Glider dive log

AUTEC Jun10 * SG178 * Dive index * Mission links * Dive 12 * 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 12 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 49 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 350 R_STBD_OVSHOOT 30 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 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 -5964.5444 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 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 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 0 HEAD_ERRBAND 10 PRESSURE_YINT -49.540699 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAPDBG 0 P_OVSHOOT 0.039999999 T_GPS_CHARGE -5964.5444

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 49 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 30 VBD_MIN 425

DIVE 12 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 40960.0 SEABIRD_T_I 2.4307059e-05

Pre-dive calculations and measurements:

GPS1 080610,172944,2441.688,-7736.478,10,1.2,10,-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 -0.098,-0.215

_SM_DEPTHo 1.30 KALMAN_X -661.2,144.2,-66.5,350.5,-229.4

_SM_ANGLEo -76.6 KALMAN_Y -277.8,-288.1,-119.6,1666.7,119.6

GPS2 080610,173332,2441.663,-7736.481,16,1.2,16,-7.1 MHEAD_RNG_PITCHd_Wd 211.7,896,-27.6,-13.636

SPEED_LIMITS 0.236,0.378 D_GRID 900

Post-dive calculations and measurements:

FINISH -0.1,0.999360 PA_USBA 100.0/0/0

SM_CCo 9558,38.83,0.532,0,0,1310,350.04 PA_HOME 8.3/483886/443661

SM_GC 0.52,0.00,0.00,38.83,0.000,0.000,0.532,165,2450,1310,-9.36,0.28,350.04 PA_ROOT 80.3/126931/24988

IRIDIUM_FIX 2432.32,-7734.44,021211,111156 PA_LOG 4.7/297829/283813

TT8_MAMPS 0.117593 PA_DATA1 18.8/7836665/6360462

HUMID 1078244506 PA_DATA0 27.2/7836665/5707193

INTERNAL_PRESSURE 9.49255 _24V_AH 24.2,9.936

TCM_TEMP 23.40 _10V_AH 10.4,8.558

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 355144

PA_BOOTCOUNT 33 DATA_FILE_SIZE 10172,273

PA_DFQS 0/0 CAP_FILE_SIZE 108819,0

PA_CMQS 0/0 CFSIZE 260165632,254140416

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

PA_USBB 100.0/0/0 GPS 080610,201534,2440.071,-7737.688,48,2.5,67,-7.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 265 152.57 SBE_CT 182 24 106.11

Roll_motor 90 123 270.64 nil 0 0 0.00

VBD_pump_during_apogee 370 1125 10086.28 nil 0 0 0.00

VBD_pump_during_surface 38 531 499.54 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 PAAM 9671 80 18728.67

Iridium_during_xfer 0 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 17 0 0.00

TT8 0 0 0.00

LPSleep 7871 2 179.28

TT8_Active 498 19 102.65

TT8_Sampling 1226 39 507.78

TT8_CF8 46 45 22.20

TT8_Kalman 33 0 0.00

Analog_circuits 1135 12 141.67

GPS_charging 0 0 0.00

Compass 791 15 123.44

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.89 -100.1 0.0 0.0 0 88 0.00 0.00 -68.45 0.000 6 0.000 0.000 164 2449 3145 0 0 0 0 0 0

89 -0.99 -182.4 3.2 -6.1 12 114 11.85 2.42 -6.40 0.000 4 0.265 0.050 2842 853 3481 0 0 0 0 0 0

160 -0.99 -182.4 27.1 -25.5 22 168 0.00 2.47 0.00 0.000 6 0.000 0.045 2833 2432 3483 0 0 0 0 0 0

351 -0.99 -182.4 77.1 -25.1 41 356 0.00 2.10 0.00 0.000 4 0.000 0.053 2822 3773 3483 0 0 0 0 0 0

394 -0.99 -182.4 88.1 -25.9 45 398 0.00 2.00 0.00 0.000 6 0.000 0.032 2822 2438 3481 0 0 0 0 0 0

608 -0.99 -182.4 135.9 -21.8 56 612 0.00 2.12 0.00 0.000 4 0.000 0.054 2812 3782 3484 0 0 0 0 0 0

677 -0.99 -182.4 151.5 -21.8 58 682 0.00 2.03 0.00 0.000 6 0.000 0.032 2816 2433 3483 0 0 0 0 0 0

1007 -0.99 -182.4 217.3 -19.1 69 1011 0.00 2.38 0.00 0.000 4 0.000 0.040 2816 869 3483 0 0 0 0 0 0

1049 -0.99 -182.4 225.0 -17.1 70 1054 0.10 2.42 0.00 0.000 6 0.194 0.043 2833 2435 3483 0 0 0 0 0 0

1374 -0.99 -182.4 276.7 -15.7 81 1378 0.00 2.10 0.00 0.000 4 0.000 0.054 2825 3774 3483 0 0 0 0 0 0

1395 -0.99 -182.4 279.9 -15.5 81 1400 0.00 2.00 0.00 0.000 6 0.000 0.033 2825 2440 3486 0 0 0 0 0 0

1708 -0.99 -182.4 330.7 -16.5 89 1714 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2440 3481 0 0 0 0 0 0

2009 -0.99 -182.4 377.5 -15.4 94 2018 0.00 2.10 0.00 0.000 4 0.000 0.057 2819 3786 3480 0 0 0 0 0 0

2031 -0.99 -182.4 381.1 -16.7 94 2038 0.00 2.00 0.00 0.000 6 0.000 0.034 2815 2433 3480 0 0 0 0 0 0

2371 -0.99 -182.4 435.3 -16.0 100 2379 0.00 2.35 0.00 0.000 4 0.000 0.043 2815 857 3477 0 0 0 0 0 0

2393 -0.99 -182.4 438.9 -15.3 100 2401 0.15 2.42 0.00 0.000 6 0.203 0.045 2838 2440 3477 0 0 0 0 0 0

2728 -0.99 -182.4 485.5 -13.9 106 2736 0.00 2.08 0.00 0.000 4 0.000 0.058 2830 3776 3475 0 0 0 0 0 0

2771 -0.99 -182.4 491.5 -14.3 106 2779 0.00 2.00 0.00 0.000 6 0.000 0.036 2836 2426 3475 0 0 0 0 0 0

3089 -0.99 -182.4 536.7 -14.1 112 3098 0.00 2.12 0.00 0.000 4 0.000 0.058 2820 3780 3473 0 0 0 0 0 0

3117 -0.99 -182.4 540.9 -14.3 112 3124 0.00 2.00 0.00 0.000 6 0.000 0.036 2820 2438 3473 0 0 0 0 0 0

3451 -0.99 -182.4 588.9 -14.2 118 3457 0.00 0.00 0.00 0.000 6 0.000 0.000 2820 2437 3471 0 0 0 0 0 0

3753 -0.99 -183.7 629.9 -13.5 123 3762 0.00 2.12 0.00 0.000 4 0.000 0.060 2810 3789 3468 0 0 0 0 0 0

3797 -0.99 -183.7 636.5 -15.7 123 3805 0.12 2.05 0.00 0.000 6 0.210 0.037 2838 2411 3468 0 0 0 0 0 0

4121 -1.01 -198.5 676.8 -12.3 129 4129 0.00 2.15 0.00 0.000 4 0.000 0.061 2830 3775 3465 0 0 0 0 0 0

4190 -1.02 -207.5 685.9 -12.8 130 4198 0.00 2.00 0.00 0.000 6 0.000 0.038 2830 2437 3465 0 0 0 0 0 0

4552 -1.04 -219.8 730.9 -12.5 136 4557 0.00 0.00 0.00 0.000 6 0.000 0.000 2830 2437 3463 0 0 0 0 0 0

4853 -1.05 -232.5 768.8 -12.5 141 4859 0.00 0.00 0.00 0.000 6 0.000 0.000 2830 2437 3460 0 0 0 0 0 0

5155 -1.07 -247.3 806.1 -12.3 146 5163 0.00 2.12 0.00 0.000 4 0.000 0.064 2821 3774 3459 0 0 0 0 0 0

5203 -1.08 -256.3 812.4 -12.8 146 5211 0.00 2.00 0.00 0.000 6 0.000 0.040 2821 2442 3457 0 0 0 0 0 0

5516 -1.10 -267.6 851.7 -12.5 152 5524 0.00 2.12 0.00 0.000 4 0.000 0.065 2811 3776 3456 0 0 0 0 0 0

5597 -1.10 -267.6 862.8 -13.3 153 5604 0.00 2.03 0.00 0.000 6 0.000 0.040 2811 2435 3455 0 0 0 0 0 0

5941 end dive: TARGET_DEPTH_EXCEEDED

state 5941 begin apogee

5944 -0.14 0.0 906.4 12.5 159 6095 1.02 0.00 144.35 1.125 6 0.177 0.000 3106 2434 2737 0 0 0 0 0 0

6096 end apogee: CONTROL_FINISHED_OK

state 6096 begin climb

6097 1.10 267.6 909.2 0.0 161 6336 1.15 2.65 226.02 1.107 4 0.070 0.047 3528 829 1643 0 0 0 0 0 0

6430 1.10 267.6 840.8 26.3 166 6438 0.00 2.55 0.00 0.000 6 0.000 0.049 3527 2396 1636 0 0 0 0 0 0

6765 1.10 267.6 746.2 28.4 172 6773 0.00 2.47 0.00 0.000 4 0.000 0.047 3540 819 1630 0 0 0 0 0 0

6798 1.10 267.6 737.2 26.9 172 6806 0.00 2.53 0.00 0.000 6 0.000 0.049 3539 2406 1631 0 0 0 0 0 0

7122 1.10 267.6 642.9 29.2 178 7130 0.00 2.50 0.00 0.000 4 0.000 0.049 3551 815 1629 0 0 0 0 0 0

7176 1.10 267.6 627.4 27.6 178 7187 0.15 2.50 0.00 0.000 6 0.210 0.049 3516 2402 1628 0 0 0 0 0 0

7484 1.10 267.6 543.7 27.1 184 7492 0.00 2.45 0.00 0.000 4 0.000 0.047 3526 821 1627 0 0 0 0 0 0

7516 1.10 267.6 534.5 27.7 184 7524 0.00 2.50 0.00 0.000 6 0.000 0.049 3527 2409 1627 0 0 0 0 0 0

7840 1.10 267.6 443.7 28.4 190 7846 0.00 0.00 0.00 0.000 6 0.000 0.000 3526 2409 1624 0 0 0 0 0 0

8142 1.10 267.6 358.8 28.1 195 8150 0.00 2.45 0.00 0.000 4 0.000 0.047 3538 823 1625 0 0 0 0 0 0

8233 1.10 267.6 333.2 26.5 196 8241 0.00 2.47 0.00 0.000 6 0.000 0.049 3538 2404 1624 0 0 0 0 0 0

8563 1.10 267.6 236.4 29.4 205 8568 0.00 2.47 0.00 0.000 4 0.000 0.046 3550 824 1624 0 0 0 0 0 0

8622 1.10 267.6 219.6 27.6 206 8630 0.12 2.50 0.00 0.000 6 0.197 0.048 3514 2406 1624 0 0 0 0 0 0

8930 1.10 267.6 140.6 25.4 217 8935 0.00 2.47 0.00 0.000 4 0.000 0.045 3523 815 1624 0 0 0 0 0 0

8994 1.10 267.6 125.4 23.7 219 8999 0.00 2.47 0.00 0.000 6 0.000 0.044 3525 2397 1622 0 0 0 0 0 0

9314 1.10 267.6 48.2 21.5 242 9315 0.00 0.00 0.00 0.000 6 0.000 0.000 3525 2397 1624 0 0 0 0 0 0

9502 1.10 267.6 8.1 19.7 265 9503 0.00 0.00 0.00 0.000 6 0.000 0.000 3525 2397 1624 0 0 0 0 0 0

9533 end climb: SURFACE_DEPTH_REACHED

state 9533 begin surface coast

9544 end surface coast: CONTROL_FINISHED_OK

state 9544 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	12	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	49	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	350	R_STBD_OVSHOOT	30	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	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	-5964.5444	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	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	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	080610,172944,2441.688,-7736.478,10,1.2,10,-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	-0.098,-0.215
_SM_DEPTHo	1.30	KALMAN_X	-661.2,144.2,-66.5,350.5,-229.4
_SM_ANGLEo	-76.6	KALMAN_Y	-277.8,-288.1,-119.6,1666.7,119.6
GPS2	080610,173332,2441.663,-7736.481,16,1.2,16,-7.1	MHEAD_RNG_PITCHd_Wd	211.7,896,-27.6,-13.636
SPEED_LIMITS	0.236,0.378	D_GRID	900

FINISH	-0.1,0.999360	PA_USBA	100.0/0/0
SM_CCo	9558,38.83,0.532,0,0,1310,350.04	PA_HOME	8.3/483886/443661
SM_GC	0.52,0.00,0.00,38.83,0.000,0.000,0.532,165,2450,1310,-9.36,0.28,350.04	PA_ROOT	80.3/126931/24988
IRIDIUM_FIX	2432.32,-7734.44,021211,111156	PA_LOG	4.7/297829/283813
TT8_MAMPS	0.117593	PA_DATA1	18.8/7836665/6360462
HUMID	1078244506	PA_DATA0	27.2/7836665/5707193
INTERNAL_PRESSURE	9.49255	_24V_AH	24.2,9.936
TCM_TEMP	23.40	_10V_AH	10.4,8.558
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	355144
PA_BOOTCOUNT	33	DATA_FILE_SIZE	10172,273
PA_DFQS	0/0	CAP_FILE_SIZE	108819,0
PA_CMQS	0/0	CFSIZE	260165632,254140416
PA_USBDRIVE	None	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_USBB	100.0/0/0	GPS	080610,201534,2440.071,-7737.688,48,2.5,67,-7.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	265	152.57	SBE_CT	182	24	106.11
Roll_motor	90	123	270.64	nil	0	0	0.00
VBD_pump_during_apogee	370	1125	10086.28	nil	0	0	0.00
VBD_pump_during_surface	38	531	499.54	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	PAAM	9671	80	18728.67
Iridium_during_xfer	0	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	17	0	0.00
TT8	0	0	0.00
LPSleep	7871	2	179.28
TT8_Active	498	19	102.65
TT8_Sampling	1226	39	507.78
TT8_CF8	46	45	22.20
TT8_Kalman	33	0	0.00
Analog_circuits	1135	12	141.67
GPS_charging	0	0	0.00
Compass	791	15	123.44
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.89	-100.1	0.0	0.0	0	88	0.00	0.00	-68.45	0.000	6	0.000	0.000	164	2449	3145	0	0	0	0	0	0
89	-0.99	-182.4	3.2	-6.1	12	114	11.85	2.42	-6.40	0.000	4	0.265	0.050	2842	853	3481	0	0	0	0	0	0
160	-0.99	-182.4	27.1	-25.5	22	168	0.00	2.47	0.00	0.000	6	0.000	0.045	2833	2432	3483	0	0	0	0	0	0
351	-0.99	-182.4	77.1	-25.1	41	356	0.00	2.10	0.00	0.000	4	0.000	0.053	2822	3773	3483	0	0	0	0	0	0
394	-0.99	-182.4	88.1	-25.9	45	398	0.00	2.00	0.00	0.000	6	0.000	0.032	2822	2438	3481	0	0	0	0	0	0
608	-0.99	-182.4	135.9	-21.8	56	612	0.00	2.12	0.00	0.000	4	0.000	0.054	2812	3782	3484	0	0	0	0	0	0
677	-0.99	-182.4	151.5	-21.8	58	682	0.00	2.03	0.00	0.000	6	0.000	0.032	2816	2433	3483	0	0	0	0	0	0
1007	-0.99	-182.4	217.3	-19.1	69	1011	0.00	2.38	0.00	0.000	4	0.000	0.040	2816	869	3483	0	0	0	0	0	0
1049	-0.99	-182.4	225.0	-17.1	70	1054	0.10	2.42	0.00	0.000	6	0.194	0.043	2833	2435	3483	0	0	0	0	0	0
1374	-0.99	-182.4	276.7	-15.7	81	1378	0.00	2.10	0.00	0.000	4	0.000	0.054	2825	3774	3483	0	0	0	0	0	0
1395	-0.99	-182.4	279.9	-15.5	81	1400	0.00	2.00	0.00	0.000	6	0.000	0.033	2825	2440	3486	0	0	0	0	0	0
1708	-0.99	-182.4	330.7	-16.5	89	1714	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2440	3481	0	0	0	0	0	0
2009	-0.99	-182.4	377.5	-15.4	94	2018	0.00	2.10	0.00	0.000	4	0.000	0.057	2819	3786	3480	0	0	0	0	0	0
2031	-0.99	-182.4	381.1	-16.7	94	2038	0.00	2.00	0.00	0.000	6	0.000	0.034	2815	2433	3480	0	0	0	0	0	0
2371	-0.99	-182.4	435.3	-16.0	100	2379	0.00	2.35	0.00	0.000	4	0.000	0.043	2815	857	3477	0	0	0	0	0	0
2393	-0.99	-182.4	438.9	-15.3	100	2401	0.15	2.42	0.00	0.000	6	0.203	0.045	2838	2440	3477	0	0	0	0	0	0
2728	-0.99	-182.4	485.5	-13.9	106	2736	0.00	2.08	0.00	0.000	4	0.000	0.058	2830	3776	3475	0	0	0	0	0	0
2771	-0.99	-182.4	491.5	-14.3	106	2779	0.00	2.00	0.00	0.000	6	0.000	0.036	2836	2426	3475	0	0	0	0	0	0
3089	-0.99	-182.4	536.7	-14.1	112	3098	0.00	2.12	0.00	0.000	4	0.000	0.058	2820	3780	3473	0	0	0	0	0	0
3117	-0.99	-182.4	540.9	-14.3	112	3124	0.00	2.00	0.00	0.000	6	0.000	0.036	2820	2438	3473	0	0	0	0	0	0
3451	-0.99	-182.4	588.9	-14.2	118	3457	0.00	0.00	0.00	0.000	6	0.000	0.000	2820	2437	3471	0	0	0	0	0	0
3753	-0.99	-183.7	629.9	-13.5	123	3762	0.00	2.12	0.00	0.000	4	0.000	0.060	2810	3789	3468	0	0	0	0	0	0
3797	-0.99	-183.7	636.5	-15.7	123	3805	0.12	2.05	0.00	0.000	6	0.210	0.037	2838	2411	3468	0	0	0	0	0	0
4121	-1.01	-198.5	676.8	-12.3	129	4129	0.00	2.15	0.00	0.000	4	0.000	0.061	2830	3775	3465	0	0	0	0	0	0
4190	-1.02	-207.5	685.9	-12.8	130	4198	0.00	2.00	0.00	0.000	6	0.000	0.038	2830	2437	3465	0	0	0	0	0	0
4552	-1.04	-219.8	730.9	-12.5	136	4557	0.00	0.00	0.00	0.000	6	0.000	0.000	2830	2437	3463	0	0	0	0	0	0
4853	-1.05	-232.5	768.8	-12.5	141	4859	0.00	0.00	0.00	0.000	6	0.000	0.000	2830	2437	3460	0	0	0	0	0	0
5155	-1.07	-247.3	806.1	-12.3	146	5163	0.00	2.12	0.00	0.000	4	0.000	0.064	2821	3774	3459	0	0	0	0	0	0
5203	-1.08	-256.3	812.4	-12.8	146	5211	0.00	2.00	0.00	0.000	6	0.000	0.040	2821	2442	3457	0	0	0	0	0	0
5516	-1.10	-267.6	851.7	-12.5	152	5524	0.00	2.12	0.00	0.000	4	0.000	0.065	2811	3776	3456	0	0	0	0	0	0
5597	-1.10	-267.6	862.8	-13.3	153	5604	0.00	2.03	0.00	0.000	6	0.000	0.040	2811	2435	3455	0	0	0	0	0	0
5941	end dive: TARGET_DEPTH_EXCEEDED
state	5941	begin apogee
5944	-0.14	0.0	906.4	12.5	159	6095	1.02	0.00	144.35	1.125	6	0.177	0.000	3106	2434	2737	0	0	0	0	0	0
6096	end apogee: CONTROL_FINISHED_OK
state	6096	begin climb
6097	1.10	267.6	909.2	0.0	161	6336	1.15	2.65	226.02	1.107	4	0.070	0.047	3528	829	1643	0	0	0	0	0	0
6430	1.10	267.6	840.8	26.3	166	6438	0.00	2.55	0.00	0.000	6	0.000	0.049	3527	2396	1636	0	0	0	0	0	0
6765	1.10	267.6	746.2	28.4	172	6773	0.00	2.47	0.00	0.000	4	0.000	0.047	3540	819	1630	0	0	0	0	0	0
6798	1.10	267.6	737.2	26.9	172	6806	0.00	2.53	0.00	0.000	6	0.000	0.049	3539	2406	1631	0	0	0	0	0	0
7122	1.10	267.6	642.9	29.2	178	7130	0.00	2.50	0.00	0.000	4	0.000	0.049	3551	815	1629	0	0	0	0	0	0
7176	1.10	267.6	627.4	27.6	178	7187	0.15	2.50	0.00	0.000	6	0.210	0.049	3516	2402	1628	0	0	0	0	0	0
7484	1.10	267.6	543.7	27.1	184	7492	0.00	2.45	0.00	0.000	4	0.000	0.047	3526	821	1627	0	0	0	0	0	0
7516	1.10	267.6	534.5	27.7	184	7524	0.00	2.50	0.00	0.000	6	0.000	0.049	3527	2409	1627	0	0	0	0	0	0
7840	1.10	267.6	443.7	28.4	190	7846	0.00	0.00	0.00	0.000	6	0.000	0.000	3526	2409	1624	0	0	0	0	0	0
8142	1.10	267.6	358.8	28.1	195	8150	0.00	2.45	0.00	0.000	4	0.000	0.047	3538	823	1625	0	0	0	0	0	0
8233	1.10	267.6	333.2	26.5	196	8241	0.00	2.47	0.00	0.000	6	0.000	0.049	3538	2404	1624	0	0	0	0	0	0
8563	1.10	267.6	236.4	29.4	205	8568	0.00	2.47	0.00	0.000	4	0.000	0.046	3550	824	1624	0	0	0	0	0	0
8622	1.10	267.6	219.6	27.6	206	8630	0.12	2.50	0.00	0.000	6	0.197	0.048	3514	2406	1624	0	0	0	0	0	0
8930	1.10	267.6	140.6	25.4	217	8935	0.00	2.47	0.00	0.000	4	0.000	0.045	3523	815	1624	0	0	0	0	0	0
8994	1.10	267.6	125.4	23.7	219	8999	0.00	2.47	0.00	0.000	6	0.000	0.044	3525	2397	1622	0	0	0	0	0	0
9314	1.10	267.6	48.2	21.5	242	9315	0.00	0.00	0.00	0.000	6	0.000	0.000	3525	2397	1624	0	0	0	0	0	0
9502	1.10	267.6	8.1	19.7	265	9503	0.00	0.00	0.00	0.000	6	0.000	0.000	3525	2397	1624	0	0	0	0	0	0
9533	end climb: SURFACE_DEPTH_REACHED
state	9533	begin surface coast
9544	end surface coast: CONTROL_FINISHED_OK
state	9544	begin surface