Glider dive log

ROAMMIZ Dec18 * SG640 * Dive index * Mission links * Dive 64 * 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 64 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

N_DIVES 85 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 5

STOP_T 12271812 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_SURF 3 TGT_DEFAULT_LAT -5400 R_PORT_OVSHOOT 37 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LON 0 R_STBD_OVSHOOT 27 ALTIM_SENSITIVITY 2

D_TGT 300 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 XPDR_VALID 2

D_ABORT 400 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 2690 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 110 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERS 1

T_MISSION 190 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 53

T_ABORT 200 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 300 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 12271812

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 200

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 110

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 190

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 2690 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 37 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 64 NOCOMM_ACTION 259 SC_XMITPROFILE 3.0 VBD_MIN 602

D_ABORT 400 N_DIVES 85 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 221218,062329,-6006.6670,-12.2902,13,0.9,40,-19.6,0.5,321.9,9,8.6 SPEED_LIMITS 0.157,0.252

_CALLS 1 TGT_NAME NORTH

_XMS_NAKs 0 TGT_LATLONG -5900.000,0.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 1.03 MHEAD_RNG_PITCHd_Wd 30.6,124042,-16.8,-9.091,-19.85,2456

_SM_ANGLEo -67.0 D_GRID 300

GPS2 221218,062716,-6006.6792,-12.2524,9,0.9,14,-19.6,0.0,85.6,9,10.0

Post-dive calculations and measurements:

SM_CCo 7696,68.78,0.250,0,0,1791,220.03 _10V_AH 13.47,0.000

SM_GC 1.11,5.45,0.08,68.78,0.054,0.174,0.250,252,2083,1791,-6.49,0.88,220.03,0,0,0,0,0,0,14.63,14.57,14.37 FG_AHR_24Vo 0.000

IRIDIUM_FIX -6007.05,-12.96,221218,041021 FG_AHR_10Vo 0.000

TT8_MAMPS 0.038199,0.08988 MEM 344060

HUMID 48.74 DATA_FILE_SIZE 17340,632

INTERNAL_PRESSURE 6.10897 CAP_FILE_SIZE 82841,0

TCM_TEMP 0.00 CFSIZE 1023623168,1013186560

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

SC_FREEKB 3888096 CURRENT 0.029,153.63,1

_24V_AH 13.31,18.470 GPS 221218,083801,-6006.309,-11.915,17,0.8,40,-19.6,0.2,287.4,10,6.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 476 81.36 nil 0 0 0.00

Roll_motor 69 2279 2098.21 nil 0 0 0.00

VBD_pump_during_apogee 264 1539 5424.82 nil 0 0 0.00

VBD_pump_during_surface 68 250 228.99 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 29 9.43 nil 0 0 0.00

Iridium_during_connect 17 160 36.38 SciCon 4079 3 212.01

Iridium_during_xfer 91 223 271.73 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 2.29

TT8 0 0 0.00

LPSleep 6112 2 180.32

TT8_Active 439 11 69.42

TT8_Sampling 1391 32 612.78

TT8_CF8 56 49 38.05

TT8_Kalman 0 0 0.00

Analog_circuits 998 11 154.53

GPS_charging 0 0 0.00

Compass 1005 19 263.79

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 -0.67 -146.0 236 2087 1770 1796 0.0 0.0 0 107 0.00 0.00 -95.22 0.000 16386 0.000 0.000 234 2087 3246 3325 3168 0 0 0 0 0 0 14.62 28.83 14.62 6.16 49.60

108 -0.67 -146.0 234 2087 3326 3170 3.5 -8.5 19 121 5.90 2.72 -1.35 0.000 18692 0.363 2.280 2165 3505 3285 3370 3200 0 0 0 0 0 0 14.23 13.50 14.47 6.27 48.54

216 -0.67 -146.0 2166 3506 3374 3200 23.0 -16.2 41 220 0.03 2.40 0.00 0.000 3078 0.477 0.049 2172 2103 3286 3373 3199 0 0 0 0 0 0 14.25 14.40 14.38 6.28 48.54

341 -0.67 -146.0 2174 2103 3375 3199 42.3 -13.4 66 346 0.00 2.50 0.00 0.000 2564 0.000 0.075 2173 692 3286 3373 3200 0 0 0 0 0 0 14.66 14.42 14.66 6.29 48.46

406 -0.67 -146.0 2174 693 3377 3201 52.2 -15.3 79 410 0.03 2.45 0.00 0.000 3078 0.471 0.061 2173 2101 3286 3373 3199 0 0 0 0 0 0 14.28 14.45 14.43 6.28 48.66

531 -0.67 -146.0 2173 2103 3374 3201 70.9 -14.8 104 535 0.00 2.50 0.00 0.000 2308 0.000 0.086 2164 3509 3286 3373 3199 0 0 0 0 0 0 14.71 14.45 14.70 6.29 48.58

581 -0.67 -146.0 2163 3510 3374 3200 78.6 -14.9 114 586 0.05 2.40 0.00 0.000 3078 0.375 0.050 2180 2095 3286 3373 3200 0 0 0 0 0 0 14.33 14.49 14.47 6.28 48.62

706 -0.67 -146.0 2181 2095 3374 3200 97.3 -14.6 139 710 0.00 2.45 0.00 0.000 2308 0.000 0.084 2171 3505 3286 3373 3199 0 0 0 0 0 0 14.73 14.50 14.73 6.28 48.89

721 -0.67 -146.0 2170 3505 3374 3200 99.5 -14.9 142 726 0.00 2.40 0.00 0.000 3078 0.000 0.051 2171 2099 3286 3374 3199 0 0 0 0 0 0 14.56 14.50 14.58 6.28 48.54

846 -0.67 -146.0 2171 2099 3374 3199 119.5 -16.1 149 846 0.00 0.00 0.00 0.000 2054 0.000 0.000 2171 2098 3286 3373 3199 0 0 0 0 0 0 14.76 14.76 14.76 6.28 48.58

1146 -0.67 -146.0 2171 2099 3374 3200 163.7 -14.1 164 1150 0.00 2.47 0.00 0.000 2564 0.000 0.074 2170 687 3286 3373 3199 0 0 0 0 0 0 14.80 14.55 14.80 6.29 49.92

1246 -0.67 -146.0 2171 688 3374 3200 177.3 -13.3 169 1250 0.05 2.45 0.00 0.000 3078 0.383 0.061 2177 2106 3286 3373 3200 0 0 0 0 0 0 14.41 14.57 14.56 6.30 50.07

1566 -0.67 -146.0 2177 2107 3374 3200 217.6 -12.6 185 1567 0.00 0.00 0.00 0.000 2054 0.000 0.000 2177 2101 3285 3373 3198 0 0 0 0 0 0 14.83 14.83 14.83 6.31 51.61

1866 -0.67 -146.0 2177 2107 3374 3198 254.7 -12.4 200 1871 0.00 2.45 0.00 0.000 2308 0.000 0.087 2167 3503 3286 3373 3199 0 0 0 0 0 0 14.85 14.59 14.85 6.28 51.57

1886 -0.67 -146.0 2168 3505 3373 3200 257.3 -12.4 201 1891 0.00 2.35 0.00 0.000 3078 0.000 0.049 2167 2101 3286 3374 3199 0 0 0 0 0 0 14.68 14.64 14.71 6.32 51.89

2206 -0.67 -146.0 2168 2101 3375 3199 298.6 -13.0 217 2210 0.00 2.45 0.00 0.000 2564 0.000 0.073 2167 696 3285 3373 3198 0 0 0 0 0 0 14.88 14.62 14.88 6.32 51.14

2225 end dive: TARGET_DEPTH_EXCEEDED

state 2225 begin apogee

2230 -0.15 0.0 2157 2153 3374 3200 301.3 -13.1 218 2365 0.55 0.00 131.20 1.539 10246 0.280 0.000 2353 2152 2684 2741 2627 0 0 0 0 0 0 14.52 13.91 13.31 6.32 51.41

2366 end apogee: CONTROL_FINISHED_OK

state 2366 begin loiter

2666 -0.15 0.0 2353 2153 2740 2615 296.6 3.1 240 2666 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 2152 2676 2738 2615 0 0 0 0 0 0 14.55 14.56 14.56 6.27 50.55

2966 -0.15 0.0 2353 2152 2739 2613 286.9 3.2 255 2966 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2152 2675 2739 2612 0 0 0 0 0 0 14.69 14.69 14.69 6.27 50.78

3266 -0.15 0.0 2353 2152 2740 2611 277.5 3.1 270 3266 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2152 2675 2739 2611 0 0 0 0 0 0 14.78 14.78 14.78 6.27 51.22

3566 -0.15 0.0 2353 2153 2740 2611 268.3 3.0 285 3567 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2152 2674 2738 2610 0 0 0 0 0 0 14.83 14.83 14.83 6.27 50.94

3866 -0.15 0.0 2353 2153 2739 2610 259.7 2.8 300 3866 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2152 2674 2739 2609 0 0 0 0 0 0 14.88 14.88 14.88 6.27 51.29

4166 -0.15 0.0 2353 2152 2740 2609 250.8 2.9 315 4166 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2152 2673 2738 2609 0 0 0 0 0 0 14.91 14.92 14.92 6.27 50.90

4466 -0.15 0.0 2352 2152 2738 2609 241.8 3.1 330 4466 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 2152 2673 2739 2608 0 0 0 0 0 0 14.94 14.94 14.95 6.27 50.90

4766 -0.15 0.0 2353 2152 2740 2608 233.0 2.9 345 4766 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2152 2673 2739 2608 0 0 0 0 0 0 14.96 14.97 14.97 6.27 51.14

5066 -0.15 0.0 2353 2152 2740 2609 223.7 3.2 360 5067 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2152 2673 2739 2608 0 0 0 0 0 0 14.98 14.98 14.98 6.27 50.78

5366 -0.15 0.0 2353 2152 2740 2608 213.4 3.6 375 5366 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 2152 2673 2738 2608 0 0 0 0 0 0 15.00 15.00 15.00 6.27 50.82

5666 -0.15 0.0 2353 2153 2739 2609 202.1 4.0 390 5666 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 2151 2673 2739 2608 0 0 0 0 0 0 15.01 15.02 15.02 6.27 51.26

5965 end loiter: LOITER_COMPLETE

state 5965 begin climb

5966 0.67 146.0 2353 2152 2740 2608 189.7 0.0 405 6107 0.62 2.55 133.60 1.384 11012 0.177 0.087 2605 3555 2088 2112 2064 0 0 0 0 0 0 14.71 13.96 13.45 6.27 51.22

6196 0.67 146.0 2605 3555 2111 2056 169.4 12.4 416 6200 0.00 2.45 0.00 0.000 1030 0.000 0.050 2615 2149 2082 2109 2056 0 0 0 0 0 0 14.21 14.16 14.23 6.22 48.74

6506 0.67 146.0 2616 2150 2104 2048 127.5 12.6 432 6511 0.00 2.55 0.00 0.000 516 0.000 0.080 2626 740 2075 2104 2047 0 0 0 0 0 0 14.59 14.35 14.60 6.23 50.03

6551 0.67 146.0 2626 740 2103 2048 122.8 12.2 434 6555 0.00 2.45 0.00 0.000 5126 0.000 0.059 2626 2145 2075 2102 2048 0 0 0 0 0 0 14.43 14.38 14.45 6.24 49.92

6856 0.67 146.0 2627 2146 2103 2046 85.5 11.2 466 6860 0.00 2.53 0.00 0.000 4356 0.000 0.087 2626 3558 2073 2101 2046 0 0 0 0 0 0 14.70 14.44 14.70 6.21 50.11

6906 0.67 146.0 2626 3559 2096 2047 79.8 10.8 476 6910 0.05 2.38 0.00 0.000 5126 0.338 0.050 2618 2157 2071 2101 2042 0 0 0 0 0 0 14.35 14.49 14.48 6.21 48.97

7031 0.67 146.0 2619 2157 2103 2045 67.2 10.3 501 7035 0.00 2.53 0.00 0.000 516 0.000 0.080 2628 743 2073 2101 2045 0 0 0 0 0 0 14.71 14.47 14.72 6.20 48.81

7076 0.67 146.0 2628 743 2100 2045 62.7 9.9 510 7080 0.00 2.45 0.00 0.000 5126 0.000 0.059 2628 2159 2072 2100 2044 0 0 0 0 0 0 14.55 14.50 14.57 6.21 49.72

7201 0.67 146.0 2629 2159 2101 2044 48.8 11.4 535 7206 0.00 2.47 0.00 0.000 4356 0.000 0.089 2628 3548 2072 2100 2044 0 0 0 0 0 0 14.74 14.49 14.74 6.20 48.66

7251 0.67 146.0 2628 3549 2100 2045 42.9 11.6 545 7255 0.05 2.38 0.00 0.000 5126 0.340 0.050 2621 2147 2072 2100 2044 0 0 0 0 0 0 14.39 14.52 14.52 6.20 48.93

7376 0.67 146.0 2621 2148 2101 2044 31.0 9.3 570 7380 0.00 2.50 0.00 0.000 4612 0.000 0.078 2630 737 2071 2100 2042 0 0 0 0 0 0 14.76 14.50 14.76 6.19 48.70

7441 0.68 149.6 2631 738 2101 2041 24.9 8.9 583 7446 0.00 2.42 0.00 0.000 5126 0.000 0.060 2630 2142 2069 2099 2040 0 0 0 0 0 0 14.59 14.53 14.60 6.19 49.13

7566 0.68 149.6 2630 2143 2100 2042 12.0 10.8 608 7570 0.00 2.53 0.00 0.000 4356 0.000 0.090 2630 3560 2070 2099 2041 0 0 0 0 0 0 14.78 14.52 14.78 6.19 49.37

7606 0.68 149.6 2630 3560 2099 2042 7.5 11.3 616 7610 0.05 2.38 0.00 0.000 5126 0.341 0.047 2623 2149 2070 2099 2041 0 0 0 0 0 0 14.40 14.56 14.55 6.19 49.09

7655 end climb: SURFACE_DEPTH_REACHED

state 7655 begin surface coast

7685 end surface coast: CONTROL_FINISHED_OK

state 7685 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	64	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
N_DIVES	85	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	5
STOP_T	12271812	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_SURF	3	TGT_DEFAULT_LAT	-5400	R_PORT_OVSHOOT	37	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LON	0	R_STBD_OVSHOOT	27	ALTIM_SENSITIVITY	2
D_TGT	300	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	XPDR_VALID	2
D_ABORT	400	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	2690	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	110	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERS	1
T_MISSION	190	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	53
T_ABORT	200	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	221218,062329,-6006.6670,-12.2902,13,0.9,40,-19.6,0.5,321.9,9,8.6	SPEED_LIMITS	0.157,0.252
_CALLS	1	TGT_NAME	NORTH
_XMS_NAKs	0	TGT_LATLONG	-5900.000,0.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	1.03	MHEAD_RNG_PITCHd_Wd	30.6,124042,-16.8,-9.091,-19.85,2456
_SM_ANGLEo	-67.0	D_GRID	300
GPS2	221218,062716,-6006.6792,-12.2524,9,0.9,14,-19.6,0.0,85.6,9,10.0

SM_CCo	7696,68.78,0.250,0,0,1791,220.03	_10V_AH	13.47,0.000
SM_GC	1.11,5.45,0.08,68.78,0.054,0.174,0.250,252,2083,1791,-6.49,0.88,220.03,0,0,0,0,0,0,14.63,14.57,14.37	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-6007.05,-12.96,221218,041021	FG_AHR_10Vo	0.000
TT8_MAMPS	0.038199,0.08988	MEM	344060
HUMID	48.74	DATA_FILE_SIZE	17340,632
INTERNAL_PRESSURE	6.10897	CAP_FILE_SIZE	82841,0
TCM_TEMP	0.00	CFSIZE	1023623168,1013186560
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
SC_FREEKB	3888096	CURRENT	0.029,153.63,1
_24V_AH	13.31,18.470	GPS	221218,083801,-6006.309,-11.915,17,0.8,40,-19.6,0.2,287.4,10,6.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	476	81.36	nil	0	0	0.00
Roll_motor	69	2279	2098.21	nil	0	0	0.00
VBD_pump_during_apogee	264	1539	5424.82	nil	0	0	0.00
VBD_pump_during_surface	68	250	228.99	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	29	9.43	nil	0	0	0.00
Iridium_during_connect	17	160	36.38	SciCon	4079	3	212.01
Iridium_during_xfer	91	223	271.73	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	2.29
TT8	0	0	0.00
LPSleep	6112	2	180.32
TT8_Active	439	11	69.42
TT8_Sampling	1391	32	612.78
TT8_CF8	56	49	38.05
TT8_Kalman	0	0	0.00
Analog_circuits	998	11	154.53
GPS_charging	0	0	0.00
Compass	1005	19	263.79
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	-0.67	-146.0	236	2087	1770	1796	0.0	0.0	0	107	0.00	0.00	-95.22	0.000	16386	0.000	0.000	234	2087	3246	3325	3168	0	0	0	0	0	0	14.62	28.83	14.62	6.16	49.60
108	-0.67	-146.0	234	2087	3326	3170	3.5	-8.5	19	121	5.90	2.72	-1.35	0.000	18692	0.363	2.280	2165	3505	3285	3370	3200	0	0	0	0	0	0	14.23	13.50	14.47	6.27	48.54
216	-0.67	-146.0	2166	3506	3374	3200	23.0	-16.2	41	220	0.03	2.40	0.00	0.000	3078	0.477	0.049	2172	2103	3286	3373	3199	0	0	0	0	0	0	14.25	14.40	14.38	6.28	48.54
341	-0.67	-146.0	2174	2103	3375	3199	42.3	-13.4	66	346	0.00	2.50	0.00	0.000	2564	0.000	0.075	2173	692	3286	3373	3200	0	0	0	0	0	0	14.66	14.42	14.66	6.29	48.46
406	-0.67	-146.0	2174	693	3377	3201	52.2	-15.3	79	410	0.03	2.45	0.00	0.000	3078	0.471	0.061	2173	2101	3286	3373	3199	0	0	0	0	0	0	14.28	14.45	14.43	6.28	48.66
531	-0.67	-146.0	2173	2103	3374	3201	70.9	-14.8	104	535	0.00	2.50	0.00	0.000	2308	0.000	0.086	2164	3509	3286	3373	3199	0	0	0	0	0	0	14.71	14.45	14.70	6.29	48.58
581	-0.67	-146.0	2163	3510	3374	3200	78.6	-14.9	114	586	0.05	2.40	0.00	0.000	3078	0.375	0.050	2180	2095	3286	3373	3200	0	0	0	0	0	0	14.33	14.49	14.47	6.28	48.62
706	-0.67	-146.0	2181	2095	3374	3200	97.3	-14.6	139	710	0.00	2.45	0.00	0.000	2308	0.000	0.084	2171	3505	3286	3373	3199	0	0	0	0	0	0	14.73	14.50	14.73	6.28	48.89
721	-0.67	-146.0	2170	3505	3374	3200	99.5	-14.9	142	726	0.00	2.40	0.00	0.000	3078	0.000	0.051	2171	2099	3286	3374	3199	0	0	0	0	0	0	14.56	14.50	14.58	6.28	48.54
846	-0.67	-146.0	2171	2099	3374	3199	119.5	-16.1	149	846	0.00	0.00	0.00	0.000	2054	0.000	0.000	2171	2098	3286	3373	3199	0	0	0	0	0	0	14.76	14.76	14.76	6.28	48.58
1146	-0.67	-146.0	2171	2099	3374	3200	163.7	-14.1	164	1150	0.00	2.47	0.00	0.000	2564	0.000	0.074	2170	687	3286	3373	3199	0	0	0	0	0	0	14.80	14.55	14.80	6.29	49.92
1246	-0.67	-146.0	2171	688	3374	3200	177.3	-13.3	169	1250	0.05	2.45	0.00	0.000	3078	0.383	0.061	2177	2106	3286	3373	3200	0	0	0	0	0	0	14.41	14.57	14.56	6.30	50.07
1566	-0.67	-146.0	2177	2107	3374	3200	217.6	-12.6	185	1567	0.00	0.00	0.00	0.000	2054	0.000	0.000	2177	2101	3285	3373	3198	0	0	0	0	0	0	14.83	14.83	14.83	6.31	51.61
1866	-0.67	-146.0	2177	2107	3374	3198	254.7	-12.4	200	1871	0.00	2.45	0.00	0.000	2308	0.000	0.087	2167	3503	3286	3373	3199	0	0	0	0	0	0	14.85	14.59	14.85	6.28	51.57
1886	-0.67	-146.0	2168	3505	3373	3200	257.3	-12.4	201	1891	0.00	2.35	0.00	0.000	3078	0.000	0.049	2167	2101	3286	3374	3199	0	0	0	0	0	0	14.68	14.64	14.71	6.32	51.89
2206	-0.67	-146.0	2168	2101	3375	3199	298.6	-13.0	217	2210	0.00	2.45	0.00	0.000	2564	0.000	0.073	2167	696	3285	3373	3198	0	0	0	0	0	0	14.88	14.62	14.88	6.32	51.14
2225	end dive: TARGET_DEPTH_EXCEEDED
state	2225	begin apogee
2230	-0.15	0.0	2157	2153	3374	3200	301.3	-13.1	218	2365	0.55	0.00	131.20	1.539	10246	0.280	0.000	2353	2152	2684	2741	2627	0	0	0	0	0	0	14.52	13.91	13.31	6.32	51.41
2366	end apogee: CONTROL_FINISHED_OK
state	2366	begin loiter
2666	-0.15	0.0	2353	2153	2740	2615	296.6	3.1	240	2666	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	2152	2676	2738	2615	0	0	0	0	0	0	14.55	14.56	14.56	6.27	50.55
2966	-0.15	0.0	2353	2152	2739	2613	286.9	3.2	255	2966	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2152	2675	2739	2612	0	0	0	0	0	0	14.69	14.69	14.69	6.27	50.78
3266	-0.15	0.0	2353	2152	2740	2611	277.5	3.1	270	3266	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2152	2675	2739	2611	0	0	0	0	0	0	14.78	14.78	14.78	6.27	51.22
3566	-0.15	0.0	2353	2153	2740	2611	268.3	3.0	285	3567	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2152	2674	2738	2610	0	0	0	0	0	0	14.83	14.83	14.83	6.27	50.94
3866	-0.15	0.0	2353	2153	2739	2610	259.7	2.8	300	3866	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2152	2674	2739	2609	0	0	0	0	0	0	14.88	14.88	14.88	6.27	51.29
4166	-0.15	0.0	2353	2152	2740	2609	250.8	2.9	315	4166	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2152	2673	2738	2609	0	0	0	0	0	0	14.91	14.92	14.92	6.27	50.90
4466	-0.15	0.0	2352	2152	2738	2609	241.8	3.1	330	4466	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	2152	2673	2739	2608	0	0	0	0	0	0	14.94	14.94	14.95	6.27	50.90
4766	-0.15	0.0	2353	2152	2740	2608	233.0	2.9	345	4766	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2152	2673	2739	2608	0	0	0	0	0	0	14.96	14.97	14.97	6.27	51.14
5066	-0.15	0.0	2353	2152	2740	2609	223.7	3.2	360	5067	0.00	0.00	0.00	0.000	6	0.000	0.000	2353	2152	2673	2739	2608	0	0	0	0	0	0	14.98	14.98	14.98	6.27	50.78
5366	-0.15	0.0	2353	2152	2740	2608	213.4	3.6	375	5366	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	2152	2673	2738	2608	0	0	0	0	0	0	15.00	15.00	15.00	6.27	50.82
5666	-0.15	0.0	2353	2153	2739	2609	202.1	4.0	390	5666	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	2151	2673	2739	2608	0	0	0	0	0	0	15.01	15.02	15.02	6.27	51.26
5965	end loiter: LOITER_COMPLETE
state	5965	begin climb
5966	0.67	146.0	2353	2152	2740	2608	189.7	0.0	405	6107	0.62	2.55	133.60	1.384	11012	0.177	0.087	2605	3555	2088	2112	2064	0	0	0	0	0	0	14.71	13.96	13.45	6.27	51.22
6196	0.67	146.0	2605	3555	2111	2056	169.4	12.4	416	6200	0.00	2.45	0.00	0.000	1030	0.000	0.050	2615	2149	2082	2109	2056	0	0	0	0	0	0	14.21	14.16	14.23	6.22	48.74
6506	0.67	146.0	2616	2150	2104	2048	127.5	12.6	432	6511	0.00	2.55	0.00	0.000	516	0.000	0.080	2626	740	2075	2104	2047	0	0	0	0	0	0	14.59	14.35	14.60	6.23	50.03
6551	0.67	146.0	2626	740	2103	2048	122.8	12.2	434	6555	0.00	2.45	0.00	0.000	5126	0.000	0.059	2626	2145	2075	2102	2048	0	0	0	0	0	0	14.43	14.38	14.45	6.24	49.92
6856	0.67	146.0	2627	2146	2103	2046	85.5	11.2	466	6860	0.00	2.53	0.00	0.000	4356	0.000	0.087	2626	3558	2073	2101	2046	0	0	0	0	0	0	14.70	14.44	14.70	6.21	50.11
6906	0.67	146.0	2626	3559	2096	2047	79.8	10.8	476	6910	0.05	2.38	0.00	0.000	5126	0.338	0.050	2618	2157	2071	2101	2042	0	0	0	0	0	0	14.35	14.49	14.48	6.21	48.97
7031	0.67	146.0	2619	2157	2103	2045	67.2	10.3	501	7035	0.00	2.53	0.00	0.000	516	0.000	0.080	2628	743	2073	2101	2045	0	0	0	0	0	0	14.71	14.47	14.72	6.20	48.81
7076	0.67	146.0	2628	743	2100	2045	62.7	9.9	510	7080	0.00	2.45	0.00	0.000	5126	0.000	0.059	2628	2159	2072	2100	2044	0	0	0	0	0	0	14.55	14.50	14.57	6.21	49.72
7201	0.67	146.0	2629	2159	2101	2044	48.8	11.4	535	7206	0.00	2.47	0.00	0.000	4356	0.000	0.089	2628	3548	2072	2100	2044	0	0	0	0	0	0	14.74	14.49	14.74	6.20	48.66
7251	0.67	146.0	2628	3549	2100	2045	42.9	11.6	545	7255	0.05	2.38	0.00	0.000	5126	0.340	0.050	2621	2147	2072	2100	2044	0	0	0	0	0	0	14.39	14.52	14.52	6.20	48.93
7376	0.67	146.0	2621	2148	2101	2044	31.0	9.3	570	7380	0.00	2.50	0.00	0.000	4612	0.000	0.078	2630	737	2071	2100	2042	0	0	0	0	0	0	14.76	14.50	14.76	6.19	48.70
7441	0.68	149.6	2631	738	2101	2041	24.9	8.9	583	7446	0.00	2.42	0.00	0.000	5126	0.000	0.060	2630	2142	2069	2099	2040	0	0	0	0	0	0	14.59	14.53	14.60	6.19	49.13
7566	0.68	149.6	2630	2143	2100	2042	12.0	10.8	608	7570	0.00	2.53	0.00	0.000	4356	0.000	0.090	2630	3560	2070	2099	2041	0	0	0	0	0	0	14.78	14.52	14.78	6.19	49.37
7606	0.68	149.6	2630	3560	2099	2042	7.5	11.3	616	7610	0.05	2.38	0.00	0.000	5126	0.341	0.047	2623	2149	2070	2099	2041	0	0	0	0	0	0	14.40	14.56	14.55	6.19	49.09
7655	end climb: SURFACE_DEPTH_REACHED
state	7655	begin surface coast
7685	end surface coast: CONTROL_FINISHED_OK
state	7685	begin surface