Glider dive log

WA coast Jun12 * SG179 * Dive index * Mission links * Dive 9 * 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 9 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 38 INT_PRESSURE_YINT -0.69999999

D_ABORT 1090 SM_CC 350 R_STBD_OVSHOOT 31 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 -18526.113 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 -18526.113

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 38 VBD_MAXERRORS 1

DEVICE6 -1 NOCOMM_ACTION 163 R_STBD_OVSHOOT 31 VBD_MIN 460

DIVE 9 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 120612,104808,4650.319,-12501.731,77,1.6,80,18.4 TGT_NAME SE

_CALLS 1 TGT_LATLONG 4640.000,-12510.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.101,-0.231

_SM_DEPTHo 1.53 KALMAN_X 3306.4,-633.3,168.1,-10062.4,224.6

_SM_ANGLEo -77.8 KALMAN_Y -1709.7,1103.1,-873.6,-6813.4,922.4

GPS2 120612,105344,4650.359,-12501.642,15,1.3,15,18.4 MHEAD_RNG_PITCHd_Wd 197.1,21929,-18.2,-10.000

SPEED_LIMITS 0.100,0.252 D_GRID 539

Post-dive calculations and measurements:

FINISH 0.6,1.012858 PA_USBA 0.03/3.196/117.609/108.439

SM_CCo 10312,0.12,0.152,0,0,1311,350.04 PA_HOME 0.10/0.044/0.460/0.392

SM_GC 2.77,8.77,2.08,0.12,0.045,0.037,0.152,142,2242,1311,-8.88,0.96,350.04,0,0,0,0,0,0,25.29,25.32,25.25 PA_ROOT 0.81/0.098/0.121/0.017

IRIDIUM_FIX 4629.23,-12438.93,120612,070710 PA_LOG 0.09/0.027/0.285/0.243

TT8_MAMPS 0.164031,0.164031 PA_DATA1 0.00/0.058/117.213/111.201

HUMID 40.86 PA_DATA0 0.05/5.571/117.213/105.688

INTERNAL_PRESSURE 9.05623 _24V_AH 23.1,20.680

TCM_TEMP 18.90 _10V_AH 9.9,19.601

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 297144

PA_UPTIME 75021.78 40968.33 DATA_FILE_SIZE 53358,1353

PA_BOOTCOUNT 133 CAP_FILE_SIZE 135807,0

PA_DFQS 0/0 CFSIZE 260165632,257671168

PA_CMQS 633/630 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PA_USBDRIVE /mnt/usba CURRENT 0.043,189.5,1

PA_USBB 0.00/0.183/117.608/111.451 GPS 120612,134754,4649.099,-12502.969,55,1.4,74,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 292 172.31 SBE_CT 929 24 515.47

Roll_motor 95 63 139.63 nil 0 0 0.00

VBD_pump_during_apogee 426 895 8809.38 nil 0 0 0.00

VBD_pump_during_surface 0 152 0.44 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 66.43 nil 0 0 0.00

Iridium_during_connect 41 160 152.08 PAAM 10789 89 22255.56

Iridium_during_xfer 155 223 799.83 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 8.01

TT8 0 0 0.00

LPSleep 6531 2 141.62

TT8_Active 516 19 101.29

TT8_Sampling 3493 39 1376.33

TT8_CF8 93 45 42.53

TT8_Kalman 33 81 26.90

Analog_circuits 1827 12 217.07

GPS_charging 0 0 0.00

Compass 2096 15 311.30

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

12 -0.93 -136.3 0.0 0.0 0 68 0.00 0.00 -53.45 0.000 2 0.000 0.000 137 2253 2531 0 0 0 0 0 0 28.83 28.83 28.83

70 -0.93 -136.3 3.1 -3.9 9 107 13.35 2.30 -15.65 0.000 4 0.292 0.058 2694 855 3293 0 0 0 0 0 0 24.79 25.34 25.77

126 -0.73 -136.3 20.4 -28.5 19 135 0.25 2.28 0.00 0.000 6 0.164 0.046 2754 2236 3296 0 0 0 0 0 0 24.96 25.34 28.83

435 -0.70 -136.3 66.4 -14.2 80 446 0.00 2.38 0.00 0.000 4 0.000 0.061 2745 3666 3298 0 0 0 0 0 0 28.83 25.44 28.83

560 -0.67 -136.3 85.9 -16.1 104 571 0.15 2.22 0.00 0.000 6 0.161 0.039 2781 2239 3298 0 0 0 0 0 0 25.34 25.71 28.83

871 -0.70 -136.3 122.7 -9.1 165 881 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 2239 3298 0 0 0 0 0 0 28.83 28.83 28.83

1181 -0.74 -136.3 152.1 -8.9 226 1192 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 2239 3299 0 0 0 0 0 0 28.83 28.83 28.83

1492 -0.79 -136.3 179.9 -8.9 287 1504 0.12 2.35 0.00 0.000 4 0.093 0.060 2716 3665 3299 0 0 0 0 0 0 26.11 25.67 28.83

1563 -0.77 -136.3 188.5 -12.6 300 1574 0.12 2.20 0.00 0.000 6 0.166 0.040 2746 2247 3298 0 0 0 0 0 0 25.63 25.95 28.83

1877 -0.77 -136.3 222.7 -10.7 341 1883 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2247 3299 0 0 0 0 0 0 28.83 28.83 28.83

2178 -0.77 -136.3 255.2 -10.9 371 2186 0.00 2.35 0.00 0.000 4 0.000 0.062 2738 3668 3298 0 0 0 0 0 0 28.83 25.70 28.83

2235 -0.77 -136.3 261.6 -11.3 376 2243 0.00 2.20 0.00 0.000 6 0.000 0.037 2738 2242 3298 0 0 0 0 0 0 28.83 26.01 28.83

2539 -0.77 -136.3 296.0 -11.8 406 2547 0.00 2.35 0.00 0.000 4 0.000 0.061 2727 3668 3297 0 0 0 0 0 0 28.83 25.72 28.83

2576 -0.77 -136.3 300.5 -12.1 409 2584 0.00 2.20 0.00 0.000 6 0.000 0.038 2727 2248 3298 0 0 0 0 0 0 28.83 26.06 28.83

2881 -0.77 -136.3 338.8 -12.5 439 2889 0.00 2.35 0.00 0.000 4 0.000 0.062 2717 3671 3298 0 0 0 0 0 0 28.83 25.72 28.83

2928 -0.77 -136.3 344.9 -13.0 443 2937 0.12 2.20 0.00 0.000 6 0.167 0.039 2745 2245 3298 0 0 0 0 0 0 25.71 26.06 28.83

3234 -0.79 -136.3 379.0 -10.6 473 3239 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2244 3298 0 0 0 0 0 0 28.83 28.83 28.83

3534 -0.81 -136.3 411.2 -10.6 503 3548 0.00 2.35 0.00 0.000 4 0.000 0.063 2738 3666 3296 0 0 0 0 0 0 28.83 25.70 28.83

3557 -0.83 -136.3 413.8 -10.8 505 3565 0.00 2.20 0.00 0.000 6 0.000 0.039 2737 2251 3299 0 0 0 0 0 0 28.83 26.09 28.83

3862 -0.83 -136.3 446.7 -10.5 535 3868 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2252 3297 0 0 0 0 0 0 28.83 28.83 28.83

4162 -0.83 -136.3 478.5 -9.8 565 4170 0.00 2.33 0.00 0.000 4 0.000 0.063 2727 3663 3297 0 0 0 0 0 0 28.83 25.71 28.83

4204 -0.83 -136.3 482.4 -10.1 568 4214 0.00 2.20 0.00 0.000 6 0.000 0.040 2727 2241 3297 0 0 0 0 0 0 28.83 26.09 28.83

4509 -0.83 -136.3 515.3 -10.9 599 4517 0.00 2.17 0.00 0.000 4 0.000 0.046 2730 851 3297 0 0 0 0 0 0 28.83 25.86 28.83

4530 -0.83 -136.3 517.9 -11.1 601 4538 0.00 2.25 0.00 0.000 6 0.000 0.046 2717 2262 3297 0 0 0 0 0 0 28.83 25.87 28.83

4725 end dive: TARGET_DEPTH_EXCEEDED

state 4725 begin apogee

4728 -0.21 0.0 539.9 -11.4 620 4860 0.70 0.00 118.90 0.895 6 0.137 0.000 2929 2116 2736 0 0 0 0 0 0 25.34 28.83 23.44

4861 end apogee: CONTROL_FINISHED_OK

state 4861 begin climb

4862 0.93 136.3 544.6 0.0 633 4995 1.05 2.42 120.95 0.876 4 0.057 0.045 3312 696 2180 0 0 0 0 0 0 24.52 23.91 23.06

5114 0.78 136.3 527.1 14.2 658 5123 0.25 2.33 0.00 0.000 6 0.184 0.040 3256 2107 2174 0 0 0 0 0 0 24.39 24.79 28.83

5419 0.68 136.3 489.5 12.5 688 5427 0.12 2.33 0.00 0.000 4 0.207 0.046 3233 684 2171 0 0 0 0 0 0 25.08 25.26 28.83

5501 0.63 136.3 480.5 11.5 695 5512 0.12 2.28 0.00 0.000 6 0.182 0.041 3206 2103 2170 0 0 0 0 0 0 25.08 25.38 28.83

5806 0.60 143.3 449.4 9.7 726 5822 0.00 2.30 5.70 0.645 4 0.000 0.057 3206 3506 2153 0 0 0 0 0 0 28.83 25.58 24.53

5836 0.57 143.3 446.8 10.4 728 5847 0.12 2.22 0.00 0.000 6 0.186 0.039 3189 2083 2153 0 0 0 0 0 0 25.36 25.63 28.83

6141 0.60 171.2 419.5 8.6 759 6176 0.00 2.25 25.08 0.791 4 0.000 0.047 3197 701 2040 0 0 0 0 0 0 28.83 25.27 24.40

6245 0.61 175.1 409.6 9.8 769 6260 0.00 2.22 4.62 0.568 6 0.000 0.041 3197 2101 2025 0 0 0 0 0 0 28.83 25.41 24.37

6555 0.61 175.1 378.5 10.1 800 6561 0.00 0.00 0.00 0.000 6 0.000 0.000 3197 2101 2023 0 0 0 0 0 0 28.83 28.83 28.83

6856 0.61 179.0 348.8 9.8 830 6871 0.00 2.25 5.10 0.591 4 0.000 0.050 3207 695 2008 0 0 0 0 0 0 28.83 25.70 24.66

6900 0.61 181.3 344.4 9.9 834 6916 0.00 2.22 3.40 0.448 6 0.000 0.041 3212 2116 2000 0 0 0 0 0 0 28.83 25.71 24.62

7210 0.61 181.3 312.1 10.4 865 7218 0.00 2.25 0.00 0.000 4 0.000 0.057 3208 3500 1999 0 0 0 0 0 0 28.83 25.66 28.83

7267 0.57 181.3 305.4 11.9 870 7275 0.12 2.17 0.00 0.000 6 0.178 0.039 3191 2097 1997 0 0 0 0 0 0 25.49 25.79 28.83

7572 0.59 196.1 275.4 9.3 900 7596 0.00 0.00 14.40 0.704 6 0.000 0.000 3191 2093 1936 0 0 0 0 0 0 28.83 28.83 24.78

7892 0.63 211.6 245.5 9.2 932 7917 0.00 2.22 13.90 0.681 4 0.000 0.048 3200 698 1874 0 0 0 0 0 0 28.83 25.58 24.74

7966 0.66 211.6 238.3 10.2 939 7974 0.00 2.20 0.00 0.000 6 0.000 0.041 3200 2099 1873 0 0 0 0 0 0 28.83 25.64 28.83

8271 0.70 224.5 209.4 9.4 969 8296 0.00 2.30 12.30 0.655 4 0.000 0.050 3210 702 1820 0 0 0 0 0 0 28.83 25.58 24.72

8330 0.73 226.7 203.9 9.9 974 8342 0.00 2.20 0.00 0.000 6 0.000 0.042 3210 2099 1818 0 0 0 0 0 0 28.83 25.63 28.83

8636 0.73 226.7 172.0 10.1 1032 8646 0.00 2.30 0.00 0.000 4 0.000 0.057 3209 3510 1817 0 0 0 0 0 0 28.83 25.64 28.83

8655 0.73 226.7 170.1 10.1 1035 8666 0.00 2.22 0.00 0.000 6 0.000 0.038 3221 2090 1819 0 0 0 0 0 0 28.83 25.77 28.83

8965 0.73 226.7 135.0 11.9 1096 8975 0.00 2.22 0.00 0.000 4 0.000 0.050 3232 694 1815 0 0 0 0 0 0 28.83 25.74 28.83

9119 0.73 226.7 117.1 10.7 1126 9131 0.00 2.22 0.00 0.000 6 0.000 0.042 3232 2109 1817 0 0 0 0 0 0 28.83 25.84 28.83

9430 0.79 269.4 86.1 7.9 1187 9477 0.00 2.28 36.83 0.617 4 0.000 0.047 3243 699 1639 0 0 0 0 0 0 28.83 25.44 24.72

9512 0.83 280.7 79.2 9.4 1201 9536 0.00 2.22 10.85 0.565 6 0.000 0.040 3244 2106 1592 0 0 0 0 0 0 28.83 25.53 24.61

9836 0.87 280.7 43.1 11.0 1264 9842 0.12 0.00 0.00 0.000 6 0.093 0.000 3290 2106 1588 0 0 0 0 0 0 25.76 28.83 28.83

10141 0.97 348.6 13.7 6.6 1325 10204 0.00 2.38 54.05 0.569 4 0.000 0.057 3290 3515 1313 0 0 0 0 0 0 28.83 25.08 24.41

10262 end climb: SURFACE_DEPTH_REACHED

state 10262 begin surface coast

10292 end surface coast: CONTROL_FINISHED_OK

state 10292 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	9	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	38	INT_PRESSURE_YINT	-0.69999999
D_ABORT	1090	SM_CC	350	R_STBD_OVSHOOT	31	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	-18526.113	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	120612,104808,4650.319,-12501.731,77,1.6,80,18.4	TGT_NAME	SE
_CALLS	1	TGT_LATLONG	4640.000,-12510.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.101,-0.231
_SM_DEPTHo	1.53	KALMAN_X	3306.4,-633.3,168.1,-10062.4,224.6
_SM_ANGLEo	-77.8	KALMAN_Y	-1709.7,1103.1,-873.6,-6813.4,922.4
GPS2	120612,105344,4650.359,-12501.642,15,1.3,15,18.4	MHEAD_RNG_PITCHd_Wd	197.1,21929,-18.2,-10.000
SPEED_LIMITS	0.100,0.252	D_GRID	539

FINISH	0.6,1.012858	PA_USBA	0.03/3.196/117.609/108.439
SM_CCo	10312,0.12,0.152,0,0,1311,350.04	PA_HOME	0.10/0.044/0.460/0.392
SM_GC	2.77,8.77,2.08,0.12,0.045,0.037,0.152,142,2242,1311,-8.88,0.96,350.04,0,0,0,0,0,0,25.29,25.32,25.25	PA_ROOT	0.81/0.098/0.121/0.017
IRIDIUM_FIX	4629.23,-12438.93,120612,070710	PA_LOG	0.09/0.027/0.285/0.243
TT8_MAMPS	0.164031,0.164031	PA_DATA1	0.00/0.058/117.213/111.201
HUMID	40.86	PA_DATA0	0.05/5.571/117.213/105.688
INTERNAL_PRESSURE	9.05623	_24V_AH	23.1,20.680
TCM_TEMP	18.90	_10V_AH	9.9,19.601
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	297144
PA_UPTIME	75021.78 40968.33	DATA_FILE_SIZE	53358,1353
PA_BOOTCOUNT	133	CAP_FILE_SIZE	135807,0
PA_DFQS	0/0	CFSIZE	260165632,257671168
PA_CMQS	633/630	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_USBDRIVE	/mnt/usba	CURRENT	0.043,189.5,1
PA_USBB	0.00/0.183/117.608/111.451	GPS	120612,134754,4649.099,-12502.969,55,1.4,74,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	292	172.31	SBE_CT	929	24	515.47
Roll_motor	95	63	139.63	nil	0	0	0.00
VBD_pump_during_apogee	426	895	8809.38	nil	0	0	0.00
VBD_pump_during_surface	0	152	0.44	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	66.43	nil	0	0	0.00
Iridium_during_connect	41	160	152.08	PAAM	10789	89	22255.56
Iridium_during_xfer	155	223	799.83	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	8.01
TT8	0	0	0.00
LPSleep	6531	2	141.62
TT8_Active	516	19	101.29
TT8_Sampling	3493	39	1376.33
TT8_CF8	93	45	42.53
TT8_Kalman	33	81	26.90
Analog_circuits	1827	12	217.07
GPS_charging	0	0	0.00
Compass	2096	15	311.30
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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
12	-0.93	-136.3	0.0	0.0	0	68	0.00	0.00	-53.45	0.000	2	0.000	0.000	137	2253	2531	0	0	0	0	0	0	28.83	28.83	28.83
70	-0.93	-136.3	3.1	-3.9	9	107	13.35	2.30	-15.65	0.000	4	0.292	0.058	2694	855	3293	0	0	0	0	0	0	24.79	25.34	25.77
126	-0.73	-136.3	20.4	-28.5	19	135	0.25	2.28	0.00	0.000	6	0.164	0.046	2754	2236	3296	0	0	0	0	0	0	24.96	25.34	28.83
435	-0.70	-136.3	66.4	-14.2	80	446	0.00	2.38	0.00	0.000	4	0.000	0.061	2745	3666	3298	0	0	0	0	0	0	28.83	25.44	28.83
560	-0.67	-136.3	85.9	-16.1	104	571	0.15	2.22	0.00	0.000	6	0.161	0.039	2781	2239	3298	0	0	0	0	0	0	25.34	25.71	28.83
871	-0.70	-136.3	122.7	-9.1	165	881	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	2239	3298	0	0	0	0	0	0	28.83	28.83	28.83
1181	-0.74	-136.3	152.1	-8.9	226	1192	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	2239	3299	0	0	0	0	0	0	28.83	28.83	28.83
1492	-0.79	-136.3	179.9	-8.9	287	1504	0.12	2.35	0.00	0.000	4	0.093	0.060	2716	3665	3299	0	0	0	0	0	0	26.11	25.67	28.83
1563	-0.77	-136.3	188.5	-12.6	300	1574	0.12	2.20	0.00	0.000	6	0.166	0.040	2746	2247	3298	0	0	0	0	0	0	25.63	25.95	28.83
1877	-0.77	-136.3	222.7	-10.7	341	1883	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2247	3299	0	0	0	0	0	0	28.83	28.83	28.83
2178	-0.77	-136.3	255.2	-10.9	371	2186	0.00	2.35	0.00	0.000	4	0.000	0.062	2738	3668	3298	0	0	0	0	0	0	28.83	25.70	28.83
2235	-0.77	-136.3	261.6	-11.3	376	2243	0.00	2.20	0.00	0.000	6	0.000	0.037	2738	2242	3298	0	0	0	0	0	0	28.83	26.01	28.83
2539	-0.77	-136.3	296.0	-11.8	406	2547	0.00	2.35	0.00	0.000	4	0.000	0.061	2727	3668	3297	0	0	0	0	0	0	28.83	25.72	28.83
2576	-0.77	-136.3	300.5	-12.1	409	2584	0.00	2.20	0.00	0.000	6	0.000	0.038	2727	2248	3298	0	0	0	0	0	0	28.83	26.06	28.83
2881	-0.77	-136.3	338.8	-12.5	439	2889	0.00	2.35	0.00	0.000	4	0.000	0.062	2717	3671	3298	0	0	0	0	0	0	28.83	25.72	28.83
2928	-0.77	-136.3	344.9	-13.0	443	2937	0.12	2.20	0.00	0.000	6	0.167	0.039	2745	2245	3298	0	0	0	0	0	0	25.71	26.06	28.83
3234	-0.79	-136.3	379.0	-10.6	473	3239	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2244	3298	0	0	0	0	0	0	28.83	28.83	28.83
3534	-0.81	-136.3	411.2	-10.6	503	3548	0.00	2.35	0.00	0.000	4	0.000	0.063	2738	3666	3296	0	0	0	0	0	0	28.83	25.70	28.83
3557	-0.83	-136.3	413.8	-10.8	505	3565	0.00	2.20	0.00	0.000	6	0.000	0.039	2737	2251	3299	0	0	0	0	0	0	28.83	26.09	28.83
3862	-0.83	-136.3	446.7	-10.5	535	3868	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2252	3297	0	0	0	0	0	0	28.83	28.83	28.83
4162	-0.83	-136.3	478.5	-9.8	565	4170	0.00	2.33	0.00	0.000	4	0.000	0.063	2727	3663	3297	0	0	0	0	0	0	28.83	25.71	28.83
4204	-0.83	-136.3	482.4	-10.1	568	4214	0.00	2.20	0.00	0.000	6	0.000	0.040	2727	2241	3297	0	0	0	0	0	0	28.83	26.09	28.83
4509	-0.83	-136.3	515.3	-10.9	599	4517	0.00	2.17	0.00	0.000	4	0.000	0.046	2730	851	3297	0	0	0	0	0	0	28.83	25.86	28.83
4530	-0.83	-136.3	517.9	-11.1	601	4538	0.00	2.25	0.00	0.000	6	0.000	0.046	2717	2262	3297	0	0	0	0	0	0	28.83	25.87	28.83
4725	end dive: TARGET_DEPTH_EXCEEDED
state	4725	begin apogee
4728	-0.21	0.0	539.9	-11.4	620	4860	0.70	0.00	118.90	0.895	6	0.137	0.000	2929	2116	2736	0	0	0	0	0	0	25.34	28.83	23.44
4861	end apogee: CONTROL_FINISHED_OK
state	4861	begin climb
4862	0.93	136.3	544.6	0.0	633	4995	1.05	2.42	120.95	0.876	4	0.057	0.045	3312	696	2180	0	0	0	0	0	0	24.52	23.91	23.06
5114	0.78	136.3	527.1	14.2	658	5123	0.25	2.33	0.00	0.000	6	0.184	0.040	3256	2107	2174	0	0	0	0	0	0	24.39	24.79	28.83
5419	0.68	136.3	489.5	12.5	688	5427	0.12	2.33	0.00	0.000	4	0.207	0.046	3233	684	2171	0	0	0	0	0	0	25.08	25.26	28.83
5501	0.63	136.3	480.5	11.5	695	5512	0.12	2.28	0.00	0.000	6	0.182	0.041	3206	2103	2170	0	0	0	0	0	0	25.08	25.38	28.83
5806	0.60	143.3	449.4	9.7	726	5822	0.00	2.30	5.70	0.645	4	0.000	0.057	3206	3506	2153	0	0	0	0	0	0	28.83	25.58	24.53
5836	0.57	143.3	446.8	10.4	728	5847	0.12	2.22	0.00	0.000	6	0.186	0.039	3189	2083	2153	0	0	0	0	0	0	25.36	25.63	28.83
6141	0.60	171.2	419.5	8.6	759	6176	0.00	2.25	25.08	0.791	4	0.000	0.047	3197	701	2040	0	0	0	0	0	0	28.83	25.27	24.40
6245	0.61	175.1	409.6	9.8	769	6260	0.00	2.22	4.62	0.568	6	0.000	0.041	3197	2101	2025	0	0	0	0	0	0	28.83	25.41	24.37
6555	0.61	175.1	378.5	10.1	800	6561	0.00	0.00	0.00	0.000	6	0.000	0.000	3197	2101	2023	0	0	0	0	0	0	28.83	28.83	28.83
6856	0.61	179.0	348.8	9.8	830	6871	0.00	2.25	5.10	0.591	4	0.000	0.050	3207	695	2008	0	0	0	0	0	0	28.83	25.70	24.66
6900	0.61	181.3	344.4	9.9	834	6916	0.00	2.22	3.40	0.448	6	0.000	0.041	3212	2116	2000	0	0	0	0	0	0	28.83	25.71	24.62
7210	0.61	181.3	312.1	10.4	865	7218	0.00	2.25	0.00	0.000	4	0.000	0.057	3208	3500	1999	0	0	0	0	0	0	28.83	25.66	28.83
7267	0.57	181.3	305.4	11.9	870	7275	0.12	2.17	0.00	0.000	6	0.178	0.039	3191	2097	1997	0	0	0	0	0	0	25.49	25.79	28.83
7572	0.59	196.1	275.4	9.3	900	7596	0.00	0.00	14.40	0.704	6	0.000	0.000	3191	2093	1936	0	0	0	0	0	0	28.83	28.83	24.78
7892	0.63	211.6	245.5	9.2	932	7917	0.00	2.22	13.90	0.681	4	0.000	0.048	3200	698	1874	0	0	0	0	0	0	28.83	25.58	24.74
7966	0.66	211.6	238.3	10.2	939	7974	0.00	2.20	0.00	0.000	6	0.000	0.041	3200	2099	1873	0	0	0	0	0	0	28.83	25.64	28.83
8271	0.70	224.5	209.4	9.4	969	8296	0.00	2.30	12.30	0.655	4	0.000	0.050	3210	702	1820	0	0	0	0	0	0	28.83	25.58	24.72
8330	0.73	226.7	203.9	9.9	974	8342	0.00	2.20	0.00	0.000	6	0.000	0.042	3210	2099	1818	0	0	0	0	0	0	28.83	25.63	28.83
8636	0.73	226.7	172.0	10.1	1032	8646	0.00	2.30	0.00	0.000	4	0.000	0.057	3209	3510	1817	0	0	0	0	0	0	28.83	25.64	28.83
8655	0.73	226.7	170.1	10.1	1035	8666	0.00	2.22	0.00	0.000	6	0.000	0.038	3221	2090	1819	0	0	0	0	0	0	28.83	25.77	28.83
8965	0.73	226.7	135.0	11.9	1096	8975	0.00	2.22	0.00	0.000	4	0.000	0.050	3232	694	1815	0	0	0	0	0	0	28.83	25.74	28.83
9119	0.73	226.7	117.1	10.7	1126	9131	0.00	2.22	0.00	0.000	6	0.000	0.042	3232	2109	1817	0	0	0	0	0	0	28.83	25.84	28.83
9430	0.79	269.4	86.1	7.9	1187	9477	0.00	2.28	36.83	0.617	4	0.000	0.047	3243	699	1639	0	0	0	0	0	0	28.83	25.44	24.72
9512	0.83	280.7	79.2	9.4	1201	9536	0.00	2.22	10.85	0.565	6	0.000	0.040	3244	2106	1592	0	0	0	0	0	0	28.83	25.53	24.61
9836	0.87	280.7	43.1	11.0	1264	9842	0.12	0.00	0.00	0.000	6	0.093	0.000	3290	2106	1588	0	0	0	0	0	0	25.76	28.83	28.83
10141	0.97	348.6	13.7	6.6	1325	10204	0.00	2.38	54.05	0.569	4	0.000	0.057	3290	3515	1313	0	0	0	0	0	0	28.83	25.08	24.41
10262	end climb: SURFACE_DEPTH_REACHED
state	10262	begin surface coast
10292	end surface coast: CONTROL_FINISHED_OK
state	10292	begin surface