925,0025*32	_24V_AH	15.08,101.504
SM_CCo	3379.15,336.52,0.634,0,500.8,444.6,556.9,570.14	_10V_AH	15.00,0.000
SM_GC	0.09,336.52,16.52,3.22,0.634,0.056,0.080,500.8,444.6,556.9,196.8,2523.4,0,0,0,11.26,16.02,16.05	FG_AHR_24Vo	192.336
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	72.879
IRIDIUM_FIX	4739.72,-12216.25,020421,120513	MEM	1123264,45,52748,114
TCM_TEMP	24.80	DATA_FILE_SIZE	16124,552
SC_FREEKB	3873312	CAP_FILE_SIZE	589423,0
PM_FREEKB_00	61816896	SDSIZE	3918848,3896800
PM_ACTIVECARD	0	SDFILEDIR	315,1
RAFOS_CLK	-7	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1617357600,47.00000,-122.50000,0.146,213.5	CURRENT	0.001, 53.4,1
RAFOS_FIX	4553.052734,-12138.057617,020421,101059,6,255,-2008.37	GPS	020421,130850,4739.313,-12219.015,2,1.0,5,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	610	634	5847.12	nil	0	0	0.00
Pitch_motor	38	304	178.79	nil	0	0	0.00
Roll_motor	52	168	134.57	nil	0	0	0.00
Iridium	639	193	1863.69	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	46	15	10.57	nil	0	0	0.00
Core	3167	10	480.81	SciCon	3023	2	127.01
LPSleep	899	1	15.11	PMAR	3032	10	486.27
Compass	1649	5	123.72	nil	0	0	0.00
RAFOS	1074	40	644.42
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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
10.42	16386	-97.75	-0.99	0.00	498.7	442.8	554.6	197.8	2467.5	0.00	0.00	0	36.06	22.80	0.00	0.00	0.006	0.000	0.000	1031.44	1024.62	1038.25	198.00	2467.50	0	0	0	14.64	30.00	30.00
36.31	18695	-97.75	-0.99	80.00	1030.7	1023.4	1037.9	197.9	2467.2	3.21	-10.10	4	179.22	112.57	18.42	3.32	0.005	0.290	0.088	3222.22	3207.44	3237.00	2396.62	3893.88	0	0	0	16.04	15.82	15.97
403.50	1028	-97.75	-0.99	0.00	3220.8	3206.6	3235.1	2397.2	3894.6	39.98	-9.77	76	409.90	0.00	0.00	3.27	0.000	0.000	0.072	3221.06	3206.38	3235.75	2397.06	2462.69	0	0	0	30.00	30.00	16.01
591.37	260	-97.75	-0.99	80.00	3220.8	3205.8	3235.8	2397.2	2462.5	59.01	-10.06	113	598.32	0.00	0.00	3.30	0.000	0.000	0.081	3221.16	3206.75	3235.56	2397.19	3893.25	0	0	0	30.00	30.00	16.01
822.79	1028	-97.75	-0.99	0.00	3220.7	3205.6	3235.8	2397.1	3893.8	82.18	-9.97	159	829.79	0.00	0.00	3.25	0.000	0.000	0.072	3220.62	3205.62	3235.62	2397.06	2462.06	0	0	0	30.00	30.00	16.02
1009.42	260	-97.75	-0.99	80.00	3220.5	3205.4	3235.5	2397.1	2461.3	100.97	-10.06	195	1016.35	0.00	0.00	3.32	0.000	0.000	0.081	3221.06	3206.12	3236.00	2397.06	3894.19	0	0	0	30.00	30.00	16.02
1239.66	1028	-97.75	-0.99	0.00	3219.9	3204.4	3235.4	2397.7	3893.8	124.26	-9.87	241	1248.13	0.00	0.00	3.24	0.000	0.000	0.072	3220.53	3205.25	3235.81	2397.94	2462.69	0	0	0	30.00	30.00	16.04
1427.87	260	-97.75	-0.99	80.00	3220.0	3204.1	3235.9	2397.5	2463.4	142.52	-9.97	260	1435.02	0.00	0.00	3.30	0.000	0.000	0.082	3219.50	3204.62	3234.38	2396.88	3895.12	0	0	0	30.00	30.00	16.00
1509	end dive: TARGET_DEPTH_EXCEEDED
state	1509	begin apogee
1514.17	10243	0.00	-0.20	0.00	3219.3	3203.9	3234.7	2396.9	2461.4	150.49	-9.86	275	1586.86	67.79	1.57	0.10	0.635	0.294	0.169	2826.38	2782.75	2870.00	2588.69	2519.94	0	0	0	11.40	15.78	15.97
1590	end apogee: CONTROL_FINISHED_OK
state	1590	begin climb
1590.30	10759	97.75	0.99	-80.00	2821.5	2776.3	2866.6	2589.9	2520.5	143.37	0.00	282	1672.29	71.17	2.42	3.39	0.618	0.304	0.103	2423.22	2363.38	2483.06	2879.06	1097.94	0	0	0	11.61	15.82	15.87
1897.49	1028	97.75	0.99	0.00	2419.4	2355.7	2483.1	2878.8	1098.4	111.26	10.17	342	1904.22	0.00	0.00	3.29	0.000	0.000	0.079	2418.88	2354.75	2483.00	2878.75	2523.44	0	0	0	30.00	30.00	15.96
2083.22	516	97.75	0.99	-80.00	2418.6	2353.9	2483.3	2879.0	2523.7	92.76	10.18	368	2089.66	0.00	0.00	3.36	0.000	0.000	0.097	2418.91	2354.38	2483.44	2878.94	1097.69	0	0	0	30.00	30.00	15.96
2317.57	17414	97.75	0.99	0.00	2418.1	2352.9	2483.2	2879.2	1097.8	69.60	10.26	414	2323.99	0.00	0.00	3.29	0.000	0.000	0.079	2420.44	2355.50	2485.38	2878.50	2523.56	0	0	0	30.00	30.00	16.01
2502.97	16902	97.75	0.99	-80.00	2417.8	2352.4	2483.2	2879.9	2523.2	50.96	10.14	451	2510.12	0.00	0.00	3.35	0.000	0.000	0.097	2418.19	2352.38	2484.00	2879.62	1098.06	0	0	0	30.00	30.00	16.00
2734.68	17414	97.75	0.99	0.00	2417.7	2352.4	2483.0	2879.1	1098.2	27.70	10.05	497	2741.60	0.00	0.00	3.26	0.000	0.000	0.079	2418.00	2352.38	2483.62	2879.50	2524.06	0	0	0	30.00	30.00	16.02
2921.15	16902	97.75	0.99	-80.00	2417.3	2351.6	2483.0	2879.2	2523.3	9.03	9.92	534	2928.18	0.00	0.00	3.35	0.000	0.000	0.096	2418.00	2352.94	2483.06	2879.31	1097.75	0	0	0	30.00	30.00	15.99
2992	end climb: SURFACE_DEPTH_REACHED
state	2992	begin surface coast
3012	end surface coast: CONTROL_FINISHED_OK
state	3012	begin surface