Glider dive log

Shilshole 11Jun21 * 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 10 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 590.98499 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 400 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 88.40654 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2030 FG_AHR_24V 146.17357 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 -159.27469 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 400 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 88.40654 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 146.17357 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 590.98499

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 -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 -159.27469 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 10 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 110621,181051,4744.253,-12223.833,2,0.8,4,15.5 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.82 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -45.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 110621,181403,4744.275,-12223.812,2,0.8,4,15.5 MHEAD_RNG_PITCHd_Wd 178.3,2373,-17.6,-10.000,-21.21

SPEED_LIMITS 0.173,0.258 D_GRID 169

TGT_NAME SE IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-635.000000,-916.000000,150.000000

TGT_LATLONG 4743.000,-12224.000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20210611184823.716499,05,29029,32,0424,0150,216,02,02,02,02,-1,-01,-01,1,3,0,0,150,-24.5,0.11,-100,2.89,-01,0.00,43,925,0025*07 _10V_AH 14.68,0.000

NAV 1623437944,61.0,start FG_AHR_24Vo 146.372

FINISH -0.1,1.021263 FG_AHR_10Vo 88.469

SM_CCo 3586.16,225.21,1.171,0,541.5,616.8,466.2,590.81 MEM0 60932,1,0,0

SM_GC 1.02,225.21,13.56,0.64,1.171,0.045,0.090,541.5,616.8,466.2,212.9,2521.8,0,0,0,11.01,15.53,15.56 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 984128,18,62740,67

IRIDIUM_FIX 4743.62,-12225.08,110621,180810 DATA_FILE_SIZE 12923,494

TCM_TEMP 14.59 CAP_FILE_SIZE 193900,0

SC_FREEKB 3877728 SDSIZE 3918848,3813920

PM_FREEKB_00 62128576 SDFILEDIR 140,1

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 1402.2

MODEM 6,1623436425,48.15000,-122.50000,225.773,330757.2 CURRENT 0.137, 36.3,1

RAFOS_FIX 4826.816895,-12651.353516,110621,171745,6,255,3156.83 MAGCAL 1.000000,-0.066715,-0.031336,-0.066273,1.112148,-0.030167,0.046913,-0.003114,1.106903,-629.6,-954.5,160.0,34,0.0273,0

HUMID 52.05 IMPLIED_C_PITCH 2052,15.26,313

TEMP 12.09 IMPLIED_C_VBD 2813,20.836969,313

INTERNAL_PRESSURE 7.98935 GPS 110621,191516,4744.124,-12223.818,2,1.6,4,15.5

_24V_AH 14.70,113.956

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 672 1369 13539.06 nil 0 0 0.00

Pitch_motor 31 255 119.98 nil 0 0 0.00

Roll_motor 55 232 191.36 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 3224 10 479.04 SciCon 3326 3 166.20

LPSleep 466 1 7.67 PMAR 3344 6808 334230.49

Compass 2128 5 156.22 nil 0 0 0.00

RAFOS 2496 40 1466.15

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

11.37 16386 -146.63 -1.06 0.00 540.5 607.1 474.0 213.0 2521.3 0.00 0.00 0 135.42 118.32 0.00 0.00 0.005 0.000 0.000 3236.16 3246.25 3226.06 212.88 2520.88 0 0 0 15.85 30.00 30.00

136.54 18727 -146.63 -1.06 80.00 3236.8 3247.2 3226.5 212.9 2521.5 3.63 -2.39 21 174.40 6.66 12.45 3.34 0.008 0.255 0.118 3548.03 3576.50 3519.56 1772.56 3912.19 0 0 0 15.86 15.46 15.68

309.71 1028 -146.63 -1.06 0.00 3548.2 3578.8 3517.6 1773.4 3912.6 33.24 -14.58 51 325.66 0.00 0.00 3.20 0.000 0.000 0.069 3550.94 3582.25 3519.62 1772.50 2525.31 0 0 0 30.00 30.00 15.68

511.70 516 -146.63 -1.06 -80.00 3548.9 3580.8 3516.9 1773.8 2524.8 56.00 -10.59 86 526.77 0.00 0.00 3.30 0.000 0.000 0.130 3552.16 3584.00 3520.31 1772.75 1186.88 0 0 0 30.00 30.00 15.60

582.70 3205 -146.63 -0.95 0.00 3549.6 3581.1 3518.1 1773.1 1187.2 64.10 -11.81 97 597.79 0.00 0.17 3.16 0.000 0.163 0.060 3551.25 3582.31 3520.19 1802.06 2576.00 0 0 0 30.00 15.56 15.66

779.25 388 -146.63 -1.04 80.00 3550.0 3581.5 3518.4 1801.6 2577.1 82.67 -8.73 131 794.32 0.00 0.00 3.23 0.000 0.000 0.119 3551.12 3583.44 3518.81 1801.88 3912.06 0 0 0 30.00 30.00 15.61

937.59 5253 -146.63 -1.11 0.00 3549.3 3581.4 3517.2 1801.6 3912.7 98.29 -10.25 158 952.75 0.00 0.33 3.21 0.000 0.069 0.069 3551.84 3584.19 3519.50 1744.81 2523.94 0 0 0 30.00 15.64 15.65

1139.62 2693 -146.63 -1.03 -80.00 3549.9 3581.8 3518.1 1744.2 2524.3 122.98 -12.51 178 1160.20 0.00 0.29 3.29 0.000 0.164 0.131 3550.06 3582.00 3518.12 1781.31 1187.75 0 0 0 30.00 15.50 15.59

1172.37 1156 -146.63 -0.97 0.00 3550.1 3581.8 3518.5 1781.4 1187.9 127.09 -12.72 182 1182.85 0.00 0.00 3.16 0.000 0.000 0.060 3550.75 3584.44 3517.06 1780.38 2575.56 0 0 0 30.00 30.00 15.65

1374.58 388 -146.63 -1.01 80.00 3549.3 3581.4 3517.3 1781.2 2575.9 148.88 -10.00 202 1384.55 0.00 0.00 1.52 0.000 0.000 0.101 3551.53 3582.62 3520.44 1781.50 3222.38 0 0 0 30.00 30.00 15.60

1385 end dive: TARGET_DEPTH_EXCEEDED

state 1385 begin apogee

1390.00 10243 0.00 -0.25 0.00 3549.0 3581.5 3516.6 1781.0 2769.1 150.18 -10.21 203 1506.72 107.95 1.30 0.09 1.370 0.139 0.233 2949.09 3011.19 2887.00 1972.06 2820.25 0 0 0 10.86 15.51 15.30

1513 end apogee: CONTROL_FINISHED_OK

state 1513 begin climb

1514.03 10759 146.63 1.06 -80.00 2947.8 3009.2 2886.4 1971.2 2820.4 155.86 0.00 214 1645.04 113.47 2.13 3.76 1.329 0.103 0.120 2349.03 2430.50 2267.56 2290.81 1332.50 0 0 0 11.14 15.37 15.17

1710.78 1028 146.63 1.06 0.00 2346.3 2424.9 2267.7 2290.4 1332.1 144.08 9.27 249 1724.43 0.00 0.00 3.49 0.000 0.000 0.065 2347.59 2426.12 2269.06 2289.94 2818.19 0 0 0 30.00 30.00 15.44

1911.23 16386 146.63 1.06 0.00 2342.7 2421.2 2264.2 2290.7 2818.1 127.34 8.53 269 1925.58 0.00 0.00 0.00 0.000 0.000 0.000 2342.50 2420.94 2264.06 2290.44 2817.25 0 0 0 30.00 30.00 30.00

2113.22 17030 146.63 1.13 -80.00 2342.3 2420.7 2263.9 2291.2 2817.5 109.65 8.48 289 2134.70 0.00 0.00 3.65 0.000 0.000 0.119 2343.56 2421.44 2265.69 2290.00 1331.62 0 0 0 30.00 30.00 15.59

2178.72 17414 146.63 1.13 0.00 2341.8 2419.7 2263.8 2289.9 1331.7 103.61 9.56 299 2189.27 0.00 0.00 3.43 0.000 0.000 0.066 2342.19 2420.38 2264.00 2290.31 2817.44 0 0 0 30.00 30.00 15.64

2375.31 10663 197.06 1.28 80.00 2341.8 2419.6 2263.9 2290.7 2817.8 88.00 7.66 331 2429.38 39.35 0.32 2.71 1.236 0.072 0.135 2144.97 2229.56 2060.38 2353.50 3911.50 0 0 0 10.96 15.62 15.52

2468.15 5253 197.06 1.21 0.00 2141.8 2225.6 2057.9 2352.8 3912.8 79.23 10.54 346 2483.14 0.00 0.33 2.63 0.000 0.178 0.064 2142.72 2225.69 2059.75 2315.75 2772.25 0 0 0 30.00 15.56 15.65

2664.68 2177 197.06 1.33 0.00 2139.9 2222.9 2056.9 2315.1 2773.6 61.04 9.04 380 2679.15 0.00 0.28 0.00 0.000 0.075 0.000 2143.03 2225.75 2060.31 2364.56 2771.50 0 0 0 30.00 15.65 30.00

2861.21 516 197.06 1.33 -80.00 2138.6 2219.8 2057.4 2364.2 2772.6 40.37 10.05 414 2876.32 0.00 0.00 3.54 0.000 0.000 0.123 2138.66 2220.31 2057.00 2365.19 1331.50 0 0 0 30.00 30.00 15.62

2975.91 21639 197.06 1.25 0.00 2137.4 2218.1 2056.8 2364.3 1332.1 27.51 11.62 433 2991.05 0.00 0.31 3.43 0.000 0.183 0.066 2140.72 2221.19 2060.25 2325.19 2818.25 0 0 0 30.00 15.52 15.68

3172.45 10403 278.07 1.51 0.00 2137.1 2217.6 2056.7 2325.9 2817.1 12.48 6.25 467 3248.20 61.42 0.49 0.00 1.182 0.066 0.000 1813.88 1903.00 1724.75 2406.06 2818.06 0 0 0 10.88 15.65 30.00

3308 end climb: SURFACE_DEPTH_REACHED

state 3308 begin surface coast

3330 end surface coast: CONTROL_FINISHED_OK

state 3330 begin surface

ID	235	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	10	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	590.98499	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	400	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	88.40654	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2030	FG_AHR_24V	146.17357	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	-159.27469	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	110621,181051,4744.253,-12223.833,2,0.8,4,15.5	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.82	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-45.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	110621,181403,4744.275,-12223.812,2,0.8,4,15.5	MHEAD_RNG_PITCHd_Wd	178.3,2373,-17.6,-10.000,-21.21
SPEED_LIMITS	0.173,0.258	D_GRID	169
TGT_NAME	SE	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-635.000000,-916.000000,150.000000
TGT_LATLONG	4743.000,-12224.000

MODEM_MSG	CACST,6,1,20210611184823.716499,05,29029,32,0424,0150,216,02,02,02,02,-1,-01,-01,1,3,0,0,150,-24.5,0.11,-100,2.89,-01,0.00,43,925,0025*07	_10V_AH	14.68,0.000
NAV	1623437944,61.0,start	FG_AHR_24Vo	146.372
FINISH	-0.1,1.021263	FG_AHR_10Vo	88.469
SM_CCo	3586.16,225.21,1.171,0,541.5,616.8,466.2,590.81	MEM0	60932,1,0,0
SM_GC	1.02,225.21,13.56,0.64,1.171,0.045,0.090,541.5,616.8,466.2,212.9,2521.8,0,0,0,11.01,15.53,15.56	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	984128,18,62740,67
IRIDIUM_FIX	4743.62,-12225.08,110621,180810	DATA_FILE_SIZE	12923,494
TCM_TEMP	14.59	CAP_FILE_SIZE	193900,0
SC_FREEKB	3877728	SDSIZE	3918848,3813920
PM_FREEKB_00	62128576	SDFILEDIR	140,1
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	1402.2
MODEM	6,1623436425,48.15000,-122.50000,225.773,330757.2	CURRENT	0.137, 36.3,1
RAFOS_FIX	4826.816895,-12651.353516,110621,171745,6,255,3156.83	MAGCAL	1.000000,-0.066715,-0.031336,-0.066273,1.112148,-0.030167,0.046913,-0.003114,1.106903,-629.6,-954.5,160.0,34,0.0273,0
HUMID	52.05	IMPLIED_C_PITCH	2052,15.26,313
TEMP	12.09	IMPLIED_C_VBD	2813,20.836969,313
INTERNAL_PRESSURE	7.98935	GPS	110621,191516,4744.124,-12223.818,2,1.6,4,15.5
_24V_AH	14.70,113.956

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	672	1369	13539.06	nil	0	0	0.00
Pitch_motor	31	255	119.98	nil	0	0	0.00
Roll_motor	55	232	191.36	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	3224	10	479.04	SciCon	3326	3	166.20
LPSleep	466	1	7.67	PMAR	3344	6808	334230.49
Compass	2128	5	156.22	nil	0	0	0.00
RAFOS	2496	40	1466.15
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
11.37	16386	-146.63	-1.06	0.00	540.5	607.1	474.0	213.0	2521.3	0.00	0.00	0	135.42	118.32	0.00	0.00	0.005	0.000	0.000	3236.16	3246.25	3226.06	212.88	2520.88	0	0	0	15.85	30.00	30.00
136.54	18727	-146.63	-1.06	80.00	3236.8	3247.2	3226.5	212.9	2521.5	3.63	-2.39	21	174.40	6.66	12.45	3.34	0.008	0.255	0.118	3548.03	3576.50	3519.56	1772.56	3912.19	0	0	0	15.86	15.46	15.68
309.71	1028	-146.63	-1.06	0.00	3548.2	3578.8	3517.6	1773.4	3912.6	33.24	-14.58	51	325.66	0.00	0.00	3.20	0.000	0.000	0.069	3550.94	3582.25	3519.62	1772.50	2525.31	0	0	0	30.00	30.00	15.68
511.70	516	-146.63	-1.06	-80.00	3548.9	3580.8	3516.9	1773.8	2524.8	56.00	-10.59	86	526.77	0.00	0.00	3.30	0.000	0.000	0.130	3552.16	3584.00	3520.31	1772.75	1186.88	0	0	0	30.00	30.00	15.60
582.70	3205	-146.63	-0.95	0.00	3549.6	3581.1	3518.1	1773.1	1187.2	64.10	-11.81	97	597.79	0.00	0.17	3.16	0.000	0.163	0.060	3551.25	3582.31	3520.19	1802.06	2576.00	0	0	0	30.00	15.56	15.66
779.25	388	-146.63	-1.04	80.00	3550.0	3581.5	3518.4	1801.6	2577.1	82.67	-8.73	131	794.32	0.00	0.00	3.23	0.000	0.000	0.119	3551.12	3583.44	3518.81	1801.88	3912.06	0	0	0	30.00	30.00	15.61
937.59	5253	-146.63	-1.11	0.00	3549.3	3581.4	3517.2	1801.6	3912.7	98.29	-10.25	158	952.75	0.00	0.33	3.21	0.000	0.069	0.069	3551.84	3584.19	3519.50	1744.81	2523.94	0	0	0	30.00	15.64	15.65
1139.62	2693	-146.63	-1.03	-80.00	3549.9	3581.8	3518.1	1744.2	2524.3	122.98	-12.51	178	1160.20	0.00	0.29	3.29	0.000	0.164	0.131	3550.06	3582.00	3518.12	1781.31	1187.75	0	0	0	30.00	15.50	15.59
1172.37	1156	-146.63	-0.97	0.00	3550.1	3581.8	3518.5	1781.4	1187.9	127.09	-12.72	182	1182.85	0.00	0.00	3.16	0.000	0.000	0.060	3550.75	3584.44	3517.06	1780.38	2575.56	0	0	0	30.00	30.00	15.65
1374.58	388	-146.63	-1.01	80.00	3549.3	3581.4	3517.3	1781.2	2575.9	148.88	-10.00	202	1384.55	0.00	0.00	1.52	0.000	0.000	0.101	3551.53	3582.62	3520.44	1781.50	3222.38	0	0	0	30.00	30.00	15.60
1385	end dive: TARGET_DEPTH_EXCEEDED
state	1385	begin apogee
1390.00	10243	0.00	-0.25	0.00	3549.0	3581.5	3516.6	1781.0	2769.1	150.18	-10.21	203	1506.72	107.95	1.30	0.09	1.370	0.139	0.233	2949.09	3011.19	2887.00	1972.06	2820.25	0	0	0	10.86	15.51	15.30
1513	end apogee: CONTROL_FINISHED_OK
state	1513	begin climb
1514.03	10759	146.63	1.06	-80.00	2947.8	3009.2	2886.4	1971.2	2820.4	155.86	0.00	214	1645.04	113.47	2.13	3.76	1.329	0.103	0.120	2349.03	2430.50	2267.56	2290.81	1332.50	0	0	0	11.14	15.37	15.17
1710.78	1028	146.63	1.06	0.00	2346.3	2424.9	2267.7	2290.4	1332.1	144.08	9.27	249	1724.43	0.00	0.00	3.49	0.000	0.000	0.065	2347.59	2426.12	2269.06	2289.94	2818.19	0	0	0	30.00	30.00	15.44
1911.23	16386	146.63	1.06	0.00	2342.7	2421.2	2264.2	2290.7	2818.1	127.34	8.53	269	1925.58	0.00	0.00	0.00	0.000	0.000	0.000	2342.50	2420.94	2264.06	2290.44	2817.25	0	0	0	30.00	30.00	30.00
2113.22	17030	146.63	1.13	-80.00	2342.3	2420.7	2263.9	2291.2	2817.5	109.65	8.48	289	2134.70	0.00	0.00	3.65	0.000	0.000	0.119	2343.56	2421.44	2265.69	2290.00	1331.62	0	0	0	30.00	30.00	15.59
2178.72	17414	146.63	1.13	0.00	2341.8	2419.7	2263.8	2289.9	1331.7	103.61	9.56	299	2189.27	0.00	0.00	3.43	0.000	0.000	0.066	2342.19	2420.38	2264.00	2290.31	2817.44	0	0	0	30.00	30.00	15.64
2375.31	10663	197.06	1.28	80.00	2341.8	2419.6	2263.9	2290.7	2817.8	88.00	7.66	331	2429.38	39.35	0.32	2.71	1.236	0.072	0.135	2144.97	2229.56	2060.38	2353.50	3911.50	0	0	0	10.96	15.62	15.52
2468.15	5253	197.06	1.21	0.00	2141.8	2225.6	2057.9	2352.8	3912.8	79.23	10.54	346	2483.14	0.00	0.33	2.63	0.000	0.178	0.064	2142.72	2225.69	2059.75	2315.75	2772.25	0	0	0	30.00	15.56	15.65
2664.68	2177	197.06	1.33	0.00	2139.9	2222.9	2056.9	2315.1	2773.6	61.04	9.04	380	2679.15	0.00	0.28	0.00	0.000	0.075	0.000	2143.03	2225.75	2060.31	2364.56	2771.50	0	0	0	30.00	15.65	30.00
2861.21	516	197.06	1.33	-80.00	2138.6	2219.8	2057.4	2364.2	2772.6	40.37	10.05	414	2876.32	0.00	0.00	3.54	0.000	0.000	0.123	2138.66	2220.31	2057.00	2365.19	1331.50	0	0	0	30.00	30.00	15.62
2975.91	21639	197.06	1.25	0.00	2137.4	2218.1	2056.8	2364.3	1332.1	27.51	11.62	433	2991.05	0.00	0.31	3.43	0.000	0.183	0.066	2140.72	2221.19	2060.25	2325.19	2818.25	0	0	0	30.00	15.52	15.68
3172.45	10403	278.07	1.51	0.00	2137.1	2217.6	2056.7	2325.9	2817.1	12.48	6.25	467	3248.20	61.42	0.49	0.00	1.182	0.066	0.000	1813.88	1903.00	1724.75	2406.06	2818.06	0	0	0	10.88	15.65	30.00
3308	end climb: SURFACE_DEPTH_REACHED
state	3308	begin surface coast
3330	end surface coast: CONTROL_FINISHED_OK
state	3330	begin surface