Glider dive log

HI Oct09 * SG022 * Dive index * Mission links * Dive 5 * 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 5 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 2850 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 56 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 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 -244771.39 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 -244771.39

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 2850 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 250 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 56 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 5 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 281009,012808,1942.078,-15605.881,12,1.5,12,9.7 TGT_NAME LR

_CALLS 1 TGT_LATLONG 1940.000,-15605.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.139,-0.318

_SM_DEPTHo 0.63 KALMAN_X -2076.7,-635.6,-8.6,1239.8,-755.6

_SM_ANGLEo -68.6 KALMAN_Y 6403.6,2400.4,-28.8,-5057.3,1536.6

GPS2 281009,013246,1942.173,-15605.911,11,2.1,30,9.7 MHEAD_RNG_PITCHd_Wd 148.7,4327,-16.8,-12.222

SPEED_LIMITS 0.122,0.347 D_GRID 660

Post-dive calculations and measurements:

FINISH -0.2,1.022945 PA_DATA0 8.8/7836665/7145622

SM_CCo 9117,63.62,0.535,0,0,987,400.08 PA_DATA1 0.1/7836665/7825417

SM_GC 0.46,0.00,0.00,63.62,0.000,0.000,0.535,377,2970,987,-10.00,0.57,400.08 PA_USB 2.0/30829585/30212731

IRIDIUM_FIX 1934.38,-15604.81,220411,191956 _24V_AH 23.6,3.570

TT8_MAMPS 0.154934 _10V_AH 9.8,4.202

HUMID 1078751603 FG_AHR_24Vo 0.000

TCM_TEMP 23.50 FG_AHR_10Vo 0.000

XPDR_PINGS 0 MEM 324724

PA_PMVER 0.2 DATA_FILE_SIZE 9610,319

PA_ROOTFSVER rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009 CAP_FILE_SIZE 94298,0

PA_DFQS 0/0 CFSIZE 260034560,256344064

PA_CMQS 105/227 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PA_ROOT 87.1/128908/16632 CURRENT 0.118,339.6,1

PA_HOME 2.7/483886/470874 GPS 281009,040724,1941.139,-15605.494,37,1.2,37,9.7

PA_LOG 3.7/297829/286837

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 161 90.23 SBE_CT 211 24 119.71

Roll_motor 79 84 157.50 nil 0 0 0.00

VBD_pump_during_apogee 447 1073 11328.50 nil 0 0 0.00

VBD_pump_during_surface 63 534 802.73 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 9251 95 20763.46

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 31 50 15.47

TT8 0 19 0.00

LPSleep 7284 2 156.35

TT8_Active 581 19 112.93

TT8_Sampling 1261 39 491.90

TT8_CF8 117 45 52.54

TT8_Kalman 33 81 26.74

Analog_circuits 1262 12 148.43

GPS_charging 0 0 0.00

Compass 825 8 64.74

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 96 0.00 0.00 -77.97 0.000 2 0.000 0.000 375 2966 2781 0 0 0 0 0 0

98 -1.32 -243.4 3.7 -9.2 15 135 10.12 1.80 -18.15 0.000 4 0.162 0.081 2257 3953 3613 0 0 0 0 0 0

262 -1.32 -243.4 48.9 -24.4 36 268 0.00 1.67 0.00 0.000 6 0.000 0.038 2257 2926 3615 0 0 0 0 0 0

453 -1.32 -243.4 89.2 -20.2 55 454 0.00 0.00 0.00 0.000 6 0.000 0.000 2256 2921 3615 0 0 0 0 0 0

636 -1.32 -243.4 125.8 -20.0 65 640 0.00 2.28 0.00 0.000 4 0.000 0.043 2257 1571 3616 0 0 0 0 0 0

668 -1.32 -243.4 132.1 -18.5 66 673 0.00 2.40 0.00 0.000 6 0.000 0.051 2257 2936 3615 0 0 0 0 0 0

1004 -1.32 -243.4 193.3 -17.1 77 1012 0.00 2.30 0.00 0.000 4 0.000 0.043 2257 1563 3616 0 0 0 0 0 0

1037 -1.32 -243.4 198.1 -13.7 78 1045 0.00 2.42 0.00 0.000 6 0.000 0.052 2257 2957 3616 0 0 0 0 0 0

1364 -1.32 -243.4 249.6 -16.4 89 1371 0.00 1.80 0.00 0.000 4 0.000 0.075 2257 3959 3616 0 0 0 0 0 0

1434 -1.32 -243.4 261.3 -16.7 91 1442 0.00 1.65 0.00 0.000 6 0.000 0.040 2257 2932 3616 0 0 0 0 0 0

1765 -1.32 -243.4 312.6 -14.9 101 1771 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2928 3616 0 0 0 0 0 0

2067 -1.32 -243.4 353.5 -13.6 106 2075 0.00 1.90 0.00 0.000 4 0.000 0.071 2256 3955 3614 0 0 0 0 0 0

2111 -1.32 -243.4 359.9 -13.8 106 2119 0.00 1.67 0.00 0.000 6 0.000 0.041 2257 2957 3614 0 0 0 0 0 0

2436 -1.32 -243.4 401.6 -12.7 112 2444 0.00 1.83 0.00 0.000 4 0.000 0.071 2257 3959 3610 0 0 0 0 0 0

2480 -1.32 -243.4 407.3 -12.7 112 2487 0.00 1.67 0.00 0.000 6 0.000 0.041 2256 2946 3610 0 0 0 0 0 0

2804 -1.32 -243.4 445.6 -11.7 118 2810 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2941 3606 0 0 0 0 0 0

3105 -1.32 -243.4 481.2 -11.8 123 3114 0.00 1.88 0.00 0.000 4 0.000 0.074 2257 3946 3604 0 0 0 0 0 0

3139 -1.32 -243.4 485.6 -13.7 123 3147 0.00 1.70 0.00 0.000 6 0.000 0.043 2258 2950 3603 0 0 0 0 0 0

3475 -1.32 -243.4 525.3 -11.8 129 3481 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2947 3602 0 0 0 0 0 0

3777 -1.32 -243.4 561.8 -12.1 134 3783 0.00 0.00 0.00 0.000 6 0.000 0.000 2258 2947 3597 0 0 0 0 0 0

4078 -1.32 -243.4 598.1 -11.9 139 4086 0.00 1.88 0.00 0.000 4 0.000 0.084 2256 3953 3594 0 0 0 0 0 0

4149 -1.32 -243.4 606.1 -11.2 140 4157 0.00 1.70 0.00 0.000 6 0.000 0.044 2257 2950 3593 0 0 0 0 0 0

4512 -1.32 -243.4 645.2 -10.7 146 4521 0.00 2.50 0.00 0.000 4 0.000 0.067 2256 1556 3591 0 0 0 0 0 0

4536 -1.32 -243.4 647.9 -11.0 146 4544 0.00 2.55 0.00 0.000 6 0.000 0.069 2257 2955 3591 0 0 0 0 0 0

4688 end dive: TARGET_DEPTH_EXCEEDED

state 4688 begin apogee

4693 -0.31 0.0 664.7 11.0 149 4906 1.08 0.00 205.25 1.073 6 0.107 0.000 2478 2841 2617 0 0 0 0 0 0

4906 end apogee: CONTROL_FINISHED_OK

state 4907 begin climb

4908 1.32 243.4 674.0 0.0 152 5136 1.67 2.55 213.23 1.030 4 0.080 0.063 2834 1453 1624 0 0 0 0 0 0

5172 1.32 243.4 641.7 19.0 156 5180 0.00 2.58 0.00 0.000 6 0.000 0.058 2834 2857 1620 0 0 0 0 0 0

5513 1.32 243.4 575.1 19.4 162 5521 0.00 2.03 0.00 0.000 4 0.000 0.074 2834 3954 1613 0 0 0 0 0 0

5546 1.32 243.4 568.1 21.3 162 5553 0.00 1.92 0.00 0.000 6 0.000 0.044 2834 2849 1613 0 0 0 0 0 0

5880 1.32 243.4 501.3 19.9 168 5889 0.00 2.45 0.00 0.000 4 0.000 0.054 2834 1450 1610 0 0 0 0 0 0

5909 1.32 243.4 495.8 19.7 168 5917 0.00 2.50 0.00 0.000 6 0.000 0.049 2834 2860 1610 0 0 0 0 0 0

6239 1.32 243.4 434.7 18.3 174 6246 0.00 1.98 0.00 0.000 4 0.000 0.066 2834 3959 1609 0 0 0 0 0 0

6304 1.32 243.4 422.1 20.0 175 6312 0.00 1.95 0.00 0.000 6 0.000 0.044 2835 2846 1608 0 0 0 0 0 0

6671 1.32 243.4 353.9 18.6 181 6680 0.00 2.40 0.00 0.000 4 0.000 0.051 2834 1455 1607 0 0 0 0 0 0

6694 1.32 243.4 349.8 17.9 181 6702 0.00 2.47 0.00 0.000 6 0.000 0.047 2836 2866 1607 0 0 0 0 0 0

7030 1.32 243.4 294.2 16.3 187 7035 0.00 0.00 0.00 0.000 6 0.000 0.000 2834 2866 1605 0 0 0 0 0 0

7333 1.32 243.4 247.5 15.5 197 7341 0.00 1.92 0.00 0.000 4 0.000 0.061 2834 3956 1605 0 0 0 0 0 0

7382 1.32 243.4 239.5 16.0 198 7390 0.00 1.90 0.00 0.000 6 0.000 0.041 2834 2829 1605 0 0 0 0 0 0

7702 1.32 243.4 191.6 15.4 209 7710 0.00 2.03 0.00 0.000 4 0.000 0.060 2834 3956 1604 0 0 0 0 0 0

7746 1.32 243.4 184.5 17.0 210 7753 0.00 1.88 0.00 0.000 6 0.000 0.040 2834 2843 1604 0 0 0 0 0 0

8071 1.32 243.4 134.3 15.8 221 8076 0.00 2.03 0.00 0.000 4 0.000 0.058 2834 3951 1604 0 0 0 0 0 0

8125 1.32 243.4 125.6 16.2 222 8129 0.00 1.90 0.00 0.000 6 0.000 0.039 2834 2839 1603 0 0 0 0 0 0

8441 1.32 243.4 79.5 13.9 241 8445 0.00 2.38 0.00 0.000 4 0.000 0.047 2834 1459 1604 0 0 0 0 0 0

8526 1.32 243.4 67.1 14.1 249 8530 0.00 2.42 0.00 0.000 6 0.000 0.042 2834 2860 1605 0 0 0 0 0 0

8723 1.34 260.0 42.3 11.7 268 8739 0.00 1.92 12.15 0.565 4 0.000 0.056 2835 3956 1556 0 0 0 0 0 0

8802 1.36 277.9 33.1 11.6 275 8824 0.00 1.88 16.73 0.568 6 0.000 0.038 2834 2836 1484 0 0 0 0 0 0

9011 1.36 277.9 10.3 12.6 302 9016 0.00 0.00 0.00 0.000 6 0.000 0.000 2834 2836 1482 0 0 0 0 0 0

9073 end climb: SURFACE_DEPTH_REACHED

state 9073 begin surface coast

9099 end surface coast: CONTROL_FINISHED_OK

state 9099 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	5	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	2850	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	56	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	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	-244771.39	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	281009,012808,1942.078,-15605.881,12,1.5,12,9.7	TGT_NAME	LR
_CALLS	1	TGT_LATLONG	1940.000,-15605.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.139,-0.318
_SM_DEPTHo	0.63	KALMAN_X	-2076.7,-635.6,-8.6,1239.8,-755.6
_SM_ANGLEo	-68.6	KALMAN_Y	6403.6,2400.4,-28.8,-5057.3,1536.6
GPS2	281009,013246,1942.173,-15605.911,11,2.1,30,9.7	MHEAD_RNG_PITCHd_Wd	148.7,4327,-16.8,-12.222
SPEED_LIMITS	0.122,0.347	D_GRID	660

FINISH	-0.2,1.022945	PA_DATA0	8.8/7836665/7145622
SM_CCo	9117,63.62,0.535,0,0,987,400.08	PA_DATA1	0.1/7836665/7825417
SM_GC	0.46,0.00,0.00,63.62,0.000,0.000,0.535,377,2970,987,-10.00,0.57,400.08	PA_USB	2.0/30829585/30212731
IRIDIUM_FIX	1934.38,-15604.81,220411,191956	_24V_AH	23.6,3.570
TT8_MAMPS	0.154934	_10V_AH	9.8,4.202
HUMID	1078751603	FG_AHR_24Vo	0.000
TCM_TEMP	23.50	FG_AHR_10Vo	0.000
XPDR_PINGS	0	MEM	324724
PA_PMVER	0.2	DATA_FILE_SIZE	9610,319
PA_ROOTFSVER	rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009	CAP_FILE_SIZE	94298,0
PA_DFQS	0/0	CFSIZE	260034560,256344064
PA_CMQS	105/227	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_ROOT	87.1/128908/16632	CURRENT	0.118,339.6,1
PA_HOME	2.7/483886/470874	GPS	281009,040724,1941.139,-15605.494,37,1.2,37,9.7
PA_LOG	3.7/297829/286837

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	161	90.23	SBE_CT	211	24	119.71
Roll_motor	79	84	157.50	nil	0	0	0.00
VBD_pump_during_apogee	447	1073	11328.50	nil	0	0	0.00
VBD_pump_during_surface	63	534	802.73	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	9251	95	20763.46
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	31	50	15.47
TT8	0	19	0.00
LPSleep	7284	2	156.35
TT8_Active	581	19	112.93
TT8_Sampling	1261	39	491.90
TT8_CF8	117	45	52.54
TT8_Kalman	33	81	26.74
Analog_circuits	1262	12	148.43
GPS_charging	0	0	0.00
Compass	825	8	64.74
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	96	0.00	0.00	-77.97	0.000	2	0.000	0.000	375	2966	2781	0	0	0	0	0	0
98	-1.32	-243.4	3.7	-9.2	15	135	10.12	1.80	-18.15	0.000	4	0.162	0.081	2257	3953	3613	0	0	0	0	0	0
262	-1.32	-243.4	48.9	-24.4	36	268	0.00	1.67	0.00	0.000	6	0.000	0.038	2257	2926	3615	0	0	0	0	0	0
453	-1.32	-243.4	89.2	-20.2	55	454	0.00	0.00	0.00	0.000	6	0.000	0.000	2256	2921	3615	0	0	0	0	0	0
636	-1.32	-243.4	125.8	-20.0	65	640	0.00	2.28	0.00	0.000	4	0.000	0.043	2257	1571	3616	0	0	0	0	0	0
668	-1.32	-243.4	132.1	-18.5	66	673	0.00	2.40	0.00	0.000	6	0.000	0.051	2257	2936	3615	0	0	0	0	0	0
1004	-1.32	-243.4	193.3	-17.1	77	1012	0.00	2.30	0.00	0.000	4	0.000	0.043	2257	1563	3616	0	0	0	0	0	0
1037	-1.32	-243.4	198.1	-13.7	78	1045	0.00	2.42	0.00	0.000	6	0.000	0.052	2257	2957	3616	0	0	0	0	0	0
1364	-1.32	-243.4	249.6	-16.4	89	1371	0.00	1.80	0.00	0.000	4	0.000	0.075	2257	3959	3616	0	0	0	0	0	0
1434	-1.32	-243.4	261.3	-16.7	91	1442	0.00	1.65	0.00	0.000	6	0.000	0.040	2257	2932	3616	0	0	0	0	0	0
1765	-1.32	-243.4	312.6	-14.9	101	1771	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2928	3616	0	0	0	0	0	0
2067	-1.32	-243.4	353.5	-13.6	106	2075	0.00	1.90	0.00	0.000	4	0.000	0.071	2256	3955	3614	0	0	0	0	0	0
2111	-1.32	-243.4	359.9	-13.8	106	2119	0.00	1.67	0.00	0.000	6	0.000	0.041	2257	2957	3614	0	0	0	0	0	0
2436	-1.32	-243.4	401.6	-12.7	112	2444	0.00	1.83	0.00	0.000	4	0.000	0.071	2257	3959	3610	0	0	0	0	0	0
2480	-1.32	-243.4	407.3	-12.7	112	2487	0.00	1.67	0.00	0.000	6	0.000	0.041	2256	2946	3610	0	0	0	0	0	0
2804	-1.32	-243.4	445.6	-11.7	118	2810	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2941	3606	0	0	0	0	0	0
3105	-1.32	-243.4	481.2	-11.8	123	3114	0.00	1.88	0.00	0.000	4	0.000	0.074	2257	3946	3604	0	0	0	0	0	0
3139	-1.32	-243.4	485.6	-13.7	123	3147	0.00	1.70	0.00	0.000	6	0.000	0.043	2258	2950	3603	0	0	0	0	0	0
3475	-1.32	-243.4	525.3	-11.8	129	3481	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2947	3602	0	0	0	0	0	0
3777	-1.32	-243.4	561.8	-12.1	134	3783	0.00	0.00	0.00	0.000	6	0.000	0.000	2258	2947	3597	0	0	0	0	0	0
4078	-1.32	-243.4	598.1	-11.9	139	4086	0.00	1.88	0.00	0.000	4	0.000	0.084	2256	3953	3594	0	0	0	0	0	0
4149	-1.32	-243.4	606.1	-11.2	140	4157	0.00	1.70	0.00	0.000	6	0.000	0.044	2257	2950	3593	0	0	0	0	0	0
4512	-1.32	-243.4	645.2	-10.7	146	4521	0.00	2.50	0.00	0.000	4	0.000	0.067	2256	1556	3591	0	0	0	0	0	0
4536	-1.32	-243.4	647.9	-11.0	146	4544	0.00	2.55	0.00	0.000	6	0.000	0.069	2257	2955	3591	0	0	0	0	0	0
4688	end dive: TARGET_DEPTH_EXCEEDED
state	4688	begin apogee
4693	-0.31	0.0	664.7	11.0	149	4906	1.08	0.00	205.25	1.073	6	0.107	0.000	2478	2841	2617	0	0	0	0	0	0
4906	end apogee: CONTROL_FINISHED_OK
state	4907	begin climb
4908	1.32	243.4	674.0	0.0	152	5136	1.67	2.55	213.23	1.030	4	0.080	0.063	2834	1453	1624	0	0	0	0	0	0
5172	1.32	243.4	641.7	19.0	156	5180	0.00	2.58	0.00	0.000	6	0.000	0.058	2834	2857	1620	0	0	0	0	0	0
5513	1.32	243.4	575.1	19.4	162	5521	0.00	2.03	0.00	0.000	4	0.000	0.074	2834	3954	1613	0	0	0	0	0	0
5546	1.32	243.4	568.1	21.3	162	5553	0.00	1.92	0.00	0.000	6	0.000	0.044	2834	2849	1613	0	0	0	0	0	0
5880	1.32	243.4	501.3	19.9	168	5889	0.00	2.45	0.00	0.000	4	0.000	0.054	2834	1450	1610	0	0	0	0	0	0
5909	1.32	243.4	495.8	19.7	168	5917	0.00	2.50	0.00	0.000	6	0.000	0.049	2834	2860	1610	0	0	0	0	0	0
6239	1.32	243.4	434.7	18.3	174	6246	0.00	1.98	0.00	0.000	4	0.000	0.066	2834	3959	1609	0	0	0	0	0	0
6304	1.32	243.4	422.1	20.0	175	6312	0.00	1.95	0.00	0.000	6	0.000	0.044	2835	2846	1608	0	0	0	0	0	0
6671	1.32	243.4	353.9	18.6	181	6680	0.00	2.40	0.00	0.000	4	0.000	0.051	2834	1455	1607	0	0	0	0	0	0
6694	1.32	243.4	349.8	17.9	181	6702	0.00	2.47	0.00	0.000	6	0.000	0.047	2836	2866	1607	0	0	0	0	0	0
7030	1.32	243.4	294.2	16.3	187	7035	0.00	0.00	0.00	0.000	6	0.000	0.000	2834	2866	1605	0	0	0	0	0	0
7333	1.32	243.4	247.5	15.5	197	7341	0.00	1.92	0.00	0.000	4	0.000	0.061	2834	3956	1605	0	0	0	0	0	0
7382	1.32	243.4	239.5	16.0	198	7390	0.00	1.90	0.00	0.000	6	0.000	0.041	2834	2829	1605	0	0	0	0	0	0
7702	1.32	243.4	191.6	15.4	209	7710	0.00	2.03	0.00	0.000	4	0.000	0.060	2834	3956	1604	0	0	0	0	0	0
7746	1.32	243.4	184.5	17.0	210	7753	0.00	1.88	0.00	0.000	6	0.000	0.040	2834	2843	1604	0	0	0	0	0	0
8071	1.32	243.4	134.3	15.8	221	8076	0.00	2.03	0.00	0.000	4	0.000	0.058	2834	3951	1604	0	0	0	0	0	0
8125	1.32	243.4	125.6	16.2	222	8129	0.00	1.90	0.00	0.000	6	0.000	0.039	2834	2839	1603	0	0	0	0	0	0
8441	1.32	243.4	79.5	13.9	241	8445	0.00	2.38	0.00	0.000	4	0.000	0.047	2834	1459	1604	0	0	0	0	0	0
8526	1.32	243.4	67.1	14.1	249	8530	0.00	2.42	0.00	0.000	6	0.000	0.042	2834	2860	1605	0	0	0	0	0	0
8723	1.34	260.0	42.3	11.7	268	8739	0.00	1.92	12.15	0.565	4	0.000	0.056	2835	3956	1556	0	0	0	0	0	0
8802	1.36	277.9	33.1	11.6	275	8824	0.00	1.88	16.73	0.568	6	0.000	0.038	2834	2836	1484	0	0	0	0	0	0
9011	1.36	277.9	10.3	12.6	302	9016	0.00	0.00	0.00	0.000	6	0.000	0.000	2834	2836	1482	0	0	0	0	0	0
9073	end climb: SURFACE_DEPTH_REACHED
state	9073	begin surface coast
9099	end surface coast: CONTROL_FINISHED_OK
state	9099	begin surface