Glider dive log

Shilshole 07Mar12 * SG106 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 106 HEADING -1 ROLL_DEG 40 ALTIM_FREQUENCY 13

MISSION 16 ESCAPE_HEADING 0 C_ROLL_DIVE 2850 ALTIM_PULSE 3

DIVE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2600 ALTIM_SENSITIVITY 2

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 XPDR_VALID 0

D_SURF 3 TGT_DEFAULT_LAT 40 ROLL_CNV 0.028270001 XPDR_INHIBIT 90

D_FLARE 3 TGT_DEFAULT_LON -71 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 150 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 29 INT_PRESSURE_YINT 2.3

D_ABORT 1090 SM_CC 300 R_STBD_OVSHOOT 20 DEEPGLIDER 0

D_NO_BLEED 40 N_FILEKB 6 ROLL_AD_RATE 350 DEEPGLIDERMB 0

D_BOOST 5 FILEMGR 0 ROLL_MAXERRORS 2 MOTHERBOARD 4

T_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEVICE1 2

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEVICE2 -1

D_PITCH 0 PROTOCOL 73 VBD_MIN 800 DEVICE3 -1

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3955 DEVICE4 -1

D_CALL 0 NOCOMM_ACTION 0 C_VBD 3393 DEVICE5 -1

SURFACE_URGENCY 0 N_NOSURFACE -3 VBD_DBAND 2 DEVICE6 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_TIMEOUT 720 LOGGERDEVICE1 83

T_DIVE 40 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE2 -1

T_MISSION 70 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE3 -1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE4 -1

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 COMPASS_DEVICE 33

T_TURN_SAMPINT 5 T_GPS 3 UNCOM_BLEED 50 COMPASS2_DEVICE -1

T_NO_W 120 N_GPS 20 VBD_MAXERRORS 1 PHONE_DEVICE 49

T_LOITER 0 T_GPS_ALMANAC 0 CF8_MAXERRORS 2 GPS_DEVICE 32

T_EPIRB 0 T_GPS_CHARGE -29386.082 AH0_24V 150 RAFOS_DEVICE -1

USE_BATHY -6 T_RSLEEP 5 AH0_10V 98 XPDR_DEVICE -1

USE_ICE 0 STROBE 0 MINV_24V 19 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 MINV_10V 8 SIM_PITCH 0

D_OFFGRID 101 RAFOS_CORR_THRESH 60 FG_AHR_10V 0 SEABIRD_T_G 0.0043533649

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 FG_AHR_24V 0 SEABIRD_T_H 0.00064411096

RELAUNCH 1 PITCH_MIN 142 PHONE_SUPPLY 2 SEABIRD_T_I 2.4408262e-05

APOGEE_PITCH -5 PITCH_MAX 3894 PRESSURE_YINT -8.6425571 SEABIRD_T_J 2.4167559e-06

MAX_BUOY 175 C_PITCH 2395 PRESSURE_SLOPE 0.0001162509 SEABIRD_C_G -9.9531422

COURSE_BIAS 0 PITCH_DBAND 0.1 AD7714Ch0Gain 128 SEABIRD_C_H 1.1184396

GLIDE_SLOPE 30 PITCH_CNV 0.003125763 TCM_PITCH_OFFSET 0 SEABIRD_C_I 1.3326941e-05

SPEED_FACTOR 0.80000001 P_OVSHOOT 0.039999999 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00010342655

RHO 1.0233001 PITCH_GAIN 30 COMPASS_USE 0 MI_OFFLOAD 1.0

MASS 51152 PITCH_TIMEOUT 18 ALTIM_BOTTOM_PING_RANGE 0 MI_POWERSOURCE 0.0

NAV_MODE 1 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0 MI_RESTARTMONITOR 0.0

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0 MI_SCALEFACTOR24V 1.3

KALMAN_USE 1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 MI_NOTIFYMOTORS 0.0

HD_A 0.003 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

HD_B 0.0099999998 ROLL_MIN 255 ALTIM_PING_DEPTH 0

HD_C 6.7479e-06 ROLL_MAX 3876 ALTIM_PING_DELTA 0

AD7714Ch0Gain 128 D_PITCH 0 N_NOCOMM 1 SIM_W 0

AH0_10V 98 D_SAFE 0 N_NOSURFACE -3 SM_CC 300

AH0_24V 150 D_SURF 3 PHONE_DEVICE 49 SPEED_FACTOR 0.80000001

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 150 PHONE_SUPPLY 2 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_AD_RATE 150 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_CNV 0.003125763 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FG_AHR_24V 0 PITCH_DBAND 0.1 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 30 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3894 TGT_DEFAULT_LAT 40

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -71

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_MIN 142 T_ABORT 1440

APOGEE_PITCH -5 HD_A 0.003 PITCH_TIMEOUT 18 T_BOOST 0

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 40

CALL_TRIES 5 HD_C 6.7479e-06 PRESSURE_SLOPE 0.0001162509 T_EPIRB 0

CALL_WAIT 60 HEADING -1 PRESSURE_YINT -8.6425571 T_GPS 3

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PROTOCOL 73 T_GPS_ALMANAC 0

CAPUPLOAD 0 HEAPDBG 0 P_OVSHOOT 0.039999999 T_GPS_CHARGE -29386.082

CF8_MAXERRORS 2 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

COMM_SEQ 0 ID 106 RAFOS_DEVICE -1 T_MISSION 70

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_DEVICE 33 INT_PRESSURE_YINT 2.3 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 5

COMPASS_USE 0 KALMAN_USE 1 RELAUNCH 1 T_TURN 225

COURSE_BIAS 0 LOGGERDEVICE1 83 RHO 1.0233001 T_TURN_SAMPINT 5

C_PITCH 2395 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 2600 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_DIVE 2850 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

C_VBD 3393 LOGGERS 1 ROLL_CNV 0.028270001 USE_BATHY -6

DEEPGLIDER 0 MASS 51152 ROLL_DEG 40 USE_ICE 0

DEEPGLIDERMB 0 MAX_BUOY 175 ROLL_MAX 3876 VBD_BLEED_AD_RATE 8

DEVICE1 2 MINV_10V 8 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEVICE2 -1 MINV_24V 19 ROLL_MIN 255 VBD_DBAND 2

DEVICE3 -1 MISSION 16 ROLL_TIMEOUT 15 VBD_MAX 3955

DEVICE4 -1 MI_NOTIFYMOTORS 0.0 R_PORT_OVSHOOT 29 VBD_MAXERRORS 1

DEVICE5 -1 MI_OFFLOAD 1.0 R_STBD_OVSHOOT 20 VBD_MIN 800

DEVICE6 -1 MI_POWERSOURCE 0.0 SEABIRD_C_G -9.9531422 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 3 MI_RESTARTMONITOR 0.0 SEABIRD_C_H 1.1184396 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1090 MI_SCALEFACTOR24V 1.3 SEABIRD_C_I 1.3326941e-05 VBD_TIMEOUT 720

D_BOOST 5 MOTHERBOARD 4 SEABIRD_C_J 0.00010342655 XPDR_DEVICE -1

D_CALL 0 NAV_MODE 1 SEABIRD_T_G 0.0043533649 XPDR_INHIBIT 90

D_FINISH 0 NOCOMM_ACTION 0 SEABIRD_T_H 0.00064411096 XPDR_VALID 0

D_FLARE 3 N_DIVES 0 SEABIRD_T_I 2.4408262e-05

D_NO_BLEED 40 N_FILEKB 6 SEABIRD_T_J 2.4167559e-06

D_OFFGRID 101 N_GPS 20 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 070312,194922,4742.942,-12223.817,10,1.9,29,18.2 TGT_NAME WEST

_CALLS 1 TGT_LATLONG 4743.700,-12225.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.235,0.188

_SM_DEPTHo -0.04 KALMAN_X 43.8,55.3,42.2,395.7,42.5

_SM_ANGLEo -77.4 KALMAN_Y 29.6,27.4,29.8,-545.8,18.3

GPS2 070312,195427,4742.938,-12223.773,17,3.1,36,18.2 MHEAD_RNG_PITCHd_Wd 290.4,2079,-19.6,-12.500

SPEED_LIMITS 0.173,0.241 D_GRID 155

Post-dive calculations and measurements:

FINISH 1.5,1.021743 MI_ROOT 70.5/190403/56254

SM_CCo 1884,41.45,0.153,0,0,2169,300.00 MI_HOME 2.4/436550/425932

SM_GC 1.62,7.50,1.80,41.45,0.096,0.047,0.153,125,2839,2169,-7.01,0.51,300.00,0,0,0,0,0,0,26.14,26.06,25.88 _24V_AH 23.8,3.642

IRIDIUM_FIX 4751.72,-12340.51,070312,191941 _10V_AH 10.3,4.035

TT8_MAMPS 0.095123,0.095123 FG_AHR_24Vo 0.000

HUMID 34.48 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.1069 MEM 323324

TCM_TEMP 18.90 DATA_FILE_SIZE 10128,348

MI_MIVER 0.2 CAP_FILE_SIZE 75477,0

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 CFSIZE 260034560,250638336

MI_BOOTCOUNT 25 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MI_LOG 3.4/516052/498714 GPS 070312,195427,4742.938,-12223.773,181,99.0,181,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 244 100.77 SBE_CT 235 24 134.54

Roll_motor 27 69 45.77 nil 0 0 0.00

VBD_pump_during_apogee 250 1275 7609.77 nil 0 0 0.00

VBD_pump_during_surface 41 153 150.94 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 MIB 2018 186 8942.17

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 2018 199 9604.07

GPS 37 50 19.47

TT8 0 0 0.00

LPSleep 761 0 3.06

TT8_Active 382 18 70.88

TT8_Sampling 822 38 322.10

TT8_CF8 25 44 11.59

TT8_Kalman 31 80 25.78

Analog_circuits 705 12 87.20

GPS_charging 0 0 0.00

Compass 504 15 77.88

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

13 -0.86 -171.0 0.0 0.0 0 113 0.00 0.00 -93.62 0.000 6 0.000 0.000 130 2843 3958 0 0 0 0 0 0 28.83 28.83 26.33

114 -0.86 -171.0 4.9 -17.6 15 128 8.02 2.40 0.00 0.000 4 0.244 0.051 2117 1445 3959 0 0 0 0 0 0 25.80 26.06 28.83

222 -0.86 -171.0 37.4 -19.7 36 230 0.00 2.50 0.00 0.000 6 0.000 0.067 2107 2839 3962 0 0 0 0 0 0 28.83 25.97 28.83

289 -0.86 -171.0 52.8 -24.4 49 297 0.00 2.40 0.00 0.000 4 0.000 0.051 2107 1449 3961 0 0 0 0 0 0 28.83 26.12 28.83

326 -0.86 -171.0 60.9 -21.2 56 334 0.00 2.53 0.00 0.000 6 0.000 0.068 2097 2855 3961 0 0 0 0 0 0 28.83 26.08 28.83

453 -0.86 -171.0 91.0 -23.3 81 460 0.00 1.80 0.00 0.000 4 0.000 0.070 2089 3870 3961 0 0 0 0 0 0 28.83 26.15 28.83

499 -0.86 -171.0 103.0 -26.3 90 508 0.00 1.75 0.00 0.000 6 0.000 0.051 2089 2860 3961 0 0 0 0 0 0 28.83 26.21 28.83

627 -0.86 -171.0 134.0 -23.8 115 627 0.00 0.00 0.00 0.000 6 0.000 0.000 2088 2860 3962 0 0 0 0 0 0 28.83 28.83 28.83

696 end dive: TARGET_DEPTH_EXCEEDED

state 696 begin apogee

699 -0.17 0.0 150.2 -22.2 129 816 0.82 0.00 109.50 1.275 6 0.164 0.000 2333 2586 3393 0 0 0 0 0 0 26.01 28.83 23.84

817 end apogee: CONTROL_FINISHED_OK

state 817 begin climb

818 0.86 171.0 155.0 0.0 147 967 1.00 2.62 137.48 1.242 4 0.091 0.057 2675 1196 2694 0 0 0 0 0 0 24.89 24.72 23.79

1187 0.86 171.0 109.4 15.1 214 1195 0.00 2.55 0.00 0.000 6 0.000 0.067 2675 2600 2688 0 0 0 0 0 0 28.83 25.82 28.83

1314 0.86 171.0 89.2 15.8 239 1320 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2600 2689 0 0 0 0 0 0 28.83 28.83 28.83

1439 0.86 171.0 68.6 15.4 264 1440 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2600 2688 0 0 0 0 0 0 28.83 28.83 28.83

1559 0.86 171.0 49.6 15.9 288 1567 0.00 2.30 0.00 0.000 4 0.000 0.068 2675 3881 2688 0 0 0 0 0 0 28.83 26.07 28.83

1570 0.86 171.0 47.7 17.4 290 1579 0.00 2.20 0.00 0.000 6 0.000 0.049 2680 2606 2688 0 0 0 0 0 0 28.83 26.10 28.83

1698 0.86 171.0 27.4 14.9 315 1704 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2606 2688 0 0 0 0 0 0 28.83 28.83 28.83

1763 0.88 182.0 18.6 12.0 328 1772 0.00 2.30 3.75 0.543 4 0.000 0.068 2680 3884 2646 0 0 0 0 0 0 28.83 25.51 25.39

1860 end climb: SURFACE_DEPTH_REACHED

state 1860 begin surface coast

1866 end surface coast: CONTROL_FINISHED_OK

state 1866 begin surface

ID	106	HEADING	-1	ROLL_DEG	40	ALTIM_FREQUENCY	13
MISSION	16	ESCAPE_HEADING	0	C_ROLL_DIVE	2850	ALTIM_PULSE	3
DIVE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2600	ALTIM_SENSITIVITY	2
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	XPDR_VALID	0
D_SURF	3	TGT_DEFAULT_LAT	40	ROLL_CNV	0.028270001	XPDR_INHIBIT	90
D_FLARE	3	TGT_DEFAULT_LON	-71	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	150	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	29	INT_PRESSURE_YINT	2.3
D_ABORT	1090	SM_CC	300	R_STBD_OVSHOOT	20	DEEPGLIDER	0
D_NO_BLEED	40	N_FILEKB	6	ROLL_AD_RATE	350	DEEPGLIDERMB	0
D_BOOST	5	FILEMGR	0	ROLL_MAXERRORS	2	MOTHERBOARD	4
T_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEVICE1	2
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEVICE2	-1
D_PITCH	0	PROTOCOL	73	VBD_MIN	800	DEVICE3	-1
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3955	DEVICE4	-1
D_CALL	0	NOCOMM_ACTION	0	C_VBD	3393	DEVICE5	-1
SURFACE_URGENCY	0	N_NOSURFACE	-3	VBD_DBAND	2	DEVICE6	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_TIMEOUT	720	LOGGERDEVICE1	83
T_DIVE	40	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE2	-1
T_MISSION	70	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE3	-1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE4	-1
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	COMPASS_DEVICE	33
T_TURN_SAMPINT	5	T_GPS	3	UNCOM_BLEED	50	COMPASS2_DEVICE	-1
T_NO_W	120	N_GPS	20	VBD_MAXERRORS	1	PHONE_DEVICE	49
T_LOITER	0	T_GPS_ALMANAC	0	CF8_MAXERRORS	2	GPS_DEVICE	32
T_EPIRB	0	T_GPS_CHARGE	-29386.082	AH0_24V	150	RAFOS_DEVICE	-1
USE_BATHY	-6	T_RSLEEP	5	AH0_10V	98	XPDR_DEVICE	-1
USE_ICE	0	STROBE	0	MINV_24V	19	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	MINV_10V	8	SIM_PITCH	0
D_OFFGRID	101	RAFOS_CORR_THRESH	60	FG_AHR_10V	0	SEABIRD_T_G	0.0043533649
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	FG_AHR_24V	0	SEABIRD_T_H	0.00064411096
RELAUNCH	1	PITCH_MIN	142	PHONE_SUPPLY	2	SEABIRD_T_I	2.4408262e-05
APOGEE_PITCH	-5	PITCH_MAX	3894	PRESSURE_YINT	-8.6425571	SEABIRD_T_J	2.4167559e-06
MAX_BUOY	175	C_PITCH	2395	PRESSURE_SLOPE	0.0001162509	SEABIRD_C_G	-9.9531422
COURSE_BIAS	0	PITCH_DBAND	0.1	AD7714Ch0Gain	128	SEABIRD_C_H	1.1184396
GLIDE_SLOPE	30	PITCH_CNV	0.003125763	TCM_PITCH_OFFSET	0	SEABIRD_C_I	1.3326941e-05
SPEED_FACTOR	0.80000001	P_OVSHOOT	0.039999999	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00010342655
RHO	1.0233001	PITCH_GAIN	30	COMPASS_USE	0	MI_OFFLOAD	1.0
MASS	51152	PITCH_TIMEOUT	18	ALTIM_BOTTOM_PING_RANGE	0	MI_POWERSOURCE	0.0
NAV_MODE	1	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0	MI_RESTARTMONITOR	0.0
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0	MI_SCALEFACTOR24V	1.3
KALMAN_USE	1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	MI_NOTIFYMOTORS	0.0
HD_A	0.003	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
HD_B	0.0099999998	ROLL_MIN	255	ALTIM_PING_DEPTH	0
HD_C	6.7479e-06	ROLL_MAX	3876	ALTIM_PING_DELTA	0

GPS1	070312,194922,4742.942,-12223.817,10,1.9,29,18.2	TGT_NAME	WEST
_CALLS	1	TGT_LATLONG	4743.700,-12225.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.235,0.188
_SM_DEPTHo	-0.04	KALMAN_X	43.8,55.3,42.2,395.7,42.5
_SM_ANGLEo	-77.4	KALMAN_Y	29.6,27.4,29.8,-545.8,18.3
GPS2	070312,195427,4742.938,-12223.773,17,3.1,36,18.2	MHEAD_RNG_PITCHd_Wd	290.4,2079,-19.6,-12.500
SPEED_LIMITS	0.173,0.241	D_GRID	155

FINISH	1.5,1.021743	MI_ROOT	70.5/190403/56254
SM_CCo	1884,41.45,0.153,0,0,2169,300.00	MI_HOME	2.4/436550/425932
SM_GC	1.62,7.50,1.80,41.45,0.096,0.047,0.153,125,2839,2169,-7.01,0.51,300.00,0,0,0,0,0,0,26.14,26.06,25.88	_24V_AH	23.8,3.642
IRIDIUM_FIX	4751.72,-12340.51,070312,191941	_10V_AH	10.3,4.035
TT8_MAMPS	0.095123,0.095123	FG_AHR_24Vo	0.000
HUMID	34.48	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.1069	MEM	323324
TCM_TEMP	18.90	DATA_FILE_SIZE	10128,348
MI_MIVER	0.2	CAP_FILE_SIZE	75477,0
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	CFSIZE	260034560,250638336
MI_BOOTCOUNT	25	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MI_LOG	3.4/516052/498714	GPS	070312,195427,4742.938,-12223.773,181,99.0,181,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	244	100.77	SBE_CT	235	24	134.54
Roll_motor	27	69	45.77	nil	0	0	0.00
VBD_pump_during_apogee	250	1275	7609.77	nil	0	0	0.00
VBD_pump_during_surface	41	153	150.94	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	MIB	2018	186	8942.17
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	2018	199	9604.07
GPS	37	50	19.47
TT8	0	0	0.00
LPSleep	761	0	3.06
TT8_Active	382	18	70.88
TT8_Sampling	822	38	322.10
TT8_CF8	25	44	11.59
TT8_Kalman	31	80	25.78
Analog_circuits	705	12	87.20
GPS_charging	0	0	0.00
Compass	504	15	77.88
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
13	-0.86	-171.0	0.0	0.0	0	113	0.00	0.00	-93.62	0.000	6	0.000	0.000	130	2843	3958	0	0	0	0	0	0	28.83	28.83	26.33
114	-0.86	-171.0	4.9	-17.6	15	128	8.02	2.40	0.00	0.000	4	0.244	0.051	2117	1445	3959	0	0	0	0	0	0	25.80	26.06	28.83
222	-0.86	-171.0	37.4	-19.7	36	230	0.00	2.50	0.00	0.000	6	0.000	0.067	2107	2839	3962	0	0	0	0	0	0	28.83	25.97	28.83
289	-0.86	-171.0	52.8	-24.4	49	297	0.00	2.40	0.00	0.000	4	0.000	0.051	2107	1449	3961	0	0	0	0	0	0	28.83	26.12	28.83
326	-0.86	-171.0	60.9	-21.2	56	334	0.00	2.53	0.00	0.000	6	0.000	0.068	2097	2855	3961	0	0	0	0	0	0	28.83	26.08	28.83
453	-0.86	-171.0	91.0	-23.3	81	460	0.00	1.80	0.00	0.000	4	0.000	0.070	2089	3870	3961	0	0	0	0	0	0	28.83	26.15	28.83
499	-0.86	-171.0	103.0	-26.3	90	508	0.00	1.75	0.00	0.000	6	0.000	0.051	2089	2860	3961	0	0	0	0	0	0	28.83	26.21	28.83
627	-0.86	-171.0	134.0	-23.8	115	627	0.00	0.00	0.00	0.000	6	0.000	0.000	2088	2860	3962	0	0	0	0	0	0	28.83	28.83	28.83
696	end dive: TARGET_DEPTH_EXCEEDED
state	696	begin apogee
699	-0.17	0.0	150.2	-22.2	129	816	0.82	0.00	109.50	1.275	6	0.164	0.000	2333	2586	3393	0	0	0	0	0	0	26.01	28.83	23.84
817	end apogee: CONTROL_FINISHED_OK
state	817	begin climb
818	0.86	171.0	155.0	0.0	147	967	1.00	2.62	137.48	1.242	4	0.091	0.057	2675	1196	2694	0	0	0	0	0	0	24.89	24.72	23.79
1187	0.86	171.0	109.4	15.1	214	1195	0.00	2.55	0.00	0.000	6	0.000	0.067	2675	2600	2688	0	0	0	0	0	0	28.83	25.82	28.83
1314	0.86	171.0	89.2	15.8	239	1320	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2600	2689	0	0	0	0	0	0	28.83	28.83	28.83
1439	0.86	171.0	68.6	15.4	264	1440	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2600	2688	0	0	0	0	0	0	28.83	28.83	28.83
1559	0.86	171.0	49.6	15.9	288	1567	0.00	2.30	0.00	0.000	4	0.000	0.068	2675	3881	2688	0	0	0	0	0	0	28.83	26.07	28.83
1570	0.86	171.0	47.7	17.4	290	1579	0.00	2.20	0.00	0.000	6	0.000	0.049	2680	2606	2688	0	0	0	0	0	0	28.83	26.10	28.83
1698	0.86	171.0	27.4	14.9	315	1704	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2606	2688	0	0	0	0	0	0	28.83	28.83	28.83
1763	0.88	182.0	18.6	12.0	328	1772	0.00	2.30	3.75	0.543	4	0.000	0.068	2680	3884	2646	0	0	0	0	0	0	28.83	25.51	25.39
1860	end climb: SURFACE_DEPTH_REACHED
state	1860	begin surface coast
1866	end surface coast: CONTROL_FINISHED_OK
state	1866	begin surface