Glider dive log

AMOS 28Aug20 * SG235 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 XPDR_INT 0

MISSION 5 FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_REP 0

DIVE 4 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 4 TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -0.5

STOP_T 0 TGT_AUTO_DEFAULT 0 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 SM_CC 511.26248 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 C_VBD 2625 MOTHERBOARD 6

D_TGT 210 FILEMGR 0 VBD_DBAND 2 DEVICE1 -1

D_ABORT 250 CALL_NDIVES 1 VBD_CNV -0.24529999 DEVICE2 -1

D_NO_BLEED 500 COMM_SEQ 0 VBD_LP_IGNORE 0 DEVICE3 -1

D_BOOST 2 PROTOCOL 9 VBD_TIMEOUT 720 DEVICE4 -1

T_BOOST 0 N_NOCOMM 2 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_FINISH 0 NOCOMM_ACTION 163 UNCOM_BLEED 20 DEVICE6 -1

D_PITCH 0 N_NOSURFACE 0 VBD_MAXERRORS 1 LOGGERS 3

D_SAFE 0 UPLOAD_DIVES_MAX -1 W_ADJ_DBAND 0 LOGGERDEVICE1 7

D_CALL 0 CALL_TRIES 5 DBDW 0 LOGGERDEVICE2 35

SURFACE_URGENCY 0 CALL_WAIT 60 LOITER_W_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 LOITER_DBDW 0 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 LOITER_D_TOP 0 COMPASS_DEVICE 66

T_DIVE 70 T_GPS 5 LOITER_D_BOTTOM 0 COMPASS2_DEVICE -1

T_MISSION 85 N_GPS 100440 LOITER_N_DIVE 0 PHONE_DEVICE 33

T_ABORT 1440 T_RSLEEP 1 CF8_MAXERRORS 20 GPS_DEVICE 48

T_TURN 225 STROBE 0 AH0_24V 350 RAFOS_DEVICE 104

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 AH0_10V 0 NETWORK_DEVICE 1

T_NO_W 120 RAFOS_CORR_THRESH 60 MINV_24V 11 PRESSURE_DEVICE 34

T_LOITER 0 RAFOS_HIT_WINDOW 3600 MINV_10V 11 XPDR_DEVICE -1

T_EPIRB 0 RAFOS_MMODEM 0 MAXI_24V 5 SIM_W 0

USE_BATHY 0 PITCH_MIN 230 MAXI_10V 1.5 SEABIRD_T_G 0.004415411

USE_ICE 0 PITCH_MAX 3900 FG_AHR_10V 11.8498 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2575 FG_AHR_24V 15.50896 SEABIRD_T_I 2.6329088e-05

D_OFFGRID 990 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_J 3.2522996e-06

RELAUNCH 1 PITCH_CNV 0.0041299998 PRESSURE_YINT -158.7446 SEABIRD_C_G -9.8064938

APOGEE_PITCH -5 PITCH_GAIN 20 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_H 1.0739573

MAX_BUOY 150 PITCH_TIMEOUT 30 COMPASS_USE 4 SEABIRD_C_I -0.002841271

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 ALTIM_PING_FIT 0 SEABIRD_C_J 0.00027081851

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.045000002 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 7.0

MASS 72133 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

NAV_MODE 0 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 0 SC_NDIVE 1.0

FERRY_MAX 45 ROLL_MIN 600 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MAX 3400 ALTIM_PING_DELTA 0 PM_PROFILE 7.0

HD_A 0.003 ROLL_DEG 80 ALTIM_FREQUENCY 13 PM_XMITPROFILE 3.0

HD_B 0.0099999998 C_ROLL_DIVE 1700 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_CLIMB 1935 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING 235 HEAD_ERRBAND 10 XPDR_VALID 4 PM_MOTORS 1.0

ESCAPE_HEADING 0 ROLL_CNV 0.054945 XPDR_INHIBIT 90 PM_SENDDEPTH 1.0

AH0_10V 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_C_H 1.0739573

AH0_24V 350 D_TGT 210 PHONE_DEVICE 33 SEABIRD_C_I -0.002841271

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SEABIRD_C_J 0.00027081851

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SEABIRD_T_G 0.004415411

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0.045000002 SEABIRD_T_H 0.00064200663

ALTIM_PING_DEPTH 0 FG_AHR_10V 11.8498 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 15.50896 PITCH_DBAND 0.1 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FILEMGR 0 PITCH_GAIN 20 SIM_W 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 SM_CC 511.26248

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 48 PITCH_MIN 230 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_TIMEOUT 30 STROBE 0

APOGEE_PITCH -5 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 SURFACE_URGENCY 0

CALL_NDIVES 1 HD_C 1.6e-05 PITCH_W_DBAND 0 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HEADING 235 PITCH_W_GAIN 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HEAD_ERRBAND 10 PM_MOTORS 1.0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PM_NDIVE 1.0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 ID 235 PM_PROFILE 7.0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 1.9639999e-06 PM_RECORDABOVE 2000.0 T_ABORT 1440

COMM_SEQ 0 INT_PRESSURE_YINT -0.5 PM_SENDDEPTH 1.0 T_BOOST 0

COMPASS2_DEVICE -1 KALMAN_USE 2 PM_XMITPROFILE 3.0 T_DIVE 70

COMPASS_DEVICE 66 LOGGERDEVICE1 7 PM_XMITRAW 0.0 T_EPIRB 0

COMPASS_USE 4 LOGGERDEVICE2 35 PRESSURE_DEVICE 34 T_GPS 5

C_PITCH 2575 LOGGERDEVICE3 -1 PRESSURE_SLOPE 0.00022957686 T_LOITER 0

C_ROLL_CLIMB 1935 LOGGERDEVICE4 -1 PRESSURE_YINT -158.7446 T_MISSION 85

C_ROLL_DIVE 1700 LOGGERS 3 PROTOCOL 9 T_NO_W 120

C_VBD 2625 LOITER_DBDW 0 RAFOS_CORR_THRESH 60 T_RSLEEP 1

DBDW 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE 104 T_TURN 225

DEEPGLIDER 0 LOITER_D_TOP 0 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

DEEPGLIDERMB 0 LOITER_N_DIVE 0 RAFOS_MMODEM 0 UNCOM_BLEED 20

DEVICE1 -1 LOITER_W_DBAND 0 RAFOS_PEAK_OFFSET 0 UPLOAD_DIVES_MAX -1

DEVICE2 -1 MASS 72133 RELAUNCH 1 USE_BATHY 0

DEVICE3 -1 MAXI_10V 1.5 RHO 1.0275 USE_ICE 0

DEVICE4 -1 MAXI_24V 5 ROLL_ADJ_DBAND 0 VBD_CNV -0.24529999

DEVICE5 -1 MAX_BUOY 150 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE6 -1 MINV_10V 11 ROLL_CNV 0.054945 VBD_LP_IGNORE 0

DIVE 4 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 250 MISSION 5 ROLL_MAX 3400 VBD_MAXERRORS 1

D_BOOST 2 MOTHERBOARD 6 ROLL_MAXERRORS 1 VBD_MIN 500

D_CALL 0 NAV_MODE 0 ROLL_MIN 600 VBD_TIMEOUT 720

D_FINISH 0 NETWORK_DEVICE 1 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

D_FLARE 3 NOCOMM_ACTION 163 SC_NDIVE 1.0 XPDR_DEVICE -1

D_NO_BLEED 500 N_DIVES 4 SC_PROFILE 7.0 XPDR_INHIBIT 90

D_OFFGRID 990 N_FILEKB 8 SC_RECORDABOVE 2000.0 XPDR_INT 0

D_PITCH 0 N_GPS 100440 SC_XMITPROFILE 3.0 XPDR_REP 0

D_SAFE 0 N_NOCOMM 2 SEABIRD_C_G -9.8064938 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 280820,184423,4721.312,-12832.968,1,2.0,3,16.0 TGT_LATLONG 4715.076,-12846.018

_CALLS 1 TGT_RADIUS 1852.000

_SM_DEPTHo 1.72 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -69.3 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 280820,185040,4721.270,-12832.984,24,1.3,25,16.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 219.0,20000,-17.6,-10.000,-21.24

TGT_NAME HEADING D_GRID 210

Post-dive calculations and measurements:

NET xmit part outbox003.n 1007 4 RAFOS_FIX 4540.368652,-13231.059570,280820,191902,1,2,454.97

MODEM_MSG CACST,6,0,20200828190402.421862,18,14332,29,0437,0150,216,02,02,02,02,1,000,255,0,5,1,0,150,22.1,9.53,-100,-6.53,-01,0.10,43,925,0025*2A HUMID 55.91

NET_PING 3237,0,2306.997070,0.000000 TEMP 11.47

_4369a28362 *68 INTERNAL_PRESSURE 8.07218

a94169416d *36 _24V_AH 15.07,7.691

FINISH 0.2,1.023196 _10V_AH 15.00,0.000

SM_CCo 4316.90,0.00,0.000,0,495.7,573.6,417.8,522.33 FG_AHR_24Vo 15.696

SM_GC 1.90,0.00,16.87,0.62,0.000,0.059,0.128,495.7,573.6,417.8,219.0,1684.3,0,0,0,30.00,15.77,15.77 FG_AHR_10Vo 11.907

SUPER 19,71,254,1,0,0 MEM 1151572,46,24776,88

IRIDIUM_FIX 4722.90,-12830.15,280820,172334 DATA_FILE_SIZE 19332,657

TCM_TEMP 16.00 CAP_FILE_SIZE 204303,0

SC_FREEKB 3877504 SDSIZE 3918848,3814880

PM_FREEKB_00 61524032 SDFILEDIR 109,1

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

PM_ACTIVECARD 0 SOUNDSPEED 1465.0

RAFOS_CLK 1 GPS 280820,200350,4720.966,-12833.811,2,1.0,3,16.0

MODEM 0,1598641442,47.36280,-128.52921,242.422,355148.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 602 1400 12723.24 nil 0 0 0.00

Pitch_motor 40 267 163.71 nil 0 0 0.00

Roll_motor 81 315 389.45 nil 0 0 0.00

Iridium 263 237 944.13 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 34 15 7.71 nil 0 0 0.00

Core 3156 10 479.15 SciCon 4242 6 400.93

LPSleep 1535 1 25.80 PMAR 4263 18 1165.65

Compass 1652 5 123.97 nil 0 0 0.00

RAFOS 876 40 525.60

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

10.34 16386 -145.99 -1.06 0.00 537.9 594.7 481.1 216.5 1679.7 0.00 0.00 0 85.33 72.97 0.00 0.00 0.005 0.000 0.000 2220.94 2226.25 2215.62 216.69 1679.50 0 0 0 15.82 30.00 30.00

85.65 18727 -145.99 -1.06 80.00 2220.5 2224.4 2216.7 216.5 1679.8 3.06 -2.06 14 135.84 25.09 15.47 3.57 0.006 0.267 0.121 3217.62 3249.94 3185.31 2317.38 3166.94 0 0 0 15.89 15.75 15.86

236.23 1156 -145.99 -0.99 0.00 3218.2 3249.6 3186.9 2317.2 3166.3 31.73 -18.53 43 248.17 0.00 0.00 3.49 0.000 0.000 0.103 3218.66 3250.19 3187.12 2317.62 1687.81 0 0 0 30.00 30.00 15.84

426.74 128 -145.99 -1.04 0.00 3219.2 3251.6 3186.8 2317.0 1687.9 61.26 -12.07 81 432.70 0.00 0.00 0.00 0.000 0.000 0.000 3219.59 3252.12 3187.06 2316.25 1688.12 0 0 0 30.00 30.00 30.00

617.86 128 -145.99 -1.11 0.00 3219.7 3252.9 3186.4 2317.1 1688.4 82.37 -11.61 118 623.48 0.00 0.00 0.00 0.000 0.000 0.000 3220.88 3254.06 3187.69 2317.50 1687.75 0 0 0 30.00 30.00 30.00

807.79 388 -145.99 -1.16 80.00 3221.1 3255.5 3186.6 2316.7 1688.2 103.31 -10.68 153 815.19 0.00 0.00 3.61 0.000 0.000 0.145 3220.75 3254.44 3187.06 2316.62 3163.25 0 0 0 30.00 30.00 15.93

897.45 5285 -145.99 -1.25 0.00 3222.0 3256.2 3187.9 2317.0 3163.0 112.34 -9.58 171 905.52 0.00 0.37 3.55 0.000 0.071 0.128 3224.12 3258.69 3189.56 2252.38 1688.75 0 0 0 30.00 15.95 15.92

1207.79 2437 -145.99 -1.16 80.00 3222.3 3256.8 3187.9 2253.3 1689.1 152.60 -11.91 203 1219.60 0.00 0.29 3.67 0.000 0.165 0.167 3223.09 3258.25 3187.94 2293.12 3163.06 0 0 0 30.00 15.98 15.97

1238.30 1028 -145.99 -1.16 0.00 3222.5 3257.8 3187.3 2293.6 3162.5 156.04 -11.16 209 1245.28 0.00 0.00 3.60 0.000 0.000 0.151 3222.56 3256.75 3188.38 2292.69 1691.06 0 0 0 30.00 30.00 15.97

1543.42 388 -145.99 -1.24 80.00 3222.8 3257.9 3187.8 2293.0 1690.8 186.97 -10.08 240 1550.35 0.00 0.00 3.71 0.000 0.000 0.180 3221.91 3256.62 3187.19 2292.81 3163.19 0 0 0 30.00 30.00 15.94

1589.44 5253 -145.99 -1.32 0.00 3222.6 3257.8 3187.3 2292.9 3162.2 191.77 -10.38 249 1600.65 0.00 0.31 3.64 0.000 0.079 0.164 3222.94 3258.88 3187.00 2236.12 1691.19 0 0 0 30.00 15.99 15.87

1744 end dive: TARGET_DEPTH_EXCEEDED

state 1744 begin apogee

1745.90 10243 0.00 -0.25 0.00 3222.5 3258.3 3186.7 2235.7 1946.1 211.24 -12.82 266 1857.43 105.17 1.89 0.05 1.400 0.151 0.316 2626.81 2693.88 2559.75 2513.56 1919.06 0 0 0 11.95 15.98 15.61

1859 end apogee: CONTROL_FINISHED_OK

state 1859 begin climb

1859.45 10503 145.99 1.06 80.00 2622.1 2688.9 2555.3 2514.5 1919.1 213.58 0.00 277 1979.19 108.61 1.98 3.96 1.355 0.086 0.201 2026.25 2113.56 1938.94 2837.81 3395.62 0 0 0 11.75 15.61 15.35

2001.39 5253 145.99 0.77 0.00 2023.2 2107.3 1939.1 2836.5 3394.6 203.53 10.29 304 2009.14 0.00 0.62 3.76 0.000 0.200 0.156 2025.16 2108.94 1941.38 2755.06 1926.62 0 0 0 30.00 15.46 15.45

2307.49 10663 200.98 0.91 80.00 2019.3 2102.8 1935.9 2755.1 1926.0 180.19 7.44 335 2359.92 41.48 0.27 3.83 1.318 0.084 0.192 1801.56 1890.69 1712.44 2804.50 3395.75 0 0 0 11.92 15.83 15.57

2392.10 1156 200.98 0.85 0.00 1798.8 1885.8 1711.8 2803.8 3396.6 171.58 11.41 352 2400.20 0.00 0.00 3.65 0.000 0.000 0.141 1800.41 1886.81 1714.00 2804.31 1925.50 0 0 0 30.00 30.00 15.63

2698.99 8486 211.45 0.86 80.00 1796.2 1881.9 1710.5 2804.7 1924.6 140.68 9.51 383 2715.30 9.24 0.00 3.76 1.060 0.000 0.181 1759.91 1846.56 1673.25 2802.94 3394.12 0 0 0 11.82 30.00 15.75

2799.04 9254 247.72 0.91 0.00 1758.4 1841.8 1675.0 2804.9 3394.6 132.09 8.31 403 2835.63 29.28 0.00 3.58 1.273 0.000 0.128 1613.75 1702.94 1524.56 2805.00 1924.62 0 0 0 12.08 30.00 15.82

3133.65 10663 317.84 1.14 80.00 1607.8 1691.6 1524.0 2804.3 1923.9 107.73 6.74 440 3196.84 53.61 0.28 3.77 1.288 0.079 0.174 1327.78 1420.81 1234.75 2860.25 3396.38 0 0 0 11.95 15.89 15.61

3262.37 11431 329.38 1.66 0.00 1324.8 1414.2 1235.3 2860.0 3396.0 96.07 9.46 465 3283.53 10.74 0.73 3.60 1.064 0.067 0.122 1282.56 1371.75 1193.38 2986.06 1923.69 0 0 0 11.85 15.71 15.65

3462.52 4485 329.38 1.39 80.00 1278.6 1365.6 1191.6 2985.6 1924.1 68.62 13.09 505 3473.46 0.00 0.62 3.71 0.000 0.203 0.165 1280.19 1367.06 1193.31 2906.25 3395.81 0 0 0 30.00 15.77 15.77

3492.59 1156 329.38 1.28 0.00 1277.7 1363.2 1192.2 2906.8 3396.3 65.24 11.44 511 3503.04 0.00 0.00 3.55 0.000 0.000 0.117 1277.66 1363.25 1192.06 2907.12 1923.00 0 0 0 30.00 30.00 15.80

3686.12 10663 398.07 1.48 80.00 1276.6 1362.9 1190.2 2907.3 1922.7 49.45 6.80 550 3748.67 52.52 0.20 3.72 1.229 0.094 0.160 1001.75 1100.56 902.94 2942.75 3398.75 0 0 0 11.86 15.90 15.67

3752.49 9254 466.77 1.56 0.00 1001.1 1098.6 903.6 2942.8 3397.6 45.08 6.80 563 3814.48 52.57 0.00 3.54 1.187 0.000 0.104 723.53 828.19 618.88 2942.19 1922.00 0 0 0 11.93 30.00 15.65

3993.34 10919 541.19 1.86 -80.00 717.4 817.1 617.7 2943.8 1921.8 26.73 6.54 611 4046.27 41.62 0.50 3.43 1.160 0.069 0.187 500.06 589.69 410.44 3033.81 592.94 0 0 0 11.77 15.72 15.59

4050.25 13447 541.19 1.77 0.00 499.9 589.4 410.5 3033.2 592.8 20.77 11.89 622 4057.04 0.00 0.29 3.14 0.076 0.204 0.066 500.03 589.25 410.81 2997.75 1954.50 0 0 0 30.36 15.61 15.66

4217 end climb: SURFACE_DEPTH_REACHED

state 4217 begin surface coast

4232 end surface coast: CONTROL_FINISHED_OK

state 4232 begin surface

ID	235	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	5	FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	4	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	4	TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-0.5
STOP_T	0	TGT_AUTO_DEFAULT	0	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	SM_CC	511.26248	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	C_VBD	2625	MOTHERBOARD	6
D_TGT	210	FILEMGR	0	VBD_DBAND	2	DEVICE1	-1
D_ABORT	250	CALL_NDIVES	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_NO_BLEED	500	COMM_SEQ	0	VBD_LP_IGNORE	0	DEVICE3	-1
D_BOOST	2	PROTOCOL	9	VBD_TIMEOUT	720	DEVICE4	-1
T_BOOST	0	N_NOCOMM	2	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_FINISH	0	NOCOMM_ACTION	163	UNCOM_BLEED	20	DEVICE6	-1
D_PITCH	0	N_NOSURFACE	0	VBD_MAXERRORS	1	LOGGERS	3
D_SAFE	0	UPLOAD_DIVES_MAX	-1	W_ADJ_DBAND	0	LOGGERDEVICE1	7
D_CALL	0	CALL_TRIES	5	DBDW	0	LOGGERDEVICE2	35
SURFACE_URGENCY	0	CALL_WAIT	60	LOITER_W_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	LOITER_DBDW	0	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	LOITER_D_TOP	0	COMPASS_DEVICE	66
T_DIVE	70	T_GPS	5	LOITER_D_BOTTOM	0	COMPASS2_DEVICE	-1
T_MISSION	85	N_GPS	100440	LOITER_N_DIVE	0	PHONE_DEVICE	33
T_ABORT	1440	T_RSLEEP	1	CF8_MAXERRORS	20	GPS_DEVICE	48
T_TURN	225	STROBE	0	AH0_24V	350	RAFOS_DEVICE	104
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	AH0_10V	0	NETWORK_DEVICE	1
T_NO_W	120	RAFOS_CORR_THRESH	60	MINV_24V	11	PRESSURE_DEVICE	34
T_LOITER	0	RAFOS_HIT_WINDOW	3600	MINV_10V	11	XPDR_DEVICE	-1
T_EPIRB	0	RAFOS_MMODEM	0	MAXI_24V	5	SIM_W	0
USE_BATHY	0	PITCH_MIN	230	MAXI_10V	1.5	SEABIRD_T_G	0.004415411
USE_ICE	0	PITCH_MAX	3900	FG_AHR_10V	11.8498	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2575	FG_AHR_24V	15.50896	SEABIRD_T_I	2.6329088e-05
D_OFFGRID	990	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_J	3.2522996e-06
RELAUNCH	1	PITCH_CNV	0.0041299998	PRESSURE_YINT	-158.7446	SEABIRD_C_G	-9.8064938
APOGEE_PITCH	-5	PITCH_GAIN	20	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_H	1.0739573
MAX_BUOY	150	PITCH_TIMEOUT	30	COMPASS_USE	4	SEABIRD_C_I	-0.002841271
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	ALTIM_PING_FIT	0	SEABIRD_C_J	0.00027081851
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.045000002	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	7.0
MASS	72133	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
NAV_MODE	0	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	0	SC_NDIVE	1.0
FERRY_MAX	45	ROLL_MIN	600	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MAX	3400	ALTIM_PING_DELTA	0	PM_PROFILE	7.0
HD_A	0.003	ROLL_DEG	80	ALTIM_FREQUENCY	13	PM_XMITPROFILE	3.0
HD_B	0.0099999998	C_ROLL_DIVE	1700	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_CLIMB	1935	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
HEADING	235	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	280820,184423,4721.312,-12832.968,1,2.0,3,16.0	TGT_LATLONG	4715.076,-12846.018
_CALLS	1	TGT_RADIUS	1852.000
_SM_DEPTHo	1.72	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-69.3	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	280820,185040,4721.270,-12832.984,24,1.3,25,16.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	219.0,20000,-17.6,-10.000,-21.24
TGT_NAME	HEADING	D_GRID	210

NET	xmit part outbox003.n 1007 4	RAFOS_FIX	4540.368652,-13231.059570,280820,191902,1,2,454.97
MODEM_MSG	CACST,6,0,20200828190402.421862,18,14332,29,0437,0150,216,02,02,02,02,1,000,255,0,5,1,0,150,22.1,9.53,-100,-6.53,-01,0.10,43,925,0025*2A	HUMID	55.91
NET_PING	3237,0,2306.997070,0.000000	TEMP	11.47
_4369a28362	*68	INTERNAL_PRESSURE	8.07218
a94169416d	*36	_24V_AH	15.07,7.691
FINISH	0.2,1.023196	_10V_AH	15.00,0.000
SM_CCo	4316.90,0.00,0.000,0,495.7,573.6,417.8,522.33	FG_AHR_24Vo	15.696
SM_GC	1.90,0.00,16.87,0.62,0.000,0.059,0.128,495.7,573.6,417.8,219.0,1684.3,0,0,0,30.00,15.77,15.77	FG_AHR_10Vo	11.907
SUPER	19,71,254,1,0,0	MEM	1151572,46,24776,88
IRIDIUM_FIX	4722.90,-12830.15,280820,172334	DATA_FILE_SIZE	19332,657
TCM_TEMP	16.00	CAP_FILE_SIZE	204303,0
SC_FREEKB	3877504	SDSIZE	3918848,3814880
PM_FREEKB_00	61524032	SDFILEDIR	109,1
PM_FREEKB_01	62343040	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	0	SOUNDSPEED	1465.0
RAFOS_CLK	1	GPS	280820,200350,4720.966,-12833.811,2,1.0,3,16.0
MODEM	0,1598641442,47.36280,-128.52921,242.422,355148.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	602	1400	12723.24	nil	0	0	0.00
Pitch_motor	40	267	163.71	nil	0	0	0.00
Roll_motor	81	315	389.45	nil	0	0	0.00
Iridium	263	237	944.13	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	34	15	7.71	nil	0	0	0.00
Core	3156	10	479.15	SciCon	4242	6	400.93
LPSleep	1535	1	25.80	PMAR	4263	18	1165.65
Compass	1652	5	123.97	nil	0	0	0.00
RAFOS	876	40	525.60
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
10.34	16386	-145.99	-1.06	0.00	537.9	594.7	481.1	216.5	1679.7	0.00	0.00	0	85.33	72.97	0.00	0.00	0.005	0.000	0.000	2220.94	2226.25	2215.62	216.69	1679.50	0	0	0	15.82	30.00	30.00
85.65	18727	-145.99	-1.06	80.00	2220.5	2224.4	2216.7	216.5	1679.8	3.06	-2.06	14	135.84	25.09	15.47	3.57	0.006	0.267	0.121	3217.62	3249.94	3185.31	2317.38	3166.94	0	0	0	15.89	15.75	15.86
236.23	1156	-145.99	-0.99	0.00	3218.2	3249.6	3186.9	2317.2	3166.3	31.73	-18.53	43	248.17	0.00	0.00	3.49	0.000	0.000	0.103	3218.66	3250.19	3187.12	2317.62	1687.81	0	0	0	30.00	30.00	15.84
426.74	128	-145.99	-1.04	0.00	3219.2	3251.6	3186.8	2317.0	1687.9	61.26	-12.07	81	432.70	0.00	0.00	0.00	0.000	0.000	0.000	3219.59	3252.12	3187.06	2316.25	1688.12	0	0	0	30.00	30.00	30.00
617.86	128	-145.99	-1.11	0.00	3219.7	3252.9	3186.4	2317.1	1688.4	82.37	-11.61	118	623.48	0.00	0.00	0.00	0.000	0.000	0.000	3220.88	3254.06	3187.69	2317.50	1687.75	0	0	0	30.00	30.00	30.00
807.79	388	-145.99	-1.16	80.00	3221.1	3255.5	3186.6	2316.7	1688.2	103.31	-10.68	153	815.19	0.00	0.00	3.61	0.000	0.000	0.145	3220.75	3254.44	3187.06	2316.62	3163.25	0	0	0	30.00	30.00	15.93
897.45	5285	-145.99	-1.25	0.00	3222.0	3256.2	3187.9	2317.0	3163.0	112.34	-9.58	171	905.52	0.00	0.37	3.55	0.000	0.071	0.128	3224.12	3258.69	3189.56	2252.38	1688.75	0	0	0	30.00	15.95	15.92
1207.79	2437	-145.99	-1.16	80.00	3222.3	3256.8	3187.9	2253.3	1689.1	152.60	-11.91	203	1219.60	0.00	0.29	3.67	0.000	0.165	0.167	3223.09	3258.25	3187.94	2293.12	3163.06	0	0	0	30.00	15.98	15.97
1238.30	1028	-145.99	-1.16	0.00	3222.5	3257.8	3187.3	2293.6	3162.5	156.04	-11.16	209	1245.28	0.00	0.00	3.60	0.000	0.000	0.151	3222.56	3256.75	3188.38	2292.69	1691.06	0	0	0	30.00	30.00	15.97
1543.42	388	-145.99	-1.24	80.00	3222.8	3257.9	3187.8	2293.0	1690.8	186.97	-10.08	240	1550.35	0.00	0.00	3.71	0.000	0.000	0.180	3221.91	3256.62	3187.19	2292.81	3163.19	0	0	0	30.00	30.00	15.94
1589.44	5253	-145.99	-1.32	0.00	3222.6	3257.8	3187.3	2292.9	3162.2	191.77	-10.38	249	1600.65	0.00	0.31	3.64	0.000	0.079	0.164	3222.94	3258.88	3187.00	2236.12	1691.19	0	0	0	30.00	15.99	15.87
1744	end dive: TARGET_DEPTH_EXCEEDED
state	1744	begin apogee
1745.90	10243	0.00	-0.25	0.00	3222.5	3258.3	3186.7	2235.7	1946.1	211.24	-12.82	266	1857.43	105.17	1.89	0.05	1.400	0.151	0.316	2626.81	2693.88	2559.75	2513.56	1919.06	0	0	0	11.95	15.98	15.61
1859	end apogee: CONTROL_FINISHED_OK
state	1859	begin climb
1859.45	10503	145.99	1.06	80.00	2622.1	2688.9	2555.3	2514.5	1919.1	213.58	0.00	277	1979.19	108.61	1.98	3.96	1.355	0.086	0.201	2026.25	2113.56	1938.94	2837.81	3395.62	0	0	0	11.75	15.61	15.35
2001.39	5253	145.99	0.77	0.00	2023.2	2107.3	1939.1	2836.5	3394.6	203.53	10.29	304	2009.14	0.00	0.62	3.76	0.000	0.200	0.156	2025.16	2108.94	1941.38	2755.06	1926.62	0	0	0	30.00	15.46	15.45
2307.49	10663	200.98	0.91	80.00	2019.3	2102.8	1935.9	2755.1	1926.0	180.19	7.44	335	2359.92	41.48	0.27	3.83	1.318	0.084	0.192	1801.56	1890.69	1712.44	2804.50	3395.75	0	0	0	11.92	15.83	15.57
2392.10	1156	200.98	0.85	0.00	1798.8	1885.8	1711.8	2803.8	3396.6	171.58	11.41	352	2400.20	0.00	0.00	3.65	0.000	0.000	0.141	1800.41	1886.81	1714.00	2804.31	1925.50	0	0	0	30.00	30.00	15.63
2698.99	8486	211.45	0.86	80.00	1796.2	1881.9	1710.5	2804.7	1924.6	140.68	9.51	383	2715.30	9.24	0.00	3.76	1.060	0.000	0.181	1759.91	1846.56	1673.25	2802.94	3394.12	0	0	0	11.82	30.00	15.75
2799.04	9254	247.72	0.91	0.00	1758.4	1841.8	1675.0	2804.9	3394.6	132.09	8.31	403	2835.63	29.28	0.00	3.58	1.273	0.000	0.128	1613.75	1702.94	1524.56	2805.00	1924.62	0	0	0	12.08	30.00	15.82
3133.65	10663	317.84	1.14	80.00	1607.8	1691.6	1524.0	2804.3	1923.9	107.73	6.74	440	3196.84	53.61	0.28	3.77	1.288	0.079	0.174	1327.78	1420.81	1234.75	2860.25	3396.38	0	0	0	11.95	15.89	15.61
3262.37	11431	329.38	1.66	0.00	1324.8	1414.2	1235.3	2860.0	3396.0	96.07	9.46	465	3283.53	10.74	0.73	3.60	1.064	0.067	0.122	1282.56	1371.75	1193.38	2986.06	1923.69	0	0	0	11.85	15.71	15.65
3462.52	4485	329.38	1.39	80.00	1278.6	1365.6	1191.6	2985.6	1924.1	68.62	13.09	505	3473.46	0.00	0.62	3.71	0.000	0.203	0.165	1280.19	1367.06	1193.31	2906.25	3395.81	0	0	0	30.00	15.77	15.77
3492.59	1156	329.38	1.28	0.00	1277.7	1363.2	1192.2	2906.8	3396.3	65.24	11.44	511	3503.04	0.00	0.00	3.55	0.000	0.000	0.117	1277.66	1363.25	1192.06	2907.12	1923.00	0	0	0	30.00	30.00	15.80
3686.12	10663	398.07	1.48	80.00	1276.6	1362.9	1190.2	2907.3	1922.7	49.45	6.80	550	3748.67	52.52	0.20	3.72	1.229	0.094	0.160	1001.75	1100.56	902.94	2942.75	3398.75	0	0	0	11.86	15.90	15.67
3752.49	9254	466.77	1.56	0.00	1001.1	1098.6	903.6	2942.8	3397.6	45.08	6.80	563	3814.48	52.57	0.00	3.54	1.187	0.000	0.104	723.53	828.19	618.88	2942.19	1922.00	0	0	0	11.93	30.00	15.65
3993.34	10919	541.19	1.86	-80.00	717.4	817.1	617.7	2943.8	1921.8	26.73	6.54	611	4046.27	41.62	0.50	3.43	1.160	0.069	0.187	500.06	589.69	410.44	3033.81	592.94	0	0	0	11.77	15.72	15.59
4050.25	13447	541.19	1.77	0.00	499.9	589.4	410.5	3033.2	592.8	20.77	11.89	622	4057.04	0.00	0.29	3.14	0.076	0.204	0.066	500.03	589.25	410.81	2997.75	1954.50	0	0	0	30.36	15.61	15.66
4217	end climb: SURFACE_DEPTH_REACHED
state	4217	begin surface coast
4232	end surface coast: CONTROL_FINISHED_OK
state	4232	begin surface