Glider dive log

Shilshole 05Feb14 * SG208 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 208 HD_C 1.6100001e-05 ROLL_MIN 196 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 2 HEADING -1 ROLL_MAX 3778 ALTIM_PING_DEPTH 0

DIVE 6 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

N_DIVES 30 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1995 ALTIM_FREQUENCY 13

D_SURF 2 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1850 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_TGT 180 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 XPDR_VALID 0

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_NO_BLEED 50 SM_CC 230 R_PORT_OVSHOOT 20 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 100 N_FILEKB 4 R_STBD_OVSHOOT 30 INT_PRESSURE_YINT 0.30000001

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 500 DEVICE2 -1

SURFACE_URGENCY 0 NOCOMM_ACTION 0 VBD_MAX 3960 DEVICE3 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 C_VBD 2859 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

T_DIVE 60 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

T_MISSION 85 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_ABORT 720 CAPUPLOAD 1 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 83

T_TURN 600 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE2 -1

T_TURN_SAMPINT 4 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_NO_W 120 T_GPS 5 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 -2866.0105 CF8_MAXERRORS 20 PHONE_DEVICE 49

USE_ICE -1 T_RSLEEP 3 AH0_24V 150 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_10V 95 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 -5 PITCH_MIN 249 FG_AHR_24V 0 SEABIRD_T_G 0.0043976754

MAX_BUOY 150 PITCH_MAX 3894 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063337648

COURSE_BIAS 0 C_PITCH 2530 PRESSURE_YINT -65.040756 SEABIRD_T_I 2.4533158e-05

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001164818 SEABIRD_T_J 2.8976478e-06

SPEED_FACTOR 1 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -9.7807083

RHO 1.023 P_OVSHOOT 0.059999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1372483

MASS 51476 PITCH_GAIN 18 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015743772

NAV_MODE 1 PITCH_TIMEOUT 18 COMPASS_USE 4 SEABIRD_C_J 0.00019512554

FERRY_MAX 45 PITCH_AD_RATE 160 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 0 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 2.8976478e-06

AH0_10V 95 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 2 PHONE_DEVICE 49 SM_CC 230

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 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 45 PITCH_AD_RATE 160 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 18 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3894 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_MIN 249 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HD_A 0.003 PITCH_TIMEOUT 18 T_ABORT 720

CALL_TRIES 5 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 2

CALL_WAIT 60 HD_C 1.6100001e-05 PRESSURE_SLOPE 0.0001164818 T_DIVE 60

CAPMAXSIZE 100000 HEADING -1 PRESSURE_YINT -65.040756 T_EPIRB 0

CAPUPLOAD 1 HEAD_ERRBAND 10 PROTOCOL 73 T_GPS 5

CF8_MAXERRORS 20 HEAPDBG 0 P_OVSHOOT 0.059999999 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -2866.0105

COMPASS2_DEVICE -1 ID 208 RAFOS_DEVICE -1 T_LOITER 0

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_MISSION 85

COMPASS_USE 4 INT_PRESSURE_YINT 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_RSLEEP 3

C_PITCH 2530 LOGGERDEVICE1 83 RHO 1.023 T_TURN 600

C_ROLL_CLIMB 1850 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 4

C_ROLL_DIVE 1995 LOGGERDEVICE3 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_VBD 2859 LOGGERDEVICE4 -1 ROLL_AD_RATE 350 UNCOM_BLEED 50

DEEPGLIDER 0 LOGGERS 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 51476 ROLL_DEG 40 USE_BATHY -6

DEVICE1 2 MAX_BUOY 150 ROLL_MAX 3778 USE_ICE -1

DEVICE2 -1 MINV_10V 8 ROLL_MAXERRORS 2 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 19 ROLL_MIN 196 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 2 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 MI_NOTIFYMOTORS 0.0 R_PORT_OVSHOOT 20 VBD_MAX 3960

DEVICE6 -1 MI_OFFLOAD 1.0 R_STBD_OVSHOOT 30 VBD_MAXERRORS 1

DIVE 6 MI_POWERSOURCE 0.0 SEABIRD_C_G -9.7807083 VBD_MIN 500

D_ABORT 1090 MI_RESTARTMONITOR 0.0 SEABIRD_C_H 1.1372483 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 100 MOTHERBOARD 4 SEABIRD_C_I -0.0015743772 VBD_PUMP_AD_RATE_SURFACE 6

D_CALL 0 NAV_MODE 1 SEABIRD_C_J 0.00019512554 VBD_TIMEOUT 720

D_FINISH 0 NOCOMM_ACTION 0 SEABIRD_T_G 0.0043976754 XPDR_DEVICE -1

D_FLARE 3 N_DIVES 30 SEABIRD_T_H 0.00063337648 XPDR_INHIBIT 90

D_NO_BLEED 50 N_FILEKB 4 SEABIRD_T_I 2.4533158e-05 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 070214,040018,4743.753,-12224.835,3,1.0,13,16.3 TGT_NAME SOUTH

_CALLS 2 TGT_LATLONG 4742.700,-12224.800

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.033,-0.256

_SM_DEPTHo 1.06 KALMAN_X 629.2,286.2,236.8,-2273.8,171.3

_SM_ANGLEo -63.5 KALMAN_Y 626.9,662.2,-449.9,439.6,-294.1

GPS2 070214,041031,4743.744,-12224.875,4,1.2,14,16.3 MHEAD_RNG_PITCHd_Wd 171.0,1935,-17.6,-10.000

SPEED_LIMITS 0.173,0.258 D_GRID 175

Post-dive calculations and measurements:

FINISH 0.4,1.011036 MI_ROOT 70.6/190403/56027

SM_CCo 2823,26.08,0.130,0,0,1916,230.09 MI_HOME 2.3/436550/426546

SM_GC 0.69,7.47,0.22,26.08,0.067,0.077,0.130,251,1997,1916,-7.07,-1.07,230.09,0,0,0,0,0,0,26.25,26.28,26.08 _24V_AH 24.8,0.984

IRIDIUM_FIX 4751.72,-12340.51,070214,030329 _10V_AH 10.3,0.802

TT8_MAMPS 0.09737,0.09737 FG_AHR_24Vo 0.000

HUMID 25.82 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.02104 MEM 323584

TCM_TEMP 18.00 DATA_FILE_SIZE 20111,520

MI_MIVER 0.4 CAP_FILE_SIZE 75695,0

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 CFSIZE 1024409600,1021984768

MI_BOOTCOUNT 13 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

MI_LOG 3.3/516052/498797 GPS 070214,050014,4743.018,-12225.146,65,1.5,75,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 292 138.79 SBE_CT 349 23 207.82

Roll_motor 53 84 112.12 nil 0 0 0.00

VBD_pump_during_apogee 216 533 2864.01 nil 0 0 0.00

VBD_pump_during_surface 26 130 84.10 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 43 12 13.08 nil 0 0 0.00

Iridium_during_connect 58 160 233.70 MIB 3531 41 3662.13

Iridium_during_xfer 234 223 1297.13 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 3531 44 3917.74

GPS 15 33 5.24

TT8 0 0 0.00

LPSleep 1362 0 5.47

TT8_Active 338 14 51.26

TT8_Sampling 1616 44 743.77

TT8_CF8 39 64 25.98

TT8_Kalman 33 67 22.97

Analog_circuits 823 16 135.66

GPS_charging 0 0 0.00

Compass 795 8 67.53

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

14 -1.16 -146.6 0.0 0.0 0 85 0.00 0.00 -64.62 0.000 6 0.000 0.000 255 2005 3456 0 0 0 0 0 0 28.83 28.83 26.20

87 -1.16 -146.6 3.2 -6.1 11 101 8.90 2.25 0.00 0.000 4 0.292 0.063 2151 580 3457 0 0 0 0 0 0 25.79 25.91 28.83

261 -1.16 -146.6 30.7 -15.0 53 268 0.00 2.15 0.00 0.000 6 0.000 0.045 2142 1998 3456 0 0 0 0 0 0 28.83 26.13 28.83

287 -1.16 -146.6 34.4 -14.6 58 287 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 1998 3457 0 0 0 0 0 0 28.83 28.83 28.83

306 -1.16 -146.6 37.2 -13.9 62 307 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 1998 3456 0 0 0 0 0 0 28.83 28.83 28.83

327 -1.16 -146.6 39.8 -13.2 66 327 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 1998 3456 0 0 0 0 0 0 28.83 28.83 28.83

346 -1.16 -146.6 42.7 -14.4 70 347 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 1997 3457 0 0 0 0 0 0 28.83 28.83 28.83

467 -1.16 -146.6 59.8 -14.1 94 474 0.00 2.17 0.00 0.000 4 0.000 0.062 2131 3400 3456 0 0 0 0 0 0 28.83 26.17 28.83

553 -1.16 -146.6 72.9 -15.0 115 560 0.00 2.15 0.00 0.000 6 0.000 0.044 2131 1974 3455 0 0 0 0 0 0 28.83 26.22 28.83

679 -1.16 -146.6 90.8 -13.7 140 686 0.00 2.22 0.00 0.000 4 0.000 0.060 2121 3397 3456 0 0 0 0 0 0 28.83 26.22 28.83

702 -1.16 -146.6 94.1 -13.8 145 710 0.12 2.12 0.00 0.000 6 0.191 0.045 2148 1987 3456 0 0 0 0 0 0 26.07 26.25 28.83

829 -1.16 -146.6 109.1 -11.3 170 836 0.00 2.20 0.00 0.000 4 0.000 0.061 2134 3400 3456 0 0 0 0 0 0 28.83 26.23 28.83

847 -1.16 -146.6 111.4 -12.2 174 855 0.00 2.17 0.00 0.000 6 0.000 0.044 2138 1996 3455 0 0 0 0 0 0 28.83 26.25 28.83

974 -1.16 -146.6 128.1 -11.2 199 974 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 1996 3456 0 0 0 0 0 0 28.83 28.83 28.83

1094 -1.16 -146.6 142.9 -14.9 223 1094 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 1995 3456 0 0 0 0 0 0 28.83 28.83 28.83

1213 -1.16 -146.6 158.6 -12.3 240 1217 0.00 2.17 0.00 0.000 4 0.000 0.064 2138 595 3457 0 0 0 0 0 0 28.83 26.24 28.83

1229 -1.16 -146.6 160.6 -12.4 242 1233 0.00 2.12 0.00 0.000 6 0.000 0.046 2128 1998 3456 0 0 0 0 0 0 28.83 26.28 28.83

1337 end dive: TARGET_DEPTH_EXCEEDED

state 1337 begin apogee

1339 -0.28 0.0 175.3 -13.5 253 1453 1.02 0.00 108.80 0.534 6 0.177 0.000 2423 1845 2859 0 0 0 0 0 0 26.11 28.83 24.91

1453 end apogee: CONTROL_FINISHED_OK

state 1454 begin climb

1454 1.16 146.6 179.7 0.0 266 1572 1.50 2.42 107.47 0.493 4 0.126 0.081 2896 461 2249 0 0 0 0 0 0 25.30 25.18 24.79

1599 1.16 146.6 168.9 11.3 283 1607 0.00 2.28 0.00 0.000 6 0.000 0.054 2897 1852 2244 0 0 0 0 0 0 28.83 25.45 28.83

1904 1.16 146.6 126.5 13.8 330 1911 0.00 2.25 0.00 0.000 4 0.000 0.067 2896 3265 2243 0 0 0 0 0 0 28.83 25.94 28.83

1958 1.16 146.6 118.5 14.9 343 1966 0.00 2.20 0.00 0.000 6 0.000 0.058 2907 1864 2243 0 0 0 0 0 0 28.83 26.09 28.83

2085 1.16 146.6 100.8 14.2 368 2091 0.00 2.33 0.00 0.000 4 0.000 0.082 2918 440 2243 0 0 0 0 0 0 28.83 26.10 28.83

2119 1.16 146.6 95.8 15.2 376 2126 0.00 2.20 0.00 0.000 6 0.000 0.056 2918 1860 2243 0 0 0 0 0 0 28.83 26.17 28.83

2245 1.16 146.6 78.1 14.6 401 2252 0.00 2.20 0.00 0.000 4 0.000 0.068 2918 3258 2243 0 0 0 0 0 0 28.83 26.17 28.83

2304 1.16 146.6 69.2 15.0 415 2311 0.00 2.20 0.00 0.000 6 0.000 0.060 2928 1851 2243 0 0 0 0 0 0 28.83 26.20 28.83

2430 1.16 146.6 51.2 14.0 440 2437 0.00 2.22 0.00 0.000 4 0.000 0.068 2928 3253 2243 0 0 0 0 0 0 28.83 26.22 28.83

2521 1.16 146.6 38.0 14.4 462 2528 0.12 2.20 0.00 0.000 6 0.207 0.060 2912 1850 2243 0 0 0 0 0 0 26.07 26.22 28.83

2547 1.16 146.6 34.4 13.4 467 2548 0.00 0.00 0.00 0.000 6 0.000 0.000 2912 1847 2243 0 0 0 0 0 0 28.83 28.83 28.83

2567 1.16 146.6 31.7 13.4 471 2568 0.00 0.00 0.00 0.000 6 0.000 0.000 2912 1847 2243 0 0 0 0 0 0 28.83 28.83 28.83

2587 1.16 146.6 29.2 12.5 475 2588 0.00 0.00 0.00 0.000 6 0.000 0.000 2912 1850 2243 0 0 0 0 0 0 28.83 28.83 28.83

2607 1.16 146.6 26.7 12.8 479 2608 0.00 0.00 0.00 0.000 6 0.000 0.000 2912 1850 2243 0 0 0 0 0 0 28.83 28.83 28.83

2627 1.16 146.6 24.1 12.6 483 2634 0.00 2.30 0.00 0.000 4 0.000 0.084 2922 438 2243 0 0 0 0 0 0 28.83 26.21 28.83

2654 1.16 146.6 20.4 13.5 489 2661 0.00 2.22 0.00 0.000 6 0.000 0.056 2922 1862 2243 0 0 0 0 0 0 28.83 26.15 28.83

2680 1.16 146.6 16.7 14.7 494 2681 0.00 0.00 0.00 0.000 6 0.000 0.000 2921 1862 2243 0 0 0 0 0 0 28.83 28.83 28.83

2700 1.16 146.6 13.9 14.4 498 2701 0.00 0.00 0.00 0.000 6 0.000 0.000 2922 1862 2243 0 0 0 0 0 0 28.83 28.83 28.83

2720 1.16 146.6 11.1 13.9 502 2721 0.00 0.00 0.00 0.000 6 0.000 0.000 2922 1862 2243 0 0 0 0 0 0 28.83 28.83 28.83

2740 1.16 146.6 8.5 13.5 506 2741 0.00 0.00 0.00 0.000 6 0.000 0.000 2922 1862 2243 0 0 0 0 0 0 28.83 28.83 28.83

2760 1.16 146.6 5.6 14.4 510 2767 0.00 2.33 0.00 0.000 4 0.000 0.084 2931 442 2243 0 0 0 0 0 0 28.83 26.22 28.83

2783 1.16 146.6 2.4 14.1 515 2790 0.00 2.17 0.00 0.000 6 0.000 0.057 2932 1850 2243 0 0 0 0 0 0 28.83 26.27 28.83

2793 end climb: SURFACE_DEPTH_REACHED

state 2793 begin surface coast

2808 end surface coast: CONTROL_FINISHED_OK

state 2808 begin surface

ID	208	HD_C	1.6100001e-05	ROLL_MIN	196	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	2	HEADING	-1	ROLL_MAX	3778	ALTIM_PING_DEPTH	0
DIVE	6	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
N_DIVES	30	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1995	ALTIM_FREQUENCY	13
D_SURF	2	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1850	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_TGT	180	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	XPDR_VALID	0
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_NO_BLEED	50	SM_CC	230	R_PORT_OVSHOOT	20	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	100	N_FILEKB	4	R_STBD_OVSHOOT	30	INT_PRESSURE_YINT	0.30000001
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	500	DEVICE2	-1
SURFACE_URGENCY	0	NOCOMM_ACTION	0	VBD_MAX	3960	DEVICE3	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	C_VBD	2859	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
T_DIVE	60	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
T_MISSION	85	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_ABORT	720	CAPUPLOAD	1	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	83
T_TURN	600	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE2	-1
T_TURN_SAMPINT	4	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_NO_W	120	T_GPS	5	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	-2866.0105	CF8_MAXERRORS	20	PHONE_DEVICE	49
USE_ICE	-1	T_RSLEEP	3	AH0_24V	150	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_10V	95	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	-5	PITCH_MIN	249	FG_AHR_24V	0	SEABIRD_T_G	0.0043976754
MAX_BUOY	150	PITCH_MAX	3894	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063337648
COURSE_BIAS	0	C_PITCH	2530	PRESSURE_YINT	-65.040756	SEABIRD_T_I	2.4533158e-05
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001164818	SEABIRD_T_J	2.8976478e-06
SPEED_FACTOR	1	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7807083
RHO	1.023	P_OVSHOOT	0.059999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1372483
MASS	51476	PITCH_GAIN	18	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015743772
NAV_MODE	1	PITCH_TIMEOUT	18	COMPASS_USE	4	SEABIRD_C_J	0.00019512554
FERRY_MAX	45	PITCH_AD_RATE	160	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	0	MI_RESTARTMONITOR	0.0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	MI_NOTIFYMOTORS	0.0

GPS1	070214,040018,4743.753,-12224.835,3,1.0,13,16.3	TGT_NAME	SOUTH
_CALLS	2	TGT_LATLONG	4742.700,-12224.800
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.033,-0.256
_SM_DEPTHo	1.06	KALMAN_X	629.2,286.2,236.8,-2273.8,171.3
_SM_ANGLEo	-63.5	KALMAN_Y	626.9,662.2,-449.9,439.6,-294.1
GPS2	070214,041031,4743.744,-12224.875,4,1.2,14,16.3	MHEAD_RNG_PITCHd_Wd	171.0,1935,-17.6,-10.000
SPEED_LIMITS	0.173,0.258	D_GRID	175

FINISH	0.4,1.011036	MI_ROOT	70.6/190403/56027
SM_CCo	2823,26.08,0.130,0,0,1916,230.09	MI_HOME	2.3/436550/426546
SM_GC	0.69,7.47,0.22,26.08,0.067,0.077,0.130,251,1997,1916,-7.07,-1.07,230.09,0,0,0,0,0,0,26.25,26.28,26.08	_24V_AH	24.8,0.984
IRIDIUM_FIX	4751.72,-12340.51,070214,030329	_10V_AH	10.3,0.802
TT8_MAMPS	0.09737,0.09737	FG_AHR_24Vo	0.000
HUMID	25.82	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.02104	MEM	323584
TCM_TEMP	18.00	DATA_FILE_SIZE	20111,520
MI_MIVER	0.4	CAP_FILE_SIZE	75695,0
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	CFSIZE	1024409600,1021984768
MI_BOOTCOUNT	13	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
MI_LOG	3.3/516052/498797	GPS	070214,050014,4743.018,-12225.146,65,1.5,75,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	292	138.79	SBE_CT	349	23	207.82
Roll_motor	53	84	112.12	nil	0	0	0.00
VBD_pump_during_apogee	216	533	2864.01	nil	0	0	0.00
VBD_pump_during_surface	26	130	84.10	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	43	12	13.08	nil	0	0	0.00
Iridium_during_connect	58	160	233.70	MIB	3531	41	3662.13
Iridium_during_xfer	234	223	1297.13	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	3531	44	3917.74
GPS	15	33	5.24
TT8	0	0	0.00
LPSleep	1362	0	5.47
TT8_Active	338	14	51.26
TT8_Sampling	1616	44	743.77
TT8_CF8	39	64	25.98
TT8_Kalman	33	67	22.97
Analog_circuits	823	16	135.66
GPS_charging	0	0	0.00
Compass	795	8	67.53
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
14	-1.16	-146.6	0.0	0.0	0	85	0.00	0.00	-64.62	0.000	6	0.000	0.000	255	2005	3456	0	0	0	0	0	0	28.83	28.83	26.20
87	-1.16	-146.6	3.2	-6.1	11	101	8.90	2.25	0.00	0.000	4	0.292	0.063	2151	580	3457	0	0	0	0	0	0	25.79	25.91	28.83
261	-1.16	-146.6	30.7	-15.0	53	268	0.00	2.15	0.00	0.000	6	0.000	0.045	2142	1998	3456	0	0	0	0	0	0	28.83	26.13	28.83
287	-1.16	-146.6	34.4	-14.6	58	287	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	1998	3457	0	0	0	0	0	0	28.83	28.83	28.83
306	-1.16	-146.6	37.2	-13.9	62	307	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	1998	3456	0	0	0	0	0	0	28.83	28.83	28.83
327	-1.16	-146.6	39.8	-13.2	66	327	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	1998	3456	0	0	0	0	0	0	28.83	28.83	28.83
346	-1.16	-146.6	42.7	-14.4	70	347	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	1997	3457	0	0	0	0	0	0	28.83	28.83	28.83
467	-1.16	-146.6	59.8	-14.1	94	474	0.00	2.17	0.00	0.000	4	0.000	0.062	2131	3400	3456	0	0	0	0	0	0	28.83	26.17	28.83
553	-1.16	-146.6	72.9	-15.0	115	560	0.00	2.15	0.00	0.000	6	0.000	0.044	2131	1974	3455	0	0	0	0	0	0	28.83	26.22	28.83
679	-1.16	-146.6	90.8	-13.7	140	686	0.00	2.22	0.00	0.000	4	0.000	0.060	2121	3397	3456	0	0	0	0	0	0	28.83	26.22	28.83
702	-1.16	-146.6	94.1	-13.8	145	710	0.12	2.12	0.00	0.000	6	0.191	0.045	2148	1987	3456	0	0	0	0	0	0	26.07	26.25	28.83
829	-1.16	-146.6	109.1	-11.3	170	836	0.00	2.20	0.00	0.000	4	0.000	0.061	2134	3400	3456	0	0	0	0	0	0	28.83	26.23	28.83
847	-1.16	-146.6	111.4	-12.2	174	855	0.00	2.17	0.00	0.000	6	0.000	0.044	2138	1996	3455	0	0	0	0	0	0	28.83	26.25	28.83
974	-1.16	-146.6	128.1	-11.2	199	974	0.00	0.00	0.00	0.000	6	0.000	0.000	2138	1996	3456	0	0	0	0	0	0	28.83	28.83	28.83
1094	-1.16	-146.6	142.9	-14.9	223	1094	0.00	0.00	0.00	0.000	6	0.000	0.000	2138	1995	3456	0	0	0	0	0	0	28.83	28.83	28.83
1213	-1.16	-146.6	158.6	-12.3	240	1217	0.00	2.17	0.00	0.000	4	0.000	0.064	2138	595	3457	0	0	0	0	0	0	28.83	26.24	28.83
1229	-1.16	-146.6	160.6	-12.4	242	1233	0.00	2.12	0.00	0.000	6	0.000	0.046	2128	1998	3456	0	0	0	0	0	0	28.83	26.28	28.83
1337	end dive: TARGET_DEPTH_EXCEEDED
state	1337	begin apogee
1339	-0.28	0.0	175.3	-13.5	253	1453	1.02	0.00	108.80	0.534	6	0.177	0.000	2423	1845	2859	0	0	0	0	0	0	26.11	28.83	24.91
1453	end apogee: CONTROL_FINISHED_OK
state	1454	begin climb
1454	1.16	146.6	179.7	0.0	266	1572	1.50	2.42	107.47	0.493	4	0.126	0.081	2896	461	2249	0	0	0	0	0	0	25.30	25.18	24.79
1599	1.16	146.6	168.9	11.3	283	1607	0.00	2.28	0.00	0.000	6	0.000	0.054	2897	1852	2244	0	0	0	0	0	0	28.83	25.45	28.83
1904	1.16	146.6	126.5	13.8	330	1911	0.00	2.25	0.00	0.000	4	0.000	0.067	2896	3265	2243	0	0	0	0	0	0	28.83	25.94	28.83
1958	1.16	146.6	118.5	14.9	343	1966	0.00	2.20	0.00	0.000	6	0.000	0.058	2907	1864	2243	0	0	0	0	0	0	28.83	26.09	28.83
2085	1.16	146.6	100.8	14.2	368	2091	0.00	2.33	0.00	0.000	4	0.000	0.082	2918	440	2243	0	0	0	0	0	0	28.83	26.10	28.83
2119	1.16	146.6	95.8	15.2	376	2126	0.00	2.20	0.00	0.000	6	0.000	0.056	2918	1860	2243	0	0	0	0	0	0	28.83	26.17	28.83
2245	1.16	146.6	78.1	14.6	401	2252	0.00	2.20	0.00	0.000	4	0.000	0.068	2918	3258	2243	0	0	0	0	0	0	28.83	26.17	28.83
2304	1.16	146.6	69.2	15.0	415	2311	0.00	2.20	0.00	0.000	6	0.000	0.060	2928	1851	2243	0	0	0	0	0	0	28.83	26.20	28.83
2430	1.16	146.6	51.2	14.0	440	2437	0.00	2.22	0.00	0.000	4	0.000	0.068	2928	3253	2243	0	0	0	0	0	0	28.83	26.22	28.83
2521	1.16	146.6	38.0	14.4	462	2528	0.12	2.20	0.00	0.000	6	0.207	0.060	2912	1850	2243	0	0	0	0	0	0	26.07	26.22	28.83
2547	1.16	146.6	34.4	13.4	467	2548	0.00	0.00	0.00	0.000	6	0.000	0.000	2912	1847	2243	0	0	0	0	0	0	28.83	28.83	28.83
2567	1.16	146.6	31.7	13.4	471	2568	0.00	0.00	0.00	0.000	6	0.000	0.000	2912	1847	2243	0	0	0	0	0	0	28.83	28.83	28.83
2587	1.16	146.6	29.2	12.5	475	2588	0.00	0.00	0.00	0.000	6	0.000	0.000	2912	1850	2243	0	0	0	0	0	0	28.83	28.83	28.83
2607	1.16	146.6	26.7	12.8	479	2608	0.00	0.00	0.00	0.000	6	0.000	0.000	2912	1850	2243	0	0	0	0	0	0	28.83	28.83	28.83
2627	1.16	146.6	24.1	12.6	483	2634	0.00	2.30	0.00	0.000	4	0.000	0.084	2922	438	2243	0	0	0	0	0	0	28.83	26.21	28.83
2654	1.16	146.6	20.4	13.5	489	2661	0.00	2.22	0.00	0.000	6	0.000	0.056	2922	1862	2243	0	0	0	0	0	0	28.83	26.15	28.83
2680	1.16	146.6	16.7	14.7	494	2681	0.00	0.00	0.00	0.000	6	0.000	0.000	2921	1862	2243	0	0	0	0	0	0	28.83	28.83	28.83
2700	1.16	146.6	13.9	14.4	498	2701	0.00	0.00	0.00	0.000	6	0.000	0.000	2922	1862	2243	0	0	0	0	0	0	28.83	28.83	28.83
2720	1.16	146.6	11.1	13.9	502	2721	0.00	0.00	0.00	0.000	6	0.000	0.000	2922	1862	2243	0	0	0	0	0	0	28.83	28.83	28.83
2740	1.16	146.6	8.5	13.5	506	2741	0.00	0.00	0.00	0.000	6	0.000	0.000	2922	1862	2243	0	0	0	0	0	0	28.83	28.83	28.83
2760	1.16	146.6	5.6	14.4	510	2767	0.00	2.33	0.00	0.000	4	0.000	0.084	2931	442	2243	0	0	0	0	0	0	28.83	26.22	28.83
2783	1.16	146.6	2.4	14.1	515	2790	0.00	2.17	0.00	0.000	6	0.000	0.057	2932	1850	2243	0	0	0	0	0	0	28.83	26.27	28.83
2793	end climb: SURFACE_DEPTH_REACHED
state	2793	begin surface coast
2808	end surface coast: CONTROL_FINISHED_OK
state	2808	begin surface