Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 729 * 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 729 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 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 35 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 31 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 729 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 4.08 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.3 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 6.85,-1.728,-1.813 TCM_TEMP 15.30

FINISH1 6.8,1.026548,54 XPDR_PINGS 273

FINISH2 3.6 _24V_AH 22.5,109.841

RAFOS_CLK 486 _10V_AH 10.4,49.212

RAFOS 0,1232928247,0.083333,0.068611,59,56,55,55,54,52,142,220,196,153,164,208 DATA_FILE_SIZE 28426,853

RAFOS_FIX 6654.764160,-5631.726562,250109,121216,2,87,0.33 CAP_FILE_SIZE 110091,0

IRIDIUM_FIX 6548.42,-5642.25,160498,050538 CFSIZE 260165632,206934016

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

HUMID 1824 SOUNDSPEED 1455.6

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 9 134 30.22 SBE_CT 594 24 320.85

Roll_motor 125 59 166.37 SBE_O2 0 0 0.00

VBD_pump_during_apogee 394 1017 9036.10 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 68 420 644.96

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1538 19 318.66

LPSleep 7835 2 188.23

TT8_Active 480 19 99.60

TT8_Sampling 1576 39 654.60

TT8_CF8 311 45 148.82

TT8_Kalman 0 0 0.00

Analog_circuits 1347 12 168.20

GPS_charging 0 0 0.00

Compass 1565 8 130.25

RAFOS 1800 1 28.08

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 24 0.00 0.00 -5.32 0.000 2 0.000 0.000 2694 3146 2568

29 -0.99 -146.0 3.3 -0.0 1 65 0.62 3.75 -26.75 0.000 4 0.057 0.055 2456 816 3249

322 -0.75 -146.0 36.3 -11.9 52 329 0.25 2.28 0.00 0.000 6 0.135 0.053 2519 2232 3252

670 -0.75 -146.0 63.8 -5.4 113 676 0.00 2.28 0.00 0.000 4 0.000 0.054 2520 811 3252

887 -0.75 -146.0 79.3 -7.8 151 894 0.00 2.30 0.00 0.000 6 0.000 0.055 2512 2234 3251

1235 -0.75 -146.0 98.2 -5.0 212 1241 0.00 2.28 0.00 0.000 4 0.000 0.055 2512 820 3250

1288 -0.75 -146.0 100.9 -5.2 219 1292 0.00 2.30 0.00 0.000 6 0.000 0.055 2502 2242 3250

1617 -0.75 -146.0 117.1 -5.3 235 1621 0.00 2.30 0.00 0.000 4 0.000 0.056 2502 815 3249

1657 -0.75 -146.0 119.7 -6.4 236 1664 0.10 2.30 0.00 0.000 6 0.133 0.055 2518 2234 3249

1975 -0.87 -146.0 140.4 -6.7 252 1980 0.10 2.30 0.00 0.000 4 0.081 0.055 2470 811 3248

2022 -0.74 -146.0 144.3 -9.0 254 2027 0.22 2.33 0.00 0.000 6 0.130 0.055 2523 2245 3248

2345 -0.88 -146.0 165.1 -6.4 270 2350 0.12 2.33 0.00 0.000 4 0.077 0.055 2467 813 3247

2380 -0.75 -146.0 168.0 -8.4 271 2387 0.22 2.33 0.00 0.000 6 0.129 0.055 2521 2245 3247

2698 -0.90 -146.0 187.4 -5.6 287 2703 0.12 2.30 0.00 0.000 4 0.077 0.055 2464 821 3247

2755 -0.77 -146.0 191.5 -7.7 289 2760 0.20 2.30 0.00 0.000 6 0.128 0.055 2511 2239 3247

3074 -0.88 -146.0 207.5 -4.5 304 3079 0.10 2.30 0.00 0.000 4 0.085 0.054 2463 815 3247

3171 -0.77 -146.0 213.5 -6.5 308 3176 0.22 2.30 0.00 0.000 6 0.126 0.054 2518 2236 3247

3489 -0.91 -146.0 229.2 -5.1 323 3493 0.15 2.30 0.00 0.000 4 0.071 0.054 2451 811 3247

3540 -0.76 -146.0 233.4 -8.5 325 3545 0.25 2.30 0.00 0.000 6 0.126 0.053 2513 2236 3247

3864 -0.89 -146.0 251.6 -5.3 341 3869 0.10 2.30 0.00 0.000 4 0.084 0.053 2465 808 3247

3899 -0.77 -146.0 254.0 -7.1 342 3906 0.20 2.30 0.00 0.000 6 0.125 0.053 2513 2236 3247

4217 -0.91 -146.0 269.5 -4.8 358 4222 0.12 2.28 0.00 0.000 4 0.075 0.052 2455 817 3247

4252 -0.75 -146.0 271.8 -7.2 359 4257 0.25 2.28 0.00 0.000 6 0.125 0.052 2517 2234 3247

4570 -0.90 -146.0 286.2 -4.3 374 4574 0.12 2.28 0.00 0.000 4 0.075 0.051 2459 815 3247

4662 -0.79 -146.0 291.9 -6.6 378 4666 0.22 2.30 0.00 0.000 6 0.123 0.052 2514 2244 3247

4988 -0.94 -146.0 307.2 -5.0 394 4993 0.15 2.30 0.00 0.000 4 0.071 0.052 2447 813 3248

5091 -0.79 -146.0 314.9 -7.9 398 5097 0.25 2.30 0.00 0.000 6 0.125 0.052 2509 2245 3248

5408 -0.93 -146.0 331.7 -5.0 414 5413 0.12 2.30 0.00 0.000 4 0.074 0.051 2450 814 3248

5506 -0.79 -146.0 338.5 -7.4 418 5511 0.25 2.30 0.00 0.000 6 0.124 0.051 2513 2245 3248

5831 -0.95 -146.0 353.1 -3.8 434 5835 0.15 2.30 0.00 0.000 4 0.070 0.051 2445 811 3248

5889 -0.79 -146.0 356.5 -6.9 436 5896 0.28 2.30 0.00 0.000 6 0.124 0.051 2515 2246 3248

6206 -0.95 -146.0 370.3 -4.0 452 6211 0.15 2.30 0.00 0.000 4 0.067 0.051 2446 811 3249

6236 -0.88 -146.0 372.0 -6.1 453 6240 0.20 2.28 0.00 0.000 6 0.123 0.050 2493 2232 3249

6556 -0.96 -146.0 386.5 -4.8 468 6560 0.00 2.25 0.00 0.000 4 0.000 0.051 2493 816 3249

6569 -1.04 -146.0 387.2 -4.7 468 6573 0.12 2.28 0.00 0.000 6 0.069 0.049 2429 2243 3249

6804 end dive: NO_VERTICAL_VELOCITY

state 6804 begin apogee

6816 -0.31 0.0 388.9 0.0 480 6947 0.55 0.00 123.50 1.017 6 0.083 0.000 2620 1725 2650

6947 end apogee: CONTROL_FINISHED_OK

state 6947 begin climb

6952 0.99 146.0 388.3 0.0 487 7086 0.82 2.55 125.20 0.954 4 0.088 0.054 2899 3156 2054

7156 0.71 146.0 367.3 13.3 496 7161 0.28 2.30 0.00 0.000 6 0.123 0.041 2830 1736 2049

7478 0.71 146.0 341.3 7.3 512 7482 0.00 2.22 0.00 0.000 4 0.000 0.057 2839 331 2048

7507 0.79 146.0 339.0 7.6 513 7511 0.00 2.22 0.00 0.000 6 0.000 0.043 2839 1747 2048

7836 0.79 146.0 313.1 7.9 529 7840 0.00 2.20 0.00 0.000 4 0.000 0.056 2839 3159 2048

7933 0.68 146.0 304.9 7.5 533 7936 0.00 2.20 0.00 0.000 6 0.000 0.041 2848 1731 2047

8261 0.70 165.1 283.5 6.4 549 8280 0.00 0.00 16.02 0.885 6 0.000 0.000 2848 1730 1977

8591 0.70 165.1 257.9 8.4 565 8595 0.00 2.25 0.00 0.000 4 0.000 0.055 2848 3145 1975

8638 0.61 165.1 253.2 10.2 567 8643 0.17 2.17 0.00 0.000 6 0.122 0.041 2806 1733 1975

8974 0.85 191.5 230.0 6.2 583 9000 0.20 0.00 23.73 0.888 6 0.054 0.000 2906 1733 1869

9302 0.70 191.5 201.3 7.8 599 9306 0.22 2.28 0.00 0.000 4 0.119 0.056 2831 3151 1865

9349 0.79 260.7 198.7 4.8 601 9413 0.00 2.17 59.58 0.881 6 0.000 0.041 2838 1736 1587

9727 1.00 260.7 174.0 8.6 619 9732 0.17 2.22 0.00 0.000 4 0.061 0.055 2936 336 1578

9756 1.00 260.7 170.1 12.9 620 9760 0.15 2.22 0.00 0.000 6 0.131 0.042 2894 1753 1577

10086 1.00 260.7 133.8 10.1 636 10090 0.00 2.20 0.00 0.000 4 0.000 0.058 2894 3157 1575

10148 0.89 260.7 126.8 10.6 638 10156 0.12 2.20 0.00 0.000 6 0.130 0.042 2866 1732 1575

10466 1.13 314.6 106.3 5.3 654 10519 0.20 2.28 46.85 0.839 4 0.056 0.056 2975 328 1367

10571 1.04 314.6 96.6 10.7 661 10578 0.25 2.25 0.00 0.000 6 0.123 0.045 2901 1741 1364

10920 1.16 314.6 68.9 8.4 722 10926 0.12 2.25 0.00 0.000 4 0.068 0.059 2963 3163 1358

10980 0.97 314.6 61.5 13.2 732 10987 0.28 2.22 0.00 0.000 6 0.121 0.044 2890 1730 1357

11329 1.16 314.6 37.1 8.3 793 11336 0.15 2.25 0.00 0.000 4 0.065 0.058 2971 324 1355

11401 1.09 314.6 29.4 11.6 805 11408 0.20 2.25 0.00 0.000 6 0.120 0.048 2913 1741 1355

11633 end climb: FINISH_DEPTH_REACHED

state 11633 begin subsurface finish

11644 0.07 54.1 6.8 -9.3 846 11685 0.65 0.00 -36.25 0.000 6 0.104 0.000 2692 1742 2433

11686 end subsurface finish: CONTROL_FINISHED_OK

state 11686 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	729	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	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	4.08	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.3	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	6.85,-1.728,-1.813	TCM_TEMP	15.30
FINISH1	6.8,1.026548,54	XPDR_PINGS	273
FINISH2	3.6	_24V_AH	22.5,109.841
RAFOS_CLK	486	_10V_AH	10.4,49.212
RAFOS	0,1232928247,0.083333,0.068611,59,56,55,55,54,52,142,220,196,153,164,208	DATA_FILE_SIZE	28426,853
RAFOS_FIX	6654.764160,-5631.726562,250109,121216,2,87,0.33	CAP_FILE_SIZE	110091,0
IRIDIUM_FIX	6548.42,-5642.25,160498,050538	CFSIZE	260165632,206934016
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1824	SOUNDSPEED	1455.6
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	134	30.22	SBE_CT	594	24	320.85
Roll_motor	125	59	166.37	SBE_O2	0	0	0.00
VBD_pump_during_apogee	394	1017	9036.10	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	68	420	644.96
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1538	19	318.66
LPSleep	7835	2	188.23
TT8_Active	480	19	99.60
TT8_Sampling	1576	39	654.60
TT8_CF8	311	45	148.82
TT8_Kalman	0	0	0.00
Analog_circuits	1347	12	168.20
GPS_charging	0	0	0.00
Compass	1565	8	130.25
RAFOS	1800	1	28.08
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	24	0.00	0.00	-5.32	0.000	2	0.000	0.000	2694	3146	2568
29	-0.99	-146.0	3.3	-0.0	1	65	0.62	3.75	-26.75	0.000	4	0.057	0.055	2456	816	3249
322	-0.75	-146.0	36.3	-11.9	52	329	0.25	2.28	0.00	0.000	6	0.135	0.053	2519	2232	3252
670	-0.75	-146.0	63.8	-5.4	113	676	0.00	2.28	0.00	0.000	4	0.000	0.054	2520	811	3252
887	-0.75	-146.0	79.3	-7.8	151	894	0.00	2.30	0.00	0.000	6	0.000	0.055	2512	2234	3251
1235	-0.75	-146.0	98.2	-5.0	212	1241	0.00	2.28	0.00	0.000	4	0.000	0.055	2512	820	3250
1288	-0.75	-146.0	100.9	-5.2	219	1292	0.00	2.30	0.00	0.000	6	0.000	0.055	2502	2242	3250
1617	-0.75	-146.0	117.1	-5.3	235	1621	0.00	2.30	0.00	0.000	4	0.000	0.056	2502	815	3249
1657	-0.75	-146.0	119.7	-6.4	236	1664	0.10	2.30	0.00	0.000	6	0.133	0.055	2518	2234	3249
1975	-0.87	-146.0	140.4	-6.7	252	1980	0.10	2.30	0.00	0.000	4	0.081	0.055	2470	811	3248
2022	-0.74	-146.0	144.3	-9.0	254	2027	0.22	2.33	0.00	0.000	6	0.130	0.055	2523	2245	3248
2345	-0.88	-146.0	165.1	-6.4	270	2350	0.12	2.33	0.00	0.000	4	0.077	0.055	2467	813	3247
2380	-0.75	-146.0	168.0	-8.4	271	2387	0.22	2.33	0.00	0.000	6	0.129	0.055	2521	2245	3247
2698	-0.90	-146.0	187.4	-5.6	287	2703	0.12	2.30	0.00	0.000	4	0.077	0.055	2464	821	3247
2755	-0.77	-146.0	191.5	-7.7	289	2760	0.20	2.30	0.00	0.000	6	0.128	0.055	2511	2239	3247
3074	-0.88	-146.0	207.5	-4.5	304	3079	0.10	2.30	0.00	0.000	4	0.085	0.054	2463	815	3247
3171	-0.77	-146.0	213.5	-6.5	308	3176	0.22	2.30	0.00	0.000	6	0.126	0.054	2518	2236	3247
3489	-0.91	-146.0	229.2	-5.1	323	3493	0.15	2.30	0.00	0.000	4	0.071	0.054	2451	811	3247
3540	-0.76	-146.0	233.4	-8.5	325	3545	0.25	2.30	0.00	0.000	6	0.126	0.053	2513	2236	3247
3864	-0.89	-146.0	251.6	-5.3	341	3869	0.10	2.30	0.00	0.000	4	0.084	0.053	2465	808	3247
3899	-0.77	-146.0	254.0	-7.1	342	3906	0.20	2.30	0.00	0.000	6	0.125	0.053	2513	2236	3247
4217	-0.91	-146.0	269.5	-4.8	358	4222	0.12	2.28	0.00	0.000	4	0.075	0.052	2455	817	3247
4252	-0.75	-146.0	271.8	-7.2	359	4257	0.25	2.28	0.00	0.000	6	0.125	0.052	2517	2234	3247
4570	-0.90	-146.0	286.2	-4.3	374	4574	0.12	2.28	0.00	0.000	4	0.075	0.051	2459	815	3247
4662	-0.79	-146.0	291.9	-6.6	378	4666	0.22	2.30	0.00	0.000	6	0.123	0.052	2514	2244	3247
4988	-0.94	-146.0	307.2	-5.0	394	4993	0.15	2.30	0.00	0.000	4	0.071	0.052	2447	813	3248
5091	-0.79	-146.0	314.9	-7.9	398	5097	0.25	2.30	0.00	0.000	6	0.125	0.052	2509	2245	3248
5408	-0.93	-146.0	331.7	-5.0	414	5413	0.12	2.30	0.00	0.000	4	0.074	0.051	2450	814	3248
5506	-0.79	-146.0	338.5	-7.4	418	5511	0.25	2.30	0.00	0.000	6	0.124	0.051	2513	2245	3248
5831	-0.95	-146.0	353.1	-3.8	434	5835	0.15	2.30	0.00	0.000	4	0.070	0.051	2445	811	3248
5889	-0.79	-146.0	356.5	-6.9	436	5896	0.28	2.30	0.00	0.000	6	0.124	0.051	2515	2246	3248
6206	-0.95	-146.0	370.3	-4.0	452	6211	0.15	2.30	0.00	0.000	4	0.067	0.051	2446	811	3249
6236	-0.88	-146.0	372.0	-6.1	453	6240	0.20	2.28	0.00	0.000	6	0.123	0.050	2493	2232	3249
6556	-0.96	-146.0	386.5	-4.8	468	6560	0.00	2.25	0.00	0.000	4	0.000	0.051	2493	816	3249
6569	-1.04	-146.0	387.2	-4.7	468	6573	0.12	2.28	0.00	0.000	6	0.069	0.049	2429	2243	3249
6804	end dive: NO_VERTICAL_VELOCITY
state	6804	begin apogee
6816	-0.31	0.0	388.9	0.0	480	6947	0.55	0.00	123.50	1.017	6	0.083	0.000	2620	1725	2650
6947	end apogee: CONTROL_FINISHED_OK
state	6947	begin climb
6952	0.99	146.0	388.3	0.0	487	7086	0.82	2.55	125.20	0.954	4	0.088	0.054	2899	3156	2054
7156	0.71	146.0	367.3	13.3	496	7161	0.28	2.30	0.00	0.000	6	0.123	0.041	2830	1736	2049
7478	0.71	146.0	341.3	7.3	512	7482	0.00	2.22	0.00	0.000	4	0.000	0.057	2839	331	2048
7507	0.79	146.0	339.0	7.6	513	7511	0.00	2.22	0.00	0.000	6	0.000	0.043	2839	1747	2048
7836	0.79	146.0	313.1	7.9	529	7840	0.00	2.20	0.00	0.000	4	0.000	0.056	2839	3159	2048
7933	0.68	146.0	304.9	7.5	533	7936	0.00	2.20	0.00	0.000	6	0.000	0.041	2848	1731	2047
8261	0.70	165.1	283.5	6.4	549	8280	0.00	0.00	16.02	0.885	6	0.000	0.000	2848	1730	1977
8591	0.70	165.1	257.9	8.4	565	8595	0.00	2.25	0.00	0.000	4	0.000	0.055	2848	3145	1975
8638	0.61	165.1	253.2	10.2	567	8643	0.17	2.17	0.00	0.000	6	0.122	0.041	2806	1733	1975
8974	0.85	191.5	230.0	6.2	583	9000	0.20	0.00	23.73	0.888	6	0.054	0.000	2906	1733	1869
9302	0.70	191.5	201.3	7.8	599	9306	0.22	2.28	0.00	0.000	4	0.119	0.056	2831	3151	1865
9349	0.79	260.7	198.7	4.8	601	9413	0.00	2.17	59.58	0.881	6	0.000	0.041	2838	1736	1587
9727	1.00	260.7	174.0	8.6	619	9732	0.17	2.22	0.00	0.000	4	0.061	0.055	2936	336	1578
9756	1.00	260.7	170.1	12.9	620	9760	0.15	2.22	0.00	0.000	6	0.131	0.042	2894	1753	1577
10086	1.00	260.7	133.8	10.1	636	10090	0.00	2.20	0.00	0.000	4	0.000	0.058	2894	3157	1575
10148	0.89	260.7	126.8	10.6	638	10156	0.12	2.20	0.00	0.000	6	0.130	0.042	2866	1732	1575
10466	1.13	314.6	106.3	5.3	654	10519	0.20	2.28	46.85	0.839	4	0.056	0.056	2975	328	1367
10571	1.04	314.6	96.6	10.7	661	10578	0.25	2.25	0.00	0.000	6	0.123	0.045	2901	1741	1364
10920	1.16	314.6	68.9	8.4	722	10926	0.12	2.25	0.00	0.000	4	0.068	0.059	2963	3163	1358
10980	0.97	314.6	61.5	13.2	732	10987	0.28	2.22	0.00	0.000	6	0.121	0.044	2890	1730	1357
11329	1.16	314.6	37.1	8.3	793	11336	0.15	2.25	0.00	0.000	4	0.065	0.058	2971	324	1355
11401	1.09	314.6	29.4	11.6	805	11408	0.20	2.25	0.00	0.000	6	0.120	0.048	2913	1741	1355
11633	end climb: FINISH_DEPTH_REACHED
state	11633	begin subsurface finish
11644	0.07	54.1	6.8	-9.3	846	11685	0.65	0.00	-36.25	0.000	6	0.104	0.000	2692	1742	2433
11686	end subsurface finish: CONTROL_FINISHED_OK
state	11686	begin surface