Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 25 * 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 25 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 13.501673 FG_AHR_10V 2.3756578 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 11.281879 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 2.3756578 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 11.281879 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 13.501673 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 25 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 120823,083030,7602.214,-14153.719,0,8255.0,0,15.7 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 6.22 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120823,083030,7602.214,-14153.719,0,8255.0,0,15.7 MHEAD_RNG_PITCHd_Wd 161.4,59739,-20.2,-9.167,-25.06,1949,0.157

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 1691844012,123.1,7,stop _24V_AH 14.93,13.356

MODEM_MSG CACST,8,1,20230812123031.220724,18,12076,34,0092,0000,246,03,03,01,05,-1,-01,-01,1,3,0,0,150,-37.0,0.39,-100,2.61,-01,0.34,50,925,0025,0,-1,00,00*26 _10V_AH 14.99,0.000

FREEZE 1.31,-0.767,-1.345,2,5,0 FG_AHR_24Vo 11.455

FINISH 1.3,1.019843 FG_AHR_10Vo 2.420

SM_CCo 5807.34,0.10,0.241,0,499.0,416.8,581.3,368.19 MEM0 59796,1,0,0

SM_GC 4.26,0.10,20.00,3.64,0.241,0.135,0.087,499.0,416.8,581.3,219.8,2575.8,0,0,0,15.79,15.57,15.65 MEM1 65508,1,0,0

SURF below D_CALL,4.263320/3.000000 MEM2 1023032,33,22556,116

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16121,558

IRIDIUM_FIX 7610.07,-14226.43,100823,065015 CAP_FILE_SIZE 200005,0

TCM_TEMP 1.79 SDSIZE 3918848,3898720

SC_FREEKB 3870752 SDFILEDIR 235,26

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

MODEM 0,1691841727,74.57000,-145.56000,127.486,186767.0 SOUNDSPEED 1465.0

RAFOS_FIX 7605.904785,-14202.494141,120823,121231,7,255,0.55 MAGCAL 1.000000,0.002755,-0.041072,-0.077845,1.042766,-0.137199,0.066156,0.002238,0.941447,-1056.7,-96.3,456.1,36,0.1489,0

HUMID 48.28 IMPLIED_C_PITCH 2311,13.46,145,0.0,13.48

TEMP -0.49 GPS 120823,123031,7605.905,-14202.494,0,8255.0,0,15.7

INTERNAL_PRESSURE 8.09132

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 642 1245 11941.78 nil 0 0 0.00

Pitch_motor 42 311 198.02 nil 0 0 0.00

Roll_motor 80 272 327.71 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 1971 5 151.32 SciCon 5770 6 561.85

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3834 0 18.39

Compass 940 5 70.46

RAFOS 2468 40 1480.21

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 -1.96 0.00 499.4 415.6 583.2 218.7 2610.5 0.00 0.00 0 13.98 7.20 0.00 0.00 0.008 0.000 0.000 658.12 594.81 721.44 218.62 2610.31 0 0 0 15.75 30.00 30.00

14.23 18727 -117.30 -1.96 80.00 658.5 595.2 721.8 218.7 2609.9 4.38 0.00 1 131.47 83.05 13.63 3.73 0.005 0.312 0.150 2478.19 2453.31 2503.06 1819.38 4008.62 0 0 0 15.74 15.52 15.65

133.76 1028 -117.30 -1.96 0.00 2480.4 2455.9 2505.0 1818.6 4007.5 18.95 -24.33 20 140.06 0.00 0.00 3.65 0.000 0.000 0.097 2482.28 2457.38 2507.19 1819.31 2575.75 0 0 0 30.00 30.00 15.68

459.54 32 -117.30 -1.96 0.00 2482.3 2455.7 2509.0 1818.9 2575.9 61.63 -6.86 35 460.98 0.00 0.00 0.00 0.000 0.000 0.000 2483.00 2456.31 2509.69 1819.06 2574.75 0 0 0 30.00 30.00 30.00

849.54 292 -117.30 -1.96 80.00 2481.1 2452.5 2509.8 1819.1 2575.3 73.01 -2.87 48 855.79 0.00 0.00 3.77 0.000 0.000 0.147 2480.69 2453.00 2508.38 1819.12 4009.38 0 0 0 30.00 30.00 15.80

943.91 1060 -117.30 -1.96 0.00 2480.2 2451.4 2508.9 1819.2 4009.5 77.08 -4.43 67 949.80 0.00 0.00 3.60 0.000 0.000 0.094 2480.66 2451.50 2509.81 1818.94 2573.19 0 0 0 30.00 30.00 15.84

1324.65 292 -117.30 -1.96 80.00 2479.8 2451.0 2508.6 1819.1 2572.2 89.55 -3.05 83 1330.93 0.00 0.00 3.78 0.000 0.000 0.145 2480.28 2451.00 2509.56 1817.44 4008.12 0 0 0 30.00 30.00 15.84

1333.91 1060 -117.30 -1.96 0.00 2480.3 2451.6 2508.9 1819.4 4008.1 89.93 -3.05 85 1339.82 0.00 0.00 3.58 0.000 0.000 0.088 2480.19 2451.38 2509.00 1819.44 2573.00 0 0 0 30.00 30.00 15.87

1709.65 292 -117.30 -1.96 80.00 2479.8 2450.1 2509.4 1819.2 2571.9 101.06 -2.98 100 1715.97 0.00 0.00 3.77 0.000 0.000 0.145 2481.03 2452.19 2509.88 1818.38 4007.94 0 0 0 30.00 30.00 15.86

1944.71 1060 -117.30 -1.96 0.00 2479.4 2449.8 2509.0 1818.6 4007.6 108.58 -3.13 147 1950.92 0.00 0.00 3.60 0.000 0.000 0.094 2479.72 2450.50 2508.94 1817.31 2573.69 0 0 0 30.00 30.00 15.91

2329.74 292 -117.30 -1.96 80.00 2479.9 2450.4 2509.4 1819.0 2573.3 117.08 -2.00 164 2336.01 0.00 0.00 3.79 0.000 0.000 0.146 2480.44 2451.25 2509.62 1817.31 4007.56 0 0 0 30.00 30.00 15.88

2564.79 1060 -117.30 -1.96 0.00 2479.2 2450.2 2508.1 1819.4 4008.0 122.79 -2.55 211 2571.26 0.00 0.00 3.61 0.000 0.000 0.095 2477.91 2447.94 2507.88 1819.81 2573.06 0 0 0 30.00 30.00 15.93

2949.84 292 -117.30 -1.96 80.00 2479.6 2449.8 2509.5 1819.2 2572.7 130.28 -1.73 228 2957.32 0.00 0.00 3.76 0.000 0.000 0.146 2479.91 2450.19 2509.62 1819.06 4007.94 0 0 0 30.00 30.00 15.95

3173.07 1060 -117.30 -1.96 0.00 2479.2 2449.9 2508.6 1819.3 4008.1 134.52 -1.90 272 3179.14 0.00 0.00 3.58 0.000 0.000 0.094 2477.97 2448.38 2507.56 1819.25 2573.12 0 0 0 30.00 30.00 16.00

3548.81 292 -117.30 -1.96 80.00 2479.3 2449.4 2509.2 1819.2 2573.4 139.75 -1.32 287 3555.28 0.00 0.00 3.74 0.000 0.000 0.145 2479.34 2449.75 2508.94 1817.00 4007.88 0 0 0 30.00 30.00 15.99

3558.08 1060 -117.30 -1.96 0.00 2479.5 2449.6 2509.3 1819.1 4008.1 139.85 -1.27 289 3564.09 0.00 0.00 3.46 0.000 0.000 0.090 2481.25 2451.56 2510.94 1818.38 2571.31 0 0 0 30.00 30.00 16.03

3933.83 292 -117.30 -1.96 80.00 2479.3 2449.4 2509.2 1819.3 2571.6 142.92 -0.84 304 3940.31 0.00 0.00 3.74 0.000 0.000 0.146 2478.84 2449.44 2508.25 1819.31 4008.50 0 0 0 30.00 30.00 16.01

3963 end dive: NO_VERTICAL_VELOCITY

state 3963 begin apogee

3969.02 10243 0.00 -0.37 0.00 2479.5 2449.9 2509.2 1818.9 2692.7 143.31 0.00 310 4083.79 106.15 2.83 0.07 1.245 0.196 0.273 2000.38 1917.50 2083.25 2203.69 2727.88 0 0 0 11.86 16.00 15.56

4085 end apogee: CONTROL_FINISHED_OK

state 4085 begin climb

4086.25 10759 117.30 1.96 -80.00 1996.8 1914.1 2079.6 2205.9 2728.8 141.74 0.00 317 4202.92 99.29 3.93 4.22 1.151 0.120 0.166 1521.09 1412.69 1629.50 2773.88 1248.31 0 0 0 11.64 15.61 15.33

4380.39 17414 117.30 1.96 0.00 1513.5 1412.3 1614.6 2773.8 1248.4 72.77 25.26 375 4386.59 0.00 0.00 3.66 0.000 0.000 0.082 1513.56 1411.81 1615.31 2771.12 2728.56 0 0 0 30.00 30.00 15.66

4751.16 10535 236.42 2.44 80.00 1511.5 1412.6 1610.4 2774.1 2728.4 42.74 2.92 389 4918.27 154.96 0.72 3.53 1.024 0.085 0.151 1035.34 917.88 1152.81 2893.25 4006.69 0 0 0 11.74 15.83 15.35

5146.51 11303 329.05 2.81 0.00 1032.4 919.4 1145.3 2892.8 4006.9 11.38 4.31 466 5290.93 133.30 0.54 3.36 0.983 0.089 0.085 659.41 553.62 765.19 2980.06 2693.44 0 0 0 11.73 15.67 15.69

5594.18 10535 479.74 3.41 80.00 655.5 553.4 757.6 2982.3 2693.1 5.51 1.26 524 5662.91 58.13 0.89 3.56 0.979 0.081 0.142 500.53 415.81 585.25 3127.50 4007.25 0 0 0 11.70 15.72 15.49

5720 end climb: SURFACE_DEPTH_REACHED

state 5720 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	25	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	13.501673	FG_AHR_10V	2.3756578	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	11.281879	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	120823,083030,7602.214,-14153.719,0,8255.0,0,15.7	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	6.22	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120823,083030,7602.214,-14153.719,0,8255.0,0,15.7	MHEAD_RNG_PITCHd_Wd	161.4,59739,-20.2,-9.167,-25.06,1949,0.157
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	1691844012,123.1,7,stop	_24V_AH	14.93,13.356
MODEM_MSG	CACST,8,1,20230812123031.220724,18,12076,34,0092,0000,246,03,03,01,05,-1,-01,-01,1,3,0,0,150,-37.0,0.39,-100,2.61,-01,0.34,50,925,0025,0,-1,00,00*26	_10V_AH	14.99,0.000
FREEZE	1.31,-0.767,-1.345,2,5,0	FG_AHR_24Vo	11.455
FINISH	1.3,1.019843	FG_AHR_10Vo	2.420
SM_CCo	5807.34,0.10,0.241,0,499.0,416.8,581.3,368.19	MEM0	59796,1,0,0
SM_GC	4.26,0.10,20.00,3.64,0.241,0.135,0.087,499.0,416.8,581.3,219.8,2575.8,0,0,0,15.79,15.57,15.65	MEM1	65508,1,0,0
SURF	below D_CALL,4.263320/3.000000	MEM2	1023032,33,22556,116
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16121,558
IRIDIUM_FIX	7610.07,-14226.43,100823,065015	CAP_FILE_SIZE	200005,0
TCM_TEMP	1.79	SDSIZE	3918848,3898720
SC_FREEKB	3870752	SDFILEDIR	235,26
RAFOS_CLK	-6	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1691841727,74.57000,-145.56000,127.486,186767.0	SOUNDSPEED	1465.0
RAFOS_FIX	7605.904785,-14202.494141,120823,121231,7,255,0.55	MAGCAL	1.000000,0.002755,-0.041072,-0.077845,1.042766,-0.137199,0.066156,0.002238,0.941447,-1056.7,-96.3,456.1,36,0.1489,0
HUMID	48.28	IMPLIED_C_PITCH	2311,13.46,145,0.0,13.48
TEMP	-0.49	GPS	120823,123031,7605.905,-14202.494,0,8255.0,0,15.7
INTERNAL_PRESSURE	8.09132

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	642	1245	11941.78	nil	0	0	0.00
Pitch_motor	42	311	198.02	nil	0	0	0.00
Roll_motor	80	272	327.71	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	1971	5	151.32	SciCon	5770	6	561.85
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3834	0	18.39
Compass	940	5	70.46
RAFOS	2468	40	1480.21
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	-1.96	0.00	499.4	415.6	583.2	218.7	2610.5	0.00	0.00	0	13.98	7.20	0.00	0.00	0.008	0.000	0.000	658.12	594.81	721.44	218.62	2610.31	0	0	0	15.75	30.00	30.00
14.23	18727	-117.30	-1.96	80.00	658.5	595.2	721.8	218.7	2609.9	4.38	0.00	1	131.47	83.05	13.63	3.73	0.005	0.312	0.150	2478.19	2453.31	2503.06	1819.38	4008.62	0	0	0	15.74	15.52	15.65
133.76	1028	-117.30	-1.96	0.00	2480.4	2455.9	2505.0	1818.6	4007.5	18.95	-24.33	20	140.06	0.00	0.00	3.65	0.000	0.000	0.097	2482.28	2457.38	2507.19	1819.31	2575.75	0	0	0	30.00	30.00	15.68
459.54	32	-117.30	-1.96	0.00	2482.3	2455.7	2509.0	1818.9	2575.9	61.63	-6.86	35	460.98	0.00	0.00	0.00	0.000	0.000	0.000	2483.00	2456.31	2509.69	1819.06	2574.75	0	0	0	30.00	30.00	30.00
849.54	292	-117.30	-1.96	80.00	2481.1	2452.5	2509.8	1819.1	2575.3	73.01	-2.87	48	855.79	0.00	0.00	3.77	0.000	0.000	0.147	2480.69	2453.00	2508.38	1819.12	4009.38	0	0	0	30.00	30.00	15.80
943.91	1060	-117.30	-1.96	0.00	2480.2	2451.4	2508.9	1819.2	4009.5	77.08	-4.43	67	949.80	0.00	0.00	3.60	0.000	0.000	0.094	2480.66	2451.50	2509.81	1818.94	2573.19	0	0	0	30.00	30.00	15.84
1324.65	292	-117.30	-1.96	80.00	2479.8	2451.0	2508.6	1819.1	2572.2	89.55	-3.05	83	1330.93	0.00	0.00	3.78	0.000	0.000	0.145	2480.28	2451.00	2509.56	1817.44	4008.12	0	0	0	30.00	30.00	15.84
1333.91	1060	-117.30	-1.96	0.00	2480.3	2451.6	2508.9	1819.4	4008.1	89.93	-3.05	85	1339.82	0.00	0.00	3.58	0.000	0.000	0.088	2480.19	2451.38	2509.00	1819.44	2573.00	0	0	0	30.00	30.00	15.87
1709.65	292	-117.30	-1.96	80.00	2479.8	2450.1	2509.4	1819.2	2571.9	101.06	-2.98	100	1715.97	0.00	0.00	3.77	0.000	0.000	0.145	2481.03	2452.19	2509.88	1818.38	4007.94	0	0	0	30.00	30.00	15.86
1944.71	1060	-117.30	-1.96	0.00	2479.4	2449.8	2509.0	1818.6	4007.6	108.58	-3.13	147	1950.92	0.00	0.00	3.60	0.000	0.000	0.094	2479.72	2450.50	2508.94	1817.31	2573.69	0	0	0	30.00	30.00	15.91
2329.74	292	-117.30	-1.96	80.00	2479.9	2450.4	2509.4	1819.0	2573.3	117.08	-2.00	164	2336.01	0.00	0.00	3.79	0.000	0.000	0.146	2480.44	2451.25	2509.62	1817.31	4007.56	0	0	0	30.00	30.00	15.88
2564.79	1060	-117.30	-1.96	0.00	2479.2	2450.2	2508.1	1819.4	4008.0	122.79	-2.55	211	2571.26	0.00	0.00	3.61	0.000	0.000	0.095	2477.91	2447.94	2507.88	1819.81	2573.06	0	0	0	30.00	30.00	15.93
2949.84	292	-117.30	-1.96	80.00	2479.6	2449.8	2509.5	1819.2	2572.7	130.28	-1.73	228	2957.32	0.00	0.00	3.76	0.000	0.000	0.146	2479.91	2450.19	2509.62	1819.06	4007.94	0	0	0	30.00	30.00	15.95
3173.07	1060	-117.30	-1.96	0.00	2479.2	2449.9	2508.6	1819.3	4008.1	134.52	-1.90	272	3179.14	0.00	0.00	3.58	0.000	0.000	0.094	2477.97	2448.38	2507.56	1819.25	2573.12	0	0	0	30.00	30.00	16.00
3548.81	292	-117.30	-1.96	80.00	2479.3	2449.4	2509.2	1819.2	2573.4	139.75	-1.32	287	3555.28	0.00	0.00	3.74	0.000	0.000	0.145	2479.34	2449.75	2508.94	1817.00	4007.88	0	0	0	30.00	30.00	15.99
3558.08	1060	-117.30	-1.96	0.00	2479.5	2449.6	2509.3	1819.1	4008.1	139.85	-1.27	289	3564.09	0.00	0.00	3.46	0.000	0.000	0.090	2481.25	2451.56	2510.94	1818.38	2571.31	0	0	0	30.00	30.00	16.03
3933.83	292	-117.30	-1.96	80.00	2479.3	2449.4	2509.2	1819.3	2571.6	142.92	-0.84	304	3940.31	0.00	0.00	3.74	0.000	0.000	0.146	2478.84	2449.44	2508.25	1819.31	4008.50	0	0	0	30.00	30.00	16.01
3963	end dive: NO_VERTICAL_VELOCITY
state	3963	begin apogee
3969.02	10243	0.00	-0.37	0.00	2479.5	2449.9	2509.2	1818.9	2692.7	143.31	0.00	310	4083.79	106.15	2.83	0.07	1.245	0.196	0.273	2000.38	1917.50	2083.25	2203.69	2727.88	0	0	0	11.86	16.00	15.56
4085	end apogee: CONTROL_FINISHED_OK
state	4085	begin climb
4086.25	10759	117.30	1.96	-80.00	1996.8	1914.1	2079.6	2205.9	2728.8	141.74	0.00	317	4202.92	99.29	3.93	4.22	1.151	0.120	0.166	1521.09	1412.69	1629.50	2773.88	1248.31	0	0	0	11.64	15.61	15.33
4380.39	17414	117.30	1.96	0.00	1513.5	1412.3	1614.6	2773.8	1248.4	72.77	25.26	375	4386.59	0.00	0.00	3.66	0.000	0.000	0.082	1513.56	1411.81	1615.31	2771.12	2728.56	0	0	0	30.00	30.00	15.66
4751.16	10535	236.42	2.44	80.00	1511.5	1412.6	1610.4	2774.1	2728.4	42.74	2.92	389	4918.27	154.96	0.72	3.53	1.024	0.085	0.151	1035.34	917.88	1152.81	2893.25	4006.69	0	0	0	11.74	15.83	15.35
5146.51	11303	329.05	2.81	0.00	1032.4	919.4	1145.3	2892.8	4006.9	11.38	4.31	466	5290.93	133.30	0.54	3.36	0.983	0.089	0.085	659.41	553.62	765.19	2980.06	2693.44	0	0	0	11.73	15.67	15.69
5594.18	10535	479.74	3.41	80.00	655.5	553.4	757.6	2982.3	2693.1	5.51	1.26	524	5662.91	58.13	0.89	3.56	0.979	0.081	0.142	500.53	415.81	585.25	3127.50	4007.25	0	0	0	11.70	15.72	15.49
5720	end climb: SURFACE_DEPTH_REACHED
state	5720	begin surface coast
5766	end surface coast: CONTROL_FINISHED_OK
state	5766	begin surface