Glider dive log

Shilshole 11Jun21 * 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 10 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 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 88.477608 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2030 FG_AHR_24V 146.38237 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 88.477608 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 146.38237 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 4 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 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 110621,191516,4744.124,-12223.818,2,1.6,4,15.5 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.96 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 110621,192012,4744.125,-12223.784,2,1.6,15,15.5 MHEAD_RNG_PITCHd_Wd 186.7,2102,-17.6,-10.000,-21.21

SPEED_LIMITS 0.173,0.258 D_GRID 169

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:

NET CACST,6,0,20210611201009.464968,05,32767,45,0101,0150,07,00,00,00,00,1,233,000,0,5,1,0,150,13.9,268.00,-100,-265.00,-01,0.08,69,10000,5000*79 _24V_AH 14.72,117.416

MODEM_MSG CACST,6,1,20210611194803.160189,05,84,07,0116,0150,07,01,01,02,03,-1,-01,-01,1,3,0,0,150,-16.1,0.11,-100,2.89,-01,-0.07,20,925,0025*25 _10V_AH 14.70,0.000

NAV 1623441546,87.5,start FG_AHR_24Vo 146.580

FINISH -0.2,1.020446 FG_AHR_10Vo 88.545

WARN HPMAR missed fuel gauge read MEM0 60932,1,0,0

SM_CCo 3688.30,277.41,1.162,0,541.8,615.2,468.2,590.74 MEM1 65508,1,0,0

SM_GC 0.99,277.41,13.82,0.51,1.162,0.055,0.094,541.8,615.2,468.2,214.0,2522.9,0,0,0,11.09,15.65,15.69 MEM2 997468,27,49300,63

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12938,501

IRIDIUM_FIX 4742.17,-12225.08,110621,181128 CAP_FILE_SIZE 179475,0

TCM_TEMP 14.75 SDSIZE 3918848,3813664

SC_FREEKB 3877408 SDFILEDIR 147,1

PM_FREEKB_00 62049024 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 0 SOUNDSPEED 1415.2

RAFOS_CLK -9 CURRENT 0.058,103.8,1

MODEM 0,1623438156,47.00000,-122.50000,156.789,219846.0 MAGCAL 1.000000,-0.053215,-0.090733,-0.067638,1.124328,0.001237,0.052172,-0.039189,1.150398,-591.6,-979.7,142.3,22,0.0219,0

RAFOS_FIX 4713.882812,-12007.527344,110621,191901,7,255,6834.06 IMPLIED_C_PITCH 2045,15.37,306

HUMID 51.96 IMPLIED_C_VBD 2845,24.294361,306

TEMP 11.88 GPS 110621,202330,4743.735,-12223.883,31,1.7,32,15.5

INTERNAL_PRESSURE 7.97874

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 673 1361 13489.65 nil 0 0 0.00

Pitch_motor 30 254 114.78 nil 0 0 0.00

Roll_motor 59 237 208.08 nil 0 0 0.00

Iridium 163 217 523.48 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 24 15 5.46 nil 0 0 0.00

Core 3251 10 483.68 SciCon 3387 3 170.73

LPSleep 444 1 7.32 PMAR 3403 3392 169685.85

Compass 2169 5 159.48 nil 0 0 0.00

RAFOS 2391 40 1405.95

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

11.41 16386 -146.63 -1.06 0.00 539.4 610.8 467.9 211.5 2579.2 0.00 0.00 0 140.85 123.92 0.00 0.00 0.005 0.000 0.000 3336.16 3350.12 3322.19 211.75 2579.56 0 0 0 14.07 30.00 30.00

141.95 18727 -146.63 -1.06 80.00 3337.2 3352.6 3321.7 211.4 2579.1 3.66 -2.41 22 174.31 4.20 12.48 3.25 0.010 0.255 0.118 3547.09 3569.75 3524.44 1773.56 3912.31 0 0 0 15.73 15.40 15.56

347.95 1028 -146.63 -1.06 0.00 3549.0 3573.9 3524.1 1773.6 3911.3 36.34 -11.13 58 363.01 0.00 0.00 3.22 0.000 0.000 0.071 3549.75 3575.50 3524.00 1773.88 2525.75 0 0 0 30.00 30.00 15.63

544.50 260 -146.63 -1.06 80.00 3549.7 3576.5 3522.8 1772.8 2525.7 56.08 -9.42 92 560.49 0.00 0.00 3.36 0.000 0.000 0.113 3548.81 3576.44 3521.19 1773.56 3913.62 0 0 0 30.00 30.00 15.59

593.64 1028 -146.63 -1.06 0.00 3550.2 3577.3 3523.0 1773.1 3913.2 61.66 -11.46 99 608.76 0.00 0.00 3.22 0.000 0.000 0.070 3549.78 3577.38 3522.19 1773.00 2525.81 0 0 0 30.00 30.00 15.66

790.20 516 -146.63 -1.06 -80.00 3550.0 3577.6 3522.4 1774.3 2525.6 83.89 -10.92 133 805.29 0.00 0.00 3.34 0.000 0.000 0.133 3551.16 3578.94 3523.38 1773.94 1186.50 0 0 0 30.00 30.00 15.57

855.74 1156 -146.63 -0.99 0.00 3549.1 3576.5 3521.8 1773.6 1186.7 91.56 -11.79 143 870.77 0.00 0.00 3.18 0.000 0.000 0.061 3550.75 3578.31 3523.19 1773.19 2576.88 0 0 0 30.00 30.00 15.64

1057.73 260 -146.63 -0.99 80.00 3549.4 3576.9 3521.9 1773.2 2575.8 112.47 -9.81 168 1068.26 0.00 0.00 3.26 0.000 0.000 0.119 3550.81 3579.00 3522.62 1773.62 3914.44 0 0 0 30.00 30.00 15.60

1124.86 1028 -146.63 -0.99 0.00 3549.2 3576.8 3521.7 1773.6 3914.6 120.48 -11.67 180 1138.47 0.00 0.00 3.23 0.000 0.000 0.070 3550.06 3577.44 3522.69 1773.38 2525.69 0 0 0 30.00 30.00 15.65

1325.30 128 -146.63 -1.03 0.00 3548.8 3576.2 3521.3 1772.9 2525.7 140.68 -10.45 200 1339.67 0.00 0.00 0.00 0.000 0.000 0.000 3549.66 3577.06 3522.25 1773.94 2524.75 0 0 0 30.00 30.00 30.00

1423 end dive: TARGET_DEPTH_EXCEEDED

state 1423 begin apogee

1427.34 10243 0.00 -0.25 0.00 3549.4 3577.4 3521.4 1773.8 2820.1 151.02 -10.00 210 1539.61 107.73 1.35 0.08 1.362 0.134 0.238 2952.44 3014.88 2890.00 1971.62 2773.38 0 0 0 10.85 15.56 15.26

1546 end apogee: CONTROL_FINISHED_OK

state 1546 begin climb

1546.87 10759 146.63 1.06 -80.00 2949.0 3010.1 2887.9 1971.8 2773.9 155.06 0.00 221 1677.88 113.19 2.12 3.68 1.325 0.092 0.125 2349.59 2430.81 2268.38 2290.44 1330.88 0 0 0 10.97 15.35 15.15

1690.54 1028 146.63 1.06 0.00 2347.2 2427.4 2267.0 2290.5 1331.1 145.81 8.88 246 1702.56 0.00 0.00 3.54 0.000 0.000 0.065 2346.59 2426.25 2266.94 2290.56 2817.00 0 0 0 30.00 30.00 15.34

1889.50 16386 146.63 1.06 0.00 2343.3 2422.5 2264.2 2290.0 2816.7 128.26 9.31 266 1903.85 0.00 0.00 0.00 0.000 0.000 0.000 2343.50 2422.75 2264.25 2290.19 2817.50 0 0 0 30.00 30.00 30.00

2091.49 17030 146.63 1.12 -80.00 2343.3 2421.5 2265.1 2289.1 2817.6 108.43 9.58 286 2112.06 0.00 0.00 3.67 0.000 0.000 0.123 2342.91 2421.50 2264.31 2290.12 1329.88 0 0 0 30.00 30.00 15.59

2135.16 17414 146.63 1.12 0.00 2341.0 2419.7 2262.4 2289.1 1329.6 103.53 11.58 292 2145.70 0.00 0.00 3.44 0.000 0.000 0.066 2341.03 2419.19 2262.88 2290.38 2819.38 0 0 0 30.00 30.00 15.67

2331.73 18823 146.63 1.20 80.00 2341.9 2420.2 2263.5 2290.8 2818.9 84.58 8.95 325 2346.73 0.00 0.19 2.70 0.000 0.084 0.135 2342.19 2421.00 2263.38 2336.12 3910.00 0 0 0 30.00 15.65 15.59

2359.00 17414 146.63 1.20 0.00 2341.9 2419.8 2264.1 2334.8 3910.6 81.96 9.34 328 2373.96 0.00 0.00 2.62 0.000 0.000 0.063 2342.56 2420.56 2264.56 2334.81 2772.69 0 0 0 30.00 30.00 15.67

2555.61 8742 192.26 1.26 -80.00 2341.4 2419.4 2263.4 2333.9 2772.5 63.46 7.89 362 2609.63 35.74 0.00 3.59 1.226 0.000 0.127 2164.31 2248.38 2080.25 2334.19 1328.94 0 0 0 11.01 30.00 15.56

2659.32 1156 192.26 1.21 0.00 2161.5 2243.8 2079.2 2335.1 1329.3 53.29 10.71 379 2674.41 0.00 0.00 3.47 0.000 0.000 0.065 2162.09 2244.19 2080.00 2334.62 2820.38 0 0 0 30.00 30.00 15.62

2855.89 388 192.26 1.27 80.00 2159.8 2240.8 2078.9 2334.8 2821.7 35.42 8.78 413 2870.82 0.00 0.00 2.70 0.000 0.000 0.133 2161.53 2242.81 2080.25 2334.38 3911.75 0 0 0 30.00 30.00 15.59

2910.45 1028 192.26 1.27 0.00 2159.4 2240.1 2078.7 2334.4 3911.8 30.37 9.41 421 2925.42 0.00 0.00 2.64 0.000 0.000 0.064 2159.06 2239.50 2078.62 2334.44 2774.50 0 0 0 30.00 30.00 15.64

3107.03 128 192.26 1.35 0.00 2158.9 2239.6 2078.2 2335.2 2774.4 13.50 8.38 455 3121.41 0.00 0.00 0.00 0.000 0.000 0.000 2159.03 2239.75 2078.31 2334.31 2773.88 0 0 0 30.00 30.00 30.00

3303.59 10919 316.14 1.67 -80.00 2158.2 2239.0 2077.5 2334.9 2775.0 2.73 4.26 489 3323.91 10.85 0.62 0.00 1.014 0.056 0.000 2114.44 2194.31 2034.56 2449.06 2774.00 0 0 0 10.90 15.63 30.00

3324 end climb: SURFACE_DEPTH_REACHED

state 3324 begin surface coast

3379 end surface coast: CONTROL_FINISHED_OK

state 3379 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	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	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	88.477608	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2030	FG_AHR_24V	146.38237	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	110621,191516,4744.124,-12223.818,2,1.6,4,15.5	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.96	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	110621,192012,4744.125,-12223.784,2,1.6,15,15.5	MHEAD_RNG_PITCHd_Wd	186.7,2102,-17.6,-10.000,-21.21
SPEED_LIMITS	0.173,0.258	D_GRID	169
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

NET	CACST,6,0,20210611201009.464968,05,32767,45,0101,0150,07,00,00,00,00,1,233,000,0,5,1,0,150,13.9,268.00,-100,-265.00,-01,0.08,69,10000,5000*79	_24V_AH	14.72,117.416
MODEM_MSG	CACST,6,1,20210611194803.160189,05,84,07,0116,0150,07,01,01,02,03,-1,-01,-01,1,3,0,0,150,-16.1,0.11,-100,2.89,-01,-0.07,20,925,0025*25	_10V_AH	14.70,0.000
NAV	1623441546,87.5,start	FG_AHR_24Vo	146.580
FINISH	-0.2,1.020446	FG_AHR_10Vo	88.545
WARN	HPMAR missed fuel gauge read	MEM0	60932,1,0,0
SM_CCo	3688.30,277.41,1.162,0,541.8,615.2,468.2,590.74	MEM1	65508,1,0,0
SM_GC	0.99,277.41,13.82,0.51,1.162,0.055,0.094,541.8,615.2,468.2,214.0,2522.9,0,0,0,11.09,15.65,15.69	MEM2	997468,27,49300,63
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12938,501
IRIDIUM_FIX	4742.17,-12225.08,110621,181128	CAP_FILE_SIZE	179475,0
TCM_TEMP	14.75	SDSIZE	3918848,3813664
SC_FREEKB	3877408	SDFILEDIR	147,1
PM_FREEKB_00	62049024	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	0	SOUNDSPEED	1415.2
RAFOS_CLK	-9	CURRENT	0.058,103.8,1
MODEM	0,1623438156,47.00000,-122.50000,156.789,219846.0	MAGCAL	1.000000,-0.053215,-0.090733,-0.067638,1.124328,0.001237,0.052172,-0.039189,1.150398,-591.6,-979.7,142.3,22,0.0219,0
RAFOS_FIX	4713.882812,-12007.527344,110621,191901,7,255,6834.06	IMPLIED_C_PITCH	2045,15.37,306
HUMID	51.96	IMPLIED_C_VBD	2845,24.294361,306
TEMP	11.88	GPS	110621,202330,4743.735,-12223.883,31,1.7,32,15.5
INTERNAL_PRESSURE	7.97874

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	673	1361	13489.65	nil	0	0	0.00
Pitch_motor	30	254	114.78	nil	0	0	0.00
Roll_motor	59	237	208.08	nil	0	0	0.00
Iridium	163	217	523.48	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	24	15	5.46	nil	0	0	0.00
Core	3251	10	483.68	SciCon	3387	3	170.73
LPSleep	444	1	7.32	PMAR	3403	3392	169685.85
Compass	2169	5	159.48	nil	0	0	0.00
RAFOS	2391	40	1405.95
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
11.41	16386	-146.63	-1.06	0.00	539.4	610.8	467.9	211.5	2579.2	0.00	0.00	0	140.85	123.92	0.00	0.00	0.005	0.000	0.000	3336.16	3350.12	3322.19	211.75	2579.56	0	0	0	14.07	30.00	30.00
141.95	18727	-146.63	-1.06	80.00	3337.2	3352.6	3321.7	211.4	2579.1	3.66	-2.41	22	174.31	4.20	12.48	3.25	0.010	0.255	0.118	3547.09	3569.75	3524.44	1773.56	3912.31	0	0	0	15.73	15.40	15.56
347.95	1028	-146.63	-1.06	0.00	3549.0	3573.9	3524.1	1773.6	3911.3	36.34	-11.13	58	363.01	0.00	0.00	3.22	0.000	0.000	0.071	3549.75	3575.50	3524.00	1773.88	2525.75	0	0	0	30.00	30.00	15.63
544.50	260	-146.63	-1.06	80.00	3549.7	3576.5	3522.8	1772.8	2525.7	56.08	-9.42	92	560.49	0.00	0.00	3.36	0.000	0.000	0.113	3548.81	3576.44	3521.19	1773.56	3913.62	0	0	0	30.00	30.00	15.59
593.64	1028	-146.63	-1.06	0.00	3550.2	3577.3	3523.0	1773.1	3913.2	61.66	-11.46	99	608.76	0.00	0.00	3.22	0.000	0.000	0.070	3549.78	3577.38	3522.19	1773.00	2525.81	0	0	0	30.00	30.00	15.66
790.20	516	-146.63	-1.06	-80.00	3550.0	3577.6	3522.4	1774.3	2525.6	83.89	-10.92	133	805.29	0.00	0.00	3.34	0.000	0.000	0.133	3551.16	3578.94	3523.38	1773.94	1186.50	0	0	0	30.00	30.00	15.57
855.74	1156	-146.63	-0.99	0.00	3549.1	3576.5	3521.8	1773.6	1186.7	91.56	-11.79	143	870.77	0.00	0.00	3.18	0.000	0.000	0.061	3550.75	3578.31	3523.19	1773.19	2576.88	0	0	0	30.00	30.00	15.64
1057.73	260	-146.63	-0.99	80.00	3549.4	3576.9	3521.9	1773.2	2575.8	112.47	-9.81	168	1068.26	0.00	0.00	3.26	0.000	0.000	0.119	3550.81	3579.00	3522.62	1773.62	3914.44	0	0	0	30.00	30.00	15.60
1124.86	1028	-146.63	-0.99	0.00	3549.2	3576.8	3521.7	1773.6	3914.6	120.48	-11.67	180	1138.47	0.00	0.00	3.23	0.000	0.000	0.070	3550.06	3577.44	3522.69	1773.38	2525.69	0	0	0	30.00	30.00	15.65
1325.30	128	-146.63	-1.03	0.00	3548.8	3576.2	3521.3	1772.9	2525.7	140.68	-10.45	200	1339.67	0.00	0.00	0.00	0.000	0.000	0.000	3549.66	3577.06	3522.25	1773.94	2524.75	0	0	0	30.00	30.00	30.00
1423	end dive: TARGET_DEPTH_EXCEEDED
state	1423	begin apogee
1427.34	10243	0.00	-0.25	0.00	3549.4	3577.4	3521.4	1773.8	2820.1	151.02	-10.00	210	1539.61	107.73	1.35	0.08	1.362	0.134	0.238	2952.44	3014.88	2890.00	1971.62	2773.38	0	0	0	10.85	15.56	15.26
1546	end apogee: CONTROL_FINISHED_OK
state	1546	begin climb
1546.87	10759	146.63	1.06	-80.00	2949.0	3010.1	2887.9	1971.8	2773.9	155.06	0.00	221	1677.88	113.19	2.12	3.68	1.325	0.092	0.125	2349.59	2430.81	2268.38	2290.44	1330.88	0	0	0	10.97	15.35	15.15
1690.54	1028	146.63	1.06	0.00	2347.2	2427.4	2267.0	2290.5	1331.1	145.81	8.88	246	1702.56	0.00	0.00	3.54	0.000	0.000	0.065	2346.59	2426.25	2266.94	2290.56	2817.00	0	0	0	30.00	30.00	15.34
1889.50	16386	146.63	1.06	0.00	2343.3	2422.5	2264.2	2290.0	2816.7	128.26	9.31	266	1903.85	0.00	0.00	0.00	0.000	0.000	0.000	2343.50	2422.75	2264.25	2290.19	2817.50	0	0	0	30.00	30.00	30.00
2091.49	17030	146.63	1.12	-80.00	2343.3	2421.5	2265.1	2289.1	2817.6	108.43	9.58	286	2112.06	0.00	0.00	3.67	0.000	0.000	0.123	2342.91	2421.50	2264.31	2290.12	1329.88	0	0	0	30.00	30.00	15.59
2135.16	17414	146.63	1.12	0.00	2341.0	2419.7	2262.4	2289.1	1329.6	103.53	11.58	292	2145.70	0.00	0.00	3.44	0.000	0.000	0.066	2341.03	2419.19	2262.88	2290.38	2819.38	0	0	0	30.00	30.00	15.67
2331.73	18823	146.63	1.20	80.00	2341.9	2420.2	2263.5	2290.8	2818.9	84.58	8.95	325	2346.73	0.00	0.19	2.70	0.000	0.084	0.135	2342.19	2421.00	2263.38	2336.12	3910.00	0	0	0	30.00	15.65	15.59
2359.00	17414	146.63	1.20	0.00	2341.9	2419.8	2264.1	2334.8	3910.6	81.96	9.34	328	2373.96	0.00	0.00	2.62	0.000	0.000	0.063	2342.56	2420.56	2264.56	2334.81	2772.69	0	0	0	30.00	30.00	15.67
2555.61	8742	192.26	1.26	-80.00	2341.4	2419.4	2263.4	2333.9	2772.5	63.46	7.89	362	2609.63	35.74	0.00	3.59	1.226	0.000	0.127	2164.31	2248.38	2080.25	2334.19	1328.94	0	0	0	11.01	30.00	15.56
2659.32	1156	192.26	1.21	0.00	2161.5	2243.8	2079.2	2335.1	1329.3	53.29	10.71	379	2674.41	0.00	0.00	3.47	0.000	0.000	0.065	2162.09	2244.19	2080.00	2334.62	2820.38	0	0	0	30.00	30.00	15.62
2855.89	388	192.26	1.27	80.00	2159.8	2240.8	2078.9	2334.8	2821.7	35.42	8.78	413	2870.82	0.00	0.00	2.70	0.000	0.000	0.133	2161.53	2242.81	2080.25	2334.38	3911.75	0	0	0	30.00	30.00	15.59
2910.45	1028	192.26	1.27	0.00	2159.4	2240.1	2078.7	2334.4	3911.8	30.37	9.41	421	2925.42	0.00	0.00	2.64	0.000	0.000	0.064	2159.06	2239.50	2078.62	2334.44	2774.50	0	0	0	30.00	30.00	15.64
3107.03	128	192.26	1.35	0.00	2158.9	2239.6	2078.2	2335.2	2774.4	13.50	8.38	455	3121.41	0.00	0.00	0.00	0.000	0.000	0.000	2159.03	2239.75	2078.31	2334.31	2773.88	0	0	0	30.00	30.00	30.00
3303.59	10919	316.14	1.67	-80.00	2158.2	2239.0	2077.5	2334.9	2775.0	2.73	4.26	489	3323.91	10.85	0.62	0.00	1.014	0.056	0.000	2114.44	2194.31	2034.56	2449.06	2774.00	0	0	0	10.90	15.63	30.00
3324	end climb: SURFACE_DEPTH_REACHED
state	3324	begin surface coast
3379	end surface coast: CONTROL_FINISHED_OK
state	3379	begin surface