Glider dive log

NASCAR Jan18 * SG128 * Dive index * Mission links * Dive 634 * 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 634 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 64 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 634 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 64 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 101118,093732,-45.0801,6310.3516,37,0.9,40,-4.5,0.8,89.4,7,8.8 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 0.53 MHEAD_RNG_PITCHd_Wd 32.0,1186317,-23.2,-8.333,-28.22,1424

_SM_ANGLEo -74.4 D_GRID 1000

GPS2 101118,094344,-45.0473,6310.5454,17,0.7,19,-4.5,0.6,71.4,10,8.7

Post-dive calculations and measurements:

FINISH 0.1,1.022414 FG_AHR_24Vo 0.000

SM_CCo 94555,54.30,0.081,0,0,1618,400.08 FG_AHR_10Vo 0.000

SM_GC 0.22,9.02,0.00,54.30,0.094,0.000,0.081,250,2188,1618,-7.80,-0.31,400.08,0,0,0,0,0,0,14.28,14.94,14.36 MEM 303092

IRIDIUM_FIX -36.90,6311.63,091118,064209 DATA_FILE_SIZE 73323,1686

TT8_MAMPS 0.018725,0.15729 CAP_FILE_SIZE 267414,0

HUMID 61.57 CFSIZE 260034560,197840896

INTERNAL_PRESSURE 8.48279 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 23.00 INTR 0,2472.26,0x234cb8,0,24

XPDR_PINGS 0 CURRENT 0.099,210.55,1

_24V_AH 12.62,195.415 GPS 111118,120237,-49.333,6307.963,42,0.9,44,-4.5,0.8,44.7,11,8.8

_10V_AH 8.23,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 413 144.68 SBE_CT 434 23 131.29

Roll_motor 66 69 58.29 nil 0 0 0.00

VBD_pump_during_apogee 333 1595 6711.78 nil 0 0 0.00

VBD_pump_during_surface 54 81 55.57 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 239 136 413.28 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 3.38

TT8 3691 9 287.74

LPSleep 87823 2 1582.91

TT8_Active 560 9 43.68

TT8_Sampling 2307 28 535.26

TT8_CF8 589 34 165.82

TT8_Kalman 0 0 0.00

Analog_circuits 2215 16 291.79

GPS_charging 0 0 0.00

Compass 1719 17 243.77

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 -77.9 230 2187 1632 1614 0.0 0.0 0 74 0.00 0.00 -61.88 0.003 16390 0.000 0.000 230 2187 3569 3546 3592 0 0 0 0 0 0 14.85 12.62 14.72

78 -0.78 -77.9 230 2187 3546 3592 4.4 -12.9 11 98 11.95 1.23 0.00 0.000 2564 0.414 0.051 2501 1512 3573 3554 3592 0 0 0 0 0 0 13.90 14.42 14.33

116 -0.03 -77.9 2500 1512 3560 3590 23.3 -44.5 17 125 0.95 1.25 0.00 0.000 3206 0.285 0.033 2742 2222 3576 3563 3589 0 0 0 0 0 0 13.89 14.41 14.26

311 -0.37 -77.9 2742 2221 3571 3583 42.4 -8.5 54 318 0.30 1.25 0.00 0.000 4740 0.096 0.031 2633 1500 3577 3571 3583 0 0 0 0 0 0 14.24 14.33 14.29

361 -0.54 -77.9 2632 1500 3571 3583 48.6 -12.5 63 368 0.12 1.25 0.00 0.000 5254 0.093 0.042 2578 2186 3576 3571 3582 0 0 0 0 0 0 14.19 14.31 14.27

559 -0.54 -77.9 2578 2185 3573 3582 76.5 -14.9 83 565 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2186 3578 3574 3583 0 0 0 0 0 0 14.95 14.97 14.97

747 -0.58 -77.9 2578 2185 3577 3582 99.1 -11.3 102 751 0.00 1.23 0.00 0.000 644 0.000 0.037 2578 1505 3580 3577 3583 0 0 0 0 0 0 14.99 14.34 15.01

790 -0.69 -77.9 2578 1505 3577 3583 104.4 -12.3 110 795 0.10 1.25 0.00 0.000 5254 0.098 0.044 2536 2192 3580 3578 3583 0 0 0 0 0 0 14.19 14.33 14.26

984 -0.69 -77.9 2536 2191 3581 3582 128.7 -10.8 130 988 0.00 1.17 0.00 0.000 260 0.000 0.057 2536 2902 3581 3581 3582 0 0 0 0 0 0 15.00 14.25 15.02

1061 -0.72 -77.9 2535 2902 3583 3582 136.6 -9.3 145 1068 0.00 1.10 0.00 0.000 1158 0.000 0.032 2536 2198 3582 3583 3582 0 0 0 0 0 0 14.45 14.42 14.46

1247 -0.72 -77.9 2535 2194 3585 3582 154.6 -9.0 164 1252 0.00 1.20 0.00 0.000 516 0.000 0.037 2536 1508 3584 3585 3583 0 0 0 0 0 0 15.02 14.35 15.03

1394 -0.80 -77.9 2535 1508 3586 3582 169.0 -8.2 193 1402 0.00 1.27 0.00 0.000 1158 0.000 0.046 2535 2197 3584 3586 3583 0 0 0 0 0 0 14.35 14.31 14.39

1582 -0.80 -77.9 2535 2197 3587 3582 186.4 -10.0 212 1586 0.00 1.25 0.00 0.000 516 0.000 0.036 2536 1497 3584 3586 3582 0 0 0 0 0 0 15.02 14.35 15.04

1686 -0.84 -77.9 2535 1498 3587 3583 197.3 -10.5 232 1690 0.10 1.30 0.00 0.000 5254 0.094 0.047 2491 2205 3584 3587 3582 0 0 0 0 0 0 14.18 14.31 14.26

1881 -0.77 -77.9 2491 2205 3587 3583 223.6 -14.2 252 1885 0.00 1.25 0.00 0.000 644 0.000 0.038 2491 1509 3584 3587 3582 0 0 0 0 0 0 15.00 14.32 15.02

1946 -0.77 -77.9 2491 1510 3587 3583 234.1 -14.5 265 1953 0.00 1.30 0.00 0.000 1030 0.000 0.047 2491 2204 3584 3587 3582 0 0 0 0 0 0 14.33 14.28 14.36

2135 -0.72 -77.9 2490 2204 3587 3582 259.3 -13.3 280 2139 0.12 1.25 0.00 0.000 2692 0.303 0.034 2520 1521 3585 3587 3583 0 0 0 0 0 0 14.00 14.23 14.14

2252 -0.77 -77.9 2519 1521 3587 3582 272.1 -9.9 303 2259 0.00 1.27 0.00 0.000 1158 0.000 0.049 2520 2198 3584 3587 3582 0 0 0 0 0 0 14.31 14.26 14.35

2438 -0.77 -77.9 2519 2198 3587 3581 288.2 -8.5 310 2442 0.00 1.25 0.00 0.000 516 0.000 0.037 2520 1503 3584 3588 3581 0 0 0 0 0 0 15.04 14.33 15.06

2471 -0.84 -77.9 2519 1503 3587 3580 290.9 -8.4 316 2478 0.00 1.30 0.00 0.000 1158 0.000 0.049 2520 2205 3584 3588 3580 0 0 0 0 0 0 14.31 14.26 14.35

2686 -0.84 -77.9 2519 2204 3586 3579 308.6 -8.4 328 2690 0.00 1.25 0.00 0.000 516 0.000 0.039 2520 1511 3582 3586 3579 0 0 0 0 0 0 15.05 14.31 15.07

2696 -0.84 -77.9 2519 1511 3586 3578 309.6 -8.4 330 2700 0.00 1.30 0.00 0.000 1030 0.000 0.050 2520 2201 3582 3586 3578 0 0 0 0 0 0 14.31 14.26 14.35

2899 -0.84 -77.9 2519 2201 3584 3577 327.6 -9.1 340 2903 0.00 1.25 0.00 0.000 516 0.000 0.039 2520 1511 3581 3585 3577 0 0 0 0 0 0 15.04 14.30 15.07

2932 -0.90 -77.9 2519 1511 3584 3577 330.8 -9.5 346 2937 0.12 1.30 0.00 0.000 5254 0.086 0.050 2470 2205 3580 3584 3577 0 0 0 0 0 0 14.14 14.24 14.21

3145 -0.83 -77.9 2470 2205 3581 3576 356.8 -12.6 358 3149 0.00 1.17 0.00 0.000 388 0.000 0.067 2467 2902 3578 3581 3576 0 0 0 0 0 0 15.04 14.14 15.07

3197 -0.77 -77.9 2467 2902 3581 3576 364.2 -13.8 368 3201 0.15 1.10 0.00 0.000 3206 0.251 0.035 2505 2189 3578 3580 3576 0 0 0 0 0 0 13.63 14.37 13.82

3389 -0.77 -77.9 2505 2185 3580 3574 387.9 -12.4 376 3393 0.00 1.23 0.00 0.000 260 0.000 0.064 2505 2890 3576 3579 3574 0 0 0 0 0 0 15.05 14.14 15.07

3423 -0.80 -77.9 2505 2890 3580 3574 391.7 -11.5 382 3427 0.00 1.08 0.00 0.000 1158 0.000 0.038 2505 2206 3576 3579 3574 0 0 0 0 0 0 14.38 14.36 14.41

3636 -0.80 -77.9 2505 2201 3579 3572 416.9 -11.6 394 3640 0.00 1.20 0.00 0.000 260 0.000 0.065 2505 2892 3575 3578 3572 0 0 0 0 0 0 15.05 14.12 15.07

3657 -0.80 -77.9 2504 2892 3578 3572 419.5 -11.6 398 3661 0.00 1.10 0.00 0.000 1030 0.000 0.038 2505 2198 3575 3579 3571 0 0 0 0 0 0 14.38 14.35 14.40

3850 -0.80 -77.9 2505 2193 3577 3571 440.7 -11.0 406 3853 0.00 1.23 0.00 0.000 260 0.000 0.067 2505 2896 3574 3578 3570 0 0 0 0 0 0 15.06 14.09 15.07

3891 -0.84 -77.9 2504 2897 3577 3570 445.1 -10.2 414 3895 0.00 1.10 0.00 0.000 1158 0.000 0.038 2505 2204 3573 3577 3570 0 0 0 0 0 0 14.36 14.33 14.39

4093 -0.84 -77.9 2505 2199 3576 3568 467.1 -11.2 424 4097 0.00 1.20 0.00 0.000 260 0.000 0.067 2505 2893 3572 3576 3568 0 0 0 0 0 0 15.05 14.09 15.07

4211 -0.88 -77.9 2504 2893 3575 3568 479.9 -10.5 447 4218 0.00 1.12 0.00 0.000 1158 0.000 0.038 2505 2185 3571 3575 3568 0 0 0 0 0 0 14.30 14.26 14.33

4393 end dive: TARGET_DEPTH_EXCEEDED

state 4394 begin apogee

4399 -0.15 0.0 2505 2185 3574 3567 501.0 -11.6 454 4474 0.77 0.00 71.38 1.517 10246 0.231 0.000 2705 2184 3249 3260 3238 0 0 0 0 0 0 13.69 14.19 13.16

4475 end apogee: CONTROL_FINISHED_OK

state 4475 begin loiter

4693 -0.15 0.0 2704 2184 3252 3231 512.5 -3.6 458 4694 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2184 3241 3252 3230 0 0 0 0 0 0 14.90 14.92 14.92

5296 -0.58 13.6 2704 2184 3249 3228 533.9 -3.5 463 5312 0.40 0.00 13.10 1.501 12454 0.080 0.000 2560 2184 3193 3203 3183 0 0 0 0 0 0 14.44 14.45 13.42

5894 -0.79 13.6 2560 2184 3191 3174 543.2 -1.4 468 5896 0.17 0.00 0.00 0.000 4230 0.128 0.000 2501 2184 3182 3191 3174 0 0 0 0 0 0 14.49 14.62 14.59

6496 -0.68 26.5 2500 2184 3188 3172 561.9 -3.3 473 6510 0.15 0.00 11.88 1.558 10406 0.272 0.000 2531 2184 3140 3150 3130 0 0 0 0 0 0 14.02 14.47 13.40

7096 -0.64 26.5 2531 2184 3139 3120 567.3 -0.5 478 7097 0.00 0.00 0.00 0.000 134 0.000 0.000 2531 2184 3130 3140 3120 0 0 0 0 0 0 15.03 15.05 15.06

7694 -0.64 26.5 2531 2184 3138 3118 558.3 1.6 483 7695 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2184 3128 3138 3118 0 0 0 0 0 0 15.07 15.09 15.09

8295 -0.61 26.5 2531 2184 3135 3117 553.6 0.6 488 8297 0.12 0.00 0.00 0.000 2182 0.305 0.000 2557 2184 3126 3135 3117 0 0 0 0 0 0 14.09 14.38 14.31

8896 -0.61 26.5 2556 2184 3134 3115 555.2 -0.2 493 8897 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2184 3124 3134 3115 0 0 0 0 0 0 15.05 15.07 15.07

9494 -0.64 26.5 2556 2184 3133 3114 554.3 0.2 498 9495 0.00 0.00 0.00 0.000 134 0.000 0.000 2556 2184 3123 3133 3114 0 0 0 0 0 0 15.07 15.09 15.09

10095 -0.67 26.5 2556 2184 3132 3113 552.2 0.3 503 10097 0.00 0.00 0.00 0.000 134 0.000 0.000 2556 2184 3122 3131 3113 0 0 0 0 0 0 15.06 15.08 15.07

10695 -0.71 26.5 2556 2184 3130 3113 552.4 0.0 508 10696 0.00 0.00 0.00 0.000 134 0.000 0.000 2556 2184 3122 3131 3113 0 0 0 0 0 0 15.06 15.08 15.07

11295 -0.74 26.5 2556 2184 3130 3113 547.8 0.7 513 11297 0.12 0.00 0.00 0.000 4230 0.147 0.000 2514 2184 3121 3130 3113 0 0 0 0 0 0 14.52 14.58 14.56

11895 -0.66 26.5 2514 2184 3129 3113 556.8 -1.7 518 11897 0.15 0.00 0.00 0.000 2182 0.268 0.000 2544 2184 3121 3129 3113 0 0 0 0 0 0 13.90 14.21 14.13

12495 -0.65 35.0 2544 2184 3129 3113 570.0 -2.2 523 12500 0.00 0.00 3.22 1.021 8230 0.000 0.000 2544 2184 3107 3116 3099 0 0 0 0 0 0 15.05 14.34 12.93

13095 -0.65 35.0 2544 2184 3125 3099 565.9 1.0 528 13096 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2184 3112 3126 3099 0 0 0 0 0 0 15.05 15.07 15.07

13695 -0.65 35.0 2544 2184 3126 3099 561.8 0.6 533 13696 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2184 3112 3125 3099 0 0 0 0 0 0 15.05 15.07 15.07

14295 -0.65 35.0 2544 2184 3126 3099 555.8 1.0 538 14296 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2184 3112 3126 3099 0 0 0 0 0 0 15.05 15.07 15.07

14894 -0.65 35.0 2544 2184 3125 3099 555.2 -0.1 543 14895 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2184 3112 3125 3099 0 0 0 0 0 0 15.07 15.09 15.08

15496 -0.65 35.0 2544 2184 3125 3099 556.9 -0.1 548 15497 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2184 3112 3125 3099 0 0 0 0 0 0 15.04 15.06 15.06

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80295 -0.66 44.5 2556 2184 3071 3052 330.0 1.8 1088 80296 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2184 3061 3071 3051 0 0 0 0 0 0 15.04 15.07 15.07

80895 -0.66 44.5 2556 2184 3071 3051 334.4 -1.0 1093 80896 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2184 3061 3071 3051 0 0 0 0 0 0 15.04 15.07 15.07

81495 -0.66 44.5 2556 2184 3071 3051 338.4 -0.5 1098 81496 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2184 3061 3071 3051 0 0 0 0 0 0 15.05 15.07 15.07

82095 -0.66 44.5 2556 2184 3071 3051 343.6 -0.9 1103 82096 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2184 3061 3071 3051 0 0 0 0 0 0 15.04 15.07 15.07

82695 -0.66 44.5 2556 2184 3071 3051 335.9 1.4 1108 82696 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2183 3061 3071 3051 0 0 0 0 0 0 15.04 15.07 15.07

83294 -0.66 44.5 2556 2184 3071 3051 337.4 -0.5 1113 83295 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2184 3061 3071 3051 0 0 0 0 0 0 15.06 15.08 15.08

83896 -0.66 44.5 2556 2183 3071 3051 341.7 -0.6 1118 83897 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2184 3061 3071 3051 0 0 0 0 0 0 15.04 15.06 15.06

84495 -0.66 44.5 2555 2184 3071 3051 349.7 -1.3 1123 84496 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2184 3061 3071 3051 0 0 0 0 0 0 15.04 15.07 15.07

85094 -0.66 44.5 2556 2184 3071 3051 342.8 1.5 1128 85095 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2184 3061 3071 3051 0 0 0 0 0 0 15.07 15.08 15.08

85695 -0.66 44.5 2556 2184 3071 3051 335.7 1.1 1133 85696 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2184 3061 3071 3051 0 0 0 0 0 0 15.05 15.07 15.07

86296 -0.66 44.5 2555 2184 3072 3051 343.0 -1.3 1138 86297 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2184 3061 3071 3051 0 0 0 0 0 0 15.04 15.06 15.05

86894 -0.66 44.5 2556 2184 3071 3051 345.8 -0.3 1143 86895 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2184 3061 3071 3051 0 0 0 0 0 0 15.06 15.08 15.08

87495 -0.66 44.5 2556 2184 3071 3051 337.7 1.6 1148 87496 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2184 3061 3072 3051 0 0 0 0 0 0 15.04 15.07 15.07

88095 -0.66 44.5 2555 2184 3071 3051 335.7 -0.0 1153 88096 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2184 3061 3071 3051 0 0 0 0 0 0 15.05 15.07 15.07

88695 -0.66 44.5 2556 2184 3071 3051 335.9 0.0 1158 88696 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2184 3061 3072 3051 0 0 0 0 0 0 15.05 15.07 15.07

89295 -0.66 44.5 2556 2184 3071 3051 335.5 -0.0 1163 89296 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2183 3061 3071 3051 0 0 0 0 0 0 15.04 15.07 15.07

89895 -0.66 44.5 2556 2184 3071 3051 335.1 0.1 1168 89896 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2184 3061 3072 3051 0 0 0 0 0 0 15.05 15.07 15.07

90494 -0.66 44.5 2556 2184 3071 3051 339.4 -0.7 1173 90495 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2184 3061 3071 3051 0 0 0 0 0 0 15.06 15.08 15.08

90851 end loiter: LOITER_COMPLETE

state 90851 begin climb

90855 0.78 77.9 2556 2184 3071 3051 338.9 0.0 1176 90898 1.85 1.25 35.80 1.309 10500 0.238 0.064 2996 2900 2926 2938 2914 0 0 0 0 0 0 12.78 14.00 13.04

91040 0.99 140.5 2994 2900 2933 2909 333.0 3.8 1213 91109 0.20 1.12 62.88 1.265 11430 0.085 0.039 3079 2199 2674 2694 2654 0 0 0 0 0 0 14.21 14.34 13.12

91307 0.99 140.5 3079 2199 2689 2651 309.7 9.7 1236 91311 0.00 1.25 0.00 0.000 516 0.000 0.044 3084 1517 2669 2689 2650 0 0 0 0 0 0 14.83 14.23 14.85

91388 1.03 140.5 3084 1517 2689 2650 302.5 8.2 1252 91391 0.00 1.30 0.00 0.000 1158 0.000 0.053 3084 2197 2669 2689 2650 0 0 0 0 0 0 14.27 14.21 14.31

91580 1.03 140.5 3084 2197 2688 2650 285.3 9.3 1260 91584 0.00 1.20 0.00 0.000 260 0.000 0.070 3084 2893 2669 2688 2650 0 0 0 0 0 0 14.92 14.13 14.93

91691 1.03 140.5 3084 2892 2688 2649 273.1 11.2 1282 91695 0.00 1.12 0.00 0.000 1030 0.000 0.042 3087 2201 2668 2688 2649 0 0 0 0 0 0 14.31 14.26 14.33

91885 1.03 140.5 3087 2197 2688 2649 250.8 12.0 1290 91889 0.00 1.25 0.00 0.000 260 0.000 0.068 3087 2901 2668 2688 2649 0 0 0 0 0 0 14.96 14.09 14.98

91957 0.98 140.5 3086 2901 2688 2648 242.2 11.4 1304 91961 0.00 1.15 0.00 0.000 1158 0.000 0.041 3091 2195 2668 2688 2648 0 0 0 0 0 0 14.29 14.25 14.33

92150 0.98 140.5 3090 2192 2687 2648 220.5 11.1 1324 92154 0.00 1.25 0.00 0.000 260 0.000 0.065 3090 2898 2667 2687 2648 0 0 0 0 0 0 14.97 14.09 15.00

92226 0.94 140.5 3091 2898 2687 2648 212.5 9.1 1339 92234 0.10 1.15 0.00 0.000 5254 0.256 0.041 3069 2200 2667 2687 2648 0 0 0 0 0 0 13.70 14.23 13.88

92417 1.00 140.5 3068 2199 2686 2648 198.9 6.5 1358 92421 0.00 1.25 0.00 0.000 644 0.000 0.047 3071 1506 2667 2687 2648 0 0 0 0 0 0 14.96 14.16 14.98

92513 1.11 174.5 3070 1506 2686 2647 192.8 5.9 1377 92554 0.10 1.33 35.35 1.135 11430 0.104 0.050 3112 2204 2538 2562 2514 0 0 0 0 0 0 14.03 14.17 13.50

92734 1.11 174.5 3112 2204 2551 2508 171.1 12.2 1403 92738 0.00 1.30 0.00 0.000 516 0.000 0.050 3115 1506 2529 2551 2507 0 0 0 0 0 0 14.89 14.27 14.91

92816 1.17 174.5 3114 1506 2551 2506 160.9 11.0 1419 92820 0.00 1.30 0.00 0.000 1158 0.000 0.051 3114 2198 2528 2551 2506 0 0 0 0 0 0 14.32 14.27 14.36

93009 1.17 174.5 3114 2198 2550 2506 141.3 9.9 1439 93012 0.00 1.30 0.00 0.000 516 0.000 0.044 3118 1509 2527 2549 2506 0 0 0 0 0 0 14.94 14.25 14.95

93142 1.23 174.5 3118 1509 2549 2505 128.3 9.9 1465 93148 0.08 1.30 0.00 0.000 3206 0.119 0.051 3153 2199 2527 2550 2505 0 0 0 0 0 0 14.07 14.23 14.16

93340 1.17 174.5 3152 2198 2549 2505 107.6 10.5 1485 93345 0.00 1.30 0.00 0.000 644 0.000 0.041 3156 1493 2526 2549 2504 0 0 0 0 0 0 14.95 14.26 14.97

93447 1.17 174.5 3156 1493 2549 2505 97.7 9.1 1506 93453 0.00 1.33 0.00 0.000 1030 0.000 0.050 3156 2194 2526 2549 2504 0 0 0 0 0 0 14.27 14.23 14.31

93635 1.18 210.1 3156 2193 2549 2504 81.6 5.8 1525 93673 0.00 1.30 33.45 1.012 8868 0.000 0.041 3159 1498 2388 2417 2359 0 0 0 0 0 0 14.97 14.44 13.59

93831 1.30 268.1 3158 1498 2416 2358 70.5 4.1 1564 93889 0.00 1.33 52.05 0.975 9382 0.000 0.047 3158 2210 2150 2182 2119 0 0 0 0 0 0 14.37 14.32 13.53

94072 1.37 268.1 3158 2210 2177 2116 47.0 10.9 1597 94080 0.12 1.15 0.00 0.000 2436 0.153 0.057 3205 2895 2146 2176 2116 0 0 0 0 0 0 14.34 14.24 14.35

94129 1.34 268.1 3204 2894 2176 2116 40.3 11.8 1607 94136 0.00 1.12 0.00 0.000 1158 0.000 0.038 3206 2193 2146 2176 2116 0 0 0 0 0 0 14.37 14.33 14.40

94320 1.34 268.1 3206 2194 2176 2116 22.2 8.8 1644 94326 0.00 0.00 0.00 0.000 6 0.000 0.000 3206 2194 2146 2176 2116 0 0 0 0 0 0 14.90 14.92 14.92

94509 end climb: SURFACE_DEPTH_REACHED

state 94509 begin surface coast

94536 end surface coast: CONTROL_FINISHED_OK

state 94536 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	634	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	64	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	101118,093732,-45.0801,6310.3516,37,0.9,40,-4.5,0.8,89.4,7,8.8	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	0.53	MHEAD_RNG_PITCHd_Wd	32.0,1186317,-23.2,-8.333,-28.22,1424
_SM_ANGLEo	-74.4	D_GRID	1000
GPS2	101118,094344,-45.0473,6310.5454,17,0.7,19,-4.5,0.6,71.4,10,8.7

FINISH	0.1,1.022414	FG_AHR_24Vo	0.000
SM_CCo	94555,54.30,0.081,0,0,1618,400.08	FG_AHR_10Vo	0.000
SM_GC	0.22,9.02,0.00,54.30,0.094,0.000,0.081,250,2188,1618,-7.80,-0.31,400.08,0,0,0,0,0,0,14.28,14.94,14.36	MEM	303092
IRIDIUM_FIX	-36.90,6311.63,091118,064209	DATA_FILE_SIZE	73323,1686
TT8_MAMPS	0.018725,0.15729	CAP_FILE_SIZE	267414,0
HUMID	61.57	CFSIZE	260034560,197840896
INTERNAL_PRESSURE	8.48279	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	23.00	INTR	0,2472.26,0x234cb8,0,24
XPDR_PINGS	0	CURRENT	0.099,210.55,1
_24V_AH	12.62,195.415	GPS	111118,120237,-49.333,6307.963,42,0.9,44,-4.5,0.8,44.7,11,8.8
_10V_AH	8.23,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	413	144.68	SBE_CT	434	23	131.29
Roll_motor	66	69	58.29	nil	0	0	0.00
VBD_pump_during_apogee	333	1595	6711.78	nil	0	0	0.00
VBD_pump_during_surface	54	81	55.57	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	239	136	413.28	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	3.38
TT8	3691	9	287.74
LPSleep	87823	2	1582.91
TT8_Active	560	9	43.68
TT8_Sampling	2307	28	535.26
TT8_CF8	589	34	165.82
TT8_Kalman	0	0	0.00
Analog_circuits	2215	16	291.79
GPS_charging	0	0	0.00
Compass	1719	17	243.77
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