Glider dive log

GulfOfMexico Jul15 * SG161 * Dive index * Mission links * Dive 23 * 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 23 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 99 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 500 R_STBD_OVSHOOT 55 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 230 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 1800 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 2 COMPASS_DEVICE 33

USE_BATHY 0 T_RSLEEP 5 DBDW 0 COMPASS2_DEVICE -1

USE_ICE 0 STROBE 0 PITCH_W_GAIN 2 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0.5 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 0.5 T_ABORT 720

CALL_WAIT 60 HEADING -1 PITCH_W_GAIN 2 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 1800

COMPASS_DEVICE 33 INT_PRESSURE_YINT -0.63999999 RAFOS_CORR_THRESH 60 T_MISSION 230

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 23 MI_POWERSOURCE 0.0 R_PORT_OVSHOOT 99 VBD_MIN 550

D_ABORT 1090 MI_RESTARTMONITOR 0.0 R_STBD_OVSHOOT 55 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 2

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 210715,030956,2800.159,-8729.840,14,0.9,24,-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 1.24 MHEAD_RNG_PITCHd_Wd 1.7,1793,-30.0,-11.892,-36.36,1020

_SM_ANGLEo -68.8 D_GRID 660

GPS2 210715,031849,2800.081,-8729.935,5,0.9,16,-1.9

Post-dive calculations and measurements:

FINISH 0.6,1.009516 MI_HOME 2.9/436550/423936

SM_CCo 11418,95.40,0.363,1,0,799,500.16 _24V_AH 24.18,47.778

SM_GC 2.04,9.12,0.65,95.40,0.035,0.034,0.363,158,2673,799,-8.60,-1.64,500.16,0,0,0,0,1,0,25.27,25.31,24.44 _10V_AH 10.16,14.990

IRIDIUM_FIX 2722.64,-8719.43,160508,164105 FG_AHR_24Vo 0.000

TT8_MAMPS 0.09737,0.09737 FG_AHR_10Vo 0.000

HUMID 37.71 MEM 296120

INTERNAL_PRESSURE 9.20413 DATA_FILE_SIZE 30106,897

TCM_TEMP 25.30 CAP_FILE_SIZE 129919,0

MI_MIVER 0.4 CFSIZE 260034560,255934464

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

MI_BOOTCOUNT 104 INTR 0,9671.39,0x236bc6,7,5

MI_LOG 3.5/516052/497974 GPS 210715,063208,2759.585,-8729.432,42,0.9,52,-1.9

MI_ROOT 70.6/190403/56003

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 237 127.14 SBE_CT 603 23 339.05

Roll_motor 64 35 55.16 nil 0 0 0.00

VBD_pump_during_apogee 373 857 7752.64 nil 0 0 0.00

VBD_pump_during_surface 95 362 836.46 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 61 46.53 nil 0 0 0.00

Iridium_during_connect 35 160 136.23 MIB 12056 42 12519.20

Iridium_during_xfer 160 223 863.31 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 12056 36 10630.71

GPS 16 31 5.29

TT8 0 0 0.00

LPSleep 7945 0 31.48

TT8_Active 536 13 71.94

TT8_Sampling 3286 40 1366.32

TT8_CF8 105 48 52.05

TT8_Kalman 0 0 0.00

Analog_circuits 1718 16 279.37

GPS_charging 0 0 0.00

Compass 2438 15 389.67

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 -1.53 -80.2 158 2692 890 701 0.0 0.0 0 57 0.00 0.00 -40.00 0.000 16386 0.000 0.000 158 2692 2088 2045 2132 0 0 0 0 0 0 28.83 28.83 28.83

59 -1.57 -109.5 158 2693 2049 2133 3.5 -8.9 6 97 9.55 2.03 -21.83 0.000 18948 0.238 0.035 2421 1297 3289 3316 3262 0 0 0 0 0 0 25.00 25.57 25.67

636 -1.57 -109.5 2421 1297 3328 3261 151.7 -19.1 68 640 0.00 2.05 0.00 0.000 1030 0.000 0.029 2414 2677 3293 3326 3260 0 0 0 0 0 0 28.83 25.79 28.83

951 -1.57 -109.5 2415 2678 3328 3261 214.2 -20.4 89 955 0.00 2.05 0.00 0.000 516 0.000 0.022 2414 1285 3294 3328 3260 0 0 0 0 0 0 28.83 25.75 28.83

1350 -1.57 -109.5 2414 1286 3328 3260 290.2 -19.2 115 1358 0.00 2.12 0.00 0.000 1030 0.000 0.030 2404 2674 3294 3329 3259 0 0 0 0 0 0 28.83 25.70 28.83

1656 -1.57 -109.5 2403 2675 3329 3256 353.3 -20.3 136 1660 0.00 2.05 0.00 0.000 516 0.000 0.023 2404 1296 3291 3328 3255 0 0 0 0 0 0 28.83 25.76 28.83

1881 -1.57 -109.5 2403 1296 3329 3252 399.2 -20.5 151 1885 0.10 2.12 0.00 0.000 3078 0.176 0.031 2421 2679 3289 3328 3251 0 0 0 0 0 0 25.17 25.75 28.83

2196 -1.57 -109.5 2422 2680 3328 3247 460.8 -19.8 172 2200 0.00 2.08 0.00 0.000 516 0.000 0.024 2421 1291 3287 3328 3246 0 0 0 0 0 0 28.83 25.80 28.83

2430 -1.57 -109.5 2423 1291 3327 3243 505.1 -20.5 187 2438 0.00 2.15 0.00 0.000 1030 0.000 0.033 2413 2677 3285 3327 3243 0 0 0 0 0 0 28.83 25.74 28.83

2736 -1.57 -109.5 2415 2678 3325 3239 567.9 -20.2 208 2740 0.00 2.08 0.00 0.000 516 0.000 0.025 2414 1302 3281 3325 3238 0 0 0 0 0 0 28.83 25.77 28.83

2886 -1.57 -109.5 2413 1303 3325 3237 597.9 -19.9 218 2890 0.00 2.12 0.00 0.000 1030 0.000 0.031 2404 2677 3280 3324 3237 0 0 0 0 0 0 28.83 25.75 28.83

3200 end dive: TARGET_DEPTH_EXCEEDED

state 3200 begin apogee

3204 -0.24 0.0 2404 2327 3322 3232 660.1 -19.2 239 3294 1.48 0.00 84.72 0.835 10246 0.136 0.000 2852 2326 2838 2929 2748 0 0 0 0 0 0 25.28 28.83 24.18

3294 end apogee: CONTROL_FINISHED_OK

state 3294 begin loiter

3591 -0.21 19.7 2852 2327 2924 2747 669.1 -2.0 265 3611 0.00 2.17 16.20 0.778 8708 0.000 0.029 2852 901 2756 2843 2670 0 0 0 0 0 0 28.83 25.52 24.63

4151 -0.20 34.5 2852 901 2834 2670 677.1 -1.5 302 4167 0.00 2.15 11.90 0.769 9222 0.000 0.030 2852 2301 2698 2782 2614 0 0 0 0 0 0 28.83 25.68 24.77

4471 -0.18 47.6 2852 2302 2777 2615 680.4 -1.3 324 4489 0.00 2.10 11.07 0.766 8708 0.000 0.031 2852 912 2646 2721 2572 0 0 0 0 0 0 28.83 25.62 24.66

5028 -0.19 41.6 2852 913 2709 2572 677.7 0.6 361 5031 0.00 2.17 0.00 0.000 1030 0.000 0.029 2852 2305 2640 2708 2572 0 0 0 0 0 0 28.83 25.34 28.83

5101 end loiter: LOITER_COMPLETE

state 5101 begin climb

5103 1.57 109.5 2854 2306 2706 2572 677.4 0.0 366 5159 1.58 2.22 50.30 0.858 10756 0.066 0.031 3427 905 2390 2463 2318 0 0 0 0 0 0 25.49 25.10 24.28

5698 1.57 109.5 3428 902 2450 2313 609.0 12.0 405 5702 0.00 2.15 0.00 0.000 1030 0.000 0.028 3427 2309 2381 2450 2313 0 0 0 0 0 0 28.83 25.64 28.83

6013 1.57 109.5 3427 2310 2450 2313 569.5 12.8 426 6017 0.00 2.15 0.00 0.000 516 0.000 0.031 3437 902 2380 2448 2312 0 0 0 0 0 0 28.83 25.68 28.83

6558 1.57 109.5 3438 902 2444 2311 502.6 12.3 462 6562 0.00 2.15 0.00 0.000 1030 0.000 0.028 3437 2306 2376 2445 2308 0 0 0 0 0 0 28.83 25.64 28.83

6869 1.57 109.5 3438 2307 2443 2311 464.6 12.2 483 6872 0.00 2.15 0.00 0.000 516 0.000 0.031 3446 902 2376 2443 2310 0 0 0 0 0 0 28.83 25.64 28.83

7413 1.57 109.5 3446 903 2443 2310 399.1 12.2 519 7417 0.00 2.12 0.00 0.000 1030 0.000 0.028 3446 2294 2375 2441 2309 0 0 0 0 0 0 28.83 25.60 28.83

7723 1.57 109.5 3447 2294 2440 2310 360.8 12.3 540 7727 0.00 2.12 0.00 0.000 516 0.000 0.031 3456 899 2374 2440 2309 0 0 0 0 0 0 28.83 25.58 28.83

8268 1.57 109.5 3456 900 2440 2309 294.3 12.0 576 8272 0.00 2.17 0.00 0.000 1030 0.000 0.026 3456 2303 2373 2438 2309 0 0 0 0 0 0 28.83 25.27 28.83

8578 1.57 109.5 3456 2304 2440 2309 256.6 11.8 597 8582 0.00 2.15 0.00 0.000 516 0.000 0.030 3465 902 2373 2438 2309 0 0 0 0 0 0 28.83 25.52 28.83

8778 1.57 109.5 3465 903 2439 2309 233.3 11.6 610 8782 0.10 2.12 0.00 0.000 5126 0.149 0.027 3436 2298 2372 2437 2308 0 0 0 0 0 0 25.28 25.65 28.83

9089 1.59 109.5 3436 2298 2437 2309 197.7 10.8 631 9092 0.00 2.08 0.00 0.000 516 0.000 0.030 3444 908 2373 2437 2309 0 0 0 0 0 0 28.83 25.58 28.83

9633 1.62 109.5 3444 908 2439 2309 140.9 10.1 667 9637 0.00 2.12 0.00 0.000 1030 0.000 0.025 3444 2308 2372 2437 2308 0 0 0 0 0 0 28.83 25.59 28.83

9944 1.69 161.4 3443 2308 2439 2309 116.0 6.7 688 9991 0.00 2.17 37.95 0.481 8708 0.000 0.029 3454 900 2179 2249 2109 0 0 0 0 0 0 28.83 25.53 24.89

10505 1.79 243.8 3454 901 2244 2106 66.7 3.6 739 10578 0.08 2.12 63.08 0.443 11270 0.081 0.025 3496 2304 1841 1920 1762 0 0 0 0 0 0 25.48 25.56 24.74

10695 1.79 243.8 3496 2305 1914 1762 45.9 13.7 760 10702 0.00 2.15 0.00 0.000 260 0.000 0.034 3502 3691 1836 1912 1760 0 0 0 0 0 0 28.83 25.37 28.83

11242 1.93 358.9 3497 3692 1906 1761 8.6 0.3 869 11353 0.10 2.08 98.65 0.404 11270 0.096 0.021 3555 2242 1374 1465 1283 0 0 0 0 1 0 25.65 25.68 24.64

11370 end climb: SURFACE_DEPTH_REACHED

state 11371 begin surface coast

11401 end surface coast: CONTROL_FINISHED_OK

state 11401 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	23	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	99	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	500	R_STBD_OVSHOOT	55	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	230	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	1800	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	2	COMPASS_DEVICE	33
USE_BATHY	0	T_RSLEEP	5	DBDW	0	COMPASS2_DEVICE	-1
USE_ICE	0	STROBE	0	PITCH_W_GAIN	2	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0.5	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	210715,030956,2800.159,-8729.840,14,0.9,24,-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	1.24	MHEAD_RNG_PITCHd_Wd	1.7,1793,-30.0,-11.892,-36.36,1020
_SM_ANGLEo	-68.8	D_GRID	660
GPS2	210715,031849,2800.081,-8729.935,5,0.9,16,-1.9

FINISH	0.6,1.009516	MI_HOME	2.9/436550/423936
SM_CCo	11418,95.40,0.363,1,0,799,500.16	_24V_AH	24.18,47.778
SM_GC	2.04,9.12,0.65,95.40,0.035,0.034,0.363,158,2673,799,-8.60,-1.64,500.16,0,0,0,0,1,0,25.27,25.31,24.44	_10V_AH	10.16,14.990
IRIDIUM_FIX	2722.64,-8719.43,160508,164105	FG_AHR_24Vo	0.000
TT8_MAMPS	0.09737,0.09737	FG_AHR_10Vo	0.000
HUMID	37.71	MEM	296120
INTERNAL_PRESSURE	9.20413	DATA_FILE_SIZE	30106,897
TCM_TEMP	25.30	CAP_FILE_SIZE	129919,0
MI_MIVER	0.4	CFSIZE	260034560,255934464
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
MI_BOOTCOUNT	104	INTR	0,9671.39,0x236bc6,7,5
MI_LOG	3.5/516052/497974	GPS	210715,063208,2759.585,-8729.432,42,0.9,52,-1.9
MI_ROOT	70.6/190403/56003

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	237	127.14	SBE_CT	603	23	339.05
Roll_motor	64	35	55.16	nil	0	0	0.00
VBD_pump_during_apogee	373	857	7752.64	nil	0	0	0.00
VBD_pump_during_surface	95	362	836.46	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	61	46.53	nil	0	0	0.00
Iridium_during_connect	35	160	136.23	MIB	12056	42	12519.20
Iridium_during_xfer	160	223	863.31	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	12056	36	10630.71
GPS	16	31	5.29
TT8	0	0	0.00
LPSleep	7945	0	31.48
TT8_Active	536	13	71.94
TT8_Sampling	3286	40	1366.32
TT8_CF8	105	48	52.05
TT8_Kalman	0	0	0.00
Analog_circuits	1718	16	279.37
GPS_charging	0	0	0.00
Compass	2438	15	389.67
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	-1.53	-80.2	158	2692	890	701	0.0	0.0	0	57	0.00	0.00	-40.00	0.000	16386	0.000	0.000	158	2692	2088	2045	2132	0	0	0	0	0	0	28.83	28.83	28.83
59	-1.57	-109.5	158	2693	2049	2133	3.5	-8.9	6	97	9.55	2.03	-21.83	0.000	18948	0.238	0.035	2421	1297	3289	3316	3262	0	0	0	0	0	0	25.00	25.57	25.67
636	-1.57	-109.5	2421	1297	3328	3261	151.7	-19.1	68	640	0.00	2.05	0.00	0.000	1030	0.000	0.029	2414	2677	3293	3326	3260	0	0	0	0	0	0	28.83	25.79	28.83
951	-1.57	-109.5	2415	2678	3328	3261	214.2	-20.4	89	955	0.00	2.05	0.00	0.000	516	0.000	0.022	2414	1285	3294	3328	3260	0	0	0	0	0	0	28.83	25.75	28.83
1350	-1.57	-109.5	2414	1286	3328	3260	290.2	-19.2	115	1358	0.00	2.12	0.00	0.000	1030	0.000	0.030	2404	2674	3294	3329	3259	0	0	0	0	0	0	28.83	25.70	28.83
1656	-1.57	-109.5	2403	2675	3329	3256	353.3	-20.3	136	1660	0.00	2.05	0.00	0.000	516	0.000	0.023	2404	1296	3291	3328	3255	0	0	0	0	0	0	28.83	25.76	28.83
1881	-1.57	-109.5	2403	1296	3329	3252	399.2	-20.5	151	1885	0.10	2.12	0.00	0.000	3078	0.176	0.031	2421	2679	3289	3328	3251	0	0	0	0	0	0	25.17	25.75	28.83
2196	-1.57	-109.5	2422	2680	3328	3247	460.8	-19.8	172	2200	0.00	2.08	0.00	0.000	516	0.000	0.024	2421	1291	3287	3328	3246	0	0	0	0	0	0	28.83	25.80	28.83
2430	-1.57	-109.5	2423	1291	3327	3243	505.1	-20.5	187	2438	0.00	2.15	0.00	0.000	1030	0.000	0.033	2413	2677	3285	3327	3243	0	0	0	0	0	0	28.83	25.74	28.83
2736	-1.57	-109.5	2415	2678	3325	3239	567.9	-20.2	208	2740	0.00	2.08	0.00	0.000	516	0.000	0.025	2414	1302	3281	3325	3238	0	0	0	0	0	0	28.83	25.77	28.83
2886	-1.57	-109.5	2413	1303	3325	3237	597.9	-19.9	218	2890	0.00	2.12	0.00	0.000	1030	0.000	0.031	2404	2677	3280	3324	3237	0	0	0	0	0	0	28.83	25.75	28.83
3200	end dive: TARGET_DEPTH_EXCEEDED
state	3200	begin apogee
3204	-0.24	0.0	2404	2327	3322	3232	660.1	-19.2	239	3294	1.48	0.00	84.72	0.835	10246	0.136	0.000	2852	2326	2838	2929	2748	0	0	0	0	0	0	25.28	28.83	24.18
3294	end apogee: CONTROL_FINISHED_OK
state	3294	begin loiter
3591	-0.21	19.7	2852	2327	2924	2747	669.1	-2.0	265	3611	0.00	2.17	16.20	0.778	8708	0.000	0.029	2852	901	2756	2843	2670	0	0	0	0	0	0	28.83	25.52	24.63
4151	-0.20	34.5	2852	901	2834	2670	677.1	-1.5	302	4167	0.00	2.15	11.90	0.769	9222	0.000	0.030	2852	2301	2698	2782	2614	0	0	0	0	0	0	28.83	25.68	24.77
4471	-0.18	47.6	2852	2302	2777	2615	680.4	-1.3	324	4489	0.00	2.10	11.07	0.766	8708	0.000	0.031	2852	912	2646	2721	2572	0	0	0	0	0	0	28.83	25.62	24.66
5028	-0.19	41.6	2852	913	2709	2572	677.7	0.6	361	5031	0.00	2.17	0.00	0.000	1030	0.000	0.029	2852	2305	2640	2708	2572	0	0	0	0	0	0	28.83	25.34	28.83
5101	end loiter: LOITER_COMPLETE
state	5101	begin climb
5103	1.57	109.5	2854	2306	2706	2572	677.4	0.0	366	5159	1.58	2.22	50.30	0.858	10756	0.066	0.031	3427	905	2390	2463	2318	0	0	0	0	0	0	25.49	25.10	24.28
5698	1.57	109.5	3428	902	2450	2313	609.0	12.0	405	5702	0.00	2.15	0.00	0.000	1030	0.000	0.028	3427	2309	2381	2450	2313	0	0	0	0	0	0	28.83	25.64	28.83
6013	1.57	109.5	3427	2310	2450	2313	569.5	12.8	426	6017	0.00	2.15	0.00	0.000	516	0.000	0.031	3437	902	2380	2448	2312	0	0	0	0	0	0	28.83	25.68	28.83
6558	1.57	109.5	3438	902	2444	2311	502.6	12.3	462	6562	0.00	2.15	0.00	0.000	1030	0.000	0.028	3437	2306	2376	2445	2308	0	0	0	0	0	0	28.83	25.64	28.83
6869	1.57	109.5	3438	2307	2443	2311	464.6	12.2	483	6872	0.00	2.15	0.00	0.000	516	0.000	0.031	3446	902	2376	2443	2310	0	0	0	0	0	0	28.83	25.64	28.83
7413	1.57	109.5	3446	903	2443	2310	399.1	12.2	519	7417	0.00	2.12	0.00	0.000	1030	0.000	0.028	3446	2294	2375	2441	2309	0	0	0	0	0	0	28.83	25.60	28.83
7723	1.57	109.5	3447	2294	2440	2310	360.8	12.3	540	7727	0.00	2.12	0.00	0.000	516	0.000	0.031	3456	899	2374	2440	2309	0	0	0	0	0	0	28.83	25.58	28.83
8268	1.57	109.5	3456	900	2440	2309	294.3	12.0	576	8272	0.00	2.17	0.00	0.000	1030	0.000	0.026	3456	2303	2373	2438	2309	0	0	0	0	0	0	28.83	25.27	28.83
8578	1.57	109.5	3456	2304	2440	2309	256.6	11.8	597	8582	0.00	2.15	0.00	0.000	516	0.000	0.030	3465	902	2373	2438	2309	0	0	0	0	0	0	28.83	25.52	28.83
8778	1.57	109.5	3465	903	2439	2309	233.3	11.6	610	8782	0.10	2.12	0.00	0.000	5126	0.149	0.027	3436	2298	2372	2437	2308	0	0	0	0	0	0	25.28	25.65	28.83
9089	1.59	109.5	3436	2298	2437	2309	197.7	10.8	631	9092	0.00	2.08	0.00	0.000	516	0.000	0.030	3444	908	2373	2437	2309	0	0	0	0	0	0	28.83	25.58	28.83
9633	1.62	109.5	3444	908	2439	2309	140.9	10.1	667	9637	0.00	2.12	0.00	0.000	1030	0.000	0.025	3444	2308	2372	2437	2308	0	0	0	0	0	0	28.83	25.59	28.83
9944	1.69	161.4	3443	2308	2439	2309	116.0	6.7	688	9991	0.00	2.17	37.95	0.481	8708	0.000	0.029	3454	900	2179	2249	2109	0	0	0	0	0	0	28.83	25.53	24.89
10505	1.79	243.8	3454	901	2244	2106	66.7	3.6	739	10578	0.08	2.12	63.08	0.443	11270	0.081	0.025	3496	2304	1841	1920	1762	0	0	0	0	0	0	25.48	25.56	24.74
10695	1.79	243.8	3496	2305	1914	1762	45.9	13.7	760	10702	0.00	2.15	0.00	0.000	260	0.000	0.034	3502	3691	1836	1912	1760	0	0	0	0	0	0	28.83	25.37	28.83
11242	1.93	358.9	3497	3692	1906	1761	8.6	0.3	869	11353	0.10	2.08	98.65	0.404	11270	0.096	0.021	3555	2242	1374	1465	1283	0	0	0	0	1	0	25.65	25.68	24.64
11370	end climb: SURFACE_DEPTH_REACHED
state	11371	begin surface coast
11401	end surface coast: CONTROL_FINISHED_OK
state	11401	begin surface