Glider dive log

Shilshole 08Apr21 * 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 8 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 539.65997 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 C_VBD 2950 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 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 50 T_GPS 5 LOITER_D_BOTTOM 660 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 230 MAXI_10V 1.5 SEABIRD_T_G 0.004415411

USE_ICE 0 PITCH_MAX 3900 FG_AHR_10V 71.725929 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2030 FG_AHR_24V 131.02415 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 -159.35963 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 -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 1.0739573

AH0_24V 550 D_TGT 150 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 71.725929 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 131.02415 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 539.65997

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 -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 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 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 2030 LOGGERDEVICE3 -1 PRESSURE_SLOPE 0.00022957686 T_LOITER 0

C_ROLL_CLIMB 2800 LOGGERDEVICE4 -1 PRESSURE_YINT -159.35963 T_MISSION 65

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 175 MISSION 8 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 080421,174124,4744.359,-12224.347,1,1.3,4,15.5 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.77 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -39.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 080421,174410,4744.378,-12224.350,2,1.3,6,15.5 MHEAD_RNG_PITCHd_Wd 177.8,2678,-17.6,-10.000,-21.21

SPEED_LIMITS 0.173,0.258 D_GRID 175

TGT_NAME SW IRON 1.000000,-0.081000,0.065000,-0.054000,1.090000,-0.041000,0.018000,0.037000,1.030000,-1198.900024,-1165.300049,-77.400002

TGT_LATLONG 4743.000,-12225.000

Post-dive calculations and measurements:

NET CACST,6,1,20210408175009.965105,05,32767,45,0120,0150,07,00,00,00,00,-1,-01,-01,1,3,20780,0,150,15.8,-274.00,-100,277.00,-01,-0.37,70,10000,5000*7A _24V_AH 14.87,94.031

MODEM_MSG CACST,6,1,20210408174512.717018,05,192,-13,0093,0150,216,01,01,06,03,-1,-01,-01,1,3,0,0,150,7.1,0.35,-100,2.65,-01,-0.68,42,925,0025*2D _10V_AH 14.83,0.000

NAV 1617904744,82.1,start FG_AHR_24Vo 131.216

FINISH 1.4,1.022165 FG_AHR_10Vo 71.783

SM_CCo 3331.46,203.40,1.225,0,750.4,816.6,684.1,539.57 MEM0 60932,1,0,0

SM_GC 0.86,203.40,12.69,2.83,1.225,0.067,0.071,750.4,816.6,684.1,211.8,2572.7,0,0,0,11.19,15.66,15.76 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 996312,28,50216,74

IRIDIUM_FIX 4744.47,-12222.38,080421,173947 DATA_FILE_SIZE 12899,517

TCM_TEMP 12.43 CAP_FILE_SIZE 191810,0

SC_FREEKB 3877824 SDSIZE 3918848,3814080

PM_FREEKB_00 62265216 SDFILEDIR 135,1

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 1401.3

MODEM 1,1617901506,47.50000,-123.50000,6.193,9153.6 CURRENT 0.031,141.7,1

RAFOS_FIX 4717.206543,-12340.888672,080421,171712,9,255,422715.12 MAGCAL 1.000000,-0.065598,0.015667,-0.052461,1.110125,-0.010365,0.027485,-0.012106,1.101983,-1151.1,-1188.4,-123.9,36,0.0244,0

HUMID 52.07 IMPLIED_C_PITCH 1981,15.81,317

TEMP 10.16 IMPLIED_C_VBD 2888,26.119463,317

INTERNAL_PRESSURE 9.15714 GPS 080421,184131,4743.950,-12224.423,24,0.8,25,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 650 1448 14018.47 nil 0 0 0.00

Pitch_motor 30 251 112.95 nil 0 0 0.00

Roll_motor 64 281 269.20 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 15 15 3.44 nil 0 0 0.00

Core 1975 10 296.43 SciCon 3098 3 162.87

LPSleep 1232 1 20.47 PMAR 3109 15 712.67

Compass 1000 5 74.16 nil 0 0 0.00

RAFOS 1562 40 927.07

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

11.74 16386 -146.63 -1.06 0.00 747.8 803.1 692.4 212.6 2523.1 0.00 0.00 0 166.73 151.62 0.00 0.00 0.005 0.000 0.000 3459.44 3471.44 3447.44 212.75 2522.50 0 0 0 15.88 30.00 30.00

167.91 18727 -146.63 -1.06 80.00 3460.2 3472.2 3448.3 212.6 2522.5 3.61 -1.85 30 191.25 2.30 11.95 3.39 0.015 0.252 0.131 3545.78 3568.75 3522.81 1773.38 3911.00 0 0 0 15.92 15.58 15.73

239.84 5253 -146.63 -1.22 0.00 3545.1 3568.4 3521.7 1773.0 3912.3 13.61 -9.66 44 247.20 0.00 0.32 3.21 0.000 0.068 0.077 3546.50 3570.06 3522.94 1717.12 2524.50 0 0 0 30.00 15.76 15.75

431.25 260 -146.63 -1.22 80.00 3544.9 3569.4 3520.4 1716.8 2525.3 33.72 -11.02 82 438.58 0.00 0.00 3.38 0.000 0.000 0.127 3544.31 3568.75 3519.88 1717.31 3911.50 0 0 0 30.00 30.00 15.71

482.88 1028 -146.63 -1.22 0.00 3544.4 3568.9 3519.9 1717.8 3911.4 39.72 -12.10 92 490.39 0.00 0.00 3.20 0.000 0.000 0.077 3545.50 3569.69 3521.31 1717.31 2524.50 0 0 0 30.00 30.00 15.75

674.02 260 -146.63 -1.22 80.00 3543.6 3567.8 3519.4 1717.2 2524.6 61.31 -10.46 130 681.57 0.00 0.00 3.37 0.000 0.000 0.127 3544.06 3568.31 3519.81 1717.81 3912.88 0 0 0 30.00 30.00 15.71

705.87 1028 -146.63 -1.22 0.00 3545.2 3569.3 3521.2 1717.6 3912.2 64.72 -10.82 136 713.37 0.00 0.00 3.19 0.000 0.000 0.077 3544.41 3568.88 3519.94 1717.44 2525.50 0 0 0 30.00 30.00 15.79

897.01 260 -146.63 -1.22 80.00 3544.8 3569.4 3520.1 1717.4 2524.6 86.78 -11.64 174 904.52 0.00 0.00 3.38 0.000 0.000 0.127 3546.50 3570.19 3522.81 1717.75 3914.25 0 0 0 30.00 30.00 15.71

988.09 1028 -146.63 -1.22 0.00 3545.2 3569.4 3521.0 1718.0 3914.8 98.70 -12.84 192 995.53 0.00 0.00 3.21 0.000 0.000 0.076 3545.00 3569.88 3520.12 1717.75 2524.38 0 0 0 30.00 30.00 15.75

1179.17 516 -146.63 -1.22 -80.00 3545.8 3570.3 3521.4 1717.7 2524.4 116.14 -10.21 212 1186.79 0.00 0.00 3.30 0.000 0.000 0.136 3544.59 3569.88 3519.31 1717.88 1186.50 0 0 0 30.00 30.00 15.68

1225.36 3205 -146.63 -1.17 0.00 3545.7 3570.6 3520.7 1717.6 1186.3 120.97 -10.67 221 1232.87 0.00 0.25 3.18 0.000 0.167 0.071 3544.78 3569.69 3519.88 1748.88 2571.88 0 0 0 30.00 15.64 15.76

1420.43 4485 -146.63 -1.33 80.00 3544.9 3569.6 3520.3 1749.2 2571.8 137.53 -8.55 241 1428.09 0.00 0.31 3.27 0.000 0.075 0.131 3544.38 3569.25 3519.50 1691.00 3912.12 0 0 0 30.00 15.72 15.69

1477.25 3205 -146.63 -1.25 0.00 3545.1 3569.9 3520.2 1691.0 3912.1 144.01 -12.03 252 1484.94 0.00 0.29 3.20 0.000 0.171 0.077 3544.72 3569.69 3519.75 1728.50 2525.69 0 0 0 30.00 15.63 15.73

1542 end dive: TARGET_DEPTH_EXCEEDED

state 1542 begin apogee

1547.01 10243 0.00 -0.25 0.00 3545.0 3569.7 3520.2 1728.1 2819.4 150.32 -9.24 259 1657.98 105.16 1.64 0.06 1.448 0.142 0.282 2948.91 3009.25 2888.56 1971.12 2776.25 0 0 0 11.22 15.64 15.50

1660 end apogee: CONTROL_FINISHED_OK

state 1660 begin climb

1661.12 10243 146.63 1.06 0.00 2948.4 3009.4 2887.4 1970.8 2776.8 152.29 0.00 270 1777.66 111.28 2.05 0.00 1.377 0.090 0.000 2348.53 2431.94 2265.12 2292.44 2776.12 0 0 0 11.30 15.53 30.00

1964.57 20611 146.63 0.89 80.00 2343.3 2422.8 2263.9 2292.2 2775.9 122.85 11.96 311 1969.06 0.00 0.44 0.00 0.000 0.190 0.000 2341.91 2421.25 2262.56 2238.81 2776.00 0 0 0 30.00 15.46 30.00

2155.06 16902 146.63 0.89 -80.00 2341.6 2421.1 2262.0 2238.8 2775.8 102.79 9.87 330 2162.69 0.00 0.00 3.56 0.000 0.000 0.128 2340.66 2419.81 2261.50 2239.75 1329.94 0 0 0 30.00 30.00 15.63

2266.69 17542 146.63 0.84 0.00 2340.8 2420.1 2261.5 2239.3 1329.9 90.69 10.08 352 2277.51 0.00 0.00 3.46 0.000 0.000 0.075 2343.62 2421.69 2265.56 2238.44 2817.00 0 0 0 30.00 30.00 15.70

2462.38 10535 250.09 0.97 80.00 2340.5 2419.6 2261.4 2238.4 2817.1 76.57 5.21 391 2549.48 77.22 0.21 2.74 1.300 0.094 0.146 1927.69 2019.94 1835.44 2276.00 3910.62 0 0 0 11.19 15.69 15.53

2653.35 17414 250.09 0.97 0.00 1921.9 2010.4 1833.3 2276.7 3911.1 54.74 13.49 429 2660.71 0.00 0.00 2.63 0.000 0.000 0.071 1920.78 2008.94 1832.62 2275.31 2776.56 0 0 0 30.00 30.00 15.64

2845.03 16646 250.09 0.97 80.00 1919.8 2007.7 1831.8 2275.6 2777.1 31.01 11.87 467 2852.44 0.00 0.00 2.80 0.000 0.000 0.137 1921.19 2007.31 1835.06 2274.81 3909.88 0 0 0 30.00 30.00 15.64

2871.72 17414 250.09 0.97 0.00 1919.6 2006.9 1832.2 2275.9 3909.9 27.75 12.47 472 2879.13 0.00 0.00 2.62 0.000 0.000 0.071 1919.59 2005.56 1833.62 2274.81 2776.44 0 0 0 30.00 30.00 15.68

3063.46 16902 250.09 0.97 -80.00 1918.4 2005.6 1831.2 2276.2 2776.1 5.47 11.31 510 3074.47 0.00 0.00 3.56 0.000 0.000 0.132 1918.66 2005.88 1831.44 2276.19 1329.81 0 0 0 30.00 30.00 15.66

3093 end climb: SURFACE_DEPTH_REACHED

state 3093 begin surface coast

3098 end surface coast: CONTROL_FINISHED_OK

state 3098 begin surface

ID	235	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	8	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	539.65997	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	C_VBD	2950	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	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	50	T_GPS	5	LOITER_D_BOTTOM	660	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	230	MAXI_10V	1.5	SEABIRD_T_G	0.004415411
USE_ICE	0	PITCH_MAX	3900	FG_AHR_10V	71.725929	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2030	FG_AHR_24V	131.02415	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	-159.35963	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	-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	080421,174124,4744.359,-12224.347,1,1.3,4,15.5	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.77	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-39.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	080421,174410,4744.378,-12224.350,2,1.3,6,15.5	MHEAD_RNG_PITCHd_Wd	177.8,2678,-17.6,-10.000,-21.21
SPEED_LIMITS	0.173,0.258	D_GRID	175
TGT_NAME	SW	IRON	1.000000,-0.081000,0.065000,-0.054000,1.090000,-0.041000,0.018000,0.037000,1.030000,-1198.900024,-1165.300049,-77.400002
TGT_LATLONG	4743.000,-12225.000

NET	CACST,6,1,20210408175009.965105,05,32767,45,0120,0150,07,00,00,00,00,-1,-01,-01,1,3,20780,0,150,15.8,-274.00,-100,277.00,-01,-0.37,70,10000,5000*7A	_24V_AH	14.87,94.031
MODEM_MSG	CACST,6,1,20210408174512.717018,05,192,-13,0093,0150,216,01,01,06,03,-1,-01,-01,1,3,0,0,150,7.1,0.35,-100,2.65,-01,-0.68,42,925,0025*2D	_10V_AH	14.83,0.000
NAV	1617904744,82.1,start	FG_AHR_24Vo	131.216
FINISH	1.4,1.022165	FG_AHR_10Vo	71.783
SM_CCo	3331.46,203.40,1.225,0,750.4,816.6,684.1,539.57	MEM0	60932,1,0,0
SM_GC	0.86,203.40,12.69,2.83,1.225,0.067,0.071,750.4,816.6,684.1,211.8,2572.7,0,0,0,11.19,15.66,15.76	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	996312,28,50216,74
IRIDIUM_FIX	4744.47,-12222.38,080421,173947	DATA_FILE_SIZE	12899,517
TCM_TEMP	12.43	CAP_FILE_SIZE	191810,0
SC_FREEKB	3877824	SDSIZE	3918848,3814080
PM_FREEKB_00	62265216	SDFILEDIR	135,1
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	1401.3
MODEM	1,1617901506,47.50000,-123.50000,6.193,9153.6	CURRENT	0.031,141.7,1
RAFOS_FIX	4717.206543,-12340.888672,080421,171712,9,255,422715.12	MAGCAL	1.000000,-0.065598,0.015667,-0.052461,1.110125,-0.010365,0.027485,-0.012106,1.101983,-1151.1,-1188.4,-123.9,36,0.0244,0
HUMID	52.07	IMPLIED_C_PITCH	1981,15.81,317
TEMP	10.16	IMPLIED_C_VBD	2888,26.119463,317
INTERNAL_PRESSURE	9.15714	GPS	080421,184131,4743.950,-12224.423,24,0.8,25,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	650	1448	14018.47	nil	0	0	0.00
Pitch_motor	30	251	112.95	nil	0	0	0.00
Roll_motor	64	281	269.20	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	15	15	3.44	nil	0	0	0.00
Core	1975	10	296.43	SciCon	3098	3	162.87
LPSleep	1232	1	20.47	PMAR	3109	15	712.67
Compass	1000	5	74.16	nil	0	0	0.00
RAFOS	1562	40	927.07
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
11.74	16386	-146.63	-1.06	0.00	747.8	803.1	692.4	212.6	2523.1	0.00	0.00	0	166.73	151.62	0.00	0.00	0.005	0.000	0.000	3459.44	3471.44	3447.44	212.75	2522.50	0	0	0	15.88	30.00	30.00
167.91	18727	-146.63	-1.06	80.00	3460.2	3472.2	3448.3	212.6	2522.5	3.61	-1.85	30	191.25	2.30	11.95	3.39	0.015	0.252	0.131	3545.78	3568.75	3522.81	1773.38	3911.00	0	0	0	15.92	15.58	15.73
239.84	5253	-146.63	-1.22	0.00	3545.1	3568.4	3521.7	1773.0	3912.3	13.61	-9.66	44	247.20	0.00	0.32	3.21	0.000	0.068	0.077	3546.50	3570.06	3522.94	1717.12	2524.50	0	0	0	30.00	15.76	15.75
431.25	260	-146.63	-1.22	80.00	3544.9	3569.4	3520.4	1716.8	2525.3	33.72	-11.02	82	438.58	0.00	0.00	3.38	0.000	0.000	0.127	3544.31	3568.75	3519.88	1717.31	3911.50	0	0	0	30.00	30.00	15.71
482.88	1028	-146.63	-1.22	0.00	3544.4	3568.9	3519.9	1717.8	3911.4	39.72	-12.10	92	490.39	0.00	0.00	3.20	0.000	0.000	0.077	3545.50	3569.69	3521.31	1717.31	2524.50	0	0	0	30.00	30.00	15.75
674.02	260	-146.63	-1.22	80.00	3543.6	3567.8	3519.4	1717.2	2524.6	61.31	-10.46	130	681.57	0.00	0.00	3.37	0.000	0.000	0.127	3544.06	3568.31	3519.81	1717.81	3912.88	0	0	0	30.00	30.00	15.71
705.87	1028	-146.63	-1.22	0.00	3545.2	3569.3	3521.2	1717.6	3912.2	64.72	-10.82	136	713.37	0.00	0.00	3.19	0.000	0.000	0.077	3544.41	3568.88	3519.94	1717.44	2525.50	0	0	0	30.00	30.00	15.79
897.01	260	-146.63	-1.22	80.00	3544.8	3569.4	3520.1	1717.4	2524.6	86.78	-11.64	174	904.52	0.00	0.00	3.38	0.000	0.000	0.127	3546.50	3570.19	3522.81	1717.75	3914.25	0	0	0	30.00	30.00	15.71
988.09	1028	-146.63	-1.22	0.00	3545.2	3569.4	3521.0	1718.0	3914.8	98.70	-12.84	192	995.53	0.00	0.00	3.21	0.000	0.000	0.076	3545.00	3569.88	3520.12	1717.75	2524.38	0	0	0	30.00	30.00	15.75
1179.17	516	-146.63	-1.22	-80.00	3545.8	3570.3	3521.4	1717.7	2524.4	116.14	-10.21	212	1186.79	0.00	0.00	3.30	0.000	0.000	0.136	3544.59	3569.88	3519.31	1717.88	1186.50	0	0	0	30.00	30.00	15.68
1225.36	3205	-146.63	-1.17	0.00	3545.7	3570.6	3520.7	1717.6	1186.3	120.97	-10.67	221	1232.87	0.00	0.25	3.18	0.000	0.167	0.071	3544.78	3569.69	3519.88	1748.88	2571.88	0	0	0	30.00	15.64	15.76
1420.43	4485	-146.63	-1.33	80.00	3544.9	3569.6	3520.3	1749.2	2571.8	137.53	-8.55	241	1428.09	0.00	0.31	3.27	0.000	0.075	0.131	3544.38	3569.25	3519.50	1691.00	3912.12	0	0	0	30.00	15.72	15.69
1477.25	3205	-146.63	-1.25	0.00	3545.1	3569.9	3520.2	1691.0	3912.1	144.01	-12.03	252	1484.94	0.00	0.29	3.20	0.000	0.171	0.077	3544.72	3569.69	3519.75	1728.50	2525.69	0	0	0	30.00	15.63	15.73
1542	end dive: TARGET_DEPTH_EXCEEDED
state	1542	begin apogee
1547.01	10243	0.00	-0.25	0.00	3545.0	3569.7	3520.2	1728.1	2819.4	150.32	-9.24	259	1657.98	105.16	1.64	0.06	1.448	0.142	0.282	2948.91	3009.25	2888.56	1971.12	2776.25	0	0	0	11.22	15.64	15.50
1660	end apogee: CONTROL_FINISHED_OK
state	1660	begin climb
1661.12	10243	146.63	1.06	0.00	2948.4	3009.4	2887.4	1970.8	2776.8	152.29	0.00	270	1777.66	111.28	2.05	0.00	1.377	0.090	0.000	2348.53	2431.94	2265.12	2292.44	2776.12	0	0	0	11.30	15.53	30.00
1964.57	20611	146.63	0.89	80.00	2343.3	2422.8	2263.9	2292.2	2775.9	122.85	11.96	311	1969.06	0.00	0.44	0.00	0.000	0.190	0.000	2341.91	2421.25	2262.56	2238.81	2776.00	0	0	0	30.00	15.46	30.00
2155.06	16902	146.63	0.89	-80.00	2341.6	2421.1	2262.0	2238.8	2775.8	102.79	9.87	330	2162.69	0.00	0.00	3.56	0.000	0.000	0.128	2340.66	2419.81	2261.50	2239.75	1329.94	0	0	0	30.00	30.00	15.63
2266.69	17542	146.63	0.84	0.00	2340.8	2420.1	2261.5	2239.3	1329.9	90.69	10.08	352	2277.51	0.00	0.00	3.46	0.000	0.000	0.075	2343.62	2421.69	2265.56	2238.44	2817.00	0	0	0	30.00	30.00	15.70
2462.38	10535	250.09	0.97	80.00	2340.5	2419.6	2261.4	2238.4	2817.1	76.57	5.21	391	2549.48	77.22	0.21	2.74	1.300	0.094	0.146	1927.69	2019.94	1835.44	2276.00	3910.62	0	0	0	11.19	15.69	15.53
2653.35	17414	250.09	0.97	0.00	1921.9	2010.4	1833.3	2276.7	3911.1	54.74	13.49	429	2660.71	0.00	0.00	2.63	0.000	0.000	0.071	1920.78	2008.94	1832.62	2275.31	2776.56	0	0	0	30.00	30.00	15.64
2845.03	16646	250.09	0.97	80.00	1919.8	2007.7	1831.8	2275.6	2777.1	31.01	11.87	467	2852.44	0.00	0.00	2.80	0.000	0.000	0.137	1921.19	2007.31	1835.06	2274.81	3909.88	0	0	0	30.00	30.00	15.64
2871.72	17414	250.09	0.97	0.00	1919.6	2006.9	1832.2	2275.9	3909.9	27.75	12.47	472	2879.13	0.00	0.00	2.62	0.000	0.000	0.071	1919.59	2005.56	1833.62	2274.81	2776.44	0	0	0	30.00	30.00	15.68
3063.46	16902	250.09	0.97	-80.00	1918.4	2005.6	1831.2	2276.2	2776.1	5.47	11.31	510	3074.47	0.00	0.00	3.56	0.000	0.000	0.132	1918.66	2005.88	1831.44	2276.19	1329.81	0	0	0	30.00	30.00	15.66
3093	end climb: SURFACE_DEPTH_REACHED
state	3093	begin surface coast
3098	end surface coast: CONTROL_FINISHED_OK
state	3098	begin surface