Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 726 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 5

MISSION 11 ESCAPE_HEADING 150 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1.8

DIVE 726 ESCAPE_HEADING_DELTA 5 ROLL_MAX 3598 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 3 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2230 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1740 ALTIM_PULSE 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 225 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 7 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 1.75 FILEMGR 2 R_PORT_OVSHOOT 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 28 INT_PRESSURE_YINT 0

D_CALL 3 COMM_SEQ 0 ROLL_AD_RATE 275 DEEPGLIDER 0

SURFACE_URGENCY 10 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 5 N_NOCOMM 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 470 UPLOAD_DIVES_MAX 5 VBD_MIN 588 DEVICE2 20

T_MISSION 550 CALL_TRIES 3 VBD_MAX 3951 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2650 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -3 T_GPS 3 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 1 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 900 T_GPS_CHARGE -136041.95 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 60 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE 32

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 350 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3700 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2680 PRESSURE_YINT -22.639299 SEABIRD_T_G 0.0043498399

RHO 1.02765 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_H 0.0006493734

MASS 51779 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.8112627e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 3.1957888e-06

FERRY_MAX 45 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.106751

KALMAN_USE 2 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1366181

HD_A 0.0038000001 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.00038917549

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 7.9540005e-05

HD_C 2.7999999e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 7 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 150 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 225

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 900 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 1.75 PITCH_MAX 3700 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_SAFE 500 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 0 D_SURF 3 PITCH_MIN 350 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 0 D_TGT 990 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 150 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 5 PRESSURE_SLOPE 0.0001161151 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FERRY_MAX 45 PRESSURE_YINT -22.639299 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 3 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_DIVE 470

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 3

CALL_TRIES 3 HD_A 0.0038000001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -136041.95

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.02765 T_MISSION 550

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 60

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 275 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 108 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3598 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX 5

C_PITCH 2680 KALMAN_USE 2 ROLL_MIN 294 USE_BATHY -3

C_ROLL_CLIMB 1740 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 1

C_ROLL_DIVE 2230 MASS 51779 R_PORT_OVSHOOT 32 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 28 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.106751 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1366181 VBD_MAX 3951

DEVICE1 2 NAV_MODE 0 SEABIRD_C_I 0.00038917549 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 7.9540005e-05 VBD_MIN 588

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043498399 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 0 SEABIRD_T_H 0.0006493734 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.8112627e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 3.1957888e-06 XPDR_DEVICE 24

DIVE 726 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1070 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 3 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 123616,6654.764,-5631.727,0,2087.0,0,-37.3 TGT_NAME NUUK1

_CALLS 1 TGT_LATLONG 6600.000,-5700.000

_XMS_NAKs 13 TGT_RADIUS 20000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 4.25 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -2.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 123616,6654.764,-5631.727,0,2087.0,0,-37.3 MHEAD_RNG_PITCHd_Wd 229.2,103635,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 403

Post-dive calculations and measurements:

FREEZE 6.97,-1.757,-1.811 TCM_TEMP 15.40

FINISH1 7.0,1.026529,55 XPDR_PINGS 237

FINISH2 5.6 _24V_AH 22.4,109.505

RAFOS_CLK 476 _10V_AH 10.4,49.062

RAFOS 0,1232899445,16.083334,16.068056,58,57,54,52,51,51,208,138,177,1451,167,122 DATA_FILE_SIZE 28410,806

RAFOS_FIX 6654.764160,-5631.726562,250109,121216,2,87,0.33 CAP_FILE_SIZE 106651,0

IRIDIUM_FIX 6548.42,-5642.25,160498,050538 CFSIZE 260165632,207101952

TT8_MAMPS 0.026845 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1798 SOUNDSPEED 1455.5

INTERNAL_PRESSURE 9.96132 GPS 250109,123616,6654.764,-5631.727,0,2087.0,0,-37.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 8 135 25.92 SBE_CT 561 24 301.73

Roll_motor 127 71 203.96 SBE_O2 0 0 0.00

VBD_pump_during_apogee 453 1016 10323.16 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 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 59 420 557.42

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1456 19 301.81

LPSleep 7566 2 181.78

TT8_Active 520 19 107.82

TT8_Sampling 1559 39 647.62

TT8_CF8 305 45 145.88

TT8_Kalman 0 0 0.00

Analog_circuits 1393 12 173.91

GPS_charging 0 0 0.00

Compass 1543 8 128.40

RAFOS 720 1 11.23

Transponder 0 5 0.03

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

11 end surface: CONTROL_FINISHED_OK

state 12 begin dive

17 -0.99 -146.0 0.0 0.0 0 24 0.00 0.00 -5.40 0.000 2 0.000 0.000 2681 3156 2575

29 -0.99 -146.0 3.8 -0.0 1 65 0.57 3.80 -25.20 0.000 4 0.051 0.054 2447 816 3249

322 -0.72 -146.0 33.8 -12.8 52 329 0.30 2.30 0.00 0.000 6 0.133 0.056 2526 2238 3252

670 -0.77 -146.0 64.1 -8.1 113 676 0.00 2.30 0.00 0.000 4 0.000 0.055 2526 808 3252

757 -0.77 -146.0 70.7 -7.1 128 764 0.00 2.33 0.00 0.000 6 0.000 0.055 2518 2242 3252

1105 -0.77 -146.0 90.1 -6.2 189 1111 0.00 2.30 0.00 0.000 4 0.000 0.057 2518 815 3251

1158 -0.77 -146.0 94.0 -7.6 198 1165 0.00 2.30 0.00 0.000 6 0.000 0.056 2508 2233 3251

1484 -0.77 -146.0 124.2 -9.5 223 1487 0.00 2.30 0.00 0.000 4 0.000 0.056 2508 808 3250

1501 -0.77 -146.0 125.9 -9.0 223 1507 0.00 2.33 0.00 0.000 6 0.000 0.055 2498 2244 3250

1818 -0.77 -146.0 147.6 -5.8 239 1823 0.00 2.30 0.00 0.000 4 0.000 0.058 2498 820 3249

1848 -0.77 -146.0 149.3 -6.3 240 1853 0.10 2.30 0.00 0.000 6 0.133 0.056 2514 2235 3249

2172 -0.84 -146.0 166.1 -4.5 256 2175 0.00 2.30 0.00 0.000 4 0.000 0.057 2515 811 3249

2257 -0.84 -146.0 169.9 -4.2 259 2264 0.00 2.33 0.00 0.000 6 0.000 0.056 2507 2243 3249

2576 -0.91 -146.0 187.1 -7.0 275 2580 0.10 2.33 0.00 0.000 4 0.083 0.057 2456 808 3248

2610 -0.73 -146.0 190.5 -9.8 276 2615 0.28 2.33 0.00 0.000 6 0.130 0.056 2524 2241 3248

2928 -0.87 -146.0 212.5 -6.8 291 2933 0.12 2.33 0.00 0.000 4 0.077 0.056 2467 811 3248

3025 -0.77 -146.0 220.8 -8.5 295 3030 0.20 2.33 0.00 0.000 6 0.127 0.055 2514 2242 3247

3344 -0.88 -146.0 237.0 -4.4 310 3349 0.10 2.33 0.00 0.000 4 0.083 0.056 2467 809 3247

3425 -0.77 -146.0 242.9 -7.3 313 3431 0.20 2.33 0.00 0.000 6 0.127 0.055 2514 2242 3247

3742 -0.89 -146.0 263.8 -6.6 329 3747 0.10 2.33 0.00 0.000 4 0.083 0.054 2467 806 3247

3788 -0.78 -146.0 267.6 -8.3 331 3793 0.20 2.33 0.00 0.000 6 0.127 0.054 2514 2240 3247

4112 -0.92 -146.0 285.8 -4.7 347 4116 0.12 2.30 0.00 0.000 4 0.077 0.054 2456 816 3247

4147 -0.78 -146.0 288.0 -6.6 348 4153 0.22 2.30 0.00 0.000 6 0.128 0.054 2510 2240 3247

4465 -0.92 -146.0 300.9 -3.6 364 4467 0.12 0.00 0.00 0.000 6 0.077 0.000 2454 2239 3247

4774 -0.84 -146.0 316.3 -4.4 379 4778 0.17 2.30 0.00 0.000 4 0.136 0.052 2508 814 3247

4849 -0.92 -146.0 319.1 -3.8 382 4853 0.00 2.30 0.00 0.000 6 0.000 0.051 2500 2245 3247

5172 -1.01 -146.0 332.0 -4.2 398 5177 0.15 2.30 0.00 0.000 4 0.067 0.052 2431 809 3247

5213 -0.78 -146.0 334.4 -6.4 399 5220 0.30 2.30 0.00 0.000 6 0.127 0.051 2509 2244 3247

5531 -0.92 -146.0 347.7 -4.5 415 5536 0.12 2.30 0.00 0.000 4 0.073 0.051 2451 809 3248

5589 -0.77 -146.0 351.4 -6.5 417 5595 0.25 2.30 0.00 0.000 6 0.123 0.051 2513 2245 3248

5907 -0.92 -146.0 366.1 -4.7 433 5912 0.12 2.30 0.00 0.000 4 0.074 0.050 2453 808 3249

5936 -0.83 -146.0 368.1 -7.3 434 5941 0.20 2.28 0.00 0.000 6 0.123 0.049 2500 2237 3249

6255 -0.93 -146.0 385.4 -5.3 449 6260 0.10 2.28 0.00 0.000 4 0.081 0.049 2451 812 3250

6319 -0.79 -146.0 390.0 -7.2 451 6326 0.22 2.28 0.00 0.000 6 0.123 0.050 2506 2238 3250

6589 end dive: TARGET_DEPTH_EXCEEDED

state 6590 begin apogee

6600 -0.31 0.0 404.3 5.0 463 6727 0.35 0.00 124.40 1.016 6 0.110 0.000 2621 1718 2650

6728 end apogee: CONTROL_FINISHED_OK

state 6728 begin climb

6733 0.99 146.0 406.5 0.0 466 6866 0.82 2.50 125.62 0.958 4 0.091 0.055 2897 3146 2054

6948 0.72 146.0 388.7 10.3 473 6953 0.25 2.28 0.00 0.000 6 0.125 0.041 2836 1737 2050

7276 0.76 180.3 368.3 5.9 489 7311 0.00 2.33 29.08 0.936 4 0.000 0.056 2844 328 1915

7344 0.89 212.6 364.3 6.0 492 7379 0.10 2.25 28.58 0.920 6 0.073 0.043 2902 1747 1783

7701 0.75 212.6 325.2 11.5 509 7706 0.20 2.20 0.00 0.000 4 0.121 0.055 2836 3146 1776

7793 0.75 212.6 316.1 8.8 513 7797 0.00 2.17 0.00 0.000 6 0.000 0.041 2843 1734 1774

8128 0.80 212.6 289.4 7.8 529 8131 0.00 2.22 0.00 0.000 4 0.000 0.054 2853 327 1774

8157 0.88 212.6 287.1 8.0 530 8161 0.00 2.20 0.00 0.000 6 0.000 0.042 2853 1741 1774

8485 0.91 236.6 264.6 6.2 546 8511 0.10 2.22 20.95 0.886 4 0.075 0.054 2912 3151 1684

8597 0.70 236.6 253.4 11.9 551 8602 0.30 2.20 0.00 0.000 6 0.121 0.041 2830 1725 1681

8926 0.93 274.0 234.6 5.8 567 8968 0.17 2.28 33.53 0.883 4 0.057 0.054 2934 334 1533

9027 0.86 274.0 223.3 11.6 571 9032 0.25 2.20 0.00 0.000 6 0.120 0.042 2858 1739 1531

9350 1.02 296.8 198.0 6.3 587 9377 0.15 2.22 21.08 0.844 4 0.059 0.055 2936 3147 1438

9473 0.82 296.8 184.7 12.3 592 9477 0.30 2.20 0.00 0.000 6 0.120 0.041 2855 1726 1434

9790 1.13 377.3 164.9 4.4 607 9867 0.20 2.30 70.25 0.861 4 0.058 0.055 2969 341 1111

9931 1.13 377.3 148.7 13.2 613 9935 0.17 2.25 0.00 0.000 6 0.121 0.044 2918 1746 1106

10255 1.13 377.3 105.8 9.3 629 10259 0.00 2.22 0.00 0.000 4 0.000 0.058 2918 3154 1100

10324 1.08 377.3 100.1 8.4 632 10328 0.00 2.20 0.00 0.000 6 0.000 0.043 2924 1734 1099

10671 1.13 377.3 69.1 9.2 690 10677 0.00 2.22 0.00 0.000 4 0.000 0.058 2935 338 1098

10749 1.21 377.3 61.5 10.6 703 10755 0.00 2.22 0.00 0.000 6 0.000 0.044 2934 1754 1098

11096 1.21 377.3 26.9 9.7 764 11102 0.00 2.22 0.00 0.000 4 0.000 0.060 2934 3154 1097

11150 1.21 377.3 21.7 10.5 773 11156 0.00 2.22 0.00 0.000 6 0.000 0.045 2943 1727 1095

11294 end climb: FINISH_DEPTH_REACHED

state 11294 begin subsurface finish

11305 0.07 55.0 7.0 -10.1 798 11353 0.75 2.20 -39.65 0.000 4 0.110 0.071 2695 327 2428

11354 end subsurface finish: CONTROL_FINISHED_OK

state 11354 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	5
MISSION	11	ESCAPE_HEADING	150	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1.8
DIVE	726	ESCAPE_HEADING_DELTA	5	ROLL_MAX	3598	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	3	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2230	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1740	ALTIM_PULSE	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	225	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	7	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	1.75	FILEMGR	2	R_PORT_OVSHOOT	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	28	INT_PRESSURE_YINT	0
D_CALL	3	COMM_SEQ	0	ROLL_AD_RATE	275	DEEPGLIDER	0
SURFACE_URGENCY	10	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	5	N_NOCOMM	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	470	UPLOAD_DIVES_MAX	5	VBD_MIN	588	DEVICE2	20
T_MISSION	550	CALL_TRIES	3	VBD_MAX	3951	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2650	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-3	T_GPS	3	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	1	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	900	T_GPS_CHARGE	-136041.95	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	60	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	32
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	350	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3700	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2680	PRESSURE_YINT	-22.639299	SEABIRD_T_G	0.0043498399
RHO	1.02765	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_H	0.0006493734
MASS	51779	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.8112627e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	3.1957888e-06
FERRY_MAX	45	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.106751
KALMAN_USE	2	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1366181
HD_A	0.0038000001	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.00038917549
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	7.9540005e-05
HD_C	2.7999999e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	123616,6654.764,-5631.727,0,2087.0,0,-37.3	TGT_NAME	NUUK1
_CALLS	1	TGT_LATLONG	6600.000,-5700.000
_XMS_NAKs	13	TGT_RADIUS	20000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	4.25	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-2.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	123616,6654.764,-5631.727,0,2087.0,0,-37.3	MHEAD_RNG_PITCHd_Wd	229.2,103635,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	403

FREEZE	6.97,-1.757,-1.811	TCM_TEMP	15.40
FINISH1	7.0,1.026529,55	XPDR_PINGS	237
FINISH2	5.6	_24V_AH	22.4,109.505
RAFOS_CLK	476	_10V_AH	10.4,49.062
RAFOS	0,1232899445,16.083334,16.068056,58,57,54,52,51,51,208,138,177,1451,167,122	DATA_FILE_SIZE	28410,806
RAFOS_FIX	6654.764160,-5631.726562,250109,121216,2,87,0.33	CAP_FILE_SIZE	106651,0
IRIDIUM_FIX	6548.42,-5642.25,160498,050538	CFSIZE	260165632,207101952
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1798	SOUNDSPEED	1455.5
INTERNAL_PRESSURE	9.96132	GPS	250109,123616,6654.764,-5631.727,0,2087.0,0,-37.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	8	135	25.92	SBE_CT	561	24	301.73
Roll_motor	127	71	203.96	SBE_O2	0	0	0.00
VBD_pump_during_apogee	453	1016	10323.16	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	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	59	420	557.42
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1456	19	301.81
LPSleep	7566	2	181.78
TT8_Active	520	19	107.82
TT8_Sampling	1559	39	647.62
TT8_CF8	305	45	145.88
TT8_Kalman	0	0	0.00
Analog_circuits	1393	12	173.91
GPS_charging	0	0	0.00
Compass	1543	8	128.40
RAFOS	720	1	11.23
Transponder	0	5	0.03

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
11	end surface: CONTROL_FINISHED_OK
state	12	begin dive
17	-0.99	-146.0	0.0	0.0	0	24	0.00	0.00	-5.40	0.000	2	0.000	0.000	2681	3156	2575
29	-0.99	-146.0	3.8	-0.0	1	65	0.57	3.80	-25.20	0.000	4	0.051	0.054	2447	816	3249
322	-0.72	-146.0	33.8	-12.8	52	329	0.30	2.30	0.00	0.000	6	0.133	0.056	2526	2238	3252
670	-0.77	-146.0	64.1	-8.1	113	676	0.00	2.30	0.00	0.000	4	0.000	0.055	2526	808	3252
757	-0.77	-146.0	70.7	-7.1	128	764	0.00	2.33	0.00	0.000	6	0.000	0.055	2518	2242	3252
1105	-0.77	-146.0	90.1	-6.2	189	1111	0.00	2.30	0.00	0.000	4	0.000	0.057	2518	815	3251
1158	-0.77	-146.0	94.0	-7.6	198	1165	0.00	2.30	0.00	0.000	6	0.000	0.056	2508	2233	3251
1484	-0.77	-146.0	124.2	-9.5	223	1487	0.00	2.30	0.00	0.000	4	0.000	0.056	2508	808	3250
1501	-0.77	-146.0	125.9	-9.0	223	1507	0.00	2.33	0.00	0.000	6	0.000	0.055	2498	2244	3250
1818	-0.77	-146.0	147.6	-5.8	239	1823	0.00	2.30	0.00	0.000	4	0.000	0.058	2498	820	3249
1848	-0.77	-146.0	149.3	-6.3	240	1853	0.10	2.30	0.00	0.000	6	0.133	0.056	2514	2235	3249
2172	-0.84	-146.0	166.1	-4.5	256	2175	0.00	2.30	0.00	0.000	4	0.000	0.057	2515	811	3249
2257	-0.84	-146.0	169.9	-4.2	259	2264	0.00	2.33	0.00	0.000	6	0.000	0.056	2507	2243	3249
2576	-0.91	-146.0	187.1	-7.0	275	2580	0.10	2.33	0.00	0.000	4	0.083	0.057	2456	808	3248
2610	-0.73	-146.0	190.5	-9.8	276	2615	0.28	2.33	0.00	0.000	6	0.130	0.056	2524	2241	3248
2928	-0.87	-146.0	212.5	-6.8	291	2933	0.12	2.33	0.00	0.000	4	0.077	0.056	2467	811	3248
3025	-0.77	-146.0	220.8	-8.5	295	3030	0.20	2.33	0.00	0.000	6	0.127	0.055	2514	2242	3247
3344	-0.88	-146.0	237.0	-4.4	310	3349	0.10	2.33	0.00	0.000	4	0.083	0.056	2467	809	3247
3425	-0.77	-146.0	242.9	-7.3	313	3431	0.20	2.33	0.00	0.000	6	0.127	0.055	2514	2242	3247
3742	-0.89	-146.0	263.8	-6.6	329	3747	0.10	2.33	0.00	0.000	4	0.083	0.054	2467	806	3247
3788	-0.78	-146.0	267.6	-8.3	331	3793	0.20	2.33	0.00	0.000	6	0.127	0.054	2514	2240	3247
4112	-0.92	-146.0	285.8	-4.7	347	4116	0.12	2.30	0.00	0.000	4	0.077	0.054	2456	816	3247
4147	-0.78	-146.0	288.0	-6.6	348	4153	0.22	2.30	0.00	0.000	6	0.128	0.054	2510	2240	3247
4465	-0.92	-146.0	300.9	-3.6	364	4467	0.12	0.00	0.00	0.000	6	0.077	0.000	2454	2239	3247
4774	-0.84	-146.0	316.3	-4.4	379	4778	0.17	2.30	0.00	0.000	4	0.136	0.052	2508	814	3247
4849	-0.92	-146.0	319.1	-3.8	382	4853	0.00	2.30	0.00	0.000	6	0.000	0.051	2500	2245	3247
5172	-1.01	-146.0	332.0	-4.2	398	5177	0.15	2.30	0.00	0.000	4	0.067	0.052	2431	809	3247
5213	-0.78	-146.0	334.4	-6.4	399	5220	0.30	2.30	0.00	0.000	6	0.127	0.051	2509	2244	3247
5531	-0.92	-146.0	347.7	-4.5	415	5536	0.12	2.30	0.00	0.000	4	0.073	0.051	2451	809	3248
5589	-0.77	-146.0	351.4	-6.5	417	5595	0.25	2.30	0.00	0.000	6	0.123	0.051	2513	2245	3248
5907	-0.92	-146.0	366.1	-4.7	433	5912	0.12	2.30	0.00	0.000	4	0.074	0.050	2453	808	3249
5936	-0.83	-146.0	368.1	-7.3	434	5941	0.20	2.28	0.00	0.000	6	0.123	0.049	2500	2237	3249
6255	-0.93	-146.0	385.4	-5.3	449	6260	0.10	2.28	0.00	0.000	4	0.081	0.049	2451	812	3250
6319	-0.79	-146.0	390.0	-7.2	451	6326	0.22	2.28	0.00	0.000	6	0.123	0.050	2506	2238	3250
6589	end dive: TARGET_DEPTH_EXCEEDED
state	6590	begin apogee
6600	-0.31	0.0	404.3	5.0	463	6727	0.35	0.00	124.40	1.016	6	0.110	0.000	2621	1718	2650
6728	end apogee: CONTROL_FINISHED_OK
state	6728	begin climb
6733	0.99	146.0	406.5	0.0	466	6866	0.82	2.50	125.62	0.958	4	0.091	0.055	2897	3146	2054
6948	0.72	146.0	388.7	10.3	473	6953	0.25	2.28	0.00	0.000	6	0.125	0.041	2836	1737	2050
7276	0.76	180.3	368.3	5.9	489	7311	0.00	2.33	29.08	0.936	4	0.000	0.056	2844	328	1915
7344	0.89	212.6	364.3	6.0	492	7379	0.10	2.25	28.58	0.920	6	0.073	0.043	2902	1747	1783
7701	0.75	212.6	325.2	11.5	509	7706	0.20	2.20	0.00	0.000	4	0.121	0.055	2836	3146	1776
7793	0.75	212.6	316.1	8.8	513	7797	0.00	2.17	0.00	0.000	6	0.000	0.041	2843	1734	1774
8128	0.80	212.6	289.4	7.8	529	8131	0.00	2.22	0.00	0.000	4	0.000	0.054	2853	327	1774
8157	0.88	212.6	287.1	8.0	530	8161	0.00	2.20	0.00	0.000	6	0.000	0.042	2853	1741	1774
8485	0.91	236.6	264.6	6.2	546	8511	0.10	2.22	20.95	0.886	4	0.075	0.054	2912	3151	1684
8597	0.70	236.6	253.4	11.9	551	8602	0.30	2.20	0.00	0.000	6	0.121	0.041	2830	1725	1681
8926	0.93	274.0	234.6	5.8	567	8968	0.17	2.28	33.53	0.883	4	0.057	0.054	2934	334	1533
9027	0.86	274.0	223.3	11.6	571	9032	0.25	2.20	0.00	0.000	6	0.120	0.042	2858	1739	1531
9350	1.02	296.8	198.0	6.3	587	9377	0.15	2.22	21.08	0.844	4	0.059	0.055	2936	3147	1438
9473	0.82	296.8	184.7	12.3	592	9477	0.30	2.20	0.00	0.000	6	0.120	0.041	2855	1726	1434
9790	1.13	377.3	164.9	4.4	607	9867	0.20	2.30	70.25	0.861	4	0.058	0.055	2969	341	1111
9931	1.13	377.3	148.7	13.2	613	9935	0.17	2.25	0.00	0.000	6	0.121	0.044	2918	1746	1106
10255	1.13	377.3	105.8	9.3	629	10259	0.00	2.22	0.00	0.000	4	0.000	0.058	2918	3154	1100
10324	1.08	377.3	100.1	8.4	632	10328	0.00	2.20	0.00	0.000	6	0.000	0.043	2924	1734	1099
10671	1.13	377.3	69.1	9.2	690	10677	0.00	2.22	0.00	0.000	4	0.000	0.058	2935	338	1098
10749	1.21	377.3	61.5	10.6	703	10755	0.00	2.22	0.00	0.000	6	0.000	0.044	2934	1754	1098
11096	1.21	377.3	26.9	9.7	764	11102	0.00	2.22	0.00	0.000	4	0.000	0.060	2934	3154	1097
11150	1.21	377.3	21.7	10.5	773	11156	0.00	2.22	0.00	0.000	6	0.000	0.045	2943	1727	1095
11294	end climb: FINISH_DEPTH_REACHED
state	11294	begin subsurface finish
11305	0.07	55.0	7.0	-10.1	798	11353	0.75	2.20	-39.65	0.000	4	0.110	0.071	2695	327	2428
11354	end subsurface finish: CONTROL_FINISHED_OK
state	11354	begin surface