Glider dive log

Shilshole 11Jun21 * SG233 * Dive index * Mission links * Dive 2 * 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 13 FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_REP 0

DIVE 2 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 2 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 594.66449 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 C_VBD 2965 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 89.62204 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2043 FG_AHR_24V 209.9212 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 -169.06522 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 2550 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_CLIMB 2500 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 89.62204 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FG_AHR_24V 209.9212 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 594.66449

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 2500 LOGGERDEVICE4 -1 PRESSURE_YINT -169.06522 T_MISSION 65

C_ROLL_DIVE 2550 LOGGERS 3 PROTOCOL 9 T_NO_W 120

C_VBD 2965 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 2 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 175 MISSION 13 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 2 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 110621,165305,4744.094,-12223.741,2,0.9,3,15.5 TGT_RADIUS 100.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.13 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 110621,165951,4744.176,-12223.644,2,1.4,5,15.5 MHEAD_RNG_PITCHd_Wd 160.9,2222,-17.6,-10.000,-21.21

SPEED_LIMITS 0.173,0.258 D_GRID 164

TGT_NAME SE IRON 1.000000,-0.020042,-0.001089,-0.072597,1.230129,0.102500,0.007876,-0.028399,0.994411,-318.700012,-658.000000,-468.200012

TGT_LATLONG 4743.000,-12224.000

Post-dive calculations and measurements:

NAV 1623434344,9.7,start _10V_AH 14.81,0.000

MODEM_MSG CACST,6,1,20210611175313.348377,05,172,-1,0095,0150,216,03,03,04,03,-1,-01,-01,1,3,0,0,150,-28.8,0.37,-100,2.63,-01,0.00,45,925,0025*10 FG_AHR_24Vo 210.086

FINISH 1.5,1.021445 FG_AHR_10Vo 89.688

SM_CCo 3905.29,236.24,0.861,0,541.9,543.6,540.2,594.38 MEM0 60932,1,0,0

SM_GC 1.14,236.24,14.05,0.03,0.861,0.080,0.273,541.9,543.6,540.2,197.8,2581.6,0,0,0,11.02,15.64,15.71 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 996904,25,49704,73

IRIDIUM_FIX 4744.47,-12222.38,110621,165517 DATA_FILE_SIZE 16140,612

TCM_TEMP 13.40 CAP_FILE_SIZE 674840,0

SC_FREEKB 3878112 SDSIZE 3918848,3902368

PM_FREEKB_00 62276736 SDFILEDIR 169,1

PM_ACTIVECARD 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK -8 SOUNDSPEED 1442.8

MODEM 1,1623427608,47.50000,-123.50000,108.676,161630.2 CURRENT 0.195, 10.4,1

RAFOS_FIX 4420.982422,-12028.535156,110621,171713,5,255,3357.43 MAGCAL 1.000000,-0.008157,0.006564,-0.092662,1.202072,0.074405,0.034183,-0.051575,1.154110,-413.1,-652.7,-613.1,15,0.0252,0

HUMID 51.03 IMPLIED_C_PITCH 2045,19.02,399

TEMP 12.60 IMPLIED_C_VBD 3020,27.754889,399

INTERNAL_PRESSURE 8.74838 GPS 110621,180630,4744.181,-12223.505,21,0.9,21,15.5

_24V_AH 14.84,107.560

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 718 1103 11769.93 nil 0 0 0.00

Pitch_motor 30 267 122.19 nil 0 0 0.00

Roll_motor 60 272 245.45 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 14 15 3.25 nil 0 0 0.00

Core 2308 10 346.05 SciCon 3641 2 156.05

LPSleep 1434 1 23.79 PMAR 3651 15 851.51

Compass 1216 5 90.05 nil 0 0 0.00

RAFOS 3271 40 1938.02

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

11.33 16386 -146.63 -0.88 0.00 539.7 540.9 538.4 195.3 2526.0 0.00 0.00 0 150.90 136.40 0.00 0.00 0.005 0.000 0.000 3248.34 3249.75 3246.94 195.31 2527.44 0 0 0 15.89 30.00 30.00

152.01 18727 -146.63 -0.88 80.00 3249.3 3250.9 3247.8 195.2 2527.2 3.25 -1.65 27 186.31 8.91 13.48 3.30 0.007 0.267 0.109 3561.12 3575.62 3546.62 1828.50 3889.06 0 0 0 15.92 15.47 15.75

330.10 1028 -146.63 -0.88 0.00 3561.7 3578.4 3545.1 1829.2 3889.1 22.69 -10.26 62 337.53 0.00 0.00 3.13 0.000 0.000 0.060 3565.09 3581.31 3548.88 1829.25 2523.06 0 0 0 30.00 30.00 15.71

521.26 548 -146.63 -0.88 -80.00 3562.4 3579.4 3545.5 1828.7 2523.6 37.57 -6.33 100 532.29 0.00 0.00 3.54 0.000 0.000 0.143 3563.03 3579.88 3546.19 1828.81 1103.25 0 0 0 30.00 30.00 15.62

587.33 1156 -146.63 -0.81 0.00 3562.8 3579.9 3545.8 1828.9 1103.2 42.93 -8.60 113 598.73 0.00 0.00 3.34 0.000 0.000 0.051 3562.56 3579.88 3545.25 1828.69 2582.00 0 0 0 30.00 30.00 15.75

782.90 516 -146.63 -0.81 -80.00 3563.1 3580.1 3546.1 1829.0 2582.3 61.00 -9.63 152 793.97 0.00 0.00 3.67 0.000 0.000 0.140 3563.78 3580.81 3546.75 1828.38 1104.00 0 0 0 30.00 30.00 15.65

823.86 1028 -146.63 -0.81 0.00 3562.6 3579.6 3545.5 1829.0 1104.0 64.80 -9.33 160 831.34 0.00 0.00 3.33 0.000 0.000 0.051 3563.09 3579.69 3546.50 1829.00 2581.44 0 0 0 30.00 30.00 15.72

1015.03 292 -146.63 -0.81 80.00 3563.1 3580.0 3546.1 1828.9 2582.2 81.44 -7.64 198 1022.41 0.00 0.00 3.14 0.000 0.000 0.105 3562.94 3580.25 3545.62 1829.44 3888.12 0 0 0 30.00 30.00 15.67

1066.81 1028 -146.63 -0.81 0.00 3563.2 3580.4 3546.0 1829.2 3889.0 86.01 -9.00 208 1074.14 0.00 0.00 3.13 0.000 0.000 0.060 3563.78 3580.44 3547.12 1828.62 2522.88 0 0 0 30.00 30.00 15.70

1258.46 32 -146.63 -0.81 0.00 3563.2 3579.9 3546.5 1828.9 2521.8 100.99 -7.88 245 1262.68 0.00 0.00 0.00 0.000 0.000 0.000 3562.72 3580.69 3544.75 1829.06 2523.12 0 0 0 30.00 30.00 30.00

1449.15 0 -146.63 -0.81 0.00 3563.1 3580.1 3546.1 1828.8 2522.2 116.36 -8.68 264 1453.20 0.00 0.00 0.00 0.000 0.000 0.000 3561.62 3579.06 3544.19 1828.69 2522.69 0 0 0 30.00 30.00 30.00

1638.43 516 -146.63 -0.81 -80.00 3562.8 3579.8 3545.7 1829.2 2522.2 132.54 -8.34 283 1646.03 0.00 0.00 3.54 0.000 0.000 0.145 3562.53 3580.00 3545.06 1828.88 1104.25 0 0 0 30.00 30.00 15.62

1704.69 1028 -146.63 -0.81 0.00 3562.7 3580.0 3545.4 1828.8 1103.9 138.91 -9.77 296 1712.07 0.00 0.00 3.34 0.000 0.000 0.053 3562.38 3579.94 3544.81 1829.31 2582.06 0 0 0 30.00 30.00 15.70

1849 end dive: TARGET_DEPTH_EXCEEDED

state 1849 begin apogee

1853.22 10243 0.00 -0.20 0.00 3562.9 3580.0 3545.8 1829.1 2465.6 150.68 -7.65 311 1967.24 109.01 1.15 0.09 1.103 0.136 0.185 2962.34 2976.88 2947.81 1996.50 2536.06 0 0 0 11.20 15.59 15.61

1969 end apogee: CONTROL_FINISHED_OK

state 1969 begin climb

1970.42 10243 146.63 0.88 0.00 2962.7 2977.2 2948.1 1996.8 2535.9 152.30 0.00 322 2088.75 114.19 1.73 0.00 1.069 0.095 0.000 2363.56 2379.50 2347.62 2262.62 2534.50 0 0 0 11.12 15.62 30.00

2272.83 16386 146.63 0.88 80.00 2357.1 2367.4 2346.8 2261.8 2534.6 124.26 11.73 360 2277.06 0.00 0.00 0.00 0.000 0.000 0.000 2355.84 2366.56 2345.12 2262.12 2535.06 0 0 0 30.00 30.00 30.00

2462.44 16902 146.63 0.88 -80.00 2354.9 2365.1 2344.8 2262.1 2534.6 102.33 11.66 379 2469.89 0.00 0.00 3.54 0.000 0.000 0.127 2355.47 2365.00 2345.94 2262.50 1102.81 0 0 0 30.00 30.00 15.61

2519.32 17542 146.63 0.81 0.00 2354.3 2363.6 2345.1 2262.3 1102.8 95.45 12.61 390 2526.60 0.00 0.00 3.26 0.000 0.000 0.054 2353.84 2362.81 2344.88 2262.12 2534.12 0 0 0 30.00 30.00 15.65

2710.31 16646 146.63 0.81 80.00 2353.0 2361.6 2344.4 2261.8 2534.9 76.05 11.38 428 2717.75 0.00 0.00 3.28 0.000 0.000 0.107 2351.84 2360.44 2343.25 2262.44 3885.62 0 0 0 30.00 30.00 15.65

2787.17 17414 146.63 0.81 0.00 2352.5 2360.6 2344.4 2261.4 3886.4 69.40 8.23 443 2794.50 0.00 0.00 3.26 0.000 0.000 0.061 2352.31 2360.38 2344.25 2261.62 2473.06 0 0 0 30.00 30.00 15.66

2981.53 16386 146.63 0.81 0.00 2352.2 2360.2 2344.2 2261.6 2471.8 53.52 8.14 481 2986.87 0.00 0.00 0.00 0.000 0.000 0.000 2352.41 2360.50 2344.31 2261.81 2471.75 0 0 0 30.00 30.00 30.00

3171.54 16902 146.63 0.81 -80.00 2351.8 2359.4 2344.2 2262.2 2471.8 37.38 8.35 519 3179.06 0.00 0.00 3.36 0.000 0.000 0.126 2352.81 2360.12 2345.50 2261.38 1103.12 0 0 0 30.00 30.00 15.63

3302.70 17414 146.63 0.81 0.00 2351.4 2358.9 2343.9 2261.9 1103.2 23.21 10.30 545 3309.98 0.00 0.00 3.22 0.000 0.000 0.053 2351.84 2358.81 2344.88 2262.25 2535.69 0 0 0 30.00 30.00 15.75

3493.66 10919 259.26 1.06 -80.00 2350.9 2357.5 2344.3 2261.7 2536.0 10.73 4.78 583 3591.75 89.55 0.23 3.53 0.942 0.088 0.125 1905.50 1924.88 1886.12 2309.75 1104.06 0 0 0 10.64 15.64 15.66

3606.15 11431 326.79 1.22 0.00 1903.1 1921.8 1884.4 2308.8 1104.4 4.46 6.87 605 3638.22 24.65 0.19 3.26 0.862 0.093 0.053 1785.12 1812.50 1757.75 2348.62 2539.94 0 0 0 11.17 15.69 15.71

3638 end climb: SURFACE_DEPTH_REACHED

state 3638 begin surface coast

3642 end surface coast: CONTROL_FINISHED_OK

state 3642 begin surface

ID	233	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	13	FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	2	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	2	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	594.66449	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	C_VBD	2965	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	89.62204	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2043	FG_AHR_24V	209.9212	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	-169.06522	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	2550	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_CLIMB	2500	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	110621,165305,4744.094,-12223.741,2,0.9,3,15.5	TGT_RADIUS	100.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.13	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	110621,165951,4744.176,-12223.644,2,1.4,5,15.5	MHEAD_RNG_PITCHd_Wd	160.9,2222,-17.6,-10.000,-21.21
SPEED_LIMITS	0.173,0.258	D_GRID	164
TGT_NAME	SE	IRON	1.000000,-0.020042,-0.001089,-0.072597,1.230129,0.102500,0.007876,-0.028399,0.994411,-318.700012,-658.000000,-468.200012
TGT_LATLONG	4743.000,-12224.000

NAV	1623434344,9.7,start	_10V_AH	14.81,0.000
MODEM_MSG	CACST,6,1,20210611175313.348377,05,172,-1,0095,0150,216,03,03,04,03,-1,-01,-01,1,3,0,0,150,-28.8,0.37,-100,2.63,-01,0.00,45,925,0025*10	FG_AHR_24Vo	210.086
FINISH	1.5,1.021445	FG_AHR_10Vo	89.688
SM_CCo	3905.29,236.24,0.861,0,541.9,543.6,540.2,594.38	MEM0	60932,1,0,0
SM_GC	1.14,236.24,14.05,0.03,0.861,0.080,0.273,541.9,543.6,540.2,197.8,2581.6,0,0,0,11.02,15.64,15.71	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	996904,25,49704,73
IRIDIUM_FIX	4744.47,-12222.38,110621,165517	DATA_FILE_SIZE	16140,612
TCM_TEMP	13.40	CAP_FILE_SIZE	674840,0
SC_FREEKB	3878112	SDSIZE	3918848,3902368
PM_FREEKB_00	62276736	SDFILEDIR	169,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-8	SOUNDSPEED	1442.8
MODEM	1,1623427608,47.50000,-123.50000,108.676,161630.2	CURRENT	0.195, 10.4,1
RAFOS_FIX	4420.982422,-12028.535156,110621,171713,5,255,3357.43	MAGCAL	1.000000,-0.008157,0.006564,-0.092662,1.202072,0.074405,0.034183,-0.051575,1.154110,-413.1,-652.7,-613.1,15,0.0252,0
HUMID	51.03	IMPLIED_C_PITCH	2045,19.02,399
TEMP	12.60	IMPLIED_C_VBD	3020,27.754889,399
INTERNAL_PRESSURE	8.74838	GPS	110621,180630,4744.181,-12223.505,21,0.9,21,15.5
_24V_AH	14.84,107.560

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	718	1103	11769.93	nil	0	0	0.00
Pitch_motor	30	267	122.19	nil	0	0	0.00
Roll_motor	60	272	245.45	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	14	15	3.25	nil	0	0	0.00
Core	2308	10	346.05	SciCon	3641	2	156.05
LPSleep	1434	1	23.79	PMAR	3651	15	851.51
Compass	1216	5	90.05	nil	0	0	0.00
RAFOS	3271	40	1938.02
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
11.33	16386	-146.63	-0.88	0.00	539.7	540.9	538.4	195.3	2526.0	0.00	0.00	0	150.90	136.40	0.00	0.00	0.005	0.000	0.000	3248.34	3249.75	3246.94	195.31	2527.44	0	0	0	15.89	30.00	30.00
152.01	18727	-146.63	-0.88	80.00	3249.3	3250.9	3247.8	195.2	2527.2	3.25	-1.65	27	186.31	8.91	13.48	3.30	0.007	0.267	0.109	3561.12	3575.62	3546.62	1828.50	3889.06	0	0	0	15.92	15.47	15.75
330.10	1028	-146.63	-0.88	0.00	3561.7	3578.4	3545.1	1829.2	3889.1	22.69	-10.26	62	337.53	0.00	0.00	3.13	0.000	0.000	0.060	3565.09	3581.31	3548.88	1829.25	2523.06	0	0	0	30.00	30.00	15.71
521.26	548	-146.63	-0.88	-80.00	3562.4	3579.4	3545.5	1828.7	2523.6	37.57	-6.33	100	532.29	0.00	0.00	3.54	0.000	0.000	0.143	3563.03	3579.88	3546.19	1828.81	1103.25	0	0	0	30.00	30.00	15.62
587.33	1156	-146.63	-0.81	0.00	3562.8	3579.9	3545.8	1828.9	1103.2	42.93	-8.60	113	598.73	0.00	0.00	3.34	0.000	0.000	0.051	3562.56	3579.88	3545.25	1828.69	2582.00	0	0	0	30.00	30.00	15.75
782.90	516	-146.63	-0.81	-80.00	3563.1	3580.1	3546.1	1829.0	2582.3	61.00	-9.63	152	793.97	0.00	0.00	3.67	0.000	0.000	0.140	3563.78	3580.81	3546.75	1828.38	1104.00	0	0	0	30.00	30.00	15.65
823.86	1028	-146.63	-0.81	0.00	3562.6	3579.6	3545.5	1829.0	1104.0	64.80	-9.33	160	831.34	0.00	0.00	3.33	0.000	0.000	0.051	3563.09	3579.69	3546.50	1829.00	2581.44	0	0	0	30.00	30.00	15.72
1015.03	292	-146.63	-0.81	80.00	3563.1	3580.0	3546.1	1828.9	2582.2	81.44	-7.64	198	1022.41	0.00	0.00	3.14	0.000	0.000	0.105	3562.94	3580.25	3545.62	1829.44	3888.12	0	0	0	30.00	30.00	15.67
1066.81	1028	-146.63	-0.81	0.00	3563.2	3580.4	3546.0	1829.2	3889.0	86.01	-9.00	208	1074.14	0.00	0.00	3.13	0.000	0.000	0.060	3563.78	3580.44	3547.12	1828.62	2522.88	0	0	0	30.00	30.00	15.70
1258.46	32	-146.63	-0.81	0.00	3563.2	3579.9	3546.5	1828.9	2521.8	100.99	-7.88	245	1262.68	0.00	0.00	0.00	0.000	0.000	0.000	3562.72	3580.69	3544.75	1829.06	2523.12	0	0	0	30.00	30.00	30.00
1449.15	0	-146.63	-0.81	0.00	3563.1	3580.1	3546.1	1828.8	2522.2	116.36	-8.68	264	1453.20	0.00	0.00	0.00	0.000	0.000	0.000	3561.62	3579.06	3544.19	1828.69	2522.69	0	0	0	30.00	30.00	30.00
1638.43	516	-146.63	-0.81	-80.00	3562.8	3579.8	3545.7	1829.2	2522.2	132.54	-8.34	283	1646.03	0.00	0.00	3.54	0.000	0.000	0.145	3562.53	3580.00	3545.06	1828.88	1104.25	0	0	0	30.00	30.00	15.62
1704.69	1028	-146.63	-0.81	0.00	3562.7	3580.0	3545.4	1828.8	1103.9	138.91	-9.77	296	1712.07	0.00	0.00	3.34	0.000	0.000	0.053	3562.38	3579.94	3544.81	1829.31	2582.06	0	0	0	30.00	30.00	15.70
1849	end dive: TARGET_DEPTH_EXCEEDED
state	1849	begin apogee
1853.22	10243	0.00	-0.20	0.00	3562.9	3580.0	3545.8	1829.1	2465.6	150.68	-7.65	311	1967.24	109.01	1.15	0.09	1.103	0.136	0.185	2962.34	2976.88	2947.81	1996.50	2536.06	0	0	0	11.20	15.59	15.61
1969	end apogee: CONTROL_FINISHED_OK
state	1969	begin climb
1970.42	10243	146.63	0.88	0.00	2962.7	2977.2	2948.1	1996.8	2535.9	152.30	0.00	322	2088.75	114.19	1.73	0.00	1.069	0.095	0.000	2363.56	2379.50	2347.62	2262.62	2534.50	0	0	0	11.12	15.62	30.00
2272.83	16386	146.63	0.88	80.00	2357.1	2367.4	2346.8	2261.8	2534.6	124.26	11.73	360	2277.06	0.00	0.00	0.00	0.000	0.000	0.000	2355.84	2366.56	2345.12	2262.12	2535.06	0	0	0	30.00	30.00	30.00
2462.44	16902	146.63	0.88	-80.00	2354.9	2365.1	2344.8	2262.1	2534.6	102.33	11.66	379	2469.89	0.00	0.00	3.54	0.000	0.000	0.127	2355.47	2365.00	2345.94	2262.50	1102.81	0	0	0	30.00	30.00	15.61
2519.32	17542	146.63	0.81	0.00	2354.3	2363.6	2345.1	2262.3	1102.8	95.45	12.61	390	2526.60	0.00	0.00	3.26	0.000	0.000	0.054	2353.84	2362.81	2344.88	2262.12	2534.12	0	0	0	30.00	30.00	15.65
2710.31	16646	146.63	0.81	80.00	2353.0	2361.6	2344.4	2261.8	2534.9	76.05	11.38	428	2717.75	0.00	0.00	3.28	0.000	0.000	0.107	2351.84	2360.44	2343.25	2262.44	3885.62	0	0	0	30.00	30.00	15.65
2787.17	17414	146.63	0.81	0.00	2352.5	2360.6	2344.4	2261.4	3886.4	69.40	8.23	443	2794.50	0.00	0.00	3.26	0.000	0.000	0.061	2352.31	2360.38	2344.25	2261.62	2473.06	0	0	0	30.00	30.00	15.66
2981.53	16386	146.63	0.81	0.00	2352.2	2360.2	2344.2	2261.6	2471.8	53.52	8.14	481	2986.87	0.00	0.00	0.00	0.000	0.000	0.000	2352.41	2360.50	2344.31	2261.81	2471.75	0	0	0	30.00	30.00	30.00
3171.54	16902	146.63	0.81	-80.00	2351.8	2359.4	2344.2	2262.2	2471.8	37.38	8.35	519	3179.06	0.00	0.00	3.36	0.000	0.000	0.126	2352.81	2360.12	2345.50	2261.38	1103.12	0	0	0	30.00	30.00	15.63
3302.70	17414	146.63	0.81	0.00	2351.4	2358.9	2343.9	2261.9	1103.2	23.21	10.30	545	3309.98	0.00	0.00	3.22	0.000	0.000	0.053	2351.84	2358.81	2344.88	2262.25	2535.69	0	0	0	30.00	30.00	15.75
3493.66	10919	259.26	1.06	-80.00	2350.9	2357.5	2344.3	2261.7	2536.0	10.73	4.78	583	3591.75	89.55	0.23	3.53	0.942	0.088	0.125	1905.50	1924.88	1886.12	2309.75	1104.06	0	0	0	10.64	15.64	15.66
3606.15	11431	326.79	1.22	0.00	1903.1	1921.8	1884.4	2308.8	1104.4	4.46	6.87	605	3638.22	24.65	0.19	3.26	0.862	0.093	0.053	1785.12	1812.50	1757.75	2348.62	2539.94	0	0	0	11.17	15.69	15.71
3638	end climb: SURFACE_DEPTH_REACHED
state	3638	begin surface coast
3642	end surface coast: CONTROL_FINISHED_OK
state	3642	begin surface