Glider dive log

GulfOfMexico Jul15 * SG161 * Dive index * Mission links * Dive 47 * 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 47 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 5 TGT_DEFAULT_LAT 27.983 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 450 TGT_DEFAULT_LON -87.467003 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 85 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 500 R_STBD_OVSHOOT 49 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 120 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 130 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 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 225 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 30 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 0 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 450 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 30 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 120

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 130

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 225 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 47 MI_POWERSOURCE 0.0 R_PORT_OVSHOOT 85 VBD_MIN 550

D_ABORT 1090 MI_RESTARTMONITOR 0.0 R_STBD_OVSHOOT 49 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 0 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 5 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 250715,032307,2756.757,-8726.362,42,0.9,52,-2.0 SPEED_LIMITS 0.217,0.270

_CALLS 1 TGT_NAME T2

_XMS_NAKs 0 TGT_LATLONG 2804.720,-8731.100

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.32 MHEAD_RNG_PITCHd_Wd 333.7,17012,-16.0,-12.500,-24.82,2571

_SM_ANGLEo -66.4 D_GRID 450

GPS2 250715,033450,2756.633,-8726.161,5,0.8,15,-2.0

Post-dive calculations and measurements:

FINISH 0.7,1.021516 MI_HOME 3.2/436550/422520

SM_CCo 6269,71.78,0.334,1,0,799,500.16 _24V_AH 24.03,54.133

SM_GC 1.68,8.43,2.72,71.78,0.031,0.027,0.334,151,2673,799,-8.62,-1.47,500.16,0,0,0,0,1,0,25.57,25.63,24.68 _10V_AH 10.14,20.648

IRIDIUM_FIX 2722.64,-8719.43,200508,165632 FG_AHR_24Vo 0.000

TT8_MAMPS 0.096621,0.096621 FG_AHR_10Vo 0.000

HUMID 38.22 MEM 296036

INTERNAL_PRESSURE 9.16506 DATA_FILE_SIZE 16752,508

TCM_TEMP 24.40 CAP_FILE_SIZE 77643,0

MI_MIVER 0.4 CFSIZE 260034560,254365696

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

MI_BOOTCOUNT 104 INTR 0,20206.94,0x236bc6,7,5

MI_LOG 3.5/516052/497957 GPS 250715,052117,2757.064,-8726.250,3,1.2,13,-2.0

MI_ROOT 70.6/190403/56003

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 225 112.26 SBE_CT 336 23 187.88

Roll_motor 52 38 47.91 nil 0 0 0.00

VBD_pump_during_apogee 473 678 7714.62 nil 0 0 0.00

VBD_pump_during_surface 71 334 576.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 61 47.03 nil 0 0 0.00

Iridium_during_connect 35 160 136.45 MIB 7142 42 7352.54

Iridium_during_xfer 196 223 1051.45 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 7142 37 6476.36

GPS 17 31 5.44

TT8 0 0 0.00

LPSleep 4515 0 17.86

TT8_Active 610 13 81.71

TT8_Sampling 1540 40 639.28

TT8_CF8 85 48 41.92

TT8_Kalman 0 0 0.00

Analog_circuits 1140 16 185.02

GPS_charging 0 0 0.00

Compass 895 15 142.79

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 -1.03 -219.0 147 2685 889 701 0.0 0.0 0 81 0.00 0.00 -63.28 0.000 16386 0.000 0.000 147 2685 2848 2828 2869 0 0 0 0 0 0 28.83 28.83 28.83

82 -1.03 -219.0 149 2685 2828 2870 5.1 -11.1 10 114 10.07 2.08 -13.82 0.000 18948 0.226 0.037 2590 1279 3734 3745 3724 0 0 0 0 0 0 24.77 25.20 25.28

253 -1.03 -219.0 2590 1280 3748 3726 60.4 -28.2 39 261 0.00 2.17 0.00 0.000 1030 0.000 0.029 2582 2669 3735 3746 3725 0 0 0 0 0 0 28.83 25.22 28.83

378 -1.03 -219.0 2583 2670 3747 3725 90.8 -24.2 52 379 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2669 3736 3747 3725 0 0 0 0 0 0 28.83 28.83 28.83

503 -1.03 -219.0 2583 2669 3750 3726 116.9 -19.9 62 504 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2669 3737 3749 3725 0 0 0 0 0 0 28.83 28.83 28.83

803 -1.03 -219.0 2583 2669 3750 3726 171.1 -16.4 82 804 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2670 3738 3751 3725 0 0 0 0 0 0 28.83 28.83 28.83

1103 -1.03 -219.0 2582 2670 3751 3726 221.5 -16.9 102 1107 0.00 2.08 0.00 0.000 516 0.000 0.023 2582 1282 3738 3751 3725 0 0 0 0 0 0 28.83 25.74 28.83

1153 -1.03 -219.0 2583 1283 3751 3726 229.0 -16.7 105 1157 0.00 2.15 0.00 0.000 1030 0.000 0.030 2575 2671 3738 3751 3725 0 0 0 0 0 0 28.83 25.72 28.83

1463 -1.03 -219.0 2576 2672 3751 3725 282.1 -17.1 126 1464 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2672 3737 3751 3724 0 0 0 0 0 0 28.83 28.83 28.83

1763 -1.03 -219.0 2576 2672 3750 3721 331.9 -16.4 146 1764 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2672 3735 3750 3720 0 0 0 0 0 0 28.83 28.83 28.83

2063 -1.03 -219.0 2581 2672 3747 3718 382.1 -16.8 166 2067 0.00 2.10 0.00 0.000 516 0.000 0.024 2575 1273 3732 3747 3718 0 0 0 0 0 0 28.83 25.76 28.83

2098 -1.03 -219.0 2574 1274 3749 3719 387.0 -16.3 168 2103 0.10 2.17 0.00 0.000 3078 0.131 0.031 2597 2676 3732 3747 3718 0 0 0 0 0 0 25.29 25.73 28.83

2409 -1.03 -219.0 2596 2677 3746 3715 432.7 -14.0 189 2409 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2676 3730 3745 3715 0 0 0 0 0 0 28.83 28.83 28.83

2542 end dive: TARGET_DEPTH_EXCEEDED

state 2542 begin apogee

2545 -0.24 0.0 2597 2305 3746 3714 451.6 -14.3 198 2719 0.77 0.00 170.32 0.679 10246 0.106 0.000 2848 2305 2838 2936 2740 0 0 0 0 0 0 25.33 28.83 24.08

2720 end apogee: CONTROL_FINISHED_OK

state 2720 begin climb

2721 1.03 219.0 2847 2305 2937 2741 459.0 0.0 209 2906 1.12 2.20 171.68 0.678 10756 0.063 0.028 3257 918 1943 2026 1860 0 0 0 0 0 0 24.85 24.80 24.03

3055 1.03 219.0 3257 919 2021 1859 430.2 13.5 232 3060 0.00 2.15 0.00 0.000 1030 0.000 0.026 3258 2305 1938 2019 1858 0 0 0 0 0 0 28.83 25.46 28.83

3371 1.03 219.0 3257 2306 2017 1856 387.9 13.5 253 3374 0.00 2.17 0.00 0.000 260 0.000 0.038 3258 3702 1935 2015 1855 0 0 0 0 0 0 28.83 25.66 28.83

3385 1.03 219.0 3258 3702 2014 1855 385.7 13.5 254 3389 0.00 2.10 0.00 0.000 1030 0.000 0.024 3265 2300 1934 2014 1855 0 0 0 0 0 0 28.83 25.75 28.83

3701 1.03 219.0 3266 2299 2011 1854 341.9 13.9 275 3702 0.00 0.00 0.00 0.000 6 0.000 0.000 3265 2299 1929 2006 1853 0 0 0 0 0 0 28.83 28.83 28.83

4000 1.03 219.0 3266 2299 2008 1852 300.2 13.9 295 4004 0.00 2.08 0.00 0.000 516 0.000 0.030 3271 925 1929 2008 1851 0 0 0 0 0 0 28.83 25.68 28.83

4035 1.03 219.0 3271 926 2010 1852 296.2 13.7 297 4039 0.00 2.10 0.00 0.000 1030 0.000 0.028 3271 2293 1929 2008 1851 0 0 0 0 0 0 28.83 25.65 28.83

4345 1.03 219.0 3271 2294 2008 1850 253.2 13.8 318 4349 0.00 2.20 0.00 0.000 260 0.000 0.038 3271 3701 1928 2006 1850 0 0 0 0 0 0 28.83 25.63 28.83

4385 1.03 219.0 3272 3702 2005 1851 248.7 14.5 320 4393 0.00 2.10 0.00 0.000 1030 0.000 0.023 3280 2302 1927 2005 1850 0 0 0 0 0 0 28.83 25.75 28.83

4691 1.03 219.0 3281 2302 2004 1849 201.9 14.9 341 4694 0.00 2.08 0.00 0.000 516 0.000 0.029 3289 918 1926 2004 1848 0 0 0 0 0 0 28.83 25.72 28.83

4750 1.03 219.0 3290 919 2004 1849 193.2 14.6 345 4754 0.00 2.12 0.00 0.000 1030 0.000 0.027 3289 2310 1925 2004 1847 0 0 0 0 0 0 28.83 25.72 28.83

5066 1.03 219.0 3289 2311 2003 1848 143.7 14.3 366 5069 0.00 2.12 0.00 0.000 516 0.000 0.028 3297 910 1924 2001 1847 0 0 0 0 0 0 28.83 25.73 28.83

5160 1.03 219.0 3297 913 2003 1848 130.5 14.5 372 5165 0.10 2.12 0.00 0.000 5126 0.125 0.026 3265 2310 1923 2000 1847 0 0 0 0 0 0 25.30 25.72 28.83

5466 1.07 254.7 3265 2310 2000 1846 94.8 11.1 394 5498 0.00 2.10 25.25 0.441 8452 0.000 0.036 3265 3695 1797 1875 1719 0 0 0 0 0 0 28.83 25.68 24.96

5548 1.07 254.7 3264 3695 1873 1719 84.6 13.3 402 5551 0.00 2.10 0.00 0.000 1030 0.000 0.022 3271 2294 1795 1871 1719 0 0 0 0 0 0 28.83 25.69 28.83

5677 1.14 310.8 3271 2293 1871 1718 70.0 10.3 415 5729 0.00 0.00 44.80 0.435 8198 0.000 0.000 3271 2292 1568 1656 1480 0 0 0 0 0 0 28.83 28.83 24.75

5848 1.21 361.6 3271 2293 1652 1478 51.6 10.5 432 5895 0.10 2.28 40.88 0.414 10500 0.103 0.037 3332 3700 1362 1453 1271 0 0 0 0 0 0 25.51 25.36 24.65

5979 1.21 361.6 3332 3701 1449 1271 34.0 14.7 455 5987 0.00 2.10 0.00 0.000 1030 0.000 0.021 3339 2295 1358 1447 1270 0 0 0 0 0 0 28.83 25.55 28.83

6046 1.21 361.6 3340 2295 1446 1269 24.9 13.5 468 6052 0.00 0.00 0.00 0.000 6 0.000 0.000 3339 2294 1357 1446 1269 0 0 0 0 0 0 28.83 28.83 28.83

6111 1.22 372.2 3340 2294 1445 1269 16.9 12.1 481 6143 0.00 2.03 20.20 0.215 8708 0.000 0.025 3349 909 1320 1411 1229 0 0 0 0 1 0 28.83 25.61 24.72

6232 end climb: SURFACE_DEPTH_REACHED

state 6232 begin surface coast

6251 end surface coast: CONTROL_FINISHED_OK

state 6251 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	47	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	5	TGT_DEFAULT_LAT	27.983	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	450	TGT_DEFAULT_LON	-87.467003	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	85	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	500	R_STBD_OVSHOOT	49	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	120	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	130	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	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	225	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	30	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	0	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	250715,032307,2756.757,-8726.362,42,0.9,52,-2.0	SPEED_LIMITS	0.217,0.270
_CALLS	1	TGT_NAME	T2
_XMS_NAKs	0	TGT_LATLONG	2804.720,-8731.100
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.32	MHEAD_RNG_PITCHd_Wd	333.7,17012,-16.0,-12.500,-24.82,2571
_SM_ANGLEo	-66.4	D_GRID	450
GPS2	250715,033450,2756.633,-8726.161,5,0.8,15,-2.0

FINISH	0.7,1.021516	MI_HOME	3.2/436550/422520
SM_CCo	6269,71.78,0.334,1,0,799,500.16	_24V_AH	24.03,54.133
SM_GC	1.68,8.43,2.72,71.78,0.031,0.027,0.334,151,2673,799,-8.62,-1.47,500.16,0,0,0,0,1,0,25.57,25.63,24.68	_10V_AH	10.14,20.648
IRIDIUM_FIX	2722.64,-8719.43,200508,165632	FG_AHR_24Vo	0.000
TT8_MAMPS	0.096621,0.096621	FG_AHR_10Vo	0.000
HUMID	38.22	MEM	296036
INTERNAL_PRESSURE	9.16506	DATA_FILE_SIZE	16752,508
TCM_TEMP	24.40	CAP_FILE_SIZE	77643,0
MI_MIVER	0.4	CFSIZE	260034560,254365696
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,2,1,0
MI_BOOTCOUNT	104	INTR	0,20206.94,0x236bc6,7,5
MI_LOG	3.5/516052/497957	GPS	250715,052117,2757.064,-8726.250,3,1.2,13,-2.0
MI_ROOT	70.6/190403/56003

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	225	112.26	SBE_CT	336	23	187.88
Roll_motor	52	38	47.91	nil	0	0	0.00
VBD_pump_during_apogee	473	678	7714.62	nil	0	0	0.00
VBD_pump_during_surface	71	334	576.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	61	47.03	nil	0	0	0.00
Iridium_during_connect	35	160	136.45	MIB	7142	42	7352.54
Iridium_during_xfer	196	223	1051.45	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	7142	37	6476.36
GPS	17	31	5.44
TT8	0	0	0.00
LPSleep	4515	0	17.86
TT8_Active	610	13	81.71
TT8_Sampling	1540	40	639.28
TT8_CF8	85	48	41.92
TT8_Kalman	0	0	0.00
Analog_circuits	1140	16	185.02
GPS_charging	0	0	0.00
Compass	895	15	142.79
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	-1.03	-219.0	147	2685	889	701	0.0	0.0	0	81	0.00	0.00	-63.28	0.000	16386	0.000	0.000	147	2685	2848	2828	2869	0	0	0	0	0	0	28.83	28.83	28.83
82	-1.03	-219.0	149	2685	2828	2870	5.1	-11.1	10	114	10.07	2.08	-13.82	0.000	18948	0.226	0.037	2590	1279	3734	3745	3724	0	0	0	0	0	0	24.77	25.20	25.28
253	-1.03	-219.0	2590	1280	3748	3726	60.4	-28.2	39	261	0.00	2.17	0.00	0.000	1030	0.000	0.029	2582	2669	3735	3746	3725	0	0	0	0	0	0	28.83	25.22	28.83
378	-1.03	-219.0	2583	2670	3747	3725	90.8	-24.2	52	379	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2669	3736	3747	3725	0	0	0	0	0	0	28.83	28.83	28.83
503	-1.03	-219.0	2583	2669	3750	3726	116.9	-19.9	62	504	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2669	3737	3749	3725	0	0	0	0	0	0	28.83	28.83	28.83
803	-1.03	-219.0	2583	2669	3750	3726	171.1	-16.4	82	804	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2670	3738	3751	3725	0	0	0	0	0	0	28.83	28.83	28.83
1103	-1.03	-219.0	2582	2670	3751	3726	221.5	-16.9	102	1107	0.00	2.08	0.00	0.000	516	0.000	0.023	2582	1282	3738	3751	3725	0	0	0	0	0	0	28.83	25.74	28.83
1153	-1.03	-219.0	2583	1283	3751	3726	229.0	-16.7	105	1157	0.00	2.15	0.00	0.000	1030	0.000	0.030	2575	2671	3738	3751	3725	0	0	0	0	0	0	28.83	25.72	28.83
1463	-1.03	-219.0	2576	2672	3751	3725	282.1	-17.1	126	1464	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2672	3737	3751	3724	0	0	0	0	0	0	28.83	28.83	28.83
1763	-1.03	-219.0	2576	2672	3750	3721	331.9	-16.4	146	1764	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2672	3735	3750	3720	0	0	0	0	0	0	28.83	28.83	28.83
2063	-1.03	-219.0	2581	2672	3747	3718	382.1	-16.8	166	2067	0.00	2.10	0.00	0.000	516	0.000	0.024	2575	1273	3732	3747	3718	0	0	0	0	0	0	28.83	25.76	28.83
2098	-1.03	-219.0	2574	1274	3749	3719	387.0	-16.3	168	2103	0.10	2.17	0.00	0.000	3078	0.131	0.031	2597	2676	3732	3747	3718	0	0	0	0	0	0	25.29	25.73	28.83
2409	-1.03	-219.0	2596	2677	3746	3715	432.7	-14.0	189	2409	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2676	3730	3745	3715	0	0	0	0	0	0	28.83	28.83	28.83
2542	end dive: TARGET_DEPTH_EXCEEDED
state	2542	begin apogee
2545	-0.24	0.0	2597	2305	3746	3714	451.6	-14.3	198	2719	0.77	0.00	170.32	0.679	10246	0.106	0.000	2848	2305	2838	2936	2740	0	0	0	0	0	0	25.33	28.83	24.08
2720	end apogee: CONTROL_FINISHED_OK
state	2720	begin climb
2721	1.03	219.0	2847	2305	2937	2741	459.0	0.0	209	2906	1.12	2.20	171.68	0.678	10756	0.063	0.028	3257	918	1943	2026	1860	0	0	0	0	0	0	24.85	24.80	24.03
3055	1.03	219.0	3257	919	2021	1859	430.2	13.5	232	3060	0.00	2.15	0.00	0.000	1030	0.000	0.026	3258	2305	1938	2019	1858	0	0	0	0	0	0	28.83	25.46	28.83
3371	1.03	219.0	3257	2306	2017	1856	387.9	13.5	253	3374	0.00	2.17	0.00	0.000	260	0.000	0.038	3258	3702	1935	2015	1855	0	0	0	0	0	0	28.83	25.66	28.83
3385	1.03	219.0	3258	3702	2014	1855	385.7	13.5	254	3389	0.00	2.10	0.00	0.000	1030	0.000	0.024	3265	2300	1934	2014	1855	0	0	0	0	0	0	28.83	25.75	28.83
3701	1.03	219.0	3266	2299	2011	1854	341.9	13.9	275	3702	0.00	0.00	0.00	0.000	6	0.000	0.000	3265	2299	1929	2006	1853	0	0	0	0	0	0	28.83	28.83	28.83
4000	1.03	219.0	3266	2299	2008	1852	300.2	13.9	295	4004	0.00	2.08	0.00	0.000	516	0.000	0.030	3271	925	1929	2008	1851	0	0	0	0	0	0	28.83	25.68	28.83
4035	1.03	219.0	3271	926	2010	1852	296.2	13.7	297	4039	0.00	2.10	0.00	0.000	1030	0.000	0.028	3271	2293	1929	2008	1851	0	0	0	0	0	0	28.83	25.65	28.83
4345	1.03	219.0	3271	2294	2008	1850	253.2	13.8	318	4349	0.00	2.20	0.00	0.000	260	0.000	0.038	3271	3701	1928	2006	1850	0	0	0	0	0	0	28.83	25.63	28.83
4385	1.03	219.0	3272	3702	2005	1851	248.7	14.5	320	4393	0.00	2.10	0.00	0.000	1030	0.000	0.023	3280	2302	1927	2005	1850	0	0	0	0	0	0	28.83	25.75	28.83
4691	1.03	219.0	3281	2302	2004	1849	201.9	14.9	341	4694	0.00	2.08	0.00	0.000	516	0.000	0.029	3289	918	1926	2004	1848	0	0	0	0	0	0	28.83	25.72	28.83
4750	1.03	219.0	3290	919	2004	1849	193.2	14.6	345	4754	0.00	2.12	0.00	0.000	1030	0.000	0.027	3289	2310	1925	2004	1847	0	0	0	0	0	0	28.83	25.72	28.83
5066	1.03	219.0	3289	2311	2003	1848	143.7	14.3	366	5069	0.00	2.12	0.00	0.000	516	0.000	0.028	3297	910	1924	2001	1847	0	0	0	0	0	0	28.83	25.73	28.83
5160	1.03	219.0	3297	913	2003	1848	130.5	14.5	372	5165	0.10	2.12	0.00	0.000	5126	0.125	0.026	3265	2310	1923	2000	1847	0	0	0	0	0	0	25.30	25.72	28.83
5466	1.07	254.7	3265	2310	2000	1846	94.8	11.1	394	5498	0.00	2.10	25.25	0.441	8452	0.000	0.036	3265	3695	1797	1875	1719	0	0	0	0	0	0	28.83	25.68	24.96
5548	1.07	254.7	3264	3695	1873	1719	84.6	13.3	402	5551	0.00	2.10	0.00	0.000	1030	0.000	0.022	3271	2294	1795	1871	1719	0	0	0	0	0	0	28.83	25.69	28.83
5677	1.14	310.8	3271	2293	1871	1718	70.0	10.3	415	5729	0.00	0.00	44.80	0.435	8198	0.000	0.000	3271	2292	1568	1656	1480	0	0	0	0	0	0	28.83	28.83	24.75
5848	1.21	361.6	3271	2293	1652	1478	51.6	10.5	432	5895	0.10	2.28	40.88	0.414	10500	0.103	0.037	3332	3700	1362	1453	1271	0	0	0	0	0	0	25.51	25.36	24.65
5979	1.21	361.6	3332	3701	1449	1271	34.0	14.7	455	5987	0.00	2.10	0.00	0.000	1030	0.000	0.021	3339	2295	1358	1447	1270	0	0	0	0	0	0	28.83	25.55	28.83
6046	1.21	361.6	3340	2295	1446	1269	24.9	13.5	468	6052	0.00	0.00	0.00	0.000	6	0.000	0.000	3339	2294	1357	1446	1269	0	0	0	0	0	0	28.83	28.83	28.83
6111	1.22	372.2	3340	2294	1445	1269	16.9	12.1	481	6143	0.00	2.03	20.20	0.215	8708	0.000	0.025	3349	909	1320	1411	1229	0	0	0	0	1	0	28.83	25.61	24.72
6232	end climb: SURFACE_DEPTH_REACHED
state	6232	begin surface coast
6251	end surface coast: CONTROL_FINISHED_OK
state	6251	begin surface