Glider dive log

Shilshole 11May23 * SG001 * Dive index * Mission links * Dive 161 * 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 161 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 1818.8159 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 2.4349344 FG_AHR_10V 2206.4392 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 22.507833 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 2206.4392 PHONE_DEVICE 16 SM_CC 566.45502

ALTIM_SENSITIVITY 2 FG_AHR_24V 22.507833 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 2.4349344 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 1818.8159 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 161 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 191223,021834,4743.110,-12224.296,29,2.0,35,0.0 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 191223,022118,4743.114,-12224.294,15,2.0,19,0.0 MHEAD_RNG_PITCHd_Wd 240.0,20000,-19.3,-10.000,-20.84,2243,0.418

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 1702952584,0.6,0,stop _10V_AH 11.07,0.000

FINISH 0.3,1.022036 FG_AHR_24Vo 22.517

SURF forcing FG_AHR_10Vo 2207.320

SM_CCo 3030.99,108.00,0.005,0,2081.5,2125.5,2037.6,567.00 DEVICE_MAX_MAMPS 5.000,5.000,5.000,10.542,0.000,50.000,6.920,0.000,0.000,2.120,26.000,40.000,0.000,0.000,0.000

SM_GC 0.03,108.00,10.99,2.53,0.005,0.005,0.005,2081.5,2125.5,2037.6,372.1,2161.2,0,0,0,25.57,25.57,25.57 MEM0 58972,1,0,0

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

IRIDIUM_FIX 0.00,0.00,, MEM2 991612,25,54176,114

TCM_TEMP 15.00 DATA_FILE_SIZE 19403,560

XPDR_PINGS -1,-1.0,-1.0 CAP_FILE_SIZE 254927,0

SC_FREEKB 3857760 SDSIZE 3887104,3832224

RAFOS_CLK 0 SDFILEDIR 1079,163

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 50.56 SOUNDSPEED 1488.1

TEMP 22.26 IMPLIED_C_PITCH 1966,2.87,394,1892.5,2.65

INTERNAL_PRESSURE 13.8397 IMPLIED_C_VBD 4636,197.657791,220,4493.9

_24V_AH 24.11,14.615 GPS 191223,031448,4743.501,-12224.189,34,1.8,44,0.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 228 5 27.51 legato 0 0 0.00

Pitch_motor 22 5 2.65 nil 0 0 0.00

Roll_motor 55 5 6.68 nil 0 0 0.00

Iridium 19 10 4.98 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 29 50 16.52 nil 0 0 0.00

Core 2746 6 210.38 SciCon 2861 3 107.68

Fast 7 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 265 2 6.23

Compass 850 26 244.73

RAFOS 266 40 117.91

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

7.02 16386 -146.63 -8.12 0.00 2181.5 2227.4 2135.7 376.2 1807.4 0.00 0.00 0 68.50 44.37 0.00 0.68 0.005 0.000 0.005 3963.56 4043.62 3883.50 376.25 2167.56 0 0 0 25.57 30.00 25.57

68.85 21031 -146.63 -8.12 -80.00 3963.6 4043.9 3883.2 376.1 2167.6 1.52 -2.83 9 73.72 0.00 0.00 2.29 0.000 0.000 0.005 3963.72 4043.75 3883.69 375.88 365.50 0 0 0 30.00 30.00 25.57

248.92 21639 -146.63 -8.19 0.00 3963.3 4043.8 3882.8 376.0 365.5 16.16 -11.46 45 253.99 0.00 0.00 2.35 0.000 0.000 0.005 3962.94 4042.88 3883.00 376.25 2025.88 0 0 0 30.00 30.00 25.57

288.88 20871 -146.63 -8.25 80.00 3963.7 4044.1 3883.4 375.9 2025.9 20.55 -10.94 53 294.24 0.00 0.00 2.11 0.000 0.000 0.005 3963.44 4044.00 3882.88 376.19 3649.44 0 0 0 30.00 30.00 25.57

524.35 21511 -146.63 -8.25 0.00 3963.4 4043.8 3883.1 375.8 3649.6 48.17 -13.92 100 529.96 0.00 0.00 2.33 0.000 0.000 0.005 3963.25 4043.62 3882.88 376.06 1886.12 0 0 0 30.00 30.00 25.57

594.58 4357 -146.63 -8.25 80.00 3963.5 4043.9 3883.0 375.9 1886.1 59.07 -17.55 114 600.16 0.00 0.00 2.22 0.000 0.000 0.005 3964.00 4044.12 3883.88 376.00 3661.38 0 0 0 30.00 30.00 25.57

669.82 5253 -146.63 -8.29 0.00 3963.6 4043.9 3883.2 375.8 3661.3 70.53 -14.19 129 675.59 0.00 0.00 2.50 0.000 0.000 0.005 3963.19 4043.31 3883.06 376.19 1764.31 0 0 0 30.00 30.00 25.57

740.56 4357 -146.63 -8.29 80.00 3963.4 4043.9 3882.9 375.9 1764.1 79.90 -12.77 143 746.36 0.00 0.00 2.57 0.000 0.000 0.005 3964.06 4044.44 3883.69 375.88 3564.75 0 0 0 30.00 30.00 25.57

896.04 5125 -146.63 -8.29 0.00 3963.0 4043.2 3882.8 376.1 3564.7 98.27 -12.24 174 901.95 0.00 0.00 2.36 0.000 0.000 0.005 3963.56 4043.88 3883.25 375.94 1777.31 0 0 0 30.00 30.00 25.57

966.94 4357 -146.63 -8.29 80.00 3963.6 4043.6 3883.5 375.9 1777.6 107.76 -13.42 188 972.79 0.00 0.00 2.62 0.000 0.000 0.005 3963.75 4043.94 3883.56 375.81 3641.69 0 0 0 30.00 30.00 25.57

1202.86 5125 -146.63 -8.29 0.00 3963.4 4043.8 3883.1 375.4 3641.9 138.14 -13.97 235 1208.54 0.00 0.00 2.31 0.000 0.000 0.005 3963.50 4043.50 3883.50 375.94 1807.12 0 0 0 30.00 30.00 25.57

1333.60 4517 -146.63 -8.31 80.00 3963.7 4044.2 3883.2 375.9 1807.2 149.22 -4.94 261 1339.21 0.00 0.00 2.63 0.000 0.000 0.005 3964.22 4044.62 3883.81 375.94 3539.38 0 0 0 30.00 30.00 25.57

1384 end dive: TARGET_DEPTH_EXCEEDED

state 1384 begin apogee

1389.98 18435 0.00 -2.05 0.00 3963.6 4044.1 3883.1 375.6 1712.6 150.12 -3.35 271 1401.95 0.00 3.71 0.64 0.000 0.005 0.005 3963.78 4044.25 3883.31 1386.38 2192.50 0 0 0 30.00 25.57 25.57

1403 end apogee: CONTROL_FINISHED_OK

state 1403 begin climb

1403.15 10759 146.63 8.12 -80.00 3963.4 4043.8 3883.1 1386.2 2192.4 150.43 0.00 273 1460.44 28.07 7.30 2.63 0.005 0.005 0.005 3795.47 3872.12 3718.81 3386.38 427.19 0 0 0 25.57 25.57 25.57

1690.74 11431 162.08 8.21 0.00 3795.3 3872.3 3718.4 3386.2 245.9 132.91 9.30 329 1717.60 12.34 0.00 2.79 0.005 0.000 0.005 3732.81 3809.12 3656.50 3386.94 2325.75 0 0 0 25.57 30.00 25.57

1842.66 10791 204.62 8.26 -80.00 3733.2 3809.0 3657.4 3386.5 2326.1 119.54 8.06 359 1890.36 28.59 0.00 2.74 0.005 0.000 0.005 3559.19 3631.44 3486.94 3386.94 285.00 0 0 0 25.57 30.00 25.57

2120.60 3077 204.62 8.26 0.00 3559.3 3631.8 3486.9 3386.2 285.1 88.78 14.91 414 2126.62 0.00 0.00 2.63 0.000 0.000 0.005 3558.53 3630.25 3486.81 3387.06 2166.38 0 0 0 30.00 30.00 25.57

2191.68 2565 204.62 8.26 -80.00 3559.3 3631.8 3486.9 3386.4 2166.1 77.53 16.00 428 2197.24 0.00 0.00 2.26 0.000 0.000 0.005 3559.28 3631.75 3486.81 3386.38 416.38 0 0 0 30.00 30.00 25.57

2402.59 3077 204.62 8.26 0.00 3559.4 3631.8 3486.9 3386.3 415.9 50.63 10.38 470 2408.35 0.00 0.00 2.41 0.000 0.000 0.005 3559.53 3631.94 3487.12 3387.19 2057.19 0 0 0 30.00 30.00 25.57

2473.31 10919 210.66 8.30 -80.00 3559.6 3632.0 3487.2 3386.6 2057.6 43.94 9.72 484 2489.17 6.80 0.00 2.02 0.005 0.000 0.005 3535.62 3607.81 3463.44 3386.62 403.25 0 0 0 25.57 30.00 25.57

2684.20 3077 210.66 8.30 0.00 3535.4 3607.4 3463.3 3386.4 402.7 17.31 11.91 526 2690.07 0.00 0.00 2.43 0.000 0.000 0.005 3535.44 3607.38 3463.50 3386.19 2336.44 0 0 0 30.00 30.00 25.57

2724.83 2693 210.66 8.36 -80.00 3535.3 3607.4 3463.3 3386.8 2336.6 12.71 11.33 534 2730.47 0.00 0.00 2.47 0.000 0.000 0.005 3535.34 3607.31 3463.38 3386.38 350.88 0 0 0 30.00 30.00 25.57

2830 end climb: SURFACE_DEPTH_REACHED

state 2831 begin surface coast

2856 end surface coast: CONTROL_FINISHED_OK

state 2856 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	161	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	1818.8159	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	2.4349344	FG_AHR_10V	2206.4392	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	22.507833	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	191223,021834,4743.110,-12224.296,29,2.0,35,0.0	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	191223,022118,4743.114,-12224.294,15,2.0,19,0.0	MHEAD_RNG_PITCHd_Wd	240.0,20000,-19.3,-10.000,-20.84,2243,0.418
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	1702952584,0.6,0,stop	_10V_AH	11.07,0.000
FINISH	0.3,1.022036	FG_AHR_24Vo	22.517
SURF	forcing	FG_AHR_10Vo	2207.320
SM_CCo	3030.99,108.00,0.005,0,2081.5,2125.5,2037.6,567.00	DEVICE_MAX_MAMPS	5.000,5.000,5.000,10.542,0.000,50.000,6.920,0.000,0.000,2.120,26.000,40.000,0.000,0.000,0.000
SM_GC	0.03,108.00,10.99,2.53,0.005,0.005,0.005,2081.5,2125.5,2037.6,372.1,2161.2,0,0,0,25.57,25.57,25.57	MEM0	58972,1,0,0
SUPER	19,70,255,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	0.00,0.00,,	MEM2	991612,25,54176,114
TCM_TEMP	15.00	DATA_FILE_SIZE	19403,560
XPDR_PINGS	-1,-1.0,-1.0	CAP_FILE_SIZE	254927,0
SC_FREEKB	3857760	SDSIZE	3887104,3832224
RAFOS_CLK	0	SDFILEDIR	1079,163
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	50.56	SOUNDSPEED	1488.1
TEMP	22.26	IMPLIED_C_PITCH	1966,2.87,394,1892.5,2.65
INTERNAL_PRESSURE	13.8397	IMPLIED_C_VBD	4636,197.657791,220,4493.9
_24V_AH	24.11,14.615	GPS	191223,031448,4743.501,-12224.189,34,1.8,44,0.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	228	5	27.51	legato	0	0	0.00
Pitch_motor	22	5	2.65	nil	0	0	0.00
Roll_motor	55	5	6.68	nil	0	0	0.00
Iridium	19	10	4.98	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	29	50	16.52	nil	0	0	0.00
Core	2746	6	210.38	SciCon	2861	3	107.68
Fast	7	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	265	2	6.23
Compass	850	26	244.73
RAFOS	266	40	117.91
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
7.02	16386	-146.63	-8.12	0.00	2181.5	2227.4	2135.7	376.2	1807.4	0.00	0.00	0	68.50	44.37	0.00	0.68	0.005	0.000	0.005	3963.56	4043.62	3883.50	376.25	2167.56	0	0	0	25.57	30.00	25.57
68.85	21031	-146.63	-8.12	-80.00	3963.6	4043.9	3883.2	376.1	2167.6	1.52	-2.83	9	73.72	0.00	0.00	2.29	0.000	0.000	0.005	3963.72	4043.75	3883.69	375.88	365.50	0	0	0	30.00	30.00	25.57
248.92	21639	-146.63	-8.19	0.00	3963.3	4043.8	3882.8	376.0	365.5	16.16	-11.46	45	253.99	0.00	0.00	2.35	0.000	0.000	0.005	3962.94	4042.88	3883.00	376.25	2025.88	0	0	0	30.00	30.00	25.57
288.88	20871	-146.63	-8.25	80.00	3963.7	4044.1	3883.4	375.9	2025.9	20.55	-10.94	53	294.24	0.00	0.00	2.11	0.000	0.000	0.005	3963.44	4044.00	3882.88	376.19	3649.44	0	0	0	30.00	30.00	25.57
524.35	21511	-146.63	-8.25	0.00	3963.4	4043.8	3883.1	375.8	3649.6	48.17	-13.92	100	529.96	0.00	0.00	2.33	0.000	0.000	0.005	3963.25	4043.62	3882.88	376.06	1886.12	0	0	0	30.00	30.00	25.57
594.58	4357	-146.63	-8.25	80.00	3963.5	4043.9	3883.0	375.9	1886.1	59.07	-17.55	114	600.16	0.00	0.00	2.22	0.000	0.000	0.005	3964.00	4044.12	3883.88	376.00	3661.38	0	0	0	30.00	30.00	25.57
669.82	5253	-146.63	-8.29	0.00	3963.6	4043.9	3883.2	375.8	3661.3	70.53	-14.19	129	675.59	0.00	0.00	2.50	0.000	0.000	0.005	3963.19	4043.31	3883.06	376.19	1764.31	0	0	0	30.00	30.00	25.57
740.56	4357	-146.63	-8.29	80.00	3963.4	4043.9	3882.9	375.9	1764.1	79.90	-12.77	143	746.36	0.00	0.00	2.57	0.000	0.000	0.005	3964.06	4044.44	3883.69	375.88	3564.75	0	0	0	30.00	30.00	25.57
896.04	5125	-146.63	-8.29	0.00	3963.0	4043.2	3882.8	376.1	3564.7	98.27	-12.24	174	901.95	0.00	0.00	2.36	0.000	0.000	0.005	3963.56	4043.88	3883.25	375.94	1777.31	0	0	0	30.00	30.00	25.57
966.94	4357	-146.63	-8.29	80.00	3963.6	4043.6	3883.5	375.9	1777.6	107.76	-13.42	188	972.79	0.00	0.00	2.62	0.000	0.000	0.005	3963.75	4043.94	3883.56	375.81	3641.69	0	0	0	30.00	30.00	25.57
1202.86	5125	-146.63	-8.29	0.00	3963.4	4043.8	3883.1	375.4	3641.9	138.14	-13.97	235	1208.54	0.00	0.00	2.31	0.000	0.000	0.005	3963.50	4043.50	3883.50	375.94	1807.12	0	0	0	30.00	30.00	25.57
1333.60	4517	-146.63	-8.31	80.00	3963.7	4044.2	3883.2	375.9	1807.2	149.22	-4.94	261	1339.21	0.00	0.00	2.63	0.000	0.000	0.005	3964.22	4044.62	3883.81	375.94	3539.38	0	0	0	30.00	30.00	25.57
1384	end dive: TARGET_DEPTH_EXCEEDED
state	1384	begin apogee
1389.98	18435	0.00	-2.05	0.00	3963.6	4044.1	3883.1	375.6	1712.6	150.12	-3.35	271	1401.95	0.00	3.71	0.64	0.000	0.005	0.005	3963.78	4044.25	3883.31	1386.38	2192.50	0	0	0	30.00	25.57	25.57
1403	end apogee: CONTROL_FINISHED_OK
state	1403	begin climb
1403.15	10759	146.63	8.12	-80.00	3963.4	4043.8	3883.1	1386.2	2192.4	150.43	0.00	273	1460.44	28.07	7.30	2.63	0.005	0.005	0.005	3795.47	3872.12	3718.81	3386.38	427.19	0	0	0	25.57	25.57	25.57
1690.74	11431	162.08	8.21	0.00	3795.3	3872.3	3718.4	3386.2	245.9	132.91	9.30	329	1717.60	12.34	0.00	2.79	0.005	0.000	0.005	3732.81	3809.12	3656.50	3386.94	2325.75	0	0	0	25.57	30.00	25.57
1842.66	10791	204.62	8.26	-80.00	3733.2	3809.0	3657.4	3386.5	2326.1	119.54	8.06	359	1890.36	28.59	0.00	2.74	0.005	0.000	0.005	3559.19	3631.44	3486.94	3386.94	285.00	0	0	0	25.57	30.00	25.57
2120.60	3077	204.62	8.26	0.00	3559.3	3631.8	3486.9	3386.2	285.1	88.78	14.91	414	2126.62	0.00	0.00	2.63	0.000	0.000	0.005	3558.53	3630.25	3486.81	3387.06	2166.38	0	0	0	30.00	30.00	25.57
2191.68	2565	204.62	8.26	-80.00	3559.3	3631.8	3486.9	3386.4	2166.1	77.53	16.00	428	2197.24	0.00	0.00	2.26	0.000	0.000	0.005	3559.28	3631.75	3486.81	3386.38	416.38	0	0	0	30.00	30.00	25.57
2402.59	3077	204.62	8.26	0.00	3559.4	3631.8	3486.9	3386.3	415.9	50.63	10.38	470	2408.35	0.00	0.00	2.41	0.000	0.000	0.005	3559.53	3631.94	3487.12	3387.19	2057.19	0	0	0	30.00	30.00	25.57
2473.31	10919	210.66	8.30	-80.00	3559.6	3632.0	3487.2	3386.6	2057.6	43.94	9.72	484	2489.17	6.80	0.00	2.02	0.005	0.000	0.005	3535.62	3607.81	3463.44	3386.62	403.25	0	0	0	25.57	30.00	25.57
2684.20	3077	210.66	8.30	0.00	3535.4	3607.4	3463.3	3386.4	402.7	17.31	11.91	526	2690.07	0.00	0.00	2.43	0.000	0.000	0.005	3535.44	3607.38	3463.50	3386.19	2336.44	0	0	0	30.00	30.00	25.57
2724.83	2693	210.66	8.36	-80.00	3535.3	3607.4	3463.3	3386.8	2336.6	12.71	11.33	534	2730.47	0.00	0.00	2.47	0.000	0.000	0.005	3535.34	3607.31	3463.38	3386.38	350.88	0	0	0	30.00	30.00	25.57
2830	end climb: SURFACE_DEPTH_REACHED
state	2831	begin surface coast
2856	end surface coast: CONTROL_FINISHED_OK
state	2856	begin surface