Glider dive log

Shilshole 01Apr21 * SG233 * Dive index * Mission links * Dive 22 * 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 9 FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_REP 0

DIVE 22 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 50 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 180 FILEMGR 0 VBD_DBAND 2 DEVICE1 -1

D_ABORT 201 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 3

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 60 T_GPS 5 LOITER_D_BOTTOM 550 COMPASS2_DEVICE -1

T_MISSION 75 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 72.893631 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2640 FG_AHR_24V 192.37022 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 180 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 72.893631 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FG_AHR_24V 192.37022 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 60

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 75

C_ROLL_DIVE 2495 LOGGERS 3 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 22 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 201 MISSION 9 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 50 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 020421,130850,4739.313,-12219.015,2,1.0,5,15.5 TGT_RADIUS 100.000

_CALLS 5 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.08 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -89.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 020421,132728,4739.313,-12219.016,4,0.9,10,15.5 MHEAD_RNG_PITCHd_Wd 300.5,10757,-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 1617372611,0,0.366000,0.000000 HUMID 50.22

NET xmit part outbox014.n 759 0 TEMP 22.69

MODEM_MSG CACST,6,1,20210402133000.089110,05,32767,45,0161,0150,216,02,02,00,02,-1,-01,-01,1,3,3,0,150,-16.2,0.23,-100,2.77,-01,-0.03,26,925,0025*11 INTERNAL_PRESSURE 9.19155

NAV 1617371945,114.6,start _24V_AH 15.05,101.700

SM_CCo 3378.00,337.77,0.636,0,500.6,444.6,556.6,570.18 _10V_AH 15.00,0.000

SM_GC 0.09,337.77,16.39,3.22,0.636,0.056,0.079,500.6,444.6,556.6,197.9,2524.4,0,0,0,11.31,15.98,16.04 FG_AHR_24Vo 192.467

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 72.954

IRIDIUM_FIX 4738.87,-12218.96,020421,131739 MEM 1123184,38,52928,116

TCM_TEMP 24.78 DATA_FILE_SIZE 16131,552

SC_FREEKB 3872992 CAP_FILE_SIZE 582784,0

PM_FREEKB_00 61773952 SDSIZE 3918848,3896672

PM_ACTIVECARD 0 SDFILEDIR 316,1

RAFOS_CLK -8 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 1,1617361789,47.50000,-123.50000,289.722,424442.1 CURRENT 0.002,180.0,1

RAFOS_FIX 4624.112793,-48605.253906,020421,131300,3,255,317685.47 GPS 020421,142508,4739.309,-12219.016,3,1.2,14,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 612 643 5937.41 nil 0 0 0.00

Pitch_motor 38 304 177.96 nil 0 0 0.00

Roll_motor 52 175 140.05 nil 0 0 0.00

Iridium 709 201 2148.10 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 3172 10 481.57 SciCon 3022 2 125.88

LPSleep 920 1 15.47 PMAR 3030 10 485.72

Compass 1639 5 122.98 nil 0 0 0.00

RAFOS 1117 40 670.22

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

10.40 16386 -97.75 -0.99 0.00 498.8 443.1 554.5 196.7 2469.8 0.00 0.00 0 34.19 20.93 0.00 0.00 0.006 0.000 0.000 989.22 981.12 997.31 197.00 2470.19 0 0 0 16.05 30.00 30.00

34.44 18695 -97.75 -0.99 80.00 988.5 979.8 997.2 196.6 2469.8 3.05 -10.27 4 180.47 114.52 18.48 3.33 0.005 0.292 0.089 3221.34 3206.81 3235.88 2398.38 3892.88 0 0 0 14.55 15.78 15.94

404.46 1028 -97.75 -0.99 0.00 3221.2 3205.9 3236.5 2397.8 3892.5 40.09 -10.11 76 411.12 0.00 0.00 3.26 0.000 0.000 0.073 3222.62 3208.00 3237.25 2397.12 2461.88 0 0 0 30.00 30.00 16.02

594.62 260 -97.75 -0.99 80.00 3220.9 3205.8 3236.1 2397.7 2462.9 59.42 -10.35 113 601.01 0.00 0.00 3.30 0.000 0.000 0.082 3221.62 3206.88 3236.38 2397.81 3893.56 0 0 0 30.00 30.00 15.99

827.92 1028 -97.75 -0.99 0.00 3220.3 3205.2 3235.4 2397.9 3893.9 82.81 -10.09 159 834.93 0.00 0.00 3.26 0.000 0.000 0.071 3221.69 3206.44 3236.94 2398.19 2461.81 0 0 0 30.00 30.00 16.04

1014.04 260 -97.75 -0.99 80.00 3220.2 3204.8 3235.7 2397.7 2462.2 101.44 -9.94 195 1020.88 0.00 0.00 3.32 0.000 0.000 0.081 3219.44 3204.12 3234.75 2398.00 3896.81 0 0 0 30.00 30.00 16.02

1242.83 1028 -97.75 -0.99 0.00 3220.0 3204.9 3235.2 2398.4 3896.2 124.52 -9.82 241 1251.35 0.00 0.00 3.24 0.000 0.000 0.072 3220.47 3205.19 3235.75 2398.00 2463.38 0 0 0 30.00 30.00 16.03

1438.77 260 -97.75 -0.99 80.00 3219.9 3204.2 3235.6 2398.1 2462.9 143.70 -9.95 261 1445.18 0.00 0.00 3.31 0.000 0.000 0.082 3220.03 3204.50 3235.56 2398.06 3894.31 0 0 0 30.00 30.00 16.01

1505 end dive: TARGET_DEPTH_EXCEEDED

state 1505 begin apogee

1509.59 10243 0.00 -0.20 0.00 3220.4 3204.7 3236.1 2398.3 2462.9 150.43 -10.29 274 1582.30 68.26 1.58 0.09 0.644 0.294 0.176 2822.19 2778.31 2866.06 2589.19 2518.38 0 0 0 11.44 15.78 15.97

1586 end apogee: CONTROL_FINISHED_OK

state 1586 begin climb

1585.73 10759 97.75 0.99 -80.00 2821.8 2777.2 2866.4 2588.8 2518.6 143.34 0.00 281 1667.74 71.16 2.44 3.38 0.628 0.304 0.102 2424.25 2364.44 2484.06 2878.94 1097.38 0 0 0 11.73 15.84 15.87

1892.14 1028 97.75 0.99 0.00 2419.4 2356.0 2482.8 2880.0 1097.6 111.59 10.02 341 1898.54 0.00 0.00 3.28 0.000 0.000 0.080 2422.31 2358.81 2485.81 2877.31 2523.75 0 0 0 30.00 30.00 15.95

2077.06 516 97.75 0.99 -80.00 2418.7 2353.8 2483.5 2879.2 2523.9 92.82 9.88 367 2084.01 0.00 0.00 3.38 0.000 0.000 0.097 2419.62 2355.19 2484.06 2879.12 1098.00 0 0 0 30.00 30.00 15.97

2308.52 17414 97.75 0.99 0.00 2417.8 2352.6 2483.0 2878.6 1097.6 69.53 10.37 413 2314.95 0.00 0.00 3.26 0.000 0.000 0.080 2419.00 2354.25 2483.75 2879.69 2523.94 0 0 0 30.00 30.00 15.99

2493.92 16902 97.75 0.99 -80.00 2417.4 2351.8 2483.1 2878.9 2523.1 51.09 10.33 450 2501.01 0.00 0.00 3.34 0.000 0.000 0.096 2418.22 2353.12 2483.31 2879.00 1097.50 0 0 0 30.00 30.00 16.00

2727.91 17414 97.75 0.99 0.00 2417.4 2352.1 2482.7 2878.7 1097.8 28.00 9.79 496 2734.73 0.00 0.00 3.28 0.000 0.000 0.080 2419.09 2353.94 2484.25 2879.06 2525.31 0 0 0 30.00 30.00 16.02

2914.31 16902 97.75 0.99 -80.00 2417.5 2351.8 2483.1 2878.9 2525.6 9.06 10.10 533 2921.33 0.00 0.00 3.35 0.000 0.000 0.097 2417.88 2352.25 2483.50 2879.19 1096.25 0 0 0 30.00 30.00 16.00

2992 end climb: SURFACE_DEPTH_REACHED

state 2992 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	9	FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	22	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	50	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	180	FILEMGR	0	VBD_DBAND	2	DEVICE1	-1
D_ABORT	201	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	3
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	60	T_GPS	5	LOITER_D_BOTTOM	550	COMPASS2_DEVICE	-1
T_MISSION	75	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	72.893631	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2640	FG_AHR_24V	192.37022	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	020421,130850,4739.313,-12219.015,2,1.0,5,15.5	TGT_RADIUS	100.000
_CALLS	5	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.08	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-89.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	020421,132728,4739.313,-12219.016,4,0.9,10,15.5	MHEAD_RNG_PITCHd_Wd	300.5,10757,-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	1617372611,0,0.366000,0.000000	HUMID	50.22
NET	xmit part outbox014.n 759 0	TEMP	22.69
MODEM_MSG	CACST,6,1,20210402133000.089110,05,32767,45,0161,0150,216,02,02,00,02,-1,-01,-01,1,3,3,0,150,-16.2,0.23,-100,2.77,-01,-0.03,26,925,0025*11	INTERNAL_PRESSURE	9.19155
NAV	1617371945,114.6,start	_24V_AH	15.05,101.700
SM_CCo	3378.00,337.77,0.636,0,500.6,444.6,556.6,570.18	_10V_AH	15.00,0.000
SM_GC	0.09,337.77,16.39,3.22,0.636,0.056,0.079,500.6,444.6,556.6,197.9,2524.4,0,0,0,11.31,15.98,16.04	FG_AHR_24Vo	192.467
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	72.954
IRIDIUM_FIX	4738.87,-12218.96,020421,131739	MEM	1123184,38,52928,116
TCM_TEMP	24.78	DATA_FILE_SIZE	16131,552
SC_FREEKB	3872992	CAP_FILE_SIZE	582784,0
PM_FREEKB_00	61773952	SDSIZE	3918848,3896672
PM_ACTIVECARD	0	SDFILEDIR	316,1
RAFOS_CLK	-8	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	1,1617361789,47.50000,-123.50000,289.722,424442.1	CURRENT	0.002,180.0,1
RAFOS_FIX	4624.112793,-48605.253906,020421,131300,3,255,317685.47	GPS	020421,142508,4739.309,-12219.016,3,1.2,14,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	612	643	5937.41	nil	0	0	0.00
Pitch_motor	38	304	177.96	nil	0	0	0.00
Roll_motor	52	175	140.05	nil	0	0	0.00
Iridium	709	201	2148.10	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	3172	10	481.57	SciCon	3022	2	125.88
LPSleep	920	1	15.47	PMAR	3030	10	485.72
Compass	1639	5	122.98	nil	0	0	0.00
RAFOS	1117	40	670.22
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
10.40	16386	-97.75	-0.99	0.00	498.8	443.1	554.5	196.7	2469.8	0.00	0.00	0	34.19	20.93	0.00	0.00	0.006	0.000	0.000	989.22	981.12	997.31	197.00	2470.19	0	0	0	16.05	30.00	30.00
34.44	18695	-97.75	-0.99	80.00	988.5	979.8	997.2	196.6	2469.8	3.05	-10.27	4	180.47	114.52	18.48	3.33	0.005	0.292	0.089	3221.34	3206.81	3235.88	2398.38	3892.88	0	0	0	14.55	15.78	15.94
404.46	1028	-97.75	-0.99	0.00	3221.2	3205.9	3236.5	2397.8	3892.5	40.09	-10.11	76	411.12	0.00	0.00	3.26	0.000	0.000	0.073	3222.62	3208.00	3237.25	2397.12	2461.88	0	0	0	30.00	30.00	16.02
594.62	260	-97.75	-0.99	80.00	3220.9	3205.8	3236.1	2397.7	2462.9	59.42	-10.35	113	601.01	0.00	0.00	3.30	0.000	0.000	0.082	3221.62	3206.88	3236.38	2397.81	3893.56	0	0	0	30.00	30.00	15.99
827.92	1028	-97.75	-0.99	0.00	3220.3	3205.2	3235.4	2397.9	3893.9	82.81	-10.09	159	834.93	0.00	0.00	3.26	0.000	0.000	0.071	3221.69	3206.44	3236.94	2398.19	2461.81	0	0	0	30.00	30.00	16.04
1014.04	260	-97.75	-0.99	80.00	3220.2	3204.8	3235.7	2397.7	2462.2	101.44	-9.94	195	1020.88	0.00	0.00	3.32	0.000	0.000	0.081	3219.44	3204.12	3234.75	2398.00	3896.81	0	0	0	30.00	30.00	16.02
1242.83	1028	-97.75	-0.99	0.00	3220.0	3204.9	3235.2	2398.4	3896.2	124.52	-9.82	241	1251.35	0.00	0.00	3.24	0.000	0.000	0.072	3220.47	3205.19	3235.75	2398.00	2463.38	0	0	0	30.00	30.00	16.03
1438.77	260	-97.75	-0.99	80.00	3219.9	3204.2	3235.6	2398.1	2462.9	143.70	-9.95	261	1445.18	0.00	0.00	3.31	0.000	0.000	0.082	3220.03	3204.50	3235.56	2398.06	3894.31	0	0	0	30.00	30.00	16.01
1505	end dive: TARGET_DEPTH_EXCEEDED
state	1505	begin apogee
1509.59	10243	0.00	-0.20	0.00	3220.4	3204.7	3236.1	2398.3	2462.9	150.43	-10.29	274	1582.30	68.26	1.58	0.09	0.644	0.294	0.176	2822.19	2778.31	2866.06	2589.19	2518.38	0	0	0	11.44	15.78	15.97
1586	end apogee: CONTROL_FINISHED_OK
state	1586	begin climb
1585.73	10759	97.75	0.99	-80.00	2821.8	2777.2	2866.4	2588.8	2518.6	143.34	0.00	281	1667.74	71.16	2.44	3.38	0.628	0.304	0.102	2424.25	2364.44	2484.06	2878.94	1097.38	0	0	0	11.73	15.84	15.87
1892.14	1028	97.75	0.99	0.00	2419.4	2356.0	2482.8	2880.0	1097.6	111.59	10.02	341	1898.54	0.00	0.00	3.28	0.000	0.000	0.080	2422.31	2358.81	2485.81	2877.31	2523.75	0	0	0	30.00	30.00	15.95
2077.06	516	97.75	0.99	-80.00	2418.7	2353.8	2483.5	2879.2	2523.9	92.82	9.88	367	2084.01	0.00	0.00	3.38	0.000	0.000	0.097	2419.62	2355.19	2484.06	2879.12	1098.00	0	0	0	30.00	30.00	15.97
2308.52	17414	97.75	0.99	0.00	2417.8	2352.6	2483.0	2878.6	1097.6	69.53	10.37	413	2314.95	0.00	0.00	3.26	0.000	0.000	0.080	2419.00	2354.25	2483.75	2879.69	2523.94	0	0	0	30.00	30.00	15.99
2493.92	16902	97.75	0.99	-80.00	2417.4	2351.8	2483.1	2878.9	2523.1	51.09	10.33	450	2501.01	0.00	0.00	3.34	0.000	0.000	0.096	2418.22	2353.12	2483.31	2879.00	1097.50	0	0	0	30.00	30.00	16.00
2727.91	17414	97.75	0.99	0.00	2417.4	2352.1	2482.7	2878.7	1097.8	28.00	9.79	496	2734.73	0.00	0.00	3.28	0.000	0.000	0.080	2419.09	2353.94	2484.25	2879.06	2525.31	0	0	0	30.00	30.00	16.02
2914.31	16902	97.75	0.99	-80.00	2417.5	2351.8	2483.1	2878.9	2525.6	9.06	10.10	533	2921.33	0.00	0.00	3.35	0.000	0.000	0.097	2417.88	2352.25	2483.50	2879.19	1096.25	0	0	0	30.00	30.00	16.00
2992	end climb: SURFACE_DEPTH_REACHED
state	2992	begin surface coast
3011	end surface coast: CONTROL_FINISHED_OK
state	3011	begin surface