Glider dive log

Kona Mar10 * SG022 * Dive index * Mission links * Dive 16 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 22 ESCAPE_HEADING 0 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 15

MISSION 17 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2000 ALTIM_PULSE 5

DIVE 16 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_SURF 3 TGT_DEFAULT_LAT 19.6 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FLARE 3 TGT_DEFAULT_LON -156.10001 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_TGT 990 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 34 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 400 R_STBD_OVSHOOT 32 INT_PRESSURE_YINT 0

D_NO_BLEED 100 N_FILEKB 8 ROLL_AD_RATE 100 DEEPGLIDER 0

D_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 DEEPGLIDERMB 0

T_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 2

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEVICE1 2

D_PITCH 0 KERMIT 0 VBD_MIN 350 DEVICE2 -1

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3841 DEVICE3 -1

D_CALL 0 N_NOSURFACE 0 C_VBD 2944 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 280 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.00109 LOGGERDEVICE1 69

T_MISSION 320 CAPMAXSIZE 150000 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_ABORT 1440 HEAPDBG 0 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERDEVICE3 -1

T_TURN 225 T_GPS 15 VBD_BLEED_AD_RATE 4 LOGGERDEVICE4 -1

T_TURN_SAMPINT 5 N_GPS 20 UNCOM_BLEED 20 COMPASS_DEVICE 33

T_NO_W 120 T_GPS_ALMANAC 0 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_LOITER 0 T_GPS_CHARGE -255223.11 CF8_MAXERRORS 1 PHONE_DEVICE 48

USE_BATHY 0 T_RSLEEP 3 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 19

D_OFFGRID 101 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 380 FG_AHR_24V 0 SEABIRD_T_G 0.0044149966

APOGEE_PITCH -5 PITCH_MAX 3641 PHONE_SUPPLY 2 SEABIRD_T_H 0.00064680085

MAX_BUOY 240 C_PITCH 2600 PRESSURE_YINT -22.561892 SEABIRD_T_I 2.5778523e-05

COURSE_BIAS 0 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011632 SEABIRD_T_J 2.7323422e-06

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.507483

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 1.7 SEABIRD_C_H 1.1800622

RHO 1.0275 PITCH_GAIN 17 TCM_ROLL_OFFSET -0.89999998 SEABIRD_C_I -0.00046262925

MASS 52198 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_J 0.00014728548

NAV_MODE 1 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 PA_OFFLOAD 1.0

FERRY_MAX 0 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 10000.0

HD_A 0.0040048002 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 PA_POWERSOURCE 0.0

HD_B 0.010364 ROLL_MIN 150 ALTIM_TOP_MIN_OBSTACLE 1 PA_RESTARTMONITOR 0.0

HD_C 5.4717998e-06 ROLL_MAX 3954 ALTIM_PING_DEPTH 0 PA_SCALEFACTOR24V 1.3

HEADING -1 ROLL_DEG 40 ALTIM_PING_DELTA 10

AD7714Ch0Gain 128 D_OFFGRID 101 PA_OFFLOAD 1.0 SEABIRD_T_J 2.7323422e-06

AH0_10V 61.200001 D_PITCH 0 PA_POWERSOURCE 0.0 SIM_PITCH 0

AH0_24V 91.800003 D_SAFE 0 PA_RESTARTMONITOR 0.0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PA_SCALEFACTOR24V 1.3 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 PHONE_DEVICE 48 SPEED_FACTOR 1

ALTIM_FREQUENCY 15 ESCAPE_HEADING 0 PHONE_SUPPLY 2 STROBE 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FERRY_MAX 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 5 FG_AHR_10V 0 PITCH_AD_RATE 150 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_CNV 0.0046000001 TCM_PITCH_OFFSET 1.7

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_DBAND 0.1 TCM_ROLL_OFFSET -0.89999998

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 17 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAX 3641 TGT_DEFAULT_LAT 19.6

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -156.10001

CALL_NDIVES 1 HD_A 0.0040048002 PITCH_MIN 380 T_ABORT 1440

CALL_TRIES 5 HD_B 0.010364 PITCH_TIMEOUT 20 T_BOOST 0

CALL_WAIT 60 HD_C 5.4717998e-06 PITCH_VBD_SHIFT 0.00109 T_DIVE 280

CAPMAXSIZE 150000 HEADING -1 PRESSURE_SLOPE 0.00011632 T_GPS 15

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -22.561892 T_GPS_ALMANAC 0

CF8_MAXERRORS 1 HEAPDBG 0 P_OVSHOOT 0.039999999 T_GPS_CHARGE -255223.11

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 ID 22 RAFOS_DEVICE -1 T_MISSION 320

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 0 INT_PRESSURE_YINT 0 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_TURN 225

C_PITCH 2600 KERMIT 0 RHO 1.0275 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2000 LOGGERDEVICE1 69 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2600 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_VBD 2944 LOGGERDEVICE3 -1 ROLL_AD_RATE 100 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_CNV 0.028270001 USE_BATHY 0

DEEPGLIDERMB 0 LOGGERS 1 ROLL_DEG 40 USE_ICE 0

DEVICE1 2 MASS 52198 ROLL_MAX 3954 VBD_BLEED_AD_RATE 4

DEVICE2 -1 MAX_BUOY 240 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 ROLL_MIN 150 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 ROLL_TIMEOUT 15 VBD_MAX 3841

DEVICE5 -1 MISSION 17 R_PORT_OVSHOOT 34 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 2 R_STBD_OVSHOOT 32 VBD_MIN 350

DIVE 16 NAV_MODE 1 SEABIRD_C_G -10.507483 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 1090 N_FILEKB 8 SEABIRD_C_H 1.1800622 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 N_GPS 20 SEABIRD_C_I -0.00046262925 VBD_TIMEOUT 720

D_CALL 0 N_NOCOMM 1 SEABIRD_C_J 0.00014728548 XPDR_DEVICE 19

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_G 0.0044149966 XPDR_INHIBIT 90

D_FLARE 3 PA_MAXOPTIONALUPLOADSIZE 10000.0 SEABIRD_T_H 0.00064680085 XPDR_VALID 4

D_NO_BLEED 100 PA_MAXUPLOADSIZE 20480.0 SEABIRD_T_I 2.5778523e-05

Pre-dive calculations and measurements:

GPS1 190310,035936,1935.128,-15601.434,39,1.3,39,9.7 TGT_NAME HARP

_CALLS 1 TGT_LATLONG 1934.700,-15601.400

_XMS_NAKs 4 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.208,-0.264

_SM_DEPTHo 0.73 KALMAN_X -9347.5,403.2,362.2,16544.1,-3371.8

_SM_ANGLEo -67.8 KALMAN_Y 11790.6,-306.0,-45.9,-20746.3,3527.1

GPS2 190310,041019,1935.311,-15601.488,13,1.5,30,9.7 MHEAD_RNG_PITCHd_Wd 132.0,1142,-16.7,-11.786

SPEED_LIMITS 0.204,0.336 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.023681 PA_HOME 6.5/483886/452268

SM_CCo 11833,22.58,0.506,0,0,1313,400.08 PA_ROOT 89.3/128908/13732

SM_GC 0.68,0.00,0.00,22.58,0.000,0.000,0.506,378,2613,1313,-10.22,0.37,400.08 PA_LOG 3.7/297829/286805

IRIDIUM_FIX 1929.80,-15538.10,110911,181810 PA_DATA1 4.1/7836665/7513708

TT8_MAMPS 0.12733 PA_DATA0 64.8/7836665/2760324

HUMID 1077994184 _24V_AH 23.5,6.849

TCM_TEMP 23.50 _10V_AH 9.9,7.637

XPDR_PINGS 0 FG_AHR_24Vo 0.000

PA_PMVER 0.2 FG_AHR_10Vo 0.000

PA_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Wed Mar 3 18:17:05 PST 2010 MEM 344656

PA_DFQS 0/0 DATA_FILE_SIZE 13483,368

PA_CMQS 0/0 CAP_FILE_SIZE 102666,0

PA_USBDRIVE /mnt/usba CFSIZE 260034560,256061440

PA_USBB 100.0/0/0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PA_USBA 6.0/30829585/28972966 GPS 190310,073037,1934.399,-15600.547,60,1.6,60,9.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 149 83.43 SBE_CT 244 24 137.87

Roll_motor 111 97 254.68 nil 0 0 0.00

VBD_pump_during_apogee 511 1165 14015.98 nil 0 0 0.00

VBD_pump_during_surface 22 506 268.67 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 0 0.00 nil 0 0 0.00

Iridium_during_connect 27 0 0.00 PAAM 12624 86 25775.40

Iridium_during_xfer 347 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 0 0.00

TT8 0 0 0.00

LPSleep 9784 2 212.14

TT8_Active 655 19 128.41

TT8_Sampling 1845 39 727.31

TT8_CF8 245 45 111.35

TT8_Kalman 33 0 0.00

Analog_circuits 1356 12 161.12

GPS_charging 0 0 0.00

Compass 893 15 132.63

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -1.24 -233.6 0.0 0.0 0 87 0.00 0.00 -63.58 0.000 2 0.000 0.000 378 2610 2602 0 0 0 0 0 0

89 -1.24 -233.6 3.2 -7.4 12 135 10.25 2.40 -30.08 0.000 4 0.149 0.057 2324 1179 3843 0 0 0 0 0 0

289 -1.24 -233.6 49.4 -20.8 38 293 0.00 2.45 0.00 0.000 6 0.000 0.044 2324 2599 3844 0 0 0 0 0 0

485 -1.24 -233.6 100.9 -25.6 57 489 0.00 2.42 0.00 0.000 4 0.000 0.062 2324 3939 3845 0 0 0 0 0 0

506 -1.24 -233.6 106.2 -25.5 57 510 0.00 2.33 0.00 0.000 6 0.000 0.038 2324 2585 3845 0 0 0 0 0 0

820 -1.24 -233.6 172.6 -21.6 68 824 0.00 2.47 0.00 0.000 4 0.000 0.061 2324 3940 3846 0 0 0 0 0 0

895 -1.24 -233.6 188.0 -19.6 70 899 0.00 2.30 0.00 0.000 6 0.000 0.038 2323 2593 3846 0 0 0 0 0 0

1219 -1.24 -233.6 254.3 -21.1 81 1223 0.00 2.47 0.00 0.000 4 0.000 0.061 2324 3948 3847 0 0 0 0 0 0

1278 -1.24 -233.6 267.0 -19.9 82 1284 0.00 2.30 0.00 0.000 6 0.000 0.037 2324 2593 3847 0 0 0 0 0 0

1586 -1.24 -233.6 324.6 -17.8 91 1590 0.00 2.47 0.00 0.000 4 0.000 0.063 2324 3939 3847 0 0 0 0 0 0

1644 -1.24 -233.6 335.5 -18.4 91 1650 0.00 2.30 0.00 0.000 6 0.000 0.038 2324 2592 3847 0 0 0 0 0 0

1951 -1.24 -233.6 388.7 -17.2 97 1955 0.00 2.45 0.00 0.000 4 0.000 0.064 2323 3943 3847 0 0 0 0 0 0

2004 -1.24 -233.6 397.5 -16.4 97 2008 0.00 2.33 0.00 0.000 6 0.000 0.040 2324 2597 3847 0 0 0 0 0 0

2316 -1.24 -233.6 447.2 -15.8 103 2324 0.00 2.45 0.00 0.000 4 0.000 0.066 2324 3946 3847 0 0 0 0 0 0

2344 -1.24 -233.6 451.5 -15.4 103 2352 0.00 2.33 0.00 0.000 6 0.000 0.041 2324 2591 3848 0 0 0 0 0 0

2679 -1.24 -233.6 500.7 -14.6 109 2685 0.00 0.00 0.00 0.000 6 0.000 0.000 2324 2586 3846 0 0 0 0 0 0

2982 -1.24 -233.6 542.1 -13.6 114 2990 0.00 2.50 0.00 0.000 4 0.000 0.070 2324 3942 3844 0 0 0 0 0 0

3020 -1.24 -233.6 547.2 -13.4 114 3029 0.00 2.33 0.00 0.000 6 0.000 0.042 2323 2599 3843 0 0 0 0 0 0

3340 -1.24 -233.6 590.4 -13.6 120 3346 0.00 0.00 0.00 0.000 6 0.000 0.000 2324 2594 3840 0 0 0 0 0 0

3642 -1.24 -233.6 634.2 -14.5 125 3647 0.00 0.00 0.00 0.000 6 0.000 0.000 2324 2594 3837 0 0 0 0 0 0

3944 -1.24 -233.6 674.4 -13.3 130 3952 0.00 2.55 0.00 0.000 4 0.000 0.081 2324 3942 3834 0 0 0 0 0 0

3973 -1.24 -233.6 678.1 -13.9 130 3981 0.00 2.35 0.00 0.000 6 0.000 0.044 2324 2610 3834 0 0 0 0 0 0

4304 -1.24 -233.6 715.3 -11.0 136 4312 0.00 2.58 0.00 0.000 4 0.000 0.074 2324 1187 3830 0 0 0 0 0 0

4343 -1.24 -233.6 719.0 -9.5 136 4351 0.00 2.58 0.00 0.000 6 0.000 0.064 2324 2594 3830 0 0 0 0 0 0

4663 -1.24 -233.6 751.4 -10.3 142 4672 0.00 2.62 0.00 0.000 4 0.000 0.097 2324 3953 3827 0 0 0 0 0 0

4697 -1.24 -233.6 755.5 -12.0 142 4705 0.00 2.45 0.00 0.000 6 0.000 0.056 2324 2606 3826 0 0 0 0 0 0

5021 -1.24 -233.6 784.8 -9.2 148 5027 0.00 0.00 0.00 0.000 6 0.000 0.000 2324 2598 3824 0 0 0 0 0 0

5323 -1.24 -233.6 784.9 -0.0 153 5329 0.00 0.00 0.00 0.000 6 0.000 0.000 2324 2598 3822 0 0 0 0 0 0

5382 end dive: NO_VERTICAL_VELOCITY

state 5382 begin apogee

5387 -0.29 0.0 784.8 0.0 154 5579 0.95 0.00 184.15 1.166 6 0.067 0.000 2535 2002 2944 0 0 0 0 0 0

5579 end apogee: CONTROL_FINISHED_OK

state 5580 begin climb

5581 1.24 233.6 784.7 0.0 157 5802 1.52 2.78 205.25 1.125 4 0.064 0.090 2867 584 1988 0 0 0 0 0 0

5816 1.24 233.6 768.0 17.1 161 5824 0.00 2.67 0.00 0.000 6 0.000 0.065 2868 2005 1987 0 0 0 0 0 0

6168 1.24 233.6 721.3 14.4 167 6176 0.00 2.67 0.00 0.000 4 0.000 0.075 2868 580 1978 0 0 0 0 0 0

6244 1.24 233.6 708.8 16.2 168 6252 0.00 2.60 0.00 0.000 6 0.000 0.054 2867 2006 1978 0 0 0 0 0 0

6595 1.24 233.6 660.9 13.3 174 6601 0.00 0.00 0.00 0.000 6 0.000 0.000 2868 2006 1975 0 0 0 0 0 0

6898 1.30 292.7 628.7 9.8 179 6960 0.00 0.00 52.55 1.056 6 0.000 0.000 2868 2012 1750 0 0 0 0 0 0

7259 1.30 292.7 578.4 14.2 185 7268 0.00 2.62 0.00 0.000 4 0.000 0.061 2868 576 1741 0 0 0 0 0 0

7288 1.30 292.7 574.5 13.3 185 7296 0.00 2.58 0.00 0.000 6 0.000 0.047 2868 2017 1740 0 0 0 0 0 0

7618 1.30 292.7 532.0 13.0 191 7627 0.00 2.53 0.00 0.000 4 0.000 0.063 2867 3406 1738 0 0 0 0 0 0

7657 1.30 292.7 526.2 14.9 191 7667 0.00 2.55 0.00 0.000 6 0.000 0.046 2867 1973 1737 0 0 0 0 0 0

7978 1.30 292.7 482.4 13.4 197 7983 0.00 0.00 0.00 0.000 6 0.000 0.000 2867 1972 1736 0 0 0 0 0 0

8280 1.30 292.7 441.8 13.2 202 8288 0.00 2.62 0.00 0.000 4 0.000 0.060 2867 3412 1735 0 0 0 0 0 0

8297 1.30 292.7 439.5 12.3 202 8305 0.00 2.50 0.00 0.000 6 0.000 0.044 2868 1987 1734 0 0 0 0 0 0

8640 1.30 292.7 395.8 12.9 208 8641 0.00 0.00 0.00 0.000 6 0.000 0.000 2867 1987 1733 0 0 0 0 0 0

8940 1.30 292.7 354.4 14.0 213 8940 0.00 0.00 0.00 0.000 6 0.000 0.000 2868 1987 1733 0 0 0 0 0 0

9241 1.30 292.7 316.2 12.6 218 9242 0.00 0.00 0.00 0.000 6 0.000 0.000 2867 1987 1733 0 0 0 0 0 0

9544 1.30 292.7 277.4 12.5 225 9548 0.00 2.58 0.00 0.000 4 0.000 0.055 2868 3401 1733 0 0 0 0 0 0

9602 1.30 292.7 269.8 12.5 226 9608 0.00 2.47 0.00 0.000 6 0.000 0.042 2868 1995 1733 0 0 0 0 0 0

9911 1.30 292.7 229.3 13.3 237 9915 0.00 2.47 0.00 0.000 4 0.000 0.054 2867 603 1732 0 0 0 0 0 0

9937 1.32 308.4 226.2 11.3 237 9953 0.00 2.45 12.20 0.723 6 0.000 0.041 2867 2009 1686 0 0 0 0 0 0

10271 1.32 308.4 186.3 12.1 249 10272 0.00 0.00 0.00 0.000 6 0.000 0.000 2867 2008 1683 0 0 0 0 0 0

10575 1.34 332.9 151.4 11.0 259 10602 0.12 2.50 22.17 0.683 4 0.088 0.051 2900 3411 1586 0 0 0 0 0 0

10655 1.34 332.9 140.1 15.8 260 10659 0.00 2.50 0.00 0.000 6 0.000 0.040 2900 1992 1583 0 0 0 0 0 0

10968 1.34 332.9 98.7 12.4 271 10972 0.00 2.55 0.00 0.000 4 0.000 0.052 2900 3407 1582 0 0 0 0 0 0

11004 1.34 332.9 94.2 12.6 274 11011 0.00 2.45 0.00 0.000 6 0.000 0.039 2900 1997 1582 0 0 0 0 0 0

11196 1.37 357.9 74.8 10.9 293 11227 0.00 2.55 22.50 0.597 4 0.000 0.052 2900 593 1482 0 0 0 0 0 0

11461 1.38 365.7 41.9 11.5 318 11472 0.00 2.45 7.65 0.495 6 0.000 0.039 2900 2014 1453 0 0 0 0 0 0

11659 1.38 365.7 18.3 12.1 338 11664 0.00 2.38 0.00 0.000 4 0.000 0.052 2900 3405 1451 0 0 0 0 0 0

11705 1.38 369.7 12.3 11.7 347 11716 0.00 2.45 5.10 0.418 6 0.000 0.039 2900 1994 1435 0 0 0 0 0 0

11779 1.38 369.7 3.4 12.2 361 11784 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 1994 1434 0 0 0 0 0 0

11787 end climb: SURFACE_DEPTH_REACHED

state 11787 begin surface coast

11814 end surface coast: CONTROL_FINISHED_OK

state 11814 begin surface

ID	22	ESCAPE_HEADING	0	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	15
MISSION	17	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2000	ALTIM_PULSE	5
DIVE	16	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_SURF	3	TGT_DEFAULT_LAT	19.6	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FLARE	3	TGT_DEFAULT_LON	-156.10001	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_TGT	990	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	34	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	400	R_STBD_OVSHOOT	32	INT_PRESSURE_YINT	0
D_NO_BLEED	100	N_FILEKB	8	ROLL_AD_RATE	100	DEEPGLIDER	0
D_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	DEEPGLIDERMB	0
T_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	2
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEVICE1	2
D_PITCH	0	KERMIT	0	VBD_MIN	350	DEVICE2	-1
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3841	DEVICE3	-1
D_CALL	0	N_NOSURFACE	0	C_VBD	2944	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	280	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.00109	LOGGERDEVICE1	69
T_MISSION	320	CAPMAXSIZE	150000	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_ABORT	1440	HEAPDBG	0	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERDEVICE3	-1
T_TURN	225	T_GPS	15	VBD_BLEED_AD_RATE	4	LOGGERDEVICE4	-1
T_TURN_SAMPINT	5	N_GPS	20	UNCOM_BLEED	20	COMPASS_DEVICE	33
T_NO_W	120	T_GPS_ALMANAC	0	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_LOITER	0	T_GPS_CHARGE	-255223.11	CF8_MAXERRORS	1	PHONE_DEVICE	48
USE_BATHY	0	T_RSLEEP	3	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	19
D_OFFGRID	101	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	380	FG_AHR_24V	0	SEABIRD_T_G	0.0044149966
APOGEE_PITCH	-5	PITCH_MAX	3641	PHONE_SUPPLY	2	SEABIRD_T_H	0.00064680085
MAX_BUOY	240	C_PITCH	2600	PRESSURE_YINT	-22.561892	SEABIRD_T_I	2.5778523e-05
COURSE_BIAS	0	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011632	SEABIRD_T_J	2.7323422e-06
GLIDE_SLOPE	30	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.507483
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	1.7	SEABIRD_C_H	1.1800622
RHO	1.0275	PITCH_GAIN	17	TCM_ROLL_OFFSET	-0.89999998	SEABIRD_C_I	-0.00046262925
MASS	52198	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_J	0.00014728548
NAV_MODE	1	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	PA_OFFLOAD	1.0
FERRY_MAX	0	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	10000.0
HD_A	0.0040048002	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	PA_POWERSOURCE	0.0
HD_B	0.010364	ROLL_MIN	150	ALTIM_TOP_MIN_OBSTACLE	1	PA_RESTARTMONITOR	0.0
HD_C	5.4717998e-06	ROLL_MAX	3954	ALTIM_PING_DEPTH	0	PA_SCALEFACTOR24V	1.3
HEADING	-1	ROLL_DEG	40	ALTIM_PING_DELTA	10

GPS1	190310,035936,1935.128,-15601.434,39,1.3,39,9.7	TGT_NAME	HARP
_CALLS	1	TGT_LATLONG	1934.700,-15601.400
_XMS_NAKs	4	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.208,-0.264
_SM_DEPTHo	0.73	KALMAN_X	-9347.5,403.2,362.2,16544.1,-3371.8
_SM_ANGLEo	-67.8	KALMAN_Y	11790.6,-306.0,-45.9,-20746.3,3527.1
GPS2	190310,041019,1935.311,-15601.488,13,1.5,30,9.7	MHEAD_RNG_PITCHd_Wd	132.0,1142,-16.7,-11.786
SPEED_LIMITS	0.204,0.336	D_GRID	990

FINISH	0.1,1.023681	PA_HOME	6.5/483886/452268
SM_CCo	11833,22.58,0.506,0,0,1313,400.08	PA_ROOT	89.3/128908/13732
SM_GC	0.68,0.00,0.00,22.58,0.000,0.000,0.506,378,2613,1313,-10.22,0.37,400.08	PA_LOG	3.7/297829/286805
IRIDIUM_FIX	1929.80,-15538.10,110911,181810	PA_DATA1	4.1/7836665/7513708
TT8_MAMPS	0.12733	PA_DATA0	64.8/7836665/2760324
HUMID	1077994184	_24V_AH	23.5,6.849
TCM_TEMP	23.50	_10V_AH	9.9,7.637
XPDR_PINGS	0	FG_AHR_24Vo	0.000
PA_PMVER	0.2	FG_AHR_10Vo	0.000
PA_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Wed Mar 3 18:17:05 PST 2010	MEM	344656
PA_DFQS	0/0	DATA_FILE_SIZE	13483,368
PA_CMQS	0/0	CAP_FILE_SIZE	102666,0
PA_USBDRIVE	/mnt/usba	CFSIZE	260034560,256061440
PA_USBB	100.0/0/0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_USBA	6.0/30829585/28972966	GPS	190310,073037,1934.399,-15600.547,60,1.6,60,9.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	149	83.43	SBE_CT	244	24	137.87
Roll_motor	111	97	254.68	nil	0	0	0.00
VBD_pump_during_apogee	511	1165	14015.98	nil	0	0	0.00
VBD_pump_during_surface	22	506	268.67	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	0	0.00	nil	0	0	0.00
Iridium_during_connect	27	0	0.00	PAAM	12624	86	25775.40
Iridium_during_xfer	347	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	0	0.00
TT8	0	0	0.00
LPSleep	9784	2	212.14
TT8_Active	655	19	128.41
TT8_Sampling	1845	39	727.31
TT8_CF8	245	45	111.35
TT8_Kalman	33	0	0.00
Analog_circuits	1356	12	161.12
GPS_charging	0	0	0.00
Compass	893	15	132.63
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-1.24	-233.6	0.0	0.0	0	87	0.00	0.00	-63.58	0.000	2	0.000	0.000	378	2610	2602	0	0	0	0	0	0
89	-1.24	-233.6	3.2	-7.4	12	135	10.25	2.40	-30.08	0.000	4	0.149	0.057	2324	1179	3843	0	0	0	0	0	0
289	-1.24	-233.6	49.4	-20.8	38	293	0.00	2.45	0.00	0.000	6	0.000	0.044	2324	2599	3844	0	0	0	0	0	0
485	-1.24	-233.6	100.9	-25.6	57	489	0.00	2.42	0.00	0.000	4	0.000	0.062	2324	3939	3845	0	0	0	0	0	0
506	-1.24	-233.6	106.2	-25.5	57	510	0.00	2.33	0.00	0.000	6	0.000	0.038	2324	2585	3845	0	0	0	0	0	0
820	-1.24	-233.6	172.6	-21.6	68	824	0.00	2.47	0.00	0.000	4	0.000	0.061	2324	3940	3846	0	0	0	0	0	0
895	-1.24	-233.6	188.0	-19.6	70	899	0.00	2.30	0.00	0.000	6	0.000	0.038	2323	2593	3846	0	0	0	0	0	0
1219	-1.24	-233.6	254.3	-21.1	81	1223	0.00	2.47	0.00	0.000	4	0.000	0.061	2324	3948	3847	0	0	0	0	0	0
1278	-1.24	-233.6	267.0	-19.9	82	1284	0.00	2.30	0.00	0.000	6	0.000	0.037	2324	2593	3847	0	0	0	0	0	0
1586	-1.24	-233.6	324.6	-17.8	91	1590	0.00	2.47	0.00	0.000	4	0.000	0.063	2324	3939	3847	0	0	0	0	0	0
1644	-1.24	-233.6	335.5	-18.4	91	1650	0.00	2.30	0.00	0.000	6	0.000	0.038	2324	2592	3847	0	0	0	0	0	0
1951	-1.24	-233.6	388.7	-17.2	97	1955	0.00	2.45	0.00	0.000	4	0.000	0.064	2323	3943	3847	0	0	0	0	0	0
2004	-1.24	-233.6	397.5	-16.4	97	2008	0.00	2.33	0.00	0.000	6	0.000	0.040	2324	2597	3847	0	0	0	0	0	0
2316	-1.24	-233.6	447.2	-15.8	103	2324	0.00	2.45	0.00	0.000	4	0.000	0.066	2324	3946	3847	0	0	0	0	0	0
2344	-1.24	-233.6	451.5	-15.4	103	2352	0.00	2.33	0.00	0.000	6	0.000	0.041	2324	2591	3848	0	0	0	0	0	0
2679	-1.24	-233.6	500.7	-14.6	109	2685	0.00	0.00	0.00	0.000	6	0.000	0.000	2324	2586	3846	0	0	0	0	0	0
2982	-1.24	-233.6	542.1	-13.6	114	2990	0.00	2.50	0.00	0.000	4	0.000	0.070	2324	3942	3844	0	0	0	0	0	0
3020	-1.24	-233.6	547.2	-13.4	114	3029	0.00	2.33	0.00	0.000	6	0.000	0.042	2323	2599	3843	0	0	0	0	0	0
3340	-1.24	-233.6	590.4	-13.6	120	3346	0.00	0.00	0.00	0.000	6	0.000	0.000	2324	2594	3840	0	0	0	0	0	0
3642	-1.24	-233.6	634.2	-14.5	125	3647	0.00	0.00	0.00	0.000	6	0.000	0.000	2324	2594	3837	0	0	0	0	0	0
3944	-1.24	-233.6	674.4	-13.3	130	3952	0.00	2.55	0.00	0.000	4	0.000	0.081	2324	3942	3834	0	0	0	0	0	0
3973	-1.24	-233.6	678.1	-13.9	130	3981	0.00	2.35	0.00	0.000	6	0.000	0.044	2324	2610	3834	0	0	0	0	0	0
4304	-1.24	-233.6	715.3	-11.0	136	4312	0.00	2.58	0.00	0.000	4	0.000	0.074	2324	1187	3830	0	0	0	0	0	0
4343	-1.24	-233.6	719.0	-9.5	136	4351	0.00	2.58	0.00	0.000	6	0.000	0.064	2324	2594	3830	0	0	0	0	0	0
4663	-1.24	-233.6	751.4	-10.3	142	4672	0.00	2.62	0.00	0.000	4	0.000	0.097	2324	3953	3827	0	0	0	0	0	0
4697	-1.24	-233.6	755.5	-12.0	142	4705	0.00	2.45	0.00	0.000	6	0.000	0.056	2324	2606	3826	0	0	0	0	0	0
5021	-1.24	-233.6	784.8	-9.2	148	5027	0.00	0.00	0.00	0.000	6	0.000	0.000	2324	2598	3824	0	0	0	0	0	0
5323	-1.24	-233.6	784.9	-0.0	153	5329	0.00	0.00	0.00	0.000	6	0.000	0.000	2324	2598	3822	0	0	0	0	0	0
5382	end dive: NO_VERTICAL_VELOCITY
state	5382	begin apogee
5387	-0.29	0.0	784.8	0.0	154	5579	0.95	0.00	184.15	1.166	6	0.067	0.000	2535	2002	2944	0	0	0	0	0	0
5579	end apogee: CONTROL_FINISHED_OK
state	5580	begin climb
5581	1.24	233.6	784.7	0.0	157	5802	1.52	2.78	205.25	1.125	4	0.064	0.090	2867	584	1988	0	0	0	0	0	0
5816	1.24	233.6	768.0	17.1	161	5824	0.00	2.67	0.00	0.000	6	0.000	0.065	2868	2005	1987	0	0	0	0	0	0
6168	1.24	233.6	721.3	14.4	167	6176	0.00	2.67	0.00	0.000	4	0.000	0.075	2868	580	1978	0	0	0	0	0	0
6244	1.24	233.6	708.8	16.2	168	6252	0.00	2.60	0.00	0.000	6	0.000	0.054	2867	2006	1978	0	0	0	0	0	0
6595	1.24	233.6	660.9	13.3	174	6601	0.00	0.00	0.00	0.000	6	0.000	0.000	2868	2006	1975	0	0	0	0	0	0
6898	1.30	292.7	628.7	9.8	179	6960	0.00	0.00	52.55	1.056	6	0.000	0.000	2868	2012	1750	0	0	0	0	0	0
7259	1.30	292.7	578.4	14.2	185	7268	0.00	2.62	0.00	0.000	4	0.000	0.061	2868	576	1741	0	0	0	0	0	0
7288	1.30	292.7	574.5	13.3	185	7296	0.00	2.58	0.00	0.000	6	0.000	0.047	2868	2017	1740	0	0	0	0	0	0
7618	1.30	292.7	532.0	13.0	191	7627	0.00	2.53	0.00	0.000	4	0.000	0.063	2867	3406	1738	0	0	0	0	0	0
7657	1.30	292.7	526.2	14.9	191	7667	0.00	2.55	0.00	0.000	6	0.000	0.046	2867	1973	1737	0	0	0	0	0	0
7978	1.30	292.7	482.4	13.4	197	7983	0.00	0.00	0.00	0.000	6	0.000	0.000	2867	1972	1736	0	0	0	0	0	0
8280	1.30	292.7	441.8	13.2	202	8288	0.00	2.62	0.00	0.000	4	0.000	0.060	2867	3412	1735	0	0	0	0	0	0
8297	1.30	292.7	439.5	12.3	202	8305	0.00	2.50	0.00	0.000	6	0.000	0.044	2868	1987	1734	0	0	0	0	0	0
8640	1.30	292.7	395.8	12.9	208	8641	0.00	0.00	0.00	0.000	6	0.000	0.000	2867	1987	1733	0	0	0	0	0	0
8940	1.30	292.7	354.4	14.0	213	8940	0.00	0.00	0.00	0.000	6	0.000	0.000	2868	1987	1733	0	0	0	0	0	0
9241	1.30	292.7	316.2	12.6	218	9242	0.00	0.00	0.00	0.000	6	0.000	0.000	2867	1987	1733	0	0	0	0	0	0
9544	1.30	292.7	277.4	12.5	225	9548	0.00	2.58	0.00	0.000	4	0.000	0.055	2868	3401	1733	0	0	0	0	0	0
9602	1.30	292.7	269.8	12.5	226	9608	0.00	2.47	0.00	0.000	6	0.000	0.042	2868	1995	1733	0	0	0	0	0	0
9911	1.30	292.7	229.3	13.3	237	9915	0.00	2.47	0.00	0.000	4	0.000	0.054	2867	603	1732	0	0	0	0	0	0
9937	1.32	308.4	226.2	11.3	237	9953	0.00	2.45	12.20	0.723	6	0.000	0.041	2867	2009	1686	0	0	0	0	0	0
10271	1.32	308.4	186.3	12.1	249	10272	0.00	0.00	0.00	0.000	6	0.000	0.000	2867	2008	1683	0	0	0	0	0	0
10575	1.34	332.9	151.4	11.0	259	10602	0.12	2.50	22.17	0.683	4	0.088	0.051	2900	3411	1586	0	0	0	0	0	0
10655	1.34	332.9	140.1	15.8	260	10659	0.00	2.50	0.00	0.000	6	0.000	0.040	2900	1992	1583	0	0	0	0	0	0
10968	1.34	332.9	98.7	12.4	271	10972	0.00	2.55	0.00	0.000	4	0.000	0.052	2900	3407	1582	0	0	0	0	0	0
11004	1.34	332.9	94.2	12.6	274	11011	0.00	2.45	0.00	0.000	6	0.000	0.039	2900	1997	1582	0	0	0	0	0	0
11196	1.37	357.9	74.8	10.9	293	11227	0.00	2.55	22.50	0.597	4	0.000	0.052	2900	593	1482	0	0	0	0	0	0
11461	1.38	365.7	41.9	11.5	318	11472	0.00	2.45	7.65	0.495	6	0.000	0.039	2900	2014	1453	0	0	0	0	0	0
11659	1.38	365.7	18.3	12.1	338	11664	0.00	2.38	0.00	0.000	4	0.000	0.052	2900	3405	1451	0	0	0	0	0	0
11705	1.38	369.7	12.3	11.7	347	11716	0.00	2.45	5.10	0.418	6	0.000	0.039	2900	1994	1435	0	0	0	0	0	0
11779	1.38	369.7	3.4	12.2	361	11784	0.00	0.00	0.00	0.000	6	0.000	0.000	2900	1994	1434	0	0	0	0	0	0
11787	end climb: SURFACE_DEPTH_REACHED
state	11787	begin surface coast
11814	end surface coast: CONTROL_FINISHED_OK
state	11814	begin surface