Glider dive log

Shilshole 15Apr14 * SG161 * Dive index * Mission links * Dive 8 * 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 -1 ROLL_MAX 3769 ALTIM_PING_DEPTH 80

DIVE 8 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1860 ALTIM_FREQUENCY 13

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1750 ALTIM_PULSE 3

D_FLARE 3 TGT_DEFAULT_LAT 4743.1001 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_TGT 165 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 28 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 37 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 65 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 0 T_GPS_CHARGE -2872.8616 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 3045 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 165 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 65

CAPMAXSIZE 100000 HEADING -1 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 -2872.8616

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 3045 LOGGERDEVICE1 83 RHO 1.0233001 T_TURN 540

C_ROLL_CLIMB 1750 LOGGERDEVICE2 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 1860 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 0

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 28 VBD_MAX 3960

DEVICE6 -1 MI_OFFLOAD 1.0 R_STBD_OVSHOOT 37 VBD_MAXERRORS 1

DIVE 8 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 150414,225742,4743.290,-12225.361,2,0.9,37,16.3 TGT_NAME NORTH

_CALLS 2 TGT_LATLONG 4744.000,-12224.500

_XMS_NAKs 0 TGT_RADIUS 400.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.107,0.243

_SM_DEPTHo 1.36 KALMAN_X 204.6,226.2,48.1,-1688.5,-316.7

_SM_ANGLEo -68.9 KALMAN_Y -1467.0,-89.9,-81.8,2433.2,-812.7

GPS2 150414,230730,4743.278,-12225.289,5,0.9,39,16.3 MHEAD_RNG_PITCHd_Wd 7.4,1660,-13.3,-8.462

SPEED_LIMITS 0.147,0.265 D_GRID 165

Post-dive calculations and measurements:

FINISH 1.0,1.020184 MI_ROOT 70.5/190403/56092

SM_CCo 3219,64.43,0.422,1,0,617,320.11 MI_HOME 2.7/436550/424870

SM_GC 1.98,8.82,2.40,64.43,0.054,0.040,0.422,144,1865,617,-9.01,-1.10,320.11,0,0,0,0,1,0,25.67,25.67,24.86 _24V_AH 24.4,1.168

IRIDIUM_FIX 4751.72,-12340.51,150414,232355 _10V_AH 10.4,0.696

TT8_MAMPS 0.09737,0.09737 FG_AHR_24Vo 0.000

HUMID 36.10 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 8.77442 MEM 197884

TCM_TEMP 20.00 DATA_FILE_SIZE 10107,352

MI_MIVER 0.4 CAP_FILE_SIZE 53156,0

MI_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 CFSIZE 260034560,257523712

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

MI_LOG 3.4/516052/498730 GPS 160414,000353,4743.238,-12225.497,2,1.1,36,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 255 134.98 SBE_CT 237 23 134.41

Roll_motor 40 72 71.02 nil 0 0 0.00

VBD_pump_during_apogee 342 584 4884.33 nil 0 0 0.00

VBD_pump_during_surface 64 422 663.81 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 62 61 94.10 nil 0 0 0.00

Iridium_during_connect 69 160 272.01 MIB 3955 42 4144.68

Iridium_during_xfer 161 223 878.04 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 3955 39 3818.10

GPS 40 31 13.26

TT8 0 0 0.00

LPSleep 1889 0 7.66

TT8_Active 443 13 60.90

TT8_Sampling 1413 40 601.69

TT8_CF8 38 48 19.37

TT8_Kalman 33 65 22.67

Analog_circuits 857 16 142.77

GPS_charging 0 0 0.00

Compass 660 15 107.98

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15 -0.85 -175.9 0.0 0.0 0 52 0.00 0.00 -35.67 0.000 2 0.000 0.000 147 1858 1710 0 0 0 0 0 0 28.83 28.83 28.83

54 -0.85 -175.9 3.3 -8.5 5 89 10.93 2.22 -19.02 0.000 4 0.256 0.071 2763 451 2641 0 0 0 0 0 0 25.50 25.67 25.81

618 -0.85 -175.9 88.5 -13.7 89 621 0.00 2.17 0.00 0.000 6 0.000 0.041 2754 1859 2642 0 0 0 0 0 0 28.83 25.95 28.83

748 -0.85 -175.9 104.4 -12.0 101 748 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 1860 2642 0 0 0 0 0 0 28.83 28.83 28.83

1048 -0.85 -175.9 139.8 -11.8 121 1051 0.00 2.22 0.00 0.000 4 0.000 0.055 2754 456 2641 0 0 0 0 0 0 28.83 25.98 28.83

1108 -0.85 -175.9 146.9 -11.8 125 1112 0.00 2.15 0.00 0.000 6 0.000 0.040 2744 1858 2642 0 0 0 0 0 0 28.83 25.98 28.83

1257 end dive: TARGET_DEPTH_EXCEEDED

state 1257 begin apogee

1259 -0.33 0.0 165.0 -12.2 135 1411 0.60 0.00 142.12 0.584 6 0.138 0.000 2931 1721 1919 0 0 0 0 0 0 25.89 28.83 24.43

1412 end apogee: CONTROL_FINISHED_OK

state 1412 begin climb

1413 0.85 175.9 171.2 0.0 145 1562 1.20 2.25 139.48 0.567 4 0.107 0.055 3324 360 1202 0 0 0 0 0 0 24.91 24.77 24.37

1621 0.85 175.9 157.8 11.5 159 1625 0.00 2.20 0.00 0.000 6 0.000 0.037 3324 1751 1202 0 0 0 0 0 0 28.83 25.17 28.83

1936 0.85 175.9 125.3 9.5 180 1940 0.00 2.20 0.00 0.000 4 0.000 0.056 3323 3141 1200 0 0 0 0 0 0 28.83 25.77 28.83

1975 0.85 175.9 122.1 10.2 182 1984 0.00 2.12 0.00 0.000 6 0.000 0.037 3334 1769 1199 0 0 0 0 0 0 28.83 25.79 28.83

2286 0.85 175.9 88.0 10.8 207 2290 0.00 2.28 0.00 0.000 4 0.000 0.057 3345 312 1200 0 0 0 0 0 0 28.83 25.89 28.83

2476 0.85 175.9 64.6 12.6 226 2480 0.00 2.20 0.00 0.000 6 0.000 0.038 3345 1745 1199 0 0 0 0 0 0 28.83 25.40 28.83

2606 0.85 175.9 49.8 10.5 239 2614 0.00 2.25 0.00 0.000 4 0.000 0.057 3355 337 1199 0 0 0 0 0 0 28.83 25.95 28.83

2633 0.85 175.9 47.0 10.6 244 2641 0.10 2.17 0.00 0.000 6 0.135 0.037 3324 1757 1199 0 0 0 0 0 0 25.88 25.98 28.83

2700 0.86 183.6 41.3 8.2 257 2715 0.00 2.17 7.30 0.440 4 0.000 0.056 3324 3145 1172 0 0 0 0 0 0 28.83 25.90 25.48

2749 0.86 183.6 37.4 8.8 266 2757 0.00 2.15 0.00 0.000 6 0.000 0.037 3332 1749 1171 0 0 0 0 0 0 28.83 25.93 28.83

2816 0.86 183.6 31.3 9.0 279 2817 0.00 0.00 0.00 0.000 6 0.000 0.000 3332 1749 1171 0 0 0 0 0 0 28.83 28.83 28.83

2876 0.86 184.2 26.2 8.4 291 2883 0.00 0.00 0.00 0.000 6 0.000 0.000 3332 1749 1171 0 0 0 0 0 0 28.83 28.83 28.83

2942 0.88 202.3 20.9 7.9 304 2964 0.00 2.22 16.42 0.484 4 0.000 0.055 3332 3137 1095 0 0 0 0 0 0 28.83 25.78 25.38

2998 0.88 202.3 15.6 10.4 314 3006 0.00 2.15 0.00 0.000 6 0.000 0.037 3342 1751 1095 0 0 0 0 0 0 28.83 25.84 28.83

3066 0.94 248.1 10.1 7.0 327 3113 0.00 2.30 37.17 0.490 4 0.000 0.057 3353 338 908 0 0 0 0 0 0 28.83 25.47 25.09

3166 end climb: SURFACE_DEPTH_REACHED

state 3166 begin surface coast

3201 end surface coast: CONTROL_FINISHED_OK

state 3201 begin surface

ID	161	HD_C	9.9999997e-06	ROLL_MIN	192	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	4	HEADING	-1	ROLL_MAX	3769	ALTIM_PING_DEPTH	80
DIVE	8	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1860	ALTIM_FREQUENCY	13
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1750	ALTIM_PULSE	3
D_FLARE	3	TGT_DEFAULT_LAT	4743.1001	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_TGT	165	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	28	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	37	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	65	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	0	T_GPS_CHARGE	-2872.8616	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	3045	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	150414,225742,4743.290,-12225.361,2,0.9,37,16.3	TGT_NAME	NORTH
_CALLS	2	TGT_LATLONG	4744.000,-12224.500
_XMS_NAKs	0	TGT_RADIUS	400.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.107,0.243
_SM_DEPTHo	1.36	KALMAN_X	204.6,226.2,48.1,-1688.5,-316.7
_SM_ANGLEo	-68.9	KALMAN_Y	-1467.0,-89.9,-81.8,2433.2,-812.7
GPS2	150414,230730,4743.278,-12225.289,5,0.9,39,16.3	MHEAD_RNG_PITCHd_Wd	7.4,1660,-13.3,-8.462
SPEED_LIMITS	0.147,0.265	D_GRID	165

FINISH	1.0,1.020184	MI_ROOT	70.5/190403/56092
SM_CCo	3219,64.43,0.422,1,0,617,320.11	MI_HOME	2.7/436550/424870
SM_GC	1.98,8.82,2.40,64.43,0.054,0.040,0.422,144,1865,617,-9.01,-1.10,320.11,0,0,0,0,1,0,25.67,25.67,24.86	_24V_AH	24.4,1.168
IRIDIUM_FIX	4751.72,-12340.51,150414,232355	_10V_AH	10.4,0.696
TT8_MAMPS	0.09737,0.09737	FG_AHR_24Vo	0.000
HUMID	36.10	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	8.77442	MEM	197884
TCM_TEMP	20.00	DATA_FILE_SIZE	10107,352
MI_MIVER	0.4	CAP_FILE_SIZE	53156,0
MI_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011	CFSIZE	260034560,257523712
MI_BOOTCOUNT	24	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
MI_LOG	3.4/516052/498730	GPS	160414,000353,4743.238,-12225.497,2,1.1,36,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	255	134.98	SBE_CT	237	23	134.41
Roll_motor	40	72	71.02	nil	0	0	0.00
VBD_pump_during_apogee	342	584	4884.33	nil	0	0	0.00
VBD_pump_during_surface	64	422	663.81	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	62	61	94.10	nil	0	0	0.00
Iridium_during_connect	69	160	272.01	MIB	3955	42	4144.68
Iridium_during_xfer	161	223	878.04	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	3955	39	3818.10
GPS	40	31	13.26
TT8	0	0	0.00
LPSleep	1889	0	7.66
TT8_Active	443	13	60.90
TT8_Sampling	1413	40	601.69
TT8_CF8	38	48	19.37
TT8_Kalman	33	65	22.67
Analog_circuits	857	16	142.77
GPS_charging	0	0	0.00
Compass	660	15	107.98
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15	-0.85	-175.9	0.0	0.0	0	52	0.00	0.00	-35.67	0.000	2	0.000	0.000	147	1858	1710	0	0	0	0	0	0	28.83	28.83	28.83
54	-0.85	-175.9	3.3	-8.5	5	89	10.93	2.22	-19.02	0.000	4	0.256	0.071	2763	451	2641	0	0	0	0	0	0	25.50	25.67	25.81
618	-0.85	-175.9	88.5	-13.7	89	621	0.00	2.17	0.00	0.000	6	0.000	0.041	2754	1859	2642	0	0	0	0	0	0	28.83	25.95	28.83
748	-0.85	-175.9	104.4	-12.0	101	748	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	1860	2642	0	0	0	0	0	0	28.83	28.83	28.83
1048	-0.85	-175.9	139.8	-11.8	121	1051	0.00	2.22	0.00	0.000	4	0.000	0.055	2754	456	2641	0	0	0	0	0	0	28.83	25.98	28.83
1108	-0.85	-175.9	146.9	-11.8	125	1112	0.00	2.15	0.00	0.000	6	0.000	0.040	2744	1858	2642	0	0	0	0	0	0	28.83	25.98	28.83
1257	end dive: TARGET_DEPTH_EXCEEDED
state	1257	begin apogee
1259	-0.33	0.0	165.0	-12.2	135	1411	0.60	0.00	142.12	0.584	6	0.138	0.000	2931	1721	1919	0	0	0	0	0	0	25.89	28.83	24.43
1412	end apogee: CONTROL_FINISHED_OK
state	1412	begin climb
1413	0.85	175.9	171.2	0.0	145	1562	1.20	2.25	139.48	0.567	4	0.107	0.055	3324	360	1202	0	0	0	0	0	0	24.91	24.77	24.37
1621	0.85	175.9	157.8	11.5	159	1625	0.00	2.20	0.00	0.000	6	0.000	0.037	3324	1751	1202	0	0	0	0	0	0	28.83	25.17	28.83
1936	0.85	175.9	125.3	9.5	180	1940	0.00	2.20	0.00	0.000	4	0.000	0.056	3323	3141	1200	0	0	0	0	0	0	28.83	25.77	28.83
1975	0.85	175.9	122.1	10.2	182	1984	0.00	2.12	0.00	0.000	6	0.000	0.037	3334	1769	1199	0	0	0	0	0	0	28.83	25.79	28.83
2286	0.85	175.9	88.0	10.8	207	2290	0.00	2.28	0.00	0.000	4	0.000	0.057	3345	312	1200	0	0	0	0	0	0	28.83	25.89	28.83
2476	0.85	175.9	64.6	12.6	226	2480	0.00	2.20	0.00	0.000	6	0.000	0.038	3345	1745	1199	0	0	0	0	0	0	28.83	25.40	28.83
2606	0.85	175.9	49.8	10.5	239	2614	0.00	2.25	0.00	0.000	4	0.000	0.057	3355	337	1199	0	0	0	0	0	0	28.83	25.95	28.83
2633	0.85	175.9	47.0	10.6	244	2641	0.10	2.17	0.00	0.000	6	0.135	0.037	3324	1757	1199	0	0	0	0	0	0	25.88	25.98	28.83
2700	0.86	183.6	41.3	8.2	257	2715	0.00	2.17	7.30	0.440	4	0.000	0.056	3324	3145	1172	0	0	0	0	0	0	28.83	25.90	25.48
2749	0.86	183.6	37.4	8.8	266	2757	0.00	2.15	0.00	0.000	6	0.000	0.037	3332	1749	1171	0	0	0	0	0	0	28.83	25.93	28.83
2816	0.86	183.6	31.3	9.0	279	2817	0.00	0.00	0.00	0.000	6	0.000	0.000	3332	1749	1171	0	0	0	0	0	0	28.83	28.83	28.83
2876	0.86	184.2	26.2	8.4	291	2883	0.00	0.00	0.00	0.000	6	0.000	0.000	3332	1749	1171	0	0	0	0	0	0	28.83	28.83	28.83
2942	0.88	202.3	20.9	7.9	304	2964	0.00	2.22	16.42	0.484	4	0.000	0.055	3332	3137	1095	0	0	0	0	0	0	28.83	25.78	25.38
2998	0.88	202.3	15.6	10.4	314	3006	0.00	2.15	0.00	0.000	6	0.000	0.037	3342	1751	1095	0	0	0	0	0	0	28.83	25.84	28.83
3066	0.94	248.1	10.1	7.0	327	3113	0.00	2.30	37.17	0.490	4	0.000	0.057	3353	338	908	0	0	0	0	0	0	28.83	25.47	25.09
3166	end climb: SURFACE_DEPTH_REACHED
state	3166	begin surface coast
3201	end surface coast: CONTROL_FINISHED_OK
state	3201	begin surface