Glider dive log

NASCAR Jan18 * SG128 * Dive index * Mission links * Dive 474 * 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 0.0026803601 ROLL_MAX 3700 COMPASS_USE 4

DIVE 474 HD_B 0.0139002 ROLL_DEG 40 ALTIM_PING_FIT 0

N_DIVES 0 HD_C 9.1750398e-06 C_ROLL_DIVE 2800 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 500 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 75 ALTIM_FREQUENCY 13

D_BOOST 20 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 250 ALTIM_PULSE 3

T_BOOST 5 SM_CC 400 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 3250 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 200 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

T_MISSION 95 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 540 DEVICE3 -1

T_ABORT 1600 CALL_TRIES 5 PITCH_VBD_SHIFT 0.00121 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 3 DEVICE5 -1

T_TURN_SAMPINT -5 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERS 0

T_LOITER 28800 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 2 LOGGERDEVICE3 -1

EXEC_DT 0 T_RSLEEP 1 DBDW 0 LOGGERDEVICE4 -1

EXEC_T 0 STROBE 0 LOITER_W_DBAND 2 COMPASS_DEVICE 33

EXEC_N 0 RAFOS_PEAK_OFFSET 1.5 LOITER_DBDW 400 COMPASS2_DEVICE -1

USE_BATHY -6 RAFOS_CORR_THRESH 60 LOITER_D_NO_PUMP 500 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 2 RAFOS_DEVICE -1

D_OFFGRID 1000 PITCH_MIN 250 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3750 CF8_MAXERRORS 20 SIM_W 0

RELAUNCH 1 C_PITCH 2760 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 100 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 34 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 500 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 400

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 34 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 1600

CALL_TRIES 5 HD_A 0.0026803601 PITCH_TIMEOUT 16 T_BOOST 5

CALL_WAIT 60 HD_B 0.0139002 PITCH_VBD_SHIFT 0.00121 T_DIVE 200

CAPMAXSIZE 100000 HD_C 9.1750398e-06 PITCH_W_DBAND 0.5 T_EPIRB 0

CAPUPLOAD 0 HEADING -1 PITCH_W_GAIN 2 T_GPS 5

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014074198 T_LOITER 28800

COMM_SEQ 0 HEAPDBG 0 PRESSURE_YINT -157.40906 T_MISSION 95

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 2760 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 2800 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD 3250 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 400 ROLL_ADJ_DBAND 0 VBD_CNV -0.245296

DEVICE2 -1 LOITER_D_NO_PUMP 500 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE3 -1 LOITER_N_DIVE 0 ROLL_AD_RATE 250 VBD_LP_IGNORE 0

DEVICE4 -1 LOITER_W_DBAND 2 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 474 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_APOGEE 2

D_ABORT 1030 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 20 MAX_BUOY 100 ROLL_TIMEOUT 15 VBD_TIMEOUT 540

D_CALL 0 MINV_10V 11 R_PORT_OVSHOOT 38 W_ADJ_DBAND 2

D_FINISH 0 MINV_24V 11 R_STBD_OVSHOOT 75 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 300518,125315,-158.5581,5856.3560,15,0.9,18,-4.6,0.6,90.2,8,9.1 SPEED_LIMITS 0.144,0.173

_CALLS 1 TGT_NAME MALDIVE

_XMS_NAKs 0 TGT_LATLONG 430.000,7230.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.62 MHEAD_RNG_PITCHd_Wd 88.7,1665570,-20.3,-8.333,-25.69,1777

_SM_ANGLEo -71.3 D_GRID 1000

GPS2 300518,125721,-158.5678,5856.4307,18,0.8,20,-4.6,0.3,108.3,9,9.9

Post-dive calculations and measurements:

FINISH -0.2,1.022188 _10V_AH 12.08,0.000

SM_CCo 6413,0.00,0.000,0,0,392,701.06 FG_AHR_24Vo 0.000

SM_GC 0.41,8.95,0.00,0.00,0.096,0.000,0.000,246,2794,392,-7.81,-0.17,701.06,0,0,0,0,0,0,14.53,14.92,14.64 FG_AHR_10Vo 0.000

IRIDIUM_FIX -159.45,5858.47,300518,125042 MEM 303008

TT8_MAMPS 0.018725,0.155792 DATA_FILE_SIZE 33414,766

HUMID 61.45 CAP_FILE_SIZE 96305,1

INTERNAL_PRESSURE 8.46325 CFSIZE 260034560,215367680

TCM_TEMP 22.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0

XPDR_PINGS 0 CURRENT 0.074,356.88,1

_24V_AH 12.78,152.657 GPS 300518,144607,-158.316,5856.449,40,0.8,42,-4.6,0.4,128.0,9,9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 409 119.39 SBE_CT 400 23 122.77

Roll_motor 55 69 49.51 nil 0 0 0.00

VBD_pump_during_apogee 668 1311 11211.28 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 22 20 5.39

TT8 1559 9 178.40

LPSleep 3015 2 79.78

TT8_Active 678 9 77.61

TT8_Sampling 1123 28 382.62

TT8_CF8 125 34 51.69

TT8_Kalman 0 0 0.00

Analog_circuits 1364 16 263.72

GPS_charging 0 0 0.00

Compass 1096 17 228.31

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

8 -0.72 -97.3 244 2775 439 351 0.0 0.0 0 115 0.00 0.00 -102.07 0.003 16390 0.000 0.000 243 2775 3648 3632 3665 0 0 0 0 0 0 14.97 12.78 14.90

119 -0.72 -97.3 243 2775 3632 3665 4.9 -14.6 18 139 11.55 1.35 0.00 0.000 2308 0.409 0.042 2516 3676 3651 3639 3663 0 0 0 0 0 0 14.14 14.61 14.53

166 -0.72 -97.3 2516 3676 3640 3660 19.5 -15.6 26 173 0.00 1.35 0.00 0.000 1030 0.000 0.033 2517 2754 3650 3643 3658 0 0 0 0 0 0 14.69 14.66 14.71

478 -0.72 -97.3 2516 2753 3645 3656 61.7 -11.6 77 482 0.00 1.45 0.00 0.000 260 0.000 0.062 2512 3658 3650 3645 3656 0 0 0 0 0 0 15.04 14.59 15.06

502 -0.72 -97.3 2512 3658 3645 3655 65.1 -13.0 82 509 0.00 1.25 0.00 0.000 1030 0.000 0.033 2513 2793 3650 3645 3656 0 0 0 0 0 0 14.73 14.70 14.75

810 -0.72 -97.3 2512 2793 3649 3656 101.3 -10.8 113 814 0.00 2.22 0.00 0.000 516 0.000 0.035 2512 1430 3652 3649 3656 0 0 0 0 0 0 15.07 14.74 15.09

894 -0.72 -97.3 2512 1430 3650 3655 109.1 -9.0 129 898 0.00 2.28 0.00 0.000 1030 0.000 0.050 2512 2759 3652 3650 3655 0 0 0 0 0 0 14.78 14.69 14.81

1206 -0.72 -97.3 2511 2759 3653 3656 136.3 -9.6 161 1210 0.00 2.20 0.00 0.000 516 0.000 0.033 2511 1426 3654 3653 3655 0 0 0 0 0 0 15.09 14.76 15.11

1278 -0.72 -97.3 2511 1426 3653 3656 143.5 -10.2 175 1287 0.00 2.38 0.00 0.000 1030 0.000 0.051 2512 2811 3654 3653 3655 0 0 0 0 0 0 14.80 14.69 14.83

1588 -0.72 -97.3 2511 2810 3654 3655 174.1 -9.1 207 1591 0.00 1.40 0.00 0.000 260 0.000 0.067 2512 3695 3654 3654 3655 0 0 0 0 0 0 15.11 14.62 15.12

1670 -0.72 -97.3 2511 3694 3654 3653 181.5 -9.3 223 1674 0.00 1.30 0.00 0.000 1030 0.000 0.034 2512 2794 3653 3654 3653 0 0 0 0 0 0 14.78 14.76 14.80

1981 -0.72 -97.3 2511 2794 3654 3650 208.8 -8.4 255 1985 0.00 2.25 0.00 0.000 516 0.000 0.035 2511 1421 3652 3654 3650 0 0 0 0 0 0 15.11 14.76 15.13

2026 -0.72 -97.3 2511 1421 3654 3650 212.7 -8.9 264 2034 0.00 2.40 0.00 0.000 1030 0.000 0.053 2512 2802 3652 3654 3650 0 0 0 0 0 0 14.78 14.68 14.82

2334 -0.72 -97.3 2511 2802 3653 3645 241.3 -9.1 295 2338 0.00 1.42 0.00 0.000 260 0.000 0.070 2512 3698 3649 3653 3645 0 0 0 0 0 0 15.10 14.60 15.11

2358 -0.72 -97.3 2511 3698 3653 3644 243.6 -8.7 300 2366 0.00 1.33 0.00 0.000 1030 0.000 0.036 2512 2802 3648 3653 3644 0 0 0 0 0 0 14.76 14.73 14.78

2675 -0.72 -97.3 2511 2802 3653 3641 267.7 -6.9 316 2680 0.00 1.45 0.00 0.000 260 0.000 0.070 2512 3690 3647 3653 3641 0 0 0 0 0 0 15.11 14.59 15.14

2697 -0.72 -97.3 2511 3691 3653 3641 269.2 -6.9 320 2702 0.00 1.33 0.00 0.000 1030 0.000 0.035 2512 2786 3647 3653 3641 0 0 0 0 0 0 14.77 14.74 14.79

2857 end dive: HALF_MISSION_TIME_EXCEEDED

state 2857 begin apogee

2863 -0.15 0.0 2512 2786 3653 3638 279.8 -6.7 327 2956 0.75 0.00 84.70 1.276 10246 0.252 0.000 2707 2786 3250 3270 3230 0 0 0 0 1 0 14.25 14.38 13.53

2957 end apogee: CONTROL_FINISHED_OK

state 2957 begin climb

2959 0.72 97.3 2707 2786 3270 3230 283.0 0.0 330 3061 0.90 1.58 87.82 1.312 10500 0.171 0.067 2979 3706 2853 2883 2824 0 0 0 0 1 0 14.31 14.26 13.42

3152 0.78 150.1 2978 3706 2890 2824 277.4 5.3 370 3208 0.00 1.38 50.20 1.147 9254 0.000 0.034 2981 2794 2634 2671 2597 0 0 0 0 0 0 14.55 14.55 13.66

3523 0.86 213.2 2981 2794 2644 2580 259.5 4.7 393 3583 0.12 2.33 49.05 1.147 11044 0.165 0.043 3035 1426 2372 2410 2335 0 0 0 0 0 0 14.62 14.48 13.73

3648 0.87 213.2 3035 1426 2408 2332 250.8 7.4 418 3653 0.00 2.40 0.00 0.000 1094 0.000 0.049 3035 2802 2370 2408 2332 0 0 0 0 0 0 14.63 14.54 14.66

3961 0.90 213.2 3035 2802 2404 2329 228.5 6.8 451 3965 0.00 1.45 0.00 0.000 324 0.000 0.067 3036 3701 2366 2404 2329 0 0 0 0 0 0 15.00 14.59 15.02

4003 0.93 213.2 3035 3701 2402 2329 225.5 7.1 459 4006 0.00 1.35 0.00 0.000 1094 0.000 0.037 3039 2797 2365 2402 2329 0 0 0 0 0 0 14.71 14.69 14.73

4314 0.93 213.2 3039 2794 2396 2328 201.7 8.3 491 4318 0.00 2.30 0.00 0.000 516 0.000 0.044 3041 1422 2362 2397 2328 0 0 0 0 0 0 15.05 14.71 15.07

4359 0.93 213.2 3040 1422 2394 2327 197.9 8.1 500 4367 0.00 2.40 0.00 0.000 1030 0.000 0.049 3041 2810 2360 2394 2326 0 0 0 0 0 0 14.77 14.68 14.81

4666 0.93 213.2 3040 2810 2397 2325 171.3 8.9 531 4670 0.00 1.42 0.00 0.000 260 0.000 0.069 3041 3694 2360 2397 2324 0 0 0 0 0 0 15.08 14.60 15.09

4719 0.93 213.2 3041 3694 2396 2324 166.4 9.0 541 4723 0.00 1.33 0.00 0.000 1030 0.000 0.036 3042 2795 2360 2396 2325 0 0 0 0 0 0 14.74 14.72 14.76

5032 0.98 257.0 3041 2792 2395 2323 143.6 5.8 573 5075 0.10 2.30 37.50 1.050 11044 0.177 0.041 3081 1424 2194 2230 2158 0 0 0 0 0 0 14.73 14.38 13.87

5113 0.98 257.0 3081 1424 2228 2157 137.6 8.0 588 5118 0.00 2.40 0.00 0.000 1030 0.000 0.049 3081 2803 2192 2227 2157 0 0 0 0 0 0 14.70 14.61 14.73

5426 0.98 257.0 3081 2803 2224 2156 109.1 8.6 620 5430 0.00 1.42 0.00 0.000 260 0.000 0.068 3081 3694 2190 2225 2156 0 0 0 0 0 0 15.02 14.56 15.04

5448 0.98 257.0 3081 3694 2223 2156 107.3 7.9 624 5453 0.00 1.33 0.00 0.000 1030 0.000 0.036 3083 2808 2189 2223 2156 0 0 0 0 0 0 14.70 14.67 14.72

5712 1.52 699.1 3082 2809 2222 2156 87.9 8.3 651 6083 0.45 1.52 359.38 0.894 11012 0.106 0.060 3242 3707 398 466 330 0 0 0 0 0 0 14.57 14.32 13.79

6090 1.52 699.1 3241 3707 460 322 32.8 13.8 718 6097 0.00 1.40 0.00 0.000 1030 0.000 0.034 3242 2794 390 459 322 0 0 0 0 0 0 14.41 14.38 14.42

6313 end climb: SURFACE_DEPTH_REACHED

state 6313 begin surface coast

6334 end surface coast: CONTROL_FINISHED_OK

state 6335 begin surface

ID	128	KALMAN_USE	2	ROLL_MIN	200	AD7714Ch0Gain	32
MISSION	4	HD_A	0.0026803601	ROLL_MAX	3700	COMPASS_USE	4
DIVE	474	HD_B	0.0139002	ROLL_DEG	40	ALTIM_PING_FIT	0
N_DIVES	0	HD_C	9.1750398e-06	C_ROLL_DIVE	2800	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	500	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	75	ALTIM_FREQUENCY	13
D_BOOST	20	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	250	ALTIM_PULSE	3
T_BOOST	5	SM_CC	400	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	3250	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	200	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
T_MISSION	95	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	540	DEVICE3	-1
T_ABORT	1600	CALL_TRIES	5	PITCH_VBD_SHIFT	0.00121	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	3	DEVICE5	-1
T_TURN_SAMPINT	-5	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERS	0
T_LOITER	28800	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	2	LOGGERDEVICE3	-1
EXEC_DT	0	T_RSLEEP	1	DBDW	0	LOGGERDEVICE4	-1
EXEC_T	0	STROBE	0	LOITER_W_DBAND	2	COMPASS_DEVICE	33
EXEC_N	0	RAFOS_PEAK_OFFSET	1.5	LOITER_DBDW	400	COMPASS2_DEVICE	-1
USE_BATHY	-6	RAFOS_CORR_THRESH	60	LOITER_D_NO_PUMP	500	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	2	RAFOS_DEVICE	-1
D_OFFGRID	1000	PITCH_MIN	250	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3750	CF8_MAXERRORS	20	SIM_W	0
RELAUNCH	1	C_PITCH	2760	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	100	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	34	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	300518,125315,-158.5581,5856.3560,15,0.9,18,-4.6,0.6,90.2,8,9.1	SPEED_LIMITS	0.144,0.173
_CALLS	1	TGT_NAME	MALDIVE
_XMS_NAKs	0	TGT_LATLONG	430.000,7230.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.62	MHEAD_RNG_PITCHd_Wd	88.7,1665570,-20.3,-8.333,-25.69,1777
_SM_ANGLEo	-71.3	D_GRID	1000
GPS2	300518,125721,-158.5678,5856.4307,18,0.8,20,-4.6,0.3,108.3,9,9.9

FINISH	-0.2,1.022188	_10V_AH	12.08,0.000
SM_CCo	6413,0.00,0.000,0,0,392,701.06	FG_AHR_24Vo	0.000
SM_GC	0.41,8.95,0.00,0.00,0.096,0.000,0.000,246,2794,392,-7.81,-0.17,701.06,0,0,0,0,0,0,14.53,14.92,14.64	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-159.45,5858.47,300518,125042	MEM	303008
TT8_MAMPS	0.018725,0.155792	DATA_FILE_SIZE	33414,766
HUMID	61.45	CAP_FILE_SIZE	96305,1
INTERNAL_PRESSURE	8.46325	CFSIZE	260034560,215367680
TCM_TEMP	22.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
XPDR_PINGS	0	CURRENT	0.074,356.88,1
_24V_AH	12.78,152.657	GPS	300518,144607,-158.316,5856.449,40,0.8,42,-4.6,0.4,128.0,9,9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	409	119.39	SBE_CT	400	23	122.77
Roll_motor	55	69	49.51	nil	0	0	0.00
VBD_pump_during_apogee	668	1311	11211.28	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	22	20	5.39
TT8	1559	9	178.40
LPSleep	3015	2	79.78
TT8_Active	678	9	77.61
TT8_Sampling	1123	28	382.62
TT8_CF8	125	34	51.69
TT8_Kalman	0	0	0.00
Analog_circuits	1364	16	263.72
GPS_charging	0	0	0.00
Compass	1096	17	228.31
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
8	-0.72	-97.3	244	2775	439	351	0.0	0.0	0	115	0.00	0.00	-102.07	0.003	16390	0.000	0.000	243	2775	3648	3632	3665	0	0	0	0	0	0	14.97	12.78	14.90
119	-0.72	-97.3	243	2775	3632	3665	4.9	-14.6	18	139	11.55	1.35	0.00	0.000	2308	0.409	0.042	2516	3676	3651	3639	3663	0	0	0	0	0	0	14.14	14.61	14.53
166	-0.72	-97.3	2516	3676	3640	3660	19.5	-15.6	26	173	0.00	1.35	0.00	0.000	1030	0.000	0.033	2517	2754	3650	3643	3658	0	0	0	0	0	0	14.69	14.66	14.71
478	-0.72	-97.3	2516	2753	3645	3656	61.7	-11.6	77	482	0.00	1.45	0.00	0.000	260	0.000	0.062	2512	3658	3650	3645	3656	0	0	0	0	0	0	15.04	14.59	15.06
502	-0.72	-97.3	2512	3658	3645	3655	65.1	-13.0	82	509	0.00	1.25	0.00	0.000	1030	0.000	0.033	2513	2793	3650	3645	3656	0	0	0	0	0	0	14.73	14.70	14.75
810	-0.72	-97.3	2512	2793	3649	3656	101.3	-10.8	113	814	0.00	2.22	0.00	0.000	516	0.000	0.035	2512	1430	3652	3649	3656	0	0	0	0	0	0	15.07	14.74	15.09
894	-0.72	-97.3	2512	1430	3650	3655	109.1	-9.0	129	898	0.00	2.28	0.00	0.000	1030	0.000	0.050	2512	2759	3652	3650	3655	0	0	0	0	0	0	14.78	14.69	14.81
1206	-0.72	-97.3	2511	2759	3653	3656	136.3	-9.6	161	1210	0.00	2.20	0.00	0.000	516	0.000	0.033	2511	1426	3654	3653	3655	0	0	0	0	0	0	15.09	14.76	15.11
1278	-0.72	-97.3	2511	1426	3653	3656	143.5	-10.2	175	1287	0.00	2.38	0.00	0.000	1030	0.000	0.051	2512	2811	3654	3653	3655	0	0	0	0	0	0	14.80	14.69	14.83
1588	-0.72	-97.3	2511	2810	3654	3655	174.1	-9.1	207	1591	0.00	1.40	0.00	0.000	260	0.000	0.067	2512	3695	3654	3654	3655	0	0	0	0	0	0	15.11	14.62	15.12
1670	-0.72	-97.3	2511	3694	3654	3653	181.5	-9.3	223	1674	0.00	1.30	0.00	0.000	1030	0.000	0.034	2512	2794	3653	3654	3653	0	0	0	0	0	0	14.78	14.76	14.80
1981	-0.72	-97.3	2511	2794	3654	3650	208.8	-8.4	255	1985	0.00	2.25	0.00	0.000	516	0.000	0.035	2511	1421	3652	3654	3650	0	0	0	0	0	0	15.11	14.76	15.13
2026	-0.72	-97.3	2511	1421	3654	3650	212.7	-8.9	264	2034	0.00	2.40	0.00	0.000	1030	0.000	0.053	2512	2802	3652	3654	3650	0	0	0	0	0	0	14.78	14.68	14.82
2334	-0.72	-97.3	2511	2802	3653	3645	241.3	-9.1	295	2338	0.00	1.42	0.00	0.000	260	0.000	0.070	2512	3698	3649	3653	3645	0	0	0	0	0	0	15.10	14.60	15.11
2358	-0.72	-97.3	2511	3698	3653	3644	243.6	-8.7	300	2366	0.00	1.33	0.00	0.000	1030	0.000	0.036	2512	2802	3648	3653	3644	0	0	0	0	0	0	14.76	14.73	14.78
2675	-0.72	-97.3	2511	2802	3653	3641	267.7	-6.9	316	2680	0.00	1.45	0.00	0.000	260	0.000	0.070	2512	3690	3647	3653	3641	0	0	0	0	0	0	15.11	14.59	15.14
2697	-0.72	-97.3	2511	3691	3653	3641	269.2	-6.9	320	2702	0.00	1.33	0.00	0.000	1030	0.000	0.035	2512	2786	3647	3653	3641	0	0	0	0	0	0	14.77	14.74	14.79
2857	end dive: HALF_MISSION_TIME_EXCEEDED
state	2857	begin apogee
2863	-0.15	0.0	2512	2786	3653	3638	279.8	-6.7	327	2956	0.75	0.00	84.70	1.276	10246	0.252	0.000	2707	2786	3250	3270	3230	0	0	0	0	1	0	14.25	14.38	13.53
2957	end apogee: CONTROL_FINISHED_OK
state	2957	begin climb
2959	0.72	97.3	2707	2786	3270	3230	283.0	0.0	330	3061	0.90	1.58	87.82	1.312	10500	0.171	0.067	2979	3706	2853	2883	2824	0	0	0	0	1	0	14.31	14.26	13.42
3152	0.78	150.1	2978	3706	2890	2824	277.4	5.3	370	3208	0.00	1.38	50.20	1.147	9254	0.000	0.034	2981	2794	2634	2671	2597	0	0	0	0	0	0	14.55	14.55	13.66
3523	0.86	213.2	2981	2794	2644	2580	259.5	4.7	393	3583	0.12	2.33	49.05	1.147	11044	0.165	0.043	3035	1426	2372	2410	2335	0	0	0	0	0	0	14.62	14.48	13.73
3648	0.87	213.2	3035	1426	2408	2332	250.8	7.4	418	3653	0.00	2.40	0.00	0.000	1094	0.000	0.049	3035	2802	2370	2408	2332	0	0	0	0	0	0	14.63	14.54	14.66
3961	0.90	213.2	3035	2802	2404	2329	228.5	6.8	451	3965	0.00	1.45	0.00	0.000	324	0.000	0.067	3036	3701	2366	2404	2329	0	0	0	0	0	0	15.00	14.59	15.02
4003	0.93	213.2	3035	3701	2402	2329	225.5	7.1	459	4006	0.00	1.35	0.00	0.000	1094	0.000	0.037	3039	2797	2365	2402	2329	0	0	0	0	0	0	14.71	14.69	14.73
4314	0.93	213.2	3039	2794	2396	2328	201.7	8.3	491	4318	0.00	2.30	0.00	0.000	516	0.000	0.044	3041	1422	2362	2397	2328	0	0	0	0	0	0	15.05	14.71	15.07
4359	0.93	213.2	3040	1422	2394	2327	197.9	8.1	500	4367	0.00	2.40	0.00	0.000	1030	0.000	0.049	3041	2810	2360	2394	2326	0	0	0	0	0	0	14.77	14.68	14.81
4666	0.93	213.2	3040	2810	2397	2325	171.3	8.9	531	4670	0.00	1.42	0.00	0.000	260	0.000	0.069	3041	3694	2360	2397	2324	0	0	0	0	0	0	15.08	14.60	15.09
4719	0.93	213.2	3041	3694	2396	2324	166.4	9.0	541	4723	0.00	1.33	0.00	0.000	1030	0.000	0.036	3042	2795	2360	2396	2325	0	0	0	0	0	0	14.74	14.72	14.76
5032	0.98	257.0	3041	2792	2395	2323	143.6	5.8	573	5075	0.10	2.30	37.50	1.050	11044	0.177	0.041	3081	1424	2194	2230	2158	0	0	0	0	0	0	14.73	14.38	13.87
5113	0.98	257.0	3081	1424	2228	2157	137.6	8.0	588	5118	0.00	2.40	0.00	0.000	1030	0.000	0.049	3081	2803	2192	2227	2157	0	0	0	0	0	0	14.70	14.61	14.73
5426	0.98	257.0	3081	2803	2224	2156	109.1	8.6	620	5430	0.00	1.42	0.00	0.000	260	0.000	0.068	3081	3694	2190	2225	2156	0	0	0	0	0	0	15.02	14.56	15.04
5448	0.98	257.0	3081	3694	2223	2156	107.3	7.9	624	5453	0.00	1.33	0.00	0.000	1030	0.000	0.036	3083	2808	2189	2223	2156	0	0	0	0	0	0	14.70	14.67	14.72
5712	1.52	699.1	3082	2809	2222	2156	87.9	8.3	651	6083	0.45	1.52	359.38	0.894	11012	0.106	0.060	3242	3707	398	466	330	0	0	0	0	0	0	14.57	14.32	13.79
6090	1.52	699.1	3241	3707	460	322	32.8	13.8	718	6097	0.00	1.40	0.00	0.000	1030	0.000	0.034	3242	2794	390	459	322	0	0	0	0	0	0	14.41	14.38	14.42
6313	end climb: SURFACE_DEPTH_REACHED
state	6313	begin surface coast
6334	end surface coast: CONTROL_FINISHED_OK
state	6335	begin surface