Glider dive log

SCORE Jan11 * SG179 * Dive index * Mission links * Dive 16 * 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 16 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 48 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 300 R_STBD_OVSHOOT 34 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 -16224.835 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 -16224.835

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 48 VBD_MAXERRORS 1

DIVE 16 N_DIVES 0 R_STBD_OVSHOOT 34 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 060111,115606,3246.390,-11901.014,114,1.3,115,13.3 TGT_NAME DM4

_CALLS 1 TGT_LATLONG 3251.800,-11907.783

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.278,0.168

_SM_DEPTHo 1.82 KALMAN_X 24361.1,-61.3,-140.7,-47961.5,3206.7

_SM_ANGLEo -75.7 KALMAN_Y -13825.4,367.9,-191.3,25093.1,-1634.2

GPS2 060111,120107,3246.365,-11901.021,9,1.4,14,13.3 MHEAD_RNG_PITCHd_Wd 287.8,14560,-19.3,-13.306

SPEED_LIMITS 0.230,0.325 D_GRID 970

Post-dive calculations and measurements:

FINISH 0.9,1.005809 PA_USBA 100.0/0/0

SM_CCo 10222,54.45,0.552,0,0,1524,300.49 PA_HOME 9.1/483886/439836

SM_GC 1.74,0.00,0.00,54.45,0.000,0.000,0.552,138,2259,1524,-8.48,0.40,300.49 PA_ROOT 80.3/126931/24979

IRIDIUM_FIX 3246.76,-11841.34,060111,080816 PA_LOG 7.7/297829/274846

TT8_MAMPS 0.116844 PA_DATA1 0.1/7836665/7825417

HUMID 50.39 PA_DATA0 91.6/7836665/657499

INTERNAL_PRESSURE 9.5836 _24V_AH 22.9,16.590

TCM_TEMP 19.40 _10V_AH 10.1,12.009

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 317568

PA_BOOTCOUNT 92 DATA_FILE_SIZE 10109,307

PA_DFQS 0/0 CAP_FILE_SIZE 98863,0

PA_CMQS 0/0 CFSIZE 260165632,255614976

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 060111,145451,3246.961,-11902.453,66,4.7,86,13.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 278 142.20 SBE_CT 209 24 115.12

Roll_motor 92 61 129.81 nil 0 0 0.00

VBD_pump_during_apogee 347 1158 9210.23 nil 0 0 0.00

VBD_pump_during_surface 54 551 687.75 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 72.58 nil 0 0 0.00

Iridium_during_connect 28 160 106.03 PAAM 10727 86 21178.57

Iridium_during_xfer 151 223 775.12 nil 0 0 0.00

Transponder_ping 34 420 329.42 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.98

TT8 0 0 0.00

LPSleep 8430 2 186.48

TT8_Active 463 19 92.69

TT8_Sampling 1614 39 649.01

TT8_CF8 66 45 30.67

TT8_Kalman 33 81 27.54

Analog_circuits 1173 12 142.24

GPS_charging 0 0 0.00

Compass 784 15 118.80

RAFOS 0 0 0.00

Transponder 217 30 66.02

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 -1.04 -194.6 0.0 0.0 0 83 0.00 0.00 -64.75 0.000 2 0.000 0.000 140 2230 2950 0 0 0 0 0 0

84 -1.04 -194.6 3.5 -5.7 11 115 11.15 2.42 -12.65 0.000 4 0.278 0.051 2505 675 3541 0 0 0 0 0 0

155 -1.04 -194.6 25.5 -26.2 23 160 0.00 2.53 0.00 0.000 6 0.000 0.046 2495 2235 3544 0 0 0 0 0 0

352 -1.04 -194.6 76.4 -25.0 42 357 0.00 2.38 0.00 0.000 4 0.000 0.060 2485 3683 3545 0 0 0 0 0 0

384 -1.04 -194.6 84.4 -24.6 45 388 0.00 2.22 0.00 0.000 6 0.000 0.035 2484 2248 3545 0 0 0 0 0 0

578 -1.04 -194.6 131.7 -24.6 56 584 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2247 3545 0 0 0 0 0 0

882 -1.04 -194.6 199.9 -22.0 66 891 0.00 2.33 0.00 0.000 4 0.000 0.060 2469 3684 3546 0 0 0 0 0 0

915 -1.04 -194.6 207.6 -23.5 67 924 0.15 2.20 0.00 0.000 6 0.184 0.036 2509 2237 3547 0 0 0 0 0 0

1247 -1.04 -194.6 270.3 -18.5 78 1258 0.00 2.40 0.00 0.000 4 0.000 0.040 2508 672 3547 0 0 0 0 0 0

1293 -1.04 -194.6 278.8 -17.5 79 1301 0.00 2.47 0.00 0.000 6 0.000 0.044 2500 2258 3548 0 0 0 0 0 0

1613 -1.04 -194.6 335.2 -17.4 87 1622 0.00 2.25 0.00 0.000 4 0.000 0.059 2488 3675 3547 0 0 0 0 0 0

1651 -1.04 -194.6 342.5 -18.8 87 1660 0.00 2.17 0.00 0.000 6 0.000 0.036 2488 2243 3547 0 0 0 0 0 0

1976 -1.04 -194.6 402.0 -18.4 93 1982 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2241 3546 0 0 0 0 0 0

2278 -1.04 -194.6 454.6 -17.3 98 2284 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2241 3547 0 0 0 0 0 0

2580 -1.04 -194.6 511.1 -18.8 103 2585 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2241 3548 0 0 0 0 0 0

2882 -1.04 -194.6 567.9 -18.9 108 2891 0.00 2.30 0.00 0.000 4 0.000 0.059 2477 3686 3547 0 0 0 0 0 0

2910 -1.04 -194.6 573.7 -19.6 108 2921 0.12 2.17 0.00 0.000 6 0.184 0.038 2507 2253 3547 0 0 0 0 0 0

3254 -1.04 -194.6 631.6 -16.6 114 3260 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2251 3546 0 0 0 0 0 0

3556 -1.04 -194.6 681.4 -16.5 119 3565 0.00 2.28 0.00 0.000 4 0.000 0.061 2498 3674 3546 0 0 0 0 0 0

3617 -1.04 -194.6 691.6 -17.7 119 3628 0.00 2.15 0.00 0.000 6 0.000 0.038 2498 2242 3546 0 0 0 0 0 0

3925 -1.04 -194.6 744.7 -17.3 125 3930 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2242 3545 0 0 0 0 0 0

4227 -1.04 -194.6 797.2 -17.3 130 4232 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2242 3544 0 0 0 0 0 0

4528 -1.04 -194.6 846.0 -16.2 135 4537 0.00 2.30 0.00 0.000 4 0.000 0.060 2487 3678 3545 0 0 0 0 0 0

4562 -1.04 -194.6 851.6 -17.3 135 4571 0.00 2.17 0.00 0.000 6 0.000 0.038 2487 2243 3543 0 0 0 0 0 0

4898 -1.04 -194.6 907.4 -16.6 141 4903 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2238 3543 0 0 0 0 0 0

5200 -1.04 -194.6 955.1 -15.6 146 5205 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 2240 3540 0 0 0 0 0 0

5320 end dive: TARGET_DEPTH_EXCEEDED

state 5320 begin apogee

5323 -0.21 0.0 973.4 15.4 148 5503 0.95 0.00 169.50 1.159 6 0.148 0.000 2777 1922 2748 0 0 0 0 0 0

5503 end apogee: CONTROL_FINISHED_OK

state 5503 begin climb

5504 1.04 194.6 979.9 0.0 150 5698 1.17 2.78 177.52 1.137 4 0.056 0.047 3202 362 1954 0 0 0 0 0 0

5734 1.04 194.6 947.7 23.5 154 5742 0.00 2.62 0.00 0.000 6 0.000 0.037 3202 1930 1948 0 0 0 0 0 0

6058 1.04 194.6 869.8 24.1 160 6066 0.00 2.58 0.00 0.000 4 0.000 0.054 3203 3509 1946 0 0 0 0 0 0

6101 1.04 194.6 858.8 26.1 160 6109 0.00 2.50 0.00 0.000 6 0.000 0.037 3214 1937 1945 0 0 0 0 0 0

6414 1.04 194.6 784.2 23.9 166 6420 0.00 0.00 0.00 0.000 6 0.000 0.000 3210 1934 1943 0 0 0 0 0 0

6716 1.04 194.6 716.1 22.5 171 6722 0.12 0.00 0.00 0.000 6 0.207 0.000 3187 1934 1943 0 0 0 0 0 0

7019 1.04 194.6 651.8 21.2 176 7027 0.00 2.53 0.00 0.000 4 0.000 0.055 3188 3510 1943 0 0 0 0 0 0

7057 1.04 194.6 643.2 22.6 176 7065 0.00 2.47 0.00 0.000 6 0.000 0.037 3197 1917 1943 0 0 0 0 0 0

7375 1.04 194.6 571.2 22.5 182 7384 0.00 2.47 0.00 0.000 4 0.000 0.050 3210 340 1943 0 0 0 0 0 0

7403 1.04 194.6 564.7 22.2 182 7412 0.00 2.47 0.00 0.000 6 0.000 0.041 3213 1930 1942 0 0 0 0 0 0

7733 1.04 194.6 487.0 23.6 188 7742 0.00 2.50 0.00 0.000 4 0.000 0.055 3210 3507 1943 0 0 0 0 0 0

7798 1.04 194.6 470.9 24.5 189 7807 0.15 2.42 0.00 0.000 6 0.209 0.038 3188 1926 1942 0 0 0 0 0 0

8155 1.04 194.6 393.7 21.2 195 8163 0.00 2.47 0.00 0.000 4 0.000 0.050 3199 339 1942 0 0 0 0 0 0

8188 1.04 194.6 386.5 21.5 195 8196 0.00 2.42 0.00 0.000 6 0.000 0.039 3198 1921 1942 0 0 0 0 0 0

8512 1.04 194.6 318.9 20.7 201 8520 0.00 2.50 0.00 0.000 4 0.000 0.054 3198 3519 1942 0 0 0 0 0 0

8539 1.04 194.6 312.7 22.7 201 8547 0.00 2.45 0.00 0.000 6 0.000 0.038 3210 1918 1942 0 0 0 0 0 0

8875 1.04 194.6 240.1 21.2 211 8883 0.00 2.47 0.00 0.000 4 0.000 0.053 3217 344 1941 0 0 0 0 0 0

8924 1.04 194.6 229.2 21.5 212 8932 0.00 2.45 0.00 0.000 6 0.000 0.039 3217 1938 1941 0 0 0 0 0 0

9233 1.04 194.6 165.1 20.6 222 9241 0.00 2.47 0.00 0.000 4 0.000 0.054 3216 3510 1941 0 0 0 0 0 0

9319 1.04 194.6 145.5 22.5 224 9330 0.17 2.42 0.00 0.000 6 0.202 0.037 3187 1914 1941 0 0 0 0 0 0

9629 1.04 194.6 87.3 20.3 239 9633 0.00 2.55 0.00 0.000 4 0.000 0.053 3184 3504 1941 0 0 0 0 0 0

9682 1.04 194.6 76.4 21.5 244 9687 0.00 2.45 0.00 0.000 6 0.000 0.037 3197 1919 1942 0 0 0 0 0 0

9879 1.04 194.6 46.6 14.0 263 9880 0.00 0.00 0.00 0.000 6 0.000 0.000 3197 1917 1941 0 0 0 0 0 0

10065 1.04 194.6 20.5 14.3 281 10070 0.00 2.47 0.00 0.000 4 0.000 0.048 3209 344 1941 0 0 0 0 0 0

10102 1.04 194.6 15.1 14.4 287 10110 0.00 2.42 0.00 0.000 6 0.000 0.037 3209 1919 1941 0 0 0 0 0 0

10172 1.04 194.6 5.5 14.3 300 10173 0.00 0.00 0.00 0.000 6 0.000 0.000 3209 1920 1940 0 0 0 0 0 0

10192 end climb: SURFACE_DEPTH_REACHED

state 10192 begin surface coast

10209 end surface coast: CONTROL_FINISHED_OK

state 10209 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	16	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	48	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	300	R_STBD_OVSHOOT	34	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	-16224.835	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	060111,115606,3246.390,-11901.014,114,1.3,115,13.3	TGT_NAME	DM4
_CALLS	1	TGT_LATLONG	3251.800,-11907.783
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.278,0.168
_SM_DEPTHo	1.82	KALMAN_X	24361.1,-61.3,-140.7,-47961.5,3206.7
_SM_ANGLEo	-75.7	KALMAN_Y	-13825.4,367.9,-191.3,25093.1,-1634.2
GPS2	060111,120107,3246.365,-11901.021,9,1.4,14,13.3	MHEAD_RNG_PITCHd_Wd	287.8,14560,-19.3,-13.306
SPEED_LIMITS	0.230,0.325	D_GRID	970

FINISH	0.9,1.005809	PA_USBA	100.0/0/0
SM_CCo	10222,54.45,0.552,0,0,1524,300.49	PA_HOME	9.1/483886/439836
SM_GC	1.74,0.00,0.00,54.45,0.000,0.000,0.552,138,2259,1524,-8.48,0.40,300.49	PA_ROOT	80.3/126931/24979
IRIDIUM_FIX	3246.76,-11841.34,060111,080816	PA_LOG	7.7/297829/274846
TT8_MAMPS	0.116844	PA_DATA1	0.1/7836665/7825417
HUMID	50.39	PA_DATA0	91.6/7836665/657499
INTERNAL_PRESSURE	9.5836	_24V_AH	22.9,16.590
TCM_TEMP	19.40	_10V_AH	10.1,12.009
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	317568
PA_BOOTCOUNT	92	DATA_FILE_SIZE	10109,307
PA_DFQS	0/0	CAP_FILE_SIZE	98863,0
PA_CMQS	0/0	CFSIZE	260165632,255614976
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	060111,145451,3246.961,-11902.453,66,4.7,86,13.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	278	142.20	SBE_CT	209	24	115.12
Roll_motor	92	61	129.81	nil	0	0	0.00
VBD_pump_during_apogee	347	1158	9210.23	nil	0	0	0.00
VBD_pump_during_surface	54	551	687.75	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	72.58	nil	0	0	0.00
Iridium_during_connect	28	160	106.03	PAAM	10727	86	21178.57
Iridium_during_xfer	151	223	775.12	nil	0	0	0.00
Transponder_ping	34	420	329.42	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.98
TT8	0	0	0.00
LPSleep	8430	2	186.48
TT8_Active	463	19	92.69
TT8_Sampling	1614	39	649.01
TT8_CF8	66	45	30.67
TT8_Kalman	33	81	27.54
Analog_circuits	1173	12	142.24
GPS_charging	0	0	0.00
Compass	784	15	118.80
RAFOS	0	0	0.00
Transponder	217	30	66.02

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	-1.04	-194.6	0.0	0.0	0	83	0.00	0.00	-64.75	0.000	2	0.000	0.000	140	2230	2950	0	0	0	0	0	0
84	-1.04	-194.6	3.5	-5.7	11	115	11.15	2.42	-12.65	0.000	4	0.278	0.051	2505	675	3541	0	0	0	0	0	0
155	-1.04	-194.6	25.5	-26.2	23	160	0.00	2.53	0.00	0.000	6	0.000	0.046	2495	2235	3544	0	0	0	0	0	0
352	-1.04	-194.6	76.4	-25.0	42	357	0.00	2.38	0.00	0.000	4	0.000	0.060	2485	3683	3545	0	0	0	0	0	0
384	-1.04	-194.6	84.4	-24.6	45	388	0.00	2.22	0.00	0.000	6	0.000	0.035	2484	2248	3545	0	0	0	0	0	0
578	-1.04	-194.6	131.7	-24.6	56	584	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2247	3545	0	0	0	0	0	0
882	-1.04	-194.6	199.9	-22.0	66	891	0.00	2.33	0.00	0.000	4	0.000	0.060	2469	3684	3546	0	0	0	0	0	0
915	-1.04	-194.6	207.6	-23.5	67	924	0.15	2.20	0.00	0.000	6	0.184	0.036	2509	2237	3547	0	0	0	0	0	0
1247	-1.04	-194.6	270.3	-18.5	78	1258	0.00	2.40	0.00	0.000	4	0.000	0.040	2508	672	3547	0	0	0	0	0	0
1293	-1.04	-194.6	278.8	-17.5	79	1301	0.00	2.47	0.00	0.000	6	0.000	0.044	2500	2258	3548	0	0	0	0	0	0
1613	-1.04	-194.6	335.2	-17.4	87	1622	0.00	2.25	0.00	0.000	4	0.000	0.059	2488	3675	3547	0	0	0	0	0	0
1651	-1.04	-194.6	342.5	-18.8	87	1660	0.00	2.17	0.00	0.000	6	0.000	0.036	2488	2243	3547	0	0	0	0	0	0
1976	-1.04	-194.6	402.0	-18.4	93	1982	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2241	3546	0	0	0	0	0	0
2278	-1.04	-194.6	454.6	-17.3	98	2284	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2241	3547	0	0	0	0	0	0
2580	-1.04	-194.6	511.1	-18.8	103	2585	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2241	3548	0	0	0	0	0	0
2882	-1.04	-194.6	567.9	-18.9	108	2891	0.00	2.30	0.00	0.000	4	0.000	0.059	2477	3686	3547	0	0	0	0	0	0
2910	-1.04	-194.6	573.7	-19.6	108	2921	0.12	2.17	0.00	0.000	6	0.184	0.038	2507	2253	3547	0	0	0	0	0	0
3254	-1.04	-194.6	631.6	-16.6	114	3260	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2251	3546	0	0	0	0	0	0
3556	-1.04	-194.6	681.4	-16.5	119	3565	0.00	2.28	0.00	0.000	4	0.000	0.061	2498	3674	3546	0	0	0	0	0	0
3617	-1.04	-194.6	691.6	-17.7	119	3628	0.00	2.15	0.00	0.000	6	0.000	0.038	2498	2242	3546	0	0	0	0	0	0
3925	-1.04	-194.6	744.7	-17.3	125	3930	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2242	3545	0	0	0	0	0	0
4227	-1.04	-194.6	797.2	-17.3	130	4232	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2242	3544	0	0	0	0	0	0
4528	-1.04	-194.6	846.0	-16.2	135	4537	0.00	2.30	0.00	0.000	4	0.000	0.060	2487	3678	3545	0	0	0	0	0	0
4562	-1.04	-194.6	851.6	-17.3	135	4571	0.00	2.17	0.00	0.000	6	0.000	0.038	2487	2243	3543	0	0	0	0	0	0
4898	-1.04	-194.6	907.4	-16.6	141	4903	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2238	3543	0	0	0	0	0	0
5200	-1.04	-194.6	955.1	-15.6	146	5205	0.00	0.00	0.00	0.000	6	0.000	0.000	2487	2240	3540	0	0	0	0	0	0
5320	end dive: TARGET_DEPTH_EXCEEDED
state	5320	begin apogee
5323	-0.21	0.0	973.4	15.4	148	5503	0.95	0.00	169.50	1.159	6	0.148	0.000	2777	1922	2748	0	0	0	0	0	0
5503	end apogee: CONTROL_FINISHED_OK
state	5503	begin climb
5504	1.04	194.6	979.9	0.0	150	5698	1.17	2.78	177.52	1.137	4	0.056	0.047	3202	362	1954	0	0	0	0	0	0
5734	1.04	194.6	947.7	23.5	154	5742	0.00	2.62	0.00	0.000	6	0.000	0.037	3202	1930	1948	0	0	0	0	0	0
6058	1.04	194.6	869.8	24.1	160	6066	0.00	2.58	0.00	0.000	4	0.000	0.054	3203	3509	1946	0	0	0	0	0	0
6101	1.04	194.6	858.8	26.1	160	6109	0.00	2.50	0.00	0.000	6	0.000	0.037	3214	1937	1945	0	0	0	0	0	0
6414	1.04	194.6	784.2	23.9	166	6420	0.00	0.00	0.00	0.000	6	0.000	0.000	3210	1934	1943	0	0	0	0	0	0
6716	1.04	194.6	716.1	22.5	171	6722	0.12	0.00	0.00	0.000	6	0.207	0.000	3187	1934	1943	0	0	0	0	0	0
7019	1.04	194.6	651.8	21.2	176	7027	0.00	2.53	0.00	0.000	4	0.000	0.055	3188	3510	1943	0	0	0	0	0	0
7057	1.04	194.6	643.2	22.6	176	7065	0.00	2.47	0.00	0.000	6	0.000	0.037	3197	1917	1943	0	0	0	0	0	0
7375	1.04	194.6	571.2	22.5	182	7384	0.00	2.47	0.00	0.000	4	0.000	0.050	3210	340	1943	0	0	0	0	0	0
7403	1.04	194.6	564.7	22.2	182	7412	0.00	2.47	0.00	0.000	6	0.000	0.041	3213	1930	1942	0	0	0	0	0	0
7733	1.04	194.6	487.0	23.6	188	7742	0.00	2.50	0.00	0.000	4	0.000	0.055	3210	3507	1943	0	0	0	0	0	0
7798	1.04	194.6	470.9	24.5	189	7807	0.15	2.42	0.00	0.000	6	0.209	0.038	3188	1926	1942	0	0	0	0	0	0
8155	1.04	194.6	393.7	21.2	195	8163	0.00	2.47	0.00	0.000	4	0.000	0.050	3199	339	1942	0	0	0	0	0	0
8188	1.04	194.6	386.5	21.5	195	8196	0.00	2.42	0.00	0.000	6	0.000	0.039	3198	1921	1942	0	0	0	0	0	0
8512	1.04	194.6	318.9	20.7	201	8520	0.00	2.50	0.00	0.000	4	0.000	0.054	3198	3519	1942	0	0	0	0	0	0
8539	1.04	194.6	312.7	22.7	201	8547	0.00	2.45	0.00	0.000	6	0.000	0.038	3210	1918	1942	0	0	0	0	0	0
8875	1.04	194.6	240.1	21.2	211	8883	0.00	2.47	0.00	0.000	4	0.000	0.053	3217	344	1941	0	0	0	0	0	0
8924	1.04	194.6	229.2	21.5	212	8932	0.00	2.45	0.00	0.000	6	0.000	0.039	3217	1938	1941	0	0	0	0	0	0
9233	1.04	194.6	165.1	20.6	222	9241	0.00	2.47	0.00	0.000	4	0.000	0.054	3216	3510	1941	0	0	0	0	0	0
9319	1.04	194.6	145.5	22.5	224	9330	0.17	2.42	0.00	0.000	6	0.202	0.037	3187	1914	1941	0	0	0	0	0	0
9629	1.04	194.6	87.3	20.3	239	9633	0.00	2.55	0.00	0.000	4	0.000	0.053	3184	3504	1941	0	0	0	0	0	0
9682	1.04	194.6	76.4	21.5	244	9687	0.00	2.45	0.00	0.000	6	0.000	0.037	3197	1919	1942	0	0	0	0	0	0
9879	1.04	194.6	46.6	14.0	263	9880	0.00	0.00	0.00	0.000	6	0.000	0.000	3197	1917	1941	0	0	0	0	0	0
10065	1.04	194.6	20.5	14.3	281	10070	0.00	2.47	0.00	0.000	4	0.000	0.048	3209	344	1941	0	0	0	0	0	0
10102	1.04	194.6	15.1	14.4	287	10110	0.00	2.42	0.00	0.000	6	0.000	0.037	3209	1919	1941	0	0	0	0	0	0
10172	1.04	194.6	5.5	14.3	300	10173	0.00	0.00	0.00	0.000	6	0.000	0.000	3209	1920	1940	0	0	0	0	0	0
10192	end climb: SURFACE_DEPTH_REACHED
state	10192	begin surface coast
10209	end surface coast: CONTROL_FINISHED_OK
state	10209	begin surface