Glider dive log

NASCAR Jan18 * SG128 * Dive index * Mission links * Dive 703 * 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 703 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 59 ALTIM_PING_DELTA 50

D_NO_BLEED 200 TGT_DEFAULT_LON -11731 R_STBD_OVSHOOT 50 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 703 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 50 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 250119,130856,224.0066,6552.2046,38,1.0,41,-3.7,0.7,257.2,9,8.9 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 0.60 MHEAD_RNG_PITCHd_Wd 34.9,770932,-23.2,-8.333,-28.22,1424

_SM_ANGLEo -75.1 D_GRID 1000

GPS2 250119,131529,223.9806,6552.0361,15,1.0,17,-3.7,1.3,243.6,9,9.3

Post-dive calculations and measurements:

FINISH 0.2,1.022238 _10V_AH 12.77,0.000

SM_CCo 93529,57.88,0.079,0,0,1418,400.08 FG_AHR_24Vo 0.000

SM_GC 0.52,9.07,1.15,57.88,0.090,0.040,0.079,250,2169,1418,-7.80,1.58,400.08,0,0,0,0,0,0,14.24,14.48,14.33 FG_AHR_10Vo 0.000

IRIDIUM_FIX 223.39,6547.12,240119,105445 MEM 302984

TT8_MAMPS 0.018725,0.15729 DATA_FILE_SIZE 66708,1585

HUMID 63.42 CAP_FILE_SIZE 252316,0

INTERNAL_PRESSURE 8.52185 CFSIZE 260034560,191188992

TCM_TEMP 23.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.177,87.82,1

_24V_AH 12.64,210.883 GPS 260119,151710,224.343,6601.012,29,1.2,34,-3.7,0.8,235.8,5,9.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 413 142.94 SBE_CT 432 23 131.13

Roll_motor 59 66 50.16 nil 0 0 0.00

VBD_pump_during_apogee 295 1395 5204.34 nil 0 0 0.00

VBD_pump_during_surface 57 78 57.64 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 258 134 440.10 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 20 4.96

TT8 3568 9 431.59

LPSleep 87073 2 2435.11

TT8_Active 539 9 65.19

TT8_Sampling 2170 28 781.40

TT8_CF8 621 34 271.31

TT8_Kalman 0 0 0.00

Analog_circuits 2124 16 434.14

GPS_charging 0 0 0.00

Compass 1576 17 346.87

RAFOS 0 0 0.00

Transponder 0 5 0.03

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 -77.9 237 2210 1433 1420 0.0 0.0 0 76 0.00 0.00 -62.12 0.003 16390 0.000 0.000 237 2210 3367 3349 3386 0 0 0 0 0 0 14.86 12.64 14.72

79 -0.78 -77.9 237 2210 3349 3383 3.9 -11.1 11 100 11.88 1.12 0.00 0.000 2308 0.413 0.059 2496 2903 3366 3353 3379 0 0 0 0 0 0 13.91 14.43 14.35

113 0.21 -77.9 2495 2903 3358 3378 19.1 -42.5 16 121 1.20 1.12 0.00 0.000 3206 0.259 0.037 2817 2184 3368 3361 3375 0 0 0 0 0 0 13.93 14.40 14.28

307 -0.36 -77.9 2817 2179 3369 3371 32.0 -6.1 53 315 0.50 1.17 0.00 0.000 4516 0.097 0.050 2643 2900 3370 3370 3370 0 0 0 0 0 0 14.11 14.23 14.18

421 -0.51 -77.9 2643 2900 3370 3370 42.9 -10.2 74 429 0.12 1.10 0.00 0.000 5254 0.097 0.034 2591 2181 3370 3370 3370 0 0 0 0 0 0 14.14 14.36 14.20

612 -0.51 -77.9 2591 2181 3372 3370 62.3 -10.7 99 616 0.00 1.20 0.00 0.000 260 0.000 0.057 2591 2894 3371 3372 3370 0 0 0 0 0 0 14.98 14.19 15.00

674 -0.54 -77.9 2590 2893 3373 3370 68.6 -10.0 111 678 0.00 1.05 0.00 0.000 1158 0.000 0.034 2591 2200 3371 3373 3370 0 0 0 0 0 0 14.40 14.38 14.42

867 -0.54 -77.9 2590 2195 3375 3370 91.0 -11.1 131 871 0.00 1.17 0.00 0.000 260 0.000 0.057 2591 2891 3372 3375 3370 0 0 0 0 0 0 15.00 14.19 15.02

922 -0.61 -77.9 2590 2891 3375 3370 98.1 -12.4 142 929 0.00 1.05 0.00 0.000 1158 0.000 0.033 2591 2201 3372 3375 3370 0 0 0 0 0 0 14.39 14.37 14.42

1109 -0.67 -77.9 2590 2200 3377 3370 117.8 -9.1 161 1114 0.12 1.17 0.00 0.000 4740 0.146 0.030 2543 1515 3374 3378 3370 0 0 0 0 0 0 14.50 14.31 14.51

1154 -0.72 -77.9 2543 1515 3378 3370 122.2 -9.7 169 1159 0.00 1.25 0.00 0.000 1158 0.000 0.046 2543 2205 3374 3378 3370 0 0 0 0 0 0 14.31 14.27 14.34

1347 -0.69 -77.9 2542 2205 3381 3370 138.2 -8.6 189 1352 0.00 1.20 0.00 0.000 644 0.000 0.034 2543 1517 3375 3381 3370 0 0 0 0 0 0 15.03 14.31 15.04

1455 -0.69 -77.9 2542 1517 3381 3370 146.4 -7.2 210 1461 0.00 1.25 0.00 0.000 1030 0.000 0.045 2542 2200 3376 3382 3370 0 0 0 0 0 0 14.29 14.24 14.33

1640 -0.69 -77.9 2542 2200 3383 3370 160.2 -7.7 229 1645 0.00 1.15 0.00 0.000 260 0.000 0.061 2543 2897 3376 3383 3370 0 0 0 0 0 0 15.03 14.17 15.05

1663 -0.69 -77.9 2542 2897 3383 3370 162.0 -7.6 233 1668 0.00 1.08 0.00 0.000 1030 0.000 0.035 2543 2189 3376 3383 3370 0 0 0 0 0 0 14.39 14.38 14.42

1857 -0.69 -77.9 2542 2189 3384 3370 178.3 -7.8 253 1862 0.00 1.20 0.00 0.000 260 0.000 0.060 2542 2888 3378 3385 3371 0 0 0 0 0 0 15.02 14.15 15.04

1912 -0.69 -77.9 2542 2888 3385 3370 182.2 -6.4 264 1919 0.00 1.05 0.00 0.000 1030 0.000 0.034 2542 2198 3377 3385 3370 0 0 0 0 0 0 14.33 14.33 14.38

2101 -0.69 -77.9 2543 2198 3384 3370 193.4 -5.7 283 2105 0.00 1.20 0.00 0.000 292 0.000 0.061 2541 2899 3377 3385 3370 0 0 0 0 0 0 15.02 14.14 15.04

2164 -0.69 -77.9 2541 2899 3384 3370 197.4 -6.3 295 2168 0.00 1.08 0.00 0.000 1062 0.000 0.037 2541 2207 3377 3384 3370 0 0 0 0 0 0 14.37 14.34 14.40

2357 -0.69 -77.9 2541 2202 3385 3370 210.5 -7.5 315 2361 0.00 1.17 0.00 0.000 260 0.000 0.061 2540 2890 3377 3384 3370 0 0 0 0 0 0 15.02 14.12 15.04

2373 -0.69 -77.9 2539 2890 3385 3370 211.9 -7.5 318 2380 0.00 1.08 0.00 0.000 1030 0.000 0.035 2540 2193 3377 3385 3370 0 0 0 0 0 0 14.35 14.31 14.37

2559 -0.69 -77.9 2539 2192 3383 3370 226.4 -7.7 337 2560 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2192 3376 3383 3370 0 0 0 0 0 0 15.03 15.05 15.05

2740 -0.69 -77.9 2539 2192 3381 3370 240.4 -8.2 355 2744 0.00 1.17 0.00 0.000 516 0.000 0.037 2540 1518 3375 3381 3370 0 0 0 0 0 0 15.02 14.24 15.04

2853 -0.69 -77.9 2539 1518 3381 3370 249.8 -8.0 377 2858 0.00 1.25 0.00 0.000 1030 0.000 0.049 2540 2193 3375 3381 3370 0 0 0 0 0 0 14.22 14.19 14.26

3047 -0.69 -77.9 2539 2193 3379 3368 265.0 -7.9 385 3052 0.00 1.20 0.00 0.000 516 0.000 0.039 2539 1526 3373 3379 3368 0 0 0 0 0 0 15.03 14.22 15.05

3134 -0.69 -77.9 2539 1526 3378 3367 272.0 -7.9 402 3140 0.00 1.25 0.00 0.000 1030 0.000 0.049 2540 2195 3372 3378 3367 0 0 0 0 0 0 14.21 14.15 14.24

3320 -0.69 -77.9 2539 2194 3376 3366 286.2 -7.5 409 3325 0.00 1.20 0.00 0.000 516 0.000 0.039 2539 1526 3371 3376 3366 0 0 0 0 0 0 15.04 14.21 15.06

3422 -0.69 -77.9 2539 1526 3375 3365 293.9 -7.7 429 3427 0.00 1.25 0.00 0.000 1030 0.000 0.050 2540 2198 3370 3375 3365 0 0 0 0 0 0 14.19 14.15 14.23

3626 -0.69 -77.9 2539 2198 3375 3363 309.8 -7.9 439 3630 0.00 1.20 0.00 0.000 516 0.000 0.039 2540 1531 3368 3374 3363 0 0 0 0 0 0 15.05 14.19 15.07

3658 -0.69 -77.9 2539 1530 3374 3363 312.3 -7.5 445 3663 0.00 1.27 0.00 0.000 1030 0.000 0.050 2539 2209 3368 3374 3363 0 0 0 0 0 0 14.19 14.14 14.23

3872 -0.69 -77.9 2539 2208 3373 3363 328.4 -7.5 457 3877 0.00 1.17 0.00 0.000 260 0.000 0.066 2540 2905 3368 3373 3363 0 0 0 0 0 0 15.04 14.03 15.06

3923 -0.72 -77.9 2539 2905 3372 3362 332.6 -7.6 467 3927 0.00 1.10 0.00 0.000 1158 0.000 0.037 2540 2203 3367 3372 3362 0 0 0 0 0 0 14.30 14.27 14.32

4115 -0.72 -77.9 2539 2199 3371 3362 346.5 -7.3 475 4119 0.00 1.20 0.00 0.000 516 0.000 0.040 2539 1519 3366 3371 3362 0 0 0 0 0 0 15.04 14.16 15.07

4286 -0.76 -77.9 2539 1519 3369 3361 359.6 -7.7 509 4291 0.00 1.27 0.00 0.000 1158 0.000 0.050 2539 2198 3365 3369 3361 0 0 0 0 0 0 14.14 14.09 14.18

4479 -0.76 -77.9 2539 2197 3368 3360 374.6 -8.0 517 4483 0.00 1.23 0.00 0.000 516 0.000 0.040 2539 1520 3364 3368 3360 0 0 0 0 0 0 15.04 14.14 15.06

4613 -0.79 -77.9 2539 1520 3367 3359 385.8 -8.3 543 4617 0.00 1.27 0.00 0.000 1158 0.000 0.051 2539 2197 3363 3367 3359 0 0 0 0 0 0 14.12 14.07 14.16

4782 end dive: TARGET_DEPTH_EXCEEDED

state 4782 begin apogee

4788 -0.15 0.0 2540 2196 3366 3357 400.0 -8.2 552 4859 0.68 0.00 67.78 1.395 10246 0.243 0.000 2707 2196 3048 3063 3033 0 0 0 0 0 0 13.70 14.21 13.19

4860 end apogee: CONTROL_FINISHED_OK

state 4860 begin loiter

5085 -0.15 0.0 2707 2196 3054 3027 400.3 2.0 556 5086 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2196 3040 3054 3026 0 0 0 0 0 0 14.90 14.91 14.92

5684 -0.56 0.0 2707 2196 3050 3023 391.2 1.4 561 5686 0.38 0.00 0.00 0.000 4230 0.085 0.000 2576 2196 3036 3049 3023 0 0 0 0 0 0 14.38 14.52 14.48

6285 -0.62 0.0 2576 2196 3045 3020 387.0 0.7 566 6286 0.00 0.00 0.00 0.000 134 0.000 0.000 2576 2196 3032 3045 3020 0 0 0 0 0 0 15.04 15.06 15.06

6885 -0.68 0.0 2575 2197 3041 3017 373.8 2.5 571 6887 0.12 0.00 0.00 0.000 4230 0.149 0.000 2534 2196 3029 3041 3017 0 0 0 0 0 0 14.52 14.59 14.57

7484 -0.68 0.0 2534 2196 3038 3016 356.6 2.7 576 7485 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2197 3027 3038 3016 0 0 0 0 0 0 15.04 15.07 15.07

8085 -0.63 0.0 2534 2197 3037 3016 334.6 3.8 581 8086 0.00 0.00 0.00 0.000 134 0.000 0.000 2534 2197 3026 3036 3016 0 0 0 0 0 0 15.04 15.07 15.06

8685 -0.58 0.0 2534 2197 3034 3016 318.4 2.5 586 8687 0.15 0.00 0.00 0.000 2182 0.281 0.000 2565 2196 3024 3034 3015 0 0 0 0 0 0 13.81 14.15 14.05

9284 -0.58 0.0 2564 2197 3033 3015 306.7 2.2 591 9285 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2196 3024 3033 3015 0 0 0 0 0 0 15.04 15.07 15.07

9884 -0.58 0.0 2565 2196 3033 3014 290.2 2.7 596 9886 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2196 3023 3032 3014 0 0 0 0 0 0 15.04 15.07 15.07

10484 -0.58 0.0 2565 2196 3031 3014 286.7 0.4 601 10485 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2196 3022 3031 3014 0 0 0 0 0 0 15.04 15.06 15.06

11083 -0.58 0.0 2565 2196 3031 3014 281.1 1.1 606 11084 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2196 3022 3031 3013 0 0 0 0 0 0 15.06 15.07 15.07

11686 -0.58 0.0 2565 2196 3031 3012 272.5 1.5 611 11687 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2196 3022 3031 3013 0 0 0 0 0 0 15.03 15.05 15.05

12284 -0.58 0.0 2565 2196 3030 3013 262.1 1.6 616 12285 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2196 3021 3030 3013 0 0 0 0 0 0 15.04 15.06 15.06

12883 -0.58 0.0 2564 2196 3030 3013 257.8 0.8 621 12884 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2196 3021 3030 3013 0 0 0 0 0 0 15.05 15.07 15.07

13485 -0.58 0.0 2565 2196 3030 3013 242.8 2.5 626 13486 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2196 3022 3031 3013 0 0 0 0 0 0 15.04 15.06 15.06

14085 -0.58 0.0 2564 2196 3030 3013 243.1 -0.6 631 14087 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2196 3021 3030 3013 0 0 0 0 0 0 15.02 15.04 15.04

14683 -0.58 0.0 2564 2196 3030 3013 243.1 0.5 636 14684 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2196 3022 3031 3013 0 0 0 0 0 0 15.05 15.07 15.07

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79483 -0.56 0.0 2572 2209 3034 3013 211.1 -0.4 1176 79484 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2209 3023 3034 3013 0 0 0 0 0 0 15.05 15.07 15.07

80085 -0.56 0.0 2572 2209 3034 3013 213.0 -0.4 1181 80086 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2209 3023 3034 3013 0 0 0 0 0 0 15.04 15.05 15.05

80686 -0.56 0.0 2572 2209 3034 3013 212.7 0.2 1186 80687 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2209 3023 3034 3013 0 0 0 0 0 0 15.02 15.04 15.04

81283 -0.56 0.0 2572 2209 3033 3013 211.0 0.2 1191 81284 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2209 3023 3034 3013 0 0 0 0 0 0 15.05 15.07 15.07

81885 -0.56 0.0 2572 2209 3033 3013 212.8 -0.7 1196 81886 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2209 3023 3034 3013 0 0 0 0 0 0 15.04 15.05 15.05

82484 -0.56 0.0 2572 2209 3034 3013 216.8 -1.1 1201 82486 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2209 3023 3034 3013 0 0 0 0 0 0 15.04 15.06 15.05

83084 -0.56 0.0 2572 2209 3034 3013 218.6 -0.6 1206 83085 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2209 3023 3034 3013 0 0 0 0 0 0 15.04 15.06 15.06

83685 -0.56 0.0 2572 2209 3034 3013 213.8 1.1 1211 83686 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2209 3023 3034 3013 0 0 0 0 0 0 15.04 15.06 15.05

84284 -0.56 0.0 2572 2209 3034 3013 218.6 -0.8 1216 84286 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2209 3023 3034 3013 0 0 0 0 0 0 15.04 15.06 15.06

84883 -0.56 0.0 2572 2209 3034 3013 219.9 0.0 1221 84884 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2209 3023 3034 3013 0 0 0 0 0 0 15.05 15.07 15.07

85486 -0.56 0.0 2572 2209 3034 3013 214.3 0.7 1226 85487 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2209 3023 3034 3013 0 0 0 0 0 0 15.02 15.04 15.04

86084 -0.56 0.0 2572 2209 3034 3013 214.2 -0.2 1231 86086 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2209 3023 3034 3013 0 0 0 0 0 0 15.04 15.06 15.05

86683 -0.56 0.0 2572 2209 3034 3013 222.1 -1.2 1236 86684 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2209 3023 3034 3013 0 0 0 0 0 0 15.05 15.07 15.07

87285 -0.56 0.0 2572 2209 3034 3013 225.1 -0.2 1241 87286 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2209 3023 3034 3013 0 0 0 0 0 0 15.04 15.05 15.05

87886 -0.56 0.0 2572 2209 3034 3013 217.9 0.9 1246 87887 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2209 3023 3034 3013 0 0 0 0 0 0 15.02 15.04 15.04

88483 -0.56 0.0 2572 2209 3034 3013 217.1 -0.0 1251 88484 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2209 3023 3034 3013 0 0 0 0 0 0 15.04 15.07 15.07

89085 -0.56 0.0 2572 2209 3033 3013 217.9 0.4 1256 89086 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2209 3023 3034 3013 0 0 0 0 0 0 15.03 15.05 15.05

89684 -0.56 0.0 2572 2209 3034 3013 216.2 -0.3 1261 89685 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2209 3023 3034 3013 0 0 0 0 0 0 15.04 15.06 15.05

90284 -0.56 0.0 2572 2209 3034 3013 210.5 1.1 1266 90285 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2209 3023 3033 3013 0 0 0 0 0 0 15.04 15.06 15.06

90885 -0.56 0.0 2572 2209 3034 3013 214.9 -0.5 1271 90886 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2209 3023 3033 3013 0 0 0 0 0 0 15.04 15.05 15.05

91242 end loiter: LOITER_COMPLETE

state 91242 begin climb

91245 0.78 77.9 2572 2209 3034 3013 213.8 0.0 1274 91315 1.83 0.00 64.45 1.161 10246 0.239 0.000 2999 2209 2727 2748 2707 0 0 0 0 0 0 12.81 14.15 13.27

91496 1.05 125.8 2999 2209 2742 2701 205.3 4.9 1299 91546 0.28 1.23 42.83 1.134 10916 0.097 0.046 3105 1518 2531 2557 2505 0 0 0 0 0 0 14.21 14.21 13.25

91571 1.10 125.8 3104 1518 2556 2504 198.2 11.5 1313 91575 0.00 1.27 0.00 0.000 1158 0.000 0.054 3105 2194 2529 2556 2503 0 0 0 0 0 0 14.27 14.24 14.33

91766 1.10 125.8 3104 2193 2556 2503 173.5 12.7 1333 91770 0.00 1.20 0.00 0.000 260 0.000 0.067 3105 2900 2529 2556 2503 0 0 0 0 0 0 14.84 14.14 14.86

91842 1.10 125.8 3104 2901 2556 2503 164.4 11.3 1348 91848 0.00 1.12 0.00 0.000 1030 0.000 0.042 3108 2213 2529 2556 2503 0 0 0 0 0 0 14.28 14.25 14.31

92029 1.15 167.1 3108 2209 2556 2503 150.3 5.4 1367 92072 0.00 1.27 38.22 1.078 8740 0.000 0.047 3110 1503 2363 2395 2331 0 0 0 0 0 0 14.92 14.32 13.40

92137 1.22 167.1 3109 1503 2390 2327 142.8 7.7 1388 92144 0.10 1.30 0.00 0.000 3206 0.109 0.051 3157 2203 2358 2390 2327 0 0 0 0 0 0 14.19 14.29 14.27

92326 1.13 167.1 3156 2203 2388 2327 116.3 15.0 1407 92332 0.12 1.17 0.00 0.000 4484 0.254 0.060 3126 2898 2356 2387 2326 0 0 0 0 0 0 13.99 14.17 14.10

92384 1.13 167.1 3126 2897 2387 2326 107.6 12.7 1418 92391 0.00 1.15 0.00 0.000 1030 0.000 0.041 3126 2195 2356 2387 2325 0 0 0 0 0 0 14.31 14.27 14.34

92575 1.26 195.6 3126 2195 2385 2325 96.3 6.3 1437 92608 0.12 1.17 26.65 1.013 10916 0.142 0.040 3181 1496 2247 2277 2217 0 0 0 0 0 0 14.42 14.08 13.50

92637 1.29 195.6 3180 1496 2281 2217 89.8 10.0 1449 92641 0.00 1.30 0.00 0.000 1158 0.000 0.052 3181 2200 2248 2281 2216 0 0 0 0 0 0 14.43 14.38 14.46

92830 1.29 195.6 3180 2200 2281 2216 71.3 9.8 1469 92834 0.00 1.27 0.00 0.000 516 0.000 0.046 3181 1500 2248 2281 2216 0 0 0 0 0 0 14.90 14.26 14.92

92895 1.29 195.6 3180 1500 2281 2216 63.8 11.0 1482 92902 0.00 1.33 0.00 0.000 1030 0.000 0.050 3181 2209 2248 2280 2216 0 0 0 0 0 0 14.31 14.26 14.36

93086 1.36 227.5 3180 2208 2280 2216 45.7 6.0 1507 93119 0.00 1.30 28.80 0.945 8868 0.000 0.043 3181 1495 2117 2148 2086 0 0 0 0 0 0 14.92 14.42 13.59

93134 1.46 259.1 3180 1495 2144 2082 42.7 6.0 1514 93167 0.10 1.30 26.35 0.931 11430 0.116 0.049 3222 2209 1987 2020 1955 0 0 0 0 0 0 14.31 14.42 13.53

93352 1.46 259.1 3221 2209 2013 1952 19.2 11.8 1555 93360 0.00 1.15 0.00 0.000 260 0.000 0.063 3222 2898 1983 2014 1952 0 0 0 0 0 0 14.85 14.21 14.87

93487 end climb: SURFACE_DEPTH_REACHED

state 93487 begin surface coast

93508 end surface coast: CONTROL_FINISHED_OK

state 93508 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	703	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	59	ALTIM_PING_DELTA	50
D_NO_BLEED	200	TGT_DEFAULT_LON	-11731	R_STBD_OVSHOOT	50	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	250119,130856,224.0066,6552.2046,38,1.0,41,-3.7,0.7,257.2,9,8.9	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	0.60	MHEAD_RNG_PITCHd_Wd	34.9,770932,-23.2,-8.333,-28.22,1424
_SM_ANGLEo	-75.1	D_GRID	1000
GPS2	250119,131529,223.9806,6552.0361,15,1.0,17,-3.7,1.3,243.6,9,9.3

FINISH	0.2,1.022238	_10V_AH	12.77,0.000
SM_CCo	93529,57.88,0.079,0,0,1418,400.08	FG_AHR_24Vo	0.000
SM_GC	0.52,9.07,1.15,57.88,0.090,0.040,0.079,250,2169,1418,-7.80,1.58,400.08,0,0,0,0,0,0,14.24,14.48,14.33	FG_AHR_10Vo	0.000
IRIDIUM_FIX	223.39,6547.12,240119,105445	MEM	302984
TT8_MAMPS	0.018725,0.15729	DATA_FILE_SIZE	66708,1585
HUMID	63.42	CAP_FILE_SIZE	252316,0
INTERNAL_PRESSURE	8.52185	CFSIZE	260034560,191188992
TCM_TEMP	23.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.177,87.82,1
_24V_AH	12.64,210.883	GPS	260119,151710,224.343,6601.012,29,1.2,34,-3.7,0.8,235.8,5,9.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	413	142.94	SBE_CT	432	23	131.13
Roll_motor	59	66	50.16	nil	0	0	0.00
VBD_pump_during_apogee	295	1395	5204.34	nil	0	0	0.00
VBD_pump_during_surface	57	78	57.64	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	258	134	440.10	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	20	4.96
TT8	3568	9	431.59
LPSleep	87073	2	2435.11
TT8_Active	539	9	65.19
TT8_Sampling	2170	28	781.40
TT8_CF8	621	34	271.31
TT8_Kalman	0	0	0.00
Analog_circuits	2124	16	434.14
GPS_charging	0	0	0.00
Compass	1576	17	346.87
RAFOS	0	0	0.00
Transponder	0	5	0.03

		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