Glider dive log

ROAMMIZ Dec18 * SG640 * Dive index * Mission links * Dive 285 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 640 HD_C 9.8500004e-06 C_ROLL_DIVE 2100 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 HEADING -1 C_ROLL_CLIMB 2150 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 285 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

N_DIVES 500 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 5

STOP_T 1171912 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_SURF 3 TGT_DEFAULT_LAT -5400 R_PORT_OVSHOOT 60 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LON 0 R_STBD_OVSHOOT 28 ALTIM_SENSITIVITY 2

D_TGT 350 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 XPDR_VALID 2

D_ABORT 420 SM_CC 220 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

D_NO_BLEED 29 N_FILEKB 4 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097655999

D_BOOST 20 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -0.60000002

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 602 DEEPGLIDER 0

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3962 MOTHERBOARD 4

D_PITCH 0 PROTOCOL 9 C_VBD 2720 DEVICE1 -1

D_SAFE 0 N_NOCOMM 2 VBD_DBAND 2 DEVICE2 -1

D_CALL 0 NOCOMM_ACTION 259 VBD_CNV -0.245296 DEVICE3 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE4 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_DIVE 140 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERS 1

T_MISSION 220 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 53

T_ABORT 250 CAPMAXSIZE 400000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_TURN 500 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE3 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_NO_W 120 N_GPS 100840 W_ADJ_DBAND 0 COMPASS_DEVICE 33

T_LOITER 3600 T_RSLEEP 3 DBDW 0 COMPASS2_DEVICE -1

T_SLOITER 0 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 49

T_EPIRB 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

USE_BATHY 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

USE_ICE 0 RAFOS_HIT_WINDOW 3600 AH0_24V 310 XPDR_DEVICE 24

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 AH0_10V 0 SIM_W 0

D_OFFGRID 100 PITCH_MIN 312 MINV_24V 11.5 SIM_PITCH 0

T_WATCHDOG 10 PITCH_MAX 3939 MINV_10V 10 SEABIRD_T_G 0.0044042631

RELAUNCH 0 C_PITCH 2400 MAXI_24V 3 SEABIRD_T_H 0.0006412621

APOGEE_PITCH -5 PITCH_DBAND 0.0099999998 MAXI_10V 2 SEABIRD_T_I 2.6024412e-05

MAX_BUOY 150 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_T_J 3.2462635e-06

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_G -10.007382

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 PHONE_SUPPLY 2 SEABIRD_C_H 1.1528281

SPEED_FACTOR 1 PITCH_GAIN 34 PRESSURE_YINT -153.19165 SEABIRD_C_I -0.0017483447

RHO 1.0275 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.000109596 SEABIRD_C_J 0.0001971516

MASS 54260 PITCH_AD_RATE 175 AD7714Ch0Gain 1 SEABIRD_C_Z 2950.7202

MASS_COMP 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 COMPASS_USE 0 SC_XMITPROFILE 3.0

KALMAN_USE 2 ROLL_MIN 217 ALTIM_BOTTOM_PING_RANGE 0 SC_NDIVE 1.0

HD_A 0.0038360001 ROLL_MAX 3851 ALTIM_TOP_PING_RANGE 0

HD_B 0.0101 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 1 D_SURF 3 PITCH_AD_RATE 175 SIM_PITCH 0

AH0_10V 0 D_TGT 350 PITCH_CNV 0.003125763 SIM_W 0

AH0_24V 310 ESCAPE_HEADING 0 PITCH_DBAND 0.0099999998 SM_CC 220

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 34 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MAX 3939 STOP_T 1171912

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_MAXERRORS 1 STROBE 0

ALTIM_PING_DELTA 5 FG_AHR_24V 0 PITCH_MIN 312 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_TIMEOUT 17 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PITCH_W_GAIN 0 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0038360001 PRESSURE_SLOPE 0.000109596 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0101 PRESSURE_YINT -153.19165 TGT_DEFAULT_LAT -5400

APOGEE_PITCH -5 HD_C 9.8500004e-06 PROTOCOL 9 TGT_DEFAULT_LON 0

CALL_NDIVES 1 HEADING -1 P_OVSHOOT 0.039999999 T_ABORT 250

CALL_TRIES 5 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0.079999998 T_BOOST 0

CALL_WAIT 60 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_DIVE 140

CAPMAXSIZE 400000 ICE_FREEZE_MARGIN 0.30000001 RAFOS_DEVICE -1 T_EPIRB 0

CAPUPLOAD 0 ID 640 RAFOS_HIT_WINDOW 3600 T_GPS 15

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097655999 RAFOS_MMODEM 0 T_LOITER 3600

COMM_SEQ 0 INT_PRESSURE_YINT -0.60000002 RAFOS_PEAK_OFFSET 1.5 T_MISSION 220

COMPASS2_DEVICE -1 KALMAN_USE 2 RELAUNCH 0 T_NO_W 120

COMPASS_DEVICE 33 LOGGERDEVICE1 53 RHO 1.0275 T_RSLEEP 3

COMPASS_USE 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_SLOITER 0

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_TURN 500

C_PITCH 2400 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2150 LOGGERS 1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_ROLL_DIVE 2100 MASS 54260 ROLL_DEG 40 UNCOM_BLEED 60

C_VBD 2720 MASS_COMP 0 ROLL_MAX 3851 UPLOAD_DIVES_MAX -1

DBDW 0 MAXI_10V 2 ROLL_MAXERRORS 1 USE_BATHY 0

DEEPGLIDER 0 MAXI_24V 3 ROLL_MIN 217 USE_ICE 0

DEVICE1 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 10 R_PORT_OVSHOOT 60 VBD_CNV -0.245296

DEVICE3 -1 MINV_24V 11.5 R_STBD_OVSHOOT 28 VBD_DBAND 2

DEVICE4 -1 MISSION 5 SC_NDIVE 1.0 VBD_LP_IGNORE 0

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAX 3962

DEVICE6 -1 NAV_MODE 2 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DIVE 285 NOCOMM_ACTION 259 SC_XMITPROFILE 3.0 VBD_MIN 602

D_ABORT 420 N_DIVES 500 SEABIRD_C_G -10.007382 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 20 N_FILEKB 4 SEABIRD_C_H 1.1528281 VBD_PUMP_AD_RATE_SURFACE 4

D_CALL 0 N_GPS 100840 SEABIRD_C_I -0.0017483447 VBD_TIMEOUT 720

D_FINISH 0 N_NOCOMM 2 SEABIRD_C_J 0.0001971516 W_ADJ_DBAND 0

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_Z 2950.7202 XPDR_DEVICE 24

D_NO_BLEED 29 PHONE_DEVICE 49 SEABIRD_T_G 0.0044042631 XPDR_INHIBIT 90

D_OFFGRID 100 PHONE_SUPPLY 2 SEABIRD_T_H 0.0006412621 XPDR_VALID 2

D_PITCH 0 PITCH_ADJ_DBAND 0 SEABIRD_T_I 2.6024412e-05

D_SAFE 0 PITCH_ADJ_GAIN 0 SEABIRD_T_J 3.2462635e-06

Pre-dive calculations and measurements:

GPS1 140119,142051,-5944.9946,2.5581,16,0.8,41,-19.8,0.5,200.7,10,9.2 SPEED_LIMITS 0.144,0.244

_CALLS 1 TGT_NAME NORTH

_XMS_NAKs 0 TGT_LATLONG -5940.000,0.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 1.35 MHEAD_RNG_PITCHd_Wd 355.5,9602,-15.5,-8.333,-18.82,2677

_SM_ANGLEo -69.3 D_GRID 350

GPS2 140119,142556,-5945.0176,2.5873,9,0.8,14,-19.8,1.0,195.3,10,9.8

Post-dive calculations and measurements:

SM_CCo 8422,1.15,0.348,0,0,1822,220.03 _10V_AH 13.61,0.000

SM_GC 1.29,5.55,2.47,1.15,0.060,0.041,0.348,259,2089,1822,-6.49,1.19,220.03,0,0,0,0,0,0,14.60,14.56,14.33 FG_AHR_24Vo 0.000

IRIDIUM_FIX -5944.88,0.00,140119,114931 FG_AHR_10Vo 0.000

TT8_MAMPS 0.03745,0.349783 MEM 344096

HUMID 50.00 DATA_FILE_SIZE 17314,641

INTERNAL_PRESSURE 6.13826 CAP_FILE_SIZE 83208,0

TCM_TEMP 0.00 CFSIZE 1023623168,991461376

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

SC_FREEKB 3774944 CURRENT 0.072,123.22,1

_24V_AH 13.16,57.268 GPS 140119,164731,-5944.817,2.840,19,0.8,29,-19.8,0.6,280.4,9,9.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 456 77.53 nil 0 0 0.00

Roll_motor 68 2233 2003.39 nil 0 0 0.00

VBD_pump_during_apogee 315 1567 6513.84 nil 0 0 0.00

VBD_pump_during_surface 1 348 5.27 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 29 10.12 nil 0 0 0.00

Iridium_during_connect 20 160 43.74 SciCon 4820 13 824.92

Iridium_during_xfer 121 223 357.97 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 11 2.35

TT8 0 0 0.00

LPSleep 6751 2 201.22

TT8_Active 380 11 60.76

TT8_Sampling 1453 32 646.93

TT8_CF8 146 49 99.72

TT8_Kalman 0 0 0.00

Analog_circuits 965 11 150.95

GPS_charging 0 0 0.00

Compass 1034 19 274.04

RAFOS 0 0 0.00

Transponder 0 5 0.04

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 int_press humidity

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

11 -0.64 -146.0 228 2071 1793 1825 0.0 0.0 0 96 0.00 0.00 -82.60 0.000 16386 0.000 0.000 227 2071 3167 3249 3086 0 0 0 0 0 0 14.60 28.83 14.62 6.19 50.51

98 -0.64 -146.0 222 2072 3249 3089 3.2 -5.9 17 116 6.03 2.60 -5.57 0.000 18948 0.349 2.234 2186 728 3318 3413 3224 0 0 0 0 0 0 14.19 13.16 14.43 6.30 50.31

177 -0.64 -146.0 2187 729 3415 3225 15.9 -15.4 33 181 0.05 2.35 0.00 0.000 3078 0.456 0.054 2191 2106 3319 3413 3225 0 0 0 0 0 0 14.15 14.37 14.40 6.33 49.25

302 -0.64 -146.0 2192 2106 3415 3224 35.4 -16.2 58 306 0.00 2.45 0.00 0.000 2308 0.000 0.081 2180 3504 3319 3414 3225 0 0 0 0 0 0 14.64 14.37 14.64 6.32 50.00

336 -0.64 -146.0 2181 3506 3414 3226 41.3 -16.9 65 340 0.00 2.35 0.00 0.000 3078 0.000 0.042 2181 2132 3319 3414 3225 0 0 0 0 0 0 14.45 14.41 14.47 6.32 49.60

461 -0.64 -146.0 2181 2131 3415 3225 62.3 -15.6 90 466 0.00 2.50 0.00 0.000 2564 0.000 0.061 2180 682 3320 3414 3226 0 0 0 0 0 0 14.68 14.42 14.69 6.32 49.60

481 -0.64 -146.0 2181 682 3414 3226 65.3 -15.4 94 486 0.08 2.47 0.00 0.000 3078 0.380 0.057 2192 2101 3320 3414 3226 0 0 0 0 0 0 14.23 14.40 14.47 6.32 49.29

608 -0.64 -146.0 2192 2101 3414 3236 83.5 -14.8 119 611 0.00 2.45 0.00 0.000 2308 0.000 0.083 2182 3503 3320 3414 3226 0 0 0 0 0 0 14.69 14.42 14.70 6.32 49.01

677 -0.64 -146.0 2183 3503 3415 3225 93.1 -13.2 133 680 0.00 2.35 0.00 0.000 3078 0.000 0.042 2182 2091 3320 3414 3226 0 0 0 0 0 0 14.57 14.49 14.59 6.31 48.54

811 -0.64 -146.0 2182 2090 3415 3227 110.8 -12.9 148 815 0.00 2.40 0.00 0.000 2564 0.000 0.062 2181 695 3320 3414 3226 0 0 0 0 0 0 14.74 14.47 14.74 6.31 49.05

826 -0.64 -146.0 2182 697 3415 3226 110.8 -12.9 148 830 0.05 2.42 0.00 0.000 3078 0.353 0.057 2198 2097 3319 3414 3225 0 0 0 0 0 0 14.26 14.45 14.51 6.31 48.97

1131 -0.64 -146.0 2199 2093 3416 3225 153.5 -13.8 164 1132 0.00 0.00 0.00 0.000 6 0.000 0.000 2198 2097 3319 3414 3225 0 0 0 0 0 0 14.77 14.78 14.78 6.32 50.11

1432 -0.64 -146.0 2199 2098 3414 3226 193.5 -12.9 179 1436 0.00 2.45 0.00 0.000 260 0.000 0.083 2188 3504 3319 3414 3225 0 0 0 0 0 0 14.80 14.50 14.81 6.33 50.98

1456 -0.64 -146.0 2189 3505 3415 3226 196.1 -12.9 180 1460 0.00 2.38 0.00 0.000 3078 0.000 0.042 2188 2094 3320 3414 3226 0 0 0 0 0 0 14.58 14.53 14.59 6.27 50.78

1771 -0.64 -146.0 2188 2093 3415 3225 236.6 -12.3 196 1775 0.00 2.42 0.00 0.000 2564 0.000 0.062 2188 699 3319 3414 3225 0 0 0 0 0 0 14.82 14.51 14.83 6.33 50.98

1836 -0.64 -146.0 2188 700 3415 3225 243.8 -12.1 199 1841 0.00 2.40 0.00 0.000 3078 0.000 0.055 2178 2097 3320 3414 3226 0 0 0 0 0 0 14.59 14.52 14.60 6.34 50.78

2152 -0.64 -146.0 2178 2098 3407 3226 283.1 -12.4 215 2153 0.05 0.00 0.00 0.000 2054 0.457 0.000 2191 2097 3319 3414 3225 0 0 0 0 0 0 14.35 14.61 14.56 6.34 51.02

2451 -0.64 -146.0 2192 2093 3415 3224 319.2 -12.1 230 2452 0.00 0.00 0.00 0.000 2054 0.000 0.000 2192 2097 3320 3414 3226 0 0 0 0 0 0 14.85 14.85 14.85 6.35 51.29

2710 end dive: TARGET_DEPTH_EXCEEDED

state 2710 begin apogee

2714 -0.15 0.0 2191 2189 3413 3225 350.2 -11.9 243 2843 0.45 0.00 125.15 1.567 10246 0.264 0.000 2351 2188 2715 2775 2655 0 0 0 0 0 0 14.37 13.96 13.35 6.34 51.10

2844 end apogee: CONTROL_FINISHED_OK

state 2844 begin loiter

3131 -0.15 0.0 2352 2189 2772 2641 345.0 3.5 264 3132 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2189 2706 2770 2642 0 0 0 0 0 0 14.59 14.59 14.59 6.29 51.14

3431 -0.15 0.0 2352 2189 2772 2639 334.8 3.2 279 3432 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2188 2705 2771 2639 0 0 0 0 0 0 14.73 14.73 14.73 6.30 50.90

3731 -0.15 0.0 2351 2189 2772 2638 325.3 3.1 294 3732 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2189 2704 2771 2638 0 0 0 0 0 0 14.81 14.82 14.82 6.29 51.02

4032 -0.15 0.0 2351 2189 2772 2638 316.5 2.9 309 4032 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2189 2704 2772 2637 0 0 0 0 0 0 14.87 14.88 14.87 6.29 50.82

4331 -0.15 0.0 2352 2189 2773 2636 308.4 2.7 324 4332 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2188 2703 2771 2636 0 0 0 0 0 0 14.91 14.92 14.92 6.29 50.94

4631 -0.15 0.0 2352 2189 2772 2636 300.6 2.6 339 4632 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2189 2703 2771 2636 0 0 0 0 0 0 14.95 14.95 14.95 6.29 51.37

4931 -0.15 0.0 2352 2188 2773 2635 292.7 2.8 354 4932 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2188 2703 2771 2636 0 0 0 0 0 0 14.97 14.97 14.97 6.29 51.49

5231 -0.15 0.0 2352 2189 2773 2635 284.2 3.0 369 5232 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2189 2703 2771 2635 0 0 0 0 0 0 14.99 15.00 14.99 6.29 51.73

5532 -0.15 0.0 2352 2189 2772 2636 275.2 2.9 384 5532 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2188 2703 2771 2635 0 0 0 0 0 0 15.00 15.01 15.01 6.29 51.37

5832 -0.15 0.0 2352 2189 2772 2636 266.8 2.8 399 5832 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 2189 2702 2771 2634 0 0 0 0 0 0 15.02 15.02 15.02 6.29 51.85

6131 -0.15 0.0 2351 2189 2771 2636 258.9 2.5 414 6132 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2188 2702 2771 2634 0 0 0 0 0 0 15.03 15.04 15.03 6.29 51.53

6430 end loiter: LOITER_COMPLETE

state 6430 begin climb

6431 0.64 146.0 2351 2189 2772 2634 251.8 0.0 429 6568 0.60 2.42 128.75 1.424 10500 0.171 0.082 2592 3525 2119 2145 2094 0 0 0 0 0 0 14.62 13.93 13.46 6.29 51.65

6582 0.72 211.6 2592 3528 2143 2093 246.1 5.8 435 6651 0.00 2.40 61.88 1.363 11270 0.000 0.041 2603 2149 1851 1867 1836 0 0 0 0 0 0 14.12 14.07 13.37 6.24 49.29

6967 0.72 211.6 2603 2151 1860 1820 191.9 14.1 455 6971 0.00 2.47 0.00 0.000 2564 0.000 0.067 2614 748 1838 1857 1820 0 0 0 0 0 0 14.51 14.26 14.52 6.22 49.88

7017 0.72 211.6 2614 749 1856 1819 186.7 13.5 457 7021 0.00 2.40 0.00 0.000 3078 0.000 0.052 2614 2118 1837 1855 1820 0 0 0 0 0 0 14.33 14.27 14.35 6.22 50.19

7327 0.72 211.6 2614 2119 1855 1819 142.1 14.1 473 7331 0.00 2.40 0.00 0.000 2564 0.000 0.067 2625 745 1836 1854 1818 0 0 0 0 0 0 14.66 14.39 14.66 6.22 50.59

7432 0.72 211.6 2625 746 1852 1819 130.2 11.5 478 7436 0.00 2.45 0.00 0.000 3078 0.000 0.053 2625 2153 1834 1851 1818 0 0 0 0 0 0 14.55 14.40 14.57 6.21 50.78

7737 0.72 211.6 2625 2154 1853 1816 86.8 14.0 507 7741 0.00 2.45 0.00 0.000 2564 0.000 0.067 2635 745 1833 1851 1816 0 0 0 0 0 0 14.73 14.46 14.73 6.21 50.19

7837 0.72 211.6 2636 746 1858 1816 74.8 11.6 527 7841 0.00 2.42 0.00 0.000 5126 0.000 0.054 2636 2150 1832 1849 1816 0 0 0 0 0 0 14.52 14.46 14.54 6.21 50.31

7963 0.72 211.6 2635 2150 1850 1817 57.2 14.0 552 7967 0.00 2.47 0.00 0.000 4356 0.000 0.083 2636 3556 1832 1849 1815 0 0 0 0 0 0 14.75 14.46 14.75 6.20 49.56

8022 0.72 211.6 2636 3557 1850 1817 49.5 11.9 564 8026 0.05 2.38 0.00 0.000 5126 0.338 0.043 2628 2148 1832 1849 1815 0 0 0 0 0 0 14.26 14.47 14.59 6.19 49.25

8148 0.72 211.6 2629 2148 1850 1815 34.5 12.5 589 8152 0.00 2.45 0.00 0.000 516 0.000 0.067 2637 741 1832 1849 1815 0 0 0 0 0 0 14.76 14.48 14.76 6.19 49.21

8192 0.72 211.6 2638 742 1850 1814 29.0 11.6 598 8196 0.00 2.45 0.00 0.000 5126 0.000 0.054 2637 2181 1830 1847 1814 0 0 0 0 0 0 14.59 14.50 14.64 6.19 49.96

8318 0.72 211.6 2638 2182 1849 1814 12.9 13.5 623 8322 0.00 2.40 0.00 0.000 4356 0.000 0.085 2638 3555 1831 1848 1814 0 0 0 0 0 0 14.77 14.47 14.77 6.19 49.56

8385 end climb: SURFACE_DEPTH_REACHED

state 8385 begin surface coast

8405 end surface coast: CONTROL_FINISHED_OK

state 8405 begin surface

ID	640	HD_C	9.8500004e-06	C_ROLL_DIVE	2100	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	HEADING	-1	C_ROLL_CLIMB	2150	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	285	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
N_DIVES	500	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	5
STOP_T	1171912	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_SURF	3	TGT_DEFAULT_LAT	-5400	R_PORT_OVSHOOT	60	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LON	0	R_STBD_OVSHOOT	28	ALTIM_SENSITIVITY	2
D_TGT	350	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	XPDR_VALID	2
D_ABORT	420	SM_CC	220	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
D_NO_BLEED	29	N_FILEKB	4	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097655999
D_BOOST	20	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-0.60000002
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	602	DEEPGLIDER	0
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3962	MOTHERBOARD	4
D_PITCH	0	PROTOCOL	9	C_VBD	2720	DEVICE1	-1
D_SAFE	0	N_NOCOMM	2	VBD_DBAND	2	DEVICE2	-1
D_CALL	0	NOCOMM_ACTION	259	VBD_CNV	-0.245296	DEVICE3	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE4	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_DIVE	140	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERS	1
T_MISSION	220	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	53
T_ABORT	250	CAPMAXSIZE	400000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_TURN	500	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE3	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_NO_W	120	N_GPS	100840	W_ADJ_DBAND	0	COMPASS_DEVICE	33
T_LOITER	3600	T_RSLEEP	3	DBDW	0	COMPASS2_DEVICE	-1
T_SLOITER	0	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	49
T_EPIRB	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
USE_BATHY	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
USE_ICE	0	RAFOS_HIT_WINDOW	3600	AH0_24V	310	XPDR_DEVICE	24
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	AH0_10V	0	SIM_W	0
D_OFFGRID	100	PITCH_MIN	312	MINV_24V	11.5	SIM_PITCH	0
T_WATCHDOG	10	PITCH_MAX	3939	MINV_10V	10	SEABIRD_T_G	0.0044042631
RELAUNCH	0	C_PITCH	2400	MAXI_24V	3	SEABIRD_T_H	0.0006412621
APOGEE_PITCH	-5	PITCH_DBAND	0.0099999998	MAXI_10V	2	SEABIRD_T_I	2.6024412e-05
MAX_BUOY	150	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_T_J	3.2462635e-06
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_G	-10.007382
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	PHONE_SUPPLY	2	SEABIRD_C_H	1.1528281
SPEED_FACTOR	1	PITCH_GAIN	34	PRESSURE_YINT	-153.19165	SEABIRD_C_I	-0.0017483447
RHO	1.0275	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.000109596	SEABIRD_C_J	0.0001971516
MASS	54260	PITCH_AD_RATE	175	AD7714Ch0Gain	1	SEABIRD_C_Z	2950.7202
MASS_COMP	0	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	COMPASS_USE	0	SC_XMITPROFILE	3.0
KALMAN_USE	2	ROLL_MIN	217	ALTIM_BOTTOM_PING_RANGE	0	SC_NDIVE	1.0
HD_A	0.0038360001	ROLL_MAX	3851	ALTIM_TOP_PING_RANGE	0
HD_B	0.0101	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	140119,142051,-5944.9946,2.5581,16,0.8,41,-19.8,0.5,200.7,10,9.2	SPEED_LIMITS	0.144,0.244
_CALLS	1	TGT_NAME	NORTH
_XMS_NAKs	0	TGT_LATLONG	-5940.000,0.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	1.35	MHEAD_RNG_PITCHd_Wd	355.5,9602,-15.5,-8.333,-18.82,2677
_SM_ANGLEo	-69.3	D_GRID	350
GPS2	140119,142556,-5945.0176,2.5873,9,0.8,14,-19.8,1.0,195.3,10,9.8

SM_CCo	8422,1.15,0.348,0,0,1822,220.03	_10V_AH	13.61,0.000
SM_GC	1.29,5.55,2.47,1.15,0.060,0.041,0.348,259,2089,1822,-6.49,1.19,220.03,0,0,0,0,0,0,14.60,14.56,14.33	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-5944.88,0.00,140119,114931	FG_AHR_10Vo	0.000
TT8_MAMPS	0.03745,0.349783	MEM	344096
HUMID	50.00	DATA_FILE_SIZE	17314,641
INTERNAL_PRESSURE	6.13826	CAP_FILE_SIZE	83208,0
TCM_TEMP	0.00	CFSIZE	1023623168,991461376
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
SC_FREEKB	3774944	CURRENT	0.072,123.22,1
_24V_AH	13.16,57.268	GPS	140119,164731,-5944.817,2.840,19,0.8,29,-19.8,0.6,280.4,9,9.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	456	77.53	nil	0	0	0.00
Roll_motor	68	2233	2003.39	nil	0	0	0.00
VBD_pump_during_apogee	315	1567	6513.84	nil	0	0	0.00
VBD_pump_during_surface	1	348	5.27	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	29	10.12	nil	0	0	0.00
Iridium_during_connect	20	160	43.74	SciCon	4820	13	824.92
Iridium_during_xfer	121	223	357.97	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	11	2.35
TT8	0	0	0.00
LPSleep	6751	2	201.22
TT8_Active	380	11	60.76
TT8_Sampling	1453	32	646.93
TT8_CF8	146	49	99.72
TT8_Kalman	0	0	0.00
Analog_circuits	965	11	150.95
GPS_charging	0	0	0.00
Compass	1034	19	274.04
RAFOS	0	0	0.00
Transponder	0	5	0.04

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	int_press	humidity
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
11	-0.64	-146.0	228	2071	1793	1825	0.0	0.0	0	96	0.00	0.00	-82.60	0.000	16386	0.000	0.000	227	2071	3167	3249	3086	0	0	0	0	0	0	14.60	28.83	14.62	6.19	50.51
98	-0.64	-146.0	222	2072	3249	3089	3.2	-5.9	17	116	6.03	2.60	-5.57	0.000	18948	0.349	2.234	2186	728	3318	3413	3224	0	0	0	0	0	0	14.19	13.16	14.43	6.30	50.31
177	-0.64	-146.0	2187	729	3415	3225	15.9	-15.4	33	181	0.05	2.35	0.00	0.000	3078	0.456	0.054	2191	2106	3319	3413	3225	0	0	0	0	0	0	14.15	14.37	14.40	6.33	49.25
302	-0.64	-146.0	2192	2106	3415	3224	35.4	-16.2	58	306	0.00	2.45	0.00	0.000	2308	0.000	0.081	2180	3504	3319	3414	3225	0	0	0	0	0	0	14.64	14.37	14.64	6.32	50.00
336	-0.64	-146.0	2181	3506	3414	3226	41.3	-16.9	65	340	0.00	2.35	0.00	0.000	3078	0.000	0.042	2181	2132	3319	3414	3225	0	0	0	0	0	0	14.45	14.41	14.47	6.32	49.60
461	-0.64	-146.0	2181	2131	3415	3225	62.3	-15.6	90	466	0.00	2.50	0.00	0.000	2564	0.000	0.061	2180	682	3320	3414	3226	0	0	0	0	0	0	14.68	14.42	14.69	6.32	49.60
481	-0.64	-146.0	2181	682	3414	3226	65.3	-15.4	94	486	0.08	2.47	0.00	0.000	3078	0.380	0.057	2192	2101	3320	3414	3226	0	0	0	0	0	0	14.23	14.40	14.47	6.32	49.29
608	-0.64	-146.0	2192	2101	3414	3236	83.5	-14.8	119	611	0.00	2.45	0.00	0.000	2308	0.000	0.083	2182	3503	3320	3414	3226	0	0	0	0	0	0	14.69	14.42	14.70	6.32	49.01
677	-0.64	-146.0	2183	3503	3415	3225	93.1	-13.2	133	680	0.00	2.35	0.00	0.000	3078	0.000	0.042	2182	2091	3320	3414	3226	0	0	0	0	0	0	14.57	14.49	14.59	6.31	48.54
811	-0.64	-146.0	2182	2090	3415	3227	110.8	-12.9	148	815	0.00	2.40	0.00	0.000	2564	0.000	0.062	2181	695	3320	3414	3226	0	0	0	0	0	0	14.74	14.47	14.74	6.31	49.05
826	-0.64	-146.0	2182	697	3415	3226	110.8	-12.9	148	830	0.05	2.42	0.00	0.000	3078	0.353	0.057	2198	2097	3319	3414	3225	0	0	0	0	0	0	14.26	14.45	14.51	6.31	48.97
1131	-0.64	-146.0	2199	2093	3416	3225	153.5	-13.8	164	1132	0.00	0.00	0.00	0.000	6	0.000	0.000	2198	2097	3319	3414	3225	0	0	0	0	0	0	14.77	14.78	14.78	6.32	50.11
1432	-0.64	-146.0	2199	2098	3414	3226	193.5	-12.9	179	1436	0.00	2.45	0.00	0.000	260	0.000	0.083	2188	3504	3319	3414	3225	0	0	0	0	0	0	14.80	14.50	14.81	6.33	50.98
1456	-0.64	-146.0	2189	3505	3415	3226	196.1	-12.9	180	1460	0.00	2.38	0.00	0.000	3078	0.000	0.042	2188	2094	3320	3414	3226	0	0	0	0	0	0	14.58	14.53	14.59	6.27	50.78
1771	-0.64	-146.0	2188	2093	3415	3225	236.6	-12.3	196	1775	0.00	2.42	0.00	0.000	2564	0.000	0.062	2188	699	3319	3414	3225	0	0	0	0	0	0	14.82	14.51	14.83	6.33	50.98
1836	-0.64	-146.0	2188	700	3415	3225	243.8	-12.1	199	1841	0.00	2.40	0.00	0.000	3078	0.000	0.055	2178	2097	3320	3414	3226	0	0	0	0	0	0	14.59	14.52	14.60	6.34	50.78
2152	-0.64	-146.0	2178	2098	3407	3226	283.1	-12.4	215	2153	0.05	0.00	0.00	0.000	2054	0.457	0.000	2191	2097	3319	3414	3225	0	0	0	0	0	0	14.35	14.61	14.56	6.34	51.02
2451	-0.64	-146.0	2192	2093	3415	3224	319.2	-12.1	230	2452	0.00	0.00	0.00	0.000	2054	0.000	0.000	2192	2097	3320	3414	3226	0	0	0	0	0	0	14.85	14.85	14.85	6.35	51.29
2710	end dive: TARGET_DEPTH_EXCEEDED
state	2710	begin apogee
2714	-0.15	0.0	2191	2189	3413	3225	350.2	-11.9	243	2843	0.45	0.00	125.15	1.567	10246	0.264	0.000	2351	2188	2715	2775	2655	0	0	0	0	0	0	14.37	13.96	13.35	6.34	51.10
2844	end apogee: CONTROL_FINISHED_OK
state	2844	begin loiter
3131	-0.15	0.0	2352	2189	2772	2641	345.0	3.5	264	3132	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2189	2706	2770	2642	0	0	0	0	0	0	14.59	14.59	14.59	6.29	51.14
3431	-0.15	0.0	2352	2189	2772	2639	334.8	3.2	279	3432	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2188	2705	2771	2639	0	0	0	0	0	0	14.73	14.73	14.73	6.30	50.90
3731	-0.15	0.0	2351	2189	2772	2638	325.3	3.1	294	3732	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2189	2704	2771	2638	0	0	0	0	0	0	14.81	14.82	14.82	6.29	51.02
4032	-0.15	0.0	2351	2189	2772	2638	316.5	2.9	309	4032	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2189	2704	2772	2637	0	0	0	0	0	0	14.87	14.88	14.87	6.29	50.82
4331	-0.15	0.0	2352	2189	2773	2636	308.4	2.7	324	4332	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2188	2703	2771	2636	0	0	0	0	0	0	14.91	14.92	14.92	6.29	50.94
4631	-0.15	0.0	2352	2189	2772	2636	300.6	2.6	339	4632	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2189	2703	2771	2636	0	0	0	0	0	0	14.95	14.95	14.95	6.29	51.37
4931	-0.15	0.0	2352	2188	2773	2635	292.7	2.8	354	4932	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2188	2703	2771	2636	0	0	0	0	0	0	14.97	14.97	14.97	6.29	51.49
5231	-0.15	0.0	2352	2189	2773	2635	284.2	3.0	369	5232	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2189	2703	2771	2635	0	0	0	0	0	0	14.99	15.00	14.99	6.29	51.73
5532	-0.15	0.0	2352	2189	2772	2636	275.2	2.9	384	5532	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2188	2703	2771	2635	0	0	0	0	0	0	15.00	15.01	15.01	6.29	51.37
5832	-0.15	0.0	2352	2189	2772	2636	266.8	2.8	399	5832	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	2189	2702	2771	2634	0	0	0	0	0	0	15.02	15.02	15.02	6.29	51.85
6131	-0.15	0.0	2351	2189	2771	2636	258.9	2.5	414	6132	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2188	2702	2771	2634	0	0	0	0	0	0	15.03	15.04	15.03	6.29	51.53
6430	end loiter: LOITER_COMPLETE
state	6430	begin climb
6431	0.64	146.0	2351	2189	2772	2634	251.8	0.0	429	6568	0.60	2.42	128.75	1.424	10500	0.171	0.082	2592	3525	2119	2145	2094	0	0	0	0	0	0	14.62	13.93	13.46	6.29	51.65
6582	0.72	211.6	2592	3528	2143	2093	246.1	5.8	435	6651	0.00	2.40	61.88	1.363	11270	0.000	0.041	2603	2149	1851	1867	1836	0	0	0	0	0	0	14.12	14.07	13.37	6.24	49.29
6967	0.72	211.6	2603	2151	1860	1820	191.9	14.1	455	6971	0.00	2.47	0.00	0.000	2564	0.000	0.067	2614	748	1838	1857	1820	0	0	0	0	0	0	14.51	14.26	14.52	6.22	49.88
7017	0.72	211.6	2614	749	1856	1819	186.7	13.5	457	7021	0.00	2.40	0.00	0.000	3078	0.000	0.052	2614	2118	1837	1855	1820	0	0	0	0	0	0	14.33	14.27	14.35	6.22	50.19
7327	0.72	211.6	2614	2119	1855	1819	142.1	14.1	473	7331	0.00	2.40	0.00	0.000	2564	0.000	0.067	2625	745	1836	1854	1818	0	0	0	0	0	0	14.66	14.39	14.66	6.22	50.59
7432	0.72	211.6	2625	746	1852	1819	130.2	11.5	478	7436	0.00	2.45	0.00	0.000	3078	0.000	0.053	2625	2153	1834	1851	1818	0	0	0	0	0	0	14.55	14.40	14.57	6.21	50.78
7737	0.72	211.6	2625	2154	1853	1816	86.8	14.0	507	7741	0.00	2.45	0.00	0.000	2564	0.000	0.067	2635	745	1833	1851	1816	0	0	0	0	0	0	14.73	14.46	14.73	6.21	50.19
7837	0.72	211.6	2636	746	1858	1816	74.8	11.6	527	7841	0.00	2.42	0.00	0.000	5126	0.000	0.054	2636	2150	1832	1849	1816	0	0	0	0	0	0	14.52	14.46	14.54	6.21	50.31
7963	0.72	211.6	2635	2150	1850	1817	57.2	14.0	552	7967	0.00	2.47	0.00	0.000	4356	0.000	0.083	2636	3556	1832	1849	1815	0	0	0	0	0	0	14.75	14.46	14.75	6.20	49.56
8022	0.72	211.6	2636	3557	1850	1817	49.5	11.9	564	8026	0.05	2.38	0.00	0.000	5126	0.338	0.043	2628	2148	1832	1849	1815	0	0	0	0	0	0	14.26	14.47	14.59	6.19	49.25
8148	0.72	211.6	2629	2148	1850	1815	34.5	12.5	589	8152	0.00	2.45	0.00	0.000	516	0.000	0.067	2637	741	1832	1849	1815	0	0	0	0	0	0	14.76	14.48	14.76	6.19	49.21
8192	0.72	211.6	2638	742	1850	1814	29.0	11.6	598	8196	0.00	2.45	0.00	0.000	5126	0.000	0.054	2637	2181	1830	1847	1814	0	0	0	0	0	0	14.59	14.50	14.64	6.19	49.96
8318	0.72	211.6	2638	2182	1849	1814	12.9	13.5	623	8322	0.00	2.40	0.00	0.000	4356	0.000	0.085	2638	3555	1831	1848	1814	0	0	0	0	0	0	14.77	14.47	14.77	6.19	49.56
8385	end climb: SURFACE_DEPTH_REACHED
state	8385	begin surface coast
8405	end surface coast: CONTROL_FINISHED_OK
state	8405	begin surface