Glider dive log

SCORE Jan11 * SG179 * Dive index * Mission links * Dive 8 * 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 8 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 33 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 -16214.174 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 -16214.174

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 33 VBD_MAXERRORS 1

DIVE 8 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 050111,093550,3242.701,-11849.608,100,2.5,119,13.3 TGT_NAME DM4

_CALLS 1 TGT_LATLONG 3251.800,-11907.783

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.316,0.075

_SM_DEPTHo 1.88 KALMAN_X 11071.9,-1617.8,84.2,-15612.7,5144.8

_SM_ANGLEo -77.4 KALMAN_Y -4485.3,-446.8,-106.2,9682.1,-1382.0

GPS2 050111,094122,3242.690,-11849.629,14,3.6,33,13.3 MHEAD_RNG_PITCHd_Wd 270.1,32897,-19.3,-13.306

SPEED_LIMITS 0.230,0.325 D_GRID 1129

Post-dive calculations and measurements:

FINISH 1.0,1.025179 PA_USBA 100.0/0/0

SM_CCo 12601,32.85,0.560,0,0,1728,250.45 PA_HOME 8.9/483886/440779

SM_GC 1.59,0.00,0.00,32.85,0.000,0.000,0.560,146,2105,1728,-9.10,0.17,250.45 PA_ROOT 80.3/126931/24979

IRIDIUM_FIX 3213.52,-12612.90,050111,050511 PA_LOG 7.1/297829/276600

TT8_MAMPS 0.125832 PA_DATA1 0.1/7836665/7825417

HUMID 53.89 PA_DATA0 40.3/7836665/4678477

INTERNAL_PRESSURE 9.60313 _24V_AH 22.9,15.470

TCM_TEMP 19.00 _10V_AH 10.1,9.444

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 316400

PA_BOOTCOUNT 92 DATA_FILE_SIZE 13449,404

PA_DFQS 0/0 CAP_FILE_SIZE 137012,0

PA_CMQS 0/0 CFSIZE 260165632,256024576

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 050111,131514,3242.831,-11849.714,117,2.3,136,13.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 274 143.86 SBE_CT 276 24 151.92

Roll_motor 119 73 200.34 nil 0 0 0.00

VBD_pump_during_apogee 345 1107 8755.98 nil 0 0 0.00

VBD_pump_during_surface 32 559 421.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 71.11 nil 0 0 0.00

Iridium_during_connect 32 160 119.59 PAAM 4658 58 6201.26

Iridium_during_xfer 153 223 785.29 nil 0 0 0.00

Transponder_ping 38 420 367.89 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 50 17.65

TT8 0 0 0.00

LPSleep 9791 2 216.58

TT8_Active 449 19 89.91

TT8_Sampling 2634 39 1059.14

TT8_CF8 83 45 38.46

TT8_Kalman 33 81 27.54

Analog_circuits 1493 12 181.05

GPS_charging 0 0 0.00

Compass 1634 15 247.56

RAFOS 0 0 0.00

Transponder 244 30 74.01

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 -0.98 -194.6 0.0 0.0 0 71 0.00 0.00 -53.35 0.000 2 0.000 0.000 143 2120 2865 0 0 0 0 0 0

73 -0.98 -194.6 3.1 -3.9 9 109 12.07 2.58 -15.50 0.000 4 0.275 0.073 2722 3659 3545 0 0 0 0 0 0

183 -0.98 -194.6 16.8 -6.6 29 190 0.00 2.47 0.00 0.000 6 0.000 0.041 2722 2088 3547 0 0 0 0 0 0

252 -0.98 -194.6 21.5 -6.8 40 252 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2088 3548 0 0 0 0 0 0

438 -0.98 -194.6 33.4 -6.2 58 442 0.00 2.60 0.00 0.000 4 0.000 0.062 2728 3661 3547 0 0 0 0 0 0

517 -0.98 -194.6 38.0 -5.4 65 525 0.00 2.45 0.00 0.000 6 0.000 0.039 2722 2098 3549 0 0 0 0 0 0

709 -0.98 -194.6 51.8 -8.4 84 714 0.00 2.55 0.00 0.000 4 0.000 0.060 2722 3658 3545 0 0 0 0 0 0

955 -0.98 -194.6 76.2 -9.9 107 959 0.00 2.42 0.00 0.000 6 0.000 0.038 2726 2097 3549 0 0 0 0 0 0

1151 -0.98 -194.6 94.6 -8.9 126 1156 0.00 2.55 0.00 0.000 4 0.000 0.058 2722 3656 3553 0 0 0 0 0 0

1397 -0.98 -194.6 116.2 -8.8 137 1405 0.00 2.38 0.00 0.000 6 0.000 0.040 2722 2091 3548 0 0 0 0 0 0

1706 -0.98 -194.6 142.1 -8.8 147 1715 0.00 2.53 0.00 0.000 4 0.000 0.058 2722 3667 3551 0 0 0 0 0 0

1938 -0.98 -194.6 165.3 -9.9 154 1946 0.00 2.40 0.00 0.000 6 0.000 0.039 2722 2102 3551 0 0 0 0 0 0

2260 -0.98 -194.6 196.7 -9.6 165 2268 0.00 2.50 0.00 0.000 4 0.000 0.060 2722 3669 3552 0 0 0 0 0 0

2448 -0.98 -194.6 215.2 -9.6 171 2456 0.00 2.40 0.00 0.000 6 0.000 0.040 2722 2086 3550 0 0 0 0 0 0

2781 -0.98 -194.6 246.7 -9.5 182 2789 0.00 2.50 0.00 0.000 4 0.000 0.057 2722 3666 3552 0 0 0 0 0 0

3001 -0.98 -194.6 268.0 -9.8 189 3009 0.00 2.40 0.00 0.000 6 0.000 0.040 2722 2098 3551 0 0 0 0 0 0

3333 -0.98 -194.6 299.9 -9.7 200 3342 0.00 2.45 0.00 0.000 4 0.000 0.059 2724 3657 3552 0 0 0 0 0 0

3510 -0.98 -194.6 319.4 -11.0 203 3519 0.00 2.38 0.00 0.000 6 0.000 0.039 2722 2087 3552 0 0 0 0 0 0

3825 -0.98 -194.6 354.8 -11.4 209 3834 0.00 2.50 0.00 0.000 4 0.000 0.059 2722 3658 3553 0 0 0 0 0 0

3982 -0.98 -194.6 371.8 -10.3 211 3990 0.00 2.38 0.00 0.000 6 0.000 0.040 2720 2106 3552 0 0 0 0 0 0

4318 -0.98 -194.6 401.1 -8.4 217 4326 0.00 2.53 0.00 0.000 4 0.000 0.058 2722 3666 3549 0 0 0 0 0 0

4398 -0.98 -194.6 407.2 -7.0 218 4406 0.00 2.38 0.00 0.000 6 0.000 0.039 2722 2090 3552 0 0 0 0 0 0

4740 -0.98 -194.6 434.0 -8.1 224 4748 0.00 2.50 0.00 0.000 4 0.000 0.059 2722 3666 3551 0 0 0 0 0 0

4928 -0.98 -194.6 451.7 -9.7 227 4936 0.00 2.38 0.00 0.000 6 0.000 0.039 2722 2104 3551 0 0 0 0 0 0

5291 -0.98 -194.6 488.0 -10.1 233 5299 0.00 2.47 0.00 0.000 4 0.000 0.060 2722 3658 3551 0 0 0 0 0 0

5463 -0.98 -194.6 506.2 -10.7 235 5471 0.00 2.38 0.00 0.000 6 0.000 0.040 2722 2087 3551 0 0 0 0 0 0

5783 -0.98 -194.6 539.0 -10.3 241 5791 0.00 2.50 0.00 0.000 4 0.000 0.058 2722 3662 3548 0 0 0 0 0 0

5892 -0.98 -194.6 550.3 -10.1 242 5900 0.00 2.40 0.00 0.000 6 0.000 0.040 2722 2092 3551 0 0 0 0 0 0

6211 -0.98 -194.6 583.9 -10.6 248 6222 0.00 2.50 0.00 0.000 4 0.000 0.059 2722 3662 3550 0 0 0 0 0 0

6375 -0.98 -194.6 601.2 -11.1 250 6383 0.00 2.38 0.00 0.000 6 0.000 0.040 2722 2092 3550 0 0 0 0 0 0

6705 -0.98 -194.6 636.5 -10.8 256 6714 0.00 2.50 0.00 0.000 4 0.000 0.059 2723 3661 3549 0 0 0 0 0 0

6851 -0.98 -194.6 651.9 -10.9 258 6859 0.00 2.40 0.00 0.000 6 0.000 0.040 2722 2090 3549 0 0 0 0 0 0

7197 -0.98 -194.6 686.8 -10.1 264 7206 0.00 2.50 0.00 0.000 4 0.000 0.060 2722 3661 3549 0 0 0 0 0 0

7391 -0.98 -194.6 707.0 -10.4 267 7399 0.00 2.38 0.00 0.000 6 0.000 0.041 2722 2102 3548 0 0 0 0 0 0

7754 -0.98 -194.6 742.1 -9.7 273 7762 0.00 2.47 0.00 0.000 4 0.000 0.060 2722 3655 3548 0 0 0 0 0 0

7921 -0.98 -194.6 758.3 -9.5 275 7933 0.00 2.40 0.00 0.000 6 0.000 0.041 2722 2096 3547 0 0 0 0 0 0

8254 -0.98 -194.6 790.5 -10.0 281 8266 0.00 2.50 0.00 0.000 4 0.000 0.060 2722 3659 3547 0 0 0 0 0 0

8458 -0.98 -194.6 811.2 -9.2 284 8470 0.00 2.40 0.00 0.000 6 0.000 0.040 2722 2093 3547 0 0 0 0 0 0

8823 -0.98 -194.6 846.5 -9.8 290 8837 0.00 2.50 0.00 0.000 4 0.000 0.061 2722 3651 3546 0 0 0 0 0 0

9009 -0.98 -194.6 865.3 -9.8 292 9015 0.00 2.40 0.00 0.000 6 0.000 0.041 2722 2091 3546 0 0 0 0 0 0

9321 end dive: HALF_MISSION_TIME_EXCEEDED

state 9321 begin apogee

9324 -0.19 0.0 893.9 9.2 298 9499 0.73 0.00 169.18 1.108 6 0.056 0.000 3008 1926 2748 0 0 0 0 0 0

9500 end apogee: CONTROL_FINISHED_OK

state 9500 begin climb

9501 0.98 194.6 905.6 0.0 300 9685 1.05 2.72 176.00 1.089 4 0.056 0.044 3385 350 1955 0 0 0 0 0 0

9923 0.98 194.6 796.8 34.2 306 9928 0.00 2.55 0.00 0.000 6 0.000 0.041 3385 1910 1947 0 0 0 0 0 0

10241 0.98 194.6 692.8 32.4 312 10245 0.00 2.55 0.00 0.000 4 0.000 0.047 3396 343 1944 0 0 0 0 0 0

10305 0.98 194.6 671.9 32.3 313 10309 0.00 2.55 0.00 0.000 6 0.000 0.042 3397 1931 1944 0 0 0 0 0 0

10670 0.98 194.6 554.6 31.7 319 10671 0.00 0.00 0.00 0.000 6 0.000 0.000 3400 1930 1946 0 0 0 0 0 0

10972 0.98 194.6 458.3 31.6 324 10973 0.00 0.00 0.00 0.000 6 0.000 0.000 3397 1930 1944 0 0 0 0 0 0

11274 0.98 194.6 362.3 32.0 329 11278 0.00 2.53 0.00 0.000 4 0.000 0.050 3409 351 1947 0 0 0 0 0 0

11439 0.98 194.6 307.8 33.1 331 11444 0.12 2.47 0.00 0.000 6 0.218 0.041 3379 1923 1943 0 0 0 0 0 0

11769 0.98 194.6 209.3 28.7 342 11770 0.00 0.00 0.00 0.000 6 0.000 0.000 3379 1923 1943 0 0 0 0 0 0

12072 0.98 194.6 124.6 26.9 352 12077 0.00 2.55 0.00 0.000 4 0.000 0.054 3379 3513 1942 0 0 0 0 0 0

12088 0.98 194.6 120.0 27.5 352 12093 0.00 2.47 0.00 0.000 6 0.000 0.038 3389 1927 1940 0 0 0 0 0 0

12403 0.98 194.6 38.4 20.6 378 12407 0.00 2.50 0.00 0.000 4 0.000 0.048 3401 340 1942 0 0 0 0 0 0

12439 0.98 194.6 30.9 20.0 381 12448 0.00 2.47 0.00 0.000 6 0.000 0.039 3400 1930 1942 0 0 0 0 0 0

12576 end climb: SURFACE_DEPTH_REACHED

state 12576 begin surface coast

12587 end surface coast: CONTROL_FINISHED_OK

state 12587 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	8	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	33	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	-16214.174	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	050111,093550,3242.701,-11849.608,100,2.5,119,13.3	TGT_NAME	DM4
_CALLS	1	TGT_LATLONG	3251.800,-11907.783
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.316,0.075
_SM_DEPTHo	1.88	KALMAN_X	11071.9,-1617.8,84.2,-15612.7,5144.8
_SM_ANGLEo	-77.4	KALMAN_Y	-4485.3,-446.8,-106.2,9682.1,-1382.0
GPS2	050111,094122,3242.690,-11849.629,14,3.6,33,13.3	MHEAD_RNG_PITCHd_Wd	270.1,32897,-19.3,-13.306
SPEED_LIMITS	0.230,0.325	D_GRID	1129

FINISH	1.0,1.025179	PA_USBA	100.0/0/0
SM_CCo	12601,32.85,0.560,0,0,1728,250.45	PA_HOME	8.9/483886/440779
SM_GC	1.59,0.00,0.00,32.85,0.000,0.000,0.560,146,2105,1728,-9.10,0.17,250.45	PA_ROOT	80.3/126931/24979
IRIDIUM_FIX	3213.52,-12612.90,050111,050511	PA_LOG	7.1/297829/276600
TT8_MAMPS	0.125832	PA_DATA1	0.1/7836665/7825417
HUMID	53.89	PA_DATA0	40.3/7836665/4678477
INTERNAL_PRESSURE	9.60313	_24V_AH	22.9,15.470
TCM_TEMP	19.00	_10V_AH	10.1,9.444
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	316400
PA_BOOTCOUNT	92	DATA_FILE_SIZE	13449,404
PA_DFQS	0/0	CAP_FILE_SIZE	137012,0
PA_CMQS	0/0	CFSIZE	260165632,256024576
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	050111,131514,3242.831,-11849.714,117,2.3,136,13.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	274	143.86	SBE_CT	276	24	151.92
Roll_motor	119	73	200.34	nil	0	0	0.00
VBD_pump_during_apogee	345	1107	8755.98	nil	0	0	0.00
VBD_pump_during_surface	32	559	421.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	71.11	nil	0	0	0.00
Iridium_during_connect	32	160	119.59	PAAM	4658	58	6201.26
Iridium_during_xfer	153	223	785.29	nil	0	0	0.00
Transponder_ping	38	420	367.89	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	50	17.65
TT8	0	0	0.00
LPSleep	9791	2	216.58
TT8_Active	449	19	89.91
TT8_Sampling	2634	39	1059.14
TT8_CF8	83	45	38.46
TT8_Kalman	33	81	27.54
Analog_circuits	1493	12	181.05
GPS_charging	0	0	0.00
Compass	1634	15	247.56
RAFOS	0	0	0.00
Transponder	244	30	74.01

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	-0.98	-194.6	0.0	0.0	0	71	0.00	0.00	-53.35	0.000	2	0.000	0.000	143	2120	2865	0	0	0	0	0	0
73	-0.98	-194.6	3.1	-3.9	9	109	12.07	2.58	-15.50	0.000	4	0.275	0.073	2722	3659	3545	0	0	0	0	0	0
183	-0.98	-194.6	16.8	-6.6	29	190	0.00	2.47	0.00	0.000	6	0.000	0.041	2722	2088	3547	0	0	0	0	0	0
252	-0.98	-194.6	21.5	-6.8	40	252	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2088	3548	0	0	0	0	0	0
438	-0.98	-194.6	33.4	-6.2	58	442	0.00	2.60	0.00	0.000	4	0.000	0.062	2728	3661	3547	0	0	0	0	0	0
517	-0.98	-194.6	38.0	-5.4	65	525	0.00	2.45	0.00	0.000	6	0.000	0.039	2722	2098	3549	0	0	0	0	0	0
709	-0.98	-194.6	51.8	-8.4	84	714	0.00	2.55	0.00	0.000	4	0.000	0.060	2722	3658	3545	0	0	0	0	0	0
955	-0.98	-194.6	76.2	-9.9	107	959	0.00	2.42	0.00	0.000	6	0.000	0.038	2726	2097	3549	0	0	0	0	0	0
1151	-0.98	-194.6	94.6	-8.9	126	1156	0.00	2.55	0.00	0.000	4	0.000	0.058	2722	3656	3553	0	0	0	0	0	0
1397	-0.98	-194.6	116.2	-8.8	137	1405	0.00	2.38	0.00	0.000	6	0.000	0.040	2722	2091	3548	0	0	0	0	0	0
1706	-0.98	-194.6	142.1	-8.8	147	1715	0.00	2.53	0.00	0.000	4	0.000	0.058	2722	3667	3551	0	0	0	0	0	0
1938	-0.98	-194.6	165.3	-9.9	154	1946	0.00	2.40	0.00	0.000	6	0.000	0.039	2722	2102	3551	0	0	0	0	0	0
2260	-0.98	-194.6	196.7	-9.6	165	2268	0.00	2.50	0.00	0.000	4	0.000	0.060	2722	3669	3552	0	0	0	0	0	0
2448	-0.98	-194.6	215.2	-9.6	171	2456	0.00	2.40	0.00	0.000	6	0.000	0.040	2722	2086	3550	0	0	0	0	0	0
2781	-0.98	-194.6	246.7	-9.5	182	2789	0.00	2.50	0.00	0.000	4	0.000	0.057	2722	3666	3552	0	0	0	0	0	0
3001	-0.98	-194.6	268.0	-9.8	189	3009	0.00	2.40	0.00	0.000	6	0.000	0.040	2722	2098	3551	0	0	0	0	0	0
3333	-0.98	-194.6	299.9	-9.7	200	3342	0.00	2.45	0.00	0.000	4	0.000	0.059	2724	3657	3552	0	0	0	0	0	0
3510	-0.98	-194.6	319.4	-11.0	203	3519	0.00	2.38	0.00	0.000	6	0.000	0.039	2722	2087	3552	0	0	0	0	0	0
3825	-0.98	-194.6	354.8	-11.4	209	3834	0.00	2.50	0.00	0.000	4	0.000	0.059	2722	3658	3553	0	0	0	0	0	0
3982	-0.98	-194.6	371.8	-10.3	211	3990	0.00	2.38	0.00	0.000	6	0.000	0.040	2720	2106	3552	0	0	0	0	0	0
4318	-0.98	-194.6	401.1	-8.4	217	4326	0.00	2.53	0.00	0.000	4	0.000	0.058	2722	3666	3549	0	0	0	0	0	0
4398	-0.98	-194.6	407.2	-7.0	218	4406	0.00	2.38	0.00	0.000	6	0.000	0.039	2722	2090	3552	0	0	0	0	0	0
4740	-0.98	-194.6	434.0	-8.1	224	4748	0.00	2.50	0.00	0.000	4	0.000	0.059	2722	3666	3551	0	0	0	0	0	0
4928	-0.98	-194.6	451.7	-9.7	227	4936	0.00	2.38	0.00	0.000	6	0.000	0.039	2722	2104	3551	0	0	0	0	0	0
5291	-0.98	-194.6	488.0	-10.1	233	5299	0.00	2.47	0.00	0.000	4	0.000	0.060	2722	3658	3551	0	0	0	0	0	0
5463	-0.98	-194.6	506.2	-10.7	235	5471	0.00	2.38	0.00	0.000	6	0.000	0.040	2722	2087	3551	0	0	0	0	0	0
5783	-0.98	-194.6	539.0	-10.3	241	5791	0.00	2.50	0.00	0.000	4	0.000	0.058	2722	3662	3548	0	0	0	0	0	0
5892	-0.98	-194.6	550.3	-10.1	242	5900	0.00	2.40	0.00	0.000	6	0.000	0.040	2722	2092	3551	0	0	0	0	0	0
6211	-0.98	-194.6	583.9	-10.6	248	6222	0.00	2.50	0.00	0.000	4	0.000	0.059	2722	3662	3550	0	0	0	0	0	0
6375	-0.98	-194.6	601.2	-11.1	250	6383	0.00	2.38	0.00	0.000	6	0.000	0.040	2722	2092	3550	0	0	0	0	0	0
6705	-0.98	-194.6	636.5	-10.8	256	6714	0.00	2.50	0.00	0.000	4	0.000	0.059	2723	3661	3549	0	0	0	0	0	0
6851	-0.98	-194.6	651.9	-10.9	258	6859	0.00	2.40	0.00	0.000	6	0.000	0.040	2722	2090	3549	0	0	0	0	0	0
7197	-0.98	-194.6	686.8	-10.1	264	7206	0.00	2.50	0.00	0.000	4	0.000	0.060	2722	3661	3549	0	0	0	0	0	0
7391	-0.98	-194.6	707.0	-10.4	267	7399	0.00	2.38	0.00	0.000	6	0.000	0.041	2722	2102	3548	0	0	0	0	0	0
7754	-0.98	-194.6	742.1	-9.7	273	7762	0.00	2.47	0.00	0.000	4	0.000	0.060	2722	3655	3548	0	0	0	0	0	0
7921	-0.98	-194.6	758.3	-9.5	275	7933	0.00	2.40	0.00	0.000	6	0.000	0.041	2722	2096	3547	0	0	0	0	0	0
8254	-0.98	-194.6	790.5	-10.0	281	8266	0.00	2.50	0.00	0.000	4	0.000	0.060	2722	3659	3547	0	0	0	0	0	0
8458	-0.98	-194.6	811.2	-9.2	284	8470	0.00	2.40	0.00	0.000	6	0.000	0.040	2722	2093	3547	0	0	0	0	0	0
8823	-0.98	-194.6	846.5	-9.8	290	8837	0.00	2.50	0.00	0.000	4	0.000	0.061	2722	3651	3546	0	0	0	0	0	0
9009	-0.98	-194.6	865.3	-9.8	292	9015	0.00	2.40	0.00	0.000	6	0.000	0.041	2722	2091	3546	0	0	0	0	0	0
9321	end dive: HALF_MISSION_TIME_EXCEEDED
state	9321	begin apogee
9324	-0.19	0.0	893.9	9.2	298	9499	0.73	0.00	169.18	1.108	6	0.056	0.000	3008	1926	2748	0	0	0	0	0	0
9500	end apogee: CONTROL_FINISHED_OK
state	9500	begin climb
9501	0.98	194.6	905.6	0.0	300	9685	1.05	2.72	176.00	1.089	4	0.056	0.044	3385	350	1955	0	0	0	0	0	0
9923	0.98	194.6	796.8	34.2	306	9928	0.00	2.55	0.00	0.000	6	0.000	0.041	3385	1910	1947	0	0	0	0	0	0
10241	0.98	194.6	692.8	32.4	312	10245	0.00	2.55	0.00	0.000	4	0.000	0.047	3396	343	1944	0	0	0	0	0	0
10305	0.98	194.6	671.9	32.3	313	10309	0.00	2.55	0.00	0.000	6	0.000	0.042	3397	1931	1944	0	0	0	0	0	0
10670	0.98	194.6	554.6	31.7	319	10671	0.00	0.00	0.00	0.000	6	0.000	0.000	3400	1930	1946	0	0	0	0	0	0
10972	0.98	194.6	458.3	31.6	324	10973	0.00	0.00	0.00	0.000	6	0.000	0.000	3397	1930	1944	0	0	0	0	0	0
11274	0.98	194.6	362.3	32.0	329	11278	0.00	2.53	0.00	0.000	4	0.000	0.050	3409	351	1947	0	0	0	0	0	0
11439	0.98	194.6	307.8	33.1	331	11444	0.12	2.47	0.00	0.000	6	0.218	0.041	3379	1923	1943	0	0	0	0	0	0
11769	0.98	194.6	209.3	28.7	342	11770	0.00	0.00	0.00	0.000	6	0.000	0.000	3379	1923	1943	0	0	0	0	0	0
12072	0.98	194.6	124.6	26.9	352	12077	0.00	2.55	0.00	0.000	4	0.000	0.054	3379	3513	1942	0	0	0	0	0	0
12088	0.98	194.6	120.0	27.5	352	12093	0.00	2.47	0.00	0.000	6	0.000	0.038	3389	1927	1940	0	0	0	0	0	0
12403	0.98	194.6	38.4	20.6	378	12407	0.00	2.50	0.00	0.000	4	0.000	0.048	3401	340	1942	0	0	0	0	0	0
12439	0.98	194.6	30.9	20.0	381	12448	0.00	2.47	0.00	0.000	6	0.000	0.039	3400	1930	1942	0	0	0	0	0	0
12576	end climb: SURFACE_DEPTH_REACHED
state	12576	begin surface coast
12587	end surface coast: CONTROL_FINISHED_OK
state	12587	begin surface