Glider dive log

Shilshole 11Jun21 * SG135 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 135 TGT_DEFAULT_LAT 4736 VBD_MIN 500 MOTHERBOARD 6

MISSION 2 TGT_DEFAULT_LON -12218 VBD_MAX 3960 DEVICE1 -1

DIVE 4 TGT_AUTO_DEFAULT 0 C_VBD 3000 DEVICE2 -1

N_DIVES 4 SM_CC 627.77997 VBD_DBAND 2 DEVICE3 -1

STOP_T 0 N_FILEKB 8 VBD_CNV -0.24529999 DEVICE4 -1

D_SURF 2 FILEMGR 0 VBD_LP_IGNORE 0 DEVICE5 -1

D_FLARE 3 CALL_NDIVES 1 VBD_TIMEOUT 720 DEVICE6 -1

D_TGT 150 COMM_SEQ 0 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 7

D_ABORT 175 PROTOCOL 9 UNCOM_BLEED 20 LOGGERDEVICE1 6

D_NO_BLEED 500 N_NOCOMM 2 VBD_MAXERRORS 1 LOGGERDEVICE2 33

D_BOOST 3 NOCOMM_ACTION 163 W_ADJ_DBAND 0 LOGGERDEVICE3 19

T_BOOST 0 N_NOSURFACE 0 DBDW 0 LOGGERDEVICE4 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 LOITER_W_DBAND 0 COMPASS_DEVICE 34

D_PITCH 0 CALL_TRIES 5 LOITER_DBDW 0 COMPASS2_DEVICE -1

D_SAFE 0 CALL_WAIT 60 LOITER_D_TOP 0 PHONE_DEVICE 33

D_CALL 0 CAPUPLOAD 0 LOITER_D_BOTTOM 0 GPS_DEVICE 48

SURFACE_URGENCY 0 CAPMAXSIZE 100000 LOITER_N_DIVE 0 RAFOS_DEVICE -1

SURFACE_URGENCY_TRY 0 T_GPS 5 CF8_MAXERRORS 20 NETWORK_DEVICE -1

SURFACE_URGENCY_FORCE 0 N_GPS 100440 AH0_24V 350 PRESSURE_DEVICE 41

T_DIVE 50 T_RSLEEP 1 AH0_10V 0 XPDR_DEVICE 21

T_MISSION 65 STROBE 0 MINV_24V 11 SIM_W 0

T_ABORT 1440 RAFOS_PEAK_OFFSET 1.5 MINV_10V 11 SEABIRD_T_G 0.0044240318

T_TURN 225 RAFOS_CORR_THRESH 60 MAXI_24V 3 SEABIRD_T_H 0.00064698874

T_TURN_SAMPINT -5 RAFOS_HIT_WINDOW 3600 MAXI_10V 1.5 SEABIRD_T_I 2.7191092e-05

T_NO_W 120 RAFOS_MMODEM 0 FG_AHR_10V 6.4429331 SEABIRD_T_J 3.4398734e-06

T_LOITER 0 PITCH_MIN 150 FG_AHR_24V 18.823809 SEABIRD_C_G -9.9621954

T_EPIRB 0 PITCH_MAX 3614 PHONE_SUPPLY 2 SEABIRD_C_H 1.1055299

USE_BATHY -6 C_PITCH 2440 PRESSURE_YINT -181.19043 SEABIRD_C_I -0.0031133897

USE_ICE 0 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00022931841 SEABIRD_C_J 0.00029840908

ICE_FREEZE_MARGIN 0.30000001 PITCH_CNV 0.0031300001 COMPASS_USE 16388 SC_RECORDABOVE 2000.0

D_OFFGRID 100 PITCH_GAIN 30 ALTIM_PING_FIT 0 SC_PROFILE 7.0

RELAUNCH 1 PITCH_TIMEOUT 15 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

APOGEE_PITCH -5 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0 SC_NDIVE 1.0

MAX_BUOY 150 PITCH_ADJ_GAIN 0.015 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_ADJ_DBAND 1 ALTIM_TOP_MIN_OBSTACLE 1 PM_PROFILE 7.0

SPEED_FACTOR 1 PITCH_W_GAIN 0 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 3.0

RHO 1.023 PITCH_W_DBAND 0 ALTIM_PING_DELTA 0 PM_NDIVE 1.0

MASS 55909 ROLL_MIN 160 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

NAV_MODE 2 ROLL_MAX 3915 ALTIM_PULSE 3 PM_MOTORS 1.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_SENSITIVITY 2 PM_SENDDEPTH 1.0

KALMAN_USE 2 C_ROLL_DIVE 2250 XPDR_VALID 0 TM_RECORDABOVE 2000.0

HD_A 0.003 C_ROLL_CLIMB 1800 XPDR_INHIBIT 90 TM_PROFILE 3.0

HD_B 0.0099999998 HEAD_ERRBAND 10 XPDR_INT 0 TM_XMITPROFILE 3.0

HD_C 1.6e-05 ROLL_CNV 0.028270001 XPDR_REP 0 TM_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 1.9639999e-06 TM_XMITRAW 0.0

ESCAPE_HEADING 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0.75 TM_LOGSAMPLE 0.0

ESCAPE_HEADING_DELTA 10 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

FIX_MISSING_TIMEOUT 0 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

AH0_10V 0 ESCAPE_HEADING 0 PITCH_ADJ_GAIN 0.015 SEABIRD_T_J 3.4398734e-06

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.0031300001 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_DBAND 0.1 SM_CC 627.77997

ALTIM_FREQUENCY 13 FG_AHR_10V 6.4429331 PITCH_GAIN 30 SPEED_FACTOR 1

ALTIM_PING_DELTA 0 FG_AHR_24V 18.823809 PITCH_MAX 3614 STOP_T 0

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_MAXERRORS 1 STROBE 0

ALTIM_PING_FIT 0 FIX_MISSING_TIMEOUT 0 PITCH_MIN 150 SURFACE_URGENCY 0

ALTIM_PULSE 3 GLIDE_SLOPE 30 PITCH_TIMEOUT 15 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 2 GPS_DEVICE 48 PITCH_VBD_SHIFT 0.0012300001 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 1 HD_A 0.003 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 HD_B 0.0099999998 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 HD_C 1.6e-05 PM_MOTORS 1.0 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 HEADING -1 PM_NDIVE 1.0 TM_LOGSAMPLE 0.0

CALL_NDIVES 1 HEAD_ERRBAND 10 PM_PROFILE 7.0 TM_NDIVE 1.0

CALL_TRIES 5 ICE_FREEZE_MARGIN 0.30000001 PM_RECORDABOVE 2000.0 TM_PROFILE 3.0

CALL_WAIT 60 ID 135 PM_SENDDEPTH 1.0 TM_RECORDABOVE 2000.0

CAPMAXSIZE 100000 INT_PRESSURE_SLOPE 1.9639999e-06 PM_XMITPROFILE 3.0 TM_XMITPROFILE 3.0

CAPUPLOAD 0 INT_PRESSURE_YINT 0.75 PM_XMITRAW 0.0 TM_XMITRAW 0.0

CF8_MAXERRORS 20 KALMAN_USE 2 PRESSURE_DEVICE 41 T_ABORT 1440

COMM_SEQ 0 LOGGERDEVICE1 6 PRESSURE_SLOPE 0.00022931841 T_BOOST 0

COMPASS2_DEVICE -1 LOGGERDEVICE2 33 PRESSURE_YINT -181.19043 T_DIVE 50

COMPASS_DEVICE 34 LOGGERDEVICE3 19 PROTOCOL 9 T_EPIRB 0

COMPASS_USE 16388 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_GPS 5

C_PITCH 2440 LOGGERS 7 RAFOS_DEVICE -1 T_LOITER 0

C_ROLL_CLIMB 1800 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 T_MISSION 65

C_ROLL_DIVE 2250 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 T_NO_W 120

C_VBD 3000 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 1

DBDW 0 LOITER_N_DIVE 0 RELAUNCH 1 T_TURN 225

DEEPGLIDER 0 LOITER_W_DBAND 0 RHO 1.023 T_TURN_SAMPINT -5

DEEPGLIDERMB 0 MASS 55909 ROLL_ADJ_DBAND 0 UNCOM_BLEED 20

DEVICE1 -1 MAXI_10V 1.5 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEVICE2 -1 MAXI_24V 3 ROLL_CNV 0.028270001 USE_BATHY -6

DEVICE3 -1 MAX_BUOY 150 ROLL_DEG 40 USE_ICE 0

DEVICE4 -1 MINV_10V 11 ROLL_MAX 3915 VBD_CNV -0.24529999

DEVICE5 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE6 -1 MISSION 2 ROLL_MIN 160 VBD_LP_IGNORE 0

DIVE 4 MOTHERBOARD 6 ROLL_TIMEOUT 15 VBD_MAX 3960

D_ABORT 175 NAV_MODE 2 SC_NDIVE 1.0 VBD_MAXERRORS 1

D_BOOST 3 NETWORK_DEVICE -1 SC_PROFILE 7.0 VBD_MIN 500

D_CALL 0 NOCOMM_ACTION 163 SC_RECORDABOVE 2000.0 VBD_TIMEOUT 720

D_FINISH 0 N_DIVES 4 SC_XMITPROFILE 3.0 W_ADJ_DBAND 0

D_FLARE 3 N_FILEKB 8 SEABIRD_C_G -9.9621954 XPDR_DEVICE 21

D_NO_BLEED 500 N_GPS 100440 SEABIRD_C_H 1.1055299 XPDR_INHIBIT 90

D_OFFGRID 100 N_NOCOMM 2 SEABIRD_C_I -0.0031133897 XPDR_INT 0

D_PITCH 0 N_NOSURFACE 0 SEABIRD_C_J 0.00029840908 XPDR_REP 0

D_SAFE 0 PHONE_DEVICE 33 SEABIRD_T_G 0.0044240318 XPDR_VALID 0

D_SURF 2 PHONE_SUPPLY 2 SEABIRD_T_H 0.00064698874

D_TGT 150 PITCH_ADJ_DBAND 1 SEABIRD_T_I 2.7191092e-05

Pre-dive calculations and measurements:

GPS1 110621,184103,4744.431,-12223.449,30,1.2,31,15.5 TGT_RADIUS 100.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.98 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 110621,185011,4744.482,-12223.409,22,1.4,22,15.5 MHEAD_RNG_PITCHd_Wd 167.7,2842,-17.6,-10.000,-21.21

SPEED_LIMITS 0.173,0.258 D_GRID 140

TGT_NAME SE IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-19.000000,49.000000,24.000000

TGT_LATLONG 4743.000,-12224.000

Post-dive calculations and measurements:

WARN HTMICL TMICL logging already stopped _10V_AH 14.77,0.000

FINISH 1.3,1.004211 FG_AHR_24Vo 19.014

SM_CCo 3414.92,259.09,1.080,0,501.0,518.7,483.2,613.01 FG_AHR_10Vo 6.482

SM_GC 2.09,259.09,7.07,0.87,1.080,0.080,0.065,501.0,518.7,483.2,140.2,2273.1,0,0,0,12.52,15.33,15.94 MEM0 60868,1,0,0

SUPER 27,71,254,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 4744.47,-12222.38,110621,184446 MEM2 998496,17,48412,66

TCM_TEMP 11.90 DATA_FILE_SIZE 9767,419

XPDR_PINGS 32,12.5,11.5 CAP_FILE_SIZE 150968,0

SC_FREEKB 3877248 SDSIZE 3918848,3906848

PM_FREEKB_00 62119424 SDFILEDIR 56,1

PM_FREEKB_01 62343040 ERRORS 0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 0 CURRENT 0.069,290.4,1

TM_FREEKB 7751808 MAGCAL 1.000000,0.009006,0.006021,0.002490,1.034584,-0.000798,0.014545,0.002214,1.038754,-18.9,58.0,28.6,33,0.0088,0

HUMID 55.13 IMPLIED_C_PITCH 2446,24.04,216

TEMP 11.39 IMPLIED_C_VBD 2985,36.913994,192

INTERNAL_PRESSURE 8.34623 GPS 110621,194833,4744.279,-12223.315,29,1.0,30,15.5

_24V_AH 14.72,3.198

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 681 1276 12810.48 nil 0 0 0.00

Pitch_motor 21 473 147.51 nil 0 0 0.00

Roll_motor 45 123 82.81 nil 0 0 0.00

Iridium 291 179 771.49 nil 0 0 0.00

Transponder_ping 8 420 49.46 nil 0 0 0.00

GPS 31 15 7.05 nil 0 0 0.00

Core 2123 11 370.07 SciCon 3138 21 994.26

LPSleep 1711 2 70.79 PMAR 3153 7 328.92

Compass 838 5 61.93 TMICL 3134 9 429.61

RAFOS 0 0 0.00

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

13.58 16386 -146.63 -0.77 0.00 499.1 515.8 482.5 131.1 2150.9 0.00 0.00 0 127.88 109.07 0.00 0.00 0.005 0.000 0.000 3086.16 3049.56 3122.75 131.44 2151.69 0 0 0 15.25 30.00 30.00

128.08 18727 -146.63 -0.77 40.00 3085.0 3047.9 3122.1 131.4 2150.9 3.20 -1.20 11 161.19 13.56 10.73 2.55 0.006 0.474 0.055 3597.34 3545.69 3649.00 2181.94 3694.38 0 0 0 15.83 15.13 15.27

201.30 3205 -146.63 -0.61 0.00 3597.8 3546.8 3648.8 2182.2 3693.5 16.43 -21.81 25 209.33 0.00 0.24 2.36 0.000 0.305 0.023 3596.97 3545.38 3648.56 2244.25 2199.50 0 0 0 30.00 15.82 15.93

395.76 644 -146.63 -0.53 -40.00 3596.9 3545.1 3648.7 2244.1 2188.8 42.64 -11.48 45 402.19 0.00 0.00 2.23 0.000 0.000 0.039 3598.00 3545.62 3650.38 2245.38 796.12 0 0 0 30.00 30.00 15.99

440.49 3205 -146.63 -0.46 0.00 3596.6 3545.3 3647.9 2245.2 794.8 47.52 -10.55 54 450.51 0.00 0.20 2.44 0.000 0.265 0.045 3598.28 3546.75 3649.81 2293.19 2273.25 0 0 0 30.00 15.88 15.99

635.80 128 -146.63 -0.48 0.00 3596.5 3544.1 3648.9 2293.1 2274.2 65.74 -10.30 74 639.71 0.00 0.00 0.00 0.000 0.000 0.000 3596.44 3544.44 3648.44 2293.62 2273.75 0 0 0 30.00 30.00 30.00

825.85 676 -146.63 -0.50 -40.00 3596.4 3544.2 3648.6 2292.9 2273.2 84.55 -9.60 93 832.31 0.00 0.00 2.43 0.000 0.000 0.039 3597.12 3544.94 3649.31 2295.06 797.38 0 0 0 30.00 30.00 15.41

920.74 1188 -146.63 -0.54 0.00 3596.9 3544.6 3649.2 2294.7 794.9 92.43 -7.57 112 930.32 0.00 0.00 2.45 0.000 0.000 0.048 3596.62 3544.00 3649.25 2292.69 2273.50 0 0 0 30.00 30.00 16.01

1116.04 420 -146.63 -0.56 40.00 3596.6 3544.0 3649.2 2293.2 2274.2 107.41 -7.14 132 1122.46 0.00 0.00 2.30 0.000 0.000 0.061 3596.28 3544.38 3648.19 2292.56 3688.69 0 0 0 30.00 30.00 16.05

1160.78 5285 -146.63 -0.61 0.00 3596.6 3543.9 3649.3 2291.9 3690.0 111.55 -9.25 141 1170.13 0.00 0.16 2.37 0.000 0.076 0.031 3597.62 3545.62 3649.62 2214.44 2201.62 0 0 0 30.00 16.01 16.04

1357.44 676 -146.63 -0.75 -40.00 3596.3 3543.8 3648.9 2214.8 2194.5 131.25 -5.90 161 1363.86 0.00 0.00 2.23 0.000 0.000 0.039 3598.00 3544.75 3651.25 2213.44 795.94 0 0 0 30.00 30.00 16.05

1592.23 5285 -146.63 -1.07 0.00 3596.2 3542.6 3649.8 2214.5 793.4 131.30 0.01 208 1599.36 0.00 0.36 2.44 0.000 0.116 0.040 3596.47 3542.19 3650.75 2082.44 2280.25 0 0 0 30.00 15.36 15.94

1608 end dive: NO_VERTICAL_VELOCITY

state 1608 begin apogee

1609.37 10243 0.00 -0.17 0.00 3596.1 3542.8 3649.4 2081.6 1739.9 131.28 0.00 210 1726.12 111.29 0.83 0.17 1.276 0.065 0.124 2997.66 2885.38 3109.94 2404.12 1858.31 0 0 0 12.41 15.39 15.40

1728 end apogee: CONTROL_FINISHED_OK

state 1728 begin climb

1728.15 10503 146.63 0.77 40.00 2996.5 2883.9 3109.1 2404.3 1857.9 131.30 0.00 221 1849.64 111.89 0.83 2.39 1.233 0.105 0.053 2398.44 2236.94 2559.94 2692.00 3238.88 0 0 0 12.24 15.48 15.20

1991.07 9382 153.45 0.73 0.00 2392.5 2235.3 2549.6 2691.6 3240.1 111.38 9.68 271 2006.50 6.72 0.00 2.44 0.772 0.000 0.039 2373.25 2212.25 2534.25 2693.75 1758.69 0 0 0 12.29 30.00 15.71

2190.51 388 153.45 0.70 40.00 2370.0 2210.4 2529.6 2694.1 1756.4 88.47 11.74 293 2196.95 0.00 0.00 2.48 0.000 0.000 0.049 2371.97 2212.12 2531.81 2692.56 3241.88 0 0 0 30.00 30.00 15.87

2290.91 5253 153.45 0.65 0.00 2367.7 2209.4 2526.0 2692.7 3242.8 74.51 14.81 313 2300.79 0.00 0.19 2.41 0.000 0.247 0.039 2367.38 2209.44 2525.31 2641.75 1764.94 0 0 0 30.00 15.80 15.91

2487.58 10663 203.03 0.77 40.00 2368.0 2209.9 2526.2 2641.2 1761.5 57.63 7.70 333 2535.64 38.40 0.14 2.53 1.128 0.094 0.060 2169.38 1989.25 2349.50 2710.31 3238.31 0 0 0 12.51 15.93 15.66

2578.22 5253 203.03 0.73 0.00 2164.7 1987.4 2341.9 2710.1 3238.5 47.16 12.81 351 2584.79 0.00 0.16 2.44 0.000 0.246 0.043 2167.09 1989.81 2344.38 2666.06 1762.00 0 0 0 30.00 15.68 15.15

2769.00 10663 245.04 0.82 40.00 2162.9 1986.2 2339.6 2666.4 1758.6 30.82 8.05 371 2813.13 31.84 0.11 2.55 1.076 0.101 0.066 2000.91 1798.94 2202.88 2724.62 3234.81 0 0 0 12.48 15.87 15.67

2893.25 21639 245.04 0.79 0.00 1991.7 1794.9 2188.4 2725.9 3237.1 15.41 13.09 395 2900.47 0.00 0.14 2.42 0.000 0.237 0.041 1993.84 1796.25 2191.44 2682.94 1765.31 0 0 0 30.00 15.72 15.79

3088 end climb: SURFACE_DEPTH_REACHED

state 3088 begin surface coast

3130 end surface coast: CONTROL_FINISHED_OK

state 3130 begin surface

ID	135	TGT_DEFAULT_LAT	4736	VBD_MIN	500	MOTHERBOARD	6
MISSION	2	TGT_DEFAULT_LON	-12218	VBD_MAX	3960	DEVICE1	-1
DIVE	4	TGT_AUTO_DEFAULT	0	C_VBD	3000	DEVICE2	-1
N_DIVES	4	SM_CC	627.77997	VBD_DBAND	2	DEVICE3	-1
STOP_T	0	N_FILEKB	8	VBD_CNV	-0.24529999	DEVICE4	-1
D_SURF	2	FILEMGR	0	VBD_LP_IGNORE	0	DEVICE5	-1
D_FLARE	3	CALL_NDIVES	1	VBD_TIMEOUT	720	DEVICE6	-1
D_TGT	150	COMM_SEQ	0	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	7
D_ABORT	175	PROTOCOL	9	UNCOM_BLEED	20	LOGGERDEVICE1	6
D_NO_BLEED	500	N_NOCOMM	2	VBD_MAXERRORS	1	LOGGERDEVICE2	33
D_BOOST	3	NOCOMM_ACTION	163	W_ADJ_DBAND	0	LOGGERDEVICE3	19
T_BOOST	0	N_NOSURFACE	0	DBDW	0	LOGGERDEVICE4	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	LOITER_W_DBAND	0	COMPASS_DEVICE	34
D_PITCH	0	CALL_TRIES	5	LOITER_DBDW	0	COMPASS2_DEVICE	-1
D_SAFE	0	CALL_WAIT	60	LOITER_D_TOP	0	PHONE_DEVICE	33
D_CALL	0	CAPUPLOAD	0	LOITER_D_BOTTOM	0	GPS_DEVICE	48
SURFACE_URGENCY	0	CAPMAXSIZE	100000	LOITER_N_DIVE	0	RAFOS_DEVICE	-1
SURFACE_URGENCY_TRY	0	T_GPS	5	CF8_MAXERRORS	20	NETWORK_DEVICE	-1
SURFACE_URGENCY_FORCE	0	N_GPS	100440	AH0_24V	350	PRESSURE_DEVICE	41
T_DIVE	50	T_RSLEEP	1	AH0_10V	0	XPDR_DEVICE	21
T_MISSION	65	STROBE	0	MINV_24V	11	SIM_W	0
T_ABORT	1440	RAFOS_PEAK_OFFSET	1.5	MINV_10V	11	SEABIRD_T_G	0.0044240318
T_TURN	225	RAFOS_CORR_THRESH	60	MAXI_24V	3	SEABIRD_T_H	0.00064698874
T_TURN_SAMPINT	-5	RAFOS_HIT_WINDOW	3600	MAXI_10V	1.5	SEABIRD_T_I	2.7191092e-05
T_NO_W	120	RAFOS_MMODEM	0	FG_AHR_10V	6.4429331	SEABIRD_T_J	3.4398734e-06
T_LOITER	0	PITCH_MIN	150	FG_AHR_24V	18.823809	SEABIRD_C_G	-9.9621954
T_EPIRB	0	PITCH_MAX	3614	PHONE_SUPPLY	2	SEABIRD_C_H	1.1055299
USE_BATHY	-6	C_PITCH	2440	PRESSURE_YINT	-181.19043	SEABIRD_C_I	-0.0031133897
USE_ICE	0	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00022931841	SEABIRD_C_J	0.00029840908
ICE_FREEZE_MARGIN	0.30000001	PITCH_CNV	0.0031300001	COMPASS_USE	16388	SC_RECORDABOVE	2000.0
D_OFFGRID	100	PITCH_GAIN	30	ALTIM_PING_FIT	0	SC_PROFILE	7.0
RELAUNCH	1	PITCH_TIMEOUT	15	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0	SC_NDIVE	1.0
MAX_BUOY	150	PITCH_ADJ_GAIN	0.015	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_ADJ_DBAND	1	ALTIM_TOP_MIN_OBSTACLE	1	PM_PROFILE	7.0
SPEED_FACTOR	1	PITCH_W_GAIN	0	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	3.0
RHO	1.023	PITCH_W_DBAND	0	ALTIM_PING_DELTA	0	PM_NDIVE	1.0
MASS	55909	ROLL_MIN	160	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
NAV_MODE	2	ROLL_MAX	3915	ALTIM_PULSE	3	PM_MOTORS	1.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	1.0
KALMAN_USE	2	C_ROLL_DIVE	2250	XPDR_VALID	0	TM_RECORDABOVE	2000.0
HD_A	0.003	C_ROLL_CLIMB	1800	XPDR_INHIBIT	90	TM_PROFILE	3.0
HD_B	0.0099999998	HEAD_ERRBAND	10	XPDR_INT	0	TM_XMITPROFILE	3.0
HD_C	1.6e-05	ROLL_CNV	0.028270001	XPDR_REP	0	TM_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	1.9639999e-06	TM_XMITRAW	0.0
ESCAPE_HEADING	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0.75	TM_LOGSAMPLE	0.0
ESCAPE_HEADING_DELTA	10	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
FIX_MISSING_TIMEOUT	0	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0

GPS1	110621,184103,4744.431,-12223.449,30,1.2,31,15.5	TGT_RADIUS	100.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.98	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	110621,185011,4744.482,-12223.409,22,1.4,22,15.5	MHEAD_RNG_PITCHd_Wd	167.7,2842,-17.6,-10.000,-21.21
SPEED_LIMITS	0.173,0.258	D_GRID	140
TGT_NAME	SE	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-19.000000,49.000000,24.000000
TGT_LATLONG	4743.000,-12224.000

WARN	HTMICL TMICL logging already stopped	_10V_AH	14.77,0.000
FINISH	1.3,1.004211	FG_AHR_24Vo	19.014
SM_CCo	3414.92,259.09,1.080,0,501.0,518.7,483.2,613.01	FG_AHR_10Vo	6.482
SM_GC	2.09,259.09,7.07,0.87,1.080,0.080,0.065,501.0,518.7,483.2,140.2,2273.1,0,0,0,12.52,15.33,15.94	MEM0	60868,1,0,0
SUPER	27,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	4744.47,-12222.38,110621,184446	MEM2	998496,17,48412,66
TCM_TEMP	11.90	DATA_FILE_SIZE	9767,419
XPDR_PINGS	32,12.5,11.5	CAP_FILE_SIZE	150968,0
SC_FREEKB	3877248	SDSIZE	3918848,3906848
PM_FREEKB_00	62119424	SDFILEDIR	56,1
PM_FREEKB_01	62343040	ERRORS	0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	0	CURRENT	0.069,290.4,1
TM_FREEKB	7751808	MAGCAL	1.000000,0.009006,0.006021,0.002490,1.034584,-0.000798,0.014545,0.002214,1.038754,-18.9,58.0,28.6,33,0.0088,0
HUMID	55.13	IMPLIED_C_PITCH	2446,24.04,216
TEMP	11.39	IMPLIED_C_VBD	2985,36.913994,192
INTERNAL_PRESSURE	8.34623	GPS	110621,194833,4744.279,-12223.315,29,1.0,30,15.5
_24V_AH	14.72,3.198

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	681	1276	12810.48	nil	0	0	0.00
Pitch_motor	21	473	147.51	nil	0	0	0.00
Roll_motor	45	123	82.81	nil	0	0	0.00
Iridium	291	179	771.49	nil	0	0	0.00
Transponder_ping	8	420	49.46	nil	0	0	0.00
GPS	31	15	7.05	nil	0	0	0.00
Core	2123	11	370.07	SciCon	3138	21	994.26
LPSleep	1711	2	70.79	PMAR	3153	7	328.92
Compass	838	5	61.93	TMICL	3134	9	429.61
RAFOS	0	0	0.00
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
13.58	16386	-146.63	-0.77	0.00	499.1	515.8	482.5	131.1	2150.9	0.00	0.00	0	127.88	109.07	0.00	0.00	0.005	0.000	0.000	3086.16	3049.56	3122.75	131.44	2151.69	0	0	0	15.25	30.00	30.00
128.08	18727	-146.63	-0.77	40.00	3085.0	3047.9	3122.1	131.4	2150.9	3.20	-1.20	11	161.19	13.56	10.73	2.55	0.006	0.474	0.055	3597.34	3545.69	3649.00	2181.94	3694.38	0	0	0	15.83	15.13	15.27
201.30	3205	-146.63	-0.61	0.00	3597.8	3546.8	3648.8	2182.2	3693.5	16.43	-21.81	25	209.33	0.00	0.24	2.36	0.000	0.305	0.023	3596.97	3545.38	3648.56	2244.25	2199.50	0	0	0	30.00	15.82	15.93
395.76	644	-146.63	-0.53	-40.00	3596.9	3545.1	3648.7	2244.1	2188.8	42.64	-11.48	45	402.19	0.00	0.00	2.23	0.000	0.000	0.039	3598.00	3545.62	3650.38	2245.38	796.12	0	0	0	30.00	30.00	15.99
440.49	3205	-146.63	-0.46	0.00	3596.6	3545.3	3647.9	2245.2	794.8	47.52	-10.55	54	450.51	0.00	0.20	2.44	0.000	0.265	0.045	3598.28	3546.75	3649.81	2293.19	2273.25	0	0	0	30.00	15.88	15.99
635.80	128	-146.63	-0.48	0.00	3596.5	3544.1	3648.9	2293.1	2274.2	65.74	-10.30	74	639.71	0.00	0.00	0.00	0.000	0.000	0.000	3596.44	3544.44	3648.44	2293.62	2273.75	0	0	0	30.00	30.00	30.00
825.85	676	-146.63	-0.50	-40.00	3596.4	3544.2	3648.6	2292.9	2273.2	84.55	-9.60	93	832.31	0.00	0.00	2.43	0.000	0.000	0.039	3597.12	3544.94	3649.31	2295.06	797.38	0	0	0	30.00	30.00	15.41
920.74	1188	-146.63	-0.54	0.00	3596.9	3544.6	3649.2	2294.7	794.9	92.43	-7.57	112	930.32	0.00	0.00	2.45	0.000	0.000	0.048	3596.62	3544.00	3649.25	2292.69	2273.50	0	0	0	30.00	30.00	16.01
1116.04	420	-146.63	-0.56	40.00	3596.6	3544.0	3649.2	2293.2	2274.2	107.41	-7.14	132	1122.46	0.00	0.00	2.30	0.000	0.000	0.061	3596.28	3544.38	3648.19	2292.56	3688.69	0	0	0	30.00	30.00	16.05
1160.78	5285	-146.63	-0.61	0.00	3596.6	3543.9	3649.3	2291.9	3690.0	111.55	-9.25	141	1170.13	0.00	0.16	2.37	0.000	0.076	0.031	3597.62	3545.62	3649.62	2214.44	2201.62	0	0	0	30.00	16.01	16.04
1357.44	676	-146.63	-0.75	-40.00	3596.3	3543.8	3648.9	2214.8	2194.5	131.25	-5.90	161	1363.86	0.00	0.00	2.23	0.000	0.000	0.039	3598.00	3544.75	3651.25	2213.44	795.94	0	0	0	30.00	30.00	16.05
1592.23	5285	-146.63	-1.07	0.00	3596.2	3542.6	3649.8	2214.5	793.4	131.30	0.01	208	1599.36	0.00	0.36	2.44	0.000	0.116	0.040	3596.47	3542.19	3650.75	2082.44	2280.25	0	0	0	30.00	15.36	15.94
1608	end dive: NO_VERTICAL_VELOCITY
state	1608	begin apogee
1609.37	10243	0.00	-0.17	0.00	3596.1	3542.8	3649.4	2081.6	1739.9	131.28	0.00	210	1726.12	111.29	0.83	0.17	1.276	0.065	0.124	2997.66	2885.38	3109.94	2404.12	1858.31	0	0	0	12.41	15.39	15.40
1728	end apogee: CONTROL_FINISHED_OK
state	1728	begin climb
1728.15	10503	146.63	0.77	40.00	2996.5	2883.9	3109.1	2404.3	1857.9	131.30	0.00	221	1849.64	111.89	0.83	2.39	1.233	0.105	0.053	2398.44	2236.94	2559.94	2692.00	3238.88	0	0	0	12.24	15.48	15.20
1991.07	9382	153.45	0.73	0.00	2392.5	2235.3	2549.6	2691.6	3240.1	111.38	9.68	271	2006.50	6.72	0.00	2.44	0.772	0.000	0.039	2373.25	2212.25	2534.25	2693.75	1758.69	0	0	0	12.29	30.00	15.71
2190.51	388	153.45	0.70	40.00	2370.0	2210.4	2529.6	2694.1	1756.4	88.47	11.74	293	2196.95	0.00	0.00	2.48	0.000	0.000	0.049	2371.97	2212.12	2531.81	2692.56	3241.88	0	0	0	30.00	30.00	15.87
2290.91	5253	153.45	0.65	0.00	2367.7	2209.4	2526.0	2692.7	3242.8	74.51	14.81	313	2300.79	0.00	0.19	2.41	0.000	0.247	0.039	2367.38	2209.44	2525.31	2641.75	1764.94	0	0	0	30.00	15.80	15.91
2487.58	10663	203.03	0.77	40.00	2368.0	2209.9	2526.2	2641.2	1761.5	57.63	7.70	333	2535.64	38.40	0.14	2.53	1.128	0.094	0.060	2169.38	1989.25	2349.50	2710.31	3238.31	0	0	0	12.51	15.93	15.66
2578.22	5253	203.03	0.73	0.00	2164.7	1987.4	2341.9	2710.1	3238.5	47.16	12.81	351	2584.79	0.00	0.16	2.44	0.000	0.246	0.043	2167.09	1989.81	2344.38	2666.06	1762.00	0	0	0	30.00	15.68	15.15
2769.00	10663	245.04	0.82	40.00	2162.9	1986.2	2339.6	2666.4	1758.6	30.82	8.05	371	2813.13	31.84	0.11	2.55	1.076	0.101	0.066	2000.91	1798.94	2202.88	2724.62	3234.81	0	0	0	12.48	15.87	15.67
2893.25	21639	245.04	0.79	0.00	1991.7	1794.9	2188.4	2725.9	3237.1	15.41	13.09	395	2900.47	0.00	0.14	2.42	0.000	0.237	0.041	1993.84	1796.25	2191.44	2682.94	1765.31	0	0	0	30.00	15.72	15.79
3088	end climb: SURFACE_DEPTH_REACHED
state	3088	begin surface coast
3130	end surface coast: CONTROL_FINISHED_OK
state	3130	begin surface