Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 45 * 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 45 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 13.501652 FG_AHR_10V 3.167933 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 14.82454 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 3.167933 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 14.82454 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 13.501652 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 45 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 130823,203032,7605.418,-14236.475,0,6255.0,0,15.7 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.13 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 29.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130823,203032,7605.418,-14236.475,0,6255.0,0,15.7 MHEAD_RNG_PITCHd_Wd 145.0,69470,-20.2,-9.167,-25.06,1949,0.120

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,8,1,20230814003033.706907,18,32767,39,0184,0000,216,02,02,01,02,-1,-01,-01,1,3,0,0,150,-26.5,0.64,-100,2.36,-01,0.01,47,925,0025,0,-1,00,00*21 INTERNAL_PRESSURE 8.08576

NAV 1691973615,110.7,4,stop _24V_AH 14.97,17.526

WARN HSCICON missed fuel gauge read _10V_AH 15.00,0.000

FREEZE 0.66,-0.860,-1.339,2,25,0 FG_AHR_24Vo 15.005

FINISH 0.7,1.019758 FG_AHR_10Vo 3.211

SM_CCo 6514.12,0.20,0.122,0,499.3,411.2,587.4,368.12 MEM0 59796,1,0,0

SM_GC 3.83,0.20,20.18,0.28,0.122,0.136,0.134,499.3,411.2,587.4,218.6,2576.1,0,0,0,15.86,15.64,15.72 MEM1 65508,1,0,0

SURF below D_CALL,3.828024/3.000000 MEM2 1023032,33,22556,116

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 19321,678

IRIDIUM_FIX 7559.12,-14226.97,130823,164047 CAP_FILE_SIZE 205142,0

TCM_TEMP 1.64 SDSIZE 3918848,3892960

SC_FREEKB 3864352 SDFILEDIR 375,46

RAFOS_CLK -8 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 3,1691972150,75.26000,-145.59000,50.026,73288.5 SOUNDSPEED 1465.0

RAFOS_FIX 7605.543457,-14234.958008,140823,000033,4,255,0.05 MAGCAL 1.000000,-0.029277,-0.063142,-0.074418,1.048890,-0.137723,0.054738,-0.009978,0.869027,-1031.2,-74.0,562.9,36,0.1567,0

HUMID 48.20 IMPLIED_C_PITCH 2318,13.49,162,0.0,13.49

TEMP -0.52 GPS 140823,003033,7605.543,-14234.958,0,5255.0,0,15.7

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 670 1244 12488.70 nil 0 0 0.00

Pitch_motor 39 194 116.57 nil 0 0 0.00

Roll_motor 82 269 331.24 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 2313 5 177.65 SciCon 6484 9 880.98

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4206 0 20.19

Compass 1121 5 84.13

RAFOS 2094 40 1256.62

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

7.24 16386 -117.30 -1.96 0.00 496.6 408.6 584.5 3259.4 2572.5 0.00 0.00 0 54.42 45.87 0.00 0.00 0.005 0.000 0.000 1381.78 1357.00 1406.56 3260.56 2572.62 0 0 0 15.83 30.00 30.00

54.67 20515 -117.30 -1.96 0.00 1382.0 1356.9 1407.1 3259.6 2572.4 3.47 -3.35 5 117.04 44.85 10.52 0.00 0.005 0.195 0.000 2476.66 2452.88 2500.44 1805.12 2571.94 0 0 0 15.83 15.69 30.00

423.47 260 -117.30 -1.96 80.00 2481.0 2452.7 2509.2 1805.8 2572.5 57.17 -10.63 32 429.44 0.00 0.00 3.91 0.000 0.000 0.148 2479.00 2450.69 2507.31 1805.88 4008.75 0 0 0 30.00 30.00 15.79

658.58 1060 -117.30 -1.96 0.00 2479.5 2450.3 2508.6 1805.1 4007.5 64.53 -2.67 79 664.46 0.00 0.00 3.73 0.000 0.000 0.096 2480.62 2450.88 2510.38 1804.50 2572.69 0 0 0 30.00 30.00 15.85

1043.60 292 -117.30 -1.96 80.00 2479.6 2450.2 2508.9 1805.5 2572.8 77.90 -3.79 96 1049.99 0.00 0.00 3.90 0.000 0.000 0.144 2477.97 2449.00 2506.94 1804.81 4006.06 0 0 0 30.00 30.00 15.85

1202.99 1060 -117.30 -1.96 0.00 2479.3 2449.8 2508.9 1805.1 4007.3 84.51 -3.83 128 1209.96 0.00 0.00 3.69 0.000 0.000 0.094 2479.72 2450.50 2508.94 1804.00 2575.12 0 0 0 30.00 30.00 15.88

1573.73 292 -117.30 -1.96 80.00 2479.2 2449.1 2509.2 1804.3 2575.9 95.87 -3.35 142 1580.05 0.00 0.00 3.88 0.000 0.000 0.143 2481.50 2450.81 2512.19 1804.88 4006.94 0 0 0 30.00 30.00 15.87

1763.06 1060 -117.30 -1.96 0.00 2478.7 2448.4 2508.9 1804.4 4006.6 102.90 -3.76 180 1770.02 0.00 0.00 3.68 0.000 0.000 0.092 2476.97 2445.88 2508.06 1804.69 2575.56 0 0 0 30.00 30.00 15.91

2133.80 548 -117.30 -1.96 -80.00 2478.8 2448.5 2509.1 1804.9 2575.5 112.89 -2.36 194 2140.18 0.00 0.00 3.90 0.000 0.000 0.170 2477.62 2447.56 2507.69 1805.12 1192.88 0 0 0 30.00 30.00 15.90

2203.09 1060 -117.30 -1.96 0.00 2478.9 2447.9 2509.9 1804.4 1192.8 114.91 -2.50 208 2208.99 0.00 0.00 3.52 0.000 0.000 0.077 2480.34 2450.06 2510.62 1803.62 2612.88 0 0 0 30.00 30.00 15.97

2578.82 548 -117.30 -1.96 -80.00 2478.8 2447.9 2509.6 1805.2 2612.9 122.78 -2.05 224 2586.18 0.00 0.00 3.98 0.000 0.000 0.164 2479.34 2448.81 2509.88 1802.94 1191.31 0 0 0 30.00 30.00 15.94

2713.67 1060 -117.30 -1.96 0.00 2478.5 2447.6 2509.5 1805.1 1191.8 126.18 -2.53 251 2719.75 0.00 0.00 3.51 0.000 0.000 0.077 2478.47 2447.62 2509.31 1805.06 2614.81 0 0 0 30.00 30.00 16.01

3084.41 292 -117.30 -1.96 80.00 2478.6 2448.1 2509.0 1804.8 2615.2 134.40 -2.15 265 3090.92 0.00 0.00 3.73 0.000 0.000 0.147 2478.78 2447.56 2510.00 1804.00 4007.56 0 0 0 30.00 30.00 15.99

3319.43 1060 -117.30 -1.96 0.00 2478.1 2447.2 2509.0 1805.2 4007.9 138.15 -1.45 312 3325.87 0.00 0.00 3.65 0.000 0.000 0.093 2481.06 2450.75 2511.38 1803.50 2573.38 0 0 0 30.00 30.00 16.04

3704.45 292 -117.30 -1.96 80.00 2478.3 2447.4 2509.3 1804.5 2574.0 142.93 -1.34 329 3710.96 0.00 0.00 3.86 0.000 0.000 0.143 2479.22 2449.00 2509.44 1803.12 4006.44 0 0 0 30.00 30.00 16.02

3939.47 1060 -117.30 -1.96 0.00 2478.1 2447.4 2508.8 1805.0 4006.4 146.55 -1.49 376 3946.03 0.00 0.00 3.65 0.000 0.000 0.093 2479.19 2447.94 2510.44 1805.00 2573.06 0 0 0 30.00 30.00 16.07

4315.65 548 -117.30 -1.96 -80.00 2478.6 2448.0 2509.2 1804.8 2572.8 150.16 -0.96 393 4324.65 0.00 0.00 3.88 0.000 0.000 0.172 2479.91 2448.88 2510.94 1805.00 1192.06 0 0 0 30.00 30.00 16.02

4478 end dive: NO_VERTICAL_VELOCITY

state 4478 begin apogee

4485.20 10243 0.00 -0.37 0.00 2478.2 2447.1 2509.4 1804.9 2727.0 151.73 0.00 426 4600.01 106.33 2.93 0.06 1.245 0.194 0.269 1999.19 1918.62 2079.75 2205.38 2695.00 0 0 0 11.92 16.03 15.59

4610 end apogee: CONTROL_FINISHED_OK

state 4610 begin climb

4610.50 10503 117.30 1.96 80.00 1995.2 1914.6 2075.8 2205.8 2695.8 148.83 0.00 432 4726.79 99.54 3.97 3.70 1.153 0.128 0.150 1519.97 1410.50 1629.44 2773.88 4007.19 0 0 0 11.77 15.63 15.36

4834.26 1028 117.30 1.96 0.00 1513.7 1411.4 1615.9 2773.2 4007.6 99.10 26.35 476 4840.34 0.00 0.00 3.46 0.000 0.000 0.086 1514.22 1411.94 1616.50 2773.94 2695.06 0 0 0 30.00 30.00 15.60

5215.04 10535 161.19 2.14 80.00 1511.6 1411.4 1611.8 2773.6 2695.2 42.56 6.86 492 5285.85 62.13 0.25 3.63 1.021 0.113 0.141 1341.91 1233.38 1450.44 2818.00 4006.62 0 0 0 11.83 15.82 15.56

5514.10 11303 269.38 2.57 0.00 1338.2 1234.1 1442.4 2819.2 4006.9 33.41 3.49 551 5693.75 165.60 0.64 3.40 0.993 0.091 0.083 902.22 783.75 1020.69 2922.94 2694.75 0 0 0 11.84 15.75 15.77

5996.93 10535 410.45 3.14 80.00 897.9 784.0 1011.8 2922.7 2694.5 10.62 1.76 616 6154.56 145.65 0.88 3.70 0.970 0.087 0.140 500.50 409.69 591.31 3060.38 4006.69 0 0 0 11.84 15.73 15.33

6182.83 11303 507.72 3.53 0.00 499.2 409.4 589.0 3061.2 4007.4 4.50 4.06 648 6190.53 0.00 0.57 3.49 0.000 0.092 0.081 499.16 409.44 588.88 3153.00 2696.12 0 0 0 30.00 15.46 15.47

6348 end climb: SURFACE_DEPTH_REACHED

state 6348 begin surface coast

6478 end surface coast: CONTROL_FINISHED_OK

state 6478 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	45	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	13.501652	FG_AHR_10V	3.167933	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	14.82454	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	130823,203032,7605.418,-14236.475,0,6255.0,0,15.7	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.13	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	29.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130823,203032,7605.418,-14236.475,0,6255.0,0,15.7	MHEAD_RNG_PITCHd_Wd	145.0,69470,-20.2,-9.167,-25.06,1949,0.120
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,8,1,20230814003033.706907,18,32767,39,0184,0000,216,02,02,01,02,-1,-01,-01,1,3,0,0,150,-26.5,0.64,-100,2.36,-01,0.01,47,925,0025,0,-1,00,00*21	INTERNAL_PRESSURE	8.08576
NAV	1691973615,110.7,4,stop	_24V_AH	14.97,17.526
WARN	HSCICON missed fuel gauge read	_10V_AH	15.00,0.000
FREEZE	0.66,-0.860,-1.339,2,25,0	FG_AHR_24Vo	15.005
FINISH	0.7,1.019758	FG_AHR_10Vo	3.211
SM_CCo	6514.12,0.20,0.122,0,499.3,411.2,587.4,368.12	MEM0	59796,1,0,0
SM_GC	3.83,0.20,20.18,0.28,0.122,0.136,0.134,499.3,411.2,587.4,218.6,2576.1,0,0,0,15.86,15.64,15.72	MEM1	65508,1,0,0
SURF	below D_CALL,3.828024/3.000000	MEM2	1023032,33,22556,116
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	19321,678
IRIDIUM_FIX	7559.12,-14226.97,130823,164047	CAP_FILE_SIZE	205142,0
TCM_TEMP	1.64	SDSIZE	3918848,3892960
SC_FREEKB	3864352	SDFILEDIR	375,46
RAFOS_CLK	-8	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	3,1691972150,75.26000,-145.59000,50.026,73288.5	SOUNDSPEED	1465.0
RAFOS_FIX	7605.543457,-14234.958008,140823,000033,4,255,0.05	MAGCAL	1.000000,-0.029277,-0.063142,-0.074418,1.048890,-0.137723,0.054738,-0.009978,0.869027,-1031.2,-74.0,562.9,36,0.1567,0
HUMID	48.20	IMPLIED_C_PITCH	2318,13.49,162,0.0,13.49
TEMP	-0.52	GPS	140823,003033,7605.543,-14234.958,0,5255.0,0,15.7

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	670	1244	12488.70	nil	0	0	0.00
Pitch_motor	39	194	116.57	nil	0	0	0.00
Roll_motor	82	269	331.24	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	2313	5	177.65	SciCon	6484	9	880.98
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4206	0	20.19
Compass	1121	5	84.13
RAFOS	2094	40	1256.62
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
7.24	16386	-117.30	-1.96	0.00	496.6	408.6	584.5	3259.4	2572.5	0.00	0.00	0	54.42	45.87	0.00	0.00	0.005	0.000	0.000	1381.78	1357.00	1406.56	3260.56	2572.62	0	0	0	15.83	30.00	30.00
54.67	20515	-117.30	-1.96	0.00	1382.0	1356.9	1407.1	3259.6	2572.4	3.47	-3.35	5	117.04	44.85	10.52	0.00	0.005	0.195	0.000	2476.66	2452.88	2500.44	1805.12	2571.94	0	0	0	15.83	15.69	30.00
423.47	260	-117.30	-1.96	80.00	2481.0	2452.7	2509.2	1805.8	2572.5	57.17	-10.63	32	429.44	0.00	0.00	3.91	0.000	0.000	0.148	2479.00	2450.69	2507.31	1805.88	4008.75	0	0	0	30.00	30.00	15.79
658.58	1060	-117.30	-1.96	0.00	2479.5	2450.3	2508.6	1805.1	4007.5	64.53	-2.67	79	664.46	0.00	0.00	3.73	0.000	0.000	0.096	2480.62	2450.88	2510.38	1804.50	2572.69	0	0	0	30.00	30.00	15.85
1043.60	292	-117.30	-1.96	80.00	2479.6	2450.2	2508.9	1805.5	2572.8	77.90	-3.79	96	1049.99	0.00	0.00	3.90	0.000	0.000	0.144	2477.97	2449.00	2506.94	1804.81	4006.06	0	0	0	30.00	30.00	15.85
1202.99	1060	-117.30	-1.96	0.00	2479.3	2449.8	2508.9	1805.1	4007.3	84.51	-3.83	128	1209.96	0.00	0.00	3.69	0.000	0.000	0.094	2479.72	2450.50	2508.94	1804.00	2575.12	0	0	0	30.00	30.00	15.88
1573.73	292	-117.30	-1.96	80.00	2479.2	2449.1	2509.2	1804.3	2575.9	95.87	-3.35	142	1580.05	0.00	0.00	3.88	0.000	0.000	0.143	2481.50	2450.81	2512.19	1804.88	4006.94	0	0	0	30.00	30.00	15.87
1763.06	1060	-117.30	-1.96	0.00	2478.7	2448.4	2508.9	1804.4	4006.6	102.90	-3.76	180	1770.02	0.00	0.00	3.68	0.000	0.000	0.092	2476.97	2445.88	2508.06	1804.69	2575.56	0	0	0	30.00	30.00	15.91
2133.80	548	-117.30	-1.96	-80.00	2478.8	2448.5	2509.1	1804.9	2575.5	112.89	-2.36	194	2140.18	0.00	0.00	3.90	0.000	0.000	0.170	2477.62	2447.56	2507.69	1805.12	1192.88	0	0	0	30.00	30.00	15.90
2203.09	1060	-117.30	-1.96	0.00	2478.9	2447.9	2509.9	1804.4	1192.8	114.91	-2.50	208	2208.99	0.00	0.00	3.52	0.000	0.000	0.077	2480.34	2450.06	2510.62	1803.62	2612.88	0	0	0	30.00	30.00	15.97
2578.82	548	-117.30	-1.96	-80.00	2478.8	2447.9	2509.6	1805.2	2612.9	122.78	-2.05	224	2586.18	0.00	0.00	3.98	0.000	0.000	0.164	2479.34	2448.81	2509.88	1802.94	1191.31	0	0	0	30.00	30.00	15.94
2713.67	1060	-117.30	-1.96	0.00	2478.5	2447.6	2509.5	1805.1	1191.8	126.18	-2.53	251	2719.75	0.00	0.00	3.51	0.000	0.000	0.077	2478.47	2447.62	2509.31	1805.06	2614.81	0	0	0	30.00	30.00	16.01
3084.41	292	-117.30	-1.96	80.00	2478.6	2448.1	2509.0	1804.8	2615.2	134.40	-2.15	265	3090.92	0.00	0.00	3.73	0.000	0.000	0.147	2478.78	2447.56	2510.00	1804.00	4007.56	0	0	0	30.00	30.00	15.99
3319.43	1060	-117.30	-1.96	0.00	2478.1	2447.2	2509.0	1805.2	4007.9	138.15	-1.45	312	3325.87	0.00	0.00	3.65	0.000	0.000	0.093	2481.06	2450.75	2511.38	1803.50	2573.38	0	0	0	30.00	30.00	16.04
3704.45	292	-117.30	-1.96	80.00	2478.3	2447.4	2509.3	1804.5	2574.0	142.93	-1.34	329	3710.96	0.00	0.00	3.86	0.000	0.000	0.143	2479.22	2449.00	2509.44	1803.12	4006.44	0	0	0	30.00	30.00	16.02
3939.47	1060	-117.30	-1.96	0.00	2478.1	2447.4	2508.8	1805.0	4006.4	146.55	-1.49	376	3946.03	0.00	0.00	3.65	0.000	0.000	0.093	2479.19	2447.94	2510.44	1805.00	2573.06	0	0	0	30.00	30.00	16.07
4315.65	548	-117.30	-1.96	-80.00	2478.6	2448.0	2509.2	1804.8	2572.8	150.16	-0.96	393	4324.65	0.00	0.00	3.88	0.000	0.000	0.172	2479.91	2448.88	2510.94	1805.00	1192.06	0	0	0	30.00	30.00	16.02
4478	end dive: NO_VERTICAL_VELOCITY
state	4478	begin apogee
4485.20	10243	0.00	-0.37	0.00	2478.2	2447.1	2509.4	1804.9	2727.0	151.73	0.00	426	4600.01	106.33	2.93	0.06	1.245	0.194	0.269	1999.19	1918.62	2079.75	2205.38	2695.00	0	0	0	11.92	16.03	15.59
4610	end apogee: CONTROL_FINISHED_OK
state	4610	begin climb
4610.50	10503	117.30	1.96	80.00	1995.2	1914.6	2075.8	2205.8	2695.8	148.83	0.00	432	4726.79	99.54	3.97	3.70	1.153	0.128	0.150	1519.97	1410.50	1629.44	2773.88	4007.19	0	0	0	11.77	15.63	15.36
4834.26	1028	117.30	1.96	0.00	1513.7	1411.4	1615.9	2773.2	4007.6	99.10	26.35	476	4840.34	0.00	0.00	3.46	0.000	0.000	0.086	1514.22	1411.94	1616.50	2773.94	2695.06	0	0	0	30.00	30.00	15.60
5215.04	10535	161.19	2.14	80.00	1511.6	1411.4	1611.8	2773.6	2695.2	42.56	6.86	492	5285.85	62.13	0.25	3.63	1.021	0.113	0.141	1341.91	1233.38	1450.44	2818.00	4006.62	0	0	0	11.83	15.82	15.56
5514.10	11303	269.38	2.57	0.00	1338.2	1234.1	1442.4	2819.2	4006.9	33.41	3.49	551	5693.75	165.60	0.64	3.40	0.993	0.091	0.083	902.22	783.75	1020.69	2922.94	2694.75	0	0	0	11.84	15.75	15.77
5996.93	10535	410.45	3.14	80.00	897.9	784.0	1011.8	2922.7	2694.5	10.62	1.76	616	6154.56	145.65	0.88	3.70	0.970	0.087	0.140	500.50	409.69	591.31	3060.38	4006.69	0	0	0	11.84	15.73	15.33
6182.83	11303	507.72	3.53	0.00	499.2	409.4	589.0	3061.2	4007.4	4.50	4.06	648	6190.53	0.00	0.57	3.49	0.000	0.092	0.081	499.16	409.44	588.88	3153.00	2696.12	0	0	0	30.00	15.46	15.47
6348	end climb: SURFACE_DEPTH_REACHED
state	6348	begin surface coast
6478	end surface coast: CONTROL_FINISHED_OK
state	6478	begin surface