Glider dive log

SCORE Jan11 * SG179 * Dive index * Mission links * Dive 14 * 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 14 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 35 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 300 R_STBD_OVSHOOT 35 INT_PRESSURE_YINT -0.69999999

D_NO_BLEED 200 N_FILEKB 8 ROLL_AD_RATE 350 DEEPGLIDER 0

D_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

T_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEVICE1 2

D_PITCH 0 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 -16222.313 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 -16222.313

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 35 VBD_MAXERRORS 1

DIVE 14 N_DIVES 0 R_STBD_OVSHOOT 35 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 060111,053857,3245.798,-11857.354,57,2.1,77,13.3 TGT_NAME DM4

_CALLS 1 TGT_LATLONG 3251.800,-11907.783

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.299,0.126

_SM_DEPTHo 1.82 KALMAN_X 23633.8,-1298.1,-729.3,-39611.7,5866.5

_SM_ANGLEo -76.1 KALMAN_Y -11551.7,-496.9,545.8,21857.7,-2837.2

GPS2 060111,054436,3245.779,-11857.298,14,1.9,24,13.3 MHEAD_RNG_PITCHd_Wd 279.5,19758,-19.3,-13.306

SPEED_LIMITS 0.230,0.325 D_GRID 1118

Post-dive calculations and measurements:

FINISH 1.0,1.023089 PA_USBA 100.0/0/0

SM_CCo 10708,48.22,0.555,0,0,1524,300.00 PA_HOME 9.1/483886/440069

SM_GC 1.66,0.00,0.00,48.22,0.000,0.000,0.555,137,2262,1524,-8.48,0.34,300.00 PA_ROOT 80.3/126931/24979

IRIDIUM_FIX 3226.28,-11852.35,060111,020223 PA_LOG 7.6/297829/275264

TT8_MAMPS 0.117593 PA_DATA1 0.1/7836665/7825417

HUMID 51.57 PA_DATA0 79.5/7836665/1609767

INTERNAL_PRESSURE 9.57383 _24V_AH 22.8,16.311

TCM_TEMP 19.30 _10V_AH 10.2,11.395

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 317600

PA_BOOTCOUNT 92 DATA_FILE_SIZE 10170,315

PA_DFQS 0/0 CAP_FILE_SIZE 102344,0

PA_CMQS 0/0 CFSIZE 260165632,255725568

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 060111,084700,3246.182,-11859.252,120,1.0,127,13.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 275 139.40 SBE_CT 214 24 117.62

Roll_motor 91 55 115.99 nil 0 0 0.00

VBD_pump_during_apogee 364 1174 9771.65 nil 0 0 0.00

VBD_pump_during_surface 48 554 609.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 58.13 nil 0 0 0.00

Iridium_during_connect 36 160 133.72 PAAM 11226 86 22093.77

Iridium_during_xfer 180 223 915.64 nil 0 0 0.00

Transponder_ping 40 420 383.04 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 25 50 13.19

TT8 0 0 0.00

LPSleep 8845 2 197.58

TT8_Active 463 19 93.61

TT8_Sampling 1709 39 694.08

TT8_CF8 77 45 36.08

TT8_Kalman 33 81 27.81

Analog_circuits 1208 12 147.97

GPS_charging 0 0 0.00

Compass 805 15 123.22

RAFOS 0 0 0.00

Transponder 255 30 78.22

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 -1.04 -194.6 0.0 0.0 0 82 0.00 0.00 -64.47 0.000 2 0.000 0.000 142 2261 2931 0 0 0 0 0 0

83 -1.04 -194.6 3.2 -4.0 11 113 11.05 0.00 -13.65 0.000 6 0.275 0.000 2506 2261 3542 0 0 0 0 0 0

174 -1.04 -194.6 29.0 -26.5 25 175 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2261 3544 0 0 0 0 0 0

360 -1.04 -194.6 76.8 -24.9 43 361 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2261 3544 0 0 0 0 0 0

555 -1.04 -194.6 119.6 -21.4 56 560 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2261 3546 0 0 0 0 0 0

859 -1.04 -194.6 183.4 -20.7 66 865 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2261 3547 0 0 0 0 0 0

1163 -1.04 -194.6 245.3 -19.9 76 1172 0.00 2.47 0.00 0.000 4 0.000 0.042 2506 656 3547 0 0 0 0 0 0

1202 -1.04 -194.6 252.9 -18.5 77 1210 0.00 2.50 0.00 0.000 6 0.000 0.044 2497 2248 3547 0 0 0 0 0 0

1527 -1.04 -194.6 313.1 -18.4 87 1536 0.00 2.47 0.00 0.000 4 0.000 0.041 2497 659 3547 0 0 0 0 0 0

1567 -1.04 -194.6 320.4 -18.3 87 1576 0.00 2.50 0.00 0.000 6 0.000 0.044 2485 2256 3547 0 0 0 0 0 0

1892 -1.04 -194.6 384.4 -19.9 93 1901 0.00 2.45 0.00 0.000 4 0.000 0.041 2485 666 3548 0 0 0 0 0 0

1926 -1.04 -194.6 391.2 -19.6 93 1936 0.15 2.47 0.00 0.000 6 0.174 0.044 2510 2251 3547 0 0 0 0 0 0

2263 -1.04 -194.6 449.6 -17.1 99 2268 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2252 3548 0 0 0 0 0 0

2565 -1.04 -194.6 500.8 -16.9 104 2575 0.00 2.45 0.00 0.000 4 0.000 0.041 2510 644 3547 0 0 0 0 0 0

2606 -1.04 -194.6 507.9 -17.2 104 2615 0.00 2.50 0.00 0.000 6 0.000 0.044 2501 2255 3548 0 0 0 0 0 0

2937 -1.04 -194.6 564.7 -17.2 110 2948 0.00 2.45 0.00 0.000 4 0.000 0.041 2501 662 3547 0 0 0 0 0 0

2962 -1.04 -194.6 569.0 -16.7 110 2971 0.00 2.47 0.00 0.000 6 0.000 0.043 2490 2268 3547 0 0 0 0 0 0

3309 -1.04 -194.6 628.5 -17.1 116 3318 0.00 2.45 0.00 0.000 4 0.000 0.042 2489 665 3547 0 0 0 0 0 0

3353 -1.04 -194.6 636.2 -16.5 116 3361 0.12 2.47 0.00 0.000 6 0.181 0.044 2507 2261 3547 0 0 0 0 0 0

3673 -1.04 -194.6 683.4 -14.6 122 3681 0.00 2.45 0.00 0.000 4 0.000 0.043 2508 663 3546 0 0 0 0 0 0

3717 -1.04 -194.6 690.0 -14.4 122 3725 0.00 2.45 0.00 0.000 6 0.000 0.044 2500 2255 3546 0 0 0 0 0 0

4042 -1.04 -194.6 736.6 -14.5 128 4048 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2255 3549 0 0 0 0 0 0

4344 -1.04 -194.6 780.7 -14.7 133 4353 0.00 2.45 0.00 0.000 4 0.000 0.044 2500 654 3544 0 0 0 0 0 0

4405 -1.04 -194.6 790.0 -14.4 133 4416 0.00 2.50 0.00 0.000 6 0.000 0.044 2489 2254 3545 0 0 0 0 0 0

4713 -1.04 -194.6 838.4 -15.8 139 4722 0.00 2.45 0.00 0.000 4 0.000 0.043 2489 663 3544 0 0 0 0 0 0

4747 -1.04 -194.6 843.7 -15.9 139 4755 0.12 2.47 0.00 0.000 6 0.181 0.044 2508 2250 3544 0 0 0 0 0 0

5077 -1.04 -194.6 892.7 -15.1 145 5084 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2250 3543 0 0 0 0 0 0

5379 -1.04 -194.6 936.9 -14.6 150 5384 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2250 3542 0 0 0 0 0 0

5680 -1.04 -194.6 981.6 -14.9 155 5686 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2250 3541 0 0 0 0 0 0

5740 end dive: TARGET_DEPTH_EXCEEDED

state 5740 begin apogee

5743 -0.21 0.0 990.9 15.1 156 5923 0.85 0.00 169.55 1.174 6 0.140 0.000 2773 1909 2747 0 0 0 0 0 0

5924 end apogee: CONTROL_FINISHED_OK

state 5924 begin climb

5925 1.04 194.6 1000.1 0.0 158 6119 1.17 2.75 178.85 1.157 4 0.058 0.047 3197 362 1953 0 0 0 0 0 0

6133 1.04 194.6 976.2 20.5 162 6141 0.00 2.65 0.00 0.000 6 0.000 0.037 3197 1925 1951 0 0 0 0 0 0

6478 1.04 194.6 894.9 23.6 168 6487 0.00 2.60 0.00 0.000 4 0.000 0.056 3197 3519 1945 0 0 0 0 0 0

6532 1.04 194.6 880.3 28.5 168 6544 0.00 2.53 0.00 0.000 6 0.000 0.037 3209 1931 1944 0 0 0 0 0 0

6840 1.04 194.6 801.9 25.6 174 6845 0.00 0.00 0.00 0.000 6 0.000 0.000 3210 1927 1940 0 0 0 0 0 0

7142 1.04 194.6 727.8 24.6 179 7148 0.00 0.00 0.00 0.000 6 0.000 0.000 3209 1927 1943 0 0 0 0 0 0

7443 1.04 194.6 653.8 24.3 184 7451 0.00 2.55 0.00 0.000 4 0.000 0.056 3210 3516 1942 0 0 0 0 0 0

7465 1.04 194.6 648.1 25.7 184 7474 0.15 2.47 0.00 0.000 6 0.209 0.037 3189 1927 1943 0 0 0 0 0 0

7800 1.04 194.6 572.5 22.2 190 7809 0.00 2.58 0.00 0.000 4 0.000 0.056 3189 3525 1942 0 0 0 0 0 0

7828 1.04 194.6 566.1 22.4 190 7836 0.00 2.50 0.00 0.000 6 0.000 0.037 3198 1912 1942 0 0 0 0 0 0

8157 1.04 194.6 492.1 22.6 196 8166 0.00 2.55 0.00 0.000 4 0.000 0.055 3198 3517 1941 0 0 0 0 0 0

8206 1.04 194.6 480.2 25.1 196 8214 0.00 2.47 0.00 0.000 6 0.000 0.039 3211 1917 1941 0 0 0 0 0 0

8514 1.04 194.6 411.8 22.1 201 8520 0.00 0.00 0.00 0.000 6 0.000 0.000 3211 1915 1941 0 0 0 0 0 0

8815 1.04 194.6 347.5 21.2 206 8824 0.00 2.53 0.00 0.000 4 0.000 0.056 3211 3516 1941 0 0 0 0 0 0

8838 1.04 194.6 342.5 21.9 206 8846 0.15 2.45 0.00 0.000 6 0.208 0.039 3189 1909 1939 0 0 0 0 0 0

9174 1.04 194.6 276.4 19.4 214 9179 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 1906 1941 0 0 0 0 0 0

9477 1.04 194.6 218.9 18.7 224 9486 0.00 2.53 0.00 0.000 4 0.000 0.055 3190 3514 1941 0 0 0 0 0 0

9526 1.04 194.6 208.5 21.9 225 9534 0.00 2.45 0.00 0.000 6 0.000 0.038 3199 1924 1940 0 0 0 0 0 0

9835 1.04 194.6 143.7 20.9 235 9844 0.00 2.55 0.00 0.000 4 0.000 0.054 3199 3528 1941 0 0 0 0 0 0

9911 1.04 194.6 127.1 22.5 237 9919 0.00 2.45 0.00 0.000 6 0.000 0.037 3208 1906 1941 0 0 0 0 0 0

10230 1.04 194.6 66.6 18.0 258 10234 0.00 2.58 0.00 0.000 4 0.000 0.053 3211 3513 1943 0 0 0 0 0 0

10283 1.04 194.6 56.8 20.2 263 10288 0.12 2.45 0.00 0.000 6 0.185 0.037 3190 1924 1941 0 0 0 0 0 0

10480 1.07 216.0 29.6 12.3 282 10502 0.00 0.00 16.58 0.568 6 0.000 0.000 3190 1918 1868 0 0 0 0 0 0

10673 end climb: SURFACE_DEPTH_REACHED

state 10673 begin surface coast

10694 end surface coast: CONTROL_FINISHED_OK

state 10694 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	14	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	35	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	300	R_STBD_OVSHOOT	35	INT_PRESSURE_YINT	-0.69999999
D_NO_BLEED	200	N_FILEKB	8	ROLL_AD_RATE	350	DEEPGLIDER	0
D_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
T_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEVICE1	2
D_PITCH	0	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	-16222.313	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	060111,053857,3245.798,-11857.354,57,2.1,77,13.3	TGT_NAME	DM4
_CALLS	1	TGT_LATLONG	3251.800,-11907.783
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.299,0.126
_SM_DEPTHo	1.82	KALMAN_X	23633.8,-1298.1,-729.3,-39611.7,5866.5
_SM_ANGLEo	-76.1	KALMAN_Y	-11551.7,-496.9,545.8,21857.7,-2837.2
GPS2	060111,054436,3245.779,-11857.298,14,1.9,24,13.3	MHEAD_RNG_PITCHd_Wd	279.5,19758,-19.3,-13.306
SPEED_LIMITS	0.230,0.325	D_GRID	1118

FINISH	1.0,1.023089	PA_USBA	100.0/0/0
SM_CCo	10708,48.22,0.555,0,0,1524,300.00	PA_HOME	9.1/483886/440069
SM_GC	1.66,0.00,0.00,48.22,0.000,0.000,0.555,137,2262,1524,-8.48,0.34,300.00	PA_ROOT	80.3/126931/24979
IRIDIUM_FIX	3226.28,-11852.35,060111,020223	PA_LOG	7.6/297829/275264
TT8_MAMPS	0.117593	PA_DATA1	0.1/7836665/7825417
HUMID	51.57	PA_DATA0	79.5/7836665/1609767
INTERNAL_PRESSURE	9.57383	_24V_AH	22.8,16.311
TCM_TEMP	19.30	_10V_AH	10.2,11.395
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	317600
PA_BOOTCOUNT	92	DATA_FILE_SIZE	10170,315
PA_DFQS	0/0	CAP_FILE_SIZE	102344,0
PA_CMQS	0/0	CFSIZE	260165632,255725568
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	060111,084700,3246.182,-11859.252,120,1.0,127,13.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	275	139.40	SBE_CT	214	24	117.62
Roll_motor	91	55	115.99	nil	0	0	0.00
VBD_pump_during_apogee	364	1174	9771.65	nil	0	0	0.00
VBD_pump_during_surface	48	554	609.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	58.13	nil	0	0	0.00
Iridium_during_connect	36	160	133.72	PAAM	11226	86	22093.77
Iridium_during_xfer	180	223	915.64	nil	0	0	0.00
Transponder_ping	40	420	383.04	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	25	50	13.19
TT8	0	0	0.00
LPSleep	8845	2	197.58
TT8_Active	463	19	93.61
TT8_Sampling	1709	39	694.08
TT8_CF8	77	45	36.08
TT8_Kalman	33	81	27.81
Analog_circuits	1208	12	147.97
GPS_charging	0	0	0.00
Compass	805	15	123.22
RAFOS	0	0	0.00
Transponder	255	30	78.22

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	-1.04	-194.6	0.0	0.0	0	82	0.00	0.00	-64.47	0.000	2	0.000	0.000	142	2261	2931	0	0	0	0	0	0
83	-1.04	-194.6	3.2	-4.0	11	113	11.05	0.00	-13.65	0.000	6	0.275	0.000	2506	2261	3542	0	0	0	0	0	0
174	-1.04	-194.6	29.0	-26.5	25	175	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2261	3544	0	0	0	0	0	0
360	-1.04	-194.6	76.8	-24.9	43	361	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2261	3544	0	0	0	0	0	0
555	-1.04	-194.6	119.6	-21.4	56	560	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2261	3546	0	0	0	0	0	0
859	-1.04	-194.6	183.4	-20.7	66	865	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2261	3547	0	0	0	0	0	0
1163	-1.04	-194.6	245.3	-19.9	76	1172	0.00	2.47	0.00	0.000	4	0.000	0.042	2506	656	3547	0	0	0	0	0	0
1202	-1.04	-194.6	252.9	-18.5	77	1210	0.00	2.50	0.00	0.000	6	0.000	0.044	2497	2248	3547	0	0	0	0	0	0
1527	-1.04	-194.6	313.1	-18.4	87	1536	0.00	2.47	0.00	0.000	4	0.000	0.041	2497	659	3547	0	0	0	0	0	0
1567	-1.04	-194.6	320.4	-18.3	87	1576	0.00	2.50	0.00	0.000	6	0.000	0.044	2485	2256	3547	0	0	0	0	0	0
1892	-1.04	-194.6	384.4	-19.9	93	1901	0.00	2.45	0.00	0.000	4	0.000	0.041	2485	666	3548	0	0	0	0	0	0
1926	-1.04	-194.6	391.2	-19.6	93	1936	0.15	2.47	0.00	0.000	6	0.174	0.044	2510	2251	3547	0	0	0	0	0	0
2263	-1.04	-194.6	449.6	-17.1	99	2268	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2252	3548	0	0	0	0	0	0
2565	-1.04	-194.6	500.8	-16.9	104	2575	0.00	2.45	0.00	0.000	4	0.000	0.041	2510	644	3547	0	0	0	0	0	0
2606	-1.04	-194.6	507.9	-17.2	104	2615	0.00	2.50	0.00	0.000	6	0.000	0.044	2501	2255	3548	0	0	0	0	0	0
2937	-1.04	-194.6	564.7	-17.2	110	2948	0.00	2.45	0.00	0.000	4	0.000	0.041	2501	662	3547	0	0	0	0	0	0
2962	-1.04	-194.6	569.0	-16.7	110	2971	0.00	2.47	0.00	0.000	6	0.000	0.043	2490	2268	3547	0	0	0	0	0	0
3309	-1.04	-194.6	628.5	-17.1	116	3318	0.00	2.45	0.00	0.000	4	0.000	0.042	2489	665	3547	0	0	0	0	0	0
3353	-1.04	-194.6	636.2	-16.5	116	3361	0.12	2.47	0.00	0.000	6	0.181	0.044	2507	2261	3547	0	0	0	0	0	0
3673	-1.04	-194.6	683.4	-14.6	122	3681	0.00	2.45	0.00	0.000	4	0.000	0.043	2508	663	3546	0	0	0	0	0	0
3717	-1.04	-194.6	690.0	-14.4	122	3725	0.00	2.45	0.00	0.000	6	0.000	0.044	2500	2255	3546	0	0	0	0	0	0
4042	-1.04	-194.6	736.6	-14.5	128	4048	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2255	3549	0	0	0	0	0	0
4344	-1.04	-194.6	780.7	-14.7	133	4353	0.00	2.45	0.00	0.000	4	0.000	0.044	2500	654	3544	0	0	0	0	0	0
4405	-1.04	-194.6	790.0	-14.4	133	4416	0.00	2.50	0.00	0.000	6	0.000	0.044	2489	2254	3545	0	0	0	0	0	0
4713	-1.04	-194.6	838.4	-15.8	139	4722	0.00	2.45	0.00	0.000	4	0.000	0.043	2489	663	3544	0	0	0	0	0	0
4747	-1.04	-194.6	843.7	-15.9	139	4755	0.12	2.47	0.00	0.000	6	0.181	0.044	2508	2250	3544	0	0	0	0	0	0
5077	-1.04	-194.6	892.7	-15.1	145	5084	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2250	3543	0	0	0	0	0	0
5379	-1.04	-194.6	936.9	-14.6	150	5384	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2250	3542	0	0	0	0	0	0
5680	-1.04	-194.6	981.6	-14.9	155	5686	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2250	3541	0	0	0	0	0	0
5740	end dive: TARGET_DEPTH_EXCEEDED
state	5740	begin apogee
5743	-0.21	0.0	990.9	15.1	156	5923	0.85	0.00	169.55	1.174	6	0.140	0.000	2773	1909	2747	0	0	0	0	0	0
5924	end apogee: CONTROL_FINISHED_OK
state	5924	begin climb
5925	1.04	194.6	1000.1	0.0	158	6119	1.17	2.75	178.85	1.157	4	0.058	0.047	3197	362	1953	0	0	0	0	0	0
6133	1.04	194.6	976.2	20.5	162	6141	0.00	2.65	0.00	0.000	6	0.000	0.037	3197	1925	1951	0	0	0	0	0	0
6478	1.04	194.6	894.9	23.6	168	6487	0.00	2.60	0.00	0.000	4	0.000	0.056	3197	3519	1945	0	0	0	0	0	0
6532	1.04	194.6	880.3	28.5	168	6544	0.00	2.53	0.00	0.000	6	0.000	0.037	3209	1931	1944	0	0	0	0	0	0
6840	1.04	194.6	801.9	25.6	174	6845	0.00	0.00	0.00	0.000	6	0.000	0.000	3210	1927	1940	0	0	0	0	0	0
7142	1.04	194.6	727.8	24.6	179	7148	0.00	0.00	0.00	0.000	6	0.000	0.000	3209	1927	1943	0	0	0	0	0	0
7443	1.04	194.6	653.8	24.3	184	7451	0.00	2.55	0.00	0.000	4	0.000	0.056	3210	3516	1942	0	0	0	0	0	0
7465	1.04	194.6	648.1	25.7	184	7474	0.15	2.47	0.00	0.000	6	0.209	0.037	3189	1927	1943	0	0	0	0	0	0
7800	1.04	194.6	572.5	22.2	190	7809	0.00	2.58	0.00	0.000	4	0.000	0.056	3189	3525	1942	0	0	0	0	0	0
7828	1.04	194.6	566.1	22.4	190	7836	0.00	2.50	0.00	0.000	6	0.000	0.037	3198	1912	1942	0	0	0	0	0	0
8157	1.04	194.6	492.1	22.6	196	8166	0.00	2.55	0.00	0.000	4	0.000	0.055	3198	3517	1941	0	0	0	0	0	0
8206	1.04	194.6	480.2	25.1	196	8214	0.00	2.47	0.00	0.000	6	0.000	0.039	3211	1917	1941	0	0	0	0	0	0
8514	1.04	194.6	411.8	22.1	201	8520	0.00	0.00	0.00	0.000	6	0.000	0.000	3211	1915	1941	0	0	0	0	0	0
8815	1.04	194.6	347.5	21.2	206	8824	0.00	2.53	0.00	0.000	4	0.000	0.056	3211	3516	1941	0	0	0	0	0	0
8838	1.04	194.6	342.5	21.9	206	8846	0.15	2.45	0.00	0.000	6	0.208	0.039	3189	1909	1939	0	0	0	0	0	0
9174	1.04	194.6	276.4	19.4	214	9179	0.00	0.00	0.00	0.000	6	0.000	0.000	3190	1906	1941	0	0	0	0	0	0
9477	1.04	194.6	218.9	18.7	224	9486	0.00	2.53	0.00	0.000	4	0.000	0.055	3190	3514	1941	0	0	0	0	0	0
9526	1.04	194.6	208.5	21.9	225	9534	0.00	2.45	0.00	0.000	6	0.000	0.038	3199	1924	1940	0	0	0	0	0	0
9835	1.04	194.6	143.7	20.9	235	9844	0.00	2.55	0.00	0.000	4	0.000	0.054	3199	3528	1941	0	0	0	0	0	0
9911	1.04	194.6	127.1	22.5	237	9919	0.00	2.45	0.00	0.000	6	0.000	0.037	3208	1906	1941	0	0	0	0	0	0
10230	1.04	194.6	66.6	18.0	258	10234	0.00	2.58	0.00	0.000	4	0.000	0.053	3211	3513	1943	0	0	0	0	0	0
10283	1.04	194.6	56.8	20.2	263	10288	0.12	2.45	0.00	0.000	6	0.185	0.037	3190	1924	1941	0	0	0	0	0	0
10480	1.07	216.0	29.6	12.3	282	10502	0.00	0.00	16.58	0.568	6	0.000	0.000	3190	1918	1868	0	0	0	0	0	0
10673	end climb: SURFACE_DEPTH_REACHED
state	10673	begin surface coast
10694	end surface coast: CONTROL_FINISHED_OK
state	10694	begin surface