Glider dive log

GulfOfMexico Jul15 * SG161 * Dive index * Mission links * Dive 48 * 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 48 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 600 TGT_DEFAULT_LON -87.467003 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 83 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 150 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE5 -1

T_MISSION 160 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 175 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 600 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 150

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 160

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 175 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 48 MI_POWERSOURCE 0.0 R_PORT_OVSHOOT 83 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 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 250715,052117,2757.064,-8726.250,3,1.2,13,-2.0 SPEED_LIMITS 0.231,0.246

_CALLS 1 TGT_NAME T2

_XMS_NAKs 0 TGT_LATLONG 2804.720,-8731.100

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.29 MHEAD_RNG_PITCHd_Wd 332.3,16507,-20.9,-13.333,-28.42,1905

_SM_ANGLEo -65.9 D_GRID 600

GPS2 250715,052901,2756.975,-8726.101,6,1.1,16,-2.0

Post-dive calculations and measurements:

FINISH 0.9,1.021231 MI_HOME 3.2/436550/422457

SM_CCo 7862,84.75,0.356,1,0,799,500.16 _24V_AH 23.94,54.318

SM_GC 1.78,8.68,2.72,84.75,0.033,0.026,0.356,146,2677,799,-8.61,-1.41,500.16,0,0,0,0,1,0,25.52,25.53,24.43 _10V_AH 10.00,20.789

IRIDIUM_FIX 2722.64,-8719.43,200508,185136 FG_AHR_24Vo 0.000

TT8_MAMPS 0.098119,0.098119 FG_AHR_10Vo 0.000

HUMID 39.56 MEM 296100

INTERNAL_PRESSURE 9.1553 DATA_FILE_SIZE 20064,614

TCM_TEMP 24.40 CAP_FILE_SIZE 92575,0

MI_MIVER 0.4 CFSIZE 260034560,254304256

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 0,6848.77,0x236bc6,7,5

MI_LOG 3.5/516052/497957 GPS 250715,074243,2757.544,-8726.230,33,1.1,43,-2.0

MI_ROOT 70.6/190403/56003

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 233 118.84 SBE_CT 409 23 227.68

Roll_motor 69 39 64.77 nil 0 0 0.00

VBD_pump_during_apogee 425 792 8072.71 nil 0 0 0.00

VBD_pump_during_surface 84 355 721.74 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 61 46.43 nil 0 0 0.00

Iridium_during_connect 35 160 135.58 MIB 8434 42 8657.41

Iridium_during_xfer 141 223 756.87 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 8434 37 7566.19

GPS 17 31 5.52

TT8 0 0 0.00

LPSleep 5752 0 22.44

TT8_Active 600 13 79.35

TT8_Sampling 1846 40 755.55

TT8_CF8 88 48 42.87

TT8_Kalman 0 0 0.00

Analog_circuits 1263 16 202.09

GPS_charging 0 0 0.00

Compass 1197 15 188.31

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 -1.21 -170.3 150 2683 885 702 0.0 0.0 0 81 0.00 0.00 -64.30 0.000 16386 0.000 0.000 149 2683 2888 2869 2908 0 0 0 0 0 0 28.83 28.83 28.83

83 -1.21 -170.3 149 2684 2872 2908 5.5 -12.3 10 108 9.93 2.05 -9.75 0.000 18948 0.233 0.033 2534 1262 3536 3563 3510 0 0 0 0 0 0 24.91 25.59 25.70

242 -1.21 -170.3 2535 1262 3566 3511 62.1 -27.4 36 250 0.00 2.20 0.00 0.000 1030 0.000 0.030 2527 2676 3538 3566 3510 0 0 0 0 0 0 28.83 25.60 28.83

367 -1.21 -170.3 2526 2678 3570 3510 93.5 -23.3 49 368 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2677 3539 3568 3510 0 0 0 0 0 0 28.83 28.83 28.83

487 -1.21 -170.3 2526 2677 3572 3511 119.7 -21.7 58 488 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2677 3540 3570 3510 0 0 0 0 0 0 28.83 28.83 28.83

787 -1.21 -170.3 2526 2678 3576 3510 179.1 -19.5 78 791 0.00 2.08 0.00 0.000 516 0.000 0.022 2526 1274 3543 3574 3513 0 0 0 0 0 0 28.83 25.73 28.83

882 -1.21 -170.3 2526 1274 3576 3511 195.8 -18.5 84 886 0.00 2.20 0.00 0.000 1030 0.000 0.030 2517 2684 3542 3574 3510 0 0 0 0 0 0 28.83 25.41 28.83

1192 -1.21 -170.3 2516 2685 3576 3510 255.7 -18.6 105 1196 0.00 2.10 0.00 0.000 516 0.000 0.024 2517 1278 3540 3575 3506 0 0 0 0 0 0 28.83 25.78 28.83

1257 -1.21 -170.3 2518 1279 3574 3510 266.9 -18.7 109 1262 0.10 2.15 0.00 0.000 3078 0.153 0.031 2538 2672 3542 3574 3510 0 0 0 0 0 0 25.33 25.77 28.83

1568 -1.21 -170.3 2539 2673 3574 3510 321.3 -16.8 130 1569 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2672 3541 3574 3509 0 0 0 0 0 0 28.83 28.83 28.83

1868 -1.21 -170.3 2539 2673 3574 3507 372.8 -17.0 150 1871 0.00 2.10 0.00 0.000 516 0.000 0.024 2538 1267 3540 3574 3507 0 0 0 0 0 0 28.83 25.85 28.83

1932 -1.21 -170.3 2539 1267 3574 3507 382.5 -16.2 154 1936 0.00 2.20 0.00 0.000 1030 0.000 0.032 2531 2684 3540 3574 3506 0 0 0 0 0 0 28.83 25.81 28.83

2242 -1.21 -170.3 2531 2685 3575 3504 435.4 -16.9 175 2246 0.00 2.12 0.00 0.000 516 0.000 0.025 2531 1278 3538 3574 3502 0 0 0 0 0 0 28.83 25.83 28.83

2282 -1.21 -170.3 2532 1278 3572 3503 440.3 -16.7 177 2290 0.00 2.17 0.00 0.000 1030 0.000 0.031 2523 2678 3537 3573 3502 0 0 0 0 0 0 28.83 25.79 28.83

2587 -1.21 -170.3 2522 2679 3572 3500 495.1 -17.6 198 2591 0.00 2.10 0.00 0.000 516 0.000 0.025 2522 1281 3534 3570 3499 0 0 0 0 0 0 28.83 25.82 28.83

2627 -1.21 -170.3 2523 1282 3571 3500 500.3 -17.5 200 2635 0.00 2.17 0.00 0.000 1030 0.000 0.032 2514 2678 3534 3569 3499 0 0 0 0 0 0 28.83 25.78 28.83

2933 -1.21 -170.3 2513 2679 3568 3498 557.1 -17.9 221 2936 0.00 2.10 0.00 0.000 516 0.000 0.025 2514 1284 3532 3567 3497 0 0 0 0 0 0 28.83 25.80 28.83

2997 -1.21 -170.3 2513 1284 3568 3497 567.5 -17.4 225 3002 0.10 2.17 0.00 0.000 3078 0.150 0.034 2535 2673 3531 3566 3496 0 0 0 0 0 0 25.22 25.75 28.83

3201 end dive: TARGET_DEPTH_EXCEEDED

state 3201 begin apogee

3205 -0.24 0.0 2536 2312 3565 3494 601.9 -16.1 239 3342 1.00 0.00 134.02 0.793 10246 0.116 0.000 2853 2312 2838 2936 2741 0 0 0 0 0 0 25.33 28.83 24.03

3343 end apogee: CONTROL_FINISHED_OK

state 3343 begin climb

3344 1.21 170.3 2853 2312 2937 2741 606.8 0.0 248 3491 1.30 2.17 136.20 0.783 10756 0.062 0.028 3327 904 2142 2226 2059 0 0 0 0 0 0 24.87 24.77 23.94

3671 1.21 170.3 3327 905 2222 2055 576.2 14.1 270 3674 0.00 2.17 0.00 0.000 1030 0.000 0.029 3327 2304 2136 2219 2054 0 0 0 0 0 0 28.83 25.54 28.83

3985 1.21 170.3 3327 2305 2217 2052 531.3 13.9 291 3989 0.00 2.12 0.00 0.000 516 0.000 0.031 3336 917 2134 2216 2052 0 0 0 0 0 0 28.83 25.67 28.83

4065 1.21 170.3 3336 917 2216 2052 520.8 14.1 296 4069 0.00 2.15 0.00 0.000 1030 0.000 0.028 3337 2316 2132 2214 2051 0 0 0 0 0 0 28.83 25.67 28.83

4375 1.21 170.3 3336 2317 2213 2050 475.0 14.8 317 4376 0.00 0.00 0.00 0.000 6 0.000 0.000 3336 2316 2130 2212 2049 0 0 0 0 0 0 28.83 28.83 28.83

4675 1.21 170.3 3336 2317 2211 2049 430.3 15.2 337 4679 0.00 2.15 0.00 0.000 516 0.000 0.031 3346 913 2129 2210 2048 0 0 0 0 0 0 28.83 25.72 28.83

4770 1.21 170.3 3347 919 2209 2048 417.0 14.8 343 4774 0.00 2.12 0.00 0.000 1030 0.000 0.028 3346 2293 2128 2208 2048 0 0 0 0 0 0 28.83 25.70 28.83

5080 1.21 170.3 3346 2294 2209 2047 369.5 15.0 364 5084 0.00 2.12 0.00 0.000 516 0.000 0.031 3355 905 2127 2207 2047 0 0 0 0 0 0 28.83 25.73 28.83

5200 1.21 170.3 3356 905 2206 2047 351.6 15.1 372 5205 0.10 2.15 0.00 0.000 5126 0.140 0.028 3325 2306 2126 2206 2046 0 0 0 0 0 0 25.22 25.72 28.83

5516 1.21 170.3 3325 2306 2205 2046 307.3 14.6 393 5519 0.00 2.12 0.00 0.000 260 0.000 0.039 3325 3697 2125 2205 2045 0 0 0 0 0 0 28.83 25.67 28.83

5545 1.21 170.3 3325 3698 2201 2046 302.5 15.4 395 5549 0.00 2.10 0.00 0.000 1030 0.000 0.024 3334 2297 2124 2204 2045 0 0 0 0 0 0 28.83 25.79 28.83

5860 1.21 170.3 3335 2296 2205 2045 255.7 15.2 416 5861 0.00 0.00 0.00 0.000 6 0.000 0.000 3334 2295 2123 2203 2044 0 0 0 0 0 0 28.83 28.83 28.83

6160 1.21 170.3 3335 2295 2202 2044 210.7 14.4 436 6164 0.00 2.08 0.00 0.000 516 0.000 0.030 3343 912 2122 2201 2043 0 0 0 0 0 0 28.83 25.72 28.83

6215 1.21 170.3 3344 913 2201 2044 204.0 15.0 439 6223 0.00 2.12 0.00 0.000 1030 0.000 0.027 3343 2302 2122 2202 2043 0 0 0 0 0 0 28.83 25.70 28.83

6520 1.21 170.3 3344 2302 2201 2044 157.1 14.9 460 6524 0.00 2.12 0.00 0.000 516 0.000 0.030 3353 915 2122 2201 2043 0 0 0 0 0 0 28.83 25.70 28.83

6950 1.23 192.8 3352 915 2202 2043 102.8 12.1 488 6973 0.00 2.12 15.55 0.436 9222 0.000 0.025 3352 2311 2048 2130 1966 0 0 0 0 0 0 28.83 25.67 24.93

7270 1.31 256.4 3352 2312 2127 1970 65.9 9.9 520 7323 0.00 0.00 48.85 0.438 8198 0.000 0.000 3352 2311 1792 1872 1712 0 0 0 0 0 0 28.83 28.83 24.79

7440 1.39 323.9 3352 2311 1867 1710 48.9 9.7 538 7503 0.00 2.17 53.40 0.422 8452 0.000 0.036 3352 3690 1515 1603 1428 0 0 0 0 0 0 28.83 25.26 24.58

7617 1.40 328.9 3351 3691 1597 1428 27.4 13.1 571 7625 0.00 2.10 4.93 0.316 9222 0.000 0.021 3352 2294 1497 1583 1412 0 0 0 0 0 0 28.83 25.51 24.59

7685 1.43 354.6 3353 2294 1579 1410 19.6 11.9 584 7728 0.08 0.00 32.53 0.312 10246 0.123 0.000 3381 2289 1391 1479 1303 0 0 0 0 1 0 25.15 28.83 24.63

7788 1.43 354.6 3382 2289 1477 1302 6.5 15.2 603 7795 0.00 2.08 0.00 0.000 516 0.000 0.028 3390 918 1390 1478 1302 0 0 0 0 0 0 28.83 25.48 28.83

7818 end climb: SURFACE_DEPTH_REACHED

state 7818 begin surface coast

7843 end surface coast: CONTROL_FINISHED_OK

state 7843 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	48	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	600	TGT_DEFAULT_LON	-87.467003	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	83	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	150	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE5	-1
T_MISSION	160	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	175	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	250715,052117,2757.064,-8726.250,3,1.2,13,-2.0	SPEED_LIMITS	0.231,0.246
_CALLS	1	TGT_NAME	T2
_XMS_NAKs	0	TGT_LATLONG	2804.720,-8731.100
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.29	MHEAD_RNG_PITCHd_Wd	332.3,16507,-20.9,-13.333,-28.42,1905
_SM_ANGLEo	-65.9	D_GRID	600
GPS2	250715,052901,2756.975,-8726.101,6,1.1,16,-2.0

FINISH	0.9,1.021231	MI_HOME	3.2/436550/422457
SM_CCo	7862,84.75,0.356,1,0,799,500.16	_24V_AH	23.94,54.318
SM_GC	1.78,8.68,2.72,84.75,0.033,0.026,0.356,146,2677,799,-8.61,-1.41,500.16,0,0,0,0,1,0,25.52,25.53,24.43	_10V_AH	10.00,20.789
IRIDIUM_FIX	2722.64,-8719.43,200508,185136	FG_AHR_24Vo	0.000
TT8_MAMPS	0.098119,0.098119	FG_AHR_10Vo	0.000
HUMID	39.56	MEM	296100
INTERNAL_PRESSURE	9.1553	DATA_FILE_SIZE	20064,614
TCM_TEMP	24.40	CAP_FILE_SIZE	92575,0
MI_MIVER	0.4	CFSIZE	260034560,254304256
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	0,6848.77,0x236bc6,7,5
MI_LOG	3.5/516052/497957	GPS	250715,074243,2757.544,-8726.230,33,1.1,43,-2.0
MI_ROOT	70.6/190403/56003

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	233	118.84	SBE_CT	409	23	227.68
Roll_motor	69	39	64.77	nil	0	0	0.00
VBD_pump_during_apogee	425	792	8072.71	nil	0	0	0.00
VBD_pump_during_surface	84	355	721.74	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	61	46.43	nil	0	0	0.00
Iridium_during_connect	35	160	135.58	MIB	8434	42	8657.41
Iridium_during_xfer	141	223	756.87	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	8434	37	7566.19
GPS	17	31	5.52
TT8	0	0	0.00
LPSleep	5752	0	22.44
TT8_Active	600	13	79.35
TT8_Sampling	1846	40	755.55
TT8_CF8	88	48	42.87
TT8_Kalman	0	0	0.00
Analog_circuits	1263	16	202.09
GPS_charging	0	0	0.00
Compass	1197	15	188.31
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	-1.21	-170.3	150	2683	885	702	0.0	0.0	0	81	0.00	0.00	-64.30	0.000	16386	0.000	0.000	149	2683	2888	2869	2908	0	0	0	0	0	0	28.83	28.83	28.83
83	-1.21	-170.3	149	2684	2872	2908	5.5	-12.3	10	108	9.93	2.05	-9.75	0.000	18948	0.233	0.033	2534	1262	3536	3563	3510	0	0	0	0	0	0	24.91	25.59	25.70
242	-1.21	-170.3	2535	1262	3566	3511	62.1	-27.4	36	250	0.00	2.20	0.00	0.000	1030	0.000	0.030	2527	2676	3538	3566	3510	0	0	0	0	0	0	28.83	25.60	28.83
367	-1.21	-170.3	2526	2678	3570	3510	93.5	-23.3	49	368	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2677	3539	3568	3510	0	0	0	0	0	0	28.83	28.83	28.83
487	-1.21	-170.3	2526	2677	3572	3511	119.7	-21.7	58	488	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2677	3540	3570	3510	0	0	0	0	0	0	28.83	28.83	28.83
787	-1.21	-170.3	2526	2678	3576	3510	179.1	-19.5	78	791	0.00	2.08	0.00	0.000	516	0.000	0.022	2526	1274	3543	3574	3513	0	0	0	0	0	0	28.83	25.73	28.83
882	-1.21	-170.3	2526	1274	3576	3511	195.8	-18.5	84	886	0.00	2.20	0.00	0.000	1030	0.000	0.030	2517	2684	3542	3574	3510	0	0	0	0	0	0	28.83	25.41	28.83
1192	-1.21	-170.3	2516	2685	3576	3510	255.7	-18.6	105	1196	0.00	2.10	0.00	0.000	516	0.000	0.024	2517	1278	3540	3575	3506	0	0	0	0	0	0	28.83	25.78	28.83
1257	-1.21	-170.3	2518	1279	3574	3510	266.9	-18.7	109	1262	0.10	2.15	0.00	0.000	3078	0.153	0.031	2538	2672	3542	3574	3510	0	0	0	0	0	0	25.33	25.77	28.83
1568	-1.21	-170.3	2539	2673	3574	3510	321.3	-16.8	130	1569	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2672	3541	3574	3509	0	0	0	0	0	0	28.83	28.83	28.83
1868	-1.21	-170.3	2539	2673	3574	3507	372.8	-17.0	150	1871	0.00	2.10	0.00	0.000	516	0.000	0.024	2538	1267	3540	3574	3507	0	0	0	0	0	0	28.83	25.85	28.83
1932	-1.21	-170.3	2539	1267	3574	3507	382.5	-16.2	154	1936	0.00	2.20	0.00	0.000	1030	0.000	0.032	2531	2684	3540	3574	3506	0	0	0	0	0	0	28.83	25.81	28.83
2242	-1.21	-170.3	2531	2685	3575	3504	435.4	-16.9	175	2246	0.00	2.12	0.00	0.000	516	0.000	0.025	2531	1278	3538	3574	3502	0	0	0	0	0	0	28.83	25.83	28.83
2282	-1.21	-170.3	2532	1278	3572	3503	440.3	-16.7	177	2290	0.00	2.17	0.00	0.000	1030	0.000	0.031	2523	2678	3537	3573	3502	0	0	0	0	0	0	28.83	25.79	28.83
2587	-1.21	-170.3	2522	2679	3572	3500	495.1	-17.6	198	2591	0.00	2.10	0.00	0.000	516	0.000	0.025	2522	1281	3534	3570	3499	0	0	0	0	0	0	28.83	25.82	28.83
2627	-1.21	-170.3	2523	1282	3571	3500	500.3	-17.5	200	2635	0.00	2.17	0.00	0.000	1030	0.000	0.032	2514	2678	3534	3569	3499	0	0	0	0	0	0	28.83	25.78	28.83
2933	-1.21	-170.3	2513	2679	3568	3498	557.1	-17.9	221	2936	0.00	2.10	0.00	0.000	516	0.000	0.025	2514	1284	3532	3567	3497	0	0	0	0	0	0	28.83	25.80	28.83
2997	-1.21	-170.3	2513	1284	3568	3497	567.5	-17.4	225	3002	0.10	2.17	0.00	0.000	3078	0.150	0.034	2535	2673	3531	3566	3496	0	0	0	0	0	0	25.22	25.75	28.83
3201	end dive: TARGET_DEPTH_EXCEEDED
state	3201	begin apogee
3205	-0.24	0.0	2536	2312	3565	3494	601.9	-16.1	239	3342	1.00	0.00	134.02	0.793	10246	0.116	0.000	2853	2312	2838	2936	2741	0	0	0	0	0	0	25.33	28.83	24.03
3343	end apogee: CONTROL_FINISHED_OK
state	3343	begin climb
3344	1.21	170.3	2853	2312	2937	2741	606.8	0.0	248	3491	1.30	2.17	136.20	0.783	10756	0.062	0.028	3327	904	2142	2226	2059	0	0	0	0	0	0	24.87	24.77	23.94
3671	1.21	170.3	3327	905	2222	2055	576.2	14.1	270	3674	0.00	2.17	0.00	0.000	1030	0.000	0.029	3327	2304	2136	2219	2054	0	0	0	0	0	0	28.83	25.54	28.83
3985	1.21	170.3	3327	2305	2217	2052	531.3	13.9	291	3989	0.00	2.12	0.00	0.000	516	0.000	0.031	3336	917	2134	2216	2052	0	0	0	0	0	0	28.83	25.67	28.83
4065	1.21	170.3	3336	917	2216	2052	520.8	14.1	296	4069	0.00	2.15	0.00	0.000	1030	0.000	0.028	3337	2316	2132	2214	2051	0	0	0	0	0	0	28.83	25.67	28.83
4375	1.21	170.3	3336	2317	2213	2050	475.0	14.8	317	4376	0.00	0.00	0.00	0.000	6	0.000	0.000	3336	2316	2130	2212	2049	0	0	0	0	0	0	28.83	28.83	28.83
4675	1.21	170.3	3336	2317	2211	2049	430.3	15.2	337	4679	0.00	2.15	0.00	0.000	516	0.000	0.031	3346	913	2129	2210	2048	0	0	0	0	0	0	28.83	25.72	28.83
4770	1.21	170.3	3347	919	2209	2048	417.0	14.8	343	4774	0.00	2.12	0.00	0.000	1030	0.000	0.028	3346	2293	2128	2208	2048	0	0	0	0	0	0	28.83	25.70	28.83
5080	1.21	170.3	3346	2294	2209	2047	369.5	15.0	364	5084	0.00	2.12	0.00	0.000	516	0.000	0.031	3355	905	2127	2207	2047	0	0	0	0	0	0	28.83	25.73	28.83
5200	1.21	170.3	3356	905	2206	2047	351.6	15.1	372	5205	0.10	2.15	0.00	0.000	5126	0.140	0.028	3325	2306	2126	2206	2046	0	0	0	0	0	0	25.22	25.72	28.83
5516	1.21	170.3	3325	2306	2205	2046	307.3	14.6	393	5519	0.00	2.12	0.00	0.000	260	0.000	0.039	3325	3697	2125	2205	2045	0	0	0	0	0	0	28.83	25.67	28.83
5545	1.21	170.3	3325	3698	2201	2046	302.5	15.4	395	5549	0.00	2.10	0.00	0.000	1030	0.000	0.024	3334	2297	2124	2204	2045	0	0	0	0	0	0	28.83	25.79	28.83
5860	1.21	170.3	3335	2296	2205	2045	255.7	15.2	416	5861	0.00	0.00	0.00	0.000	6	0.000	0.000	3334	2295	2123	2203	2044	0	0	0	0	0	0	28.83	28.83	28.83
6160	1.21	170.3	3335	2295	2202	2044	210.7	14.4	436	6164	0.00	2.08	0.00	0.000	516	0.000	0.030	3343	912	2122	2201	2043	0	0	0	0	0	0	28.83	25.72	28.83
6215	1.21	170.3	3344	913	2201	2044	204.0	15.0	439	6223	0.00	2.12	0.00	0.000	1030	0.000	0.027	3343	2302	2122	2202	2043	0	0	0	0	0	0	28.83	25.70	28.83
6520	1.21	170.3	3344	2302	2201	2044	157.1	14.9	460	6524	0.00	2.12	0.00	0.000	516	0.000	0.030	3353	915	2122	2201	2043	0	0	0	0	0	0	28.83	25.70	28.83
6950	1.23	192.8	3352	915	2202	2043	102.8	12.1	488	6973	0.00	2.12	15.55	0.436	9222	0.000	0.025	3352	2311	2048	2130	1966	0	0	0	0	0	0	28.83	25.67	24.93
7270	1.31	256.4	3352	2312	2127	1970	65.9	9.9	520	7323	0.00	0.00	48.85	0.438	8198	0.000	0.000	3352	2311	1792	1872	1712	0	0	0	0	0	0	28.83	28.83	24.79
7440	1.39	323.9	3352	2311	1867	1710	48.9	9.7	538	7503	0.00	2.17	53.40	0.422	8452	0.000	0.036	3352	3690	1515	1603	1428	0	0	0	0	0	0	28.83	25.26	24.58
7617	1.40	328.9	3351	3691	1597	1428	27.4	13.1	571	7625	0.00	2.10	4.93	0.316	9222	0.000	0.021	3352	2294	1497	1583	1412	0	0	0	0	0	0	28.83	25.51	24.59
7685	1.43	354.6	3353	2294	1579	1410	19.6	11.9	584	7728	0.08	0.00	32.53	0.312	10246	0.123	0.000	3381	2289	1391	1479	1303	0	0	0	0	1	0	25.15	28.83	24.63
7788	1.43	354.6	3382	2289	1477	1302	6.5	15.2	603	7795	0.00	2.08	0.00	0.000	516	0.000	0.028	3390	918	1390	1478	1302	0	0	0	0	0	0	28.83	25.48	28.83
7818	end climb: SURFACE_DEPTH_REACHED
state	7818	begin surface coast
7843	end surface coast: CONTROL_FINISHED_OK
state	7843	begin surface