Glider dive log

Shilshole 02Jun21 * SG235 * Dive index * Mission links * Dive 2 * 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 2 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 2 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 85.775734 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2030 FG_AHR_24V 143.65828 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 -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 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 85.775734 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 143.65828 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 -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 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 2 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 2 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 020621,170713,4742.971,-12224.343,2,0.8,4,15.5 TGT_RADIUS 100.000

_CALLS 4 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.64 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -46.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 020621,171549,4742.861,-12224.319,2,1.0,4,15.5 MHEAD_RNG_PITCHd_Wd 316.3,886,-18.0,-10.000,-21.61

SPEED_LIMITS 0.173,0.258 D_GRID 173

TGT_NAME SW 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 4743.000,-12225.000

Post-dive calculations and measurements:

NAV 1622656745,31.1,start _10V_AH 14.86,0.000

MODEM_MSG CACST,6,1,20210602174722.432329,05,391,19,0117,0150,07,01,01,01,03,-1,-01,-01,1,3,0,0,150,-20.0,0.20,-100,2.80,-01,0.02,28,925,0025*35 FG_AHR_24Vo 143.848

FINISH 0.1,1.020404 FG_AHR_10Vo 85.825

SM_CCo 3203.03,317.54,1.139,0,500.5,564.9,436.0,600.87 MEM0 60932,1,0,0

SM_GC 0.79,317.54,12.46,3.13,1.139,0.068,0.069,500.5,564.9,436.0,219.2,2523.1,0,0,0,10.94,15.67,15.78 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 996840,31,49828,64

IRIDIUM_FIX 4744.47,-12222.38,020621,171152 DATA_FILE_SIZE 16092,543

TCM_TEMP 14.47 CAP_FILE_SIZE 194666,0

SC_FREEKB 3878048 SDSIZE 3918848,3814208

PM_FREEKB_00 62292800 SDFILEDIR 132,1

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 1444.0

MODEM 1,1622650038,47.50000,-123.50000,138.563,205773.3 CURRENT 0.143,202.5,1

RAFOS_FIX 4755.347168,-12124.954102,020621,171722,3,255,5581.91 MAGCAL 1.000000,-0.031685,0.000639,-0.079461,1.032195,0.042611,0.029638,-0.060067,1.060343,-920.5,-793.0,-240.5,36,0.0317,0

HUMID 51.61 IMPLIED_C_PITCH 1972,16.77,337

TEMP 12.81 IMPLIED_C_VBD 3089,29.164576,337

INTERNAL_PRESSURE 8.64859 GPS 020621,181027,4742.880,-12224.623,2,1.9,4,15.5

_24V_AH 14.91,95.243

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 672 1285 12885.17 nil 0 0 0.00

Pitch_motor 31 245 116.98 nil 0 0 0.00

Roll_motor 56 245 204.85 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 2.98 nil 0 0 0.00

Core 1965 10 295.65 SciCon 2855 3 148.49

LPSleep 989 1 16.46 PMAR 2866 8 372.65

Compass 1061 5 78.85 nil 0 0 0.00

RAFOS 2310 40 1373.34

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

11.91 16386 -139.96 -1.07 0.00 499.2 563.9 434.4 215.4 2521.2 0.00 0.00 0 151.42 136.12 0.00 0.00 0.005 0.000 0.000 3391.59 3409.56 3373.62 215.56 2521.44 0 0 0 15.97 30.00 30.00

152.53 18467 -146.63 -1.08 0.00 3392.7 3410.9 3374.4 215.4 2519.6 3.00 -1.82 27 175.72 4.57 12.07 0.00 0.009 0.246 0.000 3545.84 3577.06 3514.62 1767.31 2520.81 0 0 0 16.02 15.60 30.00

360.20 4517 -146.63 -1.29 80.00 3545.6 3578.8 3512.4 1767.5 2520.6 11.67 -4.01 68 371.20 0.00 0.38 3.35 0.000 0.062 0.120 3547.78 3580.25 3515.31 1699.56 3913.38 0 0 0 30.00 15.78 15.76

600.78 3237 -146.63 -1.16 0.00 3545.8 3578.6 3513.1 1699.3 3914.3 27.82 -7.21 116 611.79 0.00 0.38 3.15 0.000 0.162 0.068 3546.78 3580.12 3513.44 1749.69 2521.56 0 0 0 30.00 15.65 15.76

796.46 4517 -146.63 -1.30 80.00 3546.1 3579.1 3513.1 1749.7 2521.6 41.42 -7.29 155 807.44 0.00 0.27 3.34 0.000 0.075 0.119 3546.28 3578.50 3514.06 1697.94 3912.31 0 0 0 30.00 15.77 15.73

851.99 3205 -146.63 -1.19 0.00 3545.1 3577.1 3513.1 1697.9 3911.0 46.79 -10.05 166 859.32 0.00 0.35 3.14 0.000 0.163 0.068 3546.16 3579.00 3513.31 1743.31 2522.94 0 0 0 30.00 15.71 15.83

1042.90 4517 -146.63 -1.31 80.00 3546.3 3578.6 3514.1 1743.1 2523.2 60.02 -6.34 204 1053.79 0.00 0.25 3.33 0.000 0.081 0.119 3545.91 3578.69 3513.12 1696.88 3910.31 0 0 0 30.00 15.75 15.75

1228.85 3205 -146.63 -1.20 0.00 3546.1 3579.4 3512.9 1696.3 3911.0 75.74 -9.15 241 1239.76 0.00 0.34 3.16 0.000 0.167 0.070 3545.53 3578.19 3512.88 1739.69 2525.31 0 0 0 30.00 15.63 15.77

1421.61 4257 -146.63 -1.34 0.00 3546.1 3578.6 3513.7 1738.9 2525.6 88.71 -5.69 279 1427.01 0.00 0.27 0.00 0.000 0.080 0.000 3546.34 3579.31 3513.38 1690.88 2525.19 0 0 0 30.00 15.88 30.00

1611.59 260 -146.63 -1.34 80.00 3545.7 3578.9 3512.5 1690.4 2524.8 104.68 -9.11 312 1619.22 0.00 0.00 3.34 0.000 0.000 0.122 3546.94 3579.94 3513.94 1689.88 3912.12 0 0 0 30.00 30.00 15.74

1651 end dive: HALF_MISSION_TIME_EXCEEDED

state 1651 begin apogee

1658.02 10243 0.00 -0.25 0.00 3546.1 3579.3 3512.9 1690.1 2770.4 108.96 -10.49 320 1768.28 104.92 2.00 0.09 1.285 0.144 0.245 2948.94 3013.44 2884.44 1971.25 2818.06 0 0 0 11.07 15.63 15.58

1770 end apogee: CONTROL_FINISHED_OK

state 1770 begin climb

1771.38 10759 146.63 1.08 -80.00 2948.3 3011.9 2884.8 1971.2 2817.4 111.36 0.00 331 1890.47 109.28 2.07 3.67 1.213 0.079 0.118 2349.12 2430.94 2267.31 2298.06 1328.69 0 0 0 11.32 15.63 15.45

1904.33 5253 146.63 0.83 0.00 2347.4 2426.6 2268.1 2297.3 1328.5 98.66 13.86 354 1915.37 0.00 0.58 3.46 0.000 0.186 0.069 2347.28 2426.62 2267.94 2224.38 2816.31 0 0 0 30.00 15.49 15.56

2100.32 16646 146.63 0.83 80.00 2342.9 2420.9 2264.8 2223.9 2815.7 75.98 11.10 393 2107.54 0.00 0.00 2.70 0.000 0.000 0.139 2343.84 2422.31 2265.38 2223.56 3910.94 0 0 0 30.00 30.00 15.61

2131.88 17414 146.63 0.83 0.00 2342.3 2420.8 2263.9 2223.7 3911.1 72.34 11.84 399 2139.16 0.00 0.00 2.60 0.000 0.000 0.065 2340.75 2419.50 2262.00 2224.38 2772.50 0 0 0 30.00 30.00 15.67

2322.93 16646 146.63 0.83 80.00 2341.9 2420.0 2263.8 2224.9 2772.3 53.54 8.61 437 2329.83 0.00 0.00 2.79 0.000 0.000 0.133 2344.44 2422.25 2266.62 2224.25 3910.81 0 0 0 30.00 30.00 15.67

2388.92 17414 146.63 0.83 0.00 2341.3 2419.7 2263.0 2224.1 3910.5 47.04 10.14 450 2396.26 0.00 0.00 2.59 0.000 0.000 0.065 2339.50 2418.25 2260.75 2224.06 2773.81 0 0 0 30.00 30.00 15.76

2580.06 17030 146.63 0.90 -80.00 2340.5 2418.8 2262.2 2225.2 2773.8 29.21 9.41 488 2591.00 0.00 0.00 3.50 0.000 0.000 0.120 2340.47 2416.94 2264.00 2223.62 1330.00 0 0 0 30.00 30.00 15.72

2630.23 19591 146.63 0.94 0.00 2340.4 2418.4 2262.4 2223.9 1329.5 23.75 11.03 498 2641.12 0.00 0.25 3.42 0.000 0.081 0.070 2340.19 2416.25 2264.12 2270.06 2818.88 0 0 0 30.00 15.76 15.76

2825.80 20871 146.63 0.89 80.00 2339.9 2417.6 2262.2 2270.5 2818.2 2.77 10.19 537 2833.22 0.00 0.25 2.67 0.000 0.174 0.139 2340.03 2416.12 2263.94 2238.81 3909.94 0 0 0 30.00 15.63 15.69

2836 end climb: SURFACE_DEPTH_REACHED

state 2836 begin surface coast

2856 end surface coast: CONTROL_FINISHED_OK

state 2856 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	2	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	2	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	85.775734	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2030	FG_AHR_24V	143.65828	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	-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	020621,170713,4742.971,-12224.343,2,0.8,4,15.5	TGT_RADIUS	100.000
_CALLS	4	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.64	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-46.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	020621,171549,4742.861,-12224.319,2,1.0,4,15.5	MHEAD_RNG_PITCHd_Wd	316.3,886,-18.0,-10.000,-21.61
SPEED_LIMITS	0.173,0.258	D_GRID	173
TGT_NAME	SW	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	4743.000,-12225.000

NAV	1622656745,31.1,start	_10V_AH	14.86,0.000
MODEM_MSG	CACST,6,1,20210602174722.432329,05,391,19,0117,0150,07,01,01,01,03,-1,-01,-01,1,3,0,0,150,-20.0,0.20,-100,2.80,-01,0.02,28,925,0025*35	FG_AHR_24Vo	143.848
FINISH	0.1,1.020404	FG_AHR_10Vo	85.825
SM_CCo	3203.03,317.54,1.139,0,500.5,564.9,436.0,600.87	MEM0	60932,1,0,0
SM_GC	0.79,317.54,12.46,3.13,1.139,0.068,0.069,500.5,564.9,436.0,219.2,2523.1,0,0,0,10.94,15.67,15.78	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	996840,31,49828,64
IRIDIUM_FIX	4744.47,-12222.38,020621,171152	DATA_FILE_SIZE	16092,543
TCM_TEMP	14.47	CAP_FILE_SIZE	194666,0
SC_FREEKB	3878048	SDSIZE	3918848,3814208
PM_FREEKB_00	62292800	SDFILEDIR	132,1
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	1444.0
MODEM	1,1622650038,47.50000,-123.50000,138.563,205773.3	CURRENT	0.143,202.5,1
RAFOS_FIX	4755.347168,-12124.954102,020621,171722,3,255,5581.91	MAGCAL	1.000000,-0.031685,0.000639,-0.079461,1.032195,0.042611,0.029638,-0.060067,1.060343,-920.5,-793.0,-240.5,36,0.0317,0
HUMID	51.61	IMPLIED_C_PITCH	1972,16.77,337
TEMP	12.81	IMPLIED_C_VBD	3089,29.164576,337
INTERNAL_PRESSURE	8.64859	GPS	020621,181027,4742.880,-12224.623,2,1.9,4,15.5
_24V_AH	14.91,95.243

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	672	1285	12885.17	nil	0	0	0.00
Pitch_motor	31	245	116.98	nil	0	0	0.00
Roll_motor	56	245	204.85	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	2.98	nil	0	0	0.00
Core	1965	10	295.65	SciCon	2855	3	148.49
LPSleep	989	1	16.46	PMAR	2866	8	372.65
Compass	1061	5	78.85	nil	0	0	0.00
RAFOS	2310	40	1373.34
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
11.91	16386	-139.96	-1.07	0.00	499.2	563.9	434.4	215.4	2521.2	0.00	0.00	0	151.42	136.12	0.00	0.00	0.005	0.000	0.000	3391.59	3409.56	3373.62	215.56	2521.44	0	0	0	15.97	30.00	30.00
152.53	18467	-146.63	-1.08	0.00	3392.7	3410.9	3374.4	215.4	2519.6	3.00	-1.82	27	175.72	4.57	12.07	0.00	0.009	0.246	0.000	3545.84	3577.06	3514.62	1767.31	2520.81	0	0	0	16.02	15.60	30.00
360.20	4517	-146.63	-1.29	80.00	3545.6	3578.8	3512.4	1767.5	2520.6	11.67	-4.01	68	371.20	0.00	0.38	3.35	0.000	0.062	0.120	3547.78	3580.25	3515.31	1699.56	3913.38	0	0	0	30.00	15.78	15.76
600.78	3237	-146.63	-1.16	0.00	3545.8	3578.6	3513.1	1699.3	3914.3	27.82	-7.21	116	611.79	0.00	0.38	3.15	0.000	0.162	0.068	3546.78	3580.12	3513.44	1749.69	2521.56	0	0	0	30.00	15.65	15.76
796.46	4517	-146.63	-1.30	80.00	3546.1	3579.1	3513.1	1749.7	2521.6	41.42	-7.29	155	807.44	0.00	0.27	3.34	0.000	0.075	0.119	3546.28	3578.50	3514.06	1697.94	3912.31	0	0	0	30.00	15.77	15.73
851.99	3205	-146.63	-1.19	0.00	3545.1	3577.1	3513.1	1697.9	3911.0	46.79	-10.05	166	859.32	0.00	0.35	3.14	0.000	0.163	0.068	3546.16	3579.00	3513.31	1743.31	2522.94	0	0	0	30.00	15.71	15.83
1042.90	4517	-146.63	-1.31	80.00	3546.3	3578.6	3514.1	1743.1	2523.2	60.02	-6.34	204	1053.79	0.00	0.25	3.33	0.000	0.081	0.119	3545.91	3578.69	3513.12	1696.88	3910.31	0	0	0	30.00	15.75	15.75
1228.85	3205	-146.63	-1.20	0.00	3546.1	3579.4	3512.9	1696.3	3911.0	75.74	-9.15	241	1239.76	0.00	0.34	3.16	0.000	0.167	0.070	3545.53	3578.19	3512.88	1739.69	2525.31	0	0	0	30.00	15.63	15.77
1421.61	4257	-146.63	-1.34	0.00	3546.1	3578.6	3513.7	1738.9	2525.6	88.71	-5.69	279	1427.01	0.00	0.27	0.00	0.000	0.080	0.000	3546.34	3579.31	3513.38	1690.88	2525.19	0	0	0	30.00	15.88	30.00
1611.59	260	-146.63	-1.34	80.00	3545.7	3578.9	3512.5	1690.4	2524.8	104.68	-9.11	312	1619.22	0.00	0.00	3.34	0.000	0.000	0.122	3546.94	3579.94	3513.94	1689.88	3912.12	0	0	0	30.00	30.00	15.74
1651	end dive: HALF_MISSION_TIME_EXCEEDED
state	1651	begin apogee
1658.02	10243	0.00	-0.25	0.00	3546.1	3579.3	3512.9	1690.1	2770.4	108.96	-10.49	320	1768.28	104.92	2.00	0.09	1.285	0.144	0.245	2948.94	3013.44	2884.44	1971.25	2818.06	0	0	0	11.07	15.63	15.58
1770	end apogee: CONTROL_FINISHED_OK
state	1770	begin climb
1771.38	10759	146.63	1.08	-80.00	2948.3	3011.9	2884.8	1971.2	2817.4	111.36	0.00	331	1890.47	109.28	2.07	3.67	1.213	0.079	0.118	2349.12	2430.94	2267.31	2298.06	1328.69	0	0	0	11.32	15.63	15.45
1904.33	5253	146.63	0.83	0.00	2347.4	2426.6	2268.1	2297.3	1328.5	98.66	13.86	354	1915.37	0.00	0.58	3.46	0.000	0.186	0.069	2347.28	2426.62	2267.94	2224.38	2816.31	0	0	0	30.00	15.49	15.56
2100.32	16646	146.63	0.83	80.00	2342.9	2420.9	2264.8	2223.9	2815.7	75.98	11.10	393	2107.54	0.00	0.00	2.70	0.000	0.000	0.139	2343.84	2422.31	2265.38	2223.56	3910.94	0	0	0	30.00	30.00	15.61
2131.88	17414	146.63	0.83	0.00	2342.3	2420.8	2263.9	2223.7	3911.1	72.34	11.84	399	2139.16	0.00	0.00	2.60	0.000	0.000	0.065	2340.75	2419.50	2262.00	2224.38	2772.50	0	0	0	30.00	30.00	15.67
2322.93	16646	146.63	0.83	80.00	2341.9	2420.0	2263.8	2224.9	2772.3	53.54	8.61	437	2329.83	0.00	0.00	2.79	0.000	0.000	0.133	2344.44	2422.25	2266.62	2224.25	3910.81	0	0	0	30.00	30.00	15.67
2388.92	17414	146.63	0.83	0.00	2341.3	2419.7	2263.0	2224.1	3910.5	47.04	10.14	450	2396.26	0.00	0.00	2.59	0.000	0.000	0.065	2339.50	2418.25	2260.75	2224.06	2773.81	0	0	0	30.00	30.00	15.76
2580.06	17030	146.63	0.90	-80.00	2340.5	2418.8	2262.2	2225.2	2773.8	29.21	9.41	488	2591.00	0.00	0.00	3.50	0.000	0.000	0.120	2340.47	2416.94	2264.00	2223.62	1330.00	0	0	0	30.00	30.00	15.72
2630.23	19591	146.63	0.94	0.00	2340.4	2418.4	2262.4	2223.9	1329.5	23.75	11.03	498	2641.12	0.00	0.25	3.42	0.000	0.081	0.070	2340.19	2416.25	2264.12	2270.06	2818.88	0	0	0	30.00	15.76	15.76
2825.80	20871	146.63	0.89	80.00	2339.9	2417.6	2262.2	2270.5	2818.2	2.77	10.19	537	2833.22	0.00	0.25	2.67	0.000	0.174	0.139	2340.03	2416.12	2263.94	2238.81	3909.94	0	0	0	30.00	15.63	15.69
2836	end climb: SURFACE_DEPTH_REACHED
state	2836	begin surface coast
2856	end surface coast: CONTROL_FINISHED_OK
state	2856	begin surface