Glider dive log

Shilshole 20Apr21 * SG220 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 220 FIX_MISSING_TIMEOUT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -9.2399998

MISSION 4 TGT_DEFAULT_LAT 4736 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 3 TGT_DEFAULT_LON -12218 VBD_MIN 550 DEEPGLIDERMB 0

N_DIVES 3 TGT_AUTO_DEFAULT 0 VBD_MAX 3875 MOTHERBOARD 6

STOP_T 0 SM_CC 590.98499 C_VBD 2800 DEVICE1 -1

D_SURF 2 N_FILEKB 8 VBD_DBAND 2 DEVICE2 -1

D_FLARE 3 FILEMGR 0 VBD_CNV -0.24529999 DEVICE3 -1

D_TGT 150 CALL_NDIVES 1 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 175 COMM_SEQ 0 VBD_TIMEOUT 720 DEVICE5 -1

D_NO_BLEED 50 PROTOCOL 9 PITCH_VBD_SHIFT 0.0012000001 DEVICE6 -1

D_BOOST 0 N_NOCOMM 1 UNCOM_BLEED 20 LOGGERS 3

T_BOOST 0 NOCOMM_ACTION 163 VBD_MAXERRORS 1 LOGGERDEVICE1 6

D_FINISH 0 N_NOSURFACE 0 W_ADJ_DBAND 2 LOGGERDEVICE2 65

D_PITCH 0 UPLOAD_DIVES_MAX -1 DBDW 0 LOGGERDEVICE3 -1

D_SAFE 0 CALL_TRIES 5 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

D_CALL 0 CALL_WAIT 60 LOITER_DBDW 0 COMPASS_DEVICE 34

SURFACE_URGENCY 0 CAPUPLOAD 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

SURFACE_URGENCY_FORCE 0 T_GPS 5 LOITER_N_DIVE 0 GPS_DEVICE 48

T_DIVE 50 N_GPS 100440 CF8_MAXERRORS 20 RAFOS_DEVICE -1

T_MISSION 65 T_RSLEEP 2 AH0_24V 350 NETWORK_DEVICE -1

T_ABORT 1440 STROBE 0 AH0_10V 0 PRESSURE_DEVICE 41

T_TURN 225 RAFOS_PEAK_OFFSET 0 MINV_24V 11 XPDR_DEVICE 21

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 MINV_10V 11 SIM_W 0

T_NO_W 120 RAFOS_HIT_WINDOW 3600 MAXI_24V 3.5 SEABIRD_T_G 0.0044097742

T_LOITER 0 RAFOS_MMODEM 0 MAXI_10V 1.5 SEABIRD_T_H 0.00063677714

T_EPIRB 0 PITCH_MIN 150 FG_AHR_10V 0.050162476 SEABIRD_T_I 2.6545444e-05

USE_BATHY -6 PITCH_MAX 3614 FG_AHR_24V 0.41666985 SEABIRD_T_J 3.3307697e-06

USE_ICE 0 C_PITCH 1975 PHONE_SUPPLY 2 SEABIRD_C_G -9.9156904

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 PRESSURE_YINT -162.6433 SEABIRD_C_H 1.1102111

D_OFFGRID 150 PITCH_CNV 0.0031300001 PRESSURE_SLOPE 0.00022240146 SEABIRD_C_I -0.003043188

RELAUNCH 1 PITCH_GAIN 40 COMPASS_USE 16388 SEABIRD_C_J 0.00028673469

APOGEE_PITCH -5 PITCH_TIMEOUT 25 ALTIM_PING_FIT 0 SC_RECORDABOVE 2000.0

MAX_BUOY 150 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 3.0

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_TURN_MARGIN 0 SC_XMITPROFILE 3.0

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0 SC_NDIVE 1.0

RHO 1.023 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 1 ES_RECORDABOVE 2000.0

MASS 55538 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 ES_PROFILE 3.0

NAV_MODE 2 ROLL_MIN 150 ALTIM_PING_DELTA 0 ES_XMITPROFILE 3.0

FERRY_MAX 45 ROLL_MAX 3940 ALTIM_FREQUENCY 13 ES_UPLOADMAX 0.0

KALMAN_USE 2 ROLL_DEG 40 ALTIM_PULSE 3 ES_STARTS 4.0

HD_A 0.00223872 C_ROLL_DIVE 2500 ALTIM_SENSITIVITY 2 ES_NDIVE 1.0

HD_B 0.0163117 C_ROLL_CLIMB 2200 XPDR_VALID 6 ES_DL_HEADERSKIP 105044.0

HD_C 5.7000002e-06 HEAD_ERRBAND 10 XPDR_INHIBIT 90 ES_DL_RECORDLENGTH 10086.0

HEADING -1 ROLL_CNV 0.028270001 XPDR_INT 13.5 ES_DL_NRECORD 30.0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 XPDR_REP 11 ES_DL_RECORDCOUNT 3.0

ESCAPE_HEADING_DELTA 10 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 1.9639999e-06

AH0_10V 0 D_TGT 150 MOTHERBOARD 6 SEABIRD_C_H 1.1102111

AH0_24V 350 ESCAPE_HEADING 0 NAV_MODE 2 SEABIRD_C_I -0.003043188

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 NETWORK_DEVICE -1 SEABIRD_C_J 0.00028673469

ALTIM_FREQUENCY 13 ES_DL_HEADERSKIP 105044.0 NOCOMM_ACTION 163 SEABIRD_T_G 0.0044097742

ALTIM_PING_DELTA 0 ES_DL_NRECORD 30.0 N_DIVES 3 SEABIRD_T_H 0.00063677714

ALTIM_PING_DEPTH 0 ES_DL_RECORDCOUNT 3.0 N_FILEKB 8 SEABIRD_T_I 2.6545444e-05

ALTIM_PING_FIT 0 ES_DL_RECORDLENGTH 10086.0 N_GPS 100440 SEABIRD_T_J 3.3307697e-06

ALTIM_PULSE 3 ES_NDIVE 1.0 N_NOCOMM 1 SIM_W 0

ALTIM_SENSITIVITY 2 ES_PROFILE 3.0 N_NOSURFACE 0 SM_CC 590.98499

ALTIM_TOP_MIN_OBSTACLE 1 ES_RECORDABOVE 2000.0 PHONE_DEVICE 33 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 ES_STARTS 4.0 PHONE_SUPPLY 2 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 ES_UPLOADMAX 0.0 PITCH_ADJ_DBAND 2 STROBE 0

APOGEE_PITCH -5 ES_XMITPROFILE 3.0 PITCH_ADJ_GAIN 0.029999999 SURFACE_URGENCY 0

CALL_NDIVES 1 FERRY_MAX 45 PITCH_CNV 0.0031300001 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 FG_AHR_10V 0.050162476 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FG_AHR_24V 0.41666985 PITCH_GAIN 40 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 FILEMGR 0 PITCH_MAX 3614 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 GLIDE_SLOPE 30 PITCH_MIN 150 T_ABORT 1440

COMM_SEQ 0 GPS_DEVICE 48 PITCH_TIMEOUT 25 T_BOOST 0

COMPASS2_DEVICE -1 HD_A 0.00223872 PITCH_VBD_SHIFT 0.0012000001 T_DIVE 50

COMPASS_DEVICE 34 HD_B 0.0163117 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 16388 HD_C 5.7000002e-06 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 1975 HEADING -1 PRESSURE_DEVICE 41 T_LOITER 0

C_ROLL_CLIMB 2200 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00022240146 T_MISSION 65

C_ROLL_DIVE 2500 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -162.6433 T_NO_W 120

C_VBD 2800 ID 220 PROTOCOL 9 T_RSLEEP 2

DBDW 0 INT_PRESSURE_SLOPE 1.9639999e-06 RAFOS_CORR_THRESH 60 T_TURN 225

DEEPGLIDER 0 INT_PRESSURE_YINT -9.2399998 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

DEEPGLIDERMB 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

DEVICE1 -1 LOGGERDEVICE1 6 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DEVICE2 -1 LOGGERDEVICE2 65 RAFOS_PEAK_OFFSET 0 USE_BATHY -6

DEVICE3 -1 LOGGERDEVICE3 -1 RELAUNCH 1 USE_ICE 0

DEVICE4 -1 LOGGERDEVICE4 -1 RHO 1.023 VBD_CNV -0.24529999

DEVICE5 -1 LOGGERS 3 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE6 -1 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DIVE 3 LOITER_D_BOTTOM 0 ROLL_CNV 0.028270001 VBD_MAX 3875

D_ABORT 175 LOITER_D_TOP 0 ROLL_DEG 40 VBD_MAXERRORS 1

D_BOOST 0 LOITER_N_DIVE 0 ROLL_MAX 3940 VBD_MIN 550

D_CALL 0 LOITER_W_DBAND 0 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

D_FINISH 0 MASS 55538 ROLL_MIN 150 W_ADJ_DBAND 2

D_FLARE 3 MAXI_10V 1.5 ROLL_TIMEOUT 15 XPDR_DEVICE 21

D_NO_BLEED 50 MAXI_24V 3.5 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_OFFGRID 150 MAX_BUOY 150 SC_PROFILE 3.0 XPDR_INT 13.5

D_PITCH 0 MINV_10V 11 SC_RECORDABOVE 2000.0 XPDR_REP 11

D_SAFE 0 MINV_24V 11 SC_XMITPROFILE 3.0 XPDR_VALID 6

D_SURF 2 MISSION 4 SEABIRD_C_G -9.9156904

Pre-dive calculations and measurements:

GPS1 200421,180951,4743.220,-12224.672,2,0.7,3,15.5 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.65 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -46.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200421,181152,4743.214,-12224.674,3,0.7,4,15.5 MHEAD_RNG_PITCHd_Wd 315.9,667,-19.1,-10.000,-25.94

SPEED_LIMITS 0.173,0.206 D_GRID 177

TGT_NAME NW IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-8.000000,52.000000,20.000000

TGT_LATLONG 4743.500,-12225.000

Post-dive calculations and measurements:

FINISH -0.1,1.013949 FG_AHR_24Vo 0.583

SM_CCo 3448.85,232.88,1.022,0,550.8,619.6,482.1,551.73 FG_AHR_10Vo 0.080

SM_GC 0.59,232.88,5.89,0.61,1.022,0.075,0.077,550.8,619.6,482.1,125.8,2526.1,0,0,0,12.52,15.97,15.98 MEM0 60932,1,0,0

SUPER 27,71,254,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 4744.97,-12226.80,200421,180651 MEM2 997200,26,49108,87

TCM_TEMP 19.10 DATA_FILE_SIZE 12924,544

XPDR_PINGS 9,13.5,11.0 CAP_FILE_SIZE 153777,0

SC_FREEKB 3877408 SDSIZE 3918848,3908736

ES_FREE 0.000000 SDFILEDIR 43,1

ES_POWER 63.370000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 51.32 CURRENT 0.046,350.5,1

TEMP 9.85 MAGCAL 1.000000,0.018105,0.007925,-0.006396,1.038383,-0.005179,0.005458,0.012724,1.048224,-8.6,52.6,17.0,36,0.0074,0

INTERNAL_PRESSURE 7.72254 IMPLIED_C_PITCH 1976,26.96,358

_24V_AH 14.65,0.613 IMPLIED_C_VBD 2732,26.779541,358

_10V_AH 14.67,0.000 GPS 200421,191001,4743.604,-12224.921,3,1.1,4,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 623 1217 11122.98 nil 0 0 0.00

Pitch_motor 21 624 193.67 nil 0 0 0.00

Roll_motor 35 209 110.12 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 13.84 nil 0 0 0.00

GPS 13 15 2.86 nil 0 0 0.00

Core 1749 11 302.90 SciCon 3201 23 1110.01

LPSleep 1709 2 70.23 echo 3205 10 470.23

Compass 757 5 55.56 nil 0 0 0.00

RAFOS 0 0 0.00

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

9.93 16386 -146.63 -0.65 0.00 550.1 630.4 469.8 138.6 2451.8 0.00 0.00 0 143.51 130.05 0.00 0.12 0.005 0.000 0.209 3397.09 3487.06 3307.12 138.88 2531.56 0 0 0 15.60 30.00 15.85

143.73 2341 -146.63 -0.65 40.00 3396.0 3486.4 3305.5 138.5 2531.9 3.10 -1.98 26 164.17 0.00 13.02 2.41 0.000 0.625 0.107 3398.25 3493.12 3303.38 1761.81 3934.94 0 0 0 30.00 15.26 15.91

391.55 1028 -146.63 -0.65 0.00 3398.8 3498.7 3298.9 1763.4 3935.2 32.93 -11.72 76 397.02 0.00 0.00 2.36 0.000 0.000 0.046 3399.62 3499.44 3299.81 1763.62 2464.62 0 0 0 30.00 30.00 15.89

581.61 260 -146.63 -0.65 40.00 3398.8 3501.1 3296.6 1763.8 2464.1 52.20 -9.76 114 587.15 0.00 0.00 2.57 0.000 0.000 0.111 3400.31 3501.81 3298.81 1763.12 3932.31 0 0 0 30.00 30.00 15.92

631.61 1028 -146.63 -0.65 0.00 3399.1 3501.2 3297.0 1763.2 3931.8 57.58 -10.76 124 637.09 0.00 0.00 2.35 0.000 0.000 0.047 3400.00 3502.19 3297.81 1763.50 2465.38 0 0 0 30.00 30.00 15.99

821.69 516 -146.63 -0.65 -40.00 3399.5 3502.1 3296.9 1763.5 2464.0 75.11 -8.56 162 827.15 0.00 0.00 2.40 0.000 0.000 0.067 3401.56 3503.44 3299.69 1763.31 1065.88 0 0 0 30.00 30.00 15.89

906.70 1028 -146.63 -0.65 0.00 3400.0 3502.8 3297.2 1763.0 1066.1 83.79 -10.59 179 912.25 0.00 0.00 2.54 0.000 0.000 0.078 3400.78 3503.56 3298.00 1763.06 2517.88 0 0 0 30.00 30.00 16.02

1096.81 0 -146.63 -0.65 0.00 3399.7 3503.0 3296.4 1762.8 2517.3 102.46 -10.02 215 1098.14 0.00 0.00 0.00 0.000 0.000 0.000 3398.78 3501.62 3295.94 1762.88 2517.44 0 0 0 30.00 30.00 30.00

1406.86 260 -146.63 -0.65 40.00 3399.7 3502.6 3296.8 1763.4 2517.6 133.15 -9.61 246 1412.30 0.00 0.00 2.44 0.000 0.000 0.115 3399.56 3502.50 3296.62 1763.25 3931.81 0 0 0 30.00 30.00 16.00

1496.87 1156 -146.63 -0.74 0.00 3399.5 3502.7 3296.4 1763.4 3931.7 141.89 -9.50 264 1502.31 0.00 0.00 2.35 0.000 0.000 0.046 3401.25 3503.88 3298.62 1763.25 2461.31 0 0 0 30.00 30.00 16.09

1587 end dive: TARGET_DEPTH_EXCEEDED

state 1587 begin apogee

1588.03 10243 0.00 -0.12 0.00 3400.0 3503.1 3296.9 1763.5 2140.9 150.50 -10.01 274 1695.11 104.39 0.60 0.12 1.218 0.256 0.146 2799.38 2919.25 2679.50 1934.50 2237.88 0 0 0 12.47 15.99 15.45

1698 end apogee: CONTROL_FINISHED_OK

state 1698 begin climb

1697.95 10503 146.63 0.65 40.00 2797.5 2918.2 2676.8 1934.5 2237.7 153.12 0.00 284 1813.00 107.36 0.81 2.52 1.177 0.169 0.094 2200.50 2303.38 2097.62 2187.00 3629.62 0 0 0 12.37 15.47 15.25

1830.30 1028 146.63 0.65 0.00 2197.0 2299.2 2094.9 2186.5 3628.9 144.26 9.94 310 1835.83 0.00 0.00 2.51 0.000 0.000 0.056 2197.47 2300.38 2094.56 2197.12 2174.44 0 0 0 30.00 30.00 15.39

2140.36 16646 146.63 0.65 40.00 2192.8 2299.2 2086.4 2197.0 2167.5 111.78 11.25 342 2145.87 0.00 0.00 2.57 0.000 0.000 0.095 2195.16 2301.12 2089.19 2197.06 3632.75 0 0 0 30.00 30.00 15.76

2170.36 21639 146.63 0.58 0.00 2192.8 2299.1 2086.4 2196.6 3632.5 108.15 12.09 348 2175.93 0.00 0.19 2.44 0.000 0.226 0.054 2192.91 2299.38 2086.44 2151.62 2170.88 0 0 0 30.00 15.75 15.80

2480.43 10663 213.73 0.77 40.00 2191.4 2298.3 2084.4 2151.7 2163.5 86.27 6.91 400 2536.09 48.69 0.19 2.60 1.111 0.069 0.096 1927.88 2044.06 1811.69 2247.38 3630.25 0 0 0 12.47 15.95 15.60

2600.42 5253 213.73 0.62 0.00 1923.2 2042.1 1804.4 2247.4 3629.7 69.43 16.01 424 2606.16 0.00 0.32 2.46 0.000 0.233 0.053 1923.03 2042.31 1803.75 2163.06 2167.94 0 0 0 30.00 15.66 15.65

2790.47 18563 213.73 0.76 0.00 1919.7 2042.0 1797.4 2162.9 2160.7 52.34 8.36 462 2791.91 0.00 0.15 0.00 0.000 0.074 0.000 1919.72 2041.88 1797.56 2245.06 2160.62 0 0 0 30.00 15.88 30.00

2975.49 16386 213.73 0.76 0.00 1919.8 2042.1 1797.6 2245.3 2160.8 27.67 12.90 499 2976.82 0.00 0.00 0.00 0.000 0.000 0.000 1918.56 2040.94 1796.19 2244.94 2160.75 0 0 0 30.00 30.00 30.00

3160.56 16386 213.73 0.76 0.00 1919.7 2042.4 1797.0 2244.8 2161.1 4.31 12.51 536 3161.89 0.00 0.00 0.00 0.000 0.000 0.000 1918.19 2040.44 1795.94 2244.94 2161.31 0 0 0 30.00 30.00 30.00

3181 end climb: SURFACE_DEPTH_REACHED

state 3181 begin surface coast

3201 end surface coast: CONTROL_FINISHED_OK

state 3201 begin surface

ID	220	FIX_MISSING_TIMEOUT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-9.2399998
MISSION	4	TGT_DEFAULT_LAT	4736	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	3	TGT_DEFAULT_LON	-12218	VBD_MIN	550	DEEPGLIDERMB	0
N_DIVES	3	TGT_AUTO_DEFAULT	0	VBD_MAX	3875	MOTHERBOARD	6
STOP_T	0	SM_CC	590.98499	C_VBD	2800	DEVICE1	-1
D_SURF	2	N_FILEKB	8	VBD_DBAND	2	DEVICE2	-1
D_FLARE	3	FILEMGR	0	VBD_CNV	-0.24529999	DEVICE3	-1
D_TGT	150	CALL_NDIVES	1	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	175	COMM_SEQ	0	VBD_TIMEOUT	720	DEVICE5	-1
D_NO_BLEED	50	PROTOCOL	9	PITCH_VBD_SHIFT	0.0012000001	DEVICE6	-1
D_BOOST	0	N_NOCOMM	1	UNCOM_BLEED	20	LOGGERS	3
T_BOOST	0	NOCOMM_ACTION	163	VBD_MAXERRORS	1	LOGGERDEVICE1	6
D_FINISH	0	N_NOSURFACE	0	W_ADJ_DBAND	2	LOGGERDEVICE2	65
D_PITCH	0	UPLOAD_DIVES_MAX	-1	DBDW	0	LOGGERDEVICE3	-1
D_SAFE	0	CALL_TRIES	5	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
D_CALL	0	CALL_WAIT	60	LOITER_DBDW	0	COMPASS_DEVICE	34
SURFACE_URGENCY	0	CAPUPLOAD	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
SURFACE_URGENCY_FORCE	0	T_GPS	5	LOITER_N_DIVE	0	GPS_DEVICE	48
T_DIVE	50	N_GPS	100440	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
T_MISSION	65	T_RSLEEP	2	AH0_24V	350	NETWORK_DEVICE	-1
T_ABORT	1440	STROBE	0	AH0_10V	0	PRESSURE_DEVICE	41
T_TURN	225	RAFOS_PEAK_OFFSET	0	MINV_24V	11	XPDR_DEVICE	21
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	MINV_10V	11	SIM_W	0
T_NO_W	120	RAFOS_HIT_WINDOW	3600	MAXI_24V	3.5	SEABIRD_T_G	0.0044097742
T_LOITER	0	RAFOS_MMODEM	0	MAXI_10V	1.5	SEABIRD_T_H	0.00063677714
T_EPIRB	0	PITCH_MIN	150	FG_AHR_10V	0.050162476	SEABIRD_T_I	2.6545444e-05
USE_BATHY	-6	PITCH_MAX	3614	FG_AHR_24V	0.41666985	SEABIRD_T_J	3.3307697e-06
USE_ICE	0	C_PITCH	1975	PHONE_SUPPLY	2	SEABIRD_C_G	-9.9156904
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	PRESSURE_YINT	-162.6433	SEABIRD_C_H	1.1102111
D_OFFGRID	150	PITCH_CNV	0.0031300001	PRESSURE_SLOPE	0.00022240146	SEABIRD_C_I	-0.003043188
RELAUNCH	1	PITCH_GAIN	40	COMPASS_USE	16388	SEABIRD_C_J	0.00028673469
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	ALTIM_PING_FIT	0	SC_RECORDABOVE	2000.0
MAX_BUOY	150	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	3.0
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	0	SC_XMITPROFILE	3.0
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0	SC_NDIVE	1.0
RHO	1.023	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	1	ES_RECORDABOVE	2000.0
MASS	55538	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	ES_PROFILE	3.0
NAV_MODE	2	ROLL_MIN	150	ALTIM_PING_DELTA	0	ES_XMITPROFILE	3.0
FERRY_MAX	45	ROLL_MAX	3940	ALTIM_FREQUENCY	13	ES_UPLOADMAX	0.0
KALMAN_USE	2	ROLL_DEG	40	ALTIM_PULSE	3	ES_STARTS	4.0
HD_A	0.00223872	C_ROLL_DIVE	2500	ALTIM_SENSITIVITY	2	ES_NDIVE	1.0
HD_B	0.0163117	C_ROLL_CLIMB	2200	XPDR_VALID	6	ES_DL_HEADERSKIP	105044.0
HD_C	5.7000002e-06	HEAD_ERRBAND	10	XPDR_INHIBIT	90	ES_DL_RECORDLENGTH	10086.0
HEADING	-1	ROLL_CNV	0.028270001	XPDR_INT	13.5	ES_DL_NRECORD	30.0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	XPDR_REP	11	ES_DL_RECORDCOUNT	3.0
ESCAPE_HEADING_DELTA	10	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	1.9639999e-06

GPS1	200421,180951,4743.220,-12224.672,2,0.7,3,15.5	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.65	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-46.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200421,181152,4743.214,-12224.674,3,0.7,4,15.5	MHEAD_RNG_PITCHd_Wd	315.9,667,-19.1,-10.000,-25.94
SPEED_LIMITS	0.173,0.206	D_GRID	177
TGT_NAME	NW	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-8.000000,52.000000,20.000000
TGT_LATLONG	4743.500,-12225.000

FINISH	-0.1,1.013949	FG_AHR_24Vo	0.583
SM_CCo	3448.85,232.88,1.022,0,550.8,619.6,482.1,551.73	FG_AHR_10Vo	0.080
SM_GC	0.59,232.88,5.89,0.61,1.022,0.075,0.077,550.8,619.6,482.1,125.8,2526.1,0,0,0,12.52,15.97,15.98	MEM0	60932,1,0,0
SUPER	27,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	4744.97,-12226.80,200421,180651	MEM2	997200,26,49108,87
TCM_TEMP	19.10	DATA_FILE_SIZE	12924,544
XPDR_PINGS	9,13.5,11.0	CAP_FILE_SIZE	153777,0
SC_FREEKB	3877408	SDSIZE	3918848,3908736
ES_FREE	0.000000	SDFILEDIR	43,1
ES_POWER	63.370000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	51.32	CURRENT	0.046,350.5,1
TEMP	9.85	MAGCAL	1.000000,0.018105,0.007925,-0.006396,1.038383,-0.005179,0.005458,0.012724,1.048224,-8.6,52.6,17.0,36,0.0074,0
INTERNAL_PRESSURE	7.72254	IMPLIED_C_PITCH	1976,26.96,358
_24V_AH	14.65,0.613	IMPLIED_C_VBD	2732,26.779541,358
_10V_AH	14.67,0.000	GPS	200421,191001,4743.604,-12224.921,3,1.1,4,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	623	1217	11122.98	nil	0	0	0.00
Pitch_motor	21	624	193.67	nil	0	0	0.00
Roll_motor	35	209	110.12	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	13.84	nil	0	0	0.00
GPS	13	15	2.86	nil	0	0	0.00
Core	1749	11	302.90	SciCon	3201	23	1110.01
LPSleep	1709	2	70.23	echo	3205	10	470.23
Compass	757	5	55.56	nil	0	0	0.00
RAFOS	0	0	0.00
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
9.93	16386	-146.63	-0.65	0.00	550.1	630.4	469.8	138.6	2451.8	0.00	0.00	0	143.51	130.05	0.00	0.12	0.005	0.000	0.209	3397.09	3487.06	3307.12	138.88	2531.56	0	0	0	15.60	30.00	15.85
143.73	2341	-146.63	-0.65	40.00	3396.0	3486.4	3305.5	138.5	2531.9	3.10	-1.98	26	164.17	0.00	13.02	2.41	0.000	0.625	0.107	3398.25	3493.12	3303.38	1761.81	3934.94	0	0	0	30.00	15.26	15.91
391.55	1028	-146.63	-0.65	0.00	3398.8	3498.7	3298.9	1763.4	3935.2	32.93	-11.72	76	397.02	0.00	0.00	2.36	0.000	0.000	0.046	3399.62	3499.44	3299.81	1763.62	2464.62	0	0	0	30.00	30.00	15.89
581.61	260	-146.63	-0.65	40.00	3398.8	3501.1	3296.6	1763.8	2464.1	52.20	-9.76	114	587.15	0.00	0.00	2.57	0.000	0.000	0.111	3400.31	3501.81	3298.81	1763.12	3932.31	0	0	0	30.00	30.00	15.92
631.61	1028	-146.63	-0.65	0.00	3399.1	3501.2	3297.0	1763.2	3931.8	57.58	-10.76	124	637.09	0.00	0.00	2.35	0.000	0.000	0.047	3400.00	3502.19	3297.81	1763.50	2465.38	0	0	0	30.00	30.00	15.99
821.69	516	-146.63	-0.65	-40.00	3399.5	3502.1	3296.9	1763.5	2464.0	75.11	-8.56	162	827.15	0.00	0.00	2.40	0.000	0.000	0.067	3401.56	3503.44	3299.69	1763.31	1065.88	0	0	0	30.00	30.00	15.89
906.70	1028	-146.63	-0.65	0.00	3400.0	3502.8	3297.2	1763.0	1066.1	83.79	-10.59	179	912.25	0.00	0.00	2.54	0.000	0.000	0.078	3400.78	3503.56	3298.00	1763.06	2517.88	0	0	0	30.00	30.00	16.02
1096.81	0	-146.63	-0.65	0.00	3399.7	3503.0	3296.4	1762.8	2517.3	102.46	-10.02	215	1098.14	0.00	0.00	0.00	0.000	0.000	0.000	3398.78	3501.62	3295.94	1762.88	2517.44	0	0	0	30.00	30.00	30.00
1406.86	260	-146.63	-0.65	40.00	3399.7	3502.6	3296.8	1763.4	2517.6	133.15	-9.61	246	1412.30	0.00	0.00	2.44	0.000	0.000	0.115	3399.56	3502.50	3296.62	1763.25	3931.81	0	0	0	30.00	30.00	16.00
1496.87	1156	-146.63	-0.74	0.00	3399.5	3502.7	3296.4	1763.4	3931.7	141.89	-9.50	264	1502.31	0.00	0.00	2.35	0.000	0.000	0.046	3401.25	3503.88	3298.62	1763.25	2461.31	0	0	0	30.00	30.00	16.09
1587	end dive: TARGET_DEPTH_EXCEEDED
state	1587	begin apogee
1588.03	10243	0.00	-0.12	0.00	3400.0	3503.1	3296.9	1763.5	2140.9	150.50	-10.01	274	1695.11	104.39	0.60	0.12	1.218	0.256	0.146	2799.38	2919.25	2679.50	1934.50	2237.88	0	0	0	12.47	15.99	15.45
1698	end apogee: CONTROL_FINISHED_OK
state	1698	begin climb
1697.95	10503	146.63	0.65	40.00	2797.5	2918.2	2676.8	1934.5	2237.7	153.12	0.00	284	1813.00	107.36	0.81	2.52	1.177	0.169	0.094	2200.50	2303.38	2097.62	2187.00	3629.62	0	0	0	12.37	15.47	15.25
1830.30	1028	146.63	0.65	0.00	2197.0	2299.2	2094.9	2186.5	3628.9	144.26	9.94	310	1835.83	0.00	0.00	2.51	0.000	0.000	0.056	2197.47	2300.38	2094.56	2197.12	2174.44	0	0	0	30.00	30.00	15.39
2140.36	16646	146.63	0.65	40.00	2192.8	2299.2	2086.4	2197.0	2167.5	111.78	11.25	342	2145.87	0.00	0.00	2.57	0.000	0.000	0.095	2195.16	2301.12	2089.19	2197.06	3632.75	0	0	0	30.00	30.00	15.76
2170.36	21639	146.63	0.58	0.00	2192.8	2299.1	2086.4	2196.6	3632.5	108.15	12.09	348	2175.93	0.00	0.19	2.44	0.000	0.226	0.054	2192.91	2299.38	2086.44	2151.62	2170.88	0	0	0	30.00	15.75	15.80
2480.43	10663	213.73	0.77	40.00	2191.4	2298.3	2084.4	2151.7	2163.5	86.27	6.91	400	2536.09	48.69	0.19	2.60	1.111	0.069	0.096	1927.88	2044.06	1811.69	2247.38	3630.25	0	0	0	12.47	15.95	15.60
2600.42	5253	213.73	0.62	0.00	1923.2	2042.1	1804.4	2247.4	3629.7	69.43	16.01	424	2606.16	0.00	0.32	2.46	0.000	0.233	0.053	1923.03	2042.31	1803.75	2163.06	2167.94	0	0	0	30.00	15.66	15.65
2790.47	18563	213.73	0.76	0.00	1919.7	2042.0	1797.4	2162.9	2160.7	52.34	8.36	462	2791.91	0.00	0.15	0.00	0.000	0.074	0.000	1919.72	2041.88	1797.56	2245.06	2160.62	0	0	0	30.00	15.88	30.00
2975.49	16386	213.73	0.76	0.00	1919.8	2042.1	1797.6	2245.3	2160.8	27.67	12.90	499	2976.82	0.00	0.00	0.00	0.000	0.000	0.000	1918.56	2040.94	1796.19	2244.94	2160.75	0	0	0	30.00	30.00	30.00
3160.56	16386	213.73	0.76	0.00	1919.7	2042.4	1797.0	2244.8	2161.1	4.31	12.51	536	3161.89	0.00	0.00	0.00	0.000	0.000	0.000	1918.19	2040.44	1795.94	2244.94	2161.31	0	0	0	30.00	30.00	30.00
3181	end climb: SURFACE_DEPTH_REACHED
state	3181	begin surface coast
3201	end surface coast: CONTROL_FINISHED_OK
state	3201	begin surface