Glider dive log

GulfOfMexico Jul15 * SG161 * Dive index * Mission links * Dive 53 * 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 53 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 450 TGT_DEFAULT_LON -87.467003 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 91 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 500 R_STBD_OVSHOOT 51 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 120 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 130 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 450 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 120

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 130

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 53 MI_POWERSOURCE 0.0 R_PORT_OVSHOOT 91 VBD_MIN 550

D_ABORT 1090 MI_RESTARTMONITOR 0.0 R_STBD_OVSHOOT 51 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 250715,164643,2758.245,-8726.463,2,0.9,13,-2.0 SPEED_LIMITS 0.217,0.241

_CALLS 1 TGT_NAME RECOV

_XMS_NAKs 0 TGT_LATLONG 2758.418,-8727.309

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 1.45 MHEAD_RNG_PITCHd_Wd 296.2,1641,-21.0,-12.500,-28.74,1799

_SM_ANGLEo -64.2 D_GRID 450

GPS2 250715,165424,2758.055,-8726.394,3,0.9,13,-2.0

Post-dive calculations and measurements:

FINISH 0.8,1.021072 MI_HOME 3.2/436550/422412

SM_CCo 6398,77.90,0.334,1,0,800,500.16 _24V_AH 24.11,55.192

SM_GC 1.92,8.70,1.50,77.90,0.035,0.021,0.334,144,2658,800,-8.62,2.52,500.16,0,0,0,0,1,0,25.30,25.62,24.58 _10V_AH 10.05,21.461

IRIDIUM_FIX 2722.64,-8719.43,210508,061709 FG_AHR_24Vo 0.000

TT8_MAMPS 0.09737,0.09737 FG_AHR_10Vo 0.000

HUMID 40.66 MEM 296104

INTERNAL_PRESSURE 9.17483 DATA_FILE_SIZE 20076,540

TCM_TEMP 24.60 CAP_FILE_SIZE 77337,0

MI_MIVER 0.4 CFSIZE 260034560,254078976

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

MI_BOOTCOUNT 104 INTR 0,7028.82,0x236bc6,7,5

MI_LOG 3.5/516052/497953 GPS 250715,184307,2757.914,-8726.751,3,0.8,14,-2.0

MI_ROOT 70.6/190403/56003

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 234 119.37 SBE_CT 357 23 200.27

Roll_motor 53 54 70.29 nil 0 0 0.00

VBD_pump_during_apogee 410 680 6731.09 nil 0 0 0.00

VBD_pump_during_surface 77 334 627.88 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 61 45.38 nil 0 0 0.00

Iridium_during_connect 33 160 130.02 MIB 6941 42 7166.80

Iridium_during_xfer 137 223 737.14 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 6941 36 6095.23

GPS 15 31 4.78

TT8 0 0 0.00

LPSleep 4622 0 18.12

TT8_Active 556 13 73.92

TT8_Sampling 1548 40 636.84

TT8_CF8 80 48 39.17

TT8_Kalman 0 0 0.00

Analog_circuits 1107 16 178.08

GPS_charging 0 0 0.00

Compass 961 15 152.02

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

15 -1.19 -150.9 150 2655 893 692 0.0 0.0 0 81 0.00 0.00 -63.65 0.000 16386 0.000 0.000 148 2655 2866 2847 2886 0 0 0 0 0 0 28.83 28.83 28.83

82 -1.19 -155.9 148 2653 2850 2886 5.4 -12.2 10 108 9.98 1.70 -9.45 0.000 18692 0.234 0.054 2534 3760 3477 3504 3450 0 0 0 0 0 0 24.94 25.53 25.72

212 -1.19 -155.9 2533 3761 3508 3450 53.9 -33.4 33 219 0.00 1.60 0.00 0.000 1030 0.000 0.022 2533 2675 3477 3506 3449 0 0 0 0 0 0 28.83 25.72 28.83

337 -1.19 -155.9 2533 2676 3509 3449 83.4 -21.8 46 341 0.00 2.05 0.00 0.000 516 0.000 0.024 2534 1284 3479 3509 3449 0 0 0 0 0 0 28.83 25.76 28.83

382 -1.19 -155.9 2533 1285 3512 3450 92.4 -22.7 50 390 0.00 2.12 0.00 0.000 1030 0.000 0.030 2524 2663 3479 3510 3449 0 0 0 0 0 0 28.83 25.72 28.83

507 -1.19 -155.9 2524 2664 3514 3450 120.4 -21.6 60 508 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2663 3480 3512 3449 0 0 0 0 0 0 28.83 28.83 28.83

807 -1.19 -155.9 2524 2664 3516 3450 175.4 -17.8 80 808 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2663 3482 3515 3449 0 0 0 0 0 0 28.83 28.83 28.83

1107 -1.19 -155.9 2525 2664 3515 3450 229.4 -17.1 100 1111 0.00 2.05 0.00 0.000 516 0.000 0.024 2524 1290 3482 3516 3449 0 0 0 0 0 0 28.83 25.86 28.83

1167 -1.19 -155.9 2525 1290 3515 3450 239.8 -17.2 104 1171 0.08 2.12 0.00 0.000 3078 0.156 0.032 2537 2673 3482 3516 3449 0 0 0 0 0 0 25.29 25.81 28.83

1483 -1.19 -155.9 2538 2674 3515 3450 292.0 -17.2 125 1486 0.00 2.03 0.00 0.000 516 0.000 0.024 2537 1284 3482 3515 3449 0 0 0 0 0 0 28.83 25.85 28.83

1552 -1.19 -155.9 2538 1273 3516 3450 302.2 -16.9 129 1559 0.00 2.17 0.00 0.000 1030 0.000 0.031 2532 2682 3482 3516 3448 0 0 0 0 0 0 28.83 25.80 28.83

1857 -1.19 -155.9 2533 2682 3516 3447 357.4 -17.9 150 1861 0.00 2.08 0.00 0.000 516 0.000 0.024 2532 1293 3481 3516 3446 0 0 0 0 0 0 28.83 25.86 28.83

1907 -1.19 -155.9 2533 1296 3515 3447 365.1 -17.2 153 1911 0.00 2.12 0.00 0.000 1030 0.000 0.032 2524 2672 3481 3516 3446 0 0 0 0 0 0 28.83 25.77 28.83

2217 -1.19 -155.9 2523 2674 3517 3443 417.2 -16.6 174 2221 0.00 2.08 0.00 0.000 516 0.000 0.024 2524 1295 3478 3515 3442 0 0 0 0 0 0 28.83 25.83 28.83

2287 -1.19 -155.9 2523 1297 3516 3442 427.0 -16.4 178 2295 0.08 2.15 0.00 0.000 3078 0.153 0.032 2537 2677 3478 3515 3442 0 0 0 0 0 0 25.22 25.80 28.83

2426 end dive: TARGET_DEPTH_EXCEEDED

state 2426 begin apogee

2429 -0.24 0.0 2537 2310 3516 3442 450.5 -15.7 188 2553 0.98 0.00 120.65 0.681 10246 0.115 0.000 2847 2309 2840 2940 2740 0 0 0 0 0 0 25.31 28.83 24.24

2554 end apogee: CONTROL_FINISHED_OK

state 2554 begin climb

2555 1.19 155.9 2847 2310 2941 2741 454.2 0.0 196 2685 1.27 0.00 122.22 0.677 10758 0.064 0.000 3302 2309 2200 2283 2118 0 0 0 0 0 0 24.98 28.83 24.11

2982 1.19 155.9 3303 2309 2272 2116 409.9 13.1 225 2983 0.00 0.00 0.00 0.000 6 0.000 0.000 3302 2309 2194 2273 2116 0 0 0 0 0 0 28.83 28.83 28.83

3282 1.19 155.9 3303 2309 2268 2114 371.4 12.9 245 3286 0.00 2.12 0.00 0.000 516 0.000 0.028 3311 905 2191 2268 2114 0 0 0 0 0 0 28.83 25.44 28.83

3352 1.19 155.9 3312 906 2267 2114 363.5 13.1 249 3360 0.00 2.15 0.00 0.000 1030 0.000 0.027 3311 2307 2190 2267 2113 0 0 0 0 0 0 28.83 25.72 28.83

3658 1.19 155.9 3312 2307 2264 2116 322.6 12.7 270 3661 0.00 2.12 0.00 0.000 516 0.000 0.028 3321 908 2188 2265 2111 0 0 0 0 0 0 28.83 25.75 28.83

3712 1.19 155.9 3320 908 2265 2112 316.9 12.6 273 3719 0.00 2.12 0.00 0.000 1030 0.000 0.027 3321 2299 2187 2264 2111 0 0 0 0 0 0 28.83 25.76 28.83

4017 1.19 155.9 3320 2300 2263 2111 275.8 13.1 294 4021 0.00 2.15 0.00 0.000 260 0.000 0.037 3321 3693 2185 2261 2110 0 0 0 0 0 0 28.83 25.73 28.83

4042 1.19 155.9 3321 3694 2261 2111 273.5 13.7 295 4050 0.00 2.08 0.00 0.000 1030 0.000 0.024 3331 2299 2185 2261 2110 0 0 0 0 0 0 28.83 25.86 28.83

4347 1.19 155.9 3332 2299 2259 2109 229.6 14.4 316 4351 0.00 2.08 0.00 0.000 516 0.000 0.029 3341 915 2184 2259 2109 0 0 0 0 0 0 28.83 25.81 28.83

4483 1.19 155.9 3340 915 2259 2109 210.8 13.5 325 4486 0.00 2.08 0.00 0.000 1030 0.000 0.026 3340 2314 2183 2258 2108 0 0 0 0 0 0 28.83 25.79 28.83

4797 1.19 155.9 3340 2315 2257 2108 167.7 13.9 346 4798 0.00 0.00 0.00 0.000 6 0.000 0.000 3340 2314 2181 2256 2107 0 0 0 0 0 0 28.83 28.83 28.83

5097 1.19 155.9 3340 2315 2256 2107 128.7 12.8 366 5098 0.00 0.00 0.00 0.000 6 0.000 0.000 3341 2314 2180 2254 2106 0 0 0 0 0 0 28.83 28.83 28.83

5397 1.22 174.8 3341 2315 2253 2107 92.6 11.4 388 5413 0.00 2.08 12.57 0.415 8452 0.000 0.034 3341 3697 2123 2206 2041 0 0 0 0 0 0 28.83 25.84 24.99

5542 1.25 198.0 3341 3698 2202 2041 75.8 11.2 402 5566 0.00 2.08 18.83 0.428 9222 0.000 0.021 3350 2289 2031 2114 1948 0 0 0 0 0 0 28.83 25.82 24.91

5682 1.25 198.0 3350 2290 2111 1947 59.6 12.5 416 5686 0.00 2.05 0.00 0.000 516 0.000 0.027 3352 925 2027 2109 1946 0 0 0 0 0 0 28.83 25.72 28.83

6047 1.46 375.1 3354 925 2106 1946 36.1 2.4 479 6190 0.08 2.08 135.77 0.414 11270 0.080 0.024 3391 2296 1307 1405 1209 0 0 0 0 0 0 25.65 25.77 24.60

6250 1.46 375.1 3391 2297 1401 1207 16.4 14.4 514 6257 0.00 2.22 0.00 0.000 260 0.000 0.036 3391 3693 1302 1399 1206 0 0 0 0 0 0 28.83 24.90 28.83

6355 end climb: SURFACE_DEPTH_REACHED

state 6355 begin surface coast

6380 end surface coast: CONTROL_FINISHED_OK

state 6380 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	53	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	450	TGT_DEFAULT_LON	-87.467003	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	91	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	500	R_STBD_OVSHOOT	51	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	120	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	130	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	250715,164643,2758.245,-8726.463,2,0.9,13,-2.0	SPEED_LIMITS	0.217,0.241
_CALLS	1	TGT_NAME	RECOV
_XMS_NAKs	0	TGT_LATLONG	2758.418,-8727.309
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	1.45	MHEAD_RNG_PITCHd_Wd	296.2,1641,-21.0,-12.500,-28.74,1799
_SM_ANGLEo	-64.2	D_GRID	450
GPS2	250715,165424,2758.055,-8726.394,3,0.9,13,-2.0

FINISH	0.8,1.021072	MI_HOME	3.2/436550/422412
SM_CCo	6398,77.90,0.334,1,0,800,500.16	_24V_AH	24.11,55.192
SM_GC	1.92,8.70,1.50,77.90,0.035,0.021,0.334,144,2658,800,-8.62,2.52,500.16,0,0,0,0,1,0,25.30,25.62,24.58	_10V_AH	10.05,21.461
IRIDIUM_FIX	2722.64,-8719.43,210508,061709	FG_AHR_24Vo	0.000
TT8_MAMPS	0.09737,0.09737	FG_AHR_10Vo	0.000
HUMID	40.66	MEM	296104
INTERNAL_PRESSURE	9.17483	DATA_FILE_SIZE	20076,540
TCM_TEMP	24.60	CAP_FILE_SIZE	77337,0
MI_MIVER	0.4	CFSIZE	260034560,254078976
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
MI_BOOTCOUNT	104	INTR	0,7028.82,0x236bc6,7,5
MI_LOG	3.5/516052/497953	GPS	250715,184307,2757.914,-8726.751,3,0.8,14,-2.0
MI_ROOT	70.6/190403/56003

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	234	119.37	SBE_CT	357	23	200.27
Roll_motor	53	54	70.29	nil	0	0	0.00
VBD_pump_during_apogee	410	680	6731.09	nil	0	0	0.00
VBD_pump_during_surface	77	334	627.88	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	61	45.38	nil	0	0	0.00
Iridium_during_connect	33	160	130.02	MIB	6941	42	7166.80
Iridium_during_xfer	137	223	737.14	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	6941	36	6095.23
GPS	15	31	4.78
TT8	0	0	0.00
LPSleep	4622	0	18.12
TT8_Active	556	13	73.92
TT8_Sampling	1548	40	636.84
TT8_CF8	80	48	39.17
TT8_Kalman	0	0	0.00
Analog_circuits	1107	16	178.08
GPS_charging	0	0	0.00
Compass	961	15	152.02
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
15	-1.19	-150.9	150	2655	893	692	0.0	0.0	0	81	0.00	0.00	-63.65	0.000	16386	0.000	0.000	148	2655	2866	2847	2886	0	0	0	0	0	0	28.83	28.83	28.83
82	-1.19	-155.9	148	2653	2850	2886	5.4	-12.2	10	108	9.98	1.70	-9.45	0.000	18692	0.234	0.054	2534	3760	3477	3504	3450	0	0	0	0	0	0	24.94	25.53	25.72
212	-1.19	-155.9	2533	3761	3508	3450	53.9	-33.4	33	219	0.00	1.60	0.00	0.000	1030	0.000	0.022	2533	2675	3477	3506	3449	0	0	0	0	0	0	28.83	25.72	28.83
337	-1.19	-155.9	2533	2676	3509	3449	83.4	-21.8	46	341	0.00	2.05	0.00	0.000	516	0.000	0.024	2534	1284	3479	3509	3449	0	0	0	0	0	0	28.83	25.76	28.83
382	-1.19	-155.9	2533	1285	3512	3450	92.4	-22.7	50	390	0.00	2.12	0.00	0.000	1030	0.000	0.030	2524	2663	3479	3510	3449	0	0	0	0	0	0	28.83	25.72	28.83
507	-1.19	-155.9	2524	2664	3514	3450	120.4	-21.6	60	508	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2663	3480	3512	3449	0	0	0	0	0	0	28.83	28.83	28.83
807	-1.19	-155.9	2524	2664	3516	3450	175.4	-17.8	80	808	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2663	3482	3515	3449	0	0	0	0	0	0	28.83	28.83	28.83
1107	-1.19	-155.9	2525	2664	3515	3450	229.4	-17.1	100	1111	0.00	2.05	0.00	0.000	516	0.000	0.024	2524	1290	3482	3516	3449	0	0	0	0	0	0	28.83	25.86	28.83
1167	-1.19	-155.9	2525	1290	3515	3450	239.8	-17.2	104	1171	0.08	2.12	0.00	0.000	3078	0.156	0.032	2537	2673	3482	3516	3449	0	0	0	0	0	0	25.29	25.81	28.83
1483	-1.19	-155.9	2538	2674	3515	3450	292.0	-17.2	125	1486	0.00	2.03	0.00	0.000	516	0.000	0.024	2537	1284	3482	3515	3449	0	0	0	0	0	0	28.83	25.85	28.83
1552	-1.19	-155.9	2538	1273	3516	3450	302.2	-16.9	129	1559	0.00	2.17	0.00	0.000	1030	0.000	0.031	2532	2682	3482	3516	3448	0	0	0	0	0	0	28.83	25.80	28.83
1857	-1.19	-155.9	2533	2682	3516	3447	357.4	-17.9	150	1861	0.00	2.08	0.00	0.000	516	0.000	0.024	2532	1293	3481	3516	3446	0	0	0	0	0	0	28.83	25.86	28.83
1907	-1.19	-155.9	2533	1296	3515	3447	365.1	-17.2	153	1911	0.00	2.12	0.00	0.000	1030	0.000	0.032	2524	2672	3481	3516	3446	0	0	0	0	0	0	28.83	25.77	28.83
2217	-1.19	-155.9	2523	2674	3517	3443	417.2	-16.6	174	2221	0.00	2.08	0.00	0.000	516	0.000	0.024	2524	1295	3478	3515	3442	0	0	0	0	0	0	28.83	25.83	28.83
2287	-1.19	-155.9	2523	1297	3516	3442	427.0	-16.4	178	2295	0.08	2.15	0.00	0.000	3078	0.153	0.032	2537	2677	3478	3515	3442	0	0	0	0	0	0	25.22	25.80	28.83
2426	end dive: TARGET_DEPTH_EXCEEDED
state	2426	begin apogee
2429	-0.24	0.0	2537	2310	3516	3442	450.5	-15.7	188	2553	0.98	0.00	120.65	0.681	10246	0.115	0.000	2847	2309	2840	2940	2740	0	0	0	0	0	0	25.31	28.83	24.24
2554	end apogee: CONTROL_FINISHED_OK
state	2554	begin climb
2555	1.19	155.9	2847	2310	2941	2741	454.2	0.0	196	2685	1.27	0.00	122.22	0.677	10758	0.064	0.000	3302	2309	2200	2283	2118	0	0	0	0	0	0	24.98	28.83	24.11
2982	1.19	155.9	3303	2309	2272	2116	409.9	13.1	225	2983	0.00	0.00	0.00	0.000	6	0.000	0.000	3302	2309	2194	2273	2116	0	0	0	0	0	0	28.83	28.83	28.83
3282	1.19	155.9	3303	2309	2268	2114	371.4	12.9	245	3286	0.00	2.12	0.00	0.000	516	0.000	0.028	3311	905	2191	2268	2114	0	0	0	0	0	0	28.83	25.44	28.83
3352	1.19	155.9	3312	906	2267	2114	363.5	13.1	249	3360	0.00	2.15	0.00	0.000	1030	0.000	0.027	3311	2307	2190	2267	2113	0	0	0	0	0	0	28.83	25.72	28.83
3658	1.19	155.9	3312	2307	2264	2116	322.6	12.7	270	3661	0.00	2.12	0.00	0.000	516	0.000	0.028	3321	908	2188	2265	2111	0	0	0	0	0	0	28.83	25.75	28.83
3712	1.19	155.9	3320	908	2265	2112	316.9	12.6	273	3719	0.00	2.12	0.00	0.000	1030	0.000	0.027	3321	2299	2187	2264	2111	0	0	0	0	0	0	28.83	25.76	28.83
4017	1.19	155.9	3320	2300	2263	2111	275.8	13.1	294	4021	0.00	2.15	0.00	0.000	260	0.000	0.037	3321	3693	2185	2261	2110	0	0	0	0	0	0	28.83	25.73	28.83
4042	1.19	155.9	3321	3694	2261	2111	273.5	13.7	295	4050	0.00	2.08	0.00	0.000	1030	0.000	0.024	3331	2299	2185	2261	2110	0	0	0	0	0	0	28.83	25.86	28.83
4347	1.19	155.9	3332	2299	2259	2109	229.6	14.4	316	4351	0.00	2.08	0.00	0.000	516	0.000	0.029	3341	915	2184	2259	2109	0	0	0	0	0	0	28.83	25.81	28.83
4483	1.19	155.9	3340	915	2259	2109	210.8	13.5	325	4486	0.00	2.08	0.00	0.000	1030	0.000	0.026	3340	2314	2183	2258	2108	0	0	0	0	0	0	28.83	25.79	28.83
4797	1.19	155.9	3340	2315	2257	2108	167.7	13.9	346	4798	0.00	0.00	0.00	0.000	6	0.000	0.000	3340	2314	2181	2256	2107	0	0	0	0	0	0	28.83	28.83	28.83
5097	1.19	155.9	3340	2315	2256	2107	128.7	12.8	366	5098	0.00	0.00	0.00	0.000	6	0.000	0.000	3341	2314	2180	2254	2106	0	0	0	0	0	0	28.83	28.83	28.83
5397	1.22	174.8	3341	2315	2253	2107	92.6	11.4	388	5413	0.00	2.08	12.57	0.415	8452	0.000	0.034	3341	3697	2123	2206	2041	0	0	0	0	0	0	28.83	25.84	24.99
5542	1.25	198.0	3341	3698	2202	2041	75.8	11.2	402	5566	0.00	2.08	18.83	0.428	9222	0.000	0.021	3350	2289	2031	2114	1948	0	0	0	0	0	0	28.83	25.82	24.91
5682	1.25	198.0	3350	2290	2111	1947	59.6	12.5	416	5686	0.00	2.05	0.00	0.000	516	0.000	0.027	3352	925	2027	2109	1946	0	0	0	0	0	0	28.83	25.72	28.83
6047	1.46	375.1	3354	925	2106	1946	36.1	2.4	479	6190	0.08	2.08	135.77	0.414	11270	0.080	0.024	3391	2296	1307	1405	1209	0	0	0	0	0	0	25.65	25.77	24.60
6250	1.46	375.1	3391	2297	1401	1207	16.4	14.4	514	6257	0.00	2.22	0.00	0.000	260	0.000	0.036	3391	3693	1302	1399	1206	0	0	0	0	0	0	28.83	24.90	28.83
6355	end climb: SURFACE_DEPTH_REACHED
state	6355	begin surface coast
6380	end surface coast: CONTROL_FINISHED_OK
state	6380	begin surface