Glider dive log

GoA Jul15 * SG203 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 203 HEADING -1 C_ROLL_CLIMB 2700 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 8 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

DIVE 6 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 84 ALTIM_PULSE 2

D_FLARE 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 46 ALTIM_SENSITIVITY 4

D_TGT 450 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 XPDR_VALID 2

D_ABORT 1020 SM_CC 563.75671 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 0.0015 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_DIVE 150 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_MISSION 170 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 -2 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 22.5 SIM_W 0

T_WATCHDOG 10 PITCH_MAX 3901 MINV_10V 9.5 SIM_PITCH 0

RELAUNCH 1 C_PITCH 2630 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 175 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 -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 0.029999999 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 0.0

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 2800 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 450 PA_POWERSOURCE 0.0 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 563.75671

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 0.029999999 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 T_BOOST 4

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_GAIN 0 T_DIVE 150

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 170

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 2630 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_TURN 225

C_ROLL_CLIMB 2700 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 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 -2

DEVICE1 2 MAXI_24V 0.60000002 ROLL_ADJ_GAIN 0 USE_ICE 0

DEVICE2 -1 MAX_BUOY 175 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 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 6 NAV_MODE 2 ROLL_MIN 302 VBD_MIN 500

D_ABORT 1020 NOCOMM_ACTION 163 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 50 N_DIVES 0 R_PORT_OVSHOOT 84 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_FILEKB 8 R_STBD_OVSHOOT 46 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 110715,071932,5906.5415,-14732.0195,36,0.8,40,18.1,0.0,190.5,10,6.0 SPEED_LIMITS 0.100,0.283

_CALLS 1 TGT_NAME LAUNCH

_XMS_NAKs 0 TGT_LATLONG 5856.292,-14707.998

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 0.63 MHEAD_RNG_PITCHd_Wd 91.3,29742,-17.8,-10.000,-19.47,2615

_SM_ANGLEo -64.9 D_GRID 608

GPS2 110715,072401,5906.4907,-14732.0420,3,0.8,9,18.1,0.5,184.7,10,9.2

Post-dive calculations and measurements:

FINISH 0.0,1.023520 PA_DATA0 0.04/4.237/117.199/107.008

SM_CCo 7826,60.35,0.145,0,0,538,563.94 PA_ROOT 0.76/0.092/0.121/0.022

SM_GC 0.52,7.38,1.52,60.35,0.048,0.027,0.145,205,2794,538,-7.50,2.35,563.94,0,0,0,0,0,0,26.86,26.94,26.55 PA_HOME 0.01/0.183/27.046/25.489

IRIDIUM_FIX 5841.97,-14735.26,060508,204720 PA_DISK_BANK 1

TT8_MAMPS 0.164031,0.164031 _24V_AH 24.00,1.166

HUMID 42.32 _10V_AH 10.14,2.654

INTERNAL_PRESSURE 8.7929 FG_AHR_24Vo 0.000

TCM_TEMP 17.90 FG_AHR_10Vo 0.000

XPDR_PINGS 0 MEM 187164

PA_PMVER 0.6 DATA_FILE_SIZE 23412,590

PA_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014 CAP_FILE_SIZE 86029,0

PA_BOARDID 1654118 CFSIZE 1024393216,995950592

PA_UPTIME 7851.18 3991.15 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,3,0,0

PA_BOOTCOUNT 308 INTR 0,8269.17,0x236db2,7,5

PA_DFQS 0/0 CURRENT 0.215,189.50,1

PA_LOG 0.01/0.246/31.498/29.652 GPS 110715,093624,5905.464,-14729.928,18,0.9,26,18.1,0.3,285.8,9,9.9

PA_DATA1 0.00/0.070/117.199/111.175

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 237 101.74 SBE_CT 401 23 230.91

Roll_motor 51 87 108.68 nil 0 0 0.00

VBD_pump_during_apogee 465 1351 15094.51 nil 0 0 0.00

VBD_pump_during_surface 60 145 210.52 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 8172 134 26423.06

Iridium_during_xfer 191 87 403.86 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 10 26 2.94

TT8 0 0 0.00

LPSleep 5461 2 121.27

TT8_Active 579 18 108.45

TT8_Sampling 2026 43 887.05

TT8_CF8 85 60 52.39

TT8_Kalman 0 0 0.00

Analog_circuits 1594 16 258.76

GPS_charging 0 0 0.00

Compass 1204 8 100.61

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

89 end surface: CONTROL_FINISHED_OK

state 89 begin dive

91 -0.94 -170.3 208 2797 609 469 0.0 0.0 0 161 0.00 0.00 -67.35 0.000 16386 0.000 0.000 207 2798 2360 2393 2327 0 0 0 0 0 0 26.79 28.83 26.86

163 -0.94 -170.3 208 2797 2394 2328 3.2 -5.9 11 199 8.12 2.03 -24.12 0.000 18948 0.237 0.042 2311 1419 3535 3603 3468 0 0 0 0 0 0 26.37 25.59 26.60

403 -0.86 -170.3 2311 1418 3604 3472 54.5 -19.4 55 416 0.12 2.05 0.00 0.000 3078 0.174 0.031 2336 2796 3537 3603 3472 0 0 0 0 0 0 26.62 26.77 26.74

710 -0.83 -170.3 2337 2797 3604 3474 112.2 -19.1 86 718 0.00 2.00 0.00 0.000 516 0.000 0.028 2337 1422 3538 3603 3474 0 0 0 0 0 0 27.06 26.89 27.13

887 -0.83 -170.3 2336 1422 3603 3477 140.0 -14.8 103 900 0.08 2.05 0.00 0.000 3078 0.200 0.031 2345 2811 3539 3603 3475 0 0 0 0 0 0 26.80 26.93 26.93

1194 -0.83 -170.3 2345 2810 3603 3474 185.4 -14.4 134 1201 0.00 0.00 0.00 0.000 6 0.000 0.000 2345 2811 3539 3603 3475 0 0 0 0 0 0 27.17 27.25 27.24

1496 -0.86 -170.3 2346 2813 3604 3477 227.5 -13.9 164 1502 0.00 0.00 0.00 0.000 6 0.000 0.000 2346 2811 3539 3603 3475 0 0 0 0 0 0 27.22 27.30 27.29

1806 -0.90 -170.3 2346 2811 3604 3475 271.9 -14.4 185 1814 0.00 2.03 0.00 0.000 516 0.000 0.028 2346 1412 3538 3602 3474 0 0 0 0 0 0 27.25 27.08 27.32

1878 -0.95 -170.3 2346 1413 3604 3476 280.0 -14.3 187 1886 0.00 2.05 0.00 0.000 1030 0.000 0.032 2346 2804 3538 3603 3474 0 0 0 0 0 0 27.13 27.08 27.15

2190 -0.99 -170.3 2346 2803 3604 3475 322.7 -12.6 198 2196 0.08 0.00 0.00 0.000 4102 0.132 0.000 2303 2804 3538 3602 3475 0 0 0 0 0 0 27.14 27.20 27.17

2490 -0.99 -170.3 2303 2805 3602 3476 366.4 -14.8 208 2498 0.00 2.00 0.00 0.000 516 0.000 0.028 2303 1422 3538 3602 3475 0 0 0 0 0 0 27.31 27.14 27.38

2517 -0.99 -170.3 2303 1421 3603 3474 370.5 -15.0 209 2524 0.00 2.03 0.00 0.000 1030 0.000 0.032 2294 2803 3538 3602 3475 0 0 0 0 0 0 27.18 27.13 27.20

2844 -0.96 -170.3 2294 2805 3602 3476 425.1 -17.3 220 2849 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 2804 3537 3600 3475 0 0 0 0 0 0 27.33 27.41 27.40

2992 end dive: TARGET_DEPTH_EXCEEDED

state 2992 begin apogee

2996 -0.19 0.0 2294 2698 3601 3474 451.8 -17.9 225 3148 0.80 0.00 135.35 1.352 10246 0.129 0.000 2553 2697 2844 2893 2796 0 0 0 0 1 0 27.01 24.62 24.00

3148 end apogee: CONTROL_FINISHED_OK

state 3149 begin climb

3150 0.94 170.3 2553 2699 2898 2798 463.7 0.0 230 3303 1.05 1.88 140.93 0.753 11012 0.073 0.042 2919 3850 2137 2174 2100 0 0 0 0 0 0 25.16 24.96 24.60

3527 1.06 311.4 2920 3850 2163 2082 465.6 4.5 242 3657 0.10 1.67 117.28 0.730 11270 0.111 0.028 2965 2693 1556 1602 1511 0 0 0 0 0 0 26.20 26.27 24.70

3952 1.06 311.4 2965 2695 1585 1491 420.4 11.3 257 3961 0.00 1.80 0.00 0.000 260 0.000 0.044 2965 3851 1537 1584 1491 0 0 0 0 0 0 26.51 26.32 26.58

4060 1.01 311.4 2965 3851 1584 1489 408.8 12.1 260 4070 0.00 1.70 0.00 0.000 1030 0.000 0.028 2971 2692 1536 1583 1490 0 0 0 0 0 0 26.53 26.52 26.56

4379 0.97 311.4 2971 2692 1583 1489 367.9 11.9 271 4386 0.00 1.77 0.00 0.000 260 0.000 0.045 2971 3847 1535 1582 1489 0 0 0 0 0 0 26.86 26.66 26.93

4450 0.92 311.4 2971 3848 1581 1490 360.0 12.3 273 4458 0.05 1.67 0.00 0.000 5126 0.175 0.028 2946 2693 1535 1582 1488 0 0 0 0 0 0 26.56 26.77 26.72

4773 0.92 311.4 2946 2694 1582 1490 323.9 10.9 284 4780 0.00 1.77 0.00 0.000 260 0.000 0.045 2946 3856 1535 1582 1488 0 0 0 0 0 0 27.01 26.82 27.08

4894 0.92 311.4 2946 3857 1582 1489 309.1 12.3 288 4903 0.00 1.62 0.00 0.000 1030 0.000 0.028 2946 2696 1534 1581 1488 0 0 0 0 0 0 26.95 26.91 26.96

5227 0.92 311.4 2946 2697 1582 1489 269.3 12.0 299 5236 0.00 1.80 0.00 0.000 260 0.000 0.045 2946 3850 1534 1581 1488 0 0 0 0 0 0 27.14 26.91 27.18

5366 0.92 311.4 2946 3851 1582 1489 253.5 12.9 303 5373 0.00 1.60 0.00 0.000 1030 0.000 0.028 2946 2700 1534 1580 1488 0 0 0 0 0 0 27.05 27.01 27.06

5672 0.92 311.4 2946 2700 1581 1487 218.6 10.4 333 5679 0.00 1.75 0.00 0.000 260 0.000 0.045 2945 3854 1536 1580 1492 0 0 0 0 0 0 27.17 26.98 27.25

5718 0.92 311.4 2946 3855 1581 1488 213.9 11.0 337 5728 0.00 1.62 0.00 0.000 1030 0.000 0.028 2946 2688 1533 1580 1487 0 0 0 0 0 0 27.09 27.06 27.10

6023 0.95 328.3 2946 2688 1581 1486 184.1 9.3 368 6038 0.00 1.77 5.68 0.566 8452 0.000 0.044 2946 3856 1502 1548 1456 0 0 0 0 0 0 27.22 26.89 26.38

6162 0.95 328.3 2946 3855 1556 1457 169.7 11.1 381 6173 0.00 1.62 0.00 0.000 1030 0.000 0.027 2946 2692 1506 1555 1457 0 0 0 0 0 0 27.08 27.04 27.09

6468 1.01 338.4 2946 2690 1556 1457 137.9 9.6 412 6492 0.00 0.00 13.50 0.563 8710 0.000 0.000 2946 2692 1456 1503 1409 0 0 0 0 1 0 27.21 26.86 26.36

6788 1.12 372.6 2946 2692 1501 1409 108.5 8.7 444 6833 0.10 2.05 30.08 0.550 10756 0.116 0.030 3001 1316 1320 1370 1271 0 0 0 0 1 0 26.96 26.51 25.89

6877 1.12 372.6 3007 1318 1394 1275 99.7 10.9 452 6887 0.00 2.08 0.00 0.000 1030 0.000 0.031 3000 2706 1335 1394 1276 0 0 0 0 0 0 26.70 26.64 26.71

7182 1.12 372.6 3001 2707 1395 1278 65.7 10.1 483 7189 0.00 2.05 0.00 0.000 516 0.000 0.029 3010 1312 1335 1394 1276 0 0 0 0 0 0 26.97 26.81 27.04

7333 1.12 372.6 3011 1313 1395 1277 50.4 10.4 497 7346 0.00 2.05 0.00 0.000 1030 0.000 0.031 3011 2700 1335 1394 1276 0 0 0 0 0 0 26.91 26.86 26.93

7648 1.20 422.1 3011 2700 1395 1276 17.2 8.1 558 7678 0.00 1.77 22.48 0.183 8452 0.000 0.045 3010 3847 1116 1175 1058 0 0 0 0 0 0 27.10 26.82 26.63

7796 end climb: SURFACE_DEPTH_REACHED

state 7796 begin surface coast

7811 end surface coast: CONTROL_FINISHED_OK

state 7811 begin surface

ID	203	HEADING	-1	C_ROLL_CLIMB	2700	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	8	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
DIVE	6	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	84	ALTIM_PULSE	2
D_FLARE	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	46	ALTIM_SENSITIVITY	4
D_TGT	450	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	XPDR_VALID	2
D_ABORT	1020	SM_CC	563.75671	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	0.0015	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_DIVE	150	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_MISSION	170	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	-2	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	22.5	SIM_W	0
T_WATCHDOG	10	PITCH_MAX	3901	MINV_10V	9.5	SIM_PITCH	0
RELAUNCH	1	C_PITCH	2630	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	175	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	-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	0.029999999	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	0.0
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	2800	ALTIM_TOP_TURN_MARGIN	0

GPS1	110715,071932,5906.5415,-14732.0195,36,0.8,40,18.1,0.0,190.5,10,6.0	SPEED_LIMITS	0.100,0.283
_CALLS	1	TGT_NAME	LAUNCH
_XMS_NAKs	0	TGT_LATLONG	5856.292,-14707.998
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	0.63	MHEAD_RNG_PITCHd_Wd	91.3,29742,-17.8,-10.000,-19.47,2615
_SM_ANGLEo	-64.9	D_GRID	608
GPS2	110715,072401,5906.4907,-14732.0420,3,0.8,9,18.1,0.5,184.7,10,9.2

FINISH	0.0,1.023520	PA_DATA0	0.04/4.237/117.199/107.008
SM_CCo	7826,60.35,0.145,0,0,538,563.94	PA_ROOT	0.76/0.092/0.121/0.022
SM_GC	0.52,7.38,1.52,60.35,0.048,0.027,0.145,205,2794,538,-7.50,2.35,563.94,0,0,0,0,0,0,26.86,26.94,26.55	PA_HOME	0.01/0.183/27.046/25.489
IRIDIUM_FIX	5841.97,-14735.26,060508,204720	PA_DISK_BANK	1
TT8_MAMPS	0.164031,0.164031	_24V_AH	24.00,1.166
HUMID	42.32	_10V_AH	10.14,2.654
INTERNAL_PRESSURE	8.7929	FG_AHR_24Vo	0.000
TCM_TEMP	17.90	FG_AHR_10Vo	0.000
XPDR_PINGS	0	MEM	187164
PA_PMVER	0.6	DATA_FILE_SIZE	23412,590
PA_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014	CAP_FILE_SIZE	86029,0
PA_BOARDID	1654118	CFSIZE	1024393216,995950592
PA_UPTIME	7851.18 3991.15	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,3,0,0
PA_BOOTCOUNT	308	INTR	0,8269.17,0x236db2,7,5
PA_DFQS	0/0	CURRENT	0.215,189.50,1
PA_LOG	0.01/0.246/31.498/29.652	GPS	110715,093624,5905.464,-14729.928,18,0.9,26,18.1,0.3,285.8,9,9.9
PA_DATA1	0.00/0.070/117.199/111.175

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	237	101.74	SBE_CT	401	23	230.91
Roll_motor	51	87	108.68	nil	0	0	0.00
VBD_pump_during_apogee	465	1351	15094.51	nil	0	0	0.00
VBD_pump_during_surface	60	145	210.52	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	8172	134	26423.06
Iridium_during_xfer	191	87	403.86	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	10	26	2.94
TT8	0	0	0.00
LPSleep	5461	2	121.27
TT8_Active	579	18	108.45
TT8_Sampling	2026	43	887.05
TT8_CF8	85	60	52.39
TT8_Kalman	0	0	0.00
Analog_circuits	1594	16	258.76
GPS_charging	0	0	0.00
Compass	1204	8	100.61
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
89	end surface: CONTROL_FINISHED_OK
state	89	begin dive
91	-0.94	-170.3	208	2797	609	469	0.0	0.0	0	161	0.00	0.00	-67.35	0.000	16386	0.000	0.000	207	2798	2360	2393	2327	0	0	0	0	0	0	26.79	28.83	26.86
163	-0.94	-170.3	208	2797	2394	2328	3.2	-5.9	11	199	8.12	2.03	-24.12	0.000	18948	0.237	0.042	2311	1419	3535	3603	3468	0	0	0	0	0	0	26.37	25.59	26.60
403	-0.86	-170.3	2311	1418	3604	3472	54.5	-19.4	55	416	0.12	2.05	0.00	0.000	3078	0.174	0.031	2336	2796	3537	3603	3472	0	0	0	0	0	0	26.62	26.77	26.74
710	-0.83	-170.3	2337	2797	3604	3474	112.2	-19.1	86	718	0.00	2.00	0.00	0.000	516	0.000	0.028	2337	1422	3538	3603	3474	0	0	0	0	0	0	27.06	26.89	27.13
887	-0.83	-170.3	2336	1422	3603	3477	140.0	-14.8	103	900	0.08	2.05	0.00	0.000	3078	0.200	0.031	2345	2811	3539	3603	3475	0	0	0	0	0	0	26.80	26.93	26.93
1194	-0.83	-170.3	2345	2810	3603	3474	185.4	-14.4	134	1201	0.00	0.00	0.00	0.000	6	0.000	0.000	2345	2811	3539	3603	3475	0	0	0	0	0	0	27.17	27.25	27.24
1496	-0.86	-170.3	2346	2813	3604	3477	227.5	-13.9	164	1502	0.00	0.00	0.00	0.000	6	0.000	0.000	2346	2811	3539	3603	3475	0	0	0	0	0	0	27.22	27.30	27.29
1806	-0.90	-170.3	2346	2811	3604	3475	271.9	-14.4	185	1814	0.00	2.03	0.00	0.000	516	0.000	0.028	2346	1412	3538	3602	3474	0	0	0	0	0	0	27.25	27.08	27.32
1878	-0.95	-170.3	2346	1413	3604	3476	280.0	-14.3	187	1886	0.00	2.05	0.00	0.000	1030	0.000	0.032	2346	2804	3538	3603	3474	0	0	0	0	0	0	27.13	27.08	27.15
2190	-0.99	-170.3	2346	2803	3604	3475	322.7	-12.6	198	2196	0.08	0.00	0.00	0.000	4102	0.132	0.000	2303	2804	3538	3602	3475	0	0	0	0	0	0	27.14	27.20	27.17
2490	-0.99	-170.3	2303	2805	3602	3476	366.4	-14.8	208	2498	0.00	2.00	0.00	0.000	516	0.000	0.028	2303	1422	3538	3602	3475	0	0	0	0	0	0	27.31	27.14	27.38
2517	-0.99	-170.3	2303	1421	3603	3474	370.5	-15.0	209	2524	0.00	2.03	0.00	0.000	1030	0.000	0.032	2294	2803	3538	3602	3475	0	0	0	0	0	0	27.18	27.13	27.20
2844	-0.96	-170.3	2294	2805	3602	3476	425.1	-17.3	220	2849	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	2804	3537	3600	3475	0	0	0	0	0	0	27.33	27.41	27.40
2992	end dive: TARGET_DEPTH_EXCEEDED
state	2992	begin apogee
2996	-0.19	0.0	2294	2698	3601	3474	451.8	-17.9	225	3148	0.80	0.00	135.35	1.352	10246	0.129	0.000	2553	2697	2844	2893	2796	0	0	0	0	1	0	27.01	24.62	24.00
3148	end apogee: CONTROL_FINISHED_OK
state	3149	begin climb
3150	0.94	170.3	2553	2699	2898	2798	463.7	0.0	230	3303	1.05	1.88	140.93	0.753	11012	0.073	0.042	2919	3850	2137	2174	2100	0	0	0	0	0	0	25.16	24.96	24.60
3527	1.06	311.4	2920	3850	2163	2082	465.6	4.5	242	3657	0.10	1.67	117.28	0.730	11270	0.111	0.028	2965	2693	1556	1602	1511	0	0	0	0	0	0	26.20	26.27	24.70
3952	1.06	311.4	2965	2695	1585	1491	420.4	11.3	257	3961	0.00	1.80	0.00	0.000	260	0.000	0.044	2965	3851	1537	1584	1491	0	0	0	0	0	0	26.51	26.32	26.58
4060	1.01	311.4	2965	3851	1584	1489	408.8	12.1	260	4070	0.00	1.70	0.00	0.000	1030	0.000	0.028	2971	2692	1536	1583	1490	0	0	0	0	0	0	26.53	26.52	26.56
4379	0.97	311.4	2971	2692	1583	1489	367.9	11.9	271	4386	0.00	1.77	0.00	0.000	260	0.000	0.045	2971	3847	1535	1582	1489	0	0	0	0	0	0	26.86	26.66	26.93
4450	0.92	311.4	2971	3848	1581	1490	360.0	12.3	273	4458	0.05	1.67	0.00	0.000	5126	0.175	0.028	2946	2693	1535	1582	1488	0	0	0	0	0	0	26.56	26.77	26.72
4773	0.92	311.4	2946	2694	1582	1490	323.9	10.9	284	4780	0.00	1.77	0.00	0.000	260	0.000	0.045	2946	3856	1535	1582	1488	0	0	0	0	0	0	27.01	26.82	27.08
4894	0.92	311.4	2946	3857	1582	1489	309.1	12.3	288	4903	0.00	1.62	0.00	0.000	1030	0.000	0.028	2946	2696	1534	1581	1488	0	0	0	0	0	0	26.95	26.91	26.96
5227	0.92	311.4	2946	2697	1582	1489	269.3	12.0	299	5236	0.00	1.80	0.00	0.000	260	0.000	0.045	2946	3850	1534	1581	1488	0	0	0	0	0	0	27.14	26.91	27.18
5366	0.92	311.4	2946	3851	1582	1489	253.5	12.9	303	5373	0.00	1.60	0.00	0.000	1030	0.000	0.028	2946	2700	1534	1580	1488	0	0	0	0	0	0	27.05	27.01	27.06
5672	0.92	311.4	2946	2700	1581	1487	218.6	10.4	333	5679	0.00	1.75	0.00	0.000	260	0.000	0.045	2945	3854	1536	1580	1492	0	0	0	0	0	0	27.17	26.98	27.25
5718	0.92	311.4	2946	3855	1581	1488	213.9	11.0	337	5728	0.00	1.62	0.00	0.000	1030	0.000	0.028	2946	2688	1533	1580	1487	0	0	0	0	0	0	27.09	27.06	27.10
6023	0.95	328.3	2946	2688	1581	1486	184.1	9.3	368	6038	0.00	1.77	5.68	0.566	8452	0.000	0.044	2946	3856	1502	1548	1456	0	0	0	0	0	0	27.22	26.89	26.38
6162	0.95	328.3	2946	3855	1556	1457	169.7	11.1	381	6173	0.00	1.62	0.00	0.000	1030	0.000	0.027	2946	2692	1506	1555	1457	0	0	0	0	0	0	27.08	27.04	27.09
6468	1.01	338.4	2946	2690	1556	1457	137.9	9.6	412	6492	0.00	0.00	13.50	0.563	8710	0.000	0.000	2946	2692	1456	1503	1409	0	0	0	0	1	0	27.21	26.86	26.36
6788	1.12	372.6	2946	2692	1501	1409	108.5	8.7	444	6833	0.10	2.05	30.08	0.550	10756	0.116	0.030	3001	1316	1320	1370	1271	0	0	0	0	1	0	26.96	26.51	25.89
6877	1.12	372.6	3007	1318	1394	1275	99.7	10.9	452	6887	0.00	2.08	0.00	0.000	1030	0.000	0.031	3000	2706	1335	1394	1276	0	0	0	0	0	0	26.70	26.64	26.71
7182	1.12	372.6	3001	2707	1395	1278	65.7	10.1	483	7189	0.00	2.05	0.00	0.000	516	0.000	0.029	3010	1312	1335	1394	1276	0	0	0	0	0	0	26.97	26.81	27.04
7333	1.12	372.6	3011	1313	1395	1277	50.4	10.4	497	7346	0.00	2.05	0.00	0.000	1030	0.000	0.031	3011	2700	1335	1394	1276	0	0	0	0	0	0	26.91	26.86	26.93
7648	1.20	422.1	3011	2700	1395	1276	17.2	8.1	558	7678	0.00	1.77	22.48	0.183	8452	0.000	0.045	3010	3847	1116	1175	1058	0	0	0	0	0	0	27.10	26.82	26.63
7796	end climb: SURFACE_DEPTH_REACHED
state	7796	begin surface coast
7811	end surface coast: CONTROL_FINISHED_OK
state	7811	begin surface