Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 20 * 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 20 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 13.568552 FG_AHR_10V 2.1908026 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 10.378179 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 SC_RECORDABOVE 2000.0

HD_B 0.0139236 ROLL_MIN 1200 ALTIM_PING_DEPTH 0 SC_PROFILE 7.0

HD_C 5.7000002e-06 ROLL_MAX 4000 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 2593.1365 ALTIM_PULSE 3

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 NOCOMM_ACTION 129 SEABIRD_C_I -0.0016241658

AH0_24V 575 D_SAFE 500 N_DIVES 0 SEABIRD_C_J 0.0002088599

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_FILEKB 8 SEABIRD_T_G 0.0042874566

ALTIM_FREQUENCY 13 D_TGT 990 N_GPS 100440 SEABIRD_T_H 0.00062267116

ALTIM_PING_DELTA 0 ESCAPE_HEADING 180 N_NOCOMM 0 SEABIRD_T_I 2.1947648e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SEABIRD_T_J 2.2037441e-06

ALTIM_PING_FIT 0 FERRY_MAX 45 OPTIONS 2 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 2.1908026 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 10.378179 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 2 PITCH_ADJ_DBAND 2 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 20 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_CNV 0.0041299998 SURFACE_URGENCY 10

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 20

CALL_NDIVES 1 HD_A 0.00281838 PITCH_GAIN 13.568552 SURFACE_URGENCY_TRY 10

CALL_TRIES 3 HD_B 0.0139236 PITCH_GAIN_AUTO_DELTA 0.5 TGT_AUTO_DEFAULT 0

CALL_WAIT 45 HD_C 5.7000002e-06 PITCH_GAIN_AUTO_MAX 2 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 10000 HEADING -1 PITCH_MAX 3900 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_MAXERRORS 1 T_ABORT 2880

CF8_MAXERRORS 0 ICE_FREEZE_MARGIN 0.07 PITCH_MIN 230 T_BOOST 0

COMM_SEQ 7 ID 235 PITCH_TIMEOUT 40 T_DIVE 360

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_VBD_SHIFT 0.0040000002 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT 0.5 PITCH_W_DBAND 0 T_GPS 3

COMPASS_USE 49156 KALMAN_USE 2 PITCH_W_GAIN 0 T_LOITER 0

C_PITCH 2295.5884 LOGGERDEVICE1 7 PRESSURE_DEVICE 34 T_MISSION 500

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 -1 PRESSURE_SLOPE 0.00022957686 T_NO_W 240

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 PRESSURE_YINT -157.91238 T_RSLEEP 2

C_ROLL_CLIMB 2713.5149 LOGGERDEVICE4 -1 PROTOCOL 9 T_TURN 225

C_ROLL_DIVE 2593.1365 LOGGERS 1 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_VBD 2000 LOITER_DBDW 400 RAFOS_DEVICE 96 UNCOM_BLEED 400

C_VBD_AUTO_DELTA 0 LOITER_D_BOTTOM 700 RAFOS_HIT_WINDOW 10800 UPLOAD_DIVES_MAX 3

C_VBD_AUTO_MAX 0 LOITER_D_TOP 400 RAFOS_MMODEM 0 USE_BATHY 0

DBDW 0 LOITER_N_DIVE 0 RAFOS_PEAK_OFFSET 0 USE_ICE 1

DEEPGLIDER 0 LOITER_W_DBAND 2 RELAUNCH 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS 72024 RHO 1.023 VBD_DBAND 2

DEVICE1 -1 MAXI_10V 5 ROLL_ADJ_DBAND 0.029999999 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 5 ROLL_ADJ_GAIN 0 VBD_MAX 3960

DEVICE3 -1 MAX_BUOY 120 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 4000 VBD_TIMEOUT 800

DEVICE6 -1 MISSION 11 ROLL_MAXERRORS 0 W_ADJ_DBAND 0

DIVE 20 MOTHERBOARD 6 ROLL_MIN 1200 XPDR_DEVICE -1

D_ABORT 1030 NAV2_DEVICE 6 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

D_BOOST 3 NAV3_DEVICE -1 SC_NDIVE 1.0 XPDR_INT 13

D_CALL 3 NAV4_DEVICE -1 SC_PROFILE 7.0 XPDR_REP 11.5

D_FINISH 10 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_VALID 6

D_FLARE 3 NAV_MODE 0 SC_XMITPROFILE 3.0

D_NO_BLEED 450 NETBOX 1 SEABIRD_C_G -9.9419231

D_OFFGRID 1000 NETWORK_DEVICE 1 SEABIRD_C_H 1.1375728

Pre-dive calculations and measurements:

GPS1 120823,021202,7605.261,-14205.255,0,10255.0,0,15.6 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 3.09 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120823,021202,7605.261,-14205.255,0,10255.0,0,15.6 MHEAD_RNG_PITCHd_Wd 157.0,65842,-20.2,-9.167,-25.06,1949,0.133

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 1691815211,20.4,6,stop INTERNAL_PRESSURE 8.08766

WARN HSCICON missed fuel gauge read _24V_AH 14.89,12.315

MODEM_MSG CACST,8,1,20230812043030.633204,18,24004,37,0268,0000,216,02,02,01,02,-1,-01,-01,1,3,0,0,150,-25.9,0.38,-100,2.62,-01,0.08,45,925,0025,0,-1,00,00*22 _10V_AH 14.99,0.000

FREEZE 1.23,-0.833,-1.357,2,20,2 FG_AHR_24Vo 10.555

FINISH 1.2,1.020013 FG_AHR_10Vo 2.238

SURF below D_CALL,4.193654/3.000000 MEM0 59796,1,0,0

SM_CCo 6457.02,0.08,0.282,0,499.0,416.9,581.0,368.20 MEM1 65508,1,0,0

SM_GC 4.19,0.08,20.28,3.31,0.282,0.138,0.077,499.0,416.9,581.0,219.9,2620.2,0,0,0,15.77,15.54,15.64 MEM2 1023004,32,22604,116

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 19306,693

IRIDIUM_FIX 7611.73,-14220.94,100823,064602 CAP_FILE_SIZE 200531,0

TCM_TEMP 1.82 SDSIZE 3918848,3900160

SC_FREEKB 3872352 SDFILEDIR 200,21

RAFOS_CLK -2 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 0,1691812927,74.57000,-145.56000,127.910,187387.5 SOUNDSPEED 1465.0

RAFOS_FIX 7603.504395,-14227.531250,120823,040430,8,255,1.26 MAGCAL 1.000000,-0.063100,0.001826,-0.063311,1.069004,-0.095953,0.072507,0.046195,0.988332,-1097.4,-136.9,405.3,36,0.1197,0

HUMID 47.79 IMPLIED_C_PITCH 2316,13.53,169,0.0,13.55

TEMP -0.34 GPS 120823,045431,7601.480,-14226.179,59,1.1,60,15.7

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 636 1258 11935.35 nil 0 0 0.00

Pitch_motor 42 316 202.49 nil 0 0 0.00

Roll_motor 73 277 303.75 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 2322 5 178.23 SciCon 6421 9 881.08

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4133 0 19.83

Compass 1132 5 84.89

RAFOS 2469 40 1480.99

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

5.89 16386 -117.30 -1.96 0.00 499.7 419.6 579.8 219.8 2609.0 0.00 0.00 0 16.94 10.17 0.00 0.00 0.007 0.000 0.000 686.78 630.50 743.06 219.94 2609.25 0 0 0 15.83 30.00 30.00

17.20 18727 -117.30 -1.96 80.00 686.8 630.5 743.2 219.8 2609.2 3.02 0.00 1 117.80 74.26 13.57 3.67 0.005 0.317 0.160 2477.59 2451.94 2503.25 1820.44 4009.00 0 0 0 15.82 15.61 15.72

235.13 1028 -117.30 -1.96 0.00 2480.5 2453.9 2507.2 1820.2 4009.0 41.31 -19.93 44 240.68 0.00 0.00 3.59 0.000 0.000 0.097 2480.41 2453.19 2507.62 1820.12 2574.88 0 0 0 30.00 30.00 15.80

620.92 548 -117.30 -1.96 -80.00 2479.9 2452.4 2507.3 1820.3 2574.9 64.50 -2.69 61 626.85 0.00 0.00 3.75 0.000 0.000 0.172 2479.88 2452.25 2507.50 1820.12 1192.00 0 0 0 30.00 30.00 15.85

852.99 1060 -117.30 -1.96 0.00 2479.7 2451.5 2507.8 1820.2 1191.7 73.12 -3.60 107 859.54 0.00 0.00 3.41 0.000 0.000 0.081 2480.34 2451.75 2508.94 1820.38 2614.06 0 0 0 30.00 30.00 15.94

1248.72 32 -117.30 -1.96 0.00 2478.9 2449.9 2507.9 1820.2 2613.9 84.86 -3.18 121 1250.23 0.00 0.00 0.00 0.000 0.000 0.000 2479.22 2450.38 2508.06 1818.31 2613.62 0 0 0 30.00 30.00 30.00

1638.73 292 -117.30 -1.96 80.00 2478.7 2449.3 2508.1 1820.4 2614.2 97.12 -3.05 134 1644.96 0.00 0.00 3.62 0.000 0.000 0.155 2477.47 2448.25 2506.69 1820.81 4008.44 0 0 0 30.00 30.00 15.97

1823.03 1060 -117.30 -1.96 0.00 2478.0 2447.9 2508.0 1819.6 4007.4 103.04 -3.25 171 1828.88 0.00 0.00 3.41 0.000 0.000 0.094 2478.19 2448.44 2507.94 1820.50 2571.88 0 0 0 30.00 30.00 16.02

2203.77 292 -117.30 -1.96 80.00 2478.0 2448.1 2507.9 1820.5 2572.2 112.18 -1.93 187 2209.99 0.00 0.00 3.68 0.000 0.000 0.148 2478.66 2448.56 2508.75 1818.19 4007.94 0 0 0 30.00 30.00 16.01

2438.82 1060 -117.30 -1.96 0.00 2477.6 2447.6 2507.5 1820.4 4008.1 118.18 -2.80 234 2444.96 0.00 0.00 3.47 0.000 0.000 0.095 2478.28 2447.81 2508.75 1818.69 2569.94 0 0 0 30.00 30.00 16.05

2806.63 292 -117.30 -1.96 80.00 2477.6 2447.0 2508.2 1820.1 2570.9 124.57 -1.65 252 2812.86 0.00 0.00 3.68 0.000 0.000 0.148 2475.53 2444.75 2506.31 1820.31 4007.94 0 0 0 30.00 30.00 16.03

3041.72 1060 -117.30 -1.96 0.00 2477.2 2446.6 2507.8 1820.1 4007.4 130.05 -2.37 299 3048.04 0.00 0.00 3.47 0.000 0.000 0.095 2475.53 2445.12 2505.94 1820.25 2572.94 0 0 0 30.00 30.00 16.07

3426.74 292 -117.30 -1.96 80.00 2477.2 2446.6 2507.9 1820.4 2572.6 135.93 -1.38 316 3433.15 0.00 0.00 3.69 0.000 0.000 0.148 2476.59 2446.19 2507.00 1820.31 4008.62 0 0 0 30.00 30.00 16.01

3661.77 1060 -117.30 -1.96 0.00 2476.9 2446.1 2507.8 1820.3 4008.5 138.65 -1.14 363 3668.10 0.00 0.00 3.47 0.000 0.000 0.096 2477.19 2446.50 2507.88 1820.38 2571.75 0 0 0 30.00 30.00 16.03

4046.80 292 -117.30 -1.96 80.00 2476.7 2445.8 2507.6 1820.2 2572.1 143.42 -1.30 380 4053.25 0.00 0.00 3.71 0.000 0.000 0.149 2479.38 2447.62 2511.12 1819.94 4010.25 0 0 0 30.00 30.00 15.97

4281.81 1060 -117.30 -1.96 0.00 2476.7 2445.6 2507.8 1820.1 4009.5 146.06 -1.06 427 4288.18 0.00 0.00 3.49 0.000 0.000 0.096 2475.12 2444.12 2506.12 1820.88 2569.19 0 0 0 30.00 30.00 15.99

4576 end dive: NO_VERTICAL_VELOCITY

state 4576 begin apogee

4578.33 10243 0.00 -0.37 0.00 2477.0 2446.1 2507.9 1820.1 2731.4 148.85 0.00 441 4693.02 106.32 2.87 0.07 1.259 0.202 0.278 1997.19 1913.25 2081.12 2205.25 2696.62 0 0 0 11.78 15.91 15.49

4702 end apogee: CONTROL_FINISHED_OK

state 4702 begin climb

4703.47 10759 117.30 1.96 -80.00 1995.8 1911.8 2079.9 2204.8 2696.2 146.70 0.00 444 4819.96 99.51 3.92 4.03 1.169 0.119 0.171 1520.94 1412.31 1629.56 2770.62 1248.38 0 0 0 11.61 15.55 15.28

5042.43 17414 117.30 1.96 0.00 1513.2 1411.9 1614.5 2770.7 1248.6 66.19 24.54 511 5048.60 0.00 0.00 3.64 0.000 0.000 0.083 1512.97 1411.81 1614.12 2768.38 2732.88 0 0 0 30.00 30.00 15.64

5428.21 10791 233.73 2.42 -80.00 1511.4 1412.5 1610.3 2771.3 2732.9 42.50 3.06 528 5592.79 151.82 0.70 4.14 1.037 0.083 0.161 1046.91 929.75 1164.06 2888.31 1247.75 0 0 0 11.89 15.78 15.32

5821.05 11303 330.14 2.81 0.00 1042.9 931.7 1154.1 2888.4 1247.4 11.70 4.11 605 5972.77 138.49 0.57 3.63 0.991 0.092 0.079 654.94 548.50 761.38 2979.25 2734.12 0 0 0 11.66 15.66 15.68

6275.03 10791 490.31 3.45 -80.00 650.4 548.4 752.4 2979.9 2734.2 6.22 0.76 665 6343.12 56.22 0.99 4.10 0.986 0.091 0.158 500.53 416.12 584.94 3135.50 1247.00 0 0 0 11.66 15.70 15.48

6380 end climb: SURFACE_DEPTH_REACHED

state 6380 begin surface coast

6416 end surface coast: CONTROL_FINISHED_OK

state 6416 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	20	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	13.568552	FG_AHR_10V	2.1908026	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	10.378179	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	SC_RECORDABOVE	2000.0
HD_B	0.0139236	ROLL_MIN	1200	ALTIM_PING_DEPTH	0	SC_PROFILE	7.0
HD_C	5.7000002e-06	ROLL_MAX	4000	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	2593.1365	ALTIM_PULSE	3
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2713.5149	ALTIM_SENSITIVITY	2
FIX_MISSING_TIMEOUT	20	HEAD_ERRBAND	10	XPDR_VALID	6

GPS1	120823,021202,7605.261,-14205.255,0,10255.0,0,15.6	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	3.09	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120823,021202,7605.261,-14205.255,0,10255.0,0,15.6	MHEAD_RNG_PITCHd_Wd	157.0,65842,-20.2,-9.167,-25.06,1949,0.133
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	1691815211,20.4,6,stop	INTERNAL_PRESSURE	8.08766
WARN	HSCICON missed fuel gauge read	_24V_AH	14.89,12.315
MODEM_MSG	CACST,8,1,20230812043030.633204,18,24004,37,0268,0000,216,02,02,01,02,-1,-01,-01,1,3,0,0,150,-25.9,0.38,-100,2.62,-01,0.08,45,925,0025,0,-1,00,00*22	_10V_AH	14.99,0.000
FREEZE	1.23,-0.833,-1.357,2,20,2	FG_AHR_24Vo	10.555
FINISH	1.2,1.020013	FG_AHR_10Vo	2.238
SURF	below D_CALL,4.193654/3.000000	MEM0	59796,1,0,0
SM_CCo	6457.02,0.08,0.282,0,499.0,416.9,581.0,368.20	MEM1	65508,1,0,0
SM_GC	4.19,0.08,20.28,3.31,0.282,0.138,0.077,499.0,416.9,581.0,219.9,2620.2,0,0,0,15.77,15.54,15.64	MEM2	1023004,32,22604,116
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	19306,693
IRIDIUM_FIX	7611.73,-14220.94,100823,064602	CAP_FILE_SIZE	200531,0
TCM_TEMP	1.82	SDSIZE	3918848,3900160
SC_FREEKB	3872352	SDFILEDIR	200,21
RAFOS_CLK	-2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1691812927,74.57000,-145.56000,127.910,187387.5	SOUNDSPEED	1465.0
RAFOS_FIX	7603.504395,-14227.531250,120823,040430,8,255,1.26	MAGCAL	1.000000,-0.063100,0.001826,-0.063311,1.069004,-0.095953,0.072507,0.046195,0.988332,-1097.4,-136.9,405.3,36,0.1197,0
HUMID	47.79	IMPLIED_C_PITCH	2316,13.53,169,0.0,13.55
TEMP	-0.34	GPS	120823,045431,7601.480,-14226.179,59,1.1,60,15.7

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	636	1258	11935.35	nil	0	0	0.00
Pitch_motor	42	316	202.49	nil	0	0	0.00
Roll_motor	73	277	303.75	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	2322	5	178.23	SciCon	6421	9	881.08
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4133	0	19.83
Compass	1132	5	84.89
RAFOS	2469	40	1480.99
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
5.89	16386	-117.30	-1.96	0.00	499.7	419.6	579.8	219.8	2609.0	0.00	0.00	0	16.94	10.17	0.00	0.00	0.007	0.000	0.000	686.78	630.50	743.06	219.94	2609.25	0	0	0	15.83	30.00	30.00
17.20	18727	-117.30	-1.96	80.00	686.8	630.5	743.2	219.8	2609.2	3.02	0.00	1	117.80	74.26	13.57	3.67	0.005	0.317	0.160	2477.59	2451.94	2503.25	1820.44	4009.00	0	0	0	15.82	15.61	15.72
235.13	1028	-117.30	-1.96	0.00	2480.5	2453.9	2507.2	1820.2	4009.0	41.31	-19.93	44	240.68	0.00	0.00	3.59	0.000	0.000	0.097	2480.41	2453.19	2507.62	1820.12	2574.88	0	0	0	30.00	30.00	15.80
620.92	548	-117.30	-1.96	-80.00	2479.9	2452.4	2507.3	1820.3	2574.9	64.50	-2.69	61	626.85	0.00	0.00	3.75	0.000	0.000	0.172	2479.88	2452.25	2507.50	1820.12	1192.00	0	0	0	30.00	30.00	15.85
852.99	1060	-117.30	-1.96	0.00	2479.7	2451.5	2507.8	1820.2	1191.7	73.12	-3.60	107	859.54	0.00	0.00	3.41	0.000	0.000	0.081	2480.34	2451.75	2508.94	1820.38	2614.06	0	0	0	30.00	30.00	15.94
1248.72	32	-117.30	-1.96	0.00	2478.9	2449.9	2507.9	1820.2	2613.9	84.86	-3.18	121	1250.23	0.00	0.00	0.00	0.000	0.000	0.000	2479.22	2450.38	2508.06	1818.31	2613.62	0	0	0	30.00	30.00	30.00
1638.73	292	-117.30	-1.96	80.00	2478.7	2449.3	2508.1	1820.4	2614.2	97.12	-3.05	134	1644.96	0.00	0.00	3.62	0.000	0.000	0.155	2477.47	2448.25	2506.69	1820.81	4008.44	0	0	0	30.00	30.00	15.97
1823.03	1060	-117.30	-1.96	0.00	2478.0	2447.9	2508.0	1819.6	4007.4	103.04	-3.25	171	1828.88	0.00	0.00	3.41	0.000	0.000	0.094	2478.19	2448.44	2507.94	1820.50	2571.88	0	0	0	30.00	30.00	16.02
2203.77	292	-117.30	-1.96	80.00	2478.0	2448.1	2507.9	1820.5	2572.2	112.18	-1.93	187	2209.99	0.00	0.00	3.68	0.000	0.000	0.148	2478.66	2448.56	2508.75	1818.19	4007.94	0	0	0	30.00	30.00	16.01
2438.82	1060	-117.30	-1.96	0.00	2477.6	2447.6	2507.5	1820.4	4008.1	118.18	-2.80	234	2444.96	0.00	0.00	3.47	0.000	0.000	0.095	2478.28	2447.81	2508.75	1818.69	2569.94	0	0	0	30.00	30.00	16.05
2806.63	292	-117.30	-1.96	80.00	2477.6	2447.0	2508.2	1820.1	2570.9	124.57	-1.65	252	2812.86	0.00	0.00	3.68	0.000	0.000	0.148	2475.53	2444.75	2506.31	1820.31	4007.94	0	0	0	30.00	30.00	16.03
3041.72	1060	-117.30	-1.96	0.00	2477.2	2446.6	2507.8	1820.1	4007.4	130.05	-2.37	299	3048.04	0.00	0.00	3.47	0.000	0.000	0.095	2475.53	2445.12	2505.94	1820.25	2572.94	0	0	0	30.00	30.00	16.07
3426.74	292	-117.30	-1.96	80.00	2477.2	2446.6	2507.9	1820.4	2572.6	135.93	-1.38	316	3433.15	0.00	0.00	3.69	0.000	0.000	0.148	2476.59	2446.19	2507.00	1820.31	4008.62	0	0	0	30.00	30.00	16.01
3661.77	1060	-117.30	-1.96	0.00	2476.9	2446.1	2507.8	1820.3	4008.5	138.65	-1.14	363	3668.10	0.00	0.00	3.47	0.000	0.000	0.096	2477.19	2446.50	2507.88	1820.38	2571.75	0	0	0	30.00	30.00	16.03
4046.80	292	-117.30	-1.96	80.00	2476.7	2445.8	2507.6	1820.2	2572.1	143.42	-1.30	380	4053.25	0.00	0.00	3.71	0.000	0.000	0.149	2479.38	2447.62	2511.12	1819.94	4010.25	0	0	0	30.00	30.00	15.97
4281.81	1060	-117.30	-1.96	0.00	2476.7	2445.6	2507.8	1820.1	4009.5	146.06	-1.06	427	4288.18	0.00	0.00	3.49	0.000	0.000	0.096	2475.12	2444.12	2506.12	1820.88	2569.19	0	0	0	30.00	30.00	15.99
4576	end dive: NO_VERTICAL_VELOCITY
state	4576	begin apogee
4578.33	10243	0.00	-0.37	0.00	2477.0	2446.1	2507.9	1820.1	2731.4	148.85	0.00	441	4693.02	106.32	2.87	0.07	1.259	0.202	0.278	1997.19	1913.25	2081.12	2205.25	2696.62	0	0	0	11.78	15.91	15.49
4702	end apogee: CONTROL_FINISHED_OK
state	4702	begin climb
4703.47	10759	117.30	1.96	-80.00	1995.8	1911.8	2079.9	2204.8	2696.2	146.70	0.00	444	4819.96	99.51	3.92	4.03	1.169	0.119	0.171	1520.94	1412.31	1629.56	2770.62	1248.38	0	0	0	11.61	15.55	15.28
5042.43	17414	117.30	1.96	0.00	1513.2	1411.9	1614.5	2770.7	1248.6	66.19	24.54	511	5048.60	0.00	0.00	3.64	0.000	0.000	0.083	1512.97	1411.81	1614.12	2768.38	2732.88	0	0	0	30.00	30.00	15.64
5428.21	10791	233.73	2.42	-80.00	1511.4	1412.5	1610.3	2771.3	2732.9	42.50	3.06	528	5592.79	151.82	0.70	4.14	1.037	0.083	0.161	1046.91	929.75	1164.06	2888.31	1247.75	0	0	0	11.89	15.78	15.32
5821.05	11303	330.14	2.81	0.00	1042.9	931.7	1154.1	2888.4	1247.4	11.70	4.11	605	5972.77	138.49	0.57	3.63	0.991	0.092	0.079	654.94	548.50	761.38	2979.25	2734.12	0	0	0	11.66	15.66	15.68
6275.03	10791	490.31	3.45	-80.00	650.4	548.4	752.4	2979.9	2734.2	6.22	0.76	665	6343.12	56.22	0.99	4.10	0.986	0.091	0.158	500.53	416.12	584.94	3135.50	1247.00	0	0	0	11.66	15.70	15.48
6380	end climb: SURFACE_DEPTH_REACHED
state	6380	begin surface coast
6416	end surface coast: CONTROL_FINISHED_OK
state	6416	begin surface