Glider dive log

AMOS 28Aug20 * SG233 * Dive index * Mission links * Dive 5 * 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 6 FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_REP 0

DIVE 5 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 5 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 12.879429 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2650 FG_AHR_24V 92.050613 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 -169.24788 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 0 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 150 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 12.879429 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FG_AHR_24V 92.050613 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 150 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 -169.24788 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 5 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 300 MISSION 6 ROLL_MAX 3340 VBD_MAXERRORS 1

D_BOOST 2 MOTHERBOARD 6 ROLL_MAXERRORS 1 VBD_MIN 500

D_CALL 0 NAV_MODE 0 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 5 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 280820,205402,4719.621,-12830.729,2,1.7,29,16.0 TGT_LATLONG 4710.249,-12822.827

_CALLS 2 TGT_RADIUS 1852.000

_SM_DEPTHo 1.40 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -69.4 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 280820,210233,4719.601,-12830.770,2,1.6,5,16.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 134.0,20000,-17.6,-10.000,-21.24

TGT_NAME HEADING D_GRID 210

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20200828220302.601725,18,4716,06,0115,0150,216,04,04,05,04,-1,-01,-01,1,3,1,0,150,-7.7,0.35,-100,2.65,-01,0.03,40,925,0025*0E HUMID 55.67

NET CACST,6,1,20200828214006.167037,05,2546,34,0111,0150,22,01,01,00,01,-1,-01,-01,1,3,8296,0,150,28.4,-230.00,-100,233.00,-01,-0.15,50,10000,5000*7C TEMP 10.71

FINISH 0.1,1.023207 INTERNAL_PRESSURE 8.47173

SM_CCo 4623.62,0.00,0.007,0,500.5,475.2,525.8,570.20 _24V_AH 14.99,14.911

SM_GC 1.97,0.00,18.17,0.10,0.007,0.066,0.151,500.5,475.2,525.8,200.2,1919.8,0,0,0,30.36,15.74,15.77 _10V_AH 14.97,0.000

SUPER 19,71,254,1,0,0 FG_AHR_24Vo 92.268

IRIDIUM_FIX 4720.20,-12828.17,280820,205604 FG_AHR_10Vo 12.919

TCM_TEMP 13.28 MEM 1151676,41,24772,88

SC_FREEKB 3877152 DATA_FILE_SIZE 19291,689

PM_FREEKB_00 61483520 CAP_FILE_SIZE 183712,0

PM_FREEKB_01 62343040 SDSIZE 3918848,3822112

PM_ACTIVECARD 0 SDFILEDIR 139,1

RAFOS_CLK 0 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 0,1598648607,47.35980,-128.53281,207.754,304359.5 SOUNDSPEED 1465.0

RAFOS_FIX 4719.024414,-12830.469727,280820,222204,1,2,0.33 GPS 280820,222100,4719.293,-12830.424,17,1.1,17,16.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 667 1445 14464.91 nil 0 0 0.00

Pitch_motor 40 276 169.94 nil 0 0 0.00

Roll_motor 54 178 144.54 nil 0 0 0.00

Iridium 360 204 1107.08 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.32 nil 0 0 0.00

Core 3296 10 499.43 SciCon 4573 6 436.08

LPSleep 1855 1 31.11 PMAR 4592 9 672.57

Compass 1713 5 128.28 nil 0 0 0.00

RAFOS 612 40 366.47

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

10.16 16386 -145.99 -0.88 0.00 496.8 477.1 516.4 195.6 1935.7 0.00 0.00 0 91.28 79.19 0.00 0.00 0.005 0.000 0.000 2340.25 2321.31 2359.19 195.50 1936.00 0 0 0 15.80 30.00 30.00

91.54 18727 -145.99 -0.88 80.00 2339.8 2320.4 2359.3 195.8 1935.5 3.29 -1.78 14 146.29 25.97 18.17 3.46 0.006 0.277 0.125 3419.97 3446.81 3393.12 2434.12 3347.88 0 0 0 15.80 15.72 15.80

349.81 1156 -145.99 -0.84 0.00 3422.4 3444.9 3399.9 2433.8 3348.1 50.63 -14.91 65 356.57 0.00 0.00 3.22 0.000 0.000 0.059 3423.47 3445.56 3401.38 2434.12 1931.75 0 0 0 30.00 30.00 15.93

539.90 260 -145.99 -0.84 80.00 3423.3 3446.6 3400.1 2434.1 1932.6 73.08 -11.56 103 546.85 0.00 0.00 3.40 0.000 0.000 0.110 3422.84 3446.12 3399.56 2433.62 3347.94 0 0 0 30.00 30.00 15.85

590.37 1028 -145.99 -0.84 0.00 3423.2 3447.0 3399.5 2434.2 3348.9 78.88 -11.26 113 597.01 0.00 0.00 3.19 0.000 0.000 0.055 3424.59 3447.56 3401.62 2433.88 1933.25 0 0 0 30.00 30.00 15.98

775.29 0 -145.99 -0.84 0.00 3424.2 3448.9 3399.6 2434.0 1932.9 99.47 -11.07 150 781.02 0.00 0.00 0.00 0.000 0.000 0.000 3425.62 3450.19 3401.06 2434.38 1932.62 0 0 0 30.00 30.00 30.00

960.29 0 -145.99 -0.84 0.00 3425.2 3450.4 3400.1 2434.1 1933.1 120.07 -11.03 169 963.75 0.00 0.00 0.00 0.000 0.000 0.000 3425.16 3451.56 3398.75 2433.94 1932.06 0 0 0 30.00 30.00 30.00

1264.56 676 -145.99 -0.89 -80.00 3426.9 3453.3 3400.5 2434.0 1932.4 148.12 -8.24 200 1271.72 0.00 0.00 3.27 0.000 0.000 0.132 3426.22 3452.81 3399.62 2434.12 569.00 0 0 0 30.00 30.00 16.04

1293.91 1188 -145.99 -0.94 0.00 3427.0 3453.9 3400.1 2433.7 568.4 151.26 -9.52 206 1301.88 0.00 0.00 3.16 0.000 0.000 0.050 3427.09 3453.81 3400.38 2434.31 1990.88 0 0 0 30.00 30.00 16.09

1600.63 4257 -145.99 -1.01 0.00 3427.1 3453.7 3400.4 2433.5 1992.1 178.44 -8.30 237 1603.67 0.00 0.29 0.00 0.000 0.078 0.000 3426.75 3453.56 3399.94 2385.44 1992.31 0 0 0 30.00 16.11 30.00

1894 end dive: TARGET_DEPTH_EXCEEDED

state 1894 begin apogee

1895.68 10243 0.00 -0.20 0.00 3426.5 3452.9 3400.1 2386.3 1922.9 210.71 -11.53 267 2011.71 111.07 1.54 0.12 1.445 0.158 0.179 2824.19 2828.25 2820.12 2603.06 2002.31 0 0 0 11.94 16.09 15.66

2013 end apogee: CONTROL_FINISHED_OK

state 2014 begin climb

2013.69 10243 145.99 0.88 0.00 2822.5 2827.2 2817.7 2602.9 2002.4 214.80 0.00 278 2131.85 114.36 1.75 0.00 1.400 0.102 0.000 2230.25 2238.62 2221.88 2867.38 2002.31 0 0 0 11.92 15.64 30.00

2433.94 8870 204.75 0.91 -80.00 2216.2 2227.9 2204.6 2867.5 2002.3 188.64 7.27 326 2487.46 46.24 0.00 3.58 1.378 0.000 0.129 1991.00 2003.88 1978.12 2865.88 570.44 0 0 0 11.90 30.00 15.61

2554.64 1156 204.75 0.81 0.00 1983.3 1992.7 1974.0 2867.6 570.0 177.27 10.82 350 2562.18 0.00 0.00 3.25 0.000 0.000 0.053 1984.28 1993.56 1975.00 2866.81 1991.88 0 0 0 30.00 30.00 15.70

2864.30 8870 240.56 0.89 -80.00 1976.6 1991.2 1961.9 2867.6 1991.4 150.48 8.33 382 2900.32 28.83 0.00 3.52 1.343 0.000 0.128 1842.59 1858.12 1827.06 2867.56 570.62 0 0 0 11.85 30.00 15.73

2995.00 1028 240.56 0.89 0.00 1837.8 1850.3 1825.2 2867.5 570.4 137.42 10.50 408 3001.71 0.00 0.00 3.22 0.000 0.000 0.054 1840.50 1853.56 1827.44 2866.31 1992.38 0 0 0 30.00 30.00 15.86

3299.92 10919 314.81 1.09 -80.00 1833.1 1850.9 1815.2 2867.3 1992.4 114.05 6.55 439 3370.70 58.42 0.30 3.53 1.364 0.087 0.128 1538.22 1562.00 1514.44 2923.75 570.50 0 0 0 11.88 15.95 15.61

3589.45 9254 325.15 1.10 0.00 1531.3 1553.3 1509.2 2923.0 570.6 86.65 9.52 495 3605.96 9.20 0.00 3.22 1.082 0.000 0.054 1498.28 1522.75 1473.81 2923.62 1991.00 0 0 0 11.93 30.00 15.85

3785.17 10919 379.14 1.26 -80.00 1494.4 1522.4 1466.4 2922.9 1990.1 71.87 7.49 534 3837.50 44.22 0.19 3.51 1.314 0.098 0.128 1279.19 1310.44 1247.94 2962.44 570.25 0 0 0 12.00 15.86 15.68

3916.51 1156 379.14 1.21 0.00 1274.3 1303.0 1245.6 2962.6 569.8 56.59 12.93 560 3923.22 0.00 0.00 3.24 0.000 0.000 0.054 1273.66 1302.44 1244.88 2963.38 1990.06 0 0 0 30.00 30.00 15.74

4106.33 10403 455.85 1.43 0.00 1271.0 1302.8 1239.3 2962.6 1992.2 39.78 6.43 598 4172.67 59.93 0.22 0.00 1.285 0.097 0.000 966.44 998.25 934.62 3005.38 1992.31 0 0 0 11.83 15.86 30.00

4351.72 10919 532.66 1.68 -80.00 960.0 994.8 925.3 3005.6 1992.2 22.32 6.43 647 4420.41 60.58 0.31 3.58 1.248 0.083 0.130 653.91 664.50 643.31 3067.25 570.06 0 0 0 11.97 15.79 15.58

4519.46 1028 532.66 1.68 0.00 650.7 660.1 641.4 3067.1 570.1 5.21 12.52 680 4526.13 0.00 0.00 3.24 0.000 0.000 0.053 651.06 660.25 641.88 3067.50 1990.62 0 0 0 30.00 30.00 15.75

4550 end climb: SURFACE_DEPTH_REACHED

state 4550 begin surface coast

4565 end surface coast: CONTROL_FINISHED_OK

state 4565 begin surface

ID	233	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	6	FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	5	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	5	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	12.879429	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2650	FG_AHR_24V	92.050613	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	-169.24788	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	0	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	150	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	280820,205402,4719.621,-12830.729,2,1.7,29,16.0	TGT_LATLONG	4710.249,-12822.827
_CALLS	2	TGT_RADIUS	1852.000
_SM_DEPTHo	1.40	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-69.4	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	280820,210233,4719.601,-12830.770,2,1.6,5,16.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	134.0,20000,-17.6,-10.000,-21.24
TGT_NAME	HEADING	D_GRID	210

MODEM_MSG	CACST,6,1,20200828220302.601725,18,4716,06,0115,0150,216,04,04,05,04,-1,-01,-01,1,3,1,0,150,-7.7,0.35,-100,2.65,-01,0.03,40,925,0025*0E	HUMID	55.67
NET	CACST,6,1,20200828214006.167037,05,2546,34,0111,0150,22,01,01,00,01,-1,-01,-01,1,3,8296,0,150,28.4,-230.00,-100,233.00,-01,-0.15,50,10000,5000*7C	TEMP	10.71
FINISH	0.1,1.023207	INTERNAL_PRESSURE	8.47173
SM_CCo	4623.62,0.00,0.007,0,500.5,475.2,525.8,570.20	_24V_AH	14.99,14.911
SM_GC	1.97,0.00,18.17,0.10,0.007,0.066,0.151,500.5,475.2,525.8,200.2,1919.8,0,0,0,30.36,15.74,15.77	_10V_AH	14.97,0.000
SUPER	19,71,254,1,0,0	FG_AHR_24Vo	92.268
IRIDIUM_FIX	4720.20,-12828.17,280820,205604	FG_AHR_10Vo	12.919
TCM_TEMP	13.28	MEM	1151676,41,24772,88
SC_FREEKB	3877152	DATA_FILE_SIZE	19291,689
PM_FREEKB_00	61483520	CAP_FILE_SIZE	183712,0
PM_FREEKB_01	62343040	SDSIZE	3918848,3822112
PM_ACTIVECARD	0	SDFILEDIR	139,1
RAFOS_CLK	0	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1598648607,47.35980,-128.53281,207.754,304359.5	SOUNDSPEED	1465.0
RAFOS_FIX	4719.024414,-12830.469727,280820,222204,1,2,0.33	GPS	280820,222100,4719.293,-12830.424,17,1.1,17,16.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	667	1445	14464.91	nil	0	0	0.00
Pitch_motor	40	276	169.94	nil	0	0	0.00
Roll_motor	54	178	144.54	nil	0	0	0.00
Iridium	360	204	1107.08	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.32	nil	0	0	0.00
Core	3296	10	499.43	SciCon	4573	6	436.08
LPSleep	1855	1	31.11	PMAR	4592	9	672.57
Compass	1713	5	128.28	nil	0	0	0.00
RAFOS	612	40	366.47
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
10.16	16386	-145.99	-0.88	0.00	496.8	477.1	516.4	195.6	1935.7	0.00	0.00	0	91.28	79.19	0.00	0.00	0.005	0.000	0.000	2340.25	2321.31	2359.19	195.50	1936.00	0	0	0	15.80	30.00	30.00
91.54	18727	-145.99	-0.88	80.00	2339.8	2320.4	2359.3	195.8	1935.5	3.29	-1.78	14	146.29	25.97	18.17	3.46	0.006	0.277	0.125	3419.97	3446.81	3393.12	2434.12	3347.88	0	0	0	15.80	15.72	15.80
349.81	1156	-145.99	-0.84	0.00	3422.4	3444.9	3399.9	2433.8	3348.1	50.63	-14.91	65	356.57	0.00	0.00	3.22	0.000	0.000	0.059	3423.47	3445.56	3401.38	2434.12	1931.75	0	0	0	30.00	30.00	15.93
539.90	260	-145.99	-0.84	80.00	3423.3	3446.6	3400.1	2434.1	1932.6	73.08	-11.56	103	546.85	0.00	0.00	3.40	0.000	0.000	0.110	3422.84	3446.12	3399.56	2433.62	3347.94	0	0	0	30.00	30.00	15.85
590.37	1028	-145.99	-0.84	0.00	3423.2	3447.0	3399.5	2434.2	3348.9	78.88	-11.26	113	597.01	0.00	0.00	3.19	0.000	0.000	0.055	3424.59	3447.56	3401.62	2433.88	1933.25	0	0	0	30.00	30.00	15.98
775.29	0	-145.99	-0.84	0.00	3424.2	3448.9	3399.6	2434.0	1932.9	99.47	-11.07	150	781.02	0.00	0.00	0.00	0.000	0.000	0.000	3425.62	3450.19	3401.06	2434.38	1932.62	0	0	0	30.00	30.00	30.00
960.29	0	-145.99	-0.84	0.00	3425.2	3450.4	3400.1	2434.1	1933.1	120.07	-11.03	169	963.75	0.00	0.00	0.00	0.000	0.000	0.000	3425.16	3451.56	3398.75	2433.94	1932.06	0	0	0	30.00	30.00	30.00
1264.56	676	-145.99	-0.89	-80.00	3426.9	3453.3	3400.5	2434.0	1932.4	148.12	-8.24	200	1271.72	0.00	0.00	3.27	0.000	0.000	0.132	3426.22	3452.81	3399.62	2434.12	569.00	0	0	0	30.00	30.00	16.04
1293.91	1188	-145.99	-0.94	0.00	3427.0	3453.9	3400.1	2433.7	568.4	151.26	-9.52	206	1301.88	0.00	0.00	3.16	0.000	0.000	0.050	3427.09	3453.81	3400.38	2434.31	1990.88	0	0	0	30.00	30.00	16.09
1600.63	4257	-145.99	-1.01	0.00	3427.1	3453.7	3400.4	2433.5	1992.1	178.44	-8.30	237	1603.67	0.00	0.29	0.00	0.000	0.078	0.000	3426.75	3453.56	3399.94	2385.44	1992.31	0	0	0	30.00	16.11	30.00
1894	end dive: TARGET_DEPTH_EXCEEDED
state	1894	begin apogee
1895.68	10243	0.00	-0.20	0.00	3426.5	3452.9	3400.1	2386.3	1922.9	210.71	-11.53	267	2011.71	111.07	1.54	0.12	1.445	0.158	0.179	2824.19	2828.25	2820.12	2603.06	2002.31	0	0	0	11.94	16.09	15.66
2013	end apogee: CONTROL_FINISHED_OK
state	2014	begin climb
2013.69	10243	145.99	0.88	0.00	2822.5	2827.2	2817.7	2602.9	2002.4	214.80	0.00	278	2131.85	114.36	1.75	0.00	1.400	0.102	0.000	2230.25	2238.62	2221.88	2867.38	2002.31	0	0	0	11.92	15.64	30.00
2433.94	8870	204.75	0.91	-80.00	2216.2	2227.9	2204.6	2867.5	2002.3	188.64	7.27	326	2487.46	46.24	0.00	3.58	1.378	0.000	0.129	1991.00	2003.88	1978.12	2865.88	570.44	0	0	0	11.90	30.00	15.61
2554.64	1156	204.75	0.81	0.00	1983.3	1992.7	1974.0	2867.6	570.0	177.27	10.82	350	2562.18	0.00	0.00	3.25	0.000	0.000	0.053	1984.28	1993.56	1975.00	2866.81	1991.88	0	0	0	30.00	30.00	15.70
2864.30	8870	240.56	0.89	-80.00	1976.6	1991.2	1961.9	2867.6	1991.4	150.48	8.33	382	2900.32	28.83	0.00	3.52	1.343	0.000	0.128	1842.59	1858.12	1827.06	2867.56	570.62	0	0	0	11.85	30.00	15.73
2995.00	1028	240.56	0.89	0.00	1837.8	1850.3	1825.2	2867.5	570.4	137.42	10.50	408	3001.71	0.00	0.00	3.22	0.000	0.000	0.054	1840.50	1853.56	1827.44	2866.31	1992.38	0	0	0	30.00	30.00	15.86
3299.92	10919	314.81	1.09	-80.00	1833.1	1850.9	1815.2	2867.3	1992.4	114.05	6.55	439	3370.70	58.42	0.30	3.53	1.364	0.087	0.128	1538.22	1562.00	1514.44	2923.75	570.50	0	0	0	11.88	15.95	15.61
3589.45	9254	325.15	1.10	0.00	1531.3	1553.3	1509.2	2923.0	570.6	86.65	9.52	495	3605.96	9.20	0.00	3.22	1.082	0.000	0.054	1498.28	1522.75	1473.81	2923.62	1991.00	0	0	0	11.93	30.00	15.85
3785.17	10919	379.14	1.26	-80.00	1494.4	1522.4	1466.4	2922.9	1990.1	71.87	7.49	534	3837.50	44.22	0.19	3.51	1.314	0.098	0.128	1279.19	1310.44	1247.94	2962.44	570.25	0	0	0	12.00	15.86	15.68
3916.51	1156	379.14	1.21	0.00	1274.3	1303.0	1245.6	2962.6	569.8	56.59	12.93	560	3923.22	0.00	0.00	3.24	0.000	0.000	0.054	1273.66	1302.44	1244.88	2963.38	1990.06	0	0	0	30.00	30.00	15.74
4106.33	10403	455.85	1.43	0.00	1271.0	1302.8	1239.3	2962.6	1992.2	39.78	6.43	598	4172.67	59.93	0.22	0.00	1.285	0.097	0.000	966.44	998.25	934.62	3005.38	1992.31	0	0	0	11.83	15.86	30.00
4351.72	10919	532.66	1.68	-80.00	960.0	994.8	925.3	3005.6	1992.2	22.32	6.43	647	4420.41	60.58	0.31	3.58	1.248	0.083	0.130	653.91	664.50	643.31	3067.25	570.06	0	0	0	11.97	15.79	15.58
4519.46	1028	532.66	1.68	0.00	650.7	660.1	641.4	3067.1	570.1	5.21	12.52	680	4526.13	0.00	0.00	3.24	0.000	0.000	0.053	651.06	660.25	641.88	3067.50	1990.62	0	0	0	30.00	30.00	15.75
4550	end climb: SURFACE_DEPTH_REACHED
state	4550	begin surface coast
4565	end surface coast: CONTROL_FINISHED_OK
state	4565	begin surface