Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 21 * 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 21 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 13.550501 FG_AHR_10V 2.2394063 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 10.578285 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 2.2394063 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 10.578285 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 13.550501 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 21 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 120823,045431,7601.480,-14226.179,59,1.1,60,15.7 TGT_RADIUS 4000.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.26 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120823,050113,7601.492,-14226.436,2,0.8,4,15.7 MHEAD_RNG_PITCHd_Wd 146.9,61104,-20.2,-9.167,-25.06,1949,0.137

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 1691821213,152.8,2,stop _24V_AH 14.94,12.543

MODEM_MSG CACST,8,1,20230812061202.166222,18,1132,24,0391,0000,246,01,01,01,03,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*1A _10V_AH 15.00,0.000

FREEZE 1.34,-0.824,-1.357,2,1,0 FG_AHR_24Vo 10.755

FINISH 1.3,1.020023 FG_AHR_10Vo 2.275

SM_CCo 6581.35,0.17,0.144,0,499.2,414.9,583.6,368.13 MEM0 59796,1,0,0

SM_GC 4.52,0.17,20.06,0.38,0.144,0.132,0.126,499.2,414.9,583.6,218.6,2570.0,0,0,0,15.81,15.60,15.66 MEM1 65508,1,0,0

SURF below D_CALL,4.521226/3.000000 MEM2 1023032,33,22556,116

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16139,631

IRIDIUM_FIX 7610.07,-14226.43,100823,065015 CAP_FILE_SIZE 217337,0

TCM_TEMP 1.62 SDSIZE 3918848,3899872

SC_FREEKB 3872032 SDFILEDIR 207,22

RAFOS_CLK -4 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 8,1691820163,74.24940,-137.99570,163.378,239348.7 SOUNDSPEED 1465.0

RAFOS_FIX 7603.507324,-14227.625000,120823,060602,8,255,0.89 MAGCAL 1.000000,-0.058374,0.022776,-0.066913,1.082120,-0.075388,0.074144,0.032463,0.974151,-1116.8,-159.8,420.6,36,0.1099,0

HUMID 48.15 IMPLIED_C_PITCH 2310,13.65,176,0.0,13.60

TEMP -0.50 GPS 120823,061202,7603.507,-14227.625,0,9255.0,0,15.7

INTERNAL_PRESSURE 8.0859

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 676 1267 12811.08 nil 0 0 0.00

Pitch_motor 42 312 198.41 nil 0 0 0.00

Roll_motor 87 270 351.91 nil 0 0 0.00

Iridium 324 261 1267.39 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.99 nil 0 0 0.00

Core 2626 5 201.68 SciCon 6554 6 625.74

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4322 0 20.75

Compass 1055 5 79.13

RAFOS 1246 40 747.64

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

7.13 16386 -117.30 -1.96 0.00 498.7 417.1 580.3 219.8 2576.8 0.00 0.00 0 121.40 112.12 0.00 0.00 0.005 0.000 0.000 2078.84 2077.19 2080.50 219.88 2576.62 0 0 0 15.77 30.00 30.00

121.65 18467 -117.30 -1.96 0.00 2078.8 2076.4 2081.3 219.9 2576.6 3.29 -1.02 11 153.53 12.55 13.49 0.00 0.007 0.312 0.000 2476.50 2455.75 2497.25 1819.00 2576.19 0 0 0 15.81 15.60 30.00

476.60 548 -117.30 -1.96 -80.00 2484.9 2456.2 2513.6 1819.0 2576.3 56.32 -6.40 32 482.55 0.00 0.00 3.78 0.000 0.000 0.169 2485.84 2457.25 2514.44 1816.75 1190.88 0 0 0 30.00 30.00 15.79

711.75 1060 -117.30 -1.96 0.00 2485.2 2456.4 2514.0 1819.1 1190.8 65.95 -3.61 79 717.89 0.00 0.00 3.45 0.000 0.000 0.083 2484.56 2456.50 2512.62 1819.06 2612.25 0 0 0 30.00 30.00 15.90

1095.78 292 -117.30 -1.96 80.00 2484.8 2455.9 2513.8 1819.2 2612.2 78.24 -3.14 97 1102.00 0.00 0.00 3.65 0.000 0.000 0.156 2483.97 2454.81 2513.12 1819.31 4008.44 0 0 0 30.00 30.00 15.89

1130.06 1060 -117.30 -1.96 0.00 2484.0 2454.7 2513.4 1819.2 4007.6 79.47 -3.20 104 1135.91 0.00 0.00 3.49 0.000 0.000 0.092 2484.19 2455.25 2513.12 1819.19 2572.25 0 0 0 30.00 30.00 15.94

1510.81 292 -117.30 -1.96 80.00 2484.2 2454.9 2513.6 1819.1 2572.0 93.21 -3.75 120 1517.07 0.00 0.00 3.70 0.000 0.000 0.150 2483.94 2454.94 2512.94 1817.62 4007.88 0 0 0 30.00 30.00 15.95

1745.88 1060 -117.30 -1.96 0.00 2483.0 2452.8 2513.2 1818.8 4008.7 101.85 -3.29 167 1752.09 0.00 0.00 3.51 0.000 0.000 0.094 2481.66 2451.62 2511.69 1818.88 2573.56 0 0 0 30.00 30.00 16.00

2130.91 292 -117.30 -1.96 80.00 2483.0 2452.2 2513.8 1819.0 2573.4 108.56 -1.81 184 2137.16 0.00 0.00 3.70 0.000 0.000 0.149 2481.19 2450.75 2511.62 1819.12 4007.75 0 0 0 30.00 30.00 15.99

2365.97 1060 -117.30 -1.96 0.00 2482.8 2452.2 2513.4 1818.9 4008.6 115.26 -3.22 231 2372.37 0.00 0.00 3.51 0.000 0.000 0.095 2483.56 2452.56 2514.56 1819.44 2573.12 0 0 0 30.00 30.00 16.04

2751.02 292 -117.30 -1.96 80.00 2483.1 2452.0 2514.1 1818.8 2573.2 124.03 -2.02 248 2757.49 0.00 0.00 3.72 0.000 0.000 0.150 2481.53 2451.31 2511.75 1819.12 4008.25 0 0 0 30.00 30.00 16.02

2808.68 1060 -117.30 -1.96 0.00 2482.8 2451.8 2513.7 1819.1 4008.6 125.10 -1.92 259 2814.87 0.00 0.00 3.45 0.000 0.000 0.094 2481.44 2450.56 2512.31 1819.12 2569.62 0 0 0 30.00 30.00 16.05

3193.57 292 -117.30 -1.96 80.00 2482.9 2452.4 2513.5 1819.4 2569.8 132.42 -2.02 276 3199.99 0.00 0.00 3.68 0.000 0.000 0.150 2481.03 2449.94 2512.12 1818.94 4007.75 0 0 0 30.00 30.00 16.03

3308.57 1060 -117.30 -1.96 0.00 2482.9 2451.5 2514.3 1819.0 4008.9 134.94 -2.03 299 3314.90 0.00 0.00 3.49 0.000 0.000 0.095 2482.19 2451.00 2513.38 1819.56 2572.44 0 0 0 30.00 30.00 16.07

3693.60 292 -117.30 -1.96 80.00 2482.9 2451.7 2514.2 1819.3 2572.9 141.19 -1.47 316 3700.01 0.00 0.00 3.69 0.000 0.000 0.150 2480.88 2449.50 2512.25 1819.06 4008.75 0 0 0 30.00 30.00 16.00

3928.60 1060 -117.30 -1.96 0.00 2482.2 2450.9 2513.5 1819.4 4009.1 144.45 -1.40 363 3934.93 0.00 0.00 3.49 0.000 0.000 0.096 2481.19 2449.75 2512.62 1819.50 2572.19 0 0 0 30.00 30.00 16.02

4313.62 548 -117.30 -1.96 -80.00 2482.6 2451.6 2513.6 1819.1 2572.1 150.13 -1.53 380 4320.09 0.00 0.00 3.73 0.000 0.000 0.176 2482.66 2451.00 2514.31 1819.31 1190.06 0 0 0 30.00 30.00 15.96

4357.89 1060 -117.30 -1.96 0.00 2482.6 2451.2 2514.0 1818.7 1190.6 150.75 -1.51 389 4363.91 0.00 0.00 3.40 0.000 0.000 0.080 2483.84 2452.44 2515.25 1819.00 2616.81 0 0 0 30.00 30.00 16.01

4728.64 292 -117.30 -1.96 80.00 2482.4 2451.1 2513.8 1819.2 2615.9 153.01 -0.73 403 4735.06 0.00 0.00 3.62 0.000 0.000 0.154 2480.94 2450.06 2511.81 1819.25 4007.94 0 0 0 30.00 30.00 15.96

4818 end dive: NO_VERTICAL_VELOCITY

state 4818 begin apogee

4823.85 10243 0.00 -0.37 0.00 2482.5 2450.8 2514.2 1818.8 2690.9 153.74 0.00 421 4942.75 108.17 2.87 0.07 1.267 0.199 0.271 1998.25 1915.12 2081.38 2206.31 2727.00 0 0 0 11.74 15.96 15.52

4944 end apogee: CONTROL_FINISHED_OK

state 4944 begin climb

4945.22 10759 117.30 1.96 -80.00 1996.3 1913.0 2079.6 2206.1 2727.6 150.78 0.00 429 5061.74 99.81 3.93 4.17 1.176 0.120 0.166 1521.16 1412.75 1629.56 2770.88 1247.00 0 0 0 11.65 15.57 15.31

5104.18 1028 117.30 1.96 0.00 1516.0 1412.2 1619.8 2772.6 1247.2 118.48 28.32 455 5111.37 0.00 0.00 3.67 0.000 0.000 0.080 1518.00 1414.06 1621.94 2771.88 2729.25 0 0 0 30.00 30.00 15.50

5484.92 16646 117.30 1.96 80.00 1511.6 1412.5 1610.6 2772.4 2728.9 45.30 14.15 471 5491.25 0.00 0.00 3.35 0.000 0.000 0.155 1511.47 1413.00 1609.94 2772.50 4008.06 0 0 0 30.00 30.00 15.73

5664.29 11303 288.22 2.64 0.00 1510.6 1415.3 1605.9 2772.5 4007.2 42.35 0.20 507 5907.02 227.22 1.03 3.27 1.024 0.080 0.086 825.44 709.75 941.12 2941.19 2692.12 0 0 0 11.69 15.83 15.83

6210.20 10791 428.28 3.20 -80.00 820.9 711.6 930.2 2940.9 2692.5 10.57 1.82 584 6339.00 116.51 0.83 4.05 0.987 0.079 0.165 500.84 413.69 588.00 3077.12 1247.31 0 0 0 11.66 15.71 15.36

6346.52 11303 490.37 3.45 0.00 499.8 413.5 586.2 3077.6 1247.1 5.69 5.91 610 6353.71 0.00 0.35 3.68 0.028 0.115 0.075 499.91 413.62 586.19 3136.06 2734.31 0 0 0 30.36 15.44 15.46

6465 end climb: SURFACE_DEPTH_REACHED

state 6465 begin surface coast

6545 end surface coast: CONTROL_FINISHED_OK

state 6545 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	21	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	13.550501	FG_AHR_10V	2.2394063	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	10.578285	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	120823,045431,7601.480,-14226.179,59,1.1,60,15.7	TGT_RADIUS	4000.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.26	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120823,050113,7601.492,-14226.436,2,0.8,4,15.7	MHEAD_RNG_PITCHd_Wd	146.9,61104,-20.2,-9.167,-25.06,1949,0.137
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	1691821213,152.8,2,stop	_24V_AH	14.94,12.543
MODEM_MSG	CACST,8,1,20230812061202.166222,18,1132,24,0391,0000,246,01,01,01,03,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*1A	_10V_AH	15.00,0.000
FREEZE	1.34,-0.824,-1.357,2,1,0	FG_AHR_24Vo	10.755
FINISH	1.3,1.020023	FG_AHR_10Vo	2.275
SM_CCo	6581.35,0.17,0.144,0,499.2,414.9,583.6,368.13	MEM0	59796,1,0,0
SM_GC	4.52,0.17,20.06,0.38,0.144,0.132,0.126,499.2,414.9,583.6,218.6,2570.0,0,0,0,15.81,15.60,15.66	MEM1	65508,1,0,0
SURF	below D_CALL,4.521226/3.000000	MEM2	1023032,33,22556,116
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16139,631
IRIDIUM_FIX	7610.07,-14226.43,100823,065015	CAP_FILE_SIZE	217337,0
TCM_TEMP	1.62	SDSIZE	3918848,3899872
SC_FREEKB	3872032	SDFILEDIR	207,22
RAFOS_CLK	-4	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	8,1691820163,74.24940,-137.99570,163.378,239348.7	SOUNDSPEED	1465.0
RAFOS_FIX	7603.507324,-14227.625000,120823,060602,8,255,0.89	MAGCAL	1.000000,-0.058374,0.022776,-0.066913,1.082120,-0.075388,0.074144,0.032463,0.974151,-1116.8,-159.8,420.6,36,0.1099,0
HUMID	48.15	IMPLIED_C_PITCH	2310,13.65,176,0.0,13.60
TEMP	-0.50	GPS	120823,061202,7603.507,-14227.625,0,9255.0,0,15.7
INTERNAL_PRESSURE	8.0859

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	676	1267	12811.08	nil	0	0	0.00
Pitch_motor	42	312	198.41	nil	0	0	0.00
Roll_motor	87	270	351.91	nil	0	0	0.00
Iridium	324	261	1267.39	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.99	nil	0	0	0.00
Core	2626	5	201.68	SciCon	6554	6	625.74
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4322	0	20.75
Compass	1055	5	79.13
RAFOS	1246	40	747.64
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
7.13	16386	-117.30	-1.96	0.00	498.7	417.1	580.3	219.8	2576.8	0.00	0.00	0	121.40	112.12	0.00	0.00	0.005	0.000	0.000	2078.84	2077.19	2080.50	219.88	2576.62	0	0	0	15.77	30.00	30.00
121.65	18467	-117.30	-1.96	0.00	2078.8	2076.4	2081.3	219.9	2576.6	3.29	-1.02	11	153.53	12.55	13.49	0.00	0.007	0.312	0.000	2476.50	2455.75	2497.25	1819.00	2576.19	0	0	0	15.81	15.60	30.00
476.60	548	-117.30	-1.96	-80.00	2484.9	2456.2	2513.6	1819.0	2576.3	56.32	-6.40	32	482.55	0.00	0.00	3.78	0.000	0.000	0.169	2485.84	2457.25	2514.44	1816.75	1190.88	0	0	0	30.00	30.00	15.79
711.75	1060	-117.30	-1.96	0.00	2485.2	2456.4	2514.0	1819.1	1190.8	65.95	-3.61	79	717.89	0.00	0.00	3.45	0.000	0.000	0.083	2484.56	2456.50	2512.62	1819.06	2612.25	0	0	0	30.00	30.00	15.90
1095.78	292	-117.30	-1.96	80.00	2484.8	2455.9	2513.8	1819.2	2612.2	78.24	-3.14	97	1102.00	0.00	0.00	3.65	0.000	0.000	0.156	2483.97	2454.81	2513.12	1819.31	4008.44	0	0	0	30.00	30.00	15.89
1130.06	1060	-117.30	-1.96	0.00	2484.0	2454.7	2513.4	1819.2	4007.6	79.47	-3.20	104	1135.91	0.00	0.00	3.49	0.000	0.000	0.092	2484.19	2455.25	2513.12	1819.19	2572.25	0	0	0	30.00	30.00	15.94
1510.81	292	-117.30	-1.96	80.00	2484.2	2454.9	2513.6	1819.1	2572.0	93.21	-3.75	120	1517.07	0.00	0.00	3.70	0.000	0.000	0.150	2483.94	2454.94	2512.94	1817.62	4007.88	0	0	0	30.00	30.00	15.95
1745.88	1060	-117.30	-1.96	0.00	2483.0	2452.8	2513.2	1818.8	4008.7	101.85	-3.29	167	1752.09	0.00	0.00	3.51	0.000	0.000	0.094	2481.66	2451.62	2511.69	1818.88	2573.56	0	0	0	30.00	30.00	16.00
2130.91	292	-117.30	-1.96	80.00	2483.0	2452.2	2513.8	1819.0	2573.4	108.56	-1.81	184	2137.16	0.00	0.00	3.70	0.000	0.000	0.149	2481.19	2450.75	2511.62	1819.12	4007.75	0	0	0	30.00	30.00	15.99
2365.97	1060	-117.30	-1.96	0.00	2482.8	2452.2	2513.4	1818.9	4008.6	115.26	-3.22	231	2372.37	0.00	0.00	3.51	0.000	0.000	0.095	2483.56	2452.56	2514.56	1819.44	2573.12	0	0	0	30.00	30.00	16.04
2751.02	292	-117.30	-1.96	80.00	2483.1	2452.0	2514.1	1818.8	2573.2	124.03	-2.02	248	2757.49	0.00	0.00	3.72	0.000	0.000	0.150	2481.53	2451.31	2511.75	1819.12	4008.25	0	0	0	30.00	30.00	16.02
2808.68	1060	-117.30	-1.96	0.00	2482.8	2451.8	2513.7	1819.1	4008.6	125.10	-1.92	259	2814.87	0.00	0.00	3.45	0.000	0.000	0.094	2481.44	2450.56	2512.31	1819.12	2569.62	0	0	0	30.00	30.00	16.05
3193.57	292	-117.30	-1.96	80.00	2482.9	2452.4	2513.5	1819.4	2569.8	132.42	-2.02	276	3199.99	0.00	0.00	3.68	0.000	0.000	0.150	2481.03	2449.94	2512.12	1818.94	4007.75	0	0	0	30.00	30.00	16.03
3308.57	1060	-117.30	-1.96	0.00	2482.9	2451.5	2514.3	1819.0	4008.9	134.94	-2.03	299	3314.90	0.00	0.00	3.49	0.000	0.000	0.095	2482.19	2451.00	2513.38	1819.56	2572.44	0	0	0	30.00	30.00	16.07
3693.60	292	-117.30	-1.96	80.00	2482.9	2451.7	2514.2	1819.3	2572.9	141.19	-1.47	316	3700.01	0.00	0.00	3.69	0.000	0.000	0.150	2480.88	2449.50	2512.25	1819.06	4008.75	0	0	0	30.00	30.00	16.00
3928.60	1060	-117.30	-1.96	0.00	2482.2	2450.9	2513.5	1819.4	4009.1	144.45	-1.40	363	3934.93	0.00	0.00	3.49	0.000	0.000	0.096	2481.19	2449.75	2512.62	1819.50	2572.19	0	0	0	30.00	30.00	16.02
4313.62	548	-117.30	-1.96	-80.00	2482.6	2451.6	2513.6	1819.1	2572.1	150.13	-1.53	380	4320.09	0.00	0.00	3.73	0.000	0.000	0.176	2482.66	2451.00	2514.31	1819.31	1190.06	0	0	0	30.00	30.00	15.96
4357.89	1060	-117.30	-1.96	0.00	2482.6	2451.2	2514.0	1818.7	1190.6	150.75	-1.51	389	4363.91	0.00	0.00	3.40	0.000	0.000	0.080	2483.84	2452.44	2515.25	1819.00	2616.81	0	0	0	30.00	30.00	16.01
4728.64	292	-117.30	-1.96	80.00	2482.4	2451.1	2513.8	1819.2	2615.9	153.01	-0.73	403	4735.06	0.00	0.00	3.62	0.000	0.000	0.154	2480.94	2450.06	2511.81	1819.25	4007.94	0	0	0	30.00	30.00	15.96
4818	end dive: NO_VERTICAL_VELOCITY
state	4818	begin apogee
4823.85	10243	0.00	-0.37	0.00	2482.5	2450.8	2514.2	1818.8	2690.9	153.74	0.00	421	4942.75	108.17	2.87	0.07	1.267	0.199	0.271	1998.25	1915.12	2081.38	2206.31	2727.00	0	0	0	11.74	15.96	15.52
4944	end apogee: CONTROL_FINISHED_OK
state	4944	begin climb
4945.22	10759	117.30	1.96	-80.00	1996.3	1913.0	2079.6	2206.1	2727.6	150.78	0.00	429	5061.74	99.81	3.93	4.17	1.176	0.120	0.166	1521.16	1412.75	1629.56	2770.88	1247.00	0	0	0	11.65	15.57	15.31
5104.18	1028	117.30	1.96	0.00	1516.0	1412.2	1619.8	2772.6	1247.2	118.48	28.32	455	5111.37	0.00	0.00	3.67	0.000	0.000	0.080	1518.00	1414.06	1621.94	2771.88	2729.25	0	0	0	30.00	30.00	15.50
5484.92	16646	117.30	1.96	80.00	1511.6	1412.5	1610.6	2772.4	2728.9	45.30	14.15	471	5491.25	0.00	0.00	3.35	0.000	0.000	0.155	1511.47	1413.00	1609.94	2772.50	4008.06	0	0	0	30.00	30.00	15.73
5664.29	11303	288.22	2.64	0.00	1510.6	1415.3	1605.9	2772.5	4007.2	42.35	0.20	507	5907.02	227.22	1.03	3.27	1.024	0.080	0.086	825.44	709.75	941.12	2941.19	2692.12	0	0	0	11.69	15.83	15.83
6210.20	10791	428.28	3.20	-80.00	820.9	711.6	930.2	2940.9	2692.5	10.57	1.82	584	6339.00	116.51	0.83	4.05	0.987	0.079	0.165	500.84	413.69	588.00	3077.12	1247.31	0	0	0	11.66	15.71	15.36
6346.52	11303	490.37	3.45	0.00	499.8	413.5	586.2	3077.6	1247.1	5.69	5.91	610	6353.71	0.00	0.35	3.68	0.028	0.115	0.075	499.91	413.62	586.19	3136.06	2734.31	0	0	0	30.36	15.44	15.46
6465	end climb: SURFACE_DEPTH_REACHED
state	6465	begin surface coast
6545	end surface coast: CONTROL_FINISHED_OK
state	6545	begin surface