Glider dive log

AMOS 28Aug20 * SG233 * Dive index * Mission links * Dive 2 * 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 2 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 2 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 12.738265 SEABIRD_T_H 0.00064262876

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2650 FG_AHR_24V 91.337585 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 2 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 -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 1.1093811

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 12.738265 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.7006432e-05

ALTIM_PING_FIT 0 FG_AHR_24V 91.337585 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 -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 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 2 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 2 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 2 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 280820,163238,4720.135,-12831.747,1,1.5,5,16.0 TGT_LATLONG 4722.800,-12831.800

_CALLS 2 TGT_RADIUS 2000.000

_SM_DEPTHo 1.42 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -65.0 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 280820,163732,4720.124,-12831.717,3,1.5,6,16.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 317.7,4958,-17.6,-10.000,-21.24

TGT_NAME ans0 D_GRID 210

Post-dive calculations and measurements:

NET CACST,6,0,20200828174009.850191,05,2404,33,0106,0150,07,01,01,00,01,1,000,233,0,5,1,0,150,7.3,57.00,-100,-54.00,-01,0.27,47,10000,5000*7A RAFOS_FIX 4405.068848,-12834.373047,280820,171703,1,2,228.50

MODEM_MSG CACST,6,0,20200828170403.121103,18,1897,20,0385,0150,216,03,03,02,03,1,000,255,0,5,1,0,150,8.1,10.47,-100,-7.47,-01,-0.29,47,925,0025*34 HUMID 57.79

NET_PING 3727,0,2847.724609,0.000000 TEMP 11.90

_7604a835e9 *3F INTERNAL_PRESSURE 8.50286

ac1221501c *68 _24V_AH 15.08,14.089

_6c6b6449bf27b0c28906033ae8171d4369a28362 *65 _10V_AH 15.00,0.000

FINISH -0.1,1.023703 FG_AHR_24Vo 91.552

SM_CCo 4848.92,0.00,0.008,0,500.2,473.5,526.9,570.27 FG_AHR_10Vo 12.791

SM_GC 1.35,0.00,18.00,0.09,0.008,0.057,0.140,500.2,473.5,526.9,196.7,1999.4,0,0,0,30.36,15.90,15.89 MEM 1151568,47,24760,88

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 19311,723

IRIDIUM_FIX 4722.65,-12825.68,280820,163316 CAP_FILE_SIZE 235613,0

TCM_TEMP 14.65 SDSIZE 3918848,3822944

SC_FREEKB 3878112 SDFILEDIR 114,1

PM_FREEKB_00 61674944 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

PM_FREEKB_01 62343040 SOUNDSPEED 1465.0

PM_ACTIVECARD 0 CURRENT 0.067, 78.6,1

RAFOS_CLK 0 GPS 280820,180010,4720.510,-12831.583,32,1.3,42,16.0

MODEM 0,1598634243,47.36840,-128.52879,243.121,364924.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 666 1420 14288.42 nil 0 0 0.00

Pitch_motor 43 262 172.50 nil 0 0 0.00

Roll_motor 85 205 263.09 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 15 15 3.38 nil 0 0 0.00

Core 3241 10 492.06 SciCon 4793 6 462.21

LPSleep 1633 1 27.44 PMAR 4803 9 710.44

Compass 1786 5 134.00 nil 0 0 0.00

RAFOS 433 40 259.80

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

9.99 16386 -145.99 -0.88 0.00 496.3 471.7 520.9 196.6 1935.5 0.00 0.00 0 94.72 82.56 0.00 0.00 0.005 0.000 0.000 2530.62 2513.69 2547.56 196.50 1934.62 0 0 0 16.06 30.00 30.00

94.98 18727 -145.99 -0.88 80.00 2529.2 2511.3 2547.1 196.8 1934.6 3.11 -2.24 16 145.54 21.24 17.52 3.34 0.006 0.262 0.113 3420.91 3447.56 3394.25 2434.69 3350.69 0 0 0 15.37 15.96 16.06

149.42 3205 -145.99 -0.61 0.00 3420.4 3447.0 3393.8 2435.1 3351.0 14.10 -18.57 26 156.82 0.00 0.44 3.16 0.000 0.169 0.056 3419.75 3447.00 3392.50 2503.88 1935.12 0 0 0 30.00 16.04 16.04

335.83 128 -145.99 -0.66 0.00 3421.3 3448.4 3394.2 2503.8 1934.4 41.40 -11.64 63 341.55 0.00 0.00 0.00 0.000 0.000 0.000 3421.28 3448.31 3394.25 2503.75 1934.44 0 0 0 30.00 30.00 30.00

520.88 4517 -145.99 -0.79 80.00 3420.9 3448.1 3393.7 2503.6 1933.9 59.96 -8.61 100 531.43 0.00 0.38 3.32 0.000 0.067 0.108 3421.12 3448.19 3394.06 2434.75 3351.00 0 0 0 30.00 16.16 16.13

561.62 3205 -145.99 -0.74 0.00 3420.9 3448.3 3393.4 2434.9 3350.9 64.63 -12.56 108 568.62 0.00 0.31 3.14 0.000 0.170 0.054 3420.81 3447.50 3394.12 2472.38 1932.12 0 0 0 30.00 16.12 16.16

751.80 676 -145.99 -0.79 -80.00 3422.1 3450.0 3394.1 2472.2 1931.4 83.29 -9.35 146 757.65 0.00 0.00 3.19 0.000 0.000 0.123 3422.28 3450.75 3393.81 2471.75 568.88 0 0 0 30.00 30.00 16.14

801.86 5253 -145.99 -0.86 0.00 3421.7 3449.8 3393.6 2472.1 568.9 88.66 -10.85 156 808.29 0.00 0.28 3.10 0.000 0.076 0.047 3423.31 3451.25 3395.38 2417.25 1993.31 0 0 0 30.00 16.17 16.19

986.73 2693 -145.99 -0.81 -80.00 3421.6 3449.7 3393.6 2417.8 1994.6 111.16 -11.93 184 994.06 0.00 0.29 3.37 0.000 0.167 0.123 3424.19 3452.06 3396.31 2451.88 568.69 0 0 0 30.00 16.09 16.16

1026.22 1028 -145.99 -0.81 0.00 3421.9 3450.8 3393.1 2452.8 568.5 116.04 -11.65 192 1034.29 0.00 0.00 3.11 0.000 0.000 0.048 3423.09 3452.31 3393.88 2451.94 1993.69 0 0 0 30.00 30.00 16.19

1334.56 676 -145.99 -0.88 -80.00 3422.7 3451.8 3393.5 2452.7 1993.6 143.05 -7.71 223 1341.20 0.00 0.00 3.36 0.000 0.000 0.122 3424.22 3452.50 3395.94 2450.56 569.25 0 0 0 30.00 30.00 16.14

1379.78 1188 -145.99 -0.92 0.00 3422.8 3451.8 3393.9 2451.6 569.1 147.18 -9.44 232 1385.82 0.00 0.00 3.12 0.000 0.000 0.049 3421.69 3451.19 3392.19 2452.12 1992.38 0 0 0 30.00 30.00 16.11

1685.26 4773 -145.99 -1.03 -80.00 3421.8 3450.9 3392.8 2452.3 1993.0 171.88 -7.54 263 1692.58 0.00 0.41 3.37 0.000 0.068 0.123 3424.34 3453.31 3395.38 2378.38 568.81 0 0 0 30.00 16.16 16.13

1741.51 3205 -145.99 -0.90 0.00 3421.9 3450.4 3393.5 2379.6 568.4 178.34 -12.53 274 1748.31 0.00 0.43 3.14 0.000 0.174 0.053 3421.16 3449.56 3392.75 2432.75 1989.75 0 0 0 30.00 16.13 16.11

2055.53 420 -145.99 -0.98 80.00 3421.2 3448.6 3393.8 2432.6 1989.6 206.52 -8.76 306 2062.27 0.00 0.00 3.22 0.000 0.000 0.120 3423.12 3450.31 3395.94 2433.50 3348.75 0 0 0 30.00 30.00 16.12

2094 end dive: TARGET_DEPTH_EXCEEDED

state 2094 begin apogee

2099.24 10243 0.00 -0.20 0.00 3420.4 3447.2 3393.5 2433.2 1931.6 210.33 -9.36 314 2213.49 109.51 1.13 0.09 1.421 0.140 0.205 2822.66 2826.69 2818.62 2602.62 1999.19 0 0 0 12.15 16.12 15.73

2215 end apogee: CONTROL_FINISHED_OK

state 2216 begin climb

2215.64 10243 145.99 0.88 0.00 2822.8 2827.2 2818.2 2602.7 1998.8 214.09 0.00 325 2333.64 114.06 1.75 0.00 1.371 0.097 0.000 2227.25 2234.31 2220.19 2868.12 1999.38 0 0 0 12.04 15.73 30.00

2635.54 8870 179.79 0.89 -80.00 2214.5 2224.4 2204.6 2867.5 1998.0 186.54 8.43 368 2671.19 27.05 0.00 3.50 1.310 0.000 0.129 2090.06 2097.75 2082.38 2867.69 570.50 0 0 0 11.94 30.00 15.77

2715.70 5253 179.79 0.76 0.00 2086.2 2092.2 2080.2 2867.8 570.4 178.68 10.78 384 2722.90 0.00 0.36 3.20 0.000 0.176 0.053 2085.19 2090.94 2079.44 2828.00 1990.88 0 0 0 30.00 15.82 15.87

3020.47 10919 240.17 0.95 -80.00 2079.5 2090.0 2069.0 2827.0 1989.9 154.41 7.19 415 3076.97 47.53 0.40 3.46 1.356 0.075 0.122 1846.41 1857.06 1835.75 2891.69 569.50 0 0 0 12.08 16.01 15.76

3134.91 5253 240.17 0.76 0.00 1838.3 1846.2 1830.5 2891.8 569.7 142.03 12.44 438 3142.56 0.00 0.50 3.21 0.000 0.164 0.054 1838.06 1846.56 1829.56 2827.56 1990.88 0 0 0 30.00 15.80 15.85

3441.03 10919 360.42 1.14 -80.00 1831.9 1846.6 1817.1 2826.9 1992.0 125.26 4.41 469 3544.76 93.35 0.68 3.52 1.349 0.066 0.126 1353.41 1382.62 1324.19 2935.94 570.00 0 0 0 11.99 15.96 15.63

3553.03 9382 365.36 1.18 0.00 1351.8 1379.8 1323.8 2935.5 569.7 115.96 9.77 491 3568.00 6.06 0.00 3.24 0.835 0.000 0.053 1335.59 1365.94 1305.25 2936.44 1992.06 0 0 0 12.02 30.00 15.69

3872.52 10663 402.07 1.32 80.00 1327.7 1362.1 1293.2 2935.6 1991.8 87.77 8.29 540 3909.03 30.05 0.22 3.30 1.275 0.092 0.123 1186.59 1218.56 1154.62 2979.69 3347.56 0 0 0 12.09 15.93 15.79

4052.88 1156 402.07 1.39 0.00 1179.5 1210.9 1148.1 2980.1 3348.1 68.13 11.03 576 4060.16 0.00 0.00 3.23 0.000 0.000 0.063 1179.59 1211.38 1147.81 2979.69 1934.31 0 0 0 30.00 30.00 15.94

4239.19 10919 427.17 1.51 -80.00 1178.0 1211.2 1144.8 2980.0 1934.7 48.92 8.83 613 4270.44 21.00 0.22 3.32 1.225 0.097 0.133 1084.41 1115.56 1053.25 3024.69 569.50 0 0 0 11.92 15.99 15.88

4375.78 9254 433.38 1.51 0.00 1081.3 1111.1 1051.5 3024.2 569.6 34.98 9.71 640 4391.57 7.32 0.00 3.18 0.939 0.000 0.054 1057.53 1088.50 1026.56 3025.00 1994.69 0 0 0 11.95 30.00 15.97

4570.03 10663 535.98 1.73 80.00 1053.5 1086.9 1020.2 3024.1 1994.4 23.75 5.23 679 4658.27 80.46 0.28 3.31 1.246 0.091 0.120 640.09 645.50 634.69 3077.38 3350.19 0 0 0 11.94 15.99 15.70

4756.52 1156 535.98 1.77 0.00 636.3 641.6 631.1 3076.7 3349.8 3.97 13.26 716 4766.99 0.00 0.00 3.26 0.000 0.000 0.060 636.62 642.00 631.25 3077.00 1933.19 0 0 0 30.00 30.00 15.85

4776 end climb: SURFACE_DEPTH_REACHED

state 4776 begin surface coast

4792 end surface coast: CONTROL_FINISHED_OK

state 4792 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	2	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	2	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	12.738265	SEABIRD_T_H	0.00064262876
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2650	FG_AHR_24V	91.337585	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	2	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	-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	280820,163238,4720.135,-12831.747,1,1.5,5,16.0	TGT_LATLONG	4722.800,-12831.800
_CALLS	2	TGT_RADIUS	2000.000
_SM_DEPTHo	1.42	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-65.0	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	280820,163732,4720.124,-12831.717,3,1.5,6,16.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	317.7,4958,-17.6,-10.000,-21.24
TGT_NAME	ans0	D_GRID	210

NET	CACST,6,0,20200828174009.850191,05,2404,33,0106,0150,07,01,01,00,01,1,000,233,0,5,1,0,150,7.3,57.00,-100,-54.00,-01,0.27,47,10000,5000*7A	RAFOS_FIX	4405.068848,-12834.373047,280820,171703,1,2,228.50
MODEM_MSG	CACST,6,0,20200828170403.121103,18,1897,20,0385,0150,216,03,03,02,03,1,000,255,0,5,1,0,150,8.1,10.47,-100,-7.47,-01,-0.29,47,925,0025*34	HUMID	57.79
NET_PING	3727,0,2847.724609,0.000000	TEMP	11.90
_7604a835e9	*3F	INTERNAL_PRESSURE	8.50286
ac1221501c	*68	_24V_AH	15.08,14.089
_6c6b6449bf27b0c28906033ae8171d4369a28362	*65	_10V_AH	15.00,0.000
FINISH	-0.1,1.023703	FG_AHR_24Vo	91.552
SM_CCo	4848.92,0.00,0.008,0,500.2,473.5,526.9,570.27	FG_AHR_10Vo	12.791
SM_GC	1.35,0.00,18.00,0.09,0.008,0.057,0.140,500.2,473.5,526.9,196.7,1999.4,0,0,0,30.36,15.90,15.89	MEM	1151568,47,24760,88
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	19311,723
IRIDIUM_FIX	4722.65,-12825.68,280820,163316	CAP_FILE_SIZE	235613,0
TCM_TEMP	14.65	SDSIZE	3918848,3822944
SC_FREEKB	3878112	SDFILEDIR	114,1
PM_FREEKB_00	61674944	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
PM_FREEKB_01	62343040	SOUNDSPEED	1465.0
PM_ACTIVECARD	0	CURRENT	0.067, 78.6,1
RAFOS_CLK	0	GPS	280820,180010,4720.510,-12831.583,32,1.3,42,16.0
MODEM	0,1598634243,47.36840,-128.52879,243.121,364924.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	666	1420	14288.42	nil	0	0	0.00
Pitch_motor	43	262	172.50	nil	0	0	0.00
Roll_motor	85	205	263.09	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	15	15	3.38	nil	0	0	0.00
Core	3241	10	492.06	SciCon	4793	6	462.21
LPSleep	1633	1	27.44	PMAR	4803	9	710.44
Compass	1786	5	134.00	nil	0	0	0.00
RAFOS	433	40	259.80
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
9.99	16386	-145.99	-0.88	0.00	496.3	471.7	520.9	196.6	1935.5	0.00	0.00	0	94.72	82.56	0.00	0.00	0.005	0.000	0.000	2530.62	2513.69	2547.56	196.50	1934.62	0	0	0	16.06	30.00	30.00
94.98	18727	-145.99	-0.88	80.00	2529.2	2511.3	2547.1	196.8	1934.6	3.11	-2.24	16	145.54	21.24	17.52	3.34	0.006	0.262	0.113	3420.91	3447.56	3394.25	2434.69	3350.69	0	0	0	15.37	15.96	16.06
149.42	3205	-145.99	-0.61	0.00	3420.4	3447.0	3393.8	2435.1	3351.0	14.10	-18.57	26	156.82	0.00	0.44	3.16	0.000	0.169	0.056	3419.75	3447.00	3392.50	2503.88	1935.12	0	0	0	30.00	16.04	16.04
335.83	128	-145.99	-0.66	0.00	3421.3	3448.4	3394.2	2503.8	1934.4	41.40	-11.64	63	341.55	0.00	0.00	0.00	0.000	0.000	0.000	3421.28	3448.31	3394.25	2503.75	1934.44	0	0	0	30.00	30.00	30.00
520.88	4517	-145.99	-0.79	80.00	3420.9	3448.1	3393.7	2503.6	1933.9	59.96	-8.61	100	531.43	0.00	0.38	3.32	0.000	0.067	0.108	3421.12	3448.19	3394.06	2434.75	3351.00	0	0	0	30.00	16.16	16.13
561.62	3205	-145.99	-0.74	0.00	3420.9	3448.3	3393.4	2434.9	3350.9	64.63	-12.56	108	568.62	0.00	0.31	3.14	0.000	0.170	0.054	3420.81	3447.50	3394.12	2472.38	1932.12	0	0	0	30.00	16.12	16.16
751.80	676	-145.99	-0.79	-80.00	3422.1	3450.0	3394.1	2472.2	1931.4	83.29	-9.35	146	757.65	0.00	0.00	3.19	0.000	0.000	0.123	3422.28	3450.75	3393.81	2471.75	568.88	0	0	0	30.00	30.00	16.14
801.86	5253	-145.99	-0.86	0.00	3421.7	3449.8	3393.6	2472.1	568.9	88.66	-10.85	156	808.29	0.00	0.28	3.10	0.000	0.076	0.047	3423.31	3451.25	3395.38	2417.25	1993.31	0	0	0	30.00	16.17	16.19
986.73	2693	-145.99	-0.81	-80.00	3421.6	3449.7	3393.6	2417.8	1994.6	111.16	-11.93	184	994.06	0.00	0.29	3.37	0.000	0.167	0.123	3424.19	3452.06	3396.31	2451.88	568.69	0	0	0	30.00	16.09	16.16
1026.22	1028	-145.99	-0.81	0.00	3421.9	3450.8	3393.1	2452.8	568.5	116.04	-11.65	192	1034.29	0.00	0.00	3.11	0.000	0.000	0.048	3423.09	3452.31	3393.88	2451.94	1993.69	0	0	0	30.00	30.00	16.19
1334.56	676	-145.99	-0.88	-80.00	3422.7	3451.8	3393.5	2452.7	1993.6	143.05	-7.71	223	1341.20	0.00	0.00	3.36	0.000	0.000	0.122	3424.22	3452.50	3395.94	2450.56	569.25	0	0	0	30.00	30.00	16.14
1379.78	1188	-145.99	-0.92	0.00	3422.8	3451.8	3393.9	2451.6	569.1	147.18	-9.44	232	1385.82	0.00	0.00	3.12	0.000	0.000	0.049	3421.69	3451.19	3392.19	2452.12	1992.38	0	0	0	30.00	30.00	16.11
1685.26	4773	-145.99	-1.03	-80.00	3421.8	3450.9	3392.8	2452.3	1993.0	171.88	-7.54	263	1692.58	0.00	0.41	3.37	0.000	0.068	0.123	3424.34	3453.31	3395.38	2378.38	568.81	0	0	0	30.00	16.16	16.13
1741.51	3205	-145.99	-0.90	0.00	3421.9	3450.4	3393.5	2379.6	568.4	178.34	-12.53	274	1748.31	0.00	0.43	3.14	0.000	0.174	0.053	3421.16	3449.56	3392.75	2432.75	1989.75	0	0	0	30.00	16.13	16.11
2055.53	420	-145.99	-0.98	80.00	3421.2	3448.6	3393.8	2432.6	1989.6	206.52	-8.76	306	2062.27	0.00	0.00	3.22	0.000	0.000	0.120	3423.12	3450.31	3395.94	2433.50	3348.75	0	0	0	30.00	30.00	16.12
2094	end dive: TARGET_DEPTH_EXCEEDED
state	2094	begin apogee
2099.24	10243	0.00	-0.20	0.00	3420.4	3447.2	3393.5	2433.2	1931.6	210.33	-9.36	314	2213.49	109.51	1.13	0.09	1.421	0.140	0.205	2822.66	2826.69	2818.62	2602.62	1999.19	0	0	0	12.15	16.12	15.73
2215	end apogee: CONTROL_FINISHED_OK
state	2216	begin climb
2215.64	10243	145.99	0.88	0.00	2822.8	2827.2	2818.2	2602.7	1998.8	214.09	0.00	325	2333.64	114.06	1.75	0.00	1.371	0.097	0.000	2227.25	2234.31	2220.19	2868.12	1999.38	0	0	0	12.04	15.73	30.00
2635.54	8870	179.79	0.89	-80.00	2214.5	2224.4	2204.6	2867.5	1998.0	186.54	8.43	368	2671.19	27.05	0.00	3.50	1.310	0.000	0.129	2090.06	2097.75	2082.38	2867.69	570.50	0	0	0	11.94	30.00	15.77
2715.70	5253	179.79	0.76	0.00	2086.2	2092.2	2080.2	2867.8	570.4	178.68	10.78	384	2722.90	0.00	0.36	3.20	0.000	0.176	0.053	2085.19	2090.94	2079.44	2828.00	1990.88	0	0	0	30.00	15.82	15.87
3020.47	10919	240.17	0.95	-80.00	2079.5	2090.0	2069.0	2827.0	1989.9	154.41	7.19	415	3076.97	47.53	0.40	3.46	1.356	0.075	0.122	1846.41	1857.06	1835.75	2891.69	569.50	0	0	0	12.08	16.01	15.76
3134.91	5253	240.17	0.76	0.00	1838.3	1846.2	1830.5	2891.8	569.7	142.03	12.44	438	3142.56	0.00	0.50	3.21	0.000	0.164	0.054	1838.06	1846.56	1829.56	2827.56	1990.88	0	0	0	30.00	15.80	15.85
3441.03	10919	360.42	1.14	-80.00	1831.9	1846.6	1817.1	2826.9	1992.0	125.26	4.41	469	3544.76	93.35	0.68	3.52	1.349	0.066	0.126	1353.41	1382.62	1324.19	2935.94	570.00	0	0	0	11.99	15.96	15.63
3553.03	9382	365.36	1.18	0.00	1351.8	1379.8	1323.8	2935.5	569.7	115.96	9.77	491	3568.00	6.06	0.00	3.24	0.835	0.000	0.053	1335.59	1365.94	1305.25	2936.44	1992.06	0	0	0	12.02	30.00	15.69
3872.52	10663	402.07	1.32	80.00	1327.7	1362.1	1293.2	2935.6	1991.8	87.77	8.29	540	3909.03	30.05	0.22	3.30	1.275	0.092	0.123	1186.59	1218.56	1154.62	2979.69	3347.56	0	0	0	12.09	15.93	15.79
4052.88	1156	402.07	1.39	0.00	1179.5	1210.9	1148.1	2980.1	3348.1	68.13	11.03	576	4060.16	0.00	0.00	3.23	0.000	0.000	0.063	1179.59	1211.38	1147.81	2979.69	1934.31	0	0	0	30.00	30.00	15.94
4239.19	10919	427.17	1.51	-80.00	1178.0	1211.2	1144.8	2980.0	1934.7	48.92	8.83	613	4270.44	21.00	0.22	3.32	1.225	0.097	0.133	1084.41	1115.56	1053.25	3024.69	569.50	0	0	0	11.92	15.99	15.88
4375.78	9254	433.38	1.51	0.00	1081.3	1111.1	1051.5	3024.2	569.6	34.98	9.71	640	4391.57	7.32	0.00	3.18	0.939	0.000	0.054	1057.53	1088.50	1026.56	3025.00	1994.69	0	0	0	11.95	30.00	15.97
4570.03	10663	535.98	1.73	80.00	1053.5	1086.9	1020.2	3024.1	1994.4	23.75	5.23	679	4658.27	80.46	0.28	3.31	1.246	0.091	0.120	640.09	645.50	634.69	3077.38	3350.19	0	0	0	11.94	15.99	15.70
4756.52	1156	535.98	1.77	0.00	636.3	641.6	631.1	3076.7	3349.8	3.97	13.26	716	4766.99	0.00	0.00	3.26	0.000	0.000	0.060	636.62	642.00	631.25	3077.00	1933.19	0	0	0	30.00	30.00	15.85
4776	end climb: SURFACE_DEPTH_REACHED
state	4776	begin surface coast
4792	end surface coast: CONTROL_FINISHED_OK
state	4792	begin surface