Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 727 * 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 727 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 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 33 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 34 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 727 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 5.78 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.8 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 5.98,-1.758,-1.811 TCM_TEMP 15.50

FINISH1 6.0,1.026527,55 XPDR_PINGS 158

FINISH2 1.4 _24V_AH 22.5,109.618

RAFOS_CLK 502 _10V_AH 10.4,49.112

RAFOS 2,1232900658,16.416666,16.405001,113,60,59,58,54,54,646,148,221,161,130,200 DATA_FILE_SIZE 28355,832

RAFOS_FIX 6654.764160,-5631.726562,250109,121216,2,87,0.33 CAP_FILE_SIZE 108079,0

IRIDIUM_FIX 6548.42,-5642.25,160498,050538 CFSIZE 260165632,207048704

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

HUMID 1789 SOUNDSPEED 1458.0

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 9 140 29.37 SBE_CT 577 24 312.08

Roll_motor 123 69 192.55 SBE_O2 0 0 0.00

VBD_pump_during_apogee 417 1016 9540.35 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 39 420 373.27

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1487 19 308.22

LPSleep 8307 2 199.59

TT8_Active 517 19 107.20

TT8_Sampling 1519 39 630.85

TT8_CF8 308 45 147.31

TT8_Kalman 0 0 0.00

Analog_circuits 1347 12 168.21

GPS_charging 0 0 0.00

Compass 1508 8 125.50

RAFOS 1080 1 16.85

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

17 -0.99 -146.0 0.0 0.0 0 26 0.00 0.00 -6.85 0.000 2 0.000 0.000 2696 327 2646

31 -0.99 -146.0 5.5 -0.0 1 61 0.62 5.35 -19.92 0.000 4 0.054 0.061 2420 3596 3249

273 -0.69 -146.0 32.5 -12.8 43 280 0.35 2.12 0.00 0.000 6 0.140 0.042 2532 2213 3252

620 -0.78 -146.0 61.5 -8.3 104 627 0.00 2.25 0.00 0.000 4 0.000 0.066 2523 3589 3252

657 -0.85 -146.0 64.5 -7.9 110 664 0.12 2.12 0.00 0.000 6 0.072 0.045 2463 2220 3252

1006 -0.71 -146.0 96.7 -9.8 171 1013 0.20 2.22 0.00 0.000 4 0.133 0.056 2527 821 3251

1021 -0.60 -146.0 98.4 -10.2 173 1028 0.12 2.30 0.00 0.000 6 0.130 0.056 2553 2235 3251

1353 -0.81 -146.0 121.0 -6.6 191 1357 0.17 2.30 0.00 0.000 4 0.061 0.056 2474 815 3250

1365 -0.95 -146.0 121.9 -5.8 191 1372 0.00 2.30 0.00 0.000 6 0.000 0.056 2464 2234 3250

1683 -0.86 -146.0 145.5 -7.2 207 1687 0.12 2.28 0.00 0.000 4 0.140 0.056 2501 826 3249

1757 -0.86 -146.0 150.0 -5.5 210 1761 0.00 2.30 0.00 0.000 6 0.000 0.058 2493 2238 3249

2085 -0.86 -146.0 166.7 -4.6 226 2089 0.00 2.30 0.00 0.000 4 0.000 0.057 2493 815 3249

2132 -0.86 -146.0 169.0 -5.4 228 2136 0.00 2.33 0.00 0.000 6 0.000 0.056 2483 2245 3248

2467 -0.86 -146.0 189.2 -7.0 244 2471 0.00 2.30 0.00 0.000 4 0.000 0.056 2483 828 3248

2537 -0.80 -146.0 194.7 -8.2 247 2541 0.12 2.30 0.00 0.000 6 0.130 0.056 2507 2240 3248

2866 -0.88 -146.0 215.1 -5.3 263 2870 0.00 2.30 0.00 0.000 4 0.000 0.056 2507 817 3248

2946 -0.88 -146.0 219.8 -5.6 266 2950 0.00 2.30 0.00 0.000 6 0.000 0.055 2499 2233 3248

3271 -0.93 -146.0 240.6 -6.8 282 3272 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2233 3248

3579 -0.99 -146.0 257.4 -4.8 297 3584 0.12 2.28 0.00 0.000 4 0.074 0.054 2439 826 3248

3598 -0.93 -146.0 258.5 -4.8 298 3603 0.17 2.30 0.00 0.000 6 0.129 0.055 2478 2246 3248

3928 -0.93 -146.0 271.0 -3.1 314 3932 0.00 2.30 0.00 0.000 4 0.000 0.055 2478 818 3248

4008 -0.93 -146.0 274.1 -3.8 317 4012 0.00 2.30 0.00 0.000 6 0.000 0.054 2470 2242 3248

4331 -0.93 -146.0 289.5 -5.8 333 4335 0.00 2.28 0.00 0.000 4 0.000 0.054 2470 827 3248

4419 -0.86 -146.0 295.2 -7.1 336 4426 0.12 2.28 0.00 0.000 6 0.127 0.054 2494 2236 3248

4737 -0.94 -146.0 310.1 -4.0 352 4738 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2235 3248

5046 -1.02 -146.0 322.7 -3.8 367 5051 0.12 2.28 0.00 0.000 4 0.077 0.051 2439 817 3248

5140 -0.85 -146.0 327.8 -6.0 371 5144 0.25 2.30 0.00 0.000 6 0.124 0.051 2501 2246 3248

5463 -0.95 -146.0 336.9 -2.4 387 5467 0.12 2.28 0.00 0.000 4 0.077 0.051 2445 817 3248

5517 -0.80 -146.0 338.9 -4.6 389 5522 0.25 2.28 0.00 0.000 6 0.123 0.051 2508 2238 3249

5840 -0.93 -146.0 347.6 -2.9 405 5844 0.12 2.25 0.00 0.000 4 0.075 0.050 2450 823 3250

5888 -0.78 -146.0 349.9 -5.3 407 5892 0.25 2.25 0.00 0.000 6 0.123 0.050 2512 2230 3250

6222 -0.93 -146.0 361.8 -3.4 423 6226 0.12 2.25 0.00 0.000 4 0.074 0.049 2454 818 3251

6240 -0.93 -146.0 362.6 -3.8 424 6245 0.12 2.28 0.00 0.000 6 0.127 0.049 2478 2242 3251

6571 -0.93 -146.0 377.9 -4.7 440 6575 0.00 2.28 0.00 0.000 4 0.000 0.050 2478 810 3251

6600 -0.93 -146.0 379.6 -5.3 441 6604 0.00 2.28 0.00 0.000 6 0.000 0.048 2470 2240 3251

6928 -0.93 -146.0 395.6 -4.9 457 6932 0.00 2.25 0.00 0.000 4 0.000 0.050 2470 819 3252

7032 -0.88 -146.0 401.2 -5.8 461 7036 0.12 2.28 0.00 0.000 6 0.123 0.049 2495 2242 3253

7098 end dive: TARGET_DEPTH_EXCEEDED

state 7098 begin apogee

7108 -0.31 0.0 404.2 4.1 463 7235 0.38 0.00 124.35 1.016 6 0.114 0.000 2616 1734 2650

7235 end apogee: CONTROL_FINISHED_OK

state 7236 begin climb

7241 0.99 146.0 404.4 0.0 466 7373 0.88 2.47 125.78 0.952 4 0.088 0.054 2905 3151 2053

7408 0.69 146.0 387.7 12.6 473 7413 0.30 2.33 0.00 0.000 6 0.124 0.040 2830 1737 2050

7736 0.69 146.0 361.7 7.2 489 7740 0.00 2.25 0.00 0.000 4 0.000 0.055 2838 323 2048

7771 0.77 146.0 359.0 7.7 490 7775 0.00 2.25 0.00 0.000 6 0.000 0.042 2838 1748 2048

8095 0.77 146.0 335.1 7.5 506 8099 0.00 2.20 0.00 0.000 4 0.000 0.055 2838 3156 2047

8204 0.67 146.0 325.6 9.0 510 8211 0.10 2.20 0.00 0.000 6 0.133 0.041 2821 1723 2047

8522 0.79 172.8 305.6 6.2 526 8547 0.12 0.00 22.35 0.911 6 0.065 0.000 2887 1723 1945

8851 0.67 172.8 270.8 11.1 542 8856 0.20 2.28 0.00 0.000 4 0.117 0.053 2821 3145 1943

8893 0.72 172.8 267.2 8.1 544 8897 0.00 2.17 0.00 0.000 6 0.000 0.040 2828 1729 1942

9227 0.83 174.5 243.6 7.0 560 9231 0.12 2.20 0.00 0.000 4 0.068 0.054 2900 338 1942

9263 0.72 174.5 240.1 10.1 561 9268 0.22 2.20 0.00 0.000 6 0.120 0.041 2832 1744 1942

9581 0.84 179.6 216.9 6.9 576 9595 0.10 2.28 7.18 0.747 4 0.074 0.054 2889 3159 1917

9693 0.65 179.6 204.8 11.6 581 9698 0.28 2.20 0.00 0.000 6 0.118 0.040 2815 1728 1916

10023 0.90 200.5 183.4 6.3 597 10045 0.20 0.00 19.00 0.841 6 0.055 0.000 2915 1727 1832

10352 0.78 200.5 146.0 11.7 613 10354 0.22 0.00 0.00 0.000 6 0.118 0.000 2846 1727 1829

10662 1.01 248.3 124.2 5.5 628 10706 0.17 0.00 41.62 0.837 6 0.058 0.000 2932 1727 1637

11020 0.90 248.3 92.9 11.7 651 11027 0.20 2.22 0.00 0.000 4 0.121 0.054 2875 337 1629

11058 0.96 248.3 88.6 10.3 657 11065 0.00 2.20 0.00 0.000 6 0.000 0.042 2875 1742 1629

11406 1.16 290.1 61.0 5.7 718 11449 0.17 2.30 36.30 0.813 4 0.059 0.057 2961 3142 1467

11534 0.91 290.1 48.9 10.9 739 11541 0.32 2.20 0.00 0.000 6 0.125 0.044 2873 1735 1461

11883 1.62 336.8 24.8 5.5 800 11931 0.45 2.28 40.65 0.805 4 0.066 0.057 3059 336 1277

12013 end climb: FINISH_DEPTH_REACHED

state 12013 begin subsurface finish

12026 0.07 55.1 6.0 -16.7 822 12084 1.08 2.35 -48.55 0.000 4 0.092 0.069 2691 336 2428

12085 end subsurface finish: CONTROL_FINISHED_OK

state 12085 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	727	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	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	5.78	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.8	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	5.98,-1.758,-1.811	TCM_TEMP	15.50
FINISH1	6.0,1.026527,55	XPDR_PINGS	158
FINISH2	1.4	_24V_AH	22.5,109.618
RAFOS_CLK	502	_10V_AH	10.4,49.112
RAFOS	2,1232900658,16.416666,16.405001,113,60,59,58,54,54,646,148,221,161,130,200	DATA_FILE_SIZE	28355,832
RAFOS_FIX	6654.764160,-5631.726562,250109,121216,2,87,0.33	CAP_FILE_SIZE	108079,0
IRIDIUM_FIX	6548.42,-5642.25,160498,050538	CFSIZE	260165632,207048704
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1789	SOUNDSPEED	1458.0
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	9	140	29.37	SBE_CT	577	24	312.08
Roll_motor	123	69	192.55	SBE_O2	0	0	0.00
VBD_pump_during_apogee	417	1016	9540.35	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	39	420	373.27
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1487	19	308.22
LPSleep	8307	2	199.59
TT8_Active	517	19	107.20
TT8_Sampling	1519	39	630.85
TT8_CF8	308	45	147.31
TT8_Kalman	0	0	0.00
Analog_circuits	1347	12	168.21
GPS_charging	0	0	0.00
Compass	1508	8	125.50
RAFOS	1080	1	16.85
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
17	-0.99	-146.0	0.0	0.0	0	26	0.00	0.00	-6.85	0.000	2	0.000	0.000	2696	327	2646
31	-0.99	-146.0	5.5	-0.0	1	61	0.62	5.35	-19.92	0.000	4	0.054	0.061	2420	3596	3249
273	-0.69	-146.0	32.5	-12.8	43	280	0.35	2.12	0.00	0.000	6	0.140	0.042	2532	2213	3252
620	-0.78	-146.0	61.5	-8.3	104	627	0.00	2.25	0.00	0.000	4	0.000	0.066	2523	3589	3252
657	-0.85	-146.0	64.5	-7.9	110	664	0.12	2.12	0.00	0.000	6	0.072	0.045	2463	2220	3252
1006	-0.71	-146.0	96.7	-9.8	171	1013	0.20	2.22	0.00	0.000	4	0.133	0.056	2527	821	3251
1021	-0.60	-146.0	98.4	-10.2	173	1028	0.12	2.30	0.00	0.000	6	0.130	0.056	2553	2235	3251
1353	-0.81	-146.0	121.0	-6.6	191	1357	0.17	2.30	0.00	0.000	4	0.061	0.056	2474	815	3250
1365	-0.95	-146.0	121.9	-5.8	191	1372	0.00	2.30	0.00	0.000	6	0.000	0.056	2464	2234	3250
1683	-0.86	-146.0	145.5	-7.2	207	1687	0.12	2.28	0.00	0.000	4	0.140	0.056	2501	826	3249
1757	-0.86	-146.0	150.0	-5.5	210	1761	0.00	2.30	0.00	0.000	6	0.000	0.058	2493	2238	3249
2085	-0.86	-146.0	166.7	-4.6	226	2089	0.00	2.30	0.00	0.000	4	0.000	0.057	2493	815	3249
2132	-0.86	-146.0	169.0	-5.4	228	2136	0.00	2.33	0.00	0.000	6	0.000	0.056	2483	2245	3248
2467	-0.86	-146.0	189.2	-7.0	244	2471	0.00	2.30	0.00	0.000	4	0.000	0.056	2483	828	3248
2537	-0.80	-146.0	194.7	-8.2	247	2541	0.12	2.30	0.00	0.000	6	0.130	0.056	2507	2240	3248
2866	-0.88	-146.0	215.1	-5.3	263	2870	0.00	2.30	0.00	0.000	4	0.000	0.056	2507	817	3248
2946	-0.88	-146.0	219.8	-5.6	266	2950	0.00	2.30	0.00	0.000	6	0.000	0.055	2499	2233	3248
3271	-0.93	-146.0	240.6	-6.8	282	3272	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2233	3248
3579	-0.99	-146.0	257.4	-4.8	297	3584	0.12	2.28	0.00	0.000	4	0.074	0.054	2439	826	3248
3598	-0.93	-146.0	258.5	-4.8	298	3603	0.17	2.30	0.00	0.000	6	0.129	0.055	2478	2246	3248
3928	-0.93	-146.0	271.0	-3.1	314	3932	0.00	2.30	0.00	0.000	4	0.000	0.055	2478	818	3248
4008	-0.93	-146.0	274.1	-3.8	317	4012	0.00	2.30	0.00	0.000	6	0.000	0.054	2470	2242	3248
4331	-0.93	-146.0	289.5	-5.8	333	4335	0.00	2.28	0.00	0.000	4	0.000	0.054	2470	827	3248
4419	-0.86	-146.0	295.2	-7.1	336	4426	0.12	2.28	0.00	0.000	6	0.127	0.054	2494	2236	3248
4737	-0.94	-146.0	310.1	-4.0	352	4738	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2235	3248
5046	-1.02	-146.0	322.7	-3.8	367	5051	0.12	2.28	0.00	0.000	4	0.077	0.051	2439	817	3248
5140	-0.85	-146.0	327.8	-6.0	371	5144	0.25	2.30	0.00	0.000	6	0.124	0.051	2501	2246	3248
5463	-0.95	-146.0	336.9	-2.4	387	5467	0.12	2.28	0.00	0.000	4	0.077	0.051	2445	817	3248
5517	-0.80	-146.0	338.9	-4.6	389	5522	0.25	2.28	0.00	0.000	6	0.123	0.051	2508	2238	3249
5840	-0.93	-146.0	347.6	-2.9	405	5844	0.12	2.25	0.00	0.000	4	0.075	0.050	2450	823	3250
5888	-0.78	-146.0	349.9	-5.3	407	5892	0.25	2.25	0.00	0.000	6	0.123	0.050	2512	2230	3250
6222	-0.93	-146.0	361.8	-3.4	423	6226	0.12	2.25	0.00	0.000	4	0.074	0.049	2454	818	3251
6240	-0.93	-146.0	362.6	-3.8	424	6245	0.12	2.28	0.00	0.000	6	0.127	0.049	2478	2242	3251
6571	-0.93	-146.0	377.9	-4.7	440	6575	0.00	2.28	0.00	0.000	4	0.000	0.050	2478	810	3251
6600	-0.93	-146.0	379.6	-5.3	441	6604	0.00	2.28	0.00	0.000	6	0.000	0.048	2470	2240	3251
6928	-0.93	-146.0	395.6	-4.9	457	6932	0.00	2.25	0.00	0.000	4	0.000	0.050	2470	819	3252
7032	-0.88	-146.0	401.2	-5.8	461	7036	0.12	2.28	0.00	0.000	6	0.123	0.049	2495	2242	3253
7098	end dive: TARGET_DEPTH_EXCEEDED
state	7098	begin apogee
7108	-0.31	0.0	404.2	4.1	463	7235	0.38	0.00	124.35	1.016	6	0.114	0.000	2616	1734	2650
7235	end apogee: CONTROL_FINISHED_OK
state	7236	begin climb
7241	0.99	146.0	404.4	0.0	466	7373	0.88	2.47	125.78	0.952	4	0.088	0.054	2905	3151	2053
7408	0.69	146.0	387.7	12.6	473	7413	0.30	2.33	0.00	0.000	6	0.124	0.040	2830	1737	2050
7736	0.69	146.0	361.7	7.2	489	7740	0.00	2.25	0.00	0.000	4	0.000	0.055	2838	323	2048
7771	0.77	146.0	359.0	7.7	490	7775	0.00	2.25	0.00	0.000	6	0.000	0.042	2838	1748	2048
8095	0.77	146.0	335.1	7.5	506	8099	0.00	2.20	0.00	0.000	4	0.000	0.055	2838	3156	2047
8204	0.67	146.0	325.6	9.0	510	8211	0.10	2.20	0.00	0.000	6	0.133	0.041	2821	1723	2047
8522	0.79	172.8	305.6	6.2	526	8547	0.12	0.00	22.35	0.911	6	0.065	0.000	2887	1723	1945
8851	0.67	172.8	270.8	11.1	542	8856	0.20	2.28	0.00	0.000	4	0.117	0.053	2821	3145	1943
8893	0.72	172.8	267.2	8.1	544	8897	0.00	2.17	0.00	0.000	6	0.000	0.040	2828	1729	1942
9227	0.83	174.5	243.6	7.0	560	9231	0.12	2.20	0.00	0.000	4	0.068	0.054	2900	338	1942
9263	0.72	174.5	240.1	10.1	561	9268	0.22	2.20	0.00	0.000	6	0.120	0.041	2832	1744	1942
9581	0.84	179.6	216.9	6.9	576	9595	0.10	2.28	7.18	0.747	4	0.074	0.054	2889	3159	1917
9693	0.65	179.6	204.8	11.6	581	9698	0.28	2.20	0.00	0.000	6	0.118	0.040	2815	1728	1916
10023	0.90	200.5	183.4	6.3	597	10045	0.20	0.00	19.00	0.841	6	0.055	0.000	2915	1727	1832
10352	0.78	200.5	146.0	11.7	613	10354	0.22	0.00	0.00	0.000	6	0.118	0.000	2846	1727	1829
10662	1.01	248.3	124.2	5.5	628	10706	0.17	0.00	41.62	0.837	6	0.058	0.000	2932	1727	1637
11020	0.90	248.3	92.9	11.7	651	11027	0.20	2.22	0.00	0.000	4	0.121	0.054	2875	337	1629
11058	0.96	248.3	88.6	10.3	657	11065	0.00	2.20	0.00	0.000	6	0.000	0.042	2875	1742	1629
11406	1.16	290.1	61.0	5.7	718	11449	0.17	2.30	36.30	0.813	4	0.059	0.057	2961	3142	1467
11534	0.91	290.1	48.9	10.9	739	11541	0.32	2.20	0.00	0.000	6	0.125	0.044	2873	1735	1461
11883	1.62	336.8	24.8	5.5	800	11931	0.45	2.28	40.65	0.805	4	0.066	0.057	3059	336	1277
12013	end climb: FINISH_DEPTH_REACHED
state	12013	begin subsurface finish
12026	0.07	55.1	6.0	-16.7	822	12084	1.08	2.35	-48.55	0.000	4	0.092	0.069	2691	336	2428
12085	end subsurface finish: CONTROL_FINISHED_OK
state	12085	begin surface