Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 54 * 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 54 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 13.62674 FG_AHR_10V 3.5271168 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 16.433321 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 3.5271168 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 16.433321 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 13.62674 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 54 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 140823,141206,7600.303,-14155.115,0,7255.0,0,15.7 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 4.34 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140823,141206,7600.303,-14155.115,0,7255.0,0,15.7 MHEAD_RNG_PITCHd_Wd 160.5,56243,-20.2,-9.167,-25.06,1949,0.107

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,8,1,20230814163035.076197,18,23100,31,0209,0000,216,03,03,02,03,-1,-01,-01,1,3,0,0,150,-25.5,0.76,-100,2.24,-01,0.00,39,925,0025,0,-1,00,00*25 _24V_AH 14.88,19.407

NAV 1692035943,5.5,start _10V_AH 14.94,0.000

FREEZE 0.65,-0.934,-1.341,2,34,0 FG_AHR_24Vo 16.613

FINISH 0.7,1.019791 FG_AHR_10Vo 3.562

SM_CCo 6101.50,0.17,0.137,0,499.0,410.1,587.9,368.19 MEM0 59796,1,0,0

SM_GC 3.66,0.17,19.70,3.35,0.137,0.129,0.076,499.0,410.1,587.9,221.1,2618.1,0,0,0,15.72,15.56,15.66 MEM1 65508,1,0,0

SURF below D_CALL,3.656453/3.000000 MEM2 1023052,32,22556,116

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16137,623

IRIDIUM_FIX 7559.12,-14226.97,130823,164047 CAP_FILE_SIZE 204708,0

TCM_TEMP 1.72 SDSIZE 3918848,3890368

SC_FREEKB 0 SDFILEDIR 438,55

RAFOS_CLK 1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 1,1692029183,75.03000,-144.31000,83.599,122472.3 SOUNDSPEED 1465.0

RAFOS_FIX 7606.934082,-14139.942383,140823,161635,6,255,1.69 MAGCAL 1.000000,-0.042419,-0.016351,-0.067691,1.048286,-0.001441,0.069246,-0.001066,0.961976,-1084.8,-214.4,431.2,33,0.1443,0

HUMID 48.22 IMPLIED_C_PITCH 2315,13.62,160,0.0,13.62

TEMP -0.53 GPS 140823,163035,7606.934,-14139.942,0,7255.0,0,15.7

INTERNAL_PRESSURE 8.08537

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 655 1242 12126.14 nil 0 0 0.00

Pitch_motor 41 313 195.56 nil 0 0 0.00

Roll_motor 81 263 320.40 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 2127 5 162.74 SciCon 6068 6 584.19

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3975 0 19.01

Compass 1027 5 76.73

RAFOS 1187 40 709.73

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 -1.95 0.00 499.2 409.8 588.5 220.0 2610.8 0.00 0.00 0 27.21 20.31 0.00 0.00 0.006 0.000 0.000 855.47 809.56 901.38 219.69 2611.88 0 0 0 15.79 30.00 30.00

27.44 18695 -117.30 -1.95 80.00 855.8 809.5 902.1 219.9 2611.2 3.13 -9.51 2 113.37 58.72 13.65 3.84 0.005 0.313 0.149 2479.44 2456.06 2502.81 1821.44 4006.75 0 0 0 15.78 15.61 15.69

125.66 1028 -117.30 -1.95 0.00 2480.3 2456.8 2503.8 1821.9 4008.1 18.21 -18.54 21 132.02 0.00 0.00 3.74 0.000 0.000 0.093 2481.53 2456.88 2506.19 1821.44 2577.50 0 0 0 30.00 30.00 15.73

461.44 548 -117.30 -1.95 -80.00 2480.5 2454.9 2506.2 1822.1 2577.6 62.07 -8.54 37 467.36 0.00 0.00 3.96 0.000 0.000 0.170 2479.75 2454.19 2505.31 1821.94 1192.56 0 0 0 30.00 30.00 15.76

696.59 1060 -117.30 -1.95 0.00 2479.7 2452.2 2507.2 1822.2 1192.6 68.85 -2.07 84 702.76 0.00 0.00 3.56 0.000 0.000 0.078 2477.91 2451.56 2504.25 1821.19 2614.12 0 0 0 30.00 30.00 15.85

1081.59 548 -117.30 -1.95 -80.00 2478.4 2449.9 2506.9 1821.4 2613.5 81.08 -3.72 101 1087.99 0.00 0.00 3.99 0.000 0.000 0.163 2479.56 2451.38 2507.75 1822.12 1191.81 0 0 0 30.00 30.00 15.82

1230.92 1060 -117.30 -1.95 0.00 2478.4 2450.1 2506.8 1821.8 1191.9 88.30 -5.03 131 1236.76 0.00 0.00 3.50 0.000 0.000 0.077 2479.25 2451.31 2507.19 1822.19 2614.94 0 0 0 30.00 30.00 15.92

1605.33 292 -117.30 -1.95 80.00 2478.4 2449.6 2507.2 1821.6 2615.1 100.18 -2.90 148 1613.99 0.00 0.00 3.71 0.000 0.000 0.147 2480.00 2452.00 2508.00 1821.62 4008.25 0 0 0 30.00 30.00 15.91

1843.82 1060 -117.30 -1.95 0.00 2477.5 2448.8 2506.3 1821.4 4008.2 107.81 -2.66 196 1850.07 0.00 0.00 3.65 0.000 0.000 0.092 2480.03 2450.38 2509.69 1822.12 2574.44 0 0 0 30.00 30.00 15.97

2228.85 292 -117.30 -1.95 80.00 2477.7 2448.8 2506.6 1821.5 2574.5 117.12 -2.39 213 2235.10 0.00 0.00 3.80 0.000 0.000 0.143 2480.03 2451.69 2508.38 1819.88 4009.19 0 0 0 30.00 30.00 15.99

2383.16 1060 -117.30 -1.95 0.00 2476.9 2447.2 2506.6 1822.0 4009.8 121.64 -2.99 244 2389.30 0.00 0.00 3.63 0.000 0.000 0.090 2478.34 2448.69 2508.00 1820.94 2576.12 0 0 0 30.00 30.00 16.02

2763.94 32 -117.30 -1.95 0.00 2477.0 2447.2 2506.8 1821.8 2575.4 129.13 -1.86 260 2765.50 0.00 0.00 0.00 0.000 0.000 0.000 2477.41 2447.00 2507.81 1821.12 2575.12 0 0 0 30.00 30.00 30.00

3153.95 548 -117.30 -1.95 -80.00 2477.3 2447.6 2507.0 1821.7 2575.2 135.98 -1.66 273 3160.46 0.00 0.00 3.88 0.000 0.000 0.170 2477.12 2448.00 2506.25 1821.44 1192.94 0 0 0 30.00 30.00 16.02

3188.23 1060 -117.30 -1.95 0.00 2477.2 2447.8 2506.6 1821.9 1193.1 136.70 -1.62 280 3194.23 0.00 0.00 3.48 0.000 0.000 0.077 2477.84 2448.00 2507.69 1822.00 2614.75 0 0 0 30.00 30.00 16.07

3559.97 548 -117.30 -1.95 -80.00 2477.0 2447.3 2506.6 1821.4 2614.1 143.01 -1.72 297 3567.54 0.00 0.00 3.96 0.000 0.000 0.166 2475.34 2445.50 2505.19 1822.00 1191.88 0 0 0 30.00 30.00 16.02

3795.81 1060 -117.30 -1.95 0.00 2477.0 2447.2 2506.8 1822.3 1191.6 146.03 -1.21 344 3802.12 0.00 0.00 3.49 0.000 0.000 0.079 2479.22 2448.44 2510.00 1821.94 2615.25 0 0 0 30.00 30.00 16.09

4180.83 292 -117.30 -1.95 80.00 2476.9 2446.9 2506.9 1821.4 2615.4 149.43 -0.88 361 4187.28 0.00 0.00 3.70 0.000 0.000 0.149 2477.66 2447.50 2507.81 1821.50 4008.25 0 0 0 30.00 30.00 16.05

4210 end dive: NO_VERTICAL_VELOCITY

state 4210 begin apogee

4216.20 10243 0.00 -0.37 0.00 2476.5 2445.9 2507.2 1821.2 2692.8 149.75 0.00 367 4331.00 105.92 2.83 0.07 1.243 0.195 0.264 1999.25 1919.56 2078.94 2206.12 2727.81 0 0 0 11.90 16.03 15.59

4333 end apogee: CONTROL_FINISHED_OK

state 4333 begin climb

4333.48 10759 117.30 1.95 -80.00 1996.5 1916.6 2076.4 2206.6 2727.4 147.86 0.00 374 4450.03 99.89 3.93 4.29 1.149 0.127 0.164 1519.91 1409.56 1630.25 2771.00 1248.69 0 0 0 11.78 15.63 15.35

4522.47 1028 117.30 1.95 0.00 1515.2 1409.7 1620.7 2770.4 1248.6 105.86 27.98 411 4529.71 0.00 0.00 3.70 0.000 0.000 0.079 1514.06 1409.19 1618.94 2770.69 2729.06 0 0 0 30.00 30.00 15.57

4903.23 8486 127.49 1.99 80.00 1511.3 1410.1 1612.5 2769.9 2728.8 45.70 8.63 427 4924.30 13.88 0.00 3.45 0.949 0.000 0.150 1479.88 1378.94 1580.81 2770.12 4007.00 0 0 0 11.80 30.00 15.70

5152.54 11303 281.83 2.61 0.00 1477.8 1379.8 1575.8 2769.3 4007.4 42.18 1.07 477 5395.39 228.75 1.01 3.35 0.999 0.084 0.082 851.62 730.50 972.75 2934.12 2693.88 0 0 0 11.89 15.83 15.84

5698.65 10791 417.78 3.15 -80.00 846.8 730.8 962.8 2934.0 2694.2 8.47 2.03 553 5840.24 128.23 0.81 4.17 0.965 0.083 0.161 500.56 409.06 592.06 3065.25 1247.88 0 0 0 11.76 15.71 15.35

5986 end climb: SURFACE_DEPTH_REACHED

state 5986 begin surface coast

6062 end surface coast: CONTROL_FINISHED_OK

state 6062 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	54	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	13.62674	FG_AHR_10V	3.5271168	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	16.433321	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	140823,141206,7600.303,-14155.115,0,7255.0,0,15.7	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	4.34	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140823,141206,7600.303,-14155.115,0,7255.0,0,15.7	MHEAD_RNG_PITCHd_Wd	160.5,56243,-20.2,-9.167,-25.06,1949,0.107
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,8,1,20230814163035.076197,18,23100,31,0209,0000,216,03,03,02,03,-1,-01,-01,1,3,0,0,150,-25.5,0.76,-100,2.24,-01,0.00,39,925,0025,0,-1,00,00*25	_24V_AH	14.88,19.407
NAV	1692035943,5.5,start	_10V_AH	14.94,0.000
FREEZE	0.65,-0.934,-1.341,2,34,0	FG_AHR_24Vo	16.613
FINISH	0.7,1.019791	FG_AHR_10Vo	3.562
SM_CCo	6101.50,0.17,0.137,0,499.0,410.1,587.9,368.19	MEM0	59796,1,0,0
SM_GC	3.66,0.17,19.70,3.35,0.137,0.129,0.076,499.0,410.1,587.9,221.1,2618.1,0,0,0,15.72,15.56,15.66	MEM1	65508,1,0,0
SURF	below D_CALL,3.656453/3.000000	MEM2	1023052,32,22556,116
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16137,623
IRIDIUM_FIX	7559.12,-14226.97,130823,164047	CAP_FILE_SIZE	204708,0
TCM_TEMP	1.72	SDSIZE	3918848,3890368
SC_FREEKB	0	SDFILEDIR	438,55
RAFOS_CLK	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	1,1692029183,75.03000,-144.31000,83.599,122472.3	SOUNDSPEED	1465.0
RAFOS_FIX	7606.934082,-14139.942383,140823,161635,6,255,1.69	MAGCAL	1.000000,-0.042419,-0.016351,-0.067691,1.048286,-0.001441,0.069246,-0.001066,0.961976,-1084.8,-214.4,431.2,33,0.1443,0
HUMID	48.22	IMPLIED_C_PITCH	2315,13.62,160,0.0,13.62
TEMP	-0.53	GPS	140823,163035,7606.934,-14139.942,0,7255.0,0,15.7
INTERNAL_PRESSURE	8.08537

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	655	1242	12126.14	nil	0	0	0.00
Pitch_motor	41	313	195.56	nil	0	0	0.00
Roll_motor	81	263	320.40	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	2127	5	162.74	SciCon	6068	6	584.19
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3975	0	19.01
Compass	1027	5	76.73
RAFOS	1187	40	709.73
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	-1.95	0.00	499.2	409.8	588.5	220.0	2610.8	0.00	0.00	0	27.21	20.31	0.00	0.00	0.006	0.000	0.000	855.47	809.56	901.38	219.69	2611.88	0	0	0	15.79	30.00	30.00
27.44	18695	-117.30	-1.95	80.00	855.8	809.5	902.1	219.9	2611.2	3.13	-9.51	2	113.37	58.72	13.65	3.84	0.005	0.313	0.149	2479.44	2456.06	2502.81	1821.44	4006.75	0	0	0	15.78	15.61	15.69
125.66	1028	-117.30	-1.95	0.00	2480.3	2456.8	2503.8	1821.9	4008.1	18.21	-18.54	21	132.02	0.00	0.00	3.74	0.000	0.000	0.093	2481.53	2456.88	2506.19	1821.44	2577.50	0	0	0	30.00	30.00	15.73
461.44	548	-117.30	-1.95	-80.00	2480.5	2454.9	2506.2	1822.1	2577.6	62.07	-8.54	37	467.36	0.00	0.00	3.96	0.000	0.000	0.170	2479.75	2454.19	2505.31	1821.94	1192.56	0	0	0	30.00	30.00	15.76
696.59	1060	-117.30	-1.95	0.00	2479.7	2452.2	2507.2	1822.2	1192.6	68.85	-2.07	84	702.76	0.00	0.00	3.56	0.000	0.000	0.078	2477.91	2451.56	2504.25	1821.19	2614.12	0	0	0	30.00	30.00	15.85
1081.59	548	-117.30	-1.95	-80.00	2478.4	2449.9	2506.9	1821.4	2613.5	81.08	-3.72	101	1087.99	0.00	0.00	3.99	0.000	0.000	0.163	2479.56	2451.38	2507.75	1822.12	1191.81	0	0	0	30.00	30.00	15.82
1230.92	1060	-117.30	-1.95	0.00	2478.4	2450.1	2506.8	1821.8	1191.9	88.30	-5.03	131	1236.76	0.00	0.00	3.50	0.000	0.000	0.077	2479.25	2451.31	2507.19	1822.19	2614.94	0	0	0	30.00	30.00	15.92
1605.33	292	-117.30	-1.95	80.00	2478.4	2449.6	2507.2	1821.6	2615.1	100.18	-2.90	148	1613.99	0.00	0.00	3.71	0.000	0.000	0.147	2480.00	2452.00	2508.00	1821.62	4008.25	0	0	0	30.00	30.00	15.91
1843.82	1060	-117.30	-1.95	0.00	2477.5	2448.8	2506.3	1821.4	4008.2	107.81	-2.66	196	1850.07	0.00	0.00	3.65	0.000	0.000	0.092	2480.03	2450.38	2509.69	1822.12	2574.44	0	0	0	30.00	30.00	15.97
2228.85	292	-117.30	-1.95	80.00	2477.7	2448.8	2506.6	1821.5	2574.5	117.12	-2.39	213	2235.10	0.00	0.00	3.80	0.000	0.000	0.143	2480.03	2451.69	2508.38	1819.88	4009.19	0	0	0	30.00	30.00	15.99
2383.16	1060	-117.30	-1.95	0.00	2476.9	2447.2	2506.6	1822.0	4009.8	121.64	-2.99	244	2389.30	0.00	0.00	3.63	0.000	0.000	0.090	2478.34	2448.69	2508.00	1820.94	2576.12	0	0	0	30.00	30.00	16.02
2763.94	32	-117.30	-1.95	0.00	2477.0	2447.2	2506.8	1821.8	2575.4	129.13	-1.86	260	2765.50	0.00	0.00	0.00	0.000	0.000	0.000	2477.41	2447.00	2507.81	1821.12	2575.12	0	0	0	30.00	30.00	30.00
3153.95	548	-117.30	-1.95	-80.00	2477.3	2447.6	2507.0	1821.7	2575.2	135.98	-1.66	273	3160.46	0.00	0.00	3.88	0.000	0.000	0.170	2477.12	2448.00	2506.25	1821.44	1192.94	0	0	0	30.00	30.00	16.02
3188.23	1060	-117.30	-1.95	0.00	2477.2	2447.8	2506.6	1821.9	1193.1	136.70	-1.62	280	3194.23	0.00	0.00	3.48	0.000	0.000	0.077	2477.84	2448.00	2507.69	1822.00	2614.75	0	0	0	30.00	30.00	16.07
3559.97	548	-117.30	-1.95	-80.00	2477.0	2447.3	2506.6	1821.4	2614.1	143.01	-1.72	297	3567.54	0.00	0.00	3.96	0.000	0.000	0.166	2475.34	2445.50	2505.19	1822.00	1191.88	0	0	0	30.00	30.00	16.02
3795.81	1060	-117.30	-1.95	0.00	2477.0	2447.2	2506.8	1822.3	1191.6	146.03	-1.21	344	3802.12	0.00	0.00	3.49	0.000	0.000	0.079	2479.22	2448.44	2510.00	1821.94	2615.25	0	0	0	30.00	30.00	16.09
4180.83	292	-117.30	-1.95	80.00	2476.9	2446.9	2506.9	1821.4	2615.4	149.43	-0.88	361	4187.28	0.00	0.00	3.70	0.000	0.000	0.149	2477.66	2447.50	2507.81	1821.50	4008.25	0	0	0	30.00	30.00	16.05
4210	end dive: NO_VERTICAL_VELOCITY
state	4210	begin apogee
4216.20	10243	0.00	-0.37	0.00	2476.5	2445.9	2507.2	1821.2	2692.8	149.75	0.00	367	4331.00	105.92	2.83	0.07	1.243	0.195	0.264	1999.25	1919.56	2078.94	2206.12	2727.81	0	0	0	11.90	16.03	15.59
4333	end apogee: CONTROL_FINISHED_OK
state	4333	begin climb
4333.48	10759	117.30	1.95	-80.00	1996.5	1916.6	2076.4	2206.6	2727.4	147.86	0.00	374	4450.03	99.89	3.93	4.29	1.149	0.127	0.164	1519.91	1409.56	1630.25	2771.00	1248.69	0	0	0	11.78	15.63	15.35
4522.47	1028	117.30	1.95	0.00	1515.2	1409.7	1620.7	2770.4	1248.6	105.86	27.98	411	4529.71	0.00	0.00	3.70	0.000	0.000	0.079	1514.06	1409.19	1618.94	2770.69	2729.06	0	0	0	30.00	30.00	15.57
4903.23	8486	127.49	1.99	80.00	1511.3	1410.1	1612.5	2769.9	2728.8	45.70	8.63	427	4924.30	13.88	0.00	3.45	0.949	0.000	0.150	1479.88	1378.94	1580.81	2770.12	4007.00	0	0	0	11.80	30.00	15.70
5152.54	11303	281.83	2.61	0.00	1477.8	1379.8	1575.8	2769.3	4007.4	42.18	1.07	477	5395.39	228.75	1.01	3.35	0.999	0.084	0.082	851.62	730.50	972.75	2934.12	2693.88	0	0	0	11.89	15.83	15.84
5698.65	10791	417.78	3.15	-80.00	846.8	730.8	962.8	2934.0	2694.2	8.47	2.03	553	5840.24	128.23	0.81	4.17	0.965	0.083	0.161	500.56	409.06	592.06	3065.25	1247.88	0	0	0	11.76	15.71	15.35
5986	end climb: SURFACE_DEPTH_REACHED
state	5986	begin surface coast
6062	end surface coast: CONTROL_FINISHED_OK
state	6062	begin surface