Glider dive log

Kona Mar10 * SG023 * Dive index * Mission links * Dive 27 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 23 ESCAPE_HEADING 0 C_ROLL_DIVE 2160 ALTIM_FREQUENCY 14

MISSION 14 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2220 ALTIM_PULSE 5

DIVE 27 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 53 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 400 R_STBD_OVSHOOT 31 INT_PRESSURE_YINT 0

D_NO_BLEED 100 N_FILEKB 8 ROLL_AD_RATE 250 DEEPGLIDER 0

D_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 1 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 525 DEVICE2 -1

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3900 DEVICE3 -1

D_CALL 0 N_NOSURFACE 0 C_VBD 2841 DEVICE4 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_DBAND 6 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 300 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.00109 LOGGERDEVICE1 69

T_MISSION 360 CAPMAXSIZE 150000 VBD_PUMP_AD_RATE_SURFACE 2 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 10 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 -41541.488 CF8_MAXERRORS 0 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 370 FG_AHR_24V 0 SEABIRD_T_G 0.004302158

APOGEE_PITCH -5 PITCH_MAX 3518 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062748179

MAX_BUOY 200 C_PITCH 2460 PRESSURE_YINT -28.779308 SEABIRD_T_I 2.3117656e-05

COURSE_BIAS 0 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.3619712e-06

GLIDE_SLOPE 30 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.29255

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1599121

RHO 1.0275 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011831193

MASS 52032 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_J 0.00020649709

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 0.0030006149 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 PA_POWERSOURCE 0.0

HD_B 0.0123087 ROLL_MIN 105 ALTIM_TOP_MIN_OBSTACLE 1 PA_RESTARTMONITOR 0.0

HD_C 3.5261501e-06 ROLL_MAX 3793 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 2.3619712e-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 14 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 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_DBAND 0.1 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 15 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MAX 3518 TGT_DEFAULT_LAT 19.6

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -156.10001

CALL_NDIVES 1 HD_A 0.0030006149 PITCH_MIN 370 T_ABORT 1440

CALL_TRIES 5 HD_B 0.0123087 PITCH_TIMEOUT 20 T_BOOST 0

CALL_WAIT 60 HD_C 3.5261501e-06 PITCH_VBD_SHIFT 0.00109 T_DIVE 300

CAPMAXSIZE 150000 HEADING -1 PRESSURE_SLOPE 0.000115925 T_GPS 15

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -28.779308 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAPDBG 0 P_OVSHOOT 0.039999999 T_GPS_CHARGE -41541.488

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS2_DEVICE -1 ID 23 RAFOS_DEVICE -1 T_MISSION 360

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 2460 KERMIT 0 RHO 1.0275 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2220 LOGGERDEVICE1 69 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2160 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_VBD 2841 LOGGERDEVICE3 -1 ROLL_AD_RATE 250 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 52032 ROLL_MAX 3793 VBD_BLEED_AD_RATE 10

DEVICE2 -1 MAX_BUOY 200 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 ROLL_MIN 105 VBD_DBAND 6

DEVICE4 -1 MINV_24V 19 ROLL_TIMEOUT 15 VBD_MAX 3900

DEVICE5 -1 MISSION 14 R_PORT_OVSHOOT 53 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 2 R_STBD_OVSHOOT 31 VBD_MIN 525

DIVE 27 NAV_MODE 1 SEABIRD_C_G -10.29255 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1090 N_FILEKB 8 SEABIRD_C_H 1.1599121 VBD_PUMP_AD_RATE_SURFACE 2

D_BOOST 0 N_GPS 20 SEABIRD_C_I -0.0011831193 VBD_TIMEOUT 720

D_CALL 0 N_NOCOMM 1 SEABIRD_C_J 0.00020649709 XPDR_DEVICE 19

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_G 0.004302158 XPDR_INHIBIT 90

D_FLARE 3 PA_MAXOPTIONALUPLOADSIZE 10000.0 SEABIRD_T_H 0.00062748179 XPDR_VALID 4

D_NO_BLEED 100 PA_MAXUPLOADSIZE 20480.0 SEABIRD_T_I 2.3117656e-05

Pre-dive calculations and measurements:

GPS1 210310,071906,1936.798,-15621.913,32,1.0,32,9.7 TGT_NAME INDY

_CALLS 2 TGT_LATLONG 1930.000,-15640.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.056,-0.274

_SM_DEPTHo 0.94 KALMAN_X -36138.0,126.9,221.7,8639.0,-1779.5

_SM_ANGLEo -64.0 KALMAN_Y 76345.2,-449.4,-53.5,-86332.2,3788.1

GPS2 210310,072832,1936.963,-15622.008,16,1.6,16,9.7 MHEAD_RNG_PITCHd_Wd 181.9,33955,-17.4,-11.000

SPEED_LIMITS 0.191,0.280 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.012154 PA_USBDRIVE /mnt/usba

SM_CCo 15662,43.17,0.649,0,0,1209,400.08 _24V_AH 23.4,11.966

SM_GC 0.74,0.00,0.00,43.17,0.000,0.000,0.649,360,2149,1209,-9.66,-0.31,400.08 _10V_AH 10.0,11.156

IRIDIUM_FIX 1932.09,-15612.94,130911,212146 FG_AHR_24Vo 0.000

TT8_MAMPS 0.103362 FG_AHR_10Vo 0.000

HUMID 1078084506 MEM 353148

TCM_TEMP 23.40 DATA_FILE_SIZE 13486,430

XPDR_PINGS 0 CAP_FILE_SIZE 125844,0

PA_PMVER 0.2 CFSIZE 260034560,254705664

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

PA_DFQS 0/0 GPS 210310,115255,1935.356,-15623.106,40,1.5,40,9.7

PA_CMQS 370/370

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 167 95.07 SBE_CT 291 24 163.87

Roll_motor 135 65 205.98 nil 0 0 0.00

VBD_pump_during_apogee 424 1474 14637.02 nil 0 0 0.00

VBD_pump_during_surface 43 648 655.40 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 47 0 0.00 nil 0 0 0.00

Iridium_during_connect 114 0 0.00 PAAM 16427 71 27348.74

Iridium_during_xfer 191 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 18 0 0.00

TT8 0 0 0.00

LPSleep 12962 2 283.87

TT8_Active 586 19 116.04

TT8_Sampling 2512 39 999.90

TT8_CF8 251 45 115.37

TT8_Kalman 33 0 0.00

Analog_circuits 1631 12 195.84

GPS_charging 0 0 0.00

Compass 1511 15 226.69

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 -1.37 -194.6 0.0 0.0 0 104 0.00 0.00 -84.80 0.000 2 0.000 0.000 360 2107 2736 0 0 0 0 0 0

106 -1.37 -194.6 3.1 -4.5 17 146 10.45 2.50 -21.17 0.000 4 0.168 0.053 2153 3579 3638 0 0 0 0 0 0

386 -1.37 -194.6 64.6 -21.2 51 392 0.00 2.30 0.00 0.000 6 0.000 0.021 2153 2181 3638 0 0 0 0 0 0

587 -1.37 -194.6 107.7 -20.7 69 591 0.00 2.35 0.00 0.000 4 0.000 0.034 2153 3577 3640 0 0 0 0 0 0

832 -1.37 -194.6 154.1 -17.1 76 836 0.00 2.33 0.00 0.000 6 0.000 0.022 2153 2167 3640 0 0 0 0 0 0

1147 -1.37 -194.6 208.7 -19.0 87 1150 0.00 2.40 0.00 0.000 4 0.000 0.039 2153 3566 3641 0 0 0 0 0 0

1333 -1.37 -194.6 243.5 -17.6 92 1339 0.00 2.35 0.00 0.000 6 0.000 0.024 2153 2155 3641 0 0 0 0 0 0

1642 -1.37 -194.6 295.7 -16.2 103 1646 0.00 2.42 0.00 0.000 4 0.000 0.043 2153 3568 3641 0 0 0 0 0 0

1716 -1.37 -194.6 306.7 -14.5 105 1721 0.00 2.35 0.00 0.000 6 0.000 0.025 2153 2162 3641 0 0 0 0 0 0

2072 -1.37 -194.6 357.2 -14.4 111 2075 0.00 2.42 0.00 0.000 4 0.000 0.045 2153 3574 3638 0 0 0 0 0 0

2151 -1.37 -194.6 369.4 -14.7 112 2155 0.00 2.35 0.00 0.000 6 0.000 0.027 2153 2163 3638 0 0 0 0 0 0

2501 -1.37 -194.6 420.2 -14.5 118 2509 0.00 2.42 0.00 0.000 4 0.000 0.047 2152 3573 3636 0 0 0 0 0 0

2551 -1.37 -194.6 427.4 -14.8 118 2559 0.00 2.35 0.00 0.000 6 0.000 0.028 2153 2159 3636 0 0 0 0 0 0

2866 -1.37 -194.6 473.2 -14.5 124 2871 0.00 0.00 0.00 0.000 6 0.000 0.000 2153 2156 3633 0 0 0 0 0 0

3167 -1.37 -194.6 513.6 -13.3 129 3173 0.00 0.00 0.00 0.000 6 0.000 0.000 2153 2156 3631 0 0 0 0 0 0

3469 -1.37 -194.6 553.9 -13.4 134 3475 0.00 0.00 0.00 0.000 6 0.000 0.000 2153 2156 3627 0 0 0 0 0 0

3771 -1.37 -194.6 592.4 -12.7 139 3777 0.00 0.00 0.00 0.000 6 0.000 0.000 2153 2156 3624 0 0 0 0 0 0

4073 -1.37 -194.6 631.4 -13.0 144 4078 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2156 3622 0 0 0 0 0 0

4374 -1.37 -194.6 669.0 -12.3 149 4383 0.00 2.88 0.00 0.000 4 0.000 0.047 2153 745 3620 0 0 0 0 0 0

4398 -1.37 -194.6 671.7 -11.4 149 4406 0.00 2.83 0.00 0.000 6 0.000 0.036 2153 2162 3620 0 0 0 0 0 0

4734 -1.37 -194.6 708.3 -10.9 155 4740 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2161 3618 0 0 0 0 0 0

5036 -1.37 -194.6 741.6 -11.0 160 5042 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2161 3616 0 0 0 0 0 0

5337 -1.37 -194.6 774.6 -10.9 165 5346 0.00 2.88 0.00 0.000 4 0.000 0.048 2153 745 3615 0 0 0 0 0 0

5356 -1.37 -194.6 776.7 -10.6 165 5364 0.00 2.83 0.00 0.000 6 0.000 0.037 2153 2166 3615 0 0 1 0 0 0

5698 -1.37 -194.6 814.2 -11.1 171 5703 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2165 3612 0 0 0 0 0 0

5999 -1.37 -194.6 848.4 -11.3 176 6005 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2165 3611 0 0 0 0 0 0

6301 -1.37 -194.6 882.6 -11.4 181 6310 0.00 2.90 0.00 0.000 4 0.000 0.047 2153 738 3609 0 0 0 0 0 0

6335 -1.37 -194.6 886.5 -12.1 181 6344 0.00 2.85 0.00 0.000 6 0.000 0.037 2153 2099 3609 0 0 0 0 0 0

6661 -1.37 -194.6 923.1 -11.3 187 6670 0.00 2.45 0.00 0.000 4 0.000 0.054 2153 3574 3608 0 0 0 0 0 0

6738 -1.37 -194.6 932.3 -11.9 188 6746 0.00 2.35 0.00 0.000 6 0.000 0.031 2152 2163 3608 0 0 0 0 0 0

7089 -1.37 -194.6 969.8 -10.5 194 7095 0.00 0.00 0.00 0.000 6 0.000 0.000 2153 2162 3606 0 0 0 0 0 0

7328 end dive: TARGET_DEPTH_EXCEEDED

state 7329 begin apogee

7334 -0.33 0.0 994.6 10.2 198 7500 1.15 0.00 158.90 1.475 6 0.099 0.000 2383 2337 2841 0 0 0 0 0 0

7501 end apogee: CONTROL_FINISHED_OK

state 7501 begin climb

7503 1.37 194.6 998.3 0.0 200 7676 1.75 0.00 163.55 1.431 6 0.056 0.000 2760 2337 2047 0 0 0 0 0 0

7988 1.37 194.6 945.8 14.4 208 7996 0.00 2.22 0.00 0.000 4 0.000 0.054 2760 3632 2041 0 0 0 0 0 0

8236 1.37 194.6 908.6 15.1 211 8245 0.00 2.33 0.00 0.000 6 0.000 0.028 2760 2201 2040 0 0 0 0 0 0

8544 1.37 194.6 867.5 13.4 217 8552 0.00 2.47 0.00 0.000 4 0.000 0.053 2760 3639 2040 0 0 0 0 0 0

8791 1.37 194.6 831.9 13.8 220 8800 0.00 2.35 0.00 0.000 6 0.000 0.028 2760 2212 2039 0 0 0 0 0 0

9100 1.37 194.6 793.7 12.2 225 9109 0.00 2.47 0.00 0.000 4 0.000 0.054 2760 3659 2038 0 0 1 0 0 0

9348 1.37 194.6 759.7 13.2 228 9358 0.00 2.35 0.00 0.000 6 0.000 0.028 2760 2213 2038 0 0 0 0 0 0

9656 1.37 194.6 722.9 11.8 234 9665 0.00 2.45 0.00 0.000 4 0.000 0.052 2760 3648 2037 0 0 0 0 0 0

9850 1.37 194.6 697.5 13.4 237 9859 0.00 2.35 0.00 0.000 6 0.000 0.028 2760 2215 2037 0 0 0 0 0 0

10208 1.37 194.6 657.3 11.2 243 10216 0.00 2.42 0.00 0.000 4 0.000 0.053 2760 3634 2037 0 0 0 0 0 0

10392 1.37 194.6 634.8 12.9 245 10400 0.00 2.30 0.00 0.000 6 0.000 0.028 2760 2214 2037 0 0 0 0 0 0

10700 1.37 194.6 596.9 12.4 250 10709 0.00 2.47 0.00 0.000 4 0.000 0.053 2760 3657 2037 0 0 0 0 0 0

10943 1.37 194.6 562.9 14.5 253 10951 0.00 2.35 0.00 0.000 6 0.000 0.028 2760 2208 2036 0 0 0 0 0 0

11257 1.37 194.6 525.8 11.5 259 11266 0.00 2.45 0.00 0.000 4 0.000 0.051 2760 3642 2036 0 0 0 0 0 0

11366 1.37 194.6 512.8 12.5 260 11375 0.00 2.30 0.00 0.000 6 0.000 0.027 2760 2211 2036 0 0 0 0 0 0

11682 1.40 219.7 480.8 10.1 266 11710 0.00 2.55 20.00 1.105 4 0.000 0.050 2760 3659 1944 0 0 0 0 0 0

11736 1.41 226.5 474.9 10.7 266 11754 0.00 2.35 7.50 0.951 6 0.000 0.026 2759 2210 1917 0 0 0 0 0 0

12109 1.41 226.5 432.9 11.4 273 12117 0.00 2.45 0.00 0.000 4 0.000 0.050 2760 3642 1915 0 0 0 0 0 0

12197 1.41 226.5 421.6 13.5 274 12205 0.00 2.33 0.00 0.000 6 0.000 0.026 2760 2215 1916 0 0 0 0 0 0

12533 1.41 226.5 380.1 12.4 280 12536 0.00 2.42 0.00 0.000 4 0.000 0.050 2760 3629 1916 0 0 0 0 0 0

12607 1.41 226.5 370.2 13.4 281 12611 0.00 2.33 0.00 0.000 6 0.000 0.026 2760 2218 1915 0 0 0 0 0 0

12962 1.41 226.5 330.0 11.0 287 12966 0.00 2.40 0.00 0.000 4 0.000 0.049 2760 3636 1915 0 0 0 0 0 0

13005 1.41 226.5 324.9 12.4 287 13008 0.00 2.30 0.00 0.000 6 0.000 0.025 2760 2218 1915 0 0 0 0 0 0

13328 1.41 226.5 287.5 11.6 294 13332 0.00 2.45 0.00 0.000 4 0.000 0.049 2760 3637 1916 0 0 0 0 0 0

13456 1.41 226.5 271.8 13.2 298 13459 0.00 2.33 0.00 0.000 6 0.000 0.025 2760 2219 1915 0 0 0 0 0 0

13791 1.41 229.3 235.6 10.9 309 13792 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2214 1915 0 0 0 0 0 0

14094 1.45 261.5 205.4 9.8 319 14125 0.00 0.00 29.42 0.894 6 0.000 0.000 2759 2214 1776 0 0 0 0 0 0

14428 1.50 312.4 172.0 9.1 330 14477 0.12 2.92 42.42 0.857 4 0.070 0.037 2792 837 1566 0 0 0 0 0 0

14515 1.50 312.4 161.0 13.8 332 14521 0.00 2.85 0.00 0.000 6 0.000 0.026 2792 2260 1563 0 0 0 0 0 0

14824 1.50 312.4 112.5 16.7 343 14828 0.00 2.92 0.00 0.000 4 0.000 0.036 2792 821 1559 0 0 0 0 0 0

14872 1.50 312.4 104.7 16.1 344 14876 0.00 2.80 0.00 0.000 6 0.000 0.024 2792 2224 1560 0 0 0 0 0 0

15192 1.50 312.4 57.3 13.8 373 15196 0.00 2.83 0.00 0.000 4 0.000 0.034 2792 828 1559 0 0 0 0 0 0

15245 1.50 312.4 50.4 12.8 377 15251 0.00 2.80 0.00 0.000 6 0.000 0.024 2792 2246 1559 0 0 0 0 0 0

15436 1.50 312.4 26.2 13.9 396 15440 0.00 2.30 0.00 0.000 4 0.000 0.039 2792 3624 1560 0 0 0 0 0 0

15517 1.50 312.4 15.2 14.1 406 15522 0.00 2.25 0.00 0.000 6 0.000 0.020 2792 2219 1560 0 0 0 0 0 0

15585 1.50 312.4 6.8 11.7 419 15591 0.00 2.80 0.00 0.000 4 0.000 0.034 2792 830 1560 0 0 0 0 0 0

15617 1.52 327.9 3.2 10.4 425 15624 0.00 2.78 2.30 0.239 2 0.000 0.022 2792 2231 1550 0 0 0 0 0 0

15624 end climb: SURFACE_DEPTH_REACHED

state 15624 begin surface coast

15642 end surface coast: CONTROL_FINISHED_OK

state 15642 begin surface

ID	23	ESCAPE_HEADING	0	C_ROLL_DIVE	2160	ALTIM_FREQUENCY	14
MISSION	14	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2220	ALTIM_PULSE	5
DIVE	27	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	53	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	400	R_STBD_OVSHOOT	31	INT_PRESSURE_YINT	0
D_NO_BLEED	100	N_FILEKB	8	ROLL_AD_RATE	250	DEEPGLIDER	0
D_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	1	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	525	DEVICE2	-1
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3900	DEVICE3	-1
D_CALL	0	N_NOSURFACE	0	C_VBD	2841	DEVICE4	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_DBAND	6	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	300	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.00109	LOGGERDEVICE1	69
T_MISSION	360	CAPMAXSIZE	150000	VBD_PUMP_AD_RATE_SURFACE	2	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	10	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	-41541.488	CF8_MAXERRORS	0	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	370	FG_AHR_24V	0	SEABIRD_T_G	0.004302158
APOGEE_PITCH	-5	PITCH_MAX	3518	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062748179
MAX_BUOY	200	C_PITCH	2460	PRESSURE_YINT	-28.779308	SEABIRD_T_I	2.3117656e-05
COURSE_BIAS	0	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.3619712e-06
GLIDE_SLOPE	30	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.29255
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1599121
RHO	1.0275	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011831193
MASS	52032	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_J	0.00020649709
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	0.0030006149	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	PA_POWERSOURCE	0.0
HD_B	0.0123087	ROLL_MIN	105	ALTIM_TOP_MIN_OBSTACLE	1	PA_RESTARTMONITOR	0.0
HD_C	3.5261501e-06	ROLL_MAX	3793	ALTIM_PING_DEPTH	0	PA_SCALEFACTOR24V	1.3
HEADING	-1	ROLL_DEG	40	ALTIM_PING_DELTA	10

GPS1	210310,071906,1936.798,-15621.913,32,1.0,32,9.7	TGT_NAME	INDY
_CALLS	2	TGT_LATLONG	1930.000,-15640.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.056,-0.274
_SM_DEPTHo	0.94	KALMAN_X	-36138.0,126.9,221.7,8639.0,-1779.5
_SM_ANGLEo	-64.0	KALMAN_Y	76345.2,-449.4,-53.5,-86332.2,3788.1
GPS2	210310,072832,1936.963,-15622.008,16,1.6,16,9.7	MHEAD_RNG_PITCHd_Wd	181.9,33955,-17.4,-11.000
SPEED_LIMITS	0.191,0.280	D_GRID	990

FINISH	0.1,1.012154	PA_USBDRIVE	/mnt/usba
SM_CCo	15662,43.17,0.649,0,0,1209,400.08	_24V_AH	23.4,11.966
SM_GC	0.74,0.00,0.00,43.17,0.000,0.000,0.649,360,2149,1209,-9.66,-0.31,400.08	_10V_AH	10.0,11.156
IRIDIUM_FIX	1932.09,-15612.94,130911,212146	FG_AHR_24Vo	0.000
TT8_MAMPS	0.103362	FG_AHR_10Vo	0.000
HUMID	1078084506	MEM	353148
TCM_TEMP	23.40	DATA_FILE_SIZE	13486,430
XPDR_PINGS	0	CAP_FILE_SIZE	125844,0
PA_PMVER	0.2	CFSIZE	260034560,254705664
PA_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Wed Mar 3 18:17:05 PST 2010	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
PA_DFQS	0/0	GPS	210310,115255,1935.356,-15623.106,40,1.5,40,9.7
PA_CMQS	370/370

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	167	95.07	SBE_CT	291	24	163.87
Roll_motor	135	65	205.98	nil	0	0	0.00
VBD_pump_during_apogee	424	1474	14637.02	nil	0	0	0.00
VBD_pump_during_surface	43	648	655.40	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	47	0	0.00	nil	0	0	0.00
Iridium_during_connect	114	0	0.00	PAAM	16427	71	27348.74
Iridium_during_xfer	191	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	18	0	0.00
TT8	0	0	0.00
LPSleep	12962	2	283.87
TT8_Active	586	19	116.04
TT8_Sampling	2512	39	999.90
TT8_CF8	251	45	115.37
TT8_Kalman	33	0	0.00
Analog_circuits	1631	12	195.84
GPS_charging	0	0	0.00
Compass	1511	15	226.69
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	-1.37	-194.6	0.0	0.0	0	104	0.00	0.00	-84.80	0.000	2	0.000	0.000	360	2107	2736	0	0	0	0	0	0
106	-1.37	-194.6	3.1	-4.5	17	146	10.45	2.50	-21.17	0.000	4	0.168	0.053	2153	3579	3638	0	0	0	0	0	0
386	-1.37	-194.6	64.6	-21.2	51	392	0.00	2.30	0.00	0.000	6	0.000	0.021	2153	2181	3638	0	0	0	0	0	0
587	-1.37	-194.6	107.7	-20.7	69	591	0.00	2.35	0.00	0.000	4	0.000	0.034	2153	3577	3640	0	0	0	0	0	0
832	-1.37	-194.6	154.1	-17.1	76	836	0.00	2.33	0.00	0.000	6	0.000	0.022	2153	2167	3640	0	0	0	0	0	0
1147	-1.37	-194.6	208.7	-19.0	87	1150	0.00	2.40	0.00	0.000	4	0.000	0.039	2153	3566	3641	0	0	0	0	0	0
1333	-1.37	-194.6	243.5	-17.6	92	1339	0.00	2.35	0.00	0.000	6	0.000	0.024	2153	2155	3641	0	0	0	0	0	0
1642	-1.37	-194.6	295.7	-16.2	103	1646	0.00	2.42	0.00	0.000	4	0.000	0.043	2153	3568	3641	0	0	0	0	0	0
1716	-1.37	-194.6	306.7	-14.5	105	1721	0.00	2.35	0.00	0.000	6	0.000	0.025	2153	2162	3641	0	0	0	0	0	0
2072	-1.37	-194.6	357.2	-14.4	111	2075	0.00	2.42	0.00	0.000	4	0.000	0.045	2153	3574	3638	0	0	0	0	0	0
2151	-1.37	-194.6	369.4	-14.7	112	2155	0.00	2.35	0.00	0.000	6	0.000	0.027	2153	2163	3638	0	0	0	0	0	0
2501	-1.37	-194.6	420.2	-14.5	118	2509	0.00	2.42	0.00	0.000	4	0.000	0.047	2152	3573	3636	0	0	0	0	0	0
2551	-1.37	-194.6	427.4	-14.8	118	2559	0.00	2.35	0.00	0.000	6	0.000	0.028	2153	2159	3636	0	0	0	0	0	0
2866	-1.37	-194.6	473.2	-14.5	124	2871	0.00	0.00	0.00	0.000	6	0.000	0.000	2153	2156	3633	0	0	0	0	0	0
3167	-1.37	-194.6	513.6	-13.3	129	3173	0.00	0.00	0.00	0.000	6	0.000	0.000	2153	2156	3631	0	0	0	0	0	0
3469	-1.37	-194.6	553.9	-13.4	134	3475	0.00	0.00	0.00	0.000	6	0.000	0.000	2153	2156	3627	0	0	0	0	0	0
3771	-1.37	-194.6	592.4	-12.7	139	3777	0.00	0.00	0.00	0.000	6	0.000	0.000	2153	2156	3624	0	0	0	0	0	0
4073	-1.37	-194.6	631.4	-13.0	144	4078	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2156	3622	0	0	0	0	0	0
4374	-1.37	-194.6	669.0	-12.3	149	4383	0.00	2.88	0.00	0.000	4	0.000	0.047	2153	745	3620	0	0	0	0	0	0
4398	-1.37	-194.6	671.7	-11.4	149	4406	0.00	2.83	0.00	0.000	6	0.000	0.036	2153	2162	3620	0	0	0	0	0	0
4734	-1.37	-194.6	708.3	-10.9	155	4740	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2161	3618	0	0	0	0	0	0
5036	-1.37	-194.6	741.6	-11.0	160	5042	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2161	3616	0	0	0	0	0	0
5337	-1.37	-194.6	774.6	-10.9	165	5346	0.00	2.88	0.00	0.000	4	0.000	0.048	2153	745	3615	0	0	0	0	0	0
5356	-1.37	-194.6	776.7	-10.6	165	5364	0.00	2.83	0.00	0.000	6	0.000	0.037	2153	2166	3615	0	0	1	0	0	0
5698	-1.37	-194.6	814.2	-11.1	171	5703	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2165	3612	0	0	0	0	0	0
5999	-1.37	-194.6	848.4	-11.3	176	6005	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2165	3611	0	0	0	0	0	0
6301	-1.37	-194.6	882.6	-11.4	181	6310	0.00	2.90	0.00	0.000	4	0.000	0.047	2153	738	3609	0	0	0	0	0	0
6335	-1.37	-194.6	886.5	-12.1	181	6344	0.00	2.85	0.00	0.000	6	0.000	0.037	2153	2099	3609	0	0	0	0	0	0
6661	-1.37	-194.6	923.1	-11.3	187	6670	0.00	2.45	0.00	0.000	4	0.000	0.054	2153	3574	3608	0	0	0	0	0	0
6738	-1.37	-194.6	932.3	-11.9	188	6746	0.00	2.35	0.00	0.000	6	0.000	0.031	2152	2163	3608	0	0	0	0	0	0
7089	-1.37	-194.6	969.8	-10.5	194	7095	0.00	0.00	0.00	0.000	6	0.000	0.000	2153	2162	3606	0	0	0	0	0	0
7328	end dive: TARGET_DEPTH_EXCEEDED
state	7329	begin apogee
7334	-0.33	0.0	994.6	10.2	198	7500	1.15	0.00	158.90	1.475	6	0.099	0.000	2383	2337	2841	0	0	0	0	0	0
7501	end apogee: CONTROL_FINISHED_OK
state	7501	begin climb
7503	1.37	194.6	998.3	0.0	200	7676	1.75	0.00	163.55	1.431	6	0.056	0.000	2760	2337	2047	0	0	0	0	0	0
7988	1.37	194.6	945.8	14.4	208	7996	0.00	2.22	0.00	0.000	4	0.000	0.054	2760	3632	2041	0	0	0	0	0	0
8236	1.37	194.6	908.6	15.1	211	8245	0.00	2.33	0.00	0.000	6	0.000	0.028	2760	2201	2040	0	0	0	0	0	0
8544	1.37	194.6	867.5	13.4	217	8552	0.00	2.47	0.00	0.000	4	0.000	0.053	2760	3639	2040	0	0	0	0	0	0
8791	1.37	194.6	831.9	13.8	220	8800	0.00	2.35	0.00	0.000	6	0.000	0.028	2760	2212	2039	0	0	0	0	0	0
9100	1.37	194.6	793.7	12.2	225	9109	0.00	2.47	0.00	0.000	4	0.000	0.054	2760	3659	2038	0	0	1	0	0	0
9348	1.37	194.6	759.7	13.2	228	9358	0.00	2.35	0.00	0.000	6	0.000	0.028	2760	2213	2038	0	0	0	0	0	0
9656	1.37	194.6	722.9	11.8	234	9665	0.00	2.45	0.00	0.000	4	0.000	0.052	2760	3648	2037	0	0	0	0	0	0
9850	1.37	194.6	697.5	13.4	237	9859	0.00	2.35	0.00	0.000	6	0.000	0.028	2760	2215	2037	0	0	0	0	0	0
10208	1.37	194.6	657.3	11.2	243	10216	0.00	2.42	0.00	0.000	4	0.000	0.053	2760	3634	2037	0	0	0	0	0	0
10392	1.37	194.6	634.8	12.9	245	10400	0.00	2.30	0.00	0.000	6	0.000	0.028	2760	2214	2037	0	0	0	0	0	0
10700	1.37	194.6	596.9	12.4	250	10709	0.00	2.47	0.00	0.000	4	0.000	0.053	2760	3657	2037	0	0	0	0	0	0
10943	1.37	194.6	562.9	14.5	253	10951	0.00	2.35	0.00	0.000	6	0.000	0.028	2760	2208	2036	0	0	0	0	0	0
11257	1.37	194.6	525.8	11.5	259	11266	0.00	2.45	0.00	0.000	4	0.000	0.051	2760	3642	2036	0	0	0	0	0	0
11366	1.37	194.6	512.8	12.5	260	11375	0.00	2.30	0.00	0.000	6	0.000	0.027	2760	2211	2036	0	0	0	0	0	0
11682	1.40	219.7	480.8	10.1	266	11710	0.00	2.55	20.00	1.105	4	0.000	0.050	2760	3659	1944	0	0	0	0	0	0
11736	1.41	226.5	474.9	10.7	266	11754	0.00	2.35	7.50	0.951	6	0.000	0.026	2759	2210	1917	0	0	0	0	0	0
12109	1.41	226.5	432.9	11.4	273	12117	0.00	2.45	0.00	0.000	4	0.000	0.050	2760	3642	1915	0	0	0	0	0	0
12197	1.41	226.5	421.6	13.5	274	12205	0.00	2.33	0.00	0.000	6	0.000	0.026	2760	2215	1916	0	0	0	0	0	0
12533	1.41	226.5	380.1	12.4	280	12536	0.00	2.42	0.00	0.000	4	0.000	0.050	2760	3629	1916	0	0	0	0	0	0
12607	1.41	226.5	370.2	13.4	281	12611	0.00	2.33	0.00	0.000	6	0.000	0.026	2760	2218	1915	0	0	0	0	0	0
12962	1.41	226.5	330.0	11.0	287	12966	0.00	2.40	0.00	0.000	4	0.000	0.049	2760	3636	1915	0	0	0	0	0	0
13005	1.41	226.5	324.9	12.4	287	13008	0.00	2.30	0.00	0.000	6	0.000	0.025	2760	2218	1915	0	0	0	0	0	0
13328	1.41	226.5	287.5	11.6	294	13332	0.00	2.45	0.00	0.000	4	0.000	0.049	2760	3637	1916	0	0	0	0	0	0
13456	1.41	226.5	271.8	13.2	298	13459	0.00	2.33	0.00	0.000	6	0.000	0.025	2760	2219	1915	0	0	0	0	0	0
13791	1.41	229.3	235.6	10.9	309	13792	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2214	1915	0	0	0	0	0	0
14094	1.45	261.5	205.4	9.8	319	14125	0.00	0.00	29.42	0.894	6	0.000	0.000	2759	2214	1776	0	0	0	0	0	0
14428	1.50	312.4	172.0	9.1	330	14477	0.12	2.92	42.42	0.857	4	0.070	0.037	2792	837	1566	0	0	0	0	0	0
14515	1.50	312.4	161.0	13.8	332	14521	0.00	2.85	0.00	0.000	6	0.000	0.026	2792	2260	1563	0	0	0	0	0	0
14824	1.50	312.4	112.5	16.7	343	14828	0.00	2.92	0.00	0.000	4	0.000	0.036	2792	821	1559	0	0	0	0	0	0
14872	1.50	312.4	104.7	16.1	344	14876	0.00	2.80	0.00	0.000	6	0.000	0.024	2792	2224	1560	0	0	0	0	0	0
15192	1.50	312.4	57.3	13.8	373	15196	0.00	2.83	0.00	0.000	4	0.000	0.034	2792	828	1559	0	0	0	0	0	0
15245	1.50	312.4	50.4	12.8	377	15251	0.00	2.80	0.00	0.000	6	0.000	0.024	2792	2246	1559	0	0	0	0	0	0
15436	1.50	312.4	26.2	13.9	396	15440	0.00	2.30	0.00	0.000	4	0.000	0.039	2792	3624	1560	0	0	0	0	0	0
15517	1.50	312.4	15.2	14.1	406	15522	0.00	2.25	0.00	0.000	6	0.000	0.020	2792	2219	1560	0	0	0	0	0	0
15585	1.50	312.4	6.8	11.7	419	15591	0.00	2.80	0.00	0.000	4	0.000	0.034	2792	830	1560	0	0	0	0	0	0
15617	1.52	327.9	3.2	10.4	425	15624	0.00	2.78	2.30	0.239	2	0.000	0.022	2792	2231	1550	0	0	0	0	0	0
15624	end climb: SURFACE_DEPTH_REACHED
state	15624	begin surface coast
15642	end surface coast: CONTROL_FINISHED_OK
state	15642	begin surface