Glider dive log

AMOS 26Aug20 * SG235 * Dive index * Mission links * Dive 5 * 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 4 FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_REP 0

DIVE 5 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 5 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 521.26251 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 11.336126 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2575 FG_AHR_24V 14.209025 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 2 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 0 SC_NDIVE 1.0

FERRY_MAX 45 ROLL_MIN 600 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MAX 3400 ALTIM_PING_DELTA 0 PM_PROFILE 7.0

HD_A 0.003 ROLL_DEG 80 ALTIM_FREQUENCY 13 PM_XMITPROFILE 3.0

HD_B 0.0099999998 C_ROLL_DIVE 2000 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_CLIMB 1935 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING -1 HEAD_ERRBAND 10 XPDR_VALID 4 PM_MOTORS 1.0

ESCAPE_HEADING 0 ROLL_CNV 0.054945 XPDR_INHIBIT 90 PM_SENDDEPTH 1.0

AH0_10V 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_C_H 1.0739573

AH0_24V 350 D_TGT 210 PHONE_DEVICE 33 SEABIRD_C_I -0.002841271

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SEABIRD_C_J 0.00027081851

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SEABIRD_T_G 0.004415411

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0.045000002 SEABIRD_T_H 0.00064200663

ALTIM_PING_DEPTH 0 FG_AHR_10V 11.336126 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 14.209025 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 521.26251

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 48 PITCH_MIN 230 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_TIMEOUT 30 STROBE 0

APOGEE_PITCH -5 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 SURFACE_URGENCY 0

CALL_NDIVES 1 HD_C 1.6e-05 PITCH_W_DBAND 0 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HEADING -1 PITCH_W_GAIN 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HEAD_ERRBAND 10 PM_MOTORS 1.0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PM_NDIVE 1.0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 ID 235 PM_PROFILE 7.0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 1.9639999e-06 PM_RECORDABOVE 2000.0 T_ABORT 1440

COMM_SEQ 0 INT_PRESSURE_YINT -0.5 PM_SENDDEPTH 1.0 T_BOOST 0

COMPASS2_DEVICE -1 KALMAN_USE 2 PM_XMITPROFILE 3.0 T_DIVE 70

COMPASS_DEVICE 66 LOGGERDEVICE1 7 PM_XMITRAW 0.0 T_EPIRB 0

COMPASS_USE 4 LOGGERDEVICE2 35 PRESSURE_DEVICE 34 T_GPS 5

C_PITCH 2575 LOGGERDEVICE3 -1 PRESSURE_SLOPE 0.00022957686 T_LOITER 0

C_ROLL_CLIMB 1935 LOGGERDEVICE4 -1 PRESSURE_YINT -158.7446 T_MISSION 85

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 5 MINV_24V 11 ROLL_DEG 80 VBD_MAX 3960

D_ABORT 250 MISSION 4 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 500 N_DIVES 5 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 260820,203235,5101.421,-13354.030,2,0.9,3,16.8 TGT_LATLONG 5101.608,-13353.928

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.66 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -66.8 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 260820,203634,5101.430,-13354.033,2,1.1,3,16.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 342.8,353,-27.2,-10.000,-30.00

TGT_NAME ans0 D_GRID 210

Post-dive calculations and measurements:

NET_PING 2881,0,285.789276,0.000000 RAFOS_FIX 5034.298340,-13551.844727,260820,212140,1,2,98.53

NET CACST,6,1,20200826212518.485046,05,32767,45,0101,0150,07,00,00,00,00,-1,-01,-01,1,3,20780,0,150,10.2,-208.00,-100,211.00,-01,1.04,70,10000,5000*52 HUMID 54.60

a94169416d *33 TEMP 10.06

_5fbe1ea6f1 *39 INTERNAL_PRESSURE 7.99612

_4369a28362 *61 _24V_AH 14.89,6.427

MODEM_MSG CACST,6,1,20200826210401.978084,18,708,10,0237,0150,07,00,00,03,00,-1,-01,-01,1,3,0,0,150,-23.5,0.87,-100,2.13,-01,0.16,53,925,0025*34 _10V_AH 14.84,0.000

FINISH 0.3,1.024764 FG_AHR_24Vo 14.398

SM_CCo 3808.81,0.00,0.011,0,499.8,574.8,424.8,521.32 FG_AHR_10Vo 11.390

SM_GC 1.46,0.00,17.12,0.20,0.011,0.064,0.115,499.8,574.8,424.8,217.8,2032.2,0,0,0,30.36,15.80,15.85 MEM 1151768,32,24840,89

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16110,588

IRIDIUM_FIX 5100.36,-13354.69,260820,192900 CAP_FILE_SIZE 179608,0

TCM_TEMP 13.79 SDSIZE 3918848,3858592

SC_FREEKB 3877184 SDFILEDIR 103,1

PM_FREEKB_00 61732544 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 0.102, 87.0,1

RAFOS_CLK 0 GPS 260820,214118,5101.783,-13353.826,2,1.6,6,16.8

MODEM 0,1598475700,51.02680,-133.89880,100.532,147278.9

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 600 1435 12827.08 nil 0 0 0.00

Pitch_motor 41 273 168.39 nil 0 0 0.00

Roll_motor 56 384 323.71 nil 0 0 0.00

Iridium 162 224 542.30 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 11 15 2.65 nil 0 0 0.00

Core 2688 10 403.76 SciCon 3655 6 353.59

LPSleep 1223 1 20.33 PMAR 3666 20 1119.73

Compass 1403 5 104.15 nil 0 0 0.00

RAFOS 439 40 260.59

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

10.05 16386 -63.62 -1.44 0.00 496.1 559.8 432.3 217.8 2016.1 0.00 0.00 0 94.81 82.76 0.00 0.00 0.005 0.000 0.000 2337.31 2341.19 2333.44 217.88 2016.00 0 0 0 15.68 30.00 30.00

95.05 18727 -137.97 -1.53 80.00 2335.2 2338.6 2331.9 217.8 2016.0 3.20 -2.14 16 144.01 21.65 14.77 3.42 0.006 0.274 0.143 3185.69 3212.19 3159.19 2203.00 3406.69 0 0 0 15.81 15.64 15.74

147.24 3205 -137.97 -1.37 0.00 3186.0 3212.8 3159.2 2202.9 3407.4 14.44 -22.90 26 153.80 0.00 0.26 3.35 0.000 0.204 0.090 3188.03 3214.12 3161.94 2244.06 1982.75 0 0 0 30.00 15.72 15.74

336.28 4741 -137.97 -1.66 -80.00 3186.8 3214.5 3159.0 2244.2 1983.4 58.30 -16.47 64 343.38 0.00 0.52 3.56 0.000 0.063 0.188 3186.59 3214.19 3159.00 2152.56 593.50 0 0 0 30.00 15.85 15.75

427.12 3205 -137.97 -1.53 0.00 3186.4 3214.0 3158.9 2152.3 593.2 80.39 -23.62 82 433.69 0.00 0.40 3.32 0.000 0.207 0.091 3186.19 3213.62 3158.75 2205.00 2014.88 0 0 0 30.00 15.82 15.88

613.48 4225 -137.97 -1.76 0.00 3187.8 3216.2 3159.2 2204.1 2014.8 110.37 -13.87 112 616.52 0.00 0.40 0.00 0.000 0.072 0.000 3185.94 3214.31 3157.56 2127.75 2014.31 0 0 0 30.00 15.89 30.00

921.51 516 -137.97 -1.76 -80.00 3188.5 3218.2 3158.9 2128.5 2014.6 158.95 -16.03 143 928.50 0.00 0.00 3.69 0.000 0.000 0.213 3190.62 3219.62 3161.62 2127.44 594.75 0 0 0 30.00 30.00 15.88

997.25 3205 -137.97 -1.59 0.00 3188.2 3216.8 3159.6 2128.1 594.6 173.75 -19.89 158 1004.49 0.00 0.44 3.38 0.000 0.206 0.124 3188.31 3216.50 3160.12 2187.94 2009.88 0 0 0 30.00 15.90 15.94

1262 end dive: TARGET_DEPTH_EXCEEDED

state 1262 begin apogee

1263.42 10243 0.00 -0.25 0.00 3189.4 3218.8 3160.0 2189.0 1922.7 211.10 -13.61 185 1368.67 100.35 2.18 0.04 1.436 0.164 0.384 2626.66 2691.44 2561.88 2514.75 1948.81 0 0 0 11.92 15.83 15.48

1370 end apogee: CONTROL_FINISHED_OK

state 1370 begin climb

1370.25 10503 137.97 1.53 80.00 2622.6 2686.6 2558.5 2515.7 1949.5 214.04 0.00 195 1484.15 104.25 2.73 3.90 1.389 0.086 0.199 2062.44 2145.06 1979.81 2951.88 3397.38 0 0 0 11.72 15.49 15.24

1586.47 21639 137.97 1.28 0.00 2052.8 2128.9 1976.6 2951.6 3397.5 186.09 19.30 237 1594.57 0.00 0.61 3.73 0.000 0.244 0.146 2052.91 2128.69 1977.12 2878.56 1925.50 0 0 0 30.00 15.46 15.49

1892.48 19079 137.97 1.39 -80.00 2051.1 2128.1 1974.2 2878.9 1926.0 144.06 11.95 268 1900.09 0.00 0.25 3.53 0.000 0.096 0.220 2054.00 2131.38 1976.62 2919.00 594.69 0 0 0 30.00 15.74 15.67

2002.27 21639 137.97 1.14 0.00 2050.1 2125.8 1974.4 2920.6 594.5 127.62 14.74 290 2010.40 0.00 0.58 3.23 0.000 0.240 0.110 2049.34 2124.38 1974.31 2844.44 1943.88 0 0 0 30.00 15.72 15.70

2308.39 10663 175.19 1.44 80.00 2048.7 2124.2 1973.2 2844.9 1944.2 106.90 6.06 321 2344.55 28.60 0.54 3.71 1.293 0.084 0.179 1908.88 1991.75 1826.00 2933.06 3396.50 0 0 0 11.80 15.87 15.71

2548.89 9382 187.49 1.40 0.00 1902.6 1979.8 1825.4 2932.4 3395.9 81.33 8.70 369 2570.12 10.95 0.00 3.55 1.119 0.000 0.115 1859.53 1940.06 1779.00 2932.25 1923.56 0 0 0 11.89 30.00 15.83

2753.40 8870 222.87 1.54 -80.00 1857.6 1937.1 1778.0 2932.5 1922.9 65.31 6.26 410 2790.94 28.69 0.00 3.45 1.256 0.000 0.200 1717.78 1804.75 1630.81 2932.31 593.62 0 0 0 11.93 30.00 15.71

3015.91 9382 230.68 1.48 0.00 1710.7 1793.2 1628.2 2932.8 593.6 40.91 9.17 462 3031.92 7.86 0.00 3.15 0.978 0.000 0.084 1683.75 1768.50 1599.00 2932.25 1951.56 0 0 0 11.75 30.00 15.86

3210.39 10403 321.65 1.83 0.00 1681.3 1765.1 1597.5 2932.3 1951.8 37.51 0.38 501 3282.75 69.46 0.54 0.00 1.255 0.082 0.000 1313.75 1407.75 1219.75 3026.25 1951.38 0 0 0 11.88 15.87 30.00

3461.02 8614 332.07 1.96 80.00 1306.8 1395.6 1217.9 3026.3 1951.6 21.12 8.90 551 3478.50 9.55 0.00 3.63 1.002 0.000 0.154 1271.81 1360.75 1182.88 3025.88 3397.44 0 0 0 11.73 30.00 15.11

3616.83 1028 332.07 1.96 0.00 1268.2 1354.2 1182.2 3025.8 3397.9 3.43 13.03 582 3623.32 0.00 0.00 3.47 0.000 0.000 0.086 1268.47 1354.00 1182.94 3025.81 1919.62 0 0 0 30.00 30.00 15.80

3632 end climb: SURFACE_DEPTH_REACHED

state 3632 begin surface coast

3647 end surface coast: CONTROL_FINISHED_OK

state 3647 begin surface

ID	235	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	4	FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	5	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	5	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	521.26251	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	11.336126	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2575	FG_AHR_24V	14.209025	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	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	260820,203235,5101.421,-13354.030,2,0.9,3,16.8	TGT_LATLONG	5101.608,-13353.928
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.66	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-66.8	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	260820,203634,5101.430,-13354.033,2,1.1,3,16.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	342.8,353,-27.2,-10.000,-30.00
TGT_NAME	ans0	D_GRID	210

NET_PING	2881,0,285.789276,0.000000	RAFOS_FIX	5034.298340,-13551.844727,260820,212140,1,2,98.53
NET	CACST,6,1,20200826212518.485046,05,32767,45,0101,0150,07,00,00,00,00,-1,-01,-01,1,3,20780,0,150,10.2,-208.00,-100,211.00,-01,1.04,70,10000,5000*52	HUMID	54.60
a94169416d	*33	TEMP	10.06
_5fbe1ea6f1	*39	INTERNAL_PRESSURE	7.99612
_4369a28362	*61	_24V_AH	14.89,6.427
MODEM_MSG	CACST,6,1,20200826210401.978084,18,708,10,0237,0150,07,00,00,03,00,-1,-01,-01,1,3,0,0,150,-23.5,0.87,-100,2.13,-01,0.16,53,925,0025*34	_10V_AH	14.84,0.000
FINISH	0.3,1.024764	FG_AHR_24Vo	14.398
SM_CCo	3808.81,0.00,0.011,0,499.8,574.8,424.8,521.32	FG_AHR_10Vo	11.390
SM_GC	1.46,0.00,17.12,0.20,0.011,0.064,0.115,499.8,574.8,424.8,217.8,2032.2,0,0,0,30.36,15.80,15.85	MEM	1151768,32,24840,89
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16110,588
IRIDIUM_FIX	5100.36,-13354.69,260820,192900	CAP_FILE_SIZE	179608,0
TCM_TEMP	13.79	SDSIZE	3918848,3858592
SC_FREEKB	3877184	SDFILEDIR	103,1
PM_FREEKB_00	61732544	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	0.102, 87.0,1
RAFOS_CLK	0	GPS	260820,214118,5101.783,-13353.826,2,1.6,6,16.8
MODEM	0,1598475700,51.02680,-133.89880,100.532,147278.9

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	600	1435	12827.08	nil	0	0	0.00
Pitch_motor	41	273	168.39	nil	0	0	0.00
Roll_motor	56	384	323.71	nil	0	0	0.00
Iridium	162	224	542.30	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	11	15	2.65	nil	0	0	0.00
Core	2688	10	403.76	SciCon	3655	6	353.59
LPSleep	1223	1	20.33	PMAR	3666	20	1119.73
Compass	1403	5	104.15	nil	0	0	0.00
RAFOS	439	40	260.59
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
10.05	16386	-63.62	-1.44	0.00	496.1	559.8	432.3	217.8	2016.1	0.00	0.00	0	94.81	82.76	0.00	0.00	0.005	0.000	0.000	2337.31	2341.19	2333.44	217.88	2016.00	0	0	0	15.68	30.00	30.00
95.05	18727	-137.97	-1.53	80.00	2335.2	2338.6	2331.9	217.8	2016.0	3.20	-2.14	16	144.01	21.65	14.77	3.42	0.006	0.274	0.143	3185.69	3212.19	3159.19	2203.00	3406.69	0	0	0	15.81	15.64	15.74
147.24	3205	-137.97	-1.37	0.00	3186.0	3212.8	3159.2	2202.9	3407.4	14.44	-22.90	26	153.80	0.00	0.26	3.35	0.000	0.204	0.090	3188.03	3214.12	3161.94	2244.06	1982.75	0	0	0	30.00	15.72	15.74
336.28	4741	-137.97	-1.66	-80.00	3186.8	3214.5	3159.0	2244.2	1983.4	58.30	-16.47	64	343.38	0.00	0.52	3.56	0.000	0.063	0.188	3186.59	3214.19	3159.00	2152.56	593.50	0	0	0	30.00	15.85	15.75
427.12	3205	-137.97	-1.53	0.00	3186.4	3214.0	3158.9	2152.3	593.2	80.39	-23.62	82	433.69	0.00	0.40	3.32	0.000	0.207	0.091	3186.19	3213.62	3158.75	2205.00	2014.88	0	0	0	30.00	15.82	15.88
613.48	4225	-137.97	-1.76	0.00	3187.8	3216.2	3159.2	2204.1	2014.8	110.37	-13.87	112	616.52	0.00	0.40	0.00	0.000	0.072	0.000	3185.94	3214.31	3157.56	2127.75	2014.31	0	0	0	30.00	15.89	30.00
921.51	516	-137.97	-1.76	-80.00	3188.5	3218.2	3158.9	2128.5	2014.6	158.95	-16.03	143	928.50	0.00	0.00	3.69	0.000	0.000	0.213	3190.62	3219.62	3161.62	2127.44	594.75	0	0	0	30.00	30.00	15.88
997.25	3205	-137.97	-1.59	0.00	3188.2	3216.8	3159.6	2128.1	594.6	173.75	-19.89	158	1004.49	0.00	0.44	3.38	0.000	0.206	0.124	3188.31	3216.50	3160.12	2187.94	2009.88	0	0	0	30.00	15.90	15.94
1262	end dive: TARGET_DEPTH_EXCEEDED
state	1262	begin apogee
1263.42	10243	0.00	-0.25	0.00	3189.4	3218.8	3160.0	2189.0	1922.7	211.10	-13.61	185	1368.67	100.35	2.18	0.04	1.436	0.164	0.384	2626.66	2691.44	2561.88	2514.75	1948.81	0	0	0	11.92	15.83	15.48
1370	end apogee: CONTROL_FINISHED_OK
state	1370	begin climb
1370.25	10503	137.97	1.53	80.00	2622.6	2686.6	2558.5	2515.7	1949.5	214.04	0.00	195	1484.15	104.25	2.73	3.90	1.389	0.086	0.199	2062.44	2145.06	1979.81	2951.88	3397.38	0	0	0	11.72	15.49	15.24
1586.47	21639	137.97	1.28	0.00	2052.8	2128.9	1976.6	2951.6	3397.5	186.09	19.30	237	1594.57	0.00	0.61	3.73	0.000	0.244	0.146	2052.91	2128.69	1977.12	2878.56	1925.50	0	0	0	30.00	15.46	15.49
1892.48	19079	137.97	1.39	-80.00	2051.1	2128.1	1974.2	2878.9	1926.0	144.06	11.95	268	1900.09	0.00	0.25	3.53	0.000	0.096	0.220	2054.00	2131.38	1976.62	2919.00	594.69	0	0	0	30.00	15.74	15.67
2002.27	21639	137.97	1.14	0.00	2050.1	2125.8	1974.4	2920.6	594.5	127.62	14.74	290	2010.40	0.00	0.58	3.23	0.000	0.240	0.110	2049.34	2124.38	1974.31	2844.44	1943.88	0	0	0	30.00	15.72	15.70
2308.39	10663	175.19	1.44	80.00	2048.7	2124.2	1973.2	2844.9	1944.2	106.90	6.06	321	2344.55	28.60	0.54	3.71	1.293	0.084	0.179	1908.88	1991.75	1826.00	2933.06	3396.50	0	0	0	11.80	15.87	15.71
2548.89	9382	187.49	1.40	0.00	1902.6	1979.8	1825.4	2932.4	3395.9	81.33	8.70	369	2570.12	10.95	0.00	3.55	1.119	0.000	0.115	1859.53	1940.06	1779.00	2932.25	1923.56	0	0	0	11.89	30.00	15.83
2753.40	8870	222.87	1.54	-80.00	1857.6	1937.1	1778.0	2932.5	1922.9	65.31	6.26	410	2790.94	28.69	0.00	3.45	1.256	0.000	0.200	1717.78	1804.75	1630.81	2932.31	593.62	0	0	0	11.93	30.00	15.71
3015.91	9382	230.68	1.48	0.00	1710.7	1793.2	1628.2	2932.8	593.6	40.91	9.17	462	3031.92	7.86	0.00	3.15	0.978	0.000	0.084	1683.75	1768.50	1599.00	2932.25	1951.56	0	0	0	11.75	30.00	15.86
3210.39	10403	321.65	1.83	0.00	1681.3	1765.1	1597.5	2932.3	1951.8	37.51	0.38	501	3282.75	69.46	0.54	0.00	1.255	0.082	0.000	1313.75	1407.75	1219.75	3026.25	1951.38	0	0	0	11.88	15.87	30.00
3461.02	8614	332.07	1.96	80.00	1306.8	1395.6	1217.9	3026.3	1951.6	21.12	8.90	551	3478.50	9.55	0.00	3.63	1.002	0.000	0.154	1271.81	1360.75	1182.88	3025.88	3397.44	0	0	0	11.73	30.00	15.11
3616.83	1028	332.07	1.96	0.00	1268.2	1354.2	1182.2	3025.8	3397.9	3.43	13.03	582	3623.32	0.00	0.00	3.47	0.000	0.000	0.086	1268.47	1354.00	1182.94	3025.81	1919.62	0	0	0	30.00	30.00	15.80
3632	end climb: SURFACE_DEPTH_REACHED
state	3632	begin surface coast
3647	end surface coast: CONTROL_FINISHED_OK
state	3647	begin surface