Glider dive log

Shilshole 11Jun21 * 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 13 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 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 89.701309 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2043 FG_AHR_24V 210.10265 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 89.701309 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FG_AHR_24V 210.10265 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 3 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 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 110621,181539,4744.227,-12223.462,2,0.8,3,15.5 TGT_RADIUS 100.000

_CALLS 4 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -51.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 110621,182404,4744.271,-12223.419,2,0.8,5,15.5 MHEAD_RNG_PITCHd_Wd 176.5,2464,-17.6,-10.000,-21.21

SPEED_LIMITS 0.173,0.258 D_GRID 149

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:

NET CACST,6,0,20210611191007.046378,05,32767,45,0103,0150,07,00,00,00,00,1,235,000,0,5,1,0,150,6.6,282.00,-100,-279.00,-01,-0.37,74,10000,5000*69 _24V_AH 14.81,107.799

MODEM_MSG CACST,6,1,20210611181827.092750,05,100,-4,0129,0150,216,03,03,04,03,-1,-01,-01,1,3,0,0,150,13.5,0.43,-100,2.57,-01,0.05,37,925,0025*3E _10V_AH 14.78,0.000

NAV 1623437941,145.8,start FG_AHR_24Vo 210.266

FINISH 0.7,1.021389 FG_AHR_10Vo 89.768

SM_CCo 3919.11,238.71,0.853,0,541.4,539.7,543.1,594.52 MEM0 60932,1,0,0

SM_GC 1.04,238.71,13.72,3.37,0.853,0.056,0.054,541.4,539.7,543.1,197.8,2585.8,0,0,0,11.17,15.63,15.65 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 996972,25,49636,73

IRIDIUM_FIX 4744.47,-12222.38,110621,181942 DATA_FILE_SIZE 16079,620

TCM_TEMP 13.18 CAP_FILE_SIZE 691215,0

SC_FREEKB 3877792 SDSIZE 3918848,3901952

PM_FREEKB_00 62224896 SDFILEDIR 176,1

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

RAFOS_CLK -9 SOUNDSPEED 1424.1

MODEM 0,1623434452,47.00000,-122.50000,52.983,76443.9 CURRENT 0.074, 24.1,1

RAFOS_FIX 4755.219727,-12612.192383,110621,181827,6,255,-28604.14 MAGCAL 1.000000,-0.012216,-0.058753,-0.089937,1.198827,0.068288,0.043525,-0.048307,1.182244,-375.2,-647.1,-626.6,15,0.0257,0

HUMID 50.32 IMPLIED_C_PITCH 2043,19.20,392

TEMP 12.25 IMPLIED_C_VBD 3049,27.783895,392

INTERNAL_PRESSURE 8.73664 GPS 110621,193038,4744.023,-12223.456,2,0.8,3,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 723 1091 11698.35 nil 0 0 0.00

Pitch_motor 30 272 123.03 nil 0 0 0.00

Roll_motor 80 190 226.20 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 13 15 2.95 nil 0 0 0.00

Core 2325 10 347.82 SciCon 3649 2 159.53

LPSleep 1420 1 23.52 PMAR 3658 15 853.96

Compass 1223 5 90.40 nil 0 0 0.00

RAFOS 2911 40 1721.35

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

11.47 16386 -146.63 -0.88 0.00 539.5 541.5 537.5 194.1 2571.5 0.00 0.00 0 151.08 136.54 0.00 0.00 0.005 0.000 0.000 3226.25 3227.19 3225.31 194.12 2569.38 0 0 0 15.88 30.00 30.00

152.20 18727 -146.63 -0.88 80.00 3226.8 3228.1 3225.6 194.1 2568.8 3.27 -1.62 27 186.42 9.14 13.48 3.19 0.007 0.272 0.116 3563.12 3575.75 3550.50 1828.75 3888.69 0 0 0 15.91 15.44 15.72

255.18 1028 -146.63 -0.88 0.00 3562.7 3575.7 3549.6 1828.7 3888.4 19.26 -12.09 47 262.65 0.00 0.00 3.15 0.000 0.000 0.063 3562.12 3576.50 3547.75 1828.50 2525.00 0 0 0 30.00 30.00 15.71

446.39 292 -146.63 -0.88 80.00 3563.9 3578.8 3549.1 1828.8 2525.6 34.80 -7.08 85 453.79 0.00 0.00 3.29 0.000 0.000 0.103 3565.97 3580.75 3551.19 1829.19 3887.50 0 0 0 30.00 30.00 15.68

473.21 1060 -146.63 -0.88 0.00 3564.2 3579.4 3549.0 1829.1 3885.4 36.97 -7.93 90 480.45 0.00 0.00 3.14 0.000 0.000 0.060 3565.62 3580.69 3550.56 1828.88 2524.50 0 0 0 30.00 30.00 15.75

664.87 516 -146.63 -0.88 -80.00 3564.0 3578.8 3549.2 1828.4 2524.2 52.10 -8.28 128 675.86 0.00 0.00 3.55 0.000 0.000 0.145 3564.91 3579.81 3550.00 1828.81 1103.00 0 0 0 30.00 30.00 15.61

744.92 1028 -146.63 -0.88 0.00 3564.0 3579.5 3548.4 1829.0 1103.0 60.50 -10.83 144 752.29 0.00 0.00 3.35 0.000 0.000 0.052 3563.53 3578.62 3548.44 1828.62 2583.25 0 0 0 30.00 30.00 15.72

936.39 292 -146.63 -0.88 80.00 3564.8 3580.2 3549.4 1828.2 2583.1 77.07 -7.92 182 947.61 0.00 0.00 3.14 0.000 0.000 0.107 3565.41 3581.12 3549.69 1829.06 3885.88 0 0 0 30.00 30.00 15.68

981.33 1028 -146.63 -0.88 0.00 3564.0 3579.7 3548.3 1829.2 3885.4 81.39 -9.71 191 988.61 0.00 0.00 3.13 0.000 0.000 0.061 3563.00 3578.06 3547.94 1828.81 2523.50 0 0 0 30.00 30.00 15.74

1172.31 548 -146.63 -0.88 -80.00 3564.5 3579.8 3549.3 1829.1 2522.8 96.57 -7.33 229 1183.22 0.00 0.00 3.55 0.000 0.000 0.144 3565.31 3581.19 3549.44 1829.12 1104.81 0 0 0 30.00 30.00 15.62

1236.39 1028 -146.63 -0.88 0.00 3564.9 3580.2 3549.5 1828.3 1104.6 102.93 -10.81 242 1243.61 0.00 0.00 3.35 0.000 0.000 0.052 3564.94 3580.75 3549.12 1829.00 2583.00 0 0 0 30.00 30.00 15.71

1433.17 32 -146.63 -0.88 0.00 3564.4 3580.1 3548.6 1828.7 2583.2 118.42 -6.85 262 1437.44 0.00 0.00 0.00 0.000 0.000 0.000 3564.62 3580.50 3548.75 1828.69 2583.06 0 0 0 30.00 30.00 30.00

1622.66 0 -146.63 -0.88 0.00 3564.4 3579.7 3549.1 1828.6 2583.5 133.42 -8.43 281 1626.89 0.00 0.00 0.00 0.000 0.000 0.000 3564.38 3579.81 3548.94 1829.06 2583.69 0 0 0 30.00 30.00 30.00

1813.25 32 -146.63 -0.88 0.00 3564.5 3579.9 3549.1 1828.9 2583.4 148.40 -7.59 300 1817.41 0.00 0.00 0.00 0.000 0.000 0.000 3563.91 3579.38 3548.44 1828.88 2583.69 0 0 0 30.00 30.00 30.00

1822 end dive: TARGET_DEPTH_EXCEEDED

state 1822 begin apogee

1826.10 10243 0.00 -0.20 0.00 3564.3 3579.9 3548.8 1828.2 2466.5 149.13 -7.49 301 1939.88 109.11 1.16 0.09 1.092 0.136 0.190 2963.94 2979.50 2948.38 1996.31 2535.94 0 0 0 10.90 15.56 15.62

1943 end apogee: CONTROL_FINISHED_OK

state 1943 begin climb

1943.88 10759 146.63 0.88 -80.00 2962.8 2977.0 2948.5 1996.1 2535.9 152.49 0.00 312 2071.62 117.62 1.75 3.60 1.040 0.112 0.127 2368.66 2384.56 2352.75 2258.69 1103.50 0 0 0 11.11 15.63 15.43

2090.28 1028 146.63 0.88 0.00 2361.2 2374.0 2348.4 2259.3 1103.4 142.77 11.01 340 2097.63 0.00 0.00 3.29 0.000 0.000 0.053 2359.00 2371.06 2346.94 2259.75 2534.12 0 0 0 30.00 30.00 15.54

2285.53 16646 146.63 0.88 80.00 2356.2 2366.3 2346.1 2260.0 2534.2 118.53 11.77 360 2293.11 0.00 0.00 3.30 0.000 0.000 0.106 2355.09 2366.00 2344.19 2259.44 3885.56 0 0 0 30.00 30.00 15.57

2351.77 17414 146.63 0.88 0.00 2355.1 2365.1 2345.1 2259.7 3886.2 110.86 11.53 373 2359.13 0.00 0.00 3.28 0.000 0.000 0.060 2353.69 2364.38 2343.00 2259.19 2473.38 0 0 0 30.00 30.00 15.62

2542.07 16902 146.63 0.88 -80.00 2353.9 2363.6 2344.3 2259.9 2473.1 90.94 10.18 401 2549.52 0.00 0.00 3.38 0.000 0.000 0.128 2353.00 2362.50 2343.50 2258.94 1102.50 0 0 0 30.00 30.00 15.61

2593.15 17542 146.63 0.82 0.00 2353.6 2362.7 2344.4 2259.4 1102.3 85.25 11.33 411 2600.49 0.00 0.00 3.25 0.000 0.000 0.052 2353.62 2363.12 2344.12 2259.19 2536.69 0 0 0 30.00 30.00 15.68

2785.63 16902 146.63 0.82 -80.00 2352.9 2361.8 2344.0 2259.4 2536.8 68.68 8.49 449 2796.57 0.00 0.00 3.55 0.000 0.000 0.128 2352.91 2361.44 2344.38 2259.81 1103.56 0 0 0 30.00 30.00 15.64

2820.72 17414 146.63 0.82 0.00 2352.8 2361.7 2343.8 2259.6 1103.4 65.27 9.48 456 2828.05 0.00 0.00 3.27 0.000 0.000 0.052 2351.88 2360.88 2342.88 2259.81 2536.12 0 0 0 30.00 30.00 15.70

3011.72 16646 146.63 0.82 80.00 2353.0 2361.1 2344.9 2258.7 2536.9 46.79 10.55 494 3018.98 0.00 0.00 3.28 0.000 0.000 0.107 2352.50 2360.88 2344.12 2259.12 3885.81 0 0 0 30.00 30.00 15.65

3063.08 17414 146.63 0.82 0.00 2351.2 2359.4 2342.9 2259.4 3884.6 41.60 10.12 504 3070.59 0.00 0.00 3.26 0.000 0.000 0.060 2350.12 2358.00 2342.25 2259.56 2472.12 0 0 0 30.00 30.00 15.68

3254.79 16902 146.63 0.82 -80.00 2351.7 2360.4 2343.1 2258.7 2472.1 24.24 9.05 542 3262.30 0.00 0.00 3.39 0.000 0.000 0.128 2350.25 2358.38 2342.12 2259.50 1102.88 0 0 0 30.00 30.00 15.63

3323.49 17414 146.63 0.82 0.00 2351.4 2359.6 2343.1 2259.3 1102.6 17.44 10.33 555 3334.57 0.00 0.00 3.25 0.000 0.000 0.053 2352.62 2360.94 2344.31 2259.44 2537.06 0 0 0 30.00 30.00 15.77

3518.76 10919 288.43 1.14 -80.00 2350.5 2358.9 2342.1 2259.1 2537.4 7.02 3.43 594 3642.06 112.46 0.38 3.59 0.927 0.072 0.133 1787.66 1819.88 1755.44 2328.56 1102.81 0 0 0 11.04 15.64 15.58

3645 end climb: SURFACE_DEPTH_REACHED

state 3645 begin surface coast

3650 end surface coast: CONTROL_FINISHED_OK

state 3650 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	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	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	89.701309	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2043	FG_AHR_24V	210.10265	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	110621,181539,4744.227,-12223.462,2,0.8,3,15.5	TGT_RADIUS	100.000
_CALLS	4	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-51.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	110621,182404,4744.271,-12223.419,2,0.8,5,15.5	MHEAD_RNG_PITCHd_Wd	176.5,2464,-17.6,-10.000,-21.21
SPEED_LIMITS	0.173,0.258	D_GRID	149
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

NET	CACST,6,0,20210611191007.046378,05,32767,45,0103,0150,07,00,00,00,00,1,235,000,0,5,1,0,150,6.6,282.00,-100,-279.00,-01,-0.37,74,10000,5000*69	_24V_AH	14.81,107.799
MODEM_MSG	CACST,6,1,20210611181827.092750,05,100,-4,0129,0150,216,03,03,04,03,-1,-01,-01,1,3,0,0,150,13.5,0.43,-100,2.57,-01,0.05,37,925,0025*3E	_10V_AH	14.78,0.000
NAV	1623437941,145.8,start	FG_AHR_24Vo	210.266
FINISH	0.7,1.021389	FG_AHR_10Vo	89.768
SM_CCo	3919.11,238.71,0.853,0,541.4,539.7,543.1,594.52	MEM0	60932,1,0,0
SM_GC	1.04,238.71,13.72,3.37,0.853,0.056,0.054,541.4,539.7,543.1,197.8,2585.8,0,0,0,11.17,15.63,15.65	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	996972,25,49636,73
IRIDIUM_FIX	4744.47,-12222.38,110621,181942	DATA_FILE_SIZE	16079,620
TCM_TEMP	13.18	CAP_FILE_SIZE	691215,0
SC_FREEKB	3877792	SDSIZE	3918848,3901952
PM_FREEKB_00	62224896	SDFILEDIR	176,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-9	SOUNDSPEED	1424.1
MODEM	0,1623434452,47.00000,-122.50000,52.983,76443.9	CURRENT	0.074, 24.1,1
RAFOS_FIX	4755.219727,-12612.192383,110621,181827,6,255,-28604.14	MAGCAL	1.000000,-0.012216,-0.058753,-0.089937,1.198827,0.068288,0.043525,-0.048307,1.182244,-375.2,-647.1,-626.6,15,0.0257,0
HUMID	50.32	IMPLIED_C_PITCH	2043,19.20,392
TEMP	12.25	IMPLIED_C_VBD	3049,27.783895,392
INTERNAL_PRESSURE	8.73664	GPS	110621,193038,4744.023,-12223.456,2,0.8,3,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	723	1091	11698.35	nil	0	0	0.00
Pitch_motor	30	272	123.03	nil	0	0	0.00
Roll_motor	80	190	226.20	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	13	15	2.95	nil	0	0	0.00
Core	2325	10	347.82	SciCon	3649	2	159.53
LPSleep	1420	1	23.52	PMAR	3658	15	853.96
Compass	1223	5	90.40	nil	0	0	0.00
RAFOS	2911	40	1721.35
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
11.47	16386	-146.63	-0.88	0.00	539.5	541.5	537.5	194.1	2571.5	0.00	0.00	0	151.08	136.54	0.00	0.00	0.005	0.000	0.000	3226.25	3227.19	3225.31	194.12	2569.38	0	0	0	15.88	30.00	30.00
152.20	18727	-146.63	-0.88	80.00	3226.8	3228.1	3225.6	194.1	2568.8	3.27	-1.62	27	186.42	9.14	13.48	3.19	0.007	0.272	0.116	3563.12	3575.75	3550.50	1828.75	3888.69	0	0	0	15.91	15.44	15.72
255.18	1028	-146.63	-0.88	0.00	3562.7	3575.7	3549.6	1828.7	3888.4	19.26	-12.09	47	262.65	0.00	0.00	3.15	0.000	0.000	0.063	3562.12	3576.50	3547.75	1828.50	2525.00	0	0	0	30.00	30.00	15.71
446.39	292	-146.63	-0.88	80.00	3563.9	3578.8	3549.1	1828.8	2525.6	34.80	-7.08	85	453.79	0.00	0.00	3.29	0.000	0.000	0.103	3565.97	3580.75	3551.19	1829.19	3887.50	0	0	0	30.00	30.00	15.68
473.21	1060	-146.63	-0.88	0.00	3564.2	3579.4	3549.0	1829.1	3885.4	36.97	-7.93	90	480.45	0.00	0.00	3.14	0.000	0.000	0.060	3565.62	3580.69	3550.56	1828.88	2524.50	0	0	0	30.00	30.00	15.75
664.87	516	-146.63	-0.88	-80.00	3564.0	3578.8	3549.2	1828.4	2524.2	52.10	-8.28	128	675.86	0.00	0.00	3.55	0.000	0.000	0.145	3564.91	3579.81	3550.00	1828.81	1103.00	0	0	0	30.00	30.00	15.61
744.92	1028	-146.63	-0.88	0.00	3564.0	3579.5	3548.4	1829.0	1103.0	60.50	-10.83	144	752.29	0.00	0.00	3.35	0.000	0.000	0.052	3563.53	3578.62	3548.44	1828.62	2583.25	0	0	0	30.00	30.00	15.72
936.39	292	-146.63	-0.88	80.00	3564.8	3580.2	3549.4	1828.2	2583.1	77.07	-7.92	182	947.61	0.00	0.00	3.14	0.000	0.000	0.107	3565.41	3581.12	3549.69	1829.06	3885.88	0	0	0	30.00	30.00	15.68
981.33	1028	-146.63	-0.88	0.00	3564.0	3579.7	3548.3	1829.2	3885.4	81.39	-9.71	191	988.61	0.00	0.00	3.13	0.000	0.000	0.061	3563.00	3578.06	3547.94	1828.81	2523.50	0	0	0	30.00	30.00	15.74
1172.31	548	-146.63	-0.88	-80.00	3564.5	3579.8	3549.3	1829.1	2522.8	96.57	-7.33	229	1183.22	0.00	0.00	3.55	0.000	0.000	0.144	3565.31	3581.19	3549.44	1829.12	1104.81	0	0	0	30.00	30.00	15.62
1236.39	1028	-146.63	-0.88	0.00	3564.9	3580.2	3549.5	1828.3	1104.6	102.93	-10.81	242	1243.61	0.00	0.00	3.35	0.000	0.000	0.052	3564.94	3580.75	3549.12	1829.00	2583.00	0	0	0	30.00	30.00	15.71
1433.17	32	-146.63	-0.88	0.00	3564.4	3580.1	3548.6	1828.7	2583.2	118.42	-6.85	262	1437.44	0.00	0.00	0.00	0.000	0.000	0.000	3564.62	3580.50	3548.75	1828.69	2583.06	0	0	0	30.00	30.00	30.00
1622.66	0	-146.63	-0.88	0.00	3564.4	3579.7	3549.1	1828.6	2583.5	133.42	-8.43	281	1626.89	0.00	0.00	0.00	0.000	0.000	0.000	3564.38	3579.81	3548.94	1829.06	2583.69	0	0	0	30.00	30.00	30.00
1813.25	32	-146.63	-0.88	0.00	3564.5	3579.9	3549.1	1828.9	2583.4	148.40	-7.59	300	1817.41	0.00	0.00	0.00	0.000	0.000	0.000	3563.91	3579.38	3548.44	1828.88	2583.69	0	0	0	30.00	30.00	30.00
1822	end dive: TARGET_DEPTH_EXCEEDED
state	1822	begin apogee
1826.10	10243	0.00	-0.20	0.00	3564.3	3579.9	3548.8	1828.2	2466.5	149.13	-7.49	301	1939.88	109.11	1.16	0.09	1.092	0.136	0.190	2963.94	2979.50	2948.38	1996.31	2535.94	0	0	0	10.90	15.56	15.62
1943	end apogee: CONTROL_FINISHED_OK
state	1943	begin climb
1943.88	10759	146.63	0.88	-80.00	2962.8	2977.0	2948.5	1996.1	2535.9	152.49	0.00	312	2071.62	117.62	1.75	3.60	1.040	0.112	0.127	2368.66	2384.56	2352.75	2258.69	1103.50	0	0	0	11.11	15.63	15.43
2090.28	1028	146.63	0.88	0.00	2361.2	2374.0	2348.4	2259.3	1103.4	142.77	11.01	340	2097.63	0.00	0.00	3.29	0.000	0.000	0.053	2359.00	2371.06	2346.94	2259.75	2534.12	0	0	0	30.00	30.00	15.54
2285.53	16646	146.63	0.88	80.00	2356.2	2366.3	2346.1	2260.0	2534.2	118.53	11.77	360	2293.11	0.00	0.00	3.30	0.000	0.000	0.106	2355.09	2366.00	2344.19	2259.44	3885.56	0	0	0	30.00	30.00	15.57
2351.77	17414	146.63	0.88	0.00	2355.1	2365.1	2345.1	2259.7	3886.2	110.86	11.53	373	2359.13	0.00	0.00	3.28	0.000	0.000	0.060	2353.69	2364.38	2343.00	2259.19	2473.38	0	0	0	30.00	30.00	15.62
2542.07	16902	146.63	0.88	-80.00	2353.9	2363.6	2344.3	2259.9	2473.1	90.94	10.18	401	2549.52	0.00	0.00	3.38	0.000	0.000	0.128	2353.00	2362.50	2343.50	2258.94	1102.50	0	0	0	30.00	30.00	15.61
2593.15	17542	146.63	0.82	0.00	2353.6	2362.7	2344.4	2259.4	1102.3	85.25	11.33	411	2600.49	0.00	0.00	3.25	0.000	0.000	0.052	2353.62	2363.12	2344.12	2259.19	2536.69	0	0	0	30.00	30.00	15.68
2785.63	16902	146.63	0.82	-80.00	2352.9	2361.8	2344.0	2259.4	2536.8	68.68	8.49	449	2796.57	0.00	0.00	3.55	0.000	0.000	0.128	2352.91	2361.44	2344.38	2259.81	1103.56	0	0	0	30.00	30.00	15.64
2820.72	17414	146.63	0.82	0.00	2352.8	2361.7	2343.8	2259.6	1103.4	65.27	9.48	456	2828.05	0.00	0.00	3.27	0.000	0.000	0.052	2351.88	2360.88	2342.88	2259.81	2536.12	0	0	0	30.00	30.00	15.70
3011.72	16646	146.63	0.82	80.00	2353.0	2361.1	2344.9	2258.7	2536.9	46.79	10.55	494	3018.98	0.00	0.00	3.28	0.000	0.000	0.107	2352.50	2360.88	2344.12	2259.12	3885.81	0	0	0	30.00	30.00	15.65
3063.08	17414	146.63	0.82	0.00	2351.2	2359.4	2342.9	2259.4	3884.6	41.60	10.12	504	3070.59	0.00	0.00	3.26	0.000	0.000	0.060	2350.12	2358.00	2342.25	2259.56	2472.12	0	0	0	30.00	30.00	15.68
3254.79	16902	146.63	0.82	-80.00	2351.7	2360.4	2343.1	2258.7	2472.1	24.24	9.05	542	3262.30	0.00	0.00	3.39	0.000	0.000	0.128	2350.25	2358.38	2342.12	2259.50	1102.88	0	0	0	30.00	30.00	15.63
3323.49	17414	146.63	0.82	0.00	2351.4	2359.6	2343.1	2259.3	1102.6	17.44	10.33	555	3334.57	0.00	0.00	3.25	0.000	0.000	0.053	2352.62	2360.94	2344.31	2259.44	2537.06	0	0	0	30.00	30.00	15.77
3518.76	10919	288.43	1.14	-80.00	2350.5	2358.9	2342.1	2259.1	2537.4	7.02	3.43	594	3642.06	112.46	0.38	3.59	0.927	0.072	0.133	1787.66	1819.88	1755.44	2328.56	1102.81	0	0	0	11.04	15.64	15.58
3645	end climb: SURFACE_DEPTH_REACHED
state	3645	begin surface coast
3650	end surface coast: CONTROL_FINISHED_OK
state	3650	begin surface