Glider dive log

GulfOfMexico Jul15 * SG161 * Dive index * Mission links * Dive 50 * 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 50 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 83 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 500 R_STBD_OVSHOOT 55 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 50 MI_POWERSOURCE 0.0 R_PORT_OVSHOOT 83 VBD_MIN 550

D_ABORT 1090 MI_RESTARTMONITOR 0.0 R_STBD_OVSHOOT 55 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 250715,100502,2758.116,-8726.132,18,0.7,28,-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 1.41 MHEAD_RNG_PITCHd_Wd 327.9,14934,-20.9,-13.333,-28.42,1905

_SM_ANGLEo -64.3 D_GRID 600

GPS2 250715,101330,2758.046,-8725.970,5,0.8,15,-2.0

Post-dive calculations and measurements:

FINISH 1.0,1.001979 MI_HOME 3.2/436550/422579

SM_CCo 7832,82.35,0.348,1,0,798,500.16 _24V_AH 23.95,54.689

SM_GC 1.73,8.57,0.57,82.35,0.034,0.035,0.348,140,2687,798,-8.64,-1.41,500.16,0,0,0,0,1,0,25.52,25.55,24.52 _10V_AH 10.10,21.077

IRIDIUM_FIX 2722.64,-8719.43,200508,233557 FG_AHR_24Vo 0.000

TT8_MAMPS 0.098119,0.098119 FG_AHR_10Vo 0.000

HUMID 40.35 MEM 296112

INTERNAL_PRESSURE 9.14553 DATA_FILE_SIZE 20072,611

TCM_TEMP 24.10 CAP_FILE_SIZE 91956,0

MI_MIVER 0.4 CFSIZE 260034560,254205952

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0

MI_BOOTCOUNT 104 INTR 0,8513.25,0x236bc6,7,5

MI_LOG 3.5/516052/497955 GPS 250715,122627,2758.668,-8726.174,18,0.8,28,-2.0

MI_ROOT 70.6/190403/56003

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 231 117.00 SBE_CT 407 23 226.74

Roll_motor 64 37 58.33 nil 0 0 0.00

VBD_pump_during_apogee 432 787 8153.39 nil 0 0 0.00

VBD_pump_during_surface 82 348 686.50 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 61 49.88 nil 0 0 0.00

Iridium_during_connect 42 160 163.55 MIB 8477 42 8715.83

Iridium_during_xfer 146 223 781.87 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 8477 36 7394.84

GPS 16 31 5.26

TT8 0 0 0.00

LPSleep 5716 0 22.52

TT8_Active 592 13 79.07

TT8_Sampling 1875 40 775.33

TT8_CF8 88 48 43.23

TT8_Kalman 0 0 0.00

Analog_circuits 1267 16 204.87

GPS_charging 0 0 0.00

Compass 1208 15 192.00

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 -170.3 156 2714 891 694 0.0 0.0 0 87 0.00 0.00 -70.00 0.000 16386 0.000 0.000 154 2714 3117 3098 3137 0 0 0 0 0 0 28.83 28.83 28.83

88 -1.21 -170.3 155 2715 3098 3138 6.7 -15.7 11 108 9.88 2.12 -5.88 0.000 18948 0.232 0.036 2533 1256 3537 3558 3516 0 0 0 0 0 0 24.91 25.60 25.71

198 -1.21 -170.3 2534 1256 3564 3514 51.1 -32.9 31 205 0.00 2.17 0.00 0.000 1030 0.000 0.030 2527 2667 3539 3564 3514 0 0 0 0 0 0 28.83 25.63 28.83

322 -1.21 -170.3 2527 2668 3565 3514 88.0 -26.0 44 327 0.00 2.08 0.00 0.000 516 0.000 0.023 2526 1275 3539 3565 3514 0 0 0 0 0 0 28.83 25.71 28.83

352 -1.21 -170.3 2525 1276 3568 3514 94.9 -23.7 47 356 0.00 2.15 0.00 0.000 1030 0.000 0.030 2516 2674 3540 3566 3514 0 0 0 0 0 0 28.83 25.70 28.83

487 -1.21 -170.3 2517 2674 3568 3514 123.2 -20.9 57 491 0.00 2.08 0.00 0.000 516 0.000 0.022 2516 1279 3541 3569 3513 0 0 0 0 0 0 28.83 25.76 28.83

582 -1.21 -170.3 2517 1279 3569 3514 140.2 -18.8 63 587 0.10 2.12 0.00 0.000 3078 0.157 0.029 2535 2670 3542 3570 3514 0 0 0 0 0 0 25.21 25.76 28.83

893 -1.21 -170.3 2534 2672 3574 3514 199.5 -19.1 84 894 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2671 3543 3572 3514 0 0 0 0 0 0 28.83 28.83 28.83

1192 -1.21 -170.3 2535 2671 3574 3514 253.7 -18.0 104 1196 0.00 2.08 0.00 0.000 516 0.000 0.022 2535 1265 3542 3572 3513 0 0 0 0 0 0 28.83 25.82 28.83

1267 -1.21 -170.3 2535 1266 3574 3514 266.8 -17.4 109 1271 0.00 2.25 0.00 0.000 1030 0.000 0.031 2528 2676 3542 3572 3513 0 0 0 0 0 0 28.83 25.84 28.83

1582 -1.21 -170.3 2529 2676 3572 3513 324.2 -18.1 130 1583 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2676 3542 3572 3513 0 0 0 0 0 0 28.83 28.83 28.83

1882 -1.21 -170.3 2527 2677 3573 3510 378.1 -18.7 150 1886 0.00 2.10 0.00 0.000 516 0.000 0.023 2528 1273 3539 3569 3509 0 0 0 0 0 0 28.83 25.75 28.83

1952 -1.21 -170.3 2528 1274 3574 3509 389.0 -18.1 154 1960 0.00 2.20 0.00 0.000 1030 0.000 0.031 2520 2673 3540 3572 3508 0 0 0 0 0 0 28.83 25.39 28.83

2257 -1.21 -170.3 2520 2675 3573 3506 446.6 -18.6 175 2262 0.00 2.10 0.00 0.000 516 0.000 0.024 2520 1273 3538 3572 3505 0 0 0 0 0 0 28.83 25.77 28.83

2327 -1.21 -170.3 2521 1273 3570 3506 457.7 -18.5 179 2335 0.08 2.17 0.00 0.000 3078 0.155 0.031 2533 2676 3537 3570 3505 0 0 0 0 0 0 25.29 25.74 28.83

2633 -1.21 -170.3 2533 2676 3568 3502 512.4 -17.3 200 2634 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2675 3535 3568 3502 0 0 0 0 0 0 28.83 28.83 28.83

2933 -1.21 -170.3 2533 2676 3568 3499 563.0 -16.9 220 2936 0.00 2.10 0.00 0.000 516 0.000 0.024 2533 1275 3532 3566 3499 0 0 0 0 0 0 28.83 25.81 28.83

3002 -1.21 -170.3 2533 1276 3567 3499 572.9 -16.5 224 3010 0.00 2.17 0.00 0.000 1030 0.000 0.032 2525 2679 3531 3565 3498 0 0 0 0 0 0 28.83 25.77 28.83

3156 end dive: TARGET_DEPTH_EXCEEDED

state 3156 begin apogee

3160 -0.24 0.0 2526 2303 3564 3497 601.0 -17.4 235 3297 1.02 0.00 134.15 0.788 10246 0.116 0.000 2849 2302 2839 2940 2738 0 0 0 0 0 0 25.34 28.83 24.03

3298 end apogee: CONTROL_FINISHED_OK

state 3298 begin climb

3299 1.21 170.3 2848 2304 2940 2738 606.3 0.0 244 3446 1.33 2.15 136.60 0.781 10756 0.063 0.028 3330 901 2141 2229 2053 0 0 0 0 0 0 24.87 24.79 23.95

3551 1.21 170.3 3330 902 2226 2050 585.6 14.9 261 3554 0.00 2.17 0.00 0.000 1030 0.000 0.028 3330 2304 2136 2224 2049 0 0 0 0 0 0 28.83 25.40 28.83

3865 1.21 170.3 3331 2307 2218 2047 538.7 15.0 282 3870 0.00 2.12 0.00 0.000 516 0.000 0.030 3339 914 2133 2219 2047 0 0 0 0 0 0 28.83 25.73 28.83

3960 1.21 170.3 3339 914 2220 2046 525.5 14.8 288 3965 0.00 2.12 0.00 0.000 1030 0.000 0.027 3336 2304 2132 2219 2046 0 0 0 0 0 0 28.83 25.75 28.83

4270 1.21 170.3 3340 2306 2215 2045 479.3 14.5 309 4271 0.00 0.00 0.00 0.000 6 0.000 0.000 3339 2305 2129 2215 2044 0 0 0 0 0 0 28.83 28.83 28.83

4571 1.21 170.3 3343 2306 2213 2043 434.5 14.9 329 4574 0.00 2.12 0.00 0.000 516 0.000 0.030 3349 906 2127 2212 2043 0 0 0 0 0 0 28.83 25.77 28.83

4635 1.21 170.3 3350 909 2211 2043 425.5 15.0 333 4639 0.10 2.15 0.00 0.000 5126 0.140 0.028 3319 2309 2127 2211 2043 0 0 0 0 0 0 25.28 25.78 28.83

4946 1.21 170.3 3320 2310 2210 2041 381.7 14.4 354 4949 0.00 2.12 0.00 0.000 516 0.000 0.029 3327 901 2129 2217 2041 0 0 0 0 0 0 28.83 25.51 28.83

5060 1.21 170.3 3328 902 2209 2041 366.6 14.2 361 5068 0.00 2.17 0.00 0.000 1030 0.000 0.027 3327 2298 2125 2209 2041 0 0 0 0 0 0 28.83 25.44 28.83

5366 1.21 170.3 3327 2299 2208 2041 321.3 14.3 382 5366 0.00 0.00 0.00 0.000 6 0.000 0.000 3327 2298 2123 2207 2040 0 0 0 0 0 0 28.83 28.83 28.83

5665 1.21 170.3 3329 2299 2206 2040 279.2 14.2 402 5666 0.00 0.00 0.00 0.000 6 0.000 0.000 3327 2298 2122 2206 2039 0 0 0 0 0 0 28.83 28.83 28.83

5965 1.21 170.3 3328 2299 2204 2038 237.3 13.9 422 5969 0.00 2.12 0.00 0.000 516 0.000 0.029 3336 910 2121 2204 2038 0 0 0 0 0 0 28.83 25.70 28.83

6225 1.21 170.3 3338 911 2203 2038 202.2 13.8 439 6229 0.00 2.12 0.00 0.000 1030 0.000 0.026 3337 2297 2120 2203 2037 0 0 0 0 0 0 28.83 25.70 28.83

6535 1.21 170.3 3336 2298 2203 2037 159.4 14.0 460 6539 0.00 2.17 0.00 0.000 260 0.000 0.037 3336 3696 2119 2202 2037 0 0 0 0 0 0 28.83 25.67 28.83

6671 1.21 170.3 3337 3697 2202 2038 137.1 16.5 469 6674 0.00 2.10 0.00 0.000 1030 0.000 0.021 3347 2287 2119 2202 2037 0 0 0 0 0 0 28.83 25.79 28.83

6981 1.22 180.9 3348 2284 2202 2037 94.5 12.8 491 6993 0.00 2.00 5.88 0.365 8708 0.000 0.027 3354 914 2099 2183 2015 0 0 0 0 0 0 28.83 25.85 24.85

7313 1.38 310.6 3353 915 2182 2015 58.5 6.3 524 7421 0.00 2.05 99.50 0.443 9222 0.000 0.024 3354 2309 1569 1661 1477 0 0 0 0 0 0 28.83 25.72 24.60

7480 1.40 328.7 3354 2310 1657 1477 41.1 12.4 547 7500 0.00 0.00 15.15 0.398 8198 0.000 0.000 3354 2309 1495 1585 1406 0 0 0 0 0 0 28.83 28.83 24.54

7559 1.40 328.7 3355 2310 1582 1405 31.1 13.6 562 7566 0.00 2.17 0.00 0.000 260 0.000 0.036 3354 3694 1493 1582 1404 0 0 0 0 0 0 28.83 25.40 28.83

7630 1.40 330.6 3353 3695 1582 1405 21.5 13.2 576 7638 0.00 2.08 0.00 0.000 1030 0.000 0.021 3361 2301 1492 1580 1404 0 0 0 0 0 0 28.83 25.59 28.83

7697 1.45 365.9 3361 2301 1582 1404 13.7 11.4 589 7747 0.00 0.00 40.78 0.335 8710 0.000 0.000 3362 2299 1347 1442 1252 0 0 0 0 1 0 28.83 28.83 24.70

7790 end climb: SURFACE_DEPTH_REACHED

state 7790 begin surface coast

7815 end surface coast: CONTROL_FINISHED_OK

state 7815 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	50	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	83	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	500	R_STBD_OVSHOOT	55	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	250715,100502,2758.116,-8726.132,18,0.7,28,-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	1.41	MHEAD_RNG_PITCHd_Wd	327.9,14934,-20.9,-13.333,-28.42,1905
_SM_ANGLEo	-64.3	D_GRID	600
GPS2	250715,101330,2758.046,-8725.970,5,0.8,15,-2.0

FINISH	1.0,1.001979	MI_HOME	3.2/436550/422579
SM_CCo	7832,82.35,0.348,1,0,798,500.16	_24V_AH	23.95,54.689
SM_GC	1.73,8.57,0.57,82.35,0.034,0.035,0.348,140,2687,798,-8.64,-1.41,500.16,0,0,0,0,1,0,25.52,25.55,24.52	_10V_AH	10.10,21.077
IRIDIUM_FIX	2722.64,-8719.43,200508,233557	FG_AHR_24Vo	0.000
TT8_MAMPS	0.098119,0.098119	FG_AHR_10Vo	0.000
HUMID	40.35	MEM	296112
INTERNAL_PRESSURE	9.14553	DATA_FILE_SIZE	20072,611
TCM_TEMP	24.10	CAP_FILE_SIZE	91956,0
MI_MIVER	0.4	CFSIZE	260034560,254205952
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
MI_BOOTCOUNT	104	INTR	0,8513.25,0x236bc6,7,5
MI_LOG	3.5/516052/497955	GPS	250715,122627,2758.668,-8726.174,18,0.8,28,-2.0
MI_ROOT	70.6/190403/56003

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	231	117.00	SBE_CT	407	23	226.74
Roll_motor	64	37	58.33	nil	0	0	0.00
VBD_pump_during_apogee	432	787	8153.39	nil	0	0	0.00
VBD_pump_during_surface	82	348	686.50	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	61	49.88	nil	0	0	0.00
Iridium_during_connect	42	160	163.55	MIB	8477	42	8715.83
Iridium_during_xfer	146	223	781.87	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	8477	36	7394.84
GPS	16	31	5.26
TT8	0	0	0.00
LPSleep	5716	0	22.52
TT8_Active	592	13	79.07
TT8_Sampling	1875	40	775.33
TT8_CF8	88	48	43.23
TT8_Kalman	0	0	0.00
Analog_circuits	1267	16	204.87
GPS_charging	0	0	0.00
Compass	1208	15	192.00
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	156	2714	891	694	0.0	0.0	0	87	0.00	0.00	-70.00	0.000	16386	0.000	0.000	154	2714	3117	3098	3137	0	0	0	0	0	0	28.83	28.83	28.83
88	-1.21	-170.3	155	2715	3098	3138	6.7	-15.7	11	108	9.88	2.12	-5.88	0.000	18948	0.232	0.036	2533	1256	3537	3558	3516	0	0	0	0	0	0	24.91	25.60	25.71
198	-1.21	-170.3	2534	1256	3564	3514	51.1	-32.9	31	205	0.00	2.17	0.00	0.000	1030	0.000	0.030	2527	2667	3539	3564	3514	0	0	0	0	0	0	28.83	25.63	28.83
322	-1.21	-170.3	2527	2668	3565	3514	88.0	-26.0	44	327	0.00	2.08	0.00	0.000	516	0.000	0.023	2526	1275	3539	3565	3514	0	0	0	0	0	0	28.83	25.71	28.83
352	-1.21	-170.3	2525	1276	3568	3514	94.9	-23.7	47	356	0.00	2.15	0.00	0.000	1030	0.000	0.030	2516	2674	3540	3566	3514	0	0	0	0	0	0	28.83	25.70	28.83
487	-1.21	-170.3	2517	2674	3568	3514	123.2	-20.9	57	491	0.00	2.08	0.00	0.000	516	0.000	0.022	2516	1279	3541	3569	3513	0	0	0	0	0	0	28.83	25.76	28.83
582	-1.21	-170.3	2517	1279	3569	3514	140.2	-18.8	63	587	0.10	2.12	0.00	0.000	3078	0.157	0.029	2535	2670	3542	3570	3514	0	0	0	0	0	0	25.21	25.76	28.83
893	-1.21	-170.3	2534	2672	3574	3514	199.5	-19.1	84	894	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2671	3543	3572	3514	0	0	0	0	0	0	28.83	28.83	28.83
1192	-1.21	-170.3	2535	2671	3574	3514	253.7	-18.0	104	1196	0.00	2.08	0.00	0.000	516	0.000	0.022	2535	1265	3542	3572	3513	0	0	0	0	0	0	28.83	25.82	28.83
1267	-1.21	-170.3	2535	1266	3574	3514	266.8	-17.4	109	1271	0.00	2.25	0.00	0.000	1030	0.000	0.031	2528	2676	3542	3572	3513	0	0	0	0	0	0	28.83	25.84	28.83
1582	-1.21	-170.3	2529	2676	3572	3513	324.2	-18.1	130	1583	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2676	3542	3572	3513	0	0	0	0	0	0	28.83	28.83	28.83
1882	-1.21	-170.3	2527	2677	3573	3510	378.1	-18.7	150	1886	0.00	2.10	0.00	0.000	516	0.000	0.023	2528	1273	3539	3569	3509	0	0	0	0	0	0	28.83	25.75	28.83
1952	-1.21	-170.3	2528	1274	3574	3509	389.0	-18.1	154	1960	0.00	2.20	0.00	0.000	1030	0.000	0.031	2520	2673	3540	3572	3508	0	0	0	0	0	0	28.83	25.39	28.83
2257	-1.21	-170.3	2520	2675	3573	3506	446.6	-18.6	175	2262	0.00	2.10	0.00	0.000	516	0.000	0.024	2520	1273	3538	3572	3505	0	0	0	0	0	0	28.83	25.77	28.83
2327	-1.21	-170.3	2521	1273	3570	3506	457.7	-18.5	179	2335	0.08	2.17	0.00	0.000	3078	0.155	0.031	2533	2676	3537	3570	3505	0	0	0	0	0	0	25.29	25.74	28.83
2633	-1.21	-170.3	2533	2676	3568	3502	512.4	-17.3	200	2634	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2675	3535	3568	3502	0	0	0	0	0	0	28.83	28.83	28.83
2933	-1.21	-170.3	2533	2676	3568	3499	563.0	-16.9	220	2936	0.00	2.10	0.00	0.000	516	0.000	0.024	2533	1275	3532	3566	3499	0	0	0	0	0	0	28.83	25.81	28.83
3002	-1.21	-170.3	2533	1276	3567	3499	572.9	-16.5	224	3010	0.00	2.17	0.00	0.000	1030	0.000	0.032	2525	2679	3531	3565	3498	0	0	0	0	0	0	28.83	25.77	28.83
3156	end dive: TARGET_DEPTH_EXCEEDED
state	3156	begin apogee
3160	-0.24	0.0	2526	2303	3564	3497	601.0	-17.4	235	3297	1.02	0.00	134.15	0.788	10246	0.116	0.000	2849	2302	2839	2940	2738	0	0	0	0	0	0	25.34	28.83	24.03
3298	end apogee: CONTROL_FINISHED_OK
state	3298	begin climb
3299	1.21	170.3	2848	2304	2940	2738	606.3	0.0	244	3446	1.33	2.15	136.60	0.781	10756	0.063	0.028	3330	901	2141	2229	2053	0	0	0	0	0	0	24.87	24.79	23.95
3551	1.21	170.3	3330	902	2226	2050	585.6	14.9	261	3554	0.00	2.17	0.00	0.000	1030	0.000	0.028	3330	2304	2136	2224	2049	0	0	0	0	0	0	28.83	25.40	28.83
3865	1.21	170.3	3331	2307	2218	2047	538.7	15.0	282	3870	0.00	2.12	0.00	0.000	516	0.000	0.030	3339	914	2133	2219	2047	0	0	0	0	0	0	28.83	25.73	28.83
3960	1.21	170.3	3339	914	2220	2046	525.5	14.8	288	3965	0.00	2.12	0.00	0.000	1030	0.000	0.027	3336	2304	2132	2219	2046	0	0	0	0	0	0	28.83	25.75	28.83
4270	1.21	170.3	3340	2306	2215	2045	479.3	14.5	309	4271	0.00	0.00	0.00	0.000	6	0.000	0.000	3339	2305	2129	2215	2044	0	0	0	0	0	0	28.83	28.83	28.83
4571	1.21	170.3	3343	2306	2213	2043	434.5	14.9	329	4574	0.00	2.12	0.00	0.000	516	0.000	0.030	3349	906	2127	2212	2043	0	0	0	0	0	0	28.83	25.77	28.83
4635	1.21	170.3	3350	909	2211	2043	425.5	15.0	333	4639	0.10	2.15	0.00	0.000	5126	0.140	0.028	3319	2309	2127	2211	2043	0	0	0	0	0	0	25.28	25.78	28.83
4946	1.21	170.3	3320	2310	2210	2041	381.7	14.4	354	4949	0.00	2.12	0.00	0.000	516	0.000	0.029	3327	901	2129	2217	2041	0	0	0	0	0	0	28.83	25.51	28.83
5060	1.21	170.3	3328	902	2209	2041	366.6	14.2	361	5068	0.00	2.17	0.00	0.000	1030	0.000	0.027	3327	2298	2125	2209	2041	0	0	0	0	0	0	28.83	25.44	28.83
5366	1.21	170.3	3327	2299	2208	2041	321.3	14.3	382	5366	0.00	0.00	0.00	0.000	6	0.000	0.000	3327	2298	2123	2207	2040	0	0	0	0	0	0	28.83	28.83	28.83
5665	1.21	170.3	3329	2299	2206	2040	279.2	14.2	402	5666	0.00	0.00	0.00	0.000	6	0.000	0.000	3327	2298	2122	2206	2039	0	0	0	0	0	0	28.83	28.83	28.83
5965	1.21	170.3	3328	2299	2204	2038	237.3	13.9	422	5969	0.00	2.12	0.00	0.000	516	0.000	0.029	3336	910	2121	2204	2038	0	0	0	0	0	0	28.83	25.70	28.83
6225	1.21	170.3	3338	911	2203	2038	202.2	13.8	439	6229	0.00	2.12	0.00	0.000	1030	0.000	0.026	3337	2297	2120	2203	2037	0	0	0	0	0	0	28.83	25.70	28.83
6535	1.21	170.3	3336	2298	2203	2037	159.4	14.0	460	6539	0.00	2.17	0.00	0.000	260	0.000	0.037	3336	3696	2119	2202	2037	0	0	0	0	0	0	28.83	25.67	28.83
6671	1.21	170.3	3337	3697	2202	2038	137.1	16.5	469	6674	0.00	2.10	0.00	0.000	1030	0.000	0.021	3347	2287	2119	2202	2037	0	0	0	0	0	0	28.83	25.79	28.83
6981	1.22	180.9	3348	2284	2202	2037	94.5	12.8	491	6993	0.00	2.00	5.88	0.365	8708	0.000	0.027	3354	914	2099	2183	2015	0	0	0	0	0	0	28.83	25.85	24.85
7313	1.38	310.6	3353	915	2182	2015	58.5	6.3	524	7421	0.00	2.05	99.50	0.443	9222	0.000	0.024	3354	2309	1569	1661	1477	0	0	0	0	0	0	28.83	25.72	24.60
7480	1.40	328.7	3354	2310	1657	1477	41.1	12.4	547	7500	0.00	0.00	15.15	0.398	8198	0.000	0.000	3354	2309	1495	1585	1406	0	0	0	0	0	0	28.83	28.83	24.54
7559	1.40	328.7	3355	2310	1582	1405	31.1	13.6	562	7566	0.00	2.17	0.00	0.000	260	0.000	0.036	3354	3694	1493	1582	1404	0	0	0	0	0	0	28.83	25.40	28.83
7630	1.40	330.6	3353	3695	1582	1405	21.5	13.2	576	7638	0.00	2.08	0.00	0.000	1030	0.000	0.021	3361	2301	1492	1580	1404	0	0	0	0	0	0	28.83	25.59	28.83
7697	1.45	365.9	3361	2301	1582	1404	13.7	11.4	589	7747	0.00	0.00	40.78	0.335	8710	0.000	0.000	3362	2299	1347	1442	1252	0	0	0	0	1	0	28.83	28.83	24.70
7790	end climb: SURFACE_DEPTH_REACHED
state	7790	begin surface coast
7815	end surface coast: CONTROL_FINISHED_OK
state	7815	begin surface