Glider dive log

Shilshole 27Aug14 * SG179 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 179 HEADING -1 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 11 ESCAPE_HEADING 0 C_ROLL_DIVE 2300 ALTIM_PING_DEPTH 0

DIVE 4 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2000 ALTIM_PING_DELTA 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_SURF 3 TGT_DEFAULT_LAT 32.6903 ROLL_CNV 0.028270001 ALTIM_PULSE 8

D_FLARE 3 TGT_DEFAULT_LON -118.7761 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 1

D_TGT 90 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 37 XPDR_VALID 6

D_ABORT 150 SM_CC 350 R_STBD_OVSHOOT 34 XPDR_INHIBIT 90

D_NO_BLEED 100 N_FILEKB 8 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_BOOST 2.5 FILEMGR 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT -0.69999999

T_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

D_FINISH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_PITCH 0 PROTOCOL 9 VBD_MIN 460 DEVICE1 2

D_SAFE 0 N_NOCOMM 1 VBD_MAX 3960 DEVICE2 -1

D_CALL 0 NOCOMM_ACTION 163 C_VBD 2727 DEVICE3 -1

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE4 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.24529999 DEVICE5 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE6 -1

T_DIVE 30 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 1

T_MISSION 45 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 99

T_ABORT 1440 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_TURN_SAMPINT 5 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE4 -1

T_NO_W 120 N_GPS -20 VBD_MAXERRORS 1 COMPASS_DEVICE 33

T_LOITER 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 COMPASS2_DEVICE -1

T_EPIRB 0 T_GPS_CHARGE -22096.445 DBDW 0 PHONE_DEVICE 49

USE_BATHY -6 T_RSLEEP 2 PITCH_W_GAIN 0 GPS_DEVICE 32

USE_ICE 0 STROBE 0 PITCH_W_DBAND 0 RAFOS_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 XPDR_DEVICE 24

D_OFFGRID 1000 RAFOS_CORR_THRESH 60 AH0_24V 150 SIM_W 0

T_WATCHDOG 10 RAFOS_HIT_WINDOW 3600 AH0_10V 100 SIM_PITCH 0

RELAUNCH 1 PITCH_MIN 147 MINV_24V 22 SEABIRD_T_G 0.0043333764

APOGEE_PITCH -5 PITCH_MAX 3923 MINV_10V 9.5 SEABIRD_T_H 0.0006255582

MAX_BUOY 150 C_PITCH 2870 FG_AHR_10V 0 SEABIRD_T_I 2.4443518e-05

COURSE_BIAS 0 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_J 2.7040428e-06

GLIDE_SLOPE 45 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_C_G -10.032231

SPEED_FACTOR 1 P_OVSHOOT 0.039999999 PRESSURE_YINT -37.407799 SEABIRD_C_H 1.1531334

RHO 1.023 P_OVSHOOT_WITHG 0 PRESSURE_SLOPE 0.0001164844 SEABIRD_C_I -0.0012400629

MASS 51438 PITCH_GAIN 28 AD7714Ch0Gain 128 SEABIRD_C_J 0.00018751388

MASS_COMP 10000 PITCH_TIMEOUT 22 TCM_PITCH_OFFSET 0 PA_OFFLOAD 1.0

NAV_MODE 2 PITCH_AD_RATE 165 TCM_ROLL_OFFSET 0 PA_MAXUPLOADSIZE 20480.0

FERRY_MAX 45 PITCH_MAXERRORS 1 COMPASS_USE 4 PA_MAXOPTIONALUPLOADSIZE 20480.0

KALMAN_USE 2 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_PING_RANGE 0 PA_POWERSOURCE 0.0

HD_A 0.003 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0 PA_RESTARTMONITOR 0.0

HD_B 0.0099999998 ROLL_MIN 165 ALTIM_BOTTOM_TURN_MARGIN 0 PA_CYCLEPAAM 0.0

HD_C 9.9999997e-06 ROLL_MAX 3681 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_SAFE 0 PA_POWERSOURCE 0.0 SEABIRD_T_J 2.7040428e-06

AH0_10V 100 D_SURF 3 PA_RESTARTMONITOR 0.0 SIM_PITCH 0

AH0_24V 150 D_TGT 90 PHONE_DEVICE 49 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SM_CC 350

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 28 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 -37.407799 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_GPS_CHARGE -22096.445

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -0.69999999 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS_DEVICE 33 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 45

COMPASS_USE 4 LOGGERDEVICE1 99 RAFOS_DEVICE -1 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

C_PITCH 2870 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN 225

C_ROLL_CLIMB 2000 LOGGERDEVICE4 -1 RELAUNCH 1 T_TURN_SAMPINT 5

C_ROLL_DIVE 2300 LOGGERS 1 RHO 1.023 T_WATCHDOG 10

C_VBD 2727 MASS 51438 ROLL_ADJ_DBAND 0 UNCOM_BLEED 50

DBDW 0 MASS_COMP 10000 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MAX_BUOY 150 ROLL_AD_RATE 350 USE_BATHY -6

DEVICE1 2 MINV_10V 9.5 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE2 -1 MINV_24V 22 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MISSION 11 ROLL_MAX 3681 VBD_CNV -0.24529999

DEVICE4 -1 MOTHERBOARD 4 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE5 -1 NAV_MODE 2 ROLL_MIN 165 VBD_MAX 3960

DEVICE6 -1 NOCOMM_ACTION 163 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 4 N_DIVES 0 R_PORT_OVSHOOT 37 VBD_MIN 460

D_ABORT 150 N_FILEKB 8 R_STBD_OVSHOOT 34 VBD_PUMP_AD_RATE_APOGEE 4

D_BOOST 2.5 N_GPS -20 SEABIRD_C_G -10.032231 VBD_PUMP_AD_RATE_SURFACE 5

D_CALL 0 N_NOCOMM 1 SEABIRD_C_H 1.1531334 VBD_TIMEOUT 720

D_FINISH 0 N_NOSURFACE 0 SEABIRD_C_I -0.0012400629 W_ADJ_DBAND 0

D_FLARE 3 PA_CYCLEPAAM 0.0 SEABIRD_C_J 0.00018751388 XPDR_DEVICE 24

D_NO_BLEED 100 PA_MAXOPTIONALUPLOADSIZE 20480.0 SEABIRD_T_G 0.0043333764 XPDR_INHIBIT 90

D_OFFGRID 1000 PA_MAXUPLOADSIZE 20480.0 SEABIRD_T_H 0.0006255582 XPDR_VALID 6

D_PITCH 0 PA_OFFLOAD 1.0 SEABIRD_T_I 2.4443518e-05

Pre-dive calculations and measurements:

GPS1 270814,190011,4744.303,-12224.370,2,2.3,23,16.3 SPEED_LIMITS 0.100,0.260

_CALLS 1 TGT_NAME NW

_XMS_NAKs 0 TGT_LATLONG 4743.500,-12225.000

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 1.30 MHEAD_RNG_PITCHd_Wd 167.4,1698,-17.5,-10.000,-21.04,2225

_SM_ANGLEo -71.5 D_GRID 175

GPS2 270814,190529,4744.325,-12224.405,5,2.2,26,16.3

Post-dive calculations and measurements:

FINISH 0.5,1.008204 PA_DATA1 0.00/0.058/117.213/111.201

SM_CCo 1755,34.55,0.053,0,0,1299,350.04 PA_DATA0 0.01/1.686/117.199/109.559

SM_GC 1.66,8.05,2.67,34.55,0.050,0.035,0.053,142,2292,1299,-8.48,-1.07,350.04,0,0,0,0,0,0,25.92,25.94,25.89 PA_ROOT 0.75/0.091/0.121/0.024

IRIDIUM_FIX 4726.11,-12223.37,270814,182641 PA_HOME 0.03/0.059/1.764/1.615

TT8_MAMPS 0.161784,0.161784 _24V_AH 24.09,0.735

HUMID 54.33 _10V_AH 9.90,1.893

INTERNAL_PRESSURE 8.98787 FG_AHR_24Vo 0.000

TCM_TEMP 20.90 FG_AHR_10Vo 0.000

XPDR_PINGS 0 MEM 264340

PA_PMVER 0.6 DATA_FILE_SIZE 10124,305

PA_ROOTFSVER rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014 CAP_FILE_SIZE 68218,1

PA_BOARDID 1649255 CFSIZE 260034560,258863104

PA_UPTIME 14344.30 10057.53 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

PA_BOOTCOUNT 601 INTR 0,2125.47,0x236dde,7,5

PA_DFQS 0/0 CURRENT 0.163,347.90,1

PA_LOG 0.06/0.118/1.969/1.750 GPS 270814,193615,4744.188,-12224.440,3,1.1,23,16.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 271 149.65 SBE_CT 196 23 110.07

Roll_motor 62 61 93.67 nil 0 0 0.00

VBD_pump_during_apogee 335 577 4661.46 nil 0 0 0.00

VBD_pump_during_surface 34 52 43.93 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 2150 137 7147.21

Iridium_during_xfer 237 94 537.62 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 29 9.72

TT8 0 0 0.00

LPSleep 417 2 9.04

TT8_Active 503 21 106.96

TT8_Sampling 1153 48 552.83

TT8_CF8 36 55 20.38

TT8_Kalman 0 0 0.00

Analog_circuits 1165 10 115.40

GPS_charging 0 0 0.00

Compass 443 15 65.84

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.80 -146.6 139 2304 1335 1257 0.0 0.0 0 105 0.00 0.00 -90.62 0.000 16386 0.000 0.000 139 2303 3103 3150 3056 0 0 0 0 0 0 28.83 28.83 28.83

106 -0.80 -146.6 140 2304 3150 3057 3.1 -2.4 14 129 11.73 2.22 -5.07 0.000 18948 0.272 0.055 2597 898 3325 3368 3283 0 0 0 0 0 0 25.22 25.89 26.41

359 -0.80 -146.6 2597 899 3368 3284 49.7 -18.4 62 366 0.00 2.17 0.00 0.000 1030 0.000 0.040 2590 2303 3326 3368 3284 0 0 0 0 0 0 28.83 25.84 28.83

375 -0.80 -146.6 2590 2303 3369 3285 53.4 -18.5 65 383 0.00 2.22 0.00 0.000 516 0.000 0.042 2590 898 3326 3368 3284 0 0 0 0 0 0 28.83 25.84 28.83

480 -0.80 -146.6 2591 899 3368 3284 69.6 -14.1 85 486 0.00 2.17 0.00 0.000 1030 0.000 0.041 2587 2298 3326 3368 3284 0 0 0 0 0 0 28.83 25.82 28.83

495 -0.80 -146.6 2587 2299 3368 3284 72.0 -13.6 88 495 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2298 3326 3368 3284 0 0 0 0 0 0 28.83 28.83 28.83

505 -0.80 -146.6 2587 2299 3368 3284 73.5 -14.2 90 505 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2298 3326 3368 3284 0 0 0 0 0 0 28.83 28.83 28.83

515 -0.77 -146.6 2587 2298 3368 3284 75.1 -15.4 92 523 0.12 0.00 0.00 0.000 2054 0.184 0.000 2616 2298 3326 3368 3284 0 0 0 0 0 0 26.05 28.83 28.83

533 -0.77 -146.6 2616 2299 3369 3285 77.9 -16.0 95 539 0.00 2.28 0.00 0.000 260 0.000 0.062 2608 3670 3326 3368 3284 0 0 0 0 0 0 28.83 25.58 28.83

569 -0.84 -146.6 2608 3670 3369 3285 83.3 -14.6 102 577 0.00 2.17 0.00 0.000 1030 0.000 0.037 2608 2287 3326 3368 3284 0 0 0 0 0 0 28.83 26.08 28.83

586 -0.90 -146.6 2608 2287 3368 3284 85.6 -14.0 105 593 0.00 2.17 0.00 0.000 516 0.000 0.044 2608 907 3326 3368 3284 0 0 0 0 0 0 28.83 25.81 28.83

612 -0.95 -146.6 2608 908 3369 3285 89.3 -13.7 110 620 0.08 2.22 0.00 0.000 5126 0.072 0.041 2562 2300 3326 3368 3284 0 0 0 0 0 0 25.72 25.78 28.83

626 end dive: TARGET_DEPTH_EXCEEDED

state 626 begin apogee

628 -0.18 0.0 2562 1982 3369 3285 90.9 -14.0 112 755 0.80 0.00 118.53 0.578 10246 0.138 0.000 2803 1981 2725 2793 2658 0 0 0 0 0 0 25.05 28.83 24.18

756 end apogee: CONTROL_FINISHED_OK

state 756 begin climb

757 0.80 146.6 2803 1981 2794 2659 97.3 0.0 131 887 0.93 0.00 119.28 0.562 10758 0.077 0.000 3123 1981 2127 2202 2052 0 0 0 0 0 0 25.17 28.83 24.09

896 0.60 146.6 3123 1981 2203 2051 91.6 10.7 153 904 0.22 0.00 0.00 0.000 4102 0.160 0.000 3066 1980 2125 2202 2049 0 0 0 0 0 0 24.97 28.83 28.83

915 0.47 146.6 3067 1981 2202 2048 89.9 10.1 156 922 0.15 0.00 0.00 0.000 4102 0.164 0.000 3024 1981 2124 2202 2047 0 0 0 0 0 0 25.22 28.83 28.83

932 0.50 176.0 3024 1981 2202 2047 88.4 8.6 159 962 0.00 2.38 24.33 0.537 8452 0.000 0.050 3024 3394 2008 2089 1928 0 0 0 0 0 0 28.83 25.28 24.26

986 0.58 201.1 3024 3395 2087 1928 84.1 8.8 168 1013 0.00 2.20 20.77 0.531 9222 0.000 0.032 3026 2009 1906 1981 1832 0 0 0 0 0 0 28.83 25.58 24.30

1022 0.72 257.7 3027 2010 1981 1831 81.2 7.4 174 1075 0.22 2.30 45.92 0.543 10500 0.073 0.047 3112 3402 1674 1746 1602 0 0 0 0 0 0 25.51 25.16 24.17

1115 0.64 257.7 3113 3402 1744 1602 70.7 13.2 190 1122 0.10 2.22 0.00 0.000 5126 0.145 0.032 3081 1998 1673 1744 1602 0 0 0 0 0 0 25.27 25.58 28.83

1131 0.58 257.7 3082 1998 1744 1601 68.5 12.8 193 1138 0.00 2.25 0.00 0.000 516 0.000 0.048 3086 603 1671 1744 1599 0 0 0 0 0 0 28.83 25.56 28.83

1162 0.62 257.7 3086 603 1744 1598 65.0 11.0 199 1170 0.00 2.20 0.00 0.000 1030 0.000 0.031 3085 2006 1671 1745 1597 0 0 0 0 0 0 28.83 25.76 28.83

1179 0.66 257.7 3085 2007 1746 1598 63.2 11.2 202 1186 0.00 2.25 0.00 0.000 260 0.000 0.048 3085 3396 1670 1744 1597 0 0 0 0 0 0 28.83 25.65 28.83

1207 0.66 257.7 3086 3397 1745 1597 60.1 12.1 207 1213 0.00 2.15 0.00 0.000 1030 0.000 0.032 3092 1996 1670 1744 1597 0 0 0 0 0 0 28.83 25.82 28.83

1222 0.66 257.7 3092 1997 1746 1597 58.1 11.5 210 1229 0.00 2.22 0.00 0.000 516 0.000 0.048 3099 602 1670 1744 1597 0 0 0 0 0 0 28.83 25.75 28.83

1283 0.70 257.7 3099 604 1746 1595 51.4 10.9 222 1290 0.00 2.17 0.00 0.000 1030 0.000 0.031 3099 2003 1669 1745 1594 0 0 0 0 0 0 28.83 25.94 28.83

1299 0.70 257.7 3100 2004 1745 1595 49.6 11.2 225 1307 0.00 2.22 0.00 0.000 260 0.000 0.047 3099 3394 1669 1745 1594 0 0 0 0 0 0 28.83 25.78 28.83

1347 0.67 257.7 3100 3394 1744 1594 43.9 12.9 234 1355 0.00 2.12 0.00 0.000 1030 0.000 0.032 3106 1998 1669 1744 1594 0 0 0 0 0 0 28.83 25.96 28.83

1365 0.63 257.7 3106 1998 1745 1595 41.5 13.1 237 1374 0.00 0.00 0.00 0.000 6 0.000 0.000 3106 1998 1669 1744 1594 0 0 0 0 0 0 28.83 28.83 28.83

1383 0.63 257.7 3106 1998 1744 1594 39.1 12.4 240 1384 0.12 0.00 0.00 0.000 4102 0.168 0.000 3076 1998 1669 1745 1594 0 0 0 0 0 0 25.93 28.83 28.83

1393 0.63 257.7 3076 1998 1745 1595 37.8 12.4 242 1394 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 1998 1669 1744 1594 0 0 0 0 0 0 28.83 28.83 28.83

1405 0.63 257.7 3076 1998 1744 1594 36.7 11.6 244 1412 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 1998 1669 1744 1594 0 0 0 0 0 0 28.83 28.83 28.83

1420 0.70 257.7 3077 1998 1744 1595 34.9 10.6 247 1431 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 1998 1669 1744 1594 0 0 0 0 0 0 28.83 28.83 28.83

1444 0.76 257.7 3076 1998 1745 1595 32.9 10.6 250 1449 0.12 0.00 0.00 0.000 2054 0.098 0.000 3129 1997 1669 1744 1594 0 0 0 0 0 0 26.20 28.83 28.83

1460 0.76 257.7 3128 1998 1745 1595 30.7 11.2 253 1466 0.00 0.00 0.00 0.000 6 0.000 0.000 3129 1998 1669 1744 1594 0 0 0 0 0 0 28.83 28.83 28.83

1475 0.69 257.7 3128 1998 1745 1595 28.4 13.5 256 1476 0.15 0.00 0.00 0.000 4102 0.162 0.000 3091 1998 1669 1744 1594 0 0 0 0 0 0 25.89 28.83 28.83

1486 0.63 257.7 3092 1998 1745 1594 27.1 14.2 258 1493 0.00 2.25 0.00 0.000 260 0.000 0.047 3091 3394 1669 1745 1594 0 0 0 0 0 0 28.83 25.84 28.83

1512 0.63 257.7 3091 3395 1745 1594 23.8 12.3 263 1519 0.00 2.12 0.00 0.000 1030 0.000 0.032 3096 1995 1669 1745 1594 0 0 0 0 0 0 28.83 26.01 28.83

1527 0.63 257.7 3096 1995 1744 1594 21.9 11.7 266 1528 0.00 0.00 0.00 0.000 6 0.000 0.000 3096 1994 1669 1744 1594 0 0 0 0 0 0 28.83 28.83 28.83

1537 0.63 257.7 3096 1995 1746 1595 20.7 11.8 268 1546 0.00 2.20 0.00 0.000 516 0.000 0.048 3103 603 1669 1745 1594 0 0 0 0 0 0 28.83 25.86 28.83

1559 0.63 257.7 3104 603 1745 1594 18.0 12.5 272 1568 0.08 2.15 0.00 0.000 5126 0.138 0.030 3078 2000 1669 1745 1593 0 0 0 0 0 0 25.76 26.05 28.83

1579 0.63 257.7 3079 2000 1745 1594 16.1 11.4 275 1584 0.00 0.00 0.00 0.000 6 0.000 0.000 3078 2000 1669 1745 1593 0 0 0 0 0 0 28.83 28.83 28.83

1594 0.68 257.7 3078 2001 1745 1594 14.4 10.8 278 1601 0.00 2.17 0.00 0.000 260 0.000 0.047 3078 3396 1669 1745 1593 0 0 0 0 0 0 28.83 25.83 28.83

1631 0.68 257.7 3079 3396 1745 1594 10.4 11.5 285 1638 0.00 2.12 0.00 0.000 1030 0.000 0.032 3082 1992 1669 1745 1593 0 0 0 0 0 0 28.83 26.01 28.83

1648 0.68 264.5 3082 1992 1744 1594 8.7 9.7 288 1662 0.00 2.22 6.20 0.417 8708 0.000 0.049 3089 597 1646 1723 1570 0 0 0 0 0 0 28.83 26.03 24.81

1707 end climb: SURFACE_DEPTH_REACHED

state 1707 begin surface coast

1738 end surface coast: CONTROL_FINISHED_OK

state 1738 begin surface

ID	179	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	11	ESCAPE_HEADING	0	C_ROLL_DIVE	2300	ALTIM_PING_DEPTH	0
DIVE	4	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2000	ALTIM_PING_DELTA	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_SURF	3	TGT_DEFAULT_LAT	32.6903	ROLL_CNV	0.028270001	ALTIM_PULSE	8
D_FLARE	3	TGT_DEFAULT_LON	-118.7761	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	1
D_TGT	90	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	37	XPDR_VALID	6
D_ABORT	150	SM_CC	350	R_STBD_OVSHOOT	34	XPDR_INHIBIT	90
D_NO_BLEED	100	N_FILEKB	8	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_BOOST	2.5	FILEMGR	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	-0.69999999
T_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
D_FINISH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_PITCH	0	PROTOCOL	9	VBD_MIN	460	DEVICE1	2
D_SAFE	0	N_NOCOMM	1	VBD_MAX	3960	DEVICE2	-1
D_CALL	0	NOCOMM_ACTION	163	C_VBD	2727	DEVICE3	-1
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE4	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.24529999	DEVICE5	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE6	-1
T_DIVE	30	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	1
T_MISSION	45	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	99
T_ABORT	1440	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_TURN_SAMPINT	5	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE4	-1
T_NO_W	120	N_GPS	-20	VBD_MAXERRORS	1	COMPASS_DEVICE	33
T_LOITER	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	COMPASS2_DEVICE	-1
T_EPIRB	0	T_GPS_CHARGE	-22096.445	DBDW	0	PHONE_DEVICE	49
USE_BATHY	-6	T_RSLEEP	2	PITCH_W_GAIN	0	GPS_DEVICE	32
USE_ICE	0	STROBE	0	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	XPDR_DEVICE	24
D_OFFGRID	1000	RAFOS_CORR_THRESH	60	AH0_24V	150	SIM_W	0
T_WATCHDOG	10	RAFOS_HIT_WINDOW	3600	AH0_10V	100	SIM_PITCH	0
RELAUNCH	1	PITCH_MIN	147	MINV_24V	22	SEABIRD_T_G	0.0043333764
APOGEE_PITCH	-5	PITCH_MAX	3923	MINV_10V	9.5	SEABIRD_T_H	0.0006255582
MAX_BUOY	150	C_PITCH	2870	FG_AHR_10V	0	SEABIRD_T_I	2.4443518e-05
COURSE_BIAS	0	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_J	2.7040428e-06
GLIDE_SLOPE	45	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_C_G	-10.032231
SPEED_FACTOR	1	P_OVSHOOT	0.039999999	PRESSURE_YINT	-37.407799	SEABIRD_C_H	1.1531334
RHO	1.023	P_OVSHOOT_WITHG	0	PRESSURE_SLOPE	0.0001164844	SEABIRD_C_I	-0.0012400629
MASS	51438	PITCH_GAIN	28	AD7714Ch0Gain	128	SEABIRD_C_J	0.00018751388
MASS_COMP	10000	PITCH_TIMEOUT	22	TCM_PITCH_OFFSET	0	PA_OFFLOAD	1.0
NAV_MODE	2	PITCH_AD_RATE	165	TCM_ROLL_OFFSET	0	PA_MAXUPLOADSIZE	20480.0
FERRY_MAX	45	PITCH_MAXERRORS	1	COMPASS_USE	4	PA_MAXOPTIONALUPLOADSIZE	20480.0
KALMAN_USE	2	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_PING_RANGE	0	PA_POWERSOURCE	0.0
HD_A	0.003	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0	PA_RESTARTMONITOR	0.0
HD_B	0.0099999998	ROLL_MIN	165	ALTIM_BOTTOM_TURN_MARGIN	0	PA_CYCLEPAAM	0.0
HD_C	9.9999997e-06	ROLL_MAX	3681	ALTIM_TOP_TURN_MARGIN	0

GPS1	270814,190011,4744.303,-12224.370,2,2.3,23,16.3	SPEED_LIMITS	0.100,0.260
_CALLS	1	TGT_NAME	NW
_XMS_NAKs	0	TGT_LATLONG	4743.500,-12225.000
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	1.30	MHEAD_RNG_PITCHd_Wd	167.4,1698,-17.5,-10.000,-21.04,2225
_SM_ANGLEo	-71.5	D_GRID	175
GPS2	270814,190529,4744.325,-12224.405,5,2.2,26,16.3

FINISH	0.5,1.008204	PA_DATA1	0.00/0.058/117.213/111.201
SM_CCo	1755,34.55,0.053,0,0,1299,350.04	PA_DATA0	0.01/1.686/117.199/109.559
SM_GC	1.66,8.05,2.67,34.55,0.050,0.035,0.053,142,2292,1299,-8.48,-1.07,350.04,0,0,0,0,0,0,25.92,25.94,25.89	PA_ROOT	0.75/0.091/0.121/0.024
IRIDIUM_FIX	4726.11,-12223.37,270814,182641	PA_HOME	0.03/0.059/1.764/1.615
TT8_MAMPS	0.161784,0.161784	_24V_AH	24.09,0.735
HUMID	54.33	_10V_AH	9.90,1.893
INTERNAL_PRESSURE	8.98787	FG_AHR_24Vo	0.000
TCM_TEMP	20.90	FG_AHR_10Vo	0.000
XPDR_PINGS	0	MEM	264340
PA_PMVER	0.6	DATA_FILE_SIZE	10124,305
PA_ROOTFSVER	rootfs created by gbs@granite.apl.washington.edu Fri Jul 25 16:45:43 PDT 2014	CAP_FILE_SIZE	68218,1
PA_BOARDID	1649255	CFSIZE	260034560,258863104
PA_UPTIME	14344.30 10057.53	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
PA_BOOTCOUNT	601	INTR	0,2125.47,0x236dde,7,5
PA_DFQS	0/0	CURRENT	0.163,347.90,1
PA_LOG	0.06/0.118/1.969/1.750	GPS	270814,193615,4744.188,-12224.440,3,1.1,23,16.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	271	149.65	SBE_CT	196	23	110.07
Roll_motor	62	61	93.67	nil	0	0	0.00
VBD_pump_during_apogee	335	577	4661.46	nil	0	0	0.00
VBD_pump_during_surface	34	52	43.93	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	2150	137	7147.21
Iridium_during_xfer	237	94	537.62	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	29	9.72
TT8	0	0	0.00
LPSleep	417	2	9.04
TT8_Active	503	21	106.96
TT8_Sampling	1153	48	552.83
TT8_CF8	36	55	20.38
TT8_Kalman	0	0	0.00
Analog_circuits	1165	10	115.40
GPS_charging	0	0	0.00
Compass	443	15	65.84
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.80	-146.6	139	2304	1335	1257	0.0	0.0	0	105	0.00	0.00	-90.62	0.000	16386	0.000	0.000	139	2303	3103	3150	3056	0	0	0	0	0	0	28.83	28.83	28.83
106	-0.80	-146.6	140	2304	3150	3057	3.1	-2.4	14	129	11.73	2.22	-5.07	0.000	18948	0.272	0.055	2597	898	3325	3368	3283	0	0	0	0	0	0	25.22	25.89	26.41
359	-0.80	-146.6	2597	899	3368	3284	49.7	-18.4	62	366	0.00	2.17	0.00	0.000	1030	0.000	0.040	2590	2303	3326	3368	3284	0	0	0	0	0	0	28.83	25.84	28.83
375	-0.80	-146.6	2590	2303	3369	3285	53.4	-18.5	65	383	0.00	2.22	0.00	0.000	516	0.000	0.042	2590	898	3326	3368	3284	0	0	0	0	0	0	28.83	25.84	28.83
480	-0.80	-146.6	2591	899	3368	3284	69.6	-14.1	85	486	0.00	2.17	0.00	0.000	1030	0.000	0.041	2587	2298	3326	3368	3284	0	0	0	0	0	0	28.83	25.82	28.83
495	-0.80	-146.6	2587	2299	3368	3284	72.0	-13.6	88	495	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2298	3326	3368	3284	0	0	0	0	0	0	28.83	28.83	28.83
505	-0.80	-146.6	2587	2299	3368	3284	73.5	-14.2	90	505	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2298	3326	3368	3284	0	0	0	0	0	0	28.83	28.83	28.83
515	-0.77	-146.6	2587	2298	3368	3284	75.1	-15.4	92	523	0.12	0.00	0.00	0.000	2054	0.184	0.000	2616	2298	3326	3368	3284	0	0	0	0	0	0	26.05	28.83	28.83
533	-0.77	-146.6	2616	2299	3369	3285	77.9	-16.0	95	539	0.00	2.28	0.00	0.000	260	0.000	0.062	2608	3670	3326	3368	3284	0	0	0	0	0	0	28.83	25.58	28.83
569	-0.84	-146.6	2608	3670	3369	3285	83.3	-14.6	102	577	0.00	2.17	0.00	0.000	1030	0.000	0.037	2608	2287	3326	3368	3284	0	0	0	0	0	0	28.83	26.08	28.83
586	-0.90	-146.6	2608	2287	3368	3284	85.6	-14.0	105	593	0.00	2.17	0.00	0.000	516	0.000	0.044	2608	907	3326	3368	3284	0	0	0	0	0	0	28.83	25.81	28.83
612	-0.95	-146.6	2608	908	3369	3285	89.3	-13.7	110	620	0.08	2.22	0.00	0.000	5126	0.072	0.041	2562	2300	3326	3368	3284	0	0	0	0	0	0	25.72	25.78	28.83
626	end dive: TARGET_DEPTH_EXCEEDED
state	626	begin apogee
628	-0.18	0.0	2562	1982	3369	3285	90.9	-14.0	112	755	0.80	0.00	118.53	0.578	10246	0.138	0.000	2803	1981	2725	2793	2658	0	0	0	0	0	0	25.05	28.83	24.18
756	end apogee: CONTROL_FINISHED_OK
state	756	begin climb
757	0.80	146.6	2803	1981	2794	2659	97.3	0.0	131	887	0.93	0.00	119.28	0.562	10758	0.077	0.000	3123	1981	2127	2202	2052	0	0	0	0	0	0	25.17	28.83	24.09
896	0.60	146.6	3123	1981	2203	2051	91.6	10.7	153	904	0.22	0.00	0.00	0.000	4102	0.160	0.000	3066	1980	2125	2202	2049	0	0	0	0	0	0	24.97	28.83	28.83
915	0.47	146.6	3067	1981	2202	2048	89.9	10.1	156	922	0.15	0.00	0.00	0.000	4102	0.164	0.000	3024	1981	2124	2202	2047	0	0	0	0	0	0	25.22	28.83	28.83
932	0.50	176.0	3024	1981	2202	2047	88.4	8.6	159	962	0.00	2.38	24.33	0.537	8452	0.000	0.050	3024	3394	2008	2089	1928	0	0	0	0	0	0	28.83	25.28	24.26
986	0.58	201.1	3024	3395	2087	1928	84.1	8.8	168	1013	0.00	2.20	20.77	0.531	9222	0.000	0.032	3026	2009	1906	1981	1832	0	0	0	0	0	0	28.83	25.58	24.30
1022	0.72	257.7	3027	2010	1981	1831	81.2	7.4	174	1075	0.22	2.30	45.92	0.543	10500	0.073	0.047	3112	3402	1674	1746	1602	0	0	0	0	0	0	25.51	25.16	24.17
1115	0.64	257.7	3113	3402	1744	1602	70.7	13.2	190	1122	0.10	2.22	0.00	0.000	5126	0.145	0.032	3081	1998	1673	1744	1602	0	0	0	0	0	0	25.27	25.58	28.83
1131	0.58	257.7	3082	1998	1744	1601	68.5	12.8	193	1138	0.00	2.25	0.00	0.000	516	0.000	0.048	3086	603	1671	1744	1599	0	0	0	0	0	0	28.83	25.56	28.83
1162	0.62	257.7	3086	603	1744	1598	65.0	11.0	199	1170	0.00	2.20	0.00	0.000	1030	0.000	0.031	3085	2006	1671	1745	1597	0	0	0	0	0	0	28.83	25.76	28.83
1179	0.66	257.7	3085	2007	1746	1598	63.2	11.2	202	1186	0.00	2.25	0.00	0.000	260	0.000	0.048	3085	3396	1670	1744	1597	0	0	0	0	0	0	28.83	25.65	28.83
1207	0.66	257.7	3086	3397	1745	1597	60.1	12.1	207	1213	0.00	2.15	0.00	0.000	1030	0.000	0.032	3092	1996	1670	1744	1597	0	0	0	0	0	0	28.83	25.82	28.83
1222	0.66	257.7	3092	1997	1746	1597	58.1	11.5	210	1229	0.00	2.22	0.00	0.000	516	0.000	0.048	3099	602	1670	1744	1597	0	0	0	0	0	0	28.83	25.75	28.83
1283	0.70	257.7	3099	604	1746	1595	51.4	10.9	222	1290	0.00	2.17	0.00	0.000	1030	0.000	0.031	3099	2003	1669	1745	1594	0	0	0	0	0	0	28.83	25.94	28.83
1299	0.70	257.7	3100	2004	1745	1595	49.6	11.2	225	1307	0.00	2.22	0.00	0.000	260	0.000	0.047	3099	3394	1669	1745	1594	0	0	0	0	0	0	28.83	25.78	28.83
1347	0.67	257.7	3100	3394	1744	1594	43.9	12.9	234	1355	0.00	2.12	0.00	0.000	1030	0.000	0.032	3106	1998	1669	1744	1594	0	0	0	0	0	0	28.83	25.96	28.83
1365	0.63	257.7	3106	1998	1745	1595	41.5	13.1	237	1374	0.00	0.00	0.00	0.000	6	0.000	0.000	3106	1998	1669	1744	1594	0	0	0	0	0	0	28.83	28.83	28.83
1383	0.63	257.7	3106	1998	1744	1594	39.1	12.4	240	1384	0.12	0.00	0.00	0.000	4102	0.168	0.000	3076	1998	1669	1745	1594	0	0	0	0	0	0	25.93	28.83	28.83
1393	0.63	257.7	3076	1998	1745	1595	37.8	12.4	242	1394	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	1998	1669	1744	1594	0	0	0	0	0	0	28.83	28.83	28.83
1405	0.63	257.7	3076	1998	1744	1594	36.7	11.6	244	1412	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	1998	1669	1744	1594	0	0	0	0	0	0	28.83	28.83	28.83
1420	0.70	257.7	3077	1998	1744	1595	34.9	10.6	247	1431	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	1998	1669	1744	1594	0	0	0	0	0	0	28.83	28.83	28.83
1444	0.76	257.7	3076	1998	1745	1595	32.9	10.6	250	1449	0.12	0.00	0.00	0.000	2054	0.098	0.000	3129	1997	1669	1744	1594	0	0	0	0	0	0	26.20	28.83	28.83
1460	0.76	257.7	3128	1998	1745	1595	30.7	11.2	253	1466	0.00	0.00	0.00	0.000	6	0.000	0.000	3129	1998	1669	1744	1594	0	0	0	0	0	0	28.83	28.83	28.83
1475	0.69	257.7	3128	1998	1745	1595	28.4	13.5	256	1476	0.15	0.00	0.00	0.000	4102	0.162	0.000	3091	1998	1669	1744	1594	0	0	0	0	0	0	25.89	28.83	28.83
1486	0.63	257.7	3092	1998	1745	1594	27.1	14.2	258	1493	0.00	2.25	0.00	0.000	260	0.000	0.047	3091	3394	1669	1745	1594	0	0	0	0	0	0	28.83	25.84	28.83
1512	0.63	257.7	3091	3395	1745	1594	23.8	12.3	263	1519	0.00	2.12	0.00	0.000	1030	0.000	0.032	3096	1995	1669	1745	1594	0	0	0	0	0	0	28.83	26.01	28.83
1527	0.63	257.7	3096	1995	1744	1594	21.9	11.7	266	1528	0.00	0.00	0.00	0.000	6	0.000	0.000	3096	1994	1669	1744	1594	0	0	0	0	0	0	28.83	28.83	28.83
1537	0.63	257.7	3096	1995	1746	1595	20.7	11.8	268	1546	0.00	2.20	0.00	0.000	516	0.000	0.048	3103	603	1669	1745	1594	0	0	0	0	0	0	28.83	25.86	28.83
1559	0.63	257.7	3104	603	1745	1594	18.0	12.5	272	1568	0.08	2.15	0.00	0.000	5126	0.138	0.030	3078	2000	1669	1745	1593	0	0	0	0	0	0	25.76	26.05	28.83
1579	0.63	257.7	3079	2000	1745	1594	16.1	11.4	275	1584	0.00	0.00	0.00	0.000	6	0.000	0.000	3078	2000	1669	1745	1593	0	0	0	0	0	0	28.83	28.83	28.83
1594	0.68	257.7	3078	2001	1745	1594	14.4	10.8	278	1601	0.00	2.17	0.00	0.000	260	0.000	0.047	3078	3396	1669	1745	1593	0	0	0	0	0	0	28.83	25.83	28.83
1631	0.68	257.7	3079	3396	1745	1594	10.4	11.5	285	1638	0.00	2.12	0.00	0.000	1030	0.000	0.032	3082	1992	1669	1745	1593	0	0	0	0	0	0	28.83	26.01	28.83
1648	0.68	264.5	3082	1992	1744	1594	8.7	9.7	288	1662	0.00	2.22	6.20	0.417	8708	0.000	0.049	3089	597	1646	1723	1570	0	0	0	0	0	0	28.83	26.03	24.81
1707	end climb: SURFACE_DEPTH_REACHED
state	1707	begin surface coast
1738	end surface coast: CONTROL_FINISHED_OK
state	1738	begin surface