Glider dive log

SCORE Jan11 * SG179 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 179 HEADING -1 ROLL_DEG 45 ALTIM_PING_DELTA 5

MISSION 6 ESCAPE_HEADING 0 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 13

DIVE 10 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1923 ALTIM_PULSE 8

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_SURF 3 TGT_DEFAULT_LAT 32.6903 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FLARE 3 TGT_DEFAULT_LON -118.7761 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_TGT 990 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 42 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 250 R_STBD_OVSHOOT 33 INT_PRESSURE_YINT -0.69999999

D_NO_BLEED 200 N_FILEKB 8 ROLL_AD_RATE 350 DEEPGLIDER 0

D_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

T_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEVICE1 2

D_PITCH 0 PROTOCOL 0 VBD_MIN 460 DEVICE2 -1

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3960 DEVICE3 -1

D_CALL 0 N_NOSURFACE 0 C_VBD 2748 DEVICE4 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 2 DEVICE5 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_TIMEOUT 720 LOGGERS 1

T_DIVE 248 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 69

T_MISSION 310 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 -16216.798 CF8_MAXERRORS 20 PHONE_DEVICE 48

USE_BATHY 1 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 501 RAFOS_CORR_THRESH 60 MINV_10V 8 SIM_W 0

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 FG_AHR_10V 0 SIM_PITCH 0

RELAUNCH 1 PITCH_MIN 147 FG_AHR_24V 0 SEABIRD_T_G 0.0043333764

APOGEE_PITCH -5 PITCH_MAX 3923 PHONE_SUPPLY 2 SEABIRD_T_H 0.0006255582

MAX_BUOY 200 C_PITCH 2850 PRESSURE_YINT -37.840191 SEABIRD_T_I 2.4443518e-05

COURSE_BIAS 0 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001164844 SEABIRD_T_J 2.7040428e-06

GLIDE_SLOPE 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 26 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012400629

MASS 51729 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_J 0.00018751388

NAV_MODE 1 PITCH_AD_RATE 165 ALTIM_BOTTOM_PING_RANGE 0 PA_OFFLOAD 1.0

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 PA_MAXUPLOADSIZE 40960.0

KALMAN_USE 1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 PA_MAXOPTIONALUPLOADSIZE 20480.0

HD_A 0.003 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 PA_POWERSOURCE 0.0

HD_B 0.0099999998 ROLL_MIN 165 ALTIM_TOP_MIN_OBSTACLE 1 PA_RESTARTMONITOR 0.0

HD_C 9.9999997e-06 ROLL_MAX 3681 ALTIM_PING_DEPTH 130 PA_SCALEFACTOR24V 1.3

AD7714Ch0Gain 128 D_OFFGRID 501 PA_OFFLOAD 1.0 SEABIRD_T_I 2.4443518e-05

AH0_10V 100 D_PITCH 0 PA_POWERSOURCE 0.0 SEABIRD_T_J 2.7040428e-06

AH0_24V 150 D_SAFE 0 PA_RESTARTMONITOR 0.0 SIM_PITCH 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PA_SCALEFACTOR24V 1.3 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PHONE_DEVICE 48 SM_CC 250

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PING_DEPTH 130 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_PULSE 8 FG_AHR_10V 0 PITCH_AD_RATE 165 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 26 TCM_ROLL_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAX 3923 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 32.6903

CALL_NDIVES 1 HD_A 0.003 PITCH_MIN 147 TGT_DEFAULT_LON -118.7761

CALL_TRIES 5 HD_B 0.0099999998 PITCH_TIMEOUT 18 T_ABORT 1440

CALL_WAIT 60 HD_C 9.9999997e-06 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 0

CAPMAXSIZE 100000 HEADING -1 PRESSURE_SLOPE 0.0001164844 T_DIVE 248

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -37.840191 T_GPS 15

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 0 T_GPS_ALMANAC 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT 0.039999999 T_GPS_CHARGE -16216.798

COMPASS2_DEVICE -1 ID 179 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_MISSION 310

COMPASS_USE 0 INT_PRESSURE_YINT -0.69999999 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 1 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 5

C_PITCH 2850 LOGGERDEVICE1 69 RELAUNCH 1 T_TURN 225

C_ROLL_CLIMB 1923 LOGGERDEVICE2 -1 RHO 1.0275 T_TURN_SAMPINT 5

C_ROLL_DIVE 2250 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_VBD 2748 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

DEEPGLIDER 0 LOGGERS 1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 MASS 51729 ROLL_CNV 0.028270001 USE_BATHY 1

DEVICE1 2 MAX_BUOY 200 ROLL_DEG 45 USE_ICE 0

DEVICE2 -1 MINV_10V 8 ROLL_MAX 3681 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 19 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 6 ROLL_MIN 165 VBD_DBAND 2

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE6 -1 NAV_MODE 1 R_PORT_OVSHOOT 42 VBD_MAXERRORS 1

DIVE 10 N_DIVES 0 R_STBD_OVSHOOT 33 VBD_MIN 460

D_ABORT 1090 N_FILEKB 8 SEABIRD_C_G -10.032231 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 0 N_GPS 20 SEABIRD_C_H 1.1531334 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_NOCOMM 1 SEABIRD_C_I -0.0012400629 VBD_TIMEOUT 720

D_FINISH 0 N_NOSURFACE 0 SEABIRD_C_J 0.00018751388 XPDR_DEVICE 24

D_FLARE 3 PA_MAXOPTIONALUPLOADSIZE 20480.0 SEABIRD_T_G 0.0043333764 XPDR_INHIBIT 90

D_NO_BLEED 200 PA_MAXUPLOADSIZE 40960.0 SEABIRD_T_H 0.0006255582 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 050111,165136,3242.817,-11851.785,256,1.3,257,13.3 TGT_NAME MDW

_CALLS 1 TGT_LATLONG 3246.522,-11856.604

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.289,0.148

_SM_DEPTHo 1.79 KALMAN_X 15108.0,752.1,-733.3,-24514.1,3991.4

_SM_ANGLEo -77.9 KALMAN_Y -6594.7,557.2,518.8,10456.1,-1917.1

GPS2 050111,165720,3242.850,-11851.774,16,1.1,16,13.3 MHEAD_RNG_PITCHd_Wd 283.8,10138,-19.3,-13.306

SPEED_LIMITS 0.230,0.325 D_GRID 1092

Post-dive calculations and measurements:

FINISH 0.9,1.002131 PA_USBA 100.0/0/0

SM_CCo 11709,25.73,0.552,0,0,1727,250.21 PA_HOME 9.0/483886/440528

SM_GC 1.97,0.00,0.00,25.73,0.000,0.000,0.552,145,2271,1727,-8.46,0.59,250.21 PA_ROOT 80.3/126931/24979

IRIDIUM_FIX 3233.95,-11854.82,050111,131339 PA_LOG 7.3/297829/276122

TT8_MAMPS 0.116844 PA_DATA1 0.1/7836665/7825417

HUMID 51.69 PA_DATA0 54.4/7836665/3572688

INTERNAL_PRESSURE 9.60313 _24V_AH 22.8,15.750

TCM_TEMP 19.50 _10V_AH 10.2,10.147

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 316732

PA_BOOTCOUNT 92 DATA_FILE_SIZE 10138,346

PA_DFQS 0/0 CAP_FILE_SIZE 109665,0

PA_CMQS 0/0 CFSIZE 260165632,255934464

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 050111,201617,3243.413,-11853.516,120,2.1,140,13.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 274 137.91 SBE_CT 236 24 129.50

Roll_motor 88 63 127.69 nil 0 0 0.00

VBD_pump_during_apogee 363 1173 9735.85 nil 0 0 0.00

VBD_pump_during_surface 25 551 323.51 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 66.23 nil 0 0 0.00

Iridium_during_connect 29 160 107.13 PAAM 12385 86 24320.19

Iridium_during_xfer 194 223 988.82 nil 0 0 0.00

Transponder_ping 43 420 414.16 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.64

TT8 0 0 0.00

LPSleep 9706 2 216.82

TT8_Active 429 19 86.76

TT8_Sampling 1860 39 755.32

TT8_CF8 81 45 38.02

TT8_Kalman 33 81 27.81

Analog_circuits 1226 12 150.07

GPS_charging 0 0 0.00

Compass 912 15 139.66

RAFOS 0 0 0.00

Transponder 275 30 84.28

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 -0.98 -194.6 0.0 0.0 0 70 0.00 0.00 -53.03 0.000 2 0.000 0.000 142 2253 2878 0 0 0 0 0 0

72 -0.98 -194.6 3.0 -3.7 9 103 11.12 2.50 -15.32 0.000 4 0.275 0.054 2525 668 3541 0 0 0 0 0 0

304 -0.98 -194.6 59.4 -23.9 37 309 0.00 2.53 0.00 0.000 6 0.000 0.044 2517 2240 3546 0 0 0 0 0 0

501 -0.98 -194.6 99.5 -20.5 56 501 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2240 3546 0 0 0 0 0 0

694 -0.98 -194.6 139.7 -21.3 63 702 0.00 2.42 0.00 0.000 4 0.000 0.040 2516 646 3547 0 0 0 0 0 0

716 -0.98 -194.6 145.0 -23.2 63 724 0.00 2.50 0.00 0.000 6 0.000 0.044 2504 2260 3548 0 0 0 0 0 0

1031 -0.98 -194.6 213.7 -21.1 74 1040 0.00 2.25 0.00 0.000 4 0.000 0.060 2493 3673 3548 0 0 0 0 0 0

1134 -0.98 -194.6 236.3 -21.7 77 1142 0.15 2.20 0.00 0.000 6 0.168 0.036 2526 2230 3548 0 0 0 0 0 0

1460 -0.98 -194.6 291.5 -16.6 88 1466 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2229 3548 0 0 0 0 0 0

1762 -0.98 -194.6 340.4 -16.2 94 1768 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2229 3549 0 0 0 0 0 0

2064 -0.98 -194.6 386.8 -15.3 99 2070 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2229 3544 0 0 0 0 0 0

2366 -0.98 -194.6 432.3 -15.0 104 2375 0.00 2.33 0.00 0.000 4 0.000 0.060 2522 3678 3551 0 0 0 0 0 0

2384 -0.98 -194.6 435.1 -15.0 104 2392 0.00 2.17 0.00 0.000 6 0.000 0.037 2522 2248 3546 0 0 0 0 0 0

2736 -0.98 -194.6 489.9 -15.7 110 2741 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2246 3549 0 0 0 0 0 0

3037 -0.98 -194.6 536.4 -15.4 115 3046 0.00 2.40 0.00 0.000 4 0.000 0.043 2522 675 3548 0 0 0 0 0 0

3082 -0.98 -194.6 543.1 -15.1 115 3091 0.00 2.47 0.00 0.000 6 0.000 0.044 2511 2258 3548 0 0 0 0 0 0

3407 -0.98 -194.6 593.8 -15.7 121 3419 0.00 2.28 0.00 0.000 4 0.000 0.061 2500 3675 3547 0 0 0 0 0 0

3454 -0.98 -194.6 601.8 -16.4 121 3462 0.12 2.17 0.00 0.000 6 0.169 0.037 2532 2242 3548 0 0 0 0 0 0

3778 -0.98 -194.6 649.5 -14.7 127 3784 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2242 3547 0 0 0 0 0 0

4080 -0.98 -194.6 691.1 -13.8 132 4089 0.00 2.40 0.00 0.000 4 0.000 0.044 2528 678 3544 0 0 0 0 0 0

4109 -0.98 -194.6 695.4 -14.7 132 4120 0.00 2.47 0.00 0.000 6 0.000 0.046 2523 2268 3546 0 0 0 0 0 0

4453 -0.98 -194.6 745.2 -14.6 138 4461 0.00 2.28 0.00 0.000 4 0.000 0.063 2512 3680 3546 0 0 0 0 0 0

4491 -0.98 -194.6 751.2 -15.3 138 4499 0.00 2.15 0.00 0.000 6 0.000 0.040 2512 2254 3548 0 0 0 0 0 0

4815 -0.98 -194.6 800.0 -15.1 144 4821 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2253 3545 0 0 0 0 0 0

5117 -0.98 -194.6 845.8 -15.2 149 5126 0.00 2.42 0.00 0.000 4 0.000 0.044 2512 676 3544 0 0 0 0 0 0

5151 -0.98 -194.6 851.3 -16.3 149 5160 0.12 2.45 0.00 0.000 6 0.171 0.046 2533 2249 3545 0 0 0 0 0 0

5487 -0.98 -194.6 898.1 -13.9 155 5493 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2249 3543 0 0 0 0 0 0

5789 -0.98 -194.6 938.1 -13.1 160 5795 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2249 3542 0 0 0 0 0 0

6091 -0.98 -194.6 976.9 -12.8 165 6100 0.00 2.30 0.00 0.000 4 0.000 0.063 2524 3675 3540 0 0 0 0 0 0

6120 -0.98 -194.6 980.5 -13.3 165 6130 0.00 2.20 0.00 0.000 6 0.000 0.040 2524 2238 3541 0 0 0 0 0 0

6221 end dive: TARGET_DEPTH_EXCEEDED

state 6221 begin apogee

6223 -0.19 0.0 993.6 12.9 167 6403 0.82 0.00 170.57 1.174 6 0.137 0.000 2781 1923 2748 0 0 0 0 0 0

6404 end apogee: CONTROL_FINISHED_OK

state 6404 begin climb

6405 0.98 194.6 1001.4 0.0 169 6599 1.10 2.78 178.77 1.157 4 0.056 0.047 3181 363 1953 0 0 0 0 0 0

6607 0.98 194.6 978.9 21.9 173 6616 0.00 2.65 0.00 0.000 6 0.000 0.037 3182 1927 1951 0 0 0 0 0 0

6959 0.98 194.6 902.0 21.9 179 6967 0.00 2.60 0.00 0.000 4 0.000 0.056 3181 3513 1945 0 0 0 0 0 0

6986 0.98 194.6 895.8 22.1 179 6994 0.00 2.50 0.00 0.000 6 0.000 0.037 3193 1928 1944 0 0 0 0 0 0

7315 0.98 194.6 822.6 22.2 185 7322 0.00 0.00 0.00 0.000 6 0.000 0.000 3193 1924 1943 0 0 0 0 0 0

7617 0.98 194.6 756.1 21.9 190 7626 0.00 2.50 0.00 0.000 4 0.000 0.050 3205 344 1943 0 0 0 0 0 0

7639 0.98 194.6 751.0 22.7 190 7647 0.15 2.47 0.00 0.000 6 0.189 0.040 3172 1930 1943 0 0 0 0 0 0

7974 0.98 194.6 684.0 19.9 196 7983 0.00 2.53 0.00 0.000 4 0.000 0.057 3172 3503 1942 0 0 0 0 0 0

8040 0.98 194.6 669.2 23.0 197 8048 0.00 2.47 0.00 0.000 6 0.000 0.039 3181 1914 1941 0 0 0 0 0 0

8396 0.98 194.6 595.9 20.5 203 8401 0.00 0.00 0.00 0.000 6 0.000 0.000 3181 1910 1942 0 0 0 0 0 0

8698 0.98 194.6 534.7 20.4 208 8706 0.00 2.53 0.00 0.000 4 0.000 0.057 3181 3500 1941 0 0 0 0 0 0

8778 0.98 194.6 516.6 22.8 209 8786 0.00 2.45 0.00 0.000 6 0.000 0.039 3193 1914 1941 0 0 0 0 0 0

9118 0.98 194.6 444.0 21.4 215 9124 0.00 0.00 0.00 0.000 6 0.000 0.000 3193 1910 1941 0 0 0 0 0 0

9420 0.98 194.6 380.8 20.8 220 9425 0.00 0.00 0.00 0.000 6 0.000 0.000 3193 1910 1940 0 0 0 0 0 0

9722 0.98 194.6 318.6 20.5 225 9731 0.00 2.55 0.00 0.000 4 0.000 0.056 3193 3504 1942 0 0 0 0 0 0

9819 0.98 194.6 298.0 22.4 226 9828 0.15 2.42 0.00 0.000 6 0.200 0.038 3172 1920 1941 0 0 0 0 0 0

10145 0.98 194.6 238.1 17.7 237 10150 0.00 0.00 0.00 0.000 6 0.000 0.000 3172 1917 1940 0 0 0 0 0 0

10449 0.98 194.6 186.5 16.1 247 10454 0.00 0.00 0.00 0.000 6 0.000 0.000 3171 1917 1941 0 0 0 0 0 0

10752 0.98 194.6 137.5 15.7 257 10761 0.00 2.53 0.00 0.000 4 0.000 0.054 3172 3506 1940 0 0 0 0 0 0

10854 0.98 194.6 119.3 18.1 260 10862 0.00 2.42 0.00 0.000 6 0.000 0.039 3181 1909 1940 0 0 0 0 0 0

11169 0.98 194.6 69.0 14.5 282 11173 0.00 2.47 0.00 0.000 4 0.000 0.049 3193 343 1941 0 0 0 0 0 0

11195 0.98 194.6 65.4 15.0 284 11203 0.00 2.45 0.00 0.000 6 0.000 0.039 3195 1916 1940 0 0 0 0 0 0

11386 1.00 206.3 40.4 12.8 303 11399 0.00 0.00 8.35 0.537 6 0.000 0.000 3192 1916 1907 0 0 0 0 0 0

11584 1.00 211.2 15.7 13.1 325 11592 0.00 0.00 6.18 0.490 6 0.000 0.000 3193 1916 1887 0 0 0 0 0 0

11654 1.00 211.2 5.7 14.4 338 11655 0.00 0.00 0.00 0.000 6 0.000 0.000 3194 1915 1886 0 0 0 0 0 0

11674 end climb: SURFACE_DEPTH_REACHED

state 11674 begin surface coast

11696 end surface coast: CONTROL_FINISHED_OK

state 11696 begin surface

ID	179	HEADING	-1	ROLL_DEG	45	ALTIM_PING_DELTA	5
MISSION	6	ESCAPE_HEADING	0	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	13
DIVE	10	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1923	ALTIM_PULSE	8
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_SURF	3	TGT_DEFAULT_LAT	32.6903	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FLARE	3	TGT_DEFAULT_LON	-118.7761	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_TGT	990	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	42	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	250	R_STBD_OVSHOOT	33	INT_PRESSURE_YINT	-0.69999999
D_NO_BLEED	200	N_FILEKB	8	ROLL_AD_RATE	350	DEEPGLIDER	0
D_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
T_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEVICE1	2
D_PITCH	0	PROTOCOL	0	VBD_MIN	460	DEVICE2	-1
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3960	DEVICE3	-1
D_CALL	0	N_NOSURFACE	0	C_VBD	2748	DEVICE4	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	2	DEVICE5	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_TIMEOUT	720	LOGGERS	1
T_DIVE	248	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	69
T_MISSION	310	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	-16216.798	CF8_MAXERRORS	20	PHONE_DEVICE	48
USE_BATHY	1	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	501	RAFOS_CORR_THRESH	60	MINV_10V	8	SIM_W	0
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	FG_AHR_10V	0	SIM_PITCH	0
RELAUNCH	1	PITCH_MIN	147	FG_AHR_24V	0	SEABIRD_T_G	0.0043333764
APOGEE_PITCH	-5	PITCH_MAX	3923	PHONE_SUPPLY	2	SEABIRD_T_H	0.0006255582
MAX_BUOY	200	C_PITCH	2850	PRESSURE_YINT	-37.840191	SEABIRD_T_I	2.4443518e-05
COURSE_BIAS	0	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001164844	SEABIRD_T_J	2.7040428e-06
GLIDE_SLOPE	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	26	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012400629
MASS	51729	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_J	0.00018751388
NAV_MODE	1	PITCH_AD_RATE	165	ALTIM_BOTTOM_PING_RANGE	0	PA_OFFLOAD	1.0
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	PA_MAXUPLOADSIZE	40960.0
KALMAN_USE	1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	PA_MAXOPTIONALUPLOADSIZE	20480.0
HD_A	0.003	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	PA_POWERSOURCE	0.0
HD_B	0.0099999998	ROLL_MIN	165	ALTIM_TOP_MIN_OBSTACLE	1	PA_RESTARTMONITOR	0.0
HD_C	9.9999997e-06	ROLL_MAX	3681	ALTIM_PING_DEPTH	130	PA_SCALEFACTOR24V	1.3

GPS1	050111,165136,3242.817,-11851.785,256,1.3,257,13.3	TGT_NAME	MDW
_CALLS	1	TGT_LATLONG	3246.522,-11856.604
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.289,0.148
_SM_DEPTHo	1.79	KALMAN_X	15108.0,752.1,-733.3,-24514.1,3991.4
_SM_ANGLEo	-77.9	KALMAN_Y	-6594.7,557.2,518.8,10456.1,-1917.1
GPS2	050111,165720,3242.850,-11851.774,16,1.1,16,13.3	MHEAD_RNG_PITCHd_Wd	283.8,10138,-19.3,-13.306
SPEED_LIMITS	0.230,0.325	D_GRID	1092

FINISH	0.9,1.002131	PA_USBA	100.0/0/0
SM_CCo	11709,25.73,0.552,0,0,1727,250.21	PA_HOME	9.0/483886/440528
SM_GC	1.97,0.00,0.00,25.73,0.000,0.000,0.552,145,2271,1727,-8.46,0.59,250.21	PA_ROOT	80.3/126931/24979
IRIDIUM_FIX	3233.95,-11854.82,050111,131339	PA_LOG	7.3/297829/276122
TT8_MAMPS	0.116844	PA_DATA1	0.1/7836665/7825417
HUMID	51.69	PA_DATA0	54.4/7836665/3572688
INTERNAL_PRESSURE	9.60313	_24V_AH	22.8,15.750
TCM_TEMP	19.50	_10V_AH	10.2,10.147
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	316732
PA_BOOTCOUNT	92	DATA_FILE_SIZE	10138,346
PA_DFQS	0/0	CAP_FILE_SIZE	109665,0
PA_CMQS	0/0	CFSIZE	260165632,255934464
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	050111,201617,3243.413,-11853.516,120,2.1,140,13.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	274	137.91	SBE_CT	236	24	129.50
Roll_motor	88	63	127.69	nil	0	0	0.00
VBD_pump_during_apogee	363	1173	9735.85	nil	0	0	0.00
VBD_pump_during_surface	25	551	323.51	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	66.23	nil	0	0	0.00
Iridium_during_connect	29	160	107.13	PAAM	12385	86	24320.19
Iridium_during_xfer	194	223	988.82	nil	0	0	0.00
Transponder_ping	43	420	414.16	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.64
TT8	0	0	0.00
LPSleep	9706	2	216.82
TT8_Active	429	19	86.76
TT8_Sampling	1860	39	755.32
TT8_CF8	81	45	38.02
TT8_Kalman	33	81	27.81
Analog_circuits	1226	12	150.07
GPS_charging	0	0	0.00
Compass	912	15	139.66
RAFOS	0	0	0.00
Transponder	275	30	84.28

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	-0.98	-194.6	0.0	0.0	0	70	0.00	0.00	-53.03	0.000	2	0.000	0.000	142	2253	2878	0	0	0	0	0	0
72	-0.98	-194.6	3.0	-3.7	9	103	11.12	2.50	-15.32	0.000	4	0.275	0.054	2525	668	3541	0	0	0	0	0	0
304	-0.98	-194.6	59.4	-23.9	37	309	0.00	2.53	0.00	0.000	6	0.000	0.044	2517	2240	3546	0	0	0	0	0	0
501	-0.98	-194.6	99.5	-20.5	56	501	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2240	3546	0	0	0	0	0	0
694	-0.98	-194.6	139.7	-21.3	63	702	0.00	2.42	0.00	0.000	4	0.000	0.040	2516	646	3547	0	0	0	0	0	0
716	-0.98	-194.6	145.0	-23.2	63	724	0.00	2.50	0.00	0.000	6	0.000	0.044	2504	2260	3548	0	0	0	0	0	0
1031	-0.98	-194.6	213.7	-21.1	74	1040	0.00	2.25	0.00	0.000	4	0.000	0.060	2493	3673	3548	0	0	0	0	0	0
1134	-0.98	-194.6	236.3	-21.7	77	1142	0.15	2.20	0.00	0.000	6	0.168	0.036	2526	2230	3548	0	0	0	0	0	0
1460	-0.98	-194.6	291.5	-16.6	88	1466	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2229	3548	0	0	0	0	0	0
1762	-0.98	-194.6	340.4	-16.2	94	1768	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2229	3549	0	0	0	0	0	0
2064	-0.98	-194.6	386.8	-15.3	99	2070	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2229	3544	0	0	0	0	0	0
2366	-0.98	-194.6	432.3	-15.0	104	2375	0.00	2.33	0.00	0.000	4	0.000	0.060	2522	3678	3551	0	0	0	0	0	0
2384	-0.98	-194.6	435.1	-15.0	104	2392	0.00	2.17	0.00	0.000	6	0.000	0.037	2522	2248	3546	0	0	0	0	0	0
2736	-0.98	-194.6	489.9	-15.7	110	2741	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2246	3549	0	0	0	0	0	0
3037	-0.98	-194.6	536.4	-15.4	115	3046	0.00	2.40	0.00	0.000	4	0.000	0.043	2522	675	3548	0	0	0	0	0	0
3082	-0.98	-194.6	543.1	-15.1	115	3091	0.00	2.47	0.00	0.000	6	0.000	0.044	2511	2258	3548	0	0	0	0	0	0
3407	-0.98	-194.6	593.8	-15.7	121	3419	0.00	2.28	0.00	0.000	4	0.000	0.061	2500	3675	3547	0	0	0	0	0	0
3454	-0.98	-194.6	601.8	-16.4	121	3462	0.12	2.17	0.00	0.000	6	0.169	0.037	2532	2242	3548	0	0	0	0	0	0
3778	-0.98	-194.6	649.5	-14.7	127	3784	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2242	3547	0	0	0	0	0	0
4080	-0.98	-194.6	691.1	-13.8	132	4089	0.00	2.40	0.00	0.000	4	0.000	0.044	2528	678	3544	0	0	0	0	0	0
4109	-0.98	-194.6	695.4	-14.7	132	4120	0.00	2.47	0.00	0.000	6	0.000	0.046	2523	2268	3546	0	0	0	0	0	0
4453	-0.98	-194.6	745.2	-14.6	138	4461	0.00	2.28	0.00	0.000	4	0.000	0.063	2512	3680	3546	0	0	0	0	0	0
4491	-0.98	-194.6	751.2	-15.3	138	4499	0.00	2.15	0.00	0.000	6	0.000	0.040	2512	2254	3548	0	0	0	0	0	0
4815	-0.98	-194.6	800.0	-15.1	144	4821	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2253	3545	0	0	0	0	0	0
5117	-0.98	-194.6	845.8	-15.2	149	5126	0.00	2.42	0.00	0.000	4	0.000	0.044	2512	676	3544	0	0	0	0	0	0
5151	-0.98	-194.6	851.3	-16.3	149	5160	0.12	2.45	0.00	0.000	6	0.171	0.046	2533	2249	3545	0	0	0	0	0	0
5487	-0.98	-194.6	898.1	-13.9	155	5493	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2249	3543	0	0	0	0	0	0
5789	-0.98	-194.6	938.1	-13.1	160	5795	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2249	3542	0	0	0	0	0	0
6091	-0.98	-194.6	976.9	-12.8	165	6100	0.00	2.30	0.00	0.000	4	0.000	0.063	2524	3675	3540	0	0	0	0	0	0
6120	-0.98	-194.6	980.5	-13.3	165	6130	0.00	2.20	0.00	0.000	6	0.000	0.040	2524	2238	3541	0	0	0	0	0	0
6221	end dive: TARGET_DEPTH_EXCEEDED
state	6221	begin apogee
6223	-0.19	0.0	993.6	12.9	167	6403	0.82	0.00	170.57	1.174	6	0.137	0.000	2781	1923	2748	0	0	0	0	0	0
6404	end apogee: CONTROL_FINISHED_OK
state	6404	begin climb
6405	0.98	194.6	1001.4	0.0	169	6599	1.10	2.78	178.77	1.157	4	0.056	0.047	3181	363	1953	0	0	0	0	0	0
6607	0.98	194.6	978.9	21.9	173	6616	0.00	2.65	0.00	0.000	6	0.000	0.037	3182	1927	1951	0	0	0	0	0	0
6959	0.98	194.6	902.0	21.9	179	6967	0.00	2.60	0.00	0.000	4	0.000	0.056	3181	3513	1945	0	0	0	0	0	0
6986	0.98	194.6	895.8	22.1	179	6994	0.00	2.50	0.00	0.000	6	0.000	0.037	3193	1928	1944	0	0	0	0	0	0
7315	0.98	194.6	822.6	22.2	185	7322	0.00	0.00	0.00	0.000	6	0.000	0.000	3193	1924	1943	0	0	0	0	0	0
7617	0.98	194.6	756.1	21.9	190	7626	0.00	2.50	0.00	0.000	4	0.000	0.050	3205	344	1943	0	0	0	0	0	0
7639	0.98	194.6	751.0	22.7	190	7647	0.15	2.47	0.00	0.000	6	0.189	0.040	3172	1930	1943	0	0	0	0	0	0
7974	0.98	194.6	684.0	19.9	196	7983	0.00	2.53	0.00	0.000	4	0.000	0.057	3172	3503	1942	0	0	0	0	0	0
8040	0.98	194.6	669.2	23.0	197	8048	0.00	2.47	0.00	0.000	6	0.000	0.039	3181	1914	1941	0	0	0	0	0	0
8396	0.98	194.6	595.9	20.5	203	8401	0.00	0.00	0.00	0.000	6	0.000	0.000	3181	1910	1942	0	0	0	0	0	0
8698	0.98	194.6	534.7	20.4	208	8706	0.00	2.53	0.00	0.000	4	0.000	0.057	3181	3500	1941	0	0	0	0	0	0
8778	0.98	194.6	516.6	22.8	209	8786	0.00	2.45	0.00	0.000	6	0.000	0.039	3193	1914	1941	0	0	0	0	0	0
9118	0.98	194.6	444.0	21.4	215	9124	0.00	0.00	0.00	0.000	6	0.000	0.000	3193	1910	1941	0	0	0	0	0	0
9420	0.98	194.6	380.8	20.8	220	9425	0.00	0.00	0.00	0.000	6	0.000	0.000	3193	1910	1940	0	0	0	0	0	0
9722	0.98	194.6	318.6	20.5	225	9731	0.00	2.55	0.00	0.000	4	0.000	0.056	3193	3504	1942	0	0	0	0	0	0
9819	0.98	194.6	298.0	22.4	226	9828	0.15	2.42	0.00	0.000	6	0.200	0.038	3172	1920	1941	0	0	0	0	0	0
10145	0.98	194.6	238.1	17.7	237	10150	0.00	0.00	0.00	0.000	6	0.000	0.000	3172	1917	1940	0	0	0	0	0	0
10449	0.98	194.6	186.5	16.1	247	10454	0.00	0.00	0.00	0.000	6	0.000	0.000	3171	1917	1941	0	0	0	0	0	0
10752	0.98	194.6	137.5	15.7	257	10761	0.00	2.53	0.00	0.000	4	0.000	0.054	3172	3506	1940	0	0	0	0	0	0
10854	0.98	194.6	119.3	18.1	260	10862	0.00	2.42	0.00	0.000	6	0.000	0.039	3181	1909	1940	0	0	0	0	0	0
11169	0.98	194.6	69.0	14.5	282	11173	0.00	2.47	0.00	0.000	4	0.000	0.049	3193	343	1941	0	0	0	0	0	0
11195	0.98	194.6	65.4	15.0	284	11203	0.00	2.45	0.00	0.000	6	0.000	0.039	3195	1916	1940	0	0	0	0	0	0
11386	1.00	206.3	40.4	12.8	303	11399	0.00	0.00	8.35	0.537	6	0.000	0.000	3192	1916	1907	0	0	0	0	0	0
11584	1.00	211.2	15.7	13.1	325	11592	0.00	0.00	6.18	0.490	6	0.000	0.000	3193	1916	1887	0	0	0	0	0	0
11654	1.00	211.2	5.7	14.4	338	11655	0.00	0.00	0.00	0.000	6	0.000	0.000	3194	1915	1886	0	0	0	0	0	0
11674	end climb: SURFACE_DEPTH_REACHED
state	11674	begin surface coast
11696	end surface coast: CONTROL_FINISHED_OK
state	11696	begin surface