Glider dive log

AMOS Aug20 * SG235 * Dive index * Mission links * Dive 7 * 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 7 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 8 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 10.630947 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2575 FG_AHR_24V 12.39948 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 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 10.630947 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 12.39948 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 1935 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 7 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 8 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 240820,234426,5215.431,-13801.529,2,1.7,4,16.7 TGT_LATLONG 5215.348,-13802.088

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.62 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -65.5 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 240820,234902,5215.447,-13801.487,1,1.8,5,16.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 211.4,705,-17.6,-10.000,-21.24

TGT_NAME ans0 D_GRID 210

Post-dive calculations and measurements:

NET_PING 31,0,768.245972,0.000000 HUMID 54.46

NET CACST,6,0,20200825001006.949297,05,5995,37,0180,0150,07,01,01,00,01,1,000,233,0,5,1,0,150,19.7,108.00,-100,-105.00,-01,0.49,40,10000,5000*45 TEMP 8.28

MODEM_MSG CACST,6,1,20200825000001.804717,18,3389,11,0179,0150,216,03,03,04,03,-1,-01,-01,1,3,0,0,150,23.9,4.03,-100,-1.03,-01,0.36,40,925,0025*36 INTERNAL_PRESSURE 7.94151

FINISH 0.3,1.024632 _24V_AH 14.93,4.609

SM_CCo 4287.70,0.00,0.014,0,761.9,837.4,686.5,499.94 _10V_AH 14.93,0.000

SM_GC 1.92,0.00,17.00,0.21,0.014,0.075,0.129,761.9,837.4,686.5,216.7,2021.2,0,0,0,30.36,15.69,15.72 FG_AHR_24Vo 12.597

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 10.674

IRIDIUM_FIX 5214.23,-13806.52,240820,222840 MEM 1143228,32,33404,89

TCM_TEMP 12.18 DATA_FILE_SIZE 19281,638

SC_FREEKB 3876704 CAP_FILE_SIZE 203527,0

PM_FREEKB_00 62019904 SDSIZE 3918848,3860416

PM_FREEKB_01 62343040 SDFILEDIR 100,1

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 0,1598313601,52.25580,-138.03481,1.805,2643.9 CURRENT 0.142, 98.1,1

RAFOS_FIX 5215.527832,-13758.369141,250820,000001,1,2,5.45 GPS 250820,010200,5214.943,-13801.579,25,0.8,25,16.7

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 598 1499 13390.26 nil 0 0 0.00

Pitch_motor 40 287 171.86 nil 0 0 0.00

Roll_motor 51 391 298.36 nil 0 0 0.00

Iridium 195 214 625.28 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.27 nil 0 0 0.00

Core 2836 10 428.62 SciCon 4251 6 414.38

LPSleep 1702 1 28.47 PMAR 4261 15 973.72

Compass 1624 5 121.23 nil 0 0 0.00

RAFOS 591 40 352.95

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

9.95 16386 -145.99 -1.06 0.00 757.9 822.8 693.1 215.2 2015.1 0.00 0.00 0 88.31 76.39 0.00 0.00 0.005 0.000 0.000 2394.94 2395.81 2394.06 215.38 2015.62 0 0 0 14.89 30.00 30.00

88.57 18727 -145.99 -1.06 80.00 2394.5 2395.2 2393.8 215.5 2015.2 3.43 -2.60 15 138.74 24.81 15.81 3.47 0.006 0.288 0.157 3394.00 3432.94 3355.06 2316.12 3407.50 0 0 0 15.73 15.65 15.74

182.48 1156 -145.99 -1.14 0.00 3393.5 3433.6 3353.5 2316.9 3407.6 20.29 -15.89 33 188.97 0.00 0.00 3.38 0.000 0.000 0.099 3394.25 3434.56 3353.94 2316.81 1985.81 0 0 0 30.00 30.00 15.78

367.93 4741 -145.99 -1.29 -80.00 3395.0 3435.5 3354.4 2317.2 1986.3 49.47 -12.14 70 379.38 0.00 0.43 3.56 0.000 0.072 0.190 3395.94 3437.00 3354.88 2242.56 593.81 0 0 0 30.00 15.86 15.80

523.26 3205 -145.99 -1.10 0.00 3394.5 3435.4 3353.6 2242.9 593.5 77.15 -17.53 101 534.40 0.00 0.48 3.35 0.000 0.184 0.101 3396.62 3437.06 3356.19 2307.88 2012.19 0 0 0 30.00 15.83 15.88

721.23 4257 -145.99 -1.26 0.00 3396.5 3439.4 3353.7 2308.2 2013.1 98.78 -9.60 139 727.33 0.00 0.31 0.00 0.000 0.079 0.000 3396.22 3438.62 3353.81 2251.00 2012.88 0 0 0 30.00 15.90 30.00

906.50 0 -145.99 -1.26 0.00 3396.3 3438.9 3353.8 2250.9 2012.8 121.97 -13.46 159 909.41 0.00 0.00 0.00 0.000 0.000 0.000 3395.31 3438.00 3352.62 2251.69 2012.19 0 0 0 30.00 30.00 30.00

1206.85 516 -145.99 -1.26 -80.00 3396.8 3439.7 3353.9 2251.2 2012.8 162.15 -13.15 189 1213.70 0.00 0.00 3.72 0.000 0.000 0.222 3396.88 3438.88 3354.88 2250.31 593.44 0 0 0 30.00 30.00 15.82

1265.87 3205 -145.99 -1.19 0.00 3397.5 3440.1 3355.0 2250.8 593.7 170.86 -14.31 201 1273.99 0.00 0.28 3.44 0.000 0.179 0.140 3397.59 3439.62 3355.56 2286.25 2007.56 0 0 0 30.00 15.90 15.92

1572.55 4225 -145.99 -1.35 0.00 3396.5 3438.5 3354.4 2286.9 2007.2 202.45 -10.17 232 1575.83 0.00 0.31 0.00 0.000 0.082 0.000 3395.47 3437.50 3353.44 2230.31 2006.44 0 0 0 30.00 15.98 30.00

1632 end dive: TARGET_DEPTH_EXCEEDED

state 1632 begin apogee

1633.51 10243 0.00 -0.25 0.00 3396.6 3438.9 3354.3 2230.3 1924.2 210.18 -13.13 238 1745.39 105.08 1.95 0.04 1.499 0.161 0.391 2799.72 2870.88 2728.56 2515.12 1951.56 0 0 0 11.80 15.95 15.53

1747 end apogee: CONTROL_FINISHED_OK

state 1747 begin climb

1747.25 10243 145.99 1.06 0.00 2798.6 2869.3 2727.8 2516.2 1952.0 213.38 0.00 249 1860.29 109.14 1.99 0.00 1.447 0.088 0.000 2200.88 2283.19 2118.56 2838.00 1952.06 0 0 0 11.78 15.54 30.00

2157.59 12711 171.01 0.83 80.00 2195.7 2273.2 2118.2 2837.5 1951.4 188.10 8.84 300 2185.10 20.06 0.52 3.79 1.331 0.207 0.201 2103.38 2185.06 2021.69 2769.75 3396.12 0 0 0 11.74 15.62 15.56

2254.11 9382 213.90 0.82 0.00 2096.7 2174.9 2018.4 2769.4 3396.7 180.52 8.01 319 2295.91 34.18 0.00 3.66 1.382 0.000 0.136 1927.81 2012.62 1843.00 2768.06 1922.81 0 0 0 11.71 30.00 15.60

2594.46 10403 279.95 0.97 0.00 1920.0 2001.4 1838.6 2769.7 1923.7 154.93 6.93 357 2648.59 51.06 0.28 0.00 1.391 0.087 0.000 1656.81 1746.88 1566.75 2819.81 1924.56 0 0 0 11.75 15.76 30.00

2943.69 16646 279.95 0.97 80.00 1649.8 1734.6 1564.9 2820.9 1924.1 119.10 10.40 392 2951.17 0.00 0.00 3.79 0.000 0.000 0.181 1650.38 1734.81 1565.94 2819.56 3397.62 0 0 0 30.00 30.00 15.72

3032.71 17414 279.95 0.97 0.00 1647.7 1730.1 1565.4 2821.2 3399.1 109.94 10.66 409 3039.82 0.00 0.00 3.61 0.000 0.000 0.127 1650.31 1732.69 1567.94 2819.06 1924.25 0 0 0 30.00 30.00 15.75

3337.48 10663 361.23 1.14 80.00 1647.5 1729.7 1565.2 2821.1 1924.1 84.54 6.22 460 3410.42 62.38 0.17 3.81 1.350 0.106 0.178 1326.62 1419.69 1233.56 2859.94 3396.19 0 0 0 11.80 15.88 15.49

3514.28 9382 388.85 1.27 0.00 1322.1 1410.6 1233.6 2859.8 3396.1 69.73 8.71 495 3546.16 23.11 0.00 3.62 1.257 0.000 0.125 1214.44 1308.44 1120.44 2859.06 1925.06 0 0 0 11.76 30.00 15.68

3725.91 10403 407.87 1.41 0.00 1210.5 1301.2 1119.8 2858.9 1925.1 51.88 9.12 537 3747.10 16.55 0.35 0.00 1.199 0.080 0.000 1138.25 1232.50 1044.00 2924.94 1924.62 0 0 0 11.88 15.75 30.00

3926.64 10663 454.20 1.55 80.00 1134.0 1225.7 1042.3 2925.6 1924.9 31.69 7.84 577 3974.18 37.60 0.14 3.77 1.254 0.118 0.164 949.12 1051.88 846.38 2958.19 3397.00 0 0 0 11.84 15.76 15.59

3997.43 9254 477.37 1.58 0.00 948.6 1048.6 848.6 2958.5 3397.4 25.86 8.92 591 4025.39 20.47 0.00 3.59 1.180 0.000 0.111 853.75 959.25 748.25 2958.56 1924.00 0 0 0 11.83 30.00 15.64

4210.70 0 477.37 1.58 0.00 850.2 952.4 748.0 2958.1 1924.1 3.77 11.29 632 4216.60 0.00 0.00 0.00 0.000 0.000 0.000 850.00 952.19 747.81 2958.88 1924.06 0 0 0 30.00 30.00 30.00

4229 end climb: SURFACE_DEPTH_REACHED

state 4229 begin surface coast

4243 end surface coast: CONTROL_FINISHED_OK

state 4243 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	7	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	8	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	10.630947	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2575	FG_AHR_24V	12.39948	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	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	240820,234426,5215.431,-13801.529,2,1.7,4,16.7	TGT_LATLONG	5215.348,-13802.088
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.62	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-65.5	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	240820,234902,5215.447,-13801.487,1,1.8,5,16.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	211.4,705,-17.6,-10.000,-21.24
TGT_NAME	ans0	D_GRID	210

NET_PING	31,0,768.245972,0.000000	HUMID	54.46
NET	CACST,6,0,20200825001006.949297,05,5995,37,0180,0150,07,01,01,00,01,1,000,233,0,5,1,0,150,19.7,108.00,-100,-105.00,-01,0.49,40,10000,5000*45	TEMP	8.28
MODEM_MSG	CACST,6,1,20200825000001.804717,18,3389,11,0179,0150,216,03,03,04,03,-1,-01,-01,1,3,0,0,150,23.9,4.03,-100,-1.03,-01,0.36,40,925,0025*36	INTERNAL_PRESSURE	7.94151
FINISH	0.3,1.024632	_24V_AH	14.93,4.609
SM_CCo	4287.70,0.00,0.014,0,761.9,837.4,686.5,499.94	_10V_AH	14.93,0.000
SM_GC	1.92,0.00,17.00,0.21,0.014,0.075,0.129,761.9,837.4,686.5,216.7,2021.2,0,0,0,30.36,15.69,15.72	FG_AHR_24Vo	12.597
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	10.674
IRIDIUM_FIX	5214.23,-13806.52,240820,222840	MEM	1143228,32,33404,89
TCM_TEMP	12.18	DATA_FILE_SIZE	19281,638
SC_FREEKB	3876704	CAP_FILE_SIZE	203527,0
PM_FREEKB_00	62019904	SDSIZE	3918848,3860416
PM_FREEKB_01	62343040	SDFILEDIR	100,1
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	0,1598313601,52.25580,-138.03481,1.805,2643.9	CURRENT	0.142, 98.1,1
RAFOS_FIX	5215.527832,-13758.369141,250820,000001,1,2,5.45	GPS	250820,010200,5214.943,-13801.579,25,0.8,25,16.7

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	598	1499	13390.26	nil	0	0	0.00
Pitch_motor	40	287	171.86	nil	0	0	0.00
Roll_motor	51	391	298.36	nil	0	0	0.00
Iridium	195	214	625.28	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.27	nil	0	0	0.00
Core	2836	10	428.62	SciCon	4251	6	414.38
LPSleep	1702	1	28.47	PMAR	4261	15	973.72
Compass	1624	5	121.23	nil	0	0	0.00
RAFOS	591	40	352.95
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
9.95	16386	-145.99	-1.06	0.00	757.9	822.8	693.1	215.2	2015.1	0.00	0.00	0	88.31	76.39	0.00	0.00	0.005	0.000	0.000	2394.94	2395.81	2394.06	215.38	2015.62	0	0	0	14.89	30.00	30.00
88.57	18727	-145.99	-1.06	80.00	2394.5	2395.2	2393.8	215.5	2015.2	3.43	-2.60	15	138.74	24.81	15.81	3.47	0.006	0.288	0.157	3394.00	3432.94	3355.06	2316.12	3407.50	0	0	0	15.73	15.65	15.74
182.48	1156	-145.99	-1.14	0.00	3393.5	3433.6	3353.5	2316.9	3407.6	20.29	-15.89	33	188.97	0.00	0.00	3.38	0.000	0.000	0.099	3394.25	3434.56	3353.94	2316.81	1985.81	0	0	0	30.00	30.00	15.78
367.93	4741	-145.99	-1.29	-80.00	3395.0	3435.5	3354.4	2317.2	1986.3	49.47	-12.14	70	379.38	0.00	0.43	3.56	0.000	0.072	0.190	3395.94	3437.00	3354.88	2242.56	593.81	0	0	0	30.00	15.86	15.80
523.26	3205	-145.99	-1.10	0.00	3394.5	3435.4	3353.6	2242.9	593.5	77.15	-17.53	101	534.40	0.00	0.48	3.35	0.000	0.184	0.101	3396.62	3437.06	3356.19	2307.88	2012.19	0	0	0	30.00	15.83	15.88
721.23	4257	-145.99	-1.26	0.00	3396.5	3439.4	3353.7	2308.2	2013.1	98.78	-9.60	139	727.33	0.00	0.31	0.00	0.000	0.079	0.000	3396.22	3438.62	3353.81	2251.00	2012.88	0	0	0	30.00	15.90	30.00
906.50	0	-145.99	-1.26	0.00	3396.3	3438.9	3353.8	2250.9	2012.8	121.97	-13.46	159	909.41	0.00	0.00	0.00	0.000	0.000	0.000	3395.31	3438.00	3352.62	2251.69	2012.19	0	0	0	30.00	30.00	30.00
1206.85	516	-145.99	-1.26	-80.00	3396.8	3439.7	3353.9	2251.2	2012.8	162.15	-13.15	189	1213.70	0.00	0.00	3.72	0.000	0.000	0.222	3396.88	3438.88	3354.88	2250.31	593.44	0	0	0	30.00	30.00	15.82
1265.87	3205	-145.99	-1.19	0.00	3397.5	3440.1	3355.0	2250.8	593.7	170.86	-14.31	201	1273.99	0.00	0.28	3.44	0.000	0.179	0.140	3397.59	3439.62	3355.56	2286.25	2007.56	0	0	0	30.00	15.90	15.92
1572.55	4225	-145.99	-1.35	0.00	3396.5	3438.5	3354.4	2286.9	2007.2	202.45	-10.17	232	1575.83	0.00	0.31	0.00	0.000	0.082	0.000	3395.47	3437.50	3353.44	2230.31	2006.44	0	0	0	30.00	15.98	30.00
1632	end dive: TARGET_DEPTH_EXCEEDED
state	1632	begin apogee
1633.51	10243	0.00	-0.25	0.00	3396.6	3438.9	3354.3	2230.3	1924.2	210.18	-13.13	238	1745.39	105.08	1.95	0.04	1.499	0.161	0.391	2799.72	2870.88	2728.56	2515.12	1951.56	0	0	0	11.80	15.95	15.53
1747	end apogee: CONTROL_FINISHED_OK
state	1747	begin climb
1747.25	10243	145.99	1.06	0.00	2798.6	2869.3	2727.8	2516.2	1952.0	213.38	0.00	249	1860.29	109.14	1.99	0.00	1.447	0.088	0.000	2200.88	2283.19	2118.56	2838.00	1952.06	0	0	0	11.78	15.54	30.00
2157.59	12711	171.01	0.83	80.00	2195.7	2273.2	2118.2	2837.5	1951.4	188.10	8.84	300	2185.10	20.06	0.52	3.79	1.331	0.207	0.201	2103.38	2185.06	2021.69	2769.75	3396.12	0	0	0	11.74	15.62	15.56
2254.11	9382	213.90	0.82	0.00	2096.7	2174.9	2018.4	2769.4	3396.7	180.52	8.01	319	2295.91	34.18	0.00	3.66	1.382	0.000	0.136	1927.81	2012.62	1843.00	2768.06	1922.81	0	0	0	11.71	30.00	15.60
2594.46	10403	279.95	0.97	0.00	1920.0	2001.4	1838.6	2769.7	1923.7	154.93	6.93	357	2648.59	51.06	0.28	0.00	1.391	0.087	0.000	1656.81	1746.88	1566.75	2819.81	1924.56	0	0	0	11.75	15.76	30.00
2943.69	16646	279.95	0.97	80.00	1649.8	1734.6	1564.9	2820.9	1924.1	119.10	10.40	392	2951.17	0.00	0.00	3.79	0.000	0.000	0.181	1650.38	1734.81	1565.94	2819.56	3397.62	0	0	0	30.00	30.00	15.72
3032.71	17414	279.95	0.97	0.00	1647.7	1730.1	1565.4	2821.2	3399.1	109.94	10.66	409	3039.82	0.00	0.00	3.61	0.000	0.000	0.127	1650.31	1732.69	1567.94	2819.06	1924.25	0	0	0	30.00	30.00	15.75
3337.48	10663	361.23	1.14	80.00	1647.5	1729.7	1565.2	2821.1	1924.1	84.54	6.22	460	3410.42	62.38	0.17	3.81	1.350	0.106	0.178	1326.62	1419.69	1233.56	2859.94	3396.19	0	0	0	11.80	15.88	15.49
3514.28	9382	388.85	1.27	0.00	1322.1	1410.6	1233.6	2859.8	3396.1	69.73	8.71	495	3546.16	23.11	0.00	3.62	1.257	0.000	0.125	1214.44	1308.44	1120.44	2859.06	1925.06	0	0	0	11.76	30.00	15.68
3725.91	10403	407.87	1.41	0.00	1210.5	1301.2	1119.8	2858.9	1925.1	51.88	9.12	537	3747.10	16.55	0.35	0.00	1.199	0.080	0.000	1138.25	1232.50	1044.00	2924.94	1924.62	0	0	0	11.88	15.75	30.00
3926.64	10663	454.20	1.55	80.00	1134.0	1225.7	1042.3	2925.6	1924.9	31.69	7.84	577	3974.18	37.60	0.14	3.77	1.254	0.118	0.164	949.12	1051.88	846.38	2958.19	3397.00	0	0	0	11.84	15.76	15.59
3997.43	9254	477.37	1.58	0.00	948.6	1048.6	848.6	2958.5	3397.4	25.86	8.92	591	4025.39	20.47	0.00	3.59	1.180	0.000	0.111	853.75	959.25	748.25	2958.56	1924.00	0	0	0	11.83	30.00	15.64
4210.70	0	477.37	1.58	0.00	850.2	952.4	748.0	2958.1	1924.1	3.77	11.29	632	4216.60	0.00	0.00	0.00	0.000	0.000	0.000	850.00	952.19	747.81	2958.88	1924.06	0	0	0	30.00	30.00	30.00
4229	end climb: SURFACE_DEPTH_REACHED
state	4229	begin surface coast
4243	end surface coast: CONTROL_FINISHED_OK
state	4243	begin surface