Glider dive log

ROAMMIZ Dec18 * SG640 * Dive index * Mission links * Dive 301 * 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 301 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 1241912 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_SURF 3 TGT_DEFAULT_LAT -5400 R_PORT_OVSHOOT 38 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LON 0 R_STBD_OVSHOOT 27 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 1241912

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 38 VBD_CNV -0.245296

DEVICE3 -1 MINV_24V 11.5 R_STBD_OVSHOOT 27 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 301 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 160119,070619,-5943.2700,1.6568,13,0.9,36,-19.7,0.0,141.5,8,8.3 SPEED_LIMITS 0.144,0.244

_CALLS 4 TGT_NAME NORTH

_XMS_NAKs 0 TGT_LATLONG -5940.000,0.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 1.06 MHEAD_RNG_PITCHd_Wd 9.5,6290,-15.5,-8.333,-18.82,2677

_SM_ANGLEo -65.6 D_GRID 350

GPS2 160119,071805,-5943.2949,1.6309,13,0.9,20,-19.7,0.4,97.1,9,9.3

Post-dive calculations and measurements:

SM_CCo 8811,33.67,0.250,0,0,1823,220.03 FG_AHR_24Vo 0.000

SM_GC 1.05,6.03,2.50,33.67,0.161,0.042,0.250,226,2094,1823,-6.45,0.99,220.03,0,0,0,0,0,0,14.56,14.49,14.25 FG_AHR_10Vo 0.000

IRIDIUM_FIX -5944.88,0.00,160119,071249 MEM 344128

TT8_MAMPS 0.03745,0.362516 DATA_FILE_SIZE 17328,692

HUMID 51.29 CAP_FILE_SIZE 88335,0

INTERNAL_PRESSURE 6.13826 CFSIZE 1023623168,989888512

TCM_TEMP 0.00 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 0 INTR 0,8363.66,0x235724,1,24

SC_FREEKB 3766752 CURRENT 0.113,167.36,1

_24V_AH 13.12,60.087 GPS 160119,094654,-5943.270,1.639,36,0.8,41,-19.7,0.2,159.4,10,8.4

_10V_AH 13.18,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 626 110.36 nil 0 0 0.00

Roll_motor 58 2232 1725.76 nil 0 0 0.00

VBD_pump_during_apogee 290 1559 5939.46 nil 0 0 0.00

VBD_pump_during_surface 33 250 110.52 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 98 29 38.43 nil 0 0 0.00

Iridium_during_connect 87 160 183.88 SciCon 5210 12 858.95

Iridium_during_xfer 176 223 515.31 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 11 3.24

TT8 0 0 0.00

LPSleep 7274 2 209.98

TT8_Active 402 11 62.23

TT8_Sampling 1714 32 739.00

TT8_CF8 161 49 106.49

TT8_Kalman 0 0 0.00

Analog_circuits 997 11 151.09

GPS_charging 0 0 0.00

Compass 1081 19 277.41

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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

10 -0.64 -146.0 231 2094 1790 1827 0.0 0.0 0 101 0.00 0.00 -88.32 0.000 16386 0.000 0.000 230 2093 3188 3270 3106 0 0 0 0 0 0 14.59 28.83 14.59 6.19 51.29

103 -0.64 -146.0 232 2094 3270 3107 3.1 -6.4 18 121 6.07 2.72 -4.85 0.000 19204 0.353 2.232 2194 702 3317 3411 3224 0 0 0 0 0 0 14.10 13.12 14.41 6.31 49.76

246 -0.64 -146.0 2195 703 3413 3226 27.2 -15.9 47 250 0.00 2.45 0.00 0.000 3078 0.000 0.056 2185 2128 3318 3412 3224 0 0 0 0 0 0 14.48 14.35 14.49 6.32 49.25

371 -0.64 -146.0 2185 2128 3413 3225 50.4 -18.9 72 375 0.00 2.47 0.00 0.000 2564 0.000 0.061 2184 698 3318 3412 3225 0 0 0 0 0 0 14.65 14.38 14.65 6.32 49.76

416 -0.64 -146.0 2185 698 3412 3225 58.6 -16.7 81 420 0.05 2.45 0.00 0.000 3078 0.438 0.056 2189 2126 3318 3412 3225 0 0 0 0 0 0 14.18 14.40 14.43 6.32 49.52

543 -0.64 -146.0 2189 2127 3413 3226 80.5 -18.3 106 547 0.00 2.42 0.00 0.000 2308 0.000 0.080 2179 3515 3318 3412 3225 0 0 0 0 0 0 14.68 14.35 14.68 6.32 49.52

571 -0.64 -146.0 2179 3516 3413 3226 85.8 -17.4 112 575 0.00 2.40 0.00 0.000 3078 0.000 0.043 2178 2101 3318 3412 3225 0 0 0 0 0 0 14.47 14.42 14.50 6.31 48.74

701 -0.64 -146.0 2177 2099 3413 3225 106.4 -14.9 132 703 0.03 0.00 0.00 0.000 2054 0.627 0.000 2189 2099 3318 3412 3225 0 0 0 0 0 0 14.28 14.53 14.52 6.31 48.54

1001 -0.64 -146.0 2189 2099 3413 3225 150.9 -14.2 147 1002 0.00 0.00 0.00 0.000 2054 0.000 0.000 2189 2094 3318 3412 3225 0 0 0 0 0 0 14.76 14.76 14.76 6.32 49.72

1301 -0.64 -146.0 2189 2100 3411 3226 193.9 -14.6 162 1306 0.00 2.42 0.00 0.000 2564 0.000 0.062 2188 690 3318 3412 3225 0 0 0 0 0 0 14.79 14.50 14.79 6.32 50.51

1331 -0.64 -146.0 2189 691 3413 3225 196.9 -14.7 163 1335 0.00 2.42 0.00 0.000 3078 0.000 0.054 2178 2098 3318 3412 3225 0 0 0 0 0 0 14.54 14.49 14.57 6.33 50.78

1641 -0.64 -146.0 2178 2099 3413 3226 242.4 -13.9 179 1643 0.05 0.00 0.00 0.000 2054 0.457 0.000 2192 2098 3318 3412 3225 0 0 0 0 0 0 14.34 14.62 14.57 6.33 50.98

1941 -0.64 -146.0 2192 2099 3413 3226 281.0 -12.7 194 1942 0.00 0.00 0.00 0.000 2054 0.000 0.000 2192 2099 3318 3412 3225 0 0 0 0 0 0 14.83 14.83 14.83 6.34 51.06

2242 -0.64 -146.0 2192 2099 3413 3226 318.0 -12.2 209 2243 0.00 0.00 0.00 0.000 2054 0.000 0.000 2192 2098 3318 3412 3225 0 0 0 0 0 0 14.84 14.84 14.84 6.34 51.10

2520 end dive: TARGET_DEPTH_EXCEEDED

state 2520 begin apogee

2524 -0.15 0.0 2192 2169 3413 3226 351.9 -12.2 223 2653 0.45 0.00 125.75 1.560 10246 0.262 0.000 2351 2167 2717 2778 2657 0 0 0 0 0 0 14.33 13.94 13.33 6.34 51.18

2654 end apogee: CONTROL_FINISHED_OK

state 2654 begin loiter

2941 -0.15 0.0 2352 2168 2773 2641 348.3 3.2 244 2942 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2167 2706 2771 2641 0 0 0 0 0 0 14.57 14.58 14.58 6.29 51.06

3241 -0.15 0.0 2352 2168 2772 2639 339.2 2.9 259 3242 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2167 2705 2771 2639 0 0 0 0 0 0 14.73 14.73 14.73 6.29 51.57

3541 -0.15 0.0 2352 2167 2774 2638 331.0 2.6 274 3542 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2167 2704 2772 2637 0 0 0 0 0 0 14.81 14.81 14.81 6.29 51.29

3842 -0.15 0.0 2351 2168 2772 2638 323.4 2.4 289 3842 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2167 2704 2772 2637 0 0 0 0 0 0 14.86 14.87 14.87 6.29 51.92

4141 -0.15 0.0 2352 2168 2773 2636 316.4 2.4 304 4142 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2167 2703 2771 2636 0 0 0 0 0 0 14.91 14.91 14.91 6.29 51.41

4441 -0.15 0.0 2352 2168 2773 2636 309.7 2.2 319 4442 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2167 2703 2771 2636 0 0 0 0 0 0 14.94 14.95 14.93 6.29 51.10

4741 -0.15 0.0 2352 2168 2773 2635 303.5 2.0 334 4742 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2167 2704 2772 2636 0 0 0 0 0 0 14.96 14.97 14.97 6.29 51.92

5041 -0.15 0.0 2351 2168 2772 2636 297.6 1.8 349 5042 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2167 2703 2772 2635 0 0 0 0 0 0 14.98 14.99 14.99 6.29 52.08

5342 -0.15 0.0 2351 2168 2772 2636 292.7 1.5 364 5342 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 2167 2703 2771 2635 0 0 0 0 0 0 15.00 15.00 15.00 6.29 51.96

5641 -0.15 0.0 2352 2167 2772 2635 287.6 1.8 379 5642 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2167 2702 2771 2634 0 0 0 0 0 0 15.02 15.02 15.02 6.29 51.33

5941 -0.15 0.0 2352 2168 2773 2634 282.5 1.7 394 5942 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2167 2703 2772 2635 0 0 0 0 0 0 15.03 15.03 15.03 6.29 51.89

6240 end loiter: LOITER_COMPLETE

state 6240 begin climb

6242 0.64 146.0 2352 2168 2772 2636 276.8 0.0 409 6381 0.62 2.55 130.60 1.450 11012 0.173 0.080 2601 3541 2118 2142 2094 0 0 0 0 0 0 14.59 13.99 13.44 6.29 51.37

6416 0.64 146.0 2601 3542 2142 2090 266.7 8.4 417 6420 0.00 2.42 0.00 0.000 5126 0.000 0.041 2612 2150 2114 2141 2088 0 0 0 0 0 0 14.15 14.12 14.17 6.24 49.37

6721 0.64 146.0 2611 2151 2133 2080 228.6 12.0 433 6725 0.00 2.47 0.00 0.000 4612 0.000 0.064 2630 740 2105 2132 2079 0 0 0 0 0 0 14.59 14.31 14.59 6.25 50.47

6761 0.64 146.0 2623 741 2133 2078 224.1 11.6 435 6765 0.03 2.42 0.00 0.000 5126 0.390 0.052 2611 2129 2103 2129 2078 0 0 0 0 0 0 14.10 14.28 14.40 6.24 50.31

7081 0.64 146.0 2611 2130 2128 2077 184.8 12.9 451 7085 0.00 2.53 0.00 0.000 4356 0.000 0.082 2611 3555 2102 2128 2077 0 0 0 0 0 0 14.71 14.39 14.71 6.24 50.86

7161 0.64 146.0 2611 3556 2128 2078 174.2 13.1 455 7165 0.05 2.35 0.00 0.000 5126 0.422 0.042 2603 2146 2102 2128 2076 0 0 0 0 0 0 14.24 14.45 14.50 6.24 50.82

7481 0.64 146.0 2602 2147 2128 2075 133.5 12.7 471 7486 0.00 2.47 0.00 0.000 516 0.000 0.064 2613 749 2100 2126 2075 0 0 0 0 0 0 14.77 14.45 14.77 6.24 51.10

7566 0.64 146.0 2613 749 2126 2076 124.2 11.6 475 7570 0.00 2.40 0.00 0.000 5126 0.000 0.052 2612 2145 2100 2125 2075 0 0 0 0 0 0 14.63 14.47 14.64 6.24 50.78

7871 0.64 146.0 2614 2146 2127 2074 87.2 11.4 507 7875 0.00 2.47 0.00 0.000 4356 0.000 0.083 2613 3559 2099 2125 2074 0 0 0 0 0 0 14.81 14.48 14.81 6.23 50.74

7971 0.64 146.0 2615 3559 2126 2075 77.1 9.0 527 7975 0.05 2.38 0.00 0.000 5126 0.324 0.041 2605 2150 2099 2124 2075 0 0 0 0 0 0 14.25 14.47 14.60 6.23 50.55

8098 0.64 147.3 2606 2150 2126 2074 66.9 8.3 552 8101 0.00 0.00 0.00 0.000 6 0.000 0.000 2605 2149 2099 2125 2074 0 0 0 0 0 0 14.80 14.81 14.81 6.22 49.76

8222 0.66 165.4 2606 2150 2126 2074 57.2 7.6 577 8240 0.00 0.00 14.52 1.303 10246 0.000 0.000 2605 2149 2042 2064 2020 0 0 0 0 0 0 14.81 14.51 13.88 6.21 49.72

8363 0.68 179.1 2605 2150 2064 2016 46.1 7.8 605 8382 0.00 2.47 14.15 1.260 10500 0.000 0.076 2606 3556 1984 2004 1964 0 0 0 0 0 0 14.73 14.32 13.82 6.21 49.44

8422 0.68 184.0 2606 3557 2005 1964 41.3 8.1 617 8431 0.00 2.35 5.20 1.179 11270 0.000 0.041 2615 2148 1971 1991 1951 0 0 0 0 0 0 14.53 14.44 13.75 6.20 49.13

8553 0.68 184.0 2616 2148 1987 1943 29.0 10.6 643 8556 0.00 2.42 0.00 0.000 2564 0.000 0.064 2626 744 1964 1986 1943 0 0 0 0 0 0 14.66 14.40 14.66 6.20 49.52

8602 0.68 184.0 2626 745 1980 1944 23.8 10.1 653 8605 0.00 2.40 0.00 0.000 5126 0.000 0.053 2626 2153 1964 1985 1943 0 0 0 0 0 0 14.54 14.42 14.55 6.20 49.76

8728 0.68 184.0 2626 2154 1986 1943 9.8 11.7 678 8731 0.00 2.45 0.00 0.000 4356 0.000 0.084 2624 3553 1963 1985 1942 0 0 0 0 0 0 14.70 14.41 14.70 6.20 50.55

8785 end climb: SURFACE_DEPTH_REACHED

state 8785 begin surface coast

8795 end surface coast: CONTROL_FINISHED_OK

state 8795 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	301	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	1241912	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_SURF	3	TGT_DEFAULT_LAT	-5400	R_PORT_OVSHOOT	38	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LON	0	R_STBD_OVSHOOT	27	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	160119,070619,-5943.2700,1.6568,13,0.9,36,-19.7,0.0,141.5,8,8.3	SPEED_LIMITS	0.144,0.244
_CALLS	4	TGT_NAME	NORTH
_XMS_NAKs	0	TGT_LATLONG	-5940.000,0.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	1.06	MHEAD_RNG_PITCHd_Wd	9.5,6290,-15.5,-8.333,-18.82,2677
_SM_ANGLEo	-65.6	D_GRID	350
GPS2	160119,071805,-5943.2949,1.6309,13,0.9,20,-19.7,0.4,97.1,9,9.3

SM_CCo	8811,33.67,0.250,0,0,1823,220.03	FG_AHR_24Vo	0.000
SM_GC	1.05,6.03,2.50,33.67,0.161,0.042,0.250,226,2094,1823,-6.45,0.99,220.03,0,0,0,0,0,0,14.56,14.49,14.25	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-5944.88,0.00,160119,071249	MEM	344128
TT8_MAMPS	0.03745,0.362516	DATA_FILE_SIZE	17328,692
HUMID	51.29	CAP_FILE_SIZE	88335,0
INTERNAL_PRESSURE	6.13826	CFSIZE	1023623168,989888512
TCM_TEMP	0.00	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	0	INTR	0,8363.66,0x235724,1,24
SC_FREEKB	3766752	CURRENT	0.113,167.36,1
_24V_AH	13.12,60.087	GPS	160119,094654,-5943.270,1.639,36,0.8,41,-19.7,0.2,159.4,10,8.4
_10V_AH	13.18,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	626	110.36	nil	0	0	0.00
Roll_motor	58	2232	1725.76	nil	0	0	0.00
VBD_pump_during_apogee	290	1559	5939.46	nil	0	0	0.00
VBD_pump_during_surface	33	250	110.52	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	98	29	38.43	nil	0	0	0.00
Iridium_during_connect	87	160	183.88	SciCon	5210	12	858.95
Iridium_during_xfer	176	223	515.31	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	11	3.24
TT8	0	0	0.00
LPSleep	7274	2	209.98
TT8_Active	402	11	62.23
TT8_Sampling	1714	32	739.00
TT8_CF8	161	49	106.49
TT8_Kalman	0	0	0.00
Analog_circuits	997	11	151.09
GPS_charging	0	0	0.00
Compass	1081	19	277.41
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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
10	-0.64	-146.0	231	2094	1790	1827	0.0	0.0	0	101	0.00	0.00	-88.32	0.000	16386	0.000	0.000	230	2093	3188	3270	3106	0	0	0	0	0	0	14.59	28.83	14.59	6.19	51.29
103	-0.64	-146.0	232	2094	3270	3107	3.1	-6.4	18	121	6.07	2.72	-4.85	0.000	19204	0.353	2.232	2194	702	3317	3411	3224	0	0	0	0	0	0	14.10	13.12	14.41	6.31	49.76
246	-0.64	-146.0	2195	703	3413	3226	27.2	-15.9	47	250	0.00	2.45	0.00	0.000	3078	0.000	0.056	2185	2128	3318	3412	3224	0	0	0	0	0	0	14.48	14.35	14.49	6.32	49.25
371	-0.64	-146.0	2185	2128	3413	3225	50.4	-18.9	72	375	0.00	2.47	0.00	0.000	2564	0.000	0.061	2184	698	3318	3412	3225	0	0	0	0	0	0	14.65	14.38	14.65	6.32	49.76
416	-0.64	-146.0	2185	698	3412	3225	58.6	-16.7	81	420	0.05	2.45	0.00	0.000	3078	0.438	0.056	2189	2126	3318	3412	3225	0	0	0	0	0	0	14.18	14.40	14.43	6.32	49.52
543	-0.64	-146.0	2189	2127	3413	3226	80.5	-18.3	106	547	0.00	2.42	0.00	0.000	2308	0.000	0.080	2179	3515	3318	3412	3225	0	0	0	0	0	0	14.68	14.35	14.68	6.32	49.52
571	-0.64	-146.0	2179	3516	3413	3226	85.8	-17.4	112	575	0.00	2.40	0.00	0.000	3078	0.000	0.043	2178	2101	3318	3412	3225	0	0	0	0	0	0	14.47	14.42	14.50	6.31	48.74
701	-0.64	-146.0	2177	2099	3413	3225	106.4	-14.9	132	703	0.03	0.00	0.00	0.000	2054	0.627	0.000	2189	2099	3318	3412	3225	0	0	0	0	0	0	14.28	14.53	14.52	6.31	48.54
1001	-0.64	-146.0	2189	2099	3413	3225	150.9	-14.2	147	1002	0.00	0.00	0.00	0.000	2054	0.000	0.000	2189	2094	3318	3412	3225	0	0	0	0	0	0	14.76	14.76	14.76	6.32	49.72
1301	-0.64	-146.0	2189	2100	3411	3226	193.9	-14.6	162	1306	0.00	2.42	0.00	0.000	2564	0.000	0.062	2188	690	3318	3412	3225	0	0	0	0	0	0	14.79	14.50	14.79	6.32	50.51
1331	-0.64	-146.0	2189	691	3413	3225	196.9	-14.7	163	1335	0.00	2.42	0.00	0.000	3078	0.000	0.054	2178	2098	3318	3412	3225	0	0	0	0	0	0	14.54	14.49	14.57	6.33	50.78
1641	-0.64	-146.0	2178	2099	3413	3226	242.4	-13.9	179	1643	0.05	0.00	0.00	0.000	2054	0.457	0.000	2192	2098	3318	3412	3225	0	0	0	0	0	0	14.34	14.62	14.57	6.33	50.98
1941	-0.64	-146.0	2192	2099	3413	3226	281.0	-12.7	194	1942	0.00	0.00	0.00	0.000	2054	0.000	0.000	2192	2099	3318	3412	3225	0	0	0	0	0	0	14.83	14.83	14.83	6.34	51.06
2242	-0.64	-146.0	2192	2099	3413	3226	318.0	-12.2	209	2243	0.00	0.00	0.00	0.000	2054	0.000	0.000	2192	2098	3318	3412	3225	0	0	0	0	0	0	14.84	14.84	14.84	6.34	51.10
2520	end dive: TARGET_DEPTH_EXCEEDED
state	2520	begin apogee
2524	-0.15	0.0	2192	2169	3413	3226	351.9	-12.2	223	2653	0.45	0.00	125.75	1.560	10246	0.262	0.000	2351	2167	2717	2778	2657	0	0	0	0	0	0	14.33	13.94	13.33	6.34	51.18
2654	end apogee: CONTROL_FINISHED_OK
state	2654	begin loiter
2941	-0.15	0.0	2352	2168	2773	2641	348.3	3.2	244	2942	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2167	2706	2771	2641	0	0	0	0	0	0	14.57	14.58	14.58	6.29	51.06
3241	-0.15	0.0	2352	2168	2772	2639	339.2	2.9	259	3242	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2167	2705	2771	2639	0	0	0	0	0	0	14.73	14.73	14.73	6.29	51.57
3541	-0.15	0.0	2352	2167	2774	2638	331.0	2.6	274	3542	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2167	2704	2772	2637	0	0	0	0	0	0	14.81	14.81	14.81	6.29	51.29
3842	-0.15	0.0	2351	2168	2772	2638	323.4	2.4	289	3842	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2167	2704	2772	2637	0	0	0	0	0	0	14.86	14.87	14.87	6.29	51.92
4141	-0.15	0.0	2352	2168	2773	2636	316.4	2.4	304	4142	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2167	2703	2771	2636	0	0	0	0	0	0	14.91	14.91	14.91	6.29	51.41
4441	-0.15	0.0	2352	2168	2773	2636	309.7	2.2	319	4442	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2167	2703	2771	2636	0	0	0	0	0	0	14.94	14.95	14.93	6.29	51.10
4741	-0.15	0.0	2352	2168	2773	2635	303.5	2.0	334	4742	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2167	2704	2772	2636	0	0	0	0	0	0	14.96	14.97	14.97	6.29	51.92
5041	-0.15	0.0	2351	2168	2772	2636	297.6	1.8	349	5042	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2167	2703	2772	2635	0	0	0	0	0	0	14.98	14.99	14.99	6.29	52.08
5342	-0.15	0.0	2351	2168	2772	2636	292.7	1.5	364	5342	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	2167	2703	2771	2635	0	0	0	0	0	0	15.00	15.00	15.00	6.29	51.96
5641	-0.15	0.0	2352	2167	2772	2635	287.6	1.8	379	5642	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2167	2702	2771	2634	0	0	0	0	0	0	15.02	15.02	15.02	6.29	51.33
5941	-0.15	0.0	2352	2168	2773	2634	282.5	1.7	394	5942	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2167	2703	2772	2635	0	0	0	0	0	0	15.03	15.03	15.03	6.29	51.89
6240	end loiter: LOITER_COMPLETE
state	6240	begin climb
6242	0.64	146.0	2352	2168	2772	2636	276.8	0.0	409	6381	0.62	2.55	130.60	1.450	11012	0.173	0.080	2601	3541	2118	2142	2094	0	0	0	0	0	0	14.59	13.99	13.44	6.29	51.37
6416	0.64	146.0	2601	3542	2142	2090	266.7	8.4	417	6420	0.00	2.42	0.00	0.000	5126	0.000	0.041	2612	2150	2114	2141	2088	0	0	0	0	0	0	14.15	14.12	14.17	6.24	49.37
6721	0.64	146.0	2611	2151	2133	2080	228.6	12.0	433	6725	0.00	2.47	0.00	0.000	4612	0.000	0.064	2630	740	2105	2132	2079	0	0	0	0	0	0	14.59	14.31	14.59	6.25	50.47
6761	0.64	146.0	2623	741	2133	2078	224.1	11.6	435	6765	0.03	2.42	0.00	0.000	5126	0.390	0.052	2611	2129	2103	2129	2078	0	0	0	0	0	0	14.10	14.28	14.40	6.24	50.31
7081	0.64	146.0	2611	2130	2128	2077	184.8	12.9	451	7085	0.00	2.53	0.00	0.000	4356	0.000	0.082	2611	3555	2102	2128	2077	0	0	0	0	0	0	14.71	14.39	14.71	6.24	50.86
7161	0.64	146.0	2611	3556	2128	2078	174.2	13.1	455	7165	0.05	2.35	0.00	0.000	5126	0.422	0.042	2603	2146	2102	2128	2076	0	0	0	0	0	0	14.24	14.45	14.50	6.24	50.82
7481	0.64	146.0	2602	2147	2128	2075	133.5	12.7	471	7486	0.00	2.47	0.00	0.000	516	0.000	0.064	2613	749	2100	2126	2075	0	0	0	0	0	0	14.77	14.45	14.77	6.24	51.10
7566	0.64	146.0	2613	749	2126	2076	124.2	11.6	475	7570	0.00	2.40	0.00	0.000	5126	0.000	0.052	2612	2145	2100	2125	2075	0	0	0	0	0	0	14.63	14.47	14.64	6.24	50.78
7871	0.64	146.0	2614	2146	2127	2074	87.2	11.4	507	7875	0.00	2.47	0.00	0.000	4356	0.000	0.083	2613	3559	2099	2125	2074	0	0	0	0	0	0	14.81	14.48	14.81	6.23	50.74
7971	0.64	146.0	2615	3559	2126	2075	77.1	9.0	527	7975	0.05	2.38	0.00	0.000	5126	0.324	0.041	2605	2150	2099	2124	2075	0	0	0	0	0	0	14.25	14.47	14.60	6.23	50.55
8098	0.64	147.3	2606	2150	2126	2074	66.9	8.3	552	8101	0.00	0.00	0.00	0.000	6	0.000	0.000	2605	2149	2099	2125	2074	0	0	0	0	0	0	14.80	14.81	14.81	6.22	49.76
8222	0.66	165.4	2606	2150	2126	2074	57.2	7.6	577	8240	0.00	0.00	14.52	1.303	10246	0.000	0.000	2605	2149	2042	2064	2020	0	0	0	0	0	0	14.81	14.51	13.88	6.21	49.72
8363	0.68	179.1	2605	2150	2064	2016	46.1	7.8	605	8382	0.00	2.47	14.15	1.260	10500	0.000	0.076	2606	3556	1984	2004	1964	0	0	0	0	0	0	14.73	14.32	13.82	6.21	49.44
8422	0.68	184.0	2606	3557	2005	1964	41.3	8.1	617	8431	0.00	2.35	5.20	1.179	11270	0.000	0.041	2615	2148	1971	1991	1951	0	0	0	0	0	0	14.53	14.44	13.75	6.20	49.13
8553	0.68	184.0	2616	2148	1987	1943	29.0	10.6	643	8556	0.00	2.42	0.00	0.000	2564	0.000	0.064	2626	744	1964	1986	1943	0	0	0	0	0	0	14.66	14.40	14.66	6.20	49.52
8602	0.68	184.0	2626	745	1980	1944	23.8	10.1	653	8605	0.00	2.40	0.00	0.000	5126	0.000	0.053	2626	2153	1964	1985	1943	0	0	0	0	0	0	14.54	14.42	14.55	6.20	49.76
8728	0.68	184.0	2626	2154	1986	1943	9.8	11.7	678	8731	0.00	2.45	0.00	0.000	4356	0.000	0.084	2624	3553	1963	1985	1942	0	0	0	0	0	0	14.70	14.41	14.70	6.20	50.55
8785	end climb: SURFACE_DEPTH_REACHED
state	8785	begin surface coast
8795	end surface coast: CONTROL_FINISHED_OK
state	8795	begin surface