Glider dive log

Shilshole 11May23 * SG001 * Dive index * Mission links * Dive 166 * 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 166 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 4393.7959 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 1788.6104 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 2.3934379 FG_AHR_10V 2210.4028 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 22.548653 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 2210.4028 PHONE_DEVICE 16 SM_CC 566.45502

ALTIM_SENSITIVITY 2 FG_AHR_24V 22.548653 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 2.3934379 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 1788.6104 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 4393.7959 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 166 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 191223,060905,4743.110,-12224.296,16,1.7,23,0.0 TGT_RADIUS 0.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.03 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 191223,061201,4743.114,-12224.294,23,2.0,31,0.0 MHEAD_RNG_PITCHd_Wd 240.0,20000,-19.3,-10.000,-20.84,2243,0.412

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 8000225

Post-dive calculations and measurements:

NAV 1702966813,32.7,0,stop _10V_AH 11.07,0.000

FINISH 0.1,1.022036 FG_AHR_24Vo 22.558

SURF forcing FG_AHR_10Vo 2211.282

SM_CCo 3027.70,104.73,0.005,0,2084.3,2128.7,2039.9,566.33 DEVICE_MAX_MAMPS 5.000,5.000,5.000,10.523,0.000,50.000,6.920,0.000,0.000,2.120,26.000,40.000,0.000,0.000,0.000

SM_GC 0.02,104.73,10.91,2.62,0.005,0.005,0.005,2084.3,2128.7,2039.9,345.9,2129.2,0,0,0,25.57,25.57,25.57 MEM0 58972,1,0,0

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

IRIDIUM_FIX 0.00,0.00,, MEM2 991592,27,54156,114

TCM_TEMP 15.00 DATA_FILE_SIZE 19433,560

XPDR_PINGS -1,-1.0,-1.0 CAP_FILE_SIZE 255688,0

SC_FREEKB 3856160 SDSIZE 3887104,3830944

RAFOS_CLK 0 SDFILEDIR 1109,168

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 50.61 SOUNDSPEED 1488.2

TEMP 22.18 IMPLIED_C_PITCH 1947,2.86,391,1868.0,2.63

INTERNAL_PRESSURE 13.8165 IMPLIED_C_VBD 4567,195.387070,228,4480.3

_24V_AH 24.11,14.799 GPS 191223,070502,4743.501,-12224.189,13,2.0,18,0.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 231 5 27.90 legato 0 0 0.00

Pitch_motor 21 5 2.65 nil 0 0 0.00

Roll_motor 54 5 6.60 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 41 50 22.70 nil 0 0 0.00

Core 2761 6 211.54 SciCon 2862 2 94.83

Fast 7 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 264 2 6.20

Compass 851 26 245.11

RAFOS 664 40 294.32

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 -8.26 0.00 2184.0 2230.0 2138.0 357.6 1846.0 0.00 0.00 0 71.22 44.35 0.00 0.46 0.005 0.000 0.005 3963.47 4043.56 3883.38 358.06 2204.31 0 0 0 25.57 30.00 25.57

71.57 21031 -146.63 -8.26 -80.00 3963.7 4044.0 3883.4 357.8 2204.1 1.58 -2.65 11 76.36 0.00 0.00 2.37 0.000 0.000 0.005 3963.94 4044.12 3883.75 358.06 401.38 0 0 0 30.00 30.00 25.57

251.78 21639 -146.63 -8.32 0.00 3963.8 4044.1 3883.5 357.8 401.8 16.50 -11.36 47 257.20 0.00 0.00 2.46 0.000 0.000 0.005 3963.56 4043.44 3883.69 357.75 2313.50 0 0 0 30.00 30.00 25.57

291.79 20871 -146.63 -8.39 80.00 3963.9 4044.2 3883.7 357.9 2312.7 20.85 -10.65 55 296.88 0.00 0.00 1.80 0.000 0.000 0.005 3963.16 4043.38 3882.94 357.69 3783.38 0 0 0 30.00 30.00 25.57

523.54 21511 -146.63 -8.39 0.00 3963.4 4043.7 3883.1 357.8 3782.9 48.06 -13.83 100 529.18 0.00 0.00 2.61 0.000 0.000 0.005 3963.75 4043.94 3883.56 357.62 1820.75 0 0 0 30.00 30.00 25.57

593.79 4357 -146.63 -8.39 80.00 3963.7 4044.1 3883.2 357.8 1820.7 59.05 -17.60 114 599.76 0.00 0.00 2.62 0.000 0.000 0.005 3963.78 4044.06 3883.50 357.81 3609.56 0 0 0 30.00 30.00 25.57

669.62 5253 -146.63 -8.43 0.00 3963.4 4044.0 3882.9 357.5 3609.6 70.59 -14.44 129 675.17 0.00 0.00 2.27 0.000 0.000 0.005 3963.34 4043.50 3883.19 357.56 1959.81 0 0 0 30.00 30.00 25.57

740.27 4357 -146.63 -8.43 80.00 3963.6 4044.1 3883.0 357.9 1959.5 79.96 -13.09 143 746.11 0.00 0.00 2.29 0.000 0.000 0.005 3963.62 4043.62 3883.62 357.94 3759.88 0 0 0 30.00 30.00 25.57

896.15 5125 -146.63 -8.43 0.00 3963.5 4043.8 3883.2 357.8 3759.6 98.29 -12.21 174 901.76 0.00 0.00 2.45 0.000 0.000 0.005 3963.56 4043.31 3883.81 358.00 1804.94 0 0 0 30.00 30.00 25.57

966.97 4357 -146.63 -8.43 80.00 3964.0 4044.5 3883.4 357.7 1805.0 107.86 -13.56 188 972.89 0.00 0.00 2.47 0.000 0.000 0.005 3963.50 4043.81 3883.19 357.75 3759.00 0 0 0 30.00 30.00 25.57

1202.82 5125 -146.63 -8.43 0.00 3963.4 4043.6 3883.2 357.6 3758.5 138.28 -14.22 235 1208.74 0.00 0.00 2.43 0.000 0.000 0.005 3963.16 4043.12 3883.19 357.50 1812.75 0 0 0 30.00 30.00 25.57

1333.66 4517 -146.63 -8.45 80.00 3963.8 4043.8 3883.8 357.8 1813.1 149.17 -4.90 261 1339.53 0.00 0.00 2.46 0.000 0.000 0.005 3963.19 4043.69 3882.69 357.62 3809.00 0 0 0 30.00 30.00 25.57

1385 end dive: TARGET_DEPTH_EXCEEDED

state 1385 begin apogee

1390.75 18435 0.00 -2.09 0.00 3963.5 4043.9 3883.1 358.0 1833.5 150.18 -3.30 271 1402.79 0.00 3.63 0.64 0.000 0.005 0.005 3963.22 4043.56 3882.88 1373.25 2161.06 0 0 0 30.00 25.57 25.57

1403 end apogee: CONTROL_FINISHED_OK

state 1403 begin climb

1403.98 10759 146.63 8.26 -80.00 3963.3 4043.7 3883.0 1373.3 2161.2 150.37 0.00 273 1461.11 27.88 7.41 2.15 0.005 0.005 0.005 3796.06 3873.12 3719.00 3374.62 384.44 0 0 0 25.57 25.57 25.57

1691.18 11431 166.06 8.35 0.00 3796.5 3873.6 3719.4 3374.4 384.6 132.92 9.11 329 1717.74 14.90 0.00 2.24 0.005 0.000 0.005 3716.88 3792.56 3641.19 3374.12 2036.75 0 0 0 25.57 30.00 25.57

1842.87 10791 210.88 8.40 -80.00 3715.9 3791.4 3640.4 3373.8 2037.1 119.49 7.96 359 1890.32 30.52 0.00 2.02 0.005 0.000 0.005 3533.53 3605.19 3461.88 3374.31 397.44 0 0 0 25.57 30.00 25.57

2120.60 3077 210.88 8.40 0.00 3533.7 3605.8 3461.6 3374.4 397.2 88.58 15.00 414 2126.33 0.00 0.00 2.52 0.000 0.000 0.005 3534.22 3606.00 3462.44 3374.75 2312.81 0 0 0 30.00 30.00 25.57

2191.22 2565 210.88 8.40 -80.00 3534.1 3606.1 3462.1 3374.4 2312.6 77.53 16.30 428 2197.23 0.00 0.00 2.64 0.000 0.000 0.005 3534.00 3605.88 3462.12 3373.88 296.69 0 0 0 30.00 30.00 25.57

2401.96 3077 210.88 8.40 0.00 3533.8 3605.8 3461.8 3374.4 296.1 50.54 10.43 470 2407.87 0.00 0.00 2.48 0.000 0.000 0.005 3533.75 3605.38 3462.12 3375.44 2238.81 0 0 0 30.00 30.00 25.57

2473.16 10919 221.20 8.44 -80.00 3533.5 3605.4 3461.6 3374.2 2238.8 43.97 9.53 484 2494.89 9.04 0.00 2.51 0.005 0.000 0.005 3492.28 3563.56 3421.00 3374.56 411.44 0 0 0 25.57 30.00 25.57

2684.80 3077 221.20 8.44 0.00 3491.4 3562.6 3420.2 3374.6 411.6 17.23 11.89 526 2690.66 0.00 0.00 2.52 0.000 0.000 0.005 3491.56 3562.38 3420.75 3374.75 2286.88 0 0 0 30.00 30.00 25.57

2725.72 2693 221.20 8.50 -80.00 3491.2 3562.4 3419.9 3374.4 2286.6 12.61 11.44 534 2731.77 0.00 0.00 2.70 0.000 0.000 0.005 3491.56 3562.81 3420.31 3374.25 262.62 0 0 0 30.00 30.00 25.57

2831 end climb: SURFACE_DEPTH_REACHED

state 2831 begin surface coast

2857 end surface coast: CONTROL_FINISHED_OK

state 2857 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	166	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	4393.7959	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	1788.6104	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	2.3934379	FG_AHR_10V	2210.4028	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	22.548653	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	191223,060905,4743.110,-12224.296,16,1.7,23,0.0	TGT_RADIUS	0.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.03	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	191223,061201,4743.114,-12224.294,23,2.0,31,0.0	MHEAD_RNG_PITCHd_Wd	240.0,20000,-19.3,-10.000,-20.84,2243,0.412
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	8000225

NAV	1702966813,32.7,0,stop	_10V_AH	11.07,0.000
FINISH	0.1,1.022036	FG_AHR_24Vo	22.558
SURF	forcing	FG_AHR_10Vo	2211.282
SM_CCo	3027.70,104.73,0.005,0,2084.3,2128.7,2039.9,566.33	DEVICE_MAX_MAMPS	5.000,5.000,5.000,10.523,0.000,50.000,6.920,0.000,0.000,2.120,26.000,40.000,0.000,0.000,0.000
SM_GC	0.02,104.73,10.91,2.62,0.005,0.005,0.005,2084.3,2128.7,2039.9,345.9,2129.2,0,0,0,25.57,25.57,25.57	MEM0	58972,1,0,0
SUPER	27,70,255,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	0.00,0.00,,	MEM2	991592,27,54156,114
TCM_TEMP	15.00	DATA_FILE_SIZE	19433,560
XPDR_PINGS	-1,-1.0,-1.0	CAP_FILE_SIZE	255688,0
SC_FREEKB	3856160	SDSIZE	3887104,3830944
RAFOS_CLK	0	SDFILEDIR	1109,168
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	50.61	SOUNDSPEED	1488.2
TEMP	22.18	IMPLIED_C_PITCH	1947,2.86,391,1868.0,2.63
INTERNAL_PRESSURE	13.8165	IMPLIED_C_VBD	4567,195.387070,228,4480.3
_24V_AH	24.11,14.799	GPS	191223,070502,4743.501,-12224.189,13,2.0,18,0.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	231	5	27.90	legato	0	0	0.00
Pitch_motor	21	5	2.65	nil	0	0	0.00
Roll_motor	54	5	6.60	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	41	50	22.70	nil	0	0	0.00
Core	2761	6	211.54	SciCon	2862	2	94.83
Fast	7	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	264	2	6.20
Compass	851	26	245.11
RAFOS	664	40	294.32
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	-8.26	0.00	2184.0	2230.0	2138.0	357.6	1846.0	0.00	0.00	0	71.22	44.35	0.00	0.46	0.005	0.000	0.005	3963.47	4043.56	3883.38	358.06	2204.31	0	0	0	25.57	30.00	25.57
71.57	21031	-146.63	-8.26	-80.00	3963.7	4044.0	3883.4	357.8	2204.1	1.58	-2.65	11	76.36	0.00	0.00	2.37	0.000	0.000	0.005	3963.94	4044.12	3883.75	358.06	401.38	0	0	0	30.00	30.00	25.57
251.78	21639	-146.63	-8.32	0.00	3963.8	4044.1	3883.5	357.8	401.8	16.50	-11.36	47	257.20	0.00	0.00	2.46	0.000	0.000	0.005	3963.56	4043.44	3883.69	357.75	2313.50	0	0	0	30.00	30.00	25.57
291.79	20871	-146.63	-8.39	80.00	3963.9	4044.2	3883.7	357.9	2312.7	20.85	-10.65	55	296.88	0.00	0.00	1.80	0.000	0.000	0.005	3963.16	4043.38	3882.94	357.69	3783.38	0	0	0	30.00	30.00	25.57
523.54	21511	-146.63	-8.39	0.00	3963.4	4043.7	3883.1	357.8	3782.9	48.06	-13.83	100	529.18	0.00	0.00	2.61	0.000	0.000	0.005	3963.75	4043.94	3883.56	357.62	1820.75	0	0	0	30.00	30.00	25.57
593.79	4357	-146.63	-8.39	80.00	3963.7	4044.1	3883.2	357.8	1820.7	59.05	-17.60	114	599.76	0.00	0.00	2.62	0.000	0.000	0.005	3963.78	4044.06	3883.50	357.81	3609.56	0	0	0	30.00	30.00	25.57
669.62	5253	-146.63	-8.43	0.00	3963.4	4044.0	3882.9	357.5	3609.6	70.59	-14.44	129	675.17	0.00	0.00	2.27	0.000	0.000	0.005	3963.34	4043.50	3883.19	357.56	1959.81	0	0	0	30.00	30.00	25.57
740.27	4357	-146.63	-8.43	80.00	3963.6	4044.1	3883.0	357.9	1959.5	79.96	-13.09	143	746.11	0.00	0.00	2.29	0.000	0.000	0.005	3963.62	4043.62	3883.62	357.94	3759.88	0	0	0	30.00	30.00	25.57
896.15	5125	-146.63	-8.43	0.00	3963.5	4043.8	3883.2	357.8	3759.6	98.29	-12.21	174	901.76	0.00	0.00	2.45	0.000	0.000	0.005	3963.56	4043.31	3883.81	358.00	1804.94	0	0	0	30.00	30.00	25.57
966.97	4357	-146.63	-8.43	80.00	3964.0	4044.5	3883.4	357.7	1805.0	107.86	-13.56	188	972.89	0.00	0.00	2.47	0.000	0.000	0.005	3963.50	4043.81	3883.19	357.75	3759.00	0	0	0	30.00	30.00	25.57
1202.82	5125	-146.63	-8.43	0.00	3963.4	4043.6	3883.2	357.6	3758.5	138.28	-14.22	235	1208.74	0.00	0.00	2.43	0.000	0.000	0.005	3963.16	4043.12	3883.19	357.50	1812.75	0	0	0	30.00	30.00	25.57
1333.66	4517	-146.63	-8.45	80.00	3963.8	4043.8	3883.8	357.8	1813.1	149.17	-4.90	261	1339.53	0.00	0.00	2.46	0.000	0.000	0.005	3963.19	4043.69	3882.69	357.62	3809.00	0	0	0	30.00	30.00	25.57
1385	end dive: TARGET_DEPTH_EXCEEDED
state	1385	begin apogee
1390.75	18435	0.00	-2.09	0.00	3963.5	4043.9	3883.1	358.0	1833.5	150.18	-3.30	271	1402.79	0.00	3.63	0.64	0.000	0.005	0.005	3963.22	4043.56	3882.88	1373.25	2161.06	0	0	0	30.00	25.57	25.57
1403	end apogee: CONTROL_FINISHED_OK
state	1403	begin climb
1403.98	10759	146.63	8.26	-80.00	3963.3	4043.7	3883.0	1373.3	2161.2	150.37	0.00	273	1461.11	27.88	7.41	2.15	0.005	0.005	0.005	3796.06	3873.12	3719.00	3374.62	384.44	0	0	0	25.57	25.57	25.57
1691.18	11431	166.06	8.35	0.00	3796.5	3873.6	3719.4	3374.4	384.6	132.92	9.11	329	1717.74	14.90	0.00	2.24	0.005	0.000	0.005	3716.88	3792.56	3641.19	3374.12	2036.75	0	0	0	25.57	30.00	25.57
1842.87	10791	210.88	8.40	-80.00	3715.9	3791.4	3640.4	3373.8	2037.1	119.49	7.96	359	1890.32	30.52	0.00	2.02	0.005	0.000	0.005	3533.53	3605.19	3461.88	3374.31	397.44	0	0	0	25.57	30.00	25.57
2120.60	3077	210.88	8.40	0.00	3533.7	3605.8	3461.6	3374.4	397.2	88.58	15.00	414	2126.33	0.00	0.00	2.52	0.000	0.000	0.005	3534.22	3606.00	3462.44	3374.75	2312.81	0	0	0	30.00	30.00	25.57
2191.22	2565	210.88	8.40	-80.00	3534.1	3606.1	3462.1	3374.4	2312.6	77.53	16.30	428	2197.23	0.00	0.00	2.64	0.000	0.000	0.005	3534.00	3605.88	3462.12	3373.88	296.69	0	0	0	30.00	30.00	25.57
2401.96	3077	210.88	8.40	0.00	3533.8	3605.8	3461.8	3374.4	296.1	50.54	10.43	470	2407.87	0.00	0.00	2.48	0.000	0.000	0.005	3533.75	3605.38	3462.12	3375.44	2238.81	0	0	0	30.00	30.00	25.57
2473.16	10919	221.20	8.44	-80.00	3533.5	3605.4	3461.6	3374.2	2238.8	43.97	9.53	484	2494.89	9.04	0.00	2.51	0.005	0.000	0.005	3492.28	3563.56	3421.00	3374.56	411.44	0	0	0	25.57	30.00	25.57
2684.80	3077	221.20	8.44	0.00	3491.4	3562.6	3420.2	3374.6	411.6	17.23	11.89	526	2690.66	0.00	0.00	2.52	0.000	0.000	0.005	3491.56	3562.38	3420.75	3374.75	2286.88	0	0	0	30.00	30.00	25.57
2725.72	2693	221.20	8.50	-80.00	3491.2	3562.4	3419.9	3374.4	2286.6	12.61	11.44	534	2731.77	0.00	0.00	2.70	0.000	0.000	0.005	3491.56	3562.81	3420.31	3374.25	262.62	0	0	0	30.00	30.00	25.57
2831	end climb: SURFACE_DEPTH_REACHED
state	2831	begin surface coast
2857	end surface coast: CONTROL_FINISHED_OK
state	2857	begin surface