Glider dive log

SCORE Jan11 * SG178 * Dive index * Mission links * Dive 15 * 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 15 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 37 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 300 R_STBD_OVSHOOT 26 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 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 -9728.3984 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 300

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 -9728.3984

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 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 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 37 VBD_MAXERRORS 1

DIVE 15 N_DIVES 0 R_STBD_OVSHOOT 26 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 060111,105254,3247.558,-11904.165,28,1.4,45,13.4 TGT_NAME DM4

_CALLS 1 TGT_LATLONG 3251.800,-11907.783

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.323,-0.030

_SM_DEPTHo 1.66 KALMAN_X 25755.6,-812.3,-340.2,-52155.5,5247.9

_SM_ANGLEo -77.5 KALMAN_Y -2922.3,233.0,-58.1,16103.5,-555.5

GPS2 060111,105838,3247.556,-11904.166,15,1.4,15,13.4 MHEAD_RNG_PITCHd_Wd 251.3,9666,-19.3,-13.306

SPEED_LIMITS 0.230,0.325 D_GRID 935

Post-dive calculations and measurements:

FINISH 0.8,1.025023 PA_USBA 100.0/0/0

SM_CCo 9391,43.40,0.607,0,0,1524,300.00 PA_HOME 13.1/482055/418771

SM_GC 1.35,0.00,0.00,43.40,0.000,0.000,0.607,163,2552,1524,-9.23,0.06,300.00 PA_ROOT 80.3/126931/24979

IRIDIUM_FIX 3236.51,-11907.51,060111,070743 PA_LOG 7.9/298663/275093

TT8_MAMPS 0.108605 PA_DATA1 0.1/7837685/7826437

HUMID 45.43 PA_DATA0 97.8/7836665/172576

INTERNAL_PRESSURE 8.89683 _24V_AH 23.0,19.517

TCM_TEMP 18.60 _10V_AH 10.1,14.278

XPDR_PINGS 25 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 317724

PA_BOOTCOUNT 88 DATA_FILE_SIZE 10131,281

PA_DFQS 0/0 CAP_FILE_SIZE 90071,0

PA_CMQS 0/0 CFSIZE 260165632,253194240

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 060111,133730,3247.312,-11905.662,31,1.7,36,13.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 271 149.75 SBE_CT 191 24 105.71

Roll_motor 90 70 146.58 nil 0 0 0.00

VBD_pump_during_apogee 359 1204 9952.03 nil 0 0 0.00

VBD_pump_during_surface 43 607 606.32 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 69.33 nil 0 0 0.00

Iridium_during_connect 29 160 108.48 PAAM 9885 82 18809.86

Iridium_during_xfer 184 223 944.32 nil 0 0 0.00

Transponder_ping 26 420 255.99 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.48

TT8 0 0 0.00

LPSleep 7698 2 170.29

TT8_Active 452 19 90.44

TT8_Sampling 1562 39 628.03

TT8_CF8 66 45 30.67

TT8_Kalman 33 81 27.54

Analog_circuits 1135 12 137.64

GPS_charging 0 0 0.00

Compass 743 15 112.57

RAFOS 0 0 0.00

Transponder 129 30 39.12

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 83 0.00 0.00 -64.93 0.000 2 0.000 0.000 163 2555 3066 0 0 0 0 0 0

84 -1.01 -194.6 3.6 -7.1 11 109 12.20 0.00 -9.10 0.000 6 0.272 0.000 2779 2556 3543 0 0 0 0 0 0

169 -1.01 -194.6 35.0 -33.8 23 174 0.00 2.58 0.00 0.000 4 0.000 0.047 2779 971 3545 0 0 0 0 0 0

201 -1.01 -194.6 44.9 -30.6 26 206 0.00 2.60 0.00 0.000 6 0.000 0.050 2771 2546 3546 0 0 0 0 0 0

400 -1.01 -194.6 102.6 -26.2 45 407 0.00 2.03 0.00 0.000 4 0.000 0.063 2760 3789 3547 0 0 0 0 0 0

453 -1.01 -194.6 117.6 -27.5 46 461 0.00 1.98 0.00 0.000 6 0.000 0.038 2760 2535 3546 0 0 0 0 0 0

769 -1.01 -194.6 196.6 -24.4 57 774 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2534 3548 0 0 0 0 0 0

1072 -1.01 -194.6 270.9 -24.1 67 1078 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2533 3550 0 0 0 0 0 0

1405 -1.01 -194.6 346.7 -22.5 75 1414 0.00 2.05 0.00 0.000 4 0.000 0.064 2751 3782 3549 0 0 0 0 0 0

1449 -1.01 -194.6 356.8 -22.6 75 1457 0.15 1.90 0.00 0.000 6 0.197 0.039 2781 2543 3549 0 0 0 0 0 0

1773 -1.01 -194.6 418.9 -18.7 81 1782 0.00 2.42 0.00 0.000 4 0.000 0.044 2784 982 3549 0 0 0 0 0 0

1790 -1.01 -194.6 422.4 -18.7 81 1799 0.00 2.55 0.00 0.000 6 0.000 0.051 2772 2564 3549 0 0 0 0 0 0

2138 -1.01 -194.6 488.1 -18.9 87 2146 0.00 1.98 0.00 0.000 4 0.000 0.067 2766 3774 3549 0 0 0 0 0 0

2154 -1.01 -194.6 491.5 -18.1 87 2162 0.00 1.88 0.00 0.000 6 0.000 0.040 2766 2552 3549 0 0 0 0 0 0

2505 -1.01 -194.6 558.9 -19.2 93 2516 0.00 2.00 0.00 0.000 4 0.000 0.067 2757 3781 3549 0 0 0 0 0 0

2546 -1.01 -194.6 567.2 -20.1 93 2554 0.08 1.92 0.00 0.000 6 0.179 0.042 2786 2552 3549 0 0 0 0 0 0

2876 -1.01 -194.6 627.0 -17.9 99 2884 0.00 2.00 0.00 0.000 4 0.000 0.067 2780 3779 3548 0 0 0 0 0 0

2898 -1.01 -194.6 631.3 -18.9 99 2905 0.00 1.90 0.00 0.000 6 0.000 0.042 2780 2550 3551 0 0 0 0 0 0

3243 -1.01 -194.6 696.2 -18.8 105 3250 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2550 3548 0 0 0 0 0 0

3545 -1.01 -194.6 752.0 -18.6 110 3551 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2550 3547 0 0 0 0 0 0

3847 -1.01 -194.6 806.9 -18.0 115 3856 0.00 2.03 0.00 0.000 4 0.000 0.070 2770 3782 3546 0 0 0 0 0 0

3875 -1.01 -194.6 812.7 -19.6 115 3883 0.00 1.90 0.00 0.000 6 0.000 0.044 2771 2543 3546 0 0 0 0 0 0

4215 -1.01 -194.6 873.5 -17.8 121 4221 0.00 0.00 0.00 0.000 6 0.000 0.000 2770 2542 3546 0 0 0 0 0 0

4517 -1.01 -194.6 923.9 -16.7 126 4528 0.00 2.05 0.00 0.000 4 0.000 0.070 2761 3779 3545 0 0 0 0 0 0

4584 end dive: TARGET_DEPTH_EXCEEDED

state 4584 begin apogee

4589 -0.20 0.0 935.9 17.8 127 4766 0.98 0.00 167.32 1.204 6 0.164 0.000 3045 2201 2748 0 0 0 0 0 0

4766 end apogee: CONTROL_FINISHED_OK

state 4766 begin climb

4767 1.01 194.6 945.2 0.0 129 4961 1.12 2.85 176.73 1.181 4 0.058 0.054 3455 629 1951 0 0 0 0 0 0

5012 1.01 194.6 912.6 21.3 133 5020 0.00 2.67 0.00 0.000 6 0.000 0.047 3455 2197 1947 0 0 0 0 0 0

5320 1.01 194.6 842.3 23.2 138 5328 0.00 2.65 0.00 0.000 4 0.000 0.066 3456 3778 1943 0 0 0 0 0 0

5369 1.01 194.6 829.7 26.0 138 5376 0.00 2.55 0.00 0.000 6 0.000 0.044 3468 2210 1941 0 0 0 0 0 0

5676 1.01 194.6 754.1 24.6 143 5685 0.00 2.62 0.00 0.000 4 0.000 0.058 3480 608 1938 0 0 0 0 0 0

5693 1.01 194.6 749.8 23.8 143 5702 0.17 2.60 0.00 0.000 6 0.202 0.050 3440 2214 1939 0 0 0 0 0 0

6034 1.01 194.6 673.4 22.2 149 6040 0.00 0.00 0.00 0.000 6 0.000 0.000 3438 2212 1939 0 0 0 0 0 0

6336 1.01 194.6 608.3 21.3 154 6344 0.00 2.60 0.00 0.000 4 0.000 0.058 3450 613 1939 0 0 0 0 0 0

6385 1.01 194.6 598.1 21.0 154 6393 0.00 2.58 0.00 0.000 6 0.000 0.050 3450 2205 1936 0 0 0 0 0 0

6692 1.01 194.6 532.7 21.4 159 6702 0.00 2.60 0.00 0.000 4 0.000 0.067 3450 3779 1938 0 0 0 0 0 0

6721 1.01 194.6 525.9 24.4 159 6730 0.00 2.53 0.00 0.000 6 0.000 0.045 3462 2194 1937 0 0 0 0 0 0

7051 1.01 194.6 452.7 22.1 165 7059 0.00 2.55 0.00 0.000 4 0.000 0.058 3479 614 1937 0 0 0 0 0 0

7073 1.01 194.6 447.9 21.6 165 7082 0.12 2.55 0.00 0.000 6 0.210 0.047 3446 2211 1940 0 0 0 0 0 0

7408 1.01 194.6 379.4 20.6 171 7416 0.00 2.58 0.00 0.000 4 0.000 0.065 3447 3778 1938 0 0 0 0 0 0

7430 1.01 194.6 374.3 23.1 171 7438 0.00 2.47 0.00 0.000 6 0.000 0.044 3455 2200 1936 0 0 0 0 0 0

7770 1.01 194.6 298.7 22.4 177 7775 0.00 0.00 0.00 0.000 6 0.000 0.000 3456 2197 1937 0 0 0 0 0 0

8073 1.01 194.6 232.5 20.9 187 8081 0.00 2.53 0.00 0.000 4 0.000 0.057 3468 613 1936 0 0 0 0 0 0

8127 1.01 194.6 220.5 22.8 188 8138 0.00 2.55 0.00 0.000 6 0.000 0.049 3468 2205 1937 0 0 0 0 0 0

8437 1.01 194.6 152.4 22.0 199 8442 0.12 0.00 0.00 0.000 6 0.211 0.000 3446 2207 1937 0 0 0 0 0 0

8742 1.01 194.6 97.2 17.5 209 8743 0.00 0.00 0.00 0.000 6 0.000 0.000 3441 2207 1937 0 0 0 0 0 0

8926 1.01 194.6 67.7 13.6 227 8931 0.00 2.58 0.00 0.000 4 0.000 0.054 3451 618 1937 0 0 0 0 0 0

8947 1.04 214.2 65.1 12.4 229 8971 0.00 2.53 15.30 0.633 6 0.000 0.046 3450 2193 1873 0 0 0 0 0 0

9154 1.04 214.2 34.7 15.4 249 9155 0.00 0.00 0.00 0.000 6 0.000 0.000 3447 2196 1870 0 0 0 0 0 0

9343 1.04 214.2 5.5 15.7 275 9351 0.00 2.58 0.00 0.000 4 0.000 0.054 3462 612 1869 0 0 0 0 0 0

9359 end climb: SURFACE_DEPTH_REACHED

state 9359 begin surface coast

9375 end surface coast: CONTROL_FINISHED_OK

state 9375 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	15	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	37	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	300	R_STBD_OVSHOOT	26	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	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	-9728.3984	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	060111,105254,3247.558,-11904.165,28,1.4,45,13.4	TGT_NAME	DM4
_CALLS	1	TGT_LATLONG	3251.800,-11907.783
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.323,-0.030
_SM_DEPTHo	1.66	KALMAN_X	25755.6,-812.3,-340.2,-52155.5,5247.9
_SM_ANGLEo	-77.5	KALMAN_Y	-2922.3,233.0,-58.1,16103.5,-555.5
GPS2	060111,105838,3247.556,-11904.166,15,1.4,15,13.4	MHEAD_RNG_PITCHd_Wd	251.3,9666,-19.3,-13.306
SPEED_LIMITS	0.230,0.325	D_GRID	935

FINISH	0.8,1.025023	PA_USBA	100.0/0/0
SM_CCo	9391,43.40,0.607,0,0,1524,300.00	PA_HOME	13.1/482055/418771
SM_GC	1.35,0.00,0.00,43.40,0.000,0.000,0.607,163,2552,1524,-9.23,0.06,300.00	PA_ROOT	80.3/126931/24979
IRIDIUM_FIX	3236.51,-11907.51,060111,070743	PA_LOG	7.9/298663/275093
TT8_MAMPS	0.108605	PA_DATA1	0.1/7837685/7826437
HUMID	45.43	PA_DATA0	97.8/7836665/172576
INTERNAL_PRESSURE	8.89683	_24V_AH	23.0,19.517
TCM_TEMP	18.60	_10V_AH	10.1,14.278
XPDR_PINGS	25	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	317724
PA_BOOTCOUNT	88	DATA_FILE_SIZE	10131,281
PA_DFQS	0/0	CAP_FILE_SIZE	90071,0
PA_CMQS	0/0	CFSIZE	260165632,253194240
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	060111,133730,3247.312,-11905.662,31,1.7,36,13.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	271	149.75	SBE_CT	191	24	105.71
Roll_motor	90	70	146.58	nil	0	0	0.00
VBD_pump_during_apogee	359	1204	9952.03	nil	0	0	0.00
VBD_pump_during_surface	43	607	606.32	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	69.33	nil	0	0	0.00
Iridium_during_connect	29	160	108.48	PAAM	9885	82	18809.86
Iridium_during_xfer	184	223	944.32	nil	0	0	0.00
Transponder_ping	26	420	255.99	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.48
TT8	0	0	0.00
LPSleep	7698	2	170.29
TT8_Active	452	19	90.44
TT8_Sampling	1562	39	628.03
TT8_CF8	66	45	30.67
TT8_Kalman	33	81	27.54
Analog_circuits	1135	12	137.64
GPS_charging	0	0	0.00
Compass	743	15	112.57
RAFOS	0	0	0.00
Transponder	129	30	39.12

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	83	0.00	0.00	-64.93	0.000	2	0.000	0.000	163	2555	3066	0	0	0	0	0	0
84	-1.01	-194.6	3.6	-7.1	11	109	12.20	0.00	-9.10	0.000	6	0.272	0.000	2779	2556	3543	0	0	0	0	0	0
169	-1.01	-194.6	35.0	-33.8	23	174	0.00	2.58	0.00	0.000	4	0.000	0.047	2779	971	3545	0	0	0	0	0	0
201	-1.01	-194.6	44.9	-30.6	26	206	0.00	2.60	0.00	0.000	6	0.000	0.050	2771	2546	3546	0	0	0	0	0	0
400	-1.01	-194.6	102.6	-26.2	45	407	0.00	2.03	0.00	0.000	4	0.000	0.063	2760	3789	3547	0	0	0	0	0	0
453	-1.01	-194.6	117.6	-27.5	46	461	0.00	1.98	0.00	0.000	6	0.000	0.038	2760	2535	3546	0	0	0	0	0	0
769	-1.01	-194.6	196.6	-24.4	57	774	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2534	3548	0	0	0	0	0	0
1072	-1.01	-194.6	270.9	-24.1	67	1078	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2533	3550	0	0	0	0	0	0
1405	-1.01	-194.6	346.7	-22.5	75	1414	0.00	2.05	0.00	0.000	4	0.000	0.064	2751	3782	3549	0	0	0	0	0	0
1449	-1.01	-194.6	356.8	-22.6	75	1457	0.15	1.90	0.00	0.000	6	0.197	0.039	2781	2543	3549	0	0	0	0	0	0
1773	-1.01	-194.6	418.9	-18.7	81	1782	0.00	2.42	0.00	0.000	4	0.000	0.044	2784	982	3549	0	0	0	0	0	0
1790	-1.01	-194.6	422.4	-18.7	81	1799	0.00	2.55	0.00	0.000	6	0.000	0.051	2772	2564	3549	0	0	0	0	0	0
2138	-1.01	-194.6	488.1	-18.9	87	2146	0.00	1.98	0.00	0.000	4	0.000	0.067	2766	3774	3549	0	0	0	0	0	0
2154	-1.01	-194.6	491.5	-18.1	87	2162	0.00	1.88	0.00	0.000	6	0.000	0.040	2766	2552	3549	0	0	0	0	0	0
2505	-1.01	-194.6	558.9	-19.2	93	2516	0.00	2.00	0.00	0.000	4	0.000	0.067	2757	3781	3549	0	0	0	0	0	0
2546	-1.01	-194.6	567.2	-20.1	93	2554	0.08	1.92	0.00	0.000	6	0.179	0.042	2786	2552	3549	0	0	0	0	0	0
2876	-1.01	-194.6	627.0	-17.9	99	2884	0.00	2.00	0.00	0.000	4	0.000	0.067	2780	3779	3548	0	0	0	0	0	0
2898	-1.01	-194.6	631.3	-18.9	99	2905	0.00	1.90	0.00	0.000	6	0.000	0.042	2780	2550	3551	0	0	0	0	0	0
3243	-1.01	-194.6	696.2	-18.8	105	3250	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2550	3548	0	0	0	0	0	0
3545	-1.01	-194.6	752.0	-18.6	110	3551	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2550	3547	0	0	0	0	0	0
3847	-1.01	-194.6	806.9	-18.0	115	3856	0.00	2.03	0.00	0.000	4	0.000	0.070	2770	3782	3546	0	0	0	0	0	0
3875	-1.01	-194.6	812.7	-19.6	115	3883	0.00	1.90	0.00	0.000	6	0.000	0.044	2771	2543	3546	0	0	0	0	0	0
4215	-1.01	-194.6	873.5	-17.8	121	4221	0.00	0.00	0.00	0.000	6	0.000	0.000	2770	2542	3546	0	0	0	0	0	0
4517	-1.01	-194.6	923.9	-16.7	126	4528	0.00	2.05	0.00	0.000	4	0.000	0.070	2761	3779	3545	0	0	0	0	0	0
4584	end dive: TARGET_DEPTH_EXCEEDED
state	4584	begin apogee
4589	-0.20	0.0	935.9	17.8	127	4766	0.98	0.00	167.32	1.204	6	0.164	0.000	3045	2201	2748	0	0	0	0	0	0
4766	end apogee: CONTROL_FINISHED_OK
state	4766	begin climb
4767	1.01	194.6	945.2	0.0	129	4961	1.12	2.85	176.73	1.181	4	0.058	0.054	3455	629	1951	0	0	0	0	0	0
5012	1.01	194.6	912.6	21.3	133	5020	0.00	2.67	0.00	0.000	6	0.000	0.047	3455	2197	1947	0	0	0	0	0	0
5320	1.01	194.6	842.3	23.2	138	5328	0.00	2.65	0.00	0.000	4	0.000	0.066	3456	3778	1943	0	0	0	0	0	0
5369	1.01	194.6	829.7	26.0	138	5376	0.00	2.55	0.00	0.000	6	0.000	0.044	3468	2210	1941	0	0	0	0	0	0
5676	1.01	194.6	754.1	24.6	143	5685	0.00	2.62	0.00	0.000	4	0.000	0.058	3480	608	1938	0	0	0	0	0	0
5693	1.01	194.6	749.8	23.8	143	5702	0.17	2.60	0.00	0.000	6	0.202	0.050	3440	2214	1939	0	0	0	0	0	0
6034	1.01	194.6	673.4	22.2	149	6040	0.00	0.00	0.00	0.000	6	0.000	0.000	3438	2212	1939	0	0	0	0	0	0
6336	1.01	194.6	608.3	21.3	154	6344	0.00	2.60	0.00	0.000	4	0.000	0.058	3450	613	1939	0	0	0	0	0	0
6385	1.01	194.6	598.1	21.0	154	6393	0.00	2.58	0.00	0.000	6	0.000	0.050	3450	2205	1936	0	0	0	0	0	0
6692	1.01	194.6	532.7	21.4	159	6702	0.00	2.60	0.00	0.000	4	0.000	0.067	3450	3779	1938	0	0	0	0	0	0
6721	1.01	194.6	525.9	24.4	159	6730	0.00	2.53	0.00	0.000	6	0.000	0.045	3462	2194	1937	0	0	0	0	0	0
7051	1.01	194.6	452.7	22.1	165	7059	0.00	2.55	0.00	0.000	4	0.000	0.058	3479	614	1937	0	0	0	0	0	0
7073	1.01	194.6	447.9	21.6	165	7082	0.12	2.55	0.00	0.000	6	0.210	0.047	3446	2211	1940	0	0	0	0	0	0
7408	1.01	194.6	379.4	20.6	171	7416	0.00	2.58	0.00	0.000	4	0.000	0.065	3447	3778	1938	0	0	0	0	0	0
7430	1.01	194.6	374.3	23.1	171	7438	0.00	2.47	0.00	0.000	6	0.000	0.044	3455	2200	1936	0	0	0	0	0	0
7770	1.01	194.6	298.7	22.4	177	7775	0.00	0.00	0.00	0.000	6	0.000	0.000	3456	2197	1937	0	0	0	0	0	0
8073	1.01	194.6	232.5	20.9	187	8081	0.00	2.53	0.00	0.000	4	0.000	0.057	3468	613	1936	0	0	0	0	0	0
8127	1.01	194.6	220.5	22.8	188	8138	0.00	2.55	0.00	0.000	6	0.000	0.049	3468	2205	1937	0	0	0	0	0	0
8437	1.01	194.6	152.4	22.0	199	8442	0.12	0.00	0.00	0.000	6	0.211	0.000	3446	2207	1937	0	0	0	0	0	0
8742	1.01	194.6	97.2	17.5	209	8743	0.00	0.00	0.00	0.000	6	0.000	0.000	3441	2207	1937	0	0	0	0	0	0
8926	1.01	194.6	67.7	13.6	227	8931	0.00	2.58	0.00	0.000	4	0.000	0.054	3451	618	1937	0	0	0	0	0	0
8947	1.04	214.2	65.1	12.4	229	8971	0.00	2.53	15.30	0.633	6	0.000	0.046	3450	2193	1873	0	0	0	0	0	0
9154	1.04	214.2	34.7	15.4	249	9155	0.00	0.00	0.00	0.000	6	0.000	0.000	3447	2196	1870	0	0	0	0	0	0
9343	1.04	214.2	5.5	15.7	275	9351	0.00	2.58	0.00	0.000	4	0.000	0.054	3462	612	1869	0	0	0	0	0	0
9359	end climb: SURFACE_DEPTH_REACHED
state	9359	begin surface coast
9375	end surface coast: CONTROL_FINISHED_OK
state	9375	begin surface