Glider dive log

SCORE Jan11 * SG178 * Dive index * Mission links * Dive 8 * 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 8 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 26 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 -9719.5723 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 -9719.5723

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 8 N_DIVES 0 R_STBD_OVSHOOT 26 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 050111,122030,3245.458,-11853.318,37,1.6,37,13.3 TGT_NAME MDW

_CALLS 1 TGT_LATLONG 3246.522,-11856.604

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.324,-0.017

_SM_DEPTHo 1.41 KALMAN_X 11361.6,-1051.0,-273.9,-20688.0,3962.3

_SM_ANGLEo -75.7 KALMAN_Y -144.8,-167.8,-325.3,10098.5,586.5

GPS2 050111,122706,3245.455,-11853.313,15,1.1,31,13.3 MHEAD_RNG_PITCHd_Wd 253.7,5491,-19.3,-13.306

SPEED_LIMITS 0.230,0.325 D_GRID 1376

Post-dive calculations and measurements:

FINISH 0.6,1.008036 PA_USBA 100.0/0/0

SM_CCo 12104,0.00,0.000,0,0,1110,401.80 PA_HOME 12.9/482055/420068

SM_GC 1.57,8.82,0.00,0.00,0.054,0.000,0.000,163,2557,1110,-8.91,0.20,401.80 PA_ROOT 80.3/126931/24979

IRIDIUM_FIX 3233.95,-11852.58,050111,080809 PA_LOG 7.4/298663/276590

TT8_MAMPS 0.113099 PA_DATA1 0.1/7837685/7826437

HUMID 44.80 PA_DATA0 51.4/7836665/3812463

INTERNAL_PRESSURE 8.86753 _24V_AH 22.9,18.493

TCM_TEMP 18.70 _10V_AH 10.1,12.180

XPDR_PINGS 22 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 316316

PA_BOOTCOUNT 88 DATA_FILE_SIZE 10148,345

PA_DFQS 0/0 CAP_FILE_SIZE 106323,0

PA_CMQS 0/0 CFSIZE 260165632,253616128

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 050111,155022,3245.354,-11855.341,12,99.0,31,13.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 270 144.40 SBE_CT 234 24 129.08

Roll_motor 98 75 170.57 nil 0 0 0.00

VBD_pump_during_apogee 530 1246 15154.22 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 27 103 65.39 nil 0 0 0.00

Iridium_during_connect 31 160 114.96 PAAM 12586 83 24081.30

Iridium_during_xfer 212 223 1087.34 nil 0 0 0.00

Transponder_ping 27 420 259.69 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 50 16.20

TT8 0 0 0.00

LPSleep 9970 2 220.53

TT8_Active 562 19 112.48

TT8_Sampling 1886 39 758.42

TT8_CF8 75 45 34.83

TT8_Kalman 33 81 27.54

Analog_circuits 1399 12 169.56

GPS_charging 0 0 0.00

Compass 902 15 136.80

RAFOS 0 0 0.00

Transponder 137 30 41.51

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 0 106 0.00 0.00 -87.95 0.000 2 0.000 0.000 163 2564 3194 0 0 0 0 0 0

107 -0.84 -194.6 3.8 -7.9 15 132 11.98 2.03 -6.38 0.000 4 0.270 0.076 2739 3780 3544 0 0 0 0 0 0

179 -0.84 -194.6 35.9 -40.5 25 183 0.00 2.00 0.00 0.000 6 0.000 0.041 2745 2529 3545 0 0 0 0 0 0

375 -0.84 -194.6 88.6 -25.7 44 380 0.00 2.50 0.00 0.000 4 0.000 0.046 2745 974 3547 0 0 0 0 0 0

396 -0.84 -194.6 94.2 -27.0 46 401 0.00 2.60 0.00 0.000 6 0.000 0.052 2736 2551 3547 0 0 0 0 0 0

610 -0.84 -194.6 151.6 -27.5 55 615 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2554 3548 0 0 0 0 0 0

914 -0.84 -194.6 230.2 -25.5 65 922 0.00 2.00 0.00 0.000 4 0.000 0.066 2726 3781 3550 0 0 0 0 0 0

994 -0.84 -194.6 251.9 -26.0 67 1002 0.00 1.95 0.00 0.000 6 0.000 0.040 2726 2536 3548 0 0 0 0 0 0

1315 -0.84 -194.6 332.2 -24.2 76 1321 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2535 3548 0 0 0 0 0 0

1616 -0.84 -194.6 402.4 -23.3 81 1622 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 2535 3548 0 0 0 0 0 0

1918 -0.84 -194.6 471.7 -23.2 86 1929 0.00 2.05 0.00 0.000 4 0.000 0.067 2717 3780 3548 0 0 0 0 0 0

1964 -0.84 -194.6 483.7 -24.5 86 1972 0.15 1.90 0.00 0.000 6 0.203 0.040 2751 2545 3548 0 0 0 0 0 0

2289 -0.84 -194.6 550.9 -20.3 92 2294 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2545 3551 0 0 0 0 0 0

2590 -0.84 -194.6 611.0 -19.8 97 2601 0.00 2.03 0.00 0.000 4 0.000 0.070 2744 3781 3547 0 0 0 0 0 0

2621 -0.84 -194.6 617.2 -20.3 97 2628 0.00 1.88 0.00 0.000 6 0.000 0.041 2744 2552 3547 0 0 0 0 0 0

2961 -0.84 -194.6 683.7 -19.4 103 2966 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2551 3547 0 0 0 0 0 0

3262 -0.84 -194.6 740.2 -18.5 108 3268 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2551 3547 0 0 0 0 0 0

3564 -0.84 -194.6 798.2 -19.3 113 3573 0.00 2.05 0.00 0.000 4 0.000 0.072 2735 3787 3544 0 0 0 0 0 0

3603 -0.84 -194.6 806.3 -20.0 113 3611 0.00 1.92 0.00 0.000 6 0.000 0.044 2735 2548 3547 0 0 0 0 0 0

3933 -0.84 -194.6 869.0 -18.9 119 3940 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2547 3546 0 0 0 0 0 0

4235 -0.84 -194.6 925.1 -18.6 124 4244 0.00 2.03 0.00 0.000 4 0.000 0.073 2726 3779 3545 0 0 0 0 0 0

4268 -0.84 -194.6 931.6 -19.7 124 4276 0.00 1.92 0.00 0.000 6 0.000 0.044 2725 2542 3544 0 0 0 0 0 0

4603 end dive: TARGET_DEPTH_EXCEEDED

state 4603 begin apogee

4606 -0.16 0.0 993.4 18.4 130 4783 0.85 0.00 168.38 1.247 6 0.171 0.000 2969 2130 2748 0 0 0 0 0 0

4783 end apogee: CONTROL_FINISHED_OK

state 4783 begin climb

4785 0.84 194.6 1001.7 0.0 132 4979 1.00 2.85 178.52 1.225 4 0.105 0.056 3297 558 1952 0 0 0 0 0 0

5025 0.89 232.1 982.3 11.6 136 5069 0.00 2.70 35.38 1.171 6 0.000 0.048 3297 2126 1801 0 0 0 0 0 0

5401 0.90 241.1 934.1 12.9 143 5419 0.00 2.75 8.02 0.981 4 0.000 0.069 3297 3709 1765 0 0 0 0 0 0

5470 0.90 241.1 924.1 15.2 144 5478 0.00 2.58 0.00 0.000 6 0.000 0.046 3309 2133 1763 0 0 0 0 0 0

5827 0.90 241.1 873.9 14.0 150 5833 0.00 0.00 0.00 0.000 6 0.000 0.000 3310 2130 1762 0 0 0 0 0 0

6128 0.90 241.1 832.0 13.8 155 6137 0.00 2.65 0.00 0.000 4 0.000 0.070 3310 3718 1761 0 0 0 0 0 0

6188 0.90 241.1 822.8 15.9 156 6196 0.00 2.55 0.00 0.000 6 0.000 0.045 3322 2123 1761 0 0 0 0 0 0

6550 0.90 241.1 770.2 14.6 162 6556 0.00 0.00 0.00 0.000 6 0.000 0.000 3322 2120 1762 0 0 0 0 0 0

6855 0.90 241.1 725.7 14.7 167 6861 0.00 0.00 0.00 0.000 6 0.000 0.000 3322 2120 1760 0 0 0 0 0 0

7153 0.90 241.1 683.0 14.2 172 7162 0.00 2.65 0.00 0.000 4 0.000 0.069 3322 3714 1760 0 0 0 0 0 0

7186 0.90 241.1 678.0 15.4 172 7194 0.00 2.55 0.00 0.000 6 0.000 0.047 3334 2114 1759 0 0 0 0 0 0

7510 0.90 241.1 629.9 14.9 178 7518 0.00 0.00 0.00 0.000 6 0.000 0.000 3334 2112 1758 0 0 0 0 0 0

7812 0.90 241.1 583.4 15.5 183 7820 0.00 2.65 0.00 0.000 4 0.000 0.069 3334 3710 1758 0 0 0 0 0 0

7839 0.90 241.1 578.4 17.7 183 7848 0.12 2.53 0.00 0.000 6 0.189 0.047 3318 2125 1761 0 0 0 0 0 0

8169 0.90 241.1 531.6 13.8 189 8176 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 2122 1759 0 0 0 0 0 0

8471 0.90 241.1 490.8 13.5 194 8480 0.00 2.65 0.00 0.000 4 0.000 0.070 3318 3722 1759 0 0 0 0 0 0

8515 0.90 241.1 484.5 14.7 194 8524 0.00 2.53 0.00 0.000 6 0.000 0.045 3327 2121 1759 0 0 0 0 0 0

8829 0.90 241.1 442.6 13.3 200 8834 0.00 0.00 0.00 0.000 6 0.000 0.000 3327 2121 1758 0 0 0 0 0 0

9130 0.90 241.1 402.1 13.4 205 9139 0.00 2.62 0.00 0.000 4 0.000 0.067 3327 3712 1759 0 0 0 0 0 0

9185 0.90 241.1 393.9 15.6 205 9196 0.00 2.53 0.00 0.000 6 0.000 0.046 3340 2120 1758 0 0 0 0 0 0

9493 0.90 241.1 350.2 14.3 211 9501 0.00 2.55 0.00 0.000 4 0.000 0.060 3351 531 1758 0 0 0 0 0 0

9525 0.90 241.1 345.2 14.7 211 9534 0.15 2.58 0.00 0.000 6 0.168 0.050 3314 2134 1758 0 0 0 0 0 0

9851 0.92 254.3 303.4 12.7 217 9868 0.00 0.00 12.05 0.766 6 0.000 0.000 3314 2134 1713 0 0 0 0 0 0

10154 0.98 307.2 269.1 10.9 226 10212 0.00 2.72 47.45 0.786 4 0.000 0.065 3314 3717 1494 0 0 0 0 0 0

10253 1.01 326.3 257.9 12.4 229 10284 0.00 2.58 17.40 0.742 6 0.000 0.044 3323 2117 1417 0 0 0 0 0 0

10582 1.06 367.8 221.0 11.4 240 10628 0.12 2.72 36.38 0.742 4 0.099 0.065 3376 3715 1246 0 0 0 0 0 0

10659 1.06 367.8 208.8 18.1 242 10667 0.00 2.60 0.00 0.000 6 0.000 0.044 3388 2127 1243 0 0 0 0 0 0

10974 1.06 367.8 154.7 16.0 253 10979 0.00 0.00 0.00 0.000 6 0.000 0.000 3389 2124 1240 0 0 0 0 0 0

11277 1.06 367.8 105.5 16.1 263 11286 0.00 2.65 0.00 0.000 4 0.000 0.066 3388 3710 1239 0 0 0 0 0 0

11321 1.06 367.8 97.5 19.0 264 11329 0.15 2.55 0.00 0.000 6 0.184 0.044 3364 2114 1238 0 0 0 0 0 0

11643 1.06 367.8 51.3 13.9 295 11644 0.00 0.00 0.00 0.000 6 0.000 0.000 3365 2111 1238 0 0 0 0 0 0

11830 1.09 395.5 26.3 12.0 313 11857 0.00 2.67 22.52 0.621 4 0.000 0.066 3364 3719 1132 0 0 0 0 0 0

11904 1.09 395.5 16.0 13.4 322 11912 0.00 2.58 0.00 0.000 6 0.000 0.043 3373 2126 1130 0 0 0 0 0 0

11975 1.09 395.5 6.5 13.5 335 11982 0.00 2.62 0.00 0.000 4 0.000 0.057 3385 533 1131 0 0 0 0 0 0

12002 1.10 407.3 3.1 12.8 340 12011 0.00 2.60 4.60 0.468 2 0.000 0.045 3385 2131 1115 0 0 0 0 0 0

12011 end climb: SURFACE_DEPTH_REACHED

state 12011 begin surface coast

12030 end surface coast: CONTROL_FINISHED_OK

state 12030 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	8	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	26	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	-9719.5723	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	050111,122030,3245.458,-11853.318,37,1.6,37,13.3	TGT_NAME	MDW
_CALLS	1	TGT_LATLONG	3246.522,-11856.604
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.324,-0.017
_SM_DEPTHo	1.41	KALMAN_X	11361.6,-1051.0,-273.9,-20688.0,3962.3
_SM_ANGLEo	-75.7	KALMAN_Y	-144.8,-167.8,-325.3,10098.5,586.5
GPS2	050111,122706,3245.455,-11853.313,15,1.1,31,13.3	MHEAD_RNG_PITCHd_Wd	253.7,5491,-19.3,-13.306
SPEED_LIMITS	0.230,0.325	D_GRID	1376

FINISH	0.6,1.008036	PA_USBA	100.0/0/0
SM_CCo	12104,0.00,0.000,0,0,1110,401.80	PA_HOME	12.9/482055/420068
SM_GC	1.57,8.82,0.00,0.00,0.054,0.000,0.000,163,2557,1110,-8.91,0.20,401.80	PA_ROOT	80.3/126931/24979
IRIDIUM_FIX	3233.95,-11852.58,050111,080809	PA_LOG	7.4/298663/276590
TT8_MAMPS	0.113099	PA_DATA1	0.1/7837685/7826437
HUMID	44.80	PA_DATA0	51.4/7836665/3812463
INTERNAL_PRESSURE	8.86753	_24V_AH	22.9,18.493
TCM_TEMP	18.70	_10V_AH	10.1,12.180
XPDR_PINGS	22	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	316316
PA_BOOTCOUNT	88	DATA_FILE_SIZE	10148,345
PA_DFQS	0/0	CAP_FILE_SIZE	106323,0
PA_CMQS	0/0	CFSIZE	260165632,253616128
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	050111,155022,3245.354,-11855.341,12,99.0,31,13.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	270	144.40	SBE_CT	234	24	129.08
Roll_motor	98	75	170.57	nil	0	0	0.00
VBD_pump_during_apogee	530	1246	15154.22	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	27	103	65.39	nil	0	0	0.00
Iridium_during_connect	31	160	114.96	PAAM	12586	83	24081.30
Iridium_during_xfer	212	223	1087.34	nil	0	0	0.00
Transponder_ping	27	420	259.69	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	50	16.20
TT8	0	0	0.00
LPSleep	9970	2	220.53
TT8_Active	562	19	112.48
TT8_Sampling	1886	39	758.42
TT8_CF8	75	45	34.83
TT8_Kalman	33	81	27.54
Analog_circuits	1399	12	169.56
GPS_charging	0	0	0.00
Compass	902	15	136.80
RAFOS	0	0	0.00
Transponder	137	30	41.51

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	106	0.00	0.00	-87.95	0.000	2	0.000	0.000	163	2564	3194	0	0	0	0	0	0
107	-0.84	-194.6	3.8	-7.9	15	132	11.98	2.03	-6.38	0.000	4	0.270	0.076	2739	3780	3544	0	0	0	0	0	0
179	-0.84	-194.6	35.9	-40.5	25	183	0.00	2.00	0.00	0.000	6	0.000	0.041	2745	2529	3545	0	0	0	0	0	0
375	-0.84	-194.6	88.6	-25.7	44	380	0.00	2.50	0.00	0.000	4	0.000	0.046	2745	974	3547	0	0	0	0	0	0
396	-0.84	-194.6	94.2	-27.0	46	401	0.00	2.60	0.00	0.000	6	0.000	0.052	2736	2551	3547	0	0	0	0	0	0
610	-0.84	-194.6	151.6	-27.5	55	615	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2554	3548	0	0	0	0	0	0
914	-0.84	-194.6	230.2	-25.5	65	922	0.00	2.00	0.00	0.000	4	0.000	0.066	2726	3781	3550	0	0	0	0	0	0
994	-0.84	-194.6	251.9	-26.0	67	1002	0.00	1.95	0.00	0.000	6	0.000	0.040	2726	2536	3548	0	0	0	0	0	0
1315	-0.84	-194.6	332.2	-24.2	76	1321	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2535	3548	0	0	0	0	0	0
1616	-0.84	-194.6	402.4	-23.3	81	1622	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	2535	3548	0	0	0	0	0	0
1918	-0.84	-194.6	471.7	-23.2	86	1929	0.00	2.05	0.00	0.000	4	0.000	0.067	2717	3780	3548	0	0	0	0	0	0
1964	-0.84	-194.6	483.7	-24.5	86	1972	0.15	1.90	0.00	0.000	6	0.203	0.040	2751	2545	3548	0	0	0	0	0	0
2289	-0.84	-194.6	550.9	-20.3	92	2294	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2545	3551	0	0	0	0	0	0
2590	-0.84	-194.6	611.0	-19.8	97	2601	0.00	2.03	0.00	0.000	4	0.000	0.070	2744	3781	3547	0	0	0	0	0	0
2621	-0.84	-194.6	617.2	-20.3	97	2628	0.00	1.88	0.00	0.000	6	0.000	0.041	2744	2552	3547	0	0	0	0	0	0
2961	-0.84	-194.6	683.7	-19.4	103	2966	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2551	3547	0	0	0	0	0	0
3262	-0.84	-194.6	740.2	-18.5	108	3268	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2551	3547	0	0	0	0	0	0
3564	-0.84	-194.6	798.2	-19.3	113	3573	0.00	2.05	0.00	0.000	4	0.000	0.072	2735	3787	3544	0	0	0	0	0	0
3603	-0.84	-194.6	806.3	-20.0	113	3611	0.00	1.92	0.00	0.000	6	0.000	0.044	2735	2548	3547	0	0	0	0	0	0
3933	-0.84	-194.6	869.0	-18.9	119	3940	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2547	3546	0	0	0	0	0	0
4235	-0.84	-194.6	925.1	-18.6	124	4244	0.00	2.03	0.00	0.000	4	0.000	0.073	2726	3779	3545	0	0	0	0	0	0
4268	-0.84	-194.6	931.6	-19.7	124	4276	0.00	1.92	0.00	0.000	6	0.000	0.044	2725	2542	3544	0	0	0	0	0	0
4603	end dive: TARGET_DEPTH_EXCEEDED
state	4603	begin apogee
4606	-0.16	0.0	993.4	18.4	130	4783	0.85	0.00	168.38	1.247	6	0.171	0.000	2969	2130	2748	0	0	0	0	0	0
4783	end apogee: CONTROL_FINISHED_OK
state	4783	begin climb
4785	0.84	194.6	1001.7	0.0	132	4979	1.00	2.85	178.52	1.225	4	0.105	0.056	3297	558	1952	0	0	0	0	0	0
5025	0.89	232.1	982.3	11.6	136	5069	0.00	2.70	35.38	1.171	6	0.000	0.048	3297	2126	1801	0	0	0	0	0	0
5401	0.90	241.1	934.1	12.9	143	5419	0.00	2.75	8.02	0.981	4	0.000	0.069	3297	3709	1765	0	0	0	0	0	0
5470	0.90	241.1	924.1	15.2	144	5478	0.00	2.58	0.00	0.000	6	0.000	0.046	3309	2133	1763	0	0	0	0	0	0
5827	0.90	241.1	873.9	14.0	150	5833	0.00	0.00	0.00	0.000	6	0.000	0.000	3310	2130	1762	0	0	0	0	0	0
6128	0.90	241.1	832.0	13.8	155	6137	0.00	2.65	0.00	0.000	4	0.000	0.070	3310	3718	1761	0	0	0	0	0	0
6188	0.90	241.1	822.8	15.9	156	6196	0.00	2.55	0.00	0.000	6	0.000	0.045	3322	2123	1761	0	0	0	0	0	0
6550	0.90	241.1	770.2	14.6	162	6556	0.00	0.00	0.00	0.000	6	0.000	0.000	3322	2120	1762	0	0	0	0	0	0
6855	0.90	241.1	725.7	14.7	167	6861	0.00	0.00	0.00	0.000	6	0.000	0.000	3322	2120	1760	0	0	0	0	0	0
7153	0.90	241.1	683.0	14.2	172	7162	0.00	2.65	0.00	0.000	4	0.000	0.069	3322	3714	1760	0	0	0	0	0	0
7186	0.90	241.1	678.0	15.4	172	7194	0.00	2.55	0.00	0.000	6	0.000	0.047	3334	2114	1759	0	0	0	0	0	0
7510	0.90	241.1	629.9	14.9	178	7518	0.00	0.00	0.00	0.000	6	0.000	0.000	3334	2112	1758	0	0	0	0	0	0
7812	0.90	241.1	583.4	15.5	183	7820	0.00	2.65	0.00	0.000	4	0.000	0.069	3334	3710	1758	0	0	0	0	0	0
7839	0.90	241.1	578.4	17.7	183	7848	0.12	2.53	0.00	0.000	6	0.189	0.047	3318	2125	1761	0	0	0	0	0	0
8169	0.90	241.1	531.6	13.8	189	8176	0.00	0.00	0.00	0.000	6	0.000	0.000	3318	2122	1759	0	0	0	0	0	0
8471	0.90	241.1	490.8	13.5	194	8480	0.00	2.65	0.00	0.000	4	0.000	0.070	3318	3722	1759	0	0	0	0	0	0
8515	0.90	241.1	484.5	14.7	194	8524	0.00	2.53	0.00	0.000	6	0.000	0.045	3327	2121	1759	0	0	0	0	0	0
8829	0.90	241.1	442.6	13.3	200	8834	0.00	0.00	0.00	0.000	6	0.000	0.000	3327	2121	1758	0	0	0	0	0	0
9130	0.90	241.1	402.1	13.4	205	9139	0.00	2.62	0.00	0.000	4	0.000	0.067	3327	3712	1759	0	0	0	0	0	0
9185	0.90	241.1	393.9	15.6	205	9196	0.00	2.53	0.00	0.000	6	0.000	0.046	3340	2120	1758	0	0	0	0	0	0
9493	0.90	241.1	350.2	14.3	211	9501	0.00	2.55	0.00	0.000	4	0.000	0.060	3351	531	1758	0	0	0	0	0	0
9525	0.90	241.1	345.2	14.7	211	9534	0.15	2.58	0.00	0.000	6	0.168	0.050	3314	2134	1758	0	0	0	0	0	0
9851	0.92	254.3	303.4	12.7	217	9868	0.00	0.00	12.05	0.766	6	0.000	0.000	3314	2134	1713	0	0	0	0	0	0
10154	0.98	307.2	269.1	10.9	226	10212	0.00	2.72	47.45	0.786	4	0.000	0.065	3314	3717	1494	0	0	0	0	0	0
10253	1.01	326.3	257.9	12.4	229	10284	0.00	2.58	17.40	0.742	6	0.000	0.044	3323	2117	1417	0	0	0	0	0	0
10582	1.06	367.8	221.0	11.4	240	10628	0.12	2.72	36.38	0.742	4	0.099	0.065	3376	3715	1246	0	0	0	0	0	0
10659	1.06	367.8	208.8	18.1	242	10667	0.00	2.60	0.00	0.000	6	0.000	0.044	3388	2127	1243	0	0	0	0	0	0
10974	1.06	367.8	154.7	16.0	253	10979	0.00	0.00	0.00	0.000	6	0.000	0.000	3389	2124	1240	0	0	0	0	0	0
11277	1.06	367.8	105.5	16.1	263	11286	0.00	2.65	0.00	0.000	4	0.000	0.066	3388	3710	1239	0	0	0	0	0	0
11321	1.06	367.8	97.5	19.0	264	11329	0.15	2.55	0.00	0.000	6	0.184	0.044	3364	2114	1238	0	0	0	0	0	0
11643	1.06	367.8	51.3	13.9	295	11644	0.00	0.00	0.00	0.000	6	0.000	0.000	3365	2111	1238	0	0	0	0	0	0
11830	1.09	395.5	26.3	12.0	313	11857	0.00	2.67	22.52	0.621	4	0.000	0.066	3364	3719	1132	0	0	0	0	0	0
11904	1.09	395.5	16.0	13.4	322	11912	0.00	2.58	0.00	0.000	6	0.000	0.043	3373	2126	1130	0	0	0	0	0	0
11975	1.09	395.5	6.5	13.5	335	11982	0.00	2.62	0.00	0.000	4	0.000	0.057	3385	533	1131	0	0	0	0	0	0
12002	1.10	407.3	3.1	12.8	340	12011	0.00	2.60	4.60	0.468	2	0.000	0.045	3385	2131	1115	0	0	0	0	0	0
12011	end climb: SURFACE_DEPTH_REACHED
state	12011	begin surface coast
12030	end surface coast: CONTROL_FINISHED_OK
state	12030	begin surface