Glider dive log

AMOS Sep20 * SG235 * Dive index * Mission links * Dive 138 * 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 138 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 300 FILEMGR 0 VBD_DBAND 2 DEVICE1 -1

D_ABORT 750 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 0 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 2 LOGGERDEVICE3 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 LOITER_DBDW 400 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 LOITER_D_TOP 250 COMPASS_DEVICE 66

T_DIVE 100 T_GPS 5 LOITER_D_BOTTOM 400 COMPASS2_DEVICE -1

T_MISSION 300 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 32.833721 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2520 FG_AHR_24V 67.486397 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 300 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 32.833721 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 67.486397 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 100

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 300

C_ROLL_DIVE 2100 LOGGERS 3 PROTOCOL 9 T_NO_W 120

C_VBD 2550 LOITER_DBDW 400 RAFOS_CORR_THRESH 60 T_RSLEEP 1

DBDW 0 LOITER_D_BOTTOM 400 RAFOS_DEVICE 104 T_TURN 225

DEEPGLIDER 0 LOITER_D_TOP 250 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 2 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 138 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 750 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 0 SEABIRD_C_G -9.8064938 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 171020,203459,7148.941,-15142.514,31,1.2,32,15.2 TGT_LATLONG 7149.000,-15142.400

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.78 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -64.5 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 171020,204018,7148.987,-15142.529,2,0.6,3,15.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 67.9,78,-27.2,-10.000,-30.00

TGT_NAME REC D_GRID 300

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20201017203702.102405,18,56,-12,0109,0150,216,00,00,05,02,-1,-01,-01,1,3,0,0,150,-31.0,0.26,-100,2.74,-01,0.05,56,925,0025*14 INTERNAL_PRESSURE 7.6704

FINISH 0.9,1.023897 _24V_AH 14.43,68.721

SM_CCo 5043.78,0.00,0.011,0,499.8,582.4,417.2,502.90 _10V_AH 14.48,0.000

SM_GC 1.62,0.00,18.38,3.19,0.011,0.102,0.088,499.8,582.4,417.2,219.1,2080.9,0,0,0,30.36,15.46,15.49 FG_AHR_24Vo 67.748

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 32.864

IRIDIUM_FIX 7150.17,-15144.29,171020,185218 MEM 1152552,27,24376,78

TCM_TEMP 3.35 DATA_FILE_SIZE 19360,682

SC_FREEKB 3834560 CAP_FILE_SIZE 198028,0

PM_FREEKB_00 39703552 SDSIZE 3918848,3773376

PM_ACTIVECARD 0 SDFILEDIR 1135,1

RAFOS_CLK -17 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 0,1602965263,74.83892,-145.28152,163.725,239856.7 SOUNDSPEED 1465.0

RAFOS_FIX 7602.758789,-13942.436523,171020,202015,5,255,-1813.63 CURRENT 0.087, 28.4,1

HUMID 52.93 GPS 171020,220538,7149.317,-15140.413,2,1.4,5,15.3

TEMP 0.34

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 687 1817 18019.37 nil 0 0 0.00

Pitch_motor 45 316 206.83 nil 0 0 0.00

Roll_motor 66 331 318.88 nil 0 0 0.00

Iridium 201 218 637.26 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.78 nil 0 0 0.00

Core 3017 10 442.20 SciCon 4875 5 403.07

LPSleep 2193 1 35.57 PMAR 4886 9 653.86

Compass 1712 5 124.02 nil 0 0 0.00

RAFOS 0 0 0.00

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

11.40 16386 -63.62 -1.44 0.00 492.8 561.5 424.1 219.1 2079.1 0.00 0.00 0 90.64 77.45 0.00 0.00 0.005 0.000 0.000 1831.09 1828.31 1833.88 219.25 2077.56 0 0 0 15.28 30.00 30.00

90.89 18727 -139.25 -1.53 80.00 1830.4 1828.4 1832.4 219.2 2078.1 3.11 -2.00 15 160.61 43.02 16.80 3.45 0.005 0.316 0.161 3117.59 3135.75 3099.44 2148.81 3408.12 0 0 0 15.35 15.25 15.37

239.57 1028 -139.25 -1.53 0.00 3117.1 3134.2 3100.0 2146.2 3408.3 38.78 -29.91 44 246.46 0.00 0.00 3.23 0.000 0.000 0.095 3118.59 3136.50 3100.69 2149.06 2081.75 0 0 0 30.00 30.00 15.39

425.47 4741 -139.25 -1.65 -80.00 3116.6 3134.8 3098.4 2147.2 2079.9 77.93 -18.39 81 436.29 0.00 0.25 3.77 0.000 0.115 0.175 3117.97 3135.56 3100.38 2108.62 636.38 0 0 0 30.00 15.53 15.47

538.70 3205 -139.25 -1.49 0.00 3117.3 3135.8 3098.9 2109.1 636.5 104.25 -23.25 104 546.84 0.00 0.40 3.56 0.000 0.231 0.093 3118.06 3136.31 3099.81 2157.00 2113.12 0 0 0 30.00 15.50 15.55

845.30 4485 -139.25 -1.67 80.00 3117.2 3135.8 3098.7 2157.3 2113.4 153.34 -14.30 135 852.34 0.00 0.34 3.34 0.000 0.114 0.171 3117.56 3135.44 3099.69 2101.44 3410.56 0 0 0 30.00 15.63 15.55

894.55 3205 -139.25 -1.53 0.00 3117.3 3135.4 3099.3 2101.6 3407.6 162.04 -17.88 145 902.60 0.00 0.39 3.22 0.000 0.228 0.105 3118.88 3137.50 3100.25 2147.56 2085.56 0 0 0 30.00 15.57 15.57

1201.05 4225 -139.25 -1.72 0.00 3117.0 3135.6 3098.4 2148.2 2085.7 200.18 -11.45 176 1204.09 0.00 0.35 0.00 0.000 0.117 0.000 3118.97 3137.94 3100.00 2090.94 2084.75 0 0 0 30.00 15.70 30.00

1501.40 128 -139.25 -1.77 0.00 3116.0 3134.6 3097.4 2092.7 2085.0 242.24 -14.18 206 1504.29 0.00 0.00 0.00 0.000 0.000 0.000 3115.81 3134.62 3097.00 2093.00 2084.94 0 0 0 30.00 30.00 30.00

1800.77 644 -139.25 -1.83 -80.00 3116.2 3135.1 3097.4 2091.9 2084.0 285.02 -14.04 236 1808.22 0.00 0.00 3.85 0.000 0.000 0.217 3116.12 3134.75 3097.50 2092.81 636.56 0 0 0 30.00 30.00 15.70

1856.95 1156 -139.25 -1.72 0.00 3117.5 3136.9 3098.1 2092.5 636.4 293.94 -16.19 247 1864.21 0.00 0.00 3.59 0.000 0.000 0.121 3117.19 3136.50 3097.88 2092.31 2111.06 0 0 0 30.00 30.00 15.75

1902 end dive: TARGET_DEPTH_EXCEEDED

state 1902 begin apogee

1903.63 10243 0.00 -0.25 0.00 3117.2 3136.2 3098.2 2092.2 2213.4 300.78 -14.85 252 2026.50 116.86 2.82 0.05 1.817 0.213 0.331 2546.38 2607.88 2484.88 2458.12 2187.50 0 0 0 11.86 15.71 15.16

2029 end apogee: CONTROL_FINISHED_OK

state 2029 begin climb

2028.92 10243 139.25 1.53 0.00 2547.3 2609.1 2485.5 2457.9 2188.1 303.82 0.00 258 2156.21 120.78 3.10 0.00 1.703 0.130 0.000 1981.31 2077.00 1885.62 2891.31 2188.00 0 0 0 11.58 15.17 30.00

2451.84 20871 139.25 1.36 80.00 1969.1 2058.4 1879.8 2892.8 2188.0 230.50 20.05 298 2459.34 0.00 0.44 3.24 0.000 0.248 0.180 1970.72 2059.69 1881.75 2845.31 3409.69 0 0 0 30.00 15.28 15.29

2487.57 21639 139.25 1.23 0.00 1966.5 2054.2 1878.8 2845.4 3408.6 223.54 19.38 305 2494.99 0.00 0.23 3.03 0.000 0.253 0.099 1967.34 2053.81 1880.88 2811.19 2182.69 0 0 0 30.00 15.28 15.35

2792.59 18563 139.25 1.35 0.00 1965.9 2053.6 1878.1 2813.1 2183.2 179.53 13.57 336 2796.45 0.00 0.26 0.00 0.000 0.115 0.000 1966.09 2053.31 1878.88 2851.38 2182.75 0 0 0 30.00 15.50 30.00

3092.78 16774 139.25 1.40 80.00 1966.4 2053.4 1879.4 2851.2 2183.2 141.95 10.46 366 3100.01 0.00 0.00 3.15 0.000 0.000 0.166 1965.19 2052.75 1877.62 2851.06 3406.31 0 0 0 30.00 30.00 15.55

3212.23 17542 139.25 1.34 0.00 1964.2 2050.6 1877.8 2850.9 3406.6 129.08 10.45 390 3219.65 0.00 0.00 2.96 0.000 0.000 0.092 1967.25 2053.69 1880.81 2851.75 2180.44 0 0 0 30.00 30.00 15.63

3518.34 8354 169.26 1.46 0.00 1964.7 2050.8 1878.6 2850.9 2180.2 105.43 6.83 421 3549.61 26.38 0.00 0.00 1.526 0.000 0.000 1859.00 1949.62 1768.38 2851.81 2180.75 0 0 0 11.74 30.00 30.00

3848.37 10663 190.24 1.62 80.00 1852.8 1942.1 1763.4 2851.2 2180.2 78.72 7.78 479 3876.31 20.43 0.40 3.17 1.467 0.111 0.165 1773.62 1866.56 1680.69 2917.75 3410.50 0 0 0 11.73 15.64 15.40

3884.56 1028 190.24 1.62 0.00 1771.5 1865.4 1677.7 2917.8 3410.8 75.42 9.08 486 3890.92 0.00 0.00 2.96 0.000 0.000 0.088 1773.25 1866.56 1679.94 2917.31 2181.56 0 0 0 30.00 30.00 15.51

4069.55 516 190.24 1.62 -80.00 1768.5 1861.1 1675.9 2916.9 2181.3 59.07 8.78 523 4077.10 0.00 0.00 3.74 0.000 0.000 0.170 1768.44 1860.81 1676.06 2916.75 734.94 0 0 0 30.00 30.00 15.56

4160.89 13479 214.39 1.50 0.00 1767.8 1859.5 1676.2 2917.5 734.9 51.63 7.45 541 4192.50 23.83 0.33 3.54 1.453 0.252 0.090 1676.19 1774.44 1577.94 2881.19 2215.81 0 0 0 11.79 15.56 15.63

4371.51 10663 278.73 1.82 80.00 1670.4 1765.9 1574.9 2880.6 2216.1 43.69 3.20 583 4439.07 59.56 0.61 3.13 1.462 0.108 0.169 1412.72 1517.31 1308.12 2967.56 3408.44 0 0 0 11.76 15.52 15.22

4442.36 11431 341.65 1.99 0.00 1412.0 1515.6 1308.4 2967.4 3407.8 41.16 3.35 597 4505.97 57.12 0.23 2.99 1.400 0.127 0.083 1157.78 1272.12 1043.44 3007.81 2178.94 0 0 0 11.61 15.34 15.34

4684.90 16774 341.65 2.03 80.00 1148.9 1255.8 1042.1 3005.1 2176.8 17.27 12.13 645 4690.75 0.00 0.00 3.20 0.000 0.000 0.159 1148.75 1255.62 1041.88 3004.19 3408.81 0 0 0 30.00 30.00 15.32

4859 end climb: SURFACE_DEPTH_REACHED

state 4859 begin surface coast

4870 end surface coast: CONTROL_FINISHED_OK

state 4870 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	138	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	300	FILEMGR	0	VBD_DBAND	2	DEVICE1	-1
D_ABORT	750	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	0	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	2	LOGGERDEVICE3	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	LOITER_DBDW	400	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	LOITER_D_TOP	250	COMPASS_DEVICE	66
T_DIVE	100	T_GPS	5	LOITER_D_BOTTOM	400	COMPASS2_DEVICE	-1
T_MISSION	300	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	32.833721	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2520	FG_AHR_24V	67.486397	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	171020,203459,7148.941,-15142.514,31,1.2,32,15.2	TGT_LATLONG	7149.000,-15142.400
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.78	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-64.5	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	171020,204018,7148.987,-15142.529,2,0.6,3,15.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	67.9,78,-27.2,-10.000,-30.00
TGT_NAME	REC	D_GRID	300

MODEM_MSG	CACST,6,1,20201017203702.102405,18,56,-12,0109,0150,216,00,00,05,02,-1,-01,-01,1,3,0,0,150,-31.0,0.26,-100,2.74,-01,0.05,56,925,0025*14	INTERNAL_PRESSURE	7.6704
FINISH	0.9,1.023897	_24V_AH	14.43,68.721
SM_CCo	5043.78,0.00,0.011,0,499.8,582.4,417.2,502.90	_10V_AH	14.48,0.000
SM_GC	1.62,0.00,18.38,3.19,0.011,0.102,0.088,499.8,582.4,417.2,219.1,2080.9,0,0,0,30.36,15.46,15.49	FG_AHR_24Vo	67.748
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	32.864
IRIDIUM_FIX	7150.17,-15144.29,171020,185218	MEM	1152552,27,24376,78
TCM_TEMP	3.35	DATA_FILE_SIZE	19360,682
SC_FREEKB	3834560	CAP_FILE_SIZE	198028,0
PM_FREEKB_00	39703552	SDSIZE	3918848,3773376
PM_ACTIVECARD	0	SDFILEDIR	1135,1
RAFOS_CLK	-17	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1602965263,74.83892,-145.28152,163.725,239856.7	SOUNDSPEED	1465.0
RAFOS_FIX	7602.758789,-13942.436523,171020,202015,5,255,-1813.63	CURRENT	0.087, 28.4,1
HUMID	52.93	GPS	171020,220538,7149.317,-15140.413,2,1.4,5,15.3
TEMP	0.34

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	687	1817	18019.37	nil	0	0	0.00
Pitch_motor	45	316	206.83	nil	0	0	0.00
Roll_motor	66	331	318.88	nil	0	0	0.00
Iridium	201	218	637.26	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.78	nil	0	0	0.00
Core	3017	10	442.20	SciCon	4875	5	403.07
LPSleep	2193	1	35.57	PMAR	4886	9	653.86
Compass	1712	5	124.02	nil	0	0	0.00
RAFOS	0	0	0.00
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
11.40	16386	-63.62	-1.44	0.00	492.8	561.5	424.1	219.1	2079.1	0.00	0.00	0	90.64	77.45	0.00	0.00	0.005	0.000	0.000	1831.09	1828.31	1833.88	219.25	2077.56	0	0	0	15.28	30.00	30.00
90.89	18727	-139.25	-1.53	80.00	1830.4	1828.4	1832.4	219.2	2078.1	3.11	-2.00	15	160.61	43.02	16.80	3.45	0.005	0.316	0.161	3117.59	3135.75	3099.44	2148.81	3408.12	0	0	0	15.35	15.25	15.37
239.57	1028	-139.25	-1.53	0.00	3117.1	3134.2	3100.0	2146.2	3408.3	38.78	-29.91	44	246.46	0.00	0.00	3.23	0.000	0.000	0.095	3118.59	3136.50	3100.69	2149.06	2081.75	0	0	0	30.00	30.00	15.39
425.47	4741	-139.25	-1.65	-80.00	3116.6	3134.8	3098.4	2147.2	2079.9	77.93	-18.39	81	436.29	0.00	0.25	3.77	0.000	0.115	0.175	3117.97	3135.56	3100.38	2108.62	636.38	0	0	0	30.00	15.53	15.47
538.70	3205	-139.25	-1.49	0.00	3117.3	3135.8	3098.9	2109.1	636.5	104.25	-23.25	104	546.84	0.00	0.40	3.56	0.000	0.231	0.093	3118.06	3136.31	3099.81	2157.00	2113.12	0	0	0	30.00	15.50	15.55
845.30	4485	-139.25	-1.67	80.00	3117.2	3135.8	3098.7	2157.3	2113.4	153.34	-14.30	135	852.34	0.00	0.34	3.34	0.000	0.114	0.171	3117.56	3135.44	3099.69	2101.44	3410.56	0	0	0	30.00	15.63	15.55
894.55	3205	-139.25	-1.53	0.00	3117.3	3135.4	3099.3	2101.6	3407.6	162.04	-17.88	145	902.60	0.00	0.39	3.22	0.000	0.228	0.105	3118.88	3137.50	3100.25	2147.56	2085.56	0	0	0	30.00	15.57	15.57
1201.05	4225	-139.25	-1.72	0.00	3117.0	3135.6	3098.4	2148.2	2085.7	200.18	-11.45	176	1204.09	0.00	0.35	0.00	0.000	0.117	0.000	3118.97	3137.94	3100.00	2090.94	2084.75	0	0	0	30.00	15.70	30.00
1501.40	128	-139.25	-1.77	0.00	3116.0	3134.6	3097.4	2092.7	2085.0	242.24	-14.18	206	1504.29	0.00	0.00	0.00	0.000	0.000	0.000	3115.81	3134.62	3097.00	2093.00	2084.94	0	0	0	30.00	30.00	30.00
1800.77	644	-139.25	-1.83	-80.00	3116.2	3135.1	3097.4	2091.9	2084.0	285.02	-14.04	236	1808.22	0.00	0.00	3.85	0.000	0.000	0.217	3116.12	3134.75	3097.50	2092.81	636.56	0	0	0	30.00	30.00	15.70
1856.95	1156	-139.25	-1.72	0.00	3117.5	3136.9	3098.1	2092.5	636.4	293.94	-16.19	247	1864.21	0.00	0.00	3.59	0.000	0.000	0.121	3117.19	3136.50	3097.88	2092.31	2111.06	0	0	0	30.00	30.00	15.75
1902	end dive: TARGET_DEPTH_EXCEEDED
state	1902	begin apogee
1903.63	10243	0.00	-0.25	0.00	3117.2	3136.2	3098.2	2092.2	2213.4	300.78	-14.85	252	2026.50	116.86	2.82	0.05	1.817	0.213	0.331	2546.38	2607.88	2484.88	2458.12	2187.50	0	0	0	11.86	15.71	15.16
2029	end apogee: CONTROL_FINISHED_OK
state	2029	begin climb
2028.92	10243	139.25	1.53	0.00	2547.3	2609.1	2485.5	2457.9	2188.1	303.82	0.00	258	2156.21	120.78	3.10	0.00	1.703	0.130	0.000	1981.31	2077.00	1885.62	2891.31	2188.00	0	0	0	11.58	15.17	30.00
2451.84	20871	139.25	1.36	80.00	1969.1	2058.4	1879.8	2892.8	2188.0	230.50	20.05	298	2459.34	0.00	0.44	3.24	0.000	0.248	0.180	1970.72	2059.69	1881.75	2845.31	3409.69	0	0	0	30.00	15.28	15.29
2487.57	21639	139.25	1.23	0.00	1966.5	2054.2	1878.8	2845.4	3408.6	223.54	19.38	305	2494.99	0.00	0.23	3.03	0.000	0.253	0.099	1967.34	2053.81	1880.88	2811.19	2182.69	0	0	0	30.00	15.28	15.35
2792.59	18563	139.25	1.35	0.00	1965.9	2053.6	1878.1	2813.1	2183.2	179.53	13.57	336	2796.45	0.00	0.26	0.00	0.000	0.115	0.000	1966.09	2053.31	1878.88	2851.38	2182.75	0	0	0	30.00	15.50	30.00
3092.78	16774	139.25	1.40	80.00	1966.4	2053.4	1879.4	2851.2	2183.2	141.95	10.46	366	3100.01	0.00	0.00	3.15	0.000	0.000	0.166	1965.19	2052.75	1877.62	2851.06	3406.31	0	0	0	30.00	30.00	15.55
3212.23	17542	139.25	1.34	0.00	1964.2	2050.6	1877.8	2850.9	3406.6	129.08	10.45	390	3219.65	0.00	0.00	2.96	0.000	0.000	0.092	1967.25	2053.69	1880.81	2851.75	2180.44	0	0	0	30.00	30.00	15.63
3518.34	8354	169.26	1.46	0.00	1964.7	2050.8	1878.6	2850.9	2180.2	105.43	6.83	421	3549.61	26.38	0.00	0.00	1.526	0.000	0.000	1859.00	1949.62	1768.38	2851.81	2180.75	0	0	0	11.74	30.00	30.00
3848.37	10663	190.24	1.62	80.00	1852.8	1942.1	1763.4	2851.2	2180.2	78.72	7.78	479	3876.31	20.43	0.40	3.17	1.467	0.111	0.165	1773.62	1866.56	1680.69	2917.75	3410.50	0	0	0	11.73	15.64	15.40
3884.56	1028	190.24	1.62	0.00	1771.5	1865.4	1677.7	2917.8	3410.8	75.42	9.08	486	3890.92	0.00	0.00	2.96	0.000	0.000	0.088	1773.25	1866.56	1679.94	2917.31	2181.56	0	0	0	30.00	30.00	15.51
4069.55	516	190.24	1.62	-80.00	1768.5	1861.1	1675.9	2916.9	2181.3	59.07	8.78	523	4077.10	0.00	0.00	3.74	0.000	0.000	0.170	1768.44	1860.81	1676.06	2916.75	734.94	0	0	0	30.00	30.00	15.56
4160.89	13479	214.39	1.50	0.00	1767.8	1859.5	1676.2	2917.5	734.9	51.63	7.45	541	4192.50	23.83	0.33	3.54	1.453	0.252	0.090	1676.19	1774.44	1577.94	2881.19	2215.81	0	0	0	11.79	15.56	15.63
4371.51	10663	278.73	1.82	80.00	1670.4	1765.9	1574.9	2880.6	2216.1	43.69	3.20	583	4439.07	59.56	0.61	3.13	1.462	0.108	0.169	1412.72	1517.31	1308.12	2967.56	3408.44	0	0	0	11.76	15.52	15.22
4442.36	11431	341.65	1.99	0.00	1412.0	1515.6	1308.4	2967.4	3407.8	41.16	3.35	597	4505.97	57.12	0.23	2.99	1.400	0.127	0.083	1157.78	1272.12	1043.44	3007.81	2178.94	0	0	0	11.61	15.34	15.34
4684.90	16774	341.65	2.03	80.00	1148.9	1255.8	1042.1	3005.1	2176.8	17.27	12.13	645	4690.75	0.00	0.00	3.20	0.000	0.000	0.159	1148.75	1255.62	1041.88	3004.19	3408.81	0	0	0	30.00	30.00	15.32
4859	end climb: SURFACE_DEPTH_REACHED
state	4859	begin surface coast
4870	end surface coast: CONTROL_FINISHED_OK
state	4870	begin surface