Glider dive log

HI Oct09 * SG022 * Dive index * Mission links * Dive 4 * 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 4 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2750 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT 19.66667 C_ROLL_CLIMB 2750 ALTIM_PING_DELTA 10

D_TGT 660 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 47 XPDR_VALID 4

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 50 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 180 CALL_TRIES 5 C_VBD 2618 DEVICE2 -1

T_MISSION 210 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 -244692.22 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 1001 STROBE 0 CF8_MAXERRORS 1 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 91.800003 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 61.200001 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 19

MAX_BUOY 250 PITCH_MIN 380 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3641 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 45 C_PITCH 2550 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 660 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 180

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 -244692.22

CF8_MAXERRORS 1 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 210

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 2550 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 2750 KALMAN_USE 1 ROLL_AD_RATE 100 UNCOM_BLEED 20

C_ROLL_DIVE 2750 KERMIT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2618 LOGGERDEVICE1 69 ROLL_DEG 40 USE_BATHY 0

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MAX 3954 USE_ICE 0

DEEPGLIDERMB 0 LOGGERS 1 ROLL_MAXERRORS 2 VBD_BLEED_AD_RATE 4

DEVICE1 2 MASS 52177 ROLL_MIN 150 VBD_CNV -0.24529999

DEVICE2 -1 MAX_BUOY 250 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 47 VBD_MAX 3841

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 50 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 4 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 271009,223614,1942.552,-15605.699,9,1.9,9,9.7 TGT_NAME LR

_CALLS 1 TGT_LATLONG 1940.000,-15605.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.337

_SM_DEPTHo 0.98 KALMAN_X -706.4,-508.0,-338.7,384.3,-376.3

_SM_ANGLEo -67.7 KALMAN_Y 2862.1,1881.6,1274.8,-1431.9,1750.0

GPS2 271009,224054,1942.642,-15605.731,33,1.8,43,9.7 MHEAD_RNG_PITCHd_Wd 155.7,5056,-16.8,-12.222

SPEED_LIMITS 0.122,0.347 D_GRID 660

Post-dive calculations and measurements:

FINISH 0.1,1.022778 PA_DATA0 7.7/7836665/7235307

SM_CCo 9132,67.60,0.535,0,0,986,400.08 PA_DATA1 0.1/7836665/7825417

SM_GC 0.66,0.00,0.00,67.60,0.000,0.000,0.535,372,2730,986,-10.02,-0.57,400.08 PA_USB 1.0/30829585/30519172

IRIDIUM_FIX 1932.09,-15604.81,220411,161613 _24V_AH 23.6,3.405

TT8_MAMPS 0.134225 _10V_AH 9.9,3.889

HUMID 1078807087 FG_AHR_24Vo 0.000

TCM_TEMP 23.60 FG_AHR_10Vo 0.000

XPDR_PINGS 0 MEM 324732

PA_PMVER 0.2 DATA_FILE_SIZE 9602,322

PA_ROOTFSVER rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009 CAP_FILE_SIZE 93964,0

PA_DFQS 0/0 CFSIZE 260034560,256397312

PA_CMQS 0/118 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PA_ROOT 87.1/128908/16632 CURRENT 0.162,351.1,1

PA_HOME 2.7/483886/470913 GPS 281009,011555,1941.835,-15605.786,42,1.6,42,9.7

PA_LOG 3.6/297829/286995

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 160 89.00 SBE_CT 213 24 120.86

Roll_motor 79 88 164.55 nil 0 0 0.00

VBD_pump_during_apogee 433 1071 10957.02 nil 0 0 0.00

VBD_pump_during_surface 67 535 854.10 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 9277 94 20768.90

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 43 50 21.63

TT8 0 19 0.00

LPSleep 7169 2 155.45

TT8_Active 567 19 111.16

TT8_Sampling 1420 39 559.51

TT8_CF8 118 45 53.86

TT8_Kalman 32 81 26.17

Analog_circuits 1300 12 154.48

GPS_charging 0 0 0.00

Compass 970 8 76.86

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

15 -1.32 -243.4 0.0 0.0 0 91 0.00 0.00 -73.07 0.000 2 0.000 0.000 372 2771 2634 0 0 0 0 0 0

93 -1.32 -243.4 3.3 -9.0 14 135 10.07 2.45 -23.48 0.000 4 0.160 0.055 2256 1341 3614 0 0 0 0 0 0

326 -1.32 -243.4 54.8 -18.0 43 330 0.00 2.40 0.00 0.000 6 0.000 0.048 2256 2729 3614 0 0 0 0 0 0

523 -1.32 -243.4 93.3 -18.6 62 526 0.00 2.15 0.00 0.000 4 0.000 0.064 2257 3955 3616 0 0 0 0 0 0

565 -1.32 -243.4 101.7 -19.9 66 569 0.00 2.03 0.00 0.000 6 0.000 0.039 2256 2729 3616 0 0 0 0 0 0

892 -1.32 -243.4 159.9 -17.8 77 899 0.00 2.17 0.00 0.000 4 0.000 0.064 2256 3953 3616 0 0 0 0 0 0

1010 -1.32 -243.4 182.3 -19.3 80 1020 0.00 1.98 0.00 0.000 6 0.000 0.040 2256 2745 3616 0 0 0 0 0 0

1320 -1.32 -243.4 233.7 -16.3 91 1328 0.00 2.17 0.00 0.000 4 0.000 0.069 2256 3955 3616 0 0 0 0 0 0

1418 -1.32 -243.4 250.4 -16.2 94 1426 0.00 2.00 0.00 0.000 6 0.000 0.040 2256 2740 3616 0 0 0 0 0 0

1749 -1.32 -243.4 296.4 -13.0 105 1759 0.00 2.22 0.00 0.000 4 0.000 0.072 2257 3946 3615 0 0 0 0 0 0

1795 -1.32 -243.4 302.7 -13.5 106 1802 0.00 2.00 0.00 0.000 6 0.000 0.041 2256 2736 3615 0 0 0 0 0 0

2120 -1.32 -243.4 347.0 -13.7 112 2128 0.00 2.20 0.00 0.000 4 0.000 0.071 2257 3950 3613 0 0 0 0 0 0

2228 -1.32 -243.4 362.7 -14.2 113 2236 0.00 2.00 0.00 0.000 6 0.000 0.041 2256 2744 3612 0 0 0 0 0 0

2542 -1.32 -243.4 405.4 -13.5 119 2550 0.00 2.17 0.00 0.000 4 0.000 0.071 2257 3945 3609 0 0 0 0 0 0

2640 -1.32 -243.4 419.0 -13.6 120 2648 0.00 2.00 0.00 0.000 6 0.000 0.042 2256 2749 3608 0 0 0 0 0 0

2970 -1.32 -243.4 459.3 -11.9 126 2978 0.00 2.17 0.00 0.000 4 0.000 0.072 2256 3946 3605 0 0 0 0 0 0

3089 -1.32 -243.4 474.3 -12.4 127 3098 0.00 2.03 0.00 0.000 6 0.000 0.043 2255 2744 3604 0 0 0 0 0 0

3397 -1.32 -243.4 511.5 -12.1 133 3405 0.00 2.22 0.00 0.000 4 0.000 0.075 2257 3938 3600 0 0 0 0 0 0

3532 -1.32 -243.4 528.8 -12.8 135 3541 0.00 2.00 0.00 0.000 6 0.000 0.044 2256 2753 3599 0 0 0 0 0 0

3889 -1.32 -243.4 570.0 -11.6 141 3897 0.00 2.25 0.00 0.000 4 0.000 0.081 2256 3941 3594 0 0 0 0 0 0

4056 -1.32 -243.4 590.4 -12.0 143 4065 0.00 2.10 0.00 0.000 6 0.000 0.046 2256 2745 3592 0 0 0 0 0 0

4387 -1.32 -243.4 627.8 -11.4 149 4395 0.00 2.28 0.00 0.000 4 0.000 0.088 2256 3947 3589 0 0 0 0 0 0

4534 -1.32 -243.4 645.6 -12.4 151 4543 0.00 2.08 0.00 0.000 6 0.000 0.048 2256 2752 3588 0 0 0 0 0 0

4698 end dive: TARGET_DEPTH_EXCEEDED

state 4699 begin apogee

4703 -0.31 0.0 664.9 11.7 154 4912 1.08 0.00 201.98 1.071 6 0.105 0.000 2478 2752 2618 0 0 0 0 0 0

4913 end apogee: CONTROL_FINISHED_OK

state 4913 begin climb

4915 1.32 243.4 674.6 0.0 157 5140 1.65 2.65 211.50 1.027 4 0.080 0.072 2832 1335 1625 0 0 0 0 0 0

5214 1.32 243.4 634.7 19.0 161 5222 0.00 2.58 0.00 0.000 6 0.000 0.059 2832 2744 1618 0 0 0 0 0 0

5522 1.32 243.4 574.2 19.7 166 5527 0.00 0.00 0.00 0.000 6 0.000 0.000 2832 2743 1613 0 0 0 0 0 0

5824 1.32 243.4 517.9 18.5 171 5830 0.00 0.00 0.00 0.000 6 0.000 0.000 2832 2744 1612 0 0 0 0 0 0

6125 1.32 243.4 463.6 18.0 176 6134 0.00 2.20 0.00 0.000 4 0.000 0.071 2832 3955 1610 0 0 0 0 0 0

6175 1.32 243.4 454.1 20.0 176 6183 0.00 2.12 0.00 0.000 6 0.000 0.044 2831 2724 1609 0 0 0 0 0 0

6483 1.32 243.4 398.6 18.1 181 6491 0.00 2.40 0.00 0.000 4 0.000 0.054 2832 1337 1608 0 0 0 0 0 0

6511 1.32 243.4 393.2 18.3 181 6519 0.00 2.50 0.00 0.000 6 0.000 0.048 2832 2763 1608 0 0 0 0 0 0

6847 1.32 243.4 334.8 17.1 187 6855 0.00 2.15 0.00 0.000 4 0.000 0.064 2832 3944 1607 0 0 0 0 0 0

6950 1.32 243.4 317.6 17.9 188 6958 0.00 2.10 0.00 0.000 6 0.000 0.043 2832 2738 1606 0 0 0 0 0 0

7281 1.32 243.4 263.5 16.5 197 7287 0.00 0.00 0.00 0.000 6 0.000 0.000 2832 2732 1605 0 0 0 0 0 0

7584 1.32 243.4 213.3 16.0 207 7593 0.00 2.17 0.00 0.000 4 0.000 0.061 2832 3954 1605 0 0 0 0 0 0

7655 1.32 243.4 200.9 17.0 209 7663 0.00 2.10 0.00 0.000 6 0.000 0.041 2832 2742 1604 0 0 0 0 0 0

7982 1.32 243.4 150.9 15.5 220 7987 0.00 0.00 0.00 0.000 6 0.000 0.000 2832 2735 1603 0 0 0 0 0 0

8285 1.32 243.4 105.0 15.3 230 8289 0.00 2.40 0.00 0.000 4 0.000 0.048 2832 1344 1605 0 0 0 0 0 0

8332 1.32 243.4 97.6 15.2 231 8337 0.00 2.42 0.00 0.000 6 0.000 0.042 2832 2756 1604 0 0 0 0 0 0

8648 1.32 243.4 52.9 12.8 261 8649 0.00 0.00 0.00 0.000 6 0.000 0.000 2832 2756 1604 0 0 0 0 0 0

8836 1.35 269.2 31.1 11.4 279 8859 0.00 2.12 19.83 0.574 4 0.000 0.058 2832 3953 1519 0 0 0 0 0 0

8919 1.35 271.4 21.4 12.1 287 8923 0.00 2.05 0.00 0.000 6 0.000 0.038 2832 2733 1518 0 0 0 0 0 0

9087 end climb: SURFACE_DEPTH_REACHED

state 9087 begin surface coast

9114 end surface coast: CONTROL_FINISHED_OK

state 9115 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	4	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2750	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	19.66667	C_ROLL_CLIMB	2750	ALTIM_PING_DELTA	10
D_TGT	660	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	47	XPDR_VALID	4
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	50	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	180	CALL_TRIES	5	C_VBD	2618	DEVICE2	-1
T_MISSION	210	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	-244692.22	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	1001	STROBE	0	CF8_MAXERRORS	1	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	91.800003	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	61.200001	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	19
MAX_BUOY	250	PITCH_MIN	380	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3641	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	45	C_PITCH	2550	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	271009,223614,1942.552,-15605.699,9,1.9,9,9.7	TGT_NAME	LR
_CALLS	1	TGT_LATLONG	1940.000,-15605.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.337
_SM_DEPTHo	0.98	KALMAN_X	-706.4,-508.0,-338.7,384.3,-376.3
_SM_ANGLEo	-67.7	KALMAN_Y	2862.1,1881.6,1274.8,-1431.9,1750.0
GPS2	271009,224054,1942.642,-15605.731,33,1.8,43,9.7	MHEAD_RNG_PITCHd_Wd	155.7,5056,-16.8,-12.222
SPEED_LIMITS	0.122,0.347	D_GRID	660

FINISH	0.1,1.022778	PA_DATA0	7.7/7836665/7235307
SM_CCo	9132,67.60,0.535,0,0,986,400.08	PA_DATA1	0.1/7836665/7825417
SM_GC	0.66,0.00,0.00,67.60,0.000,0.000,0.535,372,2730,986,-10.02,-0.57,400.08	PA_USB	1.0/30829585/30519172
IRIDIUM_FIX	1932.09,-15604.81,220411,161613	_24V_AH	23.6,3.405
TT8_MAMPS	0.134225	_10V_AH	9.9,3.889
HUMID	1078807087	FG_AHR_24Vo	0.000
TCM_TEMP	23.60	FG_AHR_10Vo	0.000
XPDR_PINGS	0	MEM	324732
PA_PMVER	0.2	DATA_FILE_SIZE	9602,322
PA_ROOTFSVER	rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009	CAP_FILE_SIZE	93964,0
PA_DFQS	0/0	CFSIZE	260034560,256397312
PA_CMQS	0/118	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_ROOT	87.1/128908/16632	CURRENT	0.162,351.1,1
PA_HOME	2.7/483886/470913	GPS	281009,011555,1941.835,-15605.786,42,1.6,42,9.7
PA_LOG	3.6/297829/286995

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	160	89.00	SBE_CT	213	24	120.86
Roll_motor	79	88	164.55	nil	0	0	0.00
VBD_pump_during_apogee	433	1071	10957.02	nil	0	0	0.00
VBD_pump_during_surface	67	535	854.10	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	9277	94	20768.90
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	43	50	21.63
TT8	0	19	0.00
LPSleep	7169	2	155.45
TT8_Active	567	19	111.16
TT8_Sampling	1420	39	559.51
TT8_CF8	118	45	53.86
TT8_Kalman	32	81	26.17
Analog_circuits	1300	12	154.48
GPS_charging	0	0	0.00
Compass	970	8	76.86
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
15	-1.32	-243.4	0.0	0.0	0	91	0.00	0.00	-73.07	0.000	2	0.000	0.000	372	2771	2634	0	0	0	0	0	0
93	-1.32	-243.4	3.3	-9.0	14	135	10.07	2.45	-23.48	0.000	4	0.160	0.055	2256	1341	3614	0	0	0	0	0	0
326	-1.32	-243.4	54.8	-18.0	43	330	0.00	2.40	0.00	0.000	6	0.000	0.048	2256	2729	3614	0	0	0	0	0	0
523	-1.32	-243.4	93.3	-18.6	62	526	0.00	2.15	0.00	0.000	4	0.000	0.064	2257	3955	3616	0	0	0	0	0	0
565	-1.32	-243.4	101.7	-19.9	66	569	0.00	2.03	0.00	0.000	6	0.000	0.039	2256	2729	3616	0	0	0	0	0	0
892	-1.32	-243.4	159.9	-17.8	77	899	0.00	2.17	0.00	0.000	4	0.000	0.064	2256	3953	3616	0	0	0	0	0	0
1010	-1.32	-243.4	182.3	-19.3	80	1020	0.00	1.98	0.00	0.000	6	0.000	0.040	2256	2745	3616	0	0	0	0	0	0
1320	-1.32	-243.4	233.7	-16.3	91	1328	0.00	2.17	0.00	0.000	4	0.000	0.069	2256	3955	3616	0	0	0	0	0	0
1418	-1.32	-243.4	250.4	-16.2	94	1426	0.00	2.00	0.00	0.000	6	0.000	0.040	2256	2740	3616	0	0	0	0	0	0
1749	-1.32	-243.4	296.4	-13.0	105	1759	0.00	2.22	0.00	0.000	4	0.000	0.072	2257	3946	3615	0	0	0	0	0	0
1795	-1.32	-243.4	302.7	-13.5	106	1802	0.00	2.00	0.00	0.000	6	0.000	0.041	2256	2736	3615	0	0	0	0	0	0
2120	-1.32	-243.4	347.0	-13.7	112	2128	0.00	2.20	0.00	0.000	4	0.000	0.071	2257	3950	3613	0	0	0	0	0	0
2228	-1.32	-243.4	362.7	-14.2	113	2236	0.00	2.00	0.00	0.000	6	0.000	0.041	2256	2744	3612	0	0	0	0	0	0
2542	-1.32	-243.4	405.4	-13.5	119	2550	0.00	2.17	0.00	0.000	4	0.000	0.071	2257	3945	3609	0	0	0	0	0	0
2640	-1.32	-243.4	419.0	-13.6	120	2648	0.00	2.00	0.00	0.000	6	0.000	0.042	2256	2749	3608	0	0	0	0	0	0
2970	-1.32	-243.4	459.3	-11.9	126	2978	0.00	2.17	0.00	0.000	4	0.000	0.072	2256	3946	3605	0	0	0	0	0	0
3089	-1.32	-243.4	474.3	-12.4	127	3098	0.00	2.03	0.00	0.000	6	0.000	0.043	2255	2744	3604	0	0	0	0	0	0
3397	-1.32	-243.4	511.5	-12.1	133	3405	0.00	2.22	0.00	0.000	4	0.000	0.075	2257	3938	3600	0	0	0	0	0	0
3532	-1.32	-243.4	528.8	-12.8	135	3541	0.00	2.00	0.00	0.000	6	0.000	0.044	2256	2753	3599	0	0	0	0	0	0
3889	-1.32	-243.4	570.0	-11.6	141	3897	0.00	2.25	0.00	0.000	4	0.000	0.081	2256	3941	3594	0	0	0	0	0	0
4056	-1.32	-243.4	590.4	-12.0	143	4065	0.00	2.10	0.00	0.000	6	0.000	0.046	2256	2745	3592	0	0	0	0	0	0
4387	-1.32	-243.4	627.8	-11.4	149	4395	0.00	2.28	0.00	0.000	4	0.000	0.088	2256	3947	3589	0	0	0	0	0	0
4534	-1.32	-243.4	645.6	-12.4	151	4543	0.00	2.08	0.00	0.000	6	0.000	0.048	2256	2752	3588	0	0	0	0	0	0
4698	end dive: TARGET_DEPTH_EXCEEDED
state	4699	begin apogee
4703	-0.31	0.0	664.9	11.7	154	4912	1.08	0.00	201.98	1.071	6	0.105	0.000	2478	2752	2618	0	0	0	0	0	0
4913	end apogee: CONTROL_FINISHED_OK
state	4913	begin climb
4915	1.32	243.4	674.6	0.0	157	5140	1.65	2.65	211.50	1.027	4	0.080	0.072	2832	1335	1625	0	0	0	0	0	0
5214	1.32	243.4	634.7	19.0	161	5222	0.00	2.58	0.00	0.000	6	0.000	0.059	2832	2744	1618	0	0	0	0	0	0
5522	1.32	243.4	574.2	19.7	166	5527	0.00	0.00	0.00	0.000	6	0.000	0.000	2832	2743	1613	0	0	0	0	0	0
5824	1.32	243.4	517.9	18.5	171	5830	0.00	0.00	0.00	0.000	6	0.000	0.000	2832	2744	1612	0	0	0	0	0	0
6125	1.32	243.4	463.6	18.0	176	6134	0.00	2.20	0.00	0.000	4	0.000	0.071	2832	3955	1610	0	0	0	0	0	0
6175	1.32	243.4	454.1	20.0	176	6183	0.00	2.12	0.00	0.000	6	0.000	0.044	2831	2724	1609	0	0	0	0	0	0
6483	1.32	243.4	398.6	18.1	181	6491	0.00	2.40	0.00	0.000	4	0.000	0.054	2832	1337	1608	0	0	0	0	0	0
6511	1.32	243.4	393.2	18.3	181	6519	0.00	2.50	0.00	0.000	6	0.000	0.048	2832	2763	1608	0	0	0	0	0	0
6847	1.32	243.4	334.8	17.1	187	6855	0.00	2.15	0.00	0.000	4	0.000	0.064	2832	3944	1607	0	0	0	0	0	0
6950	1.32	243.4	317.6	17.9	188	6958	0.00	2.10	0.00	0.000	6	0.000	0.043	2832	2738	1606	0	0	0	0	0	0
7281	1.32	243.4	263.5	16.5	197	7287	0.00	0.00	0.00	0.000	6	0.000	0.000	2832	2732	1605	0	0	0	0	0	0
7584	1.32	243.4	213.3	16.0	207	7593	0.00	2.17	0.00	0.000	4	0.000	0.061	2832	3954	1605	0	0	0	0	0	0
7655	1.32	243.4	200.9	17.0	209	7663	0.00	2.10	0.00	0.000	6	0.000	0.041	2832	2742	1604	0	0	0	0	0	0
7982	1.32	243.4	150.9	15.5	220	7987	0.00	0.00	0.00	0.000	6	0.000	0.000	2832	2735	1603	0	0	0	0	0	0
8285	1.32	243.4	105.0	15.3	230	8289	0.00	2.40	0.00	0.000	4	0.000	0.048	2832	1344	1605	0	0	0	0	0	0
8332	1.32	243.4	97.6	15.2	231	8337	0.00	2.42	0.00	0.000	6	0.000	0.042	2832	2756	1604	0	0	0	0	0	0
8648	1.32	243.4	52.9	12.8	261	8649	0.00	0.00	0.00	0.000	6	0.000	0.000	2832	2756	1604	0	0	0	0	0	0
8836	1.35	269.2	31.1	11.4	279	8859	0.00	2.12	19.83	0.574	4	0.000	0.058	2832	3953	1519	0	0	0	0	0	0
8919	1.35	271.4	21.4	12.1	287	8923	0.00	2.05	0.00	0.000	6	0.000	0.038	2832	2733	1518	0	0	0	0	0	0
9087	end climb: SURFACE_DEPTH_REACHED
state	9087	begin surface coast
9114	end surface coast: CONTROL_FINISHED_OK
state	9115	begin surface