Glider dive log

GoA Jul15 * SG203 * Dive index * Mission links * Dive 7 * 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 7 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 45 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 7 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 45 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 110715,093624,5905.4639,-14729.9277,18,0.9,26,18.1,0.3,285.8,9,9.9 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 0.76 MHEAD_RNG_PITCHd_Wd 69.3,27021,-17.8,-10.000,-19.47,2615

_SM_ANGLEo -64.8 D_GRID 760

GPS2 110715,094104,5905.4609,-14729.9941,13,0.9,25,18.1,0.3,275.6,9,9.5

Post-dive calculations and measurements:

FINISH 0.0,1.023634 PA_DATA0 0.05/5.703/117.199/105.542

SM_CCo 8070,69.22,0.145,0,0,538,563.94 PA_ROOT 0.76/0.092/0.121/0.022

SM_GC 0.82,7.43,1.52,69.22,0.051,0.027,0.145,202,2801,538,-7.51,2.49,563.94,0,0,0,0,0,0,26.85,26.91,26.50 PA_HOME 0.01/0.184/27.046/25.489

IRIDIUM_FIX 5837.82,-14731.73,060508,230403 PA_DISK_BANK 1

TT8_MAMPS 0.161784,0.161784 _24V_AH 23.93,1.286

HUMID 40.58 _10V_AH 10.14,3.013

INTERNAL_PRESSURE 8.7743 FG_AHR_24Vo 0.000

TCM_TEMP 18.00 FG_AHR_10Vo 0.000

XPDR_PINGS 0 MEM 187184

PA_PMVER 0.6 DATA_FILE_SIZE 26730,606

PA_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014 CAP_FILE_SIZE 90480,0

PA_BOARDID 1654118 CFSIZE 1024393216,995868672

PA_UPTIME 8103.44 4164.98 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,3,4,0

PA_BOOTCOUNT 309 INTR 0,8222.46,0x236db2,7,5

PA_DFQS 0/0 CURRENT 0.223,213.26,1

PA_LOG 0.01/0.246/31.498/29.652 GPS 110715,115751,5904.970,-14728.762,38,1.0,38,18.1,0.0,0.0,8,9.2

PA_DATA1 0.00/0.070/117.199/111.175

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 242 103.88 SBE_CT 412 23 236.81

Roll_motor 57 87 121.89 nil 0 0 0.00

VBD_pump_during_apogee 469 1292 14524.57 nil 0 0 0.00

VBD_pump_during_surface 69 144 239.51 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 8421 134 27094.58

Iridium_during_xfer 186 89 399.88 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 26 7.42

TT8 0 0 0.00

LPSleep 5637 2 125.19

TT8_Active 582 18 108.97

TT8_Sampling 2108 43 922.92

TT8_CF8 89 60 54.55

TT8_Kalman 0 0 0.00

Analog_circuits 1627 16 264.01

GPS_charging 0 0 0.00

Compass 1260 8 105.33

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 -170.3 206 2796 612 476 0.0 0.0 0 161 0.00 0.00 -66.95 0.000 16386 0.000 0.000 205 2794 2346 2378 2315 0 0 0 0 0 0 26.80 28.83 26.88

163 -0.94 -170.3 206 2796 2380 2316 3.0 -5.7 11 199 8.20 1.67 -24.25 0.000 18692 0.243 0.064 2302 3854 3534 3602 3467 0 0 0 0 0 0 26.38 25.62 26.61

423 -0.83 -170.3 2303 3856 3602 3473 60.5 -21.0 57 433 0.17 1.50 0.00 0.000 3078 0.157 0.026 2348 2775 3536 3602 3470 0 0 0 0 0 0 26.62 26.82 26.76

728 -0.83 -170.3 2348 2776 3603 3474 114.6 -16.8 88 737 0.00 1.98 0.00 0.000 516 0.000 0.028 2350 1418 3537 3602 3473 0 0 0 0 0 0 27.05 26.88 27.12

821 -0.83 -170.3 2349 1419 3602 3474 130.1 -16.2 97 835 0.00 2.05 0.00 0.000 1030 0.000 0.031 2344 2808 3537 3602 3473 0 0 0 0 0 0 26.95 26.89 26.96

1131 -0.83 -170.3 2345 2809 3602 3474 176.2 -14.9 128 1139 0.00 2.03 0.00 0.000 516 0.000 0.027 2345 1414 3537 3602 3472 0 0 0 0 0 0 27.14 26.97 27.20

1188 -0.83 -170.3 2344 1413 3602 3472 184.3 -14.0 133 1196 0.00 2.05 0.00 0.000 1030 0.000 0.031 2336 2804 3537 3602 3473 0 0 0 0 0 0 27.03 26.96 27.04

1493 -0.83 -170.3 2336 2804 3603 3473 229.9 -15.6 163 1499 0.00 0.00 0.00 0.000 6 0.000 0.000 2336 2804 3538 3603 3473 0 0 0 0 0 0 27.19 27.27 27.26

1813 -0.83 -170.3 2336 2804 3604 3472 277.1 -14.2 183 1818 0.00 0.00 0.00 0.000 6 0.000 0.000 2336 2804 3537 3602 3473 0 0 0 0 0 0 27.22 27.31 27.30

2113 -0.83 -170.3 2337 2805 3603 3475 320.2 -14.9 193 2120 0.00 2.03 0.00 0.000 516 0.000 0.028 2336 1423 3537 3602 3473 0 0 0 0 0 0 27.26 27.10 27.32

2174 -0.83 -170.3 2337 1417 3602 3474 329.4 -15.2 195 2182 0.10 2.05 0.00 0.000 3078 0.187 0.032 2349 2810 3537 3602 3473 0 0 0 0 0 0 26.94 27.08 27.08

2502 -0.87 -170.3 2349 2810 3602 3474 376.2 -14.2 206 2510 0.00 2.03 0.00 0.000 516 0.000 0.027 2349 1412 3537 3601 3473 0 0 0 0 0 0 27.29 27.11 27.35

2565 -0.92 -170.3 2350 1410 3602 3473 384.8 -13.9 208 2572 0.00 2.05 0.00 0.000 1030 0.000 0.033 2348 2801 3537 3601 3473 0 0 0 0 0 0 27.16 27.10 27.18

2892 -0.97 -170.3 2349 2803 3601 3474 429.4 -13.6 219 2897 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2801 3536 3600 3473 0 0 0 0 0 0 27.31 27.39 27.37

3070 end dive: TARGET_DEPTH_EXCEEDED

state 3070 begin apogee

3074 -0.19 0.0 2349 2700 3600 3473 453.8 -13.8 225 3226 0.62 0.00 139.40 1.293 10246 0.122 0.000 2552 2700 2840 2884 2797 0 0 0 0 1 0 27.00 24.74 23.93

3227 end apogee: CONTROL_FINISHED_OK

state 3227 begin climb

3228 0.94 170.3 2553 2702 2898 2799 463.5 0.0 230 3384 1.05 1.92 142.95 0.747 11012 0.074 0.044 2916 3847 2134 2173 2095 0 0 0 0 0 0 25.02 25.04 24.53

3608 1.04 291.3 2916 3847 2161 2078 461.5 5.2 242 3720 0.10 1.67 102.40 0.720 11270 0.110 0.028 2960 2696 1650 1693 1608 0 0 0 0 0 0 26.13 26.21 24.70

4030 1.04 291.3 2960 2696 1668 1576 415.0 11.7 257 4038 0.00 1.83 0.00 0.000 260 0.000 0.046 2960 3854 1622 1667 1577 0 0 0 0 0 0 26.46 26.28 26.54

4262 0.96 291.3 2960 3855 1667 1576 388.8 12.2 264 4269 0.00 1.67 0.00 0.000 1030 0.000 0.028 2968 2682 1620 1665 1575 0 0 0 0 0 0 26.60 26.57 26.62

4573 0.93 291.3 2969 2682 1666 1574 351.3 11.6 275 4581 0.12 1.80 0.00 0.000 4356 0.187 0.043 2936 3853 1619 1665 1574 0 0 0 0 0 0 26.55 26.67 26.65

4640 0.93 291.3 2935 3853 1664 1574 344.2 11.5 277 4647 0.00 1.65 0.00 0.000 1030 0.000 0.028 2942 2686 1619 1665 1573 0 0 0 0 0 0 26.80 26.77 26.82

4966 0.94 296.1 2942 2685 1665 1573 310.5 9.8 288 4974 0.00 1.77 0.00 0.000 260 0.000 0.045 2942 3850 1618 1664 1573 0 0 0 0 0 0 27.00 26.80 27.06

5017 0.95 302.0 2941 3849 1665 1572 307.3 9.8 289 5025 0.00 1.62 0.00 0.000 1030 0.000 0.028 2946 2693 1618 1664 1573 0 0 0 0 0 0 26.92 26.87 26.94

5330 0.96 314.3 2946 2694 1665 1574 275.3 9.5 300 5357 0.00 1.77 19.55 0.623 8452 0.000 0.043 2946 3851 1553 1598 1508 0 0 0 0 0 0 27.08 26.44 26.11

5481 0.96 314.3 2946 3851 1585 1491 258.7 11.3 304 5488 0.00 1.62 0.00 0.000 1030 0.000 0.028 2946 2701 1537 1584 1491 0 0 0 0 0 0 26.79 26.76 26.82

5788 0.98 323.3 2946 2701 1584 1492 226.7 9.6 329 5795 0.00 1.75 0.00 0.000 260 0.000 0.046 2946 3853 1536 1583 1490 0 0 0 0 0 0 27.00 26.81 27.07

5834 0.98 323.3 2946 3853 1584 1489 222.2 10.4 333 5844 0.00 1.62 0.00 0.000 1030 0.000 0.028 2946 2700 1536 1583 1490 0 0 0 0 0 0 26.92 26.89 26.94

6139 0.98 323.3 2946 2700 1583 1490 191.1 10.1 364 6146 0.00 1.75 0.00 0.000 260 0.000 0.044 2946 3858 1536 1582 1490 0 0 0 0 0 0 27.09 26.89 27.15

6232 0.98 323.3 2945 3859 1583 1490 180.7 11.3 373 6239 0.00 1.62 0.00 0.000 1030 0.000 0.028 2946 2696 1535 1582 1489 0 0 0 0 0 0 27.01 26.98 27.02

6544 1.04 338.4 2946 2696 1584 1489 149.5 9.4 404 6586 0.00 1.85 24.85 0.539 8452 0.000 0.045 2946 3857 1453 1500 1407 0 0 0 0 1 0 27.15 26.65 26.22

6676 1.04 338.4 2946 3857 1503 1407 134.8 11.6 417 6685 0.00 1.67 0.00 0.000 1030 0.000 0.028 2946 2702 1454 1501 1407 0 0 0 0 0 0 26.81 26.79 26.82

6990 1.12 348.9 2945 2700 1503 1409 103.6 9.6 448 7004 0.10 2.03 4.32 0.518 10756 0.108 0.028 3002 1311 1420 1470 1371 0 0 0 0 0 0 26.86 26.57 26.22

7099 1.12 348.9 3002 1312 1493 1381 92.1 11.3 458 7111 0.00 2.08 2.58 0.357 9222 0.000 0.031 3002 2706 1413 1462 1364 0 0 0 0 0 0 26.89 26.84 26.12

7406 1.14 360.4 3002 2706 1487 1377 59.0 9.6 489 7434 0.00 1.75 15.12 0.490 8452 0.000 0.043 3002 3854 1365 1414 1316 0 0 0 0 1 0 27.07 26.48 26.04

7659 1.10 362.5 3002 3854 1427 1322 33.5 9.9 529 7672 0.00 1.62 0.00 0.000 1030 0.000 0.028 3010 2693 1374 1426 1322 0 0 0 0 0 0 26.91 26.87 26.92

7971 1.16 402.3 3010 2693 1427 1323 7.4 8.4 590 7996 0.00 1.75 18.30 0.162 8452 0.000 0.043 3010 3849 1194 1248 1141 0 0 0 0 0 0 27.08 26.77 26.67

8034 end climb: SURFACE_DEPTH_REACHED

state 8034 begin surface coast

8055 end surface coast: CONTROL_FINISHED_OK

state 8055 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	7	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	45	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	110715,093624,5905.4639,-14729.9277,18,0.9,26,18.1,0.3,285.8,9,9.9	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	0.76	MHEAD_RNG_PITCHd_Wd	69.3,27021,-17.8,-10.000,-19.47,2615
_SM_ANGLEo	-64.8	D_GRID	760
GPS2	110715,094104,5905.4609,-14729.9941,13,0.9,25,18.1,0.3,275.6,9,9.5

FINISH	0.0,1.023634	PA_DATA0	0.05/5.703/117.199/105.542
SM_CCo	8070,69.22,0.145,0,0,538,563.94	PA_ROOT	0.76/0.092/0.121/0.022
SM_GC	0.82,7.43,1.52,69.22,0.051,0.027,0.145,202,2801,538,-7.51,2.49,563.94,0,0,0,0,0,0,26.85,26.91,26.50	PA_HOME	0.01/0.184/27.046/25.489
IRIDIUM_FIX	5837.82,-14731.73,060508,230403	PA_DISK_BANK	1
TT8_MAMPS	0.161784,0.161784	_24V_AH	23.93,1.286
HUMID	40.58	_10V_AH	10.14,3.013
INTERNAL_PRESSURE	8.7743	FG_AHR_24Vo	0.000
TCM_TEMP	18.00	FG_AHR_10Vo	0.000
XPDR_PINGS	0	MEM	187184
PA_PMVER	0.6	DATA_FILE_SIZE	26730,606
PA_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014	CAP_FILE_SIZE	90480,0
PA_BOARDID	1654118	CFSIZE	1024393216,995868672
PA_UPTIME	8103.44 4164.98	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,3,4,0
PA_BOOTCOUNT	309	INTR	0,8222.46,0x236db2,7,5
PA_DFQS	0/0	CURRENT	0.223,213.26,1
PA_LOG	0.01/0.246/31.498/29.652	GPS	110715,115751,5904.970,-14728.762,38,1.0,38,18.1,0.0,0.0,8,9.2
PA_DATA1	0.00/0.070/117.199/111.175

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	242	103.88	SBE_CT	412	23	236.81
Roll_motor	57	87	121.89	nil	0	0	0.00
VBD_pump_during_apogee	469	1292	14524.57	nil	0	0	0.00
VBD_pump_during_surface	69	144	239.51	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	8421	134	27094.58
Iridium_during_xfer	186	89	399.88	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	26	7.42
TT8	0	0	0.00
LPSleep	5637	2	125.19
TT8_Active	582	18	108.97
TT8_Sampling	2108	43	922.92
TT8_CF8	89	60	54.55
TT8_Kalman	0	0	0.00
Analog_circuits	1627	16	264.01
GPS_charging	0	0	0.00
Compass	1260	8	105.33
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	206	2796	612	476	0.0	0.0	0	161	0.00	0.00	-66.95	0.000	16386	0.000	0.000	205	2794	2346	2378	2315	0	0	0	0	0	0	26.80	28.83	26.88
163	-0.94	-170.3	206	2796	2380	2316	3.0	-5.7	11	199	8.20	1.67	-24.25	0.000	18692	0.243	0.064	2302	3854	3534	3602	3467	0	0	0	0	0	0	26.38	25.62	26.61
423	-0.83	-170.3	2303	3856	3602	3473	60.5	-21.0	57	433	0.17	1.50	0.00	0.000	3078	0.157	0.026	2348	2775	3536	3602	3470	0	0	0	0	0	0	26.62	26.82	26.76
728	-0.83	-170.3	2348	2776	3603	3474	114.6	-16.8	88	737	0.00	1.98	0.00	0.000	516	0.000	0.028	2350	1418	3537	3602	3473	0	0	0	0	0	0	27.05	26.88	27.12
821	-0.83	-170.3	2349	1419	3602	3474	130.1	-16.2	97	835	0.00	2.05	0.00	0.000	1030	0.000	0.031	2344	2808	3537	3602	3473	0	0	0	0	0	0	26.95	26.89	26.96
1131	-0.83	-170.3	2345	2809	3602	3474	176.2	-14.9	128	1139	0.00	2.03	0.00	0.000	516	0.000	0.027	2345	1414	3537	3602	3472	0	0	0	0	0	0	27.14	26.97	27.20
1188	-0.83	-170.3	2344	1413	3602	3472	184.3	-14.0	133	1196	0.00	2.05	0.00	0.000	1030	0.000	0.031	2336	2804	3537	3602	3473	0	0	0	0	0	0	27.03	26.96	27.04
1493	-0.83	-170.3	2336	2804	3603	3473	229.9	-15.6	163	1499	0.00	0.00	0.00	0.000	6	0.000	0.000	2336	2804	3538	3603	3473	0	0	0	0	0	0	27.19	27.27	27.26
1813	-0.83	-170.3	2336	2804	3604	3472	277.1	-14.2	183	1818	0.00	0.00	0.00	0.000	6	0.000	0.000	2336	2804	3537	3602	3473	0	0	0	0	0	0	27.22	27.31	27.30
2113	-0.83	-170.3	2337	2805	3603	3475	320.2	-14.9	193	2120	0.00	2.03	0.00	0.000	516	0.000	0.028	2336	1423	3537	3602	3473	0	0	0	0	0	0	27.26	27.10	27.32
2174	-0.83	-170.3	2337	1417	3602	3474	329.4	-15.2	195	2182	0.10	2.05	0.00	0.000	3078	0.187	0.032	2349	2810	3537	3602	3473	0	0	0	0	0	0	26.94	27.08	27.08
2502	-0.87	-170.3	2349	2810	3602	3474	376.2	-14.2	206	2510	0.00	2.03	0.00	0.000	516	0.000	0.027	2349	1412	3537	3601	3473	0	0	0	0	0	0	27.29	27.11	27.35
2565	-0.92	-170.3	2350	1410	3602	3473	384.8	-13.9	208	2572	0.00	2.05	0.00	0.000	1030	0.000	0.033	2348	2801	3537	3601	3473	0	0	0	0	0	0	27.16	27.10	27.18
2892	-0.97	-170.3	2349	2803	3601	3474	429.4	-13.6	219	2897	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2801	3536	3600	3473	0	0	0	0	0	0	27.31	27.39	27.37
3070	end dive: TARGET_DEPTH_EXCEEDED
state	3070	begin apogee
3074	-0.19	0.0	2349	2700	3600	3473	453.8	-13.8	225	3226	0.62	0.00	139.40	1.293	10246	0.122	0.000	2552	2700	2840	2884	2797	0	0	0	0	1	0	27.00	24.74	23.93
3227	end apogee: CONTROL_FINISHED_OK
state	3227	begin climb
3228	0.94	170.3	2553	2702	2898	2799	463.5	0.0	230	3384	1.05	1.92	142.95	0.747	11012	0.074	0.044	2916	3847	2134	2173	2095	0	0	0	0	0	0	25.02	25.04	24.53
3608	1.04	291.3	2916	3847	2161	2078	461.5	5.2	242	3720	0.10	1.67	102.40	0.720	11270	0.110	0.028	2960	2696	1650	1693	1608	0	0	0	0	0	0	26.13	26.21	24.70
4030	1.04	291.3	2960	2696	1668	1576	415.0	11.7	257	4038	0.00	1.83	0.00	0.000	260	0.000	0.046	2960	3854	1622	1667	1577	0	0	0	0	0	0	26.46	26.28	26.54
4262	0.96	291.3	2960	3855	1667	1576	388.8	12.2	264	4269	0.00	1.67	0.00	0.000	1030	0.000	0.028	2968	2682	1620	1665	1575	0	0	0	0	0	0	26.60	26.57	26.62
4573	0.93	291.3	2969	2682	1666	1574	351.3	11.6	275	4581	0.12	1.80	0.00	0.000	4356	0.187	0.043	2936	3853	1619	1665	1574	0	0	0	0	0	0	26.55	26.67	26.65
4640	0.93	291.3	2935	3853	1664	1574	344.2	11.5	277	4647	0.00	1.65	0.00	0.000	1030	0.000	0.028	2942	2686	1619	1665	1573	0	0	0	0	0	0	26.80	26.77	26.82
4966	0.94	296.1	2942	2685	1665	1573	310.5	9.8	288	4974	0.00	1.77	0.00	0.000	260	0.000	0.045	2942	3850	1618	1664	1573	0	0	0	0	0	0	27.00	26.80	27.06
5017	0.95	302.0	2941	3849	1665	1572	307.3	9.8	289	5025	0.00	1.62	0.00	0.000	1030	0.000	0.028	2946	2693	1618	1664	1573	0	0	0	0	0	0	26.92	26.87	26.94
5330	0.96	314.3	2946	2694	1665	1574	275.3	9.5	300	5357	0.00	1.77	19.55	0.623	8452	0.000	0.043	2946	3851	1553	1598	1508	0	0	0	0	0	0	27.08	26.44	26.11
5481	0.96	314.3	2946	3851	1585	1491	258.7	11.3	304	5488	0.00	1.62	0.00	0.000	1030	0.000	0.028	2946	2701	1537	1584	1491	0	0	0	0	0	0	26.79	26.76	26.82
5788	0.98	323.3	2946	2701	1584	1492	226.7	9.6	329	5795	0.00	1.75	0.00	0.000	260	0.000	0.046	2946	3853	1536	1583	1490	0	0	0	0	0	0	27.00	26.81	27.07
5834	0.98	323.3	2946	3853	1584	1489	222.2	10.4	333	5844	0.00	1.62	0.00	0.000	1030	0.000	0.028	2946	2700	1536	1583	1490	0	0	0	0	0	0	26.92	26.89	26.94
6139	0.98	323.3	2946	2700	1583	1490	191.1	10.1	364	6146	0.00	1.75	0.00	0.000	260	0.000	0.044	2946	3858	1536	1582	1490	0	0	0	0	0	0	27.09	26.89	27.15
6232	0.98	323.3	2945	3859	1583	1490	180.7	11.3	373	6239	0.00	1.62	0.00	0.000	1030	0.000	0.028	2946	2696	1535	1582	1489	0	0	0	0	0	0	27.01	26.98	27.02
6544	1.04	338.4	2946	2696	1584	1489	149.5	9.4	404	6586	0.00	1.85	24.85	0.539	8452	0.000	0.045	2946	3857	1453	1500	1407	0	0	0	0	1	0	27.15	26.65	26.22
6676	1.04	338.4	2946	3857	1503	1407	134.8	11.6	417	6685	0.00	1.67	0.00	0.000	1030	0.000	0.028	2946	2702	1454	1501	1407	0	0	0	0	0	0	26.81	26.79	26.82
6990	1.12	348.9	2945	2700	1503	1409	103.6	9.6	448	7004	0.10	2.03	4.32	0.518	10756	0.108	0.028	3002	1311	1420	1470	1371	0	0	0	0	0	0	26.86	26.57	26.22
7099	1.12	348.9	3002	1312	1493	1381	92.1	11.3	458	7111	0.00	2.08	2.58	0.357	9222	0.000	0.031	3002	2706	1413	1462	1364	0	0	0	0	0	0	26.89	26.84	26.12
7406	1.14	360.4	3002	2706	1487	1377	59.0	9.6	489	7434	0.00	1.75	15.12	0.490	8452	0.000	0.043	3002	3854	1365	1414	1316	0	0	0	0	1	0	27.07	26.48	26.04
7659	1.10	362.5	3002	3854	1427	1322	33.5	9.9	529	7672	0.00	1.62	0.00	0.000	1030	0.000	0.028	3010	2693	1374	1426	1322	0	0	0	0	0	0	26.91	26.87	26.92
7971	1.16	402.3	3010	2693	1427	1323	7.4	8.4	590	7996	0.00	1.75	18.30	0.162	8452	0.000	0.043	3010	3849	1194	1248	1141	0	0	0	0	0	0	27.08	26.77	26.67
8034	end climb: SURFACE_DEPTH_REACHED
state	8034	begin surface coast
8055	end surface coast: CONTROL_FINISHED_OK
state	8055	begin surface