Glider dive log

NASCAR Jan18 * SG128 * Dive index * Mission links * Dive 642 * 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 642 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 59 ALTIM_PING_DELTA 50

D_NO_BLEED 200 TGT_DEFAULT_LON -11731 R_STBD_OVSHOOT 43 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 642 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 59 W_ADJ_DBAND 2

D_FINISH 0 MINV_24V 7 R_STBD_OVSHOOT 43 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 191118,083837,-54.3030,6246.5190,27,0.8,28,-4.5,1.4,26.6,8,9.1 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 110.4,1232902,-23.2,-8.333,-28.22,1424

_SM_ANGLEo -73.8 D_GRID 1000

GPS2 191118,084440,-54.2141,6246.7725,16,0.8,18,-4.5,1.6,60.1,8,9.4

Post-dive calculations and measurements:

FINISH -0.0,1.022400 FG_AHR_24Vo 0.000

SM_CCo 96477,42.15,0.080,0,0,1618,400.08 FG_AHR_10Vo 0.000

SM_GC 0.60,9.05,0.00,42.15,0.094,0.000,0.080,251,2177,1618,-7.80,-0.68,400.08,0,0,0,0,0,0,14.23,14.91,14.31 MEM 302952

IRIDIUM_FIX -56.46,6251.36,181118,061709 DATA_FILE_SIZE 76635,1781

TT8_MAMPS 0.018725,0.158788 CAP_FILE_SIZE 293751,0

HUMID 61.38 CFSIZE 260034560,196952064

INTERNAL_PRESSURE 8.49255 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 23.10 INTR 0,92854.43,0x214548,1,24

XPDR_PINGS 0 CURRENT 0.047,246.37,1

_24V_AH 12.98,197.397 GPS 201118,113507,-55.280,6244.672,27,0.8,29,-4.5,1.5,79.6,9,9.8

_10V_AH 8.55,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 410 148.37 SBE_CT 465 23 144.72

Roll_motor 92 71 86.13 nil 0 0 0.00

VBD_pump_during_apogee 367 1668 7959.37 nil 0 0 0.00

VBD_pump_during_surface 42 80 43.95 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 231 136 409.92 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 3.49

TT8 3897 9 315.55

LPSleep 89303 2 1672.17

TT8_Active 588 9 47.66

TT8_Sampling 2438 28 587.64

TT8_CF8 646 34 188.93

TT8_Kalman 0 0 0.00

Analog_circuits 2352 16 321.77

GPS_charging 0 0 0.00

Compass 1853 17 273.05

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 6 begin dive

9 -0.78 -77.9 223 2190 1631 1617 0.0 0.0 0 77 0.00 0.00 -61.97 0.003 16390 0.000 0.000 223 2190 3568 3546 3591 0 0 0 0 0 0 14.87 13.26 14.75

81 -0.78 -77.9 224 2190 3545 3590 5.1 -16.2 11 101 11.85 1.15 0.00 0.000 2820 0.411 0.035 2495 2940 3572 3554 3591 0 0 0 0 0 0 13.92 14.50 14.35

145 -0.65 -77.9 2495 2939 3560 3588 27.7 -19.8 22 153 0.17 1.20 0.00 0.000 3206 0.250 0.039 2540 2185 3573 3561 3586 0 0 0 0 0 0 13.88 14.38 14.07

337 -0.50 -77.9 2540 2180 3565 3584 63.1 -19.1 52 342 0.20 1.23 0.00 0.000 2436 0.278 0.057 2589 2895 3574 3566 3583 0 0 0 0 0 0 13.84 14.18 14.03

431 -0.60 -77.9 2588 2895 3568 3583 78.5 -16.3 70 435 0.00 1.10 0.00 0.000 1158 0.000 0.034 2589 2203 3575 3568 3583 0 0 0 0 0 0 14.45 14.42 14.47

625 -0.66 -77.9 2588 2198 3572 3583 102.6 -7.5 90 630 0.12 1.23 0.00 0.000 4740 0.143 0.032 2540 1492 3577 3571 3583 0 0 0 0 0 0 14.52 14.36 14.53

750 -0.66 -77.9 2539 1492 3574 3583 112.2 -8.2 114 754 0.00 1.30 0.00 0.000 1030 0.000 0.047 2540 2202 3578 3574 3583 0 0 0 0 0 0 14.38 14.33 14.42

943 -0.66 -77.9 2540 2201 3578 3582 132.9 -11.2 134 947 0.00 1.27 0.00 0.000 516 0.000 0.037 2540 1485 3580 3577 3583 0 0 0 0 0 0 15.01 14.37 15.03

1016 -0.71 -77.9 2540 1485 3578 3583 141.7 -11.9 148 1020 0.00 1.30 0.00 0.000 1158 0.000 0.048 2540 2196 3580 3578 3583 0 0 0 0 0 0 14.38 14.33 14.42

1208 -0.71 -77.9 2539 2195 3579 3583 166.8 -12.9 168 1211 0.00 1.25 0.00 0.000 516 0.000 0.038 2540 1499 3581 3579 3583 0 0 0 0 0 0 15.03 14.37 15.05

1301 -0.76 -77.9 2540 1499 3581 3583 178.1 -11.7 186 1305 0.00 1.27 0.00 0.000 1158 0.000 0.047 2540 2194 3582 3581 3583 0 0 0 0 0 0 14.38 14.33 14.41

1494 -0.76 -77.9 2540 2194 3582 3583 200.0 -11.4 206 1498 0.00 1.17 0.00 0.000 260 0.000 0.063 2540 2901 3582 3582 3583 0 0 0 0 0 0 15.04 14.24 15.06

1550 -0.82 -77.9 2539 2902 3582 3582 205.5 -9.2 217 1559 0.10 1.12 0.00 0.000 5254 0.090 0.034 2494 2164 3582 3582 3583 0 0 0 0 0 0 14.23 14.43 14.31

1739 -0.76 -77.9 2493 2164 3582 3583 227.3 -10.9 236 1743 0.00 1.25 0.00 0.000 388 0.000 0.062 2494 2895 3582 3582 3582 0 0 0 0 0 0 15.02 14.22 15.04

1792 -0.71 -77.9 2493 2895 3582 3583 233.6 -11.6 246 1797 0.10 1.05 0.00 0.000 3206 0.240 0.036 2519 2208 3582 3582 3583 0 0 0 0 0 0 13.86 14.43 14.01

2007 -0.71 -77.9 2519 2204 3581 3582 256.6 -10.3 264 2011 0.00 1.20 0.00 0.000 516 0.000 0.040 2520 1523 3582 3582 3582 0 0 0 0 0 0 15.03 14.34 15.05

2042 -0.76 -77.9 2519 1523 3582 3582 260.6 -10.8 271 2046 0.00 1.25 0.00 0.000 1158 0.000 0.050 2520 2194 3581 3582 3581 0 0 0 0 0 0 14.34 14.30 14.38

2251 -0.76 -77.9 2519 2194 3581 3580 283.7 -11.1 282 2254 0.00 1.20 0.00 0.000 516 0.000 0.038 2520 1525 3581 3582 3580 0 0 0 0 0 0 15.04 14.33 15.06

2291 -0.82 -77.9 2520 1524 3582 3579 288.0 -9.7 290 2295 0.00 1.25 0.00 0.000 1158 0.000 0.050 2520 2195 3580 3582 3579 0 0 0 0 0 0 14.33 14.28 14.37

2494 -0.82 -77.9 2520 2195 3582 3577 305.9 -8.6 300 2498 0.00 1.20 0.00 0.000 516 0.000 0.038 2520 1527 3579 3582 3577 0 0 0 0 0 0 15.04 14.33 15.07

2529 -0.86 -77.9 2520 1527 3582 3577 309.0 -8.1 307 2534 0.10 1.25 0.00 0.000 5254 0.089 0.050 2477 2198 3579 3582 3577 0 0 0 0 0 0 14.16 14.26 14.23

2738 -0.79 -77.9 2476 2197 3579 3576 329.1 -9.9 318 2739 0.00 0.00 0.00 0.000 134 0.000 0.000 2477 2197 3578 3580 3576 0 0 0 0 0 0 15.06 15.07 15.07

2918 -0.71 -77.9 2476 2197 3579 3575 351.1 -12.6 324 2923 0.17 1.23 0.00 0.000 2692 0.270 0.037 2520 1537 3576 3579 3574 0 0 0 0 0 0 13.82 14.12 13.98

2953 -0.71 -77.9 2519 1538 3579 3574 355.5 -10.5 331 2957 0.00 1.25 0.00 0.000 1030 0.000 0.051 2520 2201 3576 3579 3574 0 0 0 0 0 0 14.30 14.24 14.34

3162 -0.74 -77.9 2519 2201 3578 3572 378.3 -11.4 342 3166 0.00 1.17 0.00 0.000 388 0.000 0.069 2520 2895 3575 3579 3572 0 0 0 0 0 0 15.06 14.14 15.07

3281 -0.79 -77.9 2519 2895 3578 3572 392.4 -11.4 365 3288 0.00 1.10 0.00 0.000 1158 0.000 0.038 2520 2199 3574 3578 3571 0 0 0 0 0 0 14.36 14.33 14.39

3464 -0.79 -77.9 2519 2199 3577 3570 414.8 -12.2 372 3468 0.00 1.23 0.00 0.000 260 0.000 0.067 2520 2899 3573 3577 3570 0 0 0 0 0 0 15.05 14.11 15.07

3517 -0.85 -77.9 2520 2898 3576 3569 420.7 -10.8 382 3521 0.08 1.10 0.00 0.000 5254 0.099 0.038 2483 2201 3572 3576 3569 0 0 0 0 0 0 14.14 14.35 14.21

3711 -0.79 -77.9 2483 2197 3574 3567 446.3 -13.2 390 3716 0.00 1.23 0.00 0.000 388 0.000 0.067 2483 2898 3571 3575 3567 0 0 0 0 0 0 15.04 14.10 15.07

3747 -0.79 -77.9 2483 2898 3574 3567 451.1 -12.4 397 3752 0.00 1.10 0.00 0.000 1030 0.000 0.039 2483 2209 3570 3574 3567 0 0 0 0 0 0 14.36 14.33 14.39

3956 -0.74 -77.9 2483 2204 3572 3566 476.7 -12.3 408 3961 0.12 1.23 0.00 0.000 2436 0.278 0.063 2510 2900 3569 3572 3566 0 0 0 0 0 0 14.01 14.09 14.12

3967 -0.69 -77.9 2509 2900 3572 3566 478.3 -12.1 410 3971 0.00 1.12 0.00 0.000 1158 0.000 0.041 2510 2197 3569 3572 3566 0 0 0 0 0 0 14.38 14.33 14.38

4167 end dive: TARGET_DEPTH_EXCEEDED

state 4167 begin apogee

4173 -0.15 0.0 2510 2191 3570 3564 500.3 -11.0 420 4247 0.75 0.00 70.70 1.517 10246 0.223 0.000 2703 2192 3249 3260 3239 0 0 0 0 0 0 13.70 14.21 13.16

4248 end apogee: CONTROL_FINISHED_OK

state 4248 begin loiter

4470 -0.15 0.0 2703 2191 3252 3230 509.1 -2.7 424 4471 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2192 3241 3252 3230 0 0 0 0 0 0 14.88 14.90 14.90

5068 -0.57 15.0 2702 2191 3247 3226 531.6 -3.9 429 5085 0.38 0.00 13.90 1.499 12454 0.083 0.000 2568 2191 3187 3198 3177 0 0 0 0 0 0 14.45 14.44 13.40

5670 -0.63 15.0 2568 2191 3186 3169 537.8 -0.8 434 5671 0.00 0.00 0.00 0.000 134 0.000 0.000 2568 2191 3177 3186 3168 0 0 0 0 0 0 15.03 15.05 15.05

6270 -0.70 15.0 2567 2191 3183 3166 547.2 -1.5 439 6272 0.12 0.00 0.00 0.000 4230 0.148 0.000 2526 2191 3174 3183 3166 0 0 0 0 0 0 14.56 14.64 14.62

6868 -0.69 26.7 2526 2191 3180 3164 564.1 -3.0 444 6880 0.00 0.00 9.90 1.546 8230 0.000 0.000 2526 2191 3140 3149 3132 0 0 0 0 0 0 15.07 14.43 13.38

7470 -0.65 26.7 2525 2191 3140 3123 571.7 -1.2 449 7471 0.00 0.00 0.00 0.000 134 0.000 0.000 2526 2191 3131 3140 3123 0 0 0 0 0 0 15.04 15.06 15.06

8070 -0.61 26.7 2525 2191 3139 3122 577.4 -0.8 454 8072 0.15 0.00 0.00 0.000 2182 0.276 0.000 2556 2191 3130 3138 3122 0 0 0 0 0 0 13.97 14.34 14.25

8668 -0.61 26.7 2556 2191 3137 3120 575.8 0.3 459 8669 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2191 3128 3137 3120 0 0 0 0 0 0 15.07 15.09 15.09

9270 -0.64 26.7 2556 2190 3135 3119 575.9 -0.0 464 9271 0.00 0.00 0.00 0.000 134 0.000 0.000 2557 2190 3127 3135 3119 0 0 0 0 0 0 15.06 15.07 15.07

9869 -0.68 26.7 2555 2190 3134 3118 581.0 -1.0 469 9870 0.00 0.00 0.00 0.000 134 0.000 0.000 2556 2190 3126 3134 3118 0 0 0 0 0 0 15.06 15.08 15.07

10469 -0.71 26.7 2555 2190 3133 3117 590.1 -1.4 474 10470 0.00 0.00 0.00 0.000 134 0.000 0.000 2556 2190 3125 3134 3117 0 0 0 0 0 0 15.06 15.07 15.07

11069 -0.71 26.7 2555 2190 3133 3116 596.6 -1.1 479 11070 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2190 3124 3133 3116 0 0 0 0 0 0 15.06 15.08 15.07

11669 -0.75 26.7 2555 2190 3132 3115 599.5 -0.4 484 11671 0.12 0.00 0.00 0.000 4230 0.150 0.000 2515 2190 3123 3132 3115 0 0 0 0 0 0 14.50 14.56 14.54

12268 -0.75 26.7 2514 2190 3130 3115 600.7 -0.2 489 12269 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2191 3122 3130 3115 0 0 0 0 0 0 15.07 15.09 15.08

12871 -0.68 26.7 2515 2190 3130 3115 601.7 -0.1 494 12872 0.00 0.00 0.00 0.000 134 0.000 0.000 2515 2191 3122 3130 3115 0 0 0 0 0 0 15.04 15.06 15.06

13469 -0.61 26.7 2515 2191 3129 3114 607.8 -1.0 499 13471 0.20 0.00 0.00 0.000 2182 0.259 0.000 2557 2190 3122 3130 3114 0 0 0 0 0 0 13.63 14.04 13.93

14068 -0.61 26.7 2557 2190 3129 3114 604.3 0.7 504 14069 0.00 0.00 0.00 0.000 6 0.000 0.000 2558 2190 3122 3130 3114 0 0 0 0 0 0 15.06 15.08 15.08

14671 -0.65 26.7 2557 2190 3129 3114 601.7 0.3 509 14672 0.00 0.00 0.00 0.000 134 0.000 0.000 2557 2191 3122 3130 3114 0 0 0 0 0 0 15.04 15.06 15.06

15269 -0.69 26.7 2557 2190 3129 3114 601.3 0.0 514 15270 0.00 0.00 0.00 0.000 134 0.000 0.000 2557 2190 3121 3129 3114 0 0 0 0 0 0 15.05 15.07 15.07

15868 -0.73 26.7 2557 2190 3129 3114 604.3 -0.5 519 15869 0.00 0.00 0.00 0.000 134 0.000 0.000 2557 2190 3121 3129 3113 0 0 0 0 0 0 15.06 15.08 15.07

16470 -0.76 26.7 2557 2190 3128 3114 608.2 -0.7 524 16472 0.15 0.00 0.00 0.000 4230 0.130 0.000 2507 2190 3121 3129 3113 0 0 0 0 0 0 14.45 14.50 14.48

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80668 -0.61 37.8 2549 2190 3097 3082 535.9 -0.4 1059 80669 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2190 3089 3097 3082 0 0 0 0 0 0 15.04 15.07 15.06

81269 -0.61 37.8 2549 2190 3097 3082 538.1 -0.3 1064 81270 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2190 3089 3098 3081 0 0 0 0 0 0 15.03 15.04 15.04

81870 -0.61 37.8 2549 2190 3097 3082 537.8 0.1 1069 81871 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2190 3089 3097 3082 0 0 0 0 0 0 15.02 15.04 15.04

82468 -0.61 37.8 2549 2190 3097 3082 533.0 0.9 1074 82469 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2190 3089 3097 3082 0 0 0 0 0 0 15.04 15.07 15.06

83069 -0.61 37.8 2549 2190 3097 3082 530.3 0.3 1079 83070 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 2190 3089 3097 3082 0 0 0 0 0 0 15.03 15.04 15.04

83669 -0.61 37.8 2549 2190 3097 3082 529.9 0.0 1084 83670 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2190 3089 3097 3082 0 0 0 0 0 0 15.03 15.05 15.04

84269 -0.61 37.8 2549 2190 3097 3082 534.0 -0.7 1089 84270 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2190 3089 3097 3082 0 0 0 0 0 0 15.03 15.05 15.05

84869 -0.61 37.8 2549 2190 3097 3082 532.8 0.3 1094 84870 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2190 3089 3097 3082 0 0 0 0 0 0 15.03 15.05 15.04

85469 -0.61 37.8 2549 2190 3097 3082 533.3 -0.3 1099 85470 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2190 3089 3097 3082 0 0 0 0 0 0 15.03 15.05 15.05

86068 -0.61 37.8 2549 2190 3097 3082 537.7 -0.7 1104 86069 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2190 3089 3097 3082 0 0 0 0 0 0 15.04 15.07 15.06

86670 -0.61 37.8 2549 2190 3097 3081 541.5 -0.6 1109 86671 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2190 3089 3097 3082 0 0 0 0 0 0 15.02 15.04 15.04

87269 -0.61 37.8 2549 2190 3097 3082 542.2 -0.1 1114 87270 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2190 3090 3098 3082 0 0 0 0 0 0 15.03 15.05 15.05

87868 -0.61 37.8 2549 2190 3097 3082 540.1 0.4 1119 87869 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2190 3089 3097 3082 0 0 0 0 0 0 15.04 15.07 15.06

88469 -0.61 37.8 2549 2190 3097 3082 536.6 0.7 1124 88470 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2190 3089 3097 3082 0 0 0 0 0 0 15.03 15.05 15.04

89070 -0.61 37.8 2549 2190 3097 3082 529.2 1.3 1129 89071 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2190 3089 3097 3082 0 0 0 0 0 0 15.02 15.04 15.04

89668 -0.61 37.8 2549 2190 3097 3082 522.2 1.0 1134 89669 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2190 3089 3097 3082 0 0 0 0 0 0 15.04 15.07 15.07

90269 -0.61 37.8 2549 2190 3097 3082 526.0 -0.8 1139 90270 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2190 3089 3097 3082 0 0 0 0 0 0 15.03 15.05 15.04

90627 end loiter: LOITER_COMPLETE

state 90627 begin climb

90629 0.78 77.9 2549 2190 3097 3082 524.9 0.0 1142 90682 1.85 1.23 45.80 1.484 10756 0.237 0.045 2999 1507 2928 2938 2918 0 0 0 0 0 0 13.08 13.87 13.11

90740 0.98 115.4 2999 1506 2932 2912 519.9 5.6 1164 90788 0.17 1.33 41.72 1.448 11430 0.076 0.055 3085 2196 2774 2790 2759 0 0 0 0 0 0 14.26 14.21 12.98

90995 0.92 115.4 3085 2196 2782 2753 495.0 10.4 1184 90999 0.00 1.23 0.00 0.000 388 0.000 0.072 3086 2896 2767 2782 2753 0 0 0 0 0 0 14.78 14.13 14.80

91096 0.84 115.4 3085 2896 2782 2752 484.2 9.8 1204 91100 0.20 1.12 0.00 0.000 5254 0.240 0.044 3038 2215 2767 2783 2752 0 0 0 0 0 0 13.72 14.24 13.93

91299 0.90 115.4 3038 2213 2782 2752 469.1 7.4 1214 91303 0.00 1.23 0.00 0.000 388 0.000 0.070 3038 2894 2766 2781 2752 0 0 0 0 0 0 14.90 14.08 14.92

91460 0.94 115.4 3037 2895 2782 2751 456.2 8.3 1246 91464 0.00 1.15 0.00 0.000 1158 0.000 0.043 3041 2202 2766 2781 2751 0 0 0 0 0 0 14.26 14.23 14.31

91664 1.01 115.4 3040 2201 2782 2751 437.9 9.4 1256 91669 0.12 1.27 0.00 0.000 2692 0.148 0.043 3091 1517 2766 2782 2751 0 0 0 0 0 0 14.40 14.16 14.40

91751 1.01 115.4 3091 1517 2782 2751 427.9 11.5 1273 91757 0.00 1.33 0.00 0.000 1030 0.000 0.056 3091 2202 2766 2781 2751 0 0 0 0 0 0 14.19 14.14 14.24

91938 0.96 115.4 3091 2201 2781 2751 407.6 11.0 1280 91942 0.00 1.33 0.00 0.000 644 0.000 0.045 3095 1497 2766 2782 2751 0 0 0 0 0 0 14.97 14.14 15.00

91955 0.91 115.4 3095 1497 2781 2751 405.7 10.6 1283 91960 0.12 1.35 0.00 0.000 5254 0.216 0.057 3059 2200 2766 2781 2751 0 0 0 0 0 0 13.72 14.14 14.16

92154 0.91 115.4 3059 2199 2781 2751 388.3 8.7 1292 92158 0.00 1.33 0.00 0.000 516 0.000 0.045 3064 1497 2766 2781 2751 0 0 0 0 0 0 14.99 14.13 15.01

92180 0.96 115.4 3063 1497 2781 2751 385.9 8.2 1297 92187 0.00 1.35 0.00 0.000 1158 0.000 0.056 3064 2197 2766 2781 2751 0 0 0 0 0 0 14.18 14.12 14.23

92369 0.96 115.4 3063 2196 2781 2751 371.3 7.8 1304 92373 0.00 1.30 0.00 0.000 516 0.000 0.045 3068 1514 2766 2781 2751 0 0 0 0 0 0 14.99 14.11 15.00

92414 0.99 115.4 3068 1515 2781 2751 367.4 7.8 1313 92418 0.00 1.33 0.00 0.000 1158 0.000 0.054 3068 2208 2766 2781 2751 0 0 0 0 0 0 14.16 14.10 14.21

92611 0.99 115.4 3068 2208 2781 2751 351.3 8.6 1322 92615 0.00 1.33 0.00 0.000 516 0.000 0.047 3070 1504 2766 2781 2751 0 0 0 0 0 0 15.00 14.07 15.02

92637 0.99 115.4 3069 1504 2781 2751 349.0 8.9 1327 92645 0.00 1.35 0.00 0.000 1030 0.000 0.054 3070 2204 2766 2781 2751 0 0 0 0 0 0 14.16 14.11 14.21

92823 0.99 115.4 3069 2204 2781 2751 332.2 9.3 1334 92827 0.00 1.33 0.00 0.000 516 0.000 0.046 3073 1506 2766 2781 2751 0 0 0 0 0 0 15.01 14.08 15.03

92848 0.99 115.4 3073 1506 2781 2751 329.7 9.4 1339 92856 0.00 1.35 0.00 0.000 1030 0.000 0.055 3073 2205 2766 2781 2751 0 0 0 0 0 0 14.16 14.10 14.20

93036 0.99 115.4 3073 2204 2781 2751 313.7 8.7 1346 93040 0.00 1.33 0.00 0.000 516 0.000 0.046 3077 1508 2766 2781 2751 0 0 0 0 0 0 15.00 14.07 15.02

93071 0.99 115.4 3077 1509 2781 2751 310.6 8.2 1353 93075 0.00 1.33 0.00 0.000 1030 0.000 0.055 3077 2197 2766 2781 2751 0 0 0 0 0 0 14.13 14.08 14.19

93279 0.99 115.4 3077 2197 2781 2751 293.9 7.9 1364 93283 0.00 1.33 0.00 0.000 516 0.000 0.045 3081 1503 2766 2781 2751 0 0 0 0 0 0 15.01 14.05 15.02

93350 1.03 146.8 3081 1503 2781 2751 289.0 6.1 1378 93388 0.00 1.35 32.55 1.246 9254 0.000 0.056 3081 2202 2649 2668 2630 0 0 0 0 0 0 14.11 14.05 13.36

93581 1.03 146.8 3081 2202 2662 2625 268.7 9.5 1394 93585 0.00 1.33 0.00 0.000 516 0.000 0.047 3083 1491 2643 2662 2625 0 0 0 0 0 0 14.90 14.24 14.92

93596 1.03 146.8 3083 1491 2662 2626 267.0 9.7 1397 93600 0.00 1.35 0.00 0.000 1030 0.000 0.057 3083 2196 2643 2662 2625 0 0 0 0 0 0 14.28 14.23 14.33

93784 1.03 146.8 3083 2196 2662 2625 245.2 12.3 1407 93789 0.00 1.30 0.00 0.000 516 0.000 0.047 3084 1497 2643 2662 2625 0 0 0 0 0 0 14.92 14.16 14.94

93796 1.03 146.8 3083 1497 2662 2625 243.5 12.6 1409 93800 0.00 1.35 0.00 0.000 1030 0.000 0.056 3084 2201 2643 2661 2625 0 0 0 0 0 0 14.26 14.19 14.30

93988 1.03 146.8 3083 2201 2661 2625 219.4 10.7 1429 93992 0.00 1.30 0.00 0.000 516 0.000 0.047 3085 1501 2643 2661 2625 0 0 0 0 0 0 14.95 14.16 14.97

94001 1.03 146.8 3084 1501 2661 2625 218.3 9.9 1431 94006 0.00 1.35 0.00 0.000 1030 0.000 0.055 3085 2203 2642 2660 2625 0 0 0 0 0 0 14.25 14.19 14.29

94194 1.03 146.8 3084 2203 2661 2625 202.9 7.3 1451 94198 0.00 1.33 0.00 0.000 516 0.000 0.050 3088 1496 2643 2661 2625 0 0 0 0 0 0 14.96 14.10 14.98

94298 1.07 146.8 3088 1496 2661 2625 195.6 7.2 1471 94303 0.00 1.38 0.00 0.000 1158 0.000 0.057 3087 2206 2642 2661 2624 0 0 0 0 0 0 14.20 14.14 14.24

94491 1.07 146.8 3087 2206 2661 2624 178.6 10.2 1491 94496 0.00 1.33 0.00 0.000 516 0.000 0.045 3091 1505 2642 2661 2624 0 0 0 0 0 0 14.98 14.12 15.00

94575 1.16 146.8 3091 1505 2661 2624 169.3 11.2 1507 94581 0.08 1.35 0.00 0.000 3206 0.122 0.054 3126 2210 2642 2661 2624 0 0 0 0 0 0 13.98 14.13 14.08

94772 1.09 146.8 3126 2209 2661 2624 147.4 10.1 1527 94777 0.00 1.20 0.00 0.000 388 0.000 0.070 3126 2904 2642 2661 2624 0 0 0 0 0 0 14.95 14.02 14.97

94789 1.01 146.8 3126 2904 2660 2624 145.9 7.5 1530 94796 0.15 1.17 0.00 0.000 5254 0.253 0.041 3091 2178 2642 2661 2624 0 0 0 0 0 0 13.66 14.25 13.88

94979 1.09 183.6 3091 2178 2661 2623 132.8 5.7 1549 95025 0.00 1.20 39.35 1.073 8612 0.000 0.063 3092 2901 2493 2518 2468 0 0 0 0 0 0 14.95 14.06 13.47

95095 1.14 183.6 3091 2902 2516 2466 125.5 6.6 1572 95102 0.00 1.12 0.00 0.000 1158 0.000 0.041 3095 2213 2491 2517 2466 0 0 0 0 0 0 14.38 14.35 14.42

95280 1.20 183.6 3094 2210 2516 2466 113.1 6.4 1591 95286 0.12 1.30 0.00 0.000 2692 0.152 0.041 3150 1487 2491 2516 2466 0 0 0 0 0 0 14.37 14.19 14.39

95356 1.20 183.6 3150 1487 2516 2466 107.4 8.2 1605 95360 0.00 1.35 0.00 0.000 1030 0.000 0.051 3150 2204 2491 2516 2466 0 0 0 0 0 0 14.27 14.21 14.31

95548 1.34 297.6 3150 2204 2515 2466 97.9 0.1 1625 95662 0.12 1.20 105.28 0.995 10532 0.143 0.067 3200 2898 2028 2061 1996 0 0 0 0 0 0 14.42 14.18 13.35

95753 1.34 297.6 3199 2898 2057 1994 79.1 14.5 1665 95757 0.00 1.15 0.00 0.000 1030 0.000 0.041 3203 2193 2025 2057 1994 0 0 0 0 0 0 14.30 14.26 14.33

95945 1.34 297.6 3204 2188 2056 1993 55.4 10.4 1685 95949 0.00 1.23 0.00 0.000 260 0.000 0.059 3204 2898 2024 2056 1993 0 0 0 0 0 0 14.85 14.19 14.86

95968 1.34 297.6 3203 2898 2056 1994 53.1 10.7 1689 95972 0.00 1.12 0.00 0.000 1030 0.000 0.040 3206 2203 2025 2056 1994 0 0 0 0 0 0 14.33 14.28 14.35

96157 1.34 297.6 3205 2199 2056 1994 33.9 10.4 1724 96164 0.00 1.20 0.00 0.000 260 0.000 0.059 3206 2900 2025 2056 1994 0 0 0 0 0 0 14.88 14.19 14.90

96188 1.34 297.6 3205 2900 2056 1994 30.7 11.0 1729 96195 0.00 1.15 0.00 0.000 1030 0.000 0.038 3206 2185 2025 2056 1994 0 0 0 0 0 0 14.34 14.31 14.37

96379 1.34 297.6 3206 2184 2056 1994 8.4 11.9 1766 96385 0.00 0.00 0.00 0.000 6 0.000 0.000 3207 2184 2025 2056 1994 0 0 0 0 0 0 14.91 14.93 14.92

96431 end climb: SURFACE_DEPTH_REACHED

state 96431 begin surface coast

96457 end surface coast: CONTROL_FINISHED_OK

state 96457 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	642	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	59	ALTIM_PING_DELTA	50
D_NO_BLEED	200	TGT_DEFAULT_LON	-11731	R_STBD_OVSHOOT	43	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	191118,083837,-54.3030,6246.5190,27,0.8,28,-4.5,1.4,26.6,8,9.1	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	110.4,1232902,-23.2,-8.333,-28.22,1424
_SM_ANGLEo	-73.8	D_GRID	1000
GPS2	191118,084440,-54.2141,6246.7725,16,0.8,18,-4.5,1.6,60.1,8,9.4

FINISH	-0.0,1.022400	FG_AHR_24Vo	0.000
SM_CCo	96477,42.15,0.080,0,0,1618,400.08	FG_AHR_10Vo	0.000
SM_GC	0.60,9.05,0.00,42.15,0.094,0.000,0.080,251,2177,1618,-7.80,-0.68,400.08,0,0,0,0,0,0,14.23,14.91,14.31	MEM	302952
IRIDIUM_FIX	-56.46,6251.36,181118,061709	DATA_FILE_SIZE	76635,1781
TT8_MAMPS	0.018725,0.158788	CAP_FILE_SIZE	293751,0
HUMID	61.38	CFSIZE	260034560,196952064
INTERNAL_PRESSURE	8.49255	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	23.10	INTR	0,92854.43,0x214548,1,24
XPDR_PINGS	0	CURRENT	0.047,246.37,1
_24V_AH	12.98,197.397	GPS	201118,113507,-55.280,6244.672,27,0.8,29,-4.5,1.5,79.6,9,9.8
_10V_AH	8.55,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	410	148.37	SBE_CT	465	23	144.72
Roll_motor	92	71	86.13	nil	0	0	0.00
VBD_pump_during_apogee	367	1668	7959.37	nil	0	0	0.00
VBD_pump_during_surface	42	80	43.95	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	231	136	409.92	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	3.49
TT8	3897	9	315.55
LPSleep	89303	2	1672.17
TT8_Active	588	9	47.66
TT8_Sampling	2438	28	587.64
TT8_CF8	646	34	188.93
TT8_Kalman	0	0	0.00
Analog_circuits	2352	16	321.77
GPS_charging	0	0	0.00
Compass	1853	17	273.05
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