Glider dive log

Shilshole 31Jul12 * SG167 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HD_C 9.8500004e-06 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 10 HEADING -1 ROLL_MAX 3764 ALTIM_PING_DEPTH 100

DIVE 2 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2290 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2230 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_TGT 150 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 XPDR_VALID 6

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 500 SM_CC 300 R_PORT_OVSHOOT 55 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 30 N_FILEKB 8 R_STBD_OVSHOOT 66 INT_PRESSURE_YINT 0

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 DEEPGLIDER 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 DEEPGLIDERMB 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 6 MOTHERBOARD 4

D_SAFE 0 PROTOCOL 9 ROLL_ADJ_DBAND 0.02 DEVICE1 -1

D_CALL 0 N_NOCOMM 1 VBD_MIN 460 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_MAX 3960 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 2575 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 50 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 70 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_ABORT 1440 CAPUPLOAD 1 PITCH_VBD_SHIFT 0.00039999999 LOGGERDEVICE1 53

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_NO_W 120 T_GPS 15 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 50 COMPASS_DEVICE 33

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -6 T_GPS_CHARGE -966124.62 CF8_MAXERRORS 0 PHONE_DEVICE 48

USE_ICE 0 T_RSLEEP 3 AH0_24V 150 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 110 RAFOS_DEVICE -1

D_OFFGRID 101 RAFOS_PEAK_OFFSET 1.5 MINV_24V 19 XPDR_DEVICE 24

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_10V 8 SIM_W 0

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

APOGEE_PITCH -8 PITCH_MIN 134 FG_AHR_24V 0 SEABIRD_T_G 0.0043364335

MAX_BUOY 150 PITCH_MAX 3944 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062881975

COURSE_BIAS 0 C_PITCH 2780 PRESSURE_YINT -16.434093 SEABIRD_T_I 2.1970176e-05

GLIDE_SLOPE 50 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_J 2.0625448e-06

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 AD7714Ch0Gain 128 SEABIRD_C_G -9.8829851

RHO 1.023 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.104416

MASS 52156 PITCH_GAIN 26 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0016111456

NAV_MODE 1 PITCH_TIMEOUT 19 COMPASS_USE 4 SEABIRD_C_J 0.00020720487

FERRY_MAX 45 PITCH_AD_RATE 165 ALTIM_BOTTOM_PING_RANGE 0 SC_RECORDABOVE 2000.0

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 3.0

HD_A 0.0038360001 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_XMITPROFILE 3.0

HD_B 0.010078 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_OFFGRID 101 PHONE_SUPPLY 2 SIM_PITCH 0

AH0_10V 110 D_PITCH 0 PITCH_ADJ_DBAND 0 SIM_W 0

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 165 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 150 PITCH_CNV 0.0031256729 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 26 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_MAX 3944 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 134 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_TIMEOUT 19 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 50 PRESSURE_SLOPE 0.0001158971 TGT_DEFAULT_LON -12218

APOGEE_PITCH -8 GPS_DEVICE 32 PRESSURE_YINT -16.434093 T_ABORT 1440

CALL_NDIVES 1 HD_A 0.0038360001 PROTOCOL 9 T_BOOST 0

CALL_TRIES 5 HD_B 0.010078 P_OVSHOOT 0.039999999 T_DIVE 50

CALL_WAIT 60 HD_C 9.8500004e-06 RAFOS_CORR_THRESH 60 T_EPIRB 0

CAPMAXSIZE 100000 HEADING -1 RAFOS_DEVICE -1 T_GPS 15

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -966124.62

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_LOITER 0

COMPASS2_DEVICE -1 ID 167 RHO 1.023 T_MISSION 70

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.02 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 6 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 1 ROLL_AD_RATE 350 T_TURN 225

C_PITCH 2780 LOGGERDEVICE1 53 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2230 LOGGERDEVICE2 -1 ROLL_DEG 40 T_WATCHDOG 10

C_ROLL_DIVE 2290 LOGGERDEVICE3 -1 ROLL_MAX 3764 UNCOM_BLEED 50

C_VBD 2575 LOGGERDEVICE4 -1 ROLL_MAXERRORS 2 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERS 1 ROLL_MIN 187 USE_BATHY -6

DEEPGLIDERMB 0 MASS 52156 ROLL_TIMEOUT 15 USE_ICE 0

DEVICE1 -1 MAX_BUOY 150 R_PORT_OVSHOOT 55 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_10V 8 R_STBD_OVSHOOT 66 VBD_CNV -0.24529999

DEVICE3 -1 MINV_24V 19 SC_PROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 MISSION 10 SC_RECORDABOVE 2000.0 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 1 SEABIRD_C_G -9.8829851 VBD_MIN 460

DIVE 2 NOCOMM_ACTION 0 SEABIRD_C_H 1.104416 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 N_DIVES 0 SEABIRD_C_I -0.0016111456 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 30 N_FILEKB 8 SEABIRD_C_J 0.00020720487 VBD_TIMEOUT 720

D_CALL 0 N_GPS 20 SEABIRD_T_G 0.0043364335 XPDR_DEVICE 24

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_H 0.00062881975 XPDR_INHIBIT 90

D_FLARE 3 N_NOSURFACE 0 SEABIRD_T_I 2.1970176e-05 XPDR_VALID 6

D_NO_BLEED 500 PHONE_DEVICE 48 SEABIRD_T_J 2.0625448e-06

Pre-dive calculations and measurements:

GPS1 310712,192349,4742.763,-12224.996,9,1.2,9,18.2 TGT_NAME NW

_CALLS 3 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.051,0.256

_SM_DEPTHo 1.00 KALMAN_X -56.8,-56.8,-56.8,-46.5,-133.9

_SM_ANGLEo -67.1 KALMAN_Y -264.4,-264.4,-264.4,-30.1,-624.1

GPS2 310712,193107,4742.688,-12225.027,9,1.7,9,18.2 MHEAD_RNG_PITCHd_Wd 353.0,2263,-18.2,-10.000

SPEED_LIMITS 0.084,0.261 D_GRID 185

Post-dive calculations and measurements:

FINISH 1.0,1.020515 _10V_AH 10.2,0.136

SM_CCo 2692,10.38,0.148,0,0,1349,300.00 FG_AHR_24Vo 0.000

SM_GC 4.17,7.57,0.08,10.38,0.043,0.119,0.148,119,2297,1349,-8.25,-0.96,300.00,0,0,0,0,0,0,26.44,26.55,26.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4726.11,-12220.67,310712,191951 MEM 323372

TT8_MAMPS 0.027713,0.027713 DATA_FILE_SIZE 10140,258

HUMID 55.35 CAP_FILE_SIZE 123343,0

INTERNAL_PRESSURE 9.28747 CFSIZE 260165632,252764160

TCM_TEMP 21.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 4 GPS 310712,201825,4742.729,-12225.281,33,1.5,34,18.2

ALTIM_BOTTOM_PING 130.5,70.9 RESTART_TIME Tue Jul 31 20:41:49 2012

_24V_AH 23.8,5.823

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 255 117.06 nil 0 0 0.00

Roll_motor 62 118 176.80 nil 0 0 0.00

VBD_pump_during_apogee 302 1453 10458.42 nil 0 0 0.00

VBD_pump_during_surface 10 147 36.46 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 2650 36 2322.49

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 22.49 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 50 6.03

TT8 777 19 157.08

LPSleep 854 2 19.09

TT8_Active 410 19 82.89

TT8_Sampling 618 39 251.09

TT8_CF8 121 45 56.57

TT8_Kalman 30 81 25.09

Analog_circuits 856 12 104.89

GPS_charging 0 0 0.00

Compass 581 15 89.00

RAFOS 0 0 0.00

Transponder 10 30 3.16

Guidance and control:

st_secs pitch_ctl vbd_ctl 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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.76 -146.6 0.0 0.0 0 125 0.00 0.00 -104.00 0.000 6 0.000 0.000 128 2327 3173 0 0 0 0 0 0 28.83 28.83 26.82

130 -0.76 -146.6 3.0 -3.1 10 147 9.90 2.03 0.00 0.000 4 0.256 0.041 2518 3674 3174 0 0 0 0 0 0 25.92 26.38 28.83

184 -0.76 -146.6 20.5 -31.5 15 190 0.00 2.00 0.00 0.000 6 0.000 0.025 2518 2269 3175 0 0 0 0 0 0 28.83 26.51 28.83

220 -0.76 -146.6 27.3 -17.1 19 221 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2267 3176 0 0 0 0 0 0 28.83 28.83 28.83

249 -0.76 -146.6 32.4 -16.7 22 251 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2267 3176 0 0 0 0 0 0 28.83 28.83 28.83

279 -0.76 -146.6 37.5 -16.8 25 281 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2267 3180 0 0 0 0 0 0 28.83 28.83 28.83

309 -0.76 -146.6 42.2 -16.1 28 311 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2268 3176 0 0 0 0 0 0 28.83 28.83 28.83

339 -0.76 -146.6 47.0 -16.1 31 341 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2267 3176 0 0 0 0 0 0 28.83 28.83 28.83

369 -0.76 -146.6 51.7 -15.5 34 371 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2267 3175 0 0 0 0 0 0 28.83 28.83 28.83

399 -0.76 -146.6 56.4 -15.9 37 401 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2267 3176 0 0 0 0 0 0 28.83 28.83 28.83

429 -0.76 -146.6 60.8 -14.6 40 431 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2267 3176 0 0 0 0 0 0 28.83 28.83 28.83

459 -0.76 -146.6 65.5 -15.6 43 465 0.00 2.15 0.00 0.000 4 0.000 0.050 2508 3665 3176 0 0 0 0 0 0 28.83 26.44 28.83

512 -0.76 -146.6 74.3 -16.9 48 517 0.00 2.05 0.00 0.000 6 0.000 0.025 2508 2223 3175 0 0 0 0 0 0 28.83 26.62 28.83

555 -0.76 -146.6 81.1 -16.4 52 556 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2220 3176 0 0 0 0 0 0 28.83 28.83 28.83

585 -0.76 -146.6 85.7 -15.7 55 590 0.00 1.90 0.00 0.000 4 0.000 0.031 2508 900 3175 0 0 0 0 0 0 28.83 26.55 28.83

628 -0.76 -146.6 92.3 -15.2 59 633 0.12 1.90 0.00 0.000 6 0.168 0.038 2532 2172 3174 0 0 0 0 0 0 26.28 26.51 28.83

671 -0.76 -146.6 98.6 -14.2 63 672 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2172 3175 0 0 0 0 0 0 28.83 28.83 28.83

701 -0.76 -146.6 102.6 -13.9 66 707 0.00 2.30 0.00 0.000 4 0.000 0.050 2524 3672 3175 0 0 0 0 0 0 28.83 26.47 28.83

768 -0.76 -146.6 111.5 -14.5 72 775 0.00 1.95 0.00 0.000 6 0.000 0.026 2524 2301 3175 0 0 0 0 0 0 28.83 26.65 28.83

804 -0.76 -146.6 116.9 -13.5 76 806 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2300 3174 0 0 0 0 0 0 28.83 28.83 28.83

835 -0.76 -146.6 120.9 -13.4 79 836 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2300 3175 0 0 0 0 0 0 28.83 28.83 28.83

864 -0.76 -146.6 125.1 -14.2 82 865 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2300 3174 0 0 0 0 0 0 28.83 28.83 28.83

894 -0.76 -146.6 129.2 -13.7 85 895 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2300 3174 0 0 0 0 0 0 28.83 28.83 28.83

924 -0.76 -146.6 133.3 -13.6 88 925 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2302 3174 0 0 0 0 0 0 28.83 28.83 28.83

954 -0.76 -146.6 137.6 -14.3 91 955 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2300 3172 0 0 0 0 0 0 28.83 28.83 28.83

984 -0.76 -146.6 142.0 -14.7 94 989 0.00 2.10 0.00 0.000 4 0.000 0.051 2520 3663 3175 0 0 0 0 0 0 28.83 26.49 28.83

1030 -0.76 -146.6 148.2 -14.9 98 1037 0.00 1.83 0.00 0.000 6 0.000 0.028 2520 2371 3174 0 0 0 0 0 0 28.83 26.68 28.83

1045 end dive: TARGET_DEPTH_EXCEEDED

state 1045 begin apogee

1051 -0.31 0.0 151.0 -13.9 100 1179 0.47 0.00 120.25 1.454 4 0.129 0.000 2674 2242 2576 0 0 0 0 0 0 26.27 28.83 23.82

1180 end apogee: CONTROL_FINISHED_OK

state 1181 begin climb

1183 0.76 146.6 158.3 0.0 113 1318 1.02 0.00 127.45 1.377 6 0.097 0.000 3018 2241 1975 0 0 0 0 0 0 25.07 28.83 23.77

1347 0.76 156.5 150.3 9.5 130 1363 0.00 2.22 9.60 1.212 4 0.000 0.037 3028 833 1935 0 0 0 0 0 0 28.83 25.16 24.13

1400 0.76 156.5 144.7 10.2 135 1405 0.00 2.08 0.00 0.000 6 0.000 0.040 3028 2148 1934 0 0 0 0 0 0 28.83 25.59 28.83

1443 0.76 156.5 140.3 10.6 139 1448 0.00 2.30 0.00 0.000 4 0.000 0.051 3028 3603 1934 0 0 0 0 0 0 28.83 25.75 28.83

1510 0.76 156.5 132.7 12.3 145 1517 0.00 2.00 0.00 0.000 6 0.000 0.032 3036 2268 1933 0 0 0 0 0 0 28.83 26.01 28.83

1546 0.76 156.5 128.3 11.1 149 1547 0.00 0.00 0.00 0.000 6 0.000 0.000 3037 2267 1933 0 0 0 0 0 0 28.83 28.83 28.83

1576 0.76 156.5 125.3 10.0 152 1577 0.00 0.00 0.00 0.000 6 0.000 0.000 3036 2267 1933 0 0 0 0 0 0 28.83 28.83 28.83

1606 0.77 164.8 122.4 9.6 155 1615 0.00 0.00 3.28 0.834 6 0.000 0.000 3037 2263 1901 0 0 0 0 0 0 28.83 28.83 25.03

1646 0.77 179.1 118.7 9.3 159 1660 0.00 2.17 6.12 1.037 4 0.000 0.053 3037 3600 1842 0 0 0 0 0 0 28.83 25.91 24.95

1692 0.77 179.1 113.8 11.7 163 1698 0.00 1.95 0.00 0.000 6 0.000 0.033 3042 2293 1841 0 0 0 0 0 0 28.83 26.11 28.83

1728 0.77 179.1 108.8 12.3 167 1729 0.00 0.00 0.00 0.000 6 0.000 0.000 3042 2292 1841 0 0 0 0 0 0 28.83 28.83 28.83

1758 0.77 179.1 105.0 12.6 170 1759 0.00 0.00 0.00 0.000 6 0.000 0.000 3042 2292 1841 0 0 0 0 0 0 28.83 28.83 28.83

1788 0.77 179.1 101.0 13.1 173 1789 0.00 0.00 0.00 0.000 6 0.000 0.000 3042 2291 1840 0 0 0 0 0 0 28.83 28.83 28.83

1818 0.77 179.1 97.2 12.8 176 1819 0.00 0.00 0.00 0.000 6 0.000 0.000 3042 2291 1840 0 0 0 0 0 0 28.83 28.83 28.83

1848 0.77 179.1 93.6 12.2 179 1853 0.00 2.05 0.00 0.000 4 0.000 0.054 3042 3601 1840 0 0 0 0 0 0 28.83 26.21 28.83

1942 0.77 179.1 81.5 13.3 188 1947 0.00 1.92 0.00 0.000 6 0.000 0.034 3042 2311 1840 0 0 0 0 0 0 28.83 26.37 28.83

1985 0.77 179.1 76.5 11.3 192 1990 0.00 2.22 0.00 0.000 4 0.000 0.040 3045 818 1843 0 0 0 0 0 0 28.83 26.35 28.83

2038 0.77 179.1 70.6 11.4 197 2043 0.00 2.12 0.00 0.000 6 0.000 0.039 3046 2225 1838 0 0 0 0 0 0 28.83 26.39 28.83

2081 0.77 179.1 65.5 12.0 201 2086 0.00 2.17 0.00 0.000 4 0.000 0.052 3045 3630 1838 0 0 0 0 0 0 28.83 26.36 28.83

2098 0.77 179.1 63.7 12.3 202 2104 0.00 2.03 0.00 0.000 6 0.000 0.033 3056 2259 1838 0 0 0 0 0 0 28.83 26.46 28.83

2134 0.77 179.1 58.3 13.9 206 2135 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 2258 1838 0 0 0 0 0 0 28.83 28.83 28.83

2164 0.77 179.1 55.0 11.3 209 2165 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 2259 1839 0 0 0 0 0 0 28.83 28.83 28.83

2194 0.77 179.1 51.8 10.6 212 2195 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 2258 1839 0 0 0 0 0 0 28.83 28.83 28.83

2224 0.77 179.1 48.5 11.3 215 2229 0.00 2.15 0.00 0.000 4 0.000 0.054 3056 3633 1838 0 0 0 0 0 0 28.83 26.41 28.83

2297 0.77 179.1 39.6 11.8 222 2303 0.15 2.00 0.00 0.000 6 0.181 0.033 3028 2283 1838 0 0 0 0 0 0 26.22 26.53 28.83

2341 0.78 195.0 35.5 9.3 226 2354 0.00 2.25 5.72 0.729 4 0.000 0.039 3037 815 1778 0 0 0 0 0 0 28.83 26.36 25.49

2412 0.79 221.8 29.1 8.8 233 2433 0.00 2.20 10.75 0.206 6 0.000 0.040 3037 2272 1667 0 0 0 0 0 0 28.83 26.44 26.10

2462 0.79 221.8 23.8 11.1 238 2467 0.00 2.10 0.00 0.000 4 0.000 0.053 3037 3631 1665 0 0 0 0 0 0 28.83 26.36 28.83

2515 0.79 221.8 17.2 13.1 243 2520 0.00 1.95 0.00 0.000 6 0.000 0.034 3042 2312 1664 0 0 0 0 0 0 28.83 26.48 28.83

2558 0.79 221.8 12.5 10.7 247 2563 0.00 2.20 0.00 0.000 4 0.000 0.040 3042 830 1664 0 0 0 0 0 0 28.83 26.44 28.83

2591 0.81 272.0 10.2 7.7 250 2615 0.00 2.12 19.15 0.155 6 0.000 0.040 3044 2238 1461 0 0 0 0 0 0 28.83 26.46 26.14

2651 end climb: SURFACE_DEPTH_REACHED

state 2651 begin surface coast

2674 end surface coast: CONTROL_FINISHED_OK

state 2674 begin surface

ID	167	HD_C	9.8500004e-06	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	10	HEADING	-1	ROLL_MAX	3764	ALTIM_PING_DEPTH	100
DIVE	2	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2290	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2230	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_TGT	150	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	XPDR_VALID	6
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	500	SM_CC	300	R_PORT_OVSHOOT	55	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	30	N_FILEKB	8	R_STBD_OVSHOOT	66	INT_PRESSURE_YINT	0
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	DEEPGLIDER	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	DEEPGLIDERMB	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	6	MOTHERBOARD	4
D_SAFE	0	PROTOCOL	9	ROLL_ADJ_DBAND	0.02	DEVICE1	-1
D_CALL	0	N_NOCOMM	1	VBD_MIN	460	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_MAX	3960	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	2575	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	50	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	70	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_ABORT	1440	CAPUPLOAD	1	PITCH_VBD_SHIFT	0.00039999999	LOGGERDEVICE1	53
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_NO_W	120	T_GPS	15	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	50	COMPASS_DEVICE	33
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-6	T_GPS_CHARGE	-966124.62	CF8_MAXERRORS	0	PHONE_DEVICE	48
USE_ICE	0	T_RSLEEP	3	AH0_24V	150	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	110	RAFOS_DEVICE	-1
D_OFFGRID	101	RAFOS_PEAK_OFFSET	1.5	MINV_24V	19	XPDR_DEVICE	24
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_10V	8	SIM_W	0
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
APOGEE_PITCH	-8	PITCH_MIN	134	FG_AHR_24V	0	SEABIRD_T_G	0.0043364335
MAX_BUOY	150	PITCH_MAX	3944	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062881975
COURSE_BIAS	0	C_PITCH	2780	PRESSURE_YINT	-16.434093	SEABIRD_T_I	2.1970176e-05
GLIDE_SLOPE	50	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_J	2.0625448e-06
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8829851
RHO	1.023	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.104416
MASS	52156	PITCH_GAIN	26	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0016111456
NAV_MODE	1	PITCH_TIMEOUT	19	COMPASS_USE	4	SEABIRD_C_J	0.00020720487
FERRY_MAX	45	PITCH_AD_RATE	165	ALTIM_BOTTOM_PING_RANGE	0	SC_RECORDABOVE	2000.0
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	3.0
HD_A	0.0038360001	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_XMITPROFILE	3.0
HD_B	0.010078	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0

GPS1	310712,192349,4742.763,-12224.996,9,1.2,9,18.2	TGT_NAME	NW
_CALLS	3	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.051,0.256
_SM_DEPTHo	1.00	KALMAN_X	-56.8,-56.8,-56.8,-46.5,-133.9
_SM_ANGLEo	-67.1	KALMAN_Y	-264.4,-264.4,-264.4,-30.1,-624.1
GPS2	310712,193107,4742.688,-12225.027,9,1.7,9,18.2	MHEAD_RNG_PITCHd_Wd	353.0,2263,-18.2,-10.000
SPEED_LIMITS	0.084,0.261	D_GRID	185

FINISH	1.0,1.020515	_10V_AH	10.2,0.136
SM_CCo	2692,10.38,0.148,0,0,1349,300.00	FG_AHR_24Vo	0.000
SM_GC	4.17,7.57,0.08,10.38,0.043,0.119,0.148,119,2297,1349,-8.25,-0.96,300.00,0,0,0,0,0,0,26.44,26.55,26.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4726.11,-12220.67,310712,191951	MEM	323372
TT8_MAMPS	0.027713,0.027713	DATA_FILE_SIZE	10140,258
HUMID	55.35	CAP_FILE_SIZE	123343,0
INTERNAL_PRESSURE	9.28747	CFSIZE	260165632,252764160
TCM_TEMP	21.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	4	GPS	310712,201825,4742.729,-12225.281,33,1.5,34,18.2
ALTIM_BOTTOM_PING	130.5,70.9	RESTART_TIME	Tue Jul 31 20:41:49 2012
_24V_AH	23.8,5.823

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	255	117.06	nil	0	0	0.00
Roll_motor	62	118	176.80	nil	0	0	0.00
VBD_pump_during_apogee	302	1453	10458.42	nil	0	0	0.00
VBD_pump_during_surface	10	147	36.46	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	2650	36	2322.49
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	22.49	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	50	6.03
TT8	777	19	157.08
LPSleep	854	2	19.09
TT8_Active	410	19	82.89
TT8_Sampling	618	39	251.09
TT8_CF8	121	45	56.57
TT8_Kalman	30	81	25.09
Analog_circuits	856	12	104.89
GPS_charging	0	0	0.00
Compass	581	15	89.00
RAFOS	0	0	0.00
Transponder	10	30	3.16

st_secs	pitch_ctl	vbd_ctl	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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.76	-146.6	0.0	0.0	0	125	0.00	0.00	-104.00	0.000	6	0.000	0.000	128	2327	3173	0	0	0	0	0	0	28.83	28.83	26.82
130	-0.76	-146.6	3.0	-3.1	10	147	9.90	2.03	0.00	0.000	4	0.256	0.041	2518	3674	3174	0	0	0	0	0	0	25.92	26.38	28.83
184	-0.76	-146.6	20.5	-31.5	15	190	0.00	2.00	0.00	0.000	6	0.000	0.025	2518	2269	3175	0	0	0	0	0	0	28.83	26.51	28.83
220	-0.76	-146.6	27.3	-17.1	19	221	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2267	3176	0	0	0	0	0	0	28.83	28.83	28.83
249	-0.76	-146.6	32.4	-16.7	22	251	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2267	3176	0	0	0	0	0	0	28.83	28.83	28.83
279	-0.76	-146.6	37.5	-16.8	25	281	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2267	3180	0	0	0	0	0	0	28.83	28.83	28.83
309	-0.76	-146.6	42.2	-16.1	28	311	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2268	3176	0	0	0	0	0	0	28.83	28.83	28.83
339	-0.76	-146.6	47.0	-16.1	31	341	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2267	3176	0	0	0	0	0	0	28.83	28.83	28.83
369	-0.76	-146.6	51.7	-15.5	34	371	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2267	3175	0	0	0	0	0	0	28.83	28.83	28.83
399	-0.76	-146.6	56.4	-15.9	37	401	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2267	3176	0	0	0	0	0	0	28.83	28.83	28.83
429	-0.76	-146.6	60.8	-14.6	40	431	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2267	3176	0	0	0	0	0	0	28.83	28.83	28.83
459	-0.76	-146.6	65.5	-15.6	43	465	0.00	2.15	0.00	0.000	4	0.000	0.050	2508	3665	3176	0	0	0	0	0	0	28.83	26.44	28.83
512	-0.76	-146.6	74.3	-16.9	48	517	0.00	2.05	0.00	0.000	6	0.000	0.025	2508	2223	3175	0	0	0	0	0	0	28.83	26.62	28.83
555	-0.76	-146.6	81.1	-16.4	52	556	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2220	3176	0	0	0	0	0	0	28.83	28.83	28.83
585	-0.76	-146.6	85.7	-15.7	55	590	0.00	1.90	0.00	0.000	4	0.000	0.031	2508	900	3175	0	0	0	0	0	0	28.83	26.55	28.83
628	-0.76	-146.6	92.3	-15.2	59	633	0.12	1.90	0.00	0.000	6	0.168	0.038	2532	2172	3174	0	0	0	0	0	0	26.28	26.51	28.83
671	-0.76	-146.6	98.6	-14.2	63	672	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2172	3175	0	0	0	0	0	0	28.83	28.83	28.83
701	-0.76	-146.6	102.6	-13.9	66	707	0.00	2.30	0.00	0.000	4	0.000	0.050	2524	3672	3175	0	0	0	0	0	0	28.83	26.47	28.83
768	-0.76	-146.6	111.5	-14.5	72	775	0.00	1.95	0.00	0.000	6	0.000	0.026	2524	2301	3175	0	0	0	0	0	0	28.83	26.65	28.83
804	-0.76	-146.6	116.9	-13.5	76	806	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2300	3174	0	0	0	0	0	0	28.83	28.83	28.83
835	-0.76	-146.6	120.9	-13.4	79	836	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2300	3175	0	0	0	0	0	0	28.83	28.83	28.83
864	-0.76	-146.6	125.1	-14.2	82	865	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2300	3174	0	0	0	0	0	0	28.83	28.83	28.83
894	-0.76	-146.6	129.2	-13.7	85	895	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2300	3174	0	0	0	0	0	0	28.83	28.83	28.83
924	-0.76	-146.6	133.3	-13.6	88	925	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2302	3174	0	0	0	0	0	0	28.83	28.83	28.83
954	-0.76	-146.6	137.6	-14.3	91	955	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2300	3172	0	0	0	0	0	0	28.83	28.83	28.83
984	-0.76	-146.6	142.0	-14.7	94	989	0.00	2.10	0.00	0.000	4	0.000	0.051	2520	3663	3175	0	0	0	0	0	0	28.83	26.49	28.83
1030	-0.76	-146.6	148.2	-14.9	98	1037	0.00	1.83	0.00	0.000	6	0.000	0.028	2520	2371	3174	0	0	0	0	0	0	28.83	26.68	28.83
1045	end dive: TARGET_DEPTH_EXCEEDED
state	1045	begin apogee
1051	-0.31	0.0	151.0	-13.9	100	1179	0.47	0.00	120.25	1.454	4	0.129	0.000	2674	2242	2576	0	0	0	0	0	0	26.27	28.83	23.82
1180	end apogee: CONTROL_FINISHED_OK
state	1181	begin climb
1183	0.76	146.6	158.3	0.0	113	1318	1.02	0.00	127.45	1.377	6	0.097	0.000	3018	2241	1975	0	0	0	0	0	0	25.07	28.83	23.77
1347	0.76	156.5	150.3	9.5	130	1363	0.00	2.22	9.60	1.212	4	0.000	0.037	3028	833	1935	0	0	0	0	0	0	28.83	25.16	24.13
1400	0.76	156.5	144.7	10.2	135	1405	0.00	2.08	0.00	0.000	6	0.000	0.040	3028	2148	1934	0	0	0	0	0	0	28.83	25.59	28.83
1443	0.76	156.5	140.3	10.6	139	1448	0.00	2.30	0.00	0.000	4	0.000	0.051	3028	3603	1934	0	0	0	0	0	0	28.83	25.75	28.83
1510	0.76	156.5	132.7	12.3	145	1517	0.00	2.00	0.00	0.000	6	0.000	0.032	3036	2268	1933	0	0	0	0	0	0	28.83	26.01	28.83
1546	0.76	156.5	128.3	11.1	149	1547	0.00	0.00	0.00	0.000	6	0.000	0.000	3037	2267	1933	0	0	0	0	0	0	28.83	28.83	28.83
1576	0.76	156.5	125.3	10.0	152	1577	0.00	0.00	0.00	0.000	6	0.000	0.000	3036	2267	1933	0	0	0	0	0	0	28.83	28.83	28.83
1606	0.77	164.8	122.4	9.6	155	1615	0.00	0.00	3.28	0.834	6	0.000	0.000	3037	2263	1901	0	0	0	0	0	0	28.83	28.83	25.03
1646	0.77	179.1	118.7	9.3	159	1660	0.00	2.17	6.12	1.037	4	0.000	0.053	3037	3600	1842	0	0	0	0	0	0	28.83	25.91	24.95
1692	0.77	179.1	113.8	11.7	163	1698	0.00	1.95	0.00	0.000	6	0.000	0.033	3042	2293	1841	0	0	0	0	0	0	28.83	26.11	28.83
1728	0.77	179.1	108.8	12.3	167	1729	0.00	0.00	0.00	0.000	6	0.000	0.000	3042	2292	1841	0	0	0	0	0	0	28.83	28.83	28.83
1758	0.77	179.1	105.0	12.6	170	1759	0.00	0.00	0.00	0.000	6	0.000	0.000	3042	2292	1841	0	0	0	0	0	0	28.83	28.83	28.83
1788	0.77	179.1	101.0	13.1	173	1789	0.00	0.00	0.00	0.000	6	0.000	0.000	3042	2291	1840	0	0	0	0	0	0	28.83	28.83	28.83
1818	0.77	179.1	97.2	12.8	176	1819	0.00	0.00	0.00	0.000	6	0.000	0.000	3042	2291	1840	0	0	0	0	0	0	28.83	28.83	28.83
1848	0.77	179.1	93.6	12.2	179	1853	0.00	2.05	0.00	0.000	4	0.000	0.054	3042	3601	1840	0	0	0	0	0	0	28.83	26.21	28.83
1942	0.77	179.1	81.5	13.3	188	1947	0.00	1.92	0.00	0.000	6	0.000	0.034	3042	2311	1840	0	0	0	0	0	0	28.83	26.37	28.83
1985	0.77	179.1	76.5	11.3	192	1990	0.00	2.22	0.00	0.000	4	0.000	0.040	3045	818	1843	0	0	0	0	0	0	28.83	26.35	28.83
2038	0.77	179.1	70.6	11.4	197	2043	0.00	2.12	0.00	0.000	6	0.000	0.039	3046	2225	1838	0	0	0	0	0	0	28.83	26.39	28.83
2081	0.77	179.1	65.5	12.0	201	2086	0.00	2.17	0.00	0.000	4	0.000	0.052	3045	3630	1838	0	0	0	0	0	0	28.83	26.36	28.83
2098	0.77	179.1	63.7	12.3	202	2104	0.00	2.03	0.00	0.000	6	0.000	0.033	3056	2259	1838	0	0	0	0	0	0	28.83	26.46	28.83
2134	0.77	179.1	58.3	13.9	206	2135	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	2258	1838	0	0	0	0	0	0	28.83	28.83	28.83
2164	0.77	179.1	55.0	11.3	209	2165	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	2259	1839	0	0	0	0	0	0	28.83	28.83	28.83
2194	0.77	179.1	51.8	10.6	212	2195	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	2258	1839	0	0	0	0	0	0	28.83	28.83	28.83
2224	0.77	179.1	48.5	11.3	215	2229	0.00	2.15	0.00	0.000	4	0.000	0.054	3056	3633	1838	0	0	0	0	0	0	28.83	26.41	28.83
2297	0.77	179.1	39.6	11.8	222	2303	0.15	2.00	0.00	0.000	6	0.181	0.033	3028	2283	1838	0	0	0	0	0	0	26.22	26.53	28.83
2341	0.78	195.0	35.5	9.3	226	2354	0.00	2.25	5.72	0.729	4	0.000	0.039	3037	815	1778	0	0	0	0	0	0	28.83	26.36	25.49
2412	0.79	221.8	29.1	8.8	233	2433	0.00	2.20	10.75	0.206	6	0.000	0.040	3037	2272	1667	0	0	0	0	0	0	28.83	26.44	26.10
2462	0.79	221.8	23.8	11.1	238	2467	0.00	2.10	0.00	0.000	4	0.000	0.053	3037	3631	1665	0	0	0	0	0	0	28.83	26.36	28.83
2515	0.79	221.8	17.2	13.1	243	2520	0.00	1.95	0.00	0.000	6	0.000	0.034	3042	2312	1664	0	0	0	0	0	0	28.83	26.48	28.83
2558	0.79	221.8	12.5	10.7	247	2563	0.00	2.20	0.00	0.000	4	0.000	0.040	3042	830	1664	0	0	0	0	0	0	28.83	26.44	28.83
2591	0.81	272.0	10.2	7.7	250	2615	0.00	2.12	19.15	0.155	6	0.000	0.040	3044	2238	1461	0	0	0	0	0	0	28.83	26.46	26.14
2651	end climb: SURFACE_DEPTH_REACHED
state	2651	begin surface coast
2674	end surface coast: CONTROL_FINISHED_OK
state	2674	begin surface