Glider dive log

Shilshole 15Apr14 * SG161 * Dive index * Mission links * Dive 22 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 161 HD_C 9.9999997e-06 ROLL_MIN 192 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 4 HEADING -1 ROLL_MAX 3769 ALTIM_PING_DEPTH 80

DIVE 22 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1860 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1750 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 4743.1001 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_TGT 90 TGT_DEFAULT_LON 12223.6 ROLL_CNV 0.028270001 XPDR_VALID 5

D_ABORT 300 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 500 SM_CC 335 R_PORT_OVSHOOT 33 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 45 INT_PRESSURE_YINT -0.63999999

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 300 DEEPGLIDER 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 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 1921 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 30 CALL_TRIES 5 VBD_CNV -0.245296 DEVICE6 -1

T_MISSION 80 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_ABORT 1440 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 60 COMPASS_DEVICE 33

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY 0 T_GPS_CHARGE -2891.1931 CF8_MAXERRORS 20 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 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 -7 PITCH_MIN 151 FG_AHR_24V 0 SEABIRD_T_G 0.0043775463

MAX_BUOY 180 PITCH_MAX 3948 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063860236

COURSE_BIAS 0 C_PITCH 3035 PRESSURE_YINT -20.543966 SEABIRD_T_I 2.5706517e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011628441 SEABIRD_T_J 2.822896e-06

SPEED_FACTOR 1 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -9.9098063

RHO 1.0233001 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1132913

MASS 51957 PITCH_GAIN 20.5 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00039731048

NAV_MODE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_J 0.00011278767

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 20 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 2.822896e-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 335

ALTIM_BOTTOM_TURN_MARGIN 20 D_TGT 90 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 80 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 20.5 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3948 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 4743.1001

APOGEE_PITCH -7 GPS_DEVICE 32 PITCH_MIN 151 TGT_DEFAULT_LON 12223.6

CALL_NDIVES 1 HD_A 0.003 PITCH_TIMEOUT 16 T_ABORT 1440

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 0.00011628441 T_DIVE 30

CAPMAXSIZE 100000 HEADING -1 PRESSURE_YINT -20.543966 T_EPIRB 0

CAPUPLOAD 1 HEAD_ERRBAND 10 PROTOCOL 73 T_GPS 15

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 -2891.1931

COMPASS2_DEVICE -1 ID 161 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 -0.63999999 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_RSLEEP 3

C_PITCH 3035 LOGGERDEVICE1 83 RHO 1.0233001 T_TURN 540

C_ROLL_CLIMB 1750 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 1860 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_VBD 1921 LOGGERDEVICE4 -1 ROLL_AD_RATE 300 UNCOM_BLEED 60

DEEPGLIDER 0 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 51957 ROLL_DEG 40 USE_BATHY 0

DEVICE1 2 MAX_BUOY 180 ROLL_MAX 3769 USE_ICE 0

DEVICE2 -1 MINV_10V 8 ROLL_MAXERRORS 2 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 19 ROLL_MIN 192 VBD_CNV -0.245296

DEVICE4 -1 MISSION 4 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 MI_NOTIFYMOTORS 0.0 R_PORT_OVSHOOT 33 VBD_MAX 3960

DEVICE6 -1 MI_OFFLOAD 1.0 R_STBD_OVSHOOT 45 VBD_MAXERRORS 1

DIVE 22 MI_POWERSOURCE 0.0 SEABIRD_C_G -9.9098063 VBD_MIN 550

D_ABORT 300 MI_RESTARTMONITOR 0.0 SEABIRD_C_H 1.1132913 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 3 MOTHERBOARD 4 SEABIRD_C_I -0.00039731048 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 NAV_MODE 1 SEABIRD_C_J 0.00011278767 VBD_TIMEOUT 720

D_FINISH 0 NOCOMM_ACTION 0 SEABIRD_T_G 0.0043775463 XPDR_DEVICE -1

D_FLARE 3 N_DIVES 0 SEABIRD_T_H 0.00063860236 XPDR_INHIBIT 90

D_NO_BLEED 500 N_FILEKB 4 SEABIRD_T_I 2.5706517e-05 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 160414,145924,4743.399,-12224.522,3,0.8,37,16.3 TGT_NAME SOUTH

_CALLS 1 TGT_LATLONG 4742.700,-12224.500

_XMS_NAKs 0 TGT_RADIUS 400.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.042,-0.279

_SM_DEPTHo 1.31 KALMAN_X 891.8,185.5,-407.5,-992.4,89.1

_SM_ANGLEo -68.0 KALMAN_Y 163.8,557.8,-787.8,1692.3,199.6

GPS2 160414,151500,4743.742,-12224.573,4,1.1,39,16.3 MHEAD_RNG_PITCHd_Wd 172.2,1932,-15.8,-10.000

SPEED_LIMITS 0.173,0.282 D_GRID 90

Post-dive calculations and measurements:

FINISH 0.3,1.020199 MI_ROOT 70.5/190403/56092

SM_CCo 1843,114.90,0.409,4,0,554,335.07 MI_HOME 2.9/436550/423836

SM_GC 1.04,8.73,2.35,114.90,0.047,0.036,0.409,140,1858,554,-8.98,-1.30,335.07,0,0,0,0,4,0,25.92,25.95,24.82 _24V_AH 24.3,2.740

IRIDIUM_FIX 4751.72,-12340.51,160414,131321 _10V_AH 10.3,1.632

TT8_MAMPS 0.099617,0.099617 FG_AHR_24Vo 0.000

HUMID 33.18 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 8.76466 MEM 197900

TCM_TEMP 20.20 DATA_FILE_SIZE 6822,263

MI_MIVER 0.4 CAP_FILE_SIZE 69307,0

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 CFSIZE 260034560,257028096

MI_BOOTCOUNT 26 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0

MI_LOG 3.4/516052/498707 GPS 160414,154934,4743.790,-12224.611,3,0.8,37,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 261 139.07 SBE_CT 175 23 98.99

Roll_motor 39 71 69.37 nil 0 0 0.00

VBD_pump_during_apogee 306 514 3833.21 nil 0 0 0.00

VBD_pump_during_surface 114 408 1140.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 61 35.79 nil 0 0 0.00

Iridium_during_connect 36 160 142.88 MIB 2979 43 3139.82

Iridium_during_xfer 461 223 2498.19 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 2979 34 2499.22

GPS 40 31 13.26

TT8 0 0 0.00

LPSleep 770 0 3.10

TT8_Active 473 13 64.46

TT8_Sampling 1478 40 623.02

TT8_CF8 79 48 39.73

TT8_Kalman 33 65 22.45

Analog_circuits 785 16 129.46

GPS_charging 0 0 0.00

Compass 439 15 71.22

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

15 -0.99 -175.9 0.0 0.0 0 52 0.00 0.00 -35.03 0.000 2 0.000 0.000 140 1880 1670 0 0 0 0 0 0 28.83 28.83 28.83

53 -0.99 -175.9 3.0 -8.6 5 88 10.98 2.25 -20.17 0.000 4 0.262 0.063 2709 446 2639 0 0 0 0 0 0 25.39 25.58 25.70

158 -0.99 -175.9 23.6 -21.0 24 165 0.00 2.17 0.00 0.000 6 0.000 0.040 2701 1844 2639 0 0 0 0 0 0 28.83 25.68 28.83

225 -0.99 -175.9 36.1 -19.2 37 232 0.00 2.20 0.00 0.000 4 0.000 0.048 2701 454 2639 0 0 0 0 0 0 28.83 25.70 28.83

247 -0.99 -175.9 40.5 -19.8 41 254 0.00 2.17 0.00 0.000 6 0.000 0.038 2690 1861 2639 0 0 0 0 0 0 28.83 25.72 28.83

314 -0.99 -175.9 52.5 -17.7 53 317 0.00 2.22 0.00 0.000 4 0.000 0.057 2679 3264 2639 0 0 0 0 0 0 28.83 25.74 28.83

344 -0.99 -175.9 57.9 -17.9 56 348 0.10 2.15 0.00 0.000 6 0.150 0.034 2711 1853 2639 0 0 0 0 0 0 25.67 25.79 28.83

474 -0.99 -175.9 79.4 -16.1 69 477 0.00 2.17 0.00 0.000 4 0.000 0.049 2711 465 2639 0 0 0 0 0 0 28.83 25.82 28.83

518 -0.99 -175.9 86.0 -16.8 73 527 0.00 2.15 0.00 0.000 6 0.000 0.037 2702 1863 2639 0 0 0 0 0 0 28.83 25.85 28.83

543 end dive: TARGET_DEPTH_EXCEEDED

state 543 begin apogee

545 -0.34 0.0 91.1 -16.8 76 690 0.70 0.00 139.57 0.514 6 0.145 0.000 2917 1726 1920 0 0 0 0 0 0 25.78 28.83 24.45

691 end apogee: CONTROL_FINISHED_OK

state 691 begin climb

692 0.99 175.9 99.8 0.0 90 838 1.38 2.22 138.18 0.499 4 0.116 0.053 3355 372 1202 0 0 0 0 0 0 24.82 24.71 24.33

867 1.03 211.1 91.6 8.6 107 901 0.00 2.17 29.10 0.479 6 0.000 0.035 3354 1769 1060 0 0 0 0 0 0 28.83 25.01 24.49

1017 1.03 211.1 74.1 12.3 122 1020 0.00 2.25 0.00 0.000 4 0.000 0.053 3365 376 1058 0 0 0 0 0 0 28.83 25.34 28.83

1057 1.03 211.1 68.7 13.5 126 1061 0.00 2.15 0.00 0.000 6 0.000 0.035 3365 1752 1058 0 0 0 0 0 0 28.83 25.45 28.83

1187 1.03 211.1 51.7 13.1 139 1190 0.00 2.20 0.00 0.000 4 0.000 0.052 3375 376 1057 0 0 0 0 0 0 28.83 25.60 28.83

1252 1.03 211.1 43.0 12.8 150 1260 0.00 2.12 0.00 0.000 6 0.000 0.035 3375 1751 1057 0 0 0 0 0 0 28.83 25.70 28.83

1319 1.03 211.1 34.5 12.0 163 1327 0.00 2.20 0.00 0.000 4 0.000 0.051 3371 3153 1057 0 0 0 0 0 0 28.83 25.72 28.83

1376 1.03 211.1 27.8 11.8 174 1384 0.00 2.12 0.00 0.000 6 0.000 0.034 3380 1769 1057 0 0 0 0 0 0 28.83 25.79 28.83

1444 1.03 211.1 19.8 13.0 187 1451 0.00 2.22 0.00 0.000 4 0.000 0.053 3390 340 1057 0 0 0 0 0 0 28.83 25.79 28.83

1709 end climb: SURFACE_DEPTH_REACHED

state 1709 begin surface coast

1824 end surface coast: CONTROL_FINISHED_OK

state 1824 begin surface

ID	161	HD_C	9.9999997e-06	ROLL_MIN	192	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	4	HEADING	-1	ROLL_MAX	3769	ALTIM_PING_DEPTH	80
DIVE	22	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1860	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1750	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	4743.1001	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_TGT	90	TGT_DEFAULT_LON	12223.6	ROLL_CNV	0.028270001	XPDR_VALID	5
D_ABORT	300	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	500	SM_CC	335	R_PORT_OVSHOOT	33	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	45	INT_PRESSURE_YINT	-0.63999999
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	300	DEEPGLIDER	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	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	1921	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	30	CALL_TRIES	5	VBD_CNV	-0.245296	DEVICE6	-1
T_MISSION	80	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_ABORT	1440	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	60	COMPASS_DEVICE	33
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	0	T_GPS_CHARGE	-2891.1931	CF8_MAXERRORS	20	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	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	-7	PITCH_MIN	151	FG_AHR_24V	0	SEABIRD_T_G	0.0043775463
MAX_BUOY	180	PITCH_MAX	3948	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063860236
COURSE_BIAS	0	C_PITCH	3035	PRESSURE_YINT	-20.543966	SEABIRD_T_I	2.5706517e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011628441	SEABIRD_T_J	2.822896e-06
SPEED_FACTOR	1	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9098063
RHO	1.0233001	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1132913
MASS	51957	PITCH_GAIN	20.5	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00039731048
NAV_MODE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_J	0.00011278767
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	20	MI_RESTARTMONITOR	0.0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	MI_NOTIFYMOTORS	0.0

GPS1	160414,145924,4743.399,-12224.522,3,0.8,37,16.3	TGT_NAME	SOUTH
_CALLS	1	TGT_LATLONG	4742.700,-12224.500
_XMS_NAKs	0	TGT_RADIUS	400.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.042,-0.279
_SM_DEPTHo	1.31	KALMAN_X	891.8,185.5,-407.5,-992.4,89.1
_SM_ANGLEo	-68.0	KALMAN_Y	163.8,557.8,-787.8,1692.3,199.6
GPS2	160414,151500,4743.742,-12224.573,4,1.1,39,16.3	MHEAD_RNG_PITCHd_Wd	172.2,1932,-15.8,-10.000
SPEED_LIMITS	0.173,0.282	D_GRID	90

FINISH	0.3,1.020199	MI_ROOT	70.5/190403/56092
SM_CCo	1843,114.90,0.409,4,0,554,335.07	MI_HOME	2.9/436550/423836
SM_GC	1.04,8.73,2.35,114.90,0.047,0.036,0.409,140,1858,554,-8.98,-1.30,335.07,0,0,0,0,4,0,25.92,25.95,24.82	_24V_AH	24.3,2.740
IRIDIUM_FIX	4751.72,-12340.51,160414,131321	_10V_AH	10.3,1.632
TT8_MAMPS	0.099617,0.099617	FG_AHR_24Vo	0.000
HUMID	33.18	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	8.76466	MEM	197900
TCM_TEMP	20.20	DATA_FILE_SIZE	6822,263
MI_MIVER	0.4	CAP_FILE_SIZE	69307,0
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	CFSIZE	260034560,257028096
MI_BOOTCOUNT	26	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
MI_LOG	3.4/516052/498707	GPS	160414,154934,4743.790,-12224.611,3,0.8,37,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	261	139.07	SBE_CT	175	23	98.99
Roll_motor	39	71	69.37	nil	0	0	0.00
VBD_pump_during_apogee	306	514	3833.21	nil	0	0	0.00
VBD_pump_during_surface	114	408	1140.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	61	35.79	nil	0	0	0.00
Iridium_during_connect	36	160	142.88	MIB	2979	43	3139.82
Iridium_during_xfer	461	223	2498.19	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	2979	34	2499.22
GPS	40	31	13.26
TT8	0	0	0.00
LPSleep	770	0	3.10
TT8_Active	473	13	64.46
TT8_Sampling	1478	40	623.02
TT8_CF8	79	48	39.73
TT8_Kalman	33	65	22.45
Analog_circuits	785	16	129.46
GPS_charging	0	0	0.00
Compass	439	15	71.22
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
15	-0.99	-175.9	0.0	0.0	0	52	0.00	0.00	-35.03	0.000	2	0.000	0.000	140	1880	1670	0	0	0	0	0	0	28.83	28.83	28.83
53	-0.99	-175.9	3.0	-8.6	5	88	10.98	2.25	-20.17	0.000	4	0.262	0.063	2709	446	2639	0	0	0	0	0	0	25.39	25.58	25.70
158	-0.99	-175.9	23.6	-21.0	24	165	0.00	2.17	0.00	0.000	6	0.000	0.040	2701	1844	2639	0	0	0	0	0	0	28.83	25.68	28.83
225	-0.99	-175.9	36.1	-19.2	37	232	0.00	2.20	0.00	0.000	4	0.000	0.048	2701	454	2639	0	0	0	0	0	0	28.83	25.70	28.83
247	-0.99	-175.9	40.5	-19.8	41	254	0.00	2.17	0.00	0.000	6	0.000	0.038	2690	1861	2639	0	0	0	0	0	0	28.83	25.72	28.83
314	-0.99	-175.9	52.5	-17.7	53	317	0.00	2.22	0.00	0.000	4	0.000	0.057	2679	3264	2639	0	0	0	0	0	0	28.83	25.74	28.83
344	-0.99	-175.9	57.9	-17.9	56	348	0.10	2.15	0.00	0.000	6	0.150	0.034	2711	1853	2639	0	0	0	0	0	0	25.67	25.79	28.83
474	-0.99	-175.9	79.4	-16.1	69	477	0.00	2.17	0.00	0.000	4	0.000	0.049	2711	465	2639	0	0	0	0	0	0	28.83	25.82	28.83
518	-0.99	-175.9	86.0	-16.8	73	527	0.00	2.15	0.00	0.000	6	0.000	0.037	2702	1863	2639	0	0	0	0	0	0	28.83	25.85	28.83
543	end dive: TARGET_DEPTH_EXCEEDED
state	543	begin apogee
545	-0.34	0.0	91.1	-16.8	76	690	0.70	0.00	139.57	0.514	6	0.145	0.000	2917	1726	1920	0	0	0	0	0	0	25.78	28.83	24.45
691	end apogee: CONTROL_FINISHED_OK
state	691	begin climb
692	0.99	175.9	99.8	0.0	90	838	1.38	2.22	138.18	0.499	4	0.116	0.053	3355	372	1202	0	0	0	0	0	0	24.82	24.71	24.33
867	1.03	211.1	91.6	8.6	107	901	0.00	2.17	29.10	0.479	6	0.000	0.035	3354	1769	1060	0	0	0	0	0	0	28.83	25.01	24.49
1017	1.03	211.1	74.1	12.3	122	1020	0.00	2.25	0.00	0.000	4	0.000	0.053	3365	376	1058	0	0	0	0	0	0	28.83	25.34	28.83
1057	1.03	211.1	68.7	13.5	126	1061	0.00	2.15	0.00	0.000	6	0.000	0.035	3365	1752	1058	0	0	0	0	0	0	28.83	25.45	28.83
1187	1.03	211.1	51.7	13.1	139	1190	0.00	2.20	0.00	0.000	4	0.000	0.052	3375	376	1057	0	0	0	0	0	0	28.83	25.60	28.83
1252	1.03	211.1	43.0	12.8	150	1260	0.00	2.12	0.00	0.000	6	0.000	0.035	3375	1751	1057	0	0	0	0	0	0	28.83	25.70	28.83
1319	1.03	211.1	34.5	12.0	163	1327	0.00	2.20	0.00	0.000	4	0.000	0.051	3371	3153	1057	0	0	0	0	0	0	28.83	25.72	28.83
1376	1.03	211.1	27.8	11.8	174	1384	0.00	2.12	0.00	0.000	6	0.000	0.034	3380	1769	1057	0	0	0	0	0	0	28.83	25.79	28.83
1444	1.03	211.1	19.8	13.0	187	1451	0.00	2.22	0.00	0.000	4	0.000	0.053	3390	340	1057	0	0	0	0	0	0	28.83	25.79	28.83
1709	end climb: SURFACE_DEPTH_REACHED
state	1709	begin surface coast
1824	end surface coast: CONTROL_FINISHED_OK
state	1824	begin surface