Glider dive log

Shilshole 01Apr21 * SG233 * Dive index * Mission links * Dive 14 * 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 14 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 570.32251 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 73.666054 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2640 FG_AHR_24V 193.91808 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 73.666054 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FG_AHR_24V 193.91808 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 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 14 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 030421,152702,4739.312,-12219.014,2,1.1,19,15.5 TGT_RADIUS 100.000

_CALLS 5 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.10 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 030421,153804,4739.310,-12219.019,3,1.1,13,15.5 MHEAD_RNG_PITCHd_Wd 300.7,10759,-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,6,1,20210403153500.273683,05,65532,42,0158,0150,216,01,01,01,03,-1,-01,-01,1,3,0,0,150,-4.5,0.59,-100,2.41,-01,-0.13,25,925,0025*16 INTERNAL_PRESSURE 9.18972

NAV 1617465549,124.5,start _24V_AH 15.03,103.663

NET_PING 1617466808,0,0.355500,0.000000 _10V_AH 15.00,0.000

NET xmit part outbox011.n 686 0 FG_AHR_24Vo 194.020

SM_CCo 3366.41,339.55,0.653,0,500.5,445.1,555.8,570.21 FG_AHR_10Vo 73.713

SM_GC 0.11,339.55,16.56,3.23,0.653,0.058,0.080,500.5,445.1,555.8,196.8,2525.4,0,0,0,11.45,15.99,16.05 MEM 1126144,39,50588,84

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16127,561

IRIDIUM_FIX 4738.87,-12218.96,030421,153425 CAP_FILE_SIZE 413648,0

TCM_TEMP 24.11 SDSIZE 3918848,3899328

RAFOS_CLK -8 SDFILEDIR 242,1

MODEM 5,1617463799,47.25000,-122.00000,299.639,438971.0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 4928.381348,-12323.363281,030421,151500,2,510,-49704.02 CURRENT 0.002, 21.6,1

HUMID 50.29 GPS 030421,163508,4739.313,-12219.017,7,1.3,19,15.5

TEMP 22.68

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 617 676 6278.13 nil 0 0 0.00

Pitch_motor 39 303 178.21 nil 0 0 0.00

Roll_motor 52 175 138.93 nil 0 0 0.00

Iridium 331 147 733.60 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 22 15 5.02 nil 0 0 0.00

Core 1745 10 264.99 SciCon 0 0 0.00

LPSleep 1892 1 31.80 PMAR 0 0 0.00

Compass 509 5 38.18 nil 0 0 0.00

RAFOS 661 40 396.62

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

1 end surface: CONTROL_FINISHED_OK

state 1 begin dive

2.90 16386 -97.75 -0.99 0.00 500.1 446.4 553.7 199.1 2513.9 0.00 0.00 0 34.05 30.53 0.00 0.00 0.006 0.000 0.000 1193.09 1195.56 1190.62 199.19 2514.75 0 0 0 16.15 30.00 30.00

34.28 18695 -97.75 -0.99 80.00 1192.5 1194.8 1190.2 199.1 2514.6 3.24 -9.94 6 169.42 106.29 18.56 3.18 0.005 0.291 0.088 3221.78 3208.69 3234.88 2398.31 3893.50 0 0 0 14.59 15.77 15.97

391.39 1028 -97.75 -0.99 0.00 3220.9 3207.8 3234.0 2398.1 3893.1 38.92 -10.01 77 397.01 0.00 0.00 3.26 0.000 0.000 0.069 3221.06 3207.62 3234.50 2397.88 2460.69 0 0 0 30.00 30.00 16.02

576.39 260 -97.75 -0.99 80.00 3220.0 3206.8 3233.2 2397.5 2459.9 57.39 -10.11 114 582.08 0.00 0.00 3.32 0.000 0.000 0.081 3221.22 3208.62 3233.81 2397.81 3894.81 0 0 0 30.00 30.00 16.00

806.42 1028 -97.75 -0.99 0.00 3220.1 3206.8 3233.5 2397.2 3894.1 80.86 -10.26 160 812.08 0.00 0.00 3.24 0.000 0.000 0.069 3221.25 3207.62 3234.88 2397.69 2461.56 0 0 0 30.00 30.00 16.03

991.47 260 -97.75 -0.99 80.00 3220.3 3206.4 3234.3 2398.1 2461.1 99.60 -9.90 197 997.15 0.00 0.00 3.31 0.000 0.000 0.081 3220.06 3206.12 3234.00 2398.62 3895.94 0 0 0 30.00 30.00 16.01

1221.61 1028 -97.75 -0.99 0.00 3219.8 3205.9 3233.6 2398.2 3896.4 122.49 -9.64 243 1227.23 0.00 0.00 3.26 0.000 0.000 0.069 3220.78 3206.56 3235.00 2398.44 2459.06 0 0 0 30.00 30.00 16.03

1411.66 260 -97.75 -0.99 80.00 3219.3 3205.1 3233.5 2398.2 2459.5 141.59 -9.93 263 1417.29 0.00 0.00 3.31 0.000 0.000 0.081 3219.78 3206.00 3233.56 2398.00 3894.75 0 0 0 30.00 30.00 16.02

1496 end dive: TARGET_DEPTH_EXCEEDED

state 1496 begin apogee

1501.41 10243 0.00 -0.20 0.00 3219.7 3205.3 3234.1 2398.2 2461.6 150.12 -9.96 280 1575.12 68.96 1.55 0.09 0.677 0.293 0.175 2822.06 2777.12 2867.00 2589.81 2519.06 0 0 0 11.31 15.73 15.99

1576 end apogee: CONTROL_FINISHED_OK

state 1576 begin climb

1576.01 10759 97.75 0.99 -80.00 2822.1 2776.9 2867.4 2589.5 2519.3 142.48 0.00 288 1656.17 71.90 2.40 3.37 0.644 0.303 0.098 2426.19 2366.00 2486.38 2878.38 1097.75 0 0 0 11.74 15.87 15.89

1878.57 1028 97.75 0.99 0.00 2419.2 2354.6 2483.8 2877.4 1097.7 112.06 9.98 349 1884.24 0.00 0.00 3.28 0.000 0.000 0.078 2420.72 2355.88 2485.56 2877.81 2523.62 0 0 0 30.00 30.00 15.97

2063.60 516 97.75 0.99 -80.00 2418.4 2352.8 2484.0 2878.1 2523.3 93.56 10.06 374 2069.42 0.00 0.00 3.35 0.000 0.000 0.095 2420.97 2355.62 2486.31 2877.38 1096.81 0 0 0 30.00 30.00 15.97

2293.70 17414 97.75 0.99 0.00 2417.4 2351.4 2483.4 2878.4 1096.8 70.58 9.87 420 2299.38 0.00 0.00 3.28 0.000 0.000 0.079 2417.88 2351.88 2483.88 2877.81 2523.69 0 0 0 30.00 30.00 16.02

2478.77 16902 97.75 0.99 -80.00 2417.6 2351.0 2484.1 2878.5 2523.7 51.94 10.19 457 2484.47 0.00 0.00 3.37 0.000 0.000 0.094 2418.16 2352.00 2484.31 2878.12 1097.69 0 0 0 30.00 30.00 16.00

2708.88 17414 97.75 0.99 0.00 2417.4 2350.6 2484.1 2878.0 1097.5 28.72 10.24 503 2714.49 0.00 0.00 3.26 0.000 0.000 0.080 2418.31 2352.25 2484.38 2879.31 2522.06 0 0 0 30.00 30.00 16.04

2893.86 16902 97.75 0.99 -80.00 2417.5 2351.3 2483.8 2878.4 2522.6 10.16 9.79 540 2899.57 0.00 0.00 3.35 0.000 0.000 0.095 2416.94 2350.56 2483.31 2878.19 1099.25 0 0 0 30.00 30.00 16.01

2979 end climb: SURFACE_DEPTH_REACHED

state 2979 begin surface coast

2999 end surface coast: CONTROL_FINISHED_OK

state 2999 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	14	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	570.32251	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	73.666054	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2640	FG_AHR_24V	193.91808	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	030421,152702,4739.312,-12219.014,2,1.1,19,15.5	TGT_RADIUS	100.000
_CALLS	5	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.10	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	030421,153804,4739.310,-12219.019,3,1.1,13,15.5	MHEAD_RNG_PITCHd_Wd	300.7,10759,-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,6,1,20210403153500.273683,05,65532,42,0158,0150,216,01,01,01,03,-1,-01,-01,1,3,0,0,150,-4.5,0.59,-100,2.41,-01,-0.13,25,925,0025*16	INTERNAL_PRESSURE	9.18972
NAV	1617465549,124.5,start	_24V_AH	15.03,103.663
NET_PING	1617466808,0,0.355500,0.000000	_10V_AH	15.00,0.000
NET	xmit part outbox011.n 686 0	FG_AHR_24Vo	194.020
SM_CCo	3366.41,339.55,0.653,0,500.5,445.1,555.8,570.21	FG_AHR_10Vo	73.713
SM_GC	0.11,339.55,16.56,3.23,0.653,0.058,0.080,500.5,445.1,555.8,196.8,2525.4,0,0,0,11.45,15.99,16.05	MEM	1126144,39,50588,84
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16127,561
IRIDIUM_FIX	4738.87,-12218.96,030421,153425	CAP_FILE_SIZE	413648,0
TCM_TEMP	24.11	SDSIZE	3918848,3899328
RAFOS_CLK	-8	SDFILEDIR	242,1
MODEM	5,1617463799,47.25000,-122.00000,299.639,438971.0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4928.381348,-12323.363281,030421,151500,2,510,-49704.02	CURRENT	0.002, 21.6,1
HUMID	50.29	GPS	030421,163508,4739.313,-12219.017,7,1.3,19,15.5
TEMP	22.68

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	617	676	6278.13	nil	0	0	0.00
Pitch_motor	39	303	178.21	nil	0	0	0.00
Roll_motor	52	175	138.93	nil	0	0	0.00
Iridium	331	147	733.60	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	22	15	5.02	nil	0	0	0.00
Core	1745	10	264.99	SciCon	0	0	0.00
LPSleep	1892	1	31.80	PMAR	0	0	0.00
Compass	509	5	38.18	nil	0	0	0.00
RAFOS	661	40	396.62
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
1	end surface: CONTROL_FINISHED_OK
state	1	begin dive
2.90	16386	-97.75	-0.99	0.00	500.1	446.4	553.7	199.1	2513.9	0.00	0.00	0	34.05	30.53	0.00	0.00	0.006	0.000	0.000	1193.09	1195.56	1190.62	199.19	2514.75	0	0	0	16.15	30.00	30.00
34.28	18695	-97.75	-0.99	80.00	1192.5	1194.8	1190.2	199.1	2514.6	3.24	-9.94	6	169.42	106.29	18.56	3.18	0.005	0.291	0.088	3221.78	3208.69	3234.88	2398.31	3893.50	0	0	0	14.59	15.77	15.97
391.39	1028	-97.75	-0.99	0.00	3220.9	3207.8	3234.0	2398.1	3893.1	38.92	-10.01	77	397.01	0.00	0.00	3.26	0.000	0.000	0.069	3221.06	3207.62	3234.50	2397.88	2460.69	0	0	0	30.00	30.00	16.02
576.39	260	-97.75	-0.99	80.00	3220.0	3206.8	3233.2	2397.5	2459.9	57.39	-10.11	114	582.08	0.00	0.00	3.32	0.000	0.000	0.081	3221.22	3208.62	3233.81	2397.81	3894.81	0	0	0	30.00	30.00	16.00
806.42	1028	-97.75	-0.99	0.00	3220.1	3206.8	3233.5	2397.2	3894.1	80.86	-10.26	160	812.08	0.00	0.00	3.24	0.000	0.000	0.069	3221.25	3207.62	3234.88	2397.69	2461.56	0	0	0	30.00	30.00	16.03
991.47	260	-97.75	-0.99	80.00	3220.3	3206.4	3234.3	2398.1	2461.1	99.60	-9.90	197	997.15	0.00	0.00	3.31	0.000	0.000	0.081	3220.06	3206.12	3234.00	2398.62	3895.94	0	0	0	30.00	30.00	16.01
1221.61	1028	-97.75	-0.99	0.00	3219.8	3205.9	3233.6	2398.2	3896.4	122.49	-9.64	243	1227.23	0.00	0.00	3.26	0.000	0.000	0.069	3220.78	3206.56	3235.00	2398.44	2459.06	0	0	0	30.00	30.00	16.03
1411.66	260	-97.75	-0.99	80.00	3219.3	3205.1	3233.5	2398.2	2459.5	141.59	-9.93	263	1417.29	0.00	0.00	3.31	0.000	0.000	0.081	3219.78	3206.00	3233.56	2398.00	3894.75	0	0	0	30.00	30.00	16.02
1496	end dive: TARGET_DEPTH_EXCEEDED
state	1496	begin apogee
1501.41	10243	0.00	-0.20	0.00	3219.7	3205.3	3234.1	2398.2	2461.6	150.12	-9.96	280	1575.12	68.96	1.55	0.09	0.677	0.293	0.175	2822.06	2777.12	2867.00	2589.81	2519.06	0	0	0	11.31	15.73	15.99
1576	end apogee: CONTROL_FINISHED_OK
state	1576	begin climb
1576.01	10759	97.75	0.99	-80.00	2822.1	2776.9	2867.4	2589.5	2519.3	142.48	0.00	288	1656.17	71.90	2.40	3.37	0.644	0.303	0.098	2426.19	2366.00	2486.38	2878.38	1097.75	0	0	0	11.74	15.87	15.89
1878.57	1028	97.75	0.99	0.00	2419.2	2354.6	2483.8	2877.4	1097.7	112.06	9.98	349	1884.24	0.00	0.00	3.28	0.000	0.000	0.078	2420.72	2355.88	2485.56	2877.81	2523.62	0	0	0	30.00	30.00	15.97
2063.60	516	97.75	0.99	-80.00	2418.4	2352.8	2484.0	2878.1	2523.3	93.56	10.06	374	2069.42	0.00	0.00	3.35	0.000	0.000	0.095	2420.97	2355.62	2486.31	2877.38	1096.81	0	0	0	30.00	30.00	15.97
2293.70	17414	97.75	0.99	0.00	2417.4	2351.4	2483.4	2878.4	1096.8	70.58	9.87	420	2299.38	0.00	0.00	3.28	0.000	0.000	0.079	2417.88	2351.88	2483.88	2877.81	2523.69	0	0	0	30.00	30.00	16.02
2478.77	16902	97.75	0.99	-80.00	2417.6	2351.0	2484.1	2878.5	2523.7	51.94	10.19	457	2484.47	0.00	0.00	3.37	0.000	0.000	0.094	2418.16	2352.00	2484.31	2878.12	1097.69	0	0	0	30.00	30.00	16.00
2708.88	17414	97.75	0.99	0.00	2417.4	2350.6	2484.1	2878.0	1097.5	28.72	10.24	503	2714.49	0.00	0.00	3.26	0.000	0.000	0.080	2418.31	2352.25	2484.38	2879.31	2522.06	0	0	0	30.00	30.00	16.04
2893.86	16902	97.75	0.99	-80.00	2417.5	2351.3	2483.8	2878.4	2522.6	10.16	9.79	540	2899.57	0.00	0.00	3.35	0.000	0.000	0.095	2416.94	2350.56	2483.31	2878.19	1099.25	0	0	0	30.00	30.00	16.01
2979	end climb: SURFACE_DEPTH_REACHED
state	2979	begin surface coast
2999	end surface coast: CONTROL_FINISHED_OK
state	2999	begin surface