Glider dive log

SCORE Oct10 * SG118 * Dive index * Mission links * Dive 137 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HEADING 270 ROLL_DEG 40 ALTIM_PING_DELTA 0

MISSION 3 ESCAPE_HEADING 0 C_ROLL_DIVE 1950 ALTIM_FREQUENCY 13

DIVE 137 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1950 ALTIM_PULSE 3

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_SURF 3 TGT_DEFAULT_LAT 32.75 ROLL_CNV 0.028270001 XPDR_VALID 1

D_FLARE 3 TGT_DEFAULT_LON -118.6667 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_TGT 990 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 27 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 325 R_STBD_OVSHOOT 30 INT_PRESSURE_YINT 1.4

D_NO_BLEED 200 N_FILEKB 8 ROLL_AD_RATE 350 DEEPGLIDER 0

D_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 DEEPGLIDERMB 0

T_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEVICE1 2

D_PITCH 0 PROTOCOL 0 VBD_MIN 650 DEVICE2 -1

D_SAFE 0 N_NOCOMM 3 VBD_MAX 3893 DEVICE3 -1

D_CALL 0 N_NOSURFACE 0 C_VBD 3020 DEVICE4 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 10 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 30 VBD_TIMEOUT 720 LOGGERS 1

T_DIVE 220 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 83

T_MISSION 275 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE2 -1

T_ABORT 1440 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_TURN 225 T_GPS 15 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_TURN_SAMPINT 5 N_GPS 20 UNCOM_BLEED 50 COMPASS_DEVICE 33

T_NO_W 120 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_LOITER 0 T_GPS_CHARGE -48802.895 CF8_MAXERRORS 20 PHONE_DEVICE 48

USE_BATHY 0 T_RSLEEP 8 AH0_24V 91.800003 GPS_DEVICE 32

USE_ICE -1 STROBE 0 AH0_10V 61.200001 RAFOS_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 MINV_24V 19 XPDR_DEVICE -1

D_OFFGRID 101 RAFOS_CORR_THRESH 60 MINV_10V 8 SIM_W 0

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

RELAUNCH 1 PITCH_MIN 428 FG_AHR_24V 0 SEABIRD_T_G 0.0043067457

APOGEE_PITCH -5 PITCH_MAX 3730 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063597393

MAX_BUOY 250 C_PITCH 2725 PRESSURE_YINT -7.4564514 SEABIRD_T_I 2.2520266e-05

COURSE_BIAS 0 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001161622 SEABIRD_T_J 2.121848e-06

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.9730387

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1230758

RHO 1.0275 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012369319

MASS 51918 PITCH_TIMEOUT 19 COMPASS_USE 0 SEABIRD_C_J 0.00015181596

NAV_MODE 1 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 MI_OFFLOAD 1.0

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 MI_MAXUPLOADSIZE 20480.0

KALMAN_USE 2 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 MI_MAXOPTIONALUPLOADSIZE 20480.0

HD_A 0.0038600001 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 MI_POWERSOURCE 0.0

HD_B 0.010078 ROLL_MIN 311 ALTIM_TOP_MIN_OBSTACLE 1 MI_RESTARTMONITOR 0.0

HD_C 9.9999997e-06 ROLL_MAX 3943 ALTIM_PING_DEPTH 80 MI_SCALEFACTOR24V 1.3

AD7714Ch0Gain 128 D_OFFGRID 101 N_FILEKB 8 SEABIRD_T_I 2.2520266e-05

AH0_10V 61.200001 D_PITCH 0 N_GPS 20 SEABIRD_T_J 2.121848e-06

AH0_24V 91.800003 D_SAFE 0 N_NOCOMM 3 SIM_PITCH 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 N_NOSURFACE 0 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PHONE_DEVICE 48 SM_CC 325

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PING_DEPTH 80 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_AD_RATE 170 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_CNV 0.0046000001 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 15 TCM_ROLL_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAX 3730 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 32.75

CALL_NDIVES 1 HD_A 0.0038600001 PITCH_MIN 428 TGT_DEFAULT_LON -118.6667

CALL_TRIES 10 HD_B 0.010078 PITCH_TIMEOUT 19 T_ABORT 1440

CALL_WAIT 30 HD_C 9.9999997e-06 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 0

CAPMAXSIZE 100000 HEADING 270 PRESSURE_SLOPE 0.0001161622 T_DIVE 220

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -7.4564514 T_GPS 15

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 0 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT 0.039999999 T_GPS_CHARGE -48802.895

COMPASS2_DEVICE -1 ID 118 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_MISSION 275

COMPASS_USE 0 INT_PRESSURE_YINT 1.4 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 8

C_PITCH 2725 LOGGERDEVICE1 83 RELAUNCH 1 T_TURN 225

C_ROLL_CLIMB 1950 LOGGERDEVICE2 -1 RHO 1.0275 T_TURN_SAMPINT 5

C_ROLL_DIVE 1950 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_VBD 3020 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

DEEPGLIDER 0 LOGGERS 1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 51918 ROLL_CNV 0.028270001 USE_BATHY 0

DEVICE1 2 MAX_BUOY 250 ROLL_DEG 40 USE_ICE -1

DEVICE2 -1 MINV_10V 8 ROLL_MAX 3943 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 19 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 3 ROLL_MIN 311 VBD_DBAND 2

DEVICE5 -1 MI_MAXOPTIONALUPLOADSIZE 20480.0 ROLL_TIMEOUT 15 VBD_MAX 3893

DEVICE6 -1 MI_MAXUPLOADSIZE 20480.0 R_PORT_OVSHOOT 27 VBD_MAXERRORS 1

DIVE 137 MI_OFFLOAD 1.0 R_STBD_OVSHOOT 30 VBD_MIN 650

D_ABORT 1090 MI_POWERSOURCE 0.0 SEABIRD_C_G -9.9730387 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 0 MI_RESTARTMONITOR 0.0 SEABIRD_C_H 1.1230758 VBD_PUMP_AD_RATE_SURFACE 6

D_CALL 0 MI_SCALEFACTOR24V 1.3 SEABIRD_C_I -0.0012369319 VBD_TIMEOUT 720

D_FINISH 0 MOTHERBOARD 4 SEABIRD_C_J 0.00015181596 XPDR_DEVICE -1

D_FLARE 3 NAV_MODE 1 SEABIRD_T_G 0.0043067457 XPDR_INHIBIT 90

D_NO_BLEED 200 N_DIVES 0 SEABIRD_T_H 0.00063597393 XPDR_VALID 1

Pre-dive calculations and measurements:

GPS1 051010,230824,3244.069,-11855.725,22,1.7,39,13.3 TGT_NAME HEADING

_CALLS 3 TGT_LATLONG 3244.107,-11908.347

_XMS_NAKs 4 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.012,0.326

_SM_DEPTHo 1.07 KALMAN_X -29103.7,-168.3,-105.0,32864.0,372.0

_SM_ANGLEo -67.0 KALMAN_Y 17229.5,157.9,-463.5,-20482.0,-554.6

GPS2 051010,232946,3244.107,-11855.509,14,2.7,33,13.3 MHEAD_RNG_PITCHd_Wd 256.7,20000,-19.7,-15.000

SPEED_LIMITS 0.260,0.374 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.024340 MI_ROOT 63.2/190403/70005

SM_CCo 12069,0.00,0.000,0,0,1422,391.99 MI_HOME 4.0/478492/459222

SM_GC 1.25,11.90,0.00,0.00,0.034,0.000,0.000,423,1942,1422,-10.53,-0.20,391.99 _24V_AH 23.6,24.460

IRIDIUM_FIX 3327.96,-11804.20,051010,232305 _10V_AH 9.8,20.898

TT8_MAMPS 0.104111 FG_AHR_24Vo 0.000

HUMID 57.83 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.17374 MEM 330892

TCM_TEMP 19.70 DATA_FILE_SIZE 16825,534

MI_MIVER 0.1 CAP_FILE_SIZE 111584,0

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Wed Sep 8 17:09:45 PDT 2010 CFSIZE -70647808,-106692608

MI_BOOTCOUNT 72 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

MI_LOG 2.0/472810/463347 GPS 061010,025206,3243.874,-11858.261,42,1.6,42,13.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 139 84.94 SBE_CT 381 24 215.85

Roll_motor 91 279 606.43 nil 0 0 0.00

VBD_pump_during_apogee 512 1214 14695.46 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 85 103 208.90 nil 0 0 0.00

Iridium_during_connect 112 160 426.14 MIB 13410 45 14533.55

Iridium_during_xfer 620 223 3266.18 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 13410 15 5021.43

GPS 35 50 17.38

TT8 0 0 0.00

LPSleep 9993 0 38.20

TT8_Active 605 18 106.85

TT8_Sampling 2232 38 831.33

TT8_CF8 491 44 211.92

TT8_Kalman 0 0 0.00

Analog_circuits 1215 12 142.98

GPS_charging 0 0 0.00

Compass 970 15 142.73

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -1.61 -243.3 0.0 0.0 0 115 0.00 0.00 -94.50 0.000 2 0.000 0.000 425 1956 3474 0 0 0 0 0 0

118 -1.61 -243.3 3.6 -7.9 16 143 10.48 2.50 -7.32 0.000 4 0.139 0.052 2370 539 3898 0 0 0 0 0 0

149 -1.61 -243.3 16.7 -37.9 21 155 0.00 2.42 0.00 0.000 6 0.000 0.029 2370 1947 3898 0 0 0 0 0 0

220 -1.61 -243.3 36.9 -25.1 34 226 0.00 0.00 0.00 0.000 6 0.000 0.000 2370 1947 3900 0 0 0 0 0 0

290 -1.61 -243.3 52.3 -21.7 46 291 0.00 0.00 0.00 0.000 6 0.000 0.000 2370 1947 3900 0 0 0 0 0 0

476 -1.61 -243.3 92.5 -22.4 64 476 0.00 0.00 0.00 0.000 6 0.000 0.000 2370 1948 3902 0 0 0 0 0 0

661 -1.61 -243.3 132.4 -21.3 80 665 0.00 2.50 0.00 0.000 4 0.000 0.046 2370 542 3903 0 0 0 0 0 0

714 -1.61 -243.3 143.2 -19.9 81 721 0.00 2.42 0.00 0.000 6 0.000 0.031 2370 1952 3903 0 0 0 0 0 0

1023 -1.61 -243.3 206.0 -20.2 92 1024 0.00 0.00 0.00 0.000 6 0.000 0.000 2370 1952 3903 0 0 0 0 0 0

1327 -1.61 -243.3 266.1 -19.7 102 1331 0.00 2.53 0.00 0.000 4 0.000 0.049 2370 542 3903 0 0 0 0 0 0

1364 -1.61 -243.3 273.4 -19.5 103 1368 0.00 2.45 0.00 0.000 6 0.000 0.032 2370 1954 3903 0 0 0 0 0 0

1683 -1.61 -243.3 333.3 -17.9 114 1687 0.00 2.53 0.00 0.000 4 0.000 0.050 2369 548 3902 0 0 0 0 0 0

1715 -1.61 -243.3 339.1 -18.4 115 1719 0.00 2.45 0.00 0.000 6 0.000 0.033 2370 1953 3902 0 0 0 0 0 0

2040 -1.61 -243.3 397.6 -18.1 126 2044 0.00 2.53 0.00 0.000 4 0.000 0.051 2369 548 3901 0 0 0 0 0 0

2072 -1.61 -243.3 403.5 -18.3 127 2075 0.00 2.45 0.00 0.000 6 0.000 0.034 2369 1953 3901 0 0 0 0 0 0

2396 -1.61 -243.3 460.7 -17.6 138 2397 0.00 0.00 0.00 0.000 6 0.000 0.000 2370 1953 3900 0 0 0 0 0 0

2700 -1.61 -243.3 513.1 -17.0 148 2704 0.00 2.55 0.00 0.000 4 0.000 0.054 2369 548 3899 0 0 0 0 0 0

2727 -1.61 -243.3 517.7 -17.5 149 2731 0.00 2.45 0.00 0.000 6 0.000 0.035 2370 1949 3899 0 0 0 0 0 0

3057 -1.61 -243.3 573.1 -16.8 160 3058 0.00 0.00 0.00 0.000 6 0.000 0.000 2370 1949 3897 0 0 0 0 0 0

3361 -1.61 -243.3 622.7 -16.3 170 3364 0.00 2.58 0.00 0.000 4 0.000 0.060 2369 545 3895 0 0 0 0 0 0

3381 -1.61 -243.3 626.3 -17.4 170 3388 0.00 2.47 0.00 0.000 6 0.000 0.037 2369 1949 3895 0 0 0 0 0 0

3690 -1.61 -243.3 677.5 -16.5 181 3691 0.00 0.00 0.00 0.000 6 0.000 0.000 2370 1949 3894 0 0 0 0 0 0

3994 -1.61 -243.3 726.7 -15.9 191 3995 0.00 0.00 0.00 0.000 6 0.000 0.000 2370 1949 3893 0 0 0 0 0 0

4297 -1.61 -243.3 774.3 -15.5 201 4298 0.00 0.00 0.00 0.000 6 0.000 0.000 2370 1949 3891 0 0 0 0 0 0

4601 -1.61 -243.3 822.3 -15.8 211 4601 0.00 0.00 0.00 0.000 6 0.000 0.000 2370 1949 3889 0 0 0 0 0 0

4904 -1.61 -243.3 870.2 -16.0 221 4905 0.00 0.00 0.00 0.000 6 0.000 0.000 2370 1948 3888 0 0 0 0 0 0

5208 -1.61 -243.3 918.6 -16.0 231 5212 0.00 3.25 0.00 0.000 4 0.000 0.174 2370 559 3887 0 0 0 0 0 0

5245 -1.61 -243.3 924.9 -16.6 232 5249 0.00 3.03 0.00 0.000 6 0.000 0.145 2369 1932 3887 0 0 1 0 0 0

5564 -1.61 -243.3 974.2 -15.3 243 5565 0.00 0.00 0.00 0.000 6 0.000 0.000 2370 1932 3887 0 0 0 0 0 0

5682 end dive: TARGET_DEPTH_EXCEEDED

state 5682 begin apogee

5689 -0.33 0.0 993.3 15.7 247 5876 1.35 0.00 179.90 1.214 6 0.095 0.000 2645 1949 3020 0 0 0 0 0 0

5877 end apogee: CONTROL_FINISHED_OK

state 5877 begin climb

5880 1.61 243.3 999.4 0.0 253 6091 2.03 0.00 207.57 1.175 6 0.062 0.000 3074 1948 2028 0 0 0 0 0 0

6391 1.61 243.3 917.5 19.4 270 6392 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 1948 2019 0 0 0 0 0 0

6692 1.61 243.3 862.6 17.7 280 6693 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 1949 2017 0 0 0 0 0 0

6995 1.61 243.3 807.8 18.3 290 6996 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 1949 2017 0 0 0 0 0 0

7299 1.61 243.3 754.4 17.2 300 7299 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 1950 2016 0 0 0 0 0 0

7602 1.61 243.3 702.2 17.3 310 7606 0.00 2.65 0.00 0.000 4 0.000 0.064 3074 3380 2015 0 0 0 0 0 0

7634 1.61 243.3 696.6 17.5 311 7638 0.00 2.58 0.00 0.000 6 0.000 0.042 3074 1953 2015 0 0 0 0 0 0

7959 1.61 243.3 641.9 16.9 322 7960 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 1952 2014 0 0 0 0 0 0

8262 1.61 243.3 591.0 16.6 332 8266 0.00 2.62 0.00 0.000 4 0.000 0.056 3074 3380 2014 0 0 0 0 0 0

8294 1.61 243.3 585.5 17.5 333 8298 0.00 2.55 0.00 0.000 6 0.000 0.037 3074 1949 2015 0 0 0 0 0 0

8619 1.61 243.3 532.1 16.6 344 8622 0.00 2.58 0.00 0.000 4 0.000 0.063 3074 539 2013 0 0 0 0 0 0

8645 1.61 243.3 527.4 17.8 345 8649 0.00 2.50 0.00 0.000 6 0.000 0.033 3074 1971 2013 0 0 0 0 0 0

8975 1.61 243.3 472.0 17.1 356 8979 0.00 2.50 0.00 0.000 4 0.000 0.055 3074 3353 2013 0 0 0 0 0 0

9002 1.61 243.3 467.3 17.4 357 9006 0.00 2.50 0.00 0.000 6 0.000 0.035 3074 1939 2013 0 0 0 0 0 0

9332 1.61 243.3 411.4 17.0 368 9333 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 1940 2013 0 0 0 0 0 0

9635 1.61 243.3 361.0 16.3 378 9639 0.00 2.50 0.00 0.000 4 0.000 0.059 3074 546 2013 0 0 0 0 0 0

9656 1.61 243.3 357.4 17.5 378 9663 0.00 2.45 0.00 0.000 6 0.000 0.032 3074 1953 2013 0 0 0 0 0 0

9965 1.61 243.3 308.6 15.8 389 9969 0.00 2.53 0.00 0.000 4 0.000 0.053 3074 3356 2012 0 0 0 0 0 0

9997 1.61 243.3 303.3 16.5 390 10000 0.00 2.47 0.00 0.000 6 0.000 0.034 3074 1950 2012 0 0 0 0 0 0

10322 1.61 243.3 250.8 16.3 401 10325 0.00 2.55 0.00 0.000 4 0.000 0.050 3074 3358 2012 0 0 0 0 0 0

10343 1.61 243.3 247.4 15.9 401 10349 0.00 2.50 0.00 0.000 6 0.000 0.034 3074 1942 2012 0 0 0 0 0 0

10651 1.61 243.3 198.1 15.5 412 10652 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 1942 2012 0 0 0 0 0 0

10955 1.61 243.8 151.6 15.0 422 10956 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 1942 2012 0 0 0 0 0 0

11261 1.65 273.7 108.3 13.8 438 11294 0.00 2.60 23.92 0.637 4 0.000 0.056 3074 551 1902 0 0 0 0 0 0

11315 1.66 286.0 100.8 14.5 443 11331 0.00 2.45 11.85 0.597 6 0.000 0.030 3074 1954 1854 0 0 0 0 0 0

11520 1.67 293.3 71.6 14.7 462 11533 0.00 2.53 7.47 0.551 4 0.000 0.048 3074 3359 1824 0 0 0 0 0 0

11549 1.71 322.8 67.0 13.8 464 11580 0.10 2.50 26.67 0.594 6 0.085 0.031 3104 1944 1702 0 0 0 0 0 0

11771 1.71 322.8 29.2 15.2 496 11777 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 1944 1696 0 0 0 0 0 0

11841 1.79 388.8 20.2 12.3 509 11902 0.00 2.60 55.50 0.559 4 0.000 0.047 3104 3352 1433 0 0 0 0 0 0

11955 1.79 388.8 3.7 16.4 529 11961 0.00 2.47 0.00 0.000 6 0.000 0.031 3104 1950 1429 0 0 0 0 0 0

11964 end climb: SURFACE_DEPTH_REACHED

state 11964 begin surface coast

11982 end surface coast: CONTROL_FINISHED_OK

state 11982 begin surface

ID	118	HEADING	270	ROLL_DEG	40	ALTIM_PING_DELTA	0
MISSION	3	ESCAPE_HEADING	0	C_ROLL_DIVE	1950	ALTIM_FREQUENCY	13
DIVE	137	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1950	ALTIM_PULSE	3
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_SURF	3	TGT_DEFAULT_LAT	32.75	ROLL_CNV	0.028270001	XPDR_VALID	1
D_FLARE	3	TGT_DEFAULT_LON	-118.6667	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_TGT	990	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	27	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	325	R_STBD_OVSHOOT	30	INT_PRESSURE_YINT	1.4
D_NO_BLEED	200	N_FILEKB	8	ROLL_AD_RATE	350	DEEPGLIDER	0
D_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	DEEPGLIDERMB	0
T_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEVICE1	2
D_PITCH	0	PROTOCOL	0	VBD_MIN	650	DEVICE2	-1
D_SAFE	0	N_NOCOMM	3	VBD_MAX	3893	DEVICE3	-1
D_CALL	0	N_NOSURFACE	0	C_VBD	3020	DEVICE4	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	10	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	30	VBD_TIMEOUT	720	LOGGERS	1
T_DIVE	220	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	83
T_MISSION	275	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE2	-1
T_ABORT	1440	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_TURN	225	T_GPS	15	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_TURN_SAMPINT	5	N_GPS	20	UNCOM_BLEED	50	COMPASS_DEVICE	33
T_NO_W	120	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_LOITER	0	T_GPS_CHARGE	-48802.895	CF8_MAXERRORS	20	PHONE_DEVICE	48
USE_BATHY	0	T_RSLEEP	8	AH0_24V	91.800003	GPS_DEVICE	32
USE_ICE	-1	STROBE	0	AH0_10V	61.200001	RAFOS_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	MINV_24V	19	XPDR_DEVICE	-1
D_OFFGRID	101	RAFOS_CORR_THRESH	60	MINV_10V	8	SIM_W	0
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
RELAUNCH	1	PITCH_MIN	428	FG_AHR_24V	0	SEABIRD_T_G	0.0043067457
APOGEE_PITCH	-5	PITCH_MAX	3730	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063597393
MAX_BUOY	250	C_PITCH	2725	PRESSURE_YINT	-7.4564514	SEABIRD_T_I	2.2520266e-05
COURSE_BIAS	0	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001161622	SEABIRD_T_J	2.121848e-06
GLIDE_SLOPE	30	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9730387
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1230758
RHO	1.0275	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012369319
MASS	51918	PITCH_TIMEOUT	19	COMPASS_USE	0	SEABIRD_C_J	0.00015181596
NAV_MODE	1	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	MI_OFFLOAD	1.0
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	MI_MAXUPLOADSIZE	20480.0
KALMAN_USE	2	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	MI_MAXOPTIONALUPLOADSIZE	20480.0
HD_A	0.0038600001	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	MI_POWERSOURCE	0.0
HD_B	0.010078	ROLL_MIN	311	ALTIM_TOP_MIN_OBSTACLE	1	MI_RESTARTMONITOR	0.0
HD_C	9.9999997e-06	ROLL_MAX	3943	ALTIM_PING_DEPTH	80	MI_SCALEFACTOR24V	1.3

GPS1	051010,230824,3244.069,-11855.725,22,1.7,39,13.3	TGT_NAME	HEADING
_CALLS	3	TGT_LATLONG	3244.107,-11908.347
_XMS_NAKs	4	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.012,0.326
_SM_DEPTHo	1.07	KALMAN_X	-29103.7,-168.3,-105.0,32864.0,372.0
_SM_ANGLEo	-67.0	KALMAN_Y	17229.5,157.9,-463.5,-20482.0,-554.6
GPS2	051010,232946,3244.107,-11855.509,14,2.7,33,13.3	MHEAD_RNG_PITCHd_Wd	256.7,20000,-19.7,-15.000
SPEED_LIMITS	0.260,0.374	D_GRID	990

FINISH	0.4,1.024340	MI_ROOT	63.2/190403/70005
SM_CCo	12069,0.00,0.000,0,0,1422,391.99	MI_HOME	4.0/478492/459222
SM_GC	1.25,11.90,0.00,0.00,0.034,0.000,0.000,423,1942,1422,-10.53,-0.20,391.99	_24V_AH	23.6,24.460
IRIDIUM_FIX	3327.96,-11804.20,051010,232305	_10V_AH	9.8,20.898
TT8_MAMPS	0.104111	FG_AHR_24Vo	0.000
HUMID	57.83	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.17374	MEM	330892
TCM_TEMP	19.70	DATA_FILE_SIZE	16825,534
MI_MIVER	0.1	CAP_FILE_SIZE	111584,0
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Wed Sep 8 17:09:45 PDT 2010	CFSIZE	-70647808,-106692608
MI_BOOTCOUNT	72	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
MI_LOG	2.0/472810/463347	GPS	061010,025206,3243.874,-11858.261,42,1.6,42,13.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	139	84.94	SBE_CT	381	24	215.85
Roll_motor	91	279	606.43	nil	0	0	0.00
VBD_pump_during_apogee	512	1214	14695.46	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	85	103	208.90	nil	0	0	0.00
Iridium_during_connect	112	160	426.14	MIB	13410	45	14533.55
Iridium_during_xfer	620	223	3266.18	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	13410	15	5021.43
GPS	35	50	17.38
TT8	0	0	0.00
LPSleep	9993	0	38.20
TT8_Active	605	18	106.85
TT8_Sampling	2232	38	831.33
TT8_CF8	491	44	211.92
TT8_Kalman	0	0	0.00
Analog_circuits	1215	12	142.98
GPS_charging	0	0	0.00
Compass	970	15	142.73
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-1.61	-243.3	0.0	0.0	0	115	0.00	0.00	-94.50	0.000	2	0.000	0.000	425	1956	3474	0	0	0	0	0	0
118	-1.61	-243.3	3.6	-7.9	16	143	10.48	2.50	-7.32	0.000	4	0.139	0.052	2370	539	3898	0	0	0	0	0	0
149	-1.61	-243.3	16.7	-37.9	21	155	0.00	2.42	0.00	0.000	6	0.000	0.029	2370	1947	3898	0	0	0	0	0	0
220	-1.61	-243.3	36.9	-25.1	34	226	0.00	0.00	0.00	0.000	6	0.000	0.000	2370	1947	3900	0	0	0	0	0	0
290	-1.61	-243.3	52.3	-21.7	46	291	0.00	0.00	0.00	0.000	6	0.000	0.000	2370	1947	3900	0	0	0	0	0	0
476	-1.61	-243.3	92.5	-22.4	64	476	0.00	0.00	0.00	0.000	6	0.000	0.000	2370	1948	3902	0	0	0	0	0	0
661	-1.61	-243.3	132.4	-21.3	80	665	0.00	2.50	0.00	0.000	4	0.000	0.046	2370	542	3903	0	0	0	0	0	0
714	-1.61	-243.3	143.2	-19.9	81	721	0.00	2.42	0.00	0.000	6	0.000	0.031	2370	1952	3903	0	0	0	0	0	0
1023	-1.61	-243.3	206.0	-20.2	92	1024	0.00	0.00	0.00	0.000	6	0.000	0.000	2370	1952	3903	0	0	0	0	0	0
1327	-1.61	-243.3	266.1	-19.7	102	1331	0.00	2.53	0.00	0.000	4	0.000	0.049	2370	542	3903	0	0	0	0	0	0
1364	-1.61	-243.3	273.4	-19.5	103	1368	0.00	2.45	0.00	0.000	6	0.000	0.032	2370	1954	3903	0	0	0	0	0	0
1683	-1.61	-243.3	333.3	-17.9	114	1687	0.00	2.53	0.00	0.000	4	0.000	0.050	2369	548	3902	0	0	0	0	0	0
1715	-1.61	-243.3	339.1	-18.4	115	1719	0.00	2.45	0.00	0.000	6	0.000	0.033	2370	1953	3902	0	0	0	0	0	0
2040	-1.61	-243.3	397.6	-18.1	126	2044	0.00	2.53	0.00	0.000	4	0.000	0.051	2369	548	3901	0	0	0	0	0	0
2072	-1.61	-243.3	403.5	-18.3	127	2075	0.00	2.45	0.00	0.000	6	0.000	0.034	2369	1953	3901	0	0	0	0	0	0
2396	-1.61	-243.3	460.7	-17.6	138	2397	0.00	0.00	0.00	0.000	6	0.000	0.000	2370	1953	3900	0	0	0	0	0	0
2700	-1.61	-243.3	513.1	-17.0	148	2704	0.00	2.55	0.00	0.000	4	0.000	0.054	2369	548	3899	0	0	0	0	0	0
2727	-1.61	-243.3	517.7	-17.5	149	2731	0.00	2.45	0.00	0.000	6	0.000	0.035	2370	1949	3899	0	0	0	0	0	0
3057	-1.61	-243.3	573.1	-16.8	160	3058	0.00	0.00	0.00	0.000	6	0.000	0.000	2370	1949	3897	0	0	0	0	0	0
3361	-1.61	-243.3	622.7	-16.3	170	3364	0.00	2.58	0.00	0.000	4	0.000	0.060	2369	545	3895	0	0	0	0	0	0
3381	-1.61	-243.3	626.3	-17.4	170	3388	0.00	2.47	0.00	0.000	6	0.000	0.037	2369	1949	3895	0	0	0	0	0	0
3690	-1.61	-243.3	677.5	-16.5	181	3691	0.00	0.00	0.00	0.000	6	0.000	0.000	2370	1949	3894	0	0	0	0	0	0
3994	-1.61	-243.3	726.7	-15.9	191	3995	0.00	0.00	0.00	0.000	6	0.000	0.000	2370	1949	3893	0	0	0	0	0	0
4297	-1.61	-243.3	774.3	-15.5	201	4298	0.00	0.00	0.00	0.000	6	0.000	0.000	2370	1949	3891	0	0	0	0	0	0
4601	-1.61	-243.3	822.3	-15.8	211	4601	0.00	0.00	0.00	0.000	6	0.000	0.000	2370	1949	3889	0	0	0	0	0	0
4904	-1.61	-243.3	870.2	-16.0	221	4905	0.00	0.00	0.00	0.000	6	0.000	0.000	2370	1948	3888	0	0	0	0	0	0
5208	-1.61	-243.3	918.6	-16.0	231	5212	0.00	3.25	0.00	0.000	4	0.000	0.174	2370	559	3887	0	0	0	0	0	0
5245	-1.61	-243.3	924.9	-16.6	232	5249	0.00	3.03	0.00	0.000	6	0.000	0.145	2369	1932	3887	0	0	1	0	0	0
5564	-1.61	-243.3	974.2	-15.3	243	5565	0.00	0.00	0.00	0.000	6	0.000	0.000	2370	1932	3887	0	0	0	0	0	0
5682	end dive: TARGET_DEPTH_EXCEEDED
state	5682	begin apogee
5689	-0.33	0.0	993.3	15.7	247	5876	1.35	0.00	179.90	1.214	6	0.095	0.000	2645	1949	3020	0	0	0	0	0	0
5877	end apogee: CONTROL_FINISHED_OK
state	5877	begin climb
5880	1.61	243.3	999.4	0.0	253	6091	2.03	0.00	207.57	1.175	6	0.062	0.000	3074	1948	2028	0	0	0	0	0	0
6391	1.61	243.3	917.5	19.4	270	6392	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	1948	2019	0	0	0	0	0	0
6692	1.61	243.3	862.6	17.7	280	6693	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	1949	2017	0	0	0	0	0	0
6995	1.61	243.3	807.8	18.3	290	6996	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	1949	2017	0	0	0	0	0	0
7299	1.61	243.3	754.4	17.2	300	7299	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	1950	2016	0	0	0	0	0	0
7602	1.61	243.3	702.2	17.3	310	7606	0.00	2.65	0.00	0.000	4	0.000	0.064	3074	3380	2015	0	0	0	0	0	0
7634	1.61	243.3	696.6	17.5	311	7638	0.00	2.58	0.00	0.000	6	0.000	0.042	3074	1953	2015	0	0	0	0	0	0
7959	1.61	243.3	641.9	16.9	322	7960	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	1952	2014	0	0	0	0	0	0
8262	1.61	243.3	591.0	16.6	332	8266	0.00	2.62	0.00	0.000	4	0.000	0.056	3074	3380	2014	0	0	0	0	0	0
8294	1.61	243.3	585.5	17.5	333	8298	0.00	2.55	0.00	0.000	6	0.000	0.037	3074	1949	2015	0	0	0	0	0	0
8619	1.61	243.3	532.1	16.6	344	8622	0.00	2.58	0.00	0.000	4	0.000	0.063	3074	539	2013	0	0	0	0	0	0
8645	1.61	243.3	527.4	17.8	345	8649	0.00	2.50	0.00	0.000	6	0.000	0.033	3074	1971	2013	0	0	0	0	0	0
8975	1.61	243.3	472.0	17.1	356	8979	0.00	2.50	0.00	0.000	4	0.000	0.055	3074	3353	2013	0	0	0	0	0	0
9002	1.61	243.3	467.3	17.4	357	9006	0.00	2.50	0.00	0.000	6	0.000	0.035	3074	1939	2013	0	0	0	0	0	0
9332	1.61	243.3	411.4	17.0	368	9333	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	1940	2013	0	0	0	0	0	0
9635	1.61	243.3	361.0	16.3	378	9639	0.00	2.50	0.00	0.000	4	0.000	0.059	3074	546	2013	0	0	0	0	0	0
9656	1.61	243.3	357.4	17.5	378	9663	0.00	2.45	0.00	0.000	6	0.000	0.032	3074	1953	2013	0	0	0	0	0	0
9965	1.61	243.3	308.6	15.8	389	9969	0.00	2.53	0.00	0.000	4	0.000	0.053	3074	3356	2012	0	0	0	0	0	0
9997	1.61	243.3	303.3	16.5	390	10000	0.00	2.47	0.00	0.000	6	0.000	0.034	3074	1950	2012	0	0	0	0	0	0
10322	1.61	243.3	250.8	16.3	401	10325	0.00	2.55	0.00	0.000	4	0.000	0.050	3074	3358	2012	0	0	0	0	0	0
10343	1.61	243.3	247.4	15.9	401	10349	0.00	2.50	0.00	0.000	6	0.000	0.034	3074	1942	2012	0	0	0	0	0	0
10651	1.61	243.3	198.1	15.5	412	10652	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	1942	2012	0	0	0	0	0	0
10955	1.61	243.8	151.6	15.0	422	10956	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	1942	2012	0	0	0	0	0	0
11261	1.65	273.7	108.3	13.8	438	11294	0.00	2.60	23.92	0.637	4	0.000	0.056	3074	551	1902	0	0	0	0	0	0
11315	1.66	286.0	100.8	14.5	443	11331	0.00	2.45	11.85	0.597	6	0.000	0.030	3074	1954	1854	0	0	0	0	0	0
11520	1.67	293.3	71.6	14.7	462	11533	0.00	2.53	7.47	0.551	4	0.000	0.048	3074	3359	1824	0	0	0	0	0	0
11549	1.71	322.8	67.0	13.8	464	11580	0.10	2.50	26.67	0.594	6	0.085	0.031	3104	1944	1702	0	0	0	0	0	0
11771	1.71	322.8	29.2	15.2	496	11777	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	1944	1696	0	0	0	0	0	0
11841	1.79	388.8	20.2	12.3	509	11902	0.00	2.60	55.50	0.559	4	0.000	0.047	3104	3352	1433	0	0	0	0	0	0
11955	1.79	388.8	3.7	16.4	529	11961	0.00	2.47	0.00	0.000	6	0.000	0.031	3104	1950	1429	0	0	0	0	0	0
11964	end climb: SURFACE_DEPTH_REACHED
state	11964	begin surface coast
11982	end surface coast: CONTROL_FINISHED_OK
state	11982	begin surface