Glider dive log

NISKINE Oct20 * SG234 * Dive index * Mission links * Dive 758 * 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 758 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 758 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 200 FILEMGR 0 VBD_DBAND 2 DEVICE1 10

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 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 60 T_GPS 5 LOITER_D_BOTTOM 620 COMPASS2_DEVICE -1

T_MISSION 80 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 242.84171 SEABIRD_T_H 0.00064707285

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 1620 FG_AHR_24V 310.6539 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 200 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 242.84171 PITCH_CNV 0.0041299998 SURFACE_URGENCY 0

ALTIM_PING_FIT 0 FG_AHR_24V 310.6539 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 60

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 80

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 758 MINV_24V 11 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

D_ABORT 250 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 758 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 060421,043025,6245.067,-2030.617,14,0.9,30,-11.6 TGT_LATLONG 6245.000,-2030.000

_CALLS 2 TGT_RADIUS 2000.000

_SM_DEPTHo 0.54 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -43.5 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 060421,043555,6245.116,-2030.633,2,0.6,4,-11.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.334 MHEAD_RNG_PITCHd_Wd 103.9,578,-14.6,-11.111,-18.42

TGT_NAME Sta36 D_GRID 200

Post-dive calculations and measurements:

SM_CCo 4601.22,0.00,0.015,0,1065.4,1171.3,959.4,450.03 FG_AHR_24Vo 310.875

SM_GC 0.28,0.00,11.41,0.84,0.015,0.063,0.087,1065.4,1171.3,959.4,186.8,2680.6,0,0,0,30.36,14.98,14.90 FG_AHR_10Vo 242.850

SUPER 51,71,254,1,0,0 MEM 1162892,28,14580,51

IRIDIUM_FIX 6243.86,-2027.87,060421,043211 DATA_FILE_SIZE 22563,697

TCM_TEMP 0.06 CAP_FILE_SIZE 172059,0

XPDR_PINGS 2,-1.0,-1.0 SDSIZE 3918848,3694240

HUMID 55.48 SDFILEDIR 4519,1

TEMP 7.39 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.06502 CURRENT 0.184, 56.6,1

_24V_AH 13.15,353.602 GPS 060421,055259,6245.368,-2029.800,1,0.8,4,-11.6

_10V_AH 14.37,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 789 1252 13007.70 SBE_CT 0 0 0.00

Pitch_motor 27 277 98.70 nil 0 0 0.00

Roll_motor 48 151 97.80 nil 0 0 0.00

Iridium 184 175 425.56 nil 0 0 0.00

Transponder_ping 0 420 2.76 nil 0 0 0.00

GPS 13 15 2.91 nil 0 0 0.00

Core 2177 11 369.28 SciCon 0 0 0.00

LPSleep 2649 2 106.59 TMICL 0 0 0.00

Compass 832 5 59.81 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

4.08 16386 -243.31 -1.03 0.00 1058.7 1157.6 959.8 185.6 2634.1 0.00 0.00 0 131.13 126.54 0.00 0.00 0.005 0.000 0.000 3430.25 3494.31 3366.19 185.50 2631.44 0 0 0 14.01 30.00 30.00

131.41 18727 -243.31 -1.03 80.00 3429.5 3493.1 3365.9 185.4 2632.2 3.63 -2.90 25 161.54 13.49 10.77 2.28 0.006 0.278 0.139 3891.50 3967.56 3815.44 1369.75 3355.50 0 0 0 14.29 14.39 14.08

203.75 1188 -243.31 -1.12 0.00 3892.1 3969.1 3815.2 1369.4 3356.0 11.45 -6.91 40 208.36 0.00 0.00 1.77 0.000 0.000 0.032 3892.25 3969.25 3815.25 1369.88 2625.62 0 0 0 30.00 30.00 15.30

388.78 4257 -243.31 -1.22 0.00 3892.5 3969.4 3815.7 1369.1 2623.6 25.81 -7.70 77 390.26 0.00 0.42 0.00 0.000 0.063 0.000 3891.88 3969.44 3814.31 1311.12 2623.81 0 0 0 30.00 15.32 30.00

568.79 32 -243.31 -1.22 0.00 3892.7 3969.8 3815.6 1310.9 2623.9 43.29 -7.19 113 570.12 0.00 0.00 0.00 0.000 0.000 0.000 3891.88 3969.44 3814.31 1311.00 2623.62 0 0 0 30.00 30.00 30.00

748.80 260 -243.31 -1.22 80.00 3892.5 3969.9 3815.1 1310.9 2623.5 62.50 -13.30 149 754.24 0.00 0.00 2.30 0.000 0.000 0.134 3892.66 3970.25 3815.06 1311.00 3357.06 0 0 0 30.00 30.00 14.81

813.81 1028 -243.31 -1.22 0.00 3892.0 3969.0 3815.0 1311.0 3356.9 69.93 -12.59 162 818.42 0.00 0.00 1.78 0.000 0.000 0.033 3892.84 3970.12 3815.56 1311.12 2629.06 0 0 0 30.00 30.00 15.38

998.86 292 -243.31 -1.22 80.00 3892.4 3969.6 3815.2 1310.6 2626.6 87.87 -9.89 199 1004.28 0.00 0.00 2.29 0.000 0.000 0.133 3892.53 3969.31 3815.75 1311.25 3354.50 0 0 0 30.00 30.00 14.80

1053.86 1060 -243.31 -1.22 0.00 3892.3 3969.4 3815.2 1311.1 3355.1 92.46 -8.43 210 1058.47 0.00 0.00 1.77 0.000 0.000 0.033 3892.72 3969.44 3816.00 1311.19 2626.38 0 0 0 30.00 30.00 15.39

1243.90 292 -243.31 -1.22 80.00 3892.4 3969.7 3815.1 1311.1 2623.9 107.05 -7.25 239 1249.31 0.00 0.00 2.29 0.000 0.000 0.134 3892.00 3969.19 3814.81 1311.12 3357.06 0 0 0 30.00 30.00 14.79

1328.90 1060 -243.31 -1.22 0.00 3891.9 3969.1 3814.8 1311.2 3357.0 113.89 -8.50 256 1333.51 0.00 0.00 1.76 0.000 0.000 0.033 3892.91 3969.56 3816.25 1311.38 2625.31 0 0 0 30.00 30.00 15.38

1633.92 32 -243.31 -1.22 0.00 3892.0 3969.0 3815.0 1311.4 2623.1 136.28 -9.94 287 1635.25 0.00 0.00 0.00 0.000 0.000 0.000 3891.81 3968.94 3814.69 1311.31 2623.25 0 0 0 30.00 30.00 30.00

1933.97 0 -243.31 -1.22 0.00 3892.5 3970.0 3815.1 1311.1 2622.9 171.01 -14.73 317 1935.30 0.00 0.00 0.00 0.000 0.000 0.000 3892.66 3969.88 3815.44 1311.00 2624.12 0 0 0 30.00 30.00 30.00

2173 end dive: TARGET_DEPTH_EXCEEDED

state 2173 begin apogee

2175.66 10243 0.00 -0.25 0.00 3892.2 3969.5 3814.9 1310.7 2367.1 201.26 -11.97 341 2388.51 207.95 2.00 0.12 1.253 0.132 0.152 2899.25 2982.69 2815.81 1562.25 2420.62 0 0 0 10.54 14.75 13.96

2390 end apogee: CONTROL_FINISHED_OK

state 2390 begin climb

2390.49 10759 243.31 1.03 -80.00 2898.3 2982.7 2813.9 1562.9 2420.1 215.70 0.00 362 2628.72 227.66 2.25 5.03 1.192 0.066 0.105 1906.38 2007.19 1805.56 1876.62 937.62 0 0 0 10.58 14.13 13.53

2660.87 9382 311.48 1.06 0.00 1903.6 2002.4 1804.8 1876.6 937.9 209.05 8.99 416 2734.07 67.52 0.00 4.24 1.131 0.000 0.046 1631.62 1737.06 1526.19 1876.94 2413.88 0 0 0 10.31 30.00 13.97

3036.22 8226 367.08 1.13 0.00 1623.8 1726.4 1521.3 1876.8 2413.9 174.98 9.38 461 3089.79 52.98 0.00 0.00 1.136 0.000 0.000 1403.09 1510.62 1295.56 1876.88 2414.38 0 0 0 10.47 30.00 30.00

3386.25 10535 393.39 1.16 80.00 1398.0 1503.4 1292.7 1876.5 2414.3 139.67 10.29 496 3427.47 34.16 0.16 2.90 1.061 0.094 0.120 1296.47 1404.19 1188.75 1910.50 3357.50 0 0 0 10.64 15.01 14.52

3446.24 1028 393.39 1.16 0.00 1295.3 1401.9 1188.7 1910.9 3357.6 132.45 12.04 508 3451.78 0.00 0.00 2.55 0.000 0.000 0.034 1295.28 1401.88 1188.69 1910.94 2367.12 0 0 0 30.00 30.00 14.85

3751.31 260 393.39 1.16 80.00 1292.8 1399.8 1185.8 1910.2 2365.9 94.86 11.99 543 3756.86 0.00 0.00 2.99 0.000 0.000 0.112 1293.22 1400.31 1186.12 1910.19 3358.62 0 0 0 30.00 30.00 14.74

3781.30 1028 393.39 1.16 0.00 1292.3 1398.6 1186.1 1910.6 3358.6 90.81 13.49 549 3786.78 0.00 0.00 2.49 0.000 0.000 0.035 1293.09 1399.00 1187.19 1910.69 2365.44 0 0 0 30.00 30.00 15.13

3966.33 260 393.39 1.16 80.00 1292.1 1398.6 1185.7 1910.7 2364.4 68.10 12.90 586 3971.89 0.00 0.00 2.98 0.000 0.000 0.113 1293.22 1399.62 1186.81 1909.88 3359.25 0 0 0 30.00 30.00 14.82

3996.28 1028 393.39 1.16 0.00 1292.2 1398.1 1186.2 1910.6 3358.5 64.32 12.59 592 4001.82 0.00 0.00 2.48 0.000 0.000 0.034 1292.06 1398.25 1185.88 1910.88 2366.06 0 0 0 30.00 30.00 15.21

4181.36 260 393.39 1.16 80.00 1291.8 1398.0 1185.6 1910.4 2365.1 40.91 11.70 629 4186.93 0.00 0.00 2.95 0.000 0.000 0.111 1292.69 1398.88 1186.50 1910.44 3359.38 0 0 0 30.00 30.00 14.85

4206.33 1156 393.39 1.12 0.00 1292.0 1398.1 1185.8 1910.6 3359.1 37.80 11.43 634 4211.84 0.00 0.00 2.48 0.000 0.000 0.034 1292.00 1397.62 1186.38 1910.06 2366.06 0 0 0 30.00 30.00 15.24

4391.38 0 393.39 1.12 0.00 1292.1 1398.0 1186.2 1910.4 2364.8 15.61 12.12 671 4392.71 0.00 0.00 0.00 0.000 0.000 0.000 1291.34 1397.50 1185.19 1910.62 2365.12 0 0 0 30.00 30.00 30.00

4506 end climb: SURFACE_DEPTH_REACHED

state 4506 begin surface coast

4521 end surface coast: CONTROL_FINISHED_OK

state 4521 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	758	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	758	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	200	FILEMGR	0	VBD_DBAND	2	DEVICE1	10
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	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	60	T_GPS	5	LOITER_D_BOTTOM	620	COMPASS2_DEVICE	-1
T_MISSION	80	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	242.84171	SEABIRD_T_H	0.00064707285
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	1620	FG_AHR_24V	310.6539	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	060421,043025,6245.067,-2030.617,14,0.9,30,-11.6	TGT_LATLONG	6245.000,-2030.000
_CALLS	2	TGT_RADIUS	2000.000
_SM_DEPTHo	0.54	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-43.5	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	060421,043555,6245.116,-2030.633,2,0.6,4,-11.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.334	MHEAD_RNG_PITCHd_Wd	103.9,578,-14.6,-11.111,-18.42
TGT_NAME	Sta36	D_GRID	200

SM_CCo	4601.22,0.00,0.015,0,1065.4,1171.3,959.4,450.03	FG_AHR_24Vo	310.875
SM_GC	0.28,0.00,11.41,0.84,0.015,0.063,0.087,1065.4,1171.3,959.4,186.8,2680.6,0,0,0,30.36,14.98,14.90	FG_AHR_10Vo	242.850
SUPER	51,71,254,1,0,0	MEM	1162892,28,14580,51
IRIDIUM_FIX	6243.86,-2027.87,060421,043211	DATA_FILE_SIZE	22563,697
TCM_TEMP	0.06	CAP_FILE_SIZE	172059,0
XPDR_PINGS	2,-1.0,-1.0	SDSIZE	3918848,3694240
HUMID	55.48	SDFILEDIR	4519,1
TEMP	7.39	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.06502	CURRENT	0.184, 56.6,1
_24V_AH	13.15,353.602	GPS	060421,055259,6245.368,-2029.800,1,0.8,4,-11.6
_10V_AH	14.37,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	789	1252	13007.70	SBE_CT	0	0	0.00
Pitch_motor	27	277	98.70	nil	0	0	0.00
Roll_motor	48	151	97.80	nil	0	0	0.00
Iridium	184	175	425.56	nil	0	0	0.00
Transponder_ping	0	420	2.76	nil	0	0	0.00
GPS	13	15	2.91	nil	0	0	0.00
Core	2177	11	369.28	SciCon	0	0	0.00
LPSleep	2649	2	106.59	TMICL	0	0	0.00
Compass	832	5	59.81	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
4.08	16386	-243.31	-1.03	0.00	1058.7	1157.6	959.8	185.6	2634.1	0.00	0.00	0	131.13	126.54	0.00	0.00	0.005	0.000	0.000	3430.25	3494.31	3366.19	185.50	2631.44	0	0	0	14.01	30.00	30.00
131.41	18727	-243.31	-1.03	80.00	3429.5	3493.1	3365.9	185.4	2632.2	3.63	-2.90	25	161.54	13.49	10.77	2.28	0.006	0.278	0.139	3891.50	3967.56	3815.44	1369.75	3355.50	0	0	0	14.29	14.39	14.08
203.75	1188	-243.31	-1.12	0.00	3892.1	3969.1	3815.2	1369.4	3356.0	11.45	-6.91	40	208.36	0.00	0.00	1.77	0.000	0.000	0.032	3892.25	3969.25	3815.25	1369.88	2625.62	0	0	0	30.00	30.00	15.30
388.78	4257	-243.31	-1.22	0.00	3892.5	3969.4	3815.7	1369.1	2623.6	25.81	-7.70	77	390.26	0.00	0.42	0.00	0.000	0.063	0.000	3891.88	3969.44	3814.31	1311.12	2623.81	0	0	0	30.00	15.32	30.00
568.79	32	-243.31	-1.22	0.00	3892.7	3969.8	3815.6	1310.9	2623.9	43.29	-7.19	113	570.12	0.00	0.00	0.00	0.000	0.000	0.000	3891.88	3969.44	3814.31	1311.00	2623.62	0	0	0	30.00	30.00	30.00
748.80	260	-243.31	-1.22	80.00	3892.5	3969.9	3815.1	1310.9	2623.5	62.50	-13.30	149	754.24	0.00	0.00	2.30	0.000	0.000	0.134	3892.66	3970.25	3815.06	1311.00	3357.06	0	0	0	30.00	30.00	14.81
813.81	1028	-243.31	-1.22	0.00	3892.0	3969.0	3815.0	1311.0	3356.9	69.93	-12.59	162	818.42	0.00	0.00	1.78	0.000	0.000	0.033	3892.84	3970.12	3815.56	1311.12	2629.06	0	0	0	30.00	30.00	15.38
998.86	292	-243.31	-1.22	80.00	3892.4	3969.6	3815.2	1310.6	2626.6	87.87	-9.89	199	1004.28	0.00	0.00	2.29	0.000	0.000	0.133	3892.53	3969.31	3815.75	1311.25	3354.50	0	0	0	30.00	30.00	14.80
1053.86	1060	-243.31	-1.22	0.00	3892.3	3969.4	3815.2	1311.1	3355.1	92.46	-8.43	210	1058.47	0.00	0.00	1.77	0.000	0.000	0.033	3892.72	3969.44	3816.00	1311.19	2626.38	0	0	0	30.00	30.00	15.39
1243.90	292	-243.31	-1.22	80.00	3892.4	3969.7	3815.1	1311.1	2623.9	107.05	-7.25	239	1249.31	0.00	0.00	2.29	0.000	0.000	0.134	3892.00	3969.19	3814.81	1311.12	3357.06	0	0	0	30.00	30.00	14.79
1328.90	1060	-243.31	-1.22	0.00	3891.9	3969.1	3814.8	1311.2	3357.0	113.89	-8.50	256	1333.51	0.00	0.00	1.76	0.000	0.000	0.033	3892.91	3969.56	3816.25	1311.38	2625.31	0	0	0	30.00	30.00	15.38
1633.92	32	-243.31	-1.22	0.00	3892.0	3969.0	3815.0	1311.4	2623.1	136.28	-9.94	287	1635.25	0.00	0.00	0.00	0.000	0.000	0.000	3891.81	3968.94	3814.69	1311.31	2623.25	0	0	0	30.00	30.00	30.00
1933.97	0	-243.31	-1.22	0.00	3892.5	3970.0	3815.1	1311.1	2622.9	171.01	-14.73	317	1935.30	0.00	0.00	0.00	0.000	0.000	0.000	3892.66	3969.88	3815.44	1311.00	2624.12	0	0	0	30.00	30.00	30.00
2173	end dive: TARGET_DEPTH_EXCEEDED
state	2173	begin apogee
2175.66	10243	0.00	-0.25	0.00	3892.2	3969.5	3814.9	1310.7	2367.1	201.26	-11.97	341	2388.51	207.95	2.00	0.12	1.253	0.132	0.152	2899.25	2982.69	2815.81	1562.25	2420.62	0	0	0	10.54	14.75	13.96
2390	end apogee: CONTROL_FINISHED_OK
state	2390	begin climb
2390.49	10759	243.31	1.03	-80.00	2898.3	2982.7	2813.9	1562.9	2420.1	215.70	0.00	362	2628.72	227.66	2.25	5.03	1.192	0.066	0.105	1906.38	2007.19	1805.56	1876.62	937.62	0	0	0	10.58	14.13	13.53
2660.87	9382	311.48	1.06	0.00	1903.6	2002.4	1804.8	1876.6	937.9	209.05	8.99	416	2734.07	67.52	0.00	4.24	1.131	0.000	0.046	1631.62	1737.06	1526.19	1876.94	2413.88	0	0	0	10.31	30.00	13.97
3036.22	8226	367.08	1.13	0.00	1623.8	1726.4	1521.3	1876.8	2413.9	174.98	9.38	461	3089.79	52.98	0.00	0.00	1.136	0.000	0.000	1403.09	1510.62	1295.56	1876.88	2414.38	0	0	0	10.47	30.00	30.00
3386.25	10535	393.39	1.16	80.00	1398.0	1503.4	1292.7	1876.5	2414.3	139.67	10.29	496	3427.47	34.16	0.16	2.90	1.061	0.094	0.120	1296.47	1404.19	1188.75	1910.50	3357.50	0	0	0	10.64	15.01	14.52
3446.24	1028	393.39	1.16	0.00	1295.3	1401.9	1188.7	1910.9	3357.6	132.45	12.04	508	3451.78	0.00	0.00	2.55	0.000	0.000	0.034	1295.28	1401.88	1188.69	1910.94	2367.12	0	0	0	30.00	30.00	14.85
3751.31	260	393.39	1.16	80.00	1292.8	1399.8	1185.8	1910.2	2365.9	94.86	11.99	543	3756.86	0.00	0.00	2.99	0.000	0.000	0.112	1293.22	1400.31	1186.12	1910.19	3358.62	0	0	0	30.00	30.00	14.74
3781.30	1028	393.39	1.16	0.00	1292.3	1398.6	1186.1	1910.6	3358.6	90.81	13.49	549	3786.78	0.00	0.00	2.49	0.000	0.000	0.035	1293.09	1399.00	1187.19	1910.69	2365.44	0	0	0	30.00	30.00	15.13
3966.33	260	393.39	1.16	80.00	1292.1	1398.6	1185.7	1910.7	2364.4	68.10	12.90	586	3971.89	0.00	0.00	2.98	0.000	0.000	0.113	1293.22	1399.62	1186.81	1909.88	3359.25	0	0	0	30.00	30.00	14.82
3996.28	1028	393.39	1.16	0.00	1292.2	1398.1	1186.2	1910.6	3358.5	64.32	12.59	592	4001.82	0.00	0.00	2.48	0.000	0.000	0.034	1292.06	1398.25	1185.88	1910.88	2366.06	0	0	0	30.00	30.00	15.21
4181.36	260	393.39	1.16	80.00	1291.8	1398.0	1185.6	1910.4	2365.1	40.91	11.70	629	4186.93	0.00	0.00	2.95	0.000	0.000	0.111	1292.69	1398.88	1186.50	1910.44	3359.38	0	0	0	30.00	30.00	14.85
4206.33	1156	393.39	1.12	0.00	1292.0	1398.1	1185.8	1910.6	3359.1	37.80	11.43	634	4211.84	0.00	0.00	2.48	0.000	0.000	0.034	1292.00	1397.62	1186.38	1910.06	2366.06	0	0	0	30.00	30.00	15.24
4391.38	0	393.39	1.12	0.00	1292.1	1398.0	1186.2	1910.4	2364.8	15.61	12.12	671	4392.71	0.00	0.00	0.00	0.000	0.000	0.000	1291.34	1397.50	1185.19	1910.62	2365.12	0	0	0	30.00	30.00	30.00
4506	end climb: SURFACE_DEPTH_REACHED
state	4506	begin surface coast
4521	end surface coast: CONTROL_FINISHED_OK
state	4521	begin surface