Glider dive log

ROAMMIZ Dec18 * SG640 * Dive index * Mission links * Dive 67 * 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 67 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 55 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LON 0 R_STBD_OVSHOOT 26 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 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 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 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 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 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 55 VBD_CNV -0.245296

DEVICE3 -1 MINV_24V 11.5 R_STBD_OVSHOOT 26 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 67 NOCOMM_ACTION 259 SC_XMITPROFILE 3.0 VBD_MIN 602

D_ABORT 420 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 221218,132431,-6005.1973,-11.6936,16,0.7,33,-19.6,1.0,207.1,12,7.5 SPEED_LIMITS 0.144,0.244

_CALLS 1 TGT_NAME NORTH

_XMS_NAKs 0 TGT_LATLONG -5900.000,0.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 1.13 MHEAD_RNG_PITCHd_Wd 26.1,121250,-15.5,-8.333,-18.82,2677

_SM_ANGLEo -70.1 D_GRID 350

GPS2 221218,132841,-6005.1899,-11.7418,9,0.7,15,-19.6,0.0,40.5,12,9.6

Post-dive calculations and measurements:

SM_CCo 8631,68.97,0.252,0,0,1791,220.03 _10V_AH 13.46,0.000

SM_GC 1.02,5.43,0.08,68.97,0.061,0.173,0.252,258,2077,1791,-6.45,0.99,220.03,0,0,0,0,0,0,14.67,14.61,14.40 FG_AHR_24Vo 0.000

IRIDIUM_FIX -6005.19,-8.63,221218,105447 FG_AHR_10Vo 0.000

TT8_MAMPS 0.03745,0.08988 MEM 344128

HUMID 49.48 DATA_FILE_SIZE 17332,681

INTERNAL_PRESSURE 6.10897 CAP_FILE_SIZE 83807,0

TCM_TEMP 0.00 CFSIZE 1023623168,1012891648

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

SC_FREEKB 3886560 CURRENT 0.060,240.66,1

_24V_AH 13.29,18.953 GPS 221218,155501,-6004.663,-12.020,15,0.9,39,-19.6,0.3,0.6,9,6.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 481 81.22 nil 0 0 0.00

Roll_motor 53 2281 1635.63 nil 0 0 0.00

VBD_pump_during_apogee 264 1598 5623.47 nil 0 0 0.00

VBD_pump_during_surface 68 251 230.71 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 29 9.01 nil 0 0 0.00

Iridium_during_connect 21 160 46.30 SciCon 5029 3 260.86

Iridium_during_xfer 110 223 326.81 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 2.48

TT8 0 0 0.00

LPSleep 7017 2 206.87

TT8_Active 431 11 68.16

TT8_Sampling 1449 32 638.05

TT8_CF8 57 49 38.71

TT8_Kalman 0 0 0.00

Analog_circuits 998 11 154.44

GPS_charging 0 0 0.00

Compass 1040 19 272.65

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -0.64 -146.0 235 2072 1764 1803 0.0 0.0 0 104 0.00 0.00 -93.43 0.000 16386 0.000 0.000 234 2072 3222 3301 3144 0 0 0 0 0 0 14.62 28.83 14.62 6.15 49.56

105 -0.64 -146.0 235 2072 3303 3145 3.5 -7.9 19 119 5.95 2.78 -2.40 0.000 18692 0.359 2.281 2173 3509 3287 3373 3201 0 0 0 0 0 0 14.24 13.49 14.40 6.27 49.25

189 -0.64 -146.0 2173 3510 3377 3201 18.2 -15.8 36 194 0.05 2.35 0.00 0.000 3078 0.363 0.047 2189 2131 3288 3376 3201 0 0 0 0 0 0 14.26 14.41 14.40 6.29 48.07

314 -0.64 -146.0 2189 2131 3377 3203 38.9 -17.3 61 315 0.00 0.00 0.00 0.000 2054 0.000 0.000 2189 2130 3288 3376 3201 0 0 0 0 0 0 14.66 14.66 14.66 6.29 47.99

434 -0.64 -146.0 2190 2131 3377 3201 57.0 -15.3 85 438 0.00 2.45 0.00 0.000 2308 0.000 0.086 2180 3508 3288 3376 3201 0 0 0 0 0 0 14.69 14.44 14.69 6.29 49.09

489 -0.64 -146.0 2180 3508 3377 3201 65.2 -14.7 96 494 0.03 2.40 0.00 0.000 3078 0.467 0.048 2187 2092 3288 3376 3201 0 0 0 0 0 0 14.31 14.48 14.45 6.29 48.70

614 -0.64 -146.0 2188 2091 3378 3201 83.9 -15.3 121 618 0.00 2.42 0.00 0.000 2564 0.000 0.072 2187 691 3289 3376 3202 0 0 0 0 0 0 14.71 14.49 14.71 6.28 49.40

624 -0.64 -146.0 2186 692 3377 3203 85.5 -15.6 123 628 0.00 2.42 0.00 0.000 3078 0.000 0.062 2178 2094 3288 3376 3201 0 0 0 0 0 0 14.52 14.48 14.56 6.29 48.74

759 -0.64 -146.0 2178 2095 3377 3201 106.5 -15.4 144 760 0.05 0.00 0.00 0.000 2054 0.481 0.000 2191 2095 3288 3376 3201 0 0 0 0 0 0 14.38 14.60 14.57 6.28 48.85

1059 -0.64 -146.0 2191 2096 3377 3202 148.5 -13.9 159 1063 0.00 2.45 0.00 0.000 2564 0.000 0.073 2191 699 3288 3376 3201 0 0 0 0 0 0 14.78 14.54 14.79 6.28 49.13

1144 -0.64 -146.0 2191 700 3377 3203 159.4 -13.7 163 1149 0.00 2.42 0.00 0.000 3078 0.000 0.061 2181 2105 3289 3376 3202 0 0 0 0 0 0 14.61 14.57 14.64 6.29 49.48

1459 -0.64 -146.0 2182 2105 3377 3201 202.6 -13.6 179 1459 0.00 0.00 0.00 0.000 2054 0.000 0.000 2182 2105 3286 3376 3196 0 0 0 0 0 0 14.83 14.83 14.83 6.30 50.98

1759 -0.64 -146.0 2182 2105 3377 3201 243.0 -13.2 194 1759 0.00 0.00 0.00 0.000 2054 0.000 0.000 2181 2105 3288 3376 3201 0 0 0 0 0 0 14.85 14.85 14.85 6.31 52.00

2059 -0.64 -146.0 2181 2106 3376 3202 282.2 -12.9 209 2064 0.00 2.45 0.00 0.000 2564 0.000 0.071 2181 695 3288 3375 3201 0 0 0 0 0 0 14.88 14.63 14.87 6.32 51.69

2104 -0.64 -146.0 2182 696 3377 3202 287.6 -13.2 211 2108 0.05 2.40 0.00 0.000 3078 0.372 0.060 2188 2096 3288 3375 3201 0 0 0 0 0 0 14.48 14.62 14.63 6.32 52.08

2419 -0.64 -146.0 2188 2097 3377 3202 327.5 -12.4 227 2419 0.00 0.00 0.00 0.000 2054 0.000 0.000 2188 2096 3288 3376 3201 0 0 0 0 0 0 14.88 14.89 14.89 6.32 51.96

2618 end dive: TARGET_DEPTH_EXCEEDED

state 2618 begin apogee

2621 -0.15 0.0 2189 2179 3377 3201 351.9 -12.1 237 2756 0.45 0.00 131.68 1.599 10246 0.271 0.000 2351 2179 2686 2744 2629 0 0 0 0 0 0 14.54 13.90 13.29 6.38 52.00

2757 end apogee: CONTROL_FINISHED_OK

state 2757 begin loiter

3040 -0.15 0.0 2351 2180 2740 2617 347.9 3.2 258 3041 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2180 2676 2738 2615 0 0 0 0 0 0 14.54 14.54 14.54 6.28 50.82

3340 -0.15 0.0 2351 2179 2739 2614 338.1 3.2 273 3341 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2179 2675 2738 2613 0 0 0 0 0 0 14.68 14.69 14.69 6.28 50.63

3640 -0.15 0.0 2351 2180 2740 2613 329.0 3.0 288 3641 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2179 2675 2738 2612 0 0 0 0 0 0 14.76 14.76 14.77 6.28 50.74

3940 -0.15 0.0 2351 2180 2739 2613 319.9 3.0 303 3941 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2179 2674 2738 2611 0 0 0 0 0 0 14.82 14.83 14.83 6.27 50.94

4240 -0.15 0.0 2351 2180 2740 2611 310.7 3.1 318 4241 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2179 2674 2738 2611 0 0 0 0 0 0 14.87 14.88 14.88 6.27 51.06

4540 -0.15 0.0 2351 2180 2739 2612 301.6 3.1 333 4541 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2179 2674 2738 2610 0 0 0 0 0 0 14.90 14.90 14.90 6.28 50.90

4840 -0.15 0.0 2351 2180 2740 2610 292.1 3.1 348 4841 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2179 2674 2738 2610 0 0 0 0 0 0 14.93 14.94 14.94 6.27 50.94

5140 -0.15 0.0 2350 2180 2740 2610 282.6 3.2 363 5141 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2179 2674 2738 2610 0 0 0 0 0 0 14.95 14.95 14.95 6.27 51.06

5440 -0.15 0.0 2351 2180 2739 2610 272.9 3.2 378 5441 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 2179 2674 2738 2610 0 0 0 0 0 0 14.97 14.97 14.97 6.28 51.45

5740 -0.15 0.0 2351 2180 2740 2610 263.1 3.2 393 5741 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2179 2673 2738 2609 0 0 0 0 0 0 14.99 15.00 15.00 6.28 51.10

6040 -0.15 0.0 2351 2180 2739 2610 253.2 3.2 408 6041 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2179 2673 2738 2609 0 0 0 0 0 0 15.00 15.01 15.00 6.27 50.98

6339 end loiter: LOITER_COMPLETE

state 6339 begin climb

6340 0.64 146.0 2350 2180 2739 2611 243.7 0.0 423 6477 0.60 0.00 132.98 1.427 10502 0.176 0.000 2593 2179 2095 2119 2072 0 0 0 0 0 0 14.71 13.99 13.43 6.27 51.14

6761 0.64 146.0 2593 2180 2109 2051 203.1 11.6 444 6761 0.00 0.00 0.00 0.000 2054 0.000 0.000 2593 2179 2079 2108 2050 0 0 0 0 0 0 14.54 14.54 14.54 6.23 50.15

7061 0.64 146.0 2593 2180 2107 2047 167.0 12.1 459 7061 0.00 0.00 0.00 0.000 2054 0.000 0.000 2593 2179 2076 2105 2048 0 0 0 0 0 0 14.66 14.66 14.67 6.23 50.98

7361 0.64 146.0 2593 2179 2106 2045 131.5 11.4 474 7365 0.00 2.40 0.00 0.000 2308 0.000 0.088 2593 3531 2075 2105 2046 0 0 0 0 0 0 14.73 14.48 14.74 6.22 51.14

7396 0.64 146.0 2593 3532 2105 2047 129.1 11.4 475 7400 0.00 2.33 0.00 0.000 1030 0.000 0.049 2604 2156 2075 2104 2046 0 0 0 0 0 0 14.57 14.52 14.58 6.23 50.47

7701 0.64 146.0 2603 2157 2105 2045 93.4 11.5 497 7705 0.00 2.53 0.00 0.000 516 0.000 0.080 2615 737 2073 2104 2043 0 0 0 0 0 0 14.78 14.53 14.78 6.21 49.88

7761 0.64 146.0 2615 738 2102 2045 86.9 10.5 509 7765 0.00 2.38 0.00 0.000 5126 0.000 0.059 2615 2122 2072 2102 2043 0 0 0 0 0 0 14.62 14.57 14.63 6.21 49.40

7886 0.64 146.0 2615 2123 2102 2045 73.3 10.7 534 7891 0.00 2.55 0.00 0.000 4356 0.000 0.090 2615 3556 2072 2101 2043 0 0 0 0 0 0 14.79 14.54 14.79 6.21 48.77

7936 0.64 146.0 2615 3557 2102 2045 67.7 10.6 544 7940 0.05 2.38 0.00 0.000 5126 0.347 0.053 2608 2155 2073 2103 2044 0 0 0 0 0 0 14.45 14.57 14.57 6.20 49.17

8061 0.64 146.0 2608 2155 2103 2043 55.6 9.8 569 8065 0.00 2.50 0.00 0.000 4612 0.000 0.080 2617 740 2072 2102 2043 0 0 0 0 0 0 14.80 14.56 14.81 6.20 48.66

8106 0.64 146.0 2617 741 2102 2042 51.3 9.3 578 8111 0.00 2.42 0.00 0.000 5126 0.000 0.059 2617 2150 2071 2102 2041 0 0 0 0 0 0 14.62 14.57 14.65 6.20 48.93

8231 0.64 146.0 2618 2151 2102 2041 38.8 10.4 603 8235 0.00 2.45 0.00 0.000 4356 0.000 0.090 2617 3556 2071 2101 2041 0 0 0 0 0 0 14.81 14.56 14.78 6.19 48.70

8306 0.64 146.0 2617 3556 2102 2041 30.8 10.8 618 8311 0.05 2.38 0.00 0.000 5126 0.338 0.050 2609 2146 2071 2101 2041 0 0 0 0 0 0 14.45 14.59 14.59 6.19 48.62

8431 0.64 146.0 2609 2147 2102 2042 18.6 9.7 643 8435 0.00 2.47 0.00 0.000 4612 0.000 0.078 2618 721 2071 2101 2042 0 0 0 0 0 0 14.81 14.58 14.82 6.19 48.85

8471 0.64 146.0 2618 722 2102 2042 15.0 9.0 651 8475 0.00 2.45 0.00 0.000 5126 0.000 0.059 2617 2150 2070 2101 2040 0 0 0 0 0 0 14.64 14.58 14.65 6.19 49.37

8595 end climb: SURFACE_DEPTH_REACHED

state 8595 begin surface coast

8620 end surface coast: CONTROL_FINISHED_OK

state 8620 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	67	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	55	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LON	0	R_STBD_OVSHOOT	26	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	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	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	221218,132431,-6005.1973,-11.6936,16,0.7,33,-19.6,1.0,207.1,12,7.5	SPEED_LIMITS	0.144,0.244
_CALLS	1	TGT_NAME	NORTH
_XMS_NAKs	0	TGT_LATLONG	-5900.000,0.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	1.13	MHEAD_RNG_PITCHd_Wd	26.1,121250,-15.5,-8.333,-18.82,2677
_SM_ANGLEo	-70.1	D_GRID	350
GPS2	221218,132841,-6005.1899,-11.7418,9,0.7,15,-19.6,0.0,40.5,12,9.6

SM_CCo	8631,68.97,0.252,0,0,1791,220.03	_10V_AH	13.46,0.000
SM_GC	1.02,5.43,0.08,68.97,0.061,0.173,0.252,258,2077,1791,-6.45,0.99,220.03,0,0,0,0,0,0,14.67,14.61,14.40	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-6005.19,-8.63,221218,105447	FG_AHR_10Vo	0.000
TT8_MAMPS	0.03745,0.08988	MEM	344128
HUMID	49.48	DATA_FILE_SIZE	17332,681
INTERNAL_PRESSURE	6.10897	CAP_FILE_SIZE	83807,0
TCM_TEMP	0.00	CFSIZE	1023623168,1012891648
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
SC_FREEKB	3886560	CURRENT	0.060,240.66,1
_24V_AH	13.29,18.953	GPS	221218,155501,-6004.663,-12.020,15,0.9,39,-19.6,0.3,0.6,9,6.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	481	81.22	nil	0	0	0.00
Roll_motor	53	2281	1635.63	nil	0	0	0.00
VBD_pump_during_apogee	264	1598	5623.47	nil	0	0	0.00
VBD_pump_during_surface	68	251	230.71	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	29	9.01	nil	0	0	0.00
Iridium_during_connect	21	160	46.30	SciCon	5029	3	260.86
Iridium_during_xfer	110	223	326.81	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	2.48
TT8	0	0	0.00
LPSleep	7017	2	206.87
TT8_Active	431	11	68.16
TT8_Sampling	1449	32	638.05
TT8_CF8	57	49	38.71
TT8_Kalman	0	0	0.00
Analog_circuits	998	11	154.44
GPS_charging	0	0	0.00
Compass	1040	19	272.65
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8	-0.64	-146.0	235	2072	1764	1803	0.0	0.0	0	104	0.00	0.00	-93.43	0.000	16386	0.000	0.000	234	2072	3222	3301	3144	0	0	0	0	0	0	14.62	28.83	14.62	6.15	49.56
105	-0.64	-146.0	235	2072	3303	3145	3.5	-7.9	19	119	5.95	2.78	-2.40	0.000	18692	0.359	2.281	2173	3509	3287	3373	3201	0	0	0	0	0	0	14.24	13.49	14.40	6.27	49.25
189	-0.64	-146.0	2173	3510	3377	3201	18.2	-15.8	36	194	0.05	2.35	0.00	0.000	3078	0.363	0.047	2189	2131	3288	3376	3201	0	0	0	0	0	0	14.26	14.41	14.40	6.29	48.07
314	-0.64	-146.0	2189	2131	3377	3203	38.9	-17.3	61	315	0.00	0.00	0.00	0.000	2054	0.000	0.000	2189	2130	3288	3376	3201	0	0	0	0	0	0	14.66	14.66	14.66	6.29	47.99
434	-0.64	-146.0	2190	2131	3377	3201	57.0	-15.3	85	438	0.00	2.45	0.00	0.000	2308	0.000	0.086	2180	3508	3288	3376	3201	0	0	0	0	0	0	14.69	14.44	14.69	6.29	49.09
489	-0.64	-146.0	2180	3508	3377	3201	65.2	-14.7	96	494	0.03	2.40	0.00	0.000	3078	0.467	0.048	2187	2092	3288	3376	3201	0	0	0	0	0	0	14.31	14.48	14.45	6.29	48.70
614	-0.64	-146.0	2188	2091	3378	3201	83.9	-15.3	121	618	0.00	2.42	0.00	0.000	2564	0.000	0.072	2187	691	3289	3376	3202	0	0	0	0	0	0	14.71	14.49	14.71	6.28	49.40
624	-0.64	-146.0	2186	692	3377	3203	85.5	-15.6	123	628	0.00	2.42	0.00	0.000	3078	0.000	0.062	2178	2094	3288	3376	3201	0	0	0	0	0	0	14.52	14.48	14.56	6.29	48.74
759	-0.64	-146.0	2178	2095	3377	3201	106.5	-15.4	144	760	0.05	0.00	0.00	0.000	2054	0.481	0.000	2191	2095	3288	3376	3201	0	0	0	0	0	0	14.38	14.60	14.57	6.28	48.85
1059	-0.64	-146.0	2191	2096	3377	3202	148.5	-13.9	159	1063	0.00	2.45	0.00	0.000	2564	0.000	0.073	2191	699	3288	3376	3201	0	0	0	0	0	0	14.78	14.54	14.79	6.28	49.13
1144	-0.64	-146.0	2191	700	3377	3203	159.4	-13.7	163	1149	0.00	2.42	0.00	0.000	3078	0.000	0.061	2181	2105	3289	3376	3202	0	0	0	0	0	0	14.61	14.57	14.64	6.29	49.48
1459	-0.64	-146.0	2182	2105	3377	3201	202.6	-13.6	179	1459	0.00	0.00	0.00	0.000	2054	0.000	0.000	2182	2105	3286	3376	3196	0	0	0	0	0	0	14.83	14.83	14.83	6.30	50.98
1759	-0.64	-146.0	2182	2105	3377	3201	243.0	-13.2	194	1759	0.00	0.00	0.00	0.000	2054	0.000	0.000	2181	2105	3288	3376	3201	0	0	0	0	0	0	14.85	14.85	14.85	6.31	52.00
2059	-0.64	-146.0	2181	2106	3376	3202	282.2	-12.9	209	2064	0.00	2.45	0.00	0.000	2564	0.000	0.071	2181	695	3288	3375	3201	0	0	0	0	0	0	14.88	14.63	14.87	6.32	51.69
2104	-0.64	-146.0	2182	696	3377	3202	287.6	-13.2	211	2108	0.05	2.40	0.00	0.000	3078	0.372	0.060	2188	2096	3288	3375	3201	0	0	0	0	0	0	14.48	14.62	14.63	6.32	52.08
2419	-0.64	-146.0	2188	2097	3377	3202	327.5	-12.4	227	2419	0.00	0.00	0.00	0.000	2054	0.000	0.000	2188	2096	3288	3376	3201	0	0	0	0	0	0	14.88	14.89	14.89	6.32	51.96
2618	end dive: TARGET_DEPTH_EXCEEDED
state	2618	begin apogee
2621	-0.15	0.0	2189	2179	3377	3201	351.9	-12.1	237	2756	0.45	0.00	131.68	1.599	10246	0.271	0.000	2351	2179	2686	2744	2629	0	0	0	0	0	0	14.54	13.90	13.29	6.38	52.00
2757	end apogee: CONTROL_FINISHED_OK
state	2757	begin loiter
3040	-0.15	0.0	2351	2180	2740	2617	347.9	3.2	258	3041	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2180	2676	2738	2615	0	0	0	0	0	0	14.54	14.54	14.54	6.28	50.82
3340	-0.15	0.0	2351	2179	2739	2614	338.1	3.2	273	3341	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2179	2675	2738	2613	0	0	0	0	0	0	14.68	14.69	14.69	6.28	50.63
3640	-0.15	0.0	2351	2180	2740	2613	329.0	3.0	288	3641	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2179	2675	2738	2612	0	0	0	0	0	0	14.76	14.76	14.77	6.28	50.74
3940	-0.15	0.0	2351	2180	2739	2613	319.9	3.0	303	3941	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2179	2674	2738	2611	0	0	0	0	0	0	14.82	14.83	14.83	6.27	50.94
4240	-0.15	0.0	2351	2180	2740	2611	310.7	3.1	318	4241	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2179	2674	2738	2611	0	0	0	0	0	0	14.87	14.88	14.88	6.27	51.06
4540	-0.15	0.0	2351	2180	2739	2612	301.6	3.1	333	4541	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2179	2674	2738	2610	0	0	0	0	0	0	14.90	14.90	14.90	6.28	50.90
4840	-0.15	0.0	2351	2180	2740	2610	292.1	3.1	348	4841	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2179	2674	2738	2610	0	0	0	0	0	0	14.93	14.94	14.94	6.27	50.94
5140	-0.15	0.0	2350	2180	2740	2610	282.6	3.2	363	5141	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2179	2674	2738	2610	0	0	0	0	0	0	14.95	14.95	14.95	6.27	51.06
5440	-0.15	0.0	2351	2180	2739	2610	272.9	3.2	378	5441	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	2179	2674	2738	2610	0	0	0	0	0	0	14.97	14.97	14.97	6.28	51.45
5740	-0.15	0.0	2351	2180	2740	2610	263.1	3.2	393	5741	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2179	2673	2738	2609	0	0	0	0	0	0	14.99	15.00	15.00	6.28	51.10
6040	-0.15	0.0	2351	2180	2739	2610	253.2	3.2	408	6041	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2179	2673	2738	2609	0	0	0	0	0	0	15.00	15.01	15.00	6.27	50.98
6339	end loiter: LOITER_COMPLETE
state	6339	begin climb
6340	0.64	146.0	2350	2180	2739	2611	243.7	0.0	423	6477	0.60	0.00	132.98	1.427	10502	0.176	0.000	2593	2179	2095	2119	2072	0	0	0	0	0	0	14.71	13.99	13.43	6.27	51.14
6761	0.64	146.0	2593	2180	2109	2051	203.1	11.6	444	6761	0.00	0.00	0.00	0.000	2054	0.000	0.000	2593	2179	2079	2108	2050	0	0	0	0	0	0	14.54	14.54	14.54	6.23	50.15
7061	0.64	146.0	2593	2180	2107	2047	167.0	12.1	459	7061	0.00	0.00	0.00	0.000	2054	0.000	0.000	2593	2179	2076	2105	2048	0	0	0	0	0	0	14.66	14.66	14.67	6.23	50.98
7361	0.64	146.0	2593	2179	2106	2045	131.5	11.4	474	7365	0.00	2.40	0.00	0.000	2308	0.000	0.088	2593	3531	2075	2105	2046	0	0	0	0	0	0	14.73	14.48	14.74	6.22	51.14
7396	0.64	146.0	2593	3532	2105	2047	129.1	11.4	475	7400	0.00	2.33	0.00	0.000	1030	0.000	0.049	2604	2156	2075	2104	2046	0	0	0	0	0	0	14.57	14.52	14.58	6.23	50.47
7701	0.64	146.0	2603	2157	2105	2045	93.4	11.5	497	7705	0.00	2.53	0.00	0.000	516	0.000	0.080	2615	737	2073	2104	2043	0	0	0	0	0	0	14.78	14.53	14.78	6.21	49.88
7761	0.64	146.0	2615	738	2102	2045	86.9	10.5	509	7765	0.00	2.38	0.00	0.000	5126	0.000	0.059	2615	2122	2072	2102	2043	0	0	0	0	0	0	14.62	14.57	14.63	6.21	49.40
7886	0.64	146.0	2615	2123	2102	2045	73.3	10.7	534	7891	0.00	2.55	0.00	0.000	4356	0.000	0.090	2615	3556	2072	2101	2043	0	0	0	0	0	0	14.79	14.54	14.79	6.21	48.77
7936	0.64	146.0	2615	3557	2102	2045	67.7	10.6	544	7940	0.05	2.38	0.00	0.000	5126	0.347	0.053	2608	2155	2073	2103	2044	0	0	0	0	0	0	14.45	14.57	14.57	6.20	49.17
8061	0.64	146.0	2608	2155	2103	2043	55.6	9.8	569	8065	0.00	2.50	0.00	0.000	4612	0.000	0.080	2617	740	2072	2102	2043	0	0	0	0	0	0	14.80	14.56	14.81	6.20	48.66
8106	0.64	146.0	2617	741	2102	2042	51.3	9.3	578	8111	0.00	2.42	0.00	0.000	5126	0.000	0.059	2617	2150	2071	2102	2041	0	0	0	0	0	0	14.62	14.57	14.65	6.20	48.93
8231	0.64	146.0	2618	2151	2102	2041	38.8	10.4	603	8235	0.00	2.45	0.00	0.000	4356	0.000	0.090	2617	3556	2071	2101	2041	0	0	0	0	0	0	14.81	14.56	14.78	6.19	48.70
8306	0.64	146.0	2617	3556	2102	2041	30.8	10.8	618	8311	0.05	2.38	0.00	0.000	5126	0.338	0.050	2609	2146	2071	2101	2041	0	0	0	0	0	0	14.45	14.59	14.59	6.19	48.62
8431	0.64	146.0	2609	2147	2102	2042	18.6	9.7	643	8435	0.00	2.47	0.00	0.000	4612	0.000	0.078	2618	721	2071	2101	2042	0	0	0	0	0	0	14.81	14.58	14.82	6.19	48.85
8471	0.64	146.0	2618	722	2102	2042	15.0	9.0	651	8475	0.00	2.45	0.00	0.000	5126	0.000	0.059	2617	2150	2070	2101	2040	0	0	0	0	0	0	14.64	14.58	14.65	6.19	49.37
8595	end climb: SURFACE_DEPTH_REACHED
state	8595	begin surface coast
8620	end surface coast: CONTROL_FINISHED_OK
state	8620	begin surface