Glider dive log

AUTEC Jun10 * SG178 * Dive index * Mission links * Dive 27 * 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 27 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 37 INT_PRESSURE_YINT 0

D_NO_BLEED 200 N_FILEKB 8 ROLL_AD_RATE 350 DEEPGLIDER 0

D_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 DEEPGLIDERMB 0

T_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEVICE1 2

D_PITCH 0 KERMIT 0 VBD_MIN 425 DEVICE2 -1

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3960 DEVICE3 -1

D_CALL 0 N_NOSURFACE 0 C_VBD 2737 DEVICE4 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_DIVE 330 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 69

T_MISSION 400 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_ABORT 1440 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_TURN 225 T_GPS 15 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_TURN_SAMPINT 5 N_GPS 20 UNCOM_BLEED 50 COMPASS_DEVICE 33

T_NO_W 120 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_LOITER 0 T_GPS_CHARGE -6120.0112 CF8_MAXERRORS 20 PHONE_DEVICE 48

USE_BATHY 0 T_RSLEEP 3 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 150 C_PITCH 3160 PRESSURE_YINT -49.540699 SEABIRD_T_I 2.4307059e-05

COURSE_BIAS 0 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001161899 SEABIRD_T_J 2.6760367e-06

GLIDE_SLOPE 40 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -9.9460888

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1279132

RHO 1.0275 PITCH_GAIN 36 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015660153

MASS 51773 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_J 0.00020359491

NAV_MODE 1 PITCH_AD_RATE 160 ALTIM_BOTTOM_PING_RANGE 0 PA_OFFLOAD 1.0

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 PA_MAXUPLOADSIZE 40960.0

KALMAN_USE 1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 PA_MAXOPTIONALUPLOADSIZE 20480.0

HD_A 0.003 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 PA_POWERSOURCE 0.0

HD_B 0.0099999998 ROLL_MIN 226 ALTIM_TOP_MIN_OBSTACLE 1 PA_RESTARTMONITOR 0.0

HD_C 9.9999997e-06 ROLL_MAX 3782 ALTIM_PING_DEPTH 0 PA_SCALEFACTOR24V 1.3

HEADING -1 ROLL_DEG 45 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_OFFGRID 101 PA_OFFLOAD 1.0 SEABIRD_T_J 2.6760367e-06

AH0_10V 61.200001 D_PITCH 0 PA_POWERSOURCE 0.0 SIM_PITCH 0

AH0_24V 91.800003 D_SAFE 0 PA_RESTARTMONITOR 0.0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PA_SCALEFACTOR24V 1.3 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PHONE_DEVICE 48 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_SUPPLY 2 STROBE 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 8 FG_AHR_10V 0 PITCH_AD_RATE 160 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_CNV 0.003125763 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_DBAND 0.1 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 36 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 40 PITCH_MAX 3954 TGT_DEFAULT_LAT 24.688

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -77.613998

CALL_NDIVES 1 HD_A 0.003 PITCH_MIN 165 T_ABORT 1440

CALL_TRIES 5 HD_B 0.0099999998 PITCH_TIMEOUT 17 T_BOOST 0

CALL_WAIT 60 HD_C 9.9999997e-06 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 330

CAPMAXSIZE 100000 HEADING -1 PRESSURE_SLOPE 0.0001161899 T_GPS 15

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -49.540699 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAPDBG 0 P_OVSHOOT 0.039999999 T_GPS_CHARGE -6120.0112

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 ID 178 RAFOS_DEVICE -1 T_MISSION 400

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 0 INT_PRESSURE_YINT 0 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

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 150 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 37 VBD_MIN 425

DIVE 27 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 100610,234927,2441.399,-7737.054,196,5.8,215,-7.1 TGT_NAME H4

_CALLS 1 TGT_LATLONG 2441.300,-7736.833

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.018,-0.118

_SM_DEPTHo 1.20 KALMAN_X -194.7,38.3,-25.9,-959.3,432.3

_SM_ANGLEo -76.9 KALMAN_Y -140.8,77.3,-77.6,602.8,591.1

GPS2 100610,235658,2441.384,-7737.022,25,4.0,44,-7.1 MHEAD_RNG_PITCHd_Wd 196.0,353,-37.9,-10.000

SPEED_LIMITS 0.119,0.260 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.023847 PA_USBA 100.0/0/0

SM_CCo 13532,98.55,0.540,0,0,1309,350.04 PA_HOME 8.8/483886/441498

SM_GC 0.80,0.00,0.00,98.55,0.000,0.000,0.540,164,2443,1309,-9.36,0.08,350.04 PA_ROOT 80.3/126931/24988

IRIDIUM_FIX 2432.32,-7734.44,041211,141436 PA_LOG 5.8/297829/280693

TT8_MAMPS 0.118342 PA_DATA1 40.2/7836665/4683330

HUMID 1078132248 PA_DATA0 95.1/7836665/381158

INTERNAL_PRESSURE 9.47302 _24V_AH 24.1,11.774

TCM_TEMP 23.70 _10V_AH 10.3,13.205

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 355104

PA_BOOTCOUNT 36 DATA_FILE_SIZE 13487,370

PA_DFQS 0/0 CAP_FILE_SIZE 110110,0

PA_CMQS 0/0 CFSIZE 260165632,253075456

PA_USBDRIVE None ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,5

PA_USBB 100.0/0/0 GPS 110610,034627,2440.170,-7737.699,60,2.6,79,-7.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 266 157.00 SBE_CT 249 24 144.06

Roll_motor 119 65 186.68 nil 0 0 0.00

VBD_pump_during_apogee 182 1194 5251.52 nil 0 0 0.00

VBD_pump_during_surface 98 540 1282.74 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 0 0.00 nil 0 0 0.00

Iridium_during_connect 27 0 0.00 PAAM 14340 85 29539.75

Iridium_during_xfer 231 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 46 0 0.00

TT8 0 0 0.00

LPSleep 11495 2 259.30

TT8_Active 410 19 83.72

TT8_Sampling 2077 39 851.61

TT8_CF8 89 45 42.42

TT8_Kalman 33 0 0.00

Analog_circuits 1280 12 158.30

GPS_charging 0 0 0.00

Compass 1055 15 163.08

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

16 -1.09 -33.4 0.0 0.0 0 82 0.00 0.00 -61.15 0.000 6 0.000 0.000 167 2460 2873 0 0 0 0 0 0

83 -1.14 -71.3 2.2 -2.4 11 108 11.75 2.45 -3.75 0.000 4 0.267 0.052 2798 867 3030 0 0 0 0 0 0

218 -1.14 -71.3 34.1 -20.2 30 226 0.00 2.47 0.00 0.000 6 0.000 0.044 2788 2429 3032 0 0 0 0 0 0

410 -1.14 -71.3 71.3 -17.9 49 414 0.00 2.12 0.00 0.000 4 0.000 0.054 2778 3775 3033 0 0 0 0 0 0

505 -1.14 -71.3 89.2 -18.2 58 510 0.00 2.03 0.00 0.000 6 0.000 0.033 2779 2438 3033 0 0 0 0 0 0

699 -1.14 -71.3 120.7 -15.8 69 700 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 2438 3035 0 0 0 0 0 0

1003 -1.14 -71.3 167.4 -15.4 79 1011 0.00 2.35 0.00 0.000 4 0.000 0.041 2779 865 3038 0 0 0 0 0 0

1073 -1.14 -71.3 177.5 -14.3 81 1081 0.00 2.45 0.00 0.000 6 0.000 0.042 2769 2453 3036 0 0 0 0 0 0

1393 -1.14 -71.3 222.0 -12.9 92 1401 0.00 2.40 0.00 0.000 4 0.000 0.040 2769 852 3036 0 0 0 0 0 0

1490 -1.14 -71.3 234.3 -11.8 95 1498 0.15 2.42 0.00 0.000 6 0.226 0.042 2788 2449 3037 0 0 0 0 0 0

1816 -1.14 -71.3 270.5 -10.8 106 1823 0.00 2.05 0.00 0.000 4 0.000 0.054 2779 3776 3037 0 0 0 0 0 0

1853 -1.14 -71.3 275.0 -12.6 107 1860 0.00 1.95 0.00 0.000 6 0.000 0.034 2780 2440 3037 0 0 0 0 0 0

2213 -1.14 -71.3 315.3 -11.2 117 2221 0.00 2.35 0.00 0.000 4 0.000 0.041 2781 862 3037 0 0 0 0 0 0

2251 -1.14 -71.3 319.6 -11.9 117 2259 0.00 2.42 0.00 0.000 6 0.000 0.043 2769 2441 3037 0 0 0 0 0 0

2570 -1.14 -71.3 356.4 -11.5 123 2576 0.00 0.00 0.00 0.000 6 0.000 0.000 2769 2441 3037 0 0 0 0 0 0

2872 -1.14 -71.3 391.3 -11.7 128 2880 0.00 2.08 0.00 0.000 4 0.000 0.054 2758 3790 3037 0 0 0 0 0 0

2937 -1.14 -71.3 399.6 -13.3 129 2945 0.12 2.00 0.00 0.000 6 0.232 0.034 2789 2438 3037 0 0 0 0 0 0

3299 -1.14 -71.3 438.8 -10.8 135 3308 0.00 2.35 0.00 0.000 4 0.000 0.042 2790 866 3036 0 0 0 0 0 0

3332 -1.14 -71.3 442.4 -10.9 135 3340 0.00 2.42 0.00 0.000 6 0.000 0.044 2780 2442 3036 0 0 0 0 0 0

3656 -1.14 -71.3 476.2 -10.3 141 3664 0.00 2.08 0.00 0.000 4 0.000 0.057 2770 3781 3035 0 0 0 0 0 0

3673 -1.14 -71.3 477.9 -10.0 141 3680 0.00 2.00 0.00 0.000 6 0.000 0.034 2770 2426 3035 0 0 0 0 0 0

4018 -1.14 -71.3 514.0 -10.8 147 4024 0.00 0.00 0.00 0.000 6 0.000 0.000 2770 2424 3034 0 0 0 0 0 0

4320 -1.14 -71.3 547.0 -11.0 152 4326 0.00 0.00 0.00 0.000 6 0.000 0.000 2770 2426 3031 0 0 0 0 0 0

4622 -1.14 -71.3 578.4 -10.4 157 4630 0.00 2.12 0.00 0.000 4 0.000 0.057 2760 3783 3031 0 0 0 0 0 0

4697 -1.14 -71.3 587.2 -11.2 158 4705 0.12 2.03 0.00 0.000 6 0.235 0.036 2785 2415 3031 0 0 0 0 0 0

5048 -1.15 -78.0 618.1 -8.7 164 5053 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2415 3030 0 0 0 0 0 0

5349 -1.16 -85.6 644.0 -8.5 169 5355 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2415 3029 0 0 0 0 0 0

5651 -1.16 -90.6 671.1 -9.0 174 5659 0.00 2.15 0.00 0.000 4 0.000 0.060 2777 3778 3028 0 0 0 0 0 0

5705 -1.16 -90.6 676.9 -11.3 174 5717 0.00 2.00 0.00 0.000 6 0.000 0.037 2777 2442 3027 0 0 0 0 0 0

6014 -1.16 -90.6 708.1 -10.2 180 6023 0.00 2.12 0.00 0.000 4 0.000 0.060 2767 3787 3025 0 0 0 0 0 0

6058 -1.16 -90.6 712.8 -11.3 180 6065 0.00 2.00 0.00 0.000 6 0.000 0.037 2767 2438 3024 0 0 0 0 0 0

6376 -1.16 -91.3 744.5 -9.9 186 6382 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 2438 3023 0 0 0 0 0 0

6678 -1.17 -92.8 773.7 -9.7 191 6686 0.00 2.40 0.00 0.000 4 0.000 0.047 2767 856 3021 0 0 0 0 0 0

6727 -1.17 -92.8 778.5 -10.0 191 6735 0.12 2.47 0.00 0.000 6 0.238 0.048 2784 2440 3020 0 0 0 0 0 0

7035 -1.17 -98.1 805.8 -8.9 196 7042 0.00 2.12 0.00 0.000 4 0.000 0.062 2769 3775 3020 0 0 0 0 0 0

7088 -1.18 -102.3 811.1 -9.2 196 7099 0.00 2.00 0.00 0.000 6 0.000 0.039 2775 2429 3020 0 0 0 0 0 0

7397 -1.18 -108.1 838.1 -8.8 202 7404 0.00 2.15 0.00 0.000 4 0.000 0.062 2766 3782 3018 0 0 0 0 0 0

7461 -1.18 -108.1 844.6 -10.5 203 7469 0.00 2.00 0.00 0.000 6 0.000 0.039 2767 2441 3018 0 0 0 0 0 0

7823 -1.19 -114.9 876.4 -8.7 209 7828 0.00 0.00 0.00 0.000 6 0.000 0.000 2767 2441 3017 0 0 0 0 0 0

8124 -1.20 -123.6 901.6 -8.3 214 8130 0.00 0.00 0.00 0.000 6 0.000 0.000 2767 2441 3016 0 0 0 0 0 0

8426 -1.21 -129.5 928.1 -8.8 219 8434 0.00 2.40 0.00 0.000 4 0.000 0.048 2767 866 3013 0 0 0 0 0 0

8475 -1.22 -134.7 932.8 -9.0 219 8483 0.00 2.45 0.00 0.000 6 0.000 0.051 2755 2440 3014 0 0 0 0 0 0

8783 -1.22 -139.2 960.5 -9.1 224 8789 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2440 3012 0 0 0 0 0 0

9084 -1.23 -145.2 987.0 -8.8 229 9092 0.00 2.15 0.00 0.000 4 0.000 0.065 2745 3778 3011 0 0 0 0 0 0

9115 end dive: TARGET_DEPTH_EXCEEDED

state 9115 begin apogee

9120 -0.14 0.0 990.2 9.5 229 9184 1.33 0.00 56.45 1.194 6 0.207 0.000 3101 2399 2737 0 0 0 0 0 0

9185 end apogee: CONTROL_FINISHED_OK

state 9185 begin climb

9186 1.23 145.2 991.2 0.0 230 9321 1.27 0.00 126.03 1.187 6 0.080 0.000 3548 2398 2145 0 0 0 0 0 0

9610 1.23 145.2 901.7 24.3 237 9618 0.00 2.50 0.00 0.000 4 0.000 0.047 3564 820 2133 0 0 0 0 0 0

9702 1.23 145.2 878.9 24.5 238 9710 0.00 2.53 0.00 0.000 6 0.000 0.050 3564 2409 2130 0 0 0 0 0 0

10032 1.23 145.2 797.4 25.0 244 10040 0.00 2.50 0.00 0.000 4 0.000 0.047 3575 819 2129 0 0 0 0 0 0

10070 1.23 145.2 787.8 25.3 244 10079 0.00 2.53 0.00 0.000 6 0.000 0.050 3575 2407 2128 0 0 0 0 0 0

10390 1.23 145.2 706.5 25.4 250 10399 0.00 2.50 0.00 0.000 4 0.000 0.049 3587 811 2127 0 0 0 0 0 0

10488 1.23 145.2 681.9 24.6 251 10497 0.12 2.50 0.00 0.000 6 0.236 0.048 3562 2402 2126 0 0 0 0 0 0

10814 1.23 145.2 603.8 24.1 257 10819 0.00 0.00 0.00 0.000 6 0.000 0.000 3562 2402 2125 0 0 0 0 0 0

11115 1.23 145.2 530.7 24.3 262 11123 0.00 2.47 0.00 0.000 4 0.000 0.047 3572 809 2124 0 0 0 0 0 0

11201 1.23 145.2 510.3 24.7 263 11209 0.00 2.50 0.00 0.000 6 0.000 0.047 3572 2405 2123 0 0 0 0 0 0

11536 1.23 145.2 427.8 24.6 269 11545 0.00 2.47 0.00 0.000 4 0.000 0.047 3585 818 2123 0 0 0 0 0 0

11574 1.23 145.2 418.1 24.5 269 11583 0.00 2.47 0.00 0.000 6 0.000 0.048 3582 2407 2122 0 0 0 0 0 0

11893 1.23 145.2 339.1 25.0 275 11899 0.00 0.00 0.00 0.000 6 0.000 0.000 3582 2408 2122 0 0 0 0 0 0

12196 1.23 145.2 264.7 24.8 282 12204 0.00 2.47 0.00 0.000 4 0.000 0.046 3594 810 2122 0 0 0 0 0 0

12288 1.23 145.2 242.1 23.3 285 12297 0.15 2.47 0.00 0.000 6 0.227 0.047 3567 2413 2124 0 0 0 0 0 0

12620 1.23 145.2 168.0 21.3 296 12628 0.00 2.45 0.00 0.000 4 0.000 0.044 3572 817 2122 0 0 0 0 0 0

12824 1.23 145.2 124.7 20.6 302 12829 0.00 2.47 0.00 0.000 6 0.000 0.044 3571 2399 2122 0 0 0 0 0 0

13137 1.23 145.2 63.4 18.1 324 13142 0.00 2.17 0.00 0.000 4 0.000 0.056 3575 3775 2124 0 0 0 0 0 0

13164 1.23 145.2 58.8 17.0 326 13172 0.00 2.08 0.00 0.000 6 0.000 0.033 3582 2393 2124 0 0 0 0 0 0

13355 1.23 145.2 26.7 15.3 345 13360 0.00 2.40 0.00 0.000 4 0.000 0.042 3593 831 2124 0 0 0 0 0 0

13510 end climb: SURFACE_DEPTH_REACHED

state 13510 begin surface coast

13514 end surface coast: CONTROL_FINISHED_OK

state 13514 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	27	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	37	INT_PRESSURE_YINT	0
D_NO_BLEED	200	N_FILEKB	8	ROLL_AD_RATE	350	DEEPGLIDER	0
D_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	DEEPGLIDERMB	0
T_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEVICE1	2
D_PITCH	0	KERMIT	0	VBD_MIN	425	DEVICE2	-1
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3960	DEVICE3	-1
D_CALL	0	N_NOSURFACE	0	C_VBD	2737	DEVICE4	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_DIVE	330	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	69
T_MISSION	400	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_ABORT	1440	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_TURN	225	T_GPS	15	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_TURN_SAMPINT	5	N_GPS	20	UNCOM_BLEED	50	COMPASS_DEVICE	33
T_NO_W	120	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_LOITER	0	T_GPS_CHARGE	-6120.0112	CF8_MAXERRORS	20	PHONE_DEVICE	48
USE_BATHY	0	T_RSLEEP	3	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	150	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	100610,234927,2441.399,-7737.054,196,5.8,215,-7.1	TGT_NAME	H4
_CALLS	1	TGT_LATLONG	2441.300,-7736.833
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.018,-0.118
_SM_DEPTHo	1.20	KALMAN_X	-194.7,38.3,-25.9,-959.3,432.3
_SM_ANGLEo	-76.9	KALMAN_Y	-140.8,77.3,-77.6,602.8,591.1
GPS2	100610,235658,2441.384,-7737.022,25,4.0,44,-7.1	MHEAD_RNG_PITCHd_Wd	196.0,353,-37.9,-10.000
SPEED_LIMITS	0.119,0.260	D_GRID	990

FINISH	0.9,1.023847	PA_USBA	100.0/0/0
SM_CCo	13532,98.55,0.540,0,0,1309,350.04	PA_HOME	8.8/483886/441498
SM_GC	0.80,0.00,0.00,98.55,0.000,0.000,0.540,164,2443,1309,-9.36,0.08,350.04	PA_ROOT	80.3/126931/24988
IRIDIUM_FIX	2432.32,-7734.44,041211,141436	PA_LOG	5.8/297829/280693
TT8_MAMPS	0.118342	PA_DATA1	40.2/7836665/4683330
HUMID	1078132248	PA_DATA0	95.1/7836665/381158
INTERNAL_PRESSURE	9.47302	_24V_AH	24.1,11.774
TCM_TEMP	23.70	_10V_AH	10.3,13.205
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	355104
PA_BOOTCOUNT	36	DATA_FILE_SIZE	13487,370
PA_DFQS	0/0	CAP_FILE_SIZE	110110,0
PA_CMQS	0/0	CFSIZE	260165632,253075456
PA_USBDRIVE	None	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,5
PA_USBB	100.0/0/0	GPS	110610,034627,2440.170,-7737.699,60,2.6,79,-7.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	266	157.00	SBE_CT	249	24	144.06
Roll_motor	119	65	186.68	nil	0	0	0.00
VBD_pump_during_apogee	182	1194	5251.52	nil	0	0	0.00
VBD_pump_during_surface	98	540	1282.74	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	0	0.00	nil	0	0	0.00
Iridium_during_connect	27	0	0.00	PAAM	14340	85	29539.75
Iridium_during_xfer	231	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	46	0	0.00
TT8	0	0	0.00
LPSleep	11495	2	259.30
TT8_Active	410	19	83.72
TT8_Sampling	2077	39	851.61
TT8_CF8	89	45	42.42
TT8_Kalman	33	0	0.00
Analog_circuits	1280	12	158.30
GPS_charging	0	0	0.00
Compass	1055	15	163.08
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
16	-1.09	-33.4	0.0	0.0	0	82	0.00	0.00	-61.15	0.000	6	0.000	0.000	167	2460	2873	0	0	0	0	0	0
83	-1.14	-71.3	2.2	-2.4	11	108	11.75	2.45	-3.75	0.000	4	0.267	0.052	2798	867	3030	0	0	0	0	0	0
218	-1.14	-71.3	34.1	-20.2	30	226	0.00	2.47	0.00	0.000	6	0.000	0.044	2788	2429	3032	0	0	0	0	0	0
410	-1.14	-71.3	71.3	-17.9	49	414	0.00	2.12	0.00	0.000	4	0.000	0.054	2778	3775	3033	0	0	0	0	0	0
505	-1.14	-71.3	89.2	-18.2	58	510	0.00	2.03	0.00	0.000	6	0.000	0.033	2779	2438	3033	0	0	0	0	0	0
699	-1.14	-71.3	120.7	-15.8	69	700	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	2438	3035	0	0	0	0	0	0
1003	-1.14	-71.3	167.4	-15.4	79	1011	0.00	2.35	0.00	0.000	4	0.000	0.041	2779	865	3038	0	0	0	0	0	0
1073	-1.14	-71.3	177.5	-14.3	81	1081	0.00	2.45	0.00	0.000	6	0.000	0.042	2769	2453	3036	0	0	0	0	0	0
1393	-1.14	-71.3	222.0	-12.9	92	1401	0.00	2.40	0.00	0.000	4	0.000	0.040	2769	852	3036	0	0	0	0	0	0
1490	-1.14	-71.3	234.3	-11.8	95	1498	0.15	2.42	0.00	0.000	6	0.226	0.042	2788	2449	3037	0	0	0	0	0	0
1816	-1.14	-71.3	270.5	-10.8	106	1823	0.00	2.05	0.00	0.000	4	0.000	0.054	2779	3776	3037	0	0	0	0	0	0
1853	-1.14	-71.3	275.0	-12.6	107	1860	0.00	1.95	0.00	0.000	6	0.000	0.034	2780	2440	3037	0	0	0	0	0	0
2213	-1.14	-71.3	315.3	-11.2	117	2221	0.00	2.35	0.00	0.000	4	0.000	0.041	2781	862	3037	0	0	0	0	0	0
2251	-1.14	-71.3	319.6	-11.9	117	2259	0.00	2.42	0.00	0.000	6	0.000	0.043	2769	2441	3037	0	0	0	0	0	0
2570	-1.14	-71.3	356.4	-11.5	123	2576	0.00	0.00	0.00	0.000	6	0.000	0.000	2769	2441	3037	0	0	0	0	0	0
2872	-1.14	-71.3	391.3	-11.7	128	2880	0.00	2.08	0.00	0.000	4	0.000	0.054	2758	3790	3037	0	0	0	0	0	0
2937	-1.14	-71.3	399.6	-13.3	129	2945	0.12	2.00	0.00	0.000	6	0.232	0.034	2789	2438	3037	0	0	0	0	0	0
3299	-1.14	-71.3	438.8	-10.8	135	3308	0.00	2.35	0.00	0.000	4	0.000	0.042	2790	866	3036	0	0	0	0	0	0
3332	-1.14	-71.3	442.4	-10.9	135	3340	0.00	2.42	0.00	0.000	6	0.000	0.044	2780	2442	3036	0	0	0	0	0	0
3656	-1.14	-71.3	476.2	-10.3	141	3664	0.00	2.08	0.00	0.000	4	0.000	0.057	2770	3781	3035	0	0	0	0	0	0
3673	-1.14	-71.3	477.9	-10.0	141	3680	0.00	2.00	0.00	0.000	6	0.000	0.034	2770	2426	3035	0	0	0	0	0	0
4018	-1.14	-71.3	514.0	-10.8	147	4024	0.00	0.00	0.00	0.000	6	0.000	0.000	2770	2424	3034	0	0	0	0	0	0
4320	-1.14	-71.3	547.0	-11.0	152	4326	0.00	0.00	0.00	0.000	6	0.000	0.000	2770	2426	3031	0	0	0	0	0	0
4622	-1.14	-71.3	578.4	-10.4	157	4630	0.00	2.12	0.00	0.000	4	0.000	0.057	2760	3783	3031	0	0	0	0	0	0
4697	-1.14	-71.3	587.2	-11.2	158	4705	0.12	2.03	0.00	0.000	6	0.235	0.036	2785	2415	3031	0	0	0	0	0	0
5048	-1.15	-78.0	618.1	-8.7	164	5053	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2415	3030	0	0	0	0	0	0
5349	-1.16	-85.6	644.0	-8.5	169	5355	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2415	3029	0	0	0	0	0	0
5651	-1.16	-90.6	671.1	-9.0	174	5659	0.00	2.15	0.00	0.000	4	0.000	0.060	2777	3778	3028	0	0	0	0	0	0
5705	-1.16	-90.6	676.9	-11.3	174	5717	0.00	2.00	0.00	0.000	6	0.000	0.037	2777	2442	3027	0	0	0	0	0	0
6014	-1.16	-90.6	708.1	-10.2	180	6023	0.00	2.12	0.00	0.000	4	0.000	0.060	2767	3787	3025	0	0	0	0	0	0
6058	-1.16	-90.6	712.8	-11.3	180	6065	0.00	2.00	0.00	0.000	6	0.000	0.037	2767	2438	3024	0	0	0	0	0	0
6376	-1.16	-91.3	744.5	-9.9	186	6382	0.00	0.00	0.00	0.000	6	0.000	0.000	2766	2438	3023	0	0	0	0	0	0
6678	-1.17	-92.8	773.7	-9.7	191	6686	0.00	2.40	0.00	0.000	4	0.000	0.047	2767	856	3021	0	0	0	0	0	0
6727	-1.17	-92.8	778.5	-10.0	191	6735	0.12	2.47	0.00	0.000	6	0.238	0.048	2784	2440	3020	0	0	0	0	0	0
7035	-1.17	-98.1	805.8	-8.9	196	7042	0.00	2.12	0.00	0.000	4	0.000	0.062	2769	3775	3020	0	0	0	0	0	0
7088	-1.18	-102.3	811.1	-9.2	196	7099	0.00	2.00	0.00	0.000	6	0.000	0.039	2775	2429	3020	0	0	0	0	0	0
7397	-1.18	-108.1	838.1	-8.8	202	7404	0.00	2.15	0.00	0.000	4	0.000	0.062	2766	3782	3018	0	0	0	0	0	0
7461	-1.18	-108.1	844.6	-10.5	203	7469	0.00	2.00	0.00	0.000	6	0.000	0.039	2767	2441	3018	0	0	0	0	0	0
7823	-1.19	-114.9	876.4	-8.7	209	7828	0.00	0.00	0.00	0.000	6	0.000	0.000	2767	2441	3017	0	0	0	0	0	0
8124	-1.20	-123.6	901.6	-8.3	214	8130	0.00	0.00	0.00	0.000	6	0.000	0.000	2767	2441	3016	0	0	0	0	0	0
8426	-1.21	-129.5	928.1	-8.8	219	8434	0.00	2.40	0.00	0.000	4	0.000	0.048	2767	866	3013	0	0	0	0	0	0
8475	-1.22	-134.7	932.8	-9.0	219	8483	0.00	2.45	0.00	0.000	6	0.000	0.051	2755	2440	3014	0	0	0	0	0	0
8783	-1.22	-139.2	960.5	-9.1	224	8789	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2440	3012	0	0	0	0	0	0
9084	-1.23	-145.2	987.0	-8.8	229	9092	0.00	2.15	0.00	0.000	4	0.000	0.065	2745	3778	3011	0	0	0	0	0	0
9115	end dive: TARGET_DEPTH_EXCEEDED
state	9115	begin apogee
9120	-0.14	0.0	990.2	9.5	229	9184	1.33	0.00	56.45	1.194	6	0.207	0.000	3101	2399	2737	0	0	0	0	0	0
9185	end apogee: CONTROL_FINISHED_OK
state	9185	begin climb
9186	1.23	145.2	991.2	0.0	230	9321	1.27	0.00	126.03	1.187	6	0.080	0.000	3548	2398	2145	0	0	0	0	0	0
9610	1.23	145.2	901.7	24.3	237	9618	0.00	2.50	0.00	0.000	4	0.000	0.047	3564	820	2133	0	0	0	0	0	0
9702	1.23	145.2	878.9	24.5	238	9710	0.00	2.53	0.00	0.000	6	0.000	0.050	3564	2409	2130	0	0	0	0	0	0
10032	1.23	145.2	797.4	25.0	244	10040	0.00	2.50	0.00	0.000	4	0.000	0.047	3575	819	2129	0	0	0	0	0	0
10070	1.23	145.2	787.8	25.3	244	10079	0.00	2.53	0.00	0.000	6	0.000	0.050	3575	2407	2128	0	0	0	0	0	0
10390	1.23	145.2	706.5	25.4	250	10399	0.00	2.50	0.00	0.000	4	0.000	0.049	3587	811	2127	0	0	0	0	0	0
10488	1.23	145.2	681.9	24.6	251	10497	0.12	2.50	0.00	0.000	6	0.236	0.048	3562	2402	2126	0	0	0	0	0	0
10814	1.23	145.2	603.8	24.1	257	10819	0.00	0.00	0.00	0.000	6	0.000	0.000	3562	2402	2125	0	0	0	0	0	0
11115	1.23	145.2	530.7	24.3	262	11123	0.00	2.47	0.00	0.000	4	0.000	0.047	3572	809	2124	0	0	0	0	0	0
11201	1.23	145.2	510.3	24.7	263	11209	0.00	2.50	0.00	0.000	6	0.000	0.047	3572	2405	2123	0	0	0	0	0	0
11536	1.23	145.2	427.8	24.6	269	11545	0.00	2.47	0.00	0.000	4	0.000	0.047	3585	818	2123	0	0	0	0	0	0
11574	1.23	145.2	418.1	24.5	269	11583	0.00	2.47	0.00	0.000	6	0.000	0.048	3582	2407	2122	0	0	0	0	0	0
11893	1.23	145.2	339.1	25.0	275	11899	0.00	0.00	0.00	0.000	6	0.000	0.000	3582	2408	2122	0	0	0	0	0	0
12196	1.23	145.2	264.7	24.8	282	12204	0.00	2.47	0.00	0.000	4	0.000	0.046	3594	810	2122	0	0	0	0	0	0
12288	1.23	145.2	242.1	23.3	285	12297	0.15	2.47	0.00	0.000	6	0.227	0.047	3567	2413	2124	0	0	0	0	0	0
12620	1.23	145.2	168.0	21.3	296	12628	0.00	2.45	0.00	0.000	4	0.000	0.044	3572	817	2122	0	0	0	0	0	0
12824	1.23	145.2	124.7	20.6	302	12829	0.00	2.47	0.00	0.000	6	0.000	0.044	3571	2399	2122	0	0	0	0	0	0
13137	1.23	145.2	63.4	18.1	324	13142	0.00	2.17	0.00	0.000	4	0.000	0.056	3575	3775	2124	0	0	0	0	0	0
13164	1.23	145.2	58.8	17.0	326	13172	0.00	2.08	0.00	0.000	6	0.000	0.033	3582	2393	2124	0	0	0	0	0	0
13355	1.23	145.2	26.7	15.3	345	13360	0.00	2.40	0.00	0.000	4	0.000	0.042	3593	831	2124	0	0	0	0	0	0
13510	end climb: SURFACE_DEPTH_REACHED
state	13510	begin surface coast
13514	end surface coast: CONTROL_FINISHED_OK
state	13514	begin surface