Glider dive log

GulfOfMexico Jul15 * SG163 * Dive index * Mission links * Dive 46 * 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 46 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 90 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 500 R_STBD_OVSHOOT 52 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 160 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 160

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 46 MI_POWERSOURCE 0.0 R_PORT_OVSHOOT 90 VBD_MIN 550

D_ABORT 1090 MI_RESTARTMONITOR 0.0 R_STBD_OVSHOOT 52 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 250715,132954,2802.581,-8728.640,4,0.9,15,-2.0 SPEED_LIMITS 0.217,0.272

_CALLS 2 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 317.3,5975,-20.0,-12.500,-24.68,2039

_SM_ANGLEo -58.5 D_GRID 600

GPS2 250715,134020,2802.428,-8728.525,6,1.0,16,-2.0

Post-dive calculations and measurements:

FINISH 2.0,1.014324 MI_HOME 2.9/436550/423807

SM_CCo 6945,65.90,0.368,1,0,839,500.16 _24V_AH 24.14,11.084

SM_GC 2.87,8.40,2.17,65.90,0.035,0.021,0.368,132,2354,839,-7.93,1.19,500.16,0,0,0,0,1,0,25.70,25.75,24.89 _10V_AH 10.24,9.827

IRIDIUM_FIX 2722.64,-8719.43,210508,030236 FG_AHR_24Vo 0.000

TT8_MAMPS 0.096621,0.096621 FG_AHR_10Vo 0.000

HUMID 41.10 MEM 296004

INTERNAL_PRESSURE 9.29943 DATA_FILE_SIZE 20095,557

TCM_TEMP 24.50 CAP_FILE_SIZE 85532,0

MI_MIVER 0.4 CFSIZE 260034560,254627840

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 0,7409.36,0x236bc6,7,5

MI_LOG 3.5/516052/497883 GPS 250715,153830,2803.160,-8729.062,37,0.9,47,-2.0

MI_ROOT 70.6/190403/55925

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 222 108.82 SBE_CT 371 23 208.03

Roll_motor 62 49 75.08 nil 0 0 0.00

VBD_pump_during_apogee 393 858 8154.91 nil 0 0 0.00

VBD_pump_during_surface 65 367 585.37 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 62 60 91.28 nil 0 0 0.00

Iridium_during_connect 76 160 296.55 MIB 7711 41 7767.73

Iridium_during_xfer 162 223 874.84 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 7711 34 6365.38

GPS 17 30 5.47

TT8 0 0 0.00

LPSleep 5136 0 20.51

TT8_Active 552 12 73.37

TT8_Sampling 1738 38 684.02

TT8_CF8 79 45 36.66

TT8_Kalman 0 0 0.00

Analog_circuits 1133 17 197.40

GPS_charging 0 0 0.00

Compass 1023 16 172.78

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 -1.34 -170.3 125 2357 936 730 0.0 0.0 0 76 0.00 0.00 -58.47 0.000 16386 0.000 0.000 124 2354 2516 2526 2506 0 0 0 0 0 0 28.83 28.83 28.83

78 -1.34 -170.3 125 2354 2527 2508 5.1 -7.5 9 115 8.55 2.22 -22.25 0.000 19204 0.223 0.050 2252 3790 3578 3522 3634 0 0 0 0 0 0 25.22 25.46 25.56

304 -1.34 -170.3 2252 3791 3523 3639 78.1 -26.0 44 309 0.00 2.10 0.00 0.000 1030 0.000 0.022 2252 2422 3580 3522 3639 0 0 0 0 0 0 28.83 25.59 28.83

434 -1.34 -170.3 2252 2408 3533 3640 107.7 -21.8 56 435 0.00 0.00 0.00 0.000 6 0.000 0.000 2251 2408 3581 3524 3639 0 0 0 0 0 0 28.83 28.83 28.83

734 -1.34 -170.3 2252 2405 3529 3643 168.3 -20.7 76 738 0.00 2.15 0.00 0.000 260 0.000 0.039 2242 3785 3585 3528 3642 0 0 0 0 0 0 28.83 25.84 28.83

859 -1.34 -170.3 2242 3785 3529 3643 195.6 -22.5 84 863 0.00 2.10 0.00 0.000 1030 0.000 0.022 2242 2395 3585 3528 3643 0 0 0 0 0 0 28.83 25.91 28.83

1169 -1.34 -170.3 2242 2389 3530 3643 259.7 -20.0 105 1170 0.00 0.00 0.00 0.000 6 0.000 0.000 2242 2389 3586 3529 3643 0 0 0 0 0 0 28.83 28.83 28.83

1469 -1.34 -170.3 2242 2385 3530 3643 320.4 -20.2 125 1473 0.00 2.20 0.00 0.000 260 0.000 0.040 2232 3790 3585 3528 3643 0 0 0 0 0 0 28.83 25.89 28.83

1544 -1.34 -170.3 2232 3791 3529 3643 336.2 -21.1 130 1549 0.10 2.10 0.00 0.000 3078 0.158 0.022 2261 2379 3585 3528 3643 0 0 0 0 0 0 25.51 25.96 28.83

1860 -1.34 -170.3 2260 2378 3529 3642 397.2 -19.4 151 1863 0.00 2.20 0.00 0.000 260 0.000 0.041 2252 3805 3584 3527 3641 0 0 0 0 0 0 28.83 25.87 28.83

1894 -1.34 -170.3 2252 3806 3527 3642 403.2 -19.6 153 1898 0.00 2.10 0.00 0.000 1030 0.000 0.023 2252 2419 3583 3526 3641 0 0 0 0 0 0 28.83 25.94 28.83

2204 -1.34 -170.3 2252 2415 3526 3639 464.0 -19.0 174 2208 0.00 2.20 0.00 0.000 260 0.000 0.041 2242 3791 3581 3524 3638 0 0 0 0 0 0 28.83 25.89 28.83

2294 -1.34 -170.3 2243 3792 3523 3639 481.9 -19.8 180 2298 0.00 2.12 0.00 0.000 1030 0.000 0.023 2242 2391 3580 3523 3638 0 0 0 0 0 0 28.83 25.96 28.83

2609 -1.34 -170.3 2243 2388 3521 3634 543.5 -19.7 201 2613 0.00 2.25 0.00 0.000 260 0.000 0.042 2232 3795 3577 3521 3634 0 0 0 0 0 0 28.83 25.86 28.83

2649 -1.34 -170.3 2233 3795 3520 3634 549.7 -20.2 203 2657 0.10 2.12 0.00 0.000 3078 0.154 0.023 2261 2377 3576 3519 3634 0 0 0 0 0 0 25.47 25.93 28.83

2923 end dive: TARGET_DEPTH_EXCEEDED

state 2923 begin apogee

2927 -0.25 0.0 2262 2575 3519 3631 602.1 -18.2 222 3063 1.17 0.00 132.10 0.858 10246 0.134 0.000 2615 2575 2879 2885 2874 0 0 0 0 0 0 25.52 28.83 24.25

3063 end apogee: CONTROL_FINISHED_OK

state 3063 begin climb

3065 1.34 170.3 2616 2575 2885 2873 607.8 0.0 231 3213 1.45 1.98 135.27 0.837 10500 0.072 0.045 3114 3783 2180 2240 2121 0 0 0 0 0 0 24.90 24.78 24.14

3236 1.34 170.3 3114 3784 2238 2119 592.6 14.0 242 3244 0.00 1.85 0.00 0.000 1030 0.000 0.024 3123 2606 2177 2237 2118 0 0 0 0 0 0 28.83 25.10 28.83

3542 1.34 170.3 3124 2605 2233 2112 540.3 16.2 263 3546 0.00 2.22 0.00 0.000 516 0.000 0.038 3133 1176 2171 2232 2111 0 0 0 0 0 0 28.83 25.67 28.83

3576 1.34 170.3 3133 1176 2232 2110 535.4 16.3 265 3581 0.00 2.20 0.00 0.000 1030 0.000 0.032 3133 2571 2170 2231 2110 0 0 0 0 0 0 28.83 25.74 28.83

3887 1.34 170.3 3133 2571 2228 2108 481.9 17.1 286 3888 0.00 0.00 0.00 0.000 6 0.000 0.000 3133 2571 2167 2226 2108 0 0 0 0 0 0 28.83 28.83 28.83

4187 1.34 170.3 3134 2571 2222 2107 429.6 17.5 306 4188 0.00 0.00 0.00 0.000 6 0.000 0.000 3133 2571 2167 2228 2107 0 0 0 0 0 0 28.83 28.83 28.83

4487 1.34 170.3 3134 2571 2219 2106 378.9 17.0 326 4491 0.00 1.90 0.00 0.000 260 0.000 0.044 3133 3795 2161 2218 2105 0 0 0 0 0 0 28.83 25.82 28.83

4557 1.34 170.3 3133 3795 2219 2105 367.9 18.5 330 4564 0.00 1.85 0.00 0.000 1030 0.000 0.026 3143 2573 2161 2217 2105 0 0 0 0 0 0 28.83 25.88 28.83

4862 1.34 170.3 3143 2555 2217 2103 310.8 17.7 351 4866 0.00 1.95 0.00 0.000 260 0.000 0.044 3143 3793 2159 2216 2102 0 0 0 0 0 0 28.83 25.82 28.83

4881 1.34 170.3 3143 3793 2217 2102 308.1 17.7 352 4886 0.00 1.85 0.00 0.000 1030 0.000 0.025 3152 2581 2159 2216 2102 0 0 0 0 0 0 28.83 25.87 28.83

5192 1.34 170.3 3152 2578 2215 2100 251.1 18.0 373 5196 0.00 2.17 0.00 0.000 516 0.000 0.039 3162 1172 2156 2213 2100 0 0 0 0 0 0 28.83 25.79 28.83

5222 1.34 170.3 3162 1173 2213 2099 245.8 18.1 375 5226 0.10 2.20 0.00 0.000 5126 0.151 0.032 3133 2576 2155 2212 2099 0 0 0 0 0 0 25.45 25.85 28.83

5538 1.34 170.3 3133 2576 2212 2098 191.3 17.0 396 5538 0.00 0.00 0.00 0.000 6 0.000 0.000 3133 2576 2154 2211 2098 0 0 0 0 0 0 28.83 28.83 28.83

5837 1.34 170.3 3133 2576 2210 2097 142.9 16.9 416 5841 0.00 1.88 0.00 0.000 260 0.000 0.042 3133 3791 2153 2209 2097 0 0 0 0 0 0 28.83 25.82 28.83

6171 1.34 170.3 3134 3795 2210 2098 86.3 16.2 441 6179 0.00 1.85 0.00 0.000 1030 0.000 0.024 3141 2573 2152 2208 2097 0 0 0 0 0 0 28.83 25.82 28.83

6297 1.35 174.1 3141 2567 2209 2096 68.8 12.3 454 6298 0.00 0.00 0.00 0.000 6 0.000 0.000 3141 2571 2149 2202 2096 0 0 0 0 0 0 28.83 28.83 28.83

6417 1.44 219.5 3141 2554 2210 2102 55.3 10.2 466 6450 0.00 0.00 31.95 0.496 8710 0.000 0.000 3141 2554 1984 2043 1926 0 0 0 0 0 0 28.83 28.83 25.18

6568 1.59 294.4 3142 2554 2037 1920 41.7 8.7 490 6630 0.17 2.03 55.62 0.479 10500 0.065 0.041 3223 3803 1674 1738 1611 0 0 0 0 0 0 25.71 25.36 24.89

6689 1.59 294.4 3223 3803 1734 1608 25.9 17.2 512 6697 0.00 1.90 0.00 0.000 1030 0.000 0.024 3232 2576 1670 1733 1608 0 0 0 0 0 0 28.83 25.52 28.83

6755 1.59 294.4 3233 2577 1733 1606 15.8 15.0 525 6763 0.00 2.20 0.00 0.000 516 0.000 0.037 3242 1162 1668 1732 1605 0 0 0 0 0 0 28.83 25.59 28.83

6772 1.59 294.4 3242 1162 1735 1605 13.3 15.6 528 6780 0.10 2.22 0.00 0.000 5126 0.145 0.031 3213 2574 1668 1733 1604 0 0 0 0 0 0 25.32 25.61 28.83

6839 1.74 370.0 3213 2575 1732 1604 4.8 8.7 541 6883 0.10 1.95 38.62 0.054 10500 0.091 0.043 3265 3809 1369 1455 1284 0 0 0 0 0 0 25.67 25.63 25.60

6886 end climb: SURFACE_DEPTH_REACHED

state 6886 begin surface coast

6927 end surface coast: CONTROL_FINISHED_OK

state 6927 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	46	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	90	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	500	R_STBD_OVSHOOT	52	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	160	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	250715,132954,2802.581,-8728.640,4,0.9,15,-2.0	SPEED_LIMITS	0.217,0.272
_CALLS	2	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	317.3,5975,-20.0,-12.500,-24.68,2039
_SM_ANGLEo	-58.5	D_GRID	600
GPS2	250715,134020,2802.428,-8728.525,6,1.0,16,-2.0

FINISH	2.0,1.014324	MI_HOME	2.9/436550/423807
SM_CCo	6945,65.90,0.368,1,0,839,500.16	_24V_AH	24.14,11.084
SM_GC	2.87,8.40,2.17,65.90,0.035,0.021,0.368,132,2354,839,-7.93,1.19,500.16,0,0,0,0,1,0,25.70,25.75,24.89	_10V_AH	10.24,9.827
IRIDIUM_FIX	2722.64,-8719.43,210508,030236	FG_AHR_24Vo	0.000
TT8_MAMPS	0.096621,0.096621	FG_AHR_10Vo	0.000
HUMID	41.10	MEM	296004
INTERNAL_PRESSURE	9.29943	DATA_FILE_SIZE	20095,557
TCM_TEMP	24.50	CAP_FILE_SIZE	85532,0
MI_MIVER	0.4	CFSIZE	260034560,254627840
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	0,7409.36,0x236bc6,7,5
MI_LOG	3.5/516052/497883	GPS	250715,153830,2803.160,-8729.062,37,0.9,47,-2.0
MI_ROOT	70.6/190403/55925

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	222	108.82	SBE_CT	371	23	208.03
Roll_motor	62	49	75.08	nil	0	0	0.00
VBD_pump_during_apogee	393	858	8154.91	nil	0	0	0.00
VBD_pump_during_surface	65	367	585.37	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	62	60	91.28	nil	0	0	0.00
Iridium_during_connect	76	160	296.55	MIB	7711	41	7767.73
Iridium_during_xfer	162	223	874.84	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	7711	34	6365.38
GPS	17	30	5.47
TT8	0	0	0.00
LPSleep	5136	0	20.51
TT8_Active	552	12	73.37
TT8_Sampling	1738	38	684.02
TT8_CF8	79	45	36.66
TT8_Kalman	0	0	0.00
Analog_circuits	1133	17	197.40
GPS_charging	0	0	0.00
Compass	1023	16	172.78
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	-1.34	-170.3	125	2357	936	730	0.0	0.0	0	76	0.00	0.00	-58.47	0.000	16386	0.000	0.000	124	2354	2516	2526	2506	0	0	0	0	0	0	28.83	28.83	28.83
78	-1.34	-170.3	125	2354	2527	2508	5.1	-7.5	9	115	8.55	2.22	-22.25	0.000	19204	0.223	0.050	2252	3790	3578	3522	3634	0	0	0	0	0	0	25.22	25.46	25.56
304	-1.34	-170.3	2252	3791	3523	3639	78.1	-26.0	44	309	0.00	2.10	0.00	0.000	1030	0.000	0.022	2252	2422	3580	3522	3639	0	0	0	0	0	0	28.83	25.59	28.83
434	-1.34	-170.3	2252	2408	3533	3640	107.7	-21.8	56	435	0.00	0.00	0.00	0.000	6	0.000	0.000	2251	2408	3581	3524	3639	0	0	0	0	0	0	28.83	28.83	28.83
734	-1.34	-170.3	2252	2405	3529	3643	168.3	-20.7	76	738	0.00	2.15	0.00	0.000	260	0.000	0.039	2242	3785	3585	3528	3642	0	0	0	0	0	0	28.83	25.84	28.83
859	-1.34	-170.3	2242	3785	3529	3643	195.6	-22.5	84	863	0.00	2.10	0.00	0.000	1030	0.000	0.022	2242	2395	3585	3528	3643	0	0	0	0	0	0	28.83	25.91	28.83
1169	-1.34	-170.3	2242	2389	3530	3643	259.7	-20.0	105	1170	0.00	0.00	0.00	0.000	6	0.000	0.000	2242	2389	3586	3529	3643	0	0	0	0	0	0	28.83	28.83	28.83
1469	-1.34	-170.3	2242	2385	3530	3643	320.4	-20.2	125	1473	0.00	2.20	0.00	0.000	260	0.000	0.040	2232	3790	3585	3528	3643	0	0	0	0	0	0	28.83	25.89	28.83
1544	-1.34	-170.3	2232	3791	3529	3643	336.2	-21.1	130	1549	0.10	2.10	0.00	0.000	3078	0.158	0.022	2261	2379	3585	3528	3643	0	0	0	0	0	0	25.51	25.96	28.83
1860	-1.34	-170.3	2260	2378	3529	3642	397.2	-19.4	151	1863	0.00	2.20	0.00	0.000	260	0.000	0.041	2252	3805	3584	3527	3641	0	0	0	0	0	0	28.83	25.87	28.83
1894	-1.34	-170.3	2252	3806	3527	3642	403.2	-19.6	153	1898	0.00	2.10	0.00	0.000	1030	0.000	0.023	2252	2419	3583	3526	3641	0	0	0	0	0	0	28.83	25.94	28.83
2204	-1.34	-170.3	2252	2415	3526	3639	464.0	-19.0	174	2208	0.00	2.20	0.00	0.000	260	0.000	0.041	2242	3791	3581	3524	3638	0	0	0	0	0	0	28.83	25.89	28.83
2294	-1.34	-170.3	2243	3792	3523	3639	481.9	-19.8	180	2298	0.00	2.12	0.00	0.000	1030	0.000	0.023	2242	2391	3580	3523	3638	0	0	0	0	0	0	28.83	25.96	28.83
2609	-1.34	-170.3	2243	2388	3521	3634	543.5	-19.7	201	2613	0.00	2.25	0.00	0.000	260	0.000	0.042	2232	3795	3577	3521	3634	0	0	0	0	0	0	28.83	25.86	28.83
2649	-1.34	-170.3	2233	3795	3520	3634	549.7	-20.2	203	2657	0.10	2.12	0.00	0.000	3078	0.154	0.023	2261	2377	3576	3519	3634	0	0	0	0	0	0	25.47	25.93	28.83
2923	end dive: TARGET_DEPTH_EXCEEDED
state	2923	begin apogee
2927	-0.25	0.0	2262	2575	3519	3631	602.1	-18.2	222	3063	1.17	0.00	132.10	0.858	10246	0.134	0.000	2615	2575	2879	2885	2874	0	0	0	0	0	0	25.52	28.83	24.25
3063	end apogee: CONTROL_FINISHED_OK
state	3063	begin climb
3065	1.34	170.3	2616	2575	2885	2873	607.8	0.0	231	3213	1.45	1.98	135.27	0.837	10500	0.072	0.045	3114	3783	2180	2240	2121	0	0	0	0	0	0	24.90	24.78	24.14
3236	1.34	170.3	3114	3784	2238	2119	592.6	14.0	242	3244	0.00	1.85	0.00	0.000	1030	0.000	0.024	3123	2606	2177	2237	2118	0	0	0	0	0	0	28.83	25.10	28.83
3542	1.34	170.3	3124	2605	2233	2112	540.3	16.2	263	3546	0.00	2.22	0.00	0.000	516	0.000	0.038	3133	1176	2171	2232	2111	0	0	0	0	0	0	28.83	25.67	28.83
3576	1.34	170.3	3133	1176	2232	2110	535.4	16.3	265	3581	0.00	2.20	0.00	0.000	1030	0.000	0.032	3133	2571	2170	2231	2110	0	0	0	0	0	0	28.83	25.74	28.83
3887	1.34	170.3	3133	2571	2228	2108	481.9	17.1	286	3888	0.00	0.00	0.00	0.000	6	0.000	0.000	3133	2571	2167	2226	2108	0	0	0	0	0	0	28.83	28.83	28.83
4187	1.34	170.3	3134	2571	2222	2107	429.6	17.5	306	4188	0.00	0.00	0.00	0.000	6	0.000	0.000	3133	2571	2167	2228	2107	0	0	0	0	0	0	28.83	28.83	28.83
4487	1.34	170.3	3134	2571	2219	2106	378.9	17.0	326	4491	0.00	1.90	0.00	0.000	260	0.000	0.044	3133	3795	2161	2218	2105	0	0	0	0	0	0	28.83	25.82	28.83
4557	1.34	170.3	3133	3795	2219	2105	367.9	18.5	330	4564	0.00	1.85	0.00	0.000	1030	0.000	0.026	3143	2573	2161	2217	2105	0	0	0	0	0	0	28.83	25.88	28.83
4862	1.34	170.3	3143	2555	2217	2103	310.8	17.7	351	4866	0.00	1.95	0.00	0.000	260	0.000	0.044	3143	3793	2159	2216	2102	0	0	0	0	0	0	28.83	25.82	28.83
4881	1.34	170.3	3143	3793	2217	2102	308.1	17.7	352	4886	0.00	1.85	0.00	0.000	1030	0.000	0.025	3152	2581	2159	2216	2102	0	0	0	0	0	0	28.83	25.87	28.83
5192	1.34	170.3	3152	2578	2215	2100	251.1	18.0	373	5196	0.00	2.17	0.00	0.000	516	0.000	0.039	3162	1172	2156	2213	2100	0	0	0	0	0	0	28.83	25.79	28.83
5222	1.34	170.3	3162	1173	2213	2099	245.8	18.1	375	5226	0.10	2.20	0.00	0.000	5126	0.151	0.032	3133	2576	2155	2212	2099	0	0	0	0	0	0	25.45	25.85	28.83
5538	1.34	170.3	3133	2576	2212	2098	191.3	17.0	396	5538	0.00	0.00	0.00	0.000	6	0.000	0.000	3133	2576	2154	2211	2098	0	0	0	0	0	0	28.83	28.83	28.83
5837	1.34	170.3	3133	2576	2210	2097	142.9	16.9	416	5841	0.00	1.88	0.00	0.000	260	0.000	0.042	3133	3791	2153	2209	2097	0	0	0	0	0	0	28.83	25.82	28.83
6171	1.34	170.3	3134	3795	2210	2098	86.3	16.2	441	6179	0.00	1.85	0.00	0.000	1030	0.000	0.024	3141	2573	2152	2208	2097	0	0	0	0	0	0	28.83	25.82	28.83
6297	1.35	174.1	3141	2567	2209	2096	68.8	12.3	454	6298	0.00	0.00	0.00	0.000	6	0.000	0.000	3141	2571	2149	2202	2096	0	0	0	0	0	0	28.83	28.83	28.83
6417	1.44	219.5	3141	2554	2210	2102	55.3	10.2	466	6450	0.00	0.00	31.95	0.496	8710	0.000	0.000	3141	2554	1984	2043	1926	0	0	0	0	0	0	28.83	28.83	25.18
6568	1.59	294.4	3142	2554	2037	1920	41.7	8.7	490	6630	0.17	2.03	55.62	0.479	10500	0.065	0.041	3223	3803	1674	1738	1611	0	0	0	0	0	0	25.71	25.36	24.89
6689	1.59	294.4	3223	3803	1734	1608	25.9	17.2	512	6697	0.00	1.90	0.00	0.000	1030	0.000	0.024	3232	2576	1670	1733	1608	0	0	0	0	0	0	28.83	25.52	28.83
6755	1.59	294.4	3233	2577	1733	1606	15.8	15.0	525	6763	0.00	2.20	0.00	0.000	516	0.000	0.037	3242	1162	1668	1732	1605	0	0	0	0	0	0	28.83	25.59	28.83
6772	1.59	294.4	3242	1162	1735	1605	13.3	15.6	528	6780	0.10	2.22	0.00	0.000	5126	0.145	0.031	3213	2574	1668	1733	1604	0	0	0	0	0	0	25.32	25.61	28.83
6839	1.74	370.0	3213	2575	1732	1604	4.8	8.7	541	6883	0.10	1.95	38.62	0.054	10500	0.091	0.043	3265	3809	1369	1455	1284	0	0	0	0	0	0	25.67	25.63	25.60
6886	end climb: SURFACE_DEPTH_REACHED
state	6886	begin surface coast
6927	end surface coast: CONTROL_FINISHED_OK
state	6927	begin surface