Glider dive log

Shilshole 01Apr21 * SG233 * Dive index * Mission links * Dive 17 * 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 17 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 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 73.847252 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2640 FG_AHR_24V 194.15233 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 4 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 73.847252 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FG_AHR_24V 194.15233 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 4 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 17 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 030421,191328,4739.312,-12219.017,4,1.4,12,15.5 TGT_RADIUS 100.000

_CALLS 5 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.11 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -89.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030421,192554,4739.310,-12219.017,3,1.4,12,15.5 MHEAD_RNG_PITCHd_Wd 300.3,10761,-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 1617480607,0,0.417000,0.000000 INTERNAL_PRESSURE 9.19387

NET xmit part outbox014.n 654 0 _24V_AH 15.05,104.049

MODEM_MSG CACST,6,1,20210403192459.626988,05,32767,45,0162,0150,216,04,04,00,04,-1,-01,-01,1,3,0,0,150,-22.3,0.54,-100,2.46,-01,0.00,26,925,0025*37 _10V_AH 15.00,0.000

NAV 1617479950,102.8,start FG_AHR_24Vo 194.255

SM_CCo 3378.83,340.26,0.667,0,500.7,445.2,556.2,570.15 FG_AHR_10Vo 73.893

SM_GC 0.12,340.26,16.68,3.25,0.667,0.065,0.078,500.7,445.2,556.2,196.6,2524.6,0,0,0,11.46,15.99,16.05 MEM 1125456,46,50996,91

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16126,563

IRIDIUM_FIX 4739.72,-12216.25,030421,192148 CAP_FILE_SIZE 420078,0

TCM_TEMP 24.23 SDSIZE 3918848,3898816

RAFOS_CLK -9 SDFILEDIR 252,1

MODEM 0,1617472800,47.00000,-122.50000,0.006,8.1 ERRORS 0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 4959.146484,-12053.636719,030421,191959,4,255,-14998.80 CURRENT 0.001, -0.0,1

HUMID 50.24 GPS 030421,202334,4739.311,-12219.017,33,0.9,37,15.5

TEMP 22.81

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 525 686 5437.75 nil 0 0 0.00

Pitch_motor 39 307 181.68 nil 0 0 0.00

Roll_motor 52 168 134.47 nil 0 0 0.00

Iridium 386 142 826.26 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 21 15 4.80 nil 0 0 0.00

Core 1771 10 268.97 SciCon 0 0 0.00

LPSleep 1936 1 32.53 PMAR 0 0 0.00

Compass 510 5 38.27 nil 0 0 0.00

RAFOS 745 40 447.01

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

3.14 16386 -97.75 -0.99 0.00 2414.3 2343.9 2484.8 196.6 2467.6 0.00 0.00 0 34.26 30.44 0.00 0.00 0.006 0.000 0.000 2963.59 2940.62 2986.56 196.44 2468.12 0 0 0 16.15 30.00 30.00

34.50 18695 -97.75 -0.99 80.00 2962.7 2939.1 2986.3 196.3 2467.6 3.31 -10.18 6 75.22 14.10 18.63 3.33 0.006 0.295 0.087 3220.22 3202.00 3238.44 2396.62 3893.75 0 0 0 16.13 15.80 16.00

297.14 1028 -97.75 -0.99 0.00 3221.0 3203.1 3239.0 2396.6 3894.4 29.64 -9.88 58 302.80 0.00 0.00 3.27 0.000 0.000 0.070 3222.16 3204.31 3240.00 2397.38 2463.19 0 0 0 30.00 30.00 16.02

482.18 260 -97.75 -0.99 80.00 3220.9 3203.2 3238.6 2396.2 2463.1 48.28 -10.09 95 487.83 0.00 0.00 3.30 0.000 0.000 0.080 3223.03 3205.06 3241.00 2396.56 3894.62 0 0 0 30.00 30.00 16.00

713.57 1028 -97.75 -0.99 0.00 3220.7 3203.4 3237.9 2397.1 3894.0 71.17 -10.00 141 719.25 0.00 0.00 3.27 0.000 0.000 0.068 3222.22 3204.31 3240.12 2397.50 2464.56 0 0 0 30.00 30.00 16.05

900.63 260 -97.75 -0.99 80.00 3221.6 3204.4 3238.8 2397.6 2464.1 89.82 -10.23 179 906.33 0.00 0.00 3.31 0.000 0.000 0.080 3220.81 3203.25 3238.38 2396.81 3894.25 0 0 0 30.00 30.00 16.05

1130.77 1028 -97.75 -0.99 0.00 3221.2 3203.4 3238.9 2397.6 3894.2 112.82 -9.60 225 1136.38 0.00 0.00 3.26 0.000 0.000 0.069 3222.97 3205.25 3240.69 2396.44 2463.94 0 0 0 30.00 30.00 16.04

1320.78 260 -97.75 -0.99 80.00 3220.7 3202.9 3238.5 2397.3 2462.5 132.15 -10.21 245 1326.41 0.00 0.00 3.32 0.000 0.000 0.080 3221.78 3204.25 3239.31 2397.50 3895.38 0 0 0 30.00 30.00 16.02

1501 end dive: TARGET_DEPTH_EXCEEDED

state 1501 begin apogee

1505.52 10243 0.00 -0.20 0.00 3220.9 3203.4 3238.4 2397.9 2461.6 150.27 -9.96 281 1577.56 69.09 1.59 0.10 0.687 0.297 0.169 2821.09 2775.94 2866.25 2589.50 2522.12 0 0 0 11.55 15.79 15.99

1578 end apogee: CONTROL_FINISHED_OK

state 1578 begin climb

1578.52 10759 97.75 0.99 -80.00 2822.1 2777.2 2866.9 2589.6 2521.9 143.15 0.00 288 1658.32 72.11 2.41 3.38 0.654 0.307 0.097 2424.88 2363.00 2486.75 2878.12 1097.44 0 0 0 11.81 15.86 15.89

1880.74 1028 97.75 0.99 0.00 2420.1 2354.6 2485.6 2878.5 1097.5 112.26 9.77 349 1886.37 0.00 0.00 3.26 0.000 0.000 0.078 2421.34 2355.88 2486.81 2877.56 2524.12 0 0 0 30.00 30.00 15.98

2065.71 516 97.75 0.99 -80.00 2419.3 2353.1 2485.6 2878.2 2523.9 93.88 10.10 374 2071.40 0.00 0.00 3.36 0.000 0.000 0.093 2422.25 2355.88 2488.62 2877.75 1098.31 0 0 0 30.00 30.00 15.98

2295.73 1028 97.75 0.99 0.00 2419.1 2352.4 2485.8 2877.7 1097.9 71.16 9.71 420 2301.44 0.00 0.00 3.27 0.000 0.000 0.079 2419.97 2353.19 2486.75 2878.31 2523.81 0 0 0 30.00 30.00 16.03

2480.76 516 97.75 0.99 -80.00 2418.6 2351.6 2485.5 2877.6 2524.0 52.59 9.83 457 2486.47 0.00 0.00 3.35 0.000 0.000 0.093 2419.28 2352.25 2486.31 2877.75 1096.56 0 0 0 30.00 30.00 16.02

2710.85 1028 97.75 0.99 0.00 2418.8 2351.8 2485.9 2877.7 1096.4 29.63 10.03 503 2716.48 0.00 0.00 3.28 0.000 0.000 0.078 2419.38 2352.38 2486.38 2877.94 2524.69 0 0 0 30.00 30.00 16.06

2895.91 516 97.75 0.99 -80.00 2418.5 2351.7 2485.4 2878.7 2524.4 11.22 9.97 540 2901.52 0.00 0.00 3.35 0.000 0.000 0.092 2419.22 2352.00 2486.44 2877.81 1098.00 0 0 0 30.00 30.00 16.03

2991 end climb: SURFACE_DEPTH_REACHED

state 2991 begin surface coast

3011 end surface coast: CONTROL_FINISHED_OK

state 3011 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	17	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	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	73.847252	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2640	FG_AHR_24V	194.15233	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	4	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	030421,191328,4739.312,-12219.017,4,1.4,12,15.5	TGT_RADIUS	100.000
_CALLS	5	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.11	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-89.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030421,192554,4739.310,-12219.017,3,1.4,12,15.5	MHEAD_RNG_PITCHd_Wd	300.3,10761,-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	1617480607,0,0.417000,0.000000	INTERNAL_PRESSURE	9.19387
NET	xmit part outbox014.n 654 0	_24V_AH	15.05,104.049
MODEM_MSG	CACST,6,1,20210403192459.626988,05,32767,45,0162,0150,216,04,04,00,04,-1,-01,-01,1,3,0,0,150,-22.3,0.54,-100,2.46,-01,0.00,26,925,0025*37	_10V_AH	15.00,0.000
NAV	1617479950,102.8,start	FG_AHR_24Vo	194.255
SM_CCo	3378.83,340.26,0.667,0,500.7,445.2,556.2,570.15	FG_AHR_10Vo	73.893
SM_GC	0.12,340.26,16.68,3.25,0.667,0.065,0.078,500.7,445.2,556.2,196.6,2524.6,0,0,0,11.46,15.99,16.05	MEM	1125456,46,50996,91
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16126,563
IRIDIUM_FIX	4739.72,-12216.25,030421,192148	CAP_FILE_SIZE	420078,0
TCM_TEMP	24.23	SDSIZE	3918848,3898816
RAFOS_CLK	-9	SDFILEDIR	252,1
MODEM	0,1617472800,47.00000,-122.50000,0.006,8.1	ERRORS	0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4959.146484,-12053.636719,030421,191959,4,255,-14998.80	CURRENT	0.001, -0.0,1
HUMID	50.24	GPS	030421,202334,4739.311,-12219.017,33,0.9,37,15.5
TEMP	22.81

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	525	686	5437.75	nil	0	0	0.00
Pitch_motor	39	307	181.68	nil	0	0	0.00
Roll_motor	52	168	134.47	nil	0	0	0.00
Iridium	386	142	826.26	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	21	15	4.80	nil	0	0	0.00
Core	1771	10	268.97	SciCon	0	0	0.00
LPSleep	1936	1	32.53	PMAR	0	0	0.00
Compass	510	5	38.27	nil	0	0	0.00
RAFOS	745	40	447.01
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
3.14	16386	-97.75	-0.99	0.00	2414.3	2343.9	2484.8	196.6	2467.6	0.00	0.00	0	34.26	30.44	0.00	0.00	0.006	0.000	0.000	2963.59	2940.62	2986.56	196.44	2468.12	0	0	0	16.15	30.00	30.00
34.50	18695	-97.75	-0.99	80.00	2962.7	2939.1	2986.3	196.3	2467.6	3.31	-10.18	6	75.22	14.10	18.63	3.33	0.006	0.295	0.087	3220.22	3202.00	3238.44	2396.62	3893.75	0	0	0	16.13	15.80	16.00
297.14	1028	-97.75	-0.99	0.00	3221.0	3203.1	3239.0	2396.6	3894.4	29.64	-9.88	58	302.80	0.00	0.00	3.27	0.000	0.000	0.070	3222.16	3204.31	3240.00	2397.38	2463.19	0	0	0	30.00	30.00	16.02
482.18	260	-97.75	-0.99	80.00	3220.9	3203.2	3238.6	2396.2	2463.1	48.28	-10.09	95	487.83	0.00	0.00	3.30	0.000	0.000	0.080	3223.03	3205.06	3241.00	2396.56	3894.62	0	0	0	30.00	30.00	16.00
713.57	1028	-97.75	-0.99	0.00	3220.7	3203.4	3237.9	2397.1	3894.0	71.17	-10.00	141	719.25	0.00	0.00	3.27	0.000	0.000	0.068	3222.22	3204.31	3240.12	2397.50	2464.56	0	0	0	30.00	30.00	16.05
900.63	260	-97.75	-0.99	80.00	3221.6	3204.4	3238.8	2397.6	2464.1	89.82	-10.23	179	906.33	0.00	0.00	3.31	0.000	0.000	0.080	3220.81	3203.25	3238.38	2396.81	3894.25	0	0	0	30.00	30.00	16.05
1130.77	1028	-97.75	-0.99	0.00	3221.2	3203.4	3238.9	2397.6	3894.2	112.82	-9.60	225	1136.38	0.00	0.00	3.26	0.000	0.000	0.069	3222.97	3205.25	3240.69	2396.44	2463.94	0	0	0	30.00	30.00	16.04
1320.78	260	-97.75	-0.99	80.00	3220.7	3202.9	3238.5	2397.3	2462.5	132.15	-10.21	245	1326.41	0.00	0.00	3.32	0.000	0.000	0.080	3221.78	3204.25	3239.31	2397.50	3895.38	0	0	0	30.00	30.00	16.02
1501	end dive: TARGET_DEPTH_EXCEEDED
state	1501	begin apogee
1505.52	10243	0.00	-0.20	0.00	3220.9	3203.4	3238.4	2397.9	2461.6	150.27	-9.96	281	1577.56	69.09	1.59	0.10	0.687	0.297	0.169	2821.09	2775.94	2866.25	2589.50	2522.12	0	0	0	11.55	15.79	15.99
1578	end apogee: CONTROL_FINISHED_OK
state	1578	begin climb
1578.52	10759	97.75	0.99	-80.00	2822.1	2777.2	2866.9	2589.6	2521.9	143.15	0.00	288	1658.32	72.11	2.41	3.38	0.654	0.307	0.097	2424.88	2363.00	2486.75	2878.12	1097.44	0	0	0	11.81	15.86	15.89
1880.74	1028	97.75	0.99	0.00	2420.1	2354.6	2485.6	2878.5	1097.5	112.26	9.77	349	1886.37	0.00	0.00	3.26	0.000	0.000	0.078	2421.34	2355.88	2486.81	2877.56	2524.12	0	0	0	30.00	30.00	15.98
2065.71	516	97.75	0.99	-80.00	2419.3	2353.1	2485.6	2878.2	2523.9	93.88	10.10	374	2071.40	0.00	0.00	3.36	0.000	0.000	0.093	2422.25	2355.88	2488.62	2877.75	1098.31	0	0	0	30.00	30.00	15.98
2295.73	1028	97.75	0.99	0.00	2419.1	2352.4	2485.8	2877.7	1097.9	71.16	9.71	420	2301.44	0.00	0.00	3.27	0.000	0.000	0.079	2419.97	2353.19	2486.75	2878.31	2523.81	0	0	0	30.00	30.00	16.03
2480.76	516	97.75	0.99	-80.00	2418.6	2351.6	2485.5	2877.6	2524.0	52.59	9.83	457	2486.47	0.00	0.00	3.35	0.000	0.000	0.093	2419.28	2352.25	2486.31	2877.75	1096.56	0	0	0	30.00	30.00	16.02
2710.85	1028	97.75	0.99	0.00	2418.8	2351.8	2485.9	2877.7	1096.4	29.63	10.03	503	2716.48	0.00	0.00	3.28	0.000	0.000	0.078	2419.38	2352.38	2486.38	2877.94	2524.69	0	0	0	30.00	30.00	16.06
2895.91	516	97.75	0.99	-80.00	2418.5	2351.7	2485.4	2878.7	2524.4	11.22	9.97	540	2901.52	0.00	0.00	3.35	0.000	0.000	0.092	2419.22	2352.00	2486.44	2877.81	1098.00	0	0	0	30.00	30.00	16.03
2991	end climb: SURFACE_DEPTH_REACHED
state	2991	begin surface coast
3011	end surface coast: CONTROL_FINISHED_OK
state	3011	begin surface