Glider dive log

SCORE Jan11 * SG179 * Dive index * Mission links * Dive 7 * 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 2100 ALTIM_FREQUENCY 13

DIVE 7 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 40 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 250 R_STBD_OVSHOOT 38 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 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 -16212.911 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 200 C_PITCH 3057 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 30 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 26 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 250

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 26 TCM_ROLL_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 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 248

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 -16212.911

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 3057 LOGGERDEVICE1 69 RELAUNCH 1 T_TURN 225

C_ROLL_CLIMB 1923 LOGGERDEVICE2 -1 RHO 1.0275 T_TURN_SAMPINT 5

C_ROLL_DIVE 2100 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 200 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 40 VBD_MAXERRORS 1

DIVE 7 N_DIVES 0 R_STBD_OVSHOOT 38 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 050111,055736,3242.179,-11849.562,173,1.0,180,13.3 TGT_NAME DM4

_CALLS 1 TGT_LATLONG 3251.800,-11907.783

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.256,0.199

_SM_DEPTHo 1.71 KALMAN_X 6940.7,-1425.2,196.1,-11655.5,2343.7

_SM_ANGLEo -76.5 KALMAN_Y -3146.9,-398.3,512.9,6718.0,-2046.7

GPS2 050111,060326,3242.174,-11849.554,15,1.6,15,13.3 MHEAD_RNG_PITCHd_Wd 294.6,33497,-19.3,-13.306

SPEED_LIMITS 0.230,0.325 D_GRID 1115

Post-dive calculations and measurements:

FINISH 1.0,1.025182 PA_USBA 100.0/0/0

SM_CCo 12532,30.55,0.556,0,0,1728,250.45 PA_HOME 8.9/483886/440703

SM_GC 1.67,0.00,0.00,30.55,0.000,0.000,0.556,139,2116,1728,-9.11,0.54,250.45 PA_ROOT 80.3/126931/24979

IRIDIUM_FIX 3218.62,-12023.66,050111,010157 PA_LOG 7.1/297829/276781

TT8_MAMPS 0.120589 PA_DATA1 0.1/7836665/7825417

HUMID 53.81 PA_DATA0 35.8/7836665/5032912

INTERNAL_PRESSURE 9.60313 _24V_AH 22.9,15.340

TCM_TEMP 19.00 _10V_AH 10.2,9.310

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 316876

PA_BOOTCOUNT 91 DATA_FILE_SIZE 13499,394

PA_DFQS 0/0 CAP_FILE_SIZE 137375,0

PA_CMQS 0/0 CFSIZE 260165632,256090112

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 050111,093550,3242.701,-11849.608,100,2.5,119,13.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 276 146.09 SBE_CT 268 24 147.76

Roll_motor 124 77 219.58 nil 0 0 0.00

VBD_pump_during_apogee 345 1110 8791.62 nil 0 0 0.00

VBD_pump_during_surface 30 556 389.08 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 66.43 nil 0 0 0.00

Iridium_during_connect 39 160 143.25 PAAM 13159 85 25787.96

Iridium_during_xfer 184 223 940.02 nil 0 0 0.00

Transponder_ping 38 420 367.89 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.40

TT8 0 0 0.00

LPSleep 9737 2 217.51

TT8_Active 453 19 91.51

TT8_Sampling 2620 39 1063.68

TT8_CF8 96 45 45.00

TT8_Kalman 33 81 27.80

Analog_circuits 1550 12 189.75

GPS_charging 0 0 0.00

Compass 1619 15 247.84

RAFOS 0 0 0.00

Transponder 243 30 74.58

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 -0.98 -194.6 0.0 0.0 0 77 0.00 0.00 -59.17 0.000 2 0.000 0.000 141 2256 3046 0 0 0 0 0 0

78 -0.98 -194.6 3.8 -6.9 10 109 12.23 2.35 -10.15 0.000 4 0.276 0.077 2723 3656 3545 0 0 0 0 0 0

134 -0.98 -194.6 16.8 -9.8 20 142 0.00 2.47 0.00 0.000 6 0.000 0.040 2723 2086 3546 0 0 0 0 0 0

203 -0.98 -194.6 21.5 -6.6 31 204 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2086 3546 0 0 0 0 0 0

389 -0.98 -194.6 33.6 -6.5 49 394 0.00 2.62 0.00 0.000 4 0.000 0.062 2721 3664 3547 0 0 0 0 0 0

437 -0.98 -194.6 36.6 -6.5 53 445 0.00 2.47 0.00 0.000 6 0.000 0.041 2721 2093 3547 0 0 0 0 0 0

629 -0.98 -194.6 50.7 -7.6 72 633 0.00 2.58 0.00 0.000 4 0.000 0.062 2722 3653 3548 0 0 0 0 0 0

676 -0.98 -194.6 54.3 -7.2 76 684 0.00 2.42 0.00 0.000 6 0.000 0.040 2721 2099 3548 0 0 0 0 0 0

868 -0.98 -194.6 68.7 -7.2 95 872 0.00 2.55 0.00 0.000 4 0.000 0.060 2721 3659 3548 0 0 0 0 0 0

1113 -0.98 -194.6 90.4 -8.8 118 1118 0.00 2.42 0.00 0.000 6 0.000 0.038 2721 2093 3548 0 0 0 0 0 0

1318 -0.98 -194.6 109.0 -9.2 132 1327 0.00 2.50 0.00 0.000 4 0.000 0.059 2721 3669 3550 0 0 0 0 0 0

1565 -0.98 -194.6 134.3 -11.5 139 1576 0.00 2.40 0.00 0.000 6 0.000 0.039 2721 2097 3550 0 0 0 0 0 0

1875 -0.98 -194.6 166.3 -10.1 150 1884 0.00 2.50 0.00 0.000 4 0.000 0.058 2723 3665 3550 0 0 0 0 0 0

2122 -0.98 -194.6 189.9 -9.0 157 2134 0.00 2.40 0.00 0.000 6 0.000 0.040 2720 2094 3550 0 0 0 0 0 0

2433 -0.98 -194.6 216.3 -9.0 168 2442 0.00 2.50 0.00 0.000 4 0.000 0.059 2721 3668 3550 0 0 0 0 0 0

2637 -0.98 -194.6 237.5 -10.8 174 2645 0.00 2.40 0.00 0.000 6 0.000 0.039 2721 2095 3551 0 0 0 0 0 0

2953 -0.98 -194.6 274.1 -12.0 185 2961 0.00 2.50 0.00 0.000 4 0.000 0.058 2721 3671 3548 0 0 0 0 0 0

3173 -0.98 -194.6 299.6 -11.0 192 3183 0.00 2.40 0.00 0.000 6 0.000 0.039 2722 2093 3551 0 0 0 0 0 0

3511 -0.98 -194.6 333.2 -9.8 198 3519 0.00 2.50 0.00 0.000 4 0.000 0.059 2721 3670 3551 0 0 0 0 0 0

3699 -0.98 -194.6 350.1 -8.7 200 3710 0.00 2.38 0.00 0.000 6 0.000 0.039 2721 2098 3550 0 0 0 0 0 0

4008 -0.98 -194.6 376.9 -8.8 206 4017 0.00 2.53 0.00 0.000 4 0.000 0.058 2721 3677 3550 0 0 0 0 0 0

4185 -0.98 -194.6 393.2 -9.1 208 4193 0.00 2.40 0.00 0.000 6 0.000 0.038 2721 2089 3549 0 0 0 0 0 0

4494 -0.98 -194.6 423.3 -10.0 213 4503 0.00 2.50 0.00 0.000 4 0.000 0.058 2721 3662 3551 0 0 0 0 0 0

4640 -0.98 -194.6 438.9 -10.9 215 4648 0.00 2.38 0.00 0.000 6 0.000 0.039 2722 2090 3549 0 0 0 0 0 0

4987 -0.98 -194.6 475.8 -10.7 221 4995 0.00 2.47 0.00 0.000 4 0.000 0.058 2721 3662 3549 0 0 0 0 0 0

5181 -0.98 -194.6 495.0 -9.6 224 5189 0.00 2.38 0.00 0.000 6 0.000 0.040 2722 2102 3549 0 0 0 0 0 0

5549 -0.98 -194.6 528.3 -9.1 230 5557 0.00 2.47 0.00 0.000 4 0.000 0.059 2721 3663 3549 0 0 0 0 0 0

5795 -0.98 -194.6 552.2 -10.1 233 5806 0.00 2.40 0.00 0.000 6 0.000 0.039 2722 2086 3548 0 0 0 0 0 0

6104 -0.98 -194.6 583.4 -10.2 239 6112 0.00 2.53 0.00 0.000 4 0.000 0.059 2721 3668 3547 0 0 0 0 0 0

6351 -0.98 -194.6 609.1 -9.8 242 6358 0.00 2.40 0.00 0.000 6 0.000 0.041 2721 2096 3547 0 0 0 0 0 0

6665 -0.98 -194.6 640.6 -10.0 248 6675 0.00 2.50 0.00 0.000 4 0.000 0.060 2722 3663 3548 0 0 0 0 0 0

6844 -0.98 -194.6 657.4 -9.0 250 6853 0.00 2.38 0.00 0.000 6 0.000 0.041 2721 2100 3548 0 0 0 0 0 0

7159 -0.98 -194.6 686.4 -9.4 256 7167 0.00 2.47 0.00 0.000 4 0.000 0.060 2721 3668 3545 0 0 0 0 0 0

7299 -0.98 -194.6 699.7 -9.8 258 7307 0.00 2.42 0.00 0.000 6 0.000 0.041 2721 2084 3545 0 0 0 0 0 0

7656 -0.98 -194.6 734.3 -9.8 264 7665 0.00 2.53 0.00 0.000 4 0.000 0.060 2721 3663 3545 0 0 0 0 0 0

7844 -0.98 -194.6 753.0 -9.9 266 7855 0.00 2.40 0.00 0.000 6 0.000 0.040 2722 2093 3544 0 0 0 0 0 0

8153 -0.98 -194.6 783.2 -9.9 272 8162 0.00 2.53 0.00 0.000 4 0.000 0.060 2721 3667 3544 0 0 0 0 0 0

8240 -0.98 -194.6 791.6 -9.6 273 8248 0.00 2.38 0.00 0.000 6 0.000 0.040 2722 2097 3544 0 0 0 0 0 0

8581 -0.98 -194.6 824.1 -9.6 279 8589 0.00 2.50 0.00 0.000 4 0.000 0.061 2721 3663 3544 0 0 0 0 0 0

8790 -0.98 -194.6 844.1 -9.6 282 8798 0.00 2.40 0.00 0.000 6 0.000 0.041 2721 2096 3543 0 0 0 0 0 0

9132 -0.98 -194.6 877.8 -10.0 288 9140 0.00 2.50 0.00 0.000 4 0.000 0.061 2721 3662 3543 0 0 0 0 0 0

9288 -0.98 -194.6 892.8 -9.5 290 9296 0.00 2.40 0.00 0.000 6 0.000 0.041 2721 2100 3542 0 0 0 0 0 0

9304 end dive: HALF_MISSION_TIME_EXCEEDED

state 9304 begin apogee

9307 -0.19 0.0 894.4 9.3 290 9485 0.73 0.00 169.45 1.111 6 0.055 0.000 3008 1927 2748 0 0 0 0 0 0

9485 end apogee: CONTROL_FINISHED_OK

state 9485 begin climb

9486 0.98 194.6 906.0 0.0 293 9674 1.05 2.78 176.18 1.091 4 0.060 0.053 3371 3499 1955 0 0 0 0 0 0

9795 0.98 194.6 833.8 39.9 298 9803 0.00 2.55 0.00 0.000 6 0.000 0.036 3383 1930 1948 0 0 0 0 0 0

10114 0.98 194.6 724.3 34.0 304 10122 0.00 2.55 0.00 0.000 4 0.000 0.047 3395 337 1945 0 0 0 0 0 0

10141 0.98 194.6 714.8 33.0 304 10149 0.00 2.50 0.00 0.000 6 0.000 0.041 3395 1922 1944 0 0 0 0 0 0

10470 0.98 194.6 602.3 34.5 310 10479 0.00 2.50 0.00 0.000 4 0.000 0.047 3406 340 1943 0 0 0 0 0 0

10578 0.98 194.6 565.4 34.9 311 10587 0.15 2.50 0.00 0.000 6 0.233 0.041 3377 1933 1943 0 0 0 0 0 0

10892 0.98 194.6 466.5 31.4 317 10898 0.00 0.00 0.00 0.000 6 0.000 0.000 3378 1933 1942 0 0 0 0 0 0

11193 0.98 194.6 372.8 31.3 322 11202 0.00 2.53 0.00 0.000 4 0.000 0.050 3387 338 1942 0 0 0 0 0 0

11258 0.98 194.6 352.0 32.9 323 11266 0.00 2.45 0.00 0.000 6 0.000 0.041 3387 1926 1942 0 0 0 0 0 0

11586 0.98 194.6 250.5 31.2 331 11591 0.00 0.00 0.00 0.000 6 0.000 0.000 3387 1925 1940 0 0 0 0 0 0

11889 0.98 194.6 160.8 28.6 341 11897 0.00 2.53 0.00 0.000 4 0.000 0.057 3387 3510 1942 0 0 0 0 0 0

11905 0.98 194.6 156.0 28.5 341 11913 0.00 2.47 0.00 0.000 6 0.000 0.040 3399 1915 1942 0 0 0 0 0 0

12216 0.98 194.6 70.5 27.3 357 12217 0.00 0.00 0.00 0.000 6 0.000 0.000 3399 1913 1942 0 0 0 0 0 0

12402 0.98 194.6 24.5 19.9 375 12403 0.00 0.00 0.00 0.000 6 0.000 0.000 3399 1912 1942 0 0 0 0 0 0

12507 end climb: SURFACE_DEPTH_REACHED

state 12507 begin surface coast

12518 end surface coast: CONTROL_FINISHED_OK

state 12518 begin surface

ID	179	HEADING	-1	ROLL_DEG	45	ALTIM_PING_DELTA	5
MISSION	6	ESCAPE_HEADING	0	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
DIVE	7	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	40	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	250	R_STBD_OVSHOOT	38	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	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	-16212.911	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	200	C_PITCH	3057	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	30	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	26	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	050111,055736,3242.179,-11849.562,173,1.0,180,13.3	TGT_NAME	DM4
_CALLS	1	TGT_LATLONG	3251.800,-11907.783
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.256,0.199
_SM_DEPTHo	1.71	KALMAN_X	6940.7,-1425.2,196.1,-11655.5,2343.7
_SM_ANGLEo	-76.5	KALMAN_Y	-3146.9,-398.3,512.9,6718.0,-2046.7
GPS2	050111,060326,3242.174,-11849.554,15,1.6,15,13.3	MHEAD_RNG_PITCHd_Wd	294.6,33497,-19.3,-13.306
SPEED_LIMITS	0.230,0.325	D_GRID	1115

FINISH	1.0,1.025182	PA_USBA	100.0/0/0
SM_CCo	12532,30.55,0.556,0,0,1728,250.45	PA_HOME	8.9/483886/440703
SM_GC	1.67,0.00,0.00,30.55,0.000,0.000,0.556,139,2116,1728,-9.11,0.54,250.45	PA_ROOT	80.3/126931/24979
IRIDIUM_FIX	3218.62,-12023.66,050111,010157	PA_LOG	7.1/297829/276781
TT8_MAMPS	0.120589	PA_DATA1	0.1/7836665/7825417
HUMID	53.81	PA_DATA0	35.8/7836665/5032912
INTERNAL_PRESSURE	9.60313	_24V_AH	22.9,15.340
TCM_TEMP	19.00	_10V_AH	10.2,9.310
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	316876
PA_BOOTCOUNT	91	DATA_FILE_SIZE	13499,394
PA_DFQS	0/0	CAP_FILE_SIZE	137375,0
PA_CMQS	0/0	CFSIZE	260165632,256090112
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	050111,093550,3242.701,-11849.608,100,2.5,119,13.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	276	146.09	SBE_CT	268	24	147.76
Roll_motor	124	77	219.58	nil	0	0	0.00
VBD_pump_during_apogee	345	1110	8791.62	nil	0	0	0.00
VBD_pump_during_surface	30	556	389.08	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	66.43	nil	0	0	0.00
Iridium_during_connect	39	160	143.25	PAAM	13159	85	25787.96
Iridium_during_xfer	184	223	940.02	nil	0	0	0.00
Transponder_ping	38	420	367.89	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.40
TT8	0	0	0.00
LPSleep	9737	2	217.51
TT8_Active	453	19	91.51
TT8_Sampling	2620	39	1063.68
TT8_CF8	96	45	45.00
TT8_Kalman	33	81	27.80
Analog_circuits	1550	12	189.75
GPS_charging	0	0	0.00
Compass	1619	15	247.84
RAFOS	0	0	0.00
Transponder	243	30	74.58

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	-0.98	-194.6	0.0	0.0	0	77	0.00	0.00	-59.17	0.000	2	0.000	0.000	141	2256	3046	0	0	0	0	0	0
78	-0.98	-194.6	3.8	-6.9	10	109	12.23	2.35	-10.15	0.000	4	0.276	0.077	2723	3656	3545	0	0	0	0	0	0
134	-0.98	-194.6	16.8	-9.8	20	142	0.00	2.47	0.00	0.000	6	0.000	0.040	2723	2086	3546	0	0	0	0	0	0
203	-0.98	-194.6	21.5	-6.6	31	204	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2086	3546	0	0	0	0	0	0
389	-0.98	-194.6	33.6	-6.5	49	394	0.00	2.62	0.00	0.000	4	0.000	0.062	2721	3664	3547	0	0	0	0	0	0
437	-0.98	-194.6	36.6	-6.5	53	445	0.00	2.47	0.00	0.000	6	0.000	0.041	2721	2093	3547	0	0	0	0	0	0
629	-0.98	-194.6	50.7	-7.6	72	633	0.00	2.58	0.00	0.000	4	0.000	0.062	2722	3653	3548	0	0	0	0	0	0
676	-0.98	-194.6	54.3	-7.2	76	684	0.00	2.42	0.00	0.000	6	0.000	0.040	2721	2099	3548	0	0	0	0	0	0
868	-0.98	-194.6	68.7	-7.2	95	872	0.00	2.55	0.00	0.000	4	0.000	0.060	2721	3659	3548	0	0	0	0	0	0
1113	-0.98	-194.6	90.4	-8.8	118	1118	0.00	2.42	0.00	0.000	6	0.000	0.038	2721	2093	3548	0	0	0	0	0	0
1318	-0.98	-194.6	109.0	-9.2	132	1327	0.00	2.50	0.00	0.000	4	0.000	0.059	2721	3669	3550	0	0	0	0	0	0
1565	-0.98	-194.6	134.3	-11.5	139	1576	0.00	2.40	0.00	0.000	6	0.000	0.039	2721	2097	3550	0	0	0	0	0	0
1875	-0.98	-194.6	166.3	-10.1	150	1884	0.00	2.50	0.00	0.000	4	0.000	0.058	2723	3665	3550	0	0	0	0	0	0
2122	-0.98	-194.6	189.9	-9.0	157	2134	0.00	2.40	0.00	0.000	6	0.000	0.040	2720	2094	3550	0	0	0	0	0	0
2433	-0.98	-194.6	216.3	-9.0	168	2442	0.00	2.50	0.00	0.000	4	0.000	0.059	2721	3668	3550	0	0	0	0	0	0
2637	-0.98	-194.6	237.5	-10.8	174	2645	0.00	2.40	0.00	0.000	6	0.000	0.039	2721	2095	3551	0	0	0	0	0	0
2953	-0.98	-194.6	274.1	-12.0	185	2961	0.00	2.50	0.00	0.000	4	0.000	0.058	2721	3671	3548	0	0	0	0	0	0
3173	-0.98	-194.6	299.6	-11.0	192	3183	0.00	2.40	0.00	0.000	6	0.000	0.039	2722	2093	3551	0	0	0	0	0	0
3511	-0.98	-194.6	333.2	-9.8	198	3519	0.00	2.50	0.00	0.000	4	0.000	0.059	2721	3670	3551	0	0	0	0	0	0
3699	-0.98	-194.6	350.1	-8.7	200	3710	0.00	2.38	0.00	0.000	6	0.000	0.039	2721	2098	3550	0	0	0	0	0	0
4008	-0.98	-194.6	376.9	-8.8	206	4017	0.00	2.53	0.00	0.000	4	0.000	0.058	2721	3677	3550	0	0	0	0	0	0
4185	-0.98	-194.6	393.2	-9.1	208	4193	0.00	2.40	0.00	0.000	6	0.000	0.038	2721	2089	3549	0	0	0	0	0	0
4494	-0.98	-194.6	423.3	-10.0	213	4503	0.00	2.50	0.00	0.000	4	0.000	0.058	2721	3662	3551	0	0	0	0	0	0
4640	-0.98	-194.6	438.9	-10.9	215	4648	0.00	2.38	0.00	0.000	6	0.000	0.039	2722	2090	3549	0	0	0	0	0	0
4987	-0.98	-194.6	475.8	-10.7	221	4995	0.00	2.47	0.00	0.000	4	0.000	0.058	2721	3662	3549	0	0	0	0	0	0
5181	-0.98	-194.6	495.0	-9.6	224	5189	0.00	2.38	0.00	0.000	6	0.000	0.040	2722	2102	3549	0	0	0	0	0	0
5549	-0.98	-194.6	528.3	-9.1	230	5557	0.00	2.47	0.00	0.000	4	0.000	0.059	2721	3663	3549	0	0	0	0	0	0
5795	-0.98	-194.6	552.2	-10.1	233	5806	0.00	2.40	0.00	0.000	6	0.000	0.039	2722	2086	3548	0	0	0	0	0	0
6104	-0.98	-194.6	583.4	-10.2	239	6112	0.00	2.53	0.00	0.000	4	0.000	0.059	2721	3668	3547	0	0	0	0	0	0
6351	-0.98	-194.6	609.1	-9.8	242	6358	0.00	2.40	0.00	0.000	6	0.000	0.041	2721	2096	3547	0	0	0	0	0	0
6665	-0.98	-194.6	640.6	-10.0	248	6675	0.00	2.50	0.00	0.000	4	0.000	0.060	2722	3663	3548	0	0	0	0	0	0
6844	-0.98	-194.6	657.4	-9.0	250	6853	0.00	2.38	0.00	0.000	6	0.000	0.041	2721	2100	3548	0	0	0	0	0	0
7159	-0.98	-194.6	686.4	-9.4	256	7167	0.00	2.47	0.00	0.000	4	0.000	0.060	2721	3668	3545	0	0	0	0	0	0
7299	-0.98	-194.6	699.7	-9.8	258	7307	0.00	2.42	0.00	0.000	6	0.000	0.041	2721	2084	3545	0	0	0	0	0	0
7656	-0.98	-194.6	734.3	-9.8	264	7665	0.00	2.53	0.00	0.000	4	0.000	0.060	2721	3663	3545	0	0	0	0	0	0
7844	-0.98	-194.6	753.0	-9.9	266	7855	0.00	2.40	0.00	0.000	6	0.000	0.040	2722	2093	3544	0	0	0	0	0	0
8153	-0.98	-194.6	783.2	-9.9	272	8162	0.00	2.53	0.00	0.000	4	0.000	0.060	2721	3667	3544	0	0	0	0	0	0
8240	-0.98	-194.6	791.6	-9.6	273	8248	0.00	2.38	0.00	0.000	6	0.000	0.040	2722	2097	3544	0	0	0	0	0	0
8581	-0.98	-194.6	824.1	-9.6	279	8589	0.00	2.50	0.00	0.000	4	0.000	0.061	2721	3663	3544	0	0	0	0	0	0
8790	-0.98	-194.6	844.1	-9.6	282	8798	0.00	2.40	0.00	0.000	6	0.000	0.041	2721	2096	3543	0	0	0	0	0	0
9132	-0.98	-194.6	877.8	-10.0	288	9140	0.00	2.50	0.00	0.000	4	0.000	0.061	2721	3662	3543	0	0	0	0	0	0
9288	-0.98	-194.6	892.8	-9.5	290	9296	0.00	2.40	0.00	0.000	6	0.000	0.041	2721	2100	3542	0	0	0	0	0	0
9304	end dive: HALF_MISSION_TIME_EXCEEDED
state	9304	begin apogee
9307	-0.19	0.0	894.4	9.3	290	9485	0.73	0.00	169.45	1.111	6	0.055	0.000	3008	1927	2748	0	0	0	0	0	0
9485	end apogee: CONTROL_FINISHED_OK
state	9485	begin climb
9486	0.98	194.6	906.0	0.0	293	9674	1.05	2.78	176.18	1.091	4	0.060	0.053	3371	3499	1955	0	0	0	0	0	0
9795	0.98	194.6	833.8	39.9	298	9803	0.00	2.55	0.00	0.000	6	0.000	0.036	3383	1930	1948	0	0	0	0	0	0
10114	0.98	194.6	724.3	34.0	304	10122	0.00	2.55	0.00	0.000	4	0.000	0.047	3395	337	1945	0	0	0	0	0	0
10141	0.98	194.6	714.8	33.0	304	10149	0.00	2.50	0.00	0.000	6	0.000	0.041	3395	1922	1944	0	0	0	0	0	0
10470	0.98	194.6	602.3	34.5	310	10479	0.00	2.50	0.00	0.000	4	0.000	0.047	3406	340	1943	0	0	0	0	0	0
10578	0.98	194.6	565.4	34.9	311	10587	0.15	2.50	0.00	0.000	6	0.233	0.041	3377	1933	1943	0	0	0	0	0	0
10892	0.98	194.6	466.5	31.4	317	10898	0.00	0.00	0.00	0.000	6	0.000	0.000	3378	1933	1942	0	0	0	0	0	0
11193	0.98	194.6	372.8	31.3	322	11202	0.00	2.53	0.00	0.000	4	0.000	0.050	3387	338	1942	0	0	0	0	0	0
11258	0.98	194.6	352.0	32.9	323	11266	0.00	2.45	0.00	0.000	6	0.000	0.041	3387	1926	1942	0	0	0	0	0	0
11586	0.98	194.6	250.5	31.2	331	11591	0.00	0.00	0.00	0.000	6	0.000	0.000	3387	1925	1940	0	0	0	0	0	0
11889	0.98	194.6	160.8	28.6	341	11897	0.00	2.53	0.00	0.000	4	0.000	0.057	3387	3510	1942	0	0	0	0	0	0
11905	0.98	194.6	156.0	28.5	341	11913	0.00	2.47	0.00	0.000	6	0.000	0.040	3399	1915	1942	0	0	0	0	0	0
12216	0.98	194.6	70.5	27.3	357	12217	0.00	0.00	0.00	0.000	6	0.000	0.000	3399	1913	1942	0	0	0	0	0	0
12402	0.98	194.6	24.5	19.9	375	12403	0.00	0.00	0.00	0.000	6	0.000	0.000	3399	1912	1942	0	0	0	0	0	0
12507	end climb: SURFACE_DEPTH_REACHED
state	12507	begin surface coast
12518	end surface coast: CONTROL_FINISHED_OK
state	12518	begin surface