Glider dive log

SantaMonica Nov20 * SG203 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 203 HEADING 270 C_ROLL_CLIMB 2650 ALTIM_TOP_PING_RANGE 0

MISSION 5 ESCAPE_HEADING 0 HEAD_ERRBAND 179 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 5 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 5 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 0

STOP_T 0 TGT_DEFAULT_LAT 57.182999 R_PORT_OVSHOOT 56 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -151 R_STBD_OVSHOOT 46 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 2600 PRESSURE_SLOPE 0.000108781 SC_XMITPROFILE 3.0

HD_A 0.0035000001 ROLL_MAX 2700 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.01122 ROLL_DEG 40 COMPASS_USE 4

HD_C 9.9999997e-06 C_ROLL_DIVE 2650 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 179 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 2650 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2650 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 2700 VBD_DBAND 4

DEVICE4 -1 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 1 ROLL_MIN 2600 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 5 MINV_10V 8 R_PORT_OVSHOOT 56 VBD_MIN 500

D_ABORT 1000 MINV_24V 20 R_STBD_OVSHOOT 46 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 5 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 161120,015937,3347.9553,-11857.0596,3,1.0,5,11.9,0.2,0.0,10,7.6 SPEED_LIMITS 0.154,0.238

_CALLS 1 TGT_NAME HEADING

_XMS_NAKs 0 TGT_LATLONG 3347.931,-11910.051

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 0.90 MHEAD_RNG_PITCHd_Wd 258.1,20000,-16.8,-8.889,-20.47,2507

_SM_ANGLEo -59.0 D_GRID 887

GPS2 161120,020214,3347.9307,-11857.0557,3,1.0,6,11.9,0.3,0.0,9,8.7

Post-dive calculations and measurements:

FINISH 0.3,1.025068 _24V_AH 24.17,3.108

SM_CCo 6948,0.60,0.298,0,0,499,466.07 _10V_AH 10.09,1.954

SM_GC 0.98,6.88,0.00,0.60,0.027,0.000,0.298,188,2621,499,-7.58,-0.82,466.07,0,0,0,0,0,0,25.48,27.16,25.02 FG_AHR_24Vo 0.000

IRIDIUM_FIX 3346.91,-11857.74,161120,015610 FG_AHR_10Vo 0.000

TT8_MAMPS 0.104111,0.343042 MEM 215844

HUMID 59.72 DATA_FILE_SIZE 6808,229

INTERNAL_PRESSURE 8.8131 CAP_FILE_SIZE 64839,0

TCM_TEMP 18.80 CFSIZE 1024393216,1021722624

XPDR_PINGS 251 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

SC_FREEKB 3889408 GPS 161120,035939,3347.713,-11857.410,18,1.8,19,11.9,0.4,246.3,5,6.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 199 79.27 nil 0 0 0.00

Roll_motor 0 0 0.00 nil 0 0 0.00

VBD_pump_during_apogee 642 578 8984.32 nil 0 0 0.00

VBD_pump_during_surface 258 643 4021.65 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 6648 23 3733.77

Iridium_during_xfer 0 0 0.00 empty 0 0 0.00

Transponder_ping 62 420 637.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.19

TT8 577 83 487.06

LPSleep 4965 2 109.73

TT8_Active 1022 83 863.19

TT8_Sampling 407 110 455.18

TT8_CF8 56 127 72.59

TT8_Kalman 0 0 0.00

Analog_circuits 1235 10 124.66

GPS_charging 0 0 0.00

Compass 375 8 31.19

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 -146.6 193 2621 413 601 0.0 0.0 0 113 0.00 0.00 -100.53 0.005 16390 0.000 0.000 193 2622 2999 2993 3005 0 0 0 0 0 0 26.78 24.55 26.84

116 -0.74 -146.6 193 2621 2993 3005 5.4 -8.9 10 126 8.20 0.00 0.00 0.000 2054 0.200 0.000 2391 2621 2999 2994 3005 0 0 0 0 0 0 25.71 26.15 26.01

423 -0.74 -146.6 2390 2622 3007 2994 59.2 -13.2 37 425 0.00 0.00 0.00 0.000 6 0.000 0.000 2390 2621 3000 3006 2994 0 0 0 0 0 0 26.92 26.99 26.98

723 -0.74 -146.6 2390 2621 3008 2993 96.0 -12.3 47 725 0.00 0.00 0.00 0.000 6 0.000 0.000 2390 2622 3000 3007 2993 0 0 0 0 0 0 26.98 27.05 27.04

1023 -0.74 -146.6 2390 2622 3007 2993 130.4 -11.5 57 1025 0.00 0.00 0.00 0.000 6 0.000 0.000 2390 2622 3000 3007 2993 0 0 0 0 0 0 27.04 27.11 27.10

1323 -0.74 -146.6 2390 2622 3007 2992 166.0 -11.2 67 1325 0.00 0.00 0.00 0.000 6 0.000 0.000 2390 2622 2999 3007 2992 0 0 0 0 0 0 27.07 27.13 27.13

1623 -0.74 -146.6 2390 2622 3007 2991 197.0 -9.8 77 1625 0.00 0.00 0.00 0.000 6 0.000 0.000 2390 2622 2999 3007 2991 0 0 0 0 0 0 27.09 27.16 27.15

1924 -0.74 -146.6 2390 2621 3007 2990 222.5 -8.2 87 1926 0.00 0.00 0.00 0.000 38 0.000 0.000 2390 2622 2999 3008 2990 0 0 0 0 0 0 27.10 27.17 27.16

2224 -0.74 -146.6 2390 2622 3007 2989 247.7 -8.4 97 2226 0.00 0.00 0.00 0.000 38 0.000 0.000 2390 2621 2998 3007 2989 0 0 0 0 0 0 27.11 27.18 27.17

2553 -0.74 -146.6 2389 2622 3007 2988 278.3 -9.5 103 2555 0.00 0.00 0.00 0.000 6 0.000 0.000 2390 2622 2997 3007 2988 0 0 0 0 0 0 27.14 27.21 27.20

2853 -0.74 -146.6 2390 2622 3007 2987 306.4 -9.3 108 2855 0.00 0.00 0.00 0.000 6 0.000 0.000 2390 2621 2997 3007 2988 0 0 0 0 0 0 27.14 27.21 27.20

3154 -0.74 -146.6 2390 2622 3007 2986 332.6 -8.6 113 3156 0.00 0.00 0.00 0.000 38 0.000 0.000 2390 2621 2996 3007 2986 0 0 0 0 0 0 27.15 27.22 27.22

3454 -0.74 -146.6 2390 2621 3007 2985 356.5 -7.9 118 3456 0.00 0.00 0.00 0.000 38 0.000 0.000 2390 2622 2996 3007 2985 0 0 0 0 0 0 27.15 27.22 27.21

3511 end dive: TARGET_DEPTH_EXCEEDED

state 3511 begin apogee

3516 -0.16 0.0 2390 2622 3008 2984 361.1 -7.9 119 3915 0.57 0.00 395.12 0.578 10246 0.088 0.000 2590 2622 2400 2460 2340 0 0 0 0 0 0 26.05 25.08 24.50

3917 end apogee: CONTROL_FINISHED_OK

state 3917 begin climb

3919 0.74 146.6 2590 2621 2455 2336 376.4 0.0 125 4173 0.77 0.00 247.60 0.578 10246 0.037 0.000 2900 2622 1797 1892 1703 0 0 0 0 0 0 25.37 24.97 24.41

4473 0.74 146.6 2899 2622 1879 1675 314.6 17.4 135 4475 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 2621 1777 1879 1675 0 0 0 0 0 0 26.51 26.59 26.58

4773 0.74 146.6 2899 2621 1879 1673 264.7 16.6 140 4775 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 2621 1776 1879 1673 0 0 0 0 0 0 26.67 26.74 26.73

5073 0.74 146.6 2900 2621 1879 1671 215.9 15.9 148 5075 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 2622 1775 1879 1671 0 0 0 0 0 0 26.88 26.95 26.94

5373 0.74 146.6 2899 2621 1880 1670 168.3 15.3 158 5375 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 2622 1774 1879 1670 0 0 0 0 0 0 26.96 27.03 27.02

5673 0.74 146.6 2900 2622 1879 1669 123.1 15.2 168 5675 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 2622 1774 1879 1669 0 0 0 0 0 0 27.01 27.08 27.07

5973 0.74 146.6 2899 2622 1879 1669 82.1 13.6 178 5975 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 2622 1774 1879 1669 0 0 0 0 0 0 27.04 27.11 27.10

6273 0.74 146.6 2899 2622 1878 1669 43.3 11.8 190 6275 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 2622 1774 1879 1669 0 0 0 0 0 0 27.06 27.13 27.13

6576 0.76 155.4 2899 2621 1879 1668 9.7 8.5 220 6582 0.00 0.00 0.00 0.000 38 0.000 0.000 2900 2622 1773 1878 1668 0 0 0 0 0 0 27.09 27.16 27.15

6651 end climb: SURFACE_DEPTH_REACHED

state 6651 begin surface coast

6662 end surface coast: CONTROL_FINISHED_OK

state 6662 begin surface

ID	203	HEADING	270	C_ROLL_CLIMB	2650	ALTIM_TOP_PING_RANGE	0
MISSION	5	ESCAPE_HEADING	0	HEAD_ERRBAND	179	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	5	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	5	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	0
STOP_T	0	TGT_DEFAULT_LAT	57.182999	R_PORT_OVSHOOT	56	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-151	R_STBD_OVSHOOT	46	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	2600	PRESSURE_SLOPE	0.000108781	SC_XMITPROFILE	3.0
HD_A	0.0035000001	ROLL_MAX	2700	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.01122	ROLL_DEG	40	COMPASS_USE	4
HD_C	9.9999997e-06	C_ROLL_DIVE	2650	ALTIM_PING_FIT	0

GPS1	161120,015937,3347.9553,-11857.0596,3,1.0,5,11.9,0.2,0.0,10,7.6	SPEED_LIMITS	0.154,0.238
_CALLS	1	TGT_NAME	HEADING
_XMS_NAKs	0	TGT_LATLONG	3347.931,-11910.051
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	0.90	MHEAD_RNG_PITCHd_Wd	258.1,20000,-16.8,-8.889,-20.47,2507
_SM_ANGLEo	-59.0	D_GRID	887
GPS2	161120,020214,3347.9307,-11857.0557,3,1.0,6,11.9,0.3,0.0,9,8.7

FINISH	0.3,1.025068	_24V_AH	24.17,3.108
SM_CCo	6948,0.60,0.298,0,0,499,466.07	_10V_AH	10.09,1.954
SM_GC	0.98,6.88,0.00,0.60,0.027,0.000,0.298,188,2621,499,-7.58,-0.82,466.07,0,0,0,0,0,0,25.48,27.16,25.02	FG_AHR_24Vo	0.000
IRIDIUM_FIX	3346.91,-11857.74,161120,015610	FG_AHR_10Vo	0.000
TT8_MAMPS	0.104111,0.343042	MEM	215844
HUMID	59.72	DATA_FILE_SIZE	6808,229
INTERNAL_PRESSURE	8.8131	CAP_FILE_SIZE	64839,0
TCM_TEMP	18.80	CFSIZE	1024393216,1021722624
XPDR_PINGS	251	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
SC_FREEKB	3889408	GPS	161120,035939,3347.713,-11857.410,18,1.8,19,11.9,0.4,246.3,5,6.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	199	79.27	nil	0	0	0.00
Roll_motor	0	0	0.00	nil	0	0	0.00
VBD_pump_during_apogee	642	578	8984.32	nil	0	0	0.00
VBD_pump_during_surface	258	643	4021.65	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	6648	23	3733.77
Iridium_during_xfer	0	0	0.00	empty	0	0	0.00
Transponder_ping	62	420	637.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.19
TT8	577	83	487.06
LPSleep	4965	2	109.73
TT8_Active	1022	83	863.19
TT8_Sampling	407	110	455.18
TT8_CF8	56	127	72.59
TT8_Kalman	0	0	0.00
Analog_circuits	1235	10	124.66
GPS_charging	0	0	0.00
Compass	375	8	31.19
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	193	2621	413	601	0.0	0.0	0	113	0.00	0.00	-100.53	0.005	16390	0.000	0.000	193	2622	2999	2993	3005	0	0	0	0	0	0	26.78	24.55	26.84
116	-0.74	-146.6	193	2621	2993	3005	5.4	-8.9	10	126	8.20	0.00	0.00	0.000	2054	0.200	0.000	2391	2621	2999	2994	3005	0	0	0	0	0	0	25.71	26.15	26.01
423	-0.74	-146.6	2390	2622	3007	2994	59.2	-13.2	37	425	0.00	0.00	0.00	0.000	6	0.000	0.000	2390	2621	3000	3006	2994	0	0	0	0	0	0	26.92	26.99	26.98
723	-0.74	-146.6	2390	2621	3008	2993	96.0	-12.3	47	725	0.00	0.00	0.00	0.000	6	0.000	0.000	2390	2622	3000	3007	2993	0	0	0	0	0	0	26.98	27.05	27.04
1023	-0.74	-146.6	2390	2622	3007	2993	130.4	-11.5	57	1025	0.00	0.00	0.00	0.000	6	0.000	0.000	2390	2622	3000	3007	2993	0	0	0	0	0	0	27.04	27.11	27.10
1323	-0.74	-146.6	2390	2622	3007	2992	166.0	-11.2	67	1325	0.00	0.00	0.00	0.000	6	0.000	0.000	2390	2622	2999	3007	2992	0	0	0	0	0	0	27.07	27.13	27.13
1623	-0.74	-146.6	2390	2622	3007	2991	197.0	-9.8	77	1625	0.00	0.00	0.00	0.000	6	0.000	0.000	2390	2622	2999	3007	2991	0	0	0	0	0	0	27.09	27.16	27.15
1924	-0.74	-146.6	2390	2621	3007	2990	222.5	-8.2	87	1926	0.00	0.00	0.00	0.000	38	0.000	0.000	2390	2622	2999	3008	2990	0	0	0	0	0	0	27.10	27.17	27.16
2224	-0.74	-146.6	2390	2622	3007	2989	247.7	-8.4	97	2226	0.00	0.00	0.00	0.000	38	0.000	0.000	2390	2621	2998	3007	2989	0	0	0	0	0	0	27.11	27.18	27.17
2553	-0.74	-146.6	2389	2622	3007	2988	278.3	-9.5	103	2555	0.00	0.00	0.00	0.000	6	0.000	0.000	2390	2622	2997	3007	2988	0	0	0	0	0	0	27.14	27.21	27.20
2853	-0.74	-146.6	2390	2622	3007	2987	306.4	-9.3	108	2855	0.00	0.00	0.00	0.000	6	0.000	0.000	2390	2621	2997	3007	2988	0	0	0	0	0	0	27.14	27.21	27.20
3154	-0.74	-146.6	2390	2622	3007	2986	332.6	-8.6	113	3156	0.00	0.00	0.00	0.000	38	0.000	0.000	2390	2621	2996	3007	2986	0	0	0	0	0	0	27.15	27.22	27.22
3454	-0.74	-146.6	2390	2621	3007	2985	356.5	-7.9	118	3456	0.00	0.00	0.00	0.000	38	0.000	0.000	2390	2622	2996	3007	2985	0	0	0	0	0	0	27.15	27.22	27.21
3511	end dive: TARGET_DEPTH_EXCEEDED
state	3511	begin apogee
3516	-0.16	0.0	2390	2622	3008	2984	361.1	-7.9	119	3915	0.57	0.00	395.12	0.578	10246	0.088	0.000	2590	2622	2400	2460	2340	0	0	0	0	0	0	26.05	25.08	24.50
3917	end apogee: CONTROL_FINISHED_OK
state	3917	begin climb
3919	0.74	146.6	2590	2621	2455	2336	376.4	0.0	125	4173	0.77	0.00	247.60	0.578	10246	0.037	0.000	2900	2622	1797	1892	1703	0	0	0	0	0	0	25.37	24.97	24.41
4473	0.74	146.6	2899	2622	1879	1675	314.6	17.4	135	4475	0.00	0.00	0.00	0.000	6	0.000	0.000	2900	2621	1777	1879	1675	0	0	0	0	0	0	26.51	26.59	26.58
4773	0.74	146.6	2899	2621	1879	1673	264.7	16.6	140	4775	0.00	0.00	0.00	0.000	6	0.000	0.000	2900	2621	1776	1879	1673	0	0	0	0	0	0	26.67	26.74	26.73
5073	0.74	146.6	2900	2621	1879	1671	215.9	15.9	148	5075	0.00	0.00	0.00	0.000	6	0.000	0.000	2900	2622	1775	1879	1671	0	0	0	0	0	0	26.88	26.95	26.94
5373	0.74	146.6	2899	2621	1880	1670	168.3	15.3	158	5375	0.00	0.00	0.00	0.000	6	0.000	0.000	2900	2622	1774	1879	1670	0	0	0	0	0	0	26.96	27.03	27.02
5673	0.74	146.6	2900	2622	1879	1669	123.1	15.2	168	5675	0.00	0.00	0.00	0.000	6	0.000	0.000	2900	2622	1774	1879	1669	0	0	0	0	0	0	27.01	27.08	27.07
5973	0.74	146.6	2899	2622	1879	1669	82.1	13.6	178	5975	0.00	0.00	0.00	0.000	6	0.000	0.000	2900	2622	1774	1879	1669	0	0	0	0	0	0	27.04	27.11	27.10
6273	0.74	146.6	2899	2622	1878	1669	43.3	11.8	190	6275	0.00	0.00	0.00	0.000	6	0.000	0.000	2900	2622	1774	1879	1669	0	0	0	0	0	0	27.06	27.13	27.13
6576	0.76	155.4	2899	2621	1879	1668	9.7	8.5	220	6582	0.00	0.00	0.00	0.000	38	0.000	0.000	2900	2622	1773	1878	1668	0	0	0	0	0	0	27.09	27.16	27.15
6651	end climb: SURFACE_DEPTH_REACHED
state	6651	begin surface coast
6662	end surface coast: CONTROL_FINISHED_OK
state	6662	begin surface