Glider dive log

GulfOfMexico Jul15 * SG161 * Dive index * Mission links * Dive 35 * 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 35 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 50 TGT_DEFAULT_LAT 27.983 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -87.467003 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 78 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 500 R_STBD_OVSHOOT 45 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 260 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 290 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 2 COMPASS_DEVICE 33

USE_BATHY 0 T_RSLEEP 5 DBDW 0 COMPASS2_DEVICE -1

USE_ICE 0 STROBE 0 PITCH_W_GAIN 2 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 PITCH_W_DBAND 0.5 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 275 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 990 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 0.5 T_ABORT 720

CALL_WAIT 60 HEADING -1 PITCH_W_GAIN 2 T_BOOST 2

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00011628441 T_DIVE 260

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 290

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 275 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 35 MI_POWERSOURCE 0.0 R_PORT_OVSHOOT 78 VBD_MIN 550

D_ABORT 1090 MI_RESTARTMONITOR 0.0 R_STBD_OVSHOOT 45 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 2

D_FLARE 50 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 220715,214514,2803.974,-8731.193,41,1.0,51,-1.9 SPEED_LIMITS 0.127,0.296

_CALLS 1 TGT_NAME T2

_XMS_NAKs 0 TGT_LATLONG 2804.720,-8731.100

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.33 MHEAD_RNG_PITCHd_Wd 353.3,1597,-40.2,-12.692,-45.00,668

_SM_ANGLEo -68.2 D_GRID 990

GPS2 220715,215623,2803.867,-8730.953,6,0.9,16,-1.9

Post-dive calculations and measurements:

FINISH 2.0,1.019162 MI_HOME 3.0/436550/423338

SM_CCo 14133,88.40,0.386,1,0,800,500.16 _24V_AH 23.70,50.883

SM_GC 2.14,10.55,1.52,88.40,0.080,0.020,0.386,158,2647,800,-8.61,2.15,500.16,0,0,0,0,1,0,25.28,25.45,24.41 _10V_AH 10.00,17.573

IRIDIUM_FIX 2722.64,-8719.43,180508,111744 FG_AHR_24Vo 0.000

TT8_MAMPS 0.096621,0.096621 FG_AHR_10Vo 0.000

HUMID 36.17 MEM 295940

INTERNAL_PRESSURE 9.21389 DATA_FILE_SIZE 40052,1094

TCM_TEMP 25.50 CAP_FILE_SIZE 164569,0

MI_MIVER 0.4 CFSIZE 260034560,255135744

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,3,1,0

MI_BOOTCOUNT 104 INTR 1,7837.84,0x233820,1,24

MI_LOG 3.5/516052/497965 GPS 230715,015443,2803.626,-8730.977,36,0.9,46,-1.9

MI_ROOT 70.6/190403/56003

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 229 129.18 SBE_CT 739 23 406.79

Roll_motor 89 35 76.37 nil 0 0 0.00

VBD_pump_during_apogee 354 1048 8815.91 nil 0 0 0.00

VBD_pump_during_surface 88 385 807.78 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 61 44.65 nil 0 0 0.00

Iridium_during_connect 35 160 134.94 MIB 14981 43 15339.22

Iridium_during_xfer 215 223 1139.20 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 14981 35 12734.10

GPS 17 31 5.39

TT8 0 0 0.00

LPSleep 9975 0 38.91

TT8_Active 542 13 71.61

TT8_Sampling 4019 40 1644.73

TT8_CF8 145 48 70.30

TT8_Kalman 0 0 0.00

Analog_circuits 1973 16 315.81

GPS_charging 0 0 0.00

Compass 2963 15 466.14

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 -1.98 -55.6 156 2685 893 700 0.0 0.0 0 86 0.00 0.00 -66.40 0.000 16390 0.000 0.000 155 2685 3069 3050 3089 0 0 0 0 0 0 28.83 28.83 25.60

87 -1.98 -55.6 154 2686 3051 3090 8.5 -22.6 11 101 8.82 2.05 0.00 0.000 2564 0.230 0.020 2295 1247 3071 3056 3086 0 0 0 0 0 0 24.79 25.48 28.83

639 -1.98 -55.6 2295 1247 3076 3080 146.7 -15.8 66 647 0.00 2.20 0.00 0.000 1030 0.000 0.027 2287 2687 3077 3076 3079 0 0 0 0 0 0 28.83 25.59 28.83

945 -1.98 -55.6 2288 2687 3076 3080 203.2 -18.9 87 949 0.00 2.10 0.00 0.000 516 0.000 0.023 2287 1272 3077 3076 3079 0 0 0 0 0 0 28.83 25.64 28.83

1460 -1.98 -55.6 2288 1273 3076 3079 299.6 -19.0 121 1464 0.00 2.15 0.00 0.000 1030 0.000 0.029 2278 2676 3076 3076 3077 0 0 0 0 0 0 28.83 25.72 28.83

1770 -1.98 -55.6 2277 2676 3078 3075 362.4 -19.8 142 1774 0.00 2.08 0.00 0.000 516 0.000 0.022 2283 1264 3075 3076 3074 0 0 0 0 0 0 28.83 25.76 28.83

2170 -1.98 -55.6 2277 1265 3085 3069 439.6 -19.1 168 2177 0.00 2.17 0.00 0.000 1030 0.000 0.030 2268 2676 3075 3076 3075 0 0 0 0 0 0 28.83 25.75 28.83

2475 -1.98 -55.6 2269 2676 3074 3065 501.3 -19.2 189 2479 0.00 2.10 0.00 0.000 516 0.000 0.024 2268 1269 3069 3074 3065 0 0 0 0 0 0 28.83 25.75 28.83

2705 -1.98 -55.6 2269 1270 3071 3064 545.6 -19.8 204 2709 0.10 2.17 0.00 0.000 3078 0.187 0.031 2283 2674 3067 3071 3063 0 0 0 0 0 0 24.91 25.73 28.83

3015 -1.98 -55.6 2285 2674 3070 3060 607.0 -19.3 225 3019 0.00 2.10 0.00 0.000 516 0.000 0.024 2285 1279 3064 3070 3059 0 0 0 0 0 0 28.83 25.72 28.83

3350 -1.98 -55.6 2284 1280 3069 3057 669.2 -18.7 247 3354 0.00 2.15 0.00 0.000 1030 0.000 0.030 2277 2673 3061 3067 3056 0 0 0 0 0 0 28.83 25.70 28.83

3660 -1.98 -55.6 2277 2673 3064 3052 728.8 -19.6 268 3664 0.00 2.12 0.00 0.000 516 0.000 0.024 2277 1259 3057 3064 3051 0 0 0 0 0 0 28.83 25.69 28.83

3785 -1.98 -55.6 2278 1262 3063 3051 752.3 -19.5 276 3789 0.00 2.17 0.00 0.000 1030 0.000 0.031 2267 2673 3056 3063 3050 0 0 0 0 0 0 28.83 25.75 28.83

4095 -1.98 -55.6 2269 2675 3061 3047 813.0 -19.2 297 4099 0.00 2.12 0.00 0.000 516 0.000 0.025 2267 1267 3054 3061 3048 0 0 0 0 0 0 28.83 25.66 28.83

4355 -1.98 -55.6 2267 1267 3060 3045 861.6 -18.9 314 4359 0.10 2.20 0.00 0.000 3078 0.184 0.032 2283 2677 3051 3059 3044 0 0 0 0 0 0 24.87 25.60 28.83

4665 -1.98 -55.6 2283 2678 3060 3040 918.4 -17.9 335 4669 0.00 2.12 0.00 0.000 516 0.000 0.026 2284 1281 3049 3058 3040 0 0 0 0 0 0 28.83 25.60 28.83

4765 -1.98 -55.6 2285 1281 3058 3040 934.4 -17.7 341 4772 0.00 2.17 0.00 0.000 1030 0.000 0.031 2277 2674 3048 3058 3039 0 0 0 0 0 0 28.83 25.63 28.83

5069 end dive: TARGET_DEPTH_EXCEEDED

state 5069 begin apogee

5072 -0.24 0.0 2278 2293 3055 3036 990.5 -18.3 362 5119 2.00 0.00 43.25 1.048 10246 0.162 0.000 2848 2292 2838 2880 2797 0 0 0 0 0 0 25.11 28.83 24.02

5120 end apogee: CONTROL_FINISHED_OK

state 5120 begin climb

5121 1.98 55.6 2849 2293 2879 2798 992.5 0.0 365 5178 2.00 2.30 48.22 1.037 10500 0.063 0.036 3568 3717 2610 2658 2562 0 0 0 0 0 0 25.03 24.67 23.70

5327 2.01 79.9 3566 3717 2652 2562 977.3 9.0 379 5353 0.00 2.17 21.40 0.971 9222 0.000 0.023 3578 2290 2513 2564 2462 0 0 0 0 0 0 28.83 25.38 24.01

5652 2.01 79.9 3577 2290 2564 2459 936.7 13.1 400 5656 0.00 2.10 0.00 0.000 516 0.000 0.030 3588 907 2506 2555 2458 0 0 0 0 0 0 28.83 25.55 28.83

5803 2.01 79.9 3588 907 2553 2459 918.1 12.3 410 5806 0.00 2.15 0.00 0.000 1030 0.000 0.028 3588 2337 2505 2553 2458 0 0 0 0 0 0 28.83 25.60 28.83

6118 2.03 79.9 3587 2337 2553 2457 880.0 11.9 431 6121 0.00 2.12 0.00 0.000 516 0.000 0.029 3596 912 2503 2551 2456 0 0 0 0 0 0 28.83 25.66 28.83

6662 2.06 79.9 3597 912 2549 2455 820.1 11.4 467 6666 0.00 2.12 0.00 0.000 1030 0.000 0.027 3597 2298 2501 2548 2454 0 0 0 0 0 0 28.83 25.63 28.83

6973 2.08 79.9 3598 2298 2546 2453 783.8 11.4 488 6977 0.00 2.08 0.00 0.000 516 0.000 0.031 3606 914 2499 2546 2452 0 0 0 0 0 0 28.83 25.63 28.83

7517 2.12 79.9 3607 915 2543 2452 726.2 10.8 524 7525 0.00 2.15 0.00 0.000 1030 0.000 0.027 3606 2308 2497 2543 2451 0 0 0 0 0 0 28.83 25.64 28.83

7822 2.14 93.6 3607 2313 2542 2451 691.8 10.6 545 7843 0.00 2.15 10.00 0.766 8708 0.000 0.031 3615 919 2456 2503 2409 0 0 0 0 0 0 28.83 25.61 24.46

8382 2.15 93.6 3616 919 2500 2408 622.7 12.0 582 8386 0.00 2.12 0.00 0.000 1030 0.000 0.027 3615 2302 2453 2500 2406 0 0 0 0 0 0 28.83 25.56 28.83

8697 2.17 93.6 3615 2303 2500 2407 584.1 11.9 603 8701 0.00 2.10 0.00 0.000 516 0.000 0.031 3624 915 2453 2500 2407 0 0 0 0 0 0 28.83 25.56 28.83

9242 2.18 93.6 3623 916 2499 2407 522.1 11.8 639 9246 0.00 2.12 0.00 0.000 1030 0.000 0.026 3624 2302 2452 2498 2406 0 0 0 0 0 0 28.83 25.56 28.83

9552 2.20 93.6 3624 2304 2497 2406 485.5 11.7 660 9556 0.00 2.15 0.00 0.000 516 0.000 0.031 3633 918 2451 2497 2405 0 0 0 0 0 0 28.83 25.56 28.83

10097 2.23 93.6 3634 918 2496 2405 424.5 11.2 696 10101 0.00 2.12 0.00 0.000 1030 0.000 0.025 3633 2303 2450 2496 2405 0 0 0 0 0 0 28.83 25.52 28.83

10407 2.25 108.9 3634 2304 2496 2405 389.6 10.3 717 10425 0.00 2.12 13.18 0.630 8708 0.000 0.031 3643 904 2393 2442 2345 0 0 0 0 0 0 28.83 25.67 24.65

10964 2.25 108.9 3642 904 2441 2343 313.7 13.0 754 10968 0.00 2.15 0.00 0.000 1030 0.000 0.026 3642 2302 2390 2439 2342 0 0 0 0 0 0 28.83 25.49 28.83

11279 2.25 108.9 3642 2303 2441 2342 269.9 13.8 775 11283 0.00 2.15 0.00 0.000 516 0.000 0.031 3652 915 2390 2439 2341 0 0 0 0 0 0 28.83 25.51 28.83

11824 2.25 108.9 3653 915 2439 2342 194.8 13.4 811 11828 0.00 2.12 0.00 0.000 1030 0.000 0.025 3652 2308 2389 2438 2341 0 0 0 0 0 0 28.83 25.47 28.83

12134 2.25 108.9 3653 2308 2438 2342 153.9 13.5 832 12138 0.00 2.15 0.00 0.000 516 0.000 0.030 3661 915 2390 2439 2341 0 0 0 0 0 0 28.83 25.52 28.83

12679 2.32 162.9 3661 916 2441 2342 108.3 4.4 868 12728 0.00 2.10 43.08 0.473 9222 0.000 0.024 3662 2299 2172 2236 2109 0 0 0 0 0 0 28.83 25.56 24.69

13029 2.37 202.2 3662 2300 2230 2107 67.7 6.7 900 13064 0.00 2.12 31.02 0.434 8708 0.000 0.028 3671 918 2012 2086 1938 0 0 0 0 0 0 28.83 25.44 24.70

13604 2.43 256.2 3671 918 2080 1937 27.8 4.4 999 13654 0.05 2.10 41.30 0.397 11270 0.112 0.024 3693 2303 1791 1863 1719 0 0 0 0 0 0 25.29 25.56 24.78

13713 2.43 256.2 3693 2303 1860 1718 14.1 18.0 1019 13721 0.00 2.12 0.00 0.000 516 0.000 0.027 3703 915 1788 1859 1717 0 0 0 0 0 0 28.83 25.47 28.83

13795 2.47 286.3 3703 916 1857 1718 4.7 8.1 1035 13839 0.00 2.10 34.58 0.316 9222 0.000 0.022 3703 2312 1670 1749 1592 0 0 0 0 1 0 28.83 25.48 24.60

13899 2.56 359.2 3703 2312 1745 1590 4.6 1.5 1054 13980 0.12 2.15 68.90 0.372 10500 0.099 0.032 3759 3699 1373 1460 1286 0 0 0 0 1 0 25.39 25.13 24.44

13982 end climb: SURFACE_DEPTH_REACHED

state 13983 begin surface coast

14113 end surface coast: CONTROL_FINISHED_OK

state 14113 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	35	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	50	TGT_DEFAULT_LAT	27.983	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-87.467003	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	78	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	500	R_STBD_OVSHOOT	45	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	260	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	290	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	2	COMPASS_DEVICE	33
USE_BATHY	0	T_RSLEEP	5	DBDW	0	COMPASS2_DEVICE	-1
USE_ICE	0	STROBE	0	PITCH_W_GAIN	2	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	PITCH_W_DBAND	0.5	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	275	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	220715,214514,2803.974,-8731.193,41,1.0,51,-1.9	SPEED_LIMITS	0.127,0.296
_CALLS	1	TGT_NAME	T2
_XMS_NAKs	0	TGT_LATLONG	2804.720,-8731.100
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.33	MHEAD_RNG_PITCHd_Wd	353.3,1597,-40.2,-12.692,-45.00,668
_SM_ANGLEo	-68.2	D_GRID	990
GPS2	220715,215623,2803.867,-8730.953,6,0.9,16,-1.9

FINISH	2.0,1.019162	MI_HOME	3.0/436550/423338
SM_CCo	14133,88.40,0.386,1,0,800,500.16	_24V_AH	23.70,50.883
SM_GC	2.14,10.55,1.52,88.40,0.080,0.020,0.386,158,2647,800,-8.61,2.15,500.16,0,0,0,0,1,0,25.28,25.45,24.41	_10V_AH	10.00,17.573
IRIDIUM_FIX	2722.64,-8719.43,180508,111744	FG_AHR_24Vo	0.000
TT8_MAMPS	0.096621,0.096621	FG_AHR_10Vo	0.000
HUMID	36.17	MEM	295940
INTERNAL_PRESSURE	9.21389	DATA_FILE_SIZE	40052,1094
TCM_TEMP	25.50	CAP_FILE_SIZE	164569,0
MI_MIVER	0.4	CFSIZE	260034560,255135744
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,3,1,0
MI_BOOTCOUNT	104	INTR	1,7837.84,0x233820,1,24
MI_LOG	3.5/516052/497965	GPS	230715,015443,2803.626,-8730.977,36,0.9,46,-1.9
MI_ROOT	70.6/190403/56003

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	229	129.18	SBE_CT	739	23	406.79
Roll_motor	89	35	76.37	nil	0	0	0.00
VBD_pump_during_apogee	354	1048	8815.91	nil	0	0	0.00
VBD_pump_during_surface	88	385	807.78	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	61	44.65	nil	0	0	0.00
Iridium_during_connect	35	160	134.94	MIB	14981	43	15339.22
Iridium_during_xfer	215	223	1139.20	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	14981	35	12734.10
GPS	17	31	5.39
TT8	0	0	0.00
LPSleep	9975	0	38.91
TT8_Active	542	13	71.61
TT8_Sampling	4019	40	1644.73
TT8_CF8	145	48	70.30
TT8_Kalman	0	0	0.00
Analog_circuits	1973	16	315.81
GPS_charging	0	0	0.00
Compass	2963	15	466.14
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	-1.98	-55.6	156	2685	893	700	0.0	0.0	0	86	0.00	0.00	-66.40	0.000	16390	0.000	0.000	155	2685	3069	3050	3089	0	0	0	0	0	0	28.83	28.83	25.60
87	-1.98	-55.6	154	2686	3051	3090	8.5	-22.6	11	101	8.82	2.05	0.00	0.000	2564	0.230	0.020	2295	1247	3071	3056	3086	0	0	0	0	0	0	24.79	25.48	28.83
639	-1.98	-55.6	2295	1247	3076	3080	146.7	-15.8	66	647	0.00	2.20	0.00	0.000	1030	0.000	0.027	2287	2687	3077	3076	3079	0	0	0	0	0	0	28.83	25.59	28.83
945	-1.98	-55.6	2288	2687	3076	3080	203.2	-18.9	87	949	0.00	2.10	0.00	0.000	516	0.000	0.023	2287	1272	3077	3076	3079	0	0	0	0	0	0	28.83	25.64	28.83
1460	-1.98	-55.6	2288	1273	3076	3079	299.6	-19.0	121	1464	0.00	2.15	0.00	0.000	1030	0.000	0.029	2278	2676	3076	3076	3077	0	0	0	0	0	0	28.83	25.72	28.83
1770	-1.98	-55.6	2277	2676	3078	3075	362.4	-19.8	142	1774	0.00	2.08	0.00	0.000	516	0.000	0.022	2283	1264	3075	3076	3074	0	0	0	0	0	0	28.83	25.76	28.83
2170	-1.98	-55.6	2277	1265	3085	3069	439.6	-19.1	168	2177	0.00	2.17	0.00	0.000	1030	0.000	0.030	2268	2676	3075	3076	3075	0	0	0	0	0	0	28.83	25.75	28.83
2475	-1.98	-55.6	2269	2676	3074	3065	501.3	-19.2	189	2479	0.00	2.10	0.00	0.000	516	0.000	0.024	2268	1269	3069	3074	3065	0	0	0	0	0	0	28.83	25.75	28.83
2705	-1.98	-55.6	2269	1270	3071	3064	545.6	-19.8	204	2709	0.10	2.17	0.00	0.000	3078	0.187	0.031	2283	2674	3067	3071	3063	0	0	0	0	0	0	24.91	25.73	28.83
3015	-1.98	-55.6	2285	2674	3070	3060	607.0	-19.3	225	3019	0.00	2.10	0.00	0.000	516	0.000	0.024	2285	1279	3064	3070	3059	0	0	0	0	0	0	28.83	25.72	28.83
3350	-1.98	-55.6	2284	1280	3069	3057	669.2	-18.7	247	3354	0.00	2.15	0.00	0.000	1030	0.000	0.030	2277	2673	3061	3067	3056	0	0	0	0	0	0	28.83	25.70	28.83
3660	-1.98	-55.6	2277	2673	3064	3052	728.8	-19.6	268	3664	0.00	2.12	0.00	0.000	516	0.000	0.024	2277	1259	3057	3064	3051	0	0	0	0	0	0	28.83	25.69	28.83
3785	-1.98	-55.6	2278	1262	3063	3051	752.3	-19.5	276	3789	0.00	2.17	0.00	0.000	1030	0.000	0.031	2267	2673	3056	3063	3050	0	0	0	0	0	0	28.83	25.75	28.83
4095	-1.98	-55.6	2269	2675	3061	3047	813.0	-19.2	297	4099	0.00	2.12	0.00	0.000	516	0.000	0.025	2267	1267	3054	3061	3048	0	0	0	0	0	0	28.83	25.66	28.83
4355	-1.98	-55.6	2267	1267	3060	3045	861.6	-18.9	314	4359	0.10	2.20	0.00	0.000	3078	0.184	0.032	2283	2677	3051	3059	3044	0	0	0	0	0	0	24.87	25.60	28.83
4665	-1.98	-55.6	2283	2678	3060	3040	918.4	-17.9	335	4669	0.00	2.12	0.00	0.000	516	0.000	0.026	2284	1281	3049	3058	3040	0	0	0	0	0	0	28.83	25.60	28.83
4765	-1.98	-55.6	2285	1281	3058	3040	934.4	-17.7	341	4772	0.00	2.17	0.00	0.000	1030	0.000	0.031	2277	2674	3048	3058	3039	0	0	0	0	0	0	28.83	25.63	28.83
5069	end dive: TARGET_DEPTH_EXCEEDED
state	5069	begin apogee
5072	-0.24	0.0	2278	2293	3055	3036	990.5	-18.3	362	5119	2.00	0.00	43.25	1.048	10246	0.162	0.000	2848	2292	2838	2880	2797	0	0	0	0	0	0	25.11	28.83	24.02
5120	end apogee: CONTROL_FINISHED_OK
state	5120	begin climb
5121	1.98	55.6	2849	2293	2879	2798	992.5	0.0	365	5178	2.00	2.30	48.22	1.037	10500	0.063	0.036	3568	3717	2610	2658	2562	0	0	0	0	0	0	25.03	24.67	23.70
5327	2.01	79.9	3566	3717	2652	2562	977.3	9.0	379	5353	0.00	2.17	21.40	0.971	9222	0.000	0.023	3578	2290	2513	2564	2462	0	0	0	0	0	0	28.83	25.38	24.01
5652	2.01	79.9	3577	2290	2564	2459	936.7	13.1	400	5656	0.00	2.10	0.00	0.000	516	0.000	0.030	3588	907	2506	2555	2458	0	0	0	0	0	0	28.83	25.55	28.83
5803	2.01	79.9	3588	907	2553	2459	918.1	12.3	410	5806	0.00	2.15	0.00	0.000	1030	0.000	0.028	3588	2337	2505	2553	2458	0	0	0	0	0	0	28.83	25.60	28.83
6118	2.03	79.9	3587	2337	2553	2457	880.0	11.9	431	6121	0.00	2.12	0.00	0.000	516	0.000	0.029	3596	912	2503	2551	2456	0	0	0	0	0	0	28.83	25.66	28.83
6662	2.06	79.9	3597	912	2549	2455	820.1	11.4	467	6666	0.00	2.12	0.00	0.000	1030	0.000	0.027	3597	2298	2501	2548	2454	0	0	0	0	0	0	28.83	25.63	28.83
6973	2.08	79.9	3598	2298	2546	2453	783.8	11.4	488	6977	0.00	2.08	0.00	0.000	516	0.000	0.031	3606	914	2499	2546	2452	0	0	0	0	0	0	28.83	25.63	28.83
7517	2.12	79.9	3607	915	2543	2452	726.2	10.8	524	7525	0.00	2.15	0.00	0.000	1030	0.000	0.027	3606	2308	2497	2543	2451	0	0	0	0	0	0	28.83	25.64	28.83
7822	2.14	93.6	3607	2313	2542	2451	691.8	10.6	545	7843	0.00	2.15	10.00	0.766	8708	0.000	0.031	3615	919	2456	2503	2409	0	0	0	0	0	0	28.83	25.61	24.46
8382	2.15	93.6	3616	919	2500	2408	622.7	12.0	582	8386	0.00	2.12	0.00	0.000	1030	0.000	0.027	3615	2302	2453	2500	2406	0	0	0	0	0	0	28.83	25.56	28.83
8697	2.17	93.6	3615	2303	2500	2407	584.1	11.9	603	8701	0.00	2.10	0.00	0.000	516	0.000	0.031	3624	915	2453	2500	2407	0	0	0	0	0	0	28.83	25.56	28.83
9242	2.18	93.6	3623	916	2499	2407	522.1	11.8	639	9246	0.00	2.12	0.00	0.000	1030	0.000	0.026	3624	2302	2452	2498	2406	0	0	0	0	0	0	28.83	25.56	28.83
9552	2.20	93.6	3624	2304	2497	2406	485.5	11.7	660	9556	0.00	2.15	0.00	0.000	516	0.000	0.031	3633	918	2451	2497	2405	0	0	0	0	0	0	28.83	25.56	28.83
10097	2.23	93.6	3634	918	2496	2405	424.5	11.2	696	10101	0.00	2.12	0.00	0.000	1030	0.000	0.025	3633	2303	2450	2496	2405	0	0	0	0	0	0	28.83	25.52	28.83
10407	2.25	108.9	3634	2304	2496	2405	389.6	10.3	717	10425	0.00	2.12	13.18	0.630	8708	0.000	0.031	3643	904	2393	2442	2345	0	0	0	0	0	0	28.83	25.67	24.65
10964	2.25	108.9	3642	904	2441	2343	313.7	13.0	754	10968	0.00	2.15	0.00	0.000	1030	0.000	0.026	3642	2302	2390	2439	2342	0	0	0	0	0	0	28.83	25.49	28.83
11279	2.25	108.9	3642	2303	2441	2342	269.9	13.8	775	11283	0.00	2.15	0.00	0.000	516	0.000	0.031	3652	915	2390	2439	2341	0	0	0	0	0	0	28.83	25.51	28.83
11824	2.25	108.9	3653	915	2439	2342	194.8	13.4	811	11828	0.00	2.12	0.00	0.000	1030	0.000	0.025	3652	2308	2389	2438	2341	0	0	0	0	0	0	28.83	25.47	28.83
12134	2.25	108.9	3653	2308	2438	2342	153.9	13.5	832	12138	0.00	2.15	0.00	0.000	516	0.000	0.030	3661	915	2390	2439	2341	0	0	0	0	0	0	28.83	25.52	28.83
12679	2.32	162.9	3661	916	2441	2342	108.3	4.4	868	12728	0.00	2.10	43.08	0.473	9222	0.000	0.024	3662	2299	2172	2236	2109	0	0	0	0	0	0	28.83	25.56	24.69
13029	2.37	202.2	3662	2300	2230	2107	67.7	6.7	900	13064	0.00	2.12	31.02	0.434	8708	0.000	0.028	3671	918	2012	2086	1938	0	0	0	0	0	0	28.83	25.44	24.70
13604	2.43	256.2	3671	918	2080	1937	27.8	4.4	999	13654	0.05	2.10	41.30	0.397	11270	0.112	0.024	3693	2303	1791	1863	1719	0	0	0	0	0	0	25.29	25.56	24.78
13713	2.43	256.2	3693	2303	1860	1718	14.1	18.0	1019	13721	0.00	2.12	0.00	0.000	516	0.000	0.027	3703	915	1788	1859	1717	0	0	0	0	0	0	28.83	25.47	28.83
13795	2.47	286.3	3703	916	1857	1718	4.7	8.1	1035	13839	0.00	2.10	34.58	0.316	9222	0.000	0.022	3703	2312	1670	1749	1592	0	0	0	0	1	0	28.83	25.48	24.60
13899	2.56	359.2	3703	2312	1745	1590	4.6	1.5	1054	13980	0.12	2.15	68.90	0.372	10500	0.099	0.032	3759	3699	1373	1460	1286	0	0	0	0	1	0	25.39	25.13	24.44
13982	end climb: SURFACE_DEPTH_REACHED
state	13983	begin surface coast
14113	end surface coast: CONTROL_FINISHED_OK
state	14113	begin surface