Glider dive log

SCORE Jan11 * SG178 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 HEADING -1 ROLL_DEG 45 ALTIM_PING_DELTA 10

MISSION 10 ESCAPE_HEADING 0 C_ROLL_DIVE 2550 ALTIM_FREQUENCY 13

DIVE 11 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2200 ALTIM_PULSE 8

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 1

D_SURF 3 TGT_DEFAULT_LAT 32.6903 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FLARE 3 TGT_DEFAULT_LON -118.7761 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_TGT 990 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 41 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 275 R_STBD_OVSHOOT 18 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 PROTOCOL 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 2850 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 248 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 69

T_MISSION 310 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 -9723.3564 CF8_MAXERRORS 20 PHONE_DEVICE 48

USE_BATHY 1 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 501 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 200 C_PITCH 3115 PRESSURE_YINT -44.583923 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 25 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015660153

MASS 51840 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_J 0.00020359491

NAV_MODE 1 PITCH_AD_RATE 145 ALTIM_BOTTOM_PING_RANGE 0 PA_OFFLOAD 1.0

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 PA_MAXUPLOADSIZE 20480.0

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 130 PA_SCALEFACTOR24V 1.3

AD7714Ch0Gain 128 D_OFFGRID 501 PA_OFFLOAD 1.0 SEABIRD_T_I 2.4307059e-05

AH0_10V 61.200001 D_PITCH 0 PA_POWERSOURCE 0.0 SEABIRD_T_J 2.6760367e-06

AH0_24V 91.800003 D_SAFE 0 PA_RESTARTMONITOR 0.0 SIM_PITCH 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PA_SCALEFACTOR24V 1.3 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PHONE_DEVICE 48 SM_CC 275

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PING_DEPTH 130 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_PULSE 8 FG_AHR_10V 0 PITCH_AD_RATE 145 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 1 FG_AHR_24V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 25 TCM_ROLL_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAX 3954 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 32.6903

CALL_NDIVES 1 HD_A 0.003 PITCH_MIN 165 TGT_DEFAULT_LON -118.7761

CALL_TRIES 5 HD_B 0.0099999998 PITCH_TIMEOUT 17 T_ABORT 1440

CALL_WAIT 60 HD_C 9.9999997e-06 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 0

CAPMAXSIZE 100000 HEADING -1 PRESSURE_SLOPE 0.0001161899 T_DIVE 248

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -44.583923 T_GPS 15

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 0 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT 0.039999999 T_GPS_CHARGE -9723.3564

COMPASS2_DEVICE -1 ID 178 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_MISSION 310

COMPASS_USE 0 INT_PRESSURE_YINT 0 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 1 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 5

C_PITCH 3115 LOGGERDEVICE1 69 RELAUNCH 1 T_TURN 225

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 RHO 1.0275 T_TURN_SAMPINT 5

C_ROLL_DIVE 2550 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_VBD 2850 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

DEEPGLIDER 0 LOGGERS 1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 51840 ROLL_CNV 0.028270001 USE_BATHY 1

DEVICE1 2 MAX_BUOY 200 ROLL_DEG 45 USE_ICE 0

DEVICE2 -1 MINV_10V 8 ROLL_MAX 3782 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 19 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 10 ROLL_MIN 226 VBD_DBAND 2

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE6 -1 NAV_MODE 1 R_PORT_OVSHOOT 41 VBD_MAXERRORS 1

DIVE 11 N_DIVES 0 R_STBD_OVSHOOT 18 VBD_MIN 425

D_ABORT 1090 N_FILEKB 8 SEABIRD_C_G -9.9460888 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 0 N_GPS 20 SEABIRD_C_H 1.1279132 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_NOCOMM 1 SEABIRD_C_I -0.0015660153 VBD_TIMEOUT 720

D_FINISH 0 N_NOSURFACE 0 SEABIRD_C_J 0.00020359491 XPDR_DEVICE 24

D_FLARE 3 PA_MAXOPTIONALUPLOADSIZE 20480.0 SEABIRD_T_G 0.0043278597 XPDR_INHIBIT 90

D_NO_BLEED 200 PA_MAXUPLOADSIZE 20480.0 SEABIRD_T_H 0.00062587409 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 050111,224706,3246.154,-11858.390,46,1.6,52,13.3 TGT_NAME DM4

_CALLS 1 TGT_LATLONG 3251.800,-11907.783

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.285,0.155

_SM_DEPTHo 1.63 KALMAN_X 15057.1,330.8,212.3,-34109.1,2338.3

_SM_ANGLEo -79.0 KALMAN_Y -1372.5,-23.4,-54.7,12141.2,-937.7

GPS2 050111,225336,3246.115,-11858.350,15,1.7,25,13.3 MHEAD_RNG_PITCHd_Wd 285.2,18062,-19.3,-13.306

SPEED_LIMITS 0.230,0.325 D_GRID 1101

Post-dive calculations and measurements:

FINISH 0.7,1.001760 PA_USBA 100.0/0/0

SM_CCo 10481,40.05,0.614,0,0,1728,275.23 PA_HOME 13.0/482055/419458

SM_GC 2.16,0.00,0.00,40.05,0.000,0.000,0.614,162,2564,1728,-9.23,0.25,275.23 PA_ROOT 80.3/126931/24979

IRIDIUM_FIX 3233.95,-11858.30,050111,191913 PA_LOG 7.6/298663/275900

TT8_MAMPS 0.113848 PA_DATA1 0.1/7837685/7826437

HUMID 45.66 PA_DATA0 72.7/7836665/2135845

INTERNAL_PRESSURE 8.91636 _24V_AH 22.9,18.936

TCM_TEMP 18.60 _10V_AH 10.1,13.146

XPDR_PINGS 38 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 317772

PA_BOOTCOUNT 88 DATA_FILE_SIZE 10196,303

PA_DFQS 0/0 CAP_FILE_SIZE 107205,0

PA_CMQS 0/0 CFSIZE 260165632,253419520

PA_USBDRIVE None ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

PA_USBB 100.0/0/0 GPS 060111,015037,3246.913,-11859.295,39,1.9,39,13.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 270 148.26 SBE_CT 206 24 113.56

Roll_motor 117 71 193.99 nil 0 0 0.00

VBD_pump_during_apogee 351 1245 10034.09 nil 0 0 0.00

VBD_pump_during_surface 40 614 563.40 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 69.25 nil 0 0 0.00

Iridium_during_connect 30 160 110.27 PAAM 11017 83 20954.19

Iridium_during_xfer 216 223 1106.04 nil 0 0 0.00

Transponder_ping 31 420 300.56 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 50 13.25

TT8 0 0 0.00

LPSleep 8472 2 187.41

TT8_Active 467 19 93.44

TT8_Sampling 1888 39 759.26

TT8_CF8 80 45 37.27

TT8_Kalman 33 81 27.54

Analog_circuits 1292 12 156.68

GPS_charging 0 0 0.00

Compass 957 15 145.13

RAFOS 0 0 0.00

Transponder 138 30 41.99

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 -1.01 -194.6 0.0 0.0 0 77 0.00 0.00 -59.30 0.000 2 0.000 0.000 163 2526 3151 0 0 0 0 0 0

78 -1.01 -194.6 3.9 -7.7 10 103 12.10 0.00 -9.05 0.000 6 0.270 0.000 2780 2526 3649 0 0 0 0 0 0

169 -1.01 -194.6 38.4 -33.6 22 170 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2527 3653 0 0 0 0 0 0

355 -1.01 -194.6 88.9 -24.9 40 360 0.00 2.12 0.00 0.000 4 0.000 0.067 2773 3778 3654 0 0 0 0 0 0

397 -1.01 -194.6 99.3 -23.5 44 402 0.00 1.98 0.00 0.000 6 0.000 0.041 2773 2539 3654 0 0 0 0 0 0

591 -1.01 -194.6 145.9 -24.4 51 596 0.00 0.00 0.00 0.000 6 0.000 0.000 2773 2536 3655 0 0 0 0 0 0

894 -1.01 -194.6 219.4 -23.8 61 902 0.00 2.08 0.00 0.000 4 0.000 0.065 2764 3792 3655 0 0 0 0 0 0

916 -1.01 -194.6 225.0 -25.2 61 923 0.00 1.92 0.00 0.000 6 0.000 0.040 2764 2548 3655 0 0 0 0 0 0

1231 -1.01 -194.6 302.0 -23.9 72 1239 0.00 2.05 0.00 0.000 4 0.000 0.067 2754 3787 3655 0 0 0 0 0 0

1258 -1.01 -194.6 309.0 -25.0 72 1269 0.12 1.90 0.00 0.000 6 0.200 0.041 2782 2543 3656 0 0 0 0 0 0

1602 -1.01 -194.6 379.8 -20.1 78 1607 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 2544 3656 0 0 0 0 0 0

1903 -1.01 -194.6 436.5 -18.6 83 1912 0.00 2.05 0.00 0.000 4 0.000 0.070 2775 3783 3656 0 0 0 0 0 0

1953 -1.01 -194.6 446.3 -19.9 83 1960 0.00 1.90 0.00 0.000 6 0.000 0.041 2775 2554 3656 0 0 0 0 0 0

2272 -1.01 -194.6 508.7 -19.5 89 2280 0.00 2.03 0.00 0.000 4 0.000 0.069 2765 3780 3656 0 0 0 0 0 0

2304 -1.01 -194.6 515.6 -20.4 89 2312 0.00 1.88 0.00 0.000 6 0.000 0.042 2766 2550 3655 0 0 0 0 0 0

2639 -1.01 -194.6 581.8 -19.7 95 2650 0.00 2.05 0.00 0.000 4 0.000 0.068 2756 3787 3655 0 0 0 0 0 0

2658 -1.01 -194.6 585.9 -19.8 95 2666 0.12 1.92 0.00 0.000 6 0.194 0.042 2784 2545 3655 0 0 0 0 0 0

3010 -1.01 -194.6 648.6 -17.7 101 3018 0.00 2.05 0.00 0.000 4 0.000 0.071 2777 3790 3655 0 0 0 0 0 0

3037 -1.01 -194.6 654.0 -19.5 101 3045 0.00 1.95 0.00 0.000 6 0.000 0.042 2777 2552 3654 0 0 0 0 0 0

3378 -1.01 -194.6 715.7 -18.2 107 3385 0.00 2.05 0.00 0.000 4 0.000 0.072 2768 3780 3653 0 0 0 0 0 0

3447 -1.01 -194.6 729.6 -19.3 108 3456 0.00 1.95 0.00 0.000 6 0.000 0.044 2768 2525 3653 0 0 0 0 0 0

3810 -1.01 -194.6 798.1 -18.9 114 3818 0.00 2.10 0.00 0.000 4 0.000 0.071 2758 3787 3653 0 0 0 0 0 0

3859 -1.01 -194.6 808.3 -20.4 114 3867 0.05 1.95 0.00 0.000 6 0.161 0.044 2783 2551 3656 0 0 0 0 0 0

4173 -1.01 -194.6 863.6 -17.5 120 4181 0.00 2.47 0.00 0.000 4 0.000 0.050 2782 975 3650 0 0 0 0 0 0

4216 -1.01 -194.6 871.2 -16.8 120 4224 0.00 2.58 0.00 0.000 6 0.000 0.057 2774 2558 3652 0 0 0 0 0 0

4531 -1.01 -194.6 925.2 -17.3 126 4538 0.00 2.03 0.00 0.000 4 0.000 0.071 2764 3782 3654 0 0 0 0 0 0

4573 -1.01 -194.6 933.1 -18.2 126 4580 0.00 1.92 0.00 0.000 6 0.000 0.046 2764 2551 3652 0 0 0 0 0 0

4897 -1.01 -194.6 989.4 -17.4 132 4903 0.00 0.00 0.00 0.000 6 0.000 0.000 2764 2549 3651 0 0 0 0 0 0

4957 end dive: TARGET_DEPTH_EXCEEDED

state 4957 begin apogee

4960 -0.20 0.0 999.5 17.2 133 5140 0.95 0.00 168.62 1.245 6 0.160 0.000 3044 2197 2850 0 0 0 0 0 0

5140 end apogee: CONTROL_FINISHED_OK

state 5140 begin climb

5141 1.01 194.6 1008.6 0.0 135 5335 1.12 2.85 177.60 1.228 4 0.057 0.057 3457 635 2056 0 0 0 0 0 0

5536 1.01 194.6 950.3 21.3 142 5545 0.00 2.62 0.00 0.000 6 0.000 0.053 3457 2198 2048 0 0 0 0 0 0

5887 1.01 194.6 873.2 22.2 148 5896 0.00 2.60 0.00 0.000 4 0.000 0.058 3469 625 2045 0 0 0 0 0 0

5963 1.01 194.6 856.9 21.6 149 5971 0.00 2.58 0.00 0.000 6 0.000 0.052 3469 2201 2044 0 0 0 0 0 0

6308 1.01 194.6 780.7 22.1 155 6315 0.00 0.00 0.00 0.000 6 0.000 0.000 3469 2202 2044 0 0 0 0 0 0

6610 1.01 194.6 714.4 21.9 160 6619 0.00 2.55 0.00 0.000 4 0.000 0.057 3481 626 2043 0 0 0 0 0 0

6680 1.01 194.6 699.3 20.4 161 6689 0.17 2.55 0.00 0.000 6 0.207 0.052 3444 2205 2043 0 0 0 0 0 0

7032 1.01 194.6 630.3 19.7 167 7040 0.00 2.60 0.00 0.000 4 0.000 0.067 3441 3783 2042 0 0 0 0 0 0

7049 1.01 194.6 626.8 19.6 167 7057 0.00 2.50 0.00 0.000 6 0.000 0.046 3450 2209 2040 0 0 0 0 0 0

7388 1.01 194.6 557.8 20.3 173 7397 0.00 2.58 0.00 0.000 4 0.000 0.060 3463 612 2041 0 0 0 0 0 0

7443 1.01 194.6 546.6 20.1 173 7454 0.00 2.55 0.00 0.000 6 0.000 0.051 3462 2204 2041 0 0 0 0 0 0

7751 1.01 194.6 483.5 20.6 179 7759 0.00 2.60 0.00 0.000 4 0.000 0.059 3475 610 2044 0 0 0 0 0 0

7763 1.01 194.6 481.0 20.5 179 7771 0.15 2.55 0.00 0.000 6 0.209 0.050 3442 2202 2043 0 0 0 0 0 0

8108 1.01 194.6 416.3 18.5 185 8117 0.00 2.58 0.00 0.000 4 0.000 0.057 3451 614 2041 0 0 0 0 0 0

8163 1.01 194.6 406.5 17.8 185 8174 0.00 2.58 0.00 0.000 6 0.000 0.050 3451 2213 2041 0 0 0 0 0 0

8470 1.01 194.6 351.0 18.1 191 8478 0.00 2.55 0.00 0.000 4 0.000 0.067 3451 3778 2039 0 0 0 0 0 0

8486 1.01 194.6 347.8 17.8 191 8494 0.00 2.47 0.00 0.000 6 0.000 0.044 3463 2190 2040 0 0 0 0 0 0

8797 1.01 194.6 291.4 18.3 197 8805 0.00 2.53 0.00 0.000 4 0.000 0.058 3475 616 2040 0 0 0 0 0 0

8845 1.01 194.6 282.1 18.1 198 8855 0.15 2.53 0.00 0.000 6 0.203 0.049 3441 2205 2040 0 0 0 0 0 0

9155 1.01 194.6 225.6 18.1 208 9163 0.00 2.58 0.00 0.000 4 0.000 0.057 3451 610 2041 0 0 0 0 0 0

9209 1.01 194.6 215.6 18.8 209 9220 0.00 2.53 0.00 0.000 6 0.000 0.050 3451 2199 2040 0 0 0 0 0 0

9519 1.01 194.6 160.1 17.9 220 9527 0.00 2.55 0.00 0.000 4 0.000 0.057 3463 618 2040 0 0 0 0 0 0

9584 1.01 194.6 148.1 18.5 222 9592 0.00 2.53 0.00 0.000 6 0.000 0.049 3463 2201 2040 0 0 0 0 0 0

9901 1.01 194.6 89.9 17.5 236 9905 0.00 2.58 0.00 0.000 4 0.000 0.057 3475 623 2040 0 0 0 0 0 0

9948 1.01 194.6 81.2 18.4 240 9956 0.10 2.53 0.00 0.000 6 0.184 0.047 3448 2191 2040 0 0 0 0 0 0

10140 1.01 194.6 47.0 16.4 259 10144 0.00 2.60 0.00 0.000 4 0.000 0.063 3448 3771 2040 0 0 0 0 0 0

10321 1.01 194.6 19.2 13.6 276 10329 0.00 2.47 0.00 0.000 6 0.000 0.042 3457 2196 2041 0 0 0 0 0 0

10391 1.02 202.9 10.2 12.9 289 10405 0.00 2.55 5.60 0.526 4 0.000 0.056 3469 623 2023 0 0 0 0 0 0

10419 1.02 202.9 6.5 13.8 294 10427 0.00 2.53 0.00 0.000 6 0.000 0.047 3469 2200 2021 0 0 0 0 0 0

10445 end climb: SURFACE_DEPTH_REACHED

state 10445 begin surface coast

10467 end surface coast: CONTROL_FINISHED_OK

state 10467 begin surface

ID	178	HEADING	-1	ROLL_DEG	45	ALTIM_PING_DELTA	10
MISSION	10	ESCAPE_HEADING	0	C_ROLL_DIVE	2550	ALTIM_FREQUENCY	13
DIVE	11	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2200	ALTIM_PULSE	8
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	1
D_SURF	3	TGT_DEFAULT_LAT	32.6903	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FLARE	3	TGT_DEFAULT_LON	-118.7761	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_TGT	990	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	41	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	275	R_STBD_OVSHOOT	18	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	PROTOCOL	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	2850	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	248	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	69
T_MISSION	310	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	-9723.3564	CF8_MAXERRORS	20	PHONE_DEVICE	48
USE_BATHY	1	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	501	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	200	C_PITCH	3115	PRESSURE_YINT	-44.583923	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	25	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015660153
MASS	51840	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_J	0.00020359491
NAV_MODE	1	PITCH_AD_RATE	145	ALTIM_BOTTOM_PING_RANGE	0	PA_OFFLOAD	1.0
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	PA_MAXUPLOADSIZE	20480.0
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	130	PA_SCALEFACTOR24V	1.3

GPS1	050111,224706,3246.154,-11858.390,46,1.6,52,13.3	TGT_NAME	DM4
_CALLS	1	TGT_LATLONG	3251.800,-11907.783
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.285,0.155
_SM_DEPTHo	1.63	KALMAN_X	15057.1,330.8,212.3,-34109.1,2338.3
_SM_ANGLEo	-79.0	KALMAN_Y	-1372.5,-23.4,-54.7,12141.2,-937.7
GPS2	050111,225336,3246.115,-11858.350,15,1.7,25,13.3	MHEAD_RNG_PITCHd_Wd	285.2,18062,-19.3,-13.306
SPEED_LIMITS	0.230,0.325	D_GRID	1101

FINISH	0.7,1.001760	PA_USBA	100.0/0/0
SM_CCo	10481,40.05,0.614,0,0,1728,275.23	PA_HOME	13.0/482055/419458
SM_GC	2.16,0.00,0.00,40.05,0.000,0.000,0.614,162,2564,1728,-9.23,0.25,275.23	PA_ROOT	80.3/126931/24979
IRIDIUM_FIX	3233.95,-11858.30,050111,191913	PA_LOG	7.6/298663/275900
TT8_MAMPS	0.113848	PA_DATA1	0.1/7837685/7826437
HUMID	45.66	PA_DATA0	72.7/7836665/2135845
INTERNAL_PRESSURE	8.91636	_24V_AH	22.9,18.936
TCM_TEMP	18.60	_10V_AH	10.1,13.146
XPDR_PINGS	38	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	317772
PA_BOOTCOUNT	88	DATA_FILE_SIZE	10196,303
PA_DFQS	0/0	CAP_FILE_SIZE	107205,0
PA_CMQS	0/0	CFSIZE	260165632,253419520
PA_USBDRIVE	None	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_USBB	100.0/0/0	GPS	060111,015037,3246.913,-11859.295,39,1.9,39,13.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	270	148.26	SBE_CT	206	24	113.56
Roll_motor	117	71	193.99	nil	0	0	0.00
VBD_pump_during_apogee	351	1245	10034.09	nil	0	0	0.00
VBD_pump_during_surface	40	614	563.40	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	69.25	nil	0	0	0.00
Iridium_during_connect	30	160	110.27	PAAM	11017	83	20954.19
Iridium_during_xfer	216	223	1106.04	nil	0	0	0.00
Transponder_ping	31	420	300.56	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	50	13.25
TT8	0	0	0.00
LPSleep	8472	2	187.41
TT8_Active	467	19	93.44
TT8_Sampling	1888	39	759.26
TT8_CF8	80	45	37.27
TT8_Kalman	33	81	27.54
Analog_circuits	1292	12	156.68
GPS_charging	0	0	0.00
Compass	957	15	145.13
RAFOS	0	0	0.00
Transponder	138	30	41.99

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	-1.01	-194.6	0.0	0.0	0	77	0.00	0.00	-59.30	0.000	2	0.000	0.000	163	2526	3151	0	0	0	0	0	0
78	-1.01	-194.6	3.9	-7.7	10	103	12.10	0.00	-9.05	0.000	6	0.270	0.000	2780	2526	3649	0	0	0	0	0	0
169	-1.01	-194.6	38.4	-33.6	22	170	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2527	3653	0	0	0	0	0	0
355	-1.01	-194.6	88.9	-24.9	40	360	0.00	2.12	0.00	0.000	4	0.000	0.067	2773	3778	3654	0	0	0	0	0	0
397	-1.01	-194.6	99.3	-23.5	44	402	0.00	1.98	0.00	0.000	6	0.000	0.041	2773	2539	3654	0	0	0	0	0	0
591	-1.01	-194.6	145.9	-24.4	51	596	0.00	0.00	0.00	0.000	6	0.000	0.000	2773	2536	3655	0	0	0	0	0	0
894	-1.01	-194.6	219.4	-23.8	61	902	0.00	2.08	0.00	0.000	4	0.000	0.065	2764	3792	3655	0	0	0	0	0	0
916	-1.01	-194.6	225.0	-25.2	61	923	0.00	1.92	0.00	0.000	6	0.000	0.040	2764	2548	3655	0	0	0	0	0	0
1231	-1.01	-194.6	302.0	-23.9	72	1239	0.00	2.05	0.00	0.000	4	0.000	0.067	2754	3787	3655	0	0	0	0	0	0
1258	-1.01	-194.6	309.0	-25.0	72	1269	0.12	1.90	0.00	0.000	6	0.200	0.041	2782	2543	3656	0	0	0	0	0	0
1602	-1.01	-194.6	379.8	-20.1	78	1607	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	2544	3656	0	0	0	0	0	0
1903	-1.01	-194.6	436.5	-18.6	83	1912	0.00	2.05	0.00	0.000	4	0.000	0.070	2775	3783	3656	0	0	0	0	0	0
1953	-1.01	-194.6	446.3	-19.9	83	1960	0.00	1.90	0.00	0.000	6	0.000	0.041	2775	2554	3656	0	0	0	0	0	0
2272	-1.01	-194.6	508.7	-19.5	89	2280	0.00	2.03	0.00	0.000	4	0.000	0.069	2765	3780	3656	0	0	0	0	0	0
2304	-1.01	-194.6	515.6	-20.4	89	2312	0.00	1.88	0.00	0.000	6	0.000	0.042	2766	2550	3655	0	0	0	0	0	0
2639	-1.01	-194.6	581.8	-19.7	95	2650	0.00	2.05	0.00	0.000	4	0.000	0.068	2756	3787	3655	0	0	0	0	0	0
2658	-1.01	-194.6	585.9	-19.8	95	2666	0.12	1.92	0.00	0.000	6	0.194	0.042	2784	2545	3655	0	0	0	0	0	0
3010	-1.01	-194.6	648.6	-17.7	101	3018	0.00	2.05	0.00	0.000	4	0.000	0.071	2777	3790	3655	0	0	0	0	0	0
3037	-1.01	-194.6	654.0	-19.5	101	3045	0.00	1.95	0.00	0.000	6	0.000	0.042	2777	2552	3654	0	0	0	0	0	0
3378	-1.01	-194.6	715.7	-18.2	107	3385	0.00	2.05	0.00	0.000	4	0.000	0.072	2768	3780	3653	0	0	0	0	0	0
3447	-1.01	-194.6	729.6	-19.3	108	3456	0.00	1.95	0.00	0.000	6	0.000	0.044	2768	2525	3653	0	0	0	0	0	0
3810	-1.01	-194.6	798.1	-18.9	114	3818	0.00	2.10	0.00	0.000	4	0.000	0.071	2758	3787	3653	0	0	0	0	0	0
3859	-1.01	-194.6	808.3	-20.4	114	3867	0.05	1.95	0.00	0.000	6	0.161	0.044	2783	2551	3656	0	0	0	0	0	0
4173	-1.01	-194.6	863.6	-17.5	120	4181	0.00	2.47	0.00	0.000	4	0.000	0.050	2782	975	3650	0	0	0	0	0	0
4216	-1.01	-194.6	871.2	-16.8	120	4224	0.00	2.58	0.00	0.000	6	0.000	0.057	2774	2558	3652	0	0	0	0	0	0
4531	-1.01	-194.6	925.2	-17.3	126	4538	0.00	2.03	0.00	0.000	4	0.000	0.071	2764	3782	3654	0	0	0	0	0	0
4573	-1.01	-194.6	933.1	-18.2	126	4580	0.00	1.92	0.00	0.000	6	0.000	0.046	2764	2551	3652	0	0	0	0	0	0
4897	-1.01	-194.6	989.4	-17.4	132	4903	0.00	0.00	0.00	0.000	6	0.000	0.000	2764	2549	3651	0	0	0	0	0	0
4957	end dive: TARGET_DEPTH_EXCEEDED
state	4957	begin apogee
4960	-0.20	0.0	999.5	17.2	133	5140	0.95	0.00	168.62	1.245	6	0.160	0.000	3044	2197	2850	0	0	0	0	0	0
5140	end apogee: CONTROL_FINISHED_OK
state	5140	begin climb
5141	1.01	194.6	1008.6	0.0	135	5335	1.12	2.85	177.60	1.228	4	0.057	0.057	3457	635	2056	0	0	0	0	0	0
5536	1.01	194.6	950.3	21.3	142	5545	0.00	2.62	0.00	0.000	6	0.000	0.053	3457	2198	2048	0	0	0	0	0	0
5887	1.01	194.6	873.2	22.2	148	5896	0.00	2.60	0.00	0.000	4	0.000	0.058	3469	625	2045	0	0	0	0	0	0
5963	1.01	194.6	856.9	21.6	149	5971	0.00	2.58	0.00	0.000	6	0.000	0.052	3469	2201	2044	0	0	0	0	0	0
6308	1.01	194.6	780.7	22.1	155	6315	0.00	0.00	0.00	0.000	6	0.000	0.000	3469	2202	2044	0	0	0	0	0	0
6610	1.01	194.6	714.4	21.9	160	6619	0.00	2.55	0.00	0.000	4	0.000	0.057	3481	626	2043	0	0	0	0	0	0
6680	1.01	194.6	699.3	20.4	161	6689	0.17	2.55	0.00	0.000	6	0.207	0.052	3444	2205	2043	0	0	0	0	0	0
7032	1.01	194.6	630.3	19.7	167	7040	0.00	2.60	0.00	0.000	4	0.000	0.067	3441	3783	2042	0	0	0	0	0	0
7049	1.01	194.6	626.8	19.6	167	7057	0.00	2.50	0.00	0.000	6	0.000	0.046	3450	2209	2040	0	0	0	0	0	0
7388	1.01	194.6	557.8	20.3	173	7397	0.00	2.58	0.00	0.000	4	0.000	0.060	3463	612	2041	0	0	0	0	0	0
7443	1.01	194.6	546.6	20.1	173	7454	0.00	2.55	0.00	0.000	6	0.000	0.051	3462	2204	2041	0	0	0	0	0	0
7751	1.01	194.6	483.5	20.6	179	7759	0.00	2.60	0.00	0.000	4	0.000	0.059	3475	610	2044	0	0	0	0	0	0
7763	1.01	194.6	481.0	20.5	179	7771	0.15	2.55	0.00	0.000	6	0.209	0.050	3442	2202	2043	0	0	0	0	0	0
8108	1.01	194.6	416.3	18.5	185	8117	0.00	2.58	0.00	0.000	4	0.000	0.057	3451	614	2041	0	0	0	0	0	0
8163	1.01	194.6	406.5	17.8	185	8174	0.00	2.58	0.00	0.000	6	0.000	0.050	3451	2213	2041	0	0	0	0	0	0
8470	1.01	194.6	351.0	18.1	191	8478	0.00	2.55	0.00	0.000	4	0.000	0.067	3451	3778	2039	0	0	0	0	0	0
8486	1.01	194.6	347.8	17.8	191	8494	0.00	2.47	0.00	0.000	6	0.000	0.044	3463	2190	2040	0	0	0	0	0	0
8797	1.01	194.6	291.4	18.3	197	8805	0.00	2.53	0.00	0.000	4	0.000	0.058	3475	616	2040	0	0	0	0	0	0
8845	1.01	194.6	282.1	18.1	198	8855	0.15	2.53	0.00	0.000	6	0.203	0.049	3441	2205	2040	0	0	0	0	0	0
9155	1.01	194.6	225.6	18.1	208	9163	0.00	2.58	0.00	0.000	4	0.000	0.057	3451	610	2041	0	0	0	0	0	0
9209	1.01	194.6	215.6	18.8	209	9220	0.00	2.53	0.00	0.000	6	0.000	0.050	3451	2199	2040	0	0	0	0	0	0
9519	1.01	194.6	160.1	17.9	220	9527	0.00	2.55	0.00	0.000	4	0.000	0.057	3463	618	2040	0	0	0	0	0	0
9584	1.01	194.6	148.1	18.5	222	9592	0.00	2.53	0.00	0.000	6	0.000	0.049	3463	2201	2040	0	0	0	0	0	0
9901	1.01	194.6	89.9	17.5	236	9905	0.00	2.58	0.00	0.000	4	0.000	0.057	3475	623	2040	0	0	0	0	0	0
9948	1.01	194.6	81.2	18.4	240	9956	0.10	2.53	0.00	0.000	6	0.184	0.047	3448	2191	2040	0	0	0	0	0	0
10140	1.01	194.6	47.0	16.4	259	10144	0.00	2.60	0.00	0.000	4	0.000	0.063	3448	3771	2040	0	0	0	0	0	0
10321	1.01	194.6	19.2	13.6	276	10329	0.00	2.47	0.00	0.000	6	0.000	0.042	3457	2196	2041	0	0	0	0	0	0
10391	1.02	202.9	10.2	12.9	289	10405	0.00	2.55	5.60	0.526	4	0.000	0.056	3469	623	2023	0	0	0	0	0	0
10419	1.02	202.9	6.5	13.8	294	10427	0.00	2.53	0.00	0.000	6	0.000	0.047	3469	2200	2021	0	0	0	0	0	0
10445	end climb: SURFACE_DEPTH_REACHED
state	10445	begin surface coast
10467	end surface coast: CONTROL_FINISHED_OK
state	10467	begin surface