Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 73 * 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 73 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 13.438577 FG_AHR_10V 4.2696657 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 19.851116 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 4.2696657 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 19.851116 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 13.438577 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 73 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 160823,021211,7600.363,-14213.227,0,9255.0,0,15.8 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.30 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 22.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160823,021211,7600.363,-14213.227,0,9255.0,0,15.8 MHEAD_RNG_PITCHd_Wd 207.7,77424,-20.2,-9.167,-25.06,1949,0.138

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 1692160819,147.5,7,stop _24V_AH 14.89,23.462

MODEM_MSG CACST,8,1,20230816043039.518065,18,11511,40,0428,0000,216,02,02,00,02,-1,-01,-01,1,3,0,0,150,-27.1,0.62,-100,2.38,-01,0.12,48,925,0025,0,-1,00,00*29 _10V_AH 14.97,0.000

FREEZE 1.26,-0.167,-1.351,2,53,0 FG_AHR_24Vo 20.032

FINISH 1.3,1.019923 FG_AHR_10Vo 4.314

SM_CCo 6052.90,0.17,0.137,0,499.3,409.1,589.4,368.13 MEM0 59796,1,0,0

SM_GC 3.71,0.17,19.98,3.65,0.137,0.132,0.082,499.3,409.1,589.4,221.2,2575.4,0,0,0,15.76,15.54,15.62 MEM1 65508,1,0,0

SURF below D_CALL,3.706776/3.000000 MEM2 1023092,30,22556,116

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 19321,661

IRIDIUM_FIX 7559.12,-14226.97,130823,164047 CAP_FILE_SIZE 203214,0

TCM_TEMP 1.74 SDSIZE 3918848,3884864

SC_FREEKB 3855392 SDFILEDIR 572,74

RAFOS_CLK -4 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 0,1692158518,74.57000,-145.56000,118.800,174041.6 SOUNDSPEED 1465.0

RAFOS_FIX 7600.238770,-14214.890625,160823,040439,8,255,0.09 MAGCAL 1.000000,-0.044699,-0.086663,-0.068682,1.058521,-0.046868,0.062926,0.040168,0.994999,-1017.8,-185.3,384.1,36,0.1189,0

HUMID 48.21 IMPLIED_C_PITCH 2315,13.62,160,0.0,13.53

TEMP -0.41 GPS 160823,043039,7600.239,-14214.891,0,9255.0,0,15.8

INTERNAL_PRESSURE 8.09052

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 670 1231 12295.94 nil 0 0 0.00

Pitch_motor 37 188 106.18 nil 0 0 0.00

Roll_motor 81 267 324.12 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 2196 5 168.35 SciCon 6019 6 583.34

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3856 0 18.48

Compass 1075 5 80.48

RAFOS 2475 40 1482.31

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 -1.97 0.00 497.4 408.4 586.3 3063.4 2572.9 0.00 0.00 0 53.06 45.89 0.00 0.00 0.005 0.000 0.000 1385.88 1357.62 1414.12 3063.88 2572.88 0 0 0 15.91 30.00 30.00

53.32 20775 -117.30 -1.97 80.00 1386.3 1357.9 1414.7 3063.5 2573.6 3.50 -3.27 5 117.18 44.37 8.99 3.92 0.005 0.175 0.147 2477.47 2453.75 2501.19 1803.00 4007.56 0 0 0 15.91 15.76 15.80

279.53 1028 -117.30 -1.97 0.00 2479.8 2455.2 2504.4 1803.6 4007.7 44.41 -17.02 50 285.09 0.00 0.00 3.59 0.000 0.000 0.095 2481.25 2456.06 2506.44 1802.94 2575.62 0 0 0 30.00 30.00 15.86

665.31 548 -117.30 -1.97 -80.00 2479.8 2454.3 2505.3 1803.1 2575.7 63.75 -2.13 66 671.23 0.00 0.00 3.81 0.000 0.000 0.168 2479.16 2453.62 2504.69 1803.44 1192.69 0 0 0 30.00 30.00 15.88

900.47 1060 -117.30 -1.97 0.00 2478.9 2453.1 2504.8 1803.1 1192.6 73.63 -4.19 113 906.64 0.00 0.00 3.49 0.000 0.000 0.076 2480.78 2454.00 2507.56 1802.75 2614.75 0 0 0 30.00 30.00 15.97

1285.49 548 -117.30 -1.97 -80.00 2478.4 2451.8 2505.0 1803.4 2614.8 87.31 -3.70 130 1291.96 0.00 0.00 3.88 0.000 0.000 0.163 2477.72 2450.94 2504.50 1803.12 1193.12 0 0 0 30.00 30.00 15.95

1468.50 1060 -117.30 -1.97 0.00 2477.9 2451.1 2504.8 1803.3 1192.6 94.43 -3.76 165 1474.78 0.00 0.00 3.46 0.000 0.000 0.076 2476.62 2450.12 2503.12 1803.25 2613.69 0 0 0 30.00 30.00 15.99

1853.51 292 -117.30 -1.97 80.00 2477.6 2450.1 2505.1 1802.8 2613.9 104.69 -2.71 182 1859.80 0.00 0.00 3.73 0.000 0.000 0.145 2479.31 2452.38 2506.25 1803.25 4009.88 0 0 0 30.00 30.00 15.93

2088.58 1060 -117.30 -1.97 0.00 2477.7 2450.2 2505.1 1802.9 4008.7 112.77 -3.49 229 2094.78 0.00 0.00 3.57 0.000 0.000 0.089 2476.78 2449.56 2504.00 1802.75 2574.88 0 0 0 30.00 30.00 15.96

2473.59 292 -117.30 -1.97 80.00 2477.6 2450.1 2505.1 1803.0 2575.0 122.77 -2.35 246 2479.91 0.00 0.00 3.82 0.000 0.000 0.140 2475.88 2448.31 2503.44 1802.06 4008.44 0 0 0 30.00 30.00 15.93

2708.67 1060 -117.30 -1.97 0.00 2477.6 2450.0 2505.2 1801.8 4008.1 127.55 -1.87 293 2715.09 0.00 0.00 3.58 0.000 0.000 0.090 2479.78 2451.88 2507.69 1802.81 2573.19 0 0 0 30.00 30.00 15.95

3093.72 292 -117.30 -1.97 80.00 2477.3 2449.4 2505.2 1802.1 2573.0 134.95 -1.90 310 3100.25 0.00 0.00 3.86 0.000 0.000 0.141 2478.78 2452.06 2505.50 1801.38 4007.44 0 0 0 30.00 30.00 15.92

3118.72 1060 -117.30 -1.97 0.00 2477.3 2450.1 2504.6 1802.7 4008.2 135.42 -1.90 315 3125.10 0.00 0.00 3.56 0.000 0.000 0.087 2479.47 2451.69 2507.25 1802.31 2573.31 0 0 0 30.00 30.00 15.95

3503.73 548 -117.30 -1.97 -80.00 2477.6 2450.2 2505.1 1802.4 2573.1 141.32 -1.46 332 3510.27 0.00 0.00 3.81 0.000 0.000 0.170 2479.25 2452.56 2505.94 1801.06 1192.38 0 0 0 30.00 30.00 15.91

3738.79 1060 -117.30 -1.97 0.00 2477.8 2450.8 2504.7 1802.8 1192.5 145.81 -1.93 379 3745.13 0.00 0.00 3.47 0.000 0.000 0.076 2478.16 2450.12 2506.19 1800.50 2615.56 0 0 0 30.00 30.00 15.96

4123.81 548 -117.30 -1.97 -80.00 2477.8 2450.2 2505.4 1802.4 2615.7 149.11 -0.83 396 4131.39 0.00 0.00 3.90 0.000 0.000 0.164 2477.75 2450.56 2504.94 1802.25 1191.88 0 0 0 30.00 30.00 15.94

4244 end dive: NO_VERTICAL_VELOCITY

state 4244 begin apogee

4250.61 10243 0.00 -0.37 0.00 2477.4 2449.9 2504.8 1802.5 2728.2 150.00 0.00 420 4365.39 105.90 2.96 0.06 1.231 0.189 0.267 1997.41 1918.75 2076.06 2205.81 2696.06 0 0 0 11.96 15.95 15.54

4367 end apogee: CONTROL_FINISHED_OK

state 4367 begin climb

4367.88 10503 117.30 1.97 80.00 1996.8 1917.8 2075.9 2205.6 2695.1 147.98 0.00 427 4484.20 99.91 3.96 3.67 1.140 0.124 0.150 1520.09 1409.25 1630.94 2775.69 4007.00 0 0 0 11.78 15.56 15.33

4561.66 1028 117.30 1.97 0.00 1514.4 1409.7 1619.1 2775.6 4007.4 105.54 25.90 465 4567.67 0.00 0.00 3.37 0.000 0.000 0.084 1514.97 1410.31 1619.62 2774.69 2693.31 0 0 0 30.00 30.00 15.55

4942.45 548 117.88 1.97 -80.00 1511.5 1409.9 1613.1 2775.3 2694.3 44.04 9.14 481 4950.09 0.00 0.00 4.01 0.000 0.000 0.161 1511.53 1410.38 1612.69 2774.81 1247.88 0 0 0 30.00 30.00 15.74

5178.34 11303 286.85 2.65 0.00 1510.8 1412.9 1608.7 2776.3 1247.7 43.55 0.30 528 5449.06 255.05 1.03 3.64 0.991 0.083 0.075 831.78 709.69 953.88 2942.94 2734.31 0 0 0 11.87 15.85 15.87

5752.31 10535 428.96 3.22 80.00 826.6 710.6 942.7 2943.6 2734.5 7.98 1.71 610 5884.06 119.50 0.87 3.56 0.956 0.095 0.146 500.75 407.62 593.88 3080.94 4007.00 0 0 0 11.80 15.70 15.37

5987 end climb: SURFACE_DEPTH_REACHED

state 5987 begin surface coast

6012 end surface coast: CONTROL_FINISHED_OK

state 6012 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	73	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	13.438577	FG_AHR_10V	4.2696657	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	19.851116	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	160823,021211,7600.363,-14213.227,0,9255.0,0,15.8	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.30	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	22.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160823,021211,7600.363,-14213.227,0,9255.0,0,15.8	MHEAD_RNG_PITCHd_Wd	207.7,77424,-20.2,-9.167,-25.06,1949,0.138
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	1692160819,147.5,7,stop	_24V_AH	14.89,23.462
MODEM_MSG	CACST,8,1,20230816043039.518065,18,11511,40,0428,0000,216,02,02,00,02,-1,-01,-01,1,3,0,0,150,-27.1,0.62,-100,2.38,-01,0.12,48,925,0025,0,-1,00,00*29	_10V_AH	14.97,0.000
FREEZE	1.26,-0.167,-1.351,2,53,0	FG_AHR_24Vo	20.032
FINISH	1.3,1.019923	FG_AHR_10Vo	4.314
SM_CCo	6052.90,0.17,0.137,0,499.3,409.1,589.4,368.13	MEM0	59796,1,0,0
SM_GC	3.71,0.17,19.98,3.65,0.137,0.132,0.082,499.3,409.1,589.4,221.2,2575.4,0,0,0,15.76,15.54,15.62	MEM1	65508,1,0,0
SURF	below D_CALL,3.706776/3.000000	MEM2	1023092,30,22556,116
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	19321,661
IRIDIUM_FIX	7559.12,-14226.97,130823,164047	CAP_FILE_SIZE	203214,0
TCM_TEMP	1.74	SDSIZE	3918848,3884864
SC_FREEKB	3855392	SDFILEDIR	572,74
RAFOS_CLK	-4	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1692158518,74.57000,-145.56000,118.800,174041.6	SOUNDSPEED	1465.0
RAFOS_FIX	7600.238770,-14214.890625,160823,040439,8,255,0.09	MAGCAL	1.000000,-0.044699,-0.086663,-0.068682,1.058521,-0.046868,0.062926,0.040168,0.994999,-1017.8,-185.3,384.1,36,0.1189,0
HUMID	48.21	IMPLIED_C_PITCH	2315,13.62,160,0.0,13.53
TEMP	-0.41	GPS	160823,043039,7600.239,-14214.891,0,9255.0,0,15.8
INTERNAL_PRESSURE	8.09052

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	670	1231	12295.94	nil	0	0	0.00
Pitch_motor	37	188	106.18	nil	0	0	0.00
Roll_motor	81	267	324.12	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	2196	5	168.35	SciCon	6019	6	583.34
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3856	0	18.48
Compass	1075	5	80.48
RAFOS	2475	40	1482.31
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	-1.97	0.00	497.4	408.4	586.3	3063.4	2572.9	0.00	0.00	0	53.06	45.89	0.00	0.00	0.005	0.000	0.000	1385.88	1357.62	1414.12	3063.88	2572.88	0	0	0	15.91	30.00	30.00
53.32	20775	-117.30	-1.97	80.00	1386.3	1357.9	1414.7	3063.5	2573.6	3.50	-3.27	5	117.18	44.37	8.99	3.92	0.005	0.175	0.147	2477.47	2453.75	2501.19	1803.00	4007.56	0	0	0	15.91	15.76	15.80
279.53	1028	-117.30	-1.97	0.00	2479.8	2455.2	2504.4	1803.6	4007.7	44.41	-17.02	50	285.09	0.00	0.00	3.59	0.000	0.000	0.095	2481.25	2456.06	2506.44	1802.94	2575.62	0	0	0	30.00	30.00	15.86
665.31	548	-117.30	-1.97	-80.00	2479.8	2454.3	2505.3	1803.1	2575.7	63.75	-2.13	66	671.23	0.00	0.00	3.81	0.000	0.000	0.168	2479.16	2453.62	2504.69	1803.44	1192.69	0	0	0	30.00	30.00	15.88
900.47	1060	-117.30	-1.97	0.00	2478.9	2453.1	2504.8	1803.1	1192.6	73.63	-4.19	113	906.64	0.00	0.00	3.49	0.000	0.000	0.076	2480.78	2454.00	2507.56	1802.75	2614.75	0	0	0	30.00	30.00	15.97
1285.49	548	-117.30	-1.97	-80.00	2478.4	2451.8	2505.0	1803.4	2614.8	87.31	-3.70	130	1291.96	0.00	0.00	3.88	0.000	0.000	0.163	2477.72	2450.94	2504.50	1803.12	1193.12	0	0	0	30.00	30.00	15.95
1468.50	1060	-117.30	-1.97	0.00	2477.9	2451.1	2504.8	1803.3	1192.6	94.43	-3.76	165	1474.78	0.00	0.00	3.46	0.000	0.000	0.076	2476.62	2450.12	2503.12	1803.25	2613.69	0	0	0	30.00	30.00	15.99
1853.51	292	-117.30	-1.97	80.00	2477.6	2450.1	2505.1	1802.8	2613.9	104.69	-2.71	182	1859.80	0.00	0.00	3.73	0.000	0.000	0.145	2479.31	2452.38	2506.25	1803.25	4009.88	0	0	0	30.00	30.00	15.93
2088.58	1060	-117.30	-1.97	0.00	2477.7	2450.2	2505.1	1802.9	4008.7	112.77	-3.49	229	2094.78	0.00	0.00	3.57	0.000	0.000	0.089	2476.78	2449.56	2504.00	1802.75	2574.88	0	0	0	30.00	30.00	15.96
2473.59	292	-117.30	-1.97	80.00	2477.6	2450.1	2505.1	1803.0	2575.0	122.77	-2.35	246	2479.91	0.00	0.00	3.82	0.000	0.000	0.140	2475.88	2448.31	2503.44	1802.06	4008.44	0	0	0	30.00	30.00	15.93
2708.67	1060	-117.30	-1.97	0.00	2477.6	2450.0	2505.2	1801.8	4008.1	127.55	-1.87	293	2715.09	0.00	0.00	3.58	0.000	0.000	0.090	2479.78	2451.88	2507.69	1802.81	2573.19	0	0	0	30.00	30.00	15.95
3093.72	292	-117.30	-1.97	80.00	2477.3	2449.4	2505.2	1802.1	2573.0	134.95	-1.90	310	3100.25	0.00	0.00	3.86	0.000	0.000	0.141	2478.78	2452.06	2505.50	1801.38	4007.44	0	0	0	30.00	30.00	15.92
3118.72	1060	-117.30	-1.97	0.00	2477.3	2450.1	2504.6	1802.7	4008.2	135.42	-1.90	315	3125.10	0.00	0.00	3.56	0.000	0.000	0.087	2479.47	2451.69	2507.25	1802.31	2573.31	0	0	0	30.00	30.00	15.95
3503.73	548	-117.30	-1.97	-80.00	2477.6	2450.2	2505.1	1802.4	2573.1	141.32	-1.46	332	3510.27	0.00	0.00	3.81	0.000	0.000	0.170	2479.25	2452.56	2505.94	1801.06	1192.38	0	0	0	30.00	30.00	15.91
3738.79	1060	-117.30	-1.97	0.00	2477.8	2450.8	2504.7	1802.8	1192.5	145.81	-1.93	379	3745.13	0.00	0.00	3.47	0.000	0.000	0.076	2478.16	2450.12	2506.19	1800.50	2615.56	0	0	0	30.00	30.00	15.96
4123.81	548	-117.30	-1.97	-80.00	2477.8	2450.2	2505.4	1802.4	2615.7	149.11	-0.83	396	4131.39	0.00	0.00	3.90	0.000	0.000	0.164	2477.75	2450.56	2504.94	1802.25	1191.88	0	0	0	30.00	30.00	15.94
4244	end dive: NO_VERTICAL_VELOCITY
state	4244	begin apogee
4250.61	10243	0.00	-0.37	0.00	2477.4	2449.9	2504.8	1802.5	2728.2	150.00	0.00	420	4365.39	105.90	2.96	0.06	1.231	0.189	0.267	1997.41	1918.75	2076.06	2205.81	2696.06	0	0	0	11.96	15.95	15.54
4367	end apogee: CONTROL_FINISHED_OK
state	4367	begin climb
4367.88	10503	117.30	1.97	80.00	1996.8	1917.8	2075.9	2205.6	2695.1	147.98	0.00	427	4484.20	99.91	3.96	3.67	1.140	0.124	0.150	1520.09	1409.25	1630.94	2775.69	4007.00	0	0	0	11.78	15.56	15.33
4561.66	1028	117.30	1.97	0.00	1514.4	1409.7	1619.1	2775.6	4007.4	105.54	25.90	465	4567.67	0.00	0.00	3.37	0.000	0.000	0.084	1514.97	1410.31	1619.62	2774.69	2693.31	0	0	0	30.00	30.00	15.55
4942.45	548	117.88	1.97	-80.00	1511.5	1409.9	1613.1	2775.3	2694.3	44.04	9.14	481	4950.09	0.00	0.00	4.01	0.000	0.000	0.161	1511.53	1410.38	1612.69	2774.81	1247.88	0	0	0	30.00	30.00	15.74
5178.34	11303	286.85	2.65	0.00	1510.8	1412.9	1608.7	2776.3	1247.7	43.55	0.30	528	5449.06	255.05	1.03	3.64	0.991	0.083	0.075	831.78	709.69	953.88	2942.94	2734.31	0	0	0	11.87	15.85	15.87
5752.31	10535	428.96	3.22	80.00	826.6	710.6	942.7	2943.6	2734.5	7.98	1.71	610	5884.06	119.50	0.87	3.56	0.956	0.095	0.146	500.75	407.62	593.88	3080.94	4007.00	0	0	0	11.80	15.70	15.37
5987	end climb: SURFACE_DEPTH_REACHED
state	5987	begin surface coast
6012	end surface coast: CONTROL_FINISHED_OK
state	6012	begin surface