Glider dive log

Shilshole 01Apr21 * SG233 * Dive index * Mission links * Dive 5 * 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 5 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 100 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 73.296608 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2640 FG_AHR_24V 193.18925 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 73.296608 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FG_AHR_24V 193.18925 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 100

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 5 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 030421,043932,4739.312,-12219.021,6,1.6,21,15.5 TGT_RADIUS 100.000

_CALLS 1 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 030421,044530,4739.313,-12219.014,4,1.6,20,15.5 MHEAD_RNG_PITCHd_Wd 301.0,10758,-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 1617427809,0,0.415500,0.000000 INTERNAL_PRESSURE 9.25037

NET xmit part outbox003.n 572 0 _24V_AH 15.40,102.713

SM_CCo 3035.56,3.30,0.241,0,2415.2,2348.1,2482.3,100.53 _10V_AH 15.00,0.000

SM_GC 0.12,3.30,16.40,3.20,0.241,0.055,0.078,2415.2,2348.1,2482.3,195.8,2524.5,0,0,0,11.33,16.08,16.11 FG_AHR_24Vo 193.224

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 73.322

IRIDIUM_FIX 4738.87,-12218.96,030421,034555 MEM 1124932,40,51540,96

TCM_TEMP 25.01 DATA_FILE_SIZE 16096,554

SC_FREEKB 3877152 CAP_FILE_SIZE 536398,0

PM_FREEKB_00 62201280 SDSIZE 3918848,3901856

PM_ACTIVECARD 0 SDFILEDIR 183,1

RAFOS_CLK -7 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 WARN PPS timeout

HUMID 50.40 CURRENT 0.005,295.8,1

TEMP 22.47 GPS 030421,053801,4739.317,-12219.024,8,1.9,48,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 188 666 1930.08 nil 0 0 0.00

Pitch_motor 38 299 178.17 nil 0 0 0.00

Roll_motor 52 174 141.52 nil 0 0 0.00

Iridium 199 175 539.20 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 29 15 6.68 nil 0 0 0.00

Core 2626 10 398.72 SciCon 3013 2 127.95

LPSleep 709 1 11.93 PMAR 3020 10 474.70

Compass 1630 5 122.26 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

10.09 16386 -97.75 -0.99 0.00 2415.2 2348.4 2482.1 199.1 2466.7 0.00 0.00 0 33.85 20.89 0.00 0.00 0.006 0.000 0.000 2787.81 2762.00 2813.62 199.31 2466.38 0 0 0 16.16 30.00 30.00

34.10 18695 -97.75 -0.99 80.00 2786.4 2760.6 2812.1 199.2 2466.4 3.05 -10.24 4 89.19 23.60 18.35 3.28 0.006 0.291 0.088 3221.06 3204.12 3238.00 2396.62 3894.06 0 0 0 16.17 15.81 16.04

315.09 1028 -97.75 -0.99 0.00 3221.2 3204.4 3238.0 2396.3 3894.6 31.39 -10.06 59 322.05 0.00 0.00 3.23 0.000 0.000 0.070 3221.16 3204.12 3238.19 2397.25 2459.56 0 0 0 30.00 30.00 16.06

501.66 260 -97.75 -0.99 80.00 3220.6 3204.0 3237.2 2396.8 2459.5 49.81 -9.99 96 508.63 0.00 0.00 3.29 0.000 0.000 0.080 3221.41 3204.50 3238.31 2397.25 3894.94 0 0 0 30.00 30.00 16.05

733.13 1028 -97.75 -0.99 0.00 3221.1 3204.2 3237.9 2396.6 3894.9 73.03 -10.19 142 739.48 0.00 0.00 3.24 0.000 0.000 0.068 3221.94 3204.75 3239.12 2397.19 2462.31 0 0 0 30.00 30.00 16.08

918.48 260 -97.75 -0.99 80.00 3220.8 3204.1 3237.4 2396.9 2462.1 91.30 -9.63 179 925.64 0.00 0.00 3.30 0.000 0.000 0.080 3223.22 3206.44 3240.00 2396.94 3895.69 0 0 0 30.00 30.00 16.05

1150.12 1028 -97.75 -0.99 0.00 3221.2 3204.1 3238.2 2397.4 3895.2 114.72 -10.39 225 1157.08 0.00 0.00 3.23 0.000 0.000 0.069 3220.34 3203.12 3237.56 2397.06 2462.12 0 0 0 30.00 30.00 16.07

1336.09 260 -97.75 -0.99 80.00 3220.6 3203.8 3237.5 2396.8 2462.4 133.49 -10.09 244 1342.48 0.00 0.00 3.29 0.000 0.000 0.080 3219.88 3202.81 3236.94 2396.94 3895.94 0 0 0 30.00 30.00 16.05

1503 end dive: TARGET_DEPTH_EXCEEDED

state 1503 begin apogee

1507.42 10243 0.00 -0.20 0.00 3220.5 3203.6 3237.5 2397.1 2464.9 150.28 -9.97 277 1585.16 68.65 1.55 0.09 0.667 0.290 0.175 2822.94 2779.06 2866.81 2589.38 2521.75 0 0 0 11.47 15.81 16.02

1588 end apogee: CONTROL_FINISHED_OK

state 1588 begin climb

1587.88 10759 97.75 0.99 -80.00 2821.7 2777.4 2866.1 2589.8 2521.2 142.32 0.00 285 1669.90 71.57 2.37 3.36 0.634 0.299 0.098 2423.59 2364.19 2483.00 2878.69 1097.56 0 0 0 11.72 15.90 15.92

1893.92 1028 97.75 0.99 0.00 2420.1 2356.9 2483.4 2879.2 1097.7 111.11 10.08 345 1900.78 0.00 0.00 3.26 0.000 0.000 0.079 2418.53 2354.69 2482.38 2879.31 2524.38 0 0 0 30.00 30.00 16.02

2086.55 516 97.75 0.99 -80.00 2419.4 2355.4 2483.4 2879.1 2524.3 91.53 10.12 372 2093.59 0.00 0.00 3.33 0.000 0.000 0.094 2422.06 2358.06 2486.06 2878.81 1097.94 0 0 0 30.00 30.00 16.03

2318.15 17414 97.75 0.99 0.00 2418.3 2353.7 2483.0 2879.0 1097.8 67.91 10.35 418 2324.53 0.00 0.00 3.24 0.000 0.000 0.079 2418.97 2354.81 2483.12 2879.75 2523.69 0 0 0 30.00 30.00 16.06

2503.48 16902 97.75 0.99 -80.00 2418.3 2353.4 2483.2 2879.0 2523.2 49.61 9.64 455 2510.60 0.00 0.00 3.32 0.000 0.000 0.095 2419.88 2355.19 2484.56 2879.19 1098.19 0 0 0 30.00 30.00 16.05

2736.73 1028 97.75 0.99 0.00 2418.4 2353.2 2483.5 2878.9 1098.2 26.44 10.08 501 2743.09 0.00 0.00 3.24 0.000 0.000 0.078 2421.00 2355.88 2486.12 2878.50 2523.56 0 0 0 30.00 30.00 16.09

2922.01 16902 97.75 0.99 -80.00 2418.1 2352.8 2483.4 2878.6 2523.2 7.78 10.07 538 2928.64 0.00 0.00 3.33 0.000 0.000 0.094 2419.59 2354.38 2484.81 2879.12 1097.75 0 0 0 30.00 30.00 16.06

2983 end climb: SURFACE_DEPTH_REACHED

state 2983 begin surface coast

3003 end surface coast: CONTROL_FINISHED_OK

state 3003 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	5	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	100	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	73.296608	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2640	FG_AHR_24V	193.18925	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	030421,043932,4739.312,-12219.021,6,1.6,21,15.5	TGT_RADIUS	100.000
_CALLS	1	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	030421,044530,4739.313,-12219.014,4,1.6,20,15.5	MHEAD_RNG_PITCHd_Wd	301.0,10758,-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	1617427809,0,0.415500,0.000000	INTERNAL_PRESSURE	9.25037
NET	xmit part outbox003.n 572 0	_24V_AH	15.40,102.713
SM_CCo	3035.56,3.30,0.241,0,2415.2,2348.1,2482.3,100.53	_10V_AH	15.00,0.000
SM_GC	0.12,3.30,16.40,3.20,0.241,0.055,0.078,2415.2,2348.1,2482.3,195.8,2524.5,0,0,0,11.33,16.08,16.11	FG_AHR_24Vo	193.224
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	73.322
IRIDIUM_FIX	4738.87,-12218.96,030421,034555	MEM	1124932,40,51540,96
TCM_TEMP	25.01	DATA_FILE_SIZE	16096,554
SC_FREEKB	3877152	CAP_FILE_SIZE	536398,0
PM_FREEKB_00	62201280	SDSIZE	3918848,3901856
PM_ACTIVECARD	0	SDFILEDIR	183,1
RAFOS_CLK	-7	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	WARN	PPS timeout
HUMID	50.40	CURRENT	0.005,295.8,1
TEMP	22.47	GPS	030421,053801,4739.317,-12219.024,8,1.9,48,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	188	666	1930.08	nil	0	0	0.00
Pitch_motor	38	299	178.17	nil	0	0	0.00
Roll_motor	52	174	141.52	nil	0	0	0.00
Iridium	199	175	539.20	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	29	15	6.68	nil	0	0	0.00
Core	2626	10	398.72	SciCon	3013	2	127.95
LPSleep	709	1	11.93	PMAR	3020	10	474.70
Compass	1630	5	122.26	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
10.09	16386	-97.75	-0.99	0.00	2415.2	2348.4	2482.1	199.1	2466.7	0.00	0.00	0	33.85	20.89	0.00	0.00	0.006	0.000	0.000	2787.81	2762.00	2813.62	199.31	2466.38	0	0	0	16.16	30.00	30.00
34.10	18695	-97.75	-0.99	80.00	2786.4	2760.6	2812.1	199.2	2466.4	3.05	-10.24	4	89.19	23.60	18.35	3.28	0.006	0.291	0.088	3221.06	3204.12	3238.00	2396.62	3894.06	0	0	0	16.17	15.81	16.04
315.09	1028	-97.75	-0.99	0.00	3221.2	3204.4	3238.0	2396.3	3894.6	31.39	-10.06	59	322.05	0.00	0.00	3.23	0.000	0.000	0.070	3221.16	3204.12	3238.19	2397.25	2459.56	0	0	0	30.00	30.00	16.06
501.66	260	-97.75	-0.99	80.00	3220.6	3204.0	3237.2	2396.8	2459.5	49.81	-9.99	96	508.63	0.00	0.00	3.29	0.000	0.000	0.080	3221.41	3204.50	3238.31	2397.25	3894.94	0	0	0	30.00	30.00	16.05
733.13	1028	-97.75	-0.99	0.00	3221.1	3204.2	3237.9	2396.6	3894.9	73.03	-10.19	142	739.48	0.00	0.00	3.24	0.000	0.000	0.068	3221.94	3204.75	3239.12	2397.19	2462.31	0	0	0	30.00	30.00	16.08
918.48	260	-97.75	-0.99	80.00	3220.8	3204.1	3237.4	2396.9	2462.1	91.30	-9.63	179	925.64	0.00	0.00	3.30	0.000	0.000	0.080	3223.22	3206.44	3240.00	2396.94	3895.69	0	0	0	30.00	30.00	16.05
1150.12	1028	-97.75	-0.99	0.00	3221.2	3204.1	3238.2	2397.4	3895.2	114.72	-10.39	225	1157.08	0.00	0.00	3.23	0.000	0.000	0.069	3220.34	3203.12	3237.56	2397.06	2462.12	0	0	0	30.00	30.00	16.07
1336.09	260	-97.75	-0.99	80.00	3220.6	3203.8	3237.5	2396.8	2462.4	133.49	-10.09	244	1342.48	0.00	0.00	3.29	0.000	0.000	0.080	3219.88	3202.81	3236.94	2396.94	3895.94	0	0	0	30.00	30.00	16.05
1503	end dive: TARGET_DEPTH_EXCEEDED
state	1503	begin apogee
1507.42	10243	0.00	-0.20	0.00	3220.5	3203.6	3237.5	2397.1	2464.9	150.28	-9.97	277	1585.16	68.65	1.55	0.09	0.667	0.290	0.175	2822.94	2779.06	2866.81	2589.38	2521.75	0	0	0	11.47	15.81	16.02
1588	end apogee: CONTROL_FINISHED_OK
state	1588	begin climb
1587.88	10759	97.75	0.99	-80.00	2821.7	2777.4	2866.1	2589.8	2521.2	142.32	0.00	285	1669.90	71.57	2.37	3.36	0.634	0.299	0.098	2423.59	2364.19	2483.00	2878.69	1097.56	0	0	0	11.72	15.90	15.92
1893.92	1028	97.75	0.99	0.00	2420.1	2356.9	2483.4	2879.2	1097.7	111.11	10.08	345	1900.78	0.00	0.00	3.26	0.000	0.000	0.079	2418.53	2354.69	2482.38	2879.31	2524.38	0	0	0	30.00	30.00	16.02
2086.55	516	97.75	0.99	-80.00	2419.4	2355.4	2483.4	2879.1	2524.3	91.53	10.12	372	2093.59	0.00	0.00	3.33	0.000	0.000	0.094	2422.06	2358.06	2486.06	2878.81	1097.94	0	0	0	30.00	30.00	16.03
2318.15	17414	97.75	0.99	0.00	2418.3	2353.7	2483.0	2879.0	1097.8	67.91	10.35	418	2324.53	0.00	0.00	3.24	0.000	0.000	0.079	2418.97	2354.81	2483.12	2879.75	2523.69	0	0	0	30.00	30.00	16.06
2503.48	16902	97.75	0.99	-80.00	2418.3	2353.4	2483.2	2879.0	2523.2	49.61	9.64	455	2510.60	0.00	0.00	3.32	0.000	0.000	0.095	2419.88	2355.19	2484.56	2879.19	1098.19	0	0	0	30.00	30.00	16.05
2736.73	1028	97.75	0.99	0.00	2418.4	2353.2	2483.5	2878.9	1098.2	26.44	10.08	501	2743.09	0.00	0.00	3.24	0.000	0.000	0.078	2421.00	2355.88	2486.12	2878.50	2523.56	0	0	0	30.00	30.00	16.09
2922.01	16902	97.75	0.99	-80.00	2418.1	2352.8	2483.4	2878.6	2523.2	7.78	10.07	538	2928.64	0.00	0.00	3.33	0.000	0.000	0.094	2419.59	2354.38	2484.81	2879.12	1097.75	0	0	0	30.00	30.00	16.06
2983	end climb: SURFACE_DEPTH_REACHED
state	2983	begin surface coast
3003	end surface coast: CONTROL_FINISHED_OK
state	3003	begin surface