Glider dive log

MIRC Sep14 * SG179 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 179 HEADING -1 C_ROLL_DIVE 2300 ALTIM_PING_DEPTH 0

MISSION 13 ESCAPE_HEADING 0 C_ROLL_CLIMB 2000 ALTIM_PING_DELTA 0

DIVE 2 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

N_DIVES 2 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 8

D_SURF 3 TGT_DEFAULT_LAT 32.6903 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 1

D_FLARE 3 TGT_DEFAULT_LON -118.7761 R_PORT_OVSHOOT 52 XPDR_VALID 6

D_TGT 90 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 51 XPDR_INHIBIT 90

D_ABORT 150 SM_CC 400 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_NO_BLEED 100 N_FILEKB 8 ROLL_MAXERRORS 1 INT_PRESSURE_YINT -0.69999999

D_BOOST 2.5 FILEMGR 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

T_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_FINISH 0 COMM_SEQ 0 VBD_MIN 460 DEVICE1 2

D_PITCH 0 PROTOCOL 9 VBD_MAX 3960 DEVICE2 -1

D_SAFE 0 N_NOCOMM 1 C_VBD 2428 DEVICE3 -1

D_CALL 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE4 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE5 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE6 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 1

T_DIVE 30 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 99

T_MISSION 45 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_TURN 225 HEAPDBG 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_MAXERRORS 1 COMPASS_DEVICE 33

T_NO_W 120 N_GPS -20 W_ADJ_DBAND 0 COMPASS2_DEVICE -1

T_LOITER 0 T_GPS_ALMANAC 0 DBDW 0 PHONE_DEVICE 49

T_EPIRB 0 T_RSLEEP 2 PITCH_W_GAIN 0 GPS_DEVICE 32

USE_BATHY -2 STROBE 0 PITCH_W_DBAND 0 RAFOS_DEVICE -1

USE_ICE 0 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 XPDR_DEVICE 24

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 AH0_24V 140 SIM_W 0

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 AH0_10V 95.099998 SIM_PITCH 0

T_WATCHDOG 10 PITCH_MIN 147 MINV_24V 22 SEABIRD_T_G 0.0043333764

RELAUNCH 1 PITCH_MAX 3923 MINV_10V 9.5 SEABIRD_T_H 0.0006255582

APOGEE_PITCH -5 C_PITCH 2900 FG_AHR_10V 0 SEABIRD_T_I 2.4443518e-05

MAX_BUOY 150 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_J 2.7040428e-06

COURSE_BIAS 0 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_C_G -10.032231

GLIDE_SLOPE 45 P_OVSHOOT 0.039999999 PRESSURE_YINT -37.156891 SEABIRD_C_H 1.1531334

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 PRESSURE_SLOPE 0.0001164844 SEABIRD_C_I -0.0012400629

RHO 1.023 PITCH_GAIN 30 AD7714Ch0Gain 128 SEABIRD_C_J 0.00018751388

MASS 51513 PITCH_TIMEOUT 22 TCM_PITCH_OFFSET 0 PA_OFFLOAD 1.0

MASS_COMP 10000 PITCH_AD_RATE 165 TCM_ROLL_OFFSET 0 PA_MAXUPLOADSIZE 20480.0

NAV_MODE 2 PITCH_MAXERRORS 1 COMPASS_USE 4 PA_MAXOPTIONALUPLOADSIZE 20480.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_PING_RANGE 0 PA_POWERSOURCE 0.0

KALMAN_USE 2 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0 PA_RESTARTMONITOR 0.0

HD_A 0.003 ROLL_MIN 165 ALTIM_BOTTOM_TURN_MARGIN 0 PA_CYCLEPAAM 0.0

HD_B 0.0099999998 ROLL_MAX 3681 ALTIM_TOP_TURN_MARGIN 0

HD_C 9.9999997e-06 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 0

AD7714Ch0Gain 128 D_SAFE 0 PA_POWERSOURCE 0.0 SEABIRD_T_J 2.7040428e-06

AH0_10V 95.099998 D_SURF 3 PA_RESTARTMONITOR 0.0 SIM_PITCH 0

AH0_24V 140 D_TGT 90 PHONE_DEVICE 49 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0.029999999 STROBE 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 8 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 1 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 30 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 45 PITCH_MAX 3923 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_MIN 147 TGT_DEFAULT_LAT 32.6903

APOGEE_PITCH -5 HD_B 0.0099999998 PITCH_TIMEOUT 22 TGT_DEFAULT_LON -118.7761

CALL_NDIVES 1 HD_C 9.9999997e-06 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_TRIES 5 HEADING -1 PITCH_W_DBAND 0 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_DIVE 30

CAPMAXSIZE 100000 HEAPDBG 0 PRESSURE_SLOPE 0.0001164844 T_EPIRB 0

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -37.156891 T_GPS 15

CF8_MAXERRORS 20 ID 179 PROTOCOL 9 T_GPS_ALMANAC 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -0.69999999 P_OVSHOOT_WITHG 0 T_MISSION 45

COMPASS_DEVICE 33 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE1 99 RAFOS_DEVICE -1 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2900 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2000 LOGGERDEVICE4 -1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERS 1 RHO 1.023 UNCOM_BLEED 50

C_VBD 2428 MASS 51513 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 MASS_COMP 10000 ROLL_ADJ_GAIN 0 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 ROLL_AD_RATE 350 USE_ICE 0

DEVICE1 2 MINV_10V 9.5 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MINV_24V 22 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MISSION 13 ROLL_MAX 3681 VBD_DBAND 2

DEVICE4 -1 MOTHERBOARD 4 ROLL_MAXERRORS 1 VBD_MAX 3960

DEVICE5 -1 NAV_MODE 2 ROLL_MIN 165 VBD_MAXERRORS 1

DEVICE6 -1 NOCOMM_ACTION 163 ROLL_TIMEOUT 15 VBD_MIN 460

DIVE 2 N_DIVES 2 R_PORT_OVSHOOT 52 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 150 N_FILEKB 8 R_STBD_OVSHOOT 51 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 2.5 N_GPS -20 SEABIRD_C_G -10.032231 VBD_TIMEOUT 720

D_CALL 0 N_NOCOMM 1 SEABIRD_C_H 1.1531334 W_ADJ_DBAND 0

D_FINISH 0 N_NOSURFACE 0 SEABIRD_C_I -0.0012400629 XPDR_DEVICE 24

D_FLARE 3 PA_CYCLEPAAM 0.0 SEABIRD_C_J 0.00018751388 XPDR_INHIBIT 90

D_NO_BLEED 100 PA_MAXOPTIONALUPLOADSIZE 20480.0 SEABIRD_T_G 0.0043333764 XPDR_VALID 6

D_OFFGRID 1000 PA_MAXUPLOADSIZE 20480.0 SEABIRD_T_H 0.0006255582

D_PITCH 0 PA_OFFLOAD 1.0 SEABIRD_T_I 2.4443518e-05

Pre-dive calculations and measurements:

GPS1 290914,051143,1330.906,14434.895,4,0.7,4,1.0 SPEED_LIMITS 0.100,0.260

_CALLS 1 TGT_NAME N1

_XMS_NAKs 0 TGT_LATLONG 1429.500,14339.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.02 MHEAD_RNG_PITCHd_Wd 301.1,146960,-17.5,-10.000,-21.04,2225

_SM_ANGLEo -65.3 D_GRID 2073

GPS2 290914,051542,1330.917,14434.882,5,0.8,26,1.0

Post-dive calculations and measurements:

FINISH 0.5,1.020087 PA_DATA0 0.00/0.231/117.199/111.015

SM_CCo 1744,7.18,0.048,0,0,796,400.08 PA_ROOT 0.75/0.091/0.121/0.024

SM_GC 0.63,8.00,0.43,7.18,0.031,0.047,0.048,137,2284,796,-8.57,-1.81,400.08,0,0,0,0,0,0,25.98,26.01,25.95 PA_HOME 0.03/0.059/1.764/1.615

IRIDIUM_FIX 1325.32,14435.22,290914,050818 PA_DISK_BANK 3

TT8_MAMPS 0.156541,0.156541 _24V_AH 24.58,0.832

HUMID 51.92 _10V_AH 10.24,1.539

INTERNAL_PRESSURE 9.68126 FG_AHR_24Vo 0.000

TCM_TEMP 27.00 FG_AHR_10Vo 0.000

XPDR_PINGS 3 MEM 230700

PA_PMVER 0.6 DATA_FILE_SIZE 10111,291

PA_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014 CAP_FILE_SIZE 72477,0

PA_BOARDID 1649255 CFSIZE 260034560,257626112

PA_UPTIME 5249.15 4443.54 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

PA_BOOTCOUNT 623 INTR 0,2042.41,0x236bc6,7,5

PA_DFQS 0/0 CURRENT 0.114,57.08,1

PA_LOG 0.06/0.119/1.969/1.750 GPS 290914,054552,1331.133,14434.809,4,0.8,25,1.0

PA_DATA1 0.00/0.058/117.199/111.187

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 246 133.36 SBE_CT 179 23 102.57

Roll_motor 42 54 56.54 nil 0 0 0.00

VBD_pump_during_apogee 413 513 5219.14 nil 0 0 0.00

VBD_pump_during_surface 7 48 8.50 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 1855 128 5880.13

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 7.74 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 29 9.96

TT8 0 0 0.00

LPSleep 370 2 8.31

TT8_Active 555 21 121.99

TT8_Sampling 862 48 427.60

TT8_CF8 29 55 17.08

TT8_Kalman 0 0 0.00

Analog_circuits 1079 10 110.52

GPS_charging 0 0 0.00

Compass 422 15 64.90

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

13 -0.76 -146.6 131 2305 542 453 0.0 0.0 0 107 0.00 0.00 -90.43 0.000 16386 0.000 0.000 130 2305 2557 2593 2521 0 0 0 0 0 0 28.83 28.83 28.83

108 -0.76 -146.6 130 2305 2593 2521 3.2 -8.1 15 138 10.95 2.10 -11.48 0.000 18692 0.246 0.054 2636 3660 3027 3108 2947 0 0 0 0 0 0 25.80 26.31 26.69

354 -0.60 -146.6 2636 3660 3109 2947 58.0 -16.2 63 365 0.25 2.00 0.00 0.000 3078 0.145 0.025 2707 2269 3027 3108 2947 0 0 0 0 0 0 25.86 26.46 28.83

374 -0.46 -146.6 2707 2270 3109 2948 61.6 -17.4 66 385 0.12 0.00 0.00 0.000 2054 0.149 0.000 2748 2269 3027 3108 2947 0 0 0 0 0 0 26.31 28.83 28.83

394 -0.46 -146.6 2748 2269 3108 2948 64.4 -13.9 69 404 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2269 3027 3108 2947 0 0 0 0 0 0 28.83 28.83 28.83

414 -0.53 -146.6 2747 2269 3109 2947 66.7 -13.1 72 424 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2269 3027 3108 2947 0 0 0 0 0 0 28.83 28.83 28.83

433 -0.61 -146.6 2748 2269 3109 2948 69.4 -12.9 75 444 0.12 0.00 0.00 0.000 4102 0.086 0.000 2679 2269 3027 3108 2947 0 0 0 0 0 0 26.58 28.83 28.83

453 -0.61 -146.6 2679 2269 3108 2948 72.4 -14.4 78 464 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2269 3027 3108 2947 0 0 0 0 0 0 28.83 28.83 28.83

473 -0.54 -146.6 2679 2269 3109 2947 75.3 -15.0 81 485 0.12 1.98 0.00 0.000 2564 0.150 0.031 2717 914 3027 3108 2947 0 0 0 0 0 0 26.32 26.36 28.83

550 -0.54 -146.6 2717 914 3109 2947 85.6 -13.0 95 560 0.00 2.03 0.00 0.000 1030 0.000 0.028 2709 2304 3028 3108 2948 0 0 0 0 0 0 28.83 26.41 28.83

569 -0.54 -146.6 2710 2304 3108 2948 88.1 -12.3 98 581 0.00 2.03 0.00 0.000 260 0.000 0.041 2699 3668 3027 3108 2947 0 0 0 0 0 0 28.83 26.33 28.83

589 end dive: TARGET_DEPTH_EXCEEDED

state 589 begin apogee

594 -0.17 0.0 2699 2007 3109 2947 90.6 -13.0 101 722 0.43 0.00 116.78 0.513 10246 0.120 0.000 2841 2007 2428 2504 2352 0 0 0 0 0 0 26.01 28.83 24.63

723 end apogee: CONTROL_FINISHED_OK

state 723 begin climb

724 0.76 146.6 2841 2006 2504 2351 98.3 0.0 122 851 0.88 0.00 113.60 0.503 10758 0.086 0.000 3141 2007 1829 1904 1755 0 0 0 0 0 0 25.42 28.83 24.58

860 0.94 231.6 3141 2007 1904 1754 93.6 6.1 145 936 0.15 2.17 64.45 0.493 10500 0.070 0.031 3220 3399 1483 1560 1406 0 0 0 0 0 0 25.63 25.35 24.60

955 0.83 231.6 3220 3399 1560 1405 82.4 13.8 161 966 0.22 2.10 0.00 0.000 5126 0.130 0.024 3167 1998 1482 1559 1405 0 0 0 0 0 0 25.45 25.70 28.83

976 0.76 231.6 3168 1998 1560 1404 79.7 13.8 164 987 0.00 2.10 0.00 0.000 516 0.000 0.037 3176 604 1480 1559 1402 0 0 0 0 0 0 28.83 25.75 28.83

1036 0.82 231.6 3176 604 1559 1401 72.8 10.8 175 1048 0.00 2.05 0.00 0.000 1030 0.000 0.024 3176 2010 1479 1559 1400 0 0 0 0 0 0 28.83 26.02 28.83

1057 0.86 231.6 3176 2010 1559 1400 70.6 11.0 178 1067 0.00 0.00 0.00 0.000 6 0.000 0.000 3176 2010 1479 1559 1400 0 0 0 0 0 0 28.83 28.83 28.83

1076 0.86 231.6 3176 2011 1559 1400 68.6 10.5 181 1085 0.00 0.00 0.00 0.000 6 0.000 0.000 3176 2010 1479 1559 1400 0 0 0 0 0 0 28.83 28.83 28.83

1094 0.86 231.6 3176 2010 1560 1400 66.7 10.0 184 1104 0.00 2.08 0.00 0.000 260 0.000 0.035 3176 3402 1479 1559 1400 0 0 0 0 0 0 28.83 26.06 28.83

1113 0.86 232.8 3176 3402 1559 1400 64.8 9.9 187 1125 0.00 2.08 0.00 0.000 1030 0.000 0.024 3184 1990 1479 1559 1400 0 0 0 0 0 0 28.83 26.15 28.83

1133 0.86 232.8 3184 1990 1559 1400 62.7 10.2 190 1143 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 1990 1479 1559 1400 0 0 0 0 0 0 28.83 28.83 28.83

1152 0.86 232.8 3184 1990 1560 1400 60.9 10.2 193 1162 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 1990 1479 1559 1400 0 0 0 0 0 0 28.83 28.83 28.83

1171 0.86 232.8 3184 1990 1559 1400 59.0 10.1 196 1181 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 1990 1479 1559 1400 0 0 0 0 0 0 28.83 28.83 28.83

1189 0.86 232.8 3184 1990 1559 1400 57.0 10.2 199 1200 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 1990 1479 1559 1400 0 0 0 0 0 0 28.83 28.83 28.83

1209 0.86 232.8 3185 1991 1559 1400 54.8 11.6 202 1218 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 1990 1479 1559 1400 0 0 0 0 0 0 28.83 28.83 28.83

1228 0.86 232.8 3184 1990 1560 1400 52.8 11.3 205 1237 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 1990 1479 1559 1400 0 0 0 0 0 0 28.83 28.83 28.83

1246 0.86 232.8 3184 1990 1560 1400 50.4 11.7 208 1256 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 1990 1479 1559 1400 0 0 0 0 0 0 28.83 28.83 28.83

1265 0.86 232.8 3184 1990 1559 1400 48.3 11.4 211 1275 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 1990 1479 1559 1400 0 0 0 0 0 0 28.83 28.83 28.83

1284 0.86 232.8 3184 1990 1559 1400 46.2 11.0 214 1294 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 1990 1479 1559 1400 0 0 0 0 0 0 28.83 28.83 28.83

1303 0.86 232.8 3184 1990 1560 1400 44.2 10.4 217 1312 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 1990 1479 1559 1399 0 0 0 0 0 0 28.83 28.83 28.83

1321 0.90 232.8 3184 1991 1559 1400 42.2 10.8 220 1331 0.00 0.00 0.00 0.000 6 0.000 0.000 3183 1990 1479 1559 1399 0 0 0 0 0 0 28.83 28.83 28.83

1340 0.97 243.0 3184 1990 1560 1399 40.5 9.5 223 1358 0.00 2.10 9.52 0.412 8708 0.000 0.038 3194 595 1436 1520 1353 0 0 0 0 0 0 28.83 26.21 25.46

1402 1.08 274.0 3194 596 1520 1352 35.2 8.6 234 1437 0.15 2.03 24.40 0.450 11270 0.072 0.024 3270 2005 1310 1391 1229 0 0 0 0 0 0 26.27 26.32 25.27

1446 0.96 274.0 3270 2005 1392 1227 30.3 12.5 241 1457 0.20 0.00 0.00 0.000 4102 0.134 0.000 3209 2007 1308 1391 1226 0 0 0 0 0 0 25.86 28.83 28.83

1466 0.88 274.0 3210 2007 1391 1226 28.0 12.0 244 1476 0.00 2.08 0.00 0.000 260 0.000 0.034 3210 3398 1308 1391 1225 0 0 0 0 0 0 28.83 26.06 28.83

1515 0.93 310.3 3209 3398 1391 1226 23.8 8.3 253 1554 0.00 2.05 27.85 0.446 9222 0.000 0.024 3215 1999 1162 1246 1078 0 0 0 0 0 0 28.83 26.20 25.13

1563 1.02 351.7 3215 1999 1247 1076 20.0 8.1 261 1603 0.00 2.15 31.50 0.443 8708 0.000 0.038 3225 598 993 1078 909 0 0 0 0 0 0 28.83 25.63 24.94

1617 1.10 378.9 3225 598 1078 908 15.0 8.7 270 1645 0.00 2.05 21.62 0.429 9222 0.000 0.024 3225 1998 883 969 797 0 0 0 0 0 0 28.83 25.84 24.93

1654 1.14 381.8 3224 1998 969 796 11.3 9.9 276 1662 0.12 2.15 3.92 0.288 10500 0.080 0.034 3287 3396 870 958 782 0 0 0 0 0 0 25.78 25.70 24.98

1676 1.07 381.8 3287 3396 958 782 8.2 13.8 280 1683 0.15 2.12 0.00 0.000 5126 0.122 0.025 3248 2010 870 958 782 0 0 0 0 0 0 25.60 25.83 28.83

1692 0.96 381.8 3249 2010 958 782 5.7 15.5 283 1694 0.15 0.00 0.00 0.000 4102 0.150 0.000 3206 2010 870 958 782 0 0 0 0 0 0 25.71 28.83 28.83

1702 0.90 381.8 3207 2010 958 782 4.1 15.1 285 1703 0.00 0.00 0.00 0.000 6 0.000 0.000 3207 2009 869 958 781 0 0 0 0 0 0 28.83 28.83 28.83

1711 end climb: SURFACE_DEPTH_REACHED

state 1711 begin surface coast

1732 end surface coast: CONTROL_FINISHED_OK

state 1732 begin surface

ID	179	HEADING	-1	C_ROLL_DIVE	2300	ALTIM_PING_DEPTH	0
MISSION	13	ESCAPE_HEADING	0	C_ROLL_CLIMB	2000	ALTIM_PING_DELTA	0
DIVE	2	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
N_DIVES	2	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	8
D_SURF	3	TGT_DEFAULT_LAT	32.6903	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	1
D_FLARE	3	TGT_DEFAULT_LON	-118.7761	R_PORT_OVSHOOT	52	XPDR_VALID	6
D_TGT	90	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	51	XPDR_INHIBIT	90
D_ABORT	150	SM_CC	400	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_NO_BLEED	100	N_FILEKB	8	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	-0.69999999
D_BOOST	2.5	FILEMGR	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
T_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_FINISH	0	COMM_SEQ	0	VBD_MIN	460	DEVICE1	2
D_PITCH	0	PROTOCOL	9	VBD_MAX	3960	DEVICE2	-1
D_SAFE	0	N_NOCOMM	1	C_VBD	2428	DEVICE3	-1
D_CALL	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE4	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE5	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE6	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	1
T_DIVE	30	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	99
T_MISSION	45	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_TURN	225	HEAPDBG	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_MAXERRORS	1	COMPASS_DEVICE	33
T_NO_W	120	N_GPS	-20	W_ADJ_DBAND	0	COMPASS2_DEVICE	-1
T_LOITER	0	T_GPS_ALMANAC	0	DBDW	0	PHONE_DEVICE	49
T_EPIRB	0	T_RSLEEP	2	PITCH_W_GAIN	0	GPS_DEVICE	32
USE_BATHY	-2	STROBE	0	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
USE_ICE	0	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	XPDR_DEVICE	24
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	AH0_24V	140	SIM_W	0
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	AH0_10V	95.099998	SIM_PITCH	0
T_WATCHDOG	10	PITCH_MIN	147	MINV_24V	22	SEABIRD_T_G	0.0043333764
RELAUNCH	1	PITCH_MAX	3923	MINV_10V	9.5	SEABIRD_T_H	0.0006255582
APOGEE_PITCH	-5	C_PITCH	2900	FG_AHR_10V	0	SEABIRD_T_I	2.4443518e-05
MAX_BUOY	150	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_J	2.7040428e-06
COURSE_BIAS	0	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_C_G	-10.032231
GLIDE_SLOPE	45	P_OVSHOOT	0.039999999	PRESSURE_YINT	-37.156891	SEABIRD_C_H	1.1531334
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	PRESSURE_SLOPE	0.0001164844	SEABIRD_C_I	-0.0012400629
RHO	1.023	PITCH_GAIN	30	AD7714Ch0Gain	128	SEABIRD_C_J	0.00018751388
MASS	51513	PITCH_TIMEOUT	22	TCM_PITCH_OFFSET	0	PA_OFFLOAD	1.0
MASS_COMP	10000	PITCH_AD_RATE	165	TCM_ROLL_OFFSET	0	PA_MAXUPLOADSIZE	20480.0
NAV_MODE	2	PITCH_MAXERRORS	1	COMPASS_USE	4	PA_MAXOPTIONALUPLOADSIZE	20480.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_PING_RANGE	0	PA_POWERSOURCE	0.0
KALMAN_USE	2	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0	PA_RESTARTMONITOR	0.0
HD_A	0.003	ROLL_MIN	165	ALTIM_BOTTOM_TURN_MARGIN	0	PA_CYCLEPAAM	0.0
HD_B	0.0099999998	ROLL_MAX	3681	ALTIM_TOP_TURN_MARGIN	0
HD_C	9.9999997e-06	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	0

GPS1	290914,051143,1330.906,14434.895,4,0.7,4,1.0	SPEED_LIMITS	0.100,0.260
_CALLS	1	TGT_NAME	N1
_XMS_NAKs	0	TGT_LATLONG	1429.500,14339.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.02	MHEAD_RNG_PITCHd_Wd	301.1,146960,-17.5,-10.000,-21.04,2225
_SM_ANGLEo	-65.3	D_GRID	2073
GPS2	290914,051542,1330.917,14434.882,5,0.8,26,1.0

FINISH	0.5,1.020087	PA_DATA0	0.00/0.231/117.199/111.015
SM_CCo	1744,7.18,0.048,0,0,796,400.08	PA_ROOT	0.75/0.091/0.121/0.024
SM_GC	0.63,8.00,0.43,7.18,0.031,0.047,0.048,137,2284,796,-8.57,-1.81,400.08,0,0,0,0,0,0,25.98,26.01,25.95	PA_HOME	0.03/0.059/1.764/1.615
IRIDIUM_FIX	1325.32,14435.22,290914,050818	PA_DISK_BANK	3
TT8_MAMPS	0.156541,0.156541	_24V_AH	24.58,0.832
HUMID	51.92	_10V_AH	10.24,1.539
INTERNAL_PRESSURE	9.68126	FG_AHR_24Vo	0.000
TCM_TEMP	27.00	FG_AHR_10Vo	0.000
XPDR_PINGS	3	MEM	230700
PA_PMVER	0.6	DATA_FILE_SIZE	10111,291
PA_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014	CAP_FILE_SIZE	72477,0
PA_BOARDID	1649255	CFSIZE	260034560,257626112
PA_UPTIME	5249.15 4443.54	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
PA_BOOTCOUNT	623	INTR	0,2042.41,0x236bc6,7,5
PA_DFQS	0/0	CURRENT	0.114,57.08,1
PA_LOG	0.06/0.119/1.969/1.750	GPS	290914,054552,1331.133,14434.809,4,0.8,25,1.0
PA_DATA1	0.00/0.058/117.199/111.187

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	246	133.36	SBE_CT	179	23	102.57
Roll_motor	42	54	56.54	nil	0	0	0.00
VBD_pump_during_apogee	413	513	5219.14	nil	0	0	0.00
VBD_pump_during_surface	7	48	8.50	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	1855	128	5880.13
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	7.74	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	29	9.96
TT8	0	0	0.00
LPSleep	370	2	8.31
TT8_Active	555	21	121.99
TT8_Sampling	862	48	427.60
TT8_CF8	29	55	17.08
TT8_Kalman	0	0	0.00
Analog_circuits	1079	10	110.52
GPS_charging	0	0	0.00
Compass	422	15	64.90
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
13	-0.76	-146.6	131	2305	542	453	0.0	0.0	0	107	0.00	0.00	-90.43	0.000	16386	0.000	0.000	130	2305	2557	2593	2521	0	0	0	0	0	0	28.83	28.83	28.83
108	-0.76	-146.6	130	2305	2593	2521	3.2	-8.1	15	138	10.95	2.10	-11.48	0.000	18692	0.246	0.054	2636	3660	3027	3108	2947	0	0	0	0	0	0	25.80	26.31	26.69
354	-0.60	-146.6	2636	3660	3109	2947	58.0	-16.2	63	365	0.25	2.00	0.00	0.000	3078	0.145	0.025	2707	2269	3027	3108	2947	0	0	0	0	0	0	25.86	26.46	28.83
374	-0.46	-146.6	2707	2270	3109	2948	61.6	-17.4	66	385	0.12	0.00	0.00	0.000	2054	0.149	0.000	2748	2269	3027	3108	2947	0	0	0	0	0	0	26.31	28.83	28.83
394	-0.46	-146.6	2748	2269	3108	2948	64.4	-13.9	69	404	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2269	3027	3108	2947	0	0	0	0	0	0	28.83	28.83	28.83
414	-0.53	-146.6	2747	2269	3109	2947	66.7	-13.1	72	424	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2269	3027	3108	2947	0	0	0	0	0	0	28.83	28.83	28.83
433	-0.61	-146.6	2748	2269	3109	2948	69.4	-12.9	75	444	0.12	0.00	0.00	0.000	4102	0.086	0.000	2679	2269	3027	3108	2947	0	0	0	0	0	0	26.58	28.83	28.83
453	-0.61	-146.6	2679	2269	3108	2948	72.4	-14.4	78	464	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2269	3027	3108	2947	0	0	0	0	0	0	28.83	28.83	28.83
473	-0.54	-146.6	2679	2269	3109	2947	75.3	-15.0	81	485	0.12	1.98	0.00	0.000	2564	0.150	0.031	2717	914	3027	3108	2947	0	0	0	0	0	0	26.32	26.36	28.83
550	-0.54	-146.6	2717	914	3109	2947	85.6	-13.0	95	560	0.00	2.03	0.00	0.000	1030	0.000	0.028	2709	2304	3028	3108	2948	0	0	0	0	0	0	28.83	26.41	28.83
569	-0.54	-146.6	2710	2304	3108	2948	88.1	-12.3	98	581	0.00	2.03	0.00	0.000	260	0.000	0.041	2699	3668	3027	3108	2947	0	0	0	0	0	0	28.83	26.33	28.83
589	end dive: TARGET_DEPTH_EXCEEDED
state	589	begin apogee
594	-0.17	0.0	2699	2007	3109	2947	90.6	-13.0	101	722	0.43	0.00	116.78	0.513	10246	0.120	0.000	2841	2007	2428	2504	2352	0	0	0	0	0	0	26.01	28.83	24.63
723	end apogee: CONTROL_FINISHED_OK
state	723	begin climb
724	0.76	146.6	2841	2006	2504	2351	98.3	0.0	122	851	0.88	0.00	113.60	0.503	10758	0.086	0.000	3141	2007	1829	1904	1755	0	0	0	0	0	0	25.42	28.83	24.58
860	0.94	231.6	3141	2007	1904	1754	93.6	6.1	145	936	0.15	2.17	64.45	0.493	10500	0.070	0.031	3220	3399	1483	1560	1406	0	0	0	0	0	0	25.63	25.35	24.60
955	0.83	231.6	3220	3399	1560	1405	82.4	13.8	161	966	0.22	2.10	0.00	0.000	5126	0.130	0.024	3167	1998	1482	1559	1405	0	0	0	0	0	0	25.45	25.70	28.83
976	0.76	231.6	3168	1998	1560	1404	79.7	13.8	164	987	0.00	2.10	0.00	0.000	516	0.000	0.037	3176	604	1480	1559	1402	0	0	0	0	0	0	28.83	25.75	28.83
1036	0.82	231.6	3176	604	1559	1401	72.8	10.8	175	1048	0.00	2.05	0.00	0.000	1030	0.000	0.024	3176	2010	1479	1559	1400	0	0	0	0	0	0	28.83	26.02	28.83
1057	0.86	231.6	3176	2010	1559	1400	70.6	11.0	178	1067	0.00	0.00	0.00	0.000	6	0.000	0.000	3176	2010	1479	1559	1400	0	0	0	0	0	0	28.83	28.83	28.83
1076	0.86	231.6	3176	2011	1559	1400	68.6	10.5	181	1085	0.00	0.00	0.00	0.000	6	0.000	0.000	3176	2010	1479	1559	1400	0	0	0	0	0	0	28.83	28.83	28.83
1094	0.86	231.6	3176	2010	1560	1400	66.7	10.0	184	1104	0.00	2.08	0.00	0.000	260	0.000	0.035	3176	3402	1479	1559	1400	0	0	0	0	0	0	28.83	26.06	28.83
1113	0.86	232.8	3176	3402	1559	1400	64.8	9.9	187	1125	0.00	2.08	0.00	0.000	1030	0.000	0.024	3184	1990	1479	1559	1400	0	0	0	0	0	0	28.83	26.15	28.83
1133	0.86	232.8	3184	1990	1559	1400	62.7	10.2	190	1143	0.00	0.00	0.00	0.000	6	0.000	0.000	3184	1990	1479	1559	1400	0	0	0	0	0	0	28.83	28.83	28.83
1152	0.86	232.8	3184	1990	1560	1400	60.9	10.2	193	1162	0.00	0.00	0.00	0.000	6	0.000	0.000	3184	1990	1479	1559	1400	0	0	0	0	0	0	28.83	28.83	28.83
1171	0.86	232.8	3184	1990	1559	1400	59.0	10.1	196	1181	0.00	0.00	0.00	0.000	6	0.000	0.000	3184	1990	1479	1559	1400	0	0	0	0	0	0	28.83	28.83	28.83
1189	0.86	232.8	3184	1990	1559	1400	57.0	10.2	199	1200	0.00	0.00	0.00	0.000	6	0.000	0.000	3184	1990	1479	1559	1400	0	0	0	0	0	0	28.83	28.83	28.83
1209	0.86	232.8	3185	1991	1559	1400	54.8	11.6	202	1218	0.00	0.00	0.00	0.000	6	0.000	0.000	3184	1990	1479	1559	1400	0	0	0	0	0	0	28.83	28.83	28.83
1228	0.86	232.8	3184	1990	1560	1400	52.8	11.3	205	1237	0.00	0.00	0.00	0.000	6	0.000	0.000	3184	1990	1479	1559	1400	0	0	0	0	0	0	28.83	28.83	28.83
1246	0.86	232.8	3184	1990	1560	1400	50.4	11.7	208	1256	0.00	0.00	0.00	0.000	6	0.000	0.000	3184	1990	1479	1559	1400	0	0	0	0	0	0	28.83	28.83	28.83
1265	0.86	232.8	3184	1990	1559	1400	48.3	11.4	211	1275	0.00	0.00	0.00	0.000	6	0.000	0.000	3184	1990	1479	1559	1400	0	0	0	0	0	0	28.83	28.83	28.83
1284	0.86	232.8	3184	1990	1559	1400	46.2	11.0	214	1294	0.00	0.00	0.00	0.000	6	0.000	0.000	3184	1990	1479	1559	1400	0	0	0	0	0	0	28.83	28.83	28.83
1303	0.86	232.8	3184	1990	1560	1400	44.2	10.4	217	1312	0.00	0.00	0.00	0.000	6	0.000	0.000	3184	1990	1479	1559	1399	0	0	0	0	0	0	28.83	28.83	28.83
1321	0.90	232.8	3184	1991	1559	1400	42.2	10.8	220	1331	0.00	0.00	0.00	0.000	6	0.000	0.000	3183	1990	1479	1559	1399	0	0	0	0	0	0	28.83	28.83	28.83
1340	0.97	243.0	3184	1990	1560	1399	40.5	9.5	223	1358	0.00	2.10	9.52	0.412	8708	0.000	0.038	3194	595	1436	1520	1353	0	0	0	0	0	0	28.83	26.21	25.46
1402	1.08	274.0	3194	596	1520	1352	35.2	8.6	234	1437	0.15	2.03	24.40	0.450	11270	0.072	0.024	3270	2005	1310	1391	1229	0	0	0	0	0	0	26.27	26.32	25.27
1446	0.96	274.0	3270	2005	1392	1227	30.3	12.5	241	1457	0.20	0.00	0.00	0.000	4102	0.134	0.000	3209	2007	1308	1391	1226	0	0	0	0	0	0	25.86	28.83	28.83
1466	0.88	274.0	3210	2007	1391	1226	28.0	12.0	244	1476	0.00	2.08	0.00	0.000	260	0.000	0.034	3210	3398	1308	1391	1225	0	0	0	0	0	0	28.83	26.06	28.83
1515	0.93	310.3	3209	3398	1391	1226	23.8	8.3	253	1554	0.00	2.05	27.85	0.446	9222	0.000	0.024	3215	1999	1162	1246	1078	0	0	0	0	0	0	28.83	26.20	25.13
1563	1.02	351.7	3215	1999	1247	1076	20.0	8.1	261	1603	0.00	2.15	31.50	0.443	8708	0.000	0.038	3225	598	993	1078	909	0	0	0	0	0	0	28.83	25.63	24.94
1617	1.10	378.9	3225	598	1078	908	15.0	8.7	270	1645	0.00	2.05	21.62	0.429	9222	0.000	0.024	3225	1998	883	969	797	0	0	0	0	0	0	28.83	25.84	24.93
1654	1.14	381.8	3224	1998	969	796	11.3	9.9	276	1662	0.12	2.15	3.92	0.288	10500	0.080	0.034	3287	3396	870	958	782	0	0	0	0	0	0	25.78	25.70	24.98
1676	1.07	381.8	3287	3396	958	782	8.2	13.8	280	1683	0.15	2.12	0.00	0.000	5126	0.122	0.025	3248	2010	870	958	782	0	0	0	0	0	0	25.60	25.83	28.83
1692	0.96	381.8	3249	2010	958	782	5.7	15.5	283	1694	0.15	0.00	0.00	0.000	4102	0.150	0.000	3206	2010	870	958	782	0	0	0	0	0	0	25.71	28.83	28.83
1702	0.90	381.8	3207	2010	958	782	4.1	15.1	285	1703	0.00	0.00	0.00	0.000	6	0.000	0.000	3207	2009	869	958	781	0	0	0	0	0	0	28.83	28.83	28.83
1711	end climb: SURFACE_DEPTH_REACHED
state	1711	begin surface coast
1732	end surface coast: CONTROL_FINISHED_OK
state	1732	begin surface