Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 23 * 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 23 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 13.624594 FG_AHR_10V 2.3157218 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 10.929877 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 2.3157218 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 10.929877 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 13.624594 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 23 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 120823,061202,7603.507,-14227.625,0,9255.0,0,15.7 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 4.22 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120823,061202,7603.507,-14227.625,0,9255.0,0,15.7 MHEAD_RNG_PITCHd_Wd 147.5,64834,-20.2,-9.167,-25.06,1949,0.132

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:

MODEM_MSG CACST,8,1,20230812083030.724521,18,2233,27,0097,0000,246,04,04,01,06,-1,-01,-01,1,3,0,0,150,-40.2,0.54,-100,2.46,-01,0.05,50,925,0025,0,-1,00,00*17 _24V_AH 14.90,12.943

NAV 1691834343,41.3,start _10V_AH 14.99,0.000

FREEZE 0.69,-0.850,-1.336,2,3,0 FG_AHR_24Vo 11.106

FINISH 0.7,1.019719 FG_AHR_10Vo 2.352

SM_CCo 6210.78,0.18,0.131,0,499.3,415.9,582.6,368.13 MEM0 59796,1,0,0

SM_GC 4.12,0.18,20.36,0.39,0.131,0.140,0.124,499.3,415.9,582.6,220.1,2573.6,0,0,0,15.77,15.61,15.69 MEM1 65508,1,0,0

SURF below D_CALL,4.115338/3.000000 MEM2 1023052,32,22556,116

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 12906,529

IRIDIUM_FIX 7610.07,-14226.43,100823,065015 CAP_FILE_SIZE 188403,0

TCM_TEMP 1.70 SDSIZE 3918848,3899328

SC_FREEKB 3871392 SDFILEDIR 221,24

RAFOS_CLK 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 0,1691827327,74.57000,-145.56000,127.834,187277.4 SOUNDSPEED 1465.0

RAFOS_FIX 7602.214355,-14153.718750,120823,080830,7,255,1.85 MAGCAL 1.000000,-0.044746,-0.030345,-0.080479,1.026573,-0.121021,0.064316,-0.003093,0.921384,-1074.0,-103.8,463.9,36,0.1909,0

HUMID 47.95 IMPLIED_C_PITCH 2311,13.46,159,0.0,13.54

TEMP -0.36 GPS 120823,083030,7602.214,-14153.719,0,8255.0,0,15.7

INTERNAL_PRESSURE 8.0913

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 641 1251 11958.15 nil 0 0 0.00

Pitch_motor 43 308 198.49 nil 0 0 0.00

Roll_motor 66 282 280.45 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 1966 5 150.92 SciCon 6179 6 595.29

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4247 0 20.38

Compass 910 5 68.26

RAFOS 476 40 285.71

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

5.86 16386 -117.30 -1.95 0.00 499.2 415.3 583.1 219.9 2575.0 0.00 0.00 0 16.93 10.16 0.00 0.00 0.007 0.000 0.000 704.00 645.38 762.62 219.88 2575.25 0 0 0 15.69 30.00 30.00

17.18 18727 -117.30 -1.95 80.00 704.2 645.5 762.9 219.9 2574.8 3.59 0.00 1 114.44 71.47 13.62 3.81 0.005 0.308 0.154 2477.94 2452.75 2503.12 1821.56 4006.81 0 0 0 15.68 15.51 15.61

116.73 1028 -117.30 -1.95 0.00 2479.7 2454.5 2504.8 1821.5 4007.4 16.73 -21.93 16 123.03 0.00 0.00 3.62 0.000 0.000 0.093 2482.34 2457.00 2507.69 1821.44 2574.75 0 0 0 30.00 30.00 15.65

423.75 0 -117.30 -1.95 0.00 2482.4 2454.6 2510.1 1821.5 2575.2 60.68 -9.21 31 425.19 0.00 0.00 0.00 0.000 0.000 0.000 2483.06 2455.19 2510.94 1821.00 2574.81 0 0 0 30.00 30.00 30.00

812.50 32 -117.30 -1.95 0.00 2480.9 2452.1 2509.8 1821.4 2574.3 72.79 -2.90 44 813.94 0.00 0.00 0.00 0.000 0.000 0.000 2479.38 2451.50 2507.25 1821.62 2574.44 0 0 0 30.00 30.00 30.00

1190.60 292 -117.30 -1.95 80.00 2480.2 2450.4 2509.9 1822.2 2574.7 86.22 -3.60 58 1196.86 0.00 0.00 3.74 0.000 0.000 0.148 2479.44 2449.44 2509.44 1820.31 4008.81 0 0 0 30.00 30.00 15.90

1359.91 1060 -117.30 -1.95 0.00 2479.5 2449.7 2509.4 1821.2 4008.3 92.74 -3.70 92 1366.54 0.00 0.00 3.57 0.000 0.000 0.094 2480.25 2451.00 2509.50 1821.62 2573.62 0 0 0 30.00 30.00 15.95

1755.68 292 -117.30 -1.95 80.00 2479.5 2449.6 2509.5 1821.4 2573.0 102.07 -2.37 106 1761.93 0.00 0.00 3.71 0.000 0.000 0.146 2480.91 2451.44 2510.38 1820.94 4009.62 0 0 0 30.00 30.00 15.96

1990.71 1060 -117.30 -1.95 0.00 2479.3 2449.3 2509.2 1821.6 4009.5 108.75 -2.93 153 1996.91 0.00 0.00 3.54 0.000 0.000 0.094 2479.16 2449.12 2509.19 1822.00 2573.56 0 0 0 30.00 30.00 16.01

2375.73 292 -117.30 -1.95 80.00 2479.4 2449.3 2509.4 1821.9 2573.6 119.08 -2.38 170 2382.00 0.00 0.00 3.70 0.000 0.000 0.145 2480.47 2450.44 2510.50 1821.81 4008.62 0 0 0 30.00 30.00 16.01

2465.02 1060 -117.30 -1.95 0.00 2479.4 2449.4 2509.5 1821.9 4008.6 121.24 -2.30 188 2470.98 0.00 0.00 3.51 0.000 0.000 0.093 2480.16 2450.31 2510.00 1821.88 2571.94 0 0 0 30.00 30.00 16.04

2840.77 292 -117.30 -1.95 80.00 2479.5 2449.3 2509.6 1821.8 2571.1 127.89 -1.78 206 2847.00 0.00 0.00 3.70 0.000 0.000 0.146 2477.66 2447.50 2507.81 1822.00 4008.12 0 0 0 30.00 30.00 16.02

2885.11 1060 -117.30 -1.95 0.00 2479.2 2449.0 2509.5 1821.5 4008.8 128.82 -1.81 215 2891.16 0.00 0.00 3.54 0.000 0.000 0.092 2480.25 2450.12 2510.38 1821.94 2572.88 0 0 0 30.00 30.00 16.06

3255.82 548 -117.30 -1.95 -80.00 2479.3 2448.8 2509.9 1821.5 2572.9 134.75 -1.50 229 3262.30 0.00 0.00 3.76 0.000 0.000 0.175 2477.56 2447.56 2507.56 1821.62 1191.06 0 0 0 30.00 30.00 16.02

3490.88 1060 -117.30 -1.95 0.00 2479.2 2448.5 2509.9 1821.5 1190.9 138.62 -1.71 276 3497.21 0.00 0.00 3.39 0.000 0.000 0.082 2480.19 2449.94 2510.44 1819.50 2614.25 0 0 0 30.00 30.00 16.09

3875.90 32 -117.30 -1.95 0.00 2479.2 2448.9 2509.4 1821.7 2614.5 143.54 -1.24 293 3877.46 0.00 0.00 0.00 0.000 0.000 0.000 2479.91 2450.19 2509.62 1821.81 2614.94 0 0 0 30.00 30.00 30.00

4265 end dive: NO_VERTICAL_VELOCITY

state 4265 begin apogee

4267.40 10243 0.00 -0.37 0.00 2479.5 2449.1 2509.8 1821.7 2727.9 145.68 0.00 306 4384.18 107.78 2.85 0.06 1.251 0.203 0.282 1998.50 1915.00 2082.00 2205.75 2695.12 0 0 0 11.92 16.05 15.60

4385 end apogee: CONTROL_FINISHED_OK

state 4385 begin climb

4386.65 10759 117.30 1.95 -80.00 1996.8 1913.4 2080.2 2206.2 2695.3 143.62 0.00 309 4505.78 101.09 3.91 4.09 1.155 0.122 0.167 1519.84 1411.88 1627.81 2771.06 1247.62 0 0 0 11.67 15.63 15.33

4538.21 1028 117.30 1.95 0.00 1516.5 1411.8 1621.2 2770.2 1247.4 112.65 27.65 333 4545.11 0.00 0.00 3.70 0.000 0.000 0.083 1516.84 1412.25 1621.44 2770.00 2729.12 0 0 0 30.00 30.00 15.51

4933.94 16646 117.30 1.95 80.00 1511.7 1412.2 1611.2 2770.1 2729.1 41.78 11.80 347 4940.42 0.00 0.00 3.38 0.000 0.000 0.154 1511.19 1412.25 1610.12 2770.44 4007.56 0 0 0 30.00 30.00 15.75

5170.49 11303 296.80 2.67 0.00 1510.4 1414.4 1606.4 2769.9 4006.6 41.37 -0.25 393 5431.00 244.99 1.11 3.29 1.015 0.078 0.086 790.50 675.88 905.12 2948.38 2692.69 0 0 0 11.71 15.82 15.85

5734.26 10791 435.62 3.22 -80.00 785.9 677.2 894.6 2948.2 2693.1 9.97 1.88 473 5851.23 105.66 0.83 4.10 0.979 0.079 0.164 500.59 414.31 586.88 3081.00 1247.31 0 0 0 11.59 15.67 15.35

5853.85 11303 522.96 3.57 0.00 499.9 414.2 585.6 3083.4 1247.7 5.58 4.58 496 5861.00 0.00 0.52 3.68 0.000 0.101 0.074 499.56 414.12 585.00 3164.44 2735.31 0 0 0 30.00 15.41 15.43

6054 end climb: SURFACE_DEPTH_REACHED

state 6054 begin surface coast

6174 end surface coast: CONTROL_FINISHED_OK

state 6174 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	23	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	13.624594	FG_AHR_10V	2.3157218	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	10.929877	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	120823,061202,7603.507,-14227.625,0,9255.0,0,15.7	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	4.22	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120823,061202,7603.507,-14227.625,0,9255.0,0,15.7	MHEAD_RNG_PITCHd_Wd	147.5,64834,-20.2,-9.167,-25.06,1949,0.132
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

MODEM_MSG	CACST,8,1,20230812083030.724521,18,2233,27,0097,0000,246,04,04,01,06,-1,-01,-01,1,3,0,0,150,-40.2,0.54,-100,2.46,-01,0.05,50,925,0025,0,-1,00,00*17	_24V_AH	14.90,12.943
NAV	1691834343,41.3,start	_10V_AH	14.99,0.000
FREEZE	0.69,-0.850,-1.336,2,3,0	FG_AHR_24Vo	11.106
FINISH	0.7,1.019719	FG_AHR_10Vo	2.352
SM_CCo	6210.78,0.18,0.131,0,499.3,415.9,582.6,368.13	MEM0	59796,1,0,0
SM_GC	4.12,0.18,20.36,0.39,0.131,0.140,0.124,499.3,415.9,582.6,220.1,2573.6,0,0,0,15.77,15.61,15.69	MEM1	65508,1,0,0
SURF	below D_CALL,4.115338/3.000000	MEM2	1023052,32,22556,116
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	12906,529
IRIDIUM_FIX	7610.07,-14226.43,100823,065015	CAP_FILE_SIZE	188403,0
TCM_TEMP	1.70	SDSIZE	3918848,3899328
SC_FREEKB	3871392	SDFILEDIR	221,24
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1691827327,74.57000,-145.56000,127.834,187277.4	SOUNDSPEED	1465.0
RAFOS_FIX	7602.214355,-14153.718750,120823,080830,7,255,1.85	MAGCAL	1.000000,-0.044746,-0.030345,-0.080479,1.026573,-0.121021,0.064316,-0.003093,0.921384,-1074.0,-103.8,463.9,36,0.1909,0
HUMID	47.95	IMPLIED_C_PITCH	2311,13.46,159,0.0,13.54
TEMP	-0.36	GPS	120823,083030,7602.214,-14153.719,0,8255.0,0,15.7
INTERNAL_PRESSURE	8.0913

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	641	1251	11958.15	nil	0	0	0.00
Pitch_motor	43	308	198.49	nil	0	0	0.00
Roll_motor	66	282	280.45	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	1966	5	150.92	SciCon	6179	6	595.29
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4247	0	20.38
Compass	910	5	68.26
RAFOS	476	40	285.71
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
5.86	16386	-117.30	-1.95	0.00	499.2	415.3	583.1	219.9	2575.0	0.00	0.00	0	16.93	10.16	0.00	0.00	0.007	0.000	0.000	704.00	645.38	762.62	219.88	2575.25	0	0	0	15.69	30.00	30.00
17.18	18727	-117.30	-1.95	80.00	704.2	645.5	762.9	219.9	2574.8	3.59	0.00	1	114.44	71.47	13.62	3.81	0.005	0.308	0.154	2477.94	2452.75	2503.12	1821.56	4006.81	0	0	0	15.68	15.51	15.61
116.73	1028	-117.30	-1.95	0.00	2479.7	2454.5	2504.8	1821.5	4007.4	16.73	-21.93	16	123.03	0.00	0.00	3.62	0.000	0.000	0.093	2482.34	2457.00	2507.69	1821.44	2574.75	0	0	0	30.00	30.00	15.65
423.75	0	-117.30	-1.95	0.00	2482.4	2454.6	2510.1	1821.5	2575.2	60.68	-9.21	31	425.19	0.00	0.00	0.00	0.000	0.000	0.000	2483.06	2455.19	2510.94	1821.00	2574.81	0	0	0	30.00	30.00	30.00
812.50	32	-117.30	-1.95	0.00	2480.9	2452.1	2509.8	1821.4	2574.3	72.79	-2.90	44	813.94	0.00	0.00	0.00	0.000	0.000	0.000	2479.38	2451.50	2507.25	1821.62	2574.44	0	0	0	30.00	30.00	30.00
1190.60	292	-117.30	-1.95	80.00	2480.2	2450.4	2509.9	1822.2	2574.7	86.22	-3.60	58	1196.86	0.00	0.00	3.74	0.000	0.000	0.148	2479.44	2449.44	2509.44	1820.31	4008.81	0	0	0	30.00	30.00	15.90
1359.91	1060	-117.30	-1.95	0.00	2479.5	2449.7	2509.4	1821.2	4008.3	92.74	-3.70	92	1366.54	0.00	0.00	3.57	0.000	0.000	0.094	2480.25	2451.00	2509.50	1821.62	2573.62	0	0	0	30.00	30.00	15.95
1755.68	292	-117.30	-1.95	80.00	2479.5	2449.6	2509.5	1821.4	2573.0	102.07	-2.37	106	1761.93	0.00	0.00	3.71	0.000	0.000	0.146	2480.91	2451.44	2510.38	1820.94	4009.62	0	0	0	30.00	30.00	15.96
1990.71	1060	-117.30	-1.95	0.00	2479.3	2449.3	2509.2	1821.6	4009.5	108.75	-2.93	153	1996.91	0.00	0.00	3.54	0.000	0.000	0.094	2479.16	2449.12	2509.19	1822.00	2573.56	0	0	0	30.00	30.00	16.01
2375.73	292	-117.30	-1.95	80.00	2479.4	2449.3	2509.4	1821.9	2573.6	119.08	-2.38	170	2382.00	0.00	0.00	3.70	0.000	0.000	0.145	2480.47	2450.44	2510.50	1821.81	4008.62	0	0	0	30.00	30.00	16.01
2465.02	1060	-117.30	-1.95	0.00	2479.4	2449.4	2509.5	1821.9	4008.6	121.24	-2.30	188	2470.98	0.00	0.00	3.51	0.000	0.000	0.093	2480.16	2450.31	2510.00	1821.88	2571.94	0	0	0	30.00	30.00	16.04
2840.77	292	-117.30	-1.95	80.00	2479.5	2449.3	2509.6	1821.8	2571.1	127.89	-1.78	206	2847.00	0.00	0.00	3.70	0.000	0.000	0.146	2477.66	2447.50	2507.81	1822.00	4008.12	0	0	0	30.00	30.00	16.02
2885.11	1060	-117.30	-1.95	0.00	2479.2	2449.0	2509.5	1821.5	4008.8	128.82	-1.81	215	2891.16	0.00	0.00	3.54	0.000	0.000	0.092	2480.25	2450.12	2510.38	1821.94	2572.88	0	0	0	30.00	30.00	16.06
3255.82	548	-117.30	-1.95	-80.00	2479.3	2448.8	2509.9	1821.5	2572.9	134.75	-1.50	229	3262.30	0.00	0.00	3.76	0.000	0.000	0.175	2477.56	2447.56	2507.56	1821.62	1191.06	0	0	0	30.00	30.00	16.02
3490.88	1060	-117.30	-1.95	0.00	2479.2	2448.5	2509.9	1821.5	1190.9	138.62	-1.71	276	3497.21	0.00	0.00	3.39	0.000	0.000	0.082	2480.19	2449.94	2510.44	1819.50	2614.25	0	0	0	30.00	30.00	16.09
3875.90	32	-117.30	-1.95	0.00	2479.2	2448.9	2509.4	1821.7	2614.5	143.54	-1.24	293	3877.46	0.00	0.00	0.00	0.000	0.000	0.000	2479.91	2450.19	2509.62	1821.81	2614.94	0	0	0	30.00	30.00	30.00
4265	end dive: NO_VERTICAL_VELOCITY
state	4265	begin apogee
4267.40	10243	0.00	-0.37	0.00	2479.5	2449.1	2509.8	1821.7	2727.9	145.68	0.00	306	4384.18	107.78	2.85	0.06	1.251	0.203	0.282	1998.50	1915.00	2082.00	2205.75	2695.12	0	0	0	11.92	16.05	15.60
4385	end apogee: CONTROL_FINISHED_OK
state	4385	begin climb
4386.65	10759	117.30	1.95	-80.00	1996.8	1913.4	2080.2	2206.2	2695.3	143.62	0.00	309	4505.78	101.09	3.91	4.09	1.155	0.122	0.167	1519.84	1411.88	1627.81	2771.06	1247.62	0	0	0	11.67	15.63	15.33
4538.21	1028	117.30	1.95	0.00	1516.5	1411.8	1621.2	2770.2	1247.4	112.65	27.65	333	4545.11	0.00	0.00	3.70	0.000	0.000	0.083	1516.84	1412.25	1621.44	2770.00	2729.12	0	0	0	30.00	30.00	15.51
4933.94	16646	117.30	1.95	80.00	1511.7	1412.2	1611.2	2770.1	2729.1	41.78	11.80	347	4940.42	0.00	0.00	3.38	0.000	0.000	0.154	1511.19	1412.25	1610.12	2770.44	4007.56	0	0	0	30.00	30.00	15.75
5170.49	11303	296.80	2.67	0.00	1510.4	1414.4	1606.4	2769.9	4006.6	41.37	-0.25	393	5431.00	244.99	1.11	3.29	1.015	0.078	0.086	790.50	675.88	905.12	2948.38	2692.69	0	0	0	11.71	15.82	15.85
5734.26	10791	435.62	3.22	-80.00	785.9	677.2	894.6	2948.2	2693.1	9.97	1.88	473	5851.23	105.66	0.83	4.10	0.979	0.079	0.164	500.59	414.31	586.88	3081.00	1247.31	0	0	0	11.59	15.67	15.35
5853.85	11303	522.96	3.57	0.00	499.9	414.2	585.6	3083.4	1247.7	5.58	4.58	496	5861.00	0.00	0.52	3.68	0.000	0.101	0.074	499.56	414.12	585.00	3164.44	2735.31	0	0	0	30.00	15.41	15.43
6054	end climb: SURFACE_DEPTH_REACHED
state	6054	begin surface coast
6174	end surface coast: CONTROL_FINISHED_OK
state	6174	begin surface