Glider dive log

AUTEC Jun10 * SG178 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING 0 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

MISSION 4 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2220 ALTIM_PULSE 8

DIVE 4 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 450 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 54 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 450 R_STBD_OVSHOOT 38 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 150 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 69

T_MISSION 175 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 -5646.3535 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 30 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 20480.0

KALMAN_USE 1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 PA_MAXOPTIONALUPLOADSIZE 61440.0

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 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 450 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 30 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 150

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 -5646.3535

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 175

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 2220 LOGGERDEVICE1 69 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2300 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 54 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 38 VBD_MIN 425

DIVE 4 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 61440.0 SEABIRD_T_H 0.00062587409 XPDR_VALID 6

D_NO_BLEED 200 PA_MAXUPLOADSIZE 20480.0 SEABIRD_T_I 2.4307059e-05

Pre-dive calculations and measurements:

GPS1 070610,171626,2441.003,-7735.162,12,1.6,12,-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 -0.249,0.072

_SM_DEPTHo 0.79 KALMAN_X 105.7,156.8,179.9,1593.7,-64.8

_SM_ANGLEo -74.3 KALMAN_Y -309.1,-235.3,-233.5,487.0,-166.0

GPS2 070610,172013,2440.979,-7735.136,12,1.6,12,-7.1 MHEAD_RNG_PITCHd_Wd 293.2,2917,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 450

Post-dive calculations and measurements:

FINISH -0.1,1.022851 PA_USBA 100.0/0/0

SM_CCo 9121,132.55,0.507,0,0,902,450.13 PA_HOME 8.2/483886/444377

SM_GC 0.75,0.00,0.00,132.55,0.000,0.000,0.507,167,2304,902,-9.36,0.11,450.13 PA_ROOT 80.3/126931/24988

IRIDIUM_FIX 2432.32,-7734.44,011211,111127 PA_LOG 4.3/297829/285149

TT8_MAMPS 0.131075 PA_DATA1 3.5/7836665/7560759

HUMID 1078127087 PA_DATA0 5.3/7836665/7418906

INTERNAL_PRESSURE 9.58045 _24V_AH 24.8,8.798

TCM_TEMP 24.60 _10V_AH 10.5,6.430

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 355192

PA_BOOTCOUNT 31 DATA_FILE_SIZE 13443,384

PA_DFQS 0/0 CAP_FILE_SIZE 104182,0

PA_CMQS 0/119 CFSIZE 260165632,254636032

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 070610,195751,2441.505,-7736.333,128,5.5,147,-7.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 257 145.45 SBE_CT 255 24 151.97

Roll_motor 101 92 233.00 nil 0 0 0.00

VBD_pump_during_apogee 236 805 4724.18 nil 0 0 0.00

VBD_pump_during_surface 132 507 1667.27 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 PAAM 9227 83 19053.18

Iridium_during_xfer 0 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 12 0 0.00

TT8 0 0 0.00

LPSleep 7185 2 165.23

TT8_Active 519 19 108.05

TT8_Sampling 1541 39 644.06

TT8_CF8 50 45 24.07

TT8_Kalman 32 0 0.00

Analog_circuits 1270 12 160.04

GPS_charging 0 0 0.00

Compass 1020 15 160.71

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 15 begin dive

16 -0.67 -146.0 0.0 0.0 0 129 0.00 0.00 -108.45 0.000 6 0.000 0.000 158 2314 3334 0 0 0 0 0 0

131 -0.67 -146.0 3.5 -8.6 19 149 11.98 0.00 0.00 0.000 6 0.258 0.000 2936 2313 3336 0 0 0 0 0 0

210 -0.67 -146.0 25.2 -15.0 31 211 0.00 0.00 0.00 0.000 6 0.000 0.000 2936 2313 3337 0 0 0 0 0 0

396 -0.67 -146.0 48.4 -11.7 49 401 0.00 2.28 0.00 0.000 4 0.000 0.056 2927 3765 3340 0 0 0 0 0 0

476 -0.67 -146.0 58.0 -12.1 56 484 0.00 2.20 0.00 0.000 6 0.000 0.034 2927 2305 3338 0 0 0 0 0 0

668 -0.67 -146.0 80.9 -12.2 75 672 0.00 2.30 0.00 0.000 4 0.000 0.055 2917 3764 3337 0 0 0 0 0 0

721 -0.67 -146.0 87.3 -12.3 80 725 0.00 2.17 0.00 0.000 6 0.000 0.035 2918 2308 3337 0 0 0 0 0 0

925 -0.67 -146.0 110.5 -11.3 94 933 0.00 2.28 0.00 0.000 4 0.000 0.056 2906 3768 3338 0 0 0 0 0 0

963 -0.67 -146.0 115.1 -12.1 95 971 0.15 2.17 0.00 0.000 6 0.173 0.035 2944 2296 3337 0 0 0 0 0 0

1284 -0.67 -146.0 146.2 -9.6 106 1292 0.00 2.30 0.00 0.000 4 0.000 0.056 2935 3775 3337 0 0 0 0 0 0

1402 -0.67 -146.0 157.9 -9.3 109 1412 0.00 2.17 0.00 0.000 6 0.000 0.035 2934 2288 3337 0 0 0 0 0 0

1711 -0.67 -146.0 187.5 -9.3 120 1721 0.00 2.30 0.00 0.000 4 0.000 0.057 2924 3768 3336 0 0 0 0 0 0

1815 -0.67 -146.0 197.9 -10.3 123 1823 0.00 2.15 0.00 0.000 6 0.000 0.035 2924 2297 3336 0 0 0 0 0 0

2135 -0.67 -146.0 226.0 -8.4 134 2143 0.00 2.30 0.00 0.000 4 0.000 0.057 2913 3778 3335 0 0 0 0 0 0

2189 -0.67 -146.0 230.6 -9.5 135 2197 0.12 2.20 0.00 0.000 6 0.168 0.036 2945 2292 3337 0 0 0 0 0 0

2498 -0.67 -146.0 252.7 -6.9 145 2506 0.00 2.30 0.00 0.000 4 0.000 0.057 2936 3770 3334 0 0 0 0 0 0

2531 -0.67 -146.0 255.1 -8.0 146 2538 0.00 2.17 0.00 0.000 6 0.000 0.036 2936 2301 3334 0 0 0 0 0 0

2856 -0.67 -146.0 279.2 -7.4 157 2863 0.00 2.30 0.00 0.000 4 0.000 0.057 2930 3774 3334 0 0 0 0 0 0

2888 -0.67 -146.0 281.7 -8.8 158 2897 0.00 2.17 0.00 0.000 6 0.000 0.037 2925 2294 3333 0 0 0 0 0 0

3255 -0.67 -146.0 310.8 -7.9 168 3264 0.00 2.30 0.00 0.000 4 0.000 0.057 2914 3777 3332 0 0 0 0 0 0

3374 -0.67 -146.0 321.1 -8.8 169 3385 0.12 2.20 0.00 0.000 6 0.164 0.037 2945 2302 3332 0 0 0 0 0 0

3681 -0.67 -146.0 342.1 -6.7 175 3689 0.00 2.30 0.00 0.000 4 0.000 0.058 2937 3766 3330 0 0 0 0 0 0

3773 -0.67 -146.0 348.8 -6.7 176 3781 0.00 2.20 0.00 0.000 6 0.000 0.037 2937 2293 3329 0 0 0 0 0 0

4102 -0.67 -146.0 372.4 -7.1 182 4111 0.00 2.30 0.00 0.000 4 0.000 0.059 2926 3767 3328 0 0 0 0 0 0

4205 -0.67 -146.0 380.6 -8.3 183 4213 0.00 2.17 0.00 0.000 6 0.000 0.037 2926 2300 3327 0 0 0 0 0 0

4524 -0.67 -146.0 405.2 -7.7 189 4532 0.00 2.33 0.00 0.000 4 0.000 0.060 2915 3771 3326 0 0 0 0 0 0

4599 -0.67 -146.0 411.5 -8.4 190 4608 0.12 2.20 0.00 0.000 6 0.162 0.037 2947 2287 3323 0 0 0 0 0 0

4945 -0.67 -146.0 434.1 -6.3 196 4954 0.00 2.33 0.00 0.000 4 0.000 0.060 2935 3771 3323 0 0 0 0 0 0

5096 -0.67 -146.0 443.7 -5.9 198 5104 0.00 2.17 0.00 0.000 6 0.000 0.037 2938 2303 3322 0 0 0 0 0 0

5249 end dive: TARGET_DEPTH_EXCEEDED

state 5249 begin apogee

5252 -0.14 0.0 453.0 6.1 201 5374 0.55 0.00 110.60 0.806 6 0.132 0.000 3111 2212 2737 0 0 0 0 0 0

5375 end apogee: CONTROL_FINISHED_OK

state 5375 begin climb

5376 0.67 146.0 454.5 0.0 203 5504 0.73 2.50 115.22 0.789 4 0.074 0.042 3386 643 2142 0 0 0 0 0 0

5603 0.67 146.0 430.6 13.7 206 5612 0.00 2.45 0.00 0.000 6 0.000 0.042 3386 2221 2134 0 0 0 0 0 0

5928 0.67 146.0 384.9 14.1 212 5936 0.00 2.45 0.00 0.000 4 0.000 0.057 3386 3777 2132 0 0 0 0 0 0

5992 0.67 146.0 374.6 16.0 213 6001 0.00 2.35 0.00 0.000 6 0.000 0.036 3397 2211 2132 0 0 0 0 0 0

6349 0.67 146.0 322.4 14.7 219 6357 0.00 2.45 0.00 0.000 4 0.000 0.057 3397 3780 2130 0 0 0 0 0 0

6382 0.67 146.0 316.9 17.1 219 6390 0.15 2.35 0.00 0.000 6 0.196 0.035 3377 2208 2130 0 0 0 0 0 0

6707 0.67 146.0 273.3 13.2 228 6713 0.00 0.00 0.00 0.000 6 0.000 0.000 3374 2205 2128 0 0 0 0 0 0

7011 0.67 146.0 235.6 12.0 238 7019 0.00 2.38 0.00 0.000 4 0.000 0.045 3385 649 2127 0 0 0 0 0 0

7039 0.67 146.0 232.1 12.0 239 7047 0.00 2.42 0.00 0.000 6 0.000 0.042 3383 2234 2126 0 0 0 0 0 0

7370 0.67 146.0 192.4 11.5 250 7378 0.00 2.42 0.00 0.000 4 0.000 0.044 3395 640 2126 0 0 0 0 0 0

7397 0.67 146.0 189.4 10.7 251 7407 0.00 2.40 0.00 0.000 6 0.000 0.042 3395 2218 2125 0 0 0 0 0 0

7731 0.67 146.0 149.6 12.2 262 7739 0.00 2.42 0.00 0.000 4 0.000 0.057 3395 3778 2125 0 0 0 0 0 0

7844 0.67 146.0 133.5 14.0 265 7852 0.12 2.33 0.00 0.000 6 0.200 0.034 3378 2209 2125 0 0 0 0 0 0

8155 0.67 146.0 99.4 10.9 275 8159 0.00 2.45 0.00 0.000 4 0.000 0.055 3378 3774 2125 0 0 0 0 0 0

8304 0.67 146.0 80.7 12.2 288 8311 0.00 2.33 0.00 0.000 6 0.000 0.034 3388 2219 2125 0 0 0 0 0 0

8494 0.67 146.0 60.3 10.3 307 8495 0.00 0.00 0.00 0.000 6 0.000 0.000 3388 2218 2125 0 0 0 0 0 0

8681 0.67 148.4 41.8 9.9 325 8685 0.00 2.45 0.00 0.000 4 0.000 0.054 3392 3775 2125 0 0 0 0 0 0

8755 0.67 148.4 33.9 10.5 332 8760 0.00 2.33 0.00 0.000 6 0.000 0.033 3399 2216 2125 0 0 0 0 0 0

8949 0.68 161.1 15.4 9.4 355 8963 0.00 2.42 10.65 0.487 4 0.000 0.054 3400 3775 2082 0 0 0 0 0 0

9084 end climb: SURFACE_DEPTH_REACHED

state 9084 begin surface coast

9105 end surface coast: CONTROL_FINISHED_OK

state 9105 begin surface

ID	178	ESCAPE_HEADING	0	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
MISSION	4	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2220	ALTIM_PULSE	8
DIVE	4	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	450	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	54	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	450	R_STBD_OVSHOOT	38	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	150	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	69
T_MISSION	175	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	-5646.3535	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	30	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	20480.0
KALMAN_USE	1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	PA_MAXOPTIONALUPLOADSIZE	61440.0
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	070610,171626,2441.003,-7735.162,12,1.6,12,-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	-0.249,0.072
_SM_DEPTHo	0.79	KALMAN_X	105.7,156.8,179.9,1593.7,-64.8
_SM_ANGLEo	-74.3	KALMAN_Y	-309.1,-235.3,-233.5,487.0,-166.0
GPS2	070610,172013,2440.979,-7735.136,12,1.6,12,-7.1	MHEAD_RNG_PITCHd_Wd	293.2,2917,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	450

FINISH	-0.1,1.022851	PA_USBA	100.0/0/0
SM_CCo	9121,132.55,0.507,0,0,902,450.13	PA_HOME	8.2/483886/444377
SM_GC	0.75,0.00,0.00,132.55,0.000,0.000,0.507,167,2304,902,-9.36,0.11,450.13	PA_ROOT	80.3/126931/24988
IRIDIUM_FIX	2432.32,-7734.44,011211,111127	PA_LOG	4.3/297829/285149
TT8_MAMPS	0.131075	PA_DATA1	3.5/7836665/7560759
HUMID	1078127087	PA_DATA0	5.3/7836665/7418906
INTERNAL_PRESSURE	9.58045	_24V_AH	24.8,8.798
TCM_TEMP	24.60	_10V_AH	10.5,6.430
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	355192
PA_BOOTCOUNT	31	DATA_FILE_SIZE	13443,384
PA_DFQS	0/0	CAP_FILE_SIZE	104182,0
PA_CMQS	0/119	CFSIZE	260165632,254636032
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	070610,195751,2441.505,-7736.333,128,5.5,147,-7.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	257	145.45	SBE_CT	255	24	151.97
Roll_motor	101	92	233.00	nil	0	0	0.00
VBD_pump_during_apogee	236	805	4724.18	nil	0	0	0.00
VBD_pump_during_surface	132	507	1667.27	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	PAAM	9227	83	19053.18
Iridium_during_xfer	0	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	12	0	0.00
TT8	0	0	0.00
LPSleep	7185	2	165.23
TT8_Active	519	19	108.05
TT8_Sampling	1541	39	644.06
TT8_CF8	50	45	24.07
TT8_Kalman	32	0	0.00
Analog_circuits	1270	12	160.04
GPS_charging	0	0	0.00
Compass	1020	15	160.71
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	15	begin dive
16	-0.67	-146.0	0.0	0.0	0	129	0.00	0.00	-108.45	0.000	6	0.000	0.000	158	2314	3334	0	0	0	0	0	0
131	-0.67	-146.0	3.5	-8.6	19	149	11.98	0.00	0.00	0.000	6	0.258	0.000	2936	2313	3336	0	0	0	0	0	0
210	-0.67	-146.0	25.2	-15.0	31	211	0.00	0.00	0.00	0.000	6	0.000	0.000	2936	2313	3337	0	0	0	0	0	0
396	-0.67	-146.0	48.4	-11.7	49	401	0.00	2.28	0.00	0.000	4	0.000	0.056	2927	3765	3340	0	0	0	0	0	0
476	-0.67	-146.0	58.0	-12.1	56	484	0.00	2.20	0.00	0.000	6	0.000	0.034	2927	2305	3338	0	0	0	0	0	0
668	-0.67	-146.0	80.9	-12.2	75	672	0.00	2.30	0.00	0.000	4	0.000	0.055	2917	3764	3337	0	0	0	0	0	0
721	-0.67	-146.0	87.3	-12.3	80	725	0.00	2.17	0.00	0.000	6	0.000	0.035	2918	2308	3337	0	0	0	0	0	0
925	-0.67	-146.0	110.5	-11.3	94	933	0.00	2.28	0.00	0.000	4	0.000	0.056	2906	3768	3338	0	0	0	0	0	0
963	-0.67	-146.0	115.1	-12.1	95	971	0.15	2.17	0.00	0.000	6	0.173	0.035	2944	2296	3337	0	0	0	0	0	0
1284	-0.67	-146.0	146.2	-9.6	106	1292	0.00	2.30	0.00	0.000	4	0.000	0.056	2935	3775	3337	0	0	0	0	0	0
1402	-0.67	-146.0	157.9	-9.3	109	1412	0.00	2.17	0.00	0.000	6	0.000	0.035	2934	2288	3337	0	0	0	0	0	0
1711	-0.67	-146.0	187.5	-9.3	120	1721	0.00	2.30	0.00	0.000	4	0.000	0.057	2924	3768	3336	0	0	0	0	0	0
1815	-0.67	-146.0	197.9	-10.3	123	1823	0.00	2.15	0.00	0.000	6	0.000	0.035	2924	2297	3336	0	0	0	0	0	0
2135	-0.67	-146.0	226.0	-8.4	134	2143	0.00	2.30	0.00	0.000	4	0.000	0.057	2913	3778	3335	0	0	0	0	0	0
2189	-0.67	-146.0	230.6	-9.5	135	2197	0.12	2.20	0.00	0.000	6	0.168	0.036	2945	2292	3337	0	0	0	0	0	0
2498	-0.67	-146.0	252.7	-6.9	145	2506	0.00	2.30	0.00	0.000	4	0.000	0.057	2936	3770	3334	0	0	0	0	0	0
2531	-0.67	-146.0	255.1	-8.0	146	2538	0.00	2.17	0.00	0.000	6	0.000	0.036	2936	2301	3334	0	0	0	0	0	0
2856	-0.67	-146.0	279.2	-7.4	157	2863	0.00	2.30	0.00	0.000	4	0.000	0.057	2930	3774	3334	0	0	0	0	0	0
2888	-0.67	-146.0	281.7	-8.8	158	2897	0.00	2.17	0.00	0.000	6	0.000	0.037	2925	2294	3333	0	0	0	0	0	0
3255	-0.67	-146.0	310.8	-7.9	168	3264	0.00	2.30	0.00	0.000	4	0.000	0.057	2914	3777	3332	0	0	0	0	0	0
3374	-0.67	-146.0	321.1	-8.8	169	3385	0.12	2.20	0.00	0.000	6	0.164	0.037	2945	2302	3332	0	0	0	0	0	0
3681	-0.67	-146.0	342.1	-6.7	175	3689	0.00	2.30	0.00	0.000	4	0.000	0.058	2937	3766	3330	0	0	0	0	0	0
3773	-0.67	-146.0	348.8	-6.7	176	3781	0.00	2.20	0.00	0.000	6	0.000	0.037	2937	2293	3329	0	0	0	0	0	0
4102	-0.67	-146.0	372.4	-7.1	182	4111	0.00	2.30	0.00	0.000	4	0.000	0.059	2926	3767	3328	0	0	0	0	0	0
4205	-0.67	-146.0	380.6	-8.3	183	4213	0.00	2.17	0.00	0.000	6	0.000	0.037	2926	2300	3327	0	0	0	0	0	0
4524	-0.67	-146.0	405.2	-7.7	189	4532	0.00	2.33	0.00	0.000	4	0.000	0.060	2915	3771	3326	0	0	0	0	0	0
4599	-0.67	-146.0	411.5	-8.4	190	4608	0.12	2.20	0.00	0.000	6	0.162	0.037	2947	2287	3323	0	0	0	0	0	0
4945	-0.67	-146.0	434.1	-6.3	196	4954	0.00	2.33	0.00	0.000	4	0.000	0.060	2935	3771	3323	0	0	0	0	0	0
5096	-0.67	-146.0	443.7	-5.9	198	5104	0.00	2.17	0.00	0.000	6	0.000	0.037	2938	2303	3322	0	0	0	0	0	0
5249	end dive: TARGET_DEPTH_EXCEEDED
state	5249	begin apogee
5252	-0.14	0.0	453.0	6.1	201	5374	0.55	0.00	110.60	0.806	6	0.132	0.000	3111	2212	2737	0	0	0	0	0	0
5375	end apogee: CONTROL_FINISHED_OK
state	5375	begin climb
5376	0.67	146.0	454.5	0.0	203	5504	0.73	2.50	115.22	0.789	4	0.074	0.042	3386	643	2142	0	0	0	0	0	0
5603	0.67	146.0	430.6	13.7	206	5612	0.00	2.45	0.00	0.000	6	0.000	0.042	3386	2221	2134	0	0	0	0	0	0
5928	0.67	146.0	384.9	14.1	212	5936	0.00	2.45	0.00	0.000	4	0.000	0.057	3386	3777	2132	0	0	0	0	0	0
5992	0.67	146.0	374.6	16.0	213	6001	0.00	2.35	0.00	0.000	6	0.000	0.036	3397	2211	2132	0	0	0	0	0	0
6349	0.67	146.0	322.4	14.7	219	6357	0.00	2.45	0.00	0.000	4	0.000	0.057	3397	3780	2130	0	0	0	0	0	0
6382	0.67	146.0	316.9	17.1	219	6390	0.15	2.35	0.00	0.000	6	0.196	0.035	3377	2208	2130	0	0	0	0	0	0
6707	0.67	146.0	273.3	13.2	228	6713	0.00	0.00	0.00	0.000	6	0.000	0.000	3374	2205	2128	0	0	0	0	0	0
7011	0.67	146.0	235.6	12.0	238	7019	0.00	2.38	0.00	0.000	4	0.000	0.045	3385	649	2127	0	0	0	0	0	0
7039	0.67	146.0	232.1	12.0	239	7047	0.00	2.42	0.00	0.000	6	0.000	0.042	3383	2234	2126	0	0	0	0	0	0
7370	0.67	146.0	192.4	11.5	250	7378	0.00	2.42	0.00	0.000	4	0.000	0.044	3395	640	2126	0	0	0	0	0	0
7397	0.67	146.0	189.4	10.7	251	7407	0.00	2.40	0.00	0.000	6	0.000	0.042	3395	2218	2125	0	0	0	0	0	0
7731	0.67	146.0	149.6	12.2	262	7739	0.00	2.42	0.00	0.000	4	0.000	0.057	3395	3778	2125	0	0	0	0	0	0
7844	0.67	146.0	133.5	14.0	265	7852	0.12	2.33	0.00	0.000	6	0.200	0.034	3378	2209	2125	0	0	0	0	0	0
8155	0.67	146.0	99.4	10.9	275	8159	0.00	2.45	0.00	0.000	4	0.000	0.055	3378	3774	2125	0	0	0	0	0	0
8304	0.67	146.0	80.7	12.2	288	8311	0.00	2.33	0.00	0.000	6	0.000	0.034	3388	2219	2125	0	0	0	0	0	0
8494	0.67	146.0	60.3	10.3	307	8495	0.00	0.00	0.00	0.000	6	0.000	0.000	3388	2218	2125	0	0	0	0	0	0
8681	0.67	148.4	41.8	9.9	325	8685	0.00	2.45	0.00	0.000	4	0.000	0.054	3392	3775	2125	0	0	0	0	0	0
8755	0.67	148.4	33.9	10.5	332	8760	0.00	2.33	0.00	0.000	6	0.000	0.033	3399	2216	2125	0	0	0	0	0	0
8949	0.68	161.1	15.4	9.4	355	8963	0.00	2.42	10.65	0.487	4	0.000	0.054	3400	3775	2082	0	0	0	0	0	0
9084	end climb: SURFACE_DEPTH_REACHED
state	9084	begin surface coast
9105	end surface coast: CONTROL_FINISHED_OK
state	9105	begin surface