Glider dive log

HI Oct09 * SG022 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 22 HEADING -1 ROLL_MIN 150 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 14 ESCAPE_HEADING 0 ROLL_MAX 3954 ALTIM_TOP_TURN_MARGIN 0

DIVE 8 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2950 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT 19.66667 C_ROLL_CLIMB 2850 ALTIM_PING_DELTA 10

D_TGT 990 TGT_DEFAULT_LON -156.10001 HEAD_ERRBAND 10 ALTIM_FREQUENCY 15

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 5

D_NO_BLEED 200 SM_CC 400 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 60 XPDR_VALID 4

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 39 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 100 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 2 INT_PRESSURE_YINT 0

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 350 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3841 DEVICE1 2

T_DIVE 270 CALL_TRIES 5 C_VBD 2618 DEVICE2 -1

T_MISSION 300 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 150000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.00109 DEVICE6 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 1

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERDEVICE1 69

USE_BATHY 0 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 4 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -244833.06 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 1001 STROBE 0 CF8_MAXERRORS 1 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 91.800003 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 61.200001 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 19

MAX_BUOY 250 PITCH_MIN 380 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3641 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 45 C_PITCH 2540 FG_AHR_24V 0 SEABIRD_T_G 0.0044149966

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00064680085

RHO 1.027 PITCH_CNV 0.0046000001 PRESSURE_YINT -22.757658 SEABIRD_T_I 2.5778523e-05

MASS 52177 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.00011632 SEABIRD_T_J 2.7323422e-06

NAV_MODE 2 PITCH_GAIN 16 AD7714Ch0Gain 128 SEABIRD_C_G -10.507483

FERRY_MAX 0 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 1.7 SEABIRD_C_H 1.1800622

KALMAN_USE 1 PITCH_AD_RATE 150 TCM_ROLL_OFFSET -0.89999998 SEABIRD_C_I -0.00046262925

HD_A 0.0040048002 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00014728548

HD_B 0.010364 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0 PA_OFFLOAD 1.0

HD_C 5.4717998e-06 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0 PA_MAXUPLOADSIZE 100000.0

AD7714Ch0Gain 128 D_FLARE 3 PA_MAXUPLOADSIZE 100000.0 SEABIRD_T_J 2.7323422e-06

AH0_10V 61.200001 D_NO_BLEED 200 PA_OFFLOAD 1.0 SIM_PITCH 0

AH0_24V 91.800003 D_OFFGRID 1001 PHONE_DEVICE 48 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_FREQUENCY 15 D_SURF 3 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_PING_DELTA 10 D_TGT 990 PITCH_AD_RATE 150 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 5 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FERRY_MAX 0 PITCH_GAIN 16 TCM_PITCH_OFFSET 1.7

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MAX 3641 TCM_ROLL_OFFSET -0.89999998

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_MIN 380 TGT_DEFAULT_LAT 19.66667

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -156.10001

CALL_NDIVES 1 GLIDE_SLOPE 45 PITCH_VBD_SHIFT 0.00109 T_ABORT 1440

CALL_TRIES 5 GPS_DEVICE 32 PRESSURE_SLOPE 0.00011632 T_DIVE 270

CALL_WAIT 60 HD_A 0.0040048002 PRESSURE_YINT -22.757658 T_GPS 15

CAPMAXSIZE 150000 HD_B 0.010364 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPUPLOAD 0 HD_C 5.4717998e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -244833.06

CF8_MAXERRORS 1 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 300

COMPASS2_DEVICE -1 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_RSLEEP 3

COMPASS_USE 0 ID 22 RHO 1.027 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_PITCH 2540 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 2850 KALMAN_USE 1 ROLL_AD_RATE 100 UNCOM_BLEED 20

C_ROLL_DIVE 2950 KERMIT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2618 LOGGERDEVICE1 69 ROLL_DEG 40 USE_BATHY 0

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MAX 3954 USE_ICE 0

DEEPGLIDERMB 0 LOGGERS 1 ROLL_MAXERRORS 2 VBD_BLEED_AD_RATE 4

DEVICE1 2 MASS 52177 ROLL_MIN 150 VBD_CNV -0.24529999

DEVICE2 -1 MAX_BUOY 250 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 60 VBD_MAX 3841

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 39 VBD_MAXERRORS 1

DEVICE5 -1 MISSION 14 SEABIRD_C_G -10.507483 VBD_MIN 350

DEVICE6 -1 MOTHERBOARD 2 SEABIRD_C_H 1.1800622 VBD_PUMP_AD_RATE_APOGEE 1

DIVE 8 NAV_MODE 2 SEABIRD_C_I -0.00046262925 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1090 N_FILEKB 8 SEABIRD_C_J 0.00014728548 VBD_TIMEOUT 720

D_BOOST 0 N_GPS 20 SEABIRD_T_G 0.0044149966 XPDR_DEVICE 19

D_CALL 0 N_NOCOMM 1 SEABIRD_T_H 0.00064680085 XPDR_INHIBIT 90

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_I 2.5778523e-05 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 281009,110525,1937.744,-15604.371,38,1.6,38,9.7 TGT_NAME K1

_CALLS 1 TGT_LATLONG 1920.000,-15557.000

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.124,-0.324

_SM_DEPTHo 0.34 KALMAN_X -6154.3,887.5,207.7,6176.3,-2760.2

_SM_ANGLEo -69.5 KALMAN_Y 18047.2,-3330.6,-223.8,-18827.3,7153.8

GPS2 281009,111125,1937.809,-15604.416,14,1.4,31,9.7 MHEAD_RNG_PITCHd_Wd 148.8,35438,-16.8,-12.222

SPEED_LIMITS 0.122,0.347 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.022979 PA_DATA0 12.7/7836665/6838670

SM_CCo 13390,43.65,0.532,0,0,987,400.08 PA_DATA1 0.1/7836665/7825417

SM_GC 0.42,0.00,0.00,43.65,0.000,0.000,0.532,377,2966,987,-9.95,0.45,400.08 PA_USB 5.8/30829585/29032286

IRIDIUM_FIX 1932.09,-15604.81,230411,010151 _24V_AH 23.4,4.128

TT8_MAMPS 0.154934 _10V_AH 9.8,5.358

HUMID 1078634184 FG_AHR_24Vo 0.000

TCM_TEMP 23.60 FG_AHR_10Vo 0.000

XPDR_PINGS 0 MEM 324324

PA_PMVER 0.2 DATA_FILE_SIZE 12713,386

PA_ROOTFSVER rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009 CAP_FILE_SIZE 105541,0

PA_DFQS 0/0 CFSIZE 260034560,256167936

PA_CMQS 35/198 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PA_ROOT 87.1/128908/16632 CURRENT 0.033,325.1,1

PA_HOME 2.7/483886/470735 GPS 281009,145701,1935.609,-15603.733,40,1.5,40,9.7

PA_LOG 3.7/297829/286849

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 164 92.08 SBE_CT 256 24 144.15

Roll_motor 115 237 641.10 nil 0 0 0.00

VBD_pump_during_apogee 507 1310 15577.94 nil 0 0 0.00

VBD_pump_during_surface 43 531 542.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 69.98 nil 0 0 0.00

Iridium_during_connect 25 160 97.15 PAAM 13868 95 30979.09

Iridium_during_xfer 163 223 851.74

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 31 50 15.24

TT8 0 19 0.00

LPSleep 11156 2 239.44

TT8_Active 645 19 125.32

TT8_Sampling 1564 39 610.25

TT8_CF8 420 45 188.59

TT8_Kalman 33 81 26.71

Analog_circuits 1487 12 174.96

GPS_charging 0 0 0.00

Compass 1001 8 78.53

RAFOS 0 0 0.00

Transponder 0 30 0.16

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -1.32 -243.4 0.0 0.0 0 94 0.00 0.00 -77.12 0.000 2 0.000 0.000 371 2977 2748 0 0 0 0 0 0

97 -1.32 -243.4 3.6 -10.2 15 133 10.20 2.45 -18.48 0.000 4 0.164 0.054 2243 1567 3614 0 0 0 0 0 0

335 -1.32 -243.4 64.5 -22.3 42 341 0.00 2.42 0.00 0.000 6 0.000 0.049 2242 2936 3617 0 0 0 0 0 0

536 -1.32 -243.4 108.2 -22.7 60 541 0.00 1.83 0.00 0.000 4 0.000 0.062 2243 3955 3617 0 0 0 0 0 0

600 -1.32 -243.4 122.0 -21.7 62 604 0.00 1.70 0.00 0.000 6 0.000 0.038 2243 2922 3618 0 0 0 0 0 0

935 -1.32 -243.4 192.4 -21.4 73 939 0.00 2.28 0.00 0.000 4 0.000 0.041 2243 1575 3619 0 0 0 0 0 0

957 -1.32 -243.4 196.5 -19.9 73 960 0.00 2.42 0.00 0.000 6 0.000 0.048 2243 2950 3619 0 0 0 0 0 0

1271 -1.32 -243.4 255.6 -18.2 84 1274 0.00 1.80 0.00 0.000 4 0.000 0.066 2243 3947 3620 0 0 0 0 0 0

1313 -1.32 -243.4 262.9 -17.2 85 1317 0.00 1.65 0.00 0.000 6 0.000 0.039 2243 2948 3619 0 0 0 0 0 0

1639 -1.32 -243.4 314.1 -15.7 95 1644 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2947 3621 0 0 0 0 0 0

1939 -1.32 -243.4 359.5 -15.0 100 1944 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2948 3620 0 0 0 0 0 0

2240 -1.32 -243.4 402.9 -14.4 105 2247 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2947 3619 0 0 0 0 0 0

2543 -1.32 -243.4 443.2 -13.2 110 2551 0.00 1.83 0.00 0.000 4 0.000 0.070 2243 3953 3617 0 0 0 0 0 0

2572 -1.32 -243.4 447.0 -14.1 110 2579 0.00 1.65 0.00 0.000 6 0.000 0.042 2243 2965 3617 0 0 0 0 0 0

2912 -1.32 -243.4 493.0 -13.8 116 2918 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2960 3615 0 0 0 0 0 0

3213 -1.32 -243.4 533.8 -13.6 121 3221 0.00 1.83 0.00 0.000 4 0.000 0.074 2243 3956 3611 0 0 0 0 0 0

3246 -1.32 -243.4 538.6 -15.0 121 3253 0.00 1.70 0.00 0.000 6 0.000 0.042 2243 2947 3611 0 0 0 0 0 0

3581 -1.32 -243.4 583.6 -13.2 127 3587 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2943 3608 0 0 0 0 0 0

3882 -1.32 -243.4 620.0 -12.1 132 3888 0.00 0.00 0.00 0.000 6 0.000 0.000 2241 2943 3604 0 0 0 0 0 0

4185 -1.32 -243.4 657.3 -12.4 137 4190 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2943 3603 0 0 0 0 0 0

4486 -1.32 -243.4 693.6 -12.0 142 4494 0.00 1.95 0.00 0.000 4 0.000 0.100 2243 3947 3602 0 0 0 0 0 0

4519 -1.32 -243.4 697.8 -12.3 142 4526 0.00 1.70 0.00 0.000 6 0.000 0.049 2243 2969 3601 0 0 0 0 0 0

4854 -1.32 -243.4 737.6 -11.9 148 4864 0.00 2.62 0.00 0.000 4 0.000 0.085 2243 1552 3598 0 0 0 0 0 0

4900 -1.32 -243.4 743.0 -10.8 148 4908 0.00 2.65 0.00 0.000 6 0.000 0.084 2243 2949 3598 0 0 0 0 0 0

5214 -1.32 -243.4 778.3 -11.4 154 5222 0.00 2.08 0.00 0.000 4 0.000 0.138 2243 3956 3597 0 0 0 0 0 0

5269 -1.32 -243.4 784.5 -11.4 154 5279 0.00 1.88 0.00 0.000 6 0.000 0.078 2243 2957 3596 0 0 0 0 0 0

5577 -1.32 -243.4 817.4 -10.6 160 5583 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2957 3594 0 0 0 0 0 0

5880 -1.32 -243.4 849.4 -10.6 165 5888 0.00 2.20 0.00 0.000 4 0.000 0.156 2243 3957 3592 0 0 0 0 0 0

5913 -1.32 -243.4 853.2 -11.3 165 5921 0.00 2.05 0.00 0.000 6 0.000 0.117 2242 2956 3592 0 0 0 0 0 0

6237 -1.32 -243.4 886.2 -10.1 171 6243 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2957 3590 0 0 0 0 0 0

6539 -1.32 -243.4 918.6 -10.9 176 6545 0.00 0.00 0.00 0.000 6 0.000 0.000 2243 2956 3589 0 0 0 0 0 0

6842 -1.32 -243.4 950.8 -10.6 181 6850 0.00 2.60 0.00 0.000 4 0.000 0.231 2243 3955 3588 0 0 0 0 0 0

6914 -1.32 -243.4 958.8 -11.3 182 6921 0.00 2.47 0.00 0.000 6 0.000 0.202 2243 2944 3588 0 0 0 0 0 0

7203 end dive: TARGET_DEPTH_EXCEEDED

state 7203 begin apogee

7207 -0.31 0.0 990.7 11.1 187 7430 1.12 0.00 214.38 1.311 6 0.113 0.000 2469 2846 2618 0 0 0 0 0 0

7430 end apogee: CONTROL_FINISHED_OK

state 7430 begin climb

7432 1.32 243.4 999.9 0.0 190 7672 1.67 3.75 224.15 1.292 4 0.084 0.225 2822 1429 1623 0 0 0 0 0 0

7708 1.32 243.4 962.7 19.9 194 7718 0.00 3.50 0.00 0.000 6 0.000 0.199 2823 2845 1619 0 0 0 0 0 0

8040 1.32 243.4 895.6 20.4 200 8048 0.00 3.08 0.00 0.000 4 0.000 0.143 2822 1428 1612 0 0 0 0 0 0

8079 1.32 243.4 887.6 19.7 200 8088 0.00 3.08 0.00 0.000 6 0.000 0.140 2822 2857 1611 0 0 0 0 0 0

8399 1.32 243.4 823.8 20.0 206 8405 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 2857 1610 0 0 0 0 0 0

8700 1.32 243.4 763.8 20.0 211 8709 0.00 2.72 0.00 0.000 4 0.000 0.079 2822 1421 1610 0 0 0 0 0 0

8739 1.32 243.4 756.0 19.7 211 8749 0.00 2.72 0.00 0.000 6 0.000 0.071 2822 2868 1609 0 0 0 0 0 0

9060 1.32 243.4 691.4 20.2 217 9069 0.00 2.67 0.00 0.000 4 0.000 0.067 2822 1416 1609 0 0 0 0 0 0

9088 1.32 243.4 685.6 20.6 217 9097 0.00 2.65 0.00 0.000 6 0.000 0.060 2822 2863 1609 0 0 0 0 0 0

9419 1.32 243.4 619.3 20.2 223 9427 0.00 2.62 0.00 0.000 4 0.000 0.062 2822 1420 1607 0 0 0 0 0 0

9468 1.32 243.4 609.7 19.3 223 9477 0.00 2.60 0.00 0.000 6 0.000 0.055 2822 2866 1608 0 0 0 0 0 0

9776 1.32 243.4 551.4 18.7 228 9782 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 2866 1607 0 0 0 0 0 0

10079 1.32 243.4 496.5 18.1 233 10087 0.00 1.98 0.00 0.000 4 0.000 0.073 2822 3953 1607 0 0 0 0 0 0

10134 1.32 243.4 485.8 19.9 233 10141 0.00 1.98 0.00 0.000 6 0.000 0.043 2822 2811 1606 0 0 0 0 0 0

10448 1.32 243.4 430.3 17.7 239 10456 0.00 2.40 0.00 0.000 4 0.000 0.054 2822 1438 1606 0 0 0 0 0 0

10519 1.32 243.4 418.1 16.2 240 10527 0.00 2.50 0.00 0.000 6 0.000 0.048 2822 2857 1606 0 0 0 0 0 0

10871 1.32 243.4 357.6 17.3 246 10877 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 2857 1606 0 0 0 0 0 0

11173 1.32 243.4 306.1 17.2 251 11181 0.00 2.47 0.00 0.000 4 0.000 0.048 2822 1437 1606 0 0 0 0 0 0

11185 1.32 243.4 303.8 17.0 251 11193 0.00 2.50 0.00 0.000 6 0.000 0.046 2822 2866 1606 0 0 0 0 0 0

11503 1.32 243.4 252.2 16.0 261 11506 0.00 2.50 0.00 0.000 4 0.000 0.048 2822 1439 1606 0 0 0 0 0 0

11545 1.32 243.4 246.0 14.6 262 11549 0.00 2.47 0.00 0.000 6 0.000 0.045 2822 2863 1606 0 0 0 0 0 0

11864 1.32 243.4 197.9 15.3 273 11868 0.00 1.95 0.00 0.000 4 0.000 0.061 2822 3942 1605 0 0 0 0 0 0

11907 1.32 243.4 191.3 16.6 274 11910 0.00 1.90 0.00 0.000 6 0.000 0.039 2822 2832 1606 0 0 0 0 0 0

12231 1.32 243.4 145.2 14.2 285 12235 0.00 2.38 0.00 0.000 4 0.000 0.045 2822 1452 1606 0 0 0 0 0 0

12262 1.32 243.4 140.6 14.1 286 12267 0.00 2.45 0.00 0.000 6 0.000 0.042 2822 2854 1606 0 0 0 0 0 0

12578 1.32 243.4 97.2 13.9 297 12582 0.00 1.95 0.00 0.000 4 0.000 0.058 2822 3947 1608 0 0 0 0 0 0

12647 1.32 243.4 87.3 14.1 303 12653 0.00 1.85 0.00 0.000 6 0.000 0.038 2822 2844 1608 0 0 0 0 0 0

12839 1.35 270.4 62.8 11.3 322 12869 0.00 2.45 21.85 0.615 4 0.000 0.045 2822 1461 1514 0 0 0 0 0 0

13022 1.40 315.1 43.9 10.7 339 13069 0.00 2.45 39.58 0.594 6 0.000 0.042 2822 2864 1331 0 0 0 0 0 0

13255 1.41 323.6 17.2 11.9 364 13268 0.10 1.92 7.93 0.498 4 0.100 0.058 2848 3951 1297 0 0 0 0 0 0

13309 1.41 323.6 9.8 13.7 374 13315 0.00 1.88 0.00 0.000 6 0.000 0.038 2848 2854 1297 0 0 0 0 0 0

13355 end climb: SURFACE_DEPTH_REACHED

state 13355 begin surface coast

13371 end surface coast: CONTROL_FINISHED_OK

state 13372 begin surface

ID	22	HEADING	-1	ROLL_MIN	150	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	14	ESCAPE_HEADING	0	ROLL_MAX	3954	ALTIM_TOP_TURN_MARGIN	0
DIVE	8	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2950	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	19.66667	C_ROLL_CLIMB	2850	ALTIM_PING_DELTA	10
D_TGT	990	TGT_DEFAULT_LON	-156.10001	HEAD_ERRBAND	10	ALTIM_FREQUENCY	15
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	5
D_NO_BLEED	200	SM_CC	400	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	60	XPDR_VALID	4
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	39	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	100	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	2	INT_PRESSURE_YINT	0
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	350	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3841	DEVICE1	2
T_DIVE	270	CALL_TRIES	5	C_VBD	2618	DEVICE2	-1
T_MISSION	300	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	150000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.00109	DEVICE6	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	1
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERDEVICE1	69
USE_BATHY	0	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	4	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-244833.06	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	1001	STROBE	0	CF8_MAXERRORS	1	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	91.800003	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	61.200001	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	19
MAX_BUOY	250	PITCH_MIN	380	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3641	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	45	C_PITCH	2540	FG_AHR_24V	0	SEABIRD_T_G	0.0044149966
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00064680085
RHO	1.027	PITCH_CNV	0.0046000001	PRESSURE_YINT	-22.757658	SEABIRD_T_I	2.5778523e-05
MASS	52177	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.00011632	SEABIRD_T_J	2.7323422e-06
NAV_MODE	2	PITCH_GAIN	16	AD7714Ch0Gain	128	SEABIRD_C_G	-10.507483
FERRY_MAX	0	PITCH_TIMEOUT	20	TCM_PITCH_OFFSET	1.7	SEABIRD_C_H	1.1800622
KALMAN_USE	1	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	-0.89999998	SEABIRD_C_I	-0.00046262925
HD_A	0.0040048002	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00014728548
HD_B	0.010364	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0	PA_OFFLOAD	1.0
HD_C	5.4717998e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0	PA_MAXUPLOADSIZE	100000.0

GPS1	281009,110525,1937.744,-15604.371,38,1.6,38,9.7	TGT_NAME	K1
_CALLS	1	TGT_LATLONG	1920.000,-15557.000
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.124,-0.324
_SM_DEPTHo	0.34	KALMAN_X	-6154.3,887.5,207.7,6176.3,-2760.2
_SM_ANGLEo	-69.5	KALMAN_Y	18047.2,-3330.6,-223.8,-18827.3,7153.8
GPS2	281009,111125,1937.809,-15604.416,14,1.4,31,9.7	MHEAD_RNG_PITCHd_Wd	148.8,35438,-16.8,-12.222
SPEED_LIMITS	0.122,0.347	D_GRID	990

FINISH	0.5,1.022979	PA_DATA0	12.7/7836665/6838670
SM_CCo	13390,43.65,0.532,0,0,987,400.08	PA_DATA1	0.1/7836665/7825417
SM_GC	0.42,0.00,0.00,43.65,0.000,0.000,0.532,377,2966,987,-9.95,0.45,400.08	PA_USB	5.8/30829585/29032286
IRIDIUM_FIX	1932.09,-15604.81,230411,010151	_24V_AH	23.4,4.128
TT8_MAMPS	0.154934	_10V_AH	9.8,5.358
HUMID	1078634184	FG_AHR_24Vo	0.000
TCM_TEMP	23.60	FG_AHR_10Vo	0.000
XPDR_PINGS	0	MEM	324324
PA_PMVER	0.2	DATA_FILE_SIZE	12713,386
PA_ROOTFSVER	rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009	CAP_FILE_SIZE	105541,0
PA_DFQS	0/0	CFSIZE	260034560,256167936
PA_CMQS	35/198	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_ROOT	87.1/128908/16632	CURRENT	0.033,325.1,1
PA_HOME	2.7/483886/470735	GPS	281009,145701,1935.609,-15603.733,40,1.5,40,9.7
PA_LOG	3.7/297829/286849

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	164	92.08	SBE_CT	256	24	144.15
Roll_motor	115	237	641.10	nil	0	0	0.00
VBD_pump_during_apogee	507	1310	15577.94	nil	0	0	0.00
VBD_pump_during_surface	43	531	542.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	69.98	nil	0	0	0.00
Iridium_during_connect	25	160	97.15	PAAM	13868	95	30979.09
Iridium_during_xfer	163	223	851.74
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	31	50	15.24
TT8	0	19	0.00
LPSleep	11156	2	239.44
TT8_Active	645	19	125.32
TT8_Sampling	1564	39	610.25
TT8_CF8	420	45	188.59
TT8_Kalman	33	81	26.71
Analog_circuits	1487	12	174.96
GPS_charging	0	0	0.00
Compass	1001	8	78.53
RAFOS	0	0	0.00
Transponder	0	30	0.16

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-1.32	-243.4	0.0	0.0	0	94	0.00	0.00	-77.12	0.000	2	0.000	0.000	371	2977	2748	0	0	0	0	0	0
97	-1.32	-243.4	3.6	-10.2	15	133	10.20	2.45	-18.48	0.000	4	0.164	0.054	2243	1567	3614	0	0	0	0	0	0
335	-1.32	-243.4	64.5	-22.3	42	341	0.00	2.42	0.00	0.000	6	0.000	0.049	2242	2936	3617	0	0	0	0	0	0
536	-1.32	-243.4	108.2	-22.7	60	541	0.00	1.83	0.00	0.000	4	0.000	0.062	2243	3955	3617	0	0	0	0	0	0
600	-1.32	-243.4	122.0	-21.7	62	604	0.00	1.70	0.00	0.000	6	0.000	0.038	2243	2922	3618	0	0	0	0	0	0
935	-1.32	-243.4	192.4	-21.4	73	939	0.00	2.28	0.00	0.000	4	0.000	0.041	2243	1575	3619	0	0	0	0	0	0
957	-1.32	-243.4	196.5	-19.9	73	960	0.00	2.42	0.00	0.000	6	0.000	0.048	2243	2950	3619	0	0	0	0	0	0
1271	-1.32	-243.4	255.6	-18.2	84	1274	0.00	1.80	0.00	0.000	4	0.000	0.066	2243	3947	3620	0	0	0	0	0	0
1313	-1.32	-243.4	262.9	-17.2	85	1317	0.00	1.65	0.00	0.000	6	0.000	0.039	2243	2948	3619	0	0	0	0	0	0
1639	-1.32	-243.4	314.1	-15.7	95	1644	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2947	3621	0	0	0	0	0	0
1939	-1.32	-243.4	359.5	-15.0	100	1944	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2948	3620	0	0	0	0	0	0
2240	-1.32	-243.4	402.9	-14.4	105	2247	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2947	3619	0	0	0	0	0	0
2543	-1.32	-243.4	443.2	-13.2	110	2551	0.00	1.83	0.00	0.000	4	0.000	0.070	2243	3953	3617	0	0	0	0	0	0
2572	-1.32	-243.4	447.0	-14.1	110	2579	0.00	1.65	0.00	0.000	6	0.000	0.042	2243	2965	3617	0	0	0	0	0	0
2912	-1.32	-243.4	493.0	-13.8	116	2918	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2960	3615	0	0	0	0	0	0
3213	-1.32	-243.4	533.8	-13.6	121	3221	0.00	1.83	0.00	0.000	4	0.000	0.074	2243	3956	3611	0	0	0	0	0	0
3246	-1.32	-243.4	538.6	-15.0	121	3253	0.00	1.70	0.00	0.000	6	0.000	0.042	2243	2947	3611	0	0	0	0	0	0
3581	-1.32	-243.4	583.6	-13.2	127	3587	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2943	3608	0	0	0	0	0	0
3882	-1.32	-243.4	620.0	-12.1	132	3888	0.00	0.00	0.00	0.000	6	0.000	0.000	2241	2943	3604	0	0	0	0	0	0
4185	-1.32	-243.4	657.3	-12.4	137	4190	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2943	3603	0	0	0	0	0	0
4486	-1.32	-243.4	693.6	-12.0	142	4494	0.00	1.95	0.00	0.000	4	0.000	0.100	2243	3947	3602	0	0	0	0	0	0
4519	-1.32	-243.4	697.8	-12.3	142	4526	0.00	1.70	0.00	0.000	6	0.000	0.049	2243	2969	3601	0	0	0	0	0	0
4854	-1.32	-243.4	737.6	-11.9	148	4864	0.00	2.62	0.00	0.000	4	0.000	0.085	2243	1552	3598	0	0	0	0	0	0
4900	-1.32	-243.4	743.0	-10.8	148	4908	0.00	2.65	0.00	0.000	6	0.000	0.084	2243	2949	3598	0	0	0	0	0	0
5214	-1.32	-243.4	778.3	-11.4	154	5222	0.00	2.08	0.00	0.000	4	0.000	0.138	2243	3956	3597	0	0	0	0	0	0
5269	-1.32	-243.4	784.5	-11.4	154	5279	0.00	1.88	0.00	0.000	6	0.000	0.078	2243	2957	3596	0	0	0	0	0	0
5577	-1.32	-243.4	817.4	-10.6	160	5583	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2957	3594	0	0	0	0	0	0
5880	-1.32	-243.4	849.4	-10.6	165	5888	0.00	2.20	0.00	0.000	4	0.000	0.156	2243	3957	3592	0	0	0	0	0	0
5913	-1.32	-243.4	853.2	-11.3	165	5921	0.00	2.05	0.00	0.000	6	0.000	0.117	2242	2956	3592	0	0	0	0	0	0
6237	-1.32	-243.4	886.2	-10.1	171	6243	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2957	3590	0	0	0	0	0	0
6539	-1.32	-243.4	918.6	-10.9	176	6545	0.00	0.00	0.00	0.000	6	0.000	0.000	2243	2956	3589	0	0	0	0	0	0
6842	-1.32	-243.4	950.8	-10.6	181	6850	0.00	2.60	0.00	0.000	4	0.000	0.231	2243	3955	3588	0	0	0	0	0	0
6914	-1.32	-243.4	958.8	-11.3	182	6921	0.00	2.47	0.00	0.000	6	0.000	0.202	2243	2944	3588	0	0	0	0	0	0
7203	end dive: TARGET_DEPTH_EXCEEDED
state	7203	begin apogee
7207	-0.31	0.0	990.7	11.1	187	7430	1.12	0.00	214.38	1.311	6	0.113	0.000	2469	2846	2618	0	0	0	0	0	0
7430	end apogee: CONTROL_FINISHED_OK
state	7430	begin climb
7432	1.32	243.4	999.9	0.0	190	7672	1.67	3.75	224.15	1.292	4	0.084	0.225	2822	1429	1623	0	0	0	0	0	0
7708	1.32	243.4	962.7	19.9	194	7718	0.00	3.50	0.00	0.000	6	0.000	0.199	2823	2845	1619	0	0	0	0	0	0
8040	1.32	243.4	895.6	20.4	200	8048	0.00	3.08	0.00	0.000	4	0.000	0.143	2822	1428	1612	0	0	0	0	0	0
8079	1.32	243.4	887.6	19.7	200	8088	0.00	3.08	0.00	0.000	6	0.000	0.140	2822	2857	1611	0	0	0	0	0	0
8399	1.32	243.4	823.8	20.0	206	8405	0.00	0.00	0.00	0.000	6	0.000	0.000	2822	2857	1610	0	0	0	0	0	0
8700	1.32	243.4	763.8	20.0	211	8709	0.00	2.72	0.00	0.000	4	0.000	0.079	2822	1421	1610	0	0	0	0	0	0
8739	1.32	243.4	756.0	19.7	211	8749	0.00	2.72	0.00	0.000	6	0.000	0.071	2822	2868	1609	0	0	0	0	0	0
9060	1.32	243.4	691.4	20.2	217	9069	0.00	2.67	0.00	0.000	4	0.000	0.067	2822	1416	1609	0	0	0	0	0	0
9088	1.32	243.4	685.6	20.6	217	9097	0.00	2.65	0.00	0.000	6	0.000	0.060	2822	2863	1609	0	0	0	0	0	0
9419	1.32	243.4	619.3	20.2	223	9427	0.00	2.62	0.00	0.000	4	0.000	0.062	2822	1420	1607	0	0	0	0	0	0
9468	1.32	243.4	609.7	19.3	223	9477	0.00	2.60	0.00	0.000	6	0.000	0.055	2822	2866	1608	0	0	0	0	0	0
9776	1.32	243.4	551.4	18.7	228	9782	0.00	0.00	0.00	0.000	6	0.000	0.000	2822	2866	1607	0	0	0	0	0	0
10079	1.32	243.4	496.5	18.1	233	10087	0.00	1.98	0.00	0.000	4	0.000	0.073	2822	3953	1607	0	0	0	0	0	0
10134	1.32	243.4	485.8	19.9	233	10141	0.00	1.98	0.00	0.000	6	0.000	0.043	2822	2811	1606	0	0	0	0	0	0
10448	1.32	243.4	430.3	17.7	239	10456	0.00	2.40	0.00	0.000	4	0.000	0.054	2822	1438	1606	0	0	0	0	0	0
10519	1.32	243.4	418.1	16.2	240	10527	0.00	2.50	0.00	0.000	6	0.000	0.048	2822	2857	1606	0	0	0	0	0	0
10871	1.32	243.4	357.6	17.3	246	10877	0.00	0.00	0.00	0.000	6	0.000	0.000	2822	2857	1606	0	0	0	0	0	0
11173	1.32	243.4	306.1	17.2	251	11181	0.00	2.47	0.00	0.000	4	0.000	0.048	2822	1437	1606	0	0	0	0	0	0
11185	1.32	243.4	303.8	17.0	251	11193	0.00	2.50	0.00	0.000	6	0.000	0.046	2822	2866	1606	0	0	0	0	0	0
11503	1.32	243.4	252.2	16.0	261	11506	0.00	2.50	0.00	0.000	4	0.000	0.048	2822	1439	1606	0	0	0	0	0	0
11545	1.32	243.4	246.0	14.6	262	11549	0.00	2.47	0.00	0.000	6	0.000	0.045	2822	2863	1606	0	0	0	0	0	0
11864	1.32	243.4	197.9	15.3	273	11868	0.00	1.95	0.00	0.000	4	0.000	0.061	2822	3942	1605	0	0	0	0	0	0
11907	1.32	243.4	191.3	16.6	274	11910	0.00	1.90	0.00	0.000	6	0.000	0.039	2822	2832	1606	0	0	0	0	0	0
12231	1.32	243.4	145.2	14.2	285	12235	0.00	2.38	0.00	0.000	4	0.000	0.045	2822	1452	1606	0	0	0	0	0	0
12262	1.32	243.4	140.6	14.1	286	12267	0.00	2.45	0.00	0.000	6	0.000	0.042	2822	2854	1606	0	0	0	0	0	0
12578	1.32	243.4	97.2	13.9	297	12582	0.00	1.95	0.00	0.000	4	0.000	0.058	2822	3947	1608	0	0	0	0	0	0
12647	1.32	243.4	87.3	14.1	303	12653	0.00	1.85	0.00	0.000	6	0.000	0.038	2822	2844	1608	0	0	0	0	0	0
12839	1.35	270.4	62.8	11.3	322	12869	0.00	2.45	21.85	0.615	4	0.000	0.045	2822	1461	1514	0	0	0	0	0	0
13022	1.40	315.1	43.9	10.7	339	13069	0.00	2.45	39.58	0.594	6	0.000	0.042	2822	2864	1331	0	0	0	0	0	0
13255	1.41	323.6	17.2	11.9	364	13268	0.10	1.92	7.93	0.498	4	0.100	0.058	2848	3951	1297	0	0	0	0	0	0
13309	1.41	323.6	9.8	13.7	374	13315	0.00	1.88	0.00	0.000	6	0.000	0.038	2848	2854	1297	0	0	0	0	0	0
13355	end climb: SURFACE_DEPTH_REACHED
state	13355	begin surface coast
13371	end surface coast: CONTROL_FINISHED_OK
state	13372	begin surface