Glider dive log

NASCAR Jan18 * SG128 * Dive index * Mission links * Dive 629 * 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 629 HD_B 0.0139002 ROLL_DEG 20 ALTIM_PING_FIT 0

N_DIVES 0 HD_C 9.1750398e-06 C_ROLL_DIVE 2200 ALTIM_TOP_PING_RANGE 0

STOP_T 0 HEADING -1 C_ROLL_CLIMB 2200 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 1000 TGT_DEFAULT_LAT 3235 R_PORT_OVSHOOT 57 ALTIM_PING_DELTA 50

D_NO_BLEED 200 TGT_DEFAULT_LON -11731 R_STBD_OVSHOOT 45 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 1800 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 540 DEVICE3 -1

T_ABORT 2000 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 86400 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 1 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 80 PITCH_CNV 0.003125763 MINV_24V 7 SEABIRD_T_I 2.3765557e-05

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_10V 7 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 0.029999999 PRESSURE_YINT -157.40906

FERRY_MAX 45 PITCH_ADJ_DBAND 1 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 1 STOP_T 0

ALTIM_PING_FIT 0 EXEC_T 0 PITCH_ADJ_GAIN 0.029999999 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 2000

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 86400

COMM_SEQ 0 HEAPDBG 0 PRESSURE_YINT -157.40906 T_MISSION 1800

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 2200 LOGGERDEVICE1 -1 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_ROLL_DIVE 2200 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 1 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 20 VBD_MAXERRORS 1

DEVICE6 -1 MASS_COMP 0 ROLL_MAX 3700 VBD_MIN 400

DIVE 629 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_APOGEE 2

D_ABORT 1000 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 20 MAX_BUOY 80 ROLL_TIMEOUT 15 VBD_TIMEOUT 540

D_CALL 0 MINV_10V 7 R_PORT_OVSHOOT 57 W_ADJ_DBAND 2

D_FINISH 0 MINV_24V 7 R_STBD_OVSHOOT 45 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 041118,193456,-1.7486,6323.9600,37,1.1,40,-4.2,1.4,74.8,6,9.7 SPEED_LIMITS 0.144,0.155

_CALLS 1 TGT_NAME MALDIVE

_XMS_NAKs 0 TGT_LATLONG 430.000,7230.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.59 MHEAD_RNG_PITCHd_Wd 22.7,1126394,-23.2,-8.333,-28.22,1424

_SM_ANGLEo -73.1 D_GRID 1000

GPS2 041118,194139,-1.7559,6324.2021,14,0.9,17,-4.2,0.7,92.5,9,8.7

Post-dive calculations and measurements:

FINISH -0.5,1.022756 _10V_AH 9.39,0.000

SM_CCo 94365,47.60,0.077,0,0,1618,400.08 FG_AHR_24Vo 0.000

SM_GC 0.84,8.93,0.00,47.60,0.087,0.000,0.077,244,2189,1618,-7.82,-0.31,400.08,0,0,0,0,0,0,14.29,14.91,14.36 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4.34,6325.13,031118,162311 MEM 302900

TT8_MAMPS 0.018725,0.160286 DATA_FILE_SIZE 70065,1629

HUMID 60.78 CAP_FILE_SIZE 262953,0

INTERNAL_PRESSURE 8.50232 CFSIZE 260034560,198356992

TCM_TEMP 23.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.226,211.25,1

_24V_AH 12.74,194.154 GPS 051118,215708,-11.606,6318.157,31,1.1,34,-4.3,1.5,77.9,8,9.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 419 144.47 SBE_CT 416 23 127.15

Roll_motor 66 71 60.46 nil 0 0 0.00

VBD_pump_during_apogee 340 1574 6827.06 nil 0 0 0.00

VBD_pump_during_surface 47 77 46.86 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 267 137 468.75 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 20 3.53

TT8 3602 9 320.31

LPSleep 87774 2 1805.01

TT8_Active 564 9 50.23

TT8_Sampling 2242 28 593.58

TT8_CF8 621 34 199.61

TT8_Kalman 0 0 0.00

Analog_circuits 2217 16 333.20

GPS_charging 0 0 0.00

Compass 1638 17 265.13

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

9 -0.78 -77.9 219 2212 1632 1619 0.0 0.0 0 77 0.00 0.00 -61.67 0.003 16390 0.000 0.000 219 2212 3567 3546 3589 0 0 0 0 0 0 14.84 13.26 14.73

80 -0.78 -77.9 219 2212 3547 3589 5.3 -16.2 11 101 12.15 1.27 0.00 0.000 2564 0.420 0.042 2497 1506 3571 3553 3590 0 0 0 0 0 0 13.83 14.27 14.12

134 -0.45 -77.9 2497 1506 3561 3586 31.3 -33.8 20 141 0.40 1.27 0.00 0.000 3206 0.284 0.041 2603 2201 3574 3564 3585 0 0 0 0 0 0 13.83 14.35 14.22

326 -0.42 -77.9 2602 2201 3568 3582 64.6 -10.3 47 330 0.00 1.27 0.00 0.000 644 0.000 0.037 2603 1491 3574 3567 3582 0 0 0 0 0 0 14.92 14.34 14.94

470 -0.53 -77.9 2602 1491 3570 3582 81.6 -6.8 75 474 0.00 1.30 0.00 0.000 1158 0.000 0.047 2603 2197 3575 3570 3581 0 0 0 0 0 0 14.36 14.31 14.40

664 -0.62 -77.9 2603 2196 3574 3582 100.5 -12.4 95 668 0.12 1.25 0.00 0.000 4740 0.140 0.033 2553 1501 3577 3574 3581 0 0 0 0 0 0 14.52 14.35 14.54

788 -0.69 -77.9 2552 1501 3576 3581 117.6 -11.2 119 792 0.00 1.30 0.00 0.000 1158 0.000 0.047 2552 2204 3578 3576 3581 0 0 0 0 0 0 14.37 14.33 14.41

981 -0.69 -77.9 2552 2204 3579 3581 137.2 -11.0 139 985 0.00 1.27 0.00 0.000 516 0.000 0.038 2552 1499 3580 3579 3581 0 0 0 0 0 0 15.01 14.36 15.02

1053 -0.74 -77.9 2552 1499 3579 3581 144.3 -9.0 153 1058 0.00 1.30 0.00 0.000 1158 0.000 0.048 2552 2202 3580 3579 3581 0 0 0 0 0 0 14.38 14.33 14.45

1247 -0.81 -77.9 2552 2201 3581 3581 163.1 -10.2 173 1253 0.15 1.15 0.00 0.000 4484 0.127 0.058 2493 2894 3581 3581 3581 0 0 0 0 0 0 14.51 14.25 14.53

1366 -0.75 -77.9 2492 2894 3583 3581 178.2 -11.9 196 1372 0.00 1.12 0.00 0.000 1158 0.000 0.034 2493 2175 3581 3582 3581 0 0 0 0 0 0 14.45 14.42 14.47

1552 -0.67 -77.9 2492 2175 3585 3582 201.5 -13.1 215 1558 0.17 1.25 0.00 0.000 2436 0.268 0.058 2535 2900 3583 3585 3581 0 0 0 0 0 0 13.91 14.20 14.07

1639 -0.73 -77.9 2534 2900 3585 3581 210.3 -9.0 232 1646 0.00 1.10 0.00 0.000 1158 0.000 0.034 2535 2188 3583 3586 3581 0 0 0 0 0 0 14.46 14.43 14.47

1827 -0.76 -77.9 2534 2187 3585 3581 228.8 -10.7 251 1831 0.00 1.23 0.00 0.000 388 0.000 0.062 2535 2901 3583 3585 3581 0 0 0 0 0 0 15.02 14.26 15.04

1900 -0.83 -77.9 2534 2901 3585 3582 236.2 -10.0 265 1905 0.10 1.08 0.00 0.000 5254 0.092 0.035 2490 2194 3583 3585 3581 0 0 0 0 0 0 14.23 14.43 14.31

2106 -0.76 -77.9 2490 2194 3585 3580 264.0 -14.5 280 2111 0.00 1.20 0.00 0.000 388 0.000 0.062 2489 2895 3582 3585 3580 0 0 0 0 0 0 15.02 14.23 15.03

2162 -0.76 -77.9 2489 2895 3585 3579 272.4 -13.6 291 2169 0.00 1.08 0.00 0.000 1030 0.000 0.036 2489 2216 3582 3585 3579 0 0 0 0 0 0 14.43 14.40 14.45

2350 -0.68 -77.9 2489 2213 3585 3578 297.6 -13.4 298 2354 0.17 1.20 0.00 0.000 2436 0.259 0.061 2532 2901 3581 3585 3578 0 0 0 0 0 0 13.90 14.19 14.06

2427 -0.79 -77.9 2532 2901 3585 3577 307.3 -10.6 313 2431 0.00 1.10 0.00 0.000 1158 0.000 0.036 2532 2195 3581 3585 3577 0 0 0 0 0 0 14.44 14.41 14.46

2625 -0.84 -77.9 2532 2191 3584 3577 327.9 -10.3 322 2630 0.12 1.20 0.00 0.000 4740 0.141 0.034 2484 1515 3579 3583 3576 0 0 0 0 0 0 14.54 14.33 14.55

2690 -0.84 -77.9 2483 1515 3582 3576 335.4 -11.5 335 2694 0.00 1.27 0.00 0.000 1030 0.000 0.050 2483 2193 3579 3583 3576 0 0 0 0 0 0 14.31 14.26 14.35

2901 -0.79 -77.9 2483 2193 3580 3575 358.6 -11.3 346 2905 0.00 1.23 0.00 0.000 644 0.000 0.039 2483 1517 3578 3581 3575 0 0 0 0 0 0 15.04 14.31 15.05

2911 -0.74 -77.9 2483 1517 3580 3575 360.3 -11.5 348 2915 0.10 1.30 0.00 0.000 3206 0.253 0.052 2509 2205 3577 3580 3575 0 0 0 0 0 0 13.74 14.25 13.93

3114 -0.74 -77.9 2509 2205 3579 3572 382.4 -11.3 358 3119 0.00 1.25 0.00 0.000 516 0.000 0.041 2510 1520 3575 3579 3572 0 0 0 0 0 0 15.04 14.30 15.07

3125 -0.74 -77.9 2509 1520 3580 3572 383.8 -11.4 360 3129 0.00 1.30 0.00 0.000 1030 0.000 0.052 2510 2207 3576 3580 3572 0 0 0 0 0 0 14.29 14.24 14.33

3328 -0.74 -77.9 2509 2206 3579 3571 406.5 -11.5 370 3332 0.00 1.25 0.00 0.000 516 0.000 0.041 2510 1525 3575 3579 3571 0 0 0 0 0 0 15.05 14.28 15.07

3353 -0.78 -77.9 2509 1525 3579 3571 409.6 -11.1 375 3360 0.00 1.30 0.00 0.000 1158 0.000 0.053 2510 2206 3575 3579 3571 0 0 0 0 0 0 14.28 14.22 14.32

3541 -0.78 -77.9 2509 2206 3578 3569 431.0 -11.6 382 3545 0.00 1.25 0.00 0.000 516 0.000 0.041 2510 1525 3573 3578 3569 0 0 0 0 0 0 15.04 14.28 15.06

3575 -0.82 -77.9 2509 1525 3578 3569 435.0 -11.5 388 3578 0.00 1.27 0.00 0.000 1158 0.000 0.052 2510 2197 3573 3577 3569 0 0 0 0 0 0 14.28 14.22 14.33

3787 -0.82 -77.9 2509 2196 3576 3567 458.7 -11.1 400 3788 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2196 3571 3576 3567 0 0 0 0 0 0 15.05 15.07 15.07

3968 -0.82 -77.9 2509 2196 3574 3566 477.7 -10.6 406 3972 0.00 1.25 0.00 0.000 516 0.000 0.041 2509 1517 3569 3574 3565 0 0 0 0 0 0 15.04 14.26 15.06

4014 -0.87 -77.9 2509 1517 3573 3565 482.6 -9.9 415 4018 0.00 1.30 0.00 0.000 1158 0.000 0.054 2509 2201 3570 3574 3566 0 0 0 0 0 0 14.24 14.19 14.29

4208 end dive: TARGET_DEPTH_EXCEEDED

state 4208 begin apogee

4214 -0.15 0.0 2510 2200 3573 3564 502.0 -10.0 424 4288 0.75 0.00 70.93 1.512 10246 0.231 0.000 2703 2199 3249 3260 3238 0 0 0 0 0 0 13.71 14.21 13.19

4289 end apogee: CONTROL_FINISHED_OK

state 4289 begin loiter

4510 -0.15 0.0 2702 2200 3252 3230 507.8 -1.4 428 4511 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2200 3241 3252 3230 0 0 0 0 0 0 14.88 14.90 14.90

5111 -0.58 0.0 2702 2200 3247 3226 519.3 -1.9 433 5113 0.40 0.00 0.00 0.000 4230 0.080 0.000 2560 2200 3236 3247 3226 0 0 0 0 0 0 14.45 14.59 14.56

5710 -0.78 11.5 2559 2200 3239 3225 536.3 -2.9 438 5722 0.17 0.00 9.07 1.525 12454 0.129 0.000 2501 2200 3203 3211 3195 0 0 0 0 0 0 14.48 14.42 13.40

6312 -0.67 26.8 2501 2200 3201 3186 559.3 -3.9 443 6331 0.17 0.00 15.70 1.548 10406 0.269 0.000 2538 2200 3139 3149 3130 0 0 0 0 0 0 13.95 14.44 13.44

6910 -0.64 26.8 2537 2200 3139 3120 565.2 -0.5 448 6911 0.00 0.00 0.00 0.000 134 0.000 0.000 2537 2200 3129 3139 3119 0 0 0 0 0 0 15.03 15.05 15.05

7509 -0.64 26.8 2537 2200 3136 3118 564.4 0.1 453 7510 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2200 3127 3136 3118 0 0 0 0 0 0 15.07 15.09 15.09

8111 -0.64 26.8 2537 2200 3134 3116 565.5 -0.2 458 8113 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2200 3125 3134 3116 0 0 0 0 0 0 15.05 15.07 15.07

8710 -0.64 26.8 2537 2200 3132 3114 559.6 1.0 463 8711 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2200 3123 3132 3114 0 0 0 0 0 0 15.06 15.09 15.08

9309 -0.64 26.8 2537 2200 3131 3114 564.9 -1.1 468 9310 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2200 3122 3131 3114 0 0 0 0 0 0 15.07 15.09 15.09

9910 -0.64 26.8 2537 2200 3130 3113 566.5 -0.1 473 9912 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2200 3121 3130 3113 0 0 0 0 0 0 15.06 15.08 15.08

10511 -0.64 26.8 2537 2200 3129 3113 561.0 1.0 478 10512 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2200 3121 3129 3113 0 0 0 0 0 0 15.05 15.07 15.07

11109 -0.64 26.8 2537 2200 3129 3112 566.1 -1.1 483 11110 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2200 3120 3128 3112 0 0 0 0 0 0 15.07 15.09 15.09

11710 -0.64 26.8 2537 2200 3128 3112 568.7 -0.2 488 11712 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2200 3120 3128 3112 0 0 0 0 0 0 15.06 15.07 15.07

12310 -0.64 26.8 2537 2200 3127 3112 567.6 0.1 493 12311 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2200 3119 3127 3112 0 0 0 0 0 0 15.05 15.07 15.07

12910 -0.64 26.8 2537 2200 3127 3112 568.6 -0.1 498 12911 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2200 3119 3127 3112 0 0 0 0 0 0 15.05 15.07 15.07

13510 -0.64 26.8 2537 2200 3127 3111 563.3 1.0 503 13512 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2200 3119 3127 3111 0 0 0 0 0 0 15.05 15.07 15.07

14110 -0.64 26.8 2537 2200 3127 3111 562.7 -0.0 508 14111 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2200 3119 3127 3111 0 0 0 0 0 0 15.05 15.07 15.07

14709 -0.64 26.8 2537 2200 3126 3111 571.1 -1.5 513 14710 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2200 3118 3126 3111 0 0 0 0 0 0 15.07 15.08 15.09

15310 -0.64 26.8 2537 2200 3126 3111 576.3 -0.8 518 15312 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2200 3118 3126 3111 0 0 0 0 0 0 15.05 15.07 15.07

15911 -0.64 26.8 2537 2200 3126 3110 571.5 1.0 523 15912 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2200 3118 3126 3110 0 0 0 0 0 0 15.04 15.06 15.06

16509 -0.64 26.8 2537 2200 3126 3110 572.2 -0.4 528 16510 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2200 3118 3126 3110 0 0 0 0 0 0 15.06 15.08 15.08

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81309 -0.59 45.6 2562 2199 3067 3049 315.9 0.8 1068 81310 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2199 3057 3066 3048 0 0 0 0 0 0 15.06 15.08 15.08

81911 -0.59 45.6 2562 2199 3066 3049 309.8 1.1 1073 81913 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2200 3057 3066 3049 0 0 0 0 0 0 15.04 15.06 15.05

82510 -0.59 45.6 2562 2199 3067 3049 315.1 -1.0 1078 82511 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2200 3057 3066 3049 0 0 0 0 0 0 15.05 15.07 15.07

83109 -0.59 45.6 2562 2200 3067 3048 309.4 1.2 1083 83110 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2199 3057 3066 3048 0 0 0 0 0 0 15.06 15.08 15.08

83710 -0.59 45.6 2562 2200 3067 3049 308.7 0.2 1088 83712 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2200 3057 3066 3048 0 0 0 0 0 0 15.04 15.07 15.07

84311 -0.59 45.6 2562 2200 3067 3048 309.5 -0.1 1093 84312 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2200 3057 3067 3048 0 0 0 0 0 0 15.04 15.06 15.06

84909 -0.59 45.6 2561 2200 3066 3049 307.0 0.6 1098 84910 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2199 3058 3067 3049 0 0 0 0 0 0 15.06 15.08 15.08

85510 -0.59 45.6 2562 2200 3067 3049 314.3 -1.6 1103 85512 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2200 3058 3067 3049 0 0 0 0 0 0 15.04 15.07 15.07

86110 -0.59 45.6 2562 2200 3067 3049 318.5 -0.5 1108 86111 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2200 3058 3067 3049 0 0 0 0 0 0 15.05 15.07 15.07

86709 -0.59 45.6 2562 2200 3066 3049 316.6 0.3 1113 86710 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2200 3057 3067 3048 0 0 0 0 0 0 15.06 15.08 15.08

87311 -0.59 45.6 2562 2200 3066 3049 310.2 1.2 1118 87313 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2199 3058 3067 3049 0 0 0 0 0 0 15.04 15.06 15.06

87910 -0.59 45.6 2562 2200 3066 3049 319.1 -1.8 1123 87911 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2200 3058 3067 3049 0 0 0 0 0 0 15.05 15.07 15.07

88509 -0.59 45.6 2562 2200 3066 3049 326.0 -1.1 1128 88510 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2200 3058 3067 3049 0 0 0 0 0 0 15.07 15.08 15.08

89110 -0.59 45.6 2562 2200 3066 3049 322.2 1.0 1133 89112 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2200 3057 3067 3048 0 0 0 0 0 0 15.05 15.07 15.07

89711 -0.59 45.6 2562 2200 3067 3048 317.3 0.7 1138 89712 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2200 3058 3067 3049 0 0 0 0 0 0 15.04 15.06 15.06

90309 -0.59 45.6 2561 2200 3066 3049 321.6 -0.5 1143 90310 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2199 3057 3066 3049 0 0 0 0 0 0 15.06 15.08 15.08

90667 end loiter: LOITER_COMPLETE

state 90667 begin climb

90669 0.78 77.9 2561 2200 3066 3049 318.7 0.0 1146 90713 1.83 1.23 34.80 1.281 10500 0.236 0.071 2998 2904 2925 2937 2913 0 0 0 0 0 0 12.77 14.30 13.02

90870 0.97 134.4 2998 2903 2933 2909 310.1 4.3 1186 90934 0.17 1.12 56.53 1.245 11430 0.090 0.040 3072 2205 2697 2717 2678 0 0 0 0 0 0 14.20 14.33 13.18

91123 1.00 134.4 3072 2207 2713 2676 288.5 9.7 1206 91127 0.00 1.27 0.00 0.000 644 0.000 0.047 3077 1513 2694 2712 2676 0 0 0 0 0 0 14.83 14.23 14.85

91208 1.03 134.4 3077 1513 2712 2675 280.4 8.1 1223 91218 0.00 1.33 0.00 0.000 1158 0.000 0.053 3077 2205 2693 2712 2675 0 0 0 0 0 0 14.28 14.22 14.30

91395 1.03 134.4 3077 2205 2711 2675 264.7 8.8 1230 91399 0.00 1.27 0.00 0.000 516 0.000 0.045 3080 1519 2693 2711 2675 0 0 0 0 0 0 14.94 14.23 14.95

91411 1.03 134.4 3080 1519 2711 2675 263.4 8.0 1233 91415 0.00 1.30 0.00 0.000 1030 0.000 0.054 3081 2201 2693 2711 2675 0 0 0 0 0 0 14.28 14.25 14.31

91598 1.03 134.4 3081 2201 2711 2675 246.9 9.4 1243 91603 0.00 1.27 0.00 0.000 516 0.000 0.045 3082 1522 2692 2710 2675 0 0 0 0 0 0 14.96 14.23 14.98

91625 1.08 134.4 3082 1522 2711 2675 244.2 9.8 1248 91632 0.00 1.30 0.00 0.000 1158 0.000 0.054 3083 2200 2693 2711 2675 0 0 0 0 0 0 14.27 14.21 14.31

91812 1.08 134.4 3082 2200 2710 2675 226.4 9.6 1267 91817 0.00 1.27 0.00 0.000 516 0.000 0.044 3083 1524 2692 2710 2675 0 0 0 0 0 0 14.97 14.21 14.99

91908 1.13 134.4 3083 1524 2711 2675 218.6 7.7 1286 91916 0.08 1.30 0.00 0.000 3206 0.116 0.053 3118 2203 2693 2711 2675 0 0 0 0 0 0 14.03 14.21 14.14

92099 1.05 134.4 3118 2202 2710 2675 202.1 9.0 1305 92103 0.00 1.20 0.00 0.000 388 0.000 0.070 3118 2897 2692 2710 2675 0 0 0 0 0 0 14.96 14.09 14.98

92296 0.96 134.4 3118 2897 2710 2674 180.7 11.4 1344 92303 0.17 1.12 0.00 0.000 5254 0.252 0.039 3076 2205 2692 2710 2674 0 0 0 0 0 0 13.59 14.27 13.82

92483 0.96 134.4 3076 2204 2710 2674 161.2 9.2 1363 92488 0.00 1.23 0.00 0.000 260 0.000 0.064 3076 2899 2692 2710 2674 0 0 0 0 0 0 14.97 14.07 15.00

92587 0.96 134.4 3076 2899 2710 2673 153.1 7.4 1383 92592 0.00 1.12 0.00 0.000 1030 0.000 0.038 3080 2198 2691 2709 2674 0 0 0 0 0 0 14.31 14.28 14.35

92782 1.10 200.7 3080 2198 2710 2674 144.0 3.6 1403 92850 0.00 1.27 62.90 1.073 8868 0.000 0.046 3082 1506 2426 2456 2397 0 0 0 0 0 0 14.99 14.31 13.45

92890 1.25 200.7 3081 1506 2455 2396 137.8 7.9 1424 92897 0.17 1.33 0.00 0.000 3206 0.091 0.051 3171 2206 2425 2455 2396 0 0 0 0 0 0 14.31 14.31 14.43

93077 1.16 200.7 3171 2205 2454 2395 115.1 11.9 1443 93083 0.15 1.27 0.00 0.000 4740 0.254 0.038 3138 1515 2424 2453 2395 0 0 0 0 0 0 13.93 14.20 14.09

93092 1.09 200.7 3138 1515 2454 2396 113.2 12.3 1445 93095 0.00 1.30 0.00 0.000 1158 0.000 0.053 3138 2202 2424 2454 2395 0 0 0 0 0 0 14.33 14.27 14.36

93285 1.12 200.7 3138 2202 2452 2395 96.8 7.7 1465 93289 0.00 1.27 0.00 0.000 644 0.000 0.046 3139 1506 2423 2452 2395 0 0 0 0 0 0 14.91 14.20 14.92

93359 1.19 200.7 3139 1506 2452 2395 90.0 9.4 1479 93364 0.00 1.30 0.00 0.000 1158 0.000 0.050 3139 2199 2424 2452 2396 0 0 0 0 0 0 14.31 14.26 14.34

93554 1.24 200.7 3139 2198 2450 2395 74.1 6.8 1499 93560 0.00 1.20 0.00 0.000 388 0.000 0.066 3140 2905 2422 2450 2394 0 0 0 0 0 0 14.95 14.16 14.97

93671 1.28 235.1 3140 2904 2450 2394 67.6 5.9 1521 93709 0.00 1.12 30.83 0.975 9254 0.000 0.035 3142 2194 2284 2316 2253 0 0 0 0 0 0 14.38 14.35 13.62

93889 1.47 283.8 3142 2194 2314 2253 56.3 4.8 1547 93938 0.25 0.00 40.90 0.948 10662 0.118 0.000 3229 2193 2084 2115 2054 0 0 0 0 0 0 14.28 14.31 13.57

94121 1.41 283.8 3228 2193 2114 2053 30.2 13.6 1587 94129 0.00 1.23 0.00 0.000 388 0.000 0.066 3229 2901 2083 2114 2053 0 0 0 0 0 0 14.85 14.26 14.88

94265 1.35 283.8 3229 2901 2114 2053 9.9 13.2 1614 94273 0.12 1.12 0.00 0.000 5254 0.259 0.037 3200 2196 2083 2113 2053 0 0 0 0 0 0 13.84 14.35 14.04

94319 end climb: SURFACE_DEPTH_REACHED

state 94319 begin surface coast

94347 end surface coast: CONTROL_FINISHED_OK

state 94347 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	629	HD_B	0.0139002	ROLL_DEG	20	ALTIM_PING_FIT	0
N_DIVES	0	HD_C	9.1750398e-06	C_ROLL_DIVE	2200	ALTIM_TOP_PING_RANGE	0
STOP_T	0	HEADING	-1	C_ROLL_CLIMB	2200	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	1000	TGT_DEFAULT_LAT	3235	R_PORT_OVSHOOT	57	ALTIM_PING_DELTA	50
D_NO_BLEED	200	TGT_DEFAULT_LON	-11731	R_STBD_OVSHOOT	45	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	1800	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	540	DEVICE3	-1
T_ABORT	2000	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	86400	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	1	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	80	PITCH_CNV	0.003125763	MINV_24V	7	SEABIRD_T_I	2.3765557e-05
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_10V	7	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	0.029999999	PRESSURE_YINT	-157.40906
FERRY_MAX	45	PITCH_ADJ_DBAND	1	PRESSURE_SLOPE	0.00014074198

GPS1	041118,193456,-1.7486,6323.9600,37,1.1,40,-4.2,1.4,74.8,6,9.7	SPEED_LIMITS	0.144,0.155
_CALLS	1	TGT_NAME	MALDIVE
_XMS_NAKs	0	TGT_LATLONG	430.000,7230.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.59	MHEAD_RNG_PITCHd_Wd	22.7,1126394,-23.2,-8.333,-28.22,1424
_SM_ANGLEo	-73.1	D_GRID	1000
GPS2	041118,194139,-1.7559,6324.2021,14,0.9,17,-4.2,0.7,92.5,9,8.7

FINISH	-0.5,1.022756	_10V_AH	9.39,0.000
SM_CCo	94365,47.60,0.077,0,0,1618,400.08	FG_AHR_24Vo	0.000
SM_GC	0.84,8.93,0.00,47.60,0.087,0.000,0.077,244,2189,1618,-7.82,-0.31,400.08,0,0,0,0,0,0,14.29,14.91,14.36	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4.34,6325.13,031118,162311	MEM	302900
TT8_MAMPS	0.018725,0.160286	DATA_FILE_SIZE	70065,1629
HUMID	60.78	CAP_FILE_SIZE	262953,0
INTERNAL_PRESSURE	8.50232	CFSIZE	260034560,198356992
TCM_TEMP	23.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.226,211.25,1
_24V_AH	12.74,194.154	GPS	051118,215708,-11.606,6318.157,31,1.1,34,-4.3,1.5,77.9,8,9.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	419	144.47	SBE_CT	416	23	127.15
Roll_motor	66	71	60.46	nil	0	0	0.00
VBD_pump_during_apogee	340	1574	6827.06	nil	0	0	0.00
VBD_pump_during_surface	47	77	46.86	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	267	137	468.75	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	20	3.53
TT8	3602	9	320.31
LPSleep	87774	2	1805.01
TT8_Active	564	9	50.23
TT8_Sampling	2242	28	593.58
TT8_CF8	621	34	199.61
TT8_Kalman	0	0	0.00
Analog_circuits	2217	16	333.20
GPS_charging	0	0	0.00
Compass	1638	17	265.13
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