Glider dive log

GulfOfMexico Jul15 * SG161 * Dive index * Mission links * Dive 57 * 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 57 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 85 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 500 R_STBD_OVSHOOT 48 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 57 MI_POWERSOURCE 0.0 R_PORT_OVSHOOT 85 VBD_MIN 550

D_ABORT 1090 MI_RESTARTMONITOR 0.0 R_STBD_OVSHOOT 48 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 250715,235245,2758.069,-8727.048,16,0.8,26,-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 1.49 MHEAD_RNG_PITCHd_Wd 323.7,2094,-22.6,-13.333,-29.81,1701

_SM_ANGLEo -67.7 D_GRID 600

GPS2 260715,000123,2757.984,-8727.153,4,0.9,14,-2.0

Post-dive calculations and measurements:

FINISH 1.1,1.019446 MI_HOME 3.3/436550/422211

SM_CCo 7194,14.35,0.054,0,0,802,500.16 _24V_AH 23.95,55.860

SM_GC 3.35,8.95,0.57,14.35,0.031,0.037,0.054,138,2674,802,-8.65,-1.36,500.16,0,0,0,0,0,0,25.29,25.29,25.26 _10V_AH 10.17,21.920

IRIDIUM_FIX 2722.64,-8719.43,210508,132340 FG_AHR_24Vo 0.000

TT8_MAMPS 0.09737,0.09737 FG_AHR_10Vo 0.000

HUMID 41.06 MEM 296064

INTERNAL_PRESSURE 9.19436 DATA_FILE_SIZE 20082,590

TCM_TEMP 24.90 CAP_FILE_SIZE 86065,0

MI_MIVER 0.4 CFSIZE 260034560,253894656

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 0,8493.16,0x236bc6,7,5

MI_LOG 3.5/516052/497951 GPS 260715,020331,2758.504,-8727.576,80,1.0,90,-2.0

MI_ROOT 70.6/190403/56003

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 242 128.36 SBE_CT 391 23 217.49

Roll_motor 60 37 54.49 nil 0 0 0.00

VBD_pump_during_apogee 553 787 10437.30 nil 0 0 0.00

VBD_pump_during_surface 14 54 18.67 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 35 61 52.51 nil 0 0 0.00

Iridium_during_connect 48 160 186.51 MIB 7788 42 8012.74

Iridium_during_xfer 148 223 795.73 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 7788 37 6943.95

GPS 15 31 4.84

TT8 0 0 0.00

LPSleep 5057 0 20.06

TT8_Active 589 13 79.22

TT8_Sampling 1840 40 765.92

TT8_CF8 86 48 42.72

TT8_Kalman 0 0 0.00

Analog_circuits 1263 16 205.66

GPS_charging 0 0 0.00

Compass 1186 15 189.76

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 -1.26 -151.5 150 2709 889 698 0.0 0.0 0 68 0.00 0.00 -52.00 0.000 16386 0.000 0.000 148 2710 2517 2492 2542 0 0 0 0 0 0 28.83 28.83 28.83

70 -1.31 -188.5 148 2711 2495 2542 5.1 -11.1 8 102 10.07 2.15 -16.25 0.000 18948 0.243 0.036 2502 1265 3612 3637 3587 0 0 0 0 0 0 24.96 25.63 25.75

226 -1.31 -188.5 2502 1265 3640 3587 65.2 -32.9 34 230 0.00 2.17 0.00 0.000 1030 0.000 0.029 2493 2677 3613 3640 3587 0 0 0 0 0 0 28.83 25.70 28.83

356 -1.31 -188.5 2492 2678 3644 3588 98.7 -26.1 47 360 0.00 2.08 0.00 0.000 516 0.000 0.022 2493 1276 3614 3642 3587 0 0 0 0 0 0 28.83 25.79 28.83

406 -1.31 -188.5 2493 1276 3644 3588 109.7 -24.3 51 410 0.00 2.15 0.00 0.000 1030 0.000 0.030 2484 2676 3615 3643 3587 0 0 0 0 0 0 28.83 25.76 28.83

716 -1.31 -188.5 2483 2677 3648 3588 184.0 -23.6 72 717 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2676 3617 3647 3587 0 0 0 0 0 0 28.83 28.83 28.83

1016 -1.31 -188.5 2485 2676 3647 3589 251.0 -21.9 92 1020 0.00 2.08 0.00 0.000 516 0.000 0.022 2484 1268 3618 3648 3588 0 0 0 0 0 0 28.83 25.86 28.83

1141 -1.31 -188.5 2483 1269 3649 3589 275.0 -19.9 100 1145 0.10 2.17 0.00 0.000 3078 0.148 0.031 2504 2679 3618 3648 3588 0 0 0 0 0 0 25.29 25.82 28.83

1452 -1.31 -188.5 2505 2679 3648 3592 338.2 -20.1 121 1453 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2679 3617 3648 3587 0 0 0 0 0 0 28.83 28.83 28.83

1751 -1.31 -188.5 2504 2680 3649 3585 398.3 -19.9 141 1755 0.00 2.08 0.00 0.000 516 0.000 0.024 2504 1282 3614 3648 3581 0 0 0 0 0 0 28.83 25.86 28.83

1821 -1.31 -188.5 2505 1282 3647 3584 410.3 -19.9 145 1828 0.00 2.15 0.00 0.000 1030 0.000 0.031 2497 2672 3615 3647 3583 0 0 0 0 0 0 28.83 25.80 28.83

2126 -1.31 -188.5 2497 2672 3644 3581 472.2 -19.4 166 2130 0.00 2.08 0.00 0.000 516 0.000 0.024 2496 1284 3613 3645 3581 0 0 0 0 0 0 28.83 25.84 28.83

2196 -1.31 -188.5 2497 1284 3644 3581 483.8 -19.3 170 2203 0.00 2.17 0.00 0.000 1030 0.000 0.031 2486 2682 3615 3650 3580 0 0 0 0 0 0 28.83 25.78 28.83

2501 -1.31 -188.5 2486 2684 3642 3581 546.8 -19.9 191 2505 0.00 2.12 0.00 0.000 516 0.000 0.025 2486 1280 3611 3641 3582 0 0 0 0 0 0 28.83 25.51 28.83

2546 -1.31 -188.5 2486 1281 3642 3578 555.7 -19.7 194 2550 0.08 2.20 0.00 0.000 3078 0.156 0.032 2501 2674 3608 3640 3576 0 0 0 0 0 0 25.07 25.47 28.83

2785 end dive: TARGET_DEPTH_EXCEEDED

state 2785 begin apogee

2788 -0.24 0.0 2501 2309 3638 3574 600.3 -17.9 210 2941 1.12 0.00 148.45 0.788 10246 0.120 0.000 2850 2308 2838 2941 2736 0 0 0 0 0 0 25.09 28.83 23.95

2941 end apogee: CONTROL_FINISHED_OK

state 2941 begin climb

2942 1.31 188.5 2850 2313 2942 2736 606.4 0.0 220 3105 1.40 2.15 150.55 0.786 10756 0.062 0.028 3355 909 2067 2155 1979 0 0 0 0 0 0 24.77 24.84 23.98

3228 1.31 188.5 3356 909 2147 1978 579.1 16.8 239 3233 0.00 2.15 0.00 0.000 1030 0.000 0.027 3355 2304 2062 2148 1977 0 0 0 0 0 0 28.83 25.48 28.83

3539 1.31 188.5 3355 2305 2145 1975 528.6 15.8 260 3543 0.00 2.12 0.00 0.000 516 0.000 0.029 3365 909 2059 2144 1974 0 0 0 0 0 0 28.83 25.73 28.83

3674 1.31 188.5 3364 909 2143 1974 506.7 16.2 269 3678 0.00 2.12 0.00 0.000 1030 0.000 0.028 3365 2297 2058 2142 1974 0 0 0 0 0 0 28.83 25.76 28.83

3989 1.31 188.5 3365 2298 2139 1972 454.0 16.9 290 3993 0.00 2.10 0.00 0.000 516 0.000 0.029 3373 918 2055 2139 1972 0 0 0 0 0 0 28.83 25.82 28.83

4109 1.31 188.5 3373 919 2140 1973 433.1 17.2 298 4113 0.00 2.12 0.00 0.000 1030 0.000 0.027 3374 2312 2054 2138 1971 0 0 0 0 0 0 28.83 25.79 28.83

4424 1.31 188.5 3375 2312 2135 1970 378.4 17.6 319 4428 0.00 2.12 0.00 0.000 516 0.000 0.029 3383 908 2053 2136 1970 0 0 0 0 0 0 28.83 25.78 28.83

4593 1.31 188.5 3383 908 2137 1970 349.0 18.3 330 4598 0.10 2.12 0.00 0.000 5126 0.142 0.028 3353 2298 2052 2135 1969 0 0 0 0 0 0 25.25 25.75 28.83

4904 1.31 188.5 3354 2298 2133 1968 297.5 16.3 351 4905 0.00 0.00 0.00 0.000 6 0.000 0.000 3353 2298 2050 2133 1968 0 0 0 0 0 0 28.83 28.83 28.83

5204 1.31 188.5 3354 2299 2131 1967 247.5 16.8 371 5208 0.00 2.10 0.00 0.000 516 0.000 0.029 3361 919 2049 2132 1967 0 0 0 0 0 0 28.83 25.74 28.83

5309 1.31 188.5 3361 920 2132 1968 230.4 16.3 378 5313 0.00 2.12 0.00 0.000 1030 0.000 0.027 3361 2305 2049 2131 1967 0 0 0 0 0 0 28.83 25.72 28.83

5624 1.31 188.5 3362 2308 2129 1966 179.5 15.3 399 5628 0.00 2.12 0.00 0.000 516 0.000 0.028 3370 909 2048 2130 1966 0 0 0 0 0 0 28.83 25.75 28.83

5714 1.31 188.5 3371 910 2129 1965 165.7 15.2 405 5718 0.00 2.12 0.00 0.000 1030 0.000 0.027 3370 2303 2047 2129 1965 0 0 0 0 0 0 28.83 25.70 28.83

6029 1.31 188.5 3370 2305 2129 1965 115.6 15.3 426 6033 0.00 2.15 0.00 0.000 260 0.000 0.037 3370 3696 2046 2128 1964 0 0 0 0 0 0 28.83 25.76 28.83

6459 1.38 247.4 3370 3697 2129 1965 58.2 9.8 466 6511 0.00 2.08 42.50 0.431 9222 0.000 0.021 3381 2295 1826 1912 1741 0 0 0 0 0 0 28.83 25.75 24.79

6629 1.46 313.6 3380 2295 1905 1742 44.0 9.3 489 6686 0.00 2.22 51.83 0.418 8452 0.000 0.036 3381 3699 1557 1649 1465 0 0 0 0 0 0 28.83 25.34 24.62

6905 1.51 349.6 3380 3700 1642 1464 11.3 11.2 542 6955 0.00 2.08 39.60 0.327 9222 0.000 0.021 3389 2306 1412 1505 1320 0 0 0 0 1 0 28.83 25.63 24.60

7015 1.78 568.3 3390 2304 1502 1319 6.8 0.1 562 7144 0.28 0.00 120.15 0.400 10498 0.059 0.000 3493 2304 856 975 737 0 0 0 0 1 0 25.41 28.83 25.37

7145 end climb: SURFACE_DEPTH_REACHED

state 7145 begin surface coast

7178 end surface coast: CONTROL_FINISHED_OK

state 7178 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	57	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	85	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	500	R_STBD_OVSHOOT	48	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	250715,235245,2758.069,-8727.048,16,0.8,26,-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	1.49	MHEAD_RNG_PITCHd_Wd	323.7,2094,-22.6,-13.333,-29.81,1701
_SM_ANGLEo	-67.7	D_GRID	600
GPS2	260715,000123,2757.984,-8727.153,4,0.9,14,-2.0

FINISH	1.1,1.019446	MI_HOME	3.3/436550/422211
SM_CCo	7194,14.35,0.054,0,0,802,500.16	_24V_AH	23.95,55.860
SM_GC	3.35,8.95,0.57,14.35,0.031,0.037,0.054,138,2674,802,-8.65,-1.36,500.16,0,0,0,0,0,0,25.29,25.29,25.26	_10V_AH	10.17,21.920
IRIDIUM_FIX	2722.64,-8719.43,210508,132340	FG_AHR_24Vo	0.000
TT8_MAMPS	0.09737,0.09737	FG_AHR_10Vo	0.000
HUMID	41.06	MEM	296064
INTERNAL_PRESSURE	9.19436	DATA_FILE_SIZE	20082,590
TCM_TEMP	24.90	CAP_FILE_SIZE	86065,0
MI_MIVER	0.4	CFSIZE	260034560,253894656
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	0,8493.16,0x236bc6,7,5
MI_LOG	3.5/516052/497951	GPS	260715,020331,2758.504,-8727.576,80,1.0,90,-2.0
MI_ROOT	70.6/190403/56003

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	242	128.36	SBE_CT	391	23	217.49
Roll_motor	60	37	54.49	nil	0	0	0.00
VBD_pump_during_apogee	553	787	10437.30	nil	0	0	0.00
VBD_pump_during_surface	14	54	18.67	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	35	61	52.51	nil	0	0	0.00
Iridium_during_connect	48	160	186.51	MIB	7788	42	8012.74
Iridium_during_xfer	148	223	795.73	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	7788	37	6943.95
GPS	15	31	4.84
TT8	0	0	0.00
LPSleep	5057	0	20.06
TT8_Active	589	13	79.22
TT8_Sampling	1840	40	765.92
TT8_CF8	86	48	42.72
TT8_Kalman	0	0	0.00
Analog_circuits	1263	16	205.66
GPS_charging	0	0	0.00
Compass	1186	15	189.76
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	-1.26	-151.5	150	2709	889	698	0.0	0.0	0	68	0.00	0.00	-52.00	0.000	16386	0.000	0.000	148	2710	2517	2492	2542	0	0	0	0	0	0	28.83	28.83	28.83
70	-1.31	-188.5	148	2711	2495	2542	5.1	-11.1	8	102	10.07	2.15	-16.25	0.000	18948	0.243	0.036	2502	1265	3612	3637	3587	0	0	0	0	0	0	24.96	25.63	25.75
226	-1.31	-188.5	2502	1265	3640	3587	65.2	-32.9	34	230	0.00	2.17	0.00	0.000	1030	0.000	0.029	2493	2677	3613	3640	3587	0	0	0	0	0	0	28.83	25.70	28.83
356	-1.31	-188.5	2492	2678	3644	3588	98.7	-26.1	47	360	0.00	2.08	0.00	0.000	516	0.000	0.022	2493	1276	3614	3642	3587	0	0	0	0	0	0	28.83	25.79	28.83
406	-1.31	-188.5	2493	1276	3644	3588	109.7	-24.3	51	410	0.00	2.15	0.00	0.000	1030	0.000	0.030	2484	2676	3615	3643	3587	0	0	0	0	0	0	28.83	25.76	28.83
716	-1.31	-188.5	2483	2677	3648	3588	184.0	-23.6	72	717	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2676	3617	3647	3587	0	0	0	0	0	0	28.83	28.83	28.83
1016	-1.31	-188.5	2485	2676	3647	3589	251.0	-21.9	92	1020	0.00	2.08	0.00	0.000	516	0.000	0.022	2484	1268	3618	3648	3588	0	0	0	0	0	0	28.83	25.86	28.83
1141	-1.31	-188.5	2483	1269	3649	3589	275.0	-19.9	100	1145	0.10	2.17	0.00	0.000	3078	0.148	0.031	2504	2679	3618	3648	3588	0	0	0	0	0	0	25.29	25.82	28.83
1452	-1.31	-188.5	2505	2679	3648	3592	338.2	-20.1	121	1453	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2679	3617	3648	3587	0	0	0	0	0	0	28.83	28.83	28.83
1751	-1.31	-188.5	2504	2680	3649	3585	398.3	-19.9	141	1755	0.00	2.08	0.00	0.000	516	0.000	0.024	2504	1282	3614	3648	3581	0	0	0	0	0	0	28.83	25.86	28.83
1821	-1.31	-188.5	2505	1282	3647	3584	410.3	-19.9	145	1828	0.00	2.15	0.00	0.000	1030	0.000	0.031	2497	2672	3615	3647	3583	0	0	0	0	0	0	28.83	25.80	28.83
2126	-1.31	-188.5	2497	2672	3644	3581	472.2	-19.4	166	2130	0.00	2.08	0.00	0.000	516	0.000	0.024	2496	1284	3613	3645	3581	0	0	0	0	0	0	28.83	25.84	28.83
2196	-1.31	-188.5	2497	1284	3644	3581	483.8	-19.3	170	2203	0.00	2.17	0.00	0.000	1030	0.000	0.031	2486	2682	3615	3650	3580	0	0	0	0	0	0	28.83	25.78	28.83
2501	-1.31	-188.5	2486	2684	3642	3581	546.8	-19.9	191	2505	0.00	2.12	0.00	0.000	516	0.000	0.025	2486	1280	3611	3641	3582	0	0	0	0	0	0	28.83	25.51	28.83
2546	-1.31	-188.5	2486	1281	3642	3578	555.7	-19.7	194	2550	0.08	2.20	0.00	0.000	3078	0.156	0.032	2501	2674	3608	3640	3576	0	0	0	0	0	0	25.07	25.47	28.83
2785	end dive: TARGET_DEPTH_EXCEEDED
state	2785	begin apogee
2788	-0.24	0.0	2501	2309	3638	3574	600.3	-17.9	210	2941	1.12	0.00	148.45	0.788	10246	0.120	0.000	2850	2308	2838	2941	2736	0	0	0	0	0	0	25.09	28.83	23.95
2941	end apogee: CONTROL_FINISHED_OK
state	2941	begin climb
2942	1.31	188.5	2850	2313	2942	2736	606.4	0.0	220	3105	1.40	2.15	150.55	0.786	10756	0.062	0.028	3355	909	2067	2155	1979	0	0	0	0	0	0	24.77	24.84	23.98
3228	1.31	188.5	3356	909	2147	1978	579.1	16.8	239	3233	0.00	2.15	0.00	0.000	1030	0.000	0.027	3355	2304	2062	2148	1977	0	0	0	0	0	0	28.83	25.48	28.83
3539	1.31	188.5	3355	2305	2145	1975	528.6	15.8	260	3543	0.00	2.12	0.00	0.000	516	0.000	0.029	3365	909	2059	2144	1974	0	0	0	0	0	0	28.83	25.73	28.83
3674	1.31	188.5	3364	909	2143	1974	506.7	16.2	269	3678	0.00	2.12	0.00	0.000	1030	0.000	0.028	3365	2297	2058	2142	1974	0	0	0	0	0	0	28.83	25.76	28.83
3989	1.31	188.5	3365	2298	2139	1972	454.0	16.9	290	3993	0.00	2.10	0.00	0.000	516	0.000	0.029	3373	918	2055	2139	1972	0	0	0	0	0	0	28.83	25.82	28.83
4109	1.31	188.5	3373	919	2140	1973	433.1	17.2	298	4113	0.00	2.12	0.00	0.000	1030	0.000	0.027	3374	2312	2054	2138	1971	0	0	0	0	0	0	28.83	25.79	28.83
4424	1.31	188.5	3375	2312	2135	1970	378.4	17.6	319	4428	0.00	2.12	0.00	0.000	516	0.000	0.029	3383	908	2053	2136	1970	0	0	0	0	0	0	28.83	25.78	28.83
4593	1.31	188.5	3383	908	2137	1970	349.0	18.3	330	4598	0.10	2.12	0.00	0.000	5126	0.142	0.028	3353	2298	2052	2135	1969	0	0	0	0	0	0	25.25	25.75	28.83
4904	1.31	188.5	3354	2298	2133	1968	297.5	16.3	351	4905	0.00	0.00	0.00	0.000	6	0.000	0.000	3353	2298	2050	2133	1968	0	0	0	0	0	0	28.83	28.83	28.83
5204	1.31	188.5	3354	2299	2131	1967	247.5	16.8	371	5208	0.00	2.10	0.00	0.000	516	0.000	0.029	3361	919	2049	2132	1967	0	0	0	0	0	0	28.83	25.74	28.83
5309	1.31	188.5	3361	920	2132	1968	230.4	16.3	378	5313	0.00	2.12	0.00	0.000	1030	0.000	0.027	3361	2305	2049	2131	1967	0	0	0	0	0	0	28.83	25.72	28.83
5624	1.31	188.5	3362	2308	2129	1966	179.5	15.3	399	5628	0.00	2.12	0.00	0.000	516	0.000	0.028	3370	909	2048	2130	1966	0	0	0	0	0	0	28.83	25.75	28.83
5714	1.31	188.5	3371	910	2129	1965	165.7	15.2	405	5718	0.00	2.12	0.00	0.000	1030	0.000	0.027	3370	2303	2047	2129	1965	0	0	0	0	0	0	28.83	25.70	28.83
6029	1.31	188.5	3370	2305	2129	1965	115.6	15.3	426	6033	0.00	2.15	0.00	0.000	260	0.000	0.037	3370	3696	2046	2128	1964	0	0	0	0	0	0	28.83	25.76	28.83
6459	1.38	247.4	3370	3697	2129	1965	58.2	9.8	466	6511	0.00	2.08	42.50	0.431	9222	0.000	0.021	3381	2295	1826	1912	1741	0	0	0	0	0	0	28.83	25.75	24.79
6629	1.46	313.6	3380	2295	1905	1742	44.0	9.3	489	6686	0.00	2.22	51.83	0.418	8452	0.000	0.036	3381	3699	1557	1649	1465	0	0	0	0	0	0	28.83	25.34	24.62
6905	1.51	349.6	3380	3700	1642	1464	11.3	11.2	542	6955	0.00	2.08	39.60	0.327	9222	0.000	0.021	3389	2306	1412	1505	1320	0	0	0	0	1	0	28.83	25.63	24.60
7015	1.78	568.3	3390	2304	1502	1319	6.8	0.1	562	7144	0.28	0.00	120.15	0.400	10498	0.059	0.000	3493	2304	856	975	737	0	0	0	0	1	0	25.41	28.83	25.37
7145	end climb: SURFACE_DEPTH_REACHED
state	7145	begin surface coast
7178	end surface coast: CONTROL_FINISHED_OK
state	7178	begin surface