Glider dive log

Shilshole 11May23 * SG001 * Dive index * Mission links * Dive 156 * 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 156 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 4393.9102 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 1792.3291 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 2.3769557 FG_AHR_10V 2202.4917 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 22.467171 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 2202.4917 PHONE_DEVICE 16 SM_CC 566.45502

ALTIM_SENSITIVITY 2 FG_AHR_24V 22.467171 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 2.3769557 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 1792.3291 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 4393.9102 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 156 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 181223,222831,4743.110,-12224.296,27,1.1,33,0.0 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 181223,223134,4743.114,-12224.294,33,1.8,40,0.0 MHEAD_RNG_PITCHd_Wd 240.0,20000,-19.3,-10.000,-20.84,2243,0.430

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:

FINISH 0.0,1.030129 FG_AHR_24Vo 22.476

SURF forcing FG_AHR_10Vo 2203.372

SM_CCo 3031.21,106.07,0.005,0,2082.9,2126.9,2039.0,566.66 DEVICE_MAX_MAMPS 5.000,5.000,5.000,10.541,0.000,50.000,6.920,0.000,0.000,2.120,26.000,0.000,0.000,0.000,0.000

SM_GC 0.03,106.07,11.07,2.36,0.005,0.005,0.005,2082.9,2126.9,2039.0,413.2,2208.5,0,0,0,25.57,25.57,25.57 MEM0 58972,1,0,0

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

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

TCM_TEMP 15.00 DATA_FILE_SIZE 19433,562

XPDR_PINGS -1,-1.0,-1.0 CAP_FILE_SIZE 254118,0

SC_FREEKB 3859360 SDSIZE 3887104,3833504

RAFOS_CLK 0 SDFILEDIR 1049,158

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 50.46 SOUNDSPEED 1488.1

TEMP 22.57 IMPLIED_C_PITCH 1970,2.88,394,1881.0,2.63

INTERNAL_PRESSURE 13.8676 IMPLIED_C_VBD 4655,196.012711,216,4493.9

_24V_AH 24.11,14.429 GPS 181223,232450,4743.501,-12224.189,22,1.5,30,0.0

_10V_AH 11.07,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 230 5 27.80 legato 0 0 0.00

Pitch_motor 22 5 2.66 nil 0 0 0.00

Roll_motor 54 5 6.52 nil 0 0 0.00

Iridium 19 10 4.99 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 50 50 28.07 nil 0 0 0.00

Core 2767 6 212.03 SciCon 2864 3 113.15

Fast 7 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 266 2 6.25

Compass 852 26 245.26

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

7.06 16386 -146.63 -8.32 0.00 2172.7 2218.5 2126.9 390.3 1860.6 0.00 0.00 0 71.80 44.59 0.00 0.43 0.005 0.000 0.005 3963.38 4043.50 3883.25 390.06 2216.38 0 0 0 25.57 30.00 25.57

72.13 21031 -146.63 -8.32 -80.00 3963.2 4043.3 3883.1 390.1 2216.4 1.56 -2.66 11 77.03 0.00 0.00 2.30 0.000 0.000 0.005 3963.00 4043.06 3882.94 390.19 385.62 0 0 0 30.00 30.00 25.57

252.07 21639 -146.63 -8.38 0.00 3963.7 4044.1 3883.3 389.9 386.2 16.55 -11.35 47 257.17 0.00 0.00 2.44 0.000 0.000 0.005 3963.28 4043.31 3883.25 389.94 2228.00 0 0 0 30.00 30.00 25.57

292.62 20871 -146.63 -8.45 80.00 3963.3 4043.7 3882.9 389.9 2228.1 20.93 -11.04 55 298.22 0.00 0.00 2.04 0.000 0.000 0.005 3963.25 4043.50 3883.00 390.00 3797.06 0 0 0 30.00 30.00 25.57

528.24 21511 -146.63 -8.45 0.00 3963.4 4043.8 3882.9 390.1 3797.2 48.66 -13.67 102 534.05 0.00 0.00 2.59 0.000 0.000 0.005 3962.62 4042.62 3882.62 389.88 1804.81 0 0 0 30.00 30.00 25.57

599.03 4485 -146.63 -8.47 80.00 3963.2 4043.4 3882.9 390.0 1804.9 59.80 -17.74 116 604.35 0.00 0.00 2.57 0.000 0.000 0.005 3964.03 4044.19 3883.88 390.19 3565.88 0 0 0 30.00 30.00 25.57

669.26 5253 -146.63 -8.51 0.00 3963.2 4043.3 3883.0 389.9 3565.6 70.43 -14.43 130 675.03 0.00 0.00 2.32 0.000 0.000 0.005 3963.44 4043.62 3883.25 390.12 1783.88 0 0 0 30.00 30.00 25.57

740.02 4357 -146.63 -8.51 80.00 3963.5 4043.8 3883.2 390.2 1783.9 79.83 -12.78 144 745.77 0.00 0.00 2.54 0.000 0.000 0.005 3962.91 4042.44 3883.38 389.81 3571.44 0 0 0 30.00 30.00 25.57

895.72 5125 -146.63 -8.51 0.00 3963.2 4043.4 3883.1 389.9 3571.1 98.29 -12.41 175 901.61 0.00 0.00 2.27 0.000 0.000 0.005 3963.41 4043.62 3883.19 389.94 1812.12 0 0 0 30.00 30.00 25.57

966.58 4357 -146.63 -8.51 80.00 3963.8 4043.6 3883.9 390.5 1812.2 107.67 -13.44 189 972.17 0.00 0.00 2.49 0.000 0.000 0.005 3963.78 4043.94 3883.62 389.81 3813.88 0 0 0 30.00 30.00 25.57

1142.21 5125 -146.63 -8.51 0.00 3963.6 4043.9 3883.2 389.8 3813.4 130.10 -12.03 224 1148.10 0.00 0.00 2.62 0.000 0.000 0.005 3963.44 4043.94 3882.94 390.06 1792.75 0 0 0 30.00 30.00 25.57

1273.23 4357 -146.63 -8.51 80.00 3963.3 4043.8 3882.9 390.1 1792.3 147.85 -13.17 250 1279.03 0.00 0.00 2.42 0.000 0.000 0.005 3963.53 4043.75 3883.31 390.19 3555.94 0 0 0 30.00 30.00 25.57

1384 end dive: TARGET_DEPTH_EXCEEDED

state 1384 begin apogee

1389.35 18435 0.00 -2.10 0.00 3963.2 4043.8 3882.8 390.2 1822.3 150.12 -3.33 272 1400.96 0.00 3.52 0.64 0.000 0.005 0.005 3963.62 4043.50 3883.75 1370.44 2147.88 0 0 0 30.00 25.57 25.57

1402 end apogee: CONTROL_FINISHED_OK

state 1402 begin climb

1402.15 10759 146.63 8.32 -80.00 3963.0 4043.2 3882.8 1370.6 2147.8 150.31 0.00 274 1459.52 28.03 7.45 2.42 0.005 0.005 0.005 3795.62 3872.44 3718.81 3381.75 337.06 0 0 0 25.57 25.57 25.57

1689.84 11431 164.75 8.40 0.00 3795.7 3872.6 3718.8 3381.9 337.1 133.04 9.17 330 1716.61 14.01 0.00 2.46 0.005 0.000 0.005 3722.56 3798.75 3646.38 3381.81 2258.94 0 0 0 25.57 30.00 25.57

1841.71 10791 202.72 8.45 -80.00 3722.2 3798.1 3646.2 3382.0 2258.6 119.55 8.27 360 1883.97 26.17 0.00 2.45 0.005 0.000 0.005 3567.50 3639.75 3495.25 3381.56 281.12 0 0 0 25.57 30.00 25.57

2113.72 3077 202.72 8.45 0.00 3567.4 3640.2 3494.6 3381.7 280.9 89.73 14.85 414 2119.52 0.00 0.00 2.60 0.000 0.000 0.005 3567.06 3639.25 3494.88 3382.06 2064.50 0 0 0 30.00 30.00 25.57

2184.58 2565 202.72 8.45 -80.00 3567.2 3639.6 3494.8 3381.2 2064.5 78.65 15.90 428 2190.29 0.00 0.00 2.35 0.000 0.000 0.005 3567.25 3639.50 3495.00 3381.62 280.00 0 0 0 30.00 30.00 25.57

2420.03 11303 217.28 8.47 0.00 3567.3 3639.9 3494.6 3381.8 280.1 49.06 9.34 475 2441.35 11.77 0.00 2.38 0.005 0.000 0.005 3508.78 3580.50 3437.06 3382.19 2200.38 0 0 0 25.57 30.00 25.57

2506.50 2693 217.28 8.54 -80.00 3507.7 3579.2 3436.2 3382.2 2200.2 40.44 10.54 492 2512.16 0.00 0.00 2.33 0.000 0.000 0.005 3507.75 3579.19 3436.31 3381.81 389.94 0 0 0 30.00 30.00 25.57

2676.97 3077 217.28 8.54 0.00 3507.8 3579.2 3436.4 3381.9 390.0 18.12 12.04 526 2682.54 0.00 0.00 2.30 0.000 0.000 0.005 3507.62 3579.12 3436.12 3381.88 2188.50 0 0 0 30.00 30.00 25.57

2717.82 2693 217.28 8.60 -80.00 3507.5 3579.1 3435.9 3381.7 2188.2 13.52 11.34 534 2723.60 0.00 0.00 2.30 0.000 0.000 0.005 3507.69 3578.94 3436.44 3381.44 402.75 0 0 0 30.00 30.00 25.57

2834 end climb: SURFACE_DEPTH_REACHED

state 2834 begin surface coast

2859 end surface coast: CONTROL_FINISHED_OK

state 2859 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	156	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	4393.9102	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	1792.3291	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	2.3769557	FG_AHR_10V	2202.4917	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	22.467171	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	181223,222831,4743.110,-12224.296,27,1.1,33,0.0	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	181223,223134,4743.114,-12224.294,33,1.8,40,0.0	MHEAD_RNG_PITCHd_Wd	240.0,20000,-19.3,-10.000,-20.84,2243,0.430
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

FINISH	0.0,1.030129	FG_AHR_24Vo	22.476
SURF	forcing	FG_AHR_10Vo	2203.372
SM_CCo	3031.21,106.07,0.005,0,2082.9,2126.9,2039.0,566.66	DEVICE_MAX_MAMPS	5.000,5.000,5.000,10.541,0.000,50.000,6.920,0.000,0.000,2.120,26.000,0.000,0.000,0.000,0.000
SM_GC	0.03,106.07,11.07,2.36,0.005,0.005,0.005,2082.9,2126.9,2039.0,413.2,2208.5,0,0,0,25.57,25.57,25.57	MEM0	58972,1,0,0
SUPER	27,70,255,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	0.00,0.00,,	MEM2	991588,27,54160,114
TCM_TEMP	15.00	DATA_FILE_SIZE	19433,562
XPDR_PINGS	-1,-1.0,-1.0	CAP_FILE_SIZE	254118,0
SC_FREEKB	3859360	SDSIZE	3887104,3833504
RAFOS_CLK	0	SDFILEDIR	1049,158
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	50.46	SOUNDSPEED	1488.1
TEMP	22.57	IMPLIED_C_PITCH	1970,2.88,394,1881.0,2.63
INTERNAL_PRESSURE	13.8676	IMPLIED_C_VBD	4655,196.012711,216,4493.9
_24V_AH	24.11,14.429	GPS	181223,232450,4743.501,-12224.189,22,1.5,30,0.0
_10V_AH	11.07,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	230	5	27.80	legato	0	0	0.00
Pitch_motor	22	5	2.66	nil	0	0	0.00
Roll_motor	54	5	6.52	nil	0	0	0.00
Iridium	19	10	4.99	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	50	50	28.07	nil	0	0	0.00
Core	2767	6	212.03	SciCon	2864	3	113.15
Fast	7	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	266	2	6.25
Compass	852	26	245.26
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
7.06	16386	-146.63	-8.32	0.00	2172.7	2218.5	2126.9	390.3	1860.6	0.00	0.00	0	71.80	44.59	0.00	0.43	0.005	0.000	0.005	3963.38	4043.50	3883.25	390.06	2216.38	0	0	0	25.57	30.00	25.57
72.13	21031	-146.63	-8.32	-80.00	3963.2	4043.3	3883.1	390.1	2216.4	1.56	-2.66	11	77.03	0.00	0.00	2.30	0.000	0.000	0.005	3963.00	4043.06	3882.94	390.19	385.62	0	0	0	30.00	30.00	25.57
252.07	21639	-146.63	-8.38	0.00	3963.7	4044.1	3883.3	389.9	386.2	16.55	-11.35	47	257.17	0.00	0.00	2.44	0.000	0.000	0.005	3963.28	4043.31	3883.25	389.94	2228.00	0	0	0	30.00	30.00	25.57
292.62	20871	-146.63	-8.45	80.00	3963.3	4043.7	3882.9	389.9	2228.1	20.93	-11.04	55	298.22	0.00	0.00	2.04	0.000	0.000	0.005	3963.25	4043.50	3883.00	390.00	3797.06	0	0	0	30.00	30.00	25.57
528.24	21511	-146.63	-8.45	0.00	3963.4	4043.8	3882.9	390.1	3797.2	48.66	-13.67	102	534.05	0.00	0.00	2.59	0.000	0.000	0.005	3962.62	4042.62	3882.62	389.88	1804.81	0	0	0	30.00	30.00	25.57
599.03	4485	-146.63	-8.47	80.00	3963.2	4043.4	3882.9	390.0	1804.9	59.80	-17.74	116	604.35	0.00	0.00	2.57	0.000	0.000	0.005	3964.03	4044.19	3883.88	390.19	3565.88	0	0	0	30.00	30.00	25.57
669.26	5253	-146.63	-8.51	0.00	3963.2	4043.3	3883.0	389.9	3565.6	70.43	-14.43	130	675.03	0.00	0.00	2.32	0.000	0.000	0.005	3963.44	4043.62	3883.25	390.12	1783.88	0	0	0	30.00	30.00	25.57
740.02	4357	-146.63	-8.51	80.00	3963.5	4043.8	3883.2	390.2	1783.9	79.83	-12.78	144	745.77	0.00	0.00	2.54	0.000	0.000	0.005	3962.91	4042.44	3883.38	389.81	3571.44	0	0	0	30.00	30.00	25.57
895.72	5125	-146.63	-8.51	0.00	3963.2	4043.4	3883.1	389.9	3571.1	98.29	-12.41	175	901.61	0.00	0.00	2.27	0.000	0.000	0.005	3963.41	4043.62	3883.19	389.94	1812.12	0	0	0	30.00	30.00	25.57
966.58	4357	-146.63	-8.51	80.00	3963.8	4043.6	3883.9	390.5	1812.2	107.67	-13.44	189	972.17	0.00	0.00	2.49	0.000	0.000	0.005	3963.78	4043.94	3883.62	389.81	3813.88	0	0	0	30.00	30.00	25.57
1142.21	5125	-146.63	-8.51	0.00	3963.6	4043.9	3883.2	389.8	3813.4	130.10	-12.03	224	1148.10	0.00	0.00	2.62	0.000	0.000	0.005	3963.44	4043.94	3882.94	390.06	1792.75	0	0	0	30.00	30.00	25.57
1273.23	4357	-146.63	-8.51	80.00	3963.3	4043.8	3882.9	390.1	1792.3	147.85	-13.17	250	1279.03	0.00	0.00	2.42	0.000	0.000	0.005	3963.53	4043.75	3883.31	390.19	3555.94	0	0	0	30.00	30.00	25.57
1384	end dive: TARGET_DEPTH_EXCEEDED
state	1384	begin apogee
1389.35	18435	0.00	-2.10	0.00	3963.2	4043.8	3882.8	390.2	1822.3	150.12	-3.33	272	1400.96	0.00	3.52	0.64	0.000	0.005	0.005	3963.62	4043.50	3883.75	1370.44	2147.88	0	0	0	30.00	25.57	25.57
1402	end apogee: CONTROL_FINISHED_OK
state	1402	begin climb
1402.15	10759	146.63	8.32	-80.00	3963.0	4043.2	3882.8	1370.6	2147.8	150.31	0.00	274	1459.52	28.03	7.45	2.42	0.005	0.005	0.005	3795.62	3872.44	3718.81	3381.75	337.06	0	0	0	25.57	25.57	25.57
1689.84	11431	164.75	8.40	0.00	3795.7	3872.6	3718.8	3381.9	337.1	133.04	9.17	330	1716.61	14.01	0.00	2.46	0.005	0.000	0.005	3722.56	3798.75	3646.38	3381.81	2258.94	0	0	0	25.57	30.00	25.57
1841.71	10791	202.72	8.45	-80.00	3722.2	3798.1	3646.2	3382.0	2258.6	119.55	8.27	360	1883.97	26.17	0.00	2.45	0.005	0.000	0.005	3567.50	3639.75	3495.25	3381.56	281.12	0	0	0	25.57	30.00	25.57
2113.72	3077	202.72	8.45	0.00	3567.4	3640.2	3494.6	3381.7	280.9	89.73	14.85	414	2119.52	0.00	0.00	2.60	0.000	0.000	0.005	3567.06	3639.25	3494.88	3382.06	2064.50	0	0	0	30.00	30.00	25.57
2184.58	2565	202.72	8.45	-80.00	3567.2	3639.6	3494.8	3381.2	2064.5	78.65	15.90	428	2190.29	0.00	0.00	2.35	0.000	0.000	0.005	3567.25	3639.50	3495.00	3381.62	280.00	0	0	0	30.00	30.00	25.57
2420.03	11303	217.28	8.47	0.00	3567.3	3639.9	3494.6	3381.8	280.1	49.06	9.34	475	2441.35	11.77	0.00	2.38	0.005	0.000	0.005	3508.78	3580.50	3437.06	3382.19	2200.38	0	0	0	25.57	30.00	25.57
2506.50	2693	217.28	8.54	-80.00	3507.7	3579.2	3436.2	3382.2	2200.2	40.44	10.54	492	2512.16	0.00	0.00	2.33	0.000	0.000	0.005	3507.75	3579.19	3436.31	3381.81	389.94	0	0	0	30.00	30.00	25.57
2676.97	3077	217.28	8.54	0.00	3507.8	3579.2	3436.4	3381.9	390.0	18.12	12.04	526	2682.54	0.00	0.00	2.30	0.000	0.000	0.005	3507.62	3579.12	3436.12	3381.88	2188.50	0	0	0	30.00	30.00	25.57
2717.82	2693	217.28	8.60	-80.00	3507.5	3579.1	3435.9	3381.7	2188.2	13.52	11.34	534	2723.60	0.00	0.00	2.30	0.000	0.000	0.005	3507.69	3578.94	3436.44	3381.44	402.75	0	0	0	30.00	30.00	25.57
2834	end climb: SURFACE_DEPTH_REACHED
state	2834	begin surface coast
2859	end surface coast: CONTROL_FINISHED_OK
state	2859	begin surface