Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 36 * 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 36 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 13.540257 FG_AHR_10V 2.8074498 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 13.221999 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 2.8074498 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 13.221999 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 13.540257 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 36 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 130823,061203,7605.390,-14204.146,0,8255.0,0,15.7 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 4.91 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130823,061203,7605.390,-14204.146,0,8255.0,0,15.7 MHEAD_RNG_PITCHd_Wd 157.4,66015,-20.2,-9.167,-25.06,1949,0.132

SPEED_LIMITS 0.092,0.196 D_GRID 990

TGT_NAME IGBL IRON 1.000000,-0.058064,-0.069359,-0.064846,1.037432,-0.079687,0.059845,0.024819,0.912228,-1019.682983,-140.930878,505.300598

TGT_LATLONG 7530.000,-14147.136 OSC 8000307

Post-dive calculations and measurements:

NAV 1691916026,138.4,7,stop INTERNAL_PRESSURE 8.08513

MODEM_MSG CACST,8,1,20230813083032.514112,18,32767,39,0172,0000,07,01,01,01,04,-1,-01,-01,1,3,0,0,150,-17.8,0.66,-100,2.34,-01,-0.09,17,925,0025,0,-1,00,00*31 _24V_AH 15.00,15.635

NET CACST,8,0,20230813084810.126269,18,300,24,0100,0093,126,02,02,00,02,1,235,028,0,5,1,0,150,7.0,2.00,-100,1.00,-01,0.13,54,10000,5000,0,-1,00,00*74 _10V_AH 15.00,0.000

FREEZE 1.70,-0.551,-1.338,2,16,0 FG_AHR_24Vo 13.397

FINISH 1.7,1.019735 FG_AHR_10Vo 2.854

SM_CCo 6419.47,0.18,0.131,0,498.9,413.8,584.1,368.22 MEM0 59796,1,0,0

SM_GC 4.95,0.18,20.42,0.28,0.131,0.133,0.136,498.9,413.8,584.1,218.8,2575.2,0,0,0,15.89,15.67,15.76 MEM1 65508,1,0,0

SURF below D_CALL,4.945515/3.000000 MEM2 1023032,33,22556,116

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16136,644

IRIDIUM_FIX 7610.07,-14226.43,100823,065015 CAP_FILE_SIZE 203643,0

TCM_TEMP 1.76 SDSIZE 3918848,3895552

SC_FREEKB 3867232 SDFILEDIR 312,37

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

MODEM 0,1691913726,74.57000,-145.56000,126.175,184846.0 SOUNDSPEED 1465.0

RAFOS_FIX 7604.270996,-14207.573242,130823,080832,9,255,0.31 MAGCAL 1.000000,-0.043127,-0.007563,-0.065383,1.059674,-0.071109,0.073517,0.024907,1.007745,-1087.8,-158.4,391.0,36,0.1124,0

HUMID 48.09 IMPLIED_C_PITCH 2313,13.56,167,0.0,13.55

TEMP -0.46 GPS 130823,083032,7604.271,-14207.573,0,10255.0,0,15.7

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 636 1242 11869.19 nil 0 0 0.00

Pitch_motor 42 310 200.38 nil 0 0 0.00

Roll_motor 74 272 304.56 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 2254 5 173.18 SciCon 6387 6 622.35

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4167 0 20.00

Compass 1074 5 80.58

RAFOS 2457 40 1474.57

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 -1.96 0.00 499.4 415.5 583.3 219.8 2575.9 0.00 0.00 0 42.69 35.65 0.00 0.00 0.005 0.000 0.000 1122.75 1101.50 1144.00 219.94 2576.38 0 0 0 15.87 30.00 30.00

42.94 18727 -117.30 -1.96 80.00 1123.0 1101.6 1144.4 219.7 2576.1 4.23 -4.88 4 112.68 43.97 13.11 3.88 0.005 0.311 0.155 2478.97 2454.38 2503.56 1820.62 4008.00 0 0 0 15.86 15.66 15.74

275.01 1028 -117.30 -1.96 0.00 2481.0 2456.0 2505.9 1820.3 4009.1 48.08 -17.05 50 280.64 0.00 0.00 3.71 0.000 0.000 0.096 2482.78 2457.88 2507.69 1820.31 2574.75 0 0 0 30.00 30.00 15.83

655.78 292 -117.30 -1.96 80.00 2479.9 2453.8 2506.0 1820.3 2574.3 66.52 -2.48 65 661.85 0.00 0.00 3.83 0.000 0.000 0.146 2478.50 2453.06 2503.94 1820.50 4006.56 0 0 0 30.00 30.00 15.87

890.92 1060 -117.30 -1.96 0.00 2478.5 2451.2 2505.8 1820.4 4007.3 74.01 -3.10 112 897.18 0.00 0.00 3.64 0.000 0.000 0.095 2476.97 2449.88 2504.06 1820.19 2573.81 0 0 0 30.00 30.00 15.93

1275.93 292 -117.30 -1.96 80.00 2478.2 2450.6 2505.8 1820.6 2573.4 86.93 -3.31 129 1282.24 0.00 0.00 3.79 0.000 0.000 0.146 2477.91 2450.56 2505.25 1820.44 4007.50 0 0 0 30.00 30.00 15.90

1510.96 1060 -117.30 -1.96 0.00 2478.1 2449.9 2506.2 1820.2 4007.8 95.79 -3.83 176 1517.22 0.00 0.00 3.62 0.000 0.000 0.095 2478.22 2450.69 2505.75 1818.69 2572.06 0 0 0 30.00 30.00 15.93

1895.98 292 -117.30 -1.96 80.00 2478.7 2450.3 2507.0 1820.4 2572.9 105.35 -2.31 193 1902.31 0.00 0.00 3.81 0.000 0.000 0.145 2478.41 2450.25 2506.56 1818.25 4007.62 0 0 0 30.00 30.00 15.91

2131.06 1060 -117.30 -1.96 0.00 2477.7 2449.1 2506.2 1820.1 4006.9 112.11 -3.12 240 2137.31 0.00 0.00 3.62 0.000 0.000 0.095 2476.38 2447.94 2504.81 1820.50 2574.94 0 0 0 30.00 30.00 15.94

2516.09 548 -117.30 -1.96 -80.00 2478.1 2450.1 2506.1 1820.6 2574.8 120.42 -1.96 257 2522.45 0.00 0.00 3.86 0.000 0.000 0.173 2476.47 2448.12 2504.81 1820.19 1190.69 0 0 0 30.00 30.00 15.89

2751.19 1060 -117.30 -1.96 0.00 2478.2 2450.1 2506.3 1820.5 1191.0 125.73 -2.27 304 2757.52 0.00 0.00 3.50 0.000 0.000 0.080 2477.41 2449.25 2505.56 1820.44 2613.62 0 0 0 30.00 30.00 15.95

3136.22 548 -117.30 -1.96 -80.00 2477.7 2449.2 2506.2 1820.9 2612.7 131.61 -1.40 321 3143.80 0.00 0.00 3.94 0.000 0.000 0.166 2476.38 2447.62 2505.12 1819.81 1190.62 0 0 0 30.00 30.00 15.89

3206.29 1060 -117.30 -1.96 0.00 2478.1 2449.8 2506.3 1820.5 1191.2 132.69 -1.32 335 3212.31 0.00 0.00 3.47 0.000 0.000 0.079 2481.31 2452.81 2509.81 1820.44 2614.88 0 0 0 30.00 30.00 15.95

3582.05 548 -117.30 -1.96 -80.00 2478.2 2449.9 2506.6 1820.4 2614.6 139.73 -2.16 350 3589.63 0.00 0.00 3.91 0.000 0.000 0.167 2475.94 2447.44 2504.44 1820.75 1190.88 0 0 0 30.00 30.00 15.91

3677.13 1060 -117.30 -1.96 0.00 2477.6 2449.2 2506.1 1820.4 1190.8 141.98 -2.21 369 3683.14 0.00 0.00 3.47 0.000 0.000 0.081 2479.53 2451.38 2507.69 1820.62 2616.12 0 0 0 30.00 30.00 15.98

4045.87 32 -117.30 -1.96 0.00 2477.9 2449.5 2506.3 1820.2 2615.9 146.57 -1.20 386 4047.43 0.00 0.00 0.00 0.000 0.000 0.000 2477.78 2449.12 2506.44 1820.31 2615.94 0 0 0 30.00 30.00 30.00

4405 end dive: NO_VERTICAL_VELOCITY

state 4405 begin apogee

4407.35 10243 0.00 -0.37 0.00 2478.3 2450.1 2506.5 1820.4 2727.7 148.94 0.00 398 4522.10 105.92 2.82 0.06 1.242 0.201 0.273 1998.97 1918.06 2079.88 2203.25 2696.00 0 0 0 11.95 15.99 15.55

4523 end apogee: CONTROL_FINISHED_OK

state 4523 begin climb

4524.59 10759 117.30 1.96 -80.00 1996.8 1915.6 2078.1 2205.5 2696.3 146.73 0.00 401 4641.90 99.64 3.91 4.18 1.151 0.122 0.165 1519.84 1410.56 1629.12 2773.56 1249.31 0 0 0 11.73 15.59 15.33

4714.35 1028 117.30 1.96 0.00 1515.1 1410.5 1619.6 2773.8 1249.5 104.25 27.83 438 4721.62 0.00 0.00 3.72 0.000 0.000 0.084 1513.97 1409.69 1618.25 2774.12 2727.62 0 0 0 30.00 30.00 15.55

5095.14 292 118.03 1.96 80.00 1511.4 1410.9 1611.9 2773.4 2727.6 42.88 9.13 454 5101.44 0.00 0.00 3.38 0.000 0.000 0.154 1511.00 1411.12 1610.88 2773.69 4007.06 0 0 0 30.00 30.00 15.75

5330.21 11303 287.78 2.64 0.00 1510.3 1413.4 1607.2 2774.0 4006.9 43.07 0.26 501 5579.79 234.37 1.03 3.33 1.009 0.078 0.085 827.03 708.94 945.12 2941.06 2693.25 0 0 0 11.70 15.85 15.87

5886.03 10535 424.74 3.19 80.00 822.3 710.2 934.4 2941.6 2693.4 8.64 1.98 580 6014.58 117.25 0.81 3.61 0.971 0.078 0.144 500.34 412.25 588.44 3075.88 4007.06 0 0 0 11.79 15.71 15.37

6032.11 11303 571.03 3.77 0.00 499.0 411.8 586.2 3075.8 4006.9 6.41 1.49 608 6039.46 0.00 0.88 3.42 0.000 0.097 0.081 498.84 411.88 585.81 3214.81 2693.50 0 0 0 30.00 15.46 15.48

6282 end climb: SURFACE_DEPTH_REACHED

state 6282 begin surface coast

6382 end surface coast: CONTROL_FINISHED_OK

state 6382 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	36	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	13.540257	FG_AHR_10V	2.8074498	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	13.221999	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	130823,061203,7605.390,-14204.146,0,8255.0,0,15.7	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	4.91	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130823,061203,7605.390,-14204.146,0,8255.0,0,15.7	MHEAD_RNG_PITCHd_Wd	157.4,66015,-20.2,-9.167,-25.06,1949,0.132
SPEED_LIMITS	0.092,0.196	D_GRID	990
TGT_NAME	IGBL	IRON	1.000000,-0.058064,-0.069359,-0.064846,1.037432,-0.079687,0.059845,0.024819,0.912228,-1019.682983,-140.930878,505.300598
TGT_LATLONG	7530.000,-14147.136	OSC	8000307

NAV	1691916026,138.4,7,stop	INTERNAL_PRESSURE	8.08513
MODEM_MSG	CACST,8,1,20230813083032.514112,18,32767,39,0172,0000,07,01,01,01,04,-1,-01,-01,1,3,0,0,150,-17.8,0.66,-100,2.34,-01,-0.09,17,925,0025,0,-1,00,00*31	_24V_AH	15.00,15.635
NET	CACST,8,0,20230813084810.126269,18,300,24,0100,0093,126,02,02,00,02,1,235,028,0,5,1,0,150,7.0,2.00,-100,1.00,-01,0.13,54,10000,5000,0,-1,00,00*74	_10V_AH	15.00,0.000
FREEZE	1.70,-0.551,-1.338,2,16,0	FG_AHR_24Vo	13.397
FINISH	1.7,1.019735	FG_AHR_10Vo	2.854
SM_CCo	6419.47,0.18,0.131,0,498.9,413.8,584.1,368.22	MEM0	59796,1,0,0
SM_GC	4.95,0.18,20.42,0.28,0.131,0.133,0.136,498.9,413.8,584.1,218.8,2575.2,0,0,0,15.89,15.67,15.76	MEM1	65508,1,0,0
SURF	below D_CALL,4.945515/3.000000	MEM2	1023032,33,22556,116
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16136,644
IRIDIUM_FIX	7610.07,-14226.43,100823,065015	CAP_FILE_SIZE	203643,0
TCM_TEMP	1.76	SDSIZE	3918848,3895552
SC_FREEKB	3867232	SDFILEDIR	312,37
RAFOS_CLK	-6	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1691913726,74.57000,-145.56000,126.175,184846.0	SOUNDSPEED	1465.0
RAFOS_FIX	7604.270996,-14207.573242,130823,080832,9,255,0.31	MAGCAL	1.000000,-0.043127,-0.007563,-0.065383,1.059674,-0.071109,0.073517,0.024907,1.007745,-1087.8,-158.4,391.0,36,0.1124,0
HUMID	48.09	IMPLIED_C_PITCH	2313,13.56,167,0.0,13.55
TEMP	-0.46	GPS	130823,083032,7604.271,-14207.573,0,10255.0,0,15.7

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	636	1242	11869.19	nil	0	0	0.00
Pitch_motor	42	310	200.38	nil	0	0	0.00
Roll_motor	74	272	304.56	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	2254	5	173.18	SciCon	6387	6	622.35
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4167	0	20.00
Compass	1074	5	80.58
RAFOS	2457	40	1474.57
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	-1.96	0.00	499.4	415.5	583.3	219.8	2575.9	0.00	0.00	0	42.69	35.65	0.00	0.00	0.005	0.000	0.000	1122.75	1101.50	1144.00	219.94	2576.38	0	0	0	15.87	30.00	30.00
42.94	18727	-117.30	-1.96	80.00	1123.0	1101.6	1144.4	219.7	2576.1	4.23	-4.88	4	112.68	43.97	13.11	3.88	0.005	0.311	0.155	2478.97	2454.38	2503.56	1820.62	4008.00	0	0	0	15.86	15.66	15.74
275.01	1028	-117.30	-1.96	0.00	2481.0	2456.0	2505.9	1820.3	4009.1	48.08	-17.05	50	280.64	0.00	0.00	3.71	0.000	0.000	0.096	2482.78	2457.88	2507.69	1820.31	2574.75	0	0	0	30.00	30.00	15.83
655.78	292	-117.30	-1.96	80.00	2479.9	2453.8	2506.0	1820.3	2574.3	66.52	-2.48	65	661.85	0.00	0.00	3.83	0.000	0.000	0.146	2478.50	2453.06	2503.94	1820.50	4006.56	0	0	0	30.00	30.00	15.87
890.92	1060	-117.30	-1.96	0.00	2478.5	2451.2	2505.8	1820.4	4007.3	74.01	-3.10	112	897.18	0.00	0.00	3.64	0.000	0.000	0.095	2476.97	2449.88	2504.06	1820.19	2573.81	0	0	0	30.00	30.00	15.93
1275.93	292	-117.30	-1.96	80.00	2478.2	2450.6	2505.8	1820.6	2573.4	86.93	-3.31	129	1282.24	0.00	0.00	3.79	0.000	0.000	0.146	2477.91	2450.56	2505.25	1820.44	4007.50	0	0	0	30.00	30.00	15.90
1510.96	1060	-117.30	-1.96	0.00	2478.1	2449.9	2506.2	1820.2	4007.8	95.79	-3.83	176	1517.22	0.00	0.00	3.62	0.000	0.000	0.095	2478.22	2450.69	2505.75	1818.69	2572.06	0	0	0	30.00	30.00	15.93
1895.98	292	-117.30	-1.96	80.00	2478.7	2450.3	2507.0	1820.4	2572.9	105.35	-2.31	193	1902.31	0.00	0.00	3.81	0.000	0.000	0.145	2478.41	2450.25	2506.56	1818.25	4007.62	0	0	0	30.00	30.00	15.91
2131.06	1060	-117.30	-1.96	0.00	2477.7	2449.1	2506.2	1820.1	4006.9	112.11	-3.12	240	2137.31	0.00	0.00	3.62	0.000	0.000	0.095	2476.38	2447.94	2504.81	1820.50	2574.94	0	0	0	30.00	30.00	15.94
2516.09	548	-117.30	-1.96	-80.00	2478.1	2450.1	2506.1	1820.6	2574.8	120.42	-1.96	257	2522.45	0.00	0.00	3.86	0.000	0.000	0.173	2476.47	2448.12	2504.81	1820.19	1190.69	0	0	0	30.00	30.00	15.89
2751.19	1060	-117.30	-1.96	0.00	2478.2	2450.1	2506.3	1820.5	1191.0	125.73	-2.27	304	2757.52	0.00	0.00	3.50	0.000	0.000	0.080	2477.41	2449.25	2505.56	1820.44	2613.62	0	0	0	30.00	30.00	15.95
3136.22	548	-117.30	-1.96	-80.00	2477.7	2449.2	2506.2	1820.9	2612.7	131.61	-1.40	321	3143.80	0.00	0.00	3.94	0.000	0.000	0.166	2476.38	2447.62	2505.12	1819.81	1190.62	0	0	0	30.00	30.00	15.89
3206.29	1060	-117.30	-1.96	0.00	2478.1	2449.8	2506.3	1820.5	1191.2	132.69	-1.32	335	3212.31	0.00	0.00	3.47	0.000	0.000	0.079	2481.31	2452.81	2509.81	1820.44	2614.88	0	0	0	30.00	30.00	15.95
3582.05	548	-117.30	-1.96	-80.00	2478.2	2449.9	2506.6	1820.4	2614.6	139.73	-2.16	350	3589.63	0.00	0.00	3.91	0.000	0.000	0.167	2475.94	2447.44	2504.44	1820.75	1190.88	0	0	0	30.00	30.00	15.91
3677.13	1060	-117.30	-1.96	0.00	2477.6	2449.2	2506.1	1820.4	1190.8	141.98	-2.21	369	3683.14	0.00	0.00	3.47	0.000	0.000	0.081	2479.53	2451.38	2507.69	1820.62	2616.12	0	0	0	30.00	30.00	15.98
4045.87	32	-117.30	-1.96	0.00	2477.9	2449.5	2506.3	1820.2	2615.9	146.57	-1.20	386	4047.43	0.00	0.00	0.00	0.000	0.000	0.000	2477.78	2449.12	2506.44	1820.31	2615.94	0	0	0	30.00	30.00	30.00
4405	end dive: NO_VERTICAL_VELOCITY
state	4405	begin apogee
4407.35	10243	0.00	-0.37	0.00	2478.3	2450.1	2506.5	1820.4	2727.7	148.94	0.00	398	4522.10	105.92	2.82	0.06	1.242	0.201	0.273	1998.97	1918.06	2079.88	2203.25	2696.00	0	0	0	11.95	15.99	15.55
4523	end apogee: CONTROL_FINISHED_OK
state	4523	begin climb
4524.59	10759	117.30	1.96	-80.00	1996.8	1915.6	2078.1	2205.5	2696.3	146.73	0.00	401	4641.90	99.64	3.91	4.18	1.151	0.122	0.165	1519.84	1410.56	1629.12	2773.56	1249.31	0	0	0	11.73	15.59	15.33
4714.35	1028	117.30	1.96	0.00	1515.1	1410.5	1619.6	2773.8	1249.5	104.25	27.83	438	4721.62	0.00	0.00	3.72	0.000	0.000	0.084	1513.97	1409.69	1618.25	2774.12	2727.62	0	0	0	30.00	30.00	15.55
5095.14	292	118.03	1.96	80.00	1511.4	1410.9	1611.9	2773.4	2727.6	42.88	9.13	454	5101.44	0.00	0.00	3.38	0.000	0.000	0.154	1511.00	1411.12	1610.88	2773.69	4007.06	0	0	0	30.00	30.00	15.75
5330.21	11303	287.78	2.64	0.00	1510.3	1413.4	1607.2	2774.0	4006.9	43.07	0.26	501	5579.79	234.37	1.03	3.33	1.009	0.078	0.085	827.03	708.94	945.12	2941.06	2693.25	0	0	0	11.70	15.85	15.87
5886.03	10535	424.74	3.19	80.00	822.3	710.2	934.4	2941.6	2693.4	8.64	1.98	580	6014.58	117.25	0.81	3.61	0.971	0.078	0.144	500.34	412.25	588.44	3075.88	4007.06	0	0	0	11.79	15.71	15.37
6032.11	11303	571.03	3.77	0.00	499.0	411.8	586.2	3075.8	4006.9	6.41	1.49	608	6039.46	0.00	0.88	3.42	0.000	0.097	0.081	498.84	411.88	585.81	3214.81	2693.50	0	0	0	30.00	15.46	15.48
6282	end climb: SURFACE_DEPTH_REACHED
state	6282	begin surface coast
6382	end surface coast: CONTROL_FINISHED_OK
state	6382	begin surface