Glider dive log

Shilshole 01Apr21 * SG233 * Dive index * Mission links * Dive 23 * 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 23 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 72.964813 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2640 FG_AHR_24V 192.47971 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 72.964813 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FG_AHR_24V 192.47971 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 23 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 020421,142508,4739.309,-12219.016,3,1.2,14,15.5 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 020421,143818,4739.312,-12219.021,4,1.2,19,15.5 MHEAD_RNG_PITCHd_Wd 301.0,10754,-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,6,1,20210402141959.475534,05,32767,45,0177,0150,246,02,02,00,04,-1,-01,-01,1,3,3,0,150,-39.6,0.52,-100,2.48,-01,-0.03,61,925,0025*19 HUMID 50.18

NAV 1617375548,121.8,start TEMP 22.71

NET_PING 1617376809,0,0.445500,0.000000 INTERNAL_PRESSURE 9.18845

NET xmit part outbox015.n 738 0 _24V_AH 15.07,101.868

SM_CCo 3372.43,338.38,0.634,0,500.9,444.9,557.0,570.09 _10V_AH 15.00,0.000

SM_GC 0.09,338.38,16.47,3.21,0.634,0.055,0.080,500.9,444.9,557.0,198.0,2523.9,0,0,0,11.32,15.99,16.04 FG_AHR_24Vo 192.577

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 73.025

IRIDIUM_FIX 4738.87,-12218.96,020421,142811 MEM 1123000,39,53052,118

TCM_TEMP 24.78 DATA_FILE_SIZE 16128,551

SC_FREEKB 3872672 CAP_FILE_SIZE 581187,0

PM_FREEKB_00 61731136 SDSIZE 3918848,3896192

PM_ACTIVECARD 0 SDFILEDIR 328,1

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

MODEM 0,1617368400,47.00000,-122.50000,0.151,221.7 CURRENT 0.002, 74.9,1

RAFOS_FIX 4806.905762,-12302.076172,020421,141410,5,255,-8410.52 GPS 020421,153613,4739.312,-12219.016,22,1.5,34,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 612 639 5906.32 nil 0 0 0.00

Pitch_motor 38 302 177.58 nil 0 0 0.00

Roll_motor 52 169 134.92 nil 0 0 0.00

Iridium 367 164 912.59 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 28 15 6.51 nil 0 0 0.00

Core 2820 10 428.20 SciCon 3016 2 127.94

LPSleep 939 1 15.78 PMAR 3022 10 480.82

Compass 1624 5 121.87 nil 0 0 0.00

RAFOS 789 40 473.41

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 0.00 498.3 442.2 554.4 198.0 2469.2 0.00 0.00 0 37.59 24.33 0.00 0.00 0.006 0.000 0.000 1069.00 1064.00 1074.00 197.44 2469.12 0 0 0 16.10 30.00 30.00

37.85 18695 -97.75 -0.99 80.00 1068.4 1063.2 1073.5 198.1 2469.2 3.37 -10.59 4 177.72 110.55 18.47 3.28 0.005 0.294 0.088 3223.22 3208.38 3238.06 2396.75 3893.38 0 0 0 14.80 15.81 16.01

401.84 1028 -97.75 -0.99 0.00 3220.9 3206.1 3235.7 2397.6 3893.2 40.27 -9.77 75 408.83 0.00 0.00 3.26 0.000 0.000 0.072 3221.50 3207.25 3235.75 2397.31 2461.31 0 0 0 30.00 30.00 16.01

588.41 260 -97.75 -0.99 80.00 3221.0 3206.4 3235.6 2397.5 2461.4 58.87 -9.99 112 595.41 0.00 0.00 3.29 0.000 0.000 0.082 3222.56 3208.38 3236.75 2397.25 3894.00 0 0 0 30.00 30.00 16.01

822.83 1028 -97.75 -0.99 0.00 3220.9 3206.2 3235.7 2397.1 3894.6 82.19 -9.93 158 829.77 0.00 0.00 3.26 0.000 0.000 0.072 3220.66 3205.81 3235.50 2398.00 2462.81 0 0 0 30.00 30.00 16.03

1009.40 260 -97.75 -0.99 80.00 3220.5 3205.2 3235.8 2397.4 2462.8 101.04 -10.01 194 1016.31 0.00 0.00 3.30 0.000 0.000 0.082 3222.91 3208.12 3237.69 2396.00 3894.81 0 0 0 30.00 30.00 16.01

1238.24 1028 -97.75 -0.99 0.00 3220.0 3204.4 3235.7 2397.2 3893.6 124.32 -9.89 240 1246.75 0.00 0.00 3.26 0.000 0.000 0.072 3220.38 3205.19 3235.56 2397.69 2461.50 0 0 0 30.00 30.00 16.03

1425.74 260 -97.75 -0.99 80.00 3220.2 3204.9 3235.4 2397.8 2461.8 143.40 -10.19 259 1432.68 0.00 0.00 3.29 0.000 0.000 0.082 3221.62 3206.44 3236.81 2397.31 3896.62 0 0 0 30.00 30.00 16.02

1492 end dive: TARGET_DEPTH_EXCEEDED

state 1492 begin apogee

1496.55 10243 0.00 -0.20 0.00 3220.2 3204.5 3235.9 2397.6 2459.6 150.13 -10.21 272 1569.46 68.21 1.59 0.10 0.640 0.294 0.170 2823.31 2779.88 2866.75 2589.56 2519.88 0 0 0 11.32 15.78 15.98

1572 end apogee: CONTROL_FINISHED_OK

state 1572 begin climb

1572.42 10759 97.75 0.99 -80.00 2821.9 2777.1 2866.7 2590.0 2519.2 143.20 0.00 279 1655.05 71.22 2.43 3.38 0.622 0.302 0.101 2424.53 2365.19 2483.88 2878.56 1098.56 0 0 0 11.76 15.86 15.88

1880.29 1028 97.75 0.99 0.00 2419.1 2355.5 2482.6 2879.2 1098.4 111.70 9.84 339 1891.99 0.00 0.00 3.27 0.000 0.000 0.080 2420.81 2357.56 2484.06 2878.94 2523.69 0 0 0 30.00 30.00 15.96

2071.20 16902 97.75 0.99 -80.00 2418.3 2354.4 2482.2 2879.0 2524.0 92.94 9.95 366 2078.20 0.00 0.00 3.36 0.000 0.000 0.097 2421.19 2356.75 2485.62 2878.56 1096.75 0 0 0 30.00 30.00 15.97

2302.69 17414 97.75 0.99 0.00 2417.8 2353.2 2482.4 2878.6 1096.8 69.96 9.70 412 2309.11 0.00 0.00 3.27 0.000 0.000 0.079 2418.25 2353.62 2482.88 2879.00 2523.50 0 0 0 30.00 30.00 16.02

2491.45 16902 97.75 0.99 -80.00 2417.4 2352.9 2482.0 2878.9 2524.0 51.32 9.97 449 2497.88 0.00 0.00 3.36 0.000 0.000 0.096 2418.25 2353.81 2482.69 2879.12 1097.00 0 0 0 30.00 30.00 15.99

2721.96 17414 97.75 0.99 0.00 2417.2 2352.4 2481.9 2879.2 1096.9 28.16 10.10 495 2728.88 0.00 0.00 3.25 0.000 0.000 0.079 2418.03 2353.06 2483.00 2879.12 2523.69 0 0 0 30.00 30.00 16.02

2908.47 16902 97.75 0.99 -80.00 2417.0 2351.7 2482.4 2878.8 2523.1 9.61 10.09 532 2915.48 0.00 0.00 3.34 0.000 0.000 0.096 2418.12 2352.69 2483.56 2879.44 1098.44 0 0 0 30.00 30.00 15.99

2986 end climb: SURFACE_DEPTH_REACHED

state 2986 begin surface coast

3004 end surface coast: CONTROL_FINISHED_OK

state 3005 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	23	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	72.964813	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2640	FG_AHR_24V	192.47971	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	020421,142508,4739.309,-12219.016,3,1.2,14,15.5	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	020421,143818,4739.312,-12219.021,4,1.2,19,15.5	MHEAD_RNG_PITCHd_Wd	301.0,10754,-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,6,1,20210402141959.475534,05,32767,45,0177,0150,246,02,02,00,04,-1,-01,-01,1,3,3,0,150,-39.6,0.52,-100,2.48,-01,-0.03,61,925,0025*19	HUMID	50.18
NAV	1617375548,121.8,start	TEMP	22.71
NET_PING	1617376809,0,0.445500,0.000000	INTERNAL_PRESSURE	9.18845
NET	xmit part outbox015.n 738 0	_24V_AH	15.07,101.868
SM_CCo	3372.43,338.38,0.634,0,500.9,444.9,557.0,570.09	_10V_AH	15.00,0.000
SM_GC	0.09,338.38,16.47,3.21,0.634,0.055,0.080,500.9,444.9,557.0,198.0,2523.9,0,0,0,11.32,15.99,16.04	FG_AHR_24Vo	192.577
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	73.025
IRIDIUM_FIX	4738.87,-12218.96,020421,142811	MEM	1123000,39,53052,118
TCM_TEMP	24.78	DATA_FILE_SIZE	16128,551
SC_FREEKB	3872672	CAP_FILE_SIZE	581187,0
PM_FREEKB_00	61731136	SDSIZE	3918848,3896192
PM_ACTIVECARD	0	SDFILEDIR	328,1
RAFOS_CLK	-8	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1617368400,47.00000,-122.50000,0.151,221.7	CURRENT	0.002, 74.9,1
RAFOS_FIX	4806.905762,-12302.076172,020421,141410,5,255,-8410.52	GPS	020421,153613,4739.312,-12219.016,22,1.5,34,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	612	639	5906.32	nil	0	0	0.00
Pitch_motor	38	302	177.58	nil	0	0	0.00
Roll_motor	52	169	134.92	nil	0	0	0.00
Iridium	367	164	912.59	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	28	15	6.51	nil	0	0	0.00
Core	2820	10	428.20	SciCon	3016	2	127.94
LPSleep	939	1	15.78	PMAR	3022	10	480.82
Compass	1624	5	121.87	nil	0	0	0.00
RAFOS	789	40	473.41
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	498.3	442.2	554.4	198.0	2469.2	0.00	0.00	0	37.59	24.33	0.00	0.00	0.006	0.000	0.000	1069.00	1064.00	1074.00	197.44	2469.12	0	0	0	16.10	30.00	30.00
37.85	18695	-97.75	-0.99	80.00	1068.4	1063.2	1073.5	198.1	2469.2	3.37	-10.59	4	177.72	110.55	18.47	3.28	0.005	0.294	0.088	3223.22	3208.38	3238.06	2396.75	3893.38	0	0	0	14.80	15.81	16.01
401.84	1028	-97.75	-0.99	0.00	3220.9	3206.1	3235.7	2397.6	3893.2	40.27	-9.77	75	408.83	0.00	0.00	3.26	0.000	0.000	0.072	3221.50	3207.25	3235.75	2397.31	2461.31	0	0	0	30.00	30.00	16.01
588.41	260	-97.75	-0.99	80.00	3221.0	3206.4	3235.6	2397.5	2461.4	58.87	-9.99	112	595.41	0.00	0.00	3.29	0.000	0.000	0.082	3222.56	3208.38	3236.75	2397.25	3894.00	0	0	0	30.00	30.00	16.01
822.83	1028	-97.75	-0.99	0.00	3220.9	3206.2	3235.7	2397.1	3894.6	82.19	-9.93	158	829.77	0.00	0.00	3.26	0.000	0.000	0.072	3220.66	3205.81	3235.50	2398.00	2462.81	0	0	0	30.00	30.00	16.03
1009.40	260	-97.75	-0.99	80.00	3220.5	3205.2	3235.8	2397.4	2462.8	101.04	-10.01	194	1016.31	0.00	0.00	3.30	0.000	0.000	0.082	3222.91	3208.12	3237.69	2396.00	3894.81	0	0	0	30.00	30.00	16.01
1238.24	1028	-97.75	-0.99	0.00	3220.0	3204.4	3235.7	2397.2	3893.6	124.32	-9.89	240	1246.75	0.00	0.00	3.26	0.000	0.000	0.072	3220.38	3205.19	3235.56	2397.69	2461.50	0	0	0	30.00	30.00	16.03
1425.74	260	-97.75	-0.99	80.00	3220.2	3204.9	3235.4	2397.8	2461.8	143.40	-10.19	259	1432.68	0.00	0.00	3.29	0.000	0.000	0.082	3221.62	3206.44	3236.81	2397.31	3896.62	0	0	0	30.00	30.00	16.02
1492	end dive: TARGET_DEPTH_EXCEEDED
state	1492	begin apogee
1496.55	10243	0.00	-0.20	0.00	3220.2	3204.5	3235.9	2397.6	2459.6	150.13	-10.21	272	1569.46	68.21	1.59	0.10	0.640	0.294	0.170	2823.31	2779.88	2866.75	2589.56	2519.88	0	0	0	11.32	15.78	15.98
1572	end apogee: CONTROL_FINISHED_OK
state	1572	begin climb
1572.42	10759	97.75	0.99	-80.00	2821.9	2777.1	2866.7	2590.0	2519.2	143.20	0.00	279	1655.05	71.22	2.43	3.38	0.622	0.302	0.101	2424.53	2365.19	2483.88	2878.56	1098.56	0	0	0	11.76	15.86	15.88
1880.29	1028	97.75	0.99	0.00	2419.1	2355.5	2482.6	2879.2	1098.4	111.70	9.84	339	1891.99	0.00	0.00	3.27	0.000	0.000	0.080	2420.81	2357.56	2484.06	2878.94	2523.69	0	0	0	30.00	30.00	15.96
2071.20	16902	97.75	0.99	-80.00	2418.3	2354.4	2482.2	2879.0	2524.0	92.94	9.95	366	2078.20	0.00	0.00	3.36	0.000	0.000	0.097	2421.19	2356.75	2485.62	2878.56	1096.75	0	0	0	30.00	30.00	15.97
2302.69	17414	97.75	0.99	0.00	2417.8	2353.2	2482.4	2878.6	1096.8	69.96	9.70	412	2309.11	0.00	0.00	3.27	0.000	0.000	0.079	2418.25	2353.62	2482.88	2879.00	2523.50	0	0	0	30.00	30.00	16.02
2491.45	16902	97.75	0.99	-80.00	2417.4	2352.9	2482.0	2878.9	2524.0	51.32	9.97	449	2497.88	0.00	0.00	3.36	0.000	0.000	0.096	2418.25	2353.81	2482.69	2879.12	1097.00	0	0	0	30.00	30.00	15.99
2721.96	17414	97.75	0.99	0.00	2417.2	2352.4	2481.9	2879.2	1096.9	28.16	10.10	495	2728.88	0.00	0.00	3.25	0.000	0.000	0.079	2418.03	2353.06	2483.00	2879.12	2523.69	0	0	0	30.00	30.00	16.02
2908.47	16902	97.75	0.99	-80.00	2417.0	2351.7	2482.4	2878.8	2523.1	9.61	10.09	532	2915.48	0.00	0.00	3.34	0.000	0.000	0.096	2418.12	2352.69	2483.56	2879.44	1098.44	0	0	0	30.00	30.00	15.99
2986	end climb: SURFACE_DEPTH_REACHED
state	2986	begin surface coast
3004	end surface coast: CONTROL_FINISHED_OK
state	3005	begin surface