Glider dive log

AUTEC Jun10 * SG178 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING 0 C_ROLL_DIVE 2440 ALTIM_FREQUENCY 13

MISSION 4 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2400 ALTIM_PULSE 8

DIVE 11 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_SURF 2 TGT_DEFAULT_LAT 24.688 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FLARE 3 TGT_DEFAULT_LON -77.613998 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_TGT 900 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 42 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 350 R_STBD_OVSHOOT 27 INT_PRESSURE_YINT 0

D_NO_BLEED 200 N_FILEKB 8 ROLL_AD_RATE 350 DEEPGLIDER 0

D_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 DEEPGLIDERMB 0

T_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEVICE1 2

D_PITCH 0 KERMIT 0 VBD_MIN 425 DEVICE2 -1

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3960 DEVICE3 -1

D_CALL 0 N_NOSURFACE 0 C_VBD 2737 DEVICE4 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_DIVE 220 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 69

T_MISSION 250 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_ABORT 1440 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_TURN 225 T_GPS 15 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_TURN_SAMPINT 5 N_GPS 20 UNCOM_BLEED 50 COMPASS_DEVICE 33

T_NO_W 120 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_LOITER 0 T_GPS_CHARGE -5873.1221 CF8_MAXERRORS 20 PHONE_DEVICE 48

USE_BATHY 0 T_RSLEEP 5 AH0_24V 91.800003 GPS_DEVICE 32

USE_ICE 0 STROBE 0 AH0_10V 61.200001 RAFOS_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 MINV_24V 19 XPDR_DEVICE 24

D_OFFGRID 101 RAFOS_CORR_THRESH 60 MINV_10V 8 SIM_W 0

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

RELAUNCH 1 PITCH_MIN 165 FG_AHR_24V 0 SEABIRD_T_G 0.0043278597

APOGEE_PITCH -5 PITCH_MAX 3954 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062587409

MAX_BUOY 275 C_PITCH 3160 PRESSURE_YINT -49.540699 SEABIRD_T_I 2.4307059e-05

COURSE_BIAS 0 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001161899 SEABIRD_T_J 2.6760367e-06

GLIDE_SLOPE 30 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -9.9460888

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1279132

RHO 1.0275 PITCH_GAIN 36 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015660153

MASS 51773 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_J 0.00020359491

NAV_MODE 1 PITCH_AD_RATE 160 ALTIM_BOTTOM_PING_RANGE 0 PA_OFFLOAD 1.0

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 PA_MAXUPLOADSIZE 40960.0

KALMAN_USE 1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 PA_MAXOPTIONALUPLOADSIZE 20480.0

HD_A 0.003 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 PA_POWERSOURCE 0.0

HD_B 0.0099999998 ROLL_MIN 226 ALTIM_TOP_MIN_OBSTACLE 1 PA_RESTARTMONITOR 0.0

HD_C 9.9999997e-06 ROLL_MAX 3782 ALTIM_PING_DEPTH 0 PA_SCALEFACTOR24V 1.3

HEADING -1 ROLL_DEG 45 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_OFFGRID 101 PA_OFFLOAD 1.0 SEABIRD_T_J 2.6760367e-06

AH0_10V 61.200001 D_PITCH 0 PA_POWERSOURCE 0.0 SIM_PITCH 0

AH0_24V 91.800003 D_SAFE 0 PA_RESTARTMONITOR 0.0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PA_SCALEFACTOR24V 1.3 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 900 PHONE_DEVICE 48 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_SUPPLY 2 STROBE 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 8 FG_AHR_10V 0 PITCH_AD_RATE 160 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_CNV 0.003125763 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_DBAND 0.1 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 36 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAX 3954 TGT_DEFAULT_LAT 24.688

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -77.613998

CALL_NDIVES 1 HD_A 0.003 PITCH_MIN 165 T_ABORT 1440

CALL_TRIES 5 HD_B 0.0099999998 PITCH_TIMEOUT 17 T_BOOST 0

CALL_WAIT 60 HD_C 9.9999997e-06 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 220

CAPMAXSIZE 100000 HEADING -1 PRESSURE_SLOPE 0.0001161899 T_GPS 15

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -49.540699 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAPDBG 0 P_OVSHOOT 0.039999999 T_GPS_CHARGE -5873.1221

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 ID 178 RAFOS_DEVICE -1 T_MISSION 250

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 0 INT_PRESSURE_YINT 0 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 5

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_TURN 225

C_PITCH 3160 KERMIT 0 RHO 1.0275 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2400 LOGGERDEVICE1 69 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2440 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_VBD 2737 LOGGERDEVICE3 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 USE_BATHY 0

DEEPGLIDERMB 0 LOGGERS 1 ROLL_DEG 45 USE_ICE 0

DEVICE1 2 MASS 51773 ROLL_MAX 3782 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MAX_BUOY 275 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 ROLL_MIN 226 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE5 -1 MISSION 4 R_PORT_OVSHOOT 42 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 27 VBD_MIN 425

DIVE 11 NAV_MODE 1 SEABIRD_C_G -9.9460888 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 N_FILEKB 8 SEABIRD_C_H 1.1279132 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 N_GPS 20 SEABIRD_C_I -0.0015660153 VBD_TIMEOUT 720

D_CALL 0 N_NOCOMM 1 SEABIRD_C_J 0.00020359491 XPDR_DEVICE 24

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_G 0.0043278597 XPDR_INHIBIT 90

D_FLARE 3 PA_MAXOPTIONALUPLOADSIZE 20480.0 SEABIRD_T_H 0.00062587409 XPDR_VALID 6

D_NO_BLEED 200 PA_MAXUPLOADSIZE 40960.0 SEABIRD_T_I 2.4307059e-05

Pre-dive calculations and measurements:

GPS1 080610,134140,2440.487,-7737.270,40,2.2,59,-7.1 TGT_NAME H4

_CALLS 1 TGT_LATLONG 2441.300,-7736.833

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.110,0.209

_SM_DEPTHo 0.85 KALMAN_X -384.7,102.6,-139.5,-1104.2,-204.4

_SM_ANGLEo -76.4 KALMAN_Y -105.0,-69.9,0.1,-1117.0,-110.8

GPS2 080610,134852,2440.436,-7737.253,11,2.3,30,-7.1 MHEAD_RNG_PITCHd_Wd 35.0,1749,-27.6,-13.636

SPEED_LIMITS 0.236,0.378 D_GRID 900

Post-dive calculations and measurements:

FINISH -0.1,1.007837 PA_USBA 100.0/0/0

SM_CCo 10382,37.88,0.530,0,0,1308,350.04 PA_HOME 8.3/483886/443762

SM_GC 0.53,0.00,0.00,37.88,0.000,0.000,0.530,165,2449,1308,-9.36,0.25,350.04 PA_ROOT 80.3/126931/24988

IRIDIUM_FIX 2432.32,-7739.08,021211,050505 PA_LOG 4.6/297829/283995

TT8_MAMPS 0.128828 PA_DATA1 18.8/7836665/6360462

HUMID 1078229023 PA_DATA0 22.7/7836665/6058760

INTERNAL_PRESSURE 9.48279 _24V_AH 24.1,9.764

TCM_TEMP 23.40 _10V_AH 10.4,8.259

XPDR_PINGS 0 FG_AHR_24Vo 0.000

PA_PMVER 0.4 FG_AHR_10Vo 0.000

PA_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Sun May 9 16:06:59 PDT 2010 MEM 355008

PA_BOOTCOUNT 32 DATA_FILE_SIZE 10159,299

PA_DFQS 0/0 CAP_FILE_SIZE 89924,0

PA_CMQS 0/0 CFSIZE 260165632,254230528

PA_USBDRIVE None ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PA_USBB 100.0/0/0 GPS 080610,164457,2442.001,-7736.447,66,3.3,85,-7.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 270 157.62 SBE_CT 200 24 116.00

Roll_motor 97 123 291.88 nil 0 0 0.00

VBD_pump_during_apogee 325 1125 8825.56 nil 0 0 0.00

VBD_pump_during_surface 37 530 483.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 0 0.00 nil 0 0 0.00

Iridium_during_connect 28 0 0.00 PAAM 10961 78 20724.38

Iridium_during_xfer 273 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 0 0.00

TT8 0 0 0.00

LPSleep 8655 2 197.14

TT8_Active 467 19 96.22

TT8_Sampling 1653 39 684.46

TT8_CF8 73 45 35.13

TT8_Kalman 33 0 0.00

Analog_circuits 1130 12 141.08

GPS_charging 0 0 0.00

Compass 825 15 128.70

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15 -0.89 -100.1 0.0 0.0 0 92 0.00 0.00 -69.93 0.000 6 0.000 0.000 161 2413 3145 0 0 0 0 0 0

93 -0.92 -120.0 4.2 -11.8 13 112 12.23 2.17 -1.40 0.000 4 0.271 0.066 2848 3791 3229 0 0 0 0 0 0

319 -0.92 -120.0 64.3 -19.6 38 324 0.00 2.08 0.00 0.000 6 0.000 0.035 2848 2434 3232 0 0 0 0 0 0

516 -0.92 -120.0 99.0 -17.8 57 517 0.00 0.00 0.00 0.000 6 0.000 0.000 2847 2436 3233 0 0 0 0 0 0

708 -0.92 -120.0 130.7 -16.2 64 713 0.00 2.15 0.00 0.000 4 0.000 0.056 2835 3781 3234 0 0 0 0 0 0

723 -0.92 -120.0 133.3 -16.1 64 728 0.00 2.05 0.00 0.000 6 0.000 0.034 2837 2434 3235 0 0 0 0 0 0

1043 -0.92 -120.0 184.3 -15.9 75 1044 0.00 0.00 0.00 0.000 6 0.000 0.000 2839 2433 3236 0 0 0 0 0 0

1346 -0.92 -120.0 228.5 -13.8 85 1351 0.00 2.40 0.00 0.000 4 0.000 0.041 2838 866 3237 0 0 0 0 0 0

1378 -0.92 -124.9 232.8 -13.2 86 1383 0.10 2.45 0.00 0.000 6 0.196 0.044 2853 2437 3237 0 0 0 0 0 0

1714 -0.94 -142.6 273.2 -12.0 97 1718 0.00 2.12 0.00 0.000 4 0.000 0.056 2842 3790 3237 0 0 0 0 0 0

1793 -0.94 -142.6 283.8 -13.9 99 1798 0.00 2.05 0.00 0.000 6 0.000 0.034 2845 2434 3237 0 0 0 0 0 0

2112 -0.97 -163.1 321.7 -11.8 107 2118 0.00 0.00 0.00 0.000 6 0.000 0.000 2845 2433 3237 0 0 0 0 0 0

2414 -0.99 -184.3 357.0 -11.7 112 2422 0.00 2.35 0.00 0.000 4 0.000 0.044 2845 865 3237 0 0 0 0 0 0

2446 -1.01 -196.3 361.1 -12.5 112 2454 0.00 2.45 0.00 0.000 6 0.000 0.045 2834 2449 3237 0 0 0 0 0 0

2770 -1.04 -217.4 399.3 -11.7 118 2778 0.00 2.08 0.00 0.000 4 0.000 0.058 2824 3781 3237 0 0 0 0 0 0

2830 -1.05 -231.7 406.7 -12.3 119 2838 0.00 2.03 0.00 0.000 6 0.000 0.036 2824 2410 3239 0 0 0 0 0 0

3196 -1.07 -245.0 452.5 -12.4 125 3204 0.00 2.12 0.00 0.000 4 0.000 0.058 2814 3781 3236 0 0 0 0 0 0

3223 -1.07 -245.0 456.2 -13.9 125 3231 0.00 2.00 0.00 0.000 6 0.000 0.036 2814 2436 3238 0 0 0 0 0 0

3558 -1.08 -255.9 498.8 -12.6 131 3563 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2437 3233 0 0 0 0 0 0

3859 -1.10 -267.6 535.9 -12.2 136 3867 0.00 2.40 0.00 0.000 4 0.000 0.045 2814 858 3234 0 0 0 0 0 0

3891 -1.10 -267.6 540.0 -12.8 136 3900 0.00 2.47 0.00 0.000 6 0.000 0.047 2803 2452 3234 0 0 0 0 0 0

4222 -1.10 -267.6 580.4 -12.2 142 4230 0.00 2.08 0.00 0.000 4 0.000 0.060 2792 3777 3233 0 0 0 0 0 0

4286 -1.10 -267.6 589.3 -13.9 143 4294 0.00 2.00 0.00 0.000 6 0.000 0.037 2793 2439 3232 0 0 0 0 0 0

4647 -1.10 -267.6 637.6 -13.2 149 4655 0.00 2.38 0.00 0.000 4 0.000 0.045 2793 864 3231 0 0 0 0 0 0

4707 -1.10 -267.6 645.3 -12.7 150 4715 0.00 2.45 0.00 0.000 6 0.000 0.048 2782 2441 3231 0 0 0 0 0 0

5069 -1.10 -267.6 693.5 -13.2 156 5074 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 2441 3230 0 0 0 0 0 0

5370 -1.10 -267.6 732.9 -13.2 161 5378 0.00 2.10 0.00 0.000 4 0.000 0.062 2771 3777 3228 0 0 0 0 0 0

5408 -1.10 -267.6 738.3 -14.6 161 5416 0.15 2.03 0.00 0.000 6 0.220 0.039 2803 2426 3227 0 0 0 0 0 0

5738 -1.10 -267.6 776.9 -11.5 167 5745 0.00 2.38 0.00 0.000 4 0.000 0.047 2805 869 3227 0 0 0 0 0 0

5775 -1.10 -267.6 781.7 -12.7 167 5783 0.00 2.45 0.00 0.000 6 0.000 0.050 2796 2440 3224 0 0 0 0 0 0

6099 -1.10 -267.6 819.7 -11.7 173 6104 0.00 0.00 0.00 0.000 6 0.000 0.000 2795 2440 3224 0 0 0 0 0 0

6401 -1.10 -267.6 854.7 -11.7 178 6407 0.00 0.00 0.00 0.000 6 0.000 0.000 2793 2440 3223 0 0 0 0 0 0

6702 -1.10 -267.6 889.2 -11.4 183 6710 0.00 2.42 0.00 0.000 4 0.000 0.048 2796 870 3221 0 0 0 0 0 0

6730 -1.10 -267.6 892.6 -13.0 183 6738 0.00 2.47 0.00 0.000 6 0.000 0.053 2784 2440 3221 0 0 0 0 0 0

6816 end dive: TARGET_DEPTH_EXCEEDED

state 6816 begin apogee

6819 -0.14 0.0 903.1 11.9 185 6924 1.17 0.00 97.62 1.125 6 0.193 0.000 3108 2439 2738 0 0 0 0 0 0

6925 end apogee: CONTROL_FINISHED_OK

state 6925 begin climb

6926 1.10 267.6 904.3 0.0 186 7162 1.15 0.00 227.80 1.106 6 0.080 0.000 3509 2440 1645 0 0 0 0 0 0

7468 1.10 267.6 777.4 27.4 195 7476 0.00 2.55 0.00 0.000 4 0.000 0.047 3526 826 1637 0 0 0 0 0 0

7532 1.10 267.6 760.1 26.6 196 7540 0.00 2.53 0.00 0.000 6 0.000 0.050 3522 2400 1633 0 0 0 0 0 0

7888 1.10 267.6 661.4 27.9 202 7897 0.00 2.45 0.00 0.000 4 0.000 0.047 3533 821 1631 0 0 0 0 0 0

7926 1.10 267.6 650.8 27.3 202 7934 0.00 2.50 0.00 0.000 6 0.000 0.050 3534 2398 1630 0 0 0 0 0 0

8245 1.10 267.6 560.2 28.6 208 8254 0.00 2.45 0.00 0.000 4 0.000 0.047 3545 820 1629 0 0 0 0 0 0

8268 1.10 267.6 553.6 29.0 208 8277 0.12 2.50 0.00 0.000 6 0.213 0.050 3517 2404 1628 0 0 0 0 0 0

8604 1.10 267.6 461.3 27.5 214 8612 0.00 2.45 0.00 0.000 4 0.000 0.047 3527 826 1628 0 0 0 0 0 0

8642 1.10 267.6 451.1 26.4 214 8650 0.00 2.45 0.00 0.000 6 0.000 0.050 3528 2399 1627 0 0 0 0 0 0

8961 1.10 267.6 360.4 28.5 220 8969 0.00 2.45 0.00 0.000 4 0.000 0.047 3540 821 1626 0 0 0 0 0 0

8988 1.10 267.6 352.5 28.0 220 8997 0.00 2.47 0.00 0.000 6 0.000 0.049 3539 2398 1626 0 0 0 0 0 0

9318 1.10 267.6 255.4 29.2 228 9323 0.00 2.45 0.00 0.000 4 0.000 0.045 3551 829 1626 0 0 0 0 0 0

9366 1.10 267.6 241.6 28.1 229 9371 0.12 2.47 0.00 0.000 6 0.194 0.048 3517 2399 1626 0 0 0 0 0 0

9685 1.10 267.6 159.6 25.1 240 9686 0.00 0.00 0.00 0.000 6 0.000 0.000 3512 2398 1629 0 0 0 0 0 0

9990 1.10 267.6 85.2 23.5 254 9995 0.00 2.42 0.00 0.000 4 0.000 0.043 3526 830 1627 0 0 0 0 0 0

10054 1.10 267.6 70.1 23.6 260 10059 0.00 2.47 0.00 0.000 6 0.000 0.046 3526 2411 1626 0 0 0 0 0 0

10251 1.10 267.6 23.5 22.8 279 10255 0.00 2.45 0.00 0.000 4 0.000 0.043 3538 827 1626 0 0 0 0 0 0

10309 1.10 267.6 11.1 20.6 288 10317 0.00 2.45 0.00 0.000 6 0.000 0.045 3538 2393 1626 0 0 0 0 0 0

10357 end climb: SURFACE_DEPTH_REACHED

state 10357 begin surface coast

10368 end surface coast: CONTROL_FINISHED_OK

state 10368 begin surface

ID	178	ESCAPE_HEADING	0	C_ROLL_DIVE	2440	ALTIM_FREQUENCY	13
MISSION	4	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2400	ALTIM_PULSE	8
DIVE	11	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_SURF	2	TGT_DEFAULT_LAT	24.688	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FLARE	3	TGT_DEFAULT_LON	-77.613998	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_TGT	900	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	42	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	350	R_STBD_OVSHOOT	27	INT_PRESSURE_YINT	0
D_NO_BLEED	200	N_FILEKB	8	ROLL_AD_RATE	350	DEEPGLIDER	0
D_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	DEEPGLIDERMB	0
T_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEVICE1	2
D_PITCH	0	KERMIT	0	VBD_MIN	425	DEVICE2	-1
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3960	DEVICE3	-1
D_CALL	0	N_NOSURFACE	0	C_VBD	2737	DEVICE4	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_DIVE	220	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	69
T_MISSION	250	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_ABORT	1440	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_TURN	225	T_GPS	15	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_TURN_SAMPINT	5	N_GPS	20	UNCOM_BLEED	50	COMPASS_DEVICE	33
T_NO_W	120	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_LOITER	0	T_GPS_CHARGE	-5873.1221	CF8_MAXERRORS	20	PHONE_DEVICE	48
USE_BATHY	0	T_RSLEEP	5	AH0_24V	91.800003	GPS_DEVICE	32
USE_ICE	0	STROBE	0	AH0_10V	61.200001	RAFOS_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	MINV_24V	19	XPDR_DEVICE	24
D_OFFGRID	101	RAFOS_CORR_THRESH	60	MINV_10V	8	SIM_W	0
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
RELAUNCH	1	PITCH_MIN	165	FG_AHR_24V	0	SEABIRD_T_G	0.0043278597
APOGEE_PITCH	-5	PITCH_MAX	3954	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062587409
MAX_BUOY	275	C_PITCH	3160	PRESSURE_YINT	-49.540699	SEABIRD_T_I	2.4307059e-05
COURSE_BIAS	0	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001161899	SEABIRD_T_J	2.6760367e-06
GLIDE_SLOPE	30	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9460888
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1279132
RHO	1.0275	PITCH_GAIN	36	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015660153
MASS	51773	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_J	0.00020359491
NAV_MODE	1	PITCH_AD_RATE	160	ALTIM_BOTTOM_PING_RANGE	0	PA_OFFLOAD	1.0
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	PA_MAXUPLOADSIZE	40960.0
KALMAN_USE	1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	PA_MAXOPTIONALUPLOADSIZE	20480.0
HD_A	0.003	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	PA_POWERSOURCE	0.0
HD_B	0.0099999998	ROLL_MIN	226	ALTIM_TOP_MIN_OBSTACLE	1	PA_RESTARTMONITOR	0.0
HD_C	9.9999997e-06	ROLL_MAX	3782	ALTIM_PING_DEPTH	0	PA_SCALEFACTOR24V	1.3
HEADING	-1	ROLL_DEG	45	ALTIM_PING_DELTA	5

GPS1	080610,134140,2440.487,-7737.270,40,2.2,59,-7.1	TGT_NAME	H4
_CALLS	1	TGT_LATLONG	2441.300,-7736.833
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.110,0.209
_SM_DEPTHo	0.85	KALMAN_X	-384.7,102.6,-139.5,-1104.2,-204.4
_SM_ANGLEo	-76.4	KALMAN_Y	-105.0,-69.9,0.1,-1117.0,-110.8
GPS2	080610,134852,2440.436,-7737.253,11,2.3,30,-7.1	MHEAD_RNG_PITCHd_Wd	35.0,1749,-27.6,-13.636
SPEED_LIMITS	0.236,0.378	D_GRID	900

FINISH	-0.1,1.007837	PA_USBA	100.0/0/0
SM_CCo	10382,37.88,0.530,0,0,1308,350.04	PA_HOME	8.3/483886/443762
SM_GC	0.53,0.00,0.00,37.88,0.000,0.000,0.530,165,2449,1308,-9.36,0.25,350.04	PA_ROOT	80.3/126931/24988
IRIDIUM_FIX	2432.32,-7739.08,021211,050505	PA_LOG	4.6/297829/283995
TT8_MAMPS	0.128828	PA_DATA1	18.8/7836665/6360462
HUMID	1078229023	PA_DATA0	22.7/7836665/6058760
INTERNAL_PRESSURE	9.48279	_24V_AH	24.1,9.764
TCM_TEMP	23.40	_10V_AH	10.4,8.259
XPDR_PINGS	0	FG_AHR_24Vo	0.000
PA_PMVER	0.4	FG_AHR_10Vo	0.000
PA_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Sun May 9 16:06:59 PDT 2010	MEM	355008
PA_BOOTCOUNT	32	DATA_FILE_SIZE	10159,299
PA_DFQS	0/0	CAP_FILE_SIZE	89924,0
PA_CMQS	0/0	CFSIZE	260165632,254230528
PA_USBDRIVE	None	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_USBB	100.0/0/0	GPS	080610,164457,2442.001,-7736.447,66,3.3,85,-7.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	270	157.62	SBE_CT	200	24	116.00
Roll_motor	97	123	291.88	nil	0	0	0.00
VBD_pump_during_apogee	325	1125	8825.56	nil	0	0	0.00
VBD_pump_during_surface	37	530	483.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	0	0.00	nil	0	0	0.00
Iridium_during_connect	28	0	0.00	PAAM	10961	78	20724.38
Iridium_during_xfer	273	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	0	0.00
TT8	0	0	0.00
LPSleep	8655	2	197.14
TT8_Active	467	19	96.22
TT8_Sampling	1653	39	684.46
TT8_CF8	73	45	35.13
TT8_Kalman	33	0	0.00
Analog_circuits	1130	12	141.08
GPS_charging	0	0	0.00
Compass	825	15	128.70
RAFOS	0	0	0.00
Transponder	0	5	0.03

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15	-0.89	-100.1	0.0	0.0	0	92	0.00	0.00	-69.93	0.000	6	0.000	0.000	161	2413	3145	0	0	0	0	0	0
93	-0.92	-120.0	4.2	-11.8	13	112	12.23	2.17	-1.40	0.000	4	0.271	0.066	2848	3791	3229	0	0	0	0	0	0
319	-0.92	-120.0	64.3	-19.6	38	324	0.00	2.08	0.00	0.000	6	0.000	0.035	2848	2434	3232	0	0	0	0	0	0
516	-0.92	-120.0	99.0	-17.8	57	517	0.00	0.00	0.00	0.000	6	0.000	0.000	2847	2436	3233	0	0	0	0	0	0
708	-0.92	-120.0	130.7	-16.2	64	713	0.00	2.15	0.00	0.000	4	0.000	0.056	2835	3781	3234	0	0	0	0	0	0
723	-0.92	-120.0	133.3	-16.1	64	728	0.00	2.05	0.00	0.000	6	0.000	0.034	2837	2434	3235	0	0	0	0	0	0
1043	-0.92	-120.0	184.3	-15.9	75	1044	0.00	0.00	0.00	0.000	6	0.000	0.000	2839	2433	3236	0	0	0	0	0	0
1346	-0.92	-120.0	228.5	-13.8	85	1351	0.00	2.40	0.00	0.000	4	0.000	0.041	2838	866	3237	0	0	0	0	0	0
1378	-0.92	-124.9	232.8	-13.2	86	1383	0.10	2.45	0.00	0.000	6	0.196	0.044	2853	2437	3237	0	0	0	0	0	0
1714	-0.94	-142.6	273.2	-12.0	97	1718	0.00	2.12	0.00	0.000	4	0.000	0.056	2842	3790	3237	0	0	0	0	0	0
1793	-0.94	-142.6	283.8	-13.9	99	1798	0.00	2.05	0.00	0.000	6	0.000	0.034	2845	2434	3237	0	0	0	0	0	0
2112	-0.97	-163.1	321.7	-11.8	107	2118	0.00	0.00	0.00	0.000	6	0.000	0.000	2845	2433	3237	0	0	0	0	0	0
2414	-0.99	-184.3	357.0	-11.7	112	2422	0.00	2.35	0.00	0.000	4	0.000	0.044	2845	865	3237	0	0	0	0	0	0
2446	-1.01	-196.3	361.1	-12.5	112	2454	0.00	2.45	0.00	0.000	6	0.000	0.045	2834	2449	3237	0	0	0	0	0	0
2770	-1.04	-217.4	399.3	-11.7	118	2778	0.00	2.08	0.00	0.000	4	0.000	0.058	2824	3781	3237	0	0	0	0	0	0
2830	-1.05	-231.7	406.7	-12.3	119	2838	0.00	2.03	0.00	0.000	6	0.000	0.036	2824	2410	3239	0	0	0	0	0	0
3196	-1.07	-245.0	452.5	-12.4	125	3204	0.00	2.12	0.00	0.000	4	0.000	0.058	2814	3781	3236	0	0	0	0	0	0
3223	-1.07	-245.0	456.2	-13.9	125	3231	0.00	2.00	0.00	0.000	6	0.000	0.036	2814	2436	3238	0	0	0	0	0	0
3558	-1.08	-255.9	498.8	-12.6	131	3563	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2437	3233	0	0	0	0	0	0
3859	-1.10	-267.6	535.9	-12.2	136	3867	0.00	2.40	0.00	0.000	4	0.000	0.045	2814	858	3234	0	0	0	0	0	0
3891	-1.10	-267.6	540.0	-12.8	136	3900	0.00	2.47	0.00	0.000	6	0.000	0.047	2803	2452	3234	0	0	0	0	0	0
4222	-1.10	-267.6	580.4	-12.2	142	4230	0.00	2.08	0.00	0.000	4	0.000	0.060	2792	3777	3233	0	0	0	0	0	0
4286	-1.10	-267.6	589.3	-13.9	143	4294	0.00	2.00	0.00	0.000	6	0.000	0.037	2793	2439	3232	0	0	0	0	0	0
4647	-1.10	-267.6	637.6	-13.2	149	4655	0.00	2.38	0.00	0.000	4	0.000	0.045	2793	864	3231	0	0	0	0	0	0
4707	-1.10	-267.6	645.3	-12.7	150	4715	0.00	2.45	0.00	0.000	6	0.000	0.048	2782	2441	3231	0	0	0	0	0	0
5069	-1.10	-267.6	693.5	-13.2	156	5074	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	2441	3230	0	0	0	0	0	0
5370	-1.10	-267.6	732.9	-13.2	161	5378	0.00	2.10	0.00	0.000	4	0.000	0.062	2771	3777	3228	0	0	0	0	0	0
5408	-1.10	-267.6	738.3	-14.6	161	5416	0.15	2.03	0.00	0.000	6	0.220	0.039	2803	2426	3227	0	0	0	0	0	0
5738	-1.10	-267.6	776.9	-11.5	167	5745	0.00	2.38	0.00	0.000	4	0.000	0.047	2805	869	3227	0	0	0	0	0	0
5775	-1.10	-267.6	781.7	-12.7	167	5783	0.00	2.45	0.00	0.000	6	0.000	0.050	2796	2440	3224	0	0	0	0	0	0
6099	-1.10	-267.6	819.7	-11.7	173	6104	0.00	0.00	0.00	0.000	6	0.000	0.000	2795	2440	3224	0	0	0	0	0	0
6401	-1.10	-267.6	854.7	-11.7	178	6407	0.00	0.00	0.00	0.000	6	0.000	0.000	2793	2440	3223	0	0	0	0	0	0
6702	-1.10	-267.6	889.2	-11.4	183	6710	0.00	2.42	0.00	0.000	4	0.000	0.048	2796	870	3221	0	0	0	0	0	0
6730	-1.10	-267.6	892.6	-13.0	183	6738	0.00	2.47	0.00	0.000	6	0.000	0.053	2784	2440	3221	0	0	0	0	0	0
6816	end dive: TARGET_DEPTH_EXCEEDED
state	6816	begin apogee
6819	-0.14	0.0	903.1	11.9	185	6924	1.17	0.00	97.62	1.125	6	0.193	0.000	3108	2439	2738	0	0	0	0	0	0
6925	end apogee: CONTROL_FINISHED_OK
state	6925	begin climb
6926	1.10	267.6	904.3	0.0	186	7162	1.15	0.00	227.80	1.106	6	0.080	0.000	3509	2440	1645	0	0	0	0	0	0
7468	1.10	267.6	777.4	27.4	195	7476	0.00	2.55	0.00	0.000	4	0.000	0.047	3526	826	1637	0	0	0	0	0	0
7532	1.10	267.6	760.1	26.6	196	7540	0.00	2.53	0.00	0.000	6	0.000	0.050	3522	2400	1633	0	0	0	0	0	0
7888	1.10	267.6	661.4	27.9	202	7897	0.00	2.45	0.00	0.000	4	0.000	0.047	3533	821	1631	0	0	0	0	0	0
7926	1.10	267.6	650.8	27.3	202	7934	0.00	2.50	0.00	0.000	6	0.000	0.050	3534	2398	1630	0	0	0	0	0	0
8245	1.10	267.6	560.2	28.6	208	8254	0.00	2.45	0.00	0.000	4	0.000	0.047	3545	820	1629	0	0	0	0	0	0
8268	1.10	267.6	553.6	29.0	208	8277	0.12	2.50	0.00	0.000	6	0.213	0.050	3517	2404	1628	0	0	0	0	0	0
8604	1.10	267.6	461.3	27.5	214	8612	0.00	2.45	0.00	0.000	4	0.000	0.047	3527	826	1628	0	0	0	0	0	0
8642	1.10	267.6	451.1	26.4	214	8650	0.00	2.45	0.00	0.000	6	0.000	0.050	3528	2399	1627	0	0	0	0	0	0
8961	1.10	267.6	360.4	28.5	220	8969	0.00	2.45	0.00	0.000	4	0.000	0.047	3540	821	1626	0	0	0	0	0	0
8988	1.10	267.6	352.5	28.0	220	8997	0.00	2.47	0.00	0.000	6	0.000	0.049	3539	2398	1626	0	0	0	0	0	0
9318	1.10	267.6	255.4	29.2	228	9323	0.00	2.45	0.00	0.000	4	0.000	0.045	3551	829	1626	0	0	0	0	0	0
9366	1.10	267.6	241.6	28.1	229	9371	0.12	2.47	0.00	0.000	6	0.194	0.048	3517	2399	1626	0	0	0	0	0	0
9685	1.10	267.6	159.6	25.1	240	9686	0.00	0.00	0.00	0.000	6	0.000	0.000	3512	2398	1629	0	0	0	0	0	0
9990	1.10	267.6	85.2	23.5	254	9995	0.00	2.42	0.00	0.000	4	0.000	0.043	3526	830	1627	0	0	0	0	0	0
10054	1.10	267.6	70.1	23.6	260	10059	0.00	2.47	0.00	0.000	6	0.000	0.046	3526	2411	1626	0	0	0	0	0	0
10251	1.10	267.6	23.5	22.8	279	10255	0.00	2.45	0.00	0.000	4	0.000	0.043	3538	827	1626	0	0	0	0	0	0
10309	1.10	267.6	11.1	20.6	288	10317	0.00	2.45	0.00	0.000	6	0.000	0.045	3538	2393	1626	0	0	0	0	0	0
10357	end climb: SURFACE_DEPTH_REACHED
state	10357	begin surface coast
10368	end surface coast: CONTROL_FINISHED_OK
state	10368	begin surface