Glider dive log

SCORE Jan11 * SG179 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 179 HEADING -1 ROLL_DEG 45 ALTIM_PING_DELTA 5

MISSION 6 ESCAPE_HEADING 0 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 13

DIVE 12 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1923 ALTIM_PULSE 8

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

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 52 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 300 R_STBD_OVSHOOT 27 INT_PRESSURE_YINT -0.69999999

D_NO_BLEED 200 N_FILEKB 8 ROLL_AD_RATE 350 DEEPGLIDER 0

D_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 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 460 DEVICE2 -1

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3960 DEVICE3 -1

D_CALL 0 N_NOSURFACE 0 C_VBD 2748 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 -16219.696 CF8_MAXERRORS 20 PHONE_DEVICE 48

USE_BATHY 1 T_RSLEEP 5 AH0_24V 150 GPS_DEVICE 32

USE_ICE 0 STROBE 0 AH0_10V 100 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 147 FG_AHR_24V 0 SEABIRD_T_G 0.0043333764

APOGEE_PITCH -5 PITCH_MAX 3923 PHONE_SUPPLY 2 SEABIRD_T_H 0.0006255582

MAX_BUOY 200 C_PITCH 2850 PRESSURE_YINT -37.840191 SEABIRD_T_I 2.4443518e-05

COURSE_BIAS 0 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001164844 SEABIRD_T_J 2.7040428e-06

GLIDE_SLOPE 30 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -10.032231

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1531334

RHO 1.0275 PITCH_GAIN 24 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012400629

MASS 51729 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_J 0.00018751388

NAV_MODE 1 PITCH_AD_RATE 165 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 165 ALTIM_TOP_MIN_OBSTACLE 1 PA_RESTARTMONITOR 0.0

HD_C 9.9999997e-06 ROLL_MAX 3681 ALTIM_PING_DEPTH 130 PA_SCALEFACTOR24V 1.3

AD7714Ch0Gain 128 D_OFFGRID 501 PA_OFFLOAD 1.0 SEABIRD_T_I 2.4443518e-05

AH0_10V 100 D_PITCH 0 PA_POWERSOURCE 0.0 SEABIRD_T_J 2.7040428e-06

AH0_24V 150 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 300

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_PING_DELTA 5 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 165 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 3 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 24 TCM_ROLL_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAX 3923 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 147 TGT_DEFAULT_LON -118.7761

CALL_TRIES 5 HD_B 0.0099999998 PITCH_TIMEOUT 18 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 0.0001164844 T_DIVE 248

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -37.840191 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 -16219.696

COMPASS2_DEVICE -1 ID 179 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 -0.69999999 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 1 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 5

C_PITCH 2850 LOGGERDEVICE1 69 RELAUNCH 1 T_TURN 225

C_ROLL_CLIMB 1923 LOGGERDEVICE2 -1 RHO 1.0275 T_TURN_SAMPINT 5

C_ROLL_DIVE 2250 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_VBD 2748 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

DEEPGLIDER 0 LOGGERS 1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 51729 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 3681 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 19 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 6 ROLL_MIN 165 VBD_DBAND 2

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE6 -1 NAV_MODE 1 R_PORT_OVSHOOT 52 VBD_MAXERRORS 1

DIVE 12 N_DIVES 0 R_STBD_OVSHOOT 27 VBD_MIN 460

D_ABORT 1090 N_FILEKB 8 SEABIRD_C_G -10.032231 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 0 N_GPS 20 SEABIRD_C_H 1.1531334 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_NOCOMM 1 SEABIRD_C_I -0.0012400629 VBD_TIMEOUT 720

D_FINISH 0 N_NOSURFACE 0 SEABIRD_C_J 0.00018751388 XPDR_DEVICE 24

D_FLARE 3 PA_MAXOPTIONALUPLOADSIZE 20480.0 SEABIRD_T_G 0.0043333764 XPDR_INHIBIT 90

D_NO_BLEED 200 PA_MAXUPLOADSIZE 40960.0 SEABIRD_T_H 0.0006255582 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 050111,232704,3243.922,-11854.854,62,3.1,81,13.3 TGT_NAME MDW

_CALLS 1 TGT_LATLONG 3246.522,-11856.604

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.221,0.238

_SM_DEPTHo 1.79 KALMAN_X 18526.3,-578.3,340.5,-32427.7,2432.7

_SM_ANGLEo -77.0 KALMAN_Y -8818.3,424.3,-354.9,15617.2,-2033.8

GPS2 050111,233243,3243.893,-11854.816,10,1.6,15,13.3 MHEAD_RNG_PITCHd_Wd 303.7,5608,-19.3,-13.306

SPEED_LIMITS 0.230,0.325 D_GRID 1062

Post-dive calculations and measurements:

FINISH 0.8,1.008559 PA_USBA 100.0/0/0

SM_CCo 10716,52.70,0.557,0,0,1524,300.00 PA_HOME 9.0/483886/440297

SM_GC 1.85,0.00,0.00,52.70,0.000,0.000,0.557,144,2228,1524,-8.46,-0.62,300.00 PA_ROOT 80.3/126931/24979

IRIDIUM_FIX 3239.07,-11920.21,050111,202036 PA_LOG 7.4/297829/275688

TT8_MAMPS 0.116844 PA_DATA1 0.1/7836665/7825417

HUMID 50.74 PA_DATA0 67.1/7836665/2581142

INTERNAL_PRESSURE 9.57383 _24V_AH 22.8,16.028

TCM_TEMP 19.30 _10V_AH 10.1,10.777

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 317828

PA_BOOTCOUNT 92 DATA_FILE_SIZE 10154,308

PA_DFQS 0/0 CAP_FILE_SIZE 100836,0

PA_CMQS 0/0 CFSIZE 260165632,255832064

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 060111,023402,3244.869,-11855.816,50,1.9,50,13.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 277 140.24 SBE_CT 210 24 115.07

Roll_motor 90 69 144.04 nil 0 0 0.00

VBD_pump_during_apogee 349 1174 9348.63 nil 0 0 0.00

VBD_pump_during_surface 52 556 669.17 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 73.37 nil 0 0 0.00

Iridium_during_connect 34 160 125.53 PAAM 11229 86 22186.05

Iridium_during_xfer 184 223 936.11 nil 0 0 0.00

Transponder_ping 39 420 380.65 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.50

TT8 0 0 0.00

LPSleep 8868 2 196.15

TT8_Active 459 19 91.91

TT8_Sampling 1703 39 684.62

TT8_CF8 75 45 34.75

TT8_Kalman 33 81 27.54

Analog_circuits 1197 12 145.17

GPS_charging 0 0 0.00

Compass 796 15 120.72

RAFOS 0 0 0.00

Transponder 253 30 76.85

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

16 -1.04 -194.6 0.0 0.0 0 77 0.00 0.00 -59.08 0.000 2 0.000 0.000 139 2230 2919 0 0 0 0 0 0

78 -1.04 -194.6 3.4 -5.1 10 109 11.10 2.35 -13.82 0.000 4 0.278 0.070 2493 3683 3543 0 0 0 0 0 0

150 -1.04 -194.6 24.3 -28.3 22 158 0.00 2.28 0.00 0.000 6 0.000 0.036 2494 2242 3544 0 0 0 0 0 0

341 -1.04 -194.6 71.4 -21.5 41 342 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2242 3546 0 0 0 0 0 0

537 -1.04 -194.6 114.0 -22.0 56 542 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2242 3546 0 0 0 0 0 0

841 -1.04 -194.6 182.0 -22.4 66 850 0.00 2.33 0.00 0.000 4 0.000 0.060 2483 3676 3546 0 0 0 0 0 0

864 -1.04 -194.6 187.4 -23.3 66 871 0.00 2.17 0.00 0.000 6 0.000 0.037 2483 2254 3547 0 0 0 0 0 0

1174 -1.04 -194.6 252.7 -20.9 76 1182 0.00 2.40 0.00 0.000 4 0.000 0.041 2483 676 3547 0 0 0 0 0 0

1217 -1.04 -194.6 262.0 -20.1 77 1226 0.15 2.47 0.00 0.000 6 0.178 0.045 2505 2250 3548 0 0 0 0 0 0

1569 -1.04 -194.6 326.9 -18.2 87 1577 0.00 2.30 0.00 0.000 4 0.000 0.060 2500 3681 3548 0 0 0 0 0 0

1628 -1.04 -194.6 338.4 -18.8 87 1639 0.00 2.17 0.00 0.000 6 0.000 0.037 2499 2245 3548 0 0 0 0 0 0

1936 -1.04 -194.6 391.5 -17.1 93 1945 0.00 2.30 0.00 0.000 4 0.000 0.060 2495 3679 3548 0 0 0 0 0 0

1965 -1.04 -194.6 396.9 -19.0 93 1975 0.00 2.17 0.00 0.000 6 0.000 0.037 2489 2242 3548 0 0 0 0 0 0

2309 -1.04 -194.6 456.8 -17.3 99 2318 0.00 2.28 0.00 0.000 4 0.000 0.060 2478 3672 3548 0 0 0 0 0 0

2332 -1.04 -194.6 461.3 -18.3 99 2343 0.12 2.15 0.00 0.000 6 0.183 0.036 2507 2252 3548 0 0 0 0 0 0

2681 -1.04 -194.6 519.7 -16.9 105 2690 0.00 2.40 0.00 0.000 4 0.000 0.041 2507 685 3548 0 0 0 0 0 0

2715 -1.04 -194.6 525.7 -17.7 105 2723 0.00 2.45 0.00 0.000 6 0.000 0.046 2499 2247 3548 0 0 0 0 0 0

3051 -1.04 -194.6 584.7 -17.9 111 3062 0.00 2.28 0.00 0.000 4 0.000 0.062 2488 3678 3546 0 0 0 0 0 0

3113 -1.04 -194.6 596.8 -18.6 111 3124 0.00 2.17 0.00 0.000 6 0.000 0.037 2488 2248 3547 0 0 0 0 0 0

3421 -1.04 -194.6 654.0 -18.7 117 3427 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2248 3547 0 0 0 0 0 0

3723 -1.04 -194.6 707.6 -17.7 122 3732 0.00 2.30 0.00 0.000 4 0.000 0.062 2477 3679 3547 0 0 0 0 0 0

3751 -1.04 -194.6 712.8 -18.2 122 3762 0.12 2.20 0.00 0.000 6 0.184 0.039 2507 2236 3546 0 0 0 0 0 0

4095 -1.04 -194.6 766.9 -15.6 128 4101 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2236 3546 0 0 0 0 0 0

4397 -1.04 -194.6 812.5 -15.0 133 4405 0.00 2.33 0.00 0.000 4 0.000 0.063 2499 3680 3545 0 0 0 0 0 0

4463 -1.04 -194.6 822.6 -15.2 134 4471 0.00 2.20 0.00 0.000 6 0.000 0.039 2499 2241 3545 0 0 0 0 0 0

4831 -1.04 -194.6 877.7 -15.1 140 4836 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2240 3544 0 0 0 0 0 0

5132 -1.04 -194.6 921.4 -14.4 145 5138 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2240 3543 0 0 0 0 0 0

5434 -1.04 -194.6 964.3 -14.2 150 5440 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2239 3543 0 0 0 0 0 0

5615 end dive: TARGET_DEPTH_EXCEEDED

state 5615 begin apogee

5617 -0.21 0.0 990.9 14.7 153 5797 0.90 0.00 170.27 1.174 6 0.142 0.000 2776 1917 2749 0 0 0 0 0 0

5798 end apogee: CONTROL_FINISHED_OK

state 5798 begin climb

5799 1.04 194.6 998.2 0.0 155 5993 1.17 2.75 178.90 1.154 4 0.057 0.047 3199 356 1954 0 0 0 0 0 0

6039 1.04 194.6 964.5 23.7 159 6047 0.00 2.62 0.00 0.000 6 0.000 0.039 3195 1931 1949 0 0 0 0 0 0

6352 1.04 194.6 890.2 23.8 165 6358 0.00 0.00 0.00 0.000 6 0.000 0.000 3199 1932 1946 0 0 0 0 0 0

6654 1.04 194.6 818.5 23.8 170 6660 0.00 0.00 0.00 0.000 6 0.000 0.000 3199 1932 1942 0 0 0 0 0 0

6956 1.04 194.6 749.3 22.7 175 6964 0.00 2.53 0.00 0.000 4 0.000 0.056 3199 3513 1943 0 0 0 0 0 0

6989 1.04 194.6 741.4 24.0 175 6997 0.00 2.47 0.00 0.000 6 0.000 0.037 3212 1929 1943 0 0 0 0 0 0

7313 1.04 194.6 668.9 22.2 181 7318 0.00 0.00 0.00 0.000 6 0.000 0.000 3211 1925 1943 0 0 0 0 0 0

7614 1.04 194.6 602.9 22.0 186 7620 0.00 0.00 0.00 0.000 6 0.000 0.000 3211 1925 1943 0 0 0 0 0 0

7916 1.04 194.6 538.6 21.3 191 7925 0.00 2.53 0.00 0.000 4 0.000 0.056 3212 3513 1942 0 0 0 0 0 0

7944 1.04 194.6 532.3 22.8 191 7954 0.15 2.47 0.00 0.000 6 0.207 0.038 3190 1918 1943 0 0 0 0 0 0

8275 1.04 194.6 466.9 19.5 197 8284 0.00 2.47 0.00 0.000 4 0.000 0.050 3201 340 1942 0 0 0 0 0 0

8303 1.04 194.6 461.3 19.1 197 8311 0.00 2.47 0.00 0.000 6 0.000 0.041 3201 1936 1942 0 0 0 0 0 0

8633 1.04 194.6 396.2 19.8 203 8640 0.00 0.00 0.00 0.000 6 0.000 0.000 3201 1935 1942 0 0 0 0 0 0

8935 1.04 194.6 335.0 20.4 208 8943 0.00 2.50 0.00 0.000 4 0.000 0.055 3201 3507 1942 0 0 0 0 0 0

8983 1.04 194.6 324.2 22.5 208 8991 0.00 2.45 0.00 0.000 6 0.000 0.038 3212 1918 1941 0 0 0 0 0 0

9292 1.04 194.6 259.4 21.0 216 9297 0.00 0.00 0.00 0.000 6 0.000 0.000 3212 1913 1942 0 0 0 0 0 0

9597 1.04 194.6 197.6 20.0 226 9608 0.00 2.45 0.00 0.000 4 0.000 0.052 3217 338 1943 0 0 0 0 0 0

9681 1.04 194.6 180.8 20.4 228 9691 0.12 2.45 0.00 0.000 6 0.190 0.039 3185 1929 1940 0 0 0 0 0 0

9990 1.04 194.6 125.8 17.6 238 9998 0.00 2.47 0.00 0.000 4 0.000 0.055 3189 3509 1941 0 0 0 0 0 0

10033 1.04 194.6 117.9 17.9 239 10042 0.00 2.45 0.00 0.000 6 0.000 0.037 3199 1910 1941 0 0 0 0 0 0

10354 1.04 194.6 57.9 17.8 264 10358 0.00 2.55 0.00 0.000 4 0.000 0.054 3199 3502 1942 0 0 0 0 0 0

10438 1.04 194.6 41.9 19.4 272 10443 0.00 2.45 0.00 0.000 6 0.000 0.036 3210 1926 1939 0 0 0 0 0 0

10632 1.04 194.6 11.7 14.8 295 10639 0.00 2.53 0.00 0.000 4 0.000 0.052 3210 3503 1941 0 0 0 0 0 0

10684 end climb: SURFACE_DEPTH_REACHED

state 10685 begin surface coast

10701 end surface coast: CONTROL_FINISHED_OK

state 10701 begin surface

ID	179	HEADING	-1	ROLL_DEG	45	ALTIM_PING_DELTA	5
MISSION	6	ESCAPE_HEADING	0	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	13
DIVE	12	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1923	ALTIM_PULSE	8
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
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	52	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	300	R_STBD_OVSHOOT	27	INT_PRESSURE_YINT	-0.69999999
D_NO_BLEED	200	N_FILEKB	8	ROLL_AD_RATE	350	DEEPGLIDER	0
D_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	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	460	DEVICE2	-1
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3960	DEVICE3	-1
D_CALL	0	N_NOSURFACE	0	C_VBD	2748	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	-16219.696	CF8_MAXERRORS	20	PHONE_DEVICE	48
USE_BATHY	1	T_RSLEEP	5	AH0_24V	150	GPS_DEVICE	32
USE_ICE	0	STROBE	0	AH0_10V	100	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	147	FG_AHR_24V	0	SEABIRD_T_G	0.0043333764
APOGEE_PITCH	-5	PITCH_MAX	3923	PHONE_SUPPLY	2	SEABIRD_T_H	0.0006255582
MAX_BUOY	200	C_PITCH	2850	PRESSURE_YINT	-37.840191	SEABIRD_T_I	2.4443518e-05
COURSE_BIAS	0	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001164844	SEABIRD_T_J	2.7040428e-06
GLIDE_SLOPE	30	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-10.032231
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1531334
RHO	1.0275	PITCH_GAIN	24	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012400629
MASS	51729	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_J	0.00018751388
NAV_MODE	1	PITCH_AD_RATE	165	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	165	ALTIM_TOP_MIN_OBSTACLE	1	PA_RESTARTMONITOR	0.0
HD_C	9.9999997e-06	ROLL_MAX	3681	ALTIM_PING_DEPTH	130	PA_SCALEFACTOR24V	1.3

GPS1	050111,232704,3243.922,-11854.854,62,3.1,81,13.3	TGT_NAME	MDW
_CALLS	1	TGT_LATLONG	3246.522,-11856.604
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.221,0.238
_SM_DEPTHo	1.79	KALMAN_X	18526.3,-578.3,340.5,-32427.7,2432.7
_SM_ANGLEo	-77.0	KALMAN_Y	-8818.3,424.3,-354.9,15617.2,-2033.8
GPS2	050111,233243,3243.893,-11854.816,10,1.6,15,13.3	MHEAD_RNG_PITCHd_Wd	303.7,5608,-19.3,-13.306
SPEED_LIMITS	0.230,0.325	D_GRID	1062

FINISH	0.8,1.008559	PA_USBA	100.0/0/0
SM_CCo	10716,52.70,0.557,0,0,1524,300.00	PA_HOME	9.0/483886/440297
SM_GC	1.85,0.00,0.00,52.70,0.000,0.000,0.557,144,2228,1524,-8.46,-0.62,300.00	PA_ROOT	80.3/126931/24979
IRIDIUM_FIX	3239.07,-11920.21,050111,202036	PA_LOG	7.4/297829/275688
TT8_MAMPS	0.116844	PA_DATA1	0.1/7836665/7825417
HUMID	50.74	PA_DATA0	67.1/7836665/2581142
INTERNAL_PRESSURE	9.57383	_24V_AH	22.8,16.028
TCM_TEMP	19.30	_10V_AH	10.1,10.777
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	317828
PA_BOOTCOUNT	92	DATA_FILE_SIZE	10154,308
PA_DFQS	0/0	CAP_FILE_SIZE	100836,0
PA_CMQS	0/0	CFSIZE	260165632,255832064
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	060111,023402,3244.869,-11855.816,50,1.9,50,13.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	277	140.24	SBE_CT	210	24	115.07
Roll_motor	90	69	144.04	nil	0	0	0.00
VBD_pump_during_apogee	349	1174	9348.63	nil	0	0	0.00
VBD_pump_during_surface	52	556	669.17	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	73.37	nil	0	0	0.00
Iridium_during_connect	34	160	125.53	PAAM	11229	86	22186.05
Iridium_during_xfer	184	223	936.11	nil	0	0	0.00
Transponder_ping	39	420	380.65	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.50
TT8	0	0	0.00
LPSleep	8868	2	196.15
TT8_Active	459	19	91.91
TT8_Sampling	1703	39	684.62
TT8_CF8	75	45	34.75
TT8_Kalman	33	81	27.54
Analog_circuits	1197	12	145.17
GPS_charging	0	0	0.00
Compass	796	15	120.72
RAFOS	0	0	0.00
Transponder	253	30	76.85

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
16	-1.04	-194.6	0.0	0.0	0	77	0.00	0.00	-59.08	0.000	2	0.000	0.000	139	2230	2919	0	0	0	0	0	0
78	-1.04	-194.6	3.4	-5.1	10	109	11.10	2.35	-13.82	0.000	4	0.278	0.070	2493	3683	3543	0	0	0	0	0	0
150	-1.04	-194.6	24.3	-28.3	22	158	0.00	2.28	0.00	0.000	6	0.000	0.036	2494	2242	3544	0	0	0	0	0	0
341	-1.04	-194.6	71.4	-21.5	41	342	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2242	3546	0	0	0	0	0	0
537	-1.04	-194.6	114.0	-22.0	56	542	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2242	3546	0	0	0	0	0	0
841	-1.04	-194.6	182.0	-22.4	66	850	0.00	2.33	0.00	0.000	4	0.000	0.060	2483	3676	3546	0	0	0	0	0	0
864	-1.04	-194.6	187.4	-23.3	66	871	0.00	2.17	0.00	0.000	6	0.000	0.037	2483	2254	3547	0	0	0	0	0	0
1174	-1.04	-194.6	252.7	-20.9	76	1182	0.00	2.40	0.00	0.000	4	0.000	0.041	2483	676	3547	0	0	0	0	0	0
1217	-1.04	-194.6	262.0	-20.1	77	1226	0.15	2.47	0.00	0.000	6	0.178	0.045	2505	2250	3548	0	0	0	0	0	0
1569	-1.04	-194.6	326.9	-18.2	87	1577	0.00	2.30	0.00	0.000	4	0.000	0.060	2500	3681	3548	0	0	0	0	0	0
1628	-1.04	-194.6	338.4	-18.8	87	1639	0.00	2.17	0.00	0.000	6	0.000	0.037	2499	2245	3548	0	0	0	0	0	0
1936	-1.04	-194.6	391.5	-17.1	93	1945	0.00	2.30	0.00	0.000	4	0.000	0.060	2495	3679	3548	0	0	0	0	0	0
1965	-1.04	-194.6	396.9	-19.0	93	1975	0.00	2.17	0.00	0.000	6	0.000	0.037	2489	2242	3548	0	0	0	0	0	0
2309	-1.04	-194.6	456.8	-17.3	99	2318	0.00	2.28	0.00	0.000	4	0.000	0.060	2478	3672	3548	0	0	0	0	0	0
2332	-1.04	-194.6	461.3	-18.3	99	2343	0.12	2.15	0.00	0.000	6	0.183	0.036	2507	2252	3548	0	0	0	0	0	0
2681	-1.04	-194.6	519.7	-16.9	105	2690	0.00	2.40	0.00	0.000	4	0.000	0.041	2507	685	3548	0	0	0	0	0	0
2715	-1.04	-194.6	525.7	-17.7	105	2723	0.00	2.45	0.00	0.000	6	0.000	0.046	2499	2247	3548	0	0	0	0	0	0
3051	-1.04	-194.6	584.7	-17.9	111	3062	0.00	2.28	0.00	0.000	4	0.000	0.062	2488	3678	3546	0	0	0	0	0	0
3113	-1.04	-194.6	596.8	-18.6	111	3124	0.00	2.17	0.00	0.000	6	0.000	0.037	2488	2248	3547	0	0	0	0	0	0
3421	-1.04	-194.6	654.0	-18.7	117	3427	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2248	3547	0	0	0	0	0	0
3723	-1.04	-194.6	707.6	-17.7	122	3732	0.00	2.30	0.00	0.000	4	0.000	0.062	2477	3679	3547	0	0	0	0	0	0
3751	-1.04	-194.6	712.8	-18.2	122	3762	0.12	2.20	0.00	0.000	6	0.184	0.039	2507	2236	3546	0	0	0	0	0	0
4095	-1.04	-194.6	766.9	-15.6	128	4101	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2236	3546	0	0	0	0	0	0
4397	-1.04	-194.6	812.5	-15.0	133	4405	0.00	2.33	0.00	0.000	4	0.000	0.063	2499	3680	3545	0	0	0	0	0	0
4463	-1.04	-194.6	822.6	-15.2	134	4471	0.00	2.20	0.00	0.000	6	0.000	0.039	2499	2241	3545	0	0	0	0	0	0
4831	-1.04	-194.6	877.7	-15.1	140	4836	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2240	3544	0	0	0	0	0	0
5132	-1.04	-194.6	921.4	-14.4	145	5138	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2240	3543	0	0	0	0	0	0
5434	-1.04	-194.6	964.3	-14.2	150	5440	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2239	3543	0	0	0	0	0	0
5615	end dive: TARGET_DEPTH_EXCEEDED
state	5615	begin apogee
5617	-0.21	0.0	990.9	14.7	153	5797	0.90	0.00	170.27	1.174	6	0.142	0.000	2776	1917	2749	0	0	0	0	0	0
5798	end apogee: CONTROL_FINISHED_OK
state	5798	begin climb
5799	1.04	194.6	998.2	0.0	155	5993	1.17	2.75	178.90	1.154	4	0.057	0.047	3199	356	1954	0	0	0	0	0	0
6039	1.04	194.6	964.5	23.7	159	6047	0.00	2.62	0.00	0.000	6	0.000	0.039	3195	1931	1949	0	0	0	0	0	0
6352	1.04	194.6	890.2	23.8	165	6358	0.00	0.00	0.00	0.000	6	0.000	0.000	3199	1932	1946	0	0	0	0	0	0
6654	1.04	194.6	818.5	23.8	170	6660	0.00	0.00	0.00	0.000	6	0.000	0.000	3199	1932	1942	0	0	0	0	0	0
6956	1.04	194.6	749.3	22.7	175	6964	0.00	2.53	0.00	0.000	4	0.000	0.056	3199	3513	1943	0	0	0	0	0	0
6989	1.04	194.6	741.4	24.0	175	6997	0.00	2.47	0.00	0.000	6	0.000	0.037	3212	1929	1943	0	0	0	0	0	0
7313	1.04	194.6	668.9	22.2	181	7318	0.00	0.00	0.00	0.000	6	0.000	0.000	3211	1925	1943	0	0	0	0	0	0
7614	1.04	194.6	602.9	22.0	186	7620	0.00	0.00	0.00	0.000	6	0.000	0.000	3211	1925	1943	0	0	0	0	0	0
7916	1.04	194.6	538.6	21.3	191	7925	0.00	2.53	0.00	0.000	4	0.000	0.056	3212	3513	1942	0	0	0	0	0	0
7944	1.04	194.6	532.3	22.8	191	7954	0.15	2.47	0.00	0.000	6	0.207	0.038	3190	1918	1943	0	0	0	0	0	0
8275	1.04	194.6	466.9	19.5	197	8284	0.00	2.47	0.00	0.000	4	0.000	0.050	3201	340	1942	0	0	0	0	0	0
8303	1.04	194.6	461.3	19.1	197	8311	0.00	2.47	0.00	0.000	6	0.000	0.041	3201	1936	1942	0	0	0	0	0	0
8633	1.04	194.6	396.2	19.8	203	8640	0.00	0.00	0.00	0.000	6	0.000	0.000	3201	1935	1942	0	0	0	0	0	0
8935	1.04	194.6	335.0	20.4	208	8943	0.00	2.50	0.00	0.000	4	0.000	0.055	3201	3507	1942	0	0	0	0	0	0
8983	1.04	194.6	324.2	22.5	208	8991	0.00	2.45	0.00	0.000	6	0.000	0.038	3212	1918	1941	0	0	0	0	0	0
9292	1.04	194.6	259.4	21.0	216	9297	0.00	0.00	0.00	0.000	6	0.000	0.000	3212	1913	1942	0	0	0	0	0	0
9597	1.04	194.6	197.6	20.0	226	9608	0.00	2.45	0.00	0.000	4	0.000	0.052	3217	338	1943	0	0	0	0	0	0
9681	1.04	194.6	180.8	20.4	228	9691	0.12	2.45	0.00	0.000	6	0.190	0.039	3185	1929	1940	0	0	0	0	0	0
9990	1.04	194.6	125.8	17.6	238	9998	0.00	2.47	0.00	0.000	4	0.000	0.055	3189	3509	1941	0	0	0	0	0	0
10033	1.04	194.6	117.9	17.9	239	10042	0.00	2.45	0.00	0.000	6	0.000	0.037	3199	1910	1941	0	0	0	0	0	0
10354	1.04	194.6	57.9	17.8	264	10358	0.00	2.55	0.00	0.000	4	0.000	0.054	3199	3502	1942	0	0	0	0	0	0
10438	1.04	194.6	41.9	19.4	272	10443	0.00	2.45	0.00	0.000	6	0.000	0.036	3210	1926	1939	0	0	0	0	0	0
10632	1.04	194.6	11.7	14.8	295	10639	0.00	2.53	0.00	0.000	4	0.000	0.052	3210	3503	1941	0	0	0	0	0	0
10684	end climb: SURFACE_DEPTH_REACHED
state	10685	begin surface coast
10701	end surface coast: CONTROL_FINISHED_OK
state	10701	begin surface