Glider dive log

HI Oct09 * SG022 * Dive index * Mission links * Dive 15 * 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 15 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 2800 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 40 XPDR_VALID 4

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 36 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 420 CALL_TRIES 5 C_VBD 2618 DEVICE2 -1

T_MISSION 450 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 -246029.12 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 200 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 2530 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 420

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 -246029.12

CF8_MAXERRORS 1 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 450

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 2530 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 2800 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 200 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 40 VBD_MAX 3841

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 36 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 15 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 291009,200804,1921.606,-15557.521,39,2.7,58,9.7 TGT_NAME K1

_CALLS 1 TGT_LATLONG 1920.000,-15557.000

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.072,-0.210

_SM_DEPTHo 0.45 KALMAN_X -6407.2,378.2,276.7,18919.1,-912.4

_SM_ANGLEo -68.8 KALMAN_Y 20856.4,-237.9,-393.2,-54540.9,2263.1

GPS2 291009,201211,1921.642,-15557.513,14,2.0,29,9.7 MHEAD_RNG_PITCHd_Wd 153.9,3170,-37.5,-7.857

SPEED_LIMITS 0.079,0.270 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.022816 PA_DATA0 22.7/7836665/6060899

SM_CCo 15414,114.90,0.578,0,0,986,400.08 PA_DATA1 0.1/7836665/7825417

SM_GC 0.74,0.00,0.00,114.90,0.000,0.000,0.578,376,2946,986,-9.91,-0.14,400.08 PA_USB 13.8/30829585/26587015

IRIDIUM_FIX 1913.80,-15600.40,240411,141409 _24V_AH 23.4,5.256

TT8_MAMPS 0.156468 _10V_AH 9.9,8.902

HUMID 1078750313 FG_AHR_24Vo 0.000

TCM_TEMP 22.40 FG_AHR_10Vo 0.000

XPDR_PINGS 0 MEM 324380

PA_PMVER 0.2 DATA_FILE_SIZE 12734,381

PA_ROOTFSVER rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009 CAP_FILE_SIZE 143990,0

PA_DFQS 0/0 CFSIZE 260034560,255672320

PA_CMQS 0/165 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

PA_ROOT 87.1/128908/16632 CURRENT 0.053,143.8,1

PA_HOME 2.8/483886/470206 GPS 301009,003237,1920.276,-15556.999,31,1.7,31,9.7

PA_LOG 3.6/297829/287003

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 165 102.73 SBE_CT 255 24 143.68

Roll_motor 157 247 910.30 nil 0 0 0.00

VBD_pump_during_apogee 203 1286 6127.29 nil 0 0 0.00

VBD_pump_during_surface 114 578 1554.90 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 PAAM 15534 240 87540.05

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 29 50 14.67

TT8 0 19 0.00

LPSleep 12675 2 274.81

TT8_Active 466 19 91.42

TT8_Sampling 2257 39 889.69

TT8_CF8 196 45 89.24

TT8_Kalman 33 81 26.98

Analog_circuits 1574 12 187.03

GPS_charging 0 0 0.00

Compass 1666 8 132.01

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 -2.37 -24.8 0.0 0.0 0 89 0.00 0.00 -72.25 0.000 2 0.000 0.000 378 2967 2659 0 0 0 0 0 0

91 -2.37 -27.3 3.1 -7.3 14 108 8.88 1.62 -1.95 0.000 4 0.166 0.071 2007 3944 2728 0 0 0 0 0 0

267 -2.37 -27.3 57.9 -27.5 36 274 0.00 1.70 0.00 0.000 6 0.000 0.038 2007 2931 2730 0 0 0 0 0 0

459 -2.37 -27.3 100.7 -20.7 55 462 0.00 1.83 0.00 0.000 4 0.000 0.055 2007 3949 2730 0 0 0 0 0 0

511 -2.37 -27.3 112.0 -20.7 56 516 0.00 1.67 0.00 0.000 6 0.000 0.038 2007 2940 2731 0 0 0 0 0 0

825 -2.37 -27.3 169.3 -18.5 67 829 0.00 2.35 0.00 0.000 4 0.000 0.044 2007 1554 2732 0 0 0 0 0 0

975 -2.37 -27.3 194.1 -14.8 71 979 0.00 2.42 0.00 0.000 6 0.000 0.046 2007 2946 2733 0 0 0 0 0 0

1289 -2.37 -27.3 242.5 -15.6 82 1293 0.00 2.38 0.00 0.000 4 0.000 0.042 2007 1554 2733 0 0 0 0 0 0

1534 -2.37 -27.3 269.5 -10.5 89 1538 0.00 2.45 0.00 0.000 6 0.000 0.046 2007 2959 2733 0 0 0 0 0 0

1848 -2.37 -27.3 303.2 -11.0 100 1852 0.00 2.40 0.00 0.000 4 0.000 0.043 2007 1562 2733 0 0 0 0 0 0

2093 -2.37 -27.3 330.8 -10.9 103 2098 0.00 2.45 0.00 0.000 6 0.000 0.047 2007 2961 2732 0 0 0 0 0 0

2406 -2.37 -27.3 366.3 -11.3 109 2410 0.00 2.42 0.00 0.000 4 0.000 0.044 2007 1555 2731 0 0 0 0 0 0

2486 -2.37 -27.3 374.5 -10.3 110 2490 0.00 2.45 0.00 0.000 6 0.000 0.048 2007 2948 2730 0 0 0 0 0 0

2835 -2.37 -27.3 410.1 -9.8 116 2836 0.00 0.00 0.00 0.000 6 0.000 0.000 2007 2948 2727 0 0 0 0 0 0

3137 -2.37 -27.3 438.6 -9.3 121 3142 0.00 1.80 0.00 0.000 4 0.000 0.063 2007 3953 2725 0 0 0 0 0 0

3153 -2.37 -27.3 440.0 -8.0 121 3157 0.00 1.70 0.00 0.000 6 0.000 0.043 2007 2962 2725 0 0 0 0 0 0

3502 -2.37 -27.3 470.2 -9.1 127 3506 0.00 1.80 0.00 0.000 4 0.000 0.063 2007 3949 2723 0 0 0 0 0 0

3587 -2.37 -27.3 478.1 -9.8 128 3591 0.00 1.73 0.00 0.000 6 0.000 0.043 2007 2947 2721 0 0 0 0 0 0

3934 -2.37 -27.3 511.3 -10.0 134 3941 0.00 1.80 0.00 0.000 4 0.000 0.064 2007 3955 2718 0 0 0 0 0 0

4096 -2.37 -27.3 527.9 -10.4 136 4105 0.00 1.70 0.00 0.000 6 0.000 0.044 2007 2947 2717 0 0 0 0 0 0

4432 -2.37 -27.3 559.3 -9.0 142 4438 0.00 0.00 0.00 0.000 6 0.000 0.000 2007 2947 2715 0 0 0 0 0 0

4734 -2.37 -27.3 585.1 -8.4 147 4742 0.00 2.42 0.00 0.000 4 0.000 0.055 2007 1556 2713 0 0 0 0 0 0

4912 -2.37 -29.4 598.4 -7.4 149 4921 0.00 2.50 0.00 0.000 6 0.000 0.057 2007 2960 2712 0 0 0 0 0 0

5227 -2.37 -29.6 622.7 -7.8 155 5236 0.00 1.85 0.00 0.000 4 0.000 0.080 2007 3955 2710 0 0 0 0 0 0

5314 -2.38 -31.8 630.0 -7.4 156 5322 0.00 1.73 0.00 0.000 6 0.000 0.046 2007 2953 2708 0 0 0 0 0 0

5660 -2.38 -35.3 654.3 -7.1 162 5668 0.00 2.47 0.00 0.000 4 0.000 0.061 2007 1544 2708 0 0 0 0 0 0

5821 -2.38 -37.6 666.2 -7.4 164 5830 0.00 2.55 0.00 0.000 6 0.000 0.064 2007 2959 2706 0 0 0 0 0 0

6146 -2.38 -38.5 691.1 -7.7 170 6155 0.00 2.55 0.00 0.000 4 0.000 0.065 2007 1542 2705 0 0 0 0 0 0

6394 -2.39 -42.2 709.4 -7.1 173 6404 0.00 2.55 0.00 0.000 6 0.000 0.071 2007 2958 2704 0 0 0 0 0 0

6702 -2.39 -45.2 731.7 -7.2 179 6711 0.00 2.60 0.00 0.000 4 0.000 0.073 2007 1542 2703 0 0 0 0 0 0

6731 -2.39 -45.2 733.8 -8.2 179 6739 0.00 2.62 0.00 0.000 6 0.000 0.078 2007 2950 2703 0 0 0 0 0 0

7061 -2.40 -50.5 757.0 -6.7 185 7070 0.00 2.62 0.00 0.000 4 0.000 0.080 2007 1554 2702 0 0 0 0 0 0

7154 -2.40 -57.1 762.9 -6.5 186 7164 0.00 2.67 0.00 0.000 6 0.000 0.089 2007 2953 2701 0 0 0 0 0 0

7486 -2.42 -71.4 780.5 -4.8 192 7494 0.00 2.67 0.00 0.000 4 0.000 0.091 2007 1545 2701 0 0 0 0 0 0

7633 -2.44 -90.5 786.1 -3.8 194 7642 0.00 2.72 0.00 0.000 6 0.000 0.097 2007 2955 2700 0 0 0 0 0 0

7975 -2.46 -109.1 799.1 -3.9 200 7984 0.00 2.05 0.00 0.000 4 0.000 0.134 2007 3962 2698 0 0 0 0 0 0

8224 -2.48 -121.8 811.9 -5.2 203 8234 0.00 1.92 0.00 0.000 6 0.000 0.092 2008 2958 2698 0 0 0 0 0 0

8532 -2.49 -135.8 826.9 -4.9 209 8540 0.00 2.05 0.00 0.000 4 0.000 0.130 2007 3953 2697 0 0 0 0 0 0

8720 -2.50 -143.3 837.4 -6.3 211 8730 0.00 2.00 0.00 0.000 6 0.000 0.106 2007 2942 2697 0 0 0 0 0 0

9028 -2.51 -153.7 855.0 -5.7 217 9037 0.12 2.90 0.00 0.000 4 0.109 0.135 1980 1529 2695 0 0 0 0 0 0

9277 -2.52 -164.0 868.9 -5.7 220 9288 0.00 2.95 0.00 0.000 6 0.000 0.142 1980 2949 2694 0 0 0 0 0 0

9585 -2.54 -179.0 883.9 -4.7 226 9594 0.00 3.05 0.00 0.000 4 0.000 0.153 1980 1538 2694 0 0 0 0 0 0

9744 -2.55 -194.7 890.0 -3.9 228 9753 0.00 3.12 0.00 0.000 6 0.000 0.162 1980 2950 2694 0 0 0 0 0 0

10075 -2.55 -194.7 903.3 -4.1 234 10080 0.00 0.00 0.00 0.000 6 0.000 0.000 1980 2951 2694 0 0 0 0 0 0

10376 -2.55 -194.7 914.7 -3.7 239 10386 0.00 3.28 0.00 0.000 4 0.000 0.179 1980 1529 2693 0 0 0 0 0 0

10626 -2.55 -194.7 925.4 -4.7 242 10636 0.00 3.28 0.00 0.000 6 0.000 0.186 1980 2956 2693 0 0 0 0 0 0

10934 -2.55 -194.7 938.5 -4.1 248 10943 0.00 2.50 0.00 0.000 4 0.000 0.226 1980 3962 2693 0 0 0 0 0 0

11033 -2.55 -194.7 942.8 -4.3 249 11041 0.00 2.42 0.00 0.000 6 0.000 0.191 1980 2949 2693 0 0 0 0 0 0

11358 -2.55 -194.7 957.3 -4.5 255 11364 0.00 0.00 0.00 0.000 6 0.000 0.000 1980 2949 2693 0 0 0 0 0 0

11660 -2.55 -194.7 970.9 -4.5 260 11669 0.00 2.72 0.00 0.000 4 0.000 0.246 1980 3959 2692 0 0 0 0 0 0

11908 -2.55 -194.7 982.2 -4.2 263 11918 0.00 2.67 0.00 0.000 6 0.000 0.234 1980 2949 2692 0 0 0 0 0 0

12154 end dive: TARGET_DEPTH_EXCEEDED

state 12154 begin apogee

12159 -0.31 0.0 991.2 3.6 267 12186 2.53 0.00 18.42 1.256 6 0.143 0.000 2458 2795 2618 0 0 0 0 0 0

12187 end apogee: CONTROL_FINISHED_OK

state 12187 begin climb

12189 2.55 194.7 991.2 0.0 267 12389 2.92 3.53 185.15 1.286 4 0.078 0.205 3088 1379 1823 0 0 0 0 0 0

12415 2.55 194.7 935.5 38.7 270 12424 0.00 3.35 0.00 0.000 6 0.000 0.175 3087 2806 1818 0 0 0 0 0 0

12730 2.55 194.7 812.8 39.1 276 12739 0.00 2.80 0.00 0.000 4 0.000 0.094 3088 1377 1808 0 0 0 0 0 0

12839 2.55 194.7 772.0 36.2 277 12848 0.00 2.70 0.00 0.000 6 0.000 0.073 3087 2812 1806 0 0 0 0 0 0

13153 2.55 194.7 653.1 37.9 283 13163 0.00 2.62 0.00 0.000 4 0.000 0.058 3087 1367 1804 0 0 0 0 0 0

13231 2.55 194.7 624.5 37.5 284 13239 0.00 2.62 0.00 0.000 6 0.000 0.054 3087 2822 1803 0 0 0 0 0 0

13585 2.55 194.7 496.5 36.0 290 13589 0.00 2.62 0.00 0.000 4 0.000 0.054 3089 1353 1802 0 0 0 0 0 0

13616 2.55 194.7 484.9 35.6 290 13620 0.00 2.60 0.00 0.000 6 0.000 0.049 3088 2802 1801 0 0 0 0 0 0

13944 2.55 194.7 372.9 33.8 296 13948 0.00 2.58 0.00 0.000 4 0.000 0.049 3089 1363 1800 0 0 0 0 0 0

13960 2.55 194.7 367.4 34.6 296 13964 0.00 2.55 0.00 0.000 6 0.000 0.047 3087 2812 1800 0 0 0 0 0 0

14279 2.55 194.7 265.7 30.8 303 14280 0.00 0.00 0.00 0.000 6 0.000 0.000 3087 2812 1798 0 0 0 0 0 0

14583 2.55 194.7 180.6 28.1 313 14588 0.00 2.58 0.00 0.000 4 0.000 0.046 3088 1355 1798 0 0 0 0 0 0

14690 2.55 194.7 152.4 28.1 316 14694 0.00 2.55 0.00 0.000 6 0.000 0.042 3087 2811 1796 0 0 0 0 0 0

15007 2.55 194.7 70.2 21.9 334 15011 0.00 2.53 0.00 0.000 4 0.000 0.043 3087 1361 1795 0 0 0 0 0 0

15022 2.55 194.7 66.9 20.2 335 15028 0.00 2.50 0.00 0.000 6 0.000 0.041 3088 2800 1795 0 0 0 0 0 0

15214 2.55 194.7 31.9 15.1 354 15218 0.00 2.50 0.00 0.000 4 0.000 0.043 3087 1359 1795 0 0 0 0 0 0

15288 2.55 194.7 19.9 16.0 361 15294 0.00 2.50 0.00 0.000 6 0.000 0.040 3087 2807 1796 0 0 0 0 0 0

15357 2.55 194.7 8.0 18.1 374 15363 0.00 2.53 0.00 0.000 4 0.000 0.044 3088 1353 1796 0 0 0 0 0 0

15381 end climb: SURFACE_DEPTH_REACHED

state 15381 begin surface coast

15392 end surface coast: CONTROL_FINISHED_OK

state 15392 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	15	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	2800	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	40	XPDR_VALID	4
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	36	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	420	CALL_TRIES	5	C_VBD	2618	DEVICE2	-1
T_MISSION	450	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	-246029.12	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	200	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	2530	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	291009,200804,1921.606,-15557.521,39,2.7,58,9.7	TGT_NAME	K1
_CALLS	1	TGT_LATLONG	1920.000,-15557.000
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.072,-0.210
_SM_DEPTHo	0.45	KALMAN_X	-6407.2,378.2,276.7,18919.1,-912.4
_SM_ANGLEo	-68.8	KALMAN_Y	20856.4,-237.9,-393.2,-54540.9,2263.1
GPS2	291009,201211,1921.642,-15557.513,14,2.0,29,9.7	MHEAD_RNG_PITCHd_Wd	153.9,3170,-37.5,-7.857
SPEED_LIMITS	0.079,0.270	D_GRID	990

FINISH	0.5,1.022816	PA_DATA0	22.7/7836665/6060899
SM_CCo	15414,114.90,0.578,0,0,986,400.08	PA_DATA1	0.1/7836665/7825417
SM_GC	0.74,0.00,0.00,114.90,0.000,0.000,0.578,376,2946,986,-9.91,-0.14,400.08	PA_USB	13.8/30829585/26587015
IRIDIUM_FIX	1913.80,-15600.40,240411,141409	_24V_AH	23.4,5.256
TT8_MAMPS	0.156468	_10V_AH	9.9,8.902
HUMID	1078750313	FG_AHR_24Vo	0.000
TCM_TEMP	22.40	FG_AHR_10Vo	0.000
XPDR_PINGS	0	MEM	324380
PA_PMVER	0.2	DATA_FILE_SIZE	12734,381
PA_ROOTFSVER	rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009	CAP_FILE_SIZE	143990,0
PA_DFQS	0/0	CFSIZE	260034560,255672320
PA_CMQS	0/165	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_ROOT	87.1/128908/16632	CURRENT	0.053,143.8,1
PA_HOME	2.8/483886/470206	GPS	301009,003237,1920.276,-15556.999,31,1.7,31,9.7
PA_LOG	3.6/297829/287003

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	165	102.73	SBE_CT	255	24	143.68
Roll_motor	157	247	910.30	nil	0	0	0.00
VBD_pump_during_apogee	203	1286	6127.29	nil	0	0	0.00
VBD_pump_during_surface	114	578	1554.90	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	PAAM	15534	240	87540.05
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	29	50	14.67
TT8	0	19	0.00
LPSleep	12675	2	274.81
TT8_Active	466	19	91.42
TT8_Sampling	2257	39	889.69
TT8_CF8	196	45	89.24
TT8_Kalman	33	81	26.98
Analog_circuits	1574	12	187.03
GPS_charging	0	0	0.00
Compass	1666	8	132.01
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	-2.37	-24.8	0.0	0.0	0	89	0.00	0.00	-72.25	0.000	2	0.000	0.000	378	2967	2659	0	0	0	0	0	0
91	-2.37	-27.3	3.1	-7.3	14	108	8.88	1.62	-1.95	0.000	4	0.166	0.071	2007	3944	2728	0	0	0	0	0	0
267	-2.37	-27.3	57.9	-27.5	36	274	0.00	1.70	0.00	0.000	6	0.000	0.038	2007	2931	2730	0	0	0	0	0	0
459	-2.37	-27.3	100.7	-20.7	55	462	0.00	1.83	0.00	0.000	4	0.000	0.055	2007	3949	2730	0	0	0	0	0	0
511	-2.37	-27.3	112.0	-20.7	56	516	0.00	1.67	0.00	0.000	6	0.000	0.038	2007	2940	2731	0	0	0	0	0	0
825	-2.37	-27.3	169.3	-18.5	67	829	0.00	2.35	0.00	0.000	4	0.000	0.044	2007	1554	2732	0	0	0	0	0	0
975	-2.37	-27.3	194.1	-14.8	71	979	0.00	2.42	0.00	0.000	6	0.000	0.046	2007	2946	2733	0	0	0	0	0	0
1289	-2.37	-27.3	242.5	-15.6	82	1293	0.00	2.38	0.00	0.000	4	0.000	0.042	2007	1554	2733	0	0	0	0	0	0
1534	-2.37	-27.3	269.5	-10.5	89	1538	0.00	2.45	0.00	0.000	6	0.000	0.046	2007	2959	2733	0	0	0	0	0	0
1848	-2.37	-27.3	303.2	-11.0	100	1852	0.00	2.40	0.00	0.000	4	0.000	0.043	2007	1562	2733	0	0	0	0	0	0
2093	-2.37	-27.3	330.8	-10.9	103	2098	0.00	2.45	0.00	0.000	6	0.000	0.047	2007	2961	2732	0	0	0	0	0	0
2406	-2.37	-27.3	366.3	-11.3	109	2410	0.00	2.42	0.00	0.000	4	0.000	0.044	2007	1555	2731	0	0	0	0	0	0
2486	-2.37	-27.3	374.5	-10.3	110	2490	0.00	2.45	0.00	0.000	6	0.000	0.048	2007	2948	2730	0	0	0	0	0	0
2835	-2.37	-27.3	410.1	-9.8	116	2836	0.00	0.00	0.00	0.000	6	0.000	0.000	2007	2948	2727	0	0	0	0	0	0
3137	-2.37	-27.3	438.6	-9.3	121	3142	0.00	1.80	0.00	0.000	4	0.000	0.063	2007	3953	2725	0	0	0	0	0	0
3153	-2.37	-27.3	440.0	-8.0	121	3157	0.00	1.70	0.00	0.000	6	0.000	0.043	2007	2962	2725	0	0	0	0	0	0
3502	-2.37	-27.3	470.2	-9.1	127	3506	0.00	1.80	0.00	0.000	4	0.000	0.063	2007	3949	2723	0	0	0	0	0	0
3587	-2.37	-27.3	478.1	-9.8	128	3591	0.00	1.73	0.00	0.000	6	0.000	0.043	2007	2947	2721	0	0	0	0	0	0
3934	-2.37	-27.3	511.3	-10.0	134	3941	0.00	1.80	0.00	0.000	4	0.000	0.064	2007	3955	2718	0	0	0	0	0	0
4096	-2.37	-27.3	527.9	-10.4	136	4105	0.00	1.70	0.00	0.000	6	0.000	0.044	2007	2947	2717	0	0	0	0	0	0
4432	-2.37	-27.3	559.3	-9.0	142	4438	0.00	0.00	0.00	0.000	6	0.000	0.000	2007	2947	2715	0	0	0	0	0	0
4734	-2.37	-27.3	585.1	-8.4	147	4742	0.00	2.42	0.00	0.000	4	0.000	0.055	2007	1556	2713	0	0	0	0	0	0
4912	-2.37	-29.4	598.4	-7.4	149	4921	0.00	2.50	0.00	0.000	6	0.000	0.057	2007	2960	2712	0	0	0	0	0	0
5227	-2.37	-29.6	622.7	-7.8	155	5236	0.00	1.85	0.00	0.000	4	0.000	0.080	2007	3955	2710	0	0	0	0	0	0
5314	-2.38	-31.8	630.0	-7.4	156	5322	0.00	1.73	0.00	0.000	6	0.000	0.046	2007	2953	2708	0	0	0	0	0	0
5660	-2.38	-35.3	654.3	-7.1	162	5668	0.00	2.47	0.00	0.000	4	0.000	0.061	2007	1544	2708	0	0	0	0	0	0
5821	-2.38	-37.6	666.2	-7.4	164	5830	0.00	2.55	0.00	0.000	6	0.000	0.064	2007	2959	2706	0	0	0	0	0	0
6146	-2.38	-38.5	691.1	-7.7	170	6155	0.00	2.55	0.00	0.000	4	0.000	0.065	2007	1542	2705	0	0	0	0	0	0
6394	-2.39	-42.2	709.4	-7.1	173	6404	0.00	2.55	0.00	0.000	6	0.000	0.071	2007	2958	2704	0	0	0	0	0	0
6702	-2.39	-45.2	731.7	-7.2	179	6711	0.00	2.60	0.00	0.000	4	0.000	0.073	2007	1542	2703	0	0	0	0	0	0
6731	-2.39	-45.2	733.8	-8.2	179	6739	0.00	2.62	0.00	0.000	6	0.000	0.078	2007	2950	2703	0	0	0	0	0	0
7061	-2.40	-50.5	757.0	-6.7	185	7070	0.00	2.62	0.00	0.000	4	0.000	0.080	2007	1554	2702	0	0	0	0	0	0
7154	-2.40	-57.1	762.9	-6.5	186	7164	0.00	2.67	0.00	0.000	6	0.000	0.089	2007	2953	2701	0	0	0	0	0	0
7486	-2.42	-71.4	780.5	-4.8	192	7494	0.00	2.67	0.00	0.000	4	0.000	0.091	2007	1545	2701	0	0	0	0	0	0
7633	-2.44	-90.5	786.1	-3.8	194	7642	0.00	2.72	0.00	0.000	6	0.000	0.097	2007	2955	2700	0	0	0	0	0	0
7975	-2.46	-109.1	799.1	-3.9	200	7984	0.00	2.05	0.00	0.000	4	0.000	0.134	2007	3962	2698	0	0	0	0	0	0
8224	-2.48	-121.8	811.9	-5.2	203	8234	0.00	1.92	0.00	0.000	6	0.000	0.092	2008	2958	2698	0	0	0	0	0	0
8532	-2.49	-135.8	826.9	-4.9	209	8540	0.00	2.05	0.00	0.000	4	0.000	0.130	2007	3953	2697	0	0	0	0	0	0
8720	-2.50	-143.3	837.4	-6.3	211	8730	0.00	2.00	0.00	0.000	6	0.000	0.106	2007	2942	2697	0	0	0	0	0	0
9028	-2.51	-153.7	855.0	-5.7	217	9037	0.12	2.90	0.00	0.000	4	0.109	0.135	1980	1529	2695	0	0	0	0	0	0
9277	-2.52	-164.0	868.9	-5.7	220	9288	0.00	2.95	0.00	0.000	6	0.000	0.142	1980	2949	2694	0	0	0	0	0	0
9585	-2.54	-179.0	883.9	-4.7	226	9594	0.00	3.05	0.00	0.000	4	0.000	0.153	1980	1538	2694	0	0	0	0	0	0
9744	-2.55	-194.7	890.0	-3.9	228	9753	0.00	3.12	0.00	0.000	6	0.000	0.162	1980	2950	2694	0	0	0	0	0	0
10075	-2.55	-194.7	903.3	-4.1	234	10080	0.00	0.00	0.00	0.000	6	0.000	0.000	1980	2951	2694	0	0	0	0	0	0
10376	-2.55	-194.7	914.7	-3.7	239	10386	0.00	3.28	0.00	0.000	4	0.000	0.179	1980	1529	2693	0	0	0	0	0	0
10626	-2.55	-194.7	925.4	-4.7	242	10636	0.00	3.28	0.00	0.000	6	0.000	0.186	1980	2956	2693	0	0	0	0	0	0
10934	-2.55	-194.7	938.5	-4.1	248	10943	0.00	2.50	0.00	0.000	4	0.000	0.226	1980	3962	2693	0	0	0	0	0	0
11033	-2.55	-194.7	942.8	-4.3	249	11041	0.00	2.42	0.00	0.000	6	0.000	0.191	1980	2949	2693	0	0	0	0	0	0
11358	-2.55	-194.7	957.3	-4.5	255	11364	0.00	0.00	0.00	0.000	6	0.000	0.000	1980	2949	2693	0	0	0	0	0	0
11660	-2.55	-194.7	970.9	-4.5	260	11669	0.00	2.72	0.00	0.000	4	0.000	0.246	1980	3959	2692	0	0	0	0	0	0
11908	-2.55	-194.7	982.2	-4.2	263	11918	0.00	2.67	0.00	0.000	6	0.000	0.234	1980	2949	2692	0	0	0	0	0	0
12154	end dive: TARGET_DEPTH_EXCEEDED
state	12154	begin apogee
12159	-0.31	0.0	991.2	3.6	267	12186	2.53	0.00	18.42	1.256	6	0.143	0.000	2458	2795	2618	0	0	0	0	0	0
12187	end apogee: CONTROL_FINISHED_OK
state	12187	begin climb
12189	2.55	194.7	991.2	0.0	267	12389	2.92	3.53	185.15	1.286	4	0.078	0.205	3088	1379	1823	0	0	0	0	0	0
12415	2.55	194.7	935.5	38.7	270	12424	0.00	3.35	0.00	0.000	6	0.000	0.175	3087	2806	1818	0	0	0	0	0	0
12730	2.55	194.7	812.8	39.1	276	12739	0.00	2.80	0.00	0.000	4	0.000	0.094	3088	1377	1808	0	0	0	0	0	0
12839	2.55	194.7	772.0	36.2	277	12848	0.00	2.70	0.00	0.000	6	0.000	0.073	3087	2812	1806	0	0	0	0	0	0
13153	2.55	194.7	653.1	37.9	283	13163	0.00	2.62	0.00	0.000	4	0.000	0.058	3087	1367	1804	0	0	0	0	0	0
13231	2.55	194.7	624.5	37.5	284	13239	0.00	2.62	0.00	0.000	6	0.000	0.054	3087	2822	1803	0	0	0	0	0	0
13585	2.55	194.7	496.5	36.0	290	13589	0.00	2.62	0.00	0.000	4	0.000	0.054	3089	1353	1802	0	0	0	0	0	0
13616	2.55	194.7	484.9	35.6	290	13620	0.00	2.60	0.00	0.000	6	0.000	0.049	3088	2802	1801	0	0	0	0	0	0
13944	2.55	194.7	372.9	33.8	296	13948	0.00	2.58	0.00	0.000	4	0.000	0.049	3089	1363	1800	0	0	0	0	0	0
13960	2.55	194.7	367.4	34.6	296	13964	0.00	2.55	0.00	0.000	6	0.000	0.047	3087	2812	1800	0	0	0	0	0	0
14279	2.55	194.7	265.7	30.8	303	14280	0.00	0.00	0.00	0.000	6	0.000	0.000	3087	2812	1798	0	0	0	0	0	0
14583	2.55	194.7	180.6	28.1	313	14588	0.00	2.58	0.00	0.000	4	0.000	0.046	3088	1355	1798	0	0	0	0	0	0
14690	2.55	194.7	152.4	28.1	316	14694	0.00	2.55	0.00	0.000	6	0.000	0.042	3087	2811	1796	0	0	0	0	0	0
15007	2.55	194.7	70.2	21.9	334	15011	0.00	2.53	0.00	0.000	4	0.000	0.043	3087	1361	1795	0	0	0	0	0	0
15022	2.55	194.7	66.9	20.2	335	15028	0.00	2.50	0.00	0.000	6	0.000	0.041	3088	2800	1795	0	0	0	0	0	0
15214	2.55	194.7	31.9	15.1	354	15218	0.00	2.50	0.00	0.000	4	0.000	0.043	3087	1359	1795	0	0	0	0	0	0
15288	2.55	194.7	19.9	16.0	361	15294	0.00	2.50	0.00	0.000	6	0.000	0.040	3087	2807	1796	0	0	0	0	0	0
15357	2.55	194.7	8.0	18.1	374	15363	0.00	2.53	0.00	0.000	4	0.000	0.044	3088	1353	1796	0	0	0	0	0	0
15381	end climb: SURFACE_DEPTH_REACHED
state	15381	begin surface coast
15392	end surface coast: CONTROL_FINISHED_OK
state	15392	begin surface