Glider dive log

Shilshole 11May23 * SG001 * Dive index * Mission links * Dive 136 * 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 136 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 4390.0757 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 1787.2656 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 2.4159136 FG_AHR_10V 2186.7341 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 22.304815 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 2186.7341 PHONE_DEVICE 16 SM_CC 566.45502

ALTIM_SENSITIVITY 2 FG_AHR_24V 22.304815 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 2.4159136 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 1787.2656 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 4390.0757 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 136 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 181223,071149,4743.110,-12224.296,18,1.6,28,0.0 TGT_RADIUS 0.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.03 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 181223,071429,4743.114,-12224.294,10,1.7,18,0.0 MHEAD_RNG_PITCHd_Wd 240.0,20000,-19.3,-10.000,-20.84,2243,0.421

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 1702886343,29.4,start _10V_AH 11.08,0.000

FINISH 0.0,1.030129 FG_AHR_24Vo 22.314

SURF forcing FG_AHR_10Vo 2187.616

SM_CCo 3035.34,109.33,0.005,0,2081.7,2125.8,2037.6,566.24 DEVICE_MAX_MAMPS 5.000,5.000,5.000,10.540,0.000,50.000,6.920,0.000,0.000,2.120,26.000,0.000,0.000,0.000,0.000

SM_GC 0.03,109.33,10.91,2.36,0.005,0.005,0.005,2081.7,2125.8,2037.6,370.2,2296.1,0,0,0,25.57,25.57,25.57 MEM0 58972,1,0,0

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

IRIDIUM_FIX 0.00,0.00,, MEM2 991592,27,54156,114

TCM_TEMP 15.00 DATA_FILE_SIZE 19362,553

XPDR_PINGS -1,-1.0,-1.0 CAP_FILE_SIZE 253723,0

SC_FREEKB 3865760 SDSIZE 3887104,3838624

RAFOS_CLK 0 SDFILEDIR 929,138

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 22.00 IMPLIED_C_PITCH 1955,2.89,395,1871.3,2.65

INTERNAL_PRESSURE 13.9928 IMPLIED_C_VBD 4751,174.268906,205,4490.1

_24V_AH 24.07,13.689 GPS 181223,080756,4743.501,-12224.189,30,1.8,37,0.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 227 5 27.32 legato 0 0 0.00

Pitch_motor 21 5 2.62 nil 0 0 0.00

Roll_motor 56 5 6.79 nil 0 0 0.00

Iridium 19 10 5.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 28 50 15.61 nil 0 0 0.00

Core 2747 6 210.63 SciCon 2863 3 113.22

Fast 6 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 260 2 6.13

Compass 837 26 241.19

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

6.45 16386 -146.63 -8.18 0.00 2167.8 2213.6 2122.0 377.2 1887.9 0.00 0.00 0 71.12 44.86 0.00 0.44 0.005 0.000 0.005 3963.62 4043.94 3883.31 378.06 2246.81 0 0 0 25.57 30.00 25.57

71.46 21031 -146.63 -8.18 -80.00 3963.8 4044.2 3883.2 377.6 2246.9 1.55 -2.43 11 76.53 0.00 0.00 2.49 0.000 0.000 0.005 3963.25 4043.75 3882.75 377.75 299.38 0 0 0 30.00 30.00 25.57

251.75 21639 -146.63 -8.25 0.00 3963.9 4044.5 3883.2 377.7 299.8 16.57 -11.28 47 256.68 0.00 0.00 2.46 0.000 0.000 0.005 3963.22 4043.06 3883.38 377.56 2227.88 0 0 0 30.00 30.00 25.57

291.74 20871 -146.63 -8.32 80.00 3963.8 4044.1 3883.4 377.8 2227.5 20.91 -10.65 55 296.98 0.00 0.00 1.89 0.000 0.000 0.005 3964.25 4044.69 3883.81 377.75 3743.88 0 0 0 30.00 30.00 25.57

526.77 21511 -146.63 -8.32 0.00 3963.3 4043.5 3883.2 377.6 3743.8 48.54 -13.23 102 532.46 0.00 0.00 2.66 0.000 0.000 0.005 3963.66 4043.62 3883.69 377.56 1766.69 0 0 0 30.00 30.00 25.57

597.48 4485 -146.63 -8.34 80.00 3963.6 4043.8 3883.4 377.8 1766.5 59.66 -17.57 116 602.93 0.00 0.00 2.53 0.000 0.000 0.005 3963.50 4043.75 3883.25 377.81 3717.81 0 0 0 30.00 30.00 25.57

832.79 5125 -146.63 -8.34 0.00 3963.5 4043.8 3883.1 377.6 3717.9 90.80 -11.51 163 838.38 0.00 0.00 2.62 0.000 0.000 0.005 3963.66 4043.75 3883.56 377.69 1914.00 0 0 0 30.00 30.00 25.57

903.19 4357 -146.63 -8.34 80.00 3963.4 4043.6 3883.2 377.8 1725.1 99.19 -11.82 177 908.93 0.00 0.00 2.69 0.000 0.000 0.005 3962.31 4041.75 3882.88 377.75 3596.50 0 0 0 30.00 30.00 25.57

918.76 5125 -146.63 -8.34 0.00 3963.5 4043.8 3883.1 377.4 3772.1 101.24 -12.65 180 924.54 0.00 0.00 2.58 0.000 0.000 0.005 3963.41 4043.75 3883.06 377.44 1812.25 0 0 0 30.00 30.00 25.57

989.58 4357 -146.63 -8.34 80.00 3963.8 4044.2 3883.2 377.5 1811.9 110.94 -13.89 194 995.35 0.00 0.00 2.57 0.000 0.000 0.005 3962.91 4042.50 3883.31 377.56 3633.06 0 0 0 30.00 30.00 25.57

1140.41 5125 -146.63 -8.34 0.00 3964.1 4044.5 3883.6 377.6 3632.7 129.97 -12.33 224 1146.08 0.00 0.00 2.33 0.000 0.000 0.005 3963.12 4043.50 3882.75 377.94 1850.62 0 0 0 30.00 30.00 25.57

1270.81 4357 -146.63 -8.34 80.00 3963.2 4043.5 3882.9 377.9 1850.5 147.79 -13.74 250 1276.54 0.00 0.00 2.51 0.000 0.000 0.005 3963.59 4043.94 3883.25 377.62 3775.06 0 0 0 30.00 30.00 25.57

1376 end dive: TARGET_DEPTH_EXCEEDED

state 1376 begin apogee

1382.11 18435 0.00 -2.07 0.00 3963.4 4043.8 3883.0 377.6 1861.5 150.03 -3.21 271 1393.87 0.00 3.62 0.61 0.000 0.005 0.005 3963.59 4043.88 3883.31 1390.56 2327.38 0 0 0 30.00 25.57 25.57

1394 end apogee: CONTROL_FINISHED_OK

state 1394 begin climb

1395.06 10759 146.63 8.18 -80.00 3964.0 4044.1 3883.9 1391.0 2327.2 150.22 0.00 273 1457.59 28.26 7.22 2.84 0.005 0.005 0.005 3792.59 3869.25 3715.94 3363.81 269.12 0 0 0 25.57 25.57 25.57

1687.82 11431 160.18 8.27 0.00 3792.8 3869.8 3715.9 3363.2 269.2 133.19 9.38 330 1709.17 11.02 0.00 2.54 0.005 0.000 0.005 3738.47 3814.38 3662.56 3363.81 2183.75 0 0 0 25.57 30.00 25.57

1834.03 10791 200.43 8.32 -80.00 3738.2 3814.2 3662.1 3363.3 2183.8 120.03 8.16 359 1880.81 27.51 0.00 2.38 0.005 0.000 0.005 3572.22 3644.44 3500.00 3363.88 391.06 0 0 0 25.57 30.00 25.57

2110.82 3077 200.43 8.32 0.00 3573.0 3645.7 3500.3 3363.7 391.2 90.13 14.60 414 2116.63 0.00 0.00 2.42 0.000 0.000 0.005 3572.91 3645.44 3500.38 3364.00 2174.38 0 0 0 30.00 30.00 25.57

2181.37 2565 200.43 8.32 -80.00 3572.8 3645.4 3500.2 3364.1 2173.7 79.06 15.83 428 2187.02 0.00 0.00 2.46 0.000 0.000 0.005 3573.25 3645.94 3500.56 3363.69 418.12 0 0 0 30.00 30.00 25.57

2401.93 3077 200.43 8.32 0.00 3572.8 3645.7 3500.0 3363.4 418.2 50.55 10.42 472 2407.73 0.00 0.00 2.57 0.000 0.000 0.005 3572.62 3645.31 3499.94 3363.62 2305.06 0 0 0 30.00 30.00 25.57

2472.70 10919 205.50 8.35 -80.00 3572.9 3645.6 3500.1 3363.8 2305.3 43.95 9.77 486 2488.97 6.04 0.00 2.41 0.005 0.000 0.005 3553.34 3625.56 3481.12 3363.94 319.88 0 0 0 25.57 30.00 25.57

2676.79 3077 205.50 8.35 0.00 3553.2 3625.6 3480.9 3363.5 319.9 18.09 12.05 517 2682.53 0.00 0.00 2.53 0.000 0.000 0.005 3553.41 3625.44 3481.38 3364.19 2229.06 0 0 0 30.00 30.00 25.57

2717.65 2693 205.50 8.42 -80.00 3553.5 3626.0 3480.9 3363.9 2229.3 13.52 11.17 525 2723.24 0.00 0.00 2.30 0.000 0.000 0.005 3552.72 3624.69 3480.75 3364.25 403.94 0 0 0 30.00 30.00 25.57

2828 end climb: SURFACE_DEPTH_REACHED

state 2828 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	136	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	4390.0757	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	1787.2656	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	2.4159136	FG_AHR_10V	2186.7341	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	22.304815	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	181223,071149,4743.110,-12224.296,18,1.6,28,0.0	TGT_RADIUS	0.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.03	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	181223,071429,4743.114,-12224.294,10,1.7,18,0.0	MHEAD_RNG_PITCHd_Wd	240.0,20000,-19.3,-10.000,-20.84,2243,0.421
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	1702886343,29.4,start	_10V_AH	11.08,0.000
FINISH	0.0,1.030129	FG_AHR_24Vo	22.314
SURF	forcing	FG_AHR_10Vo	2187.616
SM_CCo	3035.34,109.33,0.005,0,2081.7,2125.8,2037.6,566.24	DEVICE_MAX_MAMPS	5.000,5.000,5.000,10.540,0.000,50.000,6.920,0.000,0.000,2.120,26.000,0.000,0.000,0.000,0.000
SM_GC	0.03,109.33,10.91,2.36,0.005,0.005,0.005,2081.7,2125.8,2037.6,370.2,2296.1,0,0,0,25.57,25.57,25.57	MEM0	58972,1,0,0
SUPER	19,70,255,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	0.00,0.00,,	MEM2	991592,27,54156,114
TCM_TEMP	15.00	DATA_FILE_SIZE	19362,553
XPDR_PINGS	-1,-1.0,-1.0	CAP_FILE_SIZE	253723,0
SC_FREEKB	3865760	SDSIZE	3887104,3838624
RAFOS_CLK	0	SDFILEDIR	929,138
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	22.00	IMPLIED_C_PITCH	1955,2.89,395,1871.3,2.65
INTERNAL_PRESSURE	13.9928	IMPLIED_C_VBD	4751,174.268906,205,4490.1
_24V_AH	24.07,13.689	GPS	181223,080756,4743.501,-12224.189,30,1.8,37,0.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	227	5	27.32	legato	0	0	0.00
Pitch_motor	21	5	2.62	nil	0	0	0.00
Roll_motor	56	5	6.79	nil	0	0	0.00
Iridium	19	10	5.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	28	50	15.61	nil	0	0	0.00
Core	2747	6	210.63	SciCon	2863	3	113.22
Fast	6	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	260	2	6.13
Compass	837	26	241.19
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
6.45	16386	-146.63	-8.18	0.00	2167.8	2213.6	2122.0	377.2	1887.9	0.00	0.00	0	71.12	44.86	0.00	0.44	0.005	0.000	0.005	3963.62	4043.94	3883.31	378.06	2246.81	0	0	0	25.57	30.00	25.57
71.46	21031	-146.63	-8.18	-80.00	3963.8	4044.2	3883.2	377.6	2246.9	1.55	-2.43	11	76.53	0.00	0.00	2.49	0.000	0.000	0.005	3963.25	4043.75	3882.75	377.75	299.38	0	0	0	30.00	30.00	25.57
251.75	21639	-146.63	-8.25	0.00	3963.9	4044.5	3883.2	377.7	299.8	16.57	-11.28	47	256.68	0.00	0.00	2.46	0.000	0.000	0.005	3963.22	4043.06	3883.38	377.56	2227.88	0	0	0	30.00	30.00	25.57
291.74	20871	-146.63	-8.32	80.00	3963.8	4044.1	3883.4	377.8	2227.5	20.91	-10.65	55	296.98	0.00	0.00	1.89	0.000	0.000	0.005	3964.25	4044.69	3883.81	377.75	3743.88	0	0	0	30.00	30.00	25.57
526.77	21511	-146.63	-8.32	0.00	3963.3	4043.5	3883.2	377.6	3743.8	48.54	-13.23	102	532.46	0.00	0.00	2.66	0.000	0.000	0.005	3963.66	4043.62	3883.69	377.56	1766.69	0	0	0	30.00	30.00	25.57
597.48	4485	-146.63	-8.34	80.00	3963.6	4043.8	3883.4	377.8	1766.5	59.66	-17.57	116	602.93	0.00	0.00	2.53	0.000	0.000	0.005	3963.50	4043.75	3883.25	377.81	3717.81	0	0	0	30.00	30.00	25.57
832.79	5125	-146.63	-8.34	0.00	3963.5	4043.8	3883.1	377.6	3717.9	90.80	-11.51	163	838.38	0.00	0.00	2.62	0.000	0.000	0.005	3963.66	4043.75	3883.56	377.69	1914.00	0	0	0	30.00	30.00	25.57
903.19	4357	-146.63	-8.34	80.00	3963.4	4043.6	3883.2	377.8	1725.1	99.19	-11.82	177	908.93	0.00	0.00	2.69	0.000	0.000	0.005	3962.31	4041.75	3882.88	377.75	3596.50	0	0	0	30.00	30.00	25.57
918.76	5125	-146.63	-8.34	0.00	3963.5	4043.8	3883.1	377.4	3772.1	101.24	-12.65	180	924.54	0.00	0.00	2.58	0.000	0.000	0.005	3963.41	4043.75	3883.06	377.44	1812.25	0	0	0	30.00	30.00	25.57
989.58	4357	-146.63	-8.34	80.00	3963.8	4044.2	3883.2	377.5	1811.9	110.94	-13.89	194	995.35	0.00	0.00	2.57	0.000	0.000	0.005	3962.91	4042.50	3883.31	377.56	3633.06	0	0	0	30.00	30.00	25.57
1140.41	5125	-146.63	-8.34	0.00	3964.1	4044.5	3883.6	377.6	3632.7	129.97	-12.33	224	1146.08	0.00	0.00	2.33	0.000	0.000	0.005	3963.12	4043.50	3882.75	377.94	1850.62	0	0	0	30.00	30.00	25.57
1270.81	4357	-146.63	-8.34	80.00	3963.2	4043.5	3882.9	377.9	1850.5	147.79	-13.74	250	1276.54	0.00	0.00	2.51	0.000	0.000	0.005	3963.59	4043.94	3883.25	377.62	3775.06	0	0	0	30.00	30.00	25.57
1376	end dive: TARGET_DEPTH_EXCEEDED
state	1376	begin apogee
1382.11	18435	0.00	-2.07	0.00	3963.4	4043.8	3883.0	377.6	1861.5	150.03	-3.21	271	1393.87	0.00	3.62	0.61	0.000	0.005	0.005	3963.59	4043.88	3883.31	1390.56	2327.38	0	0	0	30.00	25.57	25.57
1394	end apogee: CONTROL_FINISHED_OK
state	1394	begin climb
1395.06	10759	146.63	8.18	-80.00	3964.0	4044.1	3883.9	1391.0	2327.2	150.22	0.00	273	1457.59	28.26	7.22	2.84	0.005	0.005	0.005	3792.59	3869.25	3715.94	3363.81	269.12	0	0	0	25.57	25.57	25.57
1687.82	11431	160.18	8.27	0.00	3792.8	3869.8	3715.9	3363.2	269.2	133.19	9.38	330	1709.17	11.02	0.00	2.54	0.005	0.000	0.005	3738.47	3814.38	3662.56	3363.81	2183.75	0	0	0	25.57	30.00	25.57
1834.03	10791	200.43	8.32	-80.00	3738.2	3814.2	3662.1	3363.3	2183.8	120.03	8.16	359	1880.81	27.51	0.00	2.38	0.005	0.000	0.005	3572.22	3644.44	3500.00	3363.88	391.06	0	0	0	25.57	30.00	25.57
2110.82	3077	200.43	8.32	0.00	3573.0	3645.7	3500.3	3363.7	391.2	90.13	14.60	414	2116.63	0.00	0.00	2.42	0.000	0.000	0.005	3572.91	3645.44	3500.38	3364.00	2174.38	0	0	0	30.00	30.00	25.57
2181.37	2565	200.43	8.32	-80.00	3572.8	3645.4	3500.2	3364.1	2173.7	79.06	15.83	428	2187.02	0.00	0.00	2.46	0.000	0.000	0.005	3573.25	3645.94	3500.56	3363.69	418.12	0	0	0	30.00	30.00	25.57
2401.93	3077	200.43	8.32	0.00	3572.8	3645.7	3500.0	3363.4	418.2	50.55	10.42	472	2407.73	0.00	0.00	2.57	0.000	0.000	0.005	3572.62	3645.31	3499.94	3363.62	2305.06	0	0	0	30.00	30.00	25.57
2472.70	10919	205.50	8.35	-80.00	3572.9	3645.6	3500.1	3363.8	2305.3	43.95	9.77	486	2488.97	6.04	0.00	2.41	0.005	0.000	0.005	3553.34	3625.56	3481.12	3363.94	319.88	0	0	0	25.57	30.00	25.57
2676.79	3077	205.50	8.35	0.00	3553.2	3625.6	3480.9	3363.5	319.9	18.09	12.05	517	2682.53	0.00	0.00	2.53	0.000	0.000	0.005	3553.41	3625.44	3481.38	3364.19	2229.06	0	0	0	30.00	30.00	25.57
2717.65	2693	205.50	8.42	-80.00	3553.5	3626.0	3480.9	3363.9	2229.3	13.52	11.17	525	2723.24	0.00	0.00	2.30	0.000	0.000	0.005	3552.72	3624.69	3480.75	3364.25	403.94	0	0	0	30.00	30.00	25.57
2828	end climb: SURFACE_DEPTH_REACHED
state	2828	begin surface coast
2858	end surface coast: CONTROL_FINISHED_OK
state	2858	begin surface