Glider dive log

AMOS 28Aug20 * SG235 * Dive index * Mission links * Dive 6 * 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 6 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 6 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 11.968919 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2575 FG_AHR_24V 15.919422 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 1700 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 11.968919 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 15.919422 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 1700 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 6 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 6 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 280820,212331,4720.739,-12834.728,2,1.0,25,16.0 TGT_LATLONG 4721.504,-12832.279

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.78 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -67.9 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 280820,212921,4720.731,-12834.789,3,0.7,5,16.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 49.6,3458,-17.6,-10.000,-21.24

TGT_NAME ans0 D_GRID 210

Post-dive calculations and measurements:

NET_PING 3320,0,2321.679199,0.000000 MODEM 0,1598652002,47.35900,-128.54320,2.812,4118.9

NET xmit part outbox005.n 867 12 RAFOS_FIX 4719.650879,-12837.627930,280820,222202,1,2,2.23

_301cd575672fdfaec99ddda187a869201d3b0a2c *39 HUMID 55.07

_2541f26cc7 *35 TEMP 10.94

_404663b799 *3B INTERNAL_PRESSURE 8.05262

_87b0c0d4bb *39 _24V_AH 15.00,8.188

MODEM_MSG CACST,6,1,20200828220359.906570,18,302,12,0113,0150,216,03,03,02,03,-1,-01,-01,1,3,1,0,150,17.9,0.62,-100,2.38,-01,-0.05,51,925,0025*0B _10V_AH 14.96,0.000

_36db8dd814ae017311997a9 *5C FG_AHR_24Vo 16.109

FINISH 0.3,1.023118 FG_AHR_10Vo 12.035

SM_CCo 4577.35,0.00,0.013,0,541.1,614.1,468.0,511.19 MEM 1142648,48,33600,91

SM_GC 1.49,0.00,17.03,0.61,0.013,0.068,0.120,541.1,614.1,468.0,217.8,1681.4,0,0,0,30.36,15.77,15.79 DATA_FILE_SIZE 19324,690

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 207827,0

IRIDIUM_FIX 4720.45,-12832.64,280820,200540 SDSIZE 3918848,3814048

TCM_TEMP 15.38 SDFILEDIR 133,1

SC_FREEKB 3876864 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

PM_FREEKB_00 61399680 SOUNDSPEED 1465.0

PM_FREEKB_01 62343040 CURRENT 0.098,324.6,1

PM_ACTIVECARD 0 GPS 280820,224651,4721.113,-12834.340,0,1.8,2,16.0

RAFOS_CLK 0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 591 1419 12593.34 nil 0 0 0.00

Pitch_motor 40 263 158.53 nil 0 0 0.00

Roll_motor 76 317 363.47 nil 0 0 0.00

Iridium 258 241 935.93 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.16 nil 0 0 0.00

Core 3459 10 523.70 SciCon 4515 6 424.11

LPSleep 1422 1 23.83 PMAR 4537 17 1190.84

Compass 1752 5 131.08 nil 0 0 0.00

RAFOS 432 40 258.51

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

10.54 16386 -145.99 -1.06 0.00 538.6 597.8 479.4 212.7 1725.7 0.00 0.00 0 80.47 67.90 0.00 0.00 0.005 0.000 0.000 2125.88 2129.62 2122.12 212.75 1726.56 0 0 0 15.80 30.00 30.00

80.74 18983 -145.99 -1.06 -80.00 2124.1 2126.6 2121.6 212.7 1727.2 3.10 -2.27 13 135.36 27.77 15.65 2.84 0.006 0.263 0.170 3219.22 3250.06 3188.38 2316.56 591.12 0 0 0 15.84 15.69 15.80

199.12 3205 -145.99 -0.84 0.00 3219.6 3252.2 3186.9 2316.9 590.7 25.74 -21.66 36 205.55 0.00 0.37 2.57 0.000 0.172 0.064 3220.34 3252.88 3187.81 2373.50 1724.25 0 0 0 30.00 15.83 15.88

385.17 4485 -145.99 -0.99 80.00 3220.6 3253.8 3187.3 2373.0 1724.1 50.64 -11.31 73 396.32 0.00 0.32 3.46 0.000 0.071 0.124 3222.31 3255.62 3189.00 2316.00 3166.38 0 0 0 30.00 15.92 15.81

440.28 1028 -145.99 -0.99 0.00 3220.6 3254.9 3186.4 2316.1 3166.2 57.41 -12.28 84 446.78 0.00 0.00 3.48 0.000 0.000 0.098 3222.66 3255.50 3189.81 2314.88 1687.25 0 0 0 30.00 30.00 15.91

629.48 260 -145.99 -0.99 80.00 3220.7 3255.1 3186.4 2316.8 1687.9 79.02 -11.22 122 636.13 0.00 0.00 3.56 0.000 0.000 0.128 3221.25 3254.88 3187.62 2316.12 3165.06 0 0 0 30.00 30.00 15.93

684.71 1156 -145.99 -1.05 0.00 3220.9 3254.6 3187.1 2316.1 3165.1 85.67 -11.44 133 695.95 0.00 0.00 3.50 0.000 0.000 0.108 3221.72 3255.69 3187.75 2315.94 1688.06 0 0 0 30.00 30.00 15.89

875.22 388 -145.99 -1.11 80.00 3222.1 3256.9 3187.3 2316.5 1688.8 106.60 -10.74 165 881.98 0.00 0.00 3.60 0.000 0.000 0.142 3222.50 3257.94 3187.06 2316.06 3165.25 0 0 0 30.00 30.00 15.95

934.14 1156 -145.99 -1.16 0.00 3222.0 3257.8 3186.2 2316.7 3164.1 113.15 -10.99 177 943.46 0.00 0.00 3.56 0.000 0.000 0.123 3222.88 3257.94 3187.81 2317.38 1688.12 0 0 0 30.00 30.00 15.89

1244.75 4517 -145.99 -1.25 80.00 3223.0 3259.4 3186.6 2317.1 1687.4 143.05 -9.15 209 1256.25 0.00 0.30 3.67 0.000 0.074 0.157 3223.66 3259.44 3187.88 2251.38 3162.44 0 0 0 30.00 15.94 15.82

1284.79 3205 -145.99 -1.15 0.00 3222.6 3258.8 3186.5 2251.7 3162.6 147.79 -11.95 217 1292.04 0.00 0.34 3.60 0.000 0.170 0.137 3223.94 3260.00 3187.88 2299.88 1691.19 0 0 0 30.00 15.90 15.89

1590.36 4773 -145.99 -1.25 -80.00 3223.2 3259.1 3187.4 2298.6 1690.7 177.69 -9.97 248 1597.44 0.00 0.24 2.90 0.000 0.082 0.239 3225.75 3261.31 3190.19 2250.31 594.06 0 0 0 30.00 15.96 15.86

1636.24 3205 -145.99 -1.04 0.00 3223.5 3259.0 3187.9 2250.9 593.5 183.87 -14.19 257 1643.62 0.00 0.53 2.66 0.000 0.173 0.117 3222.56 3258.62 3186.50 2324.56 1713.38 0 0 0 30.00 15.93 15.95

1943 end dive: TARGET_DEPTH_EXCEEDED

state 1943 begin apogee

1945.17 10243 0.00 -0.25 0.00 3223.8 3259.6 3187.9 2323.8 1946.2 210.93 -8.89 288 2056.14 105.07 1.25 0.05 1.419 0.138 0.318 2622.59 2690.62 2554.56 2516.88 1920.38 0 0 0 11.94 15.94 15.56

2058 end apogee: CONTROL_FINISHED_OK

state 2058 begin climb

2058.37 10759 145.99 1.06 -80.00 2622.0 2689.1 2555.0 2516.9 1920.2 213.95 0.00 299 2177.16 109.43 2.00 3.70 1.368 0.092 0.237 2026.62 2115.31 1937.94 2837.56 595.00 0 0 0 11.86 15.55 14.63

2285.90 21639 145.99 0.67 0.00 2021.4 2105.1 1937.8 2837.3 594.9 192.46 14.60 343 2297.15 0.00 0.78 3.35 0.000 0.213 0.127 2023.88 2107.25 1940.50 2732.88 1942.56 0 0 0 30.00 15.49 15.53

2603.66 10403 225.08 0.91 0.00 2018.5 2102.6 1934.4 2731.9 1942.4 169.11 6.32 376 2665.64 58.74 0.41 0.00 1.340 0.077 0.000 1707.06 1800.62 1613.50 2804.62 1942.38 0 0 0 11.89 15.81 30.00

2963.57 16774 225.08 0.98 80.00 1697.1 1785.2 1609.0 2804.4 1941.7 134.31 10.27 413 2971.04 0.00 0.00 3.72 0.000 0.000 0.181 1699.06 1787.25 1610.88 2804.19 3395.06 0 0 0 30.00 30.00 15.74

3083.21 9254 238.02 0.99 0.00 1695.1 1780.2 1609.9 2805.6 3394.6 122.40 9.40 437 3101.02 10.60 0.00 3.59 1.110 0.000 0.123 1654.22 1741.06 1567.38 2805.75 1922.75 0 0 0 11.83 30.00 15.82

3401.30 10663 328.68 1.24 80.00 1650.9 1736.9 1564.9 2806.0 1922.8 101.25 5.78 470 3479.09 69.36 0.43 3.80 1.297 0.073 0.169 1283.72 1378.88 1188.56 2885.50 3396.62 0 0 0 11.88 15.88 15.56

3547.93 9254 332.02 1.24 0.00 1280.6 1372.2 1188.9 2885.3 3395.4 88.08 9.84 499 3559.70 4.68 0.00 3.61 0.651 0.000 0.114 1271.12 1362.88 1179.38 2886.00 1921.69 0 0 0 11.87 30.00 15.67

3741.68 260 332.02 1.24 80.00 1268.2 1357.6 1178.8 2886.2 1921.4 68.48 10.12 538 3748.64 0.00 0.00 3.72 0.000 0.000 0.159 1269.56 1359.31 1179.81 2886.56 3398.75 0 0 0 30.00 30.00 15.73

3782.25 1028 332.02 1.24 0.00 1267.9 1356.6 1179.1 2885.9 3399.1 64.05 10.93 546 3793.03 0.00 0.00 3.56 0.000 0.000 0.108 1267.97 1356.56 1179.38 2886.12 1923.81 0 0 0 30.00 30.00 15.75

3973.41 10919 384.26 1.43 -80.00 1266.2 1355.1 1177.2 2885.8 1923.7 46.70 7.57 584 4021.90 40.62 0.20 3.46 1.224 0.093 0.200 1057.06 1155.38 958.75 2931.19 593.81 0 0 0 11.83 15.88 15.67

4060.63 9254 391.19 1.44 0.00 1055.8 1152.0 959.6 2931.6 593.9 39.23 9.68 601 4076.86 7.74 0.00 3.16 0.915 0.000 0.077 1030.03 1127.25 932.81 2931.31 1952.44 0 0 0 11.91 30.00 15.76

4259.46 10403 452.54 1.64 0.00 1026.8 1122.9 930.7 2930.7 1950.8 24.30 7.15 641 4310.81 47.21 0.26 0.00 1.186 0.086 0.000 780.72 883.19 678.25 2985.38 1951.75 0 0 0 12.03 15.83 30.00

4490 end climb: SURFACE_DEPTH_REACHED

state 4490 begin surface coast

4507 end surface coast: CONTROL_FINISHED_OK

state 4507 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	6	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	6	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	11.968919	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2575	FG_AHR_24V	15.919422	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	1700	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	280820,212331,4720.739,-12834.728,2,1.0,25,16.0	TGT_LATLONG	4721.504,-12832.279
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.78	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-67.9	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	280820,212921,4720.731,-12834.789,3,0.7,5,16.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	49.6,3458,-17.6,-10.000,-21.24
TGT_NAME	ans0	D_GRID	210

NET_PING	3320,0,2321.679199,0.000000	MODEM	0,1598652002,47.35900,-128.54320,2.812,4118.9
NET	xmit part outbox005.n 867 12	RAFOS_FIX	4719.650879,-12837.627930,280820,222202,1,2,2.23
_301cd575672fdfaec99ddda187a869201d3b0a2c	*39	HUMID	55.07
_2541f26cc7	*35	TEMP	10.94
_404663b799	*3B	INTERNAL_PRESSURE	8.05262
_87b0c0d4bb	*39	_24V_AH	15.00,8.188
MODEM_MSG	CACST,6,1,20200828220359.906570,18,302,12,0113,0150,216,03,03,02,03,-1,-01,-01,1,3,1,0,150,17.9,0.62,-100,2.38,-01,-0.05,51,925,0025*0B	_10V_AH	14.96,0.000
_36db8dd814ae017311997a9	*5C	FG_AHR_24Vo	16.109
FINISH	0.3,1.023118	FG_AHR_10Vo	12.035
SM_CCo	4577.35,0.00,0.013,0,541.1,614.1,468.0,511.19	MEM	1142648,48,33600,91
SM_GC	1.49,0.00,17.03,0.61,0.013,0.068,0.120,541.1,614.1,468.0,217.8,1681.4,0,0,0,30.36,15.77,15.79	DATA_FILE_SIZE	19324,690
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	207827,0
IRIDIUM_FIX	4720.45,-12832.64,280820,200540	SDSIZE	3918848,3814048
TCM_TEMP	15.38	SDFILEDIR	133,1
SC_FREEKB	3876864	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
PM_FREEKB_00	61399680	SOUNDSPEED	1465.0
PM_FREEKB_01	62343040	CURRENT	0.098,324.6,1
PM_ACTIVECARD	0	GPS	280820,224651,4721.113,-12834.340,0,1.8,2,16.0
RAFOS_CLK	0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	591	1419	12593.34	nil	0	0	0.00
Pitch_motor	40	263	158.53	nil	0	0	0.00
Roll_motor	76	317	363.47	nil	0	0	0.00
Iridium	258	241	935.93	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.16	nil	0	0	0.00
Core	3459	10	523.70	SciCon	4515	6	424.11
LPSleep	1422	1	23.83	PMAR	4537	17	1190.84
Compass	1752	5	131.08	nil	0	0	0.00
RAFOS	432	40	258.51
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
10.54	16386	-145.99	-1.06	0.00	538.6	597.8	479.4	212.7	1725.7	0.00	0.00	0	80.47	67.90	0.00	0.00	0.005	0.000	0.000	2125.88	2129.62	2122.12	212.75	1726.56	0	0	0	15.80	30.00	30.00
80.74	18983	-145.99	-1.06	-80.00	2124.1	2126.6	2121.6	212.7	1727.2	3.10	-2.27	13	135.36	27.77	15.65	2.84	0.006	0.263	0.170	3219.22	3250.06	3188.38	2316.56	591.12	0	0	0	15.84	15.69	15.80
199.12	3205	-145.99	-0.84	0.00	3219.6	3252.2	3186.9	2316.9	590.7	25.74	-21.66	36	205.55	0.00	0.37	2.57	0.000	0.172	0.064	3220.34	3252.88	3187.81	2373.50	1724.25	0	0	0	30.00	15.83	15.88
385.17	4485	-145.99	-0.99	80.00	3220.6	3253.8	3187.3	2373.0	1724.1	50.64	-11.31	73	396.32	0.00	0.32	3.46	0.000	0.071	0.124	3222.31	3255.62	3189.00	2316.00	3166.38	0	0	0	30.00	15.92	15.81
440.28	1028	-145.99	-0.99	0.00	3220.6	3254.9	3186.4	2316.1	3166.2	57.41	-12.28	84	446.78	0.00	0.00	3.48	0.000	0.000	0.098	3222.66	3255.50	3189.81	2314.88	1687.25	0	0	0	30.00	30.00	15.91
629.48	260	-145.99	-0.99	80.00	3220.7	3255.1	3186.4	2316.8	1687.9	79.02	-11.22	122	636.13	0.00	0.00	3.56	0.000	0.000	0.128	3221.25	3254.88	3187.62	2316.12	3165.06	0	0	0	30.00	30.00	15.93
684.71	1156	-145.99	-1.05	0.00	3220.9	3254.6	3187.1	2316.1	3165.1	85.67	-11.44	133	695.95	0.00	0.00	3.50	0.000	0.000	0.108	3221.72	3255.69	3187.75	2315.94	1688.06	0	0	0	30.00	30.00	15.89
875.22	388	-145.99	-1.11	80.00	3222.1	3256.9	3187.3	2316.5	1688.8	106.60	-10.74	165	881.98	0.00	0.00	3.60	0.000	0.000	0.142	3222.50	3257.94	3187.06	2316.06	3165.25	0	0	0	30.00	30.00	15.95
934.14	1156	-145.99	-1.16	0.00	3222.0	3257.8	3186.2	2316.7	3164.1	113.15	-10.99	177	943.46	0.00	0.00	3.56	0.000	0.000	0.123	3222.88	3257.94	3187.81	2317.38	1688.12	0	0	0	30.00	30.00	15.89
1244.75	4517	-145.99	-1.25	80.00	3223.0	3259.4	3186.6	2317.1	1687.4	143.05	-9.15	209	1256.25	0.00	0.30	3.67	0.000	0.074	0.157	3223.66	3259.44	3187.88	2251.38	3162.44	0	0	0	30.00	15.94	15.82
1284.79	3205	-145.99	-1.15	0.00	3222.6	3258.8	3186.5	2251.7	3162.6	147.79	-11.95	217	1292.04	0.00	0.34	3.60	0.000	0.170	0.137	3223.94	3260.00	3187.88	2299.88	1691.19	0	0	0	30.00	15.90	15.89
1590.36	4773	-145.99	-1.25	-80.00	3223.2	3259.1	3187.4	2298.6	1690.7	177.69	-9.97	248	1597.44	0.00	0.24	2.90	0.000	0.082	0.239	3225.75	3261.31	3190.19	2250.31	594.06	0	0	0	30.00	15.96	15.86
1636.24	3205	-145.99	-1.04	0.00	3223.5	3259.0	3187.9	2250.9	593.5	183.87	-14.19	257	1643.62	0.00	0.53	2.66	0.000	0.173	0.117	3222.56	3258.62	3186.50	2324.56	1713.38	0	0	0	30.00	15.93	15.95
1943	end dive: TARGET_DEPTH_EXCEEDED
state	1943	begin apogee
1945.17	10243	0.00	-0.25	0.00	3223.8	3259.6	3187.9	2323.8	1946.2	210.93	-8.89	288	2056.14	105.07	1.25	0.05	1.419	0.138	0.318	2622.59	2690.62	2554.56	2516.88	1920.38	0	0	0	11.94	15.94	15.56
2058	end apogee: CONTROL_FINISHED_OK
state	2058	begin climb
2058.37	10759	145.99	1.06	-80.00	2622.0	2689.1	2555.0	2516.9	1920.2	213.95	0.00	299	2177.16	109.43	2.00	3.70	1.368	0.092	0.237	2026.62	2115.31	1937.94	2837.56	595.00	0	0	0	11.86	15.55	14.63
2285.90	21639	145.99	0.67	0.00	2021.4	2105.1	1937.8	2837.3	594.9	192.46	14.60	343	2297.15	0.00	0.78	3.35	0.000	0.213	0.127	2023.88	2107.25	1940.50	2732.88	1942.56	0	0	0	30.00	15.49	15.53
2603.66	10403	225.08	0.91	0.00	2018.5	2102.6	1934.4	2731.9	1942.4	169.11	6.32	376	2665.64	58.74	0.41	0.00	1.340	0.077	0.000	1707.06	1800.62	1613.50	2804.62	1942.38	0	0	0	11.89	15.81	30.00
2963.57	16774	225.08	0.98	80.00	1697.1	1785.2	1609.0	2804.4	1941.7	134.31	10.27	413	2971.04	0.00	0.00	3.72	0.000	0.000	0.181	1699.06	1787.25	1610.88	2804.19	3395.06	0	0	0	30.00	30.00	15.74
3083.21	9254	238.02	0.99	0.00	1695.1	1780.2	1609.9	2805.6	3394.6	122.40	9.40	437	3101.02	10.60	0.00	3.59	1.110	0.000	0.123	1654.22	1741.06	1567.38	2805.75	1922.75	0	0	0	11.83	30.00	15.82
3401.30	10663	328.68	1.24	80.00	1650.9	1736.9	1564.9	2806.0	1922.8	101.25	5.78	470	3479.09	69.36	0.43	3.80	1.297	0.073	0.169	1283.72	1378.88	1188.56	2885.50	3396.62	0	0	0	11.88	15.88	15.56
3547.93	9254	332.02	1.24	0.00	1280.6	1372.2	1188.9	2885.3	3395.4	88.08	9.84	499	3559.70	4.68	0.00	3.61	0.651	0.000	0.114	1271.12	1362.88	1179.38	2886.00	1921.69	0	0	0	11.87	30.00	15.67
3741.68	260	332.02	1.24	80.00	1268.2	1357.6	1178.8	2886.2	1921.4	68.48	10.12	538	3748.64	0.00	0.00	3.72	0.000	0.000	0.159	1269.56	1359.31	1179.81	2886.56	3398.75	0	0	0	30.00	30.00	15.73
3782.25	1028	332.02	1.24	0.00	1267.9	1356.6	1179.1	2885.9	3399.1	64.05	10.93	546	3793.03	0.00	0.00	3.56	0.000	0.000	0.108	1267.97	1356.56	1179.38	2886.12	1923.81	0	0	0	30.00	30.00	15.75
3973.41	10919	384.26	1.43	-80.00	1266.2	1355.1	1177.2	2885.8	1923.7	46.70	7.57	584	4021.90	40.62	0.20	3.46	1.224	0.093	0.200	1057.06	1155.38	958.75	2931.19	593.81	0	0	0	11.83	15.88	15.67
4060.63	9254	391.19	1.44	0.00	1055.8	1152.0	959.6	2931.6	593.9	39.23	9.68	601	4076.86	7.74	0.00	3.16	0.915	0.000	0.077	1030.03	1127.25	932.81	2931.31	1952.44	0	0	0	11.91	30.00	15.76
4259.46	10403	452.54	1.64	0.00	1026.8	1122.9	930.7	2930.7	1950.8	24.30	7.15	641	4310.81	47.21	0.26	0.00	1.186	0.086	0.000	780.72	883.19	678.25	2985.38	1951.75	0	0	0	12.03	15.83	30.00
4490	end climb: SURFACE_DEPTH_REACHED
state	4490	begin surface coast
4507	end surface coast: CONTROL_FINISHED_OK
state	4507	begin surface