Glider dive log

SCORE Jan11 * SG179 * Dive index * Mission links * Dive 11 * 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 11 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 37 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 275 R_STBD_OVSHOOT 39 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 -16218.061 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 24 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 275

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 24 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 -16218.061

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 37 VBD_MAXERRORS 1

DIVE 11 N_DIVES 0 R_STBD_OVSHOOT 39 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 050111,201617,3243.413,-11853.516,120,2.1,140,13.3 TGT_NAME MDW

_CALLS 1 TGT_LATLONG 3246.522,-11856.604

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.254,0.203

_SM_DEPTHo 1.85 KALMAN_X 16666.3,420.3,-524.5,-28658.3,3473.7

_SM_ANGLEo -76.4 KALMAN_Y -7620.5,792.4,159.4,12606.3,-2649.9

GPS2 050111,202131,3243.391,-11853.509,43,1.2,43,13.3 MHEAD_RNG_PITCHd_Wd 295.3,7539,-19.3,-13.306

SPEED_LIMITS 0.230,0.325 D_GRID 1066

Post-dive calculations and measurements:

FINISH 1.4,1.025133 PA_USBA 100.0/0/0

SM_CCo 10948,42.42,0.557,0,0,1623,275.23 PA_HOME 9.0/483886/440412

SM_GC 2.36,0.00,0.00,42.42,0.000,0.000,0.557,142,2231,1623,-8.47,-0.62,275.23 PA_ROOT 80.3/126931/24979

IRIDIUM_FIX 3233.95,-11843.37,050111,161657 PA_LOG 7.4/297829/275903

TT8_MAMPS 0.117593 PA_DATA1 0.1/7836665/7825417

HUMID 51.26 PA_DATA0 60.8/7836665/3072136

INTERNAL_PRESSURE 9.59336 _24V_AH 22.8,15.886

TCM_TEMP 19.30 _10V_AH 10.1,10.465

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 316372

PA_BOOTCOUNT 92 DATA_FILE_SIZE 10131,317

PA_DFQS 0/0 CAP_FILE_SIZE 97769,0

PA_CMQS 0/0 CFSIZE 260165632,255889408

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 050111,232704,3243.922,-11854.854,62,3.1,81,13.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 277 140.08 SBE_CT 216 24 118.59

Roll_motor 87 73 145.93 nil 0 0 0.00

VBD_pump_during_apogee 349 1171 9331.61 nil 0 0 0.00

VBD_pump_during_surface 42 556 538.70 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 62.05 nil 0 0 0.00

Iridium_during_connect 28 160 105.21 PAAM 11476 86 22628.25

Iridium_during_xfer 139 223 708.99 nil 0 0 0.00

Transponder_ping 35 420 339.95 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 44 50 22.64

TT8 0 0 0.00

LPSleep 9154 2 202.50

TT8_Active 444 19 88.88

TT8_Sampling 1635 39 657.62

TT8_CF8 65 45 30.50

TT8_Kalman 33 81 27.53

Analog_circuits 1159 12 140.56

GPS_charging 0 0 0.00

Compass 764 15 115.80

RAFOS 0 0 0.00

Transponder 226 30 68.71

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 -1.04 -194.6 0.0 0.0 0 71 0.00 0.00 -53.47 0.000 2 0.000 0.000 143 2276 2881 0 0 0 0 0 0

73 -1.04 -194.6 3.1 -4.2 9 104 11.12 2.28 -15.12 0.000 4 0.278 0.073 2499 3667 3539 0 0 0 0 0 0

139 -1.04 -194.6 22.0 -28.8 20 147 0.00 2.25 0.00 0.000 6 0.000 0.036 2500 2233 3544 0 0 0 0 0 0

330 -1.04 -194.6 73.7 -24.7 39 331 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2233 3544 0 0 0 0 0 0

515 -1.04 -194.6 115.7 -22.5 53 523 0.00 2.40 0.00 0.000 4 0.000 0.040 2499 677 3545 0 0 0 0 0 0

548 -1.04 -194.6 123.1 -23.2 54 556 0.00 2.47 0.00 0.000 6 0.000 0.045 2487 2240 3545 0 0 0 0 0 0

874 -1.04 -194.6 196.8 -22.5 65 883 0.00 2.30 0.00 0.000 4 0.000 0.060 2476 3683 3546 0 0 0 0 0 0

907 -1.04 -194.6 204.7 -23.3 66 916 0.15 2.20 0.00 0.000 6 0.181 0.037 2512 2242 3546 0 0 0 0 0 0

1245 -1.04 -194.6 271.6 -19.2 77 1256 0.00 2.40 0.00 0.000 4 0.000 0.041 2512 678 3547 0 0 0 0 0 0

1275 -1.04 -194.6 277.2 -18.1 77 1286 0.00 2.47 0.00 0.000 6 0.000 0.044 2503 2253 3547 0 0 0 0 0 0

1615 -1.04 -194.6 337.8 -17.9 86 1623 0.00 2.28 0.00 0.000 4 0.000 0.059 2492 3675 3547 0 0 0 0 0 0

1648 -1.04 -194.6 344.3 -19.6 86 1656 0.00 2.17 0.00 0.000 6 0.000 0.036 2492 2242 3547 0 0 0 0 0 0

1984 -1.04 -194.6 404.7 -17.9 92 1989 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2241 3547 0 0 0 0 0 0

2285 -1.04 -194.6 454.8 -16.5 97 2291 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2241 3547 0 0 0 0 0 0

2587 -1.04 -194.6 503.9 -16.4 102 2592 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2241 3547 0 0 0 0 0 0

2888 -1.04 -194.6 554.4 -16.8 107 2894 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2241 3551 0 0 0 0 0 0

3190 -1.04 -194.6 605.4 -16.9 112 3196 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2241 3546 0 0 0 0 0 0

3492 -1.04 -194.6 655.0 -16.4 117 3497 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2240 3546 0 0 0 0 0 0

3794 -1.04 -194.6 703.5 -16.0 122 3799 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2241 3545 0 0 0 0 0 0

4095 -1.04 -194.6 749.7 -15.2 127 4101 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2241 3545 0 0 0 0 0 0

4397 -1.04 -194.6 796.4 -15.5 132 4403 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2241 3544 0 0 0 0 0 0

4699 -1.04 -194.6 841.5 -14.9 137 4705 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2241 3543 0 0 0 0 0 0

5001 -1.04 -194.6 885.2 -14.4 142 5009 0.00 2.40 0.00 0.000 4 0.000 0.044 2494 679 3540 0 0 0 0 0 0

5034 -1.04 -194.6 890.1 -15.3 142 5043 0.12 2.47 0.00 0.000 6 0.178 0.046 2511 2258 3542 0 0 0 0 0 0

5371 -1.04 -194.6 933.8 -12.9 148 5380 0.00 2.28 0.00 0.000 4 0.000 0.063 2502 3679 3541 0 0 0 0 0 0

5399 -1.04 -194.6 937.8 -14.0 148 5410 0.00 2.17 0.00 0.000 6 0.000 0.040 2502 2243 3541 0 0 0 0 0 0

5743 -1.04 -194.6 984.6 -13.7 154 5751 0.00 2.42 0.00 0.000 4 0.000 0.045 2503 669 3541 0 0 0 0 0 0

5777 -1.04 -194.6 989.4 -14.5 154 5785 0.00 2.47 0.00 0.000 6 0.000 0.047 2492 2251 3540 0 0 0 0 0 0

5788 end dive: TARGET_DEPTH_EXCEEDED

state 5788 begin apogee

5791 -0.21 0.0 991.1 13.5 154 5971 0.93 0.00 169.57 1.171 6 0.145 0.000 2770 1928 2753 0 0 0 0 0 0

5971 end apogee: CONTROL_FINISHED_OK

state 5971 begin climb

5972 1.04 194.6 997.2 0.0 157 6161 1.17 0.00 179.88 1.151 6 0.057 0.000 3186 1928 1954 0 0 0 0 0 0

6422 1.04 194.6 914.5 21133.4 165 6430 0.00 0.00 0.00 0.000 6 0.000 0.000 3186 1928 1946 0 0 0 0 0 0

6724 1.04 194.6 845.7 21133.4 170 6732 0.00 2.58 0.00 0.000 4 0.000 0.058 3186 3510 1944 0 0 0 0 0 0

6746 1.04 194.6 840.4 21133.4 170 6754 0.00 2.53 0.00 0.000 6 0.000 0.041 3198 1919 1944 0 0 0 0 0 0

7081 1.04 194.6 763.6 21133.4 176 7086 0.00 0.00 0.00 0.000 6 0.000 0.000 3198 1915 1943 0 0 0 0 0 0

7383 1.04 194.6 696.7 21133.4 181 7391 0.00 2.58 0.00 0.000 4 0.000 0.057 3198 3515 1943 0 0 0 0 0 0

7480 1.04 194.6 673.5 21133.4 182 7488 0.00 2.47 0.00 0.000 6 0.000 0.040 3210 1922 1942 0 0 0 0 0 0

7804 1.04 194.6 599.2 21133.4 188 7809 0.00 0.00 0.00 0.000 6 0.000 0.000 3210 1918 1946 0 0 0 0 0 0

8106 1.04 194.6 531.6 21133.4 193 8114 0.00 2.50 0.00 0.000 4 0.000 0.052 3217 341 1940 0 0 0 0 0 0

8128 1.04 194.6 526.4 21133.4 193 8136 0.00 2.45 0.00 0.000 6 0.000 0.041 3214 1927 1941 0 0 0 0 0 0

8462 1.04 194.6 452.1 21133.4 199 8470 0.00 2.50 0.00 0.000 4 0.000 0.057 3213 3507 1942 0 0 0 0 0 0

8506 1.04 194.6 441.7 21133.4 199 8514 0.17 2.45 0.00 0.000 6 0.207 0.038 3189 1918 1941 0 0 0 0 0 0

8820 1.04 194.6 378.6 21133.4 205 8825 0.00 0.00 0.00 0.000 6 0.000 0.000 3189 1915 1942 0 0 0 0 0 0

9122 1.04 194.6 319.1 21133.4 210 9130 0.00 2.55 0.00 0.000 4 0.000 0.056 3188 3506 1941 0 0 0 0 0 0

9176 1.04 194.6 308.3 21133.4 210 9187 0.00 2.45 0.00 0.000 6 0.000 0.039 3198 1917 1941 0 0 0 0 0 0

9485 1.04 194.6 249.2 21133.4 220 9493 0.00 2.53 0.00 0.000 4 0.000 0.056 3199 3513 1940 0 0 0 0 0 0

9528 1.04 194.6 240.3 21133.4 221 9537 0.00 2.45 0.00 0.000 6 0.000 0.038 3210 1927 1942 0 0 0 0 0 0

9844 1.04 194.6 178.8 21133.4 232 9852 0.00 2.47 0.00 0.000 4 0.000 0.052 3216 339 1941 0 0 0 0 0 0

9925 1.04 194.6 163.5 21133.4 234 9933 0.00 2.45 0.00 0.000 6 0.000 0.038 3216 1933 1944 0 0 0 0 0 0

10234 1.04 194.6 108.6 21133.4 244 10242 0.00 2.47 0.00 0.000 4 0.000 0.055 3216 3512 1940 0 0 0 0 0 0

10282 1.04 194.6 99.1 21133.4 245 10291 0.17 2.45 0.00 0.000 6 0.202 0.037 3187 1908 1938 0 0 0 0 0 0

10598 1.04 194.6 50.2 21133.4 275 10603 0.00 2.45 0.00 0.000 4 0.000 0.050 3197 353 1941 0 0 0 0 0 0

10619 1.04 194.6 47.4 21133.4 277 10624 0.00 2.42 0.00 0.000 6 0.000 0.038 3197 1920 1941 0 0 0 0 0 0

10816 1.04 194.6 20.1 21133.4 296 10820 0.00 2.53 0.00 0.000 4 0.000 0.054 3196 3500 1940 0 0 0 0 0 0

10927 end climb: SURFACE_DEPTH_REACHED

state 10927 begin surface coast

10933 end surface coast: CONTROL_FINISHED_OK

state 10933 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	11	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	37	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	275	R_STBD_OVSHOOT	39	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	-16218.061	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	24	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	050111,201617,3243.413,-11853.516,120,2.1,140,13.3	TGT_NAME	MDW
_CALLS	1	TGT_LATLONG	3246.522,-11856.604
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.254,0.203
_SM_DEPTHo	1.85	KALMAN_X	16666.3,420.3,-524.5,-28658.3,3473.7
_SM_ANGLEo	-76.4	KALMAN_Y	-7620.5,792.4,159.4,12606.3,-2649.9
GPS2	050111,202131,3243.391,-11853.509,43,1.2,43,13.3	MHEAD_RNG_PITCHd_Wd	295.3,7539,-19.3,-13.306
SPEED_LIMITS	0.230,0.325	D_GRID	1066

FINISH	1.4,1.025133	PA_USBA	100.0/0/0
SM_CCo	10948,42.42,0.557,0,0,1623,275.23	PA_HOME	9.0/483886/440412
SM_GC	2.36,0.00,0.00,42.42,0.000,0.000,0.557,142,2231,1623,-8.47,-0.62,275.23	PA_ROOT	80.3/126931/24979
IRIDIUM_FIX	3233.95,-11843.37,050111,161657	PA_LOG	7.4/297829/275903
TT8_MAMPS	0.117593	PA_DATA1	0.1/7836665/7825417
HUMID	51.26	PA_DATA0	60.8/7836665/3072136
INTERNAL_PRESSURE	9.59336	_24V_AH	22.8,15.886
TCM_TEMP	19.30	_10V_AH	10.1,10.465
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	316372
PA_BOOTCOUNT	92	DATA_FILE_SIZE	10131,317
PA_DFQS	0/0	CAP_FILE_SIZE	97769,0
PA_CMQS	0/0	CFSIZE	260165632,255889408
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	050111,232704,3243.922,-11854.854,62,3.1,81,13.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	277	140.08	SBE_CT	216	24	118.59
Roll_motor	87	73	145.93	nil	0	0	0.00
VBD_pump_during_apogee	349	1171	9331.61	nil	0	0	0.00
VBD_pump_during_surface	42	556	538.70	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	62.05	nil	0	0	0.00
Iridium_during_connect	28	160	105.21	PAAM	11476	86	22628.25
Iridium_during_xfer	139	223	708.99	nil	0	0	0.00
Transponder_ping	35	420	339.95	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	44	50	22.64
TT8	0	0	0.00
LPSleep	9154	2	202.50
TT8_Active	444	19	88.88
TT8_Sampling	1635	39	657.62
TT8_CF8	65	45	30.50
TT8_Kalman	33	81	27.53
Analog_circuits	1159	12	140.56
GPS_charging	0	0	0.00
Compass	764	15	115.80
RAFOS	0	0	0.00
Transponder	226	30	68.71

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	-1.04	-194.6	0.0	0.0	0	71	0.00	0.00	-53.47	0.000	2	0.000	0.000	143	2276	2881	0	0	0	0	0	0
73	-1.04	-194.6	3.1	-4.2	9	104	11.12	2.28	-15.12	0.000	4	0.278	0.073	2499	3667	3539	0	0	0	0	0	0
139	-1.04	-194.6	22.0	-28.8	20	147	0.00	2.25	0.00	0.000	6	0.000	0.036	2500	2233	3544	0	0	0	0	0	0
330	-1.04	-194.6	73.7	-24.7	39	331	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2233	3544	0	0	0	0	0	0
515	-1.04	-194.6	115.7	-22.5	53	523	0.00	2.40	0.00	0.000	4	0.000	0.040	2499	677	3545	0	0	0	0	0	0
548	-1.04	-194.6	123.1	-23.2	54	556	0.00	2.47	0.00	0.000	6	0.000	0.045	2487	2240	3545	0	0	0	0	0	0
874	-1.04	-194.6	196.8	-22.5	65	883	0.00	2.30	0.00	0.000	4	0.000	0.060	2476	3683	3546	0	0	0	0	0	0
907	-1.04	-194.6	204.7	-23.3	66	916	0.15	2.20	0.00	0.000	6	0.181	0.037	2512	2242	3546	0	0	0	0	0	0
1245	-1.04	-194.6	271.6	-19.2	77	1256	0.00	2.40	0.00	0.000	4	0.000	0.041	2512	678	3547	0	0	0	0	0	0
1275	-1.04	-194.6	277.2	-18.1	77	1286	0.00	2.47	0.00	0.000	6	0.000	0.044	2503	2253	3547	0	0	0	0	0	0
1615	-1.04	-194.6	337.8	-17.9	86	1623	0.00	2.28	0.00	0.000	4	0.000	0.059	2492	3675	3547	0	0	0	0	0	0
1648	-1.04	-194.6	344.3	-19.6	86	1656	0.00	2.17	0.00	0.000	6	0.000	0.036	2492	2242	3547	0	0	0	0	0	0
1984	-1.04	-194.6	404.7	-17.9	92	1989	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2241	3547	0	0	0	0	0	0
2285	-1.04	-194.6	454.8	-16.5	97	2291	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2241	3547	0	0	0	0	0	0
2587	-1.04	-194.6	503.9	-16.4	102	2592	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2241	3547	0	0	0	0	0	0
2888	-1.04	-194.6	554.4	-16.8	107	2894	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2241	3551	0	0	0	0	0	0
3190	-1.04	-194.6	605.4	-16.9	112	3196	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2241	3546	0	0	0	0	0	0
3492	-1.04	-194.6	655.0	-16.4	117	3497	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2240	3546	0	0	0	0	0	0
3794	-1.04	-194.6	703.5	-16.0	122	3799	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2241	3545	0	0	0	0	0	0
4095	-1.04	-194.6	749.7	-15.2	127	4101	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2241	3545	0	0	0	0	0	0
4397	-1.04	-194.6	796.4	-15.5	132	4403	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2241	3544	0	0	0	0	0	0
4699	-1.04	-194.6	841.5	-14.9	137	4705	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2241	3543	0	0	0	0	0	0
5001	-1.04	-194.6	885.2	-14.4	142	5009	0.00	2.40	0.00	0.000	4	0.000	0.044	2494	679	3540	0	0	0	0	0	0
5034	-1.04	-194.6	890.1	-15.3	142	5043	0.12	2.47	0.00	0.000	6	0.178	0.046	2511	2258	3542	0	0	0	0	0	0
5371	-1.04	-194.6	933.8	-12.9	148	5380	0.00	2.28	0.00	0.000	4	0.000	0.063	2502	3679	3541	0	0	0	0	0	0
5399	-1.04	-194.6	937.8	-14.0	148	5410	0.00	2.17	0.00	0.000	6	0.000	0.040	2502	2243	3541	0	0	0	0	0	0
5743	-1.04	-194.6	984.6	-13.7	154	5751	0.00	2.42	0.00	0.000	4	0.000	0.045	2503	669	3541	0	0	0	0	0	0
5777	-1.04	-194.6	989.4	-14.5	154	5785	0.00	2.47	0.00	0.000	6	0.000	0.047	2492	2251	3540	0	0	0	0	0	0
5788	end dive: TARGET_DEPTH_EXCEEDED
state	5788	begin apogee
5791	-0.21	0.0	991.1	13.5	154	5971	0.93	0.00	169.57	1.171	6	0.145	0.000	2770	1928	2753	0	0	0	0	0	0
5971	end apogee: CONTROL_FINISHED_OK
state	5971	begin climb
5972	1.04	194.6	997.2	0.0	157	6161	1.17	0.00	179.88	1.151	6	0.057	0.000	3186	1928	1954	0	0	0	0	0	0
6422	1.04	194.6	914.5	21133.4	165	6430	0.00	0.00	0.00	0.000	6	0.000	0.000	3186	1928	1946	0	0	0	0	0	0
6724	1.04	194.6	845.7	21133.4	170	6732	0.00	2.58	0.00	0.000	4	0.000	0.058	3186	3510	1944	0	0	0	0	0	0
6746	1.04	194.6	840.4	21133.4	170	6754	0.00	2.53	0.00	0.000	6	0.000	0.041	3198	1919	1944	0	0	0	0	0	0
7081	1.04	194.6	763.6	21133.4	176	7086	0.00	0.00	0.00	0.000	6	0.000	0.000	3198	1915	1943	0	0	0	0	0	0
7383	1.04	194.6	696.7	21133.4	181	7391	0.00	2.58	0.00	0.000	4	0.000	0.057	3198	3515	1943	0	0	0	0	0	0
7480	1.04	194.6	673.5	21133.4	182	7488	0.00	2.47	0.00	0.000	6	0.000	0.040	3210	1922	1942	0	0	0	0	0	0
7804	1.04	194.6	599.2	21133.4	188	7809	0.00	0.00	0.00	0.000	6	0.000	0.000	3210	1918	1946	0	0	0	0	0	0
8106	1.04	194.6	531.6	21133.4	193	8114	0.00	2.50	0.00	0.000	4	0.000	0.052	3217	341	1940	0	0	0	0	0	0
8128	1.04	194.6	526.4	21133.4	193	8136	0.00	2.45	0.00	0.000	6	0.000	0.041	3214	1927	1941	0	0	0	0	0	0
8462	1.04	194.6	452.1	21133.4	199	8470	0.00	2.50	0.00	0.000	4	0.000	0.057	3213	3507	1942	0	0	0	0	0	0
8506	1.04	194.6	441.7	21133.4	199	8514	0.17	2.45	0.00	0.000	6	0.207	0.038	3189	1918	1941	0	0	0	0	0	0
8820	1.04	194.6	378.6	21133.4	205	8825	0.00	0.00	0.00	0.000	6	0.000	0.000	3189	1915	1942	0	0	0	0	0	0
9122	1.04	194.6	319.1	21133.4	210	9130	0.00	2.55	0.00	0.000	4	0.000	0.056	3188	3506	1941	0	0	0	0	0	0
9176	1.04	194.6	308.3	21133.4	210	9187	0.00	2.45	0.00	0.000	6	0.000	0.039	3198	1917	1941	0	0	0	0	0	0
9485	1.04	194.6	249.2	21133.4	220	9493	0.00	2.53	0.00	0.000	4	0.000	0.056	3199	3513	1940	0	0	0	0	0	0
9528	1.04	194.6	240.3	21133.4	221	9537	0.00	2.45	0.00	0.000	6	0.000	0.038	3210	1927	1942	0	0	0	0	0	0
9844	1.04	194.6	178.8	21133.4	232	9852	0.00	2.47	0.00	0.000	4	0.000	0.052	3216	339	1941	0	0	0	0	0	0
9925	1.04	194.6	163.5	21133.4	234	9933	0.00	2.45	0.00	0.000	6	0.000	0.038	3216	1933	1944	0	0	0	0	0	0
10234	1.04	194.6	108.6	21133.4	244	10242	0.00	2.47	0.00	0.000	4	0.000	0.055	3216	3512	1940	0	0	0	0	0	0
10282	1.04	194.6	99.1	21133.4	245	10291	0.17	2.45	0.00	0.000	6	0.202	0.037	3187	1908	1938	0	0	0	0	0	0
10598	1.04	194.6	50.2	21133.4	275	10603	0.00	2.45	0.00	0.000	4	0.000	0.050	3197	353	1941	0	0	0	0	0	0
10619	1.04	194.6	47.4	21133.4	277	10624	0.00	2.42	0.00	0.000	6	0.000	0.038	3197	1920	1941	0	0	0	0	0	0
10816	1.04	194.6	20.1	21133.4	296	10820	0.00	2.53	0.00	0.000	4	0.000	0.054	3196	3500	1940	0	0	0	0	0	0
10927	end climb: SURFACE_DEPTH_REACHED
state	10927	begin surface coast
10933	end surface coast: CONTROL_FINISHED_OK
state	10933	begin surface