Glider dive log

GoA Jul15 * SG203 * Dive index * Mission links * Dive 173 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 203 HEADING -1 C_ROLL_CLIMB 2800 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 8 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

DIVE 173 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 97 ALTIM_PULSE 2

D_FLARE 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 50 ALTIM_SENSITIVITY 4

D_TGT 800 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 XPDR_VALID 2

D_ABORT 1020 SM_CC 400 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

D_NO_BLEED 200 N_FILEKB 8 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0093

D_BOOST 50 FILEMGR 0 ROLL_ADJ_DBAND 0 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 2839 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 9.9999997e-05 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_DIVE 250 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 1

T_MISSION 280 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 0 LOGGERDEVICE4 -1

T_NO_W 120 N_GPS 100740 DBDW 0 COMPASS_DEVICE 33

T_LOITER 0 T_RSLEEP 1 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

T_EPIRB 0 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_BATHY -5 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 100 XPDR_DEVICE 24

D_OFFGRID 1000 PITCH_MIN 202 MINV_24V 21 SIM_W 0

T_WATCHDOG 10 PITCH_MAX 3901 MINV_10V 9.5 SIM_PITCH 0

RELAUNCH 1 C_PITCH 2650 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 200 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 20 PRESSURE_YINT -62.66111 SEABIRD_C_H 1.1409903

RHO 1.0275 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.0001160131 SEABIRD_C_I -0.00071586663

MASS 52079 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 0.015 TCM_ROLL_OFFSET 0 PA_MAXUPLOADSIZE 20480.0

FERRY_MAX 45 PITCH_ADJ_DBAND 1 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 40 ALTIM_BOTTOM_TURN_MARGIN 0 PA_CYCLEPAAM 1.0

HD_C 1.5339499e-05 C_ROLL_DIVE 2700 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_SAFE 0 PA_MAXUPLOADSIZE 20480.0 SEABIRD_T_H 0.00063351821

AH0_10V 100 D_SURF 2 PA_OFFLOAD 1.0 SEABIRD_T_I 2.5271875e-05

AH0_24V 150 D_TGT 800 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 1 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_ADJ_GAIN 0.015 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 20 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 9.9999997e-05 T_ABORT 1440

CAPMAXSIZE 100000 HEAPDBG 0 PITCH_W_DBAND 0 T_BOOST 4

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_GAIN 0 T_DIVE 250

CF8_MAXERRORS 20 ID 203 PRESSURE_SLOPE 0.0001160131 T_EPIRB 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0093 PRESSURE_YINT -62.66111 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 280

COMPASS_USE 4 LOGGERDEVICE1 99 P_OVSHOOT_WITHG 0 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE2 -1 RAFOS_CORR_THRESH 60 T_RSLEEP 1

C_PITCH 2650 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_TURN 225

C_ROLL_CLIMB 2800 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT 5

C_ROLL_DIVE 2700 LOGGERS 1 RAFOS_PEAK_OFFSET 1.5 T_WATCHDOG 10

C_VBD 2839 MASS 52079 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 USE_BATHY -5

DEVICE1 2 MAXI_24V 0.60000002 ROLL_ADJ_GAIN 0 USE_ICE 0

DEVICE2 -1 MAX_BUOY 200 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 21 ROLL_DEG 40 VBD_DBAND 4

DEVICE5 -1 MISSION 8 ROLL_MAX 3859 VBD_MAX 3960

DEVICE6 -1 MOTHERBOARD 4 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DIVE 173 NAV_MODE 2 ROLL_MIN 302 VBD_MIN 500

D_ABORT 1020 NOCOMM_ACTION 163 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_APOGEE 3

D_BOOST 50 N_DIVES 0 R_PORT_OVSHOOT 97 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_FILEKB 8 R_STBD_OVSHOOT 50 VBD_TIMEOUT 720

D_FINISH 0 N_GPS 100740 SEABIRD_C_G -9.7838888 W_ADJ_DBAND 0

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 1000 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 110815,032334,5705.5713,-15048.0605,50,0.8,51,16.6,1.0,226.6,10,8.1 SPEED_LIMITS 0.107,0.307

_CALLS 1 TGT_NAME WP10

_XMS_NAKs 0 TGT_LATLONG 5706.000,-15048.000

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 2.06 MHEAD_RNG_PITCHd_Wd 9.4,925,-41.9,-10.667,-42.78,453

_SM_ANGLEo -67.8 D_GRID 1366

GPS2 110815,032902,5705.5103,-15048.1807,11,0.9,11,16.6,0.0,208.6,10,8.5

Post-dive calculations and measurements:

FINISH 0.7,1.023744 PA_DATA0 0.46/53.518/117.199/57.727

SM_CCo 8706,33.28,0.147,0,0,1206,400.08 PA_ROOT 0.76/0.092/0.121/0.022

SM_GC 3.81,9.27,1.73,33.28,0.076,0.020,0.147,193,2702,1206,-7.59,2.91,400.08,0,0,0,0,0,0,26.04,26.15,25.63 PA_HOME 0.01/0.217/27.046/25.455

IRIDIUM_FIX 5640.91,-15050.18,060608,134435 PA_DISK_BANK 3

TT8_MAMPS 0.058422,0.058422 _24V_AH 23.88,62.646

HUMID 39.56 _10V_AH 10.18,37.968

INTERNAL_PRESSURE 8.8487 FG_AHR_24Vo 0.000

TCM_TEMP 18.30 FG_AHR_10Vo 0.000

XPDR_PINGS 0 MEM 142844

PA_PMVER 0.6 DATA_FILE_SIZE 26818,584

PA_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014 CAP_FILE_SIZE 95783,0

PA_BOARDID 1654118 CFSIZE 1024393216,979615744

PA_UPTIME 8703.55 4288.68 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0

PA_BOOTCOUNT 481 INTR 0,11264.84,0x236db2,7,5

PA_DFQS 0/0 CURRENT 0.076,248.66,1

PA_LOG 0.01/0.268/31.498/29.630 GPS 110815,055631,5705.973,-15048.560,46,1.0,70,16.6,0.2,8.6,11,9.8

PA_DATA1 0.00/0.058/117.199/111.187

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 242 125.09 SBE_CT 399 23 228.71

Roll_motor 52 79 99.60 nil 0 0 0.00

VBD_pump_during_apogee 255 1030 6290.85 nil 0 0 0.00

VBD_pump_during_surface 33 146 116.71 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 9105 0 81.98

Iridium_during_xfer 220 94 496.47 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 9105 61 13314.06

GPS 19 26 5.22

TT8 0 0 0.00

LPSleep 6368 2 141.97

TT8_Active 329 18 61.97

TT8_Sampling 2263 43 994.94

TT8_CF8 107 60 65.91

TT8_Kalman 0 0 0.00

Analog_circuits 1426 16 232.37

GPS_charging 0 0 0.00

Compass 1332 8 111.78

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 -2.10 -31.4 184 2802 1223 1165 0.0 0.0 0 129 0.00 0.00 -30.23 0.000 16386 0.000 0.000 183 2802 2003 2038 1968 0 0 0 0 0 0 26.06 28.83 26.13

131 -2.10 -31.4 184 2802 2040 1967 3.1 -4.1 5 177 7.22 2.22 -24.90 0.000 18948 0.232 0.033 1955 1332 2969 3045 2894 0 0 0 0 0 0 25.42 25.17 25.78

407 -2.13 -31.4 1955 1333 3046 2900 97.1 -34.8 42 421 0.00 2.10 0.00 0.000 1030 0.000 0.023 1948 2714 2972 3044 2901 0 0 0 0 0 0 26.06 26.03 26.06

716 -2.16 -31.4 1948 2714 3046 2902 190.5 -30.7 73 723 0.00 0.00 0.00 0.000 6 0.000 0.000 1949 2714 2974 3045 2903 0 0 0 0 0 0 26.10 26.17 26.15

1017 -2.21 -31.4 1949 2714 3046 2904 277.9 -28.8 97 1022 0.00 0.00 0.00 0.000 6 0.000 0.000 1948 2714 2974 3045 2904 0 0 0 0 0 0 26.10 26.17 26.16

1317 -2.25 -31.4 1948 2715 3045 2906 363.5 -28.4 107 1325 0.00 1.73 0.00 0.000 260 0.000 0.035 1940 3847 2974 3045 2904 0 0 0 0 0 0 26.10 26.01 26.16

1465 -2.28 -31.4 1939 3844 3045 2901 400.7 -30.6 111 1476 0.00 1.62 0.00 0.000 1030 0.000 0.019 1939 2679 2974 3044 2904 0 0 0 0 0 0 26.16 26.13 26.17

1769 -2.32 -31.4 1940 2681 3044 2904 496.0 -28.5 122 1775 0.00 0.00 0.00 0.000 6 0.000 0.000 1939 2679 2973 3043 2904 0 0 0 0 0 0 26.10 26.17 26.15

2070 -2.36 -31.4 1940 2679 3043 2904 579.3 -27.5 132 2079 0.10 1.80 0.00 0.000 4356 0.102 0.032 1884 3844 2972 3041 2904 0 0 0 0 0 0 26.01 25.99 26.06

2304 -2.36 -31.4 1885 3844 3042 2904 643.0 -30.5 139 2315 0.00 1.60 0.00 0.000 1030 0.000 0.020 1884 2700 2972 3040 2904 0 0 0 0 0 0 26.10 26.08 26.11

2609 -2.38 -31.4 1884 2700 3040 2905 735.4 -27.8 150 2614 0.00 0.00 0.00 0.000 6 0.000 0.000 1884 2699 2971 3039 2904 0 0 0 0 0 0 26.08 26.15 26.14

2878 end dive: TARGET_DEPTH_EXCEEDED

state 2878 begin apogee

2881 -0.25 0.0 1884 2810 3038 2904 808.0 -26.8 159 2918 2.45 0.00 28.60 1.025 10246 0.185 0.000 2548 2810 2837 2882 2793 0 0 0 0 0 0 25.44 25.56 24.75

2919 end apogee: CONTROL_FINISHED_OK

state 2919 begin climb

2921 2.10 31.4 2548 2810 2881 2789 811.9 0.0 160 2956 2.20 1.60 26.67 1.013 10500 0.067 0.034 3318 3829 2706 2742 2671 0 0 0 0 0 0 25.64 25.06 24.50

2985 2.10 31.4 3318 3830 2741 2672 811.7 -1.5 162 2992 0.00 1.50 0.00 0.000 1030 0.000 0.022 3326 2790 2705 2740 2670 0 0 0 0 0 0 25.63 25.60 25.64

3296 2.11 138.0 3322 2790 2738 2670 855.7 -13.5 173 3391 0.00 1.75 85.12 1.030 8452 0.000 0.035 3326 3833 2272 2296 2248 0 0 0 0 0 0 26.03 24.98 24.22

3401 2.10 233.9 3326 3834 2294 2245 864.6 -11.1 176 3492 0.00 1.52 79.90 1.017 9222 0.000 0.022 3334 2803 1880 1909 1852 0 0 0 0 0 0 25.27 25.22 23.88

3811 2.13 233.9 3334 2803 1902 1838 775.0 25.7 190 3821 0.00 1.62 0.00 0.000 260 0.000 0.037 3334 3840 1869 1901 1838 0 0 0 0 0 0 25.89 25.89 25.95

4044 2.13 233.9 3334 3840 1901 1836 719.7 25.8 197 4054 0.00 1.52 0.00 0.000 1030 0.000 0.022 3341 2794 1868 1900 1836 0 0 0 0 0 0 26.13 26.11 26.15

4358 2.13 233.9 3342 2791 1901 1836 644.3 20.8 208 4365 0.00 1.62 0.00 0.000 260 0.000 0.036 3341 3840 1867 1899 1836 0 0 0 0 0 0 26.13 26.08 26.19

4589 2.11 233.9 3341 3840 1899 1834 598.8 21.7 215 4596 0.00 1.52 0.00 0.000 1030 0.000 0.022 3349 2796 1866 1898 1835 0 0 0 0 0 0 26.17 26.15 26.19

4901 2.13 233.9 3350 2796 1897 1833 524.2 23.1 226 4908 0.00 1.62 0.00 0.000 260 0.000 0.039 3349 3832 1866 1896 1836 0 0 0 0 0 0 26.13 26.04 26.19

5132 2.07 233.9 3349 3833 1894 1835 478.1 22.3 233 5139 0.10 1.50 0.00 0.000 5126 0.196 0.021 3331 2801 1864 1893 1835 0 0 0 0 0 0 25.67 26.13 25.80

5444 2.09 233.9 3331 2801 1895 1837 416.9 17.7 244 5451 0.00 1.60 0.00 0.000 260 0.000 0.038 3331 3836 1864 1893 1835 0 0 0 0 0 0 26.11 26.03 26.15

5520 2.08 233.9 3331 3837 1902 1836 406.1 18.0 246 5527 0.00 1.50 0.00 0.000 1030 0.000 0.022 3337 2809 1864 1893 1835 0 0 0 0 0 0 26.16 26.14 26.17

5836 2.08 233.9 3337 2808 1893 1834 346.3 18.0 257 5843 0.00 1.60 0.00 0.000 260 0.000 0.039 3337 3831 1863 1892 1835 0 0 0 0 0 0 26.10 26.01 26.17

5932 2.04 233.9 3337 3831 1891 1834 329.5 18.2 260 5940 0.12 1.50 0.00 0.000 5126 0.243 0.021 3323 2798 1862 1890 1835 0 0 0 0 0 0 25.58 26.12 25.86

6259 2.06 233.9 3323 2795 1891 1834 278.1 14.2 271 6268 0.00 2.08 0.00 0.000 516 0.000 0.021 3330 1428 1862 1890 1835 0 0 0 0 0 0 26.03 26.08 26.10

6393 2.06 233.9 3331 1411 1893 1835 260.3 14.5 275 6401 0.00 2.10 0.00 0.000 1030 0.000 0.024 3331 2792 1862 1890 1834 0 0 0 0 0 0 26.11 26.06 26.14

6700 2.04 233.9 3331 2792 1888 1835 206.4 15.2 303 6708 0.00 2.08 0.00 0.000 516 0.000 0.023 3340 1418 1862 1890 1834 0 0 0 0 0 0 26.08 26.07 26.15

6932 2.06 233.9 3340 1419 1892 1836 166.6 17.8 325 6944 0.00 2.12 0.00 0.000 1030 0.000 0.027 3340 2801 1862 1890 1835 0 0 0 0 0 0 26.07 26.02 26.10

7238 2.06 233.9 3343 2801 1892 1834 112.6 15.9 356 7244 0.00 0.00 0.00 0.000 6 0.000 0.000 3340 2801 1862 1890 1834 0 0 0 0 0 0 26.10 26.17 26.17

7539 2.10 237.6 3340 2801 1892 1834 72.7 9.8 386 7547 0.00 2.08 0.00 0.000 516 0.000 0.022 3350 1413 1862 1890 1834 0 0 0 0 0 0 26.05 26.04 26.13

7773 2.17 249.8 3349 1413 1891 1835 53.1 7.9 409 7791 0.00 2.10 7.95 0.565 9222 0.000 0.026 3350 2800 1820 1849 1791 0 0 0 0 0 0 26.06 26.03 25.27

8090 2.24 275.4 3350 2799 1846 1783 29.4 4.9 467 8113 0.00 1.67 10.05 0.213 8964 0.000 0.038 3350 3853 1715 1746 1684 0 0 0 0 0 0 26.09 25.86 25.51

8339 2.29 308.0 3350 3854 1749 1685 20.7 3.3 515 8358 0.00 1.55 13.65 0.191 9222 0.000 0.021 3357 2792 1580 1614 1547 0 0 0 0 0 0 26.11 26.10 25.56

8658 2.37 317.3 3358 2793 1617 1548 2.7 8.6 578 8666 0.12 1.73 3.70 0.159 10500 0.094 0.036 3413 3861 1540 1574 1507 0 0 0 0 0 0 26.00 25.91 25.64

8668 end climb: SURFACE_DEPTH_REACHED

state 8668 begin surface coast

8689 end surface coast: CONTROL_FINISHED_OK

state 8689 begin surface

ID	203	HEADING	-1	C_ROLL_CLIMB	2800	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	8	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
DIVE	173	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	97	ALTIM_PULSE	2
D_FLARE	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	50	ALTIM_SENSITIVITY	4
D_TGT	800	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	XPDR_VALID	2
D_ABORT	1020	SM_CC	400	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
D_NO_BLEED	200	N_FILEKB	8	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0093
D_BOOST	50	FILEMGR	0	ROLL_ADJ_DBAND	0	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	2839	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	9.9999997e-05	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_DIVE	250	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	1
T_MISSION	280	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	0	LOGGERDEVICE4	-1
T_NO_W	120	N_GPS	100740	DBDW	0	COMPASS_DEVICE	33
T_LOITER	0	T_RSLEEP	1	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
T_EPIRB	0	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_BATHY	-5	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	100	XPDR_DEVICE	24
D_OFFGRID	1000	PITCH_MIN	202	MINV_24V	21	SIM_W	0
T_WATCHDOG	10	PITCH_MAX	3901	MINV_10V	9.5	SIM_PITCH	0
RELAUNCH	1	C_PITCH	2650	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	200	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	20	PRESSURE_YINT	-62.66111	SEABIRD_C_H	1.1409903
RHO	1.0275	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.0001160131	SEABIRD_C_I	-0.00071586663
MASS	52079	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	0.015	TCM_ROLL_OFFSET	0	PA_MAXUPLOADSIZE	20480.0
FERRY_MAX	45	PITCH_ADJ_DBAND	1	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	40	ALTIM_BOTTOM_TURN_MARGIN	0	PA_CYCLEPAAM	1.0
HD_C	1.5339499e-05	C_ROLL_DIVE	2700	ALTIM_TOP_TURN_MARGIN	0

GPS1	110815,032334,5705.5713,-15048.0605,50,0.8,51,16.6,1.0,226.6,10,8.1	SPEED_LIMITS	0.107,0.307
_CALLS	1	TGT_NAME	WP10
_XMS_NAKs	0	TGT_LATLONG	5706.000,-15048.000
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	2.06	MHEAD_RNG_PITCHd_Wd	9.4,925,-41.9,-10.667,-42.78,453
_SM_ANGLEo	-67.8	D_GRID	1366
GPS2	110815,032902,5705.5103,-15048.1807,11,0.9,11,16.6,0.0,208.6,10,8.5

FINISH	0.7,1.023744	PA_DATA0	0.46/53.518/117.199/57.727
SM_CCo	8706,33.28,0.147,0,0,1206,400.08	PA_ROOT	0.76/0.092/0.121/0.022
SM_GC	3.81,9.27,1.73,33.28,0.076,0.020,0.147,193,2702,1206,-7.59,2.91,400.08,0,0,0,0,0,0,26.04,26.15,25.63	PA_HOME	0.01/0.217/27.046/25.455
IRIDIUM_FIX	5640.91,-15050.18,060608,134435	PA_DISK_BANK	3
TT8_MAMPS	0.058422,0.058422	_24V_AH	23.88,62.646
HUMID	39.56	_10V_AH	10.18,37.968
INTERNAL_PRESSURE	8.8487	FG_AHR_24Vo	0.000
TCM_TEMP	18.30	FG_AHR_10Vo	0.000
XPDR_PINGS	0	MEM	142844
PA_PMVER	0.6	DATA_FILE_SIZE	26818,584
PA_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014	CAP_FILE_SIZE	95783,0
PA_BOARDID	1654118	CFSIZE	1024393216,979615744
PA_UPTIME	8703.55 4288.68	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,3,0
PA_BOOTCOUNT	481	INTR	0,11264.84,0x236db2,7,5
PA_DFQS	0/0	CURRENT	0.076,248.66,1
PA_LOG	0.01/0.268/31.498/29.630	GPS	110815,055631,5705.973,-15048.560,46,1.0,70,16.6,0.2,8.6,11,9.8
PA_DATA1	0.00/0.058/117.199/111.187

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	242	125.09	SBE_CT	399	23	228.71
Roll_motor	52	79	99.60	nil	0	0	0.00
VBD_pump_during_apogee	255	1030	6290.85	nil	0	0	0.00
VBD_pump_during_surface	33	146	116.71	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	9105	0	81.98
Iridium_during_xfer	220	94	496.47	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	9105	61	13314.06
GPS	19	26	5.22
TT8	0	0	0.00
LPSleep	6368	2	141.97
TT8_Active	329	18	61.97
TT8_Sampling	2263	43	994.94
TT8_CF8	107	60	65.91
TT8_Kalman	0	0	0.00
Analog_circuits	1426	16	232.37
GPS_charging	0	0	0.00
Compass	1332	8	111.78
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	-2.10	-31.4	184	2802	1223	1165	0.0	0.0	0	129	0.00	0.00	-30.23	0.000	16386	0.000	0.000	183	2802	2003	2038	1968	0	0	0	0	0	0	26.06	28.83	26.13
131	-2.10	-31.4	184	2802	2040	1967	3.1	-4.1	5	177	7.22	2.22	-24.90	0.000	18948	0.232	0.033	1955	1332	2969	3045	2894	0	0	0	0	0	0	25.42	25.17	25.78
407	-2.13	-31.4	1955	1333	3046	2900	97.1	-34.8	42	421	0.00	2.10	0.00	0.000	1030	0.000	0.023	1948	2714	2972	3044	2901	0	0	0	0	0	0	26.06	26.03	26.06
716	-2.16	-31.4	1948	2714	3046	2902	190.5	-30.7	73	723	0.00	0.00	0.00	0.000	6	0.000	0.000	1949	2714	2974	3045	2903	0	0	0	0	0	0	26.10	26.17	26.15
1017	-2.21	-31.4	1949	2714	3046	2904	277.9	-28.8	97	1022	0.00	0.00	0.00	0.000	6	0.000	0.000	1948	2714	2974	3045	2904	0	0	0	0	0	0	26.10	26.17	26.16
1317	-2.25	-31.4	1948	2715	3045	2906	363.5	-28.4	107	1325	0.00	1.73	0.00	0.000	260	0.000	0.035	1940	3847	2974	3045	2904	0	0	0	0	0	0	26.10	26.01	26.16
1465	-2.28	-31.4	1939	3844	3045	2901	400.7	-30.6	111	1476	0.00	1.62	0.00	0.000	1030	0.000	0.019	1939	2679	2974	3044	2904	0	0	0	0	0	0	26.16	26.13	26.17
1769	-2.32	-31.4	1940	2681	3044	2904	496.0	-28.5	122	1775	0.00	0.00	0.00	0.000	6	0.000	0.000	1939	2679	2973	3043	2904	0	0	0	0	0	0	26.10	26.17	26.15
2070	-2.36	-31.4	1940	2679	3043	2904	579.3	-27.5	132	2079	0.10	1.80	0.00	0.000	4356	0.102	0.032	1884	3844	2972	3041	2904	0	0	0	0	0	0	26.01	25.99	26.06
2304	-2.36	-31.4	1885	3844	3042	2904	643.0	-30.5	139	2315	0.00	1.60	0.00	0.000	1030	0.000	0.020	1884	2700	2972	3040	2904	0	0	0	0	0	0	26.10	26.08	26.11
2609	-2.38	-31.4	1884	2700	3040	2905	735.4	-27.8	150	2614	0.00	0.00	0.00	0.000	6	0.000	0.000	1884	2699	2971	3039	2904	0	0	0	0	0	0	26.08	26.15	26.14
2878	end dive: TARGET_DEPTH_EXCEEDED
state	2878	begin apogee
2881	-0.25	0.0	1884	2810	3038	2904	808.0	-26.8	159	2918	2.45	0.00	28.60	1.025	10246	0.185	0.000	2548	2810	2837	2882	2793	0	0	0	0	0	0	25.44	25.56	24.75
2919	end apogee: CONTROL_FINISHED_OK
state	2919	begin climb
2921	2.10	31.4	2548	2810	2881	2789	811.9	0.0	160	2956	2.20	1.60	26.67	1.013	10500	0.067	0.034	3318	3829	2706	2742	2671	0	0	0	0	0	0	25.64	25.06	24.50
2985	2.10	31.4	3318	3830	2741	2672	811.7	-1.5	162	2992	0.00	1.50	0.00	0.000	1030	0.000	0.022	3326	2790	2705	2740	2670	0	0	0	0	0	0	25.63	25.60	25.64
3296	2.11	138.0	3322	2790	2738	2670	855.7	-13.5	173	3391	0.00	1.75	85.12	1.030	8452	0.000	0.035	3326	3833	2272	2296	2248	0	0	0	0	0	0	26.03	24.98	24.22
3401	2.10	233.9	3326	3834	2294	2245	864.6	-11.1	176	3492	0.00	1.52	79.90	1.017	9222	0.000	0.022	3334	2803	1880	1909	1852	0	0	0	0	0	0	25.27	25.22	23.88
3811	2.13	233.9	3334	2803	1902	1838	775.0	25.7	190	3821	0.00	1.62	0.00	0.000	260	0.000	0.037	3334	3840	1869	1901	1838	0	0	0	0	0	0	25.89	25.89	25.95
4044	2.13	233.9	3334	3840	1901	1836	719.7	25.8	197	4054	0.00	1.52	0.00	0.000	1030	0.000	0.022	3341	2794	1868	1900	1836	0	0	0	0	0	0	26.13	26.11	26.15
4358	2.13	233.9	3342	2791	1901	1836	644.3	20.8	208	4365	0.00	1.62	0.00	0.000	260	0.000	0.036	3341	3840	1867	1899	1836	0	0	0	0	0	0	26.13	26.08	26.19
4589	2.11	233.9	3341	3840	1899	1834	598.8	21.7	215	4596	0.00	1.52	0.00	0.000	1030	0.000	0.022	3349	2796	1866	1898	1835	0	0	0	0	0	0	26.17	26.15	26.19
4901	2.13	233.9	3350	2796	1897	1833	524.2	23.1	226	4908	0.00	1.62	0.00	0.000	260	0.000	0.039	3349	3832	1866	1896	1836	0	0	0	0	0	0	26.13	26.04	26.19
5132	2.07	233.9	3349	3833	1894	1835	478.1	22.3	233	5139	0.10	1.50	0.00	0.000	5126	0.196	0.021	3331	2801	1864	1893	1835	0	0	0	0	0	0	25.67	26.13	25.80
5444	2.09	233.9	3331	2801	1895	1837	416.9	17.7	244	5451	0.00	1.60	0.00	0.000	260	0.000	0.038	3331	3836	1864	1893	1835	0	0	0	0	0	0	26.11	26.03	26.15
5520	2.08	233.9	3331	3837	1902	1836	406.1	18.0	246	5527	0.00	1.50	0.00	0.000	1030	0.000	0.022	3337	2809	1864	1893	1835	0	0	0	0	0	0	26.16	26.14	26.17
5836	2.08	233.9	3337	2808	1893	1834	346.3	18.0	257	5843	0.00	1.60	0.00	0.000	260	0.000	0.039	3337	3831	1863	1892	1835	0	0	0	0	0	0	26.10	26.01	26.17
5932	2.04	233.9	3337	3831	1891	1834	329.5	18.2	260	5940	0.12	1.50	0.00	0.000	5126	0.243	0.021	3323	2798	1862	1890	1835	0	0	0	0	0	0	25.58	26.12	25.86
6259	2.06	233.9	3323	2795	1891	1834	278.1	14.2	271	6268	0.00	2.08	0.00	0.000	516	0.000	0.021	3330	1428	1862	1890	1835	0	0	0	0	0	0	26.03	26.08	26.10
6393	2.06	233.9	3331	1411	1893	1835	260.3	14.5	275	6401	0.00	2.10	0.00	0.000	1030	0.000	0.024	3331	2792	1862	1890	1834	0	0	0	0	0	0	26.11	26.06	26.14
6700	2.04	233.9	3331	2792	1888	1835	206.4	15.2	303	6708	0.00	2.08	0.00	0.000	516	0.000	0.023	3340	1418	1862	1890	1834	0	0	0	0	0	0	26.08	26.07	26.15
6932	2.06	233.9	3340	1419	1892	1836	166.6	17.8	325	6944	0.00	2.12	0.00	0.000	1030	0.000	0.027	3340	2801	1862	1890	1835	0	0	0	0	0	0	26.07	26.02	26.10
7238	2.06	233.9	3343	2801	1892	1834	112.6	15.9	356	7244	0.00	0.00	0.00	0.000	6	0.000	0.000	3340	2801	1862	1890	1834	0	0	0	0	0	0	26.10	26.17	26.17
7539	2.10	237.6	3340	2801	1892	1834	72.7	9.8	386	7547	0.00	2.08	0.00	0.000	516	0.000	0.022	3350	1413	1862	1890	1834	0	0	0	0	0	0	26.05	26.04	26.13
7773	2.17	249.8	3349	1413	1891	1835	53.1	7.9	409	7791	0.00	2.10	7.95	0.565	9222	0.000	0.026	3350	2800	1820	1849	1791	0	0	0	0	0	0	26.06	26.03	25.27
8090	2.24	275.4	3350	2799	1846	1783	29.4	4.9	467	8113	0.00	1.67	10.05	0.213	8964	0.000	0.038	3350	3853	1715	1746	1684	0	0	0	0	0	0	26.09	25.86	25.51
8339	2.29	308.0	3350	3854	1749	1685	20.7	3.3	515	8358	0.00	1.55	13.65	0.191	9222	0.000	0.021	3357	2792	1580	1614	1547	0	0	0	0	0	0	26.11	26.10	25.56
8658	2.37	317.3	3358	2793	1617	1548	2.7	8.6	578	8666	0.12	1.73	3.70	0.159	10500	0.094	0.036	3413	3861	1540	1574	1507	0	0	0	0	0	0	26.00	25.91	25.64
8668	end climb: SURFACE_DEPTH_REACHED
state	8668	begin surface coast
8689	end surface coast: CONTROL_FINISHED_OK
state	8689	begin surface