Glider dive log

AUTEC Jun10 * SG178 * Dive index * Mission links * Dive 9 * 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 9 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 39 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 350 R_STBD_OVSHOOT 23 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 -5870.6094 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 -5870.6094

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 39 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 23 VBD_MIN 425

DIVE 9 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 080610,074936,2441.097,-7736.046,45,1.3,61,-7.1 TGT_NAME H4

_CALLS 2 TGT_LATLONG 2441.300,-7736.833

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.201,0.124

_SM_DEPTHo 0.89 KALMAN_X 481.1,-345.1,71.0,307.1,204.3

_SM_ANGLEo -77.0 KALMAN_Y -839.6,413.4,58.6,243.3,-517.2

GPS2 080610,080022,2441.065,-7736.035,15,2.3,34,-7.1 MHEAD_RNG_PITCHd_Wd 308.7,1412,-27.6,-13.636

SPEED_LIMITS 0.236,0.378 D_GRID 900

Post-dive calculations and measurements:

FINISH -0.3,1.023563 PA_USBA 100.0/0/0

SM_CCo 9460,49.03,0.534,0,0,1311,350.04 PA_HOME 8.2/483886/444016

SM_GC 0.77,0.00,0.00,49.03,0.000,0.000,0.534,162,2460,1311,-9.37,0.57,350.04 PA_ROOT 80.3/126931/24988

IRIDIUM_FIX 2432.32,-7739.08,021211,020257 PA_LOG 4.5/297829/284311

TT8_MAMPS 0.117593 PA_DATA1 18.8/7836665/6360462

HUMID 1078258700 PA_DATA0 13.3/7836665/6798265

INTERNAL_PRESSURE 9.48279 _24V_AH 24.1,9.509

TCM_TEMP 23.50 _10V_AH 10.4,7.708

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 355052

PA_BOOTCOUNT 32 DATA_FILE_SIZE 10139,274

PA_DFQS 0/0 CAP_FILE_SIZE 89456,0

PA_CMQS 0/0 CFSIZE 260165632,254328832

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 080610,104054,2442.220,-7737.527,47,2.0,64,-7.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 270 156.36 SBE_CT 183 24 105.95

Roll_motor 101 102 250.38 nil 0 0 0.00

VBD_pump_during_apogee 357 1124 9699.68 nil 0 0 0.00

VBD_pump_during_surface 49 533 630.89 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 58 0 0.00 nil 0 0 0.00

Iridium_during_connect 58 0 0.00 PAAM 10266 77 19248.85

Iridium_during_xfer 325 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 35 0 0.00

TT8 0 0 0.00

LPSleep 7854 2 178.89

TT8_Active 512 19 105.60

TT8_Sampling 1697 39 702.60

TT8_CF8 73 45 34.87

TT8_Kalman 33 0 0.00

Analog_circuits 1145 12 142.94

GPS_charging 0 0 0.00

Compass 758 15 118.35

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15 -0.89 -100.1 0.0 0.0 0 88 0.00 0.00 -70.00 0.000 6 0.000 0.000 167 2440 3145 0 0 0 0 0 0

89 -1.00 -185.7 2.8 -5.8 12 114 12.10 2.47 -6.62 0.000 4 0.270 0.056 2843 855 3497 0 0 0 0 0 0

198 -1.00 -185.7 36.7 -23.6 27 202 0.00 2.53 0.00 0.000 6 0.000 0.047 2832 2442 3498 0 0 0 0 0 0

394 -1.00 -185.7 83.4 -21.4 46 399 0.00 2.12 0.00 0.000 4 0.000 0.056 2823 3777 3499 0 0 0 0 0 0

442 -1.00 -185.7 94.9 -23.7 50 450 0.00 2.08 0.00 0.000 6 0.000 0.034 2827 2419 3500 0 0 0 0 0 0

650 -1.00 -185.7 141.0 -21.5 59 655 0.00 2.15 0.00 0.000 4 0.000 0.055 2822 3771 3500 0 0 0 0 0 0

687 -1.00 -185.7 149.4 -23.0 60 692 0.00 2.03 0.00 0.000 6 0.000 0.034 2822 2438 3500 0 0 0 0 0 0

1017 -1.00 -185.7 219.3 -19.9 71 1022 0.00 2.40 0.00 0.000 4 0.000 0.041 2822 866 3501 0 0 0 0 0 0

1038 -1.00 -185.7 223.4 -19.3 71 1043 0.00 2.47 0.00 0.000 6 0.000 0.045 2810 2443 3501 0 0 0 0 0 0

1352 -1.00 -185.7 281.2 -18.4 82 1353 0.00 0.00 0.00 0.000 6 0.000 0.000 2816 2443 3502 0 0 0 0 0 0

1655 -1.00 -185.7 333.7 -17.3 89 1660 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 2443 3501 0 0 0 0 0 0

1956 -1.00 -185.7 385.3 -17.1 94 1964 0.00 2.40 0.00 0.000 4 0.000 0.041 2811 861 3501 0 0 0 0 0 0

1978 -1.00 -185.7 389.1 -17.7 94 1986 0.15 2.42 0.00 0.000 6 0.206 0.047 2833 2446 3501 0 0 0 0 0 0

2313 -1.00 -185.7 438.7 -14.7 100 2321 0.00 2.05 0.00 0.000 4 0.000 0.059 2825 3773 3501 0 0 0 0 0 0

2362 -1.00 -185.7 446.5 -15.8 100 2370 0.00 2.00 0.00 0.000 6 0.000 0.036 2825 2431 3501 0 0 0 0 0 0

2676 -1.00 -185.7 493.9 -14.9 106 2684 0.00 2.12 0.00 0.000 4 0.000 0.060 2815 3782 3500 0 0 0 0 0 0

2708 -1.00 -185.7 499.1 -16.2 106 2716 0.00 2.00 0.00 0.000 6 0.000 0.037 2815 2438 3500 0 0 0 0 0 0

3038 -1.00 -185.7 549.7 -15.4 112 3045 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2437 3499 0 0 0 0 0 0

3339 -1.00 -185.7 593.7 -14.7 117 3347 0.00 2.12 0.00 0.000 4 0.000 0.060 2805 3783 3496 0 0 0 0 0 0

3419 -1.00 -185.7 606.3 -16.1 118 3427 0.12 2.00 0.00 0.000 6 0.206 0.037 2835 2441 3497 0 0 0 0 0 0

3765 -1.01 -194.3 651.6 -12.9 124 3773 0.00 2.42 0.00 0.000 4 0.000 0.045 2834 864 3494 0 0 0 0 0 0

3803 -1.02 -201.8 656.6 -12.9 124 3811 0.00 2.45 0.00 0.000 6 0.000 0.049 2824 2435 3495 0 0 0 0 0 0

4122 -1.02 -207.8 698.3 -13.1 130 4132 0.00 2.12 0.00 0.000 4 0.000 0.063 2814 3784 3493 0 0 0 0 0 0

4167 -1.02 -207.8 704.5 -14.0 130 4174 0.00 2.03 0.00 0.000 6 0.000 0.038 2814 2437 3493 0 0 0 0 0 0

4485 -1.03 -211.3 746.9 -13.3 136 4493 0.00 2.15 0.00 0.000 4 0.000 0.064 2804 3787 3491 0 0 0 0 0 0

4506 -1.03 -211.3 750.0 -14.5 136 4514 0.00 2.03 0.00 0.000 6 0.000 0.039 2804 2438 3491 0 0 0 0 0 0

4846 -1.03 -211.3 798.1 -14.1 142 4854 0.00 2.15 0.00 0.000 4 0.000 0.064 2793 3790 3488 0 0 0 0 0 0

4883 -1.03 -211.3 803.6 -14.8 142 4891 0.15 2.03 0.00 0.000 6 0.207 0.040 2828 2445 3488 0 0 0 0 0 0

5202 -1.05 -226.7 842.9 -12.2 148 5210 0.00 2.15 0.00 0.000 4 0.000 0.066 2820 3786 3486 0 0 0 0 0 0

5224 -1.06 -234.2 845.7 -13.0 148 5232 0.00 2.05 0.00 0.000 6 0.000 0.040 2820 2426 3487 0 0 0 0 0 0

5558 -1.07 -244.8 888.7 -12.7 154 5564 0.00 0.00 0.00 0.000 6 0.000 0.000 2820 2426 3485 0 0 0 0 0 0

5678 end dive: TARGET_DEPTH_EXCEEDED

state 5678 begin apogee

5681 -0.14 0.0 903.3 12.3 156 5840 1.00 0.00 151.05 1.125 6 0.174 0.000 3109 2425 2737 0 0 0 0 0 0

5840 end apogee: CONTROL_FINISHED_OK

state 5840 begin climb

5841 1.07 244.8 906.7 0.0 158 6062 1.10 2.72 206.85 1.109 4 0.067 0.046 3516 819 1740 0 0 0 0 0 0

6146 1.07 244.8 848.8 25.2 162 6157 0.00 2.60 0.00 0.000 6 0.000 0.050 3513 2407 1731 0 0 0 0 0 0

6454 1.07 244.8 766.7 27.0 168 6462 0.00 2.47 0.00 0.000 4 0.000 0.048 3527 826 1728 0 0 0 0 0 0

6476 1.07 244.8 760.9 26.1 168 6483 0.00 2.53 0.00 0.000 6 0.000 0.050 3527 2410 1727 0 0 0 0 0 0

6810 1.07 244.8 668.4 27.8 174 6819 0.00 2.50 0.00 0.000 4 0.000 0.048 3539 814 1725 0 0 0 0 0 0

6854 1.07 244.8 656.2 27.6 174 6862 0.12 2.50 0.00 0.000 6 0.211 0.049 3511 2406 1724 0 0 0 0 0 0

7167 1.07 244.8 574.4 26.1 180 7175 0.00 2.45 0.00 0.000 4 0.000 0.048 3520 824 1723 0 0 0 0 0 0

7210 1.07 244.8 563.5 25.3 180 7218 0.00 2.50 0.00 0.000 6 0.000 0.050 3520 2407 1722 0 0 0 0 0 0

7524 1.07 244.8 479.8 26.8 186 7529 0.00 0.00 0.00 0.000 6 0.000 0.000 3520 2407 1721 0 0 0 0 0 0

7825 1.07 244.8 399.1 26.7 191 7834 0.00 2.47 0.00 0.000 4 0.000 0.049 3532 821 1721 0 0 0 0 0 0

7879 1.07 244.8 384.7 26.3 191 7890 0.00 2.47 0.00 0.000 6 0.000 0.049 3537 2400 1720 0 0 0 0 0 0

8189 1.07 244.8 299.6 27.8 197 8193 0.00 2.45 0.00 0.000 4 0.000 0.047 3544 817 1720 0 0 0 0 0 0

8235 1.07 244.8 286.6 27.0 198 8241 0.12 2.50 0.00 0.000 6 0.196 0.046 3506 2402 1719 0 0 0 0 0 0

8549 1.07 244.8 206.9 24.7 209 8554 0.00 2.45 0.00 0.000 4 0.000 0.044 3519 825 1719 0 0 0 0 0 0

8618 1.07 244.8 190.7 24.0 211 8623 0.00 2.47 0.00 0.000 6 0.000 0.047 3519 2400 1719 0 0 0 0 0 0

8948 1.07 244.8 111.9 23.6 222 8953 0.00 2.45 0.00 0.000 4 0.000 0.044 3531 825 1719 0 0 0 0 0 0

8985 1.07 244.8 103.0 23.3 223 8990 0.00 2.47 0.00 0.000 6 0.000 0.045 3531 2401 1719 0 0 0 0 0 0

9301 1.07 244.8 29.3 21.6 252 9306 0.00 2.17 0.00 0.000 4 0.000 0.057 3531 3778 1720 0 0 0 0 0 0

9371 1.07 244.8 14.3 21.9 260 9379 0.12 2.10 0.00 0.000 6 0.200 0.033 3507 2386 1720 0 0 0 0 0 0

9435 end climb: SURFACE_DEPTH_REACHED

state 9435 begin surface coast

9446 end surface coast: CONTROL_FINISHED_OK

state 9446 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	9	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	39	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	350	R_STBD_OVSHOOT	23	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	-5870.6094	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	080610,074936,2441.097,-7736.046,45,1.3,61,-7.1	TGT_NAME	H4
_CALLS	2	TGT_LATLONG	2441.300,-7736.833
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.201,0.124
_SM_DEPTHo	0.89	KALMAN_X	481.1,-345.1,71.0,307.1,204.3
_SM_ANGLEo	-77.0	KALMAN_Y	-839.6,413.4,58.6,243.3,-517.2
GPS2	080610,080022,2441.065,-7736.035,15,2.3,34,-7.1	MHEAD_RNG_PITCHd_Wd	308.7,1412,-27.6,-13.636
SPEED_LIMITS	0.236,0.378	D_GRID	900

FINISH	-0.3,1.023563	PA_USBA	100.0/0/0
SM_CCo	9460,49.03,0.534,0,0,1311,350.04	PA_HOME	8.2/483886/444016
SM_GC	0.77,0.00,0.00,49.03,0.000,0.000,0.534,162,2460,1311,-9.37,0.57,350.04	PA_ROOT	80.3/126931/24988
IRIDIUM_FIX	2432.32,-7739.08,021211,020257	PA_LOG	4.5/297829/284311
TT8_MAMPS	0.117593	PA_DATA1	18.8/7836665/6360462
HUMID	1078258700	PA_DATA0	13.3/7836665/6798265
INTERNAL_PRESSURE	9.48279	_24V_AH	24.1,9.509
TCM_TEMP	23.50	_10V_AH	10.4,7.708
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	355052
PA_BOOTCOUNT	32	DATA_FILE_SIZE	10139,274
PA_DFQS	0/0	CAP_FILE_SIZE	89456,0
PA_CMQS	0/0	CFSIZE	260165632,254328832
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	080610,104054,2442.220,-7737.527,47,2.0,64,-7.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	270	156.36	SBE_CT	183	24	105.95
Roll_motor	101	102	250.38	nil	0	0	0.00
VBD_pump_during_apogee	357	1124	9699.68	nil	0	0	0.00
VBD_pump_during_surface	49	533	630.89	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	58	0	0.00	nil	0	0	0.00
Iridium_during_connect	58	0	0.00	PAAM	10266	77	19248.85
Iridium_during_xfer	325	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	35	0	0.00
TT8	0	0	0.00
LPSleep	7854	2	178.89
TT8_Active	512	19	105.60
TT8_Sampling	1697	39	702.60
TT8_CF8	73	45	34.87
TT8_Kalman	33	0	0.00
Analog_circuits	1145	12	142.94
GPS_charging	0	0	0.00
Compass	758	15	118.35
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15	-0.89	-100.1	0.0	0.0	0	88	0.00	0.00	-70.00	0.000	6	0.000	0.000	167	2440	3145	0	0	0	0	0	0
89	-1.00	-185.7	2.8	-5.8	12	114	12.10	2.47	-6.62	0.000	4	0.270	0.056	2843	855	3497	0	0	0	0	0	0
198	-1.00	-185.7	36.7	-23.6	27	202	0.00	2.53	0.00	0.000	6	0.000	0.047	2832	2442	3498	0	0	0	0	0	0
394	-1.00	-185.7	83.4	-21.4	46	399	0.00	2.12	0.00	0.000	4	0.000	0.056	2823	3777	3499	0	0	0	0	0	0
442	-1.00	-185.7	94.9	-23.7	50	450	0.00	2.08	0.00	0.000	6	0.000	0.034	2827	2419	3500	0	0	0	0	0	0
650	-1.00	-185.7	141.0	-21.5	59	655	0.00	2.15	0.00	0.000	4	0.000	0.055	2822	3771	3500	0	0	0	0	0	0
687	-1.00	-185.7	149.4	-23.0	60	692	0.00	2.03	0.00	0.000	6	0.000	0.034	2822	2438	3500	0	0	0	0	0	0
1017	-1.00	-185.7	219.3	-19.9	71	1022	0.00	2.40	0.00	0.000	4	0.000	0.041	2822	866	3501	0	0	0	0	0	0
1038	-1.00	-185.7	223.4	-19.3	71	1043	0.00	2.47	0.00	0.000	6	0.000	0.045	2810	2443	3501	0	0	0	0	0	0
1352	-1.00	-185.7	281.2	-18.4	82	1353	0.00	0.00	0.00	0.000	6	0.000	0.000	2816	2443	3502	0	0	0	0	0	0
1655	-1.00	-185.7	333.7	-17.3	89	1660	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	2443	3501	0	0	0	0	0	0
1956	-1.00	-185.7	385.3	-17.1	94	1964	0.00	2.40	0.00	0.000	4	0.000	0.041	2811	861	3501	0	0	0	0	0	0
1978	-1.00	-185.7	389.1	-17.7	94	1986	0.15	2.42	0.00	0.000	6	0.206	0.047	2833	2446	3501	0	0	0	0	0	0
2313	-1.00	-185.7	438.7	-14.7	100	2321	0.00	2.05	0.00	0.000	4	0.000	0.059	2825	3773	3501	0	0	0	0	0	0
2362	-1.00	-185.7	446.5	-15.8	100	2370	0.00	2.00	0.00	0.000	6	0.000	0.036	2825	2431	3501	0	0	0	0	0	0
2676	-1.00	-185.7	493.9	-14.9	106	2684	0.00	2.12	0.00	0.000	4	0.000	0.060	2815	3782	3500	0	0	0	0	0	0
2708	-1.00	-185.7	499.1	-16.2	106	2716	0.00	2.00	0.00	0.000	6	0.000	0.037	2815	2438	3500	0	0	0	0	0	0
3038	-1.00	-185.7	549.7	-15.4	112	3045	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2437	3499	0	0	0	0	0	0
3339	-1.00	-185.7	593.7	-14.7	117	3347	0.00	2.12	0.00	0.000	4	0.000	0.060	2805	3783	3496	0	0	0	0	0	0
3419	-1.00	-185.7	606.3	-16.1	118	3427	0.12	2.00	0.00	0.000	6	0.206	0.037	2835	2441	3497	0	0	0	0	0	0
3765	-1.01	-194.3	651.6	-12.9	124	3773	0.00	2.42	0.00	0.000	4	0.000	0.045	2834	864	3494	0	0	0	0	0	0
3803	-1.02	-201.8	656.6	-12.9	124	3811	0.00	2.45	0.00	0.000	6	0.000	0.049	2824	2435	3495	0	0	0	0	0	0
4122	-1.02	-207.8	698.3	-13.1	130	4132	0.00	2.12	0.00	0.000	4	0.000	0.063	2814	3784	3493	0	0	0	0	0	0
4167	-1.02	-207.8	704.5	-14.0	130	4174	0.00	2.03	0.00	0.000	6	0.000	0.038	2814	2437	3493	0	0	0	0	0	0
4485	-1.03	-211.3	746.9	-13.3	136	4493	0.00	2.15	0.00	0.000	4	0.000	0.064	2804	3787	3491	0	0	0	0	0	0
4506	-1.03	-211.3	750.0	-14.5	136	4514	0.00	2.03	0.00	0.000	6	0.000	0.039	2804	2438	3491	0	0	0	0	0	0
4846	-1.03	-211.3	798.1	-14.1	142	4854	0.00	2.15	0.00	0.000	4	0.000	0.064	2793	3790	3488	0	0	0	0	0	0
4883	-1.03	-211.3	803.6	-14.8	142	4891	0.15	2.03	0.00	0.000	6	0.207	0.040	2828	2445	3488	0	0	0	0	0	0
5202	-1.05	-226.7	842.9	-12.2	148	5210	0.00	2.15	0.00	0.000	4	0.000	0.066	2820	3786	3486	0	0	0	0	0	0
5224	-1.06	-234.2	845.7	-13.0	148	5232	0.00	2.05	0.00	0.000	6	0.000	0.040	2820	2426	3487	0	0	0	0	0	0
5558	-1.07	-244.8	888.7	-12.7	154	5564	0.00	0.00	0.00	0.000	6	0.000	0.000	2820	2426	3485	0	0	0	0	0	0
5678	end dive: TARGET_DEPTH_EXCEEDED
state	5678	begin apogee
5681	-0.14	0.0	903.3	12.3	156	5840	1.00	0.00	151.05	1.125	6	0.174	0.000	3109	2425	2737	0	0	0	0	0	0
5840	end apogee: CONTROL_FINISHED_OK
state	5840	begin climb
5841	1.07	244.8	906.7	0.0	158	6062	1.10	2.72	206.85	1.109	4	0.067	0.046	3516	819	1740	0	0	0	0	0	0
6146	1.07	244.8	848.8	25.2	162	6157	0.00	2.60	0.00	0.000	6	0.000	0.050	3513	2407	1731	0	0	0	0	0	0
6454	1.07	244.8	766.7	27.0	168	6462	0.00	2.47	0.00	0.000	4	0.000	0.048	3527	826	1728	0	0	0	0	0	0
6476	1.07	244.8	760.9	26.1	168	6483	0.00	2.53	0.00	0.000	6	0.000	0.050	3527	2410	1727	0	0	0	0	0	0
6810	1.07	244.8	668.4	27.8	174	6819	0.00	2.50	0.00	0.000	4	0.000	0.048	3539	814	1725	0	0	0	0	0	0
6854	1.07	244.8	656.2	27.6	174	6862	0.12	2.50	0.00	0.000	6	0.211	0.049	3511	2406	1724	0	0	0	0	0	0
7167	1.07	244.8	574.4	26.1	180	7175	0.00	2.45	0.00	0.000	4	0.000	0.048	3520	824	1723	0	0	0	0	0	0
7210	1.07	244.8	563.5	25.3	180	7218	0.00	2.50	0.00	0.000	6	0.000	0.050	3520	2407	1722	0	0	0	0	0	0
7524	1.07	244.8	479.8	26.8	186	7529	0.00	0.00	0.00	0.000	6	0.000	0.000	3520	2407	1721	0	0	0	0	0	0
7825	1.07	244.8	399.1	26.7	191	7834	0.00	2.47	0.00	0.000	4	0.000	0.049	3532	821	1721	0	0	0	0	0	0
7879	1.07	244.8	384.7	26.3	191	7890	0.00	2.47	0.00	0.000	6	0.000	0.049	3537	2400	1720	0	0	0	0	0	0
8189	1.07	244.8	299.6	27.8	197	8193	0.00	2.45	0.00	0.000	4	0.000	0.047	3544	817	1720	0	0	0	0	0	0
8235	1.07	244.8	286.6	27.0	198	8241	0.12	2.50	0.00	0.000	6	0.196	0.046	3506	2402	1719	0	0	0	0	0	0
8549	1.07	244.8	206.9	24.7	209	8554	0.00	2.45	0.00	0.000	4	0.000	0.044	3519	825	1719	0	0	0	0	0	0
8618	1.07	244.8	190.7	24.0	211	8623	0.00	2.47	0.00	0.000	6	0.000	0.047	3519	2400	1719	0	0	0	0	0	0
8948	1.07	244.8	111.9	23.6	222	8953	0.00	2.45	0.00	0.000	4	0.000	0.044	3531	825	1719	0	0	0	0	0	0
8985	1.07	244.8	103.0	23.3	223	8990	0.00	2.47	0.00	0.000	6	0.000	0.045	3531	2401	1719	0	0	0	0	0	0
9301	1.07	244.8	29.3	21.6	252	9306	0.00	2.17	0.00	0.000	4	0.000	0.057	3531	3778	1720	0	0	0	0	0	0
9371	1.07	244.8	14.3	21.9	260	9379	0.12	2.10	0.00	0.000	6	0.200	0.033	3507	2386	1720	0	0	0	0	0	0
9435	end climb: SURFACE_DEPTH_REACHED
state	9435	begin surface coast
9446	end surface coast: CONTROL_FINISHED_OK
state	9446	begin surface