Glider dive log

OKMC Apr12 * SG169 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 169 HD_B 0.010078 PITCH_ADJ_GAIN 0.0099999998 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 9.8500004e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 40

DIVE 17 HEADING -1 ROLL_MIN 220 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3795 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 3 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 400

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2250 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2500 ALTIM_FREQUENCY 13

D_ABORT 1020 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_PULSE 7

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_BOOST 110 SM_CC 425 ROLL_TIMEOUT 15 XPDR_VALID 4

T_BOOST 4 N_FILEKB 4 R_PORT_OVSHOOT -10 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT -10 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 330 INT_PRESSURE_YINT -1.1

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_CALL 0 PROTOCOL 1 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 2 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 163 VBD_MIN 435 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

T_DIVE 360 UPLOAD_DIVES_MAX -1 C_VBD 2979 DEVICE3 -1

T_MISSION 380 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 3 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -8 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -14346.746 VBD_MAXERRORS 1 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

D_OFFGRID 1000 STROBE 0 AH0_24V 147.521 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 108.529 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

APOGEE_PITCH -8 RAFOS_HIT_WINDOW 3600 MINV_10V 9.5 XPDR_DEVICE 24

MAX_BUOY 175 PITCH_MIN 146 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3945 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2050 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043354053

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -77.157478 SEABIRD_T_H 0.0006253231

RHO 1.0275 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.000115925 SEABIRD_T_I 2.3840643e-05

MASS 51575 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.5685486e-06

NAV_MODE 2 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9554796

FERRY_MAX 45 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1274287

KALMAN_USE 2 PITCH_AD_RATE 165 COMPASS_USE 4 SEABIRD_C_I -0.0019472764

HD_A 0.0038360001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00023438112

AD7714Ch0Gain 128 D_NO_BLEED 500 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 108.529 D_OFFGRID 1000 PHONE_DEVICE 48 SIM_W 0

AH0_24V 147.521 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 40 D_SURF 3 PITCH_ADJ_GAIN 0.0099999998 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_PING_DELTA 50 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 400 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 7 FERRY_MAX 45 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAX 3945 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 146 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -12218

APOGEE_PITCH -8 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.000115925 T_BOOST 4

CALL_TRIES 5 HD_A 0.0038360001 PRESSURE_YINT -77.157478 T_DIVE 360

CALL_WAIT 60 HD_B 0.010078 PROTOCOL 1 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 9.8500004e-06 P_OVSHOOT 0.039999999 T_GPS 15

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_DEVICE -1 T_GPS_CHARGE -14346.746

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_MISSION 380

COMPASS_DEVICE 33 ID 169 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT -1.1 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2050 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2500 LOGGERDEVICE1 -1 ROLL_AD_RATE 330 T_WATCHDOG 10

C_ROLL_DIVE 2250 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2979 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3795 USE_BATHY -8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 1 USE_ICE 0

DEVICE1 2 MASS 51575 ROLL_MIN 220 VBD_BLEED_AD_RATE 8

DEVICE2 101 MAX_BUOY 175 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 9.5 R_PORT_OVSHOOT -10 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT -10 VBD_MAX 3960

DEVICE5 -1 MISSION 6 SEABIRD_C_G -9.9554796 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1274287 VBD_MIN 435

DIVE 17 NAV_MODE 2 SEABIRD_C_I -0.0019472764 VBD_PUMP_AD_RATE_APOGEE 2

D_ABORT 1020 NOCOMM_ACTION 163 SEABIRD_C_J 0.00023438112 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 110 N_DIVES 0 SEABIRD_T_G 0.0043354053 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_T_H 0.0006253231 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.3840643e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_J 2.5685486e-06 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 220412,054936,2224.103,12114.171,9,1.3,26,-2.8 TGT_NAME N1

_CALLS 1 TGT_LATLONG 2303.600,12125.840

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.78 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220412,055704,2224.271,12114.186,13,3.1,32,-2.8 MHEAD_RNG_PITCHd_Wd 63.1,75497,-15.6,-9.167

SPEED_LIMITS 0.159,0.271 D_GRID 504

Post-dive calculations and measurements:

FINISH -0.0,1.021309 _10V_AH 10.4,1.740

SM_CCo 8904,0.00,0.000,0,0,908,508.02 FG_AHR_24Vo 0.000

SM_GC 0.50,5.55,0.38,0.00,0.034,0.036,0.000,134,2176,908,-5.91,0.37,508.02,0,0,0,0,0,0 FG_AHR_10Vo 0.000

IRIDIUM_FIX 2213.68,12113.41,220412,020235 MEM 324668

TT8_MAMPS 0.026215,0.026215 DATA_FILE_SIZE 66907,1096

HUMID 50.78 CAP_FILE_SIZE 120963,0

INTERNAL_PRESSURE 8.31442 CFSIZE 260165632,220393472

TCM_TEMP 23.80 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.247,343.5,1

_24V_AH 24.3,2.686 GPS 220412,082701,2226.145,12115.712,40,0.9,41,-2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 225 90.35 SBE_CT 734 24 428.17

Roll_motor 94 78 178.38 AA4330 1294 33 1038.41

VBD_pump_during_apogee 576 856 11986.43 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 24 103 61.20 nil 0 0 0.00

Iridium_during_connect 41 160 162.78 nil 0 0 0.00

Iridium_during_xfer 227 223 1233.56 nil 0 0 0.00

Transponder_ping 0 420 7.65 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 50 17.88

TT8 2761 19 568.60

LPSleep 3417 2 77.83

TT8_Active 674 19 138.92

TT8_Sampling 2204 39 912.51

TT8_CF8 271 45 129.26

TT8_Kalman 0 0 0.00

Analog_circuits 1697 12 211.80

GPS_charging 0 0 0.00

Compass 1793 15 279.79

RAFOS 0 0 0.00

Transponder 7 30 2.22

Guidance and control:

st_secs pitch_ctl vbd_ctl 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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.60 -170.3 0.0 0.0 0 88 0.00 0.00 -68.60 0.000 2 0.000 0.000 111 2179 2980 0 0 0 0 0 0 28.83 28.83 28.83

91 -0.60 -170.3 3.3 -8.3 11 119 6.72 2.10 -12.93 0.000 4 0.226 0.047 1858 796 3678 0 0 0 0 0 0 25.78 26.13 26.42

218 -0.53 -170.3 52.9 -19.6 33 228 0.12 2.28 0.00 0.000 6 0.157 0.039 1882 2278 3679 0 0 0 0 0 0 26.06 26.18 28.83

419 -0.44 -170.3 102.7 -21.0 70 425 0.00 0.00 0.00 0.000 6 0.000 0.000 1882 2278 3679 0 0 0 0 0 0 28.83 28.83 28.83

614 -0.40 -170.3 132.8 -11.7 107 622 0.12 2.22 0.00 0.000 4 0.158 0.044 1912 3699 3681 0 0 0 0 0 0 26.27 26.36 28.83

711 -0.47 -170.3 141.6 -7.6 125 719 0.00 2.28 0.00 0.000 6 0.000 0.024 1912 2201 3682 0 0 0 0 0 0 28.83 26.44 28.83

905 -0.49 -170.3 155.7 -6.8 162 911 0.00 0.00 0.00 0.000 6 0.000 0.000 1913 2200 3682 0 0 0 0 0 0 28.83 28.83 28.83

1096 -0.53 -170.3 169.6 -7.1 199 1103 0.10 2.38 0.00 0.000 4 0.091 0.041 1810 3687 3682 0 0 0 0 0 0 26.58 26.46 28.83

1252 -0.42 -170.3 200.5 -20.4 228 1260 0.32 2.25 0.00 0.000 6 0.132 0.024 1913 2202 3682 0 0 0 0 0 0 26.34 26.53 28.83

1560 -0.47 -170.3 225.6 -6.8 259 1569 0.00 2.35 0.00 0.000 4 0.000 0.044 1902 3686 3682 0 0 0 0 0 0 28.83 26.52 28.83

1646 -0.54 -170.3 231.5 -6.7 267 1653 0.00 2.22 0.00 0.000 6 0.000 0.024 1902 2202 3681 0 0 0 0 0 0 28.83 26.59 28.83

1954 -0.59 -170.3 252.4 -6.7 298 1966 0.12 2.35 0.00 0.000 4 0.076 0.043 1790 3674 3681 0 0 0 0 0 0 26.67 26.56 28.83

2042 -0.49 -170.3 266.8 -19.6 306 2052 0.30 2.22 0.00 0.000 6 0.135 0.025 1889 2205 3681 0 0 0 0 0 0 26.41 26.60 28.83

2350 -0.53 -170.3 295.1 -7.5 337 2359 0.00 2.33 0.00 0.000 4 0.000 0.044 1877 3683 3681 0 0 0 0 0 0 28.83 26.58 28.83

2469 -0.57 -170.3 303.8 -7.3 348 2480 0.00 2.22 0.00 0.000 6 0.000 0.024 1877 2199 3681 0 0 0 0 0 0 28.83 26.64 28.83

2778 -0.60 -170.3 328.9 -8.4 379 2787 0.00 2.40 0.00 0.000 4 0.000 0.044 1865 3693 3679 0 0 0 0 0 0 28.83 26.60 28.83

2875 -0.63 -170.3 336.5 -7.9 388 2884 0.00 2.25 0.00 0.000 6 0.000 0.024 1865 2198 3678 0 0 0 0 0 0 28.83 26.65 28.83

3183 -0.65 -170.3 364.7 -9.4 419 3192 0.00 2.38 0.00 0.000 4 0.000 0.045 1854 3684 3676 0 0 0 0 0 0 28.83 26.60 28.83

3281 -0.68 -170.3 373.1 -8.6 428 3290 0.00 2.22 0.00 0.000 6 0.000 0.025 1854 2202 3675 0 0 0 0 0 0 28.83 26.65 28.83

3589 -0.68 -170.3 400.1 -8.8 459 3598 0.00 2.38 0.00 0.000 4 0.000 0.047 1844 3692 3673 0 0 0 0 0 0 28.83 26.60 28.83

3696 -0.69 -170.3 409.8 -9.4 469 3705 0.00 2.25 0.00 0.000 6 0.000 0.026 1844 2201 3672 0 0 0 0 0 0 28.83 26.66 28.83

4002 -0.69 -170.3 440.4 -9.7 500 4012 0.00 2.40 0.00 0.000 4 0.000 0.047 1832 3689 3670 0 0 0 0 0 0 28.83 26.60 28.83

4079 -0.69 -170.3 447.6 -10.2 507 4086 0.00 2.25 0.00 0.000 6 0.000 0.025 1832 2199 3669 0 0 0 0 0 0 28.83 26.66 28.83

4388 -0.67 -170.3 484.2 -13.2 538 4397 0.00 2.38 0.00 0.000 4 0.000 0.047 1821 3685 3667 0 0 0 0 0 0 28.83 26.61 28.83

4482 -0.65 -170.3 498.0 -14.7 547 4491 0.00 2.22 0.00 0.000 6 0.000 0.026 1821 2202 3666 0 0 0 0 0 0 28.83 26.69 28.83

4519 end dive: TARGET_DEPTH_EXCEEDED

state 4519 begin apogee

4525 -0.20 0.0 504.3 -15.5 551 4674 0.45 0.10 140.82 0.856 6 0.103 0.078 1979 2454 2973 0 0 0 0 0 0 26.51 25.05 24.41

4675 end apogee: CONTROL_FINISHED_OK

state 4675 begin climb

4678 0.60 170.3 508.2 0.0 566 4843 0.68 2.28 150.73 0.835 4 0.037 0.042 2258 3820 2268 0 0 0 0 0 0 25.25 24.94 24.30

4922 0.42 170.3 471.1 24.5 590 4930 0.30 2.10 0.00 0.000 6 0.187 0.024 2190 2460 2254 0 0 0 0 0 0 25.41 25.60 28.83

5229 0.34 170.3 415.4 16.5 621 5231 0.12 0.00 0.00 0.000 6 0.183 0.000 2160 2458 2249 0 0 0 0 0 0 25.93 28.83 28.83

5529 0.30 170.3 377.9 12.3 651 5533 0.00 2.15 0.00 0.000 4 0.000 0.044 2159 3816 2247 0 0 0 0 0 0 28.83 26.24 28.83

5695 0.24 170.3 354.7 14.2 667 5706 0.15 2.05 0.00 0.000 6 0.161 0.025 2129 2458 2245 0 0 0 0 0 0 26.16 26.34 28.83

6004 0.24 170.3 323.8 10.0 698 6013 0.00 2.12 0.00 0.000 4 0.000 0.045 2129 3818 2243 0 0 0 0 0 0 28.83 26.37 28.83

6089 0.24 170.3 314.5 11.4 706 6097 0.00 1.98 0.00 0.000 6 0.000 0.025 2140 2463 2242 0 0 0 0 0 0 28.83 26.44 28.83

6397 0.24 174.8 285.1 9.0 737 6399 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2462 2242 0 0 0 0 0 0 28.83 28.83 28.83

6699 0.24 174.8 258.4 9.9 767 6703 0.00 2.12 0.00 0.000 4 0.000 0.046 2140 3814 2240 0 0 0 0 0 0 28.83 26.48 28.83

6724 0.24 174.8 256.0 10.0 769 6731 0.00 2.03 0.00 0.000 6 0.000 0.026 2150 2456 2240 0 0 0 0 0 0 28.83 26.53 28.83

7033 0.26 188.3 227.5 8.7 800 7052 0.00 2.22 13.77 0.652 4 0.000 0.047 2150 3824 2206 0 0 0 0 0 0 28.83 26.32 25.71

7105 0.25 188.3 220.7 9.7 807 7116 0.00 2.05 0.00 0.000 6 0.000 0.027 2161 2458 2192 0 0 0 0 0 0 28.83 26.41 28.83

7420 0.25 188.3 193.4 9.5 844 7427 0.00 2.15 0.00 0.000 4 0.000 0.046 2161 3824 2190 0 0 0 0 0 0 28.83 26.44 28.83

7476 0.23 188.3 187.2 11.1 854 7483 0.17 2.03 0.00 0.000 6 0.148 0.026 2122 2462 2190 0 0 0 0 0 0 26.32 26.49 28.83

7671 0.45 330.7 176.4 4.0 891 7818 0.17 2.28 137.32 0.613 4 0.058 0.034 2252 1057 1615 0 0 0 0 0 0 26.59 25.31 24.75

7870 0.45 330.7 143.3 13.7 923 7877 0.20 2.35 0.00 0.000 6 0.132 0.035 2192 2525 1598 0 0 0 0 0 0 25.52 25.63 28.83

8069 0.48 344.2 122.5 8.7 960 8084 0.00 2.10 9.95 0.568 4 0.000 0.043 2193 3817 1568 0 0 0 0 0 0 28.83 25.89 25.34

8129 0.62 390.2 118.0 7.5 970 8183 0.12 2.05 43.65 0.578 6 0.072 0.025 2309 2460 1373 0 0 0 0 0 0 26.01 26.01 25.01

8373 0.54 390.2 63.4 23.1 1014 8380 0.25 2.20 0.00 0.000 4 0.159 0.031 2243 1043 1360 0 0 0 0 0 0 25.84 26.00 28.83

8449 0.64 394.8 53.5 9.0 1028 8455 0.00 2.33 0.00 0.000 6 0.000 0.034 2242 2529 1357 0 0 0 0 0 0 28.83 26.08 28.83

8641 0.86 510.4 40.3 5.0 1065 8727 0.20 2.08 78.18 0.190 4 0.053 0.041 2381 3826 899 0 0 0 0 0 0 26.31 25.97 25.75

8777 0.81 510.4 9.3 22.9 1087 8785 0.28 2.08 1.80 0.181 6 0.156 0.026 2314 2461 895 0 0 0 0 0 0 25.89 26.08 25.89

8811 end climb: SURFACE_DEPTH_REACHED

state 8811 begin surface coast

8828 end surface coast: CONTROL_FINISHED_OK

state 8828 begin surface

ID	169	HD_B	0.010078	PITCH_ADJ_GAIN	0.0099999998	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	9.8500004e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	40
DIVE	17	HEADING	-1	ROLL_MIN	220	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3795	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	3	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	400
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2250	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2500	ALTIM_FREQUENCY	13
D_ABORT	1020	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_PULSE	7
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_BOOST	110	SM_CC	425	ROLL_TIMEOUT	15	XPDR_VALID	4
T_BOOST	4	N_FILEKB	4	R_PORT_OVSHOOT	-10	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	-10	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	330	INT_PRESSURE_YINT	-1.1
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_CALL	0	PROTOCOL	1	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	2	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	163	VBD_MIN	435	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
T_DIVE	360	UPLOAD_DIVES_MAX	-1	C_VBD	2979	DEVICE3	-1
T_MISSION	380	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	3	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-8	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-14346.746	VBD_MAXERRORS	1	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
D_OFFGRID	1000	STROBE	0	AH0_24V	147.521	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	108.529	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
APOGEE_PITCH	-8	RAFOS_HIT_WINDOW	3600	MINV_10V	9.5	XPDR_DEVICE	24
MAX_BUOY	175	PITCH_MIN	146	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3945	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2050	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043354053
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-77.157478	SEABIRD_T_H	0.0006253231
RHO	1.0275	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.000115925	SEABIRD_T_I	2.3840643e-05
MASS	51575	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.5685486e-06
NAV_MODE	2	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9554796
FERRY_MAX	45	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1274287
KALMAN_USE	2	PITCH_AD_RATE	165	COMPASS_USE	4	SEABIRD_C_I	-0.0019472764
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00023438112

GPS1	220412,054936,2224.103,12114.171,9,1.3,26,-2.8	TGT_NAME	N1
_CALLS	1	TGT_LATLONG	2303.600,12125.840
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.78	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220412,055704,2224.271,12114.186,13,3.1,32,-2.8	MHEAD_RNG_PITCHd_Wd	63.1,75497,-15.6,-9.167
SPEED_LIMITS	0.159,0.271	D_GRID	504

FINISH	-0.0,1.021309	_10V_AH	10.4,1.740
SM_CCo	8904,0.00,0.000,0,0,908,508.02	FG_AHR_24Vo	0.000
SM_GC	0.50,5.55,0.38,0.00,0.034,0.036,0.000,134,2176,908,-5.91,0.37,508.02,0,0,0,0,0,0	FG_AHR_10Vo	0.000
IRIDIUM_FIX	2213.68,12113.41,220412,020235	MEM	324668
TT8_MAMPS	0.026215,0.026215	DATA_FILE_SIZE	66907,1096
HUMID	50.78	CAP_FILE_SIZE	120963,0
INTERNAL_PRESSURE	8.31442	CFSIZE	260165632,220393472
TCM_TEMP	23.80	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.247,343.5,1
_24V_AH	24.3,2.686	GPS	220412,082701,2226.145,12115.712,40,0.9,41,-2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	225	90.35	SBE_CT	734	24	428.17
Roll_motor	94	78	178.38	AA4330	1294	33	1038.41
VBD_pump_during_apogee	576	856	11986.43	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	24	103	61.20	nil	0	0	0.00
Iridium_during_connect	41	160	162.78	nil	0	0	0.00
Iridium_during_xfer	227	223	1233.56	nil	0	0	0.00
Transponder_ping	0	420	7.65	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	50	17.88
TT8	2761	19	568.60
LPSleep	3417	2	77.83
TT8_Active	674	19	138.92
TT8_Sampling	2204	39	912.51
TT8_CF8	271	45	129.26
TT8_Kalman	0	0	0.00
Analog_circuits	1697	12	211.80
GPS_charging	0	0	0.00
Compass	1793	15	279.79
RAFOS	0	0	0.00
Transponder	7	30	2.22

st_secs	pitch_ctl	vbd_ctl	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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.60	-170.3	0.0	0.0	0	88	0.00	0.00	-68.60	0.000	2	0.000	0.000	111	2179	2980	0	0	0	0	0	0	28.83	28.83	28.83
91	-0.60	-170.3	3.3	-8.3	11	119	6.72	2.10	-12.93	0.000	4	0.226	0.047	1858	796	3678	0	0	0	0	0	0	25.78	26.13	26.42
218	-0.53	-170.3	52.9	-19.6	33	228	0.12	2.28	0.00	0.000	6	0.157	0.039	1882	2278	3679	0	0	0	0	0	0	26.06	26.18	28.83
419	-0.44	-170.3	102.7	-21.0	70	425	0.00	0.00	0.00	0.000	6	0.000	0.000	1882	2278	3679	0	0	0	0	0	0	28.83	28.83	28.83
614	-0.40	-170.3	132.8	-11.7	107	622	0.12	2.22	0.00	0.000	4	0.158	0.044	1912	3699	3681	0	0	0	0	0	0	26.27	26.36	28.83
711	-0.47	-170.3	141.6	-7.6	125	719	0.00	2.28	0.00	0.000	6	0.000	0.024	1912	2201	3682	0	0	0	0	0	0	28.83	26.44	28.83
905	-0.49	-170.3	155.7	-6.8	162	911	0.00	0.00	0.00	0.000	6	0.000	0.000	1913	2200	3682	0	0	0	0	0	0	28.83	28.83	28.83
1096	-0.53	-170.3	169.6	-7.1	199	1103	0.10	2.38	0.00	0.000	4	0.091	0.041	1810	3687	3682	0	0	0	0	0	0	26.58	26.46	28.83
1252	-0.42	-170.3	200.5	-20.4	228	1260	0.32	2.25	0.00	0.000	6	0.132	0.024	1913	2202	3682	0	0	0	0	0	0	26.34	26.53	28.83
1560	-0.47	-170.3	225.6	-6.8	259	1569	0.00	2.35	0.00	0.000	4	0.000	0.044	1902	3686	3682	0	0	0	0	0	0	28.83	26.52	28.83
1646	-0.54	-170.3	231.5	-6.7	267	1653	0.00	2.22	0.00	0.000	6	0.000	0.024	1902	2202	3681	0	0	0	0	0	0	28.83	26.59	28.83
1954	-0.59	-170.3	252.4	-6.7	298	1966	0.12	2.35	0.00	0.000	4	0.076	0.043	1790	3674	3681	0	0	0	0	0	0	26.67	26.56	28.83
2042	-0.49	-170.3	266.8	-19.6	306	2052	0.30	2.22	0.00	0.000	6	0.135	0.025	1889	2205	3681	0	0	0	0	0	0	26.41	26.60	28.83
2350	-0.53	-170.3	295.1	-7.5	337	2359	0.00	2.33	0.00	0.000	4	0.000	0.044	1877	3683	3681	0	0	0	0	0	0	28.83	26.58	28.83
2469	-0.57	-170.3	303.8	-7.3	348	2480	0.00	2.22	0.00	0.000	6	0.000	0.024	1877	2199	3681	0	0	0	0	0	0	28.83	26.64	28.83
2778	-0.60	-170.3	328.9	-8.4	379	2787	0.00	2.40	0.00	0.000	4	0.000	0.044	1865	3693	3679	0	0	0	0	0	0	28.83	26.60	28.83
2875	-0.63	-170.3	336.5	-7.9	388	2884	0.00	2.25	0.00	0.000	6	0.000	0.024	1865	2198	3678	0	0	0	0	0	0	28.83	26.65	28.83
3183	-0.65	-170.3	364.7	-9.4	419	3192	0.00	2.38	0.00	0.000	4	0.000	0.045	1854	3684	3676	0	0	0	0	0	0	28.83	26.60	28.83
3281	-0.68	-170.3	373.1	-8.6	428	3290	0.00	2.22	0.00	0.000	6	0.000	0.025	1854	2202	3675	0	0	0	0	0	0	28.83	26.65	28.83
3589	-0.68	-170.3	400.1	-8.8	459	3598	0.00	2.38	0.00	0.000	4	0.000	0.047	1844	3692	3673	0	0	0	0	0	0	28.83	26.60	28.83
3696	-0.69	-170.3	409.8	-9.4	469	3705	0.00	2.25	0.00	0.000	6	0.000	0.026	1844	2201	3672	0	0	0	0	0	0	28.83	26.66	28.83
4002	-0.69	-170.3	440.4	-9.7	500	4012	0.00	2.40	0.00	0.000	4	0.000	0.047	1832	3689	3670	0	0	0	0	0	0	28.83	26.60	28.83
4079	-0.69	-170.3	447.6	-10.2	507	4086	0.00	2.25	0.00	0.000	6	0.000	0.025	1832	2199	3669	0	0	0	0	0	0	28.83	26.66	28.83
4388	-0.67	-170.3	484.2	-13.2	538	4397	0.00	2.38	0.00	0.000	4	0.000	0.047	1821	3685	3667	0	0	0	0	0	0	28.83	26.61	28.83
4482	-0.65	-170.3	498.0	-14.7	547	4491	0.00	2.22	0.00	0.000	6	0.000	0.026	1821	2202	3666	0	0	0	0	0	0	28.83	26.69	28.83
4519	end dive: TARGET_DEPTH_EXCEEDED
state	4519	begin apogee
4525	-0.20	0.0	504.3	-15.5	551	4674	0.45	0.10	140.82	0.856	6	0.103	0.078	1979	2454	2973	0	0	0	0	0	0	26.51	25.05	24.41
4675	end apogee: CONTROL_FINISHED_OK
state	4675	begin climb
4678	0.60	170.3	508.2	0.0	566	4843	0.68	2.28	150.73	0.835	4	0.037	0.042	2258	3820	2268	0	0	0	0	0	0	25.25	24.94	24.30
4922	0.42	170.3	471.1	24.5	590	4930	0.30	2.10	0.00	0.000	6	0.187	0.024	2190	2460	2254	0	0	0	0	0	0	25.41	25.60	28.83
5229	0.34	170.3	415.4	16.5	621	5231	0.12	0.00	0.00	0.000	6	0.183	0.000	2160	2458	2249	0	0	0	0	0	0	25.93	28.83	28.83
5529	0.30	170.3	377.9	12.3	651	5533	0.00	2.15	0.00	0.000	4	0.000	0.044	2159	3816	2247	0	0	0	0	0	0	28.83	26.24	28.83
5695	0.24	170.3	354.7	14.2	667	5706	0.15	2.05	0.00	0.000	6	0.161	0.025	2129	2458	2245	0	0	0	0	0	0	26.16	26.34	28.83
6004	0.24	170.3	323.8	10.0	698	6013	0.00	2.12	0.00	0.000	4	0.000	0.045	2129	3818	2243	0	0	0	0	0	0	28.83	26.37	28.83
6089	0.24	170.3	314.5	11.4	706	6097	0.00	1.98	0.00	0.000	6	0.000	0.025	2140	2463	2242	0	0	0	0	0	0	28.83	26.44	28.83
6397	0.24	174.8	285.1	9.0	737	6399	0.00	0.00	0.00	0.000	6	0.000	0.000	2140	2462	2242	0	0	0	0	0	0	28.83	28.83	28.83
6699	0.24	174.8	258.4	9.9	767	6703	0.00	2.12	0.00	0.000	4	0.000	0.046	2140	3814	2240	0	0	0	0	0	0	28.83	26.48	28.83
6724	0.24	174.8	256.0	10.0	769	6731	0.00	2.03	0.00	0.000	6	0.000	0.026	2150	2456	2240	0	0	0	0	0	0	28.83	26.53	28.83
7033	0.26	188.3	227.5	8.7	800	7052	0.00	2.22	13.77	0.652	4	0.000	0.047	2150	3824	2206	0	0	0	0	0	0	28.83	26.32	25.71
7105	0.25	188.3	220.7	9.7	807	7116	0.00	2.05	0.00	0.000	6	0.000	0.027	2161	2458	2192	0	0	0	0	0	0	28.83	26.41	28.83
7420	0.25	188.3	193.4	9.5	844	7427	0.00	2.15	0.00	0.000	4	0.000	0.046	2161	3824	2190	0	0	0	0	0	0	28.83	26.44	28.83
7476	0.23	188.3	187.2	11.1	854	7483	0.17	2.03	0.00	0.000	6	0.148	0.026	2122	2462	2190	0	0	0	0	0	0	26.32	26.49	28.83
7671	0.45	330.7	176.4	4.0	891	7818	0.17	2.28	137.32	0.613	4	0.058	0.034	2252	1057	1615	0	0	0	0	0	0	26.59	25.31	24.75
7870	0.45	330.7	143.3	13.7	923	7877	0.20	2.35	0.00	0.000	6	0.132	0.035	2192	2525	1598	0	0	0	0	0	0	25.52	25.63	28.83
8069	0.48	344.2	122.5	8.7	960	8084	0.00	2.10	9.95	0.568	4	0.000	0.043	2193	3817	1568	0	0	0	0	0	0	28.83	25.89	25.34
8129	0.62	390.2	118.0	7.5	970	8183	0.12	2.05	43.65	0.578	6	0.072	0.025	2309	2460	1373	0	0	0	0	0	0	26.01	26.01	25.01
8373	0.54	390.2	63.4	23.1	1014	8380	0.25	2.20	0.00	0.000	4	0.159	0.031	2243	1043	1360	0	0	0	0	0	0	25.84	26.00	28.83
8449	0.64	394.8	53.5	9.0	1028	8455	0.00	2.33	0.00	0.000	6	0.000	0.034	2242	2529	1357	0	0	0	0	0	0	28.83	26.08	28.83
8641	0.86	510.4	40.3	5.0	1065	8727	0.20	2.08	78.18	0.190	4	0.053	0.041	2381	3826	899	0	0	0	0	0	0	26.31	25.97	25.75
8777	0.81	510.4	9.3	22.9	1087	8785	0.28	2.08	1.80	0.181	6	0.156	0.026	2314	2461	895	0	0	0	0	0	0	25.89	26.08	25.89
8811	end climb: SURFACE_DEPTH_REACHED
state	8811	begin surface coast
8828	end surface coast: CONTROL_FINISHED_OK
state	8828	begin surface