Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 41 * 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 41 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 13.504789 FG_AHR_10V 3.0197706 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 14.107814 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 3.0197706 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 14.107814 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 13.504789 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 41 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 130823,141204,7604.032,-14206.837,181,99.0,181,15.7 TGT_RADIUS 4000.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130823,164401,7559.405,-14226.918,31,1.8,32,15.7 MHEAD_RNG_PITCHd_Wd 145.6,57498,-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:

MODEM_MSG CACST,8,1,20230813162522.843882,18,2844,28,0206,0000,246,03,03,01,05,-1,-01,-01,1,3,0,0,150,-38.8,0.67,-100,2.33,-01,-0.05,53,925,0025,0,-1,00,00*3D _24V_AH 14.95,16.685

NAV 1691950817,9.4,0,stop _10V_AH 15.00,0.000

FREEZE 0.60,-0.643,-1.349,2,21,0 FG_AHR_24Vo 14.285

FINISH 0.6,1.019908 FG_AHR_10Vo 3.055

SM_CCo 6227.28,0.14,0.162,0,499.4,413.4,585.3,368.10 MEM0 59796,1,0,0

SM_GC 4.08,0.14,20.12,3.33,0.162,0.141,0.077,499.4,413.4,585.3,219.9,2617.8,0,0,0,15.83,15.62,15.70 MEM1 65508,1,0,0

SURF below D_CALL,4.084044/3.000000 MEM2 1023052,32,22556,116

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16101,640

IRIDIUM_FIX 7559.12,-14226.97,130823,164047 CAP_FILE_SIZE 202042,0

TCM_TEMP 1.83 SDSIZE 3918848,3894112

SC_FREEKB 3865632 SDFILEDIR 347,42

RAFOS_CLK 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 0,1691942525,74.57000,-145.56000,125.624,184039.5 SOUNDSPEED 1465.0

RAFOS_FIX 7601.169434,-14155.940430,130823,161622,6,255,-12.73 MAGCAL 1.000000,-0.054492,0.011442,-0.065114,1.035836,-0.053352,0.070054,0.020580,0.902681,-1112.9,-171.6,514.5,36,0.1422,0

HUMID 48.06 IMPLIED_C_PITCH 2316,13.69,166,0.0,13.60

TEMP -0.26 GPS 130823,164401,7559.405,-14226.918,31,1.8,32,15.7

INTERNAL_PRESSURE 8.0934

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 648 1243 12063.09 nil 0 0 0.00

Pitch_motor 42 310 196.50 nil 0 0 0.00

Roll_motor 73 286 316.70 nil 0 0 0.00

Iridium 168 119 300.82 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 41 15 9.38 nil 0 0 0.00

Core 2477 5 190.25 SciCon 6198 6 589.43

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4083 0 19.60

Compass 1058 5 79.35

RAFOS 1665 40 999.01

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

8.47 16386 -117.30 -1.96 0.00 498.8 414.2 583.4 218.7 2574.8 0.00 0.00 0 45.31 35.67 0.00 0.00 0.006 0.000 0.000 1113.06 1092.50 1133.62 218.62 2574.38 0 0 0 15.86 30.00 30.00

45.56 18727 -117.30 -1.96 80.00 1113.4 1092.6 1134.3 218.6 2574.6 3.59 -3.92 4 121.22 49.60 13.25 3.88 0.005 0.310 0.151 2477.88 2452.25 2503.50 1819.56 4008.00 0 0 0 15.88 15.69 15.77

193.53 1028 -117.30 -1.96 0.00 2480.8 2454.9 2506.6 1819.0 4007.4 30.47 -20.88 33 205.81 0.00 0.00 3.67 0.000 0.000 0.095 2483.34 2458.25 2508.44 1818.06 2576.69 0 0 0 30.00 30.00 15.83

509.37 548 -117.30 -1.96 -80.00 2480.8 2454.2 2507.4 1819.2 2575.8 60.41 -4.23 45 515.70 0.00 0.00 3.88 0.000 0.000 0.169 2479.62 2452.81 2506.44 1819.44 1191.69 0 0 0 30.00 30.00 15.86

744.45 1060 -117.30 -1.96 0.00 2479.8 2452.1 2507.5 1818.9 1191.4 68.80 -2.99 92 750.60 0.00 0.00 3.46 0.000 0.000 0.079 2479.12 2451.06 2507.19 1819.56 2613.69 0 0 0 30.00 30.00 15.95

1129.46 548 -117.30 -1.96 -80.00 2478.8 2450.0 2507.6 1819.1 2613.4 82.85 -4.09 109 1135.83 0.00 0.00 3.93 0.000 0.000 0.164 2479.59 2450.75 2508.44 1819.56 1192.44 0 0 0 30.00 30.00 15.93

1364.54 1060 -117.30 -1.96 0.00 2479.1 2450.4 2507.7 1819.4 1192.5 92.48 -3.43 156 1370.68 0.00 0.00 3.44 0.000 0.000 0.078 2479.88 2451.00 2508.75 1819.25 2615.75 0 0 0 30.00 30.00 16.02

1749.52 548 -117.30 -1.96 -80.00 2478.6 2449.8 2507.4 1819.1 2615.2 102.95 -2.54 173 1755.90 0.00 0.00 3.90 0.000 0.000 0.164 2478.22 2448.94 2507.50 1818.81 1190.12 0 0 0 30.00 30.00 15.98

1933.83 1060 -117.30 -1.96 0.00 2478.3 2449.6 2507.1 1819.2 1189.9 108.29 -3.04 210 1939.70 0.00 0.00 3.44 0.000 0.000 0.078 2481.22 2451.62 2510.81 1819.75 2614.50 0 0 0 30.00 30.00 16.05

2305.57 292 -117.30 -1.96 80.00 2478.3 2449.1 2507.6 1819.0 2614.2 116.65 -2.27 227 2312.00 0.00 0.00 3.66 0.000 0.000 0.150 2477.72 2448.06 2507.38 1819.06 4008.75 0 0 0 30.00 30.00 16.02

2540.64 1060 -117.30 -1.96 0.00 2477.0 2446.6 2507.4 1819.5 4009.2 121.86 -2.28 274 2547.03 0.00 0.00 3.58 0.000 0.000 0.090 2475.91 2445.81 2506.00 1819.44 2571.88 0 0 0 30.00 30.00 16.07

2925.67 548 -117.30 -1.96 -80.00 2477.1 2446.9 2507.2 1819.4 2571.2 129.61 -1.93 291 2932.21 0.00 0.00 3.82 0.000 0.000 0.172 2478.06 2447.75 2508.38 1819.38 1191.38 0 0 0 30.00 30.00 16.02

3160.74 1060 -117.30 -1.96 0.00 2477.1 2446.4 2507.8 1819.4 1191.2 133.29 -1.53 338 3167.08 0.00 0.00 3.46 0.000 0.000 0.080 2476.31 2445.88 2506.75 1819.00 2615.50 0 0 0 30.00 30.00 16.10

3545.77 548 -117.30 -1.96 -80.00 2477.2 2446.8 2507.6 1819.0 2615.2 140.07 -1.92 355 3553.37 0.00 0.00 3.92 0.000 0.000 0.168 2475.78 2445.88 2505.69 1818.94 1192.75 0 0 0 30.00 30.00 16.03

3650.86 1060 -117.30 -1.96 0.00 2477.2 2446.6 2507.8 1818.8 1192.8 142.27 -1.93 376 3656.90 0.00 0.00 3.42 0.000 0.000 0.080 2477.81 2447.25 2508.38 1818.88 2615.69 0 0 0 30.00 30.00 16.11

4045.61 32 -117.30 -1.96 0.00 2477.0 2446.6 2507.5 1819.2 2615.3 147.13 -1.16 392 4047.16 0.00 0.00 0.00 0.000 0.000 0.000 2477.88 2448.06 2507.69 1819.50 2615.69 0 0 0 30.00 30.00 30.00

4435 end dive: NO_VERTICAL_VELOCITY

state 4436 begin apogee

4437.12 10243 0.00 -0.37 0.00 2477.2 2446.8 2507.8 1819.1 2727.1 150.67 0.00 405 4551.92 106.16 2.85 0.06 1.244 0.202 0.286 1997.00 1916.00 2078.00 2205.06 2696.69 0 0 0 11.99 16.06 15.60

4553 end apogee: CONTROL_FINISHED_OK

state 4554 begin climb

4554.54 10759 117.30 1.96 -80.00 1996.7 1915.8 2077.5 2205.2 2695.4 148.72 0.00 408 4671.03 100.22 3.98 4.11 1.153 0.125 0.163 1520.66 1411.38 1629.94 2773.25 1249.25 0 0 0 11.83 15.63 15.34

4753.48 1028 117.30 1.96 0.00 1514.9 1411.1 1618.8 2772.9 1249.3 104.49 27.52 447 4760.78 0.00 0.00 3.71 0.000 0.000 0.081 1514.69 1410.62 1618.75 2772.19 2728.12 0 0 0 30.00 30.00 15.56

5124.21 16646 117.30 1.96 80.00 1511.9 1411.4 1612.4 2773.1 2728.4 42.96 10.28 461 5130.62 0.00 0.00 3.42 0.000 0.000 0.152 1512.56 1412.69 1612.44 2773.50 4006.31 0 0 0 30.00 30.00 15.71

5299.30 11303 318.50 2.77 0.00 1510.9 1413.8 1608.1 2772.1 4006.9 44.48 -1.39 496 5599.42 283.07 1.25 3.35 0.998 0.076 0.085 702.62 589.69 815.56 2972.75 2695.06 0 0 0 11.74 15.78 15.80

5902.69 10791 474.71 3.39 -80.00 698.4 589.4 807.4 2971.4 2694.7 8.30 0.97 584 5988.24 73.85 0.94 4.16 0.966 0.074 0.162 500.28 411.25 589.31 3124.44 1248.38 0 0 0 11.79 15.69 15.43

6111 end climb: SURFACE_DEPTH_REACHED

state 6111 begin surface coast

6186 end surface coast: CONTROL_FINISHED_OK

state 6186 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	41	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	13.504789	FG_AHR_10V	3.0197706	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	14.107814	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	130823,141204,7604.032,-14206.837,181,99.0,181,15.7	TGT_RADIUS	4000.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130823,164401,7559.405,-14226.918,31,1.8,32,15.7	MHEAD_RNG_PITCHd_Wd	145.6,57498,-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

MODEM_MSG	CACST,8,1,20230813162522.843882,18,2844,28,0206,0000,246,03,03,01,05,-1,-01,-01,1,3,0,0,150,-38.8,0.67,-100,2.33,-01,-0.05,53,925,0025,0,-1,00,00*3D	_24V_AH	14.95,16.685
NAV	1691950817,9.4,0,stop	_10V_AH	15.00,0.000
FREEZE	0.60,-0.643,-1.349,2,21,0	FG_AHR_24Vo	14.285
FINISH	0.6,1.019908	FG_AHR_10Vo	3.055
SM_CCo	6227.28,0.14,0.162,0,499.4,413.4,585.3,368.10	MEM0	59796,1,0,0
SM_GC	4.08,0.14,20.12,3.33,0.162,0.141,0.077,499.4,413.4,585.3,219.9,2617.8,0,0,0,15.83,15.62,15.70	MEM1	65508,1,0,0
SURF	below D_CALL,4.084044/3.000000	MEM2	1023052,32,22556,116
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16101,640
IRIDIUM_FIX	7559.12,-14226.97,130823,164047	CAP_FILE_SIZE	202042,0
TCM_TEMP	1.83	SDSIZE	3918848,3894112
SC_FREEKB	3865632	SDFILEDIR	347,42
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1691942525,74.57000,-145.56000,125.624,184039.5	SOUNDSPEED	1465.0
RAFOS_FIX	7601.169434,-14155.940430,130823,161622,6,255,-12.73	MAGCAL	1.000000,-0.054492,0.011442,-0.065114,1.035836,-0.053352,0.070054,0.020580,0.902681,-1112.9,-171.6,514.5,36,0.1422,0
HUMID	48.06	IMPLIED_C_PITCH	2316,13.69,166,0.0,13.60
TEMP	-0.26	GPS	130823,164401,7559.405,-14226.918,31,1.8,32,15.7
INTERNAL_PRESSURE	8.0934

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	648	1243	12063.09	nil	0	0	0.00
Pitch_motor	42	310	196.50	nil	0	0	0.00
Roll_motor	73	286	316.70	nil	0	0	0.00
Iridium	168	119	300.82	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	41	15	9.38	nil	0	0	0.00
Core	2477	5	190.25	SciCon	6198	6	589.43
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4083	0	19.60
Compass	1058	5	79.35
RAFOS	1665	40	999.01
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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
8.47	16386	-117.30	-1.96	0.00	498.8	414.2	583.4	218.7	2574.8	0.00	0.00	0	45.31	35.67	0.00	0.00	0.006	0.000	0.000	1113.06	1092.50	1133.62	218.62	2574.38	0	0	0	15.86	30.00	30.00
45.56	18727	-117.30	-1.96	80.00	1113.4	1092.6	1134.3	218.6	2574.6	3.59	-3.92	4	121.22	49.60	13.25	3.88	0.005	0.310	0.151	2477.88	2452.25	2503.50	1819.56	4008.00	0	0	0	15.88	15.69	15.77
193.53	1028	-117.30	-1.96	0.00	2480.8	2454.9	2506.6	1819.0	4007.4	30.47	-20.88	33	205.81	0.00	0.00	3.67	0.000	0.000	0.095	2483.34	2458.25	2508.44	1818.06	2576.69	0	0	0	30.00	30.00	15.83
509.37	548	-117.30	-1.96	-80.00	2480.8	2454.2	2507.4	1819.2	2575.8	60.41	-4.23	45	515.70	0.00	0.00	3.88	0.000	0.000	0.169	2479.62	2452.81	2506.44	1819.44	1191.69	0	0	0	30.00	30.00	15.86
744.45	1060	-117.30	-1.96	0.00	2479.8	2452.1	2507.5	1818.9	1191.4	68.80	-2.99	92	750.60	0.00	0.00	3.46	0.000	0.000	0.079	2479.12	2451.06	2507.19	1819.56	2613.69	0	0	0	30.00	30.00	15.95
1129.46	548	-117.30	-1.96	-80.00	2478.8	2450.0	2507.6	1819.1	2613.4	82.85	-4.09	109	1135.83	0.00	0.00	3.93	0.000	0.000	0.164	2479.59	2450.75	2508.44	1819.56	1192.44	0	0	0	30.00	30.00	15.93
1364.54	1060	-117.30	-1.96	0.00	2479.1	2450.4	2507.7	1819.4	1192.5	92.48	-3.43	156	1370.68	0.00	0.00	3.44	0.000	0.000	0.078	2479.88	2451.00	2508.75	1819.25	2615.75	0	0	0	30.00	30.00	16.02
1749.52	548	-117.30	-1.96	-80.00	2478.6	2449.8	2507.4	1819.1	2615.2	102.95	-2.54	173	1755.90	0.00	0.00	3.90	0.000	0.000	0.164	2478.22	2448.94	2507.50	1818.81	1190.12	0	0	0	30.00	30.00	15.98
1933.83	1060	-117.30	-1.96	0.00	2478.3	2449.6	2507.1	1819.2	1189.9	108.29	-3.04	210	1939.70	0.00	0.00	3.44	0.000	0.000	0.078	2481.22	2451.62	2510.81	1819.75	2614.50	0	0	0	30.00	30.00	16.05
2305.57	292	-117.30	-1.96	80.00	2478.3	2449.1	2507.6	1819.0	2614.2	116.65	-2.27	227	2312.00	0.00	0.00	3.66	0.000	0.000	0.150	2477.72	2448.06	2507.38	1819.06	4008.75	0	0	0	30.00	30.00	16.02
2540.64	1060	-117.30	-1.96	0.00	2477.0	2446.6	2507.4	1819.5	4009.2	121.86	-2.28	274	2547.03	0.00	0.00	3.58	0.000	0.000	0.090	2475.91	2445.81	2506.00	1819.44	2571.88	0	0	0	30.00	30.00	16.07
2925.67	548	-117.30	-1.96	-80.00	2477.1	2446.9	2507.2	1819.4	2571.2	129.61	-1.93	291	2932.21	0.00	0.00	3.82	0.000	0.000	0.172	2478.06	2447.75	2508.38	1819.38	1191.38	0	0	0	30.00	30.00	16.02
3160.74	1060	-117.30	-1.96	0.00	2477.1	2446.4	2507.8	1819.4	1191.2	133.29	-1.53	338	3167.08	0.00	0.00	3.46	0.000	0.000	0.080	2476.31	2445.88	2506.75	1819.00	2615.50	0	0	0	30.00	30.00	16.10
3545.77	548	-117.30	-1.96	-80.00	2477.2	2446.8	2507.6	1819.0	2615.2	140.07	-1.92	355	3553.37	0.00	0.00	3.92	0.000	0.000	0.168	2475.78	2445.88	2505.69	1818.94	1192.75	0	0	0	30.00	30.00	16.03
3650.86	1060	-117.30	-1.96	0.00	2477.2	2446.6	2507.8	1818.8	1192.8	142.27	-1.93	376	3656.90	0.00	0.00	3.42	0.000	0.000	0.080	2477.81	2447.25	2508.38	1818.88	2615.69	0	0	0	30.00	30.00	16.11
4045.61	32	-117.30	-1.96	0.00	2477.0	2446.6	2507.5	1819.2	2615.3	147.13	-1.16	392	4047.16	0.00	0.00	0.00	0.000	0.000	0.000	2477.88	2448.06	2507.69	1819.50	2615.69	0	0	0	30.00	30.00	30.00
4435	end dive: NO_VERTICAL_VELOCITY
state	4436	begin apogee
4437.12	10243	0.00	-0.37	0.00	2477.2	2446.8	2507.8	1819.1	2727.1	150.67	0.00	405	4551.92	106.16	2.85	0.06	1.244	0.202	0.286	1997.00	1916.00	2078.00	2205.06	2696.69	0	0	0	11.99	16.06	15.60
4553	end apogee: CONTROL_FINISHED_OK
state	4554	begin climb
4554.54	10759	117.30	1.96	-80.00	1996.7	1915.8	2077.5	2205.2	2695.4	148.72	0.00	408	4671.03	100.22	3.98	4.11	1.153	0.125	0.163	1520.66	1411.38	1629.94	2773.25	1249.25	0	0	0	11.83	15.63	15.34
4753.48	1028	117.30	1.96	0.00	1514.9	1411.1	1618.8	2772.9	1249.3	104.49	27.52	447	4760.78	0.00	0.00	3.71	0.000	0.000	0.081	1514.69	1410.62	1618.75	2772.19	2728.12	0	0	0	30.00	30.00	15.56
5124.21	16646	117.30	1.96	80.00	1511.9	1411.4	1612.4	2773.1	2728.4	42.96	10.28	461	5130.62	0.00	0.00	3.42	0.000	0.000	0.152	1512.56	1412.69	1612.44	2773.50	4006.31	0	0	0	30.00	30.00	15.71
5299.30	11303	318.50	2.77	0.00	1510.9	1413.8	1608.1	2772.1	4006.9	44.48	-1.39	496	5599.42	283.07	1.25	3.35	0.998	0.076	0.085	702.62	589.69	815.56	2972.75	2695.06	0	0	0	11.74	15.78	15.80
5902.69	10791	474.71	3.39	-80.00	698.4	589.4	807.4	2971.4	2694.7	8.30	0.97	584	5988.24	73.85	0.94	4.16	0.966	0.074	0.162	500.28	411.25	589.31	3124.44	1248.38	0	0	0	11.79	15.69	15.43
6111	end climb: SURFACE_DEPTH_REACHED
state	6111	begin surface coast
6186	end surface coast: CONTROL_FINISHED_OK
state	6186	begin surface