Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 29 * 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 29 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 13.481835 FG_AHR_10V 2.5412669 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 11.988112 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 2.5412669 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 11.988112 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 13.481835 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 29 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 120823,181203,7604.754,-14205.645,0,10255.0,0,15.7 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 27.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120823,181203,7604.754,-14205.645,0,10255.0,0,15.7 MHEAD_RNG_PITCHd_Wd 156.7,64935,-20.2,-9.167,-25.06,1949,0.188

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 1691872821,67.4,7,stop _24V_AH 15.00,14.197

MODEM_MSG CACST,8,1,20230812203031.686908,18,32767,39,0115,0000,246,03,03,01,05,-1,-01,-01,1,3,0,0,150,-37.3,0.82,-100,2.18,-01,-0.02,50,925,0025,0,-1,00,00*0C _10V_AH 15.00,0.000

FREEZE 1.45,-0.837,-1.363,2,9,0 FG_AHR_24Vo 12.163

FINISH 1.4,1.020102 FG_AHR_10Vo 2.587

SM_CCo 6302.73,0.17,0.149,0,499.2,415.1,583.2,368.16 MEM0 59796,1,0,0

SM_GC 4.70,0.17,20.15,0.28,0.149,0.135,0.141,499.2,415.1,583.2,218.7,2576.1,0,0,0,15.89,15.67,15.74 MEM1 65508,1,0,0

SURF below D_CALL,4.704906/3.000000 MEM2 1023032,33,22556,116

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16156,626

IRIDIUM_FIX 7610.07,-14226.43,100823,065015 CAP_FILE_SIZE 199136,0

TCM_TEMP 1.59 SDSIZE 3918848,3897568

SC_FREEKB 3869472 SDFILEDIR 263,30

RAFOS_CLK -1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 0,1691870526,74.57000,-145.56000,126.954,185987.7 SOUNDSPEED 1465.0

RAFOS_FIX 7604.673340,-14206.042969,120823,202031,9,255,0.03 MAGCAL 1.000000,-0.034922,-0.025298,-0.064635,1.052402,-0.096352,0.065651,0.019690,0.966666,-1070.0,-132.2,430.1,36,0.1268,0

HUMID 48.04 IMPLIED_C_PITCH 2313,13.58,162,0.0,13.53

TEMP -0.47 GPS 120823,203031,7604.673,-14206.043,0,10255.0,0,15.7

INTERNAL_PRESSURE 8.08766

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 643 1245 12024.31 nil 0 0 0.00

Pitch_motor 39 194 114.48 nil 0 0 0.00

Roll_motor 73 274 303.95 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 2144 5 164.69 SciCon 6271 6 607.85

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4162 0 19.98

Compass 1041 5 78.14

RAFOS 2452 40 1471.44

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

5.85 16386 -117.30 -1.97 0.00 498.3 415.3 581.2 3174.1 2570.3 0.00 0.00 0 47.85 40.75 0.00 0.00 0.005 0.000 0.000 1314.59 1290.50 1338.69 3174.06 2570.25 0 0 0 15.94 30.00 30.00

48.11 20775 -117.30 -1.97 80.00 1315.7 1290.2 1341.2 3173.8 2570.1 3.76 -4.13 4 112.29 44.98 9.69 3.81 0.005 0.190 0.153 2477.84 2452.06 2503.62 1804.94 4007.19 0 0 0 15.93 15.78 15.81

289.64 1028 -117.30 -1.97 0.00 2480.8 2453.5 2508.1 1805.0 4006.7 47.76 -15.93 50 295.22 0.00 0.00 3.62 0.000 0.000 0.097 2482.44 2455.88 2509.00 1802.88 2574.56 0 0 0 30.00 30.00 15.88

670.42 548 -117.30 -1.97 -80.00 2480.4 2452.8 2508.1 1804.9 2574.9 63.73 -1.72 66 676.26 0.00 0.00 3.79 0.000 0.000 0.172 2479.69 2452.12 2507.25 1804.81 1190.00 0 0 0 30.00 30.00 15.89

734.69 1060 -117.30 -1.97 0.00 2480.2 2452.6 2507.8 1805.1 1189.9 66.49 -2.64 79 740.60 0.00 0.00 3.43 0.000 0.000 0.079 2479.97 2452.06 2507.88 1805.44 2614.94 0 0 0 30.00 30.00 15.97

1115.51 292 -117.30 -1.97 80.00 2479.5 2451.1 2507.9 1804.9 2614.3 79.26 -3.59 95 1121.73 0.00 0.00 3.62 0.000 0.000 0.152 2479.69 2450.88 2508.50 1804.25 4008.19 0 0 0 30.00 30.00 15.95

1350.58 1060 -117.30 -1.97 0.00 2478.9 2449.9 2508.0 1804.2 4008.3 89.52 -4.25 142 1356.76 0.00 0.00 3.56 0.000 0.000 0.093 2480.44 2451.62 2509.25 1804.00 2574.50 0 0 0 30.00 30.00 16.01

1725.60 292 -117.30 -1.97 80.00 2478.8 2449.7 2508.0 1804.3 2574.4 102.04 -3.05 160 1731.86 0.00 0.00 3.72 0.000 0.000 0.147 2480.16 2451.69 2508.62 1803.75 4007.81 0 0 0 30.00 30.00 15.98

1960.66 1060 -117.30 -1.97 0.00 2478.6 2449.4 2507.9 1803.9 4008.1 107.87 -2.40 207 1966.85 0.00 0.00 3.57 0.000 0.000 0.094 2479.72 2450.75 2508.69 1803.94 2573.12 0 0 0 30.00 30.00 16.03

2355.59 292 -117.30 -1.97 80.00 2478.6 2449.3 2507.9 1804.3 2573.8 117.96 -2.73 224 2363.62 0.00 0.00 3.70 0.000 0.000 0.148 2479.56 2450.06 2509.06 1804.00 4007.56 0 0 0 30.00 30.00 16.00

2594.09 1060 -117.30 -1.97 0.00 2478.3 2448.7 2507.9 1804.1 4008.2 123.49 -2.17 272 2600.42 0.00 0.00 3.58 0.000 0.000 0.095 2477.88 2447.94 2507.81 1802.69 2572.25 0 0 0 30.00 30.00 16.01

2979.13 32 -117.30 -1.97 0.00 2478.7 2449.6 2507.9 1804.1 2572.9 129.79 -1.74 289 2980.70 0.00 0.00 0.00 0.000 0.000 0.000 2479.09 2449.88 2508.31 1802.12 2573.00 0 0 0 30.00 30.00 30.00

3369.14 548 -117.30 -1.97 -80.00 2478.7 2449.1 2508.4 1804.4 2572.6 138.38 -2.14 302 3375.60 0.00 0.00 3.80 0.000 0.000 0.174 2477.16 2447.25 2507.06 1804.19 1191.69 0 0 0 30.00 30.00 15.93

3601.41 1060 -117.30 -1.97 0.00 2478.4 2448.4 2508.4 1804.4 1191.6 142.28 -1.73 348 3608.15 0.00 0.00 3.45 0.000 0.000 0.082 2478.47 2448.69 2508.25 1804.06 2612.94 0 0 0 30.00 30.00 15.98

3997.16 292 -117.30 -1.97 80.00 2478.3 2448.6 2508.1 1804.4 2612.4 146.61 -1.07 362 4003.58 0.00 0.00 3.66 0.000 0.000 0.155 2476.59 2447.25 2505.94 1804.19 4008.62 0 0 0 30.00 30.00 15.93

4022.15 1060 -117.30 -1.97 0.00 2478.4 2449.0 2507.8 1803.6 4009.8 146.72 -1.02 367 4028.52 0.00 0.00 3.60 0.000 0.000 0.093 2480.72 2450.31 2511.12 1804.62 2570.94 0 0 0 30.00 30.00 15.96

4317 end dive: NO_VERTICAL_VELOCITY

state 4317 begin apogee

4318.67 10243 0.00 -0.37 0.00 2478.2 2448.9 2507.6 1804.6 2726.7 148.14 0.00 381 4434.41 106.47 2.95 0.06 1.245 0.195 0.275 1999.19 1917.81 2080.56 2205.31 2696.81 0 0 0 11.74 15.92 15.49

4436 end apogee: CONTROL_FINISHED_OK

state 4436 begin climb

4436.89 10759 117.30 1.97 -80.00 1996.6 1914.8 2078.4 2205.3 2696.6 146.42 0.00 384 4553.39 99.51 3.92 4.17 1.157 0.119 0.168 1520.94 1412.12 1629.75 2773.12 1247.88 0 0 0 11.62 15.53 15.29

4621.56 1028 117.30 1.97 0.00 1515.1 1411.4 1618.8 2773.1 1248.4 106.09 28.97 420 4628.08 0.00 0.00 3.74 0.000 0.000 0.083 1514.97 1411.50 1618.44 2773.88 2728.69 0 0 0 30.00 30.00 15.51

5006.57 16646 117.30 1.97 80.00 1512.0 1412.2 1611.7 2773.8 2728.4 41.30 10.48 437 5012.94 0.00 0.00 3.43 0.000 0.000 0.153 1512.31 1413.00 1611.62 2772.00 4007.00 0 0 0 30.00 30.00 15.74

5241.69 11303 299.39 2.69 0.00 1510.5 1414.9 1606.1 2773.5 4007.2 41.94 -0.39 484 5508.09 250.95 1.12 3.33 1.010 0.081 0.086 780.09 664.94 895.25 2955.31 2692.62 0 0 0 11.78 15.84 15.86

5811.36 10535 442.26 3.27 80.00 775.3 665.9 884.8 2955.0 2692.9 9.24 1.67 565 5923.42 100.95 0.85 3.61 0.977 0.084 0.147 500.50 413.75 587.25 3092.00 4007.12 0 0 0 11.74 15.71 15.40

5971.69 11303 523.55 3.59 0.00 499.1 413.4 584.7 3091.8 4006.9 3.66 4.90 596 5978.33 0.00 0.48 3.42 0.000 0.108 0.086 499.28 413.81 584.75 3168.00 2694.94 0 0 0 30.00 15.53 15.54

6137 end climb: SURFACE_DEPTH_REACHED

state 6137 begin surface coast

6267 end surface coast: CONTROL_FINISHED_OK

state 6267 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	29	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	13.481835	FG_AHR_10V	2.5412669	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	11.988112	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	120823,181203,7604.754,-14205.645,0,10255.0,0,15.7	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	27.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120823,181203,7604.754,-14205.645,0,10255.0,0,15.7	MHEAD_RNG_PITCHd_Wd	156.7,64935,-20.2,-9.167,-25.06,1949,0.188
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	1691872821,67.4,7,stop	_24V_AH	15.00,14.197
MODEM_MSG	CACST,8,1,20230812203031.686908,18,32767,39,0115,0000,246,03,03,01,05,-1,-01,-01,1,3,0,0,150,-37.3,0.82,-100,2.18,-01,-0.02,50,925,0025,0,-1,00,00*0C	_10V_AH	15.00,0.000
FREEZE	1.45,-0.837,-1.363,2,9,0	FG_AHR_24Vo	12.163
FINISH	1.4,1.020102	FG_AHR_10Vo	2.587
SM_CCo	6302.73,0.17,0.149,0,499.2,415.1,583.2,368.16	MEM0	59796,1,0,0
SM_GC	4.70,0.17,20.15,0.28,0.149,0.135,0.141,499.2,415.1,583.2,218.7,2576.1,0,0,0,15.89,15.67,15.74	MEM1	65508,1,0,0
SURF	below D_CALL,4.704906/3.000000	MEM2	1023032,33,22556,116
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16156,626
IRIDIUM_FIX	7610.07,-14226.43,100823,065015	CAP_FILE_SIZE	199136,0
TCM_TEMP	1.59	SDSIZE	3918848,3897568
SC_FREEKB	3869472	SDFILEDIR	263,30
RAFOS_CLK	-1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1691870526,74.57000,-145.56000,126.954,185987.7	SOUNDSPEED	1465.0
RAFOS_FIX	7604.673340,-14206.042969,120823,202031,9,255,0.03	MAGCAL	1.000000,-0.034922,-0.025298,-0.064635,1.052402,-0.096352,0.065651,0.019690,0.966666,-1070.0,-132.2,430.1,36,0.1268,0
HUMID	48.04	IMPLIED_C_PITCH	2313,13.58,162,0.0,13.53
TEMP	-0.47	GPS	120823,203031,7604.673,-14206.043,0,10255.0,0,15.7
INTERNAL_PRESSURE	8.08766

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	643	1245	12024.31	nil	0	0	0.00
Pitch_motor	39	194	114.48	nil	0	0	0.00
Roll_motor	73	274	303.95	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	2144	5	164.69	SciCon	6271	6	607.85
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4162	0	19.98
Compass	1041	5	78.14
RAFOS	2452	40	1471.44
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
5.85	16386	-117.30	-1.97	0.00	498.3	415.3	581.2	3174.1	2570.3	0.00	0.00	0	47.85	40.75	0.00	0.00	0.005	0.000	0.000	1314.59	1290.50	1338.69	3174.06	2570.25	0	0	0	15.94	30.00	30.00
48.11	20775	-117.30	-1.97	80.00	1315.7	1290.2	1341.2	3173.8	2570.1	3.76	-4.13	4	112.29	44.98	9.69	3.81	0.005	0.190	0.153	2477.84	2452.06	2503.62	1804.94	4007.19	0	0	0	15.93	15.78	15.81
289.64	1028	-117.30	-1.97	0.00	2480.8	2453.5	2508.1	1805.0	4006.7	47.76	-15.93	50	295.22	0.00	0.00	3.62	0.000	0.000	0.097	2482.44	2455.88	2509.00	1802.88	2574.56	0	0	0	30.00	30.00	15.88
670.42	548	-117.30	-1.97	-80.00	2480.4	2452.8	2508.1	1804.9	2574.9	63.73	-1.72	66	676.26	0.00	0.00	3.79	0.000	0.000	0.172	2479.69	2452.12	2507.25	1804.81	1190.00	0	0	0	30.00	30.00	15.89
734.69	1060	-117.30	-1.97	0.00	2480.2	2452.6	2507.8	1805.1	1189.9	66.49	-2.64	79	740.60	0.00	0.00	3.43	0.000	0.000	0.079	2479.97	2452.06	2507.88	1805.44	2614.94	0	0	0	30.00	30.00	15.97
1115.51	292	-117.30	-1.97	80.00	2479.5	2451.1	2507.9	1804.9	2614.3	79.26	-3.59	95	1121.73	0.00	0.00	3.62	0.000	0.000	0.152	2479.69	2450.88	2508.50	1804.25	4008.19	0	0	0	30.00	30.00	15.95
1350.58	1060	-117.30	-1.97	0.00	2478.9	2449.9	2508.0	1804.2	4008.3	89.52	-4.25	142	1356.76	0.00	0.00	3.56	0.000	0.000	0.093	2480.44	2451.62	2509.25	1804.00	2574.50	0	0	0	30.00	30.00	16.01
1725.60	292	-117.30	-1.97	80.00	2478.8	2449.7	2508.0	1804.3	2574.4	102.04	-3.05	160	1731.86	0.00	0.00	3.72	0.000	0.000	0.147	2480.16	2451.69	2508.62	1803.75	4007.81	0	0	0	30.00	30.00	15.98
1960.66	1060	-117.30	-1.97	0.00	2478.6	2449.4	2507.9	1803.9	4008.1	107.87	-2.40	207	1966.85	0.00	0.00	3.57	0.000	0.000	0.094	2479.72	2450.75	2508.69	1803.94	2573.12	0	0	0	30.00	30.00	16.03
2355.59	292	-117.30	-1.97	80.00	2478.6	2449.3	2507.9	1804.3	2573.8	117.96	-2.73	224	2363.62	0.00	0.00	3.70	0.000	0.000	0.148	2479.56	2450.06	2509.06	1804.00	4007.56	0	0	0	30.00	30.00	16.00
2594.09	1060	-117.30	-1.97	0.00	2478.3	2448.7	2507.9	1804.1	4008.2	123.49	-2.17	272	2600.42	0.00	0.00	3.58	0.000	0.000	0.095	2477.88	2447.94	2507.81	1802.69	2572.25	0	0	0	30.00	30.00	16.01
2979.13	32	-117.30	-1.97	0.00	2478.7	2449.6	2507.9	1804.1	2572.9	129.79	-1.74	289	2980.70	0.00	0.00	0.00	0.000	0.000	0.000	2479.09	2449.88	2508.31	1802.12	2573.00	0	0	0	30.00	30.00	30.00
3369.14	548	-117.30	-1.97	-80.00	2478.7	2449.1	2508.4	1804.4	2572.6	138.38	-2.14	302	3375.60	0.00	0.00	3.80	0.000	0.000	0.174	2477.16	2447.25	2507.06	1804.19	1191.69	0	0	0	30.00	30.00	15.93
3601.41	1060	-117.30	-1.97	0.00	2478.4	2448.4	2508.4	1804.4	1191.6	142.28	-1.73	348	3608.15	0.00	0.00	3.45	0.000	0.000	0.082	2478.47	2448.69	2508.25	1804.06	2612.94	0	0	0	30.00	30.00	15.98
3997.16	292	-117.30	-1.97	80.00	2478.3	2448.6	2508.1	1804.4	2612.4	146.61	-1.07	362	4003.58	0.00	0.00	3.66	0.000	0.000	0.155	2476.59	2447.25	2505.94	1804.19	4008.62	0	0	0	30.00	30.00	15.93
4022.15	1060	-117.30	-1.97	0.00	2478.4	2449.0	2507.8	1803.6	4009.8	146.72	-1.02	367	4028.52	0.00	0.00	3.60	0.000	0.000	0.093	2480.72	2450.31	2511.12	1804.62	2570.94	0	0	0	30.00	30.00	15.96
4317	end dive: NO_VERTICAL_VELOCITY
state	4317	begin apogee
4318.67	10243	0.00	-0.37	0.00	2478.2	2448.9	2507.6	1804.6	2726.7	148.14	0.00	381	4434.41	106.47	2.95	0.06	1.245	0.195	0.275	1999.19	1917.81	2080.56	2205.31	2696.81	0	0	0	11.74	15.92	15.49
4436	end apogee: CONTROL_FINISHED_OK
state	4436	begin climb
4436.89	10759	117.30	1.97	-80.00	1996.6	1914.8	2078.4	2205.3	2696.6	146.42	0.00	384	4553.39	99.51	3.92	4.17	1.157	0.119	0.168	1520.94	1412.12	1629.75	2773.12	1247.88	0	0	0	11.62	15.53	15.29
4621.56	1028	117.30	1.97	0.00	1515.1	1411.4	1618.8	2773.1	1248.4	106.09	28.97	420	4628.08	0.00	0.00	3.74	0.000	0.000	0.083	1514.97	1411.50	1618.44	2773.88	2728.69	0	0	0	30.00	30.00	15.51
5006.57	16646	117.30	1.97	80.00	1512.0	1412.2	1611.7	2773.8	2728.4	41.30	10.48	437	5012.94	0.00	0.00	3.43	0.000	0.000	0.153	1512.31	1413.00	1611.62	2772.00	4007.00	0	0	0	30.00	30.00	15.74
5241.69	11303	299.39	2.69	0.00	1510.5	1414.9	1606.1	2773.5	4007.2	41.94	-0.39	484	5508.09	250.95	1.12	3.33	1.010	0.081	0.086	780.09	664.94	895.25	2955.31	2692.62	0	0	0	11.78	15.84	15.86
5811.36	10535	442.26	3.27	80.00	775.3	665.9	884.8	2955.0	2692.9	9.24	1.67	565	5923.42	100.95	0.85	3.61	0.977	0.084	0.147	500.50	413.75	587.25	3092.00	4007.12	0	0	0	11.74	15.71	15.40
5971.69	11303	523.55	3.59	0.00	499.1	413.4	584.7	3091.8	4006.9	3.66	4.90	596	5978.33	0.00	0.48	3.42	0.000	0.108	0.086	499.28	413.81	584.75	3168.00	2694.94	0	0	0	30.00	15.53	15.54
6137	end climb: SURFACE_DEPTH_REACHED
state	6137	begin surface coast
6267	end surface coast: CONTROL_FINISHED_OK
state	6267	begin surface