Glider dive log

HI Oct09 * SG022 * Dive index * Mission links * Dive 21 * 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 21 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 41 XPDR_VALID 4

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 33 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 -246825.94 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 2520 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 15 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 15 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 -246825.94

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 2520 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 41 VBD_MAX 3841

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 33 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 21 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 301009,153456,1910.519,-15557.271,30,2.0,30,9.6 TGT_NAME K2

_CALLS 1 TGT_LATLONG 1910.000,-15558.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.082,0.038

_SM_DEPTHo 1.22 KALMAN_X -6867.3,6.8,-214.5,20674.8,768.5

_SM_ANGLEo -69.5 KALMAN_Y 21090.9,-1136.9,-561.5,-74433.2,-1789.2

GPS2 301009,153944,1910.431,-15557.262,37,1.7,37,9.6 MHEAD_RNG_PITCHd_Wd 228.7,1517,-43.4,-7.857

SPEED_LIMITS 0.079,0.270 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.022638 PA_DATA0 23.8/7836665/5973185

SM_CCo 15984,112.80,0.590,0,0,987,400.08 PA_DATA1 0.6/7836665/7791576

SM_GC 1.21,0.00,0.00,112.80,0.000,0.000,0.590,372,2945,987,-9.88,-0.14,400.08 PA_USB 19.2/30829585/24911314

IRIDIUM_FIX 1904.66,-15556.22,250411,090927 _24V_AH 23.4,6.067

TT8_MAMPS 0.132691 _10V_AH 9.9,11.037

HUMID 1078911603 FG_AHR_24Vo 0.000

TCM_TEMP 21.90 FG_AHR_10Vo 0.000

XPDR_PINGS 0 MEM 324188

PA_PMVER 0.2 DATA_FILE_SIZE 12798,370

PA_ROOTFSVER rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009 CAP_FILE_SIZE 149987,0

PA_DFQS 0/0 CFSIZE 260034560,255373312

PA_CMQS 190/363 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PA_ROOT 87.1/128908/16631 CURRENT 0.071,178.2,1

PA_HOME 3.0/483886/469602 GPS 301009,200936,1909.601,-15557.578,34,1.6,34,9.6

PA_LOG 3.6/297829/286985

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 161 103.57 SBE_CT 247 24 139.16

Roll_motor 139 233 763.77 nil 0 0 0.00

VBD_pump_during_apogee 199 1285 5990.53 nil 0 0 0.00

VBD_pump_during_surface 112 589 1556.85 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 16114 240 90807.75

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 37 50 18.66

TT8 0 19 0.00

LPSleep 12843 2 278.47

TT8_Active 458 19 89.83

TT8_Sampling 2661 39 1048.53

TT8_CF8 204 45 92.66

TT8_Kalman 33 81 26.98

Analog_circuits 1706 12 202.68

GPS_charging 0 0 0.00

Compass 1997 8 158.23

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 -2.91 -18.9 0.0 0.0 0 85 0.00 0.00 -68.43 0.000 2 0.000 0.000 370 2921 2535 0 0 0 0 0 0

88 -2.92 -25.0 3.2 -6.1 13 109 8.02 2.38 -5.65 0.000 4 0.162 0.061 1878 1547 2722 0 0 0 0 0 0

348 -2.92 -25.0 87.0 -28.7 43 355 0.00 2.45 0.00 0.000 6 0.000 0.050 1879 2950 2722 0 0 0 0 0 0

557 -2.92 -25.0 131.4 -19.1 54 561 0.00 2.40 0.00 0.000 4 0.000 0.044 1879 1533 2723 0 0 0 0 0 0

802 -2.92 -25.0 176.1 -17.0 61 806 0.00 2.45 0.00 0.000 6 0.000 0.047 1879 2952 2722 0 0 0 0 0 0

1116 -2.92 -25.0 222.5 -13.5 72 1120 0.00 1.75 0.00 0.000 4 0.000 0.056 1878 3957 2722 0 0 0 0 0 0

1362 -2.92 -25.0 256.1 -13.7 79 1366 0.00 1.73 0.00 0.000 6 0.000 0.040 1878 2919 2722 0 0 0 0 0 0

1676 -2.92 -25.0 296.4 -12.4 90 1680 0.00 1.83 0.00 0.000 4 0.000 0.056 1879 3949 2722 0 0 0 0 0 0

1782 -2.92 -25.0 310.6 -13.4 92 1786 0.00 1.67 0.00 0.000 6 0.000 0.041 1879 2952 2721 0 0 0 0 0 0

2105 -2.92 -25.0 348.7 -11.5 98 2106 0.00 0.00 0.00 0.000 6 0.000 0.000 1879 2951 2719 0 0 0 0 0 0

2407 -2.92 -25.0 383.6 -11.6 103 2411 0.00 2.38 0.00 0.000 4 0.000 0.045 1878 1551 2717 0 0 0 0 0 0

2653 -2.92 -25.0 412.2 -11.8 106 2657 0.00 2.42 0.00 0.000 6 0.000 0.048 1879 2962 2714 0 0 0 0 0 0

2965 -2.92 -25.0 446.9 -11.2 112 2969 0.00 1.75 0.00 0.000 4 0.000 0.061 1879 3953 2710 0 0 0 0 0 0

3001 -2.92 -25.0 451.3 -12.2 112 3006 0.00 1.70 0.00 0.000 6 0.000 0.042 1880 2949 2710 0 0 0 0 0 0

3330 -2.92 -25.0 482.6 -9.2 118 3334 0.00 1.80 0.00 0.000 4 0.000 0.060 1878 3952 2707 0 0 0 0 0 0

3410 -2.92 -25.0 490.0 -9.7 119 3414 0.00 1.73 0.00 0.000 6 0.000 0.043 1879 2945 2707 0 0 0 0 0 0

3759 -2.92 -25.0 521.9 -9.1 125 3766 0.00 0.00 0.00 0.000 6 0.000 0.000 1879 2944 2705 0 0 0 0 0 0

4062 -2.92 -25.0 552.6 -10.2 130 4070 0.00 2.38 0.00 0.000 4 0.000 0.051 1879 1551 2702 0 0 0 0 0 0

4310 -2.92 -25.4 576.0 -7.8 133 4320 0.00 2.40 0.00 0.000 6 0.000 0.053 1879 2953 2700 0 0 0 0 0 0

4619 -2.92 -26.8 599.0 -7.4 139 4627 0.00 2.42 0.00 0.000 4 0.000 0.051 1879 1555 2698 0 0 0 0 0 0

4866 -2.93 -31.8 616.6 -6.5 142 4876 0.00 2.42 0.00 0.000 6 0.000 0.057 1879 2963 2696 0 0 0 0 0 0

5175 -2.93 -33.1 639.4 -7.5 148 5183 0.00 2.47 0.00 0.000 4 0.000 0.055 1879 1549 2693 0 0 0 0 0 0

5423 -2.93 -39.1 655.6 -6.2 151 5433 0.00 2.45 0.00 0.000 6 0.000 0.061 1879 2949 2692 0 0 0 0 0 0

5731 -2.93 -39.1 680.5 -8.4 157 5740 0.00 2.47 0.00 0.000 4 0.000 0.061 1879 1554 2689 0 0 0 0 0 0

5979 -2.93 -39.3 701.0 -7.8 160 5989 0.00 2.50 0.00 0.000 6 0.000 0.069 1879 2951 2688 0 0 0 0 0 0

6288 -2.93 -40.3 725.1 -7.6 166 6297 0.00 2.55 0.00 0.000 4 0.000 0.071 1879 1564 2687 0 0 0 0 0 0

6537 -2.94 -46.6 741.6 -6.1 169 6548 0.00 2.53 0.00 0.000 6 0.000 0.079 1879 2952 2687 0 0 0 0 0 0

6846 -2.95 -55.9 758.4 -5.3 175 6854 0.00 2.58 0.00 0.000 4 0.000 0.081 1879 1563 2684 0 0 0 0 0 0

7093 -2.97 -73.6 768.1 -2.9 178 7103 0.00 2.58 0.00 0.000 6 0.000 0.087 1879 2952 2683 0 0 0 0 0 0

7402 -2.99 -89.2 778.9 -3.5 184 7410 0.00 2.62 0.00 0.000 4 0.000 0.087 1879 1554 2683 0 0 0 0 0 0

7650 -3.00 -103.8 787.5 -3.8 187 7660 0.00 2.62 0.00 0.000 6 0.000 0.094 1879 2956 2682 0 0 0 0 0 0

7958 -3.02 -116.7 800.0 -4.3 193 7967 0.00 2.67 0.00 0.000 4 0.000 0.099 1879 1565 2681 0 0 0 0 0 0

8020 -3.03 -126.4 803.1 -5.2 194 8028 0.00 2.70 0.00 0.000 6 0.000 0.100 1878 2953 2680 0 0 0 0 0 0

8385 -3.04 -132.6 824.7 -6.1 200 8393 0.00 2.08 0.00 0.000 4 0.000 0.145 1879 3959 2679 0 0 0 0 0 0

8632 -3.04 -139.0 840.4 -6.1 203 8643 0.00 1.95 0.00 0.000 6 0.000 0.109 1879 2980 2679 0 0 0 0 0 0

8941 -3.05 -145.1 859.5 -6.2 209 8950 0.10 2.10 0.00 0.000 4 0.117 0.142 1858 3953 2678 0 0 0 0 0 0

9189 -3.05 -150.2 874.1 -6.4 212 9199 0.00 2.12 0.00 0.000 6 0.000 0.130 1857 2943 2678 0 0 0 0 0 0

9497 -3.07 -162.5 888.0 -4.4 218 9505 0.00 2.22 0.00 0.000 4 0.000 0.160 1858 3954 2677 0 0 0 0 0 0

9744 -3.09 -182.3 895.7 -2.3 221 9754 0.00 2.15 0.00 0.000 6 0.000 0.143 1858 2948 2677 0 0 0 0 0 0

10054 -3.10 -194.7 902.2 -2.0 227 10063 0.00 2.25 0.00 0.000 4 0.000 0.167 1858 3953 2676 0 0 0 0 0 0

10303 -3.10 -194.7 907.3 -2.2 230 10313 0.00 2.20 0.00 0.000 6 0.000 0.150 1858 2943 2675 0 0 0 0 0 0

10611 -3.10 -194.7 916.6 -3.2 236 10620 0.00 2.33 0.00 0.000 4 0.000 0.178 1858 3954 2675 0 0 0 0 0 0

10859 -3.10 -194.7 925.4 -3.7 239 10868 0.00 2.30 0.00 0.000 6 0.000 0.165 1858 2942 2675 0 0 0 0 0 0

11168 -3.10 -194.7 937.0 -3.9 244 11177 0.00 2.40 0.00 0.000 4 0.000 0.195 1858 3953 2674 0 0 0 0 0 0

11416 -3.10 -194.7 947.1 -4.3 247 11427 0.00 2.38 0.00 0.000 6 0.000 0.186 1858 2947 2673 0 0 0 0 0 0

11725 -3.10 -194.7 956.1 -2.8 253 11733 0.00 2.47 0.00 0.000 4 0.000 0.210 1858 3952 2673 0 0 0 0 0 0

11972 -3.10 -194.7 963.1 -3.2 256 11981 0.00 2.47 0.00 0.000 6 0.000 0.201 1857 2944 2672 0 0 0 0 0 0

12281 -3.10 -194.7 972.9 -3.2 261 12290 0.00 2.58 0.00 0.000 4 0.000 0.224 1858 3955 2672 0 0 0 0 0 0

12529 -3.10 -194.7 979.9 -2.2 264 12538 0.00 2.53 0.00 0.000 6 0.000 0.217 1858 2948 2672 0 0 0 0 0 0

12838 -3.10 -194.7 985.2 -1.6 270 12846 0.00 2.62 0.00 0.000 4 0.000 0.234 1858 3956 2671 0 0 0 0 0 0

13086 -3.10 -194.7 987.2 0.1 273 13096 0.00 2.53 0.00 0.000 6 0.000 0.224 1858 2949 2671 0 0 0 0 0 0

13211 end dive: NO_VERTICAL_VELOCITY

state 13211 begin apogee

13216 -0.33 0.0 987.5 0.0 276 13239 3.12 0.00 13.95 1.229 6 0.152 0.000 2442 2797 2618 0 0 0 0 0 0

13239 end apogee: CONTROL_FINISHED_OK

state 13240 begin climb

13241 3.10 194.7 987.5 0.0 276 13442 3.50 3.38 185.20 1.285 4 0.081 0.186 3194 1377 1823 0 0 0 0 0 0

13672 3.10 194.7 833.5 42.4 282 13682 0.00 2.83 0.00 0.000 6 0.000 0.107 3194 2803 1810 0 0 0 0 0 0

13981 3.10 194.7 697.7 44.0 288 13990 0.00 2.62 0.00 0.000 4 0.000 0.062 3194 1369 1805 0 0 0 0 0 0

13993 3.10 194.7 691.4 43.7 288 14001 0.00 2.62 0.00 0.000 6 0.000 0.057 3194 2825 1805 0 0 0 0 0 0

14345 3.10 194.7 539.1 43.7 294 14353 0.00 2.60 0.00 0.000 4 0.000 0.055 3194 1365 1802 0 0 0 0 0 0

14389 3.10 194.7 520.4 41.4 294 14398 0.00 2.55 0.00 0.000 6 0.000 0.048 3194 2818 1802 0 0 0 0 0 0

14704 3.10 194.7 396.6 39.2 300 14705 0.00 0.00 0.00 0.000 6 0.000 0.000 3196 2818 1801 0 0 0 0 0 0

15005 3.10 194.7 282.5 37.8 305 15009 0.00 2.03 0.00 0.000 4 0.000 0.058 3194 3946 1799 0 0 0 0 0 0

15015 3.10 194.7 278.7 37.1 305 15019 0.00 2.08 0.00 0.000 6 0.000 0.041 3194 2759 1799 0 0 0 0 0 0

15340 3.10 194.7 168.7 32.9 316 15344 0.00 2.17 0.00 0.000 4 0.000 0.055 3194 3953 1799 0 0 0 0 0 0

15495 3.10 194.7 119.2 32.7 320 15501 0.00 1.98 0.00 0.000 6 0.000 0.039 3194 2783 1797 0 0 0 0 0 0

15810 3.10 194.7 29.4 20.0 347 15813 0.00 2.05 0.00 0.000 4 0.000 0.054 3194 3950 1798 0 0 0 0 0 0

15947 end climb: SURFACE_DEPTH_REACHED

state 15947 begin surface coast

15962 end surface coast: CONTROL_FINISHED_OK

state 15962 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	21	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	41	XPDR_VALID	4
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	33	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	-246825.94	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	2520	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	15	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	301009,153456,1910.519,-15557.271,30,2.0,30,9.6	TGT_NAME	K2
_CALLS	1	TGT_LATLONG	1910.000,-15558.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.082,0.038
_SM_DEPTHo	1.22	KALMAN_X	-6867.3,6.8,-214.5,20674.8,768.5
_SM_ANGLEo	-69.5	KALMAN_Y	21090.9,-1136.9,-561.5,-74433.2,-1789.2
GPS2	301009,153944,1910.431,-15557.262,37,1.7,37,9.6	MHEAD_RNG_PITCHd_Wd	228.7,1517,-43.4,-7.857
SPEED_LIMITS	0.079,0.270	D_GRID	990

FINISH	0.6,1.022638	PA_DATA0	23.8/7836665/5973185
SM_CCo	15984,112.80,0.590,0,0,987,400.08	PA_DATA1	0.6/7836665/7791576
SM_GC	1.21,0.00,0.00,112.80,0.000,0.000,0.590,372,2945,987,-9.88,-0.14,400.08	PA_USB	19.2/30829585/24911314
IRIDIUM_FIX	1904.66,-15556.22,250411,090927	_24V_AH	23.4,6.067
TT8_MAMPS	0.132691	_10V_AH	9.9,11.037
HUMID	1078911603	FG_AHR_24Vo	0.000
TCM_TEMP	21.90	FG_AHR_10Vo	0.000
XPDR_PINGS	0	MEM	324188
PA_PMVER	0.2	DATA_FILE_SIZE	12798,370
PA_ROOTFSVER	rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009	CAP_FILE_SIZE	149987,0
PA_DFQS	0/0	CFSIZE	260034560,255373312
PA_CMQS	190/363	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_ROOT	87.1/128908/16631	CURRENT	0.071,178.2,1
PA_HOME	3.0/483886/469602	GPS	301009,200936,1909.601,-15557.578,34,1.6,34,9.6
PA_LOG	3.6/297829/286985

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	161	103.57	SBE_CT	247	24	139.16
Roll_motor	139	233	763.77	nil	0	0	0.00
VBD_pump_during_apogee	199	1285	5990.53	nil	0	0	0.00
VBD_pump_during_surface	112	589	1556.85	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	16114	240	90807.75
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	37	50	18.66
TT8	0	19	0.00
LPSleep	12843	2	278.47
TT8_Active	458	19	89.83
TT8_Sampling	2661	39	1048.53
TT8_CF8	204	45	92.66
TT8_Kalman	33	81	26.98
Analog_circuits	1706	12	202.68
GPS_charging	0	0	0.00
Compass	1997	8	158.23
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	-2.91	-18.9	0.0	0.0	0	85	0.00	0.00	-68.43	0.000	2	0.000	0.000	370	2921	2535	0	0	0	0	0	0
88	-2.92	-25.0	3.2	-6.1	13	109	8.02	2.38	-5.65	0.000	4	0.162	0.061	1878	1547	2722	0	0	0	0	0	0
348	-2.92	-25.0	87.0	-28.7	43	355	0.00	2.45	0.00	0.000	6	0.000	0.050	1879	2950	2722	0	0	0	0	0	0
557	-2.92	-25.0	131.4	-19.1	54	561	0.00	2.40	0.00	0.000	4	0.000	0.044	1879	1533	2723	0	0	0	0	0	0
802	-2.92	-25.0	176.1	-17.0	61	806	0.00	2.45	0.00	0.000	6	0.000	0.047	1879	2952	2722	0	0	0	0	0	0
1116	-2.92	-25.0	222.5	-13.5	72	1120	0.00	1.75	0.00	0.000	4	0.000	0.056	1878	3957	2722	0	0	0	0	0	0
1362	-2.92	-25.0	256.1	-13.7	79	1366	0.00	1.73	0.00	0.000	6	0.000	0.040	1878	2919	2722	0	0	0	0	0	0
1676	-2.92	-25.0	296.4	-12.4	90	1680	0.00	1.83	0.00	0.000	4	0.000	0.056	1879	3949	2722	0	0	0	0	0	0
1782	-2.92	-25.0	310.6	-13.4	92	1786	0.00	1.67	0.00	0.000	6	0.000	0.041	1879	2952	2721	0	0	0	0	0	0
2105	-2.92	-25.0	348.7	-11.5	98	2106	0.00	0.00	0.00	0.000	6	0.000	0.000	1879	2951	2719	0	0	0	0	0	0
2407	-2.92	-25.0	383.6	-11.6	103	2411	0.00	2.38	0.00	0.000	4	0.000	0.045	1878	1551	2717	0	0	0	0	0	0
2653	-2.92	-25.0	412.2	-11.8	106	2657	0.00	2.42	0.00	0.000	6	0.000	0.048	1879	2962	2714	0	0	0	0	0	0
2965	-2.92	-25.0	446.9	-11.2	112	2969	0.00	1.75	0.00	0.000	4	0.000	0.061	1879	3953	2710	0	0	0	0	0	0
3001	-2.92	-25.0	451.3	-12.2	112	3006	0.00	1.70	0.00	0.000	6	0.000	0.042	1880	2949	2710	0	0	0	0	0	0
3330	-2.92	-25.0	482.6	-9.2	118	3334	0.00	1.80	0.00	0.000	4	0.000	0.060	1878	3952	2707	0	0	0	0	0	0
3410	-2.92	-25.0	490.0	-9.7	119	3414	0.00	1.73	0.00	0.000	6	0.000	0.043	1879	2945	2707	0	0	0	0	0	0
3759	-2.92	-25.0	521.9	-9.1	125	3766	0.00	0.00	0.00	0.000	6	0.000	0.000	1879	2944	2705	0	0	0	0	0	0
4062	-2.92	-25.0	552.6	-10.2	130	4070	0.00	2.38	0.00	0.000	4	0.000	0.051	1879	1551	2702	0	0	0	0	0	0
4310	-2.92	-25.4	576.0	-7.8	133	4320	0.00	2.40	0.00	0.000	6	0.000	0.053	1879	2953	2700	0	0	0	0	0	0
4619	-2.92	-26.8	599.0	-7.4	139	4627	0.00	2.42	0.00	0.000	4	0.000	0.051	1879	1555	2698	0	0	0	0	0	0
4866	-2.93	-31.8	616.6	-6.5	142	4876	0.00	2.42	0.00	0.000	6	0.000	0.057	1879	2963	2696	0	0	0	0	0	0
5175	-2.93	-33.1	639.4	-7.5	148	5183	0.00	2.47	0.00	0.000	4	0.000	0.055	1879	1549	2693	0	0	0	0	0	0
5423	-2.93	-39.1	655.6	-6.2	151	5433	0.00	2.45	0.00	0.000	6	0.000	0.061	1879	2949	2692	0	0	0	0	0	0
5731	-2.93	-39.1	680.5	-8.4	157	5740	0.00	2.47	0.00	0.000	4	0.000	0.061	1879	1554	2689	0	0	0	0	0	0
5979	-2.93	-39.3	701.0	-7.8	160	5989	0.00	2.50	0.00	0.000	6	0.000	0.069	1879	2951	2688	0	0	0	0	0	0
6288	-2.93	-40.3	725.1	-7.6	166	6297	0.00	2.55	0.00	0.000	4	0.000	0.071	1879	1564	2687	0	0	0	0	0	0
6537	-2.94	-46.6	741.6	-6.1	169	6548	0.00	2.53	0.00	0.000	6	0.000	0.079	1879	2952	2687	0	0	0	0	0	0
6846	-2.95	-55.9	758.4	-5.3	175	6854	0.00	2.58	0.00	0.000	4	0.000	0.081	1879	1563	2684	0	0	0	0	0	0
7093	-2.97	-73.6	768.1	-2.9	178	7103	0.00	2.58	0.00	0.000	6	0.000	0.087	1879	2952	2683	0	0	0	0	0	0
7402	-2.99	-89.2	778.9	-3.5	184	7410	0.00	2.62	0.00	0.000	4	0.000	0.087	1879	1554	2683	0	0	0	0	0	0
7650	-3.00	-103.8	787.5	-3.8	187	7660	0.00	2.62	0.00	0.000	6	0.000	0.094	1879	2956	2682	0	0	0	0	0	0
7958	-3.02	-116.7	800.0	-4.3	193	7967	0.00	2.67	0.00	0.000	4	0.000	0.099	1879	1565	2681	0	0	0	0	0	0
8020	-3.03	-126.4	803.1	-5.2	194	8028	0.00	2.70	0.00	0.000	6	0.000	0.100	1878	2953	2680	0	0	0	0	0	0
8385	-3.04	-132.6	824.7	-6.1	200	8393	0.00	2.08	0.00	0.000	4	0.000	0.145	1879	3959	2679	0	0	0	0	0	0
8632	-3.04	-139.0	840.4	-6.1	203	8643	0.00	1.95	0.00	0.000	6	0.000	0.109	1879	2980	2679	0	0	0	0	0	0
8941	-3.05	-145.1	859.5	-6.2	209	8950	0.10	2.10	0.00	0.000	4	0.117	0.142	1858	3953	2678	0	0	0	0	0	0
9189	-3.05	-150.2	874.1	-6.4	212	9199	0.00	2.12	0.00	0.000	6	0.000	0.130	1857	2943	2678	0	0	0	0	0	0
9497	-3.07	-162.5	888.0	-4.4	218	9505	0.00	2.22	0.00	0.000	4	0.000	0.160	1858	3954	2677	0	0	0	0	0	0
9744	-3.09	-182.3	895.7	-2.3	221	9754	0.00	2.15	0.00	0.000	6	0.000	0.143	1858	2948	2677	0	0	0	0	0	0
10054	-3.10	-194.7	902.2	-2.0	227	10063	0.00	2.25	0.00	0.000	4	0.000	0.167	1858	3953	2676	0	0	0	0	0	0
10303	-3.10	-194.7	907.3	-2.2	230	10313	0.00	2.20	0.00	0.000	6	0.000	0.150	1858	2943	2675	0	0	0	0	0	0
10611	-3.10	-194.7	916.6	-3.2	236	10620	0.00	2.33	0.00	0.000	4	0.000	0.178	1858	3954	2675	0	0	0	0	0	0
10859	-3.10	-194.7	925.4	-3.7	239	10868	0.00	2.30	0.00	0.000	6	0.000	0.165	1858	2942	2675	0	0	0	0	0	0
11168	-3.10	-194.7	937.0	-3.9	244	11177	0.00	2.40	0.00	0.000	4	0.000	0.195	1858	3953	2674	0	0	0	0	0	0
11416	-3.10	-194.7	947.1	-4.3	247	11427	0.00	2.38	0.00	0.000	6	0.000	0.186	1858	2947	2673	0	0	0	0	0	0
11725	-3.10	-194.7	956.1	-2.8	253	11733	0.00	2.47	0.00	0.000	4	0.000	0.210	1858	3952	2673	0	0	0	0	0	0
11972	-3.10	-194.7	963.1	-3.2	256	11981	0.00	2.47	0.00	0.000	6	0.000	0.201	1857	2944	2672	0	0	0	0	0	0
12281	-3.10	-194.7	972.9	-3.2	261	12290	0.00	2.58	0.00	0.000	4	0.000	0.224	1858	3955	2672	0	0	0	0	0	0
12529	-3.10	-194.7	979.9	-2.2	264	12538	0.00	2.53	0.00	0.000	6	0.000	0.217	1858	2948	2672	0	0	0	0	0	0
12838	-3.10	-194.7	985.2	-1.6	270	12846	0.00	2.62	0.00	0.000	4	0.000	0.234	1858	3956	2671	0	0	0	0	0	0
13086	-3.10	-194.7	987.2	0.1	273	13096	0.00	2.53	0.00	0.000	6	0.000	0.224	1858	2949	2671	0	0	0	0	0	0
13211	end dive: NO_VERTICAL_VELOCITY
state	13211	begin apogee
13216	-0.33	0.0	987.5	0.0	276	13239	3.12	0.00	13.95	1.229	6	0.152	0.000	2442	2797	2618	0	0	0	0	0	0
13239	end apogee: CONTROL_FINISHED_OK
state	13240	begin climb
13241	3.10	194.7	987.5	0.0	276	13442	3.50	3.38	185.20	1.285	4	0.081	0.186	3194	1377	1823	0	0	0	0	0	0
13672	3.10	194.7	833.5	42.4	282	13682	0.00	2.83	0.00	0.000	6	0.000	0.107	3194	2803	1810	0	0	0	0	0	0
13981	3.10	194.7	697.7	44.0	288	13990	0.00	2.62	0.00	0.000	4	0.000	0.062	3194	1369	1805	0	0	0	0	0	0
13993	3.10	194.7	691.4	43.7	288	14001	0.00	2.62	0.00	0.000	6	0.000	0.057	3194	2825	1805	0	0	0	0	0	0
14345	3.10	194.7	539.1	43.7	294	14353	0.00	2.60	0.00	0.000	4	0.000	0.055	3194	1365	1802	0	0	0	0	0	0
14389	3.10	194.7	520.4	41.4	294	14398	0.00	2.55	0.00	0.000	6	0.000	0.048	3194	2818	1802	0	0	0	0	0	0
14704	3.10	194.7	396.6	39.2	300	14705	0.00	0.00	0.00	0.000	6	0.000	0.000	3196	2818	1801	0	0	0	0	0	0
15005	3.10	194.7	282.5	37.8	305	15009	0.00	2.03	0.00	0.000	4	0.000	0.058	3194	3946	1799	0	0	0	0	0	0
15015	3.10	194.7	278.7	37.1	305	15019	0.00	2.08	0.00	0.000	6	0.000	0.041	3194	2759	1799	0	0	0	0	0	0
15340	3.10	194.7	168.7	32.9	316	15344	0.00	2.17	0.00	0.000	4	0.000	0.055	3194	3953	1799	0	0	0	0	0	0
15495	3.10	194.7	119.2	32.7	320	15501	0.00	1.98	0.00	0.000	6	0.000	0.039	3194	2783	1797	0	0	0	0	0	0
15810	3.10	194.7	29.4	20.0	347	15813	0.00	2.05	0.00	0.000	4	0.000	0.054	3194	3950	1798	0	0	0	0	0	0
15947	end climb: SURFACE_DEPTH_REACHED
state	15947	begin surface coast
15962	end surface coast: CONTROL_FINISHED_OK
state	15962	begin surface