Glider dive log

ROAMMIZ Dec18 * SG640 * Dive index * Mission links * Dive 65 * 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 65 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 44 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LON 0 R_STBD_OVSHOOT 24 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 44 VBD_CNV -0.245296

DEVICE3 -1 MINV_24V 11.5 R_STBD_OVSHOOT 24 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 65 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 221218,083801,-6006.3086,-11.9149,17,0.8,40,-19.6,0.2,287.4,10,6.6 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 21.4,123288,-16.8,-9.091,-19.85,2456

_SM_ANGLEo -67.5 D_GRID 300

GPS2 221218,084226,-6006.2886,-11.8725,8,0.8,14,-19.6,0.3,92.4,10,8.7

Post-dive calculations and measurements:

SM_CCo 7709,68.80,0.252,0,0,1790,220.03 _10V_AH 13.64,0.000

SM_GC 1.00,5.55,0.08,68.80,0.084,0.174,0.252,281,2074,1790,-6.46,0.85,220.03,0,0,0,0,0,0,14.59,14.56,14.35 FG_AHR_24Vo 0.000

IRIDIUM_FIX -6005.19,-12.94,221218,062445 FG_AHR_10Vo 0.000

TT8_MAMPS 0.038948,0.090629 MEM 344076

HUMID 48.97 DATA_FILE_SIZE 17344,630

INTERNAL_PRESSURE 6.10897 CAP_FILE_SIZE 83491,0

TCM_TEMP 0.00 CFSIZE 1023623168,1013088256

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

SC_FREEKB 3887584 CURRENT 0.019,74.34,1

_24V_AH 13.32,18.627 GPS 221218,105325,-6005.804,-11.701,17,0.7,40,-19.6,0.6,89.8,11,4.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 377 65.69 nil 0 0 0.00

Roll_motor 69 2279 2102.82 nil 0 0 0.00

VBD_pump_during_apogee 265 1535 5433.81 nil 0 0 0.00

VBD_pump_during_surface 68 251 230.65 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 29 9.92 nil 0 0 0.00

Iridium_during_connect 47 160 102.03 SciCon 4107 3 213.62

Iridium_during_xfer 90 223 268.73 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 11 2.60

TT8 0 0 0.00

LPSleep 6131 2 183.14

TT8_Active 452 11 72.39

TT8_Sampling 1411 32 629.60

TT8_CF8 56 49 38.31

TT8_Kalman 0 0 0.00

Analog_circuits 997 11 156.30

GPS_charging 0 0 0.00

Compass 988 19 262.39

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

8 -0.67 -146.0 236 2082 1767 1800 0.0 0.0 0 104 0.00 0.00 -93.30 0.000 16386 0.000 0.000 235 2081 3211 3290 3133 0 0 0 0 0 0 14.60 28.83 14.61 6.16 49.60

105 -0.67 -146.0 235 2082 3291 3135 3.3 -7.1 19 120 5.97 2.72 -2.88 0.000 18692 0.369 2.280 2161 3515 3288 3375 3201 0 0 0 0 0 0 14.22 13.45 14.38 6.27 48.66

189 -0.67 -146.0 2161 3515 3377 3201 18.4 -17.0 36 193 0.05 2.40 0.00 0.000 3078 0.359 0.047 2178 2114 3288 3376 3201 0 0 0 0 0 0 14.24 14.39 14.38 6.29 47.99

314 -0.67 -146.0 2179 2114 3378 3201 40.5 -16.1 61 319 0.00 2.53 0.00 0.000 2564 0.000 0.075 2178 692 3288 3376 3201 0 0 0 0 0 0 14.64 14.40 14.64 6.29 48.14

384 -0.67 -146.0 2179 692 3378 3201 51.1 -15.2 75 388 0.00 2.47 0.00 0.000 3078 0.000 0.063 2168 2106 3289 3377 3201 0 0 0 0 0 0 14.49 14.43 14.50 6.29 48.50

509 -0.67 -146.0 2169 2107 3377 3201 71.2 -16.7 100 513 0.00 2.47 0.00 0.000 2308 0.000 0.086 2158 3503 3288 3375 3201 0 0 0 0 0 0 14.69 14.44 14.69 6.24 48.70

544 -0.67 -146.0 2158 3505 3377 3202 77.0 -16.5 107 548 0.05 2.40 0.00 0.000 3078 0.378 0.048 2174 2088 3288 3376 3201 0 0 0 0 0 0 14.31 14.47 14.46 6.29 48.77

669 -0.67 -146.0 2174 2088 3377 3202 96.7 -15.5 132 670 0.00 0.00 0.00 0.000 2054 0.000 0.000 2175 2087 3288 3377 3200 0 0 0 0 0 0 14.71 14.71 14.71 6.28 48.38

794 -0.67 -146.0 2175 2086 3378 3201 116.2 -15.6 142 798 0.00 2.53 0.00 0.000 2308 0.000 0.086 2165 3506 3289 3377 3201 0 0 0 0 0 0 14.74 14.49 14.75 6.28 48.81

808 -0.67 -146.0 2165 3507 3377 3202 116.2 -15.6 142 814 0.05 2.40 0.00 0.000 3078 0.369 0.050 2182 2096 3289 3377 3201 0 0 0 0 0 0 14.37 14.52 14.51 6.36 49.21

1114 -0.67 -146.0 2182 2096 3377 3204 161.8 -14.0 158 1119 0.00 2.47 0.00 0.000 516 0.000 0.076 2182 692 3288 3376 3200 0 0 0 0 0 0 14.78 14.54 14.84 6.29 49.84

1224 -0.67 -146.0 2182 693 3377 3202 175.5 -13.5 163 1228 0.00 2.42 0.00 0.000 3078 0.000 0.061 2173 2101 3288 3377 3200 0 0 0 0 0 0 14.62 14.56 14.64 6.29 50.43

1534 -0.67 -146.0 2182 2102 3378 3200 219.1 -13.5 179 1538 0.00 2.45 0.00 0.000 2308 0.000 0.086 2162 3501 3288 3377 3200 0 0 0 0 0 0 14.83 14.57 14.83 6.31 51.06

1574 -0.67 -146.0 2162 3501 3378 3199 224.6 -13.7 181 1578 0.05 2.35 0.00 0.000 3078 0.373 0.048 2180 2098 3288 3376 3200 0 0 0 0 0 0 14.45 14.61 14.59 6.31 50.98

1894 -0.67 -146.0 2179 2098 3377 3201 266.3 -12.9 197 1894 0.00 0.00 0.00 0.000 2054 0.000 0.000 2179 2097 3288 3377 3200 0 0 0 0 0 0 14.85 14.85 14.85 6.31 51.22

2153 end dive: TARGET_DEPTH_EXCEEDED

state 2153 begin apogee

2156 -0.15 0.0 2180 2165 3377 3200 300.4 -13.1 210 2290 0.47 0.00 131.38 1.535 10246 0.276 0.000 2350 2165 2689 2747 2631 0 0 0 0 0 0 14.52 13.91 13.32 6.32 51.26

2291 end apogee: CONTROL_FINISHED_OK

state 2291 begin loiter

2574 -0.15 0.0 2350 2165 2741 2615 297.9 3.0 231 2575 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2165 2677 2740 2615 0 0 0 0 0 0 14.54 14.54 14.54 6.27 50.23

2874 -0.15 0.0 2351 2165 2740 2612 288.7 3.1 246 2875 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2164 2675 2739 2612 0 0 0 0 0 0 14.68 14.69 14.69 6.27 50.70

3174 -0.15 0.0 2350 2165 2739 2612 279.4 3.1 261 3175 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2165 2675 2739 2611 0 0 0 0 0 0 14.76 14.77 14.77 6.27 51.61

3474 -0.15 0.0 2351 2165 2740 2610 270.4 3.0 276 3475 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2165 2674 2739 2610 0 0 0 0 0 0 14.82 14.83 14.83 6.27 51.18

3774 -0.15 0.0 2350 2166 2740 2611 262.3 2.6 291 3775 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2165 2674 2739 2610 0 0 0 0 0 0 14.87 14.88 14.88 6.27 50.82

4074 -0.15 0.0 2350 2166 2740 2610 255.0 2.5 306 4075 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2165 2674 2739 2609 0 0 0 0 0 0 14.90 14.91 14.90 6.27 51.06

4374 -0.15 0.0 2351 2165 2740 2609 247.7 2.5 321 4375 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2165 2674 2739 2609 0 0 0 0 0 0 14.93 14.94 14.93 6.27 50.98

4674 -0.15 0.0 2351 2165 2740 2608 239.6 3.0 336 4675 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2165 2673 2738 2609 0 0 0 0 0 0 14.95 14.96 14.96 6.27 50.98

4974 -0.15 0.0 2351 2165 2740 2608 229.8 3.3 351 4975 0.00 0.00 0.00 0.000 2054 0.000 0.000 2350 2165 2673 2739 2608 0 0 0 0 0 0 14.97 14.97 14.97 6.27 51.10

5274 -0.15 0.0 2351 2165 2740 2608 219.4 3.7 366 5275 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2165 2674 2739 2609 0 0 0 0 0 0 14.99 15.00 14.99 6.27 50.90

5574 -0.15 0.0 2350 2164 2739 2609 208.4 3.6 381 5575 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2165 2673 2739 2608 0 0 0 0 0 0 15.00 15.00 15.00 6.27 51.02

5873 end loiter: LOITER_COMPLETE

state 5873 begin climb

5874 0.67 146.0 2350 2166 2740 2609 198.4 0.0 396 6015 0.65 2.60 134.32 1.393 11012 0.178 0.081 2621 740 2087 2110 2065 0 0 0 0 0 0 14.71 13.96 13.45 6.27 51.26

6039 0.67 146.0 2621 740 2110 2060 187.0 9.7 404 6043 0.00 2.50 0.00 0.000 5126 0.000 0.059 2622 2138 2088 2109 2068 0 0 0 0 0 0 14.09 14.04 14.11 6.23 48.97

6349 0.67 146.0 2622 2139 2105 2048 145.9 12.8 420 6353 0.00 2.55 0.00 0.000 4356 0.000 0.086 2622 3557 2076 2104 2048 0 0 0 0 0 0 14.57 14.32 14.57 6.22 50.70

6394 0.67 146.0 2622 3557 2104 2048 140.8 12.7 422 6399 0.05 2.40 0.00 0.000 5126 0.343 0.050 2614 2152 2075 2103 2048 0 0 0 0 0 0 14.23 14.35 14.36 6.22 50.51

6709 0.67 146.0 2615 2153 2096 2046 103.2 12.0 438 6714 0.00 2.53 0.00 0.000 516 0.000 0.080 2624 737 2073 2102 2044 0 0 0 0 0 0 14.68 14.43 14.69 6.22 49.56

6779 0.67 146.0 2625 737 2102 2043 95.2 11.0 446 6784 0.00 2.45 0.00 0.000 5126 0.000 0.059 2624 2159 2074 2106 2043 0 0 0 0 0 0 14.52 14.47 14.54 6.21 49.60

6904 0.67 146.0 2625 2160 2102 2041 80.5 11.7 471 6909 0.00 2.47 0.00 0.000 4356 0.000 0.088 2625 3548 2071 2101 2042 0 0 0 0 0 0 14.71 14.46 14.71 6.21 49.33

6954 0.67 146.0 2625 3550 2102 2043 74.6 11.3 481 6959 0.05 2.38 0.00 0.000 5126 0.336 0.051 2616 2152 2071 2101 2042 0 0 0 0 0 0 14.36 14.50 14.50 6.15 48.89

7080 0.67 146.0 2617 2152 2102 2040 61.6 10.5 506 7084 0.00 2.47 0.00 0.000 516 0.000 0.080 2626 734 2071 2101 2041 0 0 0 0 0 0 14.73 14.51 14.73 6.20 48.46

7129 0.67 146.0 2626 735 2102 2040 56.6 9.7 516 7134 0.00 2.45 0.00 0.000 5126 0.000 0.059 2626 2153 2070 2100 2041 0 0 0 0 0 0 14.56 14.51 14.58 6.18 48.97

7254 0.67 146.0 2626 2154 2101 2041 43.5 10.7 541 7259 0.00 2.50 0.00 0.000 4356 0.000 0.088 2626 3557 2070 2100 2040 0 0 0 0 0 0 14.75 14.50 14.75 6.19 48.50

7309 0.67 146.0 2626 3559 2101 2040 37.5 10.4 552 7314 0.05 2.38 0.00 0.000 5126 0.339 0.050 2618 2152 2070 2100 2040 0 0 0 0 0 0 14.40 14.54 14.53 6.19 48.66

7435 0.68 147.2 2618 2153 2101 2041 26.5 9.0 577 7439 0.00 2.47 0.00 0.000 516 0.000 0.079 2628 733 2070 2100 2040 0 0 0 0 0 0 14.76 14.53 14.76 6.19 49.29

7464 0.68 147.2 2629 733 2101 2039 23.7 9.3 583 7470 0.00 2.42 0.00 0.000 5126 0.000 0.060 2628 2144 2070 2100 2040 0 0 0 0 0 0 14.59 14.54 14.62 6.19 48.77

7589 0.68 147.2 2628 2145 2100 2039 11.2 10.4 608 7594 0.00 2.50 0.00 0.000 4356 0.000 0.090 2628 3549 2069 2100 2039 0 0 0 0 0 0 14.77 14.52 14.77 6.19 49.44

7644 0.68 147.2 2629 3548 2101 2039 5.2 10.8 619 7650 0.05 2.38 0.00 0.000 5126 0.349 0.052 2620 2147 2070 2100 2040 0 0 0 0 0 0 14.41 14.57 14.55 6.19 49.44

7668 end climb: SURFACE_DEPTH_REACHED

state 7668 begin surface coast

7698 end surface coast: CONTROL_FINISHED_OK

state 7698 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	65	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	44	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LON	0	R_STBD_OVSHOOT	24	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	221218,083801,-6006.3086,-11.9149,17,0.8,40,-19.6,0.2,287.4,10,6.6	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	21.4,123288,-16.8,-9.091,-19.85,2456
_SM_ANGLEo	-67.5	D_GRID	300
GPS2	221218,084226,-6006.2886,-11.8725,8,0.8,14,-19.6,0.3,92.4,10,8.7

SM_CCo	7709,68.80,0.252,0,0,1790,220.03	_10V_AH	13.64,0.000
SM_GC	1.00,5.55,0.08,68.80,0.084,0.174,0.252,281,2074,1790,-6.46,0.85,220.03,0,0,0,0,0,0,14.59,14.56,14.35	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-6005.19,-12.94,221218,062445	FG_AHR_10Vo	0.000
TT8_MAMPS	0.038948,0.090629	MEM	344076
HUMID	48.97	DATA_FILE_SIZE	17344,630
INTERNAL_PRESSURE	6.10897	CAP_FILE_SIZE	83491,0
TCM_TEMP	0.00	CFSIZE	1023623168,1013088256
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
SC_FREEKB	3887584	CURRENT	0.019,74.34,1
_24V_AH	13.32,18.627	GPS	221218,105325,-6005.804,-11.701,17,0.7,40,-19.6,0.6,89.8,11,4.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	377	65.69	nil	0	0	0.00
Roll_motor	69	2279	2102.82	nil	0	0	0.00
VBD_pump_during_apogee	265	1535	5433.81	nil	0	0	0.00
VBD_pump_during_surface	68	251	230.65	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	29	9.92	nil	0	0	0.00
Iridium_during_connect	47	160	102.03	SciCon	4107	3	213.62
Iridium_during_xfer	90	223	268.73	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	11	2.60
TT8	0	0	0.00
LPSleep	6131	2	183.14
TT8_Active	452	11	72.39
TT8_Sampling	1411	32	629.60
TT8_CF8	56	49	38.31
TT8_Kalman	0	0	0.00
Analog_circuits	997	11	156.30
GPS_charging	0	0	0.00
Compass	988	19	262.39
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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
8	-0.67	-146.0	236	2082	1767	1800	0.0	0.0	0	104	0.00	0.00	-93.30	0.000	16386	0.000	0.000	235	2081	3211	3290	3133	0	0	0	0	0	0	14.60	28.83	14.61	6.16	49.60
105	-0.67	-146.0	235	2082	3291	3135	3.3	-7.1	19	120	5.97	2.72	-2.88	0.000	18692	0.369	2.280	2161	3515	3288	3375	3201	0	0	0	0	0	0	14.22	13.45	14.38	6.27	48.66
189	-0.67	-146.0	2161	3515	3377	3201	18.4	-17.0	36	193	0.05	2.40	0.00	0.000	3078	0.359	0.047	2178	2114	3288	3376	3201	0	0	0	0	0	0	14.24	14.39	14.38	6.29	47.99
314	-0.67	-146.0	2179	2114	3378	3201	40.5	-16.1	61	319	0.00	2.53	0.00	0.000	2564	0.000	0.075	2178	692	3288	3376	3201	0	0	0	0	0	0	14.64	14.40	14.64	6.29	48.14
384	-0.67	-146.0	2179	692	3378	3201	51.1	-15.2	75	388	0.00	2.47	0.00	0.000	3078	0.000	0.063	2168	2106	3289	3377	3201	0	0	0	0	0	0	14.49	14.43	14.50	6.29	48.50
509	-0.67	-146.0	2169	2107	3377	3201	71.2	-16.7	100	513	0.00	2.47	0.00	0.000	2308	0.000	0.086	2158	3503	3288	3375	3201	0	0	0	0	0	0	14.69	14.44	14.69	6.24	48.70
544	-0.67	-146.0	2158	3505	3377	3202	77.0	-16.5	107	548	0.05	2.40	0.00	0.000	3078	0.378	0.048	2174	2088	3288	3376	3201	0	0	0	0	0	0	14.31	14.47	14.46	6.29	48.77
669	-0.67	-146.0	2174	2088	3377	3202	96.7	-15.5	132	670	0.00	0.00	0.00	0.000	2054	0.000	0.000	2175	2087	3288	3377	3200	0	0	0	0	0	0	14.71	14.71	14.71	6.28	48.38
794	-0.67	-146.0	2175	2086	3378	3201	116.2	-15.6	142	798	0.00	2.53	0.00	0.000	2308	0.000	0.086	2165	3506	3289	3377	3201	0	0	0	0	0	0	14.74	14.49	14.75	6.28	48.81
808	-0.67	-146.0	2165	3507	3377	3202	116.2	-15.6	142	814	0.05	2.40	0.00	0.000	3078	0.369	0.050	2182	2096	3289	3377	3201	0	0	0	0	0	0	14.37	14.52	14.51	6.36	49.21
1114	-0.67	-146.0	2182	2096	3377	3204	161.8	-14.0	158	1119	0.00	2.47	0.00	0.000	516	0.000	0.076	2182	692	3288	3376	3200	0	0	0	0	0	0	14.78	14.54	14.84	6.29	49.84
1224	-0.67	-146.0	2182	693	3377	3202	175.5	-13.5	163	1228	0.00	2.42	0.00	0.000	3078	0.000	0.061	2173	2101	3288	3377	3200	0	0	0	0	0	0	14.62	14.56	14.64	6.29	50.43
1534	-0.67	-146.0	2182	2102	3378	3200	219.1	-13.5	179	1538	0.00	2.45	0.00	0.000	2308	0.000	0.086	2162	3501	3288	3377	3200	0	0	0	0	0	0	14.83	14.57	14.83	6.31	51.06
1574	-0.67	-146.0	2162	3501	3378	3199	224.6	-13.7	181	1578	0.05	2.35	0.00	0.000	3078	0.373	0.048	2180	2098	3288	3376	3200	0	0	0	0	0	0	14.45	14.61	14.59	6.31	50.98
1894	-0.67	-146.0	2179	2098	3377	3201	266.3	-12.9	197	1894	0.00	0.00	0.00	0.000	2054	0.000	0.000	2179	2097	3288	3377	3200	0	0	0	0	0	0	14.85	14.85	14.85	6.31	51.22
2153	end dive: TARGET_DEPTH_EXCEEDED
state	2153	begin apogee
2156	-0.15	0.0	2180	2165	3377	3200	300.4	-13.1	210	2290	0.47	0.00	131.38	1.535	10246	0.276	0.000	2350	2165	2689	2747	2631	0	0	0	0	0	0	14.52	13.91	13.32	6.32	51.26
2291	end apogee: CONTROL_FINISHED_OK
state	2291	begin loiter
2574	-0.15	0.0	2350	2165	2741	2615	297.9	3.0	231	2575	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2165	2677	2740	2615	0	0	0	0	0	0	14.54	14.54	14.54	6.27	50.23
2874	-0.15	0.0	2351	2165	2740	2612	288.7	3.1	246	2875	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2164	2675	2739	2612	0	0	0	0	0	0	14.68	14.69	14.69	6.27	50.70
3174	-0.15	0.0	2350	2165	2739	2612	279.4	3.1	261	3175	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2165	2675	2739	2611	0	0	0	0	0	0	14.76	14.77	14.77	6.27	51.61
3474	-0.15	0.0	2351	2165	2740	2610	270.4	3.0	276	3475	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2165	2674	2739	2610	0	0	0	0	0	0	14.82	14.83	14.83	6.27	51.18
3774	-0.15	0.0	2350	2166	2740	2611	262.3	2.6	291	3775	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2165	2674	2739	2610	0	0	0	0	0	0	14.87	14.88	14.88	6.27	50.82
4074	-0.15	0.0	2350	2166	2740	2610	255.0	2.5	306	4075	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2165	2674	2739	2609	0	0	0	0	0	0	14.90	14.91	14.90	6.27	51.06
4374	-0.15	0.0	2351	2165	2740	2609	247.7	2.5	321	4375	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2165	2674	2739	2609	0	0	0	0	0	0	14.93	14.94	14.93	6.27	50.98
4674	-0.15	0.0	2351	2165	2740	2608	239.6	3.0	336	4675	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2165	2673	2738	2609	0	0	0	0	0	0	14.95	14.96	14.96	6.27	50.98
4974	-0.15	0.0	2351	2165	2740	2608	229.8	3.3	351	4975	0.00	0.00	0.00	0.000	2054	0.000	0.000	2350	2165	2673	2739	2608	0	0	0	0	0	0	14.97	14.97	14.97	6.27	51.10
5274	-0.15	0.0	2351	2165	2740	2608	219.4	3.7	366	5275	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2165	2674	2739	2609	0	0	0	0	0	0	14.99	15.00	14.99	6.27	50.90
5574	-0.15	0.0	2350	2164	2739	2609	208.4	3.6	381	5575	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2165	2673	2739	2608	0	0	0	0	0	0	15.00	15.00	15.00	6.27	51.02
5873	end loiter: LOITER_COMPLETE
state	5873	begin climb
5874	0.67	146.0	2350	2166	2740	2609	198.4	0.0	396	6015	0.65	2.60	134.32	1.393	11012	0.178	0.081	2621	740	2087	2110	2065	0	0	0	0	0	0	14.71	13.96	13.45	6.27	51.26
6039	0.67	146.0	2621	740	2110	2060	187.0	9.7	404	6043	0.00	2.50	0.00	0.000	5126	0.000	0.059	2622	2138	2088	2109	2068	0	0	0	0	0	0	14.09	14.04	14.11	6.23	48.97
6349	0.67	146.0	2622	2139	2105	2048	145.9	12.8	420	6353	0.00	2.55	0.00	0.000	4356	0.000	0.086	2622	3557	2076	2104	2048	0	0	0	0	0	0	14.57	14.32	14.57	6.22	50.70
6394	0.67	146.0	2622	3557	2104	2048	140.8	12.7	422	6399	0.05	2.40	0.00	0.000	5126	0.343	0.050	2614	2152	2075	2103	2048	0	0	0	0	0	0	14.23	14.35	14.36	6.22	50.51
6709	0.67	146.0	2615	2153	2096	2046	103.2	12.0	438	6714	0.00	2.53	0.00	0.000	516	0.000	0.080	2624	737	2073	2102	2044	0	0	0	0	0	0	14.68	14.43	14.69	6.22	49.56
6779	0.67	146.0	2625	737	2102	2043	95.2	11.0	446	6784	0.00	2.45	0.00	0.000	5126	0.000	0.059	2624	2159	2074	2106	2043	0	0	0	0	0	0	14.52	14.47	14.54	6.21	49.60
6904	0.67	146.0	2625	2160	2102	2041	80.5	11.7	471	6909	0.00	2.47	0.00	0.000	4356	0.000	0.088	2625	3548	2071	2101	2042	0	0	0	0	0	0	14.71	14.46	14.71	6.21	49.33
6954	0.67	146.0	2625	3550	2102	2043	74.6	11.3	481	6959	0.05	2.38	0.00	0.000	5126	0.336	0.051	2616	2152	2071	2101	2042	0	0	0	0	0	0	14.36	14.50	14.50	6.15	48.89
7080	0.67	146.0	2617	2152	2102	2040	61.6	10.5	506	7084	0.00	2.47	0.00	0.000	516	0.000	0.080	2626	734	2071	2101	2041	0	0	0	0	0	0	14.73	14.51	14.73	6.20	48.46
7129	0.67	146.0	2626	735	2102	2040	56.6	9.7	516	7134	0.00	2.45	0.00	0.000	5126	0.000	0.059	2626	2153	2070	2100	2041	0	0	0	0	0	0	14.56	14.51	14.58	6.18	48.97
7254	0.67	146.0	2626	2154	2101	2041	43.5	10.7	541	7259	0.00	2.50	0.00	0.000	4356	0.000	0.088	2626	3557	2070	2100	2040	0	0	0	0	0	0	14.75	14.50	14.75	6.19	48.50
7309	0.67	146.0	2626	3559	2101	2040	37.5	10.4	552	7314	0.05	2.38	0.00	0.000	5126	0.339	0.050	2618	2152	2070	2100	2040	0	0	0	0	0	0	14.40	14.54	14.53	6.19	48.66
7435	0.68	147.2	2618	2153	2101	2041	26.5	9.0	577	7439	0.00	2.47	0.00	0.000	516	0.000	0.079	2628	733	2070	2100	2040	0	0	0	0	0	0	14.76	14.53	14.76	6.19	49.29
7464	0.68	147.2	2629	733	2101	2039	23.7	9.3	583	7470	0.00	2.42	0.00	0.000	5126	0.000	0.060	2628	2144	2070	2100	2040	0	0	0	0	0	0	14.59	14.54	14.62	6.19	48.77
7589	0.68	147.2	2628	2145	2100	2039	11.2	10.4	608	7594	0.00	2.50	0.00	0.000	4356	0.000	0.090	2628	3549	2069	2100	2039	0	0	0	0	0	0	14.77	14.52	14.77	6.19	49.44
7644	0.68	147.2	2629	3548	2101	2039	5.2	10.8	619	7650	0.05	2.38	0.00	0.000	5126	0.349	0.052	2620	2147	2070	2100	2040	0	0	0	0	0	0	14.41	14.57	14.55	6.19	49.44
7668	end climb: SURFACE_DEPTH_REACHED
state	7668	begin surface coast
7698	end surface coast: CONTROL_FINISHED_OK
state	7698	begin surface