Glider dive log

Shilshole 05Feb14 * SG208 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 208 HD_C 1.6100001e-05 ROLL_MIN 196 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 2 HEADING -1 ROLL_MAX 3778 ALTIM_PING_DEPTH 0

DIVE 10 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

N_DIVES 30 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1995 ALTIM_FREQUENCY 13

D_SURF 2 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1850 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_TGT 180 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 XPDR_VALID 0

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 50 SM_CC 230 R_PORT_OVSHOOT 29 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 100 N_FILEKB 4 R_STBD_OVSHOOT 30 INT_PRESSURE_YINT 0.30000001

T_BOOST 2 FILEMGR 0 ROLL_AD_RATE 350 DEEPGLIDER 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 DEEPGLIDERMB 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_SAFE 0 PROTOCOL 73 ROLL_ADJ_DBAND 0 DEVICE1 2

D_CALL 0 N_NOCOMM 1 VBD_MIN 500 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_MAX 3960 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 2859 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 70 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 85 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_ABORT 720 CAPUPLOAD 1 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 83

T_TURN 600 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE2 -1

T_TURN_SAMPINT 4 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_NO_W 120 T_GPS 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 50 COMPASS_DEVICE 33

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -6 T_GPS_CHARGE -2871.3506 CF8_MAXERRORS 20 PHONE_DEVICE 49

USE_ICE -1 T_RSLEEP 3 AH0_24V 150 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 95 RAFOS_DEVICE -1

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 MINV_24V 19 XPDR_DEVICE -1

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_10V 8 SIM_W 0

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_MIN 249 FG_AHR_24V 0 SEABIRD_T_G 0.0043976754

MAX_BUOY 300 PITCH_MAX 3894 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063337648

COURSE_BIAS 0 C_PITCH 2530 PRESSURE_YINT -65.040756 SEABIRD_T_I 2.4533158e-05

GLIDE_SLOPE 20 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001164818 SEABIRD_T_J 2.8976478e-06

SPEED_FACTOR 1 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -9.7807083

RHO 1.023 P_OVSHOOT 0.059999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1372483

MASS 51476 PITCH_GAIN 18 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015743772

NAV_MODE 1 PITCH_TIMEOUT 18 COMPASS_USE 4 SEABIRD_C_J 0.00019512554

FERRY_MAX 45 PITCH_AD_RATE 160 ALTIM_BOTTOM_PING_RANGE 0 MI_OFFLOAD 1.0

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 MI_POWERSOURCE 0.0

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 MI_RESTARTMONITOR 0.0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 MI_NOTIFYMOTORS 0.0

AD7714Ch0Gain 128 D_OFFGRID 100 N_GPS 20 SEABIRD_T_J 2.8976478e-06

AH0_10V 95 D_PITCH 0 N_NOCOMM 1 SIM_PITCH 0

AH0_24V 150 D_SAFE 0 N_NOSURFACE 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PHONE_DEVICE 49 SM_CC 230

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_AD_RATE 160 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_GAIN 18 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3894 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 20 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_MIN 249 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HD_A 0.003 PITCH_TIMEOUT 18 T_ABORT 720

CALL_TRIES 5 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 2

CALL_WAIT 60 HD_C 1.6100001e-05 PRESSURE_SLOPE 0.0001164818 T_DIVE 70

CAPMAXSIZE 100000 HEADING -1 PRESSURE_YINT -65.040756 T_EPIRB 0

CAPUPLOAD 1 HEAD_ERRBAND 10 PROTOCOL 73 T_GPS 5

CF8_MAXERRORS 20 HEAPDBG 0 P_OVSHOOT 0.059999999 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -2871.3506

COMPASS2_DEVICE -1 ID 208 RAFOS_DEVICE -1 T_LOITER 0

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_MISSION 85

COMPASS_USE 4 INT_PRESSURE_YINT 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_RSLEEP 3

C_PITCH 2530 LOGGERDEVICE1 83 RHO 1.023 T_TURN 600

C_ROLL_CLIMB 1850 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 4

C_ROLL_DIVE 1995 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_VBD 2859 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 50

DEEPGLIDER 0 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 51476 ROLL_DEG 40 USE_BATHY -6

DEVICE1 2 MAX_BUOY 300 ROLL_MAX 3778 USE_ICE -1

DEVICE2 -1 MINV_10V 8 ROLL_MAXERRORS 2 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 19 ROLL_MIN 196 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 2 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 MI_NOTIFYMOTORS 0.0 R_PORT_OVSHOOT 29 VBD_MAX 3960

DEVICE6 -1 MI_OFFLOAD 1.0 R_STBD_OVSHOOT 30 VBD_MAXERRORS 1

DIVE 10 MI_POWERSOURCE 0.0 SEABIRD_C_G -9.7807083 VBD_MIN 500

D_ABORT 1090 MI_RESTARTMONITOR 0.0 SEABIRD_C_H 1.1372483 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 100 MOTHERBOARD 4 SEABIRD_C_I -0.0015743772 VBD_PUMP_AD_RATE_SURFACE 6

D_CALL 0 NAV_MODE 1 SEABIRD_C_J 0.00019512554 VBD_TIMEOUT 720

D_FINISH 0 NOCOMM_ACTION 0 SEABIRD_T_G 0.0043976754 XPDR_DEVICE -1

D_FLARE 3 N_DIVES 30 SEABIRD_T_H 0.00063337648 XPDR_INHIBIT 90

D_NO_BLEED 50 N_FILEKB 4 SEABIRD_T_I 2.4533158e-05 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 070214,080033,4743.003,-12225.048,42,0.8,52,16.3 TGT_NAME NORTH

_CALLS 2 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.171,0.275

_SM_DEPTHo 1.06 KALMAN_X -288.0,-117.1,-11.7,-967.4,-489.3

_SM_ANGLEo -63.4 KALMAN_Y -318.6,-161.8,-438.9,895.7,-144.8

GPS2 070214,081236,4743.043,-12225.081,4,0.9,14,16.3 MHEAD_RNG_PITCHd_Wd 15.7,1624,-9.7,-8.571

SPEED_LIMITS 0.235,0.324 D_GRID 178

Post-dive calculations and measurements:

FINISH 1.0,1.023088 MI_ROOT 70.6/190403/56027

SM_CCo 3251,0.00,0.000,0,0,1639,299.27 MI_HOME 2.3/436550/426362

SM_GC 0.95,7.15,2.00,0.00,0.063,0.049,0.000,256,1982,1639,-7.06,0.65,299.27,0,0,0,0,0,0,26.26,26.28,28.83 _24V_AH 24.8,1.390

IRIDIUM_FIX 4751.72,-12340.51,070214,080826 _10V_AH 10.4,1.119

TT8_MAMPS 0.103362,0.103362 FG_AHR_24Vo 0.000

HUMID 26.61 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 8.98197 MEM 323504

TCM_TEMP 17.90 DATA_FILE_SIZE 20117,569

MI_MIVER 0.4 CAP_FILE_SIZE 75016,0

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 CFSIZE 1024409600,1021657088

MI_BOOTCOUNT 13 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

MI_LOG 3.3/516052/498793 GPS 070214,090834,4743.487,-12224.688,40,1.0,50,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 292 134.80 SBE_CT 380 23 226.48

Roll_motor 48 81 97.64 nil 0 0 0.00

VBD_pump_during_apogee 416 533 5503.61 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 49 12 15.11 nil 0 0 0.00

Iridium_during_connect 94 160 375.98 MIB 4075 41 4228.16

Iridium_during_xfer 269 223 1492.79 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 4075 44 4544.52

GPS 15 33 5.38

TT8 0 0 0.00

LPSleep 1519 0 6.16

TT8_Active 466 14 71.35

TT8_Sampling 1812 44 841.82

TT8_CF8 41 64 27.87

TT8_Kalman 33 67 23.19

Analog_circuits 1010 16 168.15

GPS_charging 0 0 0.00

Compass 887 8 76.04

RAFOS 0 0 0.00

Transponder 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -0.90 -293.3 0.0 0.0 0 90 0.00 0.00 -73.35 0.000 2 0.000 0.000 254 1985 3728 0 0 0 0 0 0 28.83 28.83 28.83

91 -0.90 -293.3 3.8 -7.6 11 112 9.32 2.22 -4.57 0.000 4 0.292 0.071 2217 3409 3960 0 0 0 0 0 0 25.77 26.01 26.15

220 -0.90 -293.3 27.9 -13.8 41 227 0.00 2.15 0.00 0.000 6 0.000 0.041 2215 1982 3960 0 0 0 0 0 0 28.83 26.06 28.83

246 -0.90 -293.3 31.3 -13.5 46 246 0.00 0.00 0.00 0.000 6 0.000 0.000 2215 1982 3960 0 0 0 0 0 0 28.83 28.83 28.83

266 -0.90 -293.3 34.0 -13.3 50 266 0.00 0.00 0.00 0.000 6 0.000 0.000 2215 1981 3960 0 0 0 0 0 0 28.83 28.83 28.83

286 -0.90 -293.3 36.5 -12.9 54 293 0.00 2.22 0.00 0.000 4 0.000 0.060 2205 3405 3960 0 0 0 0 0 0 28.83 26.11 28.83

340 -0.90 -293.3 44.0 -13.9 67 348 0.10 2.12 0.00 0.000 6 0.176 0.042 2227 1988 3960 0 0 0 0 0 0 26.04 26.17 28.83

467 -0.90 -293.3 59.7 -12.1 92 474 0.00 2.20 0.00 0.000 4 0.000 0.061 2216 3404 3960 0 0 0 0 0 0 28.83 26.18 28.83

501 -0.90 -293.3 64.1 -12.9 100 509 0.00 2.12 0.00 0.000 6 0.000 0.042 2217 1990 3960 0 0 0 0 0 0 28.83 26.22 28.83

627 -0.90 -293.3 80.7 -13.8 125 628 0.00 0.00 0.00 0.000 6 0.000 0.000 2217 1990 3960 0 0 0 0 0 0 28.83 28.83 28.83

747 -0.90 -293.3 97.0 -12.9 149 748 0.00 0.00 0.00 0.000 6 0.000 0.000 2217 1988 3960 0 0 0 0 0 0 28.83 28.83 28.83

867 -0.90 -293.3 112.8 -13.1 173 874 0.00 2.20 0.00 0.000 4 0.000 0.061 2206 3402 3960 0 0 0 0 0 0 28.83 26.25 28.83

970 -0.90 -293.3 125.8 -12.2 198 977 0.10 2.10 0.00 0.000 6 0.174 0.042 2229 1994 3960 0 0 0 0 0 0 26.16 26.19 28.83

1096 -0.90 -293.3 140.2 -11.4 223 1103 0.00 2.20 0.00 0.000 4 0.000 0.062 2219 3406 3960 0 0 0 0 0 0 28.83 26.27 28.83

1135 -0.90 -293.3 144.3 -10.9 232 1142 0.00 2.10 0.00 0.000 6 0.000 0.042 2219 1995 3960 0 0 0 0 0 0 28.83 26.20 28.83

1266 -0.90 -293.3 159.3 -11.4 250 1269 0.00 2.17 0.00 0.000 4 0.000 0.060 2208 3400 3960 0 0 0 0 0 0 28.83 26.27 28.83

1413 -0.90 -293.3 177.2 -12.7 268 1421 0.05 2.15 0.00 0.000 6 0.151 0.043 2225 1991 3960 0 0 0 0 0 0 26.20 26.32 28.83

1427 end dive: TARGET_DEPTH_EXCEEDED

state 1427 begin apogee

1430 -0.28 0.0 179.4 -12.6 270 1635 0.65 0.00 198.43 0.533 6 0.152 0.000 2424 1843 2855 0 0 0 0 0 0 26.17 28.83 24.77

1636 end apogee: CONTROL_FINISHED_OK

state 1636 begin climb

1637 0.90 293.3 185.9 0.0 294 1862 1.23 2.33 217.77 0.486 4 0.125 0.060 2800 3255 1653 0 0 0 0 0 0 25.15 25.15 24.77

1890 0.90 293.3 165.6 11.4 322 1893 0.00 2.20 0.00 0.000 6 0.000 0.053 2809 1875 1643 0 0 0 0 0 0 28.83 25.40 28.83

2198 0.90 293.3 128.0 12.4 370 2205 0.00 2.20 0.00 0.000 4 0.000 0.062 2809 3264 1640 0 0 0 0 0 0 28.83 26.02 28.83

2225 0.90 293.3 124.7 12.1 376 2232 0.00 2.22 0.00 0.000 6 0.000 0.053 2819 1836 1640 0 0 0 0 0 0 28.83 26.05 28.83

2351 0.90 293.3 108.9 12.5 401 2352 0.00 0.00 0.00 0.000 6 0.000 0.000 2819 1837 1640 0 0 0 0 0 0 28.83 28.83 28.83

2471 0.90 293.3 94.2 12.0 425 2472 0.00 0.00 0.00 0.000 6 0.000 0.000 2819 1837 1639 0 0 0 0 0 0 28.83 28.83 28.83

2591 0.90 293.3 79.1 12.4 449 2598 0.00 2.25 0.00 0.000 4 0.000 0.076 2829 444 1640 0 0 0 0 0 0 28.83 26.17 28.83

2618 0.90 293.3 75.6 12.9 455 2625 0.00 2.15 0.00 0.000 6 0.000 0.050 2830 1853 1639 0 0 0 0 0 0 28.83 26.23 28.83

2744 0.90 293.3 58.4 13.3 480 2745 0.00 0.00 0.00 0.000 6 0.000 0.000 2830 1853 1640 0 0 0 0 0 0 28.83 28.83 28.83

2864 0.90 293.3 42.4 13.6 504 2865 0.00 0.00 0.00 0.000 6 0.000 0.000 2830 1853 1640 0 0 0 0 0 0 28.83 28.83 28.83

2984 0.90 293.3 25.5 15.6 528 2991 0.00 2.17 0.00 0.000 4 0.000 0.063 2830 3251 1640 0 0 0 0 0 0 28.83 26.25 28.83

3027 0.90 293.3 20.0 14.5 538 3034 0.00 2.17 0.00 0.000 6 0.000 0.054 2839 1843 1639 0 0 0 0 0 0 28.83 26.26 28.83

3053 0.90 293.3 16.2 14.0 543 3053 0.00 0.00 0.00 0.000 6 0.000 0.000 2839 1844 1640 0 0 0 0 0 0 28.83 28.83 28.83

3073 0.90 293.3 14.1 10.9 547 3074 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 1850 1639 0 0 0 0 0 0 28.83 28.83 28.83

3093 0.90 293.3 11.4 13.4 551 3093 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 1844 1643 0 0 0 0 0 0 28.83 28.83 28.83

3113 0.90 293.3 8.9 12.6 555 3113 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 1844 1640 0 0 0 0 0 0 28.83 28.83 28.83

3132 0.90 293.3 6.5 12.7 559 3140 0.00 2.22 0.00 0.000 4 0.000 0.063 2840 3260 1640 0 0 0 0 0 0 28.83 26.25 28.83

3167 end climb: SURFACE_DEPTH_REACHED

state 3167 begin surface coast

3175 end surface coast: CONTROL_FINISHED_OK

state 3175 begin surface

ID	208	HD_C	1.6100001e-05	ROLL_MIN	196	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	2	HEADING	-1	ROLL_MAX	3778	ALTIM_PING_DEPTH	0
DIVE	10	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
N_DIVES	30	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1995	ALTIM_FREQUENCY	13
D_SURF	2	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1850	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_TGT	180	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	XPDR_VALID	0
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	50	SM_CC	230	R_PORT_OVSHOOT	29	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	100	N_FILEKB	4	R_STBD_OVSHOOT	30	INT_PRESSURE_YINT	0.30000001
T_BOOST	2	FILEMGR	0	ROLL_AD_RATE	350	DEEPGLIDER	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	DEEPGLIDERMB	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_SAFE	0	PROTOCOL	73	ROLL_ADJ_DBAND	0	DEVICE1	2
D_CALL	0	N_NOCOMM	1	VBD_MIN	500	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_MAX	3960	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	2859	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	70	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	85	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_ABORT	720	CAPUPLOAD	1	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	83
T_TURN	600	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE2	-1
T_TURN_SAMPINT	4	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_NO_W	120	T_GPS	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	50	COMPASS_DEVICE	33
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-6	T_GPS_CHARGE	-2871.3506	CF8_MAXERRORS	20	PHONE_DEVICE	49
USE_ICE	-1	T_RSLEEP	3	AH0_24V	150	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	95	RAFOS_DEVICE	-1
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	MINV_24V	19	XPDR_DEVICE	-1
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_10V	8	SIM_W	0
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_MIN	249	FG_AHR_24V	0	SEABIRD_T_G	0.0043976754
MAX_BUOY	300	PITCH_MAX	3894	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063337648
COURSE_BIAS	0	C_PITCH	2530	PRESSURE_YINT	-65.040756	SEABIRD_T_I	2.4533158e-05
GLIDE_SLOPE	20	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001164818	SEABIRD_T_J	2.8976478e-06
SPEED_FACTOR	1	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7807083
RHO	1.023	P_OVSHOOT	0.059999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1372483
MASS	51476	PITCH_GAIN	18	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015743772
NAV_MODE	1	PITCH_TIMEOUT	18	COMPASS_USE	4	SEABIRD_C_J	0.00019512554
FERRY_MAX	45	PITCH_AD_RATE	160	ALTIM_BOTTOM_PING_RANGE	0	MI_OFFLOAD	1.0
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	MI_POWERSOURCE	0.0
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	MI_RESTARTMONITOR	0.0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	MI_NOTIFYMOTORS	0.0

GPS1	070214,080033,4743.003,-12225.048,42,0.8,52,16.3	TGT_NAME	NORTH
_CALLS	2	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.171,0.275
_SM_DEPTHo	1.06	KALMAN_X	-288.0,-117.1,-11.7,-967.4,-489.3
_SM_ANGLEo	-63.4	KALMAN_Y	-318.6,-161.8,-438.9,895.7,-144.8
GPS2	070214,081236,4743.043,-12225.081,4,0.9,14,16.3	MHEAD_RNG_PITCHd_Wd	15.7,1624,-9.7,-8.571
SPEED_LIMITS	0.235,0.324	D_GRID	178

FINISH	1.0,1.023088	MI_ROOT	70.6/190403/56027
SM_CCo	3251,0.00,0.000,0,0,1639,299.27	MI_HOME	2.3/436550/426362
SM_GC	0.95,7.15,2.00,0.00,0.063,0.049,0.000,256,1982,1639,-7.06,0.65,299.27,0,0,0,0,0,0,26.26,26.28,28.83	_24V_AH	24.8,1.390
IRIDIUM_FIX	4751.72,-12340.51,070214,080826	_10V_AH	10.4,1.119
TT8_MAMPS	0.103362,0.103362	FG_AHR_24Vo	0.000
HUMID	26.61	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	8.98197	MEM	323504
TCM_TEMP	17.90	DATA_FILE_SIZE	20117,569
MI_MIVER	0.4	CAP_FILE_SIZE	75016,0
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	CFSIZE	1024409600,1021657088
MI_BOOTCOUNT	13	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
MI_LOG	3.3/516052/498793	GPS	070214,090834,4743.487,-12224.688,40,1.0,50,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	292	134.80	SBE_CT	380	23	226.48
Roll_motor	48	81	97.64	nil	0	0	0.00
VBD_pump_during_apogee	416	533	5503.61	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	49	12	15.11	nil	0	0	0.00
Iridium_during_connect	94	160	375.98	MIB	4075	41	4228.16
Iridium_during_xfer	269	223	1492.79	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	4075	44	4544.52
GPS	15	33	5.38
TT8	0	0	0.00
LPSleep	1519	0	6.16
TT8_Active	466	14	71.35
TT8_Sampling	1812	44	841.82
TT8_CF8	41	64	27.87
TT8_Kalman	33	67	23.19
Analog_circuits	1010	16	168.15
GPS_charging	0	0	0.00
Compass	887	8	76.04
RAFOS	0	0	0.00
Transponder	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-0.90	-293.3	0.0	0.0	0	90	0.00	0.00	-73.35	0.000	2	0.000	0.000	254	1985	3728	0	0	0	0	0	0	28.83	28.83	28.83
91	-0.90	-293.3	3.8	-7.6	11	112	9.32	2.22	-4.57	0.000	4	0.292	0.071	2217	3409	3960	0	0	0	0	0	0	25.77	26.01	26.15
220	-0.90	-293.3	27.9	-13.8	41	227	0.00	2.15	0.00	0.000	6	0.000	0.041	2215	1982	3960	0	0	0	0	0	0	28.83	26.06	28.83
246	-0.90	-293.3	31.3	-13.5	46	246	0.00	0.00	0.00	0.000	6	0.000	0.000	2215	1982	3960	0	0	0	0	0	0	28.83	28.83	28.83
266	-0.90	-293.3	34.0	-13.3	50	266	0.00	0.00	0.00	0.000	6	0.000	0.000	2215	1981	3960	0	0	0	0	0	0	28.83	28.83	28.83
286	-0.90	-293.3	36.5	-12.9	54	293	0.00	2.22	0.00	0.000	4	0.000	0.060	2205	3405	3960	0	0	0	0	0	0	28.83	26.11	28.83
340	-0.90	-293.3	44.0	-13.9	67	348	0.10	2.12	0.00	0.000	6	0.176	0.042	2227	1988	3960	0	0	0	0	0	0	26.04	26.17	28.83
467	-0.90	-293.3	59.7	-12.1	92	474	0.00	2.20	0.00	0.000	4	0.000	0.061	2216	3404	3960	0	0	0	0	0	0	28.83	26.18	28.83
501	-0.90	-293.3	64.1	-12.9	100	509	0.00	2.12	0.00	0.000	6	0.000	0.042	2217	1990	3960	0	0	0	0	0	0	28.83	26.22	28.83
627	-0.90	-293.3	80.7	-13.8	125	628	0.00	0.00	0.00	0.000	6	0.000	0.000	2217	1990	3960	0	0	0	0	0	0	28.83	28.83	28.83
747	-0.90	-293.3	97.0	-12.9	149	748	0.00	0.00	0.00	0.000	6	0.000	0.000	2217	1988	3960	0	0	0	0	0	0	28.83	28.83	28.83
867	-0.90	-293.3	112.8	-13.1	173	874	0.00	2.20	0.00	0.000	4	0.000	0.061	2206	3402	3960	0	0	0	0	0	0	28.83	26.25	28.83
970	-0.90	-293.3	125.8	-12.2	198	977	0.10	2.10	0.00	0.000	6	0.174	0.042	2229	1994	3960	0	0	0	0	0	0	26.16	26.19	28.83
1096	-0.90	-293.3	140.2	-11.4	223	1103	0.00	2.20	0.00	0.000	4	0.000	0.062	2219	3406	3960	0	0	0	0	0	0	28.83	26.27	28.83
1135	-0.90	-293.3	144.3	-10.9	232	1142	0.00	2.10	0.00	0.000	6	0.000	0.042	2219	1995	3960	0	0	0	0	0	0	28.83	26.20	28.83
1266	-0.90	-293.3	159.3	-11.4	250	1269	0.00	2.17	0.00	0.000	4	0.000	0.060	2208	3400	3960	0	0	0	0	0	0	28.83	26.27	28.83
1413	-0.90	-293.3	177.2	-12.7	268	1421	0.05	2.15	0.00	0.000	6	0.151	0.043	2225	1991	3960	0	0	0	0	0	0	26.20	26.32	28.83
1427	end dive: TARGET_DEPTH_EXCEEDED
state	1427	begin apogee
1430	-0.28	0.0	179.4	-12.6	270	1635	0.65	0.00	198.43	0.533	6	0.152	0.000	2424	1843	2855	0	0	0	0	0	0	26.17	28.83	24.77
1636	end apogee: CONTROL_FINISHED_OK
state	1636	begin climb
1637	0.90	293.3	185.9	0.0	294	1862	1.23	2.33	217.77	0.486	4	0.125	0.060	2800	3255	1653	0	0	0	0	0	0	25.15	25.15	24.77
1890	0.90	293.3	165.6	11.4	322	1893	0.00	2.20	0.00	0.000	6	0.000	0.053	2809	1875	1643	0	0	0	0	0	0	28.83	25.40	28.83
2198	0.90	293.3	128.0	12.4	370	2205	0.00	2.20	0.00	0.000	4	0.000	0.062	2809	3264	1640	0	0	0	0	0	0	28.83	26.02	28.83
2225	0.90	293.3	124.7	12.1	376	2232	0.00	2.22	0.00	0.000	6	0.000	0.053	2819	1836	1640	0	0	0	0	0	0	28.83	26.05	28.83
2351	0.90	293.3	108.9	12.5	401	2352	0.00	0.00	0.00	0.000	6	0.000	0.000	2819	1837	1640	0	0	0	0	0	0	28.83	28.83	28.83
2471	0.90	293.3	94.2	12.0	425	2472	0.00	0.00	0.00	0.000	6	0.000	0.000	2819	1837	1639	0	0	0	0	0	0	28.83	28.83	28.83
2591	0.90	293.3	79.1	12.4	449	2598	0.00	2.25	0.00	0.000	4	0.000	0.076	2829	444	1640	0	0	0	0	0	0	28.83	26.17	28.83
2618	0.90	293.3	75.6	12.9	455	2625	0.00	2.15	0.00	0.000	6	0.000	0.050	2830	1853	1639	0	0	0	0	0	0	28.83	26.23	28.83
2744	0.90	293.3	58.4	13.3	480	2745	0.00	0.00	0.00	0.000	6	0.000	0.000	2830	1853	1640	0	0	0	0	0	0	28.83	28.83	28.83
2864	0.90	293.3	42.4	13.6	504	2865	0.00	0.00	0.00	0.000	6	0.000	0.000	2830	1853	1640	0	0	0	0	0	0	28.83	28.83	28.83
2984	0.90	293.3	25.5	15.6	528	2991	0.00	2.17	0.00	0.000	4	0.000	0.063	2830	3251	1640	0	0	0	0	0	0	28.83	26.25	28.83
3027	0.90	293.3	20.0	14.5	538	3034	0.00	2.17	0.00	0.000	6	0.000	0.054	2839	1843	1639	0	0	0	0	0	0	28.83	26.26	28.83
3053	0.90	293.3	16.2	14.0	543	3053	0.00	0.00	0.00	0.000	6	0.000	0.000	2839	1844	1640	0	0	0	0	0	0	28.83	28.83	28.83
3073	0.90	293.3	14.1	10.9	547	3074	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	1850	1639	0	0	0	0	0	0	28.83	28.83	28.83
3093	0.90	293.3	11.4	13.4	551	3093	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	1844	1643	0	0	0	0	0	0	28.83	28.83	28.83
3113	0.90	293.3	8.9	12.6	555	3113	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	1844	1640	0	0	0	0	0	0	28.83	28.83	28.83
3132	0.90	293.3	6.5	12.7	559	3140	0.00	2.22	0.00	0.000	4	0.000	0.063	2840	3260	1640	0	0	0	0	0	0	28.83	26.25	28.83
3167	end climb: SURFACE_DEPTH_REACHED
state	3167	begin surface coast
3175	end surface coast: CONTROL_FINISHED_OK
state	3175	begin surface