Glider dive log

AUTEC Jun10 * SG178 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING 0 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

MISSION 4 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2580 ALTIM_PULSE 8

DIVE 5 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 660 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 38 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 350 R_STBD_OVSHOOT 45 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 220 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 69

T_MISSION 275 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 -5732.043 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 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 660 PHONE_DEVICE 48 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_SUPPLY 2 STROBE 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 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 220

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 -5732.043

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 275

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 2580 LOGGERDEVICE1 69 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2400 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 38 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 45 VBD_MIN 425

DIVE 5 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 070610,201416,2441.396,-7736.349,9,3.6,28,-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 -0.123,-0.122

_SM_DEPTHo 0.87 KALMAN_X 343.4,266.1,27.5,-649.5,-111.1

_SM_ANGLEo -75.6 KALMAN_Y -260.1,-320.5,-128.5,1138.0,570.8

GPS2 070610,201827,2441.366,-7736.349,16,2.1,35,-7.1 MHEAD_RNG_PITCHd_Wd 232.5,824,-27.2,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 660

Post-dive calculations and measurements:

FINISH 0.1,1.022892 PA_USBA 100.0/0/0

SM_CCo 9620,102.50,0.519,0,0,1309,350.04 PA_HOME 8.2/483886/444217

SM_GC 0.90,0.00,0.00,102.50,0.000,0.000,0.519,163,2404,1309,-9.37,0.08,350.04 PA_ROOT 80.3/126931/24988

IRIDIUM_FIX 2434.69,-7736.76,011211,141404 PA_LOG 4.3/297829/284966

TT8_MAMPS 0.118342 PA_DATA1 8.2/7836665/7192246

HUMID 1078176119 PA_DATA0 6.0/7836665/7364987

INTERNAL_PRESSURE 9.57068 _24V_AH 24.5,8.898

TCM_TEMP 24.40 _10V_AH 10.5,6.740

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 355128

PA_BOOTCOUNT 31 DATA_FILE_SIZE 10143,345

PA_DFQS 0/0 CAP_FILE_SIZE 102872,0

PA_CMQS 0/133 CFSIZE 260165632,254574592

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 070610,230256,2440.800,-7737.707,68,2.4,87,-7.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 257 145.59 SBE_CT 230 24 135.29

Roll_motor 90 71 158.18 nil 0 0 0.00

VBD_pump_during_apogee 213 951 4976.15 nil 0 0 0.00

VBD_pump_during_surface 102 518 1302.51 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 9753 86 20582.37

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 37 0 0.00

TT8 0 0 0.00

LPSleep 7757 2 178.37

TT8_Active 447 19 93.14

TT8_Sampling 1537 39 642.51

TT8_CF8 47 45 22.97

TT8_Kalman 33 0 0.00

Analog_circuits 1189 12 149.87

GPS_charging 0 0 0.00

Compass 1004 15 158.28

RAFOS 0 0 0.00

Transponder 0 5 0.05

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -0.83 -63.0 0.0 0.0 0 106 0.00 0.00 -80.47 0.000 6 0.000 0.000 166 2415 2995 0 0 0 0 0 0

108 -0.92 -130.8 2.1 -2.8 14 132 11.57 2.45 -6.15 0.000 4 0.258 0.054 2861 811 3272 0 0 0 0 0 0

360 -0.92 -130.8 50.6 -17.3 45 368 0.00 2.45 0.00 0.000 6 0.000 0.043 2851 2388 3273 0 0 0 0 0 0

552 -0.92 -130.8 83.3 -16.8 64 553 0.00 0.00 0.00 0.000 6 0.000 0.000 2851 2385 3275 0 0 0 0 0 0

757 -0.92 -130.8 115.0 -15.1 78 765 0.00 2.15 0.00 0.000 4 0.000 0.055 2840 3774 3274 0 0 0 0 0 0

881 -0.92 -130.8 135.4 -16.7 82 889 0.00 2.05 0.00 0.000 6 0.000 0.034 2845 2389 3274 0 0 0 0 0 0

1219 -0.92 -130.8 186.1 -14.6 93 1227 0.00 2.15 0.00 0.000 4 0.000 0.056 2836 3777 3274 0 0 0 0 0 0

1240 -0.92 -130.8 189.8 -16.4 93 1251 0.00 2.05 0.00 0.000 6 0.000 0.034 2836 2387 3272 0 0 0 0 0 0

1550 -0.92 -130.8 232.0 -13.2 104 1557 0.00 2.35 0.00 0.000 4 0.000 0.041 2836 818 3275 0 0 0 0 0 0

1609 -0.92 -130.8 239.8 -12.2 106 1617 0.15 2.42 0.00 0.000 6 0.191 0.044 2860 2406 3273 0 0 0 0 0 0

1941 -0.92 -130.8 276.6 -11.0 117 1948 0.00 2.12 0.00 0.000 4 0.000 0.057 2851 3778 3273 0 0 0 0 0 0

1962 -0.92 -130.8 279.1 -11.2 117 1972 0.00 2.05 0.00 0.000 6 0.000 0.034 2851 2391 3273 0 0 0 0 0 0

2270 -0.92 -130.8 314.4 -11.5 126 2276 0.00 0.00 0.00 0.000 6 0.000 0.000 2851 2393 3272 0 0 0 0 0 0

2572 -0.92 -130.8 346.8 -10.7 131 2580 0.00 2.15 0.00 0.000 4 0.000 0.058 2841 3778 3270 0 0 0 0 0 0

2642 -0.92 -130.8 355.0 -11.1 132 2650 0.00 2.05 0.00 0.000 6 0.000 0.036 2841 2396 3270 0 0 0 0 0 0

2992 -0.92 -130.8 395.1 -11.5 138 3000 0.00 2.38 0.00 0.000 4 0.000 0.042 2840 818 3268 0 0 0 0 0 0

3046 -0.92 -130.8 401.5 -11.6 138 3057 0.12 2.45 0.00 0.000 6 0.190 0.046 2858 2408 3267 0 0 0 0 0 0

3353 -0.92 -130.8 434.6 -10.8 144 3361 0.00 2.15 0.00 0.000 4 0.000 0.060 2850 3781 3267 0 0 0 0 0 0

3418 -0.92 -130.8 442.0 -11.6 145 3425 0.00 2.05 0.00 0.000 6 0.000 0.037 2849 2404 3266 0 0 0 0 0 0

3779 -0.92 -130.8 481.9 -11.1 151 3787 0.00 2.20 0.00 0.000 4 0.000 0.061 2839 3778 3264 0 0 0 0 0 0

3827 -0.92 -130.8 487.7 -12.0 151 3835 0.00 2.08 0.00 0.000 6 0.000 0.037 2839 2388 3263 0 0 0 0 0 0

4135 -0.92 -130.8 521.4 -10.8 156 4141 0.00 0.00 0.00 0.000 6 0.000 0.000 2839 2387 3261 0 0 0 0 0 0

4436 -0.92 -130.8 554.4 -11.0 161 4444 0.00 2.20 0.00 0.000 4 0.000 0.062 2829 3777 3260 0 0 0 0 0 0

4522 -0.92 -130.8 564.4 -11.5 162 4531 0.12 2.05 0.00 0.000 6 0.198 0.037 2857 2402 3262 0 0 0 0 0 0

4857 -0.92 -134.0 597.3 -9.7 168 4863 0.00 0.00 0.00 0.000 6 0.000 0.000 2857 2402 3258 0 0 0 0 0 0

5159 -0.93 -138.0 625.9 -9.6 173 5167 0.00 2.20 0.00 0.000 4 0.000 0.063 2849 3781 3256 0 0 0 0 0 0

5213 -0.93 -138.0 631.8 -11.4 173 5224 0.00 2.08 0.00 0.000 6 0.000 0.039 2848 2399 3256 0 0 0 0 0 0

5520 end dive: TARGET_DEPTH_EXCEEDED

state 5520 begin apogee

5523 -0.14 0.0 661.7 9.7 179 5631 0.90 0.00 100.68 0.952 6 0.164 0.000 3110 2589 2738 0 0 0 0 0 0

5631 end apogee: CONTROL_FINISHED_OK

state 5631 begin climb

5632 0.93 138.0 662.7 0.0 180 5760 0.98 2.60 112.75 0.933 4 0.075 0.043 3474 1012 2175 0 0 0 0 0 0

5795 0.93 138.0 641.0 19.4 182 5803 0.00 2.55 0.00 0.000 6 0.000 0.047 3465 2585 2168 0 0 0 0 0 0

6120 0.93 138.0 577.4 19.7 188 6128 0.00 2.45 0.00 0.000 4 0.000 0.043 3474 1003 2165 0 0 0 0 0 0

6244 0.93 138.0 553.8 18.3 190 6252 0.00 2.47 0.00 0.000 6 0.000 0.048 3466 2589 2161 0 0 0 0 0 0

6606 0.93 138.0 484.7 19.1 196 6614 0.00 2.45 0.00 0.000 4 0.000 0.044 3475 1001 2160 0 0 0 0 0 0

6708 0.93 138.0 465.8 19.0 197 6716 0.00 2.45 0.00 0.000 6 0.000 0.047 3466 2582 2158 0 0 0 0 0 0

7026 0.93 138.0 405.9 18.9 203 7034 0.00 2.42 0.00 0.000 4 0.000 0.043 3476 1003 2157 0 0 0 0 0 0

7102 0.93 138.0 391.9 18.2 204 7110 0.00 2.47 0.00 0.000 6 0.000 0.047 3466 2590 2156 0 0 0 0 0 0

7447 0.93 138.0 328.1 18.4 210 7455 0.00 2.42 0.00 0.000 4 0.000 0.042 3475 994 2156 0 0 0 0 0 0

7598 0.93 138.0 302.0 17.5 212 7606 0.00 2.47 0.00 0.000 6 0.000 0.047 3466 2582 2154 0 0 0 0 0 0

7934 0.93 138.0 240.9 18.4 223 7942 0.00 2.40 0.00 0.000 4 0.000 0.041 3476 987 2155 0 0 0 0 0 0

8031 0.93 138.0 223.9 16.5 226 8039 0.00 2.47 0.00 0.000 6 0.000 0.047 3466 2583 2154 0 0 0 0 0 0

8357 0.93 138.0 169.1 16.3 237 8364 0.00 2.40 0.00 0.000 4 0.000 0.041 3476 992 2154 0 0 0 0 0 0

8582 0.93 138.0 135.0 15.3 244 8590 0.00 2.45 0.00 0.000 6 0.000 0.045 3466 2582 2153 0 0 0 0 0 0

8895 0.93 138.0 88.9 14.0 259 8899 0.00 1.90 0.00 0.000 4 0.000 0.057 3470 3783 2152 0 0 0 0 0 0

8920 0.93 138.0 84.9 15.3 261 8928 0.00 1.83 0.00 0.000 6 0.000 0.034 3472 2571 2154 0 0 0 0 0 0

9111 0.93 138.0 58.1 12.6 280 9112 0.00 0.00 0.00 0.000 6 0.000 0.000 3472 2576 2154 0 0 0 0 0 0

9297 0.93 138.0 35.2 12.2 298 9303 0.00 1.92 0.00 0.000 4 0.000 0.055 3473 3775 2155 0 0 0 0 0 0

9404 0.93 138.0 21.0 13.6 308 9409 0.00 1.80 0.00 0.000 6 0.000 0.034 3481 2578 2157 0 0 0 0 0 0

9585 end climb: SURFACE_DEPTH_REACHED

state 9585 begin surface coast

9606 end surface coast: CONTROL_FINISHED_OK

state 9606 begin surface

ID	178	ESCAPE_HEADING	0	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
MISSION	4	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2580	ALTIM_PULSE	8
DIVE	5	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	660	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	38	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	350	R_STBD_OVSHOOT	45	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	220	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	69
T_MISSION	275	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	-5732.043	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	070610,201416,2441.396,-7736.349,9,3.6,28,-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	-0.123,-0.122
_SM_DEPTHo	0.87	KALMAN_X	343.4,266.1,27.5,-649.5,-111.1
_SM_ANGLEo	-75.6	KALMAN_Y	-260.1,-320.5,-128.5,1138.0,570.8
GPS2	070610,201827,2441.366,-7736.349,16,2.1,35,-7.1	MHEAD_RNG_PITCHd_Wd	232.5,824,-27.2,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	660

FINISH	0.1,1.022892	PA_USBA	100.0/0/0
SM_CCo	9620,102.50,0.519,0,0,1309,350.04	PA_HOME	8.2/483886/444217
SM_GC	0.90,0.00,0.00,102.50,0.000,0.000,0.519,163,2404,1309,-9.37,0.08,350.04	PA_ROOT	80.3/126931/24988
IRIDIUM_FIX	2434.69,-7736.76,011211,141404	PA_LOG	4.3/297829/284966
TT8_MAMPS	0.118342	PA_DATA1	8.2/7836665/7192246
HUMID	1078176119	PA_DATA0	6.0/7836665/7364987
INTERNAL_PRESSURE	9.57068	_24V_AH	24.5,8.898
TCM_TEMP	24.40	_10V_AH	10.5,6.740
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	355128
PA_BOOTCOUNT	31	DATA_FILE_SIZE	10143,345
PA_DFQS	0/0	CAP_FILE_SIZE	102872,0
PA_CMQS	0/133	CFSIZE	260165632,254574592
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	070610,230256,2440.800,-7737.707,68,2.4,87,-7.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	257	145.59	SBE_CT	230	24	135.29
Roll_motor	90	71	158.18	nil	0	0	0.00
VBD_pump_during_apogee	213	951	4976.15	nil	0	0	0.00
VBD_pump_during_surface	102	518	1302.51	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	9753	86	20582.37
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	37	0	0.00
TT8	0	0	0.00
LPSleep	7757	2	178.37
TT8_Active	447	19	93.14
TT8_Sampling	1537	39	642.51
TT8_CF8	47	45	22.97
TT8_Kalman	33	0	0.00
Analog_circuits	1189	12	149.87
GPS_charging	0	0	0.00
Compass	1004	15	158.28
RAFOS	0	0	0.00
Transponder	0	5	0.05

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-0.83	-63.0	0.0	0.0	0	106	0.00	0.00	-80.47	0.000	6	0.000	0.000	166	2415	2995	0	0	0	0	0	0
108	-0.92	-130.8	2.1	-2.8	14	132	11.57	2.45	-6.15	0.000	4	0.258	0.054	2861	811	3272	0	0	0	0	0	0
360	-0.92	-130.8	50.6	-17.3	45	368	0.00	2.45	0.00	0.000	6	0.000	0.043	2851	2388	3273	0	0	0	0	0	0
552	-0.92	-130.8	83.3	-16.8	64	553	0.00	0.00	0.00	0.000	6	0.000	0.000	2851	2385	3275	0	0	0	0	0	0
757	-0.92	-130.8	115.0	-15.1	78	765	0.00	2.15	0.00	0.000	4	0.000	0.055	2840	3774	3274	0	0	0	0	0	0
881	-0.92	-130.8	135.4	-16.7	82	889	0.00	2.05	0.00	0.000	6	0.000	0.034	2845	2389	3274	0	0	0	0	0	0
1219	-0.92	-130.8	186.1	-14.6	93	1227	0.00	2.15	0.00	0.000	4	0.000	0.056	2836	3777	3274	0	0	0	0	0	0
1240	-0.92	-130.8	189.8	-16.4	93	1251	0.00	2.05	0.00	0.000	6	0.000	0.034	2836	2387	3272	0	0	0	0	0	0
1550	-0.92	-130.8	232.0	-13.2	104	1557	0.00	2.35	0.00	0.000	4	0.000	0.041	2836	818	3275	0	0	0	0	0	0
1609	-0.92	-130.8	239.8	-12.2	106	1617	0.15	2.42	0.00	0.000	6	0.191	0.044	2860	2406	3273	0	0	0	0	0	0
1941	-0.92	-130.8	276.6	-11.0	117	1948	0.00	2.12	0.00	0.000	4	0.000	0.057	2851	3778	3273	0	0	0	0	0	0
1962	-0.92	-130.8	279.1	-11.2	117	1972	0.00	2.05	0.00	0.000	6	0.000	0.034	2851	2391	3273	0	0	0	0	0	0
2270	-0.92	-130.8	314.4	-11.5	126	2276	0.00	0.00	0.00	0.000	6	0.000	0.000	2851	2393	3272	0	0	0	0	0	0
2572	-0.92	-130.8	346.8	-10.7	131	2580	0.00	2.15	0.00	0.000	4	0.000	0.058	2841	3778	3270	0	0	0	0	0	0
2642	-0.92	-130.8	355.0	-11.1	132	2650	0.00	2.05	0.00	0.000	6	0.000	0.036	2841	2396	3270	0	0	0	0	0	0
2992	-0.92	-130.8	395.1	-11.5	138	3000	0.00	2.38	0.00	0.000	4	0.000	0.042	2840	818	3268	0	0	0	0	0	0
3046	-0.92	-130.8	401.5	-11.6	138	3057	0.12	2.45	0.00	0.000	6	0.190	0.046	2858	2408	3267	0	0	0	0	0	0
3353	-0.92	-130.8	434.6	-10.8	144	3361	0.00	2.15	0.00	0.000	4	0.000	0.060	2850	3781	3267	0	0	0	0	0	0
3418	-0.92	-130.8	442.0	-11.6	145	3425	0.00	2.05	0.00	0.000	6	0.000	0.037	2849	2404	3266	0	0	0	0	0	0
3779	-0.92	-130.8	481.9	-11.1	151	3787	0.00	2.20	0.00	0.000	4	0.000	0.061	2839	3778	3264	0	0	0	0	0	0
3827	-0.92	-130.8	487.7	-12.0	151	3835	0.00	2.08	0.00	0.000	6	0.000	0.037	2839	2388	3263	0	0	0	0	0	0
4135	-0.92	-130.8	521.4	-10.8	156	4141	0.00	0.00	0.00	0.000	6	0.000	0.000	2839	2387	3261	0	0	0	0	0	0
4436	-0.92	-130.8	554.4	-11.0	161	4444	0.00	2.20	0.00	0.000	4	0.000	0.062	2829	3777	3260	0	0	0	0	0	0
4522	-0.92	-130.8	564.4	-11.5	162	4531	0.12	2.05	0.00	0.000	6	0.198	0.037	2857	2402	3262	0	0	0	0	0	0
4857	-0.92	-134.0	597.3	-9.7	168	4863	0.00	0.00	0.00	0.000	6	0.000	0.000	2857	2402	3258	0	0	0	0	0	0
5159	-0.93	-138.0	625.9	-9.6	173	5167	0.00	2.20	0.00	0.000	4	0.000	0.063	2849	3781	3256	0	0	0	0	0	0
5213	-0.93	-138.0	631.8	-11.4	173	5224	0.00	2.08	0.00	0.000	6	0.000	0.039	2848	2399	3256	0	0	0	0	0	0
5520	end dive: TARGET_DEPTH_EXCEEDED
state	5520	begin apogee
5523	-0.14	0.0	661.7	9.7	179	5631	0.90	0.00	100.68	0.952	6	0.164	0.000	3110	2589	2738	0	0	0	0	0	0
5631	end apogee: CONTROL_FINISHED_OK
state	5631	begin climb
5632	0.93	138.0	662.7	0.0	180	5760	0.98	2.60	112.75	0.933	4	0.075	0.043	3474	1012	2175	0	0	0	0	0	0
5795	0.93	138.0	641.0	19.4	182	5803	0.00	2.55	0.00	0.000	6	0.000	0.047	3465	2585	2168	0	0	0	0	0	0
6120	0.93	138.0	577.4	19.7	188	6128	0.00	2.45	0.00	0.000	4	0.000	0.043	3474	1003	2165	0	0	0	0	0	0
6244	0.93	138.0	553.8	18.3	190	6252	0.00	2.47	0.00	0.000	6	0.000	0.048	3466	2589	2161	0	0	0	0	0	0
6606	0.93	138.0	484.7	19.1	196	6614	0.00	2.45	0.00	0.000	4	0.000	0.044	3475	1001	2160	0	0	0	0	0	0
6708	0.93	138.0	465.8	19.0	197	6716	0.00	2.45	0.00	0.000	6	0.000	0.047	3466	2582	2158	0	0	0	0	0	0
7026	0.93	138.0	405.9	18.9	203	7034	0.00	2.42	0.00	0.000	4	0.000	0.043	3476	1003	2157	0	0	0	0	0	0
7102	0.93	138.0	391.9	18.2	204	7110	0.00	2.47	0.00	0.000	6	0.000	0.047	3466	2590	2156	0	0	0	0	0	0
7447	0.93	138.0	328.1	18.4	210	7455	0.00	2.42	0.00	0.000	4	0.000	0.042	3475	994	2156	0	0	0	0	0	0
7598	0.93	138.0	302.0	17.5	212	7606	0.00	2.47	0.00	0.000	6	0.000	0.047	3466	2582	2154	0	0	0	0	0	0
7934	0.93	138.0	240.9	18.4	223	7942	0.00	2.40	0.00	0.000	4	0.000	0.041	3476	987	2155	0	0	0	0	0	0
8031	0.93	138.0	223.9	16.5	226	8039	0.00	2.47	0.00	0.000	6	0.000	0.047	3466	2583	2154	0	0	0	0	0	0
8357	0.93	138.0	169.1	16.3	237	8364	0.00	2.40	0.00	0.000	4	0.000	0.041	3476	992	2154	0	0	0	0	0	0
8582	0.93	138.0	135.0	15.3	244	8590	0.00	2.45	0.00	0.000	6	0.000	0.045	3466	2582	2153	0	0	0	0	0	0
8895	0.93	138.0	88.9	14.0	259	8899	0.00	1.90	0.00	0.000	4	0.000	0.057	3470	3783	2152	0	0	0	0	0	0
8920	0.93	138.0	84.9	15.3	261	8928	0.00	1.83	0.00	0.000	6	0.000	0.034	3472	2571	2154	0	0	0	0	0	0
9111	0.93	138.0	58.1	12.6	280	9112	0.00	0.00	0.00	0.000	6	0.000	0.000	3472	2576	2154	0	0	0	0	0	0
9297	0.93	138.0	35.2	12.2	298	9303	0.00	1.92	0.00	0.000	4	0.000	0.055	3473	3775	2155	0	0	0	0	0	0
9404	0.93	138.0	21.0	13.6	308	9409	0.00	1.80	0.00	0.000	6	0.000	0.034	3481	2578	2157	0	0	0	0	0	0
9585	end climb: SURFACE_DEPTH_REACHED
state	9585	begin surface coast
9606	end surface coast: CONTROL_FINISHED_OK
state	9606	begin surface