Glider dive log

AMOS Aug23 * SG235 * Dive index * Mission links * Dive 78 * 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 78 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 13.481166 FG_AHR_10V 4.4718561 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 40 FG_AHR_24V 20.752649 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 4.4718561 PHONE_DEVICE 33 SM_CC 662.31

ALTIM_SENSITIVITY 2 FG_AHR_24V 20.752649 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 13.481166 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 78 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 160823,101212,7601.546,-14220.202,0,9255.0,0,15.8 TGT_RADIUS 4000.000

_CALLS 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 5.24 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160823,101212,7601.546,-14220.202,0,9255.0,0,15.8 MHEAD_RNG_PITCHd_Wd 204.8,76889,-20.2,-9.167,-25.06,1949,0.131

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,8,1,20230816141212.809960,18,231,17,0136,0000,246,00,00,01,02,-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*29 _24V_AH 14.90,24.531

NAV 1692195616,7.6,2,stop _10V_AH 14.96,0.000

FREEZE 0.56,0.104,-1.370,2,58,0 FG_AHR_24Vo 20.937

FINISH 0.6,1.020203 FG_AHR_10Vo 4.506

SM_CCo 6529.04,0.15,0.154,0,499.3,407.8,590.8,368.13 MEM0 59796,1,0,0

SM_GC 3.66,0.15,19.45,3.65,0.154,0.103,0.083,499.3,407.8,590.8,218.5,2575.2,0,0,0,15.76,15.57,15.61 MEM1 65508,1,0,0

SURF below D_CALL,3.655038/3.000000 MEM2 1023132,28,22556,116

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16139,595

IRIDIUM_FIX 7559.12,-14226.97,130823,164047 CAP_FILE_SIZE 217680,0

TCM_TEMP 1.94 SDSIZE 3918848,3883424

SC_FREEKB 3853792 SDFILEDIR 607,79

RAFOS_CLK 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 0,1692187317,74.57000,-145.56000,117.814,172597.4 SOUNDSPEED 1465.0

RAFOS_FIX 7559.075684,-14342.868164,160823,141412,7,255,2.59 MAGCAL 1.000000,-0.007763,-0.060237,-0.076557,1.039602,-0.102687,0.071405,0.021738,0.997028,-1051.6,-136.1,378.9,35,0.1543,0

HUMID 48.12 IMPLIED_C_PITCH 2316,13.51,161,0.0,13.49

TEMP -0.25 GPS 160823,101212,7601.546,-14220.202,0,9255.0,0,15.8

INTERNAL_PRESSURE 8.09413

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 678 1240 12536.63 nil 0 0 0.00

Pitch_motor 41 308 192.15 nil 0 0 0.00

Roll_motor 96 272 391.86 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 2069 5 158.48 SciCon 6493 6 625.36

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 4460 0 21.35

Compass 1000 5 74.87

RAFOS 1345 40 805.18

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

5.86 16386 -117.30 -1.97 0.00 499.5 409.2 589.8 219.7 2610.5 0.00 0.00 0 37.60 30.53 0.00 0.00 0.006 0.000 0.000 1026.03 989.62 1062.44 219.81 2610.38 0 0 0 15.72 30.00 30.00

37.85 18983 -117.30 -1.97 -80.00 1026.1 989.6 1062.6 219.6 2609.9 3.15 -4.94 3 113.82 50.48 13.48 4.03 0.005 0.308 0.167 2479.38 2456.81 2501.94 1817.75 1192.44 0 0 0 15.75 15.55 15.65

116.11 1028 -117.30 -1.97 0.00 2480.5 2456.1 2505.0 1817.6 1192.2 16.55 -17.46 15 122.42 0.00 0.00 3.56 0.000 0.000 0.073 2480.59 2455.94 2505.25 1818.25 2612.31 0 0 0 30.00 30.00 15.72

451.89 548 -117.30 -1.97 -80.00 2481.2 2455.9 2506.5 1818.2 2611.8 59.25 -6.46 31 457.82 0.00 0.00 3.97 0.000 0.000 0.161 2479.59 2453.94 2505.25 1818.06 1191.81 0 0 0 30.00 30.00 15.79

687.02 1060 -117.30 -1.97 0.00 2480.7 2455.0 2506.4 1817.9 1191.8 67.15 -2.50 78 693.24 0.00 0.00 3.52 0.000 0.000 0.075 2479.12 2452.69 2505.56 1818.00 2615.00 0 0 0 30.00 30.00 15.89

1072.03 548 -117.30 -1.97 -80.00 2479.4 2452.0 2506.9 1818.3 2614.2 79.79 -3.83 95 1078.43 0.00 0.00 3.94 0.000 0.000 0.162 2480.50 2453.06 2507.94 1818.06 1191.69 0 0 0 30.00 30.00 15.89

1307.07 1060 -117.30 -1.97 0.00 2479.2 2452.0 2506.5 1817.5 1191.8 90.31 -4.28 142 1313.21 0.00 0.00 3.50 0.000 0.000 0.075 2480.22 2452.25 2508.19 1816.62 2613.44 0 0 0 30.00 30.00 15.98

1692.09 548 -117.30 -1.97 -80.00 2479.1 2451.1 2507.0 1817.9 2612.6 103.17 -3.15 159 1698.40 0.00 0.00 3.90 0.000 0.000 0.160 2478.28 2449.81 2506.75 1818.25 1191.75 0 0 0 30.00 30.00 15.96

1731.35 1060 -117.30 -1.97 0.00 2478.6 2450.8 2506.5 1817.8 1191.7 104.69 -3.08 167 1737.24 0.00 0.00 3.47 0.000 0.000 0.072 2479.19 2451.50 2506.88 1818.56 2615.19 0 0 0 30.00 30.00 16.01

2107.09 292 -117.30 -1.97 80.00 2479.0 2451.2 2506.8 1818.1 2615.7 114.22 -2.78 182 2113.37 0.00 0.00 3.73 0.000 0.000 0.146 2481.03 2452.06 2510.00 1818.00 4008.62 0 0 0 30.00 30.00 15.99

2192.11 1060 -117.30 -1.97 0.00 2478.5 2449.9 2507.0 1818.2 4008.6 117.09 -3.04 199 2198.30 0.00 0.00 3.48 0.000 0.000 0.087 2477.97 2449.56 2506.38 1818.38 2571.56 0 0 0 30.00 30.00 16.04

2577.21 292 -117.30 -1.97 80.00 2478.3 2450.3 2506.4 1817.9 2571.9 125.37 -1.93 216 2583.70 0.00 0.00 3.81 0.000 0.000 0.140 2480.69 2451.50 2509.88 1817.81 4008.19 0 0 0 30.00 30.00 16.01

2796.51 1060 -117.30 -1.97 0.00 2478.2 2450.2 2506.2 1818.1 4008.6 130.93 -2.73 260 2802.58 0.00 0.00 3.52 0.000 0.000 0.088 2478.56 2450.50 2506.62 1818.00 2573.69 0 0 0 30.00 30.00 16.06

3172.26 292 -117.30 -1.97 80.00 2478.6 2450.2 2507.1 1817.6 2573.0 138.22 -1.86 275 3178.79 0.00 0.00 3.81 0.000 0.000 0.140 2479.66 2452.38 2506.94 1816.75 4008.69 0 0 0 30.00 30.00 16.03

3266.56 1060 -117.30 -1.97 0.00 2478.2 2449.8 2506.6 1818.2 4008.9 140.12 -1.91 294 3272.66 0.00 0.00 3.52 0.000 0.000 0.088 2478.59 2450.12 2507.06 1818.19 2571.12 0 0 0 30.00 30.00 16.08

3647.31 292 -117.30 -1.97 80.00 2478.6 2450.3 2506.9 1818.1 2570.8 146.42 -1.61 310 3653.84 0.00 0.00 3.81 0.000 0.000 0.140 2478.03 2449.75 2506.31 1818.06 4006.94 0 0 0 30.00 30.00 16.05

3656.58 1060 -117.30 -1.97 0.00 2478.2 2449.9 2506.4 1818.1 4008.1 146.56 -1.61 312 3662.66 0.00 0.00 3.53 0.000 0.000 0.082 2478.91 2450.88 2506.94 1817.69 2570.94 0 0 0 30.00 30.00 16.10

4032.34 548 -117.30 -1.97 -80.00 2478.6 2449.8 2507.4 1818.2 2570.6 150.64 -1.09 327 4038.81 0.00 0.00 3.77 0.000 0.000 0.169 2476.81 2448.00 2505.62 1818.06 1190.69 0 0 0 30.00 30.00 16.05

4267.39 1060 -117.30 -1.97 0.00 2478.3 2449.9 2506.7 1817.2 1190.4 153.19 -0.99 374 4273.71 0.00 0.00 3.44 0.000 0.000 0.075 2479.53 2451.56 2507.50 1816.69 2616.31 0 0 0 30.00 30.00 16.11

4533 end dive: NO_VERTICAL_VELOCITY

state 4533 begin apogee

4533.86 10243 0.00 -0.37 0.00 2478.3 2449.9 2506.7 1818.2 2727.8 154.76 0.00 387 4648.60 105.81 2.81 0.06 1.240 0.191 0.273 1998.22 1918.44 2078.00 2204.75 2696.25 0 0 0 12.00 16.06 15.61

4651 end apogee: CONTROL_FINISHED_OK

state 4651 begin climb

4651.14 10759 117.30 1.97 -80.00 1996.7 1916.2 2077.1 2204.8 2696.6 152.66 0.00 390 4772.63 99.57 3.88 4.12 1.147 0.112 0.159 1520.47 1407.88 1633.06 2776.25 1248.25 0 0 0 11.80 15.66 15.36

4810.08 1028 117.30 1.97 0.00 1515.9 1407.5 1624.4 2776.1 1248.9 119.06 27.68 419 4817.05 0.00 0.00 3.75 0.000 0.000 0.077 1516.00 1408.06 1623.94 2776.50 2728.62 0 0 0 30.00 30.00 15.52

5205.82 16646 117.30 1.97 80.00 1511.9 1408.6 1615.2 2776.4 2729.0 43.67 13.99 433 5212.21 0.00 0.00 3.44 0.000 0.000 0.148 1512.09 1409.25 1614.94 2776.00 4006.12 0 0 0 30.00 30.00 15.71

5255.15 11303 162.69 2.15 0.00 1511.8 1411.2 1612.4 2776.0 4005.1 40.29 6.78 443 5337.07 72.60 0.24 3.33 1.003 0.110 0.079 1337.25 1225.31 1449.19 2819.50 2691.75 0 0 0 11.78 15.75 15.77

5710.27 10791 302.00 2.70 -80.00 1331.8 1224.2 1439.4 2820.4 2691.1 31.64 1.86 473 5946.58 219.35 0.84 4.18 0.978 0.081 0.159 769.25 648.56 889.94 2957.56 1247.62 0 0 0 11.91 15.75 15.27

5959.79 1028 302.00 2.70 0.00 767.8 648.8 886.8 2956.6 1247.1 7.02 15.37 521 5966.32 0.00 0.00 3.76 0.000 0.000 0.070 767.69 648.69 886.69 2957.44 2732.31 0 0 0 30.00 30.00 15.41

6274.87 10535 488.57 3.45 80.00 764.8 648.3 881.4 2957.4 2732.3 7.96 -0.62 553 6385.78 99.90 1.12 3.53 0.962 0.078 0.142 499.78 405.62 593.94 3138.19 4007.94 0 0 0 11.97 15.72 15.40

6469 end climb: SURFACE_DEPTH_REACHED

state 6469 begin surface coast

6489 end surface coast: CONTROL_FINISHED_OK

state 6489 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	78	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	13.481166	FG_AHR_10V	4.4718561	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	40	FG_AHR_24V	20.752649	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	160823,101212,7601.546,-14220.202,0,9255.0,0,15.8	TGT_RADIUS	4000.000
_CALLS	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	5.24	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160823,101212,7601.546,-14220.202,0,9255.0,0,15.8	MHEAD_RNG_PITCHd_Wd	204.8,76889,-20.2,-9.167,-25.06,1949,0.131
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,8,1,20230816141212.809960,18,231,17,0136,0000,246,00,00,01,02,-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*29	_24V_AH	14.90,24.531
NAV	1692195616,7.6,2,stop	_10V_AH	14.96,0.000
FREEZE	0.56,0.104,-1.370,2,58,0	FG_AHR_24Vo	20.937
FINISH	0.6,1.020203	FG_AHR_10Vo	4.506
SM_CCo	6529.04,0.15,0.154,0,499.3,407.8,590.8,368.13	MEM0	59796,1,0,0
SM_GC	3.66,0.15,19.45,3.65,0.154,0.103,0.083,499.3,407.8,590.8,218.5,2575.2,0,0,0,15.76,15.57,15.61	MEM1	65508,1,0,0
SURF	below D_CALL,3.655038/3.000000	MEM2	1023132,28,22556,116
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16139,595
IRIDIUM_FIX	7559.12,-14226.97,130823,164047	CAP_FILE_SIZE	217680,0
TCM_TEMP	1.94	SDSIZE	3918848,3883424
SC_FREEKB	3853792	SDFILEDIR	607,79
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1692187317,74.57000,-145.56000,117.814,172597.4	SOUNDSPEED	1465.0
RAFOS_FIX	7559.075684,-14342.868164,160823,141412,7,255,2.59	MAGCAL	1.000000,-0.007763,-0.060237,-0.076557,1.039602,-0.102687,0.071405,0.021738,0.997028,-1051.6,-136.1,378.9,35,0.1543,0
HUMID	48.12	IMPLIED_C_PITCH	2316,13.51,161,0.0,13.49
TEMP	-0.25	GPS	160823,101212,7601.546,-14220.202,0,9255.0,0,15.8
INTERNAL_PRESSURE	8.09413

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	678	1240	12536.63	nil	0	0	0.00
Pitch_motor	41	308	192.15	nil	0	0	0.00
Roll_motor	96	272	391.86	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	2069	5	158.48	SciCon	6493	6	625.36
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	4460	0	21.35
Compass	1000	5	74.87
RAFOS	1345	40	805.18
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
5.86	16386	-117.30	-1.97	0.00	499.5	409.2	589.8	219.7	2610.5	0.00	0.00	0	37.60	30.53	0.00	0.00	0.006	0.000	0.000	1026.03	989.62	1062.44	219.81	2610.38	0	0	0	15.72	30.00	30.00
37.85	18983	-117.30	-1.97	-80.00	1026.1	989.6	1062.6	219.6	2609.9	3.15	-4.94	3	113.82	50.48	13.48	4.03	0.005	0.308	0.167	2479.38	2456.81	2501.94	1817.75	1192.44	0	0	0	15.75	15.55	15.65
116.11	1028	-117.30	-1.97	0.00	2480.5	2456.1	2505.0	1817.6	1192.2	16.55	-17.46	15	122.42	0.00	0.00	3.56	0.000	0.000	0.073	2480.59	2455.94	2505.25	1818.25	2612.31	0	0	0	30.00	30.00	15.72
451.89	548	-117.30	-1.97	-80.00	2481.2	2455.9	2506.5	1818.2	2611.8	59.25	-6.46	31	457.82	0.00	0.00	3.97	0.000	0.000	0.161	2479.59	2453.94	2505.25	1818.06	1191.81	0	0	0	30.00	30.00	15.79
687.02	1060	-117.30	-1.97	0.00	2480.7	2455.0	2506.4	1817.9	1191.8	67.15	-2.50	78	693.24	0.00	0.00	3.52	0.000	0.000	0.075	2479.12	2452.69	2505.56	1818.00	2615.00	0	0	0	30.00	30.00	15.89
1072.03	548	-117.30	-1.97	-80.00	2479.4	2452.0	2506.9	1818.3	2614.2	79.79	-3.83	95	1078.43	0.00	0.00	3.94	0.000	0.000	0.162	2480.50	2453.06	2507.94	1818.06	1191.69	0	0	0	30.00	30.00	15.89
1307.07	1060	-117.30	-1.97	0.00	2479.2	2452.0	2506.5	1817.5	1191.8	90.31	-4.28	142	1313.21	0.00	0.00	3.50	0.000	0.000	0.075	2480.22	2452.25	2508.19	1816.62	2613.44	0	0	0	30.00	30.00	15.98
1692.09	548	-117.30	-1.97	-80.00	2479.1	2451.1	2507.0	1817.9	2612.6	103.17	-3.15	159	1698.40	0.00	0.00	3.90	0.000	0.000	0.160	2478.28	2449.81	2506.75	1818.25	1191.75	0	0	0	30.00	30.00	15.96
1731.35	1060	-117.30	-1.97	0.00	2478.6	2450.8	2506.5	1817.8	1191.7	104.69	-3.08	167	1737.24	0.00	0.00	3.47	0.000	0.000	0.072	2479.19	2451.50	2506.88	1818.56	2615.19	0	0	0	30.00	30.00	16.01
2107.09	292	-117.30	-1.97	80.00	2479.0	2451.2	2506.8	1818.1	2615.7	114.22	-2.78	182	2113.37	0.00	0.00	3.73	0.000	0.000	0.146	2481.03	2452.06	2510.00	1818.00	4008.62	0	0	0	30.00	30.00	15.99
2192.11	1060	-117.30	-1.97	0.00	2478.5	2449.9	2507.0	1818.2	4008.6	117.09	-3.04	199	2198.30	0.00	0.00	3.48	0.000	0.000	0.087	2477.97	2449.56	2506.38	1818.38	2571.56	0	0	0	30.00	30.00	16.04
2577.21	292	-117.30	-1.97	80.00	2478.3	2450.3	2506.4	1817.9	2571.9	125.37	-1.93	216	2583.70	0.00	0.00	3.81	0.000	0.000	0.140	2480.69	2451.50	2509.88	1817.81	4008.19	0	0	0	30.00	30.00	16.01
2796.51	1060	-117.30	-1.97	0.00	2478.2	2450.2	2506.2	1818.1	4008.6	130.93	-2.73	260	2802.58	0.00	0.00	3.52	0.000	0.000	0.088	2478.56	2450.50	2506.62	1818.00	2573.69	0	0	0	30.00	30.00	16.06
3172.26	292	-117.30	-1.97	80.00	2478.6	2450.2	2507.1	1817.6	2573.0	138.22	-1.86	275	3178.79	0.00	0.00	3.81	0.000	0.000	0.140	2479.66	2452.38	2506.94	1816.75	4008.69	0	0	0	30.00	30.00	16.03
3266.56	1060	-117.30	-1.97	0.00	2478.2	2449.8	2506.6	1818.2	4008.9	140.12	-1.91	294	3272.66	0.00	0.00	3.52	0.000	0.000	0.088	2478.59	2450.12	2507.06	1818.19	2571.12	0	0	0	30.00	30.00	16.08
3647.31	292	-117.30	-1.97	80.00	2478.6	2450.3	2506.9	1818.1	2570.8	146.42	-1.61	310	3653.84	0.00	0.00	3.81	0.000	0.000	0.140	2478.03	2449.75	2506.31	1818.06	4006.94	0	0	0	30.00	30.00	16.05
3656.58	1060	-117.30	-1.97	0.00	2478.2	2449.9	2506.4	1818.1	4008.1	146.56	-1.61	312	3662.66	0.00	0.00	3.53	0.000	0.000	0.082	2478.91	2450.88	2506.94	1817.69	2570.94	0	0	0	30.00	30.00	16.10
4032.34	548	-117.30	-1.97	-80.00	2478.6	2449.8	2507.4	1818.2	2570.6	150.64	-1.09	327	4038.81	0.00	0.00	3.77	0.000	0.000	0.169	2476.81	2448.00	2505.62	1818.06	1190.69	0	0	0	30.00	30.00	16.05
4267.39	1060	-117.30	-1.97	0.00	2478.3	2449.9	2506.7	1817.2	1190.4	153.19	-0.99	374	4273.71	0.00	0.00	3.44	0.000	0.000	0.075	2479.53	2451.56	2507.50	1816.69	2616.31	0	0	0	30.00	30.00	16.11
4533	end dive: NO_VERTICAL_VELOCITY
state	4533	begin apogee
4533.86	10243	0.00	-0.37	0.00	2478.3	2449.9	2506.7	1818.2	2727.8	154.76	0.00	387	4648.60	105.81	2.81	0.06	1.240	0.191	0.273	1998.22	1918.44	2078.00	2204.75	2696.25	0	0	0	12.00	16.06	15.61
4651	end apogee: CONTROL_FINISHED_OK
state	4651	begin climb
4651.14	10759	117.30	1.97	-80.00	1996.7	1916.2	2077.1	2204.8	2696.6	152.66	0.00	390	4772.63	99.57	3.88	4.12	1.147	0.112	0.159	1520.47	1407.88	1633.06	2776.25	1248.25	0	0	0	11.80	15.66	15.36
4810.08	1028	117.30	1.97	0.00	1515.9	1407.5	1624.4	2776.1	1248.9	119.06	27.68	419	4817.05	0.00	0.00	3.75	0.000	0.000	0.077	1516.00	1408.06	1623.94	2776.50	2728.62	0	0	0	30.00	30.00	15.52
5205.82	16646	117.30	1.97	80.00	1511.9	1408.6	1615.2	2776.4	2729.0	43.67	13.99	433	5212.21	0.00	0.00	3.44	0.000	0.000	0.148	1512.09	1409.25	1614.94	2776.00	4006.12	0	0	0	30.00	30.00	15.71
5255.15	11303	162.69	2.15	0.00	1511.8	1411.2	1612.4	2776.0	4005.1	40.29	6.78	443	5337.07	72.60	0.24	3.33	1.003	0.110	0.079	1337.25	1225.31	1449.19	2819.50	2691.75	0	0	0	11.78	15.75	15.77
5710.27	10791	302.00	2.70	-80.00	1331.8	1224.2	1439.4	2820.4	2691.1	31.64	1.86	473	5946.58	219.35	0.84	4.18	0.978	0.081	0.159	769.25	648.56	889.94	2957.56	1247.62	0	0	0	11.91	15.75	15.27
5959.79	1028	302.00	2.70	0.00	767.8	648.8	886.8	2956.6	1247.1	7.02	15.37	521	5966.32	0.00	0.00	3.76	0.000	0.000	0.070	767.69	648.69	886.69	2957.44	2732.31	0	0	0	30.00	30.00	15.41
6274.87	10535	488.57	3.45	80.00	764.8	648.3	881.4	2957.4	2732.3	7.96	-0.62	553	6385.78	99.90	1.12	3.53	0.962	0.078	0.142	499.78	405.62	593.94	3138.19	4007.94	0	0	0	11.97	15.72	15.40
6469	end climb: SURFACE_DEPTH_REACHED
state	6469	begin surface coast
6489	end surface coast: CONTROL_FINISHED_OK
state	6489	begin surface