Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 74 * 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 74 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 13.528706 FG_AHR_10V 4.3142171 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 20.031626 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 4.3142171 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 20.031626 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 13.528706 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 74 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 160823,043039,7600.239,-14214.891,0,9255.0,0,15.8 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 3.51 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160823,043039,7600.239,-14214.891,0,9255.0,0,15.8 MHEAD_RNG_PITCHd_Wd 207.4,76728,-20.2,-9.167,-25.06,1949,0.163

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 1692166825,145.2,2,stop _24V_AH 14.90,23.670

MODEM_MSG CACST,8,1,20230816061211.575066,18,18757,24,0371,0000,246,01,01,03,01,-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*2E _10V_AH 15.00,0.000

FREEZE 0.56,-0.128,-1.352,2,54,0 FG_AHR_24Vo 20.213

FINISH 0.6,1.019942 FG_AHR_10Vo 4.348

SM_CCo 6737.65,0.17,0.139,0,499.5,409.1,590.0,368.06 MEM0 59796,1,0,0

SM_GC 3.99,0.17,19.95,3.62,0.139,0.139,0.085,499.5,409.1,590.0,221.2,2576.1,0,0,0,15.77,15.55,15.62 MEM1 65508,1,0,0

SURF below D_CALL,3.988429/3.000000 MEM2 1023112,29,22556,116

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16159,629

IRIDIUM_FIX 7559.12,-14226.97,130823,164047 CAP_FILE_SIZE 195266,0

TCM_TEMP 1.76 SDSIZE 3918848,3884608

SC_FREEKB 3855072 SDFILEDIR 579,75

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

MODEM 8,1692165757,74.24940,-137.99570,157.804,231182.2 SOUNDSPEED 1465.0

RAFOS_FIX 7600.298828,-14215.506836,160823,060611,9,255,0.05 MAGCAL 1.000000,-0.037521,-0.035787,-0.071551,1.064786,-0.115665,0.067839,0.036327,0.970486,-1065.1,-124.6,411.0,36,0.1287,0

HUMID 47.96 IMPLIED_C_PITCH 2309,13.52,179,0.0,13.52

TEMP -0.47 GPS 160823,061211,7600.299,-14215.507,0,10255.0,0,15.8

INTERNAL_PRESSURE 8.08607

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 666 1247 12393.12 nil 0 0 0.00

Pitch_motor 42 313 197.38 nil 0 0 0.00

Roll_motor 67 287 287.65 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 2104 5 161.62 SciCon 6702 6 647.82

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4632 0 22.23

Compass 1048 5 78.64

RAFOS 1283 40 769.82

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

5.86 16386 -117.30 -1.96 0.00 499.5 409.2 589.8 221.2 2611.3 0.00 0.00 0 32.43 25.45 0.00 0.00 0.006 0.000 0.000 958.44 916.56 1000.31 221.25 2611.81 0 0 0 15.78 30.00 30.00

32.69 18467 -117.30 -1.96 0.00 958.8 916.6 1000.9 221.2 2611.5 3.71 -8.43 3 106.94 52.19 13.60 0.00 0.005 0.313 0.000 2477.56 2455.62 2499.50 1818.06 2611.75 0 0 0 15.77 15.57 30.00

422.10 548 -117.30 -1.96 -80.00 2481.2 2455.5 2506.8 1817.9 2612.1 60.08 -8.00 31 428.04 0.00 0.00 3.96 0.000 0.000 0.166 2479.59 2453.75 2505.44 1818.88 1192.69 0 0 0 30.00 30.00 15.78

657.17 1060 -117.30 -1.96 0.00 2480.5 2454.2 2506.8 1818.2 1192.6 69.19 -3.06 78 663.00 0.00 0.00 3.52 0.000 0.000 0.075 2480.09 2454.38 2505.81 1818.06 2613.62 0 0 0 30.00 30.00 15.89

1042.19 548 -117.30 -1.96 -80.00 2479.0 2451.2 2506.9 1818.1 2613.0 80.47 -3.15 95 1048.69 0.00 0.00 3.93 0.000 0.000 0.162 2479.09 2451.44 2506.75 1817.81 1191.25 0 0 0 30.00 30.00 15.90

1266.60 1060 -117.30 -1.96 0.00 2478.7 2451.3 2506.1 1818.5 1191.4 89.56 -4.13 140 1272.50 0.00 0.00 3.51 0.000 0.000 0.076 2480.50 2452.69 2508.31 1818.50 2613.19 0 0 0 30.00 30.00 15.98

1637.34 292 -117.30 -1.96 80.00 2478.3 2450.1 2506.5 1817.9 2613.2 100.84 -3.12 154 1643.62 0.00 0.00 3.71 0.000 0.000 0.146 2477.97 2449.56 2506.38 1818.94 4008.12 0 0 0 30.00 30.00 15.96

1872.41 1060 -117.30 -1.96 0.00 2478.3 2449.9 2506.7 1818.0 4007.7 108.76 -3.32 201 1878.57 0.00 0.00 3.46 0.000 0.000 0.092 2478.91 2449.25 2508.56 1817.25 2570.00 0 0 0 30.00 30.00 16.02

2257.43 292 -117.30 -1.96 80.00 2478.5 2449.7 2507.2 1819.0 2570.7 118.84 -2.34 218 2263.71 0.00 0.00 3.79 0.000 0.000 0.141 2477.06 2449.38 2504.75 1818.75 4008.69 0 0 0 30.00 30.00 16.00

2492.96 1060 -117.30 -1.96 0.00 2477.7 2449.6 2505.9 1818.4 4009.0 124.68 -2.55 264 2499.53 0.00 0.00 3.49 0.000 0.000 0.089 2478.41 2450.50 2506.31 1818.88 2570.88 0 0 0 30.00 30.00 16.03

2888.71 292 -117.30 -1.96 80.00 2478.2 2449.8 2506.6 1818.8 2571.4 132.67 -2.00 278 2895.07 0.00 0.00 3.79 0.000 0.000 0.140 2478.97 2450.00 2507.94 1818.88 4009.12 0 0 0 30.00 30.00 15.97

3093.78 1060 -117.30 -1.96 0.00 2478.0 2449.0 2506.9 1818.8 4008.3 137.05 -2.05 319 3100.18 0.00 0.00 3.52 0.000 0.000 0.090 2476.25 2447.31 2505.19 1818.50 2572.62 0 0 0 30.00 30.00 16.00

3478.81 32 -117.30 -1.96 0.00 2478.2 2449.8 2506.8 1818.2 2571.9 141.70 -1.21 336 3480.37 0.00 0.00 0.00 0.000 0.000 0.000 2476.97 2448.19 2505.75 1818.19 2572.19 0 0 0 30.00 30.00 30.00

3868.83 32 -117.30 -1.96 0.00 2478.3 2449.7 2506.9 1818.5 2572.4 146.61 -1.25 349 3870.39 0.00 0.00 0.00 0.000 0.000 0.000 2477.84 2448.56 2507.12 1817.19 2571.50 0 0 0 30.00 30.00 30.00

4258.83 32 -117.30 -1.96 0.00 2478.2 2449.6 2506.9 1818.9 2572.2 152.16 -1.43 362 4260.42 0.00 0.00 0.00 0.000 0.000 0.000 2476.88 2448.69 2505.06 1818.38 2572.50 0 0 0 30.00 30.00 30.00

4648.85 292 -117.30 -1.96 80.00 2478.2 2449.5 2506.8 1818.8 2572.5 155.91 -0.93 375 4655.35 0.00 0.00 3.81 0.000 0.000 0.144 2478.72 2449.81 2507.62 1816.50 4006.38 0 0 0 30.00 30.00 16.02

4668.11 1060 -117.30 -1.96 0.00 2477.8 2449.2 2506.3 1818.4 4007.2 156.12 -0.94 379 4674.96 0.00 0.00 3.53 0.000 0.000 0.088 2478.38 2449.38 2507.38 1818.88 2571.62 0 0 0 30.00 30.00 16.06

4884 end dive: NO_VERTICAL_VELOCITY

state 4884 begin apogee

4885.35 10243 0.00 -0.37 0.00 2478.1 2449.2 2507.0 1818.6 2728.8 158.07 0.00 387 5000.09 106.18 2.83 0.06 1.247 0.183 0.287 1997.53 1918.50 2076.56 2205.94 2698.44 0 0 0 12.00 16.02 15.58

5002 end apogee: CONTROL_FINISHED_OK

state 5002 begin climb

5002.60 10759 117.30 1.96 -80.00 1996.5 1916.7 2076.2 2206.1 2697.8 156.17 0.00 390 5119.15 99.71 3.97 4.12 1.152 0.124 0.165 1519.94 1408.19 1631.69 2773.31 1248.25 0 0 0 11.74 15.61 15.35

5211.61 1028 117.30 1.96 0.00 1514.9 1408.3 1621.5 2772.2 1248.0 108.31 27.76 431 5218.56 0.00 0.00 3.71 0.000 0.000 0.078 1515.81 1409.00 1622.62 2771.56 2727.19 0 0 0 30.00 30.00 15.59

5607.38 8742 122.07 1.98 -80.00 1511.6 1408.6 1614.5 2773.2 2727.8 43.89 8.92 445 5622.78 6.86 0.00 4.06 0.789 0.000 0.159 1502.81 1400.88 1604.75 2773.56 1247.31 0 0 0 11.96 30.00 15.74

5851.71 11303 293.15 2.66 0.00 1500.5 1400.8 1600.2 2773.3 1247.9 42.38 0.19 494 6132.31 264.77 1.09 3.63 0.990 0.085 0.076 805.84 682.75 928.94 2944.00 2735.00 0 0 0 11.84 15.86 15.87

6435.56 10535 429.38 3.21 80.00 801.0 683.8 918.1 2945.1 2735.6 9.03 2.02 578 6558.16 111.44 0.85 3.54 0.957 0.098 0.148 500.50 407.44 593.56 3075.31 4006.75 0 0 0 11.63 15.70 15.38

6651 end climb: SURFACE_DEPTH_REACHED

state 6651 begin surface coast

6696 end surface coast: CONTROL_FINISHED_OK

state 6696 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	74	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	13.528706	FG_AHR_10V	4.3142171	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	20.031626	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	160823,043039,7600.239,-14214.891,0,9255.0,0,15.8	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	3.51	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160823,043039,7600.239,-14214.891,0,9255.0,0,15.8	MHEAD_RNG_PITCHd_Wd	207.4,76728,-20.2,-9.167,-25.06,1949,0.163
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	1692166825,145.2,2,stop	_24V_AH	14.90,23.670
MODEM_MSG	CACST,8,1,20230816061211.575066,18,18757,24,0371,0000,246,01,01,03,01,-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*2E	_10V_AH	15.00,0.000
FREEZE	0.56,-0.128,-1.352,2,54,0	FG_AHR_24Vo	20.213
FINISH	0.6,1.019942	FG_AHR_10Vo	4.348
SM_CCo	6737.65,0.17,0.139,0,499.5,409.1,590.0,368.06	MEM0	59796,1,0,0
SM_GC	3.99,0.17,19.95,3.62,0.139,0.139,0.085,499.5,409.1,590.0,221.2,2576.1,0,0,0,15.77,15.55,15.62	MEM1	65508,1,0,0
SURF	below D_CALL,3.988429/3.000000	MEM2	1023112,29,22556,116
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16159,629
IRIDIUM_FIX	7559.12,-14226.97,130823,164047	CAP_FILE_SIZE	195266,0
TCM_TEMP	1.76	SDSIZE	3918848,3884608
SC_FREEKB	3855072	SDFILEDIR	579,75
RAFOS_CLK	-4	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	8,1692165757,74.24940,-137.99570,157.804,231182.2	SOUNDSPEED	1465.0
RAFOS_FIX	7600.298828,-14215.506836,160823,060611,9,255,0.05	MAGCAL	1.000000,-0.037521,-0.035787,-0.071551,1.064786,-0.115665,0.067839,0.036327,0.970486,-1065.1,-124.6,411.0,36,0.1287,0
HUMID	47.96	IMPLIED_C_PITCH	2309,13.52,179,0.0,13.52
TEMP	-0.47	GPS	160823,061211,7600.299,-14215.507,0,10255.0,0,15.8
INTERNAL_PRESSURE	8.08607

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	666	1247	12393.12	nil	0	0	0.00
Pitch_motor	42	313	197.38	nil	0	0	0.00
Roll_motor	67	287	287.65	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	2104	5	161.62	SciCon	6702	6	647.82
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4632	0	22.23
Compass	1048	5	78.64
RAFOS	1283	40	769.82
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
5.86	16386	-117.30	-1.96	0.00	499.5	409.2	589.8	221.2	2611.3	0.00	0.00	0	32.43	25.45	0.00	0.00	0.006	0.000	0.000	958.44	916.56	1000.31	221.25	2611.81	0	0	0	15.78	30.00	30.00
32.69	18467	-117.30	-1.96	0.00	958.8	916.6	1000.9	221.2	2611.5	3.71	-8.43	3	106.94	52.19	13.60	0.00	0.005	0.313	0.000	2477.56	2455.62	2499.50	1818.06	2611.75	0	0	0	15.77	15.57	30.00
422.10	548	-117.30	-1.96	-80.00	2481.2	2455.5	2506.8	1817.9	2612.1	60.08	-8.00	31	428.04	0.00	0.00	3.96	0.000	0.000	0.166	2479.59	2453.75	2505.44	1818.88	1192.69	0	0	0	30.00	30.00	15.78
657.17	1060	-117.30	-1.96	0.00	2480.5	2454.2	2506.8	1818.2	1192.6	69.19	-3.06	78	663.00	0.00	0.00	3.52	0.000	0.000	0.075	2480.09	2454.38	2505.81	1818.06	2613.62	0	0	0	30.00	30.00	15.89
1042.19	548	-117.30	-1.96	-80.00	2479.0	2451.2	2506.9	1818.1	2613.0	80.47	-3.15	95	1048.69	0.00	0.00	3.93	0.000	0.000	0.162	2479.09	2451.44	2506.75	1817.81	1191.25	0	0	0	30.00	30.00	15.90
1266.60	1060	-117.30	-1.96	0.00	2478.7	2451.3	2506.1	1818.5	1191.4	89.56	-4.13	140	1272.50	0.00	0.00	3.51	0.000	0.000	0.076	2480.50	2452.69	2508.31	1818.50	2613.19	0	0	0	30.00	30.00	15.98
1637.34	292	-117.30	-1.96	80.00	2478.3	2450.1	2506.5	1817.9	2613.2	100.84	-3.12	154	1643.62	0.00	0.00	3.71	0.000	0.000	0.146	2477.97	2449.56	2506.38	1818.94	4008.12	0	0	0	30.00	30.00	15.96
1872.41	1060	-117.30	-1.96	0.00	2478.3	2449.9	2506.7	1818.0	4007.7	108.76	-3.32	201	1878.57	0.00	0.00	3.46	0.000	0.000	0.092	2478.91	2449.25	2508.56	1817.25	2570.00	0	0	0	30.00	30.00	16.02
2257.43	292	-117.30	-1.96	80.00	2478.5	2449.7	2507.2	1819.0	2570.7	118.84	-2.34	218	2263.71	0.00	0.00	3.79	0.000	0.000	0.141	2477.06	2449.38	2504.75	1818.75	4008.69	0	0	0	30.00	30.00	16.00
2492.96	1060	-117.30	-1.96	0.00	2477.7	2449.6	2505.9	1818.4	4009.0	124.68	-2.55	264	2499.53	0.00	0.00	3.49	0.000	0.000	0.089	2478.41	2450.50	2506.31	1818.88	2570.88	0	0	0	30.00	30.00	16.03
2888.71	292	-117.30	-1.96	80.00	2478.2	2449.8	2506.6	1818.8	2571.4	132.67	-2.00	278	2895.07	0.00	0.00	3.79	0.000	0.000	0.140	2478.97	2450.00	2507.94	1818.88	4009.12	0	0	0	30.00	30.00	15.97
3093.78	1060	-117.30	-1.96	0.00	2478.0	2449.0	2506.9	1818.8	4008.3	137.05	-2.05	319	3100.18	0.00	0.00	3.52	0.000	0.000	0.090	2476.25	2447.31	2505.19	1818.50	2572.62	0	0	0	30.00	30.00	16.00
3478.81	32	-117.30	-1.96	0.00	2478.2	2449.8	2506.8	1818.2	2571.9	141.70	-1.21	336	3480.37	0.00	0.00	0.00	0.000	0.000	0.000	2476.97	2448.19	2505.75	1818.19	2572.19	0	0	0	30.00	30.00	30.00
3868.83	32	-117.30	-1.96	0.00	2478.3	2449.7	2506.9	1818.5	2572.4	146.61	-1.25	349	3870.39	0.00	0.00	0.00	0.000	0.000	0.000	2477.84	2448.56	2507.12	1817.19	2571.50	0	0	0	30.00	30.00	30.00
4258.83	32	-117.30	-1.96	0.00	2478.2	2449.6	2506.9	1818.9	2572.2	152.16	-1.43	362	4260.42	0.00	0.00	0.00	0.000	0.000	0.000	2476.88	2448.69	2505.06	1818.38	2572.50	0	0	0	30.00	30.00	30.00
4648.85	292	-117.30	-1.96	80.00	2478.2	2449.5	2506.8	1818.8	2572.5	155.91	-0.93	375	4655.35	0.00	0.00	3.81	0.000	0.000	0.144	2478.72	2449.81	2507.62	1816.50	4006.38	0	0	0	30.00	30.00	16.02
4668.11	1060	-117.30	-1.96	0.00	2477.8	2449.2	2506.3	1818.4	4007.2	156.12	-0.94	379	4674.96	0.00	0.00	3.53	0.000	0.000	0.088	2478.38	2449.38	2507.38	1818.88	2571.62	0	0	0	30.00	30.00	16.06
4884	end dive: NO_VERTICAL_VELOCITY
state	4884	begin apogee
4885.35	10243	0.00	-0.37	0.00	2478.1	2449.2	2507.0	1818.6	2728.8	158.07	0.00	387	5000.09	106.18	2.83	0.06	1.247	0.183	0.287	1997.53	1918.50	2076.56	2205.94	2698.44	0	0	0	12.00	16.02	15.58
5002	end apogee: CONTROL_FINISHED_OK
state	5002	begin climb
5002.60	10759	117.30	1.96	-80.00	1996.5	1916.7	2076.2	2206.1	2697.8	156.17	0.00	390	5119.15	99.71	3.97	4.12	1.152	0.124	0.165	1519.94	1408.19	1631.69	2773.31	1248.25	0	0	0	11.74	15.61	15.35
5211.61	1028	117.30	1.96	0.00	1514.9	1408.3	1621.5	2772.2	1248.0	108.31	27.76	431	5218.56	0.00	0.00	3.71	0.000	0.000	0.078	1515.81	1409.00	1622.62	2771.56	2727.19	0	0	0	30.00	30.00	15.59
5607.38	8742	122.07	1.98	-80.00	1511.6	1408.6	1614.5	2773.2	2727.8	43.89	8.92	445	5622.78	6.86	0.00	4.06	0.789	0.000	0.159	1502.81	1400.88	1604.75	2773.56	1247.31	0	0	0	11.96	30.00	15.74
5851.71	11303	293.15	2.66	0.00	1500.5	1400.8	1600.2	2773.3	1247.9	42.38	0.19	494	6132.31	264.77	1.09	3.63	0.990	0.085	0.076	805.84	682.75	928.94	2944.00	2735.00	0	0	0	11.84	15.86	15.87
6435.56	10535	429.38	3.21	80.00	801.0	683.8	918.1	2945.1	2735.6	9.03	2.02	578	6558.16	111.44	0.85	3.54	0.957	0.098	0.148	500.50	407.44	593.56	3075.31	4006.75	0	0	0	11.63	15.70	15.38
6651	end climb: SURFACE_DEPTH_REACHED
state	6651	begin surface coast
6696	end surface coast: CONTROL_FINISHED_OK
state	6696	begin surface