Glider dive log

SCORE Jan11 * SG179 * Dive index * Mission links * Dive 18 * 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 18 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 32 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 300 R_STBD_OVSHOOT 29 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 230 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 -16227.358 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 250 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 40 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 40 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 230

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 -16227.358

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 250 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 32 VBD_MAXERRORS 1

DIVE 18 N_DIVES 0 R_STBD_OVSHOOT 29 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 060111,174337,3248.199,-11903.742,93,1.7,101,13.4 TGT_NAME DM4

_CALLS 1 TGT_LATLONG 3251.800,-11907.783

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.215,0.299

_SM_DEPTHo 1.79 KALMAN_X 27382.7,-27.4,-210.2,-55170.3,2916.1

_SM_ANGLEo -76.1 KALMAN_Y -17595.3,877.9,394.6,31162.1,-4084.2

GPS2 060111,174820,3248.200,-11903.721,15,1.8,15,13.4 MHEAD_RNG_PITCHd_Wd 311.0,9186,-18.4,-14.348

SPEED_LIMITS 0.171,0.368 D_GRID 1063

Post-dive calculations and measurements:

FINISH 1.5,1.025217 PA_USBA 100.0/0/0

SM_CCo 9563,32.85,0.555,0,0,1525,300.49 PA_HOME 9.1/483886/439634

SM_GC 2.32,0.00,0.00,32.85,0.000,0.000,0.555,137,2261,1525,-8.48,0.28,300.49 PA_ROOT 80.3/126931/24979

IRIDIUM_FIX 3239.07,-11908.75,060111,141411 PA_LOG 7.9/297829/274449

TT8_MAMPS 0.118342 PA_DATA1 6.1/7836665/7356184

HUMID 51.61 PA_DATA0 97.1/7836665/223597

INTERNAL_PRESSURE 9.5836 _24V_AH 22.8,16.919

TCM_TEMP 19.00 _10V_AH 10.1,12.581

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 317716

PA_BOOTCOUNT 92 DATA_FILE_SIZE 10128,272

PA_DFQS 0/0 CAP_FILE_SIZE 99499,0

PA_CMQS 0/0 CFSIZE 260165632,255516672

PA_USBDRIVE None ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

PA_USBB 100.0/0/0 GPS 060111,203024,3249.432,-11904.742,50,1.9,68,13.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 276 139.47 SBE_CT 184 24 101.17

Roll_motor 86 72 143.95 nil 0 0 0.00

VBD_pump_during_apogee 436 1175 11703.86 nil 0 0 0.00

VBD_pump_during_surface 32 554 415.40 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 59.83 nil 0 0 0.00

Iridium_during_connect 36 160 131.78 PAAM 10029 88 20319.38

Iridium_during_xfer 138 223 706.38 nil 0 0 0.00

Transponder_ping 41 420 395.01 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.12

TT8 0 0 0.00

LPSleep 7630 2 168.77

TT8_Active 496 19 99.35

TT8_Sampling 1684 39 677.04

TT8_CF8 66 45 30.68

TT8_Kalman 33 81 27.54

Analog_circuits 1265 12 153.41

GPS_charging 0 0 0.00

Compass 833 15 126.30

RAFOS 0 0 0.00

Transponder 263 30 79.77

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 -1.06 -243.3 0.0 0.0 0 83 0.00 0.00 -64.88 0.000 2 0.000 0.000 139 2250 2937 0 0 0 0 0 0

84 -1.06 -243.3 3.3 -4.9 11 122 10.98 2.35 -17.25 0.000 4 0.276 0.073 2489 3670 3742 0 0 0 0 0 0

126 -1.06 -243.3 17.1 -30.5 18 136 0.00 2.22 0.00 0.000 6 0.000 0.036 2490 2229 3742 0 0 0 0 0 0

202 -1.06 -243.3 42.6 -32.9 26 207 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2229 3743 0 0 0 0 0 0

388 -1.06 -243.3 94.2 -24.2 44 393 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2229 3744 0 0 0 0 0 0

571 -1.06 -243.3 136.9 -23.0 52 579 0.00 2.35 0.00 0.000 4 0.000 0.060 2478 3677 3745 0 0 0 0 0 0

609 -1.06 -243.3 146.7 -25.1 53 617 0.00 2.17 0.00 0.000 6 0.000 0.037 2478 2256 3745 0 0 0 0 0 0

930 -1.06 -243.3 223.6 -24.4 64 935 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 2255 3745 0 0 0 0 0 0

1234 -1.06 -243.3 293.7 -21.9 74 1242 0.00 2.28 0.00 0.000 4 0.000 0.060 2468 3682 3744 0 0 0 0 0 0

1268 -1.06 -243.3 301.2 -23.2 75 1276 0.15 2.20 0.00 0.000 6 0.182 0.035 2504 2231 3746 0 0 0 0 0 0

1604 -1.06 -243.3 363.1 -18.1 81 1613 0.00 2.33 0.00 0.000 4 0.000 0.059 2495 3675 3746 0 0 0 0 0 0

1638 -1.06 -243.3 369.7 -19.6 81 1647 0.00 2.17 0.00 0.000 6 0.000 0.035 2495 2242 3747 0 0 0 0 0 0

1974 -1.06 -243.3 437.1 -20.4 87 1980 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2241 3746 0 0 0 0 0 0

2276 -1.06 -243.3 496.5 -19.7 92 2284 0.00 2.30 0.00 0.000 4 0.000 0.060 2484 3675 3746 0 0 0 0 0 0

2336 -1.06 -243.3 509.2 -21.7 92 2348 0.00 2.17 0.00 0.000 6 0.000 0.038 2484 2244 3746 0 0 0 0 0 0

2644 -1.06 -243.3 572.9 -20.5 98 2650 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 2244 3746 0 0 0 0 0 0

2947 -1.06 -243.3 631.8 -19.5 103 2956 0.00 2.30 0.00 0.000 4 0.000 0.061 2474 3680 3747 0 0 0 0 0 0

2976 -1.06 -243.3 638.0 -20.6 103 2987 0.12 2.17 0.00 0.000 6 0.181 0.037 2502 2249 3746 0 0 0 0 0 0

3319 -1.06 -243.3 696.5 -16.6 109 3328 0.00 2.33 0.00 0.000 4 0.000 0.063 2494 3680 3746 0 0 0 0 0 0

3342 -1.06 -243.3 700.6 -17.1 109 3351 0.00 2.17 0.00 0.000 6 0.000 0.037 2494 2247 3746 0 0 0 0 0 0

3689 -1.06 -243.3 760.0 -17.1 115 3697 0.00 2.30 0.00 0.000 4 0.000 0.063 2483 3678 3745 0 0 0 0 0 0

3733 -1.06 -243.3 768.0 -18.2 115 3742 0.00 2.17 0.00 0.000 6 0.000 0.038 2483 2251 3742 0 0 0 0 0 0

4059 -1.06 -243.3 824.9 -17.6 121 4064 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2248 3742 0 0 0 0 0 0

4360 -1.06 -243.3 878.2 -17.6 126 4369 0.00 2.30 0.00 0.000 4 0.000 0.063 2472 3677 3743 0 0 0 0 0 0

4426 -1.06 -243.3 890.7 -18.6 127 4435 0.12 2.17 0.00 0.000 6 0.185 0.039 2501 2247 3743 0 0 0 0 0 0

4795 -1.06 -243.3 951.7 -16.2 133 4800 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2247 3742 0 0 0 0 0 0

5095 end dive: TARGET_DEPTH_EXCEEDED

state 5095 begin apogee

5098 -0.21 0.0 999.4 15.7 138 5320 0.88 0.00 212.27 1.176 6 0.138 0.000 2777 1912 2750 0 0 0 0 0 0

5321 end apogee: CONTROL_FINISHED_OK

state 5321 begin climb

5322 1.06 243.3 1010.3 0.0 141 5560 1.20 2.78 224.30 1.157 4 0.054 0.047 3208 360 1757 0 0 0 0 0 0

5676 1.06 243.3 946.3 17870.2 147 5687 0.00 2.58 0.00 0.000 6 0.000 0.039 3208 1920 1751 0 0 0 0 0 0

6024 1.06 243.3 854.5 17870.2 153 6032 0.00 2.60 0.00 0.000 4 0.000 0.055 3208 3516 1750 0 0 0 0 0 0

6115 1.06 243.3 828.0 17870.2 154 6123 0.00 2.53 0.00 0.000 6 0.000 0.038 3220 1918 1749 0 0 0 0 0 0

6445 1.06 243.3 737.0 17870.2 160 6451 0.00 0.00 0.00 0.000 6 0.000 0.000 3220 1915 1748 0 0 0 0 0 0

6746 1.06 243.3 654.8 17870.2 165 6754 0.00 2.58 0.00 0.000 4 0.000 0.055 3220 3522 1748 0 0 0 0 0 0

6784 1.06 243.3 643.9 17870.2 165 6793 0.15 2.47 0.00 0.000 6 0.208 0.039 3199 1928 1748 0 0 0 0 0 0

7104 1.06 243.3 563.3 17870.2 171 7112 0.00 2.55 0.00 0.000 4 0.000 0.055 3199 3517 1748 0 0 0 0 0 0

7206 1.06 243.3 536.0 17870.2 172 7214 0.00 2.50 0.00 0.000 6 0.000 0.039 3211 1906 1748 0 0 0 0 0 0

7525 1.06 243.3 459.2 17870.2 178 7534 0.00 2.58 0.00 0.000 4 0.000 0.056 3209 3516 1747 0 0 0 0 0 0

7655 1.06 243.3 425.2 17870.2 180 7663 0.00 2.47 0.00 0.000 6 0.000 0.038 3221 1910 1747 0 0 0 0 0 0

8011 1.06 243.3 337.7 17870.2 186 8019 0.00 2.55 0.00 0.000 4 0.000 0.056 3218 3523 1747 0 0 0 0 0 0

8065 1.06 243.3 323.9 17870.2 186 8076 0.15 2.45 0.00 0.000 6 0.207 0.038 3199 1928 1747 0 0 0 0 0 0

8374 1.06 243.3 255.9 17870.2 195 8382 0.00 2.50 0.00 0.000 4 0.000 0.055 3199 3516 1747 0 0 0 0 0 0

8428 1.06 243.3 243.1 17870.2 196 8438 0.00 2.45 0.00 0.000 6 0.000 0.038 3209 1922 1747 0 0 0 0 0 0

8737 1.06 243.3 172.8 17870.2 207 8742 0.00 0.00 0.00 0.000 6 0.000 0.000 3209 1919 1747 0 0 0 0 0 0

9040 1.06 243.3 103.8 17870.2 217 9048 0.00 2.53 0.00 0.000 4 0.000 0.054 3209 3515 1747 0 0 0 0 0 0

9079 1.06 243.3 94.9 17870.2 219 9087 0.00 2.45 0.00 0.000 6 0.000 0.037 3224 1921 1747 0 0 0 0 0 0

9270 1.06 243.3 52.7 17870.2 237 9276 0.00 0.00 0.00 0.000 6 0.000 0.000 3221 1917 1746 0 0 0 0 0 0

9457 1.06 243.3 17.2 17870.2 256 9469 0.00 2.45 0.00 0.000 4 0.000 0.049 3233 341 1747 0 0 0 0 0 0

9477 1.06 243.3 13.7 17870.2 259 9488 0.15 2.45 0.00 0.000 6 0.190 0.039 3198 1939 1747 0 0 0 0 0 0

9544 end climb: SURFACE_DEPTH_REACHED

state 9544 begin surface coast

9550 end surface coast: CONTROL_FINISHED_OK

state 9550 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	18	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	32	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	300	R_STBD_OVSHOOT	29	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	230	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	-16227.358	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	250	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	40	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	060111,174337,3248.199,-11903.742,93,1.7,101,13.4	TGT_NAME	DM4
_CALLS	1	TGT_LATLONG	3251.800,-11907.783
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.215,0.299
_SM_DEPTHo	1.79	KALMAN_X	27382.7,-27.4,-210.2,-55170.3,2916.1
_SM_ANGLEo	-76.1	KALMAN_Y	-17595.3,877.9,394.6,31162.1,-4084.2
GPS2	060111,174820,3248.200,-11903.721,15,1.8,15,13.4	MHEAD_RNG_PITCHd_Wd	311.0,9186,-18.4,-14.348
SPEED_LIMITS	0.171,0.368	D_GRID	1063

FINISH	1.5,1.025217	PA_USBA	100.0/0/0
SM_CCo	9563,32.85,0.555,0,0,1525,300.49	PA_HOME	9.1/483886/439634
SM_GC	2.32,0.00,0.00,32.85,0.000,0.000,0.555,137,2261,1525,-8.48,0.28,300.49	PA_ROOT	80.3/126931/24979
IRIDIUM_FIX	3239.07,-11908.75,060111,141411	PA_LOG	7.9/297829/274449
TT8_MAMPS	0.118342	PA_DATA1	6.1/7836665/7356184
HUMID	51.61	PA_DATA0	97.1/7836665/223597
INTERNAL_PRESSURE	9.5836	_24V_AH	22.8,16.919
TCM_TEMP	19.00	_10V_AH	10.1,12.581
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	317716
PA_BOOTCOUNT	92	DATA_FILE_SIZE	10128,272
PA_DFQS	0/0	CAP_FILE_SIZE	99499,0
PA_CMQS	0/0	CFSIZE	260165632,255516672
PA_USBDRIVE	None	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
PA_USBB	100.0/0/0	GPS	060111,203024,3249.432,-11904.742,50,1.9,68,13.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	276	139.47	SBE_CT	184	24	101.17
Roll_motor	86	72	143.95	nil	0	0	0.00
VBD_pump_during_apogee	436	1175	11703.86	nil	0	0	0.00
VBD_pump_during_surface	32	554	415.40	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	59.83	nil	0	0	0.00
Iridium_during_connect	36	160	131.78	PAAM	10029	88	20319.38
Iridium_during_xfer	138	223	706.38	nil	0	0	0.00
Transponder_ping	41	420	395.01	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.12
TT8	0	0	0.00
LPSleep	7630	2	168.77
TT8_Active	496	19	99.35
TT8_Sampling	1684	39	677.04
TT8_CF8	66	45	30.68
TT8_Kalman	33	81	27.54
Analog_circuits	1265	12	153.41
GPS_charging	0	0	0.00
Compass	833	15	126.30
RAFOS	0	0	0.00
Transponder	263	30	79.77

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	-1.06	-243.3	0.0	0.0	0	83	0.00	0.00	-64.88	0.000	2	0.000	0.000	139	2250	2937	0	0	0	0	0	0
84	-1.06	-243.3	3.3	-4.9	11	122	10.98	2.35	-17.25	0.000	4	0.276	0.073	2489	3670	3742	0	0	0	0	0	0
126	-1.06	-243.3	17.1	-30.5	18	136	0.00	2.22	0.00	0.000	6	0.000	0.036	2490	2229	3742	0	0	0	0	0	0
202	-1.06	-243.3	42.6	-32.9	26	207	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2229	3743	0	0	0	0	0	0
388	-1.06	-243.3	94.2	-24.2	44	393	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	2229	3744	0	0	0	0	0	0
571	-1.06	-243.3	136.9	-23.0	52	579	0.00	2.35	0.00	0.000	4	0.000	0.060	2478	3677	3745	0	0	0	0	0	0
609	-1.06	-243.3	146.7	-25.1	53	617	0.00	2.17	0.00	0.000	6	0.000	0.037	2478	2256	3745	0	0	0	0	0	0
930	-1.06	-243.3	223.6	-24.4	64	935	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	2255	3745	0	0	0	0	0	0
1234	-1.06	-243.3	293.7	-21.9	74	1242	0.00	2.28	0.00	0.000	4	0.000	0.060	2468	3682	3744	0	0	0	0	0	0
1268	-1.06	-243.3	301.2	-23.2	75	1276	0.15	2.20	0.00	0.000	6	0.182	0.035	2504	2231	3746	0	0	0	0	0	0
1604	-1.06	-243.3	363.1	-18.1	81	1613	0.00	2.33	0.00	0.000	4	0.000	0.059	2495	3675	3746	0	0	0	0	0	0
1638	-1.06	-243.3	369.7	-19.6	81	1647	0.00	2.17	0.00	0.000	6	0.000	0.035	2495	2242	3747	0	0	0	0	0	0
1974	-1.06	-243.3	437.1	-20.4	87	1980	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2241	3746	0	0	0	0	0	0
2276	-1.06	-243.3	496.5	-19.7	92	2284	0.00	2.30	0.00	0.000	4	0.000	0.060	2484	3675	3746	0	0	0	0	0	0
2336	-1.06	-243.3	509.2	-21.7	92	2348	0.00	2.17	0.00	0.000	6	0.000	0.038	2484	2244	3746	0	0	0	0	0	0
2644	-1.06	-243.3	572.9	-20.5	98	2650	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	2244	3746	0	0	0	0	0	0
2947	-1.06	-243.3	631.8	-19.5	103	2956	0.00	2.30	0.00	0.000	4	0.000	0.061	2474	3680	3747	0	0	0	0	0	0
2976	-1.06	-243.3	638.0	-20.6	103	2987	0.12	2.17	0.00	0.000	6	0.181	0.037	2502	2249	3746	0	0	0	0	0	0
3319	-1.06	-243.3	696.5	-16.6	109	3328	0.00	2.33	0.00	0.000	4	0.000	0.063	2494	3680	3746	0	0	0	0	0	0
3342	-1.06	-243.3	700.6	-17.1	109	3351	0.00	2.17	0.00	0.000	6	0.000	0.037	2494	2247	3746	0	0	0	0	0	0
3689	-1.06	-243.3	760.0	-17.1	115	3697	0.00	2.30	0.00	0.000	4	0.000	0.063	2483	3678	3745	0	0	0	0	0	0
3733	-1.06	-243.3	768.0	-18.2	115	3742	0.00	2.17	0.00	0.000	6	0.000	0.038	2483	2251	3742	0	0	0	0	0	0
4059	-1.06	-243.3	824.9	-17.6	121	4064	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2248	3742	0	0	0	0	0	0
4360	-1.06	-243.3	878.2	-17.6	126	4369	0.00	2.30	0.00	0.000	4	0.000	0.063	2472	3677	3743	0	0	0	0	0	0
4426	-1.06	-243.3	890.7	-18.6	127	4435	0.12	2.17	0.00	0.000	6	0.185	0.039	2501	2247	3743	0	0	0	0	0	0
4795	-1.06	-243.3	951.7	-16.2	133	4800	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2247	3742	0	0	0	0	0	0
5095	end dive: TARGET_DEPTH_EXCEEDED
state	5095	begin apogee
5098	-0.21	0.0	999.4	15.7	138	5320	0.88	0.00	212.27	1.176	6	0.138	0.000	2777	1912	2750	0	0	0	0	0	0
5321	end apogee: CONTROL_FINISHED_OK
state	5321	begin climb
5322	1.06	243.3	1010.3	0.0	141	5560	1.20	2.78	224.30	1.157	4	0.054	0.047	3208	360	1757	0	0	0	0	0	0
5676	1.06	243.3	946.3	17870.2	147	5687	0.00	2.58	0.00	0.000	6	0.000	0.039	3208	1920	1751	0	0	0	0	0	0
6024	1.06	243.3	854.5	17870.2	153	6032	0.00	2.60	0.00	0.000	4	0.000	0.055	3208	3516	1750	0	0	0	0	0	0
6115	1.06	243.3	828.0	17870.2	154	6123	0.00	2.53	0.00	0.000	6	0.000	0.038	3220	1918	1749	0	0	0	0	0	0
6445	1.06	243.3	737.0	17870.2	160	6451	0.00	0.00	0.00	0.000	6	0.000	0.000	3220	1915	1748	0	0	0	0	0	0
6746	1.06	243.3	654.8	17870.2	165	6754	0.00	2.58	0.00	0.000	4	0.000	0.055	3220	3522	1748	0	0	0	0	0	0
6784	1.06	243.3	643.9	17870.2	165	6793	0.15	2.47	0.00	0.000	6	0.208	0.039	3199	1928	1748	0	0	0	0	0	0
7104	1.06	243.3	563.3	17870.2	171	7112	0.00	2.55	0.00	0.000	4	0.000	0.055	3199	3517	1748	0	0	0	0	0	0
7206	1.06	243.3	536.0	17870.2	172	7214	0.00	2.50	0.00	0.000	6	0.000	0.039	3211	1906	1748	0	0	0	0	0	0
7525	1.06	243.3	459.2	17870.2	178	7534	0.00	2.58	0.00	0.000	4	0.000	0.056	3209	3516	1747	0	0	0	0	0	0
7655	1.06	243.3	425.2	17870.2	180	7663	0.00	2.47	0.00	0.000	6	0.000	0.038	3221	1910	1747	0	0	0	0	0	0
8011	1.06	243.3	337.7	17870.2	186	8019	0.00	2.55	0.00	0.000	4	0.000	0.056	3218	3523	1747	0	0	0	0	0	0
8065	1.06	243.3	323.9	17870.2	186	8076	0.15	2.45	0.00	0.000	6	0.207	0.038	3199	1928	1747	0	0	0	0	0	0
8374	1.06	243.3	255.9	17870.2	195	8382	0.00	2.50	0.00	0.000	4	0.000	0.055	3199	3516	1747	0	0	0	0	0	0
8428	1.06	243.3	243.1	17870.2	196	8438	0.00	2.45	0.00	0.000	6	0.000	0.038	3209	1922	1747	0	0	0	0	0	0
8737	1.06	243.3	172.8	17870.2	207	8742	0.00	0.00	0.00	0.000	6	0.000	0.000	3209	1919	1747	0	0	0	0	0	0
9040	1.06	243.3	103.8	17870.2	217	9048	0.00	2.53	0.00	0.000	4	0.000	0.054	3209	3515	1747	0	0	0	0	0	0
9079	1.06	243.3	94.9	17870.2	219	9087	0.00	2.45	0.00	0.000	6	0.000	0.037	3224	1921	1747	0	0	0	0	0	0
9270	1.06	243.3	52.7	17870.2	237	9276	0.00	0.00	0.00	0.000	6	0.000	0.000	3221	1917	1746	0	0	0	0	0	0
9457	1.06	243.3	17.2	17870.2	256	9469	0.00	2.45	0.00	0.000	4	0.000	0.049	3233	341	1747	0	0	0	0	0	0
9477	1.06	243.3	13.7	17870.2	259	9488	0.15	2.45	0.00	0.000	6	0.190	0.039	3198	1939	1747	0	0	0	0	0	0
9544	end climb: SURFACE_DEPTH_REACHED
state	9544	begin surface coast
9550	end surface coast: CONTROL_FINISHED_OK
state	9550	begin surface