Glider dive log

SCORE Jan11 * SG178 * Dive index * Mission links * Dive 7 * 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 7 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2125 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 27 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 250 R_STBD_OVSHOOT 21 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 248 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 -9718.3105 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 200 C_PITCH 3025 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 30 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 30 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 248

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 -9718.3105

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 1 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 5

C_PITCH 3025 LOGGERDEVICE1 69 RELAUNCH 1 T_TURN 225

C_ROLL_CLIMB 2125 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 200 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 27 VBD_MAXERRORS 1

DIVE 7 N_DIVES 0 R_STBD_OVSHOOT 21 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 050111,084307,3244.361,-11851.766,52,1.0,52,13.3 TGT_NAME MDW

_CALLS 2 TGT_LATLONG 3246.522,-11856.604

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.283,0.159

_SM_DEPTHo 1.58 KALMAN_X 9223.4,-1176.3,195.7,-16480.3,2304.7

_SM_ANGLEo -78.2 KALMAN_Y -695.0,-391.2,789.7,7756.7,-1349.8

GPS2 050111,085156,3244.374,-11851.763,14,1.1,14,13.3 MHEAD_RNG_PITCHd_Wd 285.9,8524,-19.3,-13.306

SPEED_LIMITS 0.230,0.325 D_GRID 1294

Post-dive calculations and measurements:

FINISH 0.5,1.014558 PA_USBA 100.0/0/0

SM_CCo 12417,0.00,0.000,0,0,1069,411.86 PA_HOME 12.8/482055/420273

SM_GC 1.45,8.98,0.00,0.00,0.057,0.000,0.000,163,2564,1069,-8.91,0.40,411.86 PA_ROOT 80.3/126931/24979

IRIDIUM_FIX 3231.39,-11853.58,050111,080853 PA_LOG 7.3/298663/276830

TT8_MAMPS 0.113848 PA_DATA1 0.1/7837685/7826437

HUMID 44.68 PA_DATA0 43.9/7836665/4396601

INTERNAL_PRESSURE 8.85776 _24V_AH 22.9,18.310

TCM_TEMP 18.60 _10V_AH 10.1,11.844

XPDR_PINGS 42 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 316300

PA_BOOTCOUNT 88 DATA_FILE_SIZE 13512,349

PA_DFQS 0/0 CAP_FILE_SIZE 111094,0

PA_CMQS 0/0 CFSIZE 260165632,253669376

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

PA_USBB 100.0/0/0 GPS 050111,122030,3245.458,-11853.318,37,1.6,37,13.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 275 148.36 SBE_CT 237 24 130.34

Roll_motor 109 78 195.31 nil 0 0 0.00

VBD_pump_during_apogee 546 1243 15567.81 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 56 103 132.92 nil 0 0 0.00

Iridium_during_connect 76 160 280.58 PAAM 13049 83 24905.04

Iridium_during_xfer 218 223 1118.09 nil 0 0 0.00

Transponder_ping 31 420 305.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.58

TT8 0 0 0.00

LPSleep 10321 2 228.30

TT8_Active 584 19 116.95

TT8_Sampling 1950 39 784.18

TT8_CF8 83 45 38.66

TT8_Kalman 33 81 27.53

Analog_circuits 1427 12 173.04

GPS_charging 0 0 0.00

Compass 902 15 136.79

RAFOS 0 0 0.00

Transponder 135 30 41.15

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15 -0.84 -194.6 0.0 0.0 0 77 0.00 0.00 -59.08 0.000 2 0.000 0.000 160 2552 3151 0 0 0 0 0 0

78 -0.84 -194.6 3.5 -7.1 10 103 12.20 2.03 -7.25 0.000 4 0.275 0.078 2735 3780 3545 0 0 0 0 0 0

192 -0.84 -194.6 49.9 -39.9 24 201 0.00 2.00 0.00 0.000 6 0.000 0.041 2742 2534 3547 0 0 0 0 0 0

386 -0.84 -194.6 101.7 -25.3 43 391 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2535 3549 0 0 0 0 0 0

688 -0.84 -194.6 177.4 -24.4 53 696 0.00 2.08 0.00 0.000 4 0.000 0.066 2734 3782 3548 0 0 0 0 0 0

731 -0.84 -194.6 189.2 -27.3 54 740 0.00 1.95 0.00 0.000 6 0.000 0.041 2735 2548 3552 0 0 0 0 0 0

1053 -0.84 -194.6 269.6 -25.3 65 1063 0.00 2.05 0.00 0.000 4 0.000 0.078 2725 3782 3550 0 0 0 0 0 0

1120 -0.84 -194.6 287.8 -26.7 67 1128 0.00 1.92 0.00 0.000 6 0.000 0.041 2725 2545 3549 0 0 0 0 0 0

1486 -0.84 -194.6 376.5 -24.2 74 1491 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2542 3550 0 0 0 0 0 0

1787 -0.84 -194.6 442.8 -21.9 79 1796 0.00 2.05 0.00 0.000 4 0.000 0.068 2715 3788 3550 0 0 0 0 0 0

1853 -0.84 -194.6 458.4 -23.7 80 1862 0.15 1.95 0.00 0.000 6 0.206 0.044 2749 2535 3550 0 0 0 0 0 0

2216 -0.84 -194.6 528.8 -19.3 86 2222 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2535 3551 0 0 0 0 0 0

2518 -0.84 -194.6 585.6 -18.8 91 2523 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2535 3549 0 0 0 0 0 0

2819 -0.84 -194.6 641.6 -18.5 96 2830 0.00 2.08 0.00 0.000 4 0.000 0.070 2742 3785 3552 0 0 0 0 0 0

2866 -0.84 -194.6 650.8 -19.3 96 2874 0.00 1.90 0.00 0.000 6 0.000 0.043 2742 2548 3549 0 0 0 0 0 0

3191 -0.84 -194.6 712.3 -18.9 102 3196 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2547 3549 0 0 0 0 0 0

3492 -0.84 -194.6 766.6 -17.9 107 3501 0.00 2.08 0.00 0.000 4 0.000 0.073 2735 3789 3547 0 0 0 0 0 0

3520 -0.84 -194.6 772.2 -19.6 107 3527 0.00 1.92 0.00 0.000 6 0.000 0.044 2735 2551 3546 0 0 0 0 0 0

3860 -0.84 -194.6 834.6 -18.4 113 3867 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2552 3547 0 0 0 0 0 0

4162 -0.84 -194.6 889.6 -18.2 118 4168 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2550 3547 0 0 0 0 0 0

4464 -0.84 -194.6 942.6 -17.5 123 4469 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2550 3544 0 0 0 0 0 0

4764 end dive: TARGET_DEPTH_EXCEEDED

state 4764 begin apogee

4767 -0.16 0.0 993.4 16.8 128 4944 0.80 0.00 168.57 1.244 6 0.174 0.000 2964 2120 2750 0 0 0 0 0 0

4944 end apogee: CONTROL_FINISHED_OK

state 4945 begin climb

4946 0.84 194.6 999.9 0.0 130 5140 1.02 2.83 180.18 1.219 4 0.109 0.059 3296 553 1953 0 0 0 0 0 0

5180 0.85 197.6 978.1 13.2 134 5189 0.00 2.70 0.00 0.000 6 0.000 0.050 3296 2121 1946 0 0 0 0 0 0

5499 0.85 199.8 935.9 13.2 140 5512 0.00 2.72 4.15 0.741 4 0.000 0.069 3296 3714 1931 0 0 0 0 0 0

5569 0.85 199.8 925.9 14.2 141 5578 0.00 2.60 0.00 0.000 6 0.000 0.047 3308 2132 1931 0 0 0 0 0 0

5926 0.85 202.8 878.6 13.2 147 5934 0.00 2.67 0.00 0.000 4 0.000 0.070 3308 3725 1931 0 0 0 0 0 0

5948 0.85 202.8 875.5 13.7 147 5961 0.00 2.60 4.20 0.741 6 0.000 0.047 3321 2114 1922 0 0 0 0 0 0

6287 0.85 202.8 827.1 14.5 153 6296 0.00 2.67 0.00 0.000 4 0.000 0.070 3320 3717 1918 0 0 0 0 0 0

6310 0.85 202.8 823.5 16.1 153 6318 0.12 2.55 0.00 0.000 6 0.199 0.044 3305 2115 1919 0 0 0 0 0 0

6645 0.87 217.5 780.0 12.6 159 6667 0.00 0.00 15.20 1.040 6 0.000 0.000 3305 2110 1861 0 0 0 0 0 0

6946 0.90 241.2 743.1 12.2 164 6979 0.00 2.78 22.80 1.050 4 0.000 0.069 3305 3712 1764 0 0 0 0 0 0

7004 0.90 241.2 735.7 13.5 164 7014 0.00 2.60 0.00 0.000 6 0.000 0.046 3315 2123 1763 0 0 0 0 0 0

7312 0.91 252.6 696.3 12.8 170 7329 0.00 0.00 11.43 0.964 6 0.000 0.000 3316 2124 1718 0 0 0 0 0 0

7613 0.92 257.8 657.0 13.1 175 7630 0.00 2.67 6.22 0.830 4 0.000 0.068 3315 3714 1697 0 0 0 0 0 0

7643 0.92 257.8 652.7 13.8 175 7651 0.00 2.58 0.00 0.000 6 0.000 0.046 3327 2112 1696 0 0 0 0 0 0

7973 0.93 266.2 609.6 12.9 181 7988 0.00 0.00 9.25 0.894 6 0.000 0.000 3327 2110 1661 0 0 0 0 0 0

8275 0.94 272.9 570.8 13.0 186 8292 0.00 2.75 7.32 0.835 4 0.000 0.069 3327 3722 1635 0 0 0 0 0 0

8317 0.94 272.9 564.7 15.8 186 8325 0.00 2.58 0.00 0.000 6 0.000 0.046 3339 2127 1634 0 0 0 0 0 0

8636 0.94 272.9 517.1 15.0 192 8645 0.00 2.62 0.00 0.000 4 0.000 0.060 3351 535 1632 0 0 0 0 0 0

8659 0.94 272.9 513.5 15.2 192 8667 0.00 2.60 0.00 0.000 6 0.000 0.049 3351 2139 1632 0 0 0 0 0 0

8994 0.94 272.9 459.8 16.1 198 9003 0.00 2.60 0.00 0.000 4 0.000 0.068 3352 3710 1632 0 0 0 0 0 0

9049 0.94 272.9 450.1 17.8 198 9060 0.15 2.53 0.00 0.000 6 0.190 0.045 3330 2124 1632 0 0 0 0 0 0

9356 0.94 272.9 407.0 13.9 204 9361 0.00 0.00 0.00 0.000 6 0.000 0.000 3328 2122 1632 0 0 0 0 0 0

9658 0.94 272.9 366.1 13.5 209 9664 0.00 0.00 0.00 0.000 6 0.000 0.000 3328 2123 1631 0 0 0 0 0 0

9960 0.94 272.9 324.8 13.7 214 9965 0.00 0.00 0.00 0.000 6 0.000 0.000 3328 2123 1631 0 0 0 0 0 0

10262 0.94 272.9 283.8 13.6 220 10268 0.00 0.00 0.00 0.000 6 0.000 0.000 3328 2127 1631 0 0 0 0 0 0

10565 0.97 296.5 245.0 12.2 230 10601 0.00 2.70 21.83 0.763 4 0.000 0.067 3328 3716 1537 0 0 0 0 0 0

10615 0.97 296.5 238.5 13.4 231 10623 0.00 2.55 0.00 0.000 6 0.000 0.046 3337 2120 1536 0 0 0 0 0 0

10930 0.97 296.5 195.7 13.7 242 10938 0.00 2.58 0.00 0.000 4 0.000 0.059 3347 537 1533 0 0 0 0 0 0

10952 0.97 296.5 192.5 13.4 242 10962 0.00 2.55 0.00 0.000 6 0.000 0.047 3349 2131 1533 0 0 0 0 0 0

11261 0.97 296.5 149.1 13.8 253 11270 0.00 2.60 0.00 0.000 4 0.000 0.065 3349 3719 1534 0 0 0 0 0 0

11327 0.97 296.5 139.0 15.5 255 11335 0.00 2.55 0.00 0.000 6 0.000 0.044 3362 2112 1533 0 0 0 0 0 0

11644 0.97 296.5 91.2 15.3 269 11648 0.00 2.58 0.00 0.000 4 0.000 0.059 3374 537 1533 0 0 0 0 0 0

11670 0.97 296.5 87.3 14.0 271 11678 0.10 2.58 0.00 0.000 6 0.151 0.047 3343 2126 1532 0 0 0 0 0 0

11861 0.97 296.5 61.1 14.0 290 11866 0.00 2.62 0.00 0.000 4 0.000 0.064 3343 3714 1532 0 0 0 0 0 0

11887 0.97 296.5 57.3 14.4 292 11896 0.00 2.53 0.00 0.000 6 0.000 0.043 3353 2121 1530 0 0 0 0 0 0

12079 1.03 343.2 32.1 11.2 311 12125 0.00 2.58 39.53 0.636 4 0.000 0.056 3364 543 1347 0 0 0 0 0 0

12160 1.10 399.7 22.9 10.7 318 12214 0.00 2.60 46.67 0.623 6 0.000 0.045 3368 2134 1117 0 0 0 0 0 0

12276 1.11 410.2 9.0 12.8 337 12290 0.00 2.67 9.18 0.560 4 0.000 0.062 3364 3717 1075 0 0 0 0 0 0

12310 1.11 410.2 4.3 13.4 343 12318 0.00 2.60 0.00 0.000 6 0.000 0.042 3376 2129 1074 0 0 0 0 0 0

12320 end climb: SURFACE_DEPTH_REACHED

state 12320 begin surface coast

12342 end surface coast: CONTROL_FINISHED_OK

state 12342 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	7	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2125	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	27	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	250	R_STBD_OVSHOOT	21	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	248	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	-9718.3105	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	200	C_PITCH	3025	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	30	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	050111,084307,3244.361,-11851.766,52,1.0,52,13.3	TGT_NAME	MDW
_CALLS	2	TGT_LATLONG	3246.522,-11856.604
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.283,0.159
_SM_DEPTHo	1.58	KALMAN_X	9223.4,-1176.3,195.7,-16480.3,2304.7
_SM_ANGLEo	-78.2	KALMAN_Y	-695.0,-391.2,789.7,7756.7,-1349.8
GPS2	050111,085156,3244.374,-11851.763,14,1.1,14,13.3	MHEAD_RNG_PITCHd_Wd	285.9,8524,-19.3,-13.306
SPEED_LIMITS	0.230,0.325	D_GRID	1294

FINISH	0.5,1.014558	PA_USBA	100.0/0/0
SM_CCo	12417,0.00,0.000,0,0,1069,411.86	PA_HOME	12.8/482055/420273
SM_GC	1.45,8.98,0.00,0.00,0.057,0.000,0.000,163,2564,1069,-8.91,0.40,411.86	PA_ROOT	80.3/126931/24979
IRIDIUM_FIX	3231.39,-11853.58,050111,080853	PA_LOG	7.3/298663/276830
TT8_MAMPS	0.113848	PA_DATA1	0.1/7837685/7826437
HUMID	44.68	PA_DATA0	43.9/7836665/4396601
INTERNAL_PRESSURE	8.85776	_24V_AH	22.9,18.310
TCM_TEMP	18.60	_10V_AH	10.1,11.844
XPDR_PINGS	42	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	316300
PA_BOOTCOUNT	88	DATA_FILE_SIZE	13512,349
PA_DFQS	0/0	CAP_FILE_SIZE	111094,0
PA_CMQS	0/0	CFSIZE	260165632,253669376
PA_USBDRIVE	None	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_USBB	100.0/0/0	GPS	050111,122030,3245.458,-11853.318,37,1.6,37,13.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	275	148.36	SBE_CT	237	24	130.34
Roll_motor	109	78	195.31	nil	0	0	0.00
VBD_pump_during_apogee	546	1243	15567.81	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	56	103	132.92	nil	0	0	0.00
Iridium_during_connect	76	160	280.58	PAAM	13049	83	24905.04
Iridium_during_xfer	218	223	1118.09	nil	0	0	0.00
Transponder_ping	31	420	305.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.58
TT8	0	0	0.00
LPSleep	10321	2	228.30
TT8_Active	584	19	116.95
TT8_Sampling	1950	39	784.18
TT8_CF8	83	45	38.66
TT8_Kalman	33	81	27.53
Analog_circuits	1427	12	173.04
GPS_charging	0	0	0.00
Compass	902	15	136.79
RAFOS	0	0	0.00
Transponder	135	30	41.15

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15	-0.84	-194.6	0.0	0.0	0	77	0.00	0.00	-59.08	0.000	2	0.000	0.000	160	2552	3151	0	0	0	0	0	0
78	-0.84	-194.6	3.5	-7.1	10	103	12.20	2.03	-7.25	0.000	4	0.275	0.078	2735	3780	3545	0	0	0	0	0	0
192	-0.84	-194.6	49.9	-39.9	24	201	0.00	2.00	0.00	0.000	6	0.000	0.041	2742	2534	3547	0	0	0	0	0	0
386	-0.84	-194.6	101.7	-25.3	43	391	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2535	3549	0	0	0	0	0	0
688	-0.84	-194.6	177.4	-24.4	53	696	0.00	2.08	0.00	0.000	4	0.000	0.066	2734	3782	3548	0	0	0	0	0	0
731	-0.84	-194.6	189.2	-27.3	54	740	0.00	1.95	0.00	0.000	6	0.000	0.041	2735	2548	3552	0	0	0	0	0	0
1053	-0.84	-194.6	269.6	-25.3	65	1063	0.00	2.05	0.00	0.000	4	0.000	0.078	2725	3782	3550	0	0	0	0	0	0
1120	-0.84	-194.6	287.8	-26.7	67	1128	0.00	1.92	0.00	0.000	6	0.000	0.041	2725	2545	3549	0	0	0	0	0	0
1486	-0.84	-194.6	376.5	-24.2	74	1491	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2542	3550	0	0	0	0	0	0
1787	-0.84	-194.6	442.8	-21.9	79	1796	0.00	2.05	0.00	0.000	4	0.000	0.068	2715	3788	3550	0	0	0	0	0	0
1853	-0.84	-194.6	458.4	-23.7	80	1862	0.15	1.95	0.00	0.000	6	0.206	0.044	2749	2535	3550	0	0	0	0	0	0
2216	-0.84	-194.6	528.8	-19.3	86	2222	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2535	3551	0	0	0	0	0	0
2518	-0.84	-194.6	585.6	-18.8	91	2523	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2535	3549	0	0	0	0	0	0
2819	-0.84	-194.6	641.6	-18.5	96	2830	0.00	2.08	0.00	0.000	4	0.000	0.070	2742	3785	3552	0	0	0	0	0	0
2866	-0.84	-194.6	650.8	-19.3	96	2874	0.00	1.90	0.00	0.000	6	0.000	0.043	2742	2548	3549	0	0	0	0	0	0
3191	-0.84	-194.6	712.3	-18.9	102	3196	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2547	3549	0	0	0	0	0	0
3492	-0.84	-194.6	766.6	-17.9	107	3501	0.00	2.08	0.00	0.000	4	0.000	0.073	2735	3789	3547	0	0	0	0	0	0
3520	-0.84	-194.6	772.2	-19.6	107	3527	0.00	1.92	0.00	0.000	6	0.000	0.044	2735	2551	3546	0	0	0	0	0	0
3860	-0.84	-194.6	834.6	-18.4	113	3867	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2552	3547	0	0	0	0	0	0
4162	-0.84	-194.6	889.6	-18.2	118	4168	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2550	3547	0	0	0	0	0	0
4464	-0.84	-194.6	942.6	-17.5	123	4469	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2550	3544	0	0	0	0	0	0
4764	end dive: TARGET_DEPTH_EXCEEDED
state	4764	begin apogee
4767	-0.16	0.0	993.4	16.8	128	4944	0.80	0.00	168.57	1.244	6	0.174	0.000	2964	2120	2750	0	0	0	0	0	0
4944	end apogee: CONTROL_FINISHED_OK
state	4945	begin climb
4946	0.84	194.6	999.9	0.0	130	5140	1.02	2.83	180.18	1.219	4	0.109	0.059	3296	553	1953	0	0	0	0	0	0
5180	0.85	197.6	978.1	13.2	134	5189	0.00	2.70	0.00	0.000	6	0.000	0.050	3296	2121	1946	0	0	0	0	0	0
5499	0.85	199.8	935.9	13.2	140	5512	0.00	2.72	4.15	0.741	4	0.000	0.069	3296	3714	1931	0	0	0	0	0	0
5569	0.85	199.8	925.9	14.2	141	5578	0.00	2.60	0.00	0.000	6	0.000	0.047	3308	2132	1931	0	0	0	0	0	0
5926	0.85	202.8	878.6	13.2	147	5934	0.00	2.67	0.00	0.000	4	0.000	0.070	3308	3725	1931	0	0	0	0	0	0
5948	0.85	202.8	875.5	13.7	147	5961	0.00	2.60	4.20	0.741	6	0.000	0.047	3321	2114	1922	0	0	0	0	0	0
6287	0.85	202.8	827.1	14.5	153	6296	0.00	2.67	0.00	0.000	4	0.000	0.070	3320	3717	1918	0	0	0	0	0	0
6310	0.85	202.8	823.5	16.1	153	6318	0.12	2.55	0.00	0.000	6	0.199	0.044	3305	2115	1919	0	0	0	0	0	0
6645	0.87	217.5	780.0	12.6	159	6667	0.00	0.00	15.20	1.040	6	0.000	0.000	3305	2110	1861	0	0	0	0	0	0
6946	0.90	241.2	743.1	12.2	164	6979	0.00	2.78	22.80	1.050	4	0.000	0.069	3305	3712	1764	0	0	0	0	0	0
7004	0.90	241.2	735.7	13.5	164	7014	0.00	2.60	0.00	0.000	6	0.000	0.046	3315	2123	1763	0	0	0	0	0	0
7312	0.91	252.6	696.3	12.8	170	7329	0.00	0.00	11.43	0.964	6	0.000	0.000	3316	2124	1718	0	0	0	0	0	0
7613	0.92	257.8	657.0	13.1	175	7630	0.00	2.67	6.22	0.830	4	0.000	0.068	3315	3714	1697	0	0	0	0	0	0
7643	0.92	257.8	652.7	13.8	175	7651	0.00	2.58	0.00	0.000	6	0.000	0.046	3327	2112	1696	0	0	0	0	0	0
7973	0.93	266.2	609.6	12.9	181	7988	0.00	0.00	9.25	0.894	6	0.000	0.000	3327	2110	1661	0	0	0	0	0	0
8275	0.94	272.9	570.8	13.0	186	8292	0.00	2.75	7.32	0.835	4	0.000	0.069	3327	3722	1635	0	0	0	0	0	0
8317	0.94	272.9	564.7	15.8	186	8325	0.00	2.58	0.00	0.000	6	0.000	0.046	3339	2127	1634	0	0	0	0	0	0
8636	0.94	272.9	517.1	15.0	192	8645	0.00	2.62	0.00	0.000	4	0.000	0.060	3351	535	1632	0	0	0	0	0	0
8659	0.94	272.9	513.5	15.2	192	8667	0.00	2.60	0.00	0.000	6	0.000	0.049	3351	2139	1632	0	0	0	0	0	0
8994	0.94	272.9	459.8	16.1	198	9003	0.00	2.60	0.00	0.000	4	0.000	0.068	3352	3710	1632	0	0	0	0	0	0
9049	0.94	272.9	450.1	17.8	198	9060	0.15	2.53	0.00	0.000	6	0.190	0.045	3330	2124	1632	0	0	0	0	0	0
9356	0.94	272.9	407.0	13.9	204	9361	0.00	0.00	0.00	0.000	6	0.000	0.000	3328	2122	1632	0	0	0	0	0	0
9658	0.94	272.9	366.1	13.5	209	9664	0.00	0.00	0.00	0.000	6	0.000	0.000	3328	2123	1631	0	0	0	0	0	0
9960	0.94	272.9	324.8	13.7	214	9965	0.00	0.00	0.00	0.000	6	0.000	0.000	3328	2123	1631	0	0	0	0	0	0
10262	0.94	272.9	283.8	13.6	220	10268	0.00	0.00	0.00	0.000	6	0.000	0.000	3328	2127	1631	0	0	0	0	0	0
10565	0.97	296.5	245.0	12.2	230	10601	0.00	2.70	21.83	0.763	4	0.000	0.067	3328	3716	1537	0	0	0	0	0	0
10615	0.97	296.5	238.5	13.4	231	10623	0.00	2.55	0.00	0.000	6	0.000	0.046	3337	2120	1536	0	0	0	0	0	0
10930	0.97	296.5	195.7	13.7	242	10938	0.00	2.58	0.00	0.000	4	0.000	0.059	3347	537	1533	0	0	0	0	0	0
10952	0.97	296.5	192.5	13.4	242	10962	0.00	2.55	0.00	0.000	6	0.000	0.047	3349	2131	1533	0	0	0	0	0	0
11261	0.97	296.5	149.1	13.8	253	11270	0.00	2.60	0.00	0.000	4	0.000	0.065	3349	3719	1534	0	0	0	0	0	0
11327	0.97	296.5	139.0	15.5	255	11335	0.00	2.55	0.00	0.000	6	0.000	0.044	3362	2112	1533	0	0	0	0	0	0
11644	0.97	296.5	91.2	15.3	269	11648	0.00	2.58	0.00	0.000	4	0.000	0.059	3374	537	1533	0	0	0	0	0	0
11670	0.97	296.5	87.3	14.0	271	11678	0.10	2.58	0.00	0.000	6	0.151	0.047	3343	2126	1532	0	0	0	0	0	0
11861	0.97	296.5	61.1	14.0	290	11866	0.00	2.62	0.00	0.000	4	0.000	0.064	3343	3714	1532	0	0	0	0	0	0
11887	0.97	296.5	57.3	14.4	292	11896	0.00	2.53	0.00	0.000	6	0.000	0.043	3353	2121	1530	0	0	0	0	0	0
12079	1.03	343.2	32.1	11.2	311	12125	0.00	2.58	39.53	0.636	4	0.000	0.056	3364	543	1347	0	0	0	0	0	0
12160	1.10	399.7	22.9	10.7	318	12214	0.00	2.60	46.67	0.623	6	0.000	0.045	3368	2134	1117	0	0	0	0	0	0
12276	1.11	410.2	9.0	12.8	337	12290	0.00	2.67	9.18	0.560	4	0.000	0.062	3364	3717	1075	0	0	0	0	0	0
12310	1.11	410.2	4.3	13.4	343	12318	0.00	2.60	0.00	0.000	6	0.000	0.042	3376	2129	1074	0	0	0	0	0	0
12320	end climb: SURFACE_DEPTH_REACHED
state	12320	begin surface coast
12342	end surface coast: CONTROL_FINISHED_OK
state	12342	begin surface