Glider dive log

Shilshole 11May23 * SG001 * Dive index * Mission links * Dive 121 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 1 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_INHIBIT 90

MISSION 3 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 30 XPDR_INT 0

DIVE 121 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_REP 0

N_DIVES 0 SM_CC 566.45502 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

STOP_T 0 N_FILEKB 4 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0

D_SURF 2 FILEMGR 2 VBD_MIN 500 DEEPGLIDER 0

D_FLARE 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDERMB 0

D_TGT 150 COMM_SEQ 7 C_VBD 4398.1333 MOTHERBOARD 6

D_ABORT 175 PROTOCOL 9 VBD_DBAND 2 DEVICE1 120

D_NO_BLEED 50 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE2 -1

D_BOOST 5 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

T_BOOST 0 N_NOSURFACE 0 VBD_TIMEOUT 800 DEVICE4 -1

D_FINISH 0 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_PITCH 2 NETBOX 10 UNCOM_BLEED 400 DEVICE6 -1

D_SAFE 500 CALL_TRIES 5 VBD_MAXERRORS 2 LOGGERS 1

D_CALL 3 CALL_WAIT 60 C_VBD_AUTO_DELTA 0.5 LOGGERDEVICE1 7

SURFACE_URGENCY 10 CAPUPLOAD 0 C_VBD_AUTO_MAX 100 LOGGERDEVICE2 -1

SURFACE_URGENCY_TRY 10 CAPMAXSIZE 10000 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 20 T_GPS 5 DBDW 0 LOGGERDEVICE4 -1

T_DIVE 50 N_GPS 100440 LOITER_W_DBAND 2 COMPASS_DEVICE 2

T_MISSION 65 T_RSLEEP 3 LOITER_DBDW 400 COMPASS2_DEVICE -1

T_ABORT 1440 STROBE 0 LOITER_D_TOP 400 PHONE_DEVICE 16

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 700 GPS_DEVICE 32

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 96

T_NO_W 120 RAFOS_HIT_WINDOW 10800 CF8_MAXERRORS 0 NAV_DEVICE 6

T_LOITER 86400 RAFOS_MMODEM 0 AH0_24V 575 NAV2_DEVICE 6

T_EPIRB 0 PITCH_MIN 450 AH0_10V 0 NAV3_DEVICE -1

USE_BATHY -6 PITCH_MAX 3300 MINV_24V 0 NAV4_DEVICE -1

USE_ICE 0 C_PITCH 1784.9187 MINV_10V 0 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN -2 PITCH_DBAND 0.1 MAXI_24V 5 PRESSURE_DEVICE 0

D_OFFGRID 100 PITCH_CNV 0.0041299998 MAXI_10V 5 XPDR_DEVICE 0

RELAUNCH 1 PITCH_GAIN 2.4139905 FG_AHR_10V 2174.928 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 22.183104 SEABIRD_T_G 0.0044421619

MAX_BUOY 150 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_H 0.0006586102

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.0080000004 PRESSURE_YINT -31.439199 SEABIRD_T_I 2.6926198e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 3 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 3.3427477e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0.5 COMPASS_USE 4 SEABIRD_C_G -9.9959793

MASS 52000 C_PITCH_AUTO_MAX 200 ALTIM_PING_FIT 0 SEABIRD_C_H 1.1392462

NAV_MODE 0 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_I -0.0021947562

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 2 ALTIM_BOTTOM_TURN_MARGIN 0 SEABIRD_C_J 0.00024419418

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 OPTIONS 2

HD_A 0.0070000002 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_RECORDABOVE 2000.0

HD_B 0.0099999998 ROLL_MIN 300 ALTIM_PING_DEPTH 0 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3750 ALTIM_PING_DELTA 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_FREQUENCY 13 SC_NDIVE 1.0

ESCAPE_HEADING 180 C_ROLL_DIVE 2025 ALTIM_PULSE 3

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2025 ALTIM_SENSITIVITY 2

FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 XPDR_VALID 4

AH0_10V 0 D_PITCH 2 NOCOMM_ACTION 163 SEABIRD_C_I -0.0021947562

AH0_24V 575 D_SAFE 500 N_DIVES 0 SEABIRD_C_J 0.00024419418

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_FILEKB 4 SEABIRD_T_G 0.0044421619

ALTIM_FREQUENCY 13 D_TGT 150 N_GPS 100440 SEABIRD_T_H 0.0006586102

ALTIM_PING_DELTA 0 ESCAPE_HEADING 180 N_NOCOMM 1 SEABIRD_T_I 2.6926198e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SEABIRD_T_J 3.3427477e-06

ALTIM_PING_FIT 0 FERRY_MAX 45 OPTIONS 2 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 2174.928 PHONE_DEVICE 16 SM_CC 566.45502

ALTIM_SENSITIVITY 2 FG_AHR_24V 22.183104 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 2 PITCH_ADJ_DBAND 3 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_ADJ_GAIN 0.0080000004 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_CNV 0.0041299998 SURFACE_URGENCY 10

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 20

CALL_NDIVES 1 HD_A 0.0070000002 PITCH_GAIN 2.4139905 SURFACE_URGENCY_TRY 10

CALL_TRIES 5 HD_B 0.0099999998 PITCH_GAIN_AUTO_DELTA 0.5 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_C 1.6e-05 PITCH_GAIN_AUTO_MAX 2 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 10000 HEADING -1 PITCH_MAX 3300 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_MAXERRORS 1 T_ABORT 1440

CF8_MAXERRORS 0 ICE_FREEZE_MARGIN -2 PITCH_MIN 450 T_BOOST 0

COMM_SEQ 7 ID 1 PITCH_TIMEOUT 40 T_DIVE 50

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_VBD_SHIFT 0.0012300001 T_EPIRB 0

COMPASS_DEVICE 2 INT_PRESSURE_YINT 0 PITCH_W_DBAND 0 T_GPS 5

COMPASS_USE 4 KALMAN_USE 2 PITCH_W_GAIN 0 T_LOITER 86400

C_PITCH 1784.9187 LOGGERDEVICE1 7 PRESSURE_DEVICE 0 T_MISSION 65

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE2 -1 PRESSURE_SLOPE 9.9999997e-05 T_NO_W 120

C_PITCH_AUTO_MAX 200 LOGGERDEVICE3 -1 PRESSURE_YINT -31.439199 T_RSLEEP 3

C_ROLL_CLIMB 2025 LOGGERDEVICE4 -1 PROTOCOL 9 T_TURN 225

C_ROLL_DIVE 2025 LOGGERS 1 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_VBD 4398.1333 LOITER_DBDW 400 RAFOS_DEVICE 96 UNCOM_BLEED 400

C_VBD_AUTO_DELTA 0.5 LOITER_D_BOTTOM 700 RAFOS_HIT_WINDOW 10800 UPLOAD_DIVES_MAX 3

C_VBD_AUTO_MAX 100 LOITER_D_TOP 400 RAFOS_MMODEM 0 USE_BATHY -6

DBDW 0 LOITER_N_DIVE 0 RAFOS_PEAK_OFFSET 0 USE_ICE 0

DEEPGLIDER 0 LOITER_W_DBAND 2 RELAUNCH 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS 52000 RHO 1.023 VBD_DBAND 2

DEVICE1 120 MAXI_10V 5 ROLL_ADJ_DBAND 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 5 ROLL_ADJ_GAIN 0 VBD_MAX 3960

DEVICE3 -1 MAX_BUOY 150 ROLL_CNV 0.054945 VBD_MAXERRORS 2

DEVICE4 -1 MINV_10V 0 ROLL_DEG 80 VBD_MIN 500

DEVICE5 -1 MINV_24V 0 ROLL_MAX 3750 VBD_TIMEOUT 800

DEVICE6 -1 MISSION 3 ROLL_MAXERRORS 0 W_ADJ_DBAND 0

DIVE 121 MOTHERBOARD 6 ROLL_MIN 300 XPDR_DEVICE 0

D_ABORT 175 NAV2_DEVICE 6 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

D_BOOST 5 NAV3_DEVICE -1 SC_NDIVE 1.0 XPDR_INT 0

D_CALL 3 NAV4_DEVICE -1 SC_PROFILE 3.0 XPDR_REP 0

D_FINISH 0 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_VALID 4

D_FLARE 3 NAV_MODE 0 SC_XMITPROFILE 3.0

D_NO_BLEED 50 NETBOX 10 SEABIRD_C_G -9.9959793

D_OFFGRID 100 NETWORK_DEVICE 1 SEABIRD_C_H 1.1392462

Pre-dive calculations and measurements:

GPS1 171223,194426,4743.110,-12224.296,11,2.0,18,0.0 TGT_RADIUS 0.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.02 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -50.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 171223,194723,4743.114,-12224.294,28,1.8,35,0.0 MHEAD_RNG_PITCHd_Wd 240.0,20000,-19.3,-10.000,-20.84,2243,0.415

SPEED_LIMITS 0.173,0.263 D_GRID 176

TGT_NAME run_912 IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000

TGT_LATLONG 4737.714,-12238.171 OSC 8000225

Post-dive calculations and measurements:

NAV 1702843141,62.3,start _10V_AH 11.07,0.000

FINISH 0.0,1.030129 FG_AHR_24Vo 22.192

SURF forcing FG_AHR_10Vo 2175.809

SM_CCo 3032.34,106.93,0.005,0,2088.5,2132.7,2044.2,566.53 DEVICE_MAX_MAMPS 5.000,5.000,5.000,10.093,0.000,50.000,6.920,0.000,0.000,2.120,26.000,0.000,0.000,0.000,0.000

SM_GC 0.03,106.93,10.98,2.50,0.005,0.005,0.005,2088.5,2132.7,2044.2,355.8,2262.7,0,0,0,25.57,25.57,25.57 MEM0 58972,1,0,0

SUPER 27,70,255,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 0.00,0.00,, MEM2 991632,25,54156,114

TCM_TEMP 15.00 DATA_FILE_SIZE 19397,553

XPDR_PINGS -1,-1.0,-1.0 CAP_FILE_SIZE 254158,0

SC_FREEKB 3870560 SDSIZE 3887104,3842464

RAFOS_CLK 0 SDFILEDIR 839,123

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 50.31 SOUNDSPEED 1488.0

TEMP 22.12 IMPLIED_C_PITCH 1982,2.86,386,1883.7,2.64

INTERNAL_PRESSURE 14.0817 IMPLIED_C_VBD 4475,230.089050,249,4436.4

_24V_AH 24.11,13.140 GPS 171223,204039,4743.501,-12224.189,20,1.9,29,0.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 229 5 27.72 legato 0 0 0.00

Pitch_motor 21 5 2.65 nil 0 0 0.00

Roll_motor 50 5 6.05 nil 0 0 0.00

Iridium 19 10 4.77 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 45 50 25.43 nil 0 0 0.00

Core 2771 6 212.30 SciCon 2863 3 113.02

Fast 5 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 254 2 5.98

Compass 844 26 243.08

RAFOS 0 0 0.00

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.48 16386 -146.63 -8.19 0.00 2155.2 2200.4 2110.0 376.8 1865.8 0.00 0.00 0 71.19 45.08 0.00 0.61 0.005 0.000 0.005 3963.66 4043.88 3883.44 376.88 2171.00 0 0 0 25.57 30.00 25.57

71.53 21031 -146.63 -8.19 -80.00 3963.5 4044.0 3882.9 376.8 2170.6 1.59 -2.56 11 76.47 0.00 0.00 2.33 0.000 0.000 0.005 3963.47 4043.44 3883.50 376.88 361.50 0 0 0 30.00 30.00 25.57

251.77 21639 -146.63 -8.25 0.00 3963.8 4044.4 3883.1 376.8 361.2 16.62 -11.64 47 256.94 0.00 0.00 2.32 0.000 0.000 0.005 3962.50 4041.88 3883.12 377.12 2225.62 0 0 0 30.00 30.00 25.57

291.96 20871 -146.63 -8.32 80.00 3963.8 4043.6 3883.9 376.8 2225.6 20.91 -10.81 55 297.18 0.00 0.00 1.89 0.000 0.000 0.005 3963.56 4043.69 3883.44 376.50 3700.81 0 0 0 30.00 30.00 25.57

526.94 21511 -146.63 -8.32 0.00 3963.9 4044.1 3883.7 376.6 3700.2 48.57 -13.55 102 532.63 0.00 0.00 2.65 0.000 0.000 0.005 3963.56 4043.81 3883.31 376.62 1751.69 0 0 0 30.00 30.00 25.57

597.49 4485 -146.63 -8.35 80.00 3963.4 4043.7 3883.2 376.4 1752.0 59.72 -17.61 116 603.07 0.00 0.00 2.50 0.000 0.000 0.005 3963.69 4043.81 3883.56 376.50 3654.62 0 0 0 30.00 30.00 25.57

831.97 5125 -146.63 -8.35 0.00 3963.6 4044.1 3883.2 376.8 3654.7 90.66 -11.24 153 837.67 0.00 0.00 2.38 0.000 0.000 0.005 3962.84 4042.56 3883.12 376.62 1853.06 0 0 0 30.00 30.00 25.57

902.36 4357 -146.63 -8.35 80.00 3963.0 4043.6 3882.4 376.6 1853.0 99.07 -11.93 167 908.03 0.00 0.00 2.36 0.000 0.000 0.005 3963.62 4043.44 3883.81 376.50 3684.12 0 0 0 30.00 30.00 25.57

1137.94 5125 -146.63 -8.35 0.00 3963.5 4043.8 3883.2 376.9 3684.6 129.66 -12.39 214 1143.81 0.00 0.00 2.45 0.000 0.000 0.005 3962.97 4042.81 3883.12 376.69 1770.31 0 0 0 30.00 30.00 25.57

1268.80 4357 -146.63 -8.35 80.00 3963.6 4043.9 3883.3 376.6 1770.1 147.35 -13.03 240 1274.54 0.00 0.00 2.52 0.000 0.000 0.005 3962.91 4043.00 3882.81 376.62 3675.81 0 0 0 30.00 30.00 25.57

1384 end dive: TARGET_DEPTH_EXCEEDED

state 1384 begin apogee

1389.76 18435 0.00 -2.07 0.00 3963.5 4043.7 3883.2 376.8 1878.1 150.17 -3.35 263 1401.31 0.00 3.65 0.48 0.000 0.005 0.005 3963.22 4043.44 3883.00 1411.12 2246.69 0 0 0 30.00 25.57 25.57

1402 end apogee: CONTROL_FINISHED_OK

state 1402 begin climb

1402.49 10759 146.63 8.19 -80.00 3963.7 4044.0 3883.3 1410.5 2246.4 150.40 0.00 265 1459.66 26.99 7.36 2.30 0.005 0.005 0.005 3801.28 3878.12 3724.44 3402.88 365.81 0 0 0 25.57 25.57 25.57

1689.85 11431 157.39 8.27 0.00 3801.5 3878.6 3724.4 3402.8 365.7 132.94 9.51 321 1711.45 9.57 0.00 2.39 0.005 0.000 0.005 3757.34 3834.12 3680.56 3402.88 2257.06 0 0 0 25.57 30.00 25.57

1836.23 10791 198.21 8.32 -80.00 3758.1 3834.5 3681.6 3402.9 2256.8 119.90 8.14 350 1883.21 27.79 0.00 2.41 0.005 0.000 0.005 3590.50 3662.69 3518.31 3403.06 280.94 0 0 0 25.57 30.00 25.57

2113.26 3077 198.21 8.32 0.00 3591.2 3664.1 3518.2 3402.7 280.7 89.68 14.96 405 2119.21 0.00 0.00 2.63 0.000 0.000 0.005 3591.28 3664.12 3518.44 3403.06 2325.81 0 0 0 30.00 30.00 25.57

2184.17 2565 198.21 8.32 -80.00 3591.0 3664.2 3517.8 3402.8 2326.3 78.63 15.73 419 2190.41 0.00 0.00 2.72 0.000 0.000 0.005 3591.22 3664.12 3518.31 3402.69 308.56 0 0 0 30.00 30.00 25.57

2420.30 11303 215.27 8.34 0.00 3591.0 3663.9 3518.1 3402.9 308.4 49.03 9.22 466 2446.68 13.60 0.00 2.45 0.005 0.000 0.005 3521.94 3594.00 3449.88 3402.81 2225.44 0 0 0 25.57 30.00 25.57

2511.47 2693 215.27 8.40 -80.00 3521.5 3593.4 3449.6 3402.6 2225.6 39.78 10.80 484 2517.24 0.00 0.00 2.54 0.000 0.000 0.005 3520.94 3592.44 3449.44 3403.31 329.44 0 0 0 30.00 30.00 25.57

2677.23 3077 215.27 8.40 0.00 3521.3 3593.3 3449.4 3402.9 328.9 18.07 11.96 517 2682.88 0.00 0.00 2.45 0.000 0.000 0.005 3521.59 3593.50 3449.69 3402.44 2273.44 0 0 0 30.00 30.00 25.57

2717.96 2693 215.27 8.46 -80.00 3521.5 3593.1 3449.8 3403.0 2273.4 13.45 11.30 525 2723.72 0.00 0.00 2.59 0.000 0.000 0.005 3521.34 3593.12 3449.56 3402.88 366.62 0 0 0 30.00 30.00 25.57

2828 end climb: SURFACE_DEPTH_REACHED

state 2829 begin surface coast

2858 end surface coast: CONTROL_FINISHED_OK

state 2858 begin surface

ID	1	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_INHIBIT	90
MISSION	3	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	30	XPDR_INT	0
DIVE	121	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_REP	0
N_DIVES	0	SM_CC	566.45502	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
STOP_T	0	N_FILEKB	4	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0
D_SURF	2	FILEMGR	2	VBD_MIN	500	DEEPGLIDER	0
D_FLARE	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDERMB	0
D_TGT	150	COMM_SEQ	7	C_VBD	4398.1333	MOTHERBOARD	6
D_ABORT	175	PROTOCOL	9	VBD_DBAND	2	DEVICE1	120
D_NO_BLEED	50	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_BOOST	5	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
T_BOOST	0	N_NOSURFACE	0	VBD_TIMEOUT	800	DEVICE4	-1
D_FINISH	0	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_PITCH	2	NETBOX	10	UNCOM_BLEED	400	DEVICE6	-1
D_SAFE	500	CALL_TRIES	5	VBD_MAXERRORS	2	LOGGERS	1
D_CALL	3	CALL_WAIT	60	C_VBD_AUTO_DELTA	0.5	LOGGERDEVICE1	7
SURFACE_URGENCY	10	CAPUPLOAD	0	C_VBD_AUTO_MAX	100	LOGGERDEVICE2	-1
SURFACE_URGENCY_TRY	10	CAPMAXSIZE	10000	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	20	T_GPS	5	DBDW	0	LOGGERDEVICE4	-1
T_DIVE	50	N_GPS	100440	LOITER_W_DBAND	2	COMPASS_DEVICE	2
T_MISSION	65	T_RSLEEP	3	LOITER_DBDW	400	COMPASS2_DEVICE	-1
T_ABORT	1440	STROBE	0	LOITER_D_TOP	400	PHONE_DEVICE	16
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	700	GPS_DEVICE	32
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	96
T_NO_W	120	RAFOS_HIT_WINDOW	10800	CF8_MAXERRORS	0	NAV_DEVICE	6
T_LOITER	86400	RAFOS_MMODEM	0	AH0_24V	575	NAV2_DEVICE	6
T_EPIRB	0	PITCH_MIN	450	AH0_10V	0	NAV3_DEVICE	-1
USE_BATHY	-6	PITCH_MAX	3300	MINV_24V	0	NAV4_DEVICE	-1
USE_ICE	0	C_PITCH	1784.9187	MINV_10V	0	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	-2	PITCH_DBAND	0.1	MAXI_24V	5	PRESSURE_DEVICE	0
D_OFFGRID	100	PITCH_CNV	0.0041299998	MAXI_10V	5	XPDR_DEVICE	0
RELAUNCH	1	PITCH_GAIN	2.4139905	FG_AHR_10V	2174.928	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	22.183104	SEABIRD_T_G	0.0044421619
MAX_BUOY	150	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_H	0.0006586102
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.0080000004	PRESSURE_YINT	-31.439199	SEABIRD_T_I	2.6926198e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	3	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	3.3427477e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0.5	COMPASS_USE	4	SEABIRD_C_G	-9.9959793
MASS	52000	C_PITCH_AUTO_MAX	200	ALTIM_PING_FIT	0	SEABIRD_C_H	1.1392462
NAV_MODE	0	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_I	-0.0021947562
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	2	ALTIM_BOTTOM_TURN_MARGIN	0	SEABIRD_C_J	0.00024419418
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	OPTIONS	2
HD_A	0.0070000002	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_RECORDABOVE	2000.0
HD_B	0.0099999998	ROLL_MIN	300	ALTIM_PING_DEPTH	0	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3750	ALTIM_PING_DELTA	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_FREQUENCY	13	SC_NDIVE	1.0
ESCAPE_HEADING	180	C_ROLL_DIVE	2025	ALTIM_PULSE	3
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2025	ALTIM_SENSITIVITY	2
FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	XPDR_VALID	4

GPS1	171223,194426,4743.110,-12224.296,11,2.0,18,0.0	TGT_RADIUS	0.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.02	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-50.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	171223,194723,4743.114,-12224.294,28,1.8,35,0.0	MHEAD_RNG_PITCHd_Wd	240.0,20000,-19.3,-10.000,-20.84,2243,0.415
SPEED_LIMITS	0.173,0.263	D_GRID	176
TGT_NAME	run_912	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000
TGT_LATLONG	4737.714,-12238.171	OSC	8000225

NAV	1702843141,62.3,start	_10V_AH	11.07,0.000
FINISH	0.0,1.030129	FG_AHR_24Vo	22.192
SURF	forcing	FG_AHR_10Vo	2175.809
SM_CCo	3032.34,106.93,0.005,0,2088.5,2132.7,2044.2,566.53	DEVICE_MAX_MAMPS	5.000,5.000,5.000,10.093,0.000,50.000,6.920,0.000,0.000,2.120,26.000,0.000,0.000,0.000,0.000
SM_GC	0.03,106.93,10.98,2.50,0.005,0.005,0.005,2088.5,2132.7,2044.2,355.8,2262.7,0,0,0,25.57,25.57,25.57	MEM0	58972,1,0,0
SUPER	27,70,255,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	0.00,0.00,,	MEM2	991632,25,54156,114
TCM_TEMP	15.00	DATA_FILE_SIZE	19397,553
XPDR_PINGS	-1,-1.0,-1.0	CAP_FILE_SIZE	254158,0
SC_FREEKB	3870560	SDSIZE	3887104,3842464
RAFOS_CLK	0	SDFILEDIR	839,123
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	50.31	SOUNDSPEED	1488.0
TEMP	22.12	IMPLIED_C_PITCH	1982,2.86,386,1883.7,2.64
INTERNAL_PRESSURE	14.0817	IMPLIED_C_VBD	4475,230.089050,249,4436.4
_24V_AH	24.11,13.140	GPS	171223,204039,4743.501,-12224.189,20,1.9,29,0.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	229	5	27.72	legato	0	0	0.00
Pitch_motor	21	5	2.65	nil	0	0	0.00
Roll_motor	50	5	6.05	nil	0	0	0.00
Iridium	19	10	4.77	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	45	50	25.43	nil	0	0	0.00
Core	2771	6	212.30	SciCon	2863	3	113.02
Fast	5	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	254	2	5.98
Compass	844	26	243.08
RAFOS	0	0	0.00
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.48	16386	-146.63	-8.19	0.00	2155.2	2200.4	2110.0	376.8	1865.8	0.00	0.00	0	71.19	45.08	0.00	0.61	0.005	0.000	0.005	3963.66	4043.88	3883.44	376.88	2171.00	0	0	0	25.57	30.00	25.57
71.53	21031	-146.63	-8.19	-80.00	3963.5	4044.0	3882.9	376.8	2170.6	1.59	-2.56	11	76.47	0.00	0.00	2.33	0.000	0.000	0.005	3963.47	4043.44	3883.50	376.88	361.50	0	0	0	30.00	30.00	25.57
251.77	21639	-146.63	-8.25	0.00	3963.8	4044.4	3883.1	376.8	361.2	16.62	-11.64	47	256.94	0.00	0.00	2.32	0.000	0.000	0.005	3962.50	4041.88	3883.12	377.12	2225.62	0	0	0	30.00	30.00	25.57
291.96	20871	-146.63	-8.32	80.00	3963.8	4043.6	3883.9	376.8	2225.6	20.91	-10.81	55	297.18	0.00	0.00	1.89	0.000	0.000	0.005	3963.56	4043.69	3883.44	376.50	3700.81	0	0	0	30.00	30.00	25.57
526.94	21511	-146.63	-8.32	0.00	3963.9	4044.1	3883.7	376.6	3700.2	48.57	-13.55	102	532.63	0.00	0.00	2.65	0.000	0.000	0.005	3963.56	4043.81	3883.31	376.62	1751.69	0	0	0	30.00	30.00	25.57
597.49	4485	-146.63	-8.35	80.00	3963.4	4043.7	3883.2	376.4	1752.0	59.72	-17.61	116	603.07	0.00	0.00	2.50	0.000	0.000	0.005	3963.69	4043.81	3883.56	376.50	3654.62	0	0	0	30.00	30.00	25.57
831.97	5125	-146.63	-8.35	0.00	3963.6	4044.1	3883.2	376.8	3654.7	90.66	-11.24	153	837.67	0.00	0.00	2.38	0.000	0.000	0.005	3962.84	4042.56	3883.12	376.62	1853.06	0	0	0	30.00	30.00	25.57
902.36	4357	-146.63	-8.35	80.00	3963.0	4043.6	3882.4	376.6	1853.0	99.07	-11.93	167	908.03	0.00	0.00	2.36	0.000	0.000	0.005	3963.62	4043.44	3883.81	376.50	3684.12	0	0	0	30.00	30.00	25.57
1137.94	5125	-146.63	-8.35	0.00	3963.5	4043.8	3883.2	376.9	3684.6	129.66	-12.39	214	1143.81	0.00	0.00	2.45	0.000	0.000	0.005	3962.97	4042.81	3883.12	376.69	1770.31	0	0	0	30.00	30.00	25.57
1268.80	4357	-146.63	-8.35	80.00	3963.6	4043.9	3883.3	376.6	1770.1	147.35	-13.03	240	1274.54	0.00	0.00	2.52	0.000	0.000	0.005	3962.91	4043.00	3882.81	376.62	3675.81	0	0	0	30.00	30.00	25.57
1384	end dive: TARGET_DEPTH_EXCEEDED
state	1384	begin apogee
1389.76	18435	0.00	-2.07	0.00	3963.5	4043.7	3883.2	376.8	1878.1	150.17	-3.35	263	1401.31	0.00	3.65	0.48	0.000	0.005	0.005	3963.22	4043.44	3883.00	1411.12	2246.69	0	0	0	30.00	25.57	25.57
1402	end apogee: CONTROL_FINISHED_OK
state	1402	begin climb
1402.49	10759	146.63	8.19	-80.00	3963.7	4044.0	3883.3	1410.5	2246.4	150.40	0.00	265	1459.66	26.99	7.36	2.30	0.005	0.005	0.005	3801.28	3878.12	3724.44	3402.88	365.81	0	0	0	25.57	25.57	25.57
1689.85	11431	157.39	8.27	0.00	3801.5	3878.6	3724.4	3402.8	365.7	132.94	9.51	321	1711.45	9.57	0.00	2.39	0.005	0.000	0.005	3757.34	3834.12	3680.56	3402.88	2257.06	0	0	0	25.57	30.00	25.57
1836.23	10791	198.21	8.32	-80.00	3758.1	3834.5	3681.6	3402.9	2256.8	119.90	8.14	350	1883.21	27.79	0.00	2.41	0.005	0.000	0.005	3590.50	3662.69	3518.31	3403.06	280.94	0	0	0	25.57	30.00	25.57
2113.26	3077	198.21	8.32	0.00	3591.2	3664.1	3518.2	3402.7	280.7	89.68	14.96	405	2119.21	0.00	0.00	2.63	0.000	0.000	0.005	3591.28	3664.12	3518.44	3403.06	2325.81	0	0	0	30.00	30.00	25.57
2184.17	2565	198.21	8.32	-80.00	3591.0	3664.2	3517.8	3402.8	2326.3	78.63	15.73	419	2190.41	0.00	0.00	2.72	0.000	0.000	0.005	3591.22	3664.12	3518.31	3402.69	308.56	0	0	0	30.00	30.00	25.57
2420.30	11303	215.27	8.34	0.00	3591.0	3663.9	3518.1	3402.9	308.4	49.03	9.22	466	2446.68	13.60	0.00	2.45	0.005	0.000	0.005	3521.94	3594.00	3449.88	3402.81	2225.44	0	0	0	25.57	30.00	25.57
2511.47	2693	215.27	8.40	-80.00	3521.5	3593.4	3449.6	3402.6	2225.6	39.78	10.80	484	2517.24	0.00	0.00	2.54	0.000	0.000	0.005	3520.94	3592.44	3449.44	3403.31	329.44	0	0	0	30.00	30.00	25.57
2677.23	3077	215.27	8.40	0.00	3521.3	3593.3	3449.4	3402.9	328.9	18.07	11.96	517	2682.88	0.00	0.00	2.45	0.000	0.000	0.005	3521.59	3593.50	3449.69	3402.44	2273.44	0	0	0	30.00	30.00	25.57
2717.96	2693	215.27	8.46	-80.00	3521.5	3593.1	3449.8	3403.0	2273.4	13.45	11.30	525	2723.72	0.00	0.00	2.59	0.000	0.000	0.005	3521.34	3593.12	3449.56	3402.88	366.62	0	0	0	30.00	30.00	25.57
2828	end climb: SURFACE_DEPTH_REACHED
state	2829	begin surface coast
2858	end surface coast: CONTROL_FINISHED_OK
state	2858	begin surface