Glider dive log

NISKINE May19 * SG135 * Dive index * Mission links * Dive 357 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 135 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 3 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 XPDR_VALID 6

DIVE 357 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 357 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 1.9639999e-06

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -9.2399998

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_FLARE 3 SM_CC 350 VBD_MIN 550 DEEPGLIDERMB 0

D_TGT 990 N_FILEKB 8 VBD_MAX 3875 MOTHERBOARD 6

D_ABORT 1020 FILEMGR 0 C_VBD 2880 DEVICE1 -1

D_NO_BLEED 200 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_BOOST 2 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE3 -1

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_FINISH 0 N_NOCOMM 2 VBD_TIMEOUT 720 DEVICE5 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0012000001 DEVICE6 -1

D_SAFE 0 N_NOSURFACE 0 UNCOM_BLEED 20 LOGGERS 3

D_CALL 0 UPLOAD_DIVES_MAX -1 VBD_MAXERRORS 1 LOGGERDEVICE1 7

SURFACE_URGENCY 0 CALL_TRIES 5 W_ADJ_DBAND 2 LOGGERDEVICE2 22

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 DBDW 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_DIVE 240 CAPMAXSIZE 100000 LOITER_DBDW 0 COMPASS_DEVICE 34

T_MISSION 320 T_GPS 5 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_ABORT 1440 N_GPS 100840 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_TURN 225 T_RSLEEP 2 LOITER_N_DIVE 0 GPS_DEVICE 48

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 RAFOS_DEVICE -1

T_NO_W 120 RAFOS_PEAK_OFFSET 0 AH0_24V 350 XPDR_DEVICE 0

T_LOITER 0 RAFOS_CORR_THRESH 60 AH0_10V 0 SIM_W 0

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_G 0.0043075895

USE_BATHY 1 RAFOS_MMODEM 0 MINV_10V 11 SEABIRD_T_H 0.00062316569

USE_ICE 0 PITCH_MIN 150 MAXI_24V 3.5 SEABIRD_T_I 2.3372731e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3614 MAXI_10V 1.5 SEABIRD_T_J 2.5468294e-06

D_OFFGRID 1000 C_PITCH 1820 FG_AHR_10V 41.507164 SEABIRD_C_G -10.157476

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 58.083031 SEABIRD_C_H 1.1452817

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 PHONE_SUPPLY 2 SEABIRD_C_I -0.0026734243

MAX_BUOY 240 PITCH_GAIN 50 PRESSURE_YINT -177.55284 SEABIRD_C_J 0.00028435412

GLIDE_SLOPE 45 PITCH_TIMEOUT 25 PRESSURE_SLOPE 0.0001098057 SC_RECORDABOVE 2000.0

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 4 SC_PROFILE 3.0

RHO 1.0275 PITCH_ADJ_GAIN 0 ALTIM_PING_FIT 0 SC_XMITPROFILE 3.0

MASS 56421 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0 SC_NDIVE 1.0

NAV_MODE 2 PITCH_W_GAIN 2 ALTIM_BOTTOM_TURN_MARGIN 0 TM_RECORDABOVE 200.0

FERRY_MAX 45 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 TM_PROFILE 1.0

KALMAN_USE 2 ROLL_MIN 150 ALTIM_TOP_MIN_OBSTACLE 1 TM_XMITPROFILE 1.0

HD_A 0.00223872 ROLL_MAX 3940 ALTIM_PING_DEPTH 0 TM_NDIVE 1.0

HD_B 0.0163117 ROLL_DEG 20 ALTIM_PING_DELTA 0 TM_XMITRAW 0.0

HD_C 5.7000002e-06 C_ROLL_DIVE 2730 ALTIM_FREQUENCY 13 TM_LOGSAMPLE 0.0

HEADING -1 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

AH0_10V 0 D_SAFE 0 N_NOCOMM 2 SEABIRD_T_J 2.5468294e-06

AH0_24V 350 D_SURF 2 N_NOSURFACE 0 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PHONE_DEVICE 33 SM_CC 350

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 STOP_T 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_PING_FIT 0 FG_AHR_10V 41.507164 PITCH_CNV 0.0031300001 SURFACE_URGENCY 0

ALTIM_PULSE 3 FG_AHR_24V 58.083031 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 50 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3614 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 45 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MIN 150 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 HD_A 0.00223872 PITCH_TIMEOUT 25 TM_LOGSAMPLE 0.0

CALL_NDIVES 1 HD_B 0.0163117 PITCH_VBD_SHIFT 0.0012000001 TM_NDIVE 1.0

CALL_TRIES 5 HD_C 5.7000002e-06 PITCH_W_DBAND 0.5 TM_PROFILE 1.0

CALL_WAIT 60 HEADING -1 PITCH_W_GAIN 2 TM_RECORDABOVE 200.0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.0001098057 TM_XMITPROFILE 1.0

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -177.55284 TM_XMITRAW 0.0

CF8_MAXERRORS 20 ID 135 PROTOCOL 9 T_ABORT 1440

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 RAFOS_CORR_THRESH 60 T_BOOST 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -9.2399998 RAFOS_DEVICE -1 T_DIVE 240

COMPASS_DEVICE 34 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

COMPASS_USE 4 LOGGERDEVICE1 7 RAFOS_MMODEM 0 T_GPS 5

C_PITCH 1820 LOGGERDEVICE2 22 RAFOS_PEAK_OFFSET 0 T_LOITER 0

C_ROLL_CLIMB 2150 LOGGERDEVICE3 -1 RELAUNCH 1 T_MISSION 320

C_ROLL_DIVE 2730 LOGGERDEVICE4 -1 RHO 1.0275 T_NO_W 120

C_VBD 2880 LOGGERS 3 ROLL_ADJ_DBAND 0 T_RSLEEP 2

DBDW 0 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 T_TURN 225

DEEPGLIDER 0 LOITER_D_BOTTOM 0 ROLL_CNV 0.028270001 T_TURN_SAMPINT -5

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_DEG 20 UNCOM_BLEED 20

DEVICE1 -1 LOITER_N_DIVE 0 ROLL_MAX 3940 UPLOAD_DIVES_MAX -1

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_MAXERRORS 1 USE_BATHY 1

DEVICE3 -1 MASS 56421 ROLL_MIN 150 USE_ICE 0

DEVICE4 -1 MAXI_10V 1.5 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE5 -1 MAXI_24V 3.5 SC_NDIVE 1.0 VBD_DBAND 2

DEVICE6 -1 MAX_BUOY 240 SC_PROFILE 3.0 VBD_LP_IGNORE 0

DIVE 357 MINV_10V 11 SC_RECORDABOVE 2000.0 VBD_MAX 3875

D_ABORT 1020 MINV_24V 11 SC_XMITPROFILE 3.0 VBD_MAXERRORS 1

D_BOOST 2 MISSION 3 SEABIRD_C_G -10.157476 VBD_MIN 550

D_CALL 0 MOTHERBOARD 6 SEABIRD_C_H 1.1452817 VBD_TIMEOUT 720

D_FINISH 0 NAV_MODE 2 SEABIRD_C_I -0.0026734243 W_ADJ_DBAND 2

D_FLARE 3 NOCOMM_ACTION 163 SEABIRD_C_J 0.00028435412 XPDR_DEVICE 0

D_NO_BLEED 200 N_DIVES 357 SEABIRD_T_G 0.0043075895 XPDR_INHIBIT 90

D_OFFGRID 1000 N_FILEKB 8 SEABIRD_T_H 0.00062316569 XPDR_VALID 6

D_PITCH 0 N_GPS 100840 SEABIRD_T_I 2.3372731e-05

Pre-dive calculations and measurements:

GPS1 ,081503,6310.628,-2009.519,16,0.8,17,-12.0 TGT_LATLONG 6318.000,-2010.000

_CALLS 1 TGT_RADIUS 4000.000

_SM_DEPTHo 2.45 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -63.5 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 060819,082326,6310.608,-2009.821,20,0.6,35,-12.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.138,0.282 MHEAD_RNG_PITCHd_Wd 56.4,13690,-20.2,-13.750,-26.00

TGT_NAME pickup D_GRID 312

Post-dive calculations and measurements:

FINISH 1.6,1.026091 _24V_AH 14.65,165.945

SM_CCo 4415.68,56.90,0.106,0,1452.2,1558.2,1346.1,350.25 _10V_AH 15.00,0.000

SM_GC 2.56,56.90,5.45,0.36,0.106,0.076,0.040,1452.2,1558.2,1346.1,129.1,2612.2,0,0,0,15.55,15.64,15.71 FG_AHR_24Vo 58.176

SUPER 51,71,254,1,0,0 FG_AHR_10Vo 41.545

IRIDIUM_FIX 6308.47,-2005.50,060819,065047 MEM 1159280,30,20204,54

TCM_TEMP 19.30 DATA_FILE_SIZE 17111,474

XPDR_PINGS 384 CAP_FILE_SIZE 127026,0

SC_FREEKB 3544160 SDSIZE 3918848,3787648

TM_FREEKB 1089568 SDFILEDIR 2219,1

HUMID 53.28 ERRORS 0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0

TEMP 9.92 CURRENT 0.220,265.6,1

INTERNAL_PRESSURE 9.09739 GPS 060819,093803,6310.948,-2010.085,21,1.0,22,-12.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 544 1387 11060.80 nil 0 0 0.00

Pitch_motor 14 450 96.91 nil 0 0 0.00

Roll_motor 28 95 40.26 nil 0 0 0.00

Iridium 308 175 793.87 nil 0 0 0.00

Transponder_ping 96 420 590.69 nil 0 0 0.00

GPS 45 15 10.18 nil 0 0 0.00

Core 2153 19 639.66 SciCon 4371 37 2444.92

LPSleep 2750 2 90.35 TMICL 1474 16 356.97

Compass 845 5 63.42 nil 0 0 0.00

RAFOS 0 0 0.00

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

8.42 2 -233.58 -0.68 0.00 1451.8 1557.8 1345.7 129.9 2796.5 0.00 0.00 0 77.60 62.58 0.00 0.00 0.006 0.000 0.000 2752.94 2792.62 2713.25 129.38 2793.31 0 0 0 15.12 30.00 30.00

77.85 295 -233.58 -0.68 20.00 2752.9 2792.7 2713.2 129.3 2794.1 3.07 -0.97 7 129.18 36.83 7.74 1.09 0.006 0.451 0.071 3832.09 3926.25 3737.94 1596.44 3470.69 0 0 0 15.20 14.94 15.19

226.22 1028 -233.58 -0.68 0.00 3833.2 3927.2 3739.1 1596.2 3472.6 23.76 -16.47 37 231.81 0.00 0.00 1.28 0.000 0.000 0.030 3834.50 3927.94 3741.06 1595.44 2657.50 0 0 0 30.00 30.00 15.70

416.39 516 -233.58 -0.68 -20.00 3833.2 3926.9 3739.4 1596.2 2619.8 60.26 -20.13 57 422.19 0.00 0.00 1.07 0.000 0.000 0.029 3833.44 3926.81 3740.06 1595.81 1955.62 0 0 0 30.00 30.00 15.72

430.85 1028 -233.58 -0.68 0.00 3833.4 3926.8 3739.9 1596.2 1948.6 63.31 -20.19 60 437.00 0.00 0.00 1.39 0.000 0.000 0.054 3833.97 3927.19 3740.75 1591.38 2759.94 0 0 0 30.00 30.00 15.71

616.42 0 -233.58 -0.68 0.00 3833.5 3927.3 3739.7 1591.2 2760.6 97.25 -17.64 79 619.30 0.00 0.00 0.00 0.000 0.000 0.000 3833.84 3926.88 3740.81 1590.44 2760.44 0 0 0 30.00 30.00 30.00

796.46 516 -233.58 -0.68 -20.00 3833.8 3927.1 3740.5 1591.9 2760.4 129.43 -17.70 97 801.95 0.00 0.00 1.29 0.000 0.000 0.029 3833.97 3927.25 3740.69 1591.44 1962.50 0 0 0 30.00 30.00 15.74

846.48 1028 -233.58 -0.68 0.00 3833.9 3927.6 3740.2 1591.9 1934.4 137.66 -15.80 107 852.23 0.00 0.00 1.38 0.000 0.000 0.055 3834.84 3928.31 3741.38 1586.81 2758.69 0 0 0 30.00 30.00 15.67

1036.53 0 -233.58 -0.68 0.00 3834.6 3928.2 3741.0 1586.6 2758.5 171.35 -18.05 127 1039.40 0.00 0.00 0.00 0.000 0.000 0.000 3834.75 3928.12 3741.38 1585.56 2758.94 0 0 0 30.00 30.00 30.00

1216.45 0 -233.58 -0.68 0.00 3834.4 3927.6 3741.2 1586.3 2759.1 203.83 -17.89 145 1233.96 0.00 0.00 0.00 0.000 0.000 0.000 3834.44 3929.06 3739.81 1585.69 2758.75 0 0 0 30.00 30.00 30.00

1406.13 0 -233.58 -0.68 0.00 3834.6 3928.3 3740.9 1586.9 2759.2 236.81 -17.18 163 1423.64 0.00 0.00 0.00 0.000 0.000 0.000 3834.62 3928.69 3740.56 1585.81 2759.00 0 0 0 30.00 30.00 30.00

1605.87 0 -233.58 -0.68 0.00 3834.6 3928.0 3741.1 1586.4 2758.8 270.53 -16.93 176 1623.37 0.00 0.00 0.00 0.000 0.000 0.000 3834.34 3928.06 3740.62 1585.56 2759.25 0 0 0 30.00 30.00 30.00

1866 end dive: TARGET_DEPTH_EXCEEDED

state 1866 begin apogee

1868.09 3 0.00 -0.10 0.00 3834.0 3927.4 3740.5 1586.8 2081.8 313.17 -16.50 189 2059.54 180.21 0.72 0.19 1.388 0.248 0.095 2877.94 3006.00 2749.88 1789.00 2198.31 0 0 0 11.23 14.94 15.13

2060 end apogee: CONTROL_FINISHED_OK

state 2060 begin climb

2060.45 519 233.58 0.68 -20.00 2875.4 3002.4 2748.4 1789.1 2198.3 322.23 0.00 198 2244.76 166.57 0.76 1.38 1.353 0.119 0.044 1924.62 2023.00 1826.25 2051.56 1393.25 0 0 0 11.97 15.28 14.86

2291.42 1028 233.58 0.68 0.00 1924.5 2023.0 1826.1 2050.9 1388.1 301.13 14.37 242 2309.25 0.00 0.00 1.37 0.000 0.000 0.048 1923.84 2022.06 1825.62 2048.31 2185.50 0 0 0 30.00 30.00 15.33

2616.32 260 233.58 0.68 20.00 1920.6 2020.2 1820.9 2047.6 2187.1 253.54 14.49 260 2634.10 0.00 0.00 1.14 0.000 0.000 0.046 1920.31 2020.06 1820.56 2047.81 2895.25 0 0 0 30.00 30.00 15.72

2696.31 1030 233.58 0.68 0.00 1919.3 2018.1 1820.6 2047.8 2895.4 241.17 15.54 274 2714.13 0.00 0.00 1.32 0.000 0.000 0.030 1919.81 2018.94 1820.69 2053.75 2092.00 0 0 0 30.00 30.00 15.77

2896.24 262 233.58 0.68 20.00 1918.8 2017.6 1819.9 2053.8 2081.9 210.80 14.82 294 2914.06 0.00 0.00 1.37 0.000 0.000 0.050 1918.41 2017.31 1819.50 2050.94 2888.56 0 0 0 30.00 30.00 15.76

2960.69 1030 233.58 0.68 0.00 1918.8 2017.8 1819.8 2052.2 2889.8 200.78 15.37 305 2978.52 0.00 0.00 1.31 0.000 0.000 0.032 1919.19 2018.44 1819.94 2057.75 2096.06 0 0 0 30.00 30.00 15.72

3150.82 262 233.58 0.68 20.00 1918.9 2017.6 1820.2 2057.8 2088.9 172.14 14.90 324 3168.64 0.00 0.00 1.38 0.000 0.000 0.049 1919.19 2017.81 1820.56 2052.50 2891.81 0 0 0 30.00 30.00 15.63

3190.80 1030 233.58 0.68 0.00 1919.1 2017.9 1820.2 2052.4 2892.9 166.12 15.26 330 3208.63 0.00 0.00 1.32 0.000 0.000 0.031 1919.31 2018.06 1820.56 2058.75 2092.19 0 0 0 30.00 30.00 15.70

3390.89 262 233.58 0.68 20.00 1918.8 2017.6 1819.9 2058.6 2083.1 135.61 15.23 350 3408.71 0.00 0.00 1.38 0.000 0.000 0.050 1919.59 2018.44 1820.75 2052.75 2889.75 0 0 0 30.00 30.00 15.66

3430.90 1030 233.58 0.68 0.00 1918.8 2017.9 1819.8 2052.5 2892.2 129.33 15.99 356 3448.72 0.00 0.00 1.32 0.000 0.000 0.036 1919.62 2018.56 1820.69 2058.31 2095.56 0 0 0 30.00 30.00 15.39

3630.93 518 233.58 0.68 -20.00 1918.5 2017.5 1819.6 2058.0 2088.4 98.59 16.00 376 3648.70 0.00 0.00 1.10 0.000 0.000 0.039 1920.47 2018.94 1822.00 2063.19 1390.69 0 0 0 30.00 30.00 15.67

3670.72 1030 233.58 0.68 0.00 1918.7 2017.5 1819.9 2064.1 1387.5 91.93 16.61 382 3688.55 0.00 0.00 1.34 0.000 0.000 0.055 1918.28 2017.25 1819.31 2061.81 2186.62 0 0 0 30.00 30.00 15.38

3870.66 262 233.58 0.68 20.00 1918.6 2017.5 1819.7 2061.6 2187.4 60.35 15.55 402 3888.45 0.00 0.00 1.15 0.000 0.000 0.046 1919.38 2018.31 1820.44 2062.06 2894.50 0 0 0 30.00 30.00 15.63

4070.68 1094 233.58 0.70 0.00 1917.3 2016.4 1818.3 2061.4 2893.5 33.31 12.85 440 4088.50 0.00 0.00 1.32 0.000 0.000 0.031 1917.38 2016.44 1818.31 2067.69 2093.56 0 0 0 30.00 30.00 15.68

4270.56 294 285.79 0.77 20.00 1917.3 2016.2 1818.4 2067.6 2083.0 9.12 11.68 460 4322.02 40.94 0.00 1.38 1.004 0.000 0.051 1713.03 1831.69 1594.38 2062.62 2894.62 0 0 0 11.47 30.00 15.53

4333 end climb: SURFACE_DEPTH_REACHED

state 4333 begin surface coast

4343 end surface coast: CONTROL_FINISHED_OK

state 4344 begin surface

ID	135	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	3	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	XPDR_VALID	6
DIVE	357	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	357	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	1.9639999e-06
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-9.2399998
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_FLARE	3	SM_CC	350	VBD_MIN	550	DEEPGLIDERMB	0
D_TGT	990	N_FILEKB	8	VBD_MAX	3875	MOTHERBOARD	6
D_ABORT	1020	FILEMGR	0	C_VBD	2880	DEVICE1	-1
D_NO_BLEED	200	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_BOOST	2	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE3	-1
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_FINISH	0	N_NOCOMM	2	VBD_TIMEOUT	720	DEVICE5	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0012000001	DEVICE6	-1
D_SAFE	0	N_NOSURFACE	0	UNCOM_BLEED	20	LOGGERS	3
D_CALL	0	UPLOAD_DIVES_MAX	-1	VBD_MAXERRORS	1	LOGGERDEVICE1	7
SURFACE_URGENCY	0	CALL_TRIES	5	W_ADJ_DBAND	2	LOGGERDEVICE2	22
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	DBDW	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_DIVE	240	CAPMAXSIZE	100000	LOITER_DBDW	0	COMPASS_DEVICE	34
T_MISSION	320	T_GPS	5	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_ABORT	1440	N_GPS	100840	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_TURN	225	T_RSLEEP	2	LOITER_N_DIVE	0	GPS_DEVICE	48
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
T_NO_W	120	RAFOS_PEAK_OFFSET	0	AH0_24V	350	XPDR_DEVICE	0
T_LOITER	0	RAFOS_CORR_THRESH	60	AH0_10V	0	SIM_W	0
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_G	0.0043075895
USE_BATHY	1	RAFOS_MMODEM	0	MINV_10V	11	SEABIRD_T_H	0.00062316569
USE_ICE	0	PITCH_MIN	150	MAXI_24V	3.5	SEABIRD_T_I	2.3372731e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3614	MAXI_10V	1.5	SEABIRD_T_J	2.5468294e-06
D_OFFGRID	1000	C_PITCH	1820	FG_AHR_10V	41.507164	SEABIRD_C_G	-10.157476
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	58.083031	SEABIRD_C_H	1.1452817
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	PHONE_SUPPLY	2	SEABIRD_C_I	-0.0026734243
MAX_BUOY	240	PITCH_GAIN	50	PRESSURE_YINT	-177.55284	SEABIRD_C_J	0.00028435412
GLIDE_SLOPE	45	PITCH_TIMEOUT	25	PRESSURE_SLOPE	0.0001098057	SC_RECORDABOVE	2000.0
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	4	SC_PROFILE	3.0
RHO	1.0275	PITCH_ADJ_GAIN	0	ALTIM_PING_FIT	0	SC_XMITPROFILE	3.0
MASS	56421	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0	SC_NDIVE	1.0
NAV_MODE	2	PITCH_W_GAIN	2	ALTIM_BOTTOM_TURN_MARGIN	0	TM_RECORDABOVE	200.0
FERRY_MAX	45	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	TM_PROFILE	1.0
KALMAN_USE	2	ROLL_MIN	150	ALTIM_TOP_MIN_OBSTACLE	1	TM_XMITPROFILE	1.0
HD_A	0.00223872	ROLL_MAX	3940	ALTIM_PING_DEPTH	0	TM_NDIVE	1.0
HD_B	0.0163117	ROLL_DEG	20	ALTIM_PING_DELTA	0	TM_XMITRAW	0.0
HD_C	5.7000002e-06	C_ROLL_DIVE	2730	ALTIM_FREQUENCY	13	TM_LOGSAMPLE	0.0
HEADING	-1	C_ROLL_CLIMB	2150	ALTIM_PULSE	3

GPS1	,081503,6310.628,-2009.519,16,0.8,17,-12.0	TGT_LATLONG	6318.000,-2010.000
_CALLS	1	TGT_RADIUS	4000.000
_SM_DEPTHo	2.45	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-63.5	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	060819,082326,6310.608,-2009.821,20,0.6,35,-12.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.138,0.282	MHEAD_RNG_PITCHd_Wd	56.4,13690,-20.2,-13.750,-26.00
TGT_NAME	pickup	D_GRID	312

FINISH	1.6,1.026091	_24V_AH	14.65,165.945
SM_CCo	4415.68,56.90,0.106,0,1452.2,1558.2,1346.1,350.25	_10V_AH	15.00,0.000
SM_GC	2.56,56.90,5.45,0.36,0.106,0.076,0.040,1452.2,1558.2,1346.1,129.1,2612.2,0,0,0,15.55,15.64,15.71	FG_AHR_24Vo	58.176
SUPER	51,71,254,1,0,0	FG_AHR_10Vo	41.545
IRIDIUM_FIX	6308.47,-2005.50,060819,065047	MEM	1159280,30,20204,54
TCM_TEMP	19.30	DATA_FILE_SIZE	17111,474
XPDR_PINGS	384	CAP_FILE_SIZE	127026,0
SC_FREEKB	3544160	SDSIZE	3918848,3787648
TM_FREEKB	1089568	SDFILEDIR	2219,1
HUMID	53.28	ERRORS	0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
TEMP	9.92	CURRENT	0.220,265.6,1
INTERNAL_PRESSURE	9.09739	GPS	060819,093803,6310.948,-2010.085,21,1.0,22,-12.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	544	1387	11060.80	nil	0	0	0.00
Pitch_motor	14	450	96.91	nil	0	0	0.00
Roll_motor	28	95	40.26	nil	0	0	0.00
Iridium	308	175	793.87	nil	0	0	0.00
Transponder_ping	96	420	590.69	nil	0	0	0.00
GPS	45	15	10.18	nil	0	0	0.00
Core	2153	19	639.66	SciCon	4371	37	2444.92
LPSleep	2750	2	90.35	TMICL	1474	16	356.97
Compass	845	5	63.42	nil	0	0	0.00
RAFOS	0	0	0.00
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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
8.42	2	-233.58	-0.68	0.00	1451.8	1557.8	1345.7	129.9	2796.5	0.00	0.00	0	77.60	62.58	0.00	0.00	0.006	0.000	0.000	2752.94	2792.62	2713.25	129.38	2793.31	0	0	0	15.12	30.00	30.00
77.85	295	-233.58	-0.68	20.00	2752.9	2792.7	2713.2	129.3	2794.1	3.07	-0.97	7	129.18	36.83	7.74	1.09	0.006	0.451	0.071	3832.09	3926.25	3737.94	1596.44	3470.69	0	0	0	15.20	14.94	15.19
226.22	1028	-233.58	-0.68	0.00	3833.2	3927.2	3739.1	1596.2	3472.6	23.76	-16.47	37	231.81	0.00	0.00	1.28	0.000	0.000	0.030	3834.50	3927.94	3741.06	1595.44	2657.50	0	0	0	30.00	30.00	15.70
416.39	516	-233.58	-0.68	-20.00	3833.2	3926.9	3739.4	1596.2	2619.8	60.26	-20.13	57	422.19	0.00	0.00	1.07	0.000	0.000	0.029	3833.44	3926.81	3740.06	1595.81	1955.62	0	0	0	30.00	30.00	15.72
430.85	1028	-233.58	-0.68	0.00	3833.4	3926.8	3739.9	1596.2	1948.6	63.31	-20.19	60	437.00	0.00	0.00	1.39	0.000	0.000	0.054	3833.97	3927.19	3740.75	1591.38	2759.94	0	0	0	30.00	30.00	15.71
616.42	0	-233.58	-0.68	0.00	3833.5	3927.3	3739.7	1591.2	2760.6	97.25	-17.64	79	619.30	0.00	0.00	0.00	0.000	0.000	0.000	3833.84	3926.88	3740.81	1590.44	2760.44	0	0	0	30.00	30.00	30.00
796.46	516	-233.58	-0.68	-20.00	3833.8	3927.1	3740.5	1591.9	2760.4	129.43	-17.70	97	801.95	0.00	0.00	1.29	0.000	0.000	0.029	3833.97	3927.25	3740.69	1591.44	1962.50	0	0	0	30.00	30.00	15.74
846.48	1028	-233.58	-0.68	0.00	3833.9	3927.6	3740.2	1591.9	1934.4	137.66	-15.80	107	852.23	0.00	0.00	1.38	0.000	0.000	0.055	3834.84	3928.31	3741.38	1586.81	2758.69	0	0	0	30.00	30.00	15.67
1036.53	0	-233.58	-0.68	0.00	3834.6	3928.2	3741.0	1586.6	2758.5	171.35	-18.05	127	1039.40	0.00	0.00	0.00	0.000	0.000	0.000	3834.75	3928.12	3741.38	1585.56	2758.94	0	0	0	30.00	30.00	30.00
1216.45	0	-233.58	-0.68	0.00	3834.4	3927.6	3741.2	1586.3	2759.1	203.83	-17.89	145	1233.96	0.00	0.00	0.00	0.000	0.000	0.000	3834.44	3929.06	3739.81	1585.69	2758.75	0	0	0	30.00	30.00	30.00
1406.13	0	-233.58	-0.68	0.00	3834.6	3928.3	3740.9	1586.9	2759.2	236.81	-17.18	163	1423.64	0.00	0.00	0.00	0.000	0.000	0.000	3834.62	3928.69	3740.56	1585.81	2759.00	0	0	0	30.00	30.00	30.00
1605.87	0	-233.58	-0.68	0.00	3834.6	3928.0	3741.1	1586.4	2758.8	270.53	-16.93	176	1623.37	0.00	0.00	0.00	0.000	0.000	0.000	3834.34	3928.06	3740.62	1585.56	2759.25	0	0	0	30.00	30.00	30.00
1866	end dive: TARGET_DEPTH_EXCEEDED
state	1866	begin apogee
1868.09	3	0.00	-0.10	0.00	3834.0	3927.4	3740.5	1586.8	2081.8	313.17	-16.50	189	2059.54	180.21	0.72	0.19	1.388	0.248	0.095	2877.94	3006.00	2749.88	1789.00	2198.31	0	0	0	11.23	14.94	15.13
2060	end apogee: CONTROL_FINISHED_OK
state	2060	begin climb
2060.45	519	233.58	0.68	-20.00	2875.4	3002.4	2748.4	1789.1	2198.3	322.23	0.00	198	2244.76	166.57	0.76	1.38	1.353	0.119	0.044	1924.62	2023.00	1826.25	2051.56	1393.25	0	0	0	11.97	15.28	14.86
2291.42	1028	233.58	0.68	0.00	1924.5	2023.0	1826.1	2050.9	1388.1	301.13	14.37	242	2309.25	0.00	0.00	1.37	0.000	0.000	0.048	1923.84	2022.06	1825.62	2048.31	2185.50	0	0	0	30.00	30.00	15.33
2616.32	260	233.58	0.68	20.00	1920.6	2020.2	1820.9	2047.6	2187.1	253.54	14.49	260	2634.10	0.00	0.00	1.14	0.000	0.000	0.046	1920.31	2020.06	1820.56	2047.81	2895.25	0	0	0	30.00	30.00	15.72
2696.31	1030	233.58	0.68	0.00	1919.3	2018.1	1820.6	2047.8	2895.4	241.17	15.54	274	2714.13	0.00	0.00	1.32	0.000	0.000	0.030	1919.81	2018.94	1820.69	2053.75	2092.00	0	0	0	30.00	30.00	15.77
2896.24	262	233.58	0.68	20.00	1918.8	2017.6	1819.9	2053.8	2081.9	210.80	14.82	294	2914.06	0.00	0.00	1.37	0.000	0.000	0.050	1918.41	2017.31	1819.50	2050.94	2888.56	0	0	0	30.00	30.00	15.76
2960.69	1030	233.58	0.68	0.00	1918.8	2017.8	1819.8	2052.2	2889.8	200.78	15.37	305	2978.52	0.00	0.00	1.31	0.000	0.000	0.032	1919.19	2018.44	1819.94	2057.75	2096.06	0	0	0	30.00	30.00	15.72
3150.82	262	233.58	0.68	20.00	1918.9	2017.6	1820.2	2057.8	2088.9	172.14	14.90	324	3168.64	0.00	0.00	1.38	0.000	0.000	0.049	1919.19	2017.81	1820.56	2052.50	2891.81	0	0	0	30.00	30.00	15.63
3190.80	1030	233.58	0.68	0.00	1919.1	2017.9	1820.2	2052.4	2892.9	166.12	15.26	330	3208.63	0.00	0.00	1.32	0.000	0.000	0.031	1919.31	2018.06	1820.56	2058.75	2092.19	0	0	0	30.00	30.00	15.70
3390.89	262	233.58	0.68	20.00	1918.8	2017.6	1819.9	2058.6	2083.1	135.61	15.23	350	3408.71	0.00	0.00	1.38	0.000	0.000	0.050	1919.59	2018.44	1820.75	2052.75	2889.75	0	0	0	30.00	30.00	15.66
3430.90	1030	233.58	0.68	0.00	1918.8	2017.9	1819.8	2052.5	2892.2	129.33	15.99	356	3448.72	0.00	0.00	1.32	0.000	0.000	0.036	1919.62	2018.56	1820.69	2058.31	2095.56	0	0	0	30.00	30.00	15.39
3630.93	518	233.58	0.68	-20.00	1918.5	2017.5	1819.6	2058.0	2088.4	98.59	16.00	376	3648.70	0.00	0.00	1.10	0.000	0.000	0.039	1920.47	2018.94	1822.00	2063.19	1390.69	0	0	0	30.00	30.00	15.67
3670.72	1030	233.58	0.68	0.00	1918.7	2017.5	1819.9	2064.1	1387.5	91.93	16.61	382	3688.55	0.00	0.00	1.34	0.000	0.000	0.055	1918.28	2017.25	1819.31	2061.81	2186.62	0	0	0	30.00	30.00	15.38
3870.66	262	233.58	0.68	20.00	1918.6	2017.5	1819.7	2061.6	2187.4	60.35	15.55	402	3888.45	0.00	0.00	1.15	0.000	0.000	0.046	1919.38	2018.31	1820.44	2062.06	2894.50	0	0	0	30.00	30.00	15.63
4070.68	1094	233.58	0.70	0.00	1917.3	2016.4	1818.3	2061.4	2893.5	33.31	12.85	440	4088.50	0.00	0.00	1.32	0.000	0.000	0.031	1917.38	2016.44	1818.31	2067.69	2093.56	0	0	0	30.00	30.00	15.68
4270.56	294	285.79	0.77	20.00	1917.3	2016.2	1818.4	2067.6	2083.0	9.12	11.68	460	4322.02	40.94	0.00	1.38	1.004	0.000	0.051	1713.03	1831.69	1594.38	2062.62	2894.62	0	0	0	11.47	30.00	15.53
4333	end climb: SURFACE_DEPTH_REACHED
state	4333	begin surface coast
4343	end surface coast: CONTROL_FINISHED_OK
state	4344	begin surface