Glider dive log

Shilshole 07Mar12 * SG107 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 107 HEADING -1 ROLL_DEG 25 ALTIM_FREQUENCY 13

MISSION 24 ESCAPE_HEADING 0 C_ROLL_DIVE 3000 ALTIM_PULSE 3

DIVE 5 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2960 ALTIM_SENSITIVITY 2

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 XPDR_VALID 1

D_SURF 3 TGT_DEFAULT_LAT 40 ROLL_CNV 0.028270001 XPDR_INHIBIT 90

D_FLARE 3 TGT_DEFAULT_LON -71 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 90 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 32 INT_PRESSURE_YINT 1.35

D_ABORT 1090 SM_CC 300 R_STBD_OVSHOOT 20 DEEPGLIDER 0

D_NO_BLEED 40 N_FILEKB 4 ROLL_AD_RATE 350 DEEPGLIDERMB 0

D_BOOST 5 FILEMGR 0 ROLL_MAXERRORS 2 MOTHERBOARD 4

T_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEVICE1 2

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEVICE2 -1

D_PITCH 0 PROTOCOL 73 VBD_MIN 760 DEVICE3 -1

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3925 DEVICE4 -1

D_CALL 0 NOCOMM_ACTION 0 C_VBD 2921 DEVICE5 -1

SURFACE_URGENCY 0 N_NOSURFACE -3 VBD_DBAND 2 DEVICE6 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_TIMEOUT 720 LOGGERDEVICE1 83

T_DIVE 25 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE2 -1

T_MISSION 45 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE3 -1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE4 -1

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 COMPASS_DEVICE 33

T_TURN_SAMPINT 5 T_GPS 5 UNCOM_BLEED 50 COMPASS2_DEVICE -1

T_NO_W 120 N_GPS 20 VBD_MAXERRORS 1 PHONE_DEVICE 49

T_LOITER 0 T_GPS_ALMANAC 0 CF8_MAXERRORS 2 GPS_DEVICE 32

T_EPIRB 0 T_GPS_CHARGE -132932.41 AH0_24V 150 RAFOS_DEVICE -1

USE_BATHY -6 T_RSLEEP 5 AH0_10V 98 XPDR_DEVICE -1

USE_ICE 0 STROBE 0 MINV_24V 19 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 MINV_10V 8 SIM_PITCH 0

D_OFFGRID 101 RAFOS_CORR_THRESH 60 FG_AHR_10V 0 SEABIRD_T_G 0.0043459563

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 FG_AHR_24V 0 SEABIRD_T_H 0.00064505072

RELAUNCH 1 PITCH_MIN 152 PHONE_SUPPLY 2 SEABIRD_T_I 2.5503063e-05

APOGEE_PITCH -5 PITCH_MAX 3914 PRESSURE_YINT -10.988563 SEABIRD_T_J 2.7066912e-06

MAX_BUOY 150 C_PITCH 2560 PRESSURE_SLOPE 0.0001156423 SEABIRD_C_G -10.0667

COURSE_BIAS 0 PITCH_DBAND 0.1 AD7714Ch0Gain 128 SEABIRD_C_H 1.1389354

GLIDE_SLOPE 45 PITCH_CNV 0.0031256001 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0022760942

SPEED_FACTOR 0.80000001 P_OVSHOOT 0.039999999 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00024535603

RHO 1.027 PITCH_GAIN 30 COMPASS_USE 0 MI_OFFLOAD 1.0

MASS 52089 PITCH_TIMEOUT 18 ALTIM_BOTTOM_PING_RANGE 0 MI_POWERSOURCE 0.0

NAV_MODE 1 PITCH_AD_RATE 165 ALTIM_TOP_PING_RANGE 0 MI_RESTARTMONITOR 0.0

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0 MI_SCALEFACTOR24V 1.3

KALMAN_USE 1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 MI_NOTIFYMOTORS 0.0

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

HD_B 0.010078 ROLL_MIN 263 ALTIM_PING_DEPTH 0

HD_C 9.8541004e-06 ROLL_MAX 3810 ALTIM_PING_DELTA 0

AD7714Ch0Gain 128 D_PITCH 0 N_NOCOMM 1 SIM_W 0

AH0_10V 98 D_SAFE 0 N_NOSURFACE -3 SM_CC 300

AH0_24V 150 D_SURF 3 PHONE_DEVICE 49 SPEED_FACTOR 0.80000001

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 90 PHONE_SUPPLY 2 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_AD_RATE 165 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_CNV 0.0031256001 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_DBAND 0.1 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 30 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3914 TGT_DEFAULT_LAT 40

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 45 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -71

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_MIN 152 T_ABORT 1440

APOGEE_PITCH -5 HD_A 0.0038360001 PITCH_TIMEOUT 18 T_BOOST 0

CALL_NDIVES 1 HD_B 0.010078 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 25

CALL_TRIES 5 HD_C 9.8541004e-06 PRESSURE_SLOPE 0.0001156423 T_EPIRB 0

CALL_WAIT 60 HEADING -1 PRESSURE_YINT -10.988563 T_GPS 5

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PROTOCOL 73 T_GPS_ALMANAC 0

CAPUPLOAD 1 HEAPDBG 0 P_OVSHOOT 0.039999999 T_GPS_CHARGE -132932.41

CF8_MAXERRORS 2 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

COMM_SEQ 0 ID 107 RAFOS_DEVICE -1 T_MISSION 45

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_DEVICE 33 INT_PRESSURE_YINT 1.35 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 5

COMPASS_USE 0 KALMAN_USE 1 RELAUNCH 1 T_TURN 225

COURSE_BIAS 0 LOGGERDEVICE1 83 RHO 1.027 T_TURN_SAMPINT 5

C_PITCH 2560 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 2960 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_DIVE 3000 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_VBD 2921 LOGGERS 1 ROLL_CNV 0.028270001 USE_BATHY -6

DEEPGLIDER 0 MASS 52089 ROLL_DEG 25 USE_ICE 0

DEEPGLIDERMB 0 MAX_BUOY 150 ROLL_MAX 3810 VBD_BLEED_AD_RATE 8

DEVICE1 2 MINV_10V 8 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 19 ROLL_MIN 263 VBD_DBAND 2

DEVICE3 -1 MISSION 24 ROLL_TIMEOUT 15 VBD_MAX 3925

DEVICE4 -1 MI_NOTIFYMOTORS 0.0 R_PORT_OVSHOOT 32 VBD_MAXERRORS 1

DEVICE5 -1 MI_OFFLOAD 1.0 R_STBD_OVSHOOT 20 VBD_MIN 760

DEVICE6 -1 MI_POWERSOURCE 0.0 SEABIRD_C_G -10.0667 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 5 MI_RESTARTMONITOR 0.0 SEABIRD_C_H 1.1389354 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1090 MI_SCALEFACTOR24V 1.3 SEABIRD_C_I -0.0022760942 VBD_TIMEOUT 720

D_BOOST 5 MOTHERBOARD 4 SEABIRD_C_J 0.00024535603 XPDR_DEVICE -1

D_CALL 0 NAV_MODE 1 SEABIRD_T_G 0.0043459563 XPDR_INHIBIT 90

D_FINISH 0 NOCOMM_ACTION 0 SEABIRD_T_H 0.00064505072 XPDR_VALID 1

D_FLARE 3 N_DIVES 0 SEABIRD_T_I 2.5503063e-05

D_NO_BLEED 40 N_FILEKB 4 SEABIRD_T_J 2.7066912e-06

D_OFFGRID 101 N_GPS 20 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 070312,213646,4742.865,-12224.603,31,1.1,41,18.2 TGT_NAME WEST

_CALLS 1 TGT_LATLONG 4743.700,-12225.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.065,0.268

_SM_DEPTHo 0.62 KALMAN_X 228.6,165.1,128.2,-990.7,84.5

_SM_ANGLEo -80.3 KALMAN_Y -1384.6,-529.7,-187.2,1166.3,-343.6

GPS2 070312,214736,4742.709,-12224.604,16,1.9,26,18.2 MHEAD_RNG_PITCHd_Wd 328.1,1901,-21.2,-12.000

SPEED_LIMITS 0.096,0.220 D_GRID 179

Post-dive calculations and measurements:

FINISH -0.2,1.020913 MI_ROOT 70.6/190403/56032

SM_CCo 1063,56.30,0.140,0,0,1693,300.00 MI_HOME 2.4/436550/426083

SM_GC 0.83,7.47,0.10,56.30,0.051,0.119,0.140,146,3003,1693,-7.49,-0.57,300.00,0,0,0,0,0,0,25.84,25.28,25.63 _24V_AH 24.1,2.846

IRIDIUM_FIX 4751.72,-12340.51,070312,202018 _10V_AH 10.4,4.370

TT8_MAMPS 0.099617,0.099617 FG_AHR_24Vo 0.000

HUMID 36.88 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 8.94795 MEM 323364

TCM_TEMP 18.90 DATA_FILE_SIZE 6848,192

MI_MIVER 0.2 CAP_FILE_SIZE 40530,0

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 CFSIZE 260034560,245039104

MI_BOOTCOUNT 27 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MI_LOG 3.4/516052/498710 GPS 070312,220736,4742.743,-12224.768,11,1.4,21,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 263 116.54 SBE_CT 128 24 74.46

Roll_motor 11 118 33.36 nil 0 0 0.00

VBD_pump_during_apogee 116 1010 2840.36 nil 0 0 0.00

VBD_pump_during_surface 56 139 189.95 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 78.45 nil 0 0 0.00

Iridium_during_connect 37 160 143.46 MIB 1869 186 8410.09

Iridium_during_xfer 274 223 1476.30 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 1869 188 8494.66

GPS 27 50 14.30

TT8 0 0 0.00

LPSleep 396 0 1.61

TT8_Active 276 18 51.68

TT8_Sampling 889 38 351.51

TT8_CF8 112 44 51.51

TT8_Kalman 33 80 27.62

Analog_circuits 473 12 59.12

GPS_charging 0 0 0.00

Compass 284 15 44.39

RAFOS 0 0 0.00

Transponder 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl 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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.89 -146.1 0.0 0.0 0 99 0.00 0.00 -77.38 0.000 6 0.000 0.000 149 3009 3517 0 0 0 0 0 0 28.83 28.83 25.90

101 -0.89 -146.1 3.3 -8.8 13 115 9.07 0.00 0.00 0.000 6 0.263 0.000 2267 3008 3519 0 0 0 0 0 0 25.65 28.83 28.83

174 -0.89 -146.1 19.4 -16.5 27 181 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 3008 3520 0 0 0 0 0 0 28.83 28.83 28.83

241 -0.89 -146.1 30.0 -16.6 40 247 0.00 1.40 0.00 0.000 4 0.000 0.067 2263 3809 3520 0 0 0 0 0 0 28.83 25.37 28.83

251 -0.89 -146.1 32.1 -17.1 42 259 0.00 1.35 0.00 0.000 6 0.000 0.041 2267 2998 3520 0 0 0 0 0 0 28.83 26.01 28.83

318 -0.89 -146.1 43.9 -17.0 55 326 0.00 1.40 0.00 0.000 4 0.000 0.067 2262 3808 3520 0 0 0 0 0 0 28.83 25.99 28.83

391 -0.89 -146.1 57.4 -17.8 69 398 0.00 1.35 0.00 0.000 6 0.000 0.041 2267 2995 3520 0 0 0 0 0 0 28.83 25.39 28.83

517 -0.89 -146.1 78.6 -16.9 94 524 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 2995 3521 0 0 0 0 0 0 28.83 28.83 28.83

586 end dive: TARGET_DEPTH_EXCEEDED

state 586 begin apogee

590 -0.17 0.0 90.0 -16.5 108 655 0.80 0.00 57.45 1.011 6 0.174 0.000 2497 2993 2917 0 0 0 0 0 0 25.90 28.83 24.30

656 end apogee: CONTROL_FINISHED_OK

state 656 begin climb

657 0.89 146.1 93.1 0.0 118 722 1.02 0.00 59.17 0.980 6 0.092 0.000 2838 2993 2322 0 0 0 0 0 0 25.11 28.83 24.06

841 0.89 146.1 53.9 25.8 152 848 0.00 1.58 0.00 0.000 4 0.000 0.047 2846 2080 2316 0 0 0 0 0 0 28.83 25.54 28.83

863 0.89 146.1 47.9 27.3 156 870 0.00 1.55 0.00 0.000 6 0.000 0.062 2846 2963 2315 0 0 0 0 0 0 28.83 25.60 28.83

990 0.89 146.1 16.0 21.5 181 997 0.00 1.50 0.00 0.000 4 0.000 0.070 2846 3814 2314 0 0 0 0 0 0 28.83 25.77 28.83

1022 0.89 146.1 7.5 27.6 187 1029 0.00 1.45 0.00 0.000 6 0.000 0.041 2852 2956 2315 0 0 0 0 0 0 28.83 25.86 28.83

1038 end climb: SURFACE_DEPTH_REACHED

state 1038 begin surface coast

1047 end surface coast: CONTROL_FINISHED_OK

state 1047 begin surface

ID	107	HEADING	-1	ROLL_DEG	25	ALTIM_FREQUENCY	13
MISSION	24	ESCAPE_HEADING	0	C_ROLL_DIVE	3000	ALTIM_PULSE	3
DIVE	5	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2960	ALTIM_SENSITIVITY	2
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	XPDR_VALID	1
D_SURF	3	TGT_DEFAULT_LAT	40	ROLL_CNV	0.028270001	XPDR_INHIBIT	90
D_FLARE	3	TGT_DEFAULT_LON	-71	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	90	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	32	INT_PRESSURE_YINT	1.35
D_ABORT	1090	SM_CC	300	R_STBD_OVSHOOT	20	DEEPGLIDER	0
D_NO_BLEED	40	N_FILEKB	4	ROLL_AD_RATE	350	DEEPGLIDERMB	0
D_BOOST	5	FILEMGR	0	ROLL_MAXERRORS	2	MOTHERBOARD	4
T_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEVICE1	2
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEVICE2	-1
D_PITCH	0	PROTOCOL	73	VBD_MIN	760	DEVICE3	-1
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3925	DEVICE4	-1
D_CALL	0	NOCOMM_ACTION	0	C_VBD	2921	DEVICE5	-1
SURFACE_URGENCY	0	N_NOSURFACE	-3	VBD_DBAND	2	DEVICE6	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_TIMEOUT	720	LOGGERDEVICE1	83
T_DIVE	25	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE2	-1
T_MISSION	45	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE3	-1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE4	-1
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	COMPASS_DEVICE	33
T_TURN_SAMPINT	5	T_GPS	5	UNCOM_BLEED	50	COMPASS2_DEVICE	-1
T_NO_W	120	N_GPS	20	VBD_MAXERRORS	1	PHONE_DEVICE	49
T_LOITER	0	T_GPS_ALMANAC	0	CF8_MAXERRORS	2	GPS_DEVICE	32
T_EPIRB	0	T_GPS_CHARGE	-132932.41	AH0_24V	150	RAFOS_DEVICE	-1
USE_BATHY	-6	T_RSLEEP	5	AH0_10V	98	XPDR_DEVICE	-1
USE_ICE	0	STROBE	0	MINV_24V	19	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	MINV_10V	8	SIM_PITCH	0
D_OFFGRID	101	RAFOS_CORR_THRESH	60	FG_AHR_10V	0	SEABIRD_T_G	0.0043459563
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	FG_AHR_24V	0	SEABIRD_T_H	0.00064505072
RELAUNCH	1	PITCH_MIN	152	PHONE_SUPPLY	2	SEABIRD_T_I	2.5503063e-05
APOGEE_PITCH	-5	PITCH_MAX	3914	PRESSURE_YINT	-10.988563	SEABIRD_T_J	2.7066912e-06
MAX_BUOY	150	C_PITCH	2560	PRESSURE_SLOPE	0.0001156423	SEABIRD_C_G	-10.0667
COURSE_BIAS	0	PITCH_DBAND	0.1	AD7714Ch0Gain	128	SEABIRD_C_H	1.1389354
GLIDE_SLOPE	45	PITCH_CNV	0.0031256001	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0022760942
SPEED_FACTOR	0.80000001	P_OVSHOOT	0.039999999	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00024535603
RHO	1.027	PITCH_GAIN	30	COMPASS_USE	0	MI_OFFLOAD	1.0
MASS	52089	PITCH_TIMEOUT	18	ALTIM_BOTTOM_PING_RANGE	0	MI_POWERSOURCE	0.0
NAV_MODE	1	PITCH_AD_RATE	165	ALTIM_TOP_PING_RANGE	0	MI_RESTARTMONITOR	0.0
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0	MI_SCALEFACTOR24V	1.3
KALMAN_USE	1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	MI_NOTIFYMOTORS	0.0
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
HD_B	0.010078	ROLL_MIN	263	ALTIM_PING_DEPTH	0
HD_C	9.8541004e-06	ROLL_MAX	3810	ALTIM_PING_DELTA	0

GPS1	070312,213646,4742.865,-12224.603,31,1.1,41,18.2	TGT_NAME	WEST
_CALLS	1	TGT_LATLONG	4743.700,-12225.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.065,0.268
_SM_DEPTHo	0.62	KALMAN_X	228.6,165.1,128.2,-990.7,84.5
_SM_ANGLEo	-80.3	KALMAN_Y	-1384.6,-529.7,-187.2,1166.3,-343.6
GPS2	070312,214736,4742.709,-12224.604,16,1.9,26,18.2	MHEAD_RNG_PITCHd_Wd	328.1,1901,-21.2,-12.000
SPEED_LIMITS	0.096,0.220	D_GRID	179

FINISH	-0.2,1.020913	MI_ROOT	70.6/190403/56032
SM_CCo	1063,56.30,0.140,0,0,1693,300.00	MI_HOME	2.4/436550/426083
SM_GC	0.83,7.47,0.10,56.30,0.051,0.119,0.140,146,3003,1693,-7.49,-0.57,300.00,0,0,0,0,0,0,25.84,25.28,25.63	_24V_AH	24.1,2.846
IRIDIUM_FIX	4751.72,-12340.51,070312,202018	_10V_AH	10.4,4.370
TT8_MAMPS	0.099617,0.099617	FG_AHR_24Vo	0.000
HUMID	36.88	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	8.94795	MEM	323364
TCM_TEMP	18.90	DATA_FILE_SIZE	6848,192
MI_MIVER	0.2	CAP_FILE_SIZE	40530,0
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	CFSIZE	260034560,245039104
MI_BOOTCOUNT	27	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MI_LOG	3.4/516052/498710	GPS	070312,220736,4742.743,-12224.768,11,1.4,21,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	263	116.54	SBE_CT	128	24	74.46
Roll_motor	11	118	33.36	nil	0	0	0.00
VBD_pump_during_apogee	116	1010	2840.36	nil	0	0	0.00
VBD_pump_during_surface	56	139	189.95	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	78.45	nil	0	0	0.00
Iridium_during_connect	37	160	143.46	MIB	1869	186	8410.09
Iridium_during_xfer	274	223	1476.30	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	1869	188	8494.66
GPS	27	50	14.30
TT8	0	0	0.00
LPSleep	396	0	1.61
TT8_Active	276	18	51.68
TT8_Sampling	889	38	351.51
TT8_CF8	112	44	51.51
TT8_Kalman	33	80	27.62
Analog_circuits	473	12	59.12
GPS_charging	0	0	0.00
Compass	284	15	44.39
RAFOS	0	0	0.00
Transponder	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.89	-146.1	0.0	0.0	0	99	0.00	0.00	-77.38	0.000	6	0.000	0.000	149	3009	3517	0	0	0	0	0	0	28.83	28.83	25.90
101	-0.89	-146.1	3.3	-8.8	13	115	9.07	0.00	0.00	0.000	6	0.263	0.000	2267	3008	3519	0	0	0	0	0	0	25.65	28.83	28.83
174	-0.89	-146.1	19.4	-16.5	27	181	0.00	0.00	0.00	0.000	6	0.000	0.000	2267	3008	3520	0	0	0	0	0	0	28.83	28.83	28.83
241	-0.89	-146.1	30.0	-16.6	40	247	0.00	1.40	0.00	0.000	4	0.000	0.067	2263	3809	3520	0	0	0	0	0	0	28.83	25.37	28.83
251	-0.89	-146.1	32.1	-17.1	42	259	0.00	1.35	0.00	0.000	6	0.000	0.041	2267	2998	3520	0	0	0	0	0	0	28.83	26.01	28.83
318	-0.89	-146.1	43.9	-17.0	55	326	0.00	1.40	0.00	0.000	4	0.000	0.067	2262	3808	3520	0	0	0	0	0	0	28.83	25.99	28.83
391	-0.89	-146.1	57.4	-17.8	69	398	0.00	1.35	0.00	0.000	6	0.000	0.041	2267	2995	3520	0	0	0	0	0	0	28.83	25.39	28.83
517	-0.89	-146.1	78.6	-16.9	94	524	0.00	0.00	0.00	0.000	6	0.000	0.000	2267	2995	3521	0	0	0	0	0	0	28.83	28.83	28.83
586	end dive: TARGET_DEPTH_EXCEEDED
state	586	begin apogee
590	-0.17	0.0	90.0	-16.5	108	655	0.80	0.00	57.45	1.011	6	0.174	0.000	2497	2993	2917	0	0	0	0	0	0	25.90	28.83	24.30
656	end apogee: CONTROL_FINISHED_OK
state	656	begin climb
657	0.89	146.1	93.1	0.0	118	722	1.02	0.00	59.17	0.980	6	0.092	0.000	2838	2993	2322	0	0	0	0	0	0	25.11	28.83	24.06
841	0.89	146.1	53.9	25.8	152	848	0.00	1.58	0.00	0.000	4	0.000	0.047	2846	2080	2316	0	0	0	0	0	0	28.83	25.54	28.83
863	0.89	146.1	47.9	27.3	156	870	0.00	1.55	0.00	0.000	6	0.000	0.062	2846	2963	2315	0	0	0	0	0	0	28.83	25.60	28.83
990	0.89	146.1	16.0	21.5	181	997	0.00	1.50	0.00	0.000	4	0.000	0.070	2846	3814	2314	0	0	0	0	0	0	28.83	25.77	28.83
1022	0.89	146.1	7.5	27.6	187	1029	0.00	1.45	0.00	0.000	6	0.000	0.041	2852	2956	2315	0	0	0	0	0	0	28.83	25.86	28.83
1038	end climb: SURFACE_DEPTH_REACHED
state	1038	begin surface coast
1047	end surface coast: CONTROL_FINISHED_OK
state	1047	begin surface