Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 52 * 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 52 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 13.569315 FG_AHR_10V 3.4542272 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 16.074314 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 3.4542272 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 16.074314 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 13.569315 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 52 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 140823,101205,7603.170,-14206.333,0,10255.0,0,15.7 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 6.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140823,101205,7603.170,-14206.333,0,10255.0,0,15.7 MHEAD_RNG_PITCHd_Wd 156.0,62072,-20.2,-9.167,-25.06,1949,0.121

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,8,1,20230814141206.257517,18,1667,08,0206,0000,246,03,03,04,03,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*19 _24V_AH 14.95,18.997

NAV 1692022812,3.4,2,stop _10V_AH 15.00,0.000

FREEZE 0.77,-0.896,-1.339,2,32,0 FG_AHR_24Vo 16.255

FINISH 0.8,1.019757 FG_AHR_10Vo 3.490

SM_CCo 6259.16,0.19,0.133,0,499.3,410.8,587.9,368.12 MEM0 59796,1,0,0

SM_GC 3.56,0.19,19.64,3.71,0.133,0.129,0.087,499.3,410.8,587.9,220.0,2576.8,0,0,0,15.84,15.63,15.70 MEM1 65508,1,0,0

SURF below D_CALL,3.561625/3.000000 MEM2 1023052,32,22556,116

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 19291,670

IRIDIUM_FIX 7559.12,-14226.97,130823,164047 CAP_FILE_SIZE 201524,0

TCM_TEMP 1.80 SDSIZE 3918848,3890944

SC_FREEKB 3862112 SDFILEDIR 424,53

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

MODEM 0,1692014524,74.57000,-145.56000,124.429,182287.8 SOUNDSPEED 1465.0

RAFOS_FIX 7600.303223,-14155.115234,140823,141406,6,255,0.51 MAGCAL 1.000000,-0.072952,-0.085377,-0.056010,1.041357,-0.038683,0.072231,0.008634,0.917284,-1010.0,-177.8,481.1,36,0.1256,0

HUMID 48.10 IMPLIED_C_PITCH 2314,13.68,162,0.0,13.63

TEMP -0.30 GPS 140823,141206,7600.303,-14155.115,0,7255.0,0,15.7

INTERNAL_PRESSURE 8.09394

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 652 1245 12160.77 nil 0 0 0.00

Pitch_motor 41 313 196.31 nil 0 0 0.00

Roll_motor 73 274 302.48 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 2239 5 171.98 SciCon 6223 6 598.43

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4019 0 19.29

Compass 1097 5 82.28

RAFOS 1339 40 803.76

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 -1.96 0.00 499.9 411.8 588.0 220.9 2609.6 0.00 0.00 0 16.94 10.15 0.00 0.00 0.007 0.000 0.000 717.72 659.06 776.38 221.00 2609.25 0 0 0 15.79 30.00 30.00

17.19 18727 -117.30 -1.96 80.00 717.7 659.1 776.3 221.0 2609.6 3.89 0.00 1 114.37 71.68 13.56 3.82 0.005 0.314 0.147 2478.53 2455.19 2501.88 1820.50 4007.12 0 0 0 15.78 15.60 15.71

221.69 1028 -117.30 -1.96 0.00 2481.2 2456.8 2505.6 1820.1 4007.5 38.43 -19.94 41 227.30 0.00 0.00 3.71 0.000 0.000 0.096 2482.91 2459.06 2506.75 1819.81 2574.88 0 0 0 30.00 30.00 15.79

606.46 292 -117.30 -1.96 80.00 2480.4 2455.0 2505.9 1820.5 2575.6 65.85 -3.05 57 612.69 0.00 0.00 3.86 0.000 0.000 0.140 2481.28 2456.56 2506.00 1818.88 4008.25 0 0 0 30.00 30.00 15.85

841.60 1060 -117.30 -1.96 0.00 2478.6 2451.5 2505.8 1820.4 4007.9 73.39 -3.56 104 847.84 0.00 0.00 3.67 0.000 0.000 0.092 2477.94 2450.81 2505.06 1820.69 2575.62 0 0 0 30.00 30.00 15.92

1226.62 548 -117.30 -1.96 -80.00 2478.3 2450.9 2505.8 1820.6 2575.4 86.48 -2.89 121 1232.92 0.00 0.00 3.87 0.000 0.000 0.171 2476.50 2448.50 2504.50 1820.62 1191.12 0 0 0 30.00 30.00 15.92

1305.91 1060 -117.30 -1.96 0.00 2477.8 2450.5 2505.0 1820.1 1191.4 89.61 -3.92 137 1312.51 0.00 0.00 3.49 0.000 0.000 0.077 2479.72 2452.00 2507.44 1820.69 2617.00 0 0 0 30.00 30.00 15.99

1701.65 292 -117.30 -1.96 80.00 2478.1 2450.3 2505.9 1820.4 2617.4 102.05 -2.72 151 1707.91 0.00 0.00 3.71 0.000 0.000 0.145 2476.31 2448.06 2504.56 1820.25 4007.81 0 0 0 30.00 30.00 15.97

1936.70 1060 -117.30 -1.96 0.00 2477.6 2449.8 2505.4 1820.4 4008.4 109.15 -3.05 198 1942.94 0.00 0.00 3.65 0.000 0.000 0.093 2476.66 2448.75 2504.56 1820.62 2573.00 0 0 0 30.00 30.00 16.03

2312.86 292 -117.30 -1.96 80.00 2478.0 2450.2 2505.8 1820.8 2573.2 118.14 -2.33 215 2321.57 0.00 0.00 3.82 0.000 0.000 0.142 2478.41 2451.00 2505.81 1820.44 4008.38 0 0 0 30.00 30.00 15.99

2545.65 1060 -117.30 -1.96 0.00 2477.4 2449.6 2505.2 1820.8 4007.6 124.07 -2.53 262 2552.50 0.00 0.00 3.62 0.000 0.000 0.093 2480.19 2451.88 2508.50 1820.50 2574.44 0 0 0 30.00 30.00 16.04

2941.39 548 -117.30 -1.96 -80.00 2477.7 2450.0 2505.4 1820.1 2574.1 133.46 -2.24 276 2947.91 0.00 0.00 3.83 0.000 0.000 0.172 2478.88 2451.00 2506.75 1820.69 1191.62 0 0 0 30.00 30.00 16.01

3176.45 1060 -117.30 -1.96 0.00 2477.6 2449.4 2505.7 1820.2 1191.4 137.60 -1.58 323 3182.78 0.00 0.00 3.46 0.000 0.000 0.079 2478.22 2450.44 2506.00 1820.25 2615.12 0 0 0 30.00 30.00 16.09

3561.48 32 -117.30 -1.96 0.00 2477.8 2449.9 2505.6 1820.9 2614.9 142.50 -1.35 340 3563.04 0.00 0.00 0.00 0.000 0.000 0.000 2476.88 2448.75 2505.00 1821.12 2614.62 0 0 0 30.00 30.00 30.00

3951.47 548 -117.30 -1.96 -80.00 2477.3 2449.7 2504.9 1820.9 2615.2 147.48 -1.17 353 3959.03 0.00 0.00 3.94 0.000 0.000 0.169 2475.53 2446.94 2504.12 1820.81 1193.56 0 0 0 30.00 30.00 16.05

4189.73 1060 -117.30 -1.96 0.00 2477.4 2449.1 2505.7 1820.2 1193.7 149.85 -0.98 400 4196.04 0.00 0.00 3.46 0.000 0.000 0.081 2479.81 2450.88 2508.75 1820.62 2616.06 0 0 0 30.00 30.00 16.11

4334 end dive: NO_VERTICAL_VELOCITY

state 4334 begin apogee

4336.17 10243 0.00 -0.37 0.00 2477.6 2449.2 2505.9 1820.4 2727.8 151.21 0.00 409 4450.86 105.79 2.82 0.06 1.246 0.198 0.274 2000.66 1920.88 2080.44 2203.44 2697.25 0 0 0 12.14 16.05 15.61

4452 end apogee: CONTROL_FINISHED_OK

state 4452 begin climb

4453.34 10503 117.30 1.96 80.00 1996.1 1916.3 2075.9 2206.2 2697.8 149.40 0.00 412 4569.60 99.53 3.94 3.67 1.154 0.128 0.153 1519.59 1409.38 1629.81 2772.31 4006.25 0 0 0 11.69 15.64 15.37

4622.04 1028 117.30 1.96 0.00 1515.2 1410.1 1620.4 2772.7 4006.9 114.34 26.39 445 4628.12 0.00 0.00 3.45 0.000 0.000 0.086 1515.09 1410.25 1619.94 2771.69 2696.44 0 0 0 30.00 30.00 15.54

4997.80 16646 117.30 1.96 80.00 1511.1 1409.8 1612.4 2771.4 2696.2 46.83 11.77 460 5004.21 0.00 0.00 3.56 0.000 0.000 0.143 1511.28 1410.44 1612.12 2772.12 4007.12 0 0 0 30.00 30.00 15.72

5232.93 11303 289.87 2.65 0.00 1510.6 1412.0 1609.2 2771.7 4007.6 44.59 0.11 507 5496.90 248.53 1.07 3.41 1.001 0.084 0.083 819.50 699.44 939.56 2943.06 2694.00 0 0 0 11.75 15.80 15.81

5800.14 10535 429.29 3.20 80.00 814.5 700.2 928.8 2941.8 2694.1 8.78 1.85 588 5930.27 117.06 0.84 3.67 0.968 0.083 0.141 500.81 409.44 592.19 3077.88 4005.81 0 0 0 11.85 15.67 15.32

6122 end climb: SURFACE_DEPTH_REACHED

state 6123 begin surface coast

6218 end surface coast: CONTROL_FINISHED_OK

state 6218 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	52	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	13.569315	FG_AHR_10V	3.4542272	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	16.074314	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	140823,101205,7603.170,-14206.333,0,10255.0,0,15.7	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	6.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140823,101205,7603.170,-14206.333,0,10255.0,0,15.7	MHEAD_RNG_PITCHd_Wd	156.0,62072,-20.2,-9.167,-25.06,1949,0.121
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,8,1,20230814141206.257517,18,1667,08,0206,0000,246,03,03,04,03,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*19	_24V_AH	14.95,18.997
NAV	1692022812,3.4,2,stop	_10V_AH	15.00,0.000
FREEZE	0.77,-0.896,-1.339,2,32,0	FG_AHR_24Vo	16.255
FINISH	0.8,1.019757	FG_AHR_10Vo	3.490
SM_CCo	6259.16,0.19,0.133,0,499.3,410.8,587.9,368.12	MEM0	59796,1,0,0
SM_GC	3.56,0.19,19.64,3.71,0.133,0.129,0.087,499.3,410.8,587.9,220.0,2576.8,0,0,0,15.84,15.63,15.70	MEM1	65508,1,0,0
SURF	below D_CALL,3.561625/3.000000	MEM2	1023052,32,22556,116
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	19291,670
IRIDIUM_FIX	7559.12,-14226.97,130823,164047	CAP_FILE_SIZE	201524,0
TCM_TEMP	1.80	SDSIZE	3918848,3890944
SC_FREEKB	3862112	SDFILEDIR	424,53
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1692014524,74.57000,-145.56000,124.429,182287.8	SOUNDSPEED	1465.0
RAFOS_FIX	7600.303223,-14155.115234,140823,141406,6,255,0.51	MAGCAL	1.000000,-0.072952,-0.085377,-0.056010,1.041357,-0.038683,0.072231,0.008634,0.917284,-1010.0,-177.8,481.1,36,0.1256,0
HUMID	48.10	IMPLIED_C_PITCH	2314,13.68,162,0.0,13.63
TEMP	-0.30	GPS	140823,141206,7600.303,-14155.115,0,7255.0,0,15.7
INTERNAL_PRESSURE	8.09394

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	652	1245	12160.77	nil	0	0	0.00
Pitch_motor	41	313	196.31	nil	0	0	0.00
Roll_motor	73	274	302.48	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	2239	5	171.98	SciCon	6223	6	598.43
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4019	0	19.29
Compass	1097	5	82.28
RAFOS	1339	40	803.76
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	-1.96	0.00	499.9	411.8	588.0	220.9	2609.6	0.00	0.00	0	16.94	10.15	0.00	0.00	0.007	0.000	0.000	717.72	659.06	776.38	221.00	2609.25	0	0	0	15.79	30.00	30.00
17.19	18727	-117.30	-1.96	80.00	717.7	659.1	776.3	221.0	2609.6	3.89	0.00	1	114.37	71.68	13.56	3.82	0.005	0.314	0.147	2478.53	2455.19	2501.88	1820.50	4007.12	0	0	0	15.78	15.60	15.71
221.69	1028	-117.30	-1.96	0.00	2481.2	2456.8	2505.6	1820.1	4007.5	38.43	-19.94	41	227.30	0.00	0.00	3.71	0.000	0.000	0.096	2482.91	2459.06	2506.75	1819.81	2574.88	0	0	0	30.00	30.00	15.79
606.46	292	-117.30	-1.96	80.00	2480.4	2455.0	2505.9	1820.5	2575.6	65.85	-3.05	57	612.69	0.00	0.00	3.86	0.000	0.000	0.140	2481.28	2456.56	2506.00	1818.88	4008.25	0	0	0	30.00	30.00	15.85
841.60	1060	-117.30	-1.96	0.00	2478.6	2451.5	2505.8	1820.4	4007.9	73.39	-3.56	104	847.84	0.00	0.00	3.67	0.000	0.000	0.092	2477.94	2450.81	2505.06	1820.69	2575.62	0	0	0	30.00	30.00	15.92
1226.62	548	-117.30	-1.96	-80.00	2478.3	2450.9	2505.8	1820.6	2575.4	86.48	-2.89	121	1232.92	0.00	0.00	3.87	0.000	0.000	0.171	2476.50	2448.50	2504.50	1820.62	1191.12	0	0	0	30.00	30.00	15.92
1305.91	1060	-117.30	-1.96	0.00	2477.8	2450.5	2505.0	1820.1	1191.4	89.61	-3.92	137	1312.51	0.00	0.00	3.49	0.000	0.000	0.077	2479.72	2452.00	2507.44	1820.69	2617.00	0	0	0	30.00	30.00	15.99
1701.65	292	-117.30	-1.96	80.00	2478.1	2450.3	2505.9	1820.4	2617.4	102.05	-2.72	151	1707.91	0.00	0.00	3.71	0.000	0.000	0.145	2476.31	2448.06	2504.56	1820.25	4007.81	0	0	0	30.00	30.00	15.97
1936.70	1060	-117.30	-1.96	0.00	2477.6	2449.8	2505.4	1820.4	4008.4	109.15	-3.05	198	1942.94	0.00	0.00	3.65	0.000	0.000	0.093	2476.66	2448.75	2504.56	1820.62	2573.00	0	0	0	30.00	30.00	16.03
2312.86	292	-117.30	-1.96	80.00	2478.0	2450.2	2505.8	1820.8	2573.2	118.14	-2.33	215	2321.57	0.00	0.00	3.82	0.000	0.000	0.142	2478.41	2451.00	2505.81	1820.44	4008.38	0	0	0	30.00	30.00	15.99
2545.65	1060	-117.30	-1.96	0.00	2477.4	2449.6	2505.2	1820.8	4007.6	124.07	-2.53	262	2552.50	0.00	0.00	3.62	0.000	0.000	0.093	2480.19	2451.88	2508.50	1820.50	2574.44	0	0	0	30.00	30.00	16.04
2941.39	548	-117.30	-1.96	-80.00	2477.7	2450.0	2505.4	1820.1	2574.1	133.46	-2.24	276	2947.91	0.00	0.00	3.83	0.000	0.000	0.172	2478.88	2451.00	2506.75	1820.69	1191.62	0	0	0	30.00	30.00	16.01
3176.45	1060	-117.30	-1.96	0.00	2477.6	2449.4	2505.7	1820.2	1191.4	137.60	-1.58	323	3182.78	0.00	0.00	3.46	0.000	0.000	0.079	2478.22	2450.44	2506.00	1820.25	2615.12	0	0	0	30.00	30.00	16.09
3561.48	32	-117.30	-1.96	0.00	2477.8	2449.9	2505.6	1820.9	2614.9	142.50	-1.35	340	3563.04	0.00	0.00	0.00	0.000	0.000	0.000	2476.88	2448.75	2505.00	1821.12	2614.62	0	0	0	30.00	30.00	30.00
3951.47	548	-117.30	-1.96	-80.00	2477.3	2449.7	2504.9	1820.9	2615.2	147.48	-1.17	353	3959.03	0.00	0.00	3.94	0.000	0.000	0.169	2475.53	2446.94	2504.12	1820.81	1193.56	0	0	0	30.00	30.00	16.05
4189.73	1060	-117.30	-1.96	0.00	2477.4	2449.1	2505.7	1820.2	1193.7	149.85	-0.98	400	4196.04	0.00	0.00	3.46	0.000	0.000	0.081	2479.81	2450.88	2508.75	1820.62	2616.06	0	0	0	30.00	30.00	16.11
4334	end dive: NO_VERTICAL_VELOCITY
state	4334	begin apogee
4336.17	10243	0.00	-0.37	0.00	2477.6	2449.2	2505.9	1820.4	2727.8	151.21	0.00	409	4450.86	105.79	2.82	0.06	1.246	0.198	0.274	2000.66	1920.88	2080.44	2203.44	2697.25	0	0	0	12.14	16.05	15.61
4452	end apogee: CONTROL_FINISHED_OK
state	4452	begin climb
4453.34	10503	117.30	1.96	80.00	1996.1	1916.3	2075.9	2206.2	2697.8	149.40	0.00	412	4569.60	99.53	3.94	3.67	1.154	0.128	0.153	1519.59	1409.38	1629.81	2772.31	4006.25	0	0	0	11.69	15.64	15.37
4622.04	1028	117.30	1.96	0.00	1515.2	1410.1	1620.4	2772.7	4006.9	114.34	26.39	445	4628.12	0.00	0.00	3.45	0.000	0.000	0.086	1515.09	1410.25	1619.94	2771.69	2696.44	0	0	0	30.00	30.00	15.54
4997.80	16646	117.30	1.96	80.00	1511.1	1409.8	1612.4	2771.4	2696.2	46.83	11.77	460	5004.21	0.00	0.00	3.56	0.000	0.000	0.143	1511.28	1410.44	1612.12	2772.12	4007.12	0	0	0	30.00	30.00	15.72
5232.93	11303	289.87	2.65	0.00	1510.6	1412.0	1609.2	2771.7	4007.6	44.59	0.11	507	5496.90	248.53	1.07	3.41	1.001	0.084	0.083	819.50	699.44	939.56	2943.06	2694.00	0	0	0	11.75	15.80	15.81
5800.14	10535	429.29	3.20	80.00	814.5	700.2	928.8	2941.8	2694.1	8.78	1.85	588	5930.27	117.06	0.84	3.67	0.968	0.083	0.141	500.81	409.44	592.19	3077.88	4005.81	0	0	0	11.85	15.67	15.32
6122	end climb: SURFACE_DEPTH_REACHED
state	6123	begin surface coast
6218	end surface coast: CONTROL_FINISHED_OK
state	6218	begin surface