Glider dive log

SCORE Jan11 * SG179 * Dive index * Mission links * Dive 20 * 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 20 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 38 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 300 R_STBD_OVSHOOT 39 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 230 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 -16229.881 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 250 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 40 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 40 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 230

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 -16229.881

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 250 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 38 VBD_MAXERRORS 1

DIVE 20 N_DIVES 0 R_STBD_OVSHOOT 39 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 060111,232222,3250.520,-11905.518,54,3.1,74,13.4 TGT_NAME DM4

_CALLS 1 TGT_LATLONG 3251.800,-11907.783

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.277,0.243

_SM_DEPTHo 1.83 KALMAN_X 31198.5,-550.6,-129.5,-61214.5,3925.2

_SM_ANGLEo -75.3 KALMAN_Y -19892.8,34.3,157.2,38855.4,-3414.0

GPS2 060111,232728,3250.532,-11905.435,12,2.8,31,13.4 MHEAD_RNG_PITCHd_Wd 297.8,4343,-18.4,-14.348

SPEED_LIMITS 0.171,0.368 D_GRID 1237

Post-dive calculations and measurements:

FINISH 1.0,1.012283 PA_USBA 100.0/0/0

SM_CCo 9384,29.62,0.551,0,0,1525,300.00 PA_HOME 9.1/483886/439620

SM_GC 2.25,0.00,0.00,29.62,0.000,0.000,0.551,140,2271,1525,-8.47,0.59,300.00 PA_ROOT 80.3/126931/24979

IRIDIUM_FIX 3239.07,-11853.81,060111,202026 PA_LOG 8.0/297829/274068

TT8_MAMPS 0.117593 PA_DATA1 16.6/7836665/6533647

HUMID 52.32 PA_DATA0 97.1/7836665/223632

INTERNAL_PRESSURE 9.5836 _24V_AH 22.8,17.256

TCM_TEMP 19.10 _10V_AH 10.1,12.953

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 317728

PA_BOOTCOUNT 93 DATA_FILE_SIZE 10131,272

PA_DFQS 0/0 CAP_FILE_SIZE 103901,0

PA_CMQS 0/0 CFSIZE 260165632,255406080

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 070111,020624,3251.319,-11906.516,44,1.9,62,13.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 277 140.40 SBE_CT 185 24 101.38

Roll_motor 100 62 143.95 nil 0 0 0.00

VBD_pump_during_apogee 435 1168 11602.01 nil 0 0 0.00

VBD_pump_during_surface 29 550 372.04 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 69.96 nil 0 0 0.00

Iridium_during_connect 33 160 123.30 PAAM 1957 61 2755.46

Iridium_during_xfer 136 223 694.12 nil 0 0 0.00

Transponder_ping 42 420 402.19 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 50 16.79

TT8 0 0 0.00

LPSleep 7357 2 162.74

TT8_Active 496 19 99.37

TT8_Sampling 1789 39 719.15

TT8_CF8 74 45 34.35

TT8_Kalman 33 81 27.54

Analog_circuits 1263 12 153.08

GPS_charging 0 0 0.00

Compass 818 15 123.95

RAFOS 0 0 0.00

Transponder 267 30 81.11

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 -1.06 -243.3 0.0 0.0 0 83 0.00 0.00 -64.97 0.000 2 0.000 0.000 146 2262 2931 0 0 0 0 0 0

84 -1.06 -243.3 3.4 -4.6 11 123 10.98 2.50 -17.58 0.000 4 0.278 0.055 2498 666 3740 0 0 0 0 0 0

244 -1.06 -243.3 44.8 -22.7 31 252 0.00 2.50 0.00 0.000 6 0.000 0.045 2489 2240 3743 0 0 0 0 0 0

436 -1.06 -243.3 94.6 -24.7 49 444 0.00 2.42 0.00 0.000 4 0.000 0.041 2489 662 3743 0 0 0 0 0 0

458 -1.06 -243.3 100.0 -24.8 50 469 0.12 2.53 0.00 0.000 6 0.182 0.047 2506 2253 3743 0 0 0 0 0 0

646 -1.06 -243.3 141.5 -22.3 57 655 0.00 2.33 0.00 0.000 4 0.000 0.061 2497 3690 3744 0 0 0 0 0 0

680 -1.06 -243.3 149.4 -23.0 58 688 0.00 2.22 0.00 0.000 6 0.000 0.037 2497 2236 3744 0 0 0 0 0 0

1017 -1.06 -243.3 221.4 -21.0 69 1026 0.00 2.33 0.00 0.000 4 0.000 0.060 2486 3687 3745 0 0 0 0 0 0

1066 -1.06 -243.3 232.4 -22.8 70 1074 0.00 2.17 0.00 0.000 6 0.000 0.036 2486 2242 3745 0 0 0 0 0 0

1387 -1.06 -243.3 305.2 -23.0 81 1392 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 2241 3746 0 0 0 0 0 0

1689 -1.06 -243.3 370.8 -21.6 86 1697 0.00 2.33 0.00 0.000 4 0.000 0.059 2475 3688 3746 0 0 0 0 0 0

1733 -1.06 -243.3 381.0 -22.7 86 1742 0.12 2.17 0.00 0.000 6 0.186 0.037 2505 2244 3746 0 0 0 0 0 0

2059 -1.06 -243.3 444.3 -19.4 92 2067 0.00 2.28 0.00 0.000 4 0.000 0.060 2495 3677 3746 0 0 0 0 0 0

2087 -1.06 -243.3 450.1 -20.4 92 2096 0.00 2.17 0.00 0.000 6 0.000 0.035 2495 2240 3746 0 0 0 0 0 0

2428 -1.06 -243.3 517.3 -19.5 98 2437 0.00 2.30 0.00 0.000 4 0.000 0.060 2484 3684 3745 0 0 0 0 0 0

2467 -1.06 -243.3 525.2 -20.5 98 2478 0.00 2.17 0.00 0.000 6 0.000 0.036 2484 2244 3747 0 0 0 0 0 0

2801 -1.06 -243.3 591.0 -19.8 104 2809 0.00 2.28 0.00 0.000 4 0.000 0.060 2473 3677 3748 0 0 0 0 0 0

2829 -1.06 -243.3 597.0 -20.7 104 2839 0.12 2.15 0.00 0.000 6 0.184 0.036 2502 2253 3745 0 0 0 0 0 0

3171 -1.06 -243.3 657.9 -17.5 110 3182 0.00 2.28 0.00 0.000 4 0.000 0.061 2499 3681 3745 0 0 0 0 0 0

3207 -1.06 -243.3 664.4 -18.4 110 3218 0.00 2.17 0.00 0.000 6 0.000 0.037 2494 2247 3745 0 0 0 0 0 0

3546 -1.06 -243.3 726.1 -18.4 116 3554 0.00 2.30 0.00 0.000 4 0.000 0.061 2483 3678 3744 0 0 0 0 0 0

3585 -1.06 -243.3 733.8 -19.7 116 3593 0.00 2.17 0.00 0.000 6 0.000 0.037 2483 2238 3744 0 0 0 0 0 0

3910 -1.06 -243.3 797.9 -19.8 122 3918 0.00 2.33 0.00 0.000 4 0.000 0.062 2472 3681 3743 0 0 0 0 0 0

3954 -1.06 -243.3 807.1 -20.9 122 3962 0.00 2.17 0.00 0.000 6 0.000 0.038 2472 2250 3743 0 0 0 0 0 0

4279 -1.06 -243.3 872.1 -20.0 128 4285 0.12 0.00 0.00 0.000 6 0.192 0.000 2498 2252 3743 0 0 0 0 0 0

4580 -1.06 -243.3 923.4 -16.7 133 4589 0.00 2.30 0.00 0.000 4 0.000 0.062 2493 3676 3741 0 0 0 0 0 0

4620 -1.06 -243.3 930.3 -18.0 133 4628 0.00 2.17 0.00 0.000 6 0.000 0.038 2493 2244 3741 0 0 0 0 0 0

4950 -1.06 -243.3 986.6 -17.0 139 4959 0.00 2.30 0.00 0.000 4 0.000 0.063 2482 3677 3741 0 0 0 0 0 0

4972 end dive: TARGET_DEPTH_EXCEEDED

state 4973 begin apogee

4978 -0.21 0.0 990.7 16.7 139 5199 0.95 0.00 210.85 1.169 6 0.148 0.000 2769 1917 2752 0 0 0 0 0 0

5200 end apogee: CONTROL_FINISHED_OK

state 5200 begin climb

5201 1.06 243.3 1002.9 0.0 142 5439 1.23 2.75 224.48 1.151 4 0.057 0.047 3209 356 1757 0 0 0 0 0 0

5468 1.06 243.3 962.3 26.1 147 5476 0.00 2.65 0.00 0.000 6 0.000 0.037 3209 1936 1752 0 0 0 0 0 0

5814 1.06 243.3 869.0 27.2 153 5822 0.00 2.58 0.00 0.000 4 0.000 0.054 3209 3514 1749 0 0 0 0 0 0

5879 1.06 243.3 849.8 30.5 154 5887 0.00 2.50 0.00 0.000 6 0.000 0.037 3221 1931 1748 0 0 0 0 0 0

6235 1.06 243.3 751.0 27.4 160 6240 0.00 0.00 0.00 0.000 6 0.000 0.000 3221 1924 1747 0 0 0 0 0 0

6537 1.06 243.3 669.4 27.0 165 6545 0.00 2.55 0.00 0.000 4 0.000 0.057 3221 3513 1747 0 0 0 0 0 0

6570 1.06 243.3 659.9 29.2 165 6579 0.17 2.47 0.00 0.000 6 0.207 0.037 3194 1918 1747 0 0 0 0 0 0

6895 1.06 243.3 579.5 24.3 171 6903 0.00 2.53 0.00 0.000 4 0.000 0.056 3194 3508 1746 0 0 0 0 0 0

6933 1.06 243.3 569.5 27.0 171 6941 0.00 2.45 0.00 0.000 6 0.000 0.037 3204 1922 1746 0 0 0 0 0 0

7252 1.06 243.3 489.4 25.2 177 7260 0.00 2.50 0.00 0.000 4 0.000 0.054 3204 3508 1746 0 0 0 0 0 0

7300 1.06 243.3 476.2 27.5 177 7312 0.00 2.45 0.00 0.000 6 0.000 0.037 3215 1922 1746 0 0 0 0 0 0

7613 1.06 243.3 396.1 25.9 182 7622 0.00 0.00 0.00 0.000 6 0.000 0.000 3216 1915 1746 0 0 0 0 0 0

7915 1.06 243.3 322.2 24.4 187 7924 0.00 0.00 0.00 0.000 6 0.000 0.000 3216 1915 1746 0 0 0 0 0 0

8218 1.06 243.3 251.0 23.7 195 8227 0.00 0.00 0.00 0.000 6 0.000 0.000 3216 1914 1749 0 0 0 0 0 0

8522 1.06 243.3 182.6 22.6 205 8534 0.00 2.53 0.00 0.000 4 0.000 0.054 3221 3513 1743 0 0 0 0 0 0

8628 1.06 243.3 154.7 25.1 208 8634 0.10 2.47 0.00 0.000 6 0.189 0.037 3201 1920 1746 0 0 0 0 0 0

8944 1.06 243.3 86.2 21.5 222 8949 0.00 2.55 0.00 0.000 4 0.000 0.054 3200 3513 1746 0 0 0 0 0 0

8997 1.06 243.3 73.2 25.3 227 9002 0.00 2.47 0.00 0.000 6 0.000 0.038 3210 1914 1746 0 0 0 0 0 0

9194 1.06 243.3 32.9 21.0 246 9199 0.00 2.47 0.00 0.000 4 0.000 0.050 3216 345 1746 0 0 0 0 0 0

9306 1.06 243.3 11.3 19.1 260 9314 0.00 2.45 0.00 0.000 6 0.000 0.037 3217 1929 1746 0 0 0 0 0 0

9354 end climb: SURFACE_DEPTH_REACHED

state 9354 begin surface coast

9370 end surface coast: CONTROL_FINISHED_OK

state 9370 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	20	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	38	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	300	R_STBD_OVSHOOT	39	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	230	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	-16229.881	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	250	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	40	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	060111,232222,3250.520,-11905.518,54,3.1,74,13.4	TGT_NAME	DM4
_CALLS	1	TGT_LATLONG	3251.800,-11907.783
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.277,0.243
_SM_DEPTHo	1.83	KALMAN_X	31198.5,-550.6,-129.5,-61214.5,3925.2
_SM_ANGLEo	-75.3	KALMAN_Y	-19892.8,34.3,157.2,38855.4,-3414.0
GPS2	060111,232728,3250.532,-11905.435,12,2.8,31,13.4	MHEAD_RNG_PITCHd_Wd	297.8,4343,-18.4,-14.348
SPEED_LIMITS	0.171,0.368	D_GRID	1237

FINISH	1.0,1.012283	PA_USBA	100.0/0/0
SM_CCo	9384,29.62,0.551,0,0,1525,300.00	PA_HOME	9.1/483886/439620
SM_GC	2.25,0.00,0.00,29.62,0.000,0.000,0.551,140,2271,1525,-8.47,0.59,300.00	PA_ROOT	80.3/126931/24979
IRIDIUM_FIX	3239.07,-11853.81,060111,202026	PA_LOG	8.0/297829/274068
TT8_MAMPS	0.117593	PA_DATA1	16.6/7836665/6533647
HUMID	52.32	PA_DATA0	97.1/7836665/223632
INTERNAL_PRESSURE	9.5836	_24V_AH	22.8,17.256
TCM_TEMP	19.10	_10V_AH	10.1,12.953
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	317728
PA_BOOTCOUNT	93	DATA_FILE_SIZE	10131,272
PA_DFQS	0/0	CAP_FILE_SIZE	103901,0
PA_CMQS	0/0	CFSIZE	260165632,255406080
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	070111,020624,3251.319,-11906.516,44,1.9,62,13.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	277	140.40	SBE_CT	185	24	101.38
Roll_motor	100	62	143.95	nil	0	0	0.00
VBD_pump_during_apogee	435	1168	11602.01	nil	0	0	0.00
VBD_pump_during_surface	29	550	372.04	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	69.96	nil	0	0	0.00
Iridium_during_connect	33	160	123.30	PAAM	1957	61	2755.46
Iridium_during_xfer	136	223	694.12	nil	0	0	0.00
Transponder_ping	42	420	402.19	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	50	16.79
TT8	0	0	0.00
LPSleep	7357	2	162.74
TT8_Active	496	19	99.37
TT8_Sampling	1789	39	719.15
TT8_CF8	74	45	34.35
TT8_Kalman	33	81	27.54
Analog_circuits	1263	12	153.08
GPS_charging	0	0	0.00
Compass	818	15	123.95
RAFOS	0	0	0.00
Transponder	267	30	81.11

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	-1.06	-243.3	0.0	0.0	0	83	0.00	0.00	-64.97	0.000	2	0.000	0.000	146	2262	2931	0	0	0	0	0	0
84	-1.06	-243.3	3.4	-4.6	11	123	10.98	2.50	-17.58	0.000	4	0.278	0.055	2498	666	3740	0	0	0	0	0	0
244	-1.06	-243.3	44.8	-22.7	31	252	0.00	2.50	0.00	0.000	6	0.000	0.045	2489	2240	3743	0	0	0	0	0	0
436	-1.06	-243.3	94.6	-24.7	49	444	0.00	2.42	0.00	0.000	4	0.000	0.041	2489	662	3743	0	0	0	0	0	0
458	-1.06	-243.3	100.0	-24.8	50	469	0.12	2.53	0.00	0.000	6	0.182	0.047	2506	2253	3743	0	0	0	0	0	0
646	-1.06	-243.3	141.5	-22.3	57	655	0.00	2.33	0.00	0.000	4	0.000	0.061	2497	3690	3744	0	0	0	0	0	0
680	-1.06	-243.3	149.4	-23.0	58	688	0.00	2.22	0.00	0.000	6	0.000	0.037	2497	2236	3744	0	0	0	0	0	0
1017	-1.06	-243.3	221.4	-21.0	69	1026	0.00	2.33	0.00	0.000	4	0.000	0.060	2486	3687	3745	0	0	0	0	0	0
1066	-1.06	-243.3	232.4	-22.8	70	1074	0.00	2.17	0.00	0.000	6	0.000	0.036	2486	2242	3745	0	0	0	0	0	0
1387	-1.06	-243.3	305.2	-23.0	81	1392	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	2241	3746	0	0	0	0	0	0
1689	-1.06	-243.3	370.8	-21.6	86	1697	0.00	2.33	0.00	0.000	4	0.000	0.059	2475	3688	3746	0	0	0	0	0	0
1733	-1.06	-243.3	381.0	-22.7	86	1742	0.12	2.17	0.00	0.000	6	0.186	0.037	2505	2244	3746	0	0	0	0	0	0
2059	-1.06	-243.3	444.3	-19.4	92	2067	0.00	2.28	0.00	0.000	4	0.000	0.060	2495	3677	3746	0	0	0	0	0	0
2087	-1.06	-243.3	450.1	-20.4	92	2096	0.00	2.17	0.00	0.000	6	0.000	0.035	2495	2240	3746	0	0	0	0	0	0
2428	-1.06	-243.3	517.3	-19.5	98	2437	0.00	2.30	0.00	0.000	4	0.000	0.060	2484	3684	3745	0	0	0	0	0	0
2467	-1.06	-243.3	525.2	-20.5	98	2478	0.00	2.17	0.00	0.000	6	0.000	0.036	2484	2244	3747	0	0	0	0	0	0
2801	-1.06	-243.3	591.0	-19.8	104	2809	0.00	2.28	0.00	0.000	4	0.000	0.060	2473	3677	3748	0	0	0	0	0	0
2829	-1.06	-243.3	597.0	-20.7	104	2839	0.12	2.15	0.00	0.000	6	0.184	0.036	2502	2253	3745	0	0	0	0	0	0
3171	-1.06	-243.3	657.9	-17.5	110	3182	0.00	2.28	0.00	0.000	4	0.000	0.061	2499	3681	3745	0	0	0	0	0	0
3207	-1.06	-243.3	664.4	-18.4	110	3218	0.00	2.17	0.00	0.000	6	0.000	0.037	2494	2247	3745	0	0	0	0	0	0
3546	-1.06	-243.3	726.1	-18.4	116	3554	0.00	2.30	0.00	0.000	4	0.000	0.061	2483	3678	3744	0	0	0	0	0	0
3585	-1.06	-243.3	733.8	-19.7	116	3593	0.00	2.17	0.00	0.000	6	0.000	0.037	2483	2238	3744	0	0	0	0	0	0
3910	-1.06	-243.3	797.9	-19.8	122	3918	0.00	2.33	0.00	0.000	4	0.000	0.062	2472	3681	3743	0	0	0	0	0	0
3954	-1.06	-243.3	807.1	-20.9	122	3962	0.00	2.17	0.00	0.000	6	0.000	0.038	2472	2250	3743	0	0	0	0	0	0
4279	-1.06	-243.3	872.1	-20.0	128	4285	0.12	0.00	0.00	0.000	6	0.192	0.000	2498	2252	3743	0	0	0	0	0	0
4580	-1.06	-243.3	923.4	-16.7	133	4589	0.00	2.30	0.00	0.000	4	0.000	0.062	2493	3676	3741	0	0	0	0	0	0
4620	-1.06	-243.3	930.3	-18.0	133	4628	0.00	2.17	0.00	0.000	6	0.000	0.038	2493	2244	3741	0	0	0	0	0	0
4950	-1.06	-243.3	986.6	-17.0	139	4959	0.00	2.30	0.00	0.000	4	0.000	0.063	2482	3677	3741	0	0	0	0	0	0
4972	end dive: TARGET_DEPTH_EXCEEDED
state	4973	begin apogee
4978	-0.21	0.0	990.7	16.7	139	5199	0.95	0.00	210.85	1.169	6	0.148	0.000	2769	1917	2752	0	0	0	0	0	0
5200	end apogee: CONTROL_FINISHED_OK
state	5200	begin climb
5201	1.06	243.3	1002.9	0.0	142	5439	1.23	2.75	224.48	1.151	4	0.057	0.047	3209	356	1757	0	0	0	0	0	0
5468	1.06	243.3	962.3	26.1	147	5476	0.00	2.65	0.00	0.000	6	0.000	0.037	3209	1936	1752	0	0	0	0	0	0
5814	1.06	243.3	869.0	27.2	153	5822	0.00	2.58	0.00	0.000	4	0.000	0.054	3209	3514	1749	0	0	0	0	0	0
5879	1.06	243.3	849.8	30.5	154	5887	0.00	2.50	0.00	0.000	6	0.000	0.037	3221	1931	1748	0	0	0	0	0	0
6235	1.06	243.3	751.0	27.4	160	6240	0.00	0.00	0.00	0.000	6	0.000	0.000	3221	1924	1747	0	0	0	0	0	0
6537	1.06	243.3	669.4	27.0	165	6545	0.00	2.55	0.00	0.000	4	0.000	0.057	3221	3513	1747	0	0	0	0	0	0
6570	1.06	243.3	659.9	29.2	165	6579	0.17	2.47	0.00	0.000	6	0.207	0.037	3194	1918	1747	0	0	0	0	0	0
6895	1.06	243.3	579.5	24.3	171	6903	0.00	2.53	0.00	0.000	4	0.000	0.056	3194	3508	1746	0	0	0	0	0	0
6933	1.06	243.3	569.5	27.0	171	6941	0.00	2.45	0.00	0.000	6	0.000	0.037	3204	1922	1746	0	0	0	0	0	0
7252	1.06	243.3	489.4	25.2	177	7260	0.00	2.50	0.00	0.000	4	0.000	0.054	3204	3508	1746	0	0	0	0	0	0
7300	1.06	243.3	476.2	27.5	177	7312	0.00	2.45	0.00	0.000	6	0.000	0.037	3215	1922	1746	0	0	0	0	0	0
7613	1.06	243.3	396.1	25.9	182	7622	0.00	0.00	0.00	0.000	6	0.000	0.000	3216	1915	1746	0	0	0	0	0	0
7915	1.06	243.3	322.2	24.4	187	7924	0.00	0.00	0.00	0.000	6	0.000	0.000	3216	1915	1746	0	0	0	0	0	0
8218	1.06	243.3	251.0	23.7	195	8227	0.00	0.00	0.00	0.000	6	0.000	0.000	3216	1914	1749	0	0	0	0	0	0
8522	1.06	243.3	182.6	22.6	205	8534	0.00	2.53	0.00	0.000	4	0.000	0.054	3221	3513	1743	0	0	0	0	0	0
8628	1.06	243.3	154.7	25.1	208	8634	0.10	2.47	0.00	0.000	6	0.189	0.037	3201	1920	1746	0	0	0	0	0	0
8944	1.06	243.3	86.2	21.5	222	8949	0.00	2.55	0.00	0.000	4	0.000	0.054	3200	3513	1746	0	0	0	0	0	0
8997	1.06	243.3	73.2	25.3	227	9002	0.00	2.47	0.00	0.000	6	0.000	0.038	3210	1914	1746	0	0	0	0	0	0
9194	1.06	243.3	32.9	21.0	246	9199	0.00	2.47	0.00	0.000	4	0.000	0.050	3216	345	1746	0	0	0	0	0	0
9306	1.06	243.3	11.3	19.1	260	9314	0.00	2.45	0.00	0.000	6	0.000	0.037	3217	1929	1746	0	0	0	0	0	0
9354	end climb: SURFACE_DEPTH_REACHED
state	9354	begin surface coast
9370	end surface coast: CONTROL_FINISHED_OK
state	9370	begin surface