Glider dive log

Shilshole 21May21 * SG226 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 226 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

MISSION 9 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.047120001 XPDR_VALID 6

DIVE 6 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 6 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 578.71997 VBD_MIN 500 INT_PRESSURE_YINT -4

D_TGT 150 N_FILEKB 8 VBD_MAX 3860 DEEPGLIDER 0

D_ABORT 160 FILEMGR 0 C_VBD 1800 DEEPGLIDERMB 0

D_NO_BLEED 50 CALL_NDIVES 1 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 2 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 2 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.003 DEVICE4 -1

D_SAFE 0 N_NOSURFACE 0 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CALL_TRIES 5 W_ADJ_DBAND 0 LOGGERS 1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 DBDW 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 LOITER_W_DBAND 2 LOGGERDEVICE2 -1

T_DIVE 50 CAPMAXSIZE 100000 LOITER_DBDW 400 LOGGERDEVICE3 -1

T_MISSION 65 T_GPS 5 LOITER_D_TOP 100 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 250 COMPASS_DEVICE 66

T_TURN 225 T_RSLEEP 1 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 33

T_NO_W 120 RAFOS_PEAK_OFFSET 0 AH0_24V 575 GPS_DEVICE 48

T_LOITER 0 RAFOS_CORR_THRESH 60 AH0_10V 0 RAFOS_DEVICE 104

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_24V 11 NETWORK_DEVICE -1

USE_BATHY -6 RAFOS_MMODEM 0 MINV_10V 11 PRESSURE_DEVICE 34

USE_ICE 0 PITCH_MIN 155 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3800 MAXI_10V 1.4 SIM_W 0

D_OFFGRID 100 C_PITCH 3400 FG_AHR_10V 22.22403 SEABIRD_T_G 0.0043572416

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 21.308865 SEABIRD_T_H 0.00062480406

APOGEE_PITCH -5 PITCH_CNV 0.0041975998 PHONE_SUPPLY 2 SEABIRD_T_I 2.3841247e-05

MAX_BUOY 150 PITCH_GAIN 20 PRESSURE_YINT -141.22678 SEABIRD_T_J 2.6398654e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 20 PRESSURE_SLOPE 0.00022445236 SEABIRD_C_G -9.9228802

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 16388 SEABIRD_C_H 1.0930159

RHO 1.023 PITCH_ADJ_GAIN 0.059999999 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0024585677

MASS 72353 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00023529222

NAV_MODE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 270 ALTIM_TOP_MIN_OBSTACLE 0 SC_XMITPROFILE 3.0

HD_A 0.0026799999 ROLL_MAX 3950 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0139 ROLL_DEG 80 ALTIM_PING_DELTA 0

HD_C 5.7000002e-06 C_ROLL_DIVE 2000 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2000 ALTIM_PULSE 3

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00062480406

AH0_24V 575 D_SURF 2 N_NOCOMM 2 SEABIRD_T_I 2.3841247e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 150 N_NOSURFACE 0 SEABIRD_T_J 2.6398654e-06

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 578.71997

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 22.22403 PITCH_ADJ_GAIN 0.059999999 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 21.308865 PITCH_CNV 0.0041975998 STROBE 0

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 20 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3800 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.0026799999 PITCH_MIN 155 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0139 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.003 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_DIVE 50

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 34 T_EPIRB 0

CF8_MAXERRORS 20 ID 226 PRESSURE_SLOPE 0.00022445236 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -141.22678 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -4 PROTOCOL 9 T_MISSION 65

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 16388 LOGGERDEVICE1 7 RAFOS_DEVICE 104 T_RSLEEP 1

C_PITCH 3400 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2000 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2000 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 1800 LOGGERS 1 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 400 RHO 1.023 USE_BATHY -6

DEEPGLIDER 0 LOITER_D_BOTTOM 250 ROLL_ADJ_DBAND 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 100 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 -1 LOITER_N_DIVE 0 ROLL_CNV 0.047120001 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 2 ROLL_DEG 80 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 72353 ROLL_MAX 3950 VBD_MAX 3860

DEVICE4 -1 MAXI_10V 1.4 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 5 ROLL_MIN 270 VBD_MIN 500

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

DIVE 6 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_ABORT 160 MINV_24V 11 SC_PROFILE 3.0 XPDR_DEVICE 21

D_BOOST 2 MISSION 9 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_CALL 0 MOTHERBOARD 6 SC_XMITPROFILE 3.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 2 SEABIRD_C_G -9.9228802 XPDR_REP 0

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1.0930159 XPDR_VALID 6

D_NO_BLEED 50 NOCOMM_ACTION 163 SEABIRD_C_I -0.0024585677

D_OFFGRID 100 N_DIVES 6 SEABIRD_C_J 0.00023529222

D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043572416

Pre-dive calculations and measurements:

GPS1 210521,205213,4743.795,-12224.281,2,1.6,5,15.5 TGT_RADIUS 100.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.60 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -77.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210521,205526,4743.816,-12224.251,2,1.6,5,15.5 MHEAD_RNG_PITCHd_Wd 107.8,1544,-19.1,-10.000,-24.10

SPEED_LIMITS 0.173,0.224 D_GRID 173

TGT_NAME SE IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-300.000000,-880.000000,180.000000

TGT_LATLONG 4743.000,-12224.000

Post-dive calculations and measurements:

NAV 1621632980,61.3,3,stop _10V_AH 15.00,0.000

MODEM_MSG CACST,6,1,20210508003412.957474,05,32767,45,0171,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*09 FG_AHR_24Vo 21.446

FINISH 1.4,1.020962 FG_AHR_10Vo 22.286

SM_CCo 3174.50,84.04,1.103,0,501.3,408.6,593.9,318.58 MEM0 60868,1,0,0

SM_GC 2.68,84.04,10.77,0.17,1.103,0.092,0.049,501.3,408.6,593.9,142.8,2057.9,0,0,0,12.62,15.88,15.94 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 997824,27,49144,53

IRIDIUM_FIX 4744.97,-12226.80,210521,205243 DATA_FILE_SIZE 9756,387

TCM_TEMP 12.43 CAP_FILE_SIZE 227068,0

XPDR_PINGS 0,12.5,10.5 SDSIZE 3918848,3907744

SC_FREEKB 3876128 SDFILEDIR 65,1

RAFOS_CLK -4 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 4,1620433358,48.25000,-123.50000,158.688,232478.0 SOUNDSPEED 1465.0

RAFOS_FIX 4727.894531,-12136.576172,080521,000038,14,255,-8.70 CURRENT 0.048, 33.6,1

HUMID 50.78 MAGCAL 1.000000,-0.059596,-0.027923,-0.050602,1.069628,0.013749,-0.003123,-0.026262,1.099755,-314.7,-890.4,172.1,36,0.0217,0

TEMP 10.82 IMPLIED_C_PITCH 3526,16.96,213

INTERNAL_PRESSURE 8.59643 IMPLIED_C_VBD 1684,19.736860,213

_24V_AH 14.97,3.444 GPS 210521,215046,4743.738,-12223.735,2,1.7,7,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 472 1255 8871.82 nil 0 0 0.00

Pitch_motor 27 348 142.99 nil 0 0 0.00

Roll_motor 78 74 87.28 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.22 nil 0 0 0.00

Core 1475 11 263.90 SciCon 3071 27 1269.74

LPSleep 1862 2 81.57 nil 0 0 0.00

Compass 562 5 42.15 nil 0 0 0.00

RAFOS 1414 40 848.42

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

5.96 16386 -146.63 -1.39 0.00 501.0 412.2 589.8 137.5 1947.1 0.00 0.00 0 58.62 52.19 0.00 0.00 0.005 0.000 0.000 1673.56 1899.19 1447.94 137.50 1947.38 0 0 0 15.79 30.00 30.00

58.83 18727 -146.63 -1.39 80.00 1673.1 1898.4 1447.7 137.5 1947.0 3.43 -4.28 5 101.25 21.35 12.44 4.97 0.006 0.348 0.053 2398.03 2700.44 2095.62 3046.50 3711.81 0 0 0 15.82 15.74 15.81

263.35 3205 -146.63 -0.49 0.00 2398.2 2702.1 2094.2 3046.8 3711.2 45.04 -20.15 46 270.91 0.00 0.76 4.74 0.000 0.241 0.027 2396.44 2700.44 2092.44 3284.31 1966.50 0 0 0 30.00 15.85 15.93

453.86 160 -146.63 -0.58 0.00 2398.4 2702.4 2094.3 3284.0 1965.9 63.67 -8.47 66 455.19 0.00 0.00 0.00 0.000 0.000 0.000 2400.62 2704.69 2096.56 3283.19 1965.81 0 0 0 30.00 30.00 30.00

643.89 4257 -146.63 -0.69 0.00 2398.2 2701.9 2094.5 3283.4 1966.1 80.51 -8.77 85 645.34 0.00 0.17 0.00 0.000 0.081 0.000 2401.12 2705.12 2097.12 3206.62 1964.94 0 0 0 30.00 15.95 30.00

833.97 2693 -146.63 -0.50 -80.00 2398.1 2702.2 2093.9 3206.4 1965.4 103.41 -12.36 104 840.44 0.00 0.25 4.72 0.000 0.199 0.059 2396.69 2701.06 2092.31 3303.44 291.00 0 0 0 30.00 15.92 15.94

913.50 5285 -146.63 -0.69 0.00 2398.3 2702.3 2094.2 3304.1 291.0 111.68 -9.77 120 919.91 0.00 0.16 4.77 0.000 0.077 0.027 2400.59 2704.31 2096.88 3204.56 2029.44 0 0 0 30.00 15.95 15.96

1108.98 2437 -146.63 -0.51 80.00 2398.3 2702.4 2094.2 3204.1 2052.4 134.91 -12.17 140 1115.48 0.00 0.25 4.66 0.000 0.201 0.058 2399.16 2703.25 2095.06 3261.31 3708.06 0 0 0 30.00 15.93 15.97

1143.99 1156 -146.63 -0.58 0.00 2398.0 2701.9 2094.1 3261.6 3709.2 138.68 -10.76 147 1150.46 0.00 0.00 4.74 0.000 0.000 0.028 2399.03 2703.12 2094.94 3279.69 1972.06 0 0 0 30.00 30.00 15.94

1279 end dive: TARGET_DEPTH_EXCEEDED

state 1279 begin apogee

1280.10 10243 0.00 -0.25 0.00 2398.3 2702.1 2094.5 3280.9 2052.7 150.75 -8.92 161 1410.88 127.92 0.19 0.20 1.255 0.185 0.075 1798.72 1890.06 1707.38 3343.88 1964.62 0 0 0 12.51 15.89 15.47

1412 end apogee: CONTROL_FINISHED_OK

state 1412 begin climb

1411.43 10243 146.63 1.39 0.00 1797.4 1888.0 1706.9 3344.4 1964.3 158.86 0.00 174 1532.59 119.11 1.30 0.00 1.217 0.175 0.000 1201.34 1178.00 1224.69 3735.94 1962.62 0 0 0 12.43 15.50 30.00

1719.09 10663 190.85 1.69 80.00 1200.2 1175.2 1225.1 3735.2 1962.8 138.97 7.97 215 1764.61 36.86 0.19 5.07 1.171 0.068 0.056 1021.41 985.12 1057.69 3806.44 3708.38 0 0 0 12.43 15.69 15.53

1819.08 5253 190.85 1.51 0.00 1021.2 984.8 1057.5 3805.8 3709.2 127.11 13.04 235 1825.62 0.00 0.26 4.84 0.000 0.232 0.029 1021.44 984.69 1058.19 3753.12 1970.38 0 0 0 30.00 15.59 15.65

2014.13 10663 196.08 1.70 80.00 1020.3 983.4 1057.2 3754.2 1969.9 107.77 9.76 255 2029.83 6.93 0.14 5.00 0.859 0.080 0.058 998.44 952.94 1043.94 3806.44 3709.19 0 0 0 12.54 15.78 15.70

2058.66 5253 196.08 1.54 0.00 997.9 952.6 1043.2 3806.8 3708.8 102.06 13.41 264 2065.12 0.00 0.23 4.77 0.000 0.226 0.029 997.97 952.69 1043.25 3761.62 1971.19 0 0 0 30.00 15.71 15.74

2254.18 10663 211.54 1.73 80.00 997.7 952.3 1043.0 3761.3 1971.1 83.26 9.29 284 2275.47 14.01 0.12 4.99 1.064 0.086 0.059 937.47 894.06 980.88 3808.56 3707.88 0 0 0 12.56 15.85 15.76

2284.15 1028 211.54 1.73 0.00 937.2 893.9 980.6 3808.1 3707.8 79.80 10.70 290 2290.63 0.00 0.00 4.80 0.000 0.000 0.032 937.59 894.25 980.94 3828.88 1976.25 0 0 0 30.00 30.00 15.83

2479.20 4485 211.54 1.64 80.00 937.3 894.1 980.5 3830.1 1975.2 55.20 12.11 310 2485.77 0.00 0.16 4.95 0.000 0.228 0.056 936.97 893.81 980.12 3762.25 3709.88 0 0 0 30.00 15.81 15.82

2508.73 3077 211.54 1.64 0.00 937.3 893.8 980.9 3763.5 3709.8 51.82 11.53 316 2515.14 0.00 0.03 4.75 0.000 0.235 0.030 937.38 893.88 980.88 3815.25 1972.25 0 0 0 30.00 15.87 15.83

2704.23 388 211.54 1.70 80.00 937.3 894.1 980.4 3815.4 1971.4 30.22 10.41 336 2710.71 0.00 0.00 4.97 0.000 0.000 0.061 937.19 893.94 980.44 3806.31 3707.88 0 0 0 30.00 30.00 15.93

2829.24 1028 211.54 1.70 0.00 937.1 893.6 980.6 3806.6 3707.6 16.45 10.16 361 2835.71 0.00 0.00 4.75 0.000 0.000 0.031 936.81 893.25 980.38 3827.44 1968.75 0 0 0 30.00 30.00 15.89

3024.29 10663 282.32 2.15 80.00 937.4 894.1 980.8 3827.3 1968.3 2.13 6.75 381 3034.51 9.81 0.00 0.00 0.954 0.000 0.000 904.97 858.69 951.25 3827.12 1968.69 0 0 0 12.62 30.00 30.00

3035 end climb: SURFACE_DEPTH_REACHED

state 3035 begin surface coast

3075 end surface coast: CONTROL_FINISHED_OK

state 3075 begin surface

ID	226	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
MISSION	9	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.047120001	XPDR_VALID	6
DIVE	6	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	6	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	578.71997	VBD_MIN	500	INT_PRESSURE_YINT	-4
D_TGT	150	N_FILEKB	8	VBD_MAX	3860	DEEPGLIDER	0
D_ABORT	160	FILEMGR	0	C_VBD	1800	DEEPGLIDERMB	0
D_NO_BLEED	50	CALL_NDIVES	1	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	2	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	2	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.003	DEVICE4	-1
D_SAFE	0	N_NOSURFACE	0	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CALL_TRIES	5	W_ADJ_DBAND	0	LOGGERS	1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	DBDW	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	LOITER_W_DBAND	2	LOGGERDEVICE2	-1
T_DIVE	50	CAPMAXSIZE	100000	LOITER_DBDW	400	LOGGERDEVICE3	-1
T_MISSION	65	T_GPS	5	LOITER_D_TOP	100	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	250	COMPASS_DEVICE	66
T_TURN	225	T_RSLEEP	1	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	33
T_NO_W	120	RAFOS_PEAK_OFFSET	0	AH0_24V	575	GPS_DEVICE	48
T_LOITER	0	RAFOS_CORR_THRESH	60	AH0_10V	0	RAFOS_DEVICE	104
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_24V	11	NETWORK_DEVICE	-1
USE_BATHY	-6	RAFOS_MMODEM	0	MINV_10V	11	PRESSURE_DEVICE	34
USE_ICE	0	PITCH_MIN	155	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3800	MAXI_10V	1.4	SIM_W	0
D_OFFGRID	100	C_PITCH	3400	FG_AHR_10V	22.22403	SEABIRD_T_G	0.0043572416
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	21.308865	SEABIRD_T_H	0.00062480406
APOGEE_PITCH	-5	PITCH_CNV	0.0041975998	PHONE_SUPPLY	2	SEABIRD_T_I	2.3841247e-05
MAX_BUOY	150	PITCH_GAIN	20	PRESSURE_YINT	-141.22678	SEABIRD_T_J	2.6398654e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	20	PRESSURE_SLOPE	0.00022445236	SEABIRD_C_G	-9.9228802
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	16388	SEABIRD_C_H	1.0930159
RHO	1.023	PITCH_ADJ_GAIN	0.059999999	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0024585677
MASS	72353	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00023529222
NAV_MODE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	270	ALTIM_TOP_MIN_OBSTACLE	0	SC_XMITPROFILE	3.0
HD_A	0.0026799999	ROLL_MAX	3950	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0139	ROLL_DEG	80	ALTIM_PING_DELTA	0
HD_C	5.7000002e-06	C_ROLL_DIVE	2000	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2000	ALTIM_PULSE	3

GPS1	210521,205213,4743.795,-12224.281,2,1.6,5,15.5	TGT_RADIUS	100.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.60	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-77.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210521,205526,4743.816,-12224.251,2,1.6,5,15.5	MHEAD_RNG_PITCHd_Wd	107.8,1544,-19.1,-10.000,-24.10
SPEED_LIMITS	0.173,0.224	D_GRID	173
TGT_NAME	SE	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-300.000000,-880.000000,180.000000
TGT_LATLONG	4743.000,-12224.000

NAV	1621632980,61.3,3,stop	_10V_AH	15.00,0.000
MODEM_MSG	CACST,6,1,20210508003412.957474,05,32767,45,0171,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*09	FG_AHR_24Vo	21.446
FINISH	1.4,1.020962	FG_AHR_10Vo	22.286
SM_CCo	3174.50,84.04,1.103,0,501.3,408.6,593.9,318.58	MEM0	60868,1,0,0
SM_GC	2.68,84.04,10.77,0.17,1.103,0.092,0.049,501.3,408.6,593.9,142.8,2057.9,0,0,0,12.62,15.88,15.94	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	997824,27,49144,53
IRIDIUM_FIX	4744.97,-12226.80,210521,205243	DATA_FILE_SIZE	9756,387
TCM_TEMP	12.43	CAP_FILE_SIZE	227068,0
XPDR_PINGS	0,12.5,10.5	SDSIZE	3918848,3907744
SC_FREEKB	3876128	SDFILEDIR	65,1
RAFOS_CLK	-4	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	4,1620433358,48.25000,-123.50000,158.688,232478.0	SOUNDSPEED	1465.0
RAFOS_FIX	4727.894531,-12136.576172,080521,000038,14,255,-8.70	CURRENT	0.048, 33.6,1
HUMID	50.78	MAGCAL	1.000000,-0.059596,-0.027923,-0.050602,1.069628,0.013749,-0.003123,-0.026262,1.099755,-314.7,-890.4,172.1,36,0.0217,0
TEMP	10.82	IMPLIED_C_PITCH	3526,16.96,213
INTERNAL_PRESSURE	8.59643	IMPLIED_C_VBD	1684,19.736860,213
_24V_AH	14.97,3.444	GPS	210521,215046,4743.738,-12223.735,2,1.7,7,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	472	1255	8871.82	nil	0	0	0.00
Pitch_motor	27	348	142.99	nil	0	0	0.00
Roll_motor	78	74	87.28	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.22	nil	0	0	0.00
Core	1475	11	263.90	SciCon	3071	27	1269.74
LPSleep	1862	2	81.57	nil	0	0	0.00
Compass	562	5	42.15	nil	0	0	0.00
RAFOS	1414	40	848.42
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
5.96	16386	-146.63	-1.39	0.00	501.0	412.2	589.8	137.5	1947.1	0.00	0.00	0	58.62	52.19	0.00	0.00	0.005	0.000	0.000	1673.56	1899.19	1447.94	137.50	1947.38	0	0	0	15.79	30.00	30.00
58.83	18727	-146.63	-1.39	80.00	1673.1	1898.4	1447.7	137.5	1947.0	3.43	-4.28	5	101.25	21.35	12.44	4.97	0.006	0.348	0.053	2398.03	2700.44	2095.62	3046.50	3711.81	0	0	0	15.82	15.74	15.81
263.35	3205	-146.63	-0.49	0.00	2398.2	2702.1	2094.2	3046.8	3711.2	45.04	-20.15	46	270.91	0.00	0.76	4.74	0.000	0.241	0.027	2396.44	2700.44	2092.44	3284.31	1966.50	0	0	0	30.00	15.85	15.93
453.86	160	-146.63	-0.58	0.00	2398.4	2702.4	2094.3	3284.0	1965.9	63.67	-8.47	66	455.19	0.00	0.00	0.00	0.000	0.000	0.000	2400.62	2704.69	2096.56	3283.19	1965.81	0	0	0	30.00	30.00	30.00
643.89	4257	-146.63	-0.69	0.00	2398.2	2701.9	2094.5	3283.4	1966.1	80.51	-8.77	85	645.34	0.00	0.17	0.00	0.000	0.081	0.000	2401.12	2705.12	2097.12	3206.62	1964.94	0	0	0	30.00	15.95	30.00
833.97	2693	-146.63	-0.50	-80.00	2398.1	2702.2	2093.9	3206.4	1965.4	103.41	-12.36	104	840.44	0.00	0.25	4.72	0.000	0.199	0.059	2396.69	2701.06	2092.31	3303.44	291.00	0	0	0	30.00	15.92	15.94
913.50	5285	-146.63	-0.69	0.00	2398.3	2702.3	2094.2	3304.1	291.0	111.68	-9.77	120	919.91	0.00	0.16	4.77	0.000	0.077	0.027	2400.59	2704.31	2096.88	3204.56	2029.44	0	0	0	30.00	15.95	15.96
1108.98	2437	-146.63	-0.51	80.00	2398.3	2702.4	2094.2	3204.1	2052.4	134.91	-12.17	140	1115.48	0.00	0.25	4.66	0.000	0.201	0.058	2399.16	2703.25	2095.06	3261.31	3708.06	0	0	0	30.00	15.93	15.97
1143.99	1156	-146.63	-0.58	0.00	2398.0	2701.9	2094.1	3261.6	3709.2	138.68	-10.76	147	1150.46	0.00	0.00	4.74	0.000	0.000	0.028	2399.03	2703.12	2094.94	3279.69	1972.06	0	0	0	30.00	30.00	15.94
1279	end dive: TARGET_DEPTH_EXCEEDED
state	1279	begin apogee
1280.10	10243	0.00	-0.25	0.00	2398.3	2702.1	2094.5	3280.9	2052.7	150.75	-8.92	161	1410.88	127.92	0.19	0.20	1.255	0.185	0.075	1798.72	1890.06	1707.38	3343.88	1964.62	0	0	0	12.51	15.89	15.47
1412	end apogee: CONTROL_FINISHED_OK
state	1412	begin climb
1411.43	10243	146.63	1.39	0.00	1797.4	1888.0	1706.9	3344.4	1964.3	158.86	0.00	174	1532.59	119.11	1.30	0.00	1.217	0.175	0.000	1201.34	1178.00	1224.69	3735.94	1962.62	0	0	0	12.43	15.50	30.00
1719.09	10663	190.85	1.69	80.00	1200.2	1175.2	1225.1	3735.2	1962.8	138.97	7.97	215	1764.61	36.86	0.19	5.07	1.171	0.068	0.056	1021.41	985.12	1057.69	3806.44	3708.38	0	0	0	12.43	15.69	15.53
1819.08	5253	190.85	1.51	0.00	1021.2	984.8	1057.5	3805.8	3709.2	127.11	13.04	235	1825.62	0.00	0.26	4.84	0.000	0.232	0.029	1021.44	984.69	1058.19	3753.12	1970.38	0	0	0	30.00	15.59	15.65
2014.13	10663	196.08	1.70	80.00	1020.3	983.4	1057.2	3754.2	1969.9	107.77	9.76	255	2029.83	6.93	0.14	5.00	0.859	0.080	0.058	998.44	952.94	1043.94	3806.44	3709.19	0	0	0	12.54	15.78	15.70
2058.66	5253	196.08	1.54	0.00	997.9	952.6	1043.2	3806.8	3708.8	102.06	13.41	264	2065.12	0.00	0.23	4.77	0.000	0.226	0.029	997.97	952.69	1043.25	3761.62	1971.19	0	0	0	30.00	15.71	15.74
2254.18	10663	211.54	1.73	80.00	997.7	952.3	1043.0	3761.3	1971.1	83.26	9.29	284	2275.47	14.01	0.12	4.99	1.064	0.086	0.059	937.47	894.06	980.88	3808.56	3707.88	0	0	0	12.56	15.85	15.76
2284.15	1028	211.54	1.73	0.00	937.2	893.9	980.6	3808.1	3707.8	79.80	10.70	290	2290.63	0.00	0.00	4.80	0.000	0.000	0.032	937.59	894.25	980.94	3828.88	1976.25	0	0	0	30.00	30.00	15.83
2479.20	4485	211.54	1.64	80.00	937.3	894.1	980.5	3830.1	1975.2	55.20	12.11	310	2485.77	0.00	0.16	4.95	0.000	0.228	0.056	936.97	893.81	980.12	3762.25	3709.88	0	0	0	30.00	15.81	15.82
2508.73	3077	211.54	1.64	0.00	937.3	893.8	980.9	3763.5	3709.8	51.82	11.53	316	2515.14	0.00	0.03	4.75	0.000	0.235	0.030	937.38	893.88	980.88	3815.25	1972.25	0	0	0	30.00	15.87	15.83
2704.23	388	211.54	1.70	80.00	937.3	894.1	980.4	3815.4	1971.4	30.22	10.41	336	2710.71	0.00	0.00	4.97	0.000	0.000	0.061	937.19	893.94	980.44	3806.31	3707.88	0	0	0	30.00	30.00	15.93
2829.24	1028	211.54	1.70	0.00	937.1	893.6	980.6	3806.6	3707.6	16.45	10.16	361	2835.71	0.00	0.00	4.75	0.000	0.000	0.031	936.81	893.25	980.38	3827.44	1968.75	0	0	0	30.00	30.00	15.89
3024.29	10663	282.32	2.15	80.00	937.4	894.1	980.8	3827.3	1968.3	2.13	6.75	381	3034.51	9.81	0.00	0.00	0.954	0.000	0.000	904.97	858.69	951.25	3827.12	1968.69	0	0	0	12.62	30.00	30.00
3035	end climb: SURFACE_DEPTH_REACHED
state	3035	begin surface coast
3075	end surface coast: CONTROL_FINISHED_OK
state	3075	begin surface