Glider dive log

SCORE Jan11 * SG179 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 179 HEADING -1 ROLL_DEG 45 ALTIM_PING_DELTA 5

MISSION 6 ESCAPE_HEADING 0 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

DIVE 5 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1975 ALTIM_PULSE 8

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_SURF 3 TGT_DEFAULT_LAT 32.6903 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FLARE 3 TGT_DEFAULT_LON -118.7761 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_TGT 990 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 45 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 250 R_STBD_OVSHOOT 29 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 PROTOCOL 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 2748 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 360 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 -16210.389 CF8_MAXERRORS 20 PHONE_DEVICE 48

USE_BATHY 1 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 501 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 175 C_PITCH 2840 PRESSURE_YINT -37.840191 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 45 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 26 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012400629

MASS 51729 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 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 165 ALTIM_TOP_MIN_OBSTACLE 1 PA_RESTARTMONITOR 0.0

HD_C 9.9999997e-06 ROLL_MAX 3681 ALTIM_PING_DEPTH 130 PA_SCALEFACTOR24V 1.3

AD7714Ch0Gain 128 D_OFFGRID 501 PA_OFFLOAD 1.0 SEABIRD_T_I 2.4443518e-05

AH0_10V 100 D_PITCH 0 PA_POWERSOURCE 0.0 SEABIRD_T_J 2.7040428e-06

AH0_24V 150 D_SAFE 0 PA_RESTARTMONITOR 0.0 SIM_PITCH 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PA_SCALEFACTOR24V 1.3 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PHONE_DEVICE 48 SM_CC 250

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PING_DEPTH 130 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_PULSE 8 FG_AHR_10V 0 PITCH_AD_RATE 165 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 26 TCM_ROLL_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_MAX 3923 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 32.6903

CALL_NDIVES 1 HD_A 0.003 PITCH_MIN 147 TGT_DEFAULT_LON -118.7761

CALL_TRIES 5 HD_B 0.0099999998 PITCH_TIMEOUT 18 T_ABORT 1440

CALL_WAIT 60 HD_C 9.9999997e-06 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 0

CAPMAXSIZE 100000 HEADING -1 PRESSURE_SLOPE 0.0001164844 T_DIVE 330

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -37.840191 T_GPS 15

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 0 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT 0.039999999 T_GPS_CHARGE -16210.389

COMPASS2_DEVICE -1 ID 179 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_MISSION 360

COMPASS_USE 0 INT_PRESSURE_YINT -0.69999999 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 1 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

C_PITCH 2840 LOGGERDEVICE1 69 RELAUNCH 1 T_TURN 225

C_ROLL_CLIMB 1975 LOGGERDEVICE2 -1 RHO 1.0275 T_TURN_SAMPINT 5

C_ROLL_DIVE 2200 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_VBD 2748 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

DEEPGLIDER 0 LOGGERS 1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 51729 ROLL_CNV 0.028270001 USE_BATHY 1

DEVICE1 2 MAX_BUOY 175 ROLL_DEG 45 USE_ICE 0

DEVICE2 -1 MINV_10V 8 ROLL_MAX 3681 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 19 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 6 ROLL_MIN 165 VBD_DBAND 2

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE6 -1 NAV_MODE 1 R_PORT_OVSHOOT 45 VBD_MAXERRORS 1

DIVE 5 N_DIVES 0 R_STBD_OVSHOOT 29 VBD_MIN 460

D_ABORT 1090 N_FILEKB 8 SEABIRD_C_G -10.032231 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 0 N_GPS 20 SEABIRD_C_H 1.1531334 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_NOCOMM 1 SEABIRD_C_I -0.0012400629 VBD_TIMEOUT 720

D_FINISH 0 N_NOSURFACE 0 SEABIRD_C_J 0.00018751388 XPDR_DEVICE 24

D_FLARE 3 PA_MAXOPTIONALUPLOADSIZE 20480.0 SEABIRD_T_G 0.0043333764 XPDR_INHIBIT 90

D_NO_BLEED 200 PA_MAXUPLOADSIZE 40960.0 SEABIRD_T_H 0.0006255582 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 040111,215119,3240.834,-11846.780,55,1.8,55,13.3 TGT_NAME DM1

_CALLS 1 TGT_LATLONG 3241.417,-11846.566

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.098,0.110

_SM_DEPTHo 1.68 KALMAN_X 2550.9,1177.3,-198.2,-5169.0,2288.3

_SM_ANGLEo -76.1 KALMAN_Y -553.4,419.3,-236.4,1526.6,-1053.6

GPS2 040111,215636,3240.805,-11846.791,17,1.2,33,13.3 MHEAD_RNG_PITCHd_Wd 305.1,1185,-31.7,-10.000

SPEED_LIMITS 0.100,0.278 D_GRID 1144

Post-dive calculations and measurements:

FINISH 0.8,1.002036 PA_USBA 100.0/0/0

SM_CCo 13138,62.15,0.540,0,0,1727,250.70 PA_HOME 8.9/483886/440996

SM_GC 2.01,0.00,0.00,62.15,0.000,0.000,0.540,144,2203,1727,-8.43,0.08,250.70 PA_ROOT 80.3/126931/24979

IRIDIUM_FIX 3239.07,-11842.36,040111,191939 PA_LOG 6.9/297829/277353

TT8_MAMPS 0.117593 PA_DATA1 0.1/7836665/7825417

HUMID 51.10 PA_DATA0 18.9/7836665/6356396

INTERNAL_PRESSURE 9.6129 _24V_AH 23.5,15.081

TCM_TEMP 19.70 _10V_AH 10.1,8.495

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 316492

PA_BOOTCOUNT 91 DATA_FILE_SIZE 13466,391

PA_DFQS 0/0 CAP_FILE_SIZE 132061,0

PA_CMQS 0/0 CFSIZE 260165632,256229376

PA_USBDRIVE None ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

PA_USBB 100.0/0/0 GPS 050111,013926,3241.134,-11847.418,88,2.1,108,13.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 279 154.30 SBE_CT 267 24 150.93

Roll_motor 139 74 242.48 nil 0 0 0.00

VBD_pump_during_apogee 204 1166 5597.60 nil 0 0 0.00

VBD_pump_during_surface 62 540 788.81 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 72.14 nil 0 0 0.00

Iridium_during_connect 35 160 132.15 PAAM 13613 90 29013.61

Iridium_during_xfer 146 223 765.27 nil 0 0 0.00

Transponder_ping 42 420 419.48 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 50 17.25

TT8 0 0 0.00

LPSleep 10652 2 235.63

TT8_Active 371 19 74.33

TT8_Sampling 2411 39 969.20

TT8_CF8 80 45 37.29

TT8_Kalman 33 81 27.54

Analog_circuits 1409 12 170.83

GPS_charging 0 0 0.00

Compass 1320 15 200.00

RAFOS 0 0 0.00

Transponder 271 30 82.15

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 -1.28 -47.0 0.0 0.0 0 79 0.00 0.00 -56.35 0.000 2 0.000 0.000 131 2206 2927 0 0 0 0 0 0

80 -1.32 -83.7 3.1 -4.8 10 104 10.80 2.42 -3.70 0.000 4 0.280 0.074 2402 3671 3096 0 0 0 0 0 0

343 -1.32 -83.7 77.8 -22.4 39 351 0.00 2.28 0.00 0.000 6 0.000 0.039 2396 2201 3091 0 0 0 0 0 0

538 -1.32 -83.7 122.3 -22.9 52 546 0.00 2.42 0.00 0.000 4 0.000 0.043 2398 621 3095 0 0 0 0 0 0

560 -1.32 -83.7 127.4 -22.4 52 571 0.12 2.50 0.00 0.000 6 0.208 0.047 2411 2198 3096 0 0 0 0 0 0

870 -1.32 -83.7 192.3 -21.1 63 876 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2198 3096 0 0 0 0 0 0

1174 -1.32 -83.7 254.9 -20.7 73 1183 0.00 2.45 0.00 0.000 4 0.000 0.043 2415 613 3096 0 0 0 0 0 0

1304 -1.32 -83.7 282.0 -20.8 77 1312 0.00 2.47 0.00 0.000 6 0.000 0.045 2401 2202 3097 0 0 0 0 0 0

1635 -1.32 -83.7 349.8 -20.5 84 1643 0.00 2.45 0.00 0.000 4 0.000 0.043 2401 615 3096 0 0 0 0 0 0

1663 -1.32 -83.7 356.2 -21.3 84 1672 0.00 2.47 0.00 0.000 6 0.000 0.045 2389 2200 3097 0 0 0 0 0 0

2005 -1.32 -83.7 425.4 -20.5 90 2015 0.00 2.42 0.00 0.000 4 0.000 0.042 2390 597 3095 0 0 0 0 0 0

2066 -1.32 -83.7 438.3 -19.7 90 2077 0.15 2.50 0.00 0.000 6 0.205 0.045 2406 2197 3097 0 0 0 0 0 0

2375 -1.32 -83.7 493.7 -18.1 96 2384 0.00 2.42 0.00 0.000 4 0.000 0.043 2410 618 3097 0 0 0 0 0 0

2424 -1.32 -83.7 503.0 -19.0 96 2433 0.00 2.50 0.00 0.000 6 0.000 0.045 2400 2212 3097 0 0 0 0 0 0

2739 -1.32 -83.7 559.6 -17.9 102 2748 0.00 2.45 0.00 0.000 4 0.000 0.043 2400 609 3097 0 0 0 0 0 0

2778 -1.32 -83.7 567.0 -18.7 102 2787 0.00 2.50 0.00 0.000 6 0.000 0.045 2388 2218 3096 0 0 0 0 0 0

3109 -1.32 -83.7 625.5 -17.5 108 3118 0.00 2.47 0.00 0.000 4 0.000 0.044 2388 603 3095 0 0 0 0 0 0

3158 -1.32 -83.7 634.2 -17.4 108 3167 0.15 2.50 0.00 0.000 6 0.206 0.047 2409 2200 3097 0 0 0 0 0 0

3473 -1.32 -83.7 685.7 -16.2 114 3481 0.00 2.45 0.00 0.000 4 0.000 0.044 2409 613 3097 0 0 0 0 0 0

3501 -1.32 -83.7 690.9 -18.6 114 3509 0.00 2.50 0.00 0.000 6 0.000 0.046 2399 2221 3096 0 0 0 0 0 0

3842 -1.32 -83.7 750.7 -17.4 120 3851 0.00 2.42 0.00 0.000 4 0.000 0.044 2398 622 3096 0 0 0 0 0 0

3898 -1.32 -83.7 760.5 -17.9 120 3906 0.00 2.47 0.00 0.000 6 0.000 0.047 2386 2197 3096 0 0 0 0 0 0

4205 -1.32 -83.7 814.5 -17.6 125 4216 0.00 2.42 0.00 0.000 4 0.000 0.045 2386 616 3095 0 0 0 0 0 0

4247 -1.32 -83.7 822.1 -18.5 125 4255 0.15 2.47 0.00 0.000 6 0.207 0.047 2408 2201 3095 0 0 0 0 0 0

4572 -1.32 -83.7 875.9 -16.3 131 4581 0.00 2.45 0.00 0.000 4 0.000 0.044 2408 618 3095 0 0 0 0 0 0

4664 -1.32 -83.7 891.6 -16.7 132 4672 0.00 2.50 0.00 0.000 6 0.000 0.047 2394 2210 3095 0 0 0 0 0 0

4999 -1.32 -83.7 947.0 -16.4 138 5008 0.00 2.47 0.00 0.000 4 0.000 0.046 2398 604 3095 0 0 0 0 0 0

5022 -1.32 -83.7 950.8 -15.7 138 5033 0.00 2.50 0.00 0.000 6 0.000 0.047 2386 2201 3092 0 0 0 0 0 0

5310 end dive: TARGET_DEPTH_EXCEEDED

state 5310 begin apogee

5313 -0.19 0.0 998.3 16.5 143 5398 1.38 0.00 76.32 1.167 6 0.184 0.000 2768 1961 2748 0 0 0 0 0 0

5399 end apogee: CONTROL_FINISHED_OK

state 5399 begin climb

5400 1.32 83.7 1000.7 0.0 144 5488 1.42 0.00 79.40 1.141 6 0.070 0.000 3259 1961 2405 0 0 0 0 0 0

5799 1.32 83.7 939.9 17.4 151 5807 0.00 2.62 0.00 0.000 4 0.000 0.058 3259 3564 2394 0 0 0 0 0 0

5848 1.32 83.7 930.9 19.4 151 5856 0.00 2.53 0.00 0.000 6 0.000 0.042 3270 1976 2394 0 0 0 0 0 0

6155 1.32 83.7 880.7 16.0 156 6162 0.00 0.00 0.00 0.000 6 0.000 0.000 3267 1972 2391 0 0 0 0 0 0

6457 1.32 83.7 833.6 15.6 161 6465 0.00 2.47 0.00 0.000 4 0.000 0.050 3283 396 2390 0 0 0 0 0 0

6581 1.32 83.7 813.8 16.1 163 6590 0.00 2.50 0.00 0.000 6 0.000 0.044 3283 1986 2390 0 0 0 0 0 0

6943 1.32 83.7 757.0 15.5 169 6948 0.00 0.00 0.00 0.000 6 0.000 0.000 3283 1986 2388 0 0 0 0 0 0

7245 1.32 83.7 710.8 15.2 174 7251 0.00 0.00 0.00 0.000 6 0.000 0.000 3283 1986 2388 0 0 0 0 0 0

7546 1.32 83.7 665.9 14.9 179 7555 0.00 2.53 0.00 0.000 4 0.000 0.050 3295 387 2388 0 0 0 0 0 0

7574 1.32 83.7 661.6 14.6 179 7583 0.12 2.50 0.00 0.000 6 0.233 0.044 3271 1982 2387 0 0 0 0 0 0

7904 1.32 83.7 616.9 13.2 185 7913 0.00 2.50 0.00 0.000 4 0.000 0.050 3281 388 2387 0 0 0 0 0 0

7953 1.32 83.7 610.4 13.6 185 7962 0.00 2.47 0.00 0.000 6 0.000 0.044 3281 1976 2387 0 0 0 0 0 0

8261 1.32 83.7 566.5 14.4 190 8269 0.00 2.47 0.00 0.000 4 0.000 0.050 3293 397 2387 0 0 0 0 0 0

8433 1.32 83.7 539.2 16.3 192 8441 0.00 2.47 0.00 0.000 6 0.000 0.044 3293 1981 2386 0 0 0 0 0 0

8746 1.32 83.7 490.0 15.7 198 8755 0.00 2.50 0.00 0.000 4 0.000 0.050 3305 392 2386 0 0 0 0 0 0

8902 1.32 83.7 465.4 15.2 200 8911 0.17 2.47 0.00 0.000 6 0.223 0.043 3266 1982 2386 0 0 0 0 0 0

9233 1.32 83.7 420.4 13.6 206 9241 0.00 2.50 0.00 0.000 4 0.000 0.058 3267 3566 2386 0 0 0 0 0 0

9383 1.32 83.7 397.8 15.3 208 9392 0.00 2.45 0.00 0.000 6 0.000 0.041 3277 1972 2386 0 0 0 0 0 0

9719 1.32 83.7 354.6 12.5 214 9727 0.00 2.45 0.00 0.000 4 0.000 0.050 3288 396 2386 0 0 0 0 0 0

9789 1.32 83.7 346.0 11.8 215 9797 0.00 2.45 0.00 0.000 6 0.000 0.043 3289 1980 2383 0 0 0 0 0 0

10140 1.32 83.7 303.8 11.8 221 10148 0.00 2.47 0.00 0.000 4 0.000 0.049 3300 399 2386 0 0 0 0 0 0

10162 1.32 83.7 301.2 11.7 221 10171 0.15 2.45 0.00 0.000 6 0.221 0.043 3270 1983 2386 0 0 0 0 0 0

10499 1.32 83.7 263.2 11.2 232 10508 0.00 2.50 0.00 0.000 4 0.000 0.049 3278 390 2386 0 0 0 0 0 0

10746 1.32 83.7 235.7 11.0 239 10756 0.00 2.45 0.00 0.000 6 0.000 0.042 3279 1979 2386 0 0 0 0 0 0

11055 1.32 85.9 205.5 9.7 250 11063 0.00 2.47 0.00 0.000 4 0.000 0.050 3292 388 2386 0 0 0 0 0 0

11285 1.32 85.9 181.0 10.8 257 11293 0.00 2.45 0.00 0.000 6 0.000 0.042 3293 1982 2385 0 0 0 0 0 0

11606 1.32 85.9 147.2 10.1 268 11614 0.00 2.47 0.00 0.000 4 0.000 0.048 3309 397 2385 0 0 0 0 0 0

11762 1.32 85.9 131.7 10.6 273 11770 0.15 2.42 0.00 0.000 6 0.220 0.041 3271 1973 2384 0 0 0 0 0 0

12093 1.33 94.2 102.4 8.8 284 12110 0.00 2.50 6.53 0.535 4 0.000 0.047 3281 397 2363 0 0 0 0 0 0

12151 1.34 97.5 97.1 9.5 287 12165 0.00 2.42 4.78 0.476 6 0.000 0.041 3281 1980 2350 0 0 0 0 0 0

12355 1.34 99.0 78.6 9.8 307 12363 0.00 2.47 0.00 0.000 4 0.000 0.056 3281 3556 2349 0 0 0 0 0 0

12602 1.38 127.7 55.5 5.9 329 12637 0.00 2.42 26.15 0.581 6 0.000 0.038 3293 1966 2228 0 0 0 0 0 0

12828 1.39 139.3 35.7 8.4 351 12847 0.00 2.55 11.00 0.539 4 0.000 0.054 3293 3554 2179 0 0 0 0 0 0

13043 1.39 139.3 9.8 13.2 377 13054 0.00 2.45 0.00 0.000 6 0.000 0.038 3309 1977 2176 0 0 0 0 0 0

13099 end climb: SURFACE_DEPTH_REACHED

state 13099 begin surface coast

13121 end surface coast: CONTROL_FINISHED_OK

state 13121 begin surface

ID	179	HEADING	-1	ROLL_DEG	45	ALTIM_PING_DELTA	5
MISSION	6	ESCAPE_HEADING	0	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
DIVE	5	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1975	ALTIM_PULSE	8
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_SURF	3	TGT_DEFAULT_LAT	32.6903	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FLARE	3	TGT_DEFAULT_LON	-118.7761	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_TGT	990	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	45	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	250	R_STBD_OVSHOOT	29	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	PROTOCOL	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	2748	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	360	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	-16210.389	CF8_MAXERRORS	20	PHONE_DEVICE	48
USE_BATHY	1	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	501	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	175	C_PITCH	2840	PRESSURE_YINT	-37.840191	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	45	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	26	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012400629
MASS	51729	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	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	165	ALTIM_TOP_MIN_OBSTACLE	1	PA_RESTARTMONITOR	0.0
HD_C	9.9999997e-06	ROLL_MAX	3681	ALTIM_PING_DEPTH	130	PA_SCALEFACTOR24V	1.3

GPS1	040111,215119,3240.834,-11846.780,55,1.8,55,13.3	TGT_NAME	DM1
_CALLS	1	TGT_LATLONG	3241.417,-11846.566
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.098,0.110
_SM_DEPTHo	1.68	KALMAN_X	2550.9,1177.3,-198.2,-5169.0,2288.3
_SM_ANGLEo	-76.1	KALMAN_Y	-553.4,419.3,-236.4,1526.6,-1053.6
GPS2	040111,215636,3240.805,-11846.791,17,1.2,33,13.3	MHEAD_RNG_PITCHd_Wd	305.1,1185,-31.7,-10.000
SPEED_LIMITS	0.100,0.278	D_GRID	1144

FINISH	0.8,1.002036	PA_USBA	100.0/0/0
SM_CCo	13138,62.15,0.540,0,0,1727,250.70	PA_HOME	8.9/483886/440996
SM_GC	2.01,0.00,0.00,62.15,0.000,0.000,0.540,144,2203,1727,-8.43,0.08,250.70	PA_ROOT	80.3/126931/24979
IRIDIUM_FIX	3239.07,-11842.36,040111,191939	PA_LOG	6.9/297829/277353
TT8_MAMPS	0.117593	PA_DATA1	0.1/7836665/7825417
HUMID	51.10	PA_DATA0	18.9/7836665/6356396
INTERNAL_PRESSURE	9.6129	_24V_AH	23.5,15.081
TCM_TEMP	19.70	_10V_AH	10.1,8.495
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	316492
PA_BOOTCOUNT	91	DATA_FILE_SIZE	13466,391
PA_DFQS	0/0	CAP_FILE_SIZE	132061,0
PA_CMQS	0/0	CFSIZE	260165632,256229376
PA_USBDRIVE	None	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
PA_USBB	100.0/0/0	GPS	050111,013926,3241.134,-11847.418,88,2.1,108,13.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	279	154.30	SBE_CT	267	24	150.93
Roll_motor	139	74	242.48	nil	0	0	0.00
VBD_pump_during_apogee	204	1166	5597.60	nil	0	0	0.00
VBD_pump_during_surface	62	540	788.81	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	72.14	nil	0	0	0.00
Iridium_during_connect	35	160	132.15	PAAM	13613	90	29013.61
Iridium_during_xfer	146	223	765.27	nil	0	0	0.00
Transponder_ping	42	420	419.48	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	50	17.25
TT8	0	0	0.00
LPSleep	10652	2	235.63
TT8_Active	371	19	74.33
TT8_Sampling	2411	39	969.20
TT8_CF8	80	45	37.29
TT8_Kalman	33	81	27.54
Analog_circuits	1409	12	170.83
GPS_charging	0	0	0.00
Compass	1320	15	200.00
RAFOS	0	0	0.00
Transponder	271	30	82.15

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	-1.28	-47.0	0.0	0.0	0	79	0.00	0.00	-56.35	0.000	2	0.000	0.000	131	2206	2927	0	0	0	0	0	0
80	-1.32	-83.7	3.1	-4.8	10	104	10.80	2.42	-3.70	0.000	4	0.280	0.074	2402	3671	3096	0	0	0	0	0	0
343	-1.32	-83.7	77.8	-22.4	39	351	0.00	2.28	0.00	0.000	6	0.000	0.039	2396	2201	3091	0	0	0	0	0	0
538	-1.32	-83.7	122.3	-22.9	52	546	0.00	2.42	0.00	0.000	4	0.000	0.043	2398	621	3095	0	0	0	0	0	0
560	-1.32	-83.7	127.4	-22.4	52	571	0.12	2.50	0.00	0.000	6	0.208	0.047	2411	2198	3096	0	0	0	0	0	0
870	-1.32	-83.7	192.3	-21.1	63	876	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2198	3096	0	0	0	0	0	0
1174	-1.32	-83.7	254.9	-20.7	73	1183	0.00	2.45	0.00	0.000	4	0.000	0.043	2415	613	3096	0	0	0	0	0	0
1304	-1.32	-83.7	282.0	-20.8	77	1312	0.00	2.47	0.00	0.000	6	0.000	0.045	2401	2202	3097	0	0	0	0	0	0
1635	-1.32	-83.7	349.8	-20.5	84	1643	0.00	2.45	0.00	0.000	4	0.000	0.043	2401	615	3096	0	0	0	0	0	0
1663	-1.32	-83.7	356.2	-21.3	84	1672	0.00	2.47	0.00	0.000	6	0.000	0.045	2389	2200	3097	0	0	0	0	0	0
2005	-1.32	-83.7	425.4	-20.5	90	2015	0.00	2.42	0.00	0.000	4	0.000	0.042	2390	597	3095	0	0	0	0	0	0
2066	-1.32	-83.7	438.3	-19.7	90	2077	0.15	2.50	0.00	0.000	6	0.205	0.045	2406	2197	3097	0	0	0	0	0	0
2375	-1.32	-83.7	493.7	-18.1	96	2384	0.00	2.42	0.00	0.000	4	0.000	0.043	2410	618	3097	0	0	0	0	0	0
2424	-1.32	-83.7	503.0	-19.0	96	2433	0.00	2.50	0.00	0.000	6	0.000	0.045	2400	2212	3097	0	0	0	0	0	0
2739	-1.32	-83.7	559.6	-17.9	102	2748	0.00	2.45	0.00	0.000	4	0.000	0.043	2400	609	3097	0	0	0	0	0	0
2778	-1.32	-83.7	567.0	-18.7	102	2787	0.00	2.50	0.00	0.000	6	0.000	0.045	2388	2218	3096	0	0	0	0	0	0
3109	-1.32	-83.7	625.5	-17.5	108	3118	0.00	2.47	0.00	0.000	4	0.000	0.044	2388	603	3095	0	0	0	0	0	0
3158	-1.32	-83.7	634.2	-17.4	108	3167	0.15	2.50	0.00	0.000	6	0.206	0.047	2409	2200	3097	0	0	0	0	0	0
3473	-1.32	-83.7	685.7	-16.2	114	3481	0.00	2.45	0.00	0.000	4	0.000	0.044	2409	613	3097	0	0	0	0	0	0
3501	-1.32	-83.7	690.9	-18.6	114	3509	0.00	2.50	0.00	0.000	6	0.000	0.046	2399	2221	3096	0	0	0	0	0	0
3842	-1.32	-83.7	750.7	-17.4	120	3851	0.00	2.42	0.00	0.000	4	0.000	0.044	2398	622	3096	0	0	0	0	0	0
3898	-1.32	-83.7	760.5	-17.9	120	3906	0.00	2.47	0.00	0.000	6	0.000	0.047	2386	2197	3096	0	0	0	0	0	0
4205	-1.32	-83.7	814.5	-17.6	125	4216	0.00	2.42	0.00	0.000	4	0.000	0.045	2386	616	3095	0	0	0	0	0	0
4247	-1.32	-83.7	822.1	-18.5	125	4255	0.15	2.47	0.00	0.000	6	0.207	0.047	2408	2201	3095	0	0	0	0	0	0
4572	-1.32	-83.7	875.9	-16.3	131	4581	0.00	2.45	0.00	0.000	4	0.000	0.044	2408	618	3095	0	0	0	0	0	0
4664	-1.32	-83.7	891.6	-16.7	132	4672	0.00	2.50	0.00	0.000	6	0.000	0.047	2394	2210	3095	0	0	0	0	0	0
4999	-1.32	-83.7	947.0	-16.4	138	5008	0.00	2.47	0.00	0.000	4	0.000	0.046	2398	604	3095	0	0	0	0	0	0
5022	-1.32	-83.7	950.8	-15.7	138	5033	0.00	2.50	0.00	0.000	6	0.000	0.047	2386	2201	3092	0	0	0	0	0	0
5310	end dive: TARGET_DEPTH_EXCEEDED
state	5310	begin apogee
5313	-0.19	0.0	998.3	16.5	143	5398	1.38	0.00	76.32	1.167	6	0.184	0.000	2768	1961	2748	0	0	0	0	0	0
5399	end apogee: CONTROL_FINISHED_OK
state	5399	begin climb
5400	1.32	83.7	1000.7	0.0	144	5488	1.42	0.00	79.40	1.141	6	0.070	0.000	3259	1961	2405	0	0	0	0	0	0
5799	1.32	83.7	939.9	17.4	151	5807	0.00	2.62	0.00	0.000	4	0.000	0.058	3259	3564	2394	0	0	0	0	0	0
5848	1.32	83.7	930.9	19.4	151	5856	0.00	2.53	0.00	0.000	6	0.000	0.042	3270	1976	2394	0	0	0	0	0	0
6155	1.32	83.7	880.7	16.0	156	6162	0.00	0.00	0.00	0.000	6	0.000	0.000	3267	1972	2391	0	0	0	0	0	0
6457	1.32	83.7	833.6	15.6	161	6465	0.00	2.47	0.00	0.000	4	0.000	0.050	3283	396	2390	0	0	0	0	0	0
6581	1.32	83.7	813.8	16.1	163	6590	0.00	2.50	0.00	0.000	6	0.000	0.044	3283	1986	2390	0	0	0	0	0	0
6943	1.32	83.7	757.0	15.5	169	6948	0.00	0.00	0.00	0.000	6	0.000	0.000	3283	1986	2388	0	0	0	0	0	0
7245	1.32	83.7	710.8	15.2	174	7251	0.00	0.00	0.00	0.000	6	0.000	0.000	3283	1986	2388	0	0	0	0	0	0
7546	1.32	83.7	665.9	14.9	179	7555	0.00	2.53	0.00	0.000	4	0.000	0.050	3295	387	2388	0	0	0	0	0	0
7574	1.32	83.7	661.6	14.6	179	7583	0.12	2.50	0.00	0.000	6	0.233	0.044	3271	1982	2387	0	0	0	0	0	0
7904	1.32	83.7	616.9	13.2	185	7913	0.00	2.50	0.00	0.000	4	0.000	0.050	3281	388	2387	0	0	0	0	0	0
7953	1.32	83.7	610.4	13.6	185	7962	0.00	2.47	0.00	0.000	6	0.000	0.044	3281	1976	2387	0	0	0	0	0	0
8261	1.32	83.7	566.5	14.4	190	8269	0.00	2.47	0.00	0.000	4	0.000	0.050	3293	397	2387	0	0	0	0	0	0
8433	1.32	83.7	539.2	16.3	192	8441	0.00	2.47	0.00	0.000	6	0.000	0.044	3293	1981	2386	0	0	0	0	0	0
8746	1.32	83.7	490.0	15.7	198	8755	0.00	2.50	0.00	0.000	4	0.000	0.050	3305	392	2386	0	0	0	0	0	0
8902	1.32	83.7	465.4	15.2	200	8911	0.17	2.47	0.00	0.000	6	0.223	0.043	3266	1982	2386	0	0	0	0	0	0
9233	1.32	83.7	420.4	13.6	206	9241	0.00	2.50	0.00	0.000	4	0.000	0.058	3267	3566	2386	0	0	0	0	0	0
9383	1.32	83.7	397.8	15.3	208	9392	0.00	2.45	0.00	0.000	6	0.000	0.041	3277	1972	2386	0	0	0	0	0	0
9719	1.32	83.7	354.6	12.5	214	9727	0.00	2.45	0.00	0.000	4	0.000	0.050	3288	396	2386	0	0	0	0	0	0
9789	1.32	83.7	346.0	11.8	215	9797	0.00	2.45	0.00	0.000	6	0.000	0.043	3289	1980	2383	0	0	0	0	0	0
10140	1.32	83.7	303.8	11.8	221	10148	0.00	2.47	0.00	0.000	4	0.000	0.049	3300	399	2386	0	0	0	0	0	0
10162	1.32	83.7	301.2	11.7	221	10171	0.15	2.45	0.00	0.000	6	0.221	0.043	3270	1983	2386	0	0	0	0	0	0
10499	1.32	83.7	263.2	11.2	232	10508	0.00	2.50	0.00	0.000	4	0.000	0.049	3278	390	2386	0	0	0	0	0	0
10746	1.32	83.7	235.7	11.0	239	10756	0.00	2.45	0.00	0.000	6	0.000	0.042	3279	1979	2386	0	0	0	0	0	0
11055	1.32	85.9	205.5	9.7	250	11063	0.00	2.47	0.00	0.000	4	0.000	0.050	3292	388	2386	0	0	0	0	0	0
11285	1.32	85.9	181.0	10.8	257	11293	0.00	2.45	0.00	0.000	6	0.000	0.042	3293	1982	2385	0	0	0	0	0	0
11606	1.32	85.9	147.2	10.1	268	11614	0.00	2.47	0.00	0.000	4	0.000	0.048	3309	397	2385	0	0	0	0	0	0
11762	1.32	85.9	131.7	10.6	273	11770	0.15	2.42	0.00	0.000	6	0.220	0.041	3271	1973	2384	0	0	0	0	0	0
12093	1.33	94.2	102.4	8.8	284	12110	0.00	2.50	6.53	0.535	4	0.000	0.047	3281	397	2363	0	0	0	0	0	0
12151	1.34	97.5	97.1	9.5	287	12165	0.00	2.42	4.78	0.476	6	0.000	0.041	3281	1980	2350	0	0	0	0	0	0
12355	1.34	99.0	78.6	9.8	307	12363	0.00	2.47	0.00	0.000	4	0.000	0.056	3281	3556	2349	0	0	0	0	0	0
12602	1.38	127.7	55.5	5.9	329	12637	0.00	2.42	26.15	0.581	6	0.000	0.038	3293	1966	2228	0	0	0	0	0	0
12828	1.39	139.3	35.7	8.4	351	12847	0.00	2.55	11.00	0.539	4	0.000	0.054	3293	3554	2179	0	0	0	0	0	0
13043	1.39	139.3	9.8	13.2	377	13054	0.00	2.45	0.00	0.000	6	0.000	0.038	3309	1977	2176	0	0	0	0	0	0
13099	end climb: SURFACE_DEPTH_REACHED
state	13099	begin surface coast
13121	end surface coast: CONTROL_FINISHED_OK
state	13121	begin surface