Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 35 * 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 35 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 13.479187 FG_AHR_10V 2.7726769 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 13.045602 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 2.7726769 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 13.045602 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 13.479187 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 35 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 130823,043032,7607.598,-14159.621,0,6255.0,0,15.7 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 3.18 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130823,043032,7607.598,-14159.621,0,6255.0,0,15.7 MHEAD_RNG_PITCHd_Wd 159.5,69872,-20.2,-9.167,-25.06,1949,0.147

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 1691907620,93.4,2,stop _24V_AH 14.98,15.420

MODEM_MSG CACST,8,1,20230813061203.831377,18,142,15,0159,0000,246,00,00,01,03,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*21 _10V_AH 15.00,0.000

FREEZE 0.66,-0.430,-1.342,2,15,0 FG_AHR_24Vo 13.222

FINISH 0.7,1.019797 FG_AHR_10Vo 2.807

SM_CCo 6246.19,0.17,0.144,0,499.2,415.2,583.2,368.14 MEM0 59796,1,0,0

SM_GC 4.25,0.17,19.56,3.36,0.144,0.134,0.077,499.2,415.2,583.2,219.8,2618.3,0,0,0,15.87,15.66,15.75 MEM1 65508,1,0,0

SURF below D_CALL,4.245550/3.000000 MEM2 1023032,33,22556,116

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16155,643

IRIDIUM_FIX 7610.07,-14226.43,100823,065015 CAP_FILE_SIZE 204379,0

TCM_TEMP 1.80 SDSIZE 3918848,3895840

SC_FREEKB 3867552 SDFILEDIR 305,36

RAFOS_CLK -7 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 8,1691906562,74.24940,-137.99570,162.097,237472.5 SOUNDSPEED 1465.0

RAFOS_FIX 7605.390137,-14204.145508,130823,060603,7,255,0.75 MAGCAL 1.000000,-0.020550,-0.013961,-0.068803,1.052912,-0.110097,0.065574,0.011650,0.967838,-1076.6,-118.3,425.5,36,0.1214,0

HUMID 48.10 IMPLIED_C_PITCH 2315,13.60,162,0.0,13.54

TEMP -0.47 GPS 130823,061203,7605.390,-14204.146,0,8255.0,0,15.7

INTERNAL_PRESSURE 8.08496

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 638 1245 11906.83 nil 0 0 0.00

Pitch_motor 41 308 191.88 nil 0 0 0.00

Roll_motor 81 275 334.65 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 2232 5 171.45 SciCon 6212 6 596.72

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4013 0 19.27

Compass 1064 5 79.86

RAFOS 1281 40 768.69

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

5.85 16386 -117.30 -1.97 0.00 499.3 415.1 583.4 219.9 2573.9 0.00 0.00 0 22.05 15.23 0.00 0.00 0.006 0.000 0.000 776.00 723.94 828.06 219.75 2574.12 0 0 0 15.82 30.00 30.00

22.30 18467 -117.30 -1.97 0.00 776.1 723.6 828.6 219.9 2574.6 3.02 -6.72 2 107.87 66.26 13.35 0.00 0.005 0.309 0.000 2476.03 2452.75 2499.31 1817.88 2573.88 0 0 0 15.81 15.62 30.00

434.41 548 -117.30 -1.97 -80.00 2481.2 2453.0 2509.4 1817.6 2574.2 59.24 -8.34 34 440.31 0.00 0.00 3.88 0.000 0.000 0.167 2480.50 2451.56 2509.44 1816.75 1191.44 0 0 0 30.00 30.00 15.77

669.49 1060 -117.30 -1.97 0.00 2480.4 2451.6 2509.3 1817.6 1191.6 68.35 -2.64 81 675.26 0.00 0.00 3.50 0.000 0.000 0.082 2483.41 2454.81 2512.00 1818.12 2612.88 0 0 0 30.00 30.00 15.84

1054.58 548 -117.30 -1.97 -80.00 2479.3 2449.8 2508.9 1817.4 2613.2 80.78 -3.82 98 1062.07 0.00 0.00 3.96 0.000 0.000 0.165 2480.53 2450.75 2510.31 1817.44 1191.62 0 0 0 30.00 30.00 15.83

1069.50 1060 -117.30 -1.97 0.00 2479.5 2449.8 2509.2 1818.2 1191.2 81.49 -3.87 101 1075.34 0.00 0.00 3.49 0.000 0.000 0.078 2480.53 2451.31 2509.75 1818.00 2615.25 0 0 0 30.00 30.00 15.88

1443.34 292 -117.30 -1.97 80.00 2479.4 2449.9 2508.9 1818.2 2614.5 93.37 -3.33 115 1451.41 0.00 0.00 3.71 0.000 0.000 0.150 2481.00 2451.25 2510.75 1817.94 4006.94 0 0 0 30.00 30.00 15.87

1631.09 1060 -117.30 -1.97 0.00 2478.1 2447.2 2508.9 1817.6 4006.7 101.00 -3.71 153 1637.01 0.00 0.00 3.65 0.000 0.000 0.093 2476.41 2445.06 2507.75 1817.94 2572.69 0 0 0 30.00 30.00 15.93

2011.83 292 -117.30 -1.97 80.00 2478.4 2447.5 2509.2 1818.1 2572.8 109.71 -1.89 169 2018.14 0.00 0.00 3.81 0.000 0.000 0.146 2480.53 2448.69 2512.38 1818.19 4008.25 0 0 0 30.00 30.00 15.95

2191.16 1060 -117.30 -1.97 0.00 2478.1 2446.9 2509.2 1817.4 4008.1 114.39 -2.85 205 2197.12 0.00 0.00 3.63 0.000 0.000 0.093 2479.03 2447.94 2510.12 1817.81 2572.50 0 0 0 30.00 30.00 16.00

2576.91 548 -117.30 -1.97 -80.00 2478.6 2447.4 2509.8 1817.8 2572.1 123.05 -1.98 222 2583.21 0.00 0.00 3.84 0.000 0.000 0.173 2476.66 2445.19 2508.12 1818.25 1192.19 0 0 0 30.00 30.00 15.98

2811.99 1060 -117.30 -1.97 0.00 2477.8 2445.9 2509.7 1817.9 1191.8 127.73 -2.01 269 2818.32 0.00 0.00 3.45 0.000 0.000 0.081 2479.44 2448.00 2510.88 1817.75 2614.56 0 0 0 30.00 30.00 16.05

3200.00 548 -117.30 -1.97 -80.00 2477.9 2446.5 2509.3 1818.8 2614.1 133.86 -1.52 287 3206.58 0.00 0.00 3.93 0.000 0.000 0.165 2478.84 2447.62 2510.06 1818.44 1190.75 0 0 0 30.00 30.00 16.00

3435.06 1060 -117.30 -1.97 0.00 2477.9 2446.4 2509.4 1817.9 1190.8 138.87 -2.31 334 3441.39 0.00 0.00 3.47 0.000 0.000 0.081 2480.31 2448.00 2512.62 1818.25 2614.12 0 0 0 30.00 30.00 16.07

3820.09 292 -117.30 -1.97 80.00 2477.7 2446.2 2509.2 1818.2 2614.3 145.16 -1.48 351 3826.50 0.00 0.00 3.67 0.000 0.000 0.152 2476.19 2444.88 2507.50 1818.12 4008.12 0 0 0 30.00 30.00 16.04

3869.37 1060 -117.30 -1.97 0.00 2477.9 2446.2 2509.6 1817.8 4008.4 145.83 -1.41 361 3876.20 0.00 0.00 3.59 0.000 0.000 0.092 2479.16 2447.44 2510.88 1818.38 2572.50 0 0 0 30.00 30.00 16.08

4265.11 292 -117.30 -1.97 80.00 2477.4 2445.5 2509.2 1817.6 2572.0 149.05 -0.81 375 4271.59 0.00 0.00 3.77 0.000 0.000 0.147 2478.59 2446.62 2510.56 1817.94 4007.38 0 0 0 30.00 30.00 16.06

4385 end dive: NO_VERTICAL_VELOCITY

state 4385 begin apogee

4390.52 10243 0.00 -0.37 0.00 2477.4 2445.6 2509.2 1817.8 2693.9 149.75 0.00 399 4505.15 105.76 2.82 0.06 1.246 0.190 0.275 1998.19 1916.62 2079.75 2204.06 2727.50 0 0 0 11.94 16.05 15.60

4507 end apogee: CONTROL_FINISHED_OK

state 4507 begin climb

4507.64 10759 117.30 1.97 -80.00 1996.5 1914.4 2078.6 2205.6 2727.6 147.77 0.00 406 4624.20 99.29 3.91 4.30 1.154 0.117 0.165 1521.28 1411.81 1630.75 2775.00 1247.25 0 0 0 11.75 15.64 15.36

4671.65 1028 117.30 1.97 0.00 1515.9 1410.7 1621.1 2775.0 1247.5 112.91 28.03 438 4678.89 0.00 0.00 3.72 0.000 0.000 0.080 1516.34 1411.31 1621.38 2775.44 2728.25 0 0 0 30.00 30.00 15.54

5060.39 16646 117.30 1.97 80.00 1511.8 1411.3 1612.2 2775.2 2727.9 42.78 12.35 455 5066.77 0.00 0.00 3.45 0.000 0.000 0.151 1512.53 1412.69 1612.38 2774.56 4006.75 0 0 0 30.00 30.00 15.74

5209.76 11303 289.87 2.66 0.00 1511.1 1413.7 1608.4 2775.2 4006.7 42.40 0.11 485 5463.13 236.96 1.03 3.35 1.005 0.077 0.084 818.56 700.81 936.31 2944.88 2694.06 0 0 0 11.77 15.82 15.84

5766.38 10791 426.05 3.20 -80.00 814.3 702.8 925.9 2944.6 2694.4 8.75 2.02 564 5893.85 114.33 0.81 4.18 0.970 0.077 0.162 500.62 413.75 587.50 3078.06 1247.88 0 0 0 11.82 15.71 15.37

6122 end climb: SURFACE_DEPTH_REACHED

state 6122 begin surface coast

6207 end surface coast: CONTROL_FINISHED_OK

state 6207 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	35	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	13.479187	FG_AHR_10V	2.7726769	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	13.045602	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	130823,043032,7607.598,-14159.621,0,6255.0,0,15.7	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	3.18	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130823,043032,7607.598,-14159.621,0,6255.0,0,15.7	MHEAD_RNG_PITCHd_Wd	159.5,69872,-20.2,-9.167,-25.06,1949,0.147
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	1691907620,93.4,2,stop	_24V_AH	14.98,15.420
MODEM_MSG	CACST,8,1,20230813061203.831377,18,142,15,0159,0000,246,00,00,01,03,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*21	_10V_AH	15.00,0.000
FREEZE	0.66,-0.430,-1.342,2,15,0	FG_AHR_24Vo	13.222
FINISH	0.7,1.019797	FG_AHR_10Vo	2.807
SM_CCo	6246.19,0.17,0.144,0,499.2,415.2,583.2,368.14	MEM0	59796,1,0,0
SM_GC	4.25,0.17,19.56,3.36,0.144,0.134,0.077,499.2,415.2,583.2,219.8,2618.3,0,0,0,15.87,15.66,15.75	MEM1	65508,1,0,0
SURF	below D_CALL,4.245550/3.000000	MEM2	1023032,33,22556,116
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16155,643
IRIDIUM_FIX	7610.07,-14226.43,100823,065015	CAP_FILE_SIZE	204379,0
TCM_TEMP	1.80	SDSIZE	3918848,3895840
SC_FREEKB	3867552	SDFILEDIR	305,36
RAFOS_CLK	-7	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	8,1691906562,74.24940,-137.99570,162.097,237472.5	SOUNDSPEED	1465.0
RAFOS_FIX	7605.390137,-14204.145508,130823,060603,7,255,0.75	MAGCAL	1.000000,-0.020550,-0.013961,-0.068803,1.052912,-0.110097,0.065574,0.011650,0.967838,-1076.6,-118.3,425.5,36,0.1214,0
HUMID	48.10	IMPLIED_C_PITCH	2315,13.60,162,0.0,13.54
TEMP	-0.47	GPS	130823,061203,7605.390,-14204.146,0,8255.0,0,15.7
INTERNAL_PRESSURE	8.08496

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	638	1245	11906.83	nil	0	0	0.00
Pitch_motor	41	308	191.88	nil	0	0	0.00
Roll_motor	81	275	334.65	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	2232	5	171.45	SciCon	6212	6	596.72
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4013	0	19.27
Compass	1064	5	79.86
RAFOS	1281	40	768.69
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
5.85	16386	-117.30	-1.97	0.00	499.3	415.1	583.4	219.9	2573.9	0.00	0.00	0	22.05	15.23	0.00	0.00	0.006	0.000	0.000	776.00	723.94	828.06	219.75	2574.12	0	0	0	15.82	30.00	30.00
22.30	18467	-117.30	-1.97	0.00	776.1	723.6	828.6	219.9	2574.6	3.02	-6.72	2	107.87	66.26	13.35	0.00	0.005	0.309	0.000	2476.03	2452.75	2499.31	1817.88	2573.88	0	0	0	15.81	15.62	30.00
434.41	548	-117.30	-1.97	-80.00	2481.2	2453.0	2509.4	1817.6	2574.2	59.24	-8.34	34	440.31	0.00	0.00	3.88	0.000	0.000	0.167	2480.50	2451.56	2509.44	1816.75	1191.44	0	0	0	30.00	30.00	15.77
669.49	1060	-117.30	-1.97	0.00	2480.4	2451.6	2509.3	1817.6	1191.6	68.35	-2.64	81	675.26	0.00	0.00	3.50	0.000	0.000	0.082	2483.41	2454.81	2512.00	1818.12	2612.88	0	0	0	30.00	30.00	15.84
1054.58	548	-117.30	-1.97	-80.00	2479.3	2449.8	2508.9	1817.4	2613.2	80.78	-3.82	98	1062.07	0.00	0.00	3.96	0.000	0.000	0.165	2480.53	2450.75	2510.31	1817.44	1191.62	0	0	0	30.00	30.00	15.83
1069.50	1060	-117.30	-1.97	0.00	2479.5	2449.8	2509.2	1818.2	1191.2	81.49	-3.87	101	1075.34	0.00	0.00	3.49	0.000	0.000	0.078	2480.53	2451.31	2509.75	1818.00	2615.25	0	0	0	30.00	30.00	15.88
1443.34	292	-117.30	-1.97	80.00	2479.4	2449.9	2508.9	1818.2	2614.5	93.37	-3.33	115	1451.41	0.00	0.00	3.71	0.000	0.000	0.150	2481.00	2451.25	2510.75	1817.94	4006.94	0	0	0	30.00	30.00	15.87
1631.09	1060	-117.30	-1.97	0.00	2478.1	2447.2	2508.9	1817.6	4006.7	101.00	-3.71	153	1637.01	0.00	0.00	3.65	0.000	0.000	0.093	2476.41	2445.06	2507.75	1817.94	2572.69	0	0	0	30.00	30.00	15.93
2011.83	292	-117.30	-1.97	80.00	2478.4	2447.5	2509.2	1818.1	2572.8	109.71	-1.89	169	2018.14	0.00	0.00	3.81	0.000	0.000	0.146	2480.53	2448.69	2512.38	1818.19	4008.25	0	0	0	30.00	30.00	15.95
2191.16	1060	-117.30	-1.97	0.00	2478.1	2446.9	2509.2	1817.4	4008.1	114.39	-2.85	205	2197.12	0.00	0.00	3.63	0.000	0.000	0.093	2479.03	2447.94	2510.12	1817.81	2572.50	0	0	0	30.00	30.00	16.00
2576.91	548	-117.30	-1.97	-80.00	2478.6	2447.4	2509.8	1817.8	2572.1	123.05	-1.98	222	2583.21	0.00	0.00	3.84	0.000	0.000	0.173	2476.66	2445.19	2508.12	1818.25	1192.19	0	0	0	30.00	30.00	15.98
2811.99	1060	-117.30	-1.97	0.00	2477.8	2445.9	2509.7	1817.9	1191.8	127.73	-2.01	269	2818.32	0.00	0.00	3.45	0.000	0.000	0.081	2479.44	2448.00	2510.88	1817.75	2614.56	0	0	0	30.00	30.00	16.05
3200.00	548	-117.30	-1.97	-80.00	2477.9	2446.5	2509.3	1818.8	2614.1	133.86	-1.52	287	3206.58	0.00	0.00	3.93	0.000	0.000	0.165	2478.84	2447.62	2510.06	1818.44	1190.75	0	0	0	30.00	30.00	16.00
3435.06	1060	-117.30	-1.97	0.00	2477.9	2446.4	2509.4	1817.9	1190.8	138.87	-2.31	334	3441.39	0.00	0.00	3.47	0.000	0.000	0.081	2480.31	2448.00	2512.62	1818.25	2614.12	0	0	0	30.00	30.00	16.07
3820.09	292	-117.30	-1.97	80.00	2477.7	2446.2	2509.2	1818.2	2614.3	145.16	-1.48	351	3826.50	0.00	0.00	3.67	0.000	0.000	0.152	2476.19	2444.88	2507.50	1818.12	4008.12	0	0	0	30.00	30.00	16.04
3869.37	1060	-117.30	-1.97	0.00	2477.9	2446.2	2509.6	1817.8	4008.4	145.83	-1.41	361	3876.20	0.00	0.00	3.59	0.000	0.000	0.092	2479.16	2447.44	2510.88	1818.38	2572.50	0	0	0	30.00	30.00	16.08
4265.11	292	-117.30	-1.97	80.00	2477.4	2445.5	2509.2	1817.6	2572.0	149.05	-0.81	375	4271.59	0.00	0.00	3.77	0.000	0.000	0.147	2478.59	2446.62	2510.56	1817.94	4007.38	0	0	0	30.00	30.00	16.06
4385	end dive: NO_VERTICAL_VELOCITY
state	4385	begin apogee
4390.52	10243	0.00	-0.37	0.00	2477.4	2445.6	2509.2	1817.8	2693.9	149.75	0.00	399	4505.15	105.76	2.82	0.06	1.246	0.190	0.275	1998.19	1916.62	2079.75	2204.06	2727.50	0	0	0	11.94	16.05	15.60
4507	end apogee: CONTROL_FINISHED_OK
state	4507	begin climb
4507.64	10759	117.30	1.97	-80.00	1996.5	1914.4	2078.6	2205.6	2727.6	147.77	0.00	406	4624.20	99.29	3.91	4.30	1.154	0.117	0.165	1521.28	1411.81	1630.75	2775.00	1247.25	0	0	0	11.75	15.64	15.36
4671.65	1028	117.30	1.97	0.00	1515.9	1410.7	1621.1	2775.0	1247.5	112.91	28.03	438	4678.89	0.00	0.00	3.72	0.000	0.000	0.080	1516.34	1411.31	1621.38	2775.44	2728.25	0	0	0	30.00	30.00	15.54
5060.39	16646	117.30	1.97	80.00	1511.8	1411.3	1612.2	2775.2	2727.9	42.78	12.35	455	5066.77	0.00	0.00	3.45	0.000	0.000	0.151	1512.53	1412.69	1612.38	2774.56	4006.75	0	0	0	30.00	30.00	15.74
5209.76	11303	289.87	2.66	0.00	1511.1	1413.7	1608.4	2775.2	4006.7	42.40	0.11	485	5463.13	236.96	1.03	3.35	1.005	0.077	0.084	818.56	700.81	936.31	2944.88	2694.06	0	0	0	11.77	15.82	15.84
5766.38	10791	426.05	3.20	-80.00	814.3	702.8	925.9	2944.6	2694.4	8.75	2.02	564	5893.85	114.33	0.81	4.18	0.970	0.077	0.162	500.62	413.75	587.50	3078.06	1247.88	0	0	0	11.82	15.71	15.37
6122	end climb: SURFACE_DEPTH_REACHED
state	6122	begin surface coast
6207	end surface coast: CONTROL_FINISHED_OK
state	6207	begin surface