Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 50 * 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 50 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 13.458538 FG_AHR_10V 3.3745191 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 15.719236 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 3.3745191 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 15.719236 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 13.458538 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 50 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 140823,083034,7603.263,-14206.558,0,10255.0,0,15.7 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.90 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140823,083034,7603.263,-14206.558,0,10255.0,0,15.7 MHEAD_RNG_PITCHd_Wd 156.0,62259,-20.2,-9.167,-25.06,1949,0.139

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 1692008412,139.5,2,stop _24V_AH 14.99,18.577

MODEM_MSG CACST,8,1,20230814101205.873705,18,18098,24,0400,0000,246,02,02,03,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*23 _10V_AH 15.00,0.000

FREEZE 1.38,-0.896,-1.343,2,30,1 FG_AHR_24Vo 15.896

FINISH 1.4,1.019820 FG_AHR_10Vo 3.408

SM_CCo 5822.13,0.19,0.130,0,499.5,412.4,586.6,368.07 MEM0 59796,1,0,0

SM_GC 4.53,0.19,20.75,0.40,0.130,0.139,0.123,499.5,412.4,586.6,221.1,2572.7,0,0,0,15.88,15.66,15.75 MEM1 65508,1,0,0

SURF below D_CALL,4.528933/3.000000 MEM2 1023032,33,22556,116

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16105,603

IRIDIUM_FIX 7559.12,-14226.97,130823,164047 CAP_FILE_SIZE 193670,0

TCM_TEMP 1.60 SDSIZE 3918848,3891552

SC_FREEKB 3862752 SDFILEDIR 410,51

RAFOS_CLK -2 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 8,1692007359,74.24940,-137.99570,159.965,234348.1 SOUNDSPEED 1465.0

RAFOS_FIX 7603.169922,-14206.333008,140823,101005,9,255,0.03 MAGCAL 1.000000,-0.018852,-0.066006,-0.070656,1.055596,-0.035187,0.070077,0.009708,0.995667,-1039.8,-191.6,391.4,36,0.1198,0

HUMID 48.11 IMPLIED_C_PITCH 2314,13.66,147,0.0,13.56

TEMP -0.48 GPS 140823,101205,7603.170,-14206.333,0,10255.0,0,15.7

INTERNAL_PRESSURE 8.08539

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 646 1231 11930.09 nil 0 0 0.00

Pitch_motor 43 318 209.73 nil 0 0 0.00

Roll_motor 67 288 291.92 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 2120 5 162.85 SciCon 5789 6 564.60

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3704 0 17.78

Compass 1000 5 75.06

RAFOS 1242 40 745.45

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

5.86 16386 -117.30 -1.97 0.00 499.6 412.6 586.5 221.1 2608.7 0.00 0.00 0 37.56 30.53 0.00 0.00 0.006 0.000 0.000 1034.50 1001.88 1067.12 221.19 2608.94 0 0 0 15.81 30.00 30.00

37.82 18727 -117.30 -1.97 80.00 1034.9 1001.9 1067.9 221.2 2609.0 3.25 -4.00 3 113.66 49.83 13.56 3.86 0.005 0.319 0.156 2479.94 2457.12 2502.75 1816.94 4006.75 0 0 0 15.80 15.59 15.69

344.50 1060 -117.30 -1.97 0.00 2480.8 2456.3 2505.2 1816.1 4006.8 57.28 -8.68 63 350.33 0.00 0.00 3.67 0.000 0.000 0.096 2480.28 2455.56 2505.00 1816.88 2573.81 0 0 0 30.00 30.00 15.81

729.51 292 -117.30 -1.97 80.00 2480.2 2455.2 2505.2 1816.2 2573.9 70.84 -2.94 80 735.78 0.00 0.00 3.87 0.000 0.000 0.143 2478.66 2453.50 2503.81 1816.50 4008.44 0 0 0 30.00 30.00 15.87

964.65 1060 -117.30 -1.97 0.00 2478.3 2452.0 2504.7 1815.8 4008.4 79.71 -3.92 127 970.90 0.00 0.00 3.64 0.000 0.000 0.095 2480.91 2453.69 2508.12 1816.94 2574.75 0 0 0 30.00 30.00 15.93

1349.67 292 -117.30 -1.97 80.00 2478.8 2451.9 2505.6 1815.9 2574.6 92.50 -3.21 144 1355.99 0.00 0.00 3.84 0.000 0.000 0.143 2476.50 2450.25 2502.75 1816.69 4007.88 0 0 0 30.00 30.00 15.95

1418.95 1060 -117.30 -1.97 0.00 2478.3 2451.9 2504.7 1816.3 4008.2 95.03 -3.47 158 1424.92 0.00 0.00 3.61 0.000 0.000 0.091 2481.38 2454.62 2508.12 1816.00 2575.00 0 0 0 30.00 30.00 15.98

1794.69 292 -117.30 -1.97 80.00 2478.2 2451.2 2505.2 1816.8 2573.8 106.18 -2.89 173 1801.01 0.00 0.00 3.82 0.000 0.000 0.142 2480.75 2454.69 2506.81 1814.56 4008.31 0 0 0 30.00 30.00 15.98

1879.70 1060 -117.30 -1.97 0.00 2478.0 2450.6 2505.4 1816.9 4007.7 108.80 -2.83 190 1885.94 0.00 0.00 3.61 0.000 0.000 0.090 2478.81 2452.62 2505.00 1816.12 2574.38 0 0 0 30.00 30.00 16.02

2265.74 548 -117.30 -1.97 -80.00 2477.8 2450.2 2505.3 1817.1 2574.0 118.79 -2.45 208 2272.03 0.00 0.00 3.83 0.000 0.000 0.171 2479.91 2451.94 2507.88 1816.81 1192.19 0 0 0 30.00 30.00 15.98

2500.80 1060 -117.30 -1.97 0.00 2477.9 2450.2 2505.7 1816.9 1191.8 125.22 -2.61 255 2507.14 0.00 0.00 3.47 0.000 0.000 0.079 2476.06 2448.06 2504.06 1816.56 2614.31 0 0 0 30.00 30.00 16.06

2885.84 292 -117.30 -1.97 80.00 2478.1 2450.2 2505.9 1816.4 2613.8 131.80 -1.59 272 2892.31 0.00 0.00 3.71 0.000 0.000 0.148 2475.78 2448.50 2503.06 1816.50 4007.62 0 0 0 30.00 30.00 16.01

3120.89 1060 -117.30 -1.97 0.00 2477.5 2449.9 2505.0 1816.8 4007.9 136.44 -2.13 319 3127.37 0.00 0.00 3.62 0.000 0.000 0.094 2476.38 2449.12 2503.62 1817.00 2574.25 0 0 0 30.00 30.00 16.02

3505.93 548 -117.30 -1.97 -80.00 2478.2 2450.2 2506.1 1816.7 2574.4 142.42 -1.34 336 3512.45 0.00 0.00 3.82 0.000 0.000 0.173 2476.47 2448.38 2504.56 1817.12 1192.19 0 0 0 30.00 30.00 15.95

3725.26 1060 -117.30 -1.97 0.00 2477.6 2449.6 2505.6 1816.8 1191.6 144.34 -0.82 380 3731.29 0.00 0.00 3.48 0.000 0.000 0.080 2478.09 2450.56 2505.62 1816.25 2614.19 0 0 0 30.00 30.00 15.99

3891 end dive: NO_VERTICAL_VELOCITY

state 3891 begin apogee

3892.46 10243 0.00 -0.37 0.00 2477.9 2450.4 2505.4 1815.9 2727.3 145.50 0.00 388 4007.24 105.86 2.88 0.06 1.232 0.199 0.288 1997.91 1918.19 2077.62 2205.00 2698.50 0 0 0 12.01 15.94 15.51

4009 end apogee: CONTROL_FINISHED_OK

state 4009 begin climb

4009.78 10243 117.30 1.97 0.00 1996.4 1916.8 2075.9 2204.7 2698.3 143.55 0.00 391 4120.03 99.80 4.01 0.00 1.144 0.129 0.000 1521.44 1411.50 1631.38 2773.12 2698.88 0 0 0 11.69 15.54 30.00

4493.62 16646 117.30 1.97 80.00 1511.5 1409.8 1613.2 2774.4 2698.5 49.12 16.28 413 4500.10 0.00 0.00 3.61 0.000 0.000 0.153 1511.41 1409.88 1612.94 2772.38 4007.81 0 0 0 30.00 30.00 15.72

4728.70 11303 285.73 2.64 0.00 1510.9 1412.8 1609.0 2774.1 4007.6 43.78 0.33 460 4982.25 238.74 1.03 3.39 1.003 0.084 0.084 836.00 715.44 956.56 2941.38 2694.50 0 0 0 11.85 15.83 15.85

5285.49 10791 419.46 3.18 -80.00 831.7 717.3 946.1 2941.4 2694.9 8.36 2.15 539 5418.87 121.20 0.81 4.22 0.967 0.084 0.163 500.00 410.00 590.00 3071.38 1249.50 0 0 0 11.83 15.71 15.36

5427.12 11303 564.94 3.76 0.00 499.4 410.1 588.8 3071.9 1249.4 5.92 1.53 566 5435.11 0.00 0.89 3.75 0.000 0.089 0.074 499.72 410.38 589.06 3211.12 2734.38 0 0 0 30.00 15.44 15.46

5652 end climb: SURFACE_DEPTH_REACHED

state 5652 begin surface coast

5785 end surface coast: CONTROL_FINISHED_OK

state 5785 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	50	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	13.458538	FG_AHR_10V	3.3745191	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	15.719236	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	140823,083034,7603.263,-14206.558,0,10255.0,0,15.7	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.90	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140823,083034,7603.263,-14206.558,0,10255.0,0,15.7	MHEAD_RNG_PITCHd_Wd	156.0,62259,-20.2,-9.167,-25.06,1949,0.139
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	1692008412,139.5,2,stop	_24V_AH	14.99,18.577
MODEM_MSG	CACST,8,1,20230814101205.873705,18,18098,24,0400,0000,246,02,02,03,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*23	_10V_AH	15.00,0.000
FREEZE	1.38,-0.896,-1.343,2,30,1	FG_AHR_24Vo	15.896
FINISH	1.4,1.019820	FG_AHR_10Vo	3.408
SM_CCo	5822.13,0.19,0.130,0,499.5,412.4,586.6,368.07	MEM0	59796,1,0,0
SM_GC	4.53,0.19,20.75,0.40,0.130,0.139,0.123,499.5,412.4,586.6,221.1,2572.7,0,0,0,15.88,15.66,15.75	MEM1	65508,1,0,0
SURF	below D_CALL,4.528933/3.000000	MEM2	1023032,33,22556,116
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16105,603
IRIDIUM_FIX	7559.12,-14226.97,130823,164047	CAP_FILE_SIZE	193670,0
TCM_TEMP	1.60	SDSIZE	3918848,3891552
SC_FREEKB	3862752	SDFILEDIR	410,51
RAFOS_CLK	-2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	8,1692007359,74.24940,-137.99570,159.965,234348.1	SOUNDSPEED	1465.0
RAFOS_FIX	7603.169922,-14206.333008,140823,101005,9,255,0.03	MAGCAL	1.000000,-0.018852,-0.066006,-0.070656,1.055596,-0.035187,0.070077,0.009708,0.995667,-1039.8,-191.6,391.4,36,0.1198,0
HUMID	48.11	IMPLIED_C_PITCH	2314,13.66,147,0.0,13.56
TEMP	-0.48	GPS	140823,101205,7603.170,-14206.333,0,10255.0,0,15.7
INTERNAL_PRESSURE	8.08539

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	646	1231	11930.09	nil	0	0	0.00
Pitch_motor	43	318	209.73	nil	0	0	0.00
Roll_motor	67	288	291.92	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	2120	5	162.85	SciCon	5789	6	564.60
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3704	0	17.78
Compass	1000	5	75.06
RAFOS	1242	40	745.45
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
5.86	16386	-117.30	-1.97	0.00	499.6	412.6	586.5	221.1	2608.7	0.00	0.00	0	37.56	30.53	0.00	0.00	0.006	0.000	0.000	1034.50	1001.88	1067.12	221.19	2608.94	0	0	0	15.81	30.00	30.00
37.82	18727	-117.30	-1.97	80.00	1034.9	1001.9	1067.9	221.2	2609.0	3.25	-4.00	3	113.66	49.83	13.56	3.86	0.005	0.319	0.156	2479.94	2457.12	2502.75	1816.94	4006.75	0	0	0	15.80	15.59	15.69
344.50	1060	-117.30	-1.97	0.00	2480.8	2456.3	2505.2	1816.1	4006.8	57.28	-8.68	63	350.33	0.00	0.00	3.67	0.000	0.000	0.096	2480.28	2455.56	2505.00	1816.88	2573.81	0	0	0	30.00	30.00	15.81
729.51	292	-117.30	-1.97	80.00	2480.2	2455.2	2505.2	1816.2	2573.9	70.84	-2.94	80	735.78	0.00	0.00	3.87	0.000	0.000	0.143	2478.66	2453.50	2503.81	1816.50	4008.44	0	0	0	30.00	30.00	15.87
964.65	1060	-117.30	-1.97	0.00	2478.3	2452.0	2504.7	1815.8	4008.4	79.71	-3.92	127	970.90	0.00	0.00	3.64	0.000	0.000	0.095	2480.91	2453.69	2508.12	1816.94	2574.75	0	0	0	30.00	30.00	15.93
1349.67	292	-117.30	-1.97	80.00	2478.8	2451.9	2505.6	1815.9	2574.6	92.50	-3.21	144	1355.99	0.00	0.00	3.84	0.000	0.000	0.143	2476.50	2450.25	2502.75	1816.69	4007.88	0	0	0	30.00	30.00	15.95
1418.95	1060	-117.30	-1.97	0.00	2478.3	2451.9	2504.7	1816.3	4008.2	95.03	-3.47	158	1424.92	0.00	0.00	3.61	0.000	0.000	0.091	2481.38	2454.62	2508.12	1816.00	2575.00	0	0	0	30.00	30.00	15.98
1794.69	292	-117.30	-1.97	80.00	2478.2	2451.2	2505.2	1816.8	2573.8	106.18	-2.89	173	1801.01	0.00	0.00	3.82	0.000	0.000	0.142	2480.75	2454.69	2506.81	1814.56	4008.31	0	0	0	30.00	30.00	15.98
1879.70	1060	-117.30	-1.97	0.00	2478.0	2450.6	2505.4	1816.9	4007.7	108.80	-2.83	190	1885.94	0.00	0.00	3.61	0.000	0.000	0.090	2478.81	2452.62	2505.00	1816.12	2574.38	0	0	0	30.00	30.00	16.02
2265.74	548	-117.30	-1.97	-80.00	2477.8	2450.2	2505.3	1817.1	2574.0	118.79	-2.45	208	2272.03	0.00	0.00	3.83	0.000	0.000	0.171	2479.91	2451.94	2507.88	1816.81	1192.19	0	0	0	30.00	30.00	15.98
2500.80	1060	-117.30	-1.97	0.00	2477.9	2450.2	2505.7	1816.9	1191.8	125.22	-2.61	255	2507.14	0.00	0.00	3.47	0.000	0.000	0.079	2476.06	2448.06	2504.06	1816.56	2614.31	0	0	0	30.00	30.00	16.06
2885.84	292	-117.30	-1.97	80.00	2478.1	2450.2	2505.9	1816.4	2613.8	131.80	-1.59	272	2892.31	0.00	0.00	3.71	0.000	0.000	0.148	2475.78	2448.50	2503.06	1816.50	4007.62	0	0	0	30.00	30.00	16.01
3120.89	1060	-117.30	-1.97	0.00	2477.5	2449.9	2505.0	1816.8	4007.9	136.44	-2.13	319	3127.37	0.00	0.00	3.62	0.000	0.000	0.094	2476.38	2449.12	2503.62	1817.00	2574.25	0	0	0	30.00	30.00	16.02
3505.93	548	-117.30	-1.97	-80.00	2478.2	2450.2	2506.1	1816.7	2574.4	142.42	-1.34	336	3512.45	0.00	0.00	3.82	0.000	0.000	0.173	2476.47	2448.38	2504.56	1817.12	1192.19	0	0	0	30.00	30.00	15.95
3725.26	1060	-117.30	-1.97	0.00	2477.6	2449.6	2505.6	1816.8	1191.6	144.34	-0.82	380	3731.29	0.00	0.00	3.48	0.000	0.000	0.080	2478.09	2450.56	2505.62	1816.25	2614.19	0	0	0	30.00	30.00	15.99
3891	end dive: NO_VERTICAL_VELOCITY
state	3891	begin apogee
3892.46	10243	0.00	-0.37	0.00	2477.9	2450.4	2505.4	1815.9	2727.3	145.50	0.00	388	4007.24	105.86	2.88	0.06	1.232	0.199	0.288	1997.91	1918.19	2077.62	2205.00	2698.50	0	0	0	12.01	15.94	15.51
4009	end apogee: CONTROL_FINISHED_OK
state	4009	begin climb
4009.78	10243	117.30	1.97	0.00	1996.4	1916.8	2075.9	2204.7	2698.3	143.55	0.00	391	4120.03	99.80	4.01	0.00	1.144	0.129	0.000	1521.44	1411.50	1631.38	2773.12	2698.88	0	0	0	11.69	15.54	30.00
4493.62	16646	117.30	1.97	80.00	1511.5	1409.8	1613.2	2774.4	2698.5	49.12	16.28	413	4500.10	0.00	0.00	3.61	0.000	0.000	0.153	1511.41	1409.88	1612.94	2772.38	4007.81	0	0	0	30.00	30.00	15.72
4728.70	11303	285.73	2.64	0.00	1510.9	1412.8	1609.0	2774.1	4007.6	43.78	0.33	460	4982.25	238.74	1.03	3.39	1.003	0.084	0.084	836.00	715.44	956.56	2941.38	2694.50	0	0	0	11.85	15.83	15.85
5285.49	10791	419.46	3.18	-80.00	831.7	717.3	946.1	2941.4	2694.9	8.36	2.15	539	5418.87	121.20	0.81	4.22	0.967	0.084	0.163	500.00	410.00	590.00	3071.38	1249.50	0	0	0	11.83	15.71	15.36
5427.12	11303	564.94	3.76	0.00	499.4	410.1	588.8	3071.9	1249.4	5.92	1.53	566	5435.11	0.00	0.89	3.75	0.000	0.089	0.074	499.72	410.38	589.06	3211.12	2734.38	0	0	0	30.00	15.44	15.46
5652	end climb: SURFACE_DEPTH_REACHED
state	5652	begin surface coast
5785	end surface coast: CONTROL_FINISHED_OK
state	5785	begin surface