Glider dive log

Shilshole 01Apr21 * SG233 * Dive index * Mission links * Dive 16 * 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 16 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 20 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 73.796432 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2640 FG_AHR_24V 194.10492 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 73.796432 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FG_AHR_24V 194.10492 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 16 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 20 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 030421,181440,4739.312,-12219.014,3,1.1,12,15.5 TGT_RADIUS 100.000

_CALLS 3 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 030421,182148,4739.309,-12219.017,3,1.1,10,15.5 MHEAD_RNG_PITCHd_Wd 300.3,10762,-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:

NET_PING 1617477009,0,0.369000,0.000000 INTERNAL_PRESSURE 9.25659

NET xmit part outbox013.n 776 0 _24V_AH 15.30,103.895

MODEM_MSG CACST,6,1,20210403182459.971210,05,32767,45,0159,0150,402,02,02,00,02,-1,-01,-01,1,3,0,0,150,-28.4,0.29,-100,2.71,-01,-0.01,50,925,0025*17 _10V_AH 15.00,0.000

NAV 1617476342,80.2,start FG_AHR_24Vo 194.140

SM_CCo 3048.67,3.38,0.255,0,2414.1,2343.5,2484.6,100.80 FG_AHR_10Vo 73.838

SM_GC 0.12,3.38,16.67,3.26,0.255,0.061,0.079,2414.1,2343.5,2484.6,196.4,2522.7,0,0,0,11.67,15.99,16.06 MEM 1125704,43,50848,89

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16086,563

IRIDIUM_FIX 4741.67,-12220.67,030421,181718 CAP_FILE_SIZE 424328,0

TCM_TEMP 24.23 SDSIZE 3918848,3899040

RAFOS_CLK -8 SDFILEDIR 247,1

MODEM 0,1617472800,47.00000,-122.50000,0.006,8.1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 4719.579102,-12002.611328,030421,181812,4,255,163906.59 CURRENT 0.002, -0.0,1

HUMID 50.26 GPS 030421,191328,4739.312,-12219.017,4,1.4,12,15.5

TEMP 22.72

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 188 685 1979.98 nil 0 0 0.00

Pitch_motor 39 305 184.12 nil 0 0 0.00

Roll_motor 52 174 141.16 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 19 15 4.28 nil 0 0 0.00

Core 1384 10 210.15 SciCon 0 0 0.00

LPSleep 1714 1 28.80 PMAR 0 0 0.00

Compass 509 5 38.19 nil 0 0 0.00

RAFOS 2546 40 1527.61

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

3.03 16386 -97.75 -0.99 0.00 2414.0 2345.7 2482.3 197.8 2471.2 0.00 0.00 0 34.15 30.45 0.00 0.00 0.006 0.000 0.000 2962.72 2940.25 2985.19 197.94 2471.88 0 0 0 16.16 30.00 30.00

34.40 18695 -97.75 -0.99 80.00 2961.5 2939.2 2983.7 197.9 2472.0 3.20 -9.76 6 75.13 14.14 18.66 3.29 0.006 0.291 0.087 3222.59 3205.12 3240.06 2398.31 3894.25 0 0 0 16.15 15.80 16.02

297.11 1028 -97.75 -0.99 0.00 3221.0 3204.1 3237.9 2397.7 3894.5 29.63 -10.03 58 302.73 0.00 0.00 3.27 0.000 0.000 0.069 3221.78 3204.19 3239.38 2398.75 2463.38 0 0 0 30.00 30.00 16.04

482.13 260 -97.75 -0.99 80.00 3221.2 3204.1 3238.4 2397.7 2463.5 48.29 -10.00 95 487.77 0.00 0.00 3.33 0.000 0.000 0.082 3221.47 3204.38 3238.56 2397.75 3894.81 0 0 0 30.00 30.00 16.02

712.10 1028 -97.75 -0.99 0.00 3221.2 3203.6 3238.8 2397.9 3895.6 71.41 -10.21 141 717.79 0.00 0.00 3.27 0.000 0.000 0.068 3221.09 3203.94 3238.25 2398.12 2462.88 0 0 0 30.00 30.00 16.04

898.14 260 -97.75 -0.99 80.00 3220.5 3203.6 3237.5 2398.5 2463.4 89.82 -10.02 178 903.81 0.00 0.00 3.30 0.000 0.000 0.081 3221.72 3204.75 3238.69 2398.69 3896.44 0 0 0 30.00 30.00 16.01

1128.53 1028 -97.75 -0.99 0.00 3221.2 3204.4 3238.1 2398.4 3896.4 112.58 -9.89 224 1133.84 0.00 0.00 3.28 0.000 0.000 0.069 3221.47 3204.50 3238.44 2398.00 2462.88 0 0 0 30.00 30.00 16.06

1318.24 260 -97.75 -0.99 80.00 3221.6 3204.8 3238.5 2398.4 2462.1 131.43 -9.95 244 1323.88 0.00 0.00 3.31 0.000 0.000 0.081 3221.19 3203.81 3238.56 2398.00 3896.38 0 0 0 30.00 30.00 16.02

1508 end dive: TARGET_DEPTH_EXCEEDED

state 1508 begin apogee

1513.09 10243 0.00 -0.20 0.00 3220.7 3203.9 3237.5 2398.3 2462.4 150.27 -9.73 282 1585.01 68.83 1.59 0.09 0.686 0.297 0.174 2821.50 2776.56 2866.44 2589.75 2518.19 0 0 0 11.53 15.74 15.99

1586 end apogee: CONTROL_FINISHED_OK

state 1586 begin climb

1585.99 10759 97.75 0.99 -80.00 2822.2 2777.0 2867.3 2589.8 2518.3 143.33 0.00 289 1665.77 71.96 2.44 3.38 0.647 0.306 0.097 2426.00 2363.75 2488.25 2877.75 1097.81 0 0 0 11.84 15.87 15.89

1888.09 1028 97.75 0.99 0.00 2420.0 2354.4 2485.6 2877.8 1097.5 112.66 10.04 350 1893.77 0.00 0.00 3.28 0.000 0.000 0.079 2420.50 2355.25 2485.75 2878.44 2524.44 0 0 0 30.00 30.00 15.96

2073.19 516 97.75 0.99 -80.00 2419.3 2353.3 2485.2 2878.2 2524.7 94.07 10.25 374 2078.81 0.00 0.00 3.36 0.000 0.000 0.095 2419.38 2353.75 2485.00 2878.31 1097.19 0 0 0 30.00 30.00 15.97

2303.13 1028 97.75 0.99 0.00 2418.8 2352.2 2485.3 2878.2 1097.4 71.29 10.22 420 2308.82 0.00 0.00 3.26 0.000 0.000 0.078 2421.59 2355.38 2487.81 2878.12 2525.25 0 0 0 30.00 30.00 16.03

2488.17 516 97.75 0.99 -80.00 2418.7 2352.2 2485.2 2878.1 2524.8 52.70 10.02 457 2493.88 0.00 0.00 3.37 0.000 0.000 0.093 2420.12 2353.38 2486.88 2877.94 1098.38 0 0 0 30.00 30.00 16.00

2718.20 1028 97.75 0.99 0.00 2418.4 2351.8 2485.1 2877.8 1098.0 29.64 10.16 503 2723.89 0.00 0.00 3.28 0.000 0.000 0.079 2421.53 2354.69 2488.38 2878.56 2522.56 0 0 0 30.00 30.00 16.05

2903.23 516 97.75 0.99 -80.00 2418.4 2351.8 2485.0 2878.2 2522.3 11.15 9.96 540 2908.94 0.00 0.00 3.35 0.000 0.000 0.094 2420.69 2353.81 2487.56 2878.00 1099.00 0 0 0 30.00 30.00 16.00

2998 end climb: SURFACE_DEPTH_REACHED

state 2998 begin surface coast

3018 end surface coast: CONTROL_FINISHED_OK

state 3018 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	16	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	20	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	73.796432	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2640	FG_AHR_24V	194.10492	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	030421,181440,4739.312,-12219.014,3,1.1,12,15.5	TGT_RADIUS	100.000
_CALLS	3	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	030421,182148,4739.309,-12219.017,3,1.1,10,15.5	MHEAD_RNG_PITCHd_Wd	300.3,10762,-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

NET_PING	1617477009,0,0.369000,0.000000	INTERNAL_PRESSURE	9.25659
NET	xmit part outbox013.n 776 0	_24V_AH	15.30,103.895
MODEM_MSG	CACST,6,1,20210403182459.971210,05,32767,45,0159,0150,402,02,02,00,02,-1,-01,-01,1,3,0,0,150,-28.4,0.29,-100,2.71,-01,-0.01,50,925,0025*17	_10V_AH	15.00,0.000
NAV	1617476342,80.2,start	FG_AHR_24Vo	194.140
SM_CCo	3048.67,3.38,0.255,0,2414.1,2343.5,2484.6,100.80	FG_AHR_10Vo	73.838
SM_GC	0.12,3.38,16.67,3.26,0.255,0.061,0.079,2414.1,2343.5,2484.6,196.4,2522.7,0,0,0,11.67,15.99,16.06	MEM	1125704,43,50848,89
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16086,563
IRIDIUM_FIX	4741.67,-12220.67,030421,181718	CAP_FILE_SIZE	424328,0
TCM_TEMP	24.23	SDSIZE	3918848,3899040
RAFOS_CLK	-8	SDFILEDIR	247,1
MODEM	0,1617472800,47.00000,-122.50000,0.006,8.1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4719.579102,-12002.611328,030421,181812,4,255,163906.59	CURRENT	0.002, -0.0,1
HUMID	50.26	GPS	030421,191328,4739.312,-12219.017,4,1.4,12,15.5
TEMP	22.72

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	188	685	1979.98	nil	0	0	0.00
Pitch_motor	39	305	184.12	nil	0	0	0.00
Roll_motor	52	174	141.16	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	19	15	4.28	nil	0	0	0.00
Core	1384	10	210.15	SciCon	0	0	0.00
LPSleep	1714	1	28.80	PMAR	0	0	0.00
Compass	509	5	38.19	nil	0	0	0.00
RAFOS	2546	40	1527.61
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
3.03	16386	-97.75	-0.99	0.00	2414.0	2345.7	2482.3	197.8	2471.2	0.00	0.00	0	34.15	30.45	0.00	0.00	0.006	0.000	0.000	2962.72	2940.25	2985.19	197.94	2471.88	0	0	0	16.16	30.00	30.00
34.40	18695	-97.75	-0.99	80.00	2961.5	2939.2	2983.7	197.9	2472.0	3.20	-9.76	6	75.13	14.14	18.66	3.29	0.006	0.291	0.087	3222.59	3205.12	3240.06	2398.31	3894.25	0	0	0	16.15	15.80	16.02
297.11	1028	-97.75	-0.99	0.00	3221.0	3204.1	3237.9	2397.7	3894.5	29.63	-10.03	58	302.73	0.00	0.00	3.27	0.000	0.000	0.069	3221.78	3204.19	3239.38	2398.75	2463.38	0	0	0	30.00	30.00	16.04
482.13	260	-97.75	-0.99	80.00	3221.2	3204.1	3238.4	2397.7	2463.5	48.29	-10.00	95	487.77	0.00	0.00	3.33	0.000	0.000	0.082	3221.47	3204.38	3238.56	2397.75	3894.81	0	0	0	30.00	30.00	16.02
712.10	1028	-97.75	-0.99	0.00	3221.2	3203.6	3238.8	2397.9	3895.6	71.41	-10.21	141	717.79	0.00	0.00	3.27	0.000	0.000	0.068	3221.09	3203.94	3238.25	2398.12	2462.88	0	0	0	30.00	30.00	16.04
898.14	260	-97.75	-0.99	80.00	3220.5	3203.6	3237.5	2398.5	2463.4	89.82	-10.02	178	903.81	0.00	0.00	3.30	0.000	0.000	0.081	3221.72	3204.75	3238.69	2398.69	3896.44	0	0	0	30.00	30.00	16.01
1128.53	1028	-97.75	-0.99	0.00	3221.2	3204.4	3238.1	2398.4	3896.4	112.58	-9.89	224	1133.84	0.00	0.00	3.28	0.000	0.000	0.069	3221.47	3204.50	3238.44	2398.00	2462.88	0	0	0	30.00	30.00	16.06
1318.24	260	-97.75	-0.99	80.00	3221.6	3204.8	3238.5	2398.4	2462.1	131.43	-9.95	244	1323.88	0.00	0.00	3.31	0.000	0.000	0.081	3221.19	3203.81	3238.56	2398.00	3896.38	0	0	0	30.00	30.00	16.02
1508	end dive: TARGET_DEPTH_EXCEEDED
state	1508	begin apogee
1513.09	10243	0.00	-0.20	0.00	3220.7	3203.9	3237.5	2398.3	2462.4	150.27	-9.73	282	1585.01	68.83	1.59	0.09	0.686	0.297	0.174	2821.50	2776.56	2866.44	2589.75	2518.19	0	0	0	11.53	15.74	15.99
1586	end apogee: CONTROL_FINISHED_OK
state	1586	begin climb
1585.99	10759	97.75	0.99	-80.00	2822.2	2777.0	2867.3	2589.8	2518.3	143.33	0.00	289	1665.77	71.96	2.44	3.38	0.647	0.306	0.097	2426.00	2363.75	2488.25	2877.75	1097.81	0	0	0	11.84	15.87	15.89
1888.09	1028	97.75	0.99	0.00	2420.0	2354.4	2485.6	2877.8	1097.5	112.66	10.04	350	1893.77	0.00	0.00	3.28	0.000	0.000	0.079	2420.50	2355.25	2485.75	2878.44	2524.44	0	0	0	30.00	30.00	15.96
2073.19	516	97.75	0.99	-80.00	2419.3	2353.3	2485.2	2878.2	2524.7	94.07	10.25	374	2078.81	0.00	0.00	3.36	0.000	0.000	0.095	2419.38	2353.75	2485.00	2878.31	1097.19	0	0	0	30.00	30.00	15.97
2303.13	1028	97.75	0.99	0.00	2418.8	2352.2	2485.3	2878.2	1097.4	71.29	10.22	420	2308.82	0.00	0.00	3.26	0.000	0.000	0.078	2421.59	2355.38	2487.81	2878.12	2525.25	0	0	0	30.00	30.00	16.03
2488.17	516	97.75	0.99	-80.00	2418.7	2352.2	2485.2	2878.1	2524.8	52.70	10.02	457	2493.88	0.00	0.00	3.37	0.000	0.000	0.093	2420.12	2353.38	2486.88	2877.94	1098.38	0	0	0	30.00	30.00	16.00
2718.20	1028	97.75	0.99	0.00	2418.4	2351.8	2485.1	2877.8	1098.0	29.64	10.16	503	2723.89	0.00	0.00	3.28	0.000	0.000	0.079	2421.53	2354.69	2488.38	2878.56	2522.56	0	0	0	30.00	30.00	16.05
2903.23	516	97.75	0.99	-80.00	2418.4	2351.8	2485.0	2878.2	2522.3	11.15	9.96	540	2908.94	0.00	0.00	3.35	0.000	0.000	0.094	2420.69	2353.81	2487.56	2878.00	1099.00	0	0	0	30.00	30.00	16.00
2998	end climb: SURFACE_DEPTH_REACHED
state	2998	begin surface coast
3018	end surface coast: CONTROL_FINISHED_OK
state	3018	begin surface