Glider dive log

Shilshole 05Feb14 * SG208 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 208 HD_C 1.6100001e-05 ROLL_MIN 196 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 2 HEADING -1 ROLL_MAX 3778 ALTIM_PING_DEPTH 0

DIVE 12 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

N_DIVES 30 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1995 ALTIM_FREQUENCY 13

D_SURF 2 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1850 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_TGT 180 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 XPDR_VALID 0

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 50 SM_CC 230 R_PORT_OVSHOOT 32 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 100 N_FILEKB 4 R_STBD_OVSHOOT 34 INT_PRESSURE_YINT 0.30000001

T_BOOST 2 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 0 MOTHERBOARD 4

D_SAFE 0 PROTOCOL 73 ROLL_ADJ_DBAND 0 DEVICE1 2

D_CALL 0 N_NOCOMM 1 VBD_MIN 500 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_MAX 3960 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 2859 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 70 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 85 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_ABORT 720 CAPUPLOAD 1 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 83

T_TURN 600 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE2 -1

T_TURN_SAMPINT 4 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_NO_W 120 T_GPS 5 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 -2874.0659 CF8_MAXERRORS 20 PHONE_DEVICE 49

USE_ICE -1 T_RSLEEP 3 AH0_24V 150 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 95 RAFOS_DEVICE -1

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 MINV_24V 19 XPDR_DEVICE -1

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 -5 PITCH_MIN 249 FG_AHR_24V 0 SEABIRD_T_G 0.0043976754

MAX_BUOY 120 PITCH_MAX 3894 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063337648

COURSE_BIAS 0 C_PITCH 2530 PRESSURE_YINT -65.040756 SEABIRD_T_I 2.4533158e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001164818 SEABIRD_T_J 2.8976478e-06

SPEED_FACTOR 1 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -9.7807083

RHO 1.023 P_OVSHOOT 0.059999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1372483

MASS 51476 PITCH_GAIN 18 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015743772

NAV_MODE 1 PITCH_TIMEOUT 18 COMPASS_USE 4 SEABIRD_C_J 0.00019512554

FERRY_MAX 45 PITCH_AD_RATE 160 ALTIM_BOTTOM_PING_RANGE 0 MI_OFFLOAD 1.0

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 MI_POWERSOURCE 0.0

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 MI_RESTARTMONITOR 0.0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 MI_NOTIFYMOTORS 0.0

AD7714Ch0Gain 128 D_OFFGRID 100 N_GPS 20 SEABIRD_T_J 2.8976478e-06

AH0_10V 95 D_PITCH 0 N_NOCOMM 1 SIM_PITCH 0

AH0_24V 150 D_SAFE 0 N_NOSURFACE 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PHONE_DEVICE 49 SM_CC 230

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_AD_RATE 160 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_GAIN 18 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3894 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_MIN 249 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HD_A 0.003 PITCH_TIMEOUT 18 T_ABORT 720

CALL_TRIES 5 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 2

CALL_WAIT 60 HD_C 1.6100001e-05 PRESSURE_SLOPE 0.0001164818 T_DIVE 70

CAPMAXSIZE 100000 HEADING -1 PRESSURE_YINT -65.040756 T_EPIRB 0

CAPUPLOAD 1 HEAD_ERRBAND 10 PROTOCOL 73 T_GPS 5

CF8_MAXERRORS 20 HEAPDBG 0 P_OVSHOOT 0.059999999 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -2874.0659

COMPASS2_DEVICE -1 ID 208 RAFOS_DEVICE -1 T_LOITER 0

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_MISSION 85

COMPASS_USE 4 INT_PRESSURE_YINT 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_RSLEEP 3

C_PITCH 2530 LOGGERDEVICE1 83 RHO 1.023 T_TURN 600

C_ROLL_CLIMB 1850 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 4

C_ROLL_DIVE 1995 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_VBD 2859 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 50

DEEPGLIDER 0 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 51476 ROLL_DEG 40 USE_BATHY -6

DEVICE1 2 MAX_BUOY 120 ROLL_MAX 3778 USE_ICE -1

DEVICE2 -1 MINV_10V 8 ROLL_MAXERRORS 2 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 19 ROLL_MIN 196 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 2 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 MI_NOTIFYMOTORS 0.0 R_PORT_OVSHOOT 32 VBD_MAX 3960

DEVICE6 -1 MI_OFFLOAD 1.0 R_STBD_OVSHOOT 34 VBD_MAXERRORS 1

DIVE 12 MI_POWERSOURCE 0.0 SEABIRD_C_G -9.7807083 VBD_MIN 500

D_ABORT 1090 MI_RESTARTMONITOR 0.0 SEABIRD_C_H 1.1372483 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 100 MOTHERBOARD 4 SEABIRD_C_I -0.0015743772 VBD_PUMP_AD_RATE_SURFACE 6

D_CALL 0 NAV_MODE 1 SEABIRD_C_J 0.00019512554 VBD_TIMEOUT 720

D_FINISH 0 NOCOMM_ACTION 0 SEABIRD_T_G 0.0043976754 XPDR_DEVICE -1

D_FLARE 3 N_DIVES 30 SEABIRD_T_H 0.00063337648 XPDR_INHIBIT 90

D_NO_BLEED 50 N_FILEKB 4 SEABIRD_T_I 2.4533158e-05 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 070214,100426,4743.854,-12224.560,14,1.5,24,16.3 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4742.700,-12224.800

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.044,-0.217

_SM_DEPTHo 1.08 KALMAN_X 62.6,-380.1,-240.9,-157.9,26.7

_SM_ANGLEo -62.9 KALMAN_Y -862.8,-678.9,367.5,2768.9,-203.1

GPS2 070214,101250,4743.917,-12224.545,4,1.6,14,16.3 MHEAD_RNG_PITCHd_Wd 175.1,2276,-17.3,-8.571

SPEED_LIMITS 0.148,0.221 D_GRID 174

Post-dive calculations and measurements:

FINISH 0.3,1.021295 MI_ROOT 70.6/190403/56027

SM_CCo 3494,35.65,0.129,0,0,1919,230.09 MI_HOME 2.4/436550/426223

SM_GC 1.28,7.45,0.25,35.65,0.072,0.070,0.129,253,2008,1919,-7.06,-0.76,230.09,0,0,0,0,0,0,26.28,26.33,26.10 _24V_AH 24.8,1.577

IRIDIUM_FIX 4751.72,-12340.51,070214,090910 _10V_AH 10.4,1.278

TT8_MAMPS 0.104111,0.104111 FG_AHR_24Vo 0.000

HUMID 26.45 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.00151 MEM 323548

TCM_TEMP 18.00 DATA_FILE_SIZE 26752,657

MI_MIVER 0.4 CAP_FILE_SIZE 83230,0

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 CFSIZE 1024409600,1021476864

MI_BOOTCOUNT 13 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

MI_LOG 3.3/516052/498792 GPS 070214,111322,4743.537,-12224.676,26,1.9,44,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 294 140.61 SBE_CT 442 23 263.23

Roll_motor 61 78 119.54 nil 0 0 0.00

VBD_pump_during_apogee 215 498 2663.21 nil 0 0 0.00

VBD_pump_during_surface 35 128 113.63 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 12 8.13 nil 0 0 0.00

Iridium_during_connect 34 160 137.67 MIB 4115 41 4272.41

Iridium_during_xfer 226 223 1251.95 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 4115 44 4577.35

GPS 15 33 5.28

TT8 0 0 0.00

LPSleep 1660 0 6.74

TT8_Active 389 14 59.56

TT8_Sampling 1830 44 850.51

TT8_CF8 43 64 28.94

TT8_Kalman 33 67 23.19

Analog_circuits 942 16 156.76

GPS_charging 0 0 0.00

Compass 963 8 82.61

RAFOS 0 0 0.00

Transponder 0 0 0.00

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -1.10 -117.3 0.0 0.0 0 80 0.00 0.00 -60.72 0.000 6 0.000 0.000 250 1978 3338 0 0 0 0 0 0 28.83 28.83 26.21

82 -1.10 -117.3 2.0 -1.8 10 96 9.07 2.17 0.00 0.000 4 0.295 0.058 2172 582 3338 0 0 0 0 0 0 25.81 26.03 28.83

112 -1.10 -117.3 7.7 -13.7 16 119 0.00 2.15 0.00 0.000 6 0.000 0.042 2163 2005 3336 0 0 0 0 0 0 28.83 26.06 28.83

137 -1.10 -117.3 10.8 -11.6 21 145 0.00 2.22 0.00 0.000 4 0.000 0.058 2163 583 3338 0 0 0 0 0 0 28.83 26.05 28.83

260 -1.10 -117.3 26.4 -13.4 51 267 0.00 2.15 0.00 0.000 6 0.000 0.043 2152 2006 3338 0 0 0 0 0 0 28.83 26.15 28.83

286 -1.10 -117.3 29.5 -12.5 56 293 0.00 2.15 0.00 0.000 4 0.000 0.058 2142 3399 3338 0 0 0 0 0 0 28.83 26.13 28.83

337 -1.10 -117.3 34.9 -9.6 68 344 0.10 2.12 0.00 0.000 6 0.200 0.042 2161 1976 3339 0 0 0 0 0 0 26.01 26.19 28.83

363 -1.10 -117.3 37.7 -10.4 73 364 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 1974 3339 0 0 0 0 0 0 28.83 28.83 28.83

383 -1.10 -117.3 39.8 -10.3 77 390 0.00 2.12 0.00 0.000 4 0.000 0.060 2162 602 3338 0 0 0 0 0 0 28.83 26.17 28.83

418 -1.10 -117.3 43.6 -11.2 85 425 0.00 2.12 0.00 0.000 6 0.000 0.044 2152 1996 3338 0 0 0 0 0 0 28.83 26.21 28.83

544 -1.10 -117.3 56.7 -10.5 110 551 0.00 2.17 0.00 0.000 4 0.000 0.060 2142 3406 3338 0 0 0 0 0 0 28.83 26.22 28.83

711 -1.10 -117.3 75.7 -11.4 151 718 0.10 2.12 0.00 0.000 6 0.200 0.042 2161 1982 3338 0 0 0 0 0 0 26.09 26.27 28.83

838 -1.10 -117.3 87.5 -9.2 176 845 0.00 2.20 0.00 0.000 4 0.000 0.059 2151 3404 3338 0 0 0 0 0 0 28.83 26.26 28.83

944 -1.10 -117.3 97.7 -8.8 202 951 0.00 2.10 0.00 0.000 6 0.000 0.041 2151 1996 3338 0 0 0 0 0 0 28.83 26.30 28.83

1070 -1.10 -117.3 110.2 -10.3 227 1071 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 1996 3338 0 0 0 0 0 0 28.83 28.83 28.83

1190 -1.10 -117.3 122.3 -9.8 251 1191 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 1996 3338 0 0 0 0 0 0 28.83 28.83 28.83

1310 -1.10 -117.3 134.8 -10.5 275 1317 0.00 2.15 0.00 0.000 4 0.000 0.060 2151 602 3338 0 0 0 0 0 0 28.83 26.28 28.83

1345 -1.10 -117.3 138.5 -10.7 283 1352 0.10 2.10 0.00 0.000 6 0.207 0.044 2161 1996 3338 0 0 0 0 0 0 26.13 26.22 28.83

1471 -1.10 -117.3 151.4 -11.1 307 1472 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 1996 3338 0 0 0 0 0 0 28.83 28.83 28.83

1680 end dive: TARGET_DEPTH_EXCEEDED

state 1680 begin apogee

1683 -0.28 0.0 174.1 -10.7 328 1820 0.90 0.00 127.28 0.490 6 0.177 0.000 2423 1838 2856 0 0 0 0 0 0 26.16 28.83 24.95

1820 end apogee: CONTROL_FINISHED_OK

state 1820 begin climb

1821 1.10 117.3 178.9 0.0 344 1913 1.40 0.00 88.03 0.499 6 0.122 0.000 2861 1839 2377 0 0 0 0 0 0 25.33 28.83 24.79

2209 1.10 117.3 143.7 11.3 389 2210 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1838 2361 0 0 0 0 0 0 28.83 28.83 28.83

2329 1.10 117.3 130.0 11.3 413 2336 0.00 2.20 0.00 0.000 4 0.000 0.072 2871 465 2361 0 0 0 0 0 0 28.83 26.09 28.83

2368 1.10 117.3 125.6 11.2 422 2375 0.00 2.12 0.00 0.000 6 0.000 0.051 2871 1850 2361 0 0 0 0 0 0 28.83 26.15 28.83

2494 1.10 117.3 111.9 10.4 447 2501 0.00 2.20 0.00 0.000 4 0.000 0.065 2871 3254 2361 0 0 0 0 0 0 28.83 26.18 28.83

2521 1.10 117.3 108.8 12.6 453 2528 0.00 2.12 0.00 0.000 6 0.000 0.054 2881 1874 2361 0 0 0 0 0 0 28.83 26.18 28.83

2647 1.10 117.3 95.2 10.0 478 2654 0.00 2.17 0.00 0.000 4 0.000 0.064 2881 3256 2364 0 0 0 0 0 0 28.83 26.22 28.83

2694 1.10 117.3 90.0 11.2 489 2701 0.00 2.17 0.00 0.000 6 0.000 0.054 2891 1851 2361 0 0 0 0 0 0 28.83 26.23 28.83

2820 1.10 117.3 77.0 10.0 514 2827 0.00 2.22 0.00 0.000 4 0.000 0.064 2891 3257 2361 0 0 0 0 0 0 28.83 26.24 28.83

2975 1.10 117.3 57.5 13.5 552 2982 0.00 2.17 0.00 0.000 6 0.000 0.055 2902 1850 2361 0 0 0 0 0 0 28.83 26.27 28.83

3101 1.10 117.3 42.4 11.5 577 3108 0.00 2.22 0.00 0.000 4 0.000 0.067 2902 3259 2360 0 0 0 0 0 0 28.83 26.28 28.83

3171 1.10 117.3 33.3 12.7 594 3179 0.00 2.17 0.00 0.000 6 0.000 0.056 2918 1851 2361 0 0 0 0 0 0 28.83 26.29 28.83

3197 1.10 117.3 30.2 11.6 599 3198 0.00 0.00 0.00 0.000 6 0.000 0.000 2912 1851 2361 0 0 0 0 0 0 28.83 28.83 28.83

3217 1.10 117.3 27.9 11.5 603 3218 0.00 0.00 0.00 0.000 6 0.000 0.000 2912 1851 2361 0 0 0 0 0 0 28.83 28.83 28.83

3237 1.10 117.3 25.6 11.1 607 3238 0.00 0.00 0.00 0.000 6 0.000 0.000 2912 1851 2361 0 0 0 0 0 0 28.83 28.83 28.83

3257 1.10 117.3 23.3 11.3 611 3258 0.00 0.00 0.00 0.000 6 0.000 0.000 2911 1851 2361 0 0 0 0 0 0 28.83 28.83 28.83

3277 1.10 117.3 21.2 10.9 615 3284 0.00 2.28 0.00 0.000 4 0.000 0.079 2923 437 2361 0 0 0 0 0 0 28.83 26.25 28.83

3320 1.10 117.3 16.5 11.3 625 3328 0.12 2.17 0.00 0.000 6 0.199 0.054 2896 1851 2361 0 0 0 0 0 0 26.13 26.31 28.83

3347 1.10 117.3 13.7 10.3 630 3354 0.00 2.20 0.00 0.000 4 0.000 0.066 2895 3253 2361 0 0 0 0 0 0 28.83 26.28 28.83

3373 1.10 117.3 10.9 9.9 636 3380 0.00 2.17 0.00 0.000 6 0.000 0.057 2905 1848 2361 0 0 0 0 0 0 28.83 26.28 28.83

3399 1.10 117.3 8.1 10.3 641 3400 0.00 0.00 0.00 0.000 6 0.000 0.000 2905 1848 2361 0 0 0 0 0 0 28.83 28.83 28.83

3419 1.10 117.3 6.2 9.3 645 3420 0.00 0.00 0.00 0.000 6 0.000 0.000 2905 1848 2362 0 0 0 0 0 0 28.83 28.83 28.83

3439 1.10 117.3 3.9 11.5 649 3440 0.00 0.00 0.00 0.000 6 0.000 0.000 2905 1848 2361 0 0 0 0 0 0 28.83 28.83 28.83

3459 end climb: SURFACE_DEPTH_REACHED

state 3459 begin surface coast

3479 end surface coast: CONTROL_FINISHED_OK

state 3479 begin surface

ID	208	HD_C	1.6100001e-05	ROLL_MIN	196	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	2	HEADING	-1	ROLL_MAX	3778	ALTIM_PING_DEPTH	0
DIVE	12	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
N_DIVES	30	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1995	ALTIM_FREQUENCY	13
D_SURF	2	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1850	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_TGT	180	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	XPDR_VALID	0
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	50	SM_CC	230	R_PORT_OVSHOOT	32	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	100	N_FILEKB	4	R_STBD_OVSHOOT	34	INT_PRESSURE_YINT	0.30000001
T_BOOST	2	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	0	MOTHERBOARD	4
D_SAFE	0	PROTOCOL	73	ROLL_ADJ_DBAND	0	DEVICE1	2
D_CALL	0	N_NOCOMM	1	VBD_MIN	500	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_MAX	3960	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	2859	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	70	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	85	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_ABORT	720	CAPUPLOAD	1	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	83
T_TURN	600	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE2	-1
T_TURN_SAMPINT	4	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_NO_W	120	T_GPS	5	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	-2874.0659	CF8_MAXERRORS	20	PHONE_DEVICE	49
USE_ICE	-1	T_RSLEEP	3	AH0_24V	150	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	95	RAFOS_DEVICE	-1
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	MINV_24V	19	XPDR_DEVICE	-1
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	-5	PITCH_MIN	249	FG_AHR_24V	0	SEABIRD_T_G	0.0043976754
MAX_BUOY	120	PITCH_MAX	3894	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063337648
COURSE_BIAS	0	C_PITCH	2530	PRESSURE_YINT	-65.040756	SEABIRD_T_I	2.4533158e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001164818	SEABIRD_T_J	2.8976478e-06
SPEED_FACTOR	1	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7807083
RHO	1.023	P_OVSHOOT	0.059999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1372483
MASS	51476	PITCH_GAIN	18	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015743772
NAV_MODE	1	PITCH_TIMEOUT	18	COMPASS_USE	4	SEABIRD_C_J	0.00019512554
FERRY_MAX	45	PITCH_AD_RATE	160	ALTIM_BOTTOM_PING_RANGE	0	MI_OFFLOAD	1.0
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	MI_POWERSOURCE	0.0
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	MI_RESTARTMONITOR	0.0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	MI_NOTIFYMOTORS	0.0

GPS1	070214,100426,4743.854,-12224.560,14,1.5,24,16.3	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4742.700,-12224.800
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.044,-0.217
_SM_DEPTHo	1.08	KALMAN_X	62.6,-380.1,-240.9,-157.9,26.7
_SM_ANGLEo	-62.9	KALMAN_Y	-862.8,-678.9,367.5,2768.9,-203.1
GPS2	070214,101250,4743.917,-12224.545,4,1.6,14,16.3	MHEAD_RNG_PITCHd_Wd	175.1,2276,-17.3,-8.571
SPEED_LIMITS	0.148,0.221	D_GRID	174

FINISH	0.3,1.021295	MI_ROOT	70.6/190403/56027
SM_CCo	3494,35.65,0.129,0,0,1919,230.09	MI_HOME	2.4/436550/426223
SM_GC	1.28,7.45,0.25,35.65,0.072,0.070,0.129,253,2008,1919,-7.06,-0.76,230.09,0,0,0,0,0,0,26.28,26.33,26.10	_24V_AH	24.8,1.577
IRIDIUM_FIX	4751.72,-12340.51,070214,090910	_10V_AH	10.4,1.278
TT8_MAMPS	0.104111,0.104111	FG_AHR_24Vo	0.000
HUMID	26.45	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.00151	MEM	323548
TCM_TEMP	18.00	DATA_FILE_SIZE	26752,657
MI_MIVER	0.4	CAP_FILE_SIZE	83230,0
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	CFSIZE	1024409600,1021476864
MI_BOOTCOUNT	13	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
MI_LOG	3.3/516052/498792	GPS	070214,111322,4743.537,-12224.676,26,1.9,44,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	294	140.61	SBE_CT	442	23	263.23
Roll_motor	61	78	119.54	nil	0	0	0.00
VBD_pump_during_apogee	215	498	2663.21	nil	0	0	0.00
VBD_pump_during_surface	35	128	113.63	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	12	8.13	nil	0	0	0.00
Iridium_during_connect	34	160	137.67	MIB	4115	41	4272.41
Iridium_during_xfer	226	223	1251.95	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	4115	44	4577.35
GPS	15	33	5.28
TT8	0	0	0.00
LPSleep	1660	0	6.74
TT8_Active	389	14	59.56
TT8_Sampling	1830	44	850.51
TT8_CF8	43	64	28.94
TT8_Kalman	33	67	23.19
Analog_circuits	942	16	156.76
GPS_charging	0	0	0.00
Compass	963	8	82.61
RAFOS	0	0	0.00
Transponder	0	0	0.00

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-1.10	-117.3	0.0	0.0	0	80	0.00	0.00	-60.72	0.000	6	0.000	0.000	250	1978	3338	0	0	0	0	0	0	28.83	28.83	26.21
82	-1.10	-117.3	2.0	-1.8	10	96	9.07	2.17	0.00	0.000	4	0.295	0.058	2172	582	3338	0	0	0	0	0	0	25.81	26.03	28.83
112	-1.10	-117.3	7.7	-13.7	16	119	0.00	2.15	0.00	0.000	6	0.000	0.042	2163	2005	3336	0	0	0	0	0	0	28.83	26.06	28.83
137	-1.10	-117.3	10.8	-11.6	21	145	0.00	2.22	0.00	0.000	4	0.000	0.058	2163	583	3338	0	0	0	0	0	0	28.83	26.05	28.83
260	-1.10	-117.3	26.4	-13.4	51	267	0.00	2.15	0.00	0.000	6	0.000	0.043	2152	2006	3338	0	0	0	0	0	0	28.83	26.15	28.83
286	-1.10	-117.3	29.5	-12.5	56	293	0.00	2.15	0.00	0.000	4	0.000	0.058	2142	3399	3338	0	0	0	0	0	0	28.83	26.13	28.83
337	-1.10	-117.3	34.9	-9.6	68	344	0.10	2.12	0.00	0.000	6	0.200	0.042	2161	1976	3339	0	0	0	0	0	0	26.01	26.19	28.83
363	-1.10	-117.3	37.7	-10.4	73	364	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	1974	3339	0	0	0	0	0	0	28.83	28.83	28.83
383	-1.10	-117.3	39.8	-10.3	77	390	0.00	2.12	0.00	0.000	4	0.000	0.060	2162	602	3338	0	0	0	0	0	0	28.83	26.17	28.83
418	-1.10	-117.3	43.6	-11.2	85	425	0.00	2.12	0.00	0.000	6	0.000	0.044	2152	1996	3338	0	0	0	0	0	0	28.83	26.21	28.83
544	-1.10	-117.3	56.7	-10.5	110	551	0.00	2.17	0.00	0.000	4	0.000	0.060	2142	3406	3338	0	0	0	0	0	0	28.83	26.22	28.83
711	-1.10	-117.3	75.7	-11.4	151	718	0.10	2.12	0.00	0.000	6	0.200	0.042	2161	1982	3338	0	0	0	0	0	0	26.09	26.27	28.83
838	-1.10	-117.3	87.5	-9.2	176	845	0.00	2.20	0.00	0.000	4	0.000	0.059	2151	3404	3338	0	0	0	0	0	0	28.83	26.26	28.83
944	-1.10	-117.3	97.7	-8.8	202	951	0.00	2.10	0.00	0.000	6	0.000	0.041	2151	1996	3338	0	0	0	0	0	0	28.83	26.30	28.83
1070	-1.10	-117.3	110.2	-10.3	227	1071	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	1996	3338	0	0	0	0	0	0	28.83	28.83	28.83
1190	-1.10	-117.3	122.3	-9.8	251	1191	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	1996	3338	0	0	0	0	0	0	28.83	28.83	28.83
1310	-1.10	-117.3	134.8	-10.5	275	1317	0.00	2.15	0.00	0.000	4	0.000	0.060	2151	602	3338	0	0	0	0	0	0	28.83	26.28	28.83
1345	-1.10	-117.3	138.5	-10.7	283	1352	0.10	2.10	0.00	0.000	6	0.207	0.044	2161	1996	3338	0	0	0	0	0	0	26.13	26.22	28.83
1471	-1.10	-117.3	151.4	-11.1	307	1472	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	1996	3338	0	0	0	0	0	0	28.83	28.83	28.83
1680	end dive: TARGET_DEPTH_EXCEEDED
state	1680	begin apogee
1683	-0.28	0.0	174.1	-10.7	328	1820	0.90	0.00	127.28	0.490	6	0.177	0.000	2423	1838	2856	0	0	0	0	0	0	26.16	28.83	24.95
1820	end apogee: CONTROL_FINISHED_OK
state	1820	begin climb
1821	1.10	117.3	178.9	0.0	344	1913	1.40	0.00	88.03	0.499	6	0.122	0.000	2861	1839	2377	0	0	0	0	0	0	25.33	28.83	24.79
2209	1.10	117.3	143.7	11.3	389	2210	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1838	2361	0	0	0	0	0	0	28.83	28.83	28.83
2329	1.10	117.3	130.0	11.3	413	2336	0.00	2.20	0.00	0.000	4	0.000	0.072	2871	465	2361	0	0	0	0	0	0	28.83	26.09	28.83
2368	1.10	117.3	125.6	11.2	422	2375	0.00	2.12	0.00	0.000	6	0.000	0.051	2871	1850	2361	0	0	0	0	0	0	28.83	26.15	28.83
2494	1.10	117.3	111.9	10.4	447	2501	0.00	2.20	0.00	0.000	4	0.000	0.065	2871	3254	2361	0	0	0	0	0	0	28.83	26.18	28.83
2521	1.10	117.3	108.8	12.6	453	2528	0.00	2.12	0.00	0.000	6	0.000	0.054	2881	1874	2361	0	0	0	0	0	0	28.83	26.18	28.83
2647	1.10	117.3	95.2	10.0	478	2654	0.00	2.17	0.00	0.000	4	0.000	0.064	2881	3256	2364	0	0	0	0	0	0	28.83	26.22	28.83
2694	1.10	117.3	90.0	11.2	489	2701	0.00	2.17	0.00	0.000	6	0.000	0.054	2891	1851	2361	0	0	0	0	0	0	28.83	26.23	28.83
2820	1.10	117.3	77.0	10.0	514	2827	0.00	2.22	0.00	0.000	4	0.000	0.064	2891	3257	2361	0	0	0	0	0	0	28.83	26.24	28.83
2975	1.10	117.3	57.5	13.5	552	2982	0.00	2.17	0.00	0.000	6	0.000	0.055	2902	1850	2361	0	0	0	0	0	0	28.83	26.27	28.83
3101	1.10	117.3	42.4	11.5	577	3108	0.00	2.22	0.00	0.000	4	0.000	0.067	2902	3259	2360	0	0	0	0	0	0	28.83	26.28	28.83
3171	1.10	117.3	33.3	12.7	594	3179	0.00	2.17	0.00	0.000	6	0.000	0.056	2918	1851	2361	0	0	0	0	0	0	28.83	26.29	28.83
3197	1.10	117.3	30.2	11.6	599	3198	0.00	0.00	0.00	0.000	6	0.000	0.000	2912	1851	2361	0	0	0	0	0	0	28.83	28.83	28.83
3217	1.10	117.3	27.9	11.5	603	3218	0.00	0.00	0.00	0.000	6	0.000	0.000	2912	1851	2361	0	0	0	0	0	0	28.83	28.83	28.83
3237	1.10	117.3	25.6	11.1	607	3238	0.00	0.00	0.00	0.000	6	0.000	0.000	2912	1851	2361	0	0	0	0	0	0	28.83	28.83	28.83
3257	1.10	117.3	23.3	11.3	611	3258	0.00	0.00	0.00	0.000	6	0.000	0.000	2911	1851	2361	0	0	0	0	0	0	28.83	28.83	28.83
3277	1.10	117.3	21.2	10.9	615	3284	0.00	2.28	0.00	0.000	4	0.000	0.079	2923	437	2361	0	0	0	0	0	0	28.83	26.25	28.83
3320	1.10	117.3	16.5	11.3	625	3328	0.12	2.17	0.00	0.000	6	0.199	0.054	2896	1851	2361	0	0	0	0	0	0	26.13	26.31	28.83
3347	1.10	117.3	13.7	10.3	630	3354	0.00	2.20	0.00	0.000	4	0.000	0.066	2895	3253	2361	0	0	0	0	0	0	28.83	26.28	28.83
3373	1.10	117.3	10.9	9.9	636	3380	0.00	2.17	0.00	0.000	6	0.000	0.057	2905	1848	2361	0	0	0	0	0	0	28.83	26.28	28.83
3399	1.10	117.3	8.1	10.3	641	3400	0.00	0.00	0.00	0.000	6	0.000	0.000	2905	1848	2361	0	0	0	0	0	0	28.83	28.83	28.83
3419	1.10	117.3	6.2	9.3	645	3420	0.00	0.00	0.00	0.000	6	0.000	0.000	2905	1848	2362	0	0	0	0	0	0	28.83	28.83	28.83
3439	1.10	117.3	3.9	11.5	649	3440	0.00	0.00	0.00	0.000	6	0.000	0.000	2905	1848	2361	0	0	0	0	0	0	28.83	28.83	28.83
3459	end climb: SURFACE_DEPTH_REACHED
state	3459	begin surface coast
3479	end surface coast: CONTROL_FINISHED_OK
state	3479	begin surface