Glider dive log

AMOS 26Aug20 * SG233 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 233 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 XPDR_INT 0

MISSION 5 FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_REP 0

DIVE 4 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 4 TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 4

STOP_T 0 TGT_AUTO_DEFAULT 0 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 SM_CC 570.32251 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 C_VBD 2825 MOTHERBOARD 6

D_TGT 210 FILEMGR 0 VBD_DBAND 2 DEVICE1 -1

D_ABORT 300 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 210 MAXI_10V 1.5 SEABIRD_T_G 0.0044157342

USE_ICE 0 PITCH_MAX 3900 FG_AHR_10V 12.270369 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2650 FG_AHR_24V 90.167679 SEABIRD_T_I 2.7006432e-05

D_OFFGRID 990 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_J 3.3103631e-06

RELAUNCH 1 PITCH_CNV 0.0041299998 PRESSURE_YINT -169.01576 SEABIRD_C_G -9.9894733

APOGEE_PITCH -5 PITCH_GAIN 25 PRESSURE_SLOPE 0.00022579571 SEABIRD_C_H 1.1093811

MAX_BUOY 150 PITCH_TIMEOUT 30 COMPASS_USE 4 SEABIRD_C_I -0.0026526626

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 ALTIM_PING_FIT 0 SEABIRD_C_J 0.00026268355

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.029999999 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 72131 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 580 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MAX 3340 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 1960 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_CLIMB 1960 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 1.1093811

AH0_24V 350 D_TGT 210 PHONE_DEVICE 33 SEABIRD_C_I -0.0026526626

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SEABIRD_C_J 0.00026268355

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SEABIRD_T_G 0.0044157342

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0.029999999 SEABIRD_T_H 0.00064262876

ALTIM_PING_DEPTH 0 FG_AHR_10V 12.270369 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FG_AHR_24V 90.167679 PITCH_DBAND 0.1 SEABIRD_T_J 3.3103631e-06

ALTIM_PULSE 3 FILEMGR 0 PITCH_GAIN 25 SIM_W 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 SM_CC 570.32251

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 48 PITCH_MIN 210 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 233 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 4 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 2650 LOGGERDEVICE3 -1 PRESSURE_SLOPE 0.00022579571 T_LOITER 0

C_ROLL_CLIMB 1960 LOGGERDEVICE4 -1 PRESSURE_YINT -169.01576 T_MISSION 85

C_ROLL_DIVE 1960 LOGGERS 3 PROTOCOL 9 T_NO_W 120

C_VBD 2825 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 72131 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 4 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 300 MISSION 5 ROLL_MAX 3340 VBD_MAXERRORS 1

D_BOOST 2 MOTHERBOARD 6 ROLL_MAXERRORS 1 VBD_MIN 500

D_CALL 0 NAV_MODE 2 ROLL_MIN 580 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 4 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 -9.9894733 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 260820,192357,5101.649,-13354.024,1,0.9,3,16.8 TGT_LATLONG 5101.332,-13354.168

_CALLS 2 TGT_RADIUS 2000.000

_SM_DEPTHo 1.44 KALMAN_CONTROL 0.000,0.000

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

GPS2 260820,192914,5101.650,-13354.033,3,1.0,6,16.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 183.4,610,-17.6,-10.000,-21.24

TGT_NAME ans0 D_GRID 210

Post-dive calculations and measurements:

NET_PING 4220,0,669.959167,0.000000 MODEM 0,1598468503,51.02220,-133.90280,103.487,151608.3

NET CACST,6,0,20200826204006.485650,05,28148,44,0123,0150,07,00,00,00,00,1,000,233,0,5,1,0,150,30.5,19.00,-100,-16.00,-01,0.20,37,10000,5000*7C RAFOS_FIX 5102.490234,-13355.070312,260820,202001,1,2,1.07

a4b4f3b6a9a4f62372aa522568f3869cb4509028 *32 HUMID 55.86

_2541f26cc7 *69 TEMP 9.83

_404663b799 *3C INTERNAL_PRESSURE 8.44818

_87b0c0d4bb *3D _24V_AH 14.95,13.041

MODEM_MSG CACST,6,1,20200826200457.275485,18,293,12,0150,0150,216,00,00,02,00,-1,-01,-01,1,3,1,0,150,5.7,0.01,-100,2.99,-01,0.00,57,925,0025*1D _10V_AH 14.96,0.000

FINISH -0.1,1.023518 FG_AHR_24Vo 90.385

SM_CCo 4473.39,0.00,0.006,0,499.9,475.7,524.1,570.35 FG_AHR_10Vo 12.315

SM_GC 1.31,0.00,18.14,3.18,0.006,0.064,0.049,499.9,475.7,524.1,196.8,1994.6,0,0,0,30.36,15.81,15.84 MEM 1151620,37,24868,90

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 19333,673

IRIDIUM_FIX 5101.37,-13337.70,260820,192502 CAP_FILE_SIZE 219292,0

TCM_TEMP 12.07 SDSIZE 3918848,3872032

SC_FREEKB 3877472 SDFILEDIR 123,1

PM_FREEKB_00 61820096 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

PM_FREEKB_01 62343040 SOUNDSPEED 1465.0

PM_ACTIVECARD 0 CURRENT 0.133, 63.8,1

RAFOS_CLK 0 GPS 260820,204501,5101.337,-13354.001,3,1.3,7,16.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 674 1442 14545.66 nil 0 0 0.00

Pitch_motor 41 271 169.24 nil 0 0 0.00

Roll_motor 59 184 164.10 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 3.36 nil 0 0 0.00

Core 2763 10 418.44 SciCon 4387 6 412.68

LPSleep 1702 1 28.53 PMAR 4394 8 563.47

Compass 1549 5 115.87 nil 0 0 0.00

RAFOS 430 40 257.31

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

9.41 16386 -145.99 -0.88 0.00 494.6 469.2 519.9 196.7 1979.2 0.00 0.00 0 100.21 88.86 0.00 0.00 0.006 0.000 0.000 2577.47 2564.19 2590.75 196.94 1979.69 0 0 0 15.13 30.00 30.00

100.48 18727 -145.99 -0.88 80.00 2576.7 2562.5 2590.8 196.6 1978.8 3.11 -2.06 17 150.18 20.86 18.15 3.33 0.006 0.272 0.119 3421.19 3448.94 3393.44 2433.81 3350.62 0 0 0 15.82 15.73 15.84

293.39 1028 -145.99 -0.88 0.00 3422.1 3446.8 3397.3 2433.4 3350.9 38.03 -16.01 55 300.35 0.00 0.00 3.25 0.000 0.000 0.056 3423.62 3448.69 3398.56 2433.75 1933.88 0 0 0 30.00 30.00 15.92

479.12 32 -145.99 -0.88 0.00 3422.6 3448.4 3396.8 2433.9 1934.1 59.27 -9.58 92 484.86 0.00 0.00 0.00 0.000 0.000 0.000 3422.62 3448.19 3397.06 2434.00 1933.94 0 0 0 30.00 30.00 30.00

669.18 388 -145.99 -0.92 80.00 3422.8 3449.0 3396.5 2433.3 1933.9 79.99 -11.09 130 675.33 0.00 0.00 3.38 0.000 0.000 0.107 3423.31 3449.25 3397.38 2434.00 3348.88 0 0 0 30.00 30.00 15.99

729.22 1156 -145.99 -0.98 0.00 3423.8 3449.6 3398.1 2434.4 3349.1 87.47 -12.28 142 735.77 0.00 0.00 3.20 0.000 0.000 0.053 3424.00 3449.31 3398.69 2434.38 1931.75 0 0 0 30.00 30.00 16.04

914.11 4741 -145.99 -1.03 -80.00 3423.9 3449.1 3398.6 2433.5 1932.1 107.38 -10.12 172 920.51 0.00 0.32 3.28 0.000 0.075 0.129 3422.41 3448.44 3396.38 2380.81 568.38 0 0 0 30.00 16.06 16.03

999.60 3205 -145.99 -0.90 0.00 3424.5 3450.1 3398.9 2381.1 568.5 119.94 -15.15 189 1006.66 0.00 0.41 3.16 0.000 0.179 0.048 3422.94 3450.31 3395.56 2431.25 1989.81 0 0 0 30.00 16.00 16.07

1313.23 420 -145.99 -0.96 80.00 3424.4 3450.9 3397.9 2430.4 1989.4 148.64 -7.62 221 1319.46 0.00 0.00 3.23 0.000 0.000 0.113 3423.53 3449.06 3398.00 2430.56 3349.94 0 0 0 30.00 30.00 16.06

1358.59 5285 -145.99 -1.01 0.00 3423.8 3450.1 3397.6 2430.8 3349.9 152.25 -8.03 230 1365.55 0.00 0.25 3.19 0.000 0.089 0.054 3423.28 3449.69 3396.88 2386.62 1930.69 0 0 0 30.00 16.09 16.11

1663.11 0 -145.99 -1.01 0.00 3424.2 3450.2 3398.2 2387.1 1930.6 185.24 -11.47 261 1666.00 0.00 0.00 0.00 0.000 0.000 0.000 3423.62 3449.88 3397.38 2386.94 1930.69 0 0 0 30.00 30.00 30.00

1884 end dive: TARGET_DEPTH_EXCEEDED

state 1884 begin apogee

1884.86 10243 0.00 -0.20 0.00 3423.0 3448.9 3397.1 2387.2 1997.4 210.38 -11.33 283 2000.03 110.94 1.54 0.12 1.443 0.161 0.184 2821.59 2823.50 2819.69 2602.44 1922.38 0 0 0 12.13 16.06 15.62

2002 end apogee: CONTROL_FINISHED_OK

state 2002 begin climb

2001.66 10759 145.99 0.88 -80.00 2822.2 2823.6 2820.8 2602.9 1923.5 214.03 0.00 294 2121.76 112.69 1.78 3.42 1.406 0.106 0.130 2225.94 2231.19 2220.69 2867.25 570.50 0 0 0 11.82 15.62 15.37

2140.02 9382 190.74 0.81 0.00 2223.2 2225.8 2220.5 2866.8 570.5 206.74 7.92 317 2183.21 36.46 0.00 3.28 1.332 0.000 0.047 2043.72 2055.62 2031.81 2867.62 1991.19 0 0 0 11.77 30.00 15.48

2485.44 8226 208.53 0.83 0.00 2035.2 2054.6 2015.9 2866.8 1990.7 172.92 9.17 357 2506.08 14.98 0.00 0.00 1.236 0.000 0.000 1973.94 1990.56 1957.31 2868.38 1991.56 0 0 0 11.87 30.00 30.00

2805.50 8870 243.23 0.90 -80.00 1966.3 1987.8 1944.9 2867.0 1990.9 144.66 8.39 389 2841.47 28.92 0.00 3.49 1.331 0.000 0.127 1830.41 1847.75 1813.06 2867.38 570.38 0 0 0 11.91 30.00 15.76

2985.49 9254 278.98 0.95 0.00 1825.4 1840.4 1810.4 2866.5 569.6 129.15 8.34 425 3022.03 29.31 0.00 3.20 1.313 0.000 0.050 1686.50 1709.06 1663.94 2867.56 1993.25 0 0 0 11.84 30.00 15.90

3326.08 10403 355.73 1.17 0.00 1677.8 1707.0 1648.6 2867.9 1993.1 104.00 6.43 463 3393.19 61.11 0.42 0.00 1.337 0.083 0.000 1373.62 1403.25 1344.00 2943.56 1994.19 0 0 0 12.00 15.93 30.00

3571.52 17030 355.73 1.24 -80.00 1365.8 1399.9 1331.6 2943.6 1994.1 80.95 10.46 511 3578.55 0.00 0.00 3.50 0.000 0.000 0.125 1366.53 1400.56 1332.50 2943.00 568.81 0 0 0 30.00 30.00 15.81

3762.60 17414 355.73 1.24 0.00 1363.1 1395.3 1330.9 2942.9 568.4 58.27 11.29 549 3769.93 0.00 0.00 3.20 0.000 0.000 0.050 1363.31 1395.31 1331.31 2943.81 1992.25 0 0 0 30.00 30.00 15.93

3948.20 10663 426.18 1.46 80.00 1361.6 1394.9 1328.4 2943.4 1993.3 42.54 6.72 586 4011.02 55.24 0.38 3.32 1.283 0.086 0.118 1087.84 1119.31 1056.38 3011.00 3349.75 0 0 0 11.88 15.96 15.73

4105.02 11431 498.40 1.67 0.00 1082.1 1115.2 1049.1 3010.5 3349.4 31.03 6.64 617 4172.27 58.33 0.28 3.27 1.248 0.093 0.055 794.09 814.88 773.31 3063.81 1934.50 0 0 0 11.91 15.81 15.75

4354.56 516 498.40 1.67 -80.00 787.3 811.0 763.6 3063.5 1934.4 3.79 12.51 667 4361.00 0.00 0.00 3.34 0.000 0.000 0.128 787.47 811.38 763.56 3063.88 570.50 0 0 0 30.00 30.00 15.75

4370 end climb: SURFACE_DEPTH_REACHED

state 4370 begin surface coast

4385 end surface coast: CONTROL_FINISHED_OK

state 4385 begin surface

ID	233	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	5	FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	4	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	4	TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	4
STOP_T	0	TGT_AUTO_DEFAULT	0	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	SM_CC	570.32251	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	C_VBD	2825	MOTHERBOARD	6
D_TGT	210	FILEMGR	0	VBD_DBAND	2	DEVICE1	-1
D_ABORT	300	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	210	MAXI_10V	1.5	SEABIRD_T_G	0.0044157342
USE_ICE	0	PITCH_MAX	3900	FG_AHR_10V	12.270369	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2650	FG_AHR_24V	90.167679	SEABIRD_T_I	2.7006432e-05
D_OFFGRID	990	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_J	3.3103631e-06
RELAUNCH	1	PITCH_CNV	0.0041299998	PRESSURE_YINT	-169.01576	SEABIRD_C_G	-9.9894733
APOGEE_PITCH	-5	PITCH_GAIN	25	PRESSURE_SLOPE	0.00022579571	SEABIRD_C_H	1.1093811
MAX_BUOY	150	PITCH_TIMEOUT	30	COMPASS_USE	4	SEABIRD_C_I	-0.0026526626
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	ALTIM_PING_FIT	0	SEABIRD_C_J	0.00026268355
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.029999999	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	72131	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	580	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MAX	3340	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	1960	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_CLIMB	1960	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	260820,192357,5101.649,-13354.024,1,0.9,3,16.8	TGT_LATLONG	5101.332,-13354.168
_CALLS	2	TGT_RADIUS	2000.000
_SM_DEPTHo	1.44	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-71.1	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	260820,192914,5101.650,-13354.033,3,1.0,6,16.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	183.4,610,-17.6,-10.000,-21.24
TGT_NAME	ans0	D_GRID	210

NET_PING	4220,0,669.959167,0.000000	MODEM	0,1598468503,51.02220,-133.90280,103.487,151608.3
NET	CACST,6,0,20200826204006.485650,05,28148,44,0123,0150,07,00,00,00,00,1,000,233,0,5,1,0,150,30.5,19.00,-100,-16.00,-01,0.20,37,10000,5000*7C	RAFOS_FIX	5102.490234,-13355.070312,260820,202001,1,2,1.07
a4b4f3b6a9a4f62372aa522568f3869cb4509028	*32	HUMID	55.86
_2541f26cc7	*69	TEMP	9.83
_404663b799	*3C	INTERNAL_PRESSURE	8.44818
_87b0c0d4bb	*3D	_24V_AH	14.95,13.041
MODEM_MSG	CACST,6,1,20200826200457.275485,18,293,12,0150,0150,216,00,00,02,00,-1,-01,-01,1,3,1,0,150,5.7,0.01,-100,2.99,-01,0.00,57,925,0025*1D	_10V_AH	14.96,0.000
FINISH	-0.1,1.023518	FG_AHR_24Vo	90.385
SM_CCo	4473.39,0.00,0.006,0,499.9,475.7,524.1,570.35	FG_AHR_10Vo	12.315
SM_GC	1.31,0.00,18.14,3.18,0.006,0.064,0.049,499.9,475.7,524.1,196.8,1994.6,0,0,0,30.36,15.81,15.84	MEM	1151620,37,24868,90
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	19333,673
IRIDIUM_FIX	5101.37,-13337.70,260820,192502	CAP_FILE_SIZE	219292,0
TCM_TEMP	12.07	SDSIZE	3918848,3872032
SC_FREEKB	3877472	SDFILEDIR	123,1
PM_FREEKB_00	61820096	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
PM_FREEKB_01	62343040	SOUNDSPEED	1465.0
PM_ACTIVECARD	0	CURRENT	0.133, 63.8,1
RAFOS_CLK	0	GPS	260820,204501,5101.337,-13354.001,3,1.3,7,16.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	674	1442	14545.66	nil	0	0	0.00
Pitch_motor	41	271	169.24	nil	0	0	0.00
Roll_motor	59	184	164.10	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	3.36	nil	0	0	0.00
Core	2763	10	418.44	SciCon	4387	6	412.68
LPSleep	1702	1	28.53	PMAR	4394	8	563.47
Compass	1549	5	115.87	nil	0	0	0.00
RAFOS	430	40	257.31
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
9.41	16386	-145.99	-0.88	0.00	494.6	469.2	519.9	196.7	1979.2	0.00	0.00	0	100.21	88.86	0.00	0.00	0.006	0.000	0.000	2577.47	2564.19	2590.75	196.94	1979.69	0	0	0	15.13	30.00	30.00
100.48	18727	-145.99	-0.88	80.00	2576.7	2562.5	2590.8	196.6	1978.8	3.11	-2.06	17	150.18	20.86	18.15	3.33	0.006	0.272	0.119	3421.19	3448.94	3393.44	2433.81	3350.62	0	0	0	15.82	15.73	15.84
293.39	1028	-145.99	-0.88	0.00	3422.1	3446.8	3397.3	2433.4	3350.9	38.03	-16.01	55	300.35	0.00	0.00	3.25	0.000	0.000	0.056	3423.62	3448.69	3398.56	2433.75	1933.88	0	0	0	30.00	30.00	15.92
479.12	32	-145.99	-0.88	0.00	3422.6	3448.4	3396.8	2433.9	1934.1	59.27	-9.58	92	484.86	0.00	0.00	0.00	0.000	0.000	0.000	3422.62	3448.19	3397.06	2434.00	1933.94	0	0	0	30.00	30.00	30.00
669.18	388	-145.99	-0.92	80.00	3422.8	3449.0	3396.5	2433.3	1933.9	79.99	-11.09	130	675.33	0.00	0.00	3.38	0.000	0.000	0.107	3423.31	3449.25	3397.38	2434.00	3348.88	0	0	0	30.00	30.00	15.99
729.22	1156	-145.99	-0.98	0.00	3423.8	3449.6	3398.1	2434.4	3349.1	87.47	-12.28	142	735.77	0.00	0.00	3.20	0.000	0.000	0.053	3424.00	3449.31	3398.69	2434.38	1931.75	0	0	0	30.00	30.00	16.04
914.11	4741	-145.99	-1.03	-80.00	3423.9	3449.1	3398.6	2433.5	1932.1	107.38	-10.12	172	920.51	0.00	0.32	3.28	0.000	0.075	0.129	3422.41	3448.44	3396.38	2380.81	568.38	0	0	0	30.00	16.06	16.03
999.60	3205	-145.99	-0.90	0.00	3424.5	3450.1	3398.9	2381.1	568.5	119.94	-15.15	189	1006.66	0.00	0.41	3.16	0.000	0.179	0.048	3422.94	3450.31	3395.56	2431.25	1989.81	0	0	0	30.00	16.00	16.07
1313.23	420	-145.99	-0.96	80.00	3424.4	3450.9	3397.9	2430.4	1989.4	148.64	-7.62	221	1319.46	0.00	0.00	3.23	0.000	0.000	0.113	3423.53	3449.06	3398.00	2430.56	3349.94	0	0	0	30.00	30.00	16.06
1358.59	5285	-145.99	-1.01	0.00	3423.8	3450.1	3397.6	2430.8	3349.9	152.25	-8.03	230	1365.55	0.00	0.25	3.19	0.000	0.089	0.054	3423.28	3449.69	3396.88	2386.62	1930.69	0	0	0	30.00	16.09	16.11
1663.11	0	-145.99	-1.01	0.00	3424.2	3450.2	3398.2	2387.1	1930.6	185.24	-11.47	261	1666.00	0.00	0.00	0.00	0.000	0.000	0.000	3423.62	3449.88	3397.38	2386.94	1930.69	0	0	0	30.00	30.00	30.00
1884	end dive: TARGET_DEPTH_EXCEEDED
state	1884	begin apogee
1884.86	10243	0.00	-0.20	0.00	3423.0	3448.9	3397.1	2387.2	1997.4	210.38	-11.33	283	2000.03	110.94	1.54	0.12	1.443	0.161	0.184	2821.59	2823.50	2819.69	2602.44	1922.38	0	0	0	12.13	16.06	15.62
2002	end apogee: CONTROL_FINISHED_OK
state	2002	begin climb
2001.66	10759	145.99	0.88	-80.00	2822.2	2823.6	2820.8	2602.9	1923.5	214.03	0.00	294	2121.76	112.69	1.78	3.42	1.406	0.106	0.130	2225.94	2231.19	2220.69	2867.25	570.50	0	0	0	11.82	15.62	15.37
2140.02	9382	190.74	0.81	0.00	2223.2	2225.8	2220.5	2866.8	570.5	206.74	7.92	317	2183.21	36.46	0.00	3.28	1.332	0.000	0.047	2043.72	2055.62	2031.81	2867.62	1991.19	0	0	0	11.77	30.00	15.48
2485.44	8226	208.53	0.83	0.00	2035.2	2054.6	2015.9	2866.8	1990.7	172.92	9.17	357	2506.08	14.98	0.00	0.00	1.236	0.000	0.000	1973.94	1990.56	1957.31	2868.38	1991.56	0	0	0	11.87	30.00	30.00
2805.50	8870	243.23	0.90	-80.00	1966.3	1987.8	1944.9	2867.0	1990.9	144.66	8.39	389	2841.47	28.92	0.00	3.49	1.331	0.000	0.127	1830.41	1847.75	1813.06	2867.38	570.38	0	0	0	11.91	30.00	15.76
2985.49	9254	278.98	0.95	0.00	1825.4	1840.4	1810.4	2866.5	569.6	129.15	8.34	425	3022.03	29.31	0.00	3.20	1.313	0.000	0.050	1686.50	1709.06	1663.94	2867.56	1993.25	0	0	0	11.84	30.00	15.90
3326.08	10403	355.73	1.17	0.00	1677.8	1707.0	1648.6	2867.9	1993.1	104.00	6.43	463	3393.19	61.11	0.42	0.00	1.337	0.083	0.000	1373.62	1403.25	1344.00	2943.56	1994.19	0	0	0	12.00	15.93	30.00
3571.52	17030	355.73	1.24	-80.00	1365.8	1399.9	1331.6	2943.6	1994.1	80.95	10.46	511	3578.55	0.00	0.00	3.50	0.000	0.000	0.125	1366.53	1400.56	1332.50	2943.00	568.81	0	0	0	30.00	30.00	15.81
3762.60	17414	355.73	1.24	0.00	1363.1	1395.3	1330.9	2942.9	568.4	58.27	11.29	549	3769.93	0.00	0.00	3.20	0.000	0.000	0.050	1363.31	1395.31	1331.31	2943.81	1992.25	0	0	0	30.00	30.00	15.93
3948.20	10663	426.18	1.46	80.00	1361.6	1394.9	1328.4	2943.4	1993.3	42.54	6.72	586	4011.02	55.24	0.38	3.32	1.283	0.086	0.118	1087.84	1119.31	1056.38	3011.00	3349.75	0	0	0	11.88	15.96	15.73
4105.02	11431	498.40	1.67	0.00	1082.1	1115.2	1049.1	3010.5	3349.4	31.03	6.64	617	4172.27	58.33	0.28	3.27	1.248	0.093	0.055	794.09	814.88	773.31	3063.81	1934.50	0	0	0	11.91	15.81	15.75
4354.56	516	498.40	1.67	-80.00	787.3	811.0	763.6	3063.5	1934.4	3.79	12.51	667	4361.00	0.00	0.00	3.34	0.000	0.000	0.128	787.47	811.38	763.56	3063.88	570.50	0	0	0	30.00	30.00	15.75
4370	end climb: SURFACE_DEPTH_REACHED
state	4370	begin surface coast
4385	end surface coast: CONTROL_FINISHED_OK
state	4385	begin surface