Glider dive log

Shilshole 01Apr21 * SG233 * Dive index * Mission links * Dive 20 * 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 20 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 72.742378 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2640 FG_AHR_24V 192.1163 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 72.742378 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FG_AHR_24V 192.1163 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 20 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 020421,104458,4739.310,-12219.018,4,1.6,16,15.5 TGT_RADIUS 100.000

_CALLS 5 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.07 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 020421,105537,4739.310,-12219.019,4,1.1,11,15.5 MHEAD_RNG_PITCHd_Wd 300.8,10758,-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 1617363611,0,0.436500,0.000000 INTERNAL_PRESSURE 9.18526

NET xmit part outbox012.n 609 0 _24V_AH 15.05,101.317

SM_CCo 3375.64,335.70,0.633,0,500.9,444.4,557.3,570.11 _10V_AH 15.00,0.000

SM_GC 0.10,335.70,16.49,3.23,0.633,0.058,0.079,500.9,444.4,557.3,198.0,2524.1,0,0,0,11.18,15.99,16.04 FG_AHR_24Vo 192.212

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 72.803

IRIDIUM_FIX 4738.87,-12218.96,020421,104950 MEM 1123508,45,52564,111

TCM_TEMP 24.76 DATA_FILE_SIZE 16101,553

SC_FREEKB 3873632 CAP_FILE_SIZE 567911,0

PM_FREEKB_00 61859840 SDSIZE 3918848,3897248

PM_ACTIVECARD 0 SDFILEDIR 304,1

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

RAFOS_FIX 4654.297852,-12148.696289,010421,222208,2,510,24896.31 CURRENT 0.002, 90.0,1

HUMID 50.17 GPS 020421,115310,4739.310,-12219.013,3,0.9,10,15.5

TEMP 22.62

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 609 634 5824.88 nil 0 0 0.00

Pitch_motor 39 303 178.39 nil 0 0 0.00

Roll_motor 52 166 132.32 nil 0 0 0.00

Iridium 224 76 259.93 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 20 15 4.55 nil 0 0 0.00

Core 2703 10 410.43 SciCon 3022 2 129.46

LPSleep 911 1 15.32 PMAR 3029 10 487.61

Compass 1650 5 123.78 nil 0 0 0.00

RAFOS 638 40 382.82

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

10.41 16386 -97.75 -0.99 0.00 498.5 442.6 554.5 196.8 2473.4 0.00 0.00 0 34.20 20.92 0.00 0.00 0.006 0.000 0.000 991.31 983.38 999.25 196.88 2473.75 0 0 0 16.10 30.00 30.00

34.45 18695 -97.75 -0.99 80.00 990.7 982.7 998.8 196.9 2474.1 3.11 -10.02 4 176.91 113.98 18.62 3.31 0.005 0.296 0.089 3222.00 3206.75 3237.25 2397.56 3894.31 0 0 0 16.10 15.82 15.99

401.23 1028 -97.75 -0.99 0.00 3220.6 3205.8 3235.5 2397.4 3894.5 39.71 -10.24 76 407.81 0.00 0.00 3.27 0.000 0.000 0.072 3221.97 3206.81 3237.12 2398.00 2462.88 0 0 0 30.00 30.00 16.01

586.86 260 -97.75 -0.99 80.00 3220.7 3205.4 3235.9 2397.0 2462.3 58.40 -10.01 113 593.79 0.00 0.00 3.31 0.000 0.000 0.082 3221.00 3205.88 3236.12 2397.31 3894.75 0 0 0 30.00 30.00 16.00

818.23 1028 -97.75 -0.99 0.00 3220.5 3204.6 3236.4 2397.2 3894.1 81.47 -9.93 159 825.24 0.00 0.00 3.27 0.000 0.000 0.073 3222.84 3206.75 3238.94 2397.00 2463.38 0 0 0 30.00 30.00 16.03

1013.37 260 -97.75 -0.99 80.00 3220.4 3204.4 3236.5 2397.6 2463.4 101.22 -9.99 196 1019.76 0.00 0.00 3.30 0.000 0.000 0.082 3219.47 3203.00 3235.94 2397.62 3895.00 0 0 0 30.00 30.00 16.00

1241.71 1028 -97.75 -0.99 0.00 3220.8 3204.9 3236.7 2397.7 3893.8 124.42 -9.80 242 1250.24 0.00 0.00 3.27 0.000 0.000 0.073 3222.66 3206.56 3238.75 2397.25 2463.06 0 0 0 30.00 30.00 16.02

1437.87 260 -97.75 -0.99 80.00 3220.6 3205.2 3236.0 2397.3 2462.1 143.91 -10.10 262 1449.85 0.00 0.00 3.30 0.000 0.000 0.082 3222.75 3206.81 3238.69 2396.44 3894.50 0 0 0 30.00 30.00 16.04

1502 end dive: TARGET_DEPTH_EXCEEDED

state 1502 begin apogee

1506.61 10243 0.00 -0.20 0.00 3220.4 3204.8 3236.1 2397.9 2460.7 150.38 -9.81 275 1579.27 68.00 1.58 0.10 0.635 0.295 0.166 2821.69 2777.56 2865.81 2589.69 2520.19 0 0 0 11.60 15.80 15.97

1583 end apogee: CONTROL_FINISHED_OK

state 1583 begin climb

1582.69 10759 97.75 0.99 -80.00 2821.8 2777.1 2866.6 2590.0 2519.5 143.31 0.00 282 1665.07 71.12 2.41 3.39 0.616 0.303 0.102 2426.19 2366.69 2485.69 2877.06 1097.62 0 0 0 11.74 15.85 15.87

1889.47 1028 97.75 0.99 0.00 2419.4 2356.1 2482.6 2878.4 1097.9 111.57 9.94 342 1895.88 0.00 0.00 3.30 0.000 0.000 0.079 2419.50 2355.56 2483.44 2877.69 2524.50 0 0 0 30.00 30.00 15.96

2081.51 516 97.75 0.99 -80.00 2418.7 2354.5 2482.8 2878.3 2524.8 92.40 9.63 369 2088.76 0.00 0.00 3.36 0.000 0.000 0.098 2419.31 2355.06 2483.56 2878.19 1098.62 0 0 0 30.00 30.00 15.97

2313.29 17414 97.75 0.99 0.00 2418.3 2353.4 2483.3 2878.2 1098.9 69.26 9.98 415 2320.21 0.00 0.00 3.27 0.000 0.000 0.080 2419.34 2355.12 2483.56 2877.94 2524.25 0 0 0 30.00 30.00 16.01

2499.81 16902 97.75 0.99 -80.00 2418.0 2352.8 2483.2 2878.2 2524.2 50.88 9.61 452 2506.81 0.00 0.00 3.37 0.000 0.000 0.098 2417.91 2352.81 2483.00 2878.19 1099.06 0 0 0 30.00 30.00 15.99

2733.54 17414 97.75 0.99 0.00 2417.6 2352.4 2482.8 2878.2 1099.2 27.39 9.97 498 2739.94 0.00 0.00 3.24 0.000 0.000 0.081 2420.44 2355.44 2485.44 2878.12 2524.31 0 0 0 30.00 30.00 16.02

2918.90 16902 97.75 0.99 -80.00 2417.5 2352.2 2482.8 2878.3 2523.4 8.81 10.08 535 2926.07 0.00 0.00 3.35 0.000 0.000 0.097 2420.19 2354.75 2485.62 2877.69 1097.81 0 0 0 30.00 30.00 15.99

2991 end climb: SURFACE_DEPTH_REACHED

state 2991 begin surface coast

3010 end surface coast: CONTROL_FINISHED_OK

state 3010 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	20	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	72.742378	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2640	FG_AHR_24V	192.1163	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	020421,104458,4739.310,-12219.018,4,1.6,16,15.5	TGT_RADIUS	100.000
_CALLS	5	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.07	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	020421,105537,4739.310,-12219.019,4,1.1,11,15.5	MHEAD_RNG_PITCHd_Wd	300.8,10758,-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	1617363611,0,0.436500,0.000000	INTERNAL_PRESSURE	9.18526
NET	xmit part outbox012.n 609 0	_24V_AH	15.05,101.317
SM_CCo	3375.64,335.70,0.633,0,500.9,444.4,557.3,570.11	_10V_AH	15.00,0.000
SM_GC	0.10,335.70,16.49,3.23,0.633,0.058,0.079,500.9,444.4,557.3,198.0,2524.1,0,0,0,11.18,15.99,16.04	FG_AHR_24Vo	192.212
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	72.803
IRIDIUM_FIX	4738.87,-12218.96,020421,104950	MEM	1123508,45,52564,111
TCM_TEMP	24.76	DATA_FILE_SIZE	16101,553
SC_FREEKB	3873632	CAP_FILE_SIZE	567911,0
PM_FREEKB_00	61859840	SDSIZE	3918848,3897248
PM_ACTIVECARD	0	SDFILEDIR	304,1
RAFOS_CLK	-8	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4654.297852,-12148.696289,010421,222208,2,510,24896.31	CURRENT	0.002, 90.0,1
HUMID	50.17	GPS	020421,115310,4739.310,-12219.013,3,0.9,10,15.5
TEMP	22.62

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	609	634	5824.88	nil	0	0	0.00
Pitch_motor	39	303	178.39	nil	0	0	0.00
Roll_motor	52	166	132.32	nil	0	0	0.00
Iridium	224	76	259.93	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	20	15	4.55	nil	0	0	0.00
Core	2703	10	410.43	SciCon	3022	2	129.46
LPSleep	911	1	15.32	PMAR	3029	10	487.61
Compass	1650	5	123.78	nil	0	0	0.00
RAFOS	638	40	382.82
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
10.41	16386	-97.75	-0.99	0.00	498.5	442.6	554.5	196.8	2473.4	0.00	0.00	0	34.20	20.92	0.00	0.00	0.006	0.000	0.000	991.31	983.38	999.25	196.88	2473.75	0	0	0	16.10	30.00	30.00
34.45	18695	-97.75	-0.99	80.00	990.7	982.7	998.8	196.9	2474.1	3.11	-10.02	4	176.91	113.98	18.62	3.31	0.005	0.296	0.089	3222.00	3206.75	3237.25	2397.56	3894.31	0	0	0	16.10	15.82	15.99
401.23	1028	-97.75	-0.99	0.00	3220.6	3205.8	3235.5	2397.4	3894.5	39.71	-10.24	76	407.81	0.00	0.00	3.27	0.000	0.000	0.072	3221.97	3206.81	3237.12	2398.00	2462.88	0	0	0	30.00	30.00	16.01
586.86	260	-97.75	-0.99	80.00	3220.7	3205.4	3235.9	2397.0	2462.3	58.40	-10.01	113	593.79	0.00	0.00	3.31	0.000	0.000	0.082	3221.00	3205.88	3236.12	2397.31	3894.75	0	0	0	30.00	30.00	16.00
818.23	1028	-97.75	-0.99	0.00	3220.5	3204.6	3236.4	2397.2	3894.1	81.47	-9.93	159	825.24	0.00	0.00	3.27	0.000	0.000	0.073	3222.84	3206.75	3238.94	2397.00	2463.38	0	0	0	30.00	30.00	16.03
1013.37	260	-97.75	-0.99	80.00	3220.4	3204.4	3236.5	2397.6	2463.4	101.22	-9.99	196	1019.76	0.00	0.00	3.30	0.000	0.000	0.082	3219.47	3203.00	3235.94	2397.62	3895.00	0	0	0	30.00	30.00	16.00
1241.71	1028	-97.75	-0.99	0.00	3220.8	3204.9	3236.7	2397.7	3893.8	124.42	-9.80	242	1250.24	0.00	0.00	3.27	0.000	0.000	0.073	3222.66	3206.56	3238.75	2397.25	2463.06	0	0	0	30.00	30.00	16.02
1437.87	260	-97.75	-0.99	80.00	3220.6	3205.2	3236.0	2397.3	2462.1	143.91	-10.10	262	1449.85	0.00	0.00	3.30	0.000	0.000	0.082	3222.75	3206.81	3238.69	2396.44	3894.50	0	0	0	30.00	30.00	16.04
1502	end dive: TARGET_DEPTH_EXCEEDED
state	1502	begin apogee
1506.61	10243	0.00	-0.20	0.00	3220.4	3204.8	3236.1	2397.9	2460.7	150.38	-9.81	275	1579.27	68.00	1.58	0.10	0.635	0.295	0.166	2821.69	2777.56	2865.81	2589.69	2520.19	0	0	0	11.60	15.80	15.97
1583	end apogee: CONTROL_FINISHED_OK
state	1583	begin climb
1582.69	10759	97.75	0.99	-80.00	2821.8	2777.1	2866.6	2590.0	2519.5	143.31	0.00	282	1665.07	71.12	2.41	3.39	0.616	0.303	0.102	2426.19	2366.69	2485.69	2877.06	1097.62	0	0	0	11.74	15.85	15.87
1889.47	1028	97.75	0.99	0.00	2419.4	2356.1	2482.6	2878.4	1097.9	111.57	9.94	342	1895.88	0.00	0.00	3.30	0.000	0.000	0.079	2419.50	2355.56	2483.44	2877.69	2524.50	0	0	0	30.00	30.00	15.96
2081.51	516	97.75	0.99	-80.00	2418.7	2354.5	2482.8	2878.3	2524.8	92.40	9.63	369	2088.76	0.00	0.00	3.36	0.000	0.000	0.098	2419.31	2355.06	2483.56	2878.19	1098.62	0	0	0	30.00	30.00	15.97
2313.29	17414	97.75	0.99	0.00	2418.3	2353.4	2483.3	2878.2	1098.9	69.26	9.98	415	2320.21	0.00	0.00	3.27	0.000	0.000	0.080	2419.34	2355.12	2483.56	2877.94	2524.25	0	0	0	30.00	30.00	16.01
2499.81	16902	97.75	0.99	-80.00	2418.0	2352.8	2483.2	2878.2	2524.2	50.88	9.61	452	2506.81	0.00	0.00	3.37	0.000	0.000	0.098	2417.91	2352.81	2483.00	2878.19	1099.06	0	0	0	30.00	30.00	15.99
2733.54	17414	97.75	0.99	0.00	2417.6	2352.4	2482.8	2878.2	1099.2	27.39	9.97	498	2739.94	0.00	0.00	3.24	0.000	0.000	0.081	2420.44	2355.44	2485.44	2878.12	2524.31	0	0	0	30.00	30.00	16.02
2918.90	16902	97.75	0.99	-80.00	2417.5	2352.2	2482.8	2878.3	2523.4	8.81	10.08	535	2926.07	0.00	0.00	3.35	0.000	0.000	0.097	2420.19	2354.75	2485.62	2877.69	1097.81	0	0	0	30.00	30.00	15.99
2991	end climb: SURFACE_DEPTH_REACHED
state	2991	begin surface coast
3010	end surface coast: CONTROL_FINISHED_OK
state	3010	begin surface