Glider dive log

Shilshole 01Apr21 * SG233 * Dive index * Mission links * Dive 24 * 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 24 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 73.034622 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2640 FG_AHR_24V 192.58519 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 73.034622 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FG_AHR_24V 192.58519 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 24 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 020421,153613,4739.312,-12219.016,22,1.5,34,15.5 TGT_RADIUS 100.000

_CALLS 5 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.09 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 020421,154759,4739.312,-12219.017,4,1.4,14,15.5 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:

MODEM_MSG CACST,6,1,20210402163000.156183,05,32767,45,0177,0150,432,02,02,00,04,-1,-01,-01,1,3,3,0,150,4.8,0.53,-100,2.47,-01,0.02,53,925,0025*27 HUMID 50.10

NAV 1617381374,14.3,9,stop TEMP 22.70

NET_PING 1617381013,0,0.367500,0.000000 INTERNAL_PRESSURE 9.18793

NET xmit part outbox016.n 688 0 _24V_AH 15.11,102.033

SM_CCo 3374.76,338.20,0.637,0,500.9,445.0,556.9,570.09 _10V_AH 15.00,0.000

SM_GC 0.11,338.20,16.51,3.23,0.637,0.056,0.079,500.9,445.0,556.9,197.3,2525.4,0,0,0,11.24,15.97,16.05 FG_AHR_24Vo 192.683

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 73.096

IRIDIUM_FIX 4739.22,-12211.84,020421,154459 MEM 1122788,40,53204,120

TCM_TEMP 24.78 DATA_FILE_SIZE 16145,553

SC_FREEKB 3872352 CAP_FILE_SIZE 600532,0

PM_FREEKB_00 61688256 SDSIZE 3918848,3895520

PM_ACTIVECARD 0 SDFILEDIR 345,1

RAFOS_CLK -8 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 0,1617368400,47.00000,-122.50000,0.151,221.7 CURRENT 0.000, -0.0,1

RAFOS_FIX 4542.994629,-12046.377930,020421,151559,8,255,-4547.55 GPS 020421,164641,4739.312,-12219.017,3,1.2,12,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 612 649 6016.52 nil 0 0 0.00

Pitch_motor 39 303 179.59 nil 0 0 0.00

Roll_motor 52 173 138.86 nil 0 0 0.00

Iridium 285 127 549.01 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 23 15 5.32 nil 0 0 0.00

Core 2847 10 432.32 SciCon 3018 2 126.89

LPSleep 897 1 15.07 PMAR 3026 10 479.23

Compass 1639 5 122.99 nil 0 0 0.00

RAFOS 705 40 423.02

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

10.44 16386 -97.75 -0.99 0.00 498.4 442.6 554.2 197.8 2471.2 0.00 0.00 0 37.77 24.43 0.00 0.00 0.006 0.000 0.000 1070.56 1065.88 1075.25 198.19 2470.38 0 0 0 16.09 30.00 30.00

38.03 18695 -97.75 -0.99 80.00 1069.6 1064.4 1074.7 197.6 2471.1 3.37 -9.87 4 178.03 110.36 18.63 3.29 0.005 0.295 0.089 3220.75 3205.94 3235.56 2397.88 3894.56 0 0 0 14.71 15.81 16.00

402.03 1028 -97.75 -0.99 0.00 3221.4 3206.9 3235.9 2398.1 3893.9 40.05 -10.00 75 408.88 0.00 0.00 3.27 0.000 0.000 0.072 3222.97 3208.31 3237.62 2397.56 2462.38 0 0 0 30.00 30.00 16.02

588.67 260 -97.75 -0.99 80.00 3220.5 3205.8 3235.2 2398.3 2462.9 58.63 -9.74 112 595.46 0.00 0.00 3.28 0.000 0.000 0.082 3220.97 3206.88 3235.06 2398.81 3893.75 0 0 0 30.00 30.00 16.01

819.93 1028 -97.75 -0.99 0.00 3220.3 3205.7 3234.9 2398.2 3893.3 81.56 -10.02 158 826.33 0.00 0.00 3.27 0.000 0.000 0.072 3222.09 3207.12 3237.06 2397.94 2461.25 0 0 0 30.00 30.00 16.03

1005.39 260 -97.75 -0.99 80.00 3220.5 3205.1 3235.9 2398.3 2461.4 99.88 -9.79 195 1012.47 0.00 0.00 3.31 0.000 0.000 0.081 3222.72 3207.75 3237.69 2396.94 3895.62 0 0 0 30.00 30.00 15.99

1236.92 1028 -97.75 -0.99 0.00 3220.5 3205.2 3235.8 2398.6 3896.6 122.89 -9.93 241 1243.89 0.00 0.00 3.24 0.000 0.000 0.071 3222.16 3206.81 3237.50 2398.12 2462.25 0 0 0 30.00 30.00 16.02

1423.56 260 -97.75 -0.99 80.00 3220.3 3204.8 3235.8 2398.8 2462.4 141.46 -10.36 260 1430.46 0.00 0.00 3.30 0.000 0.000 0.082 3220.53 3205.44 3235.62 2397.94 3893.94 0 0 0 30.00 30.00 16.00

1510 end dive: TARGET_DEPTH_EXCEEDED

state 1510 begin apogee

1514.83 10243 0.00 -0.20 0.00 3220.0 3204.7 3235.2 2398.4 2462.2 150.06 -9.85 277 1592.42 68.44 1.59 0.09 0.650 0.296 0.174 2822.19 2777.81 2866.56 2590.06 2519.19 0 0 0 11.38 15.77 15.97

1595 end apogee: CONTROL_FINISHED_OK

state 1595 begin climb

1595.32 10759 97.75 0.99 -80.00 2821.5 2776.8 2866.2 2590.1 2518.9 141.84 0.00 285 1677.89 71.31 2.43 3.37 0.628 0.303 0.100 2423.34 2364.00 2482.69 2878.31 1097.31 0 0 0 11.69 15.85 15.87

1903.15 1028 97.75 0.99 0.00 2419.3 2356.1 2482.5 2877.9 1097.3 110.45 9.92 345 1914.84 0.00 0.00 3.28 0.000 0.000 0.079 2421.03 2357.94 2484.12 2878.06 2524.19 0 0 0 30.00 30.00 15.95

2094.07 516 97.75 0.99 -80.00 2418.8 2354.8 2482.9 2878.9 2524.6 91.18 9.90 373 2101.01 0.00 0.00 3.37 0.000 0.000 0.096 2419.66 2355.88 2483.44 2878.38 1096.25 0 0 0 30.00 30.00 15.97

2325.53 17414 97.75 0.99 0.00 2418.0 2353.4 2482.6 2878.4 1096.2 67.88 9.88 419 2331.95 0.00 0.00 3.26 0.000 0.000 0.079 2420.22 2355.38 2485.06 2877.81 2525.06 0 0 0 30.00 30.00 16.02

2514.37 16902 97.75 0.99 -80.00 2417.8 2353.3 2482.4 2878.2 2525.4 49.17 9.76 456 2520.81 0.00 0.00 3.35 0.000 0.000 0.096 2420.53 2355.69 2485.38 2876.75 1097.62 0 0 0 30.00 30.00 16.00

2744.85 17414 97.75 0.99 0.00 2417.8 2352.6 2483.1 2879.1 1097.8 26.02 10.05 502 2751.72 0.00 0.00 3.27 0.000 0.000 0.080 2420.50 2355.75 2485.25 2877.62 2523.25 0 0 0 30.00 30.00 16.02

2934.26 16902 97.75 0.99 -80.00 2417.4 2352.2 2482.6 2878.1 2523.9 6.99 10.07 539 2941.21 0.00 0.00 3.35 0.000 0.000 0.096 2418.62 2353.62 2483.62 2878.44 1096.56 0 0 0 30.00 30.00 16.01

2987 end climb: SURFACE_DEPTH_REACHED

state 2987 begin surface coast

3006 end surface coast: CONTROL_FINISHED_OK

state 3006 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	24	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	73.034622	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2640	FG_AHR_24V	192.58519	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	020421,153613,4739.312,-12219.016,22,1.5,34,15.5	TGT_RADIUS	100.000
_CALLS	5	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.09	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	020421,154759,4739.312,-12219.017,4,1.4,14,15.5	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

MODEM_MSG	CACST,6,1,20210402163000.156183,05,32767,45,0177,0150,432,02,02,00,04,-1,-01,-01,1,3,3,0,150,4.8,0.53,-100,2.47,-01,0.02,53,925,0025*27	HUMID	50.10
NAV	1617381374,14.3,9,stop	TEMP	22.70
NET_PING	1617381013,0,0.367500,0.000000	INTERNAL_PRESSURE	9.18793
NET	xmit part outbox016.n 688 0	_24V_AH	15.11,102.033
SM_CCo	3374.76,338.20,0.637,0,500.9,445.0,556.9,570.09	_10V_AH	15.00,0.000
SM_GC	0.11,338.20,16.51,3.23,0.637,0.056,0.079,500.9,445.0,556.9,197.3,2525.4,0,0,0,11.24,15.97,16.05	FG_AHR_24Vo	192.683
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	73.096
IRIDIUM_FIX	4739.22,-12211.84,020421,154459	MEM	1122788,40,53204,120
TCM_TEMP	24.78	DATA_FILE_SIZE	16145,553
SC_FREEKB	3872352	CAP_FILE_SIZE	600532,0
PM_FREEKB_00	61688256	SDSIZE	3918848,3895520
PM_ACTIVECARD	0	SDFILEDIR	345,1
RAFOS_CLK	-8	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1617368400,47.00000,-122.50000,0.151,221.7	CURRENT	0.000, -0.0,1
RAFOS_FIX	4542.994629,-12046.377930,020421,151559,8,255,-4547.55	GPS	020421,164641,4739.312,-12219.017,3,1.2,12,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	612	649	6016.52	nil	0	0	0.00
Pitch_motor	39	303	179.59	nil	0	0	0.00
Roll_motor	52	173	138.86	nil	0	0	0.00
Iridium	285	127	549.01	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	23	15	5.32	nil	0	0	0.00
Core	2847	10	432.32	SciCon	3018	2	126.89
LPSleep	897	1	15.07	PMAR	3026	10	479.23
Compass	1639	5	122.99	nil	0	0	0.00
RAFOS	705	40	423.02
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
10.44	16386	-97.75	-0.99	0.00	498.4	442.6	554.2	197.8	2471.2	0.00	0.00	0	37.77	24.43	0.00	0.00	0.006	0.000	0.000	1070.56	1065.88	1075.25	198.19	2470.38	0	0	0	16.09	30.00	30.00
38.03	18695	-97.75	-0.99	80.00	1069.6	1064.4	1074.7	197.6	2471.1	3.37	-9.87	4	178.03	110.36	18.63	3.29	0.005	0.295	0.089	3220.75	3205.94	3235.56	2397.88	3894.56	0	0	0	14.71	15.81	16.00
402.03	1028	-97.75	-0.99	0.00	3221.4	3206.9	3235.9	2398.1	3893.9	40.05	-10.00	75	408.88	0.00	0.00	3.27	0.000	0.000	0.072	3222.97	3208.31	3237.62	2397.56	2462.38	0	0	0	30.00	30.00	16.02
588.67	260	-97.75	-0.99	80.00	3220.5	3205.8	3235.2	2398.3	2462.9	58.63	-9.74	112	595.46	0.00	0.00	3.28	0.000	0.000	0.082	3220.97	3206.88	3235.06	2398.81	3893.75	0	0	0	30.00	30.00	16.01
819.93	1028	-97.75	-0.99	0.00	3220.3	3205.7	3234.9	2398.2	3893.3	81.56	-10.02	158	826.33	0.00	0.00	3.27	0.000	0.000	0.072	3222.09	3207.12	3237.06	2397.94	2461.25	0	0	0	30.00	30.00	16.03
1005.39	260	-97.75	-0.99	80.00	3220.5	3205.1	3235.9	2398.3	2461.4	99.88	-9.79	195	1012.47	0.00	0.00	3.31	0.000	0.000	0.081	3222.72	3207.75	3237.69	2396.94	3895.62	0	0	0	30.00	30.00	15.99
1236.92	1028	-97.75	-0.99	0.00	3220.5	3205.2	3235.8	2398.6	3896.6	122.89	-9.93	241	1243.89	0.00	0.00	3.24	0.000	0.000	0.071	3222.16	3206.81	3237.50	2398.12	2462.25	0	0	0	30.00	30.00	16.02
1423.56	260	-97.75	-0.99	80.00	3220.3	3204.8	3235.8	2398.8	2462.4	141.46	-10.36	260	1430.46	0.00	0.00	3.30	0.000	0.000	0.082	3220.53	3205.44	3235.62	2397.94	3893.94	0	0	0	30.00	30.00	16.00
1510	end dive: TARGET_DEPTH_EXCEEDED
state	1510	begin apogee
1514.83	10243	0.00	-0.20	0.00	3220.0	3204.7	3235.2	2398.4	2462.2	150.06	-9.85	277	1592.42	68.44	1.59	0.09	0.650	0.296	0.174	2822.19	2777.81	2866.56	2590.06	2519.19	0	0	0	11.38	15.77	15.97
1595	end apogee: CONTROL_FINISHED_OK
state	1595	begin climb
1595.32	10759	97.75	0.99	-80.00	2821.5	2776.8	2866.2	2590.1	2518.9	141.84	0.00	285	1677.89	71.31	2.43	3.37	0.628	0.303	0.100	2423.34	2364.00	2482.69	2878.31	1097.31	0	0	0	11.69	15.85	15.87
1903.15	1028	97.75	0.99	0.00	2419.3	2356.1	2482.5	2877.9	1097.3	110.45	9.92	345	1914.84	0.00	0.00	3.28	0.000	0.000	0.079	2421.03	2357.94	2484.12	2878.06	2524.19	0	0	0	30.00	30.00	15.95
2094.07	516	97.75	0.99	-80.00	2418.8	2354.8	2482.9	2878.9	2524.6	91.18	9.90	373	2101.01	0.00	0.00	3.37	0.000	0.000	0.096	2419.66	2355.88	2483.44	2878.38	1096.25	0	0	0	30.00	30.00	15.97
2325.53	17414	97.75	0.99	0.00	2418.0	2353.4	2482.6	2878.4	1096.2	67.88	9.88	419	2331.95	0.00	0.00	3.26	0.000	0.000	0.079	2420.22	2355.38	2485.06	2877.81	2525.06	0	0	0	30.00	30.00	16.02
2514.37	16902	97.75	0.99	-80.00	2417.8	2353.3	2482.4	2878.2	2525.4	49.17	9.76	456	2520.81	0.00	0.00	3.35	0.000	0.000	0.096	2420.53	2355.69	2485.38	2876.75	1097.62	0	0	0	30.00	30.00	16.00
2744.85	17414	97.75	0.99	0.00	2417.8	2352.6	2483.1	2879.1	1097.8	26.02	10.05	502	2751.72	0.00	0.00	3.27	0.000	0.000	0.080	2420.50	2355.75	2485.25	2877.62	2523.25	0	0	0	30.00	30.00	16.02
2934.26	16902	97.75	0.99	-80.00	2417.4	2352.2	2482.6	2878.1	2523.9	6.99	10.07	539	2941.21	0.00	0.00	3.35	0.000	0.000	0.096	2418.62	2353.62	2483.62	2878.44	1096.56	0	0	0	30.00	30.00	16.01
2987	end climb: SURFACE_DEPTH_REACHED
state	2987	begin surface coast
3006	end surface coast: CONTROL_FINISHED_OK
state	3006	begin surface