Glider dive log

AUTEC Jun10 * SG178 * Dive index * Mission links * Dive 20 * 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 20 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 990 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 52 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 350 R_STBD_OVSHOOT 30 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 330 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 69

T_MISSION 400 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 -6004.6572 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 175 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 40 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 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 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 40 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 330

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 -6004.6572

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 400

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 175 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 52 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 30 VBD_MIN 425

DIVE 20 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 090610,205031,2441.637,-7736.920,50,1.5,50,-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 0.005,-0.119

_SM_DEPTHo 1.14 KALMAN_X -1077.8,-197.0,123.3,244.5,23.3

_SM_ANGLEo -76.9 KALMAN_Y -858.0,49.4,40.2,1664.8,668.5

GPS2 090610,205514,2441.623,-7736.882,15,1.6,15,-7.1 MHEAD_RNG_PITCHd_Wd 184.5,604,-37.9,-10.000

SPEED_LIMITS 0.119,0.278 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.019141 PA_USBA 100.0/0/0

SM_CCo 13845,88.35,0.539,0,0,1308,350.53 PA_HOME 8.5/483886/442727

SM_GC 1.03,0.00,0.00,88.35,0.000,0.000,0.539,164,2409,1308,-9.36,-0.79,350.53 PA_ROOT 80.3/126931/24988

IRIDIUM_FIX 2434.69,-7736.25,031211,131307 PA_LOG 5.2/297829/282483

TT8_MAMPS 0.117593 PA_DATA1 18.8/7836665/6360462

HUMID 1078185152 PA_DATA0 64.9/7836665/2750969

INTERNAL_PRESSURE 9.48279 _24V_AH 24.1,11.041

TCM_TEMP 23.70 _10V_AH 10.4,10.920

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 355112

PA_BOOTCOUNT 35 DATA_FILE_SIZE 13471,377

PA_DFQS 0/0 CAP_FILE_SIZE 98702,0

PA_CMQS 0/0 CFSIZE 260165632,253599744

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 100610,005227,2439.981,-7737.017,220,8.5,239,-7.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 276 161.06 SBE_CT 253 24 146.85

Roll_motor 95 68 157.40 nil 0 0 0.00

VBD_pump_during_apogee 198 1191 5688.08 nil 0 0 0.00

VBD_pump_during_surface 88 539 1148.35 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 0 0.00 nil 0 0 0.00

Iridium_during_connect 23 0 0.00 PAAM 10557 56 14370.70

Iridium_during_xfer 140 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 16 0 0.00

TT8 0 0 0.00

LPSleep 12015 2 273.66

TT8_Active 476 19 98.19

TT8_Sampling 1650 39 683.12

TT8_CF8 74 45 35.57

TT8_Kalman 33 0 0.00

Analog_circuits 1074 12 134.09

GPS_charging 0 0 0.00

Compass 943 15 147.20

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

15 -1.09 -33.4 0.0 0.0 0 82 0.00 0.00 -61.40 0.000 6 0.000 0.000 169 2442 2874 0 0 0 0 0 0

83 -1.13 -61.9 2.7 -4.3 11 102 12.05 2.12 -2.53 0.000 4 0.276 0.068 2786 3781 2991 0 0 0 0 0 0

223 -1.13 -61.9 39.0 -21.3 30 228 0.00 2.05 0.00 0.000 6 0.000 0.034 2788 2443 2994 0 0 0 0 0 0

420 -1.13 -61.9 75.5 -16.5 49 425 0.00 2.12 0.00 0.000 4 0.000 0.054 2780 3775 2995 0 0 0 0 0 0

575 -1.13 -61.9 101.3 -18.0 63 582 0.00 2.03 0.00 0.000 6 0.000 0.033 2787 2435 2996 0 0 0 0 0 0

883 -1.13 -61.9 147.1 -14.8 74 884 0.00 0.00 0.00 0.000 6 0.000 0.000 2787 2435 2998 0 0 0 0 0 0

1187 -1.13 -61.9 187.2 -12.9 84 1192 0.00 0.00 0.00 0.000 6 0.000 0.000 2787 2435 2998 0 0 0 0 0 0

1490 -1.13 -61.9 222.6 -11.2 94 1498 0.00 2.35 0.00 0.000 4 0.000 0.041 2788 861 2999 0 0 0 0 0 0

1544 -1.13 -61.9 229.0 -11.4 95 1555 0.00 2.40 0.00 0.000 6 0.000 0.042 2778 2443 2999 0 0 0 0 0 0

1853 -1.13 -61.9 263.8 -11.3 106 1859 0.00 0.00 0.00 0.000 6 0.000 0.000 2778 2443 3001 0 0 0 0 0 0

2157 -1.13 -61.9 296.9 -11.0 116 2163 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 2443 2999 0 0 0 0 0 0

2489 -1.13 -61.9 331.5 -10.1 122 2495 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 2443 3000 0 0 0 0 0 0

2791 -1.13 -61.9 362.4 -10.2 127 2796 0.00 0.00 0.00 0.000 6 0.000 0.000 2778 2443 2998 0 0 0 0 0 0

3093 -1.13 -61.9 394.5 -10.7 132 3098 0.00 0.00 0.00 0.000 6 0.000 0.000 2778 2443 3000 0 0 0 0 0 0

3398 -1.13 -61.9 427.4 -10.9 137 3407 0.00 0.00 0.00 0.000 6 0.000 0.000 2778 2443 2999 0 0 0 0 0 0

3700 -1.13 -61.9 457.8 -10.0 142 3709 0.00 0.00 0.00 0.000 6 0.000 0.000 2778 2443 2999 0 0 0 0 0 0

4002 -1.13 -61.9 487.7 -10.0 147 4011 0.00 0.00 0.00 0.000 6 0.000 0.000 2778 2443 2998 0 0 0 0 0 0

4304 -1.13 -64.7 516.0 -9.4 152 4313 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 2447 2997 0 0 0 0 0 0

4601 -1.14 -68.2 543.9 -9.3 157 4606 0.00 2.42 0.00 0.000 4 0.000 0.043 2778 862 2996 0 0 0 0 0 0

4718 -1.14 -70.9 555.3 -9.4 158 4723 0.00 2.45 0.00 0.000 6 0.000 0.045 2766 2434 2996 0 0 0 0 0 0

5031 -1.14 -75.0 584.5 -9.2 164 5032 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 2435 2994 0 0 0 0 0 0

5332 -1.15 -81.9 610.8 -8.6 169 5337 0.00 2.42 0.00 0.000 4 0.000 0.044 2766 865 2992 0 0 0 0 0 0

5348 -1.17 -92.5 612.2 -7.9 169 5353 0.00 2.47 0.00 0.000 6 0.000 0.045 2754 2447 2994 0 0 0 0 0 0

5698 -1.17 -97.5 643.8 -9.0 175 5698 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2447 2992 0 0 0 0 0 0

5999 -1.18 -102.7 671.0 -9.0 180 6000 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2448 2991 0 0 0 0 0 0

6301 -1.19 -108.7 697.7 -8.8 185 6302 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2447 2989 0 0 0 0 0 0

6603 -1.19 -114.3 724.4 -8.9 190 6607 0.00 2.45 0.00 0.000 4 0.000 0.046 2754 867 2988 0 0 0 0 0 0

6677 -1.20 -118.0 731.6 -9.3 191 6682 0.10 2.47 0.00 0.000 6 0.233 0.048 2765 2437 2987 0 0 0 0 0 0

7032 -1.20 -124.5 762.7 -8.7 197 7037 0.00 2.42 0.00 0.000 4 0.000 0.045 2766 869 2986 0 0 0 0 0 0

7090 -1.21 -128.1 767.9 -9.3 197 7098 0.00 2.47 0.00 0.000 6 0.000 0.049 2756 2441 2985 0 0 0 0 0 0

7398 -1.22 -135.6 794.4 -8.5 203 7402 0.00 2.12 0.00 0.000 4 0.000 0.061 2746 3773 2984 0 0 0 0 0 0

7461 -1.22 -137.1 800.6 -9.7 204 7466 0.00 2.03 0.00 0.000 6 0.000 0.039 2749 2442 2983 0 0 0 0 0 0

7827 -1.23 -141.5 833.9 -9.1 210 7832 0.00 2.15 0.00 0.000 4 0.000 0.062 2741 3774 2983 0 0 0 0 0 0

7859 -1.23 -143.1 836.7 -9.7 210 7864 0.00 2.05 0.00 0.000 6 0.000 0.039 2745 2439 2981 0 0 0 0 0 0

8192 -1.24 -150.9 864.9 -8.4 216 8197 0.00 2.45 0.00 0.000 4 0.000 0.047 2745 859 2981 0 0 0 0 0 0

8250 -1.24 -154.9 870.1 -9.2 216 8259 0.00 2.50 0.00 0.000 6 0.000 0.050 2735 2440 2980 0 0 0 0 0 0

8558 -1.25 -160.1 897.6 -9.0 222 8562 0.00 2.50 0.00 0.000 4 0.000 0.047 2735 853 2979 0 0 0 0 0 0

8589 -1.26 -165.5 900.2 -8.9 222 8594 0.10 2.53 0.00 0.000 6 0.244 0.051 2746 2440 2979 0 0 0 0 0 0

8923 -1.26 -170.3 926.9 -7.9 228 8924 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2440 2977 0 0 0 0 0 0

9225 -1.26 -170.3 952.5 -8.5 233 9229 0.00 2.50 0.00 0.000 4 0.000 0.048 2745 860 2976 0 0 0 0 0 0

9256 -1.26 -170.3 955.2 -9.2 233 9261 0.00 2.50 0.00 0.000 6 0.000 0.050 2738 2437 2981 0 0 0 0 0 0

9590 -1.26 -170.3 983.1 -8.3 239 9594 0.00 2.47 0.00 0.000 4 0.000 0.047 2738 856 2975 0 0 0 0 0 0

9638 -1.26 -170.3 987.1 -8.2 239 9642 0.00 2.53 0.00 0.000 6 0.000 0.051 2727 2443 2974 0 0 0 0 0 0

9713 end dive: TARGET_DEPTH_EXCEEDED

state 9713 begin apogee

9715 -0.14 0.0 993.8 8.8 241 9767 1.50 0.00 49.00 1.192 6 0.226 0.000 3107 2444 2738 0 0 0 0 0 0

9768 end apogee: CONTROL_FINISHED_OK

state 9768 begin climb

9769 1.26 170.3 993.8 0.0 241 9921 1.30 0.00 149.02 1.182 6 0.079 0.000 3565 2443 2043 0 0 0 0 0 0

10196 1.26 170.3 895.0 27.2 249 10200 0.00 2.60 0.00 0.000 4 0.000 0.048 3577 832 2031 0 0 0 0 0 0

10280 1.26 170.3 872.7 25.8 250 10285 0.00 2.55 0.00 0.000 6 0.000 0.050 3569 2398 2029 0 0 0 0 0 0

10625 1.26 170.3 781.0 26.7 256 10626 0.00 0.00 0.00 0.000 6 0.000 0.000 3570 2400 2027 0 0 0 0 0 0

10927 1.26 170.3 700.3 26.6 261 10931 0.00 2.50 0.00 0.000 4 0.000 0.049 3578 819 2025 0 0 0 0 0 0

11006 1.26 170.3 678.9 26.0 262 11011 0.00 2.53 0.00 0.000 6 0.000 0.050 3569 2400 2023 0 0 0 0 0 0

11356 1.26 170.3 586.1 26.7 268 11357 0.00 0.00 0.00 0.000 6 0.000 0.000 3569 2400 2023 0 0 0 0 0 0

11658 1.26 170.3 508.3 25.8 273 11662 0.00 2.50 0.00 0.000 4 0.000 0.047 3578 815 2022 0 0 0 0 0 0

11754 1.26 170.3 484.1 26.7 274 11758 0.00 2.53 0.00 0.000 6 0.000 0.048 3570 2404 2021 0 0 0 0 0 0

12088 1.26 170.3 396.3 26.5 280 12092 0.00 2.50 0.00 0.000 4 0.000 0.047 3579 814 2020 0 0 0 0 0 0

12113 1.26 170.3 389.3 26.9 280 12118 0.00 2.50 0.00 0.000 6 0.000 0.046 3569 2399 2019 0 0 0 0 0 0

12452 1.26 170.3 301.1 25.9 286 12453 0.00 0.00 0.00 0.000 6 0.000 0.000 3570 2399 2020 0 0 0 0 0 0

12756 1.26 170.3 223.5 25.2 295 12760 0.00 2.45 0.00 0.000 4 0.000 0.044 3579 824 2020 0 0 0 0 0 0

12803 1.26 170.3 211.3 24.4 296 12808 0.00 2.47 0.00 0.000 6 0.000 0.047 3570 2397 2020 0 0 0 0 0 0

13123 1.26 170.3 134.2 23.5 307 13127 0.00 2.45 0.00 0.000 4 0.000 0.043 3584 817 2018 0 0 0 0 0 0

13197 1.26 170.3 118.0 20.9 309 13202 0.00 2.47 0.00 0.000 6 0.000 0.043 3570 2399 2020 0 0 0 0 0 0

13518 1.26 170.3 51.8 18.5 335 13522 0.00 2.40 0.00 0.000 4 0.000 0.042 3579 814 2020 0 0 0 0 0 0

13559 1.26 170.3 43.9 18.3 339 13564 0.00 2.47 0.00 0.000 6 0.000 0.042 3570 2407 2020 0 0 0 0 0 0

13753 1.26 170.3 10.2 17.0 362 13759 0.00 0.00 0.00 0.000 6 0.000 0.000 3570 2408 2021 0 0 0 0 0 0

13815 end climb: SURFACE_DEPTH_REACHED

state 13815 begin surface coast

13831 end surface coast: CONTROL_FINISHED_OK

state 13831 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	20	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	990	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	52	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	350	R_STBD_OVSHOOT	30	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	330	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	69
T_MISSION	400	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	-6004.6572	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	175	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	40	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	090610,205031,2441.637,-7736.920,50,1.5,50,-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	0.005,-0.119
_SM_DEPTHo	1.14	KALMAN_X	-1077.8,-197.0,123.3,244.5,23.3
_SM_ANGLEo	-76.9	KALMAN_Y	-858.0,49.4,40.2,1664.8,668.5
GPS2	090610,205514,2441.623,-7736.882,15,1.6,15,-7.1	MHEAD_RNG_PITCHd_Wd	184.5,604,-37.9,-10.000
SPEED_LIMITS	0.119,0.278	D_GRID	990

FINISH	0.1,1.019141	PA_USBA	100.0/0/0
SM_CCo	13845,88.35,0.539,0,0,1308,350.53	PA_HOME	8.5/483886/442727
SM_GC	1.03,0.00,0.00,88.35,0.000,0.000,0.539,164,2409,1308,-9.36,-0.79,350.53	PA_ROOT	80.3/126931/24988
IRIDIUM_FIX	2434.69,-7736.25,031211,131307	PA_LOG	5.2/297829/282483
TT8_MAMPS	0.117593	PA_DATA1	18.8/7836665/6360462
HUMID	1078185152	PA_DATA0	64.9/7836665/2750969
INTERNAL_PRESSURE	9.48279	_24V_AH	24.1,11.041
TCM_TEMP	23.70	_10V_AH	10.4,10.920
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	355112
PA_BOOTCOUNT	35	DATA_FILE_SIZE	13471,377
PA_DFQS	0/0	CAP_FILE_SIZE	98702,0
PA_CMQS	0/0	CFSIZE	260165632,253599744
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	100610,005227,2439.981,-7737.017,220,8.5,239,-7.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	276	161.06	SBE_CT	253	24	146.85
Roll_motor	95	68	157.40	nil	0	0	0.00
VBD_pump_during_apogee	198	1191	5688.08	nil	0	0	0.00
VBD_pump_during_surface	88	539	1148.35	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	0	0.00	nil	0	0	0.00
Iridium_during_connect	23	0	0.00	PAAM	10557	56	14370.70
Iridium_during_xfer	140	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	16	0	0.00
TT8	0	0	0.00
LPSleep	12015	2	273.66
TT8_Active	476	19	98.19
TT8_Sampling	1650	39	683.12
TT8_CF8	74	45	35.57
TT8_Kalman	33	0	0.00
Analog_circuits	1074	12	134.09
GPS_charging	0	0	0.00
Compass	943	15	147.20
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
15	-1.09	-33.4	0.0	0.0	0	82	0.00	0.00	-61.40	0.000	6	0.000	0.000	169	2442	2874	0	0	0	0	0	0
83	-1.13	-61.9	2.7	-4.3	11	102	12.05	2.12	-2.53	0.000	4	0.276	0.068	2786	3781	2991	0	0	0	0	0	0
223	-1.13	-61.9	39.0	-21.3	30	228	0.00	2.05	0.00	0.000	6	0.000	0.034	2788	2443	2994	0	0	0	0	0	0
420	-1.13	-61.9	75.5	-16.5	49	425	0.00	2.12	0.00	0.000	4	0.000	0.054	2780	3775	2995	0	0	0	0	0	0
575	-1.13	-61.9	101.3	-18.0	63	582	0.00	2.03	0.00	0.000	6	0.000	0.033	2787	2435	2996	0	0	0	0	0	0
883	-1.13	-61.9	147.1	-14.8	74	884	0.00	0.00	0.00	0.000	6	0.000	0.000	2787	2435	2998	0	0	0	0	0	0
1187	-1.13	-61.9	187.2	-12.9	84	1192	0.00	0.00	0.00	0.000	6	0.000	0.000	2787	2435	2998	0	0	0	0	0	0
1490	-1.13	-61.9	222.6	-11.2	94	1498	0.00	2.35	0.00	0.000	4	0.000	0.041	2788	861	2999	0	0	0	0	0	0
1544	-1.13	-61.9	229.0	-11.4	95	1555	0.00	2.40	0.00	0.000	6	0.000	0.042	2778	2443	2999	0	0	0	0	0	0
1853	-1.13	-61.9	263.8	-11.3	106	1859	0.00	0.00	0.00	0.000	6	0.000	0.000	2778	2443	3001	0	0	0	0	0	0
2157	-1.13	-61.9	296.9	-11.0	116	2163	0.00	0.00	0.00	0.000	6	0.000	0.000	2777	2443	2999	0	0	0	0	0	0
2489	-1.13	-61.9	331.5	-10.1	122	2495	0.00	0.00	0.00	0.000	6	0.000	0.000	2777	2443	3000	0	0	0	0	0	0
2791	-1.13	-61.9	362.4	-10.2	127	2796	0.00	0.00	0.00	0.000	6	0.000	0.000	2778	2443	2998	0	0	0	0	0	0
3093	-1.13	-61.9	394.5	-10.7	132	3098	0.00	0.00	0.00	0.000	6	0.000	0.000	2778	2443	3000	0	0	0	0	0	0
3398	-1.13	-61.9	427.4	-10.9	137	3407	0.00	0.00	0.00	0.000	6	0.000	0.000	2778	2443	2999	0	0	0	0	0	0
3700	-1.13	-61.9	457.8	-10.0	142	3709	0.00	0.00	0.00	0.000	6	0.000	0.000	2778	2443	2999	0	0	0	0	0	0
4002	-1.13	-61.9	487.7	-10.0	147	4011	0.00	0.00	0.00	0.000	6	0.000	0.000	2778	2443	2998	0	0	0	0	0	0
4304	-1.13	-64.7	516.0	-9.4	152	4313	0.00	0.00	0.00	0.000	6	0.000	0.000	2777	2447	2997	0	0	0	0	0	0
4601	-1.14	-68.2	543.9	-9.3	157	4606	0.00	2.42	0.00	0.000	4	0.000	0.043	2778	862	2996	0	0	0	0	0	0
4718	-1.14	-70.9	555.3	-9.4	158	4723	0.00	2.45	0.00	0.000	6	0.000	0.045	2766	2434	2996	0	0	0	0	0	0
5031	-1.14	-75.0	584.5	-9.2	164	5032	0.00	0.00	0.00	0.000	6	0.000	0.000	2766	2435	2994	0	0	0	0	0	0
5332	-1.15	-81.9	610.8	-8.6	169	5337	0.00	2.42	0.00	0.000	4	0.000	0.044	2766	865	2992	0	0	0	0	0	0
5348	-1.17	-92.5	612.2	-7.9	169	5353	0.00	2.47	0.00	0.000	6	0.000	0.045	2754	2447	2994	0	0	0	0	0	0
5698	-1.17	-97.5	643.8	-9.0	175	5698	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2447	2992	0	0	0	0	0	0
5999	-1.18	-102.7	671.0	-9.0	180	6000	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2448	2991	0	0	0	0	0	0
6301	-1.19	-108.7	697.7	-8.8	185	6302	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2447	2989	0	0	0	0	0	0
6603	-1.19	-114.3	724.4	-8.9	190	6607	0.00	2.45	0.00	0.000	4	0.000	0.046	2754	867	2988	0	0	0	0	0	0
6677	-1.20	-118.0	731.6	-9.3	191	6682	0.10	2.47	0.00	0.000	6	0.233	0.048	2765	2437	2987	0	0	0	0	0	0
7032	-1.20	-124.5	762.7	-8.7	197	7037	0.00	2.42	0.00	0.000	4	0.000	0.045	2766	869	2986	0	0	0	0	0	0
7090	-1.21	-128.1	767.9	-9.3	197	7098	0.00	2.47	0.00	0.000	6	0.000	0.049	2756	2441	2985	0	0	0	0	0	0
7398	-1.22	-135.6	794.4	-8.5	203	7402	0.00	2.12	0.00	0.000	4	0.000	0.061	2746	3773	2984	0	0	0	0	0	0
7461	-1.22	-137.1	800.6	-9.7	204	7466	0.00	2.03	0.00	0.000	6	0.000	0.039	2749	2442	2983	0	0	0	0	0	0
7827	-1.23	-141.5	833.9	-9.1	210	7832	0.00	2.15	0.00	0.000	4	0.000	0.062	2741	3774	2983	0	0	0	0	0	0
7859	-1.23	-143.1	836.7	-9.7	210	7864	0.00	2.05	0.00	0.000	6	0.000	0.039	2745	2439	2981	0	0	0	0	0	0
8192	-1.24	-150.9	864.9	-8.4	216	8197	0.00	2.45	0.00	0.000	4	0.000	0.047	2745	859	2981	0	0	0	0	0	0
8250	-1.24	-154.9	870.1	-9.2	216	8259	0.00	2.50	0.00	0.000	6	0.000	0.050	2735	2440	2980	0	0	0	0	0	0
8558	-1.25	-160.1	897.6	-9.0	222	8562	0.00	2.50	0.00	0.000	4	0.000	0.047	2735	853	2979	0	0	0	0	0	0
8589	-1.26	-165.5	900.2	-8.9	222	8594	0.10	2.53	0.00	0.000	6	0.244	0.051	2746	2440	2979	0	0	0	0	0	0
8923	-1.26	-170.3	926.9	-7.9	228	8924	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2440	2977	0	0	0	0	0	0
9225	-1.26	-170.3	952.5	-8.5	233	9229	0.00	2.50	0.00	0.000	4	0.000	0.048	2745	860	2976	0	0	0	0	0	0
9256	-1.26	-170.3	955.2	-9.2	233	9261	0.00	2.50	0.00	0.000	6	0.000	0.050	2738	2437	2981	0	0	0	0	0	0
9590	-1.26	-170.3	983.1	-8.3	239	9594	0.00	2.47	0.00	0.000	4	0.000	0.047	2738	856	2975	0	0	0	0	0	0
9638	-1.26	-170.3	987.1	-8.2	239	9642	0.00	2.53	0.00	0.000	6	0.000	0.051	2727	2443	2974	0	0	0	0	0	0
9713	end dive: TARGET_DEPTH_EXCEEDED
state	9713	begin apogee
9715	-0.14	0.0	993.8	8.8	241	9767	1.50	0.00	49.00	1.192	6	0.226	0.000	3107	2444	2738	0	0	0	0	0	0
9768	end apogee: CONTROL_FINISHED_OK
state	9768	begin climb
9769	1.26	170.3	993.8	0.0	241	9921	1.30	0.00	149.02	1.182	6	0.079	0.000	3565	2443	2043	0	0	0	0	0	0
10196	1.26	170.3	895.0	27.2	249	10200	0.00	2.60	0.00	0.000	4	0.000	0.048	3577	832	2031	0	0	0	0	0	0
10280	1.26	170.3	872.7	25.8	250	10285	0.00	2.55	0.00	0.000	6	0.000	0.050	3569	2398	2029	0	0	0	0	0	0
10625	1.26	170.3	781.0	26.7	256	10626	0.00	0.00	0.00	0.000	6	0.000	0.000	3570	2400	2027	0	0	0	0	0	0
10927	1.26	170.3	700.3	26.6	261	10931	0.00	2.50	0.00	0.000	4	0.000	0.049	3578	819	2025	0	0	0	0	0	0
11006	1.26	170.3	678.9	26.0	262	11011	0.00	2.53	0.00	0.000	6	0.000	0.050	3569	2400	2023	0	0	0	0	0	0
11356	1.26	170.3	586.1	26.7	268	11357	0.00	0.00	0.00	0.000	6	0.000	0.000	3569	2400	2023	0	0	0	0	0	0
11658	1.26	170.3	508.3	25.8	273	11662	0.00	2.50	0.00	0.000	4	0.000	0.047	3578	815	2022	0	0	0	0	0	0
11754	1.26	170.3	484.1	26.7	274	11758	0.00	2.53	0.00	0.000	6	0.000	0.048	3570	2404	2021	0	0	0	0	0	0
12088	1.26	170.3	396.3	26.5	280	12092	0.00	2.50	0.00	0.000	4	0.000	0.047	3579	814	2020	0	0	0	0	0	0
12113	1.26	170.3	389.3	26.9	280	12118	0.00	2.50	0.00	0.000	6	0.000	0.046	3569	2399	2019	0	0	0	0	0	0
12452	1.26	170.3	301.1	25.9	286	12453	0.00	0.00	0.00	0.000	6	0.000	0.000	3570	2399	2020	0	0	0	0	0	0
12756	1.26	170.3	223.5	25.2	295	12760	0.00	2.45	0.00	0.000	4	0.000	0.044	3579	824	2020	0	0	0	0	0	0
12803	1.26	170.3	211.3	24.4	296	12808	0.00	2.47	0.00	0.000	6	0.000	0.047	3570	2397	2020	0	0	0	0	0	0
13123	1.26	170.3	134.2	23.5	307	13127	0.00	2.45	0.00	0.000	4	0.000	0.043	3584	817	2018	0	0	0	0	0	0
13197	1.26	170.3	118.0	20.9	309	13202	0.00	2.47	0.00	0.000	6	0.000	0.043	3570	2399	2020	0	0	0	0	0	0
13518	1.26	170.3	51.8	18.5	335	13522	0.00	2.40	0.00	0.000	4	0.000	0.042	3579	814	2020	0	0	0	0	0	0
13559	1.26	170.3	43.9	18.3	339	13564	0.00	2.47	0.00	0.000	6	0.000	0.042	3570	2407	2020	0	0	0	0	0	0
13753	1.26	170.3	10.2	17.0	362	13759	0.00	0.00	0.00	0.000	6	0.000	0.000	3570	2408	2021	0	0	0	0	0	0
13815	end climb: SURFACE_DEPTH_REACHED
state	13815	begin surface coast
13831	end surface coast: CONTROL_FINISHED_OK
state	13831	begin surface