Glider dive log

GulfOfMexico Jul15 * SG161 * Dive index * Mission links * Dive 56 * 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 56 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 99 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 500 R_STBD_OVSHOOT 52 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 160 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 200 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 160

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 200 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 56 MI_POWERSOURCE 0.0 R_PORT_OVSHOOT 99 VBD_MIN 550

D_ABORT 1090 MI_RESTARTMONITOR 0.0 R_STBD_OVSHOOT 52 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 20 MOTHERBOARD 4 SEABIRD_C_G -9.9098063 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 250715,213142,2757.649,-8726.555,37,1.0,47,-2.0 SPEED_LIMITS 0.231,0.262

_CALLS 1 TGT_NAME M

_XMS_NAKs 0 TGT_LATLONG 2758.871,-8727.947

_XMS_TOUTs 0 TGT_RADIUS 250.000

_SM_DEPTHo 1.47 MHEAD_RNG_PITCHd_Wd 320.5,3479,-19.1,-13.333,-26.94,2167

_SM_ANGLEo -55.8 D_GRID 600

GPS2 250715,213948,2757.464,-8726.538,3,0.9,14,-2.0

Post-dive calculations and measurements:

FINISH 0.9,1.019875 MI_HOME 3.3/436550/422271

SM_CCo 7895,22.73,0.112,1,0,799,500.16 _24V_AH 24.06,55.672

SM_GC 1.51,8.88,0.62,22.73,0.034,0.034,0.112,151,2698,799,-8.62,-0.85,500.16,0,0,0,0,1,0,25.36,25.20,24.56 _10V_AH 10.01,21.785

IRIDIUM_FIX 2722.64,-8719.43,210508,110128 FG_AHR_24Vo 0.000

TT8_MAMPS 0.098868,0.098868 FG_AHR_10Vo 0.000

HUMID 42.43 MEM 295992

INTERNAL_PRESSURE 9.19436 DATA_FILE_SIZE 23386,621

TCM_TEMP 24.50 CAP_FILE_SIZE 95458,0

MI_MIVER 0.4 CFSIZE 260034560,253927424

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

MI_BOOTCOUNT 104 INTR 0,3812.25,0x236bc6,7,5

MI_LOG 3.5/516052/497952 GPS 250715,235245,2758.069,-8727.048,16,0.8,26,-2.0

MI_ROOT 70.6/190403/56003

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 244 129.28 SBE_CT 412 23 230.32

Roll_motor 72 52 90.68 nil 0 0 0.00

VBD_pump_during_apogee 530 787 10050.34 nil 0 0 0.00

VBD_pump_during_surface 22 111 61.07 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 61 44.90 nil 0 0 0.00

Iridium_during_connect 35 160 136.95 MIB 8529 42 8783.20

Iridium_during_xfer 199 223 1071.36 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 8529 37 7756.92

GPS 15 31 4.99

TT8 0 0 0.00

LPSleep 5722 0 22.34

TT8_Active 622 13 82.28

TT8_Sampling 1875 40 768.28

TT8_CF8 98 48 47.97

TT8_Kalman 0 0 0.00

Analog_circuits 1300 16 208.35

GPS_charging 0 0 0.00

Compass 1166 15 183.62

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 -1.15 -194.6 142 2634 887 699 0.0 0.0 0 75 0.00 0.00 -57.80 0.000 16386 0.000 0.000 143 2634 2687 2665 2710 0 0 0 0 0 0 28.83 28.83 28.83

76 -1.15 -194.6 144 2634 2666 2711 5.2 -11.5 9 108 10.32 1.75 -14.68 0.000 18692 0.245 0.052 2547 3762 3635 3659 3612 0 0 0 0 0 0 25.04 25.39 25.51

152 -1.15 -194.6 2548 3762 3659 3613 33.6 -34.8 23 159 0.00 1.58 0.00 0.000 1030 0.000 0.022 2547 2678 3636 3659 3613 0 0 0 0 0 0 28.83 25.72 28.83

218 -1.15 -194.6 2548 2678 3660 3613 57.2 -30.9 34 219 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2677 3636 3660 3612 0 0 0 0 0 0 28.83 28.83 28.83

339 -1.15 -194.6 2548 2678 3662 3613 85.2 -22.6 46 342 0.00 2.05 0.00 0.000 516 0.000 0.023 2547 1293 3637 3662 3612 0 0 0 0 0 0 28.83 25.53 28.83

373 -1.15 -194.6 2547 1294 3665 3613 92.1 -22.8 49 381 0.00 2.10 0.00 0.000 1030 0.000 0.031 2537 2669 3637 3663 3612 0 0 0 0 0 0 28.83 25.77 28.83

498 -1.15 -194.6 2539 2670 3665 3613 120.6 -21.8 59 499 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2669 3638 3664 3613 0 0 0 0 0 0 28.83 28.83 28.83

798 -1.15 -194.6 2538 2670 3666 3613 181.2 -19.3 79 799 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2670 3639 3666 3613 0 0 0 0 0 0 28.83 28.83 28.83

1098 -1.15 -194.6 2539 2670 3667 3613 237.4 -18.0 99 1102 0.00 2.05 0.00 0.000 516 0.000 0.023 2537 1283 3639 3667 3612 0 0 0 0 0 0 28.83 25.90 28.83

1229 -1.15 -194.6 2538 1284 3666 3613 258.9 -17.4 107 1236 0.08 2.15 0.00 0.000 3078 0.152 0.031 2559 2682 3639 3666 3612 0 0 0 0 0 0 25.46 25.89 28.83

1534 -1.15 -194.6 2559 2683 3668 3612 311.6 -17.0 128 1535 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2682 3638 3666 3611 0 0 0 0 0 0 28.83 28.83 28.83

1834 -1.15 -194.6 2559 2683 3668 3608 360.8 -16.4 148 1834 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2683 3636 3666 3607 0 0 0 0 0 0 28.83 28.83 28.83

2133 -1.15 -194.6 2559 2684 3666 3605 410.0 -16.7 168 2137 0.00 2.08 0.00 0.000 516 0.000 0.024 2559 1291 3634 3664 3605 0 0 0 0 0 0 28.83 25.94 28.83

2198 -1.15 -194.6 2561 1292 3664 3605 419.3 -15.7 172 2202 0.00 2.15 0.00 0.000 1030 0.000 0.032 2552 2681 3634 3664 3605 0 0 0 0 0 0 28.83 25.89 28.83

2509 -1.15 -194.6 2552 2681 3663 3603 471.9 -16.9 193 2512 0.00 2.10 0.00 0.000 516 0.000 0.026 2553 1285 3631 3661 3602 0 0 0 0 0 0 28.83 25.91 28.83

2548 -1.15 -194.6 2552 1285 3662 3603 477.1 -17.1 195 2556 0.00 2.15 0.00 0.000 1030 0.000 0.033 2543 2674 3631 3660 3602 0 0 0 0 0 0 28.83 25.86 28.83

2854 -1.15 -194.6 2544 2674 3658 3596 532.0 -17.2 216 2854 0.00 0.00 0.00 0.000 6 0.000 0.000 2543 2674 3628 3658 3599 0 0 0 0 0 0 28.83 28.83 28.83

3153 -1.15 -194.6 2543 2675 3657 3596 582.6 -17.0 236 3157 0.00 2.08 0.00 0.000 516 0.000 0.025 2543 1295 3625 3656 3595 0 0 0 0 0 0 28.83 25.89 28.83

3198 -1.15 -194.6 2542 1295 3657 3596 589.9 -16.4 239 3202 0.00 2.15 0.00 0.000 1030 0.000 0.034 2534 2675 3625 3655 3595 0 0 0 0 0 0 28.83 25.82 28.83

3257 end dive: TARGET_DEPTH_EXCEEDED

state 3257 begin apogee

3261 -0.24 0.0 2534 2310 3656 3595 600.1 -17.0 243 3416 1.00 0.00 151.35 0.787 10246 0.114 0.000 2853 2309 2838 2941 2736 0 0 0 0 0 0 25.41 28.83 24.09

3416 end apogee: CONTROL_FINISHED_OK

state 3416 begin climb

3418 1.15 194.6 2853 2310 2941 2737 606.6 0.0 253 3580 1.25 2.15 154.40 0.784 10756 0.062 0.027 3309 902 2045 2133 1957 0 0 0 0 0 0 24.93 24.91 24.06

3789 1.15 194.6 3309 902 2124 1954 570.4 14.6 278 3797 0.00 2.17 0.00 0.000 1030 0.000 0.028 3309 2302 2037 2122 1953 0 0 0 0 0 0 28.83 25.42 28.83

4095 1.15 194.6 3309 2303 2121 1951 523.5 14.7 299 4099 0.00 2.12 0.00 0.000 516 0.000 0.029 3318 911 2035 2119 1951 0 0 0 0 0 0 28.83 25.75 28.83

4144 1.15 194.6 3318 915 2120 1951 516.7 14.9 302 4148 0.00 2.12 0.00 0.000 1030 0.000 0.028 3318 2295 2034 2118 1951 0 0 0 0 0 0 28.83 25.75 28.83

4455 1.15 194.6 3318 2296 2117 1950 469.5 14.6 323 4459 0.00 2.10 0.00 0.000 516 0.000 0.029 3328 915 2032 2115 1949 0 0 0 0 0 0 28.83 25.78 28.83

4494 1.15 194.6 3327 916 2117 1950 465.2 14.6 325 4502 0.00 2.12 0.00 0.000 1030 0.000 0.028 3327 2296 2032 2116 1949 0 0 0 0 0 0 28.83 25.52 28.83

4799 1.15 194.6 3327 2296 2121 1949 416.2 16.0 346 4803 0.00 2.10 0.00 0.000 516 0.000 0.029 3336 913 2030 2113 1947 0 0 0 0 0 0 28.83 25.83 28.83

4890 1.15 194.6 3337 914 2112 1948 402.0 15.7 352 4894 0.10 2.12 0.00 0.000 5126 0.142 0.028 3306 2308 2030 2112 1948 0 0 0 0 0 0 25.34 25.79 28.83

5205 1.15 194.6 3306 2309 2112 1947 357.3 14.0 373 5208 0.00 2.12 0.00 0.000 516 0.000 0.029 3315 911 2028 2111 1946 0 0 0 0 0 0 28.83 25.82 28.83

5314 1.15 194.6 3313 911 2111 1946 342.3 14.2 380 5319 0.00 2.12 0.00 0.000 1030 0.000 0.028 3314 2302 2028 2110 1946 0 0 0 0 0 0 28.83 25.79 28.83

5624 1.15 194.6 3313 2303 2110 1946 295.3 15.3 401 5625 0.00 0.00 0.00 0.000 6 0.000 0.000 3314 2302 2026 2108 1945 0 0 0 0 0 0 28.83 28.83 28.83

5925 1.15 194.6 3313 2303 2108 1945 248.9 15.7 421 5928 0.00 2.12 0.00 0.000 516 0.000 0.029 3323 910 2025 2107 1944 0 0 0 0 0 0 28.83 25.77 28.83

6065 1.15 194.6 3324 907 2106 1945 228.2 15.2 430 6068 0.00 2.12 0.00 0.000 1030 0.000 0.028 3323 2297 2025 2106 1944 0 0 0 0 0 0 28.83 25.76 28.83

6374 1.15 194.6 3324 2296 2105 1944 180.6 15.3 451 6379 0.10 2.10 0.00 0.000 4612 0.171 0.029 3310 915 2024 2106 1943 0 0 0 0 0 0 25.20 25.79 28.83

6474 1.15 194.6 3311 915 2104 1944 167.5 14.4 457 6482 0.00 2.12 0.00 0.000 1030 0.000 0.027 3310 2303 2024 2105 1943 0 0 0 0 0 0 28.83 25.72 28.83

6780 1.15 198.9 3310 2304 2106 1943 124.3 13.1 478 6784 0.00 2.20 0.00 0.000 260 0.000 0.038 3309 3705 2023 2104 1942 0 0 0 0 0 0 28.83 25.66 28.83

6819 1.15 198.9 3311 3705 2104 1943 120.2 13.4 480 6827 0.00 2.10 0.00 0.000 1030 0.000 0.024 3320 2300 2023 2104 1942 0 0 0 0 0 0 28.83 25.82 28.83

7125 1.21 244.5 3321 2299 2104 1943 80.8 11.2 506 7167 0.00 2.05 36.08 0.449 8708 0.000 0.027 3329 903 1839 1926 1753 0 0 0 0 0 0 28.83 25.68 24.94

7257 1.22 258.1 3329 904 1923 1753 64.5 12.7 519 7272 0.00 2.15 11.45 0.404 9222 0.000 0.027 3328 2310 1785 1869 1701 0 0 0 0 0 0 28.83 25.67 24.76

7397 1.38 383.1 3330 2310 1863 1701 49.8 7.4 533 7503 0.10 2.20 98.50 0.431 10756 0.100 0.028 3377 912 1275 1375 1176 0 0 0 0 0 0 25.59 25.22 24.55

7532 1.38 383.1 3376 912 1373 1176 34.2 15.3 556 7539 0.00 2.15 0.00 0.000 1030 0.000 0.028 3377 2290 1273 1371 1175 0 0 0 0 0 0 28.83 25.30 28.83

7598 1.38 383.1 3376 2291 1372 1173 24.5 14.1 569 7599 0.00 0.00 0.00 0.000 6 0.000 0.000 3376 2291 1271 1370 1173 0 0 0 0 0 0 28.83 28.83 28.83

7658 1.38 383.1 3376 2291 1370 1173 15.4 14.7 581 7666 0.00 2.22 0.00 0.000 260 0.000 0.036 3377 3710 1271 1369 1173 0 0 0 0 0 0 28.83 25.48 28.83

7680 1.38 383.1 3378 3710 1368 1173 12.4 14.2 585 7687 0.00 2.12 0.00 0.000 1030 0.000 0.022 3385 2293 1271 1369 1173 0 0 0 0 0 0 28.83 25.60 28.83

7746 1.60 563.1 3385 2292 1370 1172 6.4 4.8 598 7834 0.12 0.00 78.88 0.383 10498 0.086 0.000 3452 2290 929 1044 815 0 0 0 0 1 0 25.61 28.83 25.44

7834 end climb: SURFACE_DEPTH_REACHED

state 7834 begin surface coast

7878 end surface coast: CONTROL_FINISHED_OK

state 7878 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	56	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	99	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	500	R_STBD_OVSHOOT	52	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	160	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	200	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	250715,213142,2757.649,-8726.555,37,1.0,47,-2.0	SPEED_LIMITS	0.231,0.262
_CALLS	1	TGT_NAME	M
_XMS_NAKs	0	TGT_LATLONG	2758.871,-8727.947
_XMS_TOUTs	0	TGT_RADIUS	250.000
_SM_DEPTHo	1.47	MHEAD_RNG_PITCHd_Wd	320.5,3479,-19.1,-13.333,-26.94,2167
_SM_ANGLEo	-55.8	D_GRID	600
GPS2	250715,213948,2757.464,-8726.538,3,0.9,14,-2.0

FINISH	0.9,1.019875	MI_HOME	3.3/436550/422271
SM_CCo	7895,22.73,0.112,1,0,799,500.16	_24V_AH	24.06,55.672
SM_GC	1.51,8.88,0.62,22.73,0.034,0.034,0.112,151,2698,799,-8.62,-0.85,500.16,0,0,0,0,1,0,25.36,25.20,24.56	_10V_AH	10.01,21.785
IRIDIUM_FIX	2722.64,-8719.43,210508,110128	FG_AHR_24Vo	0.000
TT8_MAMPS	0.098868,0.098868	FG_AHR_10Vo	0.000
HUMID	42.43	MEM	295992
INTERNAL_PRESSURE	9.19436	DATA_FILE_SIZE	23386,621
TCM_TEMP	24.50	CAP_FILE_SIZE	95458,0
MI_MIVER	0.4	CFSIZE	260034560,253927424
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
MI_BOOTCOUNT	104	INTR	0,3812.25,0x236bc6,7,5
MI_LOG	3.5/516052/497952	GPS	250715,235245,2758.069,-8727.048,16,0.8,26,-2.0
MI_ROOT	70.6/190403/56003

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	244	129.28	SBE_CT	412	23	230.32
Roll_motor	72	52	90.68	nil	0	0	0.00
VBD_pump_during_apogee	530	787	10050.34	nil	0	0	0.00
VBD_pump_during_surface	22	111	61.07	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	61	44.90	nil	0	0	0.00
Iridium_during_connect	35	160	136.95	MIB	8529	42	8783.20
Iridium_during_xfer	199	223	1071.36	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	8529	37	7756.92
GPS	15	31	4.99
TT8	0	0	0.00
LPSleep	5722	0	22.34
TT8_Active	622	13	82.28
TT8_Sampling	1875	40	768.28
TT8_CF8	98	48	47.97
TT8_Kalman	0	0	0.00
Analog_circuits	1300	16	208.35
GPS_charging	0	0	0.00
Compass	1166	15	183.62
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	-1.15	-194.6	142	2634	887	699	0.0	0.0	0	75	0.00	0.00	-57.80	0.000	16386	0.000	0.000	143	2634	2687	2665	2710	0	0	0	0	0	0	28.83	28.83	28.83
76	-1.15	-194.6	144	2634	2666	2711	5.2	-11.5	9	108	10.32	1.75	-14.68	0.000	18692	0.245	0.052	2547	3762	3635	3659	3612	0	0	0	0	0	0	25.04	25.39	25.51
152	-1.15	-194.6	2548	3762	3659	3613	33.6	-34.8	23	159	0.00	1.58	0.00	0.000	1030	0.000	0.022	2547	2678	3636	3659	3613	0	0	0	0	0	0	28.83	25.72	28.83
218	-1.15	-194.6	2548	2678	3660	3613	57.2	-30.9	34	219	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2677	3636	3660	3612	0	0	0	0	0	0	28.83	28.83	28.83
339	-1.15	-194.6	2548	2678	3662	3613	85.2	-22.6	46	342	0.00	2.05	0.00	0.000	516	0.000	0.023	2547	1293	3637	3662	3612	0	0	0	0	0	0	28.83	25.53	28.83
373	-1.15	-194.6	2547	1294	3665	3613	92.1	-22.8	49	381	0.00	2.10	0.00	0.000	1030	0.000	0.031	2537	2669	3637	3663	3612	0	0	0	0	0	0	28.83	25.77	28.83
498	-1.15	-194.6	2539	2670	3665	3613	120.6	-21.8	59	499	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2669	3638	3664	3613	0	0	0	0	0	0	28.83	28.83	28.83
798	-1.15	-194.6	2538	2670	3666	3613	181.2	-19.3	79	799	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2670	3639	3666	3613	0	0	0	0	0	0	28.83	28.83	28.83
1098	-1.15	-194.6	2539	2670	3667	3613	237.4	-18.0	99	1102	0.00	2.05	0.00	0.000	516	0.000	0.023	2537	1283	3639	3667	3612	0	0	0	0	0	0	28.83	25.90	28.83
1229	-1.15	-194.6	2538	1284	3666	3613	258.9	-17.4	107	1236	0.08	2.15	0.00	0.000	3078	0.152	0.031	2559	2682	3639	3666	3612	0	0	0	0	0	0	25.46	25.89	28.83
1534	-1.15	-194.6	2559	2683	3668	3612	311.6	-17.0	128	1535	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2682	3638	3666	3611	0	0	0	0	0	0	28.83	28.83	28.83
1834	-1.15	-194.6	2559	2683	3668	3608	360.8	-16.4	148	1834	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2683	3636	3666	3607	0	0	0	0	0	0	28.83	28.83	28.83
2133	-1.15	-194.6	2559	2684	3666	3605	410.0	-16.7	168	2137	0.00	2.08	0.00	0.000	516	0.000	0.024	2559	1291	3634	3664	3605	0	0	0	0	0	0	28.83	25.94	28.83
2198	-1.15	-194.6	2561	1292	3664	3605	419.3	-15.7	172	2202	0.00	2.15	0.00	0.000	1030	0.000	0.032	2552	2681	3634	3664	3605	0	0	0	0	0	0	28.83	25.89	28.83
2509	-1.15	-194.6	2552	2681	3663	3603	471.9	-16.9	193	2512	0.00	2.10	0.00	0.000	516	0.000	0.026	2553	1285	3631	3661	3602	0	0	0	0	0	0	28.83	25.91	28.83
2548	-1.15	-194.6	2552	1285	3662	3603	477.1	-17.1	195	2556	0.00	2.15	0.00	0.000	1030	0.000	0.033	2543	2674	3631	3660	3602	0	0	0	0	0	0	28.83	25.86	28.83
2854	-1.15	-194.6	2544	2674	3658	3596	532.0	-17.2	216	2854	0.00	0.00	0.00	0.000	6	0.000	0.000	2543	2674	3628	3658	3599	0	0	0	0	0	0	28.83	28.83	28.83
3153	-1.15	-194.6	2543	2675	3657	3596	582.6	-17.0	236	3157	0.00	2.08	0.00	0.000	516	0.000	0.025	2543	1295	3625	3656	3595	0	0	0	0	0	0	28.83	25.89	28.83
3198	-1.15	-194.6	2542	1295	3657	3596	589.9	-16.4	239	3202	0.00	2.15	0.00	0.000	1030	0.000	0.034	2534	2675	3625	3655	3595	0	0	0	0	0	0	28.83	25.82	28.83
3257	end dive: TARGET_DEPTH_EXCEEDED
state	3257	begin apogee
3261	-0.24	0.0	2534	2310	3656	3595	600.1	-17.0	243	3416	1.00	0.00	151.35	0.787	10246	0.114	0.000	2853	2309	2838	2941	2736	0	0	0	0	0	0	25.41	28.83	24.09
3416	end apogee: CONTROL_FINISHED_OK
state	3416	begin climb
3418	1.15	194.6	2853	2310	2941	2737	606.6	0.0	253	3580	1.25	2.15	154.40	0.784	10756	0.062	0.027	3309	902	2045	2133	1957	0	0	0	0	0	0	24.93	24.91	24.06
3789	1.15	194.6	3309	902	2124	1954	570.4	14.6	278	3797	0.00	2.17	0.00	0.000	1030	0.000	0.028	3309	2302	2037	2122	1953	0	0	0	0	0	0	28.83	25.42	28.83
4095	1.15	194.6	3309	2303	2121	1951	523.5	14.7	299	4099	0.00	2.12	0.00	0.000	516	0.000	0.029	3318	911	2035	2119	1951	0	0	0	0	0	0	28.83	25.75	28.83
4144	1.15	194.6	3318	915	2120	1951	516.7	14.9	302	4148	0.00	2.12	0.00	0.000	1030	0.000	0.028	3318	2295	2034	2118	1951	0	0	0	0	0	0	28.83	25.75	28.83
4455	1.15	194.6	3318	2296	2117	1950	469.5	14.6	323	4459	0.00	2.10	0.00	0.000	516	0.000	0.029	3328	915	2032	2115	1949	0	0	0	0	0	0	28.83	25.78	28.83
4494	1.15	194.6	3327	916	2117	1950	465.2	14.6	325	4502	0.00	2.12	0.00	0.000	1030	0.000	0.028	3327	2296	2032	2116	1949	0	0	0	0	0	0	28.83	25.52	28.83
4799	1.15	194.6	3327	2296	2121	1949	416.2	16.0	346	4803	0.00	2.10	0.00	0.000	516	0.000	0.029	3336	913	2030	2113	1947	0	0	0	0	0	0	28.83	25.83	28.83
4890	1.15	194.6	3337	914	2112	1948	402.0	15.7	352	4894	0.10	2.12	0.00	0.000	5126	0.142	0.028	3306	2308	2030	2112	1948	0	0	0	0	0	0	25.34	25.79	28.83
5205	1.15	194.6	3306	2309	2112	1947	357.3	14.0	373	5208	0.00	2.12	0.00	0.000	516	0.000	0.029	3315	911	2028	2111	1946	0	0	0	0	0	0	28.83	25.82	28.83
5314	1.15	194.6	3313	911	2111	1946	342.3	14.2	380	5319	0.00	2.12	0.00	0.000	1030	0.000	0.028	3314	2302	2028	2110	1946	0	0	0	0	0	0	28.83	25.79	28.83
5624	1.15	194.6	3313	2303	2110	1946	295.3	15.3	401	5625	0.00	0.00	0.00	0.000	6	0.000	0.000	3314	2302	2026	2108	1945	0	0	0	0	0	0	28.83	28.83	28.83
5925	1.15	194.6	3313	2303	2108	1945	248.9	15.7	421	5928	0.00	2.12	0.00	0.000	516	0.000	0.029	3323	910	2025	2107	1944	0	0	0	0	0	0	28.83	25.77	28.83
6065	1.15	194.6	3324	907	2106	1945	228.2	15.2	430	6068	0.00	2.12	0.00	0.000	1030	0.000	0.028	3323	2297	2025	2106	1944	0	0	0	0	0	0	28.83	25.76	28.83
6374	1.15	194.6	3324	2296	2105	1944	180.6	15.3	451	6379	0.10	2.10	0.00	0.000	4612	0.171	0.029	3310	915	2024	2106	1943	0	0	0	0	0	0	25.20	25.79	28.83
6474	1.15	194.6	3311	915	2104	1944	167.5	14.4	457	6482	0.00	2.12	0.00	0.000	1030	0.000	0.027	3310	2303	2024	2105	1943	0	0	0	0	0	0	28.83	25.72	28.83
6780	1.15	198.9	3310	2304	2106	1943	124.3	13.1	478	6784	0.00	2.20	0.00	0.000	260	0.000	0.038	3309	3705	2023	2104	1942	0	0	0	0	0	0	28.83	25.66	28.83
6819	1.15	198.9	3311	3705	2104	1943	120.2	13.4	480	6827	0.00	2.10	0.00	0.000	1030	0.000	0.024	3320	2300	2023	2104	1942	0	0	0	0	0	0	28.83	25.82	28.83
7125	1.21	244.5	3321	2299	2104	1943	80.8	11.2	506	7167	0.00	2.05	36.08	0.449	8708	0.000	0.027	3329	903	1839	1926	1753	0	0	0	0	0	0	28.83	25.68	24.94
7257	1.22	258.1	3329	904	1923	1753	64.5	12.7	519	7272	0.00	2.15	11.45	0.404	9222	0.000	0.027	3328	2310	1785	1869	1701	0	0	0	0	0	0	28.83	25.67	24.76
7397	1.38	383.1	3330	2310	1863	1701	49.8	7.4	533	7503	0.10	2.20	98.50	0.431	10756	0.100	0.028	3377	912	1275	1375	1176	0	0	0	0	0	0	25.59	25.22	24.55
7532	1.38	383.1	3376	912	1373	1176	34.2	15.3	556	7539	0.00	2.15	0.00	0.000	1030	0.000	0.028	3377	2290	1273	1371	1175	0	0	0	0	0	0	28.83	25.30	28.83
7598	1.38	383.1	3376	2291	1372	1173	24.5	14.1	569	7599	0.00	0.00	0.00	0.000	6	0.000	0.000	3376	2291	1271	1370	1173	0	0	0	0	0	0	28.83	28.83	28.83
7658	1.38	383.1	3376	2291	1370	1173	15.4	14.7	581	7666	0.00	2.22	0.00	0.000	260	0.000	0.036	3377	3710	1271	1369	1173	0	0	0	0	0	0	28.83	25.48	28.83
7680	1.38	383.1	3378	3710	1368	1173	12.4	14.2	585	7687	0.00	2.12	0.00	0.000	1030	0.000	0.022	3385	2293	1271	1369	1173	0	0	0	0	0	0	28.83	25.60	28.83
7746	1.60	563.1	3385	2292	1370	1172	6.4	4.8	598	7834	0.12	0.00	78.88	0.383	10498	0.086	0.000	3452	2290	929	1044	815	0	0	0	0	1	0	25.61	28.83	25.44
7834	end climb: SURFACE_DEPTH_REACHED
state	7834	begin surface coast
7878	end surface coast: CONTROL_FINISHED_OK
state	7878	begin surface