Glider dive log

Shilshole 01Apr21 * SG233 * Dive index * Mission links * Dive 18 * 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 18 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 73.900459 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2640 FG_AHR_24V 194.26657 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 73.900459 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FG_AHR_24V 194.26657 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 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 18 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 030421,202334,4739.311,-12219.017,33,0.9,37,15.5 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 -89.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030421,203144,4739.310,-12219.016,4,0.9,10,15.5 MHEAD_RNG_PITCHd_Wd 300.5,10761,-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:

MODEM_MSG CACST,6,1,20210403202500.275241,05,30524,38,0080,0150,216,01,01,01,03,-1,-01,-01,1,3,0,0,150,-19.4,0.61,-100,2.39,-01,0.23,26,925,0025*30 INTERNAL_PRESSURE 9.26111

NAV 1617483543,139.0,start _24V_AH 15.31,104.140

NET_PING 1617484809,0,0.325500,0.000000 _10V_AH 15.00,0.000

NET xmit part outbox015.n 617 0 FG_AHR_24Vo 194.302

SM_CCo 353.04,339.70,0.667,0,500.8,446.0,555.6,570.13 FG_AHR_10Vo 73.944

SM_GC 0.12,339.70,3.08,0.10,0.667,0.061,0.132,500.8,446.0,555.6,199.1,2468.0,0,0,0,11.46,16.01,16.03 MEM 1125620,37,51012,91

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16107,565

IRIDIUM_FIX 4738.87,-12218.96,030421,202525 CAP_FILE_SIZE 400742,0

TCM_TEMP 24.32 SDSIZE 3918848,3898720

RAFOS_CLK -8 SDFILEDIR 253,1

MODEM 0,1617480299,47.00000,-122.50000,299.644,438978.7 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 4840.544434,-12119.086914,030421,202000,4,255,-24141.52 CURRENT 0.001,297.9,1

HUMID 50.22 GPS 030421,212419,4739.311,-12219.019,4,1.6,13,15.5

TEMP 22.81

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 273 681 2858.03 nil 0 0 0.00

Pitch_motor 39 307 186.77 nil 0 0 0.00

Roll_motor 52 167 135.45 nil 0 0 0.00

Iridium 278 187 798.86 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 19 15 4.35 nil 0 0 0.00

Core 1714 10 260.33 SciCon 0 0 0.00

LPSleep 1826 1 30.69 PMAR 0 0 0.00

Compass 512 5 38.43 nil 0 0 0.00

RAFOS 489 40 293.42

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 0.00 498.2 442.4 554.1 196.5 2467.2 0.00 0.00 0 34.25 30.50 0.00 0.00 0.006 0.000 0.000 1212.62 1218.75 1206.50 196.56 2467.31 0 0 0 16.08 30.00 30.00

34.50 18695 -97.75 -0.99 80.00 1211.5 1217.2 1205.8 196.4 2467.0 3.26 -9.90 6 165.03 102.83 19.00 3.31 0.005 0.300 0.086 3221.75 3209.06 3234.44 2396.88 3894.44 0 0 0 16.07 15.77 15.97

388.27 1028 -97.75 -0.99 0.00 3220.8 3208.2 3233.4 2396.4 3894.8 38.54 -9.88 76 393.95 0.00 0.00 3.28 0.000 0.000 0.071 3221.59 3209.06 3234.12 2396.56 2465.25 0 0 0 30.00 30.00 16.02

574.96 260 -97.75 -0.99 80.00 3220.9 3208.2 3233.6 2396.4 2465.1 57.25 -10.08 114 580.65 0.00 0.00 3.31 0.000 0.000 0.081 3220.97 3208.12 3233.81 2396.56 3896.56 0 0 0 30.00 30.00 16.02

805.04 1028 -97.75 -0.99 0.00 3220.8 3208.0 3233.5 2397.1 3897.1 80.48 -10.05 160 810.68 0.00 0.00 3.26 0.000 0.000 0.069 3221.03 3208.06 3234.00 2397.06 2463.19 0 0 0 30.00 30.00 16.05

990.03 260 -97.75 -0.99 80.00 3220.3 3207.5 3233.1 2396.9 2462.8 98.97 -10.08 197 995.70 0.00 0.00 3.30 0.000 0.000 0.080 3221.22 3208.44 3234.00 2397.12 3895.62 0 0 0 30.00 30.00 16.02

1220.06 1028 -97.75 -0.99 0.00 3220.4 3207.7 3233.1 2396.6 3895.3 121.91 -10.14 243 1225.74 0.00 0.00 3.26 0.000 0.000 0.069 3220.53 3207.50 3233.56 2397.06 2459.94 0 0 0 30.00 30.00 16.07

1410.13 260 -97.75 -0.99 80.00 3219.6 3206.9 3232.4 2397.0 2459.6 140.90 -10.09 263 1415.77 0.00 0.00 3.32 0.000 0.000 0.079 3219.97 3207.19 3232.75 2396.75 3895.12 0 0 0 30.00 30.00 16.05

1505 end dive: TARGET_DEPTH_EXCEEDED

state 1505 begin apogee

1509.89 10243 0.00 -0.20 0.00 3219.8 3207.4 3232.2 2396.4 2461.9 150.33 -9.67 282 1583.48 68.92 1.62 0.10 0.682 0.302 0.167 2822.38 2776.81 2867.94 2589.38 2519.56 0 0 0 11.29 15.79 15.99

1584 end apogee: CONTROL_FINISHED_OK

state 1584 begin climb

1584.38 10759 97.75 0.99 -80.00 2822.2 2776.4 2868.1 2588.6 2518.6 142.59 0.00 290 1664.69 71.61 2.47 3.38 0.653 0.307 0.096 2425.34 2367.75 2482.94 2878.62 1098.19 0 0 0 11.78 15.87 15.89

1886.99 1028 97.75 0.99 0.00 2419.8 2358.1 2481.5 2878.4 1098.5 112.05 10.01 351 1892.66 0.00 0.00 3.28 0.000 0.000 0.078 2422.62 2360.88 2484.38 2877.62 2524.38 0 0 0 30.00 30.00 15.99

2072.00 516 97.75 0.99 -80.00 2419.3 2356.9 2481.6 2878.0 2523.1 93.67 9.75 376 2077.70 0.00 0.00 3.36 0.000 0.000 0.093 2419.78 2358.00 2481.56 2878.62 1098.38 0 0 0 30.00 30.00 16.00

2302.08 1028 97.75 0.99 0.00 2418.7 2356.1 2481.3 2877.9 1098.2 70.92 10.07 422 2307.71 0.00 0.00 3.29 0.000 0.000 0.079 2420.28 2357.62 2482.94 2878.25 2522.12 0 0 0 30.00 30.00 16.03

2487.05 516 97.75 0.99 -80.00 2419.1 2356.3 2481.8 2878.4 2522.9 52.69 9.71 459 2492.75 0.00 0.00 3.35 0.000 0.000 0.093 2421.44 2359.00 2483.88 2877.88 1097.38 0 0 0 30.00 30.00 16.03

2717.09 1028 97.75 0.99 0.00 2418.5 2355.7 2481.4 2877.9 1097.6 29.90 9.97 505 2722.78 0.00 0.00 3.28 0.000 0.000 0.077 2418.44 2355.75 2481.12 2878.19 2523.94 0 0 0 30.00 30.00 16.06

2902.19 16902 97.75 0.99 -80.00 2418.3 2355.1 2481.6 2878.2 2524.5 11.45 10.23 542 2907.81 0.00 0.00 3.35 0.000 0.000 0.092 2419.22 2355.69 2482.75 2878.31 1094.12 0 0 0 30.00 30.00 16.03

2997 end climb: SURFACE_DEPTH_REACHED

state 2997 begin surface coast

3017 end surface coast: CONTROL_FINISHED_OK

state 3017 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	18	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	73.900459	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2640	FG_AHR_24V	194.26657	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	030421,202334,4739.311,-12219.017,33,0.9,37,15.5	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	-89.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030421,203144,4739.310,-12219.016,4,0.9,10,15.5	MHEAD_RNG_PITCHd_Wd	300.5,10761,-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

MODEM_MSG	CACST,6,1,20210403202500.275241,05,30524,38,0080,0150,216,01,01,01,03,-1,-01,-01,1,3,0,0,150,-19.4,0.61,-100,2.39,-01,0.23,26,925,0025*30	INTERNAL_PRESSURE	9.26111
NAV	1617483543,139.0,start	_24V_AH	15.31,104.140
NET_PING	1617484809,0,0.325500,0.000000	_10V_AH	15.00,0.000
NET	xmit part outbox015.n 617 0	FG_AHR_24Vo	194.302
SM_CCo	353.04,339.70,0.667,0,500.8,446.0,555.6,570.13	FG_AHR_10Vo	73.944
SM_GC	0.12,339.70,3.08,0.10,0.667,0.061,0.132,500.8,446.0,555.6,199.1,2468.0,0,0,0,11.46,16.01,16.03	MEM	1125620,37,51012,91
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16107,565
IRIDIUM_FIX	4738.87,-12218.96,030421,202525	CAP_FILE_SIZE	400742,0
TCM_TEMP	24.32	SDSIZE	3918848,3898720
RAFOS_CLK	-8	SDFILEDIR	253,1
MODEM	0,1617480299,47.00000,-122.50000,299.644,438978.7	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4840.544434,-12119.086914,030421,202000,4,255,-24141.52	CURRENT	0.001,297.9,1
HUMID	50.22	GPS	030421,212419,4739.311,-12219.019,4,1.6,13,15.5
TEMP	22.81

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	273	681	2858.03	nil	0	0	0.00
Pitch_motor	39	307	186.77	nil	0	0	0.00
Roll_motor	52	167	135.45	nil	0	0	0.00
Iridium	278	187	798.86	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	19	15	4.35	nil	0	0	0.00
Core	1714	10	260.33	SciCon	0	0	0.00
LPSleep	1826	1	30.69	PMAR	0	0	0.00
Compass	512	5	38.43	nil	0	0	0.00
RAFOS	489	40	293.42
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	498.2	442.4	554.1	196.5	2467.2	0.00	0.00	0	34.25	30.50	0.00	0.00	0.006	0.000	0.000	1212.62	1218.75	1206.50	196.56	2467.31	0	0	0	16.08	30.00	30.00
34.50	18695	-97.75	-0.99	80.00	1211.5	1217.2	1205.8	196.4	2467.0	3.26	-9.90	6	165.03	102.83	19.00	3.31	0.005	0.300	0.086	3221.75	3209.06	3234.44	2396.88	3894.44	0	0	0	16.07	15.77	15.97
388.27	1028	-97.75	-0.99	0.00	3220.8	3208.2	3233.4	2396.4	3894.8	38.54	-9.88	76	393.95	0.00	0.00	3.28	0.000	0.000	0.071	3221.59	3209.06	3234.12	2396.56	2465.25	0	0	0	30.00	30.00	16.02
574.96	260	-97.75	-0.99	80.00	3220.9	3208.2	3233.6	2396.4	2465.1	57.25	-10.08	114	580.65	0.00	0.00	3.31	0.000	0.000	0.081	3220.97	3208.12	3233.81	2396.56	3896.56	0	0	0	30.00	30.00	16.02
805.04	1028	-97.75	-0.99	0.00	3220.8	3208.0	3233.5	2397.1	3897.1	80.48	-10.05	160	810.68	0.00	0.00	3.26	0.000	0.000	0.069	3221.03	3208.06	3234.00	2397.06	2463.19	0	0	0	30.00	30.00	16.05
990.03	260	-97.75	-0.99	80.00	3220.3	3207.5	3233.1	2396.9	2462.8	98.97	-10.08	197	995.70	0.00	0.00	3.30	0.000	0.000	0.080	3221.22	3208.44	3234.00	2397.12	3895.62	0	0	0	30.00	30.00	16.02
1220.06	1028	-97.75	-0.99	0.00	3220.4	3207.7	3233.1	2396.6	3895.3	121.91	-10.14	243	1225.74	0.00	0.00	3.26	0.000	0.000	0.069	3220.53	3207.50	3233.56	2397.06	2459.94	0	0	0	30.00	30.00	16.07
1410.13	260	-97.75	-0.99	80.00	3219.6	3206.9	3232.4	2397.0	2459.6	140.90	-10.09	263	1415.77	0.00	0.00	3.32	0.000	0.000	0.079	3219.97	3207.19	3232.75	2396.75	3895.12	0	0	0	30.00	30.00	16.05
1505	end dive: TARGET_DEPTH_EXCEEDED
state	1505	begin apogee
1509.89	10243	0.00	-0.20	0.00	3219.8	3207.4	3232.2	2396.4	2461.9	150.33	-9.67	282	1583.48	68.92	1.62	0.10	0.682	0.302	0.167	2822.38	2776.81	2867.94	2589.38	2519.56	0	0	0	11.29	15.79	15.99
1584	end apogee: CONTROL_FINISHED_OK
state	1584	begin climb
1584.38	10759	97.75	0.99	-80.00	2822.2	2776.4	2868.1	2588.6	2518.6	142.59	0.00	290	1664.69	71.61	2.47	3.38	0.653	0.307	0.096	2425.34	2367.75	2482.94	2878.62	1098.19	0	0	0	11.78	15.87	15.89
1886.99	1028	97.75	0.99	0.00	2419.8	2358.1	2481.5	2878.4	1098.5	112.05	10.01	351	1892.66	0.00	0.00	3.28	0.000	0.000	0.078	2422.62	2360.88	2484.38	2877.62	2524.38	0	0	0	30.00	30.00	15.99
2072.00	516	97.75	0.99	-80.00	2419.3	2356.9	2481.6	2878.0	2523.1	93.67	9.75	376	2077.70	0.00	0.00	3.36	0.000	0.000	0.093	2419.78	2358.00	2481.56	2878.62	1098.38	0	0	0	30.00	30.00	16.00
2302.08	1028	97.75	0.99	0.00	2418.7	2356.1	2481.3	2877.9	1098.2	70.92	10.07	422	2307.71	0.00	0.00	3.29	0.000	0.000	0.079	2420.28	2357.62	2482.94	2878.25	2522.12	0	0	0	30.00	30.00	16.03
2487.05	516	97.75	0.99	-80.00	2419.1	2356.3	2481.8	2878.4	2522.9	52.69	9.71	459	2492.75	0.00	0.00	3.35	0.000	0.000	0.093	2421.44	2359.00	2483.88	2877.88	1097.38	0	0	0	30.00	30.00	16.03
2717.09	1028	97.75	0.99	0.00	2418.5	2355.7	2481.4	2877.9	1097.6	29.90	9.97	505	2722.78	0.00	0.00	3.28	0.000	0.000	0.077	2418.44	2355.75	2481.12	2878.19	2523.94	0	0	0	30.00	30.00	16.06
2902.19	16902	97.75	0.99	-80.00	2418.3	2355.1	2481.6	2878.2	2524.5	11.45	10.23	542	2907.81	0.00	0.00	3.35	0.000	0.000	0.092	2419.22	2355.69	2482.75	2878.31	1094.12	0	0	0	30.00	30.00	16.03
2997	end climb: SURFACE_DEPTH_REACHED
state	2997	begin surface coast
3017	end surface coast: CONTROL_FINISHED_OK
state	3017	begin surface