Glider dive log

Shilshole 06Apr21 * SG233 * Dive index * Mission links * Dive 3 * 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 11 FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_REP 0

DIVE 3 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 3 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 3000 MOTHERBOARD 6

D_TGT 150 FILEMGR 0 VBD_DBAND 2 DEVICE1 -1

D_ABORT 175 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 1 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 50 T_GPS 5 LOITER_D_BOTTOM 550 COMPASS2_DEVICE -1

T_MISSION 65 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

USE_BATHY -6 PITCH_MIN 210 MAXI_10V 1.5 SEABIRD_T_G 0.0044157342

USE_ICE 0 PITCH_MAX 3900 FG_AHR_10V 74.566895 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2043 FG_AHR_24V 195.90033 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 -169.29936 SEABIRD_C_G -9.9894733

APOGEE_PITCH -5 PITCH_GAIN 25 PRESSURE_SLOPE 0.00022579571 SEABIRD_C_H 1.1093811

MAX_BUOY 150 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 2700 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 150 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 74.566895 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FG_AHR_24V 195.90033 PITCH_DBAND 0.1 SEABIRD_T_J 3.3103631e-06

ALTIM_PULSE 3 FILEMGR 0 PITCH_GAIN 25 SIM_W 0

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 50

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 2043 LOGGERDEVICE3 -1 PRESSURE_SLOPE 0.00022579571 T_LOITER 0

C_ROLL_CLIMB 2495 LOGGERDEVICE4 -1 PRESSURE_YINT -169.29936 T_MISSION 65

C_ROLL_DIVE 2700 LOGGERS 3 PROTOCOL 9 T_NO_W 120

C_VBD 3000 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 150 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE6 -1 MINV_10V 11 ROLL_CNV 0.054945 VBD_LP_IGNORE 0

DIVE 3 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 175 MISSION 11 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 3 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 1 SEABIRD_C_G -9.9894733 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 060421,173937,4743.686,-12224.236,1,1.7,4,15.5 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.83 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 060421,174300,4743.677,-12224.239,2,0.9,33,15.5 MHEAD_RNG_PITCHd_Wd 266.0,1003,-17.6,-10.000,-21.21

SPEED_LIMITS 0.173,0.258 D_GRID 173

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 1617733207,0,1229.283081,0.000000 _24V_AH 14.83,105.721

NET xmit part outbox002.n 676 0 _10V_AH 14.82,0.000

MODEM_MSG CACST,6,1,20210406175011.744111,05,19516,42,0360,0150,246,02,02,00,02,-1,-01,-01,1,3,0,0,150,-38.0,361.49,-100,296.87,-01,0.00,70,925,0025*3A FG_AHR_24Vo 196.077

NAV 1617731941,72.5,start FG_AHR_10Vo 74.630

FINISH -0.3,1.022046 MEM0 60932,1,0,0

SM_CCo 3972.78,263.58,0.958,0,675.6,685.4,665.8,570.18 MEM1 65508,1,0,0

SM_GC 0.84,263.58,13.43,0.52,0.958,0.057,0.066,675.6,685.4,665.8,194.0,2738.8,0,0,0,11.16,15.79,15.86 MEM2 995700,32,50548,84

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16127,626

IRIDIUM_FIX 4744.83,-12215.26,060421,173656 CAP_FILE_SIZE 851303,0

TCM_TEMP 11.27 SDSIZE 3918848,3902016

SC_FREEKB 3877792 SDFILEDIR 172,1

PM_FREEKB_00 62262592 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 0 SOUNDSPEED 1465.0

RAFOS_CLK -9 CURRENT 0.189,180.6,1

MODEM 1,1617728946,47.50000,-123.50000,246.878,364810.8 MAGCAL 1.000000,-0.064071,0.000633,-0.047882,1.142070,-0.107092,0.010599,0.027855,1.242043,-234.3,-700.4,-604.6,26,0.0344,0

RAFOS_FIX 4620.243164,-12239.214844,060421,171701,7,255,124607.14 IMPLIED_C_PITCH 2050,16.23,377

HUMID 51.31 IMPLIED_C_VBD 2965,41.780258,377

TEMP 10.43 GPS 060421,185030,4743.325,-12224.856,2,0.8,4,15.5

INTERNAL_PRESSURE 8.78857

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 726 1182 12752.07 nil 0 0 0.00

Pitch_motor 34 269 137.15 nil 0 0 0.00

Roll_motor 80 199 238.33 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 42 15 9.51 nil 0 0 0.00

Core 2441 10 366.24 SciCon 3681 2 163.11

LPSleep 1364 1 22.65 PMAR 3690 10 551.18

Compass 1258 5 93.24 nil 0 0 0.00

RAFOS 1377 40 816.79

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

11.42 16386 -146.63 -0.88 0.00 672.8 676.8 668.8 192.8 2676.5 0.00 0.00 0 176.65 162.04 0.00 0.00 0.005 0.000 0.000 3562.16 3560.38 3563.94 193.06 2675.94 0 0 0 15.95 30.00 30.00

177.75 18951 -146.63 -0.88 -80.00 3562.7 3560.3 3565.0 193.0 2676.4 3.78 -11.50 32 202.95 0.82 13.45 3.58 0.031 0.270 0.151 3596.53 3601.75 3591.31 1827.00 1235.12 0 0 0 15.99 15.61 15.77

212.01 3205 -146.63 -0.29 0.00 3597.6 3603.7 3591.6 1827.0 1234.8 12.25 -21.55 38 223.26 0.00 1.00 3.38 0.000 0.141 0.052 3598.31 3604.44 3592.19 1972.88 2726.94 0 0 0 30.00 15.76 15.85

407.60 4517 -146.63 -0.68 80.00 3597.3 3603.1 3591.6 1973.2 2725.8 20.40 -3.46 77 419.23 0.00 0.72 2.82 0.000 0.061 0.111 3597.16 3603.31 3591.00 1858.12 3887.69 0 0 0 30.00 15.85 15.81

428.25 5285 -146.63 -1.03 0.00 3597.8 3604.0 3591.6 1858.4 3887.1 21.55 -3.96 81 439.82 0.00 0.43 2.78 0.000 0.066 0.053 3598.06 3604.50 3591.62 1775.06 2664.12 0 0 0 30.00 15.82 15.82

623.75 0 -146.63 -1.03 0.00 3597.9 3604.0 3591.8 1774.2 2664.6 41.02 -9.88 120 629.56 0.00 0.00 0.00 0.000 0.000 0.000 3597.03 3603.19 3590.88 1774.56 2664.81 0 0 0 30.00 30.00 30.00

814.30 516 -146.63 -1.03 -80.00 3597.4 3603.6 3591.3 1774.6 2664.4 61.70 -11.35 158 821.82 0.00 0.00 3.53 0.000 0.000 0.141 3596.91 3603.81 3590.00 1774.12 1233.56 0 0 0 30.00 30.00 15.80

846.08 3205 -146.63 -0.94 0.00 3597.8 3603.9 3591.8 1774.4 1233.8 65.32 -11.46 164 857.36 0.00 0.35 3.37 0.000 0.169 0.054 3598.25 3604.44 3592.06 1814.94 2724.94 0 0 0 30.00 15.78 15.91

1042.05 420 -146.63 -1.01 80.00 3597.5 3604.0 3591.1 1814.9 2725.1 80.42 -6.52 203 1049.85 0.00 0.00 2.84 0.000 0.000 0.114 3597.69 3603.69 3591.69 1815.12 3887.56 0 0 0 30.00 30.00 15.81

1074.24 1060 -146.63 -1.01 0.00 3597.6 3603.9 3591.2 1814.7 3887.6 82.75 -6.86 209 1081.71 0.00 0.00 2.77 0.000 0.000 0.052 3598.16 3604.56 3591.75 1815.44 2663.75 0 0 0 30.00 30.00 15.88

1265.44 4741 -146.63 -1.09 -80.00 3597.4 3603.4 3591.4 1814.7 2664.4 98.35 -8.84 247 1276.64 0.00 0.31 3.53 0.000 0.073 0.138 3598.47 3604.88 3592.06 1761.00 1233.25 0 0 0 30.00 15.82 15.76

1376.27 3205 -146.63 -0.95 0.00 3596.7 3602.6 3590.9 1761.4 1233.1 111.08 -13.09 269 1387.58 0.00 0.44 3.38 0.000 0.172 0.052 3599.91 3606.81 3593.00 1812.88 2725.81 0 0 0 30.00 15.69 15.88

1577.11 644 -146.63 -1.02 -80.00 3597.2 3603.8 3590.7 1813.2 2726.2 128.19 -8.83 290 1591.09 0.00 0.00 3.70 0.000 0.000 0.139 3597.41 3603.81 3591.00 1813.25 1233.00 0 0 0 30.00 30.00 15.74

1623.82 1028 -146.63 -1.02 0.00 3597.2 3603.3 3591.0 1812.4 1232.9 132.98 -10.06 299 1631.08 0.00 0.00 3.38 0.000 0.000 0.051 3597.78 3603.88 3591.69 1813.56 2727.31 0 0 0 30.00 30.00 15.86

1820.61 4257 -146.63 -1.10 0.00 3597.1 3603.3 3590.9 1812.9 2726.6 145.97 -5.45 319 1825.01 0.00 0.31 0.00 0.000 0.072 0.000 3597.91 3604.62 3591.19 1759.75 2726.06 0 0 0 30.00 15.83 30.00

1870 end dive: TARGET_DEPTH_EXCEEDED

state 1870 begin apogee

1874.40 10243 0.00 -0.20 0.00 3597.2 3603.6 3590.8 1760.3 2465.5 150.42 -8.93 324 1985.59 105.56 1.75 0.09 1.183 0.153 0.200 2996.22 3007.31 2985.12 1995.81 2535.81 0 0 0 11.12 15.71 15.64

1988 end apogee: CONTROL_FINISHED_OK

state 1988 begin climb

1988.93 10759 146.63 0.88 -80.00 2998.7 3009.8 2987.6 1995.8 2536.8 153.75 0.00 335 2111.45 112.88 1.79 3.61 1.116 0.101 0.131 2402.66 2419.38 2385.94 2260.88 1103.94 0 0 0 11.45 15.64 15.46

2149.19 1028 146.63 0.88 0.00 2395.2 2407.4 2382.9 2260.7 1103.2 142.97 10.16 366 2156.43 0.00 0.00 3.29 0.000 0.000 0.050 2394.88 2407.56 2382.19 2260.75 2533.31 0 0 0 30.00 30.00 15.60

2345.18 16646 146.63 0.88 80.00 2390.4 2402.4 2378.3 2261.4 2533.8 125.19 9.38 386 2352.55 0.00 0.00 3.29 0.000 0.000 0.108 2388.91 2400.69 2377.12 2260.38 3888.06 0 0 0 30.00 30.00 15.66

2375.29 17414 146.63 0.88 0.00 2389.2 2401.4 2377.0 2259.8 3887.6 122.12 10.24 392 2383.57 0.00 0.00 3.29 0.000 0.000 0.055 2390.31 2401.94 2378.69 2260.00 2465.62 0 0 0 30.00 30.00 15.73

2567.36 8742 199.30 0.95 -80.00 2388.3 2399.4 2377.1 2260.6 2464.8 107.92 7.56 412 2619.76 42.57 0.00 3.39 1.086 0.000 0.133 2186.53 2202.50 2170.56 2260.69 1103.19 0 0 0 10.90 30.00 15.68

2622.53 3205 199.30 1.01 0.00 2184.2 2199.1 2169.3 2260.8 1103.2 102.85 9.22 419 2629.79 0.00 0.17 3.25 0.000 0.104 0.049 2184.34 2198.88 2169.81 2295.50 2534.06 0 0 0 30.00 15.71 15.75

2813.69 16902 199.30 1.01 -80.00 2178.3 2194.1 2162.6 2294.3 2534.8 84.99 10.50 454 2821.04 0.00 0.00 3.54 0.000 0.000 0.127 2176.56 2192.25 2160.88 2295.12 1104.00 0 0 0 30.00 30.00 15.71

2904.76 17414 199.30 1.01 0.00 2177.2 2192.2 2162.2 2295.4 1103.9 74.19 11.65 472 2912.07 0.00 0.00 3.24 0.000 0.000 0.050 2176.97 2191.81 2162.12 2295.75 2532.94 0 0 0 30.00 30.00 15.79

3095.82 8486 243.74 1.06 80.00 2176.2 2192.1 2160.2 2294.8 2533.6 57.33 7.94 510 3142.94 39.53 0.00 3.29 1.040 0.000 0.112 2003.62 2024.50 1982.75 2295.06 3885.50 0 0 0 11.16 30.00 15.73

3167.40 3205 243.74 1.15 0.00 2000.6 2021.0 1980.1 2294.9 3884.6 51.21 9.10 524 3174.99 0.00 0.16 3.28 0.000 0.106 0.056 1999.97 2021.44 1978.50 2330.44 2465.81 0 0 0 30.00 15.77 15.79

3359.32 16386 243.74 1.15 0.00 1996.6 2018.4 1974.8 2330.2 2465.8 32.37 9.54 562 3364.99 0.00 0.00 0.00 0.000 0.000 0.000 1996.75 2018.94 1974.56 2330.19 2465.69 0 0 0 30.00 30.00 30.00

3550.26 16646 243.74 1.15 80.00 1995.9 2018.2 1973.6 2330.6 2465.9 12.81 10.25 600 3557.84 0.00 0.00 3.44 0.000 0.000 0.106 1996.38 2018.75 1974.00 2330.81 3886.44 0 0 0 30.00 30.00 15.77

3586.69 17414 243.74 1.15 0.00 1995.0 2017.2 1972.8 2331.1 3886.1 8.85 10.69 607 3594.20 0.00 0.00 3.26 0.000 0.000 0.056 1994.28 2016.31 1972.25 2329.81 2465.50 0 0 0 30.00 30.00 15.80

3657 end climb: SURFACE_DEPTH_REACHED

state 3657 begin surface coast

3682 end surface coast: CONTROL_FINISHED_OK

state 3682 begin surface

ID	233	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	11	FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	3	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	3	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	3000	MOTHERBOARD	6
D_TGT	150	FILEMGR	0	VBD_DBAND	2	DEVICE1	-1
D_ABORT	175	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	1	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	50	T_GPS	5	LOITER_D_BOTTOM	550	COMPASS2_DEVICE	-1
T_MISSION	65	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
USE_BATHY	-6	PITCH_MIN	210	MAXI_10V	1.5	SEABIRD_T_G	0.0044157342
USE_ICE	0	PITCH_MAX	3900	FG_AHR_10V	74.566895	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2043	FG_AHR_24V	195.90033	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	-169.29936	SEABIRD_C_G	-9.9894733
APOGEE_PITCH	-5	PITCH_GAIN	25	PRESSURE_SLOPE	0.00022579571	SEABIRD_C_H	1.1093811
MAX_BUOY	150	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	2700	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	060421,173937,4743.686,-12224.236,1,1.7,4,15.5	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.83	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	060421,174300,4743.677,-12224.239,2,0.9,33,15.5	MHEAD_RNG_PITCHd_Wd	266.0,1003,-17.6,-10.000,-21.21
SPEED_LIMITS	0.173,0.258	D_GRID	173
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	1617733207,0,1229.283081,0.000000	_24V_AH	14.83,105.721
NET	xmit part outbox002.n 676 0	_10V_AH	14.82,0.000
MODEM_MSG	CACST,6,1,20210406175011.744111,05,19516,42,0360,0150,246,02,02,00,02,-1,-01,-01,1,3,0,0,150,-38.0,361.49,-100,296.87,-01,0.00,70,925,0025*3A	FG_AHR_24Vo	196.077
NAV	1617731941,72.5,start	FG_AHR_10Vo	74.630
FINISH	-0.3,1.022046	MEM0	60932,1,0,0
SM_CCo	3972.78,263.58,0.958,0,675.6,685.4,665.8,570.18	MEM1	65508,1,0,0
SM_GC	0.84,263.58,13.43,0.52,0.958,0.057,0.066,675.6,685.4,665.8,194.0,2738.8,0,0,0,11.16,15.79,15.86	MEM2	995700,32,50548,84
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16127,626
IRIDIUM_FIX	4744.83,-12215.26,060421,173656	CAP_FILE_SIZE	851303,0
TCM_TEMP	11.27	SDSIZE	3918848,3902016
SC_FREEKB	3877792	SDFILEDIR	172,1
PM_FREEKB_00	62262592	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	0	SOUNDSPEED	1465.0
RAFOS_CLK	-9	CURRENT	0.189,180.6,1
MODEM	1,1617728946,47.50000,-123.50000,246.878,364810.8	MAGCAL	1.000000,-0.064071,0.000633,-0.047882,1.142070,-0.107092,0.010599,0.027855,1.242043,-234.3,-700.4,-604.6,26,0.0344,0
RAFOS_FIX	4620.243164,-12239.214844,060421,171701,7,255,124607.14	IMPLIED_C_PITCH	2050,16.23,377
HUMID	51.31	IMPLIED_C_VBD	2965,41.780258,377
TEMP	10.43	GPS	060421,185030,4743.325,-12224.856,2,0.8,4,15.5
INTERNAL_PRESSURE	8.78857

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	726	1182	12752.07	nil	0	0	0.00
Pitch_motor	34	269	137.15	nil	0	0	0.00
Roll_motor	80	199	238.33	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	42	15	9.51	nil	0	0	0.00
Core	2441	10	366.24	SciCon	3681	2	163.11
LPSleep	1364	1	22.65	PMAR	3690	10	551.18
Compass	1258	5	93.24	nil	0	0	0.00
RAFOS	1377	40	816.79
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
11.42	16386	-146.63	-0.88	0.00	672.8	676.8	668.8	192.8	2676.5	0.00	0.00	0	176.65	162.04	0.00	0.00	0.005	0.000	0.000	3562.16	3560.38	3563.94	193.06	2675.94	0	0	0	15.95	30.00	30.00
177.75	18951	-146.63	-0.88	-80.00	3562.7	3560.3	3565.0	193.0	2676.4	3.78	-11.50	32	202.95	0.82	13.45	3.58	0.031	0.270	0.151	3596.53	3601.75	3591.31	1827.00	1235.12	0	0	0	15.99	15.61	15.77
212.01	3205	-146.63	-0.29	0.00	3597.6	3603.7	3591.6	1827.0	1234.8	12.25	-21.55	38	223.26	0.00	1.00	3.38	0.000	0.141	0.052	3598.31	3604.44	3592.19	1972.88	2726.94	0	0	0	30.00	15.76	15.85
407.60	4517	-146.63	-0.68	80.00	3597.3	3603.1	3591.6	1973.2	2725.8	20.40	-3.46	77	419.23	0.00	0.72	2.82	0.000	0.061	0.111	3597.16	3603.31	3591.00	1858.12	3887.69	0	0	0	30.00	15.85	15.81
428.25	5285	-146.63	-1.03	0.00	3597.8	3604.0	3591.6	1858.4	3887.1	21.55	-3.96	81	439.82	0.00	0.43	2.78	0.000	0.066	0.053	3598.06	3604.50	3591.62	1775.06	2664.12	0	0	0	30.00	15.82	15.82
623.75	0	-146.63	-1.03	0.00	3597.9	3604.0	3591.8	1774.2	2664.6	41.02	-9.88	120	629.56	0.00	0.00	0.00	0.000	0.000	0.000	3597.03	3603.19	3590.88	1774.56	2664.81	0	0	0	30.00	30.00	30.00
814.30	516	-146.63	-1.03	-80.00	3597.4	3603.6	3591.3	1774.6	2664.4	61.70	-11.35	158	821.82	0.00	0.00	3.53	0.000	0.000	0.141	3596.91	3603.81	3590.00	1774.12	1233.56	0	0	0	30.00	30.00	15.80
846.08	3205	-146.63	-0.94	0.00	3597.8	3603.9	3591.8	1774.4	1233.8	65.32	-11.46	164	857.36	0.00	0.35	3.37	0.000	0.169	0.054	3598.25	3604.44	3592.06	1814.94	2724.94	0	0	0	30.00	15.78	15.91
1042.05	420	-146.63	-1.01	80.00	3597.5	3604.0	3591.1	1814.9	2725.1	80.42	-6.52	203	1049.85	0.00	0.00	2.84	0.000	0.000	0.114	3597.69	3603.69	3591.69	1815.12	3887.56	0	0	0	30.00	30.00	15.81
1074.24	1060	-146.63	-1.01	0.00	3597.6	3603.9	3591.2	1814.7	3887.6	82.75	-6.86	209	1081.71	0.00	0.00	2.77	0.000	0.000	0.052	3598.16	3604.56	3591.75	1815.44	2663.75	0	0	0	30.00	30.00	15.88
1265.44	4741	-146.63	-1.09	-80.00	3597.4	3603.4	3591.4	1814.7	2664.4	98.35	-8.84	247	1276.64	0.00	0.31	3.53	0.000	0.073	0.138	3598.47	3604.88	3592.06	1761.00	1233.25	0	0	0	30.00	15.82	15.76
1376.27	3205	-146.63	-0.95	0.00	3596.7	3602.6	3590.9	1761.4	1233.1	111.08	-13.09	269	1387.58	0.00	0.44	3.38	0.000	0.172	0.052	3599.91	3606.81	3593.00	1812.88	2725.81	0	0	0	30.00	15.69	15.88
1577.11	644	-146.63	-1.02	-80.00	3597.2	3603.8	3590.7	1813.2	2726.2	128.19	-8.83	290	1591.09	0.00	0.00	3.70	0.000	0.000	0.139	3597.41	3603.81	3591.00	1813.25	1233.00	0	0	0	30.00	30.00	15.74
1623.82	1028	-146.63	-1.02	0.00	3597.2	3603.3	3591.0	1812.4	1232.9	132.98	-10.06	299	1631.08	0.00	0.00	3.38	0.000	0.000	0.051	3597.78	3603.88	3591.69	1813.56	2727.31	0	0	0	30.00	30.00	15.86
1820.61	4257	-146.63	-1.10	0.00	3597.1	3603.3	3590.9	1812.9	2726.6	145.97	-5.45	319	1825.01	0.00	0.31	0.00	0.000	0.072	0.000	3597.91	3604.62	3591.19	1759.75	2726.06	0	0	0	30.00	15.83	30.00
1870	end dive: TARGET_DEPTH_EXCEEDED
state	1870	begin apogee
1874.40	10243	0.00	-0.20	0.00	3597.2	3603.6	3590.8	1760.3	2465.5	150.42	-8.93	324	1985.59	105.56	1.75	0.09	1.183	0.153	0.200	2996.22	3007.31	2985.12	1995.81	2535.81	0	0	0	11.12	15.71	15.64
1988	end apogee: CONTROL_FINISHED_OK
state	1988	begin climb
1988.93	10759	146.63	0.88	-80.00	2998.7	3009.8	2987.6	1995.8	2536.8	153.75	0.00	335	2111.45	112.88	1.79	3.61	1.116	0.101	0.131	2402.66	2419.38	2385.94	2260.88	1103.94	0	0	0	11.45	15.64	15.46
2149.19	1028	146.63	0.88	0.00	2395.2	2407.4	2382.9	2260.7	1103.2	142.97	10.16	366	2156.43	0.00	0.00	3.29	0.000	0.000	0.050	2394.88	2407.56	2382.19	2260.75	2533.31	0	0	0	30.00	30.00	15.60
2345.18	16646	146.63	0.88	80.00	2390.4	2402.4	2378.3	2261.4	2533.8	125.19	9.38	386	2352.55	0.00	0.00	3.29	0.000	0.000	0.108	2388.91	2400.69	2377.12	2260.38	3888.06	0	0	0	30.00	30.00	15.66
2375.29	17414	146.63	0.88	0.00	2389.2	2401.4	2377.0	2259.8	3887.6	122.12	10.24	392	2383.57	0.00	0.00	3.29	0.000	0.000	0.055	2390.31	2401.94	2378.69	2260.00	2465.62	0	0	0	30.00	30.00	15.73
2567.36	8742	199.30	0.95	-80.00	2388.3	2399.4	2377.1	2260.6	2464.8	107.92	7.56	412	2619.76	42.57	0.00	3.39	1.086	0.000	0.133	2186.53	2202.50	2170.56	2260.69	1103.19	0	0	0	10.90	30.00	15.68
2622.53	3205	199.30	1.01	0.00	2184.2	2199.1	2169.3	2260.8	1103.2	102.85	9.22	419	2629.79	0.00	0.17	3.25	0.000	0.104	0.049	2184.34	2198.88	2169.81	2295.50	2534.06	0	0	0	30.00	15.71	15.75
2813.69	16902	199.30	1.01	-80.00	2178.3	2194.1	2162.6	2294.3	2534.8	84.99	10.50	454	2821.04	0.00	0.00	3.54	0.000	0.000	0.127	2176.56	2192.25	2160.88	2295.12	1104.00	0	0	0	30.00	30.00	15.71
2904.76	17414	199.30	1.01	0.00	2177.2	2192.2	2162.2	2295.4	1103.9	74.19	11.65	472	2912.07	0.00	0.00	3.24	0.000	0.000	0.050	2176.97	2191.81	2162.12	2295.75	2532.94	0	0	0	30.00	30.00	15.79
3095.82	8486	243.74	1.06	80.00	2176.2	2192.1	2160.2	2294.8	2533.6	57.33	7.94	510	3142.94	39.53	0.00	3.29	1.040	0.000	0.112	2003.62	2024.50	1982.75	2295.06	3885.50	0	0	0	11.16	30.00	15.73
3167.40	3205	243.74	1.15	0.00	2000.6	2021.0	1980.1	2294.9	3884.6	51.21	9.10	524	3174.99	0.00	0.16	3.28	0.000	0.106	0.056	1999.97	2021.44	1978.50	2330.44	2465.81	0	0	0	30.00	15.77	15.79
3359.32	16386	243.74	1.15	0.00	1996.6	2018.4	1974.8	2330.2	2465.8	32.37	9.54	562	3364.99	0.00	0.00	0.00	0.000	0.000	0.000	1996.75	2018.94	1974.56	2330.19	2465.69	0	0	0	30.00	30.00	30.00
3550.26	16646	243.74	1.15	80.00	1995.9	2018.2	1973.6	2330.6	2465.9	12.81	10.25	600	3557.84	0.00	0.00	3.44	0.000	0.000	0.106	1996.38	2018.75	1974.00	2330.81	3886.44	0	0	0	30.00	30.00	15.77
3586.69	17414	243.74	1.15	0.00	1995.0	2017.2	1972.8	2331.1	3886.1	8.85	10.69	607	3594.20	0.00	0.00	3.26	0.000	0.000	0.056	1994.28	2016.31	1972.25	2329.81	2465.50	0	0	0	30.00	30.00	15.80
3657	end climb: SURFACE_DEPTH_REACHED
state	3657	begin surface coast
3682	end surface coast: CONTROL_FINISHED_OK
state	3682	begin surface