Glider dive log

NASCAR Jan18 * SG128 * Dive index * Mission links * Dive 475 * 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 475 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 83 ALTIM_PING_DELTA 50

D_NO_BLEED 200 TGT_DEFAULT_LON -11731 R_STBD_OVSHOOT 32 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 475 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 83 W_ADJ_DBAND 2

D_FINISH 0 MINV_24V 11 R_STBD_OVSHOOT 32 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 300518,144607,-158.3155,5856.4487,40,0.8,42,-4.6,0.4,128.0,9,9.3 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 0.57 MHEAD_RNG_PITCHd_Wd 92.2,1665184,-20.3,-8.333,-25.69,1777

_SM_ANGLEo -70.4 D_GRID 1000

GPS2 300518,145251,-158.3378,5856.5518,18,0.8,20,-4.6,0.5,21.5,9,9.1

Post-dive calculations and measurements:

FINISH -0.1,1.022221 _10V_AH 12.78,0.000

SM_CCo 6453,0.00,0.000,0,0,385,702.77 FG_AHR_24Vo 0.000

SM_GC 0.35,8.80,0.00,0.00,0.084,0.000,0.000,247,2807,385,-7.81,0.17,702.77,0,0,0,0,0,0,14.52,14.92,14.64 FG_AHR_10Vo 0.000

IRIDIUM_FIX -201.64,5903.29,300518,125353 MEM 303000

TT8_MAMPS 0.018725,0.15729 DATA_FILE_SIZE 33422,738

HUMID 62.99 CAP_FILE_SIZE 77066,1

INTERNAL_PRESSURE 8.44372 CFSIZE 260034560,215334912

TCM_TEMP 22.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0

XPDR_PINGS 0 CURRENT 0.081,36.26,1

_24V_AH 12.84,152.926 GPS 300518,164208,-158.149,5856.744,29,1.0,32,-4.6,0.9,68.3,9,9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 416 121.43 SBE_CT 379 23 116.78

Roll_motor 50 71 46.47 nil 0 0 0.00

VBD_pump_during_apogee 764 1341 13161.36 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 291 139 520.81 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 5.71

TT8 1464 9 177.22

LPSleep 3151 2 88.20

TT8_Active 731 9 88.56

TT8_Sampling 1356 28 488.55

TT8_CF8 170 34 74.41

TT8_Kalman 0 0 0.00

Analog_circuits 1712 16 350.11

GPS_charging 0 0 0.00

Compass 1059 17 233.20

RAFOS 0 0 0.00

Transponder 0 5 0.04

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

8 -0.72 -97.3 243 2794 447 350 0.0 0.0 0 115 0.00 0.00 -104.07 0.003 16390 0.000 0.000 243 2794 3648 3627 3670 0 0 0 0 0 0 14.92 12.84 14.89

118 -0.72 -97.3 243 2794 3628 3670 4.7 -13.2 17 133 11.62 1.45 0.00 0.000 2308 0.416 0.043 2516 3721 3650 3631 3670 0 0 0 0 0 0 14.15 14.64 14.54

155 -0.72 -97.3 2516 3721 3635 3666 17.9 -26.0 23 162 0.00 1.38 0.00 0.000 1030 0.000 0.034 2516 2798 3651 3638 3664 0 0 0 0 0 0 14.66 14.65 14.69

472 -0.72 -97.3 2516 2797 3638 3661 69.2 -11.0 71 476 0.00 1.45 0.00 0.000 260 0.000 0.065 2516 3694 3649 3638 3661 0 0 0 0 0 0 15.04 14.59 15.05

513 -0.72 -97.3 2515 3694 3634 3661 73.3 -9.9 79 517 0.00 1.33 0.00 0.000 1030 0.000 0.032 2516 2785 3648 3635 3661 0 0 0 0 0 0 14.75 14.73 14.76

825 -0.72 -97.3 2515 2783 3647 3661 108.7 -11.5 111 826 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2783 3654 3648 3661 0 0 0 0 0 0 15.08 15.10 15.09

1127 -0.72 -97.3 2515 2783 3651 3661 133.7 -8.5 141 1132 0.00 1.50 0.00 0.000 260 0.000 0.067 2516 3702 3656 3651 3661 0 0 0 0 0 0 15.09 14.64 15.11

1194 -0.72 -97.3 2516 3702 3651 3662 140.5 -9.7 154 1201 0.00 1.33 0.00 0.000 1030 0.000 0.034 2515 2795 3656 3652 3661 0 0 0 0 0 0 14.78 14.76 14.80

1499 -0.72 -97.3 2515 2796 3653 3661 168.9 -8.9 185 1504 0.00 2.25 0.00 0.000 516 0.000 0.035 2515 1414 3657 3653 3661 0 0 0 0 0 0 15.11 14.78 15.13

1553 -0.72 -97.3 2516 1413 3653 3661 173.6 -8.9 195 1562 0.00 2.38 0.00 0.000 1030 0.000 0.050 2516 2800 3657 3653 3661 0 0 0 0 0 0 14.81 14.71 14.85

1862 -0.72 -97.3 2515 2800 3653 3660 203.3 -10.4 227 1866 0.00 2.30 0.00 0.000 516 0.000 0.036 2516 1425 3656 3653 3660 0 0 0 0 0 0 15.11 14.77 15.13

1894 -0.72 -97.3 2515 1425 3653 3660 206.8 -10.8 233 1899 0.00 2.38 0.00 0.000 1030 0.000 0.053 2516 2800 3656 3653 3660 0 0 0 0 0 0 14.81 14.71 14.84

2206 -0.72 -97.3 2515 2799 3652 3658 239.4 -9.6 265 2211 0.00 2.28 0.00 0.000 516 0.000 0.036 2516 1423 3654 3652 3657 0 0 0 0 0 0 15.11 14.77 15.13

2261 -0.72 -97.3 2515 1422 3653 3658 244.9 -9.4 276 2269 0.00 2.40 0.00 0.000 1030 0.000 0.051 2515 2814 3655 3653 3657 0 0 0 0 0 0 14.80 14.70 14.83

2570 -0.72 -97.3 2515 2813 3652 3655 271.5 -8.3 291 2573 0.00 1.40 0.00 0.000 260 0.000 0.071 2516 3691 3653 3652 3655 0 0 0 0 0 0 15.11 14.62 15.14

2609 -0.72 -97.3 2515 3691 3652 3654 275.1 -8.7 299 2613 0.00 1.30 0.00 0.000 1030 0.000 0.035 2516 2795 3653 3652 3654 0 0 0 0 0 0 14.78 14.76 14.80

2869 end dive: HALF_MISSION_TIME_EXCEEDED

state 2869 begin apogee

2875 -0.15 0.0 2516 2796 3647 3650 297.8 -9.0 311 2970 0.73 0.00 86.72 1.294 10246 0.247 0.000 2706 2796 3250 3264 3237 0 0 0 0 1 0 14.29 14.38 13.54

2971 end apogee: CONTROL_FINISHED_OK

state 2971 begin climb

2973 0.72 97.3 2706 2796 3264 3237 303.1 0.0 314 3075 0.90 1.52 87.68 1.341 10500 0.162 0.067 2981 3694 2852 2879 2826 0 0 0 0 1 0 14.31 14.26 13.43

3152 0.80 170.2 2980 3694 2888 2827 303.2 4.1 352 3238 0.08 1.35 79.82 1.109 11302 0.126 0.035 3017 2802 2554 2593 2515 0 0 0 0 0 0 14.39 14.52 13.66

3561 0.80 170.2 3017 2802 2572 2500 273.1 8.0 383 3565 0.00 2.33 0.00 0.000 516 0.000 0.042 3017 1420 2535 2571 2499 0 0 0 0 0 0 14.97 14.68 15.00

3627 0.84 170.2 3017 1419 2575 2499 268.6 6.4 396 3631 0.00 2.40 0.00 0.000 1094 0.000 0.048 3017 2811 2537 2575 2499 0 0 0 0 0 0 14.75 14.66 14.78

3950 0.90 214.7 3017 2810 2558 2497 250.2 5.8 410 3993 0.00 1.42 37.38 1.137 8484 0.000 0.070 3017 3691 2365 2401 2329 0 0 0 0 0 0 15.06 14.59 13.82

4032 0.90 214.7 3017 3691 2397 2326 244.3 8.2 426 4036 0.00 1.35 0.00 0.000 1030 0.000 0.034 3017 2786 2362 2398 2326 0 0 0 0 0 0 14.65 14.62 14.70

4344 0.91 214.7 3017 2783 2395 2322 220.2 7.6 458 4346 0.12 0.00 0.00 0.000 2118 0.145 0.000 3064 2783 2358 2395 2322 0 0 0 0 0 0 14.69 14.81 14.78

4644 0.91 214.7 3063 2783 2400 2321 194.8 9.0 488 4648 0.00 1.50 0.00 0.000 260 0.000 0.067 3064 3693 2360 2400 2321 0 0 0 0 0 0 15.06 14.61 15.08

4679 0.91 214.7 3063 3692 2399 2321 191.1 9.8 495 4686 0.00 1.33 0.00 0.000 1030 0.000 0.035 3068 2811 2360 2399 2321 0 0 0 0 0 0 14.74 14.71 14.76

4987 0.91 214.7 3068 2811 2390 2319 161.5 8.7 526 4991 0.00 1.45 0.00 0.000 260 0.000 0.067 3068 3695 2354 2390 2319 0 0 0 0 0 0 15.08 14.60 15.10

5002 0.91 214.7 3068 3695 2389 2319 160.0 8.5 529 5010 0.00 1.35 0.00 0.000 1030 0.000 0.036 3070 2807 2354 2389 2319 0 0 0 0 0 0 14.74 14.71 14.76

5309 0.96 254.2 3068 2807 2386 2318 136.9 6.1 560 5352 0.00 2.40 36.33 1.039 8996 0.000 0.043 3069 1411 2204 2239 2170 0 0 0 0 0 0 15.09 14.61 13.85

5400 1.00 291.0 3069 1411 2235 2167 131.5 6.2 577 5441 0.00 2.42 35.12 1.017 9254 0.000 0.048 3070 2809 2062 2098 2027 0 0 0 0 0 0 14.71 14.62 13.83

5710 1.50 699.1 3069 2809 2084 2014 106.0 8.6 612 6125 0.47 2.53 401.30 0.886 11012 0.100 0.047 3241 1418 393 455 332 0 0 0 0 0 0 14.54 14.33 13.78

6183 1.50 699.1 3241 1418 446 329 28.1 16.9 701 6191 0.00 2.42 0.00 0.000 1030 0.000 0.044 3241 2806 387 445 329 0 0 0 0 0 0 14.54 14.46 14.57

6354 end climb: SURFACE_DEPTH_REACHED

state 6354 begin surface coast

6376 end surface coast: CONTROL_FINISHED_OK

state 6376 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	475	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	83	ALTIM_PING_DELTA	50
D_NO_BLEED	200	TGT_DEFAULT_LON	-11731	R_STBD_OVSHOOT	32	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	300518,144607,-158.3155,5856.4487,40,0.8,42,-4.6,0.4,128.0,9,9.3	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	0.57	MHEAD_RNG_PITCHd_Wd	92.2,1665184,-20.3,-8.333,-25.69,1777
_SM_ANGLEo	-70.4	D_GRID	1000
GPS2	300518,145251,-158.3378,5856.5518,18,0.8,20,-4.6,0.5,21.5,9,9.1

FINISH	-0.1,1.022221	_10V_AH	12.78,0.000
SM_CCo	6453,0.00,0.000,0,0,385,702.77	FG_AHR_24Vo	0.000
SM_GC	0.35,8.80,0.00,0.00,0.084,0.000,0.000,247,2807,385,-7.81,0.17,702.77,0,0,0,0,0,0,14.52,14.92,14.64	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-201.64,5903.29,300518,125353	MEM	303000
TT8_MAMPS	0.018725,0.15729	DATA_FILE_SIZE	33422,738
HUMID	62.99	CAP_FILE_SIZE	77066,1
INTERNAL_PRESSURE	8.44372	CFSIZE	260034560,215334912
TCM_TEMP	22.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
XPDR_PINGS	0	CURRENT	0.081,36.26,1
_24V_AH	12.84,152.926	GPS	300518,164208,-158.149,5856.744,29,1.0,32,-4.6,0.9,68.3,9,9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	416	121.43	SBE_CT	379	23	116.78
Roll_motor	50	71	46.47	nil	0	0	0.00
VBD_pump_during_apogee	764	1341	13161.36	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	291	139	520.81	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	5.71
TT8	1464	9	177.22
LPSleep	3151	2	88.20
TT8_Active	731	9	88.56
TT8_Sampling	1356	28	488.55
TT8_CF8	170	34	74.41
TT8_Kalman	0	0	0.00
Analog_circuits	1712	16	350.11
GPS_charging	0	0	0.00
Compass	1059	17	233.20
RAFOS	0	0	0.00
Transponder	0	5	0.04

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
8	-0.72	-97.3	243	2794	447	350	0.0	0.0	0	115	0.00	0.00	-104.07	0.003	16390	0.000	0.000	243	2794	3648	3627	3670	0	0	0	0	0	0	14.92	12.84	14.89
118	-0.72	-97.3	243	2794	3628	3670	4.7	-13.2	17	133	11.62	1.45	0.00	0.000	2308	0.416	0.043	2516	3721	3650	3631	3670	0	0	0	0	0	0	14.15	14.64	14.54
155	-0.72	-97.3	2516	3721	3635	3666	17.9	-26.0	23	162	0.00	1.38	0.00	0.000	1030	0.000	0.034	2516	2798	3651	3638	3664	0	0	0	0	0	0	14.66	14.65	14.69
472	-0.72	-97.3	2516	2797	3638	3661	69.2	-11.0	71	476	0.00	1.45	0.00	0.000	260	0.000	0.065	2516	3694	3649	3638	3661	0	0	0	0	0	0	15.04	14.59	15.05
513	-0.72	-97.3	2515	3694	3634	3661	73.3	-9.9	79	517	0.00	1.33	0.00	0.000	1030	0.000	0.032	2516	2785	3648	3635	3661	0	0	0	0	0	0	14.75	14.73	14.76
825	-0.72	-97.3	2515	2783	3647	3661	108.7	-11.5	111	826	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2783	3654	3648	3661	0	0	0	0	0	0	15.08	15.10	15.09
1127	-0.72	-97.3	2515	2783	3651	3661	133.7	-8.5	141	1132	0.00	1.50	0.00	0.000	260	0.000	0.067	2516	3702	3656	3651	3661	0	0	0	0	0	0	15.09	14.64	15.11
1194	-0.72	-97.3	2516	3702	3651	3662	140.5	-9.7	154	1201	0.00	1.33	0.00	0.000	1030	0.000	0.034	2515	2795	3656	3652	3661	0	0	0	0	0	0	14.78	14.76	14.80
1499	-0.72	-97.3	2515	2796	3653	3661	168.9	-8.9	185	1504	0.00	2.25	0.00	0.000	516	0.000	0.035	2515	1414	3657	3653	3661	0	0	0	0	0	0	15.11	14.78	15.13
1553	-0.72	-97.3	2516	1413	3653	3661	173.6	-8.9	195	1562	0.00	2.38	0.00	0.000	1030	0.000	0.050	2516	2800	3657	3653	3661	0	0	0	0	0	0	14.81	14.71	14.85
1862	-0.72	-97.3	2515	2800	3653	3660	203.3	-10.4	227	1866	0.00	2.30	0.00	0.000	516	0.000	0.036	2516	1425	3656	3653	3660	0	0	0	0	0	0	15.11	14.77	15.13
1894	-0.72	-97.3	2515	1425	3653	3660	206.8	-10.8	233	1899	0.00	2.38	0.00	0.000	1030	0.000	0.053	2516	2800	3656	3653	3660	0	0	0	0	0	0	14.81	14.71	14.84
2206	-0.72	-97.3	2515	2799	3652	3658	239.4	-9.6	265	2211	0.00	2.28	0.00	0.000	516	0.000	0.036	2516	1423	3654	3652	3657	0	0	0	0	0	0	15.11	14.77	15.13
2261	-0.72	-97.3	2515	1422	3653	3658	244.9	-9.4	276	2269	0.00	2.40	0.00	0.000	1030	0.000	0.051	2515	2814	3655	3653	3657	0	0	0	0	0	0	14.80	14.70	14.83
2570	-0.72	-97.3	2515	2813	3652	3655	271.5	-8.3	291	2573	0.00	1.40	0.00	0.000	260	0.000	0.071	2516	3691	3653	3652	3655	0	0	0	0	0	0	15.11	14.62	15.14
2609	-0.72	-97.3	2515	3691	3652	3654	275.1	-8.7	299	2613	0.00	1.30	0.00	0.000	1030	0.000	0.035	2516	2795	3653	3652	3654	0	0	0	0	0	0	14.78	14.76	14.80
2869	end dive: HALF_MISSION_TIME_EXCEEDED
state	2869	begin apogee
2875	-0.15	0.0	2516	2796	3647	3650	297.8	-9.0	311	2970	0.73	0.00	86.72	1.294	10246	0.247	0.000	2706	2796	3250	3264	3237	0	0	0	0	1	0	14.29	14.38	13.54
2971	end apogee: CONTROL_FINISHED_OK
state	2971	begin climb
2973	0.72	97.3	2706	2796	3264	3237	303.1	0.0	314	3075	0.90	1.52	87.68	1.341	10500	0.162	0.067	2981	3694	2852	2879	2826	0	0	0	0	1	0	14.31	14.26	13.43
3152	0.80	170.2	2980	3694	2888	2827	303.2	4.1	352	3238	0.08	1.35	79.82	1.109	11302	0.126	0.035	3017	2802	2554	2593	2515	0	0	0	0	0	0	14.39	14.52	13.66
3561	0.80	170.2	3017	2802	2572	2500	273.1	8.0	383	3565	0.00	2.33	0.00	0.000	516	0.000	0.042	3017	1420	2535	2571	2499	0	0	0	0	0	0	14.97	14.68	15.00
3627	0.84	170.2	3017	1419	2575	2499	268.6	6.4	396	3631	0.00	2.40	0.00	0.000	1094	0.000	0.048	3017	2811	2537	2575	2499	0	0	0	0	0	0	14.75	14.66	14.78
3950	0.90	214.7	3017	2810	2558	2497	250.2	5.8	410	3993	0.00	1.42	37.38	1.137	8484	0.000	0.070	3017	3691	2365	2401	2329	0	0	0	0	0	0	15.06	14.59	13.82
4032	0.90	214.7	3017	3691	2397	2326	244.3	8.2	426	4036	0.00	1.35	0.00	0.000	1030	0.000	0.034	3017	2786	2362	2398	2326	0	0	0	0	0	0	14.65	14.62	14.70
4344	0.91	214.7	3017	2783	2395	2322	220.2	7.6	458	4346	0.12	0.00	0.00	0.000	2118	0.145	0.000	3064	2783	2358	2395	2322	0	0	0	0	0	0	14.69	14.81	14.78
4644	0.91	214.7	3063	2783	2400	2321	194.8	9.0	488	4648	0.00	1.50	0.00	0.000	260	0.000	0.067	3064	3693	2360	2400	2321	0	0	0	0	0	0	15.06	14.61	15.08
4679	0.91	214.7	3063	3692	2399	2321	191.1	9.8	495	4686	0.00	1.33	0.00	0.000	1030	0.000	0.035	3068	2811	2360	2399	2321	0	0	0	0	0	0	14.74	14.71	14.76
4987	0.91	214.7	3068	2811	2390	2319	161.5	8.7	526	4991	0.00	1.45	0.00	0.000	260	0.000	0.067	3068	3695	2354	2390	2319	0	0	0	0	0	0	15.08	14.60	15.10
5002	0.91	214.7	3068	3695	2389	2319	160.0	8.5	529	5010	0.00	1.35	0.00	0.000	1030	0.000	0.036	3070	2807	2354	2389	2319	0	0	0	0	0	0	14.74	14.71	14.76
5309	0.96	254.2	3068	2807	2386	2318	136.9	6.1	560	5352	0.00	2.40	36.33	1.039	8996	0.000	0.043	3069	1411	2204	2239	2170	0	0	0	0	0	0	15.09	14.61	13.85
5400	1.00	291.0	3069	1411	2235	2167	131.5	6.2	577	5441	0.00	2.42	35.12	1.017	9254	0.000	0.048	3070	2809	2062	2098	2027	0	0	0	0	0	0	14.71	14.62	13.83
5710	1.50	699.1	3069	2809	2084	2014	106.0	8.6	612	6125	0.47	2.53	401.30	0.886	11012	0.100	0.047	3241	1418	393	455	332	0	0	0	0	0	0	14.54	14.33	13.78
6183	1.50	699.1	3241	1418	446	329	28.1	16.9	701	6191	0.00	2.42	0.00	0.000	1030	0.000	0.044	3241	2806	387	445	329	0	0	0	0	0	0	14.54	14.46	14.57
6354	end climb: SURFACE_DEPTH_REACHED
state	6354	begin surface coast
6376	end surface coast: CONTROL_FINISHED_OK
state	6376	begin surface