Glider dive log

GulfOfMexico Jul15 * SG163 * Dive index * Mission links * Dive 43 * 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 43 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 103 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 500 R_STBD_OVSHOOT 47 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 43 MI_POWERSOURCE 0.0 R_PORT_OVSHOOT 103 VBD_MIN 550

D_ABORT 1090 MI_RESTARTMONITOR 0.0 R_STBD_OVSHOOT 47 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 250715,072942,2800.471,-8727.726,24,0.9,34,-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 2.73 MHEAD_RNG_PITCHd_Wd 326.2,9814,-21.2,-13.333,-25.64,1918

_SM_ANGLEo -61.0 D_GRID 600

GPS2 250715,073910,2800.423,-8727.585,5,0.9,15,-2.0

Post-dive calculations and measurements:

FINISH 2.0,1.009325 MI_HOME 2.9/436550/423961

SM_CCo 6566,85.97,0.052,0,0,840,500.16 _24V_AH 24.18,10.584

SM_GC 2.89,8.12,2.17,85.97,0.024,0.025,0.052,120,2405,840,-7.96,1.53,500.16,0,0,0,0,0,0,25.70,25.70,25.62 _10V_AH 10.23,9.465

IRIDIUM_FIX 2722.64,-8719.43,200508,210044 FG_AHR_24Vo 0.000

TT8_MAMPS 0.095872,0.095872 FG_AHR_10Vo 0.000

HUMID 40.54 MEM 295988

INTERNAL_PRESSURE 9.29943 DATA_FILE_SIZE 16767,522

TCM_TEMP 24.50 CAP_FILE_SIZE 86920,0

MI_MIVER 0.4 CFSIZE 260034560,254763008

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

MI_BOOTCOUNT 146 INTR 0,7293.45,0x236bc6,7,5

MI_LOG 3.5/516052/497885 GPS 250715,093044,2801.115,-8727.961,4,0.9,14,-2.0

MI_ROOT 70.6/190403/55925

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 222 106.18 SBE_CT 347 23 195.28

Roll_motor 65 48 77.60 nil 0 0 0.00

VBD_pump_during_apogee 381 844 7790.28 nil 0 0 0.00

VBD_pump_during_surface 85 52 108.14 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 60 53.50 nil 0 0 0.00

Iridium_during_connect 35 160 138.78 MIB 7273 41 7337.76

Iridium_during_xfer 197 223 1067.53 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 7273 35 6274.28

GPS 16 30 5.33

TT8 0 0 0.00

LPSleep 4707 0 18.78

TT8_Active 573 12 75.98

TT8_Sampling 1719 38 675.96

TT8_CF8 85 45 39.63

TT8_Kalman 0 0 0.00

Analog_circuits 1144 17 199.10

GPS_charging 0 0 0.00

Compass 1025 16 172.84

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 -170.3 127 2350 942 725 0.0 0.0 0 87 0.00 0.00 -70.20 0.000 16386 0.000 0.000 127 2351 2871 2826 2916 0 0 0 0 0 0 28.83 28.83 28.83

89 -1.40 -170.3 127 2352 2826 2918 5.9 -8.3 11 115 8.48 2.00 -12.82 0.000 18948 0.223 0.048 2245 1043 3577 3520 3635 0 0 0 0 0 0 25.23 25.63 25.73

149 -1.40 -170.3 2246 1044 3521 3638 29.1 -37.6 22 156 0.00 2.10 0.00 0.000 1030 0.000 0.028 2238 2393 3579 3520 3638 0 0 0 0 0 0 28.83 25.67 28.83

215 -1.40 -170.3 2238 2394 3522 3639 55.2 -38.0 34 219 0.00 2.20 0.00 0.000 260 0.000 0.037 2227 3802 3579 3521 3638 0 0 0 0 0 0 28.83 25.52 28.83

440 -1.40 -170.3 2227 3807 3524 3642 118.9 -24.6 54 444 0.00 2.08 0.00 0.000 1030 0.000 0.022 2227 2440 3582 3523 3642 0 0 0 0 0 0 28.83 25.81 28.83

755 -1.40 -170.3 2227 2424 3529 3644 186.6 -21.8 75 759 0.00 2.17 0.00 0.000 516 0.000 0.031 2227 991 3585 3527 3644 0 0 0 0 0 0 28.83 25.86 28.83

775 -1.40 -170.3 2229 992 3528 3644 189.9 -21.5 76 779 0.10 2.15 0.00 0.000 3078 0.162 0.028 2245 2397 3585 3527 3644 0 0 0 0 0 0 25.51 25.87 28.83

1086 -1.40 -170.3 2246 2398 3529 3644 254.8 -19.6 97 1089 0.00 2.12 0.00 0.000 260 0.000 0.041 2236 3807 3586 3528 3644 0 0 0 0 0 0 28.83 25.87 28.83

1210 -1.40 -170.3 2237 3807 3529 3644 280.5 -21.3 105 1214 0.00 2.12 0.00 0.000 1030 0.000 0.023 2237 2398 3586 3528 3644 0 0 0 0 0 0 28.83 25.95 28.83

1520 -1.40 -170.3 2237 2394 3528 3644 345.6 -20.6 126 1524 0.00 2.20 0.00 0.000 260 0.000 0.040 2227 3791 3585 3528 3643 0 0 0 0 0 0 28.83 25.91 28.83

1630 -1.40 -170.3 2227 3791 3528 3644 367.9 -21.3 133 1634 0.00 2.10 0.00 0.000 1030 0.000 0.023 2226 2402 3585 3527 3643 0 0 0 0 0 0 28.83 25.96 28.83

1940 -1.40 -170.3 2227 2399 3527 3642 431.8 -20.2 154 1944 0.00 2.20 0.00 0.000 260 0.000 0.041 2216 3791 3583 3526 3641 0 0 0 0 0 0 28.83 25.89 28.83

1980 -1.40 -170.3 2217 3792 3526 3641 438.1 -20.3 156 1988 0.10 2.10 0.00 0.000 3078 0.157 0.023 2244 2387 3583 3525 3641 0 0 0 0 0 0 25.51 25.94 28.83

2286 -1.40 -170.3 2246 2381 3525 3638 499.8 -19.2 177 2289 0.00 2.20 0.00 0.000 260 0.000 0.041 2236 3799 3580 3524 3637 0 0 0 0 0 0 28.83 25.86 28.83

2365 -1.40 -170.3 2237 3800 3523 3637 515.3 -20.8 182 2369 0.00 2.10 0.00 0.000 1030 0.000 0.024 2236 2422 3579 3522 3637 0 0 0 0 0 0 28.83 25.94 28.83

2675 -1.40 -170.3 2237 2422 3522 3633 577.4 -19.4 203 2676 0.00 0.00 0.00 0.000 6 0.000 0.000 2236 2422 3576 3520 3633 0 0 0 0 0 0 28.83 28.83 28.83

2794 end dive: TARGET_DEPTH_EXCEEDED

state 2794 begin apogee

2797 -0.25 0.0 2236 2588 3519 3632 601.0 -19.6 211 2933 1.27 0.00 131.30 0.845 10246 0.138 0.000 2616 2587 2880 2890 2870 0 0 0 0 0 0 25.53 28.83 24.25

2934 end apogee: CONTROL_FINISHED_OK

state 2934 begin climb

2935 1.40 170.3 2617 2588 2892 2870 606.3 0.0 220 3075 1.52 0.00 135.77 0.822 10502 0.071 0.000 3139 2588 2184 2238 2130 0 0 0 0 0 0 24.93 28.83 24.18

3365 1.40 170.3 3139 2588 2229 2116 543.2 17.3 249 3366 0.00 0.00 0.00 0.000 6 0.000 0.000 3139 2588 2172 2228 2116 0 0 0 0 0 0 28.83 28.83 28.83

3665 1.40 170.3 3139 2588 2224 2113 490.1 17.9 269 3669 0.00 1.88 0.00 0.000 260 0.000 0.044 3139 3786 2168 2223 2113 0 0 0 0 0 0 28.83 25.75 28.83

3695 1.40 170.3 3139 3787 2224 2113 484.5 18.3 271 3699 0.00 1.85 0.00 0.000 1030 0.000 0.026 3148 2576 2167 2223 2112 0 0 0 0 0 0 28.83 25.79 28.83

4010 1.40 170.3 3149 2576 2219 2111 427.5 17.7 292 4014 0.00 2.17 0.00 0.000 516 0.000 0.039 3158 1180 2164 2218 2110 0 0 0 0 0 0 28.83 25.75 28.83

4050 1.40 170.3 3158 1180 2218 2110 422.1 17.9 294 4057 0.00 2.17 0.00 0.000 1030 0.000 0.033 3157 2565 2163 2217 2109 0 0 0 0 0 0 28.83 25.81 28.83

4355 1.40 170.3 3158 2566 2216 2108 365.8 17.6 315 4359 0.00 1.92 0.00 0.000 260 0.000 0.044 3158 3806 2161 2215 2107 0 0 0 0 0 0 28.83 25.80 28.83

4445 1.40 170.3 3158 3806 2215 2109 348.6 19.5 321 4449 0.00 1.88 0.00 0.000 1030 0.000 0.026 3167 2578 2161 2214 2108 0 0 0 0 0 0 28.83 25.86 28.83

4760 1.40 170.3 3167 2576 2211 2106 290.9 18.5 342 4764 0.00 1.95 0.00 0.000 260 0.000 0.043 3167 3798 2158 2210 2106 0 0 0 0 0 0 28.83 25.82 28.83

4860 1.40 170.3 3167 3798 2210 2107 272.2 20.9 348 4867 0.00 1.88 0.00 0.000 1030 0.000 0.026 3176 2569 2157 2209 2106 0 0 0 0 0 0 28.83 25.89 28.83

5165 1.40 170.3 3177 2566 2209 2105 210.9 19.8 369 5169 0.00 2.15 0.00 0.000 516 0.000 0.039 3186 1179 2156 2208 2104 0 0 0 0 0 0 28.83 25.79 28.83

5180 1.40 170.3 3187 1179 2208 2104 208.1 19.6 370 5184 0.10 2.20 0.00 0.000 5126 0.143 0.032 3157 2582 2155 2208 2103 0 0 0 0 0 0 25.46 25.85 28.83

5496 1.40 170.3 3157 2582 2208 2102 151.9 17.9 391 5499 0.00 1.88 0.00 0.000 260 0.000 0.043 3157 3796 2154 2207 2102 0 0 0 0 0 0 28.83 25.80 28.83

5900 1.40 170.3 3157 3797 2206 2101 78.7 14.2 422 5907 0.00 1.85 0.00 0.000 1030 0.000 0.024 3161 2549 2153 2205 2101 0 0 0 0 0 0 28.83 25.85 28.83

6025 1.49 216.2 3165 2548 2205 2100 65.0 10.9 435 6059 0.00 1.95 29.65 0.498 8452 0.000 0.041 3164 3806 1994 2049 1940 0 0 0 0 0 0 28.83 25.71 25.19

6093 1.57 255.2 3165 3807 2047 1939 58.0 11.2 441 6131 0.03 1.83 29.45 0.480 11270 0.130 0.024 3203 2565 1835 1893 1777 0 0 0 0 0 0 25.51 25.77 25.03

6248 1.66 300.1 3212 2566 1883 1775 40.5 10.9 465 6287 0.00 1.92 33.75 0.458 8452 0.000 0.042 3203 3793 1653 1716 1591 0 0 0 0 0 0 28.83 25.44 24.93

6391 1.66 300.1 3204 3794 1714 1588 20.8 14.6 492 6398 0.00 1.83 0.00 0.000 1030 0.000 0.024 3212 2594 1648 1710 1587 0 0 0 0 0 0 28.83 25.63 28.83

6457 1.69 313.6 3213 2576 1711 1585 12.1 12.6 505 6489 0.00 1.95 21.55 0.243 8452 0.000 0.041 3212 3798 1599 1665 1534 0 0 0 0 1 0 28.83 25.63 25.02

6527 end climb: SURFACE_DEPTH_REACHED

state 6527 begin surface coast

6548 end surface coast: CONTROL_FINISHED_OK

state 6548 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	43	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	103	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	500	R_STBD_OVSHOOT	47	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	250715,072942,2800.471,-8727.726,24,0.9,34,-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	2.73	MHEAD_RNG_PITCHd_Wd	326.2,9814,-21.2,-13.333,-25.64,1918
_SM_ANGLEo	-61.0	D_GRID	600
GPS2	250715,073910,2800.423,-8727.585,5,0.9,15,-2.0

FINISH	2.0,1.009325	MI_HOME	2.9/436550/423961
SM_CCo	6566,85.97,0.052,0,0,840,500.16	_24V_AH	24.18,10.584
SM_GC	2.89,8.12,2.17,85.97,0.024,0.025,0.052,120,2405,840,-7.96,1.53,500.16,0,0,0,0,0,0,25.70,25.70,25.62	_10V_AH	10.23,9.465
IRIDIUM_FIX	2722.64,-8719.43,200508,210044	FG_AHR_24Vo	0.000
TT8_MAMPS	0.095872,0.095872	FG_AHR_10Vo	0.000
HUMID	40.54	MEM	295988
INTERNAL_PRESSURE	9.29943	DATA_FILE_SIZE	16767,522
TCM_TEMP	24.50	CAP_FILE_SIZE	86920,0
MI_MIVER	0.4	CFSIZE	260034560,254763008
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
MI_BOOTCOUNT	146	INTR	0,7293.45,0x236bc6,7,5
MI_LOG	3.5/516052/497885	GPS	250715,093044,2801.115,-8727.961,4,0.9,14,-2.0
MI_ROOT	70.6/190403/55925

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	222	106.18	SBE_CT	347	23	195.28
Roll_motor	65	48	77.60	nil	0	0	0.00
VBD_pump_during_apogee	381	844	7790.28	nil	0	0	0.00
VBD_pump_during_surface	85	52	108.14	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	60	53.50	nil	0	0	0.00
Iridium_during_connect	35	160	138.78	MIB	7273	41	7337.76
Iridium_during_xfer	197	223	1067.53	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	7273	35	6274.28
GPS	16	30	5.33
TT8	0	0	0.00
LPSleep	4707	0	18.78
TT8_Active	573	12	75.98
TT8_Sampling	1719	38	675.96
TT8_CF8	85	45	39.63
TT8_Kalman	0	0	0.00
Analog_circuits	1144	17	199.10
GPS_charging	0	0	0.00
Compass	1025	16	172.84
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	127	2350	942	725	0.0	0.0	0	87	0.00	0.00	-70.20	0.000	16386	0.000	0.000	127	2351	2871	2826	2916	0	0	0	0	0	0	28.83	28.83	28.83
89	-1.40	-170.3	127	2352	2826	2918	5.9	-8.3	11	115	8.48	2.00	-12.82	0.000	18948	0.223	0.048	2245	1043	3577	3520	3635	0	0	0	0	0	0	25.23	25.63	25.73
149	-1.40	-170.3	2246	1044	3521	3638	29.1	-37.6	22	156	0.00	2.10	0.00	0.000	1030	0.000	0.028	2238	2393	3579	3520	3638	0	0	0	0	0	0	28.83	25.67	28.83
215	-1.40	-170.3	2238	2394	3522	3639	55.2	-38.0	34	219	0.00	2.20	0.00	0.000	260	0.000	0.037	2227	3802	3579	3521	3638	0	0	0	0	0	0	28.83	25.52	28.83
440	-1.40	-170.3	2227	3807	3524	3642	118.9	-24.6	54	444	0.00	2.08	0.00	0.000	1030	0.000	0.022	2227	2440	3582	3523	3642	0	0	0	0	0	0	28.83	25.81	28.83
755	-1.40	-170.3	2227	2424	3529	3644	186.6	-21.8	75	759	0.00	2.17	0.00	0.000	516	0.000	0.031	2227	991	3585	3527	3644	0	0	0	0	0	0	28.83	25.86	28.83
775	-1.40	-170.3	2229	992	3528	3644	189.9	-21.5	76	779	0.10	2.15	0.00	0.000	3078	0.162	0.028	2245	2397	3585	3527	3644	0	0	0	0	0	0	25.51	25.87	28.83
1086	-1.40	-170.3	2246	2398	3529	3644	254.8	-19.6	97	1089	0.00	2.12	0.00	0.000	260	0.000	0.041	2236	3807	3586	3528	3644	0	0	0	0	0	0	28.83	25.87	28.83
1210	-1.40	-170.3	2237	3807	3529	3644	280.5	-21.3	105	1214	0.00	2.12	0.00	0.000	1030	0.000	0.023	2237	2398	3586	3528	3644	0	0	0	0	0	0	28.83	25.95	28.83
1520	-1.40	-170.3	2237	2394	3528	3644	345.6	-20.6	126	1524	0.00	2.20	0.00	0.000	260	0.000	0.040	2227	3791	3585	3528	3643	0	0	0	0	0	0	28.83	25.91	28.83
1630	-1.40	-170.3	2227	3791	3528	3644	367.9	-21.3	133	1634	0.00	2.10	0.00	0.000	1030	0.000	0.023	2226	2402	3585	3527	3643	0	0	0	0	0	0	28.83	25.96	28.83
1940	-1.40	-170.3	2227	2399	3527	3642	431.8	-20.2	154	1944	0.00	2.20	0.00	0.000	260	0.000	0.041	2216	3791	3583	3526	3641	0	0	0	0	0	0	28.83	25.89	28.83
1980	-1.40	-170.3	2217	3792	3526	3641	438.1	-20.3	156	1988	0.10	2.10	0.00	0.000	3078	0.157	0.023	2244	2387	3583	3525	3641	0	0	0	0	0	0	25.51	25.94	28.83
2286	-1.40	-170.3	2246	2381	3525	3638	499.8	-19.2	177	2289	0.00	2.20	0.00	0.000	260	0.000	0.041	2236	3799	3580	3524	3637	0	0	0	0	0	0	28.83	25.86	28.83
2365	-1.40	-170.3	2237	3800	3523	3637	515.3	-20.8	182	2369	0.00	2.10	0.00	0.000	1030	0.000	0.024	2236	2422	3579	3522	3637	0	0	0	0	0	0	28.83	25.94	28.83
2675	-1.40	-170.3	2237	2422	3522	3633	577.4	-19.4	203	2676	0.00	0.00	0.00	0.000	6	0.000	0.000	2236	2422	3576	3520	3633	0	0	0	0	0	0	28.83	28.83	28.83
2794	end dive: TARGET_DEPTH_EXCEEDED
state	2794	begin apogee
2797	-0.25	0.0	2236	2588	3519	3632	601.0	-19.6	211	2933	1.27	0.00	131.30	0.845	10246	0.138	0.000	2616	2587	2880	2890	2870	0	0	0	0	0	0	25.53	28.83	24.25
2934	end apogee: CONTROL_FINISHED_OK
state	2934	begin climb
2935	1.40	170.3	2617	2588	2892	2870	606.3	0.0	220	3075	1.52	0.00	135.77	0.822	10502	0.071	0.000	3139	2588	2184	2238	2130	0	0	0	0	0	0	24.93	28.83	24.18
3365	1.40	170.3	3139	2588	2229	2116	543.2	17.3	249	3366	0.00	0.00	0.00	0.000	6	0.000	0.000	3139	2588	2172	2228	2116	0	0	0	0	0	0	28.83	28.83	28.83
3665	1.40	170.3	3139	2588	2224	2113	490.1	17.9	269	3669	0.00	1.88	0.00	0.000	260	0.000	0.044	3139	3786	2168	2223	2113	0	0	0	0	0	0	28.83	25.75	28.83
3695	1.40	170.3	3139	3787	2224	2113	484.5	18.3	271	3699	0.00	1.85	0.00	0.000	1030	0.000	0.026	3148	2576	2167	2223	2112	0	0	0	0	0	0	28.83	25.79	28.83
4010	1.40	170.3	3149	2576	2219	2111	427.5	17.7	292	4014	0.00	2.17	0.00	0.000	516	0.000	0.039	3158	1180	2164	2218	2110	0	0	0	0	0	0	28.83	25.75	28.83
4050	1.40	170.3	3158	1180	2218	2110	422.1	17.9	294	4057	0.00	2.17	0.00	0.000	1030	0.000	0.033	3157	2565	2163	2217	2109	0	0	0	0	0	0	28.83	25.81	28.83
4355	1.40	170.3	3158	2566	2216	2108	365.8	17.6	315	4359	0.00	1.92	0.00	0.000	260	0.000	0.044	3158	3806	2161	2215	2107	0	0	0	0	0	0	28.83	25.80	28.83
4445	1.40	170.3	3158	3806	2215	2109	348.6	19.5	321	4449	0.00	1.88	0.00	0.000	1030	0.000	0.026	3167	2578	2161	2214	2108	0	0	0	0	0	0	28.83	25.86	28.83
4760	1.40	170.3	3167	2576	2211	2106	290.9	18.5	342	4764	0.00	1.95	0.00	0.000	260	0.000	0.043	3167	3798	2158	2210	2106	0	0	0	0	0	0	28.83	25.82	28.83
4860	1.40	170.3	3167	3798	2210	2107	272.2	20.9	348	4867	0.00	1.88	0.00	0.000	1030	0.000	0.026	3176	2569	2157	2209	2106	0	0	0	0	0	0	28.83	25.89	28.83
5165	1.40	170.3	3177	2566	2209	2105	210.9	19.8	369	5169	0.00	2.15	0.00	0.000	516	0.000	0.039	3186	1179	2156	2208	2104	0	0	0	0	0	0	28.83	25.79	28.83
5180	1.40	170.3	3187	1179	2208	2104	208.1	19.6	370	5184	0.10	2.20	0.00	0.000	5126	0.143	0.032	3157	2582	2155	2208	2103	0	0	0	0	0	0	25.46	25.85	28.83
5496	1.40	170.3	3157	2582	2208	2102	151.9	17.9	391	5499	0.00	1.88	0.00	0.000	260	0.000	0.043	3157	3796	2154	2207	2102	0	0	0	0	0	0	28.83	25.80	28.83
5900	1.40	170.3	3157	3797	2206	2101	78.7	14.2	422	5907	0.00	1.85	0.00	0.000	1030	0.000	0.024	3161	2549	2153	2205	2101	0	0	0	0	0	0	28.83	25.85	28.83
6025	1.49	216.2	3165	2548	2205	2100	65.0	10.9	435	6059	0.00	1.95	29.65	0.498	8452	0.000	0.041	3164	3806	1994	2049	1940	0	0	0	0	0	0	28.83	25.71	25.19
6093	1.57	255.2	3165	3807	2047	1939	58.0	11.2	441	6131	0.03	1.83	29.45	0.480	11270	0.130	0.024	3203	2565	1835	1893	1777	0	0	0	0	0	0	25.51	25.77	25.03
6248	1.66	300.1	3212	2566	1883	1775	40.5	10.9	465	6287	0.00	1.92	33.75	0.458	8452	0.000	0.042	3203	3793	1653	1716	1591	0	0	0	0	0	0	28.83	25.44	24.93
6391	1.66	300.1	3204	3794	1714	1588	20.8	14.6	492	6398	0.00	1.83	0.00	0.000	1030	0.000	0.024	3212	2594	1648	1710	1587	0	0	0	0	0	0	28.83	25.63	28.83
6457	1.69	313.6	3213	2576	1711	1585	12.1	12.6	505	6489	0.00	1.95	21.55	0.243	8452	0.000	0.041	3212	3798	1599	1665	1534	0	0	0	0	1	0	28.83	25.63	25.02
6527	end climb: SURFACE_DEPTH_REACHED
state	6527	begin surface coast
6548	end surface coast: CONTROL_FINISHED_OK
state	6548	begin surface