Glider dive log

Shilshole 02Jun21 * SG235 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 XPDR_INT 0

MISSION 9 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 -0.5

STOP_T 0 TGT_AUTO_DEFAULT 0 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 SM_CC 600.98499 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 C_VBD 2950 MOTHERBOARD 6

D_TGT 120 FILEMGR 0 VBD_DBAND 2 DEVICE1 -1

D_ABORT 150 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 5 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 520 COMPASS_DEVICE 66

T_DIVE 40 T_GPS 5 LOITER_D_BOTTOM 660 COMPASS2_DEVICE -1

T_MISSION 55 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 230 MAXI_10V 1.5 SEABIRD_T_G 0.004415411

USE_ICE 0 PITCH_MAX 3900 FG_AHR_10V 85.844711 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2030 FG_AHR_24V 143.87849 SEABIRD_T_I 2.6329088e-05

D_OFFGRID 150 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_J 3.2522996e-06

RELAUNCH 1 PITCH_CNV 0.0041299998 PRESSURE_YINT -159.586 SEABIRD_C_G -9.8064938

APOGEE_PITCH -5 PITCH_GAIN 20 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_H 1.0739573

MAX_BUOY 150 PITCH_TIMEOUT 30 COMPASS_USE 16388 SEABIRD_C_I -0.002841271

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 ALTIM_PING_FIT 0 SEABIRD_C_J 0.00027081851

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.045000002 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

RHO 1.023 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 7.0

MASS 72364 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 1200 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MAX 3900 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 2800 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING 0 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 1.0739573

AH0_24V 550 D_TGT 120 PHONE_DEVICE 33 SEABIRD_C_I -0.002841271

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SEABIRD_C_J 0.00027081851

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SEABIRD_T_G 0.004415411

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0.045000002 SEABIRD_T_H 0.00064200663

ALTIM_PING_DEPTH 0 FG_AHR_10V 85.844711 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 143.87849 PITCH_DBAND 0.1 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FILEMGR 0 PITCH_GAIN 20 SIM_W 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 SM_CC 600.98499

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 48 PITCH_MIN 230 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 0 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 235 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 -0.5 PM_SENDDEPTH 1.0 T_BOOST 0

COMPASS2_DEVICE -1 KALMAN_USE 2 PM_XMITPROFILE 3.0 T_DIVE 40

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 2030 LOGGERDEVICE3 -1 PRESSURE_SLOPE 0.00022957686 T_LOITER 0

C_ROLL_CLIMB 2800 LOGGERDEVICE4 -1 PRESSURE_YINT -159.586 T_MISSION 55

C_ROLL_DIVE 2550 LOGGERS 3 PROTOCOL 9 T_NO_W 120

C_VBD 2950 LOITER_DBDW 400 RAFOS_CORR_THRESH 60 T_RSLEEP 2

DBDW 0 LOITER_D_BOTTOM 660 RAFOS_DEVICE 102 T_TURN 225

DEEPGLIDER 0 LOITER_D_TOP 520 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 5

DEVICE2 -1 MASS 72364 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 150 MISSION 9 ROLL_MAX 3900 VBD_MAXERRORS 1

D_BOOST 0 MOTHERBOARD 6 ROLL_MAXERRORS 1 VBD_MIN 500

D_CALL 0 NAV_MODE 2 ROLL_MIN 1200 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 -9.8064938 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 020621,183554,4742.568,-12224.654,1,1.0,3,15.5 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -45.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 020621,183756,4742.544,-12224.652,2,1.0,4,15.5 MHEAD_RNG_PITCHd_Wd 357.7,886,-17.6,-10.000,-21.21

SPEED_LIMITS 0.173,0.258 D_GRID 151

TGT_NAME HEADING IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-975.000000,-761.000000,-240.000000

TGT_LATLONG 0.000,0.000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20210602184727.631282,05,711,16,0973,0150,246,03,03,02,05,-1,-01,-01,1,3,0,0,150,-38.3,0.25,-100,2.75,-01,0.00,52,925,0025*0C _10V_AH 14.82,0.000

NAV 1622660343,69.4,start FG_AHR_24Vo 144.067

FINISH -0.2,1.020037 FG_AHR_10Vo 85.891

SM_CCo 3019.65,288.27,1.131,0,500.6,566.6,434.5,600.85 MEM0 60932,1,0,0

SM_GC 0.93,288.27,12.78,0.51,1.131,0.065,0.095,500.6,566.6,434.5,215.4,2521.1,0,0,0,11.14,15.69,15.73 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 996864,28,49864,64

IRIDIUM_FIX 4742.38,-12248.15,020621,183315 DATA_FILE_SIZE 12923,517

TCM_TEMP 14.40 CAP_FILE_SIZE 181476,0

SC_FREEKB 3877728 SDSIZE 3918848,3813952

PM_FREEKB_00 62254272 SDFILEDIR 139,1

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 1473.8

MODEM 1,1622657358,47.50000,-123.50000,258.598,373403.7 CURRENT 0.105,196.2,1

RAFOS_FIX 4743.195801,-11906.079102,020621,181827,2,510,19156.58 MAGCAL 1.000000,-0.023219,0.000809,-0.078638,1.038564,0.022563,0.034791,-0.067191,1.049828,-924.9,-782.3,-222.1,36,0.0338,0

HUMID 50.92 IMPLIED_C_PITCH 1976,16.90,296

TEMP 12.45 IMPLIED_C_VBD 3143,23.663149,296

INTERNAL_PRESSURE 8.62865 GPS 020621,192930,4742.653,-12224.604,2,1.3,4,15.5

_24V_AH 14.84,95.508

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 672 1282 12787.79 nil 0 0 0.00

Pitch_motor 34 256 132.43 nil 0 0 0.00

Roll_motor 37 250 140.88 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 2.90 nil 0 0 0.00

Core 1891 10 283.67 SciCon 2704 3 138.97

LPSleep 906 1 15.05 PMAR 2714 9 362.72

Compass 1044 5 77.41 nil 0 0 0.00

RAFOS 2674 40 1585.31

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

11.88 16386 -146.63 -1.06 0.00 500.4 563.2 437.6 216.2 2576.1 0.00 0.00 0 146.37 131.12 0.00 0.00 0.005 0.000 0.000 3366.56 3384.38 3348.75 216.50 2576.44 0 0 0 13.94 30.00 30.00

147.48 18983 -146.63 -1.06 -80.00 3366.2 3385.2 3347.1 216.6 2576.3 3.45 -2.15 26 175.87 5.24 12.20 3.36 0.009 0.257 0.128 3546.69 3580.62 3512.75 1773.31 1187.12 0 0 0 15.96 15.58 15.76

179.86 3237 -146.63 0.15 0.00 3546.6 3580.2 3512.9 1773.4 1186.3 5.53 -6.71 32 191.64 0.00 2.00 3.14 0.000 0.139 0.061 3546.88 3580.38 3513.38 2068.50 2575.50 0 0 0 30.00 15.68 15.79

375.73 4257 -146.63 -1.17 0.00 3547.7 3582.9 3512.4 2068.4 2576.2 10.99 -4.24 71 381.72 0.00 2.23 0.00 0.000 0.127 0.000 3549.31 3584.56 3514.06 1738.44 2575.19 0 0 0 30.00 15.67 30.00

565.72 420 -146.63 -1.24 80.00 3547.8 3583.2 3512.3 1738.0 2575.5 19.54 -4.86 109 572.97 0.00 0.00 3.23 0.000 0.000 0.122 3548.78 3583.56 3514.00 1737.19 3914.00 0 0 0 30.00 30.00 15.71

776.79 1188 -146.63 -1.19 0.00 3547.4 3582.8 3512.0 1738.2 3913.4 33.79 -7.08 151 784.06 0.00 0.00 3.16 0.000 0.000 0.068 3548.09 3582.56 3513.62 1737.56 2522.50 0 0 0 30.00 30.00 15.78

969.35 160 -146.63 -1.24 0.00 3548.3 3583.6 3513.1 1737.9 2522.4 47.41 -7.82 189 975.12 0.00 0.00 0.00 0.000 0.000 0.000 3548.41 3584.25 3512.56 1738.31 2523.19 0 0 0 30.00 30.00 30.00

1159.56 4517 -146.63 -1.31 80.00 3547.9 3583.1 3512.6 1737.9 2522.7 62.52 -7.41 227 1166.92 0.00 0.17 3.34 0.000 0.091 0.119 3548.19 3583.81 3512.56 1695.88 3913.06 0 0 0 30.00 15.79 15.77

1286.29 3205 -146.63 -1.18 0.00 3548.0 3583.9 3512.0 1696.7 3913.4 74.86 -9.71 252 1297.18 0.00 0.38 3.17 0.000 0.159 0.070 3548.50 3584.00 3513.00 1744.56 2524.69 0 0 0 30.00 15.61 15.76

1481.91 4517 -146.63 -1.33 80.00 3547.9 3583.6 3512.3 1744.6 2524.4 86.93 -5.70 291 1492.86 0.00 0.28 3.36 0.000 0.074 0.120 3548.28 3584.44 3512.12 1691.62 3913.56 0 0 0 30.00 15.72 15.69

1612.10 3205 -146.63 -1.24 0.00 3547.0 3582.6 3511.4 1691.4 3912.7 98.89 -10.17 317 1619.48 0.00 0.31 3.17 0.000 0.173 0.070 3549.38 3584.75 3514.00 1731.56 2524.31 0 0 0 30.00 15.61 15.74

1658 end dive: HALF_MISSION_TIME_EXCEEDED

state 1658 begin apogee

1662.61 10243 0.00 -0.25 0.00 3548.2 3583.9 3512.6 1731.4 2820.9 102.08 -6.85 323 1772.67 104.86 1.63 0.07 1.282 0.137 0.250 2947.31 3013.75 2880.88 1971.44 2771.31 0 0 0 11.18 15.64 15.58

1775 end apogee: CONTROL_FINISHED_OK

state 1775 begin climb

1776.02 10243 146.63 1.06 0.00 2948.2 3012.9 2883.5 1970.9 2771.6 102.97 0.00 334 1890.11 108.99 2.03 0.00 1.217 0.075 0.000 2351.34 2433.75 2268.94 2293.56 2770.75 0 0 0 11.38 15.61 30.00

2073.78 20871 146.63 0.87 80.00 2343.4 2422.1 2264.7 2293.2 2771.6 62.97 14.55 392 2081.08 0.00 0.46 2.79 0.000 0.173 0.124 2341.72 2420.06 2263.38 2235.44 3912.25 0 0 0 30.00 15.50 15.57

2170.46 17414 146.63 0.87 0.00 2341.6 2420.5 2262.6 2235.1 3911.9 50.88 12.51 411 2177.60 0.00 0.00 2.61 0.000 0.000 0.063 2342.84 2421.38 2264.31 2235.06 2771.75 0 0 0 30.00 30.00 15.67

2362.21 16386 146.63 0.87 0.00 2340.7 2419.4 2262.1 2236.2 2772.0 31.12 10.25 449 2367.79 0.00 0.00 0.00 0.000 0.000 0.000 2341.75 2420.88 2262.62 2235.75 2773.06 0 0 0 30.00 30.00 30.00

2552.51 8486 190.86 0.92 80.00 2340.9 2419.8 2261.9 2234.8 2771.4 13.03 7.95 487 2594.59 33.58 0.00 2.77 1.103 0.000 0.125 2172.66 2258.38 2086.94 2234.88 3913.44 0 0 0 11.23 30.00 15.71

2653.26 3205 190.86 0.98 0.00 2166.3 2251.7 2081.0 2234.5 3911.4 4.54 9.46 507 2660.65 0.00 0.25 2.60 0.000 0.080 0.064 2164.03 2248.88 2079.19 2280.50 2773.75 0 0 0 30.00 15.75 15.75

2683 end climb: SURFACE_DEPTH_REACHED

state 2683 begin surface coast

2704 end surface coast: CONTROL_FINISHED_OK

state 2704 begin surface

ID	235	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	9	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	-0.5
STOP_T	0	TGT_AUTO_DEFAULT	0	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	SM_CC	600.98499	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	C_VBD	2950	MOTHERBOARD	6
D_TGT	120	FILEMGR	0	VBD_DBAND	2	DEVICE1	-1
D_ABORT	150	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	5	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	520	COMPASS_DEVICE	66
T_DIVE	40	T_GPS	5	LOITER_D_BOTTOM	660	COMPASS2_DEVICE	-1
T_MISSION	55	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	230	MAXI_10V	1.5	SEABIRD_T_G	0.004415411
USE_ICE	0	PITCH_MAX	3900	FG_AHR_10V	85.844711	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2030	FG_AHR_24V	143.87849	SEABIRD_T_I	2.6329088e-05
D_OFFGRID	150	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_J	3.2522996e-06
RELAUNCH	1	PITCH_CNV	0.0041299998	PRESSURE_YINT	-159.586	SEABIRD_C_G	-9.8064938
APOGEE_PITCH	-5	PITCH_GAIN	20	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_H	1.0739573
MAX_BUOY	150	PITCH_TIMEOUT	30	COMPASS_USE	16388	SEABIRD_C_I	-0.002841271
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	ALTIM_PING_FIT	0	SEABIRD_C_J	0.00027081851
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.045000002	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
RHO	1.023	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	7.0
MASS	72364	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	1200	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MAX	3900	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	2800	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
HEADING	0	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	020621,183554,4742.568,-12224.654,1,1.0,3,15.5	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-45.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	020621,183756,4742.544,-12224.652,2,1.0,4,15.5	MHEAD_RNG_PITCHd_Wd	357.7,886,-17.6,-10.000,-21.21
SPEED_LIMITS	0.173,0.258	D_GRID	151
TGT_NAME	HEADING	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-975.000000,-761.000000,-240.000000
TGT_LATLONG	0.000,0.000

MODEM_MSG	CACST,6,1,20210602184727.631282,05,711,16,0973,0150,246,03,03,02,05,-1,-01,-01,1,3,0,0,150,-38.3,0.25,-100,2.75,-01,0.00,52,925,0025*0C	_10V_AH	14.82,0.000
NAV	1622660343,69.4,start	FG_AHR_24Vo	144.067
FINISH	-0.2,1.020037	FG_AHR_10Vo	85.891
SM_CCo	3019.65,288.27,1.131,0,500.6,566.6,434.5,600.85	MEM0	60932,1,0,0
SM_GC	0.93,288.27,12.78,0.51,1.131,0.065,0.095,500.6,566.6,434.5,215.4,2521.1,0,0,0,11.14,15.69,15.73	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	996864,28,49864,64
IRIDIUM_FIX	4742.38,-12248.15,020621,183315	DATA_FILE_SIZE	12923,517
TCM_TEMP	14.40	CAP_FILE_SIZE	181476,0
SC_FREEKB	3877728	SDSIZE	3918848,3813952
PM_FREEKB_00	62254272	SDFILEDIR	139,1
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	1473.8
MODEM	1,1622657358,47.50000,-123.50000,258.598,373403.7	CURRENT	0.105,196.2,1
RAFOS_FIX	4743.195801,-11906.079102,020621,181827,2,510,19156.58	MAGCAL	1.000000,-0.023219,0.000809,-0.078638,1.038564,0.022563,0.034791,-0.067191,1.049828,-924.9,-782.3,-222.1,36,0.0338,0
HUMID	50.92	IMPLIED_C_PITCH	1976,16.90,296
TEMP	12.45	IMPLIED_C_VBD	3143,23.663149,296
INTERNAL_PRESSURE	8.62865	GPS	020621,192930,4742.653,-12224.604,2,1.3,4,15.5
_24V_AH	14.84,95.508

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	672	1282	12787.79	nil	0	0	0.00
Pitch_motor	34	256	132.43	nil	0	0	0.00
Roll_motor	37	250	140.88	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	2.90	nil	0	0	0.00
Core	1891	10	283.67	SciCon	2704	3	138.97
LPSleep	906	1	15.05	PMAR	2714	9	362.72
Compass	1044	5	77.41	nil	0	0	0.00
RAFOS	2674	40	1585.31
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
11.88	16386	-146.63	-1.06	0.00	500.4	563.2	437.6	216.2	2576.1	0.00	0.00	0	146.37	131.12	0.00	0.00	0.005	0.000	0.000	3366.56	3384.38	3348.75	216.50	2576.44	0	0	0	13.94	30.00	30.00
147.48	18983	-146.63	-1.06	-80.00	3366.2	3385.2	3347.1	216.6	2576.3	3.45	-2.15	26	175.87	5.24	12.20	3.36	0.009	0.257	0.128	3546.69	3580.62	3512.75	1773.31	1187.12	0	0	0	15.96	15.58	15.76
179.86	3237	-146.63	0.15	0.00	3546.6	3580.2	3512.9	1773.4	1186.3	5.53	-6.71	32	191.64	0.00	2.00	3.14	0.000	0.139	0.061	3546.88	3580.38	3513.38	2068.50	2575.50	0	0	0	30.00	15.68	15.79
375.73	4257	-146.63	-1.17	0.00	3547.7	3582.9	3512.4	2068.4	2576.2	10.99	-4.24	71	381.72	0.00	2.23	0.00	0.000	0.127	0.000	3549.31	3584.56	3514.06	1738.44	2575.19	0	0	0	30.00	15.67	30.00
565.72	420	-146.63	-1.24	80.00	3547.8	3583.2	3512.3	1738.0	2575.5	19.54	-4.86	109	572.97	0.00	0.00	3.23	0.000	0.000	0.122	3548.78	3583.56	3514.00	1737.19	3914.00	0	0	0	30.00	30.00	15.71
776.79	1188	-146.63	-1.19	0.00	3547.4	3582.8	3512.0	1738.2	3913.4	33.79	-7.08	151	784.06	0.00	0.00	3.16	0.000	0.000	0.068	3548.09	3582.56	3513.62	1737.56	2522.50	0	0	0	30.00	30.00	15.78
969.35	160	-146.63	-1.24	0.00	3548.3	3583.6	3513.1	1737.9	2522.4	47.41	-7.82	189	975.12	0.00	0.00	0.00	0.000	0.000	0.000	3548.41	3584.25	3512.56	1738.31	2523.19	0	0	0	30.00	30.00	30.00
1159.56	4517	-146.63	-1.31	80.00	3547.9	3583.1	3512.6	1737.9	2522.7	62.52	-7.41	227	1166.92	0.00	0.17	3.34	0.000	0.091	0.119	3548.19	3583.81	3512.56	1695.88	3913.06	0	0	0	30.00	15.79	15.77
1286.29	3205	-146.63	-1.18	0.00	3548.0	3583.9	3512.0	1696.7	3913.4	74.86	-9.71	252	1297.18	0.00	0.38	3.17	0.000	0.159	0.070	3548.50	3584.00	3513.00	1744.56	2524.69	0	0	0	30.00	15.61	15.76
1481.91	4517	-146.63	-1.33	80.00	3547.9	3583.6	3512.3	1744.6	2524.4	86.93	-5.70	291	1492.86	0.00	0.28	3.36	0.000	0.074	0.120	3548.28	3584.44	3512.12	1691.62	3913.56	0	0	0	30.00	15.72	15.69
1612.10	3205	-146.63	-1.24	0.00	3547.0	3582.6	3511.4	1691.4	3912.7	98.89	-10.17	317	1619.48	0.00	0.31	3.17	0.000	0.173	0.070	3549.38	3584.75	3514.00	1731.56	2524.31	0	0	0	30.00	15.61	15.74
1658	end dive: HALF_MISSION_TIME_EXCEEDED
state	1658	begin apogee
1662.61	10243	0.00	-0.25	0.00	3548.2	3583.9	3512.6	1731.4	2820.9	102.08	-6.85	323	1772.67	104.86	1.63	0.07	1.282	0.137	0.250	2947.31	3013.75	2880.88	1971.44	2771.31	0	0	0	11.18	15.64	15.58
1775	end apogee: CONTROL_FINISHED_OK
state	1775	begin climb
1776.02	10243	146.63	1.06	0.00	2948.2	3012.9	2883.5	1970.9	2771.6	102.97	0.00	334	1890.11	108.99	2.03	0.00	1.217	0.075	0.000	2351.34	2433.75	2268.94	2293.56	2770.75	0	0	0	11.38	15.61	30.00
2073.78	20871	146.63	0.87	80.00	2343.4	2422.1	2264.7	2293.2	2771.6	62.97	14.55	392	2081.08	0.00	0.46	2.79	0.000	0.173	0.124	2341.72	2420.06	2263.38	2235.44	3912.25	0	0	0	30.00	15.50	15.57
2170.46	17414	146.63	0.87	0.00	2341.6	2420.5	2262.6	2235.1	3911.9	50.88	12.51	411	2177.60	0.00	0.00	2.61	0.000	0.000	0.063	2342.84	2421.38	2264.31	2235.06	2771.75	0	0	0	30.00	30.00	15.67
2362.21	16386	146.63	0.87	0.00	2340.7	2419.4	2262.1	2236.2	2772.0	31.12	10.25	449	2367.79	0.00	0.00	0.00	0.000	0.000	0.000	2341.75	2420.88	2262.62	2235.75	2773.06	0	0	0	30.00	30.00	30.00
2552.51	8486	190.86	0.92	80.00	2340.9	2419.8	2261.9	2234.8	2771.4	13.03	7.95	487	2594.59	33.58	0.00	2.77	1.103	0.000	0.125	2172.66	2258.38	2086.94	2234.88	3913.44	0	0	0	11.23	30.00	15.71
2653.26	3205	190.86	0.98	0.00	2166.3	2251.7	2081.0	2234.5	3911.4	4.54	9.46	507	2660.65	0.00	0.25	2.60	0.000	0.080	0.064	2164.03	2248.88	2079.19	2280.50	2773.75	0	0	0	30.00	15.75	15.75
2683	end climb: SURFACE_DEPTH_REACHED
state	2683	begin surface coast
2704	end surface coast: CONTROL_FINISHED_OK
state	2704	begin surface