Glider dive log

GulfOfMexico Jul15 * SG163 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 163 HD_C 1.6100001e-05 ROLL_MAX 3809 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 7 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 3 ESCAPE_HEADING 0 C_ROLL_DIVE 2500 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2525 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 25.6 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 450 TGT_DEFAULT_LON 126.45 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 45 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 450 R_STBD_OVSHOOT 66 XPDR_VALID 2

D_BOOST 20 N_FILEKB 8 ROLL_AD_RATE 350 XPDR_INHIBIT 90

T_BOOST 2 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 3.8499999

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 2880 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 130 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 140 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 3 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 1001 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 1 RAFOS_DEVICE -1

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE -1

RELAUNCH 1 PITCH_MIN 139 AH0_10V 100 SIM_W 0

APOGEE_PITCH -5 PITCH_MAX 3886 MINV_24V 19 SIM_PITCH 0

MAX_BUOY 250 C_PITCH 2775 MINV_10V 8 SEABIRD_T_G 0.004370783

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_T_H 0.00063893938

GLIDE_SLOPE 45 PITCH_CNV 0.003125763 FG_AHR_24V 0 SEABIRD_T_I 2.6964792e-05

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PHONE_SUPPLY 2 SEABIRD_T_J 3.1314887e-06

RHO 1.0275 P_OVSHOOT_WITHG 0.079999998 PRESSURE_YINT -19.837452 SEABIRD_C_G -9.7295246

MASS 51703 PITCH_GAIN 19.5 PRESSURE_SLOPE 0.00011605668 SEABIRD_C_H 1.088999

MASS_COMP 0 PITCH_TIMEOUT 16 AD7714Ch0Gain 128 SEABIRD_C_I -0.0021791991

NAV_MODE 1 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_J 0.00024473958

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 0.0022199999 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0 MI_RESTARTMONITOR 0.0

HD_B 0.0116 ROLL_MIN 198 ALTIM_TOP_PING_RANGE 0 MI_NOTIFYMOTORS 0.0

AD7714Ch0Gain 128 D_PITCH 0 N_NOCOMM 1 SEABIRD_T_I 2.6964792e-05

AH0_10V 100 D_SAFE 0 N_NOSURFACE 0 SEABIRD_T_J 3.1314887e-06

AH0_24V 150 D_SURF 3 PHONE_DEVICE 49 SIM_PITCH 0

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 450 PHONE_SUPPLY 2 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 SM_CC 450

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 0 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 19.5 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3886 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 139 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.0022199999 PITCH_TIMEOUT 16 TGT_DEFAULT_LAT 25.6

CALL_NDIVES 1 HD_B 0.0116 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON 126.45

CALL_TRIES 5 HD_C 1.6100001e-05 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 0.00011605668 T_DIVE 130

CAPUPLOAD 0 HEAPDBG 0 PRESSURE_YINT -19.837452 T_EPIRB 0

CF8_MAXERRORS 1 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 73 T_GPS 15

COMM_SEQ 0 ID 163 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 3.8499999 RAFOS_CORR_THRESH 60 T_MISSION 140

COMPASS_USE 0 KALMAN_USE 2 RAFOS_DEVICE -1 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE1 115 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

C_PITCH 2775 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN 540

C_ROLL_CLIMB 2525 LOGGERDEVICE3 -1 RELAUNCH 1 T_TURN_SAMPINT 5

C_ROLL_DIVE 2500 LOGGERDEVICE4 -1 RHO 1.0275 T_WATCHDOG 10

C_VBD 2880 LOGGERS 1 ROLL_ADJ_DBAND 0 UNCOM_BLEED 50

DBDW 0 MASS 51703 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS_COMP 0 ROLL_AD_RATE 350 USE_BATHY 0

DEVICE1 2 MAX_BUOY 250 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 3809 VBD_CNV -0.245296

DEVICE4 -1 MISSION 7 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE5 -1 MI_NOTIFYMOTORS 0.0 ROLL_MIN 198 VBD_MAX 3960

DEVICE6 -1 MI_OFFLOAD 1.0 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 3 MI_POWERSOURCE 0.0 R_PORT_OVSHOOT 45 VBD_MIN 550

D_ABORT 1090 MI_RESTARTMONITOR 0.0 R_STBD_OVSHOOT 66 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 20 MOTHERBOARD 4 SEABIRD_C_G -9.7295246 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 NAV_MODE 1 SEABIRD_C_H 1.088999 VBD_TIMEOUT 720

D_FINISH 0 NOCOMM_ACTION 0 SEABIRD_C_I -0.0021791991 W_ADJ_DBAND 0

D_FLARE 3 N_DIVES 0 SEABIRD_C_J 0.00024473958 XPDR_DEVICE -1

D_NO_BLEED 500 N_FILEKB 8 SEABIRD_T_G 0.004370783 XPDR_INHIBIT 90

D_OFFGRID 1001 N_GPS 20 SEABIRD_T_H 0.00063893938 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 180715,203525,2756.673,-8725.888,9,1.0,20,-2.0 SPEED_LIMITS 0.115,0.308

_CALLS 1 TGT_NAME NW

_XMS_NAKs 0 TGT_LATLONG 2759.162,-8729.255

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 1.81 MHEAD_RNG_PITCHd_Wd 313.1,7342,-14.8,-11.538,-20.53,3095

_SM_ANGLEo -64.7 D_GRID 450

GPS2 180715,203914,2756.556,-8725.872,7,1.0,18,-2.0

Post-dive calculations and measurements:

FINISH 1.5,1.020370 MI_HOME 2.2/436550/426917

SM_CCo 6368,38.12,0.278,1,0,1043,450.12 _24V_AH 24.41,0.619

SM_GC 2.47,8.23,0.00,38.12,0.034,0.000,0.278,132,2488,1043,-8.17,-0.34,450.12,0,0,0,0,1,0,25.92,28.83,25.17 _10V_AH 10.42,0.431

IRIDIUM_FIX 2722.64,-8719.43,140508,095701 FG_AHR_24Vo 0.000

TT8_MAMPS 0.095123,0.095123 FG_AHR_10Vo 0.000

HUMID 47.63 MEM 296140

INTERNAL_PRESSURE 9.39709 DATA_FILE_SIZE 16827,522

TCM_TEMP 25.00 CAP_FILE_SIZE 89021,0

MI_MIVER 0.4 CFSIZE 260034560,257429504

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,25,2,0,0

MI_BOOTCOUNT 146 INTR 1,6357.89,0x236bc6,7,5

MI_LOG 3.5/516052/497916 GPS 180715,222712,2756.288,-8725.913,30,0.8,40,-2.0

MI_ROOT 70.6/190403/55925

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 237 115.34 SBE_CT 346 23 196.27

Roll_motor 71 62 110.13 nil 0 0 0.00

VBD_pump_during_apogee 484 781 9245.00 nil 0 0 0.00

VBD_pump_during_surface 38 278 259.14 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 6416 41 6458.73

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 6416 36 5685.51

GPS 19 30 6.21

TT8 0 0 0.00

LPSleep 4511 0 18.33

TT8_Active 617 12 83.34

TT8_Sampling 1287 38 515.61

TT8_CF8 46 45 21.99

TT8_Kalman 0 0 0.00

Analog_circuits 1165 17 206.46

GPS_charging 0 0 0.00

Compass 940 16 161.52

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 -1.06 -243.3 134 2550 1134 956 0.0 0.0 0 57 0.00 0.00 -40.17 0.000 16386 0.000 0.000 133 2550 2176 2200 2152 0 0 0 0 0 0 28.83 28.83 28.83

58 -1.06 -243.3 134 2550 2201 2153 3.3 -6.8 6 114 9.32 1.92 -37.12 0.000 19204 0.237 0.063 2419 3788 3876 3877 3875 0 0 0 0 0 0 25.70 26.04 26.16

263 -1.06 -243.3 2419 3789 3880 3876 49.8 -31.0 45 271 0.00 1.92 0.00 0.000 1030 0.000 0.028 2419 2492 3877 3879 3875 0 0 1 0 0 0 28.83 26.09 28.83

328 -1.06 -243.3 2419 2492 3881 3876 68.2 -26.8 52 332 0.00 2.10 0.00 0.000 516 0.000 0.035 2419 1100 3877 3879 3875 0 0 0 0 0 0 28.83 26.08 28.83

408 -1.06 -243.3 2419 1101 3881 3876 86.3 -20.5 60 412 0.00 2.08 0.00 0.000 1030 0.000 0.034 2409 2468 3877 3880 3875 0 0 1 0 0 0 28.83 26.08 28.83

533 -1.06 -243.3 2411 2469 3883 3876 107.2 -15.2 71 537 0.00 2.10 0.00 0.000 516 0.000 0.034 2410 1097 3878 3882 3875 0 0 1 0 0 0 28.83 26.09 28.83

563 -1.06 -243.3 2410 1097 3884 3876 112.0 -15.6 73 567 0.08 2.12 0.00 0.000 3078 0.138 0.033 2426 2501 3878 3882 3875 0 0 1 0 0 0 25.84 26.10 28.83

879 -1.06 -243.3 2426 2501 3886 3876 155.9 -13.4 94 882 0.00 2.15 0.00 0.000 516 0.000 0.036 2426 1068 3880 3885 3875 0 0 1 0 0 0 28.83 26.08 28.83

943 -1.06 -243.3 2426 1068 3886 3876 164.2 -13.7 98 947 0.00 2.17 0.00 0.000 1030 0.000 0.033 2420 2505 3880 3885 3876 0 0 1 0 0 0 28.83 26.12 28.83

1253 -1.06 -243.3 2421 2506 3886 3876 204.0 -12.8 119 1257 0.00 2.15 0.00 0.000 516 0.000 0.035 2420 1096 3880 3885 3875 0 0 1 0 0 0 28.83 26.07 28.83

1353 -1.06 -243.3 2420 1096 3887 3876 215.5 -12.6 125 1361 0.00 2.15 0.00 0.000 1030 0.000 0.034 2414 2508 3880 3885 3875 0 0 1 0 0 0 28.83 26.05 28.83

1658 -1.06 -243.3 2415 2508 3886 3874 254.6 -12.5 146 1662 0.00 2.17 0.00 0.000 516 0.000 0.037 2414 1106 3879 3885 3874 0 0 1 0 0 0 28.83 25.81 28.83

1718 -1.06 -243.3 2415 1106 3886 3874 261.8 -12.1 150 1722 0.00 2.15 0.00 0.000 1030 0.000 0.035 2408 2504 3879 3885 3874 0 0 1 0 0 0 28.83 25.86 28.83

2034 -1.06 -243.3 2409 2504 3885 3871 301.9 -13.1 171 2037 0.00 2.17 0.00 0.000 516 0.000 0.037 2408 1071 3877 3883 3871 0 0 1 0 0 0 28.83 25.98 28.83

2093 -1.06 -243.3 2409 1071 3884 3871 309.7 -13.1 175 2098 0.08 2.20 0.00 0.000 3078 0.134 0.035 2428 2507 3876 3883 3870 0 0 1 0 0 0 25.76 26.03 28.83

2409 -1.06 -243.3 2429 2507 3881 3868 348.4 -12.3 196 2412 0.00 2.15 0.00 0.000 516 0.000 0.039 2428 1091 3874 3880 3868 0 0 1 0 0 0 28.83 25.98 28.83

2478 -1.06 -243.3 2429 1092 3881 3868 356.0 -12.7 200 2485 0.00 2.17 0.00 0.000 1030 0.000 0.036 2425 2503 3873 3880 3867 0 0 1 0 0 0 28.83 26.02 28.83

2783 -1.06 -243.3 2425 2503 3878 3864 395.8 -12.6 221 2787 0.00 2.17 0.00 0.000 516 0.000 0.038 2425 1106 3870 3877 3863 0 0 1 0 0 0 28.83 25.99 28.83

2873 -1.06 -243.3 2425 1106 3878 3862 407.4 -12.9 227 2877 0.00 2.15 0.00 0.000 1030 0.000 0.037 2418 2498 3866 3876 3857 0 0 1 0 0 0 28.83 26.02 28.83

3189 -1.06 -243.3 2418 2499 3875 3860 446.4 -12.4 248 3192 0.00 2.17 0.00 0.000 516 0.000 0.039 2418 1074 3866 3873 3860 0 0 1 0 0 0 28.83 25.97 28.83

3217 end dive: TARGET_DEPTH_EXCEEDED

state 3217 begin apogee

3222 -0.26 0.0 2414 2526 3874 3860 450.1 -12.3 250 3420 0.85 0.00 189.10 0.781 10246 0.102 0.000 2692 2526 2880 2910 2850 0 0 0 0 1 0 25.86 28.83 24.41

3420 end apogee: CONTROL_FINISHED_OK

state 3420 begin climb

3422 1.06 243.3 2691 2526 2912 2850 461.4 0.0 263 3619 1.15 0.00 192.65 0.750 10502 0.047 0.000 3120 2525 1887 1963 1811 0 0 0 0 0 0 25.18 28.83 24.44

3909 1.06 243.3 3120 2526 1952 1794 396.7 17.9 296 3909 0.00 0.00 0.00 0.000 6 0.000 0.000 3120 2525 1872 1951 1794 0 0 0 0 0 0 28.83 28.83 28.83

4209 1.06 243.3 3121 2526 1948 1793 341.9 18.1 316 4212 0.00 2.17 0.00 0.000 516 0.000 0.044 3129 1137 1869 1947 1792 0 0 1 0 0 0 28.83 25.99 28.83

4254 1.06 243.3 3130 1138 1947 1793 333.7 18.2 319 4258 0.00 2.15 0.00 0.000 1030 0.000 0.037 3129 2522 1869 1946 1792 0 0 1 0 0 0 28.83 26.04 28.83

4569 1.06 243.3 3129 2523 1944 1790 275.5 18.0 340 4572 0.00 1.98 0.00 0.000 260 0.000 0.050 3129 3796 1866 1943 1789 0 0 0 0 0 0 28.83 25.97 28.83

4588 1.06 243.3 3129 3796 1944 1789 272.7 18.0 341 4592 0.00 1.92 0.00 0.000 1030 0.000 0.030 3140 2535 1866 1943 1789 0 0 0 0 0 0 28.83 26.03 28.83

4899 1.06 243.3 3140 2535 1942 1788 212.6 19.3 362 4903 0.00 2.00 0.00 0.000 260 0.000 0.050 3139 3796 1865 1942 1788 0 0 1 0 0 0 28.83 25.95 28.83

4918 1.06 243.3 3140 3797 1943 1788 209.5 19.6 363 4923 0.10 1.98 0.00 0.000 5126 0.158 0.031 3120 2524 1865 1942 1788 0 0 0 0 0 0 25.54 25.82 28.83

5229 1.06 243.3 3121 2505 1941 1787 150.6 18.6 384 5232 0.00 2.15 0.00 0.000 516 0.000 0.043 3129 1110 1862 1939 1786 0 0 0 0 0 0 28.83 25.91 28.83

5293 1.06 243.3 3129 1110 1939 1786 140.0 17.4 388 5297 0.00 2.20 0.00 0.000 1030 0.000 0.036 3128 2519 1861 1938 1785 0 0 1 0 0 0 28.83 25.77 28.83

5604 1.06 243.3 3129 2520 1939 1784 89.8 15.6 411 5607 0.00 2.20 0.00 0.000 516 0.000 0.043 3138 1125 1860 1938 1783 0 0 1 0 0 0 28.83 25.87 28.83

5618 1.06 243.3 3138 1125 1939 1784 88.1 15.7 412 5626 0.00 2.17 0.00 0.000 1030 0.000 0.036 3138 2528 1860 1938 1783 0 0 1 0 0 0 28.83 25.96 28.83

5744 1.06 243.3 3138 2529 1939 1782 70.0 12.1 425 5745 0.00 0.00 0.00 0.000 6 0.000 0.000 3137 2528 1860 1937 1783 0 0 0 0 0 0 28.83 28.83 28.83

5864 1.13 304.1 3138 2529 1938 1783 58.3 9.5 437 5917 0.00 2.25 43.50 0.512 8708 0.000 0.042 3148 1119 1634 1715 1553 0 0 1 0 0 0 28.83 25.70 25.18

5976 1.22 372.3 3148 1120 1714 1550 47.3 9.3 450 6039 0.00 2.15 54.65 0.481 9222 0.000 0.036 3147 2530 1356 1457 1256 0 0 1 0 0 0 28.83 25.83 25.00

6099 1.22 372.3 3148 2530 1456 1248 33.3 14.0 472 6106 0.00 1.98 0.00 0.000 260 0.000 0.048 3147 3796 1351 1455 1247 0 0 0 0 0 0 28.83 25.66 28.83

6335 1.42 534.4 3147 3797 1455 1243 3.2 6.2 519 6344 0.12 1.95 5.00 0.048 11266 0.047 0.028 3237 2488 1299 1408 1190 0 0 0 0 0 0 25.94 25.92 28.83

6344 end climb: SURFACE_DEPTH_REACHED

state 6344 begin surface coast

6352 end surface coast: CONTROL_FINISHED_OK

state 6352 begin surface

ID	163	HD_C	1.6100001e-05	ROLL_MAX	3809	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	7	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	3	ESCAPE_HEADING	0	C_ROLL_DIVE	2500	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2525	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	25.6	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	450	TGT_DEFAULT_LON	126.45	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	45	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	450	R_STBD_OVSHOOT	66	XPDR_VALID	2
D_BOOST	20	N_FILEKB	8	ROLL_AD_RATE	350	XPDR_INHIBIT	90
T_BOOST	2	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	3.8499999
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	2880	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	130	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	140	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	3	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	1001	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	1	RAFOS_DEVICE	-1
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_MIN	139	AH0_10V	100	SIM_W	0
APOGEE_PITCH	-5	PITCH_MAX	3886	MINV_24V	19	SIM_PITCH	0
MAX_BUOY	250	C_PITCH	2775	MINV_10V	8	SEABIRD_T_G	0.004370783
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_T_H	0.00063893938
GLIDE_SLOPE	45	PITCH_CNV	0.003125763	FG_AHR_24V	0	SEABIRD_T_I	2.6964792e-05
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PHONE_SUPPLY	2	SEABIRD_T_J	3.1314887e-06
RHO	1.0275	P_OVSHOOT_WITHG	0.079999998	PRESSURE_YINT	-19.837452	SEABIRD_C_G	-9.7295246
MASS	51703	PITCH_GAIN	19.5	PRESSURE_SLOPE	0.00011605668	SEABIRD_C_H	1.088999
MASS_COMP	0	PITCH_TIMEOUT	16	AD7714Ch0Gain	128	SEABIRD_C_I	-0.0021791991
NAV_MODE	1	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_J	0.00024473958
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	0.0022199999	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0	MI_RESTARTMONITOR	0.0
HD_B	0.0116	ROLL_MIN	198	ALTIM_TOP_PING_RANGE	0	MI_NOTIFYMOTORS	0.0

GPS1	180715,203525,2756.673,-8725.888,9,1.0,20,-2.0	SPEED_LIMITS	0.115,0.308
_CALLS	1	TGT_NAME	NW
_XMS_NAKs	0	TGT_LATLONG	2759.162,-8729.255
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	1.81	MHEAD_RNG_PITCHd_Wd	313.1,7342,-14.8,-11.538,-20.53,3095
_SM_ANGLEo	-64.7	D_GRID	450
GPS2	180715,203914,2756.556,-8725.872,7,1.0,18,-2.0

FINISH	1.5,1.020370	MI_HOME	2.2/436550/426917
SM_CCo	6368,38.12,0.278,1,0,1043,450.12	_24V_AH	24.41,0.619
SM_GC	2.47,8.23,0.00,38.12,0.034,0.000,0.278,132,2488,1043,-8.17,-0.34,450.12,0,0,0,0,1,0,25.92,28.83,25.17	_10V_AH	10.42,0.431
IRIDIUM_FIX	2722.64,-8719.43,140508,095701	FG_AHR_24Vo	0.000
TT8_MAMPS	0.095123,0.095123	FG_AHR_10Vo	0.000
HUMID	47.63	MEM	296140
INTERNAL_PRESSURE	9.39709	DATA_FILE_SIZE	16827,522
TCM_TEMP	25.00	CAP_FILE_SIZE	89021,0
MI_MIVER	0.4	CFSIZE	260034560,257429504
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,25,2,0,0
MI_BOOTCOUNT	146	INTR	1,6357.89,0x236bc6,7,5
MI_LOG	3.5/516052/497916	GPS	180715,222712,2756.288,-8725.913,30,0.8,40,-2.0
MI_ROOT	70.6/190403/55925

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	237	115.34	SBE_CT	346	23	196.27
Roll_motor	71	62	110.13	nil	0	0	0.00
VBD_pump_during_apogee	484	781	9245.00	nil	0	0	0.00
VBD_pump_during_surface	38	278	259.14	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	6416	41	6458.73
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	6416	36	5685.51
GPS	19	30	6.21
TT8	0	0	0.00
LPSleep	4511	0	18.33
TT8_Active	617	12	83.34
TT8_Sampling	1287	38	515.61
TT8_CF8	46	45	21.99
TT8_Kalman	0	0	0.00
Analog_circuits	1165	17	206.46
GPS_charging	0	0	0.00
Compass	940	16	161.52
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	-1.06	-243.3	134	2550	1134	956	0.0	0.0	0	57	0.00	0.00	-40.17	0.000	16386	0.000	0.000	133	2550	2176	2200	2152	0	0	0	0	0	0	28.83	28.83	28.83
58	-1.06	-243.3	134	2550	2201	2153	3.3	-6.8	6	114	9.32	1.92	-37.12	0.000	19204	0.237	0.063	2419	3788	3876	3877	3875	0	0	0	0	0	0	25.70	26.04	26.16
263	-1.06	-243.3	2419	3789	3880	3876	49.8	-31.0	45	271	0.00	1.92	0.00	0.000	1030	0.000	0.028	2419	2492	3877	3879	3875	0	0	1	0	0	0	28.83	26.09	28.83
328	-1.06	-243.3	2419	2492	3881	3876	68.2	-26.8	52	332	0.00	2.10	0.00	0.000	516	0.000	0.035	2419	1100	3877	3879	3875	0	0	0	0	0	0	28.83	26.08	28.83
408	-1.06	-243.3	2419	1101	3881	3876	86.3	-20.5	60	412	0.00	2.08	0.00	0.000	1030	0.000	0.034	2409	2468	3877	3880	3875	0	0	1	0	0	0	28.83	26.08	28.83
533	-1.06	-243.3	2411	2469	3883	3876	107.2	-15.2	71	537	0.00	2.10	0.00	0.000	516	0.000	0.034	2410	1097	3878	3882	3875	0	0	1	0	0	0	28.83	26.09	28.83
563	-1.06	-243.3	2410	1097	3884	3876	112.0	-15.6	73	567	0.08	2.12	0.00	0.000	3078	0.138	0.033	2426	2501	3878	3882	3875	0	0	1	0	0	0	25.84	26.10	28.83
879	-1.06	-243.3	2426	2501	3886	3876	155.9	-13.4	94	882	0.00	2.15	0.00	0.000	516	0.000	0.036	2426	1068	3880	3885	3875	0	0	1	0	0	0	28.83	26.08	28.83
943	-1.06	-243.3	2426	1068	3886	3876	164.2	-13.7	98	947	0.00	2.17	0.00	0.000	1030	0.000	0.033	2420	2505	3880	3885	3876	0	0	1	0	0	0	28.83	26.12	28.83
1253	-1.06	-243.3	2421	2506	3886	3876	204.0	-12.8	119	1257	0.00	2.15	0.00	0.000	516	0.000	0.035	2420	1096	3880	3885	3875	0	0	1	0	0	0	28.83	26.07	28.83
1353	-1.06	-243.3	2420	1096	3887	3876	215.5	-12.6	125	1361	0.00	2.15	0.00	0.000	1030	0.000	0.034	2414	2508	3880	3885	3875	0	0	1	0	0	0	28.83	26.05	28.83
1658	-1.06	-243.3	2415	2508	3886	3874	254.6	-12.5	146	1662	0.00	2.17	0.00	0.000	516	0.000	0.037	2414	1106	3879	3885	3874	0	0	1	0	0	0	28.83	25.81	28.83
1718	-1.06	-243.3	2415	1106	3886	3874	261.8	-12.1	150	1722	0.00	2.15	0.00	0.000	1030	0.000	0.035	2408	2504	3879	3885	3874	0	0	1	0	0	0	28.83	25.86	28.83
2034	-1.06	-243.3	2409	2504	3885	3871	301.9	-13.1	171	2037	0.00	2.17	0.00	0.000	516	0.000	0.037	2408	1071	3877	3883	3871	0	0	1	0	0	0	28.83	25.98	28.83
2093	-1.06	-243.3	2409	1071	3884	3871	309.7	-13.1	175	2098	0.08	2.20	0.00	0.000	3078	0.134	0.035	2428	2507	3876	3883	3870	0	0	1	0	0	0	25.76	26.03	28.83
2409	-1.06	-243.3	2429	2507	3881	3868	348.4	-12.3	196	2412	0.00	2.15	0.00	0.000	516	0.000	0.039	2428	1091	3874	3880	3868	0	0	1	0	0	0	28.83	25.98	28.83
2478	-1.06	-243.3	2429	1092	3881	3868	356.0	-12.7	200	2485	0.00	2.17	0.00	0.000	1030	0.000	0.036	2425	2503	3873	3880	3867	0	0	1	0	0	0	28.83	26.02	28.83
2783	-1.06	-243.3	2425	2503	3878	3864	395.8	-12.6	221	2787	0.00	2.17	0.00	0.000	516	0.000	0.038	2425	1106	3870	3877	3863	0	0	1	0	0	0	28.83	25.99	28.83
2873	-1.06	-243.3	2425	1106	3878	3862	407.4	-12.9	227	2877	0.00	2.15	0.00	0.000	1030	0.000	0.037	2418	2498	3866	3876	3857	0	0	1	0	0	0	28.83	26.02	28.83
3189	-1.06	-243.3	2418	2499	3875	3860	446.4	-12.4	248	3192	0.00	2.17	0.00	0.000	516	0.000	0.039	2418	1074	3866	3873	3860	0	0	1	0	0	0	28.83	25.97	28.83
3217	end dive: TARGET_DEPTH_EXCEEDED
state	3217	begin apogee
3222	-0.26	0.0	2414	2526	3874	3860	450.1	-12.3	250	3420	0.85	0.00	189.10	0.781	10246	0.102	0.000	2692	2526	2880	2910	2850	0	0	0	0	1	0	25.86	28.83	24.41
3420	end apogee: CONTROL_FINISHED_OK
state	3420	begin climb
3422	1.06	243.3	2691	2526	2912	2850	461.4	0.0	263	3619	1.15	0.00	192.65	0.750	10502	0.047	0.000	3120	2525	1887	1963	1811	0	0	0	0	0	0	25.18	28.83	24.44
3909	1.06	243.3	3120	2526	1952	1794	396.7	17.9	296	3909	0.00	0.00	0.00	0.000	6	0.000	0.000	3120	2525	1872	1951	1794	0	0	0	0	0	0	28.83	28.83	28.83
4209	1.06	243.3	3121	2526	1948	1793	341.9	18.1	316	4212	0.00	2.17	0.00	0.000	516	0.000	0.044	3129	1137	1869	1947	1792	0	0	1	0	0	0	28.83	25.99	28.83
4254	1.06	243.3	3130	1138	1947	1793	333.7	18.2	319	4258	0.00	2.15	0.00	0.000	1030	0.000	0.037	3129	2522	1869	1946	1792	0	0	1	0	0	0	28.83	26.04	28.83
4569	1.06	243.3	3129	2523	1944	1790	275.5	18.0	340	4572	0.00	1.98	0.00	0.000	260	0.000	0.050	3129	3796	1866	1943	1789	0	0	0	0	0	0	28.83	25.97	28.83
4588	1.06	243.3	3129	3796	1944	1789	272.7	18.0	341	4592	0.00	1.92	0.00	0.000	1030	0.000	0.030	3140	2535	1866	1943	1789	0	0	0	0	0	0	28.83	26.03	28.83
4899	1.06	243.3	3140	2535	1942	1788	212.6	19.3	362	4903	0.00	2.00	0.00	0.000	260	0.000	0.050	3139	3796	1865	1942	1788	0	0	1	0	0	0	28.83	25.95	28.83
4918	1.06	243.3	3140	3797	1943	1788	209.5	19.6	363	4923	0.10	1.98	0.00	0.000	5126	0.158	0.031	3120	2524	1865	1942	1788	0	0	0	0	0	0	25.54	25.82	28.83
5229	1.06	243.3	3121	2505	1941	1787	150.6	18.6	384	5232	0.00	2.15	0.00	0.000	516	0.000	0.043	3129	1110	1862	1939	1786	0	0	0	0	0	0	28.83	25.91	28.83
5293	1.06	243.3	3129	1110	1939	1786	140.0	17.4	388	5297	0.00	2.20	0.00	0.000	1030	0.000	0.036	3128	2519	1861	1938	1785	0	0	1	0	0	0	28.83	25.77	28.83
5604	1.06	243.3	3129	2520	1939	1784	89.8	15.6	411	5607	0.00	2.20	0.00	0.000	516	0.000	0.043	3138	1125	1860	1938	1783	0	0	1	0	0	0	28.83	25.87	28.83
5618	1.06	243.3	3138	1125	1939	1784	88.1	15.7	412	5626	0.00	2.17	0.00	0.000	1030	0.000	0.036	3138	2528	1860	1938	1783	0	0	1	0	0	0	28.83	25.96	28.83
5744	1.06	243.3	3138	2529	1939	1782	70.0	12.1	425	5745	0.00	0.00	0.00	0.000	6	0.000	0.000	3137	2528	1860	1937	1783	0	0	0	0	0	0	28.83	28.83	28.83
5864	1.13	304.1	3138	2529	1938	1783	58.3	9.5	437	5917	0.00	2.25	43.50	0.512	8708	0.000	0.042	3148	1119	1634	1715	1553	0	0	1	0	0	0	28.83	25.70	25.18
5976	1.22	372.3	3148	1120	1714	1550	47.3	9.3	450	6039	0.00	2.15	54.65	0.481	9222	0.000	0.036	3147	2530	1356	1457	1256	0	0	1	0	0	0	28.83	25.83	25.00
6099	1.22	372.3	3148	2530	1456	1248	33.3	14.0	472	6106	0.00	1.98	0.00	0.000	260	0.000	0.048	3147	3796	1351	1455	1247	0	0	0	0	0	0	28.83	25.66	28.83
6335	1.42	534.4	3147	3797	1455	1243	3.2	6.2	519	6344	0.12	1.95	5.00	0.048	11266	0.047	0.028	3237	2488	1299	1408	1190	0	0	0	0	0	0	25.94	25.92	28.83
6344	end climb: SURFACE_DEPTH_REACHED
state	6344	begin surface coast
6352	end surface coast: CONTROL_FINISHED_OK
state	6352	begin surface