Glider dive log

AMOS Aug20 * SG235 * Dive index * Mission links * Dive 4 * 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 3 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 -0.5

STOP_T 0 TGT_AUTO_DEFAULT 0 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 SM_CC 500 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 C_VBD 2800 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 200 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 10.500515 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2575 FG_AHR_24V 11.775388 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 -158.82793 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 2000 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 10.500515 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 11.775388 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 500

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 2000 LOGGERDEVICE4 -1 PRESSURE_YINT -158.82793 T_MISSION 85

C_ROLL_DIVE 2000 LOGGERS 3 PROTOCOL 9 T_NO_W 120

C_VBD 2800 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 4 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 250 MISSION 3 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 200 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 -9.8064938 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 240820,194715,5214.633,-13800.963,1,1.9,3,16.7 TGT_LATLONG 5500.000,-14500.000

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.60 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -66.5 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 240820,195001,5214.640,-13800.970,2,2.0,5,16.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 265.6,540296,-17.6,-10.000,-21.24

TGT_NAME ans0 D_GRID 210

Post-dive calculations and measurements:

NET CACST,6,0,20200824210004.976729,05,32767,45,0101,0150,07,00,00,00,00,1,233,000,0,5,1,0,150,19.9,896.00,-100,-237.64,-01,-0.33,57,10000,5000*54 TEMP 8.86

MODEM_MSG CACST,6,1,20200824210210.899951,18,343,-4,0143,0150,216,02,02,05,02,-1,-01,-01,1,3,0,0,150,-20.2,0.01,-100,2.99,-01,0.00,34,925,0025*15 INTERNAL_PRESSURE 7.96921

FINISH 0.5,1.024167 _24V_AH 15.02,3.867

SM_CCo 4508.16,0.00,0.008,0,762.2,844.8,679.6,499.88 _10V_AH 15.00,0.000

SM_GC 2.25,0.00,16.36,0.06,0.008,0.057,0.200,762.2,844.8,679.6,216.7,1983.9,0,0,0,30.36,15.78,15.78 FG_AHR_24Vo 11.970

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 10.544

IRIDIUM_FIX 5215.62,-13759.20,240820,194524 MEM 1152900,34,23912,78

TCM_TEMP 12.50 DATA_FILE_SIZE 19319,680

SC_FREEKB 3877664 CAP_FILE_SIZE 246362,0

PM_FREEKB_00 62202240 SDSIZE 3918848,3861504

PM_FREEKB_01 62343040 SDFILEDIR 68,1

PM_ACTIVECARD 0 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

MODEM 0,1598299289,55.00000,-145.00000,89.768,131509.7 CURRENT 0.193, 11.0,1

RAFOS_FIX 5401.384277,-14231.181641,240820,212110,1,2,82.03 GPS 240820,210639,5215.184,-13801.852,5,0.9,23,16.7

HUMID 55.72

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 603 1481 13443.90 nil 0 0 0.00

Pitch_motor 41 269 167.77 nil 0 0 0.00

Roll_motor 68 306 317.51 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 3.19 nil 0 0 0.00

Core 2812 10 426.99 SciCon 4481 6 425.00

LPSleep 1774 1 29.81 PMAR 4489 13 896.83

Compass 1720 5 129.02 nil 0 0 0.00

RAFOS 591 40 354.60

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

9.92 16386 -145.99 -1.06 0.00 496.5 562.8 430.2 217.8 2021.4 0.00 0.00 0 100.39 88.50 0.00 0.00 0.005 0.000 0.000 2512.72 2517.19 2508.25 217.75 2022.12 0 0 0 15.22 30.00 30.00

100.73 18983 -145.99 -1.06 -80.00 2512.2 2516.2 2508.1 217.7 2022.2 3.25 -2.11 17 150.61 21.82 15.27 3.54 0.006 0.270 0.161 3395.31 3436.00 3354.62 2315.00 590.56 0 0 0 15.90 15.83 15.84

224.49 1028 -145.99 -1.06 0.00 3393.5 3434.5 3352.4 2316.8 590.6 26.03 -18.69 41 231.29 0.00 0.00 3.26 0.000 0.000 0.074 3394.34 3436.00 3352.69 2316.69 2016.25 0 0 0 30.00 30.00 15.95

410.09 4741 -145.99 -1.19 -80.00 3394.1 3435.9 3352.2 2316.7 2015.8 51.92 -10.10 78 421.08 0.00 0.28 3.51 0.000 0.080 0.158 3393.97 3435.94 3352.00 2265.88 591.75 0 0 0 30.00 16.01 15.85

455.09 3205 -145.99 -1.09 0.00 3394.2 3436.2 3352.1 2266.1 591.7 58.28 -14.90 87 466.01 0.00 0.34 3.23 0.000 0.175 0.073 3395.41 3437.12 3353.69 2311.94 2015.94 0 0 0 30.00 15.96 15.95

652.33 4741 -145.99 -1.26 -80.00 3394.5 3436.3 3352.8 2312.6 2017.0 80.71 -10.96 125 663.70 0.00 0.34 3.53 0.000 0.073 0.164 3394.97 3437.75 3352.19 2249.25 592.56 0 0 0 30.00 16.00 15.95

702.33 3205 -145.99 -1.11 0.00 3394.6 3436.4 3352.8 2249.2 592.5 88.82 -17.85 135 713.72 0.00 0.41 3.24 0.000 0.174 0.076 3395.50 3437.31 3353.69 2305.62 2015.38 0 0 0 30.00 15.94 15.99

898.00 4773 -145.99 -1.28 -80.00 3395.3 3438.2 3352.4 2305.8 2015.1 110.57 -9.99 164 905.32 0.00 0.32 3.54 0.000 0.072 0.172 3396.38 3440.50 3352.25 2242.56 592.00 0 0 0 30.00 16.02 15.97

1004.31 3205 -145.99 -1.16 0.00 3395.3 3438.0 3352.6 2243.9 591.8 125.78 -14.59 185 1011.20 0.00 0.38 3.26 0.000 0.173 0.084 3396.44 3439.19 3353.69 2296.19 2015.56 0 0 0 30.00 15.92 16.03

1315.10 4773 -145.99 -1.32 -80.00 3395.6 3438.8 3352.4 2296.4 2014.4 153.81 -8.62 217 1322.32 0.00 0.31 3.56 0.000 0.077 0.180 3396.81 3440.81 3352.81 2234.94 592.25 0 0 0 30.00 16.05 15.88

1354.47 3205 -145.99 -1.17 0.00 3395.0 3437.1 3352.9 2235.0 591.6 158.96 -13.83 225 1362.59 0.00 0.41 3.27 0.000 0.179 0.090 3395.47 3437.81 3353.12 2291.81 2012.81 0 0 0 30.00 15.98 16.02

1661.14 4773 -145.99 -1.34 -80.00 3395.4 3438.4 3352.4 2291.9 2013.4 188.20 -9.41 256 1668.20 0.00 0.32 3.57 0.000 0.077 0.189 3395.50 3439.00 3352.00 2229.56 593.62 0 0 0 30.00 16.06 15.93

1706.91 3205 -145.99 -1.18 0.00 3395.5 3438.6 3352.5 2230.4 593.8 194.51 -15.11 265 1713.93 0.00 0.43 3.29 0.000 0.179 0.098 3394.66 3437.81 3351.50 2289.44 2013.12 0 0 0 30.00 16.01 15.97

1855 end dive: TARGET_DEPTH_EXCEEDED

state 1855 begin apogee

1856.40 10243 0.00 -0.25 0.00 3394.9 3438.0 3351.8 2290.1 1984.1 210.04 -9.88 281 1968.48 104.87 1.47 0.05 1.482 0.146 0.306 2799.00 2872.75 2725.25 2515.25 2012.62 0 0 0 11.71 16.01 15.62

1970 end apogee: CONTROL_FINISHED_OK

state 1970 begin climb

1970.43 10503 145.99 1.06 80.00 2797.1 2869.4 2724.8 2516.2 2012.4 212.51 0.00 292 2089.15 108.01 1.96 3.61 1.432 0.086 0.170 2202.31 2286.19 2118.44 2837.00 3407.69 0 0 0 11.74 15.62 15.33

2158.25 13479 171.47 0.72 0.00 2196.6 2275.7 2117.6 2837.5 3407.2 205.20 8.81 328 2190.05 20.39 0.69 3.45 1.302 0.206 0.109 2101.53 2187.75 2015.31 2743.38 1987.19 0 0 0 11.56 15.51 15.55

2494.83 10919 236.99 0.88 -80.00 2093.7 2176.1 2011.3 2743.1 1987.2 181.81 6.95 365 2552.33 49.85 0.28 3.64 1.393 0.086 0.196 1834.62 1921.12 1748.12 2795.75 592.81 0 0 0 11.66 15.79 15.50

2591.05 5253 236.99 0.74 0.00 1830.0 1914.1 1745.8 2797.2 592.7 172.20 11.99 384 2598.47 0.00 0.34 3.37 0.000 0.194 0.093 1828.16 1912.44 1743.88 2748.81 2009.50 0 0 0 30.00 15.59 15.66

2896.00 10403 299.46 0.98 0.00 1825.2 1906.6 1743.8 2748.2 2010.4 148.46 7.09 415 2948.12 47.44 0.40 0.00 1.374 0.075 0.000 1578.09 1664.69 1491.50 2824.25 2010.25 0 0 0 11.74 15.85 30.00

3257.23 8226 325.67 1.01 80.00 1571.2 1650.4 1492.0 2823.4 2009.9 114.15 8.78 455 3281.36 21.23 0.00 0.00 1.284 0.000 0.000 1471.16 1554.81 1387.50 2823.44 2010.69 0 0 0 11.61 30.00 30.00

3580.65 10919 385.21 1.20 -80.00 1467.2 1546.7 1387.7 2823.7 2010.3 87.64 7.23 503 3638.70 47.44 0.25 3.64 1.324 0.088 0.182 1229.19 1322.12 1136.25 2875.81 592.62 0 0 0 11.73 15.86 15.61

3642.41 9254 411.10 1.23 0.00 1228.7 1321.3 1136.1 2874.2 592.8 82.44 8.80 515 3674.86 22.16 0.00 3.33 1.229 0.000 0.080 1124.53 1221.38 1027.69 2874.12 2014.06 0 0 0 11.77 30.00 15.71

3853.62 10403 424.11 1.34 0.00 1119.9 1212.9 1026.9 2874.4 2014.1 62.64 9.39 557 3869.21 11.97 0.15 0.00 1.134 0.105 0.000 1071.78 1166.88 976.69 2908.94 2014.00 0 0 0 11.77 15.79 30.00

4048.99 128 424.11 1.39 0.00 1068.6 1161.4 975.8 2909.6 2013.5 38.70 14.55 596 4054.51 0.00 0.00 0.00 0.000 0.000 0.000 1068.56 1161.69 975.44 2910.38 2014.06 0 0 0 30.00 30.00 30.00

4241.77 10919 497.37 1.60 -80.00 1067.9 1160.5 975.2 2910.1 2013.5 23.89 6.59 633 4309.37 57.38 0.33 3.63 1.258 0.082 0.177 772.62 879.19 666.06 2975.06 593.00 0 0 0 11.66 15.87 15.56

4343.08 5253 497.37 1.48 0.00 771.7 876.9 666.4 2974.6 592.8 12.96 13.35 653 4354.71 0.00 0.38 3.32 0.000 0.197 0.075 771.53 876.38 666.69 2927.88 2015.06 0 0 0 30.00 15.63 15.63

4459 end climb: SURFACE_DEPTH_REACHED

state 4459 begin surface coast

4479 end surface coast: CONTROL_FINISHED_OK

state 4479 begin surface

ID	235	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	3	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	-0.5
STOP_T	0	TGT_AUTO_DEFAULT	0	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	SM_CC	500	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	C_VBD	2800	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	200	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	10.500515	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2575	FG_AHR_24V	11.775388	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	-158.82793	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	2000	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	240820,194715,5214.633,-13800.963,1,1.9,3,16.7	TGT_LATLONG	5500.000,-14500.000
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.60	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-66.5	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	240820,195001,5214.640,-13800.970,2,2.0,5,16.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	265.6,540296,-17.6,-10.000,-21.24
TGT_NAME	ans0	D_GRID	210

NET	CACST,6,0,20200824210004.976729,05,32767,45,0101,0150,07,00,00,00,00,1,233,000,0,5,1,0,150,19.9,896.00,-100,-237.64,-01,-0.33,57,10000,5000*54	TEMP	8.86
MODEM_MSG	CACST,6,1,20200824210210.899951,18,343,-4,0143,0150,216,02,02,05,02,-1,-01,-01,1,3,0,0,150,-20.2,0.01,-100,2.99,-01,0.00,34,925,0025*15	INTERNAL_PRESSURE	7.96921
FINISH	0.5,1.024167	_24V_AH	15.02,3.867
SM_CCo	4508.16,0.00,0.008,0,762.2,844.8,679.6,499.88	_10V_AH	15.00,0.000
SM_GC	2.25,0.00,16.36,0.06,0.008,0.057,0.200,762.2,844.8,679.6,216.7,1983.9,0,0,0,30.36,15.78,15.78	FG_AHR_24Vo	11.970
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	10.544
IRIDIUM_FIX	5215.62,-13759.20,240820,194524	MEM	1152900,34,23912,78
TCM_TEMP	12.50	DATA_FILE_SIZE	19319,680
SC_FREEKB	3877664	CAP_FILE_SIZE	246362,0
PM_FREEKB_00	62202240	SDSIZE	3918848,3861504
PM_FREEKB_01	62343040	SDFILEDIR	68,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
MODEM	0,1598299289,55.00000,-145.00000,89.768,131509.7	CURRENT	0.193, 11.0,1
RAFOS_FIX	5401.384277,-14231.181641,240820,212110,1,2,82.03	GPS	240820,210639,5215.184,-13801.852,5,0.9,23,16.7
HUMID	55.72

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	603	1481	13443.90	nil	0	0	0.00
Pitch_motor	41	269	167.77	nil	0	0	0.00
Roll_motor	68	306	317.51	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	3.19	nil	0	0	0.00
Core	2812	10	426.99	SciCon	4481	6	425.00
LPSleep	1774	1	29.81	PMAR	4489	13	896.83
Compass	1720	5	129.02	nil	0	0	0.00
RAFOS	591	40	354.60
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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
9.92	16386	-145.99	-1.06	0.00	496.5	562.8	430.2	217.8	2021.4	0.00	0.00	0	100.39	88.50	0.00	0.00	0.005	0.000	0.000	2512.72	2517.19	2508.25	217.75	2022.12	0	0	0	15.22	30.00	30.00
100.73	18983	-145.99	-1.06	-80.00	2512.2	2516.2	2508.1	217.7	2022.2	3.25	-2.11	17	150.61	21.82	15.27	3.54	0.006	0.270	0.161	3395.31	3436.00	3354.62	2315.00	590.56	0	0	0	15.90	15.83	15.84
224.49	1028	-145.99	-1.06	0.00	3393.5	3434.5	3352.4	2316.8	590.6	26.03	-18.69	41	231.29	0.00	0.00	3.26	0.000	0.000	0.074	3394.34	3436.00	3352.69	2316.69	2016.25	0	0	0	30.00	30.00	15.95
410.09	4741	-145.99	-1.19	-80.00	3394.1	3435.9	3352.2	2316.7	2015.8	51.92	-10.10	78	421.08	0.00	0.28	3.51	0.000	0.080	0.158	3393.97	3435.94	3352.00	2265.88	591.75	0	0	0	30.00	16.01	15.85
455.09	3205	-145.99	-1.09	0.00	3394.2	3436.2	3352.1	2266.1	591.7	58.28	-14.90	87	466.01	0.00	0.34	3.23	0.000	0.175	0.073	3395.41	3437.12	3353.69	2311.94	2015.94	0	0	0	30.00	15.96	15.95
652.33	4741	-145.99	-1.26	-80.00	3394.5	3436.3	3352.8	2312.6	2017.0	80.71	-10.96	125	663.70	0.00	0.34	3.53	0.000	0.073	0.164	3394.97	3437.75	3352.19	2249.25	592.56	0	0	0	30.00	16.00	15.95
702.33	3205	-145.99	-1.11	0.00	3394.6	3436.4	3352.8	2249.2	592.5	88.82	-17.85	135	713.72	0.00	0.41	3.24	0.000	0.174	0.076	3395.50	3437.31	3353.69	2305.62	2015.38	0	0	0	30.00	15.94	15.99
898.00	4773	-145.99	-1.28	-80.00	3395.3	3438.2	3352.4	2305.8	2015.1	110.57	-9.99	164	905.32	0.00	0.32	3.54	0.000	0.072	0.172	3396.38	3440.50	3352.25	2242.56	592.00	0	0	0	30.00	16.02	15.97
1004.31	3205	-145.99	-1.16	0.00	3395.3	3438.0	3352.6	2243.9	591.8	125.78	-14.59	185	1011.20	0.00	0.38	3.26	0.000	0.173	0.084	3396.44	3439.19	3353.69	2296.19	2015.56	0	0	0	30.00	15.92	16.03
1315.10	4773	-145.99	-1.32	-80.00	3395.6	3438.8	3352.4	2296.4	2014.4	153.81	-8.62	217	1322.32	0.00	0.31	3.56	0.000	0.077	0.180	3396.81	3440.81	3352.81	2234.94	592.25	0	0	0	30.00	16.05	15.88
1354.47	3205	-145.99	-1.17	0.00	3395.0	3437.1	3352.9	2235.0	591.6	158.96	-13.83	225	1362.59	0.00	0.41	3.27	0.000	0.179	0.090	3395.47	3437.81	3353.12	2291.81	2012.81	0	0	0	30.00	15.98	16.02
1661.14	4773	-145.99	-1.34	-80.00	3395.4	3438.4	3352.4	2291.9	2013.4	188.20	-9.41	256	1668.20	0.00	0.32	3.57	0.000	0.077	0.189	3395.50	3439.00	3352.00	2229.56	593.62	0	0	0	30.00	16.06	15.93
1706.91	3205	-145.99	-1.18	0.00	3395.5	3438.6	3352.5	2230.4	593.8	194.51	-15.11	265	1713.93	0.00	0.43	3.29	0.000	0.179	0.098	3394.66	3437.81	3351.50	2289.44	2013.12	0	0	0	30.00	16.01	15.97
1855	end dive: TARGET_DEPTH_EXCEEDED
state	1855	begin apogee
1856.40	10243	0.00	-0.25	0.00	3394.9	3438.0	3351.8	2290.1	1984.1	210.04	-9.88	281	1968.48	104.87	1.47	0.05	1.482	0.146	0.306	2799.00	2872.75	2725.25	2515.25	2012.62	0	0	0	11.71	16.01	15.62
1970	end apogee: CONTROL_FINISHED_OK
state	1970	begin climb
1970.43	10503	145.99	1.06	80.00	2797.1	2869.4	2724.8	2516.2	2012.4	212.51	0.00	292	2089.15	108.01	1.96	3.61	1.432	0.086	0.170	2202.31	2286.19	2118.44	2837.00	3407.69	0	0	0	11.74	15.62	15.33
2158.25	13479	171.47	0.72	0.00	2196.6	2275.7	2117.6	2837.5	3407.2	205.20	8.81	328	2190.05	20.39	0.69	3.45	1.302	0.206	0.109	2101.53	2187.75	2015.31	2743.38	1987.19	0	0	0	11.56	15.51	15.55
2494.83	10919	236.99	0.88	-80.00	2093.7	2176.1	2011.3	2743.1	1987.2	181.81	6.95	365	2552.33	49.85	0.28	3.64	1.393	0.086	0.196	1834.62	1921.12	1748.12	2795.75	592.81	0	0	0	11.66	15.79	15.50
2591.05	5253	236.99	0.74	0.00	1830.0	1914.1	1745.8	2797.2	592.7	172.20	11.99	384	2598.47	0.00	0.34	3.37	0.000	0.194	0.093	1828.16	1912.44	1743.88	2748.81	2009.50	0	0	0	30.00	15.59	15.66
2896.00	10403	299.46	0.98	0.00	1825.2	1906.6	1743.8	2748.2	2010.4	148.46	7.09	415	2948.12	47.44	0.40	0.00	1.374	0.075	0.000	1578.09	1664.69	1491.50	2824.25	2010.25	0	0	0	11.74	15.85	30.00
3257.23	8226	325.67	1.01	80.00	1571.2	1650.4	1492.0	2823.4	2009.9	114.15	8.78	455	3281.36	21.23	0.00	0.00	1.284	0.000	0.000	1471.16	1554.81	1387.50	2823.44	2010.69	0	0	0	11.61	30.00	30.00
3580.65	10919	385.21	1.20	-80.00	1467.2	1546.7	1387.7	2823.7	2010.3	87.64	7.23	503	3638.70	47.44	0.25	3.64	1.324	0.088	0.182	1229.19	1322.12	1136.25	2875.81	592.62	0	0	0	11.73	15.86	15.61
3642.41	9254	411.10	1.23	0.00	1228.7	1321.3	1136.1	2874.2	592.8	82.44	8.80	515	3674.86	22.16	0.00	3.33	1.229	0.000	0.080	1124.53	1221.38	1027.69	2874.12	2014.06	0	0	0	11.77	30.00	15.71
3853.62	10403	424.11	1.34	0.00	1119.9	1212.9	1026.9	2874.4	2014.1	62.64	9.39	557	3869.21	11.97	0.15	0.00	1.134	0.105	0.000	1071.78	1166.88	976.69	2908.94	2014.00	0	0	0	11.77	15.79	30.00
4048.99	128	424.11	1.39	0.00	1068.6	1161.4	975.8	2909.6	2013.5	38.70	14.55	596	4054.51	0.00	0.00	0.00	0.000	0.000	0.000	1068.56	1161.69	975.44	2910.38	2014.06	0	0	0	30.00	30.00	30.00
4241.77	10919	497.37	1.60	-80.00	1067.9	1160.5	975.2	2910.1	2013.5	23.89	6.59	633	4309.37	57.38	0.33	3.63	1.258	0.082	0.177	772.62	879.19	666.06	2975.06	593.00	0	0	0	11.66	15.87	15.56
4343.08	5253	497.37	1.48	0.00	771.7	876.9	666.4	2974.6	592.8	12.96	13.35	653	4354.71	0.00	0.38	3.32	0.000	0.197	0.075	771.53	876.38	666.69	2927.88	2015.06	0	0	0	30.00	15.63	15.63
4459	end climb: SURFACE_DEPTH_REACHED
state	4459	begin surface coast
4479	end surface coast: CONTROL_FINISHED_OK
state	4479	begin surface