Glider dive log

Shilshole 15Apr14 * SG162 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 162 HD_C 9.9999997e-06 ROLL_MIN 198 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 3 HEADING -1 ROLL_MAX 3834 ALTIM_PING_DEPTH 0

DIVE 13 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1800 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1800 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 4212 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_TGT 165 TGT_DEFAULT_LON -7043 ROLL_CNV 0.028270001 XPDR_VALID 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 500 SM_CC 320 R_PORT_OVSHOOT 44 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 86 INT_PRESSURE_YINT -0.93000001

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 300 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 1889 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 65 CALL_TRIES 8 VBD_CNV -0.245296 DEVICE6 -1

T_MISSION 80 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_ABORT 1440 CAPUPLOAD 1 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 83

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_NO_W 120 T_GPS 15 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 60 COMPASS_DEVICE 33

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY 0 T_GPS_CHARGE -4477.8813 CF8_MAXERRORS 20 PHONE_DEVICE 49

USE_ICE 0 T_RSLEEP 3 AH0_24V 150 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 100 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 126 FG_AHR_24V 0 SEABIRD_T_G 0.0043479973

MAX_BUOY 180 PITCH_MAX 3882 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062607677

COURSE_BIAS 0 C_PITCH 2435 PRESSURE_YINT -26.64114 SEABIRD_T_I 2.4008095e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011560637 SEABIRD_T_J 2.608939e-06

SPEED_FACTOR 1 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -9.9659681

RHO 1.0275 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1191311

MASS 51697 PITCH_GAIN 21 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011732002

NAV_MODE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_J 0.00017434865

FERRY_MAX 45 PITCH_AD_RATE 175 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 20 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 2.608939e-06

AH0_10V 100 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 3 PHONE_DEVICE 49 SM_CC 320

ALTIM_BOTTOM_TURN_MARGIN 20 D_TGT 165 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_GAIN 21 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3882 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 4212

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_MIN 126 TGT_DEFAULT_LON -7043

CALL_NDIVES 1 HD_A 0.003 PITCH_TIMEOUT 16 T_ABORT 1440

CALL_TRIES 8 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 0

CALL_WAIT 60 HD_C 9.9999997e-06 PRESSURE_SLOPE 0.00011560637 T_DIVE 65

CAPMAXSIZE 100000 HEADING -1 PRESSURE_YINT -26.64114 T_EPIRB 0

CAPUPLOAD 1 HEAD_ERRBAND 10 PROTOCOL 73 T_GPS 15

CF8_MAXERRORS 20 HEAPDBG 0 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -4477.8813

COMPASS2_DEVICE -1 ID 162 RAFOS_DEVICE -1 T_LOITER 0

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_MISSION 80

COMPASS_USE 0 INT_PRESSURE_YINT -0.93000001 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_RSLEEP 3

C_PITCH 2435 LOGGERDEVICE1 83 RHO 1.0275 T_TURN 225

C_ROLL_CLIMB 1800 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 1800 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_VBD 1889 LOGGERDEVICE4 -1 ROLL_AD_RATE 300 UNCOM_BLEED 60

DEEPGLIDER 0 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 51697 ROLL_DEG 40 USE_BATHY 0

DEVICE1 2 MAX_BUOY 180 ROLL_MAX 3834 USE_ICE 0

DEVICE2 -1 MINV_10V 8 ROLL_MAXERRORS 2 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 19 ROLL_MIN 198 VBD_CNV -0.245296

DEVICE4 -1 MISSION 3 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 MI_NOTIFYMOTORS 0.0 R_PORT_OVSHOOT 44 VBD_MAX 3960

DEVICE6 -1 MI_OFFLOAD 1.0 R_STBD_OVSHOOT 86 VBD_MAXERRORS 1

DIVE 13 MI_POWERSOURCE 0.0 SEABIRD_C_G -9.9659681 VBD_MIN 500

D_ABORT 1090 MI_RESTARTMONITOR 0.0 SEABIRD_C_H 1.1191311 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 0 MOTHERBOARD 4 SEABIRD_C_I -0.0011732002 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 NAV_MODE 1 SEABIRD_C_J 0.00017434865 VBD_TIMEOUT 720

D_FINISH 0 NOCOMM_ACTION 0 SEABIRD_T_G 0.0043479973 XPDR_DEVICE -1

D_FLARE 3 N_DIVES 0 SEABIRD_T_H 0.00062607677 XPDR_INHIBIT 90

D_NO_BLEED 500 N_FILEKB 4 SEABIRD_T_I 2.4008095e-05 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 160414,121021,4742.877,-12224.700,2,0.9,36,16.3 TGT_NAME NORTH

_CALLS 1 TGT_LATLONG 4744.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 400.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.037,0.262

_SM_DEPTHo 0.16 KALMAN_X 472.7,58.2,-424.7,-198.8,-111.9

_SM_ANGLEo -61.8 KALMAN_Y 1314.9,395.0,-601.6,-586.1,-271.4

GPS2 160414,122526,4742.982,-12224.566,4,0.9,39,16.3 MHEAD_RNG_PITCHd_Wd 351.7,1886,-13.3,-8.462

SPEED_LIMITS 0.147,0.265 D_GRID 165

Post-dive calculations and measurements:

FINISH -0.8,1.020508 MI_ROOT 70.6/190403/55927

SM_CCo 2978,13.95,0.420,0,0,584,320.11 MI_HOME 3.0/436550/423514

SM_GC 1.20,7.28,0.00,13.95,0.048,0.000,0.420,116,1821,584,-7.18,0.59,320.11,0,0,0,0,0,0,25.32,28.83,24.84 _24V_AH 24.2,1.718

IRIDIUM_FIX 4751.72,-12340.51,160414,121236 _10V_AH 10.4,1.173

TT8_MAMPS 0.104111,0.104111 FG_AHR_24Vo 0.000

HUMID 36.69 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 8.8946 MEM 231716

TCM_TEMP 20.20 DATA_FILE_SIZE 6849,274

MI_MIVER 0.4 CAP_FILE_SIZE 131914,0

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 CFSIZE 260034560,257388544

MI_BOOTCOUNT 33 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

MI_LOG 3.4/516052/498637 GPS 160414,131654,4743.197,-12224.655,3,1.0,38,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 274 121.62 SBE_CT 183 23 106.45

Roll_motor 39 52 50.68 nil 0 0 0.00

VBD_pump_during_apogee 364 556 4905.80 nil 0 0 0.00

VBD_pump_during_surface 13 419 141.78 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 58 43.07 nil 0 0 0.00

Iridium_during_connect 37 160 146.76 MIB 4037 42 4164.02

Iridium_during_xfer 293 223 1582.07 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 4037 41 4019.20

GPS 40 31 13.40

TT8 0 0 0.00

LPSleep 781 0 3.17

TT8_Active 292 12 38.67

TT8_Sampling 2497 38 1011.22

TT8_CF8 76 45 36.50

TT8_Kalman 33 64 22.24

Analog_circuits 838 15 130.79

GPS_charging 0 0 0.00

Compass 517 15 84.60

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

15 -0.85 -175.2 0.0 0.0 0 81 0.00 0.00 -59.45 0.000 6 0.000 0.000 115 1824 2601 0 0 0 0 0 0 28.83 28.83 25.72

83 -0.85 -175.2 5.9 -12.6 6 105 8.90 2.35 0.00 0.000 4 0.275 0.051 2150 407 2603 0 0 0 0 0 0 25.36 25.60 28.83

113 -0.85 -175.2 21.9 -43.3 9 124 0.00 2.10 0.00 0.000 6 0.000 0.031 2142 1775 2603 0 0 0 0 0 0 28.83 25.64 28.83

201 -0.85 -175.2 33.9 -11.9 22 212 0.00 2.25 0.00 0.000 4 0.000 0.051 2147 400 2603 0 0 0 0 0 0 28.83 25.65 28.83

219 -0.85 -175.2 36.0 -11.2 24 230 0.00 2.15 0.00 0.000 6 0.000 0.030 2132 1803 2603 0 0 0 0 0 0 28.83 25.70 28.83

307 -0.85 -175.2 48.0 -12.7 37 318 0.00 2.28 0.00 0.000 4 0.000 0.050 2132 403 2603 0 0 0 0 0 0 28.83 25.70 28.83

583 -0.85 -175.2 90.0 -15.4 62 597 0.10 2.10 0.00 0.000 6 0.162 0.029 2152 1789 2602 0 0 0 0 0 0 25.67 25.83 28.83

725 -0.85 -175.2 108.8 -12.5 74 730 0.00 2.22 0.00 0.000 4 0.000 0.050 2153 405 2600 0 0 0 0 0 0 28.83 25.82 28.83

763 -0.85 -175.2 112.6 -11.9 76 776 0.00 2.20 0.00 0.000 6 0.000 0.028 2144 1824 2602 0 0 0 0 0 0 28.83 25.83 28.83

1073 -0.85 -175.2 152.7 -12.4 97 1078 0.00 2.10 0.00 0.000 4 0.000 0.041 2135 3177 2602 0 0 0 0 0 0 28.83 25.84 28.83

1187 end dive: TARGET_DEPTH_EXCEEDED

state 1187 begin apogee

1191 -0.24 0.0 166.9 -12.5 104 1331 0.68 0.00 134.88 0.557 6 0.136 0.000 2347 1796 1892 0 0 0 0 0 0 25.75 28.83 24.36

1331 end apogee: CONTROL_FINISHED_OK

state 1332 begin climb

1333 0.85 175.2 172.0 0.0 113 1477 1.08 2.35 134.35 0.542 4 0.099 0.037 2698 3174 1173 0 0 0 0 0 0 24.73 24.68 24.22

1530 0.85 175.2 156.9 10.6 126 1535 0.00 2.28 0.00 0.000 6 0.000 0.034 2708 1801 1171 0 0 0 0 0 0 28.83 25.07 28.83

1845 0.85 175.2 115.9 14.3 147 1846 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 1801 1170 0 0 0 0 0 0 28.83 28.83 28.83

2150 0.85 175.2 80.3 10.6 173 2163 0.00 2.22 0.00 0.000 4 0.000 0.053 2719 410 1170 0 0 0 0 0 0 28.83 25.77 28.83

2224 0.85 175.2 71.8 11.2 179 2237 0.00 2.17 0.00 0.000 6 0.000 0.028 2719 1797 1169 0 0 0 0 0 0 28.83 25.82 28.83

2356 0.85 175.2 56.0 11.5 192 2356 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 1797 1169 0 0 0 0 0 0 28.83 28.83 28.83

2491 0.85 175.2 41.6 11.1 210 2502 0.00 2.17 0.00 0.000 4 0.000 0.037 2719 3181 1169 0 0 0 0 0 0 28.83 25.83 28.83

2554 0.85 175.2 34.1 10.9 219 2565 0.00 2.15 0.00 0.000 6 0.000 0.035 2729 1797 1169 0 0 0 0 0 0 28.83 25.83 28.83

2642 0.85 175.2 24.0 11.3 232 2653 0.00 2.25 0.00 0.000 4 0.000 0.052 2739 399 1169 0 0 0 0 0 0 28.83 25.84 28.83

2731 0.85 175.2 14.1 9.6 245 2742 0.12 2.12 0.00 0.000 6 0.164 0.030 2708 1817 1169 0 0 0 0 0 0 25.73 25.88 28.83

2819 1.04 327.5 10.0 3.5 258 2917 0.15 0.00 94.78 0.459 2 0.083 0.000 2772 1818 660 0 0 0 0 0 0 25.86 28.83 28.83

2917 end climb: SURFACE_DEPTH_REACHED

state 2917 begin surface coast

2962 end surface coast: CONTROL_FINISHED_OK

state 2962 begin surface

ID	162	HD_C	9.9999997e-06	ROLL_MIN	198	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	3	HEADING	-1	ROLL_MAX	3834	ALTIM_PING_DEPTH	0
DIVE	13	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1800	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1800	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	4212	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_TGT	165	TGT_DEFAULT_LON	-7043	ROLL_CNV	0.028270001	XPDR_VALID	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	500	SM_CC	320	R_PORT_OVSHOOT	44	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	86	INT_PRESSURE_YINT	-0.93000001
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	300	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	1889	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	65	CALL_TRIES	8	VBD_CNV	-0.245296	DEVICE6	-1
T_MISSION	80	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_ABORT	1440	CAPUPLOAD	1	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	83
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_NO_W	120	T_GPS	15	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	60	COMPASS_DEVICE	33
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	0	T_GPS_CHARGE	-4477.8813	CF8_MAXERRORS	20	PHONE_DEVICE	49
USE_ICE	0	T_RSLEEP	3	AH0_24V	150	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	100	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	126	FG_AHR_24V	0	SEABIRD_T_G	0.0043479973
MAX_BUOY	180	PITCH_MAX	3882	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062607677
COURSE_BIAS	0	C_PITCH	2435	PRESSURE_YINT	-26.64114	SEABIRD_T_I	2.4008095e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011560637	SEABIRD_T_J	2.608939e-06
SPEED_FACTOR	1	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9659681
RHO	1.0275	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1191311
MASS	51697	PITCH_GAIN	21	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011732002
NAV_MODE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_J	0.00017434865
FERRY_MAX	45	PITCH_AD_RATE	175	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	20	MI_RESTARTMONITOR	0.0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	MI_NOTIFYMOTORS	0.0

GPS1	160414,121021,4742.877,-12224.700,2,0.9,36,16.3	TGT_NAME	NORTH
_CALLS	1	TGT_LATLONG	4744.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	400.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.037,0.262
_SM_DEPTHo	0.16	KALMAN_X	472.7,58.2,-424.7,-198.8,-111.9
_SM_ANGLEo	-61.8	KALMAN_Y	1314.9,395.0,-601.6,-586.1,-271.4
GPS2	160414,122526,4742.982,-12224.566,4,0.9,39,16.3	MHEAD_RNG_PITCHd_Wd	351.7,1886,-13.3,-8.462
SPEED_LIMITS	0.147,0.265	D_GRID	165

FINISH	-0.8,1.020508	MI_ROOT	70.6/190403/55927
SM_CCo	2978,13.95,0.420,0,0,584,320.11	MI_HOME	3.0/436550/423514
SM_GC	1.20,7.28,0.00,13.95,0.048,0.000,0.420,116,1821,584,-7.18,0.59,320.11,0,0,0,0,0,0,25.32,28.83,24.84	_24V_AH	24.2,1.718
IRIDIUM_FIX	4751.72,-12340.51,160414,121236	_10V_AH	10.4,1.173
TT8_MAMPS	0.104111,0.104111	FG_AHR_24Vo	0.000
HUMID	36.69	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	8.8946	MEM	231716
TCM_TEMP	20.20	DATA_FILE_SIZE	6849,274
MI_MIVER	0.4	CAP_FILE_SIZE	131914,0
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	CFSIZE	260034560,257388544
MI_BOOTCOUNT	33	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
MI_LOG	3.4/516052/498637	GPS	160414,131654,4743.197,-12224.655,3,1.0,38,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	274	121.62	SBE_CT	183	23	106.45
Roll_motor	39	52	50.68	nil	0	0	0.00
VBD_pump_during_apogee	364	556	4905.80	nil	0	0	0.00
VBD_pump_during_surface	13	419	141.78	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	58	43.07	nil	0	0	0.00
Iridium_during_connect	37	160	146.76	MIB	4037	42	4164.02
Iridium_during_xfer	293	223	1582.07	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	4037	41	4019.20
GPS	40	31	13.40
TT8	0	0	0.00
LPSleep	781	0	3.17
TT8_Active	292	12	38.67
TT8_Sampling	2497	38	1011.22
TT8_CF8	76	45	36.50
TT8_Kalman	33	64	22.24
Analog_circuits	838	15	130.79
GPS_charging	0	0	0.00
Compass	517	15	84.60
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
15	-0.85	-175.2	0.0	0.0	0	81	0.00	0.00	-59.45	0.000	6	0.000	0.000	115	1824	2601	0	0	0	0	0	0	28.83	28.83	25.72
83	-0.85	-175.2	5.9	-12.6	6	105	8.90	2.35	0.00	0.000	4	0.275	0.051	2150	407	2603	0	0	0	0	0	0	25.36	25.60	28.83
113	-0.85	-175.2	21.9	-43.3	9	124	0.00	2.10	0.00	0.000	6	0.000	0.031	2142	1775	2603	0	0	0	0	0	0	28.83	25.64	28.83
201	-0.85	-175.2	33.9	-11.9	22	212	0.00	2.25	0.00	0.000	4	0.000	0.051	2147	400	2603	0	0	0	0	0	0	28.83	25.65	28.83
219	-0.85	-175.2	36.0	-11.2	24	230	0.00	2.15	0.00	0.000	6	0.000	0.030	2132	1803	2603	0	0	0	0	0	0	28.83	25.70	28.83
307	-0.85	-175.2	48.0	-12.7	37	318	0.00	2.28	0.00	0.000	4	0.000	0.050	2132	403	2603	0	0	0	0	0	0	28.83	25.70	28.83
583	-0.85	-175.2	90.0	-15.4	62	597	0.10	2.10	0.00	0.000	6	0.162	0.029	2152	1789	2602	0	0	0	0	0	0	25.67	25.83	28.83
725	-0.85	-175.2	108.8	-12.5	74	730	0.00	2.22	0.00	0.000	4	0.000	0.050	2153	405	2600	0	0	0	0	0	0	28.83	25.82	28.83
763	-0.85	-175.2	112.6	-11.9	76	776	0.00	2.20	0.00	0.000	6	0.000	0.028	2144	1824	2602	0	0	0	0	0	0	28.83	25.83	28.83
1073	-0.85	-175.2	152.7	-12.4	97	1078	0.00	2.10	0.00	0.000	4	0.000	0.041	2135	3177	2602	0	0	0	0	0	0	28.83	25.84	28.83
1187	end dive: TARGET_DEPTH_EXCEEDED
state	1187	begin apogee
1191	-0.24	0.0	166.9	-12.5	104	1331	0.68	0.00	134.88	0.557	6	0.136	0.000	2347	1796	1892	0	0	0	0	0	0	25.75	28.83	24.36
1331	end apogee: CONTROL_FINISHED_OK
state	1332	begin climb
1333	0.85	175.2	172.0	0.0	113	1477	1.08	2.35	134.35	0.542	4	0.099	0.037	2698	3174	1173	0	0	0	0	0	0	24.73	24.68	24.22
1530	0.85	175.2	156.9	10.6	126	1535	0.00	2.28	0.00	0.000	6	0.000	0.034	2708	1801	1171	0	0	0	0	0	0	28.83	25.07	28.83
1845	0.85	175.2	115.9	14.3	147	1846	0.00	0.00	0.00	0.000	6	0.000	0.000	2708	1801	1170	0	0	0	0	0	0	28.83	28.83	28.83
2150	0.85	175.2	80.3	10.6	173	2163	0.00	2.22	0.00	0.000	4	0.000	0.053	2719	410	1170	0	0	0	0	0	0	28.83	25.77	28.83
2224	0.85	175.2	71.8	11.2	179	2237	0.00	2.17	0.00	0.000	6	0.000	0.028	2719	1797	1169	0	0	0	0	0	0	28.83	25.82	28.83
2356	0.85	175.2	56.0	11.5	192	2356	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	1797	1169	0	0	0	0	0	0	28.83	28.83	28.83
2491	0.85	175.2	41.6	11.1	210	2502	0.00	2.17	0.00	0.000	4	0.000	0.037	2719	3181	1169	0	0	0	0	0	0	28.83	25.83	28.83
2554	0.85	175.2	34.1	10.9	219	2565	0.00	2.15	0.00	0.000	6	0.000	0.035	2729	1797	1169	0	0	0	0	0	0	28.83	25.83	28.83
2642	0.85	175.2	24.0	11.3	232	2653	0.00	2.25	0.00	0.000	4	0.000	0.052	2739	399	1169	0	0	0	0	0	0	28.83	25.84	28.83
2731	0.85	175.2	14.1	9.6	245	2742	0.12	2.12	0.00	0.000	6	0.164	0.030	2708	1817	1169	0	0	0	0	0	0	25.73	25.88	28.83
2819	1.04	327.5	10.0	3.5	258	2917	0.15	0.00	94.78	0.459	2	0.083	0.000	2772	1818	660	0	0	0	0	0	0	25.86	28.83	28.83
2917	end climb: SURFACE_DEPTH_REACHED
state	2917	begin surface coast
2962	end surface coast: CONTROL_FINISHED_OK
state	2962	begin surface