Glider dive log

NASCAR Jan18 * SG128 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 KALMAN_USE 2 ROLL_MIN 200 AD7714Ch0Gain 32

MISSION 4 HD_A 0.003 ROLL_MAX 3700 COMPASS_USE 4

DIVE 4 HD_B 0.0099999998 ROLL_DEG 40 ALTIM_PING_FIT 0

N_DIVES 0 HD_C 9.9999997e-06 C_ROLL_DIVE 1950 ALTIM_TOP_PING_RANGE 0

STOP_T 0 HEADING -1 C_ROLL_CLIMB 2800 ALTIM_BOTTOM_TURN_MARGIN 15

D_SURF 3 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 2

D_TGT 360 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

D_ABORT 1030 TGT_DEFAULT_LAT 3235 R_PORT_OVSHOOT 38 ALTIM_PING_DELTA 50

D_NO_BLEED 200 TGT_DEFAULT_LON -11731 R_STBD_OVSHOOT 31 ALTIM_FREQUENCY 13

D_BOOST 20 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_PULSE 3

T_BOOST 5 SM_CC 550 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

D_FINISH 0 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_VALID 5

D_PITCH 0 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_SAFE 0 CALL_NDIVES 1 VBD_MIN 400 INT_PRESSURE_SLOPE 0.0097660003

D_CALL 0 COMM_SEQ 0 VBD_MAX 3900 INT_PRESSURE_YINT -1

SURFACE_URGENCY 0 PROTOCOL 9 C_VBD 2908 DEEPGLIDER 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 2 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 NOCOMM_ACTION 163 VBD_CNV -0.245296 DEVICE1 2

T_DIVE 180 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

T_MISSION 200 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 540 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE5 -1

T_TURN_SAMPINT -5 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERS 0

T_LOITER 0 HEAPDBG 0 UNCOM_BLEED 20 LOGGERDEVICE1 -1

T_EPIRB 0 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

EXEC_P 0 N_GPS 100440 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

EXEC_DT 0 T_RSLEEP 1 DBDW 0 LOGGERDEVICE4 -1

EXEC_T 0 STROBE 0 LOITER_W_DBAND 0 COMPASS_DEVICE 33

EXEC_N 0 RAFOS_PEAK_OFFSET 1.5 LOITER_DBDW 0 COMPASS2_DEVICE -1

USE_BATHY -6 RAFOS_CORR_THRESH 60 LOITER_D_NO_PUMP 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 PITCH_W_GAIN 0 RAFOS_DEVICE -1

D_OFFGRID 1000 PITCH_MIN 250 PITCH_W_DBAND 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3750 CF8_MAXERRORS 20 SIM_W 0

RELAUNCH 1 C_PITCH 2860 AH0_24V 350 SEABIRD_T_G 0.0043553207

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_10V 0 SEABIRD_T_H 0.00062594062

MAX_BUOY 200 PITCH_CNV 0.003125763 MINV_24V 11 SEABIRD_T_I 2.3765557e-05

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_10V 11 SEABIRD_T_J 2.606791e-06

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MAXI_24V 0.60000002 SEABIRD_C_G -9.8755465

SPEED_FACTOR 1 PITCH_GAIN 35 MAXI_10V 0.80000001 SEABIRD_C_H 1.1390997

RHO 1.0275 PITCH_TIMEOUT 16 FG_AHR_10V 0 SEABIRD_C_I -0.0019936475

MASS 51713 PITCH_AD_RATE 175 FG_AHR_24V 0 SEABIRD_C_J 0.00023608611

MASS_COMP 0 PITCH_MAXERRORS 1 PHONE_SUPPLY -2

NAV_MODE 2 PITCH_ADJ_GAIN 0 PRESSURE_YINT -157.40906

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00014074198

AD7714Ch0Gain 32 D_SURF 3 N_FILEKB 8 SEABIRD_T_H 0.00062594062

AH0_10V 0 D_TGT 360 N_GPS 100440 SEABIRD_T_I 2.3765557e-05

AH0_24V 350 ESCAPE_HEADING 0 N_NOCOMM 2 SEABIRD_T_J 2.606791e-06

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SIM_W 0

ALTIM_FREQUENCY 13 EXEC_DT 0 PHONE_DEVICE 49 SM_CC 550

ALTIM_PING_DELTA 50 EXEC_N 0 PHONE_SUPPLY -2 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 EXEC_P 0 PITCH_ADJ_DBAND 0 STOP_T 0

ALTIM_PING_FIT 0 EXEC_T 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_GAIN 35 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3750 TGT_DEFAULT_LAT 3235

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -11731

CALL_NDIVES 1 GPS_DEVICE 32 PITCH_MIN 250 T_ABORT 1440

CALL_TRIES 5 HD_A 0.003 PITCH_TIMEOUT 16 T_BOOST 5

CALL_WAIT 60 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 180

CAPMAXSIZE 100000 HD_C 9.9999997e-06 PITCH_W_DBAND 0 T_EPIRB 0

CAPUPLOAD 0 HEADING -1 PITCH_W_GAIN 0 T_GPS 5

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014074198 T_LOITER 0

COMM_SEQ 0 HEAPDBG 0 PRESSURE_YINT -157.40906 T_MISSION 200

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_NO_W 120

COMPASS_DEVICE 33 ID 128 P_OVSHOOT 0.039999999 T_RSLEEP 1

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_YINT -1 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_PITCH 2860 KALMAN_USE 2 RAFOS_DEVICE -1 T_WATCHDOG 10

C_ROLL_CLIMB 2800 LOGGERDEVICE1 -1 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_ROLL_DIVE 1950 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD 2908 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_BATHY -6

DBDW 0 LOGGERDEVICE4 -1 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOGGERS 0 RHO 1.0275 VBD_BLEED_AD_RATE 8

DEVICE1 2 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 VBD_CNV -0.245296

DEVICE2 -1 LOITER_D_NO_PUMP 0 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE3 -1 LOITER_N_DIVE 0 ROLL_AD_RATE 350 VBD_LP_IGNORE 0

DEVICE4 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_MAX 3900

DEVICE5 -1 MASS 51713 ROLL_DEG 40 VBD_MAXERRORS 1

DEVICE6 -1 MASS_COMP 0 ROLL_MAX 3700 VBD_MIN 400

DIVE 4 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1030 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 20 MAX_BUOY 200 ROLL_TIMEOUT 15 VBD_TIMEOUT 540

D_CALL 0 MINV_10V 11 R_PORT_OVSHOOT 38 W_ADJ_DBAND 0

D_FINISH 0 MINV_24V 11 R_STBD_OVSHOOT 31 XPDR_DEVICE 24

D_FLARE 3 MISSION 4 SEABIRD_C_G -9.8755465 XPDR_INHIBIT 90

D_NO_BLEED 200 MOTHERBOARD 4 SEABIRD_C_H 1.1390997 XPDR_VALID 5

D_OFFGRID 1000 NAV_MODE 2 SEABIRD_C_I -0.0019936475

D_PITCH 0 NOCOMM_ACTION 163 SEABIRD_C_J 0.00023608611

D_SAFE 0 N_DIVES 0 SEABIRD_T_G 0.0043553207

Pre-dive calculations and measurements:

GPS1 150118,102015,-340.4586,5535.7983,14,0.9,17,-4.8,0.8,141.1,9,8.7 SPEED_LIMITS 0.115,0.252

_CALLS 1 TGT_NAME N

_XMS_NAKs 0 TGT_LATLONG -300.000,5535.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.80 MHEAD_RNG_PITCHd_Wd 318.6,74983,-9.2,-6.667,-14.80,4377

_SM_ANGLEo -68.8 D_GRID 1000

GPS2 150118,102333,-340.4787,5535.8545,17,0.9,20,-4.8,0.8,127.1,9,9.4

Post-dive calculations and measurements:

FINISH -0.2,1.022368 _10V_AH 13.89,0.000

SM_CCo 8749,87.40,0.096,0,0,664,550.20 FG_AHR_24Vo 0.000

SM_GC 0.61,8.32,1.45,87.40,0.095,0.058,0.096,243,1940,664,-8.13,0.93,550.20,0,0,0,0,0,0,14.71,14.76,14.71 FG_AHR_10Vo 0.000

IRIDIUM_FIX -337.28,5537.84,150118,101752 MEM 304708

TT8_MAMPS 0.019474,0.153545 DATA_FILE_SIZE 46673,1098

HUMID 54.37 CAP_FILE_SIZE 113707,0

INTERNAL_PRESSURE 8.46325 CFSIZE 260034560,258375680

TCM_TEMP 22.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0

XPDR_PINGS 0 CURRENT 0.410,109.32,1

_24V_AH 13.59,3.121 GPS 150118,125239,-340.100,5536.208,34,1.0,38,-4.8,0.5,112.4,7,9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 442 130.70 SBE_CT 499 23 162.82

Roll_motor 83 89 101.81 nil 0 0 0.00

VBD_pump_during_apogee 441 1640 9842.61 nil 0 0 0.00

VBD_pump_during_surface 87 95 113.58 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 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 20 5.82

TT8 2150 9 282.85

LPSleep 4502 2 136.96

TT8_Active 614 9 80.78

TT8_Sampling 1601 28 626.89

TT8_CF8 58 34 27.94

TT8_Kalman 0 0 0.00

Analog_circuits 1458 16 324.17

GPS_charging 0 0 0.00

Compass 1565 17 374.56

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -0.50 -194.6 235 1960 702 639 0.0 0.0 0 106 0.00 0.00 -96.85 0.003 16386 0.000 0.000 234 1960 3607 3588 3627 0 0 0 0 0 0 15.11 28.83 15.13

108 -0.50 -194.6 234 1960 3588 3627 3.9 -10.1 16 130 12.23 2.35 -1.42 0.076 18692 0.442 0.090 2677 3368 3705 3699 3711 0 0 0 0 0 0 14.59 13.87 14.80

167 -0.50 -194.6 2677 3368 3704 3709 26.1 -18.8 26 175 0.00 2.28 0.00 0.000 1030 0.000 0.057 2677 1950 3707 3706 3708 0 0 0 0 0 0 14.96 14.88 14.97

476 -0.50 -194.6 2677 1949 3713 3705 67.3 -10.5 74 481 0.00 2.33 0.00 0.000 260 0.000 0.076 2677 3362 3709 3713 3705 0 0 0 0 0 0 15.19 14.92 15.21

588 -0.50 -194.6 2677 3362 3714 3705 74.4 -6.3 96 592 0.00 2.25 0.00 0.000 1062 0.000 0.052 2677 1938 3709 3714 3705 0 0 0 0 0 0 15.04 14.97 15.06

899 -0.50 -194.6 2677 1936 3717 3705 93.6 -5.7 128 903 0.00 2.35 0.00 0.000 292 0.000 0.080 2677 3355 3711 3717 3705 0 0 0 0 0 0 15.23 14.97 15.26

960 -0.50 -194.6 2677 3355 3717 3705 97.1 -5.8 140 967 0.00 2.22 0.00 0.000 1062 0.000 0.050 2677 1940 3711 3717 3705 0 0 0 0 0 0 15.07 15.01 15.09

1267 -0.50 -194.6 2677 1939 3717 3704 111.5 -5.0 171 1270 0.00 2.35 0.00 0.000 292 0.000 0.080 2677 3359 3710 3717 3704 0 0 0 0 0 0 15.26 14.98 15.27

1348 -0.50 -194.6 2677 3359 3717 3704 115.9 -5.4 187 1353 0.00 2.22 0.00 0.000 1062 0.000 0.051 2677 1947 3710 3717 3703 0 0 0 0 0 0 15.09 15.03 15.11

1660 -0.50 -194.6 2677 1944 3717 3701 129.9 -5.5 219 1665 0.00 2.35 0.00 0.000 292 0.000 0.081 2677 3362 3709 3717 3701 0 0 0 0 0 0 15.26 14.98 15.28

1725 -0.50 -194.6 2677 3362 3717 3700 134.2 -7.1 232 1733 0.00 2.28 0.00 0.000 1030 0.000 0.052 2677 1944 3708 3717 3700 0 0 0 0 0 0 15.05 15.02 15.07

2032 -0.50 -194.6 2677 1944 3717 3698 157.5 -7.4 263 2034 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 1944 3707 3717 3698 0 0 0 0 0 0 15.26 15.29 15.28

2333 -0.50 -194.6 2677 1944 3717 3695 173.6 -4.7 293 2337 0.00 2.33 0.00 0.000 292 0.000 0.083 2677 3355 3706 3717 3695 0 0 0 0 0 0 15.26 14.99 15.28

2454 -0.50 -194.6 2677 3355 3716 3694 179.7 -5.4 317 2458 0.00 2.20 0.00 0.000 1062 0.000 0.053 2677 1953 3705 3716 3694 0 0 0 0 0 0 15.10 15.04 15.12

2766 -0.50 -194.6 2677 1948 3714 3692 197.8 -5.6 349 2770 0.00 2.22 0.00 0.000 548 0.000 0.068 2677 541 3703 3714 3692 0 0 0 0 0 0 15.26 15.00 15.28

2997 -0.50 -194.6 2676 540 3712 3692 212.4 -6.5 395 3002 0.00 2.22 0.00 0.000 1062 0.000 0.060 2677 1946 3702 3712 3692 0 0 0 0 0 0 15.09 15.01 15.11

3309 -0.50 -194.6 2677 1946 3711 3688 232.0 -6.2 427 3313 0.00 2.25 0.00 0.000 548 0.000 0.069 2677 542 3700 3712 3688 0 0 0 0 0 0 15.26 15.00 15.28

3540 -0.50 -194.6 2677 542 3709 3688 245.1 -5.5 473 3545 0.00 2.25 0.00 0.000 1062 0.000 0.060 2677 1966 3698 3709 3688 0 0 0 0 0 0 15.08 14.99 15.10

3862 -0.50 -194.6 2677 1966 3709 3685 261.0 -5.4 492 3866 0.00 2.28 0.00 0.000 548 0.000 0.067 2677 544 3696 3708 3685 0 0 0 0 0 0 15.26 14.99 15.28

3997 -0.50 -194.6 2677 543 3707 3684 270.5 -7.6 519 4001 0.00 2.22 0.00 0.000 1030 0.000 0.062 2677 1945 3695 3706 3685 0 0 0 0 0 0 15.09 15.01 15.11

4313 -0.50 -194.6 2676 1946 3706 3682 292.7 -7.3 532 4317 0.00 2.22 0.00 0.000 516 0.000 0.068 2677 552 3693 3706 3681 0 0 0 0 0 0 15.27 14.99 15.29

4374 -0.50 -194.6 2677 553 3706 3681 297.2 -7.7 544 4378 0.00 2.25 0.00 0.000 1030 0.000 0.063 2677 1947 3693 3705 3681 0 0 0 0 0 0 15.08 15.00 15.11

4705 -0.50 -194.6 2677 1947 3704 3680 315.3 -4.8 560 4709 0.00 2.25 0.00 0.000 548 0.000 0.069 2677 543 3692 3704 3680 0 0 0 0 0 0 15.27 14.99 15.29

4798 -0.50 -194.6 2677 542 3704 3680 320.3 -6.0 578 4803 0.00 2.25 0.00 0.000 1062 0.000 0.062 2677 1955 3691 3703 3679 0 0 0 0 0 0 15.09 15.00 15.10

5130 -0.50 -194.6 2677 1955 3702 3677 337.7 -5.3 594 5134 0.00 2.30 0.00 0.000 292 0.000 0.086 2677 3355 3689 3702 3677 0 0 0 0 0 0 15.27 14.97 15.29

5359 -0.50 -194.6 2676 3355 3701 3675 352.3 -6.9 640 5364 0.00 2.25 0.00 0.000 1030 0.000 0.056 2677 1944 3688 3701 3675 0 0 0 0 0 0 15.08 15.01 15.10

5490 end dive: TARGET_DEPTH_EXCEEDED

state 5490 begin apogee

5495 -0.14 0.0 2677 2794 3700 3675 360.6 -6.3 646 5644 0.43 0.00 141.02 1.633 10246 0.125 0.000 2821 2793 2907 2934 2881 0 0 0 0 1 0 14.95 14.30 13.64

5645 end apogee: CONTROL_FINISHED_OK

state 5645 begin climb

5646 0.50 194.6 2821 2793 2934 2880 367.2 0.0 651 5805 0.60 1.55 145.82 1.640 11012 0.090 0.082 3024 3701 2114 2161 2068 0 0 0 0 1 0 14.33 14.12 13.59

5981 0.50 194.6 3024 3701 2161 2068 326.3 15.3 719 5986 0.00 1.48 0.00 0.000 1030 0.000 0.058 3025 2809 2114 2161 2068 0 0 0 0 0 0 14.73 14.69 14.76

6303 0.50 194.6 3024 2807 2161 2068 282.1 13.2 733 6307 0.00 2.30 0.00 0.000 516 0.000 0.073 3024 1395 2114 2161 2068 0 0 0 0 0 0 15.09 14.85 15.11

6532 0.50 194.6 3024 1395 2159 2068 253.3 13.0 779 6536 0.00 2.33 0.00 0.000 1030 0.000 0.073 3024 2798 2113 2159 2068 0 0 0 0 0 0 14.97 14.88 15.00

6843 0.50 194.6 3024 2798 2159 2068 208.4 14.0 809 6847 0.00 2.30 0.00 0.000 516 0.000 0.070 3025 1394 2113 2159 2068 0 0 0 0 0 0 15.17 14.92 15.19

7004 0.50 194.6 3024 1395 2156 2068 189.2 10.8 841 7008 0.00 2.33 0.00 0.000 1030 0.000 0.073 3024 2801 2112 2156 2068 0 0 0 0 0 0 15.01 14.92 15.04

7315 0.50 194.6 3024 2801 2156 2068 152.5 12.0 873 7319 0.00 2.30 0.00 0.000 516 0.000 0.071 3025 1395 2112 2156 2068 0 0 0 0 0 0 15.20 14.95 15.22

7536 0.50 194.6 3024 1394 2154 2068 125.8 12.4 917 7540 0.00 2.33 0.00 0.000 1030 0.000 0.073 3024 2802 2111 2154 2068 0 0 0 0 0 0 15.02 14.93 15.05

7847 0.50 194.6 3024 2802 2154 2068 82.8 13.0 949 7851 0.00 2.30 0.00 0.000 516 0.000 0.070 3025 1394 2111 2154 2068 0 0 0 0 0 0 15.21 14.96 15.23

7998 0.50 194.6 3024 1394 2153 2068 66.2 10.8 979 8002 0.00 2.33 0.00 0.000 1030 0.000 0.073 3025 2799 2110 2153 2068 0 0 0 0 0 0 15.04 14.95 15.06

8303 0.72 368.0 3024 2799 2153 2068 46.3 2.6 1020 8471 0.17 2.45 154.73 1.051 11044 0.135 0.067 3093 1389 1406 1459 1354 0 0 0 0 1 0 14.93 14.38 13.84

8694 0.72 368.0 3093 1390 1462 1362 5.1 13.9 1091 8701 0.00 2.35 0.00 0.000 1030 0.000 0.064 3093 2807 1412 1462 1362 0 0 0 0 0 0 14.79 14.71 14.81

8711 end climb: SURFACE_DEPTH_REACHED

state 8711 begin surface coast

8733 end surface coast: CONTROL_FINISHED_OK

state 8733 begin surface

ID	128	KALMAN_USE	2	ROLL_MIN	200	AD7714Ch0Gain	32
MISSION	4	HD_A	0.003	ROLL_MAX	3700	COMPASS_USE	4
DIVE	4	HD_B	0.0099999998	ROLL_DEG	40	ALTIM_PING_FIT	0
N_DIVES	0	HD_C	9.9999997e-06	C_ROLL_DIVE	1950	ALTIM_TOP_PING_RANGE	0
STOP_T	0	HEADING	-1	C_ROLL_CLIMB	2800	ALTIM_BOTTOM_TURN_MARGIN	15
D_SURF	3	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	2
D_TGT	360	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
D_ABORT	1030	TGT_DEFAULT_LAT	3235	R_PORT_OVSHOOT	38	ALTIM_PING_DELTA	50
D_NO_BLEED	200	TGT_DEFAULT_LON	-11731	R_STBD_OVSHOOT	31	ALTIM_FREQUENCY	13
D_BOOST	20	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_PULSE	3
T_BOOST	5	SM_CC	550	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
D_FINISH	0	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_VALID	5
D_PITCH	0	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_SAFE	0	CALL_NDIVES	1	VBD_MIN	400	INT_PRESSURE_SLOPE	0.0097660003
D_CALL	0	COMM_SEQ	0	VBD_MAX	3900	INT_PRESSURE_YINT	-1
SURFACE_URGENCY	0	PROTOCOL	9	C_VBD	2908	DEEPGLIDER	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	2	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	NOCOMM_ACTION	163	VBD_CNV	-0.245296	DEVICE1	2
T_DIVE	180	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
T_MISSION	200	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	540	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE5	-1
T_TURN_SAMPINT	-5	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERS	0
T_LOITER	0	HEAPDBG	0	UNCOM_BLEED	20	LOGGERDEVICE1	-1
T_EPIRB	0	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
EXEC_P	0	N_GPS	100440	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
EXEC_DT	0	T_RSLEEP	1	DBDW	0	LOGGERDEVICE4	-1
EXEC_T	0	STROBE	0	LOITER_W_DBAND	0	COMPASS_DEVICE	33
EXEC_N	0	RAFOS_PEAK_OFFSET	1.5	LOITER_DBDW	0	COMPASS2_DEVICE	-1
USE_BATHY	-6	RAFOS_CORR_THRESH	60	LOITER_D_NO_PUMP	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
D_OFFGRID	1000	PITCH_MIN	250	PITCH_W_DBAND	0	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3750	CF8_MAXERRORS	20	SIM_W	0
RELAUNCH	1	C_PITCH	2860	AH0_24V	350	SEABIRD_T_G	0.0043553207
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_10V	0	SEABIRD_T_H	0.00062594062
MAX_BUOY	200	PITCH_CNV	0.003125763	MINV_24V	11	SEABIRD_T_I	2.3765557e-05
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_10V	11	SEABIRD_T_J	2.606791e-06
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8755465
SPEED_FACTOR	1	PITCH_GAIN	35	MAXI_10V	0.80000001	SEABIRD_C_H	1.1390997
RHO	1.0275	PITCH_TIMEOUT	16	FG_AHR_10V	0	SEABIRD_C_I	-0.0019936475
MASS	51713	PITCH_AD_RATE	175	FG_AHR_24V	0	SEABIRD_C_J	0.00023608611
MASS_COMP	0	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2
NAV_MODE	2	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-157.40906
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00014074198

GPS1	150118,102015,-340.4586,5535.7983,14,0.9,17,-4.8,0.8,141.1,9,8.7	SPEED_LIMITS	0.115,0.252
_CALLS	1	TGT_NAME	N
_XMS_NAKs	0	TGT_LATLONG	-300.000,5535.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.80	MHEAD_RNG_PITCHd_Wd	318.6,74983,-9.2,-6.667,-14.80,4377
_SM_ANGLEo	-68.8	D_GRID	1000
GPS2	150118,102333,-340.4787,5535.8545,17,0.9,20,-4.8,0.8,127.1,9,9.4

FINISH	-0.2,1.022368	_10V_AH	13.89,0.000
SM_CCo	8749,87.40,0.096,0,0,664,550.20	FG_AHR_24Vo	0.000
SM_GC	0.61,8.32,1.45,87.40,0.095,0.058,0.096,243,1940,664,-8.13,0.93,550.20,0,0,0,0,0,0,14.71,14.76,14.71	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-337.28,5537.84,150118,101752	MEM	304708
TT8_MAMPS	0.019474,0.153545	DATA_FILE_SIZE	46673,1098
HUMID	54.37	CAP_FILE_SIZE	113707,0
INTERNAL_PRESSURE	8.46325	CFSIZE	260034560,258375680
TCM_TEMP	22.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
XPDR_PINGS	0	CURRENT	0.410,109.32,1
_24V_AH	13.59,3.121	GPS	150118,125239,-340.100,5536.208,34,1.0,38,-4.8,0.5,112.4,7,9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	442	130.70	SBE_CT	499	23	162.82
Roll_motor	83	89	101.81	nil	0	0	0.00
VBD_pump_during_apogee	441	1640	9842.61	nil	0	0	0.00
VBD_pump_during_surface	87	95	113.58	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	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	20	5.82
TT8	2150	9	282.85
LPSleep	4502	2	136.96
TT8_Active	614	9	80.78
TT8_Sampling	1601	28	626.89
TT8_CF8	58	34	27.94
TT8_Kalman	0	0	0.00
Analog_circuits	1458	16	324.17
GPS_charging	0	0	0.00
Compass	1565	17	374.56
RAFOS	0	0	0.00
Transponder	0	5	0.04

		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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-0.50	-194.6	235	1960	702	639	0.0	0.0	0	106	0.00	0.00	-96.85	0.003	16386	0.000	0.000	234	1960	3607	3588	3627	0	0	0	0	0	0	15.11	28.83	15.13
108	-0.50	-194.6	234	1960	3588	3627	3.9	-10.1	16	130	12.23	2.35	-1.42	0.076	18692	0.442	0.090	2677	3368	3705	3699	3711	0	0	0	0	0	0	14.59	13.87	14.80
167	-0.50	-194.6	2677	3368	3704	3709	26.1	-18.8	26	175	0.00	2.28	0.00	0.000	1030	0.000	0.057	2677	1950	3707	3706	3708	0	0	0	0	0	0	14.96	14.88	14.97
476	-0.50	-194.6	2677	1949	3713	3705	67.3	-10.5	74	481	0.00	2.33	0.00	0.000	260	0.000	0.076	2677	3362	3709	3713	3705	0	0	0	0	0	0	15.19	14.92	15.21
588	-0.50	-194.6	2677	3362	3714	3705	74.4	-6.3	96	592	0.00	2.25	0.00	0.000	1062	0.000	0.052	2677	1938	3709	3714	3705	0	0	0	0	0	0	15.04	14.97	15.06
899	-0.50	-194.6	2677	1936	3717	3705	93.6	-5.7	128	903	0.00	2.35	0.00	0.000	292	0.000	0.080	2677	3355	3711	3717	3705	0	0	0	0	0	0	15.23	14.97	15.26
960	-0.50	-194.6	2677	3355	3717	3705	97.1	-5.8	140	967	0.00	2.22	0.00	0.000	1062	0.000	0.050	2677	1940	3711	3717	3705	0	0	0	0	0	0	15.07	15.01	15.09
1267	-0.50	-194.6	2677	1939	3717	3704	111.5	-5.0	171	1270	0.00	2.35	0.00	0.000	292	0.000	0.080	2677	3359	3710	3717	3704	0	0	0	0	0	0	15.26	14.98	15.27
1348	-0.50	-194.6	2677	3359	3717	3704	115.9	-5.4	187	1353	0.00	2.22	0.00	0.000	1062	0.000	0.051	2677	1947	3710	3717	3703	0	0	0	0	0	0	15.09	15.03	15.11
1660	-0.50	-194.6	2677	1944	3717	3701	129.9	-5.5	219	1665	0.00	2.35	0.00	0.000	292	0.000	0.081	2677	3362	3709	3717	3701	0	0	0	0	0	0	15.26	14.98	15.28
1725	-0.50	-194.6	2677	3362	3717	3700	134.2	-7.1	232	1733	0.00	2.28	0.00	0.000	1030	0.000	0.052	2677	1944	3708	3717	3700	0	0	0	0	0	0	15.05	15.02	15.07
2032	-0.50	-194.6	2677	1944	3717	3698	157.5	-7.4	263	2034	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	1944	3707	3717	3698	0	0	0	0	0	0	15.26	15.29	15.28
2333	-0.50	-194.6	2677	1944	3717	3695	173.6	-4.7	293	2337	0.00	2.33	0.00	0.000	292	0.000	0.083	2677	3355	3706	3717	3695	0	0	0	0	0	0	15.26	14.99	15.28
2454	-0.50	-194.6	2677	3355	3716	3694	179.7	-5.4	317	2458	0.00	2.20	0.00	0.000	1062	0.000	0.053	2677	1953	3705	3716	3694	0	0	0	0	0	0	15.10	15.04	15.12
2766	-0.50	-194.6	2677	1948	3714	3692	197.8	-5.6	349	2770	0.00	2.22	0.00	0.000	548	0.000	0.068	2677	541	3703	3714	3692	0	0	0	0	0	0	15.26	15.00	15.28
2997	-0.50	-194.6	2676	540	3712	3692	212.4	-6.5	395	3002	0.00	2.22	0.00	0.000	1062	0.000	0.060	2677	1946	3702	3712	3692	0	0	0	0	0	0	15.09	15.01	15.11
3309	-0.50	-194.6	2677	1946	3711	3688	232.0	-6.2	427	3313	0.00	2.25	0.00	0.000	548	0.000	0.069	2677	542	3700	3712	3688	0	0	0	0	0	0	15.26	15.00	15.28
3540	-0.50	-194.6	2677	542	3709	3688	245.1	-5.5	473	3545	0.00	2.25	0.00	0.000	1062	0.000	0.060	2677	1966	3698	3709	3688	0	0	0	0	0	0	15.08	14.99	15.10
3862	-0.50	-194.6	2677	1966	3709	3685	261.0	-5.4	492	3866	0.00	2.28	0.00	0.000	548	0.000	0.067	2677	544	3696	3708	3685	0	0	0	0	0	0	15.26	14.99	15.28
3997	-0.50	-194.6	2677	543	3707	3684	270.5	-7.6	519	4001	0.00	2.22	0.00	0.000	1030	0.000	0.062	2677	1945	3695	3706	3685	0	0	0	0	0	0	15.09	15.01	15.11
4313	-0.50	-194.6	2676	1946	3706	3682	292.7	-7.3	532	4317	0.00	2.22	0.00	0.000	516	0.000	0.068	2677	552	3693	3706	3681	0	0	0	0	0	0	15.27	14.99	15.29
4374	-0.50	-194.6	2677	553	3706	3681	297.2	-7.7	544	4378	0.00	2.25	0.00	0.000	1030	0.000	0.063	2677	1947	3693	3705	3681	0	0	0	0	0	0	15.08	15.00	15.11
4705	-0.50	-194.6	2677	1947	3704	3680	315.3	-4.8	560	4709	0.00	2.25	0.00	0.000	548	0.000	0.069	2677	543	3692	3704	3680	0	0	0	0	0	0	15.27	14.99	15.29
4798	-0.50	-194.6	2677	542	3704	3680	320.3	-6.0	578	4803	0.00	2.25	0.00	0.000	1062	0.000	0.062	2677	1955	3691	3703	3679	0	0	0	0	0	0	15.09	15.00	15.10
5130	-0.50	-194.6	2677	1955	3702	3677	337.7	-5.3	594	5134	0.00	2.30	0.00	0.000	292	0.000	0.086	2677	3355	3689	3702	3677	0	0	0	0	0	0	15.27	14.97	15.29
5359	-0.50	-194.6	2676	3355	3701	3675	352.3	-6.9	640	5364	0.00	2.25	0.00	0.000	1030	0.000	0.056	2677	1944	3688	3701	3675	0	0	0	0	0	0	15.08	15.01	15.10
5490	end dive: TARGET_DEPTH_EXCEEDED
state	5490	begin apogee
5495	-0.14	0.0	2677	2794	3700	3675	360.6	-6.3	646	5644	0.43	0.00	141.02	1.633	10246	0.125	0.000	2821	2793	2907	2934	2881	0	0	0	0	1	0	14.95	14.30	13.64
5645	end apogee: CONTROL_FINISHED_OK
state	5645	begin climb
5646	0.50	194.6	2821	2793	2934	2880	367.2	0.0	651	5805	0.60	1.55	145.82	1.640	11012	0.090	0.082	3024	3701	2114	2161	2068	0	0	0	0	1	0	14.33	14.12	13.59
5981	0.50	194.6	3024	3701	2161	2068	326.3	15.3	719	5986	0.00	1.48	0.00	0.000	1030	0.000	0.058	3025	2809	2114	2161	2068	0	0	0	0	0	0	14.73	14.69	14.76
6303	0.50	194.6	3024	2807	2161	2068	282.1	13.2	733	6307	0.00	2.30	0.00	0.000	516	0.000	0.073	3024	1395	2114	2161	2068	0	0	0	0	0	0	15.09	14.85	15.11
6532	0.50	194.6	3024	1395	2159	2068	253.3	13.0	779	6536	0.00	2.33	0.00	0.000	1030	0.000	0.073	3024	2798	2113	2159	2068	0	0	0	0	0	0	14.97	14.88	15.00
6843	0.50	194.6	3024	2798	2159	2068	208.4	14.0	809	6847	0.00	2.30	0.00	0.000	516	0.000	0.070	3025	1394	2113	2159	2068	0	0	0	0	0	0	15.17	14.92	15.19
7004	0.50	194.6	3024	1395	2156	2068	189.2	10.8	841	7008	0.00	2.33	0.00	0.000	1030	0.000	0.073	3024	2801	2112	2156	2068	0	0	0	0	0	0	15.01	14.92	15.04
7315	0.50	194.6	3024	2801	2156	2068	152.5	12.0	873	7319	0.00	2.30	0.00	0.000	516	0.000	0.071	3025	1395	2112	2156	2068	0	0	0	0	0	0	15.20	14.95	15.22
7536	0.50	194.6	3024	1394	2154	2068	125.8	12.4	917	7540	0.00	2.33	0.00	0.000	1030	0.000	0.073	3024	2802	2111	2154	2068	0	0	0	0	0	0	15.02	14.93	15.05
7847	0.50	194.6	3024	2802	2154	2068	82.8	13.0	949	7851	0.00	2.30	0.00	0.000	516	0.000	0.070	3025	1394	2111	2154	2068	0	0	0	0	0	0	15.21	14.96	15.23
7998	0.50	194.6	3024	1394	2153	2068	66.2	10.8	979	8002	0.00	2.33	0.00	0.000	1030	0.000	0.073	3025	2799	2110	2153	2068	0	0	0	0	0	0	15.04	14.95	15.06
8303	0.72	368.0	3024	2799	2153	2068	46.3	2.6	1020	8471	0.17	2.45	154.73	1.051	11044	0.135	0.067	3093	1389	1406	1459	1354	0	0	0	0	1	0	14.93	14.38	13.84
8694	0.72	368.0	3093	1390	1462	1362	5.1	13.9	1091	8701	0.00	2.35	0.00	0.000	1030	0.000	0.064	3093	2807	1412	1462	1362	0	0	0	0	0	0	14.79	14.71	14.81
8711	end climb: SURFACE_DEPTH_REACHED
state	8711	begin surface coast
8733	end surface coast: CONTROL_FINISHED_OK
state	8733	begin surface