Glider dive log

GulfOfMexico Jul15 * SG161 * Dive index * Mission links * Dive 3 * 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 3 ESCAPE_HEADING 0 C_ROLL_DIVE 2500 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2500 ALTIM_PING_DEPTH 80

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 25.6 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 450 TGT_DEFAULT_LON 126.45 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 85 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 450 R_STBD_OVSHOOT 69 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 130 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 140 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 3 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 250 C_PITCH 2975 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 450 PHONE_SUPPLY 2 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 20 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 SM_CC 450

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 25.6

CALL_NDIVES 1 HD_B 0.0145 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON 126.45

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 130

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 140

COMPASS_USE 0 KALMAN_USE 2 RAFOS_DEVICE -1 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE1 115 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

C_PITCH 2975 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN 540

C_ROLL_CLIMB 2500 LOGGERDEVICE3 -1 RELAUNCH 1 T_TURN_SAMPINT 5

C_ROLL_DIVE 2500 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 250 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 3 MI_POWERSOURCE 0.0 R_PORT_OVSHOOT 85 VBD_MIN 550

D_ABORT 1090 MI_RESTARTMONITOR 0.0 R_STBD_OVSHOOT 69 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 180715,204722,2756.894,-8726.467,3,0.9,13,-2.0 SPEED_LIMITS 0.115,0.274

_CALLS 1 TGT_NAME NW

_XMS_NAKs 0 TGT_LATLONG 2759.162,-8729.255

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 1.34 MHEAD_RNG_PITCHd_Wd 315.6,6325,-12.9,-11.538,-22.85,3042

_SM_ANGLEo -68.6 D_GRID 450

GPS2 180715,205026,2756.806,-8726.455,5,0.9,15,-2.0

Post-dive calculations and measurements:

FINISH 0.8,1.008040 MI_HOME 2.6/436550/425149

SM_CCo 7353,16.17,0.072,0,0,1006,450.12 _24V_AH 24.33,43.421

SM_GC 2.83,8.57,0.00,16.17,0.040,0.000,0.072,159,2483,1006,-8.75,-0.48,450.12,0,0,0,0,0,0,25.60,28.83,25.52 _10V_AH 10.27,11.621

IRIDIUM_FIX 2722.64,-8719.43,140508,101422 FG_AHR_24Vo 0.000

TT8_MAMPS 0.096621,0.096621 FG_AHR_10Vo 0.000

HUMID 48.03 MEM 296172

INTERNAL_PRESSURE 9.25296 DATA_FILE_SIZE 20089,593

TCM_TEMP 24.80 CAP_FILE_SIZE 100110,0

MI_MIVER 0.4 CFSIZE 260034560,257056768

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

MI_BOOTCOUNT 104 INTR 2,7343.03,0x236bc6,7,5

MI_LOG 3.5/516052/497988 GPS 180715,225443,2756.799,-8726.068,50,0.9,60,-2.0

MI_ROOT 70.6/190403/56003

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 245 125.47 SBE_CT 393 23 222.44

Roll_motor 66 57 92.62 nil 0 0 0.00

VBD_pump_during_apogee 528 726 9337.77 nil 0 0 0.00

VBD_pump_during_surface 16 71 28.30 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 7377 42 7625.85

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 7377 36 6583.68

GPS 16 31 5.34

TT8 0 0 0.00

LPSleep 5178 0 20.74

TT8_Active 589 13 79.97

TT8_Sampling 1595 40 670.70

TT8_CF8 54 48 26.98

TT8_Kalman 0 0 0.00

Analog_circuits 1274 16 209.41

GPS_charging 0 0 0.00

Compass 1207 15 195.06

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -0.91 -243.3 146 2528 1101 908 0.0 0.0 0 56 0.00 0.00 -39.92 0.000 16386 0.000 0.000 145 2528 2233 2206 2260 0 0 0 0 0 0 28.83 28.83 28.83

58 -0.91 -243.3 146 2529 2209 2261 3.3 -7.0 6 108 10.62 1.85 -30.58 0.000 19204 0.246 0.057 2665 3729 3835 3961 3709 0 0 0 0 0 0 25.35 25.82 25.99

262 -0.91 -243.3 2665 3730 3963 3710 50.2 -29.5 45 266 0.00 1.77 0.00 0.000 1030 0.000 0.023 2665 2504 3835 3961 3709 0 0 0 0 0 0 28.83 25.94 28.83

392 -0.91 -243.3 2666 2505 3962 3709 78.8 -17.8 58 393 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2504 3835 3961 3709 0 0 0 0 0 0 28.83 28.83 28.83

512 -0.91 -243.3 2665 2505 3964 3710 97.0 -14.3 70 513 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2504 3835 3962 3709 0 0 0 0 0 0 28.83 28.83 28.83

632 -0.91 -243.3 2665 2505 3964 3710 113.8 -13.8 79 636 0.00 1.92 0.00 0.000 260 0.000 0.039 2659 3738 3836 3963 3709 0 0 0 0 0 0 28.83 25.82 28.83

677 -0.91 -243.3 2659 3738 3964 3710 120.2 -14.1 82 681 0.00 1.77 0.00 0.000 1030 0.000 0.022 2659 2495 3836 3963 3709 0 0 0 0 0 0 28.83 25.96 28.83

993 -0.91 -243.3 2660 2495 3963 3710 158.9 -11.4 103 996 0.00 1.92 0.00 0.000 260 0.000 0.041 2657 3736 3836 3964 3709 0 0 0 0 0 0 28.83 25.56 28.83

1047 -0.91 -243.3 2658 3737 3963 3715 164.1 -11.5 106 1055 0.00 1.77 0.00 0.000 1030 0.000 0.023 2657 2497 3836 3964 3709 0 0 0 0 0 0 28.83 25.95 28.83

1353 -0.91 -243.3 2658 2498 3963 3710 199.8 -11.3 127 1356 0.00 1.95 0.00 0.000 260 0.000 0.041 2657 3737 3836 3964 3709 0 0 0 0 0 0 28.83 25.88 28.83

1427 -0.91 -243.3 2657 3738 3965 3709 208.5 -11.7 132 1431 0.00 1.77 0.00 0.000 1030 0.000 0.022 2661 2500 3836 3964 3708 0 0 0 0 0 0 28.83 26.00 28.83

1743 -0.91 -243.3 2657 2501 3965 3706 243.9 -11.2 153 1746 0.00 1.92 0.00 0.000 260 0.000 0.042 2655 3724 3834 3964 3705 0 0 0 0 0 0 28.83 25.80 28.83

1837 -0.91 -243.3 2657 3724 3963 3704 254.2 -11.4 159 1841 0.00 1.75 0.00 0.000 1030 0.000 0.024 2655 2512 3833 3963 3703 0 0 0 0 0 0 28.83 25.98 28.83

2148 -0.91 -243.3 2655 2510 3965 3700 289.5 -11.4 180 2151 0.00 1.92 0.00 0.000 260 0.000 0.041 2655 3735 3832 3964 3700 0 0 0 0 0 0 28.83 25.79 28.83

2252 -0.91 -243.3 2655 3735 3965 3699 301.0 -11.0 187 2256 0.00 1.80 0.00 0.000 1030 0.000 0.024 2656 2492 3830 3963 3698 0 0 0 0 0 0 28.83 25.97 28.83

2568 -0.91 -243.3 2657 2492 3964 3694 334.5 -10.5 208 2571 0.00 1.95 0.00 0.000 260 0.000 0.041 2655 3726 3828 3964 3693 0 0 0 0 0 0 28.83 25.75 28.83

2657 -0.91 -243.3 2655 3727 3965 3693 344.1 -10.8 214 2661 0.00 1.77 0.00 0.000 1030 0.000 0.024 2655 2509 3827 3963 3692 0 0 0 0 0 0 28.83 25.94 28.83

2973 -0.91 -243.3 2655 2510 3963 3687 376.3 -10.2 235 2976 0.00 1.92 0.00 0.000 260 0.000 0.043 2655 3728 3825 3963 3687 0 0 0 0 0 0 28.83 25.73 28.83

3057 -0.91 -243.3 2655 3729 3965 3686 384.2 -10.5 240 3064 0.00 1.80 0.00 0.000 1030 0.000 0.024 2655 2504 3824 3963 3685 0 0 0 0 0 0 28.83 25.94 28.83

3363 -0.91 -243.3 2655 2505 3965 3682 417.2 -10.7 261 3366 0.00 1.92 0.00 0.000 260 0.000 0.043 2655 3738 3822 3963 3681 0 0 0 0 0 0 28.83 25.72 28.83

3457 -0.91 -243.3 2656 3736 3963 3680 426.7 -10.6 267 3461 0.00 1.83 -0.08 0.000 17414 0.000 0.024 2655 2487 3845 3985 3705 0 0 0 0 0 0 28.83 25.92 25.92

3691 end dive: TARGET_DEPTH_EXCEEDED

state 3691 begin apogee

3694 -0.24 0.0 2655 2487 3987 3705 450.8 -9.9 283 3890 0.73 0.00 186.68 0.727 10246 0.094 0.000 2899 2485 2835 2942 2729 0 0 0 0 0 0 25.62 28.83 24.33

3890 end apogee: CONTROL_FINISHED_OK

state 3890 begin climb

3892 0.91 243.3 2898 2487 2944 2730 462.1 0.0 296 4092 1.00 2.12 191.93 0.711 10756 0.052 0.029 3273 1117 1842 1940 1744 0 0 0 0 0 0 25.10 25.04 24.37

4162 0.91 243.3 3273 1117 1932 1742 443.3 15.3 314 4166 0.00 2.10 0.00 0.000 1030 0.000 0.028 3273 2488 1837 1933 1741 0 0 0 0 0 0 28.83 25.48 28.83

4472 0.91 243.3 3274 2489 1928 1738 394.7 15.4 335 4476 0.00 2.08 0.00 0.000 516 0.000 0.029 3282 1120 1833 1928 1738 0 0 0 0 0 0 28.83 25.58 28.83

4547 0.91 243.3 3282 1120 1929 1739 383.4 15.0 340 4551 0.00 2.10 0.00 0.000 1030 0.000 0.028 3281 2500 1833 1928 1738 0 0 0 0 0 0 28.83 25.80 28.83

4862 0.91 243.3 3282 2501 1926 1737 336.0 14.9 361 4866 0.00 2.08 0.00 0.000 516 0.000 0.031 3285 1122 1830 1924 1737 0 0 0 0 0 0 28.83 25.89 28.83

4967 0.91 243.3 3285 1121 1924 1737 320.6 14.7 368 4971 0.00 2.08 0.00 0.000 1030 0.000 0.029 3285 2494 1829 1923 1736 0 0 0 0 0 0 28.83 25.86 28.83

5282 0.91 243.3 3286 2495 1922 1735 273.2 14.6 389 5286 0.00 2.08 0.00 0.000 516 0.000 0.030 3285 1118 1828 1922 1734 0 0 0 0 0 0 28.83 25.84 28.83

5392 0.91 243.3 3286 1119 1921 1735 257.7 14.9 396 5396 0.00 2.10 0.00 0.000 1030 0.000 0.028 3285 2505 1828 1922 1734 0 0 0 0 0 0 28.83 25.82 28.83

5702 0.91 243.3 3285 2506 1921 1733 207.8 16.1 417 5706 0.00 2.10 0.00 0.000 516 0.000 0.030 3285 1116 1826 1920 1733 0 0 0 0 0 0 28.83 25.79 28.83

5827 0.91 243.3 3285 1117 1921 1733 189.0 15.6 425 5831 0.00 2.10 0.00 0.000 1030 0.000 0.028 3285 2503 1826 1919 1733 0 0 0 0 0 0 28.83 25.78 28.83

6137 0.91 243.3 3285 2504 1920 1732 140.7 14.8 446 6141 0.00 2.08 0.00 0.000 516 0.000 0.029 3292 1120 1825 1918 1732 0 0 0 0 0 0 28.83 25.71 28.83

6372 0.91 243.3 3292 1120 1919 1733 110.2 13.4 461 6379 0.00 2.08 0.00 0.000 1030 0.000 0.028 3292 2496 1824 1917 1732 0 0 0 0 0 0 28.83 25.75 28.83

6683 1.00 315.7 3293 2497 1916 1732 71.2 9.1 490 6745 0.00 2.05 54.22 0.460 8708 0.000 0.028 3297 1118 1545 1647 1444 0 0 0 0 0 0 28.83 25.63 25.07

6964 1.12 412.9 3298 1118 1641 1442 44.9 8.3 523 7051 0.03 2.08 77.43 0.429 11270 0.144 0.027 3338 2497 1149 1272 1027 0 0 0 0 0 0 25.22 25.69 24.87

7110 1.12 412.9 3339 2498 1268 1025 26.7 14.9 549 7118 0.00 1.95 0.00 0.000 260 0.000 0.037 3339 3759 1146 1268 1025 0 0 0 0 0 0 28.83 25.46 28.83

7282 1.25 517.3 3338 3759 1269 1024 4.4 8.0 583 7309 0.05 1.85 17.85 0.202 11266 0.093 0.021 3366 2484 1091 1218 965 0 0 0 0 1 0 25.52 25.73 25.47

7309 end climb: SURFACE_DEPTH_REACHED

state 7309 begin surface coast

7337 end surface coast: CONTROL_FINISHED_OK

state 7337 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	3	ESCAPE_HEADING	0	C_ROLL_DIVE	2500	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2500	ALTIM_PING_DEPTH	80
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	25.6	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	450	TGT_DEFAULT_LON	126.45	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	85	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	450	R_STBD_OVSHOOT	69	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	130	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	140	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	3	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	250	C_PITCH	2975	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	180715,204722,2756.894,-8726.467,3,0.9,13,-2.0	SPEED_LIMITS	0.115,0.274
_CALLS	1	TGT_NAME	NW
_XMS_NAKs	0	TGT_LATLONG	2759.162,-8729.255
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	1.34	MHEAD_RNG_PITCHd_Wd	315.6,6325,-12.9,-11.538,-22.85,3042
_SM_ANGLEo	-68.6	D_GRID	450
GPS2	180715,205026,2756.806,-8726.455,5,0.9,15,-2.0

FINISH	0.8,1.008040	MI_HOME	2.6/436550/425149
SM_CCo	7353,16.17,0.072,0,0,1006,450.12	_24V_AH	24.33,43.421
SM_GC	2.83,8.57,0.00,16.17,0.040,0.000,0.072,159,2483,1006,-8.75,-0.48,450.12,0,0,0,0,0,0,25.60,28.83,25.52	_10V_AH	10.27,11.621
IRIDIUM_FIX	2722.64,-8719.43,140508,101422	FG_AHR_24Vo	0.000
TT8_MAMPS	0.096621,0.096621	FG_AHR_10Vo	0.000
HUMID	48.03	MEM	296172
INTERNAL_PRESSURE	9.25296	DATA_FILE_SIZE	20089,593
TCM_TEMP	24.80	CAP_FILE_SIZE	100110,0
MI_MIVER	0.4	CFSIZE	260034560,257056768
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	ERRORS	0,3,0,0,0,0,0,0,0,0,0,0,0,1,1,0
MI_BOOTCOUNT	104	INTR	2,7343.03,0x236bc6,7,5
MI_LOG	3.5/516052/497988	GPS	180715,225443,2756.799,-8726.068,50,0.9,60,-2.0
MI_ROOT	70.6/190403/56003

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	245	125.47	SBE_CT	393	23	222.44
Roll_motor	66	57	92.62	nil	0	0	0.00
VBD_pump_during_apogee	528	726	9337.77	nil	0	0	0.00
VBD_pump_during_surface	16	71	28.30	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	7377	42	7625.85
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	7377	36	6583.68
GPS	16	31	5.34
TT8	0	0	0.00
LPSleep	5178	0	20.74
TT8_Active	589	13	79.97
TT8_Sampling	1595	40	670.70
TT8_CF8	54	48	26.98
TT8_Kalman	0	0	0.00
Analog_circuits	1274	16	209.41
GPS_charging	0	0	0.00
Compass	1207	15	195.06
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-0.91	-243.3	146	2528	1101	908	0.0	0.0	0	56	0.00	0.00	-39.92	0.000	16386	0.000	0.000	145	2528	2233	2206	2260	0	0	0	0	0	0	28.83	28.83	28.83
58	-0.91	-243.3	146	2529	2209	2261	3.3	-7.0	6	108	10.62	1.85	-30.58	0.000	19204	0.246	0.057	2665	3729	3835	3961	3709	0	0	0	0	0	0	25.35	25.82	25.99
262	-0.91	-243.3	2665	3730	3963	3710	50.2	-29.5	45	266	0.00	1.77	0.00	0.000	1030	0.000	0.023	2665	2504	3835	3961	3709	0	0	0	0	0	0	28.83	25.94	28.83
392	-0.91	-243.3	2666	2505	3962	3709	78.8	-17.8	58	393	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2504	3835	3961	3709	0	0	0	0	0	0	28.83	28.83	28.83
512	-0.91	-243.3	2665	2505	3964	3710	97.0	-14.3	70	513	0.00	0.00	0.00	0.000	6	0.000	0.000	2665	2504	3835	3962	3709	0	0	0	0	0	0	28.83	28.83	28.83
632	-0.91	-243.3	2665	2505	3964	3710	113.8	-13.8	79	636	0.00	1.92	0.00	0.000	260	0.000	0.039	2659	3738	3836	3963	3709	0	0	0	0	0	0	28.83	25.82	28.83
677	-0.91	-243.3	2659	3738	3964	3710	120.2	-14.1	82	681	0.00	1.77	0.00	0.000	1030	0.000	0.022	2659	2495	3836	3963	3709	0	0	0	0	0	0	28.83	25.96	28.83
993	-0.91	-243.3	2660	2495	3963	3710	158.9	-11.4	103	996	0.00	1.92	0.00	0.000	260	0.000	0.041	2657	3736	3836	3964	3709	0	0	0	0	0	0	28.83	25.56	28.83
1047	-0.91	-243.3	2658	3737	3963	3715	164.1	-11.5	106	1055	0.00	1.77	0.00	0.000	1030	0.000	0.023	2657	2497	3836	3964	3709	0	0	0	0	0	0	28.83	25.95	28.83
1353	-0.91	-243.3	2658	2498	3963	3710	199.8	-11.3	127	1356	0.00	1.95	0.00	0.000	260	0.000	0.041	2657	3737	3836	3964	3709	0	0	0	0	0	0	28.83	25.88	28.83
1427	-0.91	-243.3	2657	3738	3965	3709	208.5	-11.7	132	1431	0.00	1.77	0.00	0.000	1030	0.000	0.022	2661	2500	3836	3964	3708	0	0	0	0	0	0	28.83	26.00	28.83
1743	-0.91	-243.3	2657	2501	3965	3706	243.9	-11.2	153	1746	0.00	1.92	0.00	0.000	260	0.000	0.042	2655	3724	3834	3964	3705	0	0	0	0	0	0	28.83	25.80	28.83
1837	-0.91	-243.3	2657	3724	3963	3704	254.2	-11.4	159	1841	0.00	1.75	0.00	0.000	1030	0.000	0.024	2655	2512	3833	3963	3703	0	0	0	0	0	0	28.83	25.98	28.83
2148	-0.91	-243.3	2655	2510	3965	3700	289.5	-11.4	180	2151	0.00	1.92	0.00	0.000	260	0.000	0.041	2655	3735	3832	3964	3700	0	0	0	0	0	0	28.83	25.79	28.83
2252	-0.91	-243.3	2655	3735	3965	3699	301.0	-11.0	187	2256	0.00	1.80	0.00	0.000	1030	0.000	0.024	2656	2492	3830	3963	3698	0	0	0	0	0	0	28.83	25.97	28.83
2568	-0.91	-243.3	2657	2492	3964	3694	334.5	-10.5	208	2571	0.00	1.95	0.00	0.000	260	0.000	0.041	2655	3726	3828	3964	3693	0	0	0	0	0	0	28.83	25.75	28.83
2657	-0.91	-243.3	2655	3727	3965	3693	344.1	-10.8	214	2661	0.00	1.77	0.00	0.000	1030	0.000	0.024	2655	2509	3827	3963	3692	0	0	0	0	0	0	28.83	25.94	28.83
2973	-0.91	-243.3	2655	2510	3963	3687	376.3	-10.2	235	2976	0.00	1.92	0.00	0.000	260	0.000	0.043	2655	3728	3825	3963	3687	0	0	0	0	0	0	28.83	25.73	28.83
3057	-0.91	-243.3	2655	3729	3965	3686	384.2	-10.5	240	3064	0.00	1.80	0.00	0.000	1030	0.000	0.024	2655	2504	3824	3963	3685	0	0	0	0	0	0	28.83	25.94	28.83
3363	-0.91	-243.3	2655	2505	3965	3682	417.2	-10.7	261	3366	0.00	1.92	0.00	0.000	260	0.000	0.043	2655	3738	3822	3963	3681	0	0	0	0	0	0	28.83	25.72	28.83
3457	-0.91	-243.3	2656	3736	3963	3680	426.7	-10.6	267	3461	0.00	1.83	-0.08	0.000	17414	0.000	0.024	2655	2487	3845	3985	3705	0	0	0	0	0	0	28.83	25.92	25.92
3691	end dive: TARGET_DEPTH_EXCEEDED
state	3691	begin apogee
3694	-0.24	0.0	2655	2487	3987	3705	450.8	-9.9	283	3890	0.73	0.00	186.68	0.727	10246	0.094	0.000	2899	2485	2835	2942	2729	0	0	0	0	0	0	25.62	28.83	24.33
3890	end apogee: CONTROL_FINISHED_OK
state	3890	begin climb
3892	0.91	243.3	2898	2487	2944	2730	462.1	0.0	296	4092	1.00	2.12	191.93	0.711	10756	0.052	0.029	3273	1117	1842	1940	1744	0	0	0	0	0	0	25.10	25.04	24.37
4162	0.91	243.3	3273	1117	1932	1742	443.3	15.3	314	4166	0.00	2.10	0.00	0.000	1030	0.000	0.028	3273	2488	1837	1933	1741	0	0	0	0	0	0	28.83	25.48	28.83
4472	0.91	243.3	3274	2489	1928	1738	394.7	15.4	335	4476	0.00	2.08	0.00	0.000	516	0.000	0.029	3282	1120	1833	1928	1738	0	0	0	0	0	0	28.83	25.58	28.83
4547	0.91	243.3	3282	1120	1929	1739	383.4	15.0	340	4551	0.00	2.10	0.00	0.000	1030	0.000	0.028	3281	2500	1833	1928	1738	0	0	0	0	0	0	28.83	25.80	28.83
4862	0.91	243.3	3282	2501	1926	1737	336.0	14.9	361	4866	0.00	2.08	0.00	0.000	516	0.000	0.031	3285	1122	1830	1924	1737	0	0	0	0	0	0	28.83	25.89	28.83
4967	0.91	243.3	3285	1121	1924	1737	320.6	14.7	368	4971	0.00	2.08	0.00	0.000	1030	0.000	0.029	3285	2494	1829	1923	1736	0	0	0	0	0	0	28.83	25.86	28.83
5282	0.91	243.3	3286	2495	1922	1735	273.2	14.6	389	5286	0.00	2.08	0.00	0.000	516	0.000	0.030	3285	1118	1828	1922	1734	0	0	0	0	0	0	28.83	25.84	28.83
5392	0.91	243.3	3286	1119	1921	1735	257.7	14.9	396	5396	0.00	2.10	0.00	0.000	1030	0.000	0.028	3285	2505	1828	1922	1734	0	0	0	0	0	0	28.83	25.82	28.83
5702	0.91	243.3	3285	2506	1921	1733	207.8	16.1	417	5706	0.00	2.10	0.00	0.000	516	0.000	0.030	3285	1116	1826	1920	1733	0	0	0	0	0	0	28.83	25.79	28.83
5827	0.91	243.3	3285	1117	1921	1733	189.0	15.6	425	5831	0.00	2.10	0.00	0.000	1030	0.000	0.028	3285	2503	1826	1919	1733	0	0	0	0	0	0	28.83	25.78	28.83
6137	0.91	243.3	3285	2504	1920	1732	140.7	14.8	446	6141	0.00	2.08	0.00	0.000	516	0.000	0.029	3292	1120	1825	1918	1732	0	0	0	0	0	0	28.83	25.71	28.83
6372	0.91	243.3	3292	1120	1919	1733	110.2	13.4	461	6379	0.00	2.08	0.00	0.000	1030	0.000	0.028	3292	2496	1824	1917	1732	0	0	0	0	0	0	28.83	25.75	28.83
6683	1.00	315.7	3293	2497	1916	1732	71.2	9.1	490	6745	0.00	2.05	54.22	0.460	8708	0.000	0.028	3297	1118	1545	1647	1444	0	0	0	0	0	0	28.83	25.63	25.07
6964	1.12	412.9	3298	1118	1641	1442	44.9	8.3	523	7051	0.03	2.08	77.43	0.429	11270	0.144	0.027	3338	2497	1149	1272	1027	0	0	0	0	0	0	25.22	25.69	24.87
7110	1.12	412.9	3339	2498	1268	1025	26.7	14.9	549	7118	0.00	1.95	0.00	0.000	260	0.000	0.037	3339	3759	1146	1268	1025	0	0	0	0	0	0	28.83	25.46	28.83
7282	1.25	517.3	3338	3759	1269	1024	4.4	8.0	583	7309	0.05	1.85	17.85	0.202	11266	0.093	0.021	3366	2484	1091	1218	965	0	0	0	0	1	0	25.52	25.73	25.47
7309	end climb: SURFACE_DEPTH_REACHED
state	7309	begin surface coast
7337	end surface coast: CONTROL_FINISHED_OK
state	7337	begin surface