Glider dive log

AUTEC Jun10 * SG179 * Dive index * Mission links * Dive 18 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 179 ESCAPE_HEADING 0 C_ROLL_DIVE 2415 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2430 ALTIM_PULSE 5

DIVE 18 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

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 990 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 65 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 350 R_STBD_OVSHOOT 41 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 KERMIT 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 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 200 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 69

T_MISSION 325 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 -11910.768 CF8_MAXERRORS 20 PHONE_DEVICE 48

USE_BATHY 0 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 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 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 250 C_PITCH 3145 PRESSURE_YINT -38.488777 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 36 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012400629

MASS 51749 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 80 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 2.7040428e-06

AH0_10V 100 D_PITCH 0 PA_POWERSOURCE 0.0 SIM_PITCH 0

AH0_24V 150 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 990 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 80 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 5 FG_AHR_10V 0 PITCH_AD_RATE 165 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 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 3923 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 147 T_ABORT 1440

CALL_TRIES 5 HD_B 0.0099999998 PITCH_TIMEOUT 18 T_BOOST 0

CALL_WAIT 60 HD_C 9.9999997e-06 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 200

CAPMAXSIZE 100000 HEADING -1 PRESSURE_SLOPE 0.0001164844 T_GPS 15

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -38.488777 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAPDBG 0 P_OVSHOOT 0.039999999 T_GPS_CHARGE -11910.768

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 ID 179 RAFOS_DEVICE -1 T_MISSION 325

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 0 INT_PRESSURE_YINT -0.69999999 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 5

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_TURN 225

C_PITCH 3145 KERMIT 0 RHO 1.0275 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2430 LOGGERDEVICE1 69 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2415 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 51749 ROLL_MAX 3681 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MAX_BUOY 250 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 ROLL_MIN 165 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE5 -1 MISSION 5 R_PORT_OVSHOOT 65 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 R_STBD_OVSHOOT 41 VBD_MIN 460

DIVE 18 NAV_MODE 1 SEABIRD_C_G -10.032231 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 N_FILEKB 8 SEABIRD_C_H 1.1531334 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 N_GPS 20 SEABIRD_C_I -0.0012400629 VBD_TIMEOUT 720

D_CALL 0 N_NOCOMM 1 SEABIRD_C_J 0.00018751388 XPDR_DEVICE 24

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_G 0.0043333764 XPDR_INHIBIT 90

D_FLARE 3 PA_MAXOPTIONALUPLOADSIZE 20480.0 SEABIRD_T_H 0.0006255582 XPDR_VALID 6

D_NO_BLEED 200 PA_MAXUPLOADSIZE 40960.0 SEABIRD_T_I 2.4443518e-05

Pre-dive calculations and measurements:

GPS1 100610,162926,2441.836,-7730.054,218,3.6,238,-7.2 TGT_NAME H4E10

_CALLS 1 TGT_LATLONG 2441.300,-7727.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.361,-0.082

_SM_DEPTHo 1.58 KALMAN_X 805.5,-221.5,-263.3,9959.1,843.6

_SM_ANGLEo -77.3 KALMAN_Y -8549.2,105.1,43.5,9591.0,-116.1

GPS2 100610,163707,2441.895,-7730.075,41,1.6,41,-7.2 MHEAD_RNG_PITCHd_Wd 110.0,5291,-21.5,-16.500

SPEED_LIMITS 0.286,0.385 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.009219 PA_USBA 100.0/0/0

SM_CCo 11932,22.73,0.442,0,0,1309,350.04 PA_HOME 12.7/482055/420766

SM_GC 1.18,0.00,0.00,22.73,0.000,0.000,0.442,151,2420,1309,-9.36,0.14,350.04 PA_ROOT 80.3/126931/24988

IRIDIUM_FIX 2429.95,-7732.13,041211,050514 PA_LOG 5.5/298663/282305

TT8_MAMPS 0.110103 PA_DATA1 51.1/7837685/3831813

HUMID 1078119345 PA_DATA0 95.3/7836665/370912

INTERNAL_PRESSURE 8.84138 _24V_AH 23.9,9.402

TCM_TEMP 24.80 _10V_AH 10.4,10.294

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 355016

PA_BOOTCOUNT 15 DATA_FILE_SIZE 10151,331

PA_DFQS 0/0 CAP_FILE_SIZE 101642,0

PA_CMQS 0/0 CFSIZE 260165632,255758336

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 100610,195807,2440.954,-7727.340,46,1.2,47,-7.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 285 167.42 SBE_CT 221 24 126.84

Roll_motor 58 62 87.48 nil 0 0 0.00

VBD_pump_during_apogee 471 1116 12572.89 nil 0 0 0.00

VBD_pump_during_surface 22 442 240.15 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 0 0.00 nil 0 0 0.00

Iridium_during_connect 29 0 0.00 PAAM 12712 81 24669.98

Iridium_during_xfer 236 0 0.00 nil 0 0 0.00

Transponder_ping 40 420 401.52 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 42 0 0.00

TT8 0 0 0.00

LPSleep 10070 2 229.37

TT8_Active 551 19 113.65

TT8_Sampling 1705 39 705.79

TT8_CF8 77 45 36.90

TT8_Kalman 33 0 0.00

Analog_circuits 1199 12 149.71

GPS_charging 0 0 0.00

Compass 713 15 111.27

RAFOS 0 0 0.00

Transponder 246 30 76.97

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 -0.87 -223.4 0.0 0.0 0 76 0.00 0.00 -58.30 0.000 2 0.000 0.000 150 2448 2961 0 0 0 0 0 0

77 -0.90 -243.3 3.6 -6.7 10 109 13.00 1.88 -13.95 0.000 4 0.285 0.063 2839 3669 3730 0 0 0 0 0 0

219 -0.90 -243.3 47.1 -24.8 27 224 0.00 1.88 0.00 0.000 6 0.000 0.026 2838 2409 3742 0 0 0 0 0 0

416 -0.90 -243.3 94.8 -23.4 46 421 0.00 2.33 0.00 0.000 4 0.000 0.030 2839 851 3739 0 0 0 0 0 0

431 -0.90 -243.3 98.6 -23.8 47 439 0.00 2.40 0.00 0.000 6 0.000 0.034 2828 2408 3739 0 0 0 0 0 0

630 -0.90 -243.3 147.4 -25.2 55 630 0.00 0.00 0.00 0.000 6 0.000 0.000 2828 2409 3740 0 0 0 0 0 0

934 -0.90 -243.3 219.7 -23.4 65 939 0.00 0.00 0.00 0.000 6 0.000 0.000 2828 2407 3740 0 0 0 0 0 0

1237 -0.90 -243.3 281.8 -19.8 75 1242 0.00 0.00 0.00 0.000 6 0.000 0.000 2828 2407 3740 0 0 0 0 0 0

1539 -0.90 -243.3 338.1 -18.5 82 1547 0.00 1.90 0.00 0.000 4 0.000 0.049 2818 3684 3738 0 0 0 0 0 0

1568 -0.90 -243.3 343.2 -18.9 82 1576 0.15 1.85 0.00 0.000 6 0.180 0.029 2855 2403 3740 0 0 0 0 0 0

1910 -0.90 -243.3 395.7 -15.2 88 1918 0.00 2.25 0.00 0.000 4 0.000 0.031 2856 848 3739 0 0 0 0 0 0

1943 -0.90 -243.3 400.7 -14.7 88 1951 0.00 2.38 0.00 0.000 6 0.000 0.035 2847 2415 3742 0 0 0 0 0 0

2280 -0.90 -243.3 451.4 -15.3 94 2285 0.00 0.00 0.00 0.000 6 0.000 0.000 2847 2415 3738 0 0 0 0 0 0

2581 -0.90 -243.3 496.8 -15.0 99 2586 0.00 0.00 0.00 0.000 6 0.000 0.000 2847 2418 3736 0 0 0 0 0 0

2882 -0.90 -243.3 540.4 -14.4 104 2888 0.00 0.00 0.00 0.000 6 0.000 0.000 2851 2418 3735 0 0 0 0 0 0

3184 -0.90 -243.3 583.2 -14.2 109 3189 0.00 0.00 0.00 0.000 6 0.000 0.000 2846 2415 3734 0 0 0 0 0 0

3486 -0.90 -243.3 624.1 -13.5 114 3495 0.00 1.95 0.00 0.000 4 0.000 0.053 2837 3671 3732 0 0 0 0 0 0

3509 -0.90 -243.3 627.5 -13.6 114 3518 0.00 1.83 0.00 0.000 6 0.000 0.031 2837 2411 3732 0 0 0 0 0 0

3856 -0.90 -243.3 677.1 -14.2 120 3862 0.00 0.00 0.00 0.000 6 0.000 0.000 2837 2412 3730 0 0 0 0 0 0

4157 -0.90 -243.3 718.8 -13.8 125 4163 0.00 0.00 0.00 0.000 6 0.000 0.000 2837 2412 3727 0 0 0 0 0 0

4460 -0.90 -243.3 759.0 -13.2 130 4466 0.00 0.00 0.00 0.000 6 0.000 0.000 2837 2412 3725 0 0 0 0 0 0

4761 -0.90 -243.3 799.2 -13.2 135 4767 0.00 0.00 0.00 0.000 6 0.000 0.000 2837 2413 3723 0 0 0 0 0 0

5063 -0.90 -243.3 837.8 -12.9 140 5068 0.00 0.00 0.00 0.000 6 0.000 0.000 2837 2414 3721 0 0 0 0 0 0

5365 -0.90 -243.3 875.4 -12.5 145 5370 0.00 0.00 0.00 0.000 6 0.000 0.000 2837 2412 3719 0 0 0 0 0 0

5666 -0.90 -243.3 912.0 -12.1 150 5672 0.00 0.00 0.00 0.000 6 0.000 0.000 2837 2413 3716 0 0 0 0 0 0

5968 -0.90 -243.3 948.2 -11.9 155 5977 0.00 1.98 0.00 0.000 4 0.000 0.057 2828 3686 3716 0 0 0 0 0 0

6002 -0.90 -243.3 952.5 -13.0 155 6011 0.00 1.88 0.00 0.000 6 0.000 0.035 2828 2425 3711 0 0 0 0 0 0

6337 end dive: TARGET_DEPTH_EXCEEDED

state 6337 begin apogee

6339 -0.14 0.0 996.0 12.8 161 6548 0.88 0.00 201.55 1.116 6 0.155 0.000 3093 2426 2737 0 0 0 0 0 0

6549 end apogee: CONTROL_FINISHED_OK

state 6549 begin climb

6550 0.90 243.3 1005.6 0.0 164 6772 1.00 2.12 210.98 1.104 4 0.079 0.052 3435 3683 1746 0 0 0 0 0 0

6824 0.90 243.3 977.2 22.4 168 6832 0.00 1.95 0.00 0.000 6 0.000 0.034 3444 2435 1743 0 0 0 0 0 0

7159 0.90 243.3 907.4 20.8 174 7167 0.00 2.42 0.00 0.000 4 0.000 0.040 3456 854 1738 0 0 0 0 0 0

7197 0.90 243.3 899.2 21.0 174 7205 0.00 2.47 0.00 0.000 6 0.000 0.040 3456 2437 1737 0 0 0 0 0 0

7516 0.90 243.3 832.8 20.7 180 7521 0.00 0.00 0.00 0.000 6 0.000 0.000 3456 2440 1735 0 0 0 0 0 0

7818 0.90 243.3 768.9 21.3 185 7824 0.00 0.00 0.00 0.000 6 0.000 0.000 3456 2437 1731 0 0 0 0 0 0

8120 0.90 243.3 706.1 20.8 190 8128 0.00 2.45 0.00 0.000 4 0.000 0.041 3464 844 1733 0 0 0 0 0 0

8152 0.90 243.3 699.2 20.8 190 8161 0.12 2.45 0.00 0.000 6 0.230 0.040 3441 2431 1733 0 0 0 0 0 0

8477 0.90 243.3 636.1 19.5 196 8483 0.00 0.00 0.00 0.000 6 0.000 0.000 3441 2432 1732 0 0 0 0 0 0

8779 0.90 243.3 577.0 19.5 201 8784 0.00 0.00 0.00 0.000 6 0.000 0.000 3441 2431 1731 0 0 0 0 0 0

9081 0.90 243.3 519.3 19.0 206 9087 0.00 0.00 0.00 0.000 6 0.000 0.000 3441 2432 1731 0 0 0 0 0 0

9383 0.90 243.3 461.1 19.4 211 9391 0.00 2.42 0.00 0.000 4 0.000 0.040 3451 841 1728 0 0 0 0 0 0

9431 0.90 243.3 452.0 18.7 211 9440 0.00 2.42 0.00 0.000 6 0.000 0.037 3450 2438 1730 0 0 0 0 0 0

9739 0.90 243.3 390.6 20.2 216 9745 0.00 0.00 0.00 0.000 6 0.000 0.000 3451 2438 1730 0 0 0 0 0 0

10041 0.90 243.3 329.2 20.4 221 10049 0.00 1.90 0.00 0.000 4 0.000 0.052 3451 3681 1729 0 0 0 0 0 0

10084 0.90 243.3 319.8 22.2 221 10092 0.00 1.85 0.00 0.000 6 0.000 0.032 3459 2419 1730 0 0 0 0 0 0

10409 0.90 243.3 253.4 20.2 230 10414 0.00 0.00 0.00 0.000 6 0.000 0.000 3460 2416 1730 0 0 0 0 0 0

10712 0.90 243.3 195.6 18.3 240 10718 0.10 0.00 0.00 0.000 6 0.238 0.000 3441 2416 1730 0 0 0 0 0 0

11016 0.90 243.3 145.0 16.6 250 11020 0.00 1.95 0.00 0.000 4 0.000 0.048 3440 3672 1730 0 0 0 0 0 0

11047 0.90 243.3 139.4 17.9 251 11052 0.00 1.85 0.00 0.000 6 0.000 0.029 3445 2424 1730 0 0 0 0 0 0

11364 0.90 243.3 86.2 17.4 266 11365 0.00 0.00 0.00 0.000 6 0.000 0.000 3448 2422 1730 0 0 0 0 0 0

11550 0.93 272.9 56.4 15.0 284 11577 0.00 1.92 22.80 0.487 4 0.000 0.048 3448 3678 1625 0 0 0 0 0 0

11609 0.93 272.9 46.6 18.0 289 11617 0.00 1.88 0.00 0.000 6 0.000 0.028 3457 2420 1622 0 0 0 0 0 0

11801 0.96 296.0 15.3 15.4 310 11827 0.00 1.95 19.35 0.454 4 0.000 0.045 3457 3675 1529 0 0 0 0 0 0

11884 1.03 355.1 3.3 13.6 325 11904 0.00 1.85 16.65 0.439 2 0.000 0.027 3466 2420 1437 0 0 0 0 0 0

11905 end climb: SURFACE_DEPTH_REACHED

state 11905 begin surface coast

11918 end surface coast: CONTROL_FINISHED_OK

state 11918 begin surface

ID	179	ESCAPE_HEADING	0	C_ROLL_DIVE	2415	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2430	ALTIM_PULSE	5
DIVE	18	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
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	990	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	65	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	350	R_STBD_OVSHOOT	41	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	KERMIT	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	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	200	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	69
T_MISSION	325	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	-11910.768	CF8_MAXERRORS	20	PHONE_DEVICE	48
USE_BATHY	0	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	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	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	250	C_PITCH	3145	PRESSURE_YINT	-38.488777	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	36	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012400629
MASS	51749	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	80	PA_SCALEFACTOR24V	1.3
HEADING	-1	ROLL_DEG	45	ALTIM_PING_DELTA	5

GPS1	100610,162926,2441.836,-7730.054,218,3.6,238,-7.2	TGT_NAME	H4E10
_CALLS	1	TGT_LATLONG	2441.300,-7727.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.361,-0.082
_SM_DEPTHo	1.58	KALMAN_X	805.5,-221.5,-263.3,9959.1,843.6
_SM_ANGLEo	-77.3	KALMAN_Y	-8549.2,105.1,43.5,9591.0,-116.1
GPS2	100610,163707,2441.895,-7730.075,41,1.6,41,-7.2	MHEAD_RNG_PITCHd_Wd	110.0,5291,-21.5,-16.500
SPEED_LIMITS	0.286,0.385	D_GRID	990

FINISH	0.7,1.009219	PA_USBA	100.0/0/0
SM_CCo	11932,22.73,0.442,0,0,1309,350.04	PA_HOME	12.7/482055/420766
SM_GC	1.18,0.00,0.00,22.73,0.000,0.000,0.442,151,2420,1309,-9.36,0.14,350.04	PA_ROOT	80.3/126931/24988
IRIDIUM_FIX	2429.95,-7732.13,041211,050514	PA_LOG	5.5/298663/282305
TT8_MAMPS	0.110103	PA_DATA1	51.1/7837685/3831813
HUMID	1078119345	PA_DATA0	95.3/7836665/370912
INTERNAL_PRESSURE	8.84138	_24V_AH	23.9,9.402
TCM_TEMP	24.80	_10V_AH	10.4,10.294
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	355016
PA_BOOTCOUNT	15	DATA_FILE_SIZE	10151,331
PA_DFQS	0/0	CAP_FILE_SIZE	101642,0
PA_CMQS	0/0	CFSIZE	260165632,255758336
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	100610,195807,2440.954,-7727.340,46,1.2,47,-7.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	285	167.42	SBE_CT	221	24	126.84
Roll_motor	58	62	87.48	nil	0	0	0.00
VBD_pump_during_apogee	471	1116	12572.89	nil	0	0	0.00
VBD_pump_during_surface	22	442	240.15	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	0	0.00	nil	0	0	0.00
Iridium_during_connect	29	0	0.00	PAAM	12712	81	24669.98
Iridium_during_xfer	236	0	0.00	nil	0	0	0.00
Transponder_ping	40	420	401.52	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	42	0	0.00
TT8	0	0	0.00
LPSleep	10070	2	229.37
TT8_Active	551	19	113.65
TT8_Sampling	1705	39	705.79
TT8_CF8	77	45	36.90
TT8_Kalman	33	0	0.00
Analog_circuits	1199	12	149.71
GPS_charging	0	0	0.00
Compass	713	15	111.27
RAFOS	0	0	0.00
Transponder	246	30	76.97

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	-0.87	-223.4	0.0	0.0	0	76	0.00	0.00	-58.30	0.000	2	0.000	0.000	150	2448	2961	0	0	0	0	0	0
77	-0.90	-243.3	3.6	-6.7	10	109	13.00	1.88	-13.95	0.000	4	0.285	0.063	2839	3669	3730	0	0	0	0	0	0
219	-0.90	-243.3	47.1	-24.8	27	224	0.00	1.88	0.00	0.000	6	0.000	0.026	2838	2409	3742	0	0	0	0	0	0
416	-0.90	-243.3	94.8	-23.4	46	421	0.00	2.33	0.00	0.000	4	0.000	0.030	2839	851	3739	0	0	0	0	0	0
431	-0.90	-243.3	98.6	-23.8	47	439	0.00	2.40	0.00	0.000	6	0.000	0.034	2828	2408	3739	0	0	0	0	0	0
630	-0.90	-243.3	147.4	-25.2	55	630	0.00	0.00	0.00	0.000	6	0.000	0.000	2828	2409	3740	0	0	0	0	0	0
934	-0.90	-243.3	219.7	-23.4	65	939	0.00	0.00	0.00	0.000	6	0.000	0.000	2828	2407	3740	0	0	0	0	0	0
1237	-0.90	-243.3	281.8	-19.8	75	1242	0.00	0.00	0.00	0.000	6	0.000	0.000	2828	2407	3740	0	0	0	0	0	0
1539	-0.90	-243.3	338.1	-18.5	82	1547	0.00	1.90	0.00	0.000	4	0.000	0.049	2818	3684	3738	0	0	0	0	0	0
1568	-0.90	-243.3	343.2	-18.9	82	1576	0.15	1.85	0.00	0.000	6	0.180	0.029	2855	2403	3740	0	0	0	0	0	0
1910	-0.90	-243.3	395.7	-15.2	88	1918	0.00	2.25	0.00	0.000	4	0.000	0.031	2856	848	3739	0	0	0	0	0	0
1943	-0.90	-243.3	400.7	-14.7	88	1951	0.00	2.38	0.00	0.000	6	0.000	0.035	2847	2415	3742	0	0	0	0	0	0
2280	-0.90	-243.3	451.4	-15.3	94	2285	0.00	0.00	0.00	0.000	6	0.000	0.000	2847	2415	3738	0	0	0	0	0	0
2581	-0.90	-243.3	496.8	-15.0	99	2586	0.00	0.00	0.00	0.000	6	0.000	0.000	2847	2418	3736	0	0	0	0	0	0
2882	-0.90	-243.3	540.4	-14.4	104	2888	0.00	0.00	0.00	0.000	6	0.000	0.000	2851	2418	3735	0	0	0	0	0	0
3184	-0.90	-243.3	583.2	-14.2	109	3189	0.00	0.00	0.00	0.000	6	0.000	0.000	2846	2415	3734	0	0	0	0	0	0
3486	-0.90	-243.3	624.1	-13.5	114	3495	0.00	1.95	0.00	0.000	4	0.000	0.053	2837	3671	3732	0	0	0	0	0	0
3509	-0.90	-243.3	627.5	-13.6	114	3518	0.00	1.83	0.00	0.000	6	0.000	0.031	2837	2411	3732	0	0	0	0	0	0
3856	-0.90	-243.3	677.1	-14.2	120	3862	0.00	0.00	0.00	0.000	6	0.000	0.000	2837	2412	3730	0	0	0	0	0	0
4157	-0.90	-243.3	718.8	-13.8	125	4163	0.00	0.00	0.00	0.000	6	0.000	0.000	2837	2412	3727	0	0	0	0	0	0
4460	-0.90	-243.3	759.0	-13.2	130	4466	0.00	0.00	0.00	0.000	6	0.000	0.000	2837	2412	3725	0	0	0	0	0	0
4761	-0.90	-243.3	799.2	-13.2	135	4767	0.00	0.00	0.00	0.000	6	0.000	0.000	2837	2413	3723	0	0	0	0	0	0
5063	-0.90	-243.3	837.8	-12.9	140	5068	0.00	0.00	0.00	0.000	6	0.000	0.000	2837	2414	3721	0	0	0	0	0	0
5365	-0.90	-243.3	875.4	-12.5	145	5370	0.00	0.00	0.00	0.000	6	0.000	0.000	2837	2412	3719	0	0	0	0	0	0
5666	-0.90	-243.3	912.0	-12.1	150	5672	0.00	0.00	0.00	0.000	6	0.000	0.000	2837	2413	3716	0	0	0	0	0	0
5968	-0.90	-243.3	948.2	-11.9	155	5977	0.00	1.98	0.00	0.000	4	0.000	0.057	2828	3686	3716	0	0	0	0	0	0
6002	-0.90	-243.3	952.5	-13.0	155	6011	0.00	1.88	0.00	0.000	6	0.000	0.035	2828	2425	3711	0	0	0	0	0	0
6337	end dive: TARGET_DEPTH_EXCEEDED
state	6337	begin apogee
6339	-0.14	0.0	996.0	12.8	161	6548	0.88	0.00	201.55	1.116	6	0.155	0.000	3093	2426	2737	0	0	0	0	0	0
6549	end apogee: CONTROL_FINISHED_OK
state	6549	begin climb
6550	0.90	243.3	1005.6	0.0	164	6772	1.00	2.12	210.98	1.104	4	0.079	0.052	3435	3683	1746	0	0	0	0	0	0
6824	0.90	243.3	977.2	22.4	168	6832	0.00	1.95	0.00	0.000	6	0.000	0.034	3444	2435	1743	0	0	0	0	0	0
7159	0.90	243.3	907.4	20.8	174	7167	0.00	2.42	0.00	0.000	4	0.000	0.040	3456	854	1738	0	0	0	0	0	0
7197	0.90	243.3	899.2	21.0	174	7205	0.00	2.47	0.00	0.000	6	0.000	0.040	3456	2437	1737	0	0	0	0	0	0
7516	0.90	243.3	832.8	20.7	180	7521	0.00	0.00	0.00	0.000	6	0.000	0.000	3456	2440	1735	0	0	0	0	0	0
7818	0.90	243.3	768.9	21.3	185	7824	0.00	0.00	0.00	0.000	6	0.000	0.000	3456	2437	1731	0	0	0	0	0	0
8120	0.90	243.3	706.1	20.8	190	8128	0.00	2.45	0.00	0.000	4	0.000	0.041	3464	844	1733	0	0	0	0	0	0
8152	0.90	243.3	699.2	20.8	190	8161	0.12	2.45	0.00	0.000	6	0.230	0.040	3441	2431	1733	0	0	0	0	0	0
8477	0.90	243.3	636.1	19.5	196	8483	0.00	0.00	0.00	0.000	6	0.000	0.000	3441	2432	1732	0	0	0	0	0	0
8779	0.90	243.3	577.0	19.5	201	8784	0.00	0.00	0.00	0.000	6	0.000	0.000	3441	2431	1731	0	0	0	0	0	0
9081	0.90	243.3	519.3	19.0	206	9087	0.00	0.00	0.00	0.000	6	0.000	0.000	3441	2432	1731	0	0	0	0	0	0
9383	0.90	243.3	461.1	19.4	211	9391	0.00	2.42	0.00	0.000	4	0.000	0.040	3451	841	1728	0	0	0	0	0	0
9431	0.90	243.3	452.0	18.7	211	9440	0.00	2.42	0.00	0.000	6	0.000	0.037	3450	2438	1730	0	0	0	0	0	0
9739	0.90	243.3	390.6	20.2	216	9745	0.00	0.00	0.00	0.000	6	0.000	0.000	3451	2438	1730	0	0	0	0	0	0
10041	0.90	243.3	329.2	20.4	221	10049	0.00	1.90	0.00	0.000	4	0.000	0.052	3451	3681	1729	0	0	0	0	0	0
10084	0.90	243.3	319.8	22.2	221	10092	0.00	1.85	0.00	0.000	6	0.000	0.032	3459	2419	1730	0	0	0	0	0	0
10409	0.90	243.3	253.4	20.2	230	10414	0.00	0.00	0.00	0.000	6	0.000	0.000	3460	2416	1730	0	0	0	0	0	0
10712	0.90	243.3	195.6	18.3	240	10718	0.10	0.00	0.00	0.000	6	0.238	0.000	3441	2416	1730	0	0	0	0	0	0
11016	0.90	243.3	145.0	16.6	250	11020	0.00	1.95	0.00	0.000	4	0.000	0.048	3440	3672	1730	0	0	0	0	0	0
11047	0.90	243.3	139.4	17.9	251	11052	0.00	1.85	0.00	0.000	6	0.000	0.029	3445	2424	1730	0	0	0	0	0	0
11364	0.90	243.3	86.2	17.4	266	11365	0.00	0.00	0.00	0.000	6	0.000	0.000	3448	2422	1730	0	0	0	0	0	0
11550	0.93	272.9	56.4	15.0	284	11577	0.00	1.92	22.80	0.487	4	0.000	0.048	3448	3678	1625	0	0	0	0	0	0
11609	0.93	272.9	46.6	18.0	289	11617	0.00	1.88	0.00	0.000	6	0.000	0.028	3457	2420	1622	0	0	0	0	0	0
11801	0.96	296.0	15.3	15.4	310	11827	0.00	1.95	19.35	0.454	4	0.000	0.045	3457	3675	1529	0	0	0	0	0	0
11884	1.03	355.1	3.3	13.6	325	11904	0.00	1.85	16.65	0.439	2	0.000	0.027	3466	2420	1437	0	0	0	0	0	0
11905	end climb: SURFACE_DEPTH_REACHED
state	11905	begin surface coast
11918	end surface coast: CONTROL_FINISHED_OK
state	11918	begin surface