Glider dive log

GulfOfMexico Jul15 * SG161 * Dive index * Mission links * Dive 21 * 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 21 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 3 TGT_DEFAULT_LAT 27.983 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 660 TGT_DEFAULT_LON -87.467003 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 91 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 500 R_STBD_OVSHOOT 47 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 185 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 200 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 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0 GPS_DEVICE 32

D_OFFGRID 100 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE -1

RELAUNCH 1 PITCH_MIN 151 AH0_10V 100 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3948 MINV_24V 19 SIM_PITCH 0

MAX_BUOY 175 C_PITCH 2930 MINV_10V 8 SEABIRD_T_G 0.0043775463

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_H 0.00063860236

GLIDE_SLOPE 45 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 1 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 660 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 45 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 T_ABORT 720

CALL_WAIT 60 HEADING -1 PITCH_W_GAIN 0 T_BOOST 2

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00011628441 T_DIVE 185

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 200

COMPASS_USE 0 KALMAN_USE 2 RAFOS_DEVICE -1 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE1 115 RAFOS_HIT_WINDOW 3600 T_RSLEEP 5

C_PITCH 2930 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN 540

C_ROLL_CLIMB 2300 LOGGERDEVICE3 -1 RELAUNCH 1 T_TURN_SAMPINT 5

C_ROLL_DIVE 2675 LOGGERDEVICE4 -1 RHO 1.0275 T_WATCHDOG 10

C_VBD 2839 LOGGERS 1 ROLL_ADJ_DBAND 0 UNCOM_BLEED 50

DBDW 0 MASS 51942 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS_COMP 0 ROLL_AD_RATE 300 USE_BATHY 0

DEVICE1 2 MAX_BUOY 175 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE2 -1 MINV_10V 8 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 19 ROLL_MAX 3769 VBD_CNV -0.245296

DEVICE4 -1 MISSION 11 ROLL_MAXERRORS 2 VBD_DBAND 2

DEVICE5 -1 MI_NOTIFYMOTORS 0.0 ROLL_MIN 192 VBD_MAX 3960

DEVICE6 -1 MI_OFFLOAD 1.0 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 21 MI_POWERSOURCE 0.0 R_PORT_OVSHOOT 91 VBD_MIN 550

D_ABORT 1090 MI_RESTARTMONITOR 0.0 R_STBD_OVSHOOT 47 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 1 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 3 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 200715,220508,2800.146,-8729.729,41,0.9,51,-1.9 SPEED_LIMITS 0.119,0.237

_CALLS 1 TGT_NAME T315_6

_XMS_NAKs 0 TGT_LATLONG 2801.049,-8729.938

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 1.27 MHEAD_RNG_PITCHd_Wd 348.3,2075,-25.4,-11.892,-32.46,1319

_SM_ANGLEo -66.6 D_GRID 660

GPS2 200715,221326,2759.960,-8729.640,5,0.9,15,-1.9

Post-dive calculations and measurements:

SM_CCo 7832,143.73,0.412,1,0,550,561.48 MI_HOME 2.9/436550/424108

SM_GC 1.57,8.77,1.52,0.00,0.027,0.020,0.000,147,2658,545,-8.62,2.32,562.71,0,0,0,0,0,0,23.94,25.25,28.83 _24V_AH 23.92,47.374

IRIDIUM_FIX 2722.64,-8719.43,160508,113553 _10V_AH 10.10,14.609

TT8_MAMPS 0.09737,0.09737 FG_AHR_24Vo 0.000

HUMID 39.56 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.19436 MEM 296104

TCM_TEMP 25.00 DATA_FILE_SIZE 23427,643

MI_MIVER 0.4 CAP_FILE_SIZE 97143,0

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 CFSIZE 260034560,256081920

MI_BOOTCOUNT 104 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0

MI_LOG 3.5/516052/497976 INTR 0,8443.31,0x236bc6,7,5

MI_ROOT 70.6/190403/56003 GPS 210715,002910,2800.130,-8729.801,21,0.9,31,-1.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 233 119.99 SBE_CT 429 23 238.49

Roll_motor 71 38 65.67 nil 0 0 0.00

VBD_pump_during_apogee 405 850 8248.68 nil 0 0 0.00

VBD_pump_during_surface 143 411 1414.94 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 61 44.34 nil 0 0 0.00

Iridium_during_connect 35 160 136.27 MIB 8525 42 8754.30

Iridium_during_xfer 149 223 794.81 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 8525 35 7257.70

GPS 16 31 5.28

TT8 0 0 0.00

LPSleep 5687 0 22.40

TT8_Active 641 13 85.63

TT8_Sampling 2013 40 832.04

TT8_CF8 85 48 41.98

TT8_Kalman 0 0 0.00

Analog_circuits 1365 16 220.66

GPS_charging 0 0 0.00

Compass 1334 15 211.96

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15 -1.34 -104.4 156 2652 897 693 0.0 0.0 0 75 0.00 0.00 -57.50 0.000 16386 0.000 0.000 156 2652 2545 2522 2569 0 0 0 0 0 0 28.83 28.83 28.83

77 -1.41 -164.6 156 2653 2525 2570 3.3 -7.2 9 109 9.62 1.98 -18.45 0.000 18948 0.233 0.038 2471 1278 3513 3541 3486 0 0 0 0 0 0 24.96 25.55 25.65

213 -1.41 -164.6 2470 1278 3545 3487 50.4 -39.8 35 217 0.00 2.15 0.00 0.000 1030 0.000 0.028 2463 2681 3514 3542 3486 0 0 0 0 0 0 28.83 25.59 28.83

343 -1.41 -164.6 2462 2682 3545 3487 91.5 -27.9 48 347 0.00 2.08 0.00 0.000 516 0.000 0.022 2463 1284 3515 3544 3486 0 0 0 0 0 0 28.83 25.69 28.83

373 -1.41 -164.6 2462 1284 3547 3487 98.7 -24.4 51 377 0.00 2.12 0.00 0.000 1030 0.000 0.028 2453 2678 3515 3545 3486 0 0 0 0 0 0 28.83 25.65 28.83

503 -1.41 -164.6 2453 2679 3548 3487 129.3 -23.1 60 507 0.00 2.08 0.00 0.000 516 0.000 0.022 2453 1277 3516 3547 3486 0 0 0 0 0 0 28.83 25.72 28.83

662 -1.41 -164.6 2454 1277 3549 3486 163.7 -23.0 70 670 0.10 2.12 0.00 0.000 3078 0.158 0.029 2472 2674 3517 3549 3486 0 0 0 0 0 0 25.20 25.70 28.83

968 -1.41 -164.6 2473 2676 3550 3492 231.4 -20.7 91 972 0.00 2.05 0.00 0.000 516 0.000 0.022 2472 1271 3518 3550 3486 0 0 0 0 0 0 28.83 25.74 28.83

1037 -1.41 -164.6 2472 1272 3552 3487 243.7 -20.5 95 1045 0.00 2.15 0.00 0.000 1030 0.000 0.030 2464 2678 3517 3550 3484 0 0 0 0 0 0 28.83 25.68 28.83

1343 -1.41 -164.6 2464 2681 3552 3486 308.6 -20.2 116 1347 0.00 2.05 0.00 0.000 516 0.000 0.022 2464 1285 3518 3550 3486 0 0 0 0 0 0 28.83 25.72 28.83

1478 -1.41 -164.6 2464 1285 3558 3486 335.9 -20.1 125 1482 0.00 2.17 0.00 0.000 1030 0.000 0.031 2455 2680 3517 3550 3485 0 0 0 0 0 0 28.83 25.37 28.83

1793 -1.41 -164.6 2455 2680 3549 3482 405.3 -22.2 146 1797 0.00 2.10 0.00 0.000 516 0.000 0.024 2454 1272 3516 3550 3482 0 0 0 0 0 0 28.83 25.73 28.83

1943 -1.41 -164.6 2456 1273 3550 3482 438.5 -21.8 156 1947 0.00 2.17 0.00 0.000 1030 0.000 0.031 2445 2679 3515 3549 3482 0 0 0 0 0 0 28.83 25.70 28.83

2258 -1.41 -164.6 2446 2679 3547 3479 509.1 -22.7 177 2262 0.12 2.08 0.00 0.000 2564 0.179 0.024 2473 1273 3510 3547 3474 0 0 0 0 0 0 25.20 25.77 28.83

2307 -1.41 -164.6 2472 1275 3548 3478 518.4 -21.3 180 2312 0.00 2.17 0.00 0.000 1030 0.000 0.031 2465 2681 3511 3546 3477 0 0 0 0 0 0 28.83 25.72 28.83

2618 -1.41 -164.6 2468 2681 3544 3476 581.8 -20.1 201 2622 0.00 2.10 0.00 0.000 516 0.000 0.025 2465 1287 3509 3543 3475 0 0 0 0 0 0 28.83 25.77 28.83

2708 -1.41 -164.6 2466 1285 3542 3475 599.6 -19.6 207 2712 0.00 2.15 0.00 0.000 1030 0.000 0.034 2455 2673 3508 3542 3474 0 0 0 0 0 0 28.83 25.72 28.83

3007 end dive: TARGET_DEPTH_EXCEEDED

state 3007 begin apogee

3010 -0.24 0.0 2457 2300 3540 3472 662.3 -20.9 227 3146 1.27 0.00 129.10 0.851 10246 0.127 0.000 2850 2299 2838 2941 2736 0 0 0 0 0 0 25.29 28.83 24.01

3146 end apogee: CONTROL_FINISHED_OK

state 3146 begin climb

3147 1.41 164.6 2849 2300 2943 2737 668.6 0.0 236 3288 1.50 2.12 132.57 0.829 10756 0.062 0.030 3386 919 2166 2248 2084 0 0 0 0 0 0 24.78 24.68 23.92

3438 1.41 164.6 3386 920 2241 2082 639.7 16.2 255 3442 0.00 2.15 0.00 0.000 1030 0.000 0.027 3386 2310 2160 2239 2081 0 0 0 0 0 0 28.83 25.41 28.83

3753 1.41 164.6 3386 2310 2236 2080 587.4 17.0 276 3754 0.00 0.00 0.00 0.000 6 0.000 0.000 3386 2310 2157 2234 2080 0 0 0 0 0 0 28.83 28.83 28.83

4053 1.41 164.6 3386 2311 2231 2079 535.5 17.2 296 4057 0.00 2.10 0.00 0.000 516 0.000 0.029 3395 920 2153 2229 2078 0 0 0 0 0 0 28.83 25.74 28.83

4282 1.41 164.6 3395 920 2229 2077 497.6 16.3 311 4287 0.00 2.10 0.00 0.000 1030 0.000 0.027 3395 2298 2152 2228 2076 0 0 0 0 0 0 28.83 25.72 28.83

4593 1.41 164.6 3396 2298 2225 2075 444.9 16.8 332 4593 0.00 0.00 0.00 0.000 6 0.000 0.000 3395 2302 2150 2226 2074 0 0 0 0 0 0 28.83 28.83 28.83

4893 1.41 164.6 3395 2298 2225 2074 394.6 16.9 352 4897 0.00 2.10 0.00 0.000 516 0.000 0.029 3410 920 2148 2223 2074 0 0 0 0 0 0 28.83 25.51 28.83

4987 1.41 164.6 3405 919 2222 2074 379.3 17.1 358 4992 0.00 2.12 0.00 0.000 1030 0.000 0.027 3404 2307 2147 2222 2073 0 0 0 0 0 0 28.83 25.64 28.83

5298 1.41 164.6 3404 2307 2222 2073 324.1 17.2 379 5302 0.00 2.12 0.00 0.000 516 0.000 0.030 3414 911 2146 2220 2072 0 0 0 0 0 0 28.83 25.72 28.83

5517 1.41 164.6 3414 910 2221 2071 288.1 16.9 393 5525 0.10 2.12 0.00 0.000 5126 0.151 0.027 3385 2305 2144 2219 2070 0 0 0 0 0 0 25.14 25.65 28.83

5823 1.41 164.6 3384 2305 2220 2070 236.6 16.3 414 5827 0.00 2.12 0.00 0.000 516 0.000 0.031 3393 880 2144 2218 2070 0 0 0 0 0 0 28.83 25.65 28.83

5907 1.41 164.6 3394 880 2218 2070 224.3 16.6 419 5915 0.00 2.17 0.00 0.000 1030 0.000 0.027 3393 2304 2143 2218 2069 0 0 0 0 0 0 28.83 25.65 28.83

6213 1.41 164.6 3394 2303 2217 2070 171.4 16.5 440 6217 0.00 2.10 0.00 0.000 516 0.000 0.030 3403 923 2143 2217 2069 0 0 0 0 0 0 28.83 25.67 28.83

6372 1.41 164.6 3403 923 2217 2070 147.5 16.1 450 6380 0.00 2.10 0.00 0.000 1030 0.000 0.026 3402 2308 2143 2217 2069 0 0 0 0 0 0 28.83 25.64 28.83

6678 1.41 164.6 3403 2307 2218 2069 101.7 13.4 471 6682 0.00 2.12 0.00 0.000 516 0.000 0.029 3412 910 2143 2217 2069 0 0 0 0 0 0 28.83 25.65 28.83

7018 1.51 240.8 3412 911 2218 2069 68.3 6.0 505 7080 0.00 2.10 54.42 0.451 9222 0.000 0.026 3412 2296 1854 1940 1769 0 0 0 0 0 0 28.83 25.65 24.87

7198 1.56 282.0 3413 2297 1941 1767 51.3 8.7 523 7233 0.00 0.00 32.35 0.425 8198 0.000 0.000 3412 2296 1687 1776 1599 0 0 0 0 0 0 28.83 28.83 24.77

7292 1.56 282.0 3413 2297 1770 1597 40.5 12.2 539 7293 0.00 0.00 0.00 0.000 6 0.000 0.000 3412 2297 1683 1770 1597 0 0 0 0 0 0 28.83 28.83 28.83

7352 1.57 289.4 3412 2297 1770 1597 33.8 11.3 551 7360 0.00 0.00 6.62 0.354 8198 0.000 0.000 3412 2296 1659 1748 1570 0 0 0 0 0 0 28.83 28.83 24.74

7419 1.57 290.9 3413 2297 1743 1568 26.0 11.8 564 7426 0.00 2.12 0.00 0.000 516 0.000 0.028 3422 909 1656 1744 1568 0 0 0 0 0 0 28.83 25.50 28.83

7475 1.57 290.9 3422 909 1744 1569 18.5 12.8 575 7483 0.00 2.10 0.00 0.000 1030 0.000 0.024 3422 2299 1655 1743 1568 0 0 0 0 0 0 28.83 25.55 28.83

7542 1.63 338.9 3422 2300 1744 1567 11.4 8.2 588 7604 0.00 2.12 50.30 0.370 8452 0.000 0.034 3422 3697 1454 1548 1360 0 0 0 0 1 0 28.83 25.38 24.79

7827 end climb: NO_VERTICAL_VELOCITY

state 7827 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	21	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	3	TGT_DEFAULT_LAT	27.983	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	660	TGT_DEFAULT_LON	-87.467003	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	91	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	500	R_STBD_OVSHOOT	47	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	185	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	200	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	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0	GPS_DEVICE	32
D_OFFGRID	100	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_MIN	151	AH0_10V	100	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3948	MINV_24V	19	SIM_PITCH	0
MAX_BUOY	175	C_PITCH	2930	MINV_10V	8	SEABIRD_T_G	0.0043775463
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_T_H	0.00063860236
GLIDE_SLOPE	45	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	1	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	200715,220508,2800.146,-8729.729,41,0.9,51,-1.9	SPEED_LIMITS	0.119,0.237
_CALLS	1	TGT_NAME	T315_6
_XMS_NAKs	0	TGT_LATLONG	2801.049,-8729.938
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	1.27	MHEAD_RNG_PITCHd_Wd	348.3,2075,-25.4,-11.892,-32.46,1319
_SM_ANGLEo	-66.6	D_GRID	660
GPS2	200715,221326,2759.960,-8729.640,5,0.9,15,-1.9

SM_CCo	7832,143.73,0.412,1,0,550,561.48	MI_HOME	2.9/436550/424108
SM_GC	1.57,8.77,1.52,0.00,0.027,0.020,0.000,147,2658,545,-8.62,2.32,562.71,0,0,0,0,0,0,23.94,25.25,28.83	_24V_AH	23.92,47.374
IRIDIUM_FIX	2722.64,-8719.43,160508,113553	_10V_AH	10.10,14.609
TT8_MAMPS	0.09737,0.09737	FG_AHR_24Vo	0.000
HUMID	39.56	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.19436	MEM	296104
TCM_TEMP	25.00	DATA_FILE_SIZE	23427,643
MI_MIVER	0.4	CAP_FILE_SIZE	97143,0
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	CFSIZE	260034560,256081920
MI_BOOTCOUNT	104	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
MI_LOG	3.5/516052/497976	INTR	0,8443.31,0x236bc6,7,5
MI_ROOT	70.6/190403/56003	GPS	210715,002910,2800.130,-8729.801,21,0.9,31,-1.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	233	119.99	SBE_CT	429	23	238.49
Roll_motor	71	38	65.67	nil	0	0	0.00
VBD_pump_during_apogee	405	850	8248.68	nil	0	0	0.00
VBD_pump_during_surface	143	411	1414.94	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	61	44.34	nil	0	0	0.00
Iridium_during_connect	35	160	136.27	MIB	8525	42	8754.30
Iridium_during_xfer	149	223	794.81	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	8525	35	7257.70
GPS	16	31	5.28
TT8	0	0	0.00
LPSleep	5687	0	22.40
TT8_Active	641	13	85.63
TT8_Sampling	2013	40	832.04
TT8_CF8	85	48	41.98
TT8_Kalman	0	0	0.00
Analog_circuits	1365	16	220.66
GPS_charging	0	0	0.00
Compass	1334	15	211.96
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15	-1.34	-104.4	156	2652	897	693	0.0	0.0	0	75	0.00	0.00	-57.50	0.000	16386	0.000	0.000	156	2652	2545	2522	2569	0	0	0	0	0	0	28.83	28.83	28.83
77	-1.41	-164.6	156	2653	2525	2570	3.3	-7.2	9	109	9.62	1.98	-18.45	0.000	18948	0.233	0.038	2471	1278	3513	3541	3486	0	0	0	0	0	0	24.96	25.55	25.65
213	-1.41	-164.6	2470	1278	3545	3487	50.4	-39.8	35	217	0.00	2.15	0.00	0.000	1030	0.000	0.028	2463	2681	3514	3542	3486	0	0	0	0	0	0	28.83	25.59	28.83
343	-1.41	-164.6	2462	2682	3545	3487	91.5	-27.9	48	347	0.00	2.08	0.00	0.000	516	0.000	0.022	2463	1284	3515	3544	3486	0	0	0	0	0	0	28.83	25.69	28.83
373	-1.41	-164.6	2462	1284	3547	3487	98.7	-24.4	51	377	0.00	2.12	0.00	0.000	1030	0.000	0.028	2453	2678	3515	3545	3486	0	0	0	0	0	0	28.83	25.65	28.83
503	-1.41	-164.6	2453	2679	3548	3487	129.3	-23.1	60	507	0.00	2.08	0.00	0.000	516	0.000	0.022	2453	1277	3516	3547	3486	0	0	0	0	0	0	28.83	25.72	28.83
662	-1.41	-164.6	2454	1277	3549	3486	163.7	-23.0	70	670	0.10	2.12	0.00	0.000	3078	0.158	0.029	2472	2674	3517	3549	3486	0	0	0	0	0	0	25.20	25.70	28.83
968	-1.41	-164.6	2473	2676	3550	3492	231.4	-20.7	91	972	0.00	2.05	0.00	0.000	516	0.000	0.022	2472	1271	3518	3550	3486	0	0	0	0	0	0	28.83	25.74	28.83
1037	-1.41	-164.6	2472	1272	3552	3487	243.7	-20.5	95	1045	0.00	2.15	0.00	0.000	1030	0.000	0.030	2464	2678	3517	3550	3484	0	0	0	0	0	0	28.83	25.68	28.83
1343	-1.41	-164.6	2464	2681	3552	3486	308.6	-20.2	116	1347	0.00	2.05	0.00	0.000	516	0.000	0.022	2464	1285	3518	3550	3486	0	0	0	0	0	0	28.83	25.72	28.83
1478	-1.41	-164.6	2464	1285	3558	3486	335.9	-20.1	125	1482	0.00	2.17	0.00	0.000	1030	0.000	0.031	2455	2680	3517	3550	3485	0	0	0	0	0	0	28.83	25.37	28.83
1793	-1.41	-164.6	2455	2680	3549	3482	405.3	-22.2	146	1797	0.00	2.10	0.00	0.000	516	0.000	0.024	2454	1272	3516	3550	3482	0	0	0	0	0	0	28.83	25.73	28.83
1943	-1.41	-164.6	2456	1273	3550	3482	438.5	-21.8	156	1947	0.00	2.17	0.00	0.000	1030	0.000	0.031	2445	2679	3515	3549	3482	0	0	0	0	0	0	28.83	25.70	28.83
2258	-1.41	-164.6	2446	2679	3547	3479	509.1	-22.7	177	2262	0.12	2.08	0.00	0.000	2564	0.179	0.024	2473	1273	3510	3547	3474	0	0	0	0	0	0	25.20	25.77	28.83
2307	-1.41	-164.6	2472	1275	3548	3478	518.4	-21.3	180	2312	0.00	2.17	0.00	0.000	1030	0.000	0.031	2465	2681	3511	3546	3477	0	0	0	0	0	0	28.83	25.72	28.83
2618	-1.41	-164.6	2468	2681	3544	3476	581.8	-20.1	201	2622	0.00	2.10	0.00	0.000	516	0.000	0.025	2465	1287	3509	3543	3475	0	0	0	0	0	0	28.83	25.77	28.83
2708	-1.41	-164.6	2466	1285	3542	3475	599.6	-19.6	207	2712	0.00	2.15	0.00	0.000	1030	0.000	0.034	2455	2673	3508	3542	3474	0	0	0	0	0	0	28.83	25.72	28.83
3007	end dive: TARGET_DEPTH_EXCEEDED
state	3007	begin apogee
3010	-0.24	0.0	2457	2300	3540	3472	662.3	-20.9	227	3146	1.27	0.00	129.10	0.851	10246	0.127	0.000	2850	2299	2838	2941	2736	0	0	0	0	0	0	25.29	28.83	24.01
3146	end apogee: CONTROL_FINISHED_OK
state	3146	begin climb
3147	1.41	164.6	2849	2300	2943	2737	668.6	0.0	236	3288	1.50	2.12	132.57	0.829	10756	0.062	0.030	3386	919	2166	2248	2084	0	0	0	0	0	0	24.78	24.68	23.92
3438	1.41	164.6	3386	920	2241	2082	639.7	16.2	255	3442	0.00	2.15	0.00	0.000	1030	0.000	0.027	3386	2310	2160	2239	2081	0	0	0	0	0	0	28.83	25.41	28.83
3753	1.41	164.6	3386	2310	2236	2080	587.4	17.0	276	3754	0.00	0.00	0.00	0.000	6	0.000	0.000	3386	2310	2157	2234	2080	0	0	0	0	0	0	28.83	28.83	28.83
4053	1.41	164.6	3386	2311	2231	2079	535.5	17.2	296	4057	0.00	2.10	0.00	0.000	516	0.000	0.029	3395	920	2153	2229	2078	0	0	0	0	0	0	28.83	25.74	28.83
4282	1.41	164.6	3395	920	2229	2077	497.6	16.3	311	4287	0.00	2.10	0.00	0.000	1030	0.000	0.027	3395	2298	2152	2228	2076	0	0	0	0	0	0	28.83	25.72	28.83
4593	1.41	164.6	3396	2298	2225	2075	444.9	16.8	332	4593	0.00	0.00	0.00	0.000	6	0.000	0.000	3395	2302	2150	2226	2074	0	0	0	0	0	0	28.83	28.83	28.83
4893	1.41	164.6	3395	2298	2225	2074	394.6	16.9	352	4897	0.00	2.10	0.00	0.000	516	0.000	0.029	3410	920	2148	2223	2074	0	0	0	0	0	0	28.83	25.51	28.83
4987	1.41	164.6	3405	919	2222	2074	379.3	17.1	358	4992	0.00	2.12	0.00	0.000	1030	0.000	0.027	3404	2307	2147	2222	2073	0	0	0	0	0	0	28.83	25.64	28.83
5298	1.41	164.6	3404	2307	2222	2073	324.1	17.2	379	5302	0.00	2.12	0.00	0.000	516	0.000	0.030	3414	911	2146	2220	2072	0	0	0	0	0	0	28.83	25.72	28.83
5517	1.41	164.6	3414	910	2221	2071	288.1	16.9	393	5525	0.10	2.12	0.00	0.000	5126	0.151	0.027	3385	2305	2144	2219	2070	0	0	0	0	0	0	25.14	25.65	28.83
5823	1.41	164.6	3384	2305	2220	2070	236.6	16.3	414	5827	0.00	2.12	0.00	0.000	516	0.000	0.031	3393	880	2144	2218	2070	0	0	0	0	0	0	28.83	25.65	28.83
5907	1.41	164.6	3394	880	2218	2070	224.3	16.6	419	5915	0.00	2.17	0.00	0.000	1030	0.000	0.027	3393	2304	2143	2218	2069	0	0	0	0	0	0	28.83	25.65	28.83
6213	1.41	164.6	3394	2303	2217	2070	171.4	16.5	440	6217	0.00	2.10	0.00	0.000	516	0.000	0.030	3403	923	2143	2217	2069	0	0	0	0	0	0	28.83	25.67	28.83
6372	1.41	164.6	3403	923	2217	2070	147.5	16.1	450	6380	0.00	2.10	0.00	0.000	1030	0.000	0.026	3402	2308	2143	2217	2069	0	0	0	0	0	0	28.83	25.64	28.83
6678	1.41	164.6	3403	2307	2218	2069	101.7	13.4	471	6682	0.00	2.12	0.00	0.000	516	0.000	0.029	3412	910	2143	2217	2069	0	0	0	0	0	0	28.83	25.65	28.83
7018	1.51	240.8	3412	911	2218	2069	68.3	6.0	505	7080	0.00	2.10	54.42	0.451	9222	0.000	0.026	3412	2296	1854	1940	1769	0	0	0	0	0	0	28.83	25.65	24.87
7198	1.56	282.0	3413	2297	1941	1767	51.3	8.7	523	7233	0.00	0.00	32.35	0.425	8198	0.000	0.000	3412	2296	1687	1776	1599	0	0	0	0	0	0	28.83	28.83	24.77
7292	1.56	282.0	3413	2297	1770	1597	40.5	12.2	539	7293	0.00	0.00	0.00	0.000	6	0.000	0.000	3412	2297	1683	1770	1597	0	0	0	0	0	0	28.83	28.83	28.83
7352	1.57	289.4	3412	2297	1770	1597	33.8	11.3	551	7360	0.00	0.00	6.62	0.354	8198	0.000	0.000	3412	2296	1659	1748	1570	0	0	0	0	0	0	28.83	28.83	24.74
7419	1.57	290.9	3413	2297	1743	1568	26.0	11.8	564	7426	0.00	2.12	0.00	0.000	516	0.000	0.028	3422	909	1656	1744	1568	0	0	0	0	0	0	28.83	25.50	28.83
7475	1.57	290.9	3422	909	1744	1569	18.5	12.8	575	7483	0.00	2.10	0.00	0.000	1030	0.000	0.024	3422	2299	1655	1743	1568	0	0	0	0	0	0	28.83	25.55	28.83
7542	1.63	338.9	3422	2300	1744	1567	11.4	8.2	588	7604	0.00	2.12	50.30	0.370	8452	0.000	0.034	3422	3697	1454	1548	1360	0	0	0	0	1	0	28.83	25.38	24.79
7827	end climb: NO_VERTICAL_VELOCITY
state	7827	begin surface