Glider dive log

HI Oct09 * SG022 * Dive index * Mission links * Dive 27 * 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 27 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 61 XPDR_VALID 4

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 46 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 -247024 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 -247024

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 61 VBD_MAX 3841

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 46 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 27 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 311009,225930,1919.281,-15556.812,71,1.8,71,9.7 TGT_NAME K3

_CALLS 4 TGT_LATLONG 1920.000,-15557.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.219,0.158

_SM_DEPTHo 0.54 KALMAN_X 8486.0,9.6,-21.5,5967.5,5770.9

_SM_ANGLEo -66.2 KALMAN_Y 5187.5,227.0,102.1,-44366.1,-4981.9

GPS2 311009,231624,1919.194,-15556.777,44,1.3,61,9.7 MHEAD_RNG_PITCHd_Wd 335.7,1542,-34.5,-7.857

SPEED_LIMITS 0.079,0.270 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.022989 PA_DATA0 8.9/7836665/7143083

SM_CCo 13417,111.12,0.563,0,0,986,400.08 PA_DATA1 0.6/7836665/7791576

SM_GC 0.76,0.00,0.00,111.12,0.000,0.000,0.563,372,2961,986,-9.88,0.31,400.08 PA_USB 30.8/30829585/21321417

IRIDIUM_FIX 1909.23,-15558.31,260411,121204 _24V_AH 23.4,7.028

TT8_MAMPS 0.167206 _10V_AH 9.9,14.217

HUMID 1078716764 FG_AHR_24Vo 0.000

TCM_TEMP 22.70 FG_AHR_10Vo 0.000

XPDR_PINGS 0 MEM 324088

PA_PMVER 0.2 DATA_FILE_SIZE 12734,347

PA_ROOTFSVER rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009 CAP_FILE_SIZE 125924,0

PA_DFQS 0/0 CFSIZE 260034560,254853120

PA_CMQS 0/132 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PA_ROOT 87.1/128908/16631 CURRENT 0.030,196.1,1

PA_HOME 3.5/483886/466750 GPS 011109,030356,1919.915,-15557.081,38,2.6,57,9.7

PA_LOG 3.7/297829/286950

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 165 101.47 SBE_CT 232 24 130.64

Roll_motor 136 227 729.48 nil 0 0 0.00

VBD_pump_during_apogee 208 1283 6267.32 nil 0 0 0.00

VBD_pump_during_surface 111 562 1463.93 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 120 103 289.37 nil 0 0 0.00

Iridium_during_connect 234 160 879.76 PAAM 14649 240 82551.79

Iridium_during_xfer 259 223 1354.14

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 62 50 31.17

TT8 0 19 0.00

LPSleep 11036 2 239.28

TT8_Active 434 19 85.12

TT8_Sampling 2206 39 869.44

TT8_CF8 856 45 388.16

TT8_Kalman 33 81 26.99

Analog_circuits 1465 12 174.07

GPS_charging 0 0 0.00

Compass 1580 8 125.21

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -2.33 -29.1 0.0 0.0 0 93 0.00 0.00 -75.12 0.000 2 0.000 0.000 373 2968 2715 0 0 0 0 0 0

95 -2.34 -34.6 3.1 -6.9 14 110 8.93 0.00 -1.20 0.000 6 0.166 0.000 2008 2968 2760 0 0 0 0 0 0

173 -2.34 -34.6 28.8 -34.0 27 174 0.00 0.00 0.00 0.000 6 0.000 0.000 2008 2968 2761 0 0 0 0 0 0

359 -2.34 -34.6 79.6 -20.8 45 363 0.00 2.42 0.00 0.000 4 0.000 0.043 2008 1554 2762 0 0 0 0 0 0

530 -2.34 -34.6 114.9 -19.4 56 534 0.00 2.38 0.00 0.000 6 0.000 0.045 2008 2944 2763 0 0 0 0 0 0

849 -2.34 -34.6 178.5 -18.6 67 853 0.00 2.38 0.00 0.000 4 0.000 0.041 2008 1550 2764 0 0 0 0 0 0

880 -2.34 -34.6 184.4 -17.8 68 884 0.00 2.45 0.00 0.000 6 0.000 0.044 2008 2958 2765 0 0 0 0 0 0

1216 -2.34 -34.6 237.2 -14.5 79 1220 0.00 1.75 0.00 0.000 4 0.000 0.057 2008 3953 2765 0 0 0 0 0 0

1301 -2.34 -34.6 249.2 -14.3 81 1305 0.00 1.67 0.00 0.000 6 0.000 0.039 2008 2938 2765 0 0 0 0 0 0

1616 -2.34 -34.6 284.6 -10.6 92 1619 0.00 1.80 0.00 0.000 4 0.000 0.056 2008 3946 2765 0 0 0 0 0 0

1646 -2.34 -34.6 288.0 -11.0 93 1651 0.00 1.65 0.00 0.000 6 0.000 0.040 2008 2960 2765 0 0 0 0 0 0

2011 -2.34 -34.6 333.2 -13.0 101 2015 0.00 2.40 0.00 0.000 4 0.000 0.044 2008 1553 2764 0 0 0 0 0 0

2240 -2.34 -34.6 362.0 -11.7 104 2244 0.00 2.45 0.00 0.000 6 0.000 0.047 2008 2948 2764 0 0 0 0 0 0

2568 -2.34 -34.6 399.4 -11.4 110 2572 0.00 2.40 0.00 0.000 4 0.000 0.044 2008 1559 2760 0 0 0 0 0 0

2814 -2.34 -34.6 429.1 -11.8 113 2818 0.00 2.45 0.00 0.000 6 0.000 0.048 2009 2949 2758 0 0 0 0 0 0

3126 -2.34 -34.6 466.9 -12.0 119 3131 0.00 2.40 0.00 0.000 4 0.000 0.046 2008 1567 2756 0 0 0 0 0 0

3372 -2.34 -34.6 493.9 -9.9 122 3376 0.00 2.45 0.00 0.000 6 0.000 0.051 2008 2947 2755 0 0 0 0 0 0

3684 -2.34 -34.6 527.7 -10.7 128 3692 0.00 2.40 0.00 0.000 4 0.000 0.049 2008 1560 2751 0 0 0 0 0 0

3931 -2.34 -34.6 552.6 -9.6 131 3941 0.00 2.40 0.00 0.000 6 0.000 0.052 2008 2964 2748 0 0 0 0 0 0

4239 -2.34 -34.6 581.6 -9.4 137 4250 0.00 2.42 0.00 0.000 4 0.000 0.050 2008 1569 2745 0 0 0 0 0 0

4319 -2.34 -34.6 588.6 -9.6 138 4327 0.00 2.45 0.00 0.000 6 0.000 0.054 2008 2958 2745 0 0 0 0 0 0

4666 -2.34 -34.6 621.8 -9.7 144 4675 0.00 2.42 0.00 0.000 4 0.000 0.053 2008 1574 2742 0 0 0 0 0 0

4706 -2.34 -34.6 626.2 -10.0 144 4714 0.00 2.45 0.00 0.000 6 0.000 0.058 2008 2952 2742 0 0 0 0 0 0

5025 -2.34 -34.6 656.9 -9.4 150 5031 0.00 0.00 0.00 0.000 6 0.000 0.000 2007 2952 2739 0 0 0 0 0 0

5327 -2.34 -34.6 683.1 -8.7 155 5335 0.00 2.47 0.00 0.000 4 0.000 0.061 2008 1569 2738 0 0 0 0 0 0

5574 -2.34 -36.6 702.8 -7.5 158 5583 0.00 2.53 0.00 0.000 6 0.000 0.067 2008 2958 2737 0 0 0 0 0 0

5882 -2.34 -36.6 729.1 -8.5 163 5891 0.00 1.98 0.00 0.000 4 0.000 0.114 2008 3948 2736 0 0 0 0 0 0

5910 -2.34 -36.6 731.8 -10.4 163 5918 0.00 1.75 0.00 0.000 6 0.000 0.057 2008 2984 2736 0 0 0 0 0 0

6252 -2.34 -36.6 762.0 -8.8 169 6261 0.00 2.67 0.00 0.000 4 0.000 0.086 2008 1538 2733 0 0 0 0 0 0

6500 -2.34 -36.6 784.6 -8.7 172 6510 0.00 2.65 0.00 0.000 6 0.000 0.090 2008 2957 2732 0 0 0 0 0 0

6809 -2.34 -36.6 811.0 -8.6 178 6817 0.00 2.75 0.00 0.000 4 0.000 0.099 2008 1538 2731 0 0 0 0 0 0

7056 -2.34 -36.6 830.7 -7.9 181 7067 0.00 2.75 0.00 0.000 6 0.000 0.107 2008 2959 2730 0 0 0 0 0 0

7365 -2.35 -47.5 849.6 -5.9 187 7374 0.00 2.85 0.00 0.000 4 0.000 0.117 2008 1539 2728 0 0 0 0 0 0

7613 -2.38 -75.8 859.6 -2.8 190 7623 0.00 2.83 0.00 0.000 6 0.000 0.123 2008 2959 2728 0 0 0 0 0 0

7922 -2.41 -103.7 868.5 -2.8 196 7931 0.00 2.90 0.00 0.000 4 0.000 0.127 2008 1544 2727 0 0 0 0 0 0

7993 -2.44 -130.4 870.7 -3.1 197 8002 0.00 2.95 0.00 0.000 6 0.000 0.131 2008 2960 2727 0 0 0 0 0 0

8346 -2.46 -151.0 884.5 -4.1 203 8357 0.12 3.00 0.00 0.000 4 0.110 0.138 1981 1540 2726 0 0 0 0 0 0

8596 -2.48 -165.8 896.6 -5.2 206 8606 0.00 3.00 0.00 0.000 6 0.000 0.148 1981 2959 2726 0 0 0 0 0 0

8904 -2.49 -178.4 913.1 -5.6 212 8913 0.00 2.28 0.00 0.000 4 0.000 0.182 1981 3953 2725 0 0 0 0 0 0

9073 -2.49 -181.2 924.7 -7.4 214 9083 0.00 2.17 0.00 0.000 6 0.000 0.153 1981 2960 2725 0 0 0 0 0 0

9400 -2.50 -185.9 947.5 -7.0 220 9409 0.00 3.22 0.00 0.000 4 0.000 0.185 1981 1533 2724 0 0 0 0 0 0

9643 -2.50 -185.9 964.9 -8.2 223 9652 0.00 3.33 0.00 0.000 6 0.000 0.187 1981 2952 2723 0 0 0 0 0 0

9956 -2.51 -193.9 985.2 -6.4 228 9964 0.00 2.50 0.00 0.000 4 0.000 0.228 1981 3955 2723 0 0 0 0 0 0

10026 end dive: TARGET_DEPTH_EXCEEDED

state 10026 begin apogee

10033 -0.33 0.0 990.0 6.5 229 10066 2.38 0.00 24.95 1.277 6 0.140 0.000 2442 2800 2618 0 0 0 0 0 0

10067 end apogee: CONTROL_FINISHED_OK

state 10067 begin climb

10069 2.51 193.9 990.7 0.0 229 10270 2.90 3.35 183.77 1.283 4 0.079 0.179 3067 1387 1825 0 0 0 0 0 0

10343 2.51 193.9 919.9 35.5 234 10352 0.00 3.12 0.00 0.000 6 0.000 0.145 3067 2812 1817 0 0 0 0 0 0

10695 2.51 193.9 784.8 38.7 240 10704 0.00 2.72 0.00 0.000 4 0.000 0.078 3067 1378 1810 0 0 0 0 0 0

10746 2.51 193.9 765.5 38.3 240 10754 0.00 2.67 0.00 0.000 6 0.000 0.068 3066 2817 1808 0 0 0 0 0 0

11054 2.51 193.9 652.0 36.7 245 11063 0.00 2.65 0.00 0.000 4 0.000 0.060 3067 1367 1807 0 0 0 0 0 0

11126 2.51 193.9 626.6 35.7 246 11134 0.00 2.60 0.00 0.000 6 0.000 0.053 3067 2817 1806 0 0 0 0 0 0

11483 2.51 193.9 506.7 33.0 252 11491 0.00 2.60 0.00 0.000 4 0.000 0.052 3067 1355 1804 0 0 0 0 0 0

11511 2.51 193.9 497.5 31.1 252 11519 0.00 2.58 0.00 0.000 6 0.000 0.048 3067 2813 1804 0 0 0 0 0 0

11846 2.51 193.9 388.9 32.6 258 11850 0.00 2.60 0.00 0.000 4 0.000 0.048 3067 1359 1802 0 0 0 0 0 0

11921 2.51 193.9 365.4 29.6 259 11925 0.00 2.55 0.00 0.000 6 0.000 0.047 3067 2816 1802 0 0 0 0 0 0

12246 2.51 193.9 265.9 29.8 266 12250 0.00 2.58 0.00 0.000 4 0.000 0.047 3067 1367 1801 0 0 0 0 0 0

12386 2.51 193.9 229.2 23.6 270 12390 0.00 2.50 0.00 0.000 6 0.000 0.043 3067 2812 1801 0 0 0 0 0 0

12704 2.51 193.9 143.5 28.1 281 12705 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2812 1800 0 0 0 0 0 0

13010 2.51 193.9 65.9 22.6 299 13014 0.00 2.53 0.00 0.000 4 0.000 0.042 3067 1360 1799 0 0 0 0 0 0

13256 2.51 193.9 22.8 16.5 322 13260 0.00 2.47 0.00 0.000 6 0.000 0.039 3070 2803 1799 0 0 0 0 0 0

13382 end climb: SURFACE_DEPTH_REACHED

state 13382 begin surface coast

13398 end surface coast: CONTROL_FINISHED_OK

state 13398 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	27	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	61	XPDR_VALID	4
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	46	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	-247024	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	311009,225930,1919.281,-15556.812,71,1.8,71,9.7	TGT_NAME	K3
_CALLS	4	TGT_LATLONG	1920.000,-15557.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.219,0.158
_SM_DEPTHo	0.54	KALMAN_X	8486.0,9.6,-21.5,5967.5,5770.9
_SM_ANGLEo	-66.2	KALMAN_Y	5187.5,227.0,102.1,-44366.1,-4981.9
GPS2	311009,231624,1919.194,-15556.777,44,1.3,61,9.7	MHEAD_RNG_PITCHd_Wd	335.7,1542,-34.5,-7.857
SPEED_LIMITS	0.079,0.270	D_GRID	990

FINISH	0.2,1.022989	PA_DATA0	8.9/7836665/7143083
SM_CCo	13417,111.12,0.563,0,0,986,400.08	PA_DATA1	0.6/7836665/7791576
SM_GC	0.76,0.00,0.00,111.12,0.000,0.000,0.563,372,2961,986,-9.88,0.31,400.08	PA_USB	30.8/30829585/21321417
IRIDIUM_FIX	1909.23,-15558.31,260411,121204	_24V_AH	23.4,7.028
TT8_MAMPS	0.167206	_10V_AH	9.9,14.217
HUMID	1078716764	FG_AHR_24Vo	0.000
TCM_TEMP	22.70	FG_AHR_10Vo	0.000
XPDR_PINGS	0	MEM	324088
PA_PMVER	0.2	DATA_FILE_SIZE	12734,347
PA_ROOTFSVER	rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009	CAP_FILE_SIZE	125924,0
PA_DFQS	0/0	CFSIZE	260034560,254853120
PA_CMQS	0/132	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_ROOT	87.1/128908/16631	CURRENT	0.030,196.1,1
PA_HOME	3.5/483886/466750	GPS	011109,030356,1919.915,-15557.081,38,2.6,57,9.7
PA_LOG	3.7/297829/286950

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	165	101.47	SBE_CT	232	24	130.64
Roll_motor	136	227	729.48	nil	0	0	0.00
VBD_pump_during_apogee	208	1283	6267.32	nil	0	0	0.00
VBD_pump_during_surface	111	562	1463.93	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	120	103	289.37	nil	0	0	0.00
Iridium_during_connect	234	160	879.76	PAAM	14649	240	82551.79
Iridium_during_xfer	259	223	1354.14
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	62	50	31.17
TT8	0	19	0.00
LPSleep	11036	2	239.28
TT8_Active	434	19	85.12
TT8_Sampling	2206	39	869.44
TT8_CF8	856	45	388.16
TT8_Kalman	33	81	26.99
Analog_circuits	1465	12	174.07
GPS_charging	0	0	0.00
Compass	1580	8	125.21
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-2.33	-29.1	0.0	0.0	0	93	0.00	0.00	-75.12	0.000	2	0.000	0.000	373	2968	2715	0	0	0	0	0	0
95	-2.34	-34.6	3.1	-6.9	14	110	8.93	0.00	-1.20	0.000	6	0.166	0.000	2008	2968	2760	0	0	0	0	0	0
173	-2.34	-34.6	28.8	-34.0	27	174	0.00	0.00	0.00	0.000	6	0.000	0.000	2008	2968	2761	0	0	0	0	0	0
359	-2.34	-34.6	79.6	-20.8	45	363	0.00	2.42	0.00	0.000	4	0.000	0.043	2008	1554	2762	0	0	0	0	0	0
530	-2.34	-34.6	114.9	-19.4	56	534	0.00	2.38	0.00	0.000	6	0.000	0.045	2008	2944	2763	0	0	0	0	0	0
849	-2.34	-34.6	178.5	-18.6	67	853	0.00	2.38	0.00	0.000	4	0.000	0.041	2008	1550	2764	0	0	0	0	0	0
880	-2.34	-34.6	184.4	-17.8	68	884	0.00	2.45	0.00	0.000	6	0.000	0.044	2008	2958	2765	0	0	0	0	0	0
1216	-2.34	-34.6	237.2	-14.5	79	1220	0.00	1.75	0.00	0.000	4	0.000	0.057	2008	3953	2765	0	0	0	0	0	0
1301	-2.34	-34.6	249.2	-14.3	81	1305	0.00	1.67	0.00	0.000	6	0.000	0.039	2008	2938	2765	0	0	0	0	0	0
1616	-2.34	-34.6	284.6	-10.6	92	1619	0.00	1.80	0.00	0.000	4	0.000	0.056	2008	3946	2765	0	0	0	0	0	0
1646	-2.34	-34.6	288.0	-11.0	93	1651	0.00	1.65	0.00	0.000	6	0.000	0.040	2008	2960	2765	0	0	0	0	0	0
2011	-2.34	-34.6	333.2	-13.0	101	2015	0.00	2.40	0.00	0.000	4	0.000	0.044	2008	1553	2764	0	0	0	0	0	0
2240	-2.34	-34.6	362.0	-11.7	104	2244	0.00	2.45	0.00	0.000	6	0.000	0.047	2008	2948	2764	0	0	0	0	0	0
2568	-2.34	-34.6	399.4	-11.4	110	2572	0.00	2.40	0.00	0.000	4	0.000	0.044	2008	1559	2760	0	0	0	0	0	0
2814	-2.34	-34.6	429.1	-11.8	113	2818	0.00	2.45	0.00	0.000	6	0.000	0.048	2009	2949	2758	0	0	0	0	0	0
3126	-2.34	-34.6	466.9	-12.0	119	3131	0.00	2.40	0.00	0.000	4	0.000	0.046	2008	1567	2756	0	0	0	0	0	0
3372	-2.34	-34.6	493.9	-9.9	122	3376	0.00	2.45	0.00	0.000	6	0.000	0.051	2008	2947	2755	0	0	0	0	0	0
3684	-2.34	-34.6	527.7	-10.7	128	3692	0.00	2.40	0.00	0.000	4	0.000	0.049	2008	1560	2751	0	0	0	0	0	0
3931	-2.34	-34.6	552.6	-9.6	131	3941	0.00	2.40	0.00	0.000	6	0.000	0.052	2008	2964	2748	0	0	0	0	0	0
4239	-2.34	-34.6	581.6	-9.4	137	4250	0.00	2.42	0.00	0.000	4	0.000	0.050	2008	1569	2745	0	0	0	0	0	0
4319	-2.34	-34.6	588.6	-9.6	138	4327	0.00	2.45	0.00	0.000	6	0.000	0.054	2008	2958	2745	0	0	0	0	0	0
4666	-2.34	-34.6	621.8	-9.7	144	4675	0.00	2.42	0.00	0.000	4	0.000	0.053	2008	1574	2742	0	0	0	0	0	0
4706	-2.34	-34.6	626.2	-10.0	144	4714	0.00	2.45	0.00	0.000	6	0.000	0.058	2008	2952	2742	0	0	0	0	0	0
5025	-2.34	-34.6	656.9	-9.4	150	5031	0.00	0.00	0.00	0.000	6	0.000	0.000	2007	2952	2739	0	0	0	0	0	0
5327	-2.34	-34.6	683.1	-8.7	155	5335	0.00	2.47	0.00	0.000	4	0.000	0.061	2008	1569	2738	0	0	0	0	0	0
5574	-2.34	-36.6	702.8	-7.5	158	5583	0.00	2.53	0.00	0.000	6	0.000	0.067	2008	2958	2737	0	0	0	0	0	0
5882	-2.34	-36.6	729.1	-8.5	163	5891	0.00	1.98	0.00	0.000	4	0.000	0.114	2008	3948	2736	0	0	0	0	0	0
5910	-2.34	-36.6	731.8	-10.4	163	5918	0.00	1.75	0.00	0.000	6	0.000	0.057	2008	2984	2736	0	0	0	0	0	0
6252	-2.34	-36.6	762.0	-8.8	169	6261	0.00	2.67	0.00	0.000	4	0.000	0.086	2008	1538	2733	0	0	0	0	0	0
6500	-2.34	-36.6	784.6	-8.7	172	6510	0.00	2.65	0.00	0.000	6	0.000	0.090	2008	2957	2732	0	0	0	0	0	0
6809	-2.34	-36.6	811.0	-8.6	178	6817	0.00	2.75	0.00	0.000	4	0.000	0.099	2008	1538	2731	0	0	0	0	0	0
7056	-2.34	-36.6	830.7	-7.9	181	7067	0.00	2.75	0.00	0.000	6	0.000	0.107	2008	2959	2730	0	0	0	0	0	0
7365	-2.35	-47.5	849.6	-5.9	187	7374	0.00	2.85	0.00	0.000	4	0.000	0.117	2008	1539	2728	0	0	0	0	0	0
7613	-2.38	-75.8	859.6	-2.8	190	7623	0.00	2.83	0.00	0.000	6	0.000	0.123	2008	2959	2728	0	0	0	0	0	0
7922	-2.41	-103.7	868.5	-2.8	196	7931	0.00	2.90	0.00	0.000	4	0.000	0.127	2008	1544	2727	0	0	0	0	0	0
7993	-2.44	-130.4	870.7	-3.1	197	8002	0.00	2.95	0.00	0.000	6	0.000	0.131	2008	2960	2727	0	0	0	0	0	0
8346	-2.46	-151.0	884.5	-4.1	203	8357	0.12	3.00	0.00	0.000	4	0.110	0.138	1981	1540	2726	0	0	0	0	0	0
8596	-2.48	-165.8	896.6	-5.2	206	8606	0.00	3.00	0.00	0.000	6	0.000	0.148	1981	2959	2726	0	0	0	0	0	0
8904	-2.49	-178.4	913.1	-5.6	212	8913	0.00	2.28	0.00	0.000	4	0.000	0.182	1981	3953	2725	0	0	0	0	0	0
9073	-2.49	-181.2	924.7	-7.4	214	9083	0.00	2.17	0.00	0.000	6	0.000	0.153	1981	2960	2725	0	0	0	0	0	0
9400	-2.50	-185.9	947.5	-7.0	220	9409	0.00	3.22	0.00	0.000	4	0.000	0.185	1981	1533	2724	0	0	0	0	0	0
9643	-2.50	-185.9	964.9	-8.2	223	9652	0.00	3.33	0.00	0.000	6	0.000	0.187	1981	2952	2723	0	0	0	0	0	0
9956	-2.51	-193.9	985.2	-6.4	228	9964	0.00	2.50	0.00	0.000	4	0.000	0.228	1981	3955	2723	0	0	0	0	0	0
10026	end dive: TARGET_DEPTH_EXCEEDED
state	10026	begin apogee
10033	-0.33	0.0	990.0	6.5	229	10066	2.38	0.00	24.95	1.277	6	0.140	0.000	2442	2800	2618	0	0	0	0	0	0
10067	end apogee: CONTROL_FINISHED_OK
state	10067	begin climb
10069	2.51	193.9	990.7	0.0	229	10270	2.90	3.35	183.77	1.283	4	0.079	0.179	3067	1387	1825	0	0	0	0	0	0
10343	2.51	193.9	919.9	35.5	234	10352	0.00	3.12	0.00	0.000	6	0.000	0.145	3067	2812	1817	0	0	0	0	0	0
10695	2.51	193.9	784.8	38.7	240	10704	0.00	2.72	0.00	0.000	4	0.000	0.078	3067	1378	1810	0	0	0	0	0	0
10746	2.51	193.9	765.5	38.3	240	10754	0.00	2.67	0.00	0.000	6	0.000	0.068	3066	2817	1808	0	0	0	0	0	0
11054	2.51	193.9	652.0	36.7	245	11063	0.00	2.65	0.00	0.000	4	0.000	0.060	3067	1367	1807	0	0	0	0	0	0
11126	2.51	193.9	626.6	35.7	246	11134	0.00	2.60	0.00	0.000	6	0.000	0.053	3067	2817	1806	0	0	0	0	0	0
11483	2.51	193.9	506.7	33.0	252	11491	0.00	2.60	0.00	0.000	4	0.000	0.052	3067	1355	1804	0	0	0	0	0	0
11511	2.51	193.9	497.5	31.1	252	11519	0.00	2.58	0.00	0.000	6	0.000	0.048	3067	2813	1804	0	0	0	0	0	0
11846	2.51	193.9	388.9	32.6	258	11850	0.00	2.60	0.00	0.000	4	0.000	0.048	3067	1359	1802	0	0	0	0	0	0
11921	2.51	193.9	365.4	29.6	259	11925	0.00	2.55	0.00	0.000	6	0.000	0.047	3067	2816	1802	0	0	0	0	0	0
12246	2.51	193.9	265.9	29.8	266	12250	0.00	2.58	0.00	0.000	4	0.000	0.047	3067	1367	1801	0	0	0	0	0	0
12386	2.51	193.9	229.2	23.6	270	12390	0.00	2.50	0.00	0.000	6	0.000	0.043	3067	2812	1801	0	0	0	0	0	0
12704	2.51	193.9	143.5	28.1	281	12705	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2812	1800	0	0	0	0	0	0
13010	2.51	193.9	65.9	22.6	299	13014	0.00	2.53	0.00	0.000	4	0.000	0.042	3067	1360	1799	0	0	0	0	0	0
13256	2.51	193.9	22.8	16.5	322	13260	0.00	2.47	0.00	0.000	6	0.000	0.039	3070	2803	1799	0	0	0	0	0	0
13382	end climb: SURFACE_DEPTH_REACHED
state	13382	begin surface coast
13398	end surface coast: CONTROL_FINISHED_OK
state	13398	begin surface