Glider dive log

Shilshole 11May23 * SG001 * Dive index * Mission links * Dive 87 * 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 87 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 4101.8418 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 1877.802 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 2.595068 FG_AHR_10V 2148.3264 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 21.90885 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 2148.3264 PHONE_DEVICE 16 SM_CC 566.45502

ALTIM_SENSITIVITY 2 FG_AHR_24V 21.90885 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 2.595068 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 1877.802 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 4101.8418 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 87 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 161223,175735,4743.501,-12224.189,9,1.8,18,0.0 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 161223,175906,4743.514,-12224.165,11,1.8,18,0.0 MHEAD_RNG_PITCHd_Wd 240.0,20000,-19.3,-10.000,-20.84,2243,0.449

SPEED_LIMITS 0.173,0.263 D_GRID 173

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 4738.115,-12238.044 OSC 8000225

Post-dive calculations and measurements:

NAV 1702750816,133.3,0,stop _10V_AH 11.08,0.000

FINISH 1.0,1.021916 FG_AHR_24Vo 21.919

SURF forcing FG_AHR_10Vo 2149.266

SM_CCo 3237.78,79.04,0.005,0,1791.3,1829.8,1752.9,566.56 DEVICE_MAX_MAMPS 5.000,5.000,5.000,10.555,0.000,50.000,6.920,0.000,0.000,2.120,26.000,40.000,0.000,0.000,0.000

SM_GC 0.02,79.04,10.93,2.50,0.005,0.005,0.005,1791.3,1829.8,1752.9,348.6,2238.6,0,0,0,25.57,25.57,25.57 MEM0 58972,1,0,0

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

IRIDIUM_FIX 0.00,0.00,, MEM2 991668,23,54160,114

TCM_TEMP 15.00 DATA_FILE_SIZE 22552,599

XPDR_PINGS -1,-1.0,-1.0 CAP_FILE_SIZE 269291,0

SC_FREEKB 3881440 SDSIZE 3887104,3851104

RAFOS_CLK 0 SDFILEDIR 635,89

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 50.87 SOUNDSPEED 1488.4

TEMP 22.11 IMPLIED_C_PITCH 1891,3.06,415,1884.5,2.83

INTERNAL_PRESSURE 14.133 IMPLIED_C_VBD 4114,66.082008,226,4108.2

_24V_AH 24.07,11.928 GPS 161223,185538,4743.259,-12223.930,11,1.7,20,0.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 311 5 37.47 legato 0 0 0.00

Pitch_motor 22 5 2.66 nil 0 0 0.00

Roll_motor 50 5 6.03 nil 0 0 0.00

Iridium 21 10 5.51 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 28 50 15.59 nil 0 0 0.00

Core 2986 6 228.97 SciCon 3106 3 123.34

Fast 4 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 270 2 6.35

Compass 912 26 263.01

RAFOS 1170 40 518.80

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 -7.63 0.00 1791.9 1829.9 1754.0 345.1 1821.0 0.00 0.00 0 85.37 54.51 0.00 0.61 0.005 0.000 0.005 3963.56 4043.88 3883.25 345.12 2302.25 0 0 0 25.57 30.00 25.57

85.71 21031 -146.63 -7.63 -80.00 3963.4 4043.8 3883.0 345.0 2301.9 1.78 -1.89 4 90.70 0.00 0.00 2.49 0.000 0.000 0.005 3963.97 4044.44 3883.50 345.06 390.62 0 0 0 30.00 30.00 25.57

195.73 21511 -146.63 -7.63 0.00 3963.6 4043.9 3883.4 344.8 390.9 12.04 -15.13 26 200.69 0.00 0.00 2.29 0.000 0.000 0.005 3963.41 4043.81 3883.00 344.81 2212.19 0 0 0 30.00 30.00 25.57

235.55 20871 -146.63 -7.68 80.00 3963.6 4044.3 3882.8 344.7 2212.0 16.44 -10.96 34 240.73 0.00 0.00 1.84 0.000 0.000 0.005 3963.94 4044.06 3883.81 345.00 3750.31 0 0 0 30.00 30.00 25.57

471.08 21511 -146.63 -7.68 0.00 3963.8 4044.4 3883.2 345.1 3749.9 45.25 -13.22 81 476.55 0.00 0.00 2.59 0.000 0.000 0.005 3963.59 4044.06 3883.12 344.62 1881.50 0 0 0 30.00 30.00 25.57

541.56 4357 -146.63 -7.68 80.00 3963.3 4043.7 3882.9 344.7 1881.1 53.84 -11.40 95 547.15 0.00 0.00 2.26 0.000 0.000 0.005 3963.59 4043.62 3883.56 344.88 3653.25 0 0 0 30.00 30.00 25.57

777.36 5125 -146.63 -7.68 0.00 3963.7 4044.0 3883.4 344.7 3652.4 82.52 -14.90 142 783.05 0.00 0.00 2.37 0.000 0.000 0.005 3963.31 4043.12 3883.50 344.75 1844.50 0 0 0 30.00 30.00 25.57

847.95 4357 -146.63 -7.68 80.00 3963.4 4043.5 3883.2 344.7 1843.9 91.15 -11.47 156 853.49 0.00 0.00 2.40 0.000 0.000 0.005 3963.41 4043.69 3883.12 344.81 3585.75 0 0 0 30.00 30.00 25.57

1083.33 5125 -146.63 -7.68 0.00 3963.5 4043.6 3883.3 344.9 3585.7 120.11 -11.50 203 1089.16 0.00 0.00 2.29 0.000 0.000 0.005 3963.59 4043.75 3883.44 344.94 1802.50 0 0 0 30.00 30.00 25.57

1211.06 4485 -146.63 -7.72 80.00 3963.8 4044.4 3883.2 344.7 1802.7 136.67 -12.70 227 1216.77 0.00 0.00 2.50 0.000 0.000 0.005 3963.62 4044.06 3883.19 344.88 3546.75 0 0 0 30.00 30.00 25.57

1362 end dive: TARGET_DEPTH_EXCEEDED

state 1362 begin apogee

1367.36 18435 0.00 -1.93 0.00 3963.6 4043.8 3883.4 344.4 1777.1 150.17 -5.77 257 1379.46 0.00 4.24 0.61 0.000 0.005 0.005 3963.69 4043.62 3883.75 1494.06 2105.50 0 0 0 30.00 25.57 25.57

1380 end apogee: CONTROL_FINISHED_OK

state 1380 begin climb

1380.65 10759 146.63 7.63 -80.00 3963.2 4043.7 3882.7 1493.7 2105.2 150.53 0.00 259 1499.85 71.42 6.92 2.42 0.005 0.005 0.005 3501.91 3572.56 3431.25 3371.38 333.38 0 0 0 25.57 25.57 25.57

1729.69 3077 146.63 7.63 0.00 3503.2 3574.2 3432.1 3370.3 333.3 126.87 11.29 327 1735.62 0.00 0.00 2.47 0.000 0.000 0.005 3502.91 3574.31 3431.50 3370.81 2284.25 0 0 0 30.00 30.00 25.57

1860.71 2565 146.63 7.63 -80.00 3502.3 3573.8 3430.9 3370.6 2284.3 112.50 10.34 353 1866.52 0.00 0.00 2.59 0.000 0.000 0.005 3502.09 3572.94 3431.25 3371.00 339.12 0 0 0 30.00 30.00 25.57

2096.33 11303 174.83 7.67 0.00 3503.1 3574.2 3432.0 3369.9 339.0 89.20 8.71 400 2132.98 20.00 0.00 2.54 0.005 0.000 0.005 3388.47 3457.38 3319.56 3370.94 2037.81 0 0 0 25.57 30.00 25.57

2197.81 10791 183.79 7.68 -80.00 3388.3 3457.2 3319.3 3370.6 2037.9 80.25 9.59 420 2218.98 8.43 0.00 2.45 0.005 0.000 0.005 3351.97 3420.62 3283.31 3370.44 256.81 0 0 0 25.57 30.00 25.57

2449.12 11431 205.64 7.77 0.00 3352.2 3420.6 3283.8 3370.5 256.9 56.80 9.00 470 2481.15 16.36 0.00 2.56 0.005 0.000 0.005 3263.69 3330.69 3196.69 3370.69 2211.38 0 0 0 25.57 30.00 25.57

2545.98 2565 205.64 7.77 -80.00 3263.9 3330.8 3197.0 3370.8 2211.3 47.12 10.61 489 2551.91 0.00 0.00 2.61 0.000 0.000 0.005 3263.91 3330.75 3197.06 3370.81 258.38 0 0 0 30.00 30.00 25.57

2782.13 11431 256.41 7.94 0.00 3263.9 3330.6 3197.2 3370.5 258.6 26.79 7.68 536 2834.71 33.99 0.00 2.56 0.005 0.000 0.005 3056.59 3120.00 2993.19 3370.69 2050.56 0 0 0 25.57 30.00 25.57

2869.68 10919 306.21 8.05 -80.00 3057.0 3120.0 2994.0 3370.8 2050.6 20.14 7.73 553 2916.42 27.60 0.00 2.41 0.005 0.000 0.005 2852.44 2911.56 2793.31 3370.50 246.56 0 0 0 25.57 30.00 25.57

3091 end climb: SURFACE_DEPTH_REACHED

state 3091 begin surface coast

3101 end surface coast: CONTROL_FINISHED_OK

state 3101 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	87	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	4101.8418	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	1877.802	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	2.595068	FG_AHR_10V	2148.3264	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	21.90885	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	161223,175735,4743.501,-12224.189,9,1.8,18,0.0	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	161223,175906,4743.514,-12224.165,11,1.8,18,0.0	MHEAD_RNG_PITCHd_Wd	240.0,20000,-19.3,-10.000,-20.84,2243,0.449
SPEED_LIMITS	0.173,0.263	D_GRID	173
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	4738.115,-12238.044	OSC	8000225

NAV	1702750816,133.3,0,stop	_10V_AH	11.08,0.000
FINISH	1.0,1.021916	FG_AHR_24Vo	21.919
SURF	forcing	FG_AHR_10Vo	2149.266
SM_CCo	3237.78,79.04,0.005,0,1791.3,1829.8,1752.9,566.56	DEVICE_MAX_MAMPS	5.000,5.000,5.000,10.555,0.000,50.000,6.920,0.000,0.000,2.120,26.000,40.000,0.000,0.000,0.000
SM_GC	0.02,79.04,10.93,2.50,0.005,0.005,0.005,1791.3,1829.8,1752.9,348.6,2238.6,0,0,0,25.57,25.57,25.57	MEM0	58972,1,0,0
SUPER	27,70,255,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	0.00,0.00,,	MEM2	991668,23,54160,114
TCM_TEMP	15.00	DATA_FILE_SIZE	22552,599
XPDR_PINGS	-1,-1.0,-1.0	CAP_FILE_SIZE	269291,0
SC_FREEKB	3881440	SDSIZE	3887104,3851104
RAFOS_CLK	0	SDFILEDIR	635,89
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	50.87	SOUNDSPEED	1488.4
TEMP	22.11	IMPLIED_C_PITCH	1891,3.06,415,1884.5,2.83
INTERNAL_PRESSURE	14.133	IMPLIED_C_VBD	4114,66.082008,226,4108.2
_24V_AH	24.07,11.928	GPS	161223,185538,4743.259,-12223.930,11,1.7,20,0.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	311	5	37.47	legato	0	0	0.00
Pitch_motor	22	5	2.66	nil	0	0	0.00
Roll_motor	50	5	6.03	nil	0	0	0.00
Iridium	21	10	5.51	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	28	50	15.59	nil	0	0	0.00
Core	2986	6	228.97	SciCon	3106	3	123.34
Fast	4	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	270	2	6.35
Compass	912	26	263.01
RAFOS	1170	40	518.80
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	-7.63	0.00	1791.9	1829.9	1754.0	345.1	1821.0	0.00	0.00	0	85.37	54.51	0.00	0.61	0.005	0.000	0.005	3963.56	4043.88	3883.25	345.12	2302.25	0	0	0	25.57	30.00	25.57
85.71	21031	-146.63	-7.63	-80.00	3963.4	4043.8	3883.0	345.0	2301.9	1.78	-1.89	4	90.70	0.00	0.00	2.49	0.000	0.000	0.005	3963.97	4044.44	3883.50	345.06	390.62	0	0	0	30.00	30.00	25.57
195.73	21511	-146.63	-7.63	0.00	3963.6	4043.9	3883.4	344.8	390.9	12.04	-15.13	26	200.69	0.00	0.00	2.29	0.000	0.000	0.005	3963.41	4043.81	3883.00	344.81	2212.19	0	0	0	30.00	30.00	25.57
235.55	20871	-146.63	-7.68	80.00	3963.6	4044.3	3882.8	344.7	2212.0	16.44	-10.96	34	240.73	0.00	0.00	1.84	0.000	0.000	0.005	3963.94	4044.06	3883.81	345.00	3750.31	0	0	0	30.00	30.00	25.57
471.08	21511	-146.63	-7.68	0.00	3963.8	4044.4	3883.2	345.1	3749.9	45.25	-13.22	81	476.55	0.00	0.00	2.59	0.000	0.000	0.005	3963.59	4044.06	3883.12	344.62	1881.50	0	0	0	30.00	30.00	25.57
541.56	4357	-146.63	-7.68	80.00	3963.3	4043.7	3882.9	344.7	1881.1	53.84	-11.40	95	547.15	0.00	0.00	2.26	0.000	0.000	0.005	3963.59	4043.62	3883.56	344.88	3653.25	0	0	0	30.00	30.00	25.57
777.36	5125	-146.63	-7.68	0.00	3963.7	4044.0	3883.4	344.7	3652.4	82.52	-14.90	142	783.05	0.00	0.00	2.37	0.000	0.000	0.005	3963.31	4043.12	3883.50	344.75	1844.50	0	0	0	30.00	30.00	25.57
847.95	4357	-146.63	-7.68	80.00	3963.4	4043.5	3883.2	344.7	1843.9	91.15	-11.47	156	853.49	0.00	0.00	2.40	0.000	0.000	0.005	3963.41	4043.69	3883.12	344.81	3585.75	0	0	0	30.00	30.00	25.57
1083.33	5125	-146.63	-7.68	0.00	3963.5	4043.6	3883.3	344.9	3585.7	120.11	-11.50	203	1089.16	0.00	0.00	2.29	0.000	0.000	0.005	3963.59	4043.75	3883.44	344.94	1802.50	0	0	0	30.00	30.00	25.57
1211.06	4485	-146.63	-7.72	80.00	3963.8	4044.4	3883.2	344.7	1802.7	136.67	-12.70	227	1216.77	0.00	0.00	2.50	0.000	0.000	0.005	3963.62	4044.06	3883.19	344.88	3546.75	0	0	0	30.00	30.00	25.57
1362	end dive: TARGET_DEPTH_EXCEEDED
state	1362	begin apogee
1367.36	18435	0.00	-1.93	0.00	3963.6	4043.8	3883.4	344.4	1777.1	150.17	-5.77	257	1379.46	0.00	4.24	0.61	0.000	0.005	0.005	3963.69	4043.62	3883.75	1494.06	2105.50	0	0	0	30.00	25.57	25.57
1380	end apogee: CONTROL_FINISHED_OK
state	1380	begin climb
1380.65	10759	146.63	7.63	-80.00	3963.2	4043.7	3882.7	1493.7	2105.2	150.53	0.00	259	1499.85	71.42	6.92	2.42	0.005	0.005	0.005	3501.91	3572.56	3431.25	3371.38	333.38	0	0	0	25.57	25.57	25.57
1729.69	3077	146.63	7.63	0.00	3503.2	3574.2	3432.1	3370.3	333.3	126.87	11.29	327	1735.62	0.00	0.00	2.47	0.000	0.000	0.005	3502.91	3574.31	3431.50	3370.81	2284.25	0	0	0	30.00	30.00	25.57
1860.71	2565	146.63	7.63	-80.00	3502.3	3573.8	3430.9	3370.6	2284.3	112.50	10.34	353	1866.52	0.00	0.00	2.59	0.000	0.000	0.005	3502.09	3572.94	3431.25	3371.00	339.12	0	0	0	30.00	30.00	25.57
2096.33	11303	174.83	7.67	0.00	3503.1	3574.2	3432.0	3369.9	339.0	89.20	8.71	400	2132.98	20.00	0.00	2.54	0.005	0.000	0.005	3388.47	3457.38	3319.56	3370.94	2037.81	0	0	0	25.57	30.00	25.57
2197.81	10791	183.79	7.68	-80.00	3388.3	3457.2	3319.3	3370.6	2037.9	80.25	9.59	420	2218.98	8.43	0.00	2.45	0.005	0.000	0.005	3351.97	3420.62	3283.31	3370.44	256.81	0	0	0	25.57	30.00	25.57
2449.12	11431	205.64	7.77	0.00	3352.2	3420.6	3283.8	3370.5	256.9	56.80	9.00	470	2481.15	16.36	0.00	2.56	0.005	0.000	0.005	3263.69	3330.69	3196.69	3370.69	2211.38	0	0	0	25.57	30.00	25.57
2545.98	2565	205.64	7.77	-80.00	3263.9	3330.8	3197.0	3370.8	2211.3	47.12	10.61	489	2551.91	0.00	0.00	2.61	0.000	0.000	0.005	3263.91	3330.75	3197.06	3370.81	258.38	0	0	0	30.00	30.00	25.57
2782.13	11431	256.41	7.94	0.00	3263.9	3330.6	3197.2	3370.5	258.6	26.79	7.68	536	2834.71	33.99	0.00	2.56	0.005	0.000	0.005	3056.59	3120.00	2993.19	3370.69	2050.56	0	0	0	25.57	30.00	25.57
2869.68	10919	306.21	8.05	-80.00	3057.0	3120.0	2994.0	3370.8	2050.6	20.14	7.73	553	2916.42	27.60	0.00	2.41	0.005	0.000	0.005	2852.44	2911.56	2793.31	3370.50	246.56	0	0	0	25.57	30.00	25.57
3091	end climb: SURFACE_DEPTH_REACHED
state	3091	begin surface coast
3101	end surface coast: CONTROL_FINISHED_OK
state	3101	begin surface