Glider dive log

GulfOfMexico Jul15 * SG161 * Dive index * Mission links * Dive 52 * 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 52 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 90 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 500 R_STBD_OVSHOOT 52 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 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 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 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 52 MI_POWERSOURCE 0.0 R_PORT_OVSHOOT 90 VBD_MIN 550

D_ABORT 1090 MI_RESTARTMONITOR 0.0 R_STBD_OVSHOOT 52 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 250715,144844,2759.223,-8726.338,27,0.9,37,-2.0 SPEED_LIMITS 0.217,0.241

_CALLS 1 TGT_NAME RECOV

_XMS_NAKs 0 TGT_LATLONG 2758.418,-8727.309

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 1.44 MHEAD_RNG_PITCHd_Wd 236.2,2213,-19.3,-12.500,-27.38,2022

_SM_ANGLEo -62.3 D_GRID 450

GPS2 250715,145715,2759.118,-8726.212,4,0.8,14,-2.0

Post-dive calculations and measurements:

FINISH 0.9,0.997832 MI_HOME 3.2/436550/422462

SM_CCo 6479,43.88,0.265,1,0,799,500.16 _24V_AH 24.08,55.038

SM_GC 1.52,8.50,1.52,43.88,0.028,0.021,0.265,151,2659,799,-8.60,2.21,500.16,0,0,0,0,1,0,25.15,25.44,24.46 _10V_AH 10.03,21.343

IRIDIUM_FIX 2722.64,-8719.43,210508,041938 FG_AHR_24Vo 0.000

TT8_MAMPS 0.098119,0.098119 FG_AHR_10Vo 0.000

HUMID 40.07 MEM 296036

INTERNAL_PRESSURE 9.16506 DATA_FILE_SIZE 20092,537

TCM_TEMP 24.50 CAP_FILE_SIZE 79704,0

MI_MIVER 0.4 CFSIZE 260034560,254119936

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

MI_BOOTCOUNT 104 INTR 0,8552.26,0x236bc6,7,5

MI_LOG 3.5/516052/497954 GPS 250715,164643,2758.245,-8726.463,2,0.9,13,-2.0

MI_ROOT 70.6/190403/56003

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 231 117.07 SBE_CT 354 23 198.49

Roll_motor 56 58 79.38 nil 0 0 0.00

VBD_pump_during_apogee 480 679 7864.12 nil 0 0 0.00

VBD_pump_during_surface 43 264 279.65 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 61 46.16 nil 0 0 0.00

Iridium_during_connect 35 160 137.57 MIB 7126 42 7361.63

Iridium_during_xfer 153 223 824.67 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 7126 36 6306.36

GPS 15 31 4.82

TT8 0 0 0.00

LPSleep 4634 0 18.13

TT8_Active 590 13 78.21

TT8_Sampling 1575 40 646.75

TT8_CF8 83 48 40.41

TT8_Kalman 0 0 0.00

Analog_circuits 1156 16 185.66

GPS_charging 0 0 0.00

Compass 962 15 151.92

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 -1.13 -170.3 146 2655 892 693 0.0 0.0 0 81 0.00 0.00 -63.95 0.000 16386 0.000 0.000 144 2655 2842 2825 2859 0 0 0 0 0 0 28.83 28.83 28.83

82 -1.13 -170.3 144 2656 2826 2859 5.2 -12.0 10 108 10.02 1.73 -11.05 0.000 18692 0.232 0.058 2550 3760 3533 3558 3509 0 0 0 0 0 0 24.89 25.51 25.70

267 -1.13 -170.3 2551 3760 3567 3510 68.3 -22.3 39 271 0.00 1.60 0.00 0.000 1030 0.000 0.022 2551 2666 3538 3567 3509 0 0 0 0 0 0 28.83 25.72 28.83

398 -1.13 -170.3 2550 2666 3571 3510 96.6 -21.6 52 398 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2665 3539 3569 3509 0 0 0 0 0 0 28.83 28.83 28.83

522 -1.13 -170.3 2549 2667 3573 3510 120.6 -18.8 61 526 0.00 1.73 0.00 0.000 260 0.000 0.039 2542 3758 3540 3571 3509 0 0 0 0 0 0 28.83 25.67 28.83

547 -1.13 -170.3 2543 3758 3570 3510 123.5 -19.2 62 555 0.00 1.58 0.00 0.000 1030 0.000 0.024 2542 2696 3540 3571 3509 0 0 0 0 0 0 28.83 25.82 28.83

853 -1.13 -170.3 2544 2696 3574 3510 185.0 -18.9 83 856 0.00 1.67 0.00 0.000 260 0.000 0.039 2534 3757 3542 3574 3510 0 0 0 0 0 0 28.83 25.71 28.83

892 -1.13 -170.3 2534 3758 3575 3510 190.7 -18.5 85 900 0.12 1.62 0.00 0.000 3078 0.164 0.023 2563 2653 3542 3574 3510 0 0 0 0 0 0 25.24 25.86 28.83

1198 -1.13 -170.3 2563 2653 3574 3510 242.3 -16.1 106 1199 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2653 3541 3574 3509 0 0 0 0 0 0 28.83 28.83 28.83

1498 -1.13 -170.3 2562 2653 3575 3510 291.1 -16.1 126 1498 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2653 3541 3574 3509 0 0 0 0 0 0 28.83 28.83 28.83

1797 -1.13 -170.3 2562 2653 3569 3507 339.5 -15.6 146 1801 0.00 2.03 0.00 0.000 516 0.000 0.023 2563 1282 3540 3574 3507 0 0 0 0 0 0 28.83 25.83 28.83

1843 -1.13 -170.3 2563 1283 3574 3507 346.5 -15.6 149 1846 0.00 2.12 0.00 0.000 1030 0.000 0.029 2555 2667 3540 3574 3507 0 0 0 0 0 0 28.83 25.78 28.83

2158 -1.13 -170.3 2555 2668 3576 3505 395.5 -16.1 170 2161 0.00 2.08 0.00 0.000 516 0.000 0.024 2555 1285 3539 3574 3504 0 0 0 0 0 0 28.83 25.80 28.83

2188 -1.13 -170.3 2556 1286 3574 3504 400.2 -15.8 172 2191 0.00 2.15 0.00 0.000 1030 0.000 0.031 2546 2673 3538 3574 3503 0 0 0 0 0 0 28.83 25.77 28.83

2501 end dive: TARGET_DEPTH_EXCEEDED

state 2502 begin apogee

2505 -0.24 0.0 2546 2309 3572 3502 451.7 -16.4 193 2642 0.95 0.00 133.35 0.679 10246 0.114 0.000 2848 2308 2838 2940 2737 0 0 0 0 0 0 25.39 28.83 24.12

2643 end apogee: CONTROL_FINISHED_OK

state 2643 begin climb

2644 1.13 170.3 2849 2309 2938 2738 456.9 0.0 202 2791 1.20 2.20 133.77 0.676 10756 0.063 0.028 3285 914 2141 2232 2050 0 0 0 0 0 0 24.90 24.87 24.08

2900 1.13 170.3 3284 914 2229 2047 438.7 12.7 219 2904 0.00 2.17 0.00 0.000 1030 0.000 0.027 3285 2312 2136 2227 2046 0 0 0 0 0 0 28.83 25.22 28.83

3211 1.14 180.2 3286 2312 2222 2045 399.0 12.0 240 3220 0.00 0.00 8.10 0.534 8198 0.000 0.000 3285 2312 2103 2195 2012 0 0 0 0 0 0 28.83 28.83 24.64

3510 1.14 180.2 3286 2313 2186 2011 359.5 13.6 260 3514 0.00 2.15 0.00 0.000 516 0.000 0.028 3293 899 2098 2186 2010 0 0 0 0 0 0 28.83 25.75 28.83

3555 1.14 180.2 3293 900 2187 2011 353.5 13.2 263 3559 0.00 2.15 0.00 0.000 1030 0.000 0.027 3294 2303 2097 2185 2010 0 0 0 0 0 0 28.83 25.73 28.83

3870 1.14 180.2 3295 2303 2182 2009 312.6 13.3 284 3874 0.00 2.12 0.00 0.000 516 0.000 0.029 3303 907 2095 2182 2009 0 0 0 0 0 0 28.83 25.77 28.83

3910 1.14 180.2 3303 908 2183 2009 308.5 13.5 286 3917 0.00 2.12 0.00 0.000 1030 0.000 0.028 3304 2295 2095 2181 2009 0 0 0 0 0 0 28.83 25.75 28.83

4215 1.14 180.2 3304 2296 2180 2008 265.4 13.8 307 4216 0.00 0.00 0.00 0.000 6 0.000 0.000 3303 2295 2093 2180 2007 0 0 0 0 0 0 28.83 28.83 28.83

4515 1.14 180.2 3304 2296 2177 2007 223.1 14.9 327 4519 0.00 2.20 0.00 0.000 260 0.000 0.037 3303 3706 2091 2177 2006 0 0 0 0 0 0 28.83 25.68 28.83

4540 1.14 180.2 3302 3707 2178 2007 220.8 14.7 328 4547 0.00 2.10 0.00 0.000 1030 0.000 0.023 3309 2298 2091 2177 2006 0 0 0 0 0 0 28.83 25.83 28.83

4845 1.14 180.2 3313 2298 2176 2007 178.0 13.0 349 4849 0.00 2.08 0.00 0.000 516 0.000 0.028 3323 907 2090 2175 2005 0 0 0 0 0 0 28.83 25.75 28.83

4910 1.14 180.2 3324 908 2173 2002 170.0 13.2 353 4914 0.00 2.12 0.00 0.000 1030 0.000 0.026 3323 2299 2089 2174 2005 0 0 0 0 0 0 28.83 25.76 28.83

5220 1.14 180.2 3323 2300 2172 2005 129.4 12.6 374 5224 0.00 2.17 0.00 0.000 260 0.000 0.037 3323 3696 2089 2173 2005 0 0 0 0 0 0 28.83 25.65 28.83

5435 1.14 180.2 3323 3697 2171 2005 102.6 12.6 388 5439 0.10 2.08 0.00 0.000 5126 0.149 0.021 3304 2297 2088 2171 2005 0 0 0 0 0 0 25.10 25.82 28.83

5740 1.20 227.4 3305 2293 2171 2001 71.2 10.1 418 5783 0.00 2.17 34.85 0.435 8452 0.000 0.037 3304 3700 1909 1995 1824 0 0 0 0 0 0 28.83 25.65 24.94

5827 1.21 236.5 3304 3701 1993 1824 61.9 12.0 426 5844 0.00 2.10 8.40 0.379 9222 0.000 0.022 3313 2296 1872 1958 1787 0 0 0 0 0 0 28.83 25.65 24.75

5962 1.26 277.0 3313 2296 1955 1787 45.4 10.4 444 6000 0.00 2.08 31.88 0.413 8708 0.000 0.026 3321 911 1707 1795 1620 0 0 0 0 0 0 28.83 25.20 24.72

6204 1.38 374.4 3321 909 1791 1618 25.5 7.6 491 6291 0.08 2.12 76.62 0.402 11270 0.066 0.025 3362 2307 1309 1408 1211 0 0 0 0 0 0 25.60 25.58 24.60

6350 1.45 427.4 3365 2307 1404 1209 10.8 9.8 517 6419 0.00 2.22 53.78 0.353 8452 0.000 0.037 3365 3695 1095 1203 987 0 0 0 0 1 0 28.83 25.08 24.44

6437 end climb: SURFACE_DEPTH_REACHED

state 6437 begin surface coast

6462 end surface coast: CONTROL_FINISHED_OK

state 6462 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	52	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	90	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	500	R_STBD_OVSHOOT	52	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	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	250715,144844,2759.223,-8726.338,27,0.9,37,-2.0	SPEED_LIMITS	0.217,0.241
_CALLS	1	TGT_NAME	RECOV
_XMS_NAKs	0	TGT_LATLONG	2758.418,-8727.309
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	1.44	MHEAD_RNG_PITCHd_Wd	236.2,2213,-19.3,-12.500,-27.38,2022
_SM_ANGLEo	-62.3	D_GRID	450
GPS2	250715,145715,2759.118,-8726.212,4,0.8,14,-2.0

FINISH	0.9,0.997832	MI_HOME	3.2/436550/422462
SM_CCo	6479,43.88,0.265,1,0,799,500.16	_24V_AH	24.08,55.038
SM_GC	1.52,8.50,1.52,43.88,0.028,0.021,0.265,151,2659,799,-8.60,2.21,500.16,0,0,0,0,1,0,25.15,25.44,24.46	_10V_AH	10.03,21.343
IRIDIUM_FIX	2722.64,-8719.43,210508,041938	FG_AHR_24Vo	0.000
TT8_MAMPS	0.098119,0.098119	FG_AHR_10Vo	0.000
HUMID	40.07	MEM	296036
INTERNAL_PRESSURE	9.16506	DATA_FILE_SIZE	20092,537
TCM_TEMP	24.50	CAP_FILE_SIZE	79704,0
MI_MIVER	0.4	CFSIZE	260034560,254119936
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
MI_BOOTCOUNT	104	INTR	0,8552.26,0x236bc6,7,5
MI_LOG	3.5/516052/497954	GPS	250715,164643,2758.245,-8726.463,2,0.9,13,-2.0
MI_ROOT	70.6/190403/56003

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	231	117.07	SBE_CT	354	23	198.49
Roll_motor	56	58	79.38	nil	0	0	0.00
VBD_pump_during_apogee	480	679	7864.12	nil	0	0	0.00
VBD_pump_during_surface	43	264	279.65	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	61	46.16	nil	0	0	0.00
Iridium_during_connect	35	160	137.57	MIB	7126	42	7361.63
Iridium_during_xfer	153	223	824.67	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	7126	36	6306.36
GPS	15	31	4.82
TT8	0	0	0.00
LPSleep	4634	0	18.13
TT8_Active	590	13	78.21
TT8_Sampling	1575	40	646.75
TT8_CF8	83	48	40.41
TT8_Kalman	0	0	0.00
Analog_circuits	1156	16	185.66
GPS_charging	0	0	0.00
Compass	962	15	151.92
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	-1.13	-170.3	146	2655	892	693	0.0	0.0	0	81	0.00	0.00	-63.95	0.000	16386	0.000	0.000	144	2655	2842	2825	2859	0	0	0	0	0	0	28.83	28.83	28.83
82	-1.13	-170.3	144	2656	2826	2859	5.2	-12.0	10	108	10.02	1.73	-11.05	0.000	18692	0.232	0.058	2550	3760	3533	3558	3509	0	0	0	0	0	0	24.89	25.51	25.70
267	-1.13	-170.3	2551	3760	3567	3510	68.3	-22.3	39	271	0.00	1.60	0.00	0.000	1030	0.000	0.022	2551	2666	3538	3567	3509	0	0	0	0	0	0	28.83	25.72	28.83
398	-1.13	-170.3	2550	2666	3571	3510	96.6	-21.6	52	398	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2665	3539	3569	3509	0	0	0	0	0	0	28.83	28.83	28.83
522	-1.13	-170.3	2549	2667	3573	3510	120.6	-18.8	61	526	0.00	1.73	0.00	0.000	260	0.000	0.039	2542	3758	3540	3571	3509	0	0	0	0	0	0	28.83	25.67	28.83
547	-1.13	-170.3	2543	3758	3570	3510	123.5	-19.2	62	555	0.00	1.58	0.00	0.000	1030	0.000	0.024	2542	2696	3540	3571	3509	0	0	0	0	0	0	28.83	25.82	28.83
853	-1.13	-170.3	2544	2696	3574	3510	185.0	-18.9	83	856	0.00	1.67	0.00	0.000	260	0.000	0.039	2534	3757	3542	3574	3510	0	0	0	0	0	0	28.83	25.71	28.83
892	-1.13	-170.3	2534	3758	3575	3510	190.7	-18.5	85	900	0.12	1.62	0.00	0.000	3078	0.164	0.023	2563	2653	3542	3574	3510	0	0	0	0	0	0	25.24	25.86	28.83
1198	-1.13	-170.3	2563	2653	3574	3510	242.3	-16.1	106	1199	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2653	3541	3574	3509	0	0	0	0	0	0	28.83	28.83	28.83
1498	-1.13	-170.3	2562	2653	3575	3510	291.1	-16.1	126	1498	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2653	3541	3574	3509	0	0	0	0	0	0	28.83	28.83	28.83
1797	-1.13	-170.3	2562	2653	3569	3507	339.5	-15.6	146	1801	0.00	2.03	0.00	0.000	516	0.000	0.023	2563	1282	3540	3574	3507	0	0	0	0	0	0	28.83	25.83	28.83
1843	-1.13	-170.3	2563	1283	3574	3507	346.5	-15.6	149	1846	0.00	2.12	0.00	0.000	1030	0.000	0.029	2555	2667	3540	3574	3507	0	0	0	0	0	0	28.83	25.78	28.83
2158	-1.13	-170.3	2555	2668	3576	3505	395.5	-16.1	170	2161	0.00	2.08	0.00	0.000	516	0.000	0.024	2555	1285	3539	3574	3504	0	0	0	0	0	0	28.83	25.80	28.83
2188	-1.13	-170.3	2556	1286	3574	3504	400.2	-15.8	172	2191	0.00	2.15	0.00	0.000	1030	0.000	0.031	2546	2673	3538	3574	3503	0	0	0	0	0	0	28.83	25.77	28.83
2501	end dive: TARGET_DEPTH_EXCEEDED
state	2502	begin apogee
2505	-0.24	0.0	2546	2309	3572	3502	451.7	-16.4	193	2642	0.95	0.00	133.35	0.679	10246	0.114	0.000	2848	2308	2838	2940	2737	0	0	0	0	0	0	25.39	28.83	24.12
2643	end apogee: CONTROL_FINISHED_OK
state	2643	begin climb
2644	1.13	170.3	2849	2309	2938	2738	456.9	0.0	202	2791	1.20	2.20	133.77	0.676	10756	0.063	0.028	3285	914	2141	2232	2050	0	0	0	0	0	0	24.90	24.87	24.08
2900	1.13	170.3	3284	914	2229	2047	438.7	12.7	219	2904	0.00	2.17	0.00	0.000	1030	0.000	0.027	3285	2312	2136	2227	2046	0	0	0	0	0	0	28.83	25.22	28.83
3211	1.14	180.2	3286	2312	2222	2045	399.0	12.0	240	3220	0.00	0.00	8.10	0.534	8198	0.000	0.000	3285	2312	2103	2195	2012	0	0	0	0	0	0	28.83	28.83	24.64
3510	1.14	180.2	3286	2313	2186	2011	359.5	13.6	260	3514	0.00	2.15	0.00	0.000	516	0.000	0.028	3293	899	2098	2186	2010	0	0	0	0	0	0	28.83	25.75	28.83
3555	1.14	180.2	3293	900	2187	2011	353.5	13.2	263	3559	0.00	2.15	0.00	0.000	1030	0.000	0.027	3294	2303	2097	2185	2010	0	0	0	0	0	0	28.83	25.73	28.83
3870	1.14	180.2	3295	2303	2182	2009	312.6	13.3	284	3874	0.00	2.12	0.00	0.000	516	0.000	0.029	3303	907	2095	2182	2009	0	0	0	0	0	0	28.83	25.77	28.83
3910	1.14	180.2	3303	908	2183	2009	308.5	13.5	286	3917	0.00	2.12	0.00	0.000	1030	0.000	0.028	3304	2295	2095	2181	2009	0	0	0	0	0	0	28.83	25.75	28.83
4215	1.14	180.2	3304	2296	2180	2008	265.4	13.8	307	4216	0.00	0.00	0.00	0.000	6	0.000	0.000	3303	2295	2093	2180	2007	0	0	0	0	0	0	28.83	28.83	28.83
4515	1.14	180.2	3304	2296	2177	2007	223.1	14.9	327	4519	0.00	2.20	0.00	0.000	260	0.000	0.037	3303	3706	2091	2177	2006	0	0	0	0	0	0	28.83	25.68	28.83
4540	1.14	180.2	3302	3707	2178	2007	220.8	14.7	328	4547	0.00	2.10	0.00	0.000	1030	0.000	0.023	3309	2298	2091	2177	2006	0	0	0	0	0	0	28.83	25.83	28.83
4845	1.14	180.2	3313	2298	2176	2007	178.0	13.0	349	4849	0.00	2.08	0.00	0.000	516	0.000	0.028	3323	907	2090	2175	2005	0	0	0	0	0	0	28.83	25.75	28.83
4910	1.14	180.2	3324	908	2173	2002	170.0	13.2	353	4914	0.00	2.12	0.00	0.000	1030	0.000	0.026	3323	2299	2089	2174	2005	0	0	0	0	0	0	28.83	25.76	28.83
5220	1.14	180.2	3323	2300	2172	2005	129.4	12.6	374	5224	0.00	2.17	0.00	0.000	260	0.000	0.037	3323	3696	2089	2173	2005	0	0	0	0	0	0	28.83	25.65	28.83
5435	1.14	180.2	3323	3697	2171	2005	102.6	12.6	388	5439	0.10	2.08	0.00	0.000	5126	0.149	0.021	3304	2297	2088	2171	2005	0	0	0	0	0	0	25.10	25.82	28.83
5740	1.20	227.4	3305	2293	2171	2001	71.2	10.1	418	5783	0.00	2.17	34.85	0.435	8452	0.000	0.037	3304	3700	1909	1995	1824	0	0	0	0	0	0	28.83	25.65	24.94
5827	1.21	236.5	3304	3701	1993	1824	61.9	12.0	426	5844	0.00	2.10	8.40	0.379	9222	0.000	0.022	3313	2296	1872	1958	1787	0	0	0	0	0	0	28.83	25.65	24.75
5962	1.26	277.0	3313	2296	1955	1787	45.4	10.4	444	6000	0.00	2.08	31.88	0.413	8708	0.000	0.026	3321	911	1707	1795	1620	0	0	0	0	0	0	28.83	25.20	24.72
6204	1.38	374.4	3321	909	1791	1618	25.5	7.6	491	6291	0.08	2.12	76.62	0.402	11270	0.066	0.025	3362	2307	1309	1408	1211	0	0	0	0	0	0	25.60	25.58	24.60
6350	1.45	427.4	3365	2307	1404	1209	10.8	9.8	517	6419	0.00	2.22	53.78	0.353	8452	0.000	0.037	3365	3695	1095	1203	987	0	0	0	0	1	0	28.83	25.08	24.44
6437	end climb: SURFACE_DEPTH_REACHED
state	6437	begin surface coast
6462	end surface coast: CONTROL_FINISHED_OK
state	6462	begin surface