Glider dive log

AUTEC Jun10 * SG179 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 179 ESCAPE_HEADING 0 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2250 ALTIM_PULSE 5

DIVE 10 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_SURF 2 TGT_DEFAULT_LAT 24.688 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FLARE 3 TGT_DEFAULT_LON -77.613998 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_TGT 990 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 51 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 550 R_STBD_OVSHOOT 35 INT_PRESSURE_YINT -0.69999999

D_NO_BLEED 200 N_FILEKB 8 ROLL_AD_RATE 350 DEEPGLIDER 0

D_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

T_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEVICE1 2

D_PITCH 0 KERMIT 0 VBD_MIN 460 DEVICE2 -1

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3960 DEVICE3 -1

D_CALL 0 N_NOSURFACE 0 C_VBD 2737 DEVICE4 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_DIVE 200 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 69

T_MISSION 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 -11900.695 CF8_MAXERRORS 20 PHONE_DEVICE 48

USE_BATHY 0 T_RSLEEP 5 AH0_24V 150 GPS_DEVICE 32

USE_ICE 0 STROBE 0 AH0_10V 100 RAFOS_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 MINV_24V 19 XPDR_DEVICE 24

D_OFFGRID 101 RAFOS_CORR_THRESH 60 MINV_10V 8 SIM_W 0

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

RELAUNCH 1 PITCH_MIN 147 FG_AHR_24V 0 SEABIRD_T_G 0.0043333764

APOGEE_PITCH -5 PITCH_MAX 3923 PHONE_SUPPLY 2 SEABIRD_T_H 0.0006255582

MAX_BUOY 300 C_PITCH 3145 PRESSURE_YINT -38.488777 SEABIRD_T_I 2.4443518e-05

COURSE_BIAS 0 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001164844 SEABIRD_T_J 2.7040428e-06

GLIDE_SLOPE 30 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -10.032231

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1531334

RHO 1.0275 PITCH_GAIN 36 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012400629

MASS 51749 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_J 0.00018751388

NAV_MODE 1 PITCH_AD_RATE 165 ALTIM_BOTTOM_PING_RANGE 0 PA_OFFLOAD 1.0

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 PA_MAXUPLOADSIZE 40960.0

KALMAN_USE 1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 PA_MAXOPTIONALUPLOADSIZE 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 80 PA_SCALEFACTOR24V 1.3

HEADING -1 ROLL_DEG 45 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_OFFGRID 101 PA_OFFLOAD 1.0 SEABIRD_T_J 2.7040428e-06

AH0_10V 100 D_PITCH 0 PA_POWERSOURCE 0.0 SIM_PITCH 0

AH0_24V 150 D_SAFE 0 PA_RESTARTMONITOR 0.0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PA_SCALEFACTOR24V 1.3 SM_CC 550

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PHONE_DEVICE 48 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_SUPPLY 2 STROBE 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 80 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 5 FG_AHR_10V 0 PITCH_AD_RATE 165 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_CNV 0.003125763 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_DBAND 0.1 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 36 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAX 3923 TGT_DEFAULT_LAT 24.688

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -77.613998

CALL_NDIVES 1 HD_A 0.003 PITCH_MIN 147 T_ABORT 1440

CALL_TRIES 5 HD_B 0.0099999998 PITCH_TIMEOUT 18 T_BOOST 0

CALL_WAIT 60 HD_C 9.9999997e-06 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 200

CAPMAXSIZE 100000 HEADING -1 PRESSURE_SLOPE 0.0001164844 T_GPS 15

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -38.488777 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAPDBG 0 P_OVSHOOT 0.039999999 T_GPS_CHARGE -11900.695

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 ID 179 RAFOS_DEVICE -1 T_MISSION 250

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 0 INT_PRESSURE_YINT -0.69999999 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 5

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_TURN 225

C_PITCH 3145 KERMIT 0 RHO 1.0275 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2250 LOGGERDEVICE1 69 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2250 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_VBD 2737 LOGGERDEVICE3 -1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 USE_BATHY 0

DEEPGLIDERMB 0 LOGGERS 1 ROLL_DEG 45 USE_ICE 0

DEVICE1 2 MASS 51749 ROLL_MAX 3681 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MAX_BUOY 300 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 ROLL_MIN 165 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE5 -1 MISSION 5 R_PORT_OVSHOOT 51 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 35 VBD_MIN 460

DIVE 10 NAV_MODE 1 SEABIRD_C_G -10.032231 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 N_FILEKB 8 SEABIRD_C_H 1.1531334 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 N_GPS 20 SEABIRD_C_I -0.0012400629 VBD_TIMEOUT 720

D_CALL 0 N_NOCOMM 1 SEABIRD_C_J 0.00018751388 XPDR_DEVICE 24

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_G 0.0043333764 XPDR_INHIBIT 90

D_FLARE 3 PA_MAXOPTIONALUPLOADSIZE 20480.0 SEABIRD_T_H 0.0006255582 XPDR_VALID 6

D_NO_BLEED 200 PA_MAXUPLOADSIZE 40960.0 SEABIRD_T_I 2.4443518e-05

Pre-dive calculations and measurements:

GPS1 080610,221507,2441.189,-7735.986,173,2.0,173,-7.1 TGT_NAME H4E10

_CALLS 1 TGT_LATLONG 2441.300,-7727.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.419,0.004

_SM_DEPTHo 1.50 KALMAN_X -1084.8,308.1,336.1,793.9,-474.1

_SM_ANGLEo -77.6 KALMAN_Y -2880.5,-45.9,-190.9,2933.3,32.1

GPS2 080610,221936,2441.149,-7735.972,33,1.0,33,-7.1 MHEAD_RNG_PITCHd_Wd 96.5,15099,-18.8,-16.500

SPEED_LIMITS 0.286,0.419 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,0.996253 PA_USBA 100.0/0/0

SM_CCo 12270,126.55,0.444,0,0,494,550.21 PA_HOME 12.2/482055/423118

SM_GC 1.47,0.00,0.00,126.55,0.000,0.000,0.444,150,2236,494,-9.36,-0.40,550.21 PA_ROOT 80.3/126931/24988

IRIDIUM_FIX 2429.95,-7734.44,021211,111148 PA_LOG 4.5/298663/285086

TT8_MAMPS 0.110852 PA_DATA1 22.6/7837685/6067701

HUMID 1078078055 PA_DATA0 36.5/7836665/4975445

INTERNAL_PRESSURE 8.77302 _24V_AH 23.8,8.244

TCM_TEMP 24.70 _10V_AH 10.3,6.318

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 355088

PA_BOOTCOUNT 15 DATA_FILE_SIZE 10164,333

PA_DFQS 0/0 CAP_FILE_SIZE 126033,0

PA_CMQS 0/0 CFSIZE 260165632,256499712

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 090610,014821,2440.819,-7733.467,49,2.1,69,-7.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 281 167.34 SBE_CT 221 24 126.68

Roll_motor 122 57 167.72 nil 0 0 0.00

VBD_pump_during_apogee 564 1114 14980.80 nil 0 0 0.00

VBD_pump_during_surface 126 443 1336.38 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 0 0.00 nil 0 0 0.00

Iridium_during_connect 25 0 0.00 PAAM 12807 76 23362.62

Iridium_during_xfer 117 0 0.00 nil 0 0 0.00

Transponder_ping 45 420 457.32 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 0 0.00

TT8 0 0 0.00

LPSleep 9786 2 220.76

TT8_Active 782 19 159.67

TT8_Sampling 2004 39 821.65

TT8_CF8 74 45 34.94

TT8_Kalman 33 0 0.00

Analog_circuits 1676 12 207.25

GPS_charging 0 0 0.00

Compass 1123 15 173.57

RAFOS 0 0 0.00

Transponder 282 30 87.42

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 14 begin dive

15 -0.88 -292.0 0.0 0.0 0 70 0.00 0.00 -52.97 0.000 2 0.000 0.000 144 2244 2808 0 0 0 0 0 0

72 -0.88 -292.0 3.1 -4.9 9 114 12.82 2.42 -20.73 0.000 4 0.282 0.047 2848 667 3932 0 0 0 0 0 0

283 -0.88 -292.0 58.3 -22.9 33 291 0.00 2.45 0.00 0.000 6 0.000 0.034 2838 2250 3934 0 0 0 0 0 0

485 -0.88 -292.0 108.4 -25.3 51 489 0.00 2.22 0.00 0.000 4 0.000 0.048 2828 3672 3935 0 0 0 0 0 0

505 -0.88 -292.0 113.5 -24.3 51 510 0.12 2.15 0.00 0.000 6 0.190 0.028 2856 2241 3935 0 0 0 0 0 0

819 -0.88 -292.0 178.1 -19.9 62 824 0.00 2.22 0.00 0.000 4 0.000 0.048 2847 3669 3936 0 0 0 0 0 0

872 -0.88 -292.0 188.6 -19.0 63 877 0.00 2.12 0.00 0.000 6 0.000 0.027 2847 2246 3936 0 0 0 0 0 0

1187 -0.88 -292.0 246.3 -17.9 74 1191 0.00 2.22 0.00 0.000 4 0.000 0.047 2837 3678 3936 0 0 0 0 0 0

1260 -0.88 -292.0 259.0 -16.5 76 1265 0.00 2.12 0.00 0.000 6 0.000 0.027 2837 2251 3936 0 0 0 0 0 0

1615 -0.88 -292.0 321.8 -17.5 86 1624 0.00 2.17 0.00 0.000 4 0.000 0.049 2826 3680 3936 0 0 0 0 0 0

1681 -0.88 -292.0 333.3 -17.6 87 1689 0.12 2.08 0.00 0.000 6 0.174 0.028 2857 2244 3936 0 0 0 0 0 0

2044 -0.88 -292.0 388.5 -15.0 93 2052 0.00 2.20 0.00 0.000 4 0.000 0.049 2848 3677 3936 0 0 0 0 0 0

2104 -0.88 -292.0 397.6 -13.9 93 2114 0.00 2.10 0.00 0.000 6 0.000 0.028 2847 2232 3937 0 0 0 0 0 0

2412 -0.88 -292.0 444.2 -15.2 99 2420 0.00 2.22 0.00 0.000 4 0.000 0.049 2837 3678 3935 0 0 0 0 0 0

2483 -0.88 -292.0 455.0 -14.6 100 2492 0.00 2.08 0.00 0.000 6 0.000 0.028 2837 2253 3935 0 0 0 0 0 0

2841 -0.88 -292.0 510.5 -15.5 106 2849 0.00 2.20 0.00 0.000 4 0.000 0.050 2826 3673 3931 0 0 0 0 0 0

2912 -0.88 -292.0 521.4 -15.0 107 2920 0.10 2.05 0.00 0.000 6 0.182 0.029 2855 2245 3934 0 0 0 0 0 0

3269 -0.88 -292.0 567.5 -12.9 113 3277 0.00 2.20 0.00 0.000 4 0.000 0.050 2852 3674 3931 0 0 0 0 0 0

3345 -0.88 -292.0 577.6 -12.8 114 3353 0.00 2.08 0.00 0.000 6 0.000 0.030 2847 2248 3929 0 0 0 0 0 0

3696 -0.88 -292.0 625.3 -13.6 120 3708 0.00 2.22 0.00 0.000 4 0.000 0.051 2836 3683 3929 0 0 0 0 0 0

3786 -0.88 -292.0 637.3 -13.8 121 3794 0.00 2.08 0.00 0.000 6 0.000 0.031 2836 2249 3928 0 0 0 0 0 0

4127 -0.88 -292.0 684.0 -13.7 127 4138 0.00 2.22 0.00 0.000 4 0.000 0.053 2825 3682 3927 0 0 0 0 0 0

4184 -0.88 -292.0 691.8 -13.5 127 4192 0.12 2.10 0.00 0.000 6 0.175 0.031 2857 2244 3927 0 0 0 0 0 0

4492 -0.88 -292.0 726.8 -11.2 132 4501 0.00 2.20 0.00 0.000 4 0.000 0.052 2848 3671 3923 0 0 0 0 0 0

4569 -0.88 -292.0 735.4 -10.9 133 4577 0.00 2.08 0.00 0.000 6 0.000 0.031 2844 2237 3923 0 0 0 0 0 0

4920 -0.88 -292.0 777.2 -11.9 139 4929 0.00 2.25 0.00 0.000 4 0.000 0.054 2838 3676 3921 0 0 0 0 0 0

5013 -0.88 -292.0 788.4 -11.9 140 5021 0.00 2.10 0.00 0.000 6 0.000 0.032 2838 2251 3921 0 0 0 0 0 0

5354 -0.88 -292.0 831.0 -12.5 146 5363 0.00 2.20 0.00 0.000 4 0.000 0.055 2827 3674 3919 0 0 0 0 0 0

5431 -0.88 -292.0 840.4 -12.1 147 5439 0.12 2.10 0.00 0.000 6 0.179 0.033 2858 2247 3919 0 0 0 0 0 0

5783 -0.88 -292.0 877.1 -10.4 153 5792 0.00 2.22 0.00 0.000 4 0.000 0.056 2848 3675 3916 0 0 0 0 0 0

5838 -0.88 -292.0 882.8 -10.6 153 5846 0.00 2.08 0.00 0.000 6 0.000 0.034 2850 2253 3915 0 0 0 0 0 0

6146 -0.88 -292.0 918.0 -11.5 158 6155 0.00 2.25 0.00 0.000 4 0.000 0.057 2839 3675 3914 0 0 0 0 0 0

6239 -0.88 -292.0 929.0 -12.4 159 6247 0.00 2.12 0.00 0.000 6 0.000 0.034 2838 2248 3913 0 0 0 0 0 0

6574 -0.88 -292.0 968.3 -11.6 165 6585 0.00 2.22 0.00 0.000 4 0.000 0.057 2828 3677 3908 0 0 0 0 0 0

6647 -0.88 -292.0 977.2 -12.0 166 6655 0.12 2.12 0.00 0.000 6 0.181 0.034 2859 2243 3910 0 0 0 0 0 0

6822 end dive: TARGET_DEPTH_EXCEEDED

state 6822 begin apogee

6825 -0.14 0.0 995.0 10.0 169 7075 0.75 0.00 242.82 1.115 6 0.142 0.000 3096 2242 2737 0 0 0 0 0 0

7075 end apogee: CONTROL_FINISHED_OK

state 7075 begin climb

7076 0.88 292.0 1009.6 0.0 173 7344 0.98 2.58 254.75 1.102 4 0.082 0.042 3442 686 1545 0 0 0 0 0 0

7422 0.88 292.0 971.1 18.8 178 7431 0.00 2.53 0.00 0.000 6 0.000 0.037 3437 2254 1540 0 0 0 0 0 0

7747 0.88 292.0 904.4 20.5 184 7755 0.00 2.22 0.00 0.000 4 0.000 0.054 3437 3675 1536 0 0 0 0 0 0

7801 0.88 292.0 892.3 23.2 184 7812 0.00 2.17 0.00 0.000 6 0.000 0.034 3453 2254 1536 0 0 0 0 0 0

8109 0.88 292.0 824.6 21.8 190 8115 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 2253 1535 0 0 0 0 0 0

8410 0.88 292.0 759.8 21.4 195 8418 0.00 2.22 0.00 0.000 4 0.000 0.053 3447 3676 1534 0 0 0 0 0 0

8459 0.88 292.0 748.6 22.8 195 8467 0.00 2.15 0.00 0.000 6 0.000 0.034 3458 2238 1535 0 0 0 0 0 0

8766 0.88 292.0 679.9 22.2 200 8775 0.00 2.22 0.00 0.000 4 0.000 0.053 3459 3675 1536 0 0 0 0 0 0

8820 0.88 292.0 666.4 26.0 200 8831 0.17 2.12 0.00 0.000 6 0.243 0.034 3432 2241 1536 0 0 0 0 0 0

9128 0.88 292.0 603.7 20.1 206 9134 0.00 0.00 0.00 0.000 6 0.000 0.000 3432 2241 1531 0 0 0 0 0 0

9430 0.88 292.0 543.6 19.8 211 9438 0.00 2.25 0.00 0.000 4 0.000 0.052 3429 3676 1531 0 0 0 0 0 0

9484 0.88 292.0 532.2 21.4 211 9494 0.00 2.12 0.00 0.000 6 0.000 0.032 3438 2242 1531 0 0 0 0 0 0

9791 0.88 292.0 469.5 20.3 217 9796 0.00 0.00 0.00 0.000 6 0.000 0.000 3439 2242 1531 0 0 0 0 0 0

10093 0.88 292.0 407.3 20.5 222 10101 0.00 2.25 0.00 0.000 4 0.000 0.052 3439 3676 1531 0 0 0 0 0 0

10136 0.88 292.0 397.5 23.9 222 10144 0.00 2.12 0.00 0.000 6 0.000 0.031 3449 2247 1532 0 0 0 0 0 0

10450 0.88 292.0 331.5 21.0 228 10458 0.00 2.22 0.00 0.000 4 0.000 0.050 3451 3688 1528 0 0 0 0 0 0

10498 0.88 292.0 320.3 22.9 228 10507 0.12 2.12 0.00 0.000 6 0.236 0.031 3431 2239 1531 0 0 0 0 0 0

10807 0.88 292.0 260.1 19.2 236 10811 0.00 2.25 0.00 0.000 4 0.000 0.049 3433 3675 1531 0 0 0 0 0 0

10822 0.88 292.0 256.8 19.7 236 10827 0.00 2.15 0.00 0.000 6 0.000 0.030 3443 2246 1531 0 0 0 0 0 0

11142 0.88 292.0 196.2 18.4 247 11146 0.00 2.25 0.00 0.000 4 0.000 0.049 3449 3682 1531 0 0 0 0 0 0

11253 0.88 292.0 173.8 20.1 250 11258 0.00 2.15 0.00 0.000 6 0.000 0.028 3460 2249 1531 0 0 0 0 0 0

11573 0.88 292.0 113.2 19.1 261 11578 0.00 2.22 0.00 0.000 4 0.000 0.047 3455 3676 1531 0 0 0 0 0 0

11626 0.88 292.0 102.3 21.2 262 11631 0.12 2.15 0.00 0.000 6 0.222 0.028 3435 2239 1530 0 0 0 0 0 0

11946 0.92 320.3 47.4 15.4 291 11973 0.00 2.28 21.73 0.477 4 0.000 0.047 3435 3678 1430 0 0 0 0 0 0

11989 0.92 320.3 40.2 17.7 295 11994 0.00 2.15 0.00 0.000 6 0.000 0.028 3444 2242 1430 0 0 0 0 0 0

12183 0.99 376.7 9.5 14.4 320 12231 0.00 0.00 45.42 0.455 6 0.000 0.000 3444 2240 1200 0 0 0 0 0 0

12239 end climb: SURFACE_DEPTH_REACHED

state 12239 begin surface coast

12255 end surface coast: CONTROL_FINISHED_OK

state 12255 begin surface

ID	179	ESCAPE_HEADING	0	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2250	ALTIM_PULSE	5
DIVE	10	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_SURF	2	TGT_DEFAULT_LAT	24.688	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FLARE	3	TGT_DEFAULT_LON	-77.613998	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_TGT	990	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	51	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	550	R_STBD_OVSHOOT	35	INT_PRESSURE_YINT	-0.69999999
D_NO_BLEED	200	N_FILEKB	8	ROLL_AD_RATE	350	DEEPGLIDER	0
D_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
T_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEVICE1	2
D_PITCH	0	KERMIT	0	VBD_MIN	460	DEVICE2	-1
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3960	DEVICE3	-1
D_CALL	0	N_NOSURFACE	0	C_VBD	2737	DEVICE4	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_DIVE	200	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	69
T_MISSION	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	-11900.695	CF8_MAXERRORS	20	PHONE_DEVICE	48
USE_BATHY	0	T_RSLEEP	5	AH0_24V	150	GPS_DEVICE	32
USE_ICE	0	STROBE	0	AH0_10V	100	RAFOS_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	MINV_24V	19	XPDR_DEVICE	24
D_OFFGRID	101	RAFOS_CORR_THRESH	60	MINV_10V	8	SIM_W	0
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
RELAUNCH	1	PITCH_MIN	147	FG_AHR_24V	0	SEABIRD_T_G	0.0043333764
APOGEE_PITCH	-5	PITCH_MAX	3923	PHONE_SUPPLY	2	SEABIRD_T_H	0.0006255582
MAX_BUOY	300	C_PITCH	3145	PRESSURE_YINT	-38.488777	SEABIRD_T_I	2.4443518e-05
COURSE_BIAS	0	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001164844	SEABIRD_T_J	2.7040428e-06
GLIDE_SLOPE	30	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-10.032231
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1531334
RHO	1.0275	PITCH_GAIN	36	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012400629
MASS	51749	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_J	0.00018751388
NAV_MODE	1	PITCH_AD_RATE	165	ALTIM_BOTTOM_PING_RANGE	0	PA_OFFLOAD	1.0
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	PA_MAXUPLOADSIZE	40960.0
KALMAN_USE	1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	PA_MAXOPTIONALUPLOADSIZE	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	80	PA_SCALEFACTOR24V	1.3
HEADING	-1	ROLL_DEG	45	ALTIM_PING_DELTA	5

GPS1	080610,221507,2441.189,-7735.986,173,2.0,173,-7.1	TGT_NAME	H4E10
_CALLS	1	TGT_LATLONG	2441.300,-7727.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.419,0.004
_SM_DEPTHo	1.50	KALMAN_X	-1084.8,308.1,336.1,793.9,-474.1
_SM_ANGLEo	-77.6	KALMAN_Y	-2880.5,-45.9,-190.9,2933.3,32.1
GPS2	080610,221936,2441.149,-7735.972,33,1.0,33,-7.1	MHEAD_RNG_PITCHd_Wd	96.5,15099,-18.8,-16.500
SPEED_LIMITS	0.286,0.419	D_GRID	990

FINISH	0.7,0.996253	PA_USBA	100.0/0/0
SM_CCo	12270,126.55,0.444,0,0,494,550.21	PA_HOME	12.2/482055/423118
SM_GC	1.47,0.00,0.00,126.55,0.000,0.000,0.444,150,2236,494,-9.36,-0.40,550.21	PA_ROOT	80.3/126931/24988
IRIDIUM_FIX	2429.95,-7734.44,021211,111148	PA_LOG	4.5/298663/285086
TT8_MAMPS	0.110852	PA_DATA1	22.6/7837685/6067701
HUMID	1078078055	PA_DATA0	36.5/7836665/4975445
INTERNAL_PRESSURE	8.77302	_24V_AH	23.8,8.244
TCM_TEMP	24.70	_10V_AH	10.3,6.318
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	355088
PA_BOOTCOUNT	15	DATA_FILE_SIZE	10164,333
PA_DFQS	0/0	CAP_FILE_SIZE	126033,0
PA_CMQS	0/0	CFSIZE	260165632,256499712
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	090610,014821,2440.819,-7733.467,49,2.1,69,-7.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	281	167.34	SBE_CT	221	24	126.68
Roll_motor	122	57	167.72	nil	0	0	0.00
VBD_pump_during_apogee	564	1114	14980.80	nil	0	0	0.00
VBD_pump_during_surface	126	443	1336.38	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	0	0.00	nil	0	0	0.00
Iridium_during_connect	25	0	0.00	PAAM	12807	76	23362.62
Iridium_during_xfer	117	0	0.00	nil	0	0	0.00
Transponder_ping	45	420	457.32	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	0	0.00
TT8	0	0	0.00
LPSleep	9786	2	220.76
TT8_Active	782	19	159.67
TT8_Sampling	2004	39	821.65
TT8_CF8	74	45	34.94
TT8_Kalman	33	0	0.00
Analog_circuits	1676	12	207.25
GPS_charging	0	0	0.00
Compass	1123	15	173.57
RAFOS	0	0	0.00
Transponder	282	30	87.42

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	14	begin dive
15	-0.88	-292.0	0.0	0.0	0	70	0.00	0.00	-52.97	0.000	2	0.000	0.000	144	2244	2808	0	0	0	0	0	0
72	-0.88	-292.0	3.1	-4.9	9	114	12.82	2.42	-20.73	0.000	4	0.282	0.047	2848	667	3932	0	0	0	0	0	0
283	-0.88	-292.0	58.3	-22.9	33	291	0.00	2.45	0.00	0.000	6	0.000	0.034	2838	2250	3934	0	0	0	0	0	0
485	-0.88	-292.0	108.4	-25.3	51	489	0.00	2.22	0.00	0.000	4	0.000	0.048	2828	3672	3935	0	0	0	0	0	0
505	-0.88	-292.0	113.5	-24.3	51	510	0.12	2.15	0.00	0.000	6	0.190	0.028	2856	2241	3935	0	0	0	0	0	0
819	-0.88	-292.0	178.1	-19.9	62	824	0.00	2.22	0.00	0.000	4	0.000	0.048	2847	3669	3936	0	0	0	0	0	0
872	-0.88	-292.0	188.6	-19.0	63	877	0.00	2.12	0.00	0.000	6	0.000	0.027	2847	2246	3936	0	0	0	0	0	0
1187	-0.88	-292.0	246.3	-17.9	74	1191	0.00	2.22	0.00	0.000	4	0.000	0.047	2837	3678	3936	0	0	0	0	0	0
1260	-0.88	-292.0	259.0	-16.5	76	1265	0.00	2.12	0.00	0.000	6	0.000	0.027	2837	2251	3936	0	0	0	0	0	0
1615	-0.88	-292.0	321.8	-17.5	86	1624	0.00	2.17	0.00	0.000	4	0.000	0.049	2826	3680	3936	0	0	0	0	0	0
1681	-0.88	-292.0	333.3	-17.6	87	1689	0.12	2.08	0.00	0.000	6	0.174	0.028	2857	2244	3936	0	0	0	0	0	0
2044	-0.88	-292.0	388.5	-15.0	93	2052	0.00	2.20	0.00	0.000	4	0.000	0.049	2848	3677	3936	0	0	0	0	0	0
2104	-0.88	-292.0	397.6	-13.9	93	2114	0.00	2.10	0.00	0.000	6	0.000	0.028	2847	2232	3937	0	0	0	0	0	0
2412	-0.88	-292.0	444.2	-15.2	99	2420	0.00	2.22	0.00	0.000	4	0.000	0.049	2837	3678	3935	0	0	0	0	0	0
2483	-0.88	-292.0	455.0	-14.6	100	2492	0.00	2.08	0.00	0.000	6	0.000	0.028	2837	2253	3935	0	0	0	0	0	0
2841	-0.88	-292.0	510.5	-15.5	106	2849	0.00	2.20	0.00	0.000	4	0.000	0.050	2826	3673	3931	0	0	0	0	0	0
2912	-0.88	-292.0	521.4	-15.0	107	2920	0.10	2.05	0.00	0.000	6	0.182	0.029	2855	2245	3934	0	0	0	0	0	0
3269	-0.88	-292.0	567.5	-12.9	113	3277	0.00	2.20	0.00	0.000	4	0.000	0.050	2852	3674	3931	0	0	0	0	0	0
3345	-0.88	-292.0	577.6	-12.8	114	3353	0.00	2.08	0.00	0.000	6	0.000	0.030	2847	2248	3929	0	0	0	0	0	0
3696	-0.88	-292.0	625.3	-13.6	120	3708	0.00	2.22	0.00	0.000	4	0.000	0.051	2836	3683	3929	0	0	0	0	0	0
3786	-0.88	-292.0	637.3	-13.8	121	3794	0.00	2.08	0.00	0.000	6	0.000	0.031	2836	2249	3928	0	0	0	0	0	0
4127	-0.88	-292.0	684.0	-13.7	127	4138	0.00	2.22	0.00	0.000	4	0.000	0.053	2825	3682	3927	0	0	0	0	0	0
4184	-0.88	-292.0	691.8	-13.5	127	4192	0.12	2.10	0.00	0.000	6	0.175	0.031	2857	2244	3927	0	0	0	0	0	0
4492	-0.88	-292.0	726.8	-11.2	132	4501	0.00	2.20	0.00	0.000	4	0.000	0.052	2848	3671	3923	0	0	0	0	0	0
4569	-0.88	-292.0	735.4	-10.9	133	4577	0.00	2.08	0.00	0.000	6	0.000	0.031	2844	2237	3923	0	0	0	0	0	0
4920	-0.88	-292.0	777.2	-11.9	139	4929	0.00	2.25	0.00	0.000	4	0.000	0.054	2838	3676	3921	0	0	0	0	0	0
5013	-0.88	-292.0	788.4	-11.9	140	5021	0.00	2.10	0.00	0.000	6	0.000	0.032	2838	2251	3921	0	0	0	0	0	0
5354	-0.88	-292.0	831.0	-12.5	146	5363	0.00	2.20	0.00	0.000	4	0.000	0.055	2827	3674	3919	0	0	0	0	0	0
5431	-0.88	-292.0	840.4	-12.1	147	5439	0.12	2.10	0.00	0.000	6	0.179	0.033	2858	2247	3919	0	0	0	0	0	0
5783	-0.88	-292.0	877.1	-10.4	153	5792	0.00	2.22	0.00	0.000	4	0.000	0.056	2848	3675	3916	0	0	0	0	0	0
5838	-0.88	-292.0	882.8	-10.6	153	5846	0.00	2.08	0.00	0.000	6	0.000	0.034	2850	2253	3915	0	0	0	0	0	0
6146	-0.88	-292.0	918.0	-11.5	158	6155	0.00	2.25	0.00	0.000	4	0.000	0.057	2839	3675	3914	0	0	0	0	0	0
6239	-0.88	-292.0	929.0	-12.4	159	6247	0.00	2.12	0.00	0.000	6	0.000	0.034	2838	2248	3913	0	0	0	0	0	0
6574	-0.88	-292.0	968.3	-11.6	165	6585	0.00	2.22	0.00	0.000	4	0.000	0.057	2828	3677	3908	0	0	0	0	0	0
6647	-0.88	-292.0	977.2	-12.0	166	6655	0.12	2.12	0.00	0.000	6	0.181	0.034	2859	2243	3910	0	0	0	0	0	0
6822	end dive: TARGET_DEPTH_EXCEEDED
state	6822	begin apogee
6825	-0.14	0.0	995.0	10.0	169	7075	0.75	0.00	242.82	1.115	6	0.142	0.000	3096	2242	2737	0	0	0	0	0	0
7075	end apogee: CONTROL_FINISHED_OK
state	7075	begin climb
7076	0.88	292.0	1009.6	0.0	173	7344	0.98	2.58	254.75	1.102	4	0.082	0.042	3442	686	1545	0	0	0	0	0	0
7422	0.88	292.0	971.1	18.8	178	7431	0.00	2.53	0.00	0.000	6	0.000	0.037	3437	2254	1540	0	0	0	0	0	0
7747	0.88	292.0	904.4	20.5	184	7755	0.00	2.22	0.00	0.000	4	0.000	0.054	3437	3675	1536	0	0	0	0	0	0
7801	0.88	292.0	892.3	23.2	184	7812	0.00	2.17	0.00	0.000	6	0.000	0.034	3453	2254	1536	0	0	0	0	0	0
8109	0.88	292.0	824.6	21.8	190	8115	0.00	0.00	0.00	0.000	6	0.000	0.000	3448	2253	1535	0	0	0	0	0	0
8410	0.88	292.0	759.8	21.4	195	8418	0.00	2.22	0.00	0.000	4	0.000	0.053	3447	3676	1534	0	0	0	0	0	0
8459	0.88	292.0	748.6	22.8	195	8467	0.00	2.15	0.00	0.000	6	0.000	0.034	3458	2238	1535	0	0	0	0	0	0
8766	0.88	292.0	679.9	22.2	200	8775	0.00	2.22	0.00	0.000	4	0.000	0.053	3459	3675	1536	0	0	0	0	0	0
8820	0.88	292.0	666.4	26.0	200	8831	0.17	2.12	0.00	0.000	6	0.243	0.034	3432	2241	1536	0	0	0	0	0	0
9128	0.88	292.0	603.7	20.1	206	9134	0.00	0.00	0.00	0.000	6	0.000	0.000	3432	2241	1531	0	0	0	0	0	0
9430	0.88	292.0	543.6	19.8	211	9438	0.00	2.25	0.00	0.000	4	0.000	0.052	3429	3676	1531	0	0	0	0	0	0
9484	0.88	292.0	532.2	21.4	211	9494	0.00	2.12	0.00	0.000	6	0.000	0.032	3438	2242	1531	0	0	0	0	0	0
9791	0.88	292.0	469.5	20.3	217	9796	0.00	0.00	0.00	0.000	6	0.000	0.000	3439	2242	1531	0	0	0	0	0	0
10093	0.88	292.0	407.3	20.5	222	10101	0.00	2.25	0.00	0.000	4	0.000	0.052	3439	3676	1531	0	0	0	0	0	0
10136	0.88	292.0	397.5	23.9	222	10144	0.00	2.12	0.00	0.000	6	0.000	0.031	3449	2247	1532	0	0	0	0	0	0
10450	0.88	292.0	331.5	21.0	228	10458	0.00	2.22	0.00	0.000	4	0.000	0.050	3451	3688	1528	0	0	0	0	0	0
10498	0.88	292.0	320.3	22.9	228	10507	0.12	2.12	0.00	0.000	6	0.236	0.031	3431	2239	1531	0	0	0	0	0	0
10807	0.88	292.0	260.1	19.2	236	10811	0.00	2.25	0.00	0.000	4	0.000	0.049	3433	3675	1531	0	0	0	0	0	0
10822	0.88	292.0	256.8	19.7	236	10827	0.00	2.15	0.00	0.000	6	0.000	0.030	3443	2246	1531	0	0	0	0	0	0
11142	0.88	292.0	196.2	18.4	247	11146	0.00	2.25	0.00	0.000	4	0.000	0.049	3449	3682	1531	0	0	0	0	0	0
11253	0.88	292.0	173.8	20.1	250	11258	0.00	2.15	0.00	0.000	6	0.000	0.028	3460	2249	1531	0	0	0	0	0	0
11573	0.88	292.0	113.2	19.1	261	11578	0.00	2.22	0.00	0.000	4	0.000	0.047	3455	3676	1531	0	0	0	0	0	0
11626	0.88	292.0	102.3	21.2	262	11631	0.12	2.15	0.00	0.000	6	0.222	0.028	3435	2239	1530	0	0	0	0	0	0
11946	0.92	320.3	47.4	15.4	291	11973	0.00	2.28	21.73	0.477	4	0.000	0.047	3435	3678	1430	0	0	0	0	0	0
11989	0.92	320.3	40.2	17.7	295	11994	0.00	2.15	0.00	0.000	6	0.000	0.028	3444	2242	1430	0	0	0	0	0	0
12183	0.99	376.7	9.5	14.4	320	12231	0.00	0.00	45.42	0.455	6	0.000	0.000	3444	2240	1200	0	0	0	0	0	0
12239	end climb: SURFACE_DEPTH_REACHED
state	12239	begin surface coast
12255	end surface coast: CONTROL_FINISHED_OK
state	12255	begin surface