Glider dive log

Shilshole 02Jun21 * SG231 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 231 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 4 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.047120001 XPDR_VALID 6

DIVE 4 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 5 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 609.38251 VBD_MIN 525 INT_PRESSURE_YINT -3.25

D_TGT 150 N_FILEKB 8 VBD_MAX 3950 DEEPGLIDER 0

D_ABORT 175 FILEMGR 0 C_VBD 2980 DEEPGLIDERMB 0

D_NO_BLEED 50 CALL_NDIVES 1 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 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 1 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 2 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 DBDW 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 LOITER_W_DBAND 20 LOGGERDEVICE2 -1

T_DIVE 50 CAPMAXSIZE 100000 LOITER_DBDW 40 LOGGERDEVICE3 -1

T_MISSION 65 T_GPS 5 LOITER_D_TOP 100 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 200 COMPASS_DEVICE 66

T_TURN 225 T_RSLEEP 2 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 102

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 471 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3850 MAXI_10V 1.4 SIM_W 0

D_OFFGRID 150 C_PITCH 3550 FG_AHR_10V 23.779819 SEABIRD_T_G 0.0043565771

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 18.147648 SEABIRD_T_H 0.00062677637

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 PHONE_SUPPLY 2 SEABIRD_T_I 2.4431472e-05

MAX_BUOY 150 PITCH_GAIN 27 PRESSURE_YINT -151.59618 SEABIRD_T_J 2.7094229e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 26 PRESSURE_SLOPE 0.00022543591 SEABIRD_C_G -10.133897

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 16388 SEABIRD_C_H 1.1473427

RHO 1.023 PITCH_ADJ_GAIN 0.0099999998 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0015492893

MASS 72436 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0002031941

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 345 ALTIM_TOP_MIN_OBSTACLE 0 SC_XMITPROFILE 3.0

HD_A 0.003 ROLL_MAX 3945 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0099999998 ROLL_DEG 80 ALTIM_PING_DELTA 0

HD_C 1.6e-05 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2145 ALTIM_PULSE 3

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00062677637

AH0_24V 575 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.4431472e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 150 N_NOSURFACE 0 SEABIRD_T_J 2.7094229e-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 609.38251

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 23.779819 PITCH_ADJ_GAIN 0.0099999998 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 18.147648 PITCH_CNV 0.0031300001 STROBE 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 27 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3850 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MIN 471 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_TIMEOUT 26 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 1.6e-05 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 231 PRESSURE_SLOPE 0.00022543591 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -151.59618 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3.25 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 102 T_RSLEEP 2

C_PITCH 3550 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2145 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2300 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 2980 LOGGERS 3 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 40 RHO 1.023 USE_BATHY -6

DEEPGLIDER 0 LOITER_D_BOTTOM 200 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 20 ROLL_DEG 80 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 72436 ROLL_MAX 3945 VBD_MAX 3950

DEVICE4 -1 MAXI_10V 1.4 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 5 ROLL_MIN 345 VBD_MIN 525

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

DIVE 4 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 2

D_ABORT 175 MINV_24V 11 SC_PROFILE 3.0 XPDR_DEVICE 21

D_BOOST 0 MISSION 4 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 -10.133897 XPDR_REP 0

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1.1473427 XPDR_VALID 6

D_NO_BLEED 50 NOCOMM_ACTION 163 SEABIRD_C_I -0.0015492893

D_OFFGRID 150 N_DIVES 5 SEABIRD_C_J 0.0002031941

D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043565771

Pre-dive calculations and measurements:

GPS1 020621,184826,4742.996,-12224.031,1,0.9,1,15.5 TGT_RADIUS 100.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.65 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 020621,185159,4742.948,-12224.037,2,0.9,4,15.5 MHEAD_RNG_PITCHd_Wd 356.2,107,-27.2,-10.000,-30.00

SPEED_LIMITS 0.173,0.258 D_GRID 165

TGT_NAME SE IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-560.000000,1348.000000,-490.000000

TGT_LATLONG 4743.000,-12224.000

Post-dive calculations and measurements:

NAV 1622662572,8.9,1,stop _10V_AH 14.85,0.000

MODEM_MSG CACST,6,1,20210531133123.971808,05,187,16,0142,0150,246,01,01,01,03,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*34 FG_AHR_24Vo 18.332

FINISH 0.1,1.020053 FG_AHR_10Vo 23.831

SM_CCo 3080.78,300.62,1.081,0,526.1,521.2,531.0,601.94 MEM0 60860,1,0,0

SM_GC 1.67,300.62,10.10,4.14,1.081,0.125,0.034,526.1,521.2,531.0,461.2,2270.0,0,0,0,12.69,15.89,15.97 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 997500,28,49308,60

IRIDIUM_FIX 4742.53,-12217.96,020621,184901 DATA_FILE_SIZE 9757,356

TCM_TEMP 14.09 CAP_FILE_SIZE 169829,0

XPDR_PINGS 8,14.0,10.5 SDSIZE 3918848,3901600

SC_FREEKB 3876960 SDFILEDIR 258,2

RAFOS_CLK -2 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 6,1622467883,48.25000,-122.50000,83.972,123018.7 SOUNDSPEED 1465.0

RAFOS_FIX 4829.836426,-12254.357422,310521,101015,3,255,-53.82 CURRENT 0.057,167.9,1

HUMID 56.05 MAGCAL 1.000000,-0.056809,-0.017757,-0.029514,1.087057,-0.008340,-0.007155,0.006212,1.100157,-584.4,1314.4,-483.9,29,0.0210,0

TEMP 11.50 IMPLIED_C_PITCH 3565,24.05,177

INTERNAL_PRESSURE 8.42005 IMPLIED_C_VBD 2748,18.197258,177

_24V_AH 14.80,24.963 GPS 020621,194408,4743.144,-12223.984,1,1.2,5,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 666 1238 12209.26 nil 0 0 0.00

Pitch_motor 25 430 161.97 nil 0 0 0.00

Roll_motor 74 129 143.32 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 12.43 nil 0 0 0.00

GPS 13 15 3.06 nil 0 0 0.00

Core 1233 11 218.36 SciCon 2746 27 1120.91

LPSleep 1581 2 68.57 nil 0 0 0.00

Compass 525 5 39.03 nil 0 0 0.00

RAFOS 2231 40 1325.45

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

6.10 16386 -63.69 -1.20 0.00 524.7 537.3 512.1 460.6 2251.2 0.00 0.00 0 99.15 89.66 0.00 0.00 0.005 0.000 0.000 2573.34 2667.50 2479.19 460.50 2252.62 0 0 0 15.84 30.00 30.00

100.25 18983 -140.23 -1.43 -80.00 2573.2 2666.6 2479.7 460.4 2252.2 3.17 -1.92 9 157.55 34.01 12.51 4.58 0.005 0.430 0.065 3552.09 3698.12 3406.06 3096.31 586.94 0 0 0 15.89 15.71 15.87

180.93 3205 -140.23 -1.30 0.00 3553.4 3698.3 3408.6 3096.5 587.1 9.49 -15.23 25 188.43 0.00 0.21 4.64 0.000 0.336 0.044 3553.88 3696.25 3411.50 3131.88 2315.38 0 0 0 30.00 15.82 15.95

375.97 644 -140.23 -1.24 -80.00 3554.2 3698.5 3409.9 3133.6 2317.4 52.81 -23.14 45 383.41 0.00 0.00 4.74 0.000 0.000 0.065 3553.75 3697.94 3409.56 3139.19 589.50 0 0 0 30.00 30.00 15.99

426.32 3205 -140.23 -1.15 0.00 3553.5 3696.7 3410.2 3139.1 589.3 66.70 -28.07 55 433.76 0.00 0.20 4.64 0.000 0.313 0.047 3554.47 3698.12 3410.81 3181.56 2313.06 0 0 0 30.00 15.85 16.00

617.12 0 -140.23 -1.15 0.00 3553.9 3697.7 3410.1 3181.6 2314.5 107.16 -19.52 75 619.65 0.00 0.00 0.00 0.000 0.000 0.000 3553.28 3696.62 3409.94 3181.38 2314.06 0 0 0 30.00 30.00 30.00

807.15 516 -140.23 -1.15 -80.00 3553.9 3697.1 3410.8 3182.0 2314.4 145.22 -19.22 94 814.61 0.00 0.00 4.74 0.000 0.000 0.066 3555.16 3697.69 3412.62 3182.56 590.94 0 0 0 30.00 30.00 16.02

831 end dive: TARGET_DEPTH_EXCEEDED

state 832 begin apogee

840.96 10243 0.00 -0.19 0.00 3554.2 3697.8 3410.7 3168.7 2157.4 150.87 -21.88 99 953.86 108.05 1.13 0.10 1.239 0.262 0.130 2976.31 3082.00 2870.62 3492.06 2107.62 0 0 0 12.60 15.88 15.59

954 end apogee: CONTROL_FINISHED_OK

state 954 begin climb

955.88 10503 140.23 1.43 80.00 2977.1 3083.1 2871.1 3491.2 2108.2 158.52 0.00 110 1075.46 106.18 1.10 5.11 1.222 0.132 0.080 2405.25 2496.69 2313.81 3835.44 3848.62 0 0 0 12.65 15.60 15.42

1133.51 3205 140.23 1.47 0.00 2400.3 2495.0 2305.6 3835.4 3848.3 145.72 10.55 145 1140.79 0.00 0.04 4.68 0.000 0.319 0.035 2397.97 2492.38 2303.56 3846.38 2121.31 0 0 0 30.00 15.55 15.63

1324.18 18563 140.23 1.53 0.00 2396.1 2494.5 2297.8 3846.2 2120.5 127.13 9.76 165 1326.82 0.00 0.03 0.00 0.000 0.285 0.000 2395.44 2493.94 2296.94 3861.00 2118.75 0 0 0 30.00 15.77 30.00

1514.20 18563 140.23 1.58 0.00 2395.5 2494.8 2296.2 3861.4 2119.1 107.69 9.80 184 1516.74 0.00 0.00 0.00 0.000 0.000 0.000 2395.06 2493.75 2296.38 3861.94 2119.69 0 0 0 30.00 30.00 30.00

1704.25 18823 140.23 1.64 80.00 2395.0 2494.4 2295.6 3860.8 2119.2 88.14 10.42 203 1711.69 0.00 0.00 4.90 0.000 0.000 0.076 2398.47 2498.88 2298.06 3839.50 3851.38 0 0 0 30.00 30.00 15.94

1754.59 19591 140.23 1.67 0.00 2394.8 2494.2 2295.2 3840.9 3852.0 82.10 12.09 213 1761.99 0.00 0.06 4.59 0.000 0.321 0.035 2394.47 2494.94 2294.00 3845.75 2121.62 0 0 0 30.00 15.83 15.94

1945.40 18823 140.23 1.74 80.00 2394.5 2495.8 2293.1 3845.7 2114.4 64.53 8.30 233 1952.89 0.00 0.01 4.89 0.000 0.292 0.076 2395.62 2496.75 2294.50 3831.38 3848.38 0 0 0 30.00 30.36 15.95

2021.28 19591 140.23 1.78 0.00 2394.4 2495.3 2293.5 3831.9 3848.5 57.09 10.03 248 2028.73 0.00 0.03 4.59 0.000 0.341 0.036 2398.12 2500.50 2295.75 3845.25 2119.75 0 0 0 30.00 15.86 15.97

2216.30 19079 140.23 1.86 -80.00 2394.2 2496.4 2292.1 3844.9 2118.4 42.11 8.25 268 2223.76 0.00 0.03 4.66 0.000 0.288 0.069 2395.31 2497.38 2293.25 3881.19 437.31 0 0 0 30.00 15.94 15.95

2436.73 19591 140.23 1.91 0.00 2394.2 2496.2 2292.1 3880.8 436.1 21.70 8.53 312 2444.08 0.00 0.00 4.61 0.000 0.000 0.035 2395.19 2496.81 2293.56 3869.25 2162.56 0 0 0 30.00 30.00 15.97

2627.83 10663 175.16 2.08 80.00 2394.2 2496.7 2291.8 3869.3 2163.9 8.93 6.31 332 2663.48 27.50 0.00 4.74 1.087 0.000 0.079 2263.31 2369.81 2156.81 3864.69 3850.31 0 0 0 12.76 30.00 15.86

2720 end climb: SURFACE_DEPTH_REACHED

state 2721 begin surface coast

2746 end surface coast: CONTROL_FINISHED_OK

state 2746 begin surface

ID	231	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	4	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.047120001	XPDR_VALID	6
DIVE	4	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	5	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	609.38251	VBD_MIN	525	INT_PRESSURE_YINT	-3.25
D_TGT	150	N_FILEKB	8	VBD_MAX	3950	DEEPGLIDER	0
D_ABORT	175	FILEMGR	0	C_VBD	2980	DEEPGLIDERMB	0
D_NO_BLEED	50	CALL_NDIVES	1	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	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	1	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	2	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	DBDW	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	LOITER_W_DBAND	20	LOGGERDEVICE2	-1
T_DIVE	50	CAPMAXSIZE	100000	LOITER_DBDW	40	LOGGERDEVICE3	-1
T_MISSION	65	T_GPS	5	LOITER_D_TOP	100	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	200	COMPASS_DEVICE	66
T_TURN	225	T_RSLEEP	2	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	102
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	471	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3850	MAXI_10V	1.4	SIM_W	0
D_OFFGRID	150	C_PITCH	3550	FG_AHR_10V	23.779819	SEABIRD_T_G	0.0043565771
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	18.147648	SEABIRD_T_H	0.00062677637
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	PHONE_SUPPLY	2	SEABIRD_T_I	2.4431472e-05
MAX_BUOY	150	PITCH_GAIN	27	PRESSURE_YINT	-151.59618	SEABIRD_T_J	2.7094229e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	26	PRESSURE_SLOPE	0.00022543591	SEABIRD_C_G	-10.133897
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	16388	SEABIRD_C_H	1.1473427
RHO	1.023	PITCH_ADJ_GAIN	0.0099999998	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0015492893
MASS	72436	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0002031941
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	345	ALTIM_TOP_MIN_OBSTACLE	0	SC_XMITPROFILE	3.0
HD_A	0.003	ROLL_MAX	3945	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0099999998	ROLL_DEG	80	ALTIM_PING_DELTA	0
HD_C	1.6e-05	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2145	ALTIM_PULSE	3

GPS1	020621,184826,4742.996,-12224.031,1,0.9,1,15.5	TGT_RADIUS	100.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.65	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	020621,185159,4742.948,-12224.037,2,0.9,4,15.5	MHEAD_RNG_PITCHd_Wd	356.2,107,-27.2,-10.000,-30.00
SPEED_LIMITS	0.173,0.258	D_GRID	165
TGT_NAME	SE	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-560.000000,1348.000000,-490.000000
TGT_LATLONG	4743.000,-12224.000

NAV	1622662572,8.9,1,stop	_10V_AH	14.85,0.000
MODEM_MSG	CACST,6,1,20210531133123.971808,05,187,16,0142,0150,246,01,01,01,03,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*34	FG_AHR_24Vo	18.332
FINISH	0.1,1.020053	FG_AHR_10Vo	23.831
SM_CCo	3080.78,300.62,1.081,0,526.1,521.2,531.0,601.94	MEM0	60860,1,0,0
SM_GC	1.67,300.62,10.10,4.14,1.081,0.125,0.034,526.1,521.2,531.0,461.2,2270.0,0,0,0,12.69,15.89,15.97	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	997500,28,49308,60
IRIDIUM_FIX	4742.53,-12217.96,020621,184901	DATA_FILE_SIZE	9757,356
TCM_TEMP	14.09	CAP_FILE_SIZE	169829,0
XPDR_PINGS	8,14.0,10.5	SDSIZE	3918848,3901600
SC_FREEKB	3876960	SDFILEDIR	258,2
RAFOS_CLK	-2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	6,1622467883,48.25000,-122.50000,83.972,123018.7	SOUNDSPEED	1465.0
RAFOS_FIX	4829.836426,-12254.357422,310521,101015,3,255,-53.82	CURRENT	0.057,167.9,1
HUMID	56.05	MAGCAL	1.000000,-0.056809,-0.017757,-0.029514,1.087057,-0.008340,-0.007155,0.006212,1.100157,-584.4,1314.4,-483.9,29,0.0210,0
TEMP	11.50	IMPLIED_C_PITCH	3565,24.05,177
INTERNAL_PRESSURE	8.42005	IMPLIED_C_VBD	2748,18.197258,177
_24V_AH	14.80,24.963	GPS	020621,194408,4743.144,-12223.984,1,1.2,5,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	666	1238	12209.26	nil	0	0	0.00
Pitch_motor	25	430	161.97	nil	0	0	0.00
Roll_motor	74	129	143.32	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	12.43	nil	0	0	0.00
GPS	13	15	3.06	nil	0	0	0.00
Core	1233	11	218.36	SciCon	2746	27	1120.91
LPSleep	1581	2	68.57	nil	0	0	0.00
Compass	525	5	39.03	nil	0	0	0.00
RAFOS	2231	40	1325.45
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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
6.10	16386	-63.69	-1.20	0.00	524.7	537.3	512.1	460.6	2251.2	0.00	0.00	0	99.15	89.66	0.00	0.00	0.005	0.000	0.000	2573.34	2667.50	2479.19	460.50	2252.62	0	0	0	15.84	30.00	30.00
100.25	18983	-140.23	-1.43	-80.00	2573.2	2666.6	2479.7	460.4	2252.2	3.17	-1.92	9	157.55	34.01	12.51	4.58	0.005	0.430	0.065	3552.09	3698.12	3406.06	3096.31	586.94	0	0	0	15.89	15.71	15.87
180.93	3205	-140.23	-1.30	0.00	3553.4	3698.3	3408.6	3096.5	587.1	9.49	-15.23	25	188.43	0.00	0.21	4.64	0.000	0.336	0.044	3553.88	3696.25	3411.50	3131.88	2315.38	0	0	0	30.00	15.82	15.95
375.97	644	-140.23	-1.24	-80.00	3554.2	3698.5	3409.9	3133.6	2317.4	52.81	-23.14	45	383.41	0.00	0.00	4.74	0.000	0.000	0.065	3553.75	3697.94	3409.56	3139.19	589.50	0	0	0	30.00	30.00	15.99
426.32	3205	-140.23	-1.15	0.00	3553.5	3696.7	3410.2	3139.1	589.3	66.70	-28.07	55	433.76	0.00	0.20	4.64	0.000	0.313	0.047	3554.47	3698.12	3410.81	3181.56	2313.06	0	0	0	30.00	15.85	16.00
617.12	0	-140.23	-1.15	0.00	3553.9	3697.7	3410.1	3181.6	2314.5	107.16	-19.52	75	619.65	0.00	0.00	0.00	0.000	0.000	0.000	3553.28	3696.62	3409.94	3181.38	2314.06	0	0	0	30.00	30.00	30.00
807.15	516	-140.23	-1.15	-80.00	3553.9	3697.1	3410.8	3182.0	2314.4	145.22	-19.22	94	814.61	0.00	0.00	4.74	0.000	0.000	0.066	3555.16	3697.69	3412.62	3182.56	590.94	0	0	0	30.00	30.00	16.02
831	end dive: TARGET_DEPTH_EXCEEDED
state	832	begin apogee
840.96	10243	0.00	-0.19	0.00	3554.2	3697.8	3410.7	3168.7	2157.4	150.87	-21.88	99	953.86	108.05	1.13	0.10	1.239	0.262	0.130	2976.31	3082.00	2870.62	3492.06	2107.62	0	0	0	12.60	15.88	15.59
954	end apogee: CONTROL_FINISHED_OK
state	954	begin climb
955.88	10503	140.23	1.43	80.00	2977.1	3083.1	2871.1	3491.2	2108.2	158.52	0.00	110	1075.46	106.18	1.10	5.11	1.222	0.132	0.080	2405.25	2496.69	2313.81	3835.44	3848.62	0	0	0	12.65	15.60	15.42
1133.51	3205	140.23	1.47	0.00	2400.3	2495.0	2305.6	3835.4	3848.3	145.72	10.55	145	1140.79	0.00	0.04	4.68	0.000	0.319	0.035	2397.97	2492.38	2303.56	3846.38	2121.31	0	0	0	30.00	15.55	15.63
1324.18	18563	140.23	1.53	0.00	2396.1	2494.5	2297.8	3846.2	2120.5	127.13	9.76	165	1326.82	0.00	0.03	0.00	0.000	0.285	0.000	2395.44	2493.94	2296.94	3861.00	2118.75	0	0	0	30.00	15.77	30.00
1514.20	18563	140.23	1.58	0.00	2395.5	2494.8	2296.2	3861.4	2119.1	107.69	9.80	184	1516.74	0.00	0.00	0.00	0.000	0.000	0.000	2395.06	2493.75	2296.38	3861.94	2119.69	0	0	0	30.00	30.00	30.00
1704.25	18823	140.23	1.64	80.00	2395.0	2494.4	2295.6	3860.8	2119.2	88.14	10.42	203	1711.69	0.00	0.00	4.90	0.000	0.000	0.076	2398.47	2498.88	2298.06	3839.50	3851.38	0	0	0	30.00	30.00	15.94
1754.59	19591	140.23	1.67	0.00	2394.8	2494.2	2295.2	3840.9	3852.0	82.10	12.09	213	1761.99	0.00	0.06	4.59	0.000	0.321	0.035	2394.47	2494.94	2294.00	3845.75	2121.62	0	0	0	30.00	15.83	15.94
1945.40	18823	140.23	1.74	80.00	2394.5	2495.8	2293.1	3845.7	2114.4	64.53	8.30	233	1952.89	0.00	0.01	4.89	0.000	0.292	0.076	2395.62	2496.75	2294.50	3831.38	3848.38	0	0	0	30.00	30.36	15.95
2021.28	19591	140.23	1.78	0.00	2394.4	2495.3	2293.5	3831.9	3848.5	57.09	10.03	248	2028.73	0.00	0.03	4.59	0.000	0.341	0.036	2398.12	2500.50	2295.75	3845.25	2119.75	0	0	0	30.00	15.86	15.97
2216.30	19079	140.23	1.86	-80.00	2394.2	2496.4	2292.1	3844.9	2118.4	42.11	8.25	268	2223.76	0.00	0.03	4.66	0.000	0.288	0.069	2395.31	2497.38	2293.25	3881.19	437.31	0	0	0	30.00	15.94	15.95
2436.73	19591	140.23	1.91	0.00	2394.2	2496.2	2292.1	3880.8	436.1	21.70	8.53	312	2444.08	0.00	0.00	4.61	0.000	0.000	0.035	2395.19	2496.81	2293.56	3869.25	2162.56	0	0	0	30.00	30.00	15.97
2627.83	10663	175.16	2.08	80.00	2394.2	2496.7	2291.8	3869.3	2163.9	8.93	6.31	332	2663.48	27.50	0.00	4.74	1.087	0.000	0.079	2263.31	2369.81	2156.81	3864.69	3850.31	0	0	0	12.76	30.00	15.86
2720	end climb: SURFACE_DEPTH_REACHED
state	2721	begin surface coast
2746	end surface coast: CONTROL_FINISHED_OK
state	2746	begin surface