Glider dive log

AMOS Aug20 * SG235 * Dive index * Mission links * Dive 8 * 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 8 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 9 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 2625 MOTHERBOARD 6

D_TGT 150 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 50 T_GPS 5 LOITER_D_BOTTOM 0 COMPASS2_DEVICE -1

T_MISSION 65 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 10.688834 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2575 FG_AHR_24V 12.612886 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 150 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 10.688834 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 12.612886 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 50

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 65

C_ROLL_DIVE 2000 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 8 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 9 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 250820,010200,5214.943,-13801.579,25,0.8,25,16.7 TGT_LATLONG 5215.900,-13800.500

_CALLS 3 TGT_RADIUS 2000.000

_SM_DEPTHo 1.58 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -65.2 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 250820,011028,5214.932,-13801.478,3,0.6,4,16.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 344.7,2108,-17.6,-10.000,-21.24

TGT_NAME ans0 D_GRID 150

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20200825010915.555350,18,338,-22,0284,0150,246,02,02,08,04,-1,-01,-01,1,3,0,0,150,12.5,0.11,-100,2.89,-01,0.00,38,925,0025*07 HUMID 53.98

NET CACST,6,0,20200825020007.205504,05,27613,44,0229,0150,37,02,02,00,02,1,233,000,0,5,1,0,150,16.0,564.00,-100,94.36,-01,-0.05,50,10000,5000*4F TEMP 8.83

_9aff317583ab0ca57d85af2 *55 INTERNAL_PRESSURE 7.94511

NET_PING 1749,0,1942.777588,0.000000 _24V_AH 14.92,4.838

FINISH 0.2,1.024182 _10V_AH 14.89,0.000

SM_CCo 3173.41,0.00,0.008,0,586.9,664.4,509.4,499.94 FG_AHR_24Vo 12.797

SM_GC 1.87,0.00,16.93,3.31,0.008,0.068,0.077,586.9,664.4,509.4,217.7,2013.9,0,0,0,30.36,15.65,15.67 FG_AHR_10Vo 10.722

SUPER 27,71,254,1,0,0 MEM 1151880,44,24592,85

IRIDIUM_FIX 5214.35,-13801.55,250820,010545 DATA_FILE_SIZE 16129,527

TCM_TEMP 12.17 CAP_FILE_SIZE 207621,0

SC_FREEKB 3876384 SDSIZE 3918848,3859936

PM_FREEKB_00 61975680 SDFILEDIR 114,1

PM_FREEKB_01 62343040 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 0 SOUNDSPEED 1465.0

RAFOS_CLK 1 CURRENT 0.199,104.1,1

MODEM 0,1598317254,52.25580,-138.03481,54.025,79147.3 GPS 250820,020428,5214.991,-13800.989,0,0.7,2,16.7

RAFOS_FIX 5141.838867,-13716.540039,250820,010154,1,2,-136.93

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 584 1391 12130.53 nil 0 0 0.00

Pitch_motor 39 278 164.25 nil 0 0 0.00

Roll_motor 71 341 365.44 nil 0 0 0.00

Iridium 312 217 1012.36 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.96 nil 0 0 0.00

Core 2538 10 382.46 SciCon 3122 6 309.79

LPSleep 1104 1 18.42 PMAR 3132 15 739.50

Compass 1335 5 99.43 nil 0 0 0.00

RAFOS 299 40 178.08

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

10.09 16386 -145.99 -1.06 0.00 758.6 823.0 694.2 215.5 1984.1 0.00 0.00 0 86.00 73.69 0.00 0.00 0.005 0.000 0.000 2350.38 2351.88 2348.88 215.25 1982.88 0 0 0 15.06 30.00 30.00

86.27 18983 -145.99 -1.06 -80.00 2349.8 2351.9 2347.6 215.6 1983.1 3.14 -2.21 14 135.87 23.11 15.76 3.58 0.006 0.279 0.186 3218.12 3249.31 3186.94 2317.12 593.50 0 0 0 15.69 15.59 15.62

324.79 1156 -145.99 -1.13 0.00 3219.8 3252.8 3186.9 2317.3 593.6 46.46 -14.23 61 331.60 0.00 0.00 3.37 0.000 0.000 0.096 3222.44 3255.31 3189.56 2316.50 2011.75 0 0 0 30.00 30.00 15.70

510.44 4741 -145.99 -1.24 -80.00 3220.8 3254.3 3187.3 2317.6 2011.8 67.25 -10.90 98 521.47 0.00 0.35 3.65 0.000 0.072 0.194 3220.84 3254.06 3187.62 2254.69 593.62 0 0 0 30.00 15.87 15.71

525.36 1028 -145.99 -1.24 0.00 3220.5 3253.8 3187.2 2255.0 593.7 69.07 -11.32 101 531.86 0.00 0.00 3.35 0.000 0.000 0.100 3221.81 3255.00 3188.62 2254.75 2010.88 0 0 0 30.00 30.00 15.83

714.33 2693 -145.99 -1.18 -80.00 3220.4 3254.2 3186.6 2254.1 2010.8 96.27 -12.69 139 725.85 0.00 0.27 3.66 0.000 0.177 0.199 3222.56 3255.81 3189.31 2290.75 592.56 0 0 0 30.00 15.86 15.83

754.78 1028 -145.99 -1.18 0.00 3220.2 3254.1 3186.4 2291.4 592.3 101.45 -12.75 147 762.05 0.00 0.00 3.35 0.000 0.000 0.101 3221.72 3256.25 3187.19 2289.38 2009.00 0 0 0 30.00 30.00 15.87

1060.25 4773 -145.99 -1.28 -80.00 3221.6 3256.4 3186.8 2291.4 2010.2 130.87 -9.01 178 1067.69 0.00 0.23 3.69 0.000 0.084 0.214 3222.56 3256.75 3188.38 2243.81 594.75 0 0 0 30.00 15.94 15.87

1196.20 3205 -145.99 -1.09 0.00 3221.3 3255.8 3186.9 2243.5 594.5 148.61 -13.05 205 1203.59 0.00 0.48 3.41 0.000 0.182 0.131 3222.78 3257.19 3188.38 2308.75 2008.06 0 0 0 30.00 15.89 15.91

1211 end dive: TARGET_DEPTH_EXCEEDED

state 1211 begin apogee

1212.77 10243 0.00 -0.25 0.00 3221.6 3256.0 3187.2 2310.4 1922.3 150.50 -12.28 207 1324.72 104.19 1.36 0.05 1.392 0.149 0.341 2625.03 2689.25 2560.81 2515.06 1949.31 0 0 0 12.01 15.89 15.53

1326 end apogee: CONTROL_FINISHED_OK

state 1326 begin climb

1326.57 10503 145.99 1.06 80.00 2622.7 2687.9 2557.4 2516.8 1949.2 152.08 0.00 218 1445.56 107.99 2.00 3.88 1.354 0.098 0.195 2027.50 2112.25 1942.75 2837.06 3396.38 0 0 0 11.74 15.54 15.24

1464.52 5253 145.99 0.79 0.00 2023.5 2105.1 1941.9 2836.7 3396.7 142.48 10.60 244 1476.07 0.00 0.58 3.73 0.000 0.212 0.132 2023.62 2105.50 1941.75 2761.06 1924.19 0 0 0 30.00 15.34 15.34

1780.41 10663 201.47 0.92 80.00 2020.4 2101.2 1939.5 2760.9 1924.1 119.21 7.42 277 1832.77 42.12 0.26 3.88 1.299 0.089 0.191 1800.94 1886.69 1715.19 2810.12 3396.19 0 0 0 11.78 15.69 15.50

1841.64 9254 226.17 0.95 0.00 1798.9 1883.2 1714.7 2808.6 3395.3 113.95 8.85 289 1872.62 20.74 0.00 3.65 1.212 0.000 0.128 1701.59 1790.75 1612.44 2809.56 1925.00 0 0 0 11.70 30.00 15.54

2171.85 10919 291.25 1.13 -80.00 1695.5 1779.6 1611.4 2808.6 1925.2 87.13 6.97 341 2229.17 50.07 0.23 3.55 1.287 0.090 0.210 1437.56 1525.69 1349.44 2856.00 592.88 0 0 0 11.85 15.74 15.48

2308.05 5253 291.25 1.05 0.00 1433.4 1518.2 1348.6 2856.8 592.8 74.92 10.40 368 2314.45 0.00 0.28 3.23 0.000 0.201 0.096 1434.47 1518.19 1350.75 2821.50 1945.00 0 0 0 30.00 15.60 15.65

2497.50 10663 348.27 1.31 80.00 1430.8 1514.0 1347.6 2822.8 1945.2 60.69 7.35 406 2550.43 44.84 0.48 3.77 1.257 0.076 0.185 1205.56 1299.88 1111.25 2904.56 3396.19 0 0 0 11.87 15.75 15.55

2594.14 1028 348.27 1.31 0.00 1202.9 1293.8 1112.1 2904.4 3395.2 49.96 12.23 425 2600.68 0.00 0.00 3.60 0.000 0.000 0.115 1203.50 1294.25 1112.75 2904.19 1925.31 0 0 0 30.00 30.00 15.61

2779.74 10663 416.11 1.53 80.00 1200.6 1290.3 1110.9 2904.6 1925.1 31.92 6.84 462 2842.36 52.94 0.26 3.79 1.231 0.088 0.172 928.38 1031.56 825.19 2956.56 3396.31 0 0 0 11.80 15.75 15.52

2856.38 9254 462.82 1.59 0.00 927.8 1029.1 826.6 2955.5 3397.6 26.28 7.83 477 2900.16 37.06 0.00 3.60 1.184 0.000 0.111 738.66 847.50 629.81 2955.88 1922.94 0 0 0 11.84 30.00 15.57

3079.75 516 462.82 1.59 -80.00 734.5 838.9 630.1 2956.2 1922.9 4.29 10.95 520 3089.99 0.00 0.00 3.42 0.000 0.000 0.180 734.75 839.00 630.50 2955.94 592.81 0 0 0 30.00 30.00 15.59

3100 end climb: SURFACE_DEPTH_REACHED

state 3100 begin surface coast

3114 end surface coast: CONTROL_FINISHED_OK

state 3114 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	8	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	9	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	2625	MOTHERBOARD	6
D_TGT	150	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	50	T_GPS	5	LOITER_D_BOTTOM	0	COMPASS2_DEVICE	-1
T_MISSION	65	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	10.688834	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2575	FG_AHR_24V	12.612886	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	250820,010200,5214.943,-13801.579,25,0.8,25,16.7	TGT_LATLONG	5215.900,-13800.500
_CALLS	3	TGT_RADIUS	2000.000
_SM_DEPTHo	1.58	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-65.2	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	250820,011028,5214.932,-13801.478,3,0.6,4,16.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	344.7,2108,-17.6,-10.000,-21.24
TGT_NAME	ans0	D_GRID	150

MODEM_MSG	CACST,6,1,20200825010915.555350,18,338,-22,0284,0150,246,02,02,08,04,-1,-01,-01,1,3,0,0,150,12.5,0.11,-100,2.89,-01,0.00,38,925,0025*07	HUMID	53.98
NET	CACST,6,0,20200825020007.205504,05,27613,44,0229,0150,37,02,02,00,02,1,233,000,0,5,1,0,150,16.0,564.00,-100,94.36,-01,-0.05,50,10000,5000*4F	TEMP	8.83
_9aff317583ab0ca57d85af2	*55	INTERNAL_PRESSURE	7.94511
NET_PING	1749,0,1942.777588,0.000000	_24V_AH	14.92,4.838
FINISH	0.2,1.024182	_10V_AH	14.89,0.000
SM_CCo	3173.41,0.00,0.008,0,586.9,664.4,509.4,499.94	FG_AHR_24Vo	12.797
SM_GC	1.87,0.00,16.93,3.31,0.008,0.068,0.077,586.9,664.4,509.4,217.7,2013.9,0,0,0,30.36,15.65,15.67	FG_AHR_10Vo	10.722
SUPER	27,71,254,1,0,0	MEM	1151880,44,24592,85
IRIDIUM_FIX	5214.35,-13801.55,250820,010545	DATA_FILE_SIZE	16129,527
TCM_TEMP	12.17	CAP_FILE_SIZE	207621,0
SC_FREEKB	3876384	SDSIZE	3918848,3859936
PM_FREEKB_00	61975680	SDFILEDIR	114,1
PM_FREEKB_01	62343040	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	0	SOUNDSPEED	1465.0
RAFOS_CLK	1	CURRENT	0.199,104.1,1
MODEM	0,1598317254,52.25580,-138.03481,54.025,79147.3	GPS	250820,020428,5214.991,-13800.989,0,0.7,2,16.7
RAFOS_FIX	5141.838867,-13716.540039,250820,010154,1,2,-136.93

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	584	1391	12130.53	nil	0	0	0.00
Pitch_motor	39	278	164.25	nil	0	0	0.00
Roll_motor	71	341	365.44	nil	0	0	0.00
Iridium	312	217	1012.36	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.96	nil	0	0	0.00
Core	2538	10	382.46	SciCon	3122	6	309.79
LPSleep	1104	1	18.42	PMAR	3132	15	739.50
Compass	1335	5	99.43	nil	0	0	0.00
RAFOS	299	40	178.08
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
10.09	16386	-145.99	-1.06	0.00	758.6	823.0	694.2	215.5	1984.1	0.00	0.00	0	86.00	73.69	0.00	0.00	0.005	0.000	0.000	2350.38	2351.88	2348.88	215.25	1982.88	0	0	0	15.06	30.00	30.00
86.27	18983	-145.99	-1.06	-80.00	2349.8	2351.9	2347.6	215.6	1983.1	3.14	-2.21	14	135.87	23.11	15.76	3.58	0.006	0.279	0.186	3218.12	3249.31	3186.94	2317.12	593.50	0	0	0	15.69	15.59	15.62
324.79	1156	-145.99	-1.13	0.00	3219.8	3252.8	3186.9	2317.3	593.6	46.46	-14.23	61	331.60	0.00	0.00	3.37	0.000	0.000	0.096	3222.44	3255.31	3189.56	2316.50	2011.75	0	0	0	30.00	30.00	15.70
510.44	4741	-145.99	-1.24	-80.00	3220.8	3254.3	3187.3	2317.6	2011.8	67.25	-10.90	98	521.47	0.00	0.35	3.65	0.000	0.072	0.194	3220.84	3254.06	3187.62	2254.69	593.62	0	0	0	30.00	15.87	15.71
525.36	1028	-145.99	-1.24	0.00	3220.5	3253.8	3187.2	2255.0	593.7	69.07	-11.32	101	531.86	0.00	0.00	3.35	0.000	0.000	0.100	3221.81	3255.00	3188.62	2254.75	2010.88	0	0	0	30.00	30.00	15.83
714.33	2693	-145.99	-1.18	-80.00	3220.4	3254.2	3186.6	2254.1	2010.8	96.27	-12.69	139	725.85	0.00	0.27	3.66	0.000	0.177	0.199	3222.56	3255.81	3189.31	2290.75	592.56	0	0	0	30.00	15.86	15.83
754.78	1028	-145.99	-1.18	0.00	3220.2	3254.1	3186.4	2291.4	592.3	101.45	-12.75	147	762.05	0.00	0.00	3.35	0.000	0.000	0.101	3221.72	3256.25	3187.19	2289.38	2009.00	0	0	0	30.00	30.00	15.87
1060.25	4773	-145.99	-1.28	-80.00	3221.6	3256.4	3186.8	2291.4	2010.2	130.87	-9.01	178	1067.69	0.00	0.23	3.69	0.000	0.084	0.214	3222.56	3256.75	3188.38	2243.81	594.75	0	0	0	30.00	15.94	15.87
1196.20	3205	-145.99	-1.09	0.00	3221.3	3255.8	3186.9	2243.5	594.5	148.61	-13.05	205	1203.59	0.00	0.48	3.41	0.000	0.182	0.131	3222.78	3257.19	3188.38	2308.75	2008.06	0	0	0	30.00	15.89	15.91
1211	end dive: TARGET_DEPTH_EXCEEDED
state	1211	begin apogee
1212.77	10243	0.00	-0.25	0.00	3221.6	3256.0	3187.2	2310.4	1922.3	150.50	-12.28	207	1324.72	104.19	1.36	0.05	1.392	0.149	0.341	2625.03	2689.25	2560.81	2515.06	1949.31	0	0	0	12.01	15.89	15.53
1326	end apogee: CONTROL_FINISHED_OK
state	1326	begin climb
1326.57	10503	145.99	1.06	80.00	2622.7	2687.9	2557.4	2516.8	1949.2	152.08	0.00	218	1445.56	107.99	2.00	3.88	1.354	0.098	0.195	2027.50	2112.25	1942.75	2837.06	3396.38	0	0	0	11.74	15.54	15.24
1464.52	5253	145.99	0.79	0.00	2023.5	2105.1	1941.9	2836.7	3396.7	142.48	10.60	244	1476.07	0.00	0.58	3.73	0.000	0.212	0.132	2023.62	2105.50	1941.75	2761.06	1924.19	0	0	0	30.00	15.34	15.34
1780.41	10663	201.47	0.92	80.00	2020.4	2101.2	1939.5	2760.9	1924.1	119.21	7.42	277	1832.77	42.12	0.26	3.88	1.299	0.089	0.191	1800.94	1886.69	1715.19	2810.12	3396.19	0	0	0	11.78	15.69	15.50
1841.64	9254	226.17	0.95	0.00	1798.9	1883.2	1714.7	2808.6	3395.3	113.95	8.85	289	1872.62	20.74	0.00	3.65	1.212	0.000	0.128	1701.59	1790.75	1612.44	2809.56	1925.00	0	0	0	11.70	30.00	15.54
2171.85	10919	291.25	1.13	-80.00	1695.5	1779.6	1611.4	2808.6	1925.2	87.13	6.97	341	2229.17	50.07	0.23	3.55	1.287	0.090	0.210	1437.56	1525.69	1349.44	2856.00	592.88	0	0	0	11.85	15.74	15.48
2308.05	5253	291.25	1.05	0.00	1433.4	1518.2	1348.6	2856.8	592.8	74.92	10.40	368	2314.45	0.00	0.28	3.23	0.000	0.201	0.096	1434.47	1518.19	1350.75	2821.50	1945.00	0	0	0	30.00	15.60	15.65
2497.50	10663	348.27	1.31	80.00	1430.8	1514.0	1347.6	2822.8	1945.2	60.69	7.35	406	2550.43	44.84	0.48	3.77	1.257	0.076	0.185	1205.56	1299.88	1111.25	2904.56	3396.19	0	0	0	11.87	15.75	15.55
2594.14	1028	348.27	1.31	0.00	1202.9	1293.8	1112.1	2904.4	3395.2	49.96	12.23	425	2600.68	0.00	0.00	3.60	0.000	0.000	0.115	1203.50	1294.25	1112.75	2904.19	1925.31	0	0	0	30.00	30.00	15.61
2779.74	10663	416.11	1.53	80.00	1200.6	1290.3	1110.9	2904.6	1925.1	31.92	6.84	462	2842.36	52.94	0.26	3.79	1.231	0.088	0.172	928.38	1031.56	825.19	2956.56	3396.31	0	0	0	11.80	15.75	15.52
2856.38	9254	462.82	1.59	0.00	927.8	1029.1	826.6	2955.5	3397.6	26.28	7.83	477	2900.16	37.06	0.00	3.60	1.184	0.000	0.111	738.66	847.50	629.81	2955.88	1922.94	0	0	0	11.84	30.00	15.57
3079.75	516	462.82	1.59	-80.00	734.5	838.9	630.1	2956.2	1922.9	4.29	10.95	520	3089.99	0.00	0.00	3.42	0.000	0.000	0.180	734.75	839.00	630.50	2955.94	592.81	0	0	0	30.00	30.00	15.59
3100	end climb: SURFACE_DEPTH_REACHED
state	3100	begin surface coast
3114	end surface coast: CONTROL_FINISHED_OK
state	3114	begin surface