Glider dive log

SCORE Jan11 * SG179 * Dive index * Mission links * Dive 15 * 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 15 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 -16223.573 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 -16223.573

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 15 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 060111,084700,3246.182,-11859.252,120,1.0,127,13.3 TGT_NAME DM4

_CALLS 1 TGT_LATLONG 3251.800,-11907.783

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.307,0.106

_SM_DEPTHo 1.88 KALMAN_X 24018.6,-702.5,-649.6,-43722.4,5173.5

_SM_ANGLEo -76.5 KALMAN_Y -12399.2,-269.4,126.7,23602.8,-2050.0

GPS2 060111,085150,3246.161,-11859.264,15,1.0,15,13.3 MHEAD_RNG_PITCHd_Wd 275.7,16874,-19.3,-13.306

SPEED_LIMITS 0.230,0.325 D_GRID 1071

Post-dive calculations and measurements:

FINISH 0.9,1.013858 PA_USBA 100.0/0/0

SM_CCo 10844,36.85,0.546,0,0,1525,300.00 PA_HOME 9.1/483886/439948

SM_GC 2.18,0.00,0.00,36.85,0.000,0.000,0.546,141,2230,1525,-8.47,-0.57,300.00 PA_ROOT 80.3/126931/24979

IRIDIUM_FIX 3231.39,-11926.91,060111,050517 PA_LOG 7.6/297829/275048

TT8_MAMPS 0.117593 PA_DATA1 0.1/7836665/7825417

HUMID 50.86 PA_DATA0 85.7/7836665/1120518

INTERNAL_PRESSURE 9.5836 _24V_AH 22.8,16.454

TCM_TEMP 19.40 _10V_AH 10.1,11.712

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 317612

PA_BOOTCOUNT 92 DATA_FILE_SIZE 10123,321

PA_DFQS 0/0 CAP_FILE_SIZE 109479,0

PA_CMQS 0/0 CFSIZE 260165632,255664128

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 060111,115606,3246.390,-11901.014,114,1.3,115,13.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 278 142.85 SBE_CT 218 24 119.58

Roll_motor 109 70 175.75 nil 0 0 0.00

VBD_pump_during_apogee 384 1179 10337.98 nil 0 0 0.00

VBD_pump_during_surface 36 546 458.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 59.72 nil 0 0 0.00

Iridium_during_connect 32 160 117.74 PAAM 11357 86 22314.09

Iridium_during_xfer 143 223 729.08 nil 0 0 0.00

Transponder_ping 42 420 409.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.14

TT8 0 0 0.00

LPSleep 8841 2 195.57

TT8_Active 479 19 95.98

TT8_Sampling 1773 39 712.82

TT8_CF8 73 45 34.08

TT8_Kalman 33 81 27.54

Analog_circuits 1290 12 156.38

GPS_charging 0 0 0.00

Compass 873 15 132.29

RAFOS 0 0 0.00

Transponder 273 30 82.96

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 83 0.00 0.00 -65.10 0.000 2 0.000 0.000 137 2266 2963 0 0 0 0 0 0

84 -1.04 -194.6 3.6 -5.2 11 115 11.20 2.28 -12.48 0.000 4 0.278 0.070 2499 3665 3543 0 0 0 0 0 0

166 -1.04 -194.6 28.4 -28.4 24 171 0.00 2.25 0.00 0.000 6 0.000 0.037 2499 2237 3545 0 0 0 0 0 0

363 -1.04 -194.6 76.5 -21.8 43 364 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2237 3546 0 0 0 0 0 0

568 -1.04 -194.6 119.2 -20.4 57 575 0.00 2.33 0.00 0.000 4 0.000 0.060 2488 3674 3547 0 0 0 0 0 0

605 -1.04 -194.6 127.3 -22.0 58 612 0.00 2.20 0.00 0.000 6 0.000 0.036 2488 2239 3547 0 0 0 0 0 0

936 -1.04 -194.6 195.1 -20.4 69 945 0.00 2.30 0.00 0.000 4 0.000 0.059 2477 3669 3548 0 0 0 0 0 0

959 -1.04 -194.6 200.1 -21.0 69 967 0.12 2.17 0.00 0.000 6 0.188 0.037 2507 2236 3548 0 0 0 0 0 0

1268 -1.04 -194.6 259.1 -19.0 79 1274 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2234 3548 0 0 0 0 0 0

1572 -1.04 -194.6 315.5 -18.6 88 1582 0.00 2.30 0.00 0.000 4 0.000 0.058 2498 3665 3550 0 0 0 0 0 0

1602 -1.04 -194.6 321.5 -19.6 88 1610 0.00 2.15 0.00 0.000 6 0.000 0.037 2497 2253 3549 0 0 0 0 0 0

1938 -1.04 -194.6 386.2 -19.1 94 1947 0.00 2.40 0.00 0.000 4 0.000 0.041 2498 664 3549 0 0 0 0 0 0

1961 -1.04 -194.6 390.9 -19.5 94 1972 0.00 2.45 0.00 0.000 6 0.000 0.044 2486 2253 3549 0 0 0 0 0 0

2310 -1.04 -194.6 457.6 -19.1 100 2321 0.00 2.28 0.00 0.000 4 0.000 0.060 2475 3680 3549 0 0 0 0 0 0

2373 -1.04 -194.6 470.2 -20.4 100 2384 0.15 2.17 0.00 0.000 6 0.176 0.037 2512 2245 3549 0 0 0 0 0 0

2681 -1.04 -194.6 521.3 -16.5 106 2687 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2245 3548 0 0 0 0 0 0

2983 -1.04 -194.6 568.7 -15.6 111 2991 0.00 2.30 0.00 0.000 4 0.000 0.060 2503 3680 3548 0 0 0 0 0 0

3022 -1.04 -194.6 575.0 -16.2 111 3030 0.00 2.17 0.00 0.000 6 0.000 0.037 2504 2249 3546 0 0 0 0 0 0

3352 -1.04 -194.6 627.5 -15.9 117 3359 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2248 3548 0 0 0 0 0 0

3654 -1.04 -194.6 675.7 -16.0 122 3663 0.00 2.30 0.00 0.000 4 0.000 0.061 2492 3681 3547 0 0 0 0 0 0

3683 -1.04 -194.6 680.6 -17.3 122 3694 0.00 2.17 0.00 0.000 6 0.000 0.037 2493 2248 3547 0 0 0 0 0 0

4027 -1.04 -194.6 739.8 -17.1 128 4036 0.00 2.40 0.00 0.000 4 0.000 0.043 2492 670 3546 0 0 0 0 0 0

4056 -1.04 -194.6 744.8 -16.7 128 4067 0.08 2.45 0.00 0.000 6 0.161 0.044 2504 2255 3546 0 0 0 0 0 0

4400 -1.04 -194.6 797.8 -15.5 134 4410 0.00 2.28 0.00 0.000 4 0.000 0.061 2494 3675 3543 0 0 0 0 0 0

4456 -1.04 -194.6 806.8 -16.2 134 4464 0.00 2.17 0.00 0.000 6 0.000 0.038 2495 2247 3545 0 0 0 0 0 0

4764 -1.04 -194.6 853.8 -15.2 139 4770 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2245 3545 0 0 0 0 0 0

5066 -1.04 -194.6 901.0 -15.8 144 5075 0.00 2.30 0.00 0.000 4 0.000 0.063 2484 3681 3543 0 0 0 0 0 0

5100 -1.04 -194.6 906.7 -17.3 144 5109 0.00 2.20 0.00 0.000 6 0.000 0.039 2484 2237 3543 0 0 0 0 0 0

5436 -1.04 -194.6 958.9 -15.3 150 5447 0.00 2.33 0.00 0.000 4 0.000 0.063 2473 3675 3543 0 0 0 0 0 0

5456 -1.04 -194.6 962.3 -17.2 150 5465 0.15 2.17 0.00 0.000 6 0.178 0.039 2510 2246 3543 0 0 0 0 0 0

5687 end dive: TARGET_DEPTH_EXCEEDED

state 5687 begin apogee

5690 -0.21 0.0 994.7 13.8 154 5871 0.85 0.00 170.55 1.180 6 0.139 0.000 2776 1911 2748 0 0 0 0 0 0

5872 end apogee: CONTROL_FINISHED_OK

state 5872 begin climb

5873 1.04 194.6 1002.7 0.0 156 6067 1.17 2.75 178.50 1.160 4 0.057 0.047 3198 366 1953 0 0 0 0 0 0

6172 1.04 194.6 957.3 22.1 161 6181 0.00 2.58 0.00 0.000 6 0.000 0.039 3202 1933 1947 0 0 0 0 0 0

6491 1.04 194.6 883.8 23.2 167 6499 0.00 2.55 0.00 0.000 4 0.000 0.054 3199 3507 1944 0 0 0 0 0 0

6535 1.04 194.6 872.9 26.5 167 6543 0.00 2.50 0.00 0.000 6 0.000 0.037 3212 1930 1944 0 0 0 0 0 0

6848 1.04 194.6 798.1 24.0 173 6856 0.00 2.53 0.00 0.000 4 0.000 0.051 3216 332 1943 0 0 0 0 0 0

6886 1.04 194.6 789.1 23.9 173 6894 0.00 2.47 0.00 0.000 6 0.000 0.040 3217 1925 1942 0 0 0 0 0 0

7205 1.04 194.6 714.3 23.7 179 7213 0.00 2.53 0.00 0.000 4 0.000 0.055 3217 3506 1942 0 0 0 0 0 0

7248 1.04 194.6 703.5 24.6 179 7257 0.17 2.45 0.00 0.000 6 0.208 0.038 3189 1919 1941 0 0 0 0 0 0

7562 1.04 194.6 635.1 21.6 185 7571 0.00 2.55 0.00 0.000 4 0.000 0.056 3189 3516 1941 0 0 0 0 0 0

7600 1.04 194.6 626.4 22.6 185 7609 0.00 2.45 0.00 0.000 6 0.000 0.037 3199 1925 1939 0 0 0 0 0 0

7919 1.04 194.6 557.1 21.6 191 7928 0.00 2.50 0.00 0.000 4 0.000 0.056 3199 3506 1941 0 0 0 0 0 0

7958 1.04 194.6 548.3 23.6 191 7966 0.00 2.42 0.00 0.000 6 0.000 0.037 3211 1915 1939 0 0 0 0 0 0

8276 1.04 194.6 477.6 22.0 197 8285 0.00 2.45 0.00 0.000 4 0.000 0.051 3216 350 1941 0 0 0 0 0 0

8304 1.04 194.6 471.2 22.1 197 8313 0.12 2.42 0.00 0.000 6 0.190 0.039 3189 1932 1941 0 0 0 0 0 0

8635 1.04 194.6 404.7 20.0 203 8641 0.00 0.00 0.00 0.000 6 0.000 0.000 3188 1932 1944 0 0 0 0 0 0

8936 1.04 194.6 344.2 20.1 208 8944 0.00 2.50 0.00 0.000 4 0.000 0.056 3189 3510 1941 0 0 0 0 0 0

8969 1.04 194.6 337.0 22.0 208 8977 0.00 2.42 0.00 0.000 6 0.000 0.038 3199 1922 1941 0 0 0 0 0 0

9294 1.04 194.6 268.3 21.0 216 9302 0.00 2.53 0.00 0.000 4 0.000 0.054 3199 3510 1941 0 0 0 0 0 0

9354 1.04 194.6 255.4 21.2 218 9362 0.00 2.42 0.00 0.000 6 0.000 0.037 3211 1927 1940 0 0 0 0 0 0

9685 1.04 194.6 189.6 19.4 229 9691 0.00 0.00 0.00 0.000 6 0.000 0.000 3210 1920 1941 0 0 0 0 0 0

9988 1.04 194.6 130.2 19.5 239 9996 0.00 2.50 0.00 0.000 4 0.000 0.054 3211 3503 1940 0 0 0 0 0 0

10042 1.04 194.6 118.5 21.5 240 10054 0.15 2.42 0.00 0.000 6 0.204 0.037 3189 1916 1940 0 0 0 0 0 0

10356 1.04 194.6 66.1 16.0 263 10357 0.00 0.00 0.00 0.000 6 0.000 0.000 3188 1913 1937 0 0 0 0 0 0

10542 1.04 194.6 39.0 14.6 281 10543 0.00 0.00 0.00 0.000 6 0.000 0.000 3188 1913 1940 0 0 0 0 0 0

10730 1.10 239.1 15.1 11.3 303 10773 0.00 2.58 35.33 0.565 4 0.000 0.053 3185 3513 1772 0 0 0 0 0 0

10813 end climb: SURFACE_DEPTH_REACHED

state 10813 begin surface coast

10829 end surface coast: CONTROL_FINISHED_OK

state 10829 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	15	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	-16223.573	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	060111,084700,3246.182,-11859.252,120,1.0,127,13.3	TGT_NAME	DM4
_CALLS	1	TGT_LATLONG	3251.800,-11907.783
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.307,0.106
_SM_DEPTHo	1.88	KALMAN_X	24018.6,-702.5,-649.6,-43722.4,5173.5
_SM_ANGLEo	-76.5	KALMAN_Y	-12399.2,-269.4,126.7,23602.8,-2050.0
GPS2	060111,085150,3246.161,-11859.264,15,1.0,15,13.3	MHEAD_RNG_PITCHd_Wd	275.7,16874,-19.3,-13.306
SPEED_LIMITS	0.230,0.325	D_GRID	1071

FINISH	0.9,1.013858	PA_USBA	100.0/0/0
SM_CCo	10844,36.85,0.546,0,0,1525,300.00	PA_HOME	9.1/483886/439948
SM_GC	2.18,0.00,0.00,36.85,0.000,0.000,0.546,141,2230,1525,-8.47,-0.57,300.00	PA_ROOT	80.3/126931/24979
IRIDIUM_FIX	3231.39,-11926.91,060111,050517	PA_LOG	7.6/297829/275048
TT8_MAMPS	0.117593	PA_DATA1	0.1/7836665/7825417
HUMID	50.86	PA_DATA0	85.7/7836665/1120518
INTERNAL_PRESSURE	9.5836	_24V_AH	22.8,16.454
TCM_TEMP	19.40	_10V_AH	10.1,11.712
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	317612
PA_BOOTCOUNT	92	DATA_FILE_SIZE	10123,321
PA_DFQS	0/0	CAP_FILE_SIZE	109479,0
PA_CMQS	0/0	CFSIZE	260165632,255664128
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	060111,115606,3246.390,-11901.014,114,1.3,115,13.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	278	142.85	SBE_CT	218	24	119.58
Roll_motor	109	70	175.75	nil	0	0	0.00
VBD_pump_during_apogee	384	1179	10337.98	nil	0	0	0.00
VBD_pump_during_surface	36	546	458.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	59.72	nil	0	0	0.00
Iridium_during_connect	32	160	117.74	PAAM	11357	86	22314.09
Iridium_during_xfer	143	223	729.08	nil	0	0	0.00
Transponder_ping	42	420	409.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.14
TT8	0	0	0.00
LPSleep	8841	2	195.57
TT8_Active	479	19	95.98
TT8_Sampling	1773	39	712.82
TT8_CF8	73	45	34.08
TT8_Kalman	33	81	27.54
Analog_circuits	1290	12	156.38
GPS_charging	0	0	0.00
Compass	873	15	132.29
RAFOS	0	0	0.00
Transponder	273	30	82.96

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	83	0.00	0.00	-65.10	0.000	2	0.000	0.000	137	2266	2963	0	0	0	0	0	0
84	-1.04	-194.6	3.6	-5.2	11	115	11.20	2.28	-12.48	0.000	4	0.278	0.070	2499	3665	3543	0	0	0	0	0	0
166	-1.04	-194.6	28.4	-28.4	24	171	0.00	2.25	0.00	0.000	6	0.000	0.037	2499	2237	3545	0	0	0	0	0	0
363	-1.04	-194.6	76.5	-21.8	43	364	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2237	3546	0	0	0	0	0	0
568	-1.04	-194.6	119.2	-20.4	57	575	0.00	2.33	0.00	0.000	4	0.000	0.060	2488	3674	3547	0	0	0	0	0	0
605	-1.04	-194.6	127.3	-22.0	58	612	0.00	2.20	0.00	0.000	6	0.000	0.036	2488	2239	3547	0	0	0	0	0	0
936	-1.04	-194.6	195.1	-20.4	69	945	0.00	2.30	0.00	0.000	4	0.000	0.059	2477	3669	3548	0	0	0	0	0	0
959	-1.04	-194.6	200.1	-21.0	69	967	0.12	2.17	0.00	0.000	6	0.188	0.037	2507	2236	3548	0	0	0	0	0	0
1268	-1.04	-194.6	259.1	-19.0	79	1274	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2234	3548	0	0	0	0	0	0
1572	-1.04	-194.6	315.5	-18.6	88	1582	0.00	2.30	0.00	0.000	4	0.000	0.058	2498	3665	3550	0	0	0	0	0	0
1602	-1.04	-194.6	321.5	-19.6	88	1610	0.00	2.15	0.00	0.000	6	0.000	0.037	2497	2253	3549	0	0	0	0	0	0
1938	-1.04	-194.6	386.2	-19.1	94	1947	0.00	2.40	0.00	0.000	4	0.000	0.041	2498	664	3549	0	0	0	0	0	0
1961	-1.04	-194.6	390.9	-19.5	94	1972	0.00	2.45	0.00	0.000	6	0.000	0.044	2486	2253	3549	0	0	0	0	0	0
2310	-1.04	-194.6	457.6	-19.1	100	2321	0.00	2.28	0.00	0.000	4	0.000	0.060	2475	3680	3549	0	0	0	0	0	0
2373	-1.04	-194.6	470.2	-20.4	100	2384	0.15	2.17	0.00	0.000	6	0.176	0.037	2512	2245	3549	0	0	0	0	0	0
2681	-1.04	-194.6	521.3	-16.5	106	2687	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2245	3548	0	0	0	0	0	0
2983	-1.04	-194.6	568.7	-15.6	111	2991	0.00	2.30	0.00	0.000	4	0.000	0.060	2503	3680	3548	0	0	0	0	0	0
3022	-1.04	-194.6	575.0	-16.2	111	3030	0.00	2.17	0.00	0.000	6	0.000	0.037	2504	2249	3546	0	0	0	0	0	0
3352	-1.04	-194.6	627.5	-15.9	117	3359	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2248	3548	0	0	0	0	0	0
3654	-1.04	-194.6	675.7	-16.0	122	3663	0.00	2.30	0.00	0.000	4	0.000	0.061	2492	3681	3547	0	0	0	0	0	0
3683	-1.04	-194.6	680.6	-17.3	122	3694	0.00	2.17	0.00	0.000	6	0.000	0.037	2493	2248	3547	0	0	0	0	0	0
4027	-1.04	-194.6	739.8	-17.1	128	4036	0.00	2.40	0.00	0.000	4	0.000	0.043	2492	670	3546	0	0	0	0	0	0
4056	-1.04	-194.6	744.8	-16.7	128	4067	0.08	2.45	0.00	0.000	6	0.161	0.044	2504	2255	3546	0	0	0	0	0	0
4400	-1.04	-194.6	797.8	-15.5	134	4410	0.00	2.28	0.00	0.000	4	0.000	0.061	2494	3675	3543	0	0	0	0	0	0
4456	-1.04	-194.6	806.8	-16.2	134	4464	0.00	2.17	0.00	0.000	6	0.000	0.038	2495	2247	3545	0	0	0	0	0	0
4764	-1.04	-194.6	853.8	-15.2	139	4770	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2245	3545	0	0	0	0	0	0
5066	-1.04	-194.6	901.0	-15.8	144	5075	0.00	2.30	0.00	0.000	4	0.000	0.063	2484	3681	3543	0	0	0	0	0	0
5100	-1.04	-194.6	906.7	-17.3	144	5109	0.00	2.20	0.00	0.000	6	0.000	0.039	2484	2237	3543	0	0	0	0	0	0
5436	-1.04	-194.6	958.9	-15.3	150	5447	0.00	2.33	0.00	0.000	4	0.000	0.063	2473	3675	3543	0	0	0	0	0	0
5456	-1.04	-194.6	962.3	-17.2	150	5465	0.15	2.17	0.00	0.000	6	0.178	0.039	2510	2246	3543	0	0	0	0	0	0
5687	end dive: TARGET_DEPTH_EXCEEDED
state	5687	begin apogee
5690	-0.21	0.0	994.7	13.8	154	5871	0.85	0.00	170.55	1.180	6	0.139	0.000	2776	1911	2748	0	0	0	0	0	0
5872	end apogee: CONTROL_FINISHED_OK
state	5872	begin climb
5873	1.04	194.6	1002.7	0.0	156	6067	1.17	2.75	178.50	1.160	4	0.057	0.047	3198	366	1953	0	0	0	0	0	0
6172	1.04	194.6	957.3	22.1	161	6181	0.00	2.58	0.00	0.000	6	0.000	0.039	3202	1933	1947	0	0	0	0	0	0
6491	1.04	194.6	883.8	23.2	167	6499	0.00	2.55	0.00	0.000	4	0.000	0.054	3199	3507	1944	0	0	0	0	0	0
6535	1.04	194.6	872.9	26.5	167	6543	0.00	2.50	0.00	0.000	6	0.000	0.037	3212	1930	1944	0	0	0	0	0	0
6848	1.04	194.6	798.1	24.0	173	6856	0.00	2.53	0.00	0.000	4	0.000	0.051	3216	332	1943	0	0	0	0	0	0
6886	1.04	194.6	789.1	23.9	173	6894	0.00	2.47	0.00	0.000	6	0.000	0.040	3217	1925	1942	0	0	0	0	0	0
7205	1.04	194.6	714.3	23.7	179	7213	0.00	2.53	0.00	0.000	4	0.000	0.055	3217	3506	1942	0	0	0	0	0	0
7248	1.04	194.6	703.5	24.6	179	7257	0.17	2.45	0.00	0.000	6	0.208	0.038	3189	1919	1941	0	0	0	0	0	0
7562	1.04	194.6	635.1	21.6	185	7571	0.00	2.55	0.00	0.000	4	0.000	0.056	3189	3516	1941	0	0	0	0	0	0
7600	1.04	194.6	626.4	22.6	185	7609	0.00	2.45	0.00	0.000	6	0.000	0.037	3199	1925	1939	0	0	0	0	0	0
7919	1.04	194.6	557.1	21.6	191	7928	0.00	2.50	0.00	0.000	4	0.000	0.056	3199	3506	1941	0	0	0	0	0	0
7958	1.04	194.6	548.3	23.6	191	7966	0.00	2.42	0.00	0.000	6	0.000	0.037	3211	1915	1939	0	0	0	0	0	0
8276	1.04	194.6	477.6	22.0	197	8285	0.00	2.45	0.00	0.000	4	0.000	0.051	3216	350	1941	0	0	0	0	0	0
8304	1.04	194.6	471.2	22.1	197	8313	0.12	2.42	0.00	0.000	6	0.190	0.039	3189	1932	1941	0	0	0	0	0	0
8635	1.04	194.6	404.7	20.0	203	8641	0.00	0.00	0.00	0.000	6	0.000	0.000	3188	1932	1944	0	0	0	0	0	0
8936	1.04	194.6	344.2	20.1	208	8944	0.00	2.50	0.00	0.000	4	0.000	0.056	3189	3510	1941	0	0	0	0	0	0
8969	1.04	194.6	337.0	22.0	208	8977	0.00	2.42	0.00	0.000	6	0.000	0.038	3199	1922	1941	0	0	0	0	0	0
9294	1.04	194.6	268.3	21.0	216	9302	0.00	2.53	0.00	0.000	4	0.000	0.054	3199	3510	1941	0	0	0	0	0	0
9354	1.04	194.6	255.4	21.2	218	9362	0.00	2.42	0.00	0.000	6	0.000	0.037	3211	1927	1940	0	0	0	0	0	0
9685	1.04	194.6	189.6	19.4	229	9691	0.00	0.00	0.00	0.000	6	0.000	0.000	3210	1920	1941	0	0	0	0	0	0
9988	1.04	194.6	130.2	19.5	239	9996	0.00	2.50	0.00	0.000	4	0.000	0.054	3211	3503	1940	0	0	0	0	0	0
10042	1.04	194.6	118.5	21.5	240	10054	0.15	2.42	0.00	0.000	6	0.204	0.037	3189	1916	1940	0	0	0	0	0	0
10356	1.04	194.6	66.1	16.0	263	10357	0.00	0.00	0.00	0.000	6	0.000	0.000	3188	1913	1937	0	0	0	0	0	0
10542	1.04	194.6	39.0	14.6	281	10543	0.00	0.00	0.00	0.000	6	0.000	0.000	3188	1913	1940	0	0	0	0	0	0
10730	1.10	239.1	15.1	11.3	303	10773	0.00	2.58	35.33	0.565	4	0.000	0.053	3185	3513	1772	0	0	0	0	0	0
10813	end climb: SURFACE_DEPTH_REACHED
state	10813	begin surface coast
10829	end surface coast: CONTROL_FINISHED_OK
state	10829	begin surface