Glider dive log

AMOS Sep20 * SG235 * Dive index * Mission links * Dive 14 * 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 14 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 18.134172 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2520 FG_AHR_24V 25.969027 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 18.134172 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 25.969027 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 14 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 260920,035637,7217.834,-15207.122,262,1.4,268,15.1 TGT_LATLONG 7301.100,-14934.700

_CALLS 5 TGT_RADIUS 3000.000

_SM_DEPTHo 2.13 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -71.1 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 260920,035637,7217.834,-15207.122,301,99.0,301,15.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 75.7,114969,-17.6,-10.000,-21.24

TGT_NAME SIO3 D_GRID 180

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20200926043747.491540,18,66,-11,0275,0150,216,04,04,05,04,-1,-01,-01,1,3,0,0,150,-19.6,0.44,-100,2.56,-01,-0.19,39,925,0025*3F INTERNAL_PRESSURE 7.65758

FREEZE 5.81,0.619,-1.430,0,2,0 _24V_AH 14.48,14.158

SM_CCo 4390.88,0.00,0.000,0,492.7,569.1,416.2,504.67 _10V_AH 14.91,0.000

SM_GC 5.39,0.00,19.36,3.27,0.000,0.115,0.099,492.7,569.1,416.2,219.1,2084.1,0,0,0,30.00,15.47,15.52 FG_AHR_24Vo 26.212

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 18.190

IRIDIUM_FIX 7212.05,-15010.95,260920,022928 MEM 1152524,35,24304,75

TCM_TEMP 3.18 DATA_FILE_SIZE 19352,674

SC_FREEKB 3874304 CAP_FILE_SIZE 181039,0

PM_FREEKB_00 60447808 SDSIZE 3918848,3810944

PM_ACTIVECARD 0 SDFILEDIR 205,1

RAFOS_CLK -8 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 1,1601093540,75.02295,-144.31340,140.716,206149.5 SOUNDSPEED 1465.0

RAFOS_FIX 7617.563477,-13944.541016,260920,040436,3,255,236.67 CURRENT 1.011, 88.4,1

HUMID 52.61 GPS 260920,035637,7217.834,-15207.122,301,99.0,301,15.1

TEMP 0.26

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 651 1675 15799.50 nil 0 0 0.00

Pitch_motor 43 310 197.23 nil 0 0 0.00

Roll_motor 56 369 302.35 nil 0 0 0.00

Iridium 240 121 423.63 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 301 15 67.43 nil 0 0 0.00

Core 3245 10 489.68 SciCon 4175 6 413.27

LPSleep 1929 1 32.21 PMAR 4183 16 1020.41

Compass 1688 5 125.84 nil 0 0 0.00

RAFOS 1819 40 1084.85

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

9.94 16386 -145.99 -1.06 0.00 492.0 560.0 424.0 217.9 2112.7 0.00 0.00 0 48.79 36.88 0.00 0.00 0.005 0.000 0.000 1160.53 1175.44 1145.62 217.50 2113.00 0 0 0 15.73 30.00 30.00

49.08 18727 -145.99 -1.06 80.00 1160.5 1175.2 1145.8 217.9 2113.1 3.65 -3.69 6 130.16 54.27 17.06 3.42 0.005 0.311 0.180 3145.16 3169.31 3121.00 2261.44 3407.38 0 0 0 15.68 15.62 15.66

208.91 3205 -145.99 -0.89 0.00 3144.6 3168.8 3120.4 2262.4 3406.3 37.78 -20.78 37 219.41 0.00 0.31 3.27 0.000 0.214 0.108 3144.38 3168.12 3120.62 2304.25 2086.00 0 0 0 30.00 15.66 15.69

399.00 516 -145.99 -0.89 -80.00 3144.8 3170.1 3119.4 2304.1 2085.9 64.32 -11.89 75 409.99 0.00 0.00 3.93 0.000 0.000 0.209 3146.41 3171.38 3121.44 2305.00 637.19 0 0 0 30.00 30.00 15.64

458.79 1156 -145.99 -0.84 0.00 3144.9 3170.0 3119.8 2303.2 637.6 72.00 -12.92 87 470.08 0.00 0.00 3.64 0.000 0.000 0.110 3145.44 3171.31 3119.56 2304.88 2112.00 0 0 0 30.00 30.00 15.63

649.29 0 -145.99 -0.84 0.00 3145.2 3170.7 3119.7 2304.6 2112.0 94.39 -11.55 125 654.88 0.00 0.00 0.00 0.000 0.000 0.000 3145.00 3171.50 3118.50 2304.56 2111.25 0 0 0 30.00 30.00 30.00

839.17 128 -145.99 -0.89 0.00 3145.1 3171.2 3118.9 2304.8 2110.9 116.25 -11.40 149 842.31 0.00 0.00 0.00 0.000 0.000 0.000 3144.91 3169.69 3120.12 2301.31 2111.06 0 0 0 30.00 30.00 30.00

1139.17 4225 -145.99 -1.01 0.00 3145.8 3172.9 3118.6 2303.9 2111.4 150.18 -10.55 179 1143.13 0.00 0.29 0.00 0.000 0.115 0.000 3144.47 3170.81 3118.12 2263.25 2111.69 0 0 0 30.00 15.71 30.00

1399 end dive: TARGET_DEPTH_EXCEEDED

state 1399 begin apogee

1400.45 10243 0.00 -0.25 0.00 3145.3 3172.0 3118.6 2263.8 2208.2 180.56 -11.24 205 1524.91 120.44 1.51 0.05 1.675 0.185 0.369 2551.38 2614.81 2487.94 2459.69 2185.81 0 0 0 11.82 15.67 15.11

1526 end apogee: CONTROL_FINISHED_OK

state 1526 begin climb

1526.89 10243 145.99 1.06 0.00 2547.2 2609.4 2484.9 2460.7 2185.8 184.94 0.00 217 1655.49 124.27 2.30 0.00 1.570 0.145 0.000 1953.16 2051.62 1854.69 2777.69 2186.31 0 0 0 11.44 15.11 30.00

1951.66 8614 191.70 0.98 80.00 1941.3 2032.5 1850.1 2779.0 2185.1 152.18 7.87 271 1998.54 39.55 0.00 3.49 1.515 0.000 0.206 1765.19 1865.06 1665.31 2779.69 3405.75 0 0 0 11.62 30.00 15.09

2106.79 5253 191.70 0.84 0.00 1760.8 1854.9 1666.8 2779.1 3404.2 138.57 8.88 302 2114.26 0.00 0.49 3.15 0.000 0.217 0.118 1760.41 1854.94 1665.88 2717.50 2186.62 0 0 0 30.00 15.24 15.26

2411.83 10919 298.96 1.15 -80.00 1756.5 1850.4 1662.6 2717.2 2185.8 122.77 5.01 333 2515.56 92.37 0.56 4.18 1.531 0.098 0.214 1330.06 1436.12 1224.00 2804.81 738.00 0 0 0 11.71 15.46 14.99

2564.28 1028 298.96 1.15 0.00 1325.7 1427.8 1223.7 2804.1 738.0 108.58 11.08 363 2571.34 0.00 0.00 3.84 0.000 0.000 0.121 1324.53 1426.56 1222.50 2803.50 2209.31 0 0 0 30.00 30.00 15.16

2868.97 16774 298.96 1.22 80.00 1321.3 1419.6 1223.0 2804.4 2209.1 79.61 8.63 415 2876.39 0.00 0.00 3.33 0.000 0.000 0.195 1320.62 1419.19 1222.06 2803.69 3405.00 0 0 0 30.00 30.00 15.32

2889.62 19591 298.96 1.28 0.00 1320.7 1418.0 1223.4 2804.6 3405.3 77.74 8.82 419 2896.11 0.00 0.17 3.11 0.000 0.131 0.110 1322.12 1419.81 1224.44 2835.50 2187.38 0 0 0 30.00 15.41 15.41

3075.37 16386 298.96 1.28 0.00 1319.7 1415.9 1223.5 2834.6 2187.2 60.55 8.94 456 3080.93 0.00 0.00 0.00 0.000 0.000 0.000 1319.06 1415.19 1222.94 2834.75 2187.12 0 0 0 30.00 30.00 30.00

3260.40 10919 371.71 1.43 -80.00 1318.8 1414.8 1222.9 2833.2 2187.2 46.40 6.62 493 3333.25 64.33 0.20 4.05 1.478 0.120 0.198 1034.62 1143.12 926.12 2872.25 738.50 0 0 0 11.79 15.55 15.20

3371.47 1028 371.71 1.43 0.00 1031.0 1136.6 925.5 2870.9 737.9 37.21 8.86 515 3379.03 0.00 0.00 3.72 0.000 0.000 0.102 1031.53 1136.75 926.31 2873.94 2211.12 0 0 0 30.00 30.00 15.31

3558.05 10663 482.98 1.75 80.00 1028.7 1131.4 925.9 2872.1 2210.7 26.26 4.82 552 3666.16 99.44 0.47 3.36 1.423 0.099 0.180 580.69 685.19 476.19 2949.50 3404.62 0 0 0 11.69 15.42 15.00

3685.16 9254 548.66 1.83 0.00 579.4 681.4 477.4 2948.7 3405.6 18.55 6.94 577 3711.85 19.79 0.00 3.13 1.292 0.000 0.096 500.94 598.00 403.88 2949.75 2186.44 0 0 0 11.43 30.00 15.12

3890.13 10403 682.16 2.24 0.00 496.6 589.0 404.1 2949.2 2186.6 8.38 3.79 618 3896.07 0.00 0.75 0.00 0.000 0.092 0.000 496.59 588.88 404.31 3070.56 2185.56 0 0 0 30.00 15.30 30.00

4075.91 10535 896.68 2.51 80.00 495.7 584.8 406.6 3070.4 2186.1 6.24 0.02 655 4082.74 0.00 0.37 3.30 0.000 0.106 0.166 495.78 584.62 406.94 3131.31 3407.56 0 0 0 30.00 15.41 15.37

4171 end climb: NO_VERTICAL_VELOCITY

state 4171 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	14	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	18.134172	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2520	FG_AHR_24V	25.969027	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	260920,035637,7217.834,-15207.122,262,1.4,268,15.1	TGT_LATLONG	7301.100,-14934.700
_CALLS	5	TGT_RADIUS	3000.000
_SM_DEPTHo	2.13	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-71.1	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	260920,035637,7217.834,-15207.122,301,99.0,301,15.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	75.7,114969,-17.6,-10.000,-21.24
TGT_NAME	SIO3	D_GRID	180

MODEM_MSG	CACST,6,1,20200926043747.491540,18,66,-11,0275,0150,216,04,04,05,04,-1,-01,-01,1,3,0,0,150,-19.6,0.44,-100,2.56,-01,-0.19,39,925,0025*3F	INTERNAL_PRESSURE	7.65758
FREEZE	5.81,0.619,-1.430,0,2,0	_24V_AH	14.48,14.158
SM_CCo	4390.88,0.00,0.000,0,492.7,569.1,416.2,504.67	_10V_AH	14.91,0.000
SM_GC	5.39,0.00,19.36,3.27,0.000,0.115,0.099,492.7,569.1,416.2,219.1,2084.1,0,0,0,30.00,15.47,15.52	FG_AHR_24Vo	26.212
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	18.190
IRIDIUM_FIX	7212.05,-15010.95,260920,022928	MEM	1152524,35,24304,75
TCM_TEMP	3.18	DATA_FILE_SIZE	19352,674
SC_FREEKB	3874304	CAP_FILE_SIZE	181039,0
PM_FREEKB_00	60447808	SDSIZE	3918848,3810944
PM_ACTIVECARD	0	SDFILEDIR	205,1
RAFOS_CLK	-8	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	1,1601093540,75.02295,-144.31340,140.716,206149.5	SOUNDSPEED	1465.0
RAFOS_FIX	7617.563477,-13944.541016,260920,040436,3,255,236.67	CURRENT	1.011, 88.4,1
HUMID	52.61	GPS	260920,035637,7217.834,-15207.122,301,99.0,301,15.1
TEMP	0.26

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	651	1675	15799.50	nil	0	0	0.00
Pitch_motor	43	310	197.23	nil	0	0	0.00
Roll_motor	56	369	302.35	nil	0	0	0.00
Iridium	240	121	423.63	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	301	15	67.43	nil	0	0	0.00
Core	3245	10	489.68	SciCon	4175	6	413.27
LPSleep	1929	1	32.21	PMAR	4183	16	1020.41
Compass	1688	5	125.84	nil	0	0	0.00
RAFOS	1819	40	1084.85
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
9.94	16386	-145.99	-1.06	0.00	492.0	560.0	424.0	217.9	2112.7	0.00	0.00	0	48.79	36.88	0.00	0.00	0.005	0.000	0.000	1160.53	1175.44	1145.62	217.50	2113.00	0	0	0	15.73	30.00	30.00
49.08	18727	-145.99	-1.06	80.00	1160.5	1175.2	1145.8	217.9	2113.1	3.65	-3.69	6	130.16	54.27	17.06	3.42	0.005	0.311	0.180	3145.16	3169.31	3121.00	2261.44	3407.38	0	0	0	15.68	15.62	15.66
208.91	3205	-145.99	-0.89	0.00	3144.6	3168.8	3120.4	2262.4	3406.3	37.78	-20.78	37	219.41	0.00	0.31	3.27	0.000	0.214	0.108	3144.38	3168.12	3120.62	2304.25	2086.00	0	0	0	30.00	15.66	15.69
399.00	516	-145.99	-0.89	-80.00	3144.8	3170.1	3119.4	2304.1	2085.9	64.32	-11.89	75	409.99	0.00	0.00	3.93	0.000	0.000	0.209	3146.41	3171.38	3121.44	2305.00	637.19	0	0	0	30.00	30.00	15.64
458.79	1156	-145.99	-0.84	0.00	3144.9	3170.0	3119.8	2303.2	637.6	72.00	-12.92	87	470.08	0.00	0.00	3.64	0.000	0.000	0.110	3145.44	3171.31	3119.56	2304.88	2112.00	0	0	0	30.00	30.00	15.63
649.29	0	-145.99	-0.84	0.00	3145.2	3170.7	3119.7	2304.6	2112.0	94.39	-11.55	125	654.88	0.00	0.00	0.00	0.000	0.000	0.000	3145.00	3171.50	3118.50	2304.56	2111.25	0	0	0	30.00	30.00	30.00
839.17	128	-145.99	-0.89	0.00	3145.1	3171.2	3118.9	2304.8	2110.9	116.25	-11.40	149	842.31	0.00	0.00	0.00	0.000	0.000	0.000	3144.91	3169.69	3120.12	2301.31	2111.06	0	0	0	30.00	30.00	30.00
1139.17	4225	-145.99	-1.01	0.00	3145.8	3172.9	3118.6	2303.9	2111.4	150.18	-10.55	179	1143.13	0.00	0.29	0.00	0.000	0.115	0.000	3144.47	3170.81	3118.12	2263.25	2111.69	0	0	0	30.00	15.71	30.00
1399	end dive: TARGET_DEPTH_EXCEEDED
state	1399	begin apogee
1400.45	10243	0.00	-0.25	0.00	3145.3	3172.0	3118.6	2263.8	2208.2	180.56	-11.24	205	1524.91	120.44	1.51	0.05	1.675	0.185	0.369	2551.38	2614.81	2487.94	2459.69	2185.81	0	0	0	11.82	15.67	15.11
1526	end apogee: CONTROL_FINISHED_OK
state	1526	begin climb
1526.89	10243	145.99	1.06	0.00	2547.2	2609.4	2484.9	2460.7	2185.8	184.94	0.00	217	1655.49	124.27	2.30	0.00	1.570	0.145	0.000	1953.16	2051.62	1854.69	2777.69	2186.31	0	0	0	11.44	15.11	30.00
1951.66	8614	191.70	0.98	80.00	1941.3	2032.5	1850.1	2779.0	2185.1	152.18	7.87	271	1998.54	39.55	0.00	3.49	1.515	0.000	0.206	1765.19	1865.06	1665.31	2779.69	3405.75	0	0	0	11.62	30.00	15.09
2106.79	5253	191.70	0.84	0.00	1760.8	1854.9	1666.8	2779.1	3404.2	138.57	8.88	302	2114.26	0.00	0.49	3.15	0.000	0.217	0.118	1760.41	1854.94	1665.88	2717.50	2186.62	0	0	0	30.00	15.24	15.26
2411.83	10919	298.96	1.15	-80.00	1756.5	1850.4	1662.6	2717.2	2185.8	122.77	5.01	333	2515.56	92.37	0.56	4.18	1.531	0.098	0.214	1330.06	1436.12	1224.00	2804.81	738.00	0	0	0	11.71	15.46	14.99
2564.28	1028	298.96	1.15	0.00	1325.7	1427.8	1223.7	2804.1	738.0	108.58	11.08	363	2571.34	0.00	0.00	3.84	0.000	0.000	0.121	1324.53	1426.56	1222.50	2803.50	2209.31	0	0	0	30.00	30.00	15.16
2868.97	16774	298.96	1.22	80.00	1321.3	1419.6	1223.0	2804.4	2209.1	79.61	8.63	415	2876.39	0.00	0.00	3.33	0.000	0.000	0.195	1320.62	1419.19	1222.06	2803.69	3405.00	0	0	0	30.00	30.00	15.32
2889.62	19591	298.96	1.28	0.00	1320.7	1418.0	1223.4	2804.6	3405.3	77.74	8.82	419	2896.11	0.00	0.17	3.11	0.000	0.131	0.110	1322.12	1419.81	1224.44	2835.50	2187.38	0	0	0	30.00	15.41	15.41
3075.37	16386	298.96	1.28	0.00	1319.7	1415.9	1223.5	2834.6	2187.2	60.55	8.94	456	3080.93	0.00	0.00	0.00	0.000	0.000	0.000	1319.06	1415.19	1222.94	2834.75	2187.12	0	0	0	30.00	30.00	30.00
3260.40	10919	371.71	1.43	-80.00	1318.8	1414.8	1222.9	2833.2	2187.2	46.40	6.62	493	3333.25	64.33	0.20	4.05	1.478	0.120	0.198	1034.62	1143.12	926.12	2872.25	738.50	0	0	0	11.79	15.55	15.20
3371.47	1028	371.71	1.43	0.00	1031.0	1136.6	925.5	2870.9	737.9	37.21	8.86	515	3379.03	0.00	0.00	3.72	0.000	0.000	0.102	1031.53	1136.75	926.31	2873.94	2211.12	0	0	0	30.00	30.00	15.31
3558.05	10663	482.98	1.75	80.00	1028.7	1131.4	925.9	2872.1	2210.7	26.26	4.82	552	3666.16	99.44	0.47	3.36	1.423	0.099	0.180	580.69	685.19	476.19	2949.50	3404.62	0	0	0	11.69	15.42	15.00
3685.16	9254	548.66	1.83	0.00	579.4	681.4	477.4	2948.7	3405.6	18.55	6.94	577	3711.85	19.79	0.00	3.13	1.292	0.000	0.096	500.94	598.00	403.88	2949.75	2186.44	0	0	0	11.43	30.00	15.12
3890.13	10403	682.16	2.24	0.00	496.6	589.0	404.1	2949.2	2186.6	8.38	3.79	618	3896.07	0.00	0.75	0.00	0.000	0.092	0.000	496.59	588.88	404.31	3070.56	2185.56	0	0	0	30.00	15.30	30.00
4075.91	10535	896.68	2.51	80.00	495.7	584.8	406.6	3070.4	2186.1	6.24	0.02	655	4082.74	0.00	0.37	3.30	0.000	0.106	0.166	495.78	584.62	406.94	3131.31	3407.56	0	0	0	30.00	15.41	15.37
4171	end climb: NO_VERTICAL_VELOCITY
state	4171	begin surface