Glider dive log

NISKINE Oct20 * SG234 * Dive index * Mission links * Dive 757 * 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 757 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 242.82396 SEABIRD_T_H 0.00064707285

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 1620 FG_AHR_24V 310.44003 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 242.82396 PITCH_CNV 0.0041299998 SURFACE_URGENCY 0

ALTIM_PING_FIT 0 FG_AHR_24V 310.44003 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 757 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 060421,030139,6245.169,-2029.352,15,1.0,15,-11.6 TGT_LATLONG 6245.000,-2030.000

_CALLS 2 TGT_RADIUS 2000.000

_SM_DEPTHo 0.40 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -35.5 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 060421,030644,6245.173,-2029.436,3,1.1,6,-11.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.334 MHEAD_RNG_PITCHd_Wd 202.7,576,-27.4,-11.111,-30.00

TGT_NAME Sta36 D_GRID 300

Post-dive calculations and measurements:

SM_CCo 4971.45,0.00,0.011,0,1064.9,1168.1,961.7,450.16 FG_AHR_24Vo 310.651

SM_GC 0.36,0.00,11.98,0.86,0.011,0.060,0.098,1064.9,1168.1,961.7,185.9,2677.7,0,0,0,30.36,15.09,14.91 FG_AHR_10Vo 242.833

SUPER 51,71,254,1,0,0 MEM 1162944,26,14568,51

IRIDIUM_FIX 6245.65,-2029.51,060421,030324 DATA_FILE_SIZE 22529,680

TCM_TEMP -0.24 CAP_FILE_SIZE 182045,0

XPDR_PINGS 2,-1.0,-1.0 SDSIZE 3918848,3694368

HUMID 55.31 SDFILEDIR 4516,1

TEMP 7.34 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.05767 CURRENT 0.204,258.9,1

_24V_AH 13.30,353.367 GPS 060421,043025,6245.067,-2030.617,14,0.9,30,-11.6

_10V_AH 13.75,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 724 1379 13288.94 SBE_CT 0 0 0.00

Pitch_motor 28 272 103.56 nil 0 0 0.00

Roll_motor 69 202 188.45 nil 0 0 0.00

Iridium 155 190 395.45 nil 0 0 0.00

Transponder_ping 0 420 2.79 nil 0 0 0.00

GPS 15 15 3.19 nil 0 0 0.00

Core 1964 11 318.78 SciCon 0 0 0.00

LPSleep 3030 2 116.66 TMICL 0 0 0.00

Compass 812 5 55.89 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 -74.41 -1.46 0.00 1059.9 1159.6 960.2 187.9 2633.1 0.00 0.00 0 120.95 115.93 0.00 0.13 0.005 0.000 0.203 3201.34 3259.50 3143.19 188.06 2685.94 0 0 0 13.98 30.00 14.07

121.19 18983 -163.81 -1.57 -80.00 3201.6 3260.3 3142.9 188.1 2685.6 2.78 -2.13 23 151.60 12.84 9.44 4.35 0.006 0.273 0.103 3569.00 3650.50 3487.50 1240.00 1204.44 0 0 0 14.25 14.29 14.09

373.77 21671 -169.24 -1.72 0.00 3569.0 3652.9 3485.1 1240.1 1204.8 32.30 -10.57 74 380.69 0.23 0.34 4.03 0.091 0.078 0.067 3589.53 3674.06 3505.00 1192.31 2679.38 0 0 0 14.35 14.71 14.90

558.80 644 -169.24 -1.77 -80.00 3590.0 3674.8 3505.2 1192.5 2679.7 59.88 -16.10 111 564.62 0.00 0.00 4.28 0.000 0.000 0.096 3591.00 3675.44 3506.56 1192.81 1205.62 0 0 0 30.00 30.00 14.82

693.81 1156 -169.24 -1.84 0.00 3590.2 3675.2 3505.2 1193.0 1205.7 80.94 -14.85 138 699.60 0.00 0.00 4.07 0.000 0.000 0.069 3591.41 3675.69 3507.12 1192.56 2680.06 0 0 0 30.00 30.00 14.88

878.84 4485 -169.24 -1.88 80.00 3590.4 3675.0 3505.8 1192.3 2679.6 109.21 -14.88 169 884.37 0.00 0.20 2.13 0.000 0.088 0.131 3590.03 3674.56 3505.50 1150.94 3358.38 0 0 0 30.00 15.29 14.74

923.82 1028 -169.24 -1.88 0.00 3589.7 3674.5 3504.9 1151.1 3358.8 117.49 -18.53 178 928.43 0.00 0.00 1.79 0.000 0.000 0.036 3590.38 3674.25 3506.50 1150.81 2634.69 0 0 0 30.00 30.00 15.23

1228.86 260 -169.24 -1.88 80.00 3590.2 3675.2 3505.1 1150.9 2635.4 171.11 -17.88 209 1234.29 0.00 0.00 2.23 0.000 0.000 0.128 3590.88 3676.19 3505.56 1151.00 3357.62 0 0 0 30.00 30.00 14.72

1273.87 1156 -169.24 -1.84 0.00 3590.5 3675.4 3505.6 1151.1 3357.3 179.92 -19.76 218 1278.48 0.00 0.00 1.78 0.000 0.000 0.037 3590.88 3675.31 3506.44 1150.88 2635.44 0 0 0 30.00 30.00 15.21

1578.88 260 -169.24 -1.84 80.00 3590.3 3674.7 3506.0 1151.4 2635.2 242.29 -18.66 249 1584.31 0.00 0.00 2.22 0.000 0.000 0.126 3590.88 3675.56 3506.19 1151.06 3354.81 0 0 0 30.00 30.00 14.72

1658.89 1028 -169.24 -1.84 0.00 3589.9 3674.4 3505.3 1151.0 3355.8 258.22 -20.08 265 1663.52 0.00 0.00 1.80 0.000 0.000 0.037 3590.25 3674.88 3505.62 1150.81 2637.56 0 0 0 30.00 30.00 15.18

1898 end dive: TARGET_DEPTH_EXCEEDED

state 1898 begin apogee

1900.65 10243 0.00 -0.25 0.00 3590.0 3674.9 3505.1 1150.8 2373.4 301.80 -19.28 290 2054.54 148.60 3.34 0.10 1.380 0.172 0.181 2899.41 2985.94 2812.88 1561.12 2417.31 0 0 0 10.60 14.49 14.11

2056 end apogee: CONTROL_FINISHED_OK

state 2056 begin climb

2056.51 10759 169.24 1.58 -80.00 2898.8 2985.6 2811.9 1561.4 2417.6 309.17 0.00 305 2228.63 160.62 3.22 4.99 1.324 0.071 0.111 2207.88 2301.25 2114.50 2008.38 937.62 0 0 0 10.62 14.26 13.63

2370.76 1028 169.24 1.58 0.00 2202.2 2291.9 2112.6 2008.4 937.8 291.34 12.84 368 2376.58 0.00 0.00 4.15 0.000 0.000 0.053 2203.28 2292.88 2113.69 2008.00 2414.19 0 0 0 30.00 30.00 14.33

2675.78 16386 169.24 1.58 0.00 2199.3 2289.4 2109.2 2008.1 2414.6 256.69 11.47 399 2677.12 0.00 0.00 0.00 0.000 0.000 0.000 2198.38 2289.06 2107.69 2007.81 2414.00 0 0 0 30.00 30.00 30.00

2975.85 16902 169.24 1.58 -80.00 2198.8 2289.0 2108.5 2007.8 2414.7 219.44 12.20 429 2981.68 0.00 0.00 4.43 0.000 0.000 0.101 2199.66 2288.50 2110.81 2006.88 936.88 0 0 0 30.00 30.00 14.87

3015.81 17414 169.24 1.58 0.00 2198.3 2288.2 2108.4 2008.7 936.8 214.53 13.22 437 3021.59 0.00 0.00 3.90 0.000 0.000 0.050 2199.53 2289.25 2109.81 2007.81 2414.50 0 0 0 30.00 30.00 15.01

3325.84 16418 169.71 1.58 0.00 2198.2 2288.1 2108.4 2008.1 2414.5 179.71 11.06 469 3327.17 0.00 0.00 0.00 0.000 0.000 0.000 2198.12 2288.44 2107.81 2008.00 2414.12 0 0 0 30.00 30.00 30.00

3625.89 16902 169.71 1.58 -80.00 2197.9 2288.1 2107.8 2007.7 2414.6 144.61 11.83 499 3631.72 0.00 0.00 4.41 0.000 0.000 0.100 2198.66 2289.38 2107.94 2008.06 935.62 0 0 0 30.00 30.00 14.87

3660.85 17414 169.71 1.58 0.00 2197.6 2287.5 2107.7 2008.9 935.6 139.97 13.34 506 3666.62 0.00 0.00 3.88 0.000 0.000 0.050 2198.97 2288.88 2109.06 2008.00 2413.38 0 0 0 30.00 30.00 15.02

3965.88 8742 213.22 1.63 -80.00 2197.8 2287.8 2107.8 2008.1 2413.2 111.68 6.74 537 4022.80 51.08 0.00 4.41 1.140 0.000 0.101 2030.19 2125.94 1934.44 2007.56 936.50 0 0 0 10.65 30.00 14.84

4049.93 1060 214.55 1.63 0.00 2027.8 2122.3 1933.4 2008.4 936.7 104.48 10.98 550 4055.69 0.00 0.00 3.90 0.000 0.000 0.048 2028.41 2122.94 1933.88 2008.00 2415.44 0 0 0 30.00 30.00 15.06

4355.05 0 214.55 1.63 0.00 2025.0 2120.1 1929.9 2007.8 2415.6 61.87 13.63 608 4356.38 0.00 0.00 0.00 0.000 0.000 0.000 2023.88 2119.31 1928.44 2008.00 2415.56 0 0 0 30.00 30.00 30.00

4535.04 260 214.55 1.63 80.00 2024.4 2119.6 1929.1 2008.1 2415.6 31.16 22.67 644 4540.64 0.00 0.00 2.87 0.000 0.000 0.124 2024.75 2119.88 1929.62 2008.44 3355.06 0 0 0 30.00 30.00 14.91

4555.04 1028 214.55 1.63 0.00 2023.8 2118.6 1929.0 2008.3 3355.1 26.38 23.64 648 4560.52 0.00 0.00 2.45 0.000 0.000 0.034 2023.75 2118.94 1928.56 2008.25 2366.31 0 0 0 30.00 30.00 15.35

4700 end climb: SURFACE_DEPTH_REACHED

state 4700 begin surface coast

4715 end surface coast: CONTROL_FINISHED_OK

state 4715 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	757	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	242.82396	SEABIRD_T_H	0.00064707285
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	1620	FG_AHR_24V	310.44003	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	060421,030139,6245.169,-2029.352,15,1.0,15,-11.6	TGT_LATLONG	6245.000,-2030.000
_CALLS	2	TGT_RADIUS	2000.000
_SM_DEPTHo	0.40	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-35.5	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	060421,030644,6245.173,-2029.436,3,1.1,6,-11.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.334	MHEAD_RNG_PITCHd_Wd	202.7,576,-27.4,-11.111,-30.00
TGT_NAME	Sta36	D_GRID	300

SM_CCo	4971.45,0.00,0.011,0,1064.9,1168.1,961.7,450.16	FG_AHR_24Vo	310.651
SM_GC	0.36,0.00,11.98,0.86,0.011,0.060,0.098,1064.9,1168.1,961.7,185.9,2677.7,0,0,0,30.36,15.09,14.91	FG_AHR_10Vo	242.833
SUPER	51,71,254,1,0,0	MEM	1162944,26,14568,51
IRIDIUM_FIX	6245.65,-2029.51,060421,030324	DATA_FILE_SIZE	22529,680
TCM_TEMP	-0.24	CAP_FILE_SIZE	182045,0
XPDR_PINGS	2,-1.0,-1.0	SDSIZE	3918848,3694368
HUMID	55.31	SDFILEDIR	4516,1
TEMP	7.34	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.05767	CURRENT	0.204,258.9,1
_24V_AH	13.30,353.367	GPS	060421,043025,6245.067,-2030.617,14,0.9,30,-11.6
_10V_AH	13.75,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	724	1379	13288.94	SBE_CT	0	0	0.00
Pitch_motor	28	272	103.56	nil	0	0	0.00
Roll_motor	69	202	188.45	nil	0	0	0.00
Iridium	155	190	395.45	nil	0	0	0.00
Transponder_ping	0	420	2.79	nil	0	0	0.00
GPS	15	15	3.19	nil	0	0	0.00
Core	1964	11	318.78	SciCon	0	0	0.00
LPSleep	3030	2	116.66	TMICL	0	0	0.00
Compass	812	5	55.89	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	-74.41	-1.46	0.00	1059.9	1159.6	960.2	187.9	2633.1	0.00	0.00	0	120.95	115.93	0.00	0.13	0.005	0.000	0.203	3201.34	3259.50	3143.19	188.06	2685.94	0	0	0	13.98	30.00	14.07
121.19	18983	-163.81	-1.57	-80.00	3201.6	3260.3	3142.9	188.1	2685.6	2.78	-2.13	23	151.60	12.84	9.44	4.35	0.006	0.273	0.103	3569.00	3650.50	3487.50	1240.00	1204.44	0	0	0	14.25	14.29	14.09
373.77	21671	-169.24	-1.72	0.00	3569.0	3652.9	3485.1	1240.1	1204.8	32.30	-10.57	74	380.69	0.23	0.34	4.03	0.091	0.078	0.067	3589.53	3674.06	3505.00	1192.31	2679.38	0	0	0	14.35	14.71	14.90
558.80	644	-169.24	-1.77	-80.00	3590.0	3674.8	3505.2	1192.5	2679.7	59.88	-16.10	111	564.62	0.00	0.00	4.28	0.000	0.000	0.096	3591.00	3675.44	3506.56	1192.81	1205.62	0	0	0	30.00	30.00	14.82
693.81	1156	-169.24	-1.84	0.00	3590.2	3675.2	3505.2	1193.0	1205.7	80.94	-14.85	138	699.60	0.00	0.00	4.07	0.000	0.000	0.069	3591.41	3675.69	3507.12	1192.56	2680.06	0	0	0	30.00	30.00	14.88
878.84	4485	-169.24	-1.88	80.00	3590.4	3675.0	3505.8	1192.3	2679.6	109.21	-14.88	169	884.37	0.00	0.20	2.13	0.000	0.088	0.131	3590.03	3674.56	3505.50	1150.94	3358.38	0	0	0	30.00	15.29	14.74
923.82	1028	-169.24	-1.88	0.00	3589.7	3674.5	3504.9	1151.1	3358.8	117.49	-18.53	178	928.43	0.00	0.00	1.79	0.000	0.000	0.036	3590.38	3674.25	3506.50	1150.81	2634.69	0	0	0	30.00	30.00	15.23
1228.86	260	-169.24	-1.88	80.00	3590.2	3675.2	3505.1	1150.9	2635.4	171.11	-17.88	209	1234.29	0.00	0.00	2.23	0.000	0.000	0.128	3590.88	3676.19	3505.56	1151.00	3357.62	0	0	0	30.00	30.00	14.72
1273.87	1156	-169.24	-1.84	0.00	3590.5	3675.4	3505.6	1151.1	3357.3	179.92	-19.76	218	1278.48	0.00	0.00	1.78	0.000	0.000	0.037	3590.88	3675.31	3506.44	1150.88	2635.44	0	0	0	30.00	30.00	15.21
1578.88	260	-169.24	-1.84	80.00	3590.3	3674.7	3506.0	1151.4	2635.2	242.29	-18.66	249	1584.31	0.00	0.00	2.22	0.000	0.000	0.126	3590.88	3675.56	3506.19	1151.06	3354.81	0	0	0	30.00	30.00	14.72
1658.89	1028	-169.24	-1.84	0.00	3589.9	3674.4	3505.3	1151.0	3355.8	258.22	-20.08	265	1663.52	0.00	0.00	1.80	0.000	0.000	0.037	3590.25	3674.88	3505.62	1150.81	2637.56	0	0	0	30.00	30.00	15.18
1898	end dive: TARGET_DEPTH_EXCEEDED
state	1898	begin apogee
1900.65	10243	0.00	-0.25	0.00	3590.0	3674.9	3505.1	1150.8	2373.4	301.80	-19.28	290	2054.54	148.60	3.34	0.10	1.380	0.172	0.181	2899.41	2985.94	2812.88	1561.12	2417.31	0	0	0	10.60	14.49	14.11
2056	end apogee: CONTROL_FINISHED_OK
state	2056	begin climb
2056.51	10759	169.24	1.58	-80.00	2898.8	2985.6	2811.9	1561.4	2417.6	309.17	0.00	305	2228.63	160.62	3.22	4.99	1.324	0.071	0.111	2207.88	2301.25	2114.50	2008.38	937.62	0	0	0	10.62	14.26	13.63
2370.76	1028	169.24	1.58	0.00	2202.2	2291.9	2112.6	2008.4	937.8	291.34	12.84	368	2376.58	0.00	0.00	4.15	0.000	0.000	0.053	2203.28	2292.88	2113.69	2008.00	2414.19	0	0	0	30.00	30.00	14.33
2675.78	16386	169.24	1.58	0.00	2199.3	2289.4	2109.2	2008.1	2414.6	256.69	11.47	399	2677.12	0.00	0.00	0.00	0.000	0.000	0.000	2198.38	2289.06	2107.69	2007.81	2414.00	0	0	0	30.00	30.00	30.00
2975.85	16902	169.24	1.58	-80.00	2198.8	2289.0	2108.5	2007.8	2414.7	219.44	12.20	429	2981.68	0.00	0.00	4.43	0.000	0.000	0.101	2199.66	2288.50	2110.81	2006.88	936.88	0	0	0	30.00	30.00	14.87
3015.81	17414	169.24	1.58	0.00	2198.3	2288.2	2108.4	2008.7	936.8	214.53	13.22	437	3021.59	0.00	0.00	3.90	0.000	0.000	0.050	2199.53	2289.25	2109.81	2007.81	2414.50	0	0	0	30.00	30.00	15.01
3325.84	16418	169.71	1.58	0.00	2198.2	2288.1	2108.4	2008.1	2414.5	179.71	11.06	469	3327.17	0.00	0.00	0.00	0.000	0.000	0.000	2198.12	2288.44	2107.81	2008.00	2414.12	0	0	0	30.00	30.00	30.00
3625.89	16902	169.71	1.58	-80.00	2197.9	2288.1	2107.8	2007.7	2414.6	144.61	11.83	499	3631.72	0.00	0.00	4.41	0.000	0.000	0.100	2198.66	2289.38	2107.94	2008.06	935.62	0	0	0	30.00	30.00	14.87
3660.85	17414	169.71	1.58	0.00	2197.6	2287.5	2107.7	2008.9	935.6	139.97	13.34	506	3666.62	0.00	0.00	3.88	0.000	0.000	0.050	2198.97	2288.88	2109.06	2008.00	2413.38	0	0	0	30.00	30.00	15.02
3965.88	8742	213.22	1.63	-80.00	2197.8	2287.8	2107.8	2008.1	2413.2	111.68	6.74	537	4022.80	51.08	0.00	4.41	1.140	0.000	0.101	2030.19	2125.94	1934.44	2007.56	936.50	0	0	0	10.65	30.00	14.84
4049.93	1060	214.55	1.63	0.00	2027.8	2122.3	1933.4	2008.4	936.7	104.48	10.98	550	4055.69	0.00	0.00	3.90	0.000	0.000	0.048	2028.41	2122.94	1933.88	2008.00	2415.44	0	0	0	30.00	30.00	15.06
4355.05	0	214.55	1.63	0.00	2025.0	2120.1	1929.9	2007.8	2415.6	61.87	13.63	608	4356.38	0.00	0.00	0.00	0.000	0.000	0.000	2023.88	2119.31	1928.44	2008.00	2415.56	0	0	0	30.00	30.00	30.00
4535.04	260	214.55	1.63	80.00	2024.4	2119.6	1929.1	2008.1	2415.6	31.16	22.67	644	4540.64	0.00	0.00	2.87	0.000	0.000	0.124	2024.75	2119.88	1929.62	2008.44	3355.06	0	0	0	30.00	30.00	14.91
4555.04	1028	214.55	1.63	0.00	2023.8	2118.6	1929.0	2008.3	3355.1	26.38	23.64	648	4560.52	0.00	0.00	2.45	0.000	0.000	0.034	2023.75	2118.94	1928.56	2008.25	2366.31	0	0	0	30.00	30.00	15.35
4700	end climb: SURFACE_DEPTH_REACHED
state	4700	begin surface coast
4715	end surface coast: CONTROL_FINISHED_OK
state	4715	begin surface