Glider dive log

Shilshole 11May23 * SG001 * Dive index * Mission links * Dive 126 * 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 126 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 4380.7261 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 1799.2231 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 2.3787653 FG_AHR_10V 2178.8669 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 22.223684 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 2178.8669 PHONE_DEVICE 16 SM_CC 566.45502

ALTIM_SENSITIVITY 2 FG_AHR_24V 22.223684 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 2.3787653 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 1799.2231 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 4380.7261 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 126 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 171223,233358,4743.110,-12224.296,22,1.2,29,0.0 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 171223,233636,4743.114,-12224.294,10,1.6,16,0.0 MHEAD_RNG_PITCHd_Wd 240.0,20000,-19.3,-10.000,-20.84,2243,0.376

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 8000266

Post-dive calculations and measurements:

NAV 1702857543,146.5,start _10V_AH 11.07,0.000

FINISH 0.0,1.030129 FG_AHR_24Vo 22.233

SURF forcing FG_AHR_10Vo 2179.748

SM_CCo 3032.82,108.82,0.005,0,2069.8,2113.3,2026.2,566.70 DEVICE_MAX_MAMPS 5.000,5.000,5.000,10.125,0.000,50.000,6.920,0.000,0.000,2.120,26.000,0.000,0.000,0.000,0.000

SM_GC 0.03,108.82,11.01,2.43,0.005,0.005,0.005,2069.8,2113.3,2026.2,386.7,2297.9,0,0,0,25.57,25.57,25.57 MEM0 58972,1,0,0

SUPER 19,70,255,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 0.00,0.00,, MEM2 991588,27,54160,114

TCM_TEMP 15.00 DATA_FILE_SIZE 19439,552

XPDR_PINGS -1,-1.0,-1.0 CAP_FILE_SIZE 257335,0

SC_FREEKB 3868960 SDSIZE 3887104,3841184

RAFOS_CLK 0 SDFILEDIR 869,128

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 50.42 SOUNDSPEED 1488.0

TEMP 22.23 IMPLIED_C_PITCH 1955,2.83,385,1877.3,2.61

INTERNAL_PRESSURE 14.0469 IMPLIED_C_VBD 4741,171.747726,204,4480.7

_24V_AH 24.11,13.324 GPS 181223,002936,4743.501,-12224.189,8,1.5,13,0.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 231 5 27.86 legato 0 0 0.00

Pitch_motor 21 5 2.63 nil 0 0 0.00

Roll_motor 55 5 6.66 nil 0 0 0.00

Iridium 19 10 4.81 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 26 50 14.41 nil 0 0 0.00

Core 2739 6 209.87 SciCon 2861 3 113.03

Fast 5 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 264 2 6.21

Compass 834 26 240.18

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

7.03 16386 -146.63 -8.31 0.00 2127.0 2171.8 2082.2 376.9 1841.9 0.00 0.00 0 71.55 45.72 0.00 0.60 0.005 0.000 0.005 3963.84 4044.19 3883.50 377.06 2327.19 0 0 0 25.57 30.00 25.57

71.89 21031 -146.63 -8.31 -80.00 3963.4 4043.4 3883.3 377.0 2327.2 1.60 -2.71 11 77.08 0.00 0.00 2.74 0.000 0.000 0.005 3964.03 4044.44 3883.62 376.88 442.44 0 0 0 30.00 30.00 25.57

251.79 21639 -146.63 -8.37 0.00 3963.5 4044.1 3883.0 377.2 275.6 16.49 -11.37 47 256.98 0.00 0.00 2.57 0.000 0.000 0.005 3963.25 4043.56 3882.94 377.06 2196.06 0 0 0 30.00 30.00 25.57

291.80 20871 -146.63 -8.44 80.00 3963.4 4043.6 3883.2 377.1 2196.1 20.80 -10.78 55 297.21 0.00 0.00 2.11 0.000 0.000 0.005 3963.88 4044.06 3883.69 376.81 3751.81 0 0 0 30.00 30.00 25.57

417.22 21639 -146.63 -8.40 0.00 3963.8 4043.9 3883.8 376.9 3751.8 33.89 -11.88 80 423.01 0.00 0.00 2.84 0.000 0.000 0.005 3964.53 4045.00 3884.06 376.94 1904.00 0 0 0 30.00 30.00 25.57

487.88 20743 -146.63 -8.40 80.00 3963.7 4044.1 3883.3 376.8 1731.9 43.23 -14.18 94 493.33 0.00 0.00 2.48 0.000 0.000 0.005 3963.59 4043.75 3883.44 377.38 3650.38 0 0 0 30.00 30.00 25.57

723.62 5253 -146.63 -8.43 0.00 3963.7 4043.9 3883.4 376.8 3650.2 77.72 -13.16 141 729.30 0.00 0.00 2.34 0.000 0.000 0.005 3963.41 4043.56 3883.25 377.06 1835.56 0 0 0 30.00 30.00 25.57

794.05 4357 -146.63 -8.43 80.00 3963.8 4044.1 3883.6 376.9 1835.7 86.28 -11.69 155 799.66 0.00 0.00 2.34 0.000 0.000 0.005 3963.31 4043.44 3883.19 376.75 3656.94 0 0 0 30.00 30.00 25.57

919.46 5125 -146.63 -8.43 0.00 3963.7 4044.1 3883.3 377.1 3656.4 101.24 -12.51 180 924.98 0.00 0.00 2.30 0.000 0.000 0.005 3963.34 4043.94 3882.75 376.75 1803.25 0 0 0 30.00 30.00 25.57

990.05 4357 -146.63 -8.43 80.00 3963.3 4043.4 3883.1 377.0 1802.9 110.99 -14.10 194 995.99 0.00 0.00 2.49 0.000 0.000 0.005 3963.53 4043.88 3883.19 376.75 3797.62 0 0 0 30.00 30.00 25.57

1141.22 5125 -146.63 -8.43 0.00 3963.4 4043.8 3883.1 377.0 3797.3 129.97 -12.13 224 1147.24 0.00 0.00 2.56 0.000 0.000 0.005 3963.66 4043.94 3883.38 377.00 1768.75 0 0 0 30.00 30.00 25.57

1310.94 4357 -146.63 -8.43 80.00 3963.3 4043.9 3882.8 377.0 1767.9 146.46 -13.96 248 1316.62 0.00 0.00 2.48 0.000 0.000 0.005 3963.31 4043.25 3883.38 376.69 3677.31 0 0 0 30.00 30.00 25.57

1382 end dive: TARGET_DEPTH_EXCEEDED

state 1382 begin apogee

1387.29 18435 0.00 -2.10 0.00 3963.4 4043.8 3883.1 376.7 1767.4 150.01 -4.26 262 1399.31 0.00 3.62 0.66 0.000 0.005 0.005 3963.66 4043.94 3883.38 1372.19 2100.44 0 0 0 30.00 25.57 25.57

1400 end apogee: CONTROL_FINISHED_OK

state 1400 begin climb

1400.50 10759 146.63 8.31 -80.00 3963.5 4043.8 3883.3 1372.6 2100.1 150.31 0.00 264 1462.98 29.91 7.16 2.20 0.005 0.005 0.005 3783.53 3859.94 3707.12 3394.00 316.19 0 0 0 25.57 25.57 25.57

1692.90 11431 160.59 8.39 0.00 3783.5 3860.2 3706.8 3393.8 315.9 132.71 9.36 321 1714.25 11.55 0.00 2.55 0.005 0.000 0.005 3727.03 3802.50 3651.56 3393.75 2209.38 0 0 0 25.57 30.00 25.57

1839.38 10791 203.16 8.44 -80.00 3725.0 3800.6 3649.4 3393.9 2209.3 119.80 8.06 350 1886.63 29.01 0.00 2.24 0.005 0.000 0.005 3553.44 3626.00 3480.88 3393.94 376.81 0 0 0 25.57 30.00 25.57

2116.58 3077 203.16 8.44 0.00 3553.2 3625.6 3480.8 3393.3 376.8 89.36 14.81 405 2122.04 0.00 0.00 2.29 0.000 0.000 0.005 3552.06 3623.25 3480.88 3394.38 2181.81 0 0 0 30.00 30.00 25.57

2187.17 2565 203.16 8.44 -80.00 3552.8 3625.1 3480.6 3393.7 2181.8 78.24 16.20 419 2192.73 0.00 0.00 2.38 0.000 0.000 0.005 3552.94 3625.00 3480.88 3393.81 306.81 0 0 0 30.00 30.00 25.57

2402.72 3077 203.16 8.44 0.00 3553.0 3625.6 3480.4 3393.9 306.8 50.58 10.34 462 2408.54 0.00 0.00 2.57 0.000 0.000 0.005 3553.00 3625.38 3480.62 3393.50 2238.06 0 0 0 30.00 30.00 25.57

2473.69 10919 207.83 8.47 -80.00 3552.8 3625.3 3480.3 3393.8 2237.8 43.91 9.79 476 2489.73 6.07 0.00 2.34 0.005 0.000 0.005 3533.59 3605.25 3461.94 3394.94 336.94 0 0 0 25.57 30.00 25.57

2684.70 3077 207.83 8.47 0.00 3533.8 3606.1 3461.6 3393.4 336.9 17.28 11.81 518 2690.49 0.00 0.00 2.60 0.000 0.000 0.005 3533.78 3605.56 3462.00 3393.94 2276.50 0 0 0 30.00 30.00 25.57

2725.57 2693 207.83 8.54 -80.00 3533.6 3605.6 3461.5 3393.7 2276.2 12.70 11.28 526 2731.45 0.00 0.00 2.48 0.000 0.000 0.005 3533.72 3605.62 3461.81 3393.81 322.25 0 0 0 30.00 30.00 25.57

2831 end climb: SURFACE_DEPTH_REACHED

state 2831 begin surface coast

2856 end surface coast: CONTROL_FINISHED_OK

state 2857 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	126	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	4380.7261	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	1799.2231	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	2.3787653	FG_AHR_10V	2178.8669	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	22.223684	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	171223,233358,4743.110,-12224.296,22,1.2,29,0.0	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	171223,233636,4743.114,-12224.294,10,1.6,16,0.0	MHEAD_RNG_PITCHd_Wd	240.0,20000,-19.3,-10.000,-20.84,2243,0.376
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	8000266

NAV	1702857543,146.5,start	_10V_AH	11.07,0.000
FINISH	0.0,1.030129	FG_AHR_24Vo	22.233
SURF	forcing	FG_AHR_10Vo	2179.748
SM_CCo	3032.82,108.82,0.005,0,2069.8,2113.3,2026.2,566.70	DEVICE_MAX_MAMPS	5.000,5.000,5.000,10.125,0.000,50.000,6.920,0.000,0.000,2.120,26.000,0.000,0.000,0.000,0.000
SM_GC	0.03,108.82,11.01,2.43,0.005,0.005,0.005,2069.8,2113.3,2026.2,386.7,2297.9,0,0,0,25.57,25.57,25.57	MEM0	58972,1,0,0
SUPER	19,70,255,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	0.00,0.00,,	MEM2	991588,27,54160,114
TCM_TEMP	15.00	DATA_FILE_SIZE	19439,552
XPDR_PINGS	-1,-1.0,-1.0	CAP_FILE_SIZE	257335,0
SC_FREEKB	3868960	SDSIZE	3887104,3841184
RAFOS_CLK	0	SDFILEDIR	869,128
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	50.42	SOUNDSPEED	1488.0
TEMP	22.23	IMPLIED_C_PITCH	1955,2.83,385,1877.3,2.61
INTERNAL_PRESSURE	14.0469	IMPLIED_C_VBD	4741,171.747726,204,4480.7
_24V_AH	24.11,13.324	GPS	181223,002936,4743.501,-12224.189,8,1.5,13,0.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	231	5	27.86	legato	0	0	0.00
Pitch_motor	21	5	2.63	nil	0	0	0.00
Roll_motor	55	5	6.66	nil	0	0	0.00
Iridium	19	10	4.81	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	26	50	14.41	nil	0	0	0.00
Core	2739	6	209.87	SciCon	2861	3	113.03
Fast	5	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	264	2	6.21
Compass	834	26	240.18
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
7.03	16386	-146.63	-8.31	0.00	2127.0	2171.8	2082.2	376.9	1841.9	0.00	0.00	0	71.55	45.72	0.00	0.60	0.005	0.000	0.005	3963.84	4044.19	3883.50	377.06	2327.19	0	0	0	25.57	30.00	25.57
71.89	21031	-146.63	-8.31	-80.00	3963.4	4043.4	3883.3	377.0	2327.2	1.60	-2.71	11	77.08	0.00	0.00	2.74	0.000	0.000	0.005	3964.03	4044.44	3883.62	376.88	442.44	0	0	0	30.00	30.00	25.57
251.79	21639	-146.63	-8.37	0.00	3963.5	4044.1	3883.0	377.2	275.6	16.49	-11.37	47	256.98	0.00	0.00	2.57	0.000	0.000	0.005	3963.25	4043.56	3882.94	377.06	2196.06	0	0	0	30.00	30.00	25.57
291.80	20871	-146.63	-8.44	80.00	3963.4	4043.6	3883.2	377.1	2196.1	20.80	-10.78	55	297.21	0.00	0.00	2.11	0.000	0.000	0.005	3963.88	4044.06	3883.69	376.81	3751.81	0	0	0	30.00	30.00	25.57
417.22	21639	-146.63	-8.40	0.00	3963.8	4043.9	3883.8	376.9	3751.8	33.89	-11.88	80	423.01	0.00	0.00	2.84	0.000	0.000	0.005	3964.53	4045.00	3884.06	376.94	1904.00	0	0	0	30.00	30.00	25.57
487.88	20743	-146.63	-8.40	80.00	3963.7	4044.1	3883.3	376.8	1731.9	43.23	-14.18	94	493.33	0.00	0.00	2.48	0.000	0.000	0.005	3963.59	4043.75	3883.44	377.38	3650.38	0	0	0	30.00	30.00	25.57
723.62	5253	-146.63	-8.43	0.00	3963.7	4043.9	3883.4	376.8	3650.2	77.72	-13.16	141	729.30	0.00	0.00	2.34	0.000	0.000	0.005	3963.41	4043.56	3883.25	377.06	1835.56	0	0	0	30.00	30.00	25.57
794.05	4357	-146.63	-8.43	80.00	3963.8	4044.1	3883.6	376.9	1835.7	86.28	-11.69	155	799.66	0.00	0.00	2.34	0.000	0.000	0.005	3963.31	4043.44	3883.19	376.75	3656.94	0	0	0	30.00	30.00	25.57
919.46	5125	-146.63	-8.43	0.00	3963.7	4044.1	3883.3	377.1	3656.4	101.24	-12.51	180	924.98	0.00	0.00	2.30	0.000	0.000	0.005	3963.34	4043.94	3882.75	376.75	1803.25	0	0	0	30.00	30.00	25.57
990.05	4357	-146.63	-8.43	80.00	3963.3	4043.4	3883.1	377.0	1802.9	110.99	-14.10	194	995.99	0.00	0.00	2.49	0.000	0.000	0.005	3963.53	4043.88	3883.19	376.75	3797.62	0	0	0	30.00	30.00	25.57
1141.22	5125	-146.63	-8.43	0.00	3963.4	4043.8	3883.1	377.0	3797.3	129.97	-12.13	224	1147.24	0.00	0.00	2.56	0.000	0.000	0.005	3963.66	4043.94	3883.38	377.00	1768.75	0	0	0	30.00	30.00	25.57
1310.94	4357	-146.63	-8.43	80.00	3963.3	4043.9	3882.8	377.0	1767.9	146.46	-13.96	248	1316.62	0.00	0.00	2.48	0.000	0.000	0.005	3963.31	4043.25	3883.38	376.69	3677.31	0	0	0	30.00	30.00	25.57
1382	end dive: TARGET_DEPTH_EXCEEDED
state	1382	begin apogee
1387.29	18435	0.00	-2.10	0.00	3963.4	4043.8	3883.1	376.7	1767.4	150.01	-4.26	262	1399.31	0.00	3.62	0.66	0.000	0.005	0.005	3963.66	4043.94	3883.38	1372.19	2100.44	0	0	0	30.00	25.57	25.57
1400	end apogee: CONTROL_FINISHED_OK
state	1400	begin climb
1400.50	10759	146.63	8.31	-80.00	3963.5	4043.8	3883.3	1372.6	2100.1	150.31	0.00	264	1462.98	29.91	7.16	2.20	0.005	0.005	0.005	3783.53	3859.94	3707.12	3394.00	316.19	0	0	0	25.57	25.57	25.57
1692.90	11431	160.59	8.39	0.00	3783.5	3860.2	3706.8	3393.8	315.9	132.71	9.36	321	1714.25	11.55	0.00	2.55	0.005	0.000	0.005	3727.03	3802.50	3651.56	3393.75	2209.38	0	0	0	25.57	30.00	25.57
1839.38	10791	203.16	8.44	-80.00	3725.0	3800.6	3649.4	3393.9	2209.3	119.80	8.06	350	1886.63	29.01	0.00	2.24	0.005	0.000	0.005	3553.44	3626.00	3480.88	3393.94	376.81	0	0	0	25.57	30.00	25.57
2116.58	3077	203.16	8.44	0.00	3553.2	3625.6	3480.8	3393.3	376.8	89.36	14.81	405	2122.04	0.00	0.00	2.29	0.000	0.000	0.005	3552.06	3623.25	3480.88	3394.38	2181.81	0	0	0	30.00	30.00	25.57
2187.17	2565	203.16	8.44	-80.00	3552.8	3625.1	3480.6	3393.7	2181.8	78.24	16.20	419	2192.73	0.00	0.00	2.38	0.000	0.000	0.005	3552.94	3625.00	3480.88	3393.81	306.81	0	0	0	30.00	30.00	25.57
2402.72	3077	203.16	8.44	0.00	3553.0	3625.6	3480.4	3393.9	306.8	50.58	10.34	462	2408.54	0.00	0.00	2.57	0.000	0.000	0.005	3553.00	3625.38	3480.62	3393.50	2238.06	0	0	0	30.00	30.00	25.57
2473.69	10919	207.83	8.47	-80.00	3552.8	3625.3	3480.3	3393.8	2237.8	43.91	9.79	476	2489.73	6.07	0.00	2.34	0.005	0.000	0.005	3533.59	3605.25	3461.94	3394.94	336.94	0	0	0	25.57	30.00	25.57
2684.70	3077	207.83	8.47	0.00	3533.8	3606.1	3461.6	3393.4	336.9	17.28	11.81	518	2690.49	0.00	0.00	2.60	0.000	0.000	0.005	3533.78	3605.56	3462.00	3393.94	2276.50	0	0	0	30.00	30.00	25.57
2725.57	2693	207.83	8.54	-80.00	3533.6	3605.6	3461.5	3393.7	2276.2	12.70	11.28	526	2731.45	0.00	0.00	2.48	0.000	0.000	0.005	3533.72	3605.62	3461.81	3393.81	322.25	0	0	0	30.00	30.00	25.57
2831	end climb: SURFACE_DEPTH_REACHED
state	2831	begin surface coast
2856	end surface coast: CONTROL_FINISHED_OK
state	2857	begin surface