Glider dive log

AUTEC Jun10 * SG178 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING 0 C_ROLL_DIVE 2440 ALTIM_FREQUENCY 13

MISSION 4 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2400 ALTIM_PULSE 8

DIVE 8 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 900 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 54 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 350 R_STBD_OVSHOOT 31 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 1 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 69

T_MISSION 250 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 -5869.3516 CF8_MAXERRORS 20 PHONE_DEVICE 48

USE_BATHY 0 T_RSLEEP 5 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 275 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 20480.0

HD_A 0.003 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 PA_POWERSOURCE 0.0

HD_B 0.0099999998 ROLL_MIN 226 ALTIM_TOP_MIN_OBSTACLE 1 PA_RESTARTMONITOR 0.0

HD_C 9.9999997e-06 ROLL_MAX 3782 ALTIM_PING_DEPTH 0 PA_SCALEFACTOR24V 1.3

HEADING -1 ROLL_DEG 45 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_OFFGRID 101 PA_OFFLOAD 1.0 SEABIRD_T_J 2.6760367e-06

AH0_10V 61.200001 D_PITCH 0 PA_POWERSOURCE 0.0 SIM_PITCH 0

AH0_24V 91.800003 D_SAFE 0 PA_RESTARTMONITOR 0.0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PA_SCALEFACTOR24V 1.3 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 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 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 1 HEAD_ERRBAND 10 PRESSURE_YINT -49.540699 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAPDBG 0 P_OVSHOOT 0.039999999 T_GPS_CHARGE -5869.3516

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 250

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 5

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_TURN 225

C_PITCH 3160 KERMIT 0 RHO 1.0275 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2400 LOGGERDEVICE1 69 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2440 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_VBD 2737 LOGGERDEVICE3 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 USE_BATHY 0

DEEPGLIDERMB 0 LOGGERS 1 ROLL_DEG 45 USE_ICE 0

DEVICE1 2 MASS 51773 ROLL_MAX 3782 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MAX_BUOY 275 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 31 VBD_MIN 425

DIVE 8 NAV_MODE 1 SEABIRD_C_G -9.9460888 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 N_FILEKB 8 SEABIRD_C_H 1.1279132 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 N_GPS 20 SEABIRD_C_I -0.0015660153 VBD_TIMEOUT 720

D_CALL 0 N_NOCOMM 1 SEABIRD_C_J 0.00020359491 XPDR_DEVICE 24

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_G 0.0043278597 XPDR_INHIBIT 90

D_FLARE 3 PA_MAXOPTIONALUPLOADSIZE 20480.0 SEABIRD_T_H 0.00062587409 XPDR_VALID 6

D_NO_BLEED 200 PA_MAXUPLOADSIZE 20480.0 SEABIRD_T_I 2.4307059e-05

Pre-dive calculations and measurements:

GPS1 080610,050114,2441.134,-7738.057,13,1.6,13,-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 0.236,0.013

_SM_DEPTHo 0.96 KALMAN_X 107.6,-314.5,146.7,-2781.3,-228.1

_SM_ANGLEo -76.7 KALMAN_Y -412.0,372.4,-78.2,42.3,255.7

GPS2 080610,050502,2441.095,-7738.033,16,1.6,16,-7.1 MHEAD_RNG_PITCHd_Wd 93.9,2054,-27.6,-13.636

SPEED_LIMITS 0.236,0.378 D_GRID 900

Post-dive calculations and measurements:

FINISH -0.1,1.023538 PA_USBA 100.0/0/0

SM_CCo 9705,49.95,0.529,0,0,1310,350.04 PA_HOME 8.2/483886/444113

SM_GC 0.82,0.00,0.00,49.95,0.000,0.000,0.529,166,2437,1310,-9.36,-0.11,350.04 PA_ROOT 80.3/126931/24988

IRIDIUM_FIX 2434.69,-7741.39,011211,232326 PA_LOG 4.5/297829/284458

TT8_MAMPS 0.119091 PA_DATA1 18.8/7836665/6360462

HUMID 1078234184 PA_DATA0 9.0/7836665/7134062

INTERNAL_PRESSURE 9.49255 _24V_AH 24.1,9.364

TCM_TEMP 23.60 _10V_AH 10.5,7.447

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 355048

PA_BOOTCOUNT 32 DATA_FILE_SIZE 10134,279

PA_DFQS 0/0 CAP_FILE_SIZE 109505,0

PA_CMQS 0/0 CFSIZE 260165632,254357504

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 080610,074936,2441.097,-7736.046,45,1.3,61,-7.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 264 150.07 SBE_CT 186 24 107.80

Roll_motor 90 153 334.90 nil 0 0 0.00

VBD_pump_during_apogee 354 1127 9643.19 nil 0 0 0.00

VBD_pump_during_surface 49 528 636.34 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 3995 57 5574.62

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 17 0 0.00

TT8 0 0 0.00

LPSleep 7978 2 183.48

TT8_Active 494 19 102.81

TT8_Sampling 1281 39 535.57

TT8_CF8 48 45 23.09

TT8_Kalman 33 0 0.00

Analog_circuits 1142 12 143.94

GPS_charging 0 0 0.00

Compass 769 15 121.25

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

16 -0.89 -100.1 0.0 0.0 0 94 0.00 0.00 -69.68 0.000 6 0.000 0.000 169 2439 3146 0 0 0 0 0 0

96 -1.00 -186.8 3.0 -5.7 12 121 11.80 2.12 -6.75 0.000 4 0.265 0.069 2823 3778 3501 0 0 0 0 0 0

322 -1.00 -186.8 73.2 -26.1 38 327 0.00 2.00 0.00 0.000 6 0.000 0.034 2830 2453 3501 0 0 0 0 0 0

527 -1.00 -186.8 119.8 -21.3 52 531 0.00 2.42 0.00 0.000 4 0.000 0.041 2831 866 3503 0 0 0 0 0 0

574 -1.00 -186.8 129.9 -21.4 53 579 0.00 2.45 0.00 0.000 6 0.000 0.044 2821 2433 3503 0 0 0 0 0 0

894 -1.00 -186.8 196.2 -19.7 64 898 0.00 2.12 0.00 0.000 4 0.000 0.056 2810 3778 3503 0 0 0 0 0 0

941 -1.00 -186.8 206.3 -21.9 65 946 0.00 2.03 0.00 0.000 6 0.000 0.034 2810 2441 3503 0 0 0 0 0 0

1261 -1.00 -186.8 264.7 -17.8 76 1265 0.00 2.12 0.00 0.000 4 0.000 0.056 2801 3782 3504 0 0 0 0 0 0

1292 -1.00 -186.8 270.5 -18.5 77 1297 0.12 2.05 0.00 0.000 6 0.212 0.034 2832 2424 3503 0 0 0 0 0 0

1657 -1.00 -186.8 329.2 -15.8 86 1662 0.00 0.00 0.00 0.000 6 0.000 0.000 2832 2424 3503 0 0 0 0 0 0

1959 -1.00 -186.8 374.5 -14.9 91 1968 0.00 2.12 0.00 0.000 4 0.000 0.058 2824 3782 3502 0 0 0 0 0 0

2014 -1.00 -186.8 383.3 -15.6 91 2025 0.00 2.00 0.00 0.000 6 0.000 0.036 2824 2436 3502 0 0 0 0 0 0

2321 -1.00 -186.8 431.3 -15.5 97 2329 0.00 2.12 0.00 0.000 4 0.000 0.059 2815 3793 3501 0 0 0 0 0 0

2354 -1.00 -186.8 436.6 -16.6 97 2362 0.00 2.00 0.00 0.000 6 0.000 0.037 2815 2434 3501 0 0 0 0 0 0

2683 -1.00 -186.8 487.5 -15.4 103 2691 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2434 3499 0 0 0 0 0 0

2985 -1.00 -186.8 533.1 -14.9 108 2993 0.00 2.10 0.00 0.000 4 0.000 0.060 2805 3781 3497 0 0 0 0 0 0

3028 -1.00 -186.8 540.0 -16.1 108 3037 0.12 1.98 0.00 0.000 6 0.207 0.037 2832 2441 3497 0 0 0 0 0 0

3342 -1.00 -187.7 583.2 -13.6 114 3350 0.00 2.40 0.00 0.000 4 0.000 0.044 2833 860 3495 0 0 0 0 0 0

3380 -1.00 -187.7 588.4 -14.3 114 3388 0.00 2.47 0.00 0.000 6 0.000 0.048 2823 2452 3495 0 0 0 0 0 0

3698 -1.00 -187.7 632.5 -13.8 120 3706 0.00 2.08 0.00 0.000 4 0.000 0.062 2814 3776 3493 0 0 0 0 0 0

3752 -1.00 -187.7 640.3 -14.3 120 3763 0.00 1.98 0.00 0.000 6 0.000 0.038 2813 2440 3492 0 0 0 0 0 0

4060 -1.00 -187.7 683.9 -14.1 126 4067 0.00 2.12 0.00 0.000 4 0.000 0.063 2803 3780 3490 0 0 0 0 0 0

4087 -1.00 -187.7 688.0 -16.0 126 4095 0.12 2.00 0.00 0.000 6 0.207 0.039 2827 2434 3492 0 0 0 0 0 0

4416 -1.01 -197.0 730.4 -12.8 132 4424 0.00 2.12 0.00 0.000 4 0.000 0.063 2822 3787 3488 0 0 0 0 0 0

4443 -1.01 -197.2 733.9 -13.6 132 4451 0.00 2.03 0.00 0.000 6 0.000 0.039 2823 2438 3488 0 0 0 0 0 0

4777 -1.02 -206.9 776.6 -12.8 138 4783 0.00 0.00 0.00 0.000 6 0.000 0.000 2823 2438 3485 0 0 0 0 0 0

5079 -1.04 -220.4 814.0 -12.4 143 5085 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 2438 3484 0 0 0 0 0 0

5381 -1.05 -232.6 851.9 -12.5 148 5387 0.00 0.00 0.00 0.000 6 0.000 0.000 2823 2435 3481 0 0 0 0 0 0

5687 -1.07 -241.9 890.4 -12.8 153 5698 0.00 2.15 0.00 0.000 4 0.000 0.067 2813 3778 3480 0 0 0 0 0 0

5728 -1.07 -241.9 896.4 -13.7 153 5739 0.00 2.00 0.00 0.000 6 0.000 0.042 2812 2444 3479 0 0 0 0 0 0

5816 end dive: TARGET_DEPTH_EXCEEDED

state 5817 begin apogee

5819 -0.14 0.0 907.8 13.3 155 5980 1.02 0.00 149.85 1.128 6 0.174 0.000 3108 2441 2738 0 0 0 0 0 0

5986 end apogee: CONTROL_FINISHED_OK

state 5986 begin climb

5987 1.07 241.9 912.0 0.0 157 6205 1.10 0.00 205.00 1.108 6 0.069 0.000 3501 2440 1751 0 0 0 0 0 0

6495 1.07 241.9 804.4 25.9 166 6507 0.00 2.55 0.00 0.000 4 0.000 0.047 3514 822 1741 0 0 0 0 0 0

6570 1.07 241.9 784.8 24.7 167 6582 0.00 2.50 0.00 0.000 6 0.000 0.050 3515 2398 1739 0 0 0 0 0 0

6924 1.07 241.9 690.6 26.6 173 6929 0.00 2.50 0.00 0.000 4 0.000 0.047 3526 823 1737 0 0 0 0 0 0

6961 1.07 241.9 680.6 26.2 173 6966 0.00 2.53 0.00 0.000 6 0.000 0.050 3528 2403 1737 0 0 0 0 0 0

7290 1.07 241.9 591.7 27.1 179 7291 0.00 0.00 0.00 0.000 6 0.000 0.000 3527 2398 1735 0 0 0 0 0 0

7591 1.07 241.9 508.9 27.4 184 7596 0.00 2.47 0.00 0.000 4 0.000 0.047 3539 827 1736 0 0 0 0 0 0

7671 1.07 241.9 487.9 26.0 185 7676 0.10 2.50 0.00 0.000 6 0.197 0.049 3511 2398 1732 0 0 0 0 0 0

8021 1.07 241.9 398.1 25.6 191 8026 0.00 2.47 0.00 0.000 4 0.000 0.046 3525 818 1732 0 0 0 0 0 0

8052 1.07 241.9 390.1 25.1 191 8057 0.00 2.50 0.00 0.000 6 0.000 0.048 3520 2398 1732 0 0 0 0 0 0

8386 1.07 241.9 301.2 26.8 197 8387 0.00 0.00 0.00 0.000 6 0.000 0.000 3520 2398 1733 0 0 0 0 0 0

8689 1.07 241.9 221.6 26.1 206 8694 0.00 2.47 0.00 0.000 4 0.000 0.046 3533 815 1732 0 0 0 0 0 0

8721 1.07 241.9 213.9 25.1 207 8726 0.08 2.50 0.00 0.000 6 0.201 0.047 3512 2407 1731 0 0 0 0 0 0

9056 1.07 241.9 134.6 23.5 218 9061 0.00 2.47 0.00 0.000 4 0.000 0.044 3522 817 1732 0 0 0 0 0 0

9093 1.07 241.9 125.8 23.5 219 9098 0.00 2.47 0.00 0.000 6 0.000 0.044 3522 2403 1732 0 0 0 0 0 0

9408 1.07 241.9 54.7 22.3 242 9412 0.00 2.45 0.00 0.000 4 0.000 0.045 3534 825 1731 0 0 0 0 0 0

9578 1.07 241.9 19.7 20.3 258 9586 0.10 2.47 0.00 0.000 6 0.184 0.045 3505 2409 1732 0 0 0 0 0 0

9648 1.07 241.9 6.8 17.4 271 9656 0.00 2.45 0.00 0.000 4 0.000 0.042 3516 823 1732 0 0 0 0 0 0

9665 1.07 241.9 4.0 17.0 274 9673 0.00 2.45 0.00 0.000 6 0.000 0.043 3513 2402 1732 0 0 0 0 0 0

9680 end climb: SURFACE_DEPTH_REACHED

state 9681 begin surface coast

9691 end surface coast: CONTROL_FINISHED_OK

state 9692 begin surface

ID	178	ESCAPE_HEADING	0	C_ROLL_DIVE	2440	ALTIM_FREQUENCY	13
MISSION	4	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2400	ALTIM_PULSE	8
DIVE	8	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	900	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	54	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	350	R_STBD_OVSHOOT	31	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	1	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	69
T_MISSION	250	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	-5869.3516	CF8_MAXERRORS	20	PHONE_DEVICE	48
USE_BATHY	0	T_RSLEEP	5	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	275	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	20480.0
HD_A	0.003	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	PA_POWERSOURCE	0.0
HD_B	0.0099999998	ROLL_MIN	226	ALTIM_TOP_MIN_OBSTACLE	1	PA_RESTARTMONITOR	0.0
HD_C	9.9999997e-06	ROLL_MAX	3782	ALTIM_PING_DEPTH	0	PA_SCALEFACTOR24V	1.3
HEADING	-1	ROLL_DEG	45	ALTIM_PING_DELTA	5

GPS1	080610,050114,2441.134,-7738.057,13,1.6,13,-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	0.236,0.013
_SM_DEPTHo	0.96	KALMAN_X	107.6,-314.5,146.7,-2781.3,-228.1
_SM_ANGLEo	-76.7	KALMAN_Y	-412.0,372.4,-78.2,42.3,255.7
GPS2	080610,050502,2441.095,-7738.033,16,1.6,16,-7.1	MHEAD_RNG_PITCHd_Wd	93.9,2054,-27.6,-13.636
SPEED_LIMITS	0.236,0.378	D_GRID	900

FINISH	-0.1,1.023538	PA_USBA	100.0/0/0
SM_CCo	9705,49.95,0.529,0,0,1310,350.04	PA_HOME	8.2/483886/444113
SM_GC	0.82,0.00,0.00,49.95,0.000,0.000,0.529,166,2437,1310,-9.36,-0.11,350.04	PA_ROOT	80.3/126931/24988
IRIDIUM_FIX	2434.69,-7741.39,011211,232326	PA_LOG	4.5/297829/284458
TT8_MAMPS	0.119091	PA_DATA1	18.8/7836665/6360462
HUMID	1078234184	PA_DATA0	9.0/7836665/7134062
INTERNAL_PRESSURE	9.49255	_24V_AH	24.1,9.364
TCM_TEMP	23.60	_10V_AH	10.5,7.447
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	355048
PA_BOOTCOUNT	32	DATA_FILE_SIZE	10134,279
PA_DFQS	0/0	CAP_FILE_SIZE	109505,0
PA_CMQS	0/0	CFSIZE	260165632,254357504
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	080610,074936,2441.097,-7736.046,45,1.3,61,-7.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	264	150.07	SBE_CT	186	24	107.80
Roll_motor	90	153	334.90	nil	0	0	0.00
VBD_pump_during_apogee	354	1127	9643.19	nil	0	0	0.00
VBD_pump_during_surface	49	528	636.34	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	3995	57	5574.62
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	17	0	0.00
TT8	0	0	0.00
LPSleep	7978	2	183.48
TT8_Active	494	19	102.81
TT8_Sampling	1281	39	535.57
TT8_CF8	48	45	23.09
TT8_Kalman	33	0	0.00
Analog_circuits	1142	12	143.94
GPS_charging	0	0	0.00
Compass	769	15	121.25
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
16	-0.89	-100.1	0.0	0.0	0	94	0.00	0.00	-69.68	0.000	6	0.000	0.000	169	2439	3146	0	0	0	0	0	0
96	-1.00	-186.8	3.0	-5.7	12	121	11.80	2.12	-6.75	0.000	4	0.265	0.069	2823	3778	3501	0	0	0	0	0	0
322	-1.00	-186.8	73.2	-26.1	38	327	0.00	2.00	0.00	0.000	6	0.000	0.034	2830	2453	3501	0	0	0	0	0	0
527	-1.00	-186.8	119.8	-21.3	52	531	0.00	2.42	0.00	0.000	4	0.000	0.041	2831	866	3503	0	0	0	0	0	0
574	-1.00	-186.8	129.9	-21.4	53	579	0.00	2.45	0.00	0.000	6	0.000	0.044	2821	2433	3503	0	0	0	0	0	0
894	-1.00	-186.8	196.2	-19.7	64	898	0.00	2.12	0.00	0.000	4	0.000	0.056	2810	3778	3503	0	0	0	0	0	0
941	-1.00	-186.8	206.3	-21.9	65	946	0.00	2.03	0.00	0.000	6	0.000	0.034	2810	2441	3503	0	0	0	0	0	0
1261	-1.00	-186.8	264.7	-17.8	76	1265	0.00	2.12	0.00	0.000	4	0.000	0.056	2801	3782	3504	0	0	0	0	0	0
1292	-1.00	-186.8	270.5	-18.5	77	1297	0.12	2.05	0.00	0.000	6	0.212	0.034	2832	2424	3503	0	0	0	0	0	0
1657	-1.00	-186.8	329.2	-15.8	86	1662	0.00	0.00	0.00	0.000	6	0.000	0.000	2832	2424	3503	0	0	0	0	0	0
1959	-1.00	-186.8	374.5	-14.9	91	1968	0.00	2.12	0.00	0.000	4	0.000	0.058	2824	3782	3502	0	0	0	0	0	0
2014	-1.00	-186.8	383.3	-15.6	91	2025	0.00	2.00	0.00	0.000	6	0.000	0.036	2824	2436	3502	0	0	0	0	0	0
2321	-1.00	-186.8	431.3	-15.5	97	2329	0.00	2.12	0.00	0.000	4	0.000	0.059	2815	3793	3501	0	0	0	0	0	0
2354	-1.00	-186.8	436.6	-16.6	97	2362	0.00	2.00	0.00	0.000	6	0.000	0.037	2815	2434	3501	0	0	0	0	0	0
2683	-1.00	-186.8	487.5	-15.4	103	2691	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2434	3499	0	0	0	0	0	0
2985	-1.00	-186.8	533.1	-14.9	108	2993	0.00	2.10	0.00	0.000	4	0.000	0.060	2805	3781	3497	0	0	0	0	0	0
3028	-1.00	-186.8	540.0	-16.1	108	3037	0.12	1.98	0.00	0.000	6	0.207	0.037	2832	2441	3497	0	0	0	0	0	0
3342	-1.00	-187.7	583.2	-13.6	114	3350	0.00	2.40	0.00	0.000	4	0.000	0.044	2833	860	3495	0	0	0	0	0	0
3380	-1.00	-187.7	588.4	-14.3	114	3388	0.00	2.47	0.00	0.000	6	0.000	0.048	2823	2452	3495	0	0	0	0	0	0
3698	-1.00	-187.7	632.5	-13.8	120	3706	0.00	2.08	0.00	0.000	4	0.000	0.062	2814	3776	3493	0	0	0	0	0	0
3752	-1.00	-187.7	640.3	-14.3	120	3763	0.00	1.98	0.00	0.000	6	0.000	0.038	2813	2440	3492	0	0	0	0	0	0
4060	-1.00	-187.7	683.9	-14.1	126	4067	0.00	2.12	0.00	0.000	4	0.000	0.063	2803	3780	3490	0	0	0	0	0	0
4087	-1.00	-187.7	688.0	-16.0	126	4095	0.12	2.00	0.00	0.000	6	0.207	0.039	2827	2434	3492	0	0	0	0	0	0
4416	-1.01	-197.0	730.4	-12.8	132	4424	0.00	2.12	0.00	0.000	4	0.000	0.063	2822	3787	3488	0	0	0	0	0	0
4443	-1.01	-197.2	733.9	-13.6	132	4451	0.00	2.03	0.00	0.000	6	0.000	0.039	2823	2438	3488	0	0	0	0	0	0
4777	-1.02	-206.9	776.6	-12.8	138	4783	0.00	0.00	0.00	0.000	6	0.000	0.000	2823	2438	3485	0	0	0	0	0	0
5079	-1.04	-220.4	814.0	-12.4	143	5085	0.00	0.00	0.00	0.000	6	0.000	0.000	2822	2438	3484	0	0	0	0	0	0
5381	-1.05	-232.6	851.9	-12.5	148	5387	0.00	0.00	0.00	0.000	6	0.000	0.000	2823	2435	3481	0	0	0	0	0	0
5687	-1.07	-241.9	890.4	-12.8	153	5698	0.00	2.15	0.00	0.000	4	0.000	0.067	2813	3778	3480	0	0	0	0	0	0
5728	-1.07	-241.9	896.4	-13.7	153	5739	0.00	2.00	0.00	0.000	6	0.000	0.042	2812	2444	3479	0	0	0	0	0	0
5816	end dive: TARGET_DEPTH_EXCEEDED
state	5817	begin apogee
5819	-0.14	0.0	907.8	13.3	155	5980	1.02	0.00	149.85	1.128	6	0.174	0.000	3108	2441	2738	0	0	0	0	0	0
5986	end apogee: CONTROL_FINISHED_OK
state	5986	begin climb
5987	1.07	241.9	912.0	0.0	157	6205	1.10	0.00	205.00	1.108	6	0.069	0.000	3501	2440	1751	0	0	0	0	0	0
6495	1.07	241.9	804.4	25.9	166	6507	0.00	2.55	0.00	0.000	4	0.000	0.047	3514	822	1741	0	0	0	0	0	0
6570	1.07	241.9	784.8	24.7	167	6582	0.00	2.50	0.00	0.000	6	0.000	0.050	3515	2398	1739	0	0	0	0	0	0
6924	1.07	241.9	690.6	26.6	173	6929	0.00	2.50	0.00	0.000	4	0.000	0.047	3526	823	1737	0	0	0	0	0	0
6961	1.07	241.9	680.6	26.2	173	6966	0.00	2.53	0.00	0.000	6	0.000	0.050	3528	2403	1737	0	0	0	0	0	0
7290	1.07	241.9	591.7	27.1	179	7291	0.00	0.00	0.00	0.000	6	0.000	0.000	3527	2398	1735	0	0	0	0	0	0
7591	1.07	241.9	508.9	27.4	184	7596	0.00	2.47	0.00	0.000	4	0.000	0.047	3539	827	1736	0	0	0	0	0	0
7671	1.07	241.9	487.9	26.0	185	7676	0.10	2.50	0.00	0.000	6	0.197	0.049	3511	2398	1732	0	0	0	0	0	0
8021	1.07	241.9	398.1	25.6	191	8026	0.00	2.47	0.00	0.000	4	0.000	0.046	3525	818	1732	0	0	0	0	0	0
8052	1.07	241.9	390.1	25.1	191	8057	0.00	2.50	0.00	0.000	6	0.000	0.048	3520	2398	1732	0	0	0	0	0	0
8386	1.07	241.9	301.2	26.8	197	8387	0.00	0.00	0.00	0.000	6	0.000	0.000	3520	2398	1733	0	0	0	0	0	0
8689	1.07	241.9	221.6	26.1	206	8694	0.00	2.47	0.00	0.000	4	0.000	0.046	3533	815	1732	0	0	0	0	0	0
8721	1.07	241.9	213.9	25.1	207	8726	0.08	2.50	0.00	0.000	6	0.201	0.047	3512	2407	1731	0	0	0	0	0	0
9056	1.07	241.9	134.6	23.5	218	9061	0.00	2.47	0.00	0.000	4	0.000	0.044	3522	817	1732	0	0	0	0	0	0
9093	1.07	241.9	125.8	23.5	219	9098	0.00	2.47	0.00	0.000	6	0.000	0.044	3522	2403	1732	0	0	0	0	0	0
9408	1.07	241.9	54.7	22.3	242	9412	0.00	2.45	0.00	0.000	4	0.000	0.045	3534	825	1731	0	0	0	0	0	0
9578	1.07	241.9	19.7	20.3	258	9586	0.10	2.47	0.00	0.000	6	0.184	0.045	3505	2409	1732	0	0	0	0	0	0
9648	1.07	241.9	6.8	17.4	271	9656	0.00	2.45	0.00	0.000	4	0.000	0.042	3516	823	1732	0	0	0	0	0	0
9665	1.07	241.9	4.0	17.0	274	9673	0.00	2.45	0.00	0.000	6	0.000	0.043	3513	2402	1732	0	0	0	0	0	0
9680	end climb: SURFACE_DEPTH_REACHED
state	9681	begin surface coast
9691	end surface coast: CONTROL_FINISHED_OK
state	9692	begin surface