Glider dive log

SCORE Jan11 * SG178 * Dive index * Mission links * Dive 19 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 HEADING -1 ROLL_DEG 45 ALTIM_PING_DELTA 10

MISSION 10 ESCAPE_HEADING 0 C_ROLL_DIVE 2550 ALTIM_FREQUENCY 13

DIVE 19 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2200 ALTIM_PULSE 8

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 1

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 41 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 300 R_STBD_OVSHOOT 28 INT_PRESSURE_YINT 0

D_NO_BLEED 200 N_FILEKB 8 ROLL_AD_RATE 350 DEEPGLIDER 0

D_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 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 425 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 -9775.0645 CF8_MAXERRORS 20 PHONE_DEVICE 48

USE_BATHY 1 T_RSLEEP 5 AH0_24V 91.800003 GPS_DEVICE 32

USE_ICE 0 STROBE 0 AH0_10V 61.200001 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 165 FG_AHR_24V 0 SEABIRD_T_G 0.0043278597

APOGEE_PITCH -5 PITCH_MAX 3954 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062587409

MAX_BUOY 250 C_PITCH 3115 PRESSURE_YINT -44.583923 SEABIRD_T_I 2.4307059e-05

COURSE_BIAS 0 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001161899 SEABIRD_T_J 2.6760367e-06

GLIDE_SLOPE 40 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_C_G -9.9460888

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1279132

RHO 1.0275 PITCH_GAIN 25 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015660153

MASS 51840 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_J 0.00020359491

NAV_MODE 1 PITCH_AD_RATE 145 ALTIM_BOTTOM_PING_RANGE 0 PA_OFFLOAD 1.0

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 PA_MAXUPLOADSIZE 20480.0

KALMAN_USE 2 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 226 ALTIM_TOP_MIN_OBSTACLE 1 PA_RESTARTMONITOR 0.0

HD_C 9.9999997e-06 ROLL_MAX 3782 ALTIM_PING_DEPTH 130 PA_SCALEFACTOR24V 1.3

AD7714Ch0Gain 128 D_OFFGRID 501 PA_OFFLOAD 1.0 SEABIRD_T_I 2.4307059e-05

AH0_10V 61.200001 D_PITCH 0 PA_POWERSOURCE 0.0 SEABIRD_T_J 2.6760367e-06

AH0_24V 91.800003 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 10 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 145 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 1 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 25 TCM_ROLL_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 40 PITCH_MAX 3954 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 165 TGT_DEFAULT_LON -118.7761

CALL_TRIES 5 HD_B 0.0099999998 PITCH_TIMEOUT 17 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 0.0001161899 T_DIVE 230

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -44.583923 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 -9775.0645

COMPASS2_DEVICE -1 ID 178 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 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 5

C_PITCH 3115 LOGGERDEVICE1 69 RELAUNCH 1 T_TURN 225

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 RHO 1.0275 T_TURN_SAMPINT 5

C_ROLL_DIVE 2550 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 51840 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 3782 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_24V 19 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEVICE4 -1 MISSION 10 ROLL_MIN 226 VBD_DBAND 2

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE6 -1 NAV_MODE 1 R_PORT_OVSHOOT 41 VBD_MAXERRORS 1

DIVE 19 N_DIVES 0 R_STBD_OVSHOOT 28 VBD_MIN 425

D_ABORT 1090 N_FILEKB 8 SEABIRD_C_G -9.9460888 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 0 N_GPS 20 SEABIRD_C_H 1.1279132 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_NOCOMM 1 SEABIRD_C_I -0.0015660153 VBD_TIMEOUT 720

D_FINISH 0 N_NOSURFACE 0 SEABIRD_C_J 0.00020359491 XPDR_DEVICE 24

D_FLARE 3 PA_MAXOPTIONALUPLOADSIZE 20480.0 SEABIRD_T_G 0.0043278597 XPDR_INHIBIT 90

D_NO_BLEED 200 PA_MAXUPLOADSIZE 20480.0 SEABIRD_T_H 0.00062587409 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 060111,214107,3250.381,-11905.239,39,0.9,39,13.4 TGT_NAME DM4

_CALLS 1 TGT_LATLONG 3251.800,-11907.783

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.225,0.234

_SM_DEPTHo 1.65 KALMAN_X 27786.1,-970.9,-283.4,-56403.4,4895.0

_SM_ANGLEo -77.4 KALMAN_Y -3083.2,520.9,-127.8,15626.3,-304.9

GPS2 060111,214644,3250.401,-11905.168,13,1.1,13,13.4 MHEAD_RNG_PITCHd_Wd 289.1,4823,-19.5,-14.348

SPEED_LIMITS 0.171,0.368 D_GRID 1216

Post-dive calculations and measurements:

FINISH 0.8,1.025116 PA_USBA 100.0/0/0

SM_CCo 8794,31.27,0.614,0,0,1524,300.00 PA_HOME 13.3/482055/418135

SM_GC 1.98,0.00,0.00,31.27,0.000,0.000,0.614,163,2556,1524,-9.23,0.20,300.00 PA_ROOT 80.3/126931/24979

IRIDIUM_FIX 3236.51,-11905.27,060111,191934 PA_LOG 8.1/298663/274527

TT8_MAMPS 0.115346 PA_DATA1 17.2/7837685/6490655

HUMID 45.74 PA_DATA0 97.8/7836665/172576

INTERNAL_PRESSURE 8.90659 _24V_AH 22.9,20.176

TCM_TEMP 18.30 _10V_AH 10.0,15.243

XPDR_PINGS 45 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 317732

PA_BOOTCOUNT 88 DATA_FILE_SIZE 6830,254

PA_DFQS 0/0 CAP_FILE_SIZE 92571,0

PA_CMQS 0/0 CFSIZE 260165632,252993536

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 070111,001500,3251.197,-11906.040,37,1.0,43,13.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 268 146.81 SBE_CT 172 24 94.93

Roll_motor 102 70 164.76 nil 0 0 0.00

VBD_pump_during_apogee 433 1245 12358.48 nil 0 0 0.00

VBD_pump_during_surface 31 614 439.96 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 65.09 nil 0 0 0.00

Iridium_during_connect 29 160 108.26 PAAM 9227 87 18589.38

Iridium_during_xfer 176 223 902.19 nil 0 0 0.00

Transponder_ping 32 420 314.99 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.42

TT8 0 0 0.00

LPSleep 6937 2 151.94

TT8_Active 497 19 98.53

TT8_Sampling 1659 39 660.35

TT8_CF8 68 45 31.24

TT8_Kalman 0 0 0.00

Analog_circuits 1252 12 150.28

GPS_charging 0 0 0.00

Compass 810 15 121.64

RAFOS 0 0 0.00

Transponder 138 30 41.45

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 -1.05 -216.9 0.0 0.0 0 83 0.00 0.00 -64.88 0.000 2 0.000 0.000 162 2555 3021 0 0 0 0 0 0

84 -1.08 -243.3 3.1 -3.9 11 117 11.90 2.55 -14.52 0.000 4 0.269 0.059 2768 975 3744 0 0 0 0 0 0

249 -1.08 -243.3 50.6 -26.1 30 260 0.00 2.58 0.00 0.000 6 0.000 0.053 2759 2552 3746 0 0 0 0 0 0

461 -1.08 -243.3 111.0 -28.6 49 469 0.00 2.03 0.00 0.000 4 0.000 0.063 2749 3783 3747 0 0 0 0 0 0

488 -1.08 -243.3 119.4 -31.3 49 499 0.00 1.92 0.00 0.000 6 0.000 0.039 2749 2544 3747 0 0 0 0 0 0

798 -1.08 -243.3 207.3 -27.8 60 807 0.00 2.45 0.00 0.000 4 0.000 0.045 2749 978 3751 0 0 0 0 0 0

821 -1.08 -243.3 213.9 -27.5 60 832 0.12 2.55 0.00 0.000 6 0.197 0.053 2765 2553 3748 0 0 0 0 0 0

1132 -1.08 -243.3 290.2 -24.9 71 1139 0.00 2.00 0.00 0.000 4 0.000 0.064 2758 3777 3748 0 0 0 0 0 0

1174 -1.08 -243.3 302.4 -26.7 72 1184 0.00 1.90 0.00 0.000 6 0.000 0.038 2757 2545 3749 0 0 0 0 0 0

1501 -1.08 -243.3 386.5 -25.9 78 1506 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2542 3748 0 0 0 0 0 0

1803 -1.08 -243.3 457.0 -23.1 83 1808 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2542 3749 0 0 0 0 0 0

2104 -1.08 -243.3 521.7 -21.3 88 2115 0.00 2.42 0.00 0.000 4 0.000 0.045 2757 977 3746 0 0 0 0 0 0

2129 -1.08 -243.3 527.1 -20.9 88 2138 0.00 2.53 0.00 0.000 6 0.000 0.053 2746 2550 3749 0 0 0 0 0 0

2476 -1.08 -243.3 603.7 -22.2 94 2485 0.00 2.00 0.00 0.000 4 0.000 0.067 2736 3784 3749 0 0 0 0 0 0

2542 -1.08 -243.3 618.8 -22.0 95 2552 0.08 1.92 0.00 0.000 6 0.184 0.041 2764 2550 3748 0 0 0 0 0 0

2911 -1.08 -243.3 692.8 -19.9 101 2922 0.00 2.45 0.00 0.000 4 0.000 0.047 2769 965 3751 0 0 0 0 0 0

2936 -1.08 -243.3 697.8 -19.7 101 2944 0.00 2.58 0.00 0.000 6 0.000 0.054 2753 2555 3748 0 0 0 0 0 0

3276 -1.08 -243.3 765.3 -20.1 107 3287 0.00 2.00 0.00 0.000 4 0.000 0.069 2745 3777 3747 0 0 0 0 0 0

3312 -1.08 -243.3 772.5 -20.6 107 3319 0.00 1.88 0.00 0.000 6 0.000 0.042 2745 2548 3747 0 0 0 0 0 0

3646 -1.08 -243.3 842.0 -21.0 113 3655 0.00 2.45 0.00 0.000 4 0.000 0.047 2745 978 3747 0 0 0 0 0 0

3675 -1.08 -243.3 847.6 -20.1 113 3684 0.15 2.58 0.00 0.000 6 0.186 0.057 2768 2564 3746 0 0 0 0 0 0

4012 -1.08 -243.3 906.5 -17.6 119 4019 0.00 2.00 0.00 0.000 4 0.000 0.070 2761 3779 3746 0 0 0 0 0 0

4033 -1.08 -243.3 910.7 -18.2 119 4041 0.00 1.92 0.00 0.000 6 0.000 0.044 2761 2542 3746 0 0 0 0 0 0

4379 -1.08 -243.3 973.7 -18.2 125 4385 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2539 3743 0 0 0 0 0 0

4499 end dive: TARGET_DEPTH_EXCEEDED

state 4499 begin apogee

4502 -0.20 0.0 996.0 18.4 127 4723 0.95 0.00 209.98 1.245 6 0.163 0.000 3040 2201 2746 0 0 0 0 0 0

4724 end apogee: CONTROL_FINISHED_OK

state 4724 begin climb

4725 1.08 243.3 1006.9 0.0 130 4963 1.20 2.85 223.35 1.220 4 0.057 0.053 3474 629 1754 0 0 0 0 0 0

5084 1.08 243.3 940.6 15313.1 136 5093 0.00 2.67 0.00 0.000 6 0.000 0.050 3474 2199 1748 0 0 0 0 0 0

5425 1.08 243.3 848.1 15313.1 142 5433 0.00 2.60 0.00 0.000 4 0.000 0.054 3486 621 1747 0 0 0 0 0 0

5452 1.08 243.3 840.9 15313.1 142 5460 0.00 2.62 0.00 0.000 6 0.000 0.051 3486 2210 1744 0 0 0 0 0 0

5782 1.08 243.3 747.2 15313.1 148 5790 0.00 2.58 0.00 0.000 4 0.000 0.054 3499 626 1744 0 0 0 0 0 0

5842 1.08 243.3 730.2 15313.1 149 5851 0.15 2.58 0.00 0.000 6 0.214 0.051 3466 2208 1743 0 0 0 0 0 0

6204 1.08 243.3 635.4 15313.1 155 6213 0.00 2.58 0.00 0.000 4 0.000 0.054 3476 620 1742 0 0 0 0 0 0

6221 1.08 243.3 630.8 15313.1 155 6229 0.00 2.55 0.00 0.000 6 0.000 0.050 3476 2207 1742 0 0 0 0 0 0

6562 1.08 243.3 539.7 15313.1 161 6570 0.00 2.58 0.00 0.000 4 0.000 0.054 3488 617 1742 0 0 0 0 0 0

6579 1.08 243.3 535.1 15313.1 161 6586 0.00 2.55 0.00 0.000 6 0.000 0.050 3489 2210 1742 0 0 0 0 0 0

6918 1.08 243.3 444.6 15313.1 167 6926 0.00 2.53 0.00 0.000 4 0.000 0.054 3500 625 1742 0 0 0 0 0 0

6962 1.08 243.3 433.3 15313.1 167 6970 0.15 2.53 0.00 0.000 6 0.210 0.050 3467 2207 1742 0 0 0 0 0 0

7275 1.08 243.3 356.2 15313.1 173 7284 0.00 2.55 0.00 0.000 4 0.000 0.053 3476 617 1742 0 0 0 0 0 0

7319 1.08 243.3 345.5 15313.1 173 7327 0.00 2.53 0.00 0.000 6 0.000 0.049 3477 2208 1742 0 0 0 0 0 0

7633 1.08 243.3 267.7 15313.1 181 7641 0.00 2.55 0.00 0.000 4 0.000 0.052 3488 618 1742 0 0 0 0 0 0

7661 1.08 243.3 260.8 15313.1 182 7669 0.00 2.53 0.00 0.000 6 0.000 0.050 3486 2207 1740 0 0 0 0 0 0

7992 1.08 243.3 175.9 15313.1 193 8001 0.00 2.53 0.00 0.000 4 0.000 0.051 3500 624 1739 0 0 0 0 0 0

8025 1.08 243.3 167.4 15313.1 194 8034 0.15 2.53 0.00 0.000 6 0.207 0.048 3466 2205 1740 0 0 0 0 0 0

8342 1.08 243.3 94.9 15313.1 206 8350 0.00 2.53 0.00 0.000 4 0.000 0.050 3477 619 1741 0 0 0 0 0 0

8374 1.08 243.3 87.4 15313.1 208 8386 0.00 2.53 0.00 0.000 6 0.000 0.048 3476 2199 1742 0 0 0 0 0 0

8567 1.08 243.3 45.1 15313.1 227 8575 0.00 2.50 0.00 0.000 4 0.000 0.051 3489 624 1741 0 0 0 0 0 0

8703 1.08 243.3 16.8 15313.1 240 8713 0.00 2.53 0.00 0.000 6 0.000 0.049 3488 2207 1741 0 0 0 0 0 0

8775 end climb: SURFACE_DEPTH_REACHED

state 8775 begin surface coast

8780 end surface coast: CONTROL_FINISHED_OK

state 8780 begin surface

ID	178	HEADING	-1	ROLL_DEG	45	ALTIM_PING_DELTA	10
MISSION	10	ESCAPE_HEADING	0	C_ROLL_DIVE	2550	ALTIM_FREQUENCY	13
DIVE	19	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2200	ALTIM_PULSE	8
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	1
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	41	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	300	R_STBD_OVSHOOT	28	INT_PRESSURE_YINT	0
D_NO_BLEED	200	N_FILEKB	8	ROLL_AD_RATE	350	DEEPGLIDER	0
D_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	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	425	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	-9775.0645	CF8_MAXERRORS	20	PHONE_DEVICE	48
USE_BATHY	1	T_RSLEEP	5	AH0_24V	91.800003	GPS_DEVICE	32
USE_ICE	0	STROBE	0	AH0_10V	61.200001	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	165	FG_AHR_24V	0	SEABIRD_T_G	0.0043278597
APOGEE_PITCH	-5	PITCH_MAX	3954	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062587409
MAX_BUOY	250	C_PITCH	3115	PRESSURE_YINT	-44.583923	SEABIRD_T_I	2.4307059e-05
COURSE_BIAS	0	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001161899	SEABIRD_T_J	2.6760367e-06
GLIDE_SLOPE	40	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9460888
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1279132
RHO	1.0275	PITCH_GAIN	25	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015660153
MASS	51840	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_J	0.00020359491
NAV_MODE	1	PITCH_AD_RATE	145	ALTIM_BOTTOM_PING_RANGE	0	PA_OFFLOAD	1.0
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	PA_MAXUPLOADSIZE	20480.0
KALMAN_USE	2	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	226	ALTIM_TOP_MIN_OBSTACLE	1	PA_RESTARTMONITOR	0.0
HD_C	9.9999997e-06	ROLL_MAX	3782	ALTIM_PING_DEPTH	130	PA_SCALEFACTOR24V	1.3

GPS1	060111,214107,3250.381,-11905.239,39,0.9,39,13.4	TGT_NAME	DM4
_CALLS	1	TGT_LATLONG	3251.800,-11907.783
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.225,0.234
_SM_DEPTHo	1.65	KALMAN_X	27786.1,-970.9,-283.4,-56403.4,4895.0
_SM_ANGLEo	-77.4	KALMAN_Y	-3083.2,520.9,-127.8,15626.3,-304.9
GPS2	060111,214644,3250.401,-11905.168,13,1.1,13,13.4	MHEAD_RNG_PITCHd_Wd	289.1,4823,-19.5,-14.348
SPEED_LIMITS	0.171,0.368	D_GRID	1216

FINISH	0.8,1.025116	PA_USBA	100.0/0/0
SM_CCo	8794,31.27,0.614,0,0,1524,300.00	PA_HOME	13.3/482055/418135
SM_GC	1.98,0.00,0.00,31.27,0.000,0.000,0.614,163,2556,1524,-9.23,0.20,300.00	PA_ROOT	80.3/126931/24979
IRIDIUM_FIX	3236.51,-11905.27,060111,191934	PA_LOG	8.1/298663/274527
TT8_MAMPS	0.115346	PA_DATA1	17.2/7837685/6490655
HUMID	45.74	PA_DATA0	97.8/7836665/172576
INTERNAL_PRESSURE	8.90659	_24V_AH	22.9,20.176
TCM_TEMP	18.30	_10V_AH	10.0,15.243
XPDR_PINGS	45	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	317732
PA_BOOTCOUNT	88	DATA_FILE_SIZE	6830,254
PA_DFQS	0/0	CAP_FILE_SIZE	92571,0
PA_CMQS	0/0	CFSIZE	260165632,252993536
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	070111,001500,3251.197,-11906.040,37,1.0,43,13.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	268	146.81	SBE_CT	172	24	94.93
Roll_motor	102	70	164.76	nil	0	0	0.00
VBD_pump_during_apogee	433	1245	12358.48	nil	0	0	0.00
VBD_pump_during_surface	31	614	439.96	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	65.09	nil	0	0	0.00
Iridium_during_connect	29	160	108.26	PAAM	9227	87	18589.38
Iridium_during_xfer	176	223	902.19	nil	0	0	0.00
Transponder_ping	32	420	314.99	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.42
TT8	0	0	0.00
LPSleep	6937	2	151.94
TT8_Active	497	19	98.53
TT8_Sampling	1659	39	660.35
TT8_CF8	68	45	31.24
TT8_Kalman	0	0	0.00
Analog_circuits	1252	12	150.28
GPS_charging	0	0	0.00
Compass	810	15	121.64
RAFOS	0	0	0.00
Transponder	138	30	41.45

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	-1.05	-216.9	0.0	0.0	0	83	0.00	0.00	-64.88	0.000	2	0.000	0.000	162	2555	3021	0	0	0	0	0	0
84	-1.08	-243.3	3.1	-3.9	11	117	11.90	2.55	-14.52	0.000	4	0.269	0.059	2768	975	3744	0	0	0	0	0	0
249	-1.08	-243.3	50.6	-26.1	30	260	0.00	2.58	0.00	0.000	6	0.000	0.053	2759	2552	3746	0	0	0	0	0	0
461	-1.08	-243.3	111.0	-28.6	49	469	0.00	2.03	0.00	0.000	4	0.000	0.063	2749	3783	3747	0	0	0	0	0	0
488	-1.08	-243.3	119.4	-31.3	49	499	0.00	1.92	0.00	0.000	6	0.000	0.039	2749	2544	3747	0	0	0	0	0	0
798	-1.08	-243.3	207.3	-27.8	60	807	0.00	2.45	0.00	0.000	4	0.000	0.045	2749	978	3751	0	0	0	0	0	0
821	-1.08	-243.3	213.9	-27.5	60	832	0.12	2.55	0.00	0.000	6	0.197	0.053	2765	2553	3748	0	0	0	0	0	0
1132	-1.08	-243.3	290.2	-24.9	71	1139	0.00	2.00	0.00	0.000	4	0.000	0.064	2758	3777	3748	0	0	0	0	0	0
1174	-1.08	-243.3	302.4	-26.7	72	1184	0.00	1.90	0.00	0.000	6	0.000	0.038	2757	2545	3749	0	0	0	0	0	0
1501	-1.08	-243.3	386.5	-25.9	78	1506	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2542	3748	0	0	0	0	0	0
1803	-1.08	-243.3	457.0	-23.1	83	1808	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2542	3749	0	0	0	0	0	0
2104	-1.08	-243.3	521.7	-21.3	88	2115	0.00	2.42	0.00	0.000	4	0.000	0.045	2757	977	3746	0	0	0	0	0	0
2129	-1.08	-243.3	527.1	-20.9	88	2138	0.00	2.53	0.00	0.000	6	0.000	0.053	2746	2550	3749	0	0	0	0	0	0
2476	-1.08	-243.3	603.7	-22.2	94	2485	0.00	2.00	0.00	0.000	4	0.000	0.067	2736	3784	3749	0	0	0	0	0	0
2542	-1.08	-243.3	618.8	-22.0	95	2552	0.08	1.92	0.00	0.000	6	0.184	0.041	2764	2550	3748	0	0	0	0	0	0
2911	-1.08	-243.3	692.8	-19.9	101	2922	0.00	2.45	0.00	0.000	4	0.000	0.047	2769	965	3751	0	0	0	0	0	0
2936	-1.08	-243.3	697.8	-19.7	101	2944	0.00	2.58	0.00	0.000	6	0.000	0.054	2753	2555	3748	0	0	0	0	0	0
3276	-1.08	-243.3	765.3	-20.1	107	3287	0.00	2.00	0.00	0.000	4	0.000	0.069	2745	3777	3747	0	0	0	0	0	0
3312	-1.08	-243.3	772.5	-20.6	107	3319	0.00	1.88	0.00	0.000	6	0.000	0.042	2745	2548	3747	0	0	0	0	0	0
3646	-1.08	-243.3	842.0	-21.0	113	3655	0.00	2.45	0.00	0.000	4	0.000	0.047	2745	978	3747	0	0	0	0	0	0
3675	-1.08	-243.3	847.6	-20.1	113	3684	0.15	2.58	0.00	0.000	6	0.186	0.057	2768	2564	3746	0	0	0	0	0	0
4012	-1.08	-243.3	906.5	-17.6	119	4019	0.00	2.00	0.00	0.000	4	0.000	0.070	2761	3779	3746	0	0	0	0	0	0
4033	-1.08	-243.3	910.7	-18.2	119	4041	0.00	1.92	0.00	0.000	6	0.000	0.044	2761	2542	3746	0	0	0	0	0	0
4379	-1.08	-243.3	973.7	-18.2	125	4385	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2539	3743	0	0	0	0	0	0
4499	end dive: TARGET_DEPTH_EXCEEDED
state	4499	begin apogee
4502	-0.20	0.0	996.0	18.4	127	4723	0.95	0.00	209.98	1.245	6	0.163	0.000	3040	2201	2746	0	0	0	0	0	0
4724	end apogee: CONTROL_FINISHED_OK
state	4724	begin climb
4725	1.08	243.3	1006.9	0.0	130	4963	1.20	2.85	223.35	1.220	4	0.057	0.053	3474	629	1754	0	0	0	0	0	0
5084	1.08	243.3	940.6	15313.1	136	5093	0.00	2.67	0.00	0.000	6	0.000	0.050	3474	2199	1748	0	0	0	0	0	0
5425	1.08	243.3	848.1	15313.1	142	5433	0.00	2.60	0.00	0.000	4	0.000	0.054	3486	621	1747	0	0	0	0	0	0
5452	1.08	243.3	840.9	15313.1	142	5460	0.00	2.62	0.00	0.000	6	0.000	0.051	3486	2210	1744	0	0	0	0	0	0
5782	1.08	243.3	747.2	15313.1	148	5790	0.00	2.58	0.00	0.000	4	0.000	0.054	3499	626	1744	0	0	0	0	0	0
5842	1.08	243.3	730.2	15313.1	149	5851	0.15	2.58	0.00	0.000	6	0.214	0.051	3466	2208	1743	0	0	0	0	0	0
6204	1.08	243.3	635.4	15313.1	155	6213	0.00	2.58	0.00	0.000	4	0.000	0.054	3476	620	1742	0	0	0	0	0	0
6221	1.08	243.3	630.8	15313.1	155	6229	0.00	2.55	0.00	0.000	6	0.000	0.050	3476	2207	1742	0	0	0	0	0	0
6562	1.08	243.3	539.7	15313.1	161	6570	0.00	2.58	0.00	0.000	4	0.000	0.054	3488	617	1742	0	0	0	0	0	0
6579	1.08	243.3	535.1	15313.1	161	6586	0.00	2.55	0.00	0.000	6	0.000	0.050	3489	2210	1742	0	0	0	0	0	0
6918	1.08	243.3	444.6	15313.1	167	6926	0.00	2.53	0.00	0.000	4	0.000	0.054	3500	625	1742	0	0	0	0	0	0
6962	1.08	243.3	433.3	15313.1	167	6970	0.15	2.53	0.00	0.000	6	0.210	0.050	3467	2207	1742	0	0	0	0	0	0
7275	1.08	243.3	356.2	15313.1	173	7284	0.00	2.55	0.00	0.000	4	0.000	0.053	3476	617	1742	0	0	0	0	0	0
7319	1.08	243.3	345.5	15313.1	173	7327	0.00	2.53	0.00	0.000	6	0.000	0.049	3477	2208	1742	0	0	0	0	0	0
7633	1.08	243.3	267.7	15313.1	181	7641	0.00	2.55	0.00	0.000	4	0.000	0.052	3488	618	1742	0	0	0	0	0	0
7661	1.08	243.3	260.8	15313.1	182	7669	0.00	2.53	0.00	0.000	6	0.000	0.050	3486	2207	1740	0	0	0	0	0	0
7992	1.08	243.3	175.9	15313.1	193	8001	0.00	2.53	0.00	0.000	4	0.000	0.051	3500	624	1739	0	0	0	0	0	0
8025	1.08	243.3	167.4	15313.1	194	8034	0.15	2.53	0.00	0.000	6	0.207	0.048	3466	2205	1740	0	0	0	0	0	0
8342	1.08	243.3	94.9	15313.1	206	8350	0.00	2.53	0.00	0.000	4	0.000	0.050	3477	619	1741	0	0	0	0	0	0
8374	1.08	243.3	87.4	15313.1	208	8386	0.00	2.53	0.00	0.000	6	0.000	0.048	3476	2199	1742	0	0	0	0	0	0
8567	1.08	243.3	45.1	15313.1	227	8575	0.00	2.50	0.00	0.000	4	0.000	0.051	3489	624	1741	0	0	0	0	0	0
8703	1.08	243.3	16.8	15313.1	240	8713	0.00	2.53	0.00	0.000	6	0.000	0.049	3488	2207	1741	0	0	0	0	0	0
8775	end climb: SURFACE_DEPTH_REACHED
state	8775	begin surface coast
8780	end surface coast: CONTROL_FINISHED_OK
state	8780	begin surface