Glider dive log

SCORE Jan11 * SG179 * Dive index * Mission links * Dive 21 * 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 21 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 40 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 -16231.14 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 -16231.14

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 35 VBD_MAXERRORS 1

DIVE 21 N_DIVES 0 R_STBD_OVSHOOT 40 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 070111,020624,3251.319,-11906.516,44,1.9,62,13.4 TGT_NAME MDW

_CALLS 1 TGT_LATLONG 3246.522,-11856.604

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.341,-0.139

_SM_DEPTHo 1.90 KALMAN_X 33427.5,-665.2,-89.8,-64921.5,4434.1

_SM_ANGLEo -76.6 KALMAN_Y -21519.3,-161.8,174.3,42098.2,-3363.8

GPS2 070111,021122,3251.306,-11906.432,13,2.9,32,13.4 MHEAD_RNG_PITCHd_Wd 98.8,17684,-18.4,-14.348

SPEED_LIMITS 0.171,0.368 D_GRID 1260

Post-dive calculations and measurements:

FINISH 1.1,1.012365 PA_USBA 100.0/0/0

SM_CCo 9638,30.33,0.555,0,0,1525,300.00 PA_HOME 9.2/483886/439511

SM_GC 2.14,0.00,0.00,30.33,0.000,0.000,0.555,145,2252,1525,-8.46,0.06,300.00 PA_ROOT 80.3/126931/24979

IRIDIUM_FIX 3236.51,-11803.29,060111,232347 PA_LOG 8.0/297829/273861

TT8_MAMPS 0.117593 PA_DATA1 22.7/7836665/6058338

HUMID 51.26 PA_DATA0 97.1/7836665/223632

INTERNAL_PRESSURE 9.5836 _24V_AH 22.8,17.419

TCM_TEMP 19.10 _10V_AH 10.0,13.242

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 317784

PA_BOOTCOUNT 93 DATA_FILE_SIZE 10143,275

PA_DFQS 0/0 CAP_FILE_SIZE 93454,0

PA_CMQS 0/0 CFSIZE 260165632,255373312

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 070111,045427,3250.189,-11903.897,35,2.5,55,13.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 276 138.75 SBE_CT 187 24 102.49

Roll_motor 82 73 137.39 nil 0 0 0.00

VBD_pump_during_apogee 436 1174 11682.60 nil 0 0 0.00

VBD_pump_during_surface 30 554 383.47 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 68.44 nil 0 0 0.00

Iridium_during_connect 33 160 121.01 PAAM 10079 89 20475.82

Iridium_during_xfer 140 223 714.19 nil 0 0 0.00

Transponder_ping 37 420 361.49 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 50 17.25

TT8 0 0 0.00

LPSleep 7807 2 170.99

TT8_Active 488 19 96.79

TT8_Sampling 1595 39 635.10

TT8_CF8 72 45 33.40

TT8_Kalman 33 81 27.27

Analog_circuits 1216 12 146.00

GPS_charging 0 0 0.00

Compass 761 15 114.21

RAFOS 0 0 0.00

Transponder 241 30 72.33

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

16 -1.06 -243.3 0.0 0.0 0 83 0.00 0.00 -64.65 0.000 2 0.000 0.000 140 2271 2923 0 0 0 0 0 0

84 -1.06 -243.3 3.3 -4.0 11 123 10.98 2.28 -17.88 0.000 4 0.277 0.073 2491 3661 3742 0 0 0 0 0 0

361 -1.06 -243.3 88.4 -31.4 41 370 0.00 2.17 0.00 0.000 6 0.000 0.036 2492 2231 3746 0 0 0 0 0 0

557 -1.06 -243.3 138.4 -24.3 50 562 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2229 3746 0 0 0 0 0 0

860 -1.06 -243.3 212.5 -24.2 60 869 0.00 2.33 0.00 0.000 4 0.000 0.060 2481 3667 3747 0 0 0 0 0 0

899 -1.06 -243.3 222.3 -24.1 61 907 0.00 2.12 0.00 0.000 6 0.000 0.035 2481 2247 3747 0 0 0 0 0 0

1225 -1.06 -243.3 299.7 -24.0 72 1236 0.00 2.30 0.00 0.000 4 0.000 0.059 2470 3671 3747 0 0 0 0 0 0

1256 -1.06 -243.3 307.4 -24.8 72 1268 0.15 2.15 0.00 0.000 6 0.184 0.034 2505 2247 3747 0 0 0 0 0 0

1564 -1.06 -243.3 370.1 -20.0 78 1572 0.00 2.28 0.00 0.000 4 0.000 0.060 2499 3665 3747 0 0 0 0 0 0

1592 -1.06 -243.3 375.9 -20.5 78 1603 0.00 2.15 0.00 0.000 6 0.000 0.035 2493 2244 3747 0 0 0 0 0 0

1936 -1.06 -243.3 445.2 -20.1 84 1941 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2244 3747 0 0 0 0 0 0

2238 -1.06 -243.3 505.7 -20.1 89 2249 0.00 2.38 0.00 0.000 4 0.000 0.041 2497 679 3749 0 0 0 0 0 0

2263 -1.06 -243.3 510.9 -20.1 89 2272 0.00 2.42 0.00 0.000 6 0.000 0.044 2486 2237 3747 0 0 0 0 0 0

2610 -1.06 -243.3 579.1 -19.4 95 2620 0.00 2.30 0.00 0.000 4 0.000 0.060 2481 3674 3745 0 0 0 0 0 0

2656 -1.06 -243.3 588.5 -19.5 95 2665 0.12 2.15 0.00 0.000 6 0.181 0.036 2504 2253 3747 0 0 0 0 0 0

2982 -1.06 -243.3 647.2 -18.0 101 2988 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2251 3747 0 0 0 0 0 0

3283 -1.06 -243.3 700.3 -17.5 106 3289 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2251 3746 0 0 0 0 0 0

3585 -1.06 -243.3 750.6 -16.6 111 3591 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2251 3746 0 0 0 0 0 0

3887 -1.06 -243.3 800.3 -16.6 116 3895 0.00 2.30 0.00 0.000 4 0.000 0.061 2496 3683 3746 0 0 0 0 0 0

3926 -1.06 -243.3 807.2 -17.6 116 3934 0.00 2.17 0.00 0.000 6 0.000 0.038 2496 2237 3745 0 0 0 0 0 0

4257 -1.06 -243.3 864.5 -17.5 122 4262 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2234 3742 0 0 0 0 0 0

4558 -1.06 -243.3 915.7 -16.9 127 4563 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2234 3744 0 0 0 0 0 0

4860 -1.06 -243.3 963.6 -15.6 132 4869 0.00 2.33 0.00 0.000 4 0.000 0.062 2485 3678 3743 0 0 0 0 0 0

4894 -1.06 -243.3 969.1 -16.4 132 4902 0.00 2.17 0.00 0.000 6 0.000 0.041 2485 2250 3743 0 0 0 0 0 0

5048 end dive: TARGET_DEPTH_EXCEEDED

state 5048 begin apogee

5051 -0.21 0.0 994.6 16.6 135 5273 0.95 0.00 212.57 1.174 6 0.146 0.000 2776 1910 2750 0 0 0 0 0 0

5274 end apogee: CONTROL_FINISHED_OK

state 5274 begin climb

5275 1.06 243.3 1005.8 0.0 138 5512 1.20 2.75 223.77 1.158 4 0.056 0.047 3204 365 1756 0 0 0 0 0 0

5584 1.06 243.3 954.1 25.9 143 5593 0.00 2.58 0.00 0.000 6 0.000 0.038 3204 1930 1752 0 0 0 0 0 0

5904 1.06 243.3 870.6 26.3 149 5912 0.00 2.58 0.00 0.000 4 0.000 0.055 3204 3513 1749 0 0 0 0 0 0

5937 1.06 243.3 861.2 27.8 149 5945 0.00 2.47 0.00 0.000 6 0.000 0.037 3215 1940 1752 0 0 0 0 0 0

6261 1.06 243.3 774.5 26.6 155 6270 0.00 2.55 0.00 0.000 4 0.000 0.050 3232 339 1748 0 0 0 0 0 0

6289 1.06 243.3 767.2 25.9 155 6297 0.15 2.50 0.00 0.000 6 0.196 0.040 3193 1934 1748 0 0 0 0 0 0

6619 1.06 243.3 690.1 23.3 161 6627 0.00 2.50 0.00 0.000 4 0.000 0.055 3193 3506 1747 0 0 0 0 0 0

6657 1.06 243.3 680.6 24.8 161 6666 0.00 2.45 0.00 0.000 6 0.000 0.037 3203 1920 1748 0 0 0 0 0 0

6976 1.06 243.3 602.3 24.5 167 6982 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 1920 1747 0 0 0 0 0 0

7278 1.06 243.3 528.2 24.4 172 7287 0.00 2.53 0.00 0.000 4 0.000 0.054 3203 3509 1747 0 0 0 0 0 0

7300 1.06 243.3 522.6 24.5 172 7308 0.00 2.45 0.00 0.000 6 0.000 0.037 3215 1924 1747 0 0 0 0 0 0

7635 1.06 243.3 440.3 24.6 178 7643 0.00 2.47 0.00 0.000 4 0.000 0.052 3216 344 1747 0 0 0 0 0 0

7668 1.06 243.3 432.3 24.3 178 7676 0.00 2.42 0.00 0.000 6 0.000 0.039 3216 1923 1747 0 0 0 0 0 0

7992 1.06 243.3 352.3 24.8 184 8000 0.00 2.47 0.00 0.000 4 0.000 0.055 3216 3506 1747 0 0 0 0 0 0

8029 1.06 243.3 342.5 26.7 184 8038 0.15 2.45 0.00 0.000 6 0.206 0.037 3195 1905 1746 0 0 0 0 0 0

8349 1.06 243.3 268.8 22.4 192 8358 0.00 2.55 0.00 0.000 4 0.000 0.054 3196 3513 1746 0 0 0 0 0 0

8372 1.06 243.3 263.4 24.3 192 8382 0.00 2.42 0.00 0.000 6 0.000 0.037 3205 1934 1746 0 0 0 0 0 0

8681 1.06 243.3 190.5 23.4 203 8687 0.00 0.00 0.00 0.000 6 0.000 0.000 3205 1931 1747 0 0 0 0 0 0

8984 1.06 243.3 125.8 20.6 213 8989 0.00 0.00 0.00 0.000 6 0.000 0.000 3205 1931 1746 0 0 0 0 0 0

9292 1.06 243.3 61.2 19.3 235 9300 0.00 2.47 0.00 0.000 4 0.000 0.055 3205 3510 1747 0 0 0 0 0 0

9373 1.06 243.3 44.9 19.8 242 9381 0.00 2.42 0.00 0.000 6 0.000 0.037 3216 1913 1746 0 0 0 0 0 0

9566 1.06 243.3 10.8 19.4 264 9574 0.00 0.00 0.00 0.000 6 0.000 0.000 3217 1909 1747 0 0 0 0 0 0

9608 end climb: SURFACE_DEPTH_REACHED

state 9608 begin surface coast

9625 end surface coast: CONTROL_FINISHED_OK

state 9625 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	21	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	40	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	-16231.14	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	070111,020624,3251.319,-11906.516,44,1.9,62,13.4	TGT_NAME	MDW
_CALLS	1	TGT_LATLONG	3246.522,-11856.604
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.341,-0.139
_SM_DEPTHo	1.90	KALMAN_X	33427.5,-665.2,-89.8,-64921.5,4434.1
_SM_ANGLEo	-76.6	KALMAN_Y	-21519.3,-161.8,174.3,42098.2,-3363.8
GPS2	070111,021122,3251.306,-11906.432,13,2.9,32,13.4	MHEAD_RNG_PITCHd_Wd	98.8,17684,-18.4,-14.348
SPEED_LIMITS	0.171,0.368	D_GRID	1260

FINISH	1.1,1.012365	PA_USBA	100.0/0/0
SM_CCo	9638,30.33,0.555,0,0,1525,300.00	PA_HOME	9.2/483886/439511
SM_GC	2.14,0.00,0.00,30.33,0.000,0.000,0.555,145,2252,1525,-8.46,0.06,300.00	PA_ROOT	80.3/126931/24979
IRIDIUM_FIX	3236.51,-11803.29,060111,232347	PA_LOG	8.0/297829/273861
TT8_MAMPS	0.117593	PA_DATA1	22.7/7836665/6058338
HUMID	51.26	PA_DATA0	97.1/7836665/223632
INTERNAL_PRESSURE	9.5836	_24V_AH	22.8,17.419
TCM_TEMP	19.10	_10V_AH	10.0,13.242
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	317784
PA_BOOTCOUNT	93	DATA_FILE_SIZE	10143,275
PA_DFQS	0/0	CAP_FILE_SIZE	93454,0
PA_CMQS	0/0	CFSIZE	260165632,255373312
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	070111,045427,3250.189,-11903.897,35,2.5,55,13.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	276	138.75	SBE_CT	187	24	102.49
Roll_motor	82	73	137.39	nil	0	0	0.00
VBD_pump_during_apogee	436	1174	11682.60	nil	0	0	0.00
VBD_pump_during_surface	30	554	383.47	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	68.44	nil	0	0	0.00
Iridium_during_connect	33	160	121.01	PAAM	10079	89	20475.82
Iridium_during_xfer	140	223	714.19	nil	0	0	0.00
Transponder_ping	37	420	361.49	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	50	17.25
TT8	0	0	0.00
LPSleep	7807	2	170.99
TT8_Active	488	19	96.79
TT8_Sampling	1595	39	635.10
TT8_CF8	72	45	33.40
TT8_Kalman	33	81	27.27
Analog_circuits	1216	12	146.00
GPS_charging	0	0	0.00
Compass	761	15	114.21
RAFOS	0	0	0.00
Transponder	241	30	72.33

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
16	-1.06	-243.3	0.0	0.0	0	83	0.00	0.00	-64.65	0.000	2	0.000	0.000	140	2271	2923	0	0	0	0	0	0
84	-1.06	-243.3	3.3	-4.0	11	123	10.98	2.28	-17.88	0.000	4	0.277	0.073	2491	3661	3742	0	0	0	0	0	0
361	-1.06	-243.3	88.4	-31.4	41	370	0.00	2.17	0.00	0.000	6	0.000	0.036	2492	2231	3746	0	0	0	0	0	0
557	-1.06	-243.3	138.4	-24.3	50	562	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2229	3746	0	0	0	0	0	0
860	-1.06	-243.3	212.5	-24.2	60	869	0.00	2.33	0.00	0.000	4	0.000	0.060	2481	3667	3747	0	0	0	0	0	0
899	-1.06	-243.3	222.3	-24.1	61	907	0.00	2.12	0.00	0.000	6	0.000	0.035	2481	2247	3747	0	0	0	0	0	0
1225	-1.06	-243.3	299.7	-24.0	72	1236	0.00	2.30	0.00	0.000	4	0.000	0.059	2470	3671	3747	0	0	0	0	0	0
1256	-1.06	-243.3	307.4	-24.8	72	1268	0.15	2.15	0.00	0.000	6	0.184	0.034	2505	2247	3747	0	0	0	0	0	0
1564	-1.06	-243.3	370.1	-20.0	78	1572	0.00	2.28	0.00	0.000	4	0.000	0.060	2499	3665	3747	0	0	0	0	0	0
1592	-1.06	-243.3	375.9	-20.5	78	1603	0.00	2.15	0.00	0.000	6	0.000	0.035	2493	2244	3747	0	0	0	0	0	0
1936	-1.06	-243.3	445.2	-20.1	84	1941	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2244	3747	0	0	0	0	0	0
2238	-1.06	-243.3	505.7	-20.1	89	2249	0.00	2.38	0.00	0.000	4	0.000	0.041	2497	679	3749	0	0	0	0	0	0
2263	-1.06	-243.3	510.9	-20.1	89	2272	0.00	2.42	0.00	0.000	6	0.000	0.044	2486	2237	3747	0	0	0	0	0	0
2610	-1.06	-243.3	579.1	-19.4	95	2620	0.00	2.30	0.00	0.000	4	0.000	0.060	2481	3674	3745	0	0	0	0	0	0
2656	-1.06	-243.3	588.5	-19.5	95	2665	0.12	2.15	0.00	0.000	6	0.181	0.036	2504	2253	3747	0	0	0	0	0	0
2982	-1.06	-243.3	647.2	-18.0	101	2988	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2251	3747	0	0	0	0	0	0
3283	-1.06	-243.3	700.3	-17.5	106	3289	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2251	3746	0	0	0	0	0	0
3585	-1.06	-243.3	750.6	-16.6	111	3591	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2251	3746	0	0	0	0	0	0
3887	-1.06	-243.3	800.3	-16.6	116	3895	0.00	2.30	0.00	0.000	4	0.000	0.061	2496	3683	3746	0	0	0	0	0	0
3926	-1.06	-243.3	807.2	-17.6	116	3934	0.00	2.17	0.00	0.000	6	0.000	0.038	2496	2237	3745	0	0	0	0	0	0
4257	-1.06	-243.3	864.5	-17.5	122	4262	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2234	3742	0	0	0	0	0	0
4558	-1.06	-243.3	915.7	-16.9	127	4563	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2234	3744	0	0	0	0	0	0
4860	-1.06	-243.3	963.6	-15.6	132	4869	0.00	2.33	0.00	0.000	4	0.000	0.062	2485	3678	3743	0	0	0	0	0	0
4894	-1.06	-243.3	969.1	-16.4	132	4902	0.00	2.17	0.00	0.000	6	0.000	0.041	2485	2250	3743	0	0	0	0	0	0
5048	end dive: TARGET_DEPTH_EXCEEDED
state	5048	begin apogee
5051	-0.21	0.0	994.6	16.6	135	5273	0.95	0.00	212.57	1.174	6	0.146	0.000	2776	1910	2750	0	0	0	0	0	0
5274	end apogee: CONTROL_FINISHED_OK
state	5274	begin climb
5275	1.06	243.3	1005.8	0.0	138	5512	1.20	2.75	223.77	1.158	4	0.056	0.047	3204	365	1756	0	0	0	0	0	0
5584	1.06	243.3	954.1	25.9	143	5593	0.00	2.58	0.00	0.000	6	0.000	0.038	3204	1930	1752	0	0	0	0	0	0
5904	1.06	243.3	870.6	26.3	149	5912	0.00	2.58	0.00	0.000	4	0.000	0.055	3204	3513	1749	0	0	0	0	0	0
5937	1.06	243.3	861.2	27.8	149	5945	0.00	2.47	0.00	0.000	6	0.000	0.037	3215	1940	1752	0	0	0	0	0	0
6261	1.06	243.3	774.5	26.6	155	6270	0.00	2.55	0.00	0.000	4	0.000	0.050	3232	339	1748	0	0	0	0	0	0
6289	1.06	243.3	767.2	25.9	155	6297	0.15	2.50	0.00	0.000	6	0.196	0.040	3193	1934	1748	0	0	0	0	0	0
6619	1.06	243.3	690.1	23.3	161	6627	0.00	2.50	0.00	0.000	4	0.000	0.055	3193	3506	1747	0	0	0	0	0	0
6657	1.06	243.3	680.6	24.8	161	6666	0.00	2.45	0.00	0.000	6	0.000	0.037	3203	1920	1748	0	0	0	0	0	0
6976	1.06	243.3	602.3	24.5	167	6982	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	1920	1747	0	0	0	0	0	0
7278	1.06	243.3	528.2	24.4	172	7287	0.00	2.53	0.00	0.000	4	0.000	0.054	3203	3509	1747	0	0	0	0	0	0
7300	1.06	243.3	522.6	24.5	172	7308	0.00	2.45	0.00	0.000	6	0.000	0.037	3215	1924	1747	0	0	0	0	0	0
7635	1.06	243.3	440.3	24.6	178	7643	0.00	2.47	0.00	0.000	4	0.000	0.052	3216	344	1747	0	0	0	0	0	0
7668	1.06	243.3	432.3	24.3	178	7676	0.00	2.42	0.00	0.000	6	0.000	0.039	3216	1923	1747	0	0	0	0	0	0
7992	1.06	243.3	352.3	24.8	184	8000	0.00	2.47	0.00	0.000	4	0.000	0.055	3216	3506	1747	0	0	0	0	0	0
8029	1.06	243.3	342.5	26.7	184	8038	0.15	2.45	0.00	0.000	6	0.206	0.037	3195	1905	1746	0	0	0	0	0	0
8349	1.06	243.3	268.8	22.4	192	8358	0.00	2.55	0.00	0.000	4	0.000	0.054	3196	3513	1746	0	0	0	0	0	0
8372	1.06	243.3	263.4	24.3	192	8382	0.00	2.42	0.00	0.000	6	0.000	0.037	3205	1934	1746	0	0	0	0	0	0
8681	1.06	243.3	190.5	23.4	203	8687	0.00	0.00	0.00	0.000	6	0.000	0.000	3205	1931	1747	0	0	0	0	0	0
8984	1.06	243.3	125.8	20.6	213	8989	0.00	0.00	0.00	0.000	6	0.000	0.000	3205	1931	1746	0	0	0	0	0	0
9292	1.06	243.3	61.2	19.3	235	9300	0.00	2.47	0.00	0.000	4	0.000	0.055	3205	3510	1747	0	0	0	0	0	0
9373	1.06	243.3	44.9	19.8	242	9381	0.00	2.42	0.00	0.000	6	0.000	0.037	3216	1913	1746	0	0	0	0	0	0
9566	1.06	243.3	10.8	19.4	264	9574	0.00	0.00	0.00	0.000	6	0.000	0.000	3217	1909	1747	0	0	0	0	0	0
9608	end climb: SURFACE_DEPTH_REACHED
state	9608	begin surface coast
9625	end surface coast: CONTROL_FINISHED_OK
state	9625	begin surface