Glider dive log

Shilshole 12Jun12 * SG116 * Dive index * Mission links * Dive 4 * 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 33 HEADING -1 ROLL_MAX 3832 ALTIM_PING_DEPTH 0

DIVE 4 ESCAPE_HEADING 180 ROLL_DEG 30 ALTIM_PING_DELTA 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 12

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2675 ALTIM_PULSE 2

D_FLARE 3 TGT_DEFAULT_LAT 24.3333 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_TGT 150 TGT_DEFAULT_LON -82.333298 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 400 R_PORT_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 22 INT_PRESSURE_YINT -1.85

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 2310 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 40 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 45 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_ABORT 720 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.00039999999 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 -6 T_GPS_CHARGE -76138 CF8_MAXERRORS 20 PHONE_DEVICE 49

USE_ICE 0 T_RSLEEP 3 AH0_24V 150 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 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 2505 PRESSURE_YINT -22.355999 SEABIRD_T_I 2.7085041e-05

GLIDE_SLOPE 35 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 1.023 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1253172

MASS 51412 PITCH_GAIN 32 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 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 150 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 32 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 35 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 24.3333

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_MIN 133 TGT_DEFAULT_LON -82.333298

CALL_NDIVES 1 HD_A 0.0038360001 PITCH_TIMEOUT 18 T_ABORT 720

CALL_TRIES 5 HD_B 0.010078 PITCH_VBD_SHIFT 0.00039999999 T_BOOST 2

CALL_WAIT 60 HD_C 9.8500004e-06 PRESSURE_SLOPE 0.0001145545 T_DIVE 40

CAPMAXSIZE 100000 HEADING -1 PRESSURE_YINT -22.355999 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 -76138

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 45

COMPASS_USE 0 INT_PRESSURE_YINT -1.85 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_RSLEEP 3

C_PITCH 2505 LOGGERDEVICE1 83 RHO 1.023 T_TURN 225

C_ROLL_CLIMB 2675 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 2600 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_VBD 2310 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 50

DEEPGLIDER 0 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 51412 ROLL_DEG 30 USE_BATHY -6

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 33 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 MI_NOTIFYMOTORS 0.0 R_PORT_OVSHOOT 24 VBD_MAX 3960

DEVICE6 -1 MI_OFFLOAD 1.0 R_STBD_OVSHOOT 22 VBD_MAXERRORS 1

DIVE 4 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 120612,192257,4742.676,-12225.191,8,3.1,27,18.2 TGT_NAME WEST

_CALLS 1 TGT_LATLONG 4743.700,-12225.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.061,0.273

_SM_DEPTHo 1.27 KALMAN_X -159.7,-109.4,-92.0,103.8,-74.0

_SM_ANGLEo -71.8 KALMAN_Y -384.3,-364.9,-355.6,940.2,-177.9

GPS2 120612,192746,4742.675,-12225.188,12,3.3,31,18.2 MHEAD_RNG_PITCHd_Wd 354.4,1913,-21.9,-12.500

SPEED_LIMITS 0.143,0.223 D_GRID 186

Post-dive calculations and measurements:

FINISH 0.7,1.017869 MI_ROOT 70.6/190403/56027

SM_CCo 2657,0.28,0.448,0,0,766,377.76 MI_HOME 2.7/436550/424909

SM_GC 1.20,7.57,2.03,0.28,0.048,0.056,0.448,133,2598,766,-7.37,0.79,377.76,0,0,0,0,0,0,25.76,25.75,25.61 _24V_AH 23.9,0.504

IRIDIUM_FIX 4751.72,-12056.72,120612,191954 _10V_AH 10.1,0.412

TT8_MAMPS 0.092876,0.092876 FG_AHR_24Vo 0.000

HUMID 49.33 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 8.94143 MEM 323760

TCM_TEMP 19.40 DATA_FILE_SIZE 13443,487

MI_MIVER 0.3 CAP_FILE_SIZE 75538,0

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 CFSIZE 260034560,257634304

MI_BOOTCOUNT 4 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MI_LOG 3.3/516052/498832 GPS 120612,201456,4742.953,-12225.148,93,6.5,112,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 255 114.04 SBE_CT 324 24 186.26

Roll_motor 34 122 100.41 nil 0 0 0.00

VBD_pump_during_apogee 384 618 5678.77 nil 0 0 0.00

VBD_pump_during_surface 25 448 273.48 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 2713 41 2697.42

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 2713 16 1049.59

GPS 33 50 16.71

TT8 0 0 0.00

LPSleep 1096 0 4.32

TT8_Active 464 18 84.40

TT8_Sampling 1101 38 422.69

TT8_CF8 58 44 26.11

TT8_Kalman 32 80 26.02

Analog_circuits 900 12 109.10

GPS_charging 0 0 0.00

Compass 700 15 106.12

RAFOS 0 0 0.00

Transponder 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.74 -146.6 0.0 0.0 0 76 0.00 0.00 -58.42 0.000 2 0.000 0.000 130 2616 2466 0 0 0 0 0 0 28.83 28.83 28.83

78 -0.74 -146.6 3.0 -5.1 9 105 9.48 1.85 -9.10 0.000 4 0.256 0.070 2263 1540 2909 0 0 0 0 0 0 25.83 26.10 26.26

330 -0.74 -146.6 44.0 -14.5 58 337 0.00 1.85 0.00 0.000 6 0.000 0.067 2257 2588 2910 0 0 0 0 0 0 28.83 26.20 28.83

457 -0.74 -146.6 62.3 -13.8 83 463 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2589 2910 0 0 0 0 0 0 28.83 28.83 28.83

582 -0.74 -146.6 79.6 -13.1 108 590 0.00 1.90 0.00 0.000 4 0.000 0.080 2249 3658 2910 0 0 0 0 0 0 28.83 26.28 28.83

714 -0.74 -146.6 99.7 -14.9 134 721 0.00 1.80 0.00 0.000 6 0.000 0.056 2249 2609 2910 0 0 0 0 0 0 28.83 26.36 28.83

842 -0.74 -146.6 114.6 -10.9 159 849 0.00 1.77 0.00 0.000 4 0.000 0.054 2249 1534 2910 0 0 0 0 0 0 28.83 26.36 28.83

990 -0.74 -146.6 133.3 -12.6 188 997 0.00 1.85 0.00 0.000 6 0.000 0.070 2241 2601 2910 0 0 0 0 0 0 28.83 26.31 28.83

1110 end dive: TARGET_DEPTH_EXCEEDED

state 1110 begin apogee

1114 -0.16 0.0 150.7 -14.5 212 1249 0.70 0.00 125.60 0.616 6 0.152 0.000 2444 2677 2302 0 0 0 0 0 0 26.26 28.83 24.76

1250 end apogee: CONTROL_FINISHED_OK

state 1250 begin climb

1252 0.74 146.6 155.6 0.0 233 1382 0.93 1.95 123.30 0.582 4 0.095 0.057 2745 1614 1704 0 0 0 0 0 0 25.29 25.14 24.66

1447 0.75 175.8 142.1 10.8 266 1480 0.00 1.95 24.12 0.582 6 0.000 0.072 2745 2672 1581 0 0 0 0 0 0 28.83 25.53 24.94

1600 0.76 191.1 124.2 11.6 295 1620 0.00 1.98 11.68 0.618 4 0.000 0.082 2745 3738 1521 0 0 0 0 0 0 28.83 25.66 25.22

1625 0.76 198.2 121.2 12.1 299 1633 0.00 1.90 1.65 0.183 6 0.000 0.057 2753 2666 1503 0 0 0 0 0 0 28.83 25.75 25.53

1752 0.76 198.2 104.9 13.1 324 1760 0.00 0.00 1.08 0.221 6 0.000 0.000 2753 2666 1501 0 0 0 0 0 0 28.83 28.83 25.85

1880 0.77 213.5 89.6 11.6 349 1900 0.00 0.00 18.20 0.601 6 0.000 0.000 2753 2666 1436 0 0 0 0 0 0 28.83 28.83 25.38

2021 0.77 218.7 72.5 12.2 376 2028 0.00 1.95 0.00 0.000 4 0.000 0.082 2753 3742 1422 0 0 0 0 0 0 28.83 25.98 28.83

2058 0.77 218.7 67.5 14.1 383 2065 0.00 1.85 0.00 0.000 6 0.000 0.057 2762 2679 1422 0 0 0 0 0 0 28.83 26.10 28.83

2185 0.77 218.7 50.7 13.0 408 2191 0.00 0.00 0.00 0.000 6 0.000 0.000 2762 2679 1422 0 0 0 0 0 0 28.83 28.83 28.83

2311 0.77 222.9 35.1 12.3 433 2318 0.00 1.85 2.03 0.249 4 0.000 0.058 2769 1615 1401 0 0 0 0 0 0 28.83 26.21 23.94

2348 0.78 243.4 30.9 11.3 440 2375 0.00 1.90 23.20 0.567 6 0.000 0.073 2769 2699 1315 0 0 0 0 0 0 28.83 26.17 25.48

2435 0.78 253.7 20.6 11.9 456 2443 0.00 1.95 2.42 0.363 4 0.000 0.082 2770 3739 1274 0 0 0 0 0 0 28.83 25.44 25.26

2453 0.79 257.6 18.4 12.3 459 2460 0.00 1.85 2.12 0.278 6 0.000 0.057 2778 2676 1256 0 0 0 0 0 0 28.83 26.03 25.19

2520 0.81 308.1 11.2 9.6 472 2573 0.00 2.00 49.00 0.534 4 0.000 0.081 2777 3736 1047 0 0 0 0 0 0 28.83 25.56 25.17

2586 end climb: SURFACE_DEPTH_REACHED

state 2586 begin surface coast

2606 end surface coast: CONTROL_FINISHED_OK

state 2607 begin surface

ID	116	HD_C	9.8500004e-06	ROLL_MIN	275	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	33	HEADING	-1	ROLL_MAX	3832	ALTIM_PING_DEPTH	0
DIVE	4	ESCAPE_HEADING	180	ROLL_DEG	30	ALTIM_PING_DELTA	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	12
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2675	ALTIM_PULSE	2
D_FLARE	3	TGT_DEFAULT_LAT	24.3333	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_TGT	150	TGT_DEFAULT_LON	-82.333298	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	400	R_PORT_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	22	INT_PRESSURE_YINT	-1.85
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	2310	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	40	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	45	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_ABORT	720	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.00039999999	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	-6	T_GPS_CHARGE	-76138	CF8_MAXERRORS	20	PHONE_DEVICE	49
USE_ICE	0	T_RSLEEP	3	AH0_24V	150	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	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	2505	PRESSURE_YINT	-22.355999	SEABIRD_T_I	2.7085041e-05
GLIDE_SLOPE	35	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	1.023	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1253172
MASS	51412	PITCH_GAIN	32	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	120612,192257,4742.676,-12225.191,8,3.1,27,18.2	TGT_NAME	WEST
_CALLS	1	TGT_LATLONG	4743.700,-12225.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.061,0.273
_SM_DEPTHo	1.27	KALMAN_X	-159.7,-109.4,-92.0,103.8,-74.0
_SM_ANGLEo	-71.8	KALMAN_Y	-384.3,-364.9,-355.6,940.2,-177.9
GPS2	120612,192746,4742.675,-12225.188,12,3.3,31,18.2	MHEAD_RNG_PITCHd_Wd	354.4,1913,-21.9,-12.500
SPEED_LIMITS	0.143,0.223	D_GRID	186

FINISH	0.7,1.017869	MI_ROOT	70.6/190403/56027
SM_CCo	2657,0.28,0.448,0,0,766,377.76	MI_HOME	2.7/436550/424909
SM_GC	1.20,7.57,2.03,0.28,0.048,0.056,0.448,133,2598,766,-7.37,0.79,377.76,0,0,0,0,0,0,25.76,25.75,25.61	_24V_AH	23.9,0.504
IRIDIUM_FIX	4751.72,-12056.72,120612,191954	_10V_AH	10.1,0.412
TT8_MAMPS	0.092876,0.092876	FG_AHR_24Vo	0.000
HUMID	49.33	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	8.94143	MEM	323760
TCM_TEMP	19.40	DATA_FILE_SIZE	13443,487
MI_MIVER	0.3	CAP_FILE_SIZE	75538,0
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	CFSIZE	260034560,257634304
MI_BOOTCOUNT	4	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MI_LOG	3.3/516052/498832	GPS	120612,201456,4742.953,-12225.148,93,6.5,112,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	255	114.04	SBE_CT	324	24	186.26
Roll_motor	34	122	100.41	nil	0	0	0.00
VBD_pump_during_apogee	384	618	5678.77	nil	0	0	0.00
VBD_pump_during_surface	25	448	273.48	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	2713	41	2697.42
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	2713	16	1049.59
GPS	33	50	16.71
TT8	0	0	0.00
LPSleep	1096	0	4.32
TT8_Active	464	18	84.40
TT8_Sampling	1101	38	422.69
TT8_CF8	58	44	26.11
TT8_Kalman	32	80	26.02
Analog_circuits	900	12	109.10
GPS_charging	0	0	0.00
Compass	700	15	106.12
RAFOS	0	0	0.00
Transponder	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.74	-146.6	0.0	0.0	0	76	0.00	0.00	-58.42	0.000	2	0.000	0.000	130	2616	2466	0	0	0	0	0	0	28.83	28.83	28.83
78	-0.74	-146.6	3.0	-5.1	9	105	9.48	1.85	-9.10	0.000	4	0.256	0.070	2263	1540	2909	0	0	0	0	0	0	25.83	26.10	26.26
330	-0.74	-146.6	44.0	-14.5	58	337	0.00	1.85	0.00	0.000	6	0.000	0.067	2257	2588	2910	0	0	0	0	0	0	28.83	26.20	28.83
457	-0.74	-146.6	62.3	-13.8	83	463	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2589	2910	0	0	0	0	0	0	28.83	28.83	28.83
582	-0.74	-146.6	79.6	-13.1	108	590	0.00	1.90	0.00	0.000	4	0.000	0.080	2249	3658	2910	0	0	0	0	0	0	28.83	26.28	28.83
714	-0.74	-146.6	99.7	-14.9	134	721	0.00	1.80	0.00	0.000	6	0.000	0.056	2249	2609	2910	0	0	0	0	0	0	28.83	26.36	28.83
842	-0.74	-146.6	114.6	-10.9	159	849	0.00	1.77	0.00	0.000	4	0.000	0.054	2249	1534	2910	0	0	0	0	0	0	28.83	26.36	28.83
990	-0.74	-146.6	133.3	-12.6	188	997	0.00	1.85	0.00	0.000	6	0.000	0.070	2241	2601	2910	0	0	0	0	0	0	28.83	26.31	28.83
1110	end dive: TARGET_DEPTH_EXCEEDED
state	1110	begin apogee
1114	-0.16	0.0	150.7	-14.5	212	1249	0.70	0.00	125.60	0.616	6	0.152	0.000	2444	2677	2302	0	0	0	0	0	0	26.26	28.83	24.76
1250	end apogee: CONTROL_FINISHED_OK
state	1250	begin climb
1252	0.74	146.6	155.6	0.0	233	1382	0.93	1.95	123.30	0.582	4	0.095	0.057	2745	1614	1704	0	0	0	0	0	0	25.29	25.14	24.66
1447	0.75	175.8	142.1	10.8	266	1480	0.00	1.95	24.12	0.582	6	0.000	0.072	2745	2672	1581	0	0	0	0	0	0	28.83	25.53	24.94
1600	0.76	191.1	124.2	11.6	295	1620	0.00	1.98	11.68	0.618	4	0.000	0.082	2745	3738	1521	0	0	0	0	0	0	28.83	25.66	25.22
1625	0.76	198.2	121.2	12.1	299	1633	0.00	1.90	1.65	0.183	6	0.000	0.057	2753	2666	1503	0	0	0	0	0	0	28.83	25.75	25.53
1752	0.76	198.2	104.9	13.1	324	1760	0.00	0.00	1.08	0.221	6	0.000	0.000	2753	2666	1501	0	0	0	0	0	0	28.83	28.83	25.85
1880	0.77	213.5	89.6	11.6	349	1900	0.00	0.00	18.20	0.601	6	0.000	0.000	2753	2666	1436	0	0	0	0	0	0	28.83	28.83	25.38
2021	0.77	218.7	72.5	12.2	376	2028	0.00	1.95	0.00	0.000	4	0.000	0.082	2753	3742	1422	0	0	0	0	0	0	28.83	25.98	28.83
2058	0.77	218.7	67.5	14.1	383	2065	0.00	1.85	0.00	0.000	6	0.000	0.057	2762	2679	1422	0	0	0	0	0	0	28.83	26.10	28.83
2185	0.77	218.7	50.7	13.0	408	2191	0.00	0.00	0.00	0.000	6	0.000	0.000	2762	2679	1422	0	0	0	0	0	0	28.83	28.83	28.83
2311	0.77	222.9	35.1	12.3	433	2318	0.00	1.85	2.03	0.249	4	0.000	0.058	2769	1615	1401	0	0	0	0	0	0	28.83	26.21	23.94
2348	0.78	243.4	30.9	11.3	440	2375	0.00	1.90	23.20	0.567	6	0.000	0.073	2769	2699	1315	0	0	0	0	0	0	28.83	26.17	25.48
2435	0.78	253.7	20.6	11.9	456	2443	0.00	1.95	2.42	0.363	4	0.000	0.082	2770	3739	1274	0	0	0	0	0	0	28.83	25.44	25.26
2453	0.79	257.6	18.4	12.3	459	2460	0.00	1.85	2.12	0.278	6	0.000	0.057	2778	2676	1256	0	0	0	0	0	0	28.83	26.03	25.19
2520	0.81	308.1	11.2	9.6	472	2573	0.00	2.00	49.00	0.534	4	0.000	0.081	2777	3736	1047	0	0	0	0	0	0	28.83	25.56	25.17
2586	end climb: SURFACE_DEPTH_REACHED
state	2586	begin surface coast
2606	end surface coast: CONTROL_FINISHED_OK
state	2607	begin surface