Glider dive log

Shilshole 12Mar14 * SG210 * Dive index * Mission links * Dive 18 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 210 HD_C 1.6100001e-05 ROLL_MIN 224 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 3 HEADING -1 ROLL_MAX 3802 ALTIM_PING_DEPTH 0

DIVE 18 ESCAPE_HEADING 90 ROLL_DEG 40 ALTIM_PING_DELTA 0

N_DIVES 25 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_SURF 5 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2400 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 500 SM_CC 650 R_PORT_OVSHOOT 23 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 100 N_FILEKB 4 R_STBD_OVSHOOT 13 INT_PRESSURE_YINT 2

T_BOOST 2 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 500 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_MAX 3960 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 3034 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 60 CALL_TRIES 10 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 80 CALL_WAIT 45 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 -4689.7783 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 100 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 176 FG_AHR_24V 0 SEABIRD_T_G 0.0044015264

MAX_BUOY 150 PITCH_MAX 3891 PHONE_SUPPLY -2 SEABIRD_T_H 0.00063760363

COURSE_BIAS 0 C_PITCH 2730 PRESSURE_YINT -65.985092 SEABIRD_T_I 2.4963432e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001165312 SEABIRD_T_J 2.8850222e-06

SPEED_FACTOR 1 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -9.9132805

RHO 1.023 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1217544

MASS 51427 PITCH_GAIN 19 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00011588677

NAV_MODE 1 PITCH_TIMEOUT 17 COMPASS_USE 4 SEABIRD_C_J 0.00016613943

FERRY_MAX 45 PITCH_AD_RATE 140 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 2.8850222e-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 5 PHONE_DEVICE 49 SM_CC 650

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PHONE_SUPPLY -2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 90 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 140 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 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3891 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 176 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HD_A 0.003 PITCH_TIMEOUT 17 T_ABORT 720

CALL_TRIES 10 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 2

CALL_WAIT 45 HD_C 1.6100001e-05 PRESSURE_SLOPE 0.0001165312 T_DIVE 60

CAPMAXSIZE 100000 HEADING -1 PRESSURE_YINT -65.985092 T_EPIRB 0

CAPUPLOAD 1 HEAD_ERRBAND 10 PROTOCOL 73 T_GPS 5

CF8_MAXERRORS 20 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 -4689.7783

COMPASS2_DEVICE -1 ID 210 RAFOS_DEVICE -1 T_LOITER 0

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_MISSION 80

COMPASS_USE 4 INT_PRESSURE_YINT 2 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_RSLEEP 3

C_PITCH 2730 LOGGERDEVICE1 83 RHO 1.023 T_TURN 600

C_ROLL_CLIMB 2400 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 4

C_ROLL_DIVE 2400 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_VBD 3034 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 50

DEEPGLIDER 0 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 51427 ROLL_DEG 40 USE_BATHY -6

DEVICE1 2 MAX_BUOY 150 ROLL_MAX 3802 USE_ICE -1

DEVICE2 -1 MINV_10V 8 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 19 ROLL_MIN 224 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 3 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 MI_NOTIFYMOTORS 0.0 R_PORT_OVSHOOT 23 VBD_MAX 3960

DEVICE6 -1 MI_OFFLOAD 1.0 R_STBD_OVSHOOT 13 VBD_MAXERRORS 1

DIVE 18 MI_POWERSOURCE 0.0 SEABIRD_C_G -9.9132805 VBD_MIN 500

D_ABORT 1090 MI_RESTARTMONITOR 0.0 SEABIRD_C_H 1.1217544 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 100 MOTHERBOARD 4 SEABIRD_C_I -0.00011588677 VBD_PUMP_AD_RATE_SURFACE 6

D_CALL 0 NAV_MODE 1 SEABIRD_C_J 0.00016613943 VBD_TIMEOUT 720

D_FINISH 0 NOCOMM_ACTION 0 SEABIRD_T_G 0.0044015264 XPDR_DEVICE -1

D_FLARE 3 N_DIVES 25 SEABIRD_T_H 0.00063760363 XPDR_INHIBIT 90

D_NO_BLEED 500 N_FILEKB 4 SEABIRD_T_I 2.4963432e-05 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 130314,093711,4742.570,-12224.456,2,0.9,36,16.3 TGT_NAME SOUTH

_CALLS 4 TGT_LATLONG 4743.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.174,0.190

_SM_DEPTHo 1.00 KALMAN_X -2296.5,111.4,-448.5,2798.4,-391.8

_SM_ANGLEo -71.7 KALMAN_Y -3696.2,174.9,-335.7,3643.0,-415.5

GPS2 130314,095216,4742.546,-12224.563,5,1.0,40,16.3 MHEAD_RNG_PITCHd_Wd 26.3,1096,-17.6,-10.000

SPEED_LIMITS 0.173,0.258 D_GRID 142

Post-dive calculations and measurements:

FINISH 2.1,1.019538 MI_ROOT 70.7/190403/55826

SM_CCo 3113,0.28,0.409,0,0,502,621.84 MI_HOME 2.3/436550/426550

SM_GC 1.21,8.27,0.00,0.28,0.077,0.000,0.409,167,2408,502,-7.97,0.23,621.84,0,0,0,0,0,0,25.22,28.83,25.45 _24V_AH 24.4,2.599

IRIDIUM_FIX 4751.72,-12340.51,130314,080808 _10V_AH 10.2,2.328

TT8_MAMPS 0.118342,0.118342 FG_AHR_24Vo 0.000

HUMID 30.19 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 8.82643 MEM 200396

TCM_TEMP 17.30 DATA_FILE_SIZE 23412,622

MI_MIVER 0.4 CAP_FILE_SIZE 72048,0

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 CFSIZE 1024409600,1020526592

MI_BOOTCOUNT 69 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

MI_LOG 3.4/516052/498399 GPS 130314,104544,4742.548,-12224.316,2,1.0,37,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 256 123.34 SBE_CT 418 39 405.30

Roll_motor 36 95 84.29 nil 0 0 0.00

VBD_pump_during_apogee 261 520 3326.93 nil 0 0 0.00

VBD_pump_during_surface 161 408 1614.51 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 MIB 4126 43 4428.67

Iridium_during_xfer 508 92 1148.83 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 4126 49 5009.00

GPS 41 45 19.24

TT8 0 0 0.00

LPSleep 1376 0 5.48

TT8_Active 531 14 79.75

TT8_Sampling 1942 41 825.75

TT8_CF8 50 61 31.25

TT8_Kalman 33 65 22.25

Analog_circuits 1541 16 251.53

GPS_charging 0 0 0.00

Compass 891 23 218.07

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 -1.11 -146.6 0.0 0.0 0 101 0.00 0.00 -83.55 0.000 2 0.000 0.000 170 2416 2948 0 0 0 0 0 0 28.83 28.83 28.83

102 -1.11 -146.6 3.1 -4.9 13 135 9.15 2.28 -16.62 0.000 4 0.256 0.096 2361 3814 3627 0 0 0 0 0 0 25.45 25.60 25.74

399 -1.11 -146.6 41.1 -15.7 84 406 0.00 2.20 0.00 0.000 6 0.000 0.060 2361 2393 3630 0 0 0 0 0 0 28.83 25.75 28.83

525 -1.11 -146.6 57.5 -12.5 109 532 0.00 2.30 0.00 0.000 4 0.000 0.084 2350 3810 3630 0 0 0 0 0 0 28.83 25.76 28.83

852 -1.11 -146.6 102.8 -18.2 190 859 0.00 2.15 0.00 0.000 6 0.000 0.059 2351 2400 3630 0 0 0 0 0 0 28.83 25.86 28.83

978 -1.11 -146.6 119.4 -12.7 215 985 0.00 2.28 0.00 0.000 4 0.000 0.083 2339 3812 3629 0 0 0 0 0 0 28.83 25.82 28.83

1025 -1.11 -146.6 125.0 -13.1 226 1032 0.12 2.17 0.00 0.000 6 0.180 0.062 2374 2402 3627 0 0 0 0 0 0 25.75 25.86 28.83

1151 -1.11 -146.6 139.7 -11.2 251 1158 0.00 2.28 0.00 0.000 4 0.000 0.085 2359 3818 3629 0 0 0 0 0 0 28.83 25.81 28.83

1333 end dive: NO_VERTICAL_VELOCITY

state 1333 begin apogee

1337 -0.26 0.0 140.1 0.0 296 1453 0.85 0.00 107.47 0.521 6 0.120 0.000 2642 2389 3027 0 0 0 0 0 0 25.80 28.83 24.56

1454 end apogee: CONTROL_FINISHED_OK

state 1454 begin climb

1455 1.11 146.6 140.2 0.0 314 1573 1.33 2.35 109.28 0.500 4 0.110 0.064 3085 968 2426 0 0 0 0 0 0 24.90 24.75 24.39

1749 1.11 146.6 120.7 11.7 376 1756 0.00 2.33 0.00 0.000 6 0.000 0.067 3087 2413 2422 0 0 0 0 0 0 28.83 25.39 28.83

1875 1.11 146.6 106.5 12.4 401 1882 0.00 2.25 0.00 0.000 4 0.000 0.065 3098 988 2423 0 0 0 0 0 0 28.83 25.60 28.83

2054 1.12 160.0 86.6 9.4 445 2068 0.00 2.25 7.90 0.183 6 0.000 0.068 3094 2403 2389 0 0 0 0 0 0 28.83 25.68 25.43

2187 1.12 160.0 72.1 11.3 471 2195 0.00 2.35 2.00 0.181 4 0.000 0.086 3094 3805 2389 0 0 0 0 0 0 28.83 25.71 25.58

2251 1.12 160.0 64.1 12.2 486 2258 0.00 2.20 2.15 0.174 6 0.000 0.064 3109 2396 2388 0 0 0 0 0 0 28.83 25.75 25.57

2377 1.13 169.8 50.7 9.5 511 2386 0.00 0.00 6.72 0.218 6 0.000 0.000 3105 2397 2339 0 0 0 0 0 0 28.83 28.83 25.56

2504 1.13 169.8 38.5 10.3 536 2512 0.00 0.00 1.73 0.182 6 0.000 0.000 3104 2396 2348 0 0 0 0 0 0 28.83 28.83 25.56

2571 1.13 169.8 32.2 10.4 549 2579 0.00 2.22 1.38 0.180 4 0.000 0.064 3113 983 2345 0 0 0 0 0 0 28.83 25.77 25.19

2639 1.13 169.8 25.0 11.2 565 2646 0.00 2.28 1.42 0.180 6 0.000 0.071 3116 2405 2347 0 0 0 0 0 0 28.83 25.70 25.70

2705 1.13 169.8 17.9 10.5 578 2713 0.00 0.00 1.30 0.185 6 0.000 0.000 3115 2413 2350 0 0 0 0 0 0 28.83 28.83 25.72

2772 1.13 169.8 11.0 10.0 591 2780 0.00 0.00 1.30 0.184 6 0.000 0.000 3115 2412 2345 0 0 0 0 0 0 28.83 28.83 25.72

2839 1.21 231.3 5.7 7.1 604 2859 0.00 0.00 19.08 0.131 2 0.000 0.000 3111 2408 2143 0 0 0 0 0 0 28.83 28.83 28.83

2860 end climb: SURFACE_DEPTH_REACHED

state 2860 begin surface coast

2933 end surface coast: CONTROL_FINISHED_OK

state 2933 begin surface

ID	210	HD_C	1.6100001e-05	ROLL_MIN	224	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	3	HEADING	-1	ROLL_MAX	3802	ALTIM_PING_DEPTH	0
DIVE	18	ESCAPE_HEADING	90	ROLL_DEG	40	ALTIM_PING_DELTA	0
N_DIVES	25	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_SURF	5	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2400	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	500	SM_CC	650	R_PORT_OVSHOOT	23	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	100	N_FILEKB	4	R_STBD_OVSHOOT	13	INT_PRESSURE_YINT	2
T_BOOST	2	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	500	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_MAX	3960	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	3034	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	60	CALL_TRIES	10	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	80	CALL_WAIT	45	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	-4689.7783	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	100	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	176	FG_AHR_24V	0	SEABIRD_T_G	0.0044015264
MAX_BUOY	150	PITCH_MAX	3891	PHONE_SUPPLY	-2	SEABIRD_T_H	0.00063760363
COURSE_BIAS	0	C_PITCH	2730	PRESSURE_YINT	-65.985092	SEABIRD_T_I	2.4963432e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001165312	SEABIRD_T_J	2.8850222e-06
SPEED_FACTOR	1	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9132805
RHO	1.023	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1217544
MASS	51427	PITCH_GAIN	19	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00011588677
NAV_MODE	1	PITCH_TIMEOUT	17	COMPASS_USE	4	SEABIRD_C_J	0.00016613943
FERRY_MAX	45	PITCH_AD_RATE	140	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	130314,093711,4742.570,-12224.456,2,0.9,36,16.3	TGT_NAME	SOUTH
_CALLS	4	TGT_LATLONG	4743.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.174,0.190
_SM_DEPTHo	1.00	KALMAN_X	-2296.5,111.4,-448.5,2798.4,-391.8
_SM_ANGLEo	-71.7	KALMAN_Y	-3696.2,174.9,-335.7,3643.0,-415.5
GPS2	130314,095216,4742.546,-12224.563,5,1.0,40,16.3	MHEAD_RNG_PITCHd_Wd	26.3,1096,-17.6,-10.000
SPEED_LIMITS	0.173,0.258	D_GRID	142

FINISH	2.1,1.019538	MI_ROOT	70.7/190403/55826
SM_CCo	3113,0.28,0.409,0,0,502,621.84	MI_HOME	2.3/436550/426550
SM_GC	1.21,8.27,0.00,0.28,0.077,0.000,0.409,167,2408,502,-7.97,0.23,621.84,0,0,0,0,0,0,25.22,28.83,25.45	_24V_AH	24.4,2.599
IRIDIUM_FIX	4751.72,-12340.51,130314,080808	_10V_AH	10.2,2.328
TT8_MAMPS	0.118342,0.118342	FG_AHR_24Vo	0.000
HUMID	30.19	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	8.82643	MEM	200396
TCM_TEMP	17.30	DATA_FILE_SIZE	23412,622
MI_MIVER	0.4	CAP_FILE_SIZE	72048,0
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	CFSIZE	1024409600,1020526592
MI_BOOTCOUNT	69	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
MI_LOG	3.4/516052/498399	GPS	130314,104544,4742.548,-12224.316,2,1.0,37,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	256	123.34	SBE_CT	418	39	405.30
Roll_motor	36	95	84.29	nil	0	0	0.00
VBD_pump_during_apogee	261	520	3326.93	nil	0	0	0.00
VBD_pump_during_surface	161	408	1614.51	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	MIB	4126	43	4428.67
Iridium_during_xfer	508	92	1148.83	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	4126	49	5009.00
GPS	41	45	19.24
TT8	0	0	0.00
LPSleep	1376	0	5.48
TT8_Active	531	14	79.75
TT8_Sampling	1942	41	825.75
TT8_CF8	50	61	31.25
TT8_Kalman	33	65	22.25
Analog_circuits	1541	16	251.53
GPS_charging	0	0	0.00
Compass	891	23	218.07
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	-1.11	-146.6	0.0	0.0	0	101	0.00	0.00	-83.55	0.000	2	0.000	0.000	170	2416	2948	0	0	0	0	0	0	28.83	28.83	28.83
102	-1.11	-146.6	3.1	-4.9	13	135	9.15	2.28	-16.62	0.000	4	0.256	0.096	2361	3814	3627	0	0	0	0	0	0	25.45	25.60	25.74
399	-1.11	-146.6	41.1	-15.7	84	406	0.00	2.20	0.00	0.000	6	0.000	0.060	2361	2393	3630	0	0	0	0	0	0	28.83	25.75	28.83
525	-1.11	-146.6	57.5	-12.5	109	532	0.00	2.30	0.00	0.000	4	0.000	0.084	2350	3810	3630	0	0	0	0	0	0	28.83	25.76	28.83
852	-1.11	-146.6	102.8	-18.2	190	859	0.00	2.15	0.00	0.000	6	0.000	0.059	2351	2400	3630	0	0	0	0	0	0	28.83	25.86	28.83
978	-1.11	-146.6	119.4	-12.7	215	985	0.00	2.28	0.00	0.000	4	0.000	0.083	2339	3812	3629	0	0	0	0	0	0	28.83	25.82	28.83
1025	-1.11	-146.6	125.0	-13.1	226	1032	0.12	2.17	0.00	0.000	6	0.180	0.062	2374	2402	3627	0	0	0	0	0	0	25.75	25.86	28.83
1151	-1.11	-146.6	139.7	-11.2	251	1158	0.00	2.28	0.00	0.000	4	0.000	0.085	2359	3818	3629	0	0	0	0	0	0	28.83	25.81	28.83
1333	end dive: NO_VERTICAL_VELOCITY
state	1333	begin apogee
1337	-0.26	0.0	140.1	0.0	296	1453	0.85	0.00	107.47	0.521	6	0.120	0.000	2642	2389	3027	0	0	0	0	0	0	25.80	28.83	24.56
1454	end apogee: CONTROL_FINISHED_OK
state	1454	begin climb
1455	1.11	146.6	140.2	0.0	314	1573	1.33	2.35	109.28	0.500	4	0.110	0.064	3085	968	2426	0	0	0	0	0	0	24.90	24.75	24.39
1749	1.11	146.6	120.7	11.7	376	1756	0.00	2.33	0.00	0.000	6	0.000	0.067	3087	2413	2422	0	0	0	0	0	0	28.83	25.39	28.83
1875	1.11	146.6	106.5	12.4	401	1882	0.00	2.25	0.00	0.000	4	0.000	0.065	3098	988	2423	0	0	0	0	0	0	28.83	25.60	28.83
2054	1.12	160.0	86.6	9.4	445	2068	0.00	2.25	7.90	0.183	6	0.000	0.068	3094	2403	2389	0	0	0	0	0	0	28.83	25.68	25.43
2187	1.12	160.0	72.1	11.3	471	2195	0.00	2.35	2.00	0.181	4	0.000	0.086	3094	3805	2389	0	0	0	0	0	0	28.83	25.71	25.58
2251	1.12	160.0	64.1	12.2	486	2258	0.00	2.20	2.15	0.174	6	0.000	0.064	3109	2396	2388	0	0	0	0	0	0	28.83	25.75	25.57
2377	1.13	169.8	50.7	9.5	511	2386	0.00	0.00	6.72	0.218	6	0.000	0.000	3105	2397	2339	0	0	0	0	0	0	28.83	28.83	25.56
2504	1.13	169.8	38.5	10.3	536	2512	0.00	0.00	1.73	0.182	6	0.000	0.000	3104	2396	2348	0	0	0	0	0	0	28.83	28.83	25.56
2571	1.13	169.8	32.2	10.4	549	2579	0.00	2.22	1.38	0.180	4	0.000	0.064	3113	983	2345	0	0	0	0	0	0	28.83	25.77	25.19
2639	1.13	169.8	25.0	11.2	565	2646	0.00	2.28	1.42	0.180	6	0.000	0.071	3116	2405	2347	0	0	0	0	0	0	28.83	25.70	25.70
2705	1.13	169.8	17.9	10.5	578	2713	0.00	0.00	1.30	0.185	6	0.000	0.000	3115	2413	2350	0	0	0	0	0	0	28.83	28.83	25.72
2772	1.13	169.8	11.0	10.0	591	2780	0.00	0.00	1.30	0.184	6	0.000	0.000	3115	2412	2345	0	0	0	0	0	0	28.83	28.83	25.72
2839	1.21	231.3	5.7	7.1	604	2859	0.00	0.00	19.08	0.131	2	0.000	0.000	3111	2408	2143	0	0	0	0	0	0	28.83	28.83	28.83
2860	end climb: SURFACE_DEPTH_REACHED
state	2860	begin surface coast
2933	end surface coast: CONTROL_FINISHED_OK
state	2933	begin surface