Glider dive log

GulfOfMexico Jul15 * SG161 * Dive index * Mission links * Dive 49 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 161 HD_C 9.0100002e-06 ROLL_MAX 3769 ALTIM_BOTTOM_TURN_MARGIN 20

MISSION 11 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 49 ESCAPE_HEADING 0 C_ROLL_DIVE 2675 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2300 ALTIM_PING_DEPTH 80

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 79 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 500 R_STBD_OVSHOOT 47 XPDR_VALID 5

D_BOOST 20 N_FILEKB 8 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 2 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.63999999

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 2839 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 0.0012300001 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 100 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE -1

RELAUNCH 1 PITCH_MIN 151 AH0_10V 100 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3948 MINV_24V 19 SIM_PITCH 0

MAX_BUOY 175 C_PITCH 2930 MINV_10V 8 SEABIRD_T_G 0.0043775463

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_H 0.00063860236

GLIDE_SLOPE 30 PITCH_CNV 0.003125763 FG_AHR_24V 0 SEABIRD_T_I 2.5706517e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PHONE_SUPPLY 2 SEABIRD_T_J 2.822896e-06

RHO 1.0275 P_OVSHOOT_WITHG 0.079999998 PRESSURE_YINT -20.182438 SEABIRD_C_G -9.9098063

MASS 51942 PITCH_GAIN 21 PRESSURE_SLOPE 0.00011628441 SEABIRD_C_H 1.1132913

MASS_COMP 0 PITCH_TIMEOUT 16 AD7714Ch0Gain 128 SEABIRD_C_I -0.00039731048

NAV_MODE 0 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00011278767

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 0.00154 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 MI_RESTARTMONITOR 0.0

HD_B 0.0145 ROLL_MIN 192 ALTIM_TOP_PING_RANGE 0 MI_NOTIFYMOTORS 0.0

AD7714Ch0Gain 128 D_PITCH 0 N_NOCOMM 1 SEABIRD_T_I 2.5706517e-05

AH0_10V 100 D_SAFE 0 N_NOSURFACE 0 SEABIRD_T_J 2.822896e-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 20 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 80 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 21 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3948 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 151 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.00154 PITCH_TIMEOUT 16 TGT_DEFAULT_LAT 27.983

CALL_NDIVES 1 HD_B 0.0145 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -87.467003

CALL_TRIES 5 HD_C 9.0100002e-06 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 0.00011628441 T_DIVE 150

CAPUPLOAD 0 HEAPDBG 0 PRESSURE_YINT -20.182438 T_EPIRB 0

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 73 T_GPS 15

COMM_SEQ 0 ID 161 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 -0.63999999 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 2930 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN 540

C_ROLL_CLIMB 2300 LOGGERDEVICE3 -1 RELAUNCH 1 T_TURN_SAMPINT 5

C_ROLL_DIVE 2675 LOGGERDEVICE4 -1 RHO 1.0275 T_WATCHDOG 10

C_VBD 2839 LOGGERS 1 ROLL_ADJ_DBAND 0 UNCOM_BLEED 50

DBDW 0 MASS 51942 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS_COMP 0 ROLL_AD_RATE 300 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 3769 VBD_CNV -0.245296

DEVICE4 -1 MISSION 11 ROLL_MAXERRORS 2 VBD_DBAND 2

DEVICE5 -1 MI_NOTIFYMOTORS 0.0 ROLL_MIN 192 VBD_MAX 3960

DEVICE6 -1 MI_OFFLOAD 1.0 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 49 MI_POWERSOURCE 0.0 R_PORT_OVSHOOT 79 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 -9.9098063 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 NAV_MODE 0 SEABIRD_C_H 1.1132913 VBD_TIMEOUT 720

D_FINISH 0 NOCOMM_ACTION 0 SEABIRD_C_I -0.00039731048 W_ADJ_DBAND 0

D_FLARE 5 N_DIVES 0 SEABIRD_C_J 0.00011278767 XPDR_DEVICE -1

D_NO_BLEED 500 N_FILEKB 8 SEABIRD_T_G 0.0043775463 XPDR_INHIBIT 90

D_OFFGRID 100 N_GPS 20 SEABIRD_T_H 0.00063860236 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 250715,074243,2757.544,-8726.230,33,1.1,43,-2.0 SPEED_LIMITS 0.231,0.246

_CALLS 1 TGT_NAME T2

_XMS_NAKs 0 TGT_LATLONG 2804.720,-8731.100

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.33 MHEAD_RNG_PITCHd_Wd 330.5,15780,-20.9,-13.333,-28.42,1905

_SM_ANGLEo -65.4 D_GRID 600

GPS2 250715,075136,2757.458,-8726.048,5,0.8,15,-2.0

Post-dive calculations and measurements:

FINISH 0.9,1.021603 MI_HOME 3.2/436550/422396

SM_CCo 7866,79.38,0.350,1,0,798,500.16 _24V_AH 23.90,54.505

SM_GC 1.74,8.60,2.72,79.38,0.034,0.024,0.350,156,2700,798,-8.60,-0.99,500.16,0,0,0,0,1,0,25.57,25.65,24.63 _10V_AH 10.01,20.934

IRIDIUM_FIX 2722.64,-8719.43,200508,211345 FG_AHR_24Vo 0.000

TT8_MAMPS 0.098119,0.098119 FG_AHR_10Vo 0.000

HUMID 40.11 MEM 296028

INTERNAL_PRESSURE 9.14553 DATA_FILE_SIZE 20134,612

TCM_TEMP 24.30 CAP_FILE_SIZE 98092,0

MI_MIVER 0.4 CFSIZE 260034560,254246912

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 104 INTR 0,8554.41,0x236bc6,7,5

MI_LOG 3.5/516052/497956 GPS 250715,100502,2758.116,-8726.132,18,0.7,28,-2.0

MI_ROOT 70.6/190403/56003

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 228 115.35 SBE_CT 408 23 226.78

Roll_motor 82 37 73.80 nil 0 0 0.00

VBD_pump_during_apogee 417 791 7888.17 nil 0 0 0.00

VBD_pump_during_surface 79 349 663.22 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 61 50.04 nil 0 0 0.00

Iridium_during_connect 62 160 240.91 MIB 8551 42 8771.11

Iridium_during_xfer 152 223 814.32 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 8551 37 7621.18

GPS 16 31 5.21

TT8 0 0 0.00

LPSleep 5746 0 22.43

TT8_Active 590 13 78.11

TT8_Sampling 1905 40 780.33

TT8_CF8 91 48 44.29

TT8_Kalman 0 0 0.00

Analog_circuits 1262 16 202.27

GPS_charging 0 0 0.00

Compass 1198 15 188.73

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 -1.21 -170.3 145 2688 891 698 0.0 0.0 0 81 0.00 0.00 -63.95 0.000 16386 0.000 0.000 145 2688 2862 2843 2882 0 0 0 0 0 0 28.83 28.83 28.83

82 -1.21 -170.3 145 2689 2845 2883 5.4 -12.0 10 108 9.82 2.15 -10.38 0.000 18948 0.229 0.037 2535 1260 3538 3564 3512 0 0 0 0 0 0 24.93 25.58 25.70

207 -1.21 -170.3 2534 1261 3567 3512 52.0 -30.9 34 211 0.00 2.17 0.00 0.000 1030 0.000 0.030 2527 2674 3539 3566 3512 0 0 0 0 0 0 28.83 25.63 28.83

338 -1.21 -170.3 2527 2675 3569 3513 87.0 -24.7 47 338 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2674 3539 3567 3512 0 0 0 0 0 0 28.83 28.83 28.83

457 -1.21 -170.3 2527 2675 3571 3512 114.5 -21.3 57 461 0.00 2.08 0.00 0.000 516 0.000 0.023 2527 1277 3540 3570 3511 0 0 0 0 0 0 28.83 25.76 28.83

547 -1.21 -170.3 2531 1277 3573 3512 132.9 -19.8 63 551 0.00 2.15 0.00 0.000 1030 0.000 0.030 2518 2681 3541 3571 3512 0 0 0 0 0 0 28.83 25.75 28.83

862 -1.21 -170.3 2518 2683 3581 3512 193.8 -19.6 84 866 0.00 2.08 0.00 0.000 516 0.000 0.024 2518 1278 3543 3574 3512 0 0 0 0 0 0 28.83 25.82 28.83

942 -1.21 -170.3 2518 1278 3574 3513 208.6 -19.6 89 947 0.10 2.15 0.00 0.000 3078 0.155 0.030 2538 2678 3543 3574 3512 0 0 0 0 0 0 25.29 25.77 28.83

1253 -1.21 -170.3 2538 2683 3575 3513 264.5 -17.9 110 1256 0.00 2.05 0.00 0.000 516 0.000 0.024 2539 1260 3543 3574 3512 0 0 0 0 0 0 28.83 25.84 28.83

1337 -1.21 -170.3 2538 1261 3576 3512 277.5 -17.0 115 1345 0.00 2.17 0.00 0.000 1030 0.000 0.031 2533 2676 3543 3574 3512 0 0 0 0 0 0 28.83 25.79 28.83

1642 -1.21 -170.3 2534 2677 3574 3510 331.7 -17.2 136 1643 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2676 3541 3573 3509 0 0 0 0 0 0 28.83 28.83 28.83

1942 -1.21 -170.3 2534 2676 3574 3507 384.1 -17.8 156 1946 0.00 2.10 0.00 0.000 516 0.000 0.024 2533 1277 3539 3573 3506 0 0 0 0 0 0 28.83 25.82 28.83

2007 -1.21 -170.3 2534 1277 3574 3507 394.4 -17.2 160 2011 0.00 2.17 0.00 0.000 1030 0.000 0.031 2524 2678 3540 3574 3506 0 0 0 0 0 0 28.83 25.77 28.83

2318 -1.21 -170.3 2523 2679 3573 3504 450.1 -17.7 181 2321 0.00 2.10 0.00 0.000 516 0.000 0.025 2524 1281 3537 3572 3503 0 0 0 0 0 0 28.83 25.80 28.83

2392 -1.21 -170.3 2525 1281 3571 3503 463.3 -17.3 186 2396 0.00 2.17 0.00 0.000 1030 0.000 0.032 2514 2679 3537 3571 3503 0 0 0 0 0 0 28.83 25.77 28.83

2707 -1.21 -170.3 2515 2680 3568 3500 521.1 -18.4 207 2711 0.00 2.12 0.00 0.000 516 0.000 0.026 2514 1282 3533 3568 3499 0 0 0 0 0 0 28.83 25.45 28.83

2742 -1.21 -170.3 2515 1283 3568 3500 526.8 -18.5 209 2746 0.10 2.17 0.00 0.000 3078 0.148 0.033 2536 2674 3533 3568 3499 0 0 0 0 0 0 25.31 25.72 28.83

3053 -1.21 -170.3 2537 2674 3566 3496 581.0 -17.5 230 3056 0.00 2.12 0.00 0.000 516 0.000 0.025 2536 1255 3530 3565 3495 0 0 0 0 0 0 28.83 25.39 28.83

3117 -1.21 -170.3 2537 1256 3565 3496 591.0 -16.9 234 3121 0.00 2.20 0.00 0.000 1030 0.000 0.031 2528 2672 3530 3565 3495 0 0 0 0 0 0 28.83 25.67 28.83

3171 end dive: TARGET_DEPTH_EXCEEDED

state 3171 begin apogee

3175 -0.24 0.0 2528 2293 3566 3495 601.3 -17.2 238 3312 1.02 0.00 134.12 0.791 10246 0.116 0.000 2851 2297 2840 2941 2740 0 0 0 0 0 0 25.27 28.83 23.98

3313 end apogee: CONTROL_FINISHED_OK

state 3313 begin climb

3314 1.21 170.3 2852 2293 2940 2741 607.2 0.0 247 3461 1.30 2.20 137.50 0.783 10756 0.062 0.030 3326 912 2140 2229 2051 0 0 0 0 0 0 24.84 24.76 23.90

3650 1.21 170.3 3327 913 2222 2051 576.4 14.6 269 3658 0.00 2.17 0.00 0.000 1030 0.000 0.027 3326 2320 2136 2222 2050 0 0 0 0 0 0 28.83 25.54 28.83

3955 1.21 170.3 3326 2321 2220 2049 529.4 14.7 290 3959 0.00 2.15 0.00 0.000 516 0.000 0.029 3335 905 2133 2218 2048 0 0 0 0 0 0 28.83 25.72 28.83

4030 1.21 170.3 3335 906 2218 2049 518.6 14.4 295 4034 0.00 2.15 0.00 0.000 1030 0.000 0.028 3335 2303 2132 2217 2048 0 0 0 0 0 0 28.83 25.75 28.83

4346 1.21 170.3 3335 2304 2215 2046 472.3 14.4 316 4347 0.00 0.00 0.00 0.000 6 0.000 0.000 3336 2303 2130 2214 2047 0 0 0 0 0 0 28.83 28.83 28.83

4646 1.21 170.3 3336 2304 2211 2046 428.7 14.6 336 4649 0.00 2.12 0.00 0.000 516 0.000 0.031 3345 916 2128 2211 2045 0 0 0 0 0 0 28.83 25.79 28.83

4765 1.21 170.3 3346 916 2210 2045 410.9 14.9 344 4769 0.00 2.12 0.00 0.000 1030 0.000 0.027 3345 2297 2128 2211 2045 0 0 0 0 0 0 28.83 25.76 28.83

5081 1.21 170.3 3345 2299 2210 2044 364.2 14.6 365 5084 0.00 2.12 0.00 0.000 516 0.000 0.030 3354 878 2126 2208 2044 0 0 0 0 0 0 28.83 25.74 28.83

5195 1.21 170.3 3354 878 2209 2044 349.3 14.1 372 5203 0.10 2.17 0.00 0.000 5126 0.139 0.028 3325 2298 2125 2207 2043 0 0 0 0 0 0 25.18 25.72 28.83

5501 1.21 174.8 3325 2299 2206 2041 307.5 13.1 393 5502 0.00 0.00 0.00 0.000 6 0.000 0.000 3324 2300 2124 2206 2042 0 0 0 0 0 0 28.83 28.83 28.83

5801 1.21 175.1 3324 2299 2206 2041 267.5 13.3 413 5801 0.00 0.00 0.00 0.000 6 0.000 0.000 3324 2298 2123 2205 2041 0 0 0 0 0 0 28.83 28.83 28.83

6100 1.21 175.1 3323 2299 2205 2041 226.6 13.8 433 6104 0.00 2.20 0.00 0.000 516 0.000 0.030 3332 908 2122 2204 2040 0 0 0 0 0 0 28.83 24.94 28.83

6131 1.21 175.1 3331 908 2206 2041 222.4 14.0 435 6134 0.00 2.12 0.00 0.000 1030 0.000 0.027 3332 2303 2122 2204 2041 0 0 0 0 0 0 28.83 25.80 28.83

6445 1.21 175.1 3332 2302 2203 2041 177.7 14.5 456 6450 0.00 2.12 0.00 0.000 516 0.000 0.029 3341 918 2121 2203 2040 0 0 0 0 0 0 28.83 25.67 28.83

6535 1.21 175.1 3341 918 2204 2041 165.2 14.0 462 6540 0.00 2.12 0.00 0.000 1030 0.000 0.025 3341 2293 2121 2202 2041 0 0 0 0 0 0 28.83 25.31 28.83

6850 1.21 175.1 3342 2293 2202 2040 120.9 14.0 483 6854 0.00 2.12 0.00 0.000 516 0.000 0.028 3350 907 2121 2202 2040 0 0 0 0 0 0 28.83 25.63 28.83

7001 1.23 194.0 3351 908 2201 2040 101.6 12.3 493 7024 0.00 2.12 16.10 0.439 9222 0.000 0.026 3350 2304 2045 2128 1963 0 0 0 0 0 0 28.83 25.71 24.71

7141 1.28 229.9 3351 2304 2124 1963 84.9 11.4 507 7174 0.00 2.12 28.98 0.453 8708 0.000 0.029 3352 912 1899 1982 1817 0 0 0 0 0 0 28.83 25.49 24.72

7298 1.29 240.6 3352 912 1979 1817 66.3 12.8 522 7316 0.00 2.12 9.52 0.392 9222 0.000 0.025 3353 2302 1855 1939 1772 0 0 0 0 0 0 28.83 25.56 24.69

7433 1.37 307.4 3352 2303 1938 1772 51.7 9.7 536 7491 0.00 2.12 52.20 0.428 8708 0.000 0.028 3356 911 1584 1675 1494 0 0 0 0 0 0 28.83 25.37 24.66

7520 1.43 355.0 3355 912 1672 1495 43.5 10.8 549 7564 0.00 2.12 38.83 0.417 9222 0.000 0.025 3356 2288 1388 1481 1296 0 0 0 0 0 0 28.83 25.39 24.49

7623 1.43 355.0 3355 2290 1478 1295 30.6 13.6 568 7624 0.05 0.00 0.00 0.000 2054 0.169 0.000 3380 2289 1386 1477 1295 0 0 0 0 0 0 25.13 28.83 28.83

7684 1.43 355.0 3381 2290 1475 1295 22.3 14.3 580 7691 0.00 2.22 0.00 0.000 260 0.000 0.036 3380 3712 1384 1475 1294 0 0 0 0 0 0 28.83 25.44 28.83

7700 1.43 355.0 3380 3712 1476 1295 20.0 14.2 583 7707 0.00 2.12 0.00 0.000 1030 0.000 0.021 3387 2291 1384 1474 1294 0 0 0 0 0 0 28.83 25.56 28.83

7766 1.44 359.0 3387 2290 1474 1300 11.0 13.1 596 7774 0.00 2.05 0.00 0.000 516 0.000 0.027 3397 920 1383 1473 1293 0 0 0 0 0 0 28.83 25.58 28.83

7827 end climb: SURFACE_DEPTH_REACHED

state 7827 begin surface coast

7847 end surface coast: CONTROL_FINISHED_OK

state 7847 begin surface

ID	161	HD_C	9.0100002e-06	ROLL_MAX	3769	ALTIM_BOTTOM_TURN_MARGIN	20
MISSION	11	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	49	ESCAPE_HEADING	0	C_ROLL_DIVE	2675	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2300	ALTIM_PING_DEPTH	80
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	79	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	500	R_STBD_OVSHOOT	47	XPDR_VALID	5
D_BOOST	20	N_FILEKB	8	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	2	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.63999999
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	2839	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	0.0012300001	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	100	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_MIN	151	AH0_10V	100	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3948	MINV_24V	19	SIM_PITCH	0
MAX_BUOY	175	C_PITCH	2930	MINV_10V	8	SEABIRD_T_G	0.0043775463
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_T_H	0.00063860236
GLIDE_SLOPE	30	PITCH_CNV	0.003125763	FG_AHR_24V	0	SEABIRD_T_I	2.5706517e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PHONE_SUPPLY	2	SEABIRD_T_J	2.822896e-06
RHO	1.0275	P_OVSHOOT_WITHG	0.079999998	PRESSURE_YINT	-20.182438	SEABIRD_C_G	-9.9098063
MASS	51942	PITCH_GAIN	21	PRESSURE_SLOPE	0.00011628441	SEABIRD_C_H	1.1132913
MASS_COMP	0	PITCH_TIMEOUT	16	AD7714Ch0Gain	128	SEABIRD_C_I	-0.00039731048
NAV_MODE	0	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00011278767
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	0.00154	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	MI_RESTARTMONITOR	0.0
HD_B	0.0145	ROLL_MIN	192	ALTIM_TOP_PING_RANGE	0	MI_NOTIFYMOTORS	0.0

GPS1	250715,074243,2757.544,-8726.230,33,1.1,43,-2.0	SPEED_LIMITS	0.231,0.246
_CALLS	1	TGT_NAME	T2
_XMS_NAKs	0	TGT_LATLONG	2804.720,-8731.100
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.33	MHEAD_RNG_PITCHd_Wd	330.5,15780,-20.9,-13.333,-28.42,1905
_SM_ANGLEo	-65.4	D_GRID	600
GPS2	250715,075136,2757.458,-8726.048,5,0.8,15,-2.0

FINISH	0.9,1.021603	MI_HOME	3.2/436550/422396
SM_CCo	7866,79.38,0.350,1,0,798,500.16	_24V_AH	23.90,54.505
SM_GC	1.74,8.60,2.72,79.38,0.034,0.024,0.350,156,2700,798,-8.60,-0.99,500.16,0,0,0,0,1,0,25.57,25.65,24.63	_10V_AH	10.01,20.934
IRIDIUM_FIX	2722.64,-8719.43,200508,211345	FG_AHR_24Vo	0.000
TT8_MAMPS	0.098119,0.098119	FG_AHR_10Vo	0.000
HUMID	40.11	MEM	296028
INTERNAL_PRESSURE	9.14553	DATA_FILE_SIZE	20134,612
TCM_TEMP	24.30	CAP_FILE_SIZE	98092,0
MI_MIVER	0.4	CFSIZE	260034560,254246912
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	104	INTR	0,8554.41,0x236bc6,7,5
MI_LOG	3.5/516052/497956	GPS	250715,100502,2758.116,-8726.132,18,0.7,28,-2.0
MI_ROOT	70.6/190403/56003

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	228	115.35	SBE_CT	408	23	226.78
Roll_motor	82	37	73.80	nil	0	0	0.00
VBD_pump_during_apogee	417	791	7888.17	nil	0	0	0.00
VBD_pump_during_surface	79	349	663.22	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	61	50.04	nil	0	0	0.00
Iridium_during_connect	62	160	240.91	MIB	8551	42	8771.11
Iridium_during_xfer	152	223	814.32	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	8551	37	7621.18
GPS	16	31	5.21
TT8	0	0	0.00
LPSleep	5746	0	22.43
TT8_Active	590	13	78.11
TT8_Sampling	1905	40	780.33
TT8_CF8	91	48	44.29
TT8_Kalman	0	0	0.00
Analog_circuits	1262	16	202.27
GPS_charging	0	0	0.00
Compass	1198	15	188.73
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	-1.21	-170.3	145	2688	891	698	0.0	0.0	0	81	0.00	0.00	-63.95	0.000	16386	0.000	0.000	145	2688	2862	2843	2882	0	0	0	0	0	0	28.83	28.83	28.83
82	-1.21	-170.3	145	2689	2845	2883	5.4	-12.0	10	108	9.82	2.15	-10.38	0.000	18948	0.229	0.037	2535	1260	3538	3564	3512	0	0	0	0	0	0	24.93	25.58	25.70
207	-1.21	-170.3	2534	1261	3567	3512	52.0	-30.9	34	211	0.00	2.17	0.00	0.000	1030	0.000	0.030	2527	2674	3539	3566	3512	0	0	0	0	0	0	28.83	25.63	28.83
338	-1.21	-170.3	2527	2675	3569	3513	87.0	-24.7	47	338	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2674	3539	3567	3512	0	0	0	0	0	0	28.83	28.83	28.83
457	-1.21	-170.3	2527	2675	3571	3512	114.5	-21.3	57	461	0.00	2.08	0.00	0.000	516	0.000	0.023	2527	1277	3540	3570	3511	0	0	0	0	0	0	28.83	25.76	28.83
547	-1.21	-170.3	2531	1277	3573	3512	132.9	-19.8	63	551	0.00	2.15	0.00	0.000	1030	0.000	0.030	2518	2681	3541	3571	3512	0	0	0	0	0	0	28.83	25.75	28.83
862	-1.21	-170.3	2518	2683	3581	3512	193.8	-19.6	84	866	0.00	2.08	0.00	0.000	516	0.000	0.024	2518	1278	3543	3574	3512	0	0	0	0	0	0	28.83	25.82	28.83
942	-1.21	-170.3	2518	1278	3574	3513	208.6	-19.6	89	947	0.10	2.15	0.00	0.000	3078	0.155	0.030	2538	2678	3543	3574	3512	0	0	0	0	0	0	25.29	25.77	28.83
1253	-1.21	-170.3	2538	2683	3575	3513	264.5	-17.9	110	1256	0.00	2.05	0.00	0.000	516	0.000	0.024	2539	1260	3543	3574	3512	0	0	0	0	0	0	28.83	25.84	28.83
1337	-1.21	-170.3	2538	1261	3576	3512	277.5	-17.0	115	1345	0.00	2.17	0.00	0.000	1030	0.000	0.031	2533	2676	3543	3574	3512	0	0	0	0	0	0	28.83	25.79	28.83
1642	-1.21	-170.3	2534	2677	3574	3510	331.7	-17.2	136	1643	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2676	3541	3573	3509	0	0	0	0	0	0	28.83	28.83	28.83
1942	-1.21	-170.3	2534	2676	3574	3507	384.1	-17.8	156	1946	0.00	2.10	0.00	0.000	516	0.000	0.024	2533	1277	3539	3573	3506	0	0	0	0	0	0	28.83	25.82	28.83
2007	-1.21	-170.3	2534	1277	3574	3507	394.4	-17.2	160	2011	0.00	2.17	0.00	0.000	1030	0.000	0.031	2524	2678	3540	3574	3506	0	0	0	0	0	0	28.83	25.77	28.83
2318	-1.21	-170.3	2523	2679	3573	3504	450.1	-17.7	181	2321	0.00	2.10	0.00	0.000	516	0.000	0.025	2524	1281	3537	3572	3503	0	0	0	0	0	0	28.83	25.80	28.83
2392	-1.21	-170.3	2525	1281	3571	3503	463.3	-17.3	186	2396	0.00	2.17	0.00	0.000	1030	0.000	0.032	2514	2679	3537	3571	3503	0	0	0	0	0	0	28.83	25.77	28.83
2707	-1.21	-170.3	2515	2680	3568	3500	521.1	-18.4	207	2711	0.00	2.12	0.00	0.000	516	0.000	0.026	2514	1282	3533	3568	3499	0	0	0	0	0	0	28.83	25.45	28.83
2742	-1.21	-170.3	2515	1283	3568	3500	526.8	-18.5	209	2746	0.10	2.17	0.00	0.000	3078	0.148	0.033	2536	2674	3533	3568	3499	0	0	0	0	0	0	25.31	25.72	28.83
3053	-1.21	-170.3	2537	2674	3566	3496	581.0	-17.5	230	3056	0.00	2.12	0.00	0.000	516	0.000	0.025	2536	1255	3530	3565	3495	0	0	0	0	0	0	28.83	25.39	28.83
3117	-1.21	-170.3	2537	1256	3565	3496	591.0	-16.9	234	3121	0.00	2.20	0.00	0.000	1030	0.000	0.031	2528	2672	3530	3565	3495	0	0	0	0	0	0	28.83	25.67	28.83
3171	end dive: TARGET_DEPTH_EXCEEDED
state	3171	begin apogee
3175	-0.24	0.0	2528	2293	3566	3495	601.3	-17.2	238	3312	1.02	0.00	134.12	0.791	10246	0.116	0.000	2851	2297	2840	2941	2740	0	0	0	0	0	0	25.27	28.83	23.98
3313	end apogee: CONTROL_FINISHED_OK
state	3313	begin climb
3314	1.21	170.3	2852	2293	2940	2741	607.2	0.0	247	3461	1.30	2.20	137.50	0.783	10756	0.062	0.030	3326	912	2140	2229	2051	0	0	0	0	0	0	24.84	24.76	23.90
3650	1.21	170.3	3327	913	2222	2051	576.4	14.6	269	3658	0.00	2.17	0.00	0.000	1030	0.000	0.027	3326	2320	2136	2222	2050	0	0	0	0	0	0	28.83	25.54	28.83
3955	1.21	170.3	3326	2321	2220	2049	529.4	14.7	290	3959	0.00	2.15	0.00	0.000	516	0.000	0.029	3335	905	2133	2218	2048	0	0	0	0	0	0	28.83	25.72	28.83
4030	1.21	170.3	3335	906	2218	2049	518.6	14.4	295	4034	0.00	2.15	0.00	0.000	1030	0.000	0.028	3335	2303	2132	2217	2048	0	0	0	0	0	0	28.83	25.75	28.83
4346	1.21	170.3	3335	2304	2215	2046	472.3	14.4	316	4347	0.00	0.00	0.00	0.000	6	0.000	0.000	3336	2303	2130	2214	2047	0	0	0	0	0	0	28.83	28.83	28.83
4646	1.21	170.3	3336	2304	2211	2046	428.7	14.6	336	4649	0.00	2.12	0.00	0.000	516	0.000	0.031	3345	916	2128	2211	2045	0	0	0	0	0	0	28.83	25.79	28.83
4765	1.21	170.3	3346	916	2210	2045	410.9	14.9	344	4769	0.00	2.12	0.00	0.000	1030	0.000	0.027	3345	2297	2128	2211	2045	0	0	0	0	0	0	28.83	25.76	28.83
5081	1.21	170.3	3345	2299	2210	2044	364.2	14.6	365	5084	0.00	2.12	0.00	0.000	516	0.000	0.030	3354	878	2126	2208	2044	0	0	0	0	0	0	28.83	25.74	28.83
5195	1.21	170.3	3354	878	2209	2044	349.3	14.1	372	5203	0.10	2.17	0.00	0.000	5126	0.139	0.028	3325	2298	2125	2207	2043	0	0	0	0	0	0	25.18	25.72	28.83
5501	1.21	174.8	3325	2299	2206	2041	307.5	13.1	393	5502	0.00	0.00	0.00	0.000	6	0.000	0.000	3324	2300	2124	2206	2042	0	0	0	0	0	0	28.83	28.83	28.83
5801	1.21	175.1	3324	2299	2206	2041	267.5	13.3	413	5801	0.00	0.00	0.00	0.000	6	0.000	0.000	3324	2298	2123	2205	2041	0	0	0	0	0	0	28.83	28.83	28.83
6100	1.21	175.1	3323	2299	2205	2041	226.6	13.8	433	6104	0.00	2.20	0.00	0.000	516	0.000	0.030	3332	908	2122	2204	2040	0	0	0	0	0	0	28.83	24.94	28.83
6131	1.21	175.1	3331	908	2206	2041	222.4	14.0	435	6134	0.00	2.12	0.00	0.000	1030	0.000	0.027	3332	2303	2122	2204	2041	0	0	0	0	0	0	28.83	25.80	28.83
6445	1.21	175.1	3332	2302	2203	2041	177.7	14.5	456	6450	0.00	2.12	0.00	0.000	516	0.000	0.029	3341	918	2121	2203	2040	0	0	0	0	0	0	28.83	25.67	28.83
6535	1.21	175.1	3341	918	2204	2041	165.2	14.0	462	6540	0.00	2.12	0.00	0.000	1030	0.000	0.025	3341	2293	2121	2202	2041	0	0	0	0	0	0	28.83	25.31	28.83
6850	1.21	175.1	3342	2293	2202	2040	120.9	14.0	483	6854	0.00	2.12	0.00	0.000	516	0.000	0.028	3350	907	2121	2202	2040	0	0	0	0	0	0	28.83	25.63	28.83
7001	1.23	194.0	3351	908	2201	2040	101.6	12.3	493	7024	0.00	2.12	16.10	0.439	9222	0.000	0.026	3350	2304	2045	2128	1963	0	0	0	0	0	0	28.83	25.71	24.71
7141	1.28	229.9	3351	2304	2124	1963	84.9	11.4	507	7174	0.00	2.12	28.98	0.453	8708	0.000	0.029	3352	912	1899	1982	1817	0	0	0	0	0	0	28.83	25.49	24.72
7298	1.29	240.6	3352	912	1979	1817	66.3	12.8	522	7316	0.00	2.12	9.52	0.392	9222	0.000	0.025	3353	2302	1855	1939	1772	0	0	0	0	0	0	28.83	25.56	24.69
7433	1.37	307.4	3352	2303	1938	1772	51.7	9.7	536	7491	0.00	2.12	52.20	0.428	8708	0.000	0.028	3356	911	1584	1675	1494	0	0	0	0	0	0	28.83	25.37	24.66
7520	1.43	355.0	3355	912	1672	1495	43.5	10.8	549	7564	0.00	2.12	38.83	0.417	9222	0.000	0.025	3356	2288	1388	1481	1296	0	0	0	0	0	0	28.83	25.39	24.49
7623	1.43	355.0	3355	2290	1478	1295	30.6	13.6	568	7624	0.05	0.00	0.00	0.000	2054	0.169	0.000	3380	2289	1386	1477	1295	0	0	0	0	0	0	25.13	28.83	28.83
7684	1.43	355.0	3381	2290	1475	1295	22.3	14.3	580	7691	0.00	2.22	0.00	0.000	260	0.000	0.036	3380	3712	1384	1475	1294	0	0	0	0	0	0	28.83	25.44	28.83
7700	1.43	355.0	3380	3712	1476	1295	20.0	14.2	583	7707	0.00	2.12	0.00	0.000	1030	0.000	0.021	3387	2291	1384	1474	1294	0	0	0	0	0	0	28.83	25.56	28.83
7766	1.44	359.0	3387	2290	1474	1300	11.0	13.1	596	7774	0.00	2.05	0.00	0.000	516	0.000	0.027	3397	920	1383	1473	1293	0	0	0	0	0	0	28.83	25.58	28.83
7827	end climb: SURFACE_DEPTH_REACHED
state	7827	begin surface coast
7847	end surface coast: CONTROL_FINISHED_OK
state	7847	begin surface