Glider dive log

Shilshole 02Jun21 * SG232 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 232 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 5 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 4 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 566.45502 VBD_MIN 550 INT_PRESSURE_YINT 0.5

D_TGT 150 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 FILEMGR 0 C_VBD 3100 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 0.0012300001 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 3

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 DBDW 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 LOITER_W_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 50 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 65 T_GPS 5 LOITER_D_TOP 0 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 0 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 525 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 450 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3850 MAXI_10V 1.4 SIM_W 0

D_OFFGRID 100 C_PITCH 2650 FG_AHR_10V 24.050232 SEABIRD_T_G 0.0044240318

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 39.637283 SEABIRD_T_H 0.0006469884

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 PHONE_SUPPLY 2 SEABIRD_T_I 2.7191092e-05

MAX_BUOY 150 PITCH_GAIN 24 PRESSURE_YINT -160.03102 SEABIRD_T_J 3.4398734e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 25 PRESSURE_SLOPE 0.00022642814 SEABIRD_C_G -9.9621954

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 16388 SEABIRD_C_H 1.1055299

RHO 1.023 PITCH_ADJ_GAIN 0.0099999998 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0031133897

MASS 72460 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00029840908

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 200 ALTIM_TOP_MIN_OBSTACLE 0 SC_XMITPROFILE 3.0

HD_A 0.0045699999 ROLL_MAX 3920 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0104 ROLL_DEG 80 ALTIM_PING_DELTA 0

HD_C 5.7000002e-06 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 1850 ALTIM_PULSE 3

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.0006469884

AH0_24V 525 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.7191092e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 150 N_NOSURFACE 0 SEABIRD_T_J 3.4398734e-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 566.45502

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 24.050232 PITCH_ADJ_GAIN 0.0099999998 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 39.637283 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 24 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 0.0045699999 PITCH_MIN 450 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0104 PITCH_TIMEOUT 25 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0012300001 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 232 PRESSURE_SLOPE 0.00022642814 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -160.03102 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0.5 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 2650 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 1850 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 1900 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 3100 LOGGERS 3 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 0 RHO 1.023 USE_BATHY -6

DEEPGLIDER 0 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 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 0 ROLL_DEG 80 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 72460 ROLL_MAX 3920 VBD_MAX 3960

DEVICE4 -1 MAXI_10V 1.4 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 5 ROLL_MIN 200 VBD_MIN 550

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

DIVE 4 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_ABORT 175 MINV_24V 11 SC_PROFILE 3.0 XPDR_DEVICE 21

D_BOOST 0 MISSION 5 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 -9.9621954 XPDR_REP 0

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1.1055299 XPDR_VALID 6

D_NO_BLEED 50 NOCOMM_ACTION 163 SEABIRD_C_I -0.0031133897

D_OFFGRID 100 N_DIVES 4 SEABIRD_C_J 0.00029840908

D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0044240318

Pre-dive calculations and measurements:

GPS1 020621,185028,4742.778,-12223.993,1,1.6,4,15.5 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.89 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 020621,185309,4742.739,-12223.996,2,1.7,6,15.5 MHEAD_RNG_PITCHd_Wd 349.2,483,-18.8,-10.000,-21.17

SPEED_LIMITS 0.173,0.258 D_GRID 154

TGT_NAME SE IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,129.000000,846.000000,760.000000

TGT_LATLONG 4743.000,-12224.000

Post-dive calculations and measurements:

NAV 1622662572,43.1,2,stop _10V_AH 14.70,0.000

MODEM_MSG CACST,6,1,20210602193023.937636,05,32767,45,0103,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3D FG_AHR_24Vo 39.814

FINISH -0.4,1.020043 FG_AHR_10Vo 24.105

SM_CCo 3326.69,279.11,0.965,0,790.1,870.7,709.5,566.62 MEM0 60860,1,0,0

SM_GC 0.88,279.11,6.93,4.78,0.965,0.073,0.075,790.1,870.7,709.5,438.0,1885.1,0,0,0,12.23,15.63,15.67 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 997408,27,49360,63

IRIDIUM_FIX 4742.53,-12217.96,020621,184755 DATA_FILE_SIZE 9715,366

TCM_TEMP 11.07 CAP_FILE_SIZE 174045,0

XPDR_PINGS 6,13.0,10.5 SDSIZE 3918848,3907936

SC_FREEKB 3876960 SDFILEDIR 55,1

RAFOS_CLK -3 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 1,1622657205,47.50000,-123.50000,105.025,153861.9 SOUNDSPEED 1465.0

RAFOS_FIX 4815.000000,-12154.564453,020621,191923,2,510,4692.50 CURRENT 0.043,182.8,1

HUMID 54.16 MAGCAL 1.000000,-0.043175,0.030508,-0.033391,1.122785,-0.015401,-0.043167,0.001528,1.147005,-2.3,868.8,758.6,19,0.0299,0

TEMP 11.39 IMPLIED_C_PITCH 2632,30.89,192

INTERNAL_PRESSURE 8.56252 IMPLIED_C_VBD 3047,25.617577,192

_24V_AH 14.61,9.191 GPS 020621,195002,4742.999,-12223.944,31,1.3,33,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 697 1175 11980.86 nil 0 0 0.00

Pitch_motor 19 421 117.97 nil 0 0 0.00

Roll_motor 79 144 169.05 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 9.20 nil 0 0 0.00

GPS 14 15 3.29 nil 0 0 0.00

Core 1330 11 233.05 SciCon 3022 27 1204.45

LPSleep 1770 2 76.02 nil 0 0 0.00

Compass 541 5 39.80 nil 0 0 0.00

RAFOS 2227 40 1309.57

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

5.59 16386 -146.63 -0.96 0.00 785.7 854.1 717.3 450.1 1921.9 0.00 0.00 0 119.41 112.29 0.00 0.00 0.005 0.000 0.000 3270.38 3267.38 3273.38 450.12 1924.50 0 0 0 15.40 30.00 30.00

120.52 18983 -146.63 -0.96 -80.00 3268.6 3265.9 3271.2 450.1 1924.8 3.19 -2.30 11 152.41 12.80 9.39 5.12 0.006 0.422 0.104 3697.31 3676.69 3717.94 2362.44 193.06 0 0 0 15.52 15.25 15.41

155.34 3237 -146.63 -0.62 0.00 3697.0 3676.1 3717.9 2362.1 193.0 6.01 -7.22 17 165.69 0.00 0.44 4.93 0.000 0.298 0.071 3698.25 3677.56 3718.94 2451.94 1925.69 0 0 0 30.00 15.51 15.73

350.82 388 -146.63 -0.59 80.00 3698.9 3678.9 3718.9 2452.6 1926.1 24.25 -10.09 38 358.29 0.00 0.00 4.95 0.000 0.000 0.097 3700.09 3679.94 3720.25 2432.44 3604.75 0 0 0 30.00 30.00 15.54

456.67 1028 -146.63 -0.59 0.00 3698.9 3679.4 3718.5 2433.7 3606.4 35.82 -11.27 59 464.16 0.00 0.00 4.93 0.000 0.000 0.072 3699.66 3679.69 3719.62 2439.50 1886.62 0 0 0 30.00 30.00 15.69

651.72 128 -146.63 -0.57 0.00 3699.6 3679.4 3719.7 2439.0 1885.0 58.42 -11.20 79 654.25 0.00 0.00 0.00 0.000 0.000 0.000 3699.25 3679.31 3719.19 2439.06 1885.12 0 0 0 30.00 30.00 30.00

841.75 292 -146.63 -0.57 80.00 3699.3 3679.4 3719.2 2439.4 1885.5 78.01 -9.35 98 852.54 0.00 0.00 5.11 0.000 0.000 0.097 3699.81 3679.94 3719.69 2420.31 3605.44 0 0 0 30.00 30.00 15.56

871.74 3109 -146.63 -0.57 0.00 3699.2 3680.0 3718.4 2419.8 3606.4 81.12 -9.91 104 882.57 0.00 0.15 4.95 0.000 0.200 0.074 3699.56 3680.19 3718.94 2470.25 1886.81 0 0 0 30.00 15.56 15.58

1071.82 420 -146.63 -0.60 80.00 3699.1 3679.1 3719.1 2470.5 1881.9 98.25 -8.61 125 1082.58 0.00 0.00 5.12 0.000 0.000 0.099 3701.12 3681.00 3721.25 2450.88 3606.56 0 0 0 30.00 30.00 15.55

1101.80 1188 -146.63 -0.64 0.00 3699.2 3679.8 3718.8 2450.6 3605.9 100.69 -8.31 131 1109.27 0.00 0.00 4.95 0.000 0.000 0.073 3699.31 3679.56 3719.06 2450.75 1886.69 0 0 0 30.00 30.00 15.60

1296.83 160 -146.63 -0.67 0.00 3699.4 3680.2 3718.6 2451.0 1885.3 116.75 -8.28 151 1299.36 0.00 0.00 0.00 0.000 0.000 0.000 3699.00 3679.12 3718.88 2451.25 1884.75 0 0 0 30.00 30.00 30.00

1486.88 160 -146.63 -0.70 0.00 3699.5 3679.8 3719.2 2450.8 1884.9 133.78 -8.63 170 1489.41 0.00 0.00 0.00 0.000 0.000 0.000 3699.44 3679.94 3718.94 2451.56 1885.38 0 0 0 30.00 30.00 30.00

1676 end dive: TARGET_DEPTH_EXCEEDED

state 1676 begin apogee

1680.09 10243 0.00 -0.21 0.00 3699.1 3679.5 3718.6 2450.8 1830.5 150.66 -8.95 189 1799.22 114.39 0.44 0.12 1.175 0.174 0.145 3097.69 3068.69 3126.69 2586.69 1872.50 0 0 0 11.75 15.49 15.33

1801 end apogee: CONTROL_FINISHED_OK

state 1801 begin climb

1801.23 10243 146.63 0.96 0.00 3096.8 3067.1 3126.5 2586.4 1872.2 155.61 0.00 201 1924.09 118.15 1.17 0.00 1.139 0.131 0.000 2503.62 2471.44 2535.81 2962.81 1875.81 0 0 0 12.21 15.42 30.00

2107.51 21127 146.63 0.84 -80.00 2491.9 2450.9 2533.0 2963.4 1877.6 111.29 19.39 238 2118.38 0.00 0.20 5.12 0.000 0.282 0.106 2494.38 2452.69 2536.06 2935.19 192.94 0 0 0 30.00 15.23 15.28

2152.03 21639 146.63 0.76 0.00 2489.2 2450.5 2527.9 2936.2 193.0 102.44 19.61 247 2162.33 0.00 0.16 4.91 0.000 0.267 0.074 2490.72 2452.25 2529.19 2886.94 1865.00 0 0 0 30.00 15.33 15.49

2347.55 16774 146.63 0.70 80.00 2488.3 2448.7 2527.9 2886.8 1876.7 71.80 15.38 268 2358.29 0.00 0.00 4.99 0.000 0.000 0.096 2490.94 2451.56 2530.31 2871.81 3554.31 0 0 0 30.00 30.00 15.49

2402.08 17542 146.63 0.62 0.00 2489.2 2449.3 2529.1 2871.7 3554.7 63.04 15.80 279 2412.31 0.00 0.00 4.99 0.000 0.000 0.076 2489.91 2450.06 2529.75 2892.31 1836.69 0 0 0 30.00 30.00 15.55

2597.60 21127 146.63 0.56 -80.00 2488.1 2447.4 2528.9 2891.9 1835.5 37.68 13.69 300 2608.41 0.00 0.26 4.91 0.000 0.264 0.108 2487.72 2447.12 2528.31 2841.00 191.62 0 0 0 30.00 15.35 15.41

2707.60 17414 146.63 0.56 0.00 2486.9 2447.2 2526.6 2842.2 191.7 23.73 11.71 322 2715.07 0.00 0.00 4.84 0.000 0.000 0.073 2487.94 2448.00 2527.88 2839.31 1860.06 0 0 0 30.00 30.00 15.59

2902.64 8486 218.08 0.65 80.00 2486.1 2445.5 2526.7 2839.3 1875.2 7.74 6.74 342 2971.31 61.00 0.00 4.99 1.009 0.000 0.100 2205.88 2164.19 2247.56 2839.44 3554.44 0 0 0 11.86 30.00 15.50

2989 end climb: SURFACE_DEPTH_REACHED

state 2989 begin surface coast

3024 end surface coast: CONTROL_FINISHED_OK

state 3024 begin surface

ID	232	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	5	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	4	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	566.45502	VBD_MIN	550	INT_PRESSURE_YINT	0.5
D_TGT	150	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	FILEMGR	0	C_VBD	3100	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	0.0012300001	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	3
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	DBDW	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	LOITER_W_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	50	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	65	T_GPS	5	LOITER_D_TOP	0	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	0	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	525	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	450	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3850	MAXI_10V	1.4	SIM_W	0
D_OFFGRID	100	C_PITCH	2650	FG_AHR_10V	24.050232	SEABIRD_T_G	0.0044240318
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	39.637283	SEABIRD_T_H	0.0006469884
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	PHONE_SUPPLY	2	SEABIRD_T_I	2.7191092e-05
MAX_BUOY	150	PITCH_GAIN	24	PRESSURE_YINT	-160.03102	SEABIRD_T_J	3.4398734e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	25	PRESSURE_SLOPE	0.00022642814	SEABIRD_C_G	-9.9621954
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	16388	SEABIRD_C_H	1.1055299
RHO	1.023	PITCH_ADJ_GAIN	0.0099999998	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0031133897
MASS	72460	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00029840908
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	200	ALTIM_TOP_MIN_OBSTACLE	0	SC_XMITPROFILE	3.0
HD_A	0.0045699999	ROLL_MAX	3920	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0104	ROLL_DEG	80	ALTIM_PING_DELTA	0
HD_C	5.7000002e-06	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	1850	ALTIM_PULSE	3

GPS1	020621,185028,4742.778,-12223.993,1,1.6,4,15.5	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.89	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	020621,185309,4742.739,-12223.996,2,1.7,6,15.5	MHEAD_RNG_PITCHd_Wd	349.2,483,-18.8,-10.000,-21.17
SPEED_LIMITS	0.173,0.258	D_GRID	154
TGT_NAME	SE	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,129.000000,846.000000,760.000000
TGT_LATLONG	4743.000,-12224.000

NAV	1622662572,43.1,2,stop	_10V_AH	14.70,0.000
MODEM_MSG	CACST,6,1,20210602193023.937636,05,32767,45,0103,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3D	FG_AHR_24Vo	39.814
FINISH	-0.4,1.020043	FG_AHR_10Vo	24.105
SM_CCo	3326.69,279.11,0.965,0,790.1,870.7,709.5,566.62	MEM0	60860,1,0,0
SM_GC	0.88,279.11,6.93,4.78,0.965,0.073,0.075,790.1,870.7,709.5,438.0,1885.1,0,0,0,12.23,15.63,15.67	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	997408,27,49360,63
IRIDIUM_FIX	4742.53,-12217.96,020621,184755	DATA_FILE_SIZE	9715,366
TCM_TEMP	11.07	CAP_FILE_SIZE	174045,0
XPDR_PINGS	6,13.0,10.5	SDSIZE	3918848,3907936
SC_FREEKB	3876960	SDFILEDIR	55,1
RAFOS_CLK	-3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	1,1622657205,47.50000,-123.50000,105.025,153861.9	SOUNDSPEED	1465.0
RAFOS_FIX	4815.000000,-12154.564453,020621,191923,2,510,4692.50	CURRENT	0.043,182.8,1
HUMID	54.16	MAGCAL	1.000000,-0.043175,0.030508,-0.033391,1.122785,-0.015401,-0.043167,0.001528,1.147005,-2.3,868.8,758.6,19,0.0299,0
TEMP	11.39	IMPLIED_C_PITCH	2632,30.89,192
INTERNAL_PRESSURE	8.56252	IMPLIED_C_VBD	3047,25.617577,192
_24V_AH	14.61,9.191	GPS	020621,195002,4742.999,-12223.944,31,1.3,33,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	697	1175	11980.86	nil	0	0	0.00
Pitch_motor	19	421	117.97	nil	0	0	0.00
Roll_motor	79	144	169.05	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	9.20	nil	0	0	0.00
GPS	14	15	3.29	nil	0	0	0.00
Core	1330	11	233.05	SciCon	3022	27	1204.45
LPSleep	1770	2	76.02	nil	0	0	0.00
Compass	541	5	39.80	nil	0	0	0.00
RAFOS	2227	40	1309.57
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
5.59	16386	-146.63	-0.96	0.00	785.7	854.1	717.3	450.1	1921.9	0.00	0.00	0	119.41	112.29	0.00	0.00	0.005	0.000	0.000	3270.38	3267.38	3273.38	450.12	1924.50	0	0	0	15.40	30.00	30.00
120.52	18983	-146.63	-0.96	-80.00	3268.6	3265.9	3271.2	450.1	1924.8	3.19	-2.30	11	152.41	12.80	9.39	5.12	0.006	0.422	0.104	3697.31	3676.69	3717.94	2362.44	193.06	0	0	0	15.52	15.25	15.41
155.34	3237	-146.63	-0.62	0.00	3697.0	3676.1	3717.9	2362.1	193.0	6.01	-7.22	17	165.69	0.00	0.44	4.93	0.000	0.298	0.071	3698.25	3677.56	3718.94	2451.94	1925.69	0	0	0	30.00	15.51	15.73
350.82	388	-146.63	-0.59	80.00	3698.9	3678.9	3718.9	2452.6	1926.1	24.25	-10.09	38	358.29	0.00	0.00	4.95	0.000	0.000	0.097	3700.09	3679.94	3720.25	2432.44	3604.75	0	0	0	30.00	30.00	15.54
456.67	1028	-146.63	-0.59	0.00	3698.9	3679.4	3718.5	2433.7	3606.4	35.82	-11.27	59	464.16	0.00	0.00	4.93	0.000	0.000	0.072	3699.66	3679.69	3719.62	2439.50	1886.62	0	0	0	30.00	30.00	15.69
651.72	128	-146.63	-0.57	0.00	3699.6	3679.4	3719.7	2439.0	1885.0	58.42	-11.20	79	654.25	0.00	0.00	0.00	0.000	0.000	0.000	3699.25	3679.31	3719.19	2439.06	1885.12	0	0	0	30.00	30.00	30.00
841.75	292	-146.63	-0.57	80.00	3699.3	3679.4	3719.2	2439.4	1885.5	78.01	-9.35	98	852.54	0.00	0.00	5.11	0.000	0.000	0.097	3699.81	3679.94	3719.69	2420.31	3605.44	0	0	0	30.00	30.00	15.56
871.74	3109	-146.63	-0.57	0.00	3699.2	3680.0	3718.4	2419.8	3606.4	81.12	-9.91	104	882.57	0.00	0.15	4.95	0.000	0.200	0.074	3699.56	3680.19	3718.94	2470.25	1886.81	0	0	0	30.00	15.56	15.58
1071.82	420	-146.63	-0.60	80.00	3699.1	3679.1	3719.1	2470.5	1881.9	98.25	-8.61	125	1082.58	0.00	0.00	5.12	0.000	0.000	0.099	3701.12	3681.00	3721.25	2450.88	3606.56	0	0	0	30.00	30.00	15.55
1101.80	1188	-146.63	-0.64	0.00	3699.2	3679.8	3718.8	2450.6	3605.9	100.69	-8.31	131	1109.27	0.00	0.00	4.95	0.000	0.000	0.073	3699.31	3679.56	3719.06	2450.75	1886.69	0	0	0	30.00	30.00	15.60
1296.83	160	-146.63	-0.67	0.00	3699.4	3680.2	3718.6	2451.0	1885.3	116.75	-8.28	151	1299.36	0.00	0.00	0.00	0.000	0.000	0.000	3699.00	3679.12	3718.88	2451.25	1884.75	0	0	0	30.00	30.00	30.00
1486.88	160	-146.63	-0.70	0.00	3699.5	3679.8	3719.2	2450.8	1884.9	133.78	-8.63	170	1489.41	0.00	0.00	0.00	0.000	0.000	0.000	3699.44	3679.94	3718.94	2451.56	1885.38	0	0	0	30.00	30.00	30.00
1676	end dive: TARGET_DEPTH_EXCEEDED
state	1676	begin apogee
1680.09	10243	0.00	-0.21	0.00	3699.1	3679.5	3718.6	2450.8	1830.5	150.66	-8.95	189	1799.22	114.39	0.44	0.12	1.175	0.174	0.145	3097.69	3068.69	3126.69	2586.69	1872.50	0	0	0	11.75	15.49	15.33
1801	end apogee: CONTROL_FINISHED_OK
state	1801	begin climb
1801.23	10243	146.63	0.96	0.00	3096.8	3067.1	3126.5	2586.4	1872.2	155.61	0.00	201	1924.09	118.15	1.17	0.00	1.139	0.131	0.000	2503.62	2471.44	2535.81	2962.81	1875.81	0	0	0	12.21	15.42	30.00
2107.51	21127	146.63	0.84	-80.00	2491.9	2450.9	2533.0	2963.4	1877.6	111.29	19.39	238	2118.38	0.00	0.20	5.12	0.000	0.282	0.106	2494.38	2452.69	2536.06	2935.19	192.94	0	0	0	30.00	15.23	15.28
2152.03	21639	146.63	0.76	0.00	2489.2	2450.5	2527.9	2936.2	193.0	102.44	19.61	247	2162.33	0.00	0.16	4.91	0.000	0.267	0.074	2490.72	2452.25	2529.19	2886.94	1865.00	0	0	0	30.00	15.33	15.49
2347.55	16774	146.63	0.70	80.00	2488.3	2448.7	2527.9	2886.8	1876.7	71.80	15.38	268	2358.29	0.00	0.00	4.99	0.000	0.000	0.096	2490.94	2451.56	2530.31	2871.81	3554.31	0	0	0	30.00	30.00	15.49
2402.08	17542	146.63	0.62	0.00	2489.2	2449.3	2529.1	2871.7	3554.7	63.04	15.80	279	2412.31	0.00	0.00	4.99	0.000	0.000	0.076	2489.91	2450.06	2529.75	2892.31	1836.69	0	0	0	30.00	30.00	15.55
2597.60	21127	146.63	0.56	-80.00	2488.1	2447.4	2528.9	2891.9	1835.5	37.68	13.69	300	2608.41	0.00	0.26	4.91	0.000	0.264	0.108	2487.72	2447.12	2528.31	2841.00	191.62	0	0	0	30.00	15.35	15.41
2707.60	17414	146.63	0.56	0.00	2486.9	2447.2	2526.6	2842.2	191.7	23.73	11.71	322	2715.07	0.00	0.00	4.84	0.000	0.000	0.073	2487.94	2448.00	2527.88	2839.31	1860.06	0	0	0	30.00	30.00	15.59
2902.64	8486	218.08	0.65	80.00	2486.1	2445.5	2526.7	2839.3	1875.2	7.74	6.74	342	2971.31	61.00	0.00	4.99	1.009	0.000	0.100	2205.88	2164.19	2247.56	2839.44	3554.44	0	0	0	11.86	30.00	15.50
2989	end climb: SURFACE_DEPTH_REACHED
state	2989	begin surface coast
3024	end surface coast: CONTROL_FINISHED_OK
state	3024	begin surface