Glider dive log

Shilshole 21May21 * SG226 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 226 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

MISSION 9 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.047120001 XPDR_VALID 6

DIVE 5 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 5 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 578.71997 VBD_MIN 500 INT_PRESSURE_YINT -4

D_TGT 120 N_FILEKB 8 VBD_MAX 3860 DEEPGLIDER 0

D_ABORT 150 FILEMGR 0 C_VBD 1800 DEEPGLIDERMB 0

D_NO_BLEED 50 CALL_NDIVES 1 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 2 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 2 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.003 DEVICE4 -1

D_SAFE 0 N_NOSURFACE 0 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CALL_TRIES 5 W_ADJ_DBAND 0 LOGGERS 1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 DBDW 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 LOITER_W_DBAND 2 LOGGERDEVICE2 -1

T_DIVE 40 CAPMAXSIZE 100000 LOITER_DBDW 400 LOGGERDEVICE3 -1

T_MISSION 55 T_GPS 5 LOITER_D_TOP 100 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 250 COMPASS_DEVICE 66

T_TURN 225 T_RSLEEP 1 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 33

T_NO_W 120 RAFOS_PEAK_OFFSET 0 AH0_24V 575 GPS_DEVICE 48

T_LOITER 0 RAFOS_CORR_THRESH 60 AH0_10V 0 RAFOS_DEVICE 104

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_24V 11 NETWORK_DEVICE -1

USE_BATHY -6 RAFOS_MMODEM 0 MINV_10V 11 PRESSURE_DEVICE 34

USE_ICE 0 PITCH_MIN 155 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3800 MAXI_10V 1.4 SIM_W 0

D_OFFGRID 100 C_PITCH 3400 FG_AHR_10V 22.150513 SEABIRD_T_G 0.0043572416

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 21.155024 SEABIRD_T_H 0.00062480406

APOGEE_PITCH -5 PITCH_CNV 0.0041975998 PHONE_SUPPLY 2 SEABIRD_T_I 2.3841247e-05

MAX_BUOY 150 PITCH_GAIN 20 PRESSURE_YINT -141.22678 SEABIRD_T_J 2.6398654e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 20 PRESSURE_SLOPE 0.00022445236 SEABIRD_C_G -9.9228802

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 4 SEABIRD_C_H 1.0930159

RHO 1.023 PITCH_ADJ_GAIN 0.059999999 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0024585677

MASS 72353 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00023529222

NAV_MODE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 270 ALTIM_TOP_MIN_OBSTACLE 0 SC_XMITPROFILE 3.0

HD_A 0.0026799999 ROLL_MAX 3950 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0139 ROLL_DEG 80 ALTIM_PING_DELTA 0

HD_C 5.7000002e-06 C_ROLL_DIVE 2000 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2000 ALTIM_PULSE 3

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00062480406

AH0_24V 575 D_SURF 2 N_NOCOMM 2 SEABIRD_T_I 2.3841247e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 120 N_NOSURFACE 0 SEABIRD_T_J 2.6398654e-06

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 578.71997

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 22.150513 PITCH_ADJ_GAIN 0.059999999 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 21.155024 PITCH_CNV 0.0041975998 STROBE 0

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 20 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3800 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.0026799999 PITCH_MIN 155 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0139 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.003 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_DIVE 40

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 34 T_EPIRB 0

CF8_MAXERRORS 20 ID 226 PRESSURE_SLOPE 0.00022445236 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -141.22678 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -4 PROTOCOL 9 T_MISSION 55

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE1 7 RAFOS_DEVICE 104 T_RSLEEP 1

C_PITCH 3400 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2000 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2000 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 1800 LOGGERS 1 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 400 RHO 1.023 USE_BATHY -6

DEEPGLIDER 0 LOITER_D_BOTTOM 250 ROLL_ADJ_DBAND 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 100 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 -1 LOITER_N_DIVE 0 ROLL_CNV 0.047120001 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 2 ROLL_DEG 80 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 72353 ROLL_MAX 3950 VBD_MAX 3860

DEVICE4 -1 MAXI_10V 1.4 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 5 ROLL_MIN 270 VBD_MIN 500

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

DIVE 5 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_ABORT 150 MINV_24V 11 SC_PROFILE 3.0 XPDR_DEVICE 21

D_BOOST 2 MISSION 9 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_CALL 0 MOTHERBOARD 6 SC_XMITPROFILE 3.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 2 SEABIRD_C_G -9.9228802 XPDR_REP 0

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1.0930159 XPDR_VALID 6

D_NO_BLEED 50 NOCOMM_ACTION 163 SEABIRD_C_I -0.0024585677

D_OFFGRID 100 N_DIVES 5 SEABIRD_C_J 0.00023529222

D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043572416

Pre-dive calculations and measurements:

GPS1 210521,194105,4743.865,-12224.495,2,1.5,36,15.5 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.72 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -77.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210521,194428,4743.875,-12224.498,2,1.5,6,15.5 MHEAD_RNG_PITCHd_Wd 98.5,1735,-19.1,-10.000,-24.10

SPEED_LIMITS 0.173,0.224 D_GRID 173

TGT_NAME SE IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-690.000000,-1500.000000,700.000000

TGT_LATLONG 4743.000,-12224.000

Post-dive calculations and measurements:

NAV 1621627148,91.2,start FG_AHR_24Vo 21.284

FINISH 0.3,1.021419 FG_AHR_10Vo 22.205

SM_CCo 2692.61,46.23,1.100,0,500.1,409.8,590.4,318.86 MEM0 60868,1,0,0

SM_GC 2.83,46.23,10.57,4.72,1.100,0.073,0.026,500.1,409.8,590.4,142.1,1971.0,0,0,0,12.57,15.80,15.86 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 997844,26,49144,53

IRIDIUM_FIX 4744.47,-12222.38,210521,185203 DATA_FILE_SIZE 9724,346

TCM_TEMP 12.51 CAP_FILE_SIZE 117334,0

XPDR_PINGS 0,12.5,10.5 SDSIZE 3918848,3908032

SC_FREEKB 3876576 SDFILEDIR 60,1

RAFOS_CLK -2 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 4729.022949,-12139.472656,080521,000038,8,255,-8.75 SOUNDSPEED 1465.0

HUMID 51.10 CURRENT 0.206,234.4,1

TEMP 10.88 IMPLIED_C_PITCH 3526,16.66,178

INTERNAL_PRESSURE 8.60443 IMPLIED_C_VBD 1691,17.383114,178

_24V_AH 14.94,3.205 GPS 210521,203151,4743.676,-12224.459,58,3.9,104,15.5

_10V_AH 14.98,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 462 1224 8462.02 nil 0 0 0.00

Pitch_motor 27 364 147.76 nil 0 0 0.00

Roll_motor 39 70 42.03 nil 0 0 0.00

Iridium 133 160 320.24 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 15 15 3.39 nil 0 0 0.00

Core 1303 11 232.71 SciCon 2635 27 1081.26

LPSleep 1528 2 66.87 nil 0 0 0.00

Compass 500 5 37.49 nil 0 0 0.00

RAFOS 202 40 121.06

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

6.01 16386 -146.63 -1.39 0.00 499.4 405.8 593.1 142.9 1945.4 0.00 0.00 0 68.84 62.32 0.00 0.00 0.005 0.000 0.000 1866.28 2093.94 1638.62 142.81 1947.00 0 0 0 15.70 30.00 30.00

69.05 18727 -146.63 -1.39 80.00 1866.2 2092.9 1639.4 142.9 1946.6 3.99 -4.52 6 105.74 14.81 12.91 5.00 0.006 0.364 0.056 2399.69 2668.00 2131.38 3047.50 3710.75 0 0 0 15.75 15.60 15.71

112.79 3205 -146.63 -0.21 0.00 2398.0 2667.6 2128.4 3047.6 3709.9 12.36 -19.43 15 120.38 0.00 1.04 4.76 0.000 0.264 0.028 2401.41 2671.50 2131.31 3349.75 1967.25 0 0 0 30.00 15.74 15.82

303.28 4257 -146.63 -0.50 0.00 2400.0 2671.9 2128.1 3350.2 1967.1 32.75 -9.21 35 304.74 0.00 0.22 0.00 0.000 0.057 0.000 2398.47 2670.25 2126.69 3249.88 1965.94 0 0 0 30.00 15.88 30.00

493.29 2049 -146.63 -0.50 0.00 2400.2 2672.1 2128.2 3250.5 1965.7 53.06 -10.62 54 494.74 0.00 0.11 0.00 0.000 0.196 0.000 2401.28 2673.50 2129.06 3282.69 1966.00 0 0 0 30.00 15.88 30.00

683.34 4257 -146.63 -0.62 0.00 2399.9 2671.9 2127.9 3282.6 1966.6 71.45 -9.72 73 684.78 0.00 0.12 0.00 0.000 0.088 0.000 2401.47 2673.62 2129.31 3229.19 1966.19 0 0 0 30.00 15.94 30.00

873.34 2177 -146.63 -0.54 0.00 2400.0 2672.0 2128.0 3229.8 1966.1 93.61 -12.06 92 874.78 0.00 0.15 0.00 0.000 0.200 0.000 2402.53 2673.69 2131.38 3273.94 1966.88 0 0 0 30.00 15.91 30.00

1063.37 4257 -146.63 -0.65 0.00 2400.3 2672.2 2128.4 3274.7 1966.0 112.82 -9.97 111 1064.82 0.00 0.11 0.00 0.000 0.094 0.000 2400.97 2672.81 2129.12 3218.50 1966.25 0 0 0 30.00 15.96 30.00

1134 end dive: TARGET_DEPTH_EXCEEDED

state 1134 begin apogee

1134.46 10243 0.00 -0.25 0.00 2400.2 2672.2 2128.1 3217.1 2049.4 121.13 -12.20 118 1260.96 125.28 0.41 0.22 1.225 0.194 0.071 1799.12 1863.62 1734.62 3344.62 1961.62 0 0 0 12.47 15.92 15.50

1262 end apogee: CONTROL_FINISHED_OK

state 1262 begin climb

1261.51 10243 146.63 1.39 0.00 1798.1 1862.8 1733.3 3345.0 1961.2 130.01 0.00 130 1381.23 115.72 1.30 0.00 1.179 0.177 0.000 1201.47 1168.50 1234.44 3733.38 1961.25 0 0 0 12.44 15.51 30.00

1564.24 10663 223.62 1.91 80.00 1199.1 1164.4 1233.8 3733.5 1961.2 113.38 6.47 172 1631.97 60.29 0.19 5.09 1.163 0.065 0.057 888.72 838.50 938.94 3808.25 3709.38 0 0 0 12.50 15.71 15.50

1859.48 3205 223.62 1.82 0.00 888.0 837.8 938.2 3808.3 3709.2 76.78 13.68 231 1865.93 0.00 0.00 4.77 0.000 0.000 0.029 887.94 837.56 938.31 3828.25 1973.88 0 0 0 30.00 30.00 15.75

2054.51 388 223.62 1.76 80.00 888.0 837.6 938.4 3828.6 1972.6 52.87 11.69 251 2060.98 0.00 0.00 4.97 0.000 0.000 0.056 888.34 837.81 938.88 3808.50 3708.81 0 0 0 30.00 30.00 15.80

2289.59 1028 223.62 1.76 0.00 887.8 837.3 938.2 3808.4 3708.4 25.74 10.40 298 2296.04 0.00 0.00 4.76 0.000 0.000 0.028 887.47 836.81 938.12 3829.69 1971.31 0 0 0 30.00 30.00 15.87

2484.61 8486 266.03 1.88 80.00 888.0 837.5 938.5 3829.7 1969.9 9.42 8.06 318 2530.87 37.90 0.00 4.99 1.086 0.000 0.058 715.66 658.88 772.44 3809.75 3708.19 0 0 0 12.55 30.00 15.76

2589 end climb: SURFACE_DEPTH_REACHED

state 2589 begin surface coast

2625 end surface coast: CONTROL_FINISHED_OK

state 2625 begin surface

ID	226	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
MISSION	9	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.047120001	XPDR_VALID	6
DIVE	5	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	5	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	578.71997	VBD_MIN	500	INT_PRESSURE_YINT	-4
D_TGT	120	N_FILEKB	8	VBD_MAX	3860	DEEPGLIDER	0
D_ABORT	150	FILEMGR	0	C_VBD	1800	DEEPGLIDERMB	0
D_NO_BLEED	50	CALL_NDIVES	1	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	2	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	2	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.003	DEVICE4	-1
D_SAFE	0	N_NOSURFACE	0	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CALL_TRIES	5	W_ADJ_DBAND	0	LOGGERS	1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	DBDW	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	LOITER_W_DBAND	2	LOGGERDEVICE2	-1
T_DIVE	40	CAPMAXSIZE	100000	LOITER_DBDW	400	LOGGERDEVICE3	-1
T_MISSION	55	T_GPS	5	LOITER_D_TOP	100	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	250	COMPASS_DEVICE	66
T_TURN	225	T_RSLEEP	1	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	33
T_NO_W	120	RAFOS_PEAK_OFFSET	0	AH0_24V	575	GPS_DEVICE	48
T_LOITER	0	RAFOS_CORR_THRESH	60	AH0_10V	0	RAFOS_DEVICE	104
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_24V	11	NETWORK_DEVICE	-1
USE_BATHY	-6	RAFOS_MMODEM	0	MINV_10V	11	PRESSURE_DEVICE	34
USE_ICE	0	PITCH_MIN	155	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3800	MAXI_10V	1.4	SIM_W	0
D_OFFGRID	100	C_PITCH	3400	FG_AHR_10V	22.150513	SEABIRD_T_G	0.0043572416
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	21.155024	SEABIRD_T_H	0.00062480406
APOGEE_PITCH	-5	PITCH_CNV	0.0041975998	PHONE_SUPPLY	2	SEABIRD_T_I	2.3841247e-05
MAX_BUOY	150	PITCH_GAIN	20	PRESSURE_YINT	-141.22678	SEABIRD_T_J	2.6398654e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	20	PRESSURE_SLOPE	0.00022445236	SEABIRD_C_G	-9.9228802
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	4	SEABIRD_C_H	1.0930159
RHO	1.023	PITCH_ADJ_GAIN	0.059999999	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0024585677
MASS	72353	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00023529222
NAV_MODE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	270	ALTIM_TOP_MIN_OBSTACLE	0	SC_XMITPROFILE	3.0
HD_A	0.0026799999	ROLL_MAX	3950	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0139	ROLL_DEG	80	ALTIM_PING_DELTA	0
HD_C	5.7000002e-06	C_ROLL_DIVE	2000	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2000	ALTIM_PULSE	3

GPS1	210521,194105,4743.865,-12224.495,2,1.5,36,15.5	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.72	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-77.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210521,194428,4743.875,-12224.498,2,1.5,6,15.5	MHEAD_RNG_PITCHd_Wd	98.5,1735,-19.1,-10.000,-24.10
SPEED_LIMITS	0.173,0.224	D_GRID	173
TGT_NAME	SE	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-690.000000,-1500.000000,700.000000
TGT_LATLONG	4743.000,-12224.000

NAV	1621627148,91.2,start	FG_AHR_24Vo	21.284
FINISH	0.3,1.021419	FG_AHR_10Vo	22.205
SM_CCo	2692.61,46.23,1.100,0,500.1,409.8,590.4,318.86	MEM0	60868,1,0,0
SM_GC	2.83,46.23,10.57,4.72,1.100,0.073,0.026,500.1,409.8,590.4,142.1,1971.0,0,0,0,12.57,15.80,15.86	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	997844,26,49144,53
IRIDIUM_FIX	4744.47,-12222.38,210521,185203	DATA_FILE_SIZE	9724,346
TCM_TEMP	12.51	CAP_FILE_SIZE	117334,0
XPDR_PINGS	0,12.5,10.5	SDSIZE	3918848,3908032
SC_FREEKB	3876576	SDFILEDIR	60,1
RAFOS_CLK	-2	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4729.022949,-12139.472656,080521,000038,8,255,-8.75	SOUNDSPEED	1465.0
HUMID	51.10	CURRENT	0.206,234.4,1
TEMP	10.88	IMPLIED_C_PITCH	3526,16.66,178
INTERNAL_PRESSURE	8.60443	IMPLIED_C_VBD	1691,17.383114,178
_24V_AH	14.94,3.205	GPS	210521,203151,4743.676,-12224.459,58,3.9,104,15.5
_10V_AH	14.98,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	462	1224	8462.02	nil	0	0	0.00
Pitch_motor	27	364	147.76	nil	0	0	0.00
Roll_motor	39	70	42.03	nil	0	0	0.00
Iridium	133	160	320.24	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	15	15	3.39	nil	0	0	0.00
Core	1303	11	232.71	SciCon	2635	27	1081.26
LPSleep	1528	2	66.87	nil	0	0	0.00
Compass	500	5	37.49	nil	0	0	0.00
RAFOS	202	40	121.06
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
6.01	16386	-146.63	-1.39	0.00	499.4	405.8	593.1	142.9	1945.4	0.00	0.00	0	68.84	62.32	0.00	0.00	0.005	0.000	0.000	1866.28	2093.94	1638.62	142.81	1947.00	0	0	0	15.70	30.00	30.00
69.05	18727	-146.63	-1.39	80.00	1866.2	2092.9	1639.4	142.9	1946.6	3.99	-4.52	6	105.74	14.81	12.91	5.00	0.006	0.364	0.056	2399.69	2668.00	2131.38	3047.50	3710.75	0	0	0	15.75	15.60	15.71
112.79	3205	-146.63	-0.21	0.00	2398.0	2667.6	2128.4	3047.6	3709.9	12.36	-19.43	15	120.38	0.00	1.04	4.76	0.000	0.264	0.028	2401.41	2671.50	2131.31	3349.75	1967.25	0	0	0	30.00	15.74	15.82
303.28	4257	-146.63	-0.50	0.00	2400.0	2671.9	2128.1	3350.2	1967.1	32.75	-9.21	35	304.74	0.00	0.22	0.00	0.000	0.057	0.000	2398.47	2670.25	2126.69	3249.88	1965.94	0	0	0	30.00	15.88	30.00
493.29	2049	-146.63	-0.50	0.00	2400.2	2672.1	2128.2	3250.5	1965.7	53.06	-10.62	54	494.74	0.00	0.11	0.00	0.000	0.196	0.000	2401.28	2673.50	2129.06	3282.69	1966.00	0	0	0	30.00	15.88	30.00
683.34	4257	-146.63	-0.62	0.00	2399.9	2671.9	2127.9	3282.6	1966.6	71.45	-9.72	73	684.78	0.00	0.12	0.00	0.000	0.088	0.000	2401.47	2673.62	2129.31	3229.19	1966.19	0	0	0	30.00	15.94	30.00
873.34	2177	-146.63	-0.54	0.00	2400.0	2672.0	2128.0	3229.8	1966.1	93.61	-12.06	92	874.78	0.00	0.15	0.00	0.000	0.200	0.000	2402.53	2673.69	2131.38	3273.94	1966.88	0	0	0	30.00	15.91	30.00
1063.37	4257	-146.63	-0.65	0.00	2400.3	2672.2	2128.4	3274.7	1966.0	112.82	-9.97	111	1064.82	0.00	0.11	0.00	0.000	0.094	0.000	2400.97	2672.81	2129.12	3218.50	1966.25	0	0	0	30.00	15.96	30.00
1134	end dive: TARGET_DEPTH_EXCEEDED
state	1134	begin apogee
1134.46	10243	0.00	-0.25	0.00	2400.2	2672.2	2128.1	3217.1	2049.4	121.13	-12.20	118	1260.96	125.28	0.41	0.22	1.225	0.194	0.071	1799.12	1863.62	1734.62	3344.62	1961.62	0	0	0	12.47	15.92	15.50
1262	end apogee: CONTROL_FINISHED_OK
state	1262	begin climb
1261.51	10243	146.63	1.39	0.00	1798.1	1862.8	1733.3	3345.0	1961.2	130.01	0.00	130	1381.23	115.72	1.30	0.00	1.179	0.177	0.000	1201.47	1168.50	1234.44	3733.38	1961.25	0	0	0	12.44	15.51	30.00
1564.24	10663	223.62	1.91	80.00	1199.1	1164.4	1233.8	3733.5	1961.2	113.38	6.47	172	1631.97	60.29	0.19	5.09	1.163	0.065	0.057	888.72	838.50	938.94	3808.25	3709.38	0	0	0	12.50	15.71	15.50
1859.48	3205	223.62	1.82	0.00	888.0	837.8	938.2	3808.3	3709.2	76.78	13.68	231	1865.93	0.00	0.00	4.77	0.000	0.000	0.029	887.94	837.56	938.31	3828.25	1973.88	0	0	0	30.00	30.00	15.75
2054.51	388	223.62	1.76	80.00	888.0	837.6	938.4	3828.6	1972.6	52.87	11.69	251	2060.98	0.00	0.00	4.97	0.000	0.000	0.056	888.34	837.81	938.88	3808.50	3708.81	0	0	0	30.00	30.00	15.80
2289.59	1028	223.62	1.76	0.00	887.8	837.3	938.2	3808.4	3708.4	25.74	10.40	298	2296.04	0.00	0.00	4.76	0.000	0.000	0.028	887.47	836.81	938.12	3829.69	1971.31	0	0	0	30.00	30.00	15.87
2484.61	8486	266.03	1.88	80.00	888.0	837.5	938.5	3829.7	1969.9	9.42	8.06	318	2530.87	37.90	0.00	4.99	1.086	0.000	0.058	715.66	658.88	772.44	3809.75	3708.19	0	0	0	12.55	30.00	15.76
2589	end climb: SURFACE_DEPTH_REACHED
state	2589	begin surface coast
2625	end surface coast: CONTROL_FINISHED_OK
state	2625	begin surface