Glider dive log

AUTEC Jun10 * SG179 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 179 ESCAPE_HEADING 0 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

DIVE 5 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

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 900 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 62 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 350 R_STBD_OVSHOOT 38 INT_PRESSURE_YINT -0.69999999

D_NO_BLEED 200 N_FILEKB 8 ROLL_AD_RATE 350 DEEPGLIDER 0

D_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 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 460 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 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 -11678.151 CF8_MAXERRORS 20 PHONE_DEVICE 48

USE_BATHY 0 T_RSLEEP 3 AH0_24V 150 GPS_DEVICE 32

USE_ICE 0 STROBE 0 AH0_10V 100 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 147 FG_AHR_24V 0 SEABIRD_T_G 0.0043333764

APOGEE_PITCH -5 PITCH_MAX 3923 PHONE_SUPPLY 2 SEABIRD_T_H 0.0006255582

MAX_BUOY 275 C_PITCH 3145 PRESSURE_YINT -38.488777 SEABIRD_T_I 2.4443518e-05

COURSE_BIAS 0 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001164844 SEABIRD_T_J 2.7040428e-06

GLIDE_SLOPE 30 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -10.032231

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1531334

RHO 1.0275 PITCH_GAIN 36 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012400629

MASS 51749 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_J 0.00018751388

NAV_MODE 1 PITCH_AD_RATE 165 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 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 165 ALTIM_TOP_MIN_OBSTACLE 1 PA_RESTARTMONITOR 0.0

HD_C 9.9999997e-06 ROLL_MAX 3681 ALTIM_PING_DEPTH 80 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 2.7040428e-06

AH0_10V 100 D_PITCH 0 PA_POWERSOURCE 0.0 SIM_PITCH 0

AH0_24V 150 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 900 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 80 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 5 FG_AHR_10V 0 PITCH_AD_RATE 165 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 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 3923 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 147 T_ABORT 1440

CALL_TRIES 5 HD_B 0.0099999998 PITCH_TIMEOUT 18 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 0.0001164844 T_GPS 15

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -38.488777 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAPDBG 0 P_OVSHOOT 0.039999999 T_GPS_CHARGE -11678.151

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 ID 179 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 -0.69999999 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_TURN 225

C_PITCH 3145 KERMIT 0 RHO 1.0275 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2200 LOGGERDEVICE1 69 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2250 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 51749 ROLL_MAX 3681 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MAX_BUOY 275 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 ROLL_MIN 165 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE5 -1 MISSION 5 R_PORT_OVSHOOT 62 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 38 VBD_MIN 460

DIVE 5 NAV_MODE 1 SEABIRD_C_G -10.032231 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 N_FILEKB 8 SEABIRD_C_H 1.1531334 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 N_GPS 20 SEABIRD_C_I -0.0012400629 VBD_TIMEOUT 720

D_CALL 0 N_NOCOMM 1 SEABIRD_C_J 0.00018751388 XPDR_DEVICE 24

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_G 0.0043333764 XPDR_INHIBIT 90

D_FLARE 3 PA_MAXOPTIONALUPLOADSIZE 61440.0 SEABIRD_T_H 0.0006255582 XPDR_VALID 6

D_NO_BLEED 200 PA_MAXUPLOADSIZE 40960.0 SEABIRD_T_I 2.4443518e-05

Pre-dive calculations and measurements:

GPS1 070610,233427,2440.794,-7732.639,184,4.2,203,-7.2 TGT_NAME H4E10

_CALLS 1 TGT_LATLONG 2441.300,-7727.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.385,0.063

_SM_DEPTHo 1.39 KALMAN_X -159.3,18.7,-154.4,6278.4,-3.2

_SM_ANGLEo -77.5 KALMAN_Y -1129.8,-241.6,117.2,358.5,-275.0

GPS2 070610,234146,2440.764,-7732.626,13,3.9,32,-7.2 MHEAD_RNG_PITCHd_Wd 87.9,9519,-18.1,-15.000

SPEED_LIMITS 0.260,0.390 D_GRID 900

Post-dive calculations and measurements:

FINISH 0.6,0.997076 PA_USBA 100.0/0/0

SM_CCo 12464,8.90,0.400,0,0,1315,350.04 PA_HOME 12.0/482055/424270

SM_GC 2.71,0.00,0.00,8.90,0.000,0.000,0.400,144,2249,1315,-9.38,-0.03,350.04 PA_ROOT 80.3/126931/24988

IRIDIUM_FIX 2432.32,-7736.76,011211,141454 PA_LOG 4.2/298663/286260

TT8_MAMPS 0.12733 PA_DATA1 10.7/7837685/6998201

HUMID 1078182571 PA_DATA0 12.0/7836665/6893185

INTERNAL_PRESSURE 8.84138 _24V_AH 24.0,7.373

TCM_TEMP 24.70 _10V_AH 10.4,4.280

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 355072

PA_BOOTCOUNT 15 DATA_FILE_SIZE 13488,352

PA_DFQS 0/0 CAP_FILE_SIZE 133011,0

PA_CMQS 110/108 CFSIZE 260165632,256929792

PA_USBDRIVE None ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0

PA_USBB 100.0/0/0 GPS 080610,031206,2440.840,-7730.209,82,1.8,87,-7.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 272 159.65 SBE_CT 235 24 135.38

Roll_motor 127 55 171.12 nil 0 0 0.00

VBD_pump_during_apogee 504 1044 12642.71 nil 0 0 0.00

VBD_pump_during_surface 8 400 85.46 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 0 0.00 nil 0 0 0.00

Iridium_during_connect 26 0 0.00 PAAM 13205 83 26539.80

Iridium_during_xfer 226 0 0.00 nil 0 0 0.00

Transponder_ping 41 420 413.28 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 0 0.00

TT8 0 0 0.00

LPSleep 9907 2 225.65

TT8_Active 593 19 122.22

TT8_Sampling 2314 39 958.13

TT8_CF8 87 45 41.64

TT8_Kalman 33 0 0.00

Analog_circuits 1565 12 195.43

GPS_charging 0 0 0.00

Compass 1181 15 184.30

RAFOS 0 0 0.00

Transponder 253 30 79.15

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

16 -0.83 -267.6 0.0 0.0 0 82 0.00 0.00 -59.75 0.000 2 0.000 0.000 148 2210 3012 0 0 0 0 0 0

84 -0.83 -267.6 3.5 -6.5 9 114 12.52 0.00 -14.38 0.000 6 0.272 0.000 2861 2210 3833 0 0 0 0 0 0

180 -0.83 -267.6 32.7 -22.3 22 184 0.00 2.30 0.00 0.000 4 0.000 0.033 2861 688 3834 0 0 0 0 0 0

206 -0.83 -267.6 38.3 -20.5 24 214 0.00 2.40 0.00 0.000 6 0.000 0.034 2852 2248 3831 0 0 0 0 0 0

397 -0.83 -267.6 77.7 -20.1 43 402 0.00 2.17 0.00 0.000 4 0.000 0.047 2841 3669 3832 0 0 0 0 0 0

462 -0.83 -267.6 90.3 -18.8 49 466 0.00 2.10 0.00 0.000 6 0.000 0.028 2841 2259 3834 0 0 0 0 0 0

666 -0.83 -267.6 130.6 -19.9 59 671 0.12 0.00 0.00 0.000 6 0.175 0.000 2872 2257 3837 0 0 0 0 0 0

969 -0.83 -267.6 180.7 -16.0 69 978 0.00 2.15 0.00 0.000 4 0.000 0.047 2864 3679 3835 0 0 0 0 0 0

1013 -0.83 -267.6 188.1 -16.8 70 1020 0.00 2.08 0.00 0.000 6 0.000 0.029 2864 2245 3834 0 0 0 0 0 0

1338 -0.83 -267.6 239.2 -15.3 81 1346 0.00 2.20 0.00 0.000 4 0.000 0.047 2853 3687 3835 0 0 0 0 0 0

1392 -0.83 -267.6 247.1 -14.3 82 1403 0.00 2.10 0.00 0.000 6 0.000 0.028 2853 2241 3835 0 0 0 0 0 0

1702 -0.83 -267.6 293.4 -14.9 93 1710 0.00 2.20 0.00 0.000 4 0.000 0.048 2842 3679 3835 0 0 0 0 0 0

1762 -0.83 -267.6 302.7 -14.9 95 1770 0.12 2.05 0.00 0.000 6 0.169 0.029 2874 2244 3837 0 0 0 0 0 0

2124 -0.83 -267.6 347.6 -12.4 101 2133 0.00 2.20 0.00 0.000 4 0.000 0.049 2865 3686 3837 0 0 0 0 0 0

2190 -0.83 -267.6 355.7 -11.8 102 2198 0.00 2.08 0.00 0.000 6 0.000 0.030 2865 2251 3834 0 0 0 0 0 0

2558 -0.83 -267.6 403.8 -13.3 108 2566 0.00 2.20 0.00 0.000 4 0.000 0.050 2854 3685 3833 0 0 0 0 0 0

2639 -0.83 -267.6 414.8 -12.9 109 2648 0.00 2.10 0.00 0.000 6 0.000 0.030 2855 2242 3833 0 0 0 0 0 0

2992 -0.83 -267.6 461.9 -13.4 115 3000 0.00 2.20 0.00 0.000 4 0.000 0.049 2844 3686 3831 0 0 0 0 0 0

3068 -0.83 -267.6 472.4 -13.2 116 3076 0.12 2.10 0.00 0.000 6 0.170 0.031 2876 2243 3831 0 0 0 0 0 0

3425 -0.83 -267.6 513.0 -11.3 122 3433 0.00 2.20 0.00 0.000 4 0.000 0.050 2867 3675 3829 0 0 0 0 0 0

3506 -0.83 -267.6 522.5 -11.6 123 3514 0.00 2.05 0.00 0.000 6 0.000 0.031 2867 2252 3829 0 0 0 0 0 0

3852 -0.83 -267.6 562.0 -11.4 129 3863 0.00 2.17 0.00 0.000 4 0.000 0.050 2856 3680 3827 0 0 0 0 0 0

3936 -0.83 -267.6 571.8 -11.6 130 3944 0.00 2.08 0.00 0.000 6 0.000 0.031 2857 2242 3827 0 0 0 0 0 0

4282 -0.83 -267.6 612.3 -11.7 136 4290 0.00 2.22 0.00 0.000 4 0.000 0.050 2846 3685 3825 0 0 0 0 0 0

4374 -0.83 -267.6 624.0 -12.5 137 4382 0.12 2.10 0.00 0.000 6 0.173 0.031 2877 2243 3825 0 0 0 0 0 0

4716 -0.83 -267.6 658.8 -10.1 143 4724 0.00 2.17 0.00 0.000 4 0.000 0.051 2869 3675 3823 0 0 0 0 0 0

4776 -0.83 -267.6 665.2 -10.0 143 4787 0.00 2.08 0.00 0.000 6 0.000 0.031 2869 2251 3823 0 0 0 0 0 0

5084 -0.83 -267.6 697.3 -10.4 149 5093 0.00 2.22 0.00 0.000 4 0.000 0.053 2858 3676 3821 0 0 0 0 0 0

5156 -0.83 -267.6 705.1 -10.7 150 5164 0.00 2.08 0.00 0.000 6 0.000 0.033 2858 2249 3822 0 0 0 0 0 0

5518 -0.83 -267.6 744.2 -10.7 156 5527 0.00 2.20 0.00 0.000 4 0.000 0.054 2848 3678 3820 0 0 0 0 0 0

5626 -0.83 -267.6 756.1 -10.8 157 5635 0.00 2.08 0.00 0.000 6 0.000 0.032 2848 2251 3815 0 0 0 0 0 0

5946 -0.83 -267.6 792.3 -11.5 163 5955 0.00 2.20 0.00 0.000 4 0.000 0.054 2837 3673 3815 0 0 0 0 0 0

6013 -0.83 -267.6 800.1 -11.6 164 6021 0.15 2.10 0.00 0.000 6 0.169 0.033 2877 2244 3815 0 0 0 0 0 0

6381 -0.83 -267.6 835.3 -9.6 170 6389 0.00 2.22 0.00 0.000 4 0.000 0.054 2868 3676 3810 0 0 0 0 0 0

6462 -0.83 -267.6 843.5 -9.7 171 6469 0.00 2.08 0.00 0.000 6 0.000 0.034 2868 2250 3811 0 0 0 0 0 0

6808 -0.83 -267.6 876.9 -9.6 177 6819 0.00 2.20 0.00 0.000 4 0.000 0.056 2858 3673 3809 0 0 0 0 0 0

6907 -0.83 -267.6 887.0 -10.0 178 6915 0.00 2.08 0.00 0.000 6 0.000 0.034 2858 2251 3809 0 0 0 0 0 0

7055 end dive: TARGET_DEPTH_EXCEEDED

state 7055 begin apogee

7058 -0.14 0.0 902.0 10.2 181 7284 0.77 0.00 218.93 1.045 6 0.137 0.000 3101 2247 2737 0 0 0 0 0 0

7285 end apogee: CONTROL_FINISHED_OK

state 7285 begin climb

7286 0.83 267.6 912.3 0.0 184 7527 0.88 2.62 229.25 1.034 4 0.067 0.042 3426 641 1645 0 0 0 0 0 0

7621 0.83 267.6 879.4 18.9 189 7629 0.00 2.47 0.00 0.000 6 0.000 0.037 3426 2207 1639 0 0 0 0 0 0

7956 0.83 267.6 814.8 19.6 195 7965 0.00 2.30 0.00 0.000 4 0.000 0.052 3426 3672 1635 0 0 0 0 0 0

8053 0.83 267.6 793.3 21.9 196 8061 0.00 2.20 0.00 0.000 6 0.000 0.034 3436 2206 1635 0 0 0 0 0 0

8377 0.83 267.6 728.8 19.8 202 8385 0.00 2.30 0.00 0.000 4 0.000 0.053 3437 3672 1634 0 0 0 0 0 0

8420 0.83 267.6 719.5 22.8 202 8428 0.12 2.22 0.00 0.000 6 0.230 0.034 3421 2193 1633 0 0 0 0 0 0

8733 0.83 267.6 661.8 18.2 208 8741 0.00 2.33 0.00 0.000 4 0.000 0.052 3420 3674 1633 0 0 0 0 0 0

8777 0.83 267.6 653.0 21.8 208 8784 0.00 2.20 0.00 0.000 6 0.000 0.034 3429 2192 1630 0 0 0 0 0 0

9090 0.83 267.6 592.4 19.3 214 9098 0.00 2.33 0.00 0.000 4 0.000 0.051 3431 3677 1631 0 0 0 0 0 0

9127 0.83 267.6 584.9 20.1 214 9135 0.00 2.20 0.00 0.000 6 0.000 0.034 3441 2190 1629 0 0 0 0 0 0

9446 0.83 267.6 521.9 19.8 220 9454 0.00 2.33 0.00 0.000 4 0.000 0.052 3441 3682 1631 0 0 0 0 0 0

9484 0.83 267.6 513.7 21.8 220 9492 0.15 2.20 0.00 0.000 6 0.226 0.032 3420 2203 1631 0 0 0 0 0 0

9803 0.83 267.6 456.0 17.8 226 9809 0.00 0.00 0.00 0.000 6 0.000 0.000 3420 2204 1630 0 0 0 0 0 0

10104 0.83 267.6 400.5 18.4 231 10113 0.00 2.30 0.00 0.000 4 0.000 0.050 3420 3683 1631 0 0 0 0 0 0

10212 0.83 267.6 379.1 20.3 232 10221 0.00 2.17 0.00 0.000 6 0.000 0.031 3429 2196 1630 0 0 0 0 0 0

10526 0.83 267.6 319.1 19.1 238 10534 0.00 2.30 0.00 0.000 4 0.000 0.049 3429 3683 1630 0 0 0 0 0 0

10558 0.83 267.6 312.5 20.2 238 10567 0.00 2.20 0.00 0.000 6 0.000 0.031 3439 2193 1630 0 0 0 0 0 0

10884 0.83 267.6 248.5 19.7 248 10892 0.00 2.28 0.00 0.000 4 0.000 0.047 3440 3674 1630 0 0 0 0 0 0

10927 0.83 267.6 239.8 21.0 249 10935 0.15 2.17 0.00 0.000 6 0.216 0.031 3418 2193 1631 0 0 0 0 0 0

11253 0.83 267.6 185.2 15.9 260 11261 0.00 2.30 0.00 0.000 4 0.000 0.047 3418 3681 1630 0 0 0 0 0 0

11301 0.83 267.6 176.8 17.7 261 11309 0.00 2.17 0.00 0.000 6 0.000 0.029 3427 2196 1630 0 0 0 0 0 0

11613 0.83 267.6 127.3 16.2 271 11622 0.00 2.28 0.00 0.000 4 0.000 0.047 3427 3681 1631 0 0 0 0 0 0

11673 0.83 267.6 116.5 16.8 272 11684 0.00 2.17 0.00 0.000 6 0.000 0.029 3438 2196 1630 0 0 0 0 0 0

11987 0.83 267.6 65.5 15.4 295 11988 0.00 0.00 0.00 0.000 6 0.000 0.000 3438 2196 1628 0 0 0 0 0 0

12173 0.86 287.6 37.5 14.2 313 12190 0.00 0.00 15.30 0.455 6 0.000 0.000 3438 2196 1565 0 0 0 0 0 0

12372 0.92 338.2 9.5 13.1 339 12421 0.00 2.33 40.62 0.451 4 0.000 0.045 3438 3672 1358 0 0 0 0 0 0

12428 end climb: SURFACE_DEPTH_REACHED

state 12428 begin surface coast

12446 end surface coast: CONTROL_FINISHED_OK

state 12446 begin surface

ID	179	ESCAPE_HEADING	0	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
DIVE	5	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
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	900	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	62	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	350	R_STBD_OVSHOOT	38	INT_PRESSURE_YINT	-0.69999999
D_NO_BLEED	200	N_FILEKB	8	ROLL_AD_RATE	350	DEEPGLIDER	0
D_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	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	460	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	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	-11678.151	CF8_MAXERRORS	20	PHONE_DEVICE	48
USE_BATHY	0	T_RSLEEP	3	AH0_24V	150	GPS_DEVICE	32
USE_ICE	0	STROBE	0	AH0_10V	100	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	147	FG_AHR_24V	0	SEABIRD_T_G	0.0043333764
APOGEE_PITCH	-5	PITCH_MAX	3923	PHONE_SUPPLY	2	SEABIRD_T_H	0.0006255582
MAX_BUOY	275	C_PITCH	3145	PRESSURE_YINT	-38.488777	SEABIRD_T_I	2.4443518e-05
COURSE_BIAS	0	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001164844	SEABIRD_T_J	2.7040428e-06
GLIDE_SLOPE	30	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-10.032231
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1531334
RHO	1.0275	PITCH_GAIN	36	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012400629
MASS	51749	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_J	0.00018751388
NAV_MODE	1	PITCH_AD_RATE	165	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	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	165	ALTIM_TOP_MIN_OBSTACLE	1	PA_RESTARTMONITOR	0.0
HD_C	9.9999997e-06	ROLL_MAX	3681	ALTIM_PING_DEPTH	80	PA_SCALEFACTOR24V	1.3
HEADING	-1	ROLL_DEG	45	ALTIM_PING_DELTA	5

GPS1	070610,233427,2440.794,-7732.639,184,4.2,203,-7.2	TGT_NAME	H4E10
_CALLS	1	TGT_LATLONG	2441.300,-7727.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.385,0.063
_SM_DEPTHo	1.39	KALMAN_X	-159.3,18.7,-154.4,6278.4,-3.2
_SM_ANGLEo	-77.5	KALMAN_Y	-1129.8,-241.6,117.2,358.5,-275.0
GPS2	070610,234146,2440.764,-7732.626,13,3.9,32,-7.2	MHEAD_RNG_PITCHd_Wd	87.9,9519,-18.1,-15.000
SPEED_LIMITS	0.260,0.390	D_GRID	900

FINISH	0.6,0.997076	PA_USBA	100.0/0/0
SM_CCo	12464,8.90,0.400,0,0,1315,350.04	PA_HOME	12.0/482055/424270
SM_GC	2.71,0.00,0.00,8.90,0.000,0.000,0.400,144,2249,1315,-9.38,-0.03,350.04	PA_ROOT	80.3/126931/24988
IRIDIUM_FIX	2432.32,-7736.76,011211,141454	PA_LOG	4.2/298663/286260
TT8_MAMPS	0.12733	PA_DATA1	10.7/7837685/6998201
HUMID	1078182571	PA_DATA0	12.0/7836665/6893185
INTERNAL_PRESSURE	8.84138	_24V_AH	24.0,7.373
TCM_TEMP	24.70	_10V_AH	10.4,4.280
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	355072
PA_BOOTCOUNT	15	DATA_FILE_SIZE	13488,352
PA_DFQS	0/0	CAP_FILE_SIZE	133011,0
PA_CMQS	110/108	CFSIZE	260165632,256929792
PA_USBDRIVE	None	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_USBB	100.0/0/0	GPS	080610,031206,2440.840,-7730.209,82,1.8,87,-7.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	272	159.65	SBE_CT	235	24	135.38
Roll_motor	127	55	171.12	nil	0	0	0.00
VBD_pump_during_apogee	504	1044	12642.71	nil	0	0	0.00
VBD_pump_during_surface	8	400	85.46	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	0	0.00	nil	0	0	0.00
Iridium_during_connect	26	0	0.00	PAAM	13205	83	26539.80
Iridium_during_xfer	226	0	0.00	nil	0	0	0.00
Transponder_ping	41	420	413.28	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	0	0.00
TT8	0	0	0.00
LPSleep	9907	2	225.65
TT8_Active	593	19	122.22
TT8_Sampling	2314	39	958.13
TT8_CF8	87	45	41.64
TT8_Kalman	33	0	0.00
Analog_circuits	1565	12	195.43
GPS_charging	0	0	0.00
Compass	1181	15	184.30
RAFOS	0	0	0.00
Transponder	253	30	79.15

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
16	-0.83	-267.6	0.0	0.0	0	82	0.00	0.00	-59.75	0.000	2	0.000	0.000	148	2210	3012	0	0	0	0	0	0
84	-0.83	-267.6	3.5	-6.5	9	114	12.52	0.00	-14.38	0.000	6	0.272	0.000	2861	2210	3833	0	0	0	0	0	0
180	-0.83	-267.6	32.7	-22.3	22	184	0.00	2.30	0.00	0.000	4	0.000	0.033	2861	688	3834	0	0	0	0	0	0
206	-0.83	-267.6	38.3	-20.5	24	214	0.00	2.40	0.00	0.000	6	0.000	0.034	2852	2248	3831	0	0	0	0	0	0
397	-0.83	-267.6	77.7	-20.1	43	402	0.00	2.17	0.00	0.000	4	0.000	0.047	2841	3669	3832	0	0	0	0	0	0
462	-0.83	-267.6	90.3	-18.8	49	466	0.00	2.10	0.00	0.000	6	0.000	0.028	2841	2259	3834	0	0	0	0	0	0
666	-0.83	-267.6	130.6	-19.9	59	671	0.12	0.00	0.00	0.000	6	0.175	0.000	2872	2257	3837	0	0	0	0	0	0
969	-0.83	-267.6	180.7	-16.0	69	978	0.00	2.15	0.00	0.000	4	0.000	0.047	2864	3679	3835	0	0	0	0	0	0
1013	-0.83	-267.6	188.1	-16.8	70	1020	0.00	2.08	0.00	0.000	6	0.000	0.029	2864	2245	3834	0	0	0	0	0	0
1338	-0.83	-267.6	239.2	-15.3	81	1346	0.00	2.20	0.00	0.000	4	0.000	0.047	2853	3687	3835	0	0	0	0	0	0
1392	-0.83	-267.6	247.1	-14.3	82	1403	0.00	2.10	0.00	0.000	6	0.000	0.028	2853	2241	3835	0	0	0	0	0	0
1702	-0.83	-267.6	293.4	-14.9	93	1710	0.00	2.20	0.00	0.000	4	0.000	0.048	2842	3679	3835	0	0	0	0	0	0
1762	-0.83	-267.6	302.7	-14.9	95	1770	0.12	2.05	0.00	0.000	6	0.169	0.029	2874	2244	3837	0	0	0	0	0	0
2124	-0.83	-267.6	347.6	-12.4	101	2133	0.00	2.20	0.00	0.000	4	0.000	0.049	2865	3686	3837	0	0	0	0	0	0
2190	-0.83	-267.6	355.7	-11.8	102	2198	0.00	2.08	0.00	0.000	6	0.000	0.030	2865	2251	3834	0	0	0	0	0	0
2558	-0.83	-267.6	403.8	-13.3	108	2566	0.00	2.20	0.00	0.000	4	0.000	0.050	2854	3685	3833	0	0	0	0	0	0
2639	-0.83	-267.6	414.8	-12.9	109	2648	0.00	2.10	0.00	0.000	6	0.000	0.030	2855	2242	3833	0	0	0	0	0	0
2992	-0.83	-267.6	461.9	-13.4	115	3000	0.00	2.20	0.00	0.000	4	0.000	0.049	2844	3686	3831	0	0	0	0	0	0
3068	-0.83	-267.6	472.4	-13.2	116	3076	0.12	2.10	0.00	0.000	6	0.170	0.031	2876	2243	3831	0	0	0	0	0	0
3425	-0.83	-267.6	513.0	-11.3	122	3433	0.00	2.20	0.00	0.000	4	0.000	0.050	2867	3675	3829	0	0	0	0	0	0
3506	-0.83	-267.6	522.5	-11.6	123	3514	0.00	2.05	0.00	0.000	6	0.000	0.031	2867	2252	3829	0	0	0	0	0	0
3852	-0.83	-267.6	562.0	-11.4	129	3863	0.00	2.17	0.00	0.000	4	0.000	0.050	2856	3680	3827	0	0	0	0	0	0
3936	-0.83	-267.6	571.8	-11.6	130	3944	0.00	2.08	0.00	0.000	6	0.000	0.031	2857	2242	3827	0	0	0	0	0	0
4282	-0.83	-267.6	612.3	-11.7	136	4290	0.00	2.22	0.00	0.000	4	0.000	0.050	2846	3685	3825	0	0	0	0	0	0
4374	-0.83	-267.6	624.0	-12.5	137	4382	0.12	2.10	0.00	0.000	6	0.173	0.031	2877	2243	3825	0	0	0	0	0	0
4716	-0.83	-267.6	658.8	-10.1	143	4724	0.00	2.17	0.00	0.000	4	0.000	0.051	2869	3675	3823	0	0	0	0	0	0
4776	-0.83	-267.6	665.2	-10.0	143	4787	0.00	2.08	0.00	0.000	6	0.000	0.031	2869	2251	3823	0	0	0	0	0	0
5084	-0.83	-267.6	697.3	-10.4	149	5093	0.00	2.22	0.00	0.000	4	0.000	0.053	2858	3676	3821	0	0	0	0	0	0
5156	-0.83	-267.6	705.1	-10.7	150	5164	0.00	2.08	0.00	0.000	6	0.000	0.033	2858	2249	3822	0	0	0	0	0	0
5518	-0.83	-267.6	744.2	-10.7	156	5527	0.00	2.20	0.00	0.000	4	0.000	0.054	2848	3678	3820	0	0	0	0	0	0
5626	-0.83	-267.6	756.1	-10.8	157	5635	0.00	2.08	0.00	0.000	6	0.000	0.032	2848	2251	3815	0	0	0	0	0	0
5946	-0.83	-267.6	792.3	-11.5	163	5955	0.00	2.20	0.00	0.000	4	0.000	0.054	2837	3673	3815	0	0	0	0	0	0
6013	-0.83	-267.6	800.1	-11.6	164	6021	0.15	2.10	0.00	0.000	6	0.169	0.033	2877	2244	3815	0	0	0	0	0	0
6381	-0.83	-267.6	835.3	-9.6	170	6389	0.00	2.22	0.00	0.000	4	0.000	0.054	2868	3676	3810	0	0	0	0	0	0
6462	-0.83	-267.6	843.5	-9.7	171	6469	0.00	2.08	0.00	0.000	6	0.000	0.034	2868	2250	3811	0	0	0	0	0	0
6808	-0.83	-267.6	876.9	-9.6	177	6819	0.00	2.20	0.00	0.000	4	0.000	0.056	2858	3673	3809	0	0	0	0	0	0
6907	-0.83	-267.6	887.0	-10.0	178	6915	0.00	2.08	0.00	0.000	6	0.000	0.034	2858	2251	3809	0	0	0	0	0	0
7055	end dive: TARGET_DEPTH_EXCEEDED
state	7055	begin apogee
7058	-0.14	0.0	902.0	10.2	181	7284	0.77	0.00	218.93	1.045	6	0.137	0.000	3101	2247	2737	0	0	0	0	0	0
7285	end apogee: CONTROL_FINISHED_OK
state	7285	begin climb
7286	0.83	267.6	912.3	0.0	184	7527	0.88	2.62	229.25	1.034	4	0.067	0.042	3426	641	1645	0	0	0	0	0	0
7621	0.83	267.6	879.4	18.9	189	7629	0.00	2.47	0.00	0.000	6	0.000	0.037	3426	2207	1639	0	0	0	0	0	0
7956	0.83	267.6	814.8	19.6	195	7965	0.00	2.30	0.00	0.000	4	0.000	0.052	3426	3672	1635	0	0	0	0	0	0
8053	0.83	267.6	793.3	21.9	196	8061	0.00	2.20	0.00	0.000	6	0.000	0.034	3436	2206	1635	0	0	0	0	0	0
8377	0.83	267.6	728.8	19.8	202	8385	0.00	2.30	0.00	0.000	4	0.000	0.053	3437	3672	1634	0	0	0	0	0	0
8420	0.83	267.6	719.5	22.8	202	8428	0.12	2.22	0.00	0.000	6	0.230	0.034	3421	2193	1633	0	0	0	0	0	0
8733	0.83	267.6	661.8	18.2	208	8741	0.00	2.33	0.00	0.000	4	0.000	0.052	3420	3674	1633	0	0	0	0	0	0
8777	0.83	267.6	653.0	21.8	208	8784	0.00	2.20	0.00	0.000	6	0.000	0.034	3429	2192	1630	0	0	0	0	0	0
9090	0.83	267.6	592.4	19.3	214	9098	0.00	2.33	0.00	0.000	4	0.000	0.051	3431	3677	1631	0	0	0	0	0	0
9127	0.83	267.6	584.9	20.1	214	9135	0.00	2.20	0.00	0.000	6	0.000	0.034	3441	2190	1629	0	0	0	0	0	0
9446	0.83	267.6	521.9	19.8	220	9454	0.00	2.33	0.00	0.000	4	0.000	0.052	3441	3682	1631	0	0	0	0	0	0
9484	0.83	267.6	513.7	21.8	220	9492	0.15	2.20	0.00	0.000	6	0.226	0.032	3420	2203	1631	0	0	0	0	0	0
9803	0.83	267.6	456.0	17.8	226	9809	0.00	0.00	0.00	0.000	6	0.000	0.000	3420	2204	1630	0	0	0	0	0	0
10104	0.83	267.6	400.5	18.4	231	10113	0.00	2.30	0.00	0.000	4	0.000	0.050	3420	3683	1631	0	0	0	0	0	0
10212	0.83	267.6	379.1	20.3	232	10221	0.00	2.17	0.00	0.000	6	0.000	0.031	3429	2196	1630	0	0	0	0	0	0
10526	0.83	267.6	319.1	19.1	238	10534	0.00	2.30	0.00	0.000	4	0.000	0.049	3429	3683	1630	0	0	0	0	0	0
10558	0.83	267.6	312.5	20.2	238	10567	0.00	2.20	0.00	0.000	6	0.000	0.031	3439	2193	1630	0	0	0	0	0	0
10884	0.83	267.6	248.5	19.7	248	10892	0.00	2.28	0.00	0.000	4	0.000	0.047	3440	3674	1630	0	0	0	0	0	0
10927	0.83	267.6	239.8	21.0	249	10935	0.15	2.17	0.00	0.000	6	0.216	0.031	3418	2193	1631	0	0	0	0	0	0
11253	0.83	267.6	185.2	15.9	260	11261	0.00	2.30	0.00	0.000	4	0.000	0.047	3418	3681	1630	0	0	0	0	0	0
11301	0.83	267.6	176.8	17.7	261	11309	0.00	2.17	0.00	0.000	6	0.000	0.029	3427	2196	1630	0	0	0	0	0	0
11613	0.83	267.6	127.3	16.2	271	11622	0.00	2.28	0.00	0.000	4	0.000	0.047	3427	3681	1631	0	0	0	0	0	0
11673	0.83	267.6	116.5	16.8	272	11684	0.00	2.17	0.00	0.000	6	0.000	0.029	3438	2196	1630	0	0	0	0	0	0
11987	0.83	267.6	65.5	15.4	295	11988	0.00	0.00	0.00	0.000	6	0.000	0.000	3438	2196	1628	0	0	0	0	0	0
12173	0.86	287.6	37.5	14.2	313	12190	0.00	0.00	15.30	0.455	6	0.000	0.000	3438	2196	1565	0	0	0	0	0	0
12372	0.92	338.2	9.5	13.1	339	12421	0.00	2.33	40.62	0.451	4	0.000	0.045	3438	3672	1358	0	0	0	0	0	0
12428	end climb: SURFACE_DEPTH_REACHED
state	12428	begin surface coast
12446	end surface coast: CONTROL_FINISHED_OK
state	12446	begin surface