Glider dive log

GoA Jul15 * SG203 * Dive index * Mission links * Dive 175 * 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 175 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 92 ALTIM_PULSE 2

D_FLARE 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 49 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 175 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 92 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_FILEKB 8 R_STBD_OVSHOOT 49 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 110815,092046,5705.9341,-15048.8750,52,0.7,65,16.6,0.5,25.7,11,9.6 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 2.11 MHEAD_RNG_PITCHd_Wd 49.9,883,-43.6,-10.667,-44.38,421

_SM_ANGLEo -68.1 D_GRID 1328

GPS2 110815,092614,5705.9463,-15048.8730,6,0.8,17,16.6,0.0,305.4,10,7.5

Post-dive calculations and measurements:

FINISH 0.7,1.023975 PA_DATA0 0.49/57.423/117.199/53.822

SM_CCo 8572,36.12,0.146,0,0,1205,400.08 PA_ROOT 0.76/0.092/0.121/0.022

SM_GC 4.30,8.88,0.00,36.12,0.054,0.000,0.146,198,2793,1205,-7.56,2.63,400.08,0,0,0,0,0,0,26.01,26.17,25.62 PA_HOME 0.01/0.217/27.046/25.455

IRIDIUM_FIX 5640.91,-15046.73,060608,192426 PA_DISK_BANK 3

TT8_MAMPS 0.059171,0.059171 _24V_AH 23.93,63.147

HUMID 39.52 _10V_AH 10.16,38.082

INTERNAL_PRESSURE 8.858 FG_AHR_24Vo 0.000

TCM_TEMP 18.40 FG_AHR_10Vo 0.000

XPDR_PINGS 0 MEM 142824

PA_PMVER 0.6 DATA_FILE_SIZE 26761,605

PA_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014 CAP_FILE_SIZE 97362,0

PA_BOARDID 1654118 CFSIZE 1024393216,979435520

PA_UPTIME 8572.32 4123.52 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0

PA_BOOTCOUNT 483 INTR 1,8560.96,0x236db2,7,5

PA_DFQS 0/0 CURRENT 0.126,202.02,1

PA_LOG 0.01/0.269/31.498/29.629 GPS 110815,115103,5705.465,-15048.826,47,0.8,47,16.6,0.5,124.0,10,7.7

PA_DATA1 0.00/0.058/117.199/111.187

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 238 121.80 SBE_CT 414 23 237.60

Roll_motor 50 62 75.24 nil 0 0 0.00

VBD_pump_during_apogee 257 1025 6323.81 nil 0 0 0.00

VBD_pump_during_surface 36 146 126.31 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 8984 0 80.41

Iridium_during_xfer 231 90 499.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 8984 61 13217.92

GPS 18 26 5.01

TT8 0 0 0.00

LPSleep 6058 2 134.81

TT8_Active 323 18 60.72

TT8_Sampling 2448 43 1073.96

TT8_CF8 100 60 61.66

TT8_Kalman 0 0 0.00

Analog_circuits 1486 16 241.67

GPS_charging 0 0 0.00

Compass 1482 8 124.08

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 -2.18 -29.2 202 2799 1225 1169 0.0 0.0 0 130 0.00 0.00 -30.48 0.000 16386 0.000 0.000 202 2798 2015 2048 1983 0 0 0 0 0 0 26.04 28.83 26.11

131 -2.18 -29.2 203 2798 2049 1983 3.2 -4.2 5 176 7.22 1.62 -23.80 0.000 18692 0.239 0.050 1925 3853 2959 3035 2883 0 0 0 0 0 0 25.34 25.21 25.56

405 -2.20 -29.2 1926 3854 3035 2892 97.7 -34.2 41 415 0.00 1.65 0.00 0.000 1030 0.000 0.019 1926 2675 2962 3035 2890 0 0 0 0 0 0 26.10 26.08 26.11

709 -2.25 -29.2 1926 2677 3035 2894 193.6 -30.0 72 718 0.00 1.83 0.00 0.000 260 0.000 0.034 1916 3860 2964 3035 2893 0 0 0 0 0 0 26.08 25.98 26.14

942 -2.27 -29.2 1917 3860 3036 2893 259.1 -30.0 91 950 0.00 1.67 0.00 0.000 1030 0.000 0.020 1916 2699 2964 3035 2893 0 0 0 0 0 0 26.10 26.09 26.11

1255 -2.32 -29.2 1916 2701 3037 2894 355.9 -29.0 102 1262 0.00 1.77 0.00 0.000 260 0.000 0.034 1908 3849 2964 3035 2893 0 0 0 0 0 0 26.10 25.97 26.16

1486 -2.34 -29.2 1908 3851 3035 2894 419.6 -30.1 109 1494 0.00 1.65 0.00 0.000 1030 0.000 0.020 1908 2702 2964 3035 2893 0 0 0 0 0 0 26.14 26.11 26.13

1798 -2.39 -29.2 1908 2700 3035 2892 515.1 -28.8 120 1806 0.00 1.77 0.00 0.000 260 0.000 0.035 1898 3850 2963 3034 2893 0 0 0 0 0 0 26.09 25.96 26.15

2030 -2.41 -29.2 1899 3851 3034 2894 581.5 -31.4 127 2037 0.00 1.65 0.00 0.000 1030 0.000 0.020 1898 2712 2962 3031 2893 0 0 0 0 0 0 26.10 26.08 26.10

2342 -2.45 -29.2 1899 2712 3032 2894 676.4 -27.5 138 2349 0.08 1.77 0.00 0.000 4356 0.131 0.033 1853 3856 2960 3031 2889 0 0 0 0 0 0 25.96 25.94 26.03

2503 -2.45 -29.2 1848 3857 3031 2894 720.9 -30.4 143 2510 0.00 1.65 0.00 0.000 1030 0.000 0.020 1853 2700 2961 3030 2893 0 0 0 0 0 0 26.09 26.07 26.10

2788 end dive: TARGET_DEPTH_EXCEEDED

state 2788 begin apogee

2792 -0.25 0.0 1852 2815 3034 2892 807.9 -28.3 153 2839 2.62 0.00 36.17 0.879 10246 0.190 0.000 2552 2816 2839 2886 2793 0 0 0 0 0 0 25.37 25.52 24.80

2839 end apogee: CONTROL_FINISHED_OK

state 2840 begin climb

2841 2.18 29.2 2553 2815 2883 2789 812.7 0.0 154 2875 2.17 0.00 25.42 1.010 10758 0.067 0.000 3340 2816 2719 2755 2683 0 0 0 0 0 0 25.60 25.23 24.49

3151 2.28 133.0 3340 2815 2746 2675 851.1 -14.6 165 3245 0.10 1.70 83.32 1.026 10500 0.109 0.036 3385 3838 2289 2314 2264 0 0 0 0 0 0 25.86 24.97 24.22

3269 2.32 228.0 3381 3838 2311 2259 861.3 -12.5 168 3356 0.00 1.55 78.82 1.013 9222 0.000 0.022 3392 2805 1909 1938 1880 0 0 0 0 0 0 25.37 25.33 23.93

3660 2.35 228.0 3393 2805 1924 1860 775.7 25.3 182 3667 0.00 1.65 0.00 0.000 260 0.000 0.037 3393 3832 1891 1923 1860 0 0 0 0 0 0 25.97 25.90 26.03

3891 2.35 228.0 3393 3831 1923 1858 718.9 26.4 189 3898 0.00 1.50 0.00 0.000 1030 0.000 0.022 3401 2777 1889 1921 1858 0 0 0 0 0 0 26.12 26.10 26.14

4203 2.37 228.0 3400 2777 1921 1858 637.4 23.6 200 4210 0.00 1.70 0.00 0.000 260 0.000 0.037 3400 3838 1889 1921 1857 0 0 0 0 0 0 26.12 26.04 26.18

4434 2.37 228.0 3400 3838 1921 1857 582.8 26.2 207 4441 0.00 1.50 0.00 0.000 1030 0.000 0.022 3406 2776 1888 1920 1857 0 0 0 0 0 0 26.17 26.14 26.19

4746 2.40 228.0 3409 2776 1921 1856 507.6 20.9 218 4754 0.00 2.03 0.00 0.000 516 0.000 0.023 3418 1427 1888 1920 1856 0 0 0 0 0 0 26.10 26.10 26.17

4823 2.42 228.0 3418 1424 1921 1857 495.3 19.3 220 4831 0.00 2.10 0.00 0.000 1030 0.000 0.027 3418 2793 1887 1919 1856 0 0 0 0 0 0 26.11 26.06 26.13

5140 2.44 228.0 3418 2795 1915 1858 425.8 20.6 231 5147 0.00 1.67 0.00 0.000 260 0.000 0.034 3418 3860 1885 1914 1856 0 0 0 0 0 0 26.08 26.03 26.15

5371 2.39 228.0 3417 3860 1915 1856 385.6 20.0 238 5380 0.00 1.52 0.00 0.000 1030 0.000 0.022 3426 2803 1885 1914 1856 0 0 0 0 0 0 26.13 26.10 26.15

5684 2.39 228.0 3426 2804 1915 1858 322.4 18.7 249 5691 0.00 1.67 0.00 0.000 260 0.000 0.038 3426 3849 1885 1915 1856 0 0 0 0 0 0 26.10 26.01 26.17

5915 2.39 228.0 3426 3850 1915 1857 277.6 19.5 256 5922 0.00 1.52 0.00 0.000 1030 0.000 0.022 3434 2790 1885 1914 1856 0 0 0 0 0 0 26.11 26.08 26.13

6227 2.34 228.0 3433 2790 1913 1855 222.5 17.1 277 6234 0.10 1.65 0.00 0.000 4356 0.235 0.032 3418 3861 1884 1912 1856 0 0 0 0 0 0 25.70 25.94 25.85

6453 2.34 228.0 3418 3860 1914 1856 188.3 19.3 299 6466 0.00 1.55 0.00 0.000 1030 0.000 0.022 3424 2788 1884 1913 1856 0 0 0 0 0 0 26.13 26.10 26.14

6760 2.32 228.0 3425 2790 1914 1858 138.7 13.5 330 6767 0.10 1.67 0.00 0.000 4356 0.236 0.034 3409 3859 1884 1913 1856 0 0 0 0 0 0 25.68 25.91 25.83

6992 2.32 228.0 3409 3860 1914 1856 109.0 11.2 353 6999 0.00 1.50 0.00 0.000 1030 0.000 0.022 3414 2800 1884 1913 1856 0 0 0 0 0 0 26.11 26.09 26.13

7304 2.34 232.7 3414 2800 1914 1856 72.8 9.5 384 7311 0.00 1.67 0.00 0.000 260 0.000 0.037 3414 3851 1884 1913 1855 0 0 0 0 0 0 26.09 25.97 26.15

7535 2.31 239.2 3415 3851 1914 1857 51.0 9.1 407 7551 0.05 1.55 2.38 0.369 13318 0.216 0.022 3411 2792 1864 1897 1832 0 0 0 0 0 0 25.74 26.08 24.79

7847 2.36 267.2 3411 2794 1905 1838 33.8 3.8 467 7870 0.00 1.65 12.82 0.222 8964 0.000 0.034 3411 3860 1748 1779 1717 0 0 0 0 0 0 26.06 25.69 25.48

7983 2.39 270.7 3412 3861 1785 1719 25.5 9.8 492 7994 0.00 1.52 0.00 0.000 1030 0.000 0.022 3417 2793 1750 1784 1717 0 0 0 0 0 0 26.09 26.06 26.10

8294 2.45 311.0 3416 2793 1785 1717 24.7 0.8 553 8318 0.00 0.00 18.65 0.200 8710 0.000 0.000 3417 2793 1568 1602 1535 0 0 0 0 0 0 26.13 25.70 25.53

8541 end climb: SURFACE_DEPTH_REACHED

state 8541 begin surface coast

8556 end surface coast: CONTROL_FINISHED_OK

state 8556 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	175	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	92	ALTIM_PULSE	2
D_FLARE	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	49	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	110815,092046,5705.9341,-15048.8750,52,0.7,65,16.6,0.5,25.7,11,9.6	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	2.11	MHEAD_RNG_PITCHd_Wd	49.9,883,-43.6,-10.667,-44.38,421
_SM_ANGLEo	-68.1	D_GRID	1328
GPS2	110815,092614,5705.9463,-15048.8730,6,0.8,17,16.6,0.0,305.4,10,7.5

FINISH	0.7,1.023975	PA_DATA0	0.49/57.423/117.199/53.822
SM_CCo	8572,36.12,0.146,0,0,1205,400.08	PA_ROOT	0.76/0.092/0.121/0.022
SM_GC	4.30,8.88,0.00,36.12,0.054,0.000,0.146,198,2793,1205,-7.56,2.63,400.08,0,0,0,0,0,0,26.01,26.17,25.62	PA_HOME	0.01/0.217/27.046/25.455
IRIDIUM_FIX	5640.91,-15046.73,060608,192426	PA_DISK_BANK	3
TT8_MAMPS	0.059171,0.059171	_24V_AH	23.93,63.147
HUMID	39.52	_10V_AH	10.16,38.082
INTERNAL_PRESSURE	8.858	FG_AHR_24Vo	0.000
TCM_TEMP	18.40	FG_AHR_10Vo	0.000
XPDR_PINGS	0	MEM	142824
PA_PMVER	0.6	DATA_FILE_SIZE	26761,605
PA_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014	CAP_FILE_SIZE	97362,0
PA_BOARDID	1654118	CFSIZE	1024393216,979435520
PA_UPTIME	8572.32 4123.52	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
PA_BOOTCOUNT	483	INTR	1,8560.96,0x236db2,7,5
PA_DFQS	0/0	CURRENT	0.126,202.02,1
PA_LOG	0.01/0.269/31.498/29.629	GPS	110815,115103,5705.465,-15048.826,47,0.8,47,16.6,0.5,124.0,10,7.7
PA_DATA1	0.00/0.058/117.199/111.187

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	238	121.80	SBE_CT	414	23	237.60
Roll_motor	50	62	75.24	nil	0	0	0.00
VBD_pump_during_apogee	257	1025	6323.81	nil	0	0	0.00
VBD_pump_during_surface	36	146	126.31	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	8984	0	80.41
Iridium_during_xfer	231	90	499.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	8984	61	13217.92
GPS	18	26	5.01
TT8	0	0	0.00
LPSleep	6058	2	134.81
TT8_Active	323	18	60.72
TT8_Sampling	2448	43	1073.96
TT8_CF8	100	60	61.66
TT8_Kalman	0	0	0.00
Analog_circuits	1486	16	241.67
GPS_charging	0	0	0.00
Compass	1482	8	124.08
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	-2.18	-29.2	202	2799	1225	1169	0.0	0.0	0	130	0.00	0.00	-30.48	0.000	16386	0.000	0.000	202	2798	2015	2048	1983	0	0	0	0	0	0	26.04	28.83	26.11
131	-2.18	-29.2	203	2798	2049	1983	3.2	-4.2	5	176	7.22	1.62	-23.80	0.000	18692	0.239	0.050	1925	3853	2959	3035	2883	0	0	0	0	0	0	25.34	25.21	25.56
405	-2.20	-29.2	1926	3854	3035	2892	97.7	-34.2	41	415	0.00	1.65	0.00	0.000	1030	0.000	0.019	1926	2675	2962	3035	2890	0	0	0	0	0	0	26.10	26.08	26.11
709	-2.25	-29.2	1926	2677	3035	2894	193.6	-30.0	72	718	0.00	1.83	0.00	0.000	260	0.000	0.034	1916	3860	2964	3035	2893	0	0	0	0	0	0	26.08	25.98	26.14
942	-2.27	-29.2	1917	3860	3036	2893	259.1	-30.0	91	950	0.00	1.67	0.00	0.000	1030	0.000	0.020	1916	2699	2964	3035	2893	0	0	0	0	0	0	26.10	26.09	26.11
1255	-2.32	-29.2	1916	2701	3037	2894	355.9	-29.0	102	1262	0.00	1.77	0.00	0.000	260	0.000	0.034	1908	3849	2964	3035	2893	0	0	0	0	0	0	26.10	25.97	26.16
1486	-2.34	-29.2	1908	3851	3035	2894	419.6	-30.1	109	1494	0.00	1.65	0.00	0.000	1030	0.000	0.020	1908	2702	2964	3035	2893	0	0	0	0	0	0	26.14	26.11	26.13
1798	-2.39	-29.2	1908	2700	3035	2892	515.1	-28.8	120	1806	0.00	1.77	0.00	0.000	260	0.000	0.035	1898	3850	2963	3034	2893	0	0	0	0	0	0	26.09	25.96	26.15
2030	-2.41	-29.2	1899	3851	3034	2894	581.5	-31.4	127	2037	0.00	1.65	0.00	0.000	1030	0.000	0.020	1898	2712	2962	3031	2893	0	0	0	0	0	0	26.10	26.08	26.10
2342	-2.45	-29.2	1899	2712	3032	2894	676.4	-27.5	138	2349	0.08	1.77	0.00	0.000	4356	0.131	0.033	1853	3856	2960	3031	2889	0	0	0	0	0	0	25.96	25.94	26.03
2503	-2.45	-29.2	1848	3857	3031	2894	720.9	-30.4	143	2510	0.00	1.65	0.00	0.000	1030	0.000	0.020	1853	2700	2961	3030	2893	0	0	0	0	0	0	26.09	26.07	26.10
2788	end dive: TARGET_DEPTH_EXCEEDED
state	2788	begin apogee
2792	-0.25	0.0	1852	2815	3034	2892	807.9	-28.3	153	2839	2.62	0.00	36.17	0.879	10246	0.190	0.000	2552	2816	2839	2886	2793	0	0	0	0	0	0	25.37	25.52	24.80
2839	end apogee: CONTROL_FINISHED_OK
state	2840	begin climb
2841	2.18	29.2	2553	2815	2883	2789	812.7	0.0	154	2875	2.17	0.00	25.42	1.010	10758	0.067	0.000	3340	2816	2719	2755	2683	0	0	0	0	0	0	25.60	25.23	24.49
3151	2.28	133.0	3340	2815	2746	2675	851.1	-14.6	165	3245	0.10	1.70	83.32	1.026	10500	0.109	0.036	3385	3838	2289	2314	2264	0	0	0	0	0	0	25.86	24.97	24.22
3269	2.32	228.0	3381	3838	2311	2259	861.3	-12.5	168	3356	0.00	1.55	78.82	1.013	9222	0.000	0.022	3392	2805	1909	1938	1880	0	0	0	0	0	0	25.37	25.33	23.93
3660	2.35	228.0	3393	2805	1924	1860	775.7	25.3	182	3667	0.00	1.65	0.00	0.000	260	0.000	0.037	3393	3832	1891	1923	1860	0	0	0	0	0	0	25.97	25.90	26.03
3891	2.35	228.0	3393	3831	1923	1858	718.9	26.4	189	3898	0.00	1.50	0.00	0.000	1030	0.000	0.022	3401	2777	1889	1921	1858	0	0	0	0	0	0	26.12	26.10	26.14
4203	2.37	228.0	3400	2777	1921	1858	637.4	23.6	200	4210	0.00	1.70	0.00	0.000	260	0.000	0.037	3400	3838	1889	1921	1857	0	0	0	0	0	0	26.12	26.04	26.18
4434	2.37	228.0	3400	3838	1921	1857	582.8	26.2	207	4441	0.00	1.50	0.00	0.000	1030	0.000	0.022	3406	2776	1888	1920	1857	0	0	0	0	0	0	26.17	26.14	26.19
4746	2.40	228.0	3409	2776	1921	1856	507.6	20.9	218	4754	0.00	2.03	0.00	0.000	516	0.000	0.023	3418	1427	1888	1920	1856	0	0	0	0	0	0	26.10	26.10	26.17
4823	2.42	228.0	3418	1424	1921	1857	495.3	19.3	220	4831	0.00	2.10	0.00	0.000	1030	0.000	0.027	3418	2793	1887	1919	1856	0	0	0	0	0	0	26.11	26.06	26.13
5140	2.44	228.0	3418	2795	1915	1858	425.8	20.6	231	5147	0.00	1.67	0.00	0.000	260	0.000	0.034	3418	3860	1885	1914	1856	0	0	0	0	0	0	26.08	26.03	26.15
5371	2.39	228.0	3417	3860	1915	1856	385.6	20.0	238	5380	0.00	1.52	0.00	0.000	1030	0.000	0.022	3426	2803	1885	1914	1856	0	0	0	0	0	0	26.13	26.10	26.15
5684	2.39	228.0	3426	2804	1915	1858	322.4	18.7	249	5691	0.00	1.67	0.00	0.000	260	0.000	0.038	3426	3849	1885	1915	1856	0	0	0	0	0	0	26.10	26.01	26.17
5915	2.39	228.0	3426	3850	1915	1857	277.6	19.5	256	5922	0.00	1.52	0.00	0.000	1030	0.000	0.022	3434	2790	1885	1914	1856	0	0	0	0	0	0	26.11	26.08	26.13
6227	2.34	228.0	3433	2790	1913	1855	222.5	17.1	277	6234	0.10	1.65	0.00	0.000	4356	0.235	0.032	3418	3861	1884	1912	1856	0	0	0	0	0	0	25.70	25.94	25.85
6453	2.34	228.0	3418	3860	1914	1856	188.3	19.3	299	6466	0.00	1.55	0.00	0.000	1030	0.000	0.022	3424	2788	1884	1913	1856	0	0	0	0	0	0	26.13	26.10	26.14
6760	2.32	228.0	3425	2790	1914	1858	138.7	13.5	330	6767	0.10	1.67	0.00	0.000	4356	0.236	0.034	3409	3859	1884	1913	1856	0	0	0	0	0	0	25.68	25.91	25.83
6992	2.32	228.0	3409	3860	1914	1856	109.0	11.2	353	6999	0.00	1.50	0.00	0.000	1030	0.000	0.022	3414	2800	1884	1913	1856	0	0	0	0	0	0	26.11	26.09	26.13
7304	2.34	232.7	3414	2800	1914	1856	72.8	9.5	384	7311	0.00	1.67	0.00	0.000	260	0.000	0.037	3414	3851	1884	1913	1855	0	0	0	0	0	0	26.09	25.97	26.15
7535	2.31	239.2	3415	3851	1914	1857	51.0	9.1	407	7551	0.05	1.55	2.38	0.369	13318	0.216	0.022	3411	2792	1864	1897	1832	0	0	0	0	0	0	25.74	26.08	24.79
7847	2.36	267.2	3411	2794	1905	1838	33.8	3.8	467	7870	0.00	1.65	12.82	0.222	8964	0.000	0.034	3411	3860	1748	1779	1717	0	0	0	0	0	0	26.06	25.69	25.48
7983	2.39	270.7	3412	3861	1785	1719	25.5	9.8	492	7994	0.00	1.52	0.00	0.000	1030	0.000	0.022	3417	2793	1750	1784	1717	0	0	0	0	0	0	26.09	26.06	26.10
8294	2.45	311.0	3416	2793	1785	1717	24.7	0.8	553	8318	0.00	0.00	18.65	0.200	8710	0.000	0.000	3417	2793	1568	1602	1535	0	0	0	0	0	0	26.13	25.70	25.53
8541	end climb: SURFACE_DEPTH_REACHED
state	8541	begin surface coast
8556	end surface coast: CONTROL_FINISHED_OK
state	8556	begin surface