Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_INHIBIT 90

MISSION 11 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 30 XPDR_INT 13

DIVE 17 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_REP 11.5

N_DIVES 0 SM_CC 662.31 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

STOP_T 0 N_FILEKB 8 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_YINT 0.5

D_SURF 2 FILEMGR 2 VBD_MIN 500 DEEPGLIDER 0

D_FLARE 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDERMB 0

D_TGT 990 COMM_SEQ 7 C_VBD 2000 MOTHERBOARD 6

D_ABORT 1030 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

D_NO_BLEED 450 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

D_BOOST 3 NOCOMM_ACTION 129 VBD_LP_IGNORE 0 DEVICE3 -1

T_BOOST 0 N_NOSURFACE 0 VBD_TIMEOUT 800 DEVICE4 -1

D_FINISH 10 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0040000002 DEVICE5 -1

D_PITCH 2 NETBOX 1 UNCOM_BLEED 400 DEVICE6 -1

D_SAFE 500 CALL_TRIES 3 VBD_MAXERRORS 2 LOGGERS 1

D_CALL 3 CALL_WAIT 45 C_VBD_AUTO_DELTA 0 LOGGERDEVICE1 7

SURFACE_URGENCY 10 CAPUPLOAD 0 C_VBD_AUTO_MAX 0 LOGGERDEVICE2 -1

SURFACE_URGENCY_TRY 10 CAPMAXSIZE 10000 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 20 T_GPS 3 DBDW 0 LOGGERDEVICE4 -1

T_DIVE 360 N_GPS 100440 LOITER_W_DBAND 2 COMPASS_DEVICE 66

T_MISSION 500 T_RSLEEP 2 LOITER_DBDW 400 COMPASS2_DEVICE -1

T_ABORT 2880 STROBE 0 LOITER_D_TOP 400 PHONE_DEVICE 33

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 700 GPS_DEVICE 48

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 96

T_NO_W 240 RAFOS_HIT_WINDOW 10800 CF8_MAXERRORS 0 NAV_DEVICE 6

T_LOITER 0 RAFOS_MMODEM 0 AH0_24V 575 NAV2_DEVICE 6

T_EPIRB 0 PITCH_MIN 230 AH0_10V 0 NAV3_DEVICE -1

USE_BATHY 0 PITCH_MAX 3900 MINV_24V 0 NAV4_DEVICE -1

USE_ICE 1 C_PITCH 2295.5884 MINV_10V 0 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.07 PITCH_DBAND 0.1 MAXI_24V 5 PRESSURE_DEVICE 34

D_OFFGRID 1000 PITCH_CNV 0.0041299998 MAXI_10V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 13.61063 FG_AHR_10V 2.0787523 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 9.8500166 SEABIRD_T_G 0.0042874566

MAX_BUOY 120 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062267116

GLIDE_SLOPE 45 PITCH_ADJ_GAIN 0 PRESSURE_YINT -157.91238 SEABIRD_T_I 2.1947648e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 PRESSURE_SLOPE 0.00022957686 SEABIRD_T_J 2.2037441e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 COMPASS_USE 49156 SEABIRD_C_G -9.9419231

MASS 72024 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_H 1.1375728

NAV_MODE 0 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_I -0.0016241658

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 2 ALTIM_BOTTOM_TURN_MARGIN 0 SEABIRD_C_J 0.0002088599

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 OPTIONS 2

HD_A 0.00281838 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 0 EXED cmdfile

HD_B 0.0139236 ROLL_MIN 1200 ALTIM_PING_DEPTH 0 SC_RECORDABOVE 2000.0

HD_C 5.7000002e-06 ROLL_MAX 4000 ALTIM_PING_DELTA 0 SC_PROFILE 7.0

HEADING -1 ROLL_DEG 80 ALTIM_FREQUENCY 13 SC_XMITPROFILE 3.0

ESCAPE_HEADING 180 C_ROLL_DIVE 2593.1365 ALTIM_PULSE 3 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2713.5149 ALTIM_SENSITIVITY 2

FIX_MISSING_TIMEOUT 20 HEAD_ERRBAND 10 XPDR_VALID 6

AH0_10V 0 D_PITCH 2 NETWORK_DEVICE 1 SEABIRD_C_H 1.1375728

AH0_24V 575 D_SAFE 500 NOCOMM_ACTION 129 SEABIRD_C_I -0.0016241658

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_DIVES 0 SEABIRD_C_J 0.0002088599

ALTIM_FREQUENCY 13 D_TGT 990 N_FILEKB 8 SEABIRD_T_G 0.0042874566

ALTIM_PING_DELTA 0 ESCAPE_HEADING 180 N_GPS 100440 SEABIRD_T_H 0.00062267116

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 N_NOCOMM 0 SEABIRD_T_I 2.1947648e-05

ALTIM_PING_FIT 0 EXED cmdfile N_NOSURFACE 0 SEABIRD_T_J 2.2037441e-06

ALTIM_PULSE 3 FERRY_MAX 45 OPTIONS 2 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 2.0787523 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 9.8500166 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 2 PITCH_ADJ_DBAND 2 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 20 PITCH_ADJ_GAIN 0 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 45 PITCH_CNV 0.0041299998 SURFACE_URGENCY 10

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 20

CALL_TRIES 3 HD_A 0.00281838 PITCH_GAIN 13.61063 SURFACE_URGENCY_TRY 10

CALL_WAIT 45 HD_B 0.0139236 PITCH_GAIN_AUTO_DELTA 0.5 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HD_C 5.7000002e-06 PITCH_GAIN_AUTO_MAX 2 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAX 3900 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 0 HEAD_ERRBAND 10 PITCH_MAXERRORS 1 T_ABORT 2880

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.07 PITCH_MIN 230 T_BOOST 0

COMPASS2_DEVICE -1 ID 235 PITCH_TIMEOUT 40 T_DIVE 360

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_VBD_SHIFT 0.0040000002 T_EPIRB 0

COMPASS_USE 49156 INT_PRESSURE_YINT 0.5 PITCH_W_DBAND 0 T_GPS 3

C_PITCH 2295.5884 KALMAN_USE 2 PITCH_W_GAIN 0 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_DEVICE 34 T_MISSION 500

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_SLOPE 0.00022957686 T_NO_W 240

C_ROLL_CLIMB 2713.5149 LOGGERDEVICE3 -1 PRESSURE_YINT -157.91238 T_RSLEEP 2

C_ROLL_DIVE 2593.1365 LOGGERDEVICE4 -1 PROTOCOL 9 T_TURN 225

C_VBD 2000 LOGGERS 1 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_DBDW 400 RAFOS_DEVICE 96 UNCOM_BLEED 400

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 700 RAFOS_HIT_WINDOW 10800 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_D_TOP 400 RAFOS_MMODEM 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 0 RAFOS_PEAK_OFFSET 0 USE_ICE 1

DEEPGLIDERMB 0 LOITER_W_DBAND 2 RELAUNCH 1 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72024 RHO 1.023 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 5 ROLL_ADJ_DBAND 0.029999999 VBD_LP_IGNORE 0

DEVICE3 -1 MAXI_24V 5 ROLL_ADJ_GAIN 0 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 120 ROLL_CNV 0.054945 VBD_MAXERRORS 2

DEVICE5 -1 MINV_10V 0 ROLL_DEG 80 VBD_MIN 500

DEVICE6 -1 MINV_24V 0 ROLL_MAX 4000 VBD_TIMEOUT 800

DIVE 17 MISSION 11 ROLL_MAXERRORS 0 W_ADJ_DBAND 0

D_ABORT 1030 MOTHERBOARD 6 ROLL_MIN 1200 XPDR_DEVICE -1

D_BOOST 3 NAV2_DEVICE 6 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

D_CALL 3 NAV3_DEVICE -1 SC_NDIVE 1.0 XPDR_INT 13

D_FINISH 10 NAV4_DEVICE -1 SC_PROFILE 7.0 XPDR_REP 11.5

D_FLARE 3 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_VALID 6

D_NO_BLEED 450 NAV_MODE 0 SC_XMITPROFILE 3.0

D_OFFGRID 1000 NETBOX 1 SEABIRD_C_G -9.9419231

Pre-dive calculations and measurements:

GPS1 110823,203029,7605.847,-14238.543,0,8255.0,0,15.6 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 3.32 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 110823,203029,7605.847,-14238.543,0,8255.0,0,15.6 MHEAD_RNG_PITCHd_Wd 144.6,70538,-20.2,-9.167,-25.06,1949,0.140

SPEED_LIMITS 0.092,0.196 D_GRID 990

TGT_NAME IGBL IRON 1.000000,-0.058064,-0.069359,-0.064846,1.037432,-0.079687,0.059845,0.024819,0.912228,-1019.682983,-140.930878,505.300598

TGT_LATLONG 7530.000,-14147.136 OSC 8000307

Post-dive calculations and measurements:

NAV 1691792414,85.6,2,stop _24V_AH 14.87,11.679

MODEM_MSG CACST,8,1,20230811221201.996702,18,4238,24,0394,0000,246,01,01,02,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*1E _10V_AH 14.97,0.000

FREEZE 0.86,-0.901,-1.344,2,17,0 FG_AHR_24Vo 10.026

FINISH 0.9,1.019830 FG_AHR_10Vo 2.111

SM_CCo 5806.34,0.08,0.300,0,499.4,415.9,582.9,368.10 MEM0 59796,1,0,0

SM_GC 4.14,0.08,19.57,3.60,0.300,0.128,0.089,499.4,415.9,582.9,218.6,2575.2,0,0,0,15.74,15.51,15.59 MEM1 65508,1,0,0

SURF below D_CALL,4.143960/3.000000 MEM2 1023004,32,22604,116

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16115,645

IRIDIUM_FIX 7611.73,-14220.94,100823,064602 CAP_FILE_SIZE 195298,0

TCM_TEMP 1.69 SDSIZE 3918848,3901056

SC_FREEKB 3873312 SDFILEDIR 179,18

RAFOS_CLK -6 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 8,1691791363,74.24940,-137.99570,163.304,239240.6 SOUNDSPEED 1465.0

RAFOS_FIX 7605.339844,-14235.057617,110823,222201,8,255,0.30 MAGCAL 1.000000,-0.071210,-0.039082,-0.066708,1.047038,-0.036955,0.064297,0.020310,0.959012,-1056.4,-188.3,447.5,36,0.1405,0

HUMID 48.19 IMPLIED_C_PITCH 2320,13.61,149,0.0,13.61

TEMP -0.54 GPS 110823,221201,7605.340,-14235.058,0,9255.0,0,15.6

INTERNAL_PRESSURE 8.09123

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 632 1257 11838.57 nil 0 0 0.00

Pitch_motor 41 307 190.80 nil 0 0 0.00

Roll_motor 72 280 300.82 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 0 0 0.00 nil 0 0 0.00

Core 2179 5 167.02 SciCon 5769 6 554.10

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3627 0 17.38

Compass 1046 5 78.33

RAFOS 1209 40 723.99

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

5.97 16386 -117.30 -1.95 0.00 499.4 415.6 583.3 218.6 2577.1 0.00 0.00 0 29.70 22.66 0.00 0.00 0.006 0.000 0.000 911.88 873.75 950.00 218.50 2577.62 0 0 0 15.79 30.00 30.00

29.96 18727 -117.30 -1.95 80.00 912.1 873.5 950.8 218.6 2577.6 3.08 -2.64 2 116.41 60.61 13.50 3.81 0.005 0.308 0.159 2478.19 2452.25 2504.12 1821.19 4007.19 0 0 0 15.76 15.58 15.66

223.74 1028 -117.30 -1.95 0.00 2481.7 2454.6 2508.8 1821.4 4007.1 41.44 -20.63 40 229.32 0.00 0.00 3.63 0.000 0.000 0.099 2483.44 2456.56 2510.31 1819.88 2574.31 0 0 0 30.00 30.00 15.73

604.52 292 -117.30 -1.95 80.00 2481.7 2453.4 2509.9 1821.8 2574.7 66.82 -3.17 56 610.66 0.00 0.00 3.76 0.000 0.000 0.147 2480.75 2453.19 2508.31 1821.31 4006.94 0 0 0 30.00 30.00 15.77

839.66 1060 -117.30 -1.95 0.00 2480.4 2451.2 2509.6 1821.2 4006.9 73.71 -3.02 103 845.83 0.00 0.00 3.58 0.000 0.000 0.095 2480.22 2450.44 2510.00 1820.62 2573.06 0 0 0 30.00 30.00 15.84

1225.72 548 -117.30 -1.95 -80.00 2480.1 2450.8 2509.5 1821.6 2572.5 85.57 -3.39 120 1231.94 0.00 0.00 3.76 0.000 0.000 0.174 2479.56 2449.31 2509.81 1821.00 1192.69 0 0 0 30.00 30.00 15.83

1460.17 1060 -117.30 -1.95 0.00 2479.8 2449.5 2510.1 1820.9 1192.6 94.55 -3.30 167 1466.32 0.00 0.00 3.43 0.000 0.000 0.082 2478.91 2448.81 2509.00 1821.38 2614.00 0 0 0 30.00 30.00 15.94

1845.19 292 -117.30 -1.95 80.00 2479.9 2450.0 2509.8 1821.0 2613.2 103.15 -2.32 184 1851.42 0.00 0.00 3.64 0.000 0.000 0.154 2482.47 2451.69 2513.25 1821.38 4007.25 0 0 0 30.00 30.00 15.94

2080.26 1060 -117.30 -1.95 0.00 2479.7 2449.6 2509.9 1821.1 4007.2 110.50 -3.20 231 2086.45 0.00 0.00 3.53 0.000 0.000 0.094 2478.59 2448.94 2508.25 1821.56 2572.31 0 0 0 30.00 30.00 15.99

2465.28 292 -117.30 -1.95 80.00 2479.8 2449.6 2510.1 1821.0 2572.4 117.71 -1.68 248 2471.58 0.00 0.00 3.71 0.000 0.000 0.148 2479.03 2449.00 2509.06 1821.38 4007.94 0 0 0 30.00 30.00 15.99

2700.36 1060 -117.30 -1.95 0.00 2479.6 2449.3 2509.9 1821.2 4008.2 123.19 -2.45 295 2706.73 0.00 0.00 3.52 0.000 0.000 0.095 2478.78 2448.88 2508.69 1821.38 2570.62 0 0 0 30.00 30.00 16.04

3081.38 548 -117.30 -1.95 -80.00 2479.7 2449.5 2509.9 1821.4 2569.4 129.05 -1.37 313 3087.84 0.00 0.00 3.74 0.000 0.000 0.175 2482.97 2452.44 2513.50 1821.38 1191.00 0 0 0 30.00 30.00 16.00

3270.68 1060 -117.30 -1.95 0.00 2479.4 2449.0 2509.8 1821.2 1190.9 131.36 -1.28 351 3276.68 0.00 0.00 3.41 0.000 0.000 0.082 2480.44 2449.56 2511.31 1821.00 2614.94 0 0 0 30.00 30.00 16.06

3646.41 548 -117.30 -1.95 -80.00 2479.3 2449.1 2509.4 1821.1 2615.1 137.52 -1.74 366 3652.92 0.00 0.00 3.84 0.000 0.000 0.170 2479.00 2448.00 2510.00 1821.25 1191.31 0 0 0 30.00 30.00 16.02

3881.43 1060 -117.30 -1.95 0.00 2479.2 2448.5 2509.9 1820.3 1190.8 140.03 -0.90 413 3887.70 0.00 0.00 3.40 0.000 0.000 0.084 2479.91 2449.12 2510.69 1820.38 2615.56 0 0 0 30.00 30.00 16.08

4086 end dive: NO_VERTICAL_VELOCITY

state 4086 begin apogee

4087.88 10243 0.00 -0.37 0.00 2479.7 2449.5 2509.9 1820.7 2728.0 141.84 0.00 424 4202.64 106.29 2.86 0.06 1.258 0.203 0.281 1998.47 1913.31 2083.62 2206.31 2696.12 0 0 0 11.83 16.04 15.58

4204 end apogee: CONTROL_FINISHED_OK

state 4204 begin climb

4205.17 10503 117.30 1.95 80.00 1996.4 1910.5 2082.4 2206.5 2696.1 140.02 0.00 427 4320.78 98.91 3.91 3.62 1.166 0.126 0.159 1520.44 1411.50 1629.38 2772.00 4005.88 0 0 0 11.75 15.62 15.35

4378.22 1028 117.30 1.95 0.00 1515.1 1412.1 1618.2 2771.4 4005.8 103.80 26.76 461 4384.23 0.00 0.00 3.35 0.000 0.000 0.089 1515.59 1412.69 1618.50 2771.06 2696.12 0 0 0 30.00 30.00 15.54

4761.79 10535 158.09 2.11 80.00 1511.5 1412.1 1611.0 2771.0 2696.1 41.02 7.03 477 4825.15 53.04 0.22 3.53 1.040 0.105 0.148 1354.69 1249.50 1459.88 2813.94 4007.38 0 0 0 11.79 15.78 15.55

5052.65 11303 292.02 2.65 0.00 1350.6 1249.9 1451.2 2813.6 4007.5 35.17 2.14 535 5247.99 181.91 0.79 3.30 1.019 0.081 0.086 810.38 697.31 923.44 2945.31 2692.25 0 0 0 11.64 15.73 15.75

5551.23 10535 433.47 3.22 80.00 805.7 698.7 912.6 2944.8 2692.4 9.73 1.74 603 5672.44 109.38 0.85 3.58 0.993 0.080 0.145 501.06 414.75 587.38 3082.12 4007.06 0 0 0 11.61 15.70 15.38

5740 end climb: SURFACE_DEPTH_REACHED

state 5740 begin surface coast

5766 end surface coast: CONTROL_FINISHED_OK

state 5766 begin surface

ID	235	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_INHIBIT	90
MISSION	11	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	30	XPDR_INT	13
DIVE	17	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_REP	11.5
N_DIVES	0	SM_CC	662.31	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
STOP_T	0	N_FILEKB	8	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_YINT	0.5
D_SURF	2	FILEMGR	2	VBD_MIN	500	DEEPGLIDER	0
D_FLARE	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDERMB	0
D_TGT	990	COMM_SEQ	7	C_VBD	2000	MOTHERBOARD	6
D_ABORT	1030	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
D_NO_BLEED	450	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
D_BOOST	3	NOCOMM_ACTION	129	VBD_LP_IGNORE	0	DEVICE3	-1
T_BOOST	0	N_NOSURFACE	0	VBD_TIMEOUT	800	DEVICE4	-1
D_FINISH	10	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0040000002	DEVICE5	-1
D_PITCH	2	NETBOX	1	UNCOM_BLEED	400	DEVICE6	-1
D_SAFE	500	CALL_TRIES	3	VBD_MAXERRORS	2	LOGGERS	1
D_CALL	3	CALL_WAIT	45	C_VBD_AUTO_DELTA	0	LOGGERDEVICE1	7
SURFACE_URGENCY	10	CAPUPLOAD	0	C_VBD_AUTO_MAX	0	LOGGERDEVICE2	-1
SURFACE_URGENCY_TRY	10	CAPMAXSIZE	10000	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	20	T_GPS	3	DBDW	0	LOGGERDEVICE4	-1
T_DIVE	360	N_GPS	100440	LOITER_W_DBAND	2	COMPASS_DEVICE	66
T_MISSION	500	T_RSLEEP	2	LOITER_DBDW	400	COMPASS2_DEVICE	-1
T_ABORT	2880	STROBE	0	LOITER_D_TOP	400	PHONE_DEVICE	33
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	700	GPS_DEVICE	48
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	96
T_NO_W	240	RAFOS_HIT_WINDOW	10800	CF8_MAXERRORS	0	NAV_DEVICE	6
T_LOITER	0	RAFOS_MMODEM	0	AH0_24V	575	NAV2_DEVICE	6
T_EPIRB	0	PITCH_MIN	230	AH0_10V	0	NAV3_DEVICE	-1
USE_BATHY	0	PITCH_MAX	3900	MINV_24V	0	NAV4_DEVICE	-1
USE_ICE	1	C_PITCH	2295.5884	MINV_10V	0	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.07	PITCH_DBAND	0.1	MAXI_24V	5	PRESSURE_DEVICE	34
D_OFFGRID	1000	PITCH_CNV	0.0041299998	MAXI_10V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	13.61063	FG_AHR_10V	2.0787523	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	9.8500166	SEABIRD_T_G	0.0042874566
MAX_BUOY	120	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062267116
GLIDE_SLOPE	45	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-157.91238	SEABIRD_T_I	2.1947648e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	PRESSURE_SLOPE	0.00022957686	SEABIRD_T_J	2.2037441e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	COMPASS_USE	49156	SEABIRD_C_G	-9.9419231
MASS	72024	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_H	1.1375728
NAV_MODE	0	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_I	-0.0016241658
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	2	ALTIM_BOTTOM_TURN_MARGIN	0	SEABIRD_C_J	0.0002088599
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	OPTIONS	2
HD_A	0.00281838	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	0	EXED	cmdfile
HD_B	0.0139236	ROLL_MIN	1200	ALTIM_PING_DEPTH	0	SC_RECORDABOVE	2000.0
HD_C	5.7000002e-06	ROLL_MAX	4000	ALTIM_PING_DELTA	0	SC_PROFILE	7.0
HEADING	-1	ROLL_DEG	80	ALTIM_FREQUENCY	13	SC_XMITPROFILE	3.0
ESCAPE_HEADING	180	C_ROLL_DIVE	2593.1365	ALTIM_PULSE	3	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2713.5149	ALTIM_SENSITIVITY	2
FIX_MISSING_TIMEOUT	20	HEAD_ERRBAND	10	XPDR_VALID	6

GPS1	110823,203029,7605.847,-14238.543,0,8255.0,0,15.6	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	3.32	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	110823,203029,7605.847,-14238.543,0,8255.0,0,15.6	MHEAD_RNG_PITCHd_Wd	144.6,70538,-20.2,-9.167,-25.06,1949,0.140
SPEED_LIMITS	0.092,0.196	D_GRID	990
TGT_NAME	IGBL	IRON	1.000000,-0.058064,-0.069359,-0.064846,1.037432,-0.079687,0.059845,0.024819,0.912228,-1019.682983,-140.930878,505.300598
TGT_LATLONG	7530.000,-14147.136	OSC	8000307

NAV	1691792414,85.6,2,stop	_24V_AH	14.87,11.679
MODEM_MSG	CACST,8,1,20230811221201.996702,18,4238,24,0394,0000,246,01,01,02,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*1E	_10V_AH	14.97,0.000
FREEZE	0.86,-0.901,-1.344,2,17,0	FG_AHR_24Vo	10.026
FINISH	0.9,1.019830	FG_AHR_10Vo	2.111
SM_CCo	5806.34,0.08,0.300,0,499.4,415.9,582.9,368.10	MEM0	59796,1,0,0
SM_GC	4.14,0.08,19.57,3.60,0.300,0.128,0.089,499.4,415.9,582.9,218.6,2575.2,0,0,0,15.74,15.51,15.59	MEM1	65508,1,0,0
SURF	below D_CALL,4.143960/3.000000	MEM2	1023004,32,22604,116
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16115,645
IRIDIUM_FIX	7611.73,-14220.94,100823,064602	CAP_FILE_SIZE	195298,0
TCM_TEMP	1.69	SDSIZE	3918848,3901056
SC_FREEKB	3873312	SDFILEDIR	179,18
RAFOS_CLK	-6	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	8,1691791363,74.24940,-137.99570,163.304,239240.6	SOUNDSPEED	1465.0
RAFOS_FIX	7605.339844,-14235.057617,110823,222201,8,255,0.30	MAGCAL	1.000000,-0.071210,-0.039082,-0.066708,1.047038,-0.036955,0.064297,0.020310,0.959012,-1056.4,-188.3,447.5,36,0.1405,0
HUMID	48.19	IMPLIED_C_PITCH	2320,13.61,149,0.0,13.61
TEMP	-0.54	GPS	110823,221201,7605.340,-14235.058,0,9255.0,0,15.6
INTERNAL_PRESSURE	8.09123

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	632	1257	11838.57	nil	0	0	0.00
Pitch_motor	41	307	190.80	nil	0	0	0.00
Roll_motor	72	280	300.82	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	0	0	0.00	nil	0	0	0.00
Core	2179	5	167.02	SciCon	5769	6	554.10
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3627	0	17.38
Compass	1046	5	78.33
RAFOS	1209	40	723.99
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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
5.97	16386	-117.30	-1.95	0.00	499.4	415.6	583.3	218.6	2577.1	0.00	0.00	0	29.70	22.66	0.00	0.00	0.006	0.000	0.000	911.88	873.75	950.00	218.50	2577.62	0	0	0	15.79	30.00	30.00
29.96	18727	-117.30	-1.95	80.00	912.1	873.5	950.8	218.6	2577.6	3.08	-2.64	2	116.41	60.61	13.50	3.81	0.005	0.308	0.159	2478.19	2452.25	2504.12	1821.19	4007.19	0	0	0	15.76	15.58	15.66
223.74	1028	-117.30	-1.95	0.00	2481.7	2454.6	2508.8	1821.4	4007.1	41.44	-20.63	40	229.32	0.00	0.00	3.63	0.000	0.000	0.099	2483.44	2456.56	2510.31	1819.88	2574.31	0	0	0	30.00	30.00	15.73
604.52	292	-117.30	-1.95	80.00	2481.7	2453.4	2509.9	1821.8	2574.7	66.82	-3.17	56	610.66	0.00	0.00	3.76	0.000	0.000	0.147	2480.75	2453.19	2508.31	1821.31	4006.94	0	0	0	30.00	30.00	15.77
839.66	1060	-117.30	-1.95	0.00	2480.4	2451.2	2509.6	1821.2	4006.9	73.71	-3.02	103	845.83	0.00	0.00	3.58	0.000	0.000	0.095	2480.22	2450.44	2510.00	1820.62	2573.06	0	0	0	30.00	30.00	15.84
1225.72	548	-117.30	-1.95	-80.00	2480.1	2450.8	2509.5	1821.6	2572.5	85.57	-3.39	120	1231.94	0.00	0.00	3.76	0.000	0.000	0.174	2479.56	2449.31	2509.81	1821.00	1192.69	0	0	0	30.00	30.00	15.83
1460.17	1060	-117.30	-1.95	0.00	2479.8	2449.5	2510.1	1820.9	1192.6	94.55	-3.30	167	1466.32	0.00	0.00	3.43	0.000	0.000	0.082	2478.91	2448.81	2509.00	1821.38	2614.00	0	0	0	30.00	30.00	15.94
1845.19	292	-117.30	-1.95	80.00	2479.9	2450.0	2509.8	1821.0	2613.2	103.15	-2.32	184	1851.42	0.00	0.00	3.64	0.000	0.000	0.154	2482.47	2451.69	2513.25	1821.38	4007.25	0	0	0	30.00	30.00	15.94
2080.26	1060	-117.30	-1.95	0.00	2479.7	2449.6	2509.9	1821.1	4007.2	110.50	-3.20	231	2086.45	0.00	0.00	3.53	0.000	0.000	0.094	2478.59	2448.94	2508.25	1821.56	2572.31	0	0	0	30.00	30.00	15.99
2465.28	292	-117.30	-1.95	80.00	2479.8	2449.6	2510.1	1821.0	2572.4	117.71	-1.68	248	2471.58	0.00	0.00	3.71	0.000	0.000	0.148	2479.03	2449.00	2509.06	1821.38	4007.94	0	0	0	30.00	30.00	15.99
2700.36	1060	-117.30	-1.95	0.00	2479.6	2449.3	2509.9	1821.2	4008.2	123.19	-2.45	295	2706.73	0.00	0.00	3.52	0.000	0.000	0.095	2478.78	2448.88	2508.69	1821.38	2570.62	0	0	0	30.00	30.00	16.04
3081.38	548	-117.30	-1.95	-80.00	2479.7	2449.5	2509.9	1821.4	2569.4	129.05	-1.37	313	3087.84	0.00	0.00	3.74	0.000	0.000	0.175	2482.97	2452.44	2513.50	1821.38	1191.00	0	0	0	30.00	30.00	16.00
3270.68	1060	-117.30	-1.95	0.00	2479.4	2449.0	2509.8	1821.2	1190.9	131.36	-1.28	351	3276.68	0.00	0.00	3.41	0.000	0.000	0.082	2480.44	2449.56	2511.31	1821.00	2614.94	0	0	0	30.00	30.00	16.06
3646.41	548	-117.30	-1.95	-80.00	2479.3	2449.1	2509.4	1821.1	2615.1	137.52	-1.74	366	3652.92	0.00	0.00	3.84	0.000	0.000	0.170	2479.00	2448.00	2510.00	1821.25	1191.31	0	0	0	30.00	30.00	16.02
3881.43	1060	-117.30	-1.95	0.00	2479.2	2448.5	2509.9	1820.3	1190.8	140.03	-0.90	413	3887.70	0.00	0.00	3.40	0.000	0.000	0.084	2479.91	2449.12	2510.69	1820.38	2615.56	0	0	0	30.00	30.00	16.08
4086	end dive: NO_VERTICAL_VELOCITY
state	4086	begin apogee
4087.88	10243	0.00	-0.37	0.00	2479.7	2449.5	2509.9	1820.7	2728.0	141.84	0.00	424	4202.64	106.29	2.86	0.06	1.258	0.203	0.281	1998.47	1913.31	2083.62	2206.31	2696.12	0	0	0	11.83	16.04	15.58
4204	end apogee: CONTROL_FINISHED_OK
state	4204	begin climb
4205.17	10503	117.30	1.95	80.00	1996.4	1910.5	2082.4	2206.5	2696.1	140.02	0.00	427	4320.78	98.91	3.91	3.62	1.166	0.126	0.159	1520.44	1411.50	1629.38	2772.00	4005.88	0	0	0	11.75	15.62	15.35
4378.22	1028	117.30	1.95	0.00	1515.1	1412.1	1618.2	2771.4	4005.8	103.80	26.76	461	4384.23	0.00	0.00	3.35	0.000	0.000	0.089	1515.59	1412.69	1618.50	2771.06	2696.12	0	0	0	30.00	30.00	15.54
4761.79	10535	158.09	2.11	80.00	1511.5	1412.1	1611.0	2771.0	2696.1	41.02	7.03	477	4825.15	53.04	0.22	3.53	1.040	0.105	0.148	1354.69	1249.50	1459.88	2813.94	4007.38	0	0	0	11.79	15.78	15.55
5052.65	11303	292.02	2.65	0.00	1350.6	1249.9	1451.2	2813.6	4007.5	35.17	2.14	535	5247.99	181.91	0.79	3.30	1.019	0.081	0.086	810.38	697.31	923.44	2945.31	2692.25	0	0	0	11.64	15.73	15.75
5551.23	10535	433.47	3.22	80.00	805.7	698.7	912.6	2944.8	2692.4	9.73	1.74	603	5672.44	109.38	0.85	3.58	0.993	0.080	0.145	501.06	414.75	587.38	3082.12	4007.06	0	0	0	11.61	15.70	15.38
5740	end climb: SURFACE_DEPTH_REACHED
state	5740	begin surface coast
5766	end surface coast: CONTROL_FINISHED_OK
state	5766	begin surface