Glider dive log

WA coast Jun12 * 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 40 ALTIM_FREQUENCY 13

MISSION 9 ESCAPE_HEADING 0 C_ROLL_DIVE 2250 ALTIM_PULSE 8

DIVE 8 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2100 ALTIM_SENSITIVITY 3

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 XPDR_VALID 6

D_SURF 3 TGT_DEFAULT_LAT 32.6903 ROLL_CNV 0.028270001 XPDR_INHIBIT 90

D_FLARE 3 TGT_DEFAULT_LON -118.7761 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 990 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 39 INT_PRESSURE_YINT -0.69999999

D_ABORT 1090 SM_CC 350 R_STBD_OVSHOOT 46 DEEPGLIDER 0

D_NO_BLEED 200 N_FILEKB 8 ROLL_AD_RATE 350 DEEPGLIDERMB 0

D_BOOST 2.5 FILEMGR 0 ROLL_MAXERRORS 1 MOTHERBOARD 4

T_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEVICE1 2

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEVICE2 -1

D_PITCH 0 PROTOCOL 9 VBD_MIN 460 DEVICE3 -1

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3960 DEVICE4 -1

D_CALL 0 NOCOMM_ACTION 163 C_VBD 2737 DEVICE5 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE6 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_TIMEOUT 720 LOGGERDEVICE1 69

T_DIVE 330 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE2 -1

T_MISSION 380 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE3 -1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE4 -1

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 COMPASS_DEVICE 33

T_TURN_SAMPINT 5 T_GPS 15 UNCOM_BLEED 50 COMPASS2_DEVICE -1

T_NO_W 120 N_GPS 20 VBD_MAXERRORS 1 PHONE_DEVICE 49

T_LOITER 0 T_GPS_ALMANAC 0 CF8_MAXERRORS 20 GPS_DEVICE 32

T_EPIRB 0 T_GPS_CHARGE -18524.852 AH0_24V 150 RAFOS_DEVICE -1

USE_BATHY 1 T_RSLEEP 3 AH0_10V 100 XPDR_DEVICE 24

USE_ICE 0 STROBE 0 MINV_24V 22 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 MINV_10V 9.5 SIM_PITCH 0

D_OFFGRID 1000 RAFOS_CORR_THRESH 60 FG_AHR_10V 0 SEABIRD_T_G 0.0043333764

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 FG_AHR_24V 0 SEABIRD_T_H 0.0006255582

RELAUNCH 1 PITCH_MIN 147 PHONE_SUPPLY 2 SEABIRD_T_I 2.4443518e-05

APOGEE_PITCH -5 PITCH_MAX 3923 PRESSURE_YINT -38.870029 SEABIRD_T_J 2.7040428e-06

MAX_BUOY 140 C_PITCH 3000 PRESSURE_SLOPE 0.0001164844 SEABIRD_C_G -10.032231

COURSE_BIAS 0 PITCH_DBAND 0.1 AD7714Ch0Gain 128 SEABIRD_C_H 1.1531334

GLIDE_SLOPE 45 PITCH_CNV 0.003125763 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012400629

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00018751388

RHO 1.0275 PITCH_GAIN 24 COMPASS_USE 4 PA_OFFLOAD 1.0

MASS 51739 PITCH_TIMEOUT 18 ALTIM_BOTTOM_PING_RANGE 0 PA_MAXUPLOADSIZE 40960.0

NAV_MODE 2 PITCH_AD_RATE 165 ALTIM_TOP_PING_RANGE 0 PA_MAXOPTIONALUPLOADSIZE 20480.0

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0 PA_POWERSOURCE 0.0

KALMAN_USE 1 PITCH_ADJ_GAIN 0.015 ALTIM_TOP_TURN_MARGIN 0 PA_RESTARTMONITOR 0.0

HD_A 0.003 PITCH_ADJ_DBAND 1 ALTIM_TOP_MIN_OBSTACLE 1 PA_SCALEFACTOR24V 1.3

HD_B 0.0099999998 ROLL_MIN 165 ALTIM_PING_DEPTH 0

HD_C 9.9999997e-06 ROLL_MAX 3681 ALTIM_PING_DELTA 0

AD7714Ch0Gain 128 D_PITCH 0 PA_POWERSOURCE 0.0 SIM_PITCH 0

AH0_10V 100 D_SAFE 0 PA_RESTARTMONITOR 0.0 SIM_W 0

AH0_24V 150 D_SURF 3 PA_SCALEFACTOR24V 1.3 SM_CC 350

ALTIM_BOTTOM_PING_RANGE 0 D_TGT 990 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PHONE_SUPPLY 2 STROBE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0.015 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_AD_RATE 165 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 8 FG_AHR_24V 0 PITCH_CNV 0.003125763 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_DBAND 0.1 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 24 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 45 PITCH_MAX 3923 TGT_DEFAULT_LAT 32.6903

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 32 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -118.7761

APOGEE_PITCH -5 HD_A 0.003 PITCH_MIN 147 T_ABORT 1440

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_TIMEOUT 18 T_BOOST 0

CALL_TRIES 5 HD_C 9.9999997e-06 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 330

CALL_WAIT 60 HEADING -1 PRESSURE_SLOPE 0.0001164844 T_EPIRB 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PRESSURE_YINT -38.870029 T_GPS 15

CAPUPLOAD 0 HEAPDBG 0 PROTOCOL 9 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT 0.039999999 T_GPS_CHARGE -18524.852

COMM_SEQ 0 ID 179 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_MISSION 380

COMPASS_DEVICE 33 INT_PRESSURE_YINT -0.69999999 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 4 KALMAN_USE 1 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE1 69 RELAUNCH 1 T_TURN 225

C_PITCH 3000 LOGGERDEVICE2 -1 RHO 1.0275 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2100 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2250 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_VBD 2737 LOGGERS 1 ROLL_AD_RATE 350 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS 51739 ROLL_CNV 0.028270001 USE_BATHY 1

DEEPGLIDERMB 0 MAX_BUOY 140 ROLL_DEG 40 USE_ICE 0

DEVICE1 2 MINV_10V 9.5 ROLL_MAX 3681 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_24V 22 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEVICE3 -1 MISSION 9 ROLL_MIN 165 VBD_DBAND 2

DEVICE4 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE5 -1 NAV_MODE 2 R_PORT_OVSHOOT 39 VBD_MAXERRORS 1

DEVICE6 -1 NOCOMM_ACTION 163 R_STBD_OVSHOOT 46 VBD_MIN 460

DIVE 8 N_DIVES 0 SEABIRD_C_G -10.032231 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 N_FILEKB 8 SEABIRD_C_H 1.1531334 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 2.5 N_GPS 20 SEABIRD_C_I -0.0012400629 VBD_TIMEOUT 720

D_CALL 0 N_NOCOMM 1 SEABIRD_C_J 0.00018751388 XPDR_DEVICE 24

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_G 0.0043333764 XPDR_INHIBIT 90

D_FLARE 3 PA_MAXOPTIONALUPLOADSIZE 20480.0 SEABIRD_T_H 0.0006255582 XPDR_VALID 6

D_NO_BLEED 200 PA_MAXUPLOADSIZE 40960.0 SEABIRD_T_I 2.4443518e-05

D_OFFGRID 1000 PA_OFFLOAD 1.0 SEABIRD_T_J 2.7040428e-06

Pre-dive calculations and measurements:

GPS1 120612,074504,4651.534,-12500.367,34,4.0,54,18.4 TGT_NAME SE

_CALLS 1 TGT_LATLONG 4640.000,-12510.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.153,-0.200

_SM_DEPTHo 1.54 KALMAN_X 2797.0,-302.3,224.1,-8333.9,340.3

_SM_ANGLEo -76.9 KALMAN_Y -1528.1,508.7,-494.0,-4554.8,-180.0

GPS2 120612,075155,4651.559,-12500.371,11,1.1,16,18.4 MHEAD_RNG_PITCHd_Wd 202.6,24658,-18.2,-10.000

SPEED_LIMITS 0.100,0.252 D_GRID 565

Post-dive calculations and measurements:

FINISH 0.6,1.008745 PA_USBA 0.02/2.188/117.609/109.447

SM_CCo 10416,12.43,0.070,0,0,1310,350.04 PA_HOME 0.09/0.044/0.460/0.392

SM_GC 2.81,8.98,0.25,12.43,0.054,0.065,0.070,139,2253,1310,-8.88,-0.90,350.04,0,0,0,0,0,0,25.25,25.31,25.22 PA_ROOT 0.81/0.098/0.121/0.017

IRIDIUM_FIX 4613.60,-12542.80,120612,040400 PA_LOG 0.09/0.027/0.285/0.243

TT8_MAMPS 0.159537,0.159537 PA_DATA1 0.00/0.058/117.213/111.201

HUMID 40.70 PA_DATA0 0.04/4.645/117.213/106.615

INTERNAL_PRESSURE 9.04647 _24V_AH 23.0,20.573

TCM_TEMP 18.90 _10V_AH 9.8,19.262

XPDR_PINGS 0 FG_AHR_24Vo 0.000

PA_PMVER 0.5 FG_AHR_10Vo 0.000

PA_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Wed Apr 11 09:18:30 PDT 2012 MEM 297116

PA_UPTIME 64239.49 37865.24 DATA_FILE_SIZE 53308,1339

PA_BOOTCOUNT 133 CAP_FILE_SIZE 132739,0

PA_DFQS 0/0 CFSIZE 260165632,257753088

PA_CMQS 559/557 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PA_USBDRIVE /mnt/usba CURRENT 0.044,169.1,1

PA_USBB 0.00/0.183/117.608/111.451 GPS 120612,104808,4650.319,-12501.731,77,1.6,80,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 292 171.50 SBE_CT 920 24 508.12

Roll_motor 86 65 128.81 nil 0 0 0.00

VBD_pump_during_apogee 409 906 8548.01 nil 0 0 0.00

VBD_pump_during_surface 12 69 19.89 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 64.65 nil 0 0 0.00

Iridium_during_connect 39 160 144.93 PAAM 10963 88 22357.30

Iridium_during_xfer 204 223 1050.35 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.26

TT8 0 0 0.00

LPSleep 6771 2 145.34

TT8_Active 493 19 95.75

TT8_Sampling 3464 39 1351.21

TT8_CF8 91 45 41.20

TT8_Kalman 33 81 26.62

Analog_circuits 1777 12 209.00

GPS_charging 0 0 0.00

Compass 2066 15 303.80

RAFOS 0 0 0.00

Transponder 0 5 0.03

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 pitch_volts roll_volts vbd_volts

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.93 -136.3 0.0 0.0 0 73 0.00 0.00 -59.17 0.000 2 0.000 0.000 141 2268 2702 0 0 0 0 0 0 28.83 28.83 28.83

75 -0.93 -136.3 3.8 -8.0 10 101 13.32 0.00 -10.82 0.000 6 0.293 0.000 2693 2269 3293 0 0 0 0 0 0 24.77 28.83 25.79

401 -0.82 -136.3 77.3 -19.7 74 411 0.12 0.00 0.00 0.000 6 0.196 0.000 2726 2269 3296 0 0 0 0 0 0 25.38 28.83 28.83

710 -0.79 -136.3 126.6 -13.2 135 721 0.00 2.28 0.00 0.000 4 0.000 0.061 2717 3640 3297 0 0 0 0 0 0 28.83 25.53 28.83

850 -0.77 -136.3 146.0 -13.6 162 861 0.12 2.15 0.00 0.000 6 0.162 0.039 2747 2243 3297 0 0 0 0 0 0 25.52 25.83 28.83

1160 -0.77 -136.3 181.1 -10.3 223 1170 0.00 2.20 0.00 0.000 4 0.000 0.044 2747 849 3298 0 0 0 0 0 0 28.83 25.72 28.83

1184 -0.77 -136.3 183.5 -10.3 227 1194 0.00 2.20 0.00 0.000 6 0.000 0.045 2740 2232 3298 0 0 0 0 0 0 28.83 25.75 28.83

1493 -0.77 -136.3 217.1 -11.4 273 1501 0.00 2.35 0.00 0.000 4 0.000 0.062 2730 3662 3297 0 0 0 0 0 0 28.83 25.66 28.83

1560 -0.77 -136.3 225.0 -12.0 279 1568 0.00 2.20 0.00 0.000 6 0.000 0.039 2729 2237 3299 0 0 0 0 0 0 28.83 25.96 28.83

1864 -0.77 -136.3 262.0 -12.3 309 1870 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 2235 3295 0 0 0 0 0 0 28.83 28.83 28.83

2165 -0.77 -136.3 297.7 -10.9 339 2173 0.00 2.35 0.00 0.000 4 0.000 0.062 2719 3656 3297 0 0 0 0 0 0 28.83 25.69 28.83

2242 -0.77 -136.3 306.2 -11.2 346 2250 0.12 2.20 0.00 0.000 6 0.164 0.039 2745 2242 3298 0 0 0 0 0 0 25.68 26.02 28.83

2547 -0.79 -136.3 336.7 -10.4 376 2555 0.00 2.17 0.00 0.000 4 0.000 0.046 2749 850 3297 0 0 0 0 0 0 28.83 25.84 28.83

2599 -0.82 -136.3 341.7 -10.7 380 2609 0.00 2.22 0.00 0.000 6 0.000 0.047 2742 2251 3297 0 0 0 0 0 0 28.83 25.84 28.83

2904 -0.82 -136.3 375.7 -11.1 411 2912 0.00 2.33 0.00 0.000 4 0.000 0.062 2731 3666 3297 0 0 0 0 0 0 28.83 25.70 28.83

2945 -0.82 -136.3 379.9 -11.4 414 2956 0.00 2.20 0.00 0.000 6 0.000 0.039 2732 2245 3296 0 0 0 0 0 0 28.83 26.06 28.83

3251 -0.82 -136.3 417.1 -12.0 445 3256 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2245 3300 0 0 0 0 0 0 28.83 28.83 28.83

3551 -0.82 -136.3 452.2 -11.0 475 3559 0.00 2.35 0.00 0.000 4 0.000 0.063 2721 3665 3296 0 0 0 0 0 0 28.83 25.68 28.83

3578 -0.82 -136.3 455.4 -11.3 477 3586 0.00 2.20 0.00 0.000 6 0.000 0.039 2721 2250 3296 0 0 0 0 0 0 28.83 26.08 28.83

3883 -0.82 -136.3 489.5 -11.2 507 3888 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2249 3298 0 0 0 0 0 0 28.83 28.83 28.83

4183 -0.82 -136.3 522.7 -11.5 537 4191 0.00 2.33 0.00 0.000 4 0.000 0.064 2710 3661 3295 0 0 0 0 0 0 28.83 25.67 28.83

4250 -0.82 -136.3 530.7 -12.0 543 4258 0.00 2.17 0.00 0.000 6 0.000 0.041 2710 2254 3295 0 0 0 0 0 0 28.83 26.05 28.83

4554 end dive: TARGET_DEPTH_EXCEEDED

state 4554 begin apogee

4557 -0.21 0.0 566.0 -11.3 573 4690 0.73 0.00 119.57 0.907 6 0.140 0.000 2929 2098 2738 0 0 0 0 0 0 25.32 28.83 23.39

4691 end apogee: CONTROL_FINISHED_OK

state 4691 begin climb

4692 0.93 136.3 570.6 0.0 586 4831 1.08 2.45 121.70 0.890 4 0.061 0.047 3313 705 2180 0 0 0 0 0 0 24.49 23.89 23.02

4920 0.77 136.3 555.8 15.0 609 4928 0.28 2.30 0.00 0.000 6 0.187 0.040 3252 2108 2175 0 0 0 0 0 0 24.34 24.70 28.83

5225 0.69 136.3 517.4 12.5 639 5233 0.12 2.33 0.00 0.000 4 0.203 0.047 3229 688 2170 0 0 0 0 0 0 25.06 25.22 28.83

5266 0.62 136.3 513.1 11.8 642 5277 0.00 2.25 0.00 0.000 6 0.000 0.042 3228 2103 2170 0 0 0 0 0 0 28.83 25.32 28.83

5572 0.57 136.3 479.1 10.1 673 5580 0.15 2.30 0.00 0.000 4 0.181 0.057 3190 3508 2169 0 0 0 0 0 0 25.29 25.42 28.83

5599 0.52 138.8 476.5 9.9 675 5608 0.12 2.25 0.00 0.000 6 0.186 0.039 3173 2085 2169 0 0 0 0 0 0 25.24 25.59 28.83

5904 0.57 178.9 451.9 8.0 705 5949 0.00 2.28 35.90 0.818 4 0.000 0.050 3180 702 2007 0 0 0 0 0 0 28.83 25.08 24.22

6004 0.60 187.0 443.8 9.6 714 6023 0.00 2.25 8.12 0.701 6 0.000 0.041 3180 2100 1974 0 0 0 0 0 0 28.83 25.28 24.21

6319 0.63 190.4 411.9 9.8 746 6333 0.00 0.00 3.80 0.507 6 0.000 0.000 3180 2099 1960 0 0 0 0 0 0 28.83 28.83 24.35

6628 0.65 191.8 381.0 9.9 777 6637 0.00 2.25 0.00 0.000 4 0.000 0.050 3190 699 1960 0 0 0 0 0 0 28.83 25.55 28.83

6670 0.67 191.8 377.0 10.0 780 6681 0.00 2.22 0.00 0.000 6 0.000 0.041 3190 2102 1959 0 0 0 0 0 0 28.83 25.64 28.83

6976 0.68 195.3 346.1 9.8 811 6990 0.00 0.00 5.62 0.613 6 0.000 0.000 3191 2101 1940 0 0 0 0 0 0 28.83 28.83 24.69

7286 0.69 207.1 315.3 9.4 842 7310 0.00 2.30 11.70 0.704 4 0.000 0.050 3201 705 1892 0 0 0 0 0 0 28.83 25.66 24.74

7390 0.71 207.1 305.1 10.3 852 7398 0.00 2.20 0.00 0.000 6 0.000 0.041 3201 2101 1889 0 0 0 0 0 0 28.83 25.67 28.83

7694 0.71 207.1 272.5 10.9 882 7700 0.00 0.00 0.00 0.000 6 0.000 0.000 3201 2101 1889 0 0 0 0 0 0 28.83 28.83 28.83

7995 0.71 207.1 242.6 10.4 912 8000 0.00 0.00 0.00 0.000 6 0.000 0.000 3201 2101 1888 0 0 0 0 0 0 28.83 28.83 28.83

8295 0.71 209.1 211.4 9.9 942 8300 0.00 0.00 0.00 0.000 6 0.000 0.000 3201 2101 1888 0 0 0 0 0 0 28.83 28.83 28.83

8595 0.73 209.1 181.1 10.5 990 8605 0.10 2.25 0.00 0.000 4 0.109 0.047 3251 692 1888 0 0 0 0 0 0 26.19 25.79 28.83

8629 0.70 209.1 176.7 12.7 996 8640 0.00 2.22 0.00 0.000 6 0.000 0.042 3251 2101 1888 0 0 0 0 0 0 28.83 25.86 28.83

8939 0.66 209.1 136.9 13.3 1057 8951 0.12 2.22 0.00 0.000 4 0.192 0.047 3224 695 1888 0 0 0 0 0 0 25.78 25.81 28.83

9000 0.66 209.1 130.0 10.7 1068 9010 0.00 2.20 0.00 0.000 6 0.000 0.044 3227 2109 1887 0 0 0 0 0 0 28.83 25.89 28.83

9309 0.69 230.2 97.8 9.0 1129 9338 0.00 2.25 20.02 0.615 4 0.000 0.049 3238 701 1797 0 0 0 0 0 0 28.83 25.79 25.03

9362 0.72 261.1 93.4 8.5 1138 9398 0.00 2.20 25.92 0.612 6 0.000 0.041 3238 2105 1673 0 0 0 0 0 0 28.83 25.86 24.72

9697 0.75 261.1 61.0 10.2 1203 9708 0.00 2.28 0.00 0.000 4 0.000 0.057 3234 3504 1669 0 0 0 0 0 0 28.83 25.51 28.83

9762 0.75 261.1 53.8 11.0 1215 9773 0.00 2.22 0.00 0.000 6 0.000 0.040 3249 2098 1668 0 0 0 0 0 0 28.83 25.67 28.83

10073 0.78 261.1 22.0 10.6 1276 10080 0.00 2.30 0.00 0.000 4 0.000 0.057 3248 3504 1669 0 0 0 0 0 0 28.83 25.62 28.83

10304 0.91 343.0 6.7 5.9 1322 10367 0.08 2.22 57.60 0.565 2 0.075 0.039 3297 2100 1375 0 0 0 0 0 0 25.71 25.82 28.83

10367 end climb: SURFACE_DEPTH_REACHED

state 10368 begin surface coast

10401 end surface coast: CONTROL_FINISHED_OK

state 10401 begin surface

ID	179	HEADING	-1	ROLL_DEG	40	ALTIM_FREQUENCY	13
MISSION	9	ESCAPE_HEADING	0	C_ROLL_DIVE	2250	ALTIM_PULSE	8
DIVE	8	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2100	ALTIM_SENSITIVITY	3
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	XPDR_VALID	6
D_SURF	3	TGT_DEFAULT_LAT	32.6903	ROLL_CNV	0.028270001	XPDR_INHIBIT	90
D_FLARE	3	TGT_DEFAULT_LON	-118.7761	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	990	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	39	INT_PRESSURE_YINT	-0.69999999
D_ABORT	1090	SM_CC	350	R_STBD_OVSHOOT	46	DEEPGLIDER	0
D_NO_BLEED	200	N_FILEKB	8	ROLL_AD_RATE	350	DEEPGLIDERMB	0
D_BOOST	2.5	FILEMGR	0	ROLL_MAXERRORS	1	MOTHERBOARD	4
T_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEVICE1	2
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEVICE2	-1
D_PITCH	0	PROTOCOL	9	VBD_MIN	460	DEVICE3	-1
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3960	DEVICE4	-1
D_CALL	0	NOCOMM_ACTION	163	C_VBD	2737	DEVICE5	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE6	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_TIMEOUT	720	LOGGERDEVICE1	69
T_DIVE	330	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE2	-1
T_MISSION	380	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE3	-1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE4	-1
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	COMPASS_DEVICE	33
T_TURN_SAMPINT	5	T_GPS	15	UNCOM_BLEED	50	COMPASS2_DEVICE	-1
T_NO_W	120	N_GPS	20	VBD_MAXERRORS	1	PHONE_DEVICE	49
T_LOITER	0	T_GPS_ALMANAC	0	CF8_MAXERRORS	20	GPS_DEVICE	32
T_EPIRB	0	T_GPS_CHARGE	-18524.852	AH0_24V	150	RAFOS_DEVICE	-1
USE_BATHY	1	T_RSLEEP	3	AH0_10V	100	XPDR_DEVICE	24
USE_ICE	0	STROBE	0	MINV_24V	22	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	MINV_10V	9.5	SIM_PITCH	0
D_OFFGRID	1000	RAFOS_CORR_THRESH	60	FG_AHR_10V	0	SEABIRD_T_G	0.0043333764
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	FG_AHR_24V	0	SEABIRD_T_H	0.0006255582
RELAUNCH	1	PITCH_MIN	147	PHONE_SUPPLY	2	SEABIRD_T_I	2.4443518e-05
APOGEE_PITCH	-5	PITCH_MAX	3923	PRESSURE_YINT	-38.870029	SEABIRD_T_J	2.7040428e-06
MAX_BUOY	140	C_PITCH	3000	PRESSURE_SLOPE	0.0001164844	SEABIRD_C_G	-10.032231
COURSE_BIAS	0	PITCH_DBAND	0.1	AD7714Ch0Gain	128	SEABIRD_C_H	1.1531334
GLIDE_SLOPE	45	PITCH_CNV	0.003125763	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012400629
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00018751388
RHO	1.0275	PITCH_GAIN	24	COMPASS_USE	4	PA_OFFLOAD	1.0
MASS	51739	PITCH_TIMEOUT	18	ALTIM_BOTTOM_PING_RANGE	0	PA_MAXUPLOADSIZE	40960.0
NAV_MODE	2	PITCH_AD_RATE	165	ALTIM_TOP_PING_RANGE	0	PA_MAXOPTIONALUPLOADSIZE	20480.0
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0	PA_POWERSOURCE	0.0
KALMAN_USE	1	PITCH_ADJ_GAIN	0.015	ALTIM_TOP_TURN_MARGIN	0	PA_RESTARTMONITOR	0.0
HD_A	0.003	PITCH_ADJ_DBAND	1	ALTIM_TOP_MIN_OBSTACLE	1	PA_SCALEFACTOR24V	1.3
HD_B	0.0099999998	ROLL_MIN	165	ALTIM_PING_DEPTH	0
HD_C	9.9999997e-06	ROLL_MAX	3681	ALTIM_PING_DELTA	0

GPS1	120612,074504,4651.534,-12500.367,34,4.0,54,18.4	TGT_NAME	SE
_CALLS	1	TGT_LATLONG	4640.000,-12510.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.153,-0.200
_SM_DEPTHo	1.54	KALMAN_X	2797.0,-302.3,224.1,-8333.9,340.3
_SM_ANGLEo	-76.9	KALMAN_Y	-1528.1,508.7,-494.0,-4554.8,-180.0
GPS2	120612,075155,4651.559,-12500.371,11,1.1,16,18.4	MHEAD_RNG_PITCHd_Wd	202.6,24658,-18.2,-10.000
SPEED_LIMITS	0.100,0.252	D_GRID	565

FINISH	0.6,1.008745	PA_USBA	0.02/2.188/117.609/109.447
SM_CCo	10416,12.43,0.070,0,0,1310,350.04	PA_HOME	0.09/0.044/0.460/0.392
SM_GC	2.81,8.98,0.25,12.43,0.054,0.065,0.070,139,2253,1310,-8.88,-0.90,350.04,0,0,0,0,0,0,25.25,25.31,25.22	PA_ROOT	0.81/0.098/0.121/0.017
IRIDIUM_FIX	4613.60,-12542.80,120612,040400	PA_LOG	0.09/0.027/0.285/0.243
TT8_MAMPS	0.159537,0.159537	PA_DATA1	0.00/0.058/117.213/111.201
HUMID	40.70	PA_DATA0	0.04/4.645/117.213/106.615
INTERNAL_PRESSURE	9.04647	_24V_AH	23.0,20.573
TCM_TEMP	18.90	_10V_AH	9.8,19.262
XPDR_PINGS	0	FG_AHR_24Vo	0.000
PA_PMVER	0.5	FG_AHR_10Vo	0.000
PA_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Wed Apr 11 09:18:30 PDT 2012	MEM	297116
PA_UPTIME	64239.49 37865.24	DATA_FILE_SIZE	53308,1339
PA_BOOTCOUNT	133	CAP_FILE_SIZE	132739,0
PA_DFQS	0/0	CFSIZE	260165632,257753088
PA_CMQS	559/557	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_USBDRIVE	/mnt/usba	CURRENT	0.044,169.1,1
PA_USBB	0.00/0.183/117.608/111.451	GPS	120612,104808,4650.319,-12501.731,77,1.6,80,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	292	171.50	SBE_CT	920	24	508.12
Roll_motor	86	65	128.81	nil	0	0	0.00
VBD_pump_during_apogee	409	906	8548.01	nil	0	0	0.00
VBD_pump_during_surface	12	69	19.89	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	64.65	nil	0	0	0.00
Iridium_during_connect	39	160	144.93	PAAM	10963	88	22357.30
Iridium_during_xfer	204	223	1050.35	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.26
TT8	0	0	0.00
LPSleep	6771	2	145.34
TT8_Active	493	19	95.75
TT8_Sampling	3464	39	1351.21
TT8_CF8	91	45	41.20
TT8_Kalman	33	81	26.62
Analog_circuits	1777	12	209.00
GPS_charging	0	0	0.00
Compass	2066	15	303.80
RAFOS	0	0	0.00
Transponder	0	5	0.03

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	pitch_volts	roll_volts	vbd_volts
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.93	-136.3	0.0	0.0	0	73	0.00	0.00	-59.17	0.000	2	0.000	0.000	141	2268	2702	0	0	0	0	0	0	28.83	28.83	28.83
75	-0.93	-136.3	3.8	-8.0	10	101	13.32	0.00	-10.82	0.000	6	0.293	0.000	2693	2269	3293	0	0	0	0	0	0	24.77	28.83	25.79
401	-0.82	-136.3	77.3	-19.7	74	411	0.12	0.00	0.00	0.000	6	0.196	0.000	2726	2269	3296	0	0	0	0	0	0	25.38	28.83	28.83
710	-0.79	-136.3	126.6	-13.2	135	721	0.00	2.28	0.00	0.000	4	0.000	0.061	2717	3640	3297	0	0	0	0	0	0	28.83	25.53	28.83
850	-0.77	-136.3	146.0	-13.6	162	861	0.12	2.15	0.00	0.000	6	0.162	0.039	2747	2243	3297	0	0	0	0	0	0	25.52	25.83	28.83
1160	-0.77	-136.3	181.1	-10.3	223	1170	0.00	2.20	0.00	0.000	4	0.000	0.044	2747	849	3298	0	0	0	0	0	0	28.83	25.72	28.83
1184	-0.77	-136.3	183.5	-10.3	227	1194	0.00	2.20	0.00	0.000	6	0.000	0.045	2740	2232	3298	0	0	0	0	0	0	28.83	25.75	28.83
1493	-0.77	-136.3	217.1	-11.4	273	1501	0.00	2.35	0.00	0.000	4	0.000	0.062	2730	3662	3297	0	0	0	0	0	0	28.83	25.66	28.83
1560	-0.77	-136.3	225.0	-12.0	279	1568	0.00	2.20	0.00	0.000	6	0.000	0.039	2729	2237	3299	0	0	0	0	0	0	28.83	25.96	28.83
1864	-0.77	-136.3	262.0	-12.3	309	1870	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	2235	3295	0	0	0	0	0	0	28.83	28.83	28.83
2165	-0.77	-136.3	297.7	-10.9	339	2173	0.00	2.35	0.00	0.000	4	0.000	0.062	2719	3656	3297	0	0	0	0	0	0	28.83	25.69	28.83
2242	-0.77	-136.3	306.2	-11.2	346	2250	0.12	2.20	0.00	0.000	6	0.164	0.039	2745	2242	3298	0	0	0	0	0	0	25.68	26.02	28.83
2547	-0.79	-136.3	336.7	-10.4	376	2555	0.00	2.17	0.00	0.000	4	0.000	0.046	2749	850	3297	0	0	0	0	0	0	28.83	25.84	28.83
2599	-0.82	-136.3	341.7	-10.7	380	2609	0.00	2.22	0.00	0.000	6	0.000	0.047	2742	2251	3297	0	0	0	0	0	0	28.83	25.84	28.83
2904	-0.82	-136.3	375.7	-11.1	411	2912	0.00	2.33	0.00	0.000	4	0.000	0.062	2731	3666	3297	0	0	0	0	0	0	28.83	25.70	28.83
2945	-0.82	-136.3	379.9	-11.4	414	2956	0.00	2.20	0.00	0.000	6	0.000	0.039	2732	2245	3296	0	0	0	0	0	0	28.83	26.06	28.83
3251	-0.82	-136.3	417.1	-12.0	445	3256	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2245	3300	0	0	0	0	0	0	28.83	28.83	28.83
3551	-0.82	-136.3	452.2	-11.0	475	3559	0.00	2.35	0.00	0.000	4	0.000	0.063	2721	3665	3296	0	0	0	0	0	0	28.83	25.68	28.83
3578	-0.82	-136.3	455.4	-11.3	477	3586	0.00	2.20	0.00	0.000	6	0.000	0.039	2721	2250	3296	0	0	0	0	0	0	28.83	26.08	28.83
3883	-0.82	-136.3	489.5	-11.2	507	3888	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2249	3298	0	0	0	0	0	0	28.83	28.83	28.83
4183	-0.82	-136.3	522.7	-11.5	537	4191	0.00	2.33	0.00	0.000	4	0.000	0.064	2710	3661	3295	0	0	0	0	0	0	28.83	25.67	28.83
4250	-0.82	-136.3	530.7	-12.0	543	4258	0.00	2.17	0.00	0.000	6	0.000	0.041	2710	2254	3295	0	0	0	0	0	0	28.83	26.05	28.83
4554	end dive: TARGET_DEPTH_EXCEEDED
state	4554	begin apogee
4557	-0.21	0.0	566.0	-11.3	573	4690	0.73	0.00	119.57	0.907	6	0.140	0.000	2929	2098	2738	0	0	0	0	0	0	25.32	28.83	23.39
4691	end apogee: CONTROL_FINISHED_OK
state	4691	begin climb
4692	0.93	136.3	570.6	0.0	586	4831	1.08	2.45	121.70	0.890	4	0.061	0.047	3313	705	2180	0	0	0	0	0	0	24.49	23.89	23.02
4920	0.77	136.3	555.8	15.0	609	4928	0.28	2.30	0.00	0.000	6	0.187	0.040	3252	2108	2175	0	0	0	0	0	0	24.34	24.70	28.83
5225	0.69	136.3	517.4	12.5	639	5233	0.12	2.33	0.00	0.000	4	0.203	0.047	3229	688	2170	0	0	0	0	0	0	25.06	25.22	28.83
5266	0.62	136.3	513.1	11.8	642	5277	0.00	2.25	0.00	0.000	6	0.000	0.042	3228	2103	2170	0	0	0	0	0	0	28.83	25.32	28.83
5572	0.57	136.3	479.1	10.1	673	5580	0.15	2.30	0.00	0.000	4	0.181	0.057	3190	3508	2169	0	0	0	0	0	0	25.29	25.42	28.83
5599	0.52	138.8	476.5	9.9	675	5608	0.12	2.25	0.00	0.000	6	0.186	0.039	3173	2085	2169	0	0	0	0	0	0	25.24	25.59	28.83
5904	0.57	178.9	451.9	8.0	705	5949	0.00	2.28	35.90	0.818	4	0.000	0.050	3180	702	2007	0	0	0	0	0	0	28.83	25.08	24.22
6004	0.60	187.0	443.8	9.6	714	6023	0.00	2.25	8.12	0.701	6	0.000	0.041	3180	2100	1974	0	0	0	0	0	0	28.83	25.28	24.21
6319	0.63	190.4	411.9	9.8	746	6333	0.00	0.00	3.80	0.507	6	0.000	0.000	3180	2099	1960	0	0	0	0	0	0	28.83	28.83	24.35
6628	0.65	191.8	381.0	9.9	777	6637	0.00	2.25	0.00	0.000	4	0.000	0.050	3190	699	1960	0	0	0	0	0	0	28.83	25.55	28.83
6670	0.67	191.8	377.0	10.0	780	6681	0.00	2.22	0.00	0.000	6	0.000	0.041	3190	2102	1959	0	0	0	0	0	0	28.83	25.64	28.83
6976	0.68	195.3	346.1	9.8	811	6990	0.00	0.00	5.62	0.613	6	0.000	0.000	3191	2101	1940	0	0	0	0	0	0	28.83	28.83	24.69
7286	0.69	207.1	315.3	9.4	842	7310	0.00	2.30	11.70	0.704	4	0.000	0.050	3201	705	1892	0	0	0	0	0	0	28.83	25.66	24.74
7390	0.71	207.1	305.1	10.3	852	7398	0.00	2.20	0.00	0.000	6	0.000	0.041	3201	2101	1889	0	0	0	0	0	0	28.83	25.67	28.83
7694	0.71	207.1	272.5	10.9	882	7700	0.00	0.00	0.00	0.000	6	0.000	0.000	3201	2101	1889	0	0	0	0	0	0	28.83	28.83	28.83
7995	0.71	207.1	242.6	10.4	912	8000	0.00	0.00	0.00	0.000	6	0.000	0.000	3201	2101	1888	0	0	0	0	0	0	28.83	28.83	28.83
8295	0.71	209.1	211.4	9.9	942	8300	0.00	0.00	0.00	0.000	6	0.000	0.000	3201	2101	1888	0	0	0	0	0	0	28.83	28.83	28.83
8595	0.73	209.1	181.1	10.5	990	8605	0.10	2.25	0.00	0.000	4	0.109	0.047	3251	692	1888	0	0	0	0	0	0	26.19	25.79	28.83
8629	0.70	209.1	176.7	12.7	996	8640	0.00	2.22	0.00	0.000	6	0.000	0.042	3251	2101	1888	0	0	0	0	0	0	28.83	25.86	28.83
8939	0.66	209.1	136.9	13.3	1057	8951	0.12	2.22	0.00	0.000	4	0.192	0.047	3224	695	1888	0	0	0	0	0	0	25.78	25.81	28.83
9000	0.66	209.1	130.0	10.7	1068	9010	0.00	2.20	0.00	0.000	6	0.000	0.044	3227	2109	1887	0	0	0	0	0	0	28.83	25.89	28.83
9309	0.69	230.2	97.8	9.0	1129	9338	0.00	2.25	20.02	0.615	4	0.000	0.049	3238	701	1797	0	0	0	0	0	0	28.83	25.79	25.03
9362	0.72	261.1	93.4	8.5	1138	9398	0.00	2.20	25.92	0.612	6	0.000	0.041	3238	2105	1673	0	0	0	0	0	0	28.83	25.86	24.72
9697	0.75	261.1	61.0	10.2	1203	9708	0.00	2.28	0.00	0.000	4	0.000	0.057	3234	3504	1669	0	0	0	0	0	0	28.83	25.51	28.83
9762	0.75	261.1	53.8	11.0	1215	9773	0.00	2.22	0.00	0.000	6	0.000	0.040	3249	2098	1668	0	0	0	0	0	0	28.83	25.67	28.83
10073	0.78	261.1	22.0	10.6	1276	10080	0.00	2.30	0.00	0.000	4	0.000	0.057	3248	3504	1669	0	0	0	0	0	0	28.83	25.62	28.83
10304	0.91	343.0	6.7	5.9	1322	10367	0.08	2.22	57.60	0.565	2	0.075	0.039	3297	2100	1375	0	0	0	0	0	0	25.71	25.82	28.83
10367	end climb: SURFACE_DEPTH_REACHED
state	10368	begin surface coast
10401	end surface coast: CONTROL_FINISHED_OK
state	10401	begin surface