Glider dive log

Shilshole 04Nov15 * SG158 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 158 HD_C 9.8500004e-06 ROLL_MAX 3794 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 13 HEADING -1 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0

DIVE 12 ESCAPE_HEADING 0 C_ROLL_DIVE 2000 ALTIM_TOP_MIN_OBSTACLE 1

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1750 ALTIM_PING_DEPTH 120

D_SURF 2 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 3200 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 200 TGT_DEFAULT_LON -7306 ROLL_TIMEOUT 15 ALTIM_PULSE 6

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 37 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 320 R_STBD_OVSHOOT 56 XPDR_VALID 6

D_BOOST 3 N_FILEKB 4 ROLL_AD_RATE 250 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 0 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 1.4

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 0 PROTOCOL 1 VBD_MIN 600 DEEPGLIDERMB 0

D_CALL 0 N_NOCOMM 2 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 0 C_VBD 2106 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 38

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_CNV -0.25119999 DEVICE3 -1

T_DIVE 90 CALL_TRIES 7 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 95 CALL_WAIT 60 PITCH_VBD_SHIFT 0.00089999998 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 600 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERS 1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 15 UNCOM_BLEED 50 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -721917.62 DBDW 0 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 49

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 3 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 150 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 100 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 138 MINV_24V 19 SIM_W 0

MAX_BUOY 250 PITCH_MAX 3933 MINV_10V 8 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2562 FG_AHR_10V 0 SEABIRD_T_G 0.004317278

GLIDE_SLOPE 15 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062907452

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY 2 SEABIRD_T_I 2.22976e-05

RHO 1.0233001 P_OVSHOOT 0.02 PRESSURE_YINT -162.90207 SEABIRD_T_J 2.1565418e-06

MASS 51610 PITCH_GAIN 28 PRESSURE_SLOPE 0.000137996 SEABIRD_C_G -9.7708368

MASS_COMP 0 PITCH_TIMEOUT 20 AD7714Ch0Gain 32 SEABIRD_C_H 1.113179

NAV_MODE 2 PITCH_AD_RATE 145 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.001699872

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.0002155289

KALMAN_USE 2 PITCH_ADJ_GAIN 0 COMPASS_USE 4

HD_A 0.0038360001 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099999998 ROLL_MIN 236 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 32 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 320

AH0_10V 100 D_PITCH 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

AH0_24V 150 D_SAFE 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 145 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 200 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 28 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 120 FERRY_MAX 45 PITCH_MAX 3933 TCM_ROLL_OFFSET 0

ALTIM_PULSE 6 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_24V 0 PITCH_MIN 138 TGT_DEFAULT_LAT 3200

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -7306

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00089999998 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 15 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 90

CALL_NDIVES 1 HD_A 0.0038360001 PRESSURE_SLOPE 0.000137996 T_EPIRB 0

CALL_TRIES 7 HD_B 0.0099999998 PRESSURE_YINT -162.90207 T_GPS 15

CALL_WAIT 60 HD_C 9.8500004e-06 PROTOCOL 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.02 T_GPS_CHARGE -721917.62

CAPUPLOAD 1 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 3 HEAPDBG 0 RAFOS_DEVICE -1 T_MISSION 95

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 158 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 33 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 600

COMPASS_USE 4 INT_PRESSURE_YINT 1.4 RHO 1.0233001 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2562 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

C_ROLL_CLIMB 1750 LOGGERDEVICE2 -1 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2000 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY 0

C_VBD 2106 LOGGERDEVICE4 -1 ROLL_DEG 40 USE_ICE 0

DBDW 0 LOGGERS 1 ROLL_MAX 3794 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 51610 ROLL_MAXERRORS 2 VBD_CNV -0.25119999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 236 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 250 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 38 MINV_10V 8 R_PORT_OVSHOOT 37 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 19 R_STBD_OVSHOOT 56 VBD_MIN 600

DEVICE4 -1 MISSION 13 SEABIRD_C_G -9.7708368 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.113179 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_I -0.001699872 VBD_TIMEOUT 720

DIVE 12 NOCOMM_ACTION 0 SEABIRD_C_J 0.0002155289 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.004317278 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062907452 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.22976e-05 XPDR_VALID 6

D_FINISH 0 N_NOCOMM 2 SEABIRD_T_J 2.1565418e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 100 PHONE_DEVICE 49 SIM_W 0

Pre-dive calculations and measurements:

GPS1 051115,073911,4743.417,-12224.516,16,1.7,21,18.2 TGT_NAME NORTH

_CALLS 3 TGT_LATLONG 4744.500,-12224.500

_XMS_NAKs 0 TGT_RADIUS 750.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.80 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 051115,075134,4743.465,-12224.453,14,1.6,30,18.2 MHEAD_RNG_PITCHd_Wd 354.6,1917,-10.1,-7.407,-14.21,4986

SPEED_LIMITS 0.276,0.292 D_GRID 200

Post-dive calculations and measurements:

FINISH 0.2,1.009131 _10V_AH 10.5,0.652

SM_CCo 3797,0.00,0.000,0,0,611,375.54 FG_AHR_24Vo 0.000

SM_GC 1.43,6.90,0.38,0.00,0.037,0.046,0.000,120,2036,611,-7.57,-0.96,375.54,0,0,0,0,0,0,26.05,26.07,28.83 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4726.11,-12224.09,310808,212104 MEM 323280

TT8_MAMPS 0.020223,0.020223 DATA_FILE_SIZE 33550,688

HUMID 48.81 CAP_FILE_SIZE 79193,0

INTERNAL_PRESSURE 8.77333 CFSIZE 260165632,257089536

TCM_TEMP 20.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.034,206.0,1

ALTIM_BOTTOM_PING 125.1,65.2 GPS 051115,085626,4743.980,-12224.334,13,2.2,33,18.2

_24V_AH 24.3,1.001

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 249 105.14 SBE_CT 460 23 268.04

Roll_motor 69 56 94.95 WL_BB2FLVMG 514 105 1312.49

VBD_pump_during_apogee 433 650 6852.93 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 69 55 94.81 nil 0 0 0.00

Iridium_during_connect 100 160 390.69 nil 0 0 0.00

Iridium_during_xfer 294 223 1596.48 nil 0 0 0.00

Transponder_ping 0 420 7.65 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 31 30 10.21

TT8 1532 11 184.36

LPSleep 814 2 18.74

TT8_Active 515 11 61.97

TT8_Sampling 1480 39 609.18

TT8_CF8 203 45 98.28

TT8_Kalman 0 0 0.00

Analog_circuits 1116 17 199.32

GPS_charging 0 0 0.00

Compass 995 15 164.34

RAFOS 0 0 0.00

Transponder 7 30 2.27

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.58 -244.3 131 2025 824 824 0.0 0.0 0 60 0.00 0.00 -41.22 0.000 16386 0.000 0.000 131 2025 2065 2049 2082 0 0 0 0 0 0 28.83 28.83 28.83

63 -0.58 -244.3 131 2025 2050 2083 3.4 -5.8 7 100 8.93 2.33 -21.38 0.000 18948 0.249 0.057 2372 581 3081 3089 3073 0 0 0 0 0 0 25.69 25.96 26.25

334 -0.58 -244.3 1472 579 3049 3068 40.8 -13.7 59 340 0.00 2.12 0.00 0.000 1030 0.000 0.031 2364 1985 3083 3092 3074 0 0 0 0 0 0 28.83 26.18 28.83

463 -0.58 -244.3 1456 1984 3049 3068 58.7 -13.7 84 469 0.00 2.17 0.00 0.000 260 0.000 0.044 2353 3405 3082 3092 3073 0 0 0 0 0 0 28.83 26.22 28.83

507 -0.58 -244.3 2353 3406 3092 3074 64.7 -12.6 92 514 0.00 2.12 0.00 0.000 1030 0.000 0.030 2354 1993 3083 3092 3074 0 0 0 0 0 0 28.83 26.27 28.83

636 -0.58 -244.3 1448 1990 3049 3068 84.3 -15.9 117 642 0.00 0.00 0.00 0.000 6 0.000 0.000 2354 1992 3083 3092 3074 0 0 0 0 0 0 28.83 28.83 28.83

766 -0.58 -244.3 2354 1993 3092 3074 104.6 -15.2 142 772 0.00 2.12 0.00 0.000 516 0.000 0.042 2354 588 3083 3092 3074 0 0 0 0 0 0 28.83 26.34 28.83

791 -0.58 -244.3 2354 588 3092 3074 108.3 -15.1 146 797 0.00 2.12 0.00 0.000 1030 0.000 0.031 2345 2002 3083 3092 3074 0 0 0 0 0 0 28.83 26.36 28.83

923 -0.58 -244.3 2345 2002 3092 3074 127.8 -14.6 171 929 0.00 0.00 0.00 0.000 6 0.000 0.000 2345 2002 3083 3092 3074 0 0 0 0 0 0 28.83 28.83 28.83

1052 -0.58 -244.3 2345 2002 3092 3074 146.9 -14.7 196 1058 0.00 2.15 0.00 0.000 260 0.000 0.044 2335 3416 3082 3092 3073 0 0 0 0 0 0 28.83 26.40 28.83

1096 -0.58 -244.3 2335 3416 3091 3074 153.9 -15.1 204 1103 0.15 2.12 0.00 0.000 3078 0.145 0.031 2378 1994 3083 3092 3074 0 0 0 0 0 0 26.32 26.45 28.83

1228 -0.58 -244.3 2377 1992 3092 3073 171.0 -12.7 229 1235 0.00 2.10 0.00 0.000 516 0.000 0.041 2378 597 3083 3092 3074 0 0 0 0 0 0 28.83 26.44 28.83

1260 end dive: BOTTOM_OBSTACLE_DETECTED

state 1261 begin apogee

1269 -0.18 0.0 2373 1754 3092 3073 175.7 -13.1 235 1457 0.38 0.00 179.57 0.650 10246 0.122 0.000 2505 1754 2105 2150 2060 0 0 0 0 0 0 26.36 28.83 24.39

1457 end apogee: CONTROL_FINISHED_OK

state 1458 begin climb

1460 0.58 244.3 2504 1755 2148 2058 185.2 0.0 268 1656 0.70 0.00 189.40 0.637 10758 0.084 0.000 2750 1756 1132 1181 1084 0 0 0 0 0 0 24.98 28.83 24.31

1780 0.58 244.3 2750 1756 1176 1080 168.1 8.5 326 1786 0.00 2.28 0.00 0.000 516 0.000 0.048 2760 348 1127 1175 1080 0 0 0 0 0 0 28.83 25.56 28.83

1845 0.58 244.3 2759 348 1175 1079 162.1 9.2 338 1851 0.00 2.17 0.00 0.000 1030 0.000 0.033 2760 1750 1127 1175 1080 0 0 0 0 0 0 28.83 25.74 28.83

1975 0.58 244.3 1744 1749 1156 1077 150.2 8.4 363 1982 0.00 2.17 0.00 0.000 260 0.000 0.042 2760 3159 1126 1174 1078 0 0 0 0 0 0 28.83 25.91 28.83

2005 0.58 244.3 2759 3159 1173 1078 147.5 9.1 368 2012 0.00 2.17 0.00 0.000 1030 0.000 0.037 2769 1751 1125 1174 1077 0 0 0 0 0 0 28.83 25.96 28.83

2136 0.58 244.3 1744 1749 1155 1075 134.6 10.5 393 2143 0.00 2.20 0.00 0.000 516 0.000 0.047 2779 338 1125 1174 1077 0 0 0 0 0 0 28.83 26.06 28.83

2157 0.58 244.3 2779 337 1174 1077 132.4 9.8 396 2164 0.00 2.17 0.00 0.000 1030 0.000 0.033 2779 1763 1125 1174 1077 0 0 0 0 0 0 28.83 26.10 28.83

2289 0.58 244.3 2779 1764 1174 1077 118.2 11.2 421 2296 0.00 2.15 0.00 0.000 260 0.000 0.043 2779 3162 1125 1174 1077 0 0 0 0 0 0 28.83 26.15 28.83

2343 0.58 244.3 1792 3160 1156 1075 111.8 10.9 431 2350 0.15 2.15 0.00 0.000 5126 0.153 0.036 2746 1750 1125 1174 1077 0 0 0 0 0 0 26.08 26.20 28.83

2475 0.58 244.3 2746 1750 1174 1077 101.6 7.5 456 2481 0.00 2.20 0.00 0.000 516 0.000 0.049 2755 337 1125 1174 1076 0 0 0 0 0 0 28.83 26.24 28.83

2534 0.58 244.3 1760 337 1157 1074 96.8 7.9 467 2540 0.00 2.15 0.00 0.000 1030 0.000 0.032 2755 1760 1124 1173 1076 0 0 0 0 0 0 28.83 26.29 28.83

2665 0.58 244.3 2755 1761 1174 1076 86.6 8.2 492 2671 0.00 2.12 0.00 0.000 260 0.000 0.042 2755 3156 1125 1174 1076 0 0 0 0 0 0 28.83 26.31 28.83

2714 0.58 244.3 2755 3156 1174 1076 82.1 9.1 501 2721 0.00 2.15 0.00 0.000 1030 0.000 0.035 2763 1739 1125 1174 1076 0 0 0 0 0 0 28.83 26.34 28.83

2845 0.58 244.3 2763 1739 1173 1076 70.6 9.1 526 2851 0.00 2.17 0.00 0.000 516 0.000 0.049 2773 337 1124 1174 1075 0 0 0 0 0 0 28.83 26.35 28.83

2899 0.58 244.3 2773 337 1174 1075 65.2 10.2 536 2906 0.00 2.12 0.00 0.000 1030 0.000 0.033 2773 1750 1124 1174 1075 0 0 0 0 0 0 28.83 26.40 28.83

3030 0.58 244.3 1744 1750 1155 1074 52.4 9.9 561 3036 0.00 0.00 0.00 0.000 6 0.000 0.000 2773 1752 1124 1174 1075 0 0 0 0 0 0 28.83 28.83 28.83

3160 0.58 244.3 2773 1752 1174 1075 39.4 10.0 586 3166 0.00 2.12 0.00 0.000 260 0.000 0.042 2773 3151 1124 1174 1075 0 0 0 0 0 0 28.83 26.43 28.83

3188 0.58 244.3 1792 3149 1156 1073 36.3 10.5 591 3196 0.15 2.12 0.00 0.000 5126 0.152 0.035 2739 1742 1124 1174 1075 0 0 0 0 0 0 26.33 26.45 28.83

3259 0.60 266.8 2739 1741 1174 1075 30.9 6.9 604 3283 0.00 2.17 18.05 0.539 8708 0.000 0.047 2749 345 1041 1091 992 0 0 0 0 0 0 28.83 26.22 25.72

3321 0.60 266.8 1760 345 1075 991 26.4 7.8 615 3327 0.00 2.12 0.00 0.000 1030 0.000 0.033 2749 1749 1040 1089 992 0 0 0 0 0 0 28.83 26.28 28.83

3390 0.60 266.8 2748 1750 1089 992 21.0 8.0 628 3397 0.00 2.12 0.00 0.000 260 0.000 0.042 2748 3151 1040 1089 991 0 0 0 0 0 0 28.83 26.29 28.83

3415 0.60 266.8 2748 3151 1088 991 18.9 8.6 632 3421 0.00 2.12 0.00 0.000 1030 0.000 0.036 2753 1750 1039 1088 991 0 0 0 0 0 0 28.83 26.32 28.83

3484 0.60 266.8 2752 1750 1088 991 13.0 8.6 645 3491 0.00 2.17 0.00 0.000 516 0.000 0.049 2764 340 1039 1088 991 0 0 0 0 0 0 28.83 26.32 28.83

3544 0.60 266.8 2763 340 1087 991 7.8 7.9 656 3551 0.00 2.12 0.00 0.000 1030 0.000 0.033 2764 1751 1039 1087 991 0 0 0 0 0 0 28.83 26.36 28.83

3613 0.73 408.3 1760 1752 1073 989 3.4 4.5 669 3662 0.00 0.00 46.67 0.440 8450 0.000 0.000 2763 1754 616 605 628 0 0 0 0 0 0 28.83 28.83 28.83

3663 end climb: SURFACE_DEPTH_REACHED

state 3663 begin surface coast

3719 end surface coast: CONTROL_FINISHED_OK

state 3719 begin surface

ID	158	HD_C	9.8500004e-06	ROLL_MAX	3794	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	13	HEADING	-1	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0
DIVE	12	ESCAPE_HEADING	0	C_ROLL_DIVE	2000	ALTIM_TOP_MIN_OBSTACLE	1
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1750	ALTIM_PING_DEPTH	120
D_SURF	2	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	3200	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	200	TGT_DEFAULT_LON	-7306	ROLL_TIMEOUT	15	ALTIM_PULSE	6
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	37	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	320	R_STBD_OVSHOOT	56	XPDR_VALID	6
D_BOOST	3	N_FILEKB	4	ROLL_AD_RATE	250	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	0	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	1.4
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	0	PROTOCOL	1	VBD_MIN	600	DEEPGLIDERMB	0
D_CALL	0	N_NOCOMM	2	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	0	C_VBD	2106	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	38
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_CNV	-0.25119999	DEVICE3	-1
T_DIVE	90	CALL_TRIES	7	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	95	CALL_WAIT	60	PITCH_VBD_SHIFT	0.00089999998	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	600	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERS	1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	15	UNCOM_BLEED	50	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-721917.62	DBDW	0	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	49
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	3	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	150	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	100	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	138	MINV_24V	19	SIM_W	0
MAX_BUOY	250	PITCH_MAX	3933	MINV_10V	8	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2562	FG_AHR_10V	0	SEABIRD_T_G	0.004317278
GLIDE_SLOPE	15	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062907452
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	2	SEABIRD_T_I	2.22976e-05
RHO	1.0233001	P_OVSHOOT	0.02	PRESSURE_YINT	-162.90207	SEABIRD_T_J	2.1565418e-06
MASS	51610	PITCH_GAIN	28	PRESSURE_SLOPE	0.000137996	SEABIRD_C_G	-9.7708368
MASS_COMP	0	PITCH_TIMEOUT	20	AD7714Ch0Gain	32	SEABIRD_C_H	1.113179
NAV_MODE	2	PITCH_AD_RATE	145	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.001699872
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.0002155289
KALMAN_USE	2	PITCH_ADJ_GAIN	0	COMPASS_USE	4
HD_A	0.0038360001	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099999998	ROLL_MIN	236	ALTIM_TOP_PING_RANGE	0

GPS1	051115,073911,4743.417,-12224.516,16,1.7,21,18.2	TGT_NAME	NORTH
_CALLS	3	TGT_LATLONG	4744.500,-12224.500
_XMS_NAKs	0	TGT_RADIUS	750.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.80	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	051115,075134,4743.465,-12224.453,14,1.6,30,18.2	MHEAD_RNG_PITCHd_Wd	354.6,1917,-10.1,-7.407,-14.21,4986
SPEED_LIMITS	0.276,0.292	D_GRID	200

FINISH	0.2,1.009131	_10V_AH	10.5,0.652
SM_CCo	3797,0.00,0.000,0,0,611,375.54	FG_AHR_24Vo	0.000
SM_GC	1.43,6.90,0.38,0.00,0.037,0.046,0.000,120,2036,611,-7.57,-0.96,375.54,0,0,0,0,0,0,26.05,26.07,28.83	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4726.11,-12224.09,310808,212104	MEM	323280
TT8_MAMPS	0.020223,0.020223	DATA_FILE_SIZE	33550,688
HUMID	48.81	CAP_FILE_SIZE	79193,0
INTERNAL_PRESSURE	8.77333	CFSIZE	260165632,257089536
TCM_TEMP	20.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.034,206.0,1
ALTIM_BOTTOM_PING	125.1,65.2	GPS	051115,085626,4743.980,-12224.334,13,2.2,33,18.2
_24V_AH	24.3,1.001

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	249	105.14	SBE_CT	460	23	268.04
Roll_motor	69	56	94.95	WL_BB2FLVMG	514	105	1312.49
VBD_pump_during_apogee	433	650	6852.93	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	69	55	94.81	nil	0	0	0.00
Iridium_during_connect	100	160	390.69	nil	0	0	0.00
Iridium_during_xfer	294	223	1596.48	nil	0	0	0.00
Transponder_ping	0	420	7.65	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	31	30	10.21
TT8	1532	11	184.36
LPSleep	814	2	18.74
TT8_Active	515	11	61.97
TT8_Sampling	1480	39	609.18
TT8_CF8	203	45	98.28
TT8_Kalman	0	0	0.00
Analog_circuits	1116	17	199.32
GPS_charging	0	0	0.00
Compass	995	15	164.34
RAFOS	0	0	0.00
Transponder	7	30	2.27

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.58	-244.3	131	2025	824	824	0.0	0.0	0	60	0.00	0.00	-41.22	0.000	16386	0.000	0.000	131	2025	2065	2049	2082	0	0	0	0	0	0	28.83	28.83	28.83
63	-0.58	-244.3	131	2025	2050	2083	3.4	-5.8	7	100	8.93	2.33	-21.38	0.000	18948	0.249	0.057	2372	581	3081	3089	3073	0	0	0	0	0	0	25.69	25.96	26.25
334	-0.58	-244.3	1472	579	3049	3068	40.8	-13.7	59	340	0.00	2.12	0.00	0.000	1030	0.000	0.031	2364	1985	3083	3092	3074	0	0	0	0	0	0	28.83	26.18	28.83
463	-0.58	-244.3	1456	1984	3049	3068	58.7	-13.7	84	469	0.00	2.17	0.00	0.000	260	0.000	0.044	2353	3405	3082	3092	3073	0	0	0	0	0	0	28.83	26.22	28.83
507	-0.58	-244.3	2353	3406	3092	3074	64.7	-12.6	92	514	0.00	2.12	0.00	0.000	1030	0.000	0.030	2354	1993	3083	3092	3074	0	0	0	0	0	0	28.83	26.27	28.83
636	-0.58	-244.3	1448	1990	3049	3068	84.3	-15.9	117	642	0.00	0.00	0.00	0.000	6	0.000	0.000	2354	1992	3083	3092	3074	0	0	0	0	0	0	28.83	28.83	28.83
766	-0.58	-244.3	2354	1993	3092	3074	104.6	-15.2	142	772	0.00	2.12	0.00	0.000	516	0.000	0.042	2354	588	3083	3092	3074	0	0	0	0	0	0	28.83	26.34	28.83
791	-0.58	-244.3	2354	588	3092	3074	108.3	-15.1	146	797	0.00	2.12	0.00	0.000	1030	0.000	0.031	2345	2002	3083	3092	3074	0	0	0	0	0	0	28.83	26.36	28.83
923	-0.58	-244.3	2345	2002	3092	3074	127.8	-14.6	171	929	0.00	0.00	0.00	0.000	6	0.000	0.000	2345	2002	3083	3092	3074	0	0	0	0	0	0	28.83	28.83	28.83
1052	-0.58	-244.3	2345	2002	3092	3074	146.9	-14.7	196	1058	0.00	2.15	0.00	0.000	260	0.000	0.044	2335	3416	3082	3092	3073	0	0	0	0	0	0	28.83	26.40	28.83
1096	-0.58	-244.3	2335	3416	3091	3074	153.9	-15.1	204	1103	0.15	2.12	0.00	0.000	3078	0.145	0.031	2378	1994	3083	3092	3074	0	0	0	0	0	0	26.32	26.45	28.83
1228	-0.58	-244.3	2377	1992	3092	3073	171.0	-12.7	229	1235	0.00	2.10	0.00	0.000	516	0.000	0.041	2378	597	3083	3092	3074	0	0	0	0	0	0	28.83	26.44	28.83
1260	end dive: BOTTOM_OBSTACLE_DETECTED
state	1261	begin apogee
1269	-0.18	0.0	2373	1754	3092	3073	175.7	-13.1	235	1457	0.38	0.00	179.57	0.650	10246	0.122	0.000	2505	1754	2105	2150	2060	0	0	0	0	0	0	26.36	28.83	24.39
1457	end apogee: CONTROL_FINISHED_OK
state	1458	begin climb
1460	0.58	244.3	2504	1755	2148	2058	185.2	0.0	268	1656	0.70	0.00	189.40	0.637	10758	0.084	0.000	2750	1756	1132	1181	1084	0	0	0	0	0	0	24.98	28.83	24.31
1780	0.58	244.3	2750	1756	1176	1080	168.1	8.5	326	1786	0.00	2.28	0.00	0.000	516	0.000	0.048	2760	348	1127	1175	1080	0	0	0	0	0	0	28.83	25.56	28.83
1845	0.58	244.3	2759	348	1175	1079	162.1	9.2	338	1851	0.00	2.17	0.00	0.000	1030	0.000	0.033	2760	1750	1127	1175	1080	0	0	0	0	0	0	28.83	25.74	28.83
1975	0.58	244.3	1744	1749	1156	1077	150.2	8.4	363	1982	0.00	2.17	0.00	0.000	260	0.000	0.042	2760	3159	1126	1174	1078	0	0	0	0	0	0	28.83	25.91	28.83
2005	0.58	244.3	2759	3159	1173	1078	147.5	9.1	368	2012	0.00	2.17	0.00	0.000	1030	0.000	0.037	2769	1751	1125	1174	1077	0	0	0	0	0	0	28.83	25.96	28.83
2136	0.58	244.3	1744	1749	1155	1075	134.6	10.5	393	2143	0.00	2.20	0.00	0.000	516	0.000	0.047	2779	338	1125	1174	1077	0	0	0	0	0	0	28.83	26.06	28.83
2157	0.58	244.3	2779	337	1174	1077	132.4	9.8	396	2164	0.00	2.17	0.00	0.000	1030	0.000	0.033	2779	1763	1125	1174	1077	0	0	0	0	0	0	28.83	26.10	28.83
2289	0.58	244.3	2779	1764	1174	1077	118.2	11.2	421	2296	0.00	2.15	0.00	0.000	260	0.000	0.043	2779	3162	1125	1174	1077	0	0	0	0	0	0	28.83	26.15	28.83
2343	0.58	244.3	1792	3160	1156	1075	111.8	10.9	431	2350	0.15	2.15	0.00	0.000	5126	0.153	0.036	2746	1750	1125	1174	1077	0	0	0	0	0	0	26.08	26.20	28.83
2475	0.58	244.3	2746	1750	1174	1077	101.6	7.5	456	2481	0.00	2.20	0.00	0.000	516	0.000	0.049	2755	337	1125	1174	1076	0	0	0	0	0	0	28.83	26.24	28.83
2534	0.58	244.3	1760	337	1157	1074	96.8	7.9	467	2540	0.00	2.15	0.00	0.000	1030	0.000	0.032	2755	1760	1124	1173	1076	0	0	0	0	0	0	28.83	26.29	28.83
2665	0.58	244.3	2755	1761	1174	1076	86.6	8.2	492	2671	0.00	2.12	0.00	0.000	260	0.000	0.042	2755	3156	1125	1174	1076	0	0	0	0	0	0	28.83	26.31	28.83
2714	0.58	244.3	2755	3156	1174	1076	82.1	9.1	501	2721	0.00	2.15	0.00	0.000	1030	0.000	0.035	2763	1739	1125	1174	1076	0	0	0	0	0	0	28.83	26.34	28.83
2845	0.58	244.3	2763	1739	1173	1076	70.6	9.1	526	2851	0.00	2.17	0.00	0.000	516	0.000	0.049	2773	337	1124	1174	1075	0	0	0	0	0	0	28.83	26.35	28.83
2899	0.58	244.3	2773	337	1174	1075	65.2	10.2	536	2906	0.00	2.12	0.00	0.000	1030	0.000	0.033	2773	1750	1124	1174	1075	0	0	0	0	0	0	28.83	26.40	28.83
3030	0.58	244.3	1744	1750	1155	1074	52.4	9.9	561	3036	0.00	0.00	0.00	0.000	6	0.000	0.000	2773	1752	1124	1174	1075	0	0	0	0	0	0	28.83	28.83	28.83
3160	0.58	244.3	2773	1752	1174	1075	39.4	10.0	586	3166	0.00	2.12	0.00	0.000	260	0.000	0.042	2773	3151	1124	1174	1075	0	0	0	0	0	0	28.83	26.43	28.83
3188	0.58	244.3	1792	3149	1156	1073	36.3	10.5	591	3196	0.15	2.12	0.00	0.000	5126	0.152	0.035	2739	1742	1124	1174	1075	0	0	0	0	0	0	26.33	26.45	28.83
3259	0.60	266.8	2739	1741	1174	1075	30.9	6.9	604	3283	0.00	2.17	18.05	0.539	8708	0.000	0.047	2749	345	1041	1091	992	0	0	0	0	0	0	28.83	26.22	25.72
3321	0.60	266.8	1760	345	1075	991	26.4	7.8	615	3327	0.00	2.12	0.00	0.000	1030	0.000	0.033	2749	1749	1040	1089	992	0	0	0	0	0	0	28.83	26.28	28.83
3390	0.60	266.8	2748	1750	1089	992	21.0	8.0	628	3397	0.00	2.12	0.00	0.000	260	0.000	0.042	2748	3151	1040	1089	991	0	0	0	0	0	0	28.83	26.29	28.83
3415	0.60	266.8	2748	3151	1088	991	18.9	8.6	632	3421	0.00	2.12	0.00	0.000	1030	0.000	0.036	2753	1750	1039	1088	991	0	0	0	0	0	0	28.83	26.32	28.83
3484	0.60	266.8	2752	1750	1088	991	13.0	8.6	645	3491	0.00	2.17	0.00	0.000	516	0.000	0.049	2764	340	1039	1088	991	0	0	0	0	0	0	28.83	26.32	28.83
3544	0.60	266.8	2763	340	1087	991	7.8	7.9	656	3551	0.00	2.12	0.00	0.000	1030	0.000	0.033	2764	1751	1039	1087	991	0	0	0	0	0	0	28.83	26.36	28.83
3613	0.73	408.3	1760	1752	1073	989	3.4	4.5	669	3662	0.00	0.00	46.67	0.440	8450	0.000	0.000	2763	1754	616	605	628	0	0	0	0	0	0	28.83	28.83	28.83
3663	end climb: SURFACE_DEPTH_REACHED
state	3663	begin surface coast
3719	end surface coast: CONTROL_FINISHED_OK
state	3719	begin surface