Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 43 * 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 43 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 13.55653 FG_AHR_10V 3.0927505 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 14.465292 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 3.0927505 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 14.465292 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 13.55653 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 43 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 130823,164401,7559.405,-14226.918,31,1.8,32,15.7 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 6.77 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.4 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,-25.06,1949,0.138

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,8,1,20230813203032.756280,18,1850,32,0117,0000,216,02,02,00,02,-1,-01,-01,1,3,0,0,150,-27.2,0.62,-100,2.38,-01,0.38,48,925,0025,0,-1,00,00*11 _24V_AH 14.84,17.095

NAV 1691963947,10.6,start _10V_AH 14.90,0.000

FREEZE 0.71,-0.654,-1.344,2,23,0 FG_AHR_24Vo 14.644

FINISH 0.7,1.019839 FG_AHR_10Vo 3.131

SM_CCo 6336.32,0.19,0.127,0,499.3,408.2,590.4,368.12 MEM0 59796,1,0,0

SM_GC 4.46,0.19,19.49,3.40,0.127,0.125,0.077,499.3,408.2,590.4,220.0,2616.4,0,0,0,15.68,15.52,15.59 MEM1 65508,1,0,0

SURF below D_CALL,4.464141/3.000000 MEM2 1023052,32,22556,116

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 19311,681

IRIDIUM_FIX 7559.12,-14226.97,130823,164047 CAP_FILE_SIZE 199905,0

TCM_TEMP 1.89 SDSIZE 3918848,3893536

SC_FREEKB 3864992 SDFILEDIR 361,44

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

MODEM 1,1691957185,75.03000,-144.31000,85.197,124813.0 SOUNDSPEED 1465.0

RAFOS_FIX 7605.417969,-14236.474609,130823,202032,5,255,0.88 MAGCAL 1.000000,-0.030859,-0.030855,-0.064023,1.053921,-0.142369,0.068722,0.012016,0.934471,-1069.0,-78.8,476.1,36,0.1635,0

HUMID 48.19 IMPLIED_C_PITCH 2316,13.56,158,0.0,13.56

TEMP -0.39 GPS 130823,203032,7605.418,-14236.475,0,6255.0,0,15.7

INTERNAL_PRESSURE 8.094

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 663 1244 12255.37 nil 0 0 0.00

Pitch_motor 41 311 191.60 nil 0 0 0.00

Roll_motor 75 263 295.21 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 2246 5 171.40 SciCon 6301 6 605.09

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4089 0 19.50

Compass 1118 5 83.34

RAFOS 1182 40 704.71

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 0.00 499.6 409.0 590.1 217.8 2608.8 0.00 0.00 0 16.91 10.16 0.00 0.00 0.007 0.000 0.000 721.72 663.06 780.38 217.69 2608.62 0 0 0 15.75 30.00 30.00

17.16 18467 -117.30 -1.96 0.00 721.7 662.9 780.4 217.9 2609.9 4.03 0.00 1 123.61 85.33 13.38 0.00 0.005 0.312 0.000 2476.62 2454.31 2498.94 1820.88 2609.81 0 0 0 15.74 15.56 30.00

447.11 548 -117.30 -1.96 -80.00 2481.7 2454.7 2508.7 1820.2 2609.9 59.40 -8.93 37 453.06 0.00 0.00 4.04 0.000 0.000 0.169 2481.62 2454.25 2509.00 1820.00 1193.12 0 0 0 30.00 30.00 15.75

456.38 1060 -117.30 -1.96 0.00 2481.5 2454.2 2508.8 1819.9 1192.8 59.86 -5.97 39 461.92 0.00 0.00 3.56 0.000 0.000 0.075 2482.47 2455.12 2509.81 1819.75 2614.25 0 0 0 30.00 30.00 15.80

832.12 292 -117.30 -1.96 80.00 2480.7 2452.3 2509.1 1820.1 2613.9 71.46 -3.47 54 838.37 0.00 0.00 3.80 0.000 0.000 0.147 2479.66 2451.31 2508.00 1820.25 4006.44 0 0 0 30.00 30.00 15.81

1031.52 1060 -117.30 -1.96 0.00 2480.1 2450.4 2509.8 1820.9 4006.9 79.16 -3.69 94 1038.26 0.00 0.00 3.70 0.000 0.000 0.090 2481.41 2452.06 2510.75 1820.38 2575.25 0 0 0 30.00 30.00 15.86

1427.26 548 -117.30 -1.96 -80.00 2479.4 2450.2 2508.7 1820.6 2575.6 93.19 -3.21 108 1433.62 0.00 0.00 3.91 0.000 0.000 0.171 2479.28 2450.31 2508.25 1820.56 1191.38 0 0 0 30.00 30.00 15.89

1659.06 1060 -117.30 -1.96 0.00 2479.9 2450.8 2509.1 1820.3 1190.9 100.17 -2.92 154 1665.63 0.00 0.00 3.49 0.000 0.000 0.079 2482.22 2453.56 2510.88 1819.44 2612.88 0 0 0 30.00 30.00 15.97

2054.81 292 -117.30 -1.96 80.00 2479.5 2449.8 2509.2 1820.3 2612.3 109.40 -2.40 168 2061.08 0.00 0.00 3.72 0.000 0.000 0.149 2478.16 2449.19 2507.12 1820.62 4006.75 0 0 0 30.00 30.00 15.97

2289.88 1060 -117.30 -1.96 0.00 2478.9 2449.1 2508.6 1820.6 4006.4 116.70 -3.47 215 2296.12 0.00 0.00 3.65 0.000 0.000 0.091 2480.56 2451.12 2510.00 1820.38 2573.75 0 0 0 30.00 30.00 16.02

2674.86 292 -117.30 -1.96 80.00 2479.1 2449.2 2508.9 1820.8 2572.7 125.15 -1.81 232 2681.27 0.00 0.00 3.84 0.000 0.000 0.144 2481.88 2453.19 2510.56 1818.31 4007.94 0 0 0 30.00 30.00 16.00

2909.92 1060 -117.30 -1.96 0.00 2479.0 2449.3 2508.8 1819.9 4008.1 129.45 -1.93 279 2916.34 0.00 0.00 3.64 0.000 0.000 0.094 2480.19 2450.44 2509.94 1820.50 2574.31 0 0 0 30.00 30.00 16.06

3294.93 292 -117.30 -1.96 80.00 2479.0 2449.2 2508.8 1820.2 2574.5 136.11 -1.69 296 3301.47 0.00 0.00 3.83 0.000 0.000 0.146 2480.41 2450.50 2510.31 1818.94 4007.69 0 0 0 30.00 30.00 16.03

3527.12 1060 -117.30 -1.96 0.00 2478.6 2448.4 2508.8 1820.2 4008.1 139.70 -1.50 342 3533.97 0.00 0.00 3.66 0.000 0.000 0.094 2480.59 2450.31 2510.88 1820.88 2574.62 0 0 0 30.00 30.00 16.07

3922.86 292 -117.30 -1.96 80.00 2478.4 2448.0 2508.9 1820.6 2574.8 144.96 -1.34 356 3929.36 0.00 0.00 3.80 0.000 0.000 0.145 2477.09 2446.94 2507.25 1820.25 4007.81 0 0 0 30.00 30.00 16.05

4157.88 1060 -117.30 -1.96 0.00 2478.7 2448.6 2508.8 1820.2 4008.4 147.41 -0.95 403 4164.31 0.00 0.00 3.65 0.000 0.000 0.094 2479.78 2449.62 2509.94 1820.06 2573.94 0 0 0 30.00 30.00 16.09

4392 end dive: NO_VERTICAL_VELOCITY

state 4392 begin apogee

4394.44 10243 0.00 -0.37 0.00 2478.7 2448.4 2508.9 1820.1 2729.2 149.40 0.00 415 4509.15 106.03 2.83 0.07 1.244 0.198 0.264 1998.12 1917.19 2079.06 2206.25 2699.25 0 0 0 11.98 16.04 15.59

4510 end apogee: CONTROL_FINISHED_OK

state 4510 begin climb

4511.69 10759 117.30 1.96 -80.00 1996.5 1915.8 2077.2 2205.8 2699.1 147.49 0.00 418 4629.18 99.26 3.93 4.24 1.152 0.128 0.168 1521.72 1412.69 1630.75 2771.56 1249.06 0 0 0 11.72 15.64 15.36

4831.66 17414 117.30 1.96 0.00 1513.1 1410.6 1615.7 2772.2 1248.8 71.92 24.20 481 4838.92 0.00 0.00 3.71 0.000 0.000 0.082 1513.09 1410.06 1616.12 2769.88 2730.88 0 0 0 30.00 30.00 15.69

5199.43 10535 213.82 2.34 80.00 1511.4 1411.3 1611.5 2771.8 2729.6 44.17 4.10 496 5342.91 132.41 0.59 3.55 1.020 0.096 0.152 1127.91 1009.56 1246.25 2867.12 4006.75 0 0 0 11.83 15.82 15.40

5571.15 11303 247.00 2.48 0.00 1124.1 1010.2 1238.0 2867.8 4007.2 14.54 7.43 569 5630.23 51.22 0.16 3.45 0.980 0.129 0.085 993.53 875.75 1111.31 2899.25 2695.56 0 0 0 11.76 15.69 15.71

5938.12 10791 413.61 3.14 -80.00 989.4 875.7 1103.1 2898.8 2695.8 10.46 0.42 611 6133.27 179.16 1.04 4.28 0.976 0.085 0.164 500.28 405.75 594.81 3062.38 1249.00 0 0 0 11.78 15.73 15.28

6230 end climb: SURFACE_DEPTH_REACHED

state 6230 begin surface coast

6296 end surface coast: CONTROL_FINISHED_OK

state 6296 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	43	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	13.55653	FG_AHR_10V	3.0927505	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	14.465292	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	130823,164401,7559.405,-14226.918,31,1.8,32,15.7	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	6.77	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.4	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,-25.06,1949,0.138
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,8,1,20230813203032.756280,18,1850,32,0117,0000,216,02,02,00,02,-1,-01,-01,1,3,0,0,150,-27.2,0.62,-100,2.38,-01,0.38,48,925,0025,0,-1,00,00*11	_24V_AH	14.84,17.095
NAV	1691963947,10.6,start	_10V_AH	14.90,0.000
FREEZE	0.71,-0.654,-1.344,2,23,0	FG_AHR_24Vo	14.644
FINISH	0.7,1.019839	FG_AHR_10Vo	3.131
SM_CCo	6336.32,0.19,0.127,0,499.3,408.2,590.4,368.12	MEM0	59796,1,0,0
SM_GC	4.46,0.19,19.49,3.40,0.127,0.125,0.077,499.3,408.2,590.4,220.0,2616.4,0,0,0,15.68,15.52,15.59	MEM1	65508,1,0,0
SURF	below D_CALL,4.464141/3.000000	MEM2	1023052,32,22556,116
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	19311,681
IRIDIUM_FIX	7559.12,-14226.97,130823,164047	CAP_FILE_SIZE	199905,0
TCM_TEMP	1.89	SDSIZE	3918848,3893536
SC_FREEKB	3864992	SDFILEDIR	361,44
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	1,1691957185,75.03000,-144.31000,85.197,124813.0	SOUNDSPEED	1465.0
RAFOS_FIX	7605.417969,-14236.474609,130823,202032,5,255,0.88	MAGCAL	1.000000,-0.030859,-0.030855,-0.064023,1.053921,-0.142369,0.068722,0.012016,0.934471,-1069.0,-78.8,476.1,36,0.1635,0
HUMID	48.19	IMPLIED_C_PITCH	2316,13.56,158,0.0,13.56
TEMP	-0.39	GPS	130823,203032,7605.418,-14236.475,0,6255.0,0,15.7
INTERNAL_PRESSURE	8.094

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	663	1244	12255.37	nil	0	0	0.00
Pitch_motor	41	311	191.60	nil	0	0	0.00
Roll_motor	75	263	295.21	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	2246	5	171.40	SciCon	6301	6	605.09
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4089	0	19.50
Compass	1118	5	83.34
RAFOS	1182	40	704.71
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	499.6	409.0	590.1	217.8	2608.8	0.00	0.00	0	16.91	10.16	0.00	0.00	0.007	0.000	0.000	721.72	663.06	780.38	217.69	2608.62	0	0	0	15.75	30.00	30.00
17.16	18467	-117.30	-1.96	0.00	721.7	662.9	780.4	217.9	2609.9	4.03	0.00	1	123.61	85.33	13.38	0.00	0.005	0.312	0.000	2476.62	2454.31	2498.94	1820.88	2609.81	0	0	0	15.74	15.56	30.00
447.11	548	-117.30	-1.96	-80.00	2481.7	2454.7	2508.7	1820.2	2609.9	59.40	-8.93	37	453.06	0.00	0.00	4.04	0.000	0.000	0.169	2481.62	2454.25	2509.00	1820.00	1193.12	0	0	0	30.00	30.00	15.75
456.38	1060	-117.30	-1.96	0.00	2481.5	2454.2	2508.8	1819.9	1192.8	59.86	-5.97	39	461.92	0.00	0.00	3.56	0.000	0.000	0.075	2482.47	2455.12	2509.81	1819.75	2614.25	0	0	0	30.00	30.00	15.80
832.12	292	-117.30	-1.96	80.00	2480.7	2452.3	2509.1	1820.1	2613.9	71.46	-3.47	54	838.37	0.00	0.00	3.80	0.000	0.000	0.147	2479.66	2451.31	2508.00	1820.25	4006.44	0	0	0	30.00	30.00	15.81
1031.52	1060	-117.30	-1.96	0.00	2480.1	2450.4	2509.8	1820.9	4006.9	79.16	-3.69	94	1038.26	0.00	0.00	3.70	0.000	0.000	0.090	2481.41	2452.06	2510.75	1820.38	2575.25	0	0	0	30.00	30.00	15.86
1427.26	548	-117.30	-1.96	-80.00	2479.4	2450.2	2508.7	1820.6	2575.6	93.19	-3.21	108	1433.62	0.00	0.00	3.91	0.000	0.000	0.171	2479.28	2450.31	2508.25	1820.56	1191.38	0	0	0	30.00	30.00	15.89
1659.06	1060	-117.30	-1.96	0.00	2479.9	2450.8	2509.1	1820.3	1190.9	100.17	-2.92	154	1665.63	0.00	0.00	3.49	0.000	0.000	0.079	2482.22	2453.56	2510.88	1819.44	2612.88	0	0	0	30.00	30.00	15.97
2054.81	292	-117.30	-1.96	80.00	2479.5	2449.8	2509.2	1820.3	2612.3	109.40	-2.40	168	2061.08	0.00	0.00	3.72	0.000	0.000	0.149	2478.16	2449.19	2507.12	1820.62	4006.75	0	0	0	30.00	30.00	15.97
2289.88	1060	-117.30	-1.96	0.00	2478.9	2449.1	2508.6	1820.6	4006.4	116.70	-3.47	215	2296.12	0.00	0.00	3.65	0.000	0.000	0.091	2480.56	2451.12	2510.00	1820.38	2573.75	0	0	0	30.00	30.00	16.02
2674.86	292	-117.30	-1.96	80.00	2479.1	2449.2	2508.9	1820.8	2572.7	125.15	-1.81	232	2681.27	0.00	0.00	3.84	0.000	0.000	0.144	2481.88	2453.19	2510.56	1818.31	4007.94	0	0	0	30.00	30.00	16.00
2909.92	1060	-117.30	-1.96	0.00	2479.0	2449.3	2508.8	1819.9	4008.1	129.45	-1.93	279	2916.34	0.00	0.00	3.64	0.000	0.000	0.094	2480.19	2450.44	2509.94	1820.50	2574.31	0	0	0	30.00	30.00	16.06
3294.93	292	-117.30	-1.96	80.00	2479.0	2449.2	2508.8	1820.2	2574.5	136.11	-1.69	296	3301.47	0.00	0.00	3.83	0.000	0.000	0.146	2480.41	2450.50	2510.31	1818.94	4007.69	0	0	0	30.00	30.00	16.03
3527.12	1060	-117.30	-1.96	0.00	2478.6	2448.4	2508.8	1820.2	4008.1	139.70	-1.50	342	3533.97	0.00	0.00	3.66	0.000	0.000	0.094	2480.59	2450.31	2510.88	1820.88	2574.62	0	0	0	30.00	30.00	16.07
3922.86	292	-117.30	-1.96	80.00	2478.4	2448.0	2508.9	1820.6	2574.8	144.96	-1.34	356	3929.36	0.00	0.00	3.80	0.000	0.000	0.145	2477.09	2446.94	2507.25	1820.25	4007.81	0	0	0	30.00	30.00	16.05
4157.88	1060	-117.30	-1.96	0.00	2478.7	2448.6	2508.8	1820.2	4008.4	147.41	-0.95	403	4164.31	0.00	0.00	3.65	0.000	0.000	0.094	2479.78	2449.62	2509.94	1820.06	2573.94	0	0	0	30.00	30.00	16.09
4392	end dive: NO_VERTICAL_VELOCITY
state	4392	begin apogee
4394.44	10243	0.00	-0.37	0.00	2478.7	2448.4	2508.9	1820.1	2729.2	149.40	0.00	415	4509.15	106.03	2.83	0.07	1.244	0.198	0.264	1998.12	1917.19	2079.06	2206.25	2699.25	0	0	0	11.98	16.04	15.59
4510	end apogee: CONTROL_FINISHED_OK
state	4510	begin climb
4511.69	10759	117.30	1.96	-80.00	1996.5	1915.8	2077.2	2205.8	2699.1	147.49	0.00	418	4629.18	99.26	3.93	4.24	1.152	0.128	0.168	1521.72	1412.69	1630.75	2771.56	1249.06	0	0	0	11.72	15.64	15.36
4831.66	17414	117.30	1.96	0.00	1513.1	1410.6	1615.7	2772.2	1248.8	71.92	24.20	481	4838.92	0.00	0.00	3.71	0.000	0.000	0.082	1513.09	1410.06	1616.12	2769.88	2730.88	0	0	0	30.00	30.00	15.69
5199.43	10535	213.82	2.34	80.00	1511.4	1411.3	1611.5	2771.8	2729.6	44.17	4.10	496	5342.91	132.41	0.59	3.55	1.020	0.096	0.152	1127.91	1009.56	1246.25	2867.12	4006.75	0	0	0	11.83	15.82	15.40
5571.15	11303	247.00	2.48	0.00	1124.1	1010.2	1238.0	2867.8	4007.2	14.54	7.43	569	5630.23	51.22	0.16	3.45	0.980	0.129	0.085	993.53	875.75	1111.31	2899.25	2695.56	0	0	0	11.76	15.69	15.71
5938.12	10791	413.61	3.14	-80.00	989.4	875.7	1103.1	2898.8	2695.8	10.46	0.42	611	6133.27	179.16	1.04	4.28	0.976	0.085	0.164	500.28	405.75	594.81	3062.38	1249.00	0	0	0	11.78	15.73	15.28
6230	end climb: SURFACE_DEPTH_REACHED
state	6230	begin surface coast
6296	end surface coast: CONTROL_FINISHED_OK
state	6296	begin surface