Glider dive log

AMOS Aug20 * 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 3 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 6 TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -0.5

STOP_T 0 TGT_AUTO_DEFAULT 0 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 SM_CC 500 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 C_VBD 2800 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 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 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 10.544871 SEABIRD_T_H 0.00064200663

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2575 FG_AHR_24V 11.981724 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 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 10.544871 PITCH_CNV 0.0041299998 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_24V 11.981724 PITCH_DBAND 0.1 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FILEMGR 0 PITCH_GAIN 20 SIM_W 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 SM_CC 500

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 48 PITCH_MIN 230 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_TIMEOUT 30 STROBE 0

APOGEE_PITCH -5 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 SURFACE_URGENCY 0

CALL_NDIVES 1 HD_C 1.6e-05 PITCH_W_DBAND 0 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HEADING -1 PITCH_W_GAIN 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HEAD_ERRBAND 10 PM_MOTORS 1.0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PM_NDIVE 1.0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 ID 235 PM_PROFILE 7.0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 1.9639999e-06 PM_RECORDABOVE 2000.0 T_ABORT 1440

COMM_SEQ 0 INT_PRESSURE_YINT -0.5 PM_SENDDEPTH 1.0 T_BOOST 0

COMPASS2_DEVICE -1 KALMAN_USE 2 PM_XMITPROFILE 3.0 T_DIVE 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 2000 LOGGERDEVICE4 -1 PRESSURE_YINT -158.82793 T_MISSION 85

C_ROLL_DIVE 2000 LOGGERS 3 PROTOCOL 9 T_NO_W 120

C_VBD 2800 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 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 6 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 240820,210639,5215.184,-13801.852,5,0.9,23,16.7 TGT_LATLONG 5500.000,-14500.000

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 1.65 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -67.6 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 240820,211110,5215.201,-13801.840,3,0.9,6,16.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 244.2,538945,-17.6,-10.000,-21.24

TGT_NAME ans0 D_GRID 210

Post-dive calculations and measurements:

NET_PING 504,0,440.921021,0.000000 HUMID 55.32

NET CACST,6,1,20200824221007.802316,05,27505,44,0180,0150,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,33.8,-103.00,-100,106.00,-01,0.25,49,10000,5000*55 TEMP 8.46

MODEM_MSG CACST,6,1,20200824220241.992457,18,276,12,0093,0150,246,02,02,02,04,-1,-01,-01,1,3,1,0,150,-35.4,0.29,-100,2.71,-01,-0.23,52,925,0025*27 INTERNAL_PRESSURE 7.94838

FINISH 0.3,1.015029 _24V_AH 14.97,4.113

SM_CCo 4392.46,0.00,0.008,0,761.6,842.6,680.6,500.01 _10V_AH 15.00,0.000

SM_GC 1.68,0.00,16.69,0.05,0.008,0.058,0.206,761.6,842.6,680.6,217.7,1984.9,0,0,0,30.36,15.76,15.76 FG_AHR_24Vo 12.180

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 10.586

IRIDIUM_FIX 5213.46,-13749.01,240820,194748 MEM 1151940,41,24572,86

TCM_TEMP 12.06 DATA_FILE_SIZE 19291,667

SC_FREEKB 3877344 CAP_FILE_SIZE 205157,0

PM_FREEKB_00 62140544 SDSIZE 3918848,3861184

PM_FREEKB_01 62343040 SDFILEDIR 78,1

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 0,1598306401,52.25580,-138.03481,1.290,1890.1 CURRENT 0.212, 18.8,1

RAFOS_FIX 5214.837402,-13800.644531,240820,222201,1,2,0.52 GPS 240820,222532,5215.554,-13802.559,0,0.9,2,16.7

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 600 1501 13509.30 nil 0 0 0.00

Pitch_motor 39 275 164.12 nil 0 0 0.00

Roll_motor 48 277 203.45 nil 0 0 0.00

Iridium 188 220 622.30 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.30 nil 0 0 0.00

Core 2932 10 445.16 SciCon 4363 6 420.75

LPSleep 1712 1 28.77 PMAR 4374 14 979.89

Compass 1694 5 127.10 nil 0 0 0.00

RAFOS 297 40 178.20

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

9.95 16386 -145.99 -1.06 0.00 760.8 831.4 690.2 216.5 2015.6 0.00 0.00 0 84.60 72.61 0.00 0.00 0.005 0.000 0.000 2314.34 2314.50 2314.19 215.25 2015.44 0 0 0 15.77 30.00 30.00

84.85 18983 -145.99 -1.06 -80.00 2313.3 2313.1 2313.6 215.3 2015.0 3.15 -2.27 14 139.55 28.68 15.52 3.56 0.006 0.276 0.168 3394.28 3435.00 3353.56 2316.25 592.75 0 0 0 15.80 15.67 15.80

213.17 1156 -145.99 -1.01 0.00 3394.5 3435.4 3353.5 2316.8 592.6 27.11 -19.89 39 219.96 0.00 0.00 3.29 0.000 0.000 0.082 3396.84 3436.44 3357.25 2315.75 2012.50 0 0 0 30.00 30.00 15.87

398.76 128 -145.99 -1.16 0.00 3394.8 3436.1 3353.6 2316.9 2012.6 53.48 -10.68 76 404.44 0.00 0.00 0.00 0.000 0.000 0.000 3394.94 3436.56 3353.31 2316.50 2012.50 0 0 0 30.00 30.00 30.00

588.59 4225 -145.99 -1.30 0.00 3395.6 3437.6 3353.5 2316.2 2012.1 73.60 -10.80 114 594.80 0.00 0.44 0.00 0.000 0.071 0.000 3395.84 3437.19 3354.50 2241.44 2012.56 0 0 0 30.00 15.94 30.00

773.92 2693 -145.99 -1.24 -80.00 3395.8 3438.2 3353.4 2242.0 2012.1 100.37 -14.81 151 780.96 0.00 0.25 3.57 0.000 0.176 0.183 3395.81 3438.44 3353.19 2276.31 591.94 0 0 0 30.00 15.93 15.84

899.68 1028 -145.99 -1.24 0.00 3396.4 3438.5 3354.3 2276.4 591.9 118.09 -13.53 176 905.64 0.00 0.00 3.31 0.000 0.000 0.097 3397.41 3439.19 3355.62 2276.81 2011.62 0 0 0 30.00 30.00 15.95

1208.55 4741 -145.99 -1.35 -80.00 3396.3 3438.8 3353.8 2275.2 2011.4 151.21 -10.55 208 1215.52 0.00 0.23 3.60 0.000 0.088 0.195 3395.72 3438.81 3352.62 2229.06 593.81 0 0 0 30.00 16.01 15.94

1277.70 3205 -145.99 -1.18 0.00 3396.4 3438.9 3353.9 2229.1 593.6 161.54 -15.71 222 1285.85 0.00 0.44 3.33 0.000 0.179 0.110 3396.94 3439.56 3354.31 2289.44 2010.31 0 0 0 30.00 15.95 15.99

1584.63 4741 -145.99 -1.34 -80.00 3396.4 3438.9 3353.9 2289.3 2010.4 193.55 -10.35 253 1591.51 0.00 0.31 3.61 0.000 0.080 0.203 3396.78 3439.12 3354.44 2231.62 592.81 0 0 0 30.00 16.03 15.95

1650.55 3205 -145.99 -1.23 0.00 3397.0 3439.8 3354.1 2231.5 592.5 203.25 -15.76 266 1657.45 0.00 0.34 3.35 0.000 0.181 0.119 3398.72 3440.50 3356.94 2277.06 2008.56 0 0 0 30.00 15.98 16.00

1709 end dive: TARGET_DEPTH_EXCEEDED

state 1709 begin apogee

1709.92 10243 0.00 -0.25 0.00 3396.9 3439.9 3353.9 2278.6 1980.3 210.60 -11.40 273 1821.61 105.17 1.56 0.06 1.502 0.150 0.278 2797.84 2869.94 2725.75 2516.44 2010.38 0 0 0 11.84 15.97 15.57

1824 end apogee: CONTROL_FINISHED_OK

state 1824 begin climb

1824.17 10243 145.99 1.06 0.00 2797.2 2869.1 2725.3 2516.0 2009.6 213.40 0.00 284 1937.13 109.18 1.97 0.00 1.449 0.088 0.000 2202.00 2284.75 2119.25 2838.12 2010.19 0 0 0 11.71 15.58 30.00

2230.48 12711 167.79 0.83 80.00 2195.5 2274.9 2116.0 2838.8 2009.1 188.41 8.99 330 2256.36 17.51 0.51 3.57 1.312 0.201 0.182 2114.09 2195.62 2032.56 2769.31 3407.44 0 0 0 11.72 15.68 15.61

2314.98 9382 205.21 0.81 0.00 2110.2 2189.5 2030.9 2769.6 3406.1 181.49 8.26 347 2353.27 30.11 0.00 3.43 1.368 0.000 0.113 1963.03 2051.00 1875.06 2768.81 1987.62 0 0 0 11.75 30.00 15.63

2651.10 10919 249.60 0.93 -80.00 1955.8 2037.9 1873.8 2769.9 1988.2 155.10 7.93 384 2693.85 34.63 0.22 3.66 1.375 0.091 0.207 1781.62 1869.81 1693.44 2812.62 593.81 0 0 0 11.70 15.80 15.54

2702.44 13479 253.07 0.84 0.00 1780.3 1867.4 1693.3 2812.0 593.5 150.12 9.84 391 2714.88 5.21 0.31 3.40 0.790 0.201 0.106 1766.16 1852.19 1680.12 2770.75 2008.75 0 0 0 11.67 15.64 15.65

3019.93 10403 307.75 1.04 0.00 1762.2 1847.6 1676.8 2770.1 2009.2 124.05 7.46 424 3066.78 42.85 0.37 0.00 1.360 0.078 0.000 1544.09 1630.94 1457.25 2837.56 2009.25 0 0 0 11.76 15.80 30.00

3365.80 8870 322.05 1.12 -80.00 1538.0 1618.3 1457.8 2836.9 2009.4 90.90 9.34 469 3387.91 12.55 0.00 3.67 1.191 0.000 0.197 1486.78 1568.62 1404.94 2836.94 593.62 0 0 0 11.64 30.00 15.71

3456.71 9382 339.08 1.09 0.00 1484.7 1565.7 1403.8 2838.6 593.6 82.46 9.21 487 3482.48 15.66 0.00 3.35 1.223 0.000 0.097 1418.78 1504.56 1333.00 2837.12 2011.38 0 0 0 11.82 30.00 15.75

3665.51 10403 399.22 1.27 0.00 1413.5 1496.4 1330.6 2837.8 2012.1 66.20 7.20 529 3717.21 48.32 0.27 0.00 1.303 0.086 0.000 1172.41 1268.88 1075.94 2893.69 2012.50 0 0 0 11.79 15.82 30.00

3895.46 0 399.22 1.27 -80.00 1167.9 1260.1 1075.8 2892.2 2012.0 42.73 11.19 575 3901.38 0.00 0.00 0.00 0.000 0.000 0.000 1168.34 1260.38 1076.31 2892.75 2012.19 0 0 0 30.00 30.00 30.00

4081.33 10403 486.16 1.55 -80.00 1166.8 1257.9 1075.7 2892.6 2011.8 26.85 5.96 612 4151.40 67.48 0.34 0.00 1.261 0.080 0.000 818.47 927.56 709.38 2961.56 2011.56 0 0 0 11.84 15.84 30.00

4330.14 0 486.16 1.55 -80.00 814.3 919.2 709.4 2961.2 2011.8 2.44 11.67 662 4335.42 0.00 0.00 0.00 0.000 0.000 0.000 814.09 918.94 709.25 2960.75 2012.00 0 0 0 30.00 30.00 30.00

4340 end climb: SURFACE_DEPTH_REACHED

state 4340 begin surface coast

4355 end surface coast: CONTROL_FINISHED_OK

state 4355 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	5	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	6	TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-0.5
STOP_T	0	TGT_AUTO_DEFAULT	0	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	SM_CC	500	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	C_VBD	2800	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	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	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	10.544871	SEABIRD_T_H	0.00064200663
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2575	FG_AHR_24V	11.981724	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	240820,210639,5215.184,-13801.852,5,0.9,23,16.7	TGT_LATLONG	5500.000,-14500.000
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	1.65	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-67.6	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	240820,211110,5215.201,-13801.840,3,0.9,6,16.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	244.2,538945,-17.6,-10.000,-21.24
TGT_NAME	ans0	D_GRID	210

NET_PING	504,0,440.921021,0.000000	HUMID	55.32
NET	CACST,6,1,20200824221007.802316,05,27505,44,0180,0150,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,33.8,-103.00,-100,106.00,-01,0.25,49,10000,5000*55	TEMP	8.46
MODEM_MSG	CACST,6,1,20200824220241.992457,18,276,12,0093,0150,246,02,02,02,04,-1,-01,-01,1,3,1,0,150,-35.4,0.29,-100,2.71,-01,-0.23,52,925,0025*27	INTERNAL_PRESSURE	7.94838
FINISH	0.3,1.015029	_24V_AH	14.97,4.113
SM_CCo	4392.46,0.00,0.008,0,761.6,842.6,680.6,500.01	_10V_AH	15.00,0.000
SM_GC	1.68,0.00,16.69,0.05,0.008,0.058,0.206,761.6,842.6,680.6,217.7,1984.9,0,0,0,30.36,15.76,15.76	FG_AHR_24Vo	12.180
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	10.586
IRIDIUM_FIX	5213.46,-13749.01,240820,194748	MEM	1151940,41,24572,86
TCM_TEMP	12.06	DATA_FILE_SIZE	19291,667
SC_FREEKB	3877344	CAP_FILE_SIZE	205157,0
PM_FREEKB_00	62140544	SDSIZE	3918848,3861184
PM_FREEKB_01	62343040	SDFILEDIR	78,1
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	0,1598306401,52.25580,-138.03481,1.290,1890.1	CURRENT	0.212, 18.8,1
RAFOS_FIX	5214.837402,-13800.644531,240820,222201,1,2,0.52	GPS	240820,222532,5215.554,-13802.559,0,0.9,2,16.7

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	600	1501	13509.30	nil	0	0	0.00
Pitch_motor	39	275	164.12	nil	0	0	0.00
Roll_motor	48	277	203.45	nil	0	0	0.00
Iridium	188	220	622.30	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.30	nil	0	0	0.00
Core	2932	10	445.16	SciCon	4363	6	420.75
LPSleep	1712	1	28.77	PMAR	4374	14	979.89
Compass	1694	5	127.10	nil	0	0	0.00
RAFOS	297	40	178.20
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
9.95	16386	-145.99	-1.06	0.00	760.8	831.4	690.2	216.5	2015.6	0.00	0.00	0	84.60	72.61	0.00	0.00	0.005	0.000	0.000	2314.34	2314.50	2314.19	215.25	2015.44	0	0	0	15.77	30.00	30.00
84.85	18983	-145.99	-1.06	-80.00	2313.3	2313.1	2313.6	215.3	2015.0	3.15	-2.27	14	139.55	28.68	15.52	3.56	0.006	0.276	0.168	3394.28	3435.00	3353.56	2316.25	592.75	0	0	0	15.80	15.67	15.80
213.17	1156	-145.99	-1.01	0.00	3394.5	3435.4	3353.5	2316.8	592.6	27.11	-19.89	39	219.96	0.00	0.00	3.29	0.000	0.000	0.082	3396.84	3436.44	3357.25	2315.75	2012.50	0	0	0	30.00	30.00	15.87
398.76	128	-145.99	-1.16	0.00	3394.8	3436.1	3353.6	2316.9	2012.6	53.48	-10.68	76	404.44	0.00	0.00	0.00	0.000	0.000	0.000	3394.94	3436.56	3353.31	2316.50	2012.50	0	0	0	30.00	30.00	30.00
588.59	4225	-145.99	-1.30	0.00	3395.6	3437.6	3353.5	2316.2	2012.1	73.60	-10.80	114	594.80	0.00	0.44	0.00	0.000	0.071	0.000	3395.84	3437.19	3354.50	2241.44	2012.56	0	0	0	30.00	15.94	30.00
773.92	2693	-145.99	-1.24	-80.00	3395.8	3438.2	3353.4	2242.0	2012.1	100.37	-14.81	151	780.96	0.00	0.25	3.57	0.000	0.176	0.183	3395.81	3438.44	3353.19	2276.31	591.94	0	0	0	30.00	15.93	15.84
899.68	1028	-145.99	-1.24	0.00	3396.4	3438.5	3354.3	2276.4	591.9	118.09	-13.53	176	905.64	0.00	0.00	3.31	0.000	0.000	0.097	3397.41	3439.19	3355.62	2276.81	2011.62	0	0	0	30.00	30.00	15.95
1208.55	4741	-145.99	-1.35	-80.00	3396.3	3438.8	3353.8	2275.2	2011.4	151.21	-10.55	208	1215.52	0.00	0.23	3.60	0.000	0.088	0.195	3395.72	3438.81	3352.62	2229.06	593.81	0	0	0	30.00	16.01	15.94
1277.70	3205	-145.99	-1.18	0.00	3396.4	3438.9	3353.9	2229.1	593.6	161.54	-15.71	222	1285.85	0.00	0.44	3.33	0.000	0.179	0.110	3396.94	3439.56	3354.31	2289.44	2010.31	0	0	0	30.00	15.95	15.99
1584.63	4741	-145.99	-1.34	-80.00	3396.4	3438.9	3353.9	2289.3	2010.4	193.55	-10.35	253	1591.51	0.00	0.31	3.61	0.000	0.080	0.203	3396.78	3439.12	3354.44	2231.62	592.81	0	0	0	30.00	16.03	15.95
1650.55	3205	-145.99	-1.23	0.00	3397.0	3439.8	3354.1	2231.5	592.5	203.25	-15.76	266	1657.45	0.00	0.34	3.35	0.000	0.181	0.119	3398.72	3440.50	3356.94	2277.06	2008.56	0	0	0	30.00	15.98	16.00
1709	end dive: TARGET_DEPTH_EXCEEDED
state	1709	begin apogee
1709.92	10243	0.00	-0.25	0.00	3396.9	3439.9	3353.9	2278.6	1980.3	210.60	-11.40	273	1821.61	105.17	1.56	0.06	1.502	0.150	0.278	2797.84	2869.94	2725.75	2516.44	2010.38	0	0	0	11.84	15.97	15.57
1824	end apogee: CONTROL_FINISHED_OK
state	1824	begin climb
1824.17	10243	145.99	1.06	0.00	2797.2	2869.1	2725.3	2516.0	2009.6	213.40	0.00	284	1937.13	109.18	1.97	0.00	1.449	0.088	0.000	2202.00	2284.75	2119.25	2838.12	2010.19	0	0	0	11.71	15.58	30.00
2230.48	12711	167.79	0.83	80.00	2195.5	2274.9	2116.0	2838.8	2009.1	188.41	8.99	330	2256.36	17.51	0.51	3.57	1.312	0.201	0.182	2114.09	2195.62	2032.56	2769.31	3407.44	0	0	0	11.72	15.68	15.61
2314.98	9382	205.21	0.81	0.00	2110.2	2189.5	2030.9	2769.6	3406.1	181.49	8.26	347	2353.27	30.11	0.00	3.43	1.368	0.000	0.113	1963.03	2051.00	1875.06	2768.81	1987.62	0	0	0	11.75	30.00	15.63
2651.10	10919	249.60	0.93	-80.00	1955.8	2037.9	1873.8	2769.9	1988.2	155.10	7.93	384	2693.85	34.63	0.22	3.66	1.375	0.091	0.207	1781.62	1869.81	1693.44	2812.62	593.81	0	0	0	11.70	15.80	15.54
2702.44	13479	253.07	0.84	0.00	1780.3	1867.4	1693.3	2812.0	593.5	150.12	9.84	391	2714.88	5.21	0.31	3.40	0.790	0.201	0.106	1766.16	1852.19	1680.12	2770.75	2008.75	0	0	0	11.67	15.64	15.65
3019.93	10403	307.75	1.04	0.00	1762.2	1847.6	1676.8	2770.1	2009.2	124.05	7.46	424	3066.78	42.85	0.37	0.00	1.360	0.078	0.000	1544.09	1630.94	1457.25	2837.56	2009.25	0	0	0	11.76	15.80	30.00
3365.80	8870	322.05	1.12	-80.00	1538.0	1618.3	1457.8	2836.9	2009.4	90.90	9.34	469	3387.91	12.55	0.00	3.67	1.191	0.000	0.197	1486.78	1568.62	1404.94	2836.94	593.62	0	0	0	11.64	30.00	15.71
3456.71	9382	339.08	1.09	0.00	1484.7	1565.7	1403.8	2838.6	593.6	82.46	9.21	487	3482.48	15.66	0.00	3.35	1.223	0.000	0.097	1418.78	1504.56	1333.00	2837.12	2011.38	0	0	0	11.82	30.00	15.75
3665.51	10403	399.22	1.27	0.00	1413.5	1496.4	1330.6	2837.8	2012.1	66.20	7.20	529	3717.21	48.32	0.27	0.00	1.303	0.086	0.000	1172.41	1268.88	1075.94	2893.69	2012.50	0	0	0	11.79	15.82	30.00
3895.46	0	399.22	1.27	-80.00	1167.9	1260.1	1075.8	2892.2	2012.0	42.73	11.19	575	3901.38	0.00	0.00	0.00	0.000	0.000	0.000	1168.34	1260.38	1076.31	2892.75	2012.19	0	0	0	30.00	30.00	30.00
4081.33	10403	486.16	1.55	-80.00	1166.8	1257.9	1075.7	2892.6	2011.8	26.85	5.96	612	4151.40	67.48	0.34	0.00	1.261	0.080	0.000	818.47	927.56	709.38	2961.56	2011.56	0	0	0	11.84	15.84	30.00
4330.14	0	486.16	1.55	-80.00	814.3	919.2	709.4	2961.2	2011.8	2.44	11.67	662	4335.42	0.00	0.00	0.00	0.000	0.000	0.000	814.09	918.94	709.25	2960.75	2012.00	0	0	0	30.00	30.00	30.00
4340	end climb: SURFACE_DEPTH_REACHED
state	4340	begin surface coast
4355	end surface coast: CONTROL_FINISHED_OK
state	4355	begin surface