Glider dive log

ROAMMIZ Dec18 * SG640 * Dive index * Mission links * Dive 61 * 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 61 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 50 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LON 0 R_STBD_OVSHOOT 27 ALTIM_SENSITIVITY 2

D_TGT 300 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 XPDR_VALID 2

D_ABORT 400 SM_CC 220 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

D_NO_BLEED 29 N_FILEKB 4 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097655999

D_BOOST 20 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -0.60000002

T_BOOST 0 CALL_NDIVES 1 VBD_MIN 602 DEEPGLIDER 0

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3962 MOTHERBOARD 4

D_PITCH 0 PROTOCOL 9 C_VBD 2690 DEVICE1 -1

D_SAFE 0 N_NOCOMM 2 VBD_DBAND 2 DEVICE2 -1

D_CALL 0 NOCOMM_ACTION 259 VBD_CNV -0.245296 DEVICE3 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE4 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_DIVE 110 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERS 1

T_MISSION 190 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 53

T_ABORT 200 CAPMAXSIZE 400000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_TURN 500 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE3 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_NO_W 120 N_GPS 100840 W_ADJ_DBAND 0 COMPASS_DEVICE 33

T_LOITER 3600 T_RSLEEP 3 DBDW 0 COMPASS2_DEVICE -1

T_SLOITER 0 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 49

T_EPIRB 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

USE_BATHY 0 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

USE_ICE 0 RAFOS_HIT_WINDOW 3600 AH0_24V 310 XPDR_DEVICE 24

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 AH0_10V 0 SIM_W 0

D_OFFGRID 100 PITCH_MIN 312 MINV_24V 11.5 SIM_PITCH 0

T_WATCHDOG 10 PITCH_MAX 3939 MINV_10V 10 SEABIRD_T_G 0.0044042631

RELAUNCH 0 C_PITCH 2400 MAXI_24V 3 SEABIRD_T_H 0.0006412621

APOGEE_PITCH -5 PITCH_DBAND 0.0099999998 MAXI_10V 2 SEABIRD_T_I 2.6024412e-05

MAX_BUOY 150 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_T_J 3.2462635e-06

COURSE_BIAS 0 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_G -10.007382

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0.079999998 PHONE_SUPPLY 2 SEABIRD_C_H 1.1528281

SPEED_FACTOR 1 PITCH_GAIN 34 PRESSURE_YINT -153.19165 SEABIRD_C_I -0.0017483447

RHO 1.0275 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.000109596 SEABIRD_C_J 0.0001971516

MASS 54260 PITCH_AD_RATE 175 AD7714Ch0Gain 1 SEABIRD_C_Z 2950.7202

MASS_COMP 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 SC_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 COMPASS_USE 0 SC_XMITPROFILE 3.0

KALMAN_USE 2 ROLL_MIN 217 ALTIM_BOTTOM_PING_RANGE 0 SC_NDIVE 1.0

HD_A 0.0038360001 ROLL_MAX 3851 ALTIM_TOP_PING_RANGE 0

HD_B 0.0101 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 1 D_SURF 3 PITCH_AD_RATE 175 SIM_PITCH 0

AH0_10V 0 D_TGT 300 PITCH_CNV 0.003125763 SIM_W 0

AH0_24V 310 ESCAPE_HEADING 0 PITCH_DBAND 0.0099999998 SM_CC 220

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 34 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MAX 3939 STOP_T 12271812

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_MAXERRORS 1 STROBE 0

ALTIM_PING_DELTA 5 FG_AHR_24V 0 PITCH_MIN 312 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_TIMEOUT 17 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_W_DBAND 0 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PITCH_W_GAIN 0 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0038360001 PRESSURE_SLOPE 0.000109596 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0101 PRESSURE_YINT -153.19165 TGT_DEFAULT_LAT -5400

APOGEE_PITCH -5 HD_C 9.8500004e-06 PROTOCOL 9 TGT_DEFAULT_LON 0

CALL_NDIVES 1 HEADING -1 P_OVSHOOT 0.039999999 T_ABORT 200

CALL_TRIES 5 HEAD_ERRBAND 10 P_OVSHOOT_WITHG 0.079999998 T_BOOST 0

CALL_WAIT 60 HEAPDBG 0 RAFOS_CORR_THRESH 60 T_DIVE 110

CAPMAXSIZE 400000 ICE_FREEZE_MARGIN 0.30000001 RAFOS_DEVICE -1 T_EPIRB 0

CAPUPLOAD 0 ID 640 RAFOS_HIT_WINDOW 3600 T_GPS 15

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097655999 RAFOS_MMODEM 0 T_LOITER 3600

COMM_SEQ 0 INT_PRESSURE_YINT -0.60000002 RAFOS_PEAK_OFFSET 1.5 T_MISSION 190

COMPASS2_DEVICE -1 KALMAN_USE 2 RELAUNCH 0 T_NO_W 120

COMPASS_DEVICE 33 LOGGERDEVICE1 53 RHO 1.0275 T_RSLEEP 3

COMPASS_USE 0 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_SLOITER 0

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_TURN 500

C_PITCH 2400 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2150 LOGGERS 1 ROLL_CNV 0.028270001 T_WATCHDOG 10

C_ROLL_DIVE 2100 MASS 54260 ROLL_DEG 40 UNCOM_BLEED 60

C_VBD 2690 MASS_COMP 0 ROLL_MAX 3851 UPLOAD_DIVES_MAX -1

DBDW 0 MAXI_10V 2 ROLL_MAXERRORS 1 USE_BATHY 0

DEEPGLIDER 0 MAXI_24V 3 ROLL_MIN 217 USE_ICE 0

DEVICE1 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 10 R_PORT_OVSHOOT 50 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 61 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 211218,233701,-6007.6646,-12.0698,17,0.9,28,-19.6,0.9,229.7,11,10.0 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 1.01 MHEAD_RNG_PITCHd_Wd 35.1,125846,-16.8,-9.091,-19.85,2456

_SM_ANGLEo -67.6 D_GRID 300

GPS2 211218,234122,-6007.6636,-12.1280,8,1.1,18,-19.6,0.7,315.1,9,9.3

Post-dive calculations and measurements:

SM_CCo 7650,68.97,0.249,0,0,1790,220.03 _10V_AH 13.49,0.000

SM_GC 1.07,5.40,0.08,68.97,0.051,0.174,0.249,266,2082,1790,-6.44,0.76,220.03,0,0,0,0,0,0,14.64,14.57,14.37 FG_AHR_24Vo 0.000

IRIDIUM_FIX -6009.98,-21.62,211218,212502 FG_AHR_10Vo 0.000

TT8_MAMPS 0.038948,0.093625 MEM 344104

HUMID 48.70 DATA_FILE_SIZE 17316,623

INTERNAL_PRESSURE 6.10897 CAP_FILE_SIZE 82386,0

TCM_TEMP 0.00 CFSIZE 1023623168,1013481472

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

SC_FREEKB 3889632 CURRENT 0.061,263.10,1

_24V_AH 13.31,18.002 GPS 221218,015119,-6007.231,-12.291,16,0.7,39,-19.6,0.4,281.7,11,5.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 491 84.16 nil 0 0 0.00

Roll_motor 63 2281 1940.21 nil 0 0 0.00

VBD_pump_during_apogee 265 1548 5480.36 nil 0 0 0.00

VBD_pump_during_surface 68 248 228.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 29 9.96 nil 0 0 0.00

Iridium_during_connect 43 160 92.64 SciCon 4031 3 209.51

Iridium_during_xfer 93 223 276.49 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 11 3.03

TT8 0 0 0.00

LPSleep 6078 2 179.59

TT8_Active 435 11 68.94

TT8_Sampling 1418 32 625.80

TT8_CF8 54 49 36.54

TT8_Kalman 0 0 0.00

Analog_circuits 992 11 153.89

GPS_charging 0 0 0.00

Compass 1000 19 262.86

RAFOS 0 0 0.00

Transponder 0 5 0.04

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts int_press humidity

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

8 -0.67 -146.0 235 2071 1768 1797 0.0 0.0 0 105 0.00 0.00 -94.12 0.000 16386 0.000 0.000 234 2071 3222 3303 3142 0 0 0 0 0 0 14.61 28.83 14.62 6.16 50.15

106 -0.67 -146.0 235 2072 3304 3142 3.5 -8.1 19 120 6.00 2.75 -2.40 0.000 18692 0.373 2.281 2162 3503 3287 3376 3198 0 0 0 0 0 0 14.23 13.47 14.39 6.27 48.81

190 -0.67 -146.0 2163 3503 3378 3198 18.1 -15.6 36 195 0.05 2.35 0.00 0.000 3078 0.366 0.048 2179 2130 3290 3381 3199 0 0 0 0 0 0 14.24 14.39 14.38 6.29 47.83

315 -0.67 -146.0 2180 2130 3378 3199 39.6 -17.7 61 316 0.00 0.00 0.00 0.000 2054 0.000 0.000 2179 2129 3288 3377 3199 0 0 0 0 0 0 14.65 14.65 14.65 6.29 48.26

435 -0.67 -146.0 2179 2130 3378 3200 58.2 -15.1 85 439 0.00 2.42 0.00 0.000 2308 0.000 0.084 2170 3498 3288 3377 3199 0 0 0 0 0 0 14.69 14.43 14.69 6.29 48.74

470 -0.67 -146.0 2170 3499 3378 3200 63.4 -14.8 92 475 0.00 2.38 0.00 0.000 3078 0.000 0.049 2170 2098 3288 3377 3199 0 0 0 0 0 0 14.52 14.46 14.54 6.29 48.62

595 -0.67 -146.0 2165 2098 3378 3200 82.3 -15.8 117 599 0.00 2.50 0.00 0.000 2564 0.000 0.074 2168 683 3288 3378 3198 0 0 0 0 0 0 14.71 14.47 14.71 6.28 48.81

635 -0.67 -146.0 2170 684 3379 3199 88.9 -16.4 125 639 0.05 2.45 0.00 0.000 3078 0.398 0.061 2176 2096 3287 3377 3198 0 0 0 0 0 0 14.33 14.48 14.47 6.28 49.25

770 -0.67 -146.0 2176 2097 3378 3200 110.1 -15.9 143 770 0.00 0.00 0.00 0.000 2054 0.000 0.000 2169 2096 3291 3385 3198 0 0 0 0 0 0 14.74 14.74 14.74 6.27 48.38

1070 -0.67 -146.0 2176 2096 3379 3199 155.1 -14.5 158 1074 0.00 2.47 0.00 0.000 2308 0.000 0.086 2166 3502 3287 3377 3198 0 0 0 0 0 0 14.79 14.54 14.79 6.28 49.56

1150 -0.67 -146.0 2167 3502 3379 3199 166.6 -14.4 162 1154 0.03 2.38 0.00 0.000 3078 0.491 0.047 2173 2086 3287 3377 3198 0 0 0 0 0 0 14.40 14.57 14.54 6.29 50.51

1470 -0.67 -146.0 2174 2085 3379 3198 211.1 -13.6 178 1474 0.00 2.42 0.00 0.000 2564 0.000 0.073 2173 698 3284 3371 3198 0 0 0 0 0 0 14.83 14.57 14.83 6.30 51.53

1520 -0.67 -146.0 2174 698 3378 3198 216.5 -13.6 180 1524 0.05 2.40 0.00 0.000 3078 0.383 0.060 2180 2098 3287 3377 3198 0 0 0 0 0 0 14.43 14.60 14.59 6.31 50.82

1830 -0.67 -146.0 2181 2098 3379 3198 257.2 -12.7 196 1830 0.00 0.00 0.00 0.000 2054 0.000 0.000 2179 2097 3288 3378 3198 0 0 0 0 0 0 14.85 14.85 14.85 6.32 51.26

2130 -0.67 -146.0 2180 2098 3379 3199 295.4 -12.8 211 2134 0.00 2.45 0.00 0.000 2308 0.000 0.086 2171 3499 3287 3377 3198 0 0 0 0 0 0 14.88 14.62 14.88 6.32 51.33

2160 -0.67 -146.0 2169 3499 3378 3198 298.0 -12.9 212 2164 0.00 2.33 0.00 0.000 3078 0.000 0.048 2170 2106 3290 3377 3204 0 0 0 0 0 0 14.69 14.64 14.71 6.32 51.29

2169 end dive: TARGET_DEPTH_EXCEEDED

state 2169 begin apogee

2172 -0.15 0.0 2173 2159 3377 3198 300.6 -13.0 213 2309 0.50 0.00 132.12 1.548 10246 0.281 0.000 2348 2158 2683 2740 2627 0 0 0 0 0 0 14.49 13.90 13.31 6.32 51.26

2310 end apogee: CONTROL_FINISHED_OK

state 2310 begin loiter

2610 -0.15 0.0 2348 2159 2740 2614 295.9 3.4 235 2610 0.00 0.00 0.00 0.000 2054 0.000 0.000 2348 2158 2676 2738 2614 0 0 0 0 0 0 14.56 14.56 14.56 6.27 51.14

2910 -0.15 0.0 2348 2159 2739 2613 285.1 3.6 250 2910 0.00 0.00 0.00 0.000 2054 0.000 0.000 2348 2158 2675 2739 2612 0 0 0 0 0 0 14.69 14.69 14.69 6.27 50.51

3210 -0.15 0.0 2348 2159 2739 2611 274.4 3.5 265 3210 0.00 0.00 0.00 0.000 2054 0.000 0.000 2348 2159 2674 2738 2611 0 0 0 0 0 0 14.76 14.78 14.78 6.27 51.49

3510 -0.15 0.0 2348 2159 2739 2612 263.8 3.5 280 3511 0.00 0.00 0.00 0.000 2054 0.000 0.000 2348 2158 2674 2738 2610 0 0 0 0 0 0 14.83 14.83 14.84 6.27 51.10

3810 -0.15 0.0 2348 2159 2739 2611 253.7 3.2 295 3811 0.00 0.00 0.00 0.000 2054 0.000 0.000 2347 2158 2673 2738 2609 0 0 0 0 0 0 14.88 14.88 14.88 6.27 50.98

4110 -0.15 0.0 2348 2159 2739 2610 244.0 3.3 310 4110 0.00 0.00 0.00 0.000 2054 0.000 0.000 2348 2158 2673 2738 2608 0 0 0 0 0 0 14.91 14.91 14.92 6.27 50.98

4410 -0.15 0.0 2348 2159 2739 2610 234.6 3.2 325 4410 0.00 0.00 0.00 0.000 2054 0.000 0.000 2348 2158 2673 2738 2609 0 0 0 0 0 0 14.94 14.94 14.94 6.27 51.45

4710 -0.15 0.0 2348 2159 2739 2610 225.5 3.0 340 4710 0.00 0.00 0.00 0.000 2054 0.000 0.000 2348 2158 2673 2738 2609 0 0 0 0 0 0 14.97 14.97 14.97 6.27 50.94

5010 -0.15 0.0 2348 2159 2738 2610 216.9 2.8 355 5011 0.00 0.00 0.00 0.000 2054 0.000 0.000 2348 2158 2673 2738 2609 0 0 0 0 0 0 14.98 14.98 14.98 6.27 51.61

5310 -0.15 0.0 2348 2159 2739 2610 208.4 2.9 370 5310 0.00 0.00 0.00 0.000 2054 0.000 0.000 2348 2158 2673 2738 2608 0 0 0 0 0 0 15.00 15.00 15.00 6.27 50.90

5610 -0.15 0.0 2349 2159 2739 2608 199.4 3.0 385 5610 0.00 0.00 0.00 0.000 2054 0.000 0.000 2348 2158 2673 2738 2608 0 0 0 0 0 0 15.02 15.02 15.01 6.28 51.61

5909 end loiter: LOITER_COMPLETE

state 5909 begin climb

5910 0.67 146.0 2348 2159 2739 2608 189.8 0.0 400 6051 0.65 2.55 133.80 1.388 10756 0.190 0.080 2616 753 2088 2110 2066 0 0 0 0 0 0 14.71 13.97 13.46 6.27 50.86

6110 0.67 146.0 2616 753 2108 2055 174.1 10.3 410 6114 0.00 2.47 0.00 0.000 1030 0.000 0.059 2617 2143 2080 2106 2054 0 0 0 0 0 0 14.16 14.11 14.20 6.24 48.89

6430 0.67 146.0 2617 2144 2105 2047 135.6 12.0 426 6435 0.00 2.55 0.00 0.000 260 0.000 0.087 2617 3560 2075 2103 2047 0 0 0 0 0 0 14.59 14.33 14.59 6.22 50.00

6520 0.67 146.0 2617 3562 2102 2048 125.8 12.3 430 6524 0.00 2.40 0.00 0.000 5126 0.000 0.050 2627 2150 2074 2102 2047 0 0 0 0 0 0 14.45 14.39 14.46 6.22 50.63

6825 0.67 146.0 2627 2150 2097 2044 88.3 11.4 460 6829 0.00 2.50 0.00 0.000 4612 0.000 0.080 2638 750 2072 2102 2042 0 0 0 0 0 0 14.71 14.45 14.71 6.21 49.17

6875 0.67 146.0 2638 751 2101 2042 82.7 10.9 470 6879 0.05 2.42 0.00 0.000 5126 0.317 0.059 2620 2155 2071 2101 2041 0 0 0 0 0 0 14.36 14.48 14.49 6.21 49.56

7000 0.67 146.0 2621 2155 2103 2041 69.2 10.8 495 7005 0.00 2.47 0.00 0.000 260 0.000 0.086 2620 3546 2071 2102 2041 0 0 0 0 0 0 14.72 14.47 14.73 6.19 48.89

7025 0.67 146.0 2620 3547 2102 2041 66.3 11.7 500 7029 0.00 2.35 0.00 0.000 5126 0.000 0.052 2629 2161 2071 2101 2041 0 0 0 0 0 0 14.56 14.50 14.57 6.20 49.25

7150 0.67 146.0 2629 2161 2101 2040 51.8 12.1 525 7154 0.00 2.53 0.00 0.000 4612 0.000 0.080 2640 715 2070 2100 2040 0 0 0 0 0 0 14.73 14.50 14.74 6.20 48.89

7185 0.67 146.0 2640 716 2101 2041 47.7 11.8 532 7190 0.05 2.47 0.00 0.000 5126 0.314 0.058 2621 2154 2070 2100 2040 0 0 0 0 0 0 14.39 14.51 14.52 6.20 48.66

7310 0.67 146.0 2622 2155 2102 2040 33.9 10.6 557 7314 0.00 2.47 0.00 0.000 4356 0.000 0.088 2621 3549 2070 2100 2040 0 0 0 0 0 0 14.76 14.51 14.76 6.20 48.81

7405 0.67 146.0 2622 3549 2101 2040 23.7 10.8 576 7409 0.00 2.35 0.00 0.000 5126 0.000 0.050 2630 2158 2070 2100 2040 0 0 0 0 0 0 14.59 14.54 14.62 6.19 48.89

7530 0.67 146.0 2629 2159 2101 2040 11.7 11.3 601 7535 0.00 2.50 0.00 0.000 4612 0.000 0.079 2641 747 2069 2100 2038 0 0 0 0 0 0 14.78 14.53 14.78 6.20 48.93

7570 0.67 146.0 2642 747 2100 2039 7.1 11.2 609 7574 0.05 2.40 0.00 0.000 5126 0.316 0.060 2622 2142 2069 2099 2039 0 0 0 0 0 0 14.43 14.55 14.56 6.19 49.29

7609 end climb: SURFACE_DEPTH_REACHED

state 7609 begin surface coast

7639 end surface coast: CONTROL_FINISHED_OK

state 7639 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	61	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	50	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LON	0	R_STBD_OVSHOOT	27	ALTIM_SENSITIVITY	2
D_TGT	300	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	XPDR_VALID	2
D_ABORT	400	SM_CC	220	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
D_NO_BLEED	29	N_FILEKB	4	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097655999
D_BOOST	20	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-0.60000002
T_BOOST	0	CALL_NDIVES	1	VBD_MIN	602	DEEPGLIDER	0
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3962	MOTHERBOARD	4
D_PITCH	0	PROTOCOL	9	C_VBD	2690	DEVICE1	-1
D_SAFE	0	N_NOCOMM	2	VBD_DBAND	2	DEVICE2	-1
D_CALL	0	NOCOMM_ACTION	259	VBD_CNV	-0.245296	DEVICE3	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE4	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_DIVE	110	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERS	1
T_MISSION	190	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	53
T_ABORT	200	CAPMAXSIZE	400000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_TURN	500	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE3	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_NO_W	120	N_GPS	100840	W_ADJ_DBAND	0	COMPASS_DEVICE	33
T_LOITER	3600	T_RSLEEP	3	DBDW	0	COMPASS2_DEVICE	-1
T_SLOITER	0	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	49
T_EPIRB	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
USE_BATHY	0	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
USE_ICE	0	RAFOS_HIT_WINDOW	3600	AH0_24V	310	XPDR_DEVICE	24
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	AH0_10V	0	SIM_W	0
D_OFFGRID	100	PITCH_MIN	312	MINV_24V	11.5	SIM_PITCH	0
T_WATCHDOG	10	PITCH_MAX	3939	MINV_10V	10	SEABIRD_T_G	0.0044042631
RELAUNCH	0	C_PITCH	2400	MAXI_24V	3	SEABIRD_T_H	0.0006412621
APOGEE_PITCH	-5	PITCH_DBAND	0.0099999998	MAXI_10V	2	SEABIRD_T_I	2.6024412e-05
MAX_BUOY	150	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_T_J	3.2462635e-06
COURSE_BIAS	0	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_G	-10.007382
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0.079999998	PHONE_SUPPLY	2	SEABIRD_C_H	1.1528281
SPEED_FACTOR	1	PITCH_GAIN	34	PRESSURE_YINT	-153.19165	SEABIRD_C_I	-0.0017483447
RHO	1.0275	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.000109596	SEABIRD_C_J	0.0001971516
MASS	54260	PITCH_AD_RATE	175	AD7714Ch0Gain	1	SEABIRD_C_Z	2950.7202
MASS_COMP	0	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	SC_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	COMPASS_USE	0	SC_XMITPROFILE	3.0
KALMAN_USE	2	ROLL_MIN	217	ALTIM_BOTTOM_PING_RANGE	0	SC_NDIVE	1.0
HD_A	0.0038360001	ROLL_MAX	3851	ALTIM_TOP_PING_RANGE	0
HD_B	0.0101	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	211218,233701,-6007.6646,-12.0698,17,0.9,28,-19.6,0.9,229.7,11,10.0	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	1.01	MHEAD_RNG_PITCHd_Wd	35.1,125846,-16.8,-9.091,-19.85,2456
_SM_ANGLEo	-67.6	D_GRID	300
GPS2	211218,234122,-6007.6636,-12.1280,8,1.1,18,-19.6,0.7,315.1,9,9.3

SM_CCo	7650,68.97,0.249,0,0,1790,220.03	_10V_AH	13.49,0.000
SM_GC	1.07,5.40,0.08,68.97,0.051,0.174,0.249,266,2082,1790,-6.44,0.76,220.03,0,0,0,0,0,0,14.64,14.57,14.37	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-6009.98,-21.62,211218,212502	FG_AHR_10Vo	0.000
TT8_MAMPS	0.038948,0.093625	MEM	344104
HUMID	48.70	DATA_FILE_SIZE	17316,623
INTERNAL_PRESSURE	6.10897	CAP_FILE_SIZE	82386,0
TCM_TEMP	0.00	CFSIZE	1023623168,1013481472
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
SC_FREEKB	3889632	CURRENT	0.061,263.10,1
_24V_AH	13.31,18.002	GPS	221218,015119,-6007.231,-12.291,16,0.7,39,-19.6,0.4,281.7,11,5.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	491	84.16	nil	0	0	0.00
Roll_motor	63	2281	1940.21	nil	0	0	0.00
VBD_pump_during_apogee	265	1548	5480.36	nil	0	0	0.00
VBD_pump_during_surface	68	248	228.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	29	9.96	nil	0	0	0.00
Iridium_during_connect	43	160	92.64	SciCon	4031	3	209.51
Iridium_during_xfer	93	223	276.49	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	11	3.03
TT8	0	0	0.00
LPSleep	6078	2	179.59
TT8_Active	435	11	68.94
TT8_Sampling	1418	32	625.80
TT8_CF8	54	49	36.54
TT8_Kalman	0	0	0.00
Analog_circuits	992	11	153.89
GPS_charging	0	0	0.00
Compass	1000	19	262.86
RAFOS	0	0	0.00
Transponder	0	5	0.04

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts	int_press	humidity
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
8	-0.67	-146.0	235	2071	1768	1797	0.0	0.0	0	105	0.00	0.00	-94.12	0.000	16386	0.000	0.000	234	2071	3222	3303	3142	0	0	0	0	0	0	14.61	28.83	14.62	6.16	50.15
106	-0.67	-146.0	235	2072	3304	3142	3.5	-8.1	19	120	6.00	2.75	-2.40	0.000	18692	0.373	2.281	2162	3503	3287	3376	3198	0	0	0	0	0	0	14.23	13.47	14.39	6.27	48.81
190	-0.67	-146.0	2163	3503	3378	3198	18.1	-15.6	36	195	0.05	2.35	0.00	0.000	3078	0.366	0.048	2179	2130	3290	3381	3199	0	0	0	0	0	0	14.24	14.39	14.38	6.29	47.83
315	-0.67	-146.0	2180	2130	3378	3199	39.6	-17.7	61	316	0.00	0.00	0.00	0.000	2054	0.000	0.000	2179	2129	3288	3377	3199	0	0	0	0	0	0	14.65	14.65	14.65	6.29	48.26
435	-0.67	-146.0	2179	2130	3378	3200	58.2	-15.1	85	439	0.00	2.42	0.00	0.000	2308	0.000	0.084	2170	3498	3288	3377	3199	0	0	0	0	0	0	14.69	14.43	14.69	6.29	48.74
470	-0.67	-146.0	2170	3499	3378	3200	63.4	-14.8	92	475	0.00	2.38	0.00	0.000	3078	0.000	0.049	2170	2098	3288	3377	3199	0	0	0	0	0	0	14.52	14.46	14.54	6.29	48.62
595	-0.67	-146.0	2165	2098	3378	3200	82.3	-15.8	117	599	0.00	2.50	0.00	0.000	2564	0.000	0.074	2168	683	3288	3378	3198	0	0	0	0	0	0	14.71	14.47	14.71	6.28	48.81
635	-0.67	-146.0	2170	684	3379	3199	88.9	-16.4	125	639	0.05	2.45	0.00	0.000	3078	0.398	0.061	2176	2096	3287	3377	3198	0	0	0	0	0	0	14.33	14.48	14.47	6.28	49.25
770	-0.67	-146.0	2176	2097	3378	3200	110.1	-15.9	143	770	0.00	0.00	0.00	0.000	2054	0.000	0.000	2169	2096	3291	3385	3198	0	0	0	0	0	0	14.74	14.74	14.74	6.27	48.38
1070	-0.67	-146.0	2176	2096	3379	3199	155.1	-14.5	158	1074	0.00	2.47	0.00	0.000	2308	0.000	0.086	2166	3502	3287	3377	3198	0	0	0	0	0	0	14.79	14.54	14.79	6.28	49.56
1150	-0.67	-146.0	2167	3502	3379	3199	166.6	-14.4	162	1154	0.03	2.38	0.00	0.000	3078	0.491	0.047	2173	2086	3287	3377	3198	0	0	0	0	0	0	14.40	14.57	14.54	6.29	50.51
1470	-0.67	-146.0	2174	2085	3379	3198	211.1	-13.6	178	1474	0.00	2.42	0.00	0.000	2564	0.000	0.073	2173	698	3284	3371	3198	0	0	0	0	0	0	14.83	14.57	14.83	6.30	51.53
1520	-0.67	-146.0	2174	698	3378	3198	216.5	-13.6	180	1524	0.05	2.40	0.00	0.000	3078	0.383	0.060	2180	2098	3287	3377	3198	0	0	0	0	0	0	14.43	14.60	14.59	6.31	50.82
1830	-0.67	-146.0	2181	2098	3379	3198	257.2	-12.7	196	1830	0.00	0.00	0.00	0.000	2054	0.000	0.000	2179	2097	3288	3378	3198	0	0	0	0	0	0	14.85	14.85	14.85	6.32	51.26
2130	-0.67	-146.0	2180	2098	3379	3199	295.4	-12.8	211	2134	0.00	2.45	0.00	0.000	2308	0.000	0.086	2171	3499	3287	3377	3198	0	0	0	0	0	0	14.88	14.62	14.88	6.32	51.33
2160	-0.67	-146.0	2169	3499	3378	3198	298.0	-12.9	212	2164	0.00	2.33	0.00	0.000	3078	0.000	0.048	2170	2106	3290	3377	3204	0	0	0	0	0	0	14.69	14.64	14.71	6.32	51.29
2169	end dive: TARGET_DEPTH_EXCEEDED
state	2169	begin apogee
2172	-0.15	0.0	2173	2159	3377	3198	300.6	-13.0	213	2309	0.50	0.00	132.12	1.548	10246	0.281	0.000	2348	2158	2683	2740	2627	0	0	0	0	0	0	14.49	13.90	13.31	6.32	51.26
2310	end apogee: CONTROL_FINISHED_OK
state	2310	begin loiter
2610	-0.15	0.0	2348	2159	2740	2614	295.9	3.4	235	2610	0.00	0.00	0.00	0.000	2054	0.000	0.000	2348	2158	2676	2738	2614	0	0	0	0	0	0	14.56	14.56	14.56	6.27	51.14
2910	-0.15	0.0	2348	2159	2739	2613	285.1	3.6	250	2910	0.00	0.00	0.00	0.000	2054	0.000	0.000	2348	2158	2675	2739	2612	0	0	0	0	0	0	14.69	14.69	14.69	6.27	50.51
3210	-0.15	0.0	2348	2159	2739	2611	274.4	3.5	265	3210	0.00	0.00	0.00	0.000	2054	0.000	0.000	2348	2159	2674	2738	2611	0	0	0	0	0	0	14.76	14.78	14.78	6.27	51.49
3510	-0.15	0.0	2348	2159	2739	2612	263.8	3.5	280	3511	0.00	0.00	0.00	0.000	2054	0.000	0.000	2348	2158	2674	2738	2610	0	0	0	0	0	0	14.83	14.83	14.84	6.27	51.10
3810	-0.15	0.0	2348	2159	2739	2611	253.7	3.2	295	3811	0.00	0.00	0.00	0.000	2054	0.000	0.000	2347	2158	2673	2738	2609	0	0	0	0	0	0	14.88	14.88	14.88	6.27	50.98
4110	-0.15	0.0	2348	2159	2739	2610	244.0	3.3	310	4110	0.00	0.00	0.00	0.000	2054	0.000	0.000	2348	2158	2673	2738	2608	0	0	0	0	0	0	14.91	14.91	14.92	6.27	50.98
4410	-0.15	0.0	2348	2159	2739	2610	234.6	3.2	325	4410	0.00	0.00	0.00	0.000	2054	0.000	0.000	2348	2158	2673	2738	2609	0	0	0	0	0	0	14.94	14.94	14.94	6.27	51.45
4710	-0.15	0.0	2348	2159	2739	2610	225.5	3.0	340	4710	0.00	0.00	0.00	0.000	2054	0.000	0.000	2348	2158	2673	2738	2609	0	0	0	0	0	0	14.97	14.97	14.97	6.27	50.94
5010	-0.15	0.0	2348	2159	2738	2610	216.9	2.8	355	5011	0.00	0.00	0.00	0.000	2054	0.000	0.000	2348	2158	2673	2738	2609	0	0	0	0	0	0	14.98	14.98	14.98	6.27	51.61
5310	-0.15	0.0	2348	2159	2739	2610	208.4	2.9	370	5310	0.00	0.00	0.00	0.000	2054	0.000	0.000	2348	2158	2673	2738	2608	0	0	0	0	0	0	15.00	15.00	15.00	6.27	50.90
5610	-0.15	0.0	2349	2159	2739	2608	199.4	3.0	385	5610	0.00	0.00	0.00	0.000	2054	0.000	0.000	2348	2158	2673	2738	2608	0	0	0	0	0	0	15.02	15.02	15.01	6.28	51.61
5909	end loiter: LOITER_COMPLETE
state	5909	begin climb
5910	0.67	146.0	2348	2159	2739	2608	189.8	0.0	400	6051	0.65	2.55	133.80	1.388	10756	0.190	0.080	2616	753	2088	2110	2066	0	0	0	0	0	0	14.71	13.97	13.46	6.27	50.86
6110	0.67	146.0	2616	753	2108	2055	174.1	10.3	410	6114	0.00	2.47	0.00	0.000	1030	0.000	0.059	2617	2143	2080	2106	2054	0	0	0	0	0	0	14.16	14.11	14.20	6.24	48.89
6430	0.67	146.0	2617	2144	2105	2047	135.6	12.0	426	6435	0.00	2.55	0.00	0.000	260	0.000	0.087	2617	3560	2075	2103	2047	0	0	0	0	0	0	14.59	14.33	14.59	6.22	50.00
6520	0.67	146.0	2617	3562	2102	2048	125.8	12.3	430	6524	0.00	2.40	0.00	0.000	5126	0.000	0.050	2627	2150	2074	2102	2047	0	0	0	0	0	0	14.45	14.39	14.46	6.22	50.63
6825	0.67	146.0	2627	2150	2097	2044	88.3	11.4	460	6829	0.00	2.50	0.00	0.000	4612	0.000	0.080	2638	750	2072	2102	2042	0	0	0	0	0	0	14.71	14.45	14.71	6.21	49.17
6875	0.67	146.0	2638	751	2101	2042	82.7	10.9	470	6879	0.05	2.42	0.00	0.000	5126	0.317	0.059	2620	2155	2071	2101	2041	0	0	0	0	0	0	14.36	14.48	14.49	6.21	49.56
7000	0.67	146.0	2621	2155	2103	2041	69.2	10.8	495	7005	0.00	2.47	0.00	0.000	260	0.000	0.086	2620	3546	2071	2102	2041	0	0	0	0	0	0	14.72	14.47	14.73	6.19	48.89
7025	0.67	146.0	2620	3547	2102	2041	66.3	11.7	500	7029	0.00	2.35	0.00	0.000	5126	0.000	0.052	2629	2161	2071	2101	2041	0	0	0	0	0	0	14.56	14.50	14.57	6.20	49.25
7150	0.67	146.0	2629	2161	2101	2040	51.8	12.1	525	7154	0.00	2.53	0.00	0.000	4612	0.000	0.080	2640	715	2070	2100	2040	0	0	0	0	0	0	14.73	14.50	14.74	6.20	48.89
7185	0.67	146.0	2640	716	2101	2041	47.7	11.8	532	7190	0.05	2.47	0.00	0.000	5126	0.314	0.058	2621	2154	2070	2100	2040	0	0	0	0	0	0	14.39	14.51	14.52	6.20	48.66
7310	0.67	146.0	2622	2155	2102	2040	33.9	10.6	557	7314	0.00	2.47	0.00	0.000	4356	0.000	0.088	2621	3549	2070	2100	2040	0	0	0	0	0	0	14.76	14.51	14.76	6.20	48.81
7405	0.67	146.0	2622	3549	2101	2040	23.7	10.8	576	7409	0.00	2.35	0.00	0.000	5126	0.000	0.050	2630	2158	2070	2100	2040	0	0	0	0	0	0	14.59	14.54	14.62	6.19	48.89
7530	0.67	146.0	2629	2159	2101	2040	11.7	11.3	601	7535	0.00	2.50	0.00	0.000	4612	0.000	0.079	2641	747	2069	2100	2038	0	0	0	0	0	0	14.78	14.53	14.78	6.20	48.93
7570	0.67	146.0	2642	747	2100	2039	7.1	11.2	609	7574	0.05	2.40	0.00	0.000	5126	0.316	0.060	2622	2142	2069	2099	2039	0	0	0	0	0	0	14.43	14.55	14.56	6.19	49.29
7609	end climb: SURFACE_DEPTH_REACHED
state	7609	begin surface coast
7639	end surface coast: CONTROL_FINISHED_OK
state	7639	begin surface