Glider dive log

SantaMonica Nov20 * SG203 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 203 HEADING 270 C_ROLL_CLIMB 2300 ALTIM_TOP_PING_RANGE 0

MISSION 5 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 4 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 4 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 0

STOP_T 0 TGT_DEFAULT_LAT 57.182999 R_PORT_OVSHOOT 61 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -151 R_STBD_OVSHOOT 57 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_FREQUENCY 13

D_TGT 360 SM_CC 500 ROLL_MAXERRORS 1 ALTIM_PULSE 2

D_ABORT 1000 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 4

D_BOOST 0 CALL_NDIVES 1 VBD_MIN 500 XPDR_INHIBIT 90

T_BOOST 4 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097655999

D_FINISH 0 PROTOCOL 9 C_VBD 2400 INT_PRESSURE_YINT 0.61000001

D_PITCH 0 N_NOCOMM 2 VBD_DBAND 4 DEEPGLIDER 0

D_SAFE 0 NOCOMM_ACTION 163 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0015 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 135 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 160 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 LOGGERS 1

T_TURN 225 T_GPS 15 VBD_MAXERRORS 1 LOGGERDEVICE1 51

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 0 LOGGERDEVICE2 85

T_NO_W 120 T_RSLEEP 2 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 0 STROBE 0 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 1.5 LOITER_DBDW 0 COMPASS_DEVICE 33

USE_BATHY -2 RAFOS_CORR_THRESH 60 LOITER_D_TOP 0 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 64

D_OFFGRID 600 PITCH_MIN 202 PITCH_W_GAIN 0 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MAX 3901 PITCH_W_DBAND 0 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2650 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 127.5 SEABIRD_T_G 0.0043618996

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 100 SEABIRD_T_H 0.00062548189

COURSE_BIAS 0 P_OVSHOOT 0.079999998 MINV_24V 20 SEABIRD_T_I 2.3462009e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 8 SEABIRD_T_J 2.5141646e-06

SPEED_FACTOR 1 PITCH_GAIN 32 MAXI_24V 1 SEABIRD_C_G -10.071401

RHO 1.023 PITCH_TIMEOUT 17 MAXI_10V 0.80000001 SEABIRD_C_H 1.1168503

MASS 54696 PITCH_AD_RATE 160 FG_AHR_10V 0 SEABIRD_C_I -0.0033448157

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00031351036

NAV_MODE 0 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -167.39319 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 302 PRESSURE_SLOPE 0.000108781 SC_XMITPROFILE 3.0

HD_A 0.0035000001 ROLL_MAX 3859 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.01122 ROLL_DEG 40 COMPASS_USE 4

HD_C 9.9999997e-06 C_ROLL_DIVE 2095 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0043618996

AH0_10V 100 D_TGT 360 PHONE_DEVICE 49 SEABIRD_T_H 0.00062548189

AH0_24V 127.5 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.3462009e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 2.5141646e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_AD_RATE 160 SM_CC 500

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 0 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 2 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 32 STROBE 0

ALTIM_SENSITIVITY 4 GLIDE_SLOPE 30 PITCH_MAX 3901 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 64 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0035000001 PITCH_MIN 202 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.01122 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 9.9999997e-06 PITCH_VBD_SHIFT 0.0015 TGT_DEFAULT_LAT 57.182999

CALL_NDIVES 1 HEADING 270 PITCH_W_DBAND 0 TGT_DEFAULT_LON -151

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.000108781 T_BOOST 4

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -167.39319 T_DIVE 135

CAPUPLOAD 0 ID 203 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097655999 P_OVSHOOT 0.079999998 T_GPS 15

COMM_SEQ 0 INT_PRESSURE_YINT 0.61000001 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE -1 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 160

COMPASS_DEVICE 33 LOGGERDEVICE1 51 RAFOS_DEVICE -1 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 85 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2650 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2300 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2095 LOITER_DBDW 0 RHO 1.023 UNCOM_BLEED 60

C_VBD 2400 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 USE_BATHY -2

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_AD_RATE 350 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 54696 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3859 VBD_DBAND 4

DEVICE4 -1 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 1 ROLL_MIN 302 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 4 MINV_10V 8 R_PORT_OVSHOOT 61 VBD_MIN 500

D_ABORT 1000 MINV_24V 20 R_STBD_OVSHOOT 57 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 0 MISSION 5 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 0 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FINISH 0 NAV_MODE 0 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FLARE 3 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 200 N_DIVES 4 SEABIRD_C_G -10.071401 XPDR_INHIBIT 90

D_OFFGRID 600 N_FILEKB 8 SEABIRD_C_H 1.1168503 XPDR_VALID 4

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0033448157

D_SAFE 0 N_NOCOMM 2 SEABIRD_C_J 0.00031351036

Pre-dive calculations and measurements:

GPS1 151120,234808,3348.2473,-11856.1768,1,0.8,4,11.9,0.3,356.0,12,5.1 SPEED_LIMITS 0.154,0.238

_CALLS 1 TGT_NAME HEADING

_XMS_NAKs 0 TGT_LATLONG 3348.253,-11909.152

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 0.94 MHEAD_RNG_PITCHd_Wd 258.1,20000,-16.8,-8.889,-20.47,2507

_SM_ANGLEo -64.1 D_GRID 880

GPS2 151120,235039,3348.2527,-11856.1562,3,0.8,4,11.9,0.5,93.2,12,9.2

Post-dive calculations and measurements:

FINISH 0.4,1.024957 _24V_AH 24.27,2.941

SM_CCo 6759,0.75,0.266,0,0,500,466.07 _10V_AH 10.11,1.827

SM_GC 0.99,6.88,0.30,0.75,0.027,0.044,0.266,169,2092,500,-7.59,1.64,466.07,0,0,0,0,0,0,26.73,26.81,25.12 FG_AHR_24Vo 0.000

IRIDIUM_FIX 3348.71,-11857.74,151120,234510 FG_AHR_10Vo 0.000

TT8_MAMPS 0.106358,0.367759 MEM 215844

HUMID 60.08 DATA_FILE_SIZE 16774,479

INTERNAL_PRESSURE 8.83263 CAP_FILE_SIZE 77903,0

TCM_TEMP 18.90 CFSIZE 1024393216,1021788160

XPDR_PINGS 200 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

SC_FREEKB 3892928 GPS 161120,014510,3348.075,-11857.131,25,1.1,26,11.9,0.1,0.0,9,8.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 194 78.64 nil 0 0 0.00

Roll_motor 55 46 62.55 nil 0 0 0.00

VBD_pump_during_apogee 632 582 8942.41 nil 0 0 0.00

VBD_pump_during_surface 253 643 3960.61 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 6469 23 3613.73

Iridium_during_xfer 0 0 0.00 empty 0 0 0.00

Transponder_ping 50 420 509.67 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 11 1.92

TT8 878 83 742.35

LPSleep 4138 2 91.63

TT8_Active 980 83 828.73

TT8_Sampling 775 110 866.67

TT8_CF8 75 127 98.18

TT8_Kalman 0 0 0.00

Analog_circuits 1423 10 143.89

GPS_charging 0 0 0.00

Compass 725 8 60.43

RAFOS 0 0 0.00

Transponder 0 5 0.03

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 pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

10 -0.74 -146.6 184 2100 413 597 0.0 0.0 0 113 0.00 0.00 -99.55 0.005 16390 0.000 0.000 183 2100 2998 2992 3005 0 0 0 0 0 0 26.86 24.66 26.93

116 -0.74 -146.6 183 2099 2992 3005 5.4 -8.7 10 127 7.95 0.00 0.00 0.000 2598 0.190 0.000 2392 2096 2999 2993 3005 0 0 0 0 0 0 25.84 26.26 26.13

446 -0.74 -146.6 2391 2096 3007 2993 61.9 -12.6 38 451 0.00 2.08 0.00 0.000 260 0.000 0.036 2384 3488 3000 3007 2993 0 0 0 0 0 0 27.00 26.53 27.06

478 -0.74 -146.6 2383 3489 3008 2990 66.3 -12.7 44 484 0.00 2.05 0.00 0.000 1030 0.000 0.024 2384 2088 2999 3008 2990 0 0 0 0 0 0 26.69 26.63 26.72

811 -0.74 -146.6 2383 2087 3008 2989 110.8 -12.9 60 813 0.00 0.00 0.00 0.000 6 0.000 0.000 2383 2087 2999 3008 2990 0 0 0 0 0 0 27.07 27.13 27.13

1111 -0.74 -146.6 2383 2087 3008 2989 148.4 -11.9 70 1117 0.00 2.10 0.00 0.000 260 0.000 0.036 2374 3488 2998 3008 2989 0 0 0 0 0 0 27.10 26.55 27.16

1163 -0.74 -146.6 2374 3488 3008 2989 154.3 -10.3 80 1169 0.10 2.05 0.00 0.000 3078 0.142 0.026 2403 2088 2998 3008 2988 0 0 0 0 0 0 26.44 26.67 26.53

1477 -0.74 -146.6 2402 2088 3008 2988 184.7 -10.2 92 1482 0.00 2.10 0.00 0.000 260 0.000 0.047 2395 3488 2998 3008 2988 0 0 0 0 0 0 27.13 25.94 27.18

1533 -0.74 -146.6 2394 3488 3008 2988 190.4 -9.4 103 1540 0.00 2.05 0.00 0.000 1030 0.000 0.026 2395 2088 2997 3008 2987 0 0 0 0 0 0 26.73 26.67 26.75

1840 -0.74 -146.6 2395 2088 3008 2987 218.2 -8.7 114 1845 0.00 2.08 0.00 0.000 548 0.000 0.038 2395 697 2997 3008 2986 0 0 0 0 0 0 27.13 26.48 27.20

1892 -0.74 -146.6 2395 697 3008 2986 223.0 -8.7 124 1898 0.00 2.05 0.00 0.000 1062 0.000 0.027 2385 2090 2996 3007 2986 0 0 0 0 0 0 26.70 26.64 26.73

2205 -0.74 -146.6 2384 2089 3008 2985 252.7 -10.0 136 2211 0.00 2.15 0.00 0.000 260 0.000 0.038 2374 3498 2996 3008 2984 0 0 0 0 0 0 26.06 26.32 26.20

2308 -0.74 -146.6 2374 3498 3007 2984 263.0 -10.0 156 2314 0.10 2.08 0.00 0.000 3078 0.142 0.029 2403 2090 2995 3006 2984 0 0 0 0 0 0 26.39 26.62 26.48

2632 -0.74 -146.6 2402 2090 3008 2983 289.7 -8.2 165 2637 0.00 2.08 0.00 0.000 548 0.000 0.038 2404 704 2995 3008 2983 0 0 0 0 0 0 27.15 26.44 27.21

2684 -0.74 -146.6 2403 704 3008 2982 294.3 -8.5 175 2689 0.00 2.05 0.00 0.000 1062 0.000 0.028 2397 2092 2995 3008 2983 0 0 0 0 0 0 26.65 26.59 26.69

2997 -0.74 -146.6 2396 2092 3007 2980 322.5 -9.1 182 3002 0.00 2.12 0.00 0.000 260 0.000 0.040 2385 3506 2993 3007 2979 0 0 0 0 0 0 27.17 26.41 27.23

3069 -0.74 -146.6 2384 3505 3008 2979 328.8 -8.3 196 3075 0.00 2.10 0.00 0.000 1062 0.000 0.028 2385 2093 2994 3008 2980 0 0 0 0 0 0 26.67 26.61 26.70

3420 end dive: TARGET_DEPTH_EXCEEDED

state 3420 begin apogee

3426 -0.16 0.0 2384 2343 3007 2978 362.4 -9.8 211 3827 0.60 0.00 397.75 0.567 10246 0.087 0.000 2591 2344 2400 2464 2337 0 0 0 0 0 0 26.08 25.22 24.64

3829 end apogee: CONTROL_FINISHED_OK

state 3829 begin climb

3831 0.74 146.6 2591 2344 2460 2330 379.9 0.0 217 4076 0.77 2.33 234.32 0.583 11012 0.038 0.037 2916 903 1793 1889 1697 0 0 0 0 0 0 25.50 25.17 24.56

4139 0.74 146.6 2916 903 1869 1678 358.7 18.2 277 4146 0.00 2.10 0.00 0.000 1030 0.000 0.028 2916 2273 1772 1868 1677 0 0 0 0 0 0 25.87 25.81 25.90

4444 0.74 146.6 2916 2274 1868 1671 302.9 18.2 283 4449 0.00 2.10 0.00 0.000 516 0.000 0.037 2925 904 1769 1868 1671 0 0 0 0 0 0 26.69 26.29 26.75

4621 0.74 146.6 2924 904 1865 1671 271.4 17.8 318 4628 0.10 2.10 0.00 0.000 5126 0.174 0.028 2903 2312 1768 1865 1671 0 0 0 0 0 0 26.17 26.45 26.32

4927 0.74 146.6 2902 2312 1865 1670 220.8 17.1 326 4932 0.00 2.15 0.00 0.000 516 0.000 0.038 2911 903 1767 1865 1670 0 0 0 0 0 0 26.91 26.45 26.98

5033 0.74 146.6 2911 903 1865 1670 202.5 16.5 347 5039 0.00 2.10 0.00 0.000 1030 0.000 0.028 2912 2304 1767 1865 1670 0 0 0 0 0 0 26.60 26.54 26.65

5351 0.74 146.6 2910 2304 1864 1669 152.6 15.4 360 5357 0.00 2.15 0.00 0.000 516 0.000 0.038 2922 893 1766 1864 1669 0 0 0 0 0 0 27.01 26.47 27.07

5398 0.74 146.6 2921 892 1864 1669 144.7 16.5 369 5404 0.08 2.10 0.00 0.000 5126 0.194 0.028 2908 2304 1766 1864 1669 0 0 0 0 0 0 26.36 26.58 26.47

5717 0.74 146.6 2907 2304 1865 1668 96.7 14.5 382 5722 0.00 2.10 0.00 0.000 260 0.000 0.039 2908 3701 1766 1864 1669 0 0 0 0 0 0 27.05 26.48 27.12

5813 0.74 146.6 2907 3702 1863 1668 81.0 15.4 401 5819 0.00 2.08 0.00 0.000 1030 0.000 0.029 2916 2294 1766 1864 1668 0 0 0 0 0 0 26.65 26.58 26.69

6121 0.74 146.6 2916 2293 1864 1667 40.1 11.5 420 6126 0.00 2.10 0.00 0.000 516 0.000 0.040 2926 900 1766 1864 1668 0 0 0 0 0 0 27.09 26.44 27.15

6355 0.74 146.6 2925 900 1861 1667 13.8 10.5 466 6361 0.10 2.08 0.00 0.000 5126 0.167 0.028 2903 2301 1764 1860 1668 0 0 0 0 0 0 26.30 26.60 26.43

6466 end climb: SURFACE_DEPTH_REACHED

state 6466 begin surface coast

6477 end surface coast: CONTROL_FINISHED_OK

state 6477 begin surface

ID	203	HEADING	270	C_ROLL_CLIMB	2300	ALTIM_TOP_PING_RANGE	0
MISSION	5	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	4	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	4	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	0
STOP_T	0	TGT_DEFAULT_LAT	57.182999	R_PORT_OVSHOOT	61	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-151	R_STBD_OVSHOOT	57	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_FREQUENCY	13
D_TGT	360	SM_CC	500	ROLL_MAXERRORS	1	ALTIM_PULSE	2
D_ABORT	1000	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	4
D_BOOST	0	CALL_NDIVES	1	VBD_MIN	500	XPDR_INHIBIT	90
T_BOOST	4	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097655999
D_FINISH	0	PROTOCOL	9	C_VBD	2400	INT_PRESSURE_YINT	0.61000001
D_PITCH	0	N_NOCOMM	2	VBD_DBAND	4	DEEPGLIDER	0
D_SAFE	0	NOCOMM_ACTION	163	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0015	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	135	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	160	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	LOGGERS	1
T_TURN	225	T_GPS	15	VBD_MAXERRORS	1	LOGGERDEVICE1	51
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	0	LOGGERDEVICE2	85
T_NO_W	120	T_RSLEEP	2	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	0	STROBE	0	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	1.5	LOITER_DBDW	0	COMPASS_DEVICE	33
USE_BATHY	-2	RAFOS_CORR_THRESH	60	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	64
D_OFFGRID	600	PITCH_MIN	202	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MAX	3901	PITCH_W_DBAND	0	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2650	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	127.5	SEABIRD_T_G	0.0043618996
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	100	SEABIRD_T_H	0.00062548189
COURSE_BIAS	0	P_OVSHOOT	0.079999998	MINV_24V	20	SEABIRD_T_I	2.3462009e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	8	SEABIRD_T_J	2.5141646e-06
SPEED_FACTOR	1	PITCH_GAIN	32	MAXI_24V	1	SEABIRD_C_G	-10.071401
RHO	1.023	PITCH_TIMEOUT	17	MAXI_10V	0.80000001	SEABIRD_C_H	1.1168503
MASS	54696	PITCH_AD_RATE	160	FG_AHR_10V	0	SEABIRD_C_I	-0.0033448157
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00031351036
NAV_MODE	0	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-167.39319	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	302	PRESSURE_SLOPE	0.000108781	SC_XMITPROFILE	3.0
HD_A	0.0035000001	ROLL_MAX	3859	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.01122	ROLL_DEG	40	COMPASS_USE	4
HD_C	9.9999997e-06	C_ROLL_DIVE	2095	ALTIM_PING_FIT	0

GPS1	151120,234808,3348.2473,-11856.1768,1,0.8,4,11.9,0.3,356.0,12,5.1	SPEED_LIMITS	0.154,0.238
_CALLS	1	TGT_NAME	HEADING
_XMS_NAKs	0	TGT_LATLONG	3348.253,-11909.152
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	0.94	MHEAD_RNG_PITCHd_Wd	258.1,20000,-16.8,-8.889,-20.47,2507
_SM_ANGLEo	-64.1	D_GRID	880
GPS2	151120,235039,3348.2527,-11856.1562,3,0.8,4,11.9,0.5,93.2,12,9.2

FINISH	0.4,1.024957	_24V_AH	24.27,2.941
SM_CCo	6759,0.75,0.266,0,0,500,466.07	_10V_AH	10.11,1.827
SM_GC	0.99,6.88,0.30,0.75,0.027,0.044,0.266,169,2092,500,-7.59,1.64,466.07,0,0,0,0,0,0,26.73,26.81,25.12	FG_AHR_24Vo	0.000
IRIDIUM_FIX	3348.71,-11857.74,151120,234510	FG_AHR_10Vo	0.000
TT8_MAMPS	0.106358,0.367759	MEM	215844
HUMID	60.08	DATA_FILE_SIZE	16774,479
INTERNAL_PRESSURE	8.83263	CAP_FILE_SIZE	77903,0
TCM_TEMP	18.90	CFSIZE	1024393216,1021788160
XPDR_PINGS	200	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
SC_FREEKB	3892928	GPS	161120,014510,3348.075,-11857.131,25,1.1,26,11.9,0.1,0.0,9,8.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	194	78.64	nil	0	0	0.00
Roll_motor	55	46	62.55	nil	0	0	0.00
VBD_pump_during_apogee	632	582	8942.41	nil	0	0	0.00
VBD_pump_during_surface	253	643	3960.61	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	6469	23	3613.73
Iridium_during_xfer	0	0	0.00	empty	0	0	0.00
Transponder_ping	50	420	509.67	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	11	1.92
TT8	878	83	742.35
LPSleep	4138	2	91.63
TT8_Active	980	83	828.73
TT8_Sampling	775	110	866.67
TT8_CF8	75	127	98.18
TT8_Kalman	0	0	0.00
Analog_circuits	1423	10	143.89
GPS_charging	0	0	0.00
Compass	725	8	60.43
RAFOS	0	0	0.00
Transponder	0	5	0.03

		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	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
10	-0.74	-146.6	184	2100	413	597	0.0	0.0	0	113	0.00	0.00	-99.55	0.005	16390	0.000	0.000	183	2100	2998	2992	3005	0	0	0	0	0	0	26.86	24.66	26.93
116	-0.74	-146.6	183	2099	2992	3005	5.4	-8.7	10	127	7.95	0.00	0.00	0.000	2598	0.190	0.000	2392	2096	2999	2993	3005	0	0	0	0	0	0	25.84	26.26	26.13
446	-0.74	-146.6	2391	2096	3007	2993	61.9	-12.6	38	451	0.00	2.08	0.00	0.000	260	0.000	0.036	2384	3488	3000	3007	2993	0	0	0	0	0	0	27.00	26.53	27.06
478	-0.74	-146.6	2383	3489	3008	2990	66.3	-12.7	44	484	0.00	2.05	0.00	0.000	1030	0.000	0.024	2384	2088	2999	3008	2990	0	0	0	0	0	0	26.69	26.63	26.72
811	-0.74	-146.6	2383	2087	3008	2989	110.8	-12.9	60	813	0.00	0.00	0.00	0.000	6	0.000	0.000	2383	2087	2999	3008	2990	0	0	0	0	0	0	27.07	27.13	27.13
1111	-0.74	-146.6	2383	2087	3008	2989	148.4	-11.9	70	1117	0.00	2.10	0.00	0.000	260	0.000	0.036	2374	3488	2998	3008	2989	0	0	0	0	0	0	27.10	26.55	27.16
1163	-0.74	-146.6	2374	3488	3008	2989	154.3	-10.3	80	1169	0.10	2.05	0.00	0.000	3078	0.142	0.026	2403	2088	2998	3008	2988	0	0	0	0	0	0	26.44	26.67	26.53
1477	-0.74	-146.6	2402	2088	3008	2988	184.7	-10.2	92	1482	0.00	2.10	0.00	0.000	260	0.000	0.047	2395	3488	2998	3008	2988	0	0	0	0	0	0	27.13	25.94	27.18
1533	-0.74	-146.6	2394	3488	3008	2988	190.4	-9.4	103	1540	0.00	2.05	0.00	0.000	1030	0.000	0.026	2395	2088	2997	3008	2987	0	0	0	0	0	0	26.73	26.67	26.75
1840	-0.74	-146.6	2395	2088	3008	2987	218.2	-8.7	114	1845	0.00	2.08	0.00	0.000	548	0.000	0.038	2395	697	2997	3008	2986	0	0	0	0	0	0	27.13	26.48	27.20
1892	-0.74	-146.6	2395	697	3008	2986	223.0	-8.7	124	1898	0.00	2.05	0.00	0.000	1062	0.000	0.027	2385	2090	2996	3007	2986	0	0	0	0	0	0	26.70	26.64	26.73
2205	-0.74	-146.6	2384	2089	3008	2985	252.7	-10.0	136	2211	0.00	2.15	0.00	0.000	260	0.000	0.038	2374	3498	2996	3008	2984	0	0	0	0	0	0	26.06	26.32	26.20
2308	-0.74	-146.6	2374	3498	3007	2984	263.0	-10.0	156	2314	0.10	2.08	0.00	0.000	3078	0.142	0.029	2403	2090	2995	3006	2984	0	0	0	0	0	0	26.39	26.62	26.48
2632	-0.74	-146.6	2402	2090	3008	2983	289.7	-8.2	165	2637	0.00	2.08	0.00	0.000	548	0.000	0.038	2404	704	2995	3008	2983	0	0	0	0	0	0	27.15	26.44	27.21
2684	-0.74	-146.6	2403	704	3008	2982	294.3	-8.5	175	2689	0.00	2.05	0.00	0.000	1062	0.000	0.028	2397	2092	2995	3008	2983	0	0	0	0	0	0	26.65	26.59	26.69
2997	-0.74	-146.6	2396	2092	3007	2980	322.5	-9.1	182	3002	0.00	2.12	0.00	0.000	260	0.000	0.040	2385	3506	2993	3007	2979	0	0	0	0	0	0	27.17	26.41	27.23
3069	-0.74	-146.6	2384	3505	3008	2979	328.8	-8.3	196	3075	0.00	2.10	0.00	0.000	1062	0.000	0.028	2385	2093	2994	3008	2980	0	0	0	0	0	0	26.67	26.61	26.70
3420	end dive: TARGET_DEPTH_EXCEEDED
state	3420	begin apogee
3426	-0.16	0.0	2384	2343	3007	2978	362.4	-9.8	211	3827	0.60	0.00	397.75	0.567	10246	0.087	0.000	2591	2344	2400	2464	2337	0	0	0	0	0	0	26.08	25.22	24.64
3829	end apogee: CONTROL_FINISHED_OK
state	3829	begin climb
3831	0.74	146.6	2591	2344	2460	2330	379.9	0.0	217	4076	0.77	2.33	234.32	0.583	11012	0.038	0.037	2916	903	1793	1889	1697	0	0	0	0	0	0	25.50	25.17	24.56
4139	0.74	146.6	2916	903	1869	1678	358.7	18.2	277	4146	0.00	2.10	0.00	0.000	1030	0.000	0.028	2916	2273	1772	1868	1677	0	0	0	0	0	0	25.87	25.81	25.90
4444	0.74	146.6	2916	2274	1868	1671	302.9	18.2	283	4449	0.00	2.10	0.00	0.000	516	0.000	0.037	2925	904	1769	1868	1671	0	0	0	0	0	0	26.69	26.29	26.75
4621	0.74	146.6	2924	904	1865	1671	271.4	17.8	318	4628	0.10	2.10	0.00	0.000	5126	0.174	0.028	2903	2312	1768	1865	1671	0	0	0	0	0	0	26.17	26.45	26.32
4927	0.74	146.6	2902	2312	1865	1670	220.8	17.1	326	4932	0.00	2.15	0.00	0.000	516	0.000	0.038	2911	903	1767	1865	1670	0	0	0	0	0	0	26.91	26.45	26.98
5033	0.74	146.6	2911	903	1865	1670	202.5	16.5	347	5039	0.00	2.10	0.00	0.000	1030	0.000	0.028	2912	2304	1767	1865	1670	0	0	0	0	0	0	26.60	26.54	26.65
5351	0.74	146.6	2910	2304	1864	1669	152.6	15.4	360	5357	0.00	2.15	0.00	0.000	516	0.000	0.038	2922	893	1766	1864	1669	0	0	0	0	0	0	27.01	26.47	27.07
5398	0.74	146.6	2921	892	1864	1669	144.7	16.5	369	5404	0.08	2.10	0.00	0.000	5126	0.194	0.028	2908	2304	1766	1864	1669	0	0	0	0	0	0	26.36	26.58	26.47
5717	0.74	146.6	2907	2304	1865	1668	96.7	14.5	382	5722	0.00	2.10	0.00	0.000	260	0.000	0.039	2908	3701	1766	1864	1669	0	0	0	0	0	0	27.05	26.48	27.12
5813	0.74	146.6	2907	3702	1863	1668	81.0	15.4	401	5819	0.00	2.08	0.00	0.000	1030	0.000	0.029	2916	2294	1766	1864	1668	0	0	0	0	0	0	26.65	26.58	26.69
6121	0.74	146.6	2916	2293	1864	1667	40.1	11.5	420	6126	0.00	2.10	0.00	0.000	516	0.000	0.040	2926	900	1766	1864	1668	0	0	0	0	0	0	27.09	26.44	27.15
6355	0.74	146.6	2925	900	1861	1667	13.8	10.5	466	6361	0.10	2.08	0.00	0.000	5126	0.167	0.028	2903	2301	1764	1860	1668	0	0	0	0	0	0	26.30	26.60	26.43
6466	end climb: SURFACE_DEPTH_REACHED
state	6466	begin surface coast
6477	end surface coast: CONTROL_FINISHED_OK
state	6477	begin surface