Glider dive log

HI Oct09 * SG022 * Dive index * Mission links * Dive 6 * 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 6 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 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 64 XPDR_VALID 4

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 39 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 270 CALL_TRIES 5 C_VBD 2618 DEVICE2 -1

T_MISSION 300 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 -244787.23 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 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 45 PITCH_VBD_SHIFT 0.00109 T_ABORT 1440

CALL_TRIES 5 GPS_DEVICE 32 PRESSURE_SLOPE 0.00011632 T_DIVE 270

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 -244787.23

CF8_MAXERRORS 1 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 300

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 64 VBD_MAX 3841

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 39 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 6 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 281009,040724,1941.139,-15605.494,37,1.2,37,9.7 TGT_NAME LR

_CALLS 1 TGT_LATLONG 1940.000,-15605.000

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.103,-0.331

_SM_DEPTHo 0.40 KALMAN_X -3276.0,-367.0,58.2,2739.3,-1377.3

_SM_ANGLEo -68.7 KALMAN_Y 9950.3,1503.2,-897.9,-8479.6,4622.5

GPS2 281009,041338,1941.285,-15605.545,15,1.4,15,9.7 MHEAD_RNG_PITCHd_Wd 148.5,2563,-21.6,-12.222

SPEED_LIMITS 0.122,0.347 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.3,1.022959 PA_DATA0 9.7/7836665/7079968

SM_CCo 10867,90.05,0.551,0,0,987,400.08 PA_DATA1 0.1/7836665/7825417

SM_GC 0.42,0.00,0.00,90.05,0.000,0.000,0.551,373,2958,987,-10.01,0.23,400.08 PA_USB 3.1/30829585/29860353

IRIDIUM_FIX 1932.09,-15604.81,220411,191938 _24V_AH 23.4,3.743

TT8_MAMPS 0.181012 _10V_AH 9.8,4.541

HUMID 1078765797 FG_AHR_24Vo 0.000

TCM_TEMP 23.20 FG_AHR_10Vo 0.000

XPDR_PINGS 0 MEM 324408

PA_PMVER 0.2 DATA_FILE_SIZE 9578,323

PA_ROOTFSVER rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009 CAP_FILE_SIZE 88274,0

PA_DFQS 0/0 CFSIZE 260034560,256307200

PA_CMQS 21/154 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PA_ROOT 87.1/128908/16632 CURRENT 0.085,332.7,1

PA_HOME 2.7/483886/470819 GPS 281009,071806,1939.783,-15604.987,43,1.2,48,9.7

PA_LOG 3.7/297829/286865

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 162 92.46 SBE_CT 214 24 120.69

Roll_motor 103 236 573.94 nil 0 0 0.00

VBD_pump_during_apogee 399 1303 12187.41 nil 0 0 0.00

VBD_pump_during_surface 90 551 1162.05 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 59.56 nil 0 0 0.00

Iridium_during_connect 27 160 101.26 PAAM 11391 95 25447.51

Iridium_during_xfer 180 223 941.23

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.46

TT8 0 19 0.00

LPSleep 9043 2 194.08

TT8_Active 600 19 116.51

TT8_Sampling 1261 39 492.16

TT8_CF8 421 45 189.18

TT8_Kalman 33 81 26.70

Analog_circuits 1286 12 151.25

GPS_charging 0 0 0.00

Compass 796 8 62.42

RAFOS 0 0 0.00

Transponder 0 30 0.16

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -1.51 -148.9 0.0 0.0 0 89 0.00 0.00 -72.03 0.000 2 0.000 0.000 377 2970 2610 0 0 0 0 0 0

92 -1.58 -215.9 3.1 -8.5 14 128 9.88 0.00 -21.20 0.000 6 0.163 0.000 2199 2970 3499 0 0 0 0 0 0

195 -1.58 -215.9 35.2 -33.8 30 199 0.00 1.73 0.00 0.000 4 0.000 0.062 2199 3931 3499 0 0 0 0 0 0

210 -1.58 -215.9 40.2 -32.1 31 217 0.00 1.65 0.00 0.000 6 0.000 0.038 2198 2933 3500 0 0 0 0 0 0

402 -1.58 -215.9 91.3 -26.3 50 402 0.00 0.00 0.00 0.000 6 0.000 0.000 2199 2932 3501 0 0 0 0 0 0

595 -1.58 -215.9 139.3 -24.6 59 599 0.00 2.30 0.00 0.000 4 0.000 0.042 2198 1572 3501 0 0 0 0 0 0

637 -1.58 -215.9 148.5 -21.0 60 641 0.00 2.40 0.00 0.000 6 0.000 0.049 2199 2937 3501 0 0 0 0 0 0

962 -1.58 -215.9 220.7 -21.3 71 966 0.00 1.83 0.00 0.000 4 0.000 0.066 2198 3950 3503 0 0 0 0 0 0

1020 -1.58 -215.9 233.6 -21.6 72 1026 0.00 1.65 0.00 0.000 6 0.000 0.039 2199 2945 3504 0 0 0 0 0 0

1329 -1.58 -215.9 298.2 -21.2 83 1333 0.00 2.33 0.00 0.000 4 0.000 0.044 2199 1581 3504 0 0 0 0 0 0

1382 -1.58 -215.9 308.0 -18.2 84 1388 0.00 2.42 0.00 0.000 6 0.000 0.053 2199 2946 3504 0 0 0 0 0 0

1694 -1.58 -215.9 364.7 -17.9 90 1700 0.00 0.00 0.00 0.000 6 0.000 0.000 2199 2946 3504 0 0 0 0 0 0

1995 -1.58 -215.9 418.2 -17.8 95 2004 0.00 2.35 0.00 0.000 4 0.000 0.047 2198 1575 3504 0 0 0 0 0 0

2051 -1.58 -215.9 427.4 -15.4 95 2061 0.00 2.38 0.00 0.000 6 0.000 0.056 2199 2956 3504 0 0 0 0 0 0

2360 -1.58 -215.9 479.4 -16.9 101 2365 0.00 0.00 0.00 0.000 6 0.000 0.000 2198 2956 3501 0 0 0 0 0 0

2660 -1.58 -215.9 524.9 -15.0 106 2666 0.00 0.00 0.00 0.000 6 0.000 0.000 2198 2956 3499 0 0 0 0 0 0

2962 -1.58 -215.9 568.8 -14.3 111 2971 0.00 2.42 0.00 0.000 4 0.000 0.055 2199 1580 3497 0 0 0 0 0 0

3023 -1.60 -229.8 576.4 -11.5 111 3033 0.00 2.42 0.00 0.000 6 0.000 0.064 2199 2956 3496 0 0 0 0 0 0

3332 -1.60 -229.8 616.4 -13.1 117 3337 0.00 0.00 0.00 0.000 6 0.000 0.000 2199 2957 3495 0 0 0 0 0 0

3633 -1.60 -229.8 656.3 -13.3 122 3641 0.00 1.95 0.00 0.000 4 0.000 0.114 2198 3955 3492 0 0 0 0 0 0

3666 -1.60 -229.8 661.0 -15.0 122 3673 0.00 1.67 0.00 0.000 6 0.000 0.049 2198 2988 3492 0 0 0 0 0 0

4001 -1.60 -229.8 707.8 -14.2 128 4010 0.00 2.65 0.00 0.000 4 0.000 0.081 2199 1546 3490 0 0 0 0 0 0

4036 -1.60 -229.8 712.5 -13.8 128 4044 0.00 2.67 0.00 0.000 6 0.000 0.086 2199 2958 3489 0 0 0 0 0 0

4361 -1.60 -229.8 760.6 -15.0 134 4372 0.00 2.70 0.00 0.000 4 0.000 0.093 2199 1544 3486 0 0 0 0 0 0

4397 -1.60 -229.8 765.9 -14.3 134 4407 0.00 2.78 0.00 0.000 6 0.000 0.105 2199 2954 3487 0 0 0 0 0 0

4723 -1.60 -229.8 813.3 -14.5 140 4732 0.00 2.22 0.00 0.000 4 0.000 0.175 2199 3959 3484 0 0 0 0 0 0

4768 -1.60 -229.8 820.1 -15.2 140 4775 0.00 1.98 0.00 0.000 6 0.000 0.106 2199 2967 3484 0 0 0 0 0 0

5086 -1.60 -229.8 863.7 -13.6 146 5095 0.00 3.03 0.00 0.000 4 0.000 0.150 2199 1529 3481 0 0 0 0 0 0

5126 -1.60 -229.8 868.8 -12.6 146 5135 0.00 3.17 0.00 0.000 6 0.000 0.164 2199 2952 3481 0 0 0 0 0 0

5446 -1.60 -229.8 910.9 -13.3 152 5452 0.00 0.00 0.00 0.000 6 0.000 0.000 2198 2952 3478 0 0 0 0 0 0

5748 -1.60 -229.8 952.8 -14.0 157 5753 0.00 0.00 0.00 0.000 6 0.000 0.000 2198 2952 3476 0 0 0 0 0 0

6048 end dive: TARGET_DEPTH_EXCEEDED

state 6048 begin apogee

6052 -0.31 0.0 996.3 14.5 162 6249 1.40 0.00 188.85 1.303 6 0.115 0.000 2480 2853 2618 0 0 0 0 0 0

6250 end apogee: CONTROL_FINISHED_OK

state 6250 begin climb

6252 1.60 229.8 1005.9 0.0 165 6478 1.95 3.08 210.82 1.289 4 0.079 0.236 2895 3954 1680 0 0 0 0 0 0

6509 1.60 229.8 962.4 28.0 169 6517 0.00 2.72 0.00 0.000 6 0.000 0.193 2895 2847 1675 0 0 0 0 0 0

6855 1.60 229.8 868.8 27.4 175 6863 0.00 2.88 0.00 0.000 4 0.000 0.126 2895 1429 1669 0 0 0 0 0 0

6899 1.60 229.8 856.9 25.8 175 6908 0.00 2.95 0.00 0.000 6 0.000 0.121 2895 2854 1667 0 0 0 0 0 0

7214 1.60 229.8 772.5 27.0 181 7220 0.00 0.00 0.00 0.000 6 0.000 0.000 2895 2854 1666 0 0 0 0 0 0

7515 1.60 229.8 695.7 25.3 186 7527 0.00 2.65 0.00 0.000 4 0.000 0.068 2895 1418 1664 0 0 0 0 0 0

7590 1.60 229.8 678.0 23.2 187 7599 0.00 2.65 0.00 0.000 6 0.000 0.059 2895 2873 1664 0 0 0 0 0 0

7943 1.60 229.8 591.7 24.5 193 7949 0.00 0.00 0.00 0.000 6 0.000 0.000 2895 2872 1663 0 0 0 0 0 0

8244 1.60 229.8 517.3 24.8 198 8252 0.00 2.62 0.00 0.000 4 0.000 0.058 2895 1414 1663 0 0 0 0 0 0

8288 1.60 229.8 506.1 26.0 198 8296 0.00 2.60 0.00 0.000 6 0.000 0.052 2895 2860 1663 0 0 0 0 0 0

8613 1.60 229.8 426.4 24.3 204 8621 0.00 2.58 0.00 0.000 4 0.000 0.053 2895 1407 1662 0 0 0 0 0 0

8652 1.60 229.8 417.0 23.3 204 8660 0.00 2.58 0.00 0.000 6 0.000 0.049 2895 2863 1662 0 0 0 0 0 0

8971 1.60 229.8 346.2 21.8 210 8980 0.00 2.55 0.00 0.000 4 0.000 0.050 2895 1411 1661 0 0 0 0 0 0

9006 1.60 229.8 339.0 20.4 210 9014 0.00 2.55 0.00 0.000 6 0.000 0.048 2895 2865 1661 0 0 0 0 0 0

9331 1.60 229.8 270.6 19.9 218 9332 0.00 0.00 0.00 0.000 6 0.000 0.000 2895 2866 1661 0 0 0 0 0 0

9635 1.60 229.8 210.3 20.0 228 9639 0.00 2.58 0.00 0.000 4 0.000 0.047 2895 1407 1660 0 0 0 0 0 0

9688 1.60 229.8 199.7 19.9 229 9692 0.00 2.55 0.00 0.000 6 0.000 0.044 2894 2854 1660 0 0 0 0 0 0

10002 1.60 229.8 139.1 20.2 240 10002 0.00 0.00 0.00 0.000 6 0.000 0.000 2895 2854 1661 0 0 0 0 0 0

10307 1.60 229.8 79.4 21.0 256 10311 0.00 2.53 0.00 0.000 4 0.000 0.043 2895 1402 1661 0 0 0 0 0 0

10387 1.60 229.8 63.7 19.2 263 10394 0.00 2.50 0.00 0.000 6 0.000 0.041 2895 2869 1661 0 0 0 0 0 0

10578 1.60 229.8 33.0 14.6 282 10582 0.00 2.53 0.00 0.000 4 0.000 0.044 2895 1413 1662 0 0 0 0 0 0

10621 1.60 229.8 27.5 12.7 286 10625 0.00 2.47 0.00 0.000 6 0.000 0.041 2895 2849 1662 0 0 0 0 0 0

10816 1.60 229.8 3.5 12.8 317 10822 0.00 2.50 0.00 0.000 4 0.000 0.043 2895 1402 1663 0 0 0 0 0 0

10825 end climb: SURFACE_DEPTH_REACHED

state 10825 begin surface coast

10846 end surface coast: CONTROL_FINISHED_OK

state 10846 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	6	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	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	64	XPDR_VALID	4
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	39	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	270	CALL_TRIES	5	C_VBD	2618	DEVICE2	-1
T_MISSION	300	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	-244787.23	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	281009,040724,1941.139,-15605.494,37,1.2,37,9.7	TGT_NAME	LR
_CALLS	1	TGT_LATLONG	1940.000,-15605.000
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.103,-0.331
_SM_DEPTHo	0.40	KALMAN_X	-3276.0,-367.0,58.2,2739.3,-1377.3
_SM_ANGLEo	-68.7	KALMAN_Y	9950.3,1503.2,-897.9,-8479.6,4622.5
GPS2	281009,041338,1941.285,-15605.545,15,1.4,15,9.7	MHEAD_RNG_PITCHd_Wd	148.5,2563,-21.6,-12.222
SPEED_LIMITS	0.122,0.347	D_GRID	990

FINISH	-0.3,1.022959	PA_DATA0	9.7/7836665/7079968
SM_CCo	10867,90.05,0.551,0,0,987,400.08	PA_DATA1	0.1/7836665/7825417
SM_GC	0.42,0.00,0.00,90.05,0.000,0.000,0.551,373,2958,987,-10.01,0.23,400.08	PA_USB	3.1/30829585/29860353
IRIDIUM_FIX	1932.09,-15604.81,220411,191938	_24V_AH	23.4,3.743
TT8_MAMPS	0.181012	_10V_AH	9.8,4.541
HUMID	1078765797	FG_AHR_24Vo	0.000
TCM_TEMP	23.20	FG_AHR_10Vo	0.000
XPDR_PINGS	0	MEM	324408
PA_PMVER	0.2	DATA_FILE_SIZE	9578,323
PA_ROOTFSVER	rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009	CAP_FILE_SIZE	88274,0
PA_DFQS	0/0	CFSIZE	260034560,256307200
PA_CMQS	21/154	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_ROOT	87.1/128908/16632	CURRENT	0.085,332.7,1
PA_HOME	2.7/483886/470819	GPS	281009,071806,1939.783,-15604.987,43,1.2,48,9.7
PA_LOG	3.7/297829/286865

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	162	92.46	SBE_CT	214	24	120.69
Roll_motor	103	236	573.94	nil	0	0	0.00
VBD_pump_during_apogee	399	1303	12187.41	nil	0	0	0.00
VBD_pump_during_surface	90	551	1162.05	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	59.56	nil	0	0	0.00
Iridium_during_connect	27	160	101.26	PAAM	11391	95	25447.51
Iridium_during_xfer	180	223	941.23
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.46
TT8	0	19	0.00
LPSleep	9043	2	194.08
TT8_Active	600	19	116.51
TT8_Sampling	1261	39	492.16
TT8_CF8	421	45	189.18
TT8_Kalman	33	81	26.70
Analog_circuits	1286	12	151.25
GPS_charging	0	0	0.00
Compass	796	8	62.42
RAFOS	0	0	0.00
Transponder	0	30	0.16

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-1.51	-148.9	0.0	0.0	0	89	0.00	0.00	-72.03	0.000	2	0.000	0.000	377	2970	2610	0	0	0	0	0	0
92	-1.58	-215.9	3.1	-8.5	14	128	9.88	0.00	-21.20	0.000	6	0.163	0.000	2199	2970	3499	0	0	0	0	0	0
195	-1.58	-215.9	35.2	-33.8	30	199	0.00	1.73	0.00	0.000	4	0.000	0.062	2199	3931	3499	0	0	0	0	0	0
210	-1.58	-215.9	40.2	-32.1	31	217	0.00	1.65	0.00	0.000	6	0.000	0.038	2198	2933	3500	0	0	0	0	0	0
402	-1.58	-215.9	91.3	-26.3	50	402	0.00	0.00	0.00	0.000	6	0.000	0.000	2199	2932	3501	0	0	0	0	0	0
595	-1.58	-215.9	139.3	-24.6	59	599	0.00	2.30	0.00	0.000	4	0.000	0.042	2198	1572	3501	0	0	0	0	0	0
637	-1.58	-215.9	148.5	-21.0	60	641	0.00	2.40	0.00	0.000	6	0.000	0.049	2199	2937	3501	0	0	0	0	0	0
962	-1.58	-215.9	220.7	-21.3	71	966	0.00	1.83	0.00	0.000	4	0.000	0.066	2198	3950	3503	0	0	0	0	0	0
1020	-1.58	-215.9	233.6	-21.6	72	1026	0.00	1.65	0.00	0.000	6	0.000	0.039	2199	2945	3504	0	0	0	0	0	0
1329	-1.58	-215.9	298.2	-21.2	83	1333	0.00	2.33	0.00	0.000	4	0.000	0.044	2199	1581	3504	0	0	0	0	0	0
1382	-1.58	-215.9	308.0	-18.2	84	1388	0.00	2.42	0.00	0.000	6	0.000	0.053	2199	2946	3504	0	0	0	0	0	0
1694	-1.58	-215.9	364.7	-17.9	90	1700	0.00	0.00	0.00	0.000	6	0.000	0.000	2199	2946	3504	0	0	0	0	0	0
1995	-1.58	-215.9	418.2	-17.8	95	2004	0.00	2.35	0.00	0.000	4	0.000	0.047	2198	1575	3504	0	0	0	0	0	0
2051	-1.58	-215.9	427.4	-15.4	95	2061	0.00	2.38	0.00	0.000	6	0.000	0.056	2199	2956	3504	0	0	0	0	0	0
2360	-1.58	-215.9	479.4	-16.9	101	2365	0.00	0.00	0.00	0.000	6	0.000	0.000	2198	2956	3501	0	0	0	0	0	0
2660	-1.58	-215.9	524.9	-15.0	106	2666	0.00	0.00	0.00	0.000	6	0.000	0.000	2198	2956	3499	0	0	0	0	0	0
2962	-1.58	-215.9	568.8	-14.3	111	2971	0.00	2.42	0.00	0.000	4	0.000	0.055	2199	1580	3497	0	0	0	0	0	0
3023	-1.60	-229.8	576.4	-11.5	111	3033	0.00	2.42	0.00	0.000	6	0.000	0.064	2199	2956	3496	0	0	0	0	0	0
3332	-1.60	-229.8	616.4	-13.1	117	3337	0.00	0.00	0.00	0.000	6	0.000	0.000	2199	2957	3495	0	0	0	0	0	0
3633	-1.60	-229.8	656.3	-13.3	122	3641	0.00	1.95	0.00	0.000	4	0.000	0.114	2198	3955	3492	0	0	0	0	0	0
3666	-1.60	-229.8	661.0	-15.0	122	3673	0.00	1.67	0.00	0.000	6	0.000	0.049	2198	2988	3492	0	0	0	0	0	0
4001	-1.60	-229.8	707.8	-14.2	128	4010	0.00	2.65	0.00	0.000	4	0.000	0.081	2199	1546	3490	0	0	0	0	0	0
4036	-1.60	-229.8	712.5	-13.8	128	4044	0.00	2.67	0.00	0.000	6	0.000	0.086	2199	2958	3489	0	0	0	0	0	0
4361	-1.60	-229.8	760.6	-15.0	134	4372	0.00	2.70	0.00	0.000	4	0.000	0.093	2199	1544	3486	0	0	0	0	0	0
4397	-1.60	-229.8	765.9	-14.3	134	4407	0.00	2.78	0.00	0.000	6	0.000	0.105	2199	2954	3487	0	0	0	0	0	0
4723	-1.60	-229.8	813.3	-14.5	140	4732	0.00	2.22	0.00	0.000	4	0.000	0.175	2199	3959	3484	0	0	0	0	0	0
4768	-1.60	-229.8	820.1	-15.2	140	4775	0.00	1.98	0.00	0.000	6	0.000	0.106	2199	2967	3484	0	0	0	0	0	0
5086	-1.60	-229.8	863.7	-13.6	146	5095	0.00	3.03	0.00	0.000	4	0.000	0.150	2199	1529	3481	0	0	0	0	0	0
5126	-1.60	-229.8	868.8	-12.6	146	5135	0.00	3.17	0.00	0.000	6	0.000	0.164	2199	2952	3481	0	0	0	0	0	0
5446	-1.60	-229.8	910.9	-13.3	152	5452	0.00	0.00	0.00	0.000	6	0.000	0.000	2198	2952	3478	0	0	0	0	0	0
5748	-1.60	-229.8	952.8	-14.0	157	5753	0.00	0.00	0.00	0.000	6	0.000	0.000	2198	2952	3476	0	0	0	0	0	0
6048	end dive: TARGET_DEPTH_EXCEEDED
state	6048	begin apogee
6052	-0.31	0.0	996.3	14.5	162	6249	1.40	0.00	188.85	1.303	6	0.115	0.000	2480	2853	2618	0	0	0	0	0	0
6250	end apogee: CONTROL_FINISHED_OK
state	6250	begin climb
6252	1.60	229.8	1005.9	0.0	165	6478	1.95	3.08	210.82	1.289	4	0.079	0.236	2895	3954	1680	0	0	0	0	0	0
6509	1.60	229.8	962.4	28.0	169	6517	0.00	2.72	0.00	0.000	6	0.000	0.193	2895	2847	1675	0	0	0	0	0	0
6855	1.60	229.8	868.8	27.4	175	6863	0.00	2.88	0.00	0.000	4	0.000	0.126	2895	1429	1669	0	0	0	0	0	0
6899	1.60	229.8	856.9	25.8	175	6908	0.00	2.95	0.00	0.000	6	0.000	0.121	2895	2854	1667	0	0	0	0	0	0
7214	1.60	229.8	772.5	27.0	181	7220	0.00	0.00	0.00	0.000	6	0.000	0.000	2895	2854	1666	0	0	0	0	0	0
7515	1.60	229.8	695.7	25.3	186	7527	0.00	2.65	0.00	0.000	4	0.000	0.068	2895	1418	1664	0	0	0	0	0	0
7590	1.60	229.8	678.0	23.2	187	7599	0.00	2.65	0.00	0.000	6	0.000	0.059	2895	2873	1664	0	0	0	0	0	0
7943	1.60	229.8	591.7	24.5	193	7949	0.00	0.00	0.00	0.000	6	0.000	0.000	2895	2872	1663	0	0	0	0	0	0
8244	1.60	229.8	517.3	24.8	198	8252	0.00	2.62	0.00	0.000	4	0.000	0.058	2895	1414	1663	0	0	0	0	0	0
8288	1.60	229.8	506.1	26.0	198	8296	0.00	2.60	0.00	0.000	6	0.000	0.052	2895	2860	1663	0	0	0	0	0	0
8613	1.60	229.8	426.4	24.3	204	8621	0.00	2.58	0.00	0.000	4	0.000	0.053	2895	1407	1662	0	0	0	0	0	0
8652	1.60	229.8	417.0	23.3	204	8660	0.00	2.58	0.00	0.000	6	0.000	0.049	2895	2863	1662	0	0	0	0	0	0
8971	1.60	229.8	346.2	21.8	210	8980	0.00	2.55	0.00	0.000	4	0.000	0.050	2895	1411	1661	0	0	0	0	0	0
9006	1.60	229.8	339.0	20.4	210	9014	0.00	2.55	0.00	0.000	6	0.000	0.048	2895	2865	1661	0	0	0	0	0	0
9331	1.60	229.8	270.6	19.9	218	9332	0.00	0.00	0.00	0.000	6	0.000	0.000	2895	2866	1661	0	0	0	0	0	0
9635	1.60	229.8	210.3	20.0	228	9639	0.00	2.58	0.00	0.000	4	0.000	0.047	2895	1407	1660	0	0	0	0	0	0
9688	1.60	229.8	199.7	19.9	229	9692	0.00	2.55	0.00	0.000	6	0.000	0.044	2894	2854	1660	0	0	0	0	0	0
10002	1.60	229.8	139.1	20.2	240	10002	0.00	0.00	0.00	0.000	6	0.000	0.000	2895	2854	1661	0	0	0	0	0	0
10307	1.60	229.8	79.4	21.0	256	10311	0.00	2.53	0.00	0.000	4	0.000	0.043	2895	1402	1661	0	0	0	0	0	0
10387	1.60	229.8	63.7	19.2	263	10394	0.00	2.50	0.00	0.000	6	0.000	0.041	2895	2869	1661	0	0	0	0	0	0
10578	1.60	229.8	33.0	14.6	282	10582	0.00	2.53	0.00	0.000	4	0.000	0.044	2895	1413	1662	0	0	0	0	0	0
10621	1.60	229.8	27.5	12.7	286	10625	0.00	2.47	0.00	0.000	6	0.000	0.041	2895	2849	1662	0	0	0	0	0	0
10816	1.60	229.8	3.5	12.8	317	10822	0.00	2.50	0.00	0.000	4	0.000	0.043	2895	1402	1663	0	0	0	0	0	0
10825	end climb: SURFACE_DEPTH_REACHED
state	10825	begin surface coast
10846	end surface coast: CONTROL_FINISHED_OK
state	10846	begin surface