Glider dive log

GulfOfMexico Jul15 * SG161 * Dive index * Mission links * Dive 39 * 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 39 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 50 TGT_DEFAULT_LAT 27.983 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -87.467003 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 88 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 500 R_STBD_OVSHOOT 50 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 260 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 290 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 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 275 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 990 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 260

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 290

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 275 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 39 MI_POWERSOURCE 0.0 R_PORT_OVSHOOT 88 VBD_MIN 550

D_ABORT 1090 MI_RESTARTMONITOR 0.0 R_STBD_OVSHOOT 50 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 50 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 230715,134114,2758.094,-8727.749,26,0.9,36,-2.0 SPEED_LIMITS 0.127,0.296

_CALLS 2 TGT_NAME SOURCE

_XMS_NAKs 0 TGT_LATLONG 2759.000,-8728.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.42 MHEAD_RNG_PITCHd_Wd 342.6,1732,-40.2,-12.692,-45.00,668

_SM_ANGLEo -71.0 D_GRID 990

GPS2 230715,135650,2758.118,-8727.648,12,0.8,23,-2.0

Post-dive calculations and measurements:

SM_CCo 13861,197.05,0.411,1,0,550,561.48 MI_HOME 3.1/436550/423160

SM_GC 1.61,9.60,2.75,0.00,0.034,0.024,0.000,153,2682,544,-8.60,-1.47,562.22,0,0,0,0,0,0,25.13,25.13,28.83 _24V_AH 23.69,51.979

IRIDIUM_FIX 2722.64,-8719.43,190508,031949 _10V_AH 9.98,18.531

TT8_MAMPS 0.09737,0.09737 FG_AHR_24Vo 0.000

HUMID 36.88 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.1846 MEM 295884

TCM_TEMP 25.00 DATA_FILE_SIZE 36710,1033

MI_MIVER 0.4 CAP_FILE_SIZE 163854,0

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 CFSIZE 260034560,254865408

MI_BOOTCOUNT 104 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0

MI_LOG 3.5/516052/497962 INTR 0,13376.84,0x236bc6,7,5

MI_ROOT 70.6/190403/56003 GPS 230715,175414,2757.556,-8727.318,37,0.8,47,-2.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 231 124.38 SBE_CT 701 23 385.63

Roll_motor 95 37 84.45 nil 0 0 0.00

VBD_pump_during_apogee 244 1038 6022.75 nil 0 0 0.00

VBD_pump_during_surface 197 410 1917.68 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 61 61 90.08 nil 0 0 0.00

Iridium_during_connect 77 160 294.98 MIB 14898 43 15229.70

Iridium_during_xfer 310 223 1640.52 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 14898 36 12959.54

GPS 24 31 7.79

TT8 0 0 0.00

LPSleep 10162 0 39.56

TT8_Active 550 13 72.63

TT8_Sampling 4005 40 1635.66

TT8_CF8 156 48 75.68

TT8_Kalman 0 0 0.00

Analog_circuits 1894 16 302.59

GPS_charging 0 0 0.00

Compass 2792 15 438.34

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 14 begin dive

15 -1.98 -55.6 153 2677 880 713 0.0 0.0 0 80 0.00 0.00 -59.15 0.000 16390 0.000 0.000 153 2677 3067 3049 3086 0 0 0 0 0 0 28.83 28.83 25.66

81 -1.98 -55.6 154 2678 3049 3086 11.3 -31.0 10 95 8.88 2.03 0.00 0.000 2564 0.231 0.021 2297 1272 3069 3055 3084 0 0 0 0 0 0 24.79 25.53 28.83

523 -1.98 -55.6 2294 1273 3070 3077 121.9 -19.1 60 528 0.00 2.12 0.00 0.000 1030 0.000 0.028 2286 2672 3072 3069 3076 0 0 0 0 0 0 28.83 25.72 28.83

834 -1.98 -55.6 2286 2673 3072 3077 177.8 -17.0 81 837 0.00 2.08 0.00 0.000 516 0.000 0.021 2287 1275 3073 3070 3076 0 0 0 0 0 0 28.83 25.48 28.83

1074 -1.98 -55.6 2286 1276 3072 3077 224.2 -18.8 97 1078 0.00 2.15 0.00 0.000 1030 0.000 0.028 2277 2672 3072 3071 3073 0 0 0 0 0 0 28.83 25.47 28.83

1389 -1.98 -55.6 2277 2673 3072 3075 284.9 -19.9 118 1392 0.00 2.08 0.00 0.000 516 0.000 0.022 2277 1269 3072 3071 3074 0 0 0 0 0 0 28.83 25.72 28.83

1638 -1.98 -55.6 2278 1269 3070 3072 331.9 -19.4 134 1646 0.00 2.15 0.00 0.000 1030 0.000 0.028 2267 2674 3071 3071 3071 0 0 0 0 0 0 28.83 25.73 28.83

1944 -1.98 -55.6 2267 2674 3072 3068 392.7 -19.4 155 1948 0.00 2.08 0.00 0.000 516 0.000 0.023 2268 1282 3069 3071 3067 0 0 0 0 0 0 28.83 25.79 28.83

2169 -1.98 -55.6 2268 1282 3069 3066 436.6 -19.6 170 2173 0.08 2.12 0.00 0.000 3078 0.189 0.029 2277 2671 3067 3070 3065 0 0 0 0 0 0 25.14 25.80 28.83

2484 -1.98 -55.6 2278 2671 3067 3062 497.2 -19.8 191 2488 0.00 2.05 0.00 0.000 516 0.000 0.024 2278 1266 3064 3067 3061 0 0 0 0 0 0 28.83 25.80 28.83

2694 -1.98 -55.6 2279 1266 3064 3060 538.2 -19.8 205 2698 0.00 2.15 0.00 0.000 1030 0.000 0.031 2270 2669 3060 3064 3056 0 0 0 0 0 0 28.83 25.80 28.83

3009 -1.98 -55.6 2271 2670 3062 3058 602.1 -20.6 226 3013 0.00 2.08 0.00 0.000 516 0.000 0.024 2270 1287 3059 3062 3057 0 0 0 0 0 0 28.83 25.79 28.83

3418 -1.98 -55.6 2270 1287 3059 3052 686.8 -20.4 253 3423 0.10 2.15 0.00 0.000 3078 0.183 0.031 2286 2674 3054 3057 3051 0 0 0 0 0 0 24.98 25.75 28.83

3729 -1.98 -55.6 2287 2675 3055 3049 747.5 -18.9 274 3733 0.00 2.08 0.00 0.000 516 0.000 0.025 2286 1268 3051 3055 3048 0 0 0 0 0 0 28.83 25.75 28.83

3913 -1.98 -55.6 2287 1268 3054 3047 781.0 -18.1 286 3917 0.00 2.17 0.00 0.000 1030 0.000 0.032 2278 2672 3049 3054 3045 0 0 0 0 0 0 28.83 25.73 28.83

4224 -1.98 -55.6 2278 2672 3053 3044 838.9 -18.3 307 4228 0.00 2.10 0.00 0.000 516 0.000 0.026 2278 1287 3047 3052 3043 0 0 0 0 0 0 28.83 25.73 28.83

4369 -1.98 -55.6 2280 1288 3050 3041 863.4 -18.2 316 4376 0.00 2.15 0.00 0.000 1030 0.000 0.033 2270 2672 3045 3050 3041 0 0 0 0 0 0 28.83 25.79 28.83

4674 -1.98 -55.6 2269 2673 3048 3039 923.4 -19.3 337 4678 0.00 2.12 0.00 0.000 516 0.000 0.027 2269 1287 3042 3047 3038 0 0 0 0 0 0 28.83 25.68 28.83

4783 -1.98 -55.6 2269 1288 3049 3038 943.6 -18.9 344 4788 0.10 2.17 0.00 0.000 3078 0.181 0.033 2285 2675 3042 3047 3037 0 0 0 0 0 0 24.96 25.63 28.83

5032 end dive: TARGET_DEPTH_EXCEEDED

state 5033 begin apogee

5036 -0.24 0.0 2287 2296 3046 3036 990.1 -18.3 361 5082 1.95 0.00 41.92 1.038 10246 0.159 0.000 2845 2295 2838 2869 2808 0 0 0 0 0 0 24.87 28.83 24.01

5083 end apogee: CONTROL_FINISHED_OK

state 5083 begin climb

5084 1.98 55.6 2845 2296 2871 2809 992.7 0.0 364 5142 1.98 2.30 47.83 1.036 10500 0.061 0.037 3565 3712 2611 2649 2574 0 0 0 0 0 0 25.05 24.69 23.69

5340 2.02 85.0 3566 3713 2642 2573 975.7 8.2 381 5371 0.00 2.15 26.00 0.988 9222 0.000 0.024 3575 2310 2491 2532 2451 0 0 0 0 0 0 28.83 25.47 24.05

5681 2.02 85.0 3575 2310 2527 2447 931.0 13.6 404 5685 0.00 2.15 0.00 0.000 516 0.000 0.031 3585 901 2485 2525 2446 0 0 0 0 0 0 28.83 25.60 28.83

6225 2.02 85.0 3586 901 2519 2444 860.0 13.0 440 6230 0.00 2.15 0.00 0.000 1030 0.000 0.028 3585 2301 2481 2520 2443 0 0 0 0 0 0 28.83 25.66 28.83

6536 2.02 85.0 3586 2301 2518 2442 820.0 12.6 461 6540 0.00 2.15 0.00 0.000 516 0.000 0.031 3594 900 2480 2518 2442 0 0 0 0 0 0 28.83 25.67 28.83

7081 2.04 85.0 3595 901 2515 2440 754.1 11.7 497 7085 0.00 2.15 0.00 0.000 1030 0.000 0.028 3594 2296 2478 2516 2440 0 0 0 0 0 0 28.83 25.63 28.83

7392 2.05 85.0 3594 2297 2516 2439 717.0 12.1 518 7395 0.00 2.10 0.00 0.000 516 0.000 0.031 3603 901 2476 2514 2439 0 0 0 0 0 0 28.83 25.61 28.83

7936 2.07 99.8 3603 901 2511 2438 658.2 10.4 554 7950 0.00 2.15 10.95 0.768 9222 0.000 0.028 3603 2298 2431 2471 2391 0 0 0 0 0 0 28.83 25.57 24.58

8251 2.07 99.8 3604 2299 2467 2389 617.3 12.7 575 8255 0.00 2.12 0.00 0.000 516 0.000 0.031 3612 898 2431 2473 2389 0 0 0 0 0 0 28.83 25.55 28.83

8796 2.08 99.8 3613 898 2460 2389 549.3 12.1 611 8800 0.00 2.17 0.00 0.000 1030 0.000 0.028 3612 2308 2426 2464 2388 0 0 0 0 0 0 28.83 25.49 28.83

9107 2.09 99.8 3612 2309 2466 2388 510.6 12.2 632 9110 0.00 2.15 0.00 0.000 516 0.000 0.031 3621 893 2426 2464 2388 0 0 0 0 0 0 28.83 25.54 28.83

9651 2.11 99.8 3622 893 2463 2388 445.6 11.8 668 9658 0.00 2.15 0.00 0.000 1030 0.000 0.027 3622 2295 2425 2463 2388 0 0 0 0 0 0 28.83 25.57 28.83

9956 2.14 99.8 3621 2295 2465 2388 410.1 11.0 689 9960 0.00 2.15 0.00 0.000 516 0.000 0.031 3631 902 2425 2463 2388 0 0 0 0 0 0 28.83 25.53 28.83

10151 2.17 99.8 3630 902 2464 2388 388.3 11.2 702 10155 0.00 2.15 0.00 0.000 1030 0.000 0.028 3631 2297 2425 2463 2388 0 0 0 0 0 0 28.83 25.55 28.83

10466 2.20 99.8 3631 2298 2464 2389 352.4 11.5 723 10470 0.00 2.17 0.00 0.000 260 0.000 0.037 3631 3706 2425 2463 2388 0 0 0 0 0 0 28.83 25.48 28.83

11011 2.20 99.8 3630 3708 2464 2388 281.9 12.8 759 11015 0.00 2.15 0.00 0.000 1030 0.000 0.024 3641 2287 2424 2462 2387 0 0 0 0 0 0 28.83 25.58 28.83

11322 2.22 99.8 3642 2288 2462 2388 244.3 11.6 780 11325 0.00 2.20 0.00 0.000 260 0.000 0.035 3641 3706 2424 2462 2387 0 0 0 0 0 0 28.83 25.44 28.83

11545 2.22 99.8 3641 3707 2464 2388 217.1 12.6 795 11550 0.00 2.15 0.00 0.000 1030 0.000 0.024 3652 2289 2424 2461 2387 0 0 0 0 0 0 28.83 25.58 28.83

11857 2.24 113.2 3652 2289 2463 2388 183.4 10.6 816 11874 0.00 2.20 11.38 0.485 8452 0.000 0.033 3652 3715 2376 2416 2336 0 0 0 0 0 0 28.83 25.58 24.65

11898 2.27 113.2 3652 3716 2417 2336 179.6 11.2 818 11905 0.00 2.15 0.00 0.000 1030 0.000 0.023 3664 2294 2375 2415 2336 0 0 0 0 0 0 28.83 25.54 28.83

12204 2.30 113.2 3663 2294 2416 2336 139.8 10.8 839 12207 0.00 2.10 0.00 0.000 516 0.000 0.029 3673 901 2374 2414 2335 0 0 0 0 0 0 28.83 25.16 28.83

12443 2.35 151.9 3673 901 2415 2336 120.9 6.7 855 12479 0.00 2.15 31.90 0.475 9222 0.000 0.025 3673 2314 2218 2266 2170 0 0 0 0 0 0 28.83 25.58 24.58

12778 2.37 170.2 3673 2314 2262 2168 79.3 9.9 883 12801 0.00 2.10 15.30 0.428 8708 0.000 0.028 3682 913 2143 2191 2095 0 0 0 0 0 0 28.83 25.53 24.68

13340 2.47 247.8 3683 914 2188 2094 56.5 0.8 939 13406 0.05 2.10 59.62 0.416 11270 0.116 0.024 3706 2306 1826 1882 1771 0 0 0 0 0 0 25.30 25.60 24.70

13525 2.47 247.8 3707 2306 1874 1770 30.6 18.5 967 13532 0.00 2.12 0.00 0.000 516 0.000 0.028 3716 916 1821 1874 1769 0 0 0 0 0 0 28.83 25.44 28.83

13856 end climb: NO_VERTICAL_VELOCITY

state 13856 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	39	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	50	TGT_DEFAULT_LAT	27.983	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-87.467003	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	88	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	500	R_STBD_OVSHOOT	50	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	260	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	290	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	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	275	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	230715,134114,2758.094,-8727.749,26,0.9,36,-2.0	SPEED_LIMITS	0.127,0.296
_CALLS	2	TGT_NAME	SOURCE
_XMS_NAKs	0	TGT_LATLONG	2759.000,-8728.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.42	MHEAD_RNG_PITCHd_Wd	342.6,1732,-40.2,-12.692,-45.00,668
_SM_ANGLEo	-71.0	D_GRID	990
GPS2	230715,135650,2758.118,-8727.648,12,0.8,23,-2.0

SM_CCo	13861,197.05,0.411,1,0,550,561.48	MI_HOME	3.1/436550/423160
SM_GC	1.61,9.60,2.75,0.00,0.034,0.024,0.000,153,2682,544,-8.60,-1.47,562.22,0,0,0,0,0,0,25.13,25.13,28.83	_24V_AH	23.69,51.979
IRIDIUM_FIX	2722.64,-8719.43,190508,031949	_10V_AH	9.98,18.531
TT8_MAMPS	0.09737,0.09737	FG_AHR_24Vo	0.000
HUMID	36.88	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.1846	MEM	295884
TCM_TEMP	25.00	DATA_FILE_SIZE	36710,1033
MI_MIVER	0.4	CAP_FILE_SIZE	163854,0
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	CFSIZE	260034560,254865408
MI_BOOTCOUNT	104	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
MI_LOG	3.5/516052/497962	INTR	0,13376.84,0x236bc6,7,5
MI_ROOT	70.6/190403/56003	GPS	230715,175414,2757.556,-8727.318,37,0.8,47,-2.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	231	124.38	SBE_CT	701	23	385.63
Roll_motor	95	37	84.45	nil	0	0	0.00
VBD_pump_during_apogee	244	1038	6022.75	nil	0	0	0.00
VBD_pump_during_surface	197	410	1917.68	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	61	61	90.08	nil	0	0	0.00
Iridium_during_connect	77	160	294.98	MIB	14898	43	15229.70
Iridium_during_xfer	310	223	1640.52	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	14898	36	12959.54
GPS	24	31	7.79
TT8	0	0	0.00
LPSleep	10162	0	39.56
TT8_Active	550	13	72.63
TT8_Sampling	4005	40	1635.66
TT8_CF8	156	48	75.68
TT8_Kalman	0	0	0.00
Analog_circuits	1894	16	302.59
GPS_charging	0	0	0.00
Compass	2792	15	438.34
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	14	begin dive
15	-1.98	-55.6	153	2677	880	713	0.0	0.0	0	80	0.00	0.00	-59.15	0.000	16390	0.000	0.000	153	2677	3067	3049	3086	0	0	0	0	0	0	28.83	28.83	25.66
81	-1.98	-55.6	154	2678	3049	3086	11.3	-31.0	10	95	8.88	2.03	0.00	0.000	2564	0.231	0.021	2297	1272	3069	3055	3084	0	0	0	0	0	0	24.79	25.53	28.83
523	-1.98	-55.6	2294	1273	3070	3077	121.9	-19.1	60	528	0.00	2.12	0.00	0.000	1030	0.000	0.028	2286	2672	3072	3069	3076	0	0	0	0	0	0	28.83	25.72	28.83
834	-1.98	-55.6	2286	2673	3072	3077	177.8	-17.0	81	837	0.00	2.08	0.00	0.000	516	0.000	0.021	2287	1275	3073	3070	3076	0	0	0	0	0	0	28.83	25.48	28.83
1074	-1.98	-55.6	2286	1276	3072	3077	224.2	-18.8	97	1078	0.00	2.15	0.00	0.000	1030	0.000	0.028	2277	2672	3072	3071	3073	0	0	0	0	0	0	28.83	25.47	28.83
1389	-1.98	-55.6	2277	2673	3072	3075	284.9	-19.9	118	1392	0.00	2.08	0.00	0.000	516	0.000	0.022	2277	1269	3072	3071	3074	0	0	0	0	0	0	28.83	25.72	28.83
1638	-1.98	-55.6	2278	1269	3070	3072	331.9	-19.4	134	1646	0.00	2.15	0.00	0.000	1030	0.000	0.028	2267	2674	3071	3071	3071	0	0	0	0	0	0	28.83	25.73	28.83
1944	-1.98	-55.6	2267	2674	3072	3068	392.7	-19.4	155	1948	0.00	2.08	0.00	0.000	516	0.000	0.023	2268	1282	3069	3071	3067	0	0	0	0	0	0	28.83	25.79	28.83
2169	-1.98	-55.6	2268	1282	3069	3066	436.6	-19.6	170	2173	0.08	2.12	0.00	0.000	3078	0.189	0.029	2277	2671	3067	3070	3065	0	0	0	0	0	0	25.14	25.80	28.83
2484	-1.98	-55.6	2278	2671	3067	3062	497.2	-19.8	191	2488	0.00	2.05	0.00	0.000	516	0.000	0.024	2278	1266	3064	3067	3061	0	0	0	0	0	0	28.83	25.80	28.83
2694	-1.98	-55.6	2279	1266	3064	3060	538.2	-19.8	205	2698	0.00	2.15	0.00	0.000	1030	0.000	0.031	2270	2669	3060	3064	3056	0	0	0	0	0	0	28.83	25.80	28.83
3009	-1.98	-55.6	2271	2670	3062	3058	602.1	-20.6	226	3013	0.00	2.08	0.00	0.000	516	0.000	0.024	2270	1287	3059	3062	3057	0	0	0	0	0	0	28.83	25.79	28.83
3418	-1.98	-55.6	2270	1287	3059	3052	686.8	-20.4	253	3423	0.10	2.15	0.00	0.000	3078	0.183	0.031	2286	2674	3054	3057	3051	0	0	0	0	0	0	24.98	25.75	28.83
3729	-1.98	-55.6	2287	2675	3055	3049	747.5	-18.9	274	3733	0.00	2.08	0.00	0.000	516	0.000	0.025	2286	1268	3051	3055	3048	0	0	0	0	0	0	28.83	25.75	28.83
3913	-1.98	-55.6	2287	1268	3054	3047	781.0	-18.1	286	3917	0.00	2.17	0.00	0.000	1030	0.000	0.032	2278	2672	3049	3054	3045	0	0	0	0	0	0	28.83	25.73	28.83
4224	-1.98	-55.6	2278	2672	3053	3044	838.9	-18.3	307	4228	0.00	2.10	0.00	0.000	516	0.000	0.026	2278	1287	3047	3052	3043	0	0	0	0	0	0	28.83	25.73	28.83
4369	-1.98	-55.6	2280	1288	3050	3041	863.4	-18.2	316	4376	0.00	2.15	0.00	0.000	1030	0.000	0.033	2270	2672	3045	3050	3041	0	0	0	0	0	0	28.83	25.79	28.83
4674	-1.98	-55.6	2269	2673	3048	3039	923.4	-19.3	337	4678	0.00	2.12	0.00	0.000	516	0.000	0.027	2269	1287	3042	3047	3038	0	0	0	0	0	0	28.83	25.68	28.83
4783	-1.98	-55.6	2269	1288	3049	3038	943.6	-18.9	344	4788	0.10	2.17	0.00	0.000	3078	0.181	0.033	2285	2675	3042	3047	3037	0	0	0	0	0	0	24.96	25.63	28.83
5032	end dive: TARGET_DEPTH_EXCEEDED
state	5033	begin apogee
5036	-0.24	0.0	2287	2296	3046	3036	990.1	-18.3	361	5082	1.95	0.00	41.92	1.038	10246	0.159	0.000	2845	2295	2838	2869	2808	0	0	0	0	0	0	24.87	28.83	24.01
5083	end apogee: CONTROL_FINISHED_OK
state	5083	begin climb
5084	1.98	55.6	2845	2296	2871	2809	992.7	0.0	364	5142	1.98	2.30	47.83	1.036	10500	0.061	0.037	3565	3712	2611	2649	2574	0	0	0	0	0	0	25.05	24.69	23.69
5340	2.02	85.0	3566	3713	2642	2573	975.7	8.2	381	5371	0.00	2.15	26.00	0.988	9222	0.000	0.024	3575	2310	2491	2532	2451	0	0	0	0	0	0	28.83	25.47	24.05
5681	2.02	85.0	3575	2310	2527	2447	931.0	13.6	404	5685	0.00	2.15	0.00	0.000	516	0.000	0.031	3585	901	2485	2525	2446	0	0	0	0	0	0	28.83	25.60	28.83
6225	2.02	85.0	3586	901	2519	2444	860.0	13.0	440	6230	0.00	2.15	0.00	0.000	1030	0.000	0.028	3585	2301	2481	2520	2443	0	0	0	0	0	0	28.83	25.66	28.83
6536	2.02	85.0	3586	2301	2518	2442	820.0	12.6	461	6540	0.00	2.15	0.00	0.000	516	0.000	0.031	3594	900	2480	2518	2442	0	0	0	0	0	0	28.83	25.67	28.83
7081	2.04	85.0	3595	901	2515	2440	754.1	11.7	497	7085	0.00	2.15	0.00	0.000	1030	0.000	0.028	3594	2296	2478	2516	2440	0	0	0	0	0	0	28.83	25.63	28.83
7392	2.05	85.0	3594	2297	2516	2439	717.0	12.1	518	7395	0.00	2.10	0.00	0.000	516	0.000	0.031	3603	901	2476	2514	2439	0	0	0	0	0	0	28.83	25.61	28.83
7936	2.07	99.8	3603	901	2511	2438	658.2	10.4	554	7950	0.00	2.15	10.95	0.768	9222	0.000	0.028	3603	2298	2431	2471	2391	0	0	0	0	0	0	28.83	25.57	24.58
8251	2.07	99.8	3604	2299	2467	2389	617.3	12.7	575	8255	0.00	2.12	0.00	0.000	516	0.000	0.031	3612	898	2431	2473	2389	0	0	0	0	0	0	28.83	25.55	28.83
8796	2.08	99.8	3613	898	2460	2389	549.3	12.1	611	8800	0.00	2.17	0.00	0.000	1030	0.000	0.028	3612	2308	2426	2464	2388	0	0	0	0	0	0	28.83	25.49	28.83
9107	2.09	99.8	3612	2309	2466	2388	510.6	12.2	632	9110	0.00	2.15	0.00	0.000	516	0.000	0.031	3621	893	2426	2464	2388	0	0	0	0	0	0	28.83	25.54	28.83
9651	2.11	99.8	3622	893	2463	2388	445.6	11.8	668	9658	0.00	2.15	0.00	0.000	1030	0.000	0.027	3622	2295	2425	2463	2388	0	0	0	0	0	0	28.83	25.57	28.83
9956	2.14	99.8	3621	2295	2465	2388	410.1	11.0	689	9960	0.00	2.15	0.00	0.000	516	0.000	0.031	3631	902	2425	2463	2388	0	0	0	0	0	0	28.83	25.53	28.83
10151	2.17	99.8	3630	902	2464	2388	388.3	11.2	702	10155	0.00	2.15	0.00	0.000	1030	0.000	0.028	3631	2297	2425	2463	2388	0	0	0	0	0	0	28.83	25.55	28.83
10466	2.20	99.8	3631	2298	2464	2389	352.4	11.5	723	10470	0.00	2.17	0.00	0.000	260	0.000	0.037	3631	3706	2425	2463	2388	0	0	0	0	0	0	28.83	25.48	28.83
11011	2.20	99.8	3630	3708	2464	2388	281.9	12.8	759	11015	0.00	2.15	0.00	0.000	1030	0.000	0.024	3641	2287	2424	2462	2387	0	0	0	0	0	0	28.83	25.58	28.83
11322	2.22	99.8	3642	2288	2462	2388	244.3	11.6	780	11325	0.00	2.20	0.00	0.000	260	0.000	0.035	3641	3706	2424	2462	2387	0	0	0	0	0	0	28.83	25.44	28.83
11545	2.22	99.8	3641	3707	2464	2388	217.1	12.6	795	11550	0.00	2.15	0.00	0.000	1030	0.000	0.024	3652	2289	2424	2461	2387	0	0	0	0	0	0	28.83	25.58	28.83
11857	2.24	113.2	3652	2289	2463	2388	183.4	10.6	816	11874	0.00	2.20	11.38	0.485	8452	0.000	0.033	3652	3715	2376	2416	2336	0	0	0	0	0	0	28.83	25.58	24.65
11898	2.27	113.2	3652	3716	2417	2336	179.6	11.2	818	11905	0.00	2.15	0.00	0.000	1030	0.000	0.023	3664	2294	2375	2415	2336	0	0	0	0	0	0	28.83	25.54	28.83
12204	2.30	113.2	3663	2294	2416	2336	139.8	10.8	839	12207	0.00	2.10	0.00	0.000	516	0.000	0.029	3673	901	2374	2414	2335	0	0	0	0	0	0	28.83	25.16	28.83
12443	2.35	151.9	3673	901	2415	2336	120.9	6.7	855	12479	0.00	2.15	31.90	0.475	9222	0.000	0.025	3673	2314	2218	2266	2170	0	0	0	0	0	0	28.83	25.58	24.58
12778	2.37	170.2	3673	2314	2262	2168	79.3	9.9	883	12801	0.00	2.10	15.30	0.428	8708	0.000	0.028	3682	913	2143	2191	2095	0	0	0	0	0	0	28.83	25.53	24.68
13340	2.47	247.8	3683	914	2188	2094	56.5	0.8	939	13406	0.05	2.10	59.62	0.416	11270	0.116	0.024	3706	2306	1826	1882	1771	0	0	0	0	0	0	25.30	25.60	24.70
13525	2.47	247.8	3707	2306	1874	1770	30.6	18.5	967	13532	0.00	2.12	0.00	0.000	516	0.000	0.028	3716	916	1821	1874	1769	0	0	0	0	0	0	28.83	25.44	28.83
13856	end climb: NO_VERTICAL_VELOCITY
state	13856	begin surface