Glider dive log

Shilshole 11May23 * SG001 * Dive index * Mission links * Dive 78 * 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 78 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 60 COMM_SEQ 7 C_VBD 3889.7725 MOTHERBOARD 6

D_ABORT 125 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 20 N_GPS 100440 LOITER_W_DBAND 2 COMPASS_DEVICE 2

T_MISSION 35 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 1912.2456 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 2.8062139 FG_AHR_10V 2141.5293 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 21.838617 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 0.0049999999 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 60 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 2141.5293 PHONE_DEVICE 16 SM_CC 566.45502

ALTIM_SENSITIVITY 2 FG_AHR_24V 21.838617 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 0.0049999999 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 2.8062139 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 20

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 1912.2456 LOGGERDEVICE1 7 PRESSURE_DEVICE 0 T_MISSION 35

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 3889.7725 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 78 MOTHERBOARD 6 ROLL_MIN 300 XPDR_DEVICE 0

D_ABORT 125 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 161223,112050,4743.259,-12223.930,30,1.9,41,0.0 TGT_RADIUS 0.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.01 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 161223,112329,4743.250,-12223.932,8,1.9,18,0.0 MHEAD_RNG_PITCHd_Wd 240.0,20000,-19.3,-10.000,-20.84,2243,0.463

SPEED_LIMITS 0.173,0.263 D_GRID 169

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 4737.851,-12237.810 OSC 8000266

Post-dive calculations and measurements:

FINISH 0.1,1.030129 _10V_AH 11.07,0.000

SURF forcing FG_AHR_24Vo 21.844

SM_CCo 1677.98,127.58,0.005,0,1580.7,1614.1,1547.3,566.23 FG_AHR_10Vo 2142.022

SM_GC 0.01,127.58,11.14,2.42,0.005,0.005,0.005,1580.7,1614.1,1547.3,416.8,1784.9,0,0,0,25.57,25.57,25.57 DEVICE_MAX_MAMPS 5.000,5.000,5.000,10.553,0.000,50.000,6.920,0.000,0.000,2.120,26.000,0.000,0.000,0.000,0.000

SUPER 27,70,255,1,0,0 MEM0 58972,1,0,0

IRIDIUM_FIX 0.00,0.00,, MEM1 65508,1,0,0

TCM_TEMP 15.00 MEM2 991628,25,54160,114

XPDR_PINGS -1,-1.0,-1.0 DATA_FILE_SIZE 9819,287

SC_FREEKB 3884320 CAP_FILE_SIZE 164527,0

RAFOS_CLK 0 SDSIZE 3887104,3853504

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 SDFILEDIR 581,80

HUMID 51.09 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 22.05 SOUNDSPEED 1484.8

INTERNAL_PRESSURE 14.1109 IMPLIED_C_PITCH 750,2.65,176,1712.2,2.73

_24V_AH 24.07,11.590 GPS 161223,115419,4743.051,-12224.087,33,1.9,38,0.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 294 5 35.43 legato 0 0 0.00

Pitch_motor 22 5 2.65 nil 0 0 0.00

Roll_motor 34 5 4.11 nil 0 0 0.00

Iridium 20 10 5.31 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 28 50 15.67 nil 0 0 0.00

Core 1503 6 115.17 SciCon 1480 3 58.82

Fast 3 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 123 2 2.90

Compass 440 26 126.73

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

6.46 16386 -146.63 -7.07 0.00 1540.1 1572.6 1507.5 352.6 1745.0 0.00 0.00 0 91.38 60.37 0.00 0.61 0.005 0.000 0.005 3963.53 4043.75 3883.31 352.88 2256.44 0 0 0 25.57 30.00 25.57

91.73 21031 -146.63 -7.07 -80.00 3963.4 4043.8 3883.1 352.8 2256.0 1.71 -2.39 15 96.54 0.00 0.00 2.56 0.000 0.000 0.005 3964.47 4044.62 3884.31 353.25 509.62 0 0 0 30.00 30.00 25.57

271.68 21671 -146.63 -7.18 0.00 3963.8 4044.2 3883.4 352.6 348.2 11.32 -5.21 51 277.33 0.00 0.00 2.31 0.000 0.000 0.005 3963.25 4043.25 3883.25 353.06 2204.69 0 0 0 30.00 30.00 25.57

312.46 20903 -146.63 -7.29 80.00 3963.4 4043.9 3882.8 353.1 2204.5 13.92 -6.24 59 317.95 0.00 0.00 2.01 0.000 0.000 0.005 3963.31 4043.62 3883.00 353.12 3616.75 0 0 0 30.00 30.00 25.57

548.12 21671 -146.63 -7.40 0.00 3963.4 4043.4 3883.4 353.0 3616.7 29.83 -6.87 106 553.52 0.00 0.00 2.35 0.000 0.000 0.005 3962.50 4042.12 3882.88 353.00 1751.94 0 0 0 30.00 30.00 25.57

588.29 20903 -146.63 -7.48 80.00 3963.6 4044.2 3883.0 353.0 1752.3 32.24 -6.62 114 593.67 0.00 0.00 2.50 0.000 0.000 0.005 3963.62 4043.62 3883.62 353.25 3706.44 0 0 0 30.00 30.00 25.57

733.81 21671 -146.63 -7.53 0.00 3963.6 4044.1 3883.1 352.9 3707.0 40.58 -5.92 143 739.55 0.00 0.00 2.57 0.000 0.000 0.005 3963.69 4043.81 3883.56 353.00 1884.94 0 0 0 30.00 30.00 25.57

804.41 20903 -146.63 -7.56 80.00 3963.3 4043.8 3882.9 353.1 1884.9 47.33 -9.94 157 810.09 0.00 0.00 2.33 0.000 0.000 0.005 3963.22 4043.38 3883.06 353.00 3669.69 0 0 0 30.00 30.00 25.57

829.90 21671 -146.63 -7.60 0.00 3963.0 4043.6 3882.4 353.2 3669.4 49.80 -9.45 162 835.51 0.00 0.00 2.36 0.000 0.000 0.005 3962.81 4042.62 3883.00 353.19 1853.44 0 0 0 30.00 30.00 25.57

900.50 4517 -146.63 -7.65 80.00 3963.8 4044.0 3883.6 353.3 1853.2 56.30 -9.01 176 906.29 0.00 0.00 2.56 0.000 0.000 0.005 3962.88 4042.75 3883.00 352.94 3637.81 0 0 0 30.00 30.00 25.57

1056 end dive: HALF_MISSION_TIME_EXCEEDED

state 1056 begin apogee

1061.24 10243 0.00 -1.78 0.00 3963.7 4044.1 3883.2 352.9 1822.8 56.27 0.68 207 1093.98 14.05 4.47 0.28 0.005 0.005 0.005 3890.44 3969.31 3811.56 1599.00 2198.50 0 0 0 25.57 25.57 25.57

1094 end apogee: CONTROL_FINISHED_OK

state 1095 begin climb

1095.18 10759 146.63 7.07 -80.00 3890.3 3969.2 3811.3 1599.4 2197.9 55.45 0.00 213 1240.49 92.38 6.40 2.26 0.005 0.005 0.005 3292.16 3359.31 3225.00 3393.69 352.00 0 0 0 25.57 25.57 25.57

1320.29 3205 146.63 7.03 0.00 3291.8 3359.0 3224.6 3393.8 352.2 25.55 20.27 256 1326.26 0.00 0.00 2.48 0.000 0.000 0.005 3291.91 3358.88 3224.94 3394.50 2320.50 0 0 0 30.00 30.00 25.57

1361.03 2437 146.63 6.98 80.00 3292.2 3359.8 3224.8 3393.9 2320.3 18.02 18.32 264 1366.25 0.00 0.00 1.77 0.000 0.000 0.005 3292.47 3359.81 3225.12 3393.88 3602.19 0 0 0 30.00 30.00 25.57

1461 end climb: SURFACE_DEPTH_REACHED

state 1461 begin surface coast

1476 end surface coast: CONTROL_FINISHED_OK

state 1476 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	78	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	60	COMM_SEQ	7	C_VBD	3889.7725	MOTHERBOARD	6
D_ABORT	125	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	20	N_GPS	100440	LOITER_W_DBAND	2	COMPASS_DEVICE	2
T_MISSION	35	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	1912.2456	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	2.8062139	FG_AHR_10V	2141.5293	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	21.838617	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	0.0049999999	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	161223,112050,4743.259,-12223.930,30,1.9,41,0.0	TGT_RADIUS	0.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.01	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	161223,112329,4743.250,-12223.932,8,1.9,18,0.0	MHEAD_RNG_PITCHd_Wd	240.0,20000,-19.3,-10.000,-20.84,2243,0.463
SPEED_LIMITS	0.173,0.263	D_GRID	169
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	4737.851,-12237.810	OSC	8000266

FINISH	0.1,1.030129	_10V_AH	11.07,0.000
SURF	forcing	FG_AHR_24Vo	21.844
SM_CCo	1677.98,127.58,0.005,0,1580.7,1614.1,1547.3,566.23	FG_AHR_10Vo	2142.022
SM_GC	0.01,127.58,11.14,2.42,0.005,0.005,0.005,1580.7,1614.1,1547.3,416.8,1784.9,0,0,0,25.57,25.57,25.57	DEVICE_MAX_MAMPS	5.000,5.000,5.000,10.553,0.000,50.000,6.920,0.000,0.000,2.120,26.000,0.000,0.000,0.000,0.000
SUPER	27,70,255,1,0,0	MEM0	58972,1,0,0
IRIDIUM_FIX	0.00,0.00,,	MEM1	65508,1,0,0
TCM_TEMP	15.00	MEM2	991628,25,54160,114
XPDR_PINGS	-1,-1.0,-1.0	DATA_FILE_SIZE	9819,287
SC_FREEKB	3884320	CAP_FILE_SIZE	164527,0
RAFOS_CLK	0	SDSIZE	3887104,3853504
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	SDFILEDIR	581,80
HUMID	51.09	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	22.05	SOUNDSPEED	1484.8
INTERNAL_PRESSURE	14.1109	IMPLIED_C_PITCH	750,2.65,176,1712.2,2.73
_24V_AH	24.07,11.590	GPS	161223,115419,4743.051,-12224.087,33,1.9,38,0.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	294	5	35.43	legato	0	0	0.00
Pitch_motor	22	5	2.65	nil	0	0	0.00
Roll_motor	34	5	4.11	nil	0	0	0.00
Iridium	20	10	5.31	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	28	50	15.67	nil	0	0	0.00
Core	1503	6	115.17	SciCon	1480	3	58.82
Fast	3	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	123	2	2.90
Compass	440	26	126.73
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
6.46	16386	-146.63	-7.07	0.00	1540.1	1572.6	1507.5	352.6	1745.0	0.00	0.00	0	91.38	60.37	0.00	0.61	0.005	0.000	0.005	3963.53	4043.75	3883.31	352.88	2256.44	0	0	0	25.57	30.00	25.57
91.73	21031	-146.63	-7.07	-80.00	3963.4	4043.8	3883.1	352.8	2256.0	1.71	-2.39	15	96.54	0.00	0.00	2.56	0.000	0.000	0.005	3964.47	4044.62	3884.31	353.25	509.62	0	0	0	30.00	30.00	25.57
271.68	21671	-146.63	-7.18	0.00	3963.8	4044.2	3883.4	352.6	348.2	11.32	-5.21	51	277.33	0.00	0.00	2.31	0.000	0.000	0.005	3963.25	4043.25	3883.25	353.06	2204.69	0	0	0	30.00	30.00	25.57
312.46	20903	-146.63	-7.29	80.00	3963.4	4043.9	3882.8	353.1	2204.5	13.92	-6.24	59	317.95	0.00	0.00	2.01	0.000	0.000	0.005	3963.31	4043.62	3883.00	353.12	3616.75	0	0	0	30.00	30.00	25.57
548.12	21671	-146.63	-7.40	0.00	3963.4	4043.4	3883.4	353.0	3616.7	29.83	-6.87	106	553.52	0.00	0.00	2.35	0.000	0.000	0.005	3962.50	4042.12	3882.88	353.00	1751.94	0	0	0	30.00	30.00	25.57
588.29	20903	-146.63	-7.48	80.00	3963.6	4044.2	3883.0	353.0	1752.3	32.24	-6.62	114	593.67	0.00	0.00	2.50	0.000	0.000	0.005	3963.62	4043.62	3883.62	353.25	3706.44	0	0	0	30.00	30.00	25.57
733.81	21671	-146.63	-7.53	0.00	3963.6	4044.1	3883.1	352.9	3707.0	40.58	-5.92	143	739.55	0.00	0.00	2.57	0.000	0.000	0.005	3963.69	4043.81	3883.56	353.00	1884.94	0	0	0	30.00	30.00	25.57
804.41	20903	-146.63	-7.56	80.00	3963.3	4043.8	3882.9	353.1	1884.9	47.33	-9.94	157	810.09	0.00	0.00	2.33	0.000	0.000	0.005	3963.22	4043.38	3883.06	353.00	3669.69	0	0	0	30.00	30.00	25.57
829.90	21671	-146.63	-7.60	0.00	3963.0	4043.6	3882.4	353.2	3669.4	49.80	-9.45	162	835.51	0.00	0.00	2.36	0.000	0.000	0.005	3962.81	4042.62	3883.00	353.19	1853.44	0	0	0	30.00	30.00	25.57
900.50	4517	-146.63	-7.65	80.00	3963.8	4044.0	3883.6	353.3	1853.2	56.30	-9.01	176	906.29	0.00	0.00	2.56	0.000	0.000	0.005	3962.88	4042.75	3883.00	352.94	3637.81	0	0	0	30.00	30.00	25.57
1056	end dive: HALF_MISSION_TIME_EXCEEDED
state	1056	begin apogee
1061.24	10243	0.00	-1.78	0.00	3963.7	4044.1	3883.2	352.9	1822.8	56.27	0.68	207	1093.98	14.05	4.47	0.28	0.005	0.005	0.005	3890.44	3969.31	3811.56	1599.00	2198.50	0	0	0	25.57	25.57	25.57
1094	end apogee: CONTROL_FINISHED_OK
state	1095	begin climb
1095.18	10759	146.63	7.07	-80.00	3890.3	3969.2	3811.3	1599.4	2197.9	55.45	0.00	213	1240.49	92.38	6.40	2.26	0.005	0.005	0.005	3292.16	3359.31	3225.00	3393.69	352.00	0	0	0	25.57	25.57	25.57
1320.29	3205	146.63	7.03	0.00	3291.8	3359.0	3224.6	3393.8	352.2	25.55	20.27	256	1326.26	0.00	0.00	2.48	0.000	0.000	0.005	3291.91	3358.88	3224.94	3394.50	2320.50	0	0	0	30.00	30.00	25.57
1361.03	2437	146.63	6.98	80.00	3292.2	3359.8	3224.8	3393.9	2320.3	18.02	18.32	264	1366.25	0.00	0.00	1.77	0.000	0.000	0.005	3292.47	3359.81	3225.12	3393.88	3602.19	0	0	0	30.00	30.00	25.57
1461	end climb: SURFACE_DEPTH_REACHED
state	1461	begin surface coast
1476	end surface coast: CONTROL_FINISHED_OK
state	1476	begin surface