Glider dive log

AUTEC Jun10 * SG178 * Dive index * Mission links * Dive 25 * 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 25 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 49 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 350 R_STBD_OVSHOOT 34 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 200 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 69

T_MISSION 325 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 -6011.04 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 250 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 200

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 -6011.04

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 325

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 250 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 49 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 34 VBD_MIN 425

DIVE 25 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 100610,161125,2441.017,-7737.643,118,1.9,118,-7.1 TGT_NAME H4

_CALLS 1 TGT_LATLONG 2441.300,-7736.833

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.190,0.051

_SM_DEPTHo 1.09 KALMAN_X -1558.3,-71.6,-159.5,-360.6,-63.7

_SM_ANGLEo -76.9 KALMAN_Y -832.8,79.9,256.1,430.2,1.5

GPS2 100610,162032,2441.098,-7737.624,35,2.0,35,-7.1 MHEAD_RNG_PITCHd_Wd 82.1,1381,-38.3,-16.500

SPEED_LIMITS 0.197,0.385 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.023191 PA_USBA 100.0/0/0

SM_CCo 9470,83.55,0.544,0,0,1309,350.04 PA_HOME 8.6/483886/442030

SM_GC 0.81,0.00,0.00,83.55,0.000,0.000,0.544,162,2437,1309,-9.37,-0.06,350.04 PA_ROOT 80.3/126931/24988

IRIDIUM_FIX 2434.69,-7736.25,041211,060648 PA_LOG 5.6/297829/281240

TT8_MAMPS 0.129577 PA_DATA1 24.3/7836665/5935920

HUMID 1078172248 PA_DATA0 95.1/7836665/381158

INTERNAL_PRESSURE 9.47302 _24V_AH 24.1,11.550

TCM_TEMP 23.40 _10V_AH 10.3,12.369

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 354960

PA_BOOTCOUNT 36 DATA_FILE_SIZE 10145,272

PA_DFQS 0/0 CAP_FILE_SIZE 84250,0

PA_CMQS 0/0 CFSIZE 260165632,253276160

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 100610,190114,2441.457,-7735.812,31,1.7,31,-7.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 273 159.89 SBE_CT 181 24 105.20

Roll_motor 85 213 440.44 nil 0 0 0.00

VBD_pump_during_apogee 266 1193 7656.88 nil 0 0 0.00

VBD_pump_during_surface 83 543 1095.20 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 0 0.00 nil 0 0 0.00

Iridium_during_connect 24 0 0.00 PAAM 10050 84 20461.43

Iridium_during_xfer 308 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 36 0 0.00

TT8 0 0 0.00

LPSleep 7844 2 176.94

TT8_Active 501 19 102.29

TT8_Sampling 1669 39 684.29

TT8_CF8 78 45 37.11

TT8_Kalman 33 0 0.00

Analog_circuits 1103 12 136.39

GPS_charging 0 0 0.00

Compass 741 15 114.56

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 -1.15 -70.6 0.0 0.0 0 87 0.00 0.00 -65.80 0.000 6 0.000 0.000 168 2448 3025 0 0 0 0 0 0

89 -1.23 -132.4 3.2 -6.8 12 114 11.98 2.15 -4.95 0.000 4 0.274 0.070 2751 3774 3279 0 0 0 0 0 0

272 -1.23 -132.4 61.8 -30.2 34 277 0.00 2.05 0.00 0.000 6 0.000 0.033 2751 2437 3281 0 0 0 0 0 0

488 -1.23 -132.4 114.8 -23.2 51 493 0.00 2.42 0.00 0.000 4 0.000 0.043 2751 867 3282 0 0 0 0 0 0

514 -1.23 -132.4 120.8 -22.9 51 522 0.00 2.47 0.00 0.000 6 0.000 0.044 2742 2439 3281 0 0 0 0 0 0

823 -1.23 -132.4 193.8 -23.1 62 831 0.00 2.10 0.00 0.000 4 0.000 0.054 2731 3786 3284 0 0 0 0 0 0

948 -1.23 -132.4 222.6 -23.1 66 955 0.00 1.98 0.00 0.000 6 0.000 0.034 2736 2441 3284 0 0 0 0 0 0

1283 -1.23 -132.4 288.8 -19.4 77 1292 0.00 2.08 0.00 0.000 4 0.000 0.054 2728 3778 3285 0 0 0 0 0 0

1343 -1.23 -132.4 301.1 -20.8 78 1354 0.00 2.00 0.00 0.000 6 0.000 0.033 2735 2428 3285 0 0 0 0 0 0

1651 -1.23 -132.4 359.7 -18.8 84 1657 0.12 0.00 0.00 0.000 6 0.237 0.000 2763 2428 3285 0 0 0 0 0 0

1952 -1.23 -132.4 411.3 -17.0 89 1960 0.00 2.10 0.00 0.000 4 0.000 0.054 2755 3777 3285 0 0 0 0 0 0

1984 -1.23 -132.4 417.3 -18.3 89 1992 0.00 1.98 0.00 0.000 6 0.000 0.034 2762 2433 3286 0 0 0 0 0 0

2313 -1.23 -133.4 471.9 -16.3 95 2321 0.00 2.08 0.00 0.000 4 0.000 0.056 2753 3778 3285 0 0 0 0 0 0

2367 -1.23 -133.4 482.0 -18.8 95 2378 0.00 1.98 0.00 0.000 6 0.000 0.034 2754 2438 3285 0 0 0 0 0 0

2675 -1.23 -135.3 532.3 -16.2 101 2680 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2438 3284 0 0 0 0 0 0

2977 -1.24 -140.0 580.1 -15.8 106 2982 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2438 3282 0 0 0 0 0 0

3278 -1.24 -144.6 628.0 -15.8 111 3286 0.00 2.10 0.00 0.000 4 0.000 0.059 2743 3777 3281 0 0 0 0 0 0

3316 -1.24 -144.6 634.7 -18.1 111 3323 0.00 2.00 0.00 0.000 6 0.000 0.036 2748 2447 3281 0 0 0 0 0 0

3639 -1.25 -150.7 685.0 -15.6 117 3644 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2442 3279 0 0 0 0 0 0

3941 -1.26 -156.7 732.1 -15.6 122 3949 0.00 2.08 0.00 0.000 4 0.000 0.060 2741 3777 3278 0 0 0 0 0 0

3968 -1.26 -156.7 736.5 -16.6 122 3975 0.00 1.98 0.00 0.000 6 0.000 0.037 2740 2440 3277 0 0 0 0 0 0

4302 -1.27 -163.2 788.6 -15.5 128 4310 0.00 2.15 0.00 0.000 4 0.000 0.062 2730 3781 3276 0 0 0 0 0 0

4334 -1.27 -163.2 794.2 -17.9 128 4343 0.00 2.00 0.00 0.000 6 0.000 0.038 2732 2436 3275 0 0 0 0 0 0

4665 -1.27 -166.5 847.0 -16.0 134 4671 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2435 3273 0 0 0 0 0 0

4966 -1.28 -172.8 893.8 -15.5 139 4974 0.00 2.12 0.00 0.000 4 0.000 0.063 2721 3777 3270 0 0 0 0 0 0

5004 -1.28 -172.8 900.0 -16.8 139 5012 0.00 2.05 0.00 0.000 6 0.000 0.039 2724 2436 3269 0 0 0 0 0 0

5333 -1.29 -182.3 949.9 -15.0 145 5341 0.00 2.12 0.00 0.000 4 0.000 0.064 2714 3774 3269 0 0 0 0 0 0

5355 -1.29 -182.3 953.6 -16.7 145 5362 0.12 2.00 0.00 0.000 6 0.244 0.040 2739 2434 3268 0 0 0 0 0 0

5638 end dive: TARGET_DEPTH_EXCEEDED

state 5639 begin apogee

5641 -0.14 0.0 994.7 14.4 150 5757 1.35 0.00 108.38 1.193 6 0.202 0.000 3109 2433 2737 0 0 0 0 0 0

5758 end apogee: CONTROL_FINISHED_OK

state 5758 begin climb

5759 1.29 182.3 995.8 0.0 151 5924 1.30 0.00 157.85 1.175 6 0.064 0.000 3577 2433 1993 0 0 0 0 0 0

6186 1.29 182.3 888.3 29.8 159 6195 0.00 2.55 0.00 0.000 4 0.000 0.047 3590 824 1983 0 0 0 0 0 0

6294 1.29 182.3 856.8 29.0 160 6303 0.00 2.53 0.00 0.000 6 0.000 0.050 3587 2397 1981 0 0 0 0 0 0

6608 1.29 182.3 764.5 29.3 166 6616 0.00 2.47 0.00 0.000 4 0.000 0.047 3596 821 1979 0 0 0 0 0 0

6689 1.29 182.3 741.4 28.8 167 6697 0.00 2.50 0.00 0.000 6 0.000 0.050 3589 2412 1977 0 0 0 0 0 0

7029 1.29 182.3 643.8 28.8 173 7037 0.00 2.45 0.00 0.000 4 0.000 0.046 3599 820 1976 0 0 0 0 0 0

7099 1.29 182.3 623.0 28.8 174 7107 0.00 2.50 0.00 0.000 6 0.000 0.050 3590 2401 1975 0 0 0 0 0 0

7450 1.29 182.3 521.8 28.9 180 7458 0.00 2.47 0.00 0.000 4 0.000 0.047 3599 811 1973 0 0 0 0 0 0

7568 1.29 182.3 488.3 27.6 181 7579 0.00 2.50 0.00 0.000 6 0.000 0.047 3593 2404 1972 0 0 0 0 0 0

7876 1.29 182.3 398.3 29.2 187 7884 0.00 2.42 0.00 0.000 4 0.000 0.047 3603 824 1972 0 0 0 0 0 0

7908 1.29 182.3 388.8 28.1 187 7917 0.00 2.47 0.00 0.000 6 0.000 0.050 3597 2410 1970 0 0 0 0 0 0

8233 1.29 182.3 294.6 29.0 193 8241 0.00 2.45 0.00 0.000 4 0.000 0.046 3606 817 1971 0 0 0 0 0 0

8319 1.29 182.3 270.0 29.5 195 8330 0.12 2.45 0.00 0.000 6 0.235 0.046 3577 2402 1970 0 0 0 0 0 0

8628 1.29 182.3 187.7 26.0 206 8634 0.00 0.00 0.00 0.000 6 0.000 0.000 3577 2402 1970 0 0 0 0 0 0

8931 1.29 182.3 112.7 24.8 216 8936 0.00 2.45 0.00 0.000 4 0.000 0.044 3586 823 1970 0 0 0 0 0 0

8963 1.29 182.3 104.9 26.0 217 8968 0.00 2.47 0.00 0.000 6 0.000 0.046 3584 2402 1970 0 0 0 0 0 0

9284 1.29 182.3 30.6 20.4 246 9289 0.00 2.45 0.00 0.000 4 0.000 0.042 3593 820 1971 0 0 0 0 0 0

9423 1.29 182.3 5.0 18.1 266 9431 0.00 2.47 0.00 0.000 6 0.000 0.044 3588 2404 1969 0 0 0 0 0 0

9444 end climb: SURFACE_DEPTH_REACHED

state 9444 begin surface coast

9455 end surface coast: CONTROL_FINISHED_OK

state 9455 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	25	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	49	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	350	R_STBD_OVSHOOT	34	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	200	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	69
T_MISSION	325	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	-6011.04	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	250	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	100610,161125,2441.017,-7737.643,118,1.9,118,-7.1	TGT_NAME	H4
_CALLS	1	TGT_LATLONG	2441.300,-7736.833
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.190,0.051
_SM_DEPTHo	1.09	KALMAN_X	-1558.3,-71.6,-159.5,-360.6,-63.7
_SM_ANGLEo	-76.9	KALMAN_Y	-832.8,79.9,256.1,430.2,1.5
GPS2	100610,162032,2441.098,-7737.624,35,2.0,35,-7.1	MHEAD_RNG_PITCHd_Wd	82.1,1381,-38.3,-16.500
SPEED_LIMITS	0.197,0.385	D_GRID	990

FINISH	0.1,1.023191	PA_USBA	100.0/0/0
SM_CCo	9470,83.55,0.544,0,0,1309,350.04	PA_HOME	8.6/483886/442030
SM_GC	0.81,0.00,0.00,83.55,0.000,0.000,0.544,162,2437,1309,-9.37,-0.06,350.04	PA_ROOT	80.3/126931/24988
IRIDIUM_FIX	2434.69,-7736.25,041211,060648	PA_LOG	5.6/297829/281240
TT8_MAMPS	0.129577	PA_DATA1	24.3/7836665/5935920
HUMID	1078172248	PA_DATA0	95.1/7836665/381158
INTERNAL_PRESSURE	9.47302	_24V_AH	24.1,11.550
TCM_TEMP	23.40	_10V_AH	10.3,12.369
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	354960
PA_BOOTCOUNT	36	DATA_FILE_SIZE	10145,272
PA_DFQS	0/0	CAP_FILE_SIZE	84250,0
PA_CMQS	0/0	CFSIZE	260165632,253276160
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	100610,190114,2441.457,-7735.812,31,1.7,31,-7.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	273	159.89	SBE_CT	181	24	105.20
Roll_motor	85	213	440.44	nil	0	0	0.00
VBD_pump_during_apogee	266	1193	7656.88	nil	0	0	0.00
VBD_pump_during_surface	83	543	1095.20	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	0	0.00	nil	0	0	0.00
Iridium_during_connect	24	0	0.00	PAAM	10050	84	20461.43
Iridium_during_xfer	308	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	36	0	0.00
TT8	0	0	0.00
LPSleep	7844	2	176.94
TT8_Active	501	19	102.29
TT8_Sampling	1669	39	684.29
TT8_CF8	78	45	37.11
TT8_Kalman	33	0	0.00
Analog_circuits	1103	12	136.39
GPS_charging	0	0	0.00
Compass	741	15	114.56
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	-1.15	-70.6	0.0	0.0	0	87	0.00	0.00	-65.80	0.000	6	0.000	0.000	168	2448	3025	0	0	0	0	0	0
89	-1.23	-132.4	3.2	-6.8	12	114	11.98	2.15	-4.95	0.000	4	0.274	0.070	2751	3774	3279	0	0	0	0	0	0
272	-1.23	-132.4	61.8	-30.2	34	277	0.00	2.05	0.00	0.000	6	0.000	0.033	2751	2437	3281	0	0	0	0	0	0
488	-1.23	-132.4	114.8	-23.2	51	493	0.00	2.42	0.00	0.000	4	0.000	0.043	2751	867	3282	0	0	0	0	0	0
514	-1.23	-132.4	120.8	-22.9	51	522	0.00	2.47	0.00	0.000	6	0.000	0.044	2742	2439	3281	0	0	0	0	0	0
823	-1.23	-132.4	193.8	-23.1	62	831	0.00	2.10	0.00	0.000	4	0.000	0.054	2731	3786	3284	0	0	0	0	0	0
948	-1.23	-132.4	222.6	-23.1	66	955	0.00	1.98	0.00	0.000	6	0.000	0.034	2736	2441	3284	0	0	0	0	0	0
1283	-1.23	-132.4	288.8	-19.4	77	1292	0.00	2.08	0.00	0.000	4	0.000	0.054	2728	3778	3285	0	0	0	0	0	0
1343	-1.23	-132.4	301.1	-20.8	78	1354	0.00	2.00	0.00	0.000	6	0.000	0.033	2735	2428	3285	0	0	0	0	0	0
1651	-1.23	-132.4	359.7	-18.8	84	1657	0.12	0.00	0.00	0.000	6	0.237	0.000	2763	2428	3285	0	0	0	0	0	0
1952	-1.23	-132.4	411.3	-17.0	89	1960	0.00	2.10	0.00	0.000	4	0.000	0.054	2755	3777	3285	0	0	0	0	0	0
1984	-1.23	-132.4	417.3	-18.3	89	1992	0.00	1.98	0.00	0.000	6	0.000	0.034	2762	2433	3286	0	0	0	0	0	0
2313	-1.23	-133.4	471.9	-16.3	95	2321	0.00	2.08	0.00	0.000	4	0.000	0.056	2753	3778	3285	0	0	0	0	0	0
2367	-1.23	-133.4	482.0	-18.8	95	2378	0.00	1.98	0.00	0.000	6	0.000	0.034	2754	2438	3285	0	0	0	0	0	0
2675	-1.23	-135.3	532.3	-16.2	101	2680	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2438	3284	0	0	0	0	0	0
2977	-1.24	-140.0	580.1	-15.8	106	2982	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2438	3282	0	0	0	0	0	0
3278	-1.24	-144.6	628.0	-15.8	111	3286	0.00	2.10	0.00	0.000	4	0.000	0.059	2743	3777	3281	0	0	0	0	0	0
3316	-1.24	-144.6	634.7	-18.1	111	3323	0.00	2.00	0.00	0.000	6	0.000	0.036	2748	2447	3281	0	0	0	0	0	0
3639	-1.25	-150.7	685.0	-15.6	117	3644	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2442	3279	0	0	0	0	0	0
3941	-1.26	-156.7	732.1	-15.6	122	3949	0.00	2.08	0.00	0.000	4	0.000	0.060	2741	3777	3278	0	0	0	0	0	0
3968	-1.26	-156.7	736.5	-16.6	122	3975	0.00	1.98	0.00	0.000	6	0.000	0.037	2740	2440	3277	0	0	0	0	0	0
4302	-1.27	-163.2	788.6	-15.5	128	4310	0.00	2.15	0.00	0.000	4	0.000	0.062	2730	3781	3276	0	0	0	0	0	0
4334	-1.27	-163.2	794.2	-17.9	128	4343	0.00	2.00	0.00	0.000	6	0.000	0.038	2732	2436	3275	0	0	0	0	0	0
4665	-1.27	-166.5	847.0	-16.0	134	4671	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2435	3273	0	0	0	0	0	0
4966	-1.28	-172.8	893.8	-15.5	139	4974	0.00	2.12	0.00	0.000	4	0.000	0.063	2721	3777	3270	0	0	0	0	0	0
5004	-1.28	-172.8	900.0	-16.8	139	5012	0.00	2.05	0.00	0.000	6	0.000	0.039	2724	2436	3269	0	0	0	0	0	0
5333	-1.29	-182.3	949.9	-15.0	145	5341	0.00	2.12	0.00	0.000	4	0.000	0.064	2714	3774	3269	0	0	0	0	0	0
5355	-1.29	-182.3	953.6	-16.7	145	5362	0.12	2.00	0.00	0.000	6	0.244	0.040	2739	2434	3268	0	0	0	0	0	0
5638	end dive: TARGET_DEPTH_EXCEEDED
state	5639	begin apogee
5641	-0.14	0.0	994.7	14.4	150	5757	1.35	0.00	108.38	1.193	6	0.202	0.000	3109	2433	2737	0	0	0	0	0	0
5758	end apogee: CONTROL_FINISHED_OK
state	5758	begin climb
5759	1.29	182.3	995.8	0.0	151	5924	1.30	0.00	157.85	1.175	6	0.064	0.000	3577	2433	1993	0	0	0	0	0	0
6186	1.29	182.3	888.3	29.8	159	6195	0.00	2.55	0.00	0.000	4	0.000	0.047	3590	824	1983	0	0	0	0	0	0
6294	1.29	182.3	856.8	29.0	160	6303	0.00	2.53	0.00	0.000	6	0.000	0.050	3587	2397	1981	0	0	0	0	0	0
6608	1.29	182.3	764.5	29.3	166	6616	0.00	2.47	0.00	0.000	4	0.000	0.047	3596	821	1979	0	0	0	0	0	0
6689	1.29	182.3	741.4	28.8	167	6697	0.00	2.50	0.00	0.000	6	0.000	0.050	3589	2412	1977	0	0	0	0	0	0
7029	1.29	182.3	643.8	28.8	173	7037	0.00	2.45	0.00	0.000	4	0.000	0.046	3599	820	1976	0	0	0	0	0	0
7099	1.29	182.3	623.0	28.8	174	7107	0.00	2.50	0.00	0.000	6	0.000	0.050	3590	2401	1975	0	0	0	0	0	0
7450	1.29	182.3	521.8	28.9	180	7458	0.00	2.47	0.00	0.000	4	0.000	0.047	3599	811	1973	0	0	0	0	0	0
7568	1.29	182.3	488.3	27.6	181	7579	0.00	2.50	0.00	0.000	6	0.000	0.047	3593	2404	1972	0	0	0	0	0	0
7876	1.29	182.3	398.3	29.2	187	7884	0.00	2.42	0.00	0.000	4	0.000	0.047	3603	824	1972	0	0	0	0	0	0
7908	1.29	182.3	388.8	28.1	187	7917	0.00	2.47	0.00	0.000	6	0.000	0.050	3597	2410	1970	0	0	0	0	0	0
8233	1.29	182.3	294.6	29.0	193	8241	0.00	2.45	0.00	0.000	4	0.000	0.046	3606	817	1971	0	0	0	0	0	0
8319	1.29	182.3	270.0	29.5	195	8330	0.12	2.45	0.00	0.000	6	0.235	0.046	3577	2402	1970	0	0	0	0	0	0
8628	1.29	182.3	187.7	26.0	206	8634	0.00	0.00	0.00	0.000	6	0.000	0.000	3577	2402	1970	0	0	0	0	0	0
8931	1.29	182.3	112.7	24.8	216	8936	0.00	2.45	0.00	0.000	4	0.000	0.044	3586	823	1970	0	0	0	0	0	0
8963	1.29	182.3	104.9	26.0	217	8968	0.00	2.47	0.00	0.000	6	0.000	0.046	3584	2402	1970	0	0	0	0	0	0
9284	1.29	182.3	30.6	20.4	246	9289	0.00	2.45	0.00	0.000	4	0.000	0.042	3593	820	1971	0	0	0	0	0	0
9423	1.29	182.3	5.0	18.1	266	9431	0.00	2.47	0.00	0.000	6	0.000	0.044	3588	2404	1969	0	0	0	0	0	0
9444	end climb: SURFACE_DEPTH_REACHED
state	9444	begin surface coast
9455	end surface coast: CONTROL_FINISHED_OK
state	9455	begin surface