Glider dive log

SCORE Jan11 * SG179 * Dive index * Mission links * Dive 13 * 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 13 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 300 R_STBD_OVSHOOT 34 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 -16220.957 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 300

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 -16220.957

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 13 N_DIVES 0 R_STBD_OVSHOOT 34 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 060111,023402,3244.869,-11855.816,50,1.9,50,13.3 TGT_NAME MDW

_CALLS 1 TGT_LATLONG 3246.522,-11856.604

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.267,0.185

_SM_DEPTHo 1.79 KALMAN_X 21384.5,-1312.6,-5.0,-35722.5,3897.1

_SM_ANGLEo -76.1 KALMAN_Y -10498.0,-182.7,140.9,19151.7,-2590.0

GPS2 060111,023937,3244.833,-11855.784,42,1.0,42,13.3 MHEAD_RNG_PITCHd_Wd 291.5,3377,-19.3,-13.306

SPEED_LIMITS 0.230,0.325 D_GRID 1092

Post-dive calculations and measurements:

FINISH 1.0,1.012888 PA_USBA 100.0/0/0

SM_CCo 10571,50.38,0.552,0,0,1524,300.00 PA_HOME 9.0/483886/440184

SM_GC 1.91,0.00,0.00,50.38,0.000,0.000,0.552,148,2260,1524,-8.46,0.28,300.00 PA_ROOT 80.3/126931/24979

IRIDIUM_FIX 3231.39,-11824.98,050111,232331 PA_LOG 7.5/297829/275479

TT8_MAMPS 0.117593 PA_DATA1 0.1/7836665/7825417

HUMID 51.10 PA_DATA0 73.2/7836665/2097301

INTERNAL_PRESSURE 9.57383 _24V_AH 22.8,16.167

TCM_TEMP 19.30 _10V_AH 10.2,11.084

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 317736

PA_BOOTCOUNT 92 DATA_FILE_SIZE 10146,312

PA_DFQS 0/0 CAP_FILE_SIZE 100180,0

PA_CMQS 0/0 CFSIZE 260165632,255778816

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 060111,053857,3245.798,-11857.354,57,2.1,77,13.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 274 136.82 SBE_CT 213 24 116.68

Roll_motor 82 72 136.45 nil 0 0 0.00

VBD_pump_during_apogee 349 1175 9359.47 nil 0 0 0.00

VBD_pump_during_surface 50 551 633.50 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 73.51 nil 0 0 0.00

Iridium_during_connect 33 160 123.23 PAAM 11060 86 21785.97

Iridium_during_xfer 152 223 773.38 nil 0 0 0.00

Transponder_ping 42 420 404.59 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 43 50 22.17

TT8 0 0 0.00

LPSleep 8721 2 194.83

TT8_Active 444 19 89.82

TT8_Sampling 1717 39 697.08

TT8_CF8 71 45 33.27

TT8_Kalman 33 81 27.83

Analog_circuits 1177 12 144.07

GPS_charging 0 0 0.00

Compass 822 15 125.82

RAFOS 0 0 0.00

Transponder 268 30 82.18

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 -1.04 -194.6 0.0 0.0 0 83 0.00 0.00 -64.45 0.000 2 0.000 0.000 142 2227 2924 0 0 0 0 0 0

84 -1.04 -194.6 3.2 -4.0 11 115 11.00 2.38 -13.98 0.000 4 0.275 0.073 2498 3668 3544 0 0 0 0 0 0

183 -1.04 -194.6 31.9 -30.0 26 187 0.00 2.22 0.00 0.000 6 0.000 0.037 2498 2249 3545 0 0 0 0 0 0

379 -1.04 -194.6 80.0 -20.6 45 380 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2248 3546 0 0 0 0 0 0

573 -1.04 -194.6 120.7 -21.2 58 582 0.00 2.30 0.00 0.000 4 0.000 0.060 2487 3665 3547 0 0 0 0 0 0

606 -1.04 -194.6 128.5 -23.4 59 614 0.00 2.17 0.00 0.000 6 0.000 0.037 2487 2243 3547 0 0 0 0 0 0

932 -1.04 -194.6 200.3 -21.9 70 937 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 2242 3548 0 0 0 0 0 0

1236 -1.04 -194.6 262.1 -20.4 80 1245 0.00 2.40 0.00 0.000 4 0.000 0.041 2487 678 3549 0 0 0 0 0 0

1276 -1.04 -194.6 270.8 -21.4 81 1284 0.10 2.47 0.00 0.000 6 0.164 0.045 2505 2251 3549 0 0 0 0 0 0

1637 -1.04 -194.6 339.9 -19.6 90 1646 0.00 2.30 0.00 0.000 4 0.000 0.060 2495 3687 3549 0 0 0 0 0 0

1697 -1.04 -194.6 352.6 -20.9 90 1708 0.00 2.20 0.00 0.000 6 0.000 0.035 2496 2237 3549 0 0 0 0 0 0

2005 -1.04 -194.6 414.9 -20.1 96 2011 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2236 3549 0 0 0 0 0 0

2307 -1.04 -194.6 472.2 -19.0 101 2318 0.00 2.33 0.00 0.000 4 0.000 0.060 2484 3681 3549 0 0 0 0 0 0

2327 -1.04 -194.6 476.3 -19.1 101 2335 0.00 2.17 0.00 0.000 6 0.000 0.037 2485 2247 3549 0 0 0 0 0 0

2678 -1.04 -194.6 546.7 -19.8 107 2690 0.00 2.38 0.00 0.000 4 0.000 0.041 2485 682 3549 0 0 0 0 0 0

2704 -1.04 -194.6 552.0 -20.4 107 2713 0.10 2.47 0.00 0.000 6 0.160 0.045 2506 2261 3550 0 0 0 0 0 0

3051 -1.04 -194.6 613.6 -17.5 113 3062 0.00 2.28 0.00 0.000 4 0.000 0.062 2494 3677 3549 0 0 0 0 0 0

3118 -1.04 -194.6 626.0 -17.8 114 3126 0.00 2.15 0.00 0.000 6 0.000 0.039 2494 2255 3549 0 0 0 0 0 0

3486 -1.04 -194.6 690.6 -17.5 120 3492 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2254 3548 0 0 0 0 0 0

3787 -1.04 -194.6 742.1 -17.0 125 3793 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2254 3550 0 0 0 0 0 0

4089 -1.04 -194.6 790.9 -16.1 130 4095 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2254 3547 0 0 0 0 0 0

4391 -1.04 -194.6 834.8 -14.4 135 4400 0.00 2.30 0.00 0.000 4 0.000 0.063 2484 3682 3546 0 0 0 0 0 0

4425 -1.04 -194.6 840.0 -15.8 135 4434 0.00 2.17 0.00 0.000 6 0.000 0.039 2484 2243 3546 0 0 0 0 0 0

4761 -1.04 -194.6 891.5 -15.3 141 4770 0.12 2.42 0.00 0.000 4 0.190 0.044 2513 674 3546 0 0 0 0 0 0

4790 -1.04 -194.6 895.7 -13.9 141 4801 0.00 2.47 0.00 0.000 6 0.000 0.047 2505 2249 3546 0 0 0 0 0 0

5133 -1.04 -194.6 943.6 -14.1 147 5142 0.00 2.30 0.00 0.000 4 0.000 0.063 2494 3675 3544 0 0 0 0 0 0

5162 -1.04 -194.6 947.9 -16.2 147 5174 0.00 2.15 0.00 0.000 6 0.000 0.038 2494 2255 3544 0 0 0 0 0 0

5446 end dive: TARGET_DEPTH_EXCEEDED

state 5446 begin apogee

5449 -0.21 0.0 992.1 15.5 152 5629 0.93 0.00 170.95 1.176 6 0.144 0.000 2777 1917 2747 0 0 0 0 0 0

5629 end apogee: CONTROL_FINISHED_OK

state 5629 begin climb

5630 1.04 194.6 1001.0 0.0 154 5824 1.17 2.78 178.18 1.154 4 0.055 0.047 3201 360 1953 0 0 0 0 0 0

5887 1.04 194.6 966.2 21.6 159 5895 0.00 2.60 0.00 0.000 6 0.000 0.038 3201 1926 1948 0 0 0 0 0 0

6248 1.04 194.6 882.4 23.5 165 6257 0.00 2.58 0.00 0.000 4 0.000 0.057 3201 3513 1944 0 0 0 0 0 0

6276 1.04 194.6 875.5 25.2 165 6284 0.00 2.50 0.00 0.000 6 0.000 0.037 3213 1937 1943 0 0 0 0 0 0

6605 1.04 194.6 797.6 23.6 171 6613 0.00 2.55 0.00 0.000 4 0.000 0.052 3217 340 1942 0 0 0 0 0 0

6627 1.04 194.6 792.2 24.7 171 6636 0.12 2.47 0.00 0.000 6 0.197 0.040 3189 1927 1941 0 0 0 0 0 0

6962 1.04 194.6 717.8 22.4 177 6967 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 1927 1942 0 0 0 0 0 0

7264 1.04 194.6 653.6 21.2 182 7272 0.00 2.53 0.00 0.000 4 0.000 0.058 3190 3513 1945 0 0 0 0 0 0

7302 1.04 194.6 645.0 23.3 182 7311 0.00 2.47 0.00 0.000 6 0.000 0.039 3200 1911 1942 0 0 0 0 0 0

7621 1.04 194.6 578.9 20.4 188 7627 0.00 0.00 0.00 0.000 6 0.000 0.000 3200 1908 1939 0 0 0 0 0 0

7923 1.04 194.6 516.7 20.5 193 7932 0.00 2.53 0.00 0.000 4 0.000 0.057 3199 3504 1941 0 0 0 0 0 0

7956 1.04 194.6 509.5 22.3 193 7964 0.00 2.45 0.00 0.000 6 0.000 0.037 3212 1923 1941 0 0 0 0 0 0

8281 1.04 194.6 440.6 21.1 199 8286 0.00 0.00 0.00 0.000 6 0.000 0.000 3212 1921 1939 0 0 0 0 0 0

8582 1.04 194.6 376.3 21.5 204 8588 0.00 0.00 0.00 0.000 6 0.000 0.000 3212 1921 1939 0 0 0 0 0 0

8884 1.04 194.6 310.8 21.6 209 8889 0.00 0.00 0.00 0.000 6 0.000 0.000 3212 1921 1941 0 0 0 0 0 0

9187 1.04 194.6 248.7 20.0 218 9195 0.00 2.47 0.00 0.000 4 0.000 0.051 3217 343 1941 0 0 0 0 0 0

9225 1.04 194.6 240.7 20.7 219 9234 0.10 2.45 0.00 0.000 6 0.194 0.040 3195 1925 1941 0 0 0 0 0 0

9546 1.04 194.6 178.8 19.4 230 9552 0.00 0.00 0.00 0.000 6 0.000 0.000 3195 1927 1940 0 0 0 0 0 0

9850 1.04 194.6 121.6 18.5 240 9858 0.00 2.50 0.00 0.000 4 0.000 0.056 3194 3506 1940 0 0 0 0 0 0

9976 1.04 194.6 95.8 21.0 244 9980 0.00 2.42 0.00 0.000 6 0.000 0.037 3204 1919 1940 0 0 0 0 0 0

10166 1.04 194.6 61.4 16.9 262 10167 0.00 0.00 0.00 0.000 6 0.000 0.000 3204 1917 1941 0 0 0 0 0 0

10353 1.04 194.6 30.4 14.7 280 10354 0.00 0.00 0.00 0.000 6 0.000 0.000 3205 1917 1940 0 0 0 0 0 0

10536 end climb: SURFACE_DEPTH_REACHED

state 10536 begin surface coast

10558 end surface coast: CONTROL_FINISHED_OK

state 10558 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	13	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	300	R_STBD_OVSHOOT	34	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	-16220.957	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	060111,023402,3244.869,-11855.816,50,1.9,50,13.3	TGT_NAME	MDW
_CALLS	1	TGT_LATLONG	3246.522,-11856.604
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.267,0.185
_SM_DEPTHo	1.79	KALMAN_X	21384.5,-1312.6,-5.0,-35722.5,3897.1
_SM_ANGLEo	-76.1	KALMAN_Y	-10498.0,-182.7,140.9,19151.7,-2590.0
GPS2	060111,023937,3244.833,-11855.784,42,1.0,42,13.3	MHEAD_RNG_PITCHd_Wd	291.5,3377,-19.3,-13.306
SPEED_LIMITS	0.230,0.325	D_GRID	1092

FINISH	1.0,1.012888	PA_USBA	100.0/0/0
SM_CCo	10571,50.38,0.552,0,0,1524,300.00	PA_HOME	9.0/483886/440184
SM_GC	1.91,0.00,0.00,50.38,0.000,0.000,0.552,148,2260,1524,-8.46,0.28,300.00	PA_ROOT	80.3/126931/24979
IRIDIUM_FIX	3231.39,-11824.98,050111,232331	PA_LOG	7.5/297829/275479
TT8_MAMPS	0.117593	PA_DATA1	0.1/7836665/7825417
HUMID	51.10	PA_DATA0	73.2/7836665/2097301
INTERNAL_PRESSURE	9.57383	_24V_AH	22.8,16.167
TCM_TEMP	19.30	_10V_AH	10.2,11.084
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	317736
PA_BOOTCOUNT	92	DATA_FILE_SIZE	10146,312
PA_DFQS	0/0	CAP_FILE_SIZE	100180,0
PA_CMQS	0/0	CFSIZE	260165632,255778816
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	060111,053857,3245.798,-11857.354,57,2.1,77,13.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	274	136.82	SBE_CT	213	24	116.68
Roll_motor	82	72	136.45	nil	0	0	0.00
VBD_pump_during_apogee	349	1175	9359.47	nil	0	0	0.00
VBD_pump_during_surface	50	551	633.50	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	73.51	nil	0	0	0.00
Iridium_during_connect	33	160	123.23	PAAM	11060	86	21785.97
Iridium_during_xfer	152	223	773.38	nil	0	0	0.00
Transponder_ping	42	420	404.59	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	43	50	22.17
TT8	0	0	0.00
LPSleep	8721	2	194.83
TT8_Active	444	19	89.82
TT8_Sampling	1717	39	697.08
TT8_CF8	71	45	33.27
TT8_Kalman	33	81	27.83
Analog_circuits	1177	12	144.07
GPS_charging	0	0	0.00
Compass	822	15	125.82
RAFOS	0	0	0.00
Transponder	268	30	82.18

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	-1.04	-194.6	0.0	0.0	0	83	0.00	0.00	-64.45	0.000	2	0.000	0.000	142	2227	2924	0	0	0	0	0	0
84	-1.04	-194.6	3.2	-4.0	11	115	11.00	2.38	-13.98	0.000	4	0.275	0.073	2498	3668	3544	0	0	0	0	0	0
183	-1.04	-194.6	31.9	-30.0	26	187	0.00	2.22	0.00	0.000	6	0.000	0.037	2498	2249	3545	0	0	0	0	0	0
379	-1.04	-194.6	80.0	-20.6	45	380	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2248	3546	0	0	0	0	0	0
573	-1.04	-194.6	120.7	-21.2	58	582	0.00	2.30	0.00	0.000	4	0.000	0.060	2487	3665	3547	0	0	0	0	0	0
606	-1.04	-194.6	128.5	-23.4	59	614	0.00	2.17	0.00	0.000	6	0.000	0.037	2487	2243	3547	0	0	0	0	0	0
932	-1.04	-194.6	200.3	-21.9	70	937	0.00	0.00	0.00	0.000	6	0.000	0.000	2487	2242	3548	0	0	0	0	0	0
1236	-1.04	-194.6	262.1	-20.4	80	1245	0.00	2.40	0.00	0.000	4	0.000	0.041	2487	678	3549	0	0	0	0	0	0
1276	-1.04	-194.6	270.8	-21.4	81	1284	0.10	2.47	0.00	0.000	6	0.164	0.045	2505	2251	3549	0	0	0	0	0	0
1637	-1.04	-194.6	339.9	-19.6	90	1646	0.00	2.30	0.00	0.000	4	0.000	0.060	2495	3687	3549	0	0	0	0	0	0
1697	-1.04	-194.6	352.6	-20.9	90	1708	0.00	2.20	0.00	0.000	6	0.000	0.035	2496	2237	3549	0	0	0	0	0	0
2005	-1.04	-194.6	414.9	-20.1	96	2011	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2236	3549	0	0	0	0	0	0
2307	-1.04	-194.6	472.2	-19.0	101	2318	0.00	2.33	0.00	0.000	4	0.000	0.060	2484	3681	3549	0	0	0	0	0	0
2327	-1.04	-194.6	476.3	-19.1	101	2335	0.00	2.17	0.00	0.000	6	0.000	0.037	2485	2247	3549	0	0	0	0	0	0
2678	-1.04	-194.6	546.7	-19.8	107	2690	0.00	2.38	0.00	0.000	4	0.000	0.041	2485	682	3549	0	0	0	0	0	0
2704	-1.04	-194.6	552.0	-20.4	107	2713	0.10	2.47	0.00	0.000	6	0.160	0.045	2506	2261	3550	0	0	0	0	0	0
3051	-1.04	-194.6	613.6	-17.5	113	3062	0.00	2.28	0.00	0.000	4	0.000	0.062	2494	3677	3549	0	0	0	0	0	0
3118	-1.04	-194.6	626.0	-17.8	114	3126	0.00	2.15	0.00	0.000	6	0.000	0.039	2494	2255	3549	0	0	0	0	0	0
3486	-1.04	-194.6	690.6	-17.5	120	3492	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2254	3548	0	0	0	0	0	0
3787	-1.04	-194.6	742.1	-17.0	125	3793	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2254	3550	0	0	0	0	0	0
4089	-1.04	-194.6	790.9	-16.1	130	4095	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2254	3547	0	0	0	0	0	0
4391	-1.04	-194.6	834.8	-14.4	135	4400	0.00	2.30	0.00	0.000	4	0.000	0.063	2484	3682	3546	0	0	0	0	0	0
4425	-1.04	-194.6	840.0	-15.8	135	4434	0.00	2.17	0.00	0.000	6	0.000	0.039	2484	2243	3546	0	0	0	0	0	0
4761	-1.04	-194.6	891.5	-15.3	141	4770	0.12	2.42	0.00	0.000	4	0.190	0.044	2513	674	3546	0	0	0	0	0	0
4790	-1.04	-194.6	895.7	-13.9	141	4801	0.00	2.47	0.00	0.000	6	0.000	0.047	2505	2249	3546	0	0	0	0	0	0
5133	-1.04	-194.6	943.6	-14.1	147	5142	0.00	2.30	0.00	0.000	4	0.000	0.063	2494	3675	3544	0	0	0	0	0	0
5162	-1.04	-194.6	947.9	-16.2	147	5174	0.00	2.15	0.00	0.000	6	0.000	0.038	2494	2255	3544	0	0	0	0	0	0
5446	end dive: TARGET_DEPTH_EXCEEDED
state	5446	begin apogee
5449	-0.21	0.0	992.1	15.5	152	5629	0.93	0.00	170.95	1.176	6	0.144	0.000	2777	1917	2747	0	0	0	0	0	0
5629	end apogee: CONTROL_FINISHED_OK
state	5629	begin climb
5630	1.04	194.6	1001.0	0.0	154	5824	1.17	2.78	178.18	1.154	4	0.055	0.047	3201	360	1953	0	0	0	0	0	0
5887	1.04	194.6	966.2	21.6	159	5895	0.00	2.60	0.00	0.000	6	0.000	0.038	3201	1926	1948	0	0	0	0	0	0
6248	1.04	194.6	882.4	23.5	165	6257	0.00	2.58	0.00	0.000	4	0.000	0.057	3201	3513	1944	0	0	0	0	0	0
6276	1.04	194.6	875.5	25.2	165	6284	0.00	2.50	0.00	0.000	6	0.000	0.037	3213	1937	1943	0	0	0	0	0	0
6605	1.04	194.6	797.6	23.6	171	6613	0.00	2.55	0.00	0.000	4	0.000	0.052	3217	340	1942	0	0	0	0	0	0
6627	1.04	194.6	792.2	24.7	171	6636	0.12	2.47	0.00	0.000	6	0.197	0.040	3189	1927	1941	0	0	0	0	0	0
6962	1.04	194.6	717.8	22.4	177	6967	0.00	0.00	0.00	0.000	6	0.000	0.000	3190	1927	1942	0	0	0	0	0	0
7264	1.04	194.6	653.6	21.2	182	7272	0.00	2.53	0.00	0.000	4	0.000	0.058	3190	3513	1945	0	0	0	0	0	0
7302	1.04	194.6	645.0	23.3	182	7311	0.00	2.47	0.00	0.000	6	0.000	0.039	3200	1911	1942	0	0	0	0	0	0
7621	1.04	194.6	578.9	20.4	188	7627	0.00	0.00	0.00	0.000	6	0.000	0.000	3200	1908	1939	0	0	0	0	0	0
7923	1.04	194.6	516.7	20.5	193	7932	0.00	2.53	0.00	0.000	4	0.000	0.057	3199	3504	1941	0	0	0	0	0	0
7956	1.04	194.6	509.5	22.3	193	7964	0.00	2.45	0.00	0.000	6	0.000	0.037	3212	1923	1941	0	0	0	0	0	0
8281	1.04	194.6	440.6	21.1	199	8286	0.00	0.00	0.00	0.000	6	0.000	0.000	3212	1921	1939	0	0	0	0	0	0
8582	1.04	194.6	376.3	21.5	204	8588	0.00	0.00	0.00	0.000	6	0.000	0.000	3212	1921	1939	0	0	0	0	0	0
8884	1.04	194.6	310.8	21.6	209	8889	0.00	0.00	0.00	0.000	6	0.000	0.000	3212	1921	1941	0	0	0	0	0	0
9187	1.04	194.6	248.7	20.0	218	9195	0.00	2.47	0.00	0.000	4	0.000	0.051	3217	343	1941	0	0	0	0	0	0
9225	1.04	194.6	240.7	20.7	219	9234	0.10	2.45	0.00	0.000	6	0.194	0.040	3195	1925	1941	0	0	0	0	0	0
9546	1.04	194.6	178.8	19.4	230	9552	0.00	0.00	0.00	0.000	6	0.000	0.000	3195	1927	1940	0	0	0	0	0	0
9850	1.04	194.6	121.6	18.5	240	9858	0.00	2.50	0.00	0.000	4	0.000	0.056	3194	3506	1940	0	0	0	0	0	0
9976	1.04	194.6	95.8	21.0	244	9980	0.00	2.42	0.00	0.000	6	0.000	0.037	3204	1919	1940	0	0	0	0	0	0
10166	1.04	194.6	61.4	16.9	262	10167	0.00	0.00	0.00	0.000	6	0.000	0.000	3204	1917	1941	0	0	0	0	0	0
10353	1.04	194.6	30.4	14.7	280	10354	0.00	0.00	0.00	0.000	6	0.000	0.000	3205	1917	1940	0	0	0	0	0	0
10536	end climb: SURFACE_DEPTH_REACHED
state	10536	begin surface coast
10558	end surface coast: CONTROL_FINISHED_OK
state	10558	begin surface