Glider dive log

Shilshole 12Jun12 * SG107 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 107 HD_C 9.8541004e-06 ROLL_MIN 263 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 28 HEADING -1 ROLL_MAX 3810 ALTIM_PING_DEPTH 0

DIVE 4 ESCAPE_HEADING 0 ROLL_DEG 25 ALTIM_PING_DELTA 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2800 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2925 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 24.3333 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_TGT 150 TGT_DEFAULT_LON -82.333298 ROLL_CNV 0.028270001 XPDR_VALID 1

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 40 SM_CC 475 R_PORT_OVSHOOT 40 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 5 N_FILEKB 6 R_STBD_OVSHOOT 40 INT_PRESSURE_YINT 1.35

T_BOOST 2 FILEMGR 0 ROLL_AD_RATE 350 DEEPGLIDER 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 2 DEEPGLIDERMB 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_SAFE 0 PROTOCOL 73 ROLL_ADJ_DBAND 0 DEVICE1 2

D_CALL 0 N_NOCOMM 1 VBD_MIN 760 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_MAX 3925 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 2677 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 40 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 45 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_ABORT 1440 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.00039999999 LOGGERDEVICE1 83

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_NO_W 120 T_GPS 12 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_LOITER 0 N_GPS 20 UNCOM_BLEED 50 COMPASS_DEVICE 33

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -6 T_GPS_CHARGE -136171.55 CF8_MAXERRORS 2 PHONE_DEVICE 49

USE_ICE 0 T_RSLEEP 3 AH0_24V 150 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 98 RAFOS_DEVICE -1

D_OFFGRID 101 RAFOS_PEAK_OFFSET 1.5 MINV_24V 19 XPDR_DEVICE -1

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_10V 8 SIM_W 0

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

APOGEE_PITCH -5 PITCH_MIN 152 FG_AHR_24V 0 SEABIRD_T_G 0.0043459563

MAX_BUOY 150 PITCH_MAX 3914 PHONE_SUPPLY 2 SEABIRD_T_H 0.00064505072

COURSE_BIAS 0 C_PITCH 2525 PRESSURE_YINT -10.389073 SEABIRD_T_I 2.5503063e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001156423 SEABIRD_T_J 2.7066912e-06

SPEED_FACTOR 0.80000001 PITCH_CNV 0.0031256001 AD7714Ch0Gain 128 SEABIRD_C_G -10.0667

RHO 1.023 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1389354

MASS 51536 PITCH_GAIN 31 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0022760942

NAV_MODE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_J 0.00024535603

FERRY_MAX 45 PITCH_AD_RATE 165 ALTIM_BOTTOM_PING_RANGE 0 MI_OFFLOAD 1.0

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 MI_POWERSOURCE 0.0

HD_A 0.0038360001 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 MI_RESTARTMONITOR 0.0

HD_B 0.010078 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 MI_NOTIFYMOTORS 0.0

AD7714Ch0Gain 128 D_OFFGRID 101 N_GPS 20 SEABIRD_T_J 2.7066912e-06

AH0_10V 98 D_PITCH 0 N_NOCOMM 1 SIM_PITCH 0

AH0_24V 150 D_SAFE 0 N_NOSURFACE 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PHONE_DEVICE 49 SM_CC 475

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 150 PHONE_SUPPLY 2 SPEED_FACTOR 0.80000001

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_AD_RATE 165 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_CNV 0.0031256001 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_GAIN 31 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3914 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 24.3333

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_MIN 152 TGT_DEFAULT_LON -82.333298

CALL_NDIVES 1 HD_A 0.0038360001 PITCH_TIMEOUT 18 T_ABORT 1440

CALL_TRIES 5 HD_B 0.010078 PITCH_VBD_SHIFT 0.00039999999 T_BOOST 2

CALL_WAIT 60 HD_C 9.8541004e-06 PRESSURE_SLOPE 0.0001156423 T_DIVE 40

CAPMAXSIZE 100000 HEADING -1 PRESSURE_YINT -10.389073 T_EPIRB 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PROTOCOL 73 T_GPS 12

CF8_MAXERRORS 2 HEAPDBG 0 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -136171.55

COMPASS2_DEVICE -1 ID 107 RAFOS_DEVICE -1 T_LOITER 0

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_MISSION 45

COMPASS_USE 0 INT_PRESSURE_YINT 1.35 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_RSLEEP 3

C_PITCH 2525 LOGGERDEVICE1 83 RHO 1.023 T_TURN 225

C_ROLL_CLIMB 2925 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_VBD 2677 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 50

DEEPGLIDER 0 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 51536 ROLL_DEG 25 USE_BATHY -6

DEVICE1 2 MAX_BUOY 150 ROLL_MAX 3810 USE_ICE 0

DEVICE2 -1 MINV_10V 8 ROLL_MAXERRORS 2 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 19 ROLL_MIN 263 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 28 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 MI_NOTIFYMOTORS 0.0 R_PORT_OVSHOOT 40 VBD_MAX 3925

DEVICE6 -1 MI_OFFLOAD 1.0 R_STBD_OVSHOOT 40 VBD_MAXERRORS 1

DIVE 4 MI_POWERSOURCE 0.0 SEABIRD_C_G -10.0667 VBD_MIN 760

D_ABORT 1090 MI_RESTARTMONITOR 0.0 SEABIRD_C_H 1.1389354 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 5 MOTHERBOARD 4 SEABIRD_C_I -0.0022760942 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 NAV_MODE 1 SEABIRD_C_J 0.00024535603 VBD_TIMEOUT 720

D_FINISH 0 NOCOMM_ACTION 0 SEABIRD_T_G 0.0043459563 XPDR_DEVICE -1

D_FLARE 3 N_DIVES 0 SEABIRD_T_H 0.00064505072 XPDR_INHIBIT 90

D_NO_BLEED 40 N_FILEKB 6 SEABIRD_T_I 2.5503063e-05 XPDR_VALID 1

Pre-dive calculations and measurements:

GPS1 120612,194754,4742.613,-12225.105,10,1.2,20,18.2 TGT_NAME WEST

_CALLS 1 TGT_LATLONG 4743.700,-12225.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.054,0.274

_SM_DEPTHo 0.86 KALMAN_X -178.9,-138.0,-117.6,149.5,-76.6

_SM_ANGLEo -72.1 KALMAN_Y -353.7,-313.6,-298.8,949.0,-157.2

GPS2 120612,195213,4742.620,-12225.116,10,1.5,21,18.2 MHEAD_RNG_PITCHd_Wd 352.9,2006,-21.9,-12.500

SPEED_LIMITS 0.173,0.223 D_GRID 186

Post-dive calculations and measurements:

FINISH 0.9,1.018456 MI_ROOT 70.6/190403/56026

SM_CCo 2573,0.00,0.000,0,0,762,470.24 MI_HOME 2.5/436550/425587

SM_GC 1.53,7.47,0.17,0.00,0.070,0.066,0.000,163,2805,762,-7.38,1.22,470.24,0,0,0,0,0,0,25.78,26.15,28.83 _24V_AH 24.1,0.486

IRIDIUM_FIX 4751.72,-12056.72,120612,191922 _10V_AH 10.5,0.455

TT8_MAMPS 0.098868,0.098868 FG_AHR_24Vo 0.000

HUMID 50.00 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 8.84052 MEM 323748

TCM_TEMP 19.60 DATA_FILE_SIZE 13447,462

MI_MIVER 0.3 CAP_FILE_SIZE 76228,0

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 CFSIZE 260034560,257339392

MI_BOOTCOUNT 7 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

MI_LOG 3.3/516052/498825 GPS 120612,203652,4742.780,-12225.218,38,1.6,48,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 236 98.98 SBE_CT 310 24 179.40

Roll_motor 29 65 46.77 nil 0 0 0.00

VBD_pump_during_apogee 289 1096 7645.80 nil 0 0 0.00

VBD_pump_during_surface 92 150 335.32 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 2552 41 2550.50

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 2552 16 1002.00

GPS 22 50 11.65

TT8 0 0 0.00

LPSleep 1061 0 4.34

TT8_Active 486 18 91.88

TT8_Sampling 1036 38 413.72

TT8_CF8 41 44 19.30

TT8_Kalman 32 80 27.06

Analog_circuits 894 12 112.74

GPS_charging 0 0 0.00

Compass 665 15 104.77

RAFOS 0 0 0.00

Transponder 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.76 -146.6 0.0 0.0 0 95 0.00 0.00 -77.38 0.000 2 0.000 0.000 162 2818 2822 0 0 0 0 0 0 28.83 28.83 28.83

97 -0.76 -146.6 3.4 -7.7 12 124 8.32 1.45 -9.70 0.000 4 0.236 0.060 2273 1917 3276 0 0 0 0 0 0 25.96 26.25 26.40

348 -0.76 -146.6 46.8 -15.2 61 355 0.00 1.42 0.00 0.000 6 0.000 0.052 2268 2781 3276 0 0 0 0 0 0 28.83 26.34 28.83

475 -0.76 -146.6 67.0 -16.0 86 482 0.00 1.35 0.00 0.000 4 0.000 0.037 2268 1920 3276 0 0 0 0 0 0 28.83 26.39 28.83

707 -0.76 -146.6 100.2 -13.2 132 714 0.00 1.45 0.00 0.000 6 0.000 0.053 2262 2798 3276 0 0 0 0 0 0 28.83 26.39 28.83

834 -0.76 -146.6 119.2 -15.8 157 841 0.00 1.48 0.00 0.000 4 0.000 0.061 2256 3675 3276 0 0 0 0 0 0 28.83 26.39 28.83

880 -0.76 -146.6 126.9 -16.3 166 888 0.00 1.40 0.00 0.000 6 0.000 0.039 2255 2806 3276 0 0 0 0 0 0 28.83 26.47 28.83

1007 -0.76 -146.6 147.9 -16.6 191 1014 0.00 1.40 0.00 0.000 4 0.000 0.037 2255 1914 3276 0 0 0 0 0 0 28.83 26.44 28.83

1022 end dive: TARGET_DEPTH_EXCEEDED

state 1022 begin apogee

1027 -0.16 0.0 150.7 -16.0 194 1150 0.70 0.00 111.95 1.096 6 0.141 0.000 2466 2924 2677 0 0 0 0 1 0 26.29 28.83 24.11

1151 end apogee: CONTROL_FINISHED_OK

state 1151 begin climb

1152 0.76 146.6 155.6 0.0 213 1288 0.88 1.60 127.12 0.523 4 0.080 0.060 2765 3809 2069 0 0 0 0 0 0 24.92 25.20 24.79

1368 0.76 146.6 142.6 15.5 250 1376 0.00 1.45 0.00 0.000 6 0.000 0.038 2771 2928 2062 0 0 0 0 0 0 28.83 25.77 28.83

1496 0.76 146.6 124.9 13.5 275 1502 0.00 0.00 0.00 0.000 6 0.000 0.000 2771 2927 2060 0 0 0 0 0 0 28.83 28.83 28.83

1622 0.76 146.6 108.0 13.7 300 1629 0.00 1.42 0.00 0.000 4 0.000 0.039 2778 2040 2059 0 0 0 0 0 0 28.83 26.16 28.83

1734 0.76 146.6 93.5 12.8 322 1741 0.00 1.48 0.00 0.000 6 0.000 0.054 2778 2922 2058 0 0 0 0 0 0 28.83 26.21 28.83

1860 0.76 146.6 76.4 13.7 347 1868 0.00 1.50 0.00 0.000 4 0.000 0.063 2778 3803 2058 0 0 0 0 0 0 28.83 26.25 28.83

1872 0.76 146.6 74.9 13.5 349 1879 0.00 1.42 0.00 0.000 6 0.000 0.040 2785 2923 2058 0 0 0 0 0 0 28.83 26.32 28.83

2000 0.77 151.3 58.2 12.2 374 2006 0.00 1.40 0.00 0.000 4 0.000 0.040 2792 2040 2057 0 0 0 0 0 0 28.83 26.33 28.83

2010 0.77 162.3 56.8 11.9 376 2025 0.00 1.48 10.48 0.526 6 0.000 0.054 2791 2922 2010 0 0 0 0 0 0 28.83 26.31 25.70

2145 0.77 169.8 39.9 12.1 402 2153 0.00 1.45 1.77 0.219 4 0.000 0.040 2798 2032 1981 0 0 0 0 0 0 28.83 26.29 26.03

2263 0.79 210.0 27.2 10.2 425 2308 0.00 1.50 38.08 0.480 6 0.000 0.055 2798 2931 1812 0 0 0 0 0 0 28.83 26.32 25.53

2368 0.79 210.0 12.9 14.3 444 2375 0.00 1.52 0.00 0.000 4 0.000 0.063 2798 3812 1803 0 0 0 0 0 0 28.83 26.03 28.83

2399 0.79 210.0 8.2 14.6 450 2407 0.00 1.45 0.00 0.000 6 0.000 0.039 2804 2921 1803 0 0 0 0 0 0 28.83 26.14 28.83

2440 end climb: SURFACE_DEPTH_REACHED

state 2440 begin surface coast

2460 end surface coast: CONTROL_FINISHED_OK

state 2460 begin surface

ID	107	HD_C	9.8541004e-06	ROLL_MIN	263	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	28	HEADING	-1	ROLL_MAX	3810	ALTIM_PING_DEPTH	0
DIVE	4	ESCAPE_HEADING	0	ROLL_DEG	25	ALTIM_PING_DELTA	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2800	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2925	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	24.3333	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_TGT	150	TGT_DEFAULT_LON	-82.333298	ROLL_CNV	0.028270001	XPDR_VALID	1
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	40	SM_CC	475	R_PORT_OVSHOOT	40	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	5	N_FILEKB	6	R_STBD_OVSHOOT	40	INT_PRESSURE_YINT	1.35
T_BOOST	2	FILEMGR	0	ROLL_AD_RATE	350	DEEPGLIDER	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	2	DEEPGLIDERMB	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_SAFE	0	PROTOCOL	73	ROLL_ADJ_DBAND	0	DEVICE1	2
D_CALL	0	N_NOCOMM	1	VBD_MIN	760	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_MAX	3925	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	2677	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	40	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	45	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_ABORT	1440	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.00039999999	LOGGERDEVICE1	83
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_NO_W	120	T_GPS	12	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_LOITER	0	N_GPS	20	UNCOM_BLEED	50	COMPASS_DEVICE	33
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-6	T_GPS_CHARGE	-136171.55	CF8_MAXERRORS	2	PHONE_DEVICE	49
USE_ICE	0	T_RSLEEP	3	AH0_24V	150	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	98	RAFOS_DEVICE	-1
D_OFFGRID	101	RAFOS_PEAK_OFFSET	1.5	MINV_24V	19	XPDR_DEVICE	-1
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_10V	8	SIM_W	0
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
APOGEE_PITCH	-5	PITCH_MIN	152	FG_AHR_24V	0	SEABIRD_T_G	0.0043459563
MAX_BUOY	150	PITCH_MAX	3914	PHONE_SUPPLY	2	SEABIRD_T_H	0.00064505072
COURSE_BIAS	0	C_PITCH	2525	PRESSURE_YINT	-10.389073	SEABIRD_T_I	2.5503063e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001156423	SEABIRD_T_J	2.7066912e-06
SPEED_FACTOR	0.80000001	PITCH_CNV	0.0031256001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.0667
RHO	1.023	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1389354
MASS	51536	PITCH_GAIN	31	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0022760942
NAV_MODE	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_J	0.00024535603
FERRY_MAX	45	PITCH_AD_RATE	165	ALTIM_BOTTOM_PING_RANGE	0	MI_OFFLOAD	1.0
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	MI_POWERSOURCE	0.0
HD_A	0.0038360001	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	MI_RESTARTMONITOR	0.0
HD_B	0.010078	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	MI_NOTIFYMOTORS	0.0

GPS1	120612,194754,4742.613,-12225.105,10,1.2,20,18.2	TGT_NAME	WEST
_CALLS	1	TGT_LATLONG	4743.700,-12225.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.054,0.274
_SM_DEPTHo	0.86	KALMAN_X	-178.9,-138.0,-117.6,149.5,-76.6
_SM_ANGLEo	-72.1	KALMAN_Y	-353.7,-313.6,-298.8,949.0,-157.2
GPS2	120612,195213,4742.620,-12225.116,10,1.5,21,18.2	MHEAD_RNG_PITCHd_Wd	352.9,2006,-21.9,-12.500
SPEED_LIMITS	0.173,0.223	D_GRID	186

FINISH	0.9,1.018456	MI_ROOT	70.6/190403/56026
SM_CCo	2573,0.00,0.000,0,0,762,470.24	MI_HOME	2.5/436550/425587
SM_GC	1.53,7.47,0.17,0.00,0.070,0.066,0.000,163,2805,762,-7.38,1.22,470.24,0,0,0,0,0,0,25.78,26.15,28.83	_24V_AH	24.1,0.486
IRIDIUM_FIX	4751.72,-12056.72,120612,191922	_10V_AH	10.5,0.455
TT8_MAMPS	0.098868,0.098868	FG_AHR_24Vo	0.000
HUMID	50.00	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	8.84052	MEM	323748
TCM_TEMP	19.60	DATA_FILE_SIZE	13447,462
MI_MIVER	0.3	CAP_FILE_SIZE	76228,0
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	CFSIZE	260034560,257339392
MI_BOOTCOUNT	7	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
MI_LOG	3.3/516052/498825	GPS	120612,203652,4742.780,-12225.218,38,1.6,48,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	236	98.98	SBE_CT	310	24	179.40
Roll_motor	29	65	46.77	nil	0	0	0.00
VBD_pump_during_apogee	289	1096	7645.80	nil	0	0	0.00
VBD_pump_during_surface	92	150	335.32	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	2552	41	2550.50
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	2552	16	1002.00
GPS	22	50	11.65
TT8	0	0	0.00
LPSleep	1061	0	4.34
TT8_Active	486	18	91.88
TT8_Sampling	1036	38	413.72
TT8_CF8	41	44	19.30
TT8_Kalman	32	80	27.06
Analog_circuits	894	12	112.74
GPS_charging	0	0	0.00
Compass	665	15	104.77
RAFOS	0	0	0.00
Transponder	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.76	-146.6	0.0	0.0	0	95	0.00	0.00	-77.38	0.000	2	0.000	0.000	162	2818	2822	0	0	0	0	0	0	28.83	28.83	28.83
97	-0.76	-146.6	3.4	-7.7	12	124	8.32	1.45	-9.70	0.000	4	0.236	0.060	2273	1917	3276	0	0	0	0	0	0	25.96	26.25	26.40
348	-0.76	-146.6	46.8	-15.2	61	355	0.00	1.42	0.00	0.000	6	0.000	0.052	2268	2781	3276	0	0	0	0	0	0	28.83	26.34	28.83
475	-0.76	-146.6	67.0	-16.0	86	482	0.00	1.35	0.00	0.000	4	0.000	0.037	2268	1920	3276	0	0	0	0	0	0	28.83	26.39	28.83
707	-0.76	-146.6	100.2	-13.2	132	714	0.00	1.45	0.00	0.000	6	0.000	0.053	2262	2798	3276	0	0	0	0	0	0	28.83	26.39	28.83
834	-0.76	-146.6	119.2	-15.8	157	841	0.00	1.48	0.00	0.000	4	0.000	0.061	2256	3675	3276	0	0	0	0	0	0	28.83	26.39	28.83
880	-0.76	-146.6	126.9	-16.3	166	888	0.00	1.40	0.00	0.000	6	0.000	0.039	2255	2806	3276	0	0	0	0	0	0	28.83	26.47	28.83
1007	-0.76	-146.6	147.9	-16.6	191	1014	0.00	1.40	0.00	0.000	4	0.000	0.037	2255	1914	3276	0	0	0	0	0	0	28.83	26.44	28.83
1022	end dive: TARGET_DEPTH_EXCEEDED
state	1022	begin apogee
1027	-0.16	0.0	150.7	-16.0	194	1150	0.70	0.00	111.95	1.096	6	0.141	0.000	2466	2924	2677	0	0	0	0	1	0	26.29	28.83	24.11
1151	end apogee: CONTROL_FINISHED_OK
state	1151	begin climb
1152	0.76	146.6	155.6	0.0	213	1288	0.88	1.60	127.12	0.523	4	0.080	0.060	2765	3809	2069	0	0	0	0	0	0	24.92	25.20	24.79
1368	0.76	146.6	142.6	15.5	250	1376	0.00	1.45	0.00	0.000	6	0.000	0.038	2771	2928	2062	0	0	0	0	0	0	28.83	25.77	28.83
1496	0.76	146.6	124.9	13.5	275	1502	0.00	0.00	0.00	0.000	6	0.000	0.000	2771	2927	2060	0	0	0	0	0	0	28.83	28.83	28.83
1622	0.76	146.6	108.0	13.7	300	1629	0.00	1.42	0.00	0.000	4	0.000	0.039	2778	2040	2059	0	0	0	0	0	0	28.83	26.16	28.83
1734	0.76	146.6	93.5	12.8	322	1741	0.00	1.48	0.00	0.000	6	0.000	0.054	2778	2922	2058	0	0	0	0	0	0	28.83	26.21	28.83
1860	0.76	146.6	76.4	13.7	347	1868	0.00	1.50	0.00	0.000	4	0.000	0.063	2778	3803	2058	0	0	0	0	0	0	28.83	26.25	28.83
1872	0.76	146.6	74.9	13.5	349	1879	0.00	1.42	0.00	0.000	6	0.000	0.040	2785	2923	2058	0	0	0	0	0	0	28.83	26.32	28.83
2000	0.77	151.3	58.2	12.2	374	2006	0.00	1.40	0.00	0.000	4	0.000	0.040	2792	2040	2057	0	0	0	0	0	0	28.83	26.33	28.83
2010	0.77	162.3	56.8	11.9	376	2025	0.00	1.48	10.48	0.526	6	0.000	0.054	2791	2922	2010	0	0	0	0	0	0	28.83	26.31	25.70
2145	0.77	169.8	39.9	12.1	402	2153	0.00	1.45	1.77	0.219	4	0.000	0.040	2798	2032	1981	0	0	0	0	0	0	28.83	26.29	26.03
2263	0.79	210.0	27.2	10.2	425	2308	0.00	1.50	38.08	0.480	6	0.000	0.055	2798	2931	1812	0	0	0	0	0	0	28.83	26.32	25.53
2368	0.79	210.0	12.9	14.3	444	2375	0.00	1.52	0.00	0.000	4	0.000	0.063	2798	3812	1803	0	0	0	0	0	0	28.83	26.03	28.83
2399	0.79	210.0	8.2	14.6	450	2407	0.00	1.45	0.00	0.000	6	0.000	0.039	2804	2921	1803	0	0	0	0	0	0	28.83	26.14	28.83
2440	end climb: SURFACE_DEPTH_REACHED
state	2440	begin surface coast
2460	end surface coast: CONTROL_FINISHED_OK
state	2460	begin surface