Glider dive log

SCORE Jan11 * SG178 * Dive index * Mission links * Dive 4 * 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 2500 ALTIM_FREQUENCY 13

DIVE 4 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2050 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 250 R_STBD_OVSHOOT 30 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 220 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 69

T_MISSION 260 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 -9714.5264 CF8_MAXERRORS 20 PHONE_DEVICE 48

USE_BATHY 1 T_RSLEEP 3 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 3125 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 45 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 32 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 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 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 250

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 32 TCM_ROLL_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 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 220

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 -9714.5264

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 260

COMPASS_USE 0 INT_PRESSURE_YINT 0 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COURSE_BIAS 0 KALMAN_USE 1 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

C_PITCH 3125 LOGGERDEVICE1 69 RELAUNCH 1 T_TURN 225

C_ROLL_CLIMB 2050 LOGGERDEVICE2 -1 RHO 1.0275 T_TURN_SAMPINT 5

C_ROLL_DIVE 2500 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 25 VBD_MAXERRORS 1

DIVE 4 N_DIVES 0 R_STBD_OVSHOOT 30 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 040111,200550,3241.417,-11846.359,10,1.7,10,13.3 TGT_NAME MDW

_CALLS 1 TGT_LATLONG 3246.522,-11856.604

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.337,0.161

_SM_DEPTHo 1.14 KALMAN_X 1243.9,1132.4,705.7,-2866.0,517.9

_SM_ANGLEo -76.0 KALMAN_Y 414.9,366.7,216.4,985.4,207.0

GPS2 040111,200955,3241.414,-11846.338,12,1.3,12,13.3 MHEAD_RNG_PITCHd_Wd 282.2,18574,-19.1,-15.000

SPEED_LIMITS 0.150,0.374 D_GRID 1172

Post-dive calculations and measurements:

FINISH 1.9,1.025175 PA_USBA 100.0/0/0

SM_CCo 12198,3.15,0.382,0,0,1730,250.21 PA_HOME 12.7/482055/421064

SM_GC 2.87,0.00,0.00,3.15,0.000,0.000,0.382,163,2503,1730,-9.26,0.11,250.21 PA_ROOT 80.3/126931/24979

IRIDIUM_FIX 3228.84,-11850.11,040111,202051 PA_LOG 7.0/298663/277792

TT8_MAMPS 0.115346 PA_DATA1 0.1/7837685/7826437

HUMID 49.05 PA_DATA0 14.2/7836665/6721526

INTERNAL_PRESSURE 8.91636 _24V_AH 23.0,17.830

TCM_TEMP 18.40 _10V_AH 10.1,10.586

XPDR_PINGS 39 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 316444

PA_BOOTCOUNT 88 DATA_FILE_SIZE 10154,337

PA_DFQS 0/0 CAP_FILE_SIZE 127318,0

PA_CMQS 0/0 CFSIZE 260165632,253890560

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 040111,233554,3242.031,-11847.946,97,1.1,97,13.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 264 146.26 SBE_CT 230 24 127.00

Roll_motor 123 81 233.22 nil 0 0 0.00

VBD_pump_during_apogee 431 1243 12356.43 nil 0 0 0.00

VBD_pump_during_surface 3 381 27.66 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 PAAM 12302 87 24861.86

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 31 420 304.29 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.56

TT8 0 0 0.00

LPSleep 9933 2 219.71

TT8_Active 479 19 95.79

TT8_Sampling 1776 39 714.08

TT8_CF8 58 45 26.92

TT8_Kalman 32 81 26.70

Analog_circuits 1427 12 173.01

GPS_charging 0 0 0.00

Compass 1033 15 156.50

RAFOS 0 0 0.00

Transponder 138 30 41.99

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 -0.89 -243.3 0.0 0.0 0 90 0.00 0.00 -68.00 0.000 2 0.000 0.000 157 2511 3159 0 0 0 0 0 0

92 -0.89 -243.3 3.2 -7.1 12 126 12.07 2.12 -10.05 0.000 4 0.265 0.082 2820 3767 3746 0 0 0 0 0 0

323 -0.89 -243.3 62.1 -17.7 37 331 0.00 2.03 0.00 0.000 6 0.000 0.041 2820 2481 3746 0 0 0 0 0 0

520 -0.89 -243.3 99.3 -18.4 56 529 0.00 2.15 0.00 0.000 4 0.000 0.069 2812 3779 3747 0 0 0 0 0 0

548 -0.89 -243.3 104.6 -19.4 57 559 0.00 2.00 0.00 0.000 6 0.000 0.041 2811 2489 3747 0 0 0 0 0 0

858 -0.89 -243.3 163.1 -19.2 68 865 0.00 2.12 0.00 0.000 4 0.000 0.068 2801 3771 3750 0 0 0 0 0 0

896 -0.89 -243.3 170.9 -20.5 69 904 0.12 1.98 0.00 0.000 6 0.182 0.041 2829 2489 3747 0 0 0 0 0 0

1217 -0.89 -243.3 225.7 -16.6 80 1224 0.00 2.12 0.00 0.000 4 0.000 0.068 2822 3776 3749 0 0 0 0 0 0

1249 -0.89 -243.3 231.2 -17.6 81 1256 0.00 1.98 0.00 0.000 6 0.000 0.041 2822 2493 3747 0 0 0 0 0 0

1580 -0.89 -243.3 284.2 -16.0 92 1588 0.00 2.12 0.00 0.000 4 0.000 0.068 2812 3780 3747 0 0 0 0 0 0

1608 -0.89 -243.3 288.9 -16.6 92 1618 0.00 1.95 0.00 0.000 6 0.000 0.042 2812 2496 3747 0 0 0 0 0 0

1946 -0.89 -243.3 344.3 -16.3 100 1952 0.00 0.00 0.00 0.000 6 0.000 0.000 2812 2496 3749 0 0 0 0 0 0

2248 -0.89 -243.3 394.4 -16.7 105 2256 0.00 2.12 0.00 0.000 4 0.000 0.070 2803 3779 3746 0 0 0 0 0 0

2328 -0.89 -243.3 408.0 -15.7 106 2336 0.12 1.98 0.00 0.000 6 0.177 0.042 2832 2495 3745 0 0 0 0 0 0

2669 -0.89 -243.3 453.6 -13.1 112 2677 0.00 2.10 0.00 0.000 4 0.000 0.071 2825 3774 3745 0 0 0 0 0 0

2723 -0.89 -243.3 461.1 -13.9 112 2734 0.00 1.98 0.00 0.000 6 0.000 0.043 2825 2493 3746 0 0 0 0 0 0

3031 -0.89 -243.3 502.0 -13.1 118 3039 0.00 2.12 0.00 0.000 4 0.000 0.070 2815 3774 3747 0 0 0 0 0 0

3069 -0.89 -243.3 507.3 -13.5 118 3077 0.00 1.95 0.00 0.000 6 0.000 0.043 2816 2496 3745 0 0 0 0 0 0

3394 -0.89 -243.3 553.5 -14.4 124 3401 0.00 2.10 0.00 0.000 4 0.000 0.070 2806 3773 3744 0 0 0 0 0 0

3442 -0.89 -243.3 561.3 -16.1 124 3450 0.12 1.98 0.00 0.000 6 0.171 0.043 2836 2493 3744 0 0 0 0 0 0

3750 -0.89 -243.3 601.0 -12.8 129 3759 0.00 2.12 0.00 0.000 4 0.000 0.071 2829 3773 3744 0 0 0 0 0 0

3794 -0.89 -243.3 607.1 -13.4 129 3801 0.00 1.95 0.00 0.000 6 0.000 0.044 2829 2498 3744 0 0 0 0 0 0

4112 -0.89 -243.3 647.7 -12.7 135 4118 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 2496 3743 0 0 0 0 0 0

4415 -0.89 -243.3 685.5 -12.4 140 4423 0.00 2.12 0.00 0.000 4 0.000 0.073 2820 3771 3740 0 0 0 0 0 0

4475 -0.89 -243.3 693.5 -12.8 141 4483 0.00 1.98 0.00 0.000 6 0.000 0.044 2819 2498 3742 0 0 0 0 0 0

4842 -0.89 -243.3 739.4 -12.3 147 4850 0.00 2.12 0.00 0.000 4 0.000 0.073 2808 3769 3741 0 0 0 0 0 0

4880 -0.89 -243.3 744.3 -13.1 147 4888 0.00 1.98 0.00 0.000 6 0.000 0.045 2810 2500 3740 0 0 0 0 0 0

5205 -0.89 -243.3 787.0 -13.1 153 5213 0.00 2.12 0.00 0.000 4 0.000 0.074 2801 3769 3740 0 0 0 0 0 0

5237 -0.89 -243.3 791.5 -13.8 153 5245 0.12 1.98 0.00 0.000 6 0.172 0.046 2831 2499 3740 0 0 0 0 0 0

5561 -0.89 -243.3 827.4 -11.0 159 5567 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 2501 3739 0 0 0 0 0 0

5864 -0.89 -243.3 863.6 -12.1 164 5872 0.00 2.10 0.00 0.000 4 0.000 0.075 2824 3767 3737 0 0 0 0 0 0

5918 -0.89 -243.3 870.7 -12.6 164 5929 0.00 1.98 0.00 0.000 6 0.000 0.046 2823 2501 3738 0 0 0 0 0 0

6226 -0.89 -243.3 908.7 -12.3 170 6234 0.00 2.12 0.00 0.000 4 0.000 0.074 2814 3771 3738 0 0 0 0 0 0

6253 -0.89 -243.3 912.2 -12.6 170 6261 0.00 2.00 0.00 0.000 6 0.000 0.047 2814 2493 3736 0 0 0 0 0 0

6589 -0.89 -243.3 954.7 -12.7 176 6597 0.00 2.15 0.00 0.000 4 0.000 0.074 2805 3778 3737 0 0 0 0 0 0

6616 -0.89 -243.3 958.6 -13.5 176 6625 0.12 2.00 0.00 0.000 6 0.171 0.047 2835 2495 3737 0 0 0 0 0 0

6946 end dive: TARGET_DEPTH_EXCEEDED

state 6946 begin apogee

6950 -0.16 0.0 994.2 10.7 182 7172 0.73 0.00 209.15 1.244 6 0.132 0.000 3067 2052 2746 0 0 0 0 0 0

7173 end apogee: CONTROL_FINISHED_OK

state 7173 begin climb

7174 0.89 243.3 1003.4 0.0 185 7411 0.98 2.88 222.75 1.218 4 0.052 0.065 3422 3626 1759 0 0 0 0 0 0

7591 0.89 243.3 930.6 25506.9 192 7600 0.00 2.58 0.00 0.000 6 0.000 0.047 3434 2064 1748 0 0 0 0 0 0

7937 0.89 243.3 853.5 25506.9 198 7943 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 2060 1746 0 0 0 0 0 0

8239 0.89 243.3 786.0 25506.9 203 8244 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 2060 1745 0 0 0 0 0 0

8541 0.89 243.3 718.1 25506.9 208 8547 0.00 0.00 0.00 0.000 6 0.000 0.000 3434 2060 1744 0 0 0 0 0 0

8843 0.89 243.3 649.8 25506.9 213 8852 0.00 2.60 0.00 0.000 4 0.000 0.070 3434 3633 1743 0 0 0 0 0 0

8876 0.89 243.3 641.6 25506.9 213 8885 0.15 2.53 0.00 0.000 6 0.206 0.049 3413 2046 1744 0 0 0 0 0 0

9201 0.89 243.3 578.2 25506.9 219 9209 0.00 2.62 0.00 0.000 4 0.000 0.069 3413 3627 1743 0 0 0 0 0 0

9223 0.89 243.3 573.7 25506.9 219 9231 0.00 2.53 0.00 0.000 6 0.000 0.047 3422 2044 1743 0 0 0 0 0 0

9558 0.89 243.3 510.7 25506.9 225 9566 0.00 2.62 0.00 0.000 4 0.000 0.068 3422 3632 1743 0 0 0 0 0 0

9585 0.89 243.3 505.1 25506.9 225 9594 0.00 2.53 0.00 0.000 6 0.000 0.046 3435 2042 1741 0 0 0 0 0 0

9915 0.89 243.3 435.5 25506.9 231 9923 0.00 2.58 0.00 0.000 4 0.000 0.061 3447 462 1745 0 0 0 0 0 0

9980 0.89 243.3 421.4 25506.9 232 9988 0.12 2.55 0.00 0.000 6 0.199 0.050 3419 2052 1742 0 0 0 0 0 0

10336 0.89 243.3 349.3 25506.9 238 10344 0.00 2.60 0.00 0.000 4 0.000 0.067 3419 3641 1742 0 0 0 0 0 0

10374 0.89 243.3 340.9 25506.9 238 10382 0.00 2.53 0.00 0.000 6 0.000 0.049 3428 2047 1743 0 0 0 0 0 0

10693 0.89 243.3 275.0 25506.9 246 10702 0.00 2.60 0.00 0.000 4 0.000 0.062 3442 461 1745 0 0 0 0 0 0

10737 0.89 243.3 266.1 25506.9 247 10746 0.00 2.55 0.00 0.000 6 0.000 0.050 3441 2048 1742 0 0 0 0 0 0

11053 0.89 243.3 201.2 25506.9 258 11061 0.00 2.62 0.00 0.000 4 0.000 0.067 3442 3645 1743 0 0 0 0 0 0

11074 0.89 243.3 196.5 25506.9 258 11086 0.17 2.53 0.00 0.000 6 0.201 0.047 3413 2043 1743 0 0 0 0 0 0

11384 0.89 243.3 142.3 25506.9 269 11392 0.00 2.62 0.00 0.000 4 0.000 0.067 3414 3640 1743 0 0 0 0 0 0

11422 0.89 243.3 135.1 25506.9 270 11430 0.00 2.53 0.00 0.000 6 0.000 0.047 3422 2045 1743 0 0 0 0 0 0

11735 0.89 243.3 79.7 25506.9 288 11743 0.00 2.62 0.00 0.000 4 0.000 0.067 3423 3638 1743 0 0 0 0 0 0

11784 0.89 243.3 70.1 25506.9 292 11793 0.00 2.50 0.00 0.000 6 0.000 0.046 3435 2052 1743 0 0 0 0 0 0

11977 0.89 243.3 37.1 25506.9 310 11985 0.00 2.60 0.00 0.000 4 0.000 0.066 3434 3639 1742 0 0 0 0 0 0

12128 0.89 243.3 9.9 25506.9 328 12139 0.15 2.53 0.00 0.000 6 0.195 0.045 3413 2039 1743 0 0 0 0 0 0

12174 end climb: SURFACE_DEPTH_REACHED

state 12174 begin surface coast

12180 end surface coast: CONTROL_FINISHED_OK

state 12180 begin surface

ID	178	HEADING	-1	ROLL_DEG	45	ALTIM_PING_DELTA	10
MISSION	10	ESCAPE_HEADING	0	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
DIVE	4	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2050	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	250	R_STBD_OVSHOOT	30	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	220	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	69
T_MISSION	260	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	-9714.5264	CF8_MAXERRORS	20	PHONE_DEVICE	48
USE_BATHY	1	T_RSLEEP	3	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	3125	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	45	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	32	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	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	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	040111,200550,3241.417,-11846.359,10,1.7,10,13.3	TGT_NAME	MDW
_CALLS	1	TGT_LATLONG	3246.522,-11856.604
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.337,0.161
_SM_DEPTHo	1.14	KALMAN_X	1243.9,1132.4,705.7,-2866.0,517.9
_SM_ANGLEo	-76.0	KALMAN_Y	414.9,366.7,216.4,985.4,207.0
GPS2	040111,200955,3241.414,-11846.338,12,1.3,12,13.3	MHEAD_RNG_PITCHd_Wd	282.2,18574,-19.1,-15.000
SPEED_LIMITS	0.150,0.374	D_GRID	1172

FINISH	1.9,1.025175	PA_USBA	100.0/0/0
SM_CCo	12198,3.15,0.382,0,0,1730,250.21	PA_HOME	12.7/482055/421064
SM_GC	2.87,0.00,0.00,3.15,0.000,0.000,0.382,163,2503,1730,-9.26,0.11,250.21	PA_ROOT	80.3/126931/24979
IRIDIUM_FIX	3228.84,-11850.11,040111,202051	PA_LOG	7.0/298663/277792
TT8_MAMPS	0.115346	PA_DATA1	0.1/7837685/7826437
HUMID	49.05	PA_DATA0	14.2/7836665/6721526
INTERNAL_PRESSURE	8.91636	_24V_AH	23.0,17.830
TCM_TEMP	18.40	_10V_AH	10.1,10.586
XPDR_PINGS	39	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	316444
PA_BOOTCOUNT	88	DATA_FILE_SIZE	10154,337
PA_DFQS	0/0	CAP_FILE_SIZE	127318,0
PA_CMQS	0/0	CFSIZE	260165632,253890560
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	040111,233554,3242.031,-11847.946,97,1.1,97,13.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	264	146.26	SBE_CT	230	24	127.00
Roll_motor	123	81	233.22	nil	0	0	0.00
VBD_pump_during_apogee	431	1243	12356.43	nil	0	0	0.00
VBD_pump_during_surface	3	381	27.66	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	PAAM	12302	87	24861.86
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	31	420	304.29	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.56
TT8	0	0	0.00
LPSleep	9933	2	219.71
TT8_Active	479	19	95.79
TT8_Sampling	1776	39	714.08
TT8_CF8	58	45	26.92
TT8_Kalman	32	81	26.70
Analog_circuits	1427	12	173.01
GPS_charging	0	0	0.00
Compass	1033	15	156.50
RAFOS	0	0	0.00
Transponder	138	30	41.99

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	-0.89	-243.3	0.0	0.0	0	90	0.00	0.00	-68.00	0.000	2	0.000	0.000	157	2511	3159	0	0	0	0	0	0
92	-0.89	-243.3	3.2	-7.1	12	126	12.07	2.12	-10.05	0.000	4	0.265	0.082	2820	3767	3746	0	0	0	0	0	0
323	-0.89	-243.3	62.1	-17.7	37	331	0.00	2.03	0.00	0.000	6	0.000	0.041	2820	2481	3746	0	0	0	0	0	0
520	-0.89	-243.3	99.3	-18.4	56	529	0.00	2.15	0.00	0.000	4	0.000	0.069	2812	3779	3747	0	0	0	0	0	0
548	-0.89	-243.3	104.6	-19.4	57	559	0.00	2.00	0.00	0.000	6	0.000	0.041	2811	2489	3747	0	0	0	0	0	0
858	-0.89	-243.3	163.1	-19.2	68	865	0.00	2.12	0.00	0.000	4	0.000	0.068	2801	3771	3750	0	0	0	0	0	0
896	-0.89	-243.3	170.9	-20.5	69	904	0.12	1.98	0.00	0.000	6	0.182	0.041	2829	2489	3747	0	0	0	0	0	0
1217	-0.89	-243.3	225.7	-16.6	80	1224	0.00	2.12	0.00	0.000	4	0.000	0.068	2822	3776	3749	0	0	0	0	0	0
1249	-0.89	-243.3	231.2	-17.6	81	1256	0.00	1.98	0.00	0.000	6	0.000	0.041	2822	2493	3747	0	0	0	0	0	0
1580	-0.89	-243.3	284.2	-16.0	92	1588	0.00	2.12	0.00	0.000	4	0.000	0.068	2812	3780	3747	0	0	0	0	0	0
1608	-0.89	-243.3	288.9	-16.6	92	1618	0.00	1.95	0.00	0.000	6	0.000	0.042	2812	2496	3747	0	0	0	0	0	0
1946	-0.89	-243.3	344.3	-16.3	100	1952	0.00	0.00	0.00	0.000	6	0.000	0.000	2812	2496	3749	0	0	0	0	0	0
2248	-0.89	-243.3	394.4	-16.7	105	2256	0.00	2.12	0.00	0.000	4	0.000	0.070	2803	3779	3746	0	0	0	0	0	0
2328	-0.89	-243.3	408.0	-15.7	106	2336	0.12	1.98	0.00	0.000	6	0.177	0.042	2832	2495	3745	0	0	0	0	0	0
2669	-0.89	-243.3	453.6	-13.1	112	2677	0.00	2.10	0.00	0.000	4	0.000	0.071	2825	3774	3745	0	0	0	0	0	0
2723	-0.89	-243.3	461.1	-13.9	112	2734	0.00	1.98	0.00	0.000	6	0.000	0.043	2825	2493	3746	0	0	0	0	0	0
3031	-0.89	-243.3	502.0	-13.1	118	3039	0.00	2.12	0.00	0.000	4	0.000	0.070	2815	3774	3747	0	0	0	0	0	0
3069	-0.89	-243.3	507.3	-13.5	118	3077	0.00	1.95	0.00	0.000	6	0.000	0.043	2816	2496	3745	0	0	0	0	0	0
3394	-0.89	-243.3	553.5	-14.4	124	3401	0.00	2.10	0.00	0.000	4	0.000	0.070	2806	3773	3744	0	0	0	0	0	0
3442	-0.89	-243.3	561.3	-16.1	124	3450	0.12	1.98	0.00	0.000	6	0.171	0.043	2836	2493	3744	0	0	0	0	0	0
3750	-0.89	-243.3	601.0	-12.8	129	3759	0.00	2.12	0.00	0.000	4	0.000	0.071	2829	3773	3744	0	0	0	0	0	0
3794	-0.89	-243.3	607.1	-13.4	129	3801	0.00	1.95	0.00	0.000	6	0.000	0.044	2829	2498	3744	0	0	0	0	0	0
4112	-0.89	-243.3	647.7	-12.7	135	4118	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	2496	3743	0	0	0	0	0	0
4415	-0.89	-243.3	685.5	-12.4	140	4423	0.00	2.12	0.00	0.000	4	0.000	0.073	2820	3771	3740	0	0	0	0	0	0
4475	-0.89	-243.3	693.5	-12.8	141	4483	0.00	1.98	0.00	0.000	6	0.000	0.044	2819	2498	3742	0	0	0	0	0	0
4842	-0.89	-243.3	739.4	-12.3	147	4850	0.00	2.12	0.00	0.000	4	0.000	0.073	2808	3769	3741	0	0	0	0	0	0
4880	-0.89	-243.3	744.3	-13.1	147	4888	0.00	1.98	0.00	0.000	6	0.000	0.045	2810	2500	3740	0	0	0	0	0	0
5205	-0.89	-243.3	787.0	-13.1	153	5213	0.00	2.12	0.00	0.000	4	0.000	0.074	2801	3769	3740	0	0	0	0	0	0
5237	-0.89	-243.3	791.5	-13.8	153	5245	0.12	1.98	0.00	0.000	6	0.172	0.046	2831	2499	3740	0	0	0	0	0	0
5561	-0.89	-243.3	827.4	-11.0	159	5567	0.00	0.00	0.00	0.000	6	0.000	0.000	2831	2501	3739	0	0	0	0	0	0
5864	-0.89	-243.3	863.6	-12.1	164	5872	0.00	2.10	0.00	0.000	4	0.000	0.075	2824	3767	3737	0	0	0	0	0	0
5918	-0.89	-243.3	870.7	-12.6	164	5929	0.00	1.98	0.00	0.000	6	0.000	0.046	2823	2501	3738	0	0	0	0	0	0
6226	-0.89	-243.3	908.7	-12.3	170	6234	0.00	2.12	0.00	0.000	4	0.000	0.074	2814	3771	3738	0	0	0	0	0	0
6253	-0.89	-243.3	912.2	-12.6	170	6261	0.00	2.00	0.00	0.000	6	0.000	0.047	2814	2493	3736	0	0	0	0	0	0
6589	-0.89	-243.3	954.7	-12.7	176	6597	0.00	2.15	0.00	0.000	4	0.000	0.074	2805	3778	3737	0	0	0	0	0	0
6616	-0.89	-243.3	958.6	-13.5	176	6625	0.12	2.00	0.00	0.000	6	0.171	0.047	2835	2495	3737	0	0	0	0	0	0
6946	end dive: TARGET_DEPTH_EXCEEDED
state	6946	begin apogee
6950	-0.16	0.0	994.2	10.7	182	7172	0.73	0.00	209.15	1.244	6	0.132	0.000	3067	2052	2746	0	0	0	0	0	0
7173	end apogee: CONTROL_FINISHED_OK
state	7173	begin climb
7174	0.89	243.3	1003.4	0.0	185	7411	0.98	2.88	222.75	1.218	4	0.052	0.065	3422	3626	1759	0	0	0	0	0	0
7591	0.89	243.3	930.6	25506.9	192	7600	0.00	2.58	0.00	0.000	6	0.000	0.047	3434	2064	1748	0	0	0	0	0	0
7937	0.89	243.3	853.5	25506.9	198	7943	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	2060	1746	0	0	0	0	0	0
8239	0.89	243.3	786.0	25506.9	203	8244	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	2060	1745	0	0	0	0	0	0
8541	0.89	243.3	718.1	25506.9	208	8547	0.00	0.00	0.00	0.000	6	0.000	0.000	3434	2060	1744	0	0	0	0	0	0
8843	0.89	243.3	649.8	25506.9	213	8852	0.00	2.60	0.00	0.000	4	0.000	0.070	3434	3633	1743	0	0	0	0	0	0
8876	0.89	243.3	641.6	25506.9	213	8885	0.15	2.53	0.00	0.000	6	0.206	0.049	3413	2046	1744	0	0	0	0	0	0
9201	0.89	243.3	578.2	25506.9	219	9209	0.00	2.62	0.00	0.000	4	0.000	0.069	3413	3627	1743	0	0	0	0	0	0
9223	0.89	243.3	573.7	25506.9	219	9231	0.00	2.53	0.00	0.000	6	0.000	0.047	3422	2044	1743	0	0	0	0	0	0
9558	0.89	243.3	510.7	25506.9	225	9566	0.00	2.62	0.00	0.000	4	0.000	0.068	3422	3632	1743	0	0	0	0	0	0
9585	0.89	243.3	505.1	25506.9	225	9594	0.00	2.53	0.00	0.000	6	0.000	0.046	3435	2042	1741	0	0	0	0	0	0
9915	0.89	243.3	435.5	25506.9	231	9923	0.00	2.58	0.00	0.000	4	0.000	0.061	3447	462	1745	0	0	0	0	0	0
9980	0.89	243.3	421.4	25506.9	232	9988	0.12	2.55	0.00	0.000	6	0.199	0.050	3419	2052	1742	0	0	0	0	0	0
10336	0.89	243.3	349.3	25506.9	238	10344	0.00	2.60	0.00	0.000	4	0.000	0.067	3419	3641	1742	0	0	0	0	0	0
10374	0.89	243.3	340.9	25506.9	238	10382	0.00	2.53	0.00	0.000	6	0.000	0.049	3428	2047	1743	0	0	0	0	0	0
10693	0.89	243.3	275.0	25506.9	246	10702	0.00	2.60	0.00	0.000	4	0.000	0.062	3442	461	1745	0	0	0	0	0	0
10737	0.89	243.3	266.1	25506.9	247	10746	0.00	2.55	0.00	0.000	6	0.000	0.050	3441	2048	1742	0	0	0	0	0	0
11053	0.89	243.3	201.2	25506.9	258	11061	0.00	2.62	0.00	0.000	4	0.000	0.067	3442	3645	1743	0	0	0	0	0	0
11074	0.89	243.3	196.5	25506.9	258	11086	0.17	2.53	0.00	0.000	6	0.201	0.047	3413	2043	1743	0	0	0	0	0	0
11384	0.89	243.3	142.3	25506.9	269	11392	0.00	2.62	0.00	0.000	4	0.000	0.067	3414	3640	1743	0	0	0	0	0	0
11422	0.89	243.3	135.1	25506.9	270	11430	0.00	2.53	0.00	0.000	6	0.000	0.047	3422	2045	1743	0	0	0	0	0	0
11735	0.89	243.3	79.7	25506.9	288	11743	0.00	2.62	0.00	0.000	4	0.000	0.067	3423	3638	1743	0	0	0	0	0	0
11784	0.89	243.3	70.1	25506.9	292	11793	0.00	2.50	0.00	0.000	6	0.000	0.046	3435	2052	1743	0	0	0	0	0	0
11977	0.89	243.3	37.1	25506.9	310	11985	0.00	2.60	0.00	0.000	4	0.000	0.066	3434	3639	1742	0	0	0	0	0	0
12128	0.89	243.3	9.9	25506.9	328	12139	0.15	2.53	0.00	0.000	6	0.195	0.045	3413	2039	1743	0	0	0	0	0	0
12174	end climb: SURFACE_DEPTH_REACHED
state	12174	begin surface coast
12180	end surface coast: CONTROL_FINISHED_OK
state	12180	begin surface