Glider dive log

SCORE Jan11 * SG178 * Dive index * Mission links * Dive 9 * 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 9 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 23 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 250 R_STBD_OVSHOOT 29 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 -9720.8369 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 3115 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 -9720.8369

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 3115 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 23 VBD_MAXERRORS 1

DIVE 9 N_DIVES 0 R_STBD_OVSHOOT 29 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 050111,155022,3245.354,-11855.341,12,99.0,31,13.3 TGT_NAME DM4

_CALLS 1 TGT_LATLONG 3251.800,-11907.783

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.324,-0.013

_SM_DEPTHo 1.49 KALMAN_X 12024.6,-141.8,-347.8,-25228.2,3464.2

_SM_ANGLEo -77.1 KALMAN_Y -437.2,244.2,-393.9,9907.5,1028.8

GPS2 050111,155704,3245.374,-11855.271,15,99.0,34,13.3 MHEAD_RNG_PITCHd_Wd 254.4,22816,-19.3,-13.306

SPEED_LIMITS 0.230,0.325 D_GRID 1217

Post-dive calculations and measurements:

FINISH 0.7,1.010543 PA_USBA 100.0/0/0

SM_CCo 13342,20.92,0.617,0,0,1729,250.21 PA_HOME 12.9/482055/419839

SM_GC 2.27,0.00,0.00,20.92,0.000,0.000,0.617,164,2552,1729,-9.23,0.06,250.21 PA_ROOT 80.3/126931/24979

IRIDIUM_FIX 3236.51,-11852.58,050111,121207 PA_LOG 7.5/298663/276321

TT8_MAMPS 0.113848 PA_DATA1 0.1/7837685/7826437

HUMID 45.11 PA_DATA0 59.7/7836665/3155494

INTERNAL_PRESSURE 8.90659 _24V_AH 22.9,18.641

TCM_TEMP 18.60 _10V_AH 10.1,12.551

XPDR_PINGS 25 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 316796

PA_BOOTCOUNT 88 DATA_FILE_SIZE 13492,384

PA_DFQS 0/0 CAP_FILE_SIZE 115792,0

PA_CMQS 0/0 CFSIZE 260165632,253530112

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

PA_USBB 100.0/0/0 GPS 050111,194137,3245.391,-11857.376,48,1.4,48,13.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 263 142.18 SBE_CT 262 24 144.17

Roll_motor 114 72 190.14 nil 0 0 0.00

VBD_pump_during_apogee 369 1245 10536.76 nil 0 0 0.00

VBD_pump_during_surface 20 616 295.46 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 70.28 nil 0 0 0.00

Iridium_during_connect 30 160 110.65 PAAM 13883 84 26715.18

Iridium_during_xfer 216 223 1105.08 nil 0 0 0.00

Transponder_ping 28 420 269.30 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 36 50 18.58

TT8 0 0 0.00

LPSleep 11181 2 247.33

TT8_Active 465 19 93.11

TT8_Sampling 2030 39 816.06

TT8_CF8 84 45 39.17

TT8_Kalman 33 81 27.54

Analog_circuits 1354 12 164.16

GPS_charging 0 0 0.00

Compass 992 15 150.29

RAFOS 0 0 0.00

Transponder 138 30 41.98

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 0 100 0.00 0.00 -81.82 0.000 2 0.000 0.000 163 2558 3040 0 0 0 0 0 0

101 -0.84 -194.6 3.0 -4.1 14 132 12.10 2.62 -10.07 0.000 4 0.264 0.060 2837 957 3544 0 0 0 0 0 0

279 -0.84 -194.6 40.4 -13.6 36 288 0.00 2.62 0.00 0.000 6 0.000 0.052 2828 2546 3546 0 0 0 0 0 0

471 -0.84 -194.6 75.4 -19.5 55 476 0.00 2.05 0.00 0.000 4 0.000 0.065 2818 3776 3546 0 0 0 0 0 0

518 -0.84 -194.6 85.2 -20.9 59 527 0.00 2.00 0.00 0.000 6 0.000 0.040 2818 2517 3545 0 0 0 0 0 0

728 -0.84 -194.6 124.5 -18.7 72 733 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 2518 3550 0 0 0 0 0 0

1032 -0.84 -194.6 183.3 -19.4 82 1040 0.00 2.08 0.00 0.000 4 0.000 0.067 2809 3787 3548 0 0 0 0 0 0

1071 -0.84 -194.6 190.7 -19.6 83 1078 0.12 1.92 0.00 0.000 6 0.187 0.041 2837 2547 3548 0 0 0 0 0 0

1396 -0.84 -194.6 242.3 -14.7 94 1402 0.00 0.00 0.00 0.000 6 0.000 0.000 2836 2546 3548 0 0 0 0 0 0

1700 -0.84 -194.6 282.8 -12.8 104 1708 0.00 2.03 0.00 0.000 4 0.000 0.068 2831 3787 3549 0 0 0 0 0 0

1738 -0.84 -194.6 288.2 -14.3 105 1745 0.00 1.92 0.00 0.000 6 0.000 0.042 2827 2539 3548 0 0 0 0 0 0

2067 -0.84 -194.6 332.2 -13.3 112 2076 0.00 2.42 0.00 0.000 4 0.000 0.047 2830 978 3548 0 0 0 0 0 0

2116 -0.84 -194.6 339.1 -13.0 112 2125 0.00 2.55 0.00 0.000 6 0.000 0.054 2815 2555 3548 0 0 0 0 0 0

2425 -0.84 -194.6 386.4 -15.7 117 2433 0.00 2.00 0.00 0.000 4 0.000 0.068 2809 3785 3548 0 0 0 0 0 0

2452 -0.84 -194.6 391.3 -17.8 117 2460 0.08 1.92 0.00 0.000 6 0.162 0.041 2839 2552 3548 0 0 0 0 0 0

2792 -0.84 -194.6 438.5 -13.6 123 2800 0.00 2.03 0.00 0.000 4 0.000 0.069 2833 3779 3548 0 0 0 0 0 0

2830 -0.84 -194.6 443.7 -12.8 123 2837 0.00 1.88 0.00 0.000 6 0.000 0.043 2833 2549 3548 0 0 0 0 0 0

3159 -0.84 -194.6 487.3 -13.3 129 3165 0.00 0.00 0.00 0.000 6 0.000 0.000 2833 2548 3548 0 0 0 0 0 0

3461 -0.84 -194.6 527.5 -13.3 134 3468 0.00 2.05 0.00 0.000 4 0.000 0.070 2824 3786 3547 0 0 0 0 0 0

3483 -0.84 -194.6 530.4 -13.4 134 3491 0.00 1.92 0.00 0.000 6 0.000 0.043 2824 2538 3547 0 0 0 0 0 0

3829 -0.84 -194.6 578.1 -13.7 140 3838 0.00 2.45 0.00 0.000 4 0.000 0.047 2824 972 3546 0 0 0 0 0 0

3868 -0.84 -194.6 583.5 -13.0 140 3877 0.12 2.55 0.00 0.000 6 0.174 0.054 2842 2553 3546 0 0 0 0 0 0

4188 -0.84 -194.6 622.7 -12.5 146 4196 0.00 2.00 0.00 0.000 4 0.000 0.070 2835 3782 3546 0 0 0 0 0 0

4226 -0.84 -194.6 627.5 -12.8 146 4233 0.00 1.90 0.00 0.000 6 0.000 0.044 2835 2540 3545 0 0 0 0 0 0

4554 -0.84 -194.6 668.2 -12.3 152 4561 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 2539 3545 0 0 0 0 0 0

4857 -0.84 -194.6 705.3 -12.4 157 4863 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 2539 3544 0 0 0 0 0 0

5158 -0.84 -194.6 740.1 -11.6 162 5164 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 2539 3544 0 0 0 0 0 0

5461 -0.84 -194.6 774.6 -11.5 167 5466 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 2539 3543 0 0 0 0 0 0

5761 -0.84 -194.6 809.0 -11.3 172 5769 0.00 2.03 0.00 0.000 4 0.000 0.071 2826 3774 3543 0 0 0 0 0 0

5799 -0.84 -194.6 813.5 -12.8 172 5806 0.00 1.88 0.00 0.000 6 0.000 0.045 2826 2556 3543 0 0 0 0 0 0

6129 -0.84 -194.6 855.5 -13.1 178 6137 0.00 2.50 0.00 0.000 4 0.000 0.051 2826 972 3543 0 0 0 0 0 0

6151 -0.84 -194.6 858.8 -13.7 178 6159 0.00 2.55 0.00 0.000 6 0.000 0.057 2814 2552 3543 0 0 0 0 0 0

6486 -0.84 -194.6 906.2 -14.2 184 6492 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2552 3541 0 0 0 0 0 0

6788 -0.84 -194.6 947.3 -13.5 189 6793 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2552 3541 0 0 0 0 0 0

7089 -0.84 -194.6 986.7 -13.1 194 7097 0.00 2.03 0.00 0.000 4 0.000 0.073 2805 3778 3539 0 0 0 0 0 0

7110 -0.84 -194.6 989.8 -14.2 194 7119 0.15 1.90 0.00 0.000 6 0.171 0.045 2843 2536 3541 0 0 0 0 0 0

7121 end dive: TARGET_DEPTH_EXCEEDED

state 7121 begin apogee

7124 -0.16 0.0 991.2 14.1 194 7301 0.68 0.00 168.23 1.245 6 0.137 0.000 3063 2121 2749 0 0 0 0 0 0

7302 end apogee: CONTROL_FINISHED_OK

state 7302 begin climb

7303 0.84 194.6 998.6 0.0 197 7494 0.93 2.85 178.18 1.225 4 0.057 0.057 3398 560 1954 0 0 0 0 0 0

7539 0.84 194.6 971.2 19.5 201 7548 0.00 2.70 0.00 0.000 6 0.000 0.049 3399 2119 1950 0 0 0 0 0 0

7885 0.84 194.6 903.8 19.6 207 7894 0.00 2.70 0.00 0.000 4 0.000 0.067 3400 3713 1944 0 0 0 0 0 0

7913 0.84 194.6 897.9 21.9 207 7922 0.00 2.58 0.00 0.000 6 0.000 0.046 3412 2134 1942 0 0 0 0 0 0

8243 0.84 194.6 831.6 20.1 213 8252 0.00 2.62 0.00 0.000 4 0.000 0.060 3422 546 1941 0 0 0 0 0 0

8292 0.84 194.6 821.8 18.4 213 8301 0.15 2.60 0.00 0.000 6 0.194 0.050 3390 2139 1941 0 0 0 0 0 0

8599 0.84 194.6 767.3 17.6 218 8608 0.00 2.60 0.00 0.000 4 0.000 0.069 3391 3710 1940 0 0 0 0 0 0

8691 0.84 194.6 749.0 20.5 219 8700 0.00 2.55 0.00 0.000 6 0.000 0.047 3401 2119 1940 0 0 0 0 0 0

9021 0.84 194.6 690.2 17.8 225 9030 0.00 2.60 0.00 0.000 4 0.000 0.062 3411 535 1939 0 0 0 0 0 0

9070 0.84 194.6 681.3 18.2 225 9078 0.00 2.55 0.00 0.000 6 0.000 0.050 3412 2124 1939 0 0 0 0 0 0

9378 0.84 194.6 626.5 17.9 230 9386 0.00 2.62 0.00 0.000 4 0.000 0.067 3412 3713 1939 0 0 0 0 0 0

9427 0.84 194.6 616.7 20.0 230 9435 0.15 2.53 0.00 0.000 6 0.212 0.046 3391 2124 1938 0 0 0 0 0 0

9734 0.84 194.6 566.3 16.2 235 9743 0.00 2.60 0.00 0.000 4 0.000 0.060 3401 530 1939 0 0 0 0 0 0

9768 0.84 194.6 560.3 17.3 235 9776 0.00 2.58 0.00 0.000 6 0.000 0.049 3401 2131 1938 0 0 0 0 0 0

10092 0.84 194.6 503.0 17.7 241 10100 0.00 2.60 0.00 0.000 4 0.000 0.058 3413 545 1938 0 0 0 0 0 0

10114 0.84 194.6 499.0 18.4 241 10122 0.00 2.53 0.00 0.000 6 0.000 0.049 3413 2125 1938 0 0 0 0 0 0

10449 0.84 194.6 437.0 18.5 247 10457 0.00 2.60 0.00 0.000 4 0.000 0.066 3414 3710 1938 0 0 0 0 0 0

10482 0.84 194.6 430.2 21.2 247 10491 0.15 2.53 0.00 0.000 6 0.207 0.045 3391 2114 1938 0 0 0 0 0 0

10807 0.84 194.6 374.7 16.9 253 10812 0.00 0.00 0.00 0.000 6 0.000 0.000 3391 2113 1935 0 0 0 0 0 0

11108 0.84 194.6 325.3 16.3 258 11114 0.00 0.00 0.00 0.000 6 0.000 0.000 3397 2112 1937 0 0 0 0 0 0

11411 0.84 194.6 278.2 15.1 265 11416 0.00 0.00 0.00 0.000 6 0.000 0.000 3391 2113 1938 0 0 0 0 0 0

11714 0.84 194.6 234.2 14.5 275 11720 0.00 0.00 0.00 0.000 6 0.000 0.000 3391 2113 1938 0 0 0 0 0 0

12018 0.84 194.6 188.7 15.0 285 12023 0.00 0.00 0.00 0.000 6 0.000 0.000 3391 2113 1940 0 0 0 0 0 0

12321 0.84 194.6 142.8 15.2 295 12327 0.00 0.00 0.00 0.000 6 0.000 0.000 3391 2112 1937 0 0 0 0 0 0

12627 0.84 194.6 97.8 14.8 305 12627 0.00 0.00 0.00 0.000 6 0.000 0.000 3391 2113 1938 0 0 0 0 0 0

12811 0.84 194.6 69.6 13.4 323 12815 0.00 2.55 0.00 0.000 4 0.000 0.057 3400 546 1940 0 0 0 0 0 0

12858 0.84 194.6 63.2 13.4 327 12867 0.00 2.53 0.00 0.000 6 0.000 0.047 3401 2120 1939 0 0 0 0 0 0

13050 0.88 223.3 38.2 12.0 346 13077 0.00 2.60 23.05 0.636 4 0.000 0.065 3401 3713 1835 0 0 0 0 0 0

13280 0.88 223.3 6.8 15.9 375 13287 0.00 2.53 0.00 0.000 6 0.000 0.044 3413 2130 1835 0 0 0 0 0 0

13306 end climb: SURFACE_DEPTH_REACHED

state 13306 begin surface coast

13327 end surface coast: CONTROL_FINISHED_OK

state 13327 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	9	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	23	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	250	R_STBD_OVSHOOT	29	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	-9720.8369	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	3115	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	050111,155022,3245.354,-11855.341,12,99.0,31,13.3	TGT_NAME	DM4
_CALLS	1	TGT_LATLONG	3251.800,-11907.783
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.324,-0.013
_SM_DEPTHo	1.49	KALMAN_X	12024.6,-141.8,-347.8,-25228.2,3464.2
_SM_ANGLEo	-77.1	KALMAN_Y	-437.2,244.2,-393.9,9907.5,1028.8
GPS2	050111,155704,3245.374,-11855.271,15,99.0,34,13.3	MHEAD_RNG_PITCHd_Wd	254.4,22816,-19.3,-13.306
SPEED_LIMITS	0.230,0.325	D_GRID	1217

FINISH	0.7,1.010543	PA_USBA	100.0/0/0
SM_CCo	13342,20.92,0.617,0,0,1729,250.21	PA_HOME	12.9/482055/419839
SM_GC	2.27,0.00,0.00,20.92,0.000,0.000,0.617,164,2552,1729,-9.23,0.06,250.21	PA_ROOT	80.3/126931/24979
IRIDIUM_FIX	3236.51,-11852.58,050111,121207	PA_LOG	7.5/298663/276321
TT8_MAMPS	0.113848	PA_DATA1	0.1/7837685/7826437
HUMID	45.11	PA_DATA0	59.7/7836665/3155494
INTERNAL_PRESSURE	8.90659	_24V_AH	22.9,18.641
TCM_TEMP	18.60	_10V_AH	10.1,12.551
XPDR_PINGS	25	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	316796
PA_BOOTCOUNT	88	DATA_FILE_SIZE	13492,384
PA_DFQS	0/0	CAP_FILE_SIZE	115792,0
PA_CMQS	0/0	CFSIZE	260165632,253530112
PA_USBDRIVE	None	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_USBB	100.0/0/0	GPS	050111,194137,3245.391,-11857.376,48,1.4,48,13.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	263	142.18	SBE_CT	262	24	144.17
Roll_motor	114	72	190.14	nil	0	0	0.00
VBD_pump_during_apogee	369	1245	10536.76	nil	0	0	0.00
VBD_pump_during_surface	20	616	295.46	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	70.28	nil	0	0	0.00
Iridium_during_connect	30	160	110.65	PAAM	13883	84	26715.18
Iridium_during_xfer	216	223	1105.08	nil	0	0	0.00
Transponder_ping	28	420	269.30	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	36	50	18.58
TT8	0	0	0.00
LPSleep	11181	2	247.33
TT8_Active	465	19	93.11
TT8_Sampling	2030	39	816.06
TT8_CF8	84	45	39.17
TT8_Kalman	33	81	27.54
Analog_circuits	1354	12	164.16
GPS_charging	0	0	0.00
Compass	992	15	150.29
RAFOS	0	0	0.00
Transponder	138	30	41.98

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	100	0.00	0.00	-81.82	0.000	2	0.000	0.000	163	2558	3040	0	0	0	0	0	0
101	-0.84	-194.6	3.0	-4.1	14	132	12.10	2.62	-10.07	0.000	4	0.264	0.060	2837	957	3544	0	0	0	0	0	0
279	-0.84	-194.6	40.4	-13.6	36	288	0.00	2.62	0.00	0.000	6	0.000	0.052	2828	2546	3546	0	0	0	0	0	0
471	-0.84	-194.6	75.4	-19.5	55	476	0.00	2.05	0.00	0.000	4	0.000	0.065	2818	3776	3546	0	0	0	0	0	0
518	-0.84	-194.6	85.2	-20.9	59	527	0.00	2.00	0.00	0.000	6	0.000	0.040	2818	2517	3545	0	0	0	0	0	0
728	-0.84	-194.6	124.5	-18.7	72	733	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	2518	3550	0	0	0	0	0	0
1032	-0.84	-194.6	183.3	-19.4	82	1040	0.00	2.08	0.00	0.000	4	0.000	0.067	2809	3787	3548	0	0	0	0	0	0
1071	-0.84	-194.6	190.7	-19.6	83	1078	0.12	1.92	0.00	0.000	6	0.187	0.041	2837	2547	3548	0	0	0	0	0	0
1396	-0.84	-194.6	242.3	-14.7	94	1402	0.00	0.00	0.00	0.000	6	0.000	0.000	2836	2546	3548	0	0	0	0	0	0
1700	-0.84	-194.6	282.8	-12.8	104	1708	0.00	2.03	0.00	0.000	4	0.000	0.068	2831	3787	3549	0	0	0	0	0	0
1738	-0.84	-194.6	288.2	-14.3	105	1745	0.00	1.92	0.00	0.000	6	0.000	0.042	2827	2539	3548	0	0	0	0	0	0
2067	-0.84	-194.6	332.2	-13.3	112	2076	0.00	2.42	0.00	0.000	4	0.000	0.047	2830	978	3548	0	0	0	0	0	0
2116	-0.84	-194.6	339.1	-13.0	112	2125	0.00	2.55	0.00	0.000	6	0.000	0.054	2815	2555	3548	0	0	0	0	0	0
2425	-0.84	-194.6	386.4	-15.7	117	2433	0.00	2.00	0.00	0.000	4	0.000	0.068	2809	3785	3548	0	0	0	0	0	0
2452	-0.84	-194.6	391.3	-17.8	117	2460	0.08	1.92	0.00	0.000	6	0.162	0.041	2839	2552	3548	0	0	0	0	0	0
2792	-0.84	-194.6	438.5	-13.6	123	2800	0.00	2.03	0.00	0.000	4	0.000	0.069	2833	3779	3548	0	0	0	0	0	0
2830	-0.84	-194.6	443.7	-12.8	123	2837	0.00	1.88	0.00	0.000	6	0.000	0.043	2833	2549	3548	0	0	0	0	0	0
3159	-0.84	-194.6	487.3	-13.3	129	3165	0.00	0.00	0.00	0.000	6	0.000	0.000	2833	2548	3548	0	0	0	0	0	0
3461	-0.84	-194.6	527.5	-13.3	134	3468	0.00	2.05	0.00	0.000	4	0.000	0.070	2824	3786	3547	0	0	0	0	0	0
3483	-0.84	-194.6	530.4	-13.4	134	3491	0.00	1.92	0.00	0.000	6	0.000	0.043	2824	2538	3547	0	0	0	0	0	0
3829	-0.84	-194.6	578.1	-13.7	140	3838	0.00	2.45	0.00	0.000	4	0.000	0.047	2824	972	3546	0	0	0	0	0	0
3868	-0.84	-194.6	583.5	-13.0	140	3877	0.12	2.55	0.00	0.000	6	0.174	0.054	2842	2553	3546	0	0	0	0	0	0
4188	-0.84	-194.6	622.7	-12.5	146	4196	0.00	2.00	0.00	0.000	4	0.000	0.070	2835	3782	3546	0	0	0	0	0	0
4226	-0.84	-194.6	627.5	-12.8	146	4233	0.00	1.90	0.00	0.000	6	0.000	0.044	2835	2540	3545	0	0	0	0	0	0
4554	-0.84	-194.6	668.2	-12.3	152	4561	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	2539	3545	0	0	0	0	0	0
4857	-0.84	-194.6	705.3	-12.4	157	4863	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	2539	3544	0	0	0	0	0	0
5158	-0.84	-194.6	740.1	-11.6	162	5164	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	2539	3544	0	0	0	0	0	0
5461	-0.84	-194.6	774.6	-11.5	167	5466	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	2539	3543	0	0	0	0	0	0
5761	-0.84	-194.6	809.0	-11.3	172	5769	0.00	2.03	0.00	0.000	4	0.000	0.071	2826	3774	3543	0	0	0	0	0	0
5799	-0.84	-194.6	813.5	-12.8	172	5806	0.00	1.88	0.00	0.000	6	0.000	0.045	2826	2556	3543	0	0	0	0	0	0
6129	-0.84	-194.6	855.5	-13.1	178	6137	0.00	2.50	0.00	0.000	4	0.000	0.051	2826	972	3543	0	0	0	0	0	0
6151	-0.84	-194.6	858.8	-13.7	178	6159	0.00	2.55	0.00	0.000	6	0.000	0.057	2814	2552	3543	0	0	0	0	0	0
6486	-0.84	-194.6	906.2	-14.2	184	6492	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2552	3541	0	0	0	0	0	0
6788	-0.84	-194.6	947.3	-13.5	189	6793	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2552	3541	0	0	0	0	0	0
7089	-0.84	-194.6	986.7	-13.1	194	7097	0.00	2.03	0.00	0.000	4	0.000	0.073	2805	3778	3539	0	0	0	0	0	0
7110	-0.84	-194.6	989.8	-14.2	194	7119	0.15	1.90	0.00	0.000	6	0.171	0.045	2843	2536	3541	0	0	0	0	0	0
7121	end dive: TARGET_DEPTH_EXCEEDED
state	7121	begin apogee
7124	-0.16	0.0	991.2	14.1	194	7301	0.68	0.00	168.23	1.245	6	0.137	0.000	3063	2121	2749	0	0	0	0	0	0
7302	end apogee: CONTROL_FINISHED_OK
state	7302	begin climb
7303	0.84	194.6	998.6	0.0	197	7494	0.93	2.85	178.18	1.225	4	0.057	0.057	3398	560	1954	0	0	0	0	0	0
7539	0.84	194.6	971.2	19.5	201	7548	0.00	2.70	0.00	0.000	6	0.000	0.049	3399	2119	1950	0	0	0	0	0	0
7885	0.84	194.6	903.8	19.6	207	7894	0.00	2.70	0.00	0.000	4	0.000	0.067	3400	3713	1944	0	0	0	0	0	0
7913	0.84	194.6	897.9	21.9	207	7922	0.00	2.58	0.00	0.000	6	0.000	0.046	3412	2134	1942	0	0	0	0	0	0
8243	0.84	194.6	831.6	20.1	213	8252	0.00	2.62	0.00	0.000	4	0.000	0.060	3422	546	1941	0	0	0	0	0	0
8292	0.84	194.6	821.8	18.4	213	8301	0.15	2.60	0.00	0.000	6	0.194	0.050	3390	2139	1941	0	0	0	0	0	0
8599	0.84	194.6	767.3	17.6	218	8608	0.00	2.60	0.00	0.000	4	0.000	0.069	3391	3710	1940	0	0	0	0	0	0
8691	0.84	194.6	749.0	20.5	219	8700	0.00	2.55	0.00	0.000	6	0.000	0.047	3401	2119	1940	0	0	0	0	0	0
9021	0.84	194.6	690.2	17.8	225	9030	0.00	2.60	0.00	0.000	4	0.000	0.062	3411	535	1939	0	0	0	0	0	0
9070	0.84	194.6	681.3	18.2	225	9078	0.00	2.55	0.00	0.000	6	0.000	0.050	3412	2124	1939	0	0	0	0	0	0
9378	0.84	194.6	626.5	17.9	230	9386	0.00	2.62	0.00	0.000	4	0.000	0.067	3412	3713	1939	0	0	0	0	0	0
9427	0.84	194.6	616.7	20.0	230	9435	0.15	2.53	0.00	0.000	6	0.212	0.046	3391	2124	1938	0	0	0	0	0	0
9734	0.84	194.6	566.3	16.2	235	9743	0.00	2.60	0.00	0.000	4	0.000	0.060	3401	530	1939	0	0	0	0	0	0
9768	0.84	194.6	560.3	17.3	235	9776	0.00	2.58	0.00	0.000	6	0.000	0.049	3401	2131	1938	0	0	0	0	0	0
10092	0.84	194.6	503.0	17.7	241	10100	0.00	2.60	0.00	0.000	4	0.000	0.058	3413	545	1938	0	0	0	0	0	0
10114	0.84	194.6	499.0	18.4	241	10122	0.00	2.53	0.00	0.000	6	0.000	0.049	3413	2125	1938	0	0	0	0	0	0
10449	0.84	194.6	437.0	18.5	247	10457	0.00	2.60	0.00	0.000	4	0.000	0.066	3414	3710	1938	0	0	0	0	0	0
10482	0.84	194.6	430.2	21.2	247	10491	0.15	2.53	0.00	0.000	6	0.207	0.045	3391	2114	1938	0	0	0	0	0	0
10807	0.84	194.6	374.7	16.9	253	10812	0.00	0.00	0.00	0.000	6	0.000	0.000	3391	2113	1935	0	0	0	0	0	0
11108	0.84	194.6	325.3	16.3	258	11114	0.00	0.00	0.00	0.000	6	0.000	0.000	3397	2112	1937	0	0	0	0	0	0
11411	0.84	194.6	278.2	15.1	265	11416	0.00	0.00	0.00	0.000	6	0.000	0.000	3391	2113	1938	0	0	0	0	0	0
11714	0.84	194.6	234.2	14.5	275	11720	0.00	0.00	0.00	0.000	6	0.000	0.000	3391	2113	1938	0	0	0	0	0	0
12018	0.84	194.6	188.7	15.0	285	12023	0.00	0.00	0.00	0.000	6	0.000	0.000	3391	2113	1940	0	0	0	0	0	0
12321	0.84	194.6	142.8	15.2	295	12327	0.00	0.00	0.00	0.000	6	0.000	0.000	3391	2112	1937	0	0	0	0	0	0
12627	0.84	194.6	97.8	14.8	305	12627	0.00	0.00	0.00	0.000	6	0.000	0.000	3391	2113	1938	0	0	0	0	0	0
12811	0.84	194.6	69.6	13.4	323	12815	0.00	2.55	0.00	0.000	4	0.000	0.057	3400	546	1940	0	0	0	0	0	0
12858	0.84	194.6	63.2	13.4	327	12867	0.00	2.53	0.00	0.000	6	0.000	0.047	3401	2120	1939	0	0	0	0	0	0
13050	0.88	223.3	38.2	12.0	346	13077	0.00	2.60	23.05	0.636	4	0.000	0.065	3401	3713	1835	0	0	0	0	0	0
13280	0.88	223.3	6.8	15.9	375	13287	0.00	2.53	0.00	0.000	6	0.000	0.044	3413	2130	1835	0	0	0	0	0	0
13306	end climb: SURFACE_DEPTH_REACHED
state	13306	begin surface coast
13327	end surface coast: CONTROL_FINISHED_OK
state	13327	begin surface