Glider dive log

ROAMMIZ Dec18 * SG640 * Dive index * Mission links * Dive 55 * 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 55 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 46 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LON 0 R_STBD_OVSHOOT 19 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 2630 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 160 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 1800 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 1800

COMM_SEQ 0 INT_PRESSURE_YINT -0.60000002 RAFOS_PEAK_OFFSET 1.5 T_MISSION 160

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 2630 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 46 VBD_CNV -0.245296

DEVICE3 -1 MINV_24V 11.5 R_STBD_OVSHOOT 19 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 55 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 211218,115530,-6010.1040,-11.7411,5,8.7,45,-19.6,0.0,281.5,4,41.4 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 1.00 MHEAD_RNG_PITCHd_Wd 39.3,130356,-16.8,-9.091,-19.85,2456

_SM_ANGLEo -64.3 D_GRID 300

GPS2 211218,115940,-6010.1235,-11.8129,8,1.2,15,-19.6,1.1,149.3,8,9.6

Post-dive calculations and measurements:

SM_CCo 6187,69.40,0.245,0,0,1732,220.03 _10V_AH 13.43,0.000

SM_GC 1.06,5.57,2.42,69.40,0.084,0.069,0.245,272,2100,1732,-6.44,-0.59,220.03,0,0,0,0,0,0,14.60,14.54,14.38 FG_AHR_24Vo 0.000

IRIDIUM_FIX -6007.06,0.00,211218,102630 FG_AHR_10Vo 0.000

TT8_MAMPS 0.039697,0.293608 MEM 344156

HUMID 48.77 DATA_FILE_SIZE 13908,543

INTERNAL_PRESSURE 6.11873 CAP_FILE_SIZE 72155,0

TCM_TEMP 0.00 CFSIZE 1023623168,1014104064

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

SC_FREEKB 3892704 CURRENT 0.084,235.92,1

_24V_AH 13.33,17.055 GPS 211218,134502,-6009.838,-12.057,9,1.0,27,-19.6,0.8,337.9,10,9.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 478 82.99 nil 0 0 0.00

Roll_motor 59 2283 1809.62 nil 0 0 0.00

VBD_pump_during_apogee 267 1552 5544.20 nil 0 0 0.00

VBD_pump_during_surface 69 244 226.46 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 29 9.44 nil 0 0 0.00

Iridium_during_connect 38 160 82.98 SciCon 4368 5 292.23

Iridium_during_xfer 94 223 280.21 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 2.51

TT8 0 0 0.00

LPSleep 4751 2 139.76

TT8_Active 431 11 68.05

TT8_Sampling 1284 32 563.98

TT8_CF8 46 49 31.24

TT8_Kalman 0 0 0.00

Analog_circuits 936 11 144.46

GPS_charging 0 0 0.00

Compass 896 19 234.48

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

9 -0.67 -146.0 233 2077 1704 1742 0.0 0.0 0 105 0.00 0.00 -93.68 0.000 16386 0.000 0.000 233 2076 3153 3235 3072 0 0 0 0 0 0 14.61 28.83 14.62 6.16 49.09

106 -0.67 -146.0 234 2076 3236 3073 3.2 -7.0 19 121 6.00 2.72 -2.83 0.000 18692 0.372 2.284 2162 3515 3227 3317 3138 0 0 0 0 0 0 14.24 13.50 14.39 6.27 49.13

224 -0.67 -146.0 2162 3517 3320 3139 25.3 -15.8 43 229 0.05 2.40 0.00 0.000 3078 0.385 0.047 2178 2115 3228 3318 3139 0 0 0 0 0 0 14.26 14.42 14.40 6.28 47.79

350 -0.67 -146.0 2178 2115 3319 3140 46.4 -14.5 68 351 0.00 0.00 0.00 0.000 2054 0.000 0.000 2178 2113 3228 3318 3138 0 0 0 0 0 0 14.66 14.66 14.66 6.28 48.54

470 -0.67 -146.0 2178 2115 3318 3140 64.3 -14.5 92 470 0.00 0.00 0.00 0.000 2054 0.000 0.000 2178 2114 3228 3318 3139 0 0 0 0 0 0 14.69 14.69 14.69 6.28 48.54

590 -0.67 -146.0 2177 2110 3319 3140 82.6 -15.1 116 594 0.00 2.53 0.00 0.000 2564 0.000 0.074 2178 689 3228 3318 3138 0 0 0 0 0 0 14.71 14.47 14.71 6.28 49.33

644 -0.67 -146.0 2179 688 3319 3139 90.9 -14.9 127 649 0.00 2.47 0.00 0.000 3078 0.000 0.063 2168 2111 3228 3318 3139 0 0 0 0 0 0 14.55 14.50 14.56 6.28 48.38

770 -0.67 -146.0 2168 2111 3319 3140 108.9 -14.7 143 771 0.00 0.00 0.00 0.000 2054 0.000 0.000 2168 2111 3228 3318 3139 0 0 0 0 0 0 14.74 14.74 14.74 6.28 49.09

1070 -0.67 -146.0 2169 2111 3319 3138 148.1 -12.6 158 1071 0.00 0.00 0.00 0.000 2054 0.000 0.000 2168 2111 3228 3318 3139 0 0 0 0 0 0 14.78 14.79 14.79 6.29 49.52

1370 -0.67 -146.0 2168 2111 3318 3139 185.8 -12.6 173 1375 0.00 2.45 0.00 0.000 2308 0.000 0.086 2157 3503 3227 3317 3138 0 0 0 0 0 0 14.83 14.57 14.83 6.30 50.59

1395 -0.67 -146.0 2158 3504 3319 3139 188.4 -12.7 174 1399 0.05 2.38 0.00 0.000 3078 0.386 0.047 2175 2090 3227 3317 3138 0 0 0 0 0 0 14.45 14.61 14.59 6.30 50.63

1710 -0.67 -146.0 2175 2089 3319 3139 227.9 -12.3 190 1714 0.00 2.42 0.00 0.000 2564 0.000 0.073 2175 701 3228 3318 3138 0 0 0 0 0 0 14.85 14.60 14.85 6.27 51.14

1780 -0.67 -146.0 2175 699 3319 3138 235.4 -12.5 193 1784 0.03 2.40 0.00 0.000 3078 0.479 0.062 2173 2094 3228 3318 3138 0 0 0 0 0 0 14.45 14.62 14.60 6.31 51.06

2090 -0.67 -146.0 2173 2095 3319 3138 273.3 -11.6 209 2094 0.00 2.47 0.00 0.000 2308 0.000 0.087 2164 3504 3227 3317 3138 0 0 0 0 0 0 14.87 14.61 14.87 6.31 50.94

2130 -0.67 -146.0 2163 3505 3319 3137 278.1 -11.8 211 2134 0.05 2.35 0.00 0.000 3078 0.377 0.047 2181 2101 3228 3318 3138 0 0 0 0 0 0 14.49 14.64 14.64 6.32 50.98

2329 end dive: TARGET_DEPTH_EXCEEDED

state 2329 begin apogee

2332 -0.15 0.0 2182 2167 3319 3138 300.6 -11.2 221 2469 0.47 0.00 132.82 1.553 10246 0.276 0.000 2351 2166 2624 2680 2569 0 0 0 0 0 0 14.53 13.91 13.33 6.32 51.45

2470 end apogee: CONTROL_FINISHED_OK

state 2471 begin loiter

2770 -0.15 0.0 2352 2167 2676 2558 291.8 4.1 243 2770 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2166 2616 2675 2557 0 0 0 0 0 0 14.56 14.56 14.56 6.27 50.55

3070 -0.15 0.0 2352 2167 2675 2555 279.3 4.2 258 3070 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2166 2614 2675 2554 0 0 0 0 0 0 14.69 14.69 14.69 6.27 50.51

3370 -0.15 0.0 2352 2167 2675 2553 266.7 4.2 273 3370 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 2166 2613 2674 2553 0 0 0 0 0 0 14.78 14.78 14.78 6.27 50.74

3670 -0.15 0.0 2352 2167 2675 2553 254.5 3.9 288 3671 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 2166 2613 2674 2552 0 0 0 0 0 0 14.83 14.83 14.83 6.27 50.74

3970 -0.15 0.0 2352 2167 2675 2550 243.1 3.7 303 3970 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2166 2612 2674 2551 0 0 0 0 0 0 14.88 14.88 14.88 6.27 50.78

4269 end loiter: LOITER_COMPLETE

state 4269 begin climb

4270 0.67 146.0 2352 2167 2675 2550 231.4 0.0 318 4414 0.65 2.62 135.00 1.402 10756 0.187 0.080 2619 742 2026 2048 2005 0 0 0 0 0 0 14.60 13.82 13.38 6.27 51.06

4439 0.67 146.0 2620 743 2049 2000 218.2 10.5 326 4444 0.00 2.50 0.00 0.000 5126 0.000 0.060 2619 2134 2022 2046 1999 0 0 0 0 0 0 14.05 14.00 14.08 6.23 48.89

4750 0.67 146.0 2620 2134 2044 1990 174.3 13.8 342 4755 0.00 2.58 0.00 0.000 260 0.000 0.089 2619 3552 2016 2043 1990 0 0 0 0 0 0 14.54 14.28 14.54 6.22 49.96

4850 0.67 146.0 2620 3548 2041 1991 160.9 13.1 347 4855 0.00 2.40 0.00 0.000 5126 0.000 0.050 2630 2151 2015 2041 1990 0 0 0 0 0 0 14.40 14.35 14.42 6.22 50.55

5170 0.67 146.0 2630 2151 2041 1988 116.2 14.1 363 5174 0.00 2.53 0.00 0.000 4612 0.000 0.083 2641 744 2013 2040 1986 0 0 0 0 0 0 14.69 14.42 14.69 6.22 50.90

5244 0.67 146.0 2642 745 2040 1985 108.5 13.1 366 5249 0.08 2.45 0.00 0.000 5126 0.291 0.061 2614 2154 2012 2039 1985 0 0 0 0 0 0 14.37 14.47 14.48 6.22 50.31

5550 0.67 146.0 2614 2155 2039 1986 70.2 12.3 418 5554 0.00 2.50 0.00 0.000 260 0.000 0.090 2614 3552 2012 2039 1985 0 0 0 0 0 0 14.74 14.47 14.74 6.21 49.76

5645 0.67 146.0 2615 3553 2039 1986 58.5 12.0 437 5649 0.00 2.38 0.00 0.000 5126 0.000 0.052 2623 2155 2011 2039 1984 0 0 0 0 0 0 14.59 14.54 14.60 6.20 48.62

5770 0.67 146.0 2623 2156 2032 1985 43.6 11.6 462 5774 0.00 2.53 0.00 0.000 4612 0.000 0.081 2634 738 2011 2039 1984 0 0 0 0 0 0 14.76 14.52 14.76 6.19 48.77

5809 0.67 146.0 2634 738 2039 1984 39.0 11.4 470 5814 0.05 2.45 0.00 0.000 5126 0.319 0.062 2615 2151 2011 2038 1984 0 0 0 0 0 0 14.42 14.52 14.54 6.20 49.21

5935 0.67 146.0 2615 2152 2039 1984 24.8 10.4 495 5939 0.00 2.50 0.00 0.000 260 0.000 0.090 2615 3555 2011 2038 1984 0 0 0 0 0 0 14.77 14.52 14.78 6.19 48.62

6015 0.67 146.5 2618 3556 2039 1985 16.6 9.1 511 6019 0.00 2.38 0.00 0.000 5126 0.000 0.051 2624 2151 2011 2038 1984 0 0 0 0 0 0 14.61 14.56 14.63 6.19 48.85

6140 0.67 146.5 2624 2150 2039 1984 4.3 9.3 536 6145 0.00 2.53 0.00 0.000 4612 0.000 0.082 2635 734 2010 2037 1983 0 0 0 0 0 0 14.78 14.54 14.78 6.19 49.25

6154 end climb: SURFACE_DEPTH_REACHED

state 6154 begin surface coast

6174 end surface coast: CONTROL_FINISHED_OK

state 6174 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	55	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	46	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LON	0	R_STBD_OVSHOOT	19	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	2630	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	160	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	1800	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	211218,115530,-6010.1040,-11.7411,5,8.7,45,-19.6,0.0,281.5,4,41.4	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	1.00	MHEAD_RNG_PITCHd_Wd	39.3,130356,-16.8,-9.091,-19.85,2456
_SM_ANGLEo	-64.3	D_GRID	300
GPS2	211218,115940,-6010.1235,-11.8129,8,1.2,15,-19.6,1.1,149.3,8,9.6

SM_CCo	6187,69.40,0.245,0,0,1732,220.03	_10V_AH	13.43,0.000
SM_GC	1.06,5.57,2.42,69.40,0.084,0.069,0.245,272,2100,1732,-6.44,-0.59,220.03,0,0,0,0,0,0,14.60,14.54,14.38	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-6007.06,0.00,211218,102630	FG_AHR_10Vo	0.000
TT8_MAMPS	0.039697,0.293608	MEM	344156
HUMID	48.77	DATA_FILE_SIZE	13908,543
INTERNAL_PRESSURE	6.11873	CAP_FILE_SIZE	72155,0
TCM_TEMP	0.00	CFSIZE	1023623168,1014104064
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
SC_FREEKB	3892704	CURRENT	0.084,235.92,1
_24V_AH	13.33,17.055	GPS	211218,134502,-6009.838,-12.057,9,1.0,27,-19.6,0.8,337.9,10,9.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	478	82.99	nil	0	0	0.00
Roll_motor	59	2283	1809.62	nil	0	0	0.00
VBD_pump_during_apogee	267	1552	5544.20	nil	0	0	0.00
VBD_pump_during_surface	69	244	226.46	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	29	9.44	nil	0	0	0.00
Iridium_during_connect	38	160	82.98	SciCon	4368	5	292.23
Iridium_during_xfer	94	223	280.21	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	2.51
TT8	0	0	0.00
LPSleep	4751	2	139.76
TT8_Active	431	11	68.05
TT8_Sampling	1284	32	563.98
TT8_CF8	46	49	31.24
TT8_Kalman	0	0	0.00
Analog_circuits	936	11	144.46
GPS_charging	0	0	0.00
Compass	896	19	234.48
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
9	-0.67	-146.0	233	2077	1704	1742	0.0	0.0	0	105	0.00	0.00	-93.68	0.000	16386	0.000	0.000	233	2076	3153	3235	3072	0	0	0	0	0	0	14.61	28.83	14.62	6.16	49.09
106	-0.67	-146.0	234	2076	3236	3073	3.2	-7.0	19	121	6.00	2.72	-2.83	0.000	18692	0.372	2.284	2162	3515	3227	3317	3138	0	0	0	0	0	0	14.24	13.50	14.39	6.27	49.13
224	-0.67	-146.0	2162	3517	3320	3139	25.3	-15.8	43	229	0.05	2.40	0.00	0.000	3078	0.385	0.047	2178	2115	3228	3318	3139	0	0	0	0	0	0	14.26	14.42	14.40	6.28	47.79
350	-0.67	-146.0	2178	2115	3319	3140	46.4	-14.5	68	351	0.00	0.00	0.00	0.000	2054	0.000	0.000	2178	2113	3228	3318	3138	0	0	0	0	0	0	14.66	14.66	14.66	6.28	48.54
470	-0.67	-146.0	2178	2115	3318	3140	64.3	-14.5	92	470	0.00	0.00	0.00	0.000	2054	0.000	0.000	2178	2114	3228	3318	3139	0	0	0	0	0	0	14.69	14.69	14.69	6.28	48.54
590	-0.67	-146.0	2177	2110	3319	3140	82.6	-15.1	116	594	0.00	2.53	0.00	0.000	2564	0.000	0.074	2178	689	3228	3318	3138	0	0	0	0	0	0	14.71	14.47	14.71	6.28	49.33
644	-0.67	-146.0	2179	688	3319	3139	90.9	-14.9	127	649	0.00	2.47	0.00	0.000	3078	0.000	0.063	2168	2111	3228	3318	3139	0	0	0	0	0	0	14.55	14.50	14.56	6.28	48.38
770	-0.67	-146.0	2168	2111	3319	3140	108.9	-14.7	143	771	0.00	0.00	0.00	0.000	2054	0.000	0.000	2168	2111	3228	3318	3139	0	0	0	0	0	0	14.74	14.74	14.74	6.28	49.09
1070	-0.67	-146.0	2169	2111	3319	3138	148.1	-12.6	158	1071	0.00	0.00	0.00	0.000	2054	0.000	0.000	2168	2111	3228	3318	3139	0	0	0	0	0	0	14.78	14.79	14.79	6.29	49.52
1370	-0.67	-146.0	2168	2111	3318	3139	185.8	-12.6	173	1375	0.00	2.45	0.00	0.000	2308	0.000	0.086	2157	3503	3227	3317	3138	0	0	0	0	0	0	14.83	14.57	14.83	6.30	50.59
1395	-0.67	-146.0	2158	3504	3319	3139	188.4	-12.7	174	1399	0.05	2.38	0.00	0.000	3078	0.386	0.047	2175	2090	3227	3317	3138	0	0	0	0	0	0	14.45	14.61	14.59	6.30	50.63
1710	-0.67	-146.0	2175	2089	3319	3139	227.9	-12.3	190	1714	0.00	2.42	0.00	0.000	2564	0.000	0.073	2175	701	3228	3318	3138	0	0	0	0	0	0	14.85	14.60	14.85	6.27	51.14
1780	-0.67	-146.0	2175	699	3319	3138	235.4	-12.5	193	1784	0.03	2.40	0.00	0.000	3078	0.479	0.062	2173	2094	3228	3318	3138	0	0	0	0	0	0	14.45	14.62	14.60	6.31	51.06
2090	-0.67	-146.0	2173	2095	3319	3138	273.3	-11.6	209	2094	0.00	2.47	0.00	0.000	2308	0.000	0.087	2164	3504	3227	3317	3138	0	0	0	0	0	0	14.87	14.61	14.87	6.31	50.94
2130	-0.67	-146.0	2163	3505	3319	3137	278.1	-11.8	211	2134	0.05	2.35	0.00	0.000	3078	0.377	0.047	2181	2101	3228	3318	3138	0	0	0	0	0	0	14.49	14.64	14.64	6.32	50.98
2329	end dive: TARGET_DEPTH_EXCEEDED
state	2329	begin apogee
2332	-0.15	0.0	2182	2167	3319	3138	300.6	-11.2	221	2469	0.47	0.00	132.82	1.553	10246	0.276	0.000	2351	2166	2624	2680	2569	0	0	0	0	0	0	14.53	13.91	13.33	6.32	51.45
2470	end apogee: CONTROL_FINISHED_OK
state	2471	begin loiter
2770	-0.15	0.0	2352	2167	2676	2558	291.8	4.1	243	2770	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2166	2616	2675	2557	0	0	0	0	0	0	14.56	14.56	14.56	6.27	50.55
3070	-0.15	0.0	2352	2167	2675	2555	279.3	4.2	258	3070	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2166	2614	2675	2554	0	0	0	0	0	0	14.69	14.69	14.69	6.27	50.51
3370	-0.15	0.0	2352	2167	2675	2553	266.7	4.2	273	3370	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	2166	2613	2674	2553	0	0	0	0	0	0	14.78	14.78	14.78	6.27	50.74
3670	-0.15	0.0	2352	2167	2675	2553	254.5	3.9	288	3671	0.00	0.00	0.00	0.000	6	0.000	0.000	2352	2166	2613	2674	2552	0	0	0	0	0	0	14.83	14.83	14.83	6.27	50.74
3970	-0.15	0.0	2352	2167	2675	2550	243.1	3.7	303	3970	0.00	0.00	0.00	0.000	6	0.000	0.000	2351	2166	2612	2674	2551	0	0	0	0	0	0	14.88	14.88	14.88	6.27	50.78
4269	end loiter: LOITER_COMPLETE
state	4269	begin climb
4270	0.67	146.0	2352	2167	2675	2550	231.4	0.0	318	4414	0.65	2.62	135.00	1.402	10756	0.187	0.080	2619	742	2026	2048	2005	0	0	0	0	0	0	14.60	13.82	13.38	6.27	51.06
4439	0.67	146.0	2620	743	2049	2000	218.2	10.5	326	4444	0.00	2.50	0.00	0.000	5126	0.000	0.060	2619	2134	2022	2046	1999	0	0	0	0	0	0	14.05	14.00	14.08	6.23	48.89
4750	0.67	146.0	2620	2134	2044	1990	174.3	13.8	342	4755	0.00	2.58	0.00	0.000	260	0.000	0.089	2619	3552	2016	2043	1990	0	0	0	0	0	0	14.54	14.28	14.54	6.22	49.96
4850	0.67	146.0	2620	3548	2041	1991	160.9	13.1	347	4855	0.00	2.40	0.00	0.000	5126	0.000	0.050	2630	2151	2015	2041	1990	0	0	0	0	0	0	14.40	14.35	14.42	6.22	50.55
5170	0.67	146.0	2630	2151	2041	1988	116.2	14.1	363	5174	0.00	2.53	0.00	0.000	4612	0.000	0.083	2641	744	2013	2040	1986	0	0	0	0	0	0	14.69	14.42	14.69	6.22	50.90
5244	0.67	146.0	2642	745	2040	1985	108.5	13.1	366	5249	0.08	2.45	0.00	0.000	5126	0.291	0.061	2614	2154	2012	2039	1985	0	0	0	0	0	0	14.37	14.47	14.48	6.22	50.31
5550	0.67	146.0	2614	2155	2039	1986	70.2	12.3	418	5554	0.00	2.50	0.00	0.000	260	0.000	0.090	2614	3552	2012	2039	1985	0	0	0	0	0	0	14.74	14.47	14.74	6.21	49.76
5645	0.67	146.0	2615	3553	2039	1986	58.5	12.0	437	5649	0.00	2.38	0.00	0.000	5126	0.000	0.052	2623	2155	2011	2039	1984	0	0	0	0	0	0	14.59	14.54	14.60	6.20	48.62
5770	0.67	146.0	2623	2156	2032	1985	43.6	11.6	462	5774	0.00	2.53	0.00	0.000	4612	0.000	0.081	2634	738	2011	2039	1984	0	0	0	0	0	0	14.76	14.52	14.76	6.19	48.77
5809	0.67	146.0	2634	738	2039	1984	39.0	11.4	470	5814	0.05	2.45	0.00	0.000	5126	0.319	0.062	2615	2151	2011	2038	1984	0	0	0	0	0	0	14.42	14.52	14.54	6.20	49.21
5935	0.67	146.0	2615	2152	2039	1984	24.8	10.4	495	5939	0.00	2.50	0.00	0.000	260	0.000	0.090	2615	3555	2011	2038	1984	0	0	0	0	0	0	14.77	14.52	14.78	6.19	48.62
6015	0.67	146.5	2618	3556	2039	1985	16.6	9.1	511	6019	0.00	2.38	0.00	0.000	5126	0.000	0.051	2624	2151	2011	2038	1984	0	0	0	0	0	0	14.61	14.56	14.63	6.19	48.85
6140	0.67	146.5	2624	2150	2039	1984	4.3	9.3	536	6145	0.00	2.53	0.00	0.000	4612	0.000	0.082	2635	734	2010	2037	1983	0	0	0	0	0	0	14.78	14.54	14.78	6.19	49.25
6154	end climb: SURFACE_DEPTH_REACHED
state	6154	begin surface coast
6174	end surface coast: CONTROL_FINISHED_OK
state	6174	begin surface