Glider dive log

Shilshole 11May23 * SG001 * Dive index * Mission links * Dive 92 * 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 92 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 4308.1577 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 1874.574 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 2.6277347 FG_AHR_10V 2152.2773 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 21.949604 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 2152.2773 PHONE_DEVICE 16 SM_CC 566.45502

ALTIM_SENSITIVITY 2 FG_AHR_24V 21.949604 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 2.6277347 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 1874.574 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 4308.1577 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 92 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 161223,214618,4743.501,-12224.189,34,1.2,40,0.0 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 161223,214902,4743.514,-12224.165,16,1.9,23,0.0 MHEAD_RNG_PITCHd_Wd 240.0,20000,-19.3,-10.000,-20.84,2243,0.421

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 1702765215,120.5,0,stop _10V_AH 11.08,0.000

FINISH 0.0,1.030129 FG_AHR_24Vo 21.959

SURF forcing FG_AHR_10Vo 2153.216

SM_CCo 3235.15,74.31,0.005,0,1998.4,2040.6,1956.2,566.54 DEVICE_MAX_MAMPS 5.000,5.000,5.000,10.579,0.000,50.000,6.920,0.000,0.000,2.120,26.000,40.000,0.000,0.000,0.000

SM_GC -0.00,74.31,11.05,2.59,0.005,0.005,0.005,1998.4,2040.6,1956.2,407.7,2174.3,0,0,0,25.57,25.57,25.57 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 22580,600

XPDR_PINGS -1,-1.0,-1.0 CAP_FILE_SIZE 267950,0

SC_FREEKB 3879840 SDSIZE 3887104,3849824

RAFOS_CLK 0 SDFILEDIR 665,94

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 50.73 SOUNDSPEED 1488.4

TEMP 22.30 IMPLIED_C_PITCH 1943,2.95,411,1908.9,2.79

INTERNAL_PRESSURE 14.1124 IMPLIED_C_VBD 4301,84.630524,226,4304.8

_24V_AH 24.07,12.114 GPS 161223,224551,4743.259,-12223.930,35,1.8,40,0.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 286 5 34.47 legato 0 0 0.00

Pitch_motor 22 5 2.67 nil 0 0 0.00

Roll_motor 50 5 6.06 nil 0 0 0.00

Iridium 20 10 5.13 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 33 50 18.32 nil 0 0 0.00

Core 2992 6 229.42 SciCon 3111 3 122.95

Fast 4 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 268 2 6.31

Compass 912 26 262.99

RAFOS 1276 40 565.95

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

6.48 16386 -146.63 -7.54 0.00 1899.3 1939.1 1859.5 342.7 1797.9 0.00 0.00 0 81.09 51.21 0.00 0.62 0.005 0.000 0.005 3963.66 4043.69 3883.62 342.81 2119.88 0 0 0 25.57 30.00 25.57

81.44 21031 -146.63 -7.54 -80.00 3963.4 4044.0 3882.9 342.6 2119.8 1.73 -2.55 13 86.23 0.00 0.00 2.35 0.000 0.000 0.005 3963.72 4044.00 3883.44 342.56 373.62 0 0 0 30.00 30.00 25.57

196.55 21511 -146.63 -7.54 0.00 3963.5 4043.8 3883.2 342.9 373.6 12.16 -14.90 36 201.69 0.00 0.00 2.56 0.000 0.000 0.005 3963.44 4043.75 3883.12 342.62 2178.38 0 0 0 30.00 30.00 25.57

236.43 20871 -146.63 -7.59 80.00 3963.7 4043.8 3883.5 342.4 2178.6 16.55 -10.77 44 241.76 0.00 0.00 1.98 0.000 0.000 0.005 3962.91 4042.88 3882.94 342.75 3632.94 0 0 0 30.00 30.00 25.57

471.56 21511 -146.63 -7.59 0.00 3963.9 4044.2 3883.6 342.3 3632.9 45.34 -12.99 91 477.08 0.00 0.00 2.42 0.000 0.000 0.005 3963.44 4043.62 3883.25 342.62 1745.38 0 0 0 30.00 30.00 25.57

566.35 4485 -146.63 -7.64 80.00 3963.6 4043.9 3883.3 342.2 1745.4 51.12 -12.39 100 571.74 0.00 0.00 2.46 0.000 0.000 0.005 3962.59 4042.81 3882.38 342.69 3702.81 0 0 0 30.00 30.00 25.57

801.52 5125 -146.63 -7.64 0.00 3962.9 4043.4 3882.4 342.1 3702.4 85.77 -13.46 147 807.40 0.00 0.00 2.66 0.000 0.000 0.005 3962.47 4042.06 3882.88 342.62 1686.88 0 0 0 30.00 30.00 25.57

872.34 4357 -146.63 -7.64 80.00 3963.1 4043.5 3882.8 342.2 1687.3 94.11 -12.28 161 878.20 0.00 0.00 2.52 0.000 0.000 0.005 3963.31 4043.50 3883.12 342.19 3666.44 0 0 0 30.00 30.00 25.57

1108.18 5125 -146.63 -7.64 0.00 3963.5 4043.6 3883.4 342.4 3666.8 123.28 -12.01 208 1113.91 0.00 0.00 2.34 0.000 0.000 0.005 3963.97 4044.19 3883.75 342.19 1858.44 0 0 0 30.00 30.00 25.57

1238.91 4357 -146.63 -7.64 80.00 3963.4 4043.8 3883.1 342.4 1858.4 140.10 -12.28 234 1244.48 0.00 0.00 2.29 0.000 0.000 0.005 3962.22 4041.94 3882.50 342.19 3680.44 0 0 0 30.00 30.00 25.57

1359 end dive: TARGET_DEPTH_EXCEEDED

state 1360 begin apogee

1365.60 18435 0.00 -1.90 0.00 3963.5 4044.0 3883.1 342.2 1853.1 150.04 -6.02 258 1377.55 0.00 4.17 0.44 0.000 0.005 0.005 3963.47 4043.38 3883.56 1497.75 2190.81 0 0 0 30.00 25.57 25.57

1378 end apogee: CONTROL_FINISHED_OK

state 1378 begin climb

1378.74 10759 146.63 7.54 -80.00 3963.2 4043.6 3882.9 1497.3 2190.1 150.61 0.00 260 1455.96 40.35 6.98 2.46 0.005 0.005 0.005 3710.59 3786.06 3635.12 3421.19 354.12 0 0 0 25.57 25.57 25.57

1686.12 3077 146.63 7.54 0.00 3710.9 3786.2 3635.6 3421.3 354.1 131.86 10.76 320 1692.06 0.00 0.00 2.36 0.000 0.000 0.005 3710.72 3785.88 3635.56 3421.06 2181.94 0 0 0 30.00 30.00 25.57

1813.90 2565 146.63 7.54 -80.00 3710.8 3786.1 3635.6 3420.9 2181.8 117.40 11.51 344 1819.63 0.00 0.00 2.52 0.000 0.000 0.005 3710.62 3785.62 3635.62 3421.12 294.38 0 0 0 30.00 30.00 25.57

2049.67 11303 166.77 7.56 0.00 3711.0 3786.4 3635.6 3421.2 294.6 93.25 9.08 391 2076.21 15.12 0.00 2.60 0.005 0.000 0.005 3628.41 3702.44 3554.38 3421.25 2235.06 0 0 0 25.57 30.00 25.57

2141.30 10791 203.04 7.61 -80.00 3627.9 3701.8 3554.0 3421.2 2235.0 85.44 8.35 409 2183.38 24.95 0.00 2.64 0.005 0.000 0.005 3480.34 3551.38 3409.31 3421.31 304.69 0 0 0 25.57 30.00 25.57

2413.57 11303 225.74 7.64 0.00 3480.4 3551.5 3409.2 3421.6 305.0 60.07 8.96 463 2445.42 16.82 0.00 2.58 0.005 0.000 0.005 3388.91 3458.56 3319.25 3421.50 2079.31 0 0 0 25.57 30.00 25.57

2510.21 2565 225.74 7.64 -80.00 3388.6 3458.1 3319.1 3421.4 2079.5 50.95 10.12 482 2516.01 0.00 0.00 2.21 0.000 0.000 0.005 3388.91 3457.94 3319.88 3421.44 288.69 0 0 0 30.00 30.00 25.57

2746.03 11431 258.58 7.72 0.00 3388.9 3458.0 3319.8 3421.3 289.2 29.37 8.50 529 2782.94 22.86 0.00 2.56 0.005 0.000 0.005 3254.84 3321.44 3188.25 3421.19 2264.94 0 0 0 25.57 30.00 25.57

2817.73 10919 321.13 7.89 -80.00 3254.6 3321.4 3187.8 3421.8 2265.1 24.22 7.15 543 2880.65 40.75 0.00 2.33 0.005 0.000 0.005 2999.69 3061.19 2938.19 3422.00 358.62 0 0 0 25.57 30.00 25.57

3090 end climb: SURFACE_DEPTH_REACHED

state 3090 begin surface coast

3105 end surface coast: CONTROL_FINISHED_OK

state 3105 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	92	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	4308.1577	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	1874.574	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	2.6277347	FG_AHR_10V	2152.2773	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	21.949604	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	161223,214618,4743.501,-12224.189,34,1.2,40,0.0	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	161223,214902,4743.514,-12224.165,16,1.9,23,0.0	MHEAD_RNG_PITCHd_Wd	240.0,20000,-19.3,-10.000,-20.84,2243,0.421
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	1702765215,120.5,0,stop	_10V_AH	11.08,0.000
FINISH	0.0,1.030129	FG_AHR_24Vo	21.959
SURF	forcing	FG_AHR_10Vo	2153.216
SM_CCo	3235.15,74.31,0.005,0,1998.4,2040.6,1956.2,566.54	DEVICE_MAX_MAMPS	5.000,5.000,5.000,10.579,0.000,50.000,6.920,0.000,0.000,2.120,26.000,40.000,0.000,0.000,0.000
SM_GC	-0.00,74.31,11.05,2.59,0.005,0.005,0.005,1998.4,2040.6,1956.2,407.7,2174.3,0,0,0,25.57,25.57,25.57	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	22580,600
XPDR_PINGS	-1,-1.0,-1.0	CAP_FILE_SIZE	267950,0
SC_FREEKB	3879840	SDSIZE	3887104,3849824
RAFOS_CLK	0	SDFILEDIR	665,94
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	50.73	SOUNDSPEED	1488.4
TEMP	22.30	IMPLIED_C_PITCH	1943,2.95,411,1908.9,2.79
INTERNAL_PRESSURE	14.1124	IMPLIED_C_VBD	4301,84.630524,226,4304.8
_24V_AH	24.07,12.114	GPS	161223,224551,4743.259,-12223.930,35,1.8,40,0.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	286	5	34.47	legato	0	0	0.00
Pitch_motor	22	5	2.67	nil	0	0	0.00
Roll_motor	50	5	6.06	nil	0	0	0.00
Iridium	20	10	5.13	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	33	50	18.32	nil	0	0	0.00
Core	2992	6	229.42	SciCon	3111	3	122.95
Fast	4	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	268	2	6.31
Compass	912	26	262.99
RAFOS	1276	40	565.95
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
6.48	16386	-146.63	-7.54	0.00	1899.3	1939.1	1859.5	342.7	1797.9	0.00	0.00	0	81.09	51.21	0.00	0.62	0.005	0.000	0.005	3963.66	4043.69	3883.62	342.81	2119.88	0	0	0	25.57	30.00	25.57
81.44	21031	-146.63	-7.54	-80.00	3963.4	4044.0	3882.9	342.6	2119.8	1.73	-2.55	13	86.23	0.00	0.00	2.35	0.000	0.000	0.005	3963.72	4044.00	3883.44	342.56	373.62	0	0	0	30.00	30.00	25.57
196.55	21511	-146.63	-7.54	0.00	3963.5	4043.8	3883.2	342.9	373.6	12.16	-14.90	36	201.69	0.00	0.00	2.56	0.000	0.000	0.005	3963.44	4043.75	3883.12	342.62	2178.38	0	0	0	30.00	30.00	25.57
236.43	20871	-146.63	-7.59	80.00	3963.7	4043.8	3883.5	342.4	2178.6	16.55	-10.77	44	241.76	0.00	0.00	1.98	0.000	0.000	0.005	3962.91	4042.88	3882.94	342.75	3632.94	0	0	0	30.00	30.00	25.57
471.56	21511	-146.63	-7.59	0.00	3963.9	4044.2	3883.6	342.3	3632.9	45.34	-12.99	91	477.08	0.00	0.00	2.42	0.000	0.000	0.005	3963.44	4043.62	3883.25	342.62	1745.38	0	0	0	30.00	30.00	25.57
566.35	4485	-146.63	-7.64	80.00	3963.6	4043.9	3883.3	342.2	1745.4	51.12	-12.39	100	571.74	0.00	0.00	2.46	0.000	0.000	0.005	3962.59	4042.81	3882.38	342.69	3702.81	0	0	0	30.00	30.00	25.57
801.52	5125	-146.63	-7.64	0.00	3962.9	4043.4	3882.4	342.1	3702.4	85.77	-13.46	147	807.40	0.00	0.00	2.66	0.000	0.000	0.005	3962.47	4042.06	3882.88	342.62	1686.88	0	0	0	30.00	30.00	25.57
872.34	4357	-146.63	-7.64	80.00	3963.1	4043.5	3882.8	342.2	1687.3	94.11	-12.28	161	878.20	0.00	0.00	2.52	0.000	0.000	0.005	3963.31	4043.50	3883.12	342.19	3666.44	0	0	0	30.00	30.00	25.57
1108.18	5125	-146.63	-7.64	0.00	3963.5	4043.6	3883.4	342.4	3666.8	123.28	-12.01	208	1113.91	0.00	0.00	2.34	0.000	0.000	0.005	3963.97	4044.19	3883.75	342.19	1858.44	0	0	0	30.00	30.00	25.57
1238.91	4357	-146.63	-7.64	80.00	3963.4	4043.8	3883.1	342.4	1858.4	140.10	-12.28	234	1244.48	0.00	0.00	2.29	0.000	0.000	0.005	3962.22	4041.94	3882.50	342.19	3680.44	0	0	0	30.00	30.00	25.57
1359	end dive: TARGET_DEPTH_EXCEEDED
state	1360	begin apogee
1365.60	18435	0.00	-1.90	0.00	3963.5	4044.0	3883.1	342.2	1853.1	150.04	-6.02	258	1377.55	0.00	4.17	0.44	0.000	0.005	0.005	3963.47	4043.38	3883.56	1497.75	2190.81	0	0	0	30.00	25.57	25.57
1378	end apogee: CONTROL_FINISHED_OK
state	1378	begin climb
1378.74	10759	146.63	7.54	-80.00	3963.2	4043.6	3882.9	1497.3	2190.1	150.61	0.00	260	1455.96	40.35	6.98	2.46	0.005	0.005	0.005	3710.59	3786.06	3635.12	3421.19	354.12	0	0	0	25.57	25.57	25.57
1686.12	3077	146.63	7.54	0.00	3710.9	3786.2	3635.6	3421.3	354.1	131.86	10.76	320	1692.06	0.00	0.00	2.36	0.000	0.000	0.005	3710.72	3785.88	3635.56	3421.06	2181.94	0	0	0	30.00	30.00	25.57
1813.90	2565	146.63	7.54	-80.00	3710.8	3786.1	3635.6	3420.9	2181.8	117.40	11.51	344	1819.63	0.00	0.00	2.52	0.000	0.000	0.005	3710.62	3785.62	3635.62	3421.12	294.38	0	0	0	30.00	30.00	25.57
2049.67	11303	166.77	7.56	0.00	3711.0	3786.4	3635.6	3421.2	294.6	93.25	9.08	391	2076.21	15.12	0.00	2.60	0.005	0.000	0.005	3628.41	3702.44	3554.38	3421.25	2235.06	0	0	0	25.57	30.00	25.57
2141.30	10791	203.04	7.61	-80.00	3627.9	3701.8	3554.0	3421.2	2235.0	85.44	8.35	409	2183.38	24.95	0.00	2.64	0.005	0.000	0.005	3480.34	3551.38	3409.31	3421.31	304.69	0	0	0	25.57	30.00	25.57
2413.57	11303	225.74	7.64	0.00	3480.4	3551.5	3409.2	3421.6	305.0	60.07	8.96	463	2445.42	16.82	0.00	2.58	0.005	0.000	0.005	3388.91	3458.56	3319.25	3421.50	2079.31	0	0	0	25.57	30.00	25.57
2510.21	2565	225.74	7.64	-80.00	3388.6	3458.1	3319.1	3421.4	2079.5	50.95	10.12	482	2516.01	0.00	0.00	2.21	0.000	0.000	0.005	3388.91	3457.94	3319.88	3421.44	288.69	0	0	0	30.00	30.00	25.57
2746.03	11431	258.58	7.72	0.00	3388.9	3458.0	3319.8	3421.3	289.2	29.37	8.50	529	2782.94	22.86	0.00	2.56	0.005	0.000	0.005	3254.84	3321.44	3188.25	3421.19	2264.94	0	0	0	25.57	30.00	25.57
2817.73	10919	321.13	7.89	-80.00	3254.6	3321.4	3187.8	3421.8	2265.1	24.22	7.15	543	2880.65	40.75	0.00	2.33	0.005	0.000	0.005	2999.69	3061.19	2938.19	3422.00	358.62	0	0	0	25.57	30.00	25.57
3090	end climb: SURFACE_DEPTH_REACHED
state	3090	begin surface coast
3105	end surface coast: CONTROL_FINISHED_OK
state	3105	begin surface