Glider dive log

Shilshole 12Jun12 * SG117 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 117 HD_C 9.8500004e-06 ROLL_MIN 235 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 34 HEADING -1 ROLL_MAX 3826 ALTIM_PING_DEPTH 0

DIVE 5 ESCAPE_HEADING 180 ROLL_DEG 25 ALTIM_PING_DELTA 0

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2425 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2700 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 24.3333 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_TGT 90 TGT_DEFAULT_LON -82.333298 ROLL_CNV 0.028270001 XPDR_VALID 4

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 40 SM_CC 345 R_PORT_OVSHOOT 33 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 17 INT_PRESSURE_YINT 2.3

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 746 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_MAX 3936 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 2236 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 25 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 35 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 15 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 -120634.73 CF8_MAXERRORS 20 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 155 FG_AHR_24V 0 SEABIRD_T_G 0.0043948698

MAX_BUOY 150 PITCH_MAX 3916 PHONE_SUPPLY 2 SEABIRD_T_H 0.00065035583

COURSE_BIAS 0 C_PITCH 2410 PRESSURE_YINT -7.0084891 SEABIRD_T_I 2.6514934e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158926 SEABIRD_T_J 2.8649386e-06

SPEED_FACTOR 0.80000001 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -9.9217796

RHO 1.023 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.113543

MASS 51563 PITCH_GAIN 29 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0018813133

NAV_MODE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_J 0.00019560773

FERRY_MAX 0 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 2.8649386e-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 345

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 90 PHONE_SUPPLY 2 SPEED_FACTOR 0.80000001

ALTIM_FREQUENCY 13 ESCAPE_HEADING 180 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 0 PITCH_AD_RATE 165 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_CNV 0.003125763 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 29 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3916 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 155 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 9.8500004e-06 PRESSURE_SLOPE 0.0001158926 T_DIVE 25

CAPMAXSIZE 100000 HEADING -1 PRESSURE_YINT -7.0084891 T_EPIRB 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PROTOCOL 73 T_GPS 15

CF8_MAXERRORS 20 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 -120634.73

COMPASS2_DEVICE -1 ID 117 RAFOS_DEVICE -1 T_LOITER 0

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_MISSION 35

COMPASS_USE 0 INT_PRESSURE_YINT 2.3 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_RSLEEP 3

C_PITCH 2410 LOGGERDEVICE1 83 RHO 1.023 T_TURN 225

C_ROLL_CLIMB 2700 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 2425 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_VBD 2236 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 50

DEEPGLIDER 0 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 51563 ROLL_DEG 25 USE_BATHY -6

DEVICE1 2 MAX_BUOY 150 ROLL_MAX 3826 USE_ICE 0

DEVICE2 -1 MINV_10V 8 ROLL_MAXERRORS 2 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 19 ROLL_MIN 235 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 34 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 MI_NOTIFYMOTORS 0.0 R_PORT_OVSHOOT 33 VBD_MAX 3936

DEVICE6 -1 MI_OFFLOAD 1.0 R_STBD_OVSHOOT 17 VBD_MAXERRORS 1

DIVE 5 MI_POWERSOURCE 0.0 SEABIRD_C_G -9.9217796 VBD_MIN 746

D_ABORT 1090 MI_RESTARTMONITOR 0.0 SEABIRD_C_H 1.113543 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 5 MOTHERBOARD 4 SEABIRD_C_I -0.0018813133 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 NAV_MODE 1 SEABIRD_C_J 0.00019560773 VBD_TIMEOUT 720

D_FINISH 0 NOCOMM_ACTION 0 SEABIRD_T_G 0.0043948698 XPDR_DEVICE -1

D_FLARE 3 N_DIVES 0 SEABIRD_T_H 0.00065035583 XPDR_INHIBIT 90

D_NO_BLEED 40 N_FILEKB 4 SEABIRD_T_I 2.6514934e-05 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 120612,210024,4742.361,-12225.287,11,1.5,21,18.2 TGT_NAME WEST

_CALLS 1 TGT_LATLONG 4743.700,-12225.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.062,0.269

_SM_DEPTHo 1.16 KALMAN_X -358.5,-227.0,-186.3,418.5,-31.4

_SM_ANGLEo -74.1 KALMAN_Y -875.4,-629.1,-459.8,1299.8,3.7

GPS2 120612,210530,4742.394,-12225.255,16,1.5,26,18.2 MHEAD_RNG_PITCHd_Wd 354.9,2440,-21.2,-12.000

SPEED_LIMITS 0.166,0.221 D_GRID 176

Post-dive calculations and measurements:

FINISH 1.8,1.019287 MI_ROOT 70.5/190403/56249

SM_CCo 1592,67.07,0.151,0,0,825,345.14 MI_HOME 2.8/436550/424525

SM_GC 1.16,7.20,0.45,67.07,0.073,0.051,0.151,144,2423,825,-7.02,1.02,345.14,0,0,0,0,0,0,26.20,26.20,25.91 _24V_AH 24.7,0.610

IRIDIUM_FIX 4751.72,-12056.72,120612,202046 _10V_AH 10.4,0.486

TT8_MAMPS 0.094374,0.094374 FG_AHR_24Vo 0.000

HUMID 47.91 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 8.78462 MEM 323716

TCM_TEMP 20.30 DATA_FILE_SIZE 10118,291

MI_MIVER 0.3 CAP_FILE_SIZE 69785,0

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 CFSIZE 260034560,245178368

MI_BOOTCOUNT 31 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0

MI_LOG 3.4/516052/498444 GPS 120612,213436,4742.611,-12225.219,17,1.5,27,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 247 103.60 SBE_CT 200 24 119.08

Roll_motor 19 72 34.42 nil 0 0 0.00

VBD_pump_during_apogee 256 552 3505.45 nil 0 0 0.00

VBD_pump_during_surface 67 150 249.68 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 1728 42 1805.07

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 1728 8 379.79

GPS 27 50 14.21

TT8 0 0 0.00

LPSleep 624 0 2.53

TT8_Active 381 18 71.45

TT8_Sampling 680 38 269.00

TT8_CF8 30 44 14.03

TT8_Kalman 33 80 27.63

Analog_circuits 660 12 82.47

GPS_charging 0 0 0.00

Compass 423 15 66.04

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 -0.79 -146.6 0.0 0.0 0 76 0.00 0.00 -58.30 0.000 2 0.000 0.000 144 2414 2633 0 0 0 0 0 0 28.83 28.83 28.83

78 -0.79 -146.6 4.0 -9.3 9 98 8.12 1.45 -3.65 0.000 4 0.247 0.073 2150 1552 2836 0 0 0 0 0 0 26.00 26.27 26.44

323 -0.79 -146.6 45.4 -16.2 57 330 0.00 1.52 0.00 0.000 6 0.000 0.056 2145 2428 2836 0 0 0 0 0 0 28.83 26.35 28.83

450 -0.79 -146.6 65.3 -15.4 82 457 0.00 1.48 0.00 0.000 4 0.000 0.047 2145 1553 2836 0 0 0 0 0 0 28.83 26.41 28.83

551 -0.79 -146.6 80.6 -14.9 102 559 0.00 1.50 0.00 0.000 6 0.000 0.055 2139 2424 2836 0 0 0 0 0 0 28.83 26.41 28.83

621 end dive: TARGET_DEPTH_EXCEEDED

state 622 begin apogee

625 -0.17 0.0 90.8 -14.3 116 754 0.70 0.00 119.38 0.552 6 0.148 0.000 2349 2710 2229 0 0 0 0 0 0 26.29 28.83 24.92

754 end apogee: CONTROL_FINISHED_OK

state 754 begin climb

756 0.79 146.6 95.7 0.0 136 885 0.95 1.60 120.93 0.520 4 0.096 0.049 2668 1822 1630 0 0 1 0 0 0 25.43 25.22 24.74

949 0.79 146.6 78.1 12.9 169 957 0.00 1.58 0.00 0.000 6 0.000 0.057 2668 2692 1621 0 0 0 0 0 0 28.83 25.63 28.83

1076 0.79 146.6 61.9 13.0 194 1082 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2693 1618 0 0 0 0 0 0 28.83 28.83 28.83

1202 0.79 157.7 46.8 11.4 219 1210 0.00 1.50 2.70 0.409 4 0.000 0.048 2674 1825 1595 0 0 1 0 0 0 28.83 26.09 25.26

1219 0.79 157.7 44.5 12.7 222 1227 0.00 1.55 0.00 0.000 6 0.000 0.057 2674 2696 1600 0 0 0 0 0 0 28.83 26.08 28.83

1346 0.79 157.7 28.4 12.8 247 1354 0.00 1.45 1.50 0.207 4 0.000 0.046 2680 1821 1593 0 0 0 0 0 0 28.83 26.20 26.02

1378 0.80 166.7 24.6 11.5 253 1399 0.00 1.55 12.45 0.513 6 0.000 0.058 2680 2701 1547 0 0 0 0 0 0 28.83 26.20 24.86

1458 0.80 166.7 14.7 12.8 268 1466 0.00 1.55 0.00 0.000 4 0.000 0.067 2680 3582 1541 0 0 0 0 0 0 28.83 26.06 28.83

1535 0.80 166.7 4.5 12.4 283 1542 0.00 1.50 0.00 0.000 6 0.000 0.044 2687 2694 1540 0 0 0 0 0 0 28.83 26.20 28.83

1550 end climb: SURFACE_DEPTH_REACHED

state 1550 begin surface coast

1576 end surface coast: CONTROL_FINISHED_OK

state 1576 begin surface

ID	117	HD_C	9.8500004e-06	ROLL_MIN	235	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	34	HEADING	-1	ROLL_MAX	3826	ALTIM_PING_DEPTH	0
DIVE	5	ESCAPE_HEADING	180	ROLL_DEG	25	ALTIM_PING_DELTA	0
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2425	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2700	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	24.3333	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_TGT	90	TGT_DEFAULT_LON	-82.333298	ROLL_CNV	0.028270001	XPDR_VALID	4
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	40	SM_CC	345	R_PORT_OVSHOOT	33	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	17	INT_PRESSURE_YINT	2.3
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	746	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_MAX	3936	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	2236	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	25	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	35	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	15	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	-120634.73	CF8_MAXERRORS	20	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	155	FG_AHR_24V	0	SEABIRD_T_G	0.0043948698
MAX_BUOY	150	PITCH_MAX	3916	PHONE_SUPPLY	2	SEABIRD_T_H	0.00065035583
COURSE_BIAS	0	C_PITCH	2410	PRESSURE_YINT	-7.0084891	SEABIRD_T_I	2.6514934e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158926	SEABIRD_T_J	2.8649386e-06
SPEED_FACTOR	0.80000001	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9217796
RHO	1.023	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.113543
MASS	51563	PITCH_GAIN	29	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0018813133
NAV_MODE	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_J	0.00019560773
FERRY_MAX	0	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	120612,210024,4742.361,-12225.287,11,1.5,21,18.2	TGT_NAME	WEST
_CALLS	1	TGT_LATLONG	4743.700,-12225.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.062,0.269
_SM_DEPTHo	1.16	KALMAN_X	-358.5,-227.0,-186.3,418.5,-31.4
_SM_ANGLEo	-74.1	KALMAN_Y	-875.4,-629.1,-459.8,1299.8,3.7
GPS2	120612,210530,4742.394,-12225.255,16,1.5,26,18.2	MHEAD_RNG_PITCHd_Wd	354.9,2440,-21.2,-12.000
SPEED_LIMITS	0.166,0.221	D_GRID	176

FINISH	1.8,1.019287	MI_ROOT	70.5/190403/56249
SM_CCo	1592,67.07,0.151,0,0,825,345.14	MI_HOME	2.8/436550/424525
SM_GC	1.16,7.20,0.45,67.07,0.073,0.051,0.151,144,2423,825,-7.02,1.02,345.14,0,0,0,0,0,0,26.20,26.20,25.91	_24V_AH	24.7,0.610
IRIDIUM_FIX	4751.72,-12056.72,120612,202046	_10V_AH	10.4,0.486
TT8_MAMPS	0.094374,0.094374	FG_AHR_24Vo	0.000
HUMID	47.91	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	8.78462	MEM	323716
TCM_TEMP	20.30	DATA_FILE_SIZE	10118,291
MI_MIVER	0.3	CAP_FILE_SIZE	69785,0
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	CFSIZE	260034560,245178368
MI_BOOTCOUNT	31	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
MI_LOG	3.4/516052/498444	GPS	120612,213436,4742.611,-12225.219,17,1.5,27,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	247	103.60	SBE_CT	200	24	119.08
Roll_motor	19	72	34.42	nil	0	0	0.00
VBD_pump_during_apogee	256	552	3505.45	nil	0	0	0.00
VBD_pump_during_surface	67	150	249.68	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	1728	42	1805.07
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	1728	8	379.79
GPS	27	50	14.21
TT8	0	0	0.00
LPSleep	624	0	2.53
TT8_Active	381	18	71.45
TT8_Sampling	680	38	269.00
TT8_CF8	30	44	14.03
TT8_Kalman	33	80	27.63
Analog_circuits	660	12	82.47
GPS_charging	0	0	0.00
Compass	423	15	66.04
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	-0.79	-146.6	0.0	0.0	0	76	0.00	0.00	-58.30	0.000	2	0.000	0.000	144	2414	2633	0	0	0	0	0	0	28.83	28.83	28.83
78	-0.79	-146.6	4.0	-9.3	9	98	8.12	1.45	-3.65	0.000	4	0.247	0.073	2150	1552	2836	0	0	0	0	0	0	26.00	26.27	26.44
323	-0.79	-146.6	45.4	-16.2	57	330	0.00	1.52	0.00	0.000	6	0.000	0.056	2145	2428	2836	0	0	0	0	0	0	28.83	26.35	28.83
450	-0.79	-146.6	65.3	-15.4	82	457	0.00	1.48	0.00	0.000	4	0.000	0.047	2145	1553	2836	0	0	0	0	0	0	28.83	26.41	28.83
551	-0.79	-146.6	80.6	-14.9	102	559	0.00	1.50	0.00	0.000	6	0.000	0.055	2139	2424	2836	0	0	0	0	0	0	28.83	26.41	28.83
621	end dive: TARGET_DEPTH_EXCEEDED
state	622	begin apogee
625	-0.17	0.0	90.8	-14.3	116	754	0.70	0.00	119.38	0.552	6	0.148	0.000	2349	2710	2229	0	0	0	0	0	0	26.29	28.83	24.92
754	end apogee: CONTROL_FINISHED_OK
state	754	begin climb
756	0.79	146.6	95.7	0.0	136	885	0.95	1.60	120.93	0.520	4	0.096	0.049	2668	1822	1630	0	0	1	0	0	0	25.43	25.22	24.74
949	0.79	146.6	78.1	12.9	169	957	0.00	1.58	0.00	0.000	6	0.000	0.057	2668	2692	1621	0	0	0	0	0	0	28.83	25.63	28.83
1076	0.79	146.6	61.9	13.0	194	1082	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2693	1618	0	0	0	0	0	0	28.83	28.83	28.83
1202	0.79	157.7	46.8	11.4	219	1210	0.00	1.50	2.70	0.409	4	0.000	0.048	2674	1825	1595	0	0	1	0	0	0	28.83	26.09	25.26
1219	0.79	157.7	44.5	12.7	222	1227	0.00	1.55	0.00	0.000	6	0.000	0.057	2674	2696	1600	0	0	0	0	0	0	28.83	26.08	28.83
1346	0.79	157.7	28.4	12.8	247	1354	0.00	1.45	1.50	0.207	4	0.000	0.046	2680	1821	1593	0	0	0	0	0	0	28.83	26.20	26.02
1378	0.80	166.7	24.6	11.5	253	1399	0.00	1.55	12.45	0.513	6	0.000	0.058	2680	2701	1547	0	0	0	0	0	0	28.83	26.20	24.86
1458	0.80	166.7	14.7	12.8	268	1466	0.00	1.55	0.00	0.000	4	0.000	0.067	2680	3582	1541	0	0	0	0	0	0	28.83	26.06	28.83
1535	0.80	166.7	4.5	12.4	283	1542	0.00	1.50	0.00	0.000	6	0.000	0.044	2687	2694	1540	0	0	0	0	0	0	28.83	26.20	28.83
1550	end climb: SURFACE_DEPTH_REACHED
state	1550	begin surface coast
1576	end surface coast: CONTROL_FINISHED_OK
state	1576	begin surface