Glider dive log

AMOS Sep20 * SG235 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 XPDR_INT 0

MISSION 6 FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_REP 0

DIVE 11 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -0.5

STOP_T 0 TGT_AUTO_DEFAULT 0 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 SM_CC 502.86499 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 C_VBD 2550 MOTHERBOARD 6

D_TGT 180 FILEMGR 0 VBD_DBAND 2 DEVICE1 -1

D_ABORT 250 CALL_NDIVES 1 VBD_CNV -0.24529999 DEVICE2 -1

D_NO_BLEED 500 COMM_SEQ 0 VBD_LP_IGNORE 0 DEVICE3 -1

D_BOOST 2 PROTOCOL 9 VBD_TIMEOUT 720 DEVICE4 -1

T_BOOST 0 N_NOCOMM 2 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_FINISH 0 NOCOMM_ACTION 163 UNCOM_BLEED 20 DEVICE6 -1

D_PITCH 0 N_NOSURFACE 0 VBD_MAXERRORS 1 LOGGERS 3

D_SAFE 0 UPLOAD_DIVES_MAX -1 W_ADJ_DBAND 2 LOGGERDEVICE1 7

D_CALL 0 CALL_TRIES 5 DBDW 0 LOGGERDEVICE2 35

SURFACE_URGENCY 0 CALL_WAIT 60 LOITER_W_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 LOITER_DBDW 0 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 LOITER_D_TOP 0 COMPASS_DEVICE 66

T_DIVE 60 T_GPS 5 LOITER_D_BOTTOM 0 COMPASS2_DEVICE -1

T_MISSION 85 N_GPS 100440 LOITER_N_DIVE 0 PHONE_DEVICE 33

T_ABORT 1440 T_RSLEEP 1 CF8_MAXERRORS 20 GPS_DEVICE 48

T_TURN 225 STROBE 0 AH0_24V 350 RAFOS_DEVICE 104

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 AH0_10V 0 NETWORK_DEVICE -1

T_NO_W 120 RAFOS_CORR_THRESH 60 MINV_24V 11 PRESSURE_DEVICE 34

T_LOITER 0 RAFOS_HIT_WINDOW 3600 MINV_10V 11 XPDR_DEVICE -1

T_EPIRB 0 RAFOS_MMODEM 0 MAXI_24V 5 SIM_W 0

USE_BATHY 0 PITCH_MIN 230 MAXI_10V 1.5 SEABIRD_T_G 0.004415411

USE_ICE 0 PITCH_MAX 3900 FG_AHR_10V 17.993711 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2520 FG_AHR_24V 25.156076 SEABIRD_T_I 2.6329088e-05

D_OFFGRID 990 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_J 3.2522996e-06

RELAUNCH 1 PITCH_CNV 0.0041299998 PRESSURE_YINT -158.9099 SEABIRD_C_G -9.8064938

APOGEE_PITCH -5 PITCH_GAIN 20 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_H 1.0739573

MAX_BUOY 150 PITCH_TIMEOUT 30 COMPASS_USE 4 SEABIRD_C_I -0.002841271

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 ALTIM_PING_FIT 0 SEABIRD_C_J 0.00027081851

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.045000002 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 7.0

MASS 72133 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

NAV_MODE 2 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 0 SC_NDIVE 1.0

FERRY_MAX 45 ROLL_MIN 600 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MAX 3400 ALTIM_PING_DELTA 0 PM_PROFILE 7.0

HD_A 0.003 ROLL_DEG 80 ALTIM_FREQUENCY 13 PM_XMITPROFILE 3.0

HD_B 0.0099999998 C_ROLL_DIVE 2100 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_CLIMB 2200 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING -1 HEAD_ERRBAND 10 XPDR_VALID 4 PM_MOTORS 1.0

ESCAPE_HEADING 0 ROLL_CNV 0.054945 XPDR_INHIBIT 90 PM_SENDDEPTH 1.0

AH0_10V 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_C_H 1.0739573

AH0_24V 350 D_TGT 180 PHONE_DEVICE 33 SEABIRD_C_I -0.002841271

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SEABIRD_C_J 0.00027081851

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SEABIRD_T_G 0.004415411

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0.045000002 SEABIRD_T_H 0.00064200663

ALTIM_PING_DEPTH 0 FG_AHR_10V 17.993711 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 25.156076 PITCH_DBAND 0.1 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FILEMGR 0 PITCH_GAIN 20 SIM_W 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 SM_CC 502.86499

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 48 PITCH_MIN 230 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_TIMEOUT 30 STROBE 0

APOGEE_PITCH -5 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 SURFACE_URGENCY 0

CALL_NDIVES 1 HD_C 1.6e-05 PITCH_W_DBAND 0 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HEADING -1 PITCH_W_GAIN 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HEAD_ERRBAND 10 PM_MOTORS 1.0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PM_NDIVE 1.0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 ID 235 PM_PROFILE 7.0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 1.9639999e-06 PM_RECORDABOVE 2000.0 T_ABORT 1440

COMM_SEQ 0 INT_PRESSURE_YINT -0.5 PM_SENDDEPTH 1.0 T_BOOST 0

COMPASS2_DEVICE -1 KALMAN_USE 2 PM_XMITPROFILE 3.0 T_DIVE 60

COMPASS_DEVICE 66 LOGGERDEVICE1 7 PM_XMITRAW 0.0 T_EPIRB 0

COMPASS_USE 4 LOGGERDEVICE2 35 PRESSURE_DEVICE 34 T_GPS 5

C_PITCH 2520 LOGGERDEVICE3 -1 PRESSURE_SLOPE 0.00022957686 T_LOITER 0

C_ROLL_CLIMB 2200 LOGGERDEVICE4 -1 PRESSURE_YINT -158.9099 T_MISSION 85

C_ROLL_DIVE 2100 LOGGERS 3 PROTOCOL 9 T_NO_W 120

C_VBD 2550 LOITER_DBDW 0 RAFOS_CORR_THRESH 60 T_RSLEEP 1

DBDW 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE 104 T_TURN 225

DEEPGLIDER 0 LOITER_D_TOP 0 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

DEEPGLIDERMB 0 LOITER_N_DIVE 0 RAFOS_MMODEM 0 UNCOM_BLEED 20

DEVICE1 -1 LOITER_W_DBAND 0 RAFOS_PEAK_OFFSET 0 UPLOAD_DIVES_MAX -1

DEVICE2 -1 MASS 72133 RELAUNCH 1 USE_BATHY 0

DEVICE3 -1 MAXI_10V 1.5 RHO 1.0275 USE_ICE 0

DEVICE4 -1 MAXI_24V 5 ROLL_ADJ_DBAND 0 VBD_CNV -0.24529999

DEVICE5 -1 MAX_BUOY 150 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE6 -1 MINV_10V 11 ROLL_CNV 0.054945 VBD_LP_IGNORE 0

DIVE 11 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 250 MISSION 6 ROLL_MAX 3400 VBD_MAXERRORS 1

D_BOOST 2 MOTHERBOARD 6 ROLL_MAXERRORS 1 VBD_MIN 500

D_CALL 0 NAV_MODE 2 ROLL_MIN 600 VBD_TIMEOUT 720

D_FINISH 0 NETWORK_DEVICE -1 ROLL_TIMEOUT 15 W_ADJ_DBAND 2

D_FLARE 3 NOCOMM_ACTION 163 SC_NDIVE 1.0 XPDR_DEVICE -1

D_NO_BLEED 500 N_DIVES 0 SC_PROFILE 7.0 XPDR_INHIBIT 90

D_OFFGRID 990 N_FILEKB 8 SC_RECORDABOVE 2000.0 XPDR_INT 0

D_PITCH 0 N_GPS 100440 SC_XMITPROFILE 3.0 XPDR_REP 0

D_SAFE 0 N_NOCOMM 2 SEABIRD_C_G -9.8064938 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 250920,232546,7214.562,-15202.384,1,1.8,4,15.1 TGT_LATLONG 7301.100,-14934.700

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo 2.04 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -69.3 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 250920,233031,7214.660,-15202.646,2,1.7,5,15.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 72.8,117478,-17.6,-10.000,-21.24

TGT_NAME SIO3 D_GRID 180

Post-dive calculations and measurements:

FREEZE 7.46,0.596,-1.449,0,1,0 INTERNAL_PRESSURE 7.66795

SM_CCo 4226.07,0.00,0.009,0,500.5,584.9,416.1,502.75 _24V_AH 14.49,13.196

SM_GC 4.48,0.00,18.90,3.29,0.000,0.108,0.097,499.0,577.1,421.0,220.3,2084.9,0,0,0,30.00,15.42,15.46 _10V_AH 14.85,0.000

MODEM_MSG CACST,6,1,20200926003734.637880,18,375,-4,0707,0150,216,04,04,05,04,-1,-01,-01,1,3,0,0,150,0.8,0.61,-100,2.39,-01,0.22,37,925,0025*02 FG_AHR_24Vo 25.399

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 18.051

IRIDIUM_FIX 7216.79,-15203.96,250920,232331 MEM 1152580,31,24328,75

TCM_TEMP 3.38 DATA_FILE_SIZE 19313,712

SC_FREEKB 3875264 CAP_FILE_SIZE 243713,0

PM_FREEKB_00 60622592 SDSIZE 3918848,3811840

PM_ACTIVECARD 0 SDFILEDIR 178,1

RAFOS_CLK -3 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 1,1601079020,75.02295,-144.31340,20.500,30032.2 SOUNDSPEED 1465.0

RAFOS_FIX 7402.746094,-13953.736328,260920,000034,6,255,105.06 CURRENT 16.176, 81.4,1

HUMID 52.25 GPS 250920,233031,7214.660,-15202.646,301,99.0,301,15.1

TEMP 0.88

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 657 2889 27521.83 nil 0 0 0.00

Pitch_motor 43 308 196.36 nil 0 0 0.00

Roll_motor 78 361 411.42 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 14 15 3.29 nil 0 0 0.00

Core 2837 10 426.49 SciCon 4218 6 413.28

LPSleep 1681 1 27.97 PMAR 4229 10 674.54

Compass 1748 5 129.83 nil 0 0 0.00

RAFOS 2217 40 1316.90

Transponder 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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

10.00 16386 -145.99 -1.06 0.00 494.4 558.6 430.2 230.1 2082.1 0.00 0.00 0 53.91 41.88 0.00 0.00 0.005 0.000 0.000 1242.53 1245.00 1240.06 230.25 2082.12 0 0 0 15.61 30.00 30.00

54.18 18727 -145.99 -1.06 80.00 1243.8 1246.3 1241.2 230.2 2082.6 3.29 -4.09 8 139.80 55.33 17.05 3.58 0.005 0.309 0.182 3143.81 3169.12 3118.50 2262.25 3406.50 0 0 0 15.61 15.51 15.56

208.57 3205 -145.99 -0.90 0.00 3146.3 3171.6 3121.0 2263.0 3405.4 32.84 -20.52 38 219.40 0.00 0.28 3.29 0.000 0.208 0.103 3145.41 3170.38 3120.44 2302.38 2086.38 0 0 0 30.00 15.54 15.65

399.07 260 -145.99 -0.90 80.00 3146.7 3173.3 3120.0 2301.1 2086.7 57.87 -11.02 76 405.43 0.00 0.00 3.57 0.000 0.000 0.182 3146.88 3173.31 3120.44 2299.94 3403.81 0 0 0 30.00 30.00 15.65

459.16 1156 -145.99 -0.85 0.00 3144.7 3171.4 3118.0 2301.2 3404.2 64.61 -11.22 88 465.60 0.00 0.00 3.29 0.000 0.000 0.109 3144.94 3171.75 3118.12 2300.75 2087.12 0 0 0 30.00 30.00 15.62

644.35 516 -145.99 -0.85 -80.00 3145.2 3171.7 3118.7 2301.3 2086.3 85.38 -11.28 125 655.40 0.00 0.00 3.99 0.000 0.000 0.213 3148.09 3174.88 3121.31 2300.81 638.31 0 0 0 30.00 30.00 15.67

699.44 3205 -145.99 -0.80 0.00 3145.4 3172.8 3118.0 2301.1 638.1 92.42 -12.80 136 705.96 0.00 0.17 3.66 0.000 0.220 0.115 3148.25 3175.19 3121.31 2326.06 2107.25 0 0 0 30.00 15.70 15.65

884.69 4485 -145.99 -0.91 80.00 3144.9 3171.9 3117.9 2325.4 2107.8 111.55 -10.04 162 891.70 0.00 0.28 3.51 0.000 0.113 0.195 3145.91 3172.94 3118.88 2287.69 3406.06 0 0 0 30.00 15.78 15.66

963.94 3205 -145.99 -0.83 0.00 3144.3 3171.6 3117.1 2287.3 3404.7 121.84 -13.18 178 971.97 0.00 0.27 3.31 0.000 0.200 0.123 3147.94 3175.19 3120.69 2318.19 2088.50 0 0 0 30.00 15.71 15.73

1270.54 4741 -145.99 -0.98 -80.00 3144.6 3171.8 3117.3 2317.8 2087.3 152.79 -9.80 209 1282.12 0.00 0.31 4.01 0.000 0.110 0.228 3145.22 3171.75 3118.69 2271.88 638.75 0 0 0 30.00 15.81 15.67

1341.07 1156 -145.99 -0.93 0.00 3144.9 3171.9 3117.9 2271.1 638.6 161.72 -13.16 223 1347.80 0.00 0.00 3.68 0.000 0.000 0.129 3148.06 3175.25 3120.88 2269.75 2108.44 0 0 0 30.00 30.00 15.78

1516 end dive: TARGET_DEPTH_EXCEEDED

state 1516 begin apogee

1517.11 10243 0.00 -0.25 0.00 3144.6 3171.9 3117.2 2270.1 2209.6 180.92 -10.93 241 1640.88 119.19 1.45 0.05 1.677 0.187 0.362 2547.47 2610.44 2484.50 2459.50 2186.44 0 0 0 12.00 15.78 15.23

1643 end apogee: CONTROL_FINISHED_OK

state 1643 begin climb

1642.86 10759 145.99 1.06 -80.00 2547.1 2609.6 2484.6 2459.7 2186.3 184.91 0.00 253 1775.62 122.67 2.29 4.32 1.565 0.144 0.224 1953.22 2051.06 1855.38 2778.88 739.56 0 0 0 11.58 15.22 14.85

1962.82 21639 145.99 0.77 0.00 1943.3 2032.1 1854.5 2778.1 739.1 156.43 9.97 313 1971.07 0.00 0.62 3.88 0.000 0.233 0.136 1943.25 2032.44 1854.06 2701.75 2205.62 0 0 0 30.00 15.21 15.25

2269.94 10663 253.42 1.04 80.00 1940.0 2029.6 1850.5 2701.8 2206.6 139.62 5.00 344 2368.23 90.29 0.50 3.46 1.537 0.101 0.209 1513.94 1616.06 1411.81 2778.62 3403.75 0 0 0 11.61 15.45 15.02

2540.42 17414 253.42 1.04 0.00 1507.0 1601.1 1412.9 2778.1 3403.3 116.65 8.57 398 2547.94 0.00 0.00 3.18 0.000 0.000 0.121 1507.16 1600.94 1413.38 2778.00 2188.94 0 0 0 30.00 30.00 15.27

2847.20 10403 306.52 1.18 0.00 1503.9 1594.8 1412.9 2778.2 2188.5 91.83 7.53 439 2898.39 46.06 0.17 0.00 1.496 0.125 0.000 1300.53 1402.19 1198.88 2810.56 2188.00 0 0 0 11.61 15.45 30.00

3077.47 644 306.52 1.23 -80.00 1293.9 1391.1 1196.6 2810.7 2187.6 70.71 9.38 485 3089.47 0.00 0.00 4.09 0.000 0.000 0.203 1293.34 1389.94 1196.75 2810.69 737.12 0 0 0 30.00 30.00 15.32

3098.07 1028 306.52 1.23 0.00 1292.7 1388.7 1196.8 2810.4 736.8 68.73 9.49 489 3108.90 0.00 0.00 3.75 0.000 0.000 0.107 1293.81 1389.94 1197.69 2810.25 2210.31 0 0 0 30.00 30.00 15.37

3288.61 18823 306.52 1.33 80.00 1292.1 1388.1 1196.1 2810.7 2210.2 51.51 8.62 527 3298.61 0.00 0.21 3.30 0.000 0.117 0.191 1293.19 1388.75 1197.62 2849.31 3405.19 0 0 0 30.00 15.47 15.41

3383.00 9254 349.96 1.39 0.00 1291.1 1385.9 1196.3 2848.8 3405.6 43.38 7.98 546 3430.20 39.21 0.00 3.10 1.461 0.000 0.108 1123.34 1226.38 1020.31 2848.62 2186.31 0 0 0 11.84 30.00 15.48

3608.49 10663 453.85 1.71 80.00 1118.7 1218.9 1018.5 2849.2 2185.7 29.49 5.17 591 3710.99 92.39 0.56 3.42 1.427 0.097 0.176 700.00 809.19 590.81 2939.19 3404.56 0 0 0 11.65 15.42 15.02

3755.03 9254 499.54 1.76 0.00 697.6 802.8 592.3 2939.6 3404.4 19.05 7.87 620 3806.46 42.25 0.00 3.14 1.354 0.000 0.099 514.00 611.75 416.25 2938.88 2186.00 0 0 0 11.59 30.00 15.14

3985.53 10663 641.44 2.22 80.00 509.9 603.5 416.4 2939.5 2186.8 7.47 3.40 666 3998.10 4.82 0.82 3.36 0.785 0.096 0.169 501.00 591.62 410.38 3065.56 3405.62 0 0 0 11.53 15.26 15.20

4217 end climb: NO_VERTICAL_VELOCITY

state 4217 begin surface

ID	235	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	6	FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	11	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-0.5
STOP_T	0	TGT_AUTO_DEFAULT	0	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	SM_CC	502.86499	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	C_VBD	2550	MOTHERBOARD	6
D_TGT	180	FILEMGR	0	VBD_DBAND	2	DEVICE1	-1
D_ABORT	250	CALL_NDIVES	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_NO_BLEED	500	COMM_SEQ	0	VBD_LP_IGNORE	0	DEVICE3	-1
D_BOOST	2	PROTOCOL	9	VBD_TIMEOUT	720	DEVICE4	-1
T_BOOST	0	N_NOCOMM	2	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_FINISH	0	NOCOMM_ACTION	163	UNCOM_BLEED	20	DEVICE6	-1
D_PITCH	0	N_NOSURFACE	0	VBD_MAXERRORS	1	LOGGERS	3
D_SAFE	0	UPLOAD_DIVES_MAX	-1	W_ADJ_DBAND	2	LOGGERDEVICE1	7
D_CALL	0	CALL_TRIES	5	DBDW	0	LOGGERDEVICE2	35
SURFACE_URGENCY	0	CALL_WAIT	60	LOITER_W_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	LOITER_DBDW	0	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	LOITER_D_TOP	0	COMPASS_DEVICE	66
T_DIVE	60	T_GPS	5	LOITER_D_BOTTOM	0	COMPASS2_DEVICE	-1
T_MISSION	85	N_GPS	100440	LOITER_N_DIVE	0	PHONE_DEVICE	33
T_ABORT	1440	T_RSLEEP	1	CF8_MAXERRORS	20	GPS_DEVICE	48
T_TURN	225	STROBE	0	AH0_24V	350	RAFOS_DEVICE	104
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	AH0_10V	0	NETWORK_DEVICE	-1
T_NO_W	120	RAFOS_CORR_THRESH	60	MINV_24V	11	PRESSURE_DEVICE	34
T_LOITER	0	RAFOS_HIT_WINDOW	3600	MINV_10V	11	XPDR_DEVICE	-1
T_EPIRB	0	RAFOS_MMODEM	0	MAXI_24V	5	SIM_W	0
USE_BATHY	0	PITCH_MIN	230	MAXI_10V	1.5	SEABIRD_T_G	0.004415411
USE_ICE	0	PITCH_MAX	3900	FG_AHR_10V	17.993711	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2520	FG_AHR_24V	25.156076	SEABIRD_T_I	2.6329088e-05
D_OFFGRID	990	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_J	3.2522996e-06
RELAUNCH	1	PITCH_CNV	0.0041299998	PRESSURE_YINT	-158.9099	SEABIRD_C_G	-9.8064938
APOGEE_PITCH	-5	PITCH_GAIN	20	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_H	1.0739573
MAX_BUOY	150	PITCH_TIMEOUT	30	COMPASS_USE	4	SEABIRD_C_I	-0.002841271
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	ALTIM_PING_FIT	0	SEABIRD_C_J	0.00027081851
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.045000002	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	7.0
MASS	72133	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
NAV_MODE	2	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	0	SC_NDIVE	1.0
FERRY_MAX	45	ROLL_MIN	600	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MAX	3400	ALTIM_PING_DELTA	0	PM_PROFILE	7.0
HD_A	0.003	ROLL_DEG	80	ALTIM_FREQUENCY	13	PM_XMITPROFILE	3.0
HD_B	0.0099999998	C_ROLL_DIVE	2100	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_CLIMB	2200	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
HEADING	-1	HEAD_ERRBAND	10	XPDR_VALID	4	PM_MOTORS	1.0
ESCAPE_HEADING	0	ROLL_CNV	0.054945	XPDR_INHIBIT	90	PM_SENDDEPTH	1.0

GPS1	250920,232546,7214.562,-15202.384,1,1.8,4,15.1	TGT_LATLONG	7301.100,-14934.700
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	2.04	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-69.3	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	250920,233031,7214.660,-15202.646,2,1.7,5,15.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	72.8,117478,-17.6,-10.000,-21.24
TGT_NAME	SIO3	D_GRID	180

FREEZE	7.46,0.596,-1.449,0,1,0	INTERNAL_PRESSURE	7.66795
SM_CCo	4226.07,0.00,0.009,0,500.5,584.9,416.1,502.75	_24V_AH	14.49,13.196
SM_GC	4.48,0.00,18.90,3.29,0.000,0.108,0.097,499.0,577.1,421.0,220.3,2084.9,0,0,0,30.00,15.42,15.46	_10V_AH	14.85,0.000
MODEM_MSG	CACST,6,1,20200926003734.637880,18,375,-4,0707,0150,216,04,04,05,04,-1,-01,-01,1,3,0,0,150,0.8,0.61,-100,2.39,-01,0.22,37,925,0025*02	FG_AHR_24Vo	25.399
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	18.051
IRIDIUM_FIX	7216.79,-15203.96,250920,232331	MEM	1152580,31,24328,75
TCM_TEMP	3.38	DATA_FILE_SIZE	19313,712
SC_FREEKB	3875264	CAP_FILE_SIZE	243713,0
PM_FREEKB_00	60622592	SDSIZE	3918848,3811840
PM_ACTIVECARD	0	SDFILEDIR	178,1
RAFOS_CLK	-3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	1,1601079020,75.02295,-144.31340,20.500,30032.2	SOUNDSPEED	1465.0
RAFOS_FIX	7402.746094,-13953.736328,260920,000034,6,255,105.06	CURRENT	16.176, 81.4,1
HUMID	52.25	GPS	250920,233031,7214.660,-15202.646,301,99.0,301,15.1
TEMP	0.88

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	657	2889	27521.83	nil	0	0	0.00
Pitch_motor	43	308	196.36	nil	0	0	0.00
Roll_motor	78	361	411.42	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	14	15	3.29	nil	0	0	0.00
Core	2837	10	426.49	SciCon	4218	6	413.28
LPSleep	1681	1	27.97	PMAR	4229	10	674.54
Compass	1748	5	129.83	nil	0	0	0.00
RAFOS	2217	40	1316.90
Transponder	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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
10.00	16386	-145.99	-1.06	0.00	494.4	558.6	430.2	230.1	2082.1	0.00	0.00	0	53.91	41.88	0.00	0.00	0.005	0.000	0.000	1242.53	1245.00	1240.06	230.25	2082.12	0	0	0	15.61	30.00	30.00
54.18	18727	-145.99	-1.06	80.00	1243.8	1246.3	1241.2	230.2	2082.6	3.29	-4.09	8	139.80	55.33	17.05	3.58	0.005	0.309	0.182	3143.81	3169.12	3118.50	2262.25	3406.50	0	0	0	15.61	15.51	15.56
208.57	3205	-145.99	-0.90	0.00	3146.3	3171.6	3121.0	2263.0	3405.4	32.84	-20.52	38	219.40	0.00	0.28	3.29	0.000	0.208	0.103	3145.41	3170.38	3120.44	2302.38	2086.38	0	0	0	30.00	15.54	15.65
399.07	260	-145.99	-0.90	80.00	3146.7	3173.3	3120.0	2301.1	2086.7	57.87	-11.02	76	405.43	0.00	0.00	3.57	0.000	0.000	0.182	3146.88	3173.31	3120.44	2299.94	3403.81	0	0	0	30.00	30.00	15.65
459.16	1156	-145.99	-0.85	0.00	3144.7	3171.4	3118.0	2301.2	3404.2	64.61	-11.22	88	465.60	0.00	0.00	3.29	0.000	0.000	0.109	3144.94	3171.75	3118.12	2300.75	2087.12	0	0	0	30.00	30.00	15.62
644.35	516	-145.99	-0.85	-80.00	3145.2	3171.7	3118.7	2301.3	2086.3	85.38	-11.28	125	655.40	0.00	0.00	3.99	0.000	0.000	0.213	3148.09	3174.88	3121.31	2300.81	638.31	0	0	0	30.00	30.00	15.67
699.44	3205	-145.99	-0.80	0.00	3145.4	3172.8	3118.0	2301.1	638.1	92.42	-12.80	136	705.96	0.00	0.17	3.66	0.000	0.220	0.115	3148.25	3175.19	3121.31	2326.06	2107.25	0	0	0	30.00	15.70	15.65
884.69	4485	-145.99	-0.91	80.00	3144.9	3171.9	3117.9	2325.4	2107.8	111.55	-10.04	162	891.70	0.00	0.28	3.51	0.000	0.113	0.195	3145.91	3172.94	3118.88	2287.69	3406.06	0	0	0	30.00	15.78	15.66
963.94	3205	-145.99	-0.83	0.00	3144.3	3171.6	3117.1	2287.3	3404.7	121.84	-13.18	178	971.97	0.00	0.27	3.31	0.000	0.200	0.123	3147.94	3175.19	3120.69	2318.19	2088.50	0	0	0	30.00	15.71	15.73
1270.54	4741	-145.99	-0.98	-80.00	3144.6	3171.8	3117.3	2317.8	2087.3	152.79	-9.80	209	1282.12	0.00	0.31	4.01	0.000	0.110	0.228	3145.22	3171.75	3118.69	2271.88	638.75	0	0	0	30.00	15.81	15.67
1341.07	1156	-145.99	-0.93	0.00	3144.9	3171.9	3117.9	2271.1	638.6	161.72	-13.16	223	1347.80	0.00	0.00	3.68	0.000	0.000	0.129	3148.06	3175.25	3120.88	2269.75	2108.44	0	0	0	30.00	30.00	15.78
1516	end dive: TARGET_DEPTH_EXCEEDED
state	1516	begin apogee
1517.11	10243	0.00	-0.25	0.00	3144.6	3171.9	3117.2	2270.1	2209.6	180.92	-10.93	241	1640.88	119.19	1.45	0.05	1.677	0.187	0.362	2547.47	2610.44	2484.50	2459.50	2186.44	0	0	0	12.00	15.78	15.23
1643	end apogee: CONTROL_FINISHED_OK
state	1643	begin climb
1642.86	10759	145.99	1.06	-80.00	2547.1	2609.6	2484.6	2459.7	2186.3	184.91	0.00	253	1775.62	122.67	2.29	4.32	1.565	0.144	0.224	1953.22	2051.06	1855.38	2778.88	739.56	0	0	0	11.58	15.22	14.85
1962.82	21639	145.99	0.77	0.00	1943.3	2032.1	1854.5	2778.1	739.1	156.43	9.97	313	1971.07	0.00	0.62	3.88	0.000	0.233	0.136	1943.25	2032.44	1854.06	2701.75	2205.62	0	0	0	30.00	15.21	15.25
2269.94	10663	253.42	1.04	80.00	1940.0	2029.6	1850.5	2701.8	2206.6	139.62	5.00	344	2368.23	90.29	0.50	3.46	1.537	0.101	0.209	1513.94	1616.06	1411.81	2778.62	3403.75	0	0	0	11.61	15.45	15.02
2540.42	17414	253.42	1.04	0.00	1507.0	1601.1	1412.9	2778.1	3403.3	116.65	8.57	398	2547.94	0.00	0.00	3.18	0.000	0.000	0.121	1507.16	1600.94	1413.38	2778.00	2188.94	0	0	0	30.00	30.00	15.27
2847.20	10403	306.52	1.18	0.00	1503.9	1594.8	1412.9	2778.2	2188.5	91.83	7.53	439	2898.39	46.06	0.17	0.00	1.496	0.125	0.000	1300.53	1402.19	1198.88	2810.56	2188.00	0	0	0	11.61	15.45	30.00
3077.47	644	306.52	1.23	-80.00	1293.9	1391.1	1196.6	2810.7	2187.6	70.71	9.38	485	3089.47	0.00	0.00	4.09	0.000	0.000	0.203	1293.34	1389.94	1196.75	2810.69	737.12	0	0	0	30.00	30.00	15.32
3098.07	1028	306.52	1.23	0.00	1292.7	1388.7	1196.8	2810.4	736.8	68.73	9.49	489	3108.90	0.00	0.00	3.75	0.000	0.000	0.107	1293.81	1389.94	1197.69	2810.25	2210.31	0	0	0	30.00	30.00	15.37
3288.61	18823	306.52	1.33	80.00	1292.1	1388.1	1196.1	2810.7	2210.2	51.51	8.62	527	3298.61	0.00	0.21	3.30	0.000	0.117	0.191	1293.19	1388.75	1197.62	2849.31	3405.19	0	0	0	30.00	15.47	15.41
3383.00	9254	349.96	1.39	0.00	1291.1	1385.9	1196.3	2848.8	3405.6	43.38	7.98	546	3430.20	39.21	0.00	3.10	1.461	0.000	0.108	1123.34	1226.38	1020.31	2848.62	2186.31	0	0	0	11.84	30.00	15.48
3608.49	10663	453.85	1.71	80.00	1118.7	1218.9	1018.5	2849.2	2185.7	29.49	5.17	591	3710.99	92.39	0.56	3.42	1.427	0.097	0.176	700.00	809.19	590.81	2939.19	3404.56	0	0	0	11.65	15.42	15.02
3755.03	9254	499.54	1.76	0.00	697.6	802.8	592.3	2939.6	3404.4	19.05	7.87	620	3806.46	42.25	0.00	3.14	1.354	0.000	0.099	514.00	611.75	416.25	2938.88	2186.00	0	0	0	11.59	30.00	15.14
3985.53	10663	641.44	2.22	80.00	509.9	603.5	416.4	2939.5	2186.8	7.47	3.40	666	3998.10	4.82	0.82	3.36	0.785	0.096	0.169	501.00	591.62	410.38	3065.56	3405.62	0	0	0	11.53	15.26	15.20
4217	end climb: NO_VERTICAL_VELOCITY
state	4217	begin surface