Glider dive log

ROAMMIZ Dec18 * SG640 * Dive index * Mission links * Dive 63 * 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 63 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 30 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LON 0 R_STBD_OVSHOOT 26 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 30 VBD_CNV -0.245296

DEVICE3 -1 MINV_24V 11.5 R_STBD_OVSHOOT 26 VBD_DBAND 2

DEVICE4 -1 MISSION 5 SC_NDIVE 1.0 VBD_LP_IGNORE 0

DEVICE5 -1 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_MAX 3962

DEVICE6 -1 NAV_MODE 2 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

DIVE 63 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 221218,040519,-6006.9336,-12.3991,18,0.7,41,-19.6,0.9,227.7,12,6.3 SPEED_LIMITS 0.157,0.252

_CALLS 3 TGT_NAME NORTH

_XMS_NAKs 0 TGT_LATLONG -5900.000,0.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 1.02 MHEAD_RNG_PITCHd_Wd 37.0,124610,-16.8,-9.091,-19.85,2456

_SM_ANGLEo -66.8 D_GRID 300

GPS2 221218,041315,-6006.9795,-12.4172,12,0.7,14,-19.6,0.6,307.5,11,9.2

Post-dive calculations and measurements:

SM_CCo 7667,68.62,0.249,0,0,1790,220.03 _10V_AH 13.46,0.000

SM_GC 1.04,5.53,2.47,68.62,0.076,0.047,0.249,276,2089,1790,-6.47,0.85,220.03,0,0,0,0,0,0,14.60,14.58,14.36 FG_AHR_24Vo 0.000

IRIDIUM_FIX -6007.06,-4.32,221218,040815 FG_AHR_10Vo 0.000

TT8_MAMPS 0.038199,0.092876 MEM 344064

HUMID 48.70 DATA_FILE_SIZE 17314,620

INTERNAL_PRESSURE 6.11873 CAP_FILE_SIZE 82525,0

TCM_TEMP 0.00 CFSIZE 1023623168,1013284864

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0

SC_FREEKB 3888608 CURRENT 0.054,212.23,1

_24V_AH 13.31,18.315 GPS 221218,062329,-6006.667,-12.290,13,0.9,40,-19.6,0.5,321.9,9,8.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 472 81.36 nil 0 0 0.00

Roll_motor 64 2284 1952.69 nil 0 0 0.00

VBD_pump_during_apogee 266 1543 5468.74 nil 0 0 0.00

VBD_pump_during_surface 68 249 227.79 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 80 29 32.13 nil 0 0 0.00

Iridium_during_connect 84 160 179.90 SciCon 4046 3 209.22

Iridium_during_xfer 90 223 269.75 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 11 2.30

TT8 0 0 0.00

LPSleep 6242 2 184.01

TT8_Active 439 11 69.41

TT8_Sampling 1480 32 651.67

TT8_CF8 56 49 37.96

TT8_Kalman 0 0 0.00

Analog_circuits 983 11 152.12

GPS_charging 0 0 0.00

Compass 971 19 254.57

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 -146.0 230 2087 1766 1797 0.0 0.0 0 105 0.00 0.00 -93.57 0.000 16386 0.000 0.000 233 2087 3203 3281 3125 0 0 0 0 0 0 14.60 28.83 14.60 6.16 50.00

106 -0.67 -146.0 234 2087 3282 3124 3.4 -7.9 19 121 5.97 2.70 -3.20 0.000 18692 0.366 2.284 2162 3505 3287 3375 3199 0 0 0 0 0 0 14.21 13.48 14.38 6.27 49.05

200 -0.67 -146.0 2162 3505 3377 3200 19.4 -15.7 38 204 0.05 2.40 0.00 0.000 3078 0.360 0.049 2180 2093 3288 3377 3199 0 0 0 0 0 0 14.24 14.38 14.38 6.28 48.54

325 -0.67 -146.0 2180 2091 3379 3199 38.8 -14.3 63 329 0.00 2.47 0.00 0.000 2564 0.000 0.074 2179 695 3288 3377 3199 0 0 0 0 0 0 14.65 14.40 14.65 6.28 48.42

345 -0.67 -146.0 2180 695 3378 3199 41.9 -16.1 67 349 0.00 2.45 0.00 0.000 3078 0.000 0.061 2169 2099 3288 3377 3199 0 0 0 0 0 0 14.48 14.42 14.49 6.29 48.66

470 -0.67 -146.0 2170 2100 3378 3201 63.0 -17.2 92 474 0.00 2.50 0.00 0.000 2308 0.000 0.087 2159 3506 3288 3377 3199 0 0 0 0 0 0 14.73 14.42 14.68 6.28 48.50

490 -0.67 -146.0 2159 3507 3378 3200 66.4 -17.3 96 494 0.05 2.38 0.00 0.000 3078 0.374 0.050 2177 2107 3288 3377 3199 0 0 0 0 0 0 14.31 14.47 14.45 6.29 48.54

615 -0.67 -146.0 2177 2106 3377 3200 86.7 -16.3 121 620 0.00 2.50 0.00 0.000 2564 0.000 0.074 2176 689 3288 3377 3199 0 0 0 0 0 0 14.71 14.46 14.71 6.29 48.70

650 -0.67 -146.0 2177 690 3379 3199 92.7 -17.0 128 654 0.03 2.45 0.00 0.000 3078 0.472 0.063 2174 2098 3288 3378 3199 0 0 0 0 0 0 14.32 14.48 14.47 6.29 48.54

775 -0.67 -146.0 2174 2099 3378 3200 112.9 -15.9 141 780 0.00 2.50 0.00 0.000 2308 0.000 0.087 2172 3510 3288 3377 3199 0 0 0 0 0 0 14.73 14.48 14.73 6.28 48.18

815 -0.67 -146.0 2165 3511 3378 3200 119.0 -15.5 143 820 0.05 2.38 0.00 0.000 3078 0.372 0.048 2181 2100 3288 3377 3199 0 0 0 0 0 0 14.35 14.52 14.50 6.28 48.30

1135 -0.67 -146.0 2182 2099 3378 3199 160.0 -13.0 159 1139 0.00 2.47 0.00 0.000 2564 0.000 0.074 2181 687 3288 3377 3200 0 0 0 0 0 0 14.79 14.54 14.79 6.28 49.72

1190 -0.67 -146.0 2182 688 3378 3200 165.5 -13.3 161 1194 0.00 2.45 0.00 0.000 3078 0.000 0.060 2172 2106 3288 3378 3199 0 0 0 0 0 0 14.61 14.55 14.63 6.29 50.07

1495 -0.67 -146.0 2171 2107 3378 3200 209.2 -13.7 177 1495 0.00 0.00 0.00 0.000 2054 0.000 0.000 2171 2106 3288 3378 3199 0 0 0 0 0 0 14.82 14.83 14.83 6.29 50.74

1795 -0.67 -146.0 2171 2107 3381 3200 250.5 -13.6 192 1795 0.00 0.00 0.00 0.000 2054 0.000 0.000 2171 2106 3288 3377 3199 0 0 0 0 0 0 14.85 14.85 14.85 6.29 51.14

2095 -0.67 -146.0 2172 2107 3378 3198 290.7 -13.3 207 2096 0.00 0.00 0.00 0.000 2054 0.000 0.000 2171 2106 3287 3377 3198 0 0 0 0 0 0 14.87 14.87 14.88 6.32 51.37

2174 end dive: TARGET_DEPTH_EXCEEDED

state 2174 begin apogee

2177 -0.15 0.0 2172 2168 3379 3198 301.2 -13.1 211 2314 0.50 0.00 131.93 1.544 10246 0.275 0.000 2349 2168 2684 2742 2627 0 0 0 0 0 0 14.53 13.90 13.31 6.32 51.89

2315 end apogee: CONTROL_FINISHED_OK

state 2315 begin loiter

2615 -0.15 0.0 2350 2169 2740 2616 296.3 3.2 233 2615 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 2168 2677 2739 2615 0 0 0 0 0 0 14.55 14.56 14.56 6.27 50.70

2915 -0.15 0.0 2350 2169 2740 2614 286.4 3.3 248 2915 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2168 2676 2739 2613 0 0 0 0 0 0 14.69 14.69 14.69 6.27 50.74

3215 -0.15 0.0 2350 2168 2740 2613 276.9 3.1 263 3215 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2168 2675 2739 2612 0 0 0 0 0 0 14.78 14.78 14.78 6.27 50.78

3515 -0.15 0.0 2350 2169 2739 2613 267.9 2.9 278 3516 0.00 0.00 0.00 0.000 2054 0.000 0.000 2350 2168 2675 2739 2612 0 0 0 0 0 0 14.83 14.83 14.83 6.27 50.90

3815 -0.15 0.0 2350 2168 2740 2612 259.7 2.6 293 3815 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2168 2675 2740 2611 0 0 0 0 0 0 14.88 14.88 14.88 6.27 51.18

4115 -0.15 0.0 2350 2168 2740 2612 252.3 2.4 308 4115 0.00 0.00 0.00 0.000 2054 0.000 0.000 2350 2168 2675 2739 2611 0 0 0 0 0 0 14.91 14.91 14.92 6.27 50.90

4415 -0.15 0.0 2350 2168 2741 2611 244.8 2.6 323 4415 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2168 2675 2739 2611 0 0 0 0 0 0 14.94 14.95 14.94 6.27 50.94

4715 -0.15 0.0 2350 2169 2741 2612 236.3 3.1 338 4715 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2168 2675 2739 2611 0 0 0 0 0 0 14.96 14.97 14.96 6.27 51.22

5015 -0.15 0.0 2350 2169 2740 2611 226.7 3.2 353 5016 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2168 2675 2739 2611 0 0 0 0 0 0 14.97 14.98 14.98 6.27 50.98

5315 -0.15 0.0 2350 2169 2740 2611 216.6 3.5 368 5316 0.00 0.00 0.00 0.000 2054 0.000 0.000 2350 2168 2675 2739 2612 0 0 0 0 0 0 15.00 15.00 15.00 6.27 51.06

5615 -0.15 0.0 2350 2169 2740 2613 206.2 3.6 383 5615 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2168 2675 2739 2612 0 0 0 0 0 0 15.01 15.01 15.01 6.27 51.06

5914 end loiter: LOITER_COMPLETE

state 5914 begin climb

5915 0.67 146.0 2350 2168 2741 2612 195.4 0.0 398 6056 0.65 2.50 134.23 1.389 10500 0.188 0.085 2608 3545 2088 2111 2065 0 0 0 0 0 0 14.71 13.96 13.46 6.27 51.14

6110 0.67 146.0 2609 3545 2110 2058 180.5 11.0 407 6115 0.00 2.42 0.00 0.000 5126 0.000 0.049 2618 2152 2083 2109 2057 0 0 0 0 0 0 14.16 14.12 14.17 6.23 48.50

6415 0.67 146.0 2619 2152 2104 2049 139.9 12.5 423 6420 0.00 2.55 0.00 0.000 516 0.000 0.082 2629 745 2076 2103 2049 0 0 0 0 0 0 14.58 14.33 14.58 6.23 50.03

6475 0.67 146.0 2629 744 2102 2046 132.9 11.8 426 6480 0.00 2.42 0.00 0.000 5126 0.000 0.057 2629 2135 2074 2101 2048 0 0 0 0 0 0 14.42 14.38 14.47 6.24 50.00

6780 0.67 146.0 2629 2136 2102 2045 94.1 13.1 445 6784 0.00 2.53 0.00 0.000 4356 0.000 0.086 2630 3552 2075 2101 2050 0 0 0 0 0 0 14.69 14.45 14.69 6.21 50.15

6825 0.67 146.0 2631 3552 2103 2044 88.1 13.0 454 6829 0.05 2.40 0.00 0.000 5126 0.340 0.052 2621 2144 2072 2101 2044 0 0 0 0 0 0 14.35 14.47 14.48 6.21 49.48

6951 0.67 146.0 2622 2144 2103 2043 72.9 12.0 479 6954 0.00 0.00 0.00 0.000 4102 0.000 0.000 2622 2143 2072 2101 2043 0 0 0 0 0 0 14.71 14.71 14.71 6.21 48.74

7075 0.67 146.0 2622 2144 2102 2043 58.2 11.5 504 7079 0.00 2.50 0.00 0.000 4612 0.000 0.080 2631 740 2071 2101 2042 0 0 0 0 0 0 14.73 14.49 14.74 6.20 49.33

7105 0.67 146.0 2631 740 2108 2042 54.8 11.1 510 7110 0.03 2.42 0.00 0.000 5126 0.396 0.058 2621 2147 2070 2100 2041 0 0 0 0 0 0 14.37 14.50 14.50 6.20 49.88

7230 0.67 146.0 2621 2147 2101 2041 41.5 10.9 535 7235 0.00 2.50 0.00 0.000 4356 0.000 0.086 2620 3556 2070 2100 2041 0 0 0 0 0 0 14.75 14.50 14.76 6.19 48.54

7270 0.67 146.0 2621 3557 2101 2041 37.1 10.7 543 7275 0.00 2.38 0.00 0.000 5126 0.000 0.052 2629 2153 2070 2100 2041 0 0 0 0 0 0 14.59 14.54 14.60 6.19 48.70

7395 0.67 146.0 2630 2153 2101 2040 25.4 9.6 568 7399 0.00 2.50 0.00 0.000 4612 0.000 0.079 2641 741 2070 2100 2041 0 0 0 0 0 0 14.76 14.52 14.76 6.19 48.74

7495 0.67 146.0 2640 742 2100 2034 16.1 9.3 588 7500 0.05 2.42 0.00 0.000 5126 0.317 0.057 2620 2153 2069 2099 2040 0 0 0 0 0 0 14.42 14.54 14.55 6.19 48.62

7620 0.67 146.0 2622 2153 2100 2039 3.7 10.5 613 7624 0.00 2.47 0.00 0.000 4356 0.000 0.086 2621 3549 2069 2099 2040 0 0 0 0 0 0 14.78 14.53 14.78 6.19 49.25

7629 end climb: SURFACE_DEPTH_REACHED

state 7629 begin surface coast

7654 end surface coast: CONTROL_FINISHED_OK

state 7654 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	63	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	30	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LON	0	R_STBD_OVSHOOT	26	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	221218,040519,-6006.9336,-12.3991,18,0.7,41,-19.6,0.9,227.7,12,6.3	SPEED_LIMITS	0.157,0.252
_CALLS	3	TGT_NAME	NORTH
_XMS_NAKs	0	TGT_LATLONG	-5900.000,0.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	1.02	MHEAD_RNG_PITCHd_Wd	37.0,124610,-16.8,-9.091,-19.85,2456
_SM_ANGLEo	-66.8	D_GRID	300
GPS2	221218,041315,-6006.9795,-12.4172,12,0.7,14,-19.6,0.6,307.5,11,9.2

SM_CCo	7667,68.62,0.249,0,0,1790,220.03	_10V_AH	13.46,0.000
SM_GC	1.04,5.53,2.47,68.62,0.076,0.047,0.249,276,2089,1790,-6.47,0.85,220.03,0,0,0,0,0,0,14.60,14.58,14.36	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-6007.06,-4.32,221218,040815	FG_AHR_10Vo	0.000
TT8_MAMPS	0.038199,0.092876	MEM	344064
HUMID	48.70	DATA_FILE_SIZE	17314,620
INTERNAL_PRESSURE	6.11873	CAP_FILE_SIZE	82525,0
TCM_TEMP	0.00	CFSIZE	1023623168,1013284864
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
SC_FREEKB	3888608	CURRENT	0.054,212.23,1
_24V_AH	13.31,18.315	GPS	221218,062329,-6006.667,-12.290,13,0.9,40,-19.6,0.5,321.9,9,8.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	472	81.36	nil	0	0	0.00
Roll_motor	64	2284	1952.69	nil	0	0	0.00
VBD_pump_during_apogee	266	1543	5468.74	nil	0	0	0.00
VBD_pump_during_surface	68	249	227.79	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	80	29	32.13	nil	0	0	0.00
Iridium_during_connect	84	160	179.90	SciCon	4046	3	209.22
Iridium_during_xfer	90	223	269.75	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	11	2.30
TT8	0	0	0.00
LPSleep	6242	2	184.01
TT8_Active	439	11	69.41
TT8_Sampling	1480	32	651.67
TT8_CF8	56	49	37.96
TT8_Kalman	0	0	0.00
Analog_circuits	983	11	152.12
GPS_charging	0	0	0.00
Compass	971	19	254.57
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	230	2087	1766	1797	0.0	0.0	0	105	0.00	0.00	-93.57	0.000	16386	0.000	0.000	233	2087	3203	3281	3125	0	0	0	0	0	0	14.60	28.83	14.60	6.16	50.00
106	-0.67	-146.0	234	2087	3282	3124	3.4	-7.9	19	121	5.97	2.70	-3.20	0.000	18692	0.366	2.284	2162	3505	3287	3375	3199	0	0	0	0	0	0	14.21	13.48	14.38	6.27	49.05
200	-0.67	-146.0	2162	3505	3377	3200	19.4	-15.7	38	204	0.05	2.40	0.00	0.000	3078	0.360	0.049	2180	2093	3288	3377	3199	0	0	0	0	0	0	14.24	14.38	14.38	6.28	48.54
325	-0.67	-146.0	2180	2091	3379	3199	38.8	-14.3	63	329	0.00	2.47	0.00	0.000	2564	0.000	0.074	2179	695	3288	3377	3199	0	0	0	0	0	0	14.65	14.40	14.65	6.28	48.42
345	-0.67	-146.0	2180	695	3378	3199	41.9	-16.1	67	349	0.00	2.45	0.00	0.000	3078	0.000	0.061	2169	2099	3288	3377	3199	0	0	0	0	0	0	14.48	14.42	14.49	6.29	48.66
470	-0.67	-146.0	2170	2100	3378	3201	63.0	-17.2	92	474	0.00	2.50	0.00	0.000	2308	0.000	0.087	2159	3506	3288	3377	3199	0	0	0	0	0	0	14.73	14.42	14.68	6.28	48.50
490	-0.67	-146.0	2159	3507	3378	3200	66.4	-17.3	96	494	0.05	2.38	0.00	0.000	3078	0.374	0.050	2177	2107	3288	3377	3199	0	0	0	0	0	0	14.31	14.47	14.45	6.29	48.54
615	-0.67	-146.0	2177	2106	3377	3200	86.7	-16.3	121	620	0.00	2.50	0.00	0.000	2564	0.000	0.074	2176	689	3288	3377	3199	0	0	0	0	0	0	14.71	14.46	14.71	6.29	48.70
650	-0.67	-146.0	2177	690	3379	3199	92.7	-17.0	128	654	0.03	2.45	0.00	0.000	3078	0.472	0.063	2174	2098	3288	3378	3199	0	0	0	0	0	0	14.32	14.48	14.47	6.29	48.54
775	-0.67	-146.0	2174	2099	3378	3200	112.9	-15.9	141	780	0.00	2.50	0.00	0.000	2308	0.000	0.087	2172	3510	3288	3377	3199	0	0	0	0	0	0	14.73	14.48	14.73	6.28	48.18
815	-0.67	-146.0	2165	3511	3378	3200	119.0	-15.5	143	820	0.05	2.38	0.00	0.000	3078	0.372	0.048	2181	2100	3288	3377	3199	0	0	0	0	0	0	14.35	14.52	14.50	6.28	48.30
1135	-0.67	-146.0	2182	2099	3378	3199	160.0	-13.0	159	1139	0.00	2.47	0.00	0.000	2564	0.000	0.074	2181	687	3288	3377	3200	0	0	0	0	0	0	14.79	14.54	14.79	6.28	49.72
1190	-0.67	-146.0	2182	688	3378	3200	165.5	-13.3	161	1194	0.00	2.45	0.00	0.000	3078	0.000	0.060	2172	2106	3288	3378	3199	0	0	0	0	0	0	14.61	14.55	14.63	6.29	50.07
1495	-0.67	-146.0	2171	2107	3378	3200	209.2	-13.7	177	1495	0.00	0.00	0.00	0.000	2054	0.000	0.000	2171	2106	3288	3378	3199	0	0	0	0	0	0	14.82	14.83	14.83	6.29	50.74
1795	-0.67	-146.0	2171	2107	3381	3200	250.5	-13.6	192	1795	0.00	0.00	0.00	0.000	2054	0.000	0.000	2171	2106	3288	3377	3199	0	0	0	0	0	0	14.85	14.85	14.85	6.29	51.14
2095	-0.67	-146.0	2172	2107	3378	3198	290.7	-13.3	207	2096	0.00	0.00	0.00	0.000	2054	0.000	0.000	2171	2106	3287	3377	3198	0	0	0	0	0	0	14.87	14.87	14.88	6.32	51.37
2174	end dive: TARGET_DEPTH_EXCEEDED
state	2174	begin apogee
2177	-0.15	0.0	2172	2168	3379	3198	301.2	-13.1	211	2314	0.50	0.00	131.93	1.544	10246	0.275	0.000	2349	2168	2684	2742	2627	0	0	0	0	0	0	14.53	13.90	13.31	6.32	51.89
2315	end apogee: CONTROL_FINISHED_OK
state	2315	begin loiter
2615	-0.15	0.0	2350	2169	2740	2616	296.3	3.2	233	2615	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	2168	2677	2739	2615	0	0	0	0	0	0	14.55	14.56	14.56	6.27	50.70
2915	-0.15	0.0	2350	2169	2740	2614	286.4	3.3	248	2915	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2168	2676	2739	2613	0	0	0	0	0	0	14.69	14.69	14.69	6.27	50.74
3215	-0.15	0.0	2350	2168	2740	2613	276.9	3.1	263	3215	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2168	2675	2739	2612	0	0	0	0	0	0	14.78	14.78	14.78	6.27	50.78
3515	-0.15	0.0	2350	2169	2739	2613	267.9	2.9	278	3516	0.00	0.00	0.00	0.000	2054	0.000	0.000	2350	2168	2675	2739	2612	0	0	0	0	0	0	14.83	14.83	14.83	6.27	50.90
3815	-0.15	0.0	2350	2168	2740	2612	259.7	2.6	293	3815	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2168	2675	2740	2611	0	0	0	0	0	0	14.88	14.88	14.88	6.27	51.18
4115	-0.15	0.0	2350	2168	2740	2612	252.3	2.4	308	4115	0.00	0.00	0.00	0.000	2054	0.000	0.000	2350	2168	2675	2739	2611	0	0	0	0	0	0	14.91	14.91	14.92	6.27	50.90
4415	-0.15	0.0	2350	2168	2741	2611	244.8	2.6	323	4415	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2168	2675	2739	2611	0	0	0	0	0	0	14.94	14.95	14.94	6.27	50.94
4715	-0.15	0.0	2350	2169	2741	2612	236.3	3.1	338	4715	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2168	2675	2739	2611	0	0	0	0	0	0	14.96	14.97	14.96	6.27	51.22
5015	-0.15	0.0	2350	2169	2740	2611	226.7	3.2	353	5016	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2168	2675	2739	2611	0	0	0	0	0	0	14.97	14.98	14.98	6.27	50.98
5315	-0.15	0.0	2350	2169	2740	2611	216.6	3.5	368	5316	0.00	0.00	0.00	0.000	2054	0.000	0.000	2350	2168	2675	2739	2612	0	0	0	0	0	0	15.00	15.00	15.00	6.27	51.06
5615	-0.15	0.0	2350	2169	2740	2613	206.2	3.6	383	5615	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2168	2675	2739	2612	0	0	0	0	0	0	15.01	15.01	15.01	6.27	51.06
5914	end loiter: LOITER_COMPLETE
state	5914	begin climb
5915	0.67	146.0	2350	2168	2741	2612	195.4	0.0	398	6056	0.65	2.50	134.23	1.389	10500	0.188	0.085	2608	3545	2088	2111	2065	0	0	0	0	0	0	14.71	13.96	13.46	6.27	51.14
6110	0.67	146.0	2609	3545	2110	2058	180.5	11.0	407	6115	0.00	2.42	0.00	0.000	5126	0.000	0.049	2618	2152	2083	2109	2057	0	0	0	0	0	0	14.16	14.12	14.17	6.23	48.50
6415	0.67	146.0	2619	2152	2104	2049	139.9	12.5	423	6420	0.00	2.55	0.00	0.000	516	0.000	0.082	2629	745	2076	2103	2049	0	0	0	0	0	0	14.58	14.33	14.58	6.23	50.03
6475	0.67	146.0	2629	744	2102	2046	132.9	11.8	426	6480	0.00	2.42	0.00	0.000	5126	0.000	0.057	2629	2135	2074	2101	2048	0	0	0	0	0	0	14.42	14.38	14.47	6.24	50.00
6780	0.67	146.0	2629	2136	2102	2045	94.1	13.1	445	6784	0.00	2.53	0.00	0.000	4356	0.000	0.086	2630	3552	2075	2101	2050	0	0	0	0	0	0	14.69	14.45	14.69	6.21	50.15
6825	0.67	146.0	2631	3552	2103	2044	88.1	13.0	454	6829	0.05	2.40	0.00	0.000	5126	0.340	0.052	2621	2144	2072	2101	2044	0	0	0	0	0	0	14.35	14.47	14.48	6.21	49.48
6951	0.67	146.0	2622	2144	2103	2043	72.9	12.0	479	6954	0.00	0.00	0.00	0.000	4102	0.000	0.000	2622	2143	2072	2101	2043	0	0	0	0	0	0	14.71	14.71	14.71	6.21	48.74
7075	0.67	146.0	2622	2144	2102	2043	58.2	11.5	504	7079	0.00	2.50	0.00	0.000	4612	0.000	0.080	2631	740	2071	2101	2042	0	0	0	0	0	0	14.73	14.49	14.74	6.20	49.33
7105	0.67	146.0	2631	740	2108	2042	54.8	11.1	510	7110	0.03	2.42	0.00	0.000	5126	0.396	0.058	2621	2147	2070	2100	2041	0	0	0	0	0	0	14.37	14.50	14.50	6.20	49.88
7230	0.67	146.0	2621	2147	2101	2041	41.5	10.9	535	7235	0.00	2.50	0.00	0.000	4356	0.000	0.086	2620	3556	2070	2100	2041	0	0	0	0	0	0	14.75	14.50	14.76	6.19	48.54
7270	0.67	146.0	2621	3557	2101	2041	37.1	10.7	543	7275	0.00	2.38	0.00	0.000	5126	0.000	0.052	2629	2153	2070	2100	2041	0	0	0	0	0	0	14.59	14.54	14.60	6.19	48.70
7395	0.67	146.0	2630	2153	2101	2040	25.4	9.6	568	7399	0.00	2.50	0.00	0.000	4612	0.000	0.079	2641	741	2070	2100	2041	0	0	0	0	0	0	14.76	14.52	14.76	6.19	48.74
7495	0.67	146.0	2640	742	2100	2034	16.1	9.3	588	7500	0.05	2.42	0.00	0.000	5126	0.317	0.057	2620	2153	2069	2099	2040	0	0	0	0	0	0	14.42	14.54	14.55	6.19	48.62
7620	0.67	146.0	2622	2153	2100	2039	3.7	10.5	613	7624	0.00	2.47	0.00	0.000	4356	0.000	0.086	2621	3549	2069	2099	2040	0	0	0	0	0	0	14.78	14.53	14.78	6.19	49.25
7629	end climb: SURFACE_DEPTH_REACHED
state	7629	begin surface coast
7654	end surface coast: CONTROL_FINISHED_OK
state	7654	begin surface