Glider dive log

NISKINE Oct20 * SG234 * Dive index * Mission links * Dive 759 * 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 759 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

N_DIVES 759 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 7 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 242.85751 SEABIRD_T_H 0.00064707285

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 1620 FG_AHR_24V 310.8772 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 242.85751 PITCH_CNV 0.0041299998 SURFACE_URGENCY 0

ALTIM_PING_FIT 0 FG_AHR_24V 310.8772 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 7

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 759 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 759 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 060421,055259,6245.368,-2029.800,1,0.8,4,-11.6 TGT_LATLONG 6245.000,-2030.000

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 0.38 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -36.0 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 060421,055650,6245.420,-2029.828,3,0.7,4,-11.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.334 MHEAD_RNG_PITCHd_Wd 225.5,791,-14.6,-11.111,-18.42

TGT_NAME Sta36 D_GRID 200

Post-dive calculations and measurements:

SM_CCo 4496.79,35.40,1.066,0,1065.2,1170.6,959.9,450.06 FG_AHR_24Vo 311.097

SM_GC 0.51,35.40,11.51,0.68,1.066,0.073,0.083,1065.2,1170.6,959.9,185.7,2683.2,0,0,0,10.79,14.76,14.98 FG_AHR_10Vo 242.865

SUPER 59,71,254,1,0,0 MEM 1162928,27,14564,51

IRIDIUM_FIX 6246.32,-2025.11,060421,043359 DATA_FILE_SIZE 22561,716

TCM_TEMP 0.07 CAP_FILE_SIZE 183762,0

XPDR_PINGS 0,-1.0,-1.0 SDSIZE 3918848,3694112

HUMID 55.51 SDFILEDIR 4522,1

TEMP 7.44 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.06351 CURRENT 0.257,296.6,1

_24V_AH 13.15,353.834 GPS 060421,071210,6245.700,-2031.047,2,2.0,4,-11.6

_10V_AH 14.52,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 795 1243 13010.78 SBE_CT 0 0 0.00

Pitch_motor 26 276 97.96 nil 0 0 0.00

Roll_motor 63 139 116.74 nil 0 0 0.00

Iridium 142 179 335.49 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 2.98 nil 0 0 0.00

Core 2195 11 376.22 SciCon 0 0 0.00

LPSleep 2452 2 99.70 TMICL 0 0 0.00

Compass 854 5 62.05 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 -243.31 -1.03 0.00 1059.9 1163.2 956.7 186.9 2629.9 0.00 0.00 0 131.13 126.57 0.00 0.00 0.005 0.000 0.000 3404.06 3469.88 3338.25 186.62 2630.38 0 0 0 14.21 30.00 30.00

131.41 18727 -243.31 -1.03 80.00 3404.2 3470.6 3337.9 186.6 2629.6 3.51 -2.62 25 162.53 14.62 10.56 2.21 0.006 0.277 0.130 3890.56 3967.25 3813.88 1369.12 3358.38 0 0 0 14.44 14.49 14.22

384.69 1188 -243.31 -1.12 0.00 3892.0 3970.0 3813.9 1369.4 3358.5 23.71 -6.31 76 389.30 0.00 0.00 1.76 0.000 0.000 0.031 3892.34 3970.50 3814.19 1369.38 2608.50 0 0 0 30.00 30.00 15.42

569.77 4517 -243.31 -1.21 80.00 3892.5 3970.0 3815.0 1369.2 2607.8 37.48 -7.67 113 575.33 0.00 0.42 2.31 0.000 0.065 0.124 3892.84 3970.38 3815.31 1310.50 3355.88 0 0 0 30.00 15.32 14.85

729.72 1028 -243.31 -1.21 0.00 3892.1 3970.2 3814.0 1310.1 3357.4 53.26 -11.96 145 734.33 0.00 0.00 1.77 0.000 0.000 0.030 3892.50 3969.81 3815.19 1310.12 2616.62 0 0 0 30.00 30.00 15.40

914.76 0 -243.31 -1.21 0.00 3892.3 3970.0 3814.6 1309.9 2614.1 72.64 -11.24 182 916.09 0.00 0.00 0.00 0.000 0.000 0.000 3893.00 3971.00 3815.00 1310.25 2614.62 0 0 0 30.00 30.00 30.00

1094.79 32 -243.31 -1.21 0.00 3892.4 3970.2 3814.5 1309.9 2614.8 90.37 -10.46 218 1096.12 0.00 0.00 0.00 0.000 0.000 0.000 3891.41 3969.50 3813.31 1309.81 2614.19 0 0 0 30.00 30.00 30.00

1279.87 292 -243.31 -1.21 80.00 3891.9 3969.8 3814.0 1309.9 2614.2 109.36 -10.18 246 1285.24 0.00 0.00 2.30 0.000 0.000 0.123 3893.16 3970.69 3815.62 1309.69 3357.62 0 0 0 30.00 30.00 14.82

1324.82 1060 -243.31 -1.21 0.00 3892.3 3970.2 3814.5 1310.1 3357.1 114.21 -10.91 255 1329.43 0.00 0.00 1.77 0.000 0.000 0.032 3893.66 3971.31 3816.00 1309.50 2617.00 0 0 0 30.00 30.00 15.43

1629.86 292 -243.31 -1.21 80.00 3892.6 3970.7 3814.4 1309.7 2614.7 146.43 -10.47 286 1635.28 0.00 0.00 2.28 0.000 0.000 0.124 3892.09 3969.94 3814.25 1310.00 3357.88 0 0 0 30.00 30.00 14.81

1664.85 1060 -243.31 -1.21 0.00 3891.7 3969.8 3813.6 1309.9 3358.2 150.26 -10.93 293 1669.46 0.00 0.00 1.77 0.000 0.000 0.032 3892.06 3970.25 3813.88 1310.19 2615.25 0 0 0 30.00 30.00 15.43

1969.88 292 -243.31 -1.21 80.00 3892.0 3969.6 3814.4 1309.7 2613.2 182.34 -10.73 324 1975.30 0.00 0.00 2.28 0.000 0.000 0.124 3892.91 3970.75 3815.06 1310.00 3358.19 0 0 0 30.00 30.00 14.80

2029.86 1028 -243.31 -1.21 0.00 3892.2 3970.1 3814.4 1309.9 3358.2 189.25 -11.52 336 2034.47 0.00 0.00 1.76 0.000 0.000 0.032 3891.53 3969.25 3813.81 1310.00 2614.94 0 0 0 30.00 30.00 15.43

2139 end dive: TARGET_DEPTH_EXCEEDED

state 2139 begin apogee

2141.58 10243 0.00 -0.25 0.00 3892.4 3970.4 3814.3 1309.8 2360.2 200.82 -10.55 348 2354.43 208.27 1.99 0.14 1.244 0.133 0.140 2898.66 2983.50 2813.81 1561.75 2424.12 0 0 0 10.61 14.77 13.96

2356 end apogee: CONTROL_FINISHED_OK

state 2356 begin climb

2356.42 10759 243.31 1.03 -80.00 2897.4 2982.1 2812.8 1561.9 2424.6 210.70 0.00 369 2594.53 226.40 2.26 4.97 1.178 0.067 0.105 1906.56 2007.06 1806.06 1876.12 938.75 0 0 0 10.61 14.13 13.54

2626.69 9382 313.19 1.06 0.00 1903.7 2003.1 1804.2 1876.1 938.8 199.46 8.93 423 2703.80 69.29 0.00 4.18 1.123 0.000 0.045 1622.78 1728.06 1517.50 1876.44 2415.56 0 0 0 10.29 30.00 13.97

3006.68 8486 372.27 1.14 80.00 1617.4 1720.4 1514.4 1876.6 2415.6 163.62 9.27 469 3073.50 61.60 0.00 2.99 1.107 0.000 0.119 1382.69 1490.31 1275.06 1876.75 3354.12 0 0 0 10.46 30.00 14.12

3091.69 11303 411.04 1.18 0.00 1381.8 1489.0 1274.7 1877.5 3355.0 155.57 9.90 486 3143.02 44.51 0.20 2.61 1.062 0.095 0.032 1225.12 1335.50 1114.75 1912.94 2364.00 0 0 0 10.45 14.27 14.44

3446.70 260 411.04 1.18 80.00 1220.4 1330.3 1110.4 1913.6 2364.0 114.67 12.23 527 3452.32 0.00 0.00 3.04 0.000 0.000 0.111 1220.84 1330.69 1111.00 1913.06 3354.62 0 0 0 30.00 30.00 14.54

3466.69 1028 411.04 1.18 0.00 1219.3 1328.2 1110.4 1912.9 3354.7 112.25 12.46 531 3472.25 0.00 0.00 2.52 0.000 0.000 0.033 1219.53 1327.88 1111.19 1912.69 2366.44 0 0 0 30.00 30.00 14.96

3771.74 516 411.04 1.18 -80.00 1219.3 1328.3 1110.4 1913.9 2365.0 79.87 11.57 582 3777.59 0.00 0.00 4.34 0.000 0.000 0.108 1219.88 1328.50 1111.25 1912.25 936.75 0 0 0 30.00 30.00 14.79

3801.76 9254 417.51 1.19 0.00 1218.7 1327.2 1110.2 1913.2 936.6 76.46 10.91 588 3817.55 8.76 0.00 3.87 0.864 0.000 0.048 1198.69 1306.19 1091.19 1912.88 2416.94 0 0 0 10.66 30.00 14.97

3996.78 260 417.51 1.19 80.00 1197.5 1305.2 1089.9 1913.2 2417.8 54.39 11.27 627 4002.36 0.00 0.00 2.81 0.000 0.000 0.117 1198.91 1306.69 1091.12 1912.62 3358.12 0 0 0 30.00 30.00 14.85

4016.76 1028 417.51 1.19 0.00 1197.3 1304.8 1089.9 1913.4 3358.9 52.19 11.19 631 4022.30 0.00 0.00 2.44 0.000 0.000 0.032 1197.72 1304.94 1090.50 1912.94 2363.88 0 0 0 30.00 30.00 15.25

4201.84 516 417.51 1.19 -80.00 1197.5 1305.0 1089.9 1913.2 2362.3 28.99 12.26 668 4207.64 0.00 0.00 4.27 0.000 0.000 0.110 1197.66 1305.06 1090.25 1913.12 936.81 0 0 0 30.00 30.00 14.87

4226.82 1028 417.51 1.19 0.00 1197.2 1304.8 1089.5 1912.9 936.6 25.87 12.47 673 4232.57 0.00 0.00 3.85 0.000 0.000 0.048 1197.41 1305.00 1089.81 1913.50 2417.06 0 0 0 30.00 30.00 15.05

4411.81 0 417.51 1.19 0.00 1197.2 1304.5 1090.0 1913.2 2418.4 3.64 11.71 710 4413.14 0.00 0.00 0.00 0.000 0.000 0.000 1196.72 1303.94 1089.50 1912.81 2417.12 0 0 0 30.00 30.00 30.00

4426 end climb: SURFACE_DEPTH_REACHED

state 4426 begin surface coast

4441 end surface coast: CONTROL_FINISHED_OK

state 4441 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	759	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
N_DIVES	759	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	7	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	242.85751	SEABIRD_T_H	0.00064707285
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	1620	FG_AHR_24V	310.8772	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	060421,055259,6245.368,-2029.800,1,0.8,4,-11.6	TGT_LATLONG	6245.000,-2030.000
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	0.38	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-36.0	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	060421,055650,6245.420,-2029.828,3,0.7,4,-11.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.334	MHEAD_RNG_PITCHd_Wd	225.5,791,-14.6,-11.111,-18.42
TGT_NAME	Sta36	D_GRID	200

SM_CCo	4496.79,35.40,1.066,0,1065.2,1170.6,959.9,450.06	FG_AHR_24Vo	311.097
SM_GC	0.51,35.40,11.51,0.68,1.066,0.073,0.083,1065.2,1170.6,959.9,185.7,2683.2,0,0,0,10.79,14.76,14.98	FG_AHR_10Vo	242.865
SUPER	59,71,254,1,0,0	MEM	1162928,27,14564,51
IRIDIUM_FIX	6246.32,-2025.11,060421,043359	DATA_FILE_SIZE	22561,716
TCM_TEMP	0.07	CAP_FILE_SIZE	183762,0
XPDR_PINGS	0,-1.0,-1.0	SDSIZE	3918848,3694112
HUMID	55.51	SDFILEDIR	4522,1
TEMP	7.44	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.06351	CURRENT	0.257,296.6,1
_24V_AH	13.15,353.834	GPS	060421,071210,6245.700,-2031.047,2,2.0,4,-11.6
_10V_AH	14.52,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	795	1243	13010.78	SBE_CT	0	0	0.00
Pitch_motor	26	276	97.96	nil	0	0	0.00
Roll_motor	63	139	116.74	nil	0	0	0.00
Iridium	142	179	335.49	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	2.98	nil	0	0	0.00
Core	2195	11	376.22	SciCon	0	0	0.00
LPSleep	2452	2	99.70	TMICL	0	0	0.00
Compass	854	5	62.05	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	-243.31	-1.03	0.00	1059.9	1163.2	956.7	186.9	2629.9	0.00	0.00	0	131.13	126.57	0.00	0.00	0.005	0.000	0.000	3404.06	3469.88	3338.25	186.62	2630.38	0	0	0	14.21	30.00	30.00
131.41	18727	-243.31	-1.03	80.00	3404.2	3470.6	3337.9	186.6	2629.6	3.51	-2.62	25	162.53	14.62	10.56	2.21	0.006	0.277	0.130	3890.56	3967.25	3813.88	1369.12	3358.38	0	0	0	14.44	14.49	14.22
384.69	1188	-243.31	-1.12	0.00	3892.0	3970.0	3813.9	1369.4	3358.5	23.71	-6.31	76	389.30	0.00	0.00	1.76	0.000	0.000	0.031	3892.34	3970.50	3814.19	1369.38	2608.50	0	0	0	30.00	30.00	15.42
569.77	4517	-243.31	-1.21	80.00	3892.5	3970.0	3815.0	1369.2	2607.8	37.48	-7.67	113	575.33	0.00	0.42	2.31	0.000	0.065	0.124	3892.84	3970.38	3815.31	1310.50	3355.88	0	0	0	30.00	15.32	14.85
729.72	1028	-243.31	-1.21	0.00	3892.1	3970.2	3814.0	1310.1	3357.4	53.26	-11.96	145	734.33	0.00	0.00	1.77	0.000	0.000	0.030	3892.50	3969.81	3815.19	1310.12	2616.62	0	0	0	30.00	30.00	15.40
914.76	0	-243.31	-1.21	0.00	3892.3	3970.0	3814.6	1309.9	2614.1	72.64	-11.24	182	916.09	0.00	0.00	0.00	0.000	0.000	0.000	3893.00	3971.00	3815.00	1310.25	2614.62	0	0	0	30.00	30.00	30.00
1094.79	32	-243.31	-1.21	0.00	3892.4	3970.2	3814.5	1309.9	2614.8	90.37	-10.46	218	1096.12	0.00	0.00	0.00	0.000	0.000	0.000	3891.41	3969.50	3813.31	1309.81	2614.19	0	0	0	30.00	30.00	30.00
1279.87	292	-243.31	-1.21	80.00	3891.9	3969.8	3814.0	1309.9	2614.2	109.36	-10.18	246	1285.24	0.00	0.00	2.30	0.000	0.000	0.123	3893.16	3970.69	3815.62	1309.69	3357.62	0	0	0	30.00	30.00	14.82
1324.82	1060	-243.31	-1.21	0.00	3892.3	3970.2	3814.5	1310.1	3357.1	114.21	-10.91	255	1329.43	0.00	0.00	1.77	0.000	0.000	0.032	3893.66	3971.31	3816.00	1309.50	2617.00	0	0	0	30.00	30.00	15.43
1629.86	292	-243.31	-1.21	80.00	3892.6	3970.7	3814.4	1309.7	2614.7	146.43	-10.47	286	1635.28	0.00	0.00	2.28	0.000	0.000	0.124	3892.09	3969.94	3814.25	1310.00	3357.88	0	0	0	30.00	30.00	14.81
1664.85	1060	-243.31	-1.21	0.00	3891.7	3969.8	3813.6	1309.9	3358.2	150.26	-10.93	293	1669.46	0.00	0.00	1.77	0.000	0.000	0.032	3892.06	3970.25	3813.88	1310.19	2615.25	0	0	0	30.00	30.00	15.43
1969.88	292	-243.31	-1.21	80.00	3892.0	3969.6	3814.4	1309.7	2613.2	182.34	-10.73	324	1975.30	0.00	0.00	2.28	0.000	0.000	0.124	3892.91	3970.75	3815.06	1310.00	3358.19	0	0	0	30.00	30.00	14.80
2029.86	1028	-243.31	-1.21	0.00	3892.2	3970.1	3814.4	1309.9	3358.2	189.25	-11.52	336	2034.47	0.00	0.00	1.76	0.000	0.000	0.032	3891.53	3969.25	3813.81	1310.00	2614.94	0	0	0	30.00	30.00	15.43
2139	end dive: TARGET_DEPTH_EXCEEDED
state	2139	begin apogee
2141.58	10243	0.00	-0.25	0.00	3892.4	3970.4	3814.3	1309.8	2360.2	200.82	-10.55	348	2354.43	208.27	1.99	0.14	1.244	0.133	0.140	2898.66	2983.50	2813.81	1561.75	2424.12	0	0	0	10.61	14.77	13.96
2356	end apogee: CONTROL_FINISHED_OK
state	2356	begin climb
2356.42	10759	243.31	1.03	-80.00	2897.4	2982.1	2812.8	1561.9	2424.6	210.70	0.00	369	2594.53	226.40	2.26	4.97	1.178	0.067	0.105	1906.56	2007.06	1806.06	1876.12	938.75	0	0	0	10.61	14.13	13.54
2626.69	9382	313.19	1.06	0.00	1903.7	2003.1	1804.2	1876.1	938.8	199.46	8.93	423	2703.80	69.29	0.00	4.18	1.123	0.000	0.045	1622.78	1728.06	1517.50	1876.44	2415.56	0	0	0	10.29	30.00	13.97
3006.68	8486	372.27	1.14	80.00	1617.4	1720.4	1514.4	1876.6	2415.6	163.62	9.27	469	3073.50	61.60	0.00	2.99	1.107	0.000	0.119	1382.69	1490.31	1275.06	1876.75	3354.12	0	0	0	10.46	30.00	14.12
3091.69	11303	411.04	1.18	0.00	1381.8	1489.0	1274.7	1877.5	3355.0	155.57	9.90	486	3143.02	44.51	0.20	2.61	1.062	0.095	0.032	1225.12	1335.50	1114.75	1912.94	2364.00	0	0	0	10.45	14.27	14.44
3446.70	260	411.04	1.18	80.00	1220.4	1330.3	1110.4	1913.6	2364.0	114.67	12.23	527	3452.32	0.00	0.00	3.04	0.000	0.000	0.111	1220.84	1330.69	1111.00	1913.06	3354.62	0	0	0	30.00	30.00	14.54
3466.69	1028	411.04	1.18	0.00	1219.3	1328.2	1110.4	1912.9	3354.7	112.25	12.46	531	3472.25	0.00	0.00	2.52	0.000	0.000	0.033	1219.53	1327.88	1111.19	1912.69	2366.44	0	0	0	30.00	30.00	14.96
3771.74	516	411.04	1.18	-80.00	1219.3	1328.3	1110.4	1913.9	2365.0	79.87	11.57	582	3777.59	0.00	0.00	4.34	0.000	0.000	0.108	1219.88	1328.50	1111.25	1912.25	936.75	0	0	0	30.00	30.00	14.79
3801.76	9254	417.51	1.19	0.00	1218.7	1327.2	1110.2	1913.2	936.6	76.46	10.91	588	3817.55	8.76	0.00	3.87	0.864	0.000	0.048	1198.69	1306.19	1091.19	1912.88	2416.94	0	0	0	10.66	30.00	14.97
3996.78	260	417.51	1.19	80.00	1197.5	1305.2	1089.9	1913.2	2417.8	54.39	11.27	627	4002.36	0.00	0.00	2.81	0.000	0.000	0.117	1198.91	1306.69	1091.12	1912.62	3358.12	0	0	0	30.00	30.00	14.85
4016.76	1028	417.51	1.19	0.00	1197.3	1304.8	1089.9	1913.4	3358.9	52.19	11.19	631	4022.30	0.00	0.00	2.44	0.000	0.000	0.032	1197.72	1304.94	1090.50	1912.94	2363.88	0	0	0	30.00	30.00	15.25
4201.84	516	417.51	1.19	-80.00	1197.5	1305.0	1089.9	1913.2	2362.3	28.99	12.26	668	4207.64	0.00	0.00	4.27	0.000	0.000	0.110	1197.66	1305.06	1090.25	1913.12	936.81	0	0	0	30.00	30.00	14.87
4226.82	1028	417.51	1.19	0.00	1197.2	1304.8	1089.5	1912.9	936.6	25.87	12.47	673	4232.57	0.00	0.00	3.85	0.000	0.000	0.048	1197.41	1305.00	1089.81	1913.50	2417.06	0	0	0	30.00	30.00	15.05
4411.81	0	417.51	1.19	0.00	1197.2	1304.5	1090.0	1913.2	2418.4	3.64	11.71	710	4413.14	0.00	0.00	0.00	0.000	0.000	0.000	1196.72	1303.94	1089.50	1912.81	2417.12	0	0	0	30.00	30.00	30.00
4426	end climb: SURFACE_DEPTH_REACHED
state	4426	begin surface coast
4441	end surface coast: CONTROL_FINISHED_OK
state	4441	begin surface