Glider dive log

NISKINE Oct20 * SG234 * Dive index * Mission links * Dive 756 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 234 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 XPDR_INT 0

MISSION 4 FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_REP 0

DIVE 756 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 1.6

STOP_T 0 TGT_AUTO_DEFAULT 0 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 SM_CC 450 VBD_MAX 3960 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 32 C_VBD 2900 MOTHERBOARD 6

D_TGT 300 FILEMGR 0 VBD_DBAND 2 DEVICE1 10

D_ABORT 350 CALL_NDIVES 1 VBD_CNV -0.24529999 DEVICE2 -1

D_NO_BLEED 200 COMM_SEQ 0 VBD_LP_IGNORE 0 DEVICE3 -1

D_BOOST 3 PROTOCOL 9 VBD_TIMEOUT 720 DEVICE4 -1

T_BOOST 0 N_NOCOMM 9 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 0

D_SAFE 0 UPLOAD_DIVES_MAX -1 W_ADJ_DBAND 0 LOGGERDEVICE1 7

D_CALL 0 CALL_TRIES 5 DBDW 0 LOGGERDEVICE2 19

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 300 COMPASS_DEVICE 66

T_DIVE 90 T_GPS 5 LOITER_D_BOTTOM 620 COMPASS2_DEVICE -1

T_MISSION 120 N_GPS 100440 LOITER_N_DIVE 0 PHONE_DEVICE 33

T_ABORT 1440 T_RSLEEP 3 CF8_MAXERRORS 20 GPS_DEVICE 48

T_TURN 225 STROBE 0 AH0_24V 529 RAFOS_DEVICE -1

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 14400 RAFOS_HIT_WINDOW 3600 MINV_10V 11 XPDR_DEVICE 0

T_EPIRB 0 RAFOS_MMODEM 0 MAXI_24V 5 SIM_W 0

USE_BATHY 0 PITCH_MIN 200 MAXI_10V 1.5 SEABIRD_T_G 0.0044194036

USE_ICE 0 PITCH_MAX 3990 FG_AHR_10V 242.8073 SEABIRD_T_H 0.00064707285

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 1620 FG_AHR_24V 310.22815 SEABIRD_T_I 2.5773305e-05

D_OFFGRID 990 PITCH_DBAND 0.1 PHONE_SUPPLY 1 SEABIRD_T_J 3.16363e-06

RELAUNCH 1 PITCH_CNV 0.0041299998 PRESSURE_YINT -151.86571 SEABIRD_C_G -9.7533598

APOGEE_PITCH -5 PITCH_GAIN 20 PRESSURE_SLOPE 0.00022809372 SEABIRD_C_H 1.1145387

MAX_BUOY 250 PITCH_TIMEOUT 30 COMPASS_USE 4 SEABIRD_C_I -0.0013247415

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 ALTIM_PING_FIT 0 SEABIRD_C_J 0.00018679495

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 3.0

MASS 74686 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 700 ALTIM_PING_DEPTH 0 TM_RECORDABOVE 250.0

KALMAN_USE 2 ROLL_MAX 3350 ALTIM_PING_DELTA 0 TM_PROFILE 2.0

HD_A 0.003 ROLL_DEG 80 ALTIM_FREQUENCY 11 TM_XMITPROFILE 2.0

HD_B 0.0099999998 C_ROLL_DIVE 2670 ALTIM_PULSE 3 TM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_CLIMB 2400 ALTIM_SENSITIVITY 2 TM_XMITRAW 0.0

HEADING -1 HEAD_ERRBAND 10 XPDR_VALID 4 TM_LOGSAMPLE 0.0

ESCAPE_HEADING 0 ROLL_CNV 0.054945 XPDR_INHIBIT 90

AH0_10V 0 D_SURF 2 N_NOSURFACE 0 SIM_W 0

AH0_24V 529 D_TGT 300 PHONE_DEVICE 33 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PHONE_SUPPLY 1 SPEED_FACTOR 1

ALTIM_FREQUENCY 11 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 STOP_T 0

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 242.8073 PITCH_CNV 0.0041299998 SURFACE_URGENCY 0

ALTIM_PING_FIT 0 FG_AHR_24V 310.22815 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_GAIN 20 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3990 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 48 PITCH_MIN 200 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_TIMEOUT 30 TM_LOGSAMPLE 0.0

APOGEE_PITCH -5 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 TM_NDIVE 1.0

CALL_NDIVES 1 HD_C 1.6e-05 PITCH_W_DBAND 0 TM_PROFILE 2.0

CALL_TRIES 5 HEADING -1 PITCH_W_GAIN 0 TM_RECORDABOVE 250.0

CALL_WAIT 60 HEAD_ERRBAND 10 PRESSURE_DEVICE 34 TM_XMITPROFILE 2.0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_SLOPE 0.00022809372 TM_XMITRAW 0.0

CAPUPLOAD 0 ID 234 PRESSURE_YINT -151.86571 T_ABORT 1440

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 1.9639999e-06 PROTOCOL 9 T_BOOST 0

COMM_SEQ 0 INT_PRESSURE_YINT 1.6 RAFOS_CORR_THRESH 60 T_DIVE 90

COMPASS2_DEVICE -1 KALMAN_USE 2 RAFOS_DEVICE -1 T_EPIRB 0

COMPASS_DEVICE 66 LOGGERDEVICE1 7 RAFOS_HIT_WINDOW 3600 T_GPS 5

COMPASS_USE 4 LOGGERDEVICE2 19 RAFOS_MMODEM 0 T_LOITER 14400

C_PITCH 1620 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 0 T_MISSION 120

C_ROLL_CLIMB 2400 LOGGERDEVICE4 -1 RELAUNCH 1 T_NO_W 120

C_ROLL_DIVE 2670 LOGGERS 0 RHO 1.0275 T_RSLEEP 3

C_VBD 2900 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 T_TURN 225

DBDW 0 LOITER_D_BOTTOM 620 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT -5

DEEPGLIDER 0 LOITER_D_TOP 300 ROLL_CNV 0.054945 UNCOM_BLEED 20

DEEPGLIDERMB 0 LOITER_N_DIVE 0 ROLL_DEG 80 UPLOAD_DIVES_MAX -1

DEVICE1 10 LOITER_W_DBAND 0 ROLL_MAX 3350 USE_BATHY 0

DEVICE2 -1 MASS 74686 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE3 -1 MAXI_10V 1.5 ROLL_MIN 700 VBD_CNV -0.24529999

DEVICE4 -1 MAXI_24V 5 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 MAX_BUOY 250 SC_NDIVE 1.0 VBD_LP_IGNORE 0

DEVICE6 -1 MINV_10V 11 SC_PROFILE 3.0 VBD_MAX 3960

DIVE 756 MINV_24V 11 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

D_ABORT 350 MISSION 4 SC_XMITPROFILE 3.0 VBD_MIN 500

D_BOOST 3 MOTHERBOARD 6 SEABIRD_C_G -9.7533598 VBD_TIMEOUT 720

D_CALL 0 NAV_MODE 2 SEABIRD_C_H 1.1145387 W_ADJ_DBAND 0

D_FINISH 0 NETWORK_DEVICE -1 SEABIRD_C_I -0.0013247415 XPDR_DEVICE 0

D_FLARE 3 NOCOMM_ACTION 163 SEABIRD_C_J 0.00018679495 XPDR_INHIBIT 90

D_NO_BLEED 200 N_DIVES 0 SEABIRD_T_G 0.0044194036 XPDR_INT 0

D_OFFGRID 990 N_FILEKB 32 SEABIRD_T_H 0.00064707285 XPDR_REP 0

D_PITCH 0 N_GPS 100440 SEABIRD_T_I 2.5773305e-05 XPDR_VALID 4

D_SAFE 0 N_NOCOMM 9 SEABIRD_T_J 3.16363e-06

Pre-dive calculations and measurements:

GPS1 060421,012639,6244.874,-2027.097,15,1.5,16,-11.5 TGT_LATLONG 6245.000,-2030.000

_CALLS 5 TGT_RADIUS 2000.000

_SM_DEPTHo 0.59 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -46.3 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 060421,013747,6244.922,-2027.281,3,1.4,7,-11.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.334 MHEAD_RNG_PITCHd_Wd 264.0,2310,-27.4,-11.111,-30.00

TGT_NAME Sta36 D_GRID 300

Post-dive calculations and measurements:

SM_CCo 4997.97,0.00,2.505,0,1065.3,1169.9,960.8,450.05 FG_AHR_24Vo 310.438

SM_GC 0.29,0.00,12.18,0.86,2.505,0.078,0.091,1065.3,1169.9,960.8,188.2,2682.6,0,0,0,30.36,14.83,15.06 FG_AHR_10Vo 242.816

SUPER 59,71,254,1,0,0 MEM 1162932,26,14580,51

IRIDIUM_FIX 6243.86,-2027.87,060421,013157 DATA_FILE_SIZE 22539,694

TCM_TEMP -0.33 CAP_FILE_SIZE 183192,0

XPDR_PINGS 2,-1.0,-1.0 SDSIZE 3918848,3694496

HUMID 55.10 SDFILEDIR 4513,1

TEMP 7.28 ERRORS 0,0,0,0,0,1,0,2,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.06015 CURRENT 0.362,284.6,1

_24V_AH 12.93,353.148 GPS 060421,030139,6245.169,-2029.352,15,1.0,15,-11.6

_10V_AH 13.72,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 721 2505 23360.52 SBE_CT 0 0 0.00

Pitch_motor 28 277 101.35 nil 0 0 0.00

Roll_motor 66 187 161.68 nil 0 0 0.00

Iridium 326 207 874.34 nil 0 0 0.00

Transponder_ping 0 420 2.72 nil 0 0 0.00

GPS 16 15 3.41 nil 0 0 0.00

Core 2137 11 346.08 SciCon 0 0 0.00

LPSleep 3203 2 123.07 TMICL 0 0 0.00

Compass 828 5 56.86 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

1 end surface: CONTROL_FINISHED_OK

state 1 begin dive

4.07 16386 -74.41 -1.46 0.00 1061.7 1161.4 962.1 185.6 2621.1 0.00 0.00 0 125.93 119.01 0.00 0.15 0.005 0.000 0.187 3202.41 3265.12 3139.69 185.38 2683.00 0 0 0 14.32 30.00 14.31

126.18 18727 -163.59 -1.57 80.00 3201.4 3263.6 3139.2 185.4 2682.9 2.87 -2.16 24 153.14 12.57 9.24 2.04 0.007 0.278 0.134 3564.72 3647.38 3482.06 1240.12 3357.25 0 0 0 14.54 14.44 14.33

375.29 1156 -163.59 -1.66 0.00 3567.4 3651.3 3483.5 1240.2 3358.4 36.31 -13.96 74 379.90 0.00 0.00 1.78 0.000 0.000 0.035 3567.38 3650.88 3483.88 1239.81 2628.25 0 0 0 30.00 30.00 15.33

560.35 4485 -163.59 -1.79 80.00 3567.2 3651.8 3482.8 1239.9 2625.6 62.77 -13.52 111 565.92 0.00 0.45 2.26 0.000 0.071 0.125 3568.06 3651.38 3484.75 1175.81 3357.69 0 0 0 30.00 15.20 14.82

790.34 1028 -163.59 -1.79 0.00 3567.6 3651.7 3483.5 1175.6 3357.4 105.38 -17.93 157 794.97 0.00 0.00 1.82 0.000 0.000 0.038 3567.53 3650.75 3484.31 1175.81 2635.75 0 0 0 30.00 30.00 15.17

1100.38 260 -163.59 -1.79 80.00 3567.2 3651.4 3482.9 1175.8 2635.5 160.99 -19.04 189 1105.82 0.00 0.00 2.26 0.000 0.000 0.128 3566.88 3650.81 3482.94 1175.75 3357.06 0 0 0 30.00 30.00 14.70

1215.39 1028 -163.59 -1.79 0.00 3567.4 3651.4 3483.5 1175.7 3356.9 184.73 -20.49 212 1220.02 0.00 0.00 1.80 0.000 0.000 0.036 3567.66 3651.81 3483.50 1175.44 2636.00 0 0 0 30.00 30.00 15.15

1520.41 260 -163.59 -1.79 80.00 3567.3 3651.6 3482.9 1176.1 2635.9 238.35 -18.07 243 1525.85 0.00 0.00 2.25 0.000 0.000 0.126 3568.41 3651.69 3485.12 1175.62 3358.75 0 0 0 30.00 30.00 14.69

1595.42 1028 -163.59 -1.79 0.00 3567.1 3651.4 3482.8 1175.7 3358.6 252.51 -19.28 258 1600.03 0.00 0.00 1.79 0.000 0.000 0.036 3567.62 3651.44 3483.81 1175.69 2634.75 0 0 0 30.00 30.00 15.15

1880 end dive: TARGET_DEPTH_EXCEEDED

state 1880 begin apogee

1882.17 10243 0.00 -0.25 0.00 3566.9 3650.9 3483.0 1175.8 2372.2 300.67 -16.71 287 2033.27 144.52 3.16 0.10 1.398 0.167 0.181 2901.12 2986.12 2816.12 1561.50 2416.69 0 0 0 10.42 14.46 14.18

2035 end apogee: CONTROL_FINISHED_OK

state 2035 begin climb

2035.24 10759 163.59 1.57 -80.00 2898.9 2985.6 2812.2 1561.6 2417.2 306.99 0.00 302 2202.25 156.18 3.17 4.84 1.341 0.071 0.111 2232.19 2322.56 2141.81 2005.38 936.56 0 0 0 10.57 14.33 13.68

2284.38 1028 163.59 1.57 0.00 2226.1 2314.4 2137.8 2005.5 936.6 294.22 11.81 352 2290.20 0.00 0.00 4.16 0.000 0.000 0.051 2226.09 2314.38 2137.81 2005.38 2413.81 0 0 0 30.00 30.00 14.16

2594.41 8742 169.35 1.58 -80.00 2223.4 2313.4 2133.5 2005.7 2413.2 262.44 10.53 384 2606.40 6.14 0.00 4.27 0.837 0.000 0.103 2207.22 2298.00 2116.44 2005.75 935.44 0 0 0 10.69 30.00 14.84

2629.40 1028 169.35 1.58 0.00 2208.1 2297.9 2118.2 2005.6 935.2 258.46 11.36 391 2635.19 0.00 0.00 3.92 0.000 0.000 0.049 2210.44 2300.81 2120.06 2005.31 2413.81 0 0 0 30.00 30.00 14.89

2939.43 260 169.35 1.58 80.00 2207.1 2297.2 2117.1 2006.0 2413.6 221.44 13.12 423 2945.03 0.00 0.00 2.88 0.000 0.000 0.125 2207.81 2297.88 2117.75 2005.75 3358.56 0 0 0 30.00 30.00 14.83

2989.43 1028 169.35 1.58 0.00 2205.6 2294.9 2116.2 2005.7 3358.2 215.19 13.02 433 2994.97 0.00 0.00 2.45 0.000 0.000 0.034 2207.06 2295.88 2118.25 2005.69 2363.06 0 0 0 30.00 30.00 15.20

3299.48 8742 178.50 1.59 -80.00 2205.8 2295.2 2116.4 2005.8 2361.7 179.60 10.19 465 3315.90 10.40 0.00 4.03 1.053 0.000 0.106 2171.34 2262.56 2080.12 2005.44 935.62 0 0 0 10.82 30.00 15.12

3348.02 1028 178.50 1.59 0.00 2170.3 2261.6 2079.1 2005.9 935.6 173.40 12.98 474 3353.80 0.00 0.00 3.88 0.000 0.000 0.050 2170.91 2261.62 2080.19 2005.69 2412.44 0 0 0 30.00 30.00 15.10

3653.07 260 178.50 1.59 80.00 2169.5 2259.8 2079.2 2006.2 2412.5 135.59 12.29 505 3658.67 0.00 0.00 2.89 0.000 0.000 0.127 2168.78 2258.94 2078.62 2006.38 3356.81 0 0 0 30.00 30.00 14.88

3703.09 1028 178.50 1.59 0.00 2167.7 2257.4 2077.9 2006.6 3357.1 128.57 14.41 515 3708.56 0.00 0.00 2.45 0.000 0.000 0.034 2168.03 2257.94 2078.12 2006.00 2364.62 0 0 0 30.00 30.00 15.28

4008.17 516 178.50 1.59 -80.00 2167.9 2257.4 2078.4 2006.3 2362.9 91.66 11.76 553 4014.14 0.00 0.00 4.24 0.000 0.000 0.103 2168.59 2258.25 2078.94 2006.25 935.62 0 0 0 30.00 30.00 14.86

4053.13 1028 178.50 1.59 0.00 2167.8 2257.8 2077.8 2005.9 935.4 85.71 12.96 562 4059.04 0.00 0.00 3.86 0.000 0.000 0.048 2167.69 2257.81 2077.56 2006.38 2413.62 0 0 0 30.00 30.00 15.01

4238.15 0 178.50 1.59 0.00 2167.6 2257.3 2077.8 2006.3 2414.6 61.62 12.69 599 4239.48 0.00 0.00 0.00 0.000 0.000 0.000 2166.44 2256.38 2076.50 2006.19 2414.25 0 0 0 30.00 30.00 30.00

4418.40 0 178.50 1.59 0.00 2167.5 2257.6 2077.5 2006.5 2413.6 37.52 14.05 635 4419.73 0.00 0.00 0.00 0.000 0.000 0.000 2165.97 2255.44 2076.50 2005.88 2414.00 0 0 0 30.00 30.00 30.00

4598.22 8486 184.40 1.59 80.00 2167.8 2257.4 2078.2 2006.8 2413.5 14.42 10.52 671 4613.89 9.10 0.00 2.75 0.905 0.000 0.128 2148.12 2239.44 2056.81 2006.25 3357.06 0 0 0 10.62 30.00 15.18

4623.21 1028 184.40 1.59 0.00 2146.1 2237.4 2054.8 2007.2 3357.1 11.52 11.21 676 4628.74 0.00 0.00 2.45 0.000 0.000 0.035 2146.19 2237.62 2054.75 2005.88 2364.56 0 0 0 30.00 30.00 15.33

4698 end climb: SURFACE_DEPTH_REACHED

state 4698 begin surface coast

4713 end surface coast: CONTROL_FINISHED_OK

state 4713 begin surface

ID	234	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	XPDR_INT	0
MISSION	4	FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_REP	0
DIVE	756	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	1.6
STOP_T	0	TGT_AUTO_DEFAULT	0	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	SM_CC	450	VBD_MAX	3960	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	32	C_VBD	2900	MOTHERBOARD	6
D_TGT	300	FILEMGR	0	VBD_DBAND	2	DEVICE1	10
D_ABORT	350	CALL_NDIVES	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_NO_BLEED	200	COMM_SEQ	0	VBD_LP_IGNORE	0	DEVICE3	-1
D_BOOST	3	PROTOCOL	9	VBD_TIMEOUT	720	DEVICE4	-1
T_BOOST	0	N_NOCOMM	9	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	0
D_SAFE	0	UPLOAD_DIVES_MAX	-1	W_ADJ_DBAND	0	LOGGERDEVICE1	7
D_CALL	0	CALL_TRIES	5	DBDW	0	LOGGERDEVICE2	19
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	300	COMPASS_DEVICE	66
T_DIVE	90	T_GPS	5	LOITER_D_BOTTOM	620	COMPASS2_DEVICE	-1
T_MISSION	120	N_GPS	100440	LOITER_N_DIVE	0	PHONE_DEVICE	33
T_ABORT	1440	T_RSLEEP	3	CF8_MAXERRORS	20	GPS_DEVICE	48
T_TURN	225	STROBE	0	AH0_24V	529	RAFOS_DEVICE	-1
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	14400	RAFOS_HIT_WINDOW	3600	MINV_10V	11	XPDR_DEVICE	0
T_EPIRB	0	RAFOS_MMODEM	0	MAXI_24V	5	SIM_W	0
USE_BATHY	0	PITCH_MIN	200	MAXI_10V	1.5	SEABIRD_T_G	0.0044194036
USE_ICE	0	PITCH_MAX	3990	FG_AHR_10V	242.8073	SEABIRD_T_H	0.00064707285
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	1620	FG_AHR_24V	310.22815	SEABIRD_T_I	2.5773305e-05
D_OFFGRID	990	PITCH_DBAND	0.1	PHONE_SUPPLY	1	SEABIRD_T_J	3.16363e-06
RELAUNCH	1	PITCH_CNV	0.0041299998	PRESSURE_YINT	-151.86571	SEABIRD_C_G	-9.7533598
APOGEE_PITCH	-5	PITCH_GAIN	20	PRESSURE_SLOPE	0.00022809372	SEABIRD_C_H	1.1145387
MAX_BUOY	250	PITCH_TIMEOUT	30	COMPASS_USE	4	SEABIRD_C_I	-0.0013247415
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	ALTIM_PING_FIT	0	SEABIRD_C_J	0.00018679495
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	3.0
MASS	74686	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	700	ALTIM_PING_DEPTH	0	TM_RECORDABOVE	250.0
KALMAN_USE	2	ROLL_MAX	3350	ALTIM_PING_DELTA	0	TM_PROFILE	2.0
HD_A	0.003	ROLL_DEG	80	ALTIM_FREQUENCY	11	TM_XMITPROFILE	2.0
HD_B	0.0099999998	C_ROLL_DIVE	2670	ALTIM_PULSE	3	TM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_CLIMB	2400	ALTIM_SENSITIVITY	2	TM_XMITRAW	0.0
HEADING	-1	HEAD_ERRBAND	10	XPDR_VALID	4	TM_LOGSAMPLE	0.0
ESCAPE_HEADING	0	ROLL_CNV	0.054945	XPDR_INHIBIT	90

GPS1	060421,012639,6244.874,-2027.097,15,1.5,16,-11.5	TGT_LATLONG	6245.000,-2030.000
_CALLS	5	TGT_RADIUS	2000.000
_SM_DEPTHo	0.59	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-46.3	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	060421,013747,6244.922,-2027.281,3,1.4,7,-11.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.334	MHEAD_RNG_PITCHd_Wd	264.0,2310,-27.4,-11.111,-30.00
TGT_NAME	Sta36	D_GRID	300

SM_CCo	4997.97,0.00,2.505,0,1065.3,1169.9,960.8,450.05	FG_AHR_24Vo	310.438
SM_GC	0.29,0.00,12.18,0.86,2.505,0.078,0.091,1065.3,1169.9,960.8,188.2,2682.6,0,0,0,30.36,14.83,15.06	FG_AHR_10Vo	242.816
SUPER	59,71,254,1,0,0	MEM	1162932,26,14580,51
IRIDIUM_FIX	6243.86,-2027.87,060421,013157	DATA_FILE_SIZE	22539,694
TCM_TEMP	-0.33	CAP_FILE_SIZE	183192,0
XPDR_PINGS	2,-1.0,-1.0	SDSIZE	3918848,3694496
HUMID	55.10	SDFILEDIR	4513,1
TEMP	7.28	ERRORS	0,0,0,0,0,1,0,2,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.06015	CURRENT	0.362,284.6,1
_24V_AH	12.93,353.148	GPS	060421,030139,6245.169,-2029.352,15,1.0,15,-11.6
_10V_AH	13.72,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	721	2505	23360.52	SBE_CT	0	0	0.00
Pitch_motor	28	277	101.35	nil	0	0	0.00
Roll_motor	66	187	161.68	nil	0	0	0.00
Iridium	326	207	874.34	nil	0	0	0.00
Transponder_ping	0	420	2.72	nil	0	0	0.00
GPS	16	15	3.41	nil	0	0	0.00
Core	2137	11	346.08	SciCon	0	0	0.00
LPSleep	3203	2	123.07	TMICL	0	0	0.00
Compass	828	5	56.86	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
1	end surface: CONTROL_FINISHED_OK
state	1	begin dive
4.07	16386	-74.41	-1.46	0.00	1061.7	1161.4	962.1	185.6	2621.1	0.00	0.00	0	125.93	119.01	0.00	0.15	0.005	0.000	0.187	3202.41	3265.12	3139.69	185.38	2683.00	0	0	0	14.32	30.00	14.31
126.18	18727	-163.59	-1.57	80.00	3201.4	3263.6	3139.2	185.4	2682.9	2.87	-2.16	24	153.14	12.57	9.24	2.04	0.007	0.278	0.134	3564.72	3647.38	3482.06	1240.12	3357.25	0	0	0	14.54	14.44	14.33
375.29	1156	-163.59	-1.66	0.00	3567.4	3651.3	3483.5	1240.2	3358.4	36.31	-13.96	74	379.90	0.00	0.00	1.78	0.000	0.000	0.035	3567.38	3650.88	3483.88	1239.81	2628.25	0	0	0	30.00	30.00	15.33
560.35	4485	-163.59	-1.79	80.00	3567.2	3651.8	3482.8	1239.9	2625.6	62.77	-13.52	111	565.92	0.00	0.45	2.26	0.000	0.071	0.125	3568.06	3651.38	3484.75	1175.81	3357.69	0	0	0	30.00	15.20	14.82
790.34	1028	-163.59	-1.79	0.00	3567.6	3651.7	3483.5	1175.6	3357.4	105.38	-17.93	157	794.97	0.00	0.00	1.82	0.000	0.000	0.038	3567.53	3650.75	3484.31	1175.81	2635.75	0	0	0	30.00	30.00	15.17
1100.38	260	-163.59	-1.79	80.00	3567.2	3651.4	3482.9	1175.8	2635.5	160.99	-19.04	189	1105.82	0.00	0.00	2.26	0.000	0.000	0.128	3566.88	3650.81	3482.94	1175.75	3357.06	0	0	0	30.00	30.00	14.70
1215.39	1028	-163.59	-1.79	0.00	3567.4	3651.4	3483.5	1175.7	3356.9	184.73	-20.49	212	1220.02	0.00	0.00	1.80	0.000	0.000	0.036	3567.66	3651.81	3483.50	1175.44	2636.00	0	0	0	30.00	30.00	15.15
1520.41	260	-163.59	-1.79	80.00	3567.3	3651.6	3482.9	1176.1	2635.9	238.35	-18.07	243	1525.85	0.00	0.00	2.25	0.000	0.000	0.126	3568.41	3651.69	3485.12	1175.62	3358.75	0	0	0	30.00	30.00	14.69
1595.42	1028	-163.59	-1.79	0.00	3567.1	3651.4	3482.8	1175.7	3358.6	252.51	-19.28	258	1600.03	0.00	0.00	1.79	0.000	0.000	0.036	3567.62	3651.44	3483.81	1175.69	2634.75	0	0	0	30.00	30.00	15.15
1880	end dive: TARGET_DEPTH_EXCEEDED
state	1880	begin apogee
1882.17	10243	0.00	-0.25	0.00	3566.9	3650.9	3483.0	1175.8	2372.2	300.67	-16.71	287	2033.27	144.52	3.16	0.10	1.398	0.167	0.181	2901.12	2986.12	2816.12	1561.50	2416.69	0	0	0	10.42	14.46	14.18
2035	end apogee: CONTROL_FINISHED_OK
state	2035	begin climb
2035.24	10759	163.59	1.57	-80.00	2898.9	2985.6	2812.2	1561.6	2417.2	306.99	0.00	302	2202.25	156.18	3.17	4.84	1.341	0.071	0.111	2232.19	2322.56	2141.81	2005.38	936.56	0	0	0	10.57	14.33	13.68
2284.38	1028	163.59	1.57	0.00	2226.1	2314.4	2137.8	2005.5	936.6	294.22	11.81	352	2290.20	0.00	0.00	4.16	0.000	0.000	0.051	2226.09	2314.38	2137.81	2005.38	2413.81	0	0	0	30.00	30.00	14.16
2594.41	8742	169.35	1.58	-80.00	2223.4	2313.4	2133.5	2005.7	2413.2	262.44	10.53	384	2606.40	6.14	0.00	4.27	0.837	0.000	0.103	2207.22	2298.00	2116.44	2005.75	935.44	0	0	0	10.69	30.00	14.84
2629.40	1028	169.35	1.58	0.00	2208.1	2297.9	2118.2	2005.6	935.2	258.46	11.36	391	2635.19	0.00	0.00	3.92	0.000	0.000	0.049	2210.44	2300.81	2120.06	2005.31	2413.81	0	0	0	30.00	30.00	14.89
2939.43	260	169.35	1.58	80.00	2207.1	2297.2	2117.1	2006.0	2413.6	221.44	13.12	423	2945.03	0.00	0.00	2.88	0.000	0.000	0.125	2207.81	2297.88	2117.75	2005.75	3358.56	0	0	0	30.00	30.00	14.83
2989.43	1028	169.35	1.58	0.00	2205.6	2294.9	2116.2	2005.7	3358.2	215.19	13.02	433	2994.97	0.00	0.00	2.45	0.000	0.000	0.034	2207.06	2295.88	2118.25	2005.69	2363.06	0	0	0	30.00	30.00	15.20
3299.48	8742	178.50	1.59	-80.00	2205.8	2295.2	2116.4	2005.8	2361.7	179.60	10.19	465	3315.90	10.40	0.00	4.03	1.053	0.000	0.106	2171.34	2262.56	2080.12	2005.44	935.62	0	0	0	10.82	30.00	15.12
3348.02	1028	178.50	1.59	0.00	2170.3	2261.6	2079.1	2005.9	935.6	173.40	12.98	474	3353.80	0.00	0.00	3.88	0.000	0.000	0.050	2170.91	2261.62	2080.19	2005.69	2412.44	0	0	0	30.00	30.00	15.10
3653.07	260	178.50	1.59	80.00	2169.5	2259.8	2079.2	2006.2	2412.5	135.59	12.29	505	3658.67	0.00	0.00	2.89	0.000	0.000	0.127	2168.78	2258.94	2078.62	2006.38	3356.81	0	0	0	30.00	30.00	14.88
3703.09	1028	178.50	1.59	0.00	2167.7	2257.4	2077.9	2006.6	3357.1	128.57	14.41	515	3708.56	0.00	0.00	2.45	0.000	0.000	0.034	2168.03	2257.94	2078.12	2006.00	2364.62	0	0	0	30.00	30.00	15.28
4008.17	516	178.50	1.59	-80.00	2167.9	2257.4	2078.4	2006.3	2362.9	91.66	11.76	553	4014.14	0.00	0.00	4.24	0.000	0.000	0.103	2168.59	2258.25	2078.94	2006.25	935.62	0	0	0	30.00	30.00	14.86
4053.13	1028	178.50	1.59	0.00	2167.8	2257.8	2077.8	2005.9	935.4	85.71	12.96	562	4059.04	0.00	0.00	3.86	0.000	0.000	0.048	2167.69	2257.81	2077.56	2006.38	2413.62	0	0	0	30.00	30.00	15.01
4238.15	0	178.50	1.59	0.00	2167.6	2257.3	2077.8	2006.3	2414.6	61.62	12.69	599	4239.48	0.00	0.00	0.00	0.000	0.000	0.000	2166.44	2256.38	2076.50	2006.19	2414.25	0	0	0	30.00	30.00	30.00
4418.40	0	178.50	1.59	0.00	2167.5	2257.6	2077.5	2006.5	2413.6	37.52	14.05	635	4419.73	0.00	0.00	0.00	0.000	0.000	0.000	2165.97	2255.44	2076.50	2005.88	2414.00	0	0	0	30.00	30.00	30.00
4598.22	8486	184.40	1.59	80.00	2167.8	2257.4	2078.2	2006.8	2413.5	14.42	10.52	671	4613.89	9.10	0.00	2.75	0.905	0.000	0.128	2148.12	2239.44	2056.81	2006.25	3357.06	0	0	0	10.62	30.00	15.18
4623.21	1028	184.40	1.59	0.00	2146.1	2237.4	2054.8	2007.2	3357.1	11.52	11.21	676	4628.74	0.00	0.00	2.45	0.000	0.000	0.035	2146.19	2237.62	2054.75	2005.88	2364.56	0	0	0	30.00	30.00	15.33
4698	end climb: SURFACE_DEPTH_REACHED
state	4698	begin surface coast
4713	end surface coast: CONTROL_FINISHED_OK
state	4713	begin surface