Glider dive log

ROAMMIZ Dec18 * SG640 * Dive index * Mission links * Dive 416 * 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 416 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

N_DIVES 600 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 5

STOP_T 2051912 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_SURF 3 TGT_DEFAULT_LAT -5400 R_PORT_OVSHOOT 49 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LON 0 R_STBD_OVSHOOT 27 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 2051912

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 49 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 416 NOCOMM_ACTION 259 SC_XMITPROFILE 3.0 VBD_MIN 602

D_ABORT 420 N_DIVES 600 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 280119,175332,-6006.7910,-2.6316,17,0.8,35,-19.7,0.0,218.3,11,9.2 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 1.13 MHEAD_RNG_PITCHd_Wd 23.4,49673,-15.5,-8.333,-18.82,2677

_SM_ANGLEo -67.1 D_GRID 350

GPS2 280119,175925,-6006.7886,-2.6305,9,0.8,21,-19.7,0.7,295.4,11,9.8

Post-dive calculations and measurements:

SM_CCo 8467,24.88,0.248,0,0,1821,220.03 _10V_AH 13.38,0.000

SM_GC 0.84,5.65,0.08,24.88,0.089,0.171,0.248,270,2088,1821,-6.45,0.99,220.03,0,0,0,0,0,0,14.50,14.47,14.17 FG_AHR_24Vo 0.000

IRIDIUM_FIX -6007.06,0.00,280119,151957 FG_AHR_10Vo 0.000

TT8_MAMPS 0.039697,0.342293 MEM 344084

HUMID 50.35 DATA_FILE_SIZE 17308,648

INTERNAL_PRESSURE 6.13826 CAP_FILE_SIZE 84452,0

TCM_TEMP 0.00 CFSIZE 1023623168,978567168

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

SC_FREEKB 3707872 CURRENT 0.004,297.78,1

_24V_AH 13.24,81.074 GPS 280119,202219,-6006.250,-2.747,15,0.9,37,-19.7,0.9,88.6,9,9.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 429 75.57 nil 0 0 0.00

Roll_motor 63 2220 1862.06 nil 0 0 0.00

VBD_pump_during_apogee 294 1581 6175.54 nil 0 0 0.00

VBD_pump_during_surface 24 247 81.63 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 29 11.11 nil 0 0 0.00

Iridium_during_connect 19 160 41.61 SciCon 4873 11 757.64

Iridium_during_xfer 135 223 400.38 nil 0 0 0.00

Transponder_ping 0 420 2.78 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 11 3.42

TT8 0 0 0.00

LPSleep 6765 2 198.24

TT8_Active 388 11 60.97

TT8_Sampling 1496 32 654.62

TT8_CF8 196 49 131.10

TT8_Kalman 0 0 0.00

Analog_circuits 980 11 150.77

GPS_charging 0 0 0.00

Compass 1055 19 275.08

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

12 -0.64 -146.0 231 2073 1790 1830 0.0 0.0 0 102 0.00 0.00 -87.90 0.000 16386 0.000 0.000 231 2072 3204 3285 3123 0 0 0 0 0 0 14.57 28.83 14.57 6.17 51.26

104 -0.64 -146.0 231 2072 3286 3124 3.3 -7.3 18 122 6.22 2.62 -4.07 0.000 18948 0.362 2.220 2190 712 3316 3410 3223 0 0 0 0 0 0 13.96 13.28 14.30 6.29 50.15

204 -0.64 -146.0 2190 712 3413 3224 21.1 -16.3 38 208 0.00 2.40 0.00 0.000 3078 0.000 0.057 2180 2101 3317 3411 3223 0 0 0 0 0 0 14.42 14.28 14.44 6.30 48.97

328 -0.64 -146.0 2180 2102 3412 3220 43.0 -18.8 63 330 0.00 0.00 0.00 0.000 2054 0.000 0.000 2180 2101 3317 3411 3224 0 0 0 0 0 0 14.64 14.64 14.64 6.31 49.68

453 -0.64 -146.0 2180 2101 3412 3224 64.0 -14.7 88 456 0.00 0.00 0.00 0.000 2054 0.000 0.000 2180 2101 3319 3414 3224 0 0 0 0 0 0 14.66 14.66 14.66 6.31 49.92

578 -0.64 -146.0 2180 2101 3413 3224 83.3 -15.5 113 581 0.00 2.47 0.00 0.000 2308 0.000 0.083 2169 3507 3318 3412 3224 0 0 0 0 0 0 14.69 14.28 14.69 6.31 49.56

618 -0.64 -146.0 2169 3508 3412 3225 89.7 -16.0 121 622 0.08 2.33 0.00 0.000 3078 0.364 0.042 2194 2108 3318 3412 3224 0 0 0 0 0 0 14.07 14.40 14.34 6.31 48.97

748 -0.64 -146.0 2195 2107 3420 3224 109.0 -14.6 138 751 0.00 2.45 0.00 0.000 516 0.000 0.063 2194 696 3318 3412 3224 0 0 0 0 0 0 14.71 14.35 14.72 6.30 48.70

823 -0.64 -146.0 2195 697 3413 3224 120.0 -14.7 142 826 0.00 2.40 0.00 0.000 3078 0.000 0.056 2185 2102 3318 3412 3224 0 0 0 0 0 0 14.51 14.38 14.52 6.30 48.26

1138 -0.64 -146.0 2184 2103 3412 3225 163.3 -13.9 158 1139 0.00 0.00 0.00 0.000 2054 0.000 0.000 2186 2102 3318 3412 3224 0 0 0 0 0 0 14.76 14.76 14.76 6.30 50.31

1438 -0.64 -146.0 2185 2103 3413 3224 202.4 -13.1 173 1441 0.00 2.42 0.00 0.000 2564 0.000 0.062 2184 696 3317 3411 3224 0 0 0 0 0 0 14.79 14.39 14.79 6.32 50.66

1463 -0.64 -146.0 2185 696 3413 3223 204.5 -13.2 174 1467 0.08 2.40 0.00 0.000 3078 0.365 0.057 2198 2101 3318 3412 3224 0 0 0 0 0 0 14.14 14.42 14.40 6.31 51.06

1768 -0.64 -146.0 2198 2102 3412 3225 243.2 -11.9 189 1772 0.00 2.47 0.00 0.000 260 0.000 0.083 2188 3506 3317 3412 3223 0 0 0 0 0 0 14.80 14.34 14.80 6.32 51.18

1798 -0.64 -146.0 2188 3506 3413 3224 245.0 -11.8 190 1801 0.00 2.35 0.00 0.000 3078 0.000 0.043 2188 2091 3317 3411 3224 0 0 0 0 0 0 14.59 14.47 14.62 6.32 51.29

2103 -0.64 -146.0 2188 2091 3412 3225 284.2 -12.3 206 2106 0.00 2.40 0.00 0.000 2564 0.000 0.063 2188 696 3318 3412 3224 0 0 0 0 0 0 14.81 14.39 14.82 6.33 51.26

2158 -0.64 -146.0 2188 697 3413 3224 291.0 -12.4 209 2162 0.05 2.40 0.00 0.000 3078 0.429 0.057 2193 2104 3318 3412 3224 0 0 0 0 0 0 14.16 14.44 14.41 6.32 51.33

2478 -0.64 -146.0 2193 2105 3412 3225 329.0 -11.9 225 2479 0.00 0.00 0.00 0.000 2054 0.000 0.000 2193 2107 3318 3412 3224 0 0 0 0 0 0 14.82 14.82 14.82 6.33 51.45

2676 end dive: TARGET_DEPTH_EXCEEDED

state 2676 begin apogee

2681 -0.15 0.0 2193 2169 3412 3225 352.1 -11.5 235 2810 0.45 0.00 125.38 1.581 10246 0.256 0.000 2350 2168 2715 2775 2656 0 0 0 0 0 0 14.15 13.92 13.24 6.33 51.26

2811 end apogee: CONTROL_FINISHED_OK

state 2811 begin loiter

3098 -0.15 0.0 2350 2169 2772 2644 347.4 3.4 256 3099 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2168 2707 2771 2643 0 0 0 0 0 0 14.56 14.56 14.56 6.28 50.94

3398 -0.15 0.0 2350 2169 2773 2640 337.5 3.1 271 3399 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 2168 2706 2772 2640 0 0 0 0 0 0 14.71 14.71 14.71 6.28 50.82

3698 -0.15 0.0 2350 2168 2773 2640 328.3 3.0 286 3699 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2168 2705 2771 2640 0 0 0 0 0 0 14.80 14.81 14.81 6.28 51.96

3998 -0.15 0.0 2351 2169 2773 2639 319.9 2.8 301 3999 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2168 2706 2772 2640 0 0 0 0 0 0 14.85 14.85 14.85 6.28 51.41

4298 -0.15 0.0 2349 2169 2772 2640 311.5 2.8 316 4299 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2168 2705 2772 2639 0 0 0 0 0 0 14.90 14.90 14.90 6.27 51.53

4598 -0.15 0.0 2350 2169 2773 2640 303.0 2.8 331 4599 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2168 2705 2772 2639 0 0 0 0 0 0 14.92 14.93 14.93 6.28 51.37

4898 -0.15 0.0 2350 2169 2772 2641 294.5 3.0 346 4899 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2168 2706 2772 2640 0 0 0 0 0 0 14.95 14.95 14.95 6.28 51.41

5198 -0.15 0.0 2350 2169 2772 2641 285.6 3.0 361 5199 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2168 2706 2772 2640 0 0 0 0 0 0 14.97 14.97 14.97 6.27 51.49

5498 -0.15 0.0 2350 2169 2773 2640 276.7 3.0 376 5499 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2168 2706 2772 2640 0 0 0 0 0 0 14.99 14.99 14.99 6.27 51.37

5798 -0.15 0.0 2350 2169 2772 2641 267.6 2.9 391 5799 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2168 2706 2772 2640 0 0 0 0 0 0 15.00 15.00 15.00 6.27 51.69

6098 -0.15 0.0 2350 2169 2773 2640 258.9 2.8 406 6099 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2168 2706 2772 2640 0 0 0 0 0 0 15.01 15.02 15.02 6.27 51.65

6396 end loiter: LOITER_COMPLETE

state 6396 begin climb

6398 0.64 146.0 2350 2169 2773 2640 251.4 0.0 421 6539 0.62 2.55 129.93 1.422 10500 0.170 0.083 2597 3543 2118 2141 2096 0 0 0 0 0 0 14.42 13.97 13.38 6.27 51.57

6553 0.69 187.9 2597 3543 2142 2093 244.0 6.7 428 6598 0.00 2.38 39.67 1.370 11270 0.000 0.042 2608 2151 1951 1971 1932 0 0 0 0 0 0 14.15 14.07 13.32 6.23 49.80

6900 0.69 187.9 2608 2152 1962 1916 200.2 12.6 446 6904 0.00 2.50 0.00 0.000 2564 0.000 0.067 2619 742 1938 1961 1915 0 0 0 0 0 0 14.48 14.16 14.48 6.22 50.23

6943 0.69 187.9 2619 743 1959 1915 195.2 12.6 448 6947 0.00 2.40 0.00 0.000 1030 0.000 0.055 2619 2129 1936 1957 1915 0 0 0 0 0 0 14.33 14.21 14.35 6.21 50.27

7253 0.69 187.9 2619 2129 1958 1912 150.1 14.8 464 7257 0.00 2.45 0.00 0.000 516 0.000 0.067 2629 742 1934 1957 1912 0 0 0 0 0 0 14.64 14.29 14.65 6.21 50.82

7373 0.69 187.9 2630 742 1957 1911 134.8 12.8 470 7377 0.00 2.42 0.00 0.000 5126 0.000 0.057 2630 2152 1933 1955 1911 0 0 0 0 0 0 14.48 14.33 14.50 6.21 50.90

7680 0.69 187.9 2629 2153 1955 1909 90.9 13.3 493 7683 0.00 2.47 0.00 0.000 4356 0.000 0.084 2630 3556 1932 1955 1909 0 0 0 0 0 0 14.71 14.33 14.71 6.20 50.86

7758 0.69 187.9 2630 3557 1955 1911 80.6 12.5 509 7762 0.08 2.35 0.00 0.000 5126 0.350 0.043 2615 2147 1932 1955 1909 0 0 0 0 0 0 14.16 14.42 14.44 6.20 49.92

7885 0.69 187.9 2615 2148 1954 1910 65.7 11.9 534 7889 0.00 2.45 0.00 0.000 2564 0.000 0.067 2625 742 1932 1957 1908 0 0 0 0 0 0 14.73 14.38 14.73 6.19 49.48

7938 0.69 187.9 2626 743 1954 1908 59.5 10.9 545 7942 0.00 2.42 0.00 0.000 5126 0.000 0.055 2625 2152 1930 1953 1908 0 0 0 0 0 0 14.54 14.39 14.57 6.19 49.40

8065 0.69 187.9 2625 2153 1954 1909 43.6 12.2 570 8069 0.00 2.47 0.00 0.000 4356 0.000 0.086 2625 3553 1930 1953 1908 0 0 0 0 0 0 14.73 14.35 14.73 6.18 49.17

8139 0.69 187.9 2625 3554 1954 1909 34.8 10.8 585 8142 0.00 2.38 0.00 0.000 5126 0.000 0.044 2636 2138 1930 1953 1908 0 0 0 0 0 0 14.56 14.42 14.58 6.19 49.80

8264 0.69 187.9 2636 2138 1953 1908 20.7 11.6 610 8268 0.00 2.42 0.00 0.000 4612 0.000 0.067 2646 744 1930 1953 1907 0 0 0 0 0 0 14.75 14.38 14.76 6.19 49.88

8309 0.69 187.9 2647 745 1952 1907 15.6 11.2 619 8312 0.08 2.40 0.00 0.000 5126 0.321 0.056 2620 2150 1929 1952 1907 0 0 0 0 0 0 14.19 14.42 14.46 6.18 50.70

8428 end climb: SURFACE_DEPTH_REACHED

state 8428 begin surface coast

8451 end surface coast: CONTROL_FINISHED_OK

state 8452 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	416	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
N_DIVES	600	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	5
STOP_T	2051912	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_SURF	3	TGT_DEFAULT_LAT	-5400	R_PORT_OVSHOOT	49	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LON	0	R_STBD_OVSHOOT	27	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	280119,175332,-6006.7910,-2.6316,17,0.8,35,-19.7,0.0,218.3,11,9.2	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	1.13	MHEAD_RNG_PITCHd_Wd	23.4,49673,-15.5,-8.333,-18.82,2677
_SM_ANGLEo	-67.1	D_GRID	350
GPS2	280119,175925,-6006.7886,-2.6305,9,0.8,21,-19.7,0.7,295.4,11,9.8

SM_CCo	8467,24.88,0.248,0,0,1821,220.03	_10V_AH	13.38,0.000
SM_GC	0.84,5.65,0.08,24.88,0.089,0.171,0.248,270,2088,1821,-6.45,0.99,220.03,0,0,0,0,0,0,14.50,14.47,14.17	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-6007.06,0.00,280119,151957	FG_AHR_10Vo	0.000
TT8_MAMPS	0.039697,0.342293	MEM	344084
HUMID	50.35	DATA_FILE_SIZE	17308,648
INTERNAL_PRESSURE	6.13826	CAP_FILE_SIZE	84452,0
TCM_TEMP	0.00	CFSIZE	1023623168,978567168
XPDR_PINGS	2	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
SC_FREEKB	3707872	CURRENT	0.004,297.78,1
_24V_AH	13.24,81.074	GPS	280119,202219,-6006.250,-2.747,15,0.9,37,-19.7,0.9,88.6,9,9.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	429	75.57	nil	0	0	0.00
Roll_motor	63	2220	1862.06	nil	0	0	0.00
VBD_pump_during_apogee	294	1581	6175.54	nil	0	0	0.00
VBD_pump_during_surface	24	247	81.63	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	29	11.11	nil	0	0	0.00
Iridium_during_connect	19	160	41.61	SciCon	4873	11	757.64
Iridium_during_xfer	135	223	400.38	nil	0	0	0.00
Transponder_ping	0	420	2.78	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	11	3.42
TT8	0	0	0.00
LPSleep	6765	2	198.24
TT8_Active	388	11	60.97
TT8_Sampling	1496	32	654.62
TT8_CF8	196	49	131.10
TT8_Kalman	0	0	0.00
Analog_circuits	980	11	150.77
GPS_charging	0	0	0.00
Compass	1055	19	275.08
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
12	-0.64	-146.0	231	2073	1790	1830	0.0	0.0	0	102	0.00	0.00	-87.90	0.000	16386	0.000	0.000	231	2072	3204	3285	3123	0	0	0	0	0	0	14.57	28.83	14.57	6.17	51.26
104	-0.64	-146.0	231	2072	3286	3124	3.3	-7.3	18	122	6.22	2.62	-4.07	0.000	18948	0.362	2.220	2190	712	3316	3410	3223	0	0	0	0	0	0	13.96	13.28	14.30	6.29	50.15
204	-0.64	-146.0	2190	712	3413	3224	21.1	-16.3	38	208	0.00	2.40	0.00	0.000	3078	0.000	0.057	2180	2101	3317	3411	3223	0	0	0	0	0	0	14.42	14.28	14.44	6.30	48.97
328	-0.64	-146.0	2180	2102	3412	3220	43.0	-18.8	63	330	0.00	0.00	0.00	0.000	2054	0.000	0.000	2180	2101	3317	3411	3224	0	0	0	0	0	0	14.64	14.64	14.64	6.31	49.68
453	-0.64	-146.0	2180	2101	3412	3224	64.0	-14.7	88	456	0.00	0.00	0.00	0.000	2054	0.000	0.000	2180	2101	3319	3414	3224	0	0	0	0	0	0	14.66	14.66	14.66	6.31	49.92
578	-0.64	-146.0	2180	2101	3413	3224	83.3	-15.5	113	581	0.00	2.47	0.00	0.000	2308	0.000	0.083	2169	3507	3318	3412	3224	0	0	0	0	0	0	14.69	14.28	14.69	6.31	49.56
618	-0.64	-146.0	2169	3508	3412	3225	89.7	-16.0	121	622	0.08	2.33	0.00	0.000	3078	0.364	0.042	2194	2108	3318	3412	3224	0	0	0	0	0	0	14.07	14.40	14.34	6.31	48.97
748	-0.64	-146.0	2195	2107	3420	3224	109.0	-14.6	138	751	0.00	2.45	0.00	0.000	516	0.000	0.063	2194	696	3318	3412	3224	0	0	0	0	0	0	14.71	14.35	14.72	6.30	48.70
823	-0.64	-146.0	2195	697	3413	3224	120.0	-14.7	142	826	0.00	2.40	0.00	0.000	3078	0.000	0.056	2185	2102	3318	3412	3224	0	0	0	0	0	0	14.51	14.38	14.52	6.30	48.26
1138	-0.64	-146.0	2184	2103	3412	3225	163.3	-13.9	158	1139	0.00	0.00	0.00	0.000	2054	0.000	0.000	2186	2102	3318	3412	3224	0	0	0	0	0	0	14.76	14.76	14.76	6.30	50.31
1438	-0.64	-146.0	2185	2103	3413	3224	202.4	-13.1	173	1441	0.00	2.42	0.00	0.000	2564	0.000	0.062	2184	696	3317	3411	3224	0	0	0	0	0	0	14.79	14.39	14.79	6.32	50.66
1463	-0.64	-146.0	2185	696	3413	3223	204.5	-13.2	174	1467	0.08	2.40	0.00	0.000	3078	0.365	0.057	2198	2101	3318	3412	3224	0	0	0	0	0	0	14.14	14.42	14.40	6.31	51.06
1768	-0.64	-146.0	2198	2102	3412	3225	243.2	-11.9	189	1772	0.00	2.47	0.00	0.000	260	0.000	0.083	2188	3506	3317	3412	3223	0	0	0	0	0	0	14.80	14.34	14.80	6.32	51.18
1798	-0.64	-146.0	2188	3506	3413	3224	245.0	-11.8	190	1801	0.00	2.35	0.00	0.000	3078	0.000	0.043	2188	2091	3317	3411	3224	0	0	0	0	0	0	14.59	14.47	14.62	6.32	51.29
2103	-0.64	-146.0	2188	2091	3412	3225	284.2	-12.3	206	2106	0.00	2.40	0.00	0.000	2564	0.000	0.063	2188	696	3318	3412	3224	0	0	0	0	0	0	14.81	14.39	14.82	6.33	51.26
2158	-0.64	-146.0	2188	697	3413	3224	291.0	-12.4	209	2162	0.05	2.40	0.00	0.000	3078	0.429	0.057	2193	2104	3318	3412	3224	0	0	0	0	0	0	14.16	14.44	14.41	6.32	51.33
2478	-0.64	-146.0	2193	2105	3412	3225	329.0	-11.9	225	2479	0.00	0.00	0.00	0.000	2054	0.000	0.000	2193	2107	3318	3412	3224	0	0	0	0	0	0	14.82	14.82	14.82	6.33	51.45
2676	end dive: TARGET_DEPTH_EXCEEDED
state	2676	begin apogee
2681	-0.15	0.0	2193	2169	3412	3225	352.1	-11.5	235	2810	0.45	0.00	125.38	1.581	10246	0.256	0.000	2350	2168	2715	2775	2656	0	0	0	0	0	0	14.15	13.92	13.24	6.33	51.26
2811	end apogee: CONTROL_FINISHED_OK
state	2811	begin loiter
3098	-0.15	0.0	2350	2169	2772	2644	347.4	3.4	256	3099	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2168	2707	2771	2643	0	0	0	0	0	0	14.56	14.56	14.56	6.28	50.94
3398	-0.15	0.0	2350	2169	2773	2640	337.5	3.1	271	3399	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	2168	2706	2772	2640	0	0	0	0	0	0	14.71	14.71	14.71	6.28	50.82
3698	-0.15	0.0	2350	2168	2773	2640	328.3	3.0	286	3699	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2168	2705	2771	2640	0	0	0	0	0	0	14.80	14.81	14.81	6.28	51.96
3998	-0.15	0.0	2351	2169	2773	2639	319.9	2.8	301	3999	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2168	2706	2772	2640	0	0	0	0	0	0	14.85	14.85	14.85	6.28	51.41
4298	-0.15	0.0	2349	2169	2772	2640	311.5	2.8	316	4299	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2168	2705	2772	2639	0	0	0	0	0	0	14.90	14.90	14.90	6.27	51.53
4598	-0.15	0.0	2350	2169	2773	2640	303.0	2.8	331	4599	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2168	2705	2772	2639	0	0	0	0	0	0	14.92	14.93	14.93	6.28	51.37
4898	-0.15	0.0	2350	2169	2772	2641	294.5	3.0	346	4899	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2168	2706	2772	2640	0	0	0	0	0	0	14.95	14.95	14.95	6.28	51.41
5198	-0.15	0.0	2350	2169	2772	2641	285.6	3.0	361	5199	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2168	2706	2772	2640	0	0	0	0	0	0	14.97	14.97	14.97	6.27	51.49
5498	-0.15	0.0	2350	2169	2773	2640	276.7	3.0	376	5499	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2168	2706	2772	2640	0	0	0	0	0	0	14.99	14.99	14.99	6.27	51.37
5798	-0.15	0.0	2350	2169	2772	2641	267.6	2.9	391	5799	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2168	2706	2772	2640	0	0	0	0	0	0	15.00	15.00	15.00	6.27	51.69
6098	-0.15	0.0	2350	2169	2773	2640	258.9	2.8	406	6099	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2168	2706	2772	2640	0	0	0	0	0	0	15.01	15.02	15.02	6.27	51.65
6396	end loiter: LOITER_COMPLETE
state	6396	begin climb
6398	0.64	146.0	2350	2169	2773	2640	251.4	0.0	421	6539	0.62	2.55	129.93	1.422	10500	0.170	0.083	2597	3543	2118	2141	2096	0	0	0	0	0	0	14.42	13.97	13.38	6.27	51.57
6553	0.69	187.9	2597	3543	2142	2093	244.0	6.7	428	6598	0.00	2.38	39.67	1.370	11270	0.000	0.042	2608	2151	1951	1971	1932	0	0	0	0	0	0	14.15	14.07	13.32	6.23	49.80
6900	0.69	187.9	2608	2152	1962	1916	200.2	12.6	446	6904	0.00	2.50	0.00	0.000	2564	0.000	0.067	2619	742	1938	1961	1915	0	0	0	0	0	0	14.48	14.16	14.48	6.22	50.23
6943	0.69	187.9	2619	743	1959	1915	195.2	12.6	448	6947	0.00	2.40	0.00	0.000	1030	0.000	0.055	2619	2129	1936	1957	1915	0	0	0	0	0	0	14.33	14.21	14.35	6.21	50.27
7253	0.69	187.9	2619	2129	1958	1912	150.1	14.8	464	7257	0.00	2.45	0.00	0.000	516	0.000	0.067	2629	742	1934	1957	1912	0	0	0	0	0	0	14.64	14.29	14.65	6.21	50.82
7373	0.69	187.9	2630	742	1957	1911	134.8	12.8	470	7377	0.00	2.42	0.00	0.000	5126	0.000	0.057	2630	2152	1933	1955	1911	0	0	0	0	0	0	14.48	14.33	14.50	6.21	50.90
7680	0.69	187.9	2629	2153	1955	1909	90.9	13.3	493	7683	0.00	2.47	0.00	0.000	4356	0.000	0.084	2630	3556	1932	1955	1909	0	0	0	0	0	0	14.71	14.33	14.71	6.20	50.86
7758	0.69	187.9	2630	3557	1955	1911	80.6	12.5	509	7762	0.08	2.35	0.00	0.000	5126	0.350	0.043	2615	2147	1932	1955	1909	0	0	0	0	0	0	14.16	14.42	14.44	6.20	49.92
7885	0.69	187.9	2615	2148	1954	1910	65.7	11.9	534	7889	0.00	2.45	0.00	0.000	2564	0.000	0.067	2625	742	1932	1957	1908	0	0	0	0	0	0	14.73	14.38	14.73	6.19	49.48
7938	0.69	187.9	2626	743	1954	1908	59.5	10.9	545	7942	0.00	2.42	0.00	0.000	5126	0.000	0.055	2625	2152	1930	1953	1908	0	0	0	0	0	0	14.54	14.39	14.57	6.19	49.40
8065	0.69	187.9	2625	2153	1954	1909	43.6	12.2	570	8069	0.00	2.47	0.00	0.000	4356	0.000	0.086	2625	3553	1930	1953	1908	0	0	0	0	0	0	14.73	14.35	14.73	6.18	49.17
8139	0.69	187.9	2625	3554	1954	1909	34.8	10.8	585	8142	0.00	2.38	0.00	0.000	5126	0.000	0.044	2636	2138	1930	1953	1908	0	0	0	0	0	0	14.56	14.42	14.58	6.19	49.80
8264	0.69	187.9	2636	2138	1953	1908	20.7	11.6	610	8268	0.00	2.42	0.00	0.000	4612	0.000	0.067	2646	744	1930	1953	1907	0	0	0	0	0	0	14.75	14.38	14.76	6.19	49.88
8309	0.69	187.9	2647	745	1952	1907	15.6	11.2	619	8312	0.08	2.40	0.00	0.000	5126	0.321	0.056	2620	2150	1929	1952	1907	0	0	0	0	0	0	14.19	14.42	14.46	6.18	50.70
8428	end climb: SURFACE_DEPTH_REACHED
state	8428	begin surface coast
8451	end surface coast: CONTROL_FINISHED_OK
state	8452	begin surface