Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 57 * 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 57 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 13.509276 FG_AHR_10V 3.6415875 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 16.9751 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 3.6415875 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 16.9751 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 13.509276 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 57 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 140823,203035,7602.345,-14204.719,0,9255.0,0,15.7 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.33 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140823,203035,7602.345,-14204.719,0,9255.0,0,15.7 MHEAD_RNG_PITCHd_Wd 156.5,60455,-20.2,-9.167,-25.06,1949,0.126

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 1692051640,121.8,2,stop _24V_AH 14.95,20.038

MODEM_MSG CACST,8,1,20230814221206.883915,18,21063,25,0396,0000,246,02,02,03,04,-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*22 _10V_AH 15.00,0.000

FREEZE 1.38,-0.859,-1.351,2,37,0 FG_AHR_24Vo 17.153

FINISH 1.4,1.019933 FG_AHR_10Vo 3.677

SM_CCo 6453.73,0.16,0.153,0,499.1,409.9,588.2,368.18 MEM0 59796,1,0,0

SM_GC 4.68,0.16,19.61,3.72,0.153,0.128,0.085,499.1,409.9,588.2,220.0,2574.6,0,0,0,15.83,15.62,15.69 MEM1 65508,1,0,0

SURF below D_CALL,4.683519/3.000000 MEM2 1023032,33,22556,116

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16140,598

IRIDIUM_FIX 7559.12,-14226.97,130823,164047 CAP_FILE_SIZE 188329,0

TCM_TEMP 1.67 SDSIZE 3918848,3889536

SC_FREEKB 3860512 SDFILEDIR 459,58

RAFOS_CLK -5 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 8,1692050558,74.24940,-137.99570,158.689,232480.0 SOUNDSPEED 1465.0

RAFOS_FIX 7602.500000,-14205.720703,140823,222206,9,255,0.09 MAGCAL 1.000000,-0.039428,-0.057418,-0.073796,1.075616,-0.057648,0.079021,0.006445,0.991714,-1040.6,-169.2,390.5,36,0.1060,0

HUMID 47.92 IMPLIED_C_PITCH 2308,13.52,172,0.0,13.52

TEMP -0.56 GPS 140823,221206,7602.500,-14205.721,0,10255.0,0,15.7

INTERNAL_PRESSURE 8.09062

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 655 1245 12214.55 nil 0 0 0.00

Pitch_motor 41 309 192.39 nil 0 0 0.00

Roll_motor 59 284 254.71 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 2172 5 166.82 SciCon 6417 6 619.30

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4281 0 20.55

Compass 1002 5 75.19

RAFOS 1271 40 762.69

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 5 begin dive

5.86 16386 -117.30 -1.96 0.00 499.5 411.0 587.9 220.2 2612.1 0.00 0.00 0 16.92 10.12 0.00 0.00 0.007 0.000 0.000 698.28 636.19 760.38 220.19 2611.50 0 0 0 15.84 30.00 30.00

17.17 18727 -117.30 -1.96 80.00 698.3 636.1 760.5 220.2 2611.9 3.32 0.00 1 115.52 73.15 13.40 3.85 0.005 0.309 0.151 2479.94 2458.56 2501.31 1817.06 4007.12 0 0 0 15.81 15.61 15.72

228.57 1028 -117.30 -1.96 0.00 2480.8 2456.2 2505.3 1819.2 4007.2 40.50 -19.61 42 234.49 0.00 0.00 3.74 0.000 0.000 0.095 2479.91 2455.69 2504.12 1818.81 2577.56 0 0 0 30.00 30.00 15.80

623.63 292 -117.30 -1.96 80.00 2480.1 2455.6 2504.5 1819.3 2577.4 65.81 -1.96 60 629.82 0.00 0.00 3.90 0.000 0.000 0.140 2481.59 2456.56 2506.62 1818.69 4008.38 0 0 0 30.00 30.00 15.85

858.77 1060 -117.30 -1.96 0.00 2478.3 2452.0 2504.6 1819.2 4008.7 74.59 -4.42 107 865.11 0.00 0.00 3.70 0.000 0.000 0.093 2476.94 2450.50 2503.38 1819.19 2576.12 0 0 0 30.00 30.00 15.92

1243.79 292 -117.30 -1.96 80.00 2478.2 2451.0 2505.4 1819.2 2576.2 89.24 -3.87 124 1250.29 0.00 0.00 3.88 0.000 0.000 0.141 2479.19 2452.25 2506.12 1819.06 4008.75 0 0 0 30.00 30.00 15.90

1478.85 1060 -117.30 -1.96 0.00 2477.6 2450.3 2504.9 1818.4 4007.2 97.01 -3.11 171 1485.14 0.00 0.00 3.72 0.000 0.000 0.092 2479.06 2452.62 2505.50 1818.06 2574.69 0 0 0 30.00 30.00 15.94

1863.87 292 -117.30 -1.96 80.00 2477.9 2450.4 2505.4 1819.3 2574.6 105.72 -2.50 188 1870.17 0.00 0.00 3.88 0.000 0.000 0.142 2479.09 2451.50 2506.69 1817.06 4007.62 0 0 0 30.00 30.00 15.91

2098.94 1060 -117.30 -1.96 0.00 2477.4 2449.9 2504.9 1818.8 4008.4 112.24 -2.92 235 2105.17 0.00 0.00 3.69 0.000 0.000 0.094 2475.66 2448.81 2502.50 1819.50 2574.50 0 0 0 30.00 30.00 15.93

2483.95 32 -117.30 -1.96 0.00 2477.7 2450.1 2505.4 1819.1 2573.9 123.28 -2.70 252 2485.47 0.00 0.00 0.00 0.000 0.000 0.000 2478.19 2450.62 2505.75 1817.31 2573.81 0 0 0 30.00 30.00 30.00

2873.96 32 -117.30 -1.96 0.00 2477.6 2450.2 2505.0 1819.4 2574.6 130.40 -1.70 265 2875.48 0.00 0.00 0.00 0.000 0.000 0.000 2478.09 2450.94 2505.25 1817.81 2574.50 0 0 0 30.00 30.00 30.00

3264.00 32 -117.30 -1.96 0.00 2477.5 2449.9 2505.1 1819.1 2574.6 137.70 -1.90 278 3265.56 0.00 0.00 0.00 0.000 0.000 0.000 2477.81 2449.31 2506.31 1817.69 2573.62 0 0 0 30.00 30.00 30.00

3654.01 292 -117.30 -1.96 80.00 2477.7 2450.6 2504.8 1819.2 2574.7 143.02 -1.26 291 3660.56 0.00 0.00 3.84 0.000 0.000 0.145 2476.94 2449.06 2504.81 1819.56 4006.94 0 0 0 30.00 30.00 16.02

3889.07 1060 -117.30 -1.96 0.00 2477.1 2449.4 2504.8 1819.1 4006.8 146.43 -1.44 338 3895.50 0.00 0.00 3.65 0.000 0.000 0.095 2477.66 2449.38 2505.94 1817.88 2574.00 0 0 0 30.00 30.00 16.05

4284.08 548 -117.30 -1.96 -80.00 2477.5 2449.8 2505.3 1819.2 2574.6 151.02 -1.12 356 4290.61 0.00 0.00 3.89 0.000 0.000 0.172 2475.78 2447.94 2503.62 1819.19 1192.31 0 0 0 30.00 30.00 16.02

4323.37 1060 -117.30 -1.96 0.00 2477.6 2449.6 2505.7 1819.1 1192.2 151.41 -1.09 364 4329.43 0.00 0.00 3.49 0.000 0.000 0.078 2477.66 2450.50 2504.81 1819.81 2613.50 0 0 0 30.00 30.00 16.08

4639 end dive: NO_VERTICAL_VELOCITY

state 4639 begin apogee

4640.57 10243 0.00 -0.37 0.00 2477.4 2449.9 2505.0 1819.0 2726.9 153.37 0.00 377 4755.38 106.00 2.82 0.06 1.245 0.197 0.284 1996.88 1917.38 2076.38 2205.56 2698.94 0 0 0 11.87 16.03 15.60

4757 end apogee: CONTROL_FINISHED_OK

state 4757 begin climb

4757.93 10243 117.30 1.96 0.00 1996.6 1917.2 2076.0 2205.6 2697.9 151.21 0.00 380 4867.87 100.00 3.91 0.00 1.155 0.121 0.000 1520.09 1408.75 1631.44 2773.31 2697.94 0 0 0 11.80 15.63 30.00

5241.46 16646 117.30 1.96 80.00 1511.4 1407.8 1615.1 2772.7 2697.9 53.71 17.45 397 5247.91 0.00 0.00 3.55 0.000 0.000 0.150 1512.22 1409.12 1615.31 2773.06 4006.69 0 0 0 30.00 30.00 15.72

5476.57 11303 288.88 2.65 0.00 1510.9 1411.9 1609.9 2773.2 4007.2 45.98 0.16 444 5740.47 247.30 1.04 3.39 1.001 0.072 0.084 822.94 701.88 944.00 2946.88 2693.62 0 0 0 11.83 15.83 15.85

6043.72 10535 428.74 3.21 80.00 818.4 703.8 933.1 2946.1 2694.3 9.31 1.83 525 6175.55 119.25 0.81 3.66 0.965 0.072 0.140 500.91 409.00 592.81 3079.25 4007.12 0 0 0 11.82 15.71 15.38

6349 end climb: SURFACE_DEPTH_REACHED

state 6349 begin surface coast

6413 end surface coast: CONTROL_FINISHED_OK

state 6413 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	57	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	13.509276	FG_AHR_10V	3.6415875	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	16.9751	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	140823,203035,7602.345,-14204.719,0,9255.0,0,15.7	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.33	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140823,203035,7602.345,-14204.719,0,9255.0,0,15.7	MHEAD_RNG_PITCHd_Wd	156.5,60455,-20.2,-9.167,-25.06,1949,0.126
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	1692051640,121.8,2,stop	_24V_AH	14.95,20.038
MODEM_MSG	CACST,8,1,20230814221206.883915,18,21063,25,0396,0000,246,02,02,03,04,-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*22	_10V_AH	15.00,0.000
FREEZE	1.38,-0.859,-1.351,2,37,0	FG_AHR_24Vo	17.153
FINISH	1.4,1.019933	FG_AHR_10Vo	3.677
SM_CCo	6453.73,0.16,0.153,0,499.1,409.9,588.2,368.18	MEM0	59796,1,0,0
SM_GC	4.68,0.16,19.61,3.72,0.153,0.128,0.085,499.1,409.9,588.2,220.0,2574.6,0,0,0,15.83,15.62,15.69	MEM1	65508,1,0,0
SURF	below D_CALL,4.683519/3.000000	MEM2	1023032,33,22556,116
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16140,598
IRIDIUM_FIX	7559.12,-14226.97,130823,164047	CAP_FILE_SIZE	188329,0
TCM_TEMP	1.67	SDSIZE	3918848,3889536
SC_FREEKB	3860512	SDFILEDIR	459,58
RAFOS_CLK	-5	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	8,1692050558,74.24940,-137.99570,158.689,232480.0	SOUNDSPEED	1465.0
RAFOS_FIX	7602.500000,-14205.720703,140823,222206,9,255,0.09	MAGCAL	1.000000,-0.039428,-0.057418,-0.073796,1.075616,-0.057648,0.079021,0.006445,0.991714,-1040.6,-169.2,390.5,36,0.1060,0
HUMID	47.92	IMPLIED_C_PITCH	2308,13.52,172,0.0,13.52
TEMP	-0.56	GPS	140823,221206,7602.500,-14205.721,0,10255.0,0,15.7
INTERNAL_PRESSURE	8.09062

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	655	1245	12214.55	nil	0	0	0.00
Pitch_motor	41	309	192.39	nil	0	0	0.00
Roll_motor	59	284	254.71	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	2172	5	166.82	SciCon	6417	6	619.30
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4281	0	20.55
Compass	1002	5	75.19
RAFOS	1271	40	762.69
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	5	begin dive
5.86	16386	-117.30	-1.96	0.00	499.5	411.0	587.9	220.2	2612.1	0.00	0.00	0	16.92	10.12	0.00	0.00	0.007	0.000	0.000	698.28	636.19	760.38	220.19	2611.50	0	0	0	15.84	30.00	30.00
17.17	18727	-117.30	-1.96	80.00	698.3	636.1	760.5	220.2	2611.9	3.32	0.00	1	115.52	73.15	13.40	3.85	0.005	0.309	0.151	2479.94	2458.56	2501.31	1817.06	4007.12	0	0	0	15.81	15.61	15.72
228.57	1028	-117.30	-1.96	0.00	2480.8	2456.2	2505.3	1819.2	4007.2	40.50	-19.61	42	234.49	0.00	0.00	3.74	0.000	0.000	0.095	2479.91	2455.69	2504.12	1818.81	2577.56	0	0	0	30.00	30.00	15.80
623.63	292	-117.30	-1.96	80.00	2480.1	2455.6	2504.5	1819.3	2577.4	65.81	-1.96	60	629.82	0.00	0.00	3.90	0.000	0.000	0.140	2481.59	2456.56	2506.62	1818.69	4008.38	0	0	0	30.00	30.00	15.85
858.77	1060	-117.30	-1.96	0.00	2478.3	2452.0	2504.6	1819.2	4008.7	74.59	-4.42	107	865.11	0.00	0.00	3.70	0.000	0.000	0.093	2476.94	2450.50	2503.38	1819.19	2576.12	0	0	0	30.00	30.00	15.92
1243.79	292	-117.30	-1.96	80.00	2478.2	2451.0	2505.4	1819.2	2576.2	89.24	-3.87	124	1250.29	0.00	0.00	3.88	0.000	0.000	0.141	2479.19	2452.25	2506.12	1819.06	4008.75	0	0	0	30.00	30.00	15.90
1478.85	1060	-117.30	-1.96	0.00	2477.6	2450.3	2504.9	1818.4	4007.2	97.01	-3.11	171	1485.14	0.00	0.00	3.72	0.000	0.000	0.092	2479.06	2452.62	2505.50	1818.06	2574.69	0	0	0	30.00	30.00	15.94
1863.87	292	-117.30	-1.96	80.00	2477.9	2450.4	2505.4	1819.3	2574.6	105.72	-2.50	188	1870.17	0.00	0.00	3.88	0.000	0.000	0.142	2479.09	2451.50	2506.69	1817.06	4007.62	0	0	0	30.00	30.00	15.91
2098.94	1060	-117.30	-1.96	0.00	2477.4	2449.9	2504.9	1818.8	4008.4	112.24	-2.92	235	2105.17	0.00	0.00	3.69	0.000	0.000	0.094	2475.66	2448.81	2502.50	1819.50	2574.50	0	0	0	30.00	30.00	15.93
2483.95	32	-117.30	-1.96	0.00	2477.7	2450.1	2505.4	1819.1	2573.9	123.28	-2.70	252	2485.47	0.00	0.00	0.00	0.000	0.000	0.000	2478.19	2450.62	2505.75	1817.31	2573.81	0	0	0	30.00	30.00	30.00
2873.96	32	-117.30	-1.96	0.00	2477.6	2450.2	2505.0	1819.4	2574.6	130.40	-1.70	265	2875.48	0.00	0.00	0.00	0.000	0.000	0.000	2478.09	2450.94	2505.25	1817.81	2574.50	0	0	0	30.00	30.00	30.00
3264.00	32	-117.30	-1.96	0.00	2477.5	2449.9	2505.1	1819.1	2574.6	137.70	-1.90	278	3265.56	0.00	0.00	0.00	0.000	0.000	0.000	2477.81	2449.31	2506.31	1817.69	2573.62	0	0	0	30.00	30.00	30.00
3654.01	292	-117.30	-1.96	80.00	2477.7	2450.6	2504.8	1819.2	2574.7	143.02	-1.26	291	3660.56	0.00	0.00	3.84	0.000	0.000	0.145	2476.94	2449.06	2504.81	1819.56	4006.94	0	0	0	30.00	30.00	16.02
3889.07	1060	-117.30	-1.96	0.00	2477.1	2449.4	2504.8	1819.1	4006.8	146.43	-1.44	338	3895.50	0.00	0.00	3.65	0.000	0.000	0.095	2477.66	2449.38	2505.94	1817.88	2574.00	0	0	0	30.00	30.00	16.05
4284.08	548	-117.30	-1.96	-80.00	2477.5	2449.8	2505.3	1819.2	2574.6	151.02	-1.12	356	4290.61	0.00	0.00	3.89	0.000	0.000	0.172	2475.78	2447.94	2503.62	1819.19	1192.31	0	0	0	30.00	30.00	16.02
4323.37	1060	-117.30	-1.96	0.00	2477.6	2449.6	2505.7	1819.1	1192.2	151.41	-1.09	364	4329.43	0.00	0.00	3.49	0.000	0.000	0.078	2477.66	2450.50	2504.81	1819.81	2613.50	0	0	0	30.00	30.00	16.08
4639	end dive: NO_VERTICAL_VELOCITY
state	4639	begin apogee
4640.57	10243	0.00	-0.37	0.00	2477.4	2449.9	2505.0	1819.0	2726.9	153.37	0.00	377	4755.38	106.00	2.82	0.06	1.245	0.197	0.284	1996.88	1917.38	2076.38	2205.56	2698.94	0	0	0	11.87	16.03	15.60
4757	end apogee: CONTROL_FINISHED_OK
state	4757	begin climb
4757.93	10243	117.30	1.96	0.00	1996.6	1917.2	2076.0	2205.6	2697.9	151.21	0.00	380	4867.87	100.00	3.91	0.00	1.155	0.121	0.000	1520.09	1408.75	1631.44	2773.31	2697.94	0	0	0	11.80	15.63	30.00
5241.46	16646	117.30	1.96	80.00	1511.4	1407.8	1615.1	2772.7	2697.9	53.71	17.45	397	5247.91	0.00	0.00	3.55	0.000	0.000	0.150	1512.22	1409.12	1615.31	2773.06	4006.69	0	0	0	30.00	30.00	15.72
5476.57	11303	288.88	2.65	0.00	1510.9	1411.9	1609.9	2773.2	4007.2	45.98	0.16	444	5740.47	247.30	1.04	3.39	1.001	0.072	0.084	822.94	701.88	944.00	2946.88	2693.62	0	0	0	11.83	15.83	15.85
6043.72	10535	428.74	3.21	80.00	818.4	703.8	933.1	2946.1	2694.3	9.31	1.83	525	6175.55	119.25	0.81	3.66	0.965	0.072	0.140	500.91	409.00	592.81	3079.25	4007.12	0	0	0	11.82	15.71	15.38
6349	end climb: SURFACE_DEPTH_REACHED
state	6349	begin surface coast
6413	end surface coast: CONTROL_FINISHED_OK
state	6413	begin surface