Glider dive log

HI Dec14 * SG203 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 203 HEADING -1 C_ROLL_CLIMB 2500 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 6 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0

DIVE 4 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 0

N_DIVES 4 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13

D_SURF 2 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 75 ALTIM_PULSE 2

D_FLARE 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 46 ALTIM_SENSITIVITY 4

D_TGT 360 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 XPDR_VALID 2

D_ABORT 1030 SM_CC 450 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 0.00013 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_DIVE 120 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_MISSION 150 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 20 DBDW 0 COMPASS_DEVICE 33

T_LOITER 0 T_RSLEEP 2 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

T_EPIRB 0 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

USE_BATHY -1 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 97 XPDR_DEVICE 24

D_OFFGRID 1020 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 2850 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 150 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 -63.024231 SEABIRD_C_H 1.1409903

RHO 1.0275 PITCH_TIMEOUT 17 PRESSURE_SLOPE 0.0001160131 SEABIRD_C_I -0.00071586663

MASS 52103 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 2 COMPASS_USE 4 PA_MAXOPTIONALUPLOADSIZE 0.0

KALMAN_USE 2 ROLL_MIN 302 ALTIM_BOTTOM_PING_RANGE 0 PA_POWERSOURCE 0.0

HD_A 0.0038360001 ROLL_MAX 3859 ALTIM_TOP_PING_RANGE 0 PA_RESTARTMONITOR 0.0

HD_B 0.010078 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PA_CYCLEPAAM 1.0

HD_C 9.8500004e-06 C_ROLL_DIVE 2400 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_SAFE 0 PA_MAXUPLOADSIZE 20480.0 SEABIRD_T_H 0.00063351821

AH0_10V 97 D_SURF 2 PA_OFFLOAD 1.0 SEABIRD_T_I 2.5271875e-05

AH0_24V 150 D_TGT 360 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 450

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_ADJ_DBAND 2 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 0.0038360001 PITCH_MAX 3901 TCM_ROLL_OFFSET 0

APOGEE_PITCH -5 HD_B 0.010078 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_C 9.8500004e-06 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 0.00013 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 120

CF8_MAXERRORS 20 ID 203 PRESSURE_SLOPE 0.0001160131 T_EPIRB 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0093 PRESSURE_YINT -63.024231 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 150

COMPASS_USE 4 LOGGERDEVICE1 99 P_OVSHOOT_WITHG 0 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE2 -1 RAFOS_CORR_THRESH 60 T_RSLEEP 2

C_PITCH 2850 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_TURN 225

C_ROLL_CLIMB 2500 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT 5

C_ROLL_DIVE 2400 LOGGERS 1 RAFOS_PEAK_OFFSET 1.5 T_WATCHDOG 10

C_VBD 2839 MASS 52103 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 -1

DEVICE1 2 MAXI_24V 0.60000002 ROLL_ADJ_GAIN 0 USE_ICE 0

DEVICE2 -1 MAX_BUOY 150 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 6 ROLL_MAX 3859 VBD_MAX 3960

DEVICE6 -1 MOTHERBOARD 4 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DIVE 4 NAV_MODE 2 ROLL_MIN 302 VBD_MIN 500

D_ABORT 1030 NOCOMM_ACTION 163 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 50 N_DIVES 4 R_PORT_OVSHOOT 75 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_FILEKB 8 R_STBD_OVSHOOT 46 VBD_TIMEOUT 720

D_FINISH 0 N_GPS 20 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 1020 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 111214,230132,2110.8669,-15810.3428,38,1.0,38,9.6,0.0,0.0,9,10.2 SPEED_LIMITS 0.100,0.260

_CALLS 1 TGT_NAME H1

_XMS_NAKs 0 TGT_LATLONG 2015.120,-15751.550

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 1.17 MHEAD_RNG_PITCHd_Wd 152.8,108327,-18.3,-10.000,-21.02,2236

_SM_ANGLEo -63.6 D_GRID 1505

GPS2 111214,230425,2110.8767,-15810.3926,7,0.9,7,9.6,0.8,303.5,10,15.3

Post-dive calculations and measurements:

FINISH 0.6,1.022632 PA_DATA0 0.01/1.577/117.199/109.669

SM_CCo 6601,9.60,0.129,0,0,1002,450.37 PA_ROOT 0.76/0.092/0.121/0.022

SM_GC 2.91,7.68,0.08,9.60,0.043,0.114,0.129,197,2401,1002,-8.20,2.23,450.37,0,0,0,0,0,0,27.04,27.13,26.83 PA_HOME 0.01/0.173/27.046/25.499

IRIDIUM_FIX 2101.76,-15811.92,111214,230159 PA_DISK_BANK 0

TT8_MAMPS 0.152047,0.152047 _24V_AH 24.89,4.716

HUMID 39.48 _10V_AH 10.43,5.628

INTERNAL_PRESSURE 9.2672 FG_AHR_24Vo 0.000

TCM_TEMP 25.20 FG_AHR_10Vo 0.000

XPDR_PINGS 0 MEM 270596

PA_PMVER 0.6 DATA_FILE_SIZE 23491,533

PA_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014 CAP_FILE_SIZE 92931,0

PA_BOARDID 1654118 CFSIZE 1024393216,1019576320

PA_UPTIME 6574.88 3518.99 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0

PA_BOOTCOUNT 105 INTR 1,2762.97,0x233740,1,24

PA_DFQS 0/0 CURRENT 0.000,117.03,1

PA_LOG 0.01/0.176/31.498/29.722 GPS 121214,005507,2110.496,-15810.656,4,1.1,4,9.6,0.0,0.0,9,46.9

PA_DATA1 0.00/0.058/117.199/111.187

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 237 110.53 SBE_CT 354 23 211.59

Roll_motor 56 113 159.30 nil 0 0 0.00

VBD_pump_during_apogee 438 1025 11185.66 nil 0 0 0.00

VBD_pump_during_surface 9 129 30.89 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 6603 131 21668.29

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 26 2.24

TT8 0 0 0.00

LPSleep 4407 2 100.67

TT8_Active 475 18 91.52

TT8_Sampling 1735 43 781.54

TT8_CF8 32 60 20.69

TT8_Kalman 0 0 0.00

Analog_circuits 1257 16 209.80

GPS_charging 0 0 0.00

Compass 1193 8 102.57

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

90 end surface: CONTROL_FINISHED_OK

state 90 begin dive

91 -0.72 -146.0 192 2402 1059 958 0.0 0.0 0 149 0.00 0.00 -55.22 0.000 16386 0.000 0.000 192 2403 2700 2724 2677 0 0 0 0 0 0 27.24 28.83 27.32

150 -0.72 -146.0 192 2404 2725 2678 3.6 -7.2 9 181 8.85 2.00 -14.35 0.000 18948 0.220 0.047 2600 1012 3435 3496 3375 0 0 0 0 0 0 26.74 25.79 27.02

285 -0.72 -146.0 2598 1011 3497 3375 28.2 -16.5 35 295 0.00 2.00 0.00 0.000 1030 0.000 0.031 2593 2405 3435 3496 3375 0 0 0 0 0 0 27.15 27.10 27.17

600 -0.72 -146.0 2594 2407 3497 3376 85.7 -18.6 78 608 0.00 2.05 0.00 0.000 260 0.000 0.044 2585 3799 3436 3497 3375 0 0 0 0 0 0 27.39 27.14 27.47

717 -0.72 -146.0 2585 3800 3498 3376 106.4 -16.3 89 726 0.10 1.95 0.00 0.000 3078 0.166 0.024 2608 2384 3435 3496 3375 0 0 0 0 0 0 27.05 27.24 27.18

1029 -0.84 -146.0 2609 2382 3498 3375 144.9 -10.9 120 1038 0.00 2.10 0.00 0.000 260 0.000 0.045 2603 3802 3435 3496 3375 0 0 0 0 0 0 27.43 27.18 27.50

1206 -0.95 -146.0 2603 3803 3498 3376 163.5 -10.0 137 1217 0.15 1.92 0.00 0.000 5126 0.080 0.024 2516 2400 3436 3497 3375 0 0 0 0 0 0 27.24 27.29 27.29

1511 -0.95 -146.0 2517 2401 3498 3376 210.1 -15.5 168 1520 0.00 2.08 0.00 0.000 260 0.000 0.045 2507 3798 3436 3498 3375 0 0 0 0 0 0 27.46 27.21 27.53

1684 -0.95 -146.0 2507 3799 3498 3375 238.5 -16.4 185 1695 0.10 1.95 0.00 0.000 3078 0.169 0.026 2531 2396 3436 3497 3375 0 0 0 0 0 0 27.10 27.31 27.24

2008 -0.95 -146.0 2531 2395 3499 3374 280.9 -13.0 201 2016 0.00 2.10 0.00 0.000 260 0.000 0.046 2523 3809 3435 3496 3374 0 0 0 0 0 0 27.46 27.21 27.53

2199 -0.95 -146.0 2524 3809 3497 3374 305.3 -14.0 207 2207 0.00 1.95 0.00 0.000 1030 0.000 0.026 2523 2402 3435 3496 3374 0 0 0 0 0 0 27.34 27.31 27.36

2511 -0.95 -146.0 2524 2401 3493 3376 346.6 -12.8 218 2518 0.00 2.10 0.00 0.000 260 0.000 0.047 2513 3809 3435 3492 3378 0 0 0 0 0 0 27.46 27.21 27.53

2626 end dive: TARGET_DEPTH_EXCEEDED

state 2626 begin apogee

2630 -0.19 0.0 2514 2506 3491 3376 363.0 -14.2 222 2757 0.77 0.00 113.18 1.025 10246 0.125 0.000 2769 2504 2841 2904 2779 0 0 0 0 1 0 27.05 25.64 24.89

2758 end apogee: CONTROL_FINISHED_OK

state 2758 begin climb

2759 0.72 146.0 2770 2506 2917 2779 370.6 0.0 226 2884 0.82 2.15 113.32 0.584 11012 0.069 0.046 3075 3841 2235 2290 2181 0 0 0 0 0 0 25.89 25.92 25.46

3108 0.74 297.7 3076 3842 2280 2171 372.7 3.0 238 3234 0.00 1.95 114.95 0.576 9222 0.000 0.027 3082 2465 1621 1679 1563 0 0 0 0 0 0 26.89 26.84 25.52

3528 0.83 304.2 3082 2465 1660 1539 337.2 9.7 252 3536 0.08 2.10 0.00 0.000 2820 0.138 0.047 3122 3847 1599 1659 1539 0 0 0 0 0 0 26.91 26.83 26.95

3604 0.83 304.2 3122 3847 1660 1539 330.0 11.2 254 3612 0.00 1.92 0.00 0.000 1030 0.000 0.028 3129 2492 1598 1658 1539 0 0 0 0 0 0 27.01 26.97 27.02

3910 0.83 306.5 3129 2491 1656 1538 295.3 9.9 264 3918 0.00 1.98 0.00 0.000 516 0.000 0.033 3137 1115 1595 1653 1537 0 0 0 0 0 0 27.24 27.05 27.33

4047 0.84 313.4 3138 1116 1654 1538 283.9 9.7 268 4062 0.00 2.03 3.85 0.454 9222 0.000 0.034 3137 2503 1560 1622 1498 0 0 0 0 0 0 27.15 27.08 26.32

4357 0.84 313.4 3138 2503 1644 1512 250.8 10.4 279 4365 0.00 2.03 0.00 0.000 260 0.000 0.050 3137 3849 1575 1644 1506 0 0 0 0 0 0 27.36 27.09 27.39

4473 0.84 313.4 3137 3850 1643 1511 237.3 12.8 288 4484 0.00 1.90 0.00 0.000 1030 0.000 0.029 3147 2495 1577 1643 1512 0 0 0 0 0 0 27.23 27.20 27.25

4779 0.84 313.4 3147 2495 1643 1511 197.9 12.6 319 4786 0.00 2.05 0.00 0.000 260 0.000 0.050 3147 3853 1576 1642 1511 0 0 0 0 0 0 27.38 27.14 27.45

5010 0.84 313.4 3147 3856 1641 1513 169.2 12.2 342 5019 0.08 1.90 0.00 0.000 5126 0.237 0.028 3137 2501 1576 1640 1512 0 0 0 0 0 0 27.02 27.24 27.17

5323 0.84 336.4 3138 2501 1640 1513 139.1 8.9 373 5360 0.00 2.08 27.15 0.455 8452 0.000 0.046 3136 3856 1455 1514 1396 0 0 0 0 0 0 27.41 26.86 26.42

5524 0.84 336.4 3138 3857 1505 1389 117.3 10.9 393 5532 0.00 1.92 0.00 0.000 1030 0.000 0.028 3139 2489 1446 1504 1388 0 0 0 0 0 0 27.14 27.10 27.16

5836 0.95 362.0 3139 2488 1505 1387 87.2 8.8 424 5864 0.00 2.00 19.90 0.429 8708 0.000 0.030 3149 1103 1358 1419 1297 0 0 0 0 0 0 27.33 26.72 26.45

6043 1.08 419.2 3149 1103 1407 1289 72.0 7.4 444 6102 0.10 2.03 46.05 0.408 11270 0.112 0.032 3200 2503 1118 1188 1048 0 0 0 0 0 0 27.01 27.05 26.22

6398 1.08 419.2 3199 2503 1179 1036 28.2 13.8 496 6409 0.00 2.03 0.00 0.000 260 0.000 0.047 3200 3853 1106 1178 1035 0 0 0 0 0 0 27.18 26.94 27.25

6503 1.08 419.2 3200 3854 1178 1037 12.5 15.1 516 6510 0.00 1.95 0.00 0.000 1030 0.000 0.026 3210 2494 1106 1177 1035 0 0 0 0 0 0 27.10 27.07 27.12

6578 end climb: SURFACE_DEPTH_REACHED

state 6578 begin surface coast

6588 end surface coast: CONTROL_FINISHED_OK

state 6588 begin surface

ID	203	HEADING	-1	C_ROLL_CLIMB	2500	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	6	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0
DIVE	4	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	0
N_DIVES	4	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13
D_SURF	2	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	75	ALTIM_PULSE	2
D_FLARE	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	46	ALTIM_SENSITIVITY	4
D_TGT	360	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	XPDR_VALID	2
D_ABORT	1030	SM_CC	450	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	0.00013	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_DIVE	120	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_MISSION	150	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	20	DBDW	0	COMPASS_DEVICE	33
T_LOITER	0	T_RSLEEP	2	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
T_EPIRB	0	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
USE_BATHY	-1	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	97	XPDR_DEVICE	24
D_OFFGRID	1020	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	2850	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	150	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	-63.024231	SEABIRD_C_H	1.1409903
RHO	1.0275	PITCH_TIMEOUT	17	PRESSURE_SLOPE	0.0001160131	SEABIRD_C_I	-0.00071586663
MASS	52103	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	2	COMPASS_USE	4	PA_MAXOPTIONALUPLOADSIZE	0.0
KALMAN_USE	2	ROLL_MIN	302	ALTIM_BOTTOM_PING_RANGE	0	PA_POWERSOURCE	0.0
HD_A	0.0038360001	ROLL_MAX	3859	ALTIM_TOP_PING_RANGE	0	PA_RESTARTMONITOR	0.0
HD_B	0.010078	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PA_CYCLEPAAM	1.0
HD_C	9.8500004e-06	C_ROLL_DIVE	2400	ALTIM_TOP_TURN_MARGIN	0

GPS1	111214,230132,2110.8669,-15810.3428,38,1.0,38,9.6,0.0,0.0,9,10.2	SPEED_LIMITS	0.100,0.260
_CALLS	1	TGT_NAME	H1
_XMS_NAKs	0	TGT_LATLONG	2015.120,-15751.550
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	1.17	MHEAD_RNG_PITCHd_Wd	152.8,108327,-18.3,-10.000,-21.02,2236
_SM_ANGLEo	-63.6	D_GRID	1505
GPS2	111214,230425,2110.8767,-15810.3926,7,0.9,7,9.6,0.8,303.5,10,15.3

FINISH	0.6,1.022632	PA_DATA0	0.01/1.577/117.199/109.669
SM_CCo	6601,9.60,0.129,0,0,1002,450.37	PA_ROOT	0.76/0.092/0.121/0.022
SM_GC	2.91,7.68,0.08,9.60,0.043,0.114,0.129,197,2401,1002,-8.20,2.23,450.37,0,0,0,0,0,0,27.04,27.13,26.83	PA_HOME	0.01/0.173/27.046/25.499
IRIDIUM_FIX	2101.76,-15811.92,111214,230159	PA_DISK_BANK	0
TT8_MAMPS	0.152047,0.152047	_24V_AH	24.89,4.716
HUMID	39.48	_10V_AH	10.43,5.628
INTERNAL_PRESSURE	9.2672	FG_AHR_24Vo	0.000
TCM_TEMP	25.20	FG_AHR_10Vo	0.000
XPDR_PINGS	0	MEM	270596
PA_PMVER	0.6	DATA_FILE_SIZE	23491,533
PA_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014	CAP_FILE_SIZE	92931,0
PA_BOARDID	1654118	CFSIZE	1024393216,1019576320
PA_UPTIME	6574.88 3518.99	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0
PA_BOOTCOUNT	105	INTR	1,2762.97,0x233740,1,24
PA_DFQS	0/0	CURRENT	0.000,117.03,1
PA_LOG	0.01/0.176/31.498/29.722	GPS	121214,005507,2110.496,-15810.656,4,1.1,4,9.6,0.0,0.0,9,46.9
PA_DATA1	0.00/0.058/117.199/111.187

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	237	110.53	SBE_CT	354	23	211.59
Roll_motor	56	113	159.30	nil	0	0	0.00
VBD_pump_during_apogee	438	1025	11185.66	nil	0	0	0.00
VBD_pump_during_surface	9	129	30.89	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	6603	131	21668.29
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	26	2.24
TT8	0	0	0.00
LPSleep	4407	2	100.67
TT8_Active	475	18	91.52
TT8_Sampling	1735	43	781.54
TT8_CF8	32	60	20.69
TT8_Kalman	0	0	0.00
Analog_circuits	1257	16	209.80
GPS_charging	0	0	0.00
Compass	1193	8	102.57
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
90	end surface: CONTROL_FINISHED_OK
state	90	begin dive
91	-0.72	-146.0	192	2402	1059	958	0.0	0.0	0	149	0.00	0.00	-55.22	0.000	16386	0.000	0.000	192	2403	2700	2724	2677	0	0	0	0	0	0	27.24	28.83	27.32
150	-0.72	-146.0	192	2404	2725	2678	3.6	-7.2	9	181	8.85	2.00	-14.35	0.000	18948	0.220	0.047	2600	1012	3435	3496	3375	0	0	0	0	0	0	26.74	25.79	27.02
285	-0.72	-146.0	2598	1011	3497	3375	28.2	-16.5	35	295	0.00	2.00	0.00	0.000	1030	0.000	0.031	2593	2405	3435	3496	3375	0	0	0	0	0	0	27.15	27.10	27.17
600	-0.72	-146.0	2594	2407	3497	3376	85.7	-18.6	78	608	0.00	2.05	0.00	0.000	260	0.000	0.044	2585	3799	3436	3497	3375	0	0	0	0	0	0	27.39	27.14	27.47
717	-0.72	-146.0	2585	3800	3498	3376	106.4	-16.3	89	726	0.10	1.95	0.00	0.000	3078	0.166	0.024	2608	2384	3435	3496	3375	0	0	0	0	0	0	27.05	27.24	27.18
1029	-0.84	-146.0	2609	2382	3498	3375	144.9	-10.9	120	1038	0.00	2.10	0.00	0.000	260	0.000	0.045	2603	3802	3435	3496	3375	0	0	0	0	0	0	27.43	27.18	27.50
1206	-0.95	-146.0	2603	3803	3498	3376	163.5	-10.0	137	1217	0.15	1.92	0.00	0.000	5126	0.080	0.024	2516	2400	3436	3497	3375	0	0	0	0	0	0	27.24	27.29	27.29
1511	-0.95	-146.0	2517	2401	3498	3376	210.1	-15.5	168	1520	0.00	2.08	0.00	0.000	260	0.000	0.045	2507	3798	3436	3498	3375	0	0	0	0	0	0	27.46	27.21	27.53
1684	-0.95	-146.0	2507	3799	3498	3375	238.5	-16.4	185	1695	0.10	1.95	0.00	0.000	3078	0.169	0.026	2531	2396	3436	3497	3375	0	0	0	0	0	0	27.10	27.31	27.24
2008	-0.95	-146.0	2531	2395	3499	3374	280.9	-13.0	201	2016	0.00	2.10	0.00	0.000	260	0.000	0.046	2523	3809	3435	3496	3374	0	0	0	0	0	0	27.46	27.21	27.53
2199	-0.95	-146.0	2524	3809	3497	3374	305.3	-14.0	207	2207	0.00	1.95	0.00	0.000	1030	0.000	0.026	2523	2402	3435	3496	3374	0	0	0	0	0	0	27.34	27.31	27.36
2511	-0.95	-146.0	2524	2401	3493	3376	346.6	-12.8	218	2518	0.00	2.10	0.00	0.000	260	0.000	0.047	2513	3809	3435	3492	3378	0	0	0	0	0	0	27.46	27.21	27.53
2626	end dive: TARGET_DEPTH_EXCEEDED
state	2626	begin apogee
2630	-0.19	0.0	2514	2506	3491	3376	363.0	-14.2	222	2757	0.77	0.00	113.18	1.025	10246	0.125	0.000	2769	2504	2841	2904	2779	0	0	0	0	1	0	27.05	25.64	24.89
2758	end apogee: CONTROL_FINISHED_OK
state	2758	begin climb
2759	0.72	146.0	2770	2506	2917	2779	370.6	0.0	226	2884	0.82	2.15	113.32	0.584	11012	0.069	0.046	3075	3841	2235	2290	2181	0	0	0	0	0	0	25.89	25.92	25.46
3108	0.74	297.7	3076	3842	2280	2171	372.7	3.0	238	3234	0.00	1.95	114.95	0.576	9222	0.000	0.027	3082	2465	1621	1679	1563	0	0	0	0	0	0	26.89	26.84	25.52
3528	0.83	304.2	3082	2465	1660	1539	337.2	9.7	252	3536	0.08	2.10	0.00	0.000	2820	0.138	0.047	3122	3847	1599	1659	1539	0	0	0	0	0	0	26.91	26.83	26.95
3604	0.83	304.2	3122	3847	1660	1539	330.0	11.2	254	3612	0.00	1.92	0.00	0.000	1030	0.000	0.028	3129	2492	1598	1658	1539	0	0	0	0	0	0	27.01	26.97	27.02
3910	0.83	306.5	3129	2491	1656	1538	295.3	9.9	264	3918	0.00	1.98	0.00	0.000	516	0.000	0.033	3137	1115	1595	1653	1537	0	0	0	0	0	0	27.24	27.05	27.33
4047	0.84	313.4	3138	1116	1654	1538	283.9	9.7	268	4062	0.00	2.03	3.85	0.454	9222	0.000	0.034	3137	2503	1560	1622	1498	0	0	0	0	0	0	27.15	27.08	26.32
4357	0.84	313.4	3138	2503	1644	1512	250.8	10.4	279	4365	0.00	2.03	0.00	0.000	260	0.000	0.050	3137	3849	1575	1644	1506	0	0	0	0	0	0	27.36	27.09	27.39
4473	0.84	313.4	3137	3850	1643	1511	237.3	12.8	288	4484	0.00	1.90	0.00	0.000	1030	0.000	0.029	3147	2495	1577	1643	1512	0	0	0	0	0	0	27.23	27.20	27.25
4779	0.84	313.4	3147	2495	1643	1511	197.9	12.6	319	4786	0.00	2.05	0.00	0.000	260	0.000	0.050	3147	3853	1576	1642	1511	0	0	0	0	0	0	27.38	27.14	27.45
5010	0.84	313.4	3147	3856	1641	1513	169.2	12.2	342	5019	0.08	1.90	0.00	0.000	5126	0.237	0.028	3137	2501	1576	1640	1512	0	0	0	0	0	0	27.02	27.24	27.17
5323	0.84	336.4	3138	2501	1640	1513	139.1	8.9	373	5360	0.00	2.08	27.15	0.455	8452	0.000	0.046	3136	3856	1455	1514	1396	0	0	0	0	0	0	27.41	26.86	26.42
5524	0.84	336.4	3138	3857	1505	1389	117.3	10.9	393	5532	0.00	1.92	0.00	0.000	1030	0.000	0.028	3139	2489	1446	1504	1388	0	0	0	0	0	0	27.14	27.10	27.16
5836	0.95	362.0	3139	2488	1505	1387	87.2	8.8	424	5864	0.00	2.00	19.90	0.429	8708	0.000	0.030	3149	1103	1358	1419	1297	0	0	0	0	0	0	27.33	26.72	26.45
6043	1.08	419.2	3149	1103	1407	1289	72.0	7.4	444	6102	0.10	2.03	46.05	0.408	11270	0.112	0.032	3200	2503	1118	1188	1048	0	0	0	0	0	0	27.01	27.05	26.22
6398	1.08	419.2	3199	2503	1179	1036	28.2	13.8	496	6409	0.00	2.03	0.00	0.000	260	0.000	0.047	3200	3853	1106	1178	1035	0	0	0	0	0	0	27.18	26.94	27.25
6503	1.08	419.2	3200	3854	1178	1037	12.5	15.1	516	6510	0.00	1.95	0.00	0.000	1030	0.000	0.026	3210	2494	1106	1177	1035	0	0	0	0	0	0	27.10	27.07	27.12
6578	end climb: SURFACE_DEPTH_REACHED
state	6578	begin surface coast
6588	end surface coast: CONTROL_FINISHED_OK
state	6588	begin surface