Glider dive log

Shilshole 01Apr21 * SG233 * Dive index * Mission links * Dive 12 * 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 12 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 73.504387 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2640 FG_AHR_24V 193.70683 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 73.504387 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FG_AHR_24V 193.70683 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 12 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 030421,121102,4739.310,-12219.020,3,0.8,37,15.5 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 030421,122131,4739.309,-12219.016,3,0.9,7,15.5 MHEAD_RNG_PITCHd_Wd 301.0,10763,-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 1617455410,0,0.364500,0.000000 INTERNAL_PRESSURE 9.1917

NET xmit part outbox010.n 544 0 _24V_AH 15.07,103.404

MODEM_MSG CACST,6,1,20210403123155.780948,05,15,-30,0115,0150,432,02,02,07,04,-1,-01,-01,1,3,0,0,150,-3.8,0.44,-100,2.56,-01,0.16,53,925,0025*20 _10V_AH 15.00,0.000

NAV 1617463470,0.1,10,stop FG_AHR_24Vo 193.807

SM_CCo 10944.44,0.00,0.000,0,500.1,446.3,553.9,570.30 FG_AHR_10Vo 73.565

SM_GC 0.09,0.00,3.11,0.10,0.000,0.061,0.137,500.1,446.3,553.9,198.0,2467.2,0,0,0,30.00,15.98,16.00 MEM 1123356,50,52596,112

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16095,556

IRIDIUM_FIX 4738.87,-12218.96,030421,121852 CAP_FILE_SIZE 574528,0

TCM_TEMP 24.89 SDSIZE 3918848,3899360

SC_FREEKB 3874912 SDFILEDIR 239,1

PM_FREEKB_00 61900864 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 0 CURRENT 0.002, 17.6,1

RAFOS_CLK -7 GPS 030421,131909,4739.312,-12219.014,2,1.0,7,15.5

MODEM 0,1617451332,47.00000,-122.50000,132.539,194170.0 EOP_CODE CONTROL_FINISHED_OK

RAFOS_FIX 5040.986328,-11752.305664,030421,121255,5,255,16779.72 RECOV_CODE N_DIVES_COMPLETED

HUMID 50.28 RESTART_TIME Sat Apr 3 15:26:09 2021

TEMP 22.82

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 612 673 6217.24 nil 0 0 0.00

Pitch_motor 39 303 178.97 nil 0 0 0.00

Roll_motor 52 174 139.07 nil 0 0 0.00

Iridium 230 89 308.77 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 16 15 3.78 nil 0 0 0.00

Core 2708 10 411.15 SciCon 3028 2 130.45

LPSleep 901 1 15.15 PMAR 3035 10 468.59

Compass 1650 5 123.82 nil 0 0 0.00

RAFOS 628 40 376.82

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

10.44 16386 -97.75 -0.99 0.00 498.1 442.1 554.1 196.6 2471.6 0.00 0.00 0 39.31 26.06 0.00 0.00 0.006 0.000 0.000 1112.56 1112.38 1112.75 196.81 2471.31 0 0 0 16.10 30.00 30.00

39.57 18695 -97.75 -0.99 80.00 1112.1 1111.9 1112.2 196.8 2471.6 3.50 -10.07 5 176.81 107.33 18.46 3.30 0.005 0.289 0.086 3220.81 3207.44 3234.19 2398.00 3893.62 0 0 0 16.09 15.82 15.99

401.24 1028 -97.75 -0.99 0.00 3220.9 3207.9 3234.0 2398.3 3894.4 40.02 -10.12 76 407.67 0.00 0.00 3.27 0.000 0.000 0.069 3220.94 3207.88 3234.00 2398.44 2458.81 0 0 0 30.00 30.00 16.01

588.80 260 -97.75 -0.99 80.00 3220.7 3207.4 3234.0 2398.5 2458.5 58.65 -9.83 113 596.03 0.00 0.00 3.33 0.000 0.000 0.080 3220.81 3208.00 3233.62 2398.19 3896.00 0 0 0 30.00 30.00 16.01

820.50 1028 -97.75 -0.99 0.00 3220.5 3207.4 3233.6 2398.3 3895.6 81.82 -10.12 159 827.47 0.00 0.00 3.27 0.000 0.000 0.069 3222.72 3209.19 3236.25 2397.88 2462.94 0 0 0 30.00 30.00 16.02

1007.68 260 -97.75 -0.99 80.00 3220.9 3207.6 3234.3 2398.6 2462.0 100.35 -9.80 196 1014.66 0.00 0.00 3.29 0.000 0.000 0.080 3219.25 3205.94 3232.56 2398.62 3896.44 0 0 0 30.00 30.00 16.00

1237.81 1028 -97.75 -0.99 0.00 3220.7 3207.0 3234.4 2397.6 3896.3 123.54 -9.78 242 1246.34 0.00 0.00 3.27 0.000 0.000 0.069 3222.00 3208.31 3235.69 2398.44 2462.50 0 0 0 30.00 30.00 16.05

1425.11 260 -97.75 -0.99 80.00 3220.5 3206.6 3234.4 2398.2 2462.2 142.26 -10.19 261 1431.51 0.00 0.00 3.29 0.000 0.000 0.080 3221.50 3207.75 3235.25 2398.06 3893.81 0 0 0 30.00 30.00 16.00

1503 end dive: TARGET_DEPTH_EXCEEDED

state 1503 begin apogee

1508.25 10243 0.00 -0.20 0.00 3220.3 3206.8 3233.8 2398.4 2463.8 150.26 -10.15 277 1586.12 68.57 1.60 0.09 0.673 0.296 0.175 2823.72 2777.94 2869.50 2589.88 2518.69 0 0 0 11.42 15.76 15.97

1589 end apogee: CONTROL_FINISHED_OK

state 1589 begin climb

1589.10 10759 97.75 0.99 -80.00 2822.1 2776.3 2867.9 2589.8 2518.2 142.54 0.00 285 1671.53 71.67 2.42 3.36 0.648 0.304 0.097 2425.16 2368.00 2482.31 2877.31 1098.38 0 0 0 11.81 15.85 15.87

1897.04 1028 97.75 0.99 0.00 2419.6 2357.9 2481.3 2878.4 1097.9 111.04 10.06 345 1904.07 0.00 0.00 3.26 0.000 0.000 0.078 2418.62 2356.94 2480.31 2878.12 2523.38 0 0 0 30.00 30.00 15.94

2083.06 516 97.75 0.99 -80.00 2418.9 2357.4 2480.5 2878.0 2523.7 92.57 9.95 371 2090.09 0.00 0.00 3.36 0.000 0.000 0.094 2420.72 2358.69 2482.75 2878.25 1098.75 0 0 0 30.00 30.00 15.96

2314.61 1028 97.75 0.99 0.00 2418.5 2356.6 2480.5 2878.4 1098.8 69.22 9.93 417 2321.01 0.00 0.00 3.24 0.000 0.000 0.079 2419.03 2357.12 2480.94 2878.12 2525.19 0 0 0 30.00 30.00 15.99

2499.96 16902 97.75 0.99 -80.00 2418.1 2355.2 2480.9 2878.3 2525.1 51.00 9.80 454 2507.08 0.00 0.00 3.36 0.000 0.000 0.094 2418.69 2356.50 2480.88 2878.50 1100.88 0 0 0 30.00 30.00 15.98

2731.60 17414 97.75 0.99 0.00 2418.2 2355.4 2481.0 2877.7 1100.6 28.05 10.15 500 2738.53 0.00 0.00 3.26 0.000 0.000 0.078 2418.59 2356.19 2481.00 2878.75 2521.75 0 0 0 30.00 30.00 16.00

2919.83 16902 97.75 0.99 -80.00 2418.1 2355.4 2480.8 2877.8 2521.6 9.18 10.03 537 2926.25 0.00 0.00 3.36 0.000 0.000 0.094 2419.56 2356.88 2482.25 2877.94 1097.75 0 0 0 30.00 30.00 15.98

2995 end climb: SURFACE_DEPTH_REACHED

state 2995 begin surface coast

3016 end surface coast: CONTROL_FINISHED_OK

state 3016 begin surface

state 10872 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	12	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	73.504387	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2640	FG_AHR_24V	193.70683	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	030421,121102,4739.310,-12219.020,3,0.8,37,15.5	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	030421,122131,4739.309,-12219.016,3,0.9,7,15.5	MHEAD_RNG_PITCHd_Wd	301.0,10763,-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	1617455410,0,0.364500,0.000000	INTERNAL_PRESSURE	9.1917
NET	xmit part outbox010.n 544 0	_24V_AH	15.07,103.404
MODEM_MSG	CACST,6,1,20210403123155.780948,05,15,-30,0115,0150,432,02,02,07,04,-1,-01,-01,1,3,0,0,150,-3.8,0.44,-100,2.56,-01,0.16,53,925,0025*20	_10V_AH	15.00,0.000
NAV	1617463470,0.1,10,stop	FG_AHR_24Vo	193.807
SM_CCo	10944.44,0.00,0.000,0,500.1,446.3,553.9,570.30	FG_AHR_10Vo	73.565
SM_GC	0.09,0.00,3.11,0.10,0.000,0.061,0.137,500.1,446.3,553.9,198.0,2467.2,0,0,0,30.00,15.98,16.00	MEM	1123356,50,52596,112
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16095,556
IRIDIUM_FIX	4738.87,-12218.96,030421,121852	CAP_FILE_SIZE	574528,0
TCM_TEMP	24.89	SDSIZE	3918848,3899360
SC_FREEKB	3874912	SDFILEDIR	239,1
PM_FREEKB_00	61900864	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	0	CURRENT	0.002, 17.6,1
RAFOS_CLK	-7	GPS	030421,131909,4739.312,-12219.014,2,1.0,7,15.5
MODEM	0,1617451332,47.00000,-122.50000,132.539,194170.0	EOP_CODE	CONTROL_FINISHED_OK
RAFOS_FIX	5040.986328,-11752.305664,030421,121255,5,255,16779.72	RECOV_CODE	N_DIVES_COMPLETED
HUMID	50.28	RESTART_TIME	Sat Apr 3 15:26:09 2021
TEMP	22.82

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	612	673	6217.24	nil	0	0	0.00
Pitch_motor	39	303	178.97	nil	0	0	0.00
Roll_motor	52	174	139.07	nil	0	0	0.00
Iridium	230	89	308.77	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	16	15	3.78	nil	0	0	0.00
Core	2708	10	411.15	SciCon	3028	2	130.45
LPSleep	901	1	15.15	PMAR	3035	10	468.59
Compass	1650	5	123.82	nil	0	0	0.00
RAFOS	628	40	376.82
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
10.44	16386	-97.75	-0.99	0.00	498.1	442.1	554.1	196.6	2471.6	0.00	0.00	0	39.31	26.06	0.00	0.00	0.006	0.000	0.000	1112.56	1112.38	1112.75	196.81	2471.31	0	0	0	16.10	30.00	30.00
39.57	18695	-97.75	-0.99	80.00	1112.1	1111.9	1112.2	196.8	2471.6	3.50	-10.07	5	176.81	107.33	18.46	3.30	0.005	0.289	0.086	3220.81	3207.44	3234.19	2398.00	3893.62	0	0	0	16.09	15.82	15.99
401.24	1028	-97.75	-0.99	0.00	3220.9	3207.9	3234.0	2398.3	3894.4	40.02	-10.12	76	407.67	0.00	0.00	3.27	0.000	0.000	0.069	3220.94	3207.88	3234.00	2398.44	2458.81	0	0	0	30.00	30.00	16.01
588.80	260	-97.75	-0.99	80.00	3220.7	3207.4	3234.0	2398.5	2458.5	58.65	-9.83	113	596.03	0.00	0.00	3.33	0.000	0.000	0.080	3220.81	3208.00	3233.62	2398.19	3896.00	0	0	0	30.00	30.00	16.01
820.50	1028	-97.75	-0.99	0.00	3220.5	3207.4	3233.6	2398.3	3895.6	81.82	-10.12	159	827.47	0.00	0.00	3.27	0.000	0.000	0.069	3222.72	3209.19	3236.25	2397.88	2462.94	0	0	0	30.00	30.00	16.02
1007.68	260	-97.75	-0.99	80.00	3220.9	3207.6	3234.3	2398.6	2462.0	100.35	-9.80	196	1014.66	0.00	0.00	3.29	0.000	0.000	0.080	3219.25	3205.94	3232.56	2398.62	3896.44	0	0	0	30.00	30.00	16.00
1237.81	1028	-97.75	-0.99	0.00	3220.7	3207.0	3234.4	2397.6	3896.3	123.54	-9.78	242	1246.34	0.00	0.00	3.27	0.000	0.000	0.069	3222.00	3208.31	3235.69	2398.44	2462.50	0	0	0	30.00	30.00	16.05
1425.11	260	-97.75	-0.99	80.00	3220.5	3206.6	3234.4	2398.2	2462.2	142.26	-10.19	261	1431.51	0.00	0.00	3.29	0.000	0.000	0.080	3221.50	3207.75	3235.25	2398.06	3893.81	0	0	0	30.00	30.00	16.00
1503	end dive: TARGET_DEPTH_EXCEEDED
state	1503	begin apogee
1508.25	10243	0.00	-0.20	0.00	3220.3	3206.8	3233.8	2398.4	2463.8	150.26	-10.15	277	1586.12	68.57	1.60	0.09	0.673	0.296	0.175	2823.72	2777.94	2869.50	2589.88	2518.69	0	0	0	11.42	15.76	15.97
1589	end apogee: CONTROL_FINISHED_OK
state	1589	begin climb
1589.10	10759	97.75	0.99	-80.00	2822.1	2776.3	2867.9	2589.8	2518.2	142.54	0.00	285	1671.53	71.67	2.42	3.36	0.648	0.304	0.097	2425.16	2368.00	2482.31	2877.31	1098.38	0	0	0	11.81	15.85	15.87
1897.04	1028	97.75	0.99	0.00	2419.6	2357.9	2481.3	2878.4	1097.9	111.04	10.06	345	1904.07	0.00	0.00	3.26	0.000	0.000	0.078	2418.62	2356.94	2480.31	2878.12	2523.38	0	0	0	30.00	30.00	15.94
2083.06	516	97.75	0.99	-80.00	2418.9	2357.4	2480.5	2878.0	2523.7	92.57	9.95	371	2090.09	0.00	0.00	3.36	0.000	0.000	0.094	2420.72	2358.69	2482.75	2878.25	1098.75	0	0	0	30.00	30.00	15.96
2314.61	1028	97.75	0.99	0.00	2418.5	2356.6	2480.5	2878.4	1098.8	69.22	9.93	417	2321.01	0.00	0.00	3.24	0.000	0.000	0.079	2419.03	2357.12	2480.94	2878.12	2525.19	0	0	0	30.00	30.00	15.99
2499.96	16902	97.75	0.99	-80.00	2418.1	2355.2	2480.9	2878.3	2525.1	51.00	9.80	454	2507.08	0.00	0.00	3.36	0.000	0.000	0.094	2418.69	2356.50	2480.88	2878.50	1100.88	0	0	0	30.00	30.00	15.98
2731.60	17414	97.75	0.99	0.00	2418.2	2355.4	2481.0	2877.7	1100.6	28.05	10.15	500	2738.53	0.00	0.00	3.26	0.000	0.000	0.078	2418.59	2356.19	2481.00	2878.75	2521.75	0	0	0	30.00	30.00	16.00
2919.83	16902	97.75	0.99	-80.00	2418.1	2355.4	2480.8	2877.8	2521.6	9.18	10.03	537	2926.25	0.00	0.00	3.36	0.000	0.000	0.094	2419.56	2356.88	2482.25	2877.94	1097.75	0	0	0	30.00	30.00	15.98
2995	end climb: SURFACE_DEPTH_REACHED
state	2995	begin surface coast
3016	end surface coast: CONTROL_FINISHED_OK
state	3016	begin surface
state	10872	begin surface