Glider dive log

NASCAR Jan18 * SG128 * Dive index * Mission links * Dive 691 * 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 691 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 400 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

D_ABORT 1000 TGT_DEFAULT_LAT 3235 R_PORT_OVSHOOT 69 ALTIM_PING_DELTA 50

D_NO_BLEED 200 TGT_DEFAULT_LON -11731 R_STBD_OVSHOOT 53 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 3050 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 160 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 400 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 160

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 3050 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 691 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 69 W_ADJ_DBAND 2

D_FINISH 0 MINV_24V 7 R_STBD_OVSHOOT 53 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 120119,110430,150.3311,6455.3066,41,0.8,42,-3.8,0.9,313.9,10,10.0 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 0.54 MHEAD_RNG_PITCHd_Wd 119.4,890238,-23.2,-8.333,-28.22,1424

_SM_ANGLEo -71.4 D_GRID 1000

GPS2 120119,111037,150.3948,6455.1782,16,0.8,17,-3.8,0.0,314.7,10,9.9

Post-dive calculations and measurements:

FINISH -0.0,1.022514 _10V_AH 8.26,0.000

SM_CCo 93866,72.78,0.079,0,0,1418,400.08 FG_AHR_24Vo 0.000

SM_GC 0.47,8.98,0.00,72.78,0.093,0.000,0.079,250,2196,1418,-7.80,-0.11,400.08,0,0,0,0,0,0,14.27,14.92,14.35 FG_AHR_10Vo 0.000

IRIDIUM_FIX 139.88,6453.90,110119,085605 MEM 303004

TT8_MAMPS 0.018725,0.15729 DATA_FILE_SIZE 73340,1661

HUMID 62.08 CAP_FILE_SIZE 256863,0

INTERNAL_PRESSURE 8.51208 CFSIZE 260034560,192278528

TCM_TEMP 23.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.201,14.71,1

_24V_AH 12.61,208.365 GPS 130119,131807,200.225,6457.841,30,0.9,32,-3.7,0.7,277.3,9,9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 411 131.82 SBE_CT 455 23 137.63

Roll_motor 62 67 53.04 nil 0 0 0.00

VBD_pump_during_apogee 262 1393 4619.90 nil 0 0 0.00

VBD_pump_during_surface 72 78 72.31 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 235 136 404.55 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 20 3.11

TT8 3699 9 289.39

LPSleep 87207 2 1577.54

TT8_Active 518 9 40.53

TT8_Sampling 2255 28 525.29

TT8_CF8 618 34 174.65

TT8_Kalman 0 0 0.00

Analog_circuits 2132 16 281.80

GPS_charging 0 0 0.00

Compass 1683 17 239.56

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

9 -0.78 -77.9 224 2218 1435 1417 0.0 0.0 0 76 0.00 0.00 -62.53 0.003 16390 0.000 0.000 224 2219 3369 3352 3386 0 0 0 0 0 0 14.86 12.61 14.73

79 -0.78 -77.9 224 2219 3352 3386 3.5 -9.6 11 100 11.90 1.27 0.00 0.000 2564 0.412 0.057 2500 1525 3373 3360 3386 0 0 0 0 0 0 13.93 14.41 14.35

133 -0.56 -77.9 2500 1525 3367 3381 22.1 -21.2 20 141 0.28 1.23 0.00 0.000 3206 0.269 0.047 2576 2194 3373 3367 3380 0 0 0 0 0 0 13.83 14.33 14.20

327 -0.50 -77.9 2576 2194 3372 3378 50.1 -10.2 57 332 0.00 1.15 0.00 0.000 388 0.000 0.059 2576 2892 3375 3372 3379 0 0 0 0 0 0 14.91 14.25 14.92

442 -0.56 -77.9 2576 2892 3375 3378 61.1 -10.5 79 446 0.00 1.08 0.00 0.000 1158 0.000 0.034 2576 2192 3376 3374 3378 0 0 0 0 0 0 14.40 14.38 14.42

635 -0.56 -77.9 2576 2188 3377 3378 77.3 -6.8 99 639 0.00 1.20 0.00 0.000 260 0.000 0.060 2576 2897 3377 3377 3378 0 0 0 0 0 0 14.98 14.19 15.00

697 -0.59 -77.9 2576 2897 3379 3378 81.7 -7.1 111 701 0.00 1.08 0.00 0.000 1158 0.000 0.034 2576 2190 3379 3379 3379 0 0 0 0 0 0 14.40 14.38 14.43

890 -0.62 -77.9 2575 2185 3383 3378 98.7 -8.8 131 894 0.00 1.20 0.00 0.000 388 0.000 0.060 2576 2895 3380 3383 3378 0 0 0 0 0 0 15.01 14.18 15.02

953 -0.70 -77.9 2576 2894 3384 3378 104.7 -9.7 143 958 0.10 1.05 0.00 0.000 5254 0.086 0.034 2529 2197 3381 3384 3378 0 0 0 0 0 0 14.19 14.38 14.25

1148 -0.63 -77.9 2529 2192 3386 3378 128.5 -12.1 163 1152 0.00 1.17 0.00 0.000 388 0.000 0.059 2528 2890 3382 3386 3378 0 0 0 0 0 0 15.01 14.19 15.03

1175 -0.58 -77.9 2528 2889 3386 3378 131.9 -11.3 168 1182 0.12 1.05 0.00 0.000 3206 0.243 0.034 2560 2194 3382 3386 3378 0 0 0 0 0 0 13.72 14.37 13.90

1360 -0.58 -77.9 2560 2194 3386 3378 150.9 -9.5 187 1364 0.00 1.15 0.00 0.000 516 0.000 0.036 2560 1531 3383 3387 3379 0 0 0 0 0 0 15.03 14.31 15.04

1488 -0.64 -77.9 2560 1531 3387 3378 164.0 -10.2 212 1495 0.00 1.23 0.00 0.000 1158 0.000 0.047 2560 2194 3382 3387 3378 0 0 0 0 0 0 14.28 14.23 14.32

1675 -0.68 -77.9 2560 2194 3387 3378 177.5 -5.8 231 1679 0.00 1.17 0.00 0.000 676 0.000 0.037 2560 1528 3382 3387 3378 0 0 0 0 0 0 15.01 14.28 15.02

1739 -0.72 -77.9 2560 1529 3387 3378 180.7 -5.1 243 1743 0.00 1.25 0.00 0.000 1190 0.000 0.047 2560 2207 3382 3387 3378 0 0 0 0 0 0 14.28 14.23 14.31

1931 -0.76 -77.9 2560 2207 3387 3378 192.1 -6.9 263 1936 0.12 1.15 0.00 0.000 4484 0.139 0.057 2509 2897 3382 3387 3378 0 0 0 0 0 0 14.52 14.14 14.52

2066 -0.72 -77.9 2509 2897 3387 3378 205.4 -10.4 289 2072 0.00 1.05 0.00 0.000 1158 0.000 0.037 2509 2211 3382 3387 3378 0 0 0 0 0 0 14.36 14.34 14.38

2260 -0.63 -77.9 2509 2211 3387 3378 223.9 -8.3 309 2265 0.15 1.20 0.00 0.000 2436 0.277 0.057 2541 2905 3382 3387 3378 0 0 0 0 0 0 13.83 14.09 13.96

2335 -0.63 -77.9 2541 2905 3387 3378 227.9 -5.2 323 2339 0.00 1.10 0.00 0.000 1062 0.000 0.036 2541 2193 3382 3387 3378 0 0 0 0 0 0 14.35 14.33 14.37

2527 -0.63 -77.9 2540 2189 3386 3377 237.4 -5.1 343 2531 0.00 1.23 0.00 0.000 292 0.000 0.062 2540 2902 3382 3386 3378 0 0 0 0 0 0 15.02 14.09 15.04

2613 -0.63 -77.9 2540 2901 3386 3378 242.6 -6.1 360 2620 0.00 1.10 0.00 0.000 1062 0.000 0.037 2539 2198 3382 3386 3378 0 0 0 0 0 0 14.32 14.29 14.33

2819 -0.63 -77.9 2539 2198 3385 3376 257.1 -7.4 375 2823 0.00 1.20 0.00 0.000 260 0.000 0.063 2537 2894 3380 3385 3376 0 0 0 0 0 0 15.04 14.08 15.06

2920 -0.63 -77.9 2536 2894 3384 3375 265.6 -8.1 395 2924 0.00 1.08 0.00 0.000 1030 0.000 0.037 2537 2205 3380 3384 3376 0 0 0 0 0 0 14.33 14.30 14.34

3122 -0.63 -77.9 2536 2199 3383 3374 282.4 -8.4 405 3127 0.00 1.20 0.00 0.000 260 0.000 0.063 2535 2893 3378 3383 3374 0 0 0 0 0 0 15.04 14.06 15.07

3193 -0.63 -77.9 2535 2893 3382 3374 288.5 -8.2 419 3197 0.00 1.10 0.00 0.000 1030 0.000 0.037 2536 2189 3378 3382 3374 0 0 0 0 0 0 14.31 14.28 14.33

3396 -0.63 -77.9 2535 2184 3381 3373 305.1 -8.3 429 3401 0.00 1.17 0.00 0.000 516 0.000 0.041 2535 1525 3376 3381 3372 0 0 0 0 0 0 15.04 14.18 15.06

3529 -0.63 -77.9 2535 1525 3381 3372 315.8 -7.5 455 3533 0.00 1.27 0.00 0.000 1030 0.000 0.051 2535 2203 3375 3380 3371 0 0 0 0 0 0 14.16 14.12 14.21

3731 -0.63 -77.9 2535 2203 3379 3370 331.7 -8.1 465 3736 0.00 1.25 0.00 0.000 516 0.000 0.041 2535 1514 3374 3379 3370 0 0 0 0 0 0 15.04 14.17 15.06

3814 -0.63 -77.9 2535 1514 3378 3370 338.7 -8.1 481 3819 0.00 1.30 0.00 0.000 1030 0.000 0.050 2535 2207 3374 3378 3370 0 0 0 0 0 0 14.15 14.10 14.20

4007 -0.63 -77.9 2535 2206 3376 3368 353.7 -7.9 489 4012 0.00 1.25 0.00 0.000 516 0.000 0.040 2535 1522 3372 3376 3368 0 0 0 0 0 0 15.04 14.16 15.07

4101 -0.63 -77.9 2535 1523 3375 3367 361.4 -8.1 507 4105 0.00 1.30 0.00 0.000 1030 0.000 0.051 2535 2210 3370 3374 3367 0 0 0 0 0 0 14.13 14.08 14.17

4313 -0.63 -77.9 2535 2209 3374 3365 378.7 -8.1 519 4317 0.00 1.25 0.00 0.000 516 0.000 0.041 2535 1528 3370 3374 3366 0 0 0 0 0 0 15.04 14.13 15.06

4413 -0.66 -77.9 2535 1528 3375 3365 386.5 -7.5 539 4417 0.00 1.27 0.00 0.000 1158 0.000 0.051 2535 2203 3369 3374 3365 0 0 0 0 0 0 14.11 14.07 14.16

4616 -0.66 -77.9 2535 2203 3372 3364 399.9 -6.4 549 4621 0.00 1.25 0.00 0.000 516 0.000 0.041 2535 1522 3368 3372 3364 0 0 0 0 0 0 15.03 14.12 15.04

4625 end dive: TARGET_DEPTH_EXCEEDED

state 4626 begin apogee

4633 -0.15 0.0 2536 2204 3372 3364 400.7 -5.9 551 4706 0.68 0.00 70.32 1.394 10246 0.240 0.000 2704 2203 3048 3062 3035 0 0 0 0 0 0 13.69 14.20 13.19

4707 end apogee: CONTROL_FINISHED_OK

state 4707 begin loiter

4930 -0.15 0.0 2704 2203 3053 3026 395.5 3.5 555 4931 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2203 3039 3053 3026 0 0 0 0 0 0 14.89 14.91 14.90

5528 -0.53 0.0 2703 2203 3049 3023 388.8 0.7 560 5530 0.35 0.00 0.00 0.000 4230 0.083 0.000 2579 2203 3035 3048 3023 0 0 0 0 0 0 14.40 14.53 14.50

6129 -0.66 0.0 2579 2203 3045 3020 378.9 1.8 565 6131 0.12 0.00 0.00 0.000 4230 0.142 0.000 2536 2203 3032 3045 3020 0 0 0 0 0 0 14.55 14.61 14.59

6728 -0.66 0.0 2535 2203 3041 3018 364.6 2.4 570 6729 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2203 3029 3041 3018 0 0 0 0 0 0 15.07 15.08 15.08

7331 -0.62 0.0 2535 2203 3039 3017 352.6 2.1 575 7332 0.00 0.00 0.00 0.000 134 0.000 0.000 2536 2204 3028 3039 3017 0 0 0 0 0 0 15.04 15.05 15.05

7929 -0.58 0.0 2536 2203 3037 3016 334.2 3.0 580 7931 0.15 0.00 0.00 0.000 2182 0.277 0.000 2565 2203 3026 3037 3016 0 0 0 0 0 0 13.87 14.19 14.10

8528 -0.58 0.0 2565 2203 3037 3016 320.7 2.2 585 8529 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3026 3037 3016 0 0 0 0 0 0 15.06 15.08 15.08

9129 -0.58 0.0 2565 2203 3035 3015 307.2 2.1 590 9130 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3025 3035 3015 0 0 0 0 0 0 15.05 15.07 15.07

9730 -0.58 0.0 2564 2203 3034 3014 298.0 1.6 595 9731 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3024 3034 3014 0 0 0 0 0 0 15.04 15.06 15.05

10328 -0.58 0.0 2564 2203 3033 3013 286.8 1.9 600 10329 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3023 3034 3013 0 0 0 0 0 0 15.06 15.08 15.08

10929 -0.58 0.0 2564 2203 3033 3013 275.7 1.8 605 10930 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3023 3033 3013 0 0 0 0 0 0 15.04 15.07 15.07

11529 -0.58 0.0 2564 2203 3032 3014 267.8 1.1 610 11530 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3023 3033 3013 0 0 0 0 0 0 15.04 15.07 15.07

12129 -0.58 0.0 2565 2204 3032 3013 261.3 1.2 615 12130 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3022 3032 3013 0 0 0 0 0 0 15.04 15.07 15.07

12729 -0.58 0.0 2565 2203 3032 3013 250.6 2.1 620 12730 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3022 3032 3013 0 0 0 0 0 0 15.04 15.07 15.06

13329 -0.58 0.0 2564 2203 3032 3013 246.5 0.1 625 13330 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3022 3032 3013 0 0 0 0 0 0 15.04 15.07 15.06

13928 -0.58 0.0 2565 2203 3032 3013 238.6 1.8 630 13929 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3022 3032 3013 0 0 0 0 0 0 15.06 15.08 15.07

14530 -0.58 0.0 2564 2203 3032 3013 236.1 0.4 635 14531 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3022 3032 3013 0 0 0 0 0 0 15.03 15.05 15.05

15129 -0.58 0.0 2565 2203 3032 3012 235.8 -0.1 640 15130 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3022 3032 3013 0 0 0 0 0 0 15.04 15.06 15.06

15728 -0.58 0.0 2565 2203 3032 3013 232.3 0.9 645 15729 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3022 3032 3013 0 0 0 0 0 0 15.05 15.07 15.07

16329 -0.58 0.0 2565 2203 3032 3013 222.1 2.2 650 16330 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3022 3032 3012 0 0 0 0 0 0 15.04 15.06 15.06

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81129 -0.58 0.0 2565 2203 3036 3013 218.5 -0.1 1190 81130 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3024 3036 3012 0 0 0 0 0 0 15.04 15.07 15.07

81730 -0.58 0.0 2564 2203 3036 3013 217.4 -0.1 1195 81731 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3024 3036 3012 0 0 0 0 0 0 15.04 15.05 15.05

82328 -0.58 0.0 2565 2203 3036 3013 218.8 0.2 1200 82329 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3024 3036 3013 0 0 0 0 0 0 15.06 15.08 15.07

82929 -0.58 0.0 2565 2203 3036 3013 218.6 0.2 1205 82930 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3024 3036 3013 0 0 0 0 0 0 15.04 15.07 15.07

83529 -0.58 0.0 2564 2203 3036 3013 221.2 -0.4 1210 83530 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3024 3036 3013 0 0 0 0 0 0 15.04 15.07 15.07

84129 -0.58 0.0 2564 2203 3036 3013 217.7 0.3 1215 84130 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3024 3036 3013 0 0 0 0 0 0 15.05 15.07 15.07

84729 -0.58 0.0 2564 2203 3036 3013 219.0 -0.2 1220 84730 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3024 3036 3013 0 0 0 0 0 0 15.04 15.06 15.06

85329 -0.58 0.0 2565 2203 3036 3013 220.2 -0.4 1225 85330 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2203 3024 3036 3013 0 0 0 0 0 0 15.04 15.07 15.07

85927 -0.58 0.0 2564 2203 3036 3013 216.3 0.8 1230 85929 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3024 3036 3013 0 0 0 0 0 0 15.06 15.08 15.07

86530 -0.58 0.0 2564 2203 3036 3013 224.4 -1.5 1235 86531 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3024 3036 3013 0 0 0 0 0 0 15.03 15.05 15.05

87129 -0.58 0.0 2564 2203 3036 3013 219.9 0.9 1240 87130 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3024 3036 3013 0 0 0 0 0 0 15.04 15.07 15.07

87728 -0.58 0.0 2565 2203 3036 3013 221.4 -0.7 1245 87729 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3024 3036 3013 0 0 0 0 0 0 15.06 15.08 15.08

88329 -0.58 0.0 2564 2203 3036 3013 224.0 -0.2 1250 88330 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3024 3036 3013 0 0 0 0 0 0 15.04 15.07 15.06

88930 -0.58 0.0 2564 2203 3036 3013 220.3 0.6 1255 88931 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3024 3036 3013 0 0 0 0 0 0 15.04 15.06 15.05

89528 -0.58 0.0 2564 2203 3036 3013 212.4 1.7 1260 89529 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3024 3036 3013 0 0 0 0 0 0 15.05 15.08 15.07

90129 -0.58 0.0 2565 2202 3036 3013 226.7 -2.8 1265 90130 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3025 3037 3013 0 0 0 0 0 0 15.04 15.07 15.07

90729 -0.58 0.0 2565 2203 3037 3013 222.9 0.7 1270 90730 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2203 3024 3036 3013 0 0 0 0 0 0 15.04 15.07 15.07

91086 end loiter: LOITER_COMPLETE

state 91086 begin climb

91090 0.78 77.9 2565 2203 3036 3013 226.4 0.0 1273 91164 1.85 1.20 65.03 1.168 10500 0.238 0.067 2999 2897 2725 2746 2704 0 0 0 0 0 0 12.66 14.21 12.90

91236 0.96 77.9 2998 2897 2743 2702 220.3 6.5 1302 91244 0.17 1.10 0.00 0.000 3206 0.084 0.040 3072 2221 2722 2743 2702 0 0 0 0 0 0 14.16 14.27 14.23

91426 1.01 77.9 3072 2221 2742 2701 204.0 8.8 1321 91432 0.00 0.00 0.00 0.000 134 0.000 0.000 3072 2221 2721 2742 2701 0 0 0 0 0 0 14.86 14.88 14.88

91612 1.01 77.9 3072 2221 2742 2701 189.3 6.9 1340 91616 0.00 1.27 0.00 0.000 516 0.000 0.044 3076 1514 2721 2741 2701 0 0 0 0 0 0 14.93 14.15 14.95

91656 1.07 77.9 3075 1514 2741 2701 186.5 6.9 1348 91660 0.00 1.30 0.00 0.000 1158 0.000 0.050 3076 2204 2721 2741 2701 0 0 0 0 0 0 14.21 14.15 14.25

91848 1.11 77.9 3075 2203 2741 2701 172.5 7.3 1368 91853 0.12 1.30 0.00 0.000 2692 0.154 0.038 3124 1509 2721 2741 2701 0 0 0 0 0 0 14.38 14.12 14.38

91913 1.07 77.9 3124 1509 2741 2701 166.5 9.7 1380 91917 0.00 1.30 0.00 0.000 1158 0.000 0.050 3124 2203 2721 2741 2701 0 0 0 0 0 0 14.18 14.13 14.22

92108 1.02 77.9 3124 2202 2741 2701 146.2 10.7 1400 92113 0.12 1.30 0.00 0.000 4740 0.256 0.037 3096 1502 2720 2740 2701 0 0 0 0 0 0 13.95 14.09 14.02

92154 1.06 77.9 3096 1502 2740 2701 141.8 7.6 1409 92161 0.00 1.30 0.00 0.000 1158 0.000 0.049 3097 2196 2720 2740 2701 0 0 0 0 0 0 14.18 14.13 14.21

92342 1.16 157.7 3096 2196 2740 2701 133.9 2.6 1428 92422 0.10 1.12 71.18 1.050 11044 0.174 0.059 3133 2896 2399 2430 2368 0 0 0 0 0 0 14.52 13.92 13.32

92502 1.16 157.7 3132 2895 2428 2366 124.1 8.3 1455 92506 0.00 1.12 0.00 0.000 1030 0.000 0.039 3137 2195 2397 2428 2366 0 0 0 0 0 0 14.32 14.28 14.35

92696 1.12 157.7 3137 2191 2425 2366 103.9 11.8 1475 92700 0.00 1.23 0.00 0.000 644 0.000 0.042 3142 1511 2395 2425 2366 0 0 0 0 0 0 14.86 14.21 14.88

92753 1.15 157.7 3141 1511 2425 2366 96.1 13.3 1486 92761 0.00 1.30 0.00 0.000 1158 0.000 0.050 3142 2200 2395 2425 2366 0 0 0 0 0 0 14.23 14.19 14.28

92939 1.15 157.7 3141 2200 2424 2365 73.0 10.6 1505 92943 0.00 1.27 0.00 0.000 516 0.000 0.042 3146 1504 2395 2424 2366 0 0 0 0 0 0 14.95 14.22 14.97

92961 1.15 157.7 3145 1504 2424 2365 71.0 8.7 1509 92967 0.00 1.30 0.00 0.000 1030 0.000 0.050 3146 2203 2395 2425 2366 0 0 0 0 0 0 14.24 14.19 14.28

93156 1.18 188.0 3145 2202 2423 2365 56.2 6.2 1529 93188 0.00 1.25 26.25 0.965 8740 0.000 0.043 3148 1526 2276 2307 2245 0 0 0 0 0 0 14.95 14.42 13.57

93269 1.32 222.7 3148 1526 2305 2243 49.4 5.8 1551 93307 0.08 1.25 30.08 0.946 11430 0.112 0.049 3185 2204 2135 2167 2103 0 0 0 0 0 0 14.20 14.33 13.53

93493 1.36 222.7 3184 2204 2162 2101 29.5 7.4 1593 93500 0.00 1.15 0.00 0.000 388 0.000 0.063 3185 2893 2131 2162 2101 0 0 0 0 0 0 14.87 14.21 14.88

93730 1.36 222.7 3184 2894 2161 2101 11.5 8.9 1639 93737 0.00 1.10 0.00 0.000 1030 0.000 0.037 3187 2202 2131 2161 2101 0 0 0 0 0 0 14.33 14.30 14.37

93817 end climb: SURFACE_DEPTH_REACHED

state 93818 begin surface coast

93847 end surface coast: CONTROL_FINISHED_OK

state 93848 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	691	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	400	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
D_ABORT	1000	TGT_DEFAULT_LAT	3235	R_PORT_OVSHOOT	69	ALTIM_PING_DELTA	50
D_NO_BLEED	200	TGT_DEFAULT_LON	-11731	R_STBD_OVSHOOT	53	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	3050	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	160	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	120119,110430,150.3311,6455.3066,41,0.8,42,-3.8,0.9,313.9,10,10.0	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	0.54	MHEAD_RNG_PITCHd_Wd	119.4,890238,-23.2,-8.333,-28.22,1424
_SM_ANGLEo	-71.4	D_GRID	1000
GPS2	120119,111037,150.3948,6455.1782,16,0.8,17,-3.8,0.0,314.7,10,9.9

FINISH	-0.0,1.022514	_10V_AH	8.26,0.000
SM_CCo	93866,72.78,0.079,0,0,1418,400.08	FG_AHR_24Vo	0.000
SM_GC	0.47,8.98,0.00,72.78,0.093,0.000,0.079,250,2196,1418,-7.80,-0.11,400.08,0,0,0,0,0,0,14.27,14.92,14.35	FG_AHR_10Vo	0.000
IRIDIUM_FIX	139.88,6453.90,110119,085605	MEM	303004
TT8_MAMPS	0.018725,0.15729	DATA_FILE_SIZE	73340,1661
HUMID	62.08	CAP_FILE_SIZE	256863,0
INTERNAL_PRESSURE	8.51208	CFSIZE	260034560,192278528
TCM_TEMP	23.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.201,14.71,1
_24V_AH	12.61,208.365	GPS	130119,131807,200.225,6457.841,30,0.9,32,-3.7,0.7,277.3,9,9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	411	131.82	SBE_CT	455	23	137.63
Roll_motor	62	67	53.04	nil	0	0	0.00
VBD_pump_during_apogee	262	1393	4619.90	nil	0	0	0.00
VBD_pump_during_surface	72	78	72.31	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	235	136	404.55	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	20	3.11
TT8	3699	9	289.39
LPSleep	87207	2	1577.54
TT8_Active	518	9	40.53
TT8_Sampling	2255	28	525.29
TT8_CF8	618	34	174.65
TT8_Kalman	0	0	0.00
Analog_circuits	2132	16	281.80
GPS_charging	0	0	0.00
Compass	1683	17	239.56
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