Glider dive log

Shilshole 11Jun21 * 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 10 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 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 88.340355 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2030 FG_AHR_24V 145.95067 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 88.340355 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 145.95067 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 2 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 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 110621,164946,4744.006,-12223.720,1,1.5,5,15.5 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.90 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -50.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 110621,165253,4744.046,-12223.671,2,1.4,6,15.5 MHEAD_RNG_PITCHd_Wd 207.9,1980,-17.6,-10.000,-21.21

SPEED_LIMITS 0.173,0.258 D_GRID 164

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,6,1,20210611174945.997277,05,232,-12,0286,0150,216,03,03,06,03,-1,-01,-01,1,3,0,0,150,-7.6,0.01,-100,2.99,-01,0.00,35,925,0025*1E _24V_AH 14.75,107.351

NAV 1623434117,-0.2,5,stop _10V_AH 14.80,0.000

NET CACST,6,0,20210611175007.704596,05,32767,45,0105,0150,07,00,00,00,00,1,233,000,0,5,1,0,150,5.4,425.00,-100,233.36,-01,0.19,76,10000,5000*6B FG_AHR_24Vo 146.151

FINISH -0.1,1.021182 FG_AHR_10Vo 88.403

SM_CCo 3707.93,229.24,1.172,0,542.1,617.5,466.6,590.67 MEM0 60932,1,0,0

SM_GC 0.94,229.24,13.76,3.21,1.172,0.054,0.071,542.1,617.5,466.6,212.9,2526.6,0,0,0,11.10,15.57,15.59 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 997524,25,49284,63

IRIDIUM_FIX 4744.47,-12222.38,110621,164658 DATA_FILE_SIZE 12911,499

TCM_TEMP 15.00 CAP_FILE_SIZE 196078,0

SC_FREEKB 3878048 SDSIZE 3918848,3814176

PM_FREEKB_00 62206976 SDFILEDIR 133,1

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 1465.0

MODEM 2,1623427906,47.00000,-123.00000,106.115,157731.7 CURRENT 0.183, 17.1,1

RAFOS_FIX 4826.816895,-12651.353516,110621,171745,6,255,3156.83 MAGCAL 1.000000,-0.071226,-0.048220,-0.062184,1.103364,-0.038044,0.045418,0.037248,1.139955,-618.7,-947.3,129.9,34,0.0301,0

HUMID 52.72 IMPLIED_C_PITCH 2053,15.47,319

TEMP 12.49 IMPLIED_C_VBD 2887,34.151043,319

INTERNAL_PRESSURE 8.01628 GPS 110621,175631,4744.149,-12223.944,33,0.9,33,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 674 1363 13578.56 nil 0 0 0.00

Pitch_motor 31 249 117.52 nil 0 0 0.00

Roll_motor 59 244 213.73 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 3.36 nil 0 0 0.00

Core 3319 10 497.23 SciCon 3440 3 172.08

LPSleep 482 1 8.00 PMAR 3457 6984 357335.48

Compass 2186 5 161.82 nil 0 0 0.00

RAFOS 4485 40 2655.38

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

11.35 16386 -146.63 -1.06 0.00 540.5 604.9 476.1 215.2 2522.8 0.00 0.00 0 140.84 123.88 0.00 0.00 0.005 0.000 0.000 3324.09 3339.69 3308.50 215.69 2522.94 0 0 0 15.83 30.00 30.00

141.95 18467 -146.63 -1.06 0.00 3322.5 3337.7 3307.4 215.2 2523.1 3.26 -1.99 22 173.64 4.95 12.30 0.00 0.009 0.249 0.000 3547.66 3574.81 3520.50 1773.50 2523.31 0 0 0 15.94 15.48 30.00

358.81 260 -146.63 -1.06 80.00 3549.2 3579.0 3519.5 1773.2 2522.4 31.79 -11.06 60 373.88 0.00 0.00 3.38 0.000 0.000 0.117 3549.97 3579.62 3520.31 1774.12 3913.50 0 0 0 30.00 30.00 15.61

544.44 1028 -146.63 -1.06 0.00 3548.9 3578.2 3519.6 1773.9 3913.2 54.38 -11.38 92 559.50 0.00 0.00 3.19 0.000 0.000 0.071 3548.72 3579.56 3517.88 1773.56 2525.12 0 0 0 30.00 30.00 15.66

741.00 260 -146.63 -1.06 80.00 3549.1 3579.3 3518.9 1774.1 2524.6 72.33 -8.92 126 756.09 0.00 0.00 3.37 0.000 0.000 0.114 3548.81 3579.81 3517.81 1774.00 3912.94 0 0 0 30.00 30.00 15.61

817.46 1028 -146.63 -1.06 0.00 3548.6 3579.5 3517.7 1773.8 3911.8 78.89 -8.61 138 832.49 0.00 0.00 3.19 0.000 0.000 0.070 3550.00 3580.94 3519.06 1773.50 2525.88 0 0 0 30.00 30.00 15.64

1014.00 516 -146.63 -1.06 -80.00 3548.5 3580.1 3517.0 1773.1 2526.2 95.56 -8.65 172 1029.06 0.00 0.00 3.27 0.000 0.000 0.129 3549.53 3581.25 3517.81 1773.06 1186.00 0 0 0 30.00 30.00 15.64

1057.70 3205 -146.63 -0.95 0.00 3548.3 3579.4 3517.3 1774.0 1185.9 99.80 -9.82 178 1072.79 0.00 0.17 3.16 0.000 0.168 0.060 3549.06 3580.44 3517.69 1802.38 2575.31 0 0 0 30.00 15.56 15.68

1259.71 388 -146.63 -1.04 80.00 3548.5 3579.6 3517.3 1802.2 2576.1 117.18 -8.05 198 1270.20 0.00 0.00 3.24 0.000 0.000 0.120 3549.62 3580.19 3519.06 1800.88 3911.19 0 0 0 30.00 30.00 15.61

1336.15 5253 -146.63 -1.12 0.00 3549.1 3580.1 3518.1 1802.6 3910.9 124.04 -9.44 211 1346.74 0.00 0.34 3.20 0.000 0.070 0.070 3548.62 3579.44 3517.81 1742.56 2524.94 0 0 0 30.00 15.64 15.63

1538.33 2177 -146.63 -1.03 0.00 3548.2 3579.3 3517.1 1743.0 2525.1 147.36 -11.58 231 1552.72 0.00 0.31 0.00 0.000 0.165 0.000 3548.06 3579.81 3516.31 1780.94 2525.56 0 0 0 30.00 15.48 30.00

1570 end dive: TARGET_DEPTH_EXCEEDED

state 1570 begin apogee

1574.71 10243 0.00 -0.25 0.00 3548.8 3579.4 3518.2 1780.9 2821.8 150.72 -10.69 234 1687.22 107.12 1.32 0.08 1.364 0.138 0.245 2947.00 3010.06 2883.94 1971.88 2773.38 0 0 0 10.62 15.51 15.33

1693 end apogee: CONTROL_FINISHED_OK

state 1693 begin climb

1694.23 10243 146.63 1.06 0.00 2947.8 3009.4 2886.1 1971.6 2772.6 154.70 0.00 245 1814.65 113.13 2.14 0.00 1.309 0.101 0.000 2348.47 2430.62 2266.31 2290.00 2773.69 0 0 0 10.89 15.39 30.00

1998.74 16902 146.63 1.06 -80.00 2343.5 2421.8 2265.2 2290.2 2772.2 132.56 9.32 276 2019.31 0.00 0.00 3.57 0.000 0.000 0.123 2342.88 2420.75 2265.00 2288.62 1329.56 0 0 0 30.00 30.00 15.49

2043.99 17414 146.63 1.06 0.00 2342.4 2420.9 2264.0 2290.0 1329.0 127.17 11.88 283 2057.66 0.00 0.00 3.47 0.000 0.000 0.066 2343.94 2421.94 2265.94 2289.75 2820.38 0 0 0 30.00 30.00 15.54

2244.43 16514 146.63 1.13 0.00 2342.4 2420.1 2264.6 2289.6 2820.9 108.92 8.45 303 2258.83 0.00 0.00 0.00 0.000 0.000 0.000 2342.62 2420.81 2264.44 2290.12 2821.12 0 0 0 30.00 30.00 30.00

2441.05 10919 191.78 1.24 -80.00 2341.3 2419.2 2263.5 2289.3 2820.8 93.82 7.91 329 2495.11 35.38 0.27 3.67 1.236 0.076 0.121 2165.69 2249.44 2081.94 2344.50 1330.25 0 0 0 11.05 15.58 15.54

2550.19 5253 191.78 1.18 0.00 2162.5 2244.0 2080.9 2345.2 1329.5 81.59 13.03 347 2565.39 0.00 0.32 3.45 0.000 0.176 0.065 2162.69 2244.38 2081.00 2308.75 2818.88 0 0 0 30.00 15.50 15.60

2746.76 2437 191.78 1.31 80.00 2160.9 2242.1 2079.8 2309.6 2817.5 63.27 8.50 381 2761.79 0.00 0.28 2.70 0.000 0.076 0.135 2164.53 2245.75 2083.31 2357.00 3912.56 0 0 0 30.00 15.61 15.57

2845.00 1028 191.78 1.31 0.00 2160.4 2240.8 2080.1 2357.4 3912.0 51.81 12.04 397 2859.97 0.00 0.00 2.62 0.000 0.000 0.066 2160.19 2240.75 2079.62 2358.00 2773.25 0 0 0 30.00 30.00 15.64

3041.60 16902 191.78 1.31 -80.00 2159.8 2240.2 2079.4 2358.2 2774.6 33.32 9.25 431 3056.68 0.00 0.00 3.55 0.000 0.000 0.124 2159.53 2239.94 2079.12 2357.56 1330.56 0 0 0 30.00 30.00 15.60

3134.42 21639 191.78 1.25 0.00 2159.0 2238.9 2079.1 2357.9 1330.3 23.66 10.40 446 3149.55 0.00 0.26 3.43 0.000 0.184 0.064 2162.28 2242.25 2082.31 2326.25 2816.44 0 0 0 30.00 15.50 15.63

3330.97 10663 272.65 1.53 80.00 2158.5 2238.6 2078.4 2326.1 2816.7 10.03 6.25 480 3407.36 61.28 0.51 2.73 1.181 0.062 0.133 1836.31 1924.38 1748.25 2409.75 3911.50 0 0 0 10.94 15.63 14.13

3423 end climb: SURFACE_DEPTH_REACHED

state 3423 begin surface coast

3445 end surface coast: CONTROL_FINISHED_OK

state 3445 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	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	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	88.340355	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2030	FG_AHR_24V	145.95067	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	110621,164946,4744.006,-12223.720,1,1.5,5,15.5	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.90	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-50.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	110621,165253,4744.046,-12223.671,2,1.4,6,15.5	MHEAD_RNG_PITCHd_Wd	207.9,1980,-17.6,-10.000,-21.21
SPEED_LIMITS	0.173,0.258	D_GRID	164
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,6,1,20210611174945.997277,05,232,-12,0286,0150,216,03,03,06,03,-1,-01,-01,1,3,0,0,150,-7.6,0.01,-100,2.99,-01,0.00,35,925,0025*1E	_24V_AH	14.75,107.351
NAV	1623434117,-0.2,5,stop	_10V_AH	14.80,0.000
NET	CACST,6,0,20210611175007.704596,05,32767,45,0105,0150,07,00,00,00,00,1,233,000,0,5,1,0,150,5.4,425.00,-100,233.36,-01,0.19,76,10000,5000*6B	FG_AHR_24Vo	146.151
FINISH	-0.1,1.021182	FG_AHR_10Vo	88.403
SM_CCo	3707.93,229.24,1.172,0,542.1,617.5,466.6,590.67	MEM0	60932,1,0,0
SM_GC	0.94,229.24,13.76,3.21,1.172,0.054,0.071,542.1,617.5,466.6,212.9,2526.6,0,0,0,11.10,15.57,15.59	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	997524,25,49284,63
IRIDIUM_FIX	4744.47,-12222.38,110621,164658	DATA_FILE_SIZE	12911,499
TCM_TEMP	15.00	CAP_FILE_SIZE	196078,0
SC_FREEKB	3878048	SDSIZE	3918848,3814176
PM_FREEKB_00	62206976	SDFILEDIR	133,1
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	1465.0
MODEM	2,1623427906,47.00000,-123.00000,106.115,157731.7	CURRENT	0.183, 17.1,1
RAFOS_FIX	4826.816895,-12651.353516,110621,171745,6,255,3156.83	MAGCAL	1.000000,-0.071226,-0.048220,-0.062184,1.103364,-0.038044,0.045418,0.037248,1.139955,-618.7,-947.3,129.9,34,0.0301,0
HUMID	52.72	IMPLIED_C_PITCH	2053,15.47,319
TEMP	12.49	IMPLIED_C_VBD	2887,34.151043,319
INTERNAL_PRESSURE	8.01628	GPS	110621,175631,4744.149,-12223.944,33,0.9,33,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	674	1363	13578.56	nil	0	0	0.00
Pitch_motor	31	249	117.52	nil	0	0	0.00
Roll_motor	59	244	213.73	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	3.36	nil	0	0	0.00
Core	3319	10	497.23	SciCon	3440	3	172.08
LPSleep	482	1	8.00	PMAR	3457	6984	357335.48
Compass	2186	5	161.82	nil	0	0	0.00
RAFOS	4485	40	2655.38
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
11.35	16386	-146.63	-1.06	0.00	540.5	604.9	476.1	215.2	2522.8	0.00	0.00	0	140.84	123.88	0.00	0.00	0.005	0.000	0.000	3324.09	3339.69	3308.50	215.69	2522.94	0	0	0	15.83	30.00	30.00
141.95	18467	-146.63	-1.06	0.00	3322.5	3337.7	3307.4	215.2	2523.1	3.26	-1.99	22	173.64	4.95	12.30	0.00	0.009	0.249	0.000	3547.66	3574.81	3520.50	1773.50	2523.31	0	0	0	15.94	15.48	30.00
358.81	260	-146.63	-1.06	80.00	3549.2	3579.0	3519.5	1773.2	2522.4	31.79	-11.06	60	373.88	0.00	0.00	3.38	0.000	0.000	0.117	3549.97	3579.62	3520.31	1774.12	3913.50	0	0	0	30.00	30.00	15.61
544.44	1028	-146.63	-1.06	0.00	3548.9	3578.2	3519.6	1773.9	3913.2	54.38	-11.38	92	559.50	0.00	0.00	3.19	0.000	0.000	0.071	3548.72	3579.56	3517.88	1773.56	2525.12	0	0	0	30.00	30.00	15.66
741.00	260	-146.63	-1.06	80.00	3549.1	3579.3	3518.9	1774.1	2524.6	72.33	-8.92	126	756.09	0.00	0.00	3.37	0.000	0.000	0.114	3548.81	3579.81	3517.81	1774.00	3912.94	0	0	0	30.00	30.00	15.61
817.46	1028	-146.63	-1.06	0.00	3548.6	3579.5	3517.7	1773.8	3911.8	78.89	-8.61	138	832.49	0.00	0.00	3.19	0.000	0.000	0.070	3550.00	3580.94	3519.06	1773.50	2525.88	0	0	0	30.00	30.00	15.64
1014.00	516	-146.63	-1.06	-80.00	3548.5	3580.1	3517.0	1773.1	2526.2	95.56	-8.65	172	1029.06	0.00	0.00	3.27	0.000	0.000	0.129	3549.53	3581.25	3517.81	1773.06	1186.00	0	0	0	30.00	30.00	15.64
1057.70	3205	-146.63	-0.95	0.00	3548.3	3579.4	3517.3	1774.0	1185.9	99.80	-9.82	178	1072.79	0.00	0.17	3.16	0.000	0.168	0.060	3549.06	3580.44	3517.69	1802.38	2575.31	0	0	0	30.00	15.56	15.68
1259.71	388	-146.63	-1.04	80.00	3548.5	3579.6	3517.3	1802.2	2576.1	117.18	-8.05	198	1270.20	0.00	0.00	3.24	0.000	0.000	0.120	3549.62	3580.19	3519.06	1800.88	3911.19	0	0	0	30.00	30.00	15.61
1336.15	5253	-146.63	-1.12	0.00	3549.1	3580.1	3518.1	1802.6	3910.9	124.04	-9.44	211	1346.74	0.00	0.34	3.20	0.000	0.070	0.070	3548.62	3579.44	3517.81	1742.56	2524.94	0	0	0	30.00	15.64	15.63
1538.33	2177	-146.63	-1.03	0.00	3548.2	3579.3	3517.1	1743.0	2525.1	147.36	-11.58	231	1552.72	0.00	0.31	0.00	0.000	0.165	0.000	3548.06	3579.81	3516.31	1780.94	2525.56	0	0	0	30.00	15.48	30.00
1570	end dive: TARGET_DEPTH_EXCEEDED
state	1570	begin apogee
1574.71	10243	0.00	-0.25	0.00	3548.8	3579.4	3518.2	1780.9	2821.8	150.72	-10.69	234	1687.22	107.12	1.32	0.08	1.364	0.138	0.245	2947.00	3010.06	2883.94	1971.88	2773.38	0	0	0	10.62	15.51	15.33
1693	end apogee: CONTROL_FINISHED_OK
state	1693	begin climb
1694.23	10243	146.63	1.06	0.00	2947.8	3009.4	2886.1	1971.6	2772.6	154.70	0.00	245	1814.65	113.13	2.14	0.00	1.309	0.101	0.000	2348.47	2430.62	2266.31	2290.00	2773.69	0	0	0	10.89	15.39	30.00
1998.74	16902	146.63	1.06	-80.00	2343.5	2421.8	2265.2	2290.2	2772.2	132.56	9.32	276	2019.31	0.00	0.00	3.57	0.000	0.000	0.123	2342.88	2420.75	2265.00	2288.62	1329.56	0	0	0	30.00	30.00	15.49
2043.99	17414	146.63	1.06	0.00	2342.4	2420.9	2264.0	2290.0	1329.0	127.17	11.88	283	2057.66	0.00	0.00	3.47	0.000	0.000	0.066	2343.94	2421.94	2265.94	2289.75	2820.38	0	0	0	30.00	30.00	15.54
2244.43	16514	146.63	1.13	0.00	2342.4	2420.1	2264.6	2289.6	2820.9	108.92	8.45	303	2258.83	0.00	0.00	0.00	0.000	0.000	0.000	2342.62	2420.81	2264.44	2290.12	2821.12	0	0	0	30.00	30.00	30.00
2441.05	10919	191.78	1.24	-80.00	2341.3	2419.2	2263.5	2289.3	2820.8	93.82	7.91	329	2495.11	35.38	0.27	3.67	1.236	0.076	0.121	2165.69	2249.44	2081.94	2344.50	1330.25	0	0	0	11.05	15.58	15.54
2550.19	5253	191.78	1.18	0.00	2162.5	2244.0	2080.9	2345.2	1329.5	81.59	13.03	347	2565.39	0.00	0.32	3.45	0.000	0.176	0.065	2162.69	2244.38	2081.00	2308.75	2818.88	0	0	0	30.00	15.50	15.60
2746.76	2437	191.78	1.31	80.00	2160.9	2242.1	2079.8	2309.6	2817.5	63.27	8.50	381	2761.79	0.00	0.28	2.70	0.000	0.076	0.135	2164.53	2245.75	2083.31	2357.00	3912.56	0	0	0	30.00	15.61	15.57
2845.00	1028	191.78	1.31	0.00	2160.4	2240.8	2080.1	2357.4	3912.0	51.81	12.04	397	2859.97	0.00	0.00	2.62	0.000	0.000	0.066	2160.19	2240.75	2079.62	2358.00	2773.25	0	0	0	30.00	30.00	15.64
3041.60	16902	191.78	1.31	-80.00	2159.8	2240.2	2079.4	2358.2	2774.6	33.32	9.25	431	3056.68	0.00	0.00	3.55	0.000	0.000	0.124	2159.53	2239.94	2079.12	2357.56	1330.56	0	0	0	30.00	30.00	15.60
3134.42	21639	191.78	1.25	0.00	2159.0	2238.9	2079.1	2357.9	1330.3	23.66	10.40	446	3149.55	0.00	0.26	3.43	0.000	0.184	0.064	2162.28	2242.25	2082.31	2326.25	2816.44	0	0	0	30.00	15.50	15.63
3330.97	10663	272.65	1.53	80.00	2158.5	2238.6	2078.4	2326.1	2816.7	10.03	6.25	480	3407.36	61.28	0.51	2.73	1.181	0.062	0.133	1836.31	1924.38	1748.25	2409.75	3911.50	0	0	0	10.94	15.63	14.13
3423	end climb: SURFACE_DEPTH_REACHED
state	3423	begin surface coast
3445	end surface coast: CONTROL_FINISHED_OK
state	3445	begin surface