Glider dive log

ROAMMIZ Dec18 * SG640 * Dive index * Mission links * Dive 302 * 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 302 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 37 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LON 0 R_STBD_OVSHOOT 28 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 37 VBD_CNV -0.245296

DEVICE3 -1 MINV_24V 11.5 R_STBD_OVSHOOT 28 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 302 NOCOMM_ACTION 259 SC_XMITPROFILE 3.0 VBD_MIN 602

D_ABORT 420 N_DIVES 500 SEABIRD_C_G -10.007382 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 20 N_FILEKB 4 SEABIRD_C_H 1.1528281 VBD_PUMP_AD_RATE_SURFACE 4

D_CALL 0 N_GPS 100840 SEABIRD_C_I -0.0017483447 VBD_TIMEOUT 720

D_FINISH 0 N_NOCOMM 2 SEABIRD_C_J 0.0001971516 W_ADJ_DBAND 0

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_Z 2950.7202 XPDR_DEVICE 24

D_NO_BLEED 29 PHONE_DEVICE 49 SEABIRD_T_G 0.0044042631 XPDR_INHIBIT 90

D_OFFGRID 100 PHONE_SUPPLY 2 SEABIRD_T_H 0.0006412621 XPDR_VALID 2

D_PITCH 0 PITCH_ADJ_DBAND 0 SEABIRD_T_I 2.6024412e-05

D_SAFE 0 PITCH_ADJ_GAIN 0 SEABIRD_T_J 3.2462635e-06

Pre-dive calculations and measurements:

GPS1 160119,094654,-5943.2700,1.6394,36,0.8,41,-19.7,0.2,159.4,10,8.4 SPEED_LIMITS 0.144,0.244

_CALLS 1 TGT_NAME NORTH

_XMS_NAKs 0 TGT_LATLONG -5940.000,0.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 1.08 MHEAD_RNG_PITCHd_Wd 6.1,6258,-15.5,-8.333,-18.82,2677

_SM_ANGLEo -68.6 D_GRID 350

GPS2 160119,095201,-5943.2749,1.6486,9,0.9,16,-19.7,0.5,339.8,10,9.7

Post-dive calculations and measurements:

SM_CCo 8809,66.60,0.241,0,0,1822,220.03 _10V_AH 13.48,0.000

SM_GC 1.02,5.35,0.10,66.60,0.034,0.136,0.241,226,2079,1822,-6.48,1.16,220.03,0,0,0,0,0,0,14.65,14.56,14.28 FG_AHR_24Vo 0.000

IRIDIUM_FIX -5943.02,4.27,160119,071455 FG_AHR_10Vo 0.000

TT8_MAMPS 0.039697,0.292859 MEM 344096

HUMID 50.23 DATA_FILE_SIZE 17329,695

INTERNAL_PRESSURE 6.13826 CAP_FILE_SIZE 85874,0

TCM_TEMP 0.00 CFSIZE 1023623168,989790208

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

SC_FREEKB 3766240 CURRENT 0.105,149.74,1

_24V_AH 13.34,60.260 GPS 160119,122119,-5943.229,1.992,17,0.9,39,-19.8,0.6,73.8,10,9.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 442 75.65 nil 0 0 0.00

Roll_motor 58 2242 1754.89 nil 0 0 0.00

VBD_pump_during_apogee 255 1562 5331.09 nil 0 0 0.00

VBD_pump_during_surface 66 240 214.09 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 29 9.91 nil 0 0 0.00

Iridium_during_connect 15 160 32.65 SciCon 5209 12 882.22

Iridium_during_xfer 126 223 375.75 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.69

TT8 0 0 0.00

LPSleep 7088 2 209.27

TT8_Active 404 11 63.94

TT8_Sampling 1539 32 678.67

TT8_CF8 152 49 102.93

TT8_Kalman 0 0 0.00

Analog_circuits 1013 11 156.90

GPS_charging 0 0 0.00

Compass 1115 19 292.74

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

11 -0.64 -146.0 226 2092 1797 1828 0.0 0.0 0 101 0.00 0.00 -87.55 0.000 16386 0.000 0.000 226 2092 3194 3274 3114 0 0 0 0 0 0 14.59 28.83 14.59 6.19 51.02

103 -0.64 -146.0 227 2093 3271 3115 3.4 -7.8 18 121 6.12 2.72 -4.50 0.000 18692 0.357 2.243 2188 3505 3316 3409 3223 0 0 0 0 0 0 14.07 13.36 14.41 6.30 50.47

266 -0.64 -146.0 2188 3506 3412 3222 30.1 -15.6 51 270 0.00 2.38 0.00 0.000 3078 0.000 0.041 2187 2113 3314 3411 3217 0 0 0 0 0 0 14.42 14.38 14.44 6.30 49.13

391 -0.64 -146.0 2188 2113 3412 3224 51.0 -15.4 76 396 0.00 2.45 0.00 0.000 2564 0.000 0.060 2187 693 3317 3411 3224 0 0 0 0 0 0 14.66 14.39 14.66 6.32 49.96

416 -0.64 -146.0 2187 694 3412 3225 54.7 -15.0 81 421 0.05 2.42 0.00 0.000 3078 0.442 0.057 2192 2109 3317 3411 3224 0 0 0 0 0 0 14.19 14.40 14.45 6.32 49.68

543 -0.64 -146.0 2192 2109 3412 3224 72.2 -13.4 106 546 0.00 2.45 0.00 0.000 2308 0.000 0.081 2181 3509 3317 3411 3224 0 0 0 0 0 0 14.68 14.40 14.68 6.31 49.33

607 -0.64 -146.0 2181 3510 3412 3225 81.0 -13.3 119 610 0.00 2.35 0.00 0.000 3078 0.000 0.041 2181 2091 3317 3411 3224 0 0 0 0 0 0 14.57 14.47 14.57 6.32 49.64

733 -0.64 -146.0 2182 2090 3412 3224 97.3 -13.8 144 736 0.00 0.00 0.00 0.000 2054 0.000 0.000 2181 2089 3317 3411 3224 0 0 0 0 0 0 14.71 14.71 14.71 6.32 48.66

871 -0.64 -146.0 2181 2090 3409 3224 117.8 -14.7 154 875 0.00 2.40 0.00 0.000 2564 0.000 0.061 2181 694 3317 3411 3224 0 0 0 0 0 0 14.74 14.47 14.74 6.31 49.37

901 -0.64 -146.0 2181 694 3412 3224 120.7 -14.6 155 906 0.05 2.42 0.00 0.000 3078 0.353 0.056 2197 2096 3317 3411 3224 0 0 0 0 0 0 14.26 14.45 14.51 6.31 49.44

1211 -0.64 -146.0 2197 2096 3411 3225 162.1 -13.0 171 1212 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2096 3317 3411 3224 0 0 0 0 0 0 14.78 14.78 14.78 6.31 50.31

1511 -0.64 -146.0 2198 2095 3412 3224 200.7 -12.9 186 1516 0.00 2.40 0.00 0.000 516 0.000 0.061 2197 699 3317 3411 3224 0 0 0 0 0 0 14.81 14.52 14.81 6.33 50.82

1556 -0.64 -146.0 2198 699 3412 3223 205.8 -12.7 188 1560 0.00 2.40 0.00 0.000 3078 0.000 0.054 2188 2121 3317 3411 3224 0 0 0 0 0 0 14.65 14.52 14.66 6.33 50.94

1871 -0.64 -146.0 2187 2121 3413 3224 247.7 -13.1 204 1872 0.00 0.00 0.00 0.000 2054 0.000 0.000 2187 2121 3317 3411 3224 0 0 0 0 0 0 14.82 14.83 14.82 6.34 51.18

2171 -0.64 -146.0 2187 2121 3412 3225 287.1 -13.2 219 2172 0.00 0.00 0.00 0.000 2054 0.000 0.000 2187 2120 3317 3411 3224 0 0 0 0 0 0 14.83 14.83 14.83 6.35 50.98

2472 -0.64 -146.0 2188 2121 3412 3224 326.7 -13.1 234 2472 0.00 0.00 0.00 0.000 2054 0.000 0.000 2188 2120 3317 3411 3224 0 0 0 0 0 0 14.84 14.84 14.85 6.33 51.33

2670 end dive: TARGET_DEPTH_EXCEEDED

state 2670 begin apogee

2674 -0.15 0.0 2187 2121 3412 3225 352.6 -12.9 244 2802 0.45 0.00 125.03 1.563 10246 0.260 0.000 2347 2120 2721 2782 2661 0 0 0 0 0 0 14.35 13.95 13.34 6.34 51.18

2803 end apogee: CONTROL_FINISHED_OK

state 2803 begin loiter

3091 -0.15 0.0 2347 2121 2777 2645 350.9 2.9 265 3092 0.00 0.00 0.00 0.000 2054 0.000 0.000 2347 2120 2710 2776 2645 0 0 0 0 0 0 14.58 14.59 14.58 6.29 50.47

3391 -0.15 0.0 2347 2121 2777 2643 342.0 2.9 280 3392 0.00 0.00 0.00 0.000 2054 0.000 0.000 2347 2121 2709 2776 2643 0 0 0 0 0 0 14.73 14.73 14.73 6.29 50.86

3691 -0.15 0.0 2347 2121 2777 2643 333.0 3.0 295 3692 0.00 0.00 0.00 0.000 2054 0.000 0.000 2347 2120 2709 2776 2642 0 0 0 0 0 0 14.81 14.81 14.81 6.29 51.02

3992 -0.15 0.0 2348 2120 2777 2641 323.2 3.3 310 3992 0.00 0.00 0.00 0.000 2054 0.000 0.000 2346 2120 2708 2776 2641 0 0 0 0 0 0 14.87 14.87 14.87 6.29 51.18

4291 -0.15 0.0 2347 2121 2776 2642 312.7 3.6 325 4292 0.00 0.00 0.00 0.000 2054 0.000 0.000 2347 2120 2708 2776 2641 0 0 0 0 0 0 14.91 14.91 14.91 6.28 51.18

4592 -0.15 0.0 2347 2121 2777 2641 301.8 3.6 340 4592 0.00 0.00 0.00 0.000 2054 0.000 0.000 2346 2120 2708 2776 2640 0 0 0 0 0 0 14.95 14.95 14.95 6.28 51.37

4891 -0.15 0.0 2347 2121 2776 2641 291.3 3.4 355 4892 0.00 0.00 0.00 0.000 2054 0.000 0.000 2347 2120 2708 2776 2640 0 0 0 0 0 0 14.97 14.97 14.97 6.29 51.22

5191 -0.15 0.0 2347 2121 2778 2640 281.9 2.9 370 5192 0.00 0.00 0.00 0.000 2054 0.000 0.000 2347 2121 2707 2775 2640 0 0 0 0 0 0 14.99 14.99 14.99 6.28 51.49

5492 -0.15 0.0 2347 2121 2777 2640 274.6 2.3 385 5492 0.00 0.00 0.00 0.000 2054 0.000 0.000 2347 2120 2708 2776 2640 0 0 0 0 0 0 15.00 15.00 15.00 6.28 51.45

5791 -0.15 0.0 2347 2121 2778 2640 268.6 1.8 400 5792 0.00 0.00 0.00 0.000 2054 0.000 0.000 2347 2120 2708 2776 2640 0 0 0 0 0 0 15.02 15.02 15.02 6.28 51.41

6091 -0.15 0.0 2346 2121 2778 2640 262.9 2.0 415 6092 0.00 0.00 0.00 0.000 2054 0.000 0.000 2347 2120 2707 2776 2639 0 0 0 0 0 0 15.03 15.03 15.03 6.28 52.04

6390 end loiter: LOITER_COMPLETE

state 6390 begin climb

6392 0.64 146.0 2347 2120 2777 2640 256.5 0.0 430 6533 0.62 2.53 130.68 1.427 10756 0.177 0.067 2605 748 2119 2143 2096 0 0 0 0 0 0 14.59 14.00 13.45 6.28 52.08

6582 0.64 146.0 2605 749 2137 2092 244.7 8.8 439 6586 0.00 2.47 0.00 0.000 1030 0.000 0.053 2604 2147 2113 2136 2090 0 0 0 0 0 0 14.23 14.12 14.25 6.24 49.40

6892 0.64 146.0 2606 2147 2132 2083 207.3 12.0 455 6896 0.00 2.50 0.00 0.000 260 0.000 0.081 2605 3555 2107 2132 2082 0 0 0 0 0 0 14.59 14.31 14.59 6.24 50.55

6977 0.64 146.0 2606 3555 2133 2082 197.6 12.1 459 6981 0.00 2.40 0.00 0.000 5126 0.000 0.043 2616 2127 2107 2132 2082 0 0 0 0 0 0 14.48 14.38 14.50 6.24 50.39

7292 0.64 146.0 2616 2126 2131 2079 158.4 12.1 475 7295 0.00 2.42 0.00 0.000 4612 0.000 0.065 2626 740 2104 2130 2078 0 0 0 0 0 0 14.71 14.42 14.71 6.23 50.78

7332 0.64 146.0 2627 740 2129 2078 153.8 11.8 477 7336 0.08 2.45 0.00 0.000 5126 0.327 0.054 2601 2154 2102 2127 2078 0 0 0 0 0 0 14.28 14.42 14.51 6.24 50.70

7652 0.64 146.0 2601 2154 2129 2077 120.4 10.9 493 7656 0.00 2.50 0.00 0.000 260 0.000 0.083 2601 3550 2102 2127 2077 0 0 0 0 0 0 14.76 14.45 14.77 6.23 50.86

7752 0.64 146.0 2602 3551 2129 2077 108.6 11.6 498 7756 0.00 2.38 0.00 0.000 5126 0.000 0.042 2609 2150 2102 2127 2077 0 0 0 0 0 0 14.55 14.50 14.57 6.24 50.78

8057 0.64 146.0 2610 2150 2127 2077 75.1 10.8 547 8061 0.00 2.42 0.00 0.000 4612 0.000 0.064 2621 743 2101 2127 2076 0 0 0 0 0 0 14.79 14.50 14.79 6.22 50.27

8142 0.64 146.0 2629 743 2127 2076 66.0 10.2 564 8146 0.03 2.42 0.00 0.000 5126 0.405 0.051 2609 2156 2100 2125 2076 0 0 0 0 0 0 14.29 14.49 14.59 6.22 50.03

8267 0.64 146.0 2610 2156 2126 2076 53.2 10.2 589 8271 0.00 2.45 0.00 0.000 4356 0.000 0.082 2610 3556 2101 2126 2076 0 0 0 0 0 0 14.79 14.48 14.79 6.21 49.48

8362 0.64 146.0 2610 3557 2126 2077 42.7 11.3 608 8366 0.00 2.38 0.00 0.000 5126 0.000 0.043 2619 2148 2100 2125 2076 0 0 0 0 0 0 14.57 14.51 14.58 6.21 49.37

8488 0.64 146.0 2620 2151 2125 2077 29.1 10.4 633 8492 0.00 0.00 0.00 0.000 4102 0.000 0.000 2620 2150 2101 2127 2076 0 0 0 0 0 0 14.79 14.79 14.79 6.21 49.60

8612 0.64 146.0 2620 2151 2127 2076 16.3 9.8 658 8616 0.00 2.42 0.00 0.000 4612 0.000 0.063 2630 745 2100 2124 2076 0 0 0 0 0 0 14.80 14.52 14.81 6.21 50.31

8652 0.64 146.0 2630 746 2125 2077 12.3 9.8 666 8656 0.08 2.40 0.00 0.000 5126 0.325 0.053 2603 2170 2100 2125 2075 0 0 0 0 0 0 14.35 14.52 14.59 6.21 50.31

8760 end climb: SURFACE_DEPTH_REACHED

state 8762 begin surface coast

8795 end surface coast: CONTROL_FINISHED_OK

state 8795 begin surface

ID	640	HD_C	9.8500004e-06	C_ROLL_DIVE	2100	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	HEADING	-1	C_ROLL_CLIMB	2150	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	302	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	37	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LON	0	R_STBD_OVSHOOT	28	ALTIM_SENSITIVITY	2
D_TGT	350	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	XPDR_VALID	2
D_ABORT	420	SM_CC	220	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
D_NO_BLEED	29	N_FILEKB	4	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097655999
D_BOOST	20	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-0.60000002
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	602	DEEPGLIDER	0
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3962	MOTHERBOARD	4
D_PITCH	0	PROTOCOL	9	C_VBD	2720	DEVICE1	-1
D_SAFE	0	N_NOCOMM	2	VBD_DBAND	2	DEVICE2	-1
D_CALL	0	NOCOMM_ACTION	259	VBD_CNV	-0.245296	DEVICE3	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE4	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_DIVE	140	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERS	1
T_MISSION	220	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	53
T_ABORT	250	CAPMAXSIZE	400000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_TURN	500	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE3	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_NO_W	120	N_GPS	100840	W_ADJ_DBAND	0	COMPASS_DEVICE	33
T_LOITER	3600	T_RSLEEP	3	DBDW	0	COMPASS2_DEVICE	-1
T_SLOITER	0	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	49
T_EPIRB	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
USE_BATHY	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
USE_ICE	0	RAFOS_HIT_WINDOW	3600	AH0_24V	310	XPDR_DEVICE	24
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	AH0_10V	0	SIM_W	0
D_OFFGRID	100	PITCH_MIN	312	MINV_24V	11.5	SIM_PITCH	0
T_WATCHDOG	10	PITCH_MAX	3939	MINV_10V	10	SEABIRD_T_G	0.0044042631
RELAUNCH	0	C_PITCH	2400	MAXI_24V	3	SEABIRD_T_H	0.0006412621
APOGEE_PITCH	-5	PITCH_DBAND	0.0099999998	MAXI_10V	2	SEABIRD_T_I	2.6024412e-05
MAX_BUOY	150	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_T_J	3.2462635e-06
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_G	-10.007382
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	PHONE_SUPPLY	2	SEABIRD_C_H	1.1528281
SPEED_FACTOR	1	PITCH_GAIN	34	PRESSURE_YINT	-153.19165	SEABIRD_C_I	-0.0017483447
RHO	1.0275	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.000109596	SEABIRD_C_J	0.0001971516
MASS	54260	PITCH_AD_RATE	175	AD7714Ch0Gain	1	SEABIRD_C_Z	2950.7202
MASS_COMP	0	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	COMPASS_USE	0	SC_XMITPROFILE	3.0
KALMAN_USE	2	ROLL_MIN	217	ALTIM_BOTTOM_PING_RANGE	0	SC_NDIVE	1.0
HD_A	0.0038360001	ROLL_MAX	3851	ALTIM_TOP_PING_RANGE	0
HD_B	0.0101	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	160119,094654,-5943.2700,1.6394,36,0.8,41,-19.7,0.2,159.4,10,8.4	SPEED_LIMITS	0.144,0.244
_CALLS	1	TGT_NAME	NORTH
_XMS_NAKs	0	TGT_LATLONG	-5940.000,0.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	1.08	MHEAD_RNG_PITCHd_Wd	6.1,6258,-15.5,-8.333,-18.82,2677
_SM_ANGLEo	-68.6	D_GRID	350
GPS2	160119,095201,-5943.2749,1.6486,9,0.9,16,-19.7,0.5,339.8,10,9.7

SM_CCo	8809,66.60,0.241,0,0,1822,220.03	_10V_AH	13.48,0.000
SM_GC	1.02,5.35,0.10,66.60,0.034,0.136,0.241,226,2079,1822,-6.48,1.16,220.03,0,0,0,0,0,0,14.65,14.56,14.28	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-5943.02,4.27,160119,071455	FG_AHR_10Vo	0.000
TT8_MAMPS	0.039697,0.292859	MEM	344096
HUMID	50.23	DATA_FILE_SIZE	17329,695
INTERNAL_PRESSURE	6.13826	CAP_FILE_SIZE	85874,0
TCM_TEMP	0.00	CFSIZE	1023623168,989790208
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
SC_FREEKB	3766240	CURRENT	0.105,149.74,1
_24V_AH	13.34,60.260	GPS	160119,122119,-5943.229,1.992,17,0.9,39,-19.8,0.6,73.8,10,9.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	442	75.65	nil	0	0	0.00
Roll_motor	58	2242	1754.89	nil	0	0	0.00
VBD_pump_during_apogee	255	1562	5331.09	nil	0	0	0.00
VBD_pump_during_surface	66	240	214.09	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	29	9.91	nil	0	0	0.00
Iridium_during_connect	15	160	32.65	SciCon	5209	12	882.22
Iridium_during_xfer	126	223	375.75	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.69
TT8	0	0	0.00
LPSleep	7088	2	209.27
TT8_Active	404	11	63.94
TT8_Sampling	1539	32	678.67
TT8_CF8	152	49	102.93
TT8_Kalman	0	0	0.00
Analog_circuits	1013	11	156.90
GPS_charging	0	0	0.00
Compass	1115	19	292.74
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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
11	-0.64	-146.0	226	2092	1797	1828	0.0	0.0	0	101	0.00	0.00	-87.55	0.000	16386	0.000	0.000	226	2092	3194	3274	3114	0	0	0	0	0	0	14.59	28.83	14.59	6.19	51.02
103	-0.64	-146.0	227	2093	3271	3115	3.4	-7.8	18	121	6.12	2.72	-4.50	0.000	18692	0.357	2.243	2188	3505	3316	3409	3223	0	0	0	0	0	0	14.07	13.36	14.41	6.30	50.47
266	-0.64	-146.0	2188	3506	3412	3222	30.1	-15.6	51	270	0.00	2.38	0.00	0.000	3078	0.000	0.041	2187	2113	3314	3411	3217	0	0	0	0	0	0	14.42	14.38	14.44	6.30	49.13
391	-0.64	-146.0	2188	2113	3412	3224	51.0	-15.4	76	396	0.00	2.45	0.00	0.000	2564	0.000	0.060	2187	693	3317	3411	3224	0	0	0	0	0	0	14.66	14.39	14.66	6.32	49.96
416	-0.64	-146.0	2187	694	3412	3225	54.7	-15.0	81	421	0.05	2.42	0.00	0.000	3078	0.442	0.057	2192	2109	3317	3411	3224	0	0	0	0	0	0	14.19	14.40	14.45	6.32	49.68
543	-0.64	-146.0	2192	2109	3412	3224	72.2	-13.4	106	546	0.00	2.45	0.00	0.000	2308	0.000	0.081	2181	3509	3317	3411	3224	0	0	0	0	0	0	14.68	14.40	14.68	6.31	49.33
607	-0.64	-146.0	2181	3510	3412	3225	81.0	-13.3	119	610	0.00	2.35	0.00	0.000	3078	0.000	0.041	2181	2091	3317	3411	3224	0	0	0	0	0	0	14.57	14.47	14.57	6.32	49.64
733	-0.64	-146.0	2182	2090	3412	3224	97.3	-13.8	144	736	0.00	0.00	0.00	0.000	2054	0.000	0.000	2181	2089	3317	3411	3224	0	0	0	0	0	0	14.71	14.71	14.71	6.32	48.66
871	-0.64	-146.0	2181	2090	3409	3224	117.8	-14.7	154	875	0.00	2.40	0.00	0.000	2564	0.000	0.061	2181	694	3317	3411	3224	0	0	0	0	0	0	14.74	14.47	14.74	6.31	49.37
901	-0.64	-146.0	2181	694	3412	3224	120.7	-14.6	155	906	0.05	2.42	0.00	0.000	3078	0.353	0.056	2197	2096	3317	3411	3224	0	0	0	0	0	0	14.26	14.45	14.51	6.31	49.44
1211	-0.64	-146.0	2197	2096	3411	3225	162.1	-13.0	171	1212	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2096	3317	3411	3224	0	0	0	0	0	0	14.78	14.78	14.78	6.31	50.31
1511	-0.64	-146.0	2198	2095	3412	3224	200.7	-12.9	186	1516	0.00	2.40	0.00	0.000	516	0.000	0.061	2197	699	3317	3411	3224	0	0	0	0	0	0	14.81	14.52	14.81	6.33	50.82
1556	-0.64	-146.0	2198	699	3412	3223	205.8	-12.7	188	1560	0.00	2.40	0.00	0.000	3078	0.000	0.054	2188	2121	3317	3411	3224	0	0	0	0	0	0	14.65	14.52	14.66	6.33	50.94
1871	-0.64	-146.0	2187	2121	3413	3224	247.7	-13.1	204	1872	0.00	0.00	0.00	0.000	2054	0.000	0.000	2187	2121	3317	3411	3224	0	0	0	0	0	0	14.82	14.83	14.82	6.34	51.18
2171	-0.64	-146.0	2187	2121	3412	3225	287.1	-13.2	219	2172	0.00	0.00	0.00	0.000	2054	0.000	0.000	2187	2120	3317	3411	3224	0	0	0	0	0	0	14.83	14.83	14.83	6.35	50.98
2472	-0.64	-146.0	2188	2121	3412	3224	326.7	-13.1	234	2472	0.00	0.00	0.00	0.000	2054	0.000	0.000	2188	2120	3317	3411	3224	0	0	0	0	0	0	14.84	14.84	14.85	6.33	51.33
2670	end dive: TARGET_DEPTH_EXCEEDED
state	2670	begin apogee
2674	-0.15	0.0	2187	2121	3412	3225	352.6	-12.9	244	2802	0.45	0.00	125.03	1.563	10246	0.260	0.000	2347	2120	2721	2782	2661	0	0	0	0	0	0	14.35	13.95	13.34	6.34	51.18
2803	end apogee: CONTROL_FINISHED_OK
state	2803	begin loiter
3091	-0.15	0.0	2347	2121	2777	2645	350.9	2.9	265	3092	0.00	0.00	0.00	0.000	2054	0.000	0.000	2347	2120	2710	2776	2645	0	0	0	0	0	0	14.58	14.59	14.58	6.29	50.47
3391	-0.15	0.0	2347	2121	2777	2643	342.0	2.9	280	3392	0.00	0.00	0.00	0.000	2054	0.000	0.000	2347	2121	2709	2776	2643	0	0	0	0	0	0	14.73	14.73	14.73	6.29	50.86
3691	-0.15	0.0	2347	2121	2777	2643	333.0	3.0	295	3692	0.00	0.00	0.00	0.000	2054	0.000	0.000	2347	2120	2709	2776	2642	0	0	0	0	0	0	14.81	14.81	14.81	6.29	51.02
3992	-0.15	0.0	2348	2120	2777	2641	323.2	3.3	310	3992	0.00	0.00	0.00	0.000	2054	0.000	0.000	2346	2120	2708	2776	2641	0	0	0	0	0	0	14.87	14.87	14.87	6.29	51.18
4291	-0.15	0.0	2347	2121	2776	2642	312.7	3.6	325	4292	0.00	0.00	0.00	0.000	2054	0.000	0.000	2347	2120	2708	2776	2641	0	0	0	0	0	0	14.91	14.91	14.91	6.28	51.18
4592	-0.15	0.0	2347	2121	2777	2641	301.8	3.6	340	4592	0.00	0.00	0.00	0.000	2054	0.000	0.000	2346	2120	2708	2776	2640	0	0	0	0	0	0	14.95	14.95	14.95	6.28	51.37
4891	-0.15	0.0	2347	2121	2776	2641	291.3	3.4	355	4892	0.00	0.00	0.00	0.000	2054	0.000	0.000	2347	2120	2708	2776	2640	0	0	0	0	0	0	14.97	14.97	14.97	6.29	51.22
5191	-0.15	0.0	2347	2121	2778	2640	281.9	2.9	370	5192	0.00	0.00	0.00	0.000	2054	0.000	0.000	2347	2121	2707	2775	2640	0	0	0	0	0	0	14.99	14.99	14.99	6.28	51.49
5492	-0.15	0.0	2347	2121	2777	2640	274.6	2.3	385	5492	0.00	0.00	0.00	0.000	2054	0.000	0.000	2347	2120	2708	2776	2640	0	0	0	0	0	0	15.00	15.00	15.00	6.28	51.45
5791	-0.15	0.0	2347	2121	2778	2640	268.6	1.8	400	5792	0.00	0.00	0.00	0.000	2054	0.000	0.000	2347	2120	2708	2776	2640	0	0	0	0	0	0	15.02	15.02	15.02	6.28	51.41
6091	-0.15	0.0	2346	2121	2778	2640	262.9	2.0	415	6092	0.00	0.00	0.00	0.000	2054	0.000	0.000	2347	2120	2707	2776	2639	0	0	0	0	0	0	15.03	15.03	15.03	6.28	52.04
6390	end loiter: LOITER_COMPLETE
state	6390	begin climb
6392	0.64	146.0	2347	2120	2777	2640	256.5	0.0	430	6533	0.62	2.53	130.68	1.427	10756	0.177	0.067	2605	748	2119	2143	2096	0	0	0	0	0	0	14.59	14.00	13.45	6.28	52.08
6582	0.64	146.0	2605	749	2137	2092	244.7	8.8	439	6586	0.00	2.47	0.00	0.000	1030	0.000	0.053	2604	2147	2113	2136	2090	0	0	0	0	0	0	14.23	14.12	14.25	6.24	49.40
6892	0.64	146.0	2606	2147	2132	2083	207.3	12.0	455	6896	0.00	2.50	0.00	0.000	260	0.000	0.081	2605	3555	2107	2132	2082	0	0	0	0	0	0	14.59	14.31	14.59	6.24	50.55
6977	0.64	146.0	2606	3555	2133	2082	197.6	12.1	459	6981	0.00	2.40	0.00	0.000	5126	0.000	0.043	2616	2127	2107	2132	2082	0	0	0	0	0	0	14.48	14.38	14.50	6.24	50.39
7292	0.64	146.0	2616	2126	2131	2079	158.4	12.1	475	7295	0.00	2.42	0.00	0.000	4612	0.000	0.065	2626	740	2104	2130	2078	0	0	0	0	0	0	14.71	14.42	14.71	6.23	50.78
7332	0.64	146.0	2627	740	2129	2078	153.8	11.8	477	7336	0.08	2.45	0.00	0.000	5126	0.327	0.054	2601	2154	2102	2127	2078	0	0	0	0	0	0	14.28	14.42	14.51	6.24	50.70
7652	0.64	146.0	2601	2154	2129	2077	120.4	10.9	493	7656	0.00	2.50	0.00	0.000	260	0.000	0.083	2601	3550	2102	2127	2077	0	0	0	0	0	0	14.76	14.45	14.77	6.23	50.86
7752	0.64	146.0	2602	3551	2129	2077	108.6	11.6	498	7756	0.00	2.38	0.00	0.000	5126	0.000	0.042	2609	2150	2102	2127	2077	0	0	0	0	0	0	14.55	14.50	14.57	6.24	50.78
8057	0.64	146.0	2610	2150	2127	2077	75.1	10.8	547	8061	0.00	2.42	0.00	0.000	4612	0.000	0.064	2621	743	2101	2127	2076	0	0	0	0	0	0	14.79	14.50	14.79	6.22	50.27
8142	0.64	146.0	2629	743	2127	2076	66.0	10.2	564	8146	0.03	2.42	0.00	0.000	5126	0.405	0.051	2609	2156	2100	2125	2076	0	0	0	0	0	0	14.29	14.49	14.59	6.22	50.03
8267	0.64	146.0	2610	2156	2126	2076	53.2	10.2	589	8271	0.00	2.45	0.00	0.000	4356	0.000	0.082	2610	3556	2101	2126	2076	0	0	0	0	0	0	14.79	14.48	14.79	6.21	49.48
8362	0.64	146.0	2610	3557	2126	2077	42.7	11.3	608	8366	0.00	2.38	0.00	0.000	5126	0.000	0.043	2619	2148	2100	2125	2076	0	0	0	0	0	0	14.57	14.51	14.58	6.21	49.37
8488	0.64	146.0	2620	2151	2125	2077	29.1	10.4	633	8492	0.00	0.00	0.00	0.000	4102	0.000	0.000	2620	2150	2101	2127	2076	0	0	0	0	0	0	14.79	14.79	14.79	6.21	49.60
8612	0.64	146.0	2620	2151	2127	2076	16.3	9.8	658	8616	0.00	2.42	0.00	0.000	4612	0.000	0.063	2630	745	2100	2124	2076	0	0	0	0	0	0	14.80	14.52	14.81	6.21	50.31
8652	0.64	146.0	2630	746	2125	2077	12.3	9.8	666	8656	0.08	2.40	0.00	0.000	5126	0.325	0.053	2603	2170	2100	2125	2075	0	0	0	0	0	0	14.35	14.52	14.59	6.21	50.31
8760	end climb: SURFACE_DEPTH_REACHED
state	8762	begin surface coast
8795	end surface coast: CONTROL_FINISHED_OK
state	8795	begin surface