Glider dive log

NASCAR Jan18 * SG128 * Dive index * Mission links * Dive 633 * 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 633 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 58 ALTIM_PING_DELTA 50

D_NO_BLEED 200 TGT_DEFAULT_LON -11731 R_STBD_OVSHOOT 41 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 633 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 58 W_ADJ_DBAND 2

D_FINISH 0 MINV_24V 7 R_STBD_OVSHOOT 41 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 091118,063959,-38.3728,6313.0464,37,0.9,41,-4.4,1.0,75.8,8,9.0 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 0.57 MHEAD_RNG_PITCHd_Wd 38.5,1175830,-23.2,-8.333,-28.22,1424

_SM_ANGLEo -73.6 D_GRID 1000

GPS2 091118,064641,-38.3134,6313.2720,19,0.9,24,-4.4,1.4,85.4,8,9.2

Post-dive calculations and measurements:

FINISH 1.7,1.022640 FG_AHR_24Vo 0.000

SM_CCo 96477,52.88,0.081,0,0,1619,400.08 FG_AHR_10Vo 0.000

SM_GC 0.51,9.75,1.12,52.88,0.141,0.034,0.081,244,2199,1619,-7.82,1.95,400.08,0,0,0,0,0,0,14.29,14.47,14.34 MEM 303020

IRIDIUM_FIX -30.42,6202.12,081118,035555 DATA_FILE_SIZE 76662,1754

TT8_MAMPS 0.018725,0.160286 CAP_FILE_SIZE 288012,0

HUMID 60.71 CFSIZE 260034560,197918720

INTERNAL_PRESSURE 8.48279 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 23.10 INTR 1,92763.19,0x234cba,1,24

XPDR_PINGS 0 CURRENT 0.142,204.00,1

_24V_AH 12.59,195.175 GPS 101118,093732,-45.080,6310.352,37,0.9,40,-4.5,0.8,89.4,7,8.8

_10V_AH 8.68,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 410 145.20 SBE_CT 468 23 141.53

Roll_motor 84 72 77.66 nil 0 0 0.00

VBD_pump_during_apogee 348 1529 6702.47 nil 0 0 0.00

VBD_pump_during_surface 52 81 53.98 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 262 135 446.64 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 25 20 4.43

TT8 3876 9 318.61

LPSleep 89386 2 1699.17

TT8_Active 588 9 48.35

TT8_Sampling 2424 28 593.27

TT8_CF8 648 34 192.44

TT8_Kalman 0 0 0.00

Analog_circuits 2352 16 326.70

GPS_charging 0 0 0.00

Compass 1815 17 271.47

RAFOS 0 0 0.00

Transponder 0 5 0.02

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 -0.78 -77.9 232 2214 1631 1620 0.0 0.0 0 75 0.00 0.00 -62.40 0.003 16390 0.000 0.000 232 2214 3569 3546 3593 0 0 0 0 0 0 14.84 12.59 14.73

79 -0.78 -77.9 232 2214 3546 3593 4.2 -12.7 11 100 11.88 1.25 0.00 0.000 2564 0.411 0.038 2502 1491 3574 3555 3593 0 0 0 0 0 0 13.89 14.44 14.33

148 -0.63 -77.9 2501 1491 3566 3588 31.2 -25.0 23 155 0.15 1.33 0.00 0.000 3206 0.250 0.050 2552 2199 3577 3566 3588 0 0 0 0 0 0 13.90 14.31 14.28

339 -0.50 -77.9 2551 2199 3569 3584 70.3 -17.8 50 343 0.15 1.27 0.00 0.000 2692 0.303 0.034 2587 1494 3577 3569 3586 0 0 0 0 0 0 13.90 14.19 14.07

351 -0.40 -77.9 2587 1494 3569 3586 72.2 -15.8 52 356 0.12 1.30 0.00 0.000 3206 0.272 0.047 2619 2197 3577 3569 3586 0 0 0 0 0 0 13.78 14.32 13.98

545 -0.51 -77.9 2619 2197 3573 3585 90.0 -8.6 72 549 0.00 1.17 0.00 0.000 388 0.000 0.064 2620 2898 3578 3572 3585 0 0 0 0 0 0 14.96 14.25 14.98

568 -0.67 -77.9 2619 2898 3574 3585 92.4 -10.2 76 573 0.20 1.10 0.00 0.000 5254 0.078 0.034 2540 2172 3579 3574 3585 0 0 0 0 0 0 14.26 14.44 14.33

761 -0.67 -77.9 2540 2168 3577 3585 120.2 -13.1 96 768 0.00 1.12 0.00 0.000 516 0.000 0.037 2540 1516 3581 3577 3585 0 0 0 0 0 0 15.00 14.37 15.02

898 -0.67 -77.9 2540 1517 3579 3585 137.5 -12.2 122 902 0.00 1.27 0.00 0.000 1030 0.000 0.047 2540 2206 3582 3579 3585 0 0 0 0 0 0 14.37 14.33 14.40

1091 -0.67 -77.9 2539 2206 3584 3585 159.1 -10.8 142 1096 0.00 1.15 0.00 0.000 260 0.000 0.063 2540 2902 3584 3583 3585 0 0 0 0 0 0 15.01 14.26 15.02

1155 -0.67 -77.9 2539 2902 3584 3585 164.9 -8.1 154 1159 0.00 1.08 0.00 0.000 1030 0.000 0.034 2540 2186 3585 3585 3585 0 0 0 0 0 0 14.47 14.45 14.50

1348 -0.72 -77.9 2539 2183 3586 3585 181.4 -9.0 174 1352 0.00 1.23 0.00 0.000 388 0.000 0.063 2539 2894 3586 3587 3585 0 0 0 0 0 0 15.02 14.23 15.04

1464 -0.78 -77.9 2539 2894 3587 3585 192.3 -9.0 196 1467 0.00 1.05 0.00 0.000 1158 0.000 0.035 2539 2207 3585 3586 3585 0 0 0 0 0 0 14.46 14.43 14.48

1656 -0.83 -77.9 2539 2203 3587 3585 210.0 -8.9 216 1660 0.12 1.20 0.00 0.000 4484 0.145 0.057 2486 2903 3586 3587 3585 0 0 0 0 0 0 14.54 14.23 14.55

1712 -0.83 -77.9 2486 2903 3587 3585 216.7 -12.4 227 1719 0.00 1.10 0.00 0.000 1030 0.000 0.034 2486 2200 3586 3587 3585 0 0 0 0 0 0 14.44 14.40 14.45

1899 -0.75 -77.9 2486 2197 3587 3586 241.3 -14.1 246 1904 0.12 1.20 0.00 0.000 2436 0.276 0.055 2513 2897 3586 3587 3585 0 0 0 0 0 0 14.05 14.23 14.17

1932 -0.79 -77.9 2512 2897 3587 3585 245.6 -12.2 252 1936 0.00 1.10 0.00 0.000 1158 0.000 0.034 2512 2190 3586 3587 3585 0 0 0 0 0 0 14.45 14.42 14.47

2126 -0.79 -77.9 2512 2186 3587 3582 269.8 -12.6 262 2130 0.00 1.23 0.00 0.000 260 0.000 0.062 2512 2900 3585 3587 3583 0 0 0 0 0 0 15.04 14.21 15.06

2231 -0.79 -77.9 2512 2900 3587 3582 282.7 -11.7 283 2235 0.00 1.10 0.00 0.000 1030 0.000 0.034 2512 2187 3584 3587 3582 0 0 0 0 0 0 14.44 14.41 14.45

2429 -0.79 -77.9 2512 2182 3586 3581 306.7 -12.4 292 2433 0.00 1.23 0.00 0.000 260 0.000 0.062 2512 2897 3583 3586 3581 0 0 0 0 0 0 15.04 14.19 15.06

2494 -0.83 -77.9 2512 2897 3586 3580 314.2 -10.8 305 2498 0.00 1.08 0.00 0.000 1158 0.000 0.035 2512 2204 3583 3586 3580 0 0 0 0 0 0 14.43 14.40 14.45

2701 -0.83 -77.9 2512 2200 3584 3578 335.4 -10.1 316 2705 0.00 1.17 0.00 0.000 260 0.000 0.063 2512 2892 3581 3584 3578 0 0 0 0 0 0 15.05 14.19 15.07

2765 -0.88 -77.9 2511 2891 3584 3578 341.2 -8.5 328 2769 0.08 1.08 0.00 0.000 5254 0.103 0.037 2473 2201 3581 3584 3578 0 0 0 0 0 0 14.17 14.38 14.24

2977 -0.80 -77.9 2473 2197 3582 3577 363.6 -10.6 340 2978 0.00 0.00 0.00 0.000 134 0.000 0.000 2473 2197 3580 3582 3578 0 0 0 0 0 0 15.06 15.08 15.07

3158 -0.72 -77.9 2473 2198 3580 3575 383.7 -11.3 346 3162 0.17 1.23 0.00 0.000 2436 0.270 0.059 2516 2901 3578 3580 3576 0 0 0 0 0 0 13.81 14.10 13.97

3215 -0.77 -77.9 2516 2901 3580 3575 389.5 -9.6 357 3223 0.00 1.10 0.00 0.000 1158 0.000 0.037 2516 2198 3577 3580 3575 0 0 0 0 0 0 14.38 14.35 14.40

3400 -0.77 -77.9 2516 2197 3579 3574 409.5 -11.2 364 3404 0.00 1.20 0.00 0.000 260 0.000 0.064 2515 2893 3576 3578 3574 0 0 0 0 0 0 15.05 14.14 15.07

3464 -0.81 -77.9 2515 2893 3579 3574 416.3 -10.9 376 3468 0.00 1.08 0.00 0.000 1158 0.000 0.037 2515 2206 3576 3579 3573 0 0 0 0 0 0 14.38 14.35 14.40

3677 -0.81 -77.9 2515 2202 3578 3571 441.9 -12.1 388 3681 0.00 1.20 0.00 0.000 260 0.000 0.064 2515 2899 3574 3578 3571 0 0 0 0 0 0 15.05 14.12 15.07

3753 -0.87 -77.9 2514 2899 3577 3571 450.9 -11.2 403 3757 0.08 1.10 0.00 0.000 5254 0.114 0.037 2478 2200 3574 3577 3571 0 0 0 0 0 0 14.12 14.34 14.18

3952 -0.81 -77.9 2478 2196 3576 3570 474.7 -12.1 412 3956 0.00 1.20 0.00 0.000 388 0.000 0.064 2478 2888 3573 3576 3570 0 0 0 0 0 0 15.04 14.11 15.06

3974 -0.78 -77.9 2477 2888 3575 3570 477.5 -11.8 416 3978 0.08 1.10 0.00 0.000 3206 0.254 0.038 2497 2188 3572 3575 3570 0 0 0 0 0 0 13.80 14.34 13.93

4166 -0.78 -77.9 2497 2185 3575 3568 498.6 -11.0 424 4170 0.00 1.25 0.00 0.000 260 0.000 0.067 2497 2901 3571 3575 3568 0 0 0 0 0 0 15.05 14.08 15.07

4179 end dive: TARGET_DEPTH_EXCEEDED

state 4179 begin apogee

4187 -0.15 0.0 2498 2198 3574 3568 500.5 -10.8 427 4262 0.80 0.00 71.50 1.519 10246 0.233 0.000 2702 2198 3249 3260 3239 0 0 0 0 0 0 13.72 14.20 13.14

4263 end apogee: CONTROL_FINISHED_OK

state 4263 begin loiter

4481 -0.15 0.0 2702 2198 3252 3231 507.7 -1.9 431 4482 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2198 3241 3252 3231 0 0 0 0 0 0 14.90 14.92 14.92

5083 -0.57 8.6 2702 2198 3247 3227 521.0 -2.2 436 5091 0.40 0.00 4.68 1.301 12454 0.088 0.000 2564 2198 3214 3224 3204 0 0 0 0 0 0 14.40 14.41 13.23

5683 -0.77 21.3 2564 2198 3232 3204 540.0 -3.2 441 5702 0.17 0.00 16.30 1.528 12454 0.126 0.000 2504 2198 3162 3172 3153 0 0 0 0 0 0 14.49 14.46 13.43

6284 -0.67 30.3 2504 2198 3159 3143 555.7 -2.3 446 6294 0.15 0.00 7.75 1.529 10406 0.275 0.000 2536 2197 3125 3136 3114 0 0 0 0 0 0 14.04 14.45 13.38

6884 -0.63 30.3 2535 2197 3128 3110 552.2 0.9 451 6885 0.00 0.00 0.00 0.000 134 0.000 0.000 2536 2197 3118 3128 3109 0 0 0 0 0 0 15.03 15.05 15.05

7482 -0.63 30.3 2535 2197 3126 3108 547.7 0.7 456 7483 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2197 3117 3126 3108 0 0 0 0 0 0 15.07 15.09 15.09

8083 -0.63 30.3 2535 2197 3125 3106 542.0 1.0 461 8084 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2197 3115 3124 3106 0 0 0 0 0 0 15.07 15.08 15.08

8683 -0.63 30.3 2535 2198 3122 3105 537.1 0.8 466 8684 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2197 3113 3122 3105 0 0 0 0 0 0 15.07 15.09 15.08

9283 -0.63 30.3 2535 2197 3121 3104 537.0 -0.1 471 9284 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2197 3112 3121 3104 0 0 0 0 0 0 15.07 15.09 15.08

9883 -0.63 30.3 2535 2197 3119 3103 541.2 -0.7 476 9884 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2197 3111 3119 3103 0 0 0 0 0 0 15.07 15.08 15.08

10483 -0.63 30.3 2535 2197 3119 3102 543.7 -0.4 481 10484 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2197 3110 3118 3102 0 0 0 0 0 0 15.06 15.08 15.08

11082 -0.63 30.3 2535 2197 3118 3101 541.7 0.4 486 11083 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2197 3110 3118 3102 0 0 0 0 0 0 15.07 15.09 15.09

11684 -0.63 30.3 2535 2197 3117 3101 544.2 -0.6 491 11685 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2198 3109 3117 3101 0 0 0 0 0 0 15.05 15.07 15.07

12283 -0.63 30.3 2535 2197 3117 3100 546.3 -0.3 496 12284 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2198 3108 3117 3100 0 0 0 0 0 0 15.06 15.08 15.08

12882 -0.63 30.3 2535 2197 3117 3100 547.7 -0.2 501 12883 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2197 3108 3117 3100 0 0 0 0 0 0 15.07 15.09 15.09

13483 -0.63 30.3 2535 2198 3116 3100 546.1 0.3 506 13484 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2197 3108 3116 3100 0 0 0 0 0 0 15.06 15.07 15.07

14083 -0.63 30.3 2535 2197 3117 3100 543.5 0.5 511 14084 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2197 3107 3116 3099 0 0 0 0 0 0 15.06 15.08 15.07

14683 -0.63 30.3 2535 2197 3115 3100 538.8 0.6 516 14684 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2197 3107 3116 3099 0 0 0 0 0 0 15.06 15.07 15.07

15283 -0.63 30.3 2535 2197 3115 3100 544.1 -0.9 521 15284 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2197 3107 3115 3100 0 0 0 0 0 0 15.05 15.07 15.07

15883 -0.63 30.3 2535 2197 3115 3099 546.1 -0.3 526 15884 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2197 3107 3115 3100 0 0 0 0 0 0 15.05 15.07 15.07

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80684 -0.62 30.3 2554 2197 3111 3097 560.7 -0.8 1066 80685 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2197 3103 3110 3097 0 0 0 0 0 0 15.02 15.04 15.04

81282 -0.62 30.3 2554 2197 3111 3097 557.5 0.7 1071 81283 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2197 3103 3110 3097 0 0 0 0 0 0 15.04 15.07 15.07

81883 -0.62 30.3 2553 2197 3110 3097 555.7 0.2 1076 81884 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2197 3103 3110 3097 0 0 0 0 0 0 15.03 15.06 15.05

82483 -0.62 30.3 2554 2197 3110 3097 557.5 -0.3 1081 82484 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2197 3103 3110 3097 0 0 0 0 0 0 15.04 15.06 15.05

83083 -0.62 30.3 2554 2197 3110 3097 555.2 0.5 1086 83084 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2197 3103 3110 3097 0 0 0 0 0 0 15.04 15.06 15.06

83683 -0.62 30.3 2553 2197 3110 3097 552.1 0.4 1091 83684 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2197 3103 3110 3097 0 0 0 0 0 0 15.03 15.05 15.05

84283 -0.62 30.3 2553 2197 3110 3097 558.7 -1.2 1096 84284 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2197 3104 3111 3097 0 0 0 0 0 0 15.04 15.06 15.05

84882 -0.62 30.3 2553 2197 3110 3097 563.8 -0.8 1101 84883 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2197 3103 3110 3097 0 0 0 0 0 0 15.05 15.07 15.07

85484 -0.62 30.3 2554 2197 3111 3097 561.4 0.5 1106 85485 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2197 3104 3111 3097 0 0 0 0 0 0 15.02 15.04 15.04

86083 -0.62 30.3 2554 2197 3110 3097 557.9 0.6 1111 86084 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2197 3104 3111 3097 0 0 0 0 0 0 15.04 15.06 15.05

86682 -0.62 30.3 2553 2197 3110 3097 557.9 -0.1 1116 86683 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2197 3104 3111 3097 0 0 0 0 0 0 15.05 15.07 15.07

87283 -0.62 30.3 2554 2197 3111 3097 562.0 -0.7 1121 87284 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2197 3104 3111 3097 0 0 0 0 0 0 15.03 15.05 15.05

87884 -0.62 30.3 2554 2197 3110 3097 562.9 -0.1 1126 87885 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2197 3104 3111 3097 0 0 0 0 0 0 15.02 15.04 15.04

88482 -0.62 30.3 2553 2197 3110 3097 562.3 0.2 1131 88483 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2197 3103 3110 3097 0 0 0 0 0 0 15.04 15.07 15.07

89083 -0.62 30.3 2553 2197 3110 3097 561.7 0.0 1136 89084 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2197 3104 3111 3097 0 0 0 0 0 0 15.03 15.05 15.05

89683 -0.62 30.3 2554 2197 3110 3097 563.6 -0.3 1141 89684 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2197 3104 3111 3097 0 0 0 0 0 0 15.04 15.05 15.06

90283 -0.62 30.3 2553 2197 3110 3097 567.2 -0.7 1146 90284 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2197 3103 3110 3097 0 0 0 0 0 0 15.04 15.06 15.06

90639 end loiter: LOITER_COMPLETE

state 90639 begin climb

90642 0.78 77.9 2554 2197 3111 3097 567.4 0.0 1149 90704 1.88 1.27 50.38 1.525 10756 0.236 0.049 3000 1522 2923 2933 2913 0 0 0 0 0 0 12.82 14.18 13.07

90718 0.99 142.4 3000 1522 2931 2910 565.3 3.7 1163 90799 0.17 1.30 72.40 1.463 11430 0.079 0.056 3086 2195 2662 2682 2642 0 0 0 0 0 0 14.28 14.22 12.90

90977 0.99 142.4 3086 2195 2678 2639 537.9 11.9 1185 90981 0.00 1.23 0.00 0.000 260 0.000 0.072 3086 2896 2657 2677 2638 0 0 0 0 0 0 14.76 14.14 14.78

91072 0.94 142.4 3086 2896 2677 2637 526.3 11.6 1204 91076 0.00 1.12 0.00 0.000 1158 0.000 0.044 3090 2215 2657 2677 2637 0 0 0 0 0 0 14.28 14.24 14.33

91281 0.94 142.4 3090 2212 2676 2637 502.2 11.7 1215 91285 0.00 1.30 0.00 0.000 516 0.000 0.047 3096 1502 2657 2677 2637 0 0 0 0 0 0 14.88 14.21 14.90

91290 0.94 142.4 3095 1503 2676 2637 500.6 12.0 1217 91295 0.10 1.35 0.00 0.000 5126 0.209 0.054 3067 2207 2656 2676 2637 0 0 0 0 0 0 13.85 14.20 14.02

91493 0.94 142.4 3067 2207 2675 2637 478.6 11.0 1227 91494 0.00 0.00 0.00 0.000 6 0.000 0.000 3068 2207 2656 2675 2637 0 0 0 0 0 0 14.93 14.95 14.95

91674 0.94 142.4 3068 2207 2674 2637 459.4 10.8 1233 91675 0.00 0.00 0.00 0.000 6 0.000 0.000 3068 2206 2655 2674 2637 0 0 0 0 0 0 14.95 14.97 14.97

91853 0.94 142.4 3068 2206 2674 2637 439.0 11.5 1239 91857 0.00 1.33 0.00 0.000 516 0.000 0.045 3070 1508 2655 2673 2637 0 0 0 0 0 0 14.97 14.16 15.00

91880 0.99 142.4 3069 1508 2673 2637 435.9 11.4 1244 91887 0.00 1.33 0.00 0.000 1158 0.000 0.054 3070 2197 2655 2674 2637 0 0 0 0 0 0 14.22 14.16 14.27

92067 0.99 142.4 3070 2197 2673 2636 414.9 11.6 1251 92068 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 2196 2655 2673 2637 0 0 0 0 0 0 14.97 14.99 14.99

92245 0.99 142.4 3069 2196 2673 2637 395.1 10.9 1257 92246 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 2196 2655 2673 2637 0 0 0 0 0 0 15.00 15.02 15.02

92426 0.99 142.4 3069 2196 2672 2637 376.9 9.9 1263 92430 0.00 1.23 0.00 0.000 260 0.000 0.073 3070 2894 2655 2673 2637 0 0 0 0 0 0 15.00 14.00 15.02

92537 0.99 142.4 3069 2894 2672 2635 365.4 9.8 1285 92541 0.00 1.15 0.00 0.000 1030 0.000 0.043 3072 2202 2654 2673 2635 0 0 0 0 0 0 14.21 14.18 14.26

92729 0.99 142.4 3071 2200 2672 2634 347.5 9.4 1293 92733 0.00 1.27 0.00 0.000 516 0.000 0.047 3076 1498 2653 2672 2635 0 0 0 0 0 0 15.01 14.12 15.02

92762 1.05 142.4 3076 1498 2672 2635 344.6 9.1 1299 92769 0.00 1.33 0.00 0.000 1158 0.000 0.056 3076 2195 2654 2673 2635 0 0 0 0 0 0 14.17 14.11 14.21

92980 1.08 142.4 3075 2194 2672 2635 324.6 9.6 1311 92983 0.00 1.30 0.00 0.000 644 0.000 0.043 3080 1498 2653 2672 2634 0 0 0 0 0 0 15.00 14.12 15.01

93005 1.13 142.4 3080 1498 2673 2634 321.9 9.4 1316 93013 0.10 1.35 0.00 0.000 3206 0.106 0.054 3122 2198 2654 2673 2635 0 0 0 0 0 0 13.97 14.10 14.28

93192 1.04 142.4 3121 2198 2672 2635 301.9 11.2 1323 93194 0.00 0.00 0.00 0.000 134 0.000 0.000 3122 2198 2654 2673 2635 0 0 0 0 0 0 15.01 15.03 15.02

93373 0.95 142.4 3121 2198 2672 2635 281.3 11.5 1329 93377 0.20 1.27 0.00 0.000 4740 0.230 0.040 3071 1498 2653 2672 2635 0 0 0 0 0 0 13.70 13.96 13.85

93389 0.95 142.4 3071 1498 2672 2634 279.2 11.9 1332 93393 0.00 1.35 0.00 0.000 1030 0.000 0.054 3071 2202 2654 2673 2635 0 0 0 0 0 0 14.16 14.10 14.20

93586 1.00 142.4 3071 2201 2672 2635 260.1 10.0 1341 93590 0.00 1.30 0.00 0.000 644 0.000 0.044 3074 1500 2653 2672 2635 0 0 0 0 0 0 15.02 14.09 15.04

93652 1.06 142.4 3073 1501 2672 2635 253.5 9.8 1354 93657 0.00 1.35 0.00 0.000 1158 0.000 0.053 3074 2205 2653 2672 2635 0 0 0 0 0 0 14.13 14.07 14.16

93842 1.10 142.4 3073 2205 2673 2635 233.3 11.4 1373 93846 0.12 1.33 0.00 0.000 2692 0.155 0.038 3124 1500 2653 2672 2635 0 0 0 0 0 0 14.38 14.10 14.40

93865 1.10 142.4 3123 1500 2672 2635 230.4 12.1 1377 93869 0.00 1.35 0.00 0.000 1030 0.000 0.054 3124 2203 2653 2672 2635 0 0 0 0 0 0 14.16 14.10 14.20

94058 1.03 142.4 3124 2203 2672 2635 207.5 11.3 1397 94062 0.12 1.33 0.00 0.000 4740 0.247 0.037 3095 1502 2653 2672 2635 0 0 0 0 0 0 14.00 14.09 14.07

94084 1.03 142.4 3095 1502 2672 2634 204.6 10.1 1402 94091 0.00 1.35 0.00 0.000 1030 0.000 0.052 3096 2204 2654 2673 2635 0 0 0 0 0 0 14.16 14.11 14.21

94271 1.03 142.4 3095 2203 2672 2635 189.3 7.0 1421 94275 0.00 1.20 0.00 0.000 260 0.000 0.067 3096 2899 2653 2672 2635 0 0 0 0 0 0 14.99 13.97 15.01

94507 1.03 142.4 3096 2899 2672 2634 166.9 10.5 1467 94511 0.00 1.15 0.00 0.000 1030 0.000 0.041 3098 2195 2653 2673 2634 0 0 0 0 0 0 14.16 14.13 14.21

94699 1.03 142.4 3097 2194 2672 2634 152.2 6.5 1487 94703 0.00 1.27 0.00 0.000 516 0.000 0.045 3098 1498 2653 2672 2634 0 0 0 0 0 0 14.99 14.07 15.00

94836 1.12 170.1 3098 1498 2672 2633 143.9 6.3 1513 94873 0.00 1.35 27.98 1.092 9382 0.000 0.050 3098 2208 2547 2569 2526 0 0 0 0 0 0 14.12 14.07 13.50

95054 1.21 213.9 3097 2207 2568 2525 129.6 5.2 1539 95106 0.12 1.12 46.72 1.048 11172 0.153 0.062 3151 2902 2370 2400 2341 0 0 0 0 0 0 14.38 14.01 13.42

95150 1.15 213.9 3150 2902 2395 2338 121.7 10.4 1557 95157 0.00 1.15 0.00 0.000 1158 0.000 0.041 3155 2202 2366 2395 2338 0 0 0 0 0 0 14.35 14.32 14.38

95337 1.10 213.9 3155 2197 2395 2338 97.6 14.1 1576 95341 0.15 1.23 0.00 0.000 4484 0.301 0.062 3120 2895 2366 2395 2338 0 0 0 0 0 0 13.83 14.13 14.01

95455 1.16 213.9 3120 2895 2394 2338 84.8 10.1 1599 95462 0.00 1.15 0.00 0.000 1158 0.000 0.038 3122 2185 2366 2394 2338 0 0 0 0 0 0 14.32 14.28 14.35

95641 1.25 213.9 3122 2185 2394 2338 69.1 7.0 1618 95647 0.12 1.23 0.00 0.000 2692 0.145 0.037 3177 1511 2366 2394 2339 0 0 0 0 0 0 14.41 14.24 14.44

95726 1.25 213.9 3177 1511 2394 2338 62.2 7.4 1634 95731 0.00 1.30 0.00 0.000 1030 0.000 0.047 3177 2205 2366 2394 2338 0 0 0 0 0 0 14.27 14.23 14.31

95920 1.32 272.2 3177 2204 2394 2338 50.7 4.1 1654 95977 0.00 1.10 50.42 0.942 8484 0.000 0.054 3177 2900 2133 2165 2101 0 0 0 0 0 0 14.95 14.09 13.56

96005 1.32 272.2 3177 2900 2162 2100 45.7 7.8 1669 96012 0.00 1.12 0.00 0.000 1030 0.000 0.037 3180 2195 2131 2162 2100 0 0 0 0 0 0 14.42 14.38 14.44

96196 1.38 272.2 3180 2195 2161 2100 27.9 8.8 1706 96204 0.00 1.23 0.00 0.000 388 0.000 0.057 3180 2902 2130 2161 2100 0 0 0 0 0 0 14.85 14.23 14.87

96237 1.41 272.2 3180 2902 2161 2100 24.0 9.5 1713 96244 0.00 1.12 0.00 0.000 1158 0.000 0.037 3180 2201 2130 2161 2099 0 0 0 0 0 0 14.34 14.31 14.38

96430 1.47 272.2 3181 2199 2161 2100 4.9 11.5 1750 96438 0.12 1.17 0.00 0.000 2436 0.156 0.044 3225 2898 2130 2161 2100 0 0 0 0 0 0 14.33 14.26 14.35

96450 end climb: SURFACE_DEPTH_REACHED

state 96450 begin surface coast

96456 end surface coast: CONTROL_FINISHED_OK

state 96456 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	633	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	58	ALTIM_PING_DELTA	50
D_NO_BLEED	200	TGT_DEFAULT_LON	-11731	R_STBD_OVSHOOT	41	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	091118,063959,-38.3728,6313.0464,37,0.9,41,-4.4,1.0,75.8,8,9.0	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	0.57	MHEAD_RNG_PITCHd_Wd	38.5,1175830,-23.2,-8.333,-28.22,1424
_SM_ANGLEo	-73.6	D_GRID	1000
GPS2	091118,064641,-38.3134,6313.2720,19,0.9,24,-4.4,1.4,85.4,8,9.2

FINISH	1.7,1.022640	FG_AHR_24Vo	0.000
SM_CCo	96477,52.88,0.081,0,0,1619,400.08	FG_AHR_10Vo	0.000
SM_GC	0.51,9.75,1.12,52.88,0.141,0.034,0.081,244,2199,1619,-7.82,1.95,400.08,0,0,0,0,0,0,14.29,14.47,14.34	MEM	303020
IRIDIUM_FIX	-30.42,6202.12,081118,035555	DATA_FILE_SIZE	76662,1754
TT8_MAMPS	0.018725,0.160286	CAP_FILE_SIZE	288012,0
HUMID	60.71	CFSIZE	260034560,197918720
INTERNAL_PRESSURE	8.48279	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	23.10	INTR	1,92763.19,0x234cba,1,24
XPDR_PINGS	0	CURRENT	0.142,204.00,1
_24V_AH	12.59,195.175	GPS	101118,093732,-45.080,6310.352,37,0.9,40,-4.5,0.8,89.4,7,8.8
_10V_AH	8.68,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	410	145.20	SBE_CT	468	23	141.53
Roll_motor	84	72	77.66	nil	0	0	0.00
VBD_pump_during_apogee	348	1529	6702.47	nil	0	0	0.00
VBD_pump_during_surface	52	81	53.98	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	262	135	446.64	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	25	20	4.43
TT8	3876	9	318.61
LPSleep	89386	2	1699.17
TT8_Active	588	9	48.35
TT8_Sampling	2424	28	593.27
TT8_CF8	648	34	192.44
TT8_Kalman	0	0	0.00
Analog_circuits	2352	16	326.70
GPS_charging	0	0	0.00
Compass	1815	17	271.47
RAFOS	0	0	0.00
Transponder	0	5	0.02

		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