Glider dive log

ROAMMIZ Dec18 * SG640 * Dive index * Mission links * Dive 370 * 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 370 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 34 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LON 0 R_STBD_OVSHOOT 31 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 34 VBD_CNV -0.245296

DEVICE3 -1 MINV_24V 11.5 R_STBD_OVSHOOT 31 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 370 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 230119,170622,-6007.6768,5.0793,36,0.7,39,-19.7,0.3,236.0,11,8.2 SPEED_LIMITS 0.144,0.244

_CALLS 1 TGT_NAME SOUTH

_XMS_NAKs 0 TGT_LATLONG -6020.000,0.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 1.35 MHEAD_RNG_PITCHd_Wd 209.2,23217,-15.5,-8.333,-18.82,2677

_SM_ANGLEo -68.6 D_GRID 350

GPS2 230119,171203,-6007.7212,5.1065,8,0.8,12,-19.7,1.0,146.1,11,9.9

Post-dive calculations and measurements:

SM_CCo 8511,32.40,0.246,0,0,1822,220.03 _10V_AH 13.60,0.000

SM_GC 1.14,5.55,0.10,32.40,0.064,0.141,0.246,243,2072,1822,-6.45,0.74,220.03,0,0,0,0,0,0,14.55,14.50,14.23 FG_AHR_24Vo 0.000

IRIDIUM_FIX -6007.06,8.64,230119,143850 FG_AHR_10Vo 0.000

TT8_MAMPS 0.038199,0.340795 MEM 344092

HUMID 50.66 DATA_FILE_SIZE 17327,651

INTERNAL_PRESSURE 6.13826 CAP_FILE_SIZE 85298,0

TCM_TEMP 0.00 CFSIZE 1023623168,983105536

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

SC_FREEKB 3731424 CURRENT 0.055,222.29,1

_24V_AH 13.05,72.631 GPS 230119,193549,-6008.334,4.672,14,0.8,37,-19.7,0.8,144.2,10,5.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 601 102.21 nil 0 0 0.00

Roll_motor 68 2242 1999.98 nil 0 0 0.00

VBD_pump_during_apogee 289 1574 5949.99 nil 0 0 0.00

VBD_pump_during_surface 32 246 104.15 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 29 9.88 nil 0 0 0.00

Iridium_during_connect 38 160 81.24 SciCon 4915 12 823.18

Iridium_during_xfer 124 223 363.49 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 11 2.04

TT8 0 0 0.00

LPSleep 6797 2 202.44

TT8_Active 408 11 65.21

TT8_Sampling 1500 32 667.47

TT8_CF8 180 49 122.71

TT8_Kalman 0 0 0.00

Analog_circuits 989 11 154.65

GPS_charging 0 0 0.00

Compass 1059 19 280.67

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

11 -0.64 -146.0 234 2111 1792 1829 0.0 0.0 0 96 0.00 0.00 -82.90 0.000 16386 0.000 0.000 232 2109 3161 3242 3081 0 0 0 0 0 0 14.59 28.83 14.59 6.19 51.37

98 -0.64 -146.0 233 2111 3243 3082 3.0 -4.5 17 116 6.10 2.75 -5.97 0.000 18692 0.351 2.242 2182 3500 3318 3413 3223 0 0 0 0 0 0 14.03 13.05 14.38 6.38 50.82

177 -0.64 -146.0 2183 3501 3414 3225 15.7 -14.8 33 180 0.00 2.35 0.00 0.000 3078 0.000 0.043 2185 2101 3319 3414 3224 0 0 0 0 0 0 14.45 14.40 14.47 6.32 49.17

302 -0.64 -146.0 2182 2099 3415 3224 36.5 -17.7 58 306 0.00 2.45 0.00 0.000 2564 0.000 0.063 2181 687 3319 3414 3224 0 0 0 0 0 0 14.64 14.33 14.64 6.32 50.07

352 -0.64 -146.0 2181 688 3414 3225 45.7 -18.2 68 356 0.08 2.42 0.00 0.000 3078 0.366 0.057 2194 2100 3319 3414 3224 0 0 0 0 0 0 14.11 14.35 14.38 6.32 49.72

478 -0.64 -146.0 2195 2100 3415 3224 66.0 -15.0 93 482 0.00 2.47 0.00 0.000 260 0.000 0.083 2185 3504 3319 3414 3224 0 0 0 0 0 0 14.66 14.27 14.66 6.32 50.00

608 -0.64 -146.0 2185 3504 3415 3225 85.4 -14.5 119 612 0.00 2.35 0.00 0.000 3078 0.000 0.043 2184 2094 3315 3406 3224 0 0 0 0 0 0 14.47 14.36 14.48 6.32 49.01

747 -0.64 -146.0 2184 2092 3415 3224 106.6 -14.8 141 750 0.00 2.42 0.00 0.000 2564 0.000 0.063 2184 690 3319 3414 3224 0 0 0 0 0 0 14.72 14.39 14.72 6.31 48.46

822 -0.64 -146.0 2184 691 3416 3225 117.8 -14.9 145 826 0.08 2.40 0.00 0.000 3078 0.367 0.058 2197 2100 3319 3414 3225 0 0 0 0 0 0 14.15 14.41 14.42 6.31 47.91

1137 -0.64 -146.0 2197 2101 3414 3226 156.3 -11.5 161 1141 0.00 2.47 0.00 0.000 260 0.000 0.083 2187 3513 3319 3414 3225 0 0 0 0 0 0 14.76 14.40 14.74 6.31 50.03

1202 -0.64 -146.0 2188 3514 3414 3226 163.3 -11.6 164 1205 0.00 2.40 0.00 0.000 3078 0.000 0.043 2187 2096 3319 3414 3225 0 0 0 0 0 0 14.50 14.45 14.57 6.31 50.31

1517 -0.64 -146.0 2188 2095 3414 3222 202.8 -12.7 180 1520 0.00 2.42 0.00 0.000 2564 0.000 0.063 2187 690 3320 3415 3225 0 0 0 0 0 0 14.79 14.44 14.79 6.33 50.78

1577 -0.64 -146.0 2187 691 3414 3226 209.9 -12.9 183 1580 0.03 2.40 0.00 0.000 3078 0.601 0.057 2190 2103 3319 3413 3225 0 0 0 0 0 0 14.21 14.46 14.47 6.32 50.82

1892 -0.64 -146.0 2190 2103 3415 3224 250.0 -12.7 199 1892 0.00 0.00 0.00 0.000 2054 0.000 0.000 2189 2102 3319 3414 3225 0 0 0 0 0 0 14.81 14.81 14.81 6.33 50.90

2192 -0.64 -146.0 2189 2104 3414 3225 288.0 -12.7 214 2196 0.00 2.42 0.00 0.000 2564 0.000 0.063 2189 695 3319 3414 3225 0 0 0 0 0 0 14.81 14.47 14.82 6.33 50.94

2237 -0.64 -146.0 2190 695 3414 3225 293.2 -12.8 216 2240 0.00 2.40 0.00 0.000 3078 0.000 0.055 2179 2106 3318 3413 3224 0 0 0 0 0 0 14.62 14.48 14.64 6.33 51.53

2552 -0.64 -146.0 2179 2108 3415 3226 335.1 -13.1 232 2552 0.00 0.00 0.00 0.000 2054 0.000 0.000 2179 2107 3318 3413 3224 0 0 0 0 0 0 14.83 14.83 14.83 6.34 51.26

2670 end dive: TARGET_DEPTH_EXCEEDED

state 2670 begin apogee

2675 -0.15 0.0 2179 2162 3415 3224 350.7 -13.0 238 2804 0.50 0.00 125.93 1.574 10246 0.259 0.000 2354 2162 2717 2777 2657 0 0 0 0 0 0 14.17 13.93 13.29 6.34 51.10

2805 end apogee: CONTROL_FINISHED_OK

state 2805 begin loiter

3092 -0.15 0.0 2354 2163 2772 2643 349.1 2.8 259 3092 0.00 0.00 0.00 0.000 6 0.000 0.000 2354 2162 2706 2771 2642 0 0 0 0 0 0 14.56 14.57 14.57 6.29 50.51

3392 -0.15 0.0 2354 2163 2772 2641 340.7 2.8 274 3392 0.00 0.00 0.00 0.000 6 0.000 0.000 2354 2162 2706 2772 2640 0 0 0 0 0 0 14.71 14.72 14.72 6.29 50.82

3692 -0.15 0.0 2354 2162 2773 2638 332.9 2.5 289 3692 0.00 0.00 0.00 0.000 6 0.000 0.000 2354 2161 2704 2771 2638 0 0 0 0 0 0 14.80 14.81 14.81 6.29 51.85

3992 -0.15 0.0 2354 2163 2772 2639 325.5 2.4 304 3993 0.00 0.00 0.00 0.000 6 0.000 0.000 2354 2162 2704 2771 2638 0 0 0 0 0 0 14.85 14.86 14.86 6.29 51.22

4292 -0.15 0.0 2354 2163 2771 2639 317.9 2.6 319 4292 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2162 2704 2771 2637 0 0 0 0 0 0 14.90 14.90 14.90 6.29 51.61

4592 -0.15 0.0 2354 2162 2772 2637 309.4 2.9 334 4592 0.00 0.00 0.00 0.000 6 0.000 0.000 2354 2162 2704 2771 2637 0 0 0 0 0 0 14.93 14.94 14.93 6.29 51.33

4892 -0.15 0.0 2354 2163 2772 2638 300.0 3.1 349 4892 0.00 0.00 0.00 0.000 6 0.000 0.000 2354 2162 2704 2771 2637 0 0 0 0 0 0 14.95 14.96 14.96 6.29 51.57

5192 -0.15 0.0 2354 2163 2772 2638 290.4 3.1 364 5192 0.00 0.00 0.00 0.000 6 0.000 0.000 2354 2162 2703 2771 2636 0 0 0 0 0 0 14.97 14.98 14.98 6.29 52.08

5492 -0.15 0.0 2354 2163 2772 2637 281.4 2.9 379 5493 0.00 0.00 0.00 0.000 6 0.000 0.000 2354 2162 2703 2771 2636 0 0 0 0 0 0 14.99 15.00 15.00 6.29 51.49

5792 -0.15 0.0 2354 2163 2772 2637 273.3 2.7 394 5792 0.00 0.00 0.00 0.000 6 0.000 0.000 2354 2162 2703 2771 2636 0 0 0 0 0 0 15.01 15.01 15.01 6.28 51.61

6092 -0.15 0.0 2354 2163 2772 2636 265.5 2.7 409 6092 0.00 0.00 0.00 0.000 6 0.000 0.000 2354 2162 2704 2772 2636 0 0 0 0 0 0 15.02 15.02 15.02 6.29 51.61

6390 end loiter: LOITER_COMPLETE

state 6390 begin climb

6392 0.64 146.0 2354 2163 2773 2637 257.7 0.0 424 6531 0.60 2.58 130.62 1.427 10500 0.173 0.083 2591 3545 2117 2142 2093 0 0 0 0 0 0 14.48 13.98 13.42 6.29 51.41

6547 0.68 181.0 2592 3546 2141 2093 249.9 7.0 431 6586 0.00 2.40 33.05 1.375 11270 0.000 0.042 2603 2146 1979 2000 1958 0 0 0 0 0 0 14.16 14.08 13.36 6.25 49.29

6893 0.68 181.0 2603 2145 1993 1940 205.8 12.7 449 6897 0.00 2.50 0.00 0.000 2564 0.000 0.069 2613 739 1966 1992 1941 0 0 0 0 0 0 14.50 14.20 14.51 6.23 50.31

6962 0.68 181.0 2614 739 1988 1941 198.8 11.9 452 6966 0.00 2.42 0.00 0.000 3078 0.000 0.054 2614 2144 1964 1987 1941 0 0 0 0 0 0 14.39 14.26 14.40 6.22 50.59

7267 0.68 181.0 2614 2144 1987 1939 157.7 13.5 467 7271 0.00 2.50 0.00 0.000 2308 0.000 0.083 2614 3554 1962 1986 1938 0 0 0 0 0 0 14.66 14.31 14.66 6.22 50.74

7327 0.68 181.0 2615 3555 1988 1938 150.2 13.7 470 7330 0.00 2.35 0.00 0.000 5126 0.000 0.045 2624 2142 1962 1987 1938 0 0 0 0 0 0 14.50 14.38 14.52 6.22 50.78

7642 0.68 181.0 2625 2141 1987 1937 105.2 13.9 486 7646 0.00 2.45 0.00 0.000 4612 0.000 0.069 2635 745 1961 1986 1936 0 0 0 0 0 0 14.74 14.40 14.74 6.21 50.70

7677 0.68 181.0 2636 746 1985 1937 102.5 13.7 487 7681 0.05 2.38 0.00 0.000 5126 0.380 0.054 2618 2151 1960 1985 1936 0 0 0 0 0 0 14.23 14.43 14.49 6.22 50.90

7984 0.68 181.0 2619 2152 1986 1935 60.9 13.4 548 7987 0.00 2.47 0.00 0.000 260 0.000 0.082 2618 3558 1960 1985 1935 0 0 0 0 0 0 14.75 14.40 14.75 6.20 49.56

8037 0.68 181.0 2618 3558 1985 1934 53.6 13.0 559 8041 0.00 2.33 0.00 0.000 5126 0.000 0.044 2627 2154 1960 1985 1935 0 0 0 0 0 0 14.59 14.47 14.61 6.20 49.29

8163 0.68 181.0 2627 2154 1986 1935 37.5 11.9 584 8167 0.00 2.47 0.00 0.000 4356 0.000 0.081 2627 3558 1959 1984 1935 0 0 0 0 0 0 14.76 14.40 14.76 6.19 49.37

8212 0.68 181.0 2627 3559 1985 1936 31.8 11.2 594 8216 0.05 2.35 0.00 0.000 5126 0.412 0.044 2621 2150 1959 1985 1933 0 0 0 0 0 0 14.23 14.47 14.50 6.19 49.17

8337 0.68 181.0 2622 2150 1986 1934 18.8 10.8 619 8341 0.00 2.45 0.00 0.000 4612 0.000 0.070 2631 744 1959 1985 1934 0 0 0 0 0 0 14.76 14.42 14.76 6.19 49.80

8392 0.68 181.0 2632 744 1984 1934 12.6 10.6 630 8396 0.00 2.40 0.00 0.000 5126 0.000 0.054 2631 2154 1961 1989 1934 0 0 0 0 0 0 14.59 14.45 14.62 6.20 50.07

8475 end climb: SURFACE_DEPTH_REACHED

state 8475 begin surface coast

8497 end surface coast: CONTROL_FINISHED_OK

state 8497 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	370	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	34	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LON	0	R_STBD_OVSHOOT	31	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	230119,170622,-6007.6768,5.0793,36,0.7,39,-19.7,0.3,236.0,11,8.2	SPEED_LIMITS	0.144,0.244
_CALLS	1	TGT_NAME	SOUTH
_XMS_NAKs	0	TGT_LATLONG	-6020.000,0.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	1.35	MHEAD_RNG_PITCHd_Wd	209.2,23217,-15.5,-8.333,-18.82,2677
_SM_ANGLEo	-68.6	D_GRID	350
GPS2	230119,171203,-6007.7212,5.1065,8,0.8,12,-19.7,1.0,146.1,11,9.9

SM_CCo	8511,32.40,0.246,0,0,1822,220.03	_10V_AH	13.60,0.000
SM_GC	1.14,5.55,0.10,32.40,0.064,0.141,0.246,243,2072,1822,-6.45,0.74,220.03,0,0,0,0,0,0,14.55,14.50,14.23	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-6007.06,8.64,230119,143850	FG_AHR_10Vo	0.000
TT8_MAMPS	0.038199,0.340795	MEM	344092
HUMID	50.66	DATA_FILE_SIZE	17327,651
INTERNAL_PRESSURE	6.13826	CAP_FILE_SIZE	85298,0
TCM_TEMP	0.00	CFSIZE	1023623168,983105536
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
SC_FREEKB	3731424	CURRENT	0.055,222.29,1
_24V_AH	13.05,72.631	GPS	230119,193549,-6008.334,4.672,14,0.8,37,-19.7,0.8,144.2,10,5.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	601	102.21	nil	0	0	0.00
Roll_motor	68	2242	1999.98	nil	0	0	0.00
VBD_pump_during_apogee	289	1574	5949.99	nil	0	0	0.00
VBD_pump_during_surface	32	246	104.15	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	29	9.88	nil	0	0	0.00
Iridium_during_connect	38	160	81.24	SciCon	4915	12	823.18
Iridium_during_xfer	124	223	363.49	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	11	2.04
TT8	0	0	0.00
LPSleep	6797	2	202.44
TT8_Active	408	11	65.21
TT8_Sampling	1500	32	667.47
TT8_CF8	180	49	122.71
TT8_Kalman	0	0	0.00
Analog_circuits	989	11	154.65
GPS_charging	0	0	0.00
Compass	1059	19	280.67
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
11	-0.64	-146.0	234	2111	1792	1829	0.0	0.0	0	96	0.00	0.00	-82.90	0.000	16386	0.000	0.000	232	2109	3161	3242	3081	0	0	0	0	0	0	14.59	28.83	14.59	6.19	51.37
98	-0.64	-146.0	233	2111	3243	3082	3.0	-4.5	17	116	6.10	2.75	-5.97	0.000	18692	0.351	2.242	2182	3500	3318	3413	3223	0	0	0	0	0	0	14.03	13.05	14.38	6.38	50.82
177	-0.64	-146.0	2183	3501	3414	3225	15.7	-14.8	33	180	0.00	2.35	0.00	0.000	3078	0.000	0.043	2185	2101	3319	3414	3224	0	0	0	0	0	0	14.45	14.40	14.47	6.32	49.17
302	-0.64	-146.0	2182	2099	3415	3224	36.5	-17.7	58	306	0.00	2.45	0.00	0.000	2564	0.000	0.063	2181	687	3319	3414	3224	0	0	0	0	0	0	14.64	14.33	14.64	6.32	50.07
352	-0.64	-146.0	2181	688	3414	3225	45.7	-18.2	68	356	0.08	2.42	0.00	0.000	3078	0.366	0.057	2194	2100	3319	3414	3224	0	0	0	0	0	0	14.11	14.35	14.38	6.32	49.72
478	-0.64	-146.0	2195	2100	3415	3224	66.0	-15.0	93	482	0.00	2.47	0.00	0.000	260	0.000	0.083	2185	3504	3319	3414	3224	0	0	0	0	0	0	14.66	14.27	14.66	6.32	50.00
608	-0.64	-146.0	2185	3504	3415	3225	85.4	-14.5	119	612	0.00	2.35	0.00	0.000	3078	0.000	0.043	2184	2094	3315	3406	3224	0	0	0	0	0	0	14.47	14.36	14.48	6.32	49.01
747	-0.64	-146.0	2184	2092	3415	3224	106.6	-14.8	141	750	0.00	2.42	0.00	0.000	2564	0.000	0.063	2184	690	3319	3414	3224	0	0	0	0	0	0	14.72	14.39	14.72	6.31	48.46
822	-0.64	-146.0	2184	691	3416	3225	117.8	-14.9	145	826	0.08	2.40	0.00	0.000	3078	0.367	0.058	2197	2100	3319	3414	3225	0	0	0	0	0	0	14.15	14.41	14.42	6.31	47.91
1137	-0.64	-146.0	2197	2101	3414	3226	156.3	-11.5	161	1141	0.00	2.47	0.00	0.000	260	0.000	0.083	2187	3513	3319	3414	3225	0	0	0	0	0	0	14.76	14.40	14.74	6.31	50.03
1202	-0.64	-146.0	2188	3514	3414	3226	163.3	-11.6	164	1205	0.00	2.40	0.00	0.000	3078	0.000	0.043	2187	2096	3319	3414	3225	0	0	0	0	0	0	14.50	14.45	14.57	6.31	50.31
1517	-0.64	-146.0	2188	2095	3414	3222	202.8	-12.7	180	1520	0.00	2.42	0.00	0.000	2564	0.000	0.063	2187	690	3320	3415	3225	0	0	0	0	0	0	14.79	14.44	14.79	6.33	50.78
1577	-0.64	-146.0	2187	691	3414	3226	209.9	-12.9	183	1580	0.03	2.40	0.00	0.000	3078	0.601	0.057	2190	2103	3319	3413	3225	0	0	0	0	0	0	14.21	14.46	14.47	6.32	50.82
1892	-0.64	-146.0	2190	2103	3415	3224	250.0	-12.7	199	1892	0.00	0.00	0.00	0.000	2054	0.000	0.000	2189	2102	3319	3414	3225	0	0	0	0	0	0	14.81	14.81	14.81	6.33	50.90
2192	-0.64	-146.0	2189	2104	3414	3225	288.0	-12.7	214	2196	0.00	2.42	0.00	0.000	2564	0.000	0.063	2189	695	3319	3414	3225	0	0	0	0	0	0	14.81	14.47	14.82	6.33	50.94
2237	-0.64	-146.0	2190	695	3414	3225	293.2	-12.8	216	2240	0.00	2.40	0.00	0.000	3078	0.000	0.055	2179	2106	3318	3413	3224	0	0	0	0	0	0	14.62	14.48	14.64	6.33	51.53
2552	-0.64	-146.0	2179	2108	3415	3226	335.1	-13.1	232	2552	0.00	0.00	0.00	0.000	2054	0.000	0.000	2179	2107	3318	3413	3224	0	0	0	0	0	0	14.83	14.83	14.83	6.34	51.26
2670	end dive: TARGET_DEPTH_EXCEEDED
state	2670	begin apogee
2675	-0.15	0.0	2179	2162	3415	3224	350.7	-13.0	238	2804	0.50	0.00	125.93	1.574	10246	0.259	0.000	2354	2162	2717	2777	2657	0	0	0	0	0	0	14.17	13.93	13.29	6.34	51.10
2805	end apogee: CONTROL_FINISHED_OK
state	2805	begin loiter
3092	-0.15	0.0	2354	2163	2772	2643	349.1	2.8	259	3092	0.00	0.00	0.00	0.000	6	0.000	0.000	2354	2162	2706	2771	2642	0	0	0	0	0	0	14.56	14.57	14.57	6.29	50.51
3392	-0.15	0.0	2354	2163	2772	2641	340.7	2.8	274	3392	0.00	0.00	0.00	0.000	6	0.000	0.000	2354	2162	2706	2772	2640	0	0	0	0	0	0	14.71	14.72	14.72	6.29	50.82
3692	-0.15	0.0	2354	2162	2773	2638	332.9	2.5	289	3692	0.00	0.00	0.00	0.000	6	0.000	0.000	2354	2161	2704	2771	2638	0	0	0	0	0	0	14.80	14.81	14.81	6.29	51.85
3992	-0.15	0.0	2354	2163	2772	2639	325.5	2.4	304	3993	0.00	0.00	0.00	0.000	6	0.000	0.000	2354	2162	2704	2771	2638	0	0	0	0	0	0	14.85	14.86	14.86	6.29	51.22
4292	-0.15	0.0	2354	2163	2771	2639	317.9	2.6	319	4292	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2162	2704	2771	2637	0	0	0	0	0	0	14.90	14.90	14.90	6.29	51.61
4592	-0.15	0.0	2354	2162	2772	2637	309.4	2.9	334	4592	0.00	0.00	0.00	0.000	6	0.000	0.000	2354	2162	2704	2771	2637	0	0	0	0	0	0	14.93	14.94	14.93	6.29	51.33
4892	-0.15	0.0	2354	2163	2772	2638	300.0	3.1	349	4892	0.00	0.00	0.00	0.000	6	0.000	0.000	2354	2162	2704	2771	2637	0	0	0	0	0	0	14.95	14.96	14.96	6.29	51.57
5192	-0.15	0.0	2354	2163	2772	2638	290.4	3.1	364	5192	0.00	0.00	0.00	0.000	6	0.000	0.000	2354	2162	2703	2771	2636	0	0	0	0	0	0	14.97	14.98	14.98	6.29	52.08
5492	-0.15	0.0	2354	2163	2772	2637	281.4	2.9	379	5493	0.00	0.00	0.00	0.000	6	0.000	0.000	2354	2162	2703	2771	2636	0	0	0	0	0	0	14.99	15.00	15.00	6.29	51.49
5792	-0.15	0.0	2354	2163	2772	2637	273.3	2.7	394	5792	0.00	0.00	0.00	0.000	6	0.000	0.000	2354	2162	2703	2771	2636	0	0	0	0	0	0	15.01	15.01	15.01	6.28	51.61
6092	-0.15	0.0	2354	2163	2772	2636	265.5	2.7	409	6092	0.00	0.00	0.00	0.000	6	0.000	0.000	2354	2162	2704	2772	2636	0	0	0	0	0	0	15.02	15.02	15.02	6.29	51.61
6390	end loiter: LOITER_COMPLETE
state	6390	begin climb
6392	0.64	146.0	2354	2163	2773	2637	257.7	0.0	424	6531	0.60	2.58	130.62	1.427	10500	0.173	0.083	2591	3545	2117	2142	2093	0	0	0	0	0	0	14.48	13.98	13.42	6.29	51.41
6547	0.68	181.0	2592	3546	2141	2093	249.9	7.0	431	6586	0.00	2.40	33.05	1.375	11270	0.000	0.042	2603	2146	1979	2000	1958	0	0	0	0	0	0	14.16	14.08	13.36	6.25	49.29
6893	0.68	181.0	2603	2145	1993	1940	205.8	12.7	449	6897	0.00	2.50	0.00	0.000	2564	0.000	0.069	2613	739	1966	1992	1941	0	0	0	0	0	0	14.50	14.20	14.51	6.23	50.31
6962	0.68	181.0	2614	739	1988	1941	198.8	11.9	452	6966	0.00	2.42	0.00	0.000	3078	0.000	0.054	2614	2144	1964	1987	1941	0	0	0	0	0	0	14.39	14.26	14.40	6.22	50.59
7267	0.68	181.0	2614	2144	1987	1939	157.7	13.5	467	7271	0.00	2.50	0.00	0.000	2308	0.000	0.083	2614	3554	1962	1986	1938	0	0	0	0	0	0	14.66	14.31	14.66	6.22	50.74
7327	0.68	181.0	2615	3555	1988	1938	150.2	13.7	470	7330	0.00	2.35	0.00	0.000	5126	0.000	0.045	2624	2142	1962	1987	1938	0	0	0	0	0	0	14.50	14.38	14.52	6.22	50.78
7642	0.68	181.0	2625	2141	1987	1937	105.2	13.9	486	7646	0.00	2.45	0.00	0.000	4612	0.000	0.069	2635	745	1961	1986	1936	0	0	0	0	0	0	14.74	14.40	14.74	6.21	50.70
7677	0.68	181.0	2636	746	1985	1937	102.5	13.7	487	7681	0.05	2.38	0.00	0.000	5126	0.380	0.054	2618	2151	1960	1985	1936	0	0	0	0	0	0	14.23	14.43	14.49	6.22	50.90
7984	0.68	181.0	2619	2152	1986	1935	60.9	13.4	548	7987	0.00	2.47	0.00	0.000	260	0.000	0.082	2618	3558	1960	1985	1935	0	0	0	0	0	0	14.75	14.40	14.75	6.20	49.56
8037	0.68	181.0	2618	3558	1985	1934	53.6	13.0	559	8041	0.00	2.33	0.00	0.000	5126	0.000	0.044	2627	2154	1960	1985	1935	0	0	0	0	0	0	14.59	14.47	14.61	6.20	49.29
8163	0.68	181.0	2627	2154	1986	1935	37.5	11.9	584	8167	0.00	2.47	0.00	0.000	4356	0.000	0.081	2627	3558	1959	1984	1935	0	0	0	0	0	0	14.76	14.40	14.76	6.19	49.37
8212	0.68	181.0	2627	3559	1985	1936	31.8	11.2	594	8216	0.05	2.35	0.00	0.000	5126	0.412	0.044	2621	2150	1959	1985	1933	0	0	0	0	0	0	14.23	14.47	14.50	6.19	49.17
8337	0.68	181.0	2622	2150	1986	1934	18.8	10.8	619	8341	0.00	2.45	0.00	0.000	4612	0.000	0.070	2631	744	1959	1985	1934	0	0	0	0	0	0	14.76	14.42	14.76	6.19	49.80
8392	0.68	181.0	2632	744	1984	1934	12.6	10.6	630	8396	0.00	2.40	0.00	0.000	5126	0.000	0.054	2631	2154	1961	1989	1934	0	0	0	0	0	0	14.59	14.45	14.62	6.20	50.07
8475	end climb: SURFACE_DEPTH_REACHED
state	8475	begin surface coast
8497	end surface coast: CONTROL_FINISHED_OK
state	8497	begin surface