Glider dive log

GoA Jul15 * SG203 * Dive index * Mission links * Dive 176 * 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 176 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 48 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 176 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 48 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 110815,115103,5705.4648,-15048.8262,47,0.8,47,16.6,0.5,124.0,10,7.7 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 2.13 MHEAD_RNG_PITCHd_Wd 11.3,1354,-25.1,-10.667,-26.44,1306

_SM_ANGLEo -67.6 D_GRID 1352

GPS2 110815,115550,5705.4097,-15048.7939,17,0.8,17,16.6,0.7,163.5,10,4.2

Post-dive calculations and measurements:

FINISH 0.6,1.002485 PA_DATA0 0.51/59.498/117.199/51.748

SM_CCo 10717,3.90,0.164,0,0,1206,400.08 PA_ROOT 0.76/0.092/0.121/0.022

SM_GC 2.65,7.78,1.73,3.90,0.041,0.019,0.164,197,2685,1206,-7.58,2.52,400.08,0,0,0,0,0,0,25.97,26.09,25.60 PA_HOME 0.01/0.217/27.046/25.455

IRIDIUM_FIX 5636.99,-14953.72,060608,224904 PA_DISK_BANK 3

TT8_MAMPS 0.058422,0.058422 _24V_AH 23.61,63.431

HUMID 39.25 _10V_AH 10.18,38.136

INTERNAL_PRESSURE 8.8301 FG_AHR_24Vo 0.000

TCM_TEMP 17.80 FG_AHR_10Vo 0.000

XPDR_PINGS 1 MEM 142828

PA_PMVER 0.6 DATA_FILE_SIZE 26799,641

PA_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014 CAP_FILE_SIZE 104171,0

PA_BOARDID 1654118 CFSIZE 1024393216,979337216

PA_UPTIME 10683.32 5109.21 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,5,0

PA_BOOTCOUNT 484 INTR 0,8974.10,0x236db2,7,5

PA_DFQS 0/0 CURRENT 0.126,210.12,1

PA_LOG 0.01/0.269/31.498/29.629 GPS 110815,145611,5705.884,-15048.863,56,1.0,68,16.6,0.4,178.9,9,9.9

PA_DATA1 0.00/0.058/117.199/111.187

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 227 102.59 SBE_CT 438 23 248.29

Roll_motor 56 71 95.49 nil 0 0 0.00

VBD_pump_during_apogee 360 1002 8543.91 nil 0 0 0.00

VBD_pump_during_surface 3 163 15.07 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 11072 0 96.72

Iridium_during_xfer 195 87 403.36 nil 0 0 0.00

Transponder_ping 0 420 2.48 nil 0 0 0.00

GUMSTIX_24V 11072 61 16133.22

GPS 18 26 5.02

TT8 0 0 0.00

LPSleep 8054 2 179.56

TT8_Active 382 18 71.77

TT8_Sampling 2463 43 1082.53

TT8_CF8 106 60 65.51

TT8_Kalman 0 0 0.00

Analog_circuits 1576 16 256.79

GPS_charging 0 0 0.00

Compass 1483 8 124.43

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 -1.27 -90.6 198 2792 1228 1172 0.0 0.0 0 129 0.00 0.00 -30.23 0.000 16386 0.000 0.000 197 2792 2008 2043 1974 0 0 0 0 0 0 26.06 28.83 26.13

131 -1.27 -90.6 198 2793 2044 1976 3.1 -4.7 5 178 8.12 2.22 -30.27 0.000 18948 0.227 0.034 2216 1318 3211 3291 3131 0 0 0 0 0 0 25.42 25.21 25.60

407 -1.24 -90.6 2216 1317 3292 3137 68.5 -24.4 48 419 0.12 2.10 0.00 0.000 3078 0.179 0.025 2237 2705 3213 3291 3136 0 0 0 0 0 0 25.69 26.01 25.86

713 -1.24 -90.6 2237 2704 3292 3140 135.7 -20.4 79 723 0.00 1.75 0.00 0.000 260 0.000 0.037 2231 3856 3215 3291 3140 0 0 0 0 0 0 26.10 25.97 26.16

761 -1.24 -90.6 2231 3855 3292 3140 144.5 -19.8 83 771 0.00 1.65 0.00 0.000 1030 0.000 0.019 2231 2673 3216 3291 3141 0 0 0 0 0 0 26.14 26.10 26.15

1067 -1.24 -90.6 2231 2674 3292 3142 206.7 -18.9 114 1072 0.00 0.00 0.00 0.000 6 0.000 0.000 2231 2673 3215 3290 3140 0 0 0 0 0 0 26.07 26.14 26.13

1378 -1.26 -90.6 2231 2675 3292 3142 267.8 -19.4 139 1384 0.00 0.00 0.00 0.000 6 0.000 0.000 2231 2673 3216 3291 3141 0 0 0 0 0 0 26.08 26.15 26.14

1677 -1.28 -90.6 2232 2673 3292 3144 324.2 -18.3 149 1684 0.00 1.98 0.00 0.000 516 0.000 0.023 2231 1348 3215 3290 3140 0 0 0 0 0 0 26.08 26.01 26.13

1769 -1.30 -90.6 2232 1350 3291 3142 340.0 -18.3 152 1780 0.00 2.08 0.00 0.000 1030 0.000 0.025 2222 2706 3215 3290 3140 0 0 0 0 0 0 26.05 26.00 26.08

2094 -1.30 -90.6 2223 2707 3289 3142 402.6 -19.4 163 2100 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2706 3215 3290 3140 0 0 0 0 0 0 26.07 26.14 26.13

2394 -1.30 -90.6 2222 2707 3290 3142 460.5 -19.0 173 2399 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2706 3213 3288 3139 0 0 0 0 0 0 26.08 26.14 26.13

2695 -1.31 -90.6 2223 2706 3288 3140 514.7 -17.6 183 2704 0.00 2.05 0.00 0.000 516 0.000 0.023 2223 1352 3213 3287 3140 0 0 0 0 0 0 26.09 25.97 26.14

2734 -1.33 -90.6 2223 1353 3288 3142 520.2 -17.6 184 2742 0.00 2.08 0.00 0.000 1030 0.000 0.026 2212 2706 3213 3287 3140 0 0 0 0 0 0 26.06 26.01 26.08

3051 -1.33 -90.6 2214 2708 3286 3142 576.0 -17.2 195 3057 0.00 0.00 0.00 0.000 6 0.000 0.000 2214 2706 3212 3285 3140 0 0 0 0 0 0 26.08 26.14 26.13

3351 -1.33 -90.6 2213 2707 3284 3142 629.9 -17.8 205 3358 0.00 1.77 0.00 0.000 260 0.000 0.038 2206 3851 3211 3283 3139 0 0 0 0 0 0 26.06 25.96 26.11

3508 -1.33 -90.6 2206 3853 3284 3140 659.2 -19.6 210 3516 0.00 1.67 0.00 0.000 1030 0.000 0.021 2206 2702 3211 3282 3140 0 0 0 0 0 0 26.08 26.07 26.10

3835 -1.33 -90.6 2206 2701 3282 3142 718.7 -18.3 221 3840 0.00 0.00 0.00 0.000 6 0.000 0.000 2205 2701 3210 3281 3140 0 0 0 0 0 0 26.05 26.12 26.11

4135 -1.33 -90.6 2206 2701 3281 3140 768.5 -16.3 231 4140 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 2701 3210 3280 3140 0 0 0 0 0 0 26.05 26.11 26.10

4343 end dive: TARGET_DEPTH_EXCEEDED

state 4343 begin apogee

4347 -0.25 0.0 2206 2814 3281 3140 802.7 -16.4 238 4431 1.15 0.00 76.22 1.003 10246 0.138 0.000 2549 2814 2838 2880 2796 0 0 0 0 0 0 25.51 25.08 24.32

4431 end apogee: CONTROL_FINISHED_OK

state 4431 begin climb

4433 1.27 90.6 2550 2814 2876 2789 806.0 0.0 240 4516 1.42 1.73 73.60 0.989 10500 0.073 0.039 3039 3835 2463 2492 2434 0 0 0 0 0 0 25.18 24.68 23.95

4576 1.19 279.6 3040 3834 2488 2424 810.6 -4.2 245 4744 0.00 1.50 155.88 0.976 9222 0.000 0.022 3040 2811 1695 1732 1658 0 0 0 0 0 0 25.34 25.32 23.61

5068 1.19 279.6 3040 2812 1720 1640 744.2 17.4 262 5076 0.00 2.12 0.00 0.000 516 0.000 0.026 3039 1421 1678 1718 1638 0 0 0 0 0 0 25.94 25.92 26.01

5225 1.21 279.6 3040 1421 1719 1638 721.4 15.6 267 5232 0.00 2.10 0.00 0.000 1030 0.000 0.025 3040 2791 1677 1717 1638 0 0 0 0 0 0 26.08 26.03 26.10

5542 1.21 279.6 3040 2791 1718 1637 667.6 16.1 278 5547 0.00 0.00 0.00 0.000 6 0.000 0.000 3040 2790 1676 1716 1637 0 0 0 0 0 0 26.10 26.18 26.17

5842 1.18 279.6 3040 2792 1714 1638 621.2 16.2 288 5850 0.00 2.08 0.00 0.000 516 0.000 0.024 3049 1426 1674 1713 1636 0 0 0 0 0 0 26.12 26.09 26.19

6049 1.18 279.6 3049 1425 1714 1636 589.6 15.8 295 6057 0.00 2.12 0.00 0.000 1030 0.000 0.027 3049 2809 1675 1714 1636 0 0 0 0 0 0 26.12 26.07 26.15

6376 1.10 279.6 3050 2812 1717 1636 542.5 14.2 306 6383 0.12 1.60 0.00 0.000 4356 0.192 0.037 3019 3851 1673 1711 1636 0 0 0 0 0 0 25.72 25.91 25.83

6607 1.02 279.6 3019 3851 1709 1636 509.0 17.0 313 6616 0.10 1.55 0.00 0.000 5126 0.177 0.022 3000 2789 1672 1709 1636 0 0 0 0 0 0 25.67 26.11 25.81

6920 1.02 279.6 2999 2788 1710 1636 463.0 13.1 324 6929 0.00 1.67 0.00 0.000 260 0.000 0.040 2999 3857 1672 1709 1636 0 0 0 0 0 0 26.09 25.99 26.16

7153 0.92 279.6 2998 3858 1710 1637 429.2 17.2 331 7161 0.15 1.55 0.00 0.000 5126 0.176 0.023 2964 2802 1672 1709 1636 0 0 0 0 0 0 25.59 26.08 25.72

7465 0.98 289.6 2965 2803 1708 1637 389.4 9.9 342 7472 0.00 1.65 0.00 0.000 260 0.000 0.040 2964 3856 1671 1707 1636 0 0 0 0 0 0 26.08 25.97 26.15

7696 0.98 289.6 2964 3855 1707 1635 360.9 11.4 349 7704 0.00 1.55 0.00 0.000 1030 0.000 0.022 2971 2796 1671 1707 1636 0 0 0 0 0 0 26.12 26.10 26.13

8008 1.07 289.6 2971 2796 1708 1635 320.7 12.2 360 8015 0.00 1.65 0.00 0.000 260 0.000 0.041 2966 3849 1671 1707 1636 0 0 0 0 0 0 26.08 25.97 26.14

8239 1.07 289.6 2971 3849 1708 1637 289.7 14.4 367 8246 0.00 1.52 0.00 0.000 1030 0.000 0.021 2975 2806 1671 1707 1636 0 0 0 0 0 0 26.12 26.10 26.12

8551 1.12 289.6 2977 2806 1707 1635 245.6 11.9 380 8558 0.00 1.62 0.00 0.000 260 0.000 0.039 2977 3850 1671 1707 1635 0 0 0 0 0 0 26.07 25.95 26.13

8657 1.18 300.1 2977 3847 1708 1635 235.3 9.8 390 8687 0.10 1.50 15.70 0.688 11270 0.104 0.023 3025 2796 1606 1644 1569 0 0 0 0 0 0 25.91 26.03 25.17

8982 1.21 300.1 3025 2797 1640 1562 191.0 13.4 423 8989 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2796 1600 1639 1561 0 0 0 0 0 0 26.05 26.11 26.10

9284 1.23 300.1 3025 2798 1640 1562 153.0 12.1 453 9291 0.00 1.70 0.00 0.000 260 0.000 0.040 3025 3853 1599 1639 1560 0 0 0 0 0 0 26.09 25.96 26.15

9517 1.23 300.1 3025 3852 1640 1559 121.7 12.7 476 9525 0.00 1.55 0.00 0.000 1030 0.000 0.022 3032 2794 1599 1639 1560 0 0 0 0 0 0 26.09 26.07 26.10

9829 1.27 311.5 3032 2794 1641 1559 88.4 9.8 507 9844 0.00 1.65 3.47 0.581 8452 0.000 0.041 3032 3848 1574 1617 1531 0 0 0 0 0 0 26.07 25.87 24.87

9898 1.27 311.5 3033 3848 1622 1536 81.4 10.9 513 9909 0.00 1.50 0.00 0.000 1030 0.000 0.023 3038 2799 1579 1622 1536 0 0 0 0 0 0 26.09 26.06 26.10

10204 1.31 328.8 3038 2794 1622 1537 49.6 9.3 544 10221 0.05 0.00 9.07 0.246 10246 0.165 0.000 3072 2794 1498 1539 1458 0 0 0 0 0 0 25.98 25.77 25.40

10523 1.36 390.5 3073 2795 1552 1460 17.1 5.8 606 10558 0.00 1.70 26.88 0.181 8452 0.000 0.039 3073 3847 1246 1290 1202 0 0 0 0 0 0 26.08 25.86 25.55

10687 end climb: SURFACE_DEPTH_REACHED

state 10687 begin surface coast

10701 end surface coast: CONTROL_FINISHED_OK

state 10701 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	176	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	48	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	110815,115103,5705.4648,-15048.8262,47,0.8,47,16.6,0.5,124.0,10,7.7	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	2.13	MHEAD_RNG_PITCHd_Wd	11.3,1354,-25.1,-10.667,-26.44,1306
_SM_ANGLEo	-67.6	D_GRID	1352
GPS2	110815,115550,5705.4097,-15048.7939,17,0.8,17,16.6,0.7,163.5,10,4.2

FINISH	0.6,1.002485	PA_DATA0	0.51/59.498/117.199/51.748
SM_CCo	10717,3.90,0.164,0,0,1206,400.08	PA_ROOT	0.76/0.092/0.121/0.022
SM_GC	2.65,7.78,1.73,3.90,0.041,0.019,0.164,197,2685,1206,-7.58,2.52,400.08,0,0,0,0,0,0,25.97,26.09,25.60	PA_HOME	0.01/0.217/27.046/25.455
IRIDIUM_FIX	5636.99,-14953.72,060608,224904	PA_DISK_BANK	3
TT8_MAMPS	0.058422,0.058422	_24V_AH	23.61,63.431
HUMID	39.25	_10V_AH	10.18,38.136
INTERNAL_PRESSURE	8.8301	FG_AHR_24Vo	0.000
TCM_TEMP	17.80	FG_AHR_10Vo	0.000
XPDR_PINGS	1	MEM	142828
PA_PMVER	0.6	DATA_FILE_SIZE	26799,641
PA_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014	CAP_FILE_SIZE	104171,0
PA_BOARDID	1654118	CFSIZE	1024393216,979337216
PA_UPTIME	10683.32 5109.21	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,5,0
PA_BOOTCOUNT	484	INTR	0,8974.10,0x236db2,7,5
PA_DFQS	0/0	CURRENT	0.126,210.12,1
PA_LOG	0.01/0.269/31.498/29.629	GPS	110815,145611,5705.884,-15048.863,56,1.0,68,16.6,0.4,178.9,9,9.9
PA_DATA1	0.00/0.058/117.199/111.187

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	227	102.59	SBE_CT	438	23	248.29
Roll_motor	56	71	95.49	nil	0	0	0.00
VBD_pump_during_apogee	360	1002	8543.91	nil	0	0	0.00
VBD_pump_during_surface	3	163	15.07	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	11072	0	96.72
Iridium_during_xfer	195	87	403.36	nil	0	0	0.00
Transponder_ping	0	420	2.48	nil	0	0	0.00
GUMSTIX_24V	11072	61	16133.22
GPS	18	26	5.02
TT8	0	0	0.00
LPSleep	8054	2	179.56
TT8_Active	382	18	71.77
TT8_Sampling	2463	43	1082.53
TT8_CF8	106	60	65.51
TT8_Kalman	0	0	0.00
Analog_circuits	1576	16	256.79
GPS_charging	0	0	0.00
Compass	1483	8	124.43
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	-1.27	-90.6	198	2792	1228	1172	0.0	0.0	0	129	0.00	0.00	-30.23	0.000	16386	0.000	0.000	197	2792	2008	2043	1974	0	0	0	0	0	0	26.06	28.83	26.13
131	-1.27	-90.6	198	2793	2044	1976	3.1	-4.7	5	178	8.12	2.22	-30.27	0.000	18948	0.227	0.034	2216	1318	3211	3291	3131	0	0	0	0	0	0	25.42	25.21	25.60
407	-1.24	-90.6	2216	1317	3292	3137	68.5	-24.4	48	419	0.12	2.10	0.00	0.000	3078	0.179	0.025	2237	2705	3213	3291	3136	0	0	0	0	0	0	25.69	26.01	25.86
713	-1.24	-90.6	2237	2704	3292	3140	135.7	-20.4	79	723	0.00	1.75	0.00	0.000	260	0.000	0.037	2231	3856	3215	3291	3140	0	0	0	0	0	0	26.10	25.97	26.16
761	-1.24	-90.6	2231	3855	3292	3140	144.5	-19.8	83	771	0.00	1.65	0.00	0.000	1030	0.000	0.019	2231	2673	3216	3291	3141	0	0	0	0	0	0	26.14	26.10	26.15
1067	-1.24	-90.6	2231	2674	3292	3142	206.7	-18.9	114	1072	0.00	0.00	0.00	0.000	6	0.000	0.000	2231	2673	3215	3290	3140	0	0	0	0	0	0	26.07	26.14	26.13
1378	-1.26	-90.6	2231	2675	3292	3142	267.8	-19.4	139	1384	0.00	0.00	0.00	0.000	6	0.000	0.000	2231	2673	3216	3291	3141	0	0	0	0	0	0	26.08	26.15	26.14
1677	-1.28	-90.6	2232	2673	3292	3144	324.2	-18.3	149	1684	0.00	1.98	0.00	0.000	516	0.000	0.023	2231	1348	3215	3290	3140	0	0	0	0	0	0	26.08	26.01	26.13
1769	-1.30	-90.6	2232	1350	3291	3142	340.0	-18.3	152	1780	0.00	2.08	0.00	0.000	1030	0.000	0.025	2222	2706	3215	3290	3140	0	0	0	0	0	0	26.05	26.00	26.08
2094	-1.30	-90.6	2223	2707	3289	3142	402.6	-19.4	163	2100	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2706	3215	3290	3140	0	0	0	0	0	0	26.07	26.14	26.13
2394	-1.30	-90.6	2222	2707	3290	3142	460.5	-19.0	173	2399	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2706	3213	3288	3139	0	0	0	0	0	0	26.08	26.14	26.13
2695	-1.31	-90.6	2223	2706	3288	3140	514.7	-17.6	183	2704	0.00	2.05	0.00	0.000	516	0.000	0.023	2223	1352	3213	3287	3140	0	0	0	0	0	0	26.09	25.97	26.14
2734	-1.33	-90.6	2223	1353	3288	3142	520.2	-17.6	184	2742	0.00	2.08	0.00	0.000	1030	0.000	0.026	2212	2706	3213	3287	3140	0	0	0	0	0	0	26.06	26.01	26.08
3051	-1.33	-90.6	2214	2708	3286	3142	576.0	-17.2	195	3057	0.00	0.00	0.00	0.000	6	0.000	0.000	2214	2706	3212	3285	3140	0	0	0	0	0	0	26.08	26.14	26.13
3351	-1.33	-90.6	2213	2707	3284	3142	629.9	-17.8	205	3358	0.00	1.77	0.00	0.000	260	0.000	0.038	2206	3851	3211	3283	3139	0	0	0	0	0	0	26.06	25.96	26.11
3508	-1.33	-90.6	2206	3853	3284	3140	659.2	-19.6	210	3516	0.00	1.67	0.00	0.000	1030	0.000	0.021	2206	2702	3211	3282	3140	0	0	0	0	0	0	26.08	26.07	26.10
3835	-1.33	-90.6	2206	2701	3282	3142	718.7	-18.3	221	3840	0.00	0.00	0.00	0.000	6	0.000	0.000	2205	2701	3210	3281	3140	0	0	0	0	0	0	26.05	26.12	26.11
4135	-1.33	-90.6	2206	2701	3281	3140	768.5	-16.3	231	4140	0.00	0.00	0.00	0.000	6	0.000	0.000	2206	2701	3210	3280	3140	0	0	0	0	0	0	26.05	26.11	26.10
4343	end dive: TARGET_DEPTH_EXCEEDED
state	4343	begin apogee
4347	-0.25	0.0	2206	2814	3281	3140	802.7	-16.4	238	4431	1.15	0.00	76.22	1.003	10246	0.138	0.000	2549	2814	2838	2880	2796	0	0	0	0	0	0	25.51	25.08	24.32
4431	end apogee: CONTROL_FINISHED_OK
state	4431	begin climb
4433	1.27	90.6	2550	2814	2876	2789	806.0	0.0	240	4516	1.42	1.73	73.60	0.989	10500	0.073	0.039	3039	3835	2463	2492	2434	0	0	0	0	0	0	25.18	24.68	23.95
4576	1.19	279.6	3040	3834	2488	2424	810.6	-4.2	245	4744	0.00	1.50	155.88	0.976	9222	0.000	0.022	3040	2811	1695	1732	1658	0	0	0	0	0	0	25.34	25.32	23.61
5068	1.19	279.6	3040	2812	1720	1640	744.2	17.4	262	5076	0.00	2.12	0.00	0.000	516	0.000	0.026	3039	1421	1678	1718	1638	0	0	0	0	0	0	25.94	25.92	26.01
5225	1.21	279.6	3040	1421	1719	1638	721.4	15.6	267	5232	0.00	2.10	0.00	0.000	1030	0.000	0.025	3040	2791	1677	1717	1638	0	0	0	0	0	0	26.08	26.03	26.10
5542	1.21	279.6	3040	2791	1718	1637	667.6	16.1	278	5547	0.00	0.00	0.00	0.000	6	0.000	0.000	3040	2790	1676	1716	1637	0	0	0	0	0	0	26.10	26.18	26.17
5842	1.18	279.6	3040	2792	1714	1638	621.2	16.2	288	5850	0.00	2.08	0.00	0.000	516	0.000	0.024	3049	1426	1674	1713	1636	0	0	0	0	0	0	26.12	26.09	26.19
6049	1.18	279.6	3049	1425	1714	1636	589.6	15.8	295	6057	0.00	2.12	0.00	0.000	1030	0.000	0.027	3049	2809	1675	1714	1636	0	0	0	0	0	0	26.12	26.07	26.15
6376	1.10	279.6	3050	2812	1717	1636	542.5	14.2	306	6383	0.12	1.60	0.00	0.000	4356	0.192	0.037	3019	3851	1673	1711	1636	0	0	0	0	0	0	25.72	25.91	25.83
6607	1.02	279.6	3019	3851	1709	1636	509.0	17.0	313	6616	0.10	1.55	0.00	0.000	5126	0.177	0.022	3000	2789	1672	1709	1636	0	0	0	0	0	0	25.67	26.11	25.81
6920	1.02	279.6	2999	2788	1710	1636	463.0	13.1	324	6929	0.00	1.67	0.00	0.000	260	0.000	0.040	2999	3857	1672	1709	1636	0	0	0	0	0	0	26.09	25.99	26.16
7153	0.92	279.6	2998	3858	1710	1637	429.2	17.2	331	7161	0.15	1.55	0.00	0.000	5126	0.176	0.023	2964	2802	1672	1709	1636	0	0	0	0	0	0	25.59	26.08	25.72
7465	0.98	289.6	2965	2803	1708	1637	389.4	9.9	342	7472	0.00	1.65	0.00	0.000	260	0.000	0.040	2964	3856	1671	1707	1636	0	0	0	0	0	0	26.08	25.97	26.15
7696	0.98	289.6	2964	3855	1707	1635	360.9	11.4	349	7704	0.00	1.55	0.00	0.000	1030	0.000	0.022	2971	2796	1671	1707	1636	0	0	0	0	0	0	26.12	26.10	26.13
8008	1.07	289.6	2971	2796	1708	1635	320.7	12.2	360	8015	0.00	1.65	0.00	0.000	260	0.000	0.041	2966	3849	1671	1707	1636	0	0	0	0	0	0	26.08	25.97	26.14
8239	1.07	289.6	2971	3849	1708	1637	289.7	14.4	367	8246	0.00	1.52	0.00	0.000	1030	0.000	0.021	2975	2806	1671	1707	1636	0	0	0	0	0	0	26.12	26.10	26.12
8551	1.12	289.6	2977	2806	1707	1635	245.6	11.9	380	8558	0.00	1.62	0.00	0.000	260	0.000	0.039	2977	3850	1671	1707	1635	0	0	0	0	0	0	26.07	25.95	26.13
8657	1.18	300.1	2977	3847	1708	1635	235.3	9.8	390	8687	0.10	1.50	15.70	0.688	11270	0.104	0.023	3025	2796	1606	1644	1569	0	0	0	0	0	0	25.91	26.03	25.17
8982	1.21	300.1	3025	2797	1640	1562	191.0	13.4	423	8989	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	2796	1600	1639	1561	0	0	0	0	0	0	26.05	26.11	26.10
9284	1.23	300.1	3025	2798	1640	1562	153.0	12.1	453	9291	0.00	1.70	0.00	0.000	260	0.000	0.040	3025	3853	1599	1639	1560	0	0	0	0	0	0	26.09	25.96	26.15
9517	1.23	300.1	3025	3852	1640	1559	121.7	12.7	476	9525	0.00	1.55	0.00	0.000	1030	0.000	0.022	3032	2794	1599	1639	1560	0	0	0	0	0	0	26.09	26.07	26.10
9829	1.27	311.5	3032	2794	1641	1559	88.4	9.8	507	9844	0.00	1.65	3.47	0.581	8452	0.000	0.041	3032	3848	1574	1617	1531	0	0	0	0	0	0	26.07	25.87	24.87
9898	1.27	311.5	3033	3848	1622	1536	81.4	10.9	513	9909	0.00	1.50	0.00	0.000	1030	0.000	0.023	3038	2799	1579	1622	1536	0	0	0	0	0	0	26.09	26.06	26.10
10204	1.31	328.8	3038	2794	1622	1537	49.6	9.3	544	10221	0.05	0.00	9.07	0.246	10246	0.165	0.000	3072	2794	1498	1539	1458	0	0	0	0	0	0	25.98	25.77	25.40
10523	1.36	390.5	3073	2795	1552	1460	17.1	5.8	606	10558	0.00	1.70	26.88	0.181	8452	0.000	0.039	3073	3847	1246	1290	1202	0	0	0	0	0	0	26.08	25.86	25.55
10687	end climb: SURFACE_DEPTH_REACHED
state	10687	begin surface coast
10701	end surface coast: CONTROL_FINISHED_OK
state	10701	begin surface