Glider dive log

Kona Mar10 * SG023 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 23 ESCAPE_HEADING 0 C_ROLL_DIVE 2270 ALTIM_FREQUENCY 14

MISSION 14 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2370 ALTIM_PULSE 5

DIVE 17 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 64 INT_PRESSURE_SLOPE 0.0097660003

D_ABORT 1090 SM_CC 450 R_STBD_OVSHOOT 27 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 280 CAPUPLOAD 0 PITCH_VBD_SHIFT 0.00109 LOGGERDEVICE1 69

T_MISSION 320 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 -41407.48 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 240 C_PITCH 2450 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 450

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 280

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 -41407.48

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 320

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS_USE 0 INT_PRESSURE_YINT 0 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COURSE_BIAS 0 KALMAN_USE 1 RELAUNCH 1 T_TURN 225

C_PITCH 2450 KERMIT 0 RHO 1.0275 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2370 LOGGERDEVICE1 69 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_DIVE 2270 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 240 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 64 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 2 R_STBD_OVSHOOT 27 VBD_MIN 525

DIVE 17 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 190310,123454,1934.657,-15602.070,35,1.7,35,9.7 TGT_NAME HARP

_CALLS 1 TGT_LATLONG 1934.700,-15601.400

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.203,-0.170

_SM_DEPTHo 0.98 KALMAN_X -24845.5,211.8,201.2,31986.5,-2183.2

_SM_ANGLEo -66.2 KALMAN_Y 44435.1,80.3,158.1,-59282.1,2772.3

GPS2 190310,123932,1934.748,-15602.113,14,1.7,14,9.7 MHEAD_RNG_PITCHd_Wd 120.2,1246,-20.3,-11.786

SPEED_LIMITS 0.204,0.311 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.023554 PA_HOME 10.2/482055/432662

SM_CCo 12425,63.55,0.623,0,0,1006,450.13 PA_ROOT 89.3/128908/13732

SM_GC 0.85,0.00,0.00,63.55,0.000,0.000,0.623,360,2246,1006,-9.61,-0.68,450.13 PA_LOG 3.6/298663/287906

IRIDIUM_FIX 1927.51,-15602.72,120911,030313 PA_DATA1 10.1/7837685/7048153

TT8_MAMPS 0.154294 PA_DATA0 78.3/7836665/1699853

HUMID 1078067732 _24V_AH 23.5,9.970

TCM_TEMP 24.10 _10V_AH 9.9,7.430

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 353340

PA_DFQS 0/0 DATA_FILE_SIZE 13488,363

PA_CMQS 0/127 CAP_FILE_SIZE 105879,0

PA_USBDRIVE /mnt/usba CFSIZE 260034560,255553536

PA_USBB 100.0/0/0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

PA_USBA 6.3/30829585/28889151 GPS 190310,160924,1934.704,-15600.817,39,1.5,39,9.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 175 101.51 SBE_CT 244 24 138.00

Roll_motor 125 53 158.50 nil 0 0 0.00

VBD_pump_during_apogee 463 1453 15840.42 nil 0 0 0.00

VBD_pump_during_surface 63 622 929.97 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 0 0.00 nil 0 0 0.00

Iridium_during_connect 33 0 0.00 PAAM 12867 70 21191.38

Iridium_during_xfer 127 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 10026 2 217.38

TT8_Active 624 19 122.35

TT8_Sampling 1913 39 754.12

TT8_CF8 193 45 87.57

TT8_Kalman 33 0 0.00

Analog_circuits 1525 12 181.20

GPS_charging 0 0 0.00

Compass 1238 15 183.89

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.54 -165.8 0.0 0.0 0 106 0.00 0.00 -85.43 0.000 2 0.000 0.000 359 2252 2785 0 0 0 0 0 0

109 -1.61 -233.6 3.6 -6.2 17 145 10.30 2.75 -20.65 0.000 4 0.176 0.050 2092 894 3795 0 0 0 0 0 0

186 -1.61 -233.6 27.7 -33.8 30 192 0.00 2.78 0.00 0.000 6 0.000 0.023 2092 2278 3796 0 0 0 0 0 0

378 -1.61 -233.6 88.7 -31.2 49 382 0.00 2.28 0.00 0.000 4 0.000 0.032 2092 3675 3797 0 0 0 0 0 0

570 -1.61 -233.6 138.1 -24.4 58 574 0.00 2.20 0.00 0.000 6 0.000 0.024 2092 2308 3797 0 0 0 0 0 0

905 -1.61 -233.6 227.2 -26.5 69 909 0.00 2.25 0.00 0.000 4 0.000 0.035 2092 3670 3800 0 0 0 0 0 0

1119 -1.61 -233.6 273.4 -20.4 75 1123 0.00 2.28 0.00 0.000 6 0.000 0.024 2092 2260 3800 0 0 0 0 0 0

1432 -1.61 -233.6 336.9 -19.9 83 1435 0.00 2.38 0.00 0.000 4 0.000 0.042 2092 3674 3800 0 0 0 0 0 0

1543 -1.61 -233.6 357.1 -17.6 84 1547 0.00 2.30 0.00 0.000 6 0.000 0.026 2092 2262 3800 0 0 0 0 0 0

1861 -1.61 -233.6 414.3 -18.1 90 1869 0.00 2.35 0.00 0.000 4 0.000 0.044 2092 3669 3799 0 0 0 0 0 0

1905 -1.61 -233.6 422.1 -17.5 90 1915 0.00 2.28 0.00 0.000 6 0.000 0.027 2092 2260 3798 0 0 0 0 0 0

2221 -1.61 -233.6 482.7 -19.5 96 2230 0.00 2.88 0.00 0.000 4 0.000 0.043 2092 861 3796 0 0 0 0 0 0

2245 -1.61 -233.6 487.3 -20.2 96 2253 0.00 2.85 0.00 0.000 6 0.000 0.032 2092 2269 3796 0 0 0 0 0 0

2581 -1.61 -233.6 548.9 -18.3 102 2587 0.00 0.00 0.00 0.000 6 0.000 0.000 2092 2268 3792 0 0 0 0 0 0

2882 -1.61 -233.6 604.4 -18.5 107 2888 0.00 0.00 0.00 0.000 6 0.000 0.000 2092 2268 3790 0 0 0 0 0 0

3185 -1.61 -233.6 659.4 -18.1 112 3190 0.00 0.00 0.00 0.000 6 0.000 0.000 2092 2268 3787 0 0 0 0 0 0

3486 -1.61 -233.6 711.6 -17.3 117 3495 0.00 2.95 0.00 0.000 4 0.000 0.050 2092 866 3785 0 0 0 0 0 0

3520 -1.61 -233.6 717.4 -17.0 117 3529 0.00 2.90 0.00 0.000 6 0.000 0.038 2092 2276 3784 0 0 0 0 0 0

3845 -1.61 -233.6 772.4 -16.9 123 3851 0.00 0.00 0.00 0.000 6 0.000 0.000 2092 2276 3781 0 0 0 0 0 0

4147 -1.61 -233.6 822.1 -16.4 128 4156 0.00 2.92 0.00 0.000 4 0.000 0.048 2092 872 3778 0 0 0 0 0 0

4192 -1.61 -233.6 830.1 -16.6 128 4201 0.00 2.88 0.00 0.000 6 0.000 0.039 2092 2271 3777 0 0 0 0 0 0

4507 -1.61 -233.6 881.4 -16.1 134 4513 0.00 0.00 0.00 0.000 6 0.000 0.000 2092 2271 3776 0 0 0 0 0 0

4809 -1.61 -233.6 928.7 -15.6 139 4818 0.00 2.92 0.00 0.000 4 0.000 0.047 2092 868 3774 0 0 0 0 0 0

4849 -1.61 -233.6 935.0 -15.2 139 4857 0.00 2.90 0.00 0.000 6 0.000 0.039 2092 2280 3774 0 0 0 0 0 0

5169 -1.61 -233.6 986.0 -16.0 145 5178 0.00 2.92 0.00 0.000 4 0.000 0.047 2092 862 3771 0 0 0 0 0 0

5193 -1.61 -233.6 989.9 -15.5 145 5201 0.00 2.10 0.00 0.000 3 0.000 0.035 2092 1884 3771 0 0 0 0 0 0

5202 end dive: TARGET_DEPTH_EXCEEDED

state 5202 begin apogee

5207 -0.33 0.0 990.7 15.7 145 5407 1.40 0.00 191.98 1.454 6 0.104 0.000 2372 2369 2842 0 0 0 0 0 0

5407 end apogee: CONTROL_FINISHED_OK

state 5408 begin climb

5410 1.61 233.6 1001.4 0.0 148 5619 1.98 2.47 195.70 1.411 4 0.055 0.054 2797 3776 1888 0 0 1 0 0 0

5721 1.61 233.6 973.0 20.5 153 5729 0.00 2.28 0.00 0.000 6 0.000 0.028 2797 2367 1884 0 0 0 0 0 0

6089 1.61 233.6 909.3 17.1 159 6097 0.00 2.40 0.00 0.000 4 0.000 0.053 2797 3792 1881 0 0 0 0 0 0

6117 1.61 233.6 904.5 17.2 159 6125 0.00 2.30 0.00 0.000 6 0.000 0.028 2797 2369 1880 0 0 0 0 0 0

6448 1.61 233.6 851.6 15.9 165 6456 0.00 2.38 0.00 0.000 4 0.000 0.053 2797 3781 1880 0 0 0 0 0 0

6519 1.61 233.6 839.8 17.2 166 6527 0.00 2.28 0.00 0.000 6 0.000 0.028 2797 2370 1879 0 0 0 0 0 0

6871 1.61 233.6 782.9 16.0 172 6879 0.00 2.38 0.00 0.000 4 0.000 0.054 2797 3787 1878 0 0 0 0 0 0

6958 1.61 233.6 767.7 16.8 173 6966 0.00 2.30 0.00 0.000 6 0.000 0.028 2797 2358 1877 0 0 0 0 0 0

7294 1.61 233.6 712.1 16.7 179 7302 0.00 2.40 0.00 0.000 4 0.000 0.053 2797 3792 1877 0 0 0 0 0 0

7478 1.61 233.6 679.6 18.1 181 7488 0.00 2.30 0.00 0.000 6 0.000 0.028 2797 2357 1876 0 0 0 0 0 0

7786 1.61 233.6 632.7 15.1 187 7792 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2354 1876 0 0 0 0 0 0

8088 1.61 233.6 589.6 14.1 192 8096 0.00 2.38 0.00 0.000 4 0.000 0.053 2797 3780 1875 0 0 0 0 0 0

8191 1.61 233.6 575.9 14.0 193 8200 0.00 2.28 0.00 0.000 6 0.000 0.028 2798 2357 1875 0 0 0 0 0 0

8512 1.61 233.6 534.5 13.1 199 8518 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2353 1875 0 0 0 0 0 0

8813 1.61 233.6 486.8 16.3 204 8822 0.00 2.40 0.00 0.000 4 0.000 0.052 2797 3785 1875 0 0 0 0 0 0

8880 1.61 233.6 474.0 19.5 205 8888 0.00 2.28 0.00 0.000 6 0.000 0.026 2797 2355 1874 0 0 0 0 0 0

9237 1.61 233.6 413.8 16.7 211 9245 0.00 2.85 0.00 0.000 4 0.000 0.039 2797 969 1874 0 0 0 0 0 0

9266 1.61 233.6 409.3 16.1 211 9274 0.00 2.85 0.00 0.000 6 0.000 0.033 2797 2373 1874 0 0 0 0 0 0

9596 1.61 233.6 360.1 14.7 217 9600 0.00 2.35 0.00 0.000 4 0.000 0.050 2797 3788 1874 0 0 0 0 0 0

9788 1.61 233.6 330.8 14.1 220 9792 0.00 2.28 0.00 0.000 6 0.000 0.025 2797 2363 1874 0 0 0 0 0 0

10124 1.61 233.6 289.0 13.1 226 10128 0.00 2.38 0.00 0.000 4 0.000 0.050 2797 3782 1874 0 0 0 0 0 0

10284 1.61 233.6 265.5 16.5 231 10288 0.00 2.25 0.00 0.000 6 0.000 0.024 2797 2372 1874 0 0 0 0 0 0

10619 1.61 233.6 217.7 14.4 242 10623 0.00 2.35 0.00 0.000 4 0.000 0.047 2797 3788 1873 0 0 0 0 0 0

10827 1.61 233.6 188.3 12.9 248 10831 0.00 2.25 0.00 0.000 6 0.000 0.021 2797 2363 1875 0 0 0 0 0 0

11147 1.61 233.6 151.9 11.8 259 11150 0.00 2.80 0.00 0.000 4 0.000 0.034 2797 976 1876 0 0 0 0 0 0

11178 1.61 233.6 147.5 13.7 260 11182 0.00 2.80 0.00 0.000 6 0.000 0.028 2797 2373 1876 0 0 0 0 0 0

11514 1.63 252.7 111.8 10.9 271 11533 0.00 2.38 14.55 0.727 4 0.000 0.044 2797 3778 1810 0 0 0 0 0 0

11774 1.67 284.6 81.6 10.3 289 11805 0.00 2.22 26.83 0.715 6 0.000 0.019 2797 2348 1680 0 0 0 0 0 0

11991 1.68 302.3 58.1 10.9 310 12012 0.00 2.42 15.38 0.661 4 0.000 0.043 2797 3792 1607 0 0 0 0 0 0

12048 1.71 324.5 51.9 10.7 315 12075 0.08 2.22 19.33 0.661 6 0.038 0.019 2828 2371 1516 0 0 0 0 0 0

12260 1.71 324.5 21.4 14.9 336 12264 0.00 2.83 0.00 0.000 4 0.000 0.032 2828 979 1513 0 0 0 0 0 0

12297 1.71 324.5 15.9 14.3 342 12303 0.00 2.78 0.00 0.000 6 0.000 0.024 2828 2374 1513 0 0 0 0 0 0

12366 1.71 324.5 6.0 13.6 355 12371 0.00 0.00 0.00 0.000 6 0.000 0.000 2828 2373 1513 0 0 0 0 0 0

12389 end climb: SURFACE_DEPTH_REACHED

state 12389 begin surface coast

12406 end surface coast: CONTROL_FINISHED_OK

state 12406 begin surface

ID	23	ESCAPE_HEADING	0	C_ROLL_DIVE	2270	ALTIM_FREQUENCY	14
MISSION	14	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2370	ALTIM_PULSE	5
DIVE	17	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	64	INT_PRESSURE_SLOPE	0.0097660003
D_ABORT	1090	SM_CC	450	R_STBD_OVSHOOT	27	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	280	CAPUPLOAD	0	PITCH_VBD_SHIFT	0.00109	LOGGERDEVICE1	69
T_MISSION	320	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	-41407.48	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	240	C_PITCH	2450	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	190310,123454,1934.657,-15602.070,35,1.7,35,9.7	TGT_NAME	HARP
_CALLS	1	TGT_LATLONG	1934.700,-15601.400
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.203,-0.170
_SM_DEPTHo	0.98	KALMAN_X	-24845.5,211.8,201.2,31986.5,-2183.2
_SM_ANGLEo	-66.2	KALMAN_Y	44435.1,80.3,158.1,-59282.1,2772.3
GPS2	190310,123932,1934.748,-15602.113,14,1.7,14,9.7	MHEAD_RNG_PITCHd_Wd	120.2,1246,-20.3,-11.786
SPEED_LIMITS	0.204,0.311	D_GRID	990

FINISH	0.1,1.023554	PA_HOME	10.2/482055/432662
SM_CCo	12425,63.55,0.623,0,0,1006,450.13	PA_ROOT	89.3/128908/13732
SM_GC	0.85,0.00,0.00,63.55,0.000,0.000,0.623,360,2246,1006,-9.61,-0.68,450.13	PA_LOG	3.6/298663/287906
IRIDIUM_FIX	1927.51,-15602.72,120911,030313	PA_DATA1	10.1/7837685/7048153
TT8_MAMPS	0.154294	PA_DATA0	78.3/7836665/1699853
HUMID	1078067732	_24V_AH	23.5,9.970
TCM_TEMP	24.10	_10V_AH	9.9,7.430
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	353340
PA_DFQS	0/0	DATA_FILE_SIZE	13488,363
PA_CMQS	0/127	CAP_FILE_SIZE	105879,0
PA_USBDRIVE	/mnt/usba	CFSIZE	260034560,255553536
PA_USBB	100.0/0/0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
PA_USBA	6.3/30829585/28889151	GPS	190310,160924,1934.704,-15600.817,39,1.5,39,9.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	175	101.51	SBE_CT	244	24	138.00
Roll_motor	125	53	158.50	nil	0	0	0.00
VBD_pump_during_apogee	463	1453	15840.42	nil	0	0	0.00
VBD_pump_during_surface	63	622	929.97	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	0	0.00	nil	0	0	0.00
Iridium_during_connect	33	0	0.00	PAAM	12867	70	21191.38
Iridium_during_xfer	127	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	10026	2	217.38
TT8_Active	624	19	122.35
TT8_Sampling	1913	39	754.12
TT8_CF8	193	45	87.57
TT8_Kalman	33	0	0.00
Analog_circuits	1525	12	181.20
GPS_charging	0	0	0.00
Compass	1238	15	183.89
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.54	-165.8	0.0	0.0	0	106	0.00	0.00	-85.43	0.000	2	0.000	0.000	359	2252	2785	0	0	0	0	0	0
109	-1.61	-233.6	3.6	-6.2	17	145	10.30	2.75	-20.65	0.000	4	0.176	0.050	2092	894	3795	0	0	0	0	0	0
186	-1.61	-233.6	27.7	-33.8	30	192	0.00	2.78	0.00	0.000	6	0.000	0.023	2092	2278	3796	0	0	0	0	0	0
378	-1.61	-233.6	88.7	-31.2	49	382	0.00	2.28	0.00	0.000	4	0.000	0.032	2092	3675	3797	0	0	0	0	0	0
570	-1.61	-233.6	138.1	-24.4	58	574	0.00	2.20	0.00	0.000	6	0.000	0.024	2092	2308	3797	0	0	0	0	0	0
905	-1.61	-233.6	227.2	-26.5	69	909	0.00	2.25	0.00	0.000	4	0.000	0.035	2092	3670	3800	0	0	0	0	0	0
1119	-1.61	-233.6	273.4	-20.4	75	1123	0.00	2.28	0.00	0.000	6	0.000	0.024	2092	2260	3800	0	0	0	0	0	0
1432	-1.61	-233.6	336.9	-19.9	83	1435	0.00	2.38	0.00	0.000	4	0.000	0.042	2092	3674	3800	0	0	0	0	0	0
1543	-1.61	-233.6	357.1	-17.6	84	1547	0.00	2.30	0.00	0.000	6	0.000	0.026	2092	2262	3800	0	0	0	0	0	0
1861	-1.61	-233.6	414.3	-18.1	90	1869	0.00	2.35	0.00	0.000	4	0.000	0.044	2092	3669	3799	0	0	0	0	0	0
1905	-1.61	-233.6	422.1	-17.5	90	1915	0.00	2.28	0.00	0.000	6	0.000	0.027	2092	2260	3798	0	0	0	0	0	0
2221	-1.61	-233.6	482.7	-19.5	96	2230	0.00	2.88	0.00	0.000	4	0.000	0.043	2092	861	3796	0	0	0	0	0	0
2245	-1.61	-233.6	487.3	-20.2	96	2253	0.00	2.85	0.00	0.000	6	0.000	0.032	2092	2269	3796	0	0	0	0	0	0
2581	-1.61	-233.6	548.9	-18.3	102	2587	0.00	0.00	0.00	0.000	6	0.000	0.000	2092	2268	3792	0	0	0	0	0	0
2882	-1.61	-233.6	604.4	-18.5	107	2888	0.00	0.00	0.00	0.000	6	0.000	0.000	2092	2268	3790	0	0	0	0	0	0
3185	-1.61	-233.6	659.4	-18.1	112	3190	0.00	0.00	0.00	0.000	6	0.000	0.000	2092	2268	3787	0	0	0	0	0	0
3486	-1.61	-233.6	711.6	-17.3	117	3495	0.00	2.95	0.00	0.000	4	0.000	0.050	2092	866	3785	0	0	0	0	0	0
3520	-1.61	-233.6	717.4	-17.0	117	3529	0.00	2.90	0.00	0.000	6	0.000	0.038	2092	2276	3784	0	0	0	0	0	0
3845	-1.61	-233.6	772.4	-16.9	123	3851	0.00	0.00	0.00	0.000	6	0.000	0.000	2092	2276	3781	0	0	0	0	0	0
4147	-1.61	-233.6	822.1	-16.4	128	4156	0.00	2.92	0.00	0.000	4	0.000	0.048	2092	872	3778	0	0	0	0	0	0
4192	-1.61	-233.6	830.1	-16.6	128	4201	0.00	2.88	0.00	0.000	6	0.000	0.039	2092	2271	3777	0	0	0	0	0	0
4507	-1.61	-233.6	881.4	-16.1	134	4513	0.00	0.00	0.00	0.000	6	0.000	0.000	2092	2271	3776	0	0	0	0	0	0
4809	-1.61	-233.6	928.7	-15.6	139	4818	0.00	2.92	0.00	0.000	4	0.000	0.047	2092	868	3774	0	0	0	0	0	0
4849	-1.61	-233.6	935.0	-15.2	139	4857	0.00	2.90	0.00	0.000	6	0.000	0.039	2092	2280	3774	0	0	0	0	0	0
5169	-1.61	-233.6	986.0	-16.0	145	5178	0.00	2.92	0.00	0.000	4	0.000	0.047	2092	862	3771	0	0	0	0	0	0
5193	-1.61	-233.6	989.9	-15.5	145	5201	0.00	2.10	0.00	0.000	3	0.000	0.035	2092	1884	3771	0	0	0	0	0	0
5202	end dive: TARGET_DEPTH_EXCEEDED
state	5202	begin apogee
5207	-0.33	0.0	990.7	15.7	145	5407	1.40	0.00	191.98	1.454	6	0.104	0.000	2372	2369	2842	0	0	0	0	0	0
5407	end apogee: CONTROL_FINISHED_OK
state	5408	begin climb
5410	1.61	233.6	1001.4	0.0	148	5619	1.98	2.47	195.70	1.411	4	0.055	0.054	2797	3776	1888	0	0	1	0	0	0
5721	1.61	233.6	973.0	20.5	153	5729	0.00	2.28	0.00	0.000	6	0.000	0.028	2797	2367	1884	0	0	0	0	0	0
6089	1.61	233.6	909.3	17.1	159	6097	0.00	2.40	0.00	0.000	4	0.000	0.053	2797	3792	1881	0	0	0	0	0	0
6117	1.61	233.6	904.5	17.2	159	6125	0.00	2.30	0.00	0.000	6	0.000	0.028	2797	2369	1880	0	0	0	0	0	0
6448	1.61	233.6	851.6	15.9	165	6456	0.00	2.38	0.00	0.000	4	0.000	0.053	2797	3781	1880	0	0	0	0	0	0
6519	1.61	233.6	839.8	17.2	166	6527	0.00	2.28	0.00	0.000	6	0.000	0.028	2797	2370	1879	0	0	0	0	0	0
6871	1.61	233.6	782.9	16.0	172	6879	0.00	2.38	0.00	0.000	4	0.000	0.054	2797	3787	1878	0	0	0	0	0	0
6958	1.61	233.6	767.7	16.8	173	6966	0.00	2.30	0.00	0.000	6	0.000	0.028	2797	2358	1877	0	0	0	0	0	0
7294	1.61	233.6	712.1	16.7	179	7302	0.00	2.40	0.00	0.000	4	0.000	0.053	2797	3792	1877	0	0	0	0	0	0
7478	1.61	233.6	679.6	18.1	181	7488	0.00	2.30	0.00	0.000	6	0.000	0.028	2797	2357	1876	0	0	0	0	0	0
7786	1.61	233.6	632.7	15.1	187	7792	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2354	1876	0	0	0	0	0	0
8088	1.61	233.6	589.6	14.1	192	8096	0.00	2.38	0.00	0.000	4	0.000	0.053	2797	3780	1875	0	0	0	0	0	0
8191	1.61	233.6	575.9	14.0	193	8200	0.00	2.28	0.00	0.000	6	0.000	0.028	2798	2357	1875	0	0	0	0	0	0
8512	1.61	233.6	534.5	13.1	199	8518	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2353	1875	0	0	0	0	0	0
8813	1.61	233.6	486.8	16.3	204	8822	0.00	2.40	0.00	0.000	4	0.000	0.052	2797	3785	1875	0	0	0	0	0	0
8880	1.61	233.6	474.0	19.5	205	8888	0.00	2.28	0.00	0.000	6	0.000	0.026	2797	2355	1874	0	0	0	0	0	0
9237	1.61	233.6	413.8	16.7	211	9245	0.00	2.85	0.00	0.000	4	0.000	0.039	2797	969	1874	0	0	0	0	0	0
9266	1.61	233.6	409.3	16.1	211	9274	0.00	2.85	0.00	0.000	6	0.000	0.033	2797	2373	1874	0	0	0	0	0	0
9596	1.61	233.6	360.1	14.7	217	9600	0.00	2.35	0.00	0.000	4	0.000	0.050	2797	3788	1874	0	0	0	0	0	0
9788	1.61	233.6	330.8	14.1	220	9792	0.00	2.28	0.00	0.000	6	0.000	0.025	2797	2363	1874	0	0	0	0	0	0
10124	1.61	233.6	289.0	13.1	226	10128	0.00	2.38	0.00	0.000	4	0.000	0.050	2797	3782	1874	0	0	0	0	0	0
10284	1.61	233.6	265.5	16.5	231	10288	0.00	2.25	0.00	0.000	6	0.000	0.024	2797	2372	1874	0	0	0	0	0	0
10619	1.61	233.6	217.7	14.4	242	10623	0.00	2.35	0.00	0.000	4	0.000	0.047	2797	3788	1873	0	0	0	0	0	0
10827	1.61	233.6	188.3	12.9	248	10831	0.00	2.25	0.00	0.000	6	0.000	0.021	2797	2363	1875	0	0	0	0	0	0
11147	1.61	233.6	151.9	11.8	259	11150	0.00	2.80	0.00	0.000	4	0.000	0.034	2797	976	1876	0	0	0	0	0	0
11178	1.61	233.6	147.5	13.7	260	11182	0.00	2.80	0.00	0.000	6	0.000	0.028	2797	2373	1876	0	0	0	0	0	0
11514	1.63	252.7	111.8	10.9	271	11533	0.00	2.38	14.55	0.727	4	0.000	0.044	2797	3778	1810	0	0	0	0	0	0
11774	1.67	284.6	81.6	10.3	289	11805	0.00	2.22	26.83	0.715	6	0.000	0.019	2797	2348	1680	0	0	0	0	0	0
11991	1.68	302.3	58.1	10.9	310	12012	0.00	2.42	15.38	0.661	4	0.000	0.043	2797	3792	1607	0	0	0	0	0	0
12048	1.71	324.5	51.9	10.7	315	12075	0.08	2.22	19.33	0.661	6	0.038	0.019	2828	2371	1516	0	0	0	0	0	0
12260	1.71	324.5	21.4	14.9	336	12264	0.00	2.83	0.00	0.000	4	0.000	0.032	2828	979	1513	0	0	0	0	0	0
12297	1.71	324.5	15.9	14.3	342	12303	0.00	2.78	0.00	0.000	6	0.000	0.024	2828	2374	1513	0	0	0	0	0	0
12366	1.71	324.5	6.0	13.6	355	12371	0.00	0.00	0.00	0.000	6	0.000	0.000	2828	2373	1513	0	0	0	0	0	0
12389	end climb: SURFACE_DEPTH_REACHED
state	12389	begin surface coast
12406	end surface coast: CONTROL_FINISHED_OK
state	12406	begin surface