Glider dive log

Shilshole 11May23 * SG001 * Dive index * Mission links * Dive 80 * 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 80 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 100 COMM_SEQ 7 C_VBD 3989.7725 MOTHERBOARD 6

D_ABORT 135 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 33 N_GPS 100440 LOITER_W_DBAND 2 COMPASS_DEVICE 2

T_MISSION 45 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 2.8827634 FG_AHR_10V 2142.7207 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 21.850958 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 100 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 2142.7207 PHONE_DEVICE 16 SM_CC 566.45502

ALTIM_SENSITIVITY 2 FG_AHR_24V 21.850958 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 2.8827634 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 33

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 45

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 3989.7725 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 80 MOTHERBOARD 6 ROLL_MIN 300 XPDR_DEVICE 0

D_ABORT 135 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 161223,123010,4742.990,-12224.265,23,1.9,29,0.0 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 161223,123251,4742.983,-12224.260,19,2.0,24,0.0 MHEAD_RNG_PITCHd_Wd 240.0,20000,-19.5,-10.101,-20.97,2221,0.373

SPEED_LIMITS 0.175,0.264 D_GRID 175

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 4737.583,-12238.137 OSC 8000225

Post-dive calculations and measurements:

NAV 1702730714,71.1,0,stop _10V_AH 11.07,0.000

FINISH 0.1,1.030129 FG_AHR_24Vo 21.858

SURF forcing FG_AHR_10Vo 2143.388

SM_CCo 2288.28,101.12,0.005,0,1678.7,1714.1,1643.2,566.73 DEVICE_MAX_MAMPS 5.000,5.000,5.000,10.526,0.000,50.000,6.920,0.000,0.000,2.120,26.000,40.000,0.000,0.000,0.000

SM_GC 0.02,101.12,10.91,2.67,0.005,0.005,0.005,1678.7,1714.1,1643.2,364.6,2135.4,0,0,0,25.57,25.57,25.57 MEM0 58972,1,0,0

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

IRIDIUM_FIX 0.00,0.00,, MEM2 991640,24,54168,114

TCM_TEMP 15.00 DATA_FILE_SIZE 16215,413

XPDR_PINGS -1,-1.0,-1.0 CAP_FILE_SIZE 221748,0

SC_FREEKB 3883680 SDSIZE 3887104,3852960

RAFOS_CLK 0 SDFILEDIR 593,82

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 51.09 SOUNDSPEED 1486.8

TEMP 22.02 IMPLIED_C_PITCH 1688,1.87,264,1800.2,2.38

INTERNAL_PRESSURE 14.1095 GPS 161223,131353,4743.110,-12224.296,32,1.5,41,0.0

_24V_AH 24.11,11.666

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 301 5 36.33 legato 0 0 0.00

Pitch_motor 21 5 2.61 nil 0 0 0.00

Roll_motor 53 5 6.42 nil 0 0 0.00

Iridium 18 10 4.66 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 34 50 18.86 nil 0 0 0.00

Core 2101 6 160.99 SciCon 2127 3 84.13

Fast 3 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 173 2 4.08

Compass 628 26 180.89

RAFOS 900 40 398.84

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

7.04 16386 -146.63 -6.94 0.00 1579.7 1613.2 1546.2 381.8 1882.4 0.00 0.00 0 92.08 59.26 0.00 0.58 0.005 0.000 0.005 3963.69 4043.69 3883.69 382.00 2319.25 0 0 0 25.57 30.00 25.57

92.42 21031 -146.63 -6.94 -80.00 3963.8 4044.1 3883.5 381.9 2319.4 1.80 -2.33 15 97.69 0.00 0.00 2.63 0.000 0.000 0.005 3963.06 4043.38 3882.75 381.44 287.62 0 0 0 30.00 30.00 25.57

257.25 21639 -146.63 -7.00 0.00 3963.9 4044.2 3883.6 381.6 287.4 17.02 -12.50 48 262.80 0.00 0.00 2.48 0.000 0.000 0.005 3963.69 4043.81 3883.56 381.62 2226.00 0 0 0 30.00 30.00 25.57

297.94 20871 -146.63 -7.07 80.00 3963.8 4044.2 3883.4 381.4 2225.9 21.71 -11.63 56 303.17 0.00 0.00 2.02 0.000 0.000 0.005 3963.41 4043.75 3883.06 381.69 3641.38 0 0 0 30.00 30.00 25.57

497.90 21511 -146.63 -7.07 0.00 3963.9 4043.9 3883.9 381.6 3640.6 47.77 -14.45 96 503.31 0.00 0.00 2.40 0.000 0.000 0.005 3962.69 4042.62 3882.75 381.31 1807.00 0 0 0 30.00 30.00 25.57

568.15 4485 -146.63 -7.04 80.00 3963.4 4043.8 3883.0 381.9 1806.8 58.46 -14.99 110 573.69 0.00 0.00 2.56 0.000 0.000 0.005 3963.41 4043.56 3883.25 381.56 3569.12 0 0 0 30.00 30.00 25.57

675.10 5125 -146.63 -7.04 0.00 3963.8 4044.2 3883.3 381.5 3569.4 73.38 -13.57 130 680.72 0.00 0.00 2.36 0.000 0.000 0.005 3963.66 4044.00 3883.31 381.56 1778.06 0 0 0 30.00 30.00 25.57

745.75 4613 -146.63 -7.04 -80.00 3963.8 4043.9 3883.6 381.2 1778.2 83.64 -15.83 144 751.42 0.00 0.00 1.88 0.000 0.000 0.005 3963.66 4043.88 3883.44 381.25 347.44 0 0 0 30.00 30.00 25.57

756.47 5125 -146.63 -7.04 0.00 3963.6 4043.8 3883.4 381.4 347.3 85.20 -15.50 146 762.09 0.00 0.00 2.49 0.000 0.000 0.005 3962.91 4042.69 3883.12 381.62 2286.62 0 0 0 30.00 30.00 25.57

827.04 4357 -146.63 -7.04 80.00 3964.1 4044.6 3883.5 381.7 2285.4 95.57 -14.01 160 832.36 0.00 0.00 1.85 0.000 0.000 0.005 3963.09 4043.25 3882.94 381.31 3765.81 0 0 0 30.00 30.00 25.57

992.57 5285 -146.63 -7.11 0.00 3963.3 4043.7 3882.9 381.6 3765.4 93.11 3.77 193 998.18 0.00 0.00 2.47 0.000 0.000 0.005 3962.91 4042.38 3883.44 381.81 1797.44 0 0 0 30.00 30.00 25.57

1063.21 4773 -146.63 -7.23 -80.00 3963.6 4044.1 3883.1 381.4 1797.6 90.40 3.80 207 1068.54 0.00 0.00 1.81 0.000 0.000 0.005 3963.56 4043.75 3883.38 381.56 329.81 0 0 0 30.00 30.00 25.57

1233.82 5285 -146.63 -7.47 0.00 3964.0 4044.3 3883.6 381.5 329.7 83.81 3.73 241 1239.60 0.00 0.00 2.58 0.000 0.000 0.005 3963.59 4043.81 3883.38 381.62 2234.50 0 0 0 30.00 30.00 25.57

1304.66 4517 -146.63 -7.77 80.00 3963.5 4043.9 3883.1 381.2 2234.6 78.99 9.54 255 1310.07 0.00 0.00 1.87 0.000 0.000 0.005 3963.22 4043.50 3882.94 381.69 3561.88 0 0 0 30.00 30.00 25.57

1355 end dive: HALF_MISSION_TIME_EXCEEDED

state 1355 begin apogee

1360.41 18435 0.00 -1.73 0.00 3963.4 4043.4 3883.4 381.8 1748.5 73.97 9.84 265 1372.40 0.00 4.30 0.66 0.000 0.005 0.005 3963.31 4043.62 3883.00 1556.12 2247.62 0 0 0 30.00 25.57 25.57

1373 end apogee: CONTROL_FINISHED_OK

state 1373 begin climb

1373.59 10759 146.63 6.94 -80.00 3963.5 4043.7 3883.3 1556.2 2247.8 72.52 0.00 267 1513.88 88.17 6.47 2.53 0.005 0.005 0.005 3392.16 3461.12 3323.19 3369.75 249.12 0 0 0 25.57 25.57 25.57

1518.97 11303 219.92 7.03 0.00 3392.2 3461.5 3322.9 3369.9 248.9 62.46 6.73 294 1592.41 47.79 0.00 2.51 0.005 0.000 0.005 3093.88 3158.00 3029.75 3369.88 2224.56 0 0 0 25.57 30.00 25.57

1657.70 2693 219.92 7.12 -80.00 3093.5 3157.3 3029.8 3370.2 2224.1 49.25 10.94 321 1663.69 0.00 0.00 2.53 0.000 0.000 0.005 3093.41 3157.06 3029.75 3370.38 366.06 0 0 0 30.00 30.00 25.57

1893.82 3077 219.92 7.12 0.00 3093.5 3157.2 3029.9 3370.1 366.1 23.78 13.73 368 1899.53 0.00 0.00 2.51 0.000 0.000 0.005 3093.62 3156.94 3030.31 3370.56 2365.94 0 0 0 30.00 30.00 25.57

1934.59 2565 219.92 7.12 -80.00 3093.4 3157.4 3029.5 3370.2 2366.0 17.82 14.81 376 1940.20 0.00 0.00 2.49 0.000 0.000 0.005 3093.41 3156.75 3030.06 3370.69 364.94 0 0 0 30.00 30.00 25.57

1970.03 3205 219.92 7.19 0.00 3093.6 3157.3 3029.9 3370.1 364.8 13.32 12.25 383 1975.65 0.00 0.00 2.32 0.000 0.000 0.005 3094.00 3157.75 3030.25 3369.94 2227.19 0 0 0 30.00 30.00 25.57

2010.87 10919 234.29 7.29 -80.00 3093.9 3157.5 3030.4 3370.2 2226.7 9.48 9.44 391 2026.98 5.08 0.00 2.46 0.005 0.000 0.005 3033.34 3095.31 2971.38 3369.75 229.19 0 0 0 25.57 30.00 25.57

2092 end climb: SURFACE_DEPTH_REACHED

state 2092 begin surface coast

2122 end surface coast: CONTROL_FINISHED_OK

state 2122 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	80	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	100	COMM_SEQ	7	C_VBD	3989.7725	MOTHERBOARD	6
D_ABORT	135	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	33	N_GPS	100440	LOITER_W_DBAND	2	COMPASS_DEVICE	2
T_MISSION	45	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	2.8827634	FG_AHR_10V	2142.7207	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	21.850958	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	161223,123010,4742.990,-12224.265,23,1.9,29,0.0	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	161223,123251,4742.983,-12224.260,19,2.0,24,0.0	MHEAD_RNG_PITCHd_Wd	240.0,20000,-19.5,-10.101,-20.97,2221,0.373
SPEED_LIMITS	0.175,0.264	D_GRID	175
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	4737.583,-12238.137	OSC	8000225

NAV	1702730714,71.1,0,stop	_10V_AH	11.07,0.000
FINISH	0.1,1.030129	FG_AHR_24Vo	21.858
SURF	forcing	FG_AHR_10Vo	2143.388
SM_CCo	2288.28,101.12,0.005,0,1678.7,1714.1,1643.2,566.73	DEVICE_MAX_MAMPS	5.000,5.000,5.000,10.526,0.000,50.000,6.920,0.000,0.000,2.120,26.000,40.000,0.000,0.000,0.000
SM_GC	0.02,101.12,10.91,2.67,0.005,0.005,0.005,1678.7,1714.1,1643.2,364.6,2135.4,0,0,0,25.57,25.57,25.57	MEM0	58972,1,0,0
SUPER	27,70,255,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	0.00,0.00,,	MEM2	991640,24,54168,114
TCM_TEMP	15.00	DATA_FILE_SIZE	16215,413
XPDR_PINGS	-1,-1.0,-1.0	CAP_FILE_SIZE	221748,0
SC_FREEKB	3883680	SDSIZE	3887104,3852960
RAFOS_CLK	0	SDFILEDIR	593,82
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	51.09	SOUNDSPEED	1486.8
TEMP	22.02	IMPLIED_C_PITCH	1688,1.87,264,1800.2,2.38
INTERNAL_PRESSURE	14.1095	GPS	161223,131353,4743.110,-12224.296,32,1.5,41,0.0
_24V_AH	24.11,11.666

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	301	5	36.33	legato	0	0	0.00
Pitch_motor	21	5	2.61	nil	0	0	0.00
Roll_motor	53	5	6.42	nil	0	0	0.00
Iridium	18	10	4.66	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	34	50	18.86	nil	0	0	0.00
Core	2101	6	160.99	SciCon	2127	3	84.13
Fast	3	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	173	2	4.08
Compass	628	26	180.89
RAFOS	900	40	398.84
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
7.04	16386	-146.63	-6.94	0.00	1579.7	1613.2	1546.2	381.8	1882.4	0.00	0.00	0	92.08	59.26	0.00	0.58	0.005	0.000	0.005	3963.69	4043.69	3883.69	382.00	2319.25	0	0	0	25.57	30.00	25.57
92.42	21031	-146.63	-6.94	-80.00	3963.8	4044.1	3883.5	381.9	2319.4	1.80	-2.33	15	97.69	0.00	0.00	2.63	0.000	0.000	0.005	3963.06	4043.38	3882.75	381.44	287.62	0	0	0	30.00	30.00	25.57
257.25	21639	-146.63	-7.00	0.00	3963.9	4044.2	3883.6	381.6	287.4	17.02	-12.50	48	262.80	0.00	0.00	2.48	0.000	0.000	0.005	3963.69	4043.81	3883.56	381.62	2226.00	0	0	0	30.00	30.00	25.57
297.94	20871	-146.63	-7.07	80.00	3963.8	4044.2	3883.4	381.4	2225.9	21.71	-11.63	56	303.17	0.00	0.00	2.02	0.000	0.000	0.005	3963.41	4043.75	3883.06	381.69	3641.38	0	0	0	30.00	30.00	25.57
497.90	21511	-146.63	-7.07	0.00	3963.9	4043.9	3883.9	381.6	3640.6	47.77	-14.45	96	503.31	0.00	0.00	2.40	0.000	0.000	0.005	3962.69	4042.62	3882.75	381.31	1807.00	0	0	0	30.00	30.00	25.57
568.15	4485	-146.63	-7.04	80.00	3963.4	4043.8	3883.0	381.9	1806.8	58.46	-14.99	110	573.69	0.00	0.00	2.56	0.000	0.000	0.005	3963.41	4043.56	3883.25	381.56	3569.12	0	0	0	30.00	30.00	25.57
675.10	5125	-146.63	-7.04	0.00	3963.8	4044.2	3883.3	381.5	3569.4	73.38	-13.57	130	680.72	0.00	0.00	2.36	0.000	0.000	0.005	3963.66	4044.00	3883.31	381.56	1778.06	0	0	0	30.00	30.00	25.57
745.75	4613	-146.63	-7.04	-80.00	3963.8	4043.9	3883.6	381.2	1778.2	83.64	-15.83	144	751.42	0.00	0.00	1.88	0.000	0.000	0.005	3963.66	4043.88	3883.44	381.25	347.44	0	0	0	30.00	30.00	25.57
756.47	5125	-146.63	-7.04	0.00	3963.6	4043.8	3883.4	381.4	347.3	85.20	-15.50	146	762.09	0.00	0.00	2.49	0.000	0.000	0.005	3962.91	4042.69	3883.12	381.62	2286.62	0	0	0	30.00	30.00	25.57
827.04	4357	-146.63	-7.04	80.00	3964.1	4044.6	3883.5	381.7	2285.4	95.57	-14.01	160	832.36	0.00	0.00	1.85	0.000	0.000	0.005	3963.09	4043.25	3882.94	381.31	3765.81	0	0	0	30.00	30.00	25.57
992.57	5285	-146.63	-7.11	0.00	3963.3	4043.7	3882.9	381.6	3765.4	93.11	3.77	193	998.18	0.00	0.00	2.47	0.000	0.000	0.005	3962.91	4042.38	3883.44	381.81	1797.44	0	0	0	30.00	30.00	25.57
1063.21	4773	-146.63	-7.23	-80.00	3963.6	4044.1	3883.1	381.4	1797.6	90.40	3.80	207	1068.54	0.00	0.00	1.81	0.000	0.000	0.005	3963.56	4043.75	3883.38	381.56	329.81	0	0	0	30.00	30.00	25.57
1233.82	5285	-146.63	-7.47	0.00	3964.0	4044.3	3883.6	381.5	329.7	83.81	3.73	241	1239.60	0.00	0.00	2.58	0.000	0.000	0.005	3963.59	4043.81	3883.38	381.62	2234.50	0	0	0	30.00	30.00	25.57
1304.66	4517	-146.63	-7.77	80.00	3963.5	4043.9	3883.1	381.2	2234.6	78.99	9.54	255	1310.07	0.00	0.00	1.87	0.000	0.000	0.005	3963.22	4043.50	3882.94	381.69	3561.88	0	0	0	30.00	30.00	25.57
1355	end dive: HALF_MISSION_TIME_EXCEEDED
state	1355	begin apogee
1360.41	18435	0.00	-1.73	0.00	3963.4	4043.4	3883.4	381.8	1748.5	73.97	9.84	265	1372.40	0.00	4.30	0.66	0.000	0.005	0.005	3963.31	4043.62	3883.00	1556.12	2247.62	0	0	0	30.00	25.57	25.57
1373	end apogee: CONTROL_FINISHED_OK
state	1373	begin climb
1373.59	10759	146.63	6.94	-80.00	3963.5	4043.7	3883.3	1556.2	2247.8	72.52	0.00	267	1513.88	88.17	6.47	2.53	0.005	0.005	0.005	3392.16	3461.12	3323.19	3369.75	249.12	0	0	0	25.57	25.57	25.57
1518.97	11303	219.92	7.03	0.00	3392.2	3461.5	3322.9	3369.9	248.9	62.46	6.73	294	1592.41	47.79	0.00	2.51	0.005	0.000	0.005	3093.88	3158.00	3029.75	3369.88	2224.56	0	0	0	25.57	30.00	25.57
1657.70	2693	219.92	7.12	-80.00	3093.5	3157.3	3029.8	3370.2	2224.1	49.25	10.94	321	1663.69	0.00	0.00	2.53	0.000	0.000	0.005	3093.41	3157.06	3029.75	3370.38	366.06	0	0	0	30.00	30.00	25.57
1893.82	3077	219.92	7.12	0.00	3093.5	3157.2	3029.9	3370.1	366.1	23.78	13.73	368	1899.53	0.00	0.00	2.51	0.000	0.000	0.005	3093.62	3156.94	3030.31	3370.56	2365.94	0	0	0	30.00	30.00	25.57
1934.59	2565	219.92	7.12	-80.00	3093.4	3157.4	3029.5	3370.2	2366.0	17.82	14.81	376	1940.20	0.00	0.00	2.49	0.000	0.000	0.005	3093.41	3156.75	3030.06	3370.69	364.94	0	0	0	30.00	30.00	25.57
1970.03	3205	219.92	7.19	0.00	3093.6	3157.3	3029.9	3370.1	364.8	13.32	12.25	383	1975.65	0.00	0.00	2.32	0.000	0.000	0.005	3094.00	3157.75	3030.25	3369.94	2227.19	0	0	0	30.00	30.00	25.57
2010.87	10919	234.29	7.29	-80.00	3093.9	3157.5	3030.4	3370.2	2226.7	9.48	9.44	391	2026.98	5.08	0.00	2.46	0.005	0.000	0.005	3033.34	3095.31	2971.38	3369.75	229.19	0	0	0	25.57	30.00	25.57
2092	end climb: SURFACE_DEPTH_REACHED
state	2092	begin surface coast
2122	end surface coast: CONTROL_FINISHED_OK
state	2122	begin surface