Glider dive log

AUTEC Jun10 * SG178 * Dive index * Mission links * Dive 10 * 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 10 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 52 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 350 R_STBD_OVSHOOT 37 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 -5871.8633 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 -5871.8633

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 52 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 37 VBD_MIN 425

DIVE 10 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 080610,104054,2442.220,-7737.527,47,2.0,64,-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 0.083,-0.221

_SM_DEPTHo 0.86 KALMAN_X 601.2,-123.0,-131.7,-2342.8,594.8

_SM_ANGLEo -76.9 KALMAN_Y -102.4,151.5,92.4,1776.4,-87.0

GPS2 080610,104736,2442.172,-7737.529,14,0.9,30,-7.1 MHEAD_RNG_PITCHd_Wd 166.4,1995,-27.6,-13.636

SPEED_LIMITS 0.236,0.378 D_GRID 900

Post-dive calculations and measurements:

FINISH -0.2,1.023509 PA_USBA 100.0/0/0

SM_CCo 10287,38.50,0.532,0,0,1308,350.04 PA_HOME 8.3/483886/443917

SM_GC 0.47,0.00,0.00,38.50,0.000,0.000,0.532,161,2413,1308,-9.37,-0.76,350.04 PA_ROOT 80.3/126931/24988

IRIDIUM_FIX 2429.95,-7736.76,021211,020223 PA_LOG 4.6/297829/284151

TT8_MAMPS 0.118342 PA_DATA1 18.8/7836665/6360462

HUMID 1078240635 PA_DATA0 17.9/7836665/6430705

INTERNAL_PRESSURE 9.48279 _24V_AH 24.1,9.636

TCM_TEMP 23.40 _10V_AH 10.4,7.982

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 10165,290

PA_DFQS 0/0 CAP_FILE_SIZE 87210,0

PA_CMQS 0/0 CFSIZE 260165632,254279680

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

PA_USBB 100.0/0/0 GPS 080610,134140,2440.487,-7737.270,40,2.2,59,-7.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 273 159.73 SBE_CT 194 24 112.36

Roll_motor 88 66 141.51 nil 0 0 0.00

VBD_pump_during_apogee 330 1126 8976.75 nil 0 0 0.00

VBD_pump_during_surface 38 531 493.31 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 0 0.00 nil 0 0 0.00

Iridium_during_connect 25 0 0.00 PAAM 10850 78 20530.66

Iridium_during_xfer 241 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 31 0 0.00

TT8 0 0 0.00

LPSleep 8626 2 196.48

TT8_Active 439 19 90.47

TT8_Sampling 1587 39 657.15

TT8_CF8 71 45 33.93

TT8_Kalman 33 0 0.00

Analog_circuits 1104 12 137.84

GPS_charging 0 0 0.00

Compass 807 15 126.03

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.89 -100.1 0.0 0.0 0 92 0.00 0.00 -70.55 0.000 6 0.000 0.000 162 2461 3143 0 0 0 0 0 0

93 -0.92 -127.2 4.0 -11.2 13 113 12.32 2.05 -1.95 0.000 4 0.274 0.067 2842 3773 3258 0 0 0 0 0 0

142 -0.92 -127.2 24.2 -31.3 21 151 0.00 2.05 0.00 0.000 6 0.000 0.034 2845 2444 3260 0 0 0 0 0 0

334 -0.92 -127.2 69.4 -21.5 40 339 0.00 2.45 0.00 0.000 4 0.000 0.042 2849 861 3259 0 0 0 0 0 0

473 -0.92 -127.2 96.4 -19.6 53 477 0.00 2.47 0.00 0.000 6 0.000 0.045 2834 2437 3261 0 0 0 0 0 0

686 -0.92 -127.2 135.0 -18.6 62 687 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 2437 3263 0 0 0 0 0 0

989 -0.92 -127.2 186.1 -16.4 72 990 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 2437 3264 0 0 0 0 0 0

1293 -0.92 -127.2 231.1 -14.6 82 1294 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 2436 3265 0 0 0 0 0 0

1596 -0.94 -137.3 271.1 -12.7 92 1597 0.00 0.00 0.00 0.000 6 0.000 0.000 2834 2437 3266 0 0 0 0 0 0

1899 -0.94 -139.1 311.8 -13.5 101 1905 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 2436 3266 0 0 0 0 0 0

2202 -0.95 -145.2 351.2 -13.1 106 2210 0.00 2.08 0.00 0.000 4 0.000 0.058 2824 3781 3266 0 0 0 0 0 0

2282 -0.95 -145.2 362.8 -14.4 107 2290 0.12 2.00 0.00 0.000 6 0.207 0.036 2849 2434 3266 0 0 0 0 0 0

2627 -0.97 -164.7 404.3 -11.9 113 2632 0.00 0.00 0.00 0.000 6 0.000 0.000 2848 2434 3266 0 0 0 0 0 0

2930 -1.00 -189.0 438.6 -11.4 118 2937 0.00 2.10 0.00 0.000 4 0.000 0.058 2843 3786 3265 0 0 0 0 0 0

2956 -1.02 -204.7 441.9 -12.2 118 2964 0.00 2.00 0.00 0.000 6 0.000 0.037 2843 2441 3265 0 0 0 0 0 0

3291 -1.04 -224.1 481.3 -11.9 124 3296 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 2440 3265 0 0 0 0 0 0

3593 -1.07 -248.0 516.5 -11.5 129 3601 0.00 2.40 0.00 0.000 4 0.000 0.044 2844 859 3263 0 0 0 0 0 0

3620 -1.09 -261.7 519.9 -12.4 129 3629 0.00 2.42 0.00 0.000 6 0.000 0.047 2833 2440 3263 0 0 0 0 0 0

3950 -1.10 -267.6 557.8 -11.5 135 3958 0.00 2.08 0.00 0.000 4 0.000 0.060 2823 3781 3264 0 0 0 0 0 0

3967 -1.10 -267.6 559.8 -11.4 135 3974 0.00 1.98 0.00 0.000 6 0.000 0.037 2823 2439 3262 0 0 0 0 0 0

4311 -1.10 -267.6 600.4 -11.7 141 4320 0.00 2.42 0.00 0.000 4 0.000 0.046 2823 861 3261 0 0 0 0 0 0

4355 -1.10 -267.6 605.7 -12.3 141 4363 0.00 2.45 0.00 0.000 6 0.000 0.047 2811 2441 3260 0 0 0 0 0 0

4668 -1.10 -267.6 645.4 -12.7 147 4676 0.00 2.10 0.00 0.000 4 0.000 0.061 2801 3780 3260 0 0 0 0 0 0

4717 -1.10 -267.6 651.8 -13.6 147 4724 0.00 2.00 0.00 0.000 6 0.000 0.038 2801 2432 3259 0 0 0 0 0 0

5029 -1.10 -267.6 691.7 -12.8 153 5037 0.00 2.10 0.00 0.000 4 0.000 0.061 2796 3776 3258 0 0 0 0 0 0

5072 -1.10 -267.6 697.7 -13.7 153 5080 0.00 2.03 0.00 0.000 6 0.000 0.038 2788 2426 3258 0 0 0 0 0 0

5391 -1.10 -267.6 739.0 -12.9 159 5399 0.00 2.38 0.00 0.000 4 0.000 0.047 2791 859 3257 0 0 0 0 0 0

5439 -1.10 -267.6 745.5 -13.2 159 5448 0.10 2.45 0.00 0.000 6 0.226 0.050 2800 2440 3256 0 0 0 0 0 0

5747 -1.10 -267.6 782.5 -11.9 164 5752 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 2440 3254 0 0 0 0 0 0

6049 -1.10 -267.6 820.2 -12.5 169 6055 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 2439 3253 0 0 0 0 0 0

6350 -1.10 -267.6 857.2 -12.2 174 6356 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 2440 3254 0 0 0 0 0 0

6652 -1.10 -267.6 891.3 -11.3 179 6660 0.00 2.12 0.00 0.000 4 0.000 0.065 2792 3779 3250 0 0 0 0 0 0

6726 end dive: TARGET_DEPTH_EXCEEDED

state 6726 begin apogee

6731 -0.14 0.0 900.6 13.1 180 6842 1.12 0.00 103.22 1.126 6 0.193 0.000 3106 2397 2737 0 0 0 0 0 0

6843 end apogee: CONTROL_FINISHED_OK

state 6843 begin climb

6844 1.10 267.6 902.2 0.0 182 7086 1.15 2.65 227.55 1.106 4 0.080 0.046 3520 828 1643 0 0 0 0 0 0

7105 1.10 267.6 853.3 26.5 186 7113 0.00 2.60 0.00 0.000 6 0.000 0.050 3520 2405 1639 0 0 0 0 0 0

7451 1.10 267.6 757.3 27.8 192 7459 0.00 2.47 0.00 0.000 4 0.000 0.048 3532 825 1633 0 0 0 0 0 0

7510 1.10 267.6 741.3 26.0 193 7518 0.00 2.53 0.00 0.000 6 0.000 0.052 3532 2403 1632 0 0 0 0 0 0

7872 1.10 267.6 636.2 29.1 199 7880 0.00 2.47 0.00 0.000 4 0.000 0.048 3544 821 1631 0 0 0 0 0 0

7910 1.10 267.6 625.5 27.7 199 7918 0.12 2.50 0.00 0.000 6 0.210 0.051 3516 2398 1630 0 0 0 0 0 0

8228 1.10 267.6 538.7 27.2 205 8237 0.00 2.42 0.00 0.000 4 0.000 0.047 3526 824 1628 0 0 0 0 0 0

8283 1.10 267.6 524.5 25.9 205 8293 0.00 2.50 0.00 0.000 6 0.000 0.050 3526 2403 1628 0 0 0 0 0 0

8590 1.10 267.6 438.6 28.3 211 8599 0.00 2.45 0.00 0.000 4 0.000 0.047 3537 816 1629 0 0 0 0 0 0

8650 1.10 267.6 422.0 25.5 212 8658 0.00 2.50 0.00 0.000 6 0.000 0.050 3538 2403 1626 0 0 0 0 0 0

9012 1.10 267.6 316.9 29.2 218 9020 0.00 2.45 0.00 0.000 4 0.000 0.047 3550 818 1625 0 0 0 0 0 0

9061 1.10 267.6 303.0 27.8 218 9069 0.15 2.47 0.00 0.000 6 0.210 0.049 3515 2408 1626 0 0 0 0 0 0

9369 1.10 267.6 219.8 26.7 227 9374 0.00 2.47 0.00 0.000 4 0.000 0.044 3524 823 1625 0 0 0 0 0 0

9444 1.10 267.6 200.8 25.9 229 9448 0.00 2.50 0.00 0.000 6 0.000 0.048 3524 2401 1626 0 0 0 0 0 0

9768 1.10 267.6 117.5 25.0 240 9773 0.00 2.47 0.00 0.000 4 0.000 0.045 3536 815 1626 0 0 0 0 0 0

9810 1.10 267.6 107.1 24.9 241 9815 0.00 2.50 0.00 0.000 6 0.000 0.044 3536 2412 1626 0 0 0 0 0 0

10131 1.10 267.6 31.6 20.8 269 10132 0.00 0.00 0.00 0.000 6 0.000 0.000 3533 2412 1626 0 0 0 0 0 0

10267 end climb: SURFACE_DEPTH_REACHED

state 10267 begin surface coast

10273 end surface coast: CONTROL_FINISHED_OK

state 10273 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	10	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	52	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	350	R_STBD_OVSHOOT	37	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	-5871.8633	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	080610,104054,2442.220,-7737.527,47,2.0,64,-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	0.083,-0.221
_SM_DEPTHo	0.86	KALMAN_X	601.2,-123.0,-131.7,-2342.8,594.8
_SM_ANGLEo	-76.9	KALMAN_Y	-102.4,151.5,92.4,1776.4,-87.0
GPS2	080610,104736,2442.172,-7737.529,14,0.9,30,-7.1	MHEAD_RNG_PITCHd_Wd	166.4,1995,-27.6,-13.636
SPEED_LIMITS	0.236,0.378	D_GRID	900

FINISH	-0.2,1.023509	PA_USBA	100.0/0/0
SM_CCo	10287,38.50,0.532,0,0,1308,350.04	PA_HOME	8.3/483886/443917
SM_GC	0.47,0.00,0.00,38.50,0.000,0.000,0.532,161,2413,1308,-9.37,-0.76,350.04	PA_ROOT	80.3/126931/24988
IRIDIUM_FIX	2429.95,-7736.76,021211,020223	PA_LOG	4.6/297829/284151
TT8_MAMPS	0.118342	PA_DATA1	18.8/7836665/6360462
HUMID	1078240635	PA_DATA0	17.9/7836665/6430705
INTERNAL_PRESSURE	9.48279	_24V_AH	24.1,9.636
TCM_TEMP	23.40	_10V_AH	10.4,7.982
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	10165,290
PA_DFQS	0/0	CAP_FILE_SIZE	87210,0
PA_CMQS	0/0	CFSIZE	260165632,254279680
PA_USBDRIVE	None	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_USBB	100.0/0/0	GPS	080610,134140,2440.487,-7737.270,40,2.2,59,-7.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	273	159.73	SBE_CT	194	24	112.36
Roll_motor	88	66	141.51	nil	0	0	0.00
VBD_pump_during_apogee	330	1126	8976.75	nil	0	0	0.00
VBD_pump_during_surface	38	531	493.31	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	0	0.00	nil	0	0	0.00
Iridium_during_connect	25	0	0.00	PAAM	10850	78	20530.66
Iridium_during_xfer	241	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	31	0	0.00
TT8	0	0	0.00
LPSleep	8626	2	196.48
TT8_Active	439	19	90.47
TT8_Sampling	1587	39	657.15
TT8_CF8	71	45	33.93
TT8_Kalman	33	0	0.00
Analog_circuits	1104	12	137.84
GPS_charging	0	0	0.00
Compass	807	15	126.03
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.89	-100.1	0.0	0.0	0	92	0.00	0.00	-70.55	0.000	6	0.000	0.000	162	2461	3143	0	0	0	0	0	0
93	-0.92	-127.2	4.0	-11.2	13	113	12.32	2.05	-1.95	0.000	4	0.274	0.067	2842	3773	3258	0	0	0	0	0	0
142	-0.92	-127.2	24.2	-31.3	21	151	0.00	2.05	0.00	0.000	6	0.000	0.034	2845	2444	3260	0	0	0	0	0	0
334	-0.92	-127.2	69.4	-21.5	40	339	0.00	2.45	0.00	0.000	4	0.000	0.042	2849	861	3259	0	0	0	0	0	0
473	-0.92	-127.2	96.4	-19.6	53	477	0.00	2.47	0.00	0.000	6	0.000	0.045	2834	2437	3261	0	0	0	0	0	0
686	-0.92	-127.2	135.0	-18.6	62	687	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	2437	3263	0	0	0	0	0	0
989	-0.92	-127.2	186.1	-16.4	72	990	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	2437	3264	0	0	0	0	0	0
1293	-0.92	-127.2	231.1	-14.6	82	1294	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	2436	3265	0	0	0	0	0	0
1596	-0.94	-137.3	271.1	-12.7	92	1597	0.00	0.00	0.00	0.000	6	0.000	0.000	2834	2437	3266	0	0	0	0	0	0
1899	-0.94	-139.1	311.8	-13.5	101	1905	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	2436	3266	0	0	0	0	0	0
2202	-0.95	-145.2	351.2	-13.1	106	2210	0.00	2.08	0.00	0.000	4	0.000	0.058	2824	3781	3266	0	0	0	0	0	0
2282	-0.95	-145.2	362.8	-14.4	107	2290	0.12	2.00	0.00	0.000	6	0.207	0.036	2849	2434	3266	0	0	0	0	0	0
2627	-0.97	-164.7	404.3	-11.9	113	2632	0.00	0.00	0.00	0.000	6	0.000	0.000	2848	2434	3266	0	0	0	0	0	0
2930	-1.00	-189.0	438.6	-11.4	118	2937	0.00	2.10	0.00	0.000	4	0.000	0.058	2843	3786	3265	0	0	0	0	0	0
2956	-1.02	-204.7	441.9	-12.2	118	2964	0.00	2.00	0.00	0.000	6	0.000	0.037	2843	2441	3265	0	0	0	0	0	0
3291	-1.04	-224.1	481.3	-11.9	124	3296	0.00	0.00	0.00	0.000	6	0.000	0.000	2843	2440	3265	0	0	0	0	0	0
3593	-1.07	-248.0	516.5	-11.5	129	3601	0.00	2.40	0.00	0.000	4	0.000	0.044	2844	859	3263	0	0	0	0	0	0
3620	-1.09	-261.7	519.9	-12.4	129	3629	0.00	2.42	0.00	0.000	6	0.000	0.047	2833	2440	3263	0	0	0	0	0	0
3950	-1.10	-267.6	557.8	-11.5	135	3958	0.00	2.08	0.00	0.000	4	0.000	0.060	2823	3781	3264	0	0	0	0	0	0
3967	-1.10	-267.6	559.8	-11.4	135	3974	0.00	1.98	0.00	0.000	6	0.000	0.037	2823	2439	3262	0	0	0	0	0	0
4311	-1.10	-267.6	600.4	-11.7	141	4320	0.00	2.42	0.00	0.000	4	0.000	0.046	2823	861	3261	0	0	0	0	0	0
4355	-1.10	-267.6	605.7	-12.3	141	4363	0.00	2.45	0.00	0.000	6	0.000	0.047	2811	2441	3260	0	0	0	0	0	0
4668	-1.10	-267.6	645.4	-12.7	147	4676	0.00	2.10	0.00	0.000	4	0.000	0.061	2801	3780	3260	0	0	0	0	0	0
4717	-1.10	-267.6	651.8	-13.6	147	4724	0.00	2.00	0.00	0.000	6	0.000	0.038	2801	2432	3259	0	0	0	0	0	0
5029	-1.10	-267.6	691.7	-12.8	153	5037	0.00	2.10	0.00	0.000	4	0.000	0.061	2796	3776	3258	0	0	0	0	0	0
5072	-1.10	-267.6	697.7	-13.7	153	5080	0.00	2.03	0.00	0.000	6	0.000	0.038	2788	2426	3258	0	0	0	0	0	0
5391	-1.10	-267.6	739.0	-12.9	159	5399	0.00	2.38	0.00	0.000	4	0.000	0.047	2791	859	3257	0	0	0	0	0	0
5439	-1.10	-267.6	745.5	-13.2	159	5448	0.10	2.45	0.00	0.000	6	0.226	0.050	2800	2440	3256	0	0	0	0	0	0
5747	-1.10	-267.6	782.5	-11.9	164	5752	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	2440	3254	0	0	0	0	0	0
6049	-1.10	-267.6	820.2	-12.5	169	6055	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	2439	3253	0	0	0	0	0	0
6350	-1.10	-267.6	857.2	-12.2	174	6356	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	2440	3254	0	0	0	0	0	0
6652	-1.10	-267.6	891.3	-11.3	179	6660	0.00	2.12	0.00	0.000	4	0.000	0.065	2792	3779	3250	0	0	0	0	0	0
6726	end dive: TARGET_DEPTH_EXCEEDED
state	6726	begin apogee
6731	-0.14	0.0	900.6	13.1	180	6842	1.12	0.00	103.22	1.126	6	0.193	0.000	3106	2397	2737	0	0	0	0	0	0
6843	end apogee: CONTROL_FINISHED_OK
state	6843	begin climb
6844	1.10	267.6	902.2	0.0	182	7086	1.15	2.65	227.55	1.106	4	0.080	0.046	3520	828	1643	0	0	0	0	0	0
7105	1.10	267.6	853.3	26.5	186	7113	0.00	2.60	0.00	0.000	6	0.000	0.050	3520	2405	1639	0	0	0	0	0	0
7451	1.10	267.6	757.3	27.8	192	7459	0.00	2.47	0.00	0.000	4	0.000	0.048	3532	825	1633	0	0	0	0	0	0
7510	1.10	267.6	741.3	26.0	193	7518	0.00	2.53	0.00	0.000	6	0.000	0.052	3532	2403	1632	0	0	0	0	0	0
7872	1.10	267.6	636.2	29.1	199	7880	0.00	2.47	0.00	0.000	4	0.000	0.048	3544	821	1631	0	0	0	0	0	0
7910	1.10	267.6	625.5	27.7	199	7918	0.12	2.50	0.00	0.000	6	0.210	0.051	3516	2398	1630	0	0	0	0	0	0
8228	1.10	267.6	538.7	27.2	205	8237	0.00	2.42	0.00	0.000	4	0.000	0.047	3526	824	1628	0	0	0	0	0	0
8283	1.10	267.6	524.5	25.9	205	8293	0.00	2.50	0.00	0.000	6	0.000	0.050	3526	2403	1628	0	0	0	0	0	0
8590	1.10	267.6	438.6	28.3	211	8599	0.00	2.45	0.00	0.000	4	0.000	0.047	3537	816	1629	0	0	0	0	0	0
8650	1.10	267.6	422.0	25.5	212	8658	0.00	2.50	0.00	0.000	6	0.000	0.050	3538	2403	1626	0	0	0	0	0	0
9012	1.10	267.6	316.9	29.2	218	9020	0.00	2.45	0.00	0.000	4	0.000	0.047	3550	818	1625	0	0	0	0	0	0
9061	1.10	267.6	303.0	27.8	218	9069	0.15	2.47	0.00	0.000	6	0.210	0.049	3515	2408	1626	0	0	0	0	0	0
9369	1.10	267.6	219.8	26.7	227	9374	0.00	2.47	0.00	0.000	4	0.000	0.044	3524	823	1625	0	0	0	0	0	0
9444	1.10	267.6	200.8	25.9	229	9448	0.00	2.50	0.00	0.000	6	0.000	0.048	3524	2401	1626	0	0	0	0	0	0
9768	1.10	267.6	117.5	25.0	240	9773	0.00	2.47	0.00	0.000	4	0.000	0.045	3536	815	1626	0	0	0	0	0	0
9810	1.10	267.6	107.1	24.9	241	9815	0.00	2.50	0.00	0.000	6	0.000	0.044	3536	2412	1626	0	0	0	0	0	0
10131	1.10	267.6	31.6	20.8	269	10132	0.00	0.00	0.00	0.000	6	0.000	0.000	3533	2412	1626	0	0	0	0	0	0
10267	end climb: SURFACE_DEPTH_REACHED
state	10267	begin surface coast
10273	end surface coast: CONTROL_FINISHED_OK
state	10273	begin surface