Glider dive log

AMOS 28Aug20 * SG235 * Dive index * Mission links * Dive 2 * 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 5 FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_REP 0

DIVE 2 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 2 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 511.26248 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 C_VBD 2625 MOTHERBOARD 6

D_TGT 210 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 0 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 70 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 11.736629 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2575 FG_AHR_24V 15.099951 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 -158.7446 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 2000 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_CLIMB 1935 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 210 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 11.736629 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 15.099951 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 511.26248

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 70

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 2575 LOGGERDEVICE3 -1 PRESSURE_SLOPE 0.00022957686 T_LOITER 0

C_ROLL_CLIMB 1935 LOGGERDEVICE4 -1 PRESSURE_YINT -158.7446 T_MISSION 85

C_ROLL_DIVE 2000 LOGGERS 3 PROTOCOL 9 T_NO_W 120

C_VBD 2625 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 2 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 250 MISSION 5 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 0

D_FLARE 3 NOCOMM_ACTION 163 SC_NDIVE 1.0 XPDR_DEVICE -1

D_NO_BLEED 500 N_DIVES 2 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 280820,160342,4721.280,-12832.017,1,0.8,2,16.0 TGT_LATLONG 4722.800,-12831.800

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.65 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -68.0 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 280820,160627,4721.279,-12831.998,3,0.8,4,16.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 343.4,2828,-17.6,-10.000,-21.24

TGT_NAME ans0 D_GRID 210

Post-dive calculations and measurements:

NET_PING 3548,0,1099.588257,0.000000 RAFOS_FIX 4720.818359,-12832.752930,280820,171701,1,2,0.40

NET CACST,6,0,20200828171517.184045,05,32767,45,0141,0150,07,00,00,00,00,1,000,235,0,5,3,0,150,24.8,148.00,-100,-145.00,-01,-0.20,47,10000,5000*51 HUMID 57.53

f698c024406bfd14c1d1f47c6bcc5b7604a835e9 *37 TEMP 11.98

MODEM_MSG CACST,6,1,20200828170308.034991,18,204,-7,0148,0150,216,04,04,05,04,-1,-01,-01,1,3,1,0,150,-4.8,0.00,-100,3.00,-01,0.00,39,925,0025*2B INTERNAL_PRESSURE 8.10762

_906033ae8171d4369a28362 *58 _24V_AH 15.18,7.187

FINISH 1.0,1.023027 _10V_AH 15.00,0.000

SM_CCo 4442.34,0.00,0.000,0,540.7,612.0,469.4,511.28 FG_AHR_24Vo 15.285

SM_GC 1.60,0.00,16.67,3.24,0.000,0.055,0.069,540.7,612.0,469.4,216.6,2016.6,0,0,0,30.00,15.86,15.89 FG_AHR_10Vo 11.795

SUPER 27,71,254,1,0,0 MEM 1151580,46,24768,88

IRIDIUM_FIX 4720.45,-12832.64,280820,160203 DATA_FILE_SIZE 19332,706

TCM_TEMP 15.85 CAP_FILE_SIZE 223028,0

SC_FREEKB 3878144 SDSIZE 3918848,3815520

PM_FREEKB_00 61648000 SDFILEDIR 91,1

PM_FREEKB_01 62343040 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 0 SOUNDSPEED 1465.0

RAFOS_CLK 0 CURRENT 0.024, 8.7,1

MODEM 0,1598634001,47.36860,-128.52921,1.804,2711.6 GPS 280820,172141,4721.719,-12832.266,2,1.1,3,16.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 585 1385 12316.08 nil 0 0 0.00

Pitch_motor 38 260 153.62 nil 0 0 0.00

Roll_motor 90 427 589.78 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 13 15 2.95 nil 0 0 0.00

Core 3107 10 471.79 SciCon 4385 6 402.28

LPSleep 1357 1 22.81 PMAR 4397 19 1285.40

Compass 1761 5 132.14 nil 0 0 0.00

RAFOS 431 40 258.60

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

10.52 16386 -145.99 -1.06 0.00 537.2 592.0 482.4 215.1 2023.6 0.00 0.00 0 85.07 72.49 0.00 0.00 0.005 0.000 0.000 2341.34 2346.50 2336.19 215.31 2024.06 0 0 0 16.02 30.00 30.00

85.38 18983 -145.99 -1.06 -80.00 2339.7 2344.2 2335.1 215.6 2023.8 3.01 -2.18 14 135.07 22.42 15.19 3.53 0.006 0.260 0.164 3219.47 3251.62 3187.31 2317.00 591.69 0 0 0 16.04 15.93 15.96

168.81 3205 -145.99 -0.82 0.00 3219.1 3250.4 3187.9 2318.1 591.6 17.24 -19.00 30 180.14 0.00 0.39 3.24 0.000 0.167 0.075 3221.91 3253.81 3190.00 2379.00 2017.00 0 0 0 30.00 16.01 16.07

359.32 4741 -145.99 -0.92 -80.00 3219.1 3251.1 3187.1 2378.4 2015.9 43.32 -10.41 68 370.71 0.00 0.25 3.54 0.000 0.075 0.174 3220.59 3252.81 3188.38 2329.50 592.62 0 0 0 30.00 16.08 16.04

389.65 1028 -145.99 -0.92 0.00 3219.8 3251.4 3188.3 2329.5 592.4 47.21 -12.77 74 396.25 0.00 0.00 3.24 0.000 0.000 0.080 3219.56 3252.00 3187.12 2329.88 2015.62 0 0 0 30.00 30.00 16.07

575.99 676 -145.99 -0.99 -80.00 3219.4 3251.2 3187.6 2329.7 2015.5 67.70 -9.74 111 587.34 0.00 0.00 3.56 0.000 0.000 0.182 3220.88 3253.38 3188.38 2329.44 593.25 0 0 0 30.00 30.00 16.05

651.39 1028 -145.99 -0.99 0.00 3219.7 3251.9 3187.4 2329.7 592.9 76.22 -11.91 126 657.93 0.00 0.00 3.28 0.000 0.000 0.093 3222.03 3253.75 3190.31 2329.81 2014.19 0 0 0 30.00 30.00 16.02

840.17 644 -145.99 -1.04 -80.00 3220.3 3253.3 3187.4 2329.8 2013.4 96.19 -10.69 164 851.29 0.00 0.00 3.59 0.000 0.000 0.199 3220.44 3253.06 3187.81 2329.94 594.44 0 0 0 30.00 30.00 15.97

943.85 1156 -145.99 -0.99 0.00 3219.9 3253.2 3186.6 2330.2 594.1 109.59 -12.87 185 951.81 0.00 0.00 3.33 0.000 0.000 0.113 3220.34 3253.25 3187.44 2329.81 2010.81 0 0 0 30.00 30.00 16.11

1250.94 676 -145.99 -1.10 -80.00 3220.2 3253.4 3187.1 2329.6 2011.2 137.91 -9.26 216 1257.57 0.00 0.00 3.66 0.000 0.000 0.219 3222.31 3255.25 3189.38 2328.94 593.50 0 0 0 30.00 30.00 16.00

1346.27 5285 -145.99 -1.17 0.00 3219.7 3252.9 3186.6 2328.4 593.9 147.08 -8.75 235 1353.31 0.00 0.26 3.37 0.000 0.074 0.125 3219.88 3253.56 3186.19 2270.12 2008.56 0 0 0 30.00 16.09 16.00

1658.51 516 -145.99 -1.17 -80.00 3219.6 3253.3 3185.9 2269.0 2007.6 180.96 -11.17 267 1665.79 0.00 0.00 3.69 0.000 0.000 0.236 3222.53 3256.50 3188.56 2269.44 594.94 0 0 0 30.00 30.00 15.99

1884 end dive: TARGET_DEPTH_EXCEEDED

state 1884 begin apogee

1889.34 10243 0.00 -0.25 0.00 3219.1 3253.2 3184.9 2269.1 1943.0 210.18 -12.60 312 2001.80 104.03 1.66 0.04 1.386 0.149 0.427 2624.59 2692.31 2556.88 2515.44 1914.50 0 0 0 12.04 16.09 15.72

2004 end apogee: CONTROL_FINISHED_OK

state 2004 begin climb

2004.02 10503 145.99 1.06 80.00 2622.1 2689.1 2555.1 2516.2 1914.9 212.74 0.00 324 2122.95 107.64 1.97 3.96 1.358 0.084 0.209 2025.69 2113.06 1938.31 2837.38 3395.00 0 0 0 11.90 15.73 15.49

2191.54 21639 145.99 0.76 0.00 2020.6 2102.6 1938.6 2837.8 3394.5 197.39 11.94 360 2198.84 0.00 0.62 3.71 0.000 0.199 0.153 2019.91 2102.19 1937.62 2752.69 1925.62 0 0 0 30.00 15.67 15.65

2496.73 10663 238.21 0.94 80.00 2017.1 2099.8 1934.3 2752.6 1926.5 176.95 5.71 391 2573.36 67.45 0.33 3.84 1.323 0.079 0.192 1651.69 1743.75 1559.62 2815.06 3394.81 0 0 0 11.99 15.92 15.64

2617.04 9254 242.22 0.95 0.00 1647.1 1734.6 1559.7 2814.3 3395.4 166.30 9.81 415 2628.38 4.90 0.00 3.65 0.680 0.000 0.141 1637.16 1724.75 1549.56 2815.25 1924.56 0 0 0 11.85 30.00 15.73

2931.68 8870 253.00 1.03 -80.00 1632.3 1717.3 1547.2 2815.6 1925.2 135.11 9.50 448 2949.30 10.04 0.00 3.51 1.065 0.000 0.231 1590.72 1674.69 1506.75 2815.56 595.00 0 0 0 11.99 30.00 15.81

3001.46 1028 253.00 1.03 0.00 1590.4 1672.7 1508.2 2814.4 595.1 127.52 11.52 462 3009.50 0.00 0.00 3.20 0.000 0.000 0.110 1590.03 1672.12 1507.94 2815.62 1946.44 0 0 0 30.00 30.00 15.92

3309.35 10663 327.37 1.27 80.00 1588.0 1668.7 1507.2 2813.8 1946.1 103.53 6.54 493 3377.51 56.58 0.41 3.71 1.276 0.070 0.182 1291.31 1383.94 1198.69 2896.56 3397.06 0 0 0 11.96 15.99 15.73

3411.09 1028 327.37 1.27 0.00 1287.3 1376.7 1198.0 2897.4 3396.9 93.38 10.99 513 3417.78 0.00 0.00 3.59 0.000 0.000 0.125 1287.88 1376.88 1198.88 2896.69 1923.50 0 0 0 30.00 30.00 15.70

3598.14 516 327.37 1.27 -80.00 1283.6 1371.1 1196.2 2895.4 1924.0 72.43 11.26 550 3605.08 0.00 0.00 3.44 0.000 0.000 0.212 1283.75 1371.50 1196.00 2896.81 593.56 0 0 0 30.00 30.00 15.84

3638.64 5253 327.37 1.16 0.00 1283.1 1369.8 1196.4 2896.8 593.9 67.56 12.37 558 3645.34 0.00 0.38 3.17 0.000 0.197 0.097 1283.53 1369.75 1197.31 2848.56 1947.19 0 0 0 30.00 15.87 15.92

3823.63 10663 370.49 1.45 80.00 1282.1 1369.6 1194.6 2848.8 1947.8 52.36 7.99 595 3866.48 32.94 0.51 3.64 1.203 0.064 0.171 1114.56 1207.94 1021.19 2938.56 3395.81 0 0 0 11.99 15.98 15.81

3939.74 9254 380.19 1.46 0.00 1112.1 1202.9 1021.4 2937.2 3396.8 41.19 9.55 618 3956.49 9.57 0.00 3.51 0.989 0.000 0.111 1075.72 1167.62 983.81 2938.69 1921.06 0 0 0 12.01 30.00 15.79

4136.16 10919 471.38 1.67 -80.00 1072.0 1162.9 981.2 2938.7 1921.8 28.34 5.76 657 4214.56 68.41 0.25 3.40 1.187 0.083 0.185 703.03 804.06 602.00 2990.81 592.75 0 0 0 11.97 15.95 15.68

4379 end climb: SURFACE_DEPTH_REACHED

state 4379 begin surface coast

4384 end surface coast: CONTROL_FINISHED_OK

state 4384 begin surface

ID	235	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	5	FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	2	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	2	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	511.26248	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	C_VBD	2625	MOTHERBOARD	6
D_TGT	210	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	0	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	70	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	11.736629	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2575	FG_AHR_24V	15.099951	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	-158.7446	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	2000	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_CLIMB	1935	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	280820,160342,4721.280,-12832.017,1,0.8,2,16.0	TGT_LATLONG	4722.800,-12831.800
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.65	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-68.0	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	280820,160627,4721.279,-12831.998,3,0.8,4,16.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	343.4,2828,-17.6,-10.000,-21.24
TGT_NAME	ans0	D_GRID	210

NET_PING	3548,0,1099.588257,0.000000	RAFOS_FIX	4720.818359,-12832.752930,280820,171701,1,2,0.40
NET	CACST,6,0,20200828171517.184045,05,32767,45,0141,0150,07,00,00,00,00,1,000,235,0,5,3,0,150,24.8,148.00,-100,-145.00,-01,-0.20,47,10000,5000*51	HUMID	57.53
f698c024406bfd14c1d1f47c6bcc5b7604a835e9	*37	TEMP	11.98
MODEM_MSG	CACST,6,1,20200828170308.034991,18,204,-7,0148,0150,216,04,04,05,04,-1,-01,-01,1,3,1,0,150,-4.8,0.00,-100,3.00,-01,0.00,39,925,0025*2B	INTERNAL_PRESSURE	8.10762
_906033ae8171d4369a28362	*58	_24V_AH	15.18,7.187
FINISH	1.0,1.023027	_10V_AH	15.00,0.000
SM_CCo	4442.34,0.00,0.000,0,540.7,612.0,469.4,511.28	FG_AHR_24Vo	15.285
SM_GC	1.60,0.00,16.67,3.24,0.000,0.055,0.069,540.7,612.0,469.4,216.6,2016.6,0,0,0,30.00,15.86,15.89	FG_AHR_10Vo	11.795
SUPER	27,71,254,1,0,0	MEM	1151580,46,24768,88
IRIDIUM_FIX	4720.45,-12832.64,280820,160203	DATA_FILE_SIZE	19332,706
TCM_TEMP	15.85	CAP_FILE_SIZE	223028,0
SC_FREEKB	3878144	SDSIZE	3918848,3815520
PM_FREEKB_00	61648000	SDFILEDIR	91,1
PM_FREEKB_01	62343040	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	0	SOUNDSPEED	1465.0
RAFOS_CLK	0	CURRENT	0.024, 8.7,1
MODEM	0,1598634001,47.36860,-128.52921,1.804,2711.6	GPS	280820,172141,4721.719,-12832.266,2,1.1,3,16.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	585	1385	12316.08	nil	0	0	0.00
Pitch_motor	38	260	153.62	nil	0	0	0.00
Roll_motor	90	427	589.78	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	13	15	2.95	nil	0	0	0.00
Core	3107	10	471.79	SciCon	4385	6	402.28
LPSleep	1357	1	22.81	PMAR	4397	19	1285.40
Compass	1761	5	132.14	nil	0	0	0.00
RAFOS	431	40	258.60
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
10.52	16386	-145.99	-1.06	0.00	537.2	592.0	482.4	215.1	2023.6	0.00	0.00	0	85.07	72.49	0.00	0.00	0.005	0.000	0.000	2341.34	2346.50	2336.19	215.31	2024.06	0	0	0	16.02	30.00	30.00
85.38	18983	-145.99	-1.06	-80.00	2339.7	2344.2	2335.1	215.6	2023.8	3.01	-2.18	14	135.07	22.42	15.19	3.53	0.006	0.260	0.164	3219.47	3251.62	3187.31	2317.00	591.69	0	0	0	16.04	15.93	15.96
168.81	3205	-145.99	-0.82	0.00	3219.1	3250.4	3187.9	2318.1	591.6	17.24	-19.00	30	180.14	0.00	0.39	3.24	0.000	0.167	0.075	3221.91	3253.81	3190.00	2379.00	2017.00	0	0	0	30.00	16.01	16.07
359.32	4741	-145.99	-0.92	-80.00	3219.1	3251.1	3187.1	2378.4	2015.9	43.32	-10.41	68	370.71	0.00	0.25	3.54	0.000	0.075	0.174	3220.59	3252.81	3188.38	2329.50	592.62	0	0	0	30.00	16.08	16.04
389.65	1028	-145.99	-0.92	0.00	3219.8	3251.4	3188.3	2329.5	592.4	47.21	-12.77	74	396.25	0.00	0.00	3.24	0.000	0.000	0.080	3219.56	3252.00	3187.12	2329.88	2015.62	0	0	0	30.00	30.00	16.07
575.99	676	-145.99	-0.99	-80.00	3219.4	3251.2	3187.6	2329.7	2015.5	67.70	-9.74	111	587.34	0.00	0.00	3.56	0.000	0.000	0.182	3220.88	3253.38	3188.38	2329.44	593.25	0	0	0	30.00	30.00	16.05
651.39	1028	-145.99	-0.99	0.00	3219.7	3251.9	3187.4	2329.7	592.9	76.22	-11.91	126	657.93	0.00	0.00	3.28	0.000	0.000	0.093	3222.03	3253.75	3190.31	2329.81	2014.19	0	0	0	30.00	30.00	16.02
840.17	644	-145.99	-1.04	-80.00	3220.3	3253.3	3187.4	2329.8	2013.4	96.19	-10.69	164	851.29	0.00	0.00	3.59	0.000	0.000	0.199	3220.44	3253.06	3187.81	2329.94	594.44	0	0	0	30.00	30.00	15.97
943.85	1156	-145.99	-0.99	0.00	3219.9	3253.2	3186.6	2330.2	594.1	109.59	-12.87	185	951.81	0.00	0.00	3.33	0.000	0.000	0.113	3220.34	3253.25	3187.44	2329.81	2010.81	0	0	0	30.00	30.00	16.11
1250.94	676	-145.99	-1.10	-80.00	3220.2	3253.4	3187.1	2329.6	2011.2	137.91	-9.26	216	1257.57	0.00	0.00	3.66	0.000	0.000	0.219	3222.31	3255.25	3189.38	2328.94	593.50	0	0	0	30.00	30.00	16.00
1346.27	5285	-145.99	-1.17	0.00	3219.7	3252.9	3186.6	2328.4	593.9	147.08	-8.75	235	1353.31	0.00	0.26	3.37	0.000	0.074	0.125	3219.88	3253.56	3186.19	2270.12	2008.56	0	0	0	30.00	16.09	16.00
1658.51	516	-145.99	-1.17	-80.00	3219.6	3253.3	3185.9	2269.0	2007.6	180.96	-11.17	267	1665.79	0.00	0.00	3.69	0.000	0.000	0.236	3222.53	3256.50	3188.56	2269.44	594.94	0	0	0	30.00	30.00	15.99
1884	end dive: TARGET_DEPTH_EXCEEDED
state	1884	begin apogee
1889.34	10243	0.00	-0.25	0.00	3219.1	3253.2	3184.9	2269.1	1943.0	210.18	-12.60	312	2001.80	104.03	1.66	0.04	1.386	0.149	0.427	2624.59	2692.31	2556.88	2515.44	1914.50	0	0	0	12.04	16.09	15.72
2004	end apogee: CONTROL_FINISHED_OK
state	2004	begin climb
2004.02	10503	145.99	1.06	80.00	2622.1	2689.1	2555.1	2516.2	1914.9	212.74	0.00	324	2122.95	107.64	1.97	3.96	1.358	0.084	0.209	2025.69	2113.06	1938.31	2837.38	3395.00	0	0	0	11.90	15.73	15.49
2191.54	21639	145.99	0.76	0.00	2020.6	2102.6	1938.6	2837.8	3394.5	197.39	11.94	360	2198.84	0.00	0.62	3.71	0.000	0.199	0.153	2019.91	2102.19	1937.62	2752.69	1925.62	0	0	0	30.00	15.67	15.65
2496.73	10663	238.21	0.94	80.00	2017.1	2099.8	1934.3	2752.6	1926.5	176.95	5.71	391	2573.36	67.45	0.33	3.84	1.323	0.079	0.192	1651.69	1743.75	1559.62	2815.06	3394.81	0	0	0	11.99	15.92	15.64
2617.04	9254	242.22	0.95	0.00	1647.1	1734.6	1559.7	2814.3	3395.4	166.30	9.81	415	2628.38	4.90	0.00	3.65	0.680	0.000	0.141	1637.16	1724.75	1549.56	2815.25	1924.56	0	0	0	11.85	30.00	15.73
2931.68	8870	253.00	1.03	-80.00	1632.3	1717.3	1547.2	2815.6	1925.2	135.11	9.50	448	2949.30	10.04	0.00	3.51	1.065	0.000	0.231	1590.72	1674.69	1506.75	2815.56	595.00	0	0	0	11.99	30.00	15.81
3001.46	1028	253.00	1.03	0.00	1590.4	1672.7	1508.2	2814.4	595.1	127.52	11.52	462	3009.50	0.00	0.00	3.20	0.000	0.000	0.110	1590.03	1672.12	1507.94	2815.62	1946.44	0	0	0	30.00	30.00	15.92
3309.35	10663	327.37	1.27	80.00	1588.0	1668.7	1507.2	2813.8	1946.1	103.53	6.54	493	3377.51	56.58	0.41	3.71	1.276	0.070	0.182	1291.31	1383.94	1198.69	2896.56	3397.06	0	0	0	11.96	15.99	15.73
3411.09	1028	327.37	1.27	0.00	1287.3	1376.7	1198.0	2897.4	3396.9	93.38	10.99	513	3417.78	0.00	0.00	3.59	0.000	0.000	0.125	1287.88	1376.88	1198.88	2896.69	1923.50	0	0	0	30.00	30.00	15.70
3598.14	516	327.37	1.27	-80.00	1283.6	1371.1	1196.2	2895.4	1924.0	72.43	11.26	550	3605.08	0.00	0.00	3.44	0.000	0.000	0.212	1283.75	1371.50	1196.00	2896.81	593.56	0	0	0	30.00	30.00	15.84
3638.64	5253	327.37	1.16	0.00	1283.1	1369.8	1196.4	2896.8	593.9	67.56	12.37	558	3645.34	0.00	0.38	3.17	0.000	0.197	0.097	1283.53	1369.75	1197.31	2848.56	1947.19	0	0	0	30.00	15.87	15.92
3823.63	10663	370.49	1.45	80.00	1282.1	1369.6	1194.6	2848.8	1947.8	52.36	7.99	595	3866.48	32.94	0.51	3.64	1.203	0.064	0.171	1114.56	1207.94	1021.19	2938.56	3395.81	0	0	0	11.99	15.98	15.81
3939.74	9254	380.19	1.46	0.00	1112.1	1202.9	1021.4	2937.2	3396.8	41.19	9.55	618	3956.49	9.57	0.00	3.51	0.989	0.000	0.111	1075.72	1167.62	983.81	2938.69	1921.06	0	0	0	12.01	30.00	15.79
4136.16	10919	471.38	1.67	-80.00	1072.0	1162.9	981.2	2938.7	1921.8	28.34	5.76	657	4214.56	68.41	0.25	3.40	1.187	0.083	0.185	703.03	804.06	602.00	2990.81	592.75	0	0	0	11.97	15.95	15.68
4379	end climb: SURFACE_DEPTH_REACHED
state	4379	begin surface coast
4384	end surface coast: CONTROL_FINISHED_OK
state	4384	begin surface