Glider dive log

GulfOfMexico Jul15 * SG161 * Dive index * Mission links * Dive 22 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 161 HD_C 9.0100002e-06 ROLL_MAX 3769 ALTIM_BOTTOM_TURN_MARGIN 20

MISSION 11 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 22 ESCAPE_HEADING 0 C_ROLL_DIVE 2675 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2300 ALTIM_PING_DEPTH 80

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 27.983 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 660 TGT_DEFAULT_LON -87.467003 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 95 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 500 R_STBD_OVSHOOT 52 XPDR_VALID 5

D_BOOST 20 N_FILEKB 8 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 2 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.63999999

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 73 VBD_MIN 550 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MAX 3960 DEVICE1 2

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2839 DEVICE2 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.245296 DEVICE4 -1

T_DIVE 185 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 200 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_ABORT 720 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_TURN 540 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 115

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 COMPASS_DEVICE 33

USE_BATHY 0 T_RSLEEP 5 DBDW 0 COMPASS2_DEVICE -1

USE_ICE 0 STROBE 0 PITCH_W_GAIN 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE -1

RELAUNCH 1 PITCH_MIN 151 AH0_10V 100 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3948 MINV_24V 19 SIM_PITCH 0

MAX_BUOY 175 C_PITCH 2930 MINV_10V 8 SEABIRD_T_G 0.0043775463

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_H 0.00063860236

GLIDE_SLOPE 45 PITCH_CNV 0.003125763 FG_AHR_24V 0 SEABIRD_T_I 2.5706517e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PHONE_SUPPLY 2 SEABIRD_T_J 2.822896e-06

RHO 1.0275 P_OVSHOOT_WITHG 0.079999998 PRESSURE_YINT -20.182438 SEABIRD_C_G -9.9098063

MASS 51942 PITCH_GAIN 21 PRESSURE_SLOPE 0.00011628441 SEABIRD_C_H 1.1132913

MASS_COMP 0 PITCH_TIMEOUT 16 AD7714Ch0Gain 128 SEABIRD_C_I -0.00039731048

NAV_MODE 1 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00011278767

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 MI_OFFLOAD 1.0

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 0 MI_POWERSOURCE 0.0

HD_A 0.00154 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 MI_RESTARTMONITOR 0.0

HD_B 0.0145 ROLL_MIN 192 ALTIM_TOP_PING_RANGE 0 MI_NOTIFYMOTORS 0.0

AD7714Ch0Gain 128 D_PITCH 0 N_NOCOMM 1 SEABIRD_T_I 2.5706517e-05

AH0_10V 100 D_SAFE 0 N_NOSURFACE 0 SEABIRD_T_J 2.822896e-06

AH0_24V 150 D_SURF 3 PHONE_DEVICE 49 SIM_PITCH 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 660 PHONE_SUPPLY 2 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 20 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 SM_CC 500

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SPEED_FACTOR 1

ALTIM_PING_DELTA 5 FERRY_MAX 45 PITCH_AD_RATE 175 STROBE 0

ALTIM_PING_DEPTH 80 FG_AHR_10V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 21 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3948 TCM_PITCH_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_MIN 151 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.00154 PITCH_TIMEOUT 16 TGT_DEFAULT_LAT 27.983

CALL_NDIVES 1 HD_B 0.0145 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -87.467003

CALL_TRIES 5 HD_C 9.0100002e-06 PITCH_W_DBAND 0 T_ABORT 720

CALL_WAIT 60 HEADING -1 PITCH_W_GAIN 0 T_BOOST 2

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00011628441 T_DIVE 185

CAPUPLOAD 0 HEAPDBG 0 PRESSURE_YINT -20.182438 T_EPIRB 0

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 73 T_GPS 15

COMM_SEQ 0 ID 161 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0.079999998 T_LOITER 0

COMPASS_DEVICE 33 INT_PRESSURE_YINT -0.63999999 RAFOS_CORR_THRESH 60 T_MISSION 200

COMPASS_USE 0 KALMAN_USE 2 RAFOS_DEVICE -1 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE1 115 RAFOS_HIT_WINDOW 3600 T_RSLEEP 5

C_PITCH 2930 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN 540

C_ROLL_CLIMB 2300 LOGGERDEVICE3 -1 RELAUNCH 1 T_TURN_SAMPINT 5

C_ROLL_DIVE 2675 LOGGERDEVICE4 -1 RHO 1.0275 T_WATCHDOG 10

C_VBD 2839 LOGGERS 1 ROLL_ADJ_DBAND 0 UNCOM_BLEED 50

DBDW 0 MASS 51942 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS_COMP 0 ROLL_AD_RATE 300 USE_BATHY 0

DEVICE1 2 MAX_BUOY 175 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE2 -1 MINV_10V 8 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 19 ROLL_MAX 3769 VBD_CNV -0.245296

DEVICE4 -1 MISSION 11 ROLL_MAXERRORS 2 VBD_DBAND 2

DEVICE5 -1 MI_NOTIFYMOTORS 0.0 ROLL_MIN 192 VBD_MAX 3960

DEVICE6 -1 MI_OFFLOAD 1.0 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 22 MI_POWERSOURCE 0.0 R_PORT_OVSHOOT 95 VBD_MIN 550

D_ABORT 1090 MI_RESTARTMONITOR 0.0 R_STBD_OVSHOOT 52 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 20 MOTHERBOARD 4 SEABIRD_C_G -9.9098063 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 NAV_MODE 1 SEABIRD_C_H 1.1132913 VBD_TIMEOUT 720

D_FINISH 0 NOCOMM_ACTION 0 SEABIRD_C_I -0.00039731048 W_ADJ_DBAND 0

D_FLARE 3 N_DIVES 0 SEABIRD_C_J 0.00011278767 XPDR_DEVICE -1

D_NO_BLEED 500 N_FILEKB 8 SEABIRD_T_G 0.0043775463 XPDR_INHIBIT 90

D_OFFGRID 100 N_GPS 20 SEABIRD_T_H 0.00063860236 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 210715,002910,2800.130,-8729.801,21,0.9,31,-1.9 SPEED_LIMITS 0.119,0.237

_CALLS 1 TGT_NAME T315_6

_XMS_NAKs 0 TGT_LATLONG 2801.049,-8729.938

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 1.14 MHEAD_RNG_PITCHd_Wd 358.7,1988,-26.7,-11.892,-33.58,1220

_SM_ANGLEo -69.3 D_GRID 660

GPS2 210715,003737,2759.977,-8729.870,5,0.9,15,-1.9

Post-dive calculations and measurements:

FINISH 2.5,1.019257 MI_HOME 2.9/436550/424036

SM_CCo 9024,58.28,0.358,1,0,799,500.16 _24V_AH 23.92,47.569

SM_GC 1.39,9.38,0.62,58.28,0.059,0.034,0.358,158,2686,799,-8.61,-1.36,500.16,0,0,0,0,1,0,25.19,25.27,24.59 _10V_AH 10.10,14.779

IRIDIUM_FIX 2722.64,-8719.43,160508,135956 FG_AHR_24Vo 0.000

TT8_MAMPS 0.095872,0.095872 FG_AHR_10Vo 0.000

HUMID 37.32 MEM 296124

INTERNAL_PRESSURE 9.25296 DATA_FILE_SIZE 26704,772

TCM_TEMP 25.70 CAP_FILE_SIZE 110333,0

MI_MIVER 0.4 CFSIZE 260034560,256016384

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 ERRORS 0,3,0,0,0,0,0,0,0,0,0,0,0,2,1,0

MI_BOOTCOUNT 104 INTR 2,3395.47,0x233820,1,24

MI_LOG 3.5/516052/497975 GPS 210715,030956,2800.159,-8729.840,14,0.9,24,-1.9

MI_ROOT 70.6/190403/56003

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 236 126.23 SBE_CT 515 23 286.24

Roll_motor 73 35 61.45 nil 0 0 0.00

VBD_pump_during_apogee 435 843 8796.51 nil 0 0 0.00

VBD_pump_during_surface 58 358 499.06 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 61 44.20 nil 0 0 0.00

Iridium_during_connect 34 160 133.52 MIB 9822 42 10069.39

Iridium_during_xfer 158 223 844.19 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 9821 36 8651.19

GPS 16 31 5.33

TT8 0 0 0.00

LPSleep 6324 0 24.91

TT8_Active 567 13 75.69

TT8_Sampling 2444 40 1010.13

TT8_CF8 103 48 50.54

TT8_Kalman 0 0 0.00

Analog_circuits 1455 16 235.22

GPS_charging 0 0 0.00

Compass 1690 15 268.50

RAFOS 0 0 0.00

Transponder 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15 -1.39 -96.3 145 2649 670 417 0.0 0.0 0 69 0.00 0.00 -51.45 0.000 16386 0.000 0.000 146 2649 2202 2182 2222 0 0 0 0 0 0 28.83 28.83 28.83

70 -1.44 -135.4 147 2650 2182 2222 3.8 -8.6 8 104 9.65 0.00 -21.42 0.000 18950 0.236 0.000 2457 2649 3393 3423 3363 0 0 0 0 0 0 24.91 28.83 25.60

163 -1.44 -135.4 2457 2650 3428 3363 31.6 -33.2 25 164 0.00 0.00 0.00 0.000 6 0.000 0.000 2457 2650 3394 3426 3362 0 0 0 0 0 0 28.83 28.83 28.83

228 -1.44 -135.4 2457 2650 3428 3363 54.8 -34.4 37 229 0.00 0.00 0.00 0.000 6 0.000 0.000 2457 2649 3394 3426 3362 0 0 0 0 0 0 28.83 28.83 28.83

348 -1.44 -135.4 2457 2650 3431 3363 88.9 -26.0 49 352 0.00 2.00 0.00 0.000 516 0.000 0.022 2457 1284 3395 3429 3362 0 0 0 0 0 0 28.83 25.65 28.83

458 -1.44 -135.4 2458 1284 3429 3363 111.5 -20.5 58 462 0.00 2.12 0.00 0.000 1030 0.000 0.030 2449 2673 3396 3430 3362 0 0 0 0 0 0 28.83 25.67 28.83

768 -1.44 -135.4 2449 2673 3434 3363 176.7 -20.1 79 772 0.00 2.05 0.00 0.000 516 0.000 0.022 2449 1284 3397 3433 3362 0 0 0 0 0 0 28.83 25.79 28.83

1003 -1.44 -135.4 2449 1284 3435 3363 220.3 -19.3 94 1011 0.00 2.12 0.00 0.000 1030 0.000 0.028 2439 2678 3397 3433 3362 0 0 0 0 0 0 28.83 25.75 28.83

1309 -1.44 -135.4 2438 2679 3435 3363 284.4 -21.0 115 1312 0.00 2.08 0.00 0.000 516 0.000 0.024 2439 1284 3397 3433 3361 0 0 0 0 0 0 28.83 25.82 28.83

1463 -1.44 -135.4 2440 1284 3433 3361 314.9 -20.0 125 1467 0.10 2.12 0.00 0.000 3078 0.164 0.030 2458 2675 3396 3433 3360 0 0 0 0 0 0 25.19 25.79 28.83

1774 -1.44 -135.4 2457 2676 3435 3357 375.1 -19.1 146 1777 0.00 2.08 0.00 0.000 516 0.000 0.025 2458 1281 3395 3435 3356 0 0 0 0 0 0 28.83 25.80 28.83

1953 -1.44 -135.4 2459 1281 3433 3354 409.1 -18.8 158 1957 0.00 2.12 0.00 0.000 1030 0.000 0.030 2450 2674 3393 3433 3353 0 0 0 0 0 0 28.83 25.77 28.83

2268 -1.44 -135.4 2449 2674 3432 3350 471.5 -20.1 179 2272 0.00 2.08 0.00 0.000 516 0.000 0.024 2450 1288 3390 3431 3349 0 0 0 0 0 0 28.83 25.78 28.83

2348 -1.44 -135.4 2451 1289 3430 3349 486.2 -19.5 184 2352 0.00 2.12 0.00 0.000 1030 0.000 0.032 2440 2670 3389 3430 3349 0 0 0 0 0 0 28.83 25.75 28.83

2658 -1.44 -135.4 2440 2671 3430 3346 551.4 -20.5 205 2662 0.00 2.08 0.00 0.000 516 0.000 0.025 2441 1294 3386 3428 3345 0 0 0 0 0 0 28.83 25.76 28.83

2794 -1.44 -135.4 2440 1294 3427 3345 578.1 -20.0 214 2798 0.10 2.15 0.00 0.000 3078 0.155 0.034 2468 2679 3385 3426 3344 0 0 0 0 0 0 25.12 25.70 28.83

3109 -1.44 -135.4 2468 2680 3424 3341 636.3 -18.4 235 3112 0.00 2.12 0.00 0.000 516 0.000 0.026 2468 1259 3381 3422 3341 0 0 0 0 0 0 28.83 25.51 28.83

3228 -1.44 -135.4 2468 1259 3422 3341 658.2 -17.8 243 3232 0.00 2.22 0.00 0.000 1030 0.000 0.032 2460 2676 3380 3421 3340 0 0 0 0 0 0 28.83 25.44 28.83

3242 end dive: TARGET_DEPTH_EXCEEDED

state 3242 begin apogee

3246 -0.24 0.0 2461 2312 3421 3340 660.9 -17.8 244 3354 1.25 0.00 105.30 0.844 10246 0.127 0.000 2847 2311 2838 2934 2743 0 0 0 0 0 0 25.34 28.83 24.03

3355 end apogee: CONTROL_FINISHED_OK

state 3355 begin climb

3356 1.44 135.4 2847 2312 2935 2744 665.0 0.0 251 3474 1.55 2.20 109.28 0.836 10756 0.065 0.029 3399 912 2285 2360 2210 0 0 0 0 0 0 24.80 24.71 23.92

3514 1.44 135.4 3398 913 2357 2209 655.0 12.6 262 3517 0.00 2.17 0.00 0.000 1030 0.000 0.026 3398 2307 2282 2355 2209 0 0 0 0 0 0 28.83 25.06 28.83

3828 1.44 135.4 3398 2307 2350 2206 606.8 15.2 283 3832 0.00 2.15 0.00 0.000 516 0.000 0.029 3408 908 2276 2348 2205 0 0 0 0 0 0 28.83 25.58 28.83

3928 1.44 135.4 3408 904 2348 2205 592.8 15.8 289 3936 0.00 2.12 0.00 0.000 1030 0.000 0.027 3408 2297 2275 2347 2204 0 0 0 0 0 0 28.83 25.65 28.83

4233 1.44 135.4 3408 2298 2345 2203 544.3 15.5 310 4237 0.00 2.10 0.00 0.000 516 0.000 0.030 3418 914 2273 2344 2202 0 0 0 0 0 0 28.83 25.71 28.83

4453 1.44 135.4 3419 915 2349 2201 512.6 15.1 324 4461 0.00 2.10 0.00 0.000 1030 0.000 0.027 3418 2298 2271 2343 2200 0 0 0 0 0 0 28.83 25.70 28.83

4758 1.44 135.4 3419 2298 2339 2199 464.9 15.4 345 4762 0.00 2.10 0.00 0.000 516 0.000 0.031 3427 915 2270 2341 2199 0 0 0 0 0 0 28.83 25.73 28.83

4858 1.44 135.4 3428 915 2338 2199 451.3 15.1 351 4866 0.10 2.10 0.00 0.000 5126 0.155 0.026 3398 2302 2268 2338 2198 0 0 0 0 0 0 25.10 25.70 28.83

5164 1.44 135.4 3398 2303 2338 2198 407.3 13.9 372 5165 0.00 0.00 0.00 0.000 6 0.000 0.000 3398 2302 2267 2337 2198 0 0 0 0 0 0 28.83 28.83 28.83

5463 1.44 135.4 3397 2303 2336 2198 366.2 13.9 392 5467 0.00 2.10 0.00 0.000 516 0.000 0.030 3407 917 2265 2334 2196 0 0 0 0 0 0 28.83 25.70 28.83

5738 1.44 135.4 3407 918 2333 2195 326.8 15.1 410 5742 0.00 2.10 0.00 0.000 1030 0.000 0.026 3406 2295 2264 2333 2195 0 0 0 0 0 0 28.83 25.65 28.83

6048 1.44 135.4 3407 2295 2332 2195 281.1 14.3 431 6052 0.00 2.10 0.00 0.000 516 0.000 0.029 3416 913 2263 2332 2194 0 0 0 0 0 0 28.83 25.65 28.83

6343 1.44 135.4 3416 913 2332 2194 239.3 14.6 450 6351 0.00 2.12 0.00 0.000 1030 0.000 0.025 3416 2309 2262 2331 2193 0 0 0 0 0 0 28.83 25.60 28.83

6648 1.44 135.4 3416 2310 2331 2194 192.1 14.9 471 6652 0.00 2.17 0.00 0.000 516 0.000 0.028 3426 912 2264 2330 2199 0 0 0 0 0 0 28.83 25.82 28.83

6963 1.44 135.4 3422 913 2330 2194 147.4 13.7 492 6967 0.10 2.10 0.00 0.000 5126 0.152 0.025 3397 2299 2261 2329 2193 0 0 0 0 0 0 25.06 25.64 28.83

7279 1.46 151.6 3398 2300 2330 2193 110.5 10.5 513 7296 0.00 2.12 9.70 0.432 8708 0.000 0.030 3405 908 2219 2290 2149 0 0 0 0 0 0 28.83 25.54 24.86

7835 1.56 236.4 3406 908 2287 2149 69.9 4.8 565 7905 0.00 2.10 65.12 0.451 9222 0.000 0.024 3405 2301 1873 1954 1792 0 0 0 0 0 0 28.83 25.63 24.73

8030 1.59 253.3 3406 2301 1946 1790 51.2 10.5 585 8053 0.05 2.08 13.62 0.403 10756 0.166 0.027 3451 909 1802 1878 1727 0 0 0 0 0 0 25.13 25.45 24.73

8247 1.61 270.2 3451 910 1876 1725 29.2 10.5 626 8267 0.00 2.10 14.10 0.389 9222 0.000 0.024 3451 2297 1735 1814 1656 0 0 0 0 0 0 28.83 25.55 24.89

8326 1.62 283.6 3452 2298 1810 1656 21.0 10.8 641 8346 0.00 2.17 11.65 0.375 8452 0.000 0.035 3451 3699 1680 1762 1599 0 0 0 0 0 0 28.83 25.53 24.82

8885 1.79 421.4 3451 3700 1760 1599 4.6 0.3 752 9003 0.05 2.08 107.05 0.393 11266 0.099 0.020 3489 2268 1178 1280 1076 0 0 0 0 1 0 25.48 25.73 25.42

9004 end climb: SURFACE_DEPTH_REACHED

state 9005 begin surface coast

9007 end surface coast: CONTROL_FINISHED_OK

state 9007 begin surface

ID	161	HD_C	9.0100002e-06	ROLL_MAX	3769	ALTIM_BOTTOM_TURN_MARGIN	20
MISSION	11	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	22	ESCAPE_HEADING	0	C_ROLL_DIVE	2675	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2300	ALTIM_PING_DEPTH	80
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	27.983	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	660	TGT_DEFAULT_LON	-87.467003	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	95	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	500	R_STBD_OVSHOOT	52	XPDR_VALID	5
D_BOOST	20	N_FILEKB	8	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	2	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.63999999
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	73	VBD_MIN	550	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MAX	3960	DEVICE1	2
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2839	DEVICE2	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.245296	DEVICE4	-1
T_DIVE	185	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	200	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_ABORT	720	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_TURN	540	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	115
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	COMPASS_DEVICE	33
USE_BATHY	0	T_RSLEEP	5	DBDW	0	COMPASS2_DEVICE	-1
USE_ICE	0	STROBE	0	PITCH_W_GAIN	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_MIN	151	AH0_10V	100	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3948	MINV_24V	19	SIM_PITCH	0
MAX_BUOY	175	C_PITCH	2930	MINV_10V	8	SEABIRD_T_G	0.0043775463
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_T_H	0.00063860236
GLIDE_SLOPE	45	PITCH_CNV	0.003125763	FG_AHR_24V	0	SEABIRD_T_I	2.5706517e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PHONE_SUPPLY	2	SEABIRD_T_J	2.822896e-06
RHO	1.0275	P_OVSHOOT_WITHG	0.079999998	PRESSURE_YINT	-20.182438	SEABIRD_C_G	-9.9098063
MASS	51942	PITCH_GAIN	21	PRESSURE_SLOPE	0.00011628441	SEABIRD_C_H	1.1132913
MASS_COMP	0	PITCH_TIMEOUT	16	AD7714Ch0Gain	128	SEABIRD_C_I	-0.00039731048
NAV_MODE	1	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00011278767
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	MI_OFFLOAD	1.0
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	0	MI_POWERSOURCE	0.0
HD_A	0.00154	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	MI_RESTARTMONITOR	0.0
HD_B	0.0145	ROLL_MIN	192	ALTIM_TOP_PING_RANGE	0	MI_NOTIFYMOTORS	0.0

GPS1	210715,002910,2800.130,-8729.801,21,0.9,31,-1.9	SPEED_LIMITS	0.119,0.237
_CALLS	1	TGT_NAME	T315_6
_XMS_NAKs	0	TGT_LATLONG	2801.049,-8729.938
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	1.14	MHEAD_RNG_PITCHd_Wd	358.7,1988,-26.7,-11.892,-33.58,1220
_SM_ANGLEo	-69.3	D_GRID	660
GPS2	210715,003737,2759.977,-8729.870,5,0.9,15,-1.9

FINISH	2.5,1.019257	MI_HOME	2.9/436550/424036
SM_CCo	9024,58.28,0.358,1,0,799,500.16	_24V_AH	23.92,47.569
SM_GC	1.39,9.38,0.62,58.28,0.059,0.034,0.358,158,2686,799,-8.61,-1.36,500.16,0,0,0,0,1,0,25.19,25.27,24.59	_10V_AH	10.10,14.779
IRIDIUM_FIX	2722.64,-8719.43,160508,135956	FG_AHR_24Vo	0.000
TT8_MAMPS	0.095872,0.095872	FG_AHR_10Vo	0.000
HUMID	37.32	MEM	296124
INTERNAL_PRESSURE	9.25296	DATA_FILE_SIZE	26704,772
TCM_TEMP	25.70	CAP_FILE_SIZE	110333,0
MI_MIVER	0.4	CFSIZE	260034560,256016384
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	ERRORS	0,3,0,0,0,0,0,0,0,0,0,0,0,2,1,0
MI_BOOTCOUNT	104	INTR	2,3395.47,0x233820,1,24
MI_LOG	3.5/516052/497975	GPS	210715,030956,2800.159,-8729.840,14,0.9,24,-1.9
MI_ROOT	70.6/190403/56003

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	236	126.23	SBE_CT	515	23	286.24
Roll_motor	73	35	61.45	nil	0	0	0.00
VBD_pump_during_apogee	435	843	8796.51	nil	0	0	0.00
VBD_pump_during_surface	58	358	499.06	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	61	44.20	nil	0	0	0.00
Iridium_during_connect	34	160	133.52	MIB	9822	42	10069.39
Iridium_during_xfer	158	223	844.19	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	9821	36	8651.19
GPS	16	31	5.33
TT8	0	0	0.00
LPSleep	6324	0	24.91
TT8_Active	567	13	75.69
TT8_Sampling	2444	40	1010.13
TT8_CF8	103	48	50.54
TT8_Kalman	0	0	0.00
Analog_circuits	1455	16	235.22
GPS_charging	0	0	0.00
Compass	1690	15	268.50
RAFOS	0	0	0.00
Transponder	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	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	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15	-1.39	-96.3	145	2649	670	417	0.0	0.0	0	69	0.00	0.00	-51.45	0.000	16386	0.000	0.000	146	2649	2202	2182	2222	0	0	0	0	0	0	28.83	28.83	28.83
70	-1.44	-135.4	147	2650	2182	2222	3.8	-8.6	8	104	9.65	0.00	-21.42	0.000	18950	0.236	0.000	2457	2649	3393	3423	3363	0	0	0	0	0	0	24.91	28.83	25.60
163	-1.44	-135.4	2457	2650	3428	3363	31.6	-33.2	25	164	0.00	0.00	0.00	0.000	6	0.000	0.000	2457	2650	3394	3426	3362	0	0	0	0	0	0	28.83	28.83	28.83
228	-1.44	-135.4	2457	2650	3428	3363	54.8	-34.4	37	229	0.00	0.00	0.00	0.000	6	0.000	0.000	2457	2649	3394	3426	3362	0	0	0	0	0	0	28.83	28.83	28.83
348	-1.44	-135.4	2457	2650	3431	3363	88.9	-26.0	49	352	0.00	2.00	0.00	0.000	516	0.000	0.022	2457	1284	3395	3429	3362	0	0	0	0	0	0	28.83	25.65	28.83
458	-1.44	-135.4	2458	1284	3429	3363	111.5	-20.5	58	462	0.00	2.12	0.00	0.000	1030	0.000	0.030	2449	2673	3396	3430	3362	0	0	0	0	0	0	28.83	25.67	28.83
768	-1.44	-135.4	2449	2673	3434	3363	176.7	-20.1	79	772	0.00	2.05	0.00	0.000	516	0.000	0.022	2449	1284	3397	3433	3362	0	0	0	0	0	0	28.83	25.79	28.83
1003	-1.44	-135.4	2449	1284	3435	3363	220.3	-19.3	94	1011	0.00	2.12	0.00	0.000	1030	0.000	0.028	2439	2678	3397	3433	3362	0	0	0	0	0	0	28.83	25.75	28.83
1309	-1.44	-135.4	2438	2679	3435	3363	284.4	-21.0	115	1312	0.00	2.08	0.00	0.000	516	0.000	0.024	2439	1284	3397	3433	3361	0	0	0	0	0	0	28.83	25.82	28.83
1463	-1.44	-135.4	2440	1284	3433	3361	314.9	-20.0	125	1467	0.10	2.12	0.00	0.000	3078	0.164	0.030	2458	2675	3396	3433	3360	0	0	0	0	0	0	25.19	25.79	28.83
1774	-1.44	-135.4	2457	2676	3435	3357	375.1	-19.1	146	1777	0.00	2.08	0.00	0.000	516	0.000	0.025	2458	1281	3395	3435	3356	0	0	0	0	0	0	28.83	25.80	28.83
1953	-1.44	-135.4	2459	1281	3433	3354	409.1	-18.8	158	1957	0.00	2.12	0.00	0.000	1030	0.000	0.030	2450	2674	3393	3433	3353	0	0	0	0	0	0	28.83	25.77	28.83
2268	-1.44	-135.4	2449	2674	3432	3350	471.5	-20.1	179	2272	0.00	2.08	0.00	0.000	516	0.000	0.024	2450	1288	3390	3431	3349	0	0	0	0	0	0	28.83	25.78	28.83
2348	-1.44	-135.4	2451	1289	3430	3349	486.2	-19.5	184	2352	0.00	2.12	0.00	0.000	1030	0.000	0.032	2440	2670	3389	3430	3349	0	0	0	0	0	0	28.83	25.75	28.83
2658	-1.44	-135.4	2440	2671	3430	3346	551.4	-20.5	205	2662	0.00	2.08	0.00	0.000	516	0.000	0.025	2441	1294	3386	3428	3345	0	0	0	0	0	0	28.83	25.76	28.83
2794	-1.44	-135.4	2440	1294	3427	3345	578.1	-20.0	214	2798	0.10	2.15	0.00	0.000	3078	0.155	0.034	2468	2679	3385	3426	3344	0	0	0	0	0	0	25.12	25.70	28.83
3109	-1.44	-135.4	2468	2680	3424	3341	636.3	-18.4	235	3112	0.00	2.12	0.00	0.000	516	0.000	0.026	2468	1259	3381	3422	3341	0	0	0	0	0	0	28.83	25.51	28.83
3228	-1.44	-135.4	2468	1259	3422	3341	658.2	-17.8	243	3232	0.00	2.22	0.00	0.000	1030	0.000	0.032	2460	2676	3380	3421	3340	0	0	0	0	0	0	28.83	25.44	28.83
3242	end dive: TARGET_DEPTH_EXCEEDED
state	3242	begin apogee
3246	-0.24	0.0	2461	2312	3421	3340	660.9	-17.8	244	3354	1.25	0.00	105.30	0.844	10246	0.127	0.000	2847	2311	2838	2934	2743	0	0	0	0	0	0	25.34	28.83	24.03
3355	end apogee: CONTROL_FINISHED_OK
state	3355	begin climb
3356	1.44	135.4	2847	2312	2935	2744	665.0	0.0	251	3474	1.55	2.20	109.28	0.836	10756	0.065	0.029	3399	912	2285	2360	2210	0	0	0	0	0	0	24.80	24.71	23.92
3514	1.44	135.4	3398	913	2357	2209	655.0	12.6	262	3517	0.00	2.17	0.00	0.000	1030	0.000	0.026	3398	2307	2282	2355	2209	0	0	0	0	0	0	28.83	25.06	28.83
3828	1.44	135.4	3398	2307	2350	2206	606.8	15.2	283	3832	0.00	2.15	0.00	0.000	516	0.000	0.029	3408	908	2276	2348	2205	0	0	0	0	0	0	28.83	25.58	28.83
3928	1.44	135.4	3408	904	2348	2205	592.8	15.8	289	3936	0.00	2.12	0.00	0.000	1030	0.000	0.027	3408	2297	2275	2347	2204	0	0	0	0	0	0	28.83	25.65	28.83
4233	1.44	135.4	3408	2298	2345	2203	544.3	15.5	310	4237	0.00	2.10	0.00	0.000	516	0.000	0.030	3418	914	2273	2344	2202	0	0	0	0	0	0	28.83	25.71	28.83
4453	1.44	135.4	3419	915	2349	2201	512.6	15.1	324	4461	0.00	2.10	0.00	0.000	1030	0.000	0.027	3418	2298	2271	2343	2200	0	0	0	0	0	0	28.83	25.70	28.83
4758	1.44	135.4	3419	2298	2339	2199	464.9	15.4	345	4762	0.00	2.10	0.00	0.000	516	0.000	0.031	3427	915	2270	2341	2199	0	0	0	0	0	0	28.83	25.73	28.83
4858	1.44	135.4	3428	915	2338	2199	451.3	15.1	351	4866	0.10	2.10	0.00	0.000	5126	0.155	0.026	3398	2302	2268	2338	2198	0	0	0	0	0	0	25.10	25.70	28.83
5164	1.44	135.4	3398	2303	2338	2198	407.3	13.9	372	5165	0.00	0.00	0.00	0.000	6	0.000	0.000	3398	2302	2267	2337	2198	0	0	0	0	0	0	28.83	28.83	28.83
5463	1.44	135.4	3397	2303	2336	2198	366.2	13.9	392	5467	0.00	2.10	0.00	0.000	516	0.000	0.030	3407	917	2265	2334	2196	0	0	0	0	0	0	28.83	25.70	28.83
5738	1.44	135.4	3407	918	2333	2195	326.8	15.1	410	5742	0.00	2.10	0.00	0.000	1030	0.000	0.026	3406	2295	2264	2333	2195	0	0	0	0	0	0	28.83	25.65	28.83
6048	1.44	135.4	3407	2295	2332	2195	281.1	14.3	431	6052	0.00	2.10	0.00	0.000	516	0.000	0.029	3416	913	2263	2332	2194	0	0	0	0	0	0	28.83	25.65	28.83
6343	1.44	135.4	3416	913	2332	2194	239.3	14.6	450	6351	0.00	2.12	0.00	0.000	1030	0.000	0.025	3416	2309	2262	2331	2193	0	0	0	0	0	0	28.83	25.60	28.83
6648	1.44	135.4	3416	2310	2331	2194	192.1	14.9	471	6652	0.00	2.17	0.00	0.000	516	0.000	0.028	3426	912	2264	2330	2199	0	0	0	0	0	0	28.83	25.82	28.83
6963	1.44	135.4	3422	913	2330	2194	147.4	13.7	492	6967	0.10	2.10	0.00	0.000	5126	0.152	0.025	3397	2299	2261	2329	2193	0	0	0	0	0	0	25.06	25.64	28.83
7279	1.46	151.6	3398	2300	2330	2193	110.5	10.5	513	7296	0.00	2.12	9.70	0.432	8708	0.000	0.030	3405	908	2219	2290	2149	0	0	0	0	0	0	28.83	25.54	24.86
7835	1.56	236.4	3406	908	2287	2149	69.9	4.8	565	7905	0.00	2.10	65.12	0.451	9222	0.000	0.024	3405	2301	1873	1954	1792	0	0	0	0	0	0	28.83	25.63	24.73
8030	1.59	253.3	3406	2301	1946	1790	51.2	10.5	585	8053	0.05	2.08	13.62	0.403	10756	0.166	0.027	3451	909	1802	1878	1727	0	0	0	0	0	0	25.13	25.45	24.73
8247	1.61	270.2	3451	910	1876	1725	29.2	10.5	626	8267	0.00	2.10	14.10	0.389	9222	0.000	0.024	3451	2297	1735	1814	1656	0	0	0	0	0	0	28.83	25.55	24.89
8326	1.62	283.6	3452	2298	1810	1656	21.0	10.8	641	8346	0.00	2.17	11.65	0.375	8452	0.000	0.035	3451	3699	1680	1762	1599	0	0	0	0	0	0	28.83	25.53	24.82
8885	1.79	421.4	3451	3700	1760	1599	4.6	0.3	752	9003	0.05	2.08	107.05	0.393	11266	0.099	0.020	3489	2268	1178	1280	1076	0	0	0	0	1	0	25.48	25.73	25.42
9004	end climb: SURFACE_DEPTH_REACHED
state	9005	begin surface coast
9007	end surface coast: CONTROL_FINISHED_OK
state	9007	begin surface