Glider dive log

AMOS Aug20 * SG235 * Dive index * Mission links * Dive 3 * 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 3 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 3 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 605.40039 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 C_VBD 2968 MOTHERBOARD 6

D_TGT 150 FILEMGR 0 VBD_DBAND 2 DEVICE1 -1

D_ABORT 220 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 10.467553 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2575 FG_AHR_24V 11.544913 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 2000 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 10.467553 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 11.544913 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 605.40039

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 2000 LOGGERDEVICE4 -1 PRESSURE_YINT -158.82793 T_MISSION 65

C_ROLL_DIVE 2000 LOGGERS 3 PROTOCOL 9 T_NO_W 120

C_VBD 2968 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 3 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 220 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 3 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 240820,183141,5214.352,-13800.271,1,1.0,2,16.7 TGT_LATLONG 5500.000,-14500.000

_CALLS 2 TGT_RADIUS 2000.000

_SM_DEPTHo 1.62 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -68.0 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 240820,183546,5214.354,-13800.286,2,1.0,4,16.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 261.1,541194,-17.6,-10.000,-21.24

TGT_NAME ans0 D_GRID 150

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20200824190239.840070,18,110,-15,0094,0150,216,04,04,06,04,-1,-01,-01,1,3,0,0,150,3.1,0.32,-100,2.68,-01,0.07,29,925,0025*32 TEMP 9.76

NET CACST,6,1,20200824192005.156029,05,32767,45,0103,0150,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,33.6,-161.00,-100,164.00,-01,0.13,50,10000,5000*50 INTERNAL_PRESSURE 7.99421

FINISH 0.8,1.024224 _24V_AH 15.03,3.608

SM_CCo 3351.77,0.00,0.009,0,500.9,582.2,419.7,605.17 _10V_AH 15.00,0.000

SM_GC 1.73,0.00,16.70,0.05,0.009,0.071,0.197,500.9,582.2,419.7,217.8,2016.9,0,0,0,30.36,15.86,15.89 FG_AHR_24Vo 11.753

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 10.498

IRIDIUM_FIX 5214.35,-13801.55,240820,183221 MEM 1152952,34,23860,78

TCM_TEMP 12.86 DATA_FILE_SIZE 16141,544

SC_FREEKB 3877984 CAP_FILE_SIZE 208347,0

PM_FREEKB_00 62265600 SDSIZE 3918848,3861856

PM_FREEKB_01 62343040 SDFILEDIR 59,1

PM_ACTIVECARD 0 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

MODEM 0,1598295759,55.00000,-145.00000,159.840,237593.8 CURRENT 0.118, 0.2,1

RAFOS_FIX 5347.306641,-14155.704102,240820,191939,1,2,193.27 GPS 240820,193248,5214.611,-13800.915,2,1.3,4,16.7

HUMID 55.81

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 668 1376 13833.15 nil 0 0 0.00

Pitch_motor 39 271 160.73 nil 0 0 0.00

Roll_motor 47 288 206.76 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 13 15 2.96 nil 0 0 0.00

Core 2268 10 344.38 SciCon 3259 6 318.83

LPSleep 1067 1 17.94 PMAR 3267 13 683.62

Compass 1365 5 102.45 nil 0 0 0.00

RAFOS 295 40 177.00

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

10.00 16386 -145.99 -1.06 0.00 498.2 570.1 426.3 231.5 1980.8 0.00 0.00 0 102.09 89.93 0.00 0.00 0.005 0.000 0.000 2612.66 2619.44 2605.88 231.56 1980.69 0 0 0 15.99 30.00 30.00

102.43 18727 -145.99 -1.06 80.00 2610.8 2616.8 2604.8 231.3 1980.2 3.45 -2.24 18 152.32 22.03 15.10 3.41 0.006 0.272 0.135 3562.84 3597.62 3528.06 2315.69 3407.88 0 0 0 16.03 15.85 16.02

317.21 5253 -145.99 -1.17 0.00 3562.2 3598.6 3525.7 2317.2 3409.1 37.61 -14.46 60 323.62 0.00 0.25 3.27 0.000 0.080 0.082 3563.06 3598.75 3527.38 2269.38 1982.69 0 0 0 30.00 16.05 16.02

502.13 260 -145.99 -1.17 80.00 3561.5 3598.1 3524.8 2271.2 1982.8 65.11 -14.87 97 508.92 0.00 0.00 3.41 0.000 0.000 0.135 3562.41 3598.00 3526.81 2270.75 3409.12 0 0 0 30.00 30.00 16.04

582.65 1156 -145.99 -1.28 0.00 3561.8 3597.8 3525.8 2270.2 3408.1 76.72 -14.33 113 593.37 0.00 0.00 3.28 0.000 0.000 0.086 3562.31 3598.31 3526.31 2271.81 1983.06 0 0 0 30.00 30.00 16.07

777.72 4741 -145.99 -1.37 -80.00 3562.6 3598.9 3526.2 2270.9 1983.4 102.78 -12.30 150 784.75 0.00 0.19 3.44 0.000 0.095 0.173 3561.75 3597.81 3525.69 2224.12 590.81 0 0 0 30.00 16.08 16.05

834.59 3205 -145.99 -1.20 0.00 3562.5 3599.3 3525.8 2223.8 590.8 112.38 -17.98 161 841.62 0.00 0.44 3.24 0.000 0.170 0.078 3561.28 3597.75 3524.81 2286.00 2016.56 0 0 0 30.00 16.01 16.03

1139.73 4741 -145.99 -1.39 -80.00 3561.9 3598.6 3525.2 2285.8 2016.0 145.64 -10.49 192 1147.17 0.00 0.35 3.54 0.000 0.073 0.174 3562.16 3598.81 3525.50 2216.56 591.56 0 0 0 30.00 16.10 15.97

1176 end dive: TARGET_DEPTH_EXCEEDED

state 1176 begin apogee

1180.73 10243 0.00 -0.25 0.00 3562.2 3598.6 3525.8 2215.9 2014.7 150.71 -15.50 199 1288.87 102.32 2.01 0.06 1.377 0.163 0.288 2966.94 3034.94 2898.94 2516.31 1986.12 0 0 0 11.89 16.05 15.69

1291 end apogee: CONTROL_FINISHED_OK

state 1291 begin climb

1291.04 10503 145.99 1.06 80.00 2965.3 3032.4 2898.2 2516.2 1985.0 154.30 0.00 210 1406.07 105.83 1.94 3.61 1.332 0.077 0.153 2371.62 2449.19 2294.06 2838.56 3406.38 0 0 0 11.77 15.69 15.42

1489.29 13479 265.33 0.72 0.00 2363.8 2436.0 2291.6 2839.0 3406.4 152.92 4.45 247 1584.70 87.65 0.70 3.39 1.313 0.212 0.093 1884.53 1970.75 1798.31 2743.31 1984.19 0 0 0 11.65 15.54 15.61

1881.14 10919 332.80 0.95 -80.00 1876.7 1956.5 1796.8 2745.0 1984.2 128.32 6.86 295 1938.94 50.35 0.38 3.59 1.299 0.075 0.182 1609.84 1693.75 1525.94 2815.38 592.50 0 0 0 11.69 15.80 15.58

1967.82 5253 332.80 0.84 0.00 1607.5 1689.1 1526.0 2814.8 592.4 119.03 12.80 309 1975.13 0.00 0.34 3.33 0.000 0.187 0.079 1607.41 1687.75 1527.06 2768.25 2013.88 0 0 0 30.00 15.63 15.66

2275.43 10663 404.88 1.15 80.00 1602.9 1680.9 1524.9 2769.5 2014.4 94.68 6.65 348 2338.69 54.94 0.55 3.49 1.288 0.068 0.157 1317.41 1407.62 1227.19 2866.75 3407.62 0 0 0 11.56 15.86 15.61

2342.70 1060 405.83 1.15 0.00 1315.9 1404.9 1226.9 2867.4 3406.9 88.38 9.96 361 2348.87 0.00 0.00 3.38 0.000 0.000 0.091 1316.69 1404.94 1228.44 2865.75 1984.75 0 0 0 30.00 30.00 15.67

2527.94 8226 437.09 1.19 0.00 1312.4 1397.5 1227.2 2866.8 1985.2 71.00 8.55 398 2558.70 26.03 0.00 0.00 1.221 0.000 0.000 1185.50 1277.31 1093.69 2866.81 1985.44 0 0 0 11.71 30.00 30.00

2741.60 10403 452.34 1.33 80.00 1182.0 1270.7 1093.3 2867.2 1985.2 51.49 9.29 441 2757.89 13.51 0.19 0.00 1.120 0.096 0.000 1123.78 1215.25 1032.31 2908.56 1985.25 0 0 0 11.72 15.84 30.00

2937.39 10403 511.93 1.53 80.00 1122.1 1212.0 1032.2 2908.6 1985.4 33.80 7.23 480 2988.75 47.31 0.23 0.00 1.236 0.092 0.000 881.69 985.88 777.50 2956.81 1984.62 0 0 0 11.77 15.87 30.00

3167.00 0 511.93 1.53 -80.00 877.3 977.4 777.3 2957.6 1985.2 10.30 11.19 526 3172.99 0.00 0.00 0.00 0.000 0.000 0.000 877.09 977.00 777.19 2957.50 1985.19 0 0 0 30.00 30.00 30.00

3241 end climb: SURFACE_DEPTH_REACHED

state 3241 begin surface coast

3256 end surface coast: CONTROL_FINISHED_OK

state 3256 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	3	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	3	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	605.40039	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	C_VBD	2968	MOTHERBOARD	6
D_TGT	150	FILEMGR	0	VBD_DBAND	2	DEVICE1	-1
D_ABORT	220	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	10.467553	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2575	FG_AHR_24V	11.544913	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	2000	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	240820,183141,5214.352,-13800.271,1,1.0,2,16.7	TGT_LATLONG	5500.000,-14500.000
_CALLS	2	TGT_RADIUS	2000.000
_SM_DEPTHo	1.62	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-68.0	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	240820,183546,5214.354,-13800.286,2,1.0,4,16.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	261.1,541194,-17.6,-10.000,-21.24
TGT_NAME	ans0	D_GRID	150

MODEM_MSG	CACST,6,1,20200824190239.840070,18,110,-15,0094,0150,216,04,04,06,04,-1,-01,-01,1,3,0,0,150,3.1,0.32,-100,2.68,-01,0.07,29,925,0025*32	TEMP	9.76
NET	CACST,6,1,20200824192005.156029,05,32767,45,0103,0150,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,33.6,-161.00,-100,164.00,-01,0.13,50,10000,5000*50	INTERNAL_PRESSURE	7.99421
FINISH	0.8,1.024224	_24V_AH	15.03,3.608
SM_CCo	3351.77,0.00,0.009,0,500.9,582.2,419.7,605.17	_10V_AH	15.00,0.000
SM_GC	1.73,0.00,16.70,0.05,0.009,0.071,0.197,500.9,582.2,419.7,217.8,2016.9,0,0,0,30.36,15.86,15.89	FG_AHR_24Vo	11.753
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	10.498
IRIDIUM_FIX	5214.35,-13801.55,240820,183221	MEM	1152952,34,23860,78
TCM_TEMP	12.86	DATA_FILE_SIZE	16141,544
SC_FREEKB	3877984	CAP_FILE_SIZE	208347,0
PM_FREEKB_00	62265600	SDSIZE	3918848,3861856
PM_FREEKB_01	62343040	SDFILEDIR	59,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
MODEM	0,1598295759,55.00000,-145.00000,159.840,237593.8	CURRENT	0.118, 0.2,1
RAFOS_FIX	5347.306641,-14155.704102,240820,191939,1,2,193.27	GPS	240820,193248,5214.611,-13800.915,2,1.3,4,16.7
HUMID	55.81

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	668	1376	13833.15	nil	0	0	0.00
Pitch_motor	39	271	160.73	nil	0	0	0.00
Roll_motor	47	288	206.76	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	13	15	2.96	nil	0	0	0.00
Core	2268	10	344.38	SciCon	3259	6	318.83
LPSleep	1067	1	17.94	PMAR	3267	13	683.62
Compass	1365	5	102.45	nil	0	0	0.00
RAFOS	295	40	177.00
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
10.00	16386	-145.99	-1.06	0.00	498.2	570.1	426.3	231.5	1980.8	0.00	0.00	0	102.09	89.93	0.00	0.00	0.005	0.000	0.000	2612.66	2619.44	2605.88	231.56	1980.69	0	0	0	15.99	30.00	30.00
102.43	18727	-145.99	-1.06	80.00	2610.8	2616.8	2604.8	231.3	1980.2	3.45	-2.24	18	152.32	22.03	15.10	3.41	0.006	0.272	0.135	3562.84	3597.62	3528.06	2315.69	3407.88	0	0	0	16.03	15.85	16.02
317.21	5253	-145.99	-1.17	0.00	3562.2	3598.6	3525.7	2317.2	3409.1	37.61	-14.46	60	323.62	0.00	0.25	3.27	0.000	0.080	0.082	3563.06	3598.75	3527.38	2269.38	1982.69	0	0	0	30.00	16.05	16.02
502.13	260	-145.99	-1.17	80.00	3561.5	3598.1	3524.8	2271.2	1982.8	65.11	-14.87	97	508.92	0.00	0.00	3.41	0.000	0.000	0.135	3562.41	3598.00	3526.81	2270.75	3409.12	0	0	0	30.00	30.00	16.04
582.65	1156	-145.99	-1.28	0.00	3561.8	3597.8	3525.8	2270.2	3408.1	76.72	-14.33	113	593.37	0.00	0.00	3.28	0.000	0.000	0.086	3562.31	3598.31	3526.31	2271.81	1983.06	0	0	0	30.00	30.00	16.07
777.72	4741	-145.99	-1.37	-80.00	3562.6	3598.9	3526.2	2270.9	1983.4	102.78	-12.30	150	784.75	0.00	0.19	3.44	0.000	0.095	0.173	3561.75	3597.81	3525.69	2224.12	590.81	0	0	0	30.00	16.08	16.05
834.59	3205	-145.99	-1.20	0.00	3562.5	3599.3	3525.8	2223.8	590.8	112.38	-17.98	161	841.62	0.00	0.44	3.24	0.000	0.170	0.078	3561.28	3597.75	3524.81	2286.00	2016.56	0	0	0	30.00	16.01	16.03
1139.73	4741	-145.99	-1.39	-80.00	3561.9	3598.6	3525.2	2285.8	2016.0	145.64	-10.49	192	1147.17	0.00	0.35	3.54	0.000	0.073	0.174	3562.16	3598.81	3525.50	2216.56	591.56	0	0	0	30.00	16.10	15.97
1176	end dive: TARGET_DEPTH_EXCEEDED
state	1176	begin apogee
1180.73	10243	0.00	-0.25	0.00	3562.2	3598.6	3525.8	2215.9	2014.7	150.71	-15.50	199	1288.87	102.32	2.01	0.06	1.377	0.163	0.288	2966.94	3034.94	2898.94	2516.31	1986.12	0	0	0	11.89	16.05	15.69
1291	end apogee: CONTROL_FINISHED_OK
state	1291	begin climb
1291.04	10503	145.99	1.06	80.00	2965.3	3032.4	2898.2	2516.2	1985.0	154.30	0.00	210	1406.07	105.83	1.94	3.61	1.332	0.077	0.153	2371.62	2449.19	2294.06	2838.56	3406.38	0	0	0	11.77	15.69	15.42
1489.29	13479	265.33	0.72	0.00	2363.8	2436.0	2291.6	2839.0	3406.4	152.92	4.45	247	1584.70	87.65	0.70	3.39	1.313	0.212	0.093	1884.53	1970.75	1798.31	2743.31	1984.19	0	0	0	11.65	15.54	15.61
1881.14	10919	332.80	0.95	-80.00	1876.7	1956.5	1796.8	2745.0	1984.2	128.32	6.86	295	1938.94	50.35	0.38	3.59	1.299	0.075	0.182	1609.84	1693.75	1525.94	2815.38	592.50	0	0	0	11.69	15.80	15.58
1967.82	5253	332.80	0.84	0.00	1607.5	1689.1	1526.0	2814.8	592.4	119.03	12.80	309	1975.13	0.00	0.34	3.33	0.000	0.187	0.079	1607.41	1687.75	1527.06	2768.25	2013.88	0	0	0	30.00	15.63	15.66
2275.43	10663	404.88	1.15	80.00	1602.9	1680.9	1524.9	2769.5	2014.4	94.68	6.65	348	2338.69	54.94	0.55	3.49	1.288	0.068	0.157	1317.41	1407.62	1227.19	2866.75	3407.62	0	0	0	11.56	15.86	15.61
2342.70	1060	405.83	1.15	0.00	1315.9	1404.9	1226.9	2867.4	3406.9	88.38	9.96	361	2348.87	0.00	0.00	3.38	0.000	0.000	0.091	1316.69	1404.94	1228.44	2865.75	1984.75	0	0	0	30.00	30.00	15.67
2527.94	8226	437.09	1.19	0.00	1312.4	1397.5	1227.2	2866.8	1985.2	71.00	8.55	398	2558.70	26.03	0.00	0.00	1.221	0.000	0.000	1185.50	1277.31	1093.69	2866.81	1985.44	0	0	0	11.71	30.00	30.00
2741.60	10403	452.34	1.33	80.00	1182.0	1270.7	1093.3	2867.2	1985.2	51.49	9.29	441	2757.89	13.51	0.19	0.00	1.120	0.096	0.000	1123.78	1215.25	1032.31	2908.56	1985.25	0	0	0	11.72	15.84	30.00
2937.39	10403	511.93	1.53	80.00	1122.1	1212.0	1032.2	2908.6	1985.4	33.80	7.23	480	2988.75	47.31	0.23	0.00	1.236	0.092	0.000	881.69	985.88	777.50	2956.81	1984.62	0	0	0	11.77	15.87	30.00
3167.00	0	511.93	1.53	-80.00	877.3	977.4	777.3	2957.6	1985.2	10.30	11.19	526	3172.99	0.00	0.00	0.00	0.000	0.000	0.000	877.09	977.00	777.19	2957.50	1985.19	0	0	0	30.00	30.00	30.00
3241	end climb: SURFACE_DEPTH_REACHED
state	3241	begin surface coast
3256	end surface coast: CONTROL_FINISHED_OK
state	3256	begin surface