Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 27 * 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 27 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 13.532698 FG_AHR_10V 2.457309 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 11.635057 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 2.457309 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 11.635057 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 13.532698 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 27 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 120823,140242,7606.182,-14203.684,0,9255.0,0,15.7 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 4.52 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120823,140242,7606.182,-14203.684,0,9255.0,0,15.7 MHEAD_RNG_PITCHd_Wd 157.8,67447,-20.2,-9.167,-25.06,1949,0.117

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 1691858413,145.8,7,stop _24V_AH 14.92,13.779

MODEM_MSG CACST,8,1,20230812163031.410077,18,26455,44,0380,0000,07,01,01,00,03,-1,-01,-01,1,3,0,0,150,9.9,-0.10,-100,3.10,-01,0.13,31,925,0025,0,-1,00,00*2C _10V_AH 14.98,0.000

FREEZE 1.41,-0.806,-1.357,2,7,0 FG_AHR_24Vo 11.811

FINISH 1.4,1.020014 FG_AHR_10Vo 2.504

SM_CCo 6410.86,0.20,0.123,0,499.3,413.9,584.6,368.13 MEM0 59796,1,0,0

SM_GC 4.50,0.20,19.12,0.39,0.123,0.127,0.127,499.3,413.9,584.6,218.6,2573.2,0,0,0,15.77,15.56,15.63 MEM1 65508,1,0,0

SURF below D_CALL,4.499996/3.000000 MEM2 1023032,33,22556,116

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16134,586

IRIDIUM_FIX 7610.07,-14226.43,100823,065015 CAP_FILE_SIZE 188756,0

TCM_TEMP 1.60 SDSIZE 3918848,3898176

SC_FREEKB 3870112 SDFILEDIR 249,28

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

MODEM 0,1691856127,74.57000,-145.56000,127.224,186383.0 SOUNDSPEED 1465.0

RAFOS_FIX 7606.049316,-14204.126953,120823,161631,8,255,0.04 MAGCAL 1.000000,0.018696,-0.059717,-0.085720,1.050818,-0.211287,0.072366,-0.007415,0.966711,-1038.8,-24.5,430.1,30,0.1807,0

HUMID 48.20 IMPLIED_C_PITCH 2328,13.25,173,0.0,13.39

TEMP -0.49 GPS 120823,163031,7606.049,-14204.127,0,9255.0,0,15.7

INTERNAL_PRESSURE 8.08421

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 639 1253 11965.87 nil 0 0 0.00

Pitch_motor 40 307 185.70 nil 0 0 0.00

Roll_motor 66 263 261.27 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 2078 5 159.39 SciCon 6380 6 619.88

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4337 0 20.79

Compass 984 5 73.71

RAFOS 2469 40 1479.91

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

5.88 16386 -117.30 -1.96 0.00 499.3 415.3 583.3 218.4 2574.1 0.00 0.00 0 14.17 7.43 0.00 0.00 0.008 0.000 0.000 651.03 587.06 715.00 218.56 2574.94 0 0 0 15.78 30.00 30.00

14.42 18467 -117.30 -1.96 0.00 651.3 587.5 715.1 218.5 2574.5 3.57 0.00 1 108.16 74.41 13.10 0.00 0.005 0.307 0.000 2475.88 2453.50 2498.25 1818.44 2574.69 0 0 0 15.76 15.57 30.00

422.10 548 -117.30 -1.96 -80.00 2481.8 2454.1 2509.6 1819.2 2575.3 59.05 -8.33 34 428.04 0.00 0.00 3.85 0.000 0.000 0.165 2480.81 2452.69 2508.94 1819.31 1190.94 0 0 0 30.00 30.00 15.79

657.18 1060 -117.30 -1.96 0.00 2481.6 2452.6 2510.6 1819.1 1190.9 68.94 -2.82 81 662.97 0.00 0.00 3.48 0.000 0.000 0.082 2479.75 2450.38 2509.12 1819.12 2612.56 0 0 0 30.00 30.00 15.90

1026.19 548 -117.30 -1.96 -80.00 2480.0 2450.2 2509.7 1819.2 2612.3 79.33 -2.87 99 1032.63 0.00 0.00 3.90 0.000 0.000 0.164 2481.41 2452.12 2510.69 1818.75 1190.50 0 0 0 30.00 30.00 15.89

1195.59 1060 -117.30 -1.96 0.00 2480.2 2450.4 2510.0 1819.1 1190.3 85.84 -4.24 133 1202.16 0.00 0.00 3.46 0.000 0.000 0.081 2480.38 2451.25 2509.50 1819.12 2614.12 0 0 0 30.00 30.00 15.96

1601.04 292 -117.30 -1.96 80.00 2479.8 2449.8 2509.7 1819.8 2614.0 98.96 -3.38 147 1609.10 0.00 0.00 3.66 0.000 0.000 0.151 2479.44 2449.25 2509.62 1819.50 4008.75 0 0 0 30.00 30.00 15.95

1689.50 1060 -117.30 -1.96 0.00 2478.9 2448.8 2509.0 1819.0 4008.2 102.44 -3.52 165 1695.71 0.00 0.00 3.57 0.000 0.000 0.091 2477.47 2447.38 2507.56 1819.31 2572.06 0 0 0 30.00 30.00 15.98

2074.51 292 -117.30 -1.96 80.00 2479.5 2449.1 2509.9 1819.1 2571.7 109.60 -1.65 182 2080.81 0.00 0.00 3.75 0.000 0.000 0.145 2480.47 2450.00 2510.94 1818.94 4009.25 0 0 0 30.00 30.00 15.93

2249.60 1060 -117.30 -1.96 0.00 2479.3 2448.4 2510.2 1819.1 4008.7 114.38 -2.93 217 2255.77 0.00 0.00 3.60 0.000 0.000 0.094 2477.75 2447.06 2508.44 1819.31 2573.81 0 0 0 30.00 30.00 15.96

2634.57 32 -117.30 -1.96 0.00 2478.8 2447.9 2509.6 1819.5 2572.8 122.27 -1.93 234 2636.09 0.00 0.00 0.00 0.000 0.000 0.000 2479.00 2448.56 2509.44 1817.38 2573.75 0 0 0 30.00 30.00 30.00

3024.58 548 -117.30 -1.96 -80.00 2478.4 2447.5 2509.4 1819.3 2573.1 130.50 -2.08 247 3031.03 0.00 0.00 3.83 0.000 0.000 0.173 2477.56 2446.38 2508.75 1818.62 1190.19 0 0 0 30.00 30.00 15.90

3118.89 1060 -117.30 -1.96 0.00 2478.8 2447.8 2509.9 1819.8 1189.8 132.34 -2.01 266 3124.93 0.00 0.00 3.45 0.000 0.000 0.082 2478.41 2447.19 2509.62 1819.94 2613.81 0 0 0 30.00 30.00 15.95

3499.64 292 -117.30 -1.96 80.00 2478.6 2447.6 2509.7 1819.1 2613.3 136.23 -1.02 282 3506.06 0.00 0.00 3.67 0.000 0.000 0.153 2479.69 2448.62 2510.75 1819.44 4008.00 0 0 0 30.00 30.00 15.91

3658.92 1060 -117.30 -1.96 0.00 2477.6 2446.6 2508.6 1818.9 4008.2 139.07 -1.77 314 3664.99 0.00 0.00 3.58 0.000 0.000 0.097 2478.34 2446.56 2510.12 1819.25 2573.25 0 0 0 30.00 30.00 15.95

4034.66 548 -117.30 -1.96 -80.00 2478.2 2447.0 2509.4 1818.8 2573.1 145.37 -1.66 329 4041.18 0.00 0.00 3.75 0.000 0.000 0.176 2477.00 2445.81 2508.19 1819.38 1191.31 0 0 0 30.00 30.00 15.90

4269.72 1060 -117.30 -1.96 0.00 2478.2 2446.4 2510.1 1819.4 1190.9 148.24 -1.09 376 4276.10 0.00 0.00 3.45 0.000 0.000 0.085 2479.56 2448.50 2510.62 1817.19 2614.94 0 0 0 30.00 30.00 16.00

4533 end dive: NO_VERTICAL_VELOCITY

state 4533 begin apogee

4534.30 10243 0.00 -0.37 0.00 2478.8 2447.8 2509.8 1819.4 2726.9 149.59 0.00 389 4650.13 106.60 2.81 0.06 1.254 0.204 0.263 1996.72 1914.31 2079.12 2205.69 2697.81 0 0 0 11.85 15.94 15.53

4652 end apogee: CONTROL_FINISHED_OK

state 4652 begin climb

4652.61 10503 117.30 1.96 80.00 1996.8 1914.1 2079.4 2205.3 2697.4 147.26 0.00 393 4767.69 99.75 3.89 3.62 1.162 0.128 0.157 1519.75 1410.44 1629.06 2772.69 4006.56 0 0 0 11.70 15.56 15.32

4805.14 1028 117.30 1.96 0.00 1516.2 1411.9 1620.6 2773.0 4006.2 117.08 26.21 419 4811.17 0.00 0.00 3.38 0.000 0.000 0.089 1516.81 1412.31 1621.31 2771.56 2696.44 0 0 0 30.00 30.00 15.48

5185.89 16386 117.30 1.96 0.00 1511.9 1411.9 1612.0 2773.1 2695.7 44.76 14.44 435 5187.45 0.00 0.00 0.00 0.000 0.000 0.000 1512.41 1411.81 1613.00 2772.81 2696.38 0 0 0 30.00 30.00 30.00

5575.94 10791 251.47 2.50 -80.00 1510.9 1411.9 1609.8 2772.7 2696.1 41.77 2.13 448 5771.10 181.32 0.80 4.11 1.029 0.081 0.168 974.97 856.62 1093.31 2908.12 1247.69 0 0 0 11.76 15.89 15.33

5998.64 11303 389.18 3.05 0.00 970.7 857.0 1084.4 2908.2 1247.4 11.77 1.94 531 6183.91 170.01 0.81 3.63 0.980 0.082 0.081 501.19 412.88 589.50 3041.31 2735.12 0 0 0 11.82 15.66 15.69

6317 end climb: SURFACE_DEPTH_REACHED

state 6317 begin surface coast

6376 end surface coast: CONTROL_FINISHED_OK

state 6376 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	27	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	13.532698	FG_AHR_10V	2.457309	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	11.635057	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	120823,140242,7606.182,-14203.684,0,9255.0,0,15.7	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	4.52	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120823,140242,7606.182,-14203.684,0,9255.0,0,15.7	MHEAD_RNG_PITCHd_Wd	157.8,67447,-20.2,-9.167,-25.06,1949,0.117
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	1691858413,145.8,7,stop	_24V_AH	14.92,13.779
MODEM_MSG	CACST,8,1,20230812163031.410077,18,26455,44,0380,0000,07,01,01,00,03,-1,-01,-01,1,3,0,0,150,9.9,-0.10,-100,3.10,-01,0.13,31,925,0025,0,-1,00,00*2C	_10V_AH	14.98,0.000
FREEZE	1.41,-0.806,-1.357,2,7,0	FG_AHR_24Vo	11.811
FINISH	1.4,1.020014	FG_AHR_10Vo	2.504
SM_CCo	6410.86,0.20,0.123,0,499.3,413.9,584.6,368.13	MEM0	59796,1,0,0
SM_GC	4.50,0.20,19.12,0.39,0.123,0.127,0.127,499.3,413.9,584.6,218.6,2573.2,0,0,0,15.77,15.56,15.63	MEM1	65508,1,0,0
SURF	below D_CALL,4.499996/3.000000	MEM2	1023032,33,22556,116
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16134,586
IRIDIUM_FIX	7610.07,-14226.43,100823,065015	CAP_FILE_SIZE	188756,0
TCM_TEMP	1.60	SDSIZE	3918848,3898176
SC_FREEKB	3870112	SDFILEDIR	249,28
RAFOS_CLK	-4	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1691856127,74.57000,-145.56000,127.224,186383.0	SOUNDSPEED	1465.0
RAFOS_FIX	7606.049316,-14204.126953,120823,161631,8,255,0.04	MAGCAL	1.000000,0.018696,-0.059717,-0.085720,1.050818,-0.211287,0.072366,-0.007415,0.966711,-1038.8,-24.5,430.1,30,0.1807,0
HUMID	48.20	IMPLIED_C_PITCH	2328,13.25,173,0.0,13.39
TEMP	-0.49	GPS	120823,163031,7606.049,-14204.127,0,9255.0,0,15.7
INTERNAL_PRESSURE	8.08421

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	639	1253	11965.87	nil	0	0	0.00
Pitch_motor	40	307	185.70	nil	0	0	0.00
Roll_motor	66	263	261.27	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	2078	5	159.39	SciCon	6380	6	619.88
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4337	0	20.79
Compass	984	5	73.71
RAFOS	2469	40	1479.91
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
5.88	16386	-117.30	-1.96	0.00	499.3	415.3	583.3	218.4	2574.1	0.00	0.00	0	14.17	7.43	0.00	0.00	0.008	0.000	0.000	651.03	587.06	715.00	218.56	2574.94	0	0	0	15.78	30.00	30.00
14.42	18467	-117.30	-1.96	0.00	651.3	587.5	715.1	218.5	2574.5	3.57	0.00	1	108.16	74.41	13.10	0.00	0.005	0.307	0.000	2475.88	2453.50	2498.25	1818.44	2574.69	0	0	0	15.76	15.57	30.00
422.10	548	-117.30	-1.96	-80.00	2481.8	2454.1	2509.6	1819.2	2575.3	59.05	-8.33	34	428.04	0.00	0.00	3.85	0.000	0.000	0.165	2480.81	2452.69	2508.94	1819.31	1190.94	0	0	0	30.00	30.00	15.79
657.18	1060	-117.30	-1.96	0.00	2481.6	2452.6	2510.6	1819.1	1190.9	68.94	-2.82	81	662.97	0.00	0.00	3.48	0.000	0.000	0.082	2479.75	2450.38	2509.12	1819.12	2612.56	0	0	0	30.00	30.00	15.90
1026.19	548	-117.30	-1.96	-80.00	2480.0	2450.2	2509.7	1819.2	2612.3	79.33	-2.87	99	1032.63	0.00	0.00	3.90	0.000	0.000	0.164	2481.41	2452.12	2510.69	1818.75	1190.50	0	0	0	30.00	30.00	15.89
1195.59	1060	-117.30	-1.96	0.00	2480.2	2450.4	2510.0	1819.1	1190.3	85.84	-4.24	133	1202.16	0.00	0.00	3.46	0.000	0.000	0.081	2480.38	2451.25	2509.50	1819.12	2614.12	0	0	0	30.00	30.00	15.96
1601.04	292	-117.30	-1.96	80.00	2479.8	2449.8	2509.7	1819.8	2614.0	98.96	-3.38	147	1609.10	0.00	0.00	3.66	0.000	0.000	0.151	2479.44	2449.25	2509.62	1819.50	4008.75	0	0	0	30.00	30.00	15.95
1689.50	1060	-117.30	-1.96	0.00	2478.9	2448.8	2509.0	1819.0	4008.2	102.44	-3.52	165	1695.71	0.00	0.00	3.57	0.000	0.000	0.091	2477.47	2447.38	2507.56	1819.31	2572.06	0	0	0	30.00	30.00	15.98
2074.51	292	-117.30	-1.96	80.00	2479.5	2449.1	2509.9	1819.1	2571.7	109.60	-1.65	182	2080.81	0.00	0.00	3.75	0.000	0.000	0.145	2480.47	2450.00	2510.94	1818.94	4009.25	0	0	0	30.00	30.00	15.93
2249.60	1060	-117.30	-1.96	0.00	2479.3	2448.4	2510.2	1819.1	4008.7	114.38	-2.93	217	2255.77	0.00	0.00	3.60	0.000	0.000	0.094	2477.75	2447.06	2508.44	1819.31	2573.81	0	0	0	30.00	30.00	15.96
2634.57	32	-117.30	-1.96	0.00	2478.8	2447.9	2509.6	1819.5	2572.8	122.27	-1.93	234	2636.09	0.00	0.00	0.00	0.000	0.000	0.000	2479.00	2448.56	2509.44	1817.38	2573.75	0	0	0	30.00	30.00	30.00
3024.58	548	-117.30	-1.96	-80.00	2478.4	2447.5	2509.4	1819.3	2573.1	130.50	-2.08	247	3031.03	0.00	0.00	3.83	0.000	0.000	0.173	2477.56	2446.38	2508.75	1818.62	1190.19	0	0	0	30.00	30.00	15.90
3118.89	1060	-117.30	-1.96	0.00	2478.8	2447.8	2509.9	1819.8	1189.8	132.34	-2.01	266	3124.93	0.00	0.00	3.45	0.000	0.000	0.082	2478.41	2447.19	2509.62	1819.94	2613.81	0	0	0	30.00	30.00	15.95
3499.64	292	-117.30	-1.96	80.00	2478.6	2447.6	2509.7	1819.1	2613.3	136.23	-1.02	282	3506.06	0.00	0.00	3.67	0.000	0.000	0.153	2479.69	2448.62	2510.75	1819.44	4008.00	0	0	0	30.00	30.00	15.91
3658.92	1060	-117.30	-1.96	0.00	2477.6	2446.6	2508.6	1818.9	4008.2	139.07	-1.77	314	3664.99	0.00	0.00	3.58	0.000	0.000	0.097	2478.34	2446.56	2510.12	1819.25	2573.25	0	0	0	30.00	30.00	15.95
4034.66	548	-117.30	-1.96	-80.00	2478.2	2447.0	2509.4	1818.8	2573.1	145.37	-1.66	329	4041.18	0.00	0.00	3.75	0.000	0.000	0.176	2477.00	2445.81	2508.19	1819.38	1191.31	0	0	0	30.00	30.00	15.90
4269.72	1060	-117.30	-1.96	0.00	2478.2	2446.4	2510.1	1819.4	1190.9	148.24	-1.09	376	4276.10	0.00	0.00	3.45	0.000	0.000	0.085	2479.56	2448.50	2510.62	1817.19	2614.94	0	0	0	30.00	30.00	16.00
4533	end dive: NO_VERTICAL_VELOCITY
state	4533	begin apogee
4534.30	10243	0.00	-0.37	0.00	2478.8	2447.8	2509.8	1819.4	2726.9	149.59	0.00	389	4650.13	106.60	2.81	0.06	1.254	0.204	0.263	1996.72	1914.31	2079.12	2205.69	2697.81	0	0	0	11.85	15.94	15.53
4652	end apogee: CONTROL_FINISHED_OK
state	4652	begin climb
4652.61	10503	117.30	1.96	80.00	1996.8	1914.1	2079.4	2205.3	2697.4	147.26	0.00	393	4767.69	99.75	3.89	3.62	1.162	0.128	0.157	1519.75	1410.44	1629.06	2772.69	4006.56	0	0	0	11.70	15.56	15.32
4805.14	1028	117.30	1.96	0.00	1516.2	1411.9	1620.6	2773.0	4006.2	117.08	26.21	419	4811.17	0.00	0.00	3.38	0.000	0.000	0.089	1516.81	1412.31	1621.31	2771.56	2696.44	0	0	0	30.00	30.00	15.48
5185.89	16386	117.30	1.96	0.00	1511.9	1411.9	1612.0	2773.1	2695.7	44.76	14.44	435	5187.45	0.00	0.00	0.00	0.000	0.000	0.000	1512.41	1411.81	1613.00	2772.81	2696.38	0	0	0	30.00	30.00	30.00
5575.94	10791	251.47	2.50	-80.00	1510.9	1411.9	1609.8	2772.7	2696.1	41.77	2.13	448	5771.10	181.32	0.80	4.11	1.029	0.081	0.168	974.97	856.62	1093.31	2908.12	1247.69	0	0	0	11.76	15.89	15.33
5998.64	11303	389.18	3.05	0.00	970.7	857.0	1084.4	2908.2	1247.4	11.77	1.94	531	6183.91	170.01	0.81	3.63	0.980	0.082	0.081	501.19	412.88	589.50	3041.31	2735.12	0	0	0	11.82	15.66	15.69
6317	end climb: SURFACE_DEPTH_REACHED
state	6317	begin surface coast
6376	end surface coast: CONTROL_FINISHED_OK
state	6376	begin surface