Glider dive log

Kona Mar10 * SG022 * Dive index * Mission links * Dive 22 * 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 22 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 37 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 400 R_STBD_OVSHOOT 36 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 -255230.62 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 -255230.62

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 37 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 2 R_STBD_OVSHOOT 36 VBD_MIN 350

DIVE 22 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 200310,003706,1932.205,-15601.703,36,1.7,36,9.7 TGT_NAME HARP

_CALLS 1 TGT_LATLONG 1934.700,-15602.400

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.170,-0.201

_SM_DEPTHo 0.72 KALMAN_X -18704.7,979.9,245.1,25015.5,-4008.0

_SM_ANGLEo -64.2 KALMAN_Y 32348.9,-1377.7,-393.5,-45372.3,7739.1

GPS2 200310,004225,1932.330,-15601.728,11,1.9,11,9.7 MHEAD_RNG_PITCHd_Wd 130.2,4543,-21.8,-11.786

SPEED_LIMITS 0.204,0.336 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.023322 PA_USBDRIVE /mnt/usba

SM_CCo 12468,50.45,0.517,0,0,1312,400.08 _24V_AH 23.5,7.858

SM_GC 1.40,0.00,0.00,50.45,0.000,0.000,0.517,374,2612,1312,-10.24,0.37,400.08 _10V_AH 9.8,9.738

IRIDIUM_FIX 1927.51,-15603.64,120911,141458 FG_AHR_24Vo 0.000

TT8_MAMPS 0.305592 FG_AHR_10Vo 0.000

HUMID 1077985152 MEM 345148

TCM_TEMP 23.70 DATA_FILE_SIZE 13437,360

XPDR_PINGS 0 CAP_FILE_SIZE 105227,0

PA_PMVER 0.2 CFSIZE 260034560,255746048

PA_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Wed Mar 3 18:17:05 PST 2010 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PA_DFQS 0/0 GPS 200310,041337,1931.896,-15600.913,39,1.0,39,9.7

PA_CMQS 107/106

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 148 85.10 SBE_CT 239 24 135.20

Roll_motor 137 215 698.22 nil 0 0 0.00

VBD_pump_during_apogee 459 1308 14148.60 nil 0 0 0.00

VBD_pump_during_surface 50 517 613.11 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 0 0.00 nil 0 0 0.00

Iridium_during_connect 27 0 0.00 PAAM 12982 112 34205.05

Iridium_during_xfer 181 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 11 0 0.00

TT8 0 0 0.00

LPSleep 10156 2 217.98

TT8_Active 622 19 120.70

TT8_Sampling 1887 39 736.24

TT8_CF8 214 45 96.47

TT8_Kalman 33 0 0.00

Analog_circuits 1484 12 174.54

GPS_charging 0 0 0.00

Compass 1146 15 168.53

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

17 -1.43 -137.3 0.0 0.0 0 89 0.00 0.00 -70.10 0.000 2 0.000 0.000 378 2602 2513 0 0 0 0 0 0

92 -1.51 -207.3 3.2 -7.8 14 142 9.98 2.47 -32.05 0.000 4 0.148 0.056 2266 1185 3795 0 0 0 0 0 0

306 -1.51 -207.3 61.5 -25.8 41 313 0.00 2.47 0.00 0.000 6 0.000 0.045 2266 2598 3796 0 0 0 0 0 0

497 -1.51 -207.3 122.4 -32.0 56 501 0.00 2.45 0.00 0.000 4 0.000 0.062 2266 3948 3797 0 0 0 0 0 0

555 -1.51 -207.3 139.6 -27.6 57 562 0.00 2.33 0.00 0.000 6 0.000 0.038 2266 2587 3798 0 0 0 0 0 0

864 -1.51 -207.3 228.4 -26.9 68 868 0.00 2.50 0.00 0.000 4 0.000 0.060 2266 3950 3799 0 0 0 0 0 0

890 -1.51 -207.3 236.3 -30.3 68 896 0.00 2.33 0.00 0.000 6 0.000 0.038 2266 2591 3799 0 0 0 0 0 0

1228 -1.51 -207.3 320.5 -23.7 79 1233 0.00 2.50 0.00 0.000 4 0.000 0.062 2266 3953 3800 0 0 0 0 0 0

1276 -1.51 -207.3 331.2 -22.2 79 1280 0.00 2.33 0.00 0.000 6 0.000 0.038 2266 2596 3799 0 0 0 0 0 0

1594 -1.51 -207.3 398.0 -20.9 85 1595 0.00 0.00 0.00 0.000 6 0.000 0.000 2264 2592 3799 0 0 0 0 0 0

1896 -1.51 -207.3 463.0 -21.8 90 1904 0.00 2.50 0.00 0.000 4 0.000 0.067 2266 3955 3799 0 0 0 0 0 0

1918 -1.51 -207.3 468.4 -23.6 90 1926 0.00 2.35 0.00 0.000 6 0.000 0.041 2266 2593 3800 0 0 0 0 0 0

2254 -1.51 -207.3 545.1 -22.5 96 2262 0.00 2.50 0.00 0.000 4 0.000 0.070 2266 3955 3799 0 0 0 0 0 0

2298 -1.51 -207.3 555.4 -21.9 96 2306 0.00 2.35 0.00 0.000 6 0.000 0.041 2266 2600 3798 0 0 0 0 0 0

2612 -1.51 -207.3 619.9 -20.4 102 2620 0.00 2.53 0.00 0.000 4 0.000 0.073 2266 3953 3795 0 0 0 0 0 0

2651 -1.51 -207.3 628.0 -20.9 102 2660 0.00 2.38 0.00 0.000 6 0.000 0.043 2266 2594 3794 0 0 0 0 0 0

2971 -1.51 -207.3 691.1 -19.6 108 2977 0.00 0.00 0.00 0.000 6 0.000 0.000 2266 2593 3791 0 0 0 0 0 0

3273 -1.51 -207.3 743.8 -17.2 113 3281 0.00 2.65 0.00 0.000 4 0.000 0.098 2268 3943 3786 0 0 0 0 0 0

3301 -1.51 -207.3 749.0 -18.9 113 3309 0.00 2.42 0.00 0.000 6 0.000 0.055 2266 2611 3785 0 0 0 0 0 0

3631 -1.51 -207.3 806.8 -17.6 119 3640 0.00 2.72 0.00 0.000 4 0.000 0.096 2266 1179 3783 0 0 0 0 0 0

3654 -1.51 -207.3 811.1 -18.1 119 3662 0.00 2.75 0.00 0.000 6 0.000 0.093 2266 2596 3783 0 0 0 0 0 0

3990 -1.51 -207.3 869.6 -17.8 125 3996 0.00 0.00 0.00 0.000 6 0.000 0.000 2266 2596 3780 0 0 0 0 0 0

4292 -1.51 -207.3 919.8 -16.4 130 4301 0.00 3.08 0.00 0.000 4 0.000 0.154 2266 1185 3776 0 0 0 0 0 0

4316 -1.51 -207.3 923.8 -16.6 130 4324 0.00 3.10 0.00 0.000 6 0.000 0.150 2266 2606 3776 0 0 0 0 0 0

4651 -1.51 -207.3 975.6 -15.4 136 4657 0.00 0.00 0.00 0.000 6 0.000 0.000 2266 2607 3773 0 0 0 0 0 0

4770 end dive: TARGET_DEPTH_EXCEEDED

state 4770 begin apogee

4776 -0.29 0.0 993.8 15.2 138 4964 1.30 0.00 179.30 1.309 6 0.108 0.000 2532 2005 2944 0 0 0 0 0 0

4964 end apogee: CONTROL_FINISHED_OK

state 4964 begin climb

4966 1.51 207.3 1004.0 0.0 141 5166 1.80 3.67 186.12 1.278 4 0.066 0.216 2925 583 2097 0 0 0 0 0 0

5407 1.51 207.3 958.6 17.4 148 5415 0.00 3.15 0.00 0.000 6 0.000 0.149 2925 2005 2086 0 0 0 0 0 0

5765 1.51 207.3 899.4 16.4 154 5774 0.00 3.03 0.00 0.000 4 0.000 0.134 2925 577 2083 0 0 0 0 0 0

5885 1.51 207.3 879.9 16.0 155 5894 0.00 2.83 0.00 0.000 6 0.000 0.102 2925 2007 2083 0 0 0 0 0 0

6193 1.51 207.3 832.1 15.7 161 6202 0.00 2.83 0.00 0.000 4 0.000 0.102 2925 579 2079 0 0 0 0 0 0

6302 1.51 207.3 814.0 16.1 162 6311 0.00 2.75 0.00 0.000 6 0.000 0.079 2925 2014 2079 0 0 0 0 0 0

6617 1.51 207.3 764.4 15.9 168 6625 0.00 2.75 0.00 0.000 4 0.000 0.080 2925 571 2079 0 0 0 0 0 0

6656 1.51 207.3 758.2 15.7 168 6666 0.00 2.67 0.00 0.000 6 0.000 0.063 2924 2018 2079 0 0 0 0 0 0

6977 1.51 207.3 709.4 15.2 174 6983 0.00 0.00 0.00 0.000 6 0.000 0.000 2925 2018 2078 0 0 0 0 0 0

7279 1.51 207.3 663.5 15.1 179 7284 0.00 0.00 0.00 0.000 6 0.000 0.000 2924 2019 2076 0 0 0 0 0 0

7581 1.51 207.3 619.0 14.8 184 7590 0.00 2.65 0.00 0.000 4 0.000 0.063 2925 564 2075 0 0 0 0 0 0

7734 1.51 207.3 595.4 15.9 186 7742 0.00 2.60 0.00 0.000 6 0.000 0.048 2925 2022 2075 0 0 0 0 0 0

8070 1.51 207.3 548.0 14.0 192 8078 0.00 2.62 0.00 0.000 4 0.000 0.059 2925 561 2074 0 0 0 0 0 0

8184 1.51 207.3 532.7 13.2 193 8192 0.00 2.55 0.00 0.000 6 0.000 0.046 2925 2005 2074 0 0 0 0 0 0

8498 1.51 207.3 494.8 12.0 199 8504 0.00 0.00 0.00 0.000 6 0.000 0.000 2925 2007 2074 0 0 0 0 0 0

8800 1.52 215.4 460.6 11.3 204 8809 0.00 2.58 0.00 0.000 4 0.000 0.057 2925 562 2074 0 0 0 0 0 0

8850 1.52 215.4 454.7 12.3 204 8858 0.00 2.55 0.00 0.000 6 0.000 0.045 2925 2011 2074 0 0 0 0 0 0

9159 1.53 224.7 420.0 11.2 209 9182 0.00 2.70 12.32 0.884 4 0.000 0.055 2925 564 2026 0 0 0 0 0 0

9250 1.53 224.7 408.9 13.3 210 9258 0.00 2.55 0.00 0.000 6 0.000 0.044 2925 2005 2025 0 0 0 0 0 0

9586 1.53 224.7 366.3 13.0 216 9590 0.00 2.58 0.00 0.000 4 0.000 0.054 2925 570 2023 0 0 0 0 0 0

9622 1.53 224.7 361.2 14.8 216 9627 0.00 2.55 0.00 0.000 6 0.000 0.044 2926 2007 2023 0 0 0 0 0 0

9951 1.53 224.7 318.9 12.6 222 9955 0.00 2.60 0.00 0.000 4 0.000 0.054 2925 558 2023 0 0 0 0 0 0

10025 1.53 224.7 309.4 13.0 223 10029 0.00 2.58 0.00 0.000 6 0.000 0.043 2925 2013 2024 0 0 0 0 0 0

10346 1.56 254.8 273.9 10.1 232 10378 0.00 2.50 27.05 0.828 4 0.000 0.055 2925 3411 1905 0 0 0 0 0 0

10414 1.56 255.5 266.9 11.7 234 10418 0.00 2.58 0.00 0.000 6 0.000 0.041 2925 1968 1902 0 0 0 0 0 0

10744 1.56 255.5 226.5 13.4 245 10749 0.00 2.42 0.00 0.000 4 0.000 0.053 2925 599 1900 0 0 0 0 0 0

10818 1.56 255.5 216.5 13.3 247 10822 0.00 2.47 0.00 0.000 6 0.000 0.041 2925 2013 1899 0 0 0 0 0 0

11143 1.58 270.1 176.0 10.9 258 11162 0.00 2.53 13.93 0.693 4 0.000 0.053 2925 3402 1842 0 0 0 0 0 0

11387 1.63 316.6 145.4 9.1 265 11434 0.10 2.45 41.25 0.695 6 0.060 0.039 2955 1991 1653 0 0 0 0 0 0

11738 1.63 316.6 97.8 15.7 278 11742 0.00 2.53 0.00 0.000 4 0.000 0.051 2955 3407 1645 0 0 0 0 0 0

11785 1.63 316.6 90.1 16.1 282 11789 0.00 2.45 0.00 0.000 6 0.000 0.039 2955 1995 1644 0 0 0 0 0 0

11982 1.63 316.6 62.2 13.5 301 11986 0.00 2.45 0.00 0.000 4 0.000 0.050 2955 595 1643 0 0 0 0 0 0

12019 1.63 316.6 56.7 14.6 304 12025 0.00 2.45 0.00 0.000 6 0.000 0.038 2955 2017 1643 0 0 0 0 0 0

12210 1.63 316.6 30.4 12.8 323 12214 0.00 2.45 0.00 0.000 4 0.000 0.052 2955 3398 1643 0 0 0 0 0 0

12285 1.63 316.6 20.8 13.2 330 12289 0.00 2.42 0.00 0.000 6 0.000 0.038 2955 1990 1643 0 0 0 0 0 0

12428 end climb: SURFACE_DEPTH_REACHED

state 12428 begin surface coast

12449 end surface coast: CONTROL_FINISHED_OK

state 12449 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	22	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	37	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	400	R_STBD_OVSHOOT	36	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	-255230.62	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	200310,003706,1932.205,-15601.703,36,1.7,36,9.7	TGT_NAME	HARP
_CALLS	1	TGT_LATLONG	1934.700,-15602.400
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.170,-0.201
_SM_DEPTHo	0.72	KALMAN_X	-18704.7,979.9,245.1,25015.5,-4008.0
_SM_ANGLEo	-64.2	KALMAN_Y	32348.9,-1377.7,-393.5,-45372.3,7739.1
GPS2	200310,004225,1932.330,-15601.728,11,1.9,11,9.7	MHEAD_RNG_PITCHd_Wd	130.2,4543,-21.8,-11.786
SPEED_LIMITS	0.204,0.336	D_GRID	990

FINISH	0.1,1.023322	PA_USBDRIVE	/mnt/usba
SM_CCo	12468,50.45,0.517,0,0,1312,400.08	_24V_AH	23.5,7.858
SM_GC	1.40,0.00,0.00,50.45,0.000,0.000,0.517,374,2612,1312,-10.24,0.37,400.08	_10V_AH	9.8,9.738
IRIDIUM_FIX	1927.51,-15603.64,120911,141458	FG_AHR_24Vo	0.000
TT8_MAMPS	0.305592	FG_AHR_10Vo	0.000
HUMID	1077985152	MEM	345148
TCM_TEMP	23.70	DATA_FILE_SIZE	13437,360
XPDR_PINGS	0	CAP_FILE_SIZE	105227,0
PA_PMVER	0.2	CFSIZE	260034560,255746048
PA_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Wed Mar 3 18:17:05 PST 2010	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_DFQS	0/0	GPS	200310,041337,1931.896,-15600.913,39,1.0,39,9.7
PA_CMQS	107/106

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	148	85.10	SBE_CT	239	24	135.20
Roll_motor	137	215	698.22	nil	0	0	0.00
VBD_pump_during_apogee	459	1308	14148.60	nil	0	0	0.00
VBD_pump_during_surface	50	517	613.11	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	0	0.00	nil	0	0	0.00
Iridium_during_connect	27	0	0.00	PAAM	12982	112	34205.05
Iridium_during_xfer	181	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	11	0	0.00
TT8	0	0	0.00
LPSleep	10156	2	217.98
TT8_Active	622	19	120.70
TT8_Sampling	1887	39	736.24
TT8_CF8	214	45	96.47
TT8_Kalman	33	0	0.00
Analog_circuits	1484	12	174.54
GPS_charging	0	0	0.00
Compass	1146	15	168.53
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
17	-1.43	-137.3	0.0	0.0	0	89	0.00	0.00	-70.10	0.000	2	0.000	0.000	378	2602	2513	0	0	0	0	0	0
92	-1.51	-207.3	3.2	-7.8	14	142	9.98	2.47	-32.05	0.000	4	0.148	0.056	2266	1185	3795	0	0	0	0	0	0
306	-1.51	-207.3	61.5	-25.8	41	313	0.00	2.47	0.00	0.000	6	0.000	0.045	2266	2598	3796	0	0	0	0	0	0
497	-1.51	-207.3	122.4	-32.0	56	501	0.00	2.45	0.00	0.000	4	0.000	0.062	2266	3948	3797	0	0	0	0	0	0
555	-1.51	-207.3	139.6	-27.6	57	562	0.00	2.33	0.00	0.000	6	0.000	0.038	2266	2587	3798	0	0	0	0	0	0
864	-1.51	-207.3	228.4	-26.9	68	868	0.00	2.50	0.00	0.000	4	0.000	0.060	2266	3950	3799	0	0	0	0	0	0
890	-1.51	-207.3	236.3	-30.3	68	896	0.00	2.33	0.00	0.000	6	0.000	0.038	2266	2591	3799	0	0	0	0	0	0
1228	-1.51	-207.3	320.5	-23.7	79	1233	0.00	2.50	0.00	0.000	4	0.000	0.062	2266	3953	3800	0	0	0	0	0	0
1276	-1.51	-207.3	331.2	-22.2	79	1280	0.00	2.33	0.00	0.000	6	0.000	0.038	2266	2596	3799	0	0	0	0	0	0
1594	-1.51	-207.3	398.0	-20.9	85	1595	0.00	0.00	0.00	0.000	6	0.000	0.000	2264	2592	3799	0	0	0	0	0	0
1896	-1.51	-207.3	463.0	-21.8	90	1904	0.00	2.50	0.00	0.000	4	0.000	0.067	2266	3955	3799	0	0	0	0	0	0
1918	-1.51	-207.3	468.4	-23.6	90	1926	0.00	2.35	0.00	0.000	6	0.000	0.041	2266	2593	3800	0	0	0	0	0	0
2254	-1.51	-207.3	545.1	-22.5	96	2262	0.00	2.50	0.00	0.000	4	0.000	0.070	2266	3955	3799	0	0	0	0	0	0
2298	-1.51	-207.3	555.4	-21.9	96	2306	0.00	2.35	0.00	0.000	6	0.000	0.041	2266	2600	3798	0	0	0	0	0	0
2612	-1.51	-207.3	619.9	-20.4	102	2620	0.00	2.53	0.00	0.000	4	0.000	0.073	2266	3953	3795	0	0	0	0	0	0
2651	-1.51	-207.3	628.0	-20.9	102	2660	0.00	2.38	0.00	0.000	6	0.000	0.043	2266	2594	3794	0	0	0	0	0	0
2971	-1.51	-207.3	691.1	-19.6	108	2977	0.00	0.00	0.00	0.000	6	0.000	0.000	2266	2593	3791	0	0	0	0	0	0
3273	-1.51	-207.3	743.8	-17.2	113	3281	0.00	2.65	0.00	0.000	4	0.000	0.098	2268	3943	3786	0	0	0	0	0	0
3301	-1.51	-207.3	749.0	-18.9	113	3309	0.00	2.42	0.00	0.000	6	0.000	0.055	2266	2611	3785	0	0	0	0	0	0
3631	-1.51	-207.3	806.8	-17.6	119	3640	0.00	2.72	0.00	0.000	4	0.000	0.096	2266	1179	3783	0	0	0	0	0	0
3654	-1.51	-207.3	811.1	-18.1	119	3662	0.00	2.75	0.00	0.000	6	0.000	0.093	2266	2596	3783	0	0	0	0	0	0
3990	-1.51	-207.3	869.6	-17.8	125	3996	0.00	0.00	0.00	0.000	6	0.000	0.000	2266	2596	3780	0	0	0	0	0	0
4292	-1.51	-207.3	919.8	-16.4	130	4301	0.00	3.08	0.00	0.000	4	0.000	0.154	2266	1185	3776	0	0	0	0	0	0
4316	-1.51	-207.3	923.8	-16.6	130	4324	0.00	3.10	0.00	0.000	6	0.000	0.150	2266	2606	3776	0	0	0	0	0	0
4651	-1.51	-207.3	975.6	-15.4	136	4657	0.00	0.00	0.00	0.000	6	0.000	0.000	2266	2607	3773	0	0	0	0	0	0
4770	end dive: TARGET_DEPTH_EXCEEDED
state	4770	begin apogee
4776	-0.29	0.0	993.8	15.2	138	4964	1.30	0.00	179.30	1.309	6	0.108	0.000	2532	2005	2944	0	0	0	0	0	0
4964	end apogee: CONTROL_FINISHED_OK
state	4964	begin climb
4966	1.51	207.3	1004.0	0.0	141	5166	1.80	3.67	186.12	1.278	4	0.066	0.216	2925	583	2097	0	0	0	0	0	0
5407	1.51	207.3	958.6	17.4	148	5415	0.00	3.15	0.00	0.000	6	0.000	0.149	2925	2005	2086	0	0	0	0	0	0
5765	1.51	207.3	899.4	16.4	154	5774	0.00	3.03	0.00	0.000	4	0.000	0.134	2925	577	2083	0	0	0	0	0	0
5885	1.51	207.3	879.9	16.0	155	5894	0.00	2.83	0.00	0.000	6	0.000	0.102	2925	2007	2083	0	0	0	0	0	0
6193	1.51	207.3	832.1	15.7	161	6202	0.00	2.83	0.00	0.000	4	0.000	0.102	2925	579	2079	0	0	0	0	0	0
6302	1.51	207.3	814.0	16.1	162	6311	0.00	2.75	0.00	0.000	6	0.000	0.079	2925	2014	2079	0	0	0	0	0	0
6617	1.51	207.3	764.4	15.9	168	6625	0.00	2.75	0.00	0.000	4	0.000	0.080	2925	571	2079	0	0	0	0	0	0
6656	1.51	207.3	758.2	15.7	168	6666	0.00	2.67	0.00	0.000	6	0.000	0.063	2924	2018	2079	0	0	0	0	0	0
6977	1.51	207.3	709.4	15.2	174	6983	0.00	0.00	0.00	0.000	6	0.000	0.000	2925	2018	2078	0	0	0	0	0	0
7279	1.51	207.3	663.5	15.1	179	7284	0.00	0.00	0.00	0.000	6	0.000	0.000	2924	2019	2076	0	0	0	0	0	0
7581	1.51	207.3	619.0	14.8	184	7590	0.00	2.65	0.00	0.000	4	0.000	0.063	2925	564	2075	0	0	0	0	0	0
7734	1.51	207.3	595.4	15.9	186	7742	0.00	2.60	0.00	0.000	6	0.000	0.048	2925	2022	2075	0	0	0	0	0	0
8070	1.51	207.3	548.0	14.0	192	8078	0.00	2.62	0.00	0.000	4	0.000	0.059	2925	561	2074	0	0	0	0	0	0
8184	1.51	207.3	532.7	13.2	193	8192	0.00	2.55	0.00	0.000	6	0.000	0.046	2925	2005	2074	0	0	0	0	0	0
8498	1.51	207.3	494.8	12.0	199	8504	0.00	0.00	0.00	0.000	6	0.000	0.000	2925	2007	2074	0	0	0	0	0	0
8800	1.52	215.4	460.6	11.3	204	8809	0.00	2.58	0.00	0.000	4	0.000	0.057	2925	562	2074	0	0	0	0	0	0
8850	1.52	215.4	454.7	12.3	204	8858	0.00	2.55	0.00	0.000	6	0.000	0.045	2925	2011	2074	0	0	0	0	0	0
9159	1.53	224.7	420.0	11.2	209	9182	0.00	2.70	12.32	0.884	4	0.000	0.055	2925	564	2026	0	0	0	0	0	0
9250	1.53	224.7	408.9	13.3	210	9258	0.00	2.55	0.00	0.000	6	0.000	0.044	2925	2005	2025	0	0	0	0	0	0
9586	1.53	224.7	366.3	13.0	216	9590	0.00	2.58	0.00	0.000	4	0.000	0.054	2925	570	2023	0	0	0	0	0	0
9622	1.53	224.7	361.2	14.8	216	9627	0.00	2.55	0.00	0.000	6	0.000	0.044	2926	2007	2023	0	0	0	0	0	0
9951	1.53	224.7	318.9	12.6	222	9955	0.00	2.60	0.00	0.000	4	0.000	0.054	2925	558	2023	0	0	0	0	0	0
10025	1.53	224.7	309.4	13.0	223	10029	0.00	2.58	0.00	0.000	6	0.000	0.043	2925	2013	2024	0	0	0	0	0	0
10346	1.56	254.8	273.9	10.1	232	10378	0.00	2.50	27.05	0.828	4	0.000	0.055	2925	3411	1905	0	0	0	0	0	0
10414	1.56	255.5	266.9	11.7	234	10418	0.00	2.58	0.00	0.000	6	0.000	0.041	2925	1968	1902	0	0	0	0	0	0
10744	1.56	255.5	226.5	13.4	245	10749	0.00	2.42	0.00	0.000	4	0.000	0.053	2925	599	1900	0	0	0	0	0	0
10818	1.56	255.5	216.5	13.3	247	10822	0.00	2.47	0.00	0.000	6	0.000	0.041	2925	2013	1899	0	0	0	0	0	0
11143	1.58	270.1	176.0	10.9	258	11162	0.00	2.53	13.93	0.693	4	0.000	0.053	2925	3402	1842	0	0	0	0	0	0
11387	1.63	316.6	145.4	9.1	265	11434	0.10	2.45	41.25	0.695	6	0.060	0.039	2955	1991	1653	0	0	0	0	0	0
11738	1.63	316.6	97.8	15.7	278	11742	0.00	2.53	0.00	0.000	4	0.000	0.051	2955	3407	1645	0	0	0	0	0	0
11785	1.63	316.6	90.1	16.1	282	11789	0.00	2.45	0.00	0.000	6	0.000	0.039	2955	1995	1644	0	0	0	0	0	0
11982	1.63	316.6	62.2	13.5	301	11986	0.00	2.45	0.00	0.000	4	0.000	0.050	2955	595	1643	0	0	0	0	0	0
12019	1.63	316.6	56.7	14.6	304	12025	0.00	2.45	0.00	0.000	6	0.000	0.038	2955	2017	1643	0	0	0	0	0	0
12210	1.63	316.6	30.4	12.8	323	12214	0.00	2.45	0.00	0.000	4	0.000	0.052	2955	3398	1643	0	0	0	0	0	0
12285	1.63	316.6	20.8	13.2	330	12289	0.00	2.42	0.00	0.000	6	0.000	0.038	2955	1990	1643	0	0	0	0	0	0
12428	end climb: SURFACE_DEPTH_REACHED
state	12428	begin surface coast
12449	end surface coast: CONTROL_FINISHED_OK
state	12449	begin surface