Glider dive log

HI Oct09 * SG022 * Dive index * Mission links * Dive 44 * 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 44 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2925 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT 19.66667 C_ROLL_CLIMB 2790 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 39 XPDR_VALID 4

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 30 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 330 CALL_TRIES 5 C_VBD 2618 DEVICE2 -1

T_MISSION 360 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 -248059.45 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 30 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 16 AD7714Ch0Gain 128 SEABIRD_C_G -10.507483

FERRY_MAX 0 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 1.7 SEABIRD_C_H 1.1800622

KALMAN_USE 1 PITCH_AD_RATE 150 TCM_ROLL_OFFSET -0.89999998 SEABIRD_C_I -0.00046262925

HD_A 0.0040048002 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00014728548

HD_B 0.010364 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0 PA_OFFLOAD 1.0

HD_C 5.4717998e-06 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0 PA_MAXUPLOADSIZE 100000.0

AD7714Ch0Gain 128 D_FLARE 3 PA_MAXUPLOADSIZE 100000.0 SEABIRD_T_J 2.7323422e-06

AH0_10V 61.200001 D_NO_BLEED 200 PA_OFFLOAD 1.0 SIM_PITCH 0

AH0_24V 91.800003 D_OFFGRID 1001 PHONE_DEVICE 48 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_FREQUENCY 15 D_SURF 3 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_PING_DELTA 10 D_TGT 990 PITCH_AD_RATE 150 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 5 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FERRY_MAX 0 PITCH_GAIN 16 TCM_PITCH_OFFSET 1.7

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MAX 3641 TCM_ROLL_OFFSET -0.89999998

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_MIN 380 TGT_DEFAULT_LAT 19.66667

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -156.10001

CALL_NDIVES 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.00109 T_ABORT 1440

CALL_TRIES 5 GPS_DEVICE 32 PRESSURE_SLOPE 0.00011632 T_DIVE 330

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 -248059.45

CF8_MAXERRORS 1 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 360

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 2790 KALMAN_USE 1 ROLL_AD_RATE 100 UNCOM_BLEED 20

C_ROLL_DIVE 2925 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 39 VBD_MAX 3841

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 30 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 44 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 041109,162849,1957.006,-15615.878,14,1.5,31,9.7 TGT_NAME K7

_CALLS 1 TGT_LATLONG 1953.000,-15614.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.116,-0.270

_SM_DEPTHo 0.91 KALMAN_X -165.8,-165.8,-165.8,-70.8,-840.6

_SM_ANGLEo -63.2 KALMAN_Y 399.4,399.4,399.4,187.5,2024.3

GPS2 041109,163331,1957.125,-15615.937,32,0.9,43,9.7 MHEAD_RNG_PITCHd_Wd 146.5,8351,-27.9,-10.000

SPEED_LIMITS 0.173,0.294 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.023143 PA_DATA0 69.7/7836665/2376714

SM_CCo 14017,102.05,0.515,0,0,986,400.08 PA_DATA1 4.4/7836665/7489256

SM_GC 1.09,0.00,0.00,102.05,0.000,0.000,0.515,372,2936,986,-9.89,0.31,400.08 PA_USB 87.1/128908/16630

IRIDIUM_FIX 1950.41,-15614.36,300411,101021 _24V_AH 23.5,9.616

TT8_MAMPS 0.309868 _10V_AH 9.9,24.066

HUMID 1078598055 FG_AHR_24Vo 0.000

TCM_TEMP 23.70 FG_AHR_10Vo 0.000

XPDR_PINGS 0 MEM 354224

PA_PMVER 0.2 DATA_FILE_SIZE 12755,401

PA_ROOTFSVER rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009 CAP_FILE_SIZE 129270,0

PA_DFQS 0/0 CFSIZE 260034560,253194240

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

PA_ROOT 87.1/128908/16630 CURRENT 0.135,345.0,1

PA_HOME 3.6/483886/466400 GPS 041109,203036,1957.008,-15615.858,39,1.9,48,9.7

PA_LOG 3.7/297829/286938

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 167 97.80 SBE_CT 268 24 151.30

Roll_motor 126 209 624.19 nil 0 0 0.00

VBD_pump_during_apogee 253 1300 7748.63 nil 0 0 0.00

VBD_pump_during_surface 102 515 1236.08 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 PAAM 14152 86 28820.29

Iridium_during_xfer 0 0 0.00

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 43 0 0.00

TT8 0 0 0.00

LPSleep 11485 2 249.03

TT8_Active 476 19 93.38

TT8_Sampling 2056 39 810.28

TT8_CF8 176 45 80.07

TT8_Kalman 30 0 0.00

Analog_circuits 1458 12 173.28

GPS_charging 0 0 0.00

Compass 1493 8 118.28

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -1.81 -64.6 0.0 0.0 0 95 0.00 0.00 -77.32 0.000 2 0.000 0.000 371 2905 2778 0 0 0 0 0 0

97 -1.84 -90.7 3.6 -7.3 15 118 9.48 2.35 -5.38 0.000 4 0.168 0.060 2114 1516 2990 0 0 0 0 0 0

342 -1.84 -90.7 78.5 -25.0 44 346 0.00 2.42 0.00 0.000 6 0.000 0.047 2114 2931 2990 0 0 0 0 0 0

531 -1.84 -90.7 125.5 -25.7 56 535 0.00 1.77 0.00 0.000 4 0.000 0.054 2114 3947 2991 0 0 0 0 0 0

605 -1.84 -90.7 144.7 -24.5 58 609 0.00 1.73 0.00 0.000 6 0.000 0.038 2114 2900 2991 0 0 0 0 0 0

930 -1.84 -90.7 204.8 -16.2 69 934 0.00 2.28 0.00 0.000 4 0.000 0.042 2114 1542 2992 0 0 0 0 0 0

1021 -1.84 -90.7 217.7 -14.3 71 1026 0.00 2.40 0.00 0.000 6 0.000 0.045 2115 2949 2991 0 0 0 0 0 0

1329 -1.84 -90.7 273.2 -19.2 82 1333 0.00 1.75 0.00 0.000 4 0.000 0.057 2114 3946 2992 0 0 0 0 0 0

1446 -1.84 -90.7 296.1 -18.1 85 1450 0.00 1.70 0.00 0.000 6 0.000 0.040 2114 2921 2991 0 0 0 0 0 0

1788 -1.84 -90.7 343.3 -13.0 92 1793 0.00 2.35 0.00 0.000 4 0.000 0.044 2114 1539 2989 0 0 0 0 0 0

2034 -1.84 -90.7 373.2 -13.0 95 2038 0.00 2.42 0.00 0.000 6 0.000 0.047 2114 2926 2985 0 0 0 0 0 0

2346 -1.84 -90.7 417.2 -14.4 101 2347 0.00 0.00 0.00 0.000 6 0.000 0.000 2114 2926 2982 0 0 0 0 0 0

2648 -1.84 -90.7 464.8 -16.1 106 2652 0.00 2.42 0.00 0.000 4 0.000 0.048 2114 1540 2978 0 0 0 0 0 0

2805 -1.84 -90.7 489.7 -15.0 108 2808 0.00 2.42 0.00 0.000 6 0.000 0.050 2115 2937 2977 0 0 0 0 0 0

3137 -1.84 -90.7 534.9 -13.0 114 3144 0.00 0.00 0.00 0.000 6 0.000 0.000 2114 2937 2975 0 0 0 0 0 0

3439 -1.84 -90.7 572.5 -12.1 119 3447 0.00 1.80 0.00 0.000 4 0.000 0.067 2114 3953 2971 0 0 0 0 0 0

3511 -1.84 -90.7 581.2 -12.1 120 3519 0.00 1.70 0.00 0.000 6 0.000 0.044 2114 2947 2970 0 0 0 0 0 0

3873 -1.84 -90.7 618.6 -10.4 126 3881 0.00 2.47 0.00 0.000 4 0.000 0.055 2114 1522 2967 0 0 0 0 0 0

3998 -1.84 -90.7 632.5 -11.5 128 4006 0.00 2.50 0.00 0.000 6 0.000 0.057 2114 2927 2966 0 0 0 0 0 0

4370 -1.84 -90.7 673.6 -11.0 134 4379 0.00 1.88 0.00 0.000 4 0.000 0.081 2114 3953 2962 0 0 0 0 0 0

4458 -1.84 -90.7 685.4 -13.6 135 4467 0.00 1.77 0.00 0.000 6 0.000 0.048 2114 2928 2962 0 0 0 0 0 0

4806 -1.84 -90.7 727.4 -12.2 141 4816 0.00 2.53 0.00 0.000 4 0.000 0.071 2114 1521 2958 0 0 0 0 0 0

4863 -1.84 -90.7 734.4 -12.0 141 4872 0.00 2.50 0.00 0.000 6 0.000 0.067 2114 2926 2958 0 0 0 0 0 0

5172 -1.84 -90.7 771.7 -12.1 147 5178 0.00 0.00 0.00 0.000 6 0.000 0.000 2114 2926 2956 0 0 0 0 0 0

5473 -1.84 -90.7 806.2 -11.5 152 5481 0.00 2.03 0.00 0.000 4 0.000 0.118 2114 3953 2954 0 0 0 0 0 0

5516 -1.84 -90.7 811.5 -11.3 152 5524 0.00 1.92 0.00 0.000 6 0.000 0.081 2114 2930 2954 0 0 0 0 0 0

5841 -1.84 -90.7 850.3 -12.0 158 5849 0.00 2.10 0.00 0.000 4 0.000 0.127 2114 3952 2952 0 0 0 0 0 0

5955 -1.84 -90.7 865.1 -12.9 159 5963 0.00 2.05 0.00 0.000 6 0.000 0.107 2114 2928 2951 0 0 0 0 0 0

6264 -1.84 -90.7 904.1 -12.7 164 6273 0.00 2.97 0.00 0.000 4 0.000 0.149 2114 1506 2951 0 0 0 0 0 0

6293 -1.84 -90.7 908.5 -15.0 164 6302 0.00 3.03 0.00 0.000 6 0.000 0.144 2114 2929 2950 0 0 0 0 0 0

6624 -1.84 -90.7 951.4 -12.7 170 6632 0.00 2.35 0.00 0.000 4 0.000 0.192 2114 3952 2948 0 0 0 0 0 0

6663 -1.84 -90.7 956.5 -13.5 170 6673 0.00 2.33 0.00 0.000 6 0.000 0.169 2114 2921 2948 0 0 0 0 0 0

6982 end dive: TARGET_DEPTH_EXCEEDED

state 6982 begin apogee

6987 -0.31 0.0 994.5 11.7 176 7070 1.73 0.00 74.40 1.300 6 0.133 0.000 2450 2783 2618 0 0 0 0 0 0

7071 end apogee: CONTROL_FINISHED_OK

state 7071 begin climb

7073 1.84 90.7 996.7 0.0 177 7173 2.20 3.00 87.05 1.287 4 0.078 0.204 2919 3953 2248 0 0 0 0 0 0

7209 1.84 90.7 979.3 20.6 179 7218 0.00 2.83 0.00 0.000 6 0.000 0.184 2919 2783 2241 0 0 0 0 0 0

7556 1.84 90.7 905.1 21.7 185 7566 0.00 2.92 0.00 0.000 4 0.000 0.136 2919 1369 2235 0 0 0 0 0 0

7607 1.84 90.7 894.3 20.8 185 7616 0.00 2.92 0.00 0.000 6 0.000 0.119 2919 2800 2234 0 0 0 0 0 0

7916 1.84 90.7 828.9 21.4 190 7923 0.00 0.00 0.00 0.000 6 0.000 0.000 2919 2800 2231 0 0 0 0 0 0

8217 1.84 90.7 764.8 21.2 195 8223 0.00 0.00 0.00 0.000 6 0.000 0.000 2919 2801 2230 0 0 0 0 0 0

8520 1.84 90.7 701.9 20.8 200 8528 0.00 2.62 0.00 0.000 4 0.000 0.064 2919 1358 2228 0 0 0 0 0 0

8667 1.84 90.7 674.5 17.6 202 8676 0.00 2.60 0.00 0.000 6 0.000 0.054 2919 2809 2228 0 0 0 0 0 0

9015 1.84 90.7 614.4 17.0 208 9024 0.00 2.60 0.00 0.000 4 0.000 0.058 2919 1352 2226 0 0 0 0 0 0

9076 1.84 90.7 604.2 16.3 209 9085 0.00 2.55 0.00 0.000 6 0.000 0.051 2919 2797 2227 0 0 0 0 0 0

9440 1.84 90.7 552.2 14.1 215 9449 0.00 2.55 0.00 0.000 4 0.000 0.052 2919 1349 2225 0 0 0 0 0 0

9582 1.84 90.7 532.0 14.8 217 9592 0.00 2.55 0.00 0.000 6 0.000 0.048 2919 2804 2226 0 0 0 0 0 0

9935 1.84 90.7 473.2 16.9 223 9936 0.00 0.00 0.00 0.000 6 0.000 0.000 2919 2804 2224 0 0 0 0 0 0

10237 1.84 90.7 421.2 17.2 228 10241 0.00 2.58 0.00 0.000 4 0.000 0.049 2919 1352 2223 0 0 0 0 0 0

10482 1.84 90.7 380.5 13.8 231 10486 0.00 2.55 0.00 0.000 6 0.000 0.045 2919 2802 2224 0 0 0 0 0 0

10795 1.84 90.7 344.5 11.0 237 10798 0.00 2.58 0.00 0.000 4 0.000 0.048 2919 1345 2223 0 0 0 0 0 0

11040 1.84 90.7 316.2 10.2 240 11044 0.00 2.55 0.00 0.000 6 0.000 0.044 2919 2800 2224 0 0 0 0 0 0

11353 1.84 93.0 284.2 9.8 248 11358 0.00 2.05 0.00 0.000 4 0.000 0.058 2919 3942 2222 0 0 0 0 0 0

11438 1.84 93.0 275.1 11.6 250 11442 0.00 2.05 0.00 0.000 6 0.000 0.040 2919 2746 2221 0 0 0 0 0 0

11752 1.86 103.5 245.5 8.9 261 11766 0.00 2.22 7.80 0.719 4 0.000 0.055 2919 3950 2196 0 0 0 0 0 0

11927 1.86 103.5 226.4 11.3 266 11931 0.00 2.00 0.00 0.000 6 0.000 0.039 2919 2791 2194 0 0 0 0 0 0

12246 1.86 103.5 190.2 11.7 277 12250 0.00 2.40 0.00 0.000 4 0.000 0.045 2918 1370 2194 0 0 0 0 0 0

12492 1.86 103.5 159.6 10.6 284 12496 0.00 2.47 0.00 0.000 6 0.000 0.041 2919 2800 2195 0 0 0 0 0 0

12806 1.90 145.2 136.6 5.7 295 12850 0.00 2.53 37.55 0.695 4 0.000 0.042 2919 1390 2024 0 0 0 0 0 0

13091 1.90 145.2 102.6 13.7 304 13096 0.00 2.42 0.00 0.000 6 0.000 0.041 2919 2793 2019 0 0 0 0 0 0

13413 1.90 145.2 61.1 13.0 333 13416 0.00 2.05 0.00 0.000 4 0.000 0.054 2919 3949 2018 0 0 0 0 0 0

13530 1.90 145.2 46.3 12.0 344 13534 0.00 1.98 0.00 0.000 6 0.000 0.037 2919 2765 2017 0 0 0 0 0 0

13726 1.96 200.8 33.5 4.2 363 13779 0.12 2.30 46.83 0.574 4 0.091 0.042 2950 1398 1797 0 0 0 0 0 0

13974 end climb: SURFACE_DEPTH_REACHED

state 13974 begin surface coast

13997 end surface coast: CONTROL_FINISHED_OK

state 13997 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	44	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2925	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	19.66667	C_ROLL_CLIMB	2790	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	39	XPDR_VALID	4
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	30	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	330	CALL_TRIES	5	C_VBD	2618	DEVICE2	-1
T_MISSION	360	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	-248059.45	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	30	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	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	041109,162849,1957.006,-15615.878,14,1.5,31,9.7	TGT_NAME	K7
_CALLS	1	TGT_LATLONG	1953.000,-15614.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.116,-0.270
_SM_DEPTHo	0.91	KALMAN_X	-165.8,-165.8,-165.8,-70.8,-840.6
_SM_ANGLEo	-63.2	KALMAN_Y	399.4,399.4,399.4,187.5,2024.3
GPS2	041109,163331,1957.125,-15615.937,32,0.9,43,9.7	MHEAD_RNG_PITCHd_Wd	146.5,8351,-27.9,-10.000
SPEED_LIMITS	0.173,0.294	D_GRID	990

FINISH	0.3,1.023143	PA_DATA0	69.7/7836665/2376714
SM_CCo	14017,102.05,0.515,0,0,986,400.08	PA_DATA1	4.4/7836665/7489256
SM_GC	1.09,0.00,0.00,102.05,0.000,0.000,0.515,372,2936,986,-9.89,0.31,400.08	PA_USB	87.1/128908/16630
IRIDIUM_FIX	1950.41,-15614.36,300411,101021	_24V_AH	23.5,9.616
TT8_MAMPS	0.309868	_10V_AH	9.9,24.066
HUMID	1078598055	FG_AHR_24Vo	0.000
TCM_TEMP	23.70	FG_AHR_10Vo	0.000
XPDR_PINGS	0	MEM	354224
PA_PMVER	0.2	DATA_FILE_SIZE	12755,401
PA_ROOTFSVER	rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009	CAP_FILE_SIZE	129270,0
PA_DFQS	0/0	CFSIZE	260034560,253194240
PA_CMQS	0/0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_ROOT	87.1/128908/16630	CURRENT	0.135,345.0,1
PA_HOME	3.6/483886/466400	GPS	041109,203036,1957.008,-15615.858,39,1.9,48,9.7
PA_LOG	3.7/297829/286938

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	167	97.80	SBE_CT	268	24	151.30
Roll_motor	126	209	624.19	nil	0	0	0.00
VBD_pump_during_apogee	253	1300	7748.63	nil	0	0	0.00
VBD_pump_during_surface	102	515	1236.08	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	PAAM	14152	86	28820.29
Iridium_during_xfer	0	0	0.00
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	43	0	0.00
TT8	0	0	0.00
LPSleep	11485	2	249.03
TT8_Active	476	19	93.38
TT8_Sampling	2056	39	810.28
TT8_CF8	176	45	80.07
TT8_Kalman	30	0	0.00
Analog_circuits	1458	12	173.28
GPS_charging	0	0	0.00
Compass	1493	8	118.28
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-1.81	-64.6	0.0	0.0	0	95	0.00	0.00	-77.32	0.000	2	0.000	0.000	371	2905	2778	0	0	0	0	0	0
97	-1.84	-90.7	3.6	-7.3	15	118	9.48	2.35	-5.38	0.000	4	0.168	0.060	2114	1516	2990	0	0	0	0	0	0
342	-1.84	-90.7	78.5	-25.0	44	346	0.00	2.42	0.00	0.000	6	0.000	0.047	2114	2931	2990	0	0	0	0	0	0
531	-1.84	-90.7	125.5	-25.7	56	535	0.00	1.77	0.00	0.000	4	0.000	0.054	2114	3947	2991	0	0	0	0	0	0
605	-1.84	-90.7	144.7	-24.5	58	609	0.00	1.73	0.00	0.000	6	0.000	0.038	2114	2900	2991	0	0	0	0	0	0
930	-1.84	-90.7	204.8	-16.2	69	934	0.00	2.28	0.00	0.000	4	0.000	0.042	2114	1542	2992	0	0	0	0	0	0
1021	-1.84	-90.7	217.7	-14.3	71	1026	0.00	2.40	0.00	0.000	6	0.000	0.045	2115	2949	2991	0	0	0	0	0	0
1329	-1.84	-90.7	273.2	-19.2	82	1333	0.00	1.75	0.00	0.000	4	0.000	0.057	2114	3946	2992	0	0	0	0	0	0
1446	-1.84	-90.7	296.1	-18.1	85	1450	0.00	1.70	0.00	0.000	6	0.000	0.040	2114	2921	2991	0	0	0	0	0	0
1788	-1.84	-90.7	343.3	-13.0	92	1793	0.00	2.35	0.00	0.000	4	0.000	0.044	2114	1539	2989	0	0	0	0	0	0
2034	-1.84	-90.7	373.2	-13.0	95	2038	0.00	2.42	0.00	0.000	6	0.000	0.047	2114	2926	2985	0	0	0	0	0	0
2346	-1.84	-90.7	417.2	-14.4	101	2347	0.00	0.00	0.00	0.000	6	0.000	0.000	2114	2926	2982	0	0	0	0	0	0
2648	-1.84	-90.7	464.8	-16.1	106	2652	0.00	2.42	0.00	0.000	4	0.000	0.048	2114	1540	2978	0	0	0	0	0	0
2805	-1.84	-90.7	489.7	-15.0	108	2808	0.00	2.42	0.00	0.000	6	0.000	0.050	2115	2937	2977	0	0	0	0	0	0
3137	-1.84	-90.7	534.9	-13.0	114	3144	0.00	0.00	0.00	0.000	6	0.000	0.000	2114	2937	2975	0	0	0	0	0	0
3439	-1.84	-90.7	572.5	-12.1	119	3447	0.00	1.80	0.00	0.000	4	0.000	0.067	2114	3953	2971	0	0	0	0	0	0
3511	-1.84	-90.7	581.2	-12.1	120	3519	0.00	1.70	0.00	0.000	6	0.000	0.044	2114	2947	2970	0	0	0	0	0	0
3873	-1.84	-90.7	618.6	-10.4	126	3881	0.00	2.47	0.00	0.000	4	0.000	0.055	2114	1522	2967	0	0	0	0	0	0
3998	-1.84	-90.7	632.5	-11.5	128	4006	0.00	2.50	0.00	0.000	6	0.000	0.057	2114	2927	2966	0	0	0	0	0	0
4370	-1.84	-90.7	673.6	-11.0	134	4379	0.00	1.88	0.00	0.000	4	0.000	0.081	2114	3953	2962	0	0	0	0	0	0
4458	-1.84	-90.7	685.4	-13.6	135	4467	0.00	1.77	0.00	0.000	6	0.000	0.048	2114	2928	2962	0	0	0	0	0	0
4806	-1.84	-90.7	727.4	-12.2	141	4816	0.00	2.53	0.00	0.000	4	0.000	0.071	2114	1521	2958	0	0	0	0	0	0
4863	-1.84	-90.7	734.4	-12.0	141	4872	0.00	2.50	0.00	0.000	6	0.000	0.067	2114	2926	2958	0	0	0	0	0	0
5172	-1.84	-90.7	771.7	-12.1	147	5178	0.00	0.00	0.00	0.000	6	0.000	0.000	2114	2926	2956	0	0	0	0	0	0
5473	-1.84	-90.7	806.2	-11.5	152	5481	0.00	2.03	0.00	0.000	4	0.000	0.118	2114	3953	2954	0	0	0	0	0	0
5516	-1.84	-90.7	811.5	-11.3	152	5524	0.00	1.92	0.00	0.000	6	0.000	0.081	2114	2930	2954	0	0	0	0	0	0
5841	-1.84	-90.7	850.3	-12.0	158	5849	0.00	2.10	0.00	0.000	4	0.000	0.127	2114	3952	2952	0	0	0	0	0	0
5955	-1.84	-90.7	865.1	-12.9	159	5963	0.00	2.05	0.00	0.000	6	0.000	0.107	2114	2928	2951	0	0	0	0	0	0
6264	-1.84	-90.7	904.1	-12.7	164	6273	0.00	2.97	0.00	0.000	4	0.000	0.149	2114	1506	2951	0	0	0	0	0	0
6293	-1.84	-90.7	908.5	-15.0	164	6302	0.00	3.03	0.00	0.000	6	0.000	0.144	2114	2929	2950	0	0	0	0	0	0
6624	-1.84	-90.7	951.4	-12.7	170	6632	0.00	2.35	0.00	0.000	4	0.000	0.192	2114	3952	2948	0	0	0	0	0	0
6663	-1.84	-90.7	956.5	-13.5	170	6673	0.00	2.33	0.00	0.000	6	0.000	0.169	2114	2921	2948	0	0	0	0	0	0
6982	end dive: TARGET_DEPTH_EXCEEDED
state	6982	begin apogee
6987	-0.31	0.0	994.5	11.7	176	7070	1.73	0.00	74.40	1.300	6	0.133	0.000	2450	2783	2618	0	0	0	0	0	0
7071	end apogee: CONTROL_FINISHED_OK
state	7071	begin climb
7073	1.84	90.7	996.7	0.0	177	7173	2.20	3.00	87.05	1.287	4	0.078	0.204	2919	3953	2248	0	0	0	0	0	0
7209	1.84	90.7	979.3	20.6	179	7218	0.00	2.83	0.00	0.000	6	0.000	0.184	2919	2783	2241	0	0	0	0	0	0
7556	1.84	90.7	905.1	21.7	185	7566	0.00	2.92	0.00	0.000	4	0.000	0.136	2919	1369	2235	0	0	0	0	0	0
7607	1.84	90.7	894.3	20.8	185	7616	0.00	2.92	0.00	0.000	6	0.000	0.119	2919	2800	2234	0	0	0	0	0	0
7916	1.84	90.7	828.9	21.4	190	7923	0.00	0.00	0.00	0.000	6	0.000	0.000	2919	2800	2231	0	0	0	0	0	0
8217	1.84	90.7	764.8	21.2	195	8223	0.00	0.00	0.00	0.000	6	0.000	0.000	2919	2801	2230	0	0	0	0	0	0
8520	1.84	90.7	701.9	20.8	200	8528	0.00	2.62	0.00	0.000	4	0.000	0.064	2919	1358	2228	0	0	0	0	0	0
8667	1.84	90.7	674.5	17.6	202	8676	0.00	2.60	0.00	0.000	6	0.000	0.054	2919	2809	2228	0	0	0	0	0	0
9015	1.84	90.7	614.4	17.0	208	9024	0.00	2.60	0.00	0.000	4	0.000	0.058	2919	1352	2226	0	0	0	0	0	0
9076	1.84	90.7	604.2	16.3	209	9085	0.00	2.55	0.00	0.000	6	0.000	0.051	2919	2797	2227	0	0	0	0	0	0
9440	1.84	90.7	552.2	14.1	215	9449	0.00	2.55	0.00	0.000	4	0.000	0.052	2919	1349	2225	0	0	0	0	0	0
9582	1.84	90.7	532.0	14.8	217	9592	0.00	2.55	0.00	0.000	6	0.000	0.048	2919	2804	2226	0	0	0	0	0	0
9935	1.84	90.7	473.2	16.9	223	9936	0.00	0.00	0.00	0.000	6	0.000	0.000	2919	2804	2224	0	0	0	0	0	0
10237	1.84	90.7	421.2	17.2	228	10241	0.00	2.58	0.00	0.000	4	0.000	0.049	2919	1352	2223	0	0	0	0	0	0
10482	1.84	90.7	380.5	13.8	231	10486	0.00	2.55	0.00	0.000	6	0.000	0.045	2919	2802	2224	0	0	0	0	0	0
10795	1.84	90.7	344.5	11.0	237	10798	0.00	2.58	0.00	0.000	4	0.000	0.048	2919	1345	2223	0	0	0	0	0	0
11040	1.84	90.7	316.2	10.2	240	11044	0.00	2.55	0.00	0.000	6	0.000	0.044	2919	2800	2224	0	0	0	0	0	0
11353	1.84	93.0	284.2	9.8	248	11358	0.00	2.05	0.00	0.000	4	0.000	0.058	2919	3942	2222	0	0	0	0	0	0
11438	1.84	93.0	275.1	11.6	250	11442	0.00	2.05	0.00	0.000	6	0.000	0.040	2919	2746	2221	0	0	0	0	0	0
11752	1.86	103.5	245.5	8.9	261	11766	0.00	2.22	7.80	0.719	4	0.000	0.055	2919	3950	2196	0	0	0	0	0	0
11927	1.86	103.5	226.4	11.3	266	11931	0.00	2.00	0.00	0.000	6	0.000	0.039	2919	2791	2194	0	0	0	0	0	0
12246	1.86	103.5	190.2	11.7	277	12250	0.00	2.40	0.00	0.000	4	0.000	0.045	2918	1370	2194	0	0	0	0	0	0
12492	1.86	103.5	159.6	10.6	284	12496	0.00	2.47	0.00	0.000	6	0.000	0.041	2919	2800	2195	0	0	0	0	0	0
12806	1.90	145.2	136.6	5.7	295	12850	0.00	2.53	37.55	0.695	4	0.000	0.042	2919	1390	2024	0	0	0	0	0	0
13091	1.90	145.2	102.6	13.7	304	13096	0.00	2.42	0.00	0.000	6	0.000	0.041	2919	2793	2019	0	0	0	0	0	0
13413	1.90	145.2	61.1	13.0	333	13416	0.00	2.05	0.00	0.000	4	0.000	0.054	2919	3949	2018	0	0	0	0	0	0
13530	1.90	145.2	46.3	12.0	344	13534	0.00	1.98	0.00	0.000	6	0.000	0.037	2919	2765	2017	0	0	0	0	0	0
13726	1.96	200.8	33.5	4.2	363	13779	0.12	2.30	46.83	0.574	4	0.091	0.042	2950	1398	1797	0	0	0	0	0	0
13974	end climb: SURFACE_DEPTH_REACHED
state	13974	begin surface coast
13997	end surface coast: CONTROL_FINISHED_OK
state	13997	begin surface