Glider dive log

AUTEC Jun10 * SG179 * Dive index * Mission links * Dive 21 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 179 ESCAPE_HEADING 0 C_ROLL_DIVE 2415 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2430 ALTIM_PULSE 5

DIVE 21 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

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 660 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 64 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 350 R_STBD_OVSHOOT 38 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 KERMIT 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 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 180 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 69

T_MISSION 225 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 -11914.641 CF8_MAXERRORS 20 PHONE_DEVICE 48

USE_BATHY 0 T_RSLEEP 3 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 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 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 3145 PRESSURE_YINT -38.488777 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 36 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012400629

MASS 51749 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 80 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 2.7040428e-06

AH0_10V 100 D_PITCH 0 PA_POWERSOURCE 0.0 SIM_PITCH 0

AH0_24V 150 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 660 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 80 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 5 FG_AHR_10V 0 PITCH_AD_RATE 165 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_CNV 0.003125763 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_DBAND 0.1 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 36 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAX 3923 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 147 T_ABORT 1440

CALL_TRIES 5 HD_B 0.0099999998 PITCH_TIMEOUT 18 T_BOOST 0

CALL_WAIT 60 HD_C 9.9999997e-06 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 180

CAPMAXSIZE 100000 HEADING -1 PRESSURE_SLOPE 0.0001164844 T_GPS 15

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -38.488777 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAPDBG 0 P_OVSHOOT 0.039999999 T_GPS_CHARGE -11914.641

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 ID 179 RAFOS_DEVICE -1 T_MISSION 225

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 0 INT_PRESSURE_YINT -0.69999999 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_TURN 225

C_PITCH 3145 KERMIT 0 RHO 1.0275 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2430 LOGGERDEVICE1 69 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2415 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 51749 ROLL_MAX 3681 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MAX_BUOY 250 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 ROLL_MIN 165 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE5 -1 MISSION 5 R_PORT_OVSHOOT 64 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 38 VBD_MIN 460

DIVE 21 NAV_MODE 1 SEABIRD_C_G -10.032231 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 N_FILEKB 8 SEABIRD_C_H 1.1531334 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 N_GPS 20 SEABIRD_C_I -0.0012400629 VBD_TIMEOUT 720

D_CALL 0 N_NOCOMM 1 SEABIRD_C_J 0.00018751388 XPDR_DEVICE 24

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_G 0.0043333764 XPDR_INHIBIT 90

D_FLARE 3 PA_MAXOPTIONALUPLOADSIZE 20480.0 SEABIRD_T_H 0.0006255582 XPDR_VALID 6

D_NO_BLEED 200 PA_MAXUPLOADSIZE 40960.0 SEABIRD_T_I 2.4443518e-05

Pre-dive calculations and measurements:

GPS1 110610,073236,2441.052,-7733.198,57,1.3,68,-7.1 TGT_NAME H4

_CALLS 2 TGT_LATLONG 2441.300,-7736.833

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.342,0.069

_SM_DEPTHo 1.52 KALMAN_X 1475.8,113.3,-98.6,3426.1,160.2

_SM_ANGLEo -78.1 KALMAN_Y -10779.8,-95.4,223.8,10287.6,-480.5

GPS2 110610,074332,2441.053,-7733.259,11,1.6,11,-7.1 MHEAD_RNG_PITCHd_Wd 288.6,6033,-15.9,-12.222

SPEED_LIMITS 0.212,0.349 D_GRID 660

Post-dive calculations and measurements:

FINISH 0.7,1.002690 PA_USBA 100.0/0/0

SM_CCo 10433,0.00,0.000,0,0,1303,351.51 PA_HOME 12.9/482055/419910

SM_GC 1.79,9.20,0.00,0.00,0.066,0.000,0.000,146,2425,1303,-9.34,0.28,351.51 PA_ROOT 80.3/126931/24988

IRIDIUM_FIX 2429.95,-7734.44,051211,010126 PA_LOG 5.8/298663/281329

TT8_MAMPS 0.110852 PA_DATA1 81.8/7837685/1424893

HUMID 1078084506 PA_DATA0 95.3/7836665/370912

INTERNAL_PRESSURE 8.87068 _24V_AH 24.2,9.810

TCM_TEMP 25.10 _10V_AH 10.4,11.675

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 355032

PA_BOOTCOUNT 15 DATA_FILE_SIZE 10150,347

PA_DFQS 0/0 CAP_FILE_SIZE 106899,0

PA_CMQS 0/0 CFSIZE 260165632,255500288

PA_USBDRIVE None ERRORS 0,3,0,0,0,0,0,0,0,0,0,0,0,0,0

PA_USBB 100.0/0/0 GPS 110610,103936,2441.287,-7735.096,67,1.3,73,-7.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 285 172.29 SBE_CT 230 24 133.99

Roll_motor 86 52 109.92 nil 0 0 0.00

VBD_pump_during_apogee 475 886 10197.23 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 55 0 0.00 nil 0 0 0.00

Iridium_during_connect 53 0 0.00 PAAM 11187 77 21093.46

Iridium_during_xfer 338 0 0.00 nil 0 0 0.00

Transponder_ping 29 420 297.30 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 0 0.00

TT8 0 0 0.00

LPSleep 8498 2 193.57

TT8_Active 541 19 111.57

TT8_Sampling 1953 39 808.74

TT8_CF8 80 45 38.33

TT8_Kalman 33 0 0.00

Analog_circuits 1256 12 156.77

GPS_charging 0 0 0.00

Compass 847 15 132.26

RAFOS 0 0 0.00

Transponder 181 30 56.52

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 -0.74 -243.3 0.0 0.0 0 71 0.00 0.00 -53.70 0.000 2 0.000 0.000 145 2428 2823 0 0 0 0 0 0

73 -0.74 -243.3 3.1 -4.3 9 109 13.40 2.38 -16.85 0.000 4 0.285 0.041 2893 847 3734 0 0 0 0 0 0

134 -0.74 -243.3 23.0 -26.3 19 139 0.00 2.42 0.00 0.000 6 0.000 0.034 2884 2405 3737 0 0 0 0 0 0

331 -0.74 -243.3 64.7 -20.1 38 335 0.00 1.98 0.00 0.000 4 0.000 0.047 2874 3684 3737 0 0 0 0 0 0

368 -0.74 -243.3 71.5 -17.9 41 376 0.12 1.90 0.00 0.000 6 0.184 0.027 2904 2399 3738 0 0 0 0 0 0

580 -0.74 -243.3 106.2 -16.3 60 584 0.00 2.30 0.00 0.000 4 0.000 0.030 2904 854 3738 0 0 0 0 0 0

611 -0.74 -243.3 111.2 -15.3 61 616 0.00 2.40 0.00 0.000 6 0.000 0.034 2895 2415 3739 0 0 0 0 0 0

947 -0.74 -243.3 168.0 -16.9 72 954 0.00 1.90 0.00 0.000 4 0.000 0.048 2886 3677 3737 0 0 0 0 0 0

984 -0.74 -243.3 174.3 -16.8 73 991 0.00 1.83 0.00 0.000 6 0.000 0.028 2885 2402 3739 0 0 0 0 0 0

1315 -0.74 -243.3 226.5 -14.8 84 1323 0.00 2.25 0.00 0.000 4 0.000 0.030 2886 859 3739 0 0 0 0 0 0

1375 -0.74 -243.3 234.8 -12.4 86 1383 0.12 2.35 0.00 0.000 6 0.171 0.034 2908 2419 3739 0 0 0 0 0 0

1713 -0.74 -243.3 271.7 -10.4 97 1718 0.00 0.00 0.00 0.000 6 0.000 0.000 2907 2421 3739 0 0 0 0 0 0

2046 -0.74 -243.3 306.7 -10.4 107 2054 0.00 1.90 0.00 0.000 4 0.000 0.050 2900 3683 3739 0 0 0 0 0 0

2079 -0.74 -243.3 310.3 -10.8 107 2087 0.00 1.83 0.00 0.000 6 0.000 0.030 2899 2414 3738 0 0 0 0 0 0

2415 -0.74 -243.3 347.3 -11.0 113 2420 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 2413 3739 0 0 0 0 0 0

2716 -0.74 -243.3 380.3 -10.9 118 2724 0.00 1.92 0.00 0.000 4 0.000 0.049 2891 3675 3736 0 0 0 0 0 0

2744 -0.74 -243.3 383.4 -10.8 118 2751 0.00 1.83 0.00 0.000 6 0.000 0.029 2891 2421 3736 0 0 0 0 0 0

3084 -0.74 -243.3 421.7 -11.3 124 3093 0.00 2.30 0.00 0.000 4 0.000 0.031 2890 845 3734 0 0 0 0 0 0

3118 -0.74 -243.3 425.8 -11.6 124 3126 0.00 2.38 0.00 0.000 6 0.000 0.035 2880 2421 3734 0 0 0 0 0 0

3448 -0.74 -243.3 464.6 -11.9 130 3457 0.00 1.90 0.00 0.000 4 0.000 0.050 2871 3683 3733 0 0 0 0 0 0

3481 -0.74 -243.3 468.9 -13.1 130 3489 0.12 1.83 0.00 0.000 6 0.171 0.030 2903 2415 3733 0 0 0 0 0 0

3817 -0.74 -243.3 500.8 -9.3 136 3828 0.00 2.30 0.00 0.000 4 0.000 0.032 2903 850 3729 0 0 0 0 0 0

3841 -0.74 -243.3 503.5 -9.9 136 3849 0.00 2.38 0.00 0.000 6 0.000 0.036 2896 2416 3732 0 0 0 0 0 0

4183 -0.74 -243.3 537.0 -9.9 142 4193 0.00 1.90 0.00 0.000 4 0.000 0.051 2887 3674 3729 0 0 0 0 0 0

4239 -0.74 -243.3 542.7 -9.8 142 4246 0.00 1.83 0.00 0.000 6 0.000 0.031 2886 2414 3729 0 0 0 0 0 0

4552 -0.74 -243.3 575.9 -10.7 148 4561 0.00 2.30 0.00 0.000 4 0.000 0.033 2886 846 3727 0 0 0 0 0 0

4581 -0.74 -243.3 578.8 -10.8 148 4588 0.00 2.38 0.00 0.000 6 0.000 0.035 2873 2414 3727 0 0 0 0 0 0

4916 -0.74 -243.3 615.8 -11.3 154 4924 0.00 1.92 0.00 0.000 4 0.000 0.053 2867 3684 3726 0 0 0 0 0 0

4944 -0.74 -243.3 619.1 -11.5 154 4952 0.15 1.85 0.00 0.000 6 0.168 0.031 2906 2411 3725 0 0 0 0 0 0

5285 -0.74 -243.3 648.9 -8.7 160 5292 0.00 0.00 0.00 0.000 6 0.000 0.000 2907 2408 3724 0 0 0 0 0 0

5464 end dive: TARGET_DEPTH_EXCEEDED

state 5465 begin apogee

5467 -0.14 0.0 664.3 8.5 163 5667 0.60 0.00 193.20 0.887 6 0.132 0.000 3099 2410 2738 0 0 0 0 0 0

5668 end apogee: CONTROL_FINISHED_OK

state 5668 begin climb

5669 0.74 243.3 675.0 0.0 166 5880 0.82 2.10 199.88 0.874 4 0.076 0.049 3384 3672 1746 0 0 0 0 0 0

6012 0.74 243.3 639.7 17.4 171 6020 0.00 1.85 0.00 0.000 6 0.000 0.030 3399 2429 1740 0 0 0 0 0 0

6346 0.74 243.3 584.5 16.5 177 6354 0.00 2.35 0.00 0.000 4 0.000 0.036 3405 857 1737 0 0 0 0 0 0

6395 0.74 243.3 576.4 17.0 177 6403 0.00 2.42 0.00 0.000 6 0.000 0.035 3405 2431 1739 0 0 0 0 0 0

6702 0.74 243.3 524.4 16.9 182 6708 0.00 0.00 0.00 0.000 6 0.000 0.000 3405 2430 1736 0 0 0 0 0 0

7004 0.74 243.3 474.3 16.7 187 7012 0.00 2.40 0.00 0.000 4 0.000 0.037 3416 848 1735 0 0 0 0 0 0

7036 0.74 243.3 468.8 16.3 187 7045 0.12 2.42 0.00 0.000 6 0.200 0.035 3389 2434 1735 0 0 0 0 0 0

7361 0.74 243.3 418.6 15.3 193 7366 0.00 0.00 0.00 0.000 6 0.000 0.000 3389 2434 1733 0 0 0 0 0 0

7663 0.74 243.3 371.8 15.6 198 7672 0.00 2.38 0.00 0.000 4 0.000 0.036 3398 864 1733 0 0 0 0 0 0

7712 0.74 243.3 363.9 15.7 198 7721 0.00 2.40 0.00 0.000 6 0.000 0.035 3397 2436 1733 0 0 0 0 0 0

8026 0.74 243.3 313.8 16.0 204 8032 0.00 0.00 0.00 0.000 6 0.000 0.000 3397 2437 1733 0 0 0 0 0 0

8329 0.74 243.3 265.9 15.6 212 8337 0.00 2.35 0.00 0.000 4 0.000 0.035 3408 856 1732 0 0 0 0 0 0

8350 0.74 243.3 262.5 15.3 212 8361 0.00 2.40 0.00 0.000 6 0.000 0.035 3408 2437 1732 0 0 0 0 0 0

8660 0.74 243.3 214.2 15.2 223 8666 0.00 0.00 0.00 0.000 6 0.000 0.000 3408 2436 1731 0 0 0 0 0 0

8963 0.74 243.3 169.8 14.3 233 8971 0.00 2.35 0.00 0.000 4 0.000 0.035 3419 849 1731 0 0 0 0 0 0

9038 0.74 243.3 158.9 13.8 235 9047 0.12 2.38 0.00 0.000 6 0.193 0.034 3389 2431 1731 0 0 0 0 0 0

9354 0.74 243.3 119.5 12.5 246 9354 0.00 0.00 0.00 0.000 6 0.000 0.000 3389 2431 1731 0 0 0 0 0 0

9660 0.74 243.3 80.6 12.4 264 9660 0.00 0.00 0.00 0.000 6 0.000 0.000 3389 2430 1731 0 0 0 0 0 0

9846 0.77 267.7 57.8 11.4 282 9869 0.00 0.00 18.88 0.472 6 0.000 0.000 3389 2430 1643 0 0 0 0 0 0

10052 0.82 309.0 34.3 10.8 302 10090 0.00 1.95 33.10 0.464 4 0.000 0.047 3389 3676 1477 0 0 0 0 0 0

10117 0.82 310.5 26.9 12.2 308 10121 0.00 1.88 0.00 0.000 6 0.000 0.026 3396 2427 1475 0 0 0 0 0 0

10312 0.95 411.0 4.5 8.8 339 10345 0.15 0.00 30.20 0.439 2 0.106 0.000 3450 2425 1310 0 0 0 0 0 0

10345 end climb: SURFACE_DEPTH_REACHED

state 10345 begin surface coast

10358 end surface coast: CONTROL_FINISHED_OK

state 10358 begin surface

ID	179	ESCAPE_HEADING	0	C_ROLL_DIVE	2415	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2430	ALTIM_PULSE	5
DIVE	21	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
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	660	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	64	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	350	R_STBD_OVSHOOT	38	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	KERMIT	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	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	180	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	69
T_MISSION	225	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	-11914.641	CF8_MAXERRORS	20	PHONE_DEVICE	48
USE_BATHY	0	T_RSLEEP	3	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	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	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	3145	PRESSURE_YINT	-38.488777	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	36	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012400629
MASS	51749	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	80	PA_SCALEFACTOR24V	1.3
HEADING	-1	ROLL_DEG	45	ALTIM_PING_DELTA	5

GPS1	110610,073236,2441.052,-7733.198,57,1.3,68,-7.1	TGT_NAME	H4
_CALLS	2	TGT_LATLONG	2441.300,-7736.833
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.342,0.069
_SM_DEPTHo	1.52	KALMAN_X	1475.8,113.3,-98.6,3426.1,160.2
_SM_ANGLEo	-78.1	KALMAN_Y	-10779.8,-95.4,223.8,10287.6,-480.5
GPS2	110610,074332,2441.053,-7733.259,11,1.6,11,-7.1	MHEAD_RNG_PITCHd_Wd	288.6,6033,-15.9,-12.222
SPEED_LIMITS	0.212,0.349	D_GRID	660

FINISH	0.7,1.002690	PA_USBA	100.0/0/0
SM_CCo	10433,0.00,0.000,0,0,1303,351.51	PA_HOME	12.9/482055/419910
SM_GC	1.79,9.20,0.00,0.00,0.066,0.000,0.000,146,2425,1303,-9.34,0.28,351.51	PA_ROOT	80.3/126931/24988
IRIDIUM_FIX	2429.95,-7734.44,051211,010126	PA_LOG	5.8/298663/281329
TT8_MAMPS	0.110852	PA_DATA1	81.8/7837685/1424893
HUMID	1078084506	PA_DATA0	95.3/7836665/370912
INTERNAL_PRESSURE	8.87068	_24V_AH	24.2,9.810
TCM_TEMP	25.10	_10V_AH	10.4,11.675
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	355032
PA_BOOTCOUNT	15	DATA_FILE_SIZE	10150,347
PA_DFQS	0/0	CAP_FILE_SIZE	106899,0
PA_CMQS	0/0	CFSIZE	260165632,255500288
PA_USBDRIVE	None	ERRORS	0,3,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_USBB	100.0/0/0	GPS	110610,103936,2441.287,-7735.096,67,1.3,73,-7.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	285	172.29	SBE_CT	230	24	133.99
Roll_motor	86	52	109.92	nil	0	0	0.00
VBD_pump_during_apogee	475	886	10197.23	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	55	0	0.00	nil	0	0	0.00
Iridium_during_connect	53	0	0.00	PAAM	11187	77	21093.46
Iridium_during_xfer	338	0	0.00	nil	0	0	0.00
Transponder_ping	29	420	297.30	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	0	0.00
TT8	0	0	0.00
LPSleep	8498	2	193.57
TT8_Active	541	19	111.57
TT8_Sampling	1953	39	808.74
TT8_CF8	80	45	38.33
TT8_Kalman	33	0	0.00
Analog_circuits	1256	12	156.77
GPS_charging	0	0	0.00
Compass	847	15	132.26
RAFOS	0	0	0.00
Transponder	181	30	56.52

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	-0.74	-243.3	0.0	0.0	0	71	0.00	0.00	-53.70	0.000	2	0.000	0.000	145	2428	2823	0	0	0	0	0	0
73	-0.74	-243.3	3.1	-4.3	9	109	13.40	2.38	-16.85	0.000	4	0.285	0.041	2893	847	3734	0	0	0	0	0	0
134	-0.74	-243.3	23.0	-26.3	19	139	0.00	2.42	0.00	0.000	6	0.000	0.034	2884	2405	3737	0	0	0	0	0	0
331	-0.74	-243.3	64.7	-20.1	38	335	0.00	1.98	0.00	0.000	4	0.000	0.047	2874	3684	3737	0	0	0	0	0	0
368	-0.74	-243.3	71.5	-17.9	41	376	0.12	1.90	0.00	0.000	6	0.184	0.027	2904	2399	3738	0	0	0	0	0	0
580	-0.74	-243.3	106.2	-16.3	60	584	0.00	2.30	0.00	0.000	4	0.000	0.030	2904	854	3738	0	0	0	0	0	0
611	-0.74	-243.3	111.2	-15.3	61	616	0.00	2.40	0.00	0.000	6	0.000	0.034	2895	2415	3739	0	0	0	0	0	0
947	-0.74	-243.3	168.0	-16.9	72	954	0.00	1.90	0.00	0.000	4	0.000	0.048	2886	3677	3737	0	0	0	0	0	0
984	-0.74	-243.3	174.3	-16.8	73	991	0.00	1.83	0.00	0.000	6	0.000	0.028	2885	2402	3739	0	0	0	0	0	0
1315	-0.74	-243.3	226.5	-14.8	84	1323	0.00	2.25	0.00	0.000	4	0.000	0.030	2886	859	3739	0	0	0	0	0	0
1375	-0.74	-243.3	234.8	-12.4	86	1383	0.12	2.35	0.00	0.000	6	0.171	0.034	2908	2419	3739	0	0	0	0	0	0
1713	-0.74	-243.3	271.7	-10.4	97	1718	0.00	0.00	0.00	0.000	6	0.000	0.000	2907	2421	3739	0	0	0	0	0	0
2046	-0.74	-243.3	306.7	-10.4	107	2054	0.00	1.90	0.00	0.000	4	0.000	0.050	2900	3683	3739	0	0	0	0	0	0
2079	-0.74	-243.3	310.3	-10.8	107	2087	0.00	1.83	0.00	0.000	6	0.000	0.030	2899	2414	3738	0	0	0	0	0	0
2415	-0.74	-243.3	347.3	-11.0	113	2420	0.00	0.00	0.00	0.000	6	0.000	0.000	2900	2413	3739	0	0	0	0	0	0
2716	-0.74	-243.3	380.3	-10.9	118	2724	0.00	1.92	0.00	0.000	4	0.000	0.049	2891	3675	3736	0	0	0	0	0	0
2744	-0.74	-243.3	383.4	-10.8	118	2751	0.00	1.83	0.00	0.000	6	0.000	0.029	2891	2421	3736	0	0	0	0	0	0
3084	-0.74	-243.3	421.7	-11.3	124	3093	0.00	2.30	0.00	0.000	4	0.000	0.031	2890	845	3734	0	0	0	0	0	0
3118	-0.74	-243.3	425.8	-11.6	124	3126	0.00	2.38	0.00	0.000	6	0.000	0.035	2880	2421	3734	0	0	0	0	0	0
3448	-0.74	-243.3	464.6	-11.9	130	3457	0.00	1.90	0.00	0.000	4	0.000	0.050	2871	3683	3733	0	0	0	0	0	0
3481	-0.74	-243.3	468.9	-13.1	130	3489	0.12	1.83	0.00	0.000	6	0.171	0.030	2903	2415	3733	0	0	0	0	0	0
3817	-0.74	-243.3	500.8	-9.3	136	3828	0.00	2.30	0.00	0.000	4	0.000	0.032	2903	850	3729	0	0	0	0	0	0
3841	-0.74	-243.3	503.5	-9.9	136	3849	0.00	2.38	0.00	0.000	6	0.000	0.036	2896	2416	3732	0	0	0	0	0	0
4183	-0.74	-243.3	537.0	-9.9	142	4193	0.00	1.90	0.00	0.000	4	0.000	0.051	2887	3674	3729	0	0	0	0	0	0
4239	-0.74	-243.3	542.7	-9.8	142	4246	0.00	1.83	0.00	0.000	6	0.000	0.031	2886	2414	3729	0	0	0	0	0	0
4552	-0.74	-243.3	575.9	-10.7	148	4561	0.00	2.30	0.00	0.000	4	0.000	0.033	2886	846	3727	0	0	0	0	0	0
4581	-0.74	-243.3	578.8	-10.8	148	4588	0.00	2.38	0.00	0.000	6	0.000	0.035	2873	2414	3727	0	0	0	0	0	0
4916	-0.74	-243.3	615.8	-11.3	154	4924	0.00	1.92	0.00	0.000	4	0.000	0.053	2867	3684	3726	0	0	0	0	0	0
4944	-0.74	-243.3	619.1	-11.5	154	4952	0.15	1.85	0.00	0.000	6	0.168	0.031	2906	2411	3725	0	0	0	0	0	0
5285	-0.74	-243.3	648.9	-8.7	160	5292	0.00	0.00	0.00	0.000	6	0.000	0.000	2907	2408	3724	0	0	0	0	0	0
5464	end dive: TARGET_DEPTH_EXCEEDED
state	5465	begin apogee
5467	-0.14	0.0	664.3	8.5	163	5667	0.60	0.00	193.20	0.887	6	0.132	0.000	3099	2410	2738	0	0	0	0	0	0
5668	end apogee: CONTROL_FINISHED_OK
state	5668	begin climb
5669	0.74	243.3	675.0	0.0	166	5880	0.82	2.10	199.88	0.874	4	0.076	0.049	3384	3672	1746	0	0	0	0	0	0
6012	0.74	243.3	639.7	17.4	171	6020	0.00	1.85	0.00	0.000	6	0.000	0.030	3399	2429	1740	0	0	0	0	0	0
6346	0.74	243.3	584.5	16.5	177	6354	0.00	2.35	0.00	0.000	4	0.000	0.036	3405	857	1737	0	0	0	0	0	0
6395	0.74	243.3	576.4	17.0	177	6403	0.00	2.42	0.00	0.000	6	0.000	0.035	3405	2431	1739	0	0	0	0	0	0
6702	0.74	243.3	524.4	16.9	182	6708	0.00	0.00	0.00	0.000	6	0.000	0.000	3405	2430	1736	0	0	0	0	0	0
7004	0.74	243.3	474.3	16.7	187	7012	0.00	2.40	0.00	0.000	4	0.000	0.037	3416	848	1735	0	0	0	0	0	0
7036	0.74	243.3	468.8	16.3	187	7045	0.12	2.42	0.00	0.000	6	0.200	0.035	3389	2434	1735	0	0	0	0	0	0
7361	0.74	243.3	418.6	15.3	193	7366	0.00	0.00	0.00	0.000	6	0.000	0.000	3389	2434	1733	0	0	0	0	0	0
7663	0.74	243.3	371.8	15.6	198	7672	0.00	2.38	0.00	0.000	4	0.000	0.036	3398	864	1733	0	0	0	0	0	0
7712	0.74	243.3	363.9	15.7	198	7721	0.00	2.40	0.00	0.000	6	0.000	0.035	3397	2436	1733	0	0	0	0	0	0
8026	0.74	243.3	313.8	16.0	204	8032	0.00	0.00	0.00	0.000	6	0.000	0.000	3397	2437	1733	0	0	0	0	0	0
8329	0.74	243.3	265.9	15.6	212	8337	0.00	2.35	0.00	0.000	4	0.000	0.035	3408	856	1732	0	0	0	0	0	0
8350	0.74	243.3	262.5	15.3	212	8361	0.00	2.40	0.00	0.000	6	0.000	0.035	3408	2437	1732	0	0	0	0	0	0
8660	0.74	243.3	214.2	15.2	223	8666	0.00	0.00	0.00	0.000	6	0.000	0.000	3408	2436	1731	0	0	0	0	0	0
8963	0.74	243.3	169.8	14.3	233	8971	0.00	2.35	0.00	0.000	4	0.000	0.035	3419	849	1731	0	0	0	0	0	0
9038	0.74	243.3	158.9	13.8	235	9047	0.12	2.38	0.00	0.000	6	0.193	0.034	3389	2431	1731	0	0	0	0	0	0
9354	0.74	243.3	119.5	12.5	246	9354	0.00	0.00	0.00	0.000	6	0.000	0.000	3389	2431	1731	0	0	0	0	0	0
9660	0.74	243.3	80.6	12.4	264	9660	0.00	0.00	0.00	0.000	6	0.000	0.000	3389	2430	1731	0	0	0	0	0	0
9846	0.77	267.7	57.8	11.4	282	9869	0.00	0.00	18.88	0.472	6	0.000	0.000	3389	2430	1643	0	0	0	0	0	0
10052	0.82	309.0	34.3	10.8	302	10090	0.00	1.95	33.10	0.464	4	0.000	0.047	3389	3676	1477	0	0	0	0	0	0
10117	0.82	310.5	26.9	12.2	308	10121	0.00	1.88	0.00	0.000	6	0.000	0.026	3396	2427	1475	0	0	0	0	0	0
10312	0.95	411.0	4.5	8.8	339	10345	0.15	0.00	30.20	0.439	2	0.106	0.000	3450	2425	1310	0	0	0	0	0	0
10345	end climb: SURFACE_DEPTH_REACHED
state	10345	begin surface coast
10358	end surface coast: CONTROL_FINISHED_OK
state	10358	begin surface