Glider dive log

Shilshole 15Apr14 * SG161 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 161 HD_C 9.9999997e-06 ROLL_MIN 192 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 4 HEADING 290 ROLL_MAX 3769 ALTIM_PING_DEPTH 80

DIVE 5 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1800 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1800 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 4743.1001 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_TGT 150 TGT_DEFAULT_LON 12223.6 ROLL_CNV 0.028270001 XPDR_VALID 5

D_ABORT 300 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 500 SM_CC 320 R_PORT_OVSHOOT 25 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 39 INT_PRESSURE_YINT -0.63999999

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 300 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 550 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_MAX 3960 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 1921 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 50 CALL_TRIES 5 VBD_CNV -0.245296 DEVICE6 -1

T_MISSION 80 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_ABORT 1440 CAPUPLOAD 1 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 83

T_TURN 540 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 60 COMPASS_DEVICE 33

T_EPIRB 0 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

USE_BATHY -7 T_GPS_CHARGE -2869.0874 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 100 RAFOS_DEVICE -1

D_OFFGRID 100 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 -7 PITCH_MIN 151 FG_AHR_24V 0 SEABIRD_T_G 0.0043775463

MAX_BUOY 180 PITCH_MAX 3948 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063860236

COURSE_BIAS 0 C_PITCH 3052 PRESSURE_YINT -20.543966 SEABIRD_T_I 2.5706517e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011628441 SEABIRD_T_J 2.822896e-06

SPEED_FACTOR 1 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -9.9098063

RHO 1.0233001 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1132913

MASS 51957 PITCH_GAIN 21 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00039731048

NAV_MODE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_J 0.00011278767

FERRY_MAX 45 PITCH_AD_RATE 175 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 0.003 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 20 MI_RESTARTMONITOR 0.0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 MI_NOTIFYMOTORS 0.0

AD7714Ch0Gain 128 D_OFFGRID 100 N_GPS 20 SEABIRD_T_J 2.822896e-06

AH0_10V 100 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 320

ALTIM_BOTTOM_TURN_MARGIN 20 D_TGT 150 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 80 FERRY_MAX 45 PITCH_AD_RATE 175 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 21 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3948 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 4743.1001

APOGEE_PITCH -7 GPS_DEVICE 32 PITCH_MIN 151 TGT_DEFAULT_LON 12223.6

CALL_NDIVES 1 HD_A 0.003 PITCH_TIMEOUT 16 T_ABORT 1440

CALL_TRIES 5 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 0

CALL_WAIT 60 HD_C 9.9999997e-06 PRESSURE_SLOPE 0.00011628441 T_DIVE 50

CAPMAXSIZE 100000 HEADING 290 PRESSURE_YINT -20.543966 T_EPIRB 0

CAPUPLOAD 1 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 -2869.0874

COMPASS2_DEVICE -1 ID 161 RAFOS_DEVICE -1 T_LOITER 0

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_MISSION 80

COMPASS_USE 0 INT_PRESSURE_YINT -0.63999999 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_RSLEEP 3

C_PITCH 3052 LOGGERDEVICE1 83 RHO 1.0233001 T_TURN 540

C_ROLL_CLIMB 1800 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 1800 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_VBD 1921 LOGGERDEVICE4 -1 ROLL_AD_RATE 300 UNCOM_BLEED 60

DEEPGLIDER 0 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 51957 ROLL_DEG 40 USE_BATHY -7

DEVICE1 2 MAX_BUOY 180 ROLL_MAX 3769 USE_ICE 0

DEVICE2 -1 MINV_10V 8 ROLL_MAXERRORS 2 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 19 ROLL_MIN 192 VBD_CNV -0.245296

DEVICE4 -1 MISSION 4 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 MI_NOTIFYMOTORS 0.0 R_PORT_OVSHOOT 25 VBD_MAX 3960

DEVICE6 -1 MI_OFFLOAD 1.0 R_STBD_OVSHOOT 39 VBD_MAXERRORS 1

DIVE 5 MI_POWERSOURCE 0.0 SEABIRD_C_G -9.9098063 VBD_MIN 550

D_ABORT 300 MI_RESTARTMONITOR 0.0 SEABIRD_C_H 1.1132913 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 3 MOTHERBOARD 4 SEABIRD_C_I -0.00039731048 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 NAV_MODE 1 SEABIRD_C_J 0.00011278767 VBD_TIMEOUT 720

D_FINISH 0 NOCOMM_ACTION 0 SEABIRD_T_G 0.0043775463 XPDR_DEVICE -1

D_FLARE 3 N_DIVES 0 SEABIRD_T_H 0.00063860236 XPDR_INHIBIT 90

D_NO_BLEED 500 N_FILEKB 4 SEABIRD_T_I 2.5706517e-05 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 150414,201524,4743.519,-12224.188,3,0.9,37,16.3 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 4747.218,-12239.253

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.263,0.102

_SM_DEPTHo 1.32 KALMAN_X 547.2,254.0,198.4,-795.6,79.4

_SM_ANGLEo -70.4 KALMAN_Y 184.0,164.0,136.5,762.6,-41.8

GPS2 150414,202231,4743.524,-12224.149,4,1.0,39,16.3 MHEAD_RNG_PITCHd_Wd 274.9,20000,-15.8,-10.000

SPEED_LIMITS 0.173,0.282 D_GRID 98

Post-dive calculations and measurements:

FINISH 0.4,1.019957 MI_ROOT 70.5/190403/56092

SM_CCo 1822,25.95,0.323,1,0,616,320.11 MI_HOME 2.5/436550/425654

SM_GC 1.66,9.05,0.00,25.95,0.045,0.000,0.323,148,1808,616,-9.02,0.23,320.11,0,0,0,0,1,0,24.79,28.83,24.96 _24V_AH 24.5,0.815

IRIDIUM_FIX 4751.72,-12340.51,150414,191917 _10V_AH 10.3,0.476

TT8_MAMPS 0.096621,0.096621 FG_AHR_24Vo 0.000

HUMID 37.00 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 8.80372 MEM 198028

TCM_TEMP 20.10 DATA_FILE_SIZE 6830,241

MI_MIVER 0.4 CAP_FILE_SIZE 41098,0

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 CFSIZE 260034560,257622016

MI_BOOTCOUNT 24 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

MI_LOG 3.4/516052/498731 GPS 150414,205510,4743.434,-12224.526,13,1.1,47,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 253 136.58 SBE_CT 159 23 90.90

Roll_motor 31 74 56.45 nil 0 0 0.00

VBD_pump_during_apogee 377 542 5012.73 nil 0 0 0.00

VBD_pump_during_surface 25 322 205.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 61 51.29 nil 0 0 0.00

Iridium_during_connect 67 160 264.65 MIB 2382 42 2498.45

Iridium_during_xfer 123 223 673.65 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 2382 38 2265.29

GPS 40 31 13.28

TT8 0 0 0.00

LPSleep 758 0 3.05

TT8_Active 432 13 58.89

TT8_Sampling 998 40 420.88

TT8_CF8 28 48 14.30

TT8_Kalman 33 65 22.44

Analog_circuits 742 16 122.31

GPS_charging 0 0 0.00

Compass 434 15 70.35

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 -0.97 -175.9 0.0 0.0 0 58 0.00 0.00 -41.28 0.000 2 0.000 0.000 146 1808 1899 0 0 0 0 0 0 28.83 28.83 28.83

59 -0.97 -175.9 3.4 -7.5 6 93 10.73 2.30 -14.40 0.000 4 0.254 0.074 2732 388 2642 0 0 0 0 0 0 25.58 25.79 25.89

217 -0.97 -175.9 36.4 -17.7 36 225 0.00 2.17 0.00 0.000 6 0.000 0.041 2723 1785 2642 0 0 0 0 0 0 28.83 25.87 28.83

284 -0.97 -175.9 48.4 -17.9 49 292 0.00 2.25 0.00 0.000 4 0.000 0.061 2712 3201 2642 0 0 0 0 0 0 28.83 25.89 28.83

316 -0.97 -175.9 53.5 -15.8 53 320 0.00 2.17 0.00 0.000 6 0.000 0.037 2712 1788 2642 0 0 0 0 0 0 28.83 25.94 28.83

446 -0.97 -175.9 74.1 -16.0 66 450 0.00 2.20 0.00 0.000 4 0.000 0.056 2712 396 2642 0 0 0 0 0 0 28.83 25.96 28.83

540 -0.97 -175.9 89.4 -17.4 75 549 0.10 2.17 0.00 0.000 6 0.148 0.041 2734 1802 2642 0 0 0 0 0 0 25.89 25.98 28.83

595 end dive: TARGET_DEPTH_EXCEEDED

state 595 begin apogee

597 -0.33 0.0 98.4 -14.6 81 742 0.65 0.00 140.38 0.542 6 0.138 0.000 2938 1802 1921 0 0 0 0 0 0 25.92 28.83 24.60

743 end apogee: CONTROL_FINISHED_OK

state 743 begin climb

744 0.97 175.9 103.7 0.0 91 890 1.30 2.33 137.77 0.523 4 0.102 0.056 3357 3202 1203 0 0 0 0 0 0 25.01 24.87 24.54

924 0.97 175.9 92.2 11.9 105 932 0.00 2.22 0.00 0.000 6 0.000 0.037 3367 1793 1202 0 0 0 0 0 0 28.83 25.25 28.83

1049 0.97 175.9 76.5 11.6 118 1053 0.00 2.25 0.00 0.000 4 0.000 0.057 3378 393 1201 0 0 0 0 0 0 28.83 25.63 28.83

1209 0.97 175.9 56.9 12.7 134 1213 0.00 2.17 0.00 0.000 6 0.000 0.038 3378 1801 1200 0 0 0 0 0 0 28.83 25.82 28.83

1334 0.97 175.9 42.7 10.7 153 1335 0.00 0.00 0.00 0.000 6 0.000 0.000 3378 1802 1200 0 0 0 0 0 0 28.83 28.83 28.83

1394 0.97 175.9 36.5 11.1 165 1395 0.00 0.00 0.00 0.000 6 0.000 0.000 3383 1802 1198 0 0 0 0 0 0 28.83 28.83 28.83

1454 0.97 176.0 30.1 10.0 177 1462 0.00 2.22 0.00 0.000 4 0.000 0.057 3371 3210 1200 0 0 0 0 0 0 28.83 25.95 28.83

1491 0.98 184.3 26.2 9.7 184 1506 0.00 2.17 7.78 0.432 6 0.000 0.037 3379 1794 1169 0 0 0 0 0 0 28.83 25.98 25.46

1565 0.98 184.3 18.0 11.7 198 1573 0.00 2.22 0.00 0.000 4 0.000 0.057 3390 392 1168 0 0 0 0 0 0 28.83 25.91 28.83

1617 0.99 190.9 12.6 9.8 208 1631 0.00 2.17 7.03 0.423 6 0.000 0.037 3386 1804 1142 0 0 0 0 0 0 28.83 25.96 25.44

1690 1.18 346.8 8.9 4.0 222 1778 0.12 0.00 84.28 0.483 2 0.104 0.000 3443 1804 705 0 0 0 0 0 0 25.92 28.83 28.83

1778 end climb: SURFACE_DEPTH_REACHED

state 1778 begin surface coast

1807 end surface coast: CONTROL_FINISHED_OK

state 1807 begin surface

ID	161	HD_C	9.9999997e-06	ROLL_MIN	192	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	4	HEADING	290	ROLL_MAX	3769	ALTIM_PING_DEPTH	80
DIVE	5	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1800	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1800	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	4743.1001	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_TGT	150	TGT_DEFAULT_LON	12223.6	ROLL_CNV	0.028270001	XPDR_VALID	5
D_ABORT	300	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	500	SM_CC	320	R_PORT_OVSHOOT	25	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	39	INT_PRESSURE_YINT	-0.63999999
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	300	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	550	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_MAX	3960	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	1921	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	50	CALL_TRIES	5	VBD_CNV	-0.245296	DEVICE6	-1
T_MISSION	80	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_ABORT	1440	CAPUPLOAD	1	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	83
T_TURN	540	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	60	COMPASS_DEVICE	33
T_EPIRB	0	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
USE_BATHY	-7	T_GPS_CHARGE	-2869.0874	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	100	RAFOS_DEVICE	-1
D_OFFGRID	100	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	-7	PITCH_MIN	151	FG_AHR_24V	0	SEABIRD_T_G	0.0043775463
MAX_BUOY	180	PITCH_MAX	3948	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063860236
COURSE_BIAS	0	C_PITCH	3052	PRESSURE_YINT	-20.543966	SEABIRD_T_I	2.5706517e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011628441	SEABIRD_T_J	2.822896e-06
SPEED_FACTOR	1	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9098063
RHO	1.0233001	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1132913
MASS	51957	PITCH_GAIN	21	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00039731048
NAV_MODE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_J	0.00011278767
FERRY_MAX	45	PITCH_AD_RATE	175	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	0.003	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	20	MI_RESTARTMONITOR	0.0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	MI_NOTIFYMOTORS	0.0

GPS1	150414,201524,4743.519,-12224.188,3,0.9,37,16.3	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	4747.218,-12239.253
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.263,0.102
_SM_DEPTHo	1.32	KALMAN_X	547.2,254.0,198.4,-795.6,79.4
_SM_ANGLEo	-70.4	KALMAN_Y	184.0,164.0,136.5,762.6,-41.8
GPS2	150414,202231,4743.524,-12224.149,4,1.0,39,16.3	MHEAD_RNG_PITCHd_Wd	274.9,20000,-15.8,-10.000
SPEED_LIMITS	0.173,0.282	D_GRID	98

FINISH	0.4,1.019957	MI_ROOT	70.5/190403/56092
SM_CCo	1822,25.95,0.323,1,0,616,320.11	MI_HOME	2.5/436550/425654
SM_GC	1.66,9.05,0.00,25.95,0.045,0.000,0.323,148,1808,616,-9.02,0.23,320.11,0,0,0,0,1,0,24.79,28.83,24.96	_24V_AH	24.5,0.815
IRIDIUM_FIX	4751.72,-12340.51,150414,191917	_10V_AH	10.3,0.476
TT8_MAMPS	0.096621,0.096621	FG_AHR_24Vo	0.000
HUMID	37.00	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	8.80372	MEM	198028
TCM_TEMP	20.10	DATA_FILE_SIZE	6830,241
MI_MIVER	0.4	CAP_FILE_SIZE	41098,0
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	CFSIZE	260034560,257622016
MI_BOOTCOUNT	24	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
MI_LOG	3.4/516052/498731	GPS	150414,205510,4743.434,-12224.526,13,1.1,47,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	253	136.58	SBE_CT	159	23	90.90
Roll_motor	31	74	56.45	nil	0	0	0.00
VBD_pump_during_apogee	377	542	5012.73	nil	0	0	0.00
VBD_pump_during_surface	25	322	205.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	61	51.29	nil	0	0	0.00
Iridium_during_connect	67	160	264.65	MIB	2382	42	2498.45
Iridium_during_xfer	123	223	673.65	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	2382	38	2265.29
GPS	40	31	13.28
TT8	0	0	0.00
LPSleep	758	0	3.05
TT8_Active	432	13	58.89
TT8_Sampling	998	40	420.88
TT8_CF8	28	48	14.30
TT8_Kalman	33	65	22.44
Analog_circuits	742	16	122.31
GPS_charging	0	0	0.00
Compass	434	15	70.35
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	-0.97	-175.9	0.0	0.0	0	58	0.00	0.00	-41.28	0.000	2	0.000	0.000	146	1808	1899	0	0	0	0	0	0	28.83	28.83	28.83
59	-0.97	-175.9	3.4	-7.5	6	93	10.73	2.30	-14.40	0.000	4	0.254	0.074	2732	388	2642	0	0	0	0	0	0	25.58	25.79	25.89
217	-0.97	-175.9	36.4	-17.7	36	225	0.00	2.17	0.00	0.000	6	0.000	0.041	2723	1785	2642	0	0	0	0	0	0	28.83	25.87	28.83
284	-0.97	-175.9	48.4	-17.9	49	292	0.00	2.25	0.00	0.000	4	0.000	0.061	2712	3201	2642	0	0	0	0	0	0	28.83	25.89	28.83
316	-0.97	-175.9	53.5	-15.8	53	320	0.00	2.17	0.00	0.000	6	0.000	0.037	2712	1788	2642	0	0	0	0	0	0	28.83	25.94	28.83
446	-0.97	-175.9	74.1	-16.0	66	450	0.00	2.20	0.00	0.000	4	0.000	0.056	2712	396	2642	0	0	0	0	0	0	28.83	25.96	28.83
540	-0.97	-175.9	89.4	-17.4	75	549	0.10	2.17	0.00	0.000	6	0.148	0.041	2734	1802	2642	0	0	0	0	0	0	25.89	25.98	28.83
595	end dive: TARGET_DEPTH_EXCEEDED
state	595	begin apogee
597	-0.33	0.0	98.4	-14.6	81	742	0.65	0.00	140.38	0.542	6	0.138	0.000	2938	1802	1921	0	0	0	0	0	0	25.92	28.83	24.60
743	end apogee: CONTROL_FINISHED_OK
state	743	begin climb
744	0.97	175.9	103.7	0.0	91	890	1.30	2.33	137.77	0.523	4	0.102	0.056	3357	3202	1203	0	0	0	0	0	0	25.01	24.87	24.54
924	0.97	175.9	92.2	11.9	105	932	0.00	2.22	0.00	0.000	6	0.000	0.037	3367	1793	1202	0	0	0	0	0	0	28.83	25.25	28.83
1049	0.97	175.9	76.5	11.6	118	1053	0.00	2.25	0.00	0.000	4	0.000	0.057	3378	393	1201	0	0	0	0	0	0	28.83	25.63	28.83
1209	0.97	175.9	56.9	12.7	134	1213	0.00	2.17	0.00	0.000	6	0.000	0.038	3378	1801	1200	0	0	0	0	0	0	28.83	25.82	28.83
1334	0.97	175.9	42.7	10.7	153	1335	0.00	0.00	0.00	0.000	6	0.000	0.000	3378	1802	1200	0	0	0	0	0	0	28.83	28.83	28.83
1394	0.97	175.9	36.5	11.1	165	1395	0.00	0.00	0.00	0.000	6	0.000	0.000	3383	1802	1198	0	0	0	0	0	0	28.83	28.83	28.83
1454	0.97	176.0	30.1	10.0	177	1462	0.00	2.22	0.00	0.000	4	0.000	0.057	3371	3210	1200	0	0	0	0	0	0	28.83	25.95	28.83
1491	0.98	184.3	26.2	9.7	184	1506	0.00	2.17	7.78	0.432	6	0.000	0.037	3379	1794	1169	0	0	0	0	0	0	28.83	25.98	25.46
1565	0.98	184.3	18.0	11.7	198	1573	0.00	2.22	0.00	0.000	4	0.000	0.057	3390	392	1168	0	0	0	0	0	0	28.83	25.91	28.83
1617	0.99	190.9	12.6	9.8	208	1631	0.00	2.17	7.03	0.423	6	0.000	0.037	3386	1804	1142	0	0	0	0	0	0	28.83	25.96	25.44
1690	1.18	346.8	8.9	4.0	222	1778	0.12	0.00	84.28	0.483	2	0.104	0.000	3443	1804	705	0	0	0	0	0	0	25.92	28.83	28.83
1778	end climb: SURFACE_DEPTH_REACHED
state	1778	begin surface coast
1807	end surface coast: CONTROL_FINISHED_OK
state	1807	begin surface