Glider dive log

Shilshole 01Apr21 * SG233 * Dive index * Mission links * Dive 19 * 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 19 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 72.673111 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2640 FG_AHR_24V 192.01421 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 72.673111 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FG_AHR_24V 192.01421 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 19 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 020421,093403,4739.310,-12219.017,3,1.5,14,15.5 TGT_RADIUS 100.000

_CALLS 5 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.06 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 020421,094722,4739.311,-12219.016,5,1.5,13,15.5 MHEAD_RNG_PITCHd_Wd 301.4,10760,-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 1617359409,0,0.376500,0.000000 INTERNAL_PRESSURE 9.18514

NET xmit part outbox011.n 615 0 _24V_AH 15.05,101.159

SM_CCo 3373.70,334.50,0.633,0,500.4,444.4,556.4,570.22 _10V_AH 15.00,0.000

SM_GC 0.08,334.50,16.56,3.24,0.633,0.059,0.080,500.4,444.4,556.4,197.9,2525.8,0,0,0,11.21,15.98,16.05 FG_AHR_24Vo 192.112

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 72.734

IRIDIUM_FIX 4738.87,-12218.96,020421,094351 MEM 1123704,44,52428,109

TCM_TEMP 24.70 DATA_FILE_SIZE 16136,554

SC_FREEKB 3873952 CAP_FILE_SIZE 571115,0

PM_FREEKB_00 61902720 SDSIZE 3918848,3897888

PM_ACTIVECARD 0 SDFILEDIR 287,1

RAFOS_CLK -7 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 0.001,253.5,1

HUMID 50.17 GPS 020421,104458,4739.310,-12219.018,4,1.6,16,15.5

TEMP 22.60

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 607 666 6101.54 nil 0 0 0.00

Pitch_motor 39 301 177.23 nil 0 0 0.00

Roll_motor 52 172 137.17 nil 0 0 0.00

Iridium 386 154 897.88 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 22 15 5.08 nil 0 0 0.00

Core 2884 10 437.84 SciCon 3021 2 126.02

LPSleep 889 1 14.95 PMAR 3027 10 495.64

Compass 1643 5 123.28 nil 0 0 0.00

RAFOS 798 40 478.82

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

10.37 16386 -97.75 -0.99 0.00 498.4 442.3 554.5 196.9 2472.7 0.00 0.00 0 34.16 20.92 0.00 0.00 0.006 0.000 0.000 989.81 981.50 998.12 196.81 2472.50 0 0 0 16.09 30.00 30.00

34.41 18695 -97.75 -0.99 80.00 989.1 980.4 997.8 196.9 2473.2 3.03 -9.88 4 178.43 114.35 18.52 3.30 0.005 0.292 0.088 3223.44 3207.69 3239.19 2396.06 3893.25 0 0 0 14.72 15.81 15.97

403.48 1028 -97.75 -0.99 0.00 3221.6 3206.3 3236.8 2396.6 3893.7 39.99 -10.01 76 409.86 0.00 0.00 3.28 0.000 0.000 0.073 3222.31 3207.38 3237.25 2397.38 2464.38 0 0 0 30.00 30.00 16.01

588.87 260 -97.75 -0.99 80.00 3221.3 3205.8 3236.8 2397.2 2464.1 58.38 -9.84 113 596.00 0.00 0.00 3.29 0.000 0.000 0.082 3222.81 3207.19 3238.44 2396.12 3893.06 0 0 0 30.00 30.00 16.00

820.48 1028 -97.75 -0.99 0.00 3220.9 3205.4 3236.4 2396.8 3893.0 81.79 -10.01 159 827.49 0.00 0.00 3.26 0.000 0.000 0.071 3221.84 3206.38 3237.31 2397.06 2462.88 0 0 0 30.00 30.00 16.02

1007.05 260 -97.75 -0.99 80.00 3220.8 3205.3 3236.2 2396.6 2462.9 100.43 -9.90 196 1014.16 0.00 0.00 3.30 0.000 0.000 0.082 3222.03 3205.69 3238.38 2396.50 3895.50 0 0 0 30.00 30.00 16.01

1236.11 1028 -97.75 -0.99 0.00 3220.7 3204.9 3236.4 2397.0 3895.6 123.48 -10.12 242 1244.62 0.00 0.00 3.26 0.000 0.000 0.073 3222.03 3206.00 3238.06 2396.31 2465.12 0 0 0 30.00 30.00 16.01

1427.37 260 -97.75 -0.99 80.00 3220.7 3204.9 3236.4 2396.2 2464.8 142.53 -10.32 262 1433.75 0.00 0.00 3.29 0.000 0.000 0.081 3222.19 3205.81 3238.56 2396.25 3893.75 0 0 0 30.00 30.00 16.02

1506 end dive: TARGET_DEPTH_EXCEEDED

state 1506 begin apogee

1510.50 10243 0.00 -0.20 0.00 3220.7 3204.6 3236.8 2397.2 2462.4 150.46 -10.09 278 1583.71 67.75 1.59 0.09 0.667 0.295 0.172 2820.81 2777.06 2864.56 2589.38 2520.00 0 0 0 11.51 15.77 15.97

1587 end apogee: CONTROL_FINISHED_OK

state 1587 begin climb

1586.70 10759 97.75 0.99 -80.00 2821.7 2777.1 2866.3 2589.3 2520.2 143.56 0.00 285 1666.12 70.39 2.44 3.40 0.641 0.301 0.103 2423.28 2363.81 2482.75 2878.19 1097.38 0 0 0 11.60 15.85 15.86

1888.06 1028 97.75 0.99 0.00 2419.3 2355.2 2483.4 2878.4 1097.7 112.10 9.96 344 1896.57 0.00 0.00 3.28 0.000 0.000 0.080 2419.59 2356.12 2483.06 2877.88 2523.50 0 0 0 30.00 30.00 15.96

2079.14 16902 97.75 0.99 -80.00 2418.1 2353.8 2482.4 2877.9 2523.2 93.05 9.88 370 2086.00 0.00 0.00 3.36 0.000 0.000 0.098 2420.97 2356.44 2485.50 2877.38 1098.56 0 0 0 30.00 30.00 15.96

2310.52 17414 97.75 0.99 0.00 2418.1 2353.3 2482.8 2878.2 1098.4 70.09 10.21 416 2317.46 0.00 0.00 3.25 0.000 0.000 0.079 2419.00 2353.94 2484.06 2878.88 2524.44 0 0 0 30.00 30.00 16.00

2497.03 16902 97.75 0.99 -80.00 2417.7 2352.2 2483.2 2878.2 2524.1 51.29 10.13 453 2504.06 0.00 0.00 3.36 0.000 0.000 0.097 2418.00 2353.00 2483.00 2878.00 1098.94 0 0 0 30.00 30.00 15.99

2731.70 17414 97.75 0.99 0.00 2417.6 2351.9 2483.3 2878.5 1098.8 27.82 10.10 499 2738.37 0.00 0.00 3.28 0.000 0.000 0.080 2420.19 2354.88 2485.50 2877.38 2523.12 0 0 0 30.00 30.00 16.02

2917.97 16902 97.75 0.99 -80.00 2417.4 2351.9 2483.0 2878.2 2523.9 8.74 9.97 536 2924.97 0.00 0.00 3.35 0.000 0.000 0.098 2417.75 2352.25 2483.25 2878.25 1097.50 0 0 0 30.00 30.00 15.99

2989 end climb: SURFACE_DEPTH_REACHED

state 2989 begin surface coast

3009 end surface coast: CONTROL_FINISHED_OK

state 3009 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	19	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	72.673111	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2640	FG_AHR_24V	192.01421	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	020421,093403,4739.310,-12219.017,3,1.5,14,15.5	TGT_RADIUS	100.000
_CALLS	5	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.06	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	020421,094722,4739.311,-12219.016,5,1.5,13,15.5	MHEAD_RNG_PITCHd_Wd	301.4,10760,-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	1617359409,0,0.376500,0.000000	INTERNAL_PRESSURE	9.18514
NET	xmit part outbox011.n 615 0	_24V_AH	15.05,101.159
SM_CCo	3373.70,334.50,0.633,0,500.4,444.4,556.4,570.22	_10V_AH	15.00,0.000
SM_GC	0.08,334.50,16.56,3.24,0.633,0.059,0.080,500.4,444.4,556.4,197.9,2525.8,0,0,0,11.21,15.98,16.05	FG_AHR_24Vo	192.112
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	72.734
IRIDIUM_FIX	4738.87,-12218.96,020421,094351	MEM	1123704,44,52428,109
TCM_TEMP	24.70	DATA_FILE_SIZE	16136,554
SC_FREEKB	3873952	CAP_FILE_SIZE	571115,0
PM_FREEKB_00	61902720	SDSIZE	3918848,3897888
PM_ACTIVECARD	0	SDFILEDIR	287,1
RAFOS_CLK	-7	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	0.001,253.5,1
HUMID	50.17	GPS	020421,104458,4739.310,-12219.018,4,1.6,16,15.5
TEMP	22.60

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	607	666	6101.54	nil	0	0	0.00
Pitch_motor	39	301	177.23	nil	0	0	0.00
Roll_motor	52	172	137.17	nil	0	0	0.00
Iridium	386	154	897.88	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	22	15	5.08	nil	0	0	0.00
Core	2884	10	437.84	SciCon	3021	2	126.02
LPSleep	889	1	14.95	PMAR	3027	10	495.64
Compass	1643	5	123.28	nil	0	0	0.00
RAFOS	798	40	478.82
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
10.37	16386	-97.75	-0.99	0.00	498.4	442.3	554.5	196.9	2472.7	0.00	0.00	0	34.16	20.92	0.00	0.00	0.006	0.000	0.000	989.81	981.50	998.12	196.81	2472.50	0	0	0	16.09	30.00	30.00
34.41	18695	-97.75	-0.99	80.00	989.1	980.4	997.8	196.9	2473.2	3.03	-9.88	4	178.43	114.35	18.52	3.30	0.005	0.292	0.088	3223.44	3207.69	3239.19	2396.06	3893.25	0	0	0	14.72	15.81	15.97
403.48	1028	-97.75	-0.99	0.00	3221.6	3206.3	3236.8	2396.6	3893.7	39.99	-10.01	76	409.86	0.00	0.00	3.28	0.000	0.000	0.073	3222.31	3207.38	3237.25	2397.38	2464.38	0	0	0	30.00	30.00	16.01
588.87	260	-97.75	-0.99	80.00	3221.3	3205.8	3236.8	2397.2	2464.1	58.38	-9.84	113	596.00	0.00	0.00	3.29	0.000	0.000	0.082	3222.81	3207.19	3238.44	2396.12	3893.06	0	0	0	30.00	30.00	16.00
820.48	1028	-97.75	-0.99	0.00	3220.9	3205.4	3236.4	2396.8	3893.0	81.79	-10.01	159	827.49	0.00	0.00	3.26	0.000	0.000	0.071	3221.84	3206.38	3237.31	2397.06	2462.88	0	0	0	30.00	30.00	16.02
1007.05	260	-97.75	-0.99	80.00	3220.8	3205.3	3236.2	2396.6	2462.9	100.43	-9.90	196	1014.16	0.00	0.00	3.30	0.000	0.000	0.082	3222.03	3205.69	3238.38	2396.50	3895.50	0	0	0	30.00	30.00	16.01
1236.11	1028	-97.75	-0.99	0.00	3220.7	3204.9	3236.4	2397.0	3895.6	123.48	-10.12	242	1244.62	0.00	0.00	3.26	0.000	0.000	0.073	3222.03	3206.00	3238.06	2396.31	2465.12	0	0	0	30.00	30.00	16.01
1427.37	260	-97.75	-0.99	80.00	3220.7	3204.9	3236.4	2396.2	2464.8	142.53	-10.32	262	1433.75	0.00	0.00	3.29	0.000	0.000	0.081	3222.19	3205.81	3238.56	2396.25	3893.75	0	0	0	30.00	30.00	16.02
1506	end dive: TARGET_DEPTH_EXCEEDED
state	1506	begin apogee
1510.50	10243	0.00	-0.20	0.00	3220.7	3204.6	3236.8	2397.2	2462.4	150.46	-10.09	278	1583.71	67.75	1.59	0.09	0.667	0.295	0.172	2820.81	2777.06	2864.56	2589.38	2520.00	0	0	0	11.51	15.77	15.97
1587	end apogee: CONTROL_FINISHED_OK
state	1587	begin climb
1586.70	10759	97.75	0.99	-80.00	2821.7	2777.1	2866.3	2589.3	2520.2	143.56	0.00	285	1666.12	70.39	2.44	3.40	0.641	0.301	0.103	2423.28	2363.81	2482.75	2878.19	1097.38	0	0	0	11.60	15.85	15.86
1888.06	1028	97.75	0.99	0.00	2419.3	2355.2	2483.4	2878.4	1097.7	112.10	9.96	344	1896.57	0.00	0.00	3.28	0.000	0.000	0.080	2419.59	2356.12	2483.06	2877.88	2523.50	0	0	0	30.00	30.00	15.96
2079.14	16902	97.75	0.99	-80.00	2418.1	2353.8	2482.4	2877.9	2523.2	93.05	9.88	370	2086.00	0.00	0.00	3.36	0.000	0.000	0.098	2420.97	2356.44	2485.50	2877.38	1098.56	0	0	0	30.00	30.00	15.96
2310.52	17414	97.75	0.99	0.00	2418.1	2353.3	2482.8	2878.2	1098.4	70.09	10.21	416	2317.46	0.00	0.00	3.25	0.000	0.000	0.079	2419.00	2353.94	2484.06	2878.88	2524.44	0	0	0	30.00	30.00	16.00
2497.03	16902	97.75	0.99	-80.00	2417.7	2352.2	2483.2	2878.2	2524.1	51.29	10.13	453	2504.06	0.00	0.00	3.36	0.000	0.000	0.097	2418.00	2353.00	2483.00	2878.00	1098.94	0	0	0	30.00	30.00	15.99
2731.70	17414	97.75	0.99	0.00	2417.6	2351.9	2483.3	2878.5	1098.8	27.82	10.10	499	2738.37	0.00	0.00	3.28	0.000	0.000	0.080	2420.19	2354.88	2485.50	2877.38	2523.12	0	0	0	30.00	30.00	16.02
2917.97	16902	97.75	0.99	-80.00	2417.4	2351.9	2483.0	2878.2	2523.9	8.74	9.97	536	2924.97	0.00	0.00	3.35	0.000	0.000	0.098	2417.75	2352.25	2483.25	2878.25	1097.50	0	0	0	30.00	30.00	15.99
2989	end climb: SURFACE_DEPTH_REACHED
state	2989	begin surface coast
3009	end surface coast: CONTROL_FINISHED_OK
state	3009	begin surface