Glider dive log

GoA Jul15 * SG203 * Dive index * Mission links * Dive 5 * 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 5 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 75 ALTIM_PULSE 2

D_FLARE 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 39 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 5 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 75 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_FILEKB 8 R_STBD_OVSHOOT 39 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 110715,050223,5907.2080,-14734.0635,3,1.3,17,18.0,0.3,164.1,8,9.6 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 0.38 MHEAD_RNG_PITCHd_Wd 105.0,32053,-17.8,-10.000,-19.47,2615

_SM_ANGLEo -62.9 D_GRID 500

GPS2 110715,050611,5907.1792,-14734.0732,4,1.3,17,18.0,0.0,0.0,8,8.4

Post-dive calculations and measurements:

FINISH 1.4,1.023501 PA_DATA0 0.02/2.802/117.199/108.443

SM_CCo 7879,52.72,0.145,0,0,539,563.94 PA_ROOT 0.76/0.092/0.121/0.022

SM_GC 0.19,7.90,1.58,52.72,0.077,0.027,0.145,207,2798,539,-7.51,2.46,563.94,0,0,0,0,0,0,26.72,26.80,26.44 PA_HOME 0.01/0.183/27.046/25.489

IRIDIUM_FIX 5841.97,-14735.26,060508,182911 PA_DISK_BANK 1

TT8_MAMPS 0.163282,0.163282 _24V_AH 24.15,1.045

HUMID 43.38 _10V_AH 10.17,2.306

INTERNAL_PRESSURE 8.7929 FG_AHR_24Vo 0.000

TCM_TEMP 17.70 FG_AHR_10Vo 0.000

XPDR_PINGS 0 MEM 187196

PA_PMVER 0.6 DATA_FILE_SIZE 23433,574

PA_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014 CAP_FILE_SIZE 98632,0

PA_BOARDID 1654118 CFSIZE 1024393216,996016128

PA_UPTIME 7896.06 4043.57 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,4,0,0

PA_BOOTCOUNT 307 INTR 0,4449.31,0x236db2,7,5

PA_DFQS 0/0 CURRENT 0.107,194.56,1

PA_LOG 0.01/0.246/31.498/29.652 GPS 110715,071932,5906.542,-14732.020,36,0.8,40,18.1,0.0,190.5,10,6.0

PA_DATA1 0.00/0.070/117.199/111.175

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 229 102.53 SBE_CT 389 23 225.64

Roll_motor 55 87 117.49 nil 0 0 0.00

VBD_pump_during_apogee 475 1367 15686.78 nil 0 0 0.00

VBD_pump_during_surface 52 145 185.08 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 7927 134 25695.49

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 18 26 5.02

TT8 0 0 0.00

LPSleep 5466 2 121.76

TT8_Active 590 18 110.82

TT8_Sampling 1863 43 818.14

TT8_CF8 63 60 39.12

TT8_Kalman 0 0 0.00

Analog_circuits 1430 16 232.69

GPS_charging 0 0 0.00

Compass 1222 8 102.47

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 -170.3 207 2798 605 478 0.0 0.0 0 168 0.00 0.00 -74.82 0.000 16386 0.000 0.000 206 2797 2616 2651 2582 0 0 0 0 0 0 27.01 28.83 27.09

170 -0.94 -170.3 206 2797 2652 2582 3.6 -6.6 12 201 7.90 2.03 -17.35 0.000 18948 0.230 0.041 2306 1401 3535 3602 3468 0 0 0 0 0 0 26.55 25.73 26.80

421 -0.85 -170.3 2306 1401 3603 3472 59.8 -20.2 56 432 0.12 2.08 0.00 0.000 3078 0.167 0.031 2337 2811 3536 3603 3469 0 0 0 0 0 0 26.79 26.94 26.93

726 -0.85 -170.3 2337 2813 3603 3475 113.7 -15.1 87 735 0.00 2.05 0.00 0.000 516 0.000 0.026 2338 1408 3537 3602 3473 0 0 0 0 0 0 27.20 27.03 27.27

961 -0.85 -170.3 2338 1399 3604 3475 148.0 -14.2 110 975 0.00 2.08 0.00 0.000 1030 0.000 0.031 2332 2811 3537 3602 3473 0 0 0 0 0 0 27.12 27.07 27.14

1270 -0.85 -170.3 2332 2812 3603 3474 193.5 -14.3 141 1277 0.00 2.03 0.00 0.000 516 0.000 0.026 2332 1401 3537 3601 3473 0 0 0 0 0 0 27.29 27.12 27.36

1311 -0.85 -170.3 2332 1401 3603 3473 198.9 -14.4 144 1322 0.08 2.05 0.00 0.000 3078 0.193 0.031 2337 2807 3537 3602 3473 0 0 0 0 0 0 26.98 27.11 27.10

1616 -0.89 -170.3 2337 2808 3600 3475 242.7 -13.6 175 1624 0.00 2.03 0.00 0.000 516 0.000 0.027 2338 1398 3537 3601 3473 0 0 0 0 0 0 27.32 27.15 27.39

1653 -0.92 -170.3 2338 1398 3602 3473 247.0 -13.3 178 1663 0.00 2.05 0.00 0.000 1030 0.000 0.032 2335 2801 3540 3601 3480 0 0 0 0 0 0 27.20 27.14 27.21

1979 -0.92 -170.3 2334 2801 3597 3473 293.1 -14.1 191 1987 0.00 2.00 0.00 0.000 516 0.000 0.027 2335 1409 3535 3597 3474 0 0 0 0 0 0 27.35 27.16 27.41

2005 -0.92 -170.3 2336 1410 3598 3473 293.1 -14.1 191 2016 0.00 2.03 0.00 0.000 1030 0.000 0.031 2325 2801 3535 3597 3473 0 0 0 0 0 0 27.22 27.17 27.24

2311 -0.92 -170.3 2326 2803 3596 3474 337.3 -13.0 202 2316 0.00 0.00 0.00 0.000 6 0.000 0.000 2330 2801 3534 3595 3473 0 0 0 0 0 0 27.36 27.43 27.43

2611 -0.92 -170.3 2324 2801 3593 3473 379.2 -14.8 212 2618 0.00 0.00 0.00 0.000 6 0.000 0.000 2325 2801 3532 3592 3473 0 0 0 0 0 0 27.39 27.46 27.45

2911 -0.92 -170.3 2326 2802 3591 3475 421.6 -14.2 222 2916 0.00 0.00 0.00 0.000 6 0.000 0.000 2325 2800 3531 3590 3473 0 0 0 0 0 0 27.39 27.48 27.46

3119 end dive: TARGET_DEPTH_EXCEEDED

state 3119 begin apogee

3123 -0.19 0.0 2325 2699 3588 3475 451.2 -13.9 229 3269 0.70 0.00 133.98 1.367 10246 0.120 0.000 2556 2697 2838 2880 2797 0 0 0 0 1 0 27.07 24.95 24.15

3270 end apogee: CONTROL_FINISHED_OK

state 3270 begin climb

3271 0.94 170.3 2556 2698 2893 2800 457.8 0.0 233 3426 1.02 1.92 138.20 0.749 11012 0.072 0.043 2918 3850 2129 2165 2094 0 0 0 0 0 0 25.24 25.27 24.77

3650 1.02 282.5 2918 3851 2160 2084 453.4 5.6 246 3752 0.08 1.65 90.62 0.731 11270 0.129 0.028 2952 2702 1680 1720 1641 0 0 0 0 0 0 26.34 26.43 24.93

4056 1.02 282.5 2951 2702 1702 1616 411.9 10.7 260 4065 0.00 1.77 0.00 0.000 260 0.000 0.045 2951 3848 1658 1700 1616 0 0 0 0 0 0 26.67 26.48 26.74

4129 0.98 282.5 2952 3850 1701 1617 404.3 11.4 262 4136 0.00 1.65 0.00 0.000 1030 0.000 0.028 2958 2684 1657 1700 1615 0 0 0 0 0 0 26.66 26.63 26.67

4450 0.98 282.5 2958 2684 1699 1615 366.5 11.4 273 4458 0.00 1.80 0.00 0.000 260 0.000 0.045 2958 3857 1656 1699 1614 0 0 0 0 0 0 26.96 26.77 27.03

4636 0.90 282.5 2958 3856 1699 1613 344.3 12.2 279 4645 0.10 1.62 0.00 0.000 5126 0.204 0.027 2938 2691 1655 1698 1613 0 0 0 0 0 0 26.72 26.92 26.87

4964 0.91 286.7 2939 2690 1698 1613 311.7 9.8 290 4972 0.00 1.75 0.00 0.000 260 0.000 0.044 2938 3850 1655 1697 1613 0 0 0 0 0 0 27.13 26.94 27.20

5195 0.87 286.7 2938 3849 1697 1612 288.0 11.3 297 5203 0.10 1.60 0.00 0.000 5126 0.191 0.028 2923 2703 1654 1696 1612 0 0 0 0 0 0 26.86 27.05 27.00

5508 0.94 296.7 2923 2703 1697 1611 255.5 9.6 308 5520 0.00 1.73 3.92 0.545 8452 0.000 0.044 2923 3853 1625 1668 1583 0 0 0 0 0 0 27.22 26.72 26.25

5559 0.99 309.0 2923 3852 1683 1590 252.5 9.5 309 5586 0.00 1.62 14.12 0.619 9222 0.000 0.028 2927 2689 1573 1615 1531 0 0 0 0 1 0 27.08 27.05 26.26

5891 1.05 316.6 2928 2690 1623 1532 218.1 9.7 342 5905 0.10 1.77 3.15 0.476 10500 0.114 0.046 2967 3853 1553 1600 1506 0 0 0 0 0 0 26.96 26.82 26.08

5975 0.97 316.6 2971 3854 1613 1520 208.3 12.0 350 5989 0.00 1.62 2.33 0.335 9222 0.000 0.028 2971 2688 1549 1597 1502 0 0 0 0 0 0 27.02 26.98 26.13

6285 0.97 317.4 2972 2687 1613 1513 175.8 10.0 381 6299 0.00 1.80 2.08 0.263 8452 0.000 0.046 2971 3844 1548 1597 1499 0 0 0 0 0 0 27.17 26.86 25.82

6523 0.90 317.4 2972 3844 1610 1513 148.3 12.6 404 6535 0.15 1.60 0.00 0.000 5126 0.181 0.028 2935 2693 1561 1609 1513 0 0 0 0 0 0 26.86 27.08 27.01

6829 1.07 389.4 2935 2693 1610 1512 119.0 7.2 435 6894 0.08 1.80 47.95 0.790 10500 0.132 0.043 2967 3854 1254 1305 1204 0 0 0 0 1 0 27.10 25.97 25.44

6938 1.07 389.4 2967 3855 1313 1212 109.3 10.5 445 6949 0.00 1.65 0.00 0.000 1030 0.000 0.027 2971 2698 1259 1312 1207 0 0 0 0 0 0 26.47 26.44 26.48

7244 1.13 394.0 2972 2699 1314 1207 77.3 9.8 476 7259 0.00 2.03 3.05 0.506 8708 0.000 0.031 2971 1325 1236 1291 1181 0 0 0 0 0 0 26.88 26.58 25.85

7344 1.29 439.8 2971 1325 1305 1184 69.1 8.2 485 7395 0.17 2.05 35.75 0.617 11270 0.079 0.031 3043 2702 1044 1101 987 0 0 0 0 1 0 26.72 26.74 25.55

7694 1.29 439.8 3042 2703 1118 993 23.2 12.6 540 7701 0.00 1.77 0.00 0.000 260 0.000 0.045 3043 3877 1054 1117 991 0 0 0 0 0 0 26.84 26.63 26.89

7858 end climb: SURFACE_DEPTH_REACHED

state 7858 begin surface coast

7863 end surface coast: CONTROL_FINISHED_OK

state 7864 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	5	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	75	ALTIM_PULSE	2
D_FLARE	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	39	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	110715,050223,5907.2080,-14734.0635,3,1.3,17,18.0,0.3,164.1,8,9.6	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	0.38	MHEAD_RNG_PITCHd_Wd	105.0,32053,-17.8,-10.000,-19.47,2615
_SM_ANGLEo	-62.9	D_GRID	500
GPS2	110715,050611,5907.1792,-14734.0732,4,1.3,17,18.0,0.0,0.0,8,8.4

FINISH	1.4,1.023501	PA_DATA0	0.02/2.802/117.199/108.443
SM_CCo	7879,52.72,0.145,0,0,539,563.94	PA_ROOT	0.76/0.092/0.121/0.022
SM_GC	0.19,7.90,1.58,52.72,0.077,0.027,0.145,207,2798,539,-7.51,2.46,563.94,0,0,0,0,0,0,26.72,26.80,26.44	PA_HOME	0.01/0.183/27.046/25.489
IRIDIUM_FIX	5841.97,-14735.26,060508,182911	PA_DISK_BANK	1
TT8_MAMPS	0.163282,0.163282	_24V_AH	24.15,1.045
HUMID	43.38	_10V_AH	10.17,2.306
INTERNAL_PRESSURE	8.7929	FG_AHR_24Vo	0.000
TCM_TEMP	17.70	FG_AHR_10Vo	0.000
XPDR_PINGS	0	MEM	187196
PA_PMVER	0.6	DATA_FILE_SIZE	23433,574
PA_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014	CAP_FILE_SIZE	98632,0
PA_BOARDID	1654118	CFSIZE	1024393216,996016128
PA_UPTIME	7896.06 4043.57	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,4,0,0
PA_BOOTCOUNT	307	INTR	0,4449.31,0x236db2,7,5
PA_DFQS	0/0	CURRENT	0.107,194.56,1
PA_LOG	0.01/0.246/31.498/29.652	GPS	110715,071932,5906.542,-14732.020,36,0.8,40,18.1,0.0,190.5,10,6.0
PA_DATA1	0.00/0.070/117.199/111.175

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	229	102.53	SBE_CT	389	23	225.64
Roll_motor	55	87	117.49	nil	0	0	0.00
VBD_pump_during_apogee	475	1367	15686.78	nil	0	0	0.00
VBD_pump_during_surface	52	145	185.08	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	7927	134	25695.49
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	18	26	5.02
TT8	0	0	0.00
LPSleep	5466	2	121.76
TT8_Active	590	18	110.82
TT8_Sampling	1863	43	818.14
TT8_CF8	63	60	39.12
TT8_Kalman	0	0	0.00
Analog_circuits	1430	16	232.69
GPS_charging	0	0	0.00
Compass	1222	8	102.47
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	207	2798	605	478	0.0	0.0	0	168	0.00	0.00	-74.82	0.000	16386	0.000	0.000	206	2797	2616	2651	2582	0	0	0	0	0	0	27.01	28.83	27.09
170	-0.94	-170.3	206	2797	2652	2582	3.6	-6.6	12	201	7.90	2.03	-17.35	0.000	18948	0.230	0.041	2306	1401	3535	3602	3468	0	0	0	0	0	0	26.55	25.73	26.80
421	-0.85	-170.3	2306	1401	3603	3472	59.8	-20.2	56	432	0.12	2.08	0.00	0.000	3078	0.167	0.031	2337	2811	3536	3603	3469	0	0	0	0	0	0	26.79	26.94	26.93
726	-0.85	-170.3	2337	2813	3603	3475	113.7	-15.1	87	735	0.00	2.05	0.00	0.000	516	0.000	0.026	2338	1408	3537	3602	3473	0	0	0	0	0	0	27.20	27.03	27.27
961	-0.85	-170.3	2338	1399	3604	3475	148.0	-14.2	110	975	0.00	2.08	0.00	0.000	1030	0.000	0.031	2332	2811	3537	3602	3473	0	0	0	0	0	0	27.12	27.07	27.14
1270	-0.85	-170.3	2332	2812	3603	3474	193.5	-14.3	141	1277	0.00	2.03	0.00	0.000	516	0.000	0.026	2332	1401	3537	3601	3473	0	0	0	0	0	0	27.29	27.12	27.36
1311	-0.85	-170.3	2332	1401	3603	3473	198.9	-14.4	144	1322	0.08	2.05	0.00	0.000	3078	0.193	0.031	2337	2807	3537	3602	3473	0	0	0	0	0	0	26.98	27.11	27.10
1616	-0.89	-170.3	2337	2808	3600	3475	242.7	-13.6	175	1624	0.00	2.03	0.00	0.000	516	0.000	0.027	2338	1398	3537	3601	3473	0	0	0	0	0	0	27.32	27.15	27.39
1653	-0.92	-170.3	2338	1398	3602	3473	247.0	-13.3	178	1663	0.00	2.05	0.00	0.000	1030	0.000	0.032	2335	2801	3540	3601	3480	0	0	0	0	0	0	27.20	27.14	27.21
1979	-0.92	-170.3	2334	2801	3597	3473	293.1	-14.1	191	1987	0.00	2.00	0.00	0.000	516	0.000	0.027	2335	1409	3535	3597	3474	0	0	0	0	0	0	27.35	27.16	27.41
2005	-0.92	-170.3	2336	1410	3598	3473	293.1	-14.1	191	2016	0.00	2.03	0.00	0.000	1030	0.000	0.031	2325	2801	3535	3597	3473	0	0	0	0	0	0	27.22	27.17	27.24
2311	-0.92	-170.3	2326	2803	3596	3474	337.3	-13.0	202	2316	0.00	0.00	0.00	0.000	6	0.000	0.000	2330	2801	3534	3595	3473	0	0	0	0	0	0	27.36	27.43	27.43
2611	-0.92	-170.3	2324	2801	3593	3473	379.2	-14.8	212	2618	0.00	0.00	0.00	0.000	6	0.000	0.000	2325	2801	3532	3592	3473	0	0	0	0	0	0	27.39	27.46	27.45
2911	-0.92	-170.3	2326	2802	3591	3475	421.6	-14.2	222	2916	0.00	0.00	0.00	0.000	6	0.000	0.000	2325	2800	3531	3590	3473	0	0	0	0	0	0	27.39	27.48	27.46
3119	end dive: TARGET_DEPTH_EXCEEDED
state	3119	begin apogee
3123	-0.19	0.0	2325	2699	3588	3475	451.2	-13.9	229	3269	0.70	0.00	133.98	1.367	10246	0.120	0.000	2556	2697	2838	2880	2797	0	0	0	0	1	0	27.07	24.95	24.15
3270	end apogee: CONTROL_FINISHED_OK
state	3270	begin climb
3271	0.94	170.3	2556	2698	2893	2800	457.8	0.0	233	3426	1.02	1.92	138.20	0.749	11012	0.072	0.043	2918	3850	2129	2165	2094	0	0	0	0	0	0	25.24	25.27	24.77
3650	1.02	282.5	2918	3851	2160	2084	453.4	5.6	246	3752	0.08	1.65	90.62	0.731	11270	0.129	0.028	2952	2702	1680	1720	1641	0	0	0	0	0	0	26.34	26.43	24.93
4056	1.02	282.5	2951	2702	1702	1616	411.9	10.7	260	4065	0.00	1.77	0.00	0.000	260	0.000	0.045	2951	3848	1658	1700	1616	0	0	0	0	0	0	26.67	26.48	26.74
4129	0.98	282.5	2952	3850	1701	1617	404.3	11.4	262	4136	0.00	1.65	0.00	0.000	1030	0.000	0.028	2958	2684	1657	1700	1615	0	0	0	0	0	0	26.66	26.63	26.67
4450	0.98	282.5	2958	2684	1699	1615	366.5	11.4	273	4458	0.00	1.80	0.00	0.000	260	0.000	0.045	2958	3857	1656	1699	1614	0	0	0	0	0	0	26.96	26.77	27.03
4636	0.90	282.5	2958	3856	1699	1613	344.3	12.2	279	4645	0.10	1.62	0.00	0.000	5126	0.204	0.027	2938	2691	1655	1698	1613	0	0	0	0	0	0	26.72	26.92	26.87
4964	0.91	286.7	2939	2690	1698	1613	311.7	9.8	290	4972	0.00	1.75	0.00	0.000	260	0.000	0.044	2938	3850	1655	1697	1613	0	0	0	0	0	0	27.13	26.94	27.20
5195	0.87	286.7	2938	3849	1697	1612	288.0	11.3	297	5203	0.10	1.60	0.00	0.000	5126	0.191	0.028	2923	2703	1654	1696	1612	0	0	0	0	0	0	26.86	27.05	27.00
5508	0.94	296.7	2923	2703	1697	1611	255.5	9.6	308	5520	0.00	1.73	3.92	0.545	8452	0.000	0.044	2923	3853	1625	1668	1583	0	0	0	0	0	0	27.22	26.72	26.25
5559	0.99	309.0	2923	3852	1683	1590	252.5	9.5	309	5586	0.00	1.62	14.12	0.619	9222	0.000	0.028	2927	2689	1573	1615	1531	0	0	0	0	1	0	27.08	27.05	26.26
5891	1.05	316.6	2928	2690	1623	1532	218.1	9.7	342	5905	0.10	1.77	3.15	0.476	10500	0.114	0.046	2967	3853	1553	1600	1506	0	0	0	0	0	0	26.96	26.82	26.08
5975	0.97	316.6	2971	3854	1613	1520	208.3	12.0	350	5989	0.00	1.62	2.33	0.335	9222	0.000	0.028	2971	2688	1549	1597	1502	0	0	0	0	0	0	27.02	26.98	26.13
6285	0.97	317.4	2972	2687	1613	1513	175.8	10.0	381	6299	0.00	1.80	2.08	0.263	8452	0.000	0.046	2971	3844	1548	1597	1499	0	0	0	0	0	0	27.17	26.86	25.82
6523	0.90	317.4	2972	3844	1610	1513	148.3	12.6	404	6535	0.15	1.60	0.00	0.000	5126	0.181	0.028	2935	2693	1561	1609	1513	0	0	0	0	0	0	26.86	27.08	27.01
6829	1.07	389.4	2935	2693	1610	1512	119.0	7.2	435	6894	0.08	1.80	47.95	0.790	10500	0.132	0.043	2967	3854	1254	1305	1204	0	0	0	0	1	0	27.10	25.97	25.44
6938	1.07	389.4	2967	3855	1313	1212	109.3	10.5	445	6949	0.00	1.65	0.00	0.000	1030	0.000	0.027	2971	2698	1259	1312	1207	0	0	0	0	0	0	26.47	26.44	26.48
7244	1.13	394.0	2972	2699	1314	1207	77.3	9.8	476	7259	0.00	2.03	3.05	0.506	8708	0.000	0.031	2971	1325	1236	1291	1181	0	0	0	0	0	0	26.88	26.58	25.85
7344	1.29	439.8	2971	1325	1305	1184	69.1	8.2	485	7395	0.17	2.05	35.75	0.617	11270	0.079	0.031	3043	2702	1044	1101	987	0	0	0	0	1	0	26.72	26.74	25.55
7694	1.29	439.8	3042	2703	1118	993	23.2	12.6	540	7701	0.00	1.77	0.00	0.000	260	0.000	0.045	3043	3877	1054	1117	991	0	0	0	0	0	0	26.84	26.63	26.89
7858	end climb: SURFACE_DEPTH_REACHED
state	7858	begin surface coast
7863	end surface coast: CONTROL_FINISHED_OK
state	7864	begin surface