Glider dive log

PortSusan 04Apr12 * SG116 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 116 HD_C 9.8500004e-06 ROLL_MIN 275 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 31 HEADING -1 ROLL_MAX 3832 ALTIM_PING_DEPTH 0

DIVE 3 ESCAPE_HEADING 180 ROLL_DEG 30 ALTIM_PING_DELTA 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2676 ALTIM_FREQUENCY 12

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2676 ALTIM_PULSE 2

D_FLARE 3 TGT_DEFAULT_LAT 48 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_TGT 90 TGT_DEFAULT_LON -122.3 ROLL_CNV 0.028270001 XPDR_VALID 0

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 40 SM_CC 350 R_PORT_OVSHOOT 19 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 11 INT_PRESSURE_YINT -1.7

T_BOOST 2 FILEMGR 0 ROLL_AD_RATE 350 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 770 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_MAX 3960 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 3262 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 30 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 35 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_ABORT 720 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 83

T_TURN 225 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 50 COMPASS_DEVICE 33

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -5 T_GPS_CHARGE -74256.602 CF8_MAXERRORS 20 PHONE_DEVICE 49

USE_ICE 0 T_RSLEEP 2 AH0_24V 150 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 98 RAFOS_DEVICE -1

D_OFFGRID 101 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 133 FG_AHR_24V 0 SEABIRD_T_G 0.0043750796

MAX_BUOY 150 PITCH_MAX 3926 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063934911

COURSE_BIAS 0 C_PITCH 2435 PRESSURE_YINT -21.811865 SEABIRD_T_I 2.7085041e-05

GLIDE_SLOPE 45 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001145545 SEABIRD_T_J 3.1576283e-06

SPEED_FACTOR 0.80000001 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -9.8751535

RHO 1.0233001 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1253172

MASS 51034 PITCH_GAIN 30 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0019110913

NAV_MODE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_J 0.00023224781

FERRY_MAX 0 PITCH_AD_RATE 165 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 0.0038360001 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 MI_RESTARTMONITOR 0.0

HD_B 0.010078 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 MI_NOTIFYMOTORS 0.0

AD7714Ch0Gain 128 D_OFFGRID 101 N_GPS 20 SEABIRD_T_J 3.1576283e-06

AH0_10V 98 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 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 90 PHONE_SUPPLY 2 SPEED_FACTOR 0.80000001

ALTIM_FREQUENCY 12 ESCAPE_HEADING 180 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 0 PITCH_AD_RATE 165 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 2 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 30 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3926 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 48

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_MIN 133 TGT_DEFAULT_LON -122.3

CALL_NDIVES 1 HD_A 0.0038360001 PITCH_TIMEOUT 18 T_ABORT 720

CALL_TRIES 5 HD_B 0.010078 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 2

CALL_WAIT 60 HD_C 9.8500004e-06 PRESSURE_SLOPE 0.0001145545 T_DIVE 30

CAPMAXSIZE 100000 HEADING -1 PRESSURE_YINT -21.811865 T_EPIRB 0

CAPUPLOAD 0 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 -74256.602

COMPASS2_DEVICE -1 ID 116 RAFOS_DEVICE -1 T_LOITER 0

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_MISSION 35

COMPASS_USE 0 INT_PRESSURE_YINT -1.7 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_RSLEEP 2

C_PITCH 2435 LOGGERDEVICE1 83 RHO 1.0233001 T_TURN 225

C_ROLL_CLIMB 2676 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 2676 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_VBD 3262 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 50

DEEPGLIDER 0 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 51034 ROLL_DEG 30 USE_BATHY -5

DEVICE1 2 MAX_BUOY 150 ROLL_MAX 3832 USE_ICE 0

DEVICE2 -1 MINV_10V 8 ROLL_MAXERRORS 2 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 19 ROLL_MIN 275 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 31 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 MI_NOTIFYMOTORS 0.0 R_PORT_OVSHOOT 19 VBD_MAX 3960

DEVICE6 -1 MI_OFFLOAD 1.0 R_STBD_OVSHOOT 11 VBD_MAXERRORS 1

DIVE 3 MI_POWERSOURCE 0.0 SEABIRD_C_G -9.8751535 VBD_MIN 770

D_ABORT 1090 MI_RESTARTMONITOR 0.0 SEABIRD_C_H 1.1253172 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 5 MOTHERBOARD 4 SEABIRD_C_I -0.0019110913 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 NAV_MODE 1 SEABIRD_C_J 0.00023224781 VBD_TIMEOUT 720

D_FINISH 0 NOCOMM_ACTION 0 SEABIRD_T_G 0.0043750796 XPDR_DEVICE -1

D_FLARE 3 N_DIVES 0 SEABIRD_T_H 0.00063934911 XPDR_INHIBIT 90

D_NO_BLEED 40 N_FILEKB 4 SEABIRD_T_I 2.7085041e-05 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 040412,181024,4743.211,-12223.906,9,1.9,19,18.2 TGT_NAME WEST

_CALLS 1 TGT_LATLONG 4743.700,-12225.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.230,0.123

_SM_DEPTHo 1.18 KALMAN_X 94.4,77.6,75.1,-468.9,75.8

_SM_ANGLEo -77.5 KALMAN_Y -20.8,-6.8,-5.1,219.1,-9.5

GPS2 040412,181534,4743.206,-12223.888,10,2.5,29,18.2 MHEAD_RNG_PITCHd_Wd 280.0,1661,-18.2,-10.000

SPEED_LIMITS 0.080,0.208 D_GRID 169

Post-dive calculations and measurements:

FINISH 0.3,1.021444 MI_ROOT 70.6/190403/56027

SM_CCo 1361,83.07,0.135,0,0,1830,350.04 MI_HOME 2.2/436550/426888

SM_GC 1.29,7.30,1.88,83.07,0.055,0.060,0.135,127,2675,1830,-7.17,0.74,350.04,0,0,0,0,0,0,26.12,26.12,25.80 _24V_AH 24.0,1.590

IRIDIUM_FIX 4751.72,-12340.51,040412,181805 _10V_AH 10.2,1.720

TT8_MAMPS 0.093625,0.093625 FG_AHR_24Vo 0.000

HUMID 35.54 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 8.95471 MEM 323656

TCM_TEMP 18.70 DATA_FILE_SIZE 6806,244

MI_MIVER 0.3 CAP_FILE_SIZE 51021,0

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 CFSIZE 260034560,240009216

MI_BOOTCOUNT 17 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

MI_LOG 3.4/516052/498752 GPS 040412,184100,4743.177,-12224.193,13,1.5,23,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 263 117.50 SBE_CT 160 24 92.68

Roll_motor 26 85 54.29 nil 0 0 0.00

VBD_pump_during_apogee 215 982 5083.78 nil 0 0 0.00

VBD_pump_during_surface 83 134 268.45 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 1499 41 1498.26

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 1499 13 485.63

GPS 30 50 15.74

TT8 0 0 0.00

LPSleep 491 0 1.96

TT8_Active 388 18 71.27

TT8_Sampling 581 38 225.26

TT8_CF8 45 44 20.59

TT8_Kalman 31 80 25.53

Analog_circuits 637 12 78.06

GPS_charging 0 0 0.00

Compass 356 15 54.61

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.79 -146.6 0.0 0.0 0 101 0.00 0.00 -80.05 0.000 6 0.000 0.000 131 2665 3861 0 0 0 0 0 0 28.83 28.83 26.31

104 -0.79 -146.6 3.7 -7.9 13 118 9.35 1.90 0.00 0.000 4 0.264 0.072 2163 3743 3862 0 0 0 0 0 0 25.70 25.99 28.83

123 -0.79 -146.6 12.1 -30.7 16 130 0.00 1.88 0.00 0.000 6 0.000 0.058 2171 2677 3863 0 0 0 0 0 0 28.83 26.02 28.83

190 -0.79 -146.6 26.6 -20.7 29 197 0.00 1.80 0.00 0.000 4 0.000 0.060 2172 1614 3863 0 0 0 0 0 0 28.83 26.07 28.83

217 -0.79 -146.6 32.0 -20.3 34 224 0.00 1.92 0.00 0.000 6 0.000 0.073 2165 2680 3864 0 0 0 0 0 0 28.83 26.01 28.83

284 -0.79 -146.6 44.7 -19.0 47 291 0.00 1.83 0.00 0.000 4 0.000 0.058 2164 1607 3864 0 0 0 0 0 0 28.83 26.07 28.83

345 -0.79 -146.6 57.9 -21.9 59 352 0.00 1.92 0.00 0.000 6 0.000 0.076 2159 2669 3864 0 0 0 0 0 0 28.83 26.04 28.83

473 -0.79 -146.6 84.0 -21.1 84 479 0.00 1.90 0.00 0.000 4 0.000 0.081 2151 3741 3864 0 0 0 0 0 0 28.83 26.11 28.83

497 end dive: TARGET_DEPTH_EXCEEDED

state 497 begin apogee

503 -0.17 0.0 90.1 -23.0 89 588 0.82 0.00 75.95 0.982 6 0.189 0.000 2368 2672 3260 0 0 0 0 1 0 25.91 28.83 24.00

589 end apogee: CONTROL_FINISHED_OK

state 589 begin climb

591 0.79 146.6 97.6 0.0 102 739 1.08 0.00 139.70 0.549 6 0.133 0.000 2679 2672 2653 0 0 0 0 0 0 24.95 28.83 24.52

859 0.79 146.6 67.6 14.0 149 865 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2672 2640 0 0 0 0 0 0 28.83 28.83 28.83

985 0.79 146.6 50.4 12.4 174 992 0.00 1.95 0.00 0.000 4 0.000 0.083 2679 3738 2638 0 0 0 0 0 0 28.83 25.84 28.83

1062 0.79 146.6 39.5 14.7 189 1069 0.00 1.88 0.00 0.000 6 0.000 0.060 2688 2673 2638 0 0 0 0 0 0 28.83 25.98 28.83

1128 0.79 146.6 31.0 13.1 202 1135 0.00 1.85 0.00 0.000 4 0.000 0.063 2695 1613 2637 0 0 0 0 0 0 28.83 26.01 28.83

1195 0.79 146.6 22.5 13.0 215 1202 0.00 1.90 0.00 0.000 6 0.000 0.076 2695 2676 2636 0 0 0 0 0 0 28.83 25.89 28.83

1262 0.79 146.6 13.1 13.8 228 1269 0.00 1.92 0.00 0.000 4 0.000 0.086 2695 3735 2636 0 0 0 0 0 0 28.83 26.03 28.83

1327 end climb: SURFACE_DEPTH_REACHED

state 1327 begin surface coast

1342 end surface coast: CONTROL_FINISHED_OK

state 1342 begin surface

ID	116	HD_C	9.8500004e-06	ROLL_MIN	275	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	31	HEADING	-1	ROLL_MAX	3832	ALTIM_PING_DEPTH	0
DIVE	3	ESCAPE_HEADING	180	ROLL_DEG	30	ALTIM_PING_DELTA	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2676	ALTIM_FREQUENCY	12
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2676	ALTIM_PULSE	2
D_FLARE	3	TGT_DEFAULT_LAT	48	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_TGT	90	TGT_DEFAULT_LON	-122.3	ROLL_CNV	0.028270001	XPDR_VALID	0
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	40	SM_CC	350	R_PORT_OVSHOOT	19	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	11	INT_PRESSURE_YINT	-1.7
T_BOOST	2	FILEMGR	0	ROLL_AD_RATE	350	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	770	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_MAX	3960	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	3262	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	30	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	35	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_ABORT	720	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	83
T_TURN	225	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	50	COMPASS_DEVICE	33
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-5	T_GPS_CHARGE	-74256.602	CF8_MAXERRORS	20	PHONE_DEVICE	49
USE_ICE	0	T_RSLEEP	2	AH0_24V	150	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	98	RAFOS_DEVICE	-1
D_OFFGRID	101	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	133	FG_AHR_24V	0	SEABIRD_T_G	0.0043750796
MAX_BUOY	150	PITCH_MAX	3926	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063934911
COURSE_BIAS	0	C_PITCH	2435	PRESSURE_YINT	-21.811865	SEABIRD_T_I	2.7085041e-05
GLIDE_SLOPE	45	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001145545	SEABIRD_T_J	3.1576283e-06
SPEED_FACTOR	0.80000001	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8751535
RHO	1.0233001	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1253172
MASS	51034	PITCH_GAIN	30	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0019110913
NAV_MODE	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_J	0.00023224781
FERRY_MAX	0	PITCH_AD_RATE	165	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	0.0038360001	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	MI_RESTARTMONITOR	0.0
HD_B	0.010078	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	MI_NOTIFYMOTORS	0.0

GPS1	040412,181024,4743.211,-12223.906,9,1.9,19,18.2	TGT_NAME	WEST
_CALLS	1	TGT_LATLONG	4743.700,-12225.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.230,0.123
_SM_DEPTHo	1.18	KALMAN_X	94.4,77.6,75.1,-468.9,75.8
_SM_ANGLEo	-77.5	KALMAN_Y	-20.8,-6.8,-5.1,219.1,-9.5
GPS2	040412,181534,4743.206,-12223.888,10,2.5,29,18.2	MHEAD_RNG_PITCHd_Wd	280.0,1661,-18.2,-10.000
SPEED_LIMITS	0.080,0.208	D_GRID	169

FINISH	0.3,1.021444	MI_ROOT	70.6/190403/56027
SM_CCo	1361,83.07,0.135,0,0,1830,350.04	MI_HOME	2.2/436550/426888
SM_GC	1.29,7.30,1.88,83.07,0.055,0.060,0.135,127,2675,1830,-7.17,0.74,350.04,0,0,0,0,0,0,26.12,26.12,25.80	_24V_AH	24.0,1.590
IRIDIUM_FIX	4751.72,-12340.51,040412,181805	_10V_AH	10.2,1.720
TT8_MAMPS	0.093625,0.093625	FG_AHR_24Vo	0.000
HUMID	35.54	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	8.95471	MEM	323656
TCM_TEMP	18.70	DATA_FILE_SIZE	6806,244
MI_MIVER	0.3	CAP_FILE_SIZE	51021,0
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	CFSIZE	260034560,240009216
MI_BOOTCOUNT	17	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
MI_LOG	3.4/516052/498752	GPS	040412,184100,4743.177,-12224.193,13,1.5,23,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	263	117.50	SBE_CT	160	24	92.68
Roll_motor	26	85	54.29	nil	0	0	0.00
VBD_pump_during_apogee	215	982	5083.78	nil	0	0	0.00
VBD_pump_during_surface	83	134	268.45	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	1499	41	1498.26
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	1499	13	485.63
GPS	30	50	15.74
TT8	0	0	0.00
LPSleep	491	0	1.96
TT8_Active	388	18	71.27
TT8_Sampling	581	38	225.26
TT8_CF8	45	44	20.59
TT8_Kalman	31	80	25.53
Analog_circuits	637	12	78.06
GPS_charging	0	0	0.00
Compass	356	15	54.61
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.79	-146.6	0.0	0.0	0	101	0.00	0.00	-80.05	0.000	6	0.000	0.000	131	2665	3861	0	0	0	0	0	0	28.83	28.83	26.31
104	-0.79	-146.6	3.7	-7.9	13	118	9.35	1.90	0.00	0.000	4	0.264	0.072	2163	3743	3862	0	0	0	0	0	0	25.70	25.99	28.83
123	-0.79	-146.6	12.1	-30.7	16	130	0.00	1.88	0.00	0.000	6	0.000	0.058	2171	2677	3863	0	0	0	0	0	0	28.83	26.02	28.83
190	-0.79	-146.6	26.6	-20.7	29	197	0.00	1.80	0.00	0.000	4	0.000	0.060	2172	1614	3863	0	0	0	0	0	0	28.83	26.07	28.83
217	-0.79	-146.6	32.0	-20.3	34	224	0.00	1.92	0.00	0.000	6	0.000	0.073	2165	2680	3864	0	0	0	0	0	0	28.83	26.01	28.83
284	-0.79	-146.6	44.7	-19.0	47	291	0.00	1.83	0.00	0.000	4	0.000	0.058	2164	1607	3864	0	0	0	0	0	0	28.83	26.07	28.83
345	-0.79	-146.6	57.9	-21.9	59	352	0.00	1.92	0.00	0.000	6	0.000	0.076	2159	2669	3864	0	0	0	0	0	0	28.83	26.04	28.83
473	-0.79	-146.6	84.0	-21.1	84	479	0.00	1.90	0.00	0.000	4	0.000	0.081	2151	3741	3864	0	0	0	0	0	0	28.83	26.11	28.83
497	end dive: TARGET_DEPTH_EXCEEDED
state	497	begin apogee
503	-0.17	0.0	90.1	-23.0	89	588	0.82	0.00	75.95	0.982	6	0.189	0.000	2368	2672	3260	0	0	0	0	1	0	25.91	28.83	24.00
589	end apogee: CONTROL_FINISHED_OK
state	589	begin climb
591	0.79	146.6	97.6	0.0	102	739	1.08	0.00	139.70	0.549	6	0.133	0.000	2679	2672	2653	0	0	0	0	0	0	24.95	28.83	24.52
859	0.79	146.6	67.6	14.0	149	865	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2672	2640	0	0	0	0	0	0	28.83	28.83	28.83
985	0.79	146.6	50.4	12.4	174	992	0.00	1.95	0.00	0.000	4	0.000	0.083	2679	3738	2638	0	0	0	0	0	0	28.83	25.84	28.83
1062	0.79	146.6	39.5	14.7	189	1069	0.00	1.88	0.00	0.000	6	0.000	0.060	2688	2673	2638	0	0	0	0	0	0	28.83	25.98	28.83
1128	0.79	146.6	31.0	13.1	202	1135	0.00	1.85	0.00	0.000	4	0.000	0.063	2695	1613	2637	0	0	0	0	0	0	28.83	26.01	28.83
1195	0.79	146.6	22.5	13.0	215	1202	0.00	1.90	0.00	0.000	6	0.000	0.076	2695	2676	2636	0	0	0	0	0	0	28.83	25.89	28.83
1262	0.79	146.6	13.1	13.8	228	1269	0.00	1.92	0.00	0.000	4	0.000	0.086	2695	3735	2636	0	0	0	0	0	0	28.83	26.03	28.83
1327	end climb: SURFACE_DEPTH_REACHED
state	1327	begin surface coast
1342	end surface coast: CONTROL_FINISHED_OK
state	1342	begin surface