Glider dive log

GulfOfMexico Jul15 * SG163 * Dive index * Mission links * Dive 42 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 163 HD_C 1.6100001e-05 ROLL_MAX 3809 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 7 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 42 ESCAPE_HEADING 0 C_ROLL_DIVE 2400 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2575 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 5 TGT_DEFAULT_LAT 27.983 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 600 TGT_DEFAULT_LON -87.467003 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 500 R_STBD_OVSHOOT 34 XPDR_VALID 2

D_BOOST 20 N_FILEKB 8 ROLL_AD_RATE 290 XPDR_INHIBIT 90

T_BOOST 2 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 3.8499999

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 2880 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 150 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 175 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0020000001 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 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 1001 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 1 RAFOS_DEVICE -1

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE -1

RELAUNCH 1 PITCH_MIN 139 AH0_10V 100 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3886 MINV_24V 19 SIM_PITCH 0

MAX_BUOY 175 C_PITCH 2700 MINV_10V 8 SEABIRD_T_G 0.004370783

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_H 0.00063893938

GLIDE_SLOPE 30 PITCH_CNV 0.003125763 FG_AHR_24V 0 SEABIRD_T_I 2.6964792e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PHONE_SUPPLY 2 SEABIRD_T_J 3.1314887e-06

RHO 1.0275 P_OVSHOOT_WITHG 0.079999998 PRESSURE_YINT -19.837452 SEABIRD_C_G -9.7295246

MASS 51703 PITCH_GAIN 20 PRESSURE_SLOPE 0.00011605668 SEABIRD_C_H 1.088999

MASS_COMP 0 PITCH_TIMEOUT 16 AD7714Ch0Gain 128 SEABIRD_C_I -0.0021791991

NAV_MODE 0 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00024473958

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 0.0022199999 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 MI_RESTARTMONITOR 0.0

HD_B 0.0116 ROLL_MIN 198 ALTIM_TOP_PING_RANGE 0 MI_NOTIFYMOTORS 0.0

AD7714Ch0Gain 128 D_PITCH 0 N_NOCOMM 1 SEABIRD_T_I 2.6964792e-05

AH0_10V 100 D_SAFE 0 N_NOSURFACE 0 SEABIRD_T_J 3.1314887e-06

AH0_24V 150 D_SURF 3 PHONE_DEVICE 49 SIM_PITCH 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 600 PHONE_SUPPLY 2 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 15 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 0 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 20 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3886 TCM_PITCH_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_MIN 139 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.0022199999 PITCH_TIMEOUT 16 TGT_DEFAULT_LAT 27.983

CALL_NDIVES 1 HD_B 0.0116 PITCH_VBD_SHIFT 0.0020000001 TGT_DEFAULT_LON -87.467003

CALL_TRIES 5 HD_C 1.6100001e-05 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 0.00011605668 T_DIVE 150

CAPUPLOAD 0 HEAPDBG 0 PRESSURE_YINT -19.837452 T_EPIRB 0

CF8_MAXERRORS 1 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 73 T_GPS 15

COMM_SEQ 0 ID 163 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 3.8499999 RAFOS_CORR_THRESH 60 T_MISSION 175

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 2700 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN 540

C_ROLL_CLIMB 2575 LOGGERDEVICE3 -1 RELAUNCH 1 T_TURN_SAMPINT 5

C_ROLL_DIVE 2400 LOGGERDEVICE4 -1 RHO 1.0275 T_WATCHDOG 10

C_VBD 2880 LOGGERS 1 ROLL_ADJ_DBAND 0 UNCOM_BLEED 50

DBDW 0 MASS 51703 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS_COMP 0 ROLL_AD_RATE 290 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 3809 VBD_CNV -0.245296

DEVICE4 -1 MISSION 7 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE5 -1 MI_NOTIFYMOTORS 0.0 ROLL_MIN 198 VBD_MAX 3960

DEVICE6 -1 MI_OFFLOAD 1.0 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 42 MI_POWERSOURCE 0.0 R_PORT_OVSHOOT 85 VBD_MIN 550

D_ABORT 1090 MI_RESTARTMONITOR 0.0 R_STBD_OVSHOOT 34 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 20 MOTHERBOARD 4 SEABIRD_C_G -9.7295246 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 NAV_MODE 0 SEABIRD_C_H 1.088999 VBD_TIMEOUT 720

D_FINISH 0 NOCOMM_ACTION 0 SEABIRD_C_I -0.0021791991 W_ADJ_DBAND 0

D_FLARE 5 N_DIVES 0 SEABIRD_C_J 0.00024473958 XPDR_DEVICE -1

D_NO_BLEED 500 N_FILEKB 8 SEABIRD_T_G 0.004370783 XPDR_INHIBIT 90

D_OFFGRID 1001 N_GPS 20 SEABIRD_T_H 0.00063893938 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 250715,053134,2759.803,-8727.539,4,1.1,14,-2.0 SPEED_LIMITS 0.231,0.278

_CALLS 1 TGT_NAME T2

_XMS_NAKs 0 TGT_LATLONG 2804.720,-8731.100

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 2.64 MHEAD_RNG_PITCHd_Wd 329.0,10969,-21.2,-13.333,-25.64,1918

_SM_ANGLEo -61.9 D_GRID 600

GPS2 250715,053736,2759.754,-8727.440,5,1.1,16,-2.0

Post-dive calculations and measurements:

FINISH 2.0,1.009199 MI_HOME 2.9/436550/424004

SM_CCo 6579,85.32,0.052,0,0,840,500.16 _24V_AH 24.19,10.419

SM_GC 2.66,8.25,0.25,85.32,0.030,0.045,0.052,130,2355,840,-7.93,1.78,500.16,0,0,0,0,0,0,25.63,25.64,25.57 _10V_AH 10.25,9.343

IRIDIUM_FIX 2722.64,-8719.43,200508,190058 FG_AHR_24Vo 0.000

TT8_MAMPS 0.095872,0.095872 FG_AHR_10Vo 0.000

HUMID 40.11 MEM 296040

INTERNAL_PRESSURE 9.29943 DATA_FILE_SIZE 16813,524

TCM_TEMP 24.40 CAP_FILE_SIZE 81699,0

MI_MIVER 0.4 CFSIZE 260034560,254816256

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 146 INTR 0,5363.39,0x236bc6,7,5

MI_LOG 3.5/516052/497885 GPS 250715,072942,2800.471,-8727.726,24,0.9,34,-2.0

MI_ROOT 70.6/190403/55925

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 224 108.03 SBE_CT 348 23 195.97

Roll_motor 65 47 74.92 nil 0 0 0.00

VBD_pump_during_apogee 393 836 7969.39 nil 0 0 0.00

VBD_pump_during_surface 85 52 107.37 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 60 45.44 nil 0 0 0.00

Iridium_during_connect 34 160 133.25 MIB 7045 41 7103.10

Iridium_during_xfer 96 223 522.95 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 7045 35 6118.98

GPS 17 30 5.57

TT8 0 0 0.00

LPSleep 4776 0 19.09

TT8_Active 580 12 77.17

TT8_Sampling 1493 38 588.11

TT8_CF8 71 45 33.33

TT8_Kalman 0 0 0.00

Analog_circuits 1136 17 198.12

GPS_charging 0 0 0.00

Compass 961 16 162.39

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 -1.40 -170.3 136 2419 941 729 0.0 0.0 0 81 0.00 0.00 -64.38 0.000 16386 0.000 0.000 136 2419 2672 2654 2691 0 0 0 0 0 0 28.83 28.83 28.83

83 -1.40 -170.3 137 2419 2654 2693 5.0 -7.4 10 115 8.43 2.15 -18.23 0.000 18948 0.224 0.047 2242 1018 3577 3520 3635 0 0 0 0 0 0 25.26 25.66 25.77

159 -1.40 -170.3 2242 1019 3521 3639 31.4 -40.6 24 166 0.00 2.15 0.00 0.000 1030 0.000 0.027 2234 2405 3579 3522 3637 0 0 0 0 0 0 28.83 25.70 28.83

225 -1.40 -170.3 2235 2405 3522 3639 57.6 -37.9 35 229 0.00 2.15 0.00 0.000 260 0.000 0.037 2224 3798 3579 3520 3639 0 0 0 0 0 0 28.83 25.70 28.83

340 -1.40 -170.3 2224 3798 3522 3641 91.7 -29.2 46 347 0.00 2.10 0.00 0.000 1030 0.000 0.022 2224 2417 3579 3518 3641 0 0 0 0 0 0 28.83 25.78 28.83

465 -1.40 -170.3 2224 2401 3524 3642 124.0 -24.6 56 469 0.00 2.20 0.00 0.000 260 0.000 0.037 2213 3802 3582 3523 3641 0 0 0 0 0 0 28.83 25.77 28.83

605 -1.40 -170.3 2214 3804 3525 3645 156.6 -23.2 65 609 0.10 2.12 0.00 0.000 3078 0.164 0.022 2242 2378 3584 3525 3644 0 0 0 0 0 0 25.45 25.87 28.83

916 -1.40 -170.3 2242 2378 3530 3645 222.1 -21.0 86 919 0.00 2.17 0.00 0.000 260 0.000 0.040 2233 3802 3586 3528 3645 0 0 0 0 0 0 28.83 25.86 28.83

985 -1.40 -170.3 2233 3803 3529 3645 235.1 -21.9 90 992 0.00 2.10 0.00 0.000 1030 0.000 0.022 2233 2416 3586 3528 3645 0 0 0 0 0 0 28.83 25.93 28.83

1290 -1.40 -170.3 2233 2408 3530 3645 300.1 -20.5 111 1294 0.00 2.17 0.00 0.000 260 0.000 0.040 2224 3796 3587 3529 3645 0 0 0 0 0 0 28.83 25.89 28.83

1320 -1.40 -170.3 2224 3797 3530 3646 306.5 -21.1 113 1324 0.00 2.12 0.00 0.000 1030 0.000 0.022 2223 2388 3586 3528 3645 0 0 0 0 0 0 28.83 25.96 28.83

1635 -1.40 -170.3 2224 2381 3529 3646 373.5 -21.7 134 1639 0.00 2.22 0.00 0.000 260 0.000 0.041 2213 3805 3586 3528 3645 0 0 0 0 0 0 28.83 25.89 28.83

1695 -1.40 -170.3 2213 3800 3529 3646 387.3 -23.1 138 1699 0.10 2.10 0.00 0.000 3078 0.158 0.023 2241 2391 3586 3527 3645 0 0 0 0 0 0 25.51 25.95 28.83

2010 -1.40 -170.3 2242 2384 3527 3644 452.4 -20.1 159 2014 0.00 2.17 0.00 0.000 260 0.000 0.042 2233 3803 3584 3525 3643 0 0 0 0 0 0 28.83 25.87 28.83

2040 -1.40 -170.3 2233 3804 3526 3644 458.8 -20.8 161 2044 0.00 2.10 0.00 0.000 1030 0.000 0.023 2233 2418 3584 3525 3643 0 0 0 0 0 0 28.83 25.95 28.83

2355 -1.40 -170.3 2233 2414 3524 3640 522.4 -20.1 182 2359 0.00 2.22 0.00 0.000 260 0.000 0.042 2223 3806 3581 3523 3640 0 0 0 0 0 0 28.83 25.87 28.83

2404 -1.40 -170.3 2224 3806 3522 3640 532.0 -21.1 185 2409 0.00 2.12 0.00 0.000 1030 0.000 0.023 2223 2395 3581 3522 3640 0 0 0 0 0 0 28.83 25.95 28.83

2715 -1.40 -170.3 2224 2391 3521 3638 596.2 -20.6 206 2716 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2390 3578 3520 3637 0 0 0 0 0 0 28.83 28.83 28.83

2744 end dive: TARGET_DEPTH_EXCEEDED

state 2744 begin apogee

2747 -0.25 0.0 2223 2595 3520 3637 602.5 -20.6 208 2898 1.33 0.00 141.82 0.837 10246 0.142 0.000 2616 2594 2882 2890 2874 0 0 0 0 1 0 25.56 28.83 24.20

2899 end apogee: CONTROL_FINISHED_OK

state 2899 begin climb

2900 1.40 170.3 2617 2595 2891 2875 609.1 0.0 218 3049 1.52 1.95 135.73 0.830 10500 0.071 0.045 3138 3789 2181 2241 2121 0 0 0 0 0 0 24.90 24.79 24.19

3072 1.40 170.3 3139 3790 2240 2119 594.1 14.0 229 3080 0.00 1.88 0.00 0.000 1030 0.000 0.024 3148 2596 2178 2239 2118 0 0 0 0 0 0 28.83 25.13 28.83

3378 1.40 170.3 3148 2596 2234 2112 538.6 17.7 250 3378 0.00 0.00 0.00 0.000 6 0.000 0.000 3148 2596 2172 2233 2111 0 0 0 0 0 0 28.83 28.83 28.83

3677 1.40 170.3 3148 2596 2230 2110 484.7 18.4 270 3678 0.00 0.00 0.00 0.000 6 0.000 0.000 3148 2596 2169 2229 2109 0 0 0 0 0 0 28.83 28.83 28.83

3977 1.40 170.3 3149 2578 2225 2108 430.5 17.8 290 3978 0.00 0.00 0.00 0.000 6 0.000 0.000 3148 2578 2165 2224 2107 0 0 0 0 0 0 28.83 28.83 28.83

4278 1.40 170.3 3148 2578 2223 2107 377.3 17.7 310 4281 0.00 1.90 0.00 0.000 260 0.000 0.044 3147 3786 2163 2221 2106 0 0 0 0 0 0 28.83 25.80 28.83

4307 1.40 170.3 3149 3787 2222 2107 371.7 18.0 312 4311 0.00 1.85 0.00 0.000 1030 0.000 0.025 3157 2571 2163 2221 2105 0 0 0 0 0 0 28.83 25.86 28.83

4623 1.40 170.3 3157 2567 2219 2104 313.8 18.7 333 4626 0.00 1.95 0.00 0.000 260 0.000 0.044 3157 3795 2160 2218 2103 0 0 0 0 0 0 28.83 25.82 28.83

4702 1.40 170.3 3158 3796 2217 2109 298.1 21.4 338 4706 0.00 1.88 0.00 0.000 1030 0.000 0.025 3166 2566 2160 2217 2103 0 0 0 0 0 0 28.83 25.88 28.83

5013 1.40 170.3 3167 2563 2217 2101 238.2 18.8 359 5016 0.00 1.92 0.00 0.000 260 0.000 0.043 3166 3787 2158 2215 2101 0 0 0 0 0 0 28.83 25.83 28.83

5073 1.40 170.3 3167 3787 2216 2101 226.1 20.1 363 5076 0.00 1.85 0.00 0.000 1030 0.000 0.026 3176 2575 2158 2215 2101 0 0 0 0 0 0 28.83 25.88 28.83

5387 1.40 170.3 3176 2558 2213 2099 164.9 19.6 384 5391 0.00 1.92 0.00 0.000 260 0.000 0.042 3176 3791 2155 2212 2099 0 0 0 0 0 0 28.83 25.82 28.83

5502 1.40 170.3 3176 3791 2212 2099 143.0 21.1 391 5510 0.10 1.85 0.00 0.000 5126 0.161 0.024 3157 2574 2155 2211 2099 0 0 0 0 0 0 25.39 25.88 28.83

5813 1.40 170.3 3157 2556 2211 2098 92.1 14.1 414 5814 0.00 0.00 0.00 0.000 6 0.000 0.000 3157 2556 2154 2210 2098 0 0 0 0 0 0 28.83 28.83 28.83

5933 1.47 205.2 3158 2557 2212 2098 77.4 11.5 426 5958 0.00 1.90 22.00 0.508 8452 0.000 0.041 3157 3791 2040 2099 1982 0 0 0 0 0 0 28.83 25.79 25.22

6012 1.47 205.2 3157 3791 2090 1982 67.7 13.8 433 6020 0.00 1.85 0.00 0.000 1030 0.000 0.024 3165 2567 2037 2094 1981 0 0 0 0 0 0 28.83 25.78 28.83

6138 1.59 266.0 3165 2553 2095 1979 53.1 10.1 446 6189 0.10 2.00 44.85 0.488 10500 0.096 0.042 3215 3792 1791 1851 1732 0 0 0 0 0 0 25.79 25.49 25.03

6318 1.62 278.2 3216 3793 1844 1729 30.2 12.7 478 6332 0.00 1.85 9.62 0.406 9222 0.000 0.024 3224 2567 1744 1804 1685 0 0 0 0 0 0 28.83 25.67 25.03

6392 1.62 278.2 3225 2565 1804 1682 20.5 13.9 492 6399 0.00 1.95 0.00 0.000 260 0.000 0.041 3225 3788 1744 1807 1681 0 0 0 0 0 0 28.83 25.65 28.83

6468 1.69 315.4 3225 3788 1801 1682 10.3 11.3 507 6518 0.00 1.83 39.62 0.366 9222 0.000 0.025 3234 2576 1594 1665 1524 0 0 0 0 1 0 28.83 25.73 25.02

6536 end climb: SURFACE_DEPTH_REACHED

state 6536 begin surface coast

6562 end surface coast: CONTROL_FINISHED_OK

state 6563 begin surface

ID	163	HD_C	1.6100001e-05	ROLL_MAX	3809	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	7	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	42	ESCAPE_HEADING	0	C_ROLL_DIVE	2400	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2575	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	5	TGT_DEFAULT_LAT	27.983	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	600	TGT_DEFAULT_LON	-87.467003	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	500	R_STBD_OVSHOOT	34	XPDR_VALID	2
D_BOOST	20	N_FILEKB	8	ROLL_AD_RATE	290	XPDR_INHIBIT	90
T_BOOST	2	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	3.8499999
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	2880	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	150	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	175	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0020000001	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	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	1001	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	1	RAFOS_DEVICE	-1
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_MIN	139	AH0_10V	100	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3886	MINV_24V	19	SIM_PITCH	0
MAX_BUOY	175	C_PITCH	2700	MINV_10V	8	SEABIRD_T_G	0.004370783
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_T_H	0.00063893938
GLIDE_SLOPE	30	PITCH_CNV	0.003125763	FG_AHR_24V	0	SEABIRD_T_I	2.6964792e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PHONE_SUPPLY	2	SEABIRD_T_J	3.1314887e-06
RHO	1.0275	P_OVSHOOT_WITHG	0.079999998	PRESSURE_YINT	-19.837452	SEABIRD_C_G	-9.7295246
MASS	51703	PITCH_GAIN	20	PRESSURE_SLOPE	0.00011605668	SEABIRD_C_H	1.088999
MASS_COMP	0	PITCH_TIMEOUT	16	AD7714Ch0Gain	128	SEABIRD_C_I	-0.0021791991
NAV_MODE	0	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00024473958
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	0.0022199999	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	MI_RESTARTMONITOR	0.0
HD_B	0.0116	ROLL_MIN	198	ALTIM_TOP_PING_RANGE	0	MI_NOTIFYMOTORS	0.0

GPS1	250715,053134,2759.803,-8727.539,4,1.1,14,-2.0	SPEED_LIMITS	0.231,0.278
_CALLS	1	TGT_NAME	T2
_XMS_NAKs	0	TGT_LATLONG	2804.720,-8731.100
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	2.64	MHEAD_RNG_PITCHd_Wd	329.0,10969,-21.2,-13.333,-25.64,1918
_SM_ANGLEo	-61.9	D_GRID	600
GPS2	250715,053736,2759.754,-8727.440,5,1.1,16,-2.0

FINISH	2.0,1.009199	MI_HOME	2.9/436550/424004
SM_CCo	6579,85.32,0.052,0,0,840,500.16	_24V_AH	24.19,10.419
SM_GC	2.66,8.25,0.25,85.32,0.030,0.045,0.052,130,2355,840,-7.93,1.78,500.16,0,0,0,0,0,0,25.63,25.64,25.57	_10V_AH	10.25,9.343
IRIDIUM_FIX	2722.64,-8719.43,200508,190058	FG_AHR_24Vo	0.000
TT8_MAMPS	0.095872,0.095872	FG_AHR_10Vo	0.000
HUMID	40.11	MEM	296040
INTERNAL_PRESSURE	9.29943	DATA_FILE_SIZE	16813,524
TCM_TEMP	24.40	CAP_FILE_SIZE	81699,0
MI_MIVER	0.4	CFSIZE	260034560,254816256
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	146	INTR	0,5363.39,0x236bc6,7,5
MI_LOG	3.5/516052/497885	GPS	250715,072942,2800.471,-8727.726,24,0.9,34,-2.0
MI_ROOT	70.6/190403/55925

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	224	108.03	SBE_CT	348	23	195.97
Roll_motor	65	47	74.92	nil	0	0	0.00
VBD_pump_during_apogee	393	836	7969.39	nil	0	0	0.00
VBD_pump_during_surface	85	52	107.37	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	60	45.44	nil	0	0	0.00
Iridium_during_connect	34	160	133.25	MIB	7045	41	7103.10
Iridium_during_xfer	96	223	522.95	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	7045	35	6118.98
GPS	17	30	5.57
TT8	0	0	0.00
LPSleep	4776	0	19.09
TT8_Active	580	12	77.17
TT8_Sampling	1493	38	588.11
TT8_CF8	71	45	33.33
TT8_Kalman	0	0	0.00
Analog_circuits	1136	17	198.12
GPS_charging	0	0	0.00
Compass	961	16	162.39
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	-1.40	-170.3	136	2419	941	729	0.0	0.0	0	81	0.00	0.00	-64.38	0.000	16386	0.000	0.000	136	2419	2672	2654	2691	0	0	0	0	0	0	28.83	28.83	28.83
83	-1.40	-170.3	137	2419	2654	2693	5.0	-7.4	10	115	8.43	2.15	-18.23	0.000	18948	0.224	0.047	2242	1018	3577	3520	3635	0	0	0	0	0	0	25.26	25.66	25.77
159	-1.40	-170.3	2242	1019	3521	3639	31.4	-40.6	24	166	0.00	2.15	0.00	0.000	1030	0.000	0.027	2234	2405	3579	3522	3637	0	0	0	0	0	0	28.83	25.70	28.83
225	-1.40	-170.3	2235	2405	3522	3639	57.6	-37.9	35	229	0.00	2.15	0.00	0.000	260	0.000	0.037	2224	3798	3579	3520	3639	0	0	0	0	0	0	28.83	25.70	28.83
340	-1.40	-170.3	2224	3798	3522	3641	91.7	-29.2	46	347	0.00	2.10	0.00	0.000	1030	0.000	0.022	2224	2417	3579	3518	3641	0	0	0	0	0	0	28.83	25.78	28.83
465	-1.40	-170.3	2224	2401	3524	3642	124.0	-24.6	56	469	0.00	2.20	0.00	0.000	260	0.000	0.037	2213	3802	3582	3523	3641	0	0	0	0	0	0	28.83	25.77	28.83
605	-1.40	-170.3	2214	3804	3525	3645	156.6	-23.2	65	609	0.10	2.12	0.00	0.000	3078	0.164	0.022	2242	2378	3584	3525	3644	0	0	0	0	0	0	25.45	25.87	28.83
916	-1.40	-170.3	2242	2378	3530	3645	222.1	-21.0	86	919	0.00	2.17	0.00	0.000	260	0.000	0.040	2233	3802	3586	3528	3645	0	0	0	0	0	0	28.83	25.86	28.83
985	-1.40	-170.3	2233	3803	3529	3645	235.1	-21.9	90	992	0.00	2.10	0.00	0.000	1030	0.000	0.022	2233	2416	3586	3528	3645	0	0	0	0	0	0	28.83	25.93	28.83
1290	-1.40	-170.3	2233	2408	3530	3645	300.1	-20.5	111	1294	0.00	2.17	0.00	0.000	260	0.000	0.040	2224	3796	3587	3529	3645	0	0	0	0	0	0	28.83	25.89	28.83
1320	-1.40	-170.3	2224	3797	3530	3646	306.5	-21.1	113	1324	0.00	2.12	0.00	0.000	1030	0.000	0.022	2223	2388	3586	3528	3645	0	0	0	0	0	0	28.83	25.96	28.83
1635	-1.40	-170.3	2224	2381	3529	3646	373.5	-21.7	134	1639	0.00	2.22	0.00	0.000	260	0.000	0.041	2213	3805	3586	3528	3645	0	0	0	0	0	0	28.83	25.89	28.83
1695	-1.40	-170.3	2213	3800	3529	3646	387.3	-23.1	138	1699	0.10	2.10	0.00	0.000	3078	0.158	0.023	2241	2391	3586	3527	3645	0	0	0	0	0	0	25.51	25.95	28.83
2010	-1.40	-170.3	2242	2384	3527	3644	452.4	-20.1	159	2014	0.00	2.17	0.00	0.000	260	0.000	0.042	2233	3803	3584	3525	3643	0	0	0	0	0	0	28.83	25.87	28.83
2040	-1.40	-170.3	2233	3804	3526	3644	458.8	-20.8	161	2044	0.00	2.10	0.00	0.000	1030	0.000	0.023	2233	2418	3584	3525	3643	0	0	0	0	0	0	28.83	25.95	28.83
2355	-1.40	-170.3	2233	2414	3524	3640	522.4	-20.1	182	2359	0.00	2.22	0.00	0.000	260	0.000	0.042	2223	3806	3581	3523	3640	0	0	0	0	0	0	28.83	25.87	28.83
2404	-1.40	-170.3	2224	3806	3522	3640	532.0	-21.1	185	2409	0.00	2.12	0.00	0.000	1030	0.000	0.023	2223	2395	3581	3522	3640	0	0	0	0	0	0	28.83	25.95	28.83
2715	-1.40	-170.3	2224	2391	3521	3638	596.2	-20.6	206	2716	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2390	3578	3520	3637	0	0	0	0	0	0	28.83	28.83	28.83
2744	end dive: TARGET_DEPTH_EXCEEDED
state	2744	begin apogee
2747	-0.25	0.0	2223	2595	3520	3637	602.5	-20.6	208	2898	1.33	0.00	141.82	0.837	10246	0.142	0.000	2616	2594	2882	2890	2874	0	0	0	0	1	0	25.56	28.83	24.20
2899	end apogee: CONTROL_FINISHED_OK
state	2899	begin climb
2900	1.40	170.3	2617	2595	2891	2875	609.1	0.0	218	3049	1.52	1.95	135.73	0.830	10500	0.071	0.045	3138	3789	2181	2241	2121	0	0	0	0	0	0	24.90	24.79	24.19
3072	1.40	170.3	3139	3790	2240	2119	594.1	14.0	229	3080	0.00	1.88	0.00	0.000	1030	0.000	0.024	3148	2596	2178	2239	2118	0	0	0	0	0	0	28.83	25.13	28.83
3378	1.40	170.3	3148	2596	2234	2112	538.6	17.7	250	3378	0.00	0.00	0.00	0.000	6	0.000	0.000	3148	2596	2172	2233	2111	0	0	0	0	0	0	28.83	28.83	28.83
3677	1.40	170.3	3148	2596	2230	2110	484.7	18.4	270	3678	0.00	0.00	0.00	0.000	6	0.000	0.000	3148	2596	2169	2229	2109	0	0	0	0	0	0	28.83	28.83	28.83
3977	1.40	170.3	3149	2578	2225	2108	430.5	17.8	290	3978	0.00	0.00	0.00	0.000	6	0.000	0.000	3148	2578	2165	2224	2107	0	0	0	0	0	0	28.83	28.83	28.83
4278	1.40	170.3	3148	2578	2223	2107	377.3	17.7	310	4281	0.00	1.90	0.00	0.000	260	0.000	0.044	3147	3786	2163	2221	2106	0	0	0	0	0	0	28.83	25.80	28.83
4307	1.40	170.3	3149	3787	2222	2107	371.7	18.0	312	4311	0.00	1.85	0.00	0.000	1030	0.000	0.025	3157	2571	2163	2221	2105	0	0	0	0	0	0	28.83	25.86	28.83
4623	1.40	170.3	3157	2567	2219	2104	313.8	18.7	333	4626	0.00	1.95	0.00	0.000	260	0.000	0.044	3157	3795	2160	2218	2103	0	0	0	0	0	0	28.83	25.82	28.83
4702	1.40	170.3	3158	3796	2217	2109	298.1	21.4	338	4706	0.00	1.88	0.00	0.000	1030	0.000	0.025	3166	2566	2160	2217	2103	0	0	0	0	0	0	28.83	25.88	28.83
5013	1.40	170.3	3167	2563	2217	2101	238.2	18.8	359	5016	0.00	1.92	0.00	0.000	260	0.000	0.043	3166	3787	2158	2215	2101	0	0	0	0	0	0	28.83	25.83	28.83
5073	1.40	170.3	3167	3787	2216	2101	226.1	20.1	363	5076	0.00	1.85	0.00	0.000	1030	0.000	0.026	3176	2575	2158	2215	2101	0	0	0	0	0	0	28.83	25.88	28.83
5387	1.40	170.3	3176	2558	2213	2099	164.9	19.6	384	5391	0.00	1.92	0.00	0.000	260	0.000	0.042	3176	3791	2155	2212	2099	0	0	0	0	0	0	28.83	25.82	28.83
5502	1.40	170.3	3176	3791	2212	2099	143.0	21.1	391	5510	0.10	1.85	0.00	0.000	5126	0.161	0.024	3157	2574	2155	2211	2099	0	0	0	0	0	0	25.39	25.88	28.83
5813	1.40	170.3	3157	2556	2211	2098	92.1	14.1	414	5814	0.00	0.00	0.00	0.000	6	0.000	0.000	3157	2556	2154	2210	2098	0	0	0	0	0	0	28.83	28.83	28.83
5933	1.47	205.2	3158	2557	2212	2098	77.4	11.5	426	5958	0.00	1.90	22.00	0.508	8452	0.000	0.041	3157	3791	2040	2099	1982	0	0	0	0	0	0	28.83	25.79	25.22
6012	1.47	205.2	3157	3791	2090	1982	67.7	13.8	433	6020	0.00	1.85	0.00	0.000	1030	0.000	0.024	3165	2567	2037	2094	1981	0	0	0	0	0	0	28.83	25.78	28.83
6138	1.59	266.0	3165	2553	2095	1979	53.1	10.1	446	6189	0.10	2.00	44.85	0.488	10500	0.096	0.042	3215	3792	1791	1851	1732	0	0	0	0	0	0	25.79	25.49	25.03
6318	1.62	278.2	3216	3793	1844	1729	30.2	12.7	478	6332	0.00	1.85	9.62	0.406	9222	0.000	0.024	3224	2567	1744	1804	1685	0	0	0	0	0	0	28.83	25.67	25.03
6392	1.62	278.2	3225	2565	1804	1682	20.5	13.9	492	6399	0.00	1.95	0.00	0.000	260	0.000	0.041	3225	3788	1744	1807	1681	0	0	0	0	0	0	28.83	25.65	28.83
6468	1.69	315.4	3225	3788	1801	1682	10.3	11.3	507	6518	0.00	1.83	39.62	0.366	9222	0.000	0.025	3234	2576	1594	1665	1524	0	0	0	0	1	0	28.83	25.73	25.02
6536	end climb: SURFACE_DEPTH_REACHED
state	6536	begin surface coast
6562	end surface coast: CONTROL_FINISHED_OK
state	6563	begin surface