Glider dive log

AUTEC Jun10 * SG178 * Dive index * Mission links * Dive 13 * 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 13 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 450 R_STBD_OVSHOOT 28 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 -5995.3306 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 450

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 -5995.3306

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 28 VBD_MIN 425

DIVE 13 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 080610,203426,2439.939,-7737.671,10,1.6,10,-7.1 TGT_NAME H4

_CALLS 1 TGT_LATLONG 2441.300,-7736.833

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.166,0.183

_SM_DEPTHo 0.98 KALMAN_X -1314.5,-53.5,78.3,-939.4,-786.0

_SM_ANGLEo -75.7 KALMAN_Y -666.6,-319.5,-113.5,-1158.1,153.5

GPS2 080610,203825,2439.913,-7737.669,11,1.8,16,-7.1 MHEAD_RNG_PITCHd_Wd 49.3,2928,-26.5,-13.636

SPEED_LIMITS 0.236,0.378 D_GRID 900

Post-dive calculations and measurements:

FINISH -0.1,1.008647 PA_USBA 100.0/0/0

SM_CCo 9721,94.30,0.535,0,0,901,450.13 PA_HOME 8.3/483886/443492

SM_GC 0.75,0.00,0.00,94.30,0.000,0.000,0.535,168,2434,901,-9.35,-0.20,450.13 PA_ROOT 80.3/126931/24988

IRIDIUM_FIX 2432.32,-7739.08,021211,141443 PA_LOG 4.8/297829/283660

TT8_MAMPS 0.11235 PA_DATA1 18.8/7836665/6360462

HUMID 1078192893 PA_DATA0 31.7/7836665/5355914

INTERNAL_PRESSURE 9.45349 _24V_AH 24.2,10.117

TCM_TEMP 23.50 _10V_AH 10.4,8.845

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 355168

PA_BOOTCOUNT 33 DATA_FILE_SIZE 10161,282

PA_DFQS 0/0 CAP_FILE_SIZE 104099,0

PA_CMQS 0/0 CFSIZE 260165632,254017536

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 080610,232421,2441.188,-7736.378,62,2.4,81,-7.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 265 151.77 SBE_CT 188 24 109.22

Roll_motor 96 217 506.84 nil 0 0 0.00

VBD_pump_during_apogee 360 1130 9851.77 nil 0 0 0.00

VBD_pump_during_surface 94 534 1220.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 PAAM 9820 80 19013.48

Iridium_during_xfer 0 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 17 0 0.00

TT8 0 0 0.00

LPSleep 7987 2 181.92

TT8_Active 573 19 118.07

TT8_Sampling 1254 39 519.27

TT8_CF8 48 45 23.01

TT8_Kalman 33 0 0.00

Analog_circuits 1222 12 152.62

GPS_charging 0 0 0.00

Compass 809 15 126.28

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

16 -0.87 -108.8 0.0 0.0 0 105 0.00 0.00 -86.32 0.000 6 0.000 0.000 164 2450 3182 0 0 0 0 0 0

106 -0.98 -194.9 3.1 -6.4 15 131 11.98 2.10 -6.62 0.000 4 0.265 0.065 2828 3780 3532 0 0 0 0 0 0

295 -0.98 -194.9 63.0 -24.3 36 303 0.00 2.08 0.00 0.000 6 0.000 0.034 2833 2420 3534 0 0 0 0 0 0

496 -0.98 -194.9 108.2 -21.6 54 501 0.00 2.38 0.00 0.000 4 0.000 0.041 2833 869 3535 0 0 0 0 0 0

517 -0.98 -194.9 112.9 -22.2 54 522 0.00 2.47 0.00 0.000 6 0.000 0.044 2823 2446 3535 0 0 0 0 0 0

831 -0.98 -194.9 181.2 -21.9 65 832 0.00 0.00 0.00 0.000 6 0.000 0.000 2820 2446 3536 0 0 0 0 0 0

1134 -0.98 -194.9 239.6 -18.4 75 1139 0.00 2.10 0.00 0.000 4 0.000 0.055 2813 3779 3536 0 0 0 0 0 0

1251 -0.98 -194.9 262.1 -19.2 78 1256 0.00 2.03 0.00 0.000 6 0.000 0.033 2813 2438 3537 0 0 0 0 0 0

1595 -0.98 -194.9 322.4 -17.3 88 1601 0.12 0.00 0.00 0.000 6 0.210 0.000 2843 2439 3536 0 0 0 0 0 0

1897 -0.98 -194.9 368.1 -14.9 93 1906 0.00 2.10 0.00 0.000 4 0.000 0.057 2834 3779 3538 0 0 0 0 0 0

1946 -0.98 -194.9 375.8 -16.0 93 1954 0.00 2.00 0.00 0.000 6 0.000 0.035 2835 2432 3535 0 0 0 0 0 0

2259 -0.98 -194.9 423.1 -15.1 99 2267 0.00 2.10 0.00 0.000 4 0.000 0.057 2825 3776 3535 0 0 0 0 0 0

2292 -0.98 -194.9 428.2 -16.1 99 2299 0.00 1.98 0.00 0.000 6 0.000 0.036 2825 2431 3535 0 0 0 0 0 0

2621 -0.98 -194.9 478.5 -15.2 105 2629 0.00 2.35 0.00 0.000 4 0.000 0.043 2821 861 3532 0 0 0 0 0 0

2654 -0.98 -194.9 483.7 -15.7 105 2662 0.12 2.45 0.00 0.000 6 0.198 0.047 2842 2443 3532 0 0 0 0 0 0

2978 -0.98 -201.9 526.6 -13.1 111 2986 0.00 2.08 0.00 0.000 4 0.000 0.059 2834 3786 3530 0 0 0 0 0 0

3032 -0.99 -202.2 534.1 -13.6 111 3042 0.00 1.98 0.00 0.000 6 0.000 0.037 2834 2443 3530 0 0 0 0 0 0

3340 -0.99 -202.2 576.6 -13.9 117 3346 0.00 0.00 0.00 0.000 6 0.000 0.000 2834 2440 3529 0 0 0 0 0 0

3641 -0.99 -202.6 617.7 -13.6 122 3649 0.00 2.10 0.00 0.000 4 0.000 0.061 2824 3787 3527 0 0 0 0 0 0

3668 -0.99 -202.6 621.6 -14.4 122 3675 0.00 2.00 0.00 0.000 6 0.000 0.037 2824 2435 3526 0 0 0 0 0 0

4002 -0.99 -202.6 668.8 -14.3 128 4008 0.00 0.00 0.00 0.000 6 0.000 0.000 2824 2435 3524 0 0 0 0 0 0

4304 -0.99 -203.6 710.0 -13.6 133 4311 0.00 2.12 0.00 0.000 4 0.000 0.063 2814 3780 3522 0 0 0 0 0 0

4368 -0.99 -203.6 719.0 -13.7 134 4376 0.10 2.00 0.00 0.000 6 0.213 0.039 2835 2429 3521 0 0 0 0 0 0

4730 -1.00 -217.7 764.6 -12.5 140 4736 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 2430 3518 0 0 0 0 0 0

5031 -1.02 -232.0 802.4 -12.4 145 5039 0.00 2.12 0.00 0.000 4 0.000 0.064 2827 3778 3517 0 0 0 0 0 0

5107 -1.02 -233.0 812.8 -13.6 146 5114 0.00 2.00 0.00 0.000 6 0.000 0.040 2827 2432 3516 0 0 0 0 0 0

5457 -1.03 -242.2 857.9 -12.9 152 5465 0.00 2.15 0.00 0.000 4 0.000 0.065 2819 3778 3514 0 0 0 0 0 0

5489 -1.03 -242.2 862.4 -13.8 152 5497 0.00 2.00 0.00 0.000 6 0.000 0.041 2818 2437 3513 0 0 0 0 0 0

5817 end dive: TARGET_DEPTH_EXCEEDED

state 5817 begin apogee

5820 -0.14 0.0 904.3 12.5 158 5983 1.00 0.00 156.07 1.131 6 0.171 0.000 3106 2435 2738 0 0 0 0 0 0

5984 end apogee: CONTROL_FINISHED_OK

state 5984 begin climb

5985 1.03 242.2 908.1 0.0 160 6201 1.08 2.67 203.98 1.114 4 0.061 0.046 3509 817 1748 0 0 0 0 0 0

6285 1.03 242.2 852.9 25.2 165 6293 0.00 2.58 0.00 0.000 6 0.000 0.048 3506 2398 1742 0 0 0 0 0 0

6604 1.03 242.2 770.0 25.8 171 6612 0.00 2.47 0.00 0.000 4 0.000 0.046 3516 824 1738 0 0 0 0 0 0

6626 1.03 242.2 763.9 27.2 171 6634 0.00 2.53 0.00 0.000 6 0.000 0.050 3516 2403 1737 0 0 0 0 0 0

6961 1.03 242.2 674.6 26.7 177 6969 0.00 2.45 0.00 0.000 4 0.000 0.048 3529 821 1735 0 0 0 0 0 0

6994 1.03 242.2 665.6 26.9 177 7003 0.15 2.50 0.00 0.000 6 0.200 0.050 3492 2401 1735 0 0 0 0 0 0

7318 1.03 242.2 584.1 25.0 183 7326 0.00 2.47 0.00 0.000 4 0.000 0.046 3502 812 1733 0 0 0 0 0 0

7356 1.03 242.2 574.5 25.1 183 7365 0.00 2.47 0.00 0.000 6 0.000 0.048 3494 2403 1731 0 0 0 0 0 0

7675 1.03 242.2 493.3 25.7 189 7684 0.00 2.42 0.00 0.000 4 0.000 0.046 3504 822 1731 0 0 0 0 0 0

7719 1.03 242.2 482.3 23.7 189 7728 0.00 2.50 0.00 0.000 6 0.000 0.050 3497 2407 1730 0 0 0 0 0 0

8033 1.03 242.2 402.9 25.3 195 8041 0.00 2.45 0.00 0.000 4 0.000 0.047 3507 812 1729 0 0 0 0 0 0

8104 1.03 242.2 385.6 24.4 196 8112 0.00 2.47 0.00 0.000 6 0.000 0.047 3507 2408 1727 0 0 0 0 0 0

8457 1.03 242.2 293.7 26.4 202 8460 0.00 2.42 0.00 0.000 4 0.000 0.045 3517 821 1728 0 0 0 0 0 0

8508 1.03 242.2 279.8 24.8 203 8516 0.00 2.50 0.00 0.000 6 0.000 0.048 3517 2402 1726 0 0 0 0 0 0

8817 1.03 242.2 199.0 25.9 214 8822 0.00 2.47 0.00 0.000 4 0.000 0.044 3529 816 1728 0 0 0 0 0 0

8843 1.03 242.2 192.5 24.2 214 8851 0.10 2.50 0.00 0.000 6 0.190 0.047 3499 2402 1728 0 0 0 0 0 0

9152 1.03 242.2 120.1 23.3 225 9156 0.00 2.45 0.00 0.000 4 0.000 0.043 3509 828 1729 0 0 0 0 0 0

9189 1.03 242.2 111.3 23.7 226 9194 0.00 2.47 0.00 0.000 6 0.000 0.046 3508 2400 1728 0 0 0 0 0 0

9505 1.03 242.2 39.2 22.2 253 9509 0.00 2.42 0.00 0.000 4 0.000 0.043 3518 828 1728 0 0 0 0 0 0

9654 1.03 242.2 9.6 17.9 272 9662 0.00 2.45 0.00 0.000 6 0.000 0.044 3517 2402 1728 0 0 0 0 0 0

9696 end climb: SURFACE_DEPTH_REACHED

state 9696 begin surface coast

9707 end surface coast: CONTROL_FINISHED_OK

state 9708 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	13	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	450	R_STBD_OVSHOOT	28	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	-5995.3306	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	080610,203426,2439.939,-7737.671,10,1.6,10,-7.1	TGT_NAME	H4
_CALLS	1	TGT_LATLONG	2441.300,-7736.833
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.166,0.183
_SM_DEPTHo	0.98	KALMAN_X	-1314.5,-53.5,78.3,-939.4,-786.0
_SM_ANGLEo	-75.7	KALMAN_Y	-666.6,-319.5,-113.5,-1158.1,153.5
GPS2	080610,203825,2439.913,-7737.669,11,1.8,16,-7.1	MHEAD_RNG_PITCHd_Wd	49.3,2928,-26.5,-13.636
SPEED_LIMITS	0.236,0.378	D_GRID	900

FINISH	-0.1,1.008647	PA_USBA	100.0/0/0
SM_CCo	9721,94.30,0.535,0,0,901,450.13	PA_HOME	8.3/483886/443492
SM_GC	0.75,0.00,0.00,94.30,0.000,0.000,0.535,168,2434,901,-9.35,-0.20,450.13	PA_ROOT	80.3/126931/24988
IRIDIUM_FIX	2432.32,-7739.08,021211,141443	PA_LOG	4.8/297829/283660
TT8_MAMPS	0.11235	PA_DATA1	18.8/7836665/6360462
HUMID	1078192893	PA_DATA0	31.7/7836665/5355914
INTERNAL_PRESSURE	9.45349	_24V_AH	24.2,10.117
TCM_TEMP	23.50	_10V_AH	10.4,8.845
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	355168
PA_BOOTCOUNT	33	DATA_FILE_SIZE	10161,282
PA_DFQS	0/0	CAP_FILE_SIZE	104099,0
PA_CMQS	0/0	CFSIZE	260165632,254017536
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	080610,232421,2441.188,-7736.378,62,2.4,81,-7.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	265	151.77	SBE_CT	188	24	109.22
Roll_motor	96	217	506.84	nil	0	0	0.00
VBD_pump_during_apogee	360	1130	9851.77	nil	0	0	0.00
VBD_pump_during_surface	94	534	1220.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	PAAM	9820	80	19013.48
Iridium_during_xfer	0	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	17	0	0.00
TT8	0	0	0.00
LPSleep	7987	2	181.92
TT8_Active	573	19	118.07
TT8_Sampling	1254	39	519.27
TT8_CF8	48	45	23.01
TT8_Kalman	33	0	0.00
Analog_circuits	1222	12	152.62
GPS_charging	0	0	0.00
Compass	809	15	126.28
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
16	-0.87	-108.8	0.0	0.0	0	105	0.00	0.00	-86.32	0.000	6	0.000	0.000	164	2450	3182	0	0	0	0	0	0
106	-0.98	-194.9	3.1	-6.4	15	131	11.98	2.10	-6.62	0.000	4	0.265	0.065	2828	3780	3532	0	0	0	0	0	0
295	-0.98	-194.9	63.0	-24.3	36	303	0.00	2.08	0.00	0.000	6	0.000	0.034	2833	2420	3534	0	0	0	0	0	0
496	-0.98	-194.9	108.2	-21.6	54	501	0.00	2.38	0.00	0.000	4	0.000	0.041	2833	869	3535	0	0	0	0	0	0
517	-0.98	-194.9	112.9	-22.2	54	522	0.00	2.47	0.00	0.000	6	0.000	0.044	2823	2446	3535	0	0	0	0	0	0
831	-0.98	-194.9	181.2	-21.9	65	832	0.00	0.00	0.00	0.000	6	0.000	0.000	2820	2446	3536	0	0	0	0	0	0
1134	-0.98	-194.9	239.6	-18.4	75	1139	0.00	2.10	0.00	0.000	4	0.000	0.055	2813	3779	3536	0	0	0	0	0	0
1251	-0.98	-194.9	262.1	-19.2	78	1256	0.00	2.03	0.00	0.000	6	0.000	0.033	2813	2438	3537	0	0	0	0	0	0
1595	-0.98	-194.9	322.4	-17.3	88	1601	0.12	0.00	0.00	0.000	6	0.210	0.000	2843	2439	3536	0	0	0	0	0	0
1897	-0.98	-194.9	368.1	-14.9	93	1906	0.00	2.10	0.00	0.000	4	0.000	0.057	2834	3779	3538	0	0	0	0	0	0
1946	-0.98	-194.9	375.8	-16.0	93	1954	0.00	2.00	0.00	0.000	6	0.000	0.035	2835	2432	3535	0	0	0	0	0	0
2259	-0.98	-194.9	423.1	-15.1	99	2267	0.00	2.10	0.00	0.000	4	0.000	0.057	2825	3776	3535	0	0	0	0	0	0
2292	-0.98	-194.9	428.2	-16.1	99	2299	0.00	1.98	0.00	0.000	6	0.000	0.036	2825	2431	3535	0	0	0	0	0	0
2621	-0.98	-194.9	478.5	-15.2	105	2629	0.00	2.35	0.00	0.000	4	0.000	0.043	2821	861	3532	0	0	0	0	0	0
2654	-0.98	-194.9	483.7	-15.7	105	2662	0.12	2.45	0.00	0.000	6	0.198	0.047	2842	2443	3532	0	0	0	0	0	0
2978	-0.98	-201.9	526.6	-13.1	111	2986	0.00	2.08	0.00	0.000	4	0.000	0.059	2834	3786	3530	0	0	0	0	0	0
3032	-0.99	-202.2	534.1	-13.6	111	3042	0.00	1.98	0.00	0.000	6	0.000	0.037	2834	2443	3530	0	0	0	0	0	0
3340	-0.99	-202.2	576.6	-13.9	117	3346	0.00	0.00	0.00	0.000	6	0.000	0.000	2834	2440	3529	0	0	0	0	0	0
3641	-0.99	-202.6	617.7	-13.6	122	3649	0.00	2.10	0.00	0.000	4	0.000	0.061	2824	3787	3527	0	0	0	0	0	0
3668	-0.99	-202.6	621.6	-14.4	122	3675	0.00	2.00	0.00	0.000	6	0.000	0.037	2824	2435	3526	0	0	0	0	0	0
4002	-0.99	-202.6	668.8	-14.3	128	4008	0.00	0.00	0.00	0.000	6	0.000	0.000	2824	2435	3524	0	0	0	0	0	0
4304	-0.99	-203.6	710.0	-13.6	133	4311	0.00	2.12	0.00	0.000	4	0.000	0.063	2814	3780	3522	0	0	0	0	0	0
4368	-0.99	-203.6	719.0	-13.7	134	4376	0.10	2.00	0.00	0.000	6	0.213	0.039	2835	2429	3521	0	0	0	0	0	0
4730	-1.00	-217.7	764.6	-12.5	140	4736	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	2430	3518	0	0	0	0	0	0
5031	-1.02	-232.0	802.4	-12.4	145	5039	0.00	2.12	0.00	0.000	4	0.000	0.064	2827	3778	3517	0	0	0	0	0	0
5107	-1.02	-233.0	812.8	-13.6	146	5114	0.00	2.00	0.00	0.000	6	0.000	0.040	2827	2432	3516	0	0	0	0	0	0
5457	-1.03	-242.2	857.9	-12.9	152	5465	0.00	2.15	0.00	0.000	4	0.000	0.065	2819	3778	3514	0	0	0	0	0	0
5489	-1.03	-242.2	862.4	-13.8	152	5497	0.00	2.00	0.00	0.000	6	0.000	0.041	2818	2437	3513	0	0	0	0	0	0
5817	end dive: TARGET_DEPTH_EXCEEDED
state	5817	begin apogee
5820	-0.14	0.0	904.3	12.5	158	5983	1.00	0.00	156.07	1.131	6	0.171	0.000	3106	2435	2738	0	0	0	0	0	0
5984	end apogee: CONTROL_FINISHED_OK
state	5984	begin climb
5985	1.03	242.2	908.1	0.0	160	6201	1.08	2.67	203.98	1.114	4	0.061	0.046	3509	817	1748	0	0	0	0	0	0
6285	1.03	242.2	852.9	25.2	165	6293	0.00	2.58	0.00	0.000	6	0.000	0.048	3506	2398	1742	0	0	0	0	0	0
6604	1.03	242.2	770.0	25.8	171	6612	0.00	2.47	0.00	0.000	4	0.000	0.046	3516	824	1738	0	0	0	0	0	0
6626	1.03	242.2	763.9	27.2	171	6634	0.00	2.53	0.00	0.000	6	0.000	0.050	3516	2403	1737	0	0	0	0	0	0
6961	1.03	242.2	674.6	26.7	177	6969	0.00	2.45	0.00	0.000	4	0.000	0.048	3529	821	1735	0	0	0	0	0	0
6994	1.03	242.2	665.6	26.9	177	7003	0.15	2.50	0.00	0.000	6	0.200	0.050	3492	2401	1735	0	0	0	0	0	0
7318	1.03	242.2	584.1	25.0	183	7326	0.00	2.47	0.00	0.000	4	0.000	0.046	3502	812	1733	0	0	0	0	0	0
7356	1.03	242.2	574.5	25.1	183	7365	0.00	2.47	0.00	0.000	6	0.000	0.048	3494	2403	1731	0	0	0	0	0	0
7675	1.03	242.2	493.3	25.7	189	7684	0.00	2.42	0.00	0.000	4	0.000	0.046	3504	822	1731	0	0	0	0	0	0
7719	1.03	242.2	482.3	23.7	189	7728	0.00	2.50	0.00	0.000	6	0.000	0.050	3497	2407	1730	0	0	0	0	0	0
8033	1.03	242.2	402.9	25.3	195	8041	0.00	2.45	0.00	0.000	4	0.000	0.047	3507	812	1729	0	0	0	0	0	0
8104	1.03	242.2	385.6	24.4	196	8112	0.00	2.47	0.00	0.000	6	0.000	0.047	3507	2408	1727	0	0	0	0	0	0
8457	1.03	242.2	293.7	26.4	202	8460	0.00	2.42	0.00	0.000	4	0.000	0.045	3517	821	1728	0	0	0	0	0	0
8508	1.03	242.2	279.8	24.8	203	8516	0.00	2.50	0.00	0.000	6	0.000	0.048	3517	2402	1726	0	0	0	0	0	0
8817	1.03	242.2	199.0	25.9	214	8822	0.00	2.47	0.00	0.000	4	0.000	0.044	3529	816	1728	0	0	0	0	0	0
8843	1.03	242.2	192.5	24.2	214	8851	0.10	2.50	0.00	0.000	6	0.190	0.047	3499	2402	1728	0	0	0	0	0	0
9152	1.03	242.2	120.1	23.3	225	9156	0.00	2.45	0.00	0.000	4	0.000	0.043	3509	828	1729	0	0	0	0	0	0
9189	1.03	242.2	111.3	23.7	226	9194	0.00	2.47	0.00	0.000	6	0.000	0.046	3508	2400	1728	0	0	0	0	0	0
9505	1.03	242.2	39.2	22.2	253	9509	0.00	2.42	0.00	0.000	4	0.000	0.043	3518	828	1728	0	0	0	0	0	0
9654	1.03	242.2	9.6	17.9	272	9662	0.00	2.45	0.00	0.000	6	0.000	0.044	3517	2402	1728	0	0	0	0	0	0
9696	end climb: SURFACE_DEPTH_REACHED
state	9696	begin surface coast
9707	end surface coast: CONTROL_FINISHED_OK
state	9708	begin surface