Glider dive log

SCORE Oct10 * SG118 * Dive index * Mission links * Dive 146 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HEADING -1 ROLL_DEG 40 ALTIM_PING_DELTA 0

MISSION 3 ESCAPE_HEADING 0 C_ROLL_DIVE 1950 ALTIM_FREQUENCY 13

DIVE 146 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 330 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 30 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 325 R_STBD_OVSHOOT 28 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 60 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 83

T_MISSION 75 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 -48816.734 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 1 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 330 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 -1 PRESSURE_SLOPE 0.0001161622 T_DIVE 60

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 -48816.734

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 75

COMPASS_USE 0 INT_PRESSURE_YINT 1.4 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 1 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 30 VBD_MAXERRORS 1

DIVE 146 MI_OFFLOAD 1.0 R_STBD_OVSHOOT 28 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 061010,122210,3245.974,-11854.365,9,2.4,28,13.3 TGT_NAME T4

_CALLS 2 TGT_LATLONG 3249.400,-11843.100

_XMS_NAKs 0 TGT_RADIUS 300.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.392,0.063

_SM_DEPTHo 1.25 KALMAN_X -3625.5,-470.1,-151.7,9996.9,-310.9

_SM_ANGLEo -68.9 KALMAN_Y 716.5,43.6,-116.6,3497.0,154.0

GPS2 061010,124007,3246.059,-11854.592,16,1.5,16,13.3 MHEAD_RNG_PITCHd_Wd 67.6,18925,-23.0,-18.333

SPEED_LIMITS 0.318,0.397 D_GRID 330

Post-dive calculations and measurements:

FINISH 0.4,1.010914 MI_ROOT 63.2/190403/70005

SM_CCo 3606,0.00,0.000,0,0,1644,337.29 MI_HOME 4.1/478492/458930

SM_GC 1.28,12.05,0.00,0.00,0.031,0.000,0.000,420,1962,1644,-10.53,0.37,337.29 _24V_AH 23.9,25.596

IRIDIUM_FIX 3327.96,-11804.20,061010,121257 _10V_AH 9.9,21.621

TT8_MAMPS 0.107107 FG_AHR_24Vo 0.000

HUMID 56.26 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.22257 MEM 331400

TCM_TEMP 19.60 DATA_FILE_SIZE 6829,176

MI_MIVER 0.1 CAP_FILE_SIZE 50202,0

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Wed Sep 8 17:09:45 PDT 2010 CFSIZE -70647808,-108986368

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

MI_LOG 2.0/472810/463345 GPS 061010,134152,3246.310,-11853.997,14,4.1,33,13.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 147 93.16 SBE_CT 123 24 70.64

Roll_motor 20 55 26.76 nil 0 0 0.00

VBD_pump_during_apogee 440 719 7575.69 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 65 103 160.76 nil 0 0 0.00

Iridium_during_connect 59 160 228.57 MIB 4727 45 5190.87

Iridium_during_xfer 661 223 3528.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 4727 15 1794.61

GPS 19 50 9.54

TT8 0 0 0.00

LPSleep 2619 0 10.12

TT8_Active 440 18 78.50

TT8_Sampling 1276 38 480.09

TT8_CF8 340 44 148.26

TT8_Kalman 33 80 26.39

Analog_circuits 730 12 86.73

GPS_charging 0 0 0.00

Compass 390 15 58.04

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

15 -1.83 -243.3 0.0 0.0 0 83 0.00 0.00 -66.25 0.000 2 0.000 0.000 424 1937 3268 0 0 0 0 0 0

87 -1.83 -243.3 3.1 -5.8 6 116 10.45 2.55 -12.80 0.000 4 0.148 0.056 2320 3363 3895 0 0 0 0 0 0

223 -1.83 -243.3 38.1 -23.5 19 227 0.00 2.45 0.00 0.000 6 0.000 0.029 2321 1949 3898 0 0 0 0 0 0

415 -1.83 -243.3 87.9 -27.9 37 416 0.00 0.00 0.00 0.000 6 0.000 0.000 2321 1949 3900 0 0 0 0 0 0

618 -1.83 -243.3 139.8 -24.9 47 622 0.00 2.45 0.00 0.000 4 0.000 0.048 2320 550 3901 0 0 0 0 0 0

693 -1.83 -243.3 158.2 -23.8 49 697 0.00 2.40 0.00 0.000 6 0.000 0.031 2321 1950 3901 0 0 0 0 0 0

1007 -1.83 -243.3 233.5 -24.0 60 1008 0.00 0.00 0.00 0.000 6 0.000 0.000 2321 1950 3901 0 0 0 0 0 0

1311 -1.83 -243.3 305.2 -23.1 70 1312 0.00 0.00 0.00 0.000 6 0.000 0.000 2321 1950 3901 0 0 0 0 0 0

1429 end dive: TARGET_DEPTH_EXCEEDED

state 1429 begin apogee

1436 -0.33 0.0 332.7 22.8 74 1610 1.60 0.00 168.90 0.720 6 0.099 0.000 2643 1950 3020 0 0 0 0 0 0

1610 end apogee: CONTROL_FINISHED_OK

state 1610 begin climb

1614 1.83 243.3 341.6 0.0 79 1818 2.20 2.62 192.10 0.695 4 0.062 0.049 3125 3352 2027 0 0 0 0 0 0

1845 1.83 243.3 312.0 20.4 87 1848 0.00 2.50 0.00 0.000 6 0.000 0.034 3125 1952 2025 0 0 0 0 0 0

2164 1.83 243.3 247.9 19.8 98 2165 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 1952 2021 0 0 0 0 0 0

2468 1.83 243.3 188.4 19.4 108 2469 0.00 0.00 0.00 0.000 6 0.000 0.000 3126 1952 2019 0 0 0 0 0 0

2771 1.85 261.6 133.1 17.4 118 2788 0.00 0.00 15.43 0.585 6 0.000 0.000 3125 1952 1952 0 0 0 0 0 0

3077 1.89 294.2 81.5 16.7 134 3112 0.00 2.60 28.25 0.569 4 0.000 0.056 3125 539 1819 0 0 0 0 0 0

3123 1.91 306.4 73.3 17.7 138 3138 0.00 2.47 11.50 0.526 6 0.000 0.030 3125 1956 1770 0 0 0 0 0 0

3328 1.94 334.2 36.0 16.9 157 3357 0.10 0.00 24.15 0.536 6 0.078 0.000 3154 1956 1657 0 0 0 0 0 0

3507 end climb: SURFACE_DEPTH_REACHED

state 3507 begin surface coast

3520 end surface coast: CONTROL_FINISHED_OK

state 3520 begin surface

ID	118	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DELTA	0
MISSION	3	ESCAPE_HEADING	0	C_ROLL_DIVE	1950	ALTIM_FREQUENCY	13
DIVE	146	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	330	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	30	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	325	R_STBD_OVSHOOT	28	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	60	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	83
T_MISSION	75	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	-48816.734	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	1	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	061010,122210,3245.974,-11854.365,9,2.4,28,13.3	TGT_NAME	T4
_CALLS	2	TGT_LATLONG	3249.400,-11843.100
_XMS_NAKs	0	TGT_RADIUS	300.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.392,0.063
_SM_DEPTHo	1.25	KALMAN_X	-3625.5,-470.1,-151.7,9996.9,-310.9
_SM_ANGLEo	-68.9	KALMAN_Y	716.5,43.6,-116.6,3497.0,154.0
GPS2	061010,124007,3246.059,-11854.592,16,1.5,16,13.3	MHEAD_RNG_PITCHd_Wd	67.6,18925,-23.0,-18.333
SPEED_LIMITS	0.318,0.397	D_GRID	330

FINISH	0.4,1.010914	MI_ROOT	63.2/190403/70005
SM_CCo	3606,0.00,0.000,0,0,1644,337.29	MI_HOME	4.1/478492/458930
SM_GC	1.28,12.05,0.00,0.00,0.031,0.000,0.000,420,1962,1644,-10.53,0.37,337.29	_24V_AH	23.9,25.596
IRIDIUM_FIX	3327.96,-11804.20,061010,121257	_10V_AH	9.9,21.621
TT8_MAMPS	0.107107	FG_AHR_24Vo	0.000
HUMID	56.26	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.22257	MEM	331400
TCM_TEMP	19.60	DATA_FILE_SIZE	6829,176
MI_MIVER	0.1	CAP_FILE_SIZE	50202,0
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Wed Sep 8 17:09:45 PDT 2010	CFSIZE	-70647808,-108986368
MI_BOOTCOUNT	72	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MI_LOG	2.0/472810/463345	GPS	061010,134152,3246.310,-11853.997,14,4.1,33,13.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	147	93.16	SBE_CT	123	24	70.64
Roll_motor	20	55	26.76	nil	0	0	0.00
VBD_pump_during_apogee	440	719	7575.69	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	65	103	160.76	nil	0	0	0.00
Iridium_during_connect	59	160	228.57	MIB	4727	45	5190.87
Iridium_during_xfer	661	223	3528.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	4727	15	1794.61
GPS	19	50	9.54
TT8	0	0	0.00
LPSleep	2619	0	10.12
TT8_Active	440	18	78.50
TT8_Sampling	1276	38	480.09
TT8_CF8	340	44	148.26
TT8_Kalman	33	80	26.39
Analog_circuits	730	12	86.73
GPS_charging	0	0	0.00
Compass	390	15	58.04
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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
15	-1.83	-243.3	0.0	0.0	0	83	0.00	0.00	-66.25	0.000	2	0.000	0.000	424	1937	3268	0	0	0	0	0	0
87	-1.83	-243.3	3.1	-5.8	6	116	10.45	2.55	-12.80	0.000	4	0.148	0.056	2320	3363	3895	0	0	0	0	0	0
223	-1.83	-243.3	38.1	-23.5	19	227	0.00	2.45	0.00	0.000	6	0.000	0.029	2321	1949	3898	0	0	0	0	0	0
415	-1.83	-243.3	87.9	-27.9	37	416	0.00	0.00	0.00	0.000	6	0.000	0.000	2321	1949	3900	0	0	0	0	0	0
618	-1.83	-243.3	139.8	-24.9	47	622	0.00	2.45	0.00	0.000	4	0.000	0.048	2320	550	3901	0	0	0	0	0	0
693	-1.83	-243.3	158.2	-23.8	49	697	0.00	2.40	0.00	0.000	6	0.000	0.031	2321	1950	3901	0	0	0	0	0	0
1007	-1.83	-243.3	233.5	-24.0	60	1008	0.00	0.00	0.00	0.000	6	0.000	0.000	2321	1950	3901	0	0	0	0	0	0
1311	-1.83	-243.3	305.2	-23.1	70	1312	0.00	0.00	0.00	0.000	6	0.000	0.000	2321	1950	3901	0	0	0	0	0	0
1429	end dive: TARGET_DEPTH_EXCEEDED
state	1429	begin apogee
1436	-0.33	0.0	332.7	22.8	74	1610	1.60	0.00	168.90	0.720	6	0.099	0.000	2643	1950	3020	0	0	0	0	0	0
1610	end apogee: CONTROL_FINISHED_OK
state	1610	begin climb
1614	1.83	243.3	341.6	0.0	79	1818	2.20	2.62	192.10	0.695	4	0.062	0.049	3125	3352	2027	0	0	0	0	0	0
1845	1.83	243.3	312.0	20.4	87	1848	0.00	2.50	0.00	0.000	6	0.000	0.034	3125	1952	2025	0	0	0	0	0	0
2164	1.83	243.3	247.9	19.8	98	2165	0.00	0.00	0.00	0.000	6	0.000	0.000	3125	1952	2021	0	0	0	0	0	0
2468	1.83	243.3	188.4	19.4	108	2469	0.00	0.00	0.00	0.000	6	0.000	0.000	3126	1952	2019	0	0	0	0	0	0
2771	1.85	261.6	133.1	17.4	118	2788	0.00	0.00	15.43	0.585	6	0.000	0.000	3125	1952	1952	0	0	0	0	0	0
3077	1.89	294.2	81.5	16.7	134	3112	0.00	2.60	28.25	0.569	4	0.000	0.056	3125	539	1819	0	0	0	0	0	0
3123	1.91	306.4	73.3	17.7	138	3138	0.00	2.47	11.50	0.526	6	0.000	0.030	3125	1956	1770	0	0	0	0	0	0
3328	1.94	334.2	36.0	16.9	157	3357	0.10	0.00	24.15	0.536	6	0.078	0.000	3154	1956	1657	0	0	0	0	0	0
3507	end climb: SURFACE_DEPTH_REACHED
state	3507	begin surface coast
3520	end surface coast: CONTROL_FINISHED_OK
state	3520	begin surface