Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 72 * 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 72 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 13.291931 FG_AHR_10V 4.2372675 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 19.671806 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 4.2372675 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 19.671806 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 13.291931 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 72 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 160823,003039,7601.938,-14211.646,0,9255.0,0,15.8 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 4.12 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160823,003039,7601.938,-14211.646,0,9255.0,0,15.8 MHEAD_RNG_PITCHd_Wd 206.6,80060,-20.2,-9.167,-25.06,1949,0.150

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:

NAV 1692152411,105.4,1,stop _10V_AH 15.00,0.000

MODEM_MSG CACST,8,1,20230816021211.288869,18,295,24,0147,0000,246,01,01,00,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*26 FG_AHR_24Vo 19.851

FREEZE 2.63,-0.644,-1.358,2,52,0 FG_AHR_10Vo 4.270

FINISH1 2.6,1.0200,206 MEM0 59796,1,0,0

FINISH2 2.6 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 1023112,29,22556,116

IRIDIUM_FIX 7559.12,-14226.97,130823,164047 DATA_FILE_SIZE 16166,606

TCM_TEMP 1.67 CAP_FILE_SIZE 192780,0

SC_FREEKB 3855712 SDSIZE 3918848,3885184

RAFOS_CLK -7 SDFILEDIR 565,73

MODEM 9,1692151931,77.49360,-139.94749,131.289,192338.2 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 7600.362793,-14213.226562,160823,020211,8,255,0.49 SOUNDSPEED 1465.0

HUMID 47.99 MAGCAL 1.000000,-0.017495,-0.106231,-0.070570,1.054995,-0.048049,0.064182,0.035306,0.991034,-998.3,-184.1,392.6,32,0.1197,0

TEMP -0.48 IMPLIED_C_PITCH 2314,13.59,153,0.0,13.44

INTERNAL_PRESSURE 8.08806 GPS 160823,021211,7600.363,-14213.227,0,9255.0,0,15.8

_24V_AH 15.03,23.244

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 658 1234 12220.23 nil 0 0 0.00

Pitch_motor 24 316 118.06 nil 0 0 0.00

Roll_motor 81 280 342.33 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 2073 5 159.23 SciCon 6200 6 603.48

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4150 0 19.92

Compass 1018 5 76.40

RAFOS 1268 40 761.26

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7.26 16386 -117.30 -1.99 0.00 499.7 408.9 590.4 221.2 2611.2 0.00 0.00 0 33.83 25.50 0.00 0.00 0.006 0.000 0.000 954.88 913.38 996.38 221.25 2611.31 0 0 0 15.80 30.00 30.00

34.06 18951 -117.30 -1.99 -80.00 955.1 913.4 996.7 221.2 2611.1 3.80 -9.48 3 110.26 51.01 13.52 3.99 0.005 0.317 0.169 2479.53 2457.19 2501.88 1811.62 1191.00 0 0 0 15.81 15.58 15.69

158.29 1028 -117.30 -1.99 0.00 2481.3 2456.2 2506.5 1811.8 1190.9 28.49 -25.21 27 164.17 0.00 0.00 3.55 0.000 0.000 0.077 2480.53 2455.19 2505.88 1812.12 2611.31 0 0 0 30.00 30.00 15.77

473.33 548 -117.30 -1.99 -80.00 2480.8 2455.9 2505.8 1812.0 2611.1 63.29 -5.35 39 479.27 0.00 0.00 3.90 0.000 0.000 0.162 2479.41 2453.81 2505.00 1811.94 1192.62 0 0 0 30.00 30.00 15.81

705.43 1060 -117.30 -1.99 0.00 2480.4 2454.3 2506.4 1811.5 1192.8 71.21 -3.48 84 711.31 0.00 0.00 3.51 0.000 0.000 0.072 2481.28 2454.88 2507.69 1812.56 2613.94 0 0 0 30.00 30.00 15.87

1076.17 548 -117.30 -1.99 -80.00 2478.3 2450.9 2505.8 1812.3 2614.3 83.88 -3.97 98 1082.57 0.00 0.00 3.92 0.000 0.000 0.161 2479.38 2452.25 2506.50 1810.25 1193.06 0 0 0 30.00 30.00 15.84

1311.25 1060 -117.30 -1.99 0.00 2478.6 2450.9 2506.2 1812.6 1192.6 92.62 -3.47 145 1317.41 0.00 0.00 3.49 0.000 0.000 0.073 2477.16 2448.94 2505.38 1812.75 2613.19 0 0 0 30.00 30.00 15.91

1696.27 292 -117.30 -1.99 80.00 2478.0 2450.4 2505.6 1812.8 2612.5 103.24 -2.83 162 1702.56 0.00 0.00 3.78 0.000 0.000 0.144 2479.12 2451.81 2506.44 1811.19 4007.81 0 0 0 30.00 30.00 15.87

1890.60 1060 -117.30 -1.99 0.00 2477.9 2449.7 2506.1 1811.2 4008.2 110.00 -3.56 201 1896.51 0.00 0.00 3.59 0.000 0.000 0.086 2479.16 2450.50 2507.81 1811.62 2573.56 0 0 0 30.00 30.00 15.94

2261.33 292 -117.30 -1.99 80.00 2478.3 2450.4 2506.2 1812.3 2573.4 120.44 -2.67 215 2267.68 0.00 0.00 3.84 0.000 0.000 0.140 2478.97 2450.94 2507.00 1810.69 4008.19 0 0 0 30.00 30.00 15.95

2270.61 1060 -117.30 -1.99 0.00 2478.1 2449.8 2506.4 1812.4 4007.6 120.70 -2.67 217 2276.61 0.00 0.00 3.57 0.000 0.000 0.083 2478.66 2450.44 2506.88 1812.62 2572.50 0 0 0 30.00 30.00 15.99

2646.39 32 -117.30 -1.99 0.00 2478.0 2449.5 2506.5 1812.2 2572.6 127.32 -1.60 232 2647.95 0.00 0.00 0.00 0.000 0.000 0.000 2478.72 2450.50 2506.94 1812.38 2572.56 0 0 0 30.00 30.00 30.00

3036.40 292 -117.30 -1.99 80.00 2477.9 2449.5 2506.2 1812.8 2573.0 134.99 -2.09 245 3042.92 0.00 0.00 3.84 0.000 0.000 0.142 2476.91 2449.44 2504.38 1812.06 4007.44 0 0 0 30.00 30.00 16.01

3135.69 1060 -117.30 -1.99 0.00 2477.4 2449.0 2505.8 1812.2 4008.5 137.30 -2.14 265 3141.76 0.00 0.00 3.57 0.000 0.000 0.089 2478.97 2450.31 2507.62 1811.94 2571.44 0 0 0 30.00 30.00 16.04

3511.45 548 -117.30 -1.99 -80.00 2478.0 2449.3 2506.7 1811.9 2572.2 143.19 -1.45 280 3517.97 0.00 0.00 3.81 0.000 0.000 0.169 2478.09 2449.75 2506.44 1811.81 1193.00 0 0 0 30.00 30.00 16.02

3740.75 1060 -117.30 -1.99 0.00 2477.9 2449.2 2506.6 1812.8 1192.6 146.64 -1.44 326 3747.52 0.00 0.00 3.45 0.000 0.000 0.075 2477.94 2449.56 2506.31 1812.25 2614.56 0 0 0 30.00 30.00 16.09

4136.50 548 -117.30 -1.99 -80.00 2477.9 2449.4 2506.4 1812.6 2613.7 150.03 -0.85 340 4143.01 0.00 0.00 3.88 0.000 0.000 0.164 2478.50 2449.62 2507.38 1812.25 1191.50 0 0 0 30.00 30.00 16.03

4165 end dive: NO_VERTICAL_VELOCITY

state 4165 begin apogee

4172.50 10243 0.00 -0.38 0.00 2477.6 2448.8 2506.5 1812.4 2727.6 150.36 0.00 346 4287.24 105.89 2.85 0.06 1.234 0.191 0.281 1999.00 1918.88 2079.12 2202.81 2696.94 0 0 0 11.98 16.03 15.59

4288 end apogee: CONTROL_FINISHED_OK

state 4288 begin climb

4289.73 10503 117.30 1.99 80.00 1996.6 1917.5 2075.8 2203.4 2696.7 148.50 0.00 353 4404.83 99.78 3.99 3.66 1.142 0.125 0.151 1519.50 1407.38 1631.62 2779.88 4007.50 0 0 0 11.70 15.63 15.37

4412.27 1028 117.30 1.99 0.00 1517.7 1408.2 1627.1 2779.2 4007.2 125.19 21.65 368 4418.34 0.00 0.00 3.38 0.000 0.000 0.082 1518.25 1408.75 1627.75 2779.81 2694.69 0 0 0 30.00 30.00 15.45

4793.01 16902 117.30 1.99 -80.00 1511.7 1408.0 1615.4 2779.2 2694.4 48.37 15.88 384 4800.69 0.00 0.00 4.02 0.000 0.000 0.163 1511.69 1408.62 1614.75 2778.81 1247.69 0 0 0 30.00 30.00 15.73

5028.95 11303 303.51 2.73 0.00 1511.5 1411.7 1611.4 2779.5 1247.3 43.60 -0.61 431 5328.00 280.61 1.13 3.64 0.984 0.080 0.075 762.88 641.88 883.88 2963.75 2735.38 0 0 0 11.87 15.83 15.86

5631.27 10535 452.55 3.33 80.00 758.6 642.9 874.2 2963.7 2735.6 8.14 1.35 519 5737.68 96.08 0.90 3.52 0.954 0.093 0.145 500.44 408.38 592.50 3108.75 4006.88 0 0 0 11.78 15.70 15.40

5935.97 11303 604.62 3.94 0.00 498.2 408.2 588.1 3107.9 4007.3 2.94 1.19 579 5943.76 0.00 0.90 3.30 0.000 0.088 0.083 498.34 408.31 588.38 3254.06 2691.69 0 0 0 30.00 15.66 15.68

6190 end climb: NO_VERTICAL_VELOCITY

state 6190 begin subsurface finish

6192.34 32295 205.58 0.82 -80.00 497.6 408.4 586.8 3253.6 2730.5 2.63 0.12 605 6195.29 0.00 1.50 0.00 0.000 0.258 0.000 497.84 408.50 587.19 3063.88 2730.94 0 0 0 30.00 15.71 30.00

6195 end subsurface finish: NO_VERTICAL_VELOCITY

state 6195 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	72	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	13.291931	FG_AHR_10V	4.2372675	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	19.671806	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	160823,003039,7601.938,-14211.646,0,9255.0,0,15.8	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	4.12	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160823,003039,7601.938,-14211.646,0,9255.0,0,15.8	MHEAD_RNG_PITCHd_Wd	206.6,80060,-20.2,-9.167,-25.06,1949,0.150
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

NAV	1692152411,105.4,1,stop	_10V_AH	15.00,0.000
MODEM_MSG	CACST,8,1,20230816021211.288869,18,295,24,0147,0000,246,01,01,00,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*26	FG_AHR_24Vo	19.851
FREEZE	2.63,-0.644,-1.358,2,52,0	FG_AHR_10Vo	4.270
FINISH1	2.6,1.0200,206	MEM0	59796,1,0,0
FINISH2	2.6	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	1023112,29,22556,116
IRIDIUM_FIX	7559.12,-14226.97,130823,164047	DATA_FILE_SIZE	16166,606
TCM_TEMP	1.67	CAP_FILE_SIZE	192780,0
SC_FREEKB	3855712	SDSIZE	3918848,3885184
RAFOS_CLK	-7	SDFILEDIR	565,73
MODEM	9,1692151931,77.49360,-139.94749,131.289,192338.2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	7600.362793,-14213.226562,160823,020211,8,255,0.49	SOUNDSPEED	1465.0
HUMID	47.99	MAGCAL	1.000000,-0.017495,-0.106231,-0.070570,1.054995,-0.048049,0.064182,0.035306,0.991034,-998.3,-184.1,392.6,32,0.1197,0
TEMP	-0.48	IMPLIED_C_PITCH	2314,13.59,153,0.0,13.44
INTERNAL_PRESSURE	8.08806	GPS	160823,021211,7600.363,-14213.227,0,9255.0,0,15.8
_24V_AH	15.03,23.244

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	658	1234	12220.23	nil	0	0	0.00
Pitch_motor	24	316	118.06	nil	0	0	0.00
Roll_motor	81	280	342.33	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	2073	5	159.23	SciCon	6200	6	603.48
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4150	0	19.92
Compass	1018	5	76.40
RAFOS	1268	40	761.26
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7.26	16386	-117.30	-1.99	0.00	499.7	408.9	590.4	221.2	2611.2	0.00	0.00	0	33.83	25.50	0.00	0.00	0.006	0.000	0.000	954.88	913.38	996.38	221.25	2611.31	0	0	0	15.80	30.00	30.00
34.06	18951	-117.30	-1.99	-80.00	955.1	913.4	996.7	221.2	2611.1	3.80	-9.48	3	110.26	51.01	13.52	3.99	0.005	0.317	0.169	2479.53	2457.19	2501.88	1811.62	1191.00	0	0	0	15.81	15.58	15.69
158.29	1028	-117.30	-1.99	0.00	2481.3	2456.2	2506.5	1811.8	1190.9	28.49	-25.21	27	164.17	0.00	0.00	3.55	0.000	0.000	0.077	2480.53	2455.19	2505.88	1812.12	2611.31	0	0	0	30.00	30.00	15.77
473.33	548	-117.30	-1.99	-80.00	2480.8	2455.9	2505.8	1812.0	2611.1	63.29	-5.35	39	479.27	0.00	0.00	3.90	0.000	0.000	0.162	2479.41	2453.81	2505.00	1811.94	1192.62	0	0	0	30.00	30.00	15.81
705.43	1060	-117.30	-1.99	0.00	2480.4	2454.3	2506.4	1811.5	1192.8	71.21	-3.48	84	711.31	0.00	0.00	3.51	0.000	0.000	0.072	2481.28	2454.88	2507.69	1812.56	2613.94	0	0	0	30.00	30.00	15.87
1076.17	548	-117.30	-1.99	-80.00	2478.3	2450.9	2505.8	1812.3	2614.3	83.88	-3.97	98	1082.57	0.00	0.00	3.92	0.000	0.000	0.161	2479.38	2452.25	2506.50	1810.25	1193.06	0	0	0	30.00	30.00	15.84
1311.25	1060	-117.30	-1.99	0.00	2478.6	2450.9	2506.2	1812.6	1192.6	92.62	-3.47	145	1317.41	0.00	0.00	3.49	0.000	0.000	0.073	2477.16	2448.94	2505.38	1812.75	2613.19	0	0	0	30.00	30.00	15.91
1696.27	292	-117.30	-1.99	80.00	2478.0	2450.4	2505.6	1812.8	2612.5	103.24	-2.83	162	1702.56	0.00	0.00	3.78	0.000	0.000	0.144	2479.12	2451.81	2506.44	1811.19	4007.81	0	0	0	30.00	30.00	15.87
1890.60	1060	-117.30	-1.99	0.00	2477.9	2449.7	2506.1	1811.2	4008.2	110.00	-3.56	201	1896.51	0.00	0.00	3.59	0.000	0.000	0.086	2479.16	2450.50	2507.81	1811.62	2573.56	0	0	0	30.00	30.00	15.94
2261.33	292	-117.30	-1.99	80.00	2478.3	2450.4	2506.2	1812.3	2573.4	120.44	-2.67	215	2267.68	0.00	0.00	3.84	0.000	0.000	0.140	2478.97	2450.94	2507.00	1810.69	4008.19	0	0	0	30.00	30.00	15.95
2270.61	1060	-117.30	-1.99	0.00	2478.1	2449.8	2506.4	1812.4	4007.6	120.70	-2.67	217	2276.61	0.00	0.00	3.57	0.000	0.000	0.083	2478.66	2450.44	2506.88	1812.62	2572.50	0	0	0	30.00	30.00	15.99
2646.39	32	-117.30	-1.99	0.00	2478.0	2449.5	2506.5	1812.2	2572.6	127.32	-1.60	232	2647.95	0.00	0.00	0.00	0.000	0.000	0.000	2478.72	2450.50	2506.94	1812.38	2572.56	0	0	0	30.00	30.00	30.00
3036.40	292	-117.30	-1.99	80.00	2477.9	2449.5	2506.2	1812.8	2573.0	134.99	-2.09	245	3042.92	0.00	0.00	3.84	0.000	0.000	0.142	2476.91	2449.44	2504.38	1812.06	4007.44	0	0	0	30.00	30.00	16.01
3135.69	1060	-117.30	-1.99	0.00	2477.4	2449.0	2505.8	1812.2	4008.5	137.30	-2.14	265	3141.76	0.00	0.00	3.57	0.000	0.000	0.089	2478.97	2450.31	2507.62	1811.94	2571.44	0	0	0	30.00	30.00	16.04
3511.45	548	-117.30	-1.99	-80.00	2478.0	2449.3	2506.7	1811.9	2572.2	143.19	-1.45	280	3517.97	0.00	0.00	3.81	0.000	0.000	0.169	2478.09	2449.75	2506.44	1811.81	1193.00	0	0	0	30.00	30.00	16.02
3740.75	1060	-117.30	-1.99	0.00	2477.9	2449.2	2506.6	1812.8	1192.6	146.64	-1.44	326	3747.52	0.00	0.00	3.45	0.000	0.000	0.075	2477.94	2449.56	2506.31	1812.25	2614.56	0	0	0	30.00	30.00	16.09
4136.50	548	-117.30	-1.99	-80.00	2477.9	2449.4	2506.4	1812.6	2613.7	150.03	-0.85	340	4143.01	0.00	0.00	3.88	0.000	0.000	0.164	2478.50	2449.62	2507.38	1812.25	1191.50	0	0	0	30.00	30.00	16.03
4165	end dive: NO_VERTICAL_VELOCITY
state	4165	begin apogee
4172.50	10243	0.00	-0.38	0.00	2477.6	2448.8	2506.5	1812.4	2727.6	150.36	0.00	346	4287.24	105.89	2.85	0.06	1.234	0.191	0.281	1999.00	1918.88	2079.12	2202.81	2696.94	0	0	0	11.98	16.03	15.59
4288	end apogee: CONTROL_FINISHED_OK
state	4288	begin climb
4289.73	10503	117.30	1.99	80.00	1996.6	1917.5	2075.8	2203.4	2696.7	148.50	0.00	353	4404.83	99.78	3.99	3.66	1.142	0.125	0.151	1519.50	1407.38	1631.62	2779.88	4007.50	0	0	0	11.70	15.63	15.37
4412.27	1028	117.30	1.99	0.00	1517.7	1408.2	1627.1	2779.2	4007.2	125.19	21.65	368	4418.34	0.00	0.00	3.38	0.000	0.000	0.082	1518.25	1408.75	1627.75	2779.81	2694.69	0	0	0	30.00	30.00	15.45
4793.01	16902	117.30	1.99	-80.00	1511.7	1408.0	1615.4	2779.2	2694.4	48.37	15.88	384	4800.69	0.00	0.00	4.02	0.000	0.000	0.163	1511.69	1408.62	1614.75	2778.81	1247.69	0	0	0	30.00	30.00	15.73
5028.95	11303	303.51	2.73	0.00	1511.5	1411.7	1611.4	2779.5	1247.3	43.60	-0.61	431	5328.00	280.61	1.13	3.64	0.984	0.080	0.075	762.88	641.88	883.88	2963.75	2735.38	0	0	0	11.87	15.83	15.86
5631.27	10535	452.55	3.33	80.00	758.6	642.9	874.2	2963.7	2735.6	8.14	1.35	519	5737.68	96.08	0.90	3.52	0.954	0.093	0.145	500.44	408.38	592.50	3108.75	4006.88	0	0	0	11.78	15.70	15.40
5935.97	11303	604.62	3.94	0.00	498.2	408.2	588.1	3107.9	4007.3	2.94	1.19	579	5943.76	0.00	0.90	3.30	0.000	0.088	0.083	498.34	408.31	588.38	3254.06	2691.69	0	0	0	30.00	15.66	15.68
6190	end climb: NO_VERTICAL_VELOCITY
state	6190	begin subsurface finish
6192.34	32295	205.58	0.82	-80.00	497.6	408.4	586.8	3253.6	2730.5	2.63	0.12	605	6195.29	0.00	1.50	0.00	0.000	0.258	0.000	497.84	408.50	587.19	3063.88	2730.94	0	0	0	30.00	15.71	30.00
6195	end subsurface finish: NO_VERTICAL_VELOCITY
state	6195	begin surface