Glider dive log

Shilshole 01Apr21 * SG233 * Dive index * Mission links * Dive 11 * 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 11 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 12 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 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 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 73.462761 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2640 FG_AHR_24V 193.60057 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 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 73.462761 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FG_AHR_24V 193.60057 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 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 110

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 11 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 12 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 030421,110054,4739.312,-12219.015,5,1.2,12,15.5 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 -89.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030421,111302,4739.311,-12219.016,3,1.1,10,15.5 MHEAD_RNG_PITCHd_Wd 300.3,10760,-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 1617450609,0,0.370500,0.000000 TEMP 22.54

NET xmit part outbox009.n 584 0 INTERNAL_PRESSURE 9.18935

NAV 1617451141,27.8,start _24V_AH 15.05,103.272

SM_CCo 3376.07,339.05,0.659,0,500.5,445.1,555.9,570.21 _10V_AH 15.00,0.000

SM_GC 0.15,339.05,16.52,3.24,0.659,0.058,0.079,500.5,445.1,555.9,196.8,2522.0,0,0,0,11.33,15.98,16.04 FG_AHR_24Vo 193.702

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 73.496

IRIDIUM_FIX 4740.22,-12220.67,030421,110700 MEM 1123692,49,52360,108

TCM_TEMP 24.85 DATA_FILE_SIZE 16102,555

SC_FREEKB 3875232 CAP_FILE_SIZE 563851,0

PM_FREEKB_00 61943808 SDSIZE 3918848,3899872

PM_ACTIVECARD 0 SDFILEDIR 226,1

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

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.002,251.7,1

HUMID 50.27 GPS 030421,121102,4739.310,-12219.020,3,0.8,37,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 524 670 5291.88 nil 0 0 0.00

Pitch_motor 38 302 176.81 nil 0 0 0.00

Roll_motor 52 172 136.77 nil 0 0 0.00

Iridium 331 192 962.95 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 19 15 4.32 nil 0 0 0.00

Core 2759 10 418.84 SciCon 3017 2 127.98

LPSleep 944 1 15.86 PMAR 3026 10 469.33

Compass 1651 5 123.89 nil 0 0 0.00

RAFOS 0 0 0.00

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

10.36 16386 -97.75 -0.99 0.00 2417.8 2352.0 2483.7 196.8 2469.4 0.00 0.00 0 39.23 26.01 0.00 0.00 0.006 0.000 0.000 2887.50 2863.25 2911.75 196.62 2469.62 0 0 0 16.19 30.00 30.00

39.49 18695 -97.75 -0.99 80.00 2885.3 2860.8 2909.8 196.8 2469.6 3.34 -10.01 5 89.66 18.24 18.30 3.29 0.006 0.287 0.086 3222.59 3205.12 3240.06 2398.56 3894.50 0 0 0 16.19 15.86 16.06

313.61 1028 -97.75 -0.99 0.00 3220.1 3202.9 3237.3 2397.8 3894.2 31.05 -10.00 59 320.67 0.00 0.00 3.25 0.000 0.000 0.070 3220.84 3203.75 3237.94 2398.00 2460.50 0 0 0 30.00 30.00 16.08

504.49 260 -97.75 -0.99 80.00 3220.6 3202.9 3238.3 2397.6 2460.2 50.34 -10.01 97 511.19 0.00 0.00 3.28 0.000 0.000 0.080 3222.94 3205.31 3240.56 2397.88 3895.50 0 0 0 30.00 30.00 16.06

735.65 1028 -97.75 -0.99 0.00 3220.5 3203.2 3237.8 2397.8 3895.2 73.26 -9.99 143 742.07 0.00 0.00 3.24 0.000 0.000 0.069 3222.75 3205.06 3240.44 2397.56 2461.81 0 0 0 30.00 30.00 16.10

921.08 260 -97.75 -0.99 80.00 3221.0 3203.8 3238.2 2397.7 2462.0 91.71 -9.86 180 928.17 0.00 0.00 3.29 0.000 0.000 0.081 3221.12 3203.81 3238.44 2397.75 3897.88 0 0 0 30.00 30.00 16.07

1154.78 1028 -97.75 -0.99 0.00 3220.7 3203.7 3237.8 2397.8 3897.8 114.86 -9.75 226 1161.89 0.00 0.00 3.23 0.000 0.000 0.070 3219.94 3202.88 3237.00 2397.81 2463.62 0 0 0 30.00 30.00 16.09

1340.89 260 -97.75 -0.99 80.00 3221.1 3204.4 3237.8 2397.4 2463.1 133.41 -10.01 245 1347.28 0.00 0.00 3.28 0.000 0.000 0.080 3219.09 3202.06 3236.12 2397.62 3893.94 0 0 0 30.00 30.00 16.08

1507 end dive: TARGET_DEPTH_EXCEEDED

state 1507 begin apogee

1512.26 10243 0.00 -0.20 0.00 3220.8 3203.6 3237.9 2397.3 2460.8 150.10 -10.04 278 1588.97 69.07 1.57 0.10 0.671 0.291 0.173 2824.19 2779.75 2868.62 2589.69 2519.06 0 0 0 11.29 15.82 16.03

1593 end apogee: CONTROL_FINISHED_OK

state 1593 begin climb

1593.22 10759 97.75 0.99 -80.00 2821.7 2777.2 2866.2 2589.9 2518.4 142.36 0.00 286 1675.86 72.03 2.40 3.36 0.653 0.303 0.097 2423.69 2362.50 2484.88 2878.81 1098.62 0 0 0 11.93 15.87 15.92

1900.17 1028 97.75 0.99 0.00 2420.4 2355.9 2484.8 2878.4 1098.5 110.62 9.82 346 1906.57 0.00 0.00 3.25 0.000 0.000 0.078 2418.84 2354.12 2483.56 2879.25 2524.19 0 0 0 30.00 30.00 16.00

2085.10 516 97.75 0.99 -80.00 2419.5 2354.0 2484.9 2879.1 2523.9 92.34 9.74 372 2092.11 0.00 0.00 3.34 0.000 0.000 0.094 2420.53 2355.44 2485.62 2878.75 1099.31 0 0 0 30.00 30.00 16.02

2317.53 1028 97.75 0.99 0.00 2419.1 2353.1 2485.0 2878.8 1099.2 69.00 10.41 418 2324.18 0.00 0.00 3.26 0.000 0.000 0.079 2419.34 2353.56 2485.12 2878.62 2521.62 0 0 0 30.00 30.00 16.07

2503.76 516 97.75 0.99 -80.00 2418.7 2352.6 2484.8 2879.0 2521.9 50.40 10.05 455 2510.77 0.00 0.00 3.34 0.000 0.000 0.094 2419.25 2353.25 2485.25 2879.44 1097.31 0 0 0 30.00 30.00 16.05

2735.27 1028 97.75 0.99 0.00 2418.8 2352.5 2485.1 2878.6 1097.6 26.78 10.04 501 2741.68 0.00 0.00 3.27 0.000 0.000 0.078 2419.25 2353.06 2485.44 2880.00 2522.50 0 0 0 30.00 30.00 16.04

2920.63 16902 97.75 0.99 -80.00 2418.3 2351.9 2484.8 2878.8 2522.8 8.21 10.52 538 2927.76 0.00 0.00 3.34 0.000 0.000 0.094 2418.84 2352.62 2485.06 2879.25 1099.31 0 0 0 30.00 30.00 16.01

2987 end climb: SURFACE_DEPTH_REACHED

state 2987 begin surface coast

3007 end surface coast: CONTROL_FINISHED_OK

state 3007 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	11	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	12	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	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	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	73.462761	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2640	FG_AHR_24V	193.60057	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	030421,110054,4739.312,-12219.015,5,1.2,12,15.5	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	-89.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030421,111302,4739.311,-12219.016,3,1.1,10,15.5	MHEAD_RNG_PITCHd_Wd	300.3,10760,-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	1617450609,0,0.370500,0.000000	TEMP	22.54
NET	xmit part outbox009.n 584 0	INTERNAL_PRESSURE	9.18935
NAV	1617451141,27.8,start	_24V_AH	15.05,103.272
SM_CCo	3376.07,339.05,0.659,0,500.5,445.1,555.9,570.21	_10V_AH	15.00,0.000
SM_GC	0.15,339.05,16.52,3.24,0.659,0.058,0.079,500.5,445.1,555.9,196.8,2522.0,0,0,0,11.33,15.98,16.04	FG_AHR_24Vo	193.702
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	73.496
IRIDIUM_FIX	4740.22,-12220.67,030421,110700	MEM	1123692,49,52360,108
TCM_TEMP	24.85	DATA_FILE_SIZE	16102,555
SC_FREEKB	3875232	CAP_FILE_SIZE	563851,0
PM_FREEKB_00	61943808	SDSIZE	3918848,3899872
PM_ACTIVECARD	0	SDFILEDIR	226,1
RAFOS_CLK	-8	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.002,251.7,1
HUMID	50.27	GPS	030421,121102,4739.310,-12219.020,3,0.8,37,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	524	670	5291.88	nil	0	0	0.00
Pitch_motor	38	302	176.81	nil	0	0	0.00
Roll_motor	52	172	136.77	nil	0	0	0.00
Iridium	331	192	962.95	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	19	15	4.32	nil	0	0	0.00
Core	2759	10	418.84	SciCon	3017	2	127.98
LPSleep	944	1	15.86	PMAR	3026	10	469.33
Compass	1651	5	123.89	nil	0	0	0.00
RAFOS	0	0	0.00
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
10.36	16386	-97.75	-0.99	0.00	2417.8	2352.0	2483.7	196.8	2469.4	0.00	0.00	0	39.23	26.01	0.00	0.00	0.006	0.000	0.000	2887.50	2863.25	2911.75	196.62	2469.62	0	0	0	16.19	30.00	30.00
39.49	18695	-97.75	-0.99	80.00	2885.3	2860.8	2909.8	196.8	2469.6	3.34	-10.01	5	89.66	18.24	18.30	3.29	0.006	0.287	0.086	3222.59	3205.12	3240.06	2398.56	3894.50	0	0	0	16.19	15.86	16.06
313.61	1028	-97.75	-0.99	0.00	3220.1	3202.9	3237.3	2397.8	3894.2	31.05	-10.00	59	320.67	0.00	0.00	3.25	0.000	0.000	0.070	3220.84	3203.75	3237.94	2398.00	2460.50	0	0	0	30.00	30.00	16.08
504.49	260	-97.75	-0.99	80.00	3220.6	3202.9	3238.3	2397.6	2460.2	50.34	-10.01	97	511.19	0.00	0.00	3.28	0.000	0.000	0.080	3222.94	3205.31	3240.56	2397.88	3895.50	0	0	0	30.00	30.00	16.06
735.65	1028	-97.75	-0.99	0.00	3220.5	3203.2	3237.8	2397.8	3895.2	73.26	-9.99	143	742.07	0.00	0.00	3.24	0.000	0.000	0.069	3222.75	3205.06	3240.44	2397.56	2461.81	0	0	0	30.00	30.00	16.10
921.08	260	-97.75	-0.99	80.00	3221.0	3203.8	3238.2	2397.7	2462.0	91.71	-9.86	180	928.17	0.00	0.00	3.29	0.000	0.000	0.081	3221.12	3203.81	3238.44	2397.75	3897.88	0	0	0	30.00	30.00	16.07
1154.78	1028	-97.75	-0.99	0.00	3220.7	3203.7	3237.8	2397.8	3897.8	114.86	-9.75	226	1161.89	0.00	0.00	3.23	0.000	0.000	0.070	3219.94	3202.88	3237.00	2397.81	2463.62	0	0	0	30.00	30.00	16.09
1340.89	260	-97.75	-0.99	80.00	3221.1	3204.4	3237.8	2397.4	2463.1	133.41	-10.01	245	1347.28	0.00	0.00	3.28	0.000	0.000	0.080	3219.09	3202.06	3236.12	2397.62	3893.94	0	0	0	30.00	30.00	16.08
1507	end dive: TARGET_DEPTH_EXCEEDED
state	1507	begin apogee
1512.26	10243	0.00	-0.20	0.00	3220.8	3203.6	3237.9	2397.3	2460.8	150.10	-10.04	278	1588.97	69.07	1.57	0.10	0.671	0.291	0.173	2824.19	2779.75	2868.62	2589.69	2519.06	0	0	0	11.29	15.82	16.03
1593	end apogee: CONTROL_FINISHED_OK
state	1593	begin climb
1593.22	10759	97.75	0.99	-80.00	2821.7	2777.2	2866.2	2589.9	2518.4	142.36	0.00	286	1675.86	72.03	2.40	3.36	0.653	0.303	0.097	2423.69	2362.50	2484.88	2878.81	1098.62	0	0	0	11.93	15.87	15.92
1900.17	1028	97.75	0.99	0.00	2420.4	2355.9	2484.8	2878.4	1098.5	110.62	9.82	346	1906.57	0.00	0.00	3.25	0.000	0.000	0.078	2418.84	2354.12	2483.56	2879.25	2524.19	0	0	0	30.00	30.00	16.00
2085.10	516	97.75	0.99	-80.00	2419.5	2354.0	2484.9	2879.1	2523.9	92.34	9.74	372	2092.11	0.00	0.00	3.34	0.000	0.000	0.094	2420.53	2355.44	2485.62	2878.75	1099.31	0	0	0	30.00	30.00	16.02
2317.53	1028	97.75	0.99	0.00	2419.1	2353.1	2485.0	2878.8	1099.2	69.00	10.41	418	2324.18	0.00	0.00	3.26	0.000	0.000	0.079	2419.34	2353.56	2485.12	2878.62	2521.62	0	0	0	30.00	30.00	16.07
2503.76	516	97.75	0.99	-80.00	2418.7	2352.6	2484.8	2879.0	2521.9	50.40	10.05	455	2510.77	0.00	0.00	3.34	0.000	0.000	0.094	2419.25	2353.25	2485.25	2879.44	1097.31	0	0	0	30.00	30.00	16.05
2735.27	1028	97.75	0.99	0.00	2418.8	2352.5	2485.1	2878.6	1097.6	26.78	10.04	501	2741.68	0.00	0.00	3.27	0.000	0.000	0.078	2419.25	2353.06	2485.44	2880.00	2522.50	0	0	0	30.00	30.00	16.04
2920.63	16902	97.75	0.99	-80.00	2418.3	2351.9	2484.8	2878.8	2522.8	8.21	10.52	538	2927.76	0.00	0.00	3.34	0.000	0.000	0.094	2418.84	2352.62	2485.06	2879.25	1099.31	0	0	0	30.00	30.00	16.01
2987	end climb: SURFACE_DEPTH_REACHED
state	2987	begin surface coast
3007	end surface coast: CONTROL_FINISHED_OK
state	3007	begin surface