Glider dive log

GulfOfMexico Jul15 * SG163 * Dive index * Mission links * Dive 45 * 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 45 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 94 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 500 R_STBD_OVSHOOT 48 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 45 MI_POWERSOURCE 0.0 R_PORT_OVSHOOT 94 VBD_MIN 550

D_ABORT 1090 MI_RESTARTMONITOR 0.0 R_STBD_OVSHOOT 48 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 250715,112900,2801.887,-8728.254,37,1.1,47,-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 2.80 MHEAD_RNG_PITCHd_Wd 320.1,7162,-21.2,-13.333,-25.64,1918

_SM_ANGLEo -58.8 D_GRID 600

GPS2 250715,113651,2801.843,-8728.171,5,1.0,15,-2.0

Post-dive calculations and measurements:

FINISH 2.0,1.020731 MI_HOME 2.9/436550/423849

SM_CCo 6636,100.25,0.413,1,0,840,500.16 _24V_AH 24.15,10.913

SM_GC 3.11,8.30,2.15,100.25,0.034,0.023,0.413,130,2357,840,-7.96,1.44,500.16,0,0,0,0,1,0,25.68,25.73,24.74 _10V_AH 10.32,9.700

IRIDIUM_FIX 2722.64,-8719.43,210508,005921 FG_AHR_24Vo 0.000

TT8_MAMPS 0.095872,0.095872 FG_AHR_10Vo 0.000

HUMID 40.74 MEM 296032

INTERNAL_PRESSURE 9.28966 DATA_FILE_SIZE 20115,529

TCM_TEMP 24.30 CAP_FILE_SIZE 84003,0

MI_MIVER 0.4 CFSIZE 260034560,254672896

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 0,7167.24,0x236bc6,7,5

MI_LOG 3.5/516052/497884 GPS 250715,132954,2802.581,-8728.640,4,0.9,15,-2.0

MI_ROOT 70.6/190403/55925

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 218 105.28 SBE_CT 352 23 197.94

Roll_motor 64 46 73.03 nil 0 0 0.00

VBD_pump_during_apogee 361 849 7416.35 nil 0 0 0.00

VBD_pump_during_surface 100 413 1000.13 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 60 46.59 nil 0 0 0.00

Iridium_during_connect 36 160 142.44 MIB 7250 41 7302.95

Iridium_during_xfer 144 223 780.31 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 7250 35 6259.02

GPS 17 30 5.39

TT8 0 0 0.00

LPSleep 4816 0 19.38

TT8_Active 572 12 76.59

TT8_Sampling 1616 38 641.14

TT8_CF8 76 45 35.43

TT8_Kalman 0 0 0.00

Analog_circuits 1134 17 199.12

GPS_charging 0 0 0.00

Compass 1004 16 170.76

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15 -1.40 -170.3 123 2387 939 727 0.0 0.0 0 88 0.00 0.00 -70.40 0.000 16386 0.000 0.000 121 2386 2849 2806 2893 0 0 0 0 0 0 28.83 28.83 28.83

90 -1.40 -170.3 122 2387 2807 2896 5.7 -8.3 11 116 8.38 2.08 -13.62 0.000 18948 0.219 0.047 2243 1035 3577 3519 3635 0 0 0 0 0 0 25.26 25.50 25.58

155 -1.40 -170.3 2243 1035 3521 3638 31.1 -41.9 23 162 0.00 2.10 0.00 0.000 1030 0.000 0.028 2235 2398 3579 3520 3638 0 0 0 0 0 0 28.83 25.64 28.83

226 -1.40 -170.3 2236 2398 3521 3640 58.9 -36.6 35 230 0.00 2.17 0.00 0.000 260 0.000 0.037 2225 3793 3579 3520 3639 0 0 0 0 0 0 28.83 25.68 28.83

377 -1.40 -170.3 2225 3793 3523 3642 101.6 -26.1 50 380 0.00 2.08 0.00 0.000 1030 0.000 0.022 2225 2430 3582 3522 3642 0 0 0 0 0 0 28.83 25.79 28.83

691 -1.40 -170.3 2226 2412 3528 3644 170.0 -21.7 71 695 0.00 2.15 0.00 0.000 260 0.000 0.039 2215 3788 3585 3527 3644 0 0 0 0 0 0 28.83 25.78 28.83

856 -1.40 -170.3 2215 3789 3528 3646 207.4 -22.2 82 861 0.10 2.10 0.00 0.000 3078 0.161 0.023 2243 2382 3586 3527 3646 0 0 0 0 0 0 25.46 25.87 28.83

1172 -1.40 -170.3 2243 2383 3529 3646 271.0 -19.8 103 1175 0.00 2.20 0.00 0.000 260 0.000 0.041 2234 3788 3587 3529 3645 0 0 0 0 0 0 28.83 25.89 28.83

1191 -1.40 -170.3 2235 3789 3529 3646 273.9 -19.6 104 1195 0.00 2.08 0.00 0.000 1030 0.000 0.023 2234 2419 3587 3528 3646 0 0 0 0 0 0 28.83 25.91 28.83

1501 -1.40 -170.3 2234 2416 3529 3646 335.9 -19.2 125 1505 0.00 2.17 0.00 0.000 260 0.000 0.040 2225 3788 3586 3527 3646 0 0 0 0 0 0 28.83 25.87 28.83

1616 -1.40 -170.3 2225 3789 3528 3646 358.0 -21.2 132 1624 0.00 2.10 0.00 0.000 1030 0.000 0.023 2224 2405 3586 3527 3645 0 0 0 0 0 0 28.83 25.94 28.83

1921 -1.40 -170.3 2225 2400 3528 3645 424.0 -20.6 153 1925 0.00 2.20 0.00 0.000 260 0.000 0.041 2214 3788 3585 3527 3644 0 0 0 0 0 0 28.83 25.87 28.83

2026 -1.40 -170.3 2215 3788 3526 3644 447.2 -22.3 160 2030 0.10 2.12 0.00 0.000 3078 0.155 0.023 2243 2371 3584 3525 3643 0 0 0 0 0 0 25.47 25.94 28.83

2342 -1.40 -170.3 2243 2371 3525 3640 509.0 -19.5 181 2345 0.00 2.22 0.00 0.000 260 0.000 0.042 2234 3801 3581 3524 3639 0 0 0 0 0 0 28.83 25.84 28.83

2461 -1.40 -170.3 2235 3801 3524 3639 533.6 -20.2 189 2465 0.00 2.10 0.00 0.000 1030 0.000 0.024 2234 2423 3580 3522 3639 0 0 0 0 0 0 28.83 25.91 28.83

2776 -1.40 -170.3 2234 2423 3522 3635 595.8 -19.6 210 2780 0.00 2.20 0.00 0.000 260 0.000 0.042 2224 3788 3577 3520 3635 0 0 0 0 0 0 28.83 25.84 28.83

2805 end dive: TARGET_DEPTH_EXCEEDED

state 2805 begin apogee

2810 -0.25 0.0 2225 2572 3521 3635 602.2 -20.2 212 2946 1.30 0.00 132.27 0.849 10246 0.138 0.000 2612 2552 2881 2886 2876 0 0 0 0 0 0 25.51 28.83 24.22

2946 end apogee: CONTROL_FINISHED_OK

state 2946 begin climb

2948 1.40 170.3 2612 2552 2887 2875 608.9 0.0 221 3094 1.55 2.05 135.75 0.829 10500 0.073 0.044 3137 3784 2180 2232 2129 0 0 0 0 0 0 24.89 24.78 24.15

3109 1.40 170.3 3146 3784 2232 2127 594.0 14.2 232 3113 0.00 1.92 0.00 0.000 1030 0.000 0.025 3147 2578 2178 2230 2126 0 0 0 0 0 0 28.83 25.03 28.83

3424 1.40 170.3 3147 2578 2226 2118 540.9 16.5 253 3425 0.00 0.00 0.00 0.000 6 0.000 0.000 3147 2577 2171 2225 2118 0 0 0 0 0 0 28.83 28.83 28.83

3724 1.40 170.3 3147 2578 2221 2116 489.5 17.2 273 3725 0.00 0.00 0.00 0.000 6 0.000 0.000 3146 2577 2167 2220 2115 0 0 0 0 0 0 28.83 28.83 28.83

4024 1.40 170.3 3147 2558 2218 2113 436.4 17.9 293 4028 0.00 1.95 0.00 0.000 260 0.000 0.044 3147 3787 2165 2217 2113 0 0 0 0 0 0 28.83 25.77 28.83

4084 1.40 170.3 3147 3788 2218 2113 425.0 19.0 297 4088 0.00 1.88 0.00 0.000 1030 0.000 0.025 3156 2571 2164 2216 2113 0 0 0 0 0 0 28.83 25.63 28.83

4399 1.40 170.3 3157 2557 2214 2112 368.2 18.0 318 4403 0.00 1.95 0.00 0.000 260 0.000 0.044 3156 3788 2161 2212 2111 0 0 0 0 0 0 28.83 25.77 28.83

4453 1.40 170.3 3157 3788 2214 2111 359.6 18.6 321 4461 0.00 1.88 0.00 0.000 1030 0.000 0.025 3165 2574 2161 2211 2111 0 0 0 0 0 0 28.83 25.82 28.83

4759 1.40 170.3 3166 2572 2210 2110 300.2 18.7 342 4763 0.00 1.92 0.00 0.000 260 0.000 0.044 3165 3781 2159 2209 2109 0 0 0 0 0 0 28.83 25.79 28.83

4808 1.40 170.3 3166 3782 2209 2109 291.1 19.9 345 4813 0.00 1.85 0.00 0.000 1030 0.000 0.025 3174 2577 2159 2209 2109 0 0 0 0 0 0 28.83 25.85 28.83

5119 1.40 170.3 3175 2560 2209 2108 230.7 18.8 366 5123 0.00 1.92 0.00 0.000 260 0.000 0.043 3174 3784 2157 2207 2107 0 0 0 0 0 0 28.83 25.80 28.83

5164 1.40 170.3 3175 3784 2208 2108 221.6 19.8 369 5168 0.10 1.85 0.00 0.000 5126 0.157 0.025 3156 2577 2157 2207 2107 0 0 0 0 0 0 25.41 25.86 28.83

5479 1.40 170.3 3157 2560 2205 2107 164.7 16.3 390 5483 0.00 1.92 0.00 0.000 260 0.000 0.043 3156 3784 2155 2205 2106 0 0 0 0 0 0 28.83 25.79 28.83

5624 1.40 170.3 3157 3784 2205 2107 139.4 19.5 399 5631 0.00 1.85 0.00 0.000 1030 0.000 0.026 3163 2578 2152 2204 2100 0 0 0 0 0 0 28.83 25.85 28.83

5929 1.40 170.3 3164 2559 2203 2105 84.2 16.4 423 5930 0.00 0.00 0.00 0.000 6 0.000 0.000 3163 2558 2153 2202 2104 0 0 0 0 0 0 28.83 28.83 28.83

6049 1.41 174.3 3164 2559 2204 2104 67.2 13.1 435 6050 0.00 0.00 0.00 0.000 6 0.000 0.000 3163 2558 2153 2202 2104 0 0 0 0 0 0 28.83 28.83 28.83

6169 1.57 254.7 3164 2559 2203 2104 54.9 9.0 447 6234 0.10 1.92 57.40 0.493 10500 0.097 0.041 3215 3795 1835 1891 1780 0 0 0 0 0 0 25.84 25.47 25.02

6253 1.57 254.7 3216 3795 1884 1780 44.1 15.4 458 6261 0.00 1.90 0.00 0.000 1030 0.000 0.024 3225 2555 1831 1883 1780 0 0 0 0 0 0 28.83 25.55 28.83

6320 1.60 267.4 3226 2547 1880 1779 35.0 12.7 471 6333 0.00 0.00 9.77 0.430 8198 0.000 0.000 3225 2547 1787 1840 1734 0 0 0 0 0 0 28.83 28.83 24.97

6392 1.66 301.1 3225 2547 1838 1731 27.0 11.5 485 6424 0.00 0.00 26.45 0.471 8454 0.000 0.000 3225 2547 1648 1709 1588 0 0 0 0 0 0 28.83 28.83 24.93

6483 1.66 301.1 3225 2547 1707 1584 15.2 15.5 502 6490 0.00 1.98 0.00 0.000 260 0.000 0.042 3225 3784 1645 1706 1584 0 0 0 0 0 0 28.83 25.54 28.83

6583 end climb: SURFACE_DEPTH_REACHED

state 6583 begin surface coast

6618 end surface coast: CONTROL_FINISHED_OK

state 6618 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	45	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	94	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	500	R_STBD_OVSHOOT	48	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	250715,112900,2801.887,-8728.254,37,1.1,47,-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	2.80	MHEAD_RNG_PITCHd_Wd	320.1,7162,-21.2,-13.333,-25.64,1918
_SM_ANGLEo	-58.8	D_GRID	600
GPS2	250715,113651,2801.843,-8728.171,5,1.0,15,-2.0

FINISH	2.0,1.020731	MI_HOME	2.9/436550/423849
SM_CCo	6636,100.25,0.413,1,0,840,500.16	_24V_AH	24.15,10.913
SM_GC	3.11,8.30,2.15,100.25,0.034,0.023,0.413,130,2357,840,-7.96,1.44,500.16,0,0,0,0,1,0,25.68,25.73,24.74	_10V_AH	10.32,9.700
IRIDIUM_FIX	2722.64,-8719.43,210508,005921	FG_AHR_24Vo	0.000
TT8_MAMPS	0.095872,0.095872	FG_AHR_10Vo	0.000
HUMID	40.74	MEM	296032
INTERNAL_PRESSURE	9.28966	DATA_FILE_SIZE	20115,529
TCM_TEMP	24.30	CAP_FILE_SIZE	84003,0
MI_MIVER	0.4	CFSIZE	260034560,254672896
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	0,7167.24,0x236bc6,7,5
MI_LOG	3.5/516052/497884	GPS	250715,132954,2802.581,-8728.640,4,0.9,15,-2.0
MI_ROOT	70.6/190403/55925

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	218	105.28	SBE_CT	352	23	197.94
Roll_motor	64	46	73.03	nil	0	0	0.00
VBD_pump_during_apogee	361	849	7416.35	nil	0	0	0.00
VBD_pump_during_surface	100	413	1000.13	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	60	46.59	nil	0	0	0.00
Iridium_during_connect	36	160	142.44	MIB	7250	41	7302.95
Iridium_during_xfer	144	223	780.31	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	7250	35	6259.02
GPS	17	30	5.39
TT8	0	0	0.00
LPSleep	4816	0	19.38
TT8_Active	572	12	76.59
TT8_Sampling	1616	38	641.14
TT8_CF8	76	45	35.43
TT8_Kalman	0	0	0.00
Analog_circuits	1134	17	199.12
GPS_charging	0	0	0.00
Compass	1004	16	170.76
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15	-1.40	-170.3	123	2387	939	727	0.0	0.0	0	88	0.00	0.00	-70.40	0.000	16386	0.000	0.000	121	2386	2849	2806	2893	0	0	0	0	0	0	28.83	28.83	28.83
90	-1.40	-170.3	122	2387	2807	2896	5.7	-8.3	11	116	8.38	2.08	-13.62	0.000	18948	0.219	0.047	2243	1035	3577	3519	3635	0	0	0	0	0	0	25.26	25.50	25.58
155	-1.40	-170.3	2243	1035	3521	3638	31.1	-41.9	23	162	0.00	2.10	0.00	0.000	1030	0.000	0.028	2235	2398	3579	3520	3638	0	0	0	0	0	0	28.83	25.64	28.83
226	-1.40	-170.3	2236	2398	3521	3640	58.9	-36.6	35	230	0.00	2.17	0.00	0.000	260	0.000	0.037	2225	3793	3579	3520	3639	0	0	0	0	0	0	28.83	25.68	28.83
377	-1.40	-170.3	2225	3793	3523	3642	101.6	-26.1	50	380	0.00	2.08	0.00	0.000	1030	0.000	0.022	2225	2430	3582	3522	3642	0	0	0	0	0	0	28.83	25.79	28.83
691	-1.40	-170.3	2226	2412	3528	3644	170.0	-21.7	71	695	0.00	2.15	0.00	0.000	260	0.000	0.039	2215	3788	3585	3527	3644	0	0	0	0	0	0	28.83	25.78	28.83
856	-1.40	-170.3	2215	3789	3528	3646	207.4	-22.2	82	861	0.10	2.10	0.00	0.000	3078	0.161	0.023	2243	2382	3586	3527	3646	0	0	0	0	0	0	25.46	25.87	28.83
1172	-1.40	-170.3	2243	2383	3529	3646	271.0	-19.8	103	1175	0.00	2.20	0.00	0.000	260	0.000	0.041	2234	3788	3587	3529	3645	0	0	0	0	0	0	28.83	25.89	28.83
1191	-1.40	-170.3	2235	3789	3529	3646	273.9	-19.6	104	1195	0.00	2.08	0.00	0.000	1030	0.000	0.023	2234	2419	3587	3528	3646	0	0	0	0	0	0	28.83	25.91	28.83
1501	-1.40	-170.3	2234	2416	3529	3646	335.9	-19.2	125	1505	0.00	2.17	0.00	0.000	260	0.000	0.040	2225	3788	3586	3527	3646	0	0	0	0	0	0	28.83	25.87	28.83
1616	-1.40	-170.3	2225	3789	3528	3646	358.0	-21.2	132	1624	0.00	2.10	0.00	0.000	1030	0.000	0.023	2224	2405	3586	3527	3645	0	0	0	0	0	0	28.83	25.94	28.83
1921	-1.40	-170.3	2225	2400	3528	3645	424.0	-20.6	153	1925	0.00	2.20	0.00	0.000	260	0.000	0.041	2214	3788	3585	3527	3644	0	0	0	0	0	0	28.83	25.87	28.83
2026	-1.40	-170.3	2215	3788	3526	3644	447.2	-22.3	160	2030	0.10	2.12	0.00	0.000	3078	0.155	0.023	2243	2371	3584	3525	3643	0	0	0	0	0	0	25.47	25.94	28.83
2342	-1.40	-170.3	2243	2371	3525	3640	509.0	-19.5	181	2345	0.00	2.22	0.00	0.000	260	0.000	0.042	2234	3801	3581	3524	3639	0	0	0	0	0	0	28.83	25.84	28.83
2461	-1.40	-170.3	2235	3801	3524	3639	533.6	-20.2	189	2465	0.00	2.10	0.00	0.000	1030	0.000	0.024	2234	2423	3580	3522	3639	0	0	0	0	0	0	28.83	25.91	28.83
2776	-1.40	-170.3	2234	2423	3522	3635	595.8	-19.6	210	2780	0.00	2.20	0.00	0.000	260	0.000	0.042	2224	3788	3577	3520	3635	0	0	0	0	0	0	28.83	25.84	28.83
2805	end dive: TARGET_DEPTH_EXCEEDED
state	2805	begin apogee
2810	-0.25	0.0	2225	2572	3521	3635	602.2	-20.2	212	2946	1.30	0.00	132.27	0.849	10246	0.138	0.000	2612	2552	2881	2886	2876	0	0	0	0	0	0	25.51	28.83	24.22
2946	end apogee: CONTROL_FINISHED_OK
state	2946	begin climb
2948	1.40	170.3	2612	2552	2887	2875	608.9	0.0	221	3094	1.55	2.05	135.75	0.829	10500	0.073	0.044	3137	3784	2180	2232	2129	0	0	0	0	0	0	24.89	24.78	24.15
3109	1.40	170.3	3146	3784	2232	2127	594.0	14.2	232	3113	0.00	1.92	0.00	0.000	1030	0.000	0.025	3147	2578	2178	2230	2126	0	0	0	0	0	0	28.83	25.03	28.83
3424	1.40	170.3	3147	2578	2226	2118	540.9	16.5	253	3425	0.00	0.00	0.00	0.000	6	0.000	0.000	3147	2577	2171	2225	2118	0	0	0	0	0	0	28.83	28.83	28.83
3724	1.40	170.3	3147	2578	2221	2116	489.5	17.2	273	3725	0.00	0.00	0.00	0.000	6	0.000	0.000	3146	2577	2167	2220	2115	0	0	0	0	0	0	28.83	28.83	28.83
4024	1.40	170.3	3147	2558	2218	2113	436.4	17.9	293	4028	0.00	1.95	0.00	0.000	260	0.000	0.044	3147	3787	2165	2217	2113	0	0	0	0	0	0	28.83	25.77	28.83
4084	1.40	170.3	3147	3788	2218	2113	425.0	19.0	297	4088	0.00	1.88	0.00	0.000	1030	0.000	0.025	3156	2571	2164	2216	2113	0	0	0	0	0	0	28.83	25.63	28.83
4399	1.40	170.3	3157	2557	2214	2112	368.2	18.0	318	4403	0.00	1.95	0.00	0.000	260	0.000	0.044	3156	3788	2161	2212	2111	0	0	0	0	0	0	28.83	25.77	28.83
4453	1.40	170.3	3157	3788	2214	2111	359.6	18.6	321	4461	0.00	1.88	0.00	0.000	1030	0.000	0.025	3165	2574	2161	2211	2111	0	0	0	0	0	0	28.83	25.82	28.83
4759	1.40	170.3	3166	2572	2210	2110	300.2	18.7	342	4763	0.00	1.92	0.00	0.000	260	0.000	0.044	3165	3781	2159	2209	2109	0	0	0	0	0	0	28.83	25.79	28.83
4808	1.40	170.3	3166	3782	2209	2109	291.1	19.9	345	4813	0.00	1.85	0.00	0.000	1030	0.000	0.025	3174	2577	2159	2209	2109	0	0	0	0	0	0	28.83	25.85	28.83
5119	1.40	170.3	3175	2560	2209	2108	230.7	18.8	366	5123	0.00	1.92	0.00	0.000	260	0.000	0.043	3174	3784	2157	2207	2107	0	0	0	0	0	0	28.83	25.80	28.83
5164	1.40	170.3	3175	3784	2208	2108	221.6	19.8	369	5168	0.10	1.85	0.00	0.000	5126	0.157	0.025	3156	2577	2157	2207	2107	0	0	0	0	0	0	25.41	25.86	28.83
5479	1.40	170.3	3157	2560	2205	2107	164.7	16.3	390	5483	0.00	1.92	0.00	0.000	260	0.000	0.043	3156	3784	2155	2205	2106	0	0	0	0	0	0	28.83	25.79	28.83
5624	1.40	170.3	3157	3784	2205	2107	139.4	19.5	399	5631	0.00	1.85	0.00	0.000	1030	0.000	0.026	3163	2578	2152	2204	2100	0	0	0	0	0	0	28.83	25.85	28.83
5929	1.40	170.3	3164	2559	2203	2105	84.2	16.4	423	5930	0.00	0.00	0.00	0.000	6	0.000	0.000	3163	2558	2153	2202	2104	0	0	0	0	0	0	28.83	28.83	28.83
6049	1.41	174.3	3164	2559	2204	2104	67.2	13.1	435	6050	0.00	0.00	0.00	0.000	6	0.000	0.000	3163	2558	2153	2202	2104	0	0	0	0	0	0	28.83	28.83	28.83
6169	1.57	254.7	3164	2559	2203	2104	54.9	9.0	447	6234	0.10	1.92	57.40	0.493	10500	0.097	0.041	3215	3795	1835	1891	1780	0	0	0	0	0	0	25.84	25.47	25.02
6253	1.57	254.7	3216	3795	1884	1780	44.1	15.4	458	6261	0.00	1.90	0.00	0.000	1030	0.000	0.024	3225	2555	1831	1883	1780	0	0	0	0	0	0	28.83	25.55	28.83
6320	1.60	267.4	3226	2547	1880	1779	35.0	12.7	471	6333	0.00	0.00	9.77	0.430	8198	0.000	0.000	3225	2547	1787	1840	1734	0	0	0	0	0	0	28.83	28.83	24.97
6392	1.66	301.1	3225	2547	1838	1731	27.0	11.5	485	6424	0.00	0.00	26.45	0.471	8454	0.000	0.000	3225	2547	1648	1709	1588	0	0	0	0	0	0	28.83	28.83	24.93
6483	1.66	301.1	3225	2547	1707	1584	15.2	15.5	502	6490	0.00	1.98	0.00	0.000	260	0.000	0.042	3225	3784	1645	1706	1584	0	0	0	0	0	0	28.83	25.54	28.83
6583	end climb: SURFACE_DEPTH_REACHED
state	6583	begin surface coast
6618	end surface coast: CONTROL_FINISHED_OK
state	6618	begin surface