Glider dive log

Shilshole 08Apr21 * SG235 * Dive index * Mission links * Dive 4 * 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 8 FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_REP 0

DIVE 4 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 4 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 539.65997 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 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 71.790207 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2030 FG_AHR_24V 131.2305 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 -159.35963 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 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 71.790207 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 131.2305 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 539.65997

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 -159.35963 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 4 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 175 MISSION 8 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 4 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 080421,184606,4743.959,-12224.433,2,0.7,3,15.5 TGT_RADIUS 100.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -47.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 080421,185034,4743.971,-12224.441,2,0.6,5,15.5 MHEAD_RNG_PITCHd_Wd 191.6,1928,-17.6,-10.000,-21.21

SPEED_LIMITS 0.173,0.258 D_GRID 173

TGT_NAME SW IRON 1.000000,-0.081000,0.065000,-0.054000,1.090000,-0.041000,0.018000,0.037000,1.030000,-1198.900024,-1165.300049,-77.400002

TGT_LATLONG 4743.000,-12225.000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20210408185149.587885,05,108,-21,0171,0150,171,01,01,07,01,-1,-01,-01,1,3,0,0,150,10.3,0.40,-100,2.60,-01,0.00,28,925,0025*06 _24V_AH 14.80,94.295

NAV 1617908344,26.2,start _10V_AH 14.79,0.000

NET CACST,6,0,20210408193004.887851,05,32767,45,0115,0150,07,00,00,00,00,1,233,000,0,5,1,0,150,2.6,-123.00,-100,126.00,-01,0.20,68,10000,5000*45 FG_AHR_24Vo 131.425

FINISH -0.1,1.011648 FG_AHR_10Vo 71.855

SM_CCo 3754.38,240.42,1.231,0,751.2,821.7,680.8,539.36 MEM0 60932,1,0,0

SM_GC 1.04,240.42,12.73,0.52,1.231,0.061,0.108,751.2,821.7,680.8,211.9,2525.3,0,0,0,10.94,15.71,15.75 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 996332,28,50196,74

IRIDIUM_FIX 4744.47,-12222.38,080421,184645 DATA_FILE_SIZE 16132,603

TCM_TEMP 12.10 CAP_FILE_SIZE 196629,0

SC_FREEKB 3877504 SDSIZE 3918848,3813792

PM_FREEKB_00 62215616 SDFILEDIR 142,1

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 2,1617905639,47.00000,-123.00000,239.623,335783.6 CURRENT 0.095,189.6,1

RAFOS_FIX -94714.554688,-498556.687500,080421,181853,3,255,-575123.06 MAGCAL 1.000000,-0.055009,-0.057567,-0.040650,1.113517,0.009432,0.044329,-0.016846,1.110149,-1085.2,-1213.6,-111.2,35,0.0204,0

HUMID 51.16 IMPLIED_C_PITCH 1998,14.51,351

TEMP 9.85 IMPLIED_C_VBD 2916,30.315729,351

INTERNAL_PRESSURE 9.1442 GPS 080421,195429,4743.417,-12224.805,1,0.9,2,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 647 1442 13831.56 nil 0 0 0.00

Pitch_motor 32 252 121.04 nil 0 0 0.00

Roll_motor 70 269 282.59 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 14 15 3.13 nil 0 0 0.00

Core 2183 10 326.75 SciCon 3486 3 182.72

LPSleep 1410 1 23.37 PMAR 3497 15 801.10

Compass 1158 5 85.68 nil 0 0 0.00

RAFOS 811 40 480.13

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

11.78 16386 -146.63 -1.06 0.00 746.9 805.0 688.8 214.4 2570.8 0.00 0.00 0 161.49 146.51 0.00 0.00 0.005 0.000 0.000 3384.72 3402.12 3367.31 214.25 2570.44 0 0 0 14.40 30.00 30.00

162.60 18727 -146.63 -1.06 80.00 3383.3 3401.2 3365.3 214.4 2570.7 3.45 -1.81 29 191.15 4.74 11.94 3.29 0.010 0.253 0.133 3545.75 3573.88 3517.62 1773.38 3912.56 0 0 0 15.85 15.55 15.67

205.34 3205 -146.63 -0.64 0.00 3545.6 3573.9 3517.2 1773.9 3912.0 9.64 -12.57 37 216.51 0.00 0.66 3.20 0.000 0.137 0.077 3546.19 3574.25 3518.12 1876.44 2525.88 0 0 0 30.00 15.64 15.70

401.03 4517 -146.63 -1.15 80.00 3545.1 3573.6 3516.6 1876.1 2525.9 19.55 -4.74 76 412.18 0.00 0.83 3.38 0.000 0.057 0.127 3546.41 3575.56 3517.25 1733.25 3912.56 0 0 0 30.00 15.74 15.71

461.83 1028 -146.63 -1.15 0.00 3546.8 3575.7 3517.9 1733.8 3912.6 25.07 -9.99 88 469.32 0.00 0.00 3.19 0.000 0.000 0.077 3545.06 3573.06 3517.06 1733.38 2524.25 0 0 0 30.00 30.00 15.78

653.59 388 -146.63 -1.22 80.00 3544.9 3574.2 3515.6 1734.0 2524.6 44.21 -9.75 126 661.08 0.00 0.00 3.38 0.000 0.000 0.127 3546.78 3575.31 3518.25 1733.06 3911.06 0 0 0 30.00 30.00 15.70

705.29 1028 -146.63 -1.22 0.00 3545.0 3573.4 3516.5 1733.4 3911.5 49.44 -10.61 136 712.80 0.00 0.00 3.20 0.000 0.000 0.077 3546.62 3574.75 3518.50 1732.81 2524.25 0 0 0 30.00 30.00 15.74

897.04 644 -146.63 -1.31 -80.00 3546.4 3575.4 3517.4 1733.6 2523.8 68.26 -9.71 174 904.55 0.00 0.00 3.31 0.000 0.000 0.139 3546.62 3574.69 3518.56 1732.69 1186.31 0 0 0 30.00 30.00 15.69

923.72 1028 -146.63 -1.31 0.00 3546.3 3574.8 3517.8 1733.5 1186.4 71.13 -10.39 179 931.23 0.00 0.00 3.18 0.000 0.000 0.069 3546.44 3575.25 3517.62 1733.56 2571.69 0 0 0 30.00 30.00 15.75

1115.47 4485 -146.63 -1.40 80.00 3546.2 3574.9 3517.4 1733.5 2572.0 89.38 -9.17 217 1126.58 0.00 0.29 3.28 0.000 0.080 0.130 3546.97 3575.38 3518.56 1672.81 3912.38 0 0 0 30.00 15.71 15.69

1250.61 3205 -146.63 -1.26 0.00 3545.6 3574.0 3517.2 1672.6 3911.0 106.16 -12.11 244 1258.88 0.00 0.41 3.21 0.000 0.170 0.077 3545.34 3573.56 3517.12 1726.38 2525.62 0 0 0 30.00 15.63 15.76

1443.11 4741 -146.63 -1.36 -80.00 3546.4 3575.5 3517.2 1726.8 2524.4 123.15 -9.08 264 1450.87 0.00 0.22 3.32 0.000 0.091 0.138 3545.03 3574.00 3516.06 1685.75 1187.88 0 0 0 30.00 15.72 15.67

1479.53 3205 -146.63 -1.25 0.00 3546.2 3575.7 3516.8 1685.5 1187.8 126.89 -10.01 271 1487.25 0.00 0.34 3.19 0.000 0.175 0.071 3546.12 3574.62 3517.62 1729.38 2571.50 0 0 0 30.00 15.63 15.75

1675.20 4517 -146.63 -1.37 80.00 3545.7 3574.3 3517.1 1729.2 2572.3 141.53 -7.20 291 1682.92 0.00 0.26 3.29 0.000 0.085 0.132 3544.75 3572.88 3516.62 1682.12 3912.44 0 0 0 30.00 15.73 15.69

1751 end dive: TARGET_DEPTH_EXCEEDED

state 1751 begin apogee

1758.66 10243 0.00 -0.25 0.00 3545.9 3574.6 3517.2 1681.8 2774.9 150.06 -11.34 306 1870.12 105.17 2.08 0.08 1.442 0.161 0.269 2947.19 3008.19 2886.19 1971.19 2816.62 0 0 0 11.21 15.58 15.47

1873 end apogee: CONTROL_FINISHED_OK

state 1873 begin climb

1873.67 10759 146.63 1.06 -80.00 2948.6 3009.7 2887.6 1971.2 2817.7 151.57 0.00 317 1995.20 111.11 2.07 3.77 1.374 0.090 0.129 2348.97 2430.94 2267.00 2291.38 1331.56 0 0 0 11.43 15.51 15.30

2058.77 5253 146.63 0.97 0.00 2345.7 2425.4 2265.9 2291.9 1332.2 136.52 12.10 353 2069.90 0.00 0.29 3.52 0.000 0.187 0.075 2346.12 2426.19 2266.06 2259.25 2815.50 0 0 0 30.00 15.44 15.50

2258.88 16902 146.63 0.97 -80.00 2343.2 2424.6 2261.9 2258.9 2814.9 119.45 8.81 374 2270.05 0.00 0.00 3.67 0.000 0.000 0.127 2343.84 2425.00 2262.69 2259.31 1330.94 0 0 0 30.00 30.00 15.57

2323.23 17542 146.63 0.92 0.00 2341.7 2421.6 2261.7 2258.8 1330.5 113.66 9.48 387 2332.99 0.00 0.00 3.48 0.000 0.000 0.075 2345.00 2425.00 2265.00 2258.06 2815.75 0 0 0 30.00 30.00 15.64

2514.13 10403 198.55 1.05 0.00 2341.1 2421.4 2260.8 2259.1 2817.7 97.61 7.60 409 2560.35 40.01 0.20 0.00 1.309 0.093 0.000 2139.66 2228.38 2050.94 2294.75 2816.94 0 0 0 11.15 15.67 30.00

2744.18 260 198.55 1.05 80.00 2132.9 2218.2 2047.7 2294.9 2817.1 76.15 10.07 455 2750.39 0.00 0.00 2.73 0.000 0.000 0.145 2136.38 2221.62 2051.12 2295.00 3911.25 0 0 0 30.00 30.00 15.62

2824.86 17414 198.55 1.05 0.00 2132.3 2216.3 2048.4 2294.7 3912.2 66.92 11.98 471 2832.22 0.00 0.00 2.64 0.000 0.000 0.070 2130.38 2215.19 2045.56 2294.75 2775.50 0 0 0 30.00 30.00 15.69

3016.57 16514 198.55 1.11 0.00 2131.6 2215.4 2047.8 2295.0 2775.2 43.65 11.76 509 3022.38 0.00 0.00 0.00 0.000 0.000 0.000 2131.59 2215.62 2047.56 2295.12 2775.31 0 0 0 30.00 30.00 30.00

3207.07 16646 198.55 1.11 80.00 2130.8 2214.8 2046.7 2295.5 2776.3 24.73 9.80 547 3214.50 0.00 0.00 2.82 0.000 0.000 0.138 2133.91 2218.00 2049.81 2294.19 3911.12 0 0 0 30.00 30.00 15.69

3288.05 17414 198.55 1.11 0.00 2130.9 2214.9 2046.9 2295.2 3911.6 16.58 9.76 563 3294.26 0.00 0.00 2.63 0.000 0.000 0.071 2133.00 2215.94 2050.06 2294.44 2775.00 0 0 0 30.00 30.00 15.75

3457 end climb: SURFACE_DEPTH_REACHED

state 3457 begin surface coast

3487 end surface coast: CONTROL_FINISHED_OK

state 3487 begin surface

ID	235	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	8	FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	4	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	4	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	539.65997	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	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	71.790207	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2030	FG_AHR_24V	131.2305	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	-159.35963	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	080421,184606,4743.959,-12224.433,2,0.7,3,15.5	TGT_RADIUS	100.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-47.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	080421,185034,4743.971,-12224.441,2,0.6,5,15.5	MHEAD_RNG_PITCHd_Wd	191.6,1928,-17.6,-10.000,-21.21
SPEED_LIMITS	0.173,0.258	D_GRID	173
TGT_NAME	SW	IRON	1.000000,-0.081000,0.065000,-0.054000,1.090000,-0.041000,0.018000,0.037000,1.030000,-1198.900024,-1165.300049,-77.400002
TGT_LATLONG	4743.000,-12225.000

MODEM_MSG	CACST,6,1,20210408185149.587885,05,108,-21,0171,0150,171,01,01,07,01,-1,-01,-01,1,3,0,0,150,10.3,0.40,-100,2.60,-01,0.00,28,925,0025*06	_24V_AH	14.80,94.295
NAV	1617908344,26.2,start	_10V_AH	14.79,0.000
NET	CACST,6,0,20210408193004.887851,05,32767,45,0115,0150,07,00,00,00,00,1,233,000,0,5,1,0,150,2.6,-123.00,-100,126.00,-01,0.20,68,10000,5000*45	FG_AHR_24Vo	131.425
FINISH	-0.1,1.011648	FG_AHR_10Vo	71.855
SM_CCo	3754.38,240.42,1.231,0,751.2,821.7,680.8,539.36	MEM0	60932,1,0,0
SM_GC	1.04,240.42,12.73,0.52,1.231,0.061,0.108,751.2,821.7,680.8,211.9,2525.3,0,0,0,10.94,15.71,15.75	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	996332,28,50196,74
IRIDIUM_FIX	4744.47,-12222.38,080421,184645	DATA_FILE_SIZE	16132,603
TCM_TEMP	12.10	CAP_FILE_SIZE	196629,0
SC_FREEKB	3877504	SDSIZE	3918848,3813792
PM_FREEKB_00	62215616	SDFILEDIR	142,1
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	2,1617905639,47.00000,-123.00000,239.623,335783.6	CURRENT	0.095,189.6,1
RAFOS_FIX	-94714.554688,-498556.687500,080421,181853,3,255,-575123.06	MAGCAL	1.000000,-0.055009,-0.057567,-0.040650,1.113517,0.009432,0.044329,-0.016846,1.110149,-1085.2,-1213.6,-111.2,35,0.0204,0
HUMID	51.16	IMPLIED_C_PITCH	1998,14.51,351
TEMP	9.85	IMPLIED_C_VBD	2916,30.315729,351
INTERNAL_PRESSURE	9.1442	GPS	080421,195429,4743.417,-12224.805,1,0.9,2,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	647	1442	13831.56	nil	0	0	0.00
Pitch_motor	32	252	121.04	nil	0	0	0.00
Roll_motor	70	269	282.59	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	14	15	3.13	nil	0	0	0.00
Core	2183	10	326.75	SciCon	3486	3	182.72
LPSleep	1410	1	23.37	PMAR	3497	15	801.10
Compass	1158	5	85.68	nil	0	0	0.00
RAFOS	811	40	480.13
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
11.78	16386	-146.63	-1.06	0.00	746.9	805.0	688.8	214.4	2570.8	0.00	0.00	0	161.49	146.51	0.00	0.00	0.005	0.000	0.000	3384.72	3402.12	3367.31	214.25	2570.44	0	0	0	14.40	30.00	30.00
162.60	18727	-146.63	-1.06	80.00	3383.3	3401.2	3365.3	214.4	2570.7	3.45	-1.81	29	191.15	4.74	11.94	3.29	0.010	0.253	0.133	3545.75	3573.88	3517.62	1773.38	3912.56	0	0	0	15.85	15.55	15.67
205.34	3205	-146.63	-0.64	0.00	3545.6	3573.9	3517.2	1773.9	3912.0	9.64	-12.57	37	216.51	0.00	0.66	3.20	0.000	0.137	0.077	3546.19	3574.25	3518.12	1876.44	2525.88	0	0	0	30.00	15.64	15.70
401.03	4517	-146.63	-1.15	80.00	3545.1	3573.6	3516.6	1876.1	2525.9	19.55	-4.74	76	412.18	0.00	0.83	3.38	0.000	0.057	0.127	3546.41	3575.56	3517.25	1733.25	3912.56	0	0	0	30.00	15.74	15.71
461.83	1028	-146.63	-1.15	0.00	3546.8	3575.7	3517.9	1733.8	3912.6	25.07	-9.99	88	469.32	0.00	0.00	3.19	0.000	0.000	0.077	3545.06	3573.06	3517.06	1733.38	2524.25	0	0	0	30.00	30.00	15.78
653.59	388	-146.63	-1.22	80.00	3544.9	3574.2	3515.6	1734.0	2524.6	44.21	-9.75	126	661.08	0.00	0.00	3.38	0.000	0.000	0.127	3546.78	3575.31	3518.25	1733.06	3911.06	0	0	0	30.00	30.00	15.70
705.29	1028	-146.63	-1.22	0.00	3545.0	3573.4	3516.5	1733.4	3911.5	49.44	-10.61	136	712.80	0.00	0.00	3.20	0.000	0.000	0.077	3546.62	3574.75	3518.50	1732.81	2524.25	0	0	0	30.00	30.00	15.74
897.04	644	-146.63	-1.31	-80.00	3546.4	3575.4	3517.4	1733.6	2523.8	68.26	-9.71	174	904.55	0.00	0.00	3.31	0.000	0.000	0.139	3546.62	3574.69	3518.56	1732.69	1186.31	0	0	0	30.00	30.00	15.69
923.72	1028	-146.63	-1.31	0.00	3546.3	3574.8	3517.8	1733.5	1186.4	71.13	-10.39	179	931.23	0.00	0.00	3.18	0.000	0.000	0.069	3546.44	3575.25	3517.62	1733.56	2571.69	0	0	0	30.00	30.00	15.75
1115.47	4485	-146.63	-1.40	80.00	3546.2	3574.9	3517.4	1733.5	2572.0	89.38	-9.17	217	1126.58	0.00	0.29	3.28	0.000	0.080	0.130	3546.97	3575.38	3518.56	1672.81	3912.38	0	0	0	30.00	15.71	15.69
1250.61	3205	-146.63	-1.26	0.00	3545.6	3574.0	3517.2	1672.6	3911.0	106.16	-12.11	244	1258.88	0.00	0.41	3.21	0.000	0.170	0.077	3545.34	3573.56	3517.12	1726.38	2525.62	0	0	0	30.00	15.63	15.76
1443.11	4741	-146.63	-1.36	-80.00	3546.4	3575.5	3517.2	1726.8	2524.4	123.15	-9.08	264	1450.87	0.00	0.22	3.32	0.000	0.091	0.138	3545.03	3574.00	3516.06	1685.75	1187.88	0	0	0	30.00	15.72	15.67
1479.53	3205	-146.63	-1.25	0.00	3546.2	3575.7	3516.8	1685.5	1187.8	126.89	-10.01	271	1487.25	0.00	0.34	3.19	0.000	0.175	0.071	3546.12	3574.62	3517.62	1729.38	2571.50	0	0	0	30.00	15.63	15.75
1675.20	4517	-146.63	-1.37	80.00	3545.7	3574.3	3517.1	1729.2	2572.3	141.53	-7.20	291	1682.92	0.00	0.26	3.29	0.000	0.085	0.132	3544.75	3572.88	3516.62	1682.12	3912.44	0	0	0	30.00	15.73	15.69
1751	end dive: TARGET_DEPTH_EXCEEDED
state	1751	begin apogee
1758.66	10243	0.00	-0.25	0.00	3545.9	3574.6	3517.2	1681.8	2774.9	150.06	-11.34	306	1870.12	105.17	2.08	0.08	1.442	0.161	0.269	2947.19	3008.19	2886.19	1971.19	2816.62	0	0	0	11.21	15.58	15.47
1873	end apogee: CONTROL_FINISHED_OK
state	1873	begin climb
1873.67	10759	146.63	1.06	-80.00	2948.6	3009.7	2887.6	1971.2	2817.7	151.57	0.00	317	1995.20	111.11	2.07	3.77	1.374	0.090	0.129	2348.97	2430.94	2267.00	2291.38	1331.56	0	0	0	11.43	15.51	15.30
2058.77	5253	146.63	0.97	0.00	2345.7	2425.4	2265.9	2291.9	1332.2	136.52	12.10	353	2069.90	0.00	0.29	3.52	0.000	0.187	0.075	2346.12	2426.19	2266.06	2259.25	2815.50	0	0	0	30.00	15.44	15.50
2258.88	16902	146.63	0.97	-80.00	2343.2	2424.6	2261.9	2258.9	2814.9	119.45	8.81	374	2270.05	0.00	0.00	3.67	0.000	0.000	0.127	2343.84	2425.00	2262.69	2259.31	1330.94	0	0	0	30.00	30.00	15.57
2323.23	17542	146.63	0.92	0.00	2341.7	2421.6	2261.7	2258.8	1330.5	113.66	9.48	387	2332.99	0.00	0.00	3.48	0.000	0.000	0.075	2345.00	2425.00	2265.00	2258.06	2815.75	0	0	0	30.00	30.00	15.64
2514.13	10403	198.55	1.05	0.00	2341.1	2421.4	2260.8	2259.1	2817.7	97.61	7.60	409	2560.35	40.01	0.20	0.00	1.309	0.093	0.000	2139.66	2228.38	2050.94	2294.75	2816.94	0	0	0	11.15	15.67	30.00
2744.18	260	198.55	1.05	80.00	2132.9	2218.2	2047.7	2294.9	2817.1	76.15	10.07	455	2750.39	0.00	0.00	2.73	0.000	0.000	0.145	2136.38	2221.62	2051.12	2295.00	3911.25	0	0	0	30.00	30.00	15.62
2824.86	17414	198.55	1.05	0.00	2132.3	2216.3	2048.4	2294.7	3912.2	66.92	11.98	471	2832.22	0.00	0.00	2.64	0.000	0.000	0.070	2130.38	2215.19	2045.56	2294.75	2775.50	0	0	0	30.00	30.00	15.69
3016.57	16514	198.55	1.11	0.00	2131.6	2215.4	2047.8	2295.0	2775.2	43.65	11.76	509	3022.38	0.00	0.00	0.00	0.000	0.000	0.000	2131.59	2215.62	2047.56	2295.12	2775.31	0	0	0	30.00	30.00	30.00
3207.07	16646	198.55	1.11	80.00	2130.8	2214.8	2046.7	2295.5	2776.3	24.73	9.80	547	3214.50	0.00	0.00	2.82	0.000	0.000	0.138	2133.91	2218.00	2049.81	2294.19	3911.12	0	0	0	30.00	30.00	15.69
3288.05	17414	198.55	1.11	0.00	2130.9	2214.9	2046.9	2295.2	3911.6	16.58	9.76	563	3294.26	0.00	0.00	2.63	0.000	0.000	0.071	2133.00	2215.94	2050.06	2294.44	2775.00	0	0	0	30.00	30.00	15.75
3457	end climb: SURFACE_DEPTH_REACHED
state	3457	begin surface coast
3487	end surface coast: CONTROL_FINISHED_OK
state	3487	begin surface