Glider dive log

HI Dec14 * SG203 * Dive index * Mission links * Dive 106 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 203 HEADING -1 C_ROLL_CLIMB 2950 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 6 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

DIVE 106 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_SURF 2 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 95 ALTIM_PULSE 2

D_FLARE 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 37 ALTIM_SENSITIVITY 4

D_TGT 990 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 XPDR_VALID 2

D_ABORT 1030 SM_CC 400 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

D_NO_BLEED 200 N_FILEKB 8 ROLL_ADJ_GAIN 2 INT_PRESSURE_SLOPE 0.0093

D_BOOST 50 FILEMGR 0 ROLL_ADJ_DBAND 0.050000001 INT_PRESSURE_YINT -1

T_BOOST 4 CALL_NDIVES 1 VBD_MIN 500 DEEPGLIDER 0

D_FINISH 0 COMM_SEQ 0 VBD_MAX 3960 MOTHERBOARD 4

D_PITCH 0 PROTOCOL 9 C_VBD 2608 DEVICE1 2

D_SAFE 0 N_NOCOMM 1 VBD_DBAND 4 DEVICE2 -1

D_CALL 0 NOCOMM_ACTION 163 VBD_CNV -0.24529999 DEVICE3 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0015 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_DIVE 360 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_MISSION 400 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 99

T_ABORT 1440 CAPMAXSIZE 100000 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_TURN 225 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_TURN_SAMPINT 5 T_GPS 15 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_NO_W 120 N_GPS 20 DBDW 0 COMPASS_DEVICE 33

T_LOITER 0 T_RSLEEP 2 PITCH_W_GAIN 2 COMPASS2_DEVICE -1

T_EPIRB 0 STROBE 0 PITCH_W_DBAND 0.5 PHONE_DEVICE 49

USE_BATHY -4 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

USE_ICE 0 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 AH0_10V 97 XPDR_DEVICE 24

D_OFFGRID 1020 PITCH_MIN 202 MINV_24V 22.5 SIM_W 0

T_WATCHDOG 10 PITCH_MAX 3901 MINV_10V 9.5 SIM_PITCH 0

RELAUNCH 1 C_PITCH 2815 MAXI_24V 0.60000002 SEABIRD_T_G 0.0043923887

APOGEE_PITCH -5 PITCH_DBAND 0.1 MAXI_10V 0.80000001 SEABIRD_T_H 0.00063351821

MAX_BUOY 160 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_T_I 2.5271875e-05

COURSE_BIAS 0 P_OVSHOOT 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 3.0515032e-06

GLIDE_SLOPE 45 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SEABIRD_C_G -9.7838888

SPEED_FACTOR 1 PITCH_GAIN 26 PRESSURE_YINT -63.024231 SEABIRD_C_H 1.1409903

RHO 1.0275 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.0001160131 SEABIRD_C_I -0.00071586663

MASS 52103 PITCH_AD_RATE 160 AD7714Ch0Gain 128 SEABIRD_C_J 0.00012479167

MASS_COMP 0 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 PA_OFFLOAD 1.0

NAV_MODE 2 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0 PA_MAXUPLOADSIZE 20480.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 COMPASS_USE 4 PA_MAXOPTIONALUPLOADSIZE 0.0

KALMAN_USE 2 ROLL_MIN 302 ALTIM_BOTTOM_PING_RANGE 0 PA_POWERSOURCE 1.0

HD_A 0.0065996498 ROLL_MAX 3859 ALTIM_TOP_PING_RANGE 0 PA_RESTARTMONITOR 0.0

HD_B 0.0098683201 ROLL_DEG 30 ALTIM_BOTTOM_TURN_MARGIN 0 PA_CYCLEPAAM 1.0

HD_C 1.5339499e-05 C_ROLL_DIVE 2800 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_SAFE 0 PA_MAXUPLOADSIZE 20480.0 SEABIRD_T_H 0.00063351821

AH0_10V 97 D_SURF 2 PA_OFFLOAD 1.0 SEABIRD_T_I 2.5271875e-05

AH0_24V 150 D_TGT 990 PA_POWERSOURCE 1.0 SEABIRD_T_J 3.0515032e-06

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PA_RESTARTMONITOR 0.0 SIM_PITCH 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SIM_W 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PHONE_SUPPLY -2 SM_CC 400

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_PULSE 2 FILEMGR 0 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 4 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 45 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_GAIN 26 TCM_PITCH_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0065996498 PITCH_MAX 3901 TCM_ROLL_OFFSET 0

APOGEE_PITCH -5 HD_B 0.0098683201 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_C 1.5339499e-05 PITCH_MIN 202 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HEADING -1 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0015 T_ABORT 1440

CAPMAXSIZE 100000 HEAPDBG 0 PITCH_W_DBAND 0.5 T_BOOST 4

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_GAIN 2 T_DIVE 360

CF8_MAXERRORS 20 ID 203 PRESSURE_SLOPE 0.0001160131 T_EPIRB 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0093 PRESSURE_YINT -63.024231 T_GPS 15

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -1 PROTOCOL 9 T_LOITER 0

COMPASS_DEVICE 33 KALMAN_USE 2 P_OVSHOOT 0.079999998 T_MISSION 400

COMPASS_USE 4 LOGGERDEVICE1 99 P_OVSHOOT_WITHG 0 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE2 -1 RAFOS_CORR_THRESH 60 T_RSLEEP 2

C_PITCH 2815 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_TURN 225

C_ROLL_CLIMB 2950 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT 5

C_ROLL_DIVE 2800 LOGGERS 1 RAFOS_PEAK_OFFSET 1.5 T_WATCHDOG 10

C_VBD 2608 MASS 52103 RELAUNCH 1 UNCOM_BLEED 60

DBDW 0 MASS_COMP 0 RHO 1.0275 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MAXI_10V 0.80000001 ROLL_ADJ_DBAND 0.050000001 USE_BATHY -4

DEVICE1 2 MAXI_24V 0.60000002 ROLL_ADJ_GAIN 2 USE_ICE 0

DEVICE2 -1 MAX_BUOY 160 ROLL_AD_RATE 350 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MINV_10V 9.5 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE4 -1 MINV_24V 22.5 ROLL_DEG 30 VBD_DBAND 4

DEVICE5 -1 MISSION 6 ROLL_MAX 3859 VBD_MAX 3960

DEVICE6 -1 MOTHERBOARD 4 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DIVE 106 NAV_MODE 2 ROLL_MIN 302 VBD_MIN 500

D_ABORT 1030 NOCOMM_ACTION 163 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 50 N_DIVES 0 R_PORT_OVSHOOT 95 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_FILEKB 8 R_STBD_OVSHOOT 37 VBD_TIMEOUT 720

D_FINISH 0 N_GPS 20 SEABIRD_C_G -9.7838888 W_ADJ_DBAND 2

D_FLARE 3 N_NOCOMM 1 SEABIRD_C_H 1.1409903 XPDR_DEVICE 24

D_NO_BLEED 200 N_NOSURFACE 0 SEABIRD_C_I -0.00071586663 XPDR_INHIBIT 90

D_OFFGRID 1020 PA_CYCLEPAAM 1.0 SEABIRD_C_J 0.00012479167 XPDR_VALID 2

D_PITCH 0 PA_MAXOPTIONALUPLOADSIZE 0.0 SEABIRD_T_G 0.0043923887

Pre-dive calculations and measurements:

GPS1 010115,055304,1842.4622,-15818.2305,23,0.8,23,9.4,0.0,0.0,9,8.9 SPEED_LIMITS 0.092,0.264

_CALLS 1 TGT_NAME H5

_XMS_NAKs 0 TGT_LATLONG 1847.590,-15702.740

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 2.20 MHEAD_RNG_PITCHd_Wd 76.5,132632,-17.4,-9.167,-19.15,2608

_SM_ANGLEo -67.0 D_GRID 810

GPS2 010115,055835,1842.4930,-15818.1973,7,0.8,7,9.4,0.5,18.6,10,12.7

Post-dive calculations and measurements:

FINISH 1.2,1.014350 PA_DATA0 0.92/107.809/117.199/3.437

SM_CCo 8063,49.88,0.120,0,0,974,400.08 PA_ROOT 0.76/0.092/0.121/0.022

SM_GC 2.69,7.78,1.55,49.88,0.033,0.021,0.120,195,2773,974,-8.10,2.26,400.08,0,0,0,0,0,0,26.33,26.39,26.06 PA_HOME 0.01/0.190/27.046/25.483

IRIDIUM_FIX 1832.77,-15821.64,010115,004517 PA_DISK_BANK 0

TT8_MAMPS 0.056924,0.056924 _24V_AH 24.82,31.071

HUMID 35.43 _10V_AH 10.33,30.469

INTERNAL_PRESSURE 9.2114 FG_AHR_24Vo 0.000

TCM_TEMP 25.50 FG_AHR_10Vo 0.000

XPDR_PINGS 0 MEM 287540

PA_PMVER 0.6 DATA_FILE_SIZE 23431,577

PA_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014 CAP_FILE_SIZE 125701,0

PA_BOARDID 1654118 CFSIZE 1024393216,1009385472

PA_UPTIME 8075.98 3855.32 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

PA_BOOTCOUNT 185 INTR 0,18577.85,0x236d6a,7,5

PA_DFQS 0/0 CURRENT 0.000,246.55,1

PA_LOG 0.01/0.208/31.498/29.690 GPS 010115,081429,1842.894,-15816.828,12,0.8,12,9.4,0.5,339.2,10,56.9

PA_DATA1 0.68/79.316/117.199/31.929

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 209 95.86 SBE_CT 386 23 230.00

Roll_motor 47 48 57.03 nil 0 0 0.00

VBD_pump_during_apogee 321 673 5373.56 nil 0 0 0.00

VBD_pump_during_surface 49 120 148.68 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 8431 0 78.68

Iridium_during_xfer 239 102 610.12 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 8430 60 12739.98

GPS 7 26 2.22

TT8 0 0 0.00

LPSleep 5527 2 125.04

TT8_Active 405 18 77.33

TT8_Sampling 2417 43 1078.19

TT8_CF8 76 60 47.73

TT8_Kalman 0 0 0.00

Analog_circuits 1528 16 252.57

GPS_charging 0 0 0.00

Compass 1260 8 107.30

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

91 end surface: CONTROL_FINISHED_OK

state 91 begin dive

93 -0.90 -155.7 190 2775 1027 923 0.0 0.0 0 146 0.00 0.00 -42.83 0.000 16386 0.000 0.000 189 2775 2246 2264 2228 0 0 0 0 0 0 26.11 28.83 26.18

147 -0.90 -155.7 190 2776 2266 2230 3.3 -3.4 4 197 8.77 1.42 -22.52 0.000 18948 0.210 0.041 2503 1765 3245 3305 3186 0 0 0 0 0 0 25.80 25.41 26.05

337 -0.90 -155.7 2503 1765 3306 3187 43.9 -24.7 31 355 0.00 1.55 0.00 0.000 1030 0.000 0.034 2498 2802 3247 3306 3188 0 0 0 0 0 0 26.22 26.17 26.24

661 -0.90 -155.7 2498 2802 3306 3190 122.8 -21.9 63 672 0.00 1.62 0.00 0.000 260 0.000 0.045 2490 3846 3249 3309 3190 0 0 0 0 0 0 26.24 26.19 26.29

761 -0.90 -155.7 2490 3847 3306 3193 145.0 -23.4 72 772 0.10 1.48 0.00 0.000 3078 0.164 0.024 2511 2827 3247 3305 3189 0 0 0 0 0 0 26.08 26.28 26.22

1067 -0.90 -155.7 2511 2829 3310 3193 198.3 -14.9 103 1072 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2827 3250 3309 3192 0 0 0 0 0 0 26.27 26.34 26.33

1367 -0.90 -155.7 2512 2828 3310 3195 245.2 -14.6 133 1375 0.00 1.62 0.00 0.000 260 0.000 0.046 2507 3856 3251 3309 3193 0 0 0 0 0 0 26.28 26.24 26.34

1398 -0.90 -155.7 2508 3856 3316 3193 249.5 -13.2 136 1407 0.00 1.50 0.00 0.000 1030 0.000 0.024 2507 2822 3251 3309 3194 0 0 0 0 0 0 26.35 26.32 26.35

1711 -0.90 -155.7 2507 2825 3311 3195 290.8 -13.0 147 1721 0.00 1.58 0.00 0.000 260 0.000 0.046 2499 3852 3251 3310 3193 0 0 0 0 0 0 26.29 26.25 26.35

1814 -0.90 -155.7 2499 3850 3311 3194 304.0 -13.9 150 1823 0.00 1.48 0.00 0.000 1030 0.000 0.024 2499 2833 3251 3310 3193 0 0 0 0 0 0 26.37 26.33 26.38

2138 -0.90 -155.7 2499 2834 3310 3194 347.7 -12.4 161 2145 0.00 1.52 0.00 0.000 516 0.000 0.023 2499 1754 3251 3309 3193 0 0 0 0 0 0 26.34 26.32 26.35

2258 -0.90 -155.7 2498 1755 3307 3194 362.8 -12.4 165 2266 0.08 1.65 0.00 0.000 3078 0.186 0.035 2507 2845 3250 3307 3193 0 0 0 0 0 0 26.14 26.28 26.27

2590 -0.90 -155.7 2507 2846 3303 3194 400.4 -10.8 176 2597 0.00 1.52 0.00 0.000 260 0.000 0.047 2502 3851 3247 3302 3193 0 0 0 0 0 0 26.29 26.24 26.35

2690 -0.90 -155.7 2502 3852 3303 3192 411.3 -11.7 179 2697 0.00 1.50 0.00 0.000 1030 0.000 0.025 2503 2794 3247 3301 3193 0 0 0 0 0 0 26.34 26.31 26.36

3012 -0.90 -155.7 2503 2795 3299 3194 432.4 0.0 190 3021 0.00 1.50 0.00 0.000 516 0.000 0.022 2503 1728 3245 3299 3192 0 0 0 0 0 0 26.28 26.30 26.35

3104 end dive: NO_VERTICAL_VELOCITY

state 3104 begin apogee

3109 -0.19 0.0 2501 2947 3297 3193 432.4 0.0 193 3236 0.70 0.00 120.72 0.673 10244 0.076 0.000 2746 2947 2607 2663 2551 0 0 0 0 0 0 26.18 25.43 24.94

3237 end apogee: CONTROL_FINISHED_OK

state 3237 begin climb

3238 0.90 155.7 2746 2947 2656 2544 432.3 0.0 197 3368 0.90 1.48 117.80 0.662 10500 0.060 0.048 3090 3847 1965 2022 1909 0 0 0 0 0 0 25.53 25.53 24.82

3592 0.90 155.7 3091 3848 2010 1894 405.9 10.0 209 3600 0.00 1.30 0.00 0.000 1030 0.000 0.024 3097 2949 1950 2008 1893 0 0 0 0 0 0 26.10 26.08 26.12

3920 0.90 155.7 3096 2949 2007 1890 375.2 9.0 220 3927 0.00 1.52 0.00 0.000 516 0.000 0.021 3106 1902 1948 2006 1890 0 0 0 0 0 0 26.24 26.27 26.31

4036 0.92 155.7 3106 1904 2005 1891 367.5 8.5 223 4047 0.00 1.58 0.00 0.000 1030 0.000 0.033 3106 2954 1946 2004 1889 0 0 0 0 0 0 26.29 26.24 26.31

4341 0.92 155.7 3105 2955 2002 1890 340.5 9.6 234 4346 0.00 0.00 0.00 0.000 6 0.000 0.000 3106 2954 1944 2001 1888 0 0 0 0 0 0 26.28 26.35 26.34

4641 0.92 155.7 3106 2955 2000 1889 311.2 9.8 244 4648 0.00 1.52 0.00 0.000 516 0.000 0.022 3114 1890 1943 1999 1888 0 0 0 0 0 0 26.28 26.31 26.35

4797 0.93 155.7 3114 1890 1995 1889 298.3 8.4 249 4807 0.00 1.60 0.00 0.000 1030 0.000 0.034 3114 2930 1943 1998 1888 0 0 0 0 0 0 26.29 26.27 26.32

5127 1.01 207.5 3114 2930 1998 1887 272.9 7.1 260 5173 0.00 1.42 38.10 0.594 8452 0.000 0.043 3114 3857 1755 1811 1699 0 0 0 0 0 0 26.27 25.71 25.37

5251 1.01 207.5 3114 3858 1797 1686 261.6 9.3 264 5260 0.00 1.33 0.00 0.000 1030 0.000 0.026 3121 2952 1740 1796 1685 0 0 0 0 0 0 26.12 26.10 26.11

5559 1.03 207.5 3122 2952 1794 1681 233.0 7.9 287 5566 0.00 1.45 0.00 0.000 260 0.000 0.045 3121 3859 1737 1793 1682 0 0 0 0 0 0 26.22 26.20 26.29

5685 1.06 207.5 3122 3860 1793 1682 224.2 7.6 299 5696 0.00 1.30 0.00 0.000 1030 0.000 0.025 3124 2961 1737 1793 1681 0 0 0 0 0 0 26.32 26.29 26.33

5990 1.10 207.5 3125 2962 1793 1680 199.0 7.4 330 5998 0.10 1.50 0.00 0.000 2564 0.101 0.019 3188 1891 1735 1792 1679 0 0 0 0 0 0 26.22 26.31 26.29

6063 1.12 207.5 3188 1891 1793 1679 193.5 8.0 337 6070 0.00 1.62 0.00 0.000 1030 0.000 0.034 3189 2973 1735 1791 1679 0 0 0 0 0 0 26.31 26.26 26.32

6374 1.12 207.5 3187 2973 1791 1679 161.2 9.9 368 6381 0.00 1.38 0.00 0.000 260 0.000 0.044 3188 3852 1734 1790 1679 0 0 0 0 0 0 26.29 26.25 26.36

6605 1.14 207.5 3189 3852 1790 1679 139.0 8.4 391 6615 0.00 1.25 0.00 0.000 1030 0.000 0.025 3195 2983 1734 1789 1679 0 0 0 0 0 0 26.33 26.29 26.34

6919 1.16 207.5 3195 2984 1789 1681 111.9 8.1 422 6924 0.00 0.00 0.00 0.000 6 0.000 0.000 3195 2983 1734 1789 1679 0 0 0 0 0 0 26.29 26.36 26.35

7219 1.25 266.7 3195 2984 1790 1681 92.6 6.8 452 7274 0.00 1.33 44.97 0.451 8452 0.000 0.042 3195 3856 1511 1572 1450 0 0 0 0 0 0 26.29 25.94 25.51

7497 1.25 266.7 3195 3857 1562 1440 63.8 12.7 479 7510 0.00 1.27 0.00 0.000 1030 0.000 0.024 3202 2962 1500 1561 1440 0 0 0 0 0 0 26.26 26.24 26.27

7804 1.25 266.7 3203 2963 1562 1441 28.1 13.4 529 7814 0.00 1.40 0.00 0.000 260 0.000 0.042 3202 3856 1500 1561 1439 0 0 0 0 0 0 26.28 26.26 26.35

8037 end climb: SURFACE_DEPTH_REACHED

state 8037 begin surface coast

8047 end surface coast: CONTROL_FINISHED_OK

state 8047 begin surface

ID	203	HEADING	-1	C_ROLL_CLIMB	2950	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	6	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
DIVE	106	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_SURF	2	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	95	ALTIM_PULSE	2
D_FLARE	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	37	ALTIM_SENSITIVITY	4
D_TGT	990	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	XPDR_VALID	2
D_ABORT	1030	SM_CC	400	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
D_NO_BLEED	200	N_FILEKB	8	ROLL_ADJ_GAIN	2	INT_PRESSURE_SLOPE	0.0093
D_BOOST	50	FILEMGR	0	ROLL_ADJ_DBAND	0.050000001	INT_PRESSURE_YINT	-1
T_BOOST	4	CALL_NDIVES	1	VBD_MIN	500	DEEPGLIDER	0
D_FINISH	0	COMM_SEQ	0	VBD_MAX	3960	MOTHERBOARD	4
D_PITCH	0	PROTOCOL	9	C_VBD	2608	DEVICE1	2
D_SAFE	0	N_NOCOMM	1	VBD_DBAND	4	DEVICE2	-1
D_CALL	0	NOCOMM_ACTION	163	VBD_CNV	-0.24529999	DEVICE3	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0015	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_DIVE	360	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_MISSION	400	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	99
T_ABORT	1440	CAPMAXSIZE	100000	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_TURN	225	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_TURN_SAMPINT	5	T_GPS	15	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_NO_W	120	N_GPS	20	DBDW	0	COMPASS_DEVICE	33
T_LOITER	0	T_RSLEEP	2	PITCH_W_GAIN	2	COMPASS2_DEVICE	-1
T_EPIRB	0	STROBE	0	PITCH_W_DBAND	0.5	PHONE_DEVICE	49
USE_BATHY	-4	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
USE_ICE	0	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	AH0_10V	97	XPDR_DEVICE	24
D_OFFGRID	1020	PITCH_MIN	202	MINV_24V	22.5	SIM_W	0
T_WATCHDOG	10	PITCH_MAX	3901	MINV_10V	9.5	SIM_PITCH	0
RELAUNCH	1	C_PITCH	2815	MAXI_24V	0.60000002	SEABIRD_T_G	0.0043923887
APOGEE_PITCH	-5	PITCH_DBAND	0.1	MAXI_10V	0.80000001	SEABIRD_T_H	0.00063351821
MAX_BUOY	160	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_T_I	2.5271875e-05
COURSE_BIAS	0	P_OVSHOOT	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	3.0515032e-06
GLIDE_SLOPE	45	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SEABIRD_C_G	-9.7838888
SPEED_FACTOR	1	PITCH_GAIN	26	PRESSURE_YINT	-63.024231	SEABIRD_C_H	1.1409903
RHO	1.0275	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.0001160131	SEABIRD_C_I	-0.00071586663
MASS	52103	PITCH_AD_RATE	160	AD7714Ch0Gain	128	SEABIRD_C_J	0.00012479167
MASS_COMP	0	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	PA_OFFLOAD	1.0
NAV_MODE	2	PITCH_ADJ_GAIN	0	TCM_ROLL_OFFSET	0	PA_MAXUPLOADSIZE	20480.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	COMPASS_USE	4	PA_MAXOPTIONALUPLOADSIZE	0.0
KALMAN_USE	2	ROLL_MIN	302	ALTIM_BOTTOM_PING_RANGE	0	PA_POWERSOURCE	1.0
HD_A	0.0065996498	ROLL_MAX	3859	ALTIM_TOP_PING_RANGE	0	PA_RESTARTMONITOR	0.0
HD_B	0.0098683201	ROLL_DEG	30	ALTIM_BOTTOM_TURN_MARGIN	0	PA_CYCLEPAAM	1.0
HD_C	1.5339499e-05	C_ROLL_DIVE	2800	ALTIM_TOP_TURN_MARGIN	0

GPS1	010115,055304,1842.4622,-15818.2305,23,0.8,23,9.4,0.0,0.0,9,8.9	SPEED_LIMITS	0.092,0.264
_CALLS	1	TGT_NAME	H5
_XMS_NAKs	0	TGT_LATLONG	1847.590,-15702.740
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	2.20	MHEAD_RNG_PITCHd_Wd	76.5,132632,-17.4,-9.167,-19.15,2608
_SM_ANGLEo	-67.0	D_GRID	810
GPS2	010115,055835,1842.4930,-15818.1973,7,0.8,7,9.4,0.5,18.6,10,12.7

FINISH	1.2,1.014350	PA_DATA0	0.92/107.809/117.199/3.437
SM_CCo	8063,49.88,0.120,0,0,974,400.08	PA_ROOT	0.76/0.092/0.121/0.022
SM_GC	2.69,7.78,1.55,49.88,0.033,0.021,0.120,195,2773,974,-8.10,2.26,400.08,0,0,0,0,0,0,26.33,26.39,26.06	PA_HOME	0.01/0.190/27.046/25.483
IRIDIUM_FIX	1832.77,-15821.64,010115,004517	PA_DISK_BANK	0
TT8_MAMPS	0.056924,0.056924	_24V_AH	24.82,31.071
HUMID	35.43	_10V_AH	10.33,30.469
INTERNAL_PRESSURE	9.2114	FG_AHR_24Vo	0.000
TCM_TEMP	25.50	FG_AHR_10Vo	0.000
XPDR_PINGS	0	MEM	287540
PA_PMVER	0.6	DATA_FILE_SIZE	23431,577
PA_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014	CAP_FILE_SIZE	125701,0
PA_BOARDID	1654118	CFSIZE	1024393216,1009385472
PA_UPTIME	8075.98 3855.32	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
PA_BOOTCOUNT	185	INTR	0,18577.85,0x236d6a,7,5
PA_DFQS	0/0	CURRENT	0.000,246.55,1
PA_LOG	0.01/0.208/31.498/29.690	GPS	010115,081429,1842.894,-15816.828,12,0.8,12,9.4,0.5,339.2,10,56.9
PA_DATA1	0.68/79.316/117.199/31.929

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	209	95.86	SBE_CT	386	23	230.00
Roll_motor	47	48	57.03	nil	0	0	0.00
VBD_pump_during_apogee	321	673	5373.56	nil	0	0	0.00
VBD_pump_during_surface	49	120	148.68	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	8431	0	78.68
Iridium_during_xfer	239	102	610.12	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	8430	60	12739.98
GPS	7	26	2.22
TT8	0	0	0.00
LPSleep	5527	2	125.04
TT8_Active	405	18	77.33
TT8_Sampling	2417	43	1078.19
TT8_CF8	76	60	47.73
TT8_Kalman	0	0	0.00
Analog_circuits	1528	16	252.57
GPS_charging	0	0	0.00
Compass	1260	8	107.30
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	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	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
91	end surface: CONTROL_FINISHED_OK
state	91	begin dive
93	-0.90	-155.7	190	2775	1027	923	0.0	0.0	0	146	0.00	0.00	-42.83	0.000	16386	0.000	0.000	189	2775	2246	2264	2228	0	0	0	0	0	0	26.11	28.83	26.18
147	-0.90	-155.7	190	2776	2266	2230	3.3	-3.4	4	197	8.77	1.42	-22.52	0.000	18948	0.210	0.041	2503	1765	3245	3305	3186	0	0	0	0	0	0	25.80	25.41	26.05
337	-0.90	-155.7	2503	1765	3306	3187	43.9	-24.7	31	355	0.00	1.55	0.00	0.000	1030	0.000	0.034	2498	2802	3247	3306	3188	0	0	0	0	0	0	26.22	26.17	26.24
661	-0.90	-155.7	2498	2802	3306	3190	122.8	-21.9	63	672	0.00	1.62	0.00	0.000	260	0.000	0.045	2490	3846	3249	3309	3190	0	0	0	0	0	0	26.24	26.19	26.29
761	-0.90	-155.7	2490	3847	3306	3193	145.0	-23.4	72	772	0.10	1.48	0.00	0.000	3078	0.164	0.024	2511	2827	3247	3305	3189	0	0	0	0	0	0	26.08	26.28	26.22
1067	-0.90	-155.7	2511	2829	3310	3193	198.3	-14.9	103	1072	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2827	3250	3309	3192	0	0	0	0	0	0	26.27	26.34	26.33
1367	-0.90	-155.7	2512	2828	3310	3195	245.2	-14.6	133	1375	0.00	1.62	0.00	0.000	260	0.000	0.046	2507	3856	3251	3309	3193	0	0	0	0	0	0	26.28	26.24	26.34
1398	-0.90	-155.7	2508	3856	3316	3193	249.5	-13.2	136	1407	0.00	1.50	0.00	0.000	1030	0.000	0.024	2507	2822	3251	3309	3194	0	0	0	0	0	0	26.35	26.32	26.35
1711	-0.90	-155.7	2507	2825	3311	3195	290.8	-13.0	147	1721	0.00	1.58	0.00	0.000	260	0.000	0.046	2499	3852	3251	3310	3193	0	0	0	0	0	0	26.29	26.25	26.35
1814	-0.90	-155.7	2499	3850	3311	3194	304.0	-13.9	150	1823	0.00	1.48	0.00	0.000	1030	0.000	0.024	2499	2833	3251	3310	3193	0	0	0	0	0	0	26.37	26.33	26.38
2138	-0.90	-155.7	2499	2834	3310	3194	347.7	-12.4	161	2145	0.00	1.52	0.00	0.000	516	0.000	0.023	2499	1754	3251	3309	3193	0	0	0	0	0	0	26.34	26.32	26.35
2258	-0.90	-155.7	2498	1755	3307	3194	362.8	-12.4	165	2266	0.08	1.65	0.00	0.000	3078	0.186	0.035	2507	2845	3250	3307	3193	0	0	0	0	0	0	26.14	26.28	26.27
2590	-0.90	-155.7	2507	2846	3303	3194	400.4	-10.8	176	2597	0.00	1.52	0.00	0.000	260	0.000	0.047	2502	3851	3247	3302	3193	0	0	0	0	0	0	26.29	26.24	26.35
2690	-0.90	-155.7	2502	3852	3303	3192	411.3	-11.7	179	2697	0.00	1.50	0.00	0.000	1030	0.000	0.025	2503	2794	3247	3301	3193	0	0	0	0	0	0	26.34	26.31	26.36
3012	-0.90	-155.7	2503	2795	3299	3194	432.4	0.0	190	3021	0.00	1.50	0.00	0.000	516	0.000	0.022	2503	1728	3245	3299	3192	0	0	0	0	0	0	26.28	26.30	26.35
3104	end dive: NO_VERTICAL_VELOCITY
state	3104	begin apogee
3109	-0.19	0.0	2501	2947	3297	3193	432.4	0.0	193	3236	0.70	0.00	120.72	0.673	10244	0.076	0.000	2746	2947	2607	2663	2551	0	0	0	0	0	0	26.18	25.43	24.94
3237	end apogee: CONTROL_FINISHED_OK
state	3237	begin climb
3238	0.90	155.7	2746	2947	2656	2544	432.3	0.0	197	3368	0.90	1.48	117.80	0.662	10500	0.060	0.048	3090	3847	1965	2022	1909	0	0	0	0	0	0	25.53	25.53	24.82
3592	0.90	155.7	3091	3848	2010	1894	405.9	10.0	209	3600	0.00	1.30	0.00	0.000	1030	0.000	0.024	3097	2949	1950	2008	1893	0	0	0	0	0	0	26.10	26.08	26.12
3920	0.90	155.7	3096	2949	2007	1890	375.2	9.0	220	3927	0.00	1.52	0.00	0.000	516	0.000	0.021	3106	1902	1948	2006	1890	0	0	0	0	0	0	26.24	26.27	26.31
4036	0.92	155.7	3106	1904	2005	1891	367.5	8.5	223	4047	0.00	1.58	0.00	0.000	1030	0.000	0.033	3106	2954	1946	2004	1889	0	0	0	0	0	0	26.29	26.24	26.31
4341	0.92	155.7	3105	2955	2002	1890	340.5	9.6	234	4346	0.00	0.00	0.00	0.000	6	0.000	0.000	3106	2954	1944	2001	1888	0	0	0	0	0	0	26.28	26.35	26.34
4641	0.92	155.7	3106	2955	2000	1889	311.2	9.8	244	4648	0.00	1.52	0.00	0.000	516	0.000	0.022	3114	1890	1943	1999	1888	0	0	0	0	0	0	26.28	26.31	26.35
4797	0.93	155.7	3114	1890	1995	1889	298.3	8.4	249	4807	0.00	1.60	0.00	0.000	1030	0.000	0.034	3114	2930	1943	1998	1888	0	0	0	0	0	0	26.29	26.27	26.32
5127	1.01	207.5	3114	2930	1998	1887	272.9	7.1	260	5173	0.00	1.42	38.10	0.594	8452	0.000	0.043	3114	3857	1755	1811	1699	0	0	0	0	0	0	26.27	25.71	25.37
5251	1.01	207.5	3114	3858	1797	1686	261.6	9.3	264	5260	0.00	1.33	0.00	0.000	1030	0.000	0.026	3121	2952	1740	1796	1685	0	0	0	0	0	0	26.12	26.10	26.11
5559	1.03	207.5	3122	2952	1794	1681	233.0	7.9	287	5566	0.00	1.45	0.00	0.000	260	0.000	0.045	3121	3859	1737	1793	1682	0	0	0	0	0	0	26.22	26.20	26.29
5685	1.06	207.5	3122	3860	1793	1682	224.2	7.6	299	5696	0.00	1.30	0.00	0.000	1030	0.000	0.025	3124	2961	1737	1793	1681	0	0	0	0	0	0	26.32	26.29	26.33
5990	1.10	207.5	3125	2962	1793	1680	199.0	7.4	330	5998	0.10	1.50	0.00	0.000	2564	0.101	0.019	3188	1891	1735	1792	1679	0	0	0	0	0	0	26.22	26.31	26.29
6063	1.12	207.5	3188	1891	1793	1679	193.5	8.0	337	6070	0.00	1.62	0.00	0.000	1030	0.000	0.034	3189	2973	1735	1791	1679	0	0	0	0	0	0	26.31	26.26	26.32
6374	1.12	207.5	3187	2973	1791	1679	161.2	9.9	368	6381	0.00	1.38	0.00	0.000	260	0.000	0.044	3188	3852	1734	1790	1679	0	0	0	0	0	0	26.29	26.25	26.36
6605	1.14	207.5	3189	3852	1790	1679	139.0	8.4	391	6615	0.00	1.25	0.00	0.000	1030	0.000	0.025	3195	2983	1734	1789	1679	0	0	0	0	0	0	26.33	26.29	26.34
6919	1.16	207.5	3195	2984	1789	1681	111.9	8.1	422	6924	0.00	0.00	0.00	0.000	6	0.000	0.000	3195	2983	1734	1789	1679	0	0	0	0	0	0	26.29	26.36	26.35
7219	1.25	266.7	3195	2984	1790	1681	92.6	6.8	452	7274	0.00	1.33	44.97	0.451	8452	0.000	0.042	3195	3856	1511	1572	1450	0	0	0	0	0	0	26.29	25.94	25.51
7497	1.25	266.7	3195	3857	1562	1440	63.8	12.7	479	7510	0.00	1.27	0.00	0.000	1030	0.000	0.024	3202	2962	1500	1561	1440	0	0	0	0	0	0	26.26	26.24	26.27
7804	1.25	266.7	3203	2963	1562	1441	28.1	13.4	529	7814	0.00	1.40	0.00	0.000	260	0.000	0.042	3202	3856	1500	1561	1439	0	0	0	0	0	0	26.28	26.26	26.35
8037	end climb: SURFACE_DEPTH_REACHED
state	8037	begin surface coast
8047	end surface coast: CONTROL_FINISHED_OK
state	8047	begin surface