Glider dive log

HI Oct09 * SG022 * Dive index * Mission links * Dive 80 * 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 80 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2920 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT 19.66667 C_ROLL_CLIMB 2750 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 7 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 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 -249842.25 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 2495 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 1.0275 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 18 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 50000.0

AD7714Ch0Gain 128 D_FLARE 3 PA_MAXUPLOADSIZE 50000.0 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 18 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 -249842.25

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 1.0275 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_PITCH 2495 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 2920 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 7 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 80 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 111109,210925,1923.056,-15558.220,40,1.4,40,9.7 TGT_NAME VM

_CALLS 1 TGT_LATLONG 1924.000,-15558.000

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.290,0.047

_SM_DEPTHo 0.71 KALMAN_X -107809.2,1118.7,-256.0,137188.1,-8816.1

_SM_ANGLEo -67.2 KALMAN_Y 42844.5,-1443.1,438.0,-103358.4,106.9

GPS2 111109,211456,1923.132,-15558.230,13,1.4,13,9.7 MHEAD_RNG_PITCHd_Wd 4.4,1657,-27.9,-10.000

SPEED_LIMITS 0.173,0.294 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.022972 PA_DATA0 80.9/7836665/1497317

SM_CCo 14690,108.28,0.506,0,0,986,400.08 PA_DATA1 85.1/7836665/1171473

SM_GC 0.68,0.00,0.00,108.28,0.000,0.000,0.506,370,2914,986,-9.77,-0.17,400.08 PA_USB 87.1/128908/16630

IRIDIUM_FIX 1916.08,-15559.47,070511,111143 _24V_AH 23.1,16.171

TT8_MAMPS 0.134992 _10V_AH 9.9,42.023

HUMID 1078514184 FG_AHR_24Vo 0.000

TCM_TEMP 23.90 FG_AHR_10Vo 0.000

XPDR_PINGS 0 MEM 353804

PA_PMVER 0.2 DATA_FILE_SIZE 15896,427

PA_ROOTFSVER rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009 CAP_FILE_SIZE 121982,0

PA_DFQS 0/0 CFSIZE 260034560,250351616

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 0.028,316.9,1

PA_HOME 5.8/483886/455646 GPS 121109,012327,1924.788,-15557.831,33,3.2,52,9.7

PA_LOG 3.7/297829/286883

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 164 91.09 SBE_CT 285 24 158.46

Roll_motor 138 197 632.08 nil 0 0 0.00

VBD_pump_during_apogee 272 1326 8346.97 nil 0 0 0.00

VBD_pump_during_surface 108 506 1266.13 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 0 0.00 nil 0 0 0.00

Iridium_during_connect 28 0 0.00 PAAM 15209 95 33620.82

Iridium_during_xfer 149 0 0.00

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 0 0.00

TT8 0 0 0.00

LPSleep 12159 2 263.62

TT8_Active 516 19 101.17

TT8_Sampling 2003 39 789.30

TT8_CF8 439 45 199.40

TT8_Kalman 33 0 0.00

Analog_circuits 1484 12 176.40

GPS_charging 0 0 0.00

Compass 1478 8 117.13

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -1.62 -64.6 0.0 0.0 0 91 0.00 0.00 -73.32 0.000 2 0.000 0.000 373 2857 2637 0 0 0 0 0 0

93 -1.65 -96.7 3.1 -6.7 14 119 9.50 2.35 -9.85 0.000 4 0.164 0.058 2129 1477 3014 0 0 0 0 0 0

359 -1.65 -96.7 76.7 -21.8 45 363 0.00 2.50 0.00 0.000 6 0.000 0.044 2129 2911 3016 0 0 0 0 0 0

553 -1.65 -96.7 121.1 -22.3 58 557 0.00 2.45 0.00 0.000 4 0.000 0.041 2129 1478 3017 0 0 0 0 0 0

798 -1.65 -96.7 173.3 -20.7 65 803 0.00 2.53 0.00 0.000 6 0.000 0.044 2129 2926 3019 0 0 0 0 0 0

1113 -1.65 -96.7 236.1 -19.2 76 1113 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2926 3021 0 0 0 0 0 0

1417 -1.65 -96.7 290.1 -17.4 86 1420 0.00 2.47 0.00 0.000 4 0.000 0.043 2129 1469 3022 0 0 0 0 0 0

1512 -1.65 -96.7 306.7 -18.2 88 1516 0.00 2.55 0.00 0.000 6 0.000 0.046 2129 2923 3021 0 0 0 0 0 0

1845 -1.65 -96.7 361.4 -15.7 94 1850 0.00 1.85 0.00 0.000 4 0.000 0.059 2129 3957 3021 0 0 0 0 0 0

1931 -1.65 -96.7 376.7 -18.6 95 1935 0.00 1.85 0.00 0.000 6 0.000 0.040 2129 2870 3022 0 0 0 0 0 0

2275 -1.65 -96.7 432.3 -15.9 101 2279 0.00 1.98 0.00 0.000 4 0.000 0.059 2129 3954 3019 0 0 0 0 0 0

2339 -1.65 -96.7 443.0 -16.8 102 2343 0.00 1.77 0.00 0.000 6 0.000 0.041 2129 2919 3019 0 0 0 0 0 0

2705 -1.65 -96.7 499.6 -15.6 108 2705 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2916 3018 0 0 0 0 0 0

3006 -1.65 -96.7 543.8 -14.6 113 3014 0.00 1.90 0.00 0.000 4 0.000 0.063 2129 3953 3015 0 0 0 0 0 0

3093 -1.65 -96.7 558.1 -17.8 114 3100 0.00 1.77 0.00 0.000 6 0.000 0.043 2129 2911 3014 0 0 0 0 0 0

3438 -1.65 -96.7 607.2 -13.7 120 3444 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2911 3012 0 0 0 0 0 0

3741 -1.65 -96.7 647.4 -13.1 125 3748 0.00 1.90 0.00 0.000 4 0.000 0.071 2129 3946 3008 0 0 0 0 0 0

3859 -1.65 -96.7 664.5 -14.7 126 3866 0.00 1.77 0.00 0.000 6 0.000 0.045 2129 2921 3007 0 0 0 0 0 0

4173 -1.65 -96.7 705.0 -12.9 132 4181 0.00 1.92 0.00 0.000 4 0.000 0.078 2129 3950 3005 0 0 0 0 0 0

4207 -1.65 -96.7 709.5 -13.5 132 4214 0.00 1.80 0.00 0.000 6 0.000 0.048 2129 2919 3005 0 0 0 0 0 0

4542 -1.65 -96.7 749.0 -11.7 138 4548 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2919 3002 0 0 0 0 0 0

4843 -1.65 -96.7 784.7 -11.8 143 4849 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2919 3001 0 0 0 0 0 0

5145 -1.65 -96.7 818.2 -11.0 148 5153 0.00 2.05 0.00 0.000 4 0.000 0.110 2129 3947 2999 0 0 0 0 0 0

5298 -1.65 -96.7 836.1 -11.7 150 5306 0.00 1.95 0.00 0.000 6 0.000 0.088 2129 2934 2998 0 0 0 0 0 0

5639 -1.65 -96.7 873.2 -10.8 156 5644 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2934 2997 0 0 0 0 0 0

5940 -1.65 -96.7 906.7 -11.1 161 5949 0.00 2.97 0.00 0.000 4 0.000 0.144 2129 1502 2994 0 0 0 0 0 0

5964 -1.65 -96.7 909.6 -12.1 161 5972 0.00 2.97 0.00 0.000 6 0.000 0.139 2129 2913 2996 0 0 0 0 0 0

6300 -1.65 -96.7 948.4 -11.4 167 6311 0.00 2.38 0.00 0.000 4 0.000 0.185 2130 3962 2992 0 0 0 0 0 0

6427 -1.65 -96.7 964.0 -12.2 169 6435 0.00 2.38 0.00 0.000 6 0.000 0.169 2129 2919 2992 0 0 0 0 0 0

6672 end dive: TARGET_DEPTH_EXCEEDED

state 6672 begin apogee

6677 -0.28 0.0 990.6 10.7 173 6771 1.55 0.00 86.70 1.326 6 0.132 0.000 2431 2746 2619 0 0 0 0 0 0

6772 end apogee: CONTROL_FINISHED_OK

state 6772 begin climb

6774 1.65 96.7 992.2 0.0 174 6883 2.00 3.50 94.72 1.291 4 0.084 0.198 2852 1336 2222 0 0 0 0 0 0

6914 1.65 96.7 975.0 18.1 176 6922 0.00 3.25 0.00 0.000 6 0.000 0.166 2852 2750 2218 0 0 0 0 0 0

7261 1.65 96.7 911.6 18.2 182 7266 0.00 0.00 0.00 0.000 6 0.000 0.000 2852 2750 2208 0 0 0 0 0 0

7562 1.65 96.7 857.6 18.0 187 7571 0.00 2.83 0.00 0.000 4 0.000 0.105 2852 1332 2206 0 0 0 0 0 0

7715 1.65 96.7 830.4 18.0 189 7725 0.00 2.78 0.00 0.000 6 0.000 0.087 2852 2765 2205 0 0 0 0 0 0

8053 1.65 96.7 775.0 16.1 195 8058 0.00 0.00 0.00 0.000 6 0.000 0.000 2852 2764 2202 0 0 0 0 0 0

8354 1.65 96.7 726.4 15.9 200 8363 0.00 2.65 0.00 0.000 4 0.000 0.068 2852 1329 2202 0 0 0 0 0 0

8442 1.65 96.7 713.2 14.7 201 8450 0.00 2.60 0.00 0.000 6 0.000 0.058 2852 2766 2201 0 0 0 0 0 0

8778 1.65 96.7 664.9 14.2 207 8786 0.00 2.62 0.00 0.000 4 0.000 0.061 2852 1320 2201 0 0 0 0 0 0

8849 1.65 96.7 654.8 14.9 208 8858 0.00 2.58 0.00 0.000 6 0.000 0.054 2852 2762 2201 0 0 0 0 0 0

9201 1.65 96.7 606.5 13.5 214 9210 0.00 2.58 0.00 0.000 4 0.000 0.057 2852 1322 2200 0 0 0 0 0 0

9368 1.65 96.7 583.5 13.2 216 9377 0.00 2.55 0.00 0.000 6 0.000 0.049 2851 2764 2200 0 0 0 0 0 0

9689 1.65 96.7 543.4 12.4 222 9698 0.00 2.58 0.00 0.000 4 0.000 0.053 2852 1312 2199 0 0 0 0 0 0

9782 1.65 96.7 531.2 12.6 223 9790 0.00 2.55 0.00 0.000 6 0.000 0.048 2852 2765 2199 0 0 0 0 0 0

10112 1.65 96.7 489.2 12.6 229 10116 0.00 2.60 0.00 0.000 4 0.000 0.051 2852 1313 2198 0 0 0 0 0 0

10176 1.65 96.7 481.9 11.2 230 10180 0.00 2.55 0.00 0.000 6 0.000 0.047 2852 2771 2198 0 0 0 0 0 0

10541 1.65 96.7 439.3 11.7 236 10546 0.00 2.60 0.00 0.000 4 0.000 0.049 2852 1314 2197 0 0 0 0 0 0

10626 1.65 96.7 428.7 13.2 237 10630 0.00 2.55 0.00 0.000 6 0.000 0.044 2851 2751 2198 0 0 0 0 0 0

10971 1.65 96.7 388.5 11.5 243 10975 0.00 2.53 0.00 0.000 4 0.000 0.048 2852 1308 2197 0 0 0 0 0 0

11061 1.65 96.7 378.2 12.1 244 11065 0.00 2.55 0.00 0.000 6 0.000 0.044 2852 2753 2198 0 0 0 0 0 0

11400 1.65 96.7 340.8 10.9 250 11404 0.00 2.17 0.00 0.000 4 0.000 0.060 2851 3953 2197 0 0 0 0 0 0

11528 1.65 96.7 326.3 11.2 252 11532 0.00 2.17 0.00 0.000 6 0.000 0.040 2852 2701 2196 0 0 0 0 0 0

11864 1.65 96.7 289.8 11.0 259 11868 0.00 2.35 0.00 0.000 4 0.000 0.048 2852 1353 2197 0 0 0 0 0 0

11944 1.65 96.7 281.5 10.3 261 11948 0.00 2.45 0.00 0.000 6 0.000 0.043 2854 2754 2197 0 0 0 0 0 0

12263 1.68 118.3 253.4 7.8 272 12282 0.00 2.47 15.35 0.785 4 0.000 0.045 2852 1351 2135 0 0 0 0 0 0

12390 1.70 135.8 242.8 8.2 276 12411 0.00 2.47 17.02 0.777 6 0.000 0.042 2852 2758 2064 0 0 0 0 0 0

12719 1.70 135.8 207.6 10.4 287 12723 0.00 2.47 0.00 0.000 4 0.000 0.044 2852 1345 2058 0 0 0 0 0 0

12859 1.72 153.3 194.6 8.2 291 12880 0.00 2.42 15.65 0.721 6 0.000 0.041 2852 2760 1992 0 0 0 0 0 0

13182 1.72 153.3 158.4 12.0 302 13186 0.00 2.45 0.00 0.000 4 0.000 0.043 2852 1354 1988 0 0 0 0 0 0

13214 1.72 153.3 154.3 12.9 303 13217 0.00 2.42 0.00 0.000 6 0.000 0.040 2851 2755 1989 0 0 0 0 0 0

13549 1.72 153.3 114.8 11.1 314 13553 0.00 2.45 0.00 0.000 4 0.000 0.042 2852 1342 1988 0 0 0 0 0 0

13640 1.72 153.3 105.0 10.1 316 13646 0.00 2.42 0.00 0.000 6 0.000 0.039 2852 2750 1988 0 0 0 0 0 0

13955 1.72 159.7 73.7 9.3 343 13965 0.00 2.10 6.80 0.519 4 0.000 0.052 2852 3949 1965 0 0 0 0 0 0

14050 1.75 185.9 65.1 7.3 352 14081 0.08 2.05 23.98 0.585 6 0.061 0.036 2877 2715 1859 0 0 0 0 0 0

14266 1.77 199.5 46.7 8.6 373 14282 0.00 2.28 12.25 0.532 4 0.000 0.041 2877 1372 1803 0 0 0 0 0 0

14367 1.77 199.5 34.7 11.1 382 14371 0.00 2.38 0.00 0.000 6 0.000 0.040 2877 2751 1802 0 0 0 0 0 0

14561 1.77 199.5 13.4 11.2 406 14566 0.00 0.00 0.00 0.000 6 0.000 0.000 2877 2753 1801 0 0 0 0 0 0

14629 1.77 199.5 5.9 10.6 419 14635 0.00 2.10 0.00 0.000 4 0.000 0.053 2877 3941 1800 0 0 0 0 0 0

14653 end climb: SURFACE_DEPTH_REACHED

state 14653 begin surface coast

14670 end surface coast: CONTROL_FINISHED_OK

state 14670 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	80	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2920	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	19.66667	C_ROLL_CLIMB	2750	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	7	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	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	-249842.25	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	2495	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	1.0275	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	18	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	50000.0

GPS1	111109,210925,1923.056,-15558.220,40,1.4,40,9.7	TGT_NAME	VM
_CALLS	1	TGT_LATLONG	1924.000,-15558.000
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.290,0.047
_SM_DEPTHo	0.71	KALMAN_X	-107809.2,1118.7,-256.0,137188.1,-8816.1
_SM_ANGLEo	-67.2	KALMAN_Y	42844.5,-1443.1,438.0,-103358.4,106.9
GPS2	111109,211456,1923.132,-15558.230,13,1.4,13,9.7	MHEAD_RNG_PITCHd_Wd	4.4,1657,-27.9,-10.000
SPEED_LIMITS	0.173,0.294	D_GRID	990

FINISH	0.6,1.022972	PA_DATA0	80.9/7836665/1497317
SM_CCo	14690,108.28,0.506,0,0,986,400.08	PA_DATA1	85.1/7836665/1171473
SM_GC	0.68,0.00,0.00,108.28,0.000,0.000,0.506,370,2914,986,-9.77,-0.17,400.08	PA_USB	87.1/128908/16630
IRIDIUM_FIX	1916.08,-15559.47,070511,111143	_24V_AH	23.1,16.171
TT8_MAMPS	0.134992	_10V_AH	9.9,42.023
HUMID	1078514184	FG_AHR_24Vo	0.000
TCM_TEMP	23.90	FG_AHR_10Vo	0.000
XPDR_PINGS	0	MEM	353804
PA_PMVER	0.2	DATA_FILE_SIZE	15896,427
PA_ROOTFSVER	rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009	CAP_FILE_SIZE	121982,0
PA_DFQS	0/0	CFSIZE	260034560,250351616
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	0.028,316.9,1
PA_HOME	5.8/483886/455646	GPS	121109,012327,1924.788,-15557.831,33,3.2,52,9.7
PA_LOG	3.7/297829/286883

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	164	91.09	SBE_CT	285	24	158.46
Roll_motor	138	197	632.08	nil	0	0	0.00
VBD_pump_during_apogee	272	1326	8346.97	nil	0	0	0.00
VBD_pump_during_surface	108	506	1266.13	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	0	0.00	nil	0	0	0.00
Iridium_during_connect	28	0	0.00	PAAM	15209	95	33620.82
Iridium_during_xfer	149	0	0.00
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	0	0.00
TT8	0	0	0.00
LPSleep	12159	2	263.62
TT8_Active	516	19	101.17
TT8_Sampling	2003	39	789.30
TT8_CF8	439	45	199.40
TT8_Kalman	33	0	0.00
Analog_circuits	1484	12	176.40
GPS_charging	0	0	0.00
Compass	1478	8	117.13
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-1.62	-64.6	0.0	0.0	0	91	0.00	0.00	-73.32	0.000	2	0.000	0.000	373	2857	2637	0	0	0	0	0	0
93	-1.65	-96.7	3.1	-6.7	14	119	9.50	2.35	-9.85	0.000	4	0.164	0.058	2129	1477	3014	0	0	0	0	0	0
359	-1.65	-96.7	76.7	-21.8	45	363	0.00	2.50	0.00	0.000	6	0.000	0.044	2129	2911	3016	0	0	0	0	0	0
553	-1.65	-96.7	121.1	-22.3	58	557	0.00	2.45	0.00	0.000	4	0.000	0.041	2129	1478	3017	0	0	0	0	0	0
798	-1.65	-96.7	173.3	-20.7	65	803	0.00	2.53	0.00	0.000	6	0.000	0.044	2129	2926	3019	0	0	0	0	0	0
1113	-1.65	-96.7	236.1	-19.2	76	1113	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2926	3021	0	0	0	0	0	0
1417	-1.65	-96.7	290.1	-17.4	86	1420	0.00	2.47	0.00	0.000	4	0.000	0.043	2129	1469	3022	0	0	0	0	0	0
1512	-1.65	-96.7	306.7	-18.2	88	1516	0.00	2.55	0.00	0.000	6	0.000	0.046	2129	2923	3021	0	0	0	0	0	0
1845	-1.65	-96.7	361.4	-15.7	94	1850	0.00	1.85	0.00	0.000	4	0.000	0.059	2129	3957	3021	0	0	0	0	0	0
1931	-1.65	-96.7	376.7	-18.6	95	1935	0.00	1.85	0.00	0.000	6	0.000	0.040	2129	2870	3022	0	0	0	0	0	0
2275	-1.65	-96.7	432.3	-15.9	101	2279	0.00	1.98	0.00	0.000	4	0.000	0.059	2129	3954	3019	0	0	0	0	0	0
2339	-1.65	-96.7	443.0	-16.8	102	2343	0.00	1.77	0.00	0.000	6	0.000	0.041	2129	2919	3019	0	0	0	0	0	0
2705	-1.65	-96.7	499.6	-15.6	108	2705	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2916	3018	0	0	0	0	0	0
3006	-1.65	-96.7	543.8	-14.6	113	3014	0.00	1.90	0.00	0.000	4	0.000	0.063	2129	3953	3015	0	0	0	0	0	0
3093	-1.65	-96.7	558.1	-17.8	114	3100	0.00	1.77	0.00	0.000	6	0.000	0.043	2129	2911	3014	0	0	0	0	0	0
3438	-1.65	-96.7	607.2	-13.7	120	3444	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2911	3012	0	0	0	0	0	0
3741	-1.65	-96.7	647.4	-13.1	125	3748	0.00	1.90	0.00	0.000	4	0.000	0.071	2129	3946	3008	0	0	0	0	0	0
3859	-1.65	-96.7	664.5	-14.7	126	3866	0.00	1.77	0.00	0.000	6	0.000	0.045	2129	2921	3007	0	0	0	0	0	0
4173	-1.65	-96.7	705.0	-12.9	132	4181	0.00	1.92	0.00	0.000	4	0.000	0.078	2129	3950	3005	0	0	0	0	0	0
4207	-1.65	-96.7	709.5	-13.5	132	4214	0.00	1.80	0.00	0.000	6	0.000	0.048	2129	2919	3005	0	0	0	0	0	0
4542	-1.65	-96.7	749.0	-11.7	138	4548	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2919	3002	0	0	0	0	0	0
4843	-1.65	-96.7	784.7	-11.8	143	4849	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2919	3001	0	0	0	0	0	0
5145	-1.65	-96.7	818.2	-11.0	148	5153	0.00	2.05	0.00	0.000	4	0.000	0.110	2129	3947	2999	0	0	0	0	0	0
5298	-1.65	-96.7	836.1	-11.7	150	5306	0.00	1.95	0.00	0.000	6	0.000	0.088	2129	2934	2998	0	0	0	0	0	0
5639	-1.65	-96.7	873.2	-10.8	156	5644	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2934	2997	0	0	0	0	0	0
5940	-1.65	-96.7	906.7	-11.1	161	5949	0.00	2.97	0.00	0.000	4	0.000	0.144	2129	1502	2994	0	0	0	0	0	0
5964	-1.65	-96.7	909.6	-12.1	161	5972	0.00	2.97	0.00	0.000	6	0.000	0.139	2129	2913	2996	0	0	0	0	0	0
6300	-1.65	-96.7	948.4	-11.4	167	6311	0.00	2.38	0.00	0.000	4	0.000	0.185	2130	3962	2992	0	0	0	0	0	0
6427	-1.65	-96.7	964.0	-12.2	169	6435	0.00	2.38	0.00	0.000	6	0.000	0.169	2129	2919	2992	0	0	0	0	0	0
6672	end dive: TARGET_DEPTH_EXCEEDED
state	6672	begin apogee
6677	-0.28	0.0	990.6	10.7	173	6771	1.55	0.00	86.70	1.326	6	0.132	0.000	2431	2746	2619	0	0	0	0	0	0
6772	end apogee: CONTROL_FINISHED_OK
state	6772	begin climb
6774	1.65	96.7	992.2	0.0	174	6883	2.00	3.50	94.72	1.291	4	0.084	0.198	2852	1336	2222	0	0	0	0	0	0
6914	1.65	96.7	975.0	18.1	176	6922	0.00	3.25	0.00	0.000	6	0.000	0.166	2852	2750	2218	0	0	0	0	0	0
7261	1.65	96.7	911.6	18.2	182	7266	0.00	0.00	0.00	0.000	6	0.000	0.000	2852	2750	2208	0	0	0	0	0	0
7562	1.65	96.7	857.6	18.0	187	7571	0.00	2.83	0.00	0.000	4	0.000	0.105	2852	1332	2206	0	0	0	0	0	0
7715	1.65	96.7	830.4	18.0	189	7725	0.00	2.78	0.00	0.000	6	0.000	0.087	2852	2765	2205	0	0	0	0	0	0
8053	1.65	96.7	775.0	16.1	195	8058	0.00	0.00	0.00	0.000	6	0.000	0.000	2852	2764	2202	0	0	0	0	0	0
8354	1.65	96.7	726.4	15.9	200	8363	0.00	2.65	0.00	0.000	4	0.000	0.068	2852	1329	2202	0	0	0	0	0	0
8442	1.65	96.7	713.2	14.7	201	8450	0.00	2.60	0.00	0.000	6	0.000	0.058	2852	2766	2201	0	0	0	0	0	0
8778	1.65	96.7	664.9	14.2	207	8786	0.00	2.62	0.00	0.000	4	0.000	0.061	2852	1320	2201	0	0	0	0	0	0
8849	1.65	96.7	654.8	14.9	208	8858	0.00	2.58	0.00	0.000	6	0.000	0.054	2852	2762	2201	0	0	0	0	0	0
9201	1.65	96.7	606.5	13.5	214	9210	0.00	2.58	0.00	0.000	4	0.000	0.057	2852	1322	2200	0	0	0	0	0	0
9368	1.65	96.7	583.5	13.2	216	9377	0.00	2.55	0.00	0.000	6	0.000	0.049	2851	2764	2200	0	0	0	0	0	0
9689	1.65	96.7	543.4	12.4	222	9698	0.00	2.58	0.00	0.000	4	0.000	0.053	2852	1312	2199	0	0	0	0	0	0
9782	1.65	96.7	531.2	12.6	223	9790	0.00	2.55	0.00	0.000	6	0.000	0.048	2852	2765	2199	0	0	0	0	0	0
10112	1.65	96.7	489.2	12.6	229	10116	0.00	2.60	0.00	0.000	4	0.000	0.051	2852	1313	2198	0	0	0	0	0	0
10176	1.65	96.7	481.9	11.2	230	10180	0.00	2.55	0.00	0.000	6	0.000	0.047	2852	2771	2198	0	0	0	0	0	0
10541	1.65	96.7	439.3	11.7	236	10546	0.00	2.60	0.00	0.000	4	0.000	0.049	2852	1314	2197	0	0	0	0	0	0
10626	1.65	96.7	428.7	13.2	237	10630	0.00	2.55	0.00	0.000	6	0.000	0.044	2851	2751	2198	0	0	0	0	0	0
10971	1.65	96.7	388.5	11.5	243	10975	0.00	2.53	0.00	0.000	4	0.000	0.048	2852	1308	2197	0	0	0	0	0	0
11061	1.65	96.7	378.2	12.1	244	11065	0.00	2.55	0.00	0.000	6	0.000	0.044	2852	2753	2198	0	0	0	0	0	0
11400	1.65	96.7	340.8	10.9	250	11404	0.00	2.17	0.00	0.000	4	0.000	0.060	2851	3953	2197	0	0	0	0	0	0
11528	1.65	96.7	326.3	11.2	252	11532	0.00	2.17	0.00	0.000	6	0.000	0.040	2852	2701	2196	0	0	0	0	0	0
11864	1.65	96.7	289.8	11.0	259	11868	0.00	2.35	0.00	0.000	4	0.000	0.048	2852	1353	2197	0	0	0	0	0	0
11944	1.65	96.7	281.5	10.3	261	11948	0.00	2.45	0.00	0.000	6	0.000	0.043	2854	2754	2197	0	0	0	0	0	0
12263	1.68	118.3	253.4	7.8	272	12282	0.00	2.47	15.35	0.785	4	0.000	0.045	2852	1351	2135	0	0	0	0	0	0
12390	1.70	135.8	242.8	8.2	276	12411	0.00	2.47	17.02	0.777	6	0.000	0.042	2852	2758	2064	0	0	0	0	0	0
12719	1.70	135.8	207.6	10.4	287	12723	0.00	2.47	0.00	0.000	4	0.000	0.044	2852	1345	2058	0	0	0	0	0	0
12859	1.72	153.3	194.6	8.2	291	12880	0.00	2.42	15.65	0.721	6	0.000	0.041	2852	2760	1992	0	0	0	0	0	0
13182	1.72	153.3	158.4	12.0	302	13186	0.00	2.45	0.00	0.000	4	0.000	0.043	2852	1354	1988	0	0	0	0	0	0
13214	1.72	153.3	154.3	12.9	303	13217	0.00	2.42	0.00	0.000	6	0.000	0.040	2851	2755	1989	0	0	0	0	0	0
13549	1.72	153.3	114.8	11.1	314	13553	0.00	2.45	0.00	0.000	4	0.000	0.042	2852	1342	1988	0	0	0	0	0	0
13640	1.72	153.3	105.0	10.1	316	13646	0.00	2.42	0.00	0.000	6	0.000	0.039	2852	2750	1988	0	0	0	0	0	0
13955	1.72	159.7	73.7	9.3	343	13965	0.00	2.10	6.80	0.519	4	0.000	0.052	2852	3949	1965	0	0	0	0	0	0
14050	1.75	185.9	65.1	7.3	352	14081	0.08	2.05	23.98	0.585	6	0.061	0.036	2877	2715	1859	0	0	0	0	0	0
14266	1.77	199.5	46.7	8.6	373	14282	0.00	2.28	12.25	0.532	4	0.000	0.041	2877	1372	1803	0	0	0	0	0	0
14367	1.77	199.5	34.7	11.1	382	14371	0.00	2.38	0.00	0.000	6	0.000	0.040	2877	2751	1802	0	0	0	0	0	0
14561	1.77	199.5	13.4	11.2	406	14566	0.00	0.00	0.00	0.000	6	0.000	0.000	2877	2753	1801	0	0	0	0	0	0
14629	1.77	199.5	5.9	10.6	419	14635	0.00	2.10	0.00	0.000	4	0.000	0.053	2877	3941	1800	0	0	0	0	0	0
14653	end climb: SURFACE_DEPTH_REACHED
state	14653	begin surface coast
14670	end surface coast: CONTROL_FINISHED_OK
state	14670	begin surface