Glider dive log

SCORE Jan11 * SG178 * Dive index * Mission links * Dive 22 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 HEADING -1 ROLL_DEG 45 ALTIM_PING_DELTA 10

MISSION 10 ESCAPE_HEADING 0 C_ROLL_DIVE 2550 ALTIM_FREQUENCY 13

DIVE 22 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2200 ALTIM_PULSE 8

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 1

D_SURF 3 TGT_DEFAULT_LAT 32.6903 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FLARE 3 TGT_DEFAULT_LON -118.7761 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_TGT 990 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 300 R_STBD_OVSHOOT 29 INT_PRESSURE_YINT 0

D_NO_BLEED 200 N_FILEKB 8 ROLL_AD_RATE 350 DEEPGLIDER 0

D_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 DEEPGLIDERMB 0

T_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEVICE1 2

D_PITCH 0 PROTOCOL 0 VBD_MIN 425 DEVICE2 -1

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3960 DEVICE3 -1

D_CALL 0 N_NOSURFACE 0 C_VBD 2748 DEVICE4 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_DIVE 248 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 69

T_MISSION 310 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_ABORT 1440 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_TURN 225 T_GPS 15 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_TURN_SAMPINT 5 N_GPS 20 UNCOM_BLEED 50 COMPASS_DEVICE 33

T_NO_W 120 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_LOITER 0 T_GPS_CHARGE -9778.8379 CF8_MAXERRORS 20 PHONE_DEVICE 48

USE_BATHY 1 T_RSLEEP 5 AH0_24V 91.800003 GPS_DEVICE 32

USE_ICE 0 STROBE 0 AH0_10V 61.200001 RAFOS_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 MINV_24V 19 XPDR_DEVICE 24

D_OFFGRID 501 RAFOS_CORR_THRESH 60 MINV_10V 8 SIM_W 0

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

RELAUNCH 1 PITCH_MIN 165 FG_AHR_24V 0 SEABIRD_T_G 0.0043278597

APOGEE_PITCH -5 PITCH_MAX 3954 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062587409

MAX_BUOY 175 C_PITCH 3115 PRESSURE_YINT -44.583923 SEABIRD_T_I 2.4307059e-05

COURSE_BIAS 0 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001161899 SEABIRD_T_J 2.6760367e-06

GLIDE_SLOPE 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 25 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015660153

MASS 51840 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_J 0.00020359491

NAV_MODE 1 PITCH_AD_RATE 145 ALTIM_BOTTOM_PING_RANGE 0 PA_OFFLOAD 1.0

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 PA_MAXUPLOADSIZE 20480.0

KALMAN_USE 2 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 PA_MAXOPTIONALUPLOADSIZE 20480.0

HD_A 0.003 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 PA_POWERSOURCE 0.0

HD_B 0.0099999998 ROLL_MIN 226 ALTIM_TOP_MIN_OBSTACLE 1 PA_RESTARTMONITOR 0.0

HD_C 9.9999997e-06 ROLL_MAX 3782 ALTIM_PING_DEPTH 130 PA_SCALEFACTOR24V 1.3

AD7714Ch0Gain 128 D_OFFGRID 501 PA_OFFLOAD 1.0 SEABIRD_T_I 2.4307059e-05

AH0_10V 61.200001 D_PITCH 0 PA_POWERSOURCE 0.0 SEABIRD_T_J 2.6760367e-06

AH0_24V 91.800003 D_SAFE 0 PA_RESTARTMONITOR 0.0 SIM_PITCH 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PA_SCALEFACTOR24V 1.3 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PHONE_DEVICE 48 SM_CC 300

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PING_DEPTH 130 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_PULSE 8 FG_AHR_10V 0 PITCH_AD_RATE 145 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 1 FG_AHR_24V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 25 TCM_ROLL_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 40 PITCH_MAX 3954 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 32.6903

CALL_NDIVES 1 HD_A 0.003 PITCH_MIN 165 TGT_DEFAULT_LON -118.7761

CALL_TRIES 5 HD_B 0.0099999998 PITCH_TIMEOUT 17 T_ABORT 1440

CALL_WAIT 60 HD_C 9.9999997e-06 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 0

CAPMAXSIZE 100000 HEADING -1 PRESSURE_SLOPE 0.0001161899 T_DIVE 248

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -44.583923 T_GPS 15

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 0 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT 0.039999999 T_GPS_CHARGE -9778.8379

COMPASS2_DEVICE -1 ID 178 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_MISSION 310

COMPASS_USE 0 INT_PRESSURE_YINT 0 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 5

C_PITCH 3115 LOGGERDEVICE1 69 RELAUNCH 1 T_TURN 225

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 RHO 1.0275 T_TURN_SAMPINT 5

C_ROLL_DIVE 2550 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_VBD 2748 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

DEEPGLIDER 0 LOGGERS 1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 51840 ROLL_CNV 0.028270001 USE_BATHY 1

DEVICE1 2 MAX_BUOY 175 ROLL_DEG 45 USE_ICE 0

DEVICE2 -1 MINV_10V 8 ROLL_MAX 3782 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 19 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 10 ROLL_MIN 226 VBD_DBAND 2

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE6 -1 NAV_MODE 1 R_PORT_OVSHOOT 24 VBD_MAXERRORS 1

DIVE 22 N_DIVES 0 R_STBD_OVSHOOT 29 VBD_MIN 425

D_ABORT 1090 N_FILEKB 8 SEABIRD_C_G -9.9460888 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 0 N_GPS 20 SEABIRD_C_H 1.1279132 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_NOCOMM 1 SEABIRD_C_I -0.0015660153 VBD_TIMEOUT 720

D_FINISH 0 N_NOSURFACE 0 SEABIRD_C_J 0.00020359491 XPDR_DEVICE 24

D_FLARE 3 PA_MAXOPTIONALUPLOADSIZE 20480.0 SEABIRD_T_G 0.0043278597 XPDR_INHIBIT 90

D_NO_BLEED 200 PA_MAXUPLOADSIZE 20480.0 SEABIRD_T_H 0.00062587409 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 070111,053117,3248.830,-11901.247,13,99.0,33,13.3 TGT_NAME MDW

_CALLS 1 TGT_LATLONG 3246.522,-11856.604

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.225,0.234

_SM_DEPTHo 1.69 KALMAN_X 27786.1,-970.9,-283.4,-56403.4,4895.0

_SM_ANGLEo -77.2 KALMAN_Y -3083.2,520.9,-127.8,15626.3,-304.9

GPS2 070111,053804,3248.813,-11901.175,15,99.0,34,13.3 MHEAD_RNG_PITCHd_Wd 107.5,8286,-20.7,-13.306

SPEED_LIMITS 0.159,0.305 D_GRID 1348

Post-dive calculations and measurements:

FINISH 1.5,1.025263 PA_USBA 100.0/0/0

SM_CCo 10476,68.47,0.622,0,0,1523,300.00 PA_HOME 13.4/482055/417611

SM_GC 1.91,0.00,0.00,68.47,0.000,0.000,0.622,162,2558,1523,-9.23,0.23,300.00 PA_ROOT 80.3/126931/24979

IRIDIUM_FIX 3239.07,-11905.27,070111,020208 PA_LOG 8.3/298663/273908

TT8_MAMPS 0.114597 PA_DATA1 36.4/7837685/4987103

HUMID 44.52 PA_DATA0 97.8/7836665/172576

INTERNAL_PRESSURE 8.89683 _24V_AH 22.9,20.661

TCM_TEMP 18.40 _10V_AH 10.0,16.078

XPDR_PINGS 42 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 317752

PA_BOOTCOUNT 88 DATA_FILE_SIZE 10138,306

PA_DFQS 0/0 CAP_FILE_SIZE 92856,0

PA_CMQS 0/0 CFSIZE 260165632,252829696

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 070111,083455,3247.780,-11859.075,39,1.0,39,13.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 266 145.25 SBE_CT 208 24 114.87

Roll_motor 77 80 143.02 nil 0 0 0.00

VBD_pump_during_apogee 303 1246 8662.60 nil 0 0 0.00

VBD_pump_during_surface 68 621 975.26 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 65.07 nil 0 0 0.00

Iridium_during_connect 41 160 150.25 PAAM 10971 87 21877.48

Iridium_during_xfer 205 223 1050.93 nil 0 0 0.00

Transponder_ping 32 420 310.18 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 36 50 18.14

TT8 0 0 0.00

LPSleep 8693 2 190.39

TT8_Active 426 19 84.45

TT8_Sampling 1761 39 701.05

TT8_CF8 70 45 32.28

TT8_Kalman 0 0 0.00

Analog_circuits 1153 12 138.47

GPS_charging 0 0 0.00

Compass 796 15 119.50

RAFOS 0 0 0.00

Transponder 139 30 41.76

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 -170.3 0.0 0.0 0 82 0.00 0.00 -64.72 0.000 2 0.000 0.000 164 2567 3054 0 0 0 0 0 0

84 -1.04 -170.3 3.7 -6.1 11 111 11.95 2.03 -7.88 0.000 4 0.266 0.080 2768 3776 3446 0 0 0 0 0 0

323 -1.04 -170.3 73.9 -27.8 37 334 0.00 1.95 0.00 0.000 6 0.000 0.040 2768 2522 3449 0 0 0 0 0 0

523 -1.04 -170.3 122.8 -23.6 51 531 0.00 2.45 0.00 0.000 4 0.000 0.046 2767 972 3447 0 0 0 0 0 0

539 -1.04 -170.3 126.5 -22.7 51 547 0.00 2.55 0.00 0.000 6 0.000 0.051 2756 2548 3448 0 0 0 0 0 0

849 -1.04 -170.3 195.5 -22.5 61 854 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2547 3450 0 0 0 0 0 0

1153 -1.04 -170.3 264.7 -21.9 71 1158 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2548 3451 0 0 0 0 0 0

1455 -1.04 -170.3 331.5 -22.1 79 1464 0.00 2.00 0.00 0.000 4 0.000 0.063 2746 3778 3451 0 0 0 0 0 0

1477 -1.04 -170.3 336.7 -22.9 79 1485 0.12 1.90 0.00 0.000 6 0.201 0.037 2773 2536 3451 0 0 0 0 0 0

1824 -1.04 -170.3 402.3 -18.4 85 1835 0.00 2.42 0.00 0.000 4 0.000 0.045 2773 960 3451 0 0 0 0 0 0

1854 -1.04 -170.3 407.7 -17.2 85 1863 0.00 2.55 0.00 0.000 6 0.000 0.051 2764 2550 3451 0 0 0 0 0 0

2190 -1.04 -170.3 469.5 -18.8 91 2196 0.00 0.00 0.00 0.000 6 0.000 0.000 2764 2550 3449 0 0 0 0 0 0

2492 -1.04 -170.3 529.1 -19.8 96 2498 0.00 0.00 0.00 0.000 6 0.000 0.000 2764 2550 3451 0 0 0 0 0 0

2793 -1.04 -170.3 585.6 -18.7 101 2800 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 2555 3451 0 0 0 0 0 0

3095 -1.04 -170.3 638.0 -17.2 106 3101 0.00 0.00 0.00 0.000 6 0.000 0.000 2764 2553 3451 0 0 0 0 0 0

3397 -1.04 -170.3 688.4 -16.7 111 3402 0.00 0.00 0.00 0.000 6 0.000 0.000 2764 2549 3450 0 0 0 0 0 0

3698 -1.04 -170.3 737.7 -16.3 116 3704 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2553 3450 0 0 0 0 0 0

4000 -1.04 -170.3 787.4 -16.5 121 4009 0.00 2.00 0.00 0.000 4 0.000 0.068 2754 3779 3449 0 0 0 0 0 0

4039 -1.04 -170.3 794.1 -17.3 121 4046 0.00 1.88 0.00 0.000 6 0.000 0.042 2754 2546 3449 0 0 0 0 0 0

4368 -1.04 -170.3 846.8 -16.1 127 4376 0.00 2.45 0.00 0.000 4 0.000 0.048 2754 973 3451 0 0 0 0 0 0

4428 -1.04 -170.3 856.4 -15.2 128 4436 0.15 2.53 0.00 0.000 6 0.187 0.055 2778 2548 3450 0 0 0 0 0 0

4790 -1.04 -170.3 909.5 -15.0 134 4799 0.00 2.03 0.00 0.000 4 0.000 0.069 2771 3782 3448 0 0 0 0 0 0

4812 -1.04 -170.3 913.1 -15.6 134 4819 0.00 1.88 0.00 0.000 6 0.000 0.042 2771 2550 3448 0 0 0 0 0 0

5157 -1.04 -170.3 966.1 -15.3 140 5166 0.00 2.47 0.00 0.000 4 0.000 0.049 2771 967 3447 0 0 0 0 0 0

5238 -1.04 -170.3 977.9 -14.0 141 5246 0.00 2.58 0.00 0.000 6 0.000 0.056 2759 2558 3446 0 0 0 0 0 0

5337 end dive: TARGET_DEPTH_EXCEEDED

state 5337 begin apogee

5339 -0.20 0.0 992.4 15.0 143 5496 0.95 0.00 147.88 1.246 6 0.168 0.000 3034 2196 2748 0 0 0 0 0 0

5496 end apogee: CONTROL_FINISHED_OK

state 5496 begin climb

5497 1.04 170.3 997.5 0.0 145 5664 1.23 2.78 155.68 1.222 4 0.073 0.054 3462 627 2052 0 0 0 0 0 0

5763 1.04 170.3 956.6 18403.3 149 5775 0.00 2.67 0.00 0.000 6 0.000 0.048 3463 2197 2045 0 0 0 0 0 0

6072 1.04 170.3 888.2 18403.3 155 6080 0.00 2.60 0.00 0.000 4 0.000 0.054 3475 623 2040 0 0 0 0 0 0

6094 1.04 170.3 883.3 18403.3 155 6102 0.00 2.60 0.00 0.000 6 0.000 0.050 3475 2205 2038 0 0 0 0 0 0

6429 1.04 170.3 804.9 18403.3 161 6435 0.00 0.00 0.00 0.000 6 0.000 0.000 3475 2205 2038 0 0 0 0 0 0

6731 1.04 170.3 733.4 18403.3 166 6736 0.00 0.00 0.00 0.000 6 0.000 0.000 3475 2207 2038 0 0 0 0 0 0

7033 1.04 170.3 664.1 18403.3 171 7041 0.00 2.55 0.00 0.000 4 0.000 0.054 3487 625 2036 0 0 0 0 0 0

7055 1.04 170.3 658.8 18403.3 171 7063 0.15 2.55 0.00 0.000 6 0.214 0.050 3455 2209 2037 0 0 0 0 0 0

7391 1.04 170.3 585.7 18403.3 177 7396 0.00 0.00 0.00 0.000 6 0.000 0.000 3455 2208 2035 0 0 0 0 0 0

7692 1.04 170.3 524.7 18403.3 182 7697 0.00 0.00 0.00 0.000 6 0.000 0.000 3455 2208 2036 0 0 0 0 0 0

7994 1.04 170.3 461.1 18403.3 187 8002 0.00 2.55 0.00 0.000 4 0.000 0.054 3464 626 2036 0 0 0 0 0 0

8032 1.04 170.3 452.6 18403.3 187 8040 0.00 2.53 0.00 0.000 6 0.000 0.050 3464 2195 2035 0 0 0 0 0 0

8351 1.04 170.3 386.7 18403.3 193 8361 0.00 2.53 0.00 0.000 4 0.000 0.054 3476 624 2036 0 0 0 0 0 0

8386 1.04 170.3 379.5 18403.3 193 8394 0.00 2.53 0.00 0.000 6 0.000 0.049 3476 2210 2036 0 0 0 0 0 0

8710 1.04 170.3 312.3 18403.3 199 8716 0.00 0.00 0.00 0.000 6 0.000 0.000 3477 2210 2036 0 0 0 0 0 0

9013 1.04 170.3 250.9 18403.3 208 9018 0.00 0.00 0.00 0.000 6 0.000 0.000 3477 2209 2035 0 0 0 0 0 0

9317 1.04 170.3 191.5 18403.3 218 9325 0.00 2.55 0.00 0.000 4 0.000 0.054 3488 619 2035 0 0 0 0 0 0

9403 1.04 170.3 173.9 18403.3 220 9414 0.15 2.53 0.00 0.000 6 0.208 0.049 3455 2198 2035 0 0 0 0 0 0

9713 1.04 170.3 118.1 18403.3 231 9721 0.00 2.50 0.00 0.000 4 0.000 0.051 3464 624 2035 0 0 0 0 0 0

9756 1.04 170.3 110.4 18403.3 232 9764 0.00 2.53 0.00 0.000 6 0.000 0.048 3464 2215 2035 0 0 0 0 0 0

10076 1.04 170.3 57.2 18403.3 259 10086 0.00 2.53 0.00 0.000 4 0.000 0.052 3476 623 2035 0 0 0 0 0 0

10185 1.04 170.3 40.5 18403.3 268 10196 0.00 2.47 0.00 0.000 6 0.000 0.047 3474 2193 2033 0 0 0 0 0 0

10379 1.04 170.3 12.9 18403.3 291 10389 0.00 0.00 0.00 0.000 6 0.000 0.000 3473 2193 2033 0 0 0 0 0 0

10451 1.04 170.3 3.0 18403.3 304 10452 0.00 0.00 0.00 0.000 6 0.000 0.000 3476 2194 2035 0 0 0 0 0 0

10456 end climb: SURFACE_DEPTH_REACHED

state 10456 begin surface coast

10461 end surface coast: CONTROL_FINISHED_OK

state 10461 begin surface

ID	178	HEADING	-1	ROLL_DEG	45	ALTIM_PING_DELTA	10
MISSION	10	ESCAPE_HEADING	0	C_ROLL_DIVE	2550	ALTIM_FREQUENCY	13
DIVE	22	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2200	ALTIM_PULSE	8
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	1
D_SURF	3	TGT_DEFAULT_LAT	32.6903	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FLARE	3	TGT_DEFAULT_LON	-118.7761	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_TGT	990	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	300	R_STBD_OVSHOOT	29	INT_PRESSURE_YINT	0
D_NO_BLEED	200	N_FILEKB	8	ROLL_AD_RATE	350	DEEPGLIDER	0
D_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	DEEPGLIDERMB	0
T_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEVICE1	2
D_PITCH	0	PROTOCOL	0	VBD_MIN	425	DEVICE2	-1
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3960	DEVICE3	-1
D_CALL	0	N_NOSURFACE	0	C_VBD	2748	DEVICE4	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_DIVE	248	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	69
T_MISSION	310	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_ABORT	1440	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_TURN	225	T_GPS	15	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_TURN_SAMPINT	5	N_GPS	20	UNCOM_BLEED	50	COMPASS_DEVICE	33
T_NO_W	120	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_LOITER	0	T_GPS_CHARGE	-9778.8379	CF8_MAXERRORS	20	PHONE_DEVICE	48
USE_BATHY	1	T_RSLEEP	5	AH0_24V	91.800003	GPS_DEVICE	32
USE_ICE	0	STROBE	0	AH0_10V	61.200001	RAFOS_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	MINV_24V	19	XPDR_DEVICE	24
D_OFFGRID	501	RAFOS_CORR_THRESH	60	MINV_10V	8	SIM_W	0
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
RELAUNCH	1	PITCH_MIN	165	FG_AHR_24V	0	SEABIRD_T_G	0.0043278597
APOGEE_PITCH	-5	PITCH_MAX	3954	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062587409
MAX_BUOY	175	C_PITCH	3115	PRESSURE_YINT	-44.583923	SEABIRD_T_I	2.4307059e-05
COURSE_BIAS	0	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001161899	SEABIRD_T_J	2.6760367e-06
GLIDE_SLOPE	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	25	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015660153
MASS	51840	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_J	0.00020359491
NAV_MODE	1	PITCH_AD_RATE	145	ALTIM_BOTTOM_PING_RANGE	0	PA_OFFLOAD	1.0
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	PA_MAXUPLOADSIZE	20480.0
KALMAN_USE	2	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	PA_MAXOPTIONALUPLOADSIZE	20480.0
HD_A	0.003	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	PA_POWERSOURCE	0.0
HD_B	0.0099999998	ROLL_MIN	226	ALTIM_TOP_MIN_OBSTACLE	1	PA_RESTARTMONITOR	0.0
HD_C	9.9999997e-06	ROLL_MAX	3782	ALTIM_PING_DEPTH	130	PA_SCALEFACTOR24V	1.3

GPS1	070111,053117,3248.830,-11901.247,13,99.0,33,13.3	TGT_NAME	MDW
_CALLS	1	TGT_LATLONG	3246.522,-11856.604
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.225,0.234
_SM_DEPTHo	1.69	KALMAN_X	27786.1,-970.9,-283.4,-56403.4,4895.0
_SM_ANGLEo	-77.2	KALMAN_Y	-3083.2,520.9,-127.8,15626.3,-304.9
GPS2	070111,053804,3248.813,-11901.175,15,99.0,34,13.3	MHEAD_RNG_PITCHd_Wd	107.5,8286,-20.7,-13.306
SPEED_LIMITS	0.159,0.305	D_GRID	1348

FINISH	1.5,1.025263	PA_USBA	100.0/0/0
SM_CCo	10476,68.47,0.622,0,0,1523,300.00	PA_HOME	13.4/482055/417611
SM_GC	1.91,0.00,0.00,68.47,0.000,0.000,0.622,162,2558,1523,-9.23,0.23,300.00	PA_ROOT	80.3/126931/24979
IRIDIUM_FIX	3239.07,-11905.27,070111,020208	PA_LOG	8.3/298663/273908
TT8_MAMPS	0.114597	PA_DATA1	36.4/7837685/4987103
HUMID	44.52	PA_DATA0	97.8/7836665/172576
INTERNAL_PRESSURE	8.89683	_24V_AH	22.9,20.661
TCM_TEMP	18.40	_10V_AH	10.0,16.078
XPDR_PINGS	42	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	317752
PA_BOOTCOUNT	88	DATA_FILE_SIZE	10138,306
PA_DFQS	0/0	CAP_FILE_SIZE	92856,0
PA_CMQS	0/0	CFSIZE	260165632,252829696
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	070111,083455,3247.780,-11859.075,39,1.0,39,13.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	266	145.25	SBE_CT	208	24	114.87
Roll_motor	77	80	143.02	nil	0	0	0.00
VBD_pump_during_apogee	303	1246	8662.60	nil	0	0	0.00
VBD_pump_during_surface	68	621	975.26	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	65.07	nil	0	0	0.00
Iridium_during_connect	41	160	150.25	PAAM	10971	87	21877.48
Iridium_during_xfer	205	223	1050.93	nil	0	0	0.00
Transponder_ping	32	420	310.18	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	36	50	18.14
TT8	0	0	0.00
LPSleep	8693	2	190.39
TT8_Active	426	19	84.45
TT8_Sampling	1761	39	701.05
TT8_CF8	70	45	32.28
TT8_Kalman	0	0	0.00
Analog_circuits	1153	12	138.47
GPS_charging	0	0	0.00
Compass	796	15	119.50
RAFOS	0	0	0.00
Transponder	139	30	41.76

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	-170.3	0.0	0.0	0	82	0.00	0.00	-64.72	0.000	2	0.000	0.000	164	2567	3054	0	0	0	0	0	0
84	-1.04	-170.3	3.7	-6.1	11	111	11.95	2.03	-7.88	0.000	4	0.266	0.080	2768	3776	3446	0	0	0	0	0	0
323	-1.04	-170.3	73.9	-27.8	37	334	0.00	1.95	0.00	0.000	6	0.000	0.040	2768	2522	3449	0	0	0	0	0	0
523	-1.04	-170.3	122.8	-23.6	51	531	0.00	2.45	0.00	0.000	4	0.000	0.046	2767	972	3447	0	0	0	0	0	0
539	-1.04	-170.3	126.5	-22.7	51	547	0.00	2.55	0.00	0.000	6	0.000	0.051	2756	2548	3448	0	0	0	0	0	0
849	-1.04	-170.3	195.5	-22.5	61	854	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2547	3450	0	0	0	0	0	0
1153	-1.04	-170.3	264.7	-21.9	71	1158	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2548	3451	0	0	0	0	0	0
1455	-1.04	-170.3	331.5	-22.1	79	1464	0.00	2.00	0.00	0.000	4	0.000	0.063	2746	3778	3451	0	0	0	0	0	0
1477	-1.04	-170.3	336.7	-22.9	79	1485	0.12	1.90	0.00	0.000	6	0.201	0.037	2773	2536	3451	0	0	0	0	0	0
1824	-1.04	-170.3	402.3	-18.4	85	1835	0.00	2.42	0.00	0.000	4	0.000	0.045	2773	960	3451	0	0	0	0	0	0
1854	-1.04	-170.3	407.7	-17.2	85	1863	0.00	2.55	0.00	0.000	6	0.000	0.051	2764	2550	3451	0	0	0	0	0	0
2190	-1.04	-170.3	469.5	-18.8	91	2196	0.00	0.00	0.00	0.000	6	0.000	0.000	2764	2550	3449	0	0	0	0	0	0
2492	-1.04	-170.3	529.1	-19.8	96	2498	0.00	0.00	0.00	0.000	6	0.000	0.000	2764	2550	3451	0	0	0	0	0	0
2793	-1.04	-170.3	585.6	-18.7	101	2800	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	2555	3451	0	0	0	0	0	0
3095	-1.04	-170.3	638.0	-17.2	106	3101	0.00	0.00	0.00	0.000	6	0.000	0.000	2764	2553	3451	0	0	0	0	0	0
3397	-1.04	-170.3	688.4	-16.7	111	3402	0.00	0.00	0.00	0.000	6	0.000	0.000	2764	2549	3450	0	0	0	0	0	0
3698	-1.04	-170.3	737.7	-16.3	116	3704	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2553	3450	0	0	0	0	0	0
4000	-1.04	-170.3	787.4	-16.5	121	4009	0.00	2.00	0.00	0.000	4	0.000	0.068	2754	3779	3449	0	0	0	0	0	0
4039	-1.04	-170.3	794.1	-17.3	121	4046	0.00	1.88	0.00	0.000	6	0.000	0.042	2754	2546	3449	0	0	0	0	0	0
4368	-1.04	-170.3	846.8	-16.1	127	4376	0.00	2.45	0.00	0.000	4	0.000	0.048	2754	973	3451	0	0	0	0	0	0
4428	-1.04	-170.3	856.4	-15.2	128	4436	0.15	2.53	0.00	0.000	6	0.187	0.055	2778	2548	3450	0	0	0	0	0	0
4790	-1.04	-170.3	909.5	-15.0	134	4799	0.00	2.03	0.00	0.000	4	0.000	0.069	2771	3782	3448	0	0	0	0	0	0
4812	-1.04	-170.3	913.1	-15.6	134	4819	0.00	1.88	0.00	0.000	6	0.000	0.042	2771	2550	3448	0	0	0	0	0	0
5157	-1.04	-170.3	966.1	-15.3	140	5166	0.00	2.47	0.00	0.000	4	0.000	0.049	2771	967	3447	0	0	0	0	0	0
5238	-1.04	-170.3	977.9	-14.0	141	5246	0.00	2.58	0.00	0.000	6	0.000	0.056	2759	2558	3446	0	0	0	0	0	0
5337	end dive: TARGET_DEPTH_EXCEEDED
state	5337	begin apogee
5339	-0.20	0.0	992.4	15.0	143	5496	0.95	0.00	147.88	1.246	6	0.168	0.000	3034	2196	2748	0	0	0	0	0	0
5496	end apogee: CONTROL_FINISHED_OK
state	5496	begin climb
5497	1.04	170.3	997.5	0.0	145	5664	1.23	2.78	155.68	1.222	4	0.073	0.054	3462	627	2052	0	0	0	0	0	0
5763	1.04	170.3	956.6	18403.3	149	5775	0.00	2.67	0.00	0.000	6	0.000	0.048	3463	2197	2045	0	0	0	0	0	0
6072	1.04	170.3	888.2	18403.3	155	6080	0.00	2.60	0.00	0.000	4	0.000	0.054	3475	623	2040	0	0	0	0	0	0
6094	1.04	170.3	883.3	18403.3	155	6102	0.00	2.60	0.00	0.000	6	0.000	0.050	3475	2205	2038	0	0	0	0	0	0
6429	1.04	170.3	804.9	18403.3	161	6435	0.00	0.00	0.00	0.000	6	0.000	0.000	3475	2205	2038	0	0	0	0	0	0
6731	1.04	170.3	733.4	18403.3	166	6736	0.00	0.00	0.00	0.000	6	0.000	0.000	3475	2207	2038	0	0	0	0	0	0
7033	1.04	170.3	664.1	18403.3	171	7041	0.00	2.55	0.00	0.000	4	0.000	0.054	3487	625	2036	0	0	0	0	0	0
7055	1.04	170.3	658.8	18403.3	171	7063	0.15	2.55	0.00	0.000	6	0.214	0.050	3455	2209	2037	0	0	0	0	0	0
7391	1.04	170.3	585.7	18403.3	177	7396	0.00	0.00	0.00	0.000	6	0.000	0.000	3455	2208	2035	0	0	0	0	0	0
7692	1.04	170.3	524.7	18403.3	182	7697	0.00	0.00	0.00	0.000	6	0.000	0.000	3455	2208	2036	0	0	0	0	0	0
7994	1.04	170.3	461.1	18403.3	187	8002	0.00	2.55	0.00	0.000	4	0.000	0.054	3464	626	2036	0	0	0	0	0	0
8032	1.04	170.3	452.6	18403.3	187	8040	0.00	2.53	0.00	0.000	6	0.000	0.050	3464	2195	2035	0	0	0	0	0	0
8351	1.04	170.3	386.7	18403.3	193	8361	0.00	2.53	0.00	0.000	4	0.000	0.054	3476	624	2036	0	0	0	0	0	0
8386	1.04	170.3	379.5	18403.3	193	8394	0.00	2.53	0.00	0.000	6	0.000	0.049	3476	2210	2036	0	0	0	0	0	0
8710	1.04	170.3	312.3	18403.3	199	8716	0.00	0.00	0.00	0.000	6	0.000	0.000	3477	2210	2036	0	0	0	0	0	0
9013	1.04	170.3	250.9	18403.3	208	9018	0.00	0.00	0.00	0.000	6	0.000	0.000	3477	2209	2035	0	0	0	0	0	0
9317	1.04	170.3	191.5	18403.3	218	9325	0.00	2.55	0.00	0.000	4	0.000	0.054	3488	619	2035	0	0	0	0	0	0
9403	1.04	170.3	173.9	18403.3	220	9414	0.15	2.53	0.00	0.000	6	0.208	0.049	3455	2198	2035	0	0	0	0	0	0
9713	1.04	170.3	118.1	18403.3	231	9721	0.00	2.50	0.00	0.000	4	0.000	0.051	3464	624	2035	0	0	0	0	0	0
9756	1.04	170.3	110.4	18403.3	232	9764	0.00	2.53	0.00	0.000	6	0.000	0.048	3464	2215	2035	0	0	0	0	0	0
10076	1.04	170.3	57.2	18403.3	259	10086	0.00	2.53	0.00	0.000	4	0.000	0.052	3476	623	2035	0	0	0	0	0	0
10185	1.04	170.3	40.5	18403.3	268	10196	0.00	2.47	0.00	0.000	6	0.000	0.047	3474	2193	2033	0	0	0	0	0	0
10379	1.04	170.3	12.9	18403.3	291	10389	0.00	0.00	0.00	0.000	6	0.000	0.000	3473	2193	2033	0	0	0	0	0	0
10451	1.04	170.3	3.0	18403.3	304	10452	0.00	0.00	0.00	0.000	6	0.000	0.000	3476	2194	2035	0	0	0	0	0	0
10456	end climb: SURFACE_DEPTH_REACHED
state	10456	begin surface coast
10461	end surface coast: CONTROL_FINISHED_OK
state	10461	begin surface