Glider dive log

Kona Mar10 * SG022 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 22 ESCAPE_HEADING 0 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 15

MISSION 17 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2150 ALTIM_PULSE 5

DIVE 4 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 660 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 41 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 325 R_STBD_OVSHOOT 48 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 2618 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 220 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.00109 LOGGERDEVICE1 69

T_MISSION 250 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 -254779.78 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 150 C_PITCH 2630 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 1.027 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 325

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 660 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 220

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 -254779.78

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 250

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 2630 KERMIT 0 RHO 1.027 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2150 LOGGERDEVICE1 69 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2200 LOGGERDEVICE2 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_VBD 2618 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 150 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 41 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 2 R_STBD_OVSHOOT 48 VBD_MIN 350

DIVE 4 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 160310,225631,1944.321,-15607.807,12,1.5,29,9.7 TGT_NAME LR

_CALLS 1 TGT_LATLONG 1940.000,-15605.000

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.165,-0.198

_SM_DEPTHo 1.09 KALMAN_X -3132.9,-1031.6,-681.4,328.5,-3269.4

_SM_ANGLEo -68.3 KALMAN_Y 4901.6,1960.3,1403.2,-689.3,4420.5

GPS2 160310,230032,1944.444,-15607.868,16,1.3,16,9.7 MHEAD_RNG_PITCHd_Wd 130.6,9632,-18.5,-10.000

SPEED_LIMITS 0.173,0.258 D_GRID 660

Post-dive calculations and measurements:

FINISH 0.1,1.023407 PA_HOME 6.3/483886/453419

SM_CCo 11232,32.28,0.496,0,0,1293,325.02 PA_ROOT 89.3/128908/13733

SM_GC 1.08,0.00,0.00,32.28,0.000,0.000,0.496,373,2231,1293,-10.39,0.88,325.02 PA_LOG 3.6/297829/286986

IRIDIUM_FIX 1936.66,-15606.90,090911,171705 PA_DATA1 0.3/7836665/7813701

TT8_MAMPS 0.16478 PA_DATA0 6.6/7836665/7317415

HUMID 1078078055 _24V_AH 23.7,4.383

TCM_TEMP 23.70 _10V_AH 9.9,2.934

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 344792

PA_DFQS 0/0 DATA_FILE_SIZE 13484,367

PA_CMQS 0/169 CAP_FILE_SIZE 112818,0

PA_USBDRIVE /mnt/usba CFSIZE 260034560,256954368

PA_USBB 0.2/30830577/30782530 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PA_USBA 1.2/30829585/30470595 GPS 170310,021001,1943.934,-15608.218,42,1.3,42,9.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 147 83.54 SBE_CT 244 24 138.99

Roll_motor 109 110 284.97 nil 0 0 0.00

VBD_pump_during_apogee 337 1084 8668.76 nil 0 0 0.00

VBD_pump_during_surface 32 496 379.77 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 PAAM 11343 86 23368.30

Iridium_during_xfer 0 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 17 0 0.00

TT8 0 0 0.00

LPSleep 8797 2 190.75

TT8_Active 448 19 87.85

TT8_Sampling 1914 39 754.35

TT8_CF8 154 45 70.22

TT8_Kalman 32 0 0.00

Analog_circuits 1406 12 167.13

GPS_charging 0 0 0.00

Compass 1403 15 208.42

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 -1.25 -146.1 0.0 0.0 0 89 0.00 0.00 -70.60 0.000 2 0.000 0.000 374 2225 2677 0 0 0 0 0 0

91 -1.25 -146.1 3.5 -6.3 14 122 10.25 2.40 -13.98 0.000 4 0.148 0.071 2352 3588 3215 0 0 0 0 0 0

211 -1.25 -146.1 28.7 -19.5 33 218 0.00 2.38 0.00 0.000 6 0.000 0.040 2352 2191 3216 0 0 0 0 0 0

403 -1.25 -146.1 65.5 -18.9 52 407 0.00 2.50 0.00 0.000 4 0.000 0.057 2352 3589 3217 0 0 0 0 0 0

536 -1.25 -146.1 93.7 -20.6 64 542 0.00 2.35 0.00 0.000 6 0.000 0.040 2352 2198 3217 0 0 0 0 0 0

725 -1.25 -146.1 125.4 -16.2 73 733 0.00 2.45 0.00 0.000 4 0.000 0.057 2352 3588 3217 0 0 0 0 0 0

913 -1.25 -146.1 152.1 -13.2 79 922 0.00 2.33 0.00 0.000 6 0.000 0.040 2352 2191 3218 0 0 0 0 0 0

1251 -1.25 -146.1 198.6 -13.9 90 1259 0.00 2.47 0.00 0.000 4 0.000 0.057 2351 3595 3218 0 0 0 0 0 0

1408 -1.25 -146.1 222.0 -14.8 95 1417 0.00 2.35 0.00 0.000 6 0.000 0.040 2352 2190 3218 0 0 0 0 0 0

1740 -1.25 -146.1 264.7 -12.9 106 1748 0.00 2.47 0.00 0.000 4 0.000 0.059 2352 3593 3218 0 0 0 0 0 0

1966 -1.25 -146.1 293.7 -12.9 113 1975 0.00 2.35 0.00 0.000 6 0.000 0.041 2353 2199 3218 0 0 0 0 0 0

2327 -1.25 -146.1 333.5 -11.2 120 2335 0.00 2.47 0.00 0.000 4 0.000 0.062 2352 3595 3217 0 0 0 0 0 0

2435 -1.25 -146.1 346.4 -12.2 121 2443 0.00 2.38 0.00 0.000 6 0.000 0.042 2352 2196 3216 0 0 0 0 0 0

2749 -1.25 -146.1 381.3 -11.0 127 2757 0.00 2.50 0.00 0.000 4 0.000 0.065 2352 3586 3215 0 0 0 0 0 0

2975 -1.25 -146.1 408.7 -12.6 130 2983 0.00 2.38 0.00 0.000 6 0.000 0.044 2352 2198 3212 0 0 0 0 0 0

3300 -1.25 -146.1 446.4 -11.5 136 3308 0.00 2.53 0.00 0.000 4 0.000 0.067 2352 3589 3209 0 0 0 0 0 0

3467 -1.25 -146.1 464.9 -11.3 138 3475 0.00 2.40 0.00 0.000 6 0.000 0.045 2352 2198 3208 0 0 0 0 0 0

3792 -1.25 -146.1 499.2 -10.5 144 3800 0.00 2.53 0.00 0.000 4 0.000 0.072 2352 3581 3205 0 0 0 0 0 0

3964 -1.25 -146.1 517.6 -10.2 146 3972 0.00 2.40 0.00 0.000 6 0.000 0.047 2352 2201 3203 0 0 0 0 0 0

4284 -1.25 -146.1 548.8 -9.7 152 4292 0.00 2.55 0.00 0.000 4 0.000 0.075 2352 3583 3200 0 0 0 0 0 0

4488 -1.25 -146.1 569.9 -10.3 155 4496 0.00 2.42 0.00 0.000 6 0.000 0.048 2352 2200 3198 0 0 0 0 0 0

4834 -1.25 -146.1 602.5 -9.4 161 4843 0.00 2.60 0.00 0.000 4 0.000 0.075 2352 3591 3196 0 0 0 0 0 0

5077 -1.25 -146.1 627.4 -9.6 164 5086 0.00 2.47 0.00 0.000 6 0.000 0.051 2352 2191 3195 0 0 0 0 0 0

5385 -1.25 -146.1 657.2 -9.6 169 5393 0.00 2.60 0.00 0.000 4 0.000 0.077 2352 3588 3192 0 0 0 0 0 0

5417 end dive: TARGET_DEPTH_EXCEEDED

state 5417 begin apogee

5424 -0.29 0.0 660.5 10.9 169 5549 0.98 0.00 118.38 1.084 6 0.099 0.000 2560 2148 2620 0 0 0 0 0 0

5550 end apogee: CONTROL_FINISHED_OK

state 5550 begin climb

5552 1.25 146.1 664.0 0.0 171 5692 1.55 2.62 126.93 1.050 4 0.069 0.086 2901 741 2021 0 0 0 0 0 0

5899 1.25 146.1 628.8 13.2 176 5907 0.00 2.55 0.00 0.000 6 0.000 0.060 2901 2133 2009 0 0 0 0 0 0

6229 1.25 146.1 585.6 13.2 182 6237 0.00 2.62 0.00 0.000 4 0.000 0.073 2901 3562 2004 0 0 0 0 0 0

6278 1.25 146.1 578.6 14.5 182 6287 0.00 2.55 0.00 0.000 6 0.000 0.049 2901 2129 2001 0 0 0 0 0 0

6587 1.25 146.1 538.5 12.9 187 6595 0.00 2.47 0.00 0.000 4 0.000 0.063 2901 733 2000 0 0 0 0 0 0

6735 1.25 146.1 518.6 13.2 189 6743 0.00 2.53 0.00 0.000 6 0.000 0.049 2901 2160 1999 0 0 0 0 0 0

7076 1.25 146.1 475.0 12.9 195 7084 0.00 2.55 0.00 0.000 4 0.000 0.058 2902 734 1998 0 0 0 0 0 0

7275 1.25 146.1 449.4 13.4 198 7283 0.00 2.50 0.00 0.000 6 0.000 0.048 2902 2153 1998 0 0 0 0 0 0

7627 1.25 146.1 407.9 11.6 204 7633 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 2155 1997 0 0 0 0 0 0

7929 1.25 146.1 370.8 12.5 209 7937 0.00 2.53 0.00 0.000 4 0.000 0.055 2901 730 1996 0 0 0 0 0 0

7958 1.25 146.1 366.9 13.7 209 7966 0.00 2.50 0.00 0.000 6 0.000 0.047 2903 2160 1996 0 0 0 0 0 0

8288 1.25 146.1 323.4 13.0 215 8297 0.00 2.53 0.00 0.000 4 0.000 0.054 2901 736 1996 0 0 0 0 0 0

8381 1.25 146.1 313.0 11.3 216 8388 0.00 2.47 0.00 0.000 6 0.000 0.046 2901 2158 1995 0 0 0 0 0 0

8711 1.25 146.1 279.3 10.6 225 8717 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 2158 1995 0 0 0 0 0 0

9015 1.25 146.1 248.9 10.2 235 9020 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 2157 1995 0 0 0 0 0 0

9318 1.26 158.1 220.0 9.4 245 9335 0.00 2.50 6.53 0.646 4 0.000 0.050 2901 730 1972 0 0 0 0 0 0

9437 1.32 213.0 210.5 7.5 248 9495 0.00 2.45 48.22 0.762 6 0.000 0.044 2901 2156 1749 0 0 0 0 0 0

9814 1.32 213.0 167.3 12.2 261 9823 0.00 2.50 0.00 0.000 4 0.000 0.050 2901 729 1740 0 0 0 0 0 0

10046 1.33 221.1 142.8 9.6 268 10063 0.00 2.45 6.62 0.566 6 0.000 0.042 2901 2154 1716 0 0 0 0 0 0

10370 1.33 221.1 107.6 10.9 279 10379 0.00 2.47 0.00 0.000 4 0.000 0.048 2901 720 1714 0 0 0 0 0 0

10543 1.37 257.0 92.2 8.4 289 10578 0.08 2.47 30.75 0.608 6 0.060 0.041 2930 2154 1570 0 0 0 0 0 0

10764 1.37 257.0 63.5 14.3 310 10765 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2154 1566 0 0 0 0 0 0

10950 1.37 257.0 36.9 15.1 328 10954 0.00 2.47 0.00 0.000 4 0.000 0.045 2930 733 1564 0 0 0 0 0 0

10998 1.37 257.0 29.6 15.5 332 11004 0.00 2.45 0.00 0.000 6 0.000 0.040 2930 2155 1564 0 0 0 0 0 0

11192 end climb: SURFACE_DEPTH_REACHED

state 11192 begin surface coast

11214 end surface coast: CONTROL_FINISHED_OK

state 11214 begin surface

ID	22	ESCAPE_HEADING	0	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	15
MISSION	17	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2150	ALTIM_PULSE	5
DIVE	4	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	660	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	41	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	325	R_STBD_OVSHOOT	48	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	2618	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	220	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.00109	LOGGERDEVICE1	69
T_MISSION	250	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	-254779.78	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	150	C_PITCH	2630	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	1.027	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	160310,225631,1944.321,-15607.807,12,1.5,29,9.7	TGT_NAME	LR
_CALLS	1	TGT_LATLONG	1940.000,-15605.000
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.165,-0.198
_SM_DEPTHo	1.09	KALMAN_X	-3132.9,-1031.6,-681.4,328.5,-3269.4
_SM_ANGLEo	-68.3	KALMAN_Y	4901.6,1960.3,1403.2,-689.3,4420.5
GPS2	160310,230032,1944.444,-15607.868,16,1.3,16,9.7	MHEAD_RNG_PITCHd_Wd	130.6,9632,-18.5,-10.000
SPEED_LIMITS	0.173,0.258	D_GRID	660

FINISH	0.1,1.023407	PA_HOME	6.3/483886/453419
SM_CCo	11232,32.28,0.496,0,0,1293,325.02	PA_ROOT	89.3/128908/13733
SM_GC	1.08,0.00,0.00,32.28,0.000,0.000,0.496,373,2231,1293,-10.39,0.88,325.02	PA_LOG	3.6/297829/286986
IRIDIUM_FIX	1936.66,-15606.90,090911,171705	PA_DATA1	0.3/7836665/7813701
TT8_MAMPS	0.16478	PA_DATA0	6.6/7836665/7317415
HUMID	1078078055	_24V_AH	23.7,4.383
TCM_TEMP	23.70	_10V_AH	9.9,2.934
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	344792
PA_DFQS	0/0	DATA_FILE_SIZE	13484,367
PA_CMQS	0/169	CAP_FILE_SIZE	112818,0
PA_USBDRIVE	/mnt/usba	CFSIZE	260034560,256954368
PA_USBB	0.2/30830577/30782530	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_USBA	1.2/30829585/30470595	GPS	170310,021001,1943.934,-15608.218,42,1.3,42,9.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	147	83.54	SBE_CT	244	24	138.99
Roll_motor	109	110	284.97	nil	0	0	0.00
VBD_pump_during_apogee	337	1084	8668.76	nil	0	0	0.00
VBD_pump_during_surface	32	496	379.77	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	PAAM	11343	86	23368.30
Iridium_during_xfer	0	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	17	0	0.00
TT8	0	0	0.00
LPSleep	8797	2	190.75
TT8_Active	448	19	87.85
TT8_Sampling	1914	39	754.35
TT8_CF8	154	45	70.22
TT8_Kalman	32	0	0.00
Analog_circuits	1406	12	167.13
GPS_charging	0	0	0.00
Compass	1403	15	208.42
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	-1.25	-146.1	0.0	0.0	0	89	0.00	0.00	-70.60	0.000	2	0.000	0.000	374	2225	2677	0	0	0	0	0	0
91	-1.25	-146.1	3.5	-6.3	14	122	10.25	2.40	-13.98	0.000	4	0.148	0.071	2352	3588	3215	0	0	0	0	0	0
211	-1.25	-146.1	28.7	-19.5	33	218	0.00	2.38	0.00	0.000	6	0.000	0.040	2352	2191	3216	0	0	0	0	0	0
403	-1.25	-146.1	65.5	-18.9	52	407	0.00	2.50	0.00	0.000	4	0.000	0.057	2352	3589	3217	0	0	0	0	0	0
536	-1.25	-146.1	93.7	-20.6	64	542	0.00	2.35	0.00	0.000	6	0.000	0.040	2352	2198	3217	0	0	0	0	0	0
725	-1.25	-146.1	125.4	-16.2	73	733	0.00	2.45	0.00	0.000	4	0.000	0.057	2352	3588	3217	0	0	0	0	0	0
913	-1.25	-146.1	152.1	-13.2	79	922	0.00	2.33	0.00	0.000	6	0.000	0.040	2352	2191	3218	0	0	0	0	0	0
1251	-1.25	-146.1	198.6	-13.9	90	1259	0.00	2.47	0.00	0.000	4	0.000	0.057	2351	3595	3218	0	0	0	0	0	0
1408	-1.25	-146.1	222.0	-14.8	95	1417	0.00	2.35	0.00	0.000	6	0.000	0.040	2352	2190	3218	0	0	0	0	0	0
1740	-1.25	-146.1	264.7	-12.9	106	1748	0.00	2.47	0.00	0.000	4	0.000	0.059	2352	3593	3218	0	0	0	0	0	0
1966	-1.25	-146.1	293.7	-12.9	113	1975	0.00	2.35	0.00	0.000	6	0.000	0.041	2353	2199	3218	0	0	0	0	0	0
2327	-1.25	-146.1	333.5	-11.2	120	2335	0.00	2.47	0.00	0.000	4	0.000	0.062	2352	3595	3217	0	0	0	0	0	0
2435	-1.25	-146.1	346.4	-12.2	121	2443	0.00	2.38	0.00	0.000	6	0.000	0.042	2352	2196	3216	0	0	0	0	0	0
2749	-1.25	-146.1	381.3	-11.0	127	2757	0.00	2.50	0.00	0.000	4	0.000	0.065	2352	3586	3215	0	0	0	0	0	0
2975	-1.25	-146.1	408.7	-12.6	130	2983	0.00	2.38	0.00	0.000	6	0.000	0.044	2352	2198	3212	0	0	0	0	0	0
3300	-1.25	-146.1	446.4	-11.5	136	3308	0.00	2.53	0.00	0.000	4	0.000	0.067	2352	3589	3209	0	0	0	0	0	0
3467	-1.25	-146.1	464.9	-11.3	138	3475	0.00	2.40	0.00	0.000	6	0.000	0.045	2352	2198	3208	0	0	0	0	0	0
3792	-1.25	-146.1	499.2	-10.5	144	3800	0.00	2.53	0.00	0.000	4	0.000	0.072	2352	3581	3205	0	0	0	0	0	0
3964	-1.25	-146.1	517.6	-10.2	146	3972	0.00	2.40	0.00	0.000	6	0.000	0.047	2352	2201	3203	0	0	0	0	0	0
4284	-1.25	-146.1	548.8	-9.7	152	4292	0.00	2.55	0.00	0.000	4	0.000	0.075	2352	3583	3200	0	0	0	0	0	0
4488	-1.25	-146.1	569.9	-10.3	155	4496	0.00	2.42	0.00	0.000	6	0.000	0.048	2352	2200	3198	0	0	0	0	0	0
4834	-1.25	-146.1	602.5	-9.4	161	4843	0.00	2.60	0.00	0.000	4	0.000	0.075	2352	3591	3196	0	0	0	0	0	0
5077	-1.25	-146.1	627.4	-9.6	164	5086	0.00	2.47	0.00	0.000	6	0.000	0.051	2352	2191	3195	0	0	0	0	0	0
5385	-1.25	-146.1	657.2	-9.6	169	5393	0.00	2.60	0.00	0.000	4	0.000	0.077	2352	3588	3192	0	0	0	0	0	0
5417	end dive: TARGET_DEPTH_EXCEEDED
state	5417	begin apogee
5424	-0.29	0.0	660.5	10.9	169	5549	0.98	0.00	118.38	1.084	6	0.099	0.000	2560	2148	2620	0	0	0	0	0	0
5550	end apogee: CONTROL_FINISHED_OK
state	5550	begin climb
5552	1.25	146.1	664.0	0.0	171	5692	1.55	2.62	126.93	1.050	4	0.069	0.086	2901	741	2021	0	0	0	0	0	0
5899	1.25	146.1	628.8	13.2	176	5907	0.00	2.55	0.00	0.000	6	0.000	0.060	2901	2133	2009	0	0	0	0	0	0
6229	1.25	146.1	585.6	13.2	182	6237	0.00	2.62	0.00	0.000	4	0.000	0.073	2901	3562	2004	0	0	0	0	0	0
6278	1.25	146.1	578.6	14.5	182	6287	0.00	2.55	0.00	0.000	6	0.000	0.049	2901	2129	2001	0	0	0	0	0	0
6587	1.25	146.1	538.5	12.9	187	6595	0.00	2.47	0.00	0.000	4	0.000	0.063	2901	733	2000	0	0	0	0	0	0
6735	1.25	146.1	518.6	13.2	189	6743	0.00	2.53	0.00	0.000	6	0.000	0.049	2901	2160	1999	0	0	0	0	0	0
7076	1.25	146.1	475.0	12.9	195	7084	0.00	2.55	0.00	0.000	4	0.000	0.058	2902	734	1998	0	0	0	0	0	0
7275	1.25	146.1	449.4	13.4	198	7283	0.00	2.50	0.00	0.000	6	0.000	0.048	2902	2153	1998	0	0	0	0	0	0
7627	1.25	146.1	407.9	11.6	204	7633	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	2155	1997	0	0	0	0	0	0
7929	1.25	146.1	370.8	12.5	209	7937	0.00	2.53	0.00	0.000	4	0.000	0.055	2901	730	1996	0	0	0	0	0	0
7958	1.25	146.1	366.9	13.7	209	7966	0.00	2.50	0.00	0.000	6	0.000	0.047	2903	2160	1996	0	0	0	0	0	0
8288	1.25	146.1	323.4	13.0	215	8297	0.00	2.53	0.00	0.000	4	0.000	0.054	2901	736	1996	0	0	0	0	0	0
8381	1.25	146.1	313.0	11.3	216	8388	0.00	2.47	0.00	0.000	6	0.000	0.046	2901	2158	1995	0	0	0	0	0	0
8711	1.25	146.1	279.3	10.6	225	8717	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	2158	1995	0	0	0	0	0	0
9015	1.25	146.1	248.9	10.2	235	9020	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	2157	1995	0	0	0	0	0	0
9318	1.26	158.1	220.0	9.4	245	9335	0.00	2.50	6.53	0.646	4	0.000	0.050	2901	730	1972	0	0	0	0	0	0
9437	1.32	213.0	210.5	7.5	248	9495	0.00	2.45	48.22	0.762	6	0.000	0.044	2901	2156	1749	0	0	0	0	0	0
9814	1.32	213.0	167.3	12.2	261	9823	0.00	2.50	0.00	0.000	4	0.000	0.050	2901	729	1740	0	0	0	0	0	0
10046	1.33	221.1	142.8	9.6	268	10063	0.00	2.45	6.62	0.566	6	0.000	0.042	2901	2154	1716	0	0	0	0	0	0
10370	1.33	221.1	107.6	10.9	279	10379	0.00	2.47	0.00	0.000	4	0.000	0.048	2901	720	1714	0	0	0	0	0	0
10543	1.37	257.0	92.2	8.4	289	10578	0.08	2.47	30.75	0.608	6	0.060	0.041	2930	2154	1570	0	0	0	0	0	0
10764	1.37	257.0	63.5	14.3	310	10765	0.00	0.00	0.00	0.000	6	0.000	0.000	2930	2154	1566	0	0	0	0	0	0
10950	1.37	257.0	36.9	15.1	328	10954	0.00	2.47	0.00	0.000	4	0.000	0.045	2930	733	1564	0	0	0	0	0	0
10998	1.37	257.0	29.6	15.5	332	11004	0.00	2.45	0.00	0.000	6	0.000	0.040	2930	2155	1564	0	0	0	0	0	0
11192	end climb: SURFACE_DEPTH_REACHED
state	11192	begin surface coast
11214	end surface coast: CONTROL_FINISHED_OK
state	11214	begin surface