Glider dive log

Shilshole 15Apr14 * SG163 * Dive index * Mission links * Dive 18 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 163 HD_C 9.9999997e-06 ROLL_MIN 198 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 3 HEADING -1 ROLL_MAX 3809 ALTIM_PING_DEPTH 0

DIVE 18 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1950 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1800 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 1942 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_TGT 165 TGT_DEFAULT_LON 11848 ROLL_CNV 0.028270001 XPDR_VALID 2

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 500 SM_CC 320 R_PORT_OVSHOOT 36 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 39 INT_PRESSURE_YINT 3.8499999

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 DEEPGLIDER 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 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 550 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_MAX 3960 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 1906 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 65 CALL_TRIES 5 VBD_CNV -0.245296 DEVICE6 -1

T_MISSION 80 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_ABORT 720 CAPUPLOAD 1 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 83

T_TURN 540 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 20 COMPASS_DEVICE 33

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY 0 T_GPS_CHARGE -1396809.9 CF8_MAXERRORS 1 PHONE_DEVICE 49

USE_ICE 0 T_RSLEEP 3 AH0_24V 150 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 100 RAFOS_DEVICE -1

D_OFFGRID 1001 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 139 FG_AHR_24V 0 SEABIRD_T_G 0.004370783

MAX_BUOY 200 PITCH_MAX 3886 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063893938

COURSE_BIAS 0 C_PITCH 2850 PRESSURE_YINT -20.808033 SEABIRD_T_I 2.6964792e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011605668 SEABIRD_T_J 3.1314887e-06

SPEED_FACTOR 1 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -9.7295246

RHO 1.0233001 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.088999

MASS 51722 PITCH_GAIN 19.5 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0021791991

NAV_MODE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_J 0.00024473958

FERRY_MAX 45 PITCH_AD_RATE 175 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 15 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 1001 N_GPS 20 SEABIRD_T_J 3.1314887e-06

AH0_10V 100 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 3 PHONE_DEVICE 49 SM_CC 320

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 165 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_AD_RATE 175 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 19.5 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3886 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 1942

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_MIN 139 TGT_DEFAULT_LON 11848

CALL_NDIVES 1 HD_A 0.003 PITCH_TIMEOUT 16 T_ABORT 720

CALL_TRIES 5 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 0

CALL_WAIT 60 HD_C 9.9999997e-06 PRESSURE_SLOPE 0.00011605668 T_DIVE 65

CAPMAXSIZE 100000 HEADING -1 PRESSURE_YINT -20.808033 T_EPIRB 0

CAPUPLOAD 1 HEAD_ERRBAND 10 PROTOCOL 73 T_GPS 15

CF8_MAXERRORS 1 HEAPDBG 0 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -1396809.9

COMPASS2_DEVICE -1 ID 163 RAFOS_DEVICE -1 T_LOITER 0

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_MISSION 80

COMPASS_USE 0 INT_PRESSURE_YINT 3.8499999 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_RSLEEP 3

C_PITCH 2850 LOGGERDEVICE1 83 RHO 1.0233001 T_TURN 540

C_ROLL_CLIMB 1800 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 1950 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_VBD 1906 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 20

DEEPGLIDER 0 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 51722 ROLL_DEG 40 USE_BATHY 0

DEVICE1 2 MAX_BUOY 200 ROLL_MAX 3809 USE_ICE 0

DEVICE2 -1 MINV_10V 8 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 19 ROLL_MIN 198 VBD_CNV -0.245296

DEVICE4 -1 MISSION 3 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 MI_NOTIFYMOTORS 0.0 R_PORT_OVSHOOT 36 VBD_MAX 3960

DEVICE6 -1 MI_OFFLOAD 1.0 R_STBD_OVSHOOT 39 VBD_MAXERRORS 1

DIVE 18 MI_POWERSOURCE 0.0 SEABIRD_C_G -9.7295246 VBD_MIN 550

D_ABORT 1090 MI_RESTARTMONITOR 0.0 SEABIRD_C_H 1.088999 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 3 MOTHERBOARD 4 SEABIRD_C_I -0.0021791991 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 NAV_MODE 1 SEABIRD_C_J 0.00024473958 VBD_TIMEOUT 720

D_FINISH 0 NOCOMM_ACTION 0 SEABIRD_T_G 0.004370783 XPDR_DEVICE -1

D_FLARE 3 N_DIVES 0 SEABIRD_T_H 0.00063893938 XPDR_INHIBIT 90

D_NO_BLEED 500 N_FILEKB 4 SEABIRD_T_I 2.6964792e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 160414,111638,4743.084,-12224.522,3,0.9,38,16.3 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4742.700,-12224.500

_XMS_NAKs 0 TGT_RADIUS 400.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.112,-0.094

_SM_DEPTHo 1.69 KALMAN_X 2611.1,122.6,-188.5,-2616.8,72.6

_SM_ANGLEo -65.3 KALMAN_Y 666.6,697.3,-93.9,-973.1,-400.9

GPS2 160414,113444,4743.046,-12224.324,4,0.8,39,16.3 MHEAD_RNG_PITCHd_Wd 213.8,678,-27.0,-8.462

SPEED_LIMITS 0.147,0.278 D_GRID 165

Post-dive calculations and measurements:

FINISH 0.9,1.002730 MI_ROOT 70.5/190403/56160

SM_CCo 3817,98.35,0.412,3,0,599,320.60 MI_HOME 2.8/436382/424361

SM_GC 2.01,9.15,1.98,98.35,0.050,0.029,0.412,132,1949,599,-8.43,1.13,320.60,0,0,0,0,3,0,25.39,25.37,24.46 _24V_AH 24.4,2.596

IRIDIUM_FIX 4751.72,-12340.51,160414,111156 _10V_AH 10.4,1.627

TT8_MAMPS 0.095872,0.095872 FG_AHR_24Vo 0.000

HUMID 30.86 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 8.85996 MEM 198076

TCM_TEMP 19.10 DATA_FILE_SIZE 13472,395

MI_MIVER 0.4 CAP_FILE_SIZE 174343,0

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 CFSIZE 260034560,257122304

MI_BOOTCOUNT 23 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0

MI_LOG 3.4/516036/498641 GPS 160414,124151,4742.714,-12224.869,3,1.0,38,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 248 132.55 SBE_CT 268 23 151.87

Roll_motor 39 62 59.81 nil 0 0 0.00

VBD_pump_during_apogee 215 616 3247.04 nil 0 0 0.00

VBD_pump_during_surface 98 411 987.66 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 60 42.49 nil 0 0 0.00

Iridium_during_connect 33 160 132.29 MIB 5077 41 5177.36

Iridium_during_xfer 473 223 2576.43 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 5077 43 5450.18

GPS 40 30 13.08

TT8 0 0 0.00

LPSleep 878 0 3.56

TT8_Active 302 12 40.75

TT8_Sampling 3471 38 1387.64

TT8_CF8 109 45 51.28

TT8_Kalman 33 63 21.84

Analog_circuits 864 17 152.88

GPS_charging 0 0 0.00

Compass 747 16 128.14

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 -1.44 -49.1 0.0 0.0 0 61 0.00 0.00 -45.05 0.000 2 0.000 0.000 123 1941 1867 0 0 0 0 0 0 28.83 28.83 28.83

62 -1.44 -49.2 3.7 -8.5 4 85 9.50 2.25 -5.00 0.000 4 0.249 0.063 2381 542 2110 0 0 0 0 0 0 25.23 25.33 25.53

118 -1.44 -49.2 17.1 -19.7 11 129 0.00 2.15 0.00 0.000 6 0.000 0.035 2372 1954 2112 0 0 0 0 0 0 28.83 25.49 28.83

206 -1.44 -49.2 31.1 -14.6 24 217 0.00 2.22 0.00 0.000 4 0.000 0.047 2372 535 2112 0 0 0 0 0 0 28.83 25.54 28.83

263 -1.44 -49.2 40.4 -17.5 32 274 0.00 2.15 0.00 0.000 6 0.000 0.035 2361 1948 2112 0 0 0 0 0 0 28.83 25.60 28.83

350 -1.44 -49.2 54.9 -16.3 43 363 0.00 2.15 0.00 0.000 4 0.000 0.049 2351 3347 2112 0 0 0 0 0 0 28.83 25.61 28.83

644 -1.44 -49.2 101.9 -16.9 68 656 0.15 2.12 0.00 0.000 6 0.194 0.028 2384 1937 2111 0 0 0 0 0 0 25.56 25.72 28.83

949 -1.44 -49.2 149.3 -15.4 89 954 0.00 2.17 0.00 0.000 4 0.000 0.049 2374 3350 2111 0 0 0 0 0 0 28.83 25.75 28.83

1047 end dive: TARGET_DEPTH_EXCEEDED

state 1047 begin apogee

1051 -0.26 0.0 165.0 -16.4 95 1098 1.33 0.00 43.28 0.617 6 0.170 0.000 2757 1793 1906 0 0 0 0 0 0 25.64 28.83 24.75

1099 end apogee: CONTROL_FINISHED_OK

state 1099 begin climb

1100 1.44 49.2 168.6 0.0 98 1157 1.60 2.22 41.50 0.598 4 0.076 0.050 3318 405 1704 0 0 0 0 0 0 25.21 24.87 24.36

1233 1.48 78.2 163.2 5.1 106 1261 0.00 2.20 24.27 0.588 6 0.000 0.032 3318 1805 1587 0 0 0 0 0 0 28.83 25.24 24.54

1557 1.48 79.7 135.8 8.3 128 1562 0.00 2.15 0.00 0.000 4 0.000 0.046 3314 3204 1582 0 0 0 0 0 0 28.83 25.52 28.83

1672 1.48 79.7 123.2 10.9 135 1677 0.00 2.10 0.00 0.000 6 0.000 0.031 3323 1802 1578 0 0 0 0 0 0 28.83 25.63 28.83

1987 1.48 79.7 90.4 10.2 159 2000 0.00 2.17 0.00 0.000 4 0.000 0.045 3323 3199 1579 0 0 0 0 0 0 28.83 25.63 28.83

2639 1.50 94.3 41.4 6.8 223 2662 0.00 2.10 13.45 0.524 6 0.000 0.031 3333 1796 1519 0 0 0 0 0 0 28.83 25.80 25.20

2739 1.51 100.8 34.2 7.7 237 2750 0.00 0.00 6.68 0.458 6 0.000 0.000 3332 1796 1493 0 0 0 0 0 0 28.83 28.83 25.10

2828 1.51 100.8 26.7 8.8 250 2839 0.00 2.17 0.00 0.000 4 0.000 0.051 3342 401 1493 0 0 0 0 0 0 28.83 25.65 28.83

3521 1.60 177.5 15.3 -0.4 359 3597 0.00 2.10 61.35 0.529 6 0.000 0.034 3342 1807 1181 0 0 0 0 0 0 28.83 25.79 24.75

3674 1.64 208.5 11.4 4.9 378 3708 0.12 2.25 25.30 0.508 4 0.096 0.046 3391 3195 1052 0 0 0 0 0 0 25.36 25.15 24.74

3765 end climb: SURFACE_DEPTH_REACHED

state 3765 begin surface coast

3797 end surface coast: CONTROL_FINISHED_OK

state 3797 begin surface

ID	163	HD_C	9.9999997e-06	ROLL_MIN	198	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	3	HEADING	-1	ROLL_MAX	3809	ALTIM_PING_DEPTH	0
DIVE	18	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1950	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1800	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	1942	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_TGT	165	TGT_DEFAULT_LON	11848	ROLL_CNV	0.028270001	XPDR_VALID	2
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	500	SM_CC	320	R_PORT_OVSHOOT	36	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	39	INT_PRESSURE_YINT	3.8499999
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	DEEPGLIDER	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	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	550	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_MAX	3960	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	1906	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	65	CALL_TRIES	5	VBD_CNV	-0.245296	DEVICE6	-1
T_MISSION	80	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_ABORT	720	CAPUPLOAD	1	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	83
T_TURN	540	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	20	COMPASS_DEVICE	33
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	0	T_GPS_CHARGE	-1396809.9	CF8_MAXERRORS	1	PHONE_DEVICE	49
USE_ICE	0	T_RSLEEP	3	AH0_24V	150	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	100	RAFOS_DEVICE	-1
D_OFFGRID	1001	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	139	FG_AHR_24V	0	SEABIRD_T_G	0.004370783
MAX_BUOY	200	PITCH_MAX	3886	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063893938
COURSE_BIAS	0	C_PITCH	2850	PRESSURE_YINT	-20.808033	SEABIRD_T_I	2.6964792e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011605668	SEABIRD_T_J	3.1314887e-06
SPEED_FACTOR	1	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7295246
RHO	1.0233001	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.088999
MASS	51722	PITCH_GAIN	19.5	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0021791991
NAV_MODE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_J	0.00024473958
FERRY_MAX	45	PITCH_AD_RATE	175	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	15	MI_RESTARTMONITOR	0.0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	MI_NOTIFYMOTORS	0.0

GPS1	160414,111638,4743.084,-12224.522,3,0.9,38,16.3	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4742.700,-12224.500
_XMS_NAKs	0	TGT_RADIUS	400.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.112,-0.094
_SM_DEPTHo	1.69	KALMAN_X	2611.1,122.6,-188.5,-2616.8,72.6
_SM_ANGLEo	-65.3	KALMAN_Y	666.6,697.3,-93.9,-973.1,-400.9
GPS2	160414,113444,4743.046,-12224.324,4,0.8,39,16.3	MHEAD_RNG_PITCHd_Wd	213.8,678,-27.0,-8.462
SPEED_LIMITS	0.147,0.278	D_GRID	165

FINISH	0.9,1.002730	MI_ROOT	70.5/190403/56160
SM_CCo	3817,98.35,0.412,3,0,599,320.60	MI_HOME	2.8/436382/424361
SM_GC	2.01,9.15,1.98,98.35,0.050,0.029,0.412,132,1949,599,-8.43,1.13,320.60,0,0,0,0,3,0,25.39,25.37,24.46	_24V_AH	24.4,2.596
IRIDIUM_FIX	4751.72,-12340.51,160414,111156	_10V_AH	10.4,1.627
TT8_MAMPS	0.095872,0.095872	FG_AHR_24Vo	0.000
HUMID	30.86	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	8.85996	MEM	198076
TCM_TEMP	19.10	DATA_FILE_SIZE	13472,395
MI_MIVER	0.4	CAP_FILE_SIZE	174343,0
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	CFSIZE	260034560,257122304
MI_BOOTCOUNT	23	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
MI_LOG	3.4/516036/498641	GPS	160414,124151,4742.714,-12224.869,3,1.0,38,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	248	132.55	SBE_CT	268	23	151.87
Roll_motor	39	62	59.81	nil	0	0	0.00
VBD_pump_during_apogee	215	616	3247.04	nil	0	0	0.00
VBD_pump_during_surface	98	411	987.66	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	60	42.49	nil	0	0	0.00
Iridium_during_connect	33	160	132.29	MIB	5077	41	5177.36
Iridium_during_xfer	473	223	2576.43	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	5077	43	5450.18
GPS	40	30	13.08
TT8	0	0	0.00
LPSleep	878	0	3.56
TT8_Active	302	12	40.75
TT8_Sampling	3471	38	1387.64
TT8_CF8	109	45	51.28
TT8_Kalman	33	63	21.84
Analog_circuits	864	17	152.88
GPS_charging	0	0	0.00
Compass	747	16	128.14
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	-1.44	-49.1	0.0	0.0	0	61	0.00	0.00	-45.05	0.000	2	0.000	0.000	123	1941	1867	0	0	0	0	0	0	28.83	28.83	28.83
62	-1.44	-49.2	3.7	-8.5	4	85	9.50	2.25	-5.00	0.000	4	0.249	0.063	2381	542	2110	0	0	0	0	0	0	25.23	25.33	25.53
118	-1.44	-49.2	17.1	-19.7	11	129	0.00	2.15	0.00	0.000	6	0.000	0.035	2372	1954	2112	0	0	0	0	0	0	28.83	25.49	28.83
206	-1.44	-49.2	31.1	-14.6	24	217	0.00	2.22	0.00	0.000	4	0.000	0.047	2372	535	2112	0	0	0	0	0	0	28.83	25.54	28.83
263	-1.44	-49.2	40.4	-17.5	32	274	0.00	2.15	0.00	0.000	6	0.000	0.035	2361	1948	2112	0	0	0	0	0	0	28.83	25.60	28.83
350	-1.44	-49.2	54.9	-16.3	43	363	0.00	2.15	0.00	0.000	4	0.000	0.049	2351	3347	2112	0	0	0	0	0	0	28.83	25.61	28.83
644	-1.44	-49.2	101.9	-16.9	68	656	0.15	2.12	0.00	0.000	6	0.194	0.028	2384	1937	2111	0	0	0	0	0	0	25.56	25.72	28.83
949	-1.44	-49.2	149.3	-15.4	89	954	0.00	2.17	0.00	0.000	4	0.000	0.049	2374	3350	2111	0	0	0	0	0	0	28.83	25.75	28.83
1047	end dive: TARGET_DEPTH_EXCEEDED
state	1047	begin apogee
1051	-0.26	0.0	165.0	-16.4	95	1098	1.33	0.00	43.28	0.617	6	0.170	0.000	2757	1793	1906	0	0	0	0	0	0	25.64	28.83	24.75
1099	end apogee: CONTROL_FINISHED_OK
state	1099	begin climb
1100	1.44	49.2	168.6	0.0	98	1157	1.60	2.22	41.50	0.598	4	0.076	0.050	3318	405	1704	0	0	0	0	0	0	25.21	24.87	24.36
1233	1.48	78.2	163.2	5.1	106	1261	0.00	2.20	24.27	0.588	6	0.000	0.032	3318	1805	1587	0	0	0	0	0	0	28.83	25.24	24.54
1557	1.48	79.7	135.8	8.3	128	1562	0.00	2.15	0.00	0.000	4	0.000	0.046	3314	3204	1582	0	0	0	0	0	0	28.83	25.52	28.83
1672	1.48	79.7	123.2	10.9	135	1677	0.00	2.10	0.00	0.000	6	0.000	0.031	3323	1802	1578	0	0	0	0	0	0	28.83	25.63	28.83
1987	1.48	79.7	90.4	10.2	159	2000	0.00	2.17	0.00	0.000	4	0.000	0.045	3323	3199	1579	0	0	0	0	0	0	28.83	25.63	28.83
2639	1.50	94.3	41.4	6.8	223	2662	0.00	2.10	13.45	0.524	6	0.000	0.031	3333	1796	1519	0	0	0	0	0	0	28.83	25.80	25.20
2739	1.51	100.8	34.2	7.7	237	2750	0.00	0.00	6.68	0.458	6	0.000	0.000	3332	1796	1493	0	0	0	0	0	0	28.83	28.83	25.10
2828	1.51	100.8	26.7	8.8	250	2839	0.00	2.17	0.00	0.000	4	0.000	0.051	3342	401	1493	0	0	0	0	0	0	28.83	25.65	28.83
3521	1.60	177.5	15.3	-0.4	359	3597	0.00	2.10	61.35	0.529	6	0.000	0.034	3342	1807	1181	0	0	0	0	0	0	28.83	25.79	24.75
3674	1.64	208.5	11.4	4.9	378	3708	0.12	2.25	25.30	0.508	4	0.096	0.046	3391	3195	1052	0	0	0	0	0	0	25.36	25.15	24.74
3765	end climb: SURFACE_DEPTH_REACHED
state	3765	begin surface coast
3797	end surface coast: CONTROL_FINISHED_OK
state	3797	begin surface