Glider dive log

GulfOfMexico Jul15 * SG163 * Dive index * Mission links * Dive 44 * 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 44 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 50 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 500 R_STBD_OVSHOOT 44 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 44 MI_POWERSOURCE 0.0 R_PORT_OVSHOOT 50 VBD_MIN 550

D_ABORT 1090 MI_RESTARTMONITOR 0.0 R_STBD_OVSHOOT 44 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 250715,093044,2801.115,-8727.961,4,0.9,14,-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 2.79 MHEAD_RNG_PITCHd_Wd 324.1,8552,-21.2,-13.333,-25.64,1918

_SM_ANGLEo -59.4 D_GRID 600

GPS2 250715,093723,2801.075,-8727.887,6,0.9,16,-2.0

Post-dive calculations and measurements:

FINISH 2.1,1.022011 MI_HOME 2.9/436550/423901

SM_CCo 6547,76.22,0.052,0,0,840,500.16 _24V_AH 24.15,10.742

SM_GC 2.80,8.18,2.10,76.22,0.025,0.022,0.052,132,2389,840,-7.92,2.46,500.16,0,0,0,0,0,0,25.65,25.65,25.58 _10V_AH 10.24,9.580

IRIDIUM_FIX 2722.64,-8719.43,200508,230041 FG_AHR_24Vo 0.000

TT8_MAMPS 0.096621,0.096621 FG_AHR_10Vo 0.000

HUMID 40.86 MEM 296028

INTERNAL_PRESSURE 9.28966 DATA_FILE_SIZE 16759,519

TCM_TEMP 24.30 CAP_FILE_SIZE 77442,0

MI_MIVER 0.4 CFSIZE 260034560,254726144

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

MI_BOOTCOUNT 146 INTR 0,7092.20,0x236bc6,7,5

MI_LOG 3.5/516052/497884 GPS 250715,112900,2801.887,-8728.254,37,1.1,47,-2.0

MI_ROOT 70.6/190403/55925

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 222 106.31 SBE_CT 345 23 193.83

Roll_motor 52 46 59.22 nil 0 0 0.00

VBD_pump_during_apogee 383 848 7848.12 nil 0 0 0.00

VBD_pump_during_surface 76 52 95.76 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 60 46.70 nil 0 0 0.00

Iridium_during_connect 35 160 137.46 MIB 7067 41 7122.93

Iridium_during_xfer 98 223 532.41 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 7067 35 6100.27

GPS 17 30 5.41

TT8 0 0 0.00

LPSleep 4767 0 19.04

TT8_Active 548 12 72.79

TT8_Sampling 1497 38 589.46

TT8_CF8 71 45 32.96

TT8_Kalman 0 0 0.00

Analog_circuits 1099 17 191.33

GPS_charging 0 0 0.00

Compass 972 16 164.19

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 -170.3 119 2384 942 725 0.0 0.0 0 87 0.00 0.00 -70.35 0.000 16386 0.000 0.000 117 2384 2861 2817 2906 0 0 0 0 0 0 28.83 28.83 28.83

89 -1.40 -170.3 118 2384 2818 2908 5.7 -8.1 11 115 8.48 2.15 -13.38 0.000 18948 0.223 0.046 2242 975 3578 3520 3636 0 0 0 0 0 0 25.25 25.64 25.77

154 -1.40 -170.3 2243 975 3522 3639 31.1 -40.4 23 161 0.00 2.20 0.00 0.000 1030 0.000 0.028 2234 2404 3580 3521 3639 0 0 0 0 0 0 28.83 25.67 28.83

225 -1.40 -170.3 2235 2405 3521 3640 58.2 -37.2 35 229 0.00 2.15 0.00 0.000 260 0.000 0.037 2224 3792 3580 3521 3640 0 0 0 0 0 0 28.83 25.70 28.83

415 -1.40 -170.3 2225 3793 3524 3644 110.6 -24.9 52 423 0.00 2.15 0.00 0.000 1030 0.000 0.021 2224 2377 3583 3523 3643 0 0 0 0 0 0 28.83 25.61 28.83

720 -1.40 -170.3 2224 2364 3529 3647 179.5 -22.3 73 724 0.00 2.22 0.00 0.000 260 0.000 0.039 2214 3787 3587 3528 3646 0 0 0 0 0 0 28.83 25.81 28.83

856 -1.40 -170.3 2214 3787 3529 3649 211.5 -24.1 82 860 0.10 2.10 0.00 0.000 3078 0.156 0.022 2242 2379 3588 3528 3648 0 0 0 0 0 0 25.48 25.89 28.83

1171 -1.40 -170.3 2242 2379 3531 3648 276.7 -20.9 103 1172 0.00 0.00 0.00 0.000 6 0.000 0.000 2242 2378 3589 3530 3648 0 0 0 0 0 0 28.83 28.83 28.83

1470 -1.40 -170.3 2243 2379 3530 3649 338.6 -20.5 123 1474 0.00 2.22 0.00 0.000 260 0.000 0.041 2234 3795 3589 3530 3648 0 0 0 0 0 0 28.83 25.87 28.83

1580 -1.40 -170.3 2234 3796 3530 3648 361.0 -21.7 130 1584 0.00 2.08 0.00 0.000 1030 0.000 0.022 2234 2426 3588 3529 3648 0 0 0 0 0 0 28.83 25.94 28.83

1890 -1.40 -170.3 2234 2427 3530 3647 426.0 -20.4 151 1891 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2426 3587 3529 3646 0 0 0 0 0 0 28.83 28.83 28.83

2190 -1.40 -170.3 2234 2427 3529 3643 486.3 -19.8 171 2191 0.00 0.00 0.00 0.000 6 0.000 0.000 2234 2426 3585 3528 3643 0 0 0 0 0 0 28.83 28.83 28.83

2490 -1.40 -170.3 2234 2427 3526 3639 545.4 -19.1 191 2494 0.00 2.20 0.00 0.000 260 0.000 0.044 2224 3790 3582 3525 3639 0 0 0 0 0 0 28.83 25.85 28.83

2585 -1.40 -170.3 2224 3790 3524 3641 564.1 -20.8 197 2589 0.00 2.12 0.00 0.000 1030 0.000 0.024 2223 2394 3581 3523 3639 0 0 0 0 0 0 28.83 25.92 28.83

2774 end dive: TARGET_DEPTH_EXCEEDED

state 2774 begin apogee

2777 -0.25 0.0 2224 2580 3523 3638 602.4 -19.4 210 2914 1.33 0.00 132.75 0.848 10246 0.138 0.000 2617 2579 2879 2887 2872 0 0 0 0 0 0 25.50 28.83 24.23

2915 end apogee: CONTROL_FINISHED_OK

state 2915 begin climb

2916 1.40 170.3 2619 2580 2887 2871 607.4 0.0 219 3064 1.50 2.00 135.10 0.828 10500 0.071 0.045 3131 3788 2178 2235 2122 0 0 0 0 0 0 24.90 24.78 24.15

3087 1.40 170.3 3132 3788 2234 2125 591.3 14.3 230 3095 0.00 1.88 0.00 0.000 1030 0.000 0.025 3141 2598 2178 2232 2124 0 0 0 0 0 0 28.83 25.11 28.83

3393 1.40 170.3 3141 2597 2229 2119 536.0 17.1 251 3394 0.00 0.00 0.00 0.000 6 0.000 0.000 3140 2597 2172 2227 2118 0 0 0 0 0 0 28.83 28.83 28.83

3693 1.40 170.3 3141 2598 2223 2116 484.0 17.4 271 3697 0.00 1.92 0.00 0.000 260 0.000 0.044 3138 3796 2169 2223 2115 0 0 0 0 0 0 28.83 25.75 28.83

3717 1.40 170.3 3141 3796 2223 2116 481.2 17.6 272 3725 0.00 1.88 0.00 0.000 1030 0.000 0.026 3150 2577 2168 2222 2115 0 0 0 0 0 0 28.83 25.81 28.83

4023 1.40 170.3 3151 2576 2219 2114 424.3 18.1 293 4024 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2576 2165 2218 2113 0 0 0 0 0 0 28.83 28.83 28.83

4323 1.40 170.3 3151 2560 2217 2112 370.6 17.9 313 4327 0.00 1.95 0.00 0.000 260 0.000 0.045 3150 3795 2163 2216 2111 0 0 0 0 0 0 28.83 25.76 28.83

4368 1.40 170.3 3151 3795 2216 2112 362.4 18.1 316 4372 0.00 1.88 0.00 0.000 1030 0.000 0.026 3160 2572 2164 2216 2112 0 0 0 0 0 0 28.83 25.82 28.83

4683 1.40 170.3 3160 2567 2213 2109 304.7 18.5 337 4687 0.00 1.92 0.00 0.000 260 0.000 0.044 3159 3785 2160 2211 2110 0 0 0 0 0 0 28.83 25.81 28.83

4763 1.40 170.3 3160 3786 2211 2110 289.7 20.3 342 4767 0.00 1.85 0.00 0.000 1030 0.000 0.026 3169 2569 2160 2211 2109 0 0 0 0 0 0 28.83 25.86 28.83

5073 1.40 170.3 3170 2553 2210 2108 229.9 18.3 363 5077 0.00 1.95 0.00 0.000 260 0.000 0.042 3169 3792 2157 2208 2107 0 0 0 0 0 0 28.83 25.81 28.83

5138 1.40 170.3 3169 3792 2210 2108 217.9 20.1 367 5142 0.00 1.85 0.00 0.000 1030 0.000 0.026 3178 2579 2157 2208 2107 0 0 0 0 0 0 28.83 25.85 28.83

5448 1.40 170.3 3179 2564 2208 2107 161.2 17.3 388 5452 0.00 1.92 0.00 0.000 260 0.000 0.043 3178 3789 2157 2207 2107 0 0 0 0 0 0 28.83 25.81 28.83

5668 1.40 170.3 3179 3790 2207 2107 115.7 22.0 402 5676 0.10 1.85 0.00 0.000 5126 0.153 0.025 3159 2561 2156 2206 2107 0 0 0 0 0 0 25.37 25.85 28.83

5973 1.42 177.2 3160 2559 2206 2105 70.7 13.0 430 5974 0.00 0.00 0.00 0.000 6 0.000 0.000 3159 2559 2155 2206 2104 0 0 0 0 0 0 28.83 28.83 28.83

6093 1.51 225.1 3159 2559 2206 2104 57.0 10.8 442 6136 0.00 1.90 36.20 0.494 8452 0.000 0.041 3159 3790 1958 2013 1904 0 0 0 0 0 0 28.83 25.65 25.15

6206 1.64 287.4 3159 3791 2011 1901 44.0 10.0 458 6262 0.10 1.83 46.53 0.471 11270 0.054 0.024 3226 2555 1704 1762 1646 0 0 0 0 0 0 25.69 25.72 24.92

6321 1.67 302.6 3227 2555 1759 1642 30.8 12.5 479 6335 0.00 0.00 12.32 0.417 8710 0.000 0.000 3226 2554 1644 1706 1582 0 0 0 0 0 0 28.83 28.83 24.96

6394 1.72 327.7 3228 2555 1703 1578 21.3 12.0 493 6419 0.00 0.00 20.15 0.433 8454 0.000 0.000 3226 2555 1540 1606 1475 0 0 0 0 0 0 28.83 28.83 24.95

6478 1.72 327.7 3226 2555 1604 1472 8.8 16.1 509 6485 0.00 1.98 0.00 0.000 260 0.000 0.042 3226 3789 1536 1601 1471 0 0 0 0 0 0 28.83 25.55 28.83

6513 end climb: SURFACE_DEPTH_REACHED

state 6513 begin surface coast

6528 end surface coast: CONTROL_FINISHED_OK

state 6529 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	44	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	50	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	500	R_STBD_OVSHOOT	44	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	250715,093044,2801.115,-8727.961,4,0.9,14,-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	2.79	MHEAD_RNG_PITCHd_Wd	324.1,8552,-21.2,-13.333,-25.64,1918
_SM_ANGLEo	-59.4	D_GRID	600
GPS2	250715,093723,2801.075,-8727.887,6,0.9,16,-2.0

FINISH	2.1,1.022011	MI_HOME	2.9/436550/423901
SM_CCo	6547,76.22,0.052,0,0,840,500.16	_24V_AH	24.15,10.742
SM_GC	2.80,8.18,2.10,76.22,0.025,0.022,0.052,132,2389,840,-7.92,2.46,500.16,0,0,0,0,0,0,25.65,25.65,25.58	_10V_AH	10.24,9.580
IRIDIUM_FIX	2722.64,-8719.43,200508,230041	FG_AHR_24Vo	0.000
TT8_MAMPS	0.096621,0.096621	FG_AHR_10Vo	0.000
HUMID	40.86	MEM	296028
INTERNAL_PRESSURE	9.28966	DATA_FILE_SIZE	16759,519
TCM_TEMP	24.30	CAP_FILE_SIZE	77442,0
MI_MIVER	0.4	CFSIZE	260034560,254726144
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
MI_BOOTCOUNT	146	INTR	0,7092.20,0x236bc6,7,5
MI_LOG	3.5/516052/497884	GPS	250715,112900,2801.887,-8728.254,37,1.1,47,-2.0
MI_ROOT	70.6/190403/55925

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	222	106.31	SBE_CT	345	23	193.83
Roll_motor	52	46	59.22	nil	0	0	0.00
VBD_pump_during_apogee	383	848	7848.12	nil	0	0	0.00
VBD_pump_during_surface	76	52	95.76	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	60	46.70	nil	0	0	0.00
Iridium_during_connect	35	160	137.46	MIB	7067	41	7122.93
Iridium_during_xfer	98	223	532.41	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	7067	35	6100.27
GPS	17	30	5.41
TT8	0	0	0.00
LPSleep	4767	0	19.04
TT8_Active	548	12	72.79
TT8_Sampling	1497	38	589.46
TT8_CF8	71	45	32.96
TT8_Kalman	0	0	0.00
Analog_circuits	1099	17	191.33
GPS_charging	0	0	0.00
Compass	972	16	164.19
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	119	2384	942	725	0.0	0.0	0	87	0.00	0.00	-70.35	0.000	16386	0.000	0.000	117	2384	2861	2817	2906	0	0	0	0	0	0	28.83	28.83	28.83
89	-1.40	-170.3	118	2384	2818	2908	5.7	-8.1	11	115	8.48	2.15	-13.38	0.000	18948	0.223	0.046	2242	975	3578	3520	3636	0	0	0	0	0	0	25.25	25.64	25.77
154	-1.40	-170.3	2243	975	3522	3639	31.1	-40.4	23	161	0.00	2.20	0.00	0.000	1030	0.000	0.028	2234	2404	3580	3521	3639	0	0	0	0	0	0	28.83	25.67	28.83
225	-1.40	-170.3	2235	2405	3521	3640	58.2	-37.2	35	229	0.00	2.15	0.00	0.000	260	0.000	0.037	2224	3792	3580	3521	3640	0	0	0	0	0	0	28.83	25.70	28.83
415	-1.40	-170.3	2225	3793	3524	3644	110.6	-24.9	52	423	0.00	2.15	0.00	0.000	1030	0.000	0.021	2224	2377	3583	3523	3643	0	0	0	0	0	0	28.83	25.61	28.83
720	-1.40	-170.3	2224	2364	3529	3647	179.5	-22.3	73	724	0.00	2.22	0.00	0.000	260	0.000	0.039	2214	3787	3587	3528	3646	0	0	0	0	0	0	28.83	25.81	28.83
856	-1.40	-170.3	2214	3787	3529	3649	211.5	-24.1	82	860	0.10	2.10	0.00	0.000	3078	0.156	0.022	2242	2379	3588	3528	3648	0	0	0	0	0	0	25.48	25.89	28.83
1171	-1.40	-170.3	2242	2379	3531	3648	276.7	-20.9	103	1172	0.00	0.00	0.00	0.000	6	0.000	0.000	2242	2378	3589	3530	3648	0	0	0	0	0	0	28.83	28.83	28.83
1470	-1.40	-170.3	2243	2379	3530	3649	338.6	-20.5	123	1474	0.00	2.22	0.00	0.000	260	0.000	0.041	2234	3795	3589	3530	3648	0	0	0	0	0	0	28.83	25.87	28.83
1580	-1.40	-170.3	2234	3796	3530	3648	361.0	-21.7	130	1584	0.00	2.08	0.00	0.000	1030	0.000	0.022	2234	2426	3588	3529	3648	0	0	0	0	0	0	28.83	25.94	28.83
1890	-1.40	-170.3	2234	2427	3530	3647	426.0	-20.4	151	1891	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2426	3587	3529	3646	0	0	0	0	0	0	28.83	28.83	28.83
2190	-1.40	-170.3	2234	2427	3529	3643	486.3	-19.8	171	2191	0.00	0.00	0.00	0.000	6	0.000	0.000	2234	2426	3585	3528	3643	0	0	0	0	0	0	28.83	28.83	28.83
2490	-1.40	-170.3	2234	2427	3526	3639	545.4	-19.1	191	2494	0.00	2.20	0.00	0.000	260	0.000	0.044	2224	3790	3582	3525	3639	0	0	0	0	0	0	28.83	25.85	28.83
2585	-1.40	-170.3	2224	3790	3524	3641	564.1	-20.8	197	2589	0.00	2.12	0.00	0.000	1030	0.000	0.024	2223	2394	3581	3523	3639	0	0	0	0	0	0	28.83	25.92	28.83
2774	end dive: TARGET_DEPTH_EXCEEDED
state	2774	begin apogee
2777	-0.25	0.0	2224	2580	3523	3638	602.4	-19.4	210	2914	1.33	0.00	132.75	0.848	10246	0.138	0.000	2617	2579	2879	2887	2872	0	0	0	0	0	0	25.50	28.83	24.23
2915	end apogee: CONTROL_FINISHED_OK
state	2915	begin climb
2916	1.40	170.3	2619	2580	2887	2871	607.4	0.0	219	3064	1.50	2.00	135.10	0.828	10500	0.071	0.045	3131	3788	2178	2235	2122	0	0	0	0	0	0	24.90	24.78	24.15
3087	1.40	170.3	3132	3788	2234	2125	591.3	14.3	230	3095	0.00	1.88	0.00	0.000	1030	0.000	0.025	3141	2598	2178	2232	2124	0	0	0	0	0	0	28.83	25.11	28.83
3393	1.40	170.3	3141	2597	2229	2119	536.0	17.1	251	3394	0.00	0.00	0.00	0.000	6	0.000	0.000	3140	2597	2172	2227	2118	0	0	0	0	0	0	28.83	28.83	28.83
3693	1.40	170.3	3141	2598	2223	2116	484.0	17.4	271	3697	0.00	1.92	0.00	0.000	260	0.000	0.044	3138	3796	2169	2223	2115	0	0	0	0	0	0	28.83	25.75	28.83
3717	1.40	170.3	3141	3796	2223	2116	481.2	17.6	272	3725	0.00	1.88	0.00	0.000	1030	0.000	0.026	3150	2577	2168	2222	2115	0	0	0	0	0	0	28.83	25.81	28.83
4023	1.40	170.3	3151	2576	2219	2114	424.3	18.1	293	4024	0.00	0.00	0.00	0.000	6	0.000	0.000	3150	2576	2165	2218	2113	0	0	0	0	0	0	28.83	28.83	28.83
4323	1.40	170.3	3151	2560	2217	2112	370.6	17.9	313	4327	0.00	1.95	0.00	0.000	260	0.000	0.045	3150	3795	2163	2216	2111	0	0	0	0	0	0	28.83	25.76	28.83
4368	1.40	170.3	3151	3795	2216	2112	362.4	18.1	316	4372	0.00	1.88	0.00	0.000	1030	0.000	0.026	3160	2572	2164	2216	2112	0	0	0	0	0	0	28.83	25.82	28.83
4683	1.40	170.3	3160	2567	2213	2109	304.7	18.5	337	4687	0.00	1.92	0.00	0.000	260	0.000	0.044	3159	3785	2160	2211	2110	0	0	0	0	0	0	28.83	25.81	28.83
4763	1.40	170.3	3160	3786	2211	2110	289.7	20.3	342	4767	0.00	1.85	0.00	0.000	1030	0.000	0.026	3169	2569	2160	2211	2109	0	0	0	0	0	0	28.83	25.86	28.83
5073	1.40	170.3	3170	2553	2210	2108	229.9	18.3	363	5077	0.00	1.95	0.00	0.000	260	0.000	0.042	3169	3792	2157	2208	2107	0	0	0	0	0	0	28.83	25.81	28.83
5138	1.40	170.3	3169	3792	2210	2108	217.9	20.1	367	5142	0.00	1.85	0.00	0.000	1030	0.000	0.026	3178	2579	2157	2208	2107	0	0	0	0	0	0	28.83	25.85	28.83
5448	1.40	170.3	3179	2564	2208	2107	161.2	17.3	388	5452	0.00	1.92	0.00	0.000	260	0.000	0.043	3178	3789	2157	2207	2107	0	0	0	0	0	0	28.83	25.81	28.83
5668	1.40	170.3	3179	3790	2207	2107	115.7	22.0	402	5676	0.10	1.85	0.00	0.000	5126	0.153	0.025	3159	2561	2156	2206	2107	0	0	0	0	0	0	25.37	25.85	28.83
5973	1.42	177.2	3160	2559	2206	2105	70.7	13.0	430	5974	0.00	0.00	0.00	0.000	6	0.000	0.000	3159	2559	2155	2206	2104	0	0	0	0	0	0	28.83	28.83	28.83
6093	1.51	225.1	3159	2559	2206	2104	57.0	10.8	442	6136	0.00	1.90	36.20	0.494	8452	0.000	0.041	3159	3790	1958	2013	1904	0	0	0	0	0	0	28.83	25.65	25.15
6206	1.64	287.4	3159	3791	2011	1901	44.0	10.0	458	6262	0.10	1.83	46.53	0.471	11270	0.054	0.024	3226	2555	1704	1762	1646	0	0	0	0	0	0	25.69	25.72	24.92
6321	1.67	302.6	3227	2555	1759	1642	30.8	12.5	479	6335	0.00	0.00	12.32	0.417	8710	0.000	0.000	3226	2554	1644	1706	1582	0	0	0	0	0	0	28.83	28.83	24.96
6394	1.72	327.7	3228	2555	1703	1578	21.3	12.0	493	6419	0.00	0.00	20.15	0.433	8454	0.000	0.000	3226	2555	1540	1606	1475	0	0	0	0	0	0	28.83	28.83	24.95
6478	1.72	327.7	3226	2555	1604	1472	8.8	16.1	509	6485	0.00	1.98	0.00	0.000	260	0.000	0.042	3226	3789	1536	1601	1471	0	0	0	0	0	0	28.83	25.55	28.83
6513	end climb: SURFACE_DEPTH_REACHED
state	6513	begin surface coast
6528	end surface coast: CONTROL_FINISHED_OK
state	6529	begin surface