Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 71 * 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 71 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 13.512167 FG_AHR_10V 4.1971254 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 19.49515 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 4.1971254 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 19.49515 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 13.512167 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 71 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 150823,220237,7601.897,-14258.790,0,6255.0,0,15.8 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 4.88 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150823,220237,7601.897,-14258.790,0,6255.0,0,15.8 MHEAD_RNG_PITCHd_Wd 192.8,67228,-20.2,-9.167,-25.06,1949,0.161

SPEED_LIMITS 0.092,0.196 D_GRID 990

TGT_NAME Bstart 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,-14408.000 OSC 8000307

Post-dive calculations and measurements:

MODEM_MSG CACST,8,1,20230816003039.185849,18,28887,38,0374,0000,216,02,02,01,02,-1,-01,-01,1,3,0,0,150,-25.3,0.46,-100,2.54,-01,0.03,44,925,0025,0,-1,00,00*26 _24V_AH 14.92,23.039

NAV 1692146412,114.0,7,stop _10V_AH 15.00,0.000

FREEZE 0.58,-0.032,-1.349,2,51,0 FG_AHR_24Vo 19.672

FINISH 0.6,1.019893 FG_AHR_10Vo 4.237

SM_CCo 6255.81,0.20,0.116,0,499.5,408.7,590.3,368.07 MEM0 59796,1,0,0

SM_GC 4.03,0.20,19.51,3.61,0.116,0.133,0.084,499.5,408.7,590.3,221.5,2575.4,0,0,0,15.80,15.58,15.66 MEM1 65508,1,0,0

SURF below D_CALL,4.032305/3.000000 MEM2 1023132,28,22556,116

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12953,460

IRIDIUM_FIX 7559.12,-14226.97,130823,164047 CAP_FILE_SIZE 173978,0

TCM_TEMP 1.74 SDSIZE 3918848,3885472

SC_FREEKB 3856032 SDFILEDIR 558,72

RAFOS_CLK -7 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 0,1692144119,74.57000,-145.56000,119.664,175308.0 SOUNDSPEED 1465.0

RAFOS_FIX 7601.937500,-14211.645508,160823,000039,8,255,2.37 MAGCAL 1.000000,-0.017849,-0.096322,-0.066347,1.051625,-0.056867,0.073120,0.046646,1.007585,-1009.2,-177.8,383.7,36,0.1083,0

HUMID 47.89 IMPLIED_C_PITCH 2322,13.07,163,0.0,13.29

TEMP -0.47 GPS 160823,003039,7601.938,-14211.646,0,9255.0,0,15.8

INTERNAL_PRESSURE 8.09338

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 659 1236 12177.63 nil 0 0 0.00

Pitch_motor 41 314 194.98 nil 0 0 0.00

Roll_motor 52 272 212.32 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 1745 5 134.03 SciCon 6219 6 604.67

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4509 0 21.65

Compass 814 5 61.10

RAFOS 2147 40 1288.51

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

5.87 16386 -117.30 -1.96 0.00 499.4 409.3 589.4 220.9 2609.6 0.00 0.00 0 47.92 40.71 0.00 0.00 0.005 0.000 0.000 1221.00 1202.69 1239.31 221.06 2609.88 0 0 0 15.73 30.00 30.00

48.17 18727 -117.30 -1.96 80.00 1221.7 1202.8 1240.6 220.9 2610.4 4.44 -5.82 4 113.46 39.09 13.61 3.80 0.005 0.315 0.151 2478.28 2456.44 2500.12 1818.81 4006.69 0 0 0 15.73 15.55 15.65

115.76 1028 -117.30 -1.96 0.00 2479.7 2456.4 2503.0 1818.6 4007.1 17.71 -18.08 16 122.09 0.00 0.00 3.62 0.000 0.000 0.089 2482.00 2458.75 2505.25 1819.62 2574.38 0 0 0 30.00 30.00 15.67

451.53 548 -117.30 -1.96 -80.00 2481.5 2456.1 2506.9 1819.4 2573.8 61.20 -6.64 32 457.44 0.00 0.00 3.82 0.000 0.000 0.166 2480.88 2455.56 2506.19 1819.06 1191.12 0 0 0 30.00 30.00 15.73

610.92 1060 -117.30 -1.96 0.00 2481.2 2455.8 2506.6 1819.6 1191.3 66.37 -3.10 64 616.83 0.00 0.00 3.51 0.000 0.000 0.075 2480.72 2454.94 2506.50 1819.31 2613.19 0 0 0 30.00 30.00 15.82

986.65 292 -117.30 -1.96 80.00 2479.3 2452.1 2506.6 1818.9 2612.8 79.61 -3.63 79 993.11 0.00 0.00 3.77 0.000 0.000 0.145 2479.56 2450.88 2508.25 1817.19 4007.62 0 0 0 30.00 30.00 15.82

1110.95 1060 -117.30 -1.96 0.00 2478.1 2450.4 2505.8 1818.9 4007.5 84.57 -4.03 104 1116.84 0.00 0.00 3.57 0.000 0.000 0.088 2479.69 2452.31 2507.06 1819.31 2573.56 0 0 0 30.00 30.00 15.86

1491.69 548 -117.30 -1.96 -80.00 2478.4 2451.2 2505.6 1819.1 2573.5 95.47 -2.73 120 1498.03 0.00 0.00 3.83 0.000 0.000 0.166 2479.03 2451.25 2506.81 1818.81 1191.75 0 0 0 30.00 30.00 15.84

1565.96 1060 -117.30 -1.96 0.00 2478.9 2451.8 2506.1 1818.6 1191.6 98.00 -2.82 135 1571.85 0.00 0.00 3.47 0.000 0.000 0.073 2480.16 2451.50 2508.81 1819.44 2616.12 0 0 0 30.00 30.00 15.90

1936.70 292 -117.30 -1.96 80.00 2478.0 2450.2 2505.8 1818.4 2616.4 109.03 -3.03 149 1942.99 0.00 0.00 3.72 0.000 0.000 0.145 2477.03 2448.75 2505.31 1819.31 4006.31 0 0 0 30.00 30.00 15.87

2171.74 1060 -117.30 -1.96 0.00 2478.2 2450.0 2506.5 1819.0 4007.6 116.06 -3.03 196 2177.96 0.00 0.00 3.56 0.000 0.000 0.090 2477.56 2449.19 2505.94 1819.31 2571.12 0 0 0 30.00 30.00 15.93

2556.81 32 -117.30 -1.96 0.00 2478.3 2450.4 2506.2 1819.6 2571.2 124.87 -2.16 213 2558.38 0.00 0.00 0.00 0.000 0.000 0.000 2478.62 2449.94 2507.31 1819.44 2571.12 0 0 0 30.00 30.00 30.00

2946.83 32 -117.30 -1.96 0.00 2478.4 2450.3 2506.4 1819.2 2571.1 132.10 -1.91 226 2948.39 0.00 0.00 0.00 0.000 0.000 0.000 2478.81 2450.38 2507.25 1819.38 2570.94 0 0 0 30.00 30.00 30.00

3336.85 32 -117.30 -1.96 0.00 2478.2 2450.0 2506.4 1818.9 2570.7 138.82 -1.63 239 3338.42 0.00 0.00 0.00 0.000 0.000 0.000 2478.12 2449.19 2507.06 1818.19 2570.62 0 0 0 30.00 30.00 30.00

3726.88 32 -117.30 -1.96 0.00 2478.1 2450.3 2505.9 1819.1 2571.0 146.05 -1.76 252 3728.43 0.00 0.00 0.00 0.000 0.000 0.000 2478.88 2450.56 2507.19 1819.44 2571.19 0 0 0 30.00 30.00 30.00

4116.92 32 -117.30 -1.96 0.00 2478.2 2449.9 2506.4 1819.6 2571.0 149.71 -0.94 265 4118.48 0.00 0.00 0.00 0.000 0.000 0.000 2478.88 2450.38 2507.38 1817.06 2570.56 0 0 0 30.00 30.00 30.00

4297 end dive: NO_VERTICAL_VELOCITY

state 4297 begin apogee

4298.42 10243 0.00 -0.37 0.00 2478.3 2450.6 2506.0 1819.2 2728.4 151.63 0.00 271 4412.12 105.42 2.82 0.06 1.237 0.187 0.273 1998.69 1918.75 2078.62 2205.44 2695.81 0 0 0 11.95 16.04 15.59

4413 end apogee: CONTROL_FINISHED_OK

state 4413 begin climb

4414.61 10243 117.30 1.96 0.00 1997.0 1917.6 2076.5 2205.8 2697.0 149.66 0.00 274 4523.84 99.47 3.97 0.00 1.147 0.123 0.000 1521.12 1408.75 1633.50 2772.88 2696.31 0 0 0 11.84 15.64 30.00

4898.48 16386 117.30 1.96 80.00 1511.9 1408.0 1615.8 2772.8 2696.2 51.71 17.65 296 4900.04 0.00 0.00 0.00 0.000 0.000 0.000 1511.97 1408.19 1615.75 2770.88 2696.25 0 0 0 30.00 30.00 30.00

5288.51 10791 248.53 2.49 -80.00 1510.8 1409.1 1612.6 2772.4 2696.6 42.81 2.28 309 5504.60 200.13 0.81 4.11 1.000 0.083 0.164 986.56 864.12 1109.00 2906.62 1247.62 0 0 0 11.85 15.88 15.33

5507.86 1028 248.53 2.49 0.00 985.5 864.1 1106.8 2906.1 1247.8 25.91 14.06 351 5514.31 0.00 0.00 3.74 0.000 0.000 0.075 985.03 863.81 1106.25 2905.81 2731.38 0 0 0 30.00 30.00 15.44

5822.92 10535 384.34 3.03 80.00 982.2 864.7 1099.6 2905.6 2731.1 9.70 2.04 383 6012.57 174.82 0.81 3.59 0.962 0.085 0.147 499.94 406.38 593.50 3036.44 4007.69 0 0 0 11.79 15.74 15.31

6161 end climb: SURFACE_DEPTH_REACHED

state 6161 begin surface coast

6215 end surface coast: CONTROL_FINISHED_OK

state 6215 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	71	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	13.512167	FG_AHR_10V	4.1971254	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	19.49515	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	150823,220237,7601.897,-14258.790,0,6255.0,0,15.8	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	4.88	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150823,220237,7601.897,-14258.790,0,6255.0,0,15.8	MHEAD_RNG_PITCHd_Wd	192.8,67228,-20.2,-9.167,-25.06,1949,0.161
SPEED_LIMITS	0.092,0.196	D_GRID	990
TGT_NAME	Bstart	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,-14408.000	OSC	8000307

MODEM_MSG	CACST,8,1,20230816003039.185849,18,28887,38,0374,0000,216,02,02,01,02,-1,-01,-01,1,3,0,0,150,-25.3,0.46,-100,2.54,-01,0.03,44,925,0025,0,-1,00,00*26	_24V_AH	14.92,23.039
NAV	1692146412,114.0,7,stop	_10V_AH	15.00,0.000
FREEZE	0.58,-0.032,-1.349,2,51,0	FG_AHR_24Vo	19.672
FINISH	0.6,1.019893	FG_AHR_10Vo	4.237
SM_CCo	6255.81,0.20,0.116,0,499.5,408.7,590.3,368.07	MEM0	59796,1,0,0
SM_GC	4.03,0.20,19.51,3.61,0.116,0.133,0.084,499.5,408.7,590.3,221.5,2575.4,0,0,0,15.80,15.58,15.66	MEM1	65508,1,0,0
SURF	below D_CALL,4.032305/3.000000	MEM2	1023132,28,22556,116
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12953,460
IRIDIUM_FIX	7559.12,-14226.97,130823,164047	CAP_FILE_SIZE	173978,0
TCM_TEMP	1.74	SDSIZE	3918848,3885472
SC_FREEKB	3856032	SDFILEDIR	558,72
RAFOS_CLK	-7	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1692144119,74.57000,-145.56000,119.664,175308.0	SOUNDSPEED	1465.0
RAFOS_FIX	7601.937500,-14211.645508,160823,000039,8,255,2.37	MAGCAL	1.000000,-0.017849,-0.096322,-0.066347,1.051625,-0.056867,0.073120,0.046646,1.007585,-1009.2,-177.8,383.7,36,0.1083,0
HUMID	47.89	IMPLIED_C_PITCH	2322,13.07,163,0.0,13.29
TEMP	-0.47	GPS	160823,003039,7601.938,-14211.646,0,9255.0,0,15.8
INTERNAL_PRESSURE	8.09338

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	659	1236	12177.63	nil	0	0	0.00
Pitch_motor	41	314	194.98	nil	0	0	0.00
Roll_motor	52	272	212.32	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	1745	5	134.03	SciCon	6219	6	604.67
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4509	0	21.65
Compass	814	5	61.10
RAFOS	2147	40	1288.51
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
5.87	16386	-117.30	-1.96	0.00	499.4	409.3	589.4	220.9	2609.6	0.00	0.00	0	47.92	40.71	0.00	0.00	0.005	0.000	0.000	1221.00	1202.69	1239.31	221.06	2609.88	0	0	0	15.73	30.00	30.00
48.17	18727	-117.30	-1.96	80.00	1221.7	1202.8	1240.6	220.9	2610.4	4.44	-5.82	4	113.46	39.09	13.61	3.80	0.005	0.315	0.151	2478.28	2456.44	2500.12	1818.81	4006.69	0	0	0	15.73	15.55	15.65
115.76	1028	-117.30	-1.96	0.00	2479.7	2456.4	2503.0	1818.6	4007.1	17.71	-18.08	16	122.09	0.00	0.00	3.62	0.000	0.000	0.089	2482.00	2458.75	2505.25	1819.62	2574.38	0	0	0	30.00	30.00	15.67
451.53	548	-117.30	-1.96	-80.00	2481.5	2456.1	2506.9	1819.4	2573.8	61.20	-6.64	32	457.44	0.00	0.00	3.82	0.000	0.000	0.166	2480.88	2455.56	2506.19	1819.06	1191.12	0	0	0	30.00	30.00	15.73
610.92	1060	-117.30	-1.96	0.00	2481.2	2455.8	2506.6	1819.6	1191.3	66.37	-3.10	64	616.83	0.00	0.00	3.51	0.000	0.000	0.075	2480.72	2454.94	2506.50	1819.31	2613.19	0	0	0	30.00	30.00	15.82
986.65	292	-117.30	-1.96	80.00	2479.3	2452.1	2506.6	1818.9	2612.8	79.61	-3.63	79	993.11	0.00	0.00	3.77	0.000	0.000	0.145	2479.56	2450.88	2508.25	1817.19	4007.62	0	0	0	30.00	30.00	15.82
1110.95	1060	-117.30	-1.96	0.00	2478.1	2450.4	2505.8	1818.9	4007.5	84.57	-4.03	104	1116.84	0.00	0.00	3.57	0.000	0.000	0.088	2479.69	2452.31	2507.06	1819.31	2573.56	0	0	0	30.00	30.00	15.86
1491.69	548	-117.30	-1.96	-80.00	2478.4	2451.2	2505.6	1819.1	2573.5	95.47	-2.73	120	1498.03	0.00	0.00	3.83	0.000	0.000	0.166	2479.03	2451.25	2506.81	1818.81	1191.75	0	0	0	30.00	30.00	15.84
1565.96	1060	-117.30	-1.96	0.00	2478.9	2451.8	2506.1	1818.6	1191.6	98.00	-2.82	135	1571.85	0.00	0.00	3.47	0.000	0.000	0.073	2480.16	2451.50	2508.81	1819.44	2616.12	0	0	0	30.00	30.00	15.90
1936.70	292	-117.30	-1.96	80.00	2478.0	2450.2	2505.8	1818.4	2616.4	109.03	-3.03	149	1942.99	0.00	0.00	3.72	0.000	0.000	0.145	2477.03	2448.75	2505.31	1819.31	4006.31	0	0	0	30.00	30.00	15.87
2171.74	1060	-117.30	-1.96	0.00	2478.2	2450.0	2506.5	1819.0	4007.6	116.06	-3.03	196	2177.96	0.00	0.00	3.56	0.000	0.000	0.090	2477.56	2449.19	2505.94	1819.31	2571.12	0	0	0	30.00	30.00	15.93
2556.81	32	-117.30	-1.96	0.00	2478.3	2450.4	2506.2	1819.6	2571.2	124.87	-2.16	213	2558.38	0.00	0.00	0.00	0.000	0.000	0.000	2478.62	2449.94	2507.31	1819.44	2571.12	0	0	0	30.00	30.00	30.00
2946.83	32	-117.30	-1.96	0.00	2478.4	2450.3	2506.4	1819.2	2571.1	132.10	-1.91	226	2948.39	0.00	0.00	0.00	0.000	0.000	0.000	2478.81	2450.38	2507.25	1819.38	2570.94	0	0	0	30.00	30.00	30.00
3336.85	32	-117.30	-1.96	0.00	2478.2	2450.0	2506.4	1818.9	2570.7	138.82	-1.63	239	3338.42	0.00	0.00	0.00	0.000	0.000	0.000	2478.12	2449.19	2507.06	1818.19	2570.62	0	0	0	30.00	30.00	30.00
3726.88	32	-117.30	-1.96	0.00	2478.1	2450.3	2505.9	1819.1	2571.0	146.05	-1.76	252	3728.43	0.00	0.00	0.00	0.000	0.000	0.000	2478.88	2450.56	2507.19	1819.44	2571.19	0	0	0	30.00	30.00	30.00
4116.92	32	-117.30	-1.96	0.00	2478.2	2449.9	2506.4	1819.6	2571.0	149.71	-0.94	265	4118.48	0.00	0.00	0.00	0.000	0.000	0.000	2478.88	2450.38	2507.38	1817.06	2570.56	0	0	0	30.00	30.00	30.00
4297	end dive: NO_VERTICAL_VELOCITY
state	4297	begin apogee
4298.42	10243	0.00	-0.37	0.00	2478.3	2450.6	2506.0	1819.2	2728.4	151.63	0.00	271	4412.12	105.42	2.82	0.06	1.237	0.187	0.273	1998.69	1918.75	2078.62	2205.44	2695.81	0	0	0	11.95	16.04	15.59
4413	end apogee: CONTROL_FINISHED_OK
state	4413	begin climb
4414.61	10243	117.30	1.96	0.00	1997.0	1917.6	2076.5	2205.8	2697.0	149.66	0.00	274	4523.84	99.47	3.97	0.00	1.147	0.123	0.000	1521.12	1408.75	1633.50	2772.88	2696.31	0	0	0	11.84	15.64	30.00
4898.48	16386	117.30	1.96	80.00	1511.9	1408.0	1615.8	2772.8	2696.2	51.71	17.65	296	4900.04	0.00	0.00	0.00	0.000	0.000	0.000	1511.97	1408.19	1615.75	2770.88	2696.25	0	0	0	30.00	30.00	30.00
5288.51	10791	248.53	2.49	-80.00	1510.8	1409.1	1612.6	2772.4	2696.6	42.81	2.28	309	5504.60	200.13	0.81	4.11	1.000	0.083	0.164	986.56	864.12	1109.00	2906.62	1247.62	0	0	0	11.85	15.88	15.33
5507.86	1028	248.53	2.49	0.00	985.5	864.1	1106.8	2906.1	1247.8	25.91	14.06	351	5514.31	0.00	0.00	3.74	0.000	0.000	0.075	985.03	863.81	1106.25	2905.81	2731.38	0	0	0	30.00	30.00	15.44
5822.92	10535	384.34	3.03	80.00	982.2	864.7	1099.6	2905.6	2731.1	9.70	2.04	383	6012.57	174.82	0.81	3.59	0.962	0.085	0.147	499.94	406.38	593.50	3036.44	4007.69	0	0	0	11.79	15.74	15.31
6161	end climb: SURFACE_DEPTH_REACHED
state	6161	begin surface coast
6215	end surface coast: CONTROL_FINISHED_OK
state	6215	begin surface