Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 733 * 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 733 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 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 33 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 733 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 3.45 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -3.5 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 1.78,-1.687,-1.810 TCM_TEMP 15.50

FINISH 1.8,1.026557 XPDR_PINGS 222

SM_CCo 12040,0.00,0.000,0,0,1291,333.36 _24V_AH 22.4,110.330

SM_GC 2.87,7.05,0.00,0.00,0.054,0.000,0.000,333,2245,1291,-10.68,0.42,333.36 _10V_AH 10.4,49.412

RAFOS_CLK 503 DATA_FILE_SIZE 28378,869

RAFOS 0,1232971442,12.083333,12.067223,64,59,59,51,51,50,216,199,183,164,154,174 CAP_FILE_SIZE 118180,0

RAFOS_FIX 6636.974609,-5639.870605,260109,121257,3,66,0.39 CFSIZE 260165632,206708736

IRIDIUM_FIX 6548.42,-5642.25,160498,050538 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026078 SOUNDSPEED 1455.6

HUMID 1805 GPS 260109,122557,6636.975,-5639.871,0,3066.0,0,-37.3

INTERNAL_PRESSURE 9.86366

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 147 53.44 SBE_CT 605 24 325.38

Roll_motor 140 68 214.34 SBE_O2 0 0 0.00

VBD_pump_during_apogee 409 1023 9386.55 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 55 420 522.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1612 19 333.98

LPSleep 8042 2 193.22

TT8_Active 474 19 98.25

TT8_Sampling 1647 39 683.89

TT8_CF8 337 45 160.98

TT8_Kalman 0 0 0.00

Analog_circuits 1384 12 172.75

GPS_charging 0 0 0.00

Compass 1630 8 135.68

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 25 0.00 0.00 -5.43 0.000 2 0.000 0.000 2695 334 2569

30 -0.99 -146.0 3.0 -0.0 1 71 0.62 5.30 -28.45 0.000 4 0.054 0.061 2422 3594 3248

113 -0.62 -146.0 9.8 -12.8 15 120 0.43 2.12 0.00 0.000 6 0.129 0.042 2549 2213 3250

462 -0.75 -146.0 34.5 -6.4 76 469 0.12 2.20 0.00 0.000 4 0.075 0.054 2492 814 3251

534 -0.62 -146.0 41.7 -11.6 88 541 0.22 2.30 0.00 0.000 6 0.131 0.055 2546 2239 3251

882 -0.76 -146.0 74.5 -9.0 149 889 0.12 2.30 0.00 0.000 4 0.072 0.055 2489 814 3251

959 -0.67 -146.0 82.0 -9.5 162 966 0.20 2.30 0.00 0.000 6 0.130 0.057 2535 2231 3250

1310 -0.79 -146.0 99.1 -2.9 223 1317 0.10 2.22 0.00 0.000 4 0.081 0.068 2478 3604 3249

1337 -0.84 -146.0 100.0 -2.8 227 1342 0.00 2.15 0.00 0.000 6 0.000 0.044 2477 2218 3249

1672 -0.77 -146.0 114.2 -4.7 243 1674 0.12 0.00 0.00 0.000 6 0.147 0.000 2511 2218 3248

1980 -0.83 -146.0 132.7 -8.3 258 1984 0.00 2.22 0.00 0.000 4 0.000 0.058 2511 816 3247

2016 -0.83 -146.0 136.0 -10.1 259 2020 0.00 2.33 0.00 0.000 6 0.000 0.057 2503 2244 3247

2335 -0.83 -146.0 168.4 -10.5 274 2338 0.00 2.30 0.00 0.000 4 0.000 0.058 2503 821 3247

2442 -0.83 -146.0 178.8 -9.3 278 2450 0.00 2.33 0.00 0.000 6 0.000 0.058 2493 2246 3247

2760 -0.83 -146.0 196.4 -3.5 294 2764 0.00 2.30 0.00 0.000 4 0.000 0.057 2492 821 3247

2795 -0.83 -146.0 197.7 -3.8 295 2799 0.00 2.30 0.00 0.000 6 0.000 0.057 2483 2234 3247

3114 -0.83 -146.0 209.2 -4.5 310 3118 0.00 2.28 0.00 0.000 4 0.000 0.055 2483 821 3246

3126 -0.83 -146.0 209.9 -4.7 310 3131 0.12 2.30 0.00 0.000 6 0.133 0.055 2508 2236 3246

3445 -0.91 -146.0 223.3 -4.3 325 3450 0.10 2.30 0.00 0.000 4 0.083 0.055 2459 815 3246

3515 -0.77 -146.0 227.5 -6.5 328 3520 0.20 2.33 0.00 0.000 6 0.129 0.055 2511 2245 3246

3846 -0.88 -146.0 240.5 -3.7 344 3851 0.10 2.30 0.00 0.000 4 0.084 0.054 2464 822 3246

3865 -0.88 -146.0 241.6 -4.3 345 3870 0.12 2.30 0.00 0.000 6 0.133 0.055 2487 2245 3246

4199 -0.88 -146.0 261.2 -6.5 361 4203 0.00 2.30 0.00 0.000 4 0.000 0.054 2487 817 3246

4270 -0.88 -146.0 266.1 -7.1 364 4274 0.00 2.30 0.00 0.000 6 0.000 0.054 2480 2237 3246

4606 -0.88 -146.0 288.1 -6.3 380 4610 0.00 2.28 0.00 0.000 4 0.000 0.054 2480 818 3246

4681 -0.84 -146.0 293.3 -6.6 383 4686 0.12 2.30 0.00 0.000 6 0.129 0.053 2504 2242 3246

5004 -0.94 -146.0 309.1 -4.6 399 5009 0.12 2.28 0.00 0.000 4 0.076 0.052 2448 828 3247

5095 -0.78 -146.0 315.5 -7.4 403 5100 0.25 2.28 0.00 0.000 6 0.124 0.053 2510 2238 3247

5420 -0.90 -146.0 330.4 -4.1 419 5424 0.10 2.28 0.00 0.000 4 0.081 0.052 2461 816 3248

5518 -0.79 -146.0 335.7 -5.4 423 5523 0.20 2.30 0.00 0.000 6 0.123 0.051 2508 2246 3247

5842 -0.92 -146.0 346.7 -3.2 439 5846 0.12 2.28 0.00 0.000 4 0.074 0.051 2451 821 3248

5916 -0.78 -146.0 350.6 -5.8 442 5921 0.25 2.28 0.00 0.000 6 0.124 0.051 2513 2238 3248

6240 -0.93 -146.0 362.4 -3.7 458 6244 0.12 2.28 0.00 0.000 4 0.075 0.050 2455 817 3248

6314 -0.82 -146.0 366.7 -6.0 461 6319 0.20 2.28 0.00 0.000 6 0.123 0.051 2503 2234 3248

6638 -0.94 -146.0 380.1 -4.0 477 6642 0.10 2.25 0.00 0.000 4 0.080 0.049 2454 825 3249

6650 -1.01 -146.0 380.8 -4.0 477 6654 0.00 2.25 0.00 0.000 6 0.000 0.050 2445 2232 3248

6973 -0.91 -146.0 397.9 -5.0 493 6977 0.15 2.25 0.00 0.000 4 0.130 0.049 2487 826 3249

6998 -0.91 -146.0 399.0 -4.6 494 7002 0.00 2.25 0.00 0.000 6 0.000 0.049 2480 2237 3249

7099 end dive: TARGET_DEPTH_EXCEEDED

state 7100 begin apogee

7110 -0.31 0.0 403.1 3.8 497 7237 0.43 0.00 124.12 1.023 6 0.117 0.000 2614 1732 2650

7237 end apogee: CONTROL_FINISHED_OK

state 7237 begin climb

7242 0.99 146.0 403.5 0.0 500 7376 0.85 2.53 125.75 0.960 4 0.091 0.054 2898 3151 2053

7427 0.71 146.0 384.4 13.2 507 7432 0.28 2.33 0.00 0.000 6 0.124 0.041 2831 1734 2050

7744 0.71 146.0 360.0 7.5 522 7747 0.00 2.22 0.00 0.000 4 0.000 0.056 2839 333 2048

7774 0.78 146.0 357.7 7.9 523 7778 0.00 2.22 0.00 0.000 6 0.000 0.042 2839 1758 2048

8101 0.78 146.0 332.7 7.5 539 8105 0.00 2.17 0.00 0.000 4 0.000 0.056 2839 3155 2048

8187 0.69 146.0 325.2 8.8 542 8193 0.00 2.20 0.00 0.000 6 0.000 0.041 2849 1726 2047

8507 0.69 147.9 302.2 7.0 558 8510 0.00 2.20 0.00 0.000 4 0.000 0.054 2859 327 2047

8543 0.69 147.9 299.5 7.3 559 8547 0.12 2.22 0.00 0.000 6 0.112 0.043 2822 1748 2048

8865 0.81 147.9 275.8 8.2 575 8870 0.12 2.17 0.00 0.000 4 0.064 0.054 2888 3149 2048

8958 0.58 147.9 264.0 13.7 579 8963 0.32 2.17 0.00 0.000 6 0.124 0.041 2801 1734 2048

9286 0.87 212.7 241.8 4.9 595 9350 0.20 2.28 55.62 0.907 4 0.054 0.054 2916 337 1782

9376 0.75 212.7 234.5 8.7 599 9381 0.25 2.25 0.00 0.000 6 0.121 0.042 2841 1749 1780

9706 0.88 241.4 217.5 6.1 615 9736 0.12 2.25 24.62 0.864 4 0.065 0.055 2906 3145 1666

9838 0.68 241.4 202.7 12.7 620 9845 0.30 2.17 0.00 0.000 6 0.120 0.041 2825 1739 1661

10155 1.02 249.1 181.8 6.8 636 10170 0.20 2.30 7.10 0.726 4 0.073 0.055 2912 328 1634

10189 1.26 249.1 178.7 8.9 637 10194 0.15 2.22 0.00 0.000 6 0.062 0.041 2982 1753 1634

10513 0.98 249.1 130.0 16.5 653 10518 0.28 2.20 0.00 0.000 4 0.129 0.055 2895 3153 1635

10627 0.87 249.1 114.3 13.4 658 10632 0.12 2.20 0.00 0.000 6 0.126 0.042 2867 1726 1632

10962 1.05 249.1 82.7 8.3 699 10969 0.15 2.22 0.00 0.000 4 0.061 0.056 2953 328 1632

11000 1.05 249.1 78.9 9.9 705 11007 0.17 2.22 0.00 0.000 6 0.126 0.044 2902 1742 1632

11349 1.12 249.1 48.4 8.5 766 11355 0.08 2.22 0.00 0.000 4 0.088 0.058 2952 3153 1632

11392 0.97 249.1 43.6 11.1 773 11399 0.25 2.20 0.00 0.000 6 0.123 0.044 2888 1735 1632

11741 1.19 330.2 22.4 4.4 834 11822 0.17 2.33 72.32 0.813 4 0.058 0.058 2980 343 1302

11863 1.10 330.2 11.1 9.9 854 11870 0.22 2.25 0.00 0.000 6 0.122 0.047 2914 1742 1299

11925 end climb: SURFACE_DEPTH_REACHED

state 11925 begin surface coast

11952 end surface coast: CONTROL_FINISHED_OK

state 11952 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	733	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	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	3.45	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-3.5	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	1.78,-1.687,-1.810	TCM_TEMP	15.50
FINISH	1.8,1.026557	XPDR_PINGS	222
SM_CCo	12040,0.00,0.000,0,0,1291,333.36	_24V_AH	22.4,110.330
SM_GC	2.87,7.05,0.00,0.00,0.054,0.000,0.000,333,2245,1291,-10.68,0.42,333.36	_10V_AH	10.4,49.412
RAFOS_CLK	503	DATA_FILE_SIZE	28378,869
RAFOS	0,1232971442,12.083333,12.067223,64,59,59,51,51,50,216,199,183,164,154,174	CAP_FILE_SIZE	118180,0
RAFOS_FIX	6636.974609,-5639.870605,260109,121257,3,66,0.39	CFSIZE	260165632,206708736
IRIDIUM_FIX	6548.42,-5642.25,160498,050538	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026078	SOUNDSPEED	1455.6
HUMID	1805	GPS	260109,122557,6636.975,-5639.871,0,3066.0,0,-37.3
INTERNAL_PRESSURE	9.86366

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	147	53.44	SBE_CT	605	24	325.38
Roll_motor	140	68	214.34	SBE_O2	0	0	0.00
VBD_pump_during_apogee	409	1023	9386.55	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	55	420	522.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1612	19	333.98
LPSleep	8042	2	193.22
TT8_Active	474	19	98.25
TT8_Sampling	1647	39	683.89
TT8_CF8	337	45	160.98
TT8_Kalman	0	0	0.00
Analog_circuits	1384	12	172.75
GPS_charging	0	0	0.00
Compass	1630	8	135.68
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	25	0.00	0.00	-5.43	0.000	2	0.000	0.000	2695	334	2569
30	-0.99	-146.0	3.0	-0.0	1	71	0.62	5.30	-28.45	0.000	4	0.054	0.061	2422	3594	3248
113	-0.62	-146.0	9.8	-12.8	15	120	0.43	2.12	0.00	0.000	6	0.129	0.042	2549	2213	3250
462	-0.75	-146.0	34.5	-6.4	76	469	0.12	2.20	0.00	0.000	4	0.075	0.054	2492	814	3251
534	-0.62	-146.0	41.7	-11.6	88	541	0.22	2.30	0.00	0.000	6	0.131	0.055	2546	2239	3251
882	-0.76	-146.0	74.5	-9.0	149	889	0.12	2.30	0.00	0.000	4	0.072	0.055	2489	814	3251
959	-0.67	-146.0	82.0	-9.5	162	966	0.20	2.30	0.00	0.000	6	0.130	0.057	2535	2231	3250
1310	-0.79	-146.0	99.1	-2.9	223	1317	0.10	2.22	0.00	0.000	4	0.081	0.068	2478	3604	3249
1337	-0.84	-146.0	100.0	-2.8	227	1342	0.00	2.15	0.00	0.000	6	0.000	0.044	2477	2218	3249
1672	-0.77	-146.0	114.2	-4.7	243	1674	0.12	0.00	0.00	0.000	6	0.147	0.000	2511	2218	3248
1980	-0.83	-146.0	132.7	-8.3	258	1984	0.00	2.22	0.00	0.000	4	0.000	0.058	2511	816	3247
2016	-0.83	-146.0	136.0	-10.1	259	2020	0.00	2.33	0.00	0.000	6	0.000	0.057	2503	2244	3247
2335	-0.83	-146.0	168.4	-10.5	274	2338	0.00	2.30	0.00	0.000	4	0.000	0.058	2503	821	3247
2442	-0.83	-146.0	178.8	-9.3	278	2450	0.00	2.33	0.00	0.000	6	0.000	0.058	2493	2246	3247
2760	-0.83	-146.0	196.4	-3.5	294	2764	0.00	2.30	0.00	0.000	4	0.000	0.057	2492	821	3247
2795	-0.83	-146.0	197.7	-3.8	295	2799	0.00	2.30	0.00	0.000	6	0.000	0.057	2483	2234	3247
3114	-0.83	-146.0	209.2	-4.5	310	3118	0.00	2.28	0.00	0.000	4	0.000	0.055	2483	821	3246
3126	-0.83	-146.0	209.9	-4.7	310	3131	0.12	2.30	0.00	0.000	6	0.133	0.055	2508	2236	3246
3445	-0.91	-146.0	223.3	-4.3	325	3450	0.10	2.30	0.00	0.000	4	0.083	0.055	2459	815	3246
3515	-0.77	-146.0	227.5	-6.5	328	3520	0.20	2.33	0.00	0.000	6	0.129	0.055	2511	2245	3246
3846	-0.88	-146.0	240.5	-3.7	344	3851	0.10	2.30	0.00	0.000	4	0.084	0.054	2464	822	3246
3865	-0.88	-146.0	241.6	-4.3	345	3870	0.12	2.30	0.00	0.000	6	0.133	0.055	2487	2245	3246
4199	-0.88	-146.0	261.2	-6.5	361	4203	0.00	2.30	0.00	0.000	4	0.000	0.054	2487	817	3246
4270	-0.88	-146.0	266.1	-7.1	364	4274	0.00	2.30	0.00	0.000	6	0.000	0.054	2480	2237	3246
4606	-0.88	-146.0	288.1	-6.3	380	4610	0.00	2.28	0.00	0.000	4	0.000	0.054	2480	818	3246
4681	-0.84	-146.0	293.3	-6.6	383	4686	0.12	2.30	0.00	0.000	6	0.129	0.053	2504	2242	3246
5004	-0.94	-146.0	309.1	-4.6	399	5009	0.12	2.28	0.00	0.000	4	0.076	0.052	2448	828	3247
5095	-0.78	-146.0	315.5	-7.4	403	5100	0.25	2.28	0.00	0.000	6	0.124	0.053	2510	2238	3247
5420	-0.90	-146.0	330.4	-4.1	419	5424	0.10	2.28	0.00	0.000	4	0.081	0.052	2461	816	3248
5518	-0.79	-146.0	335.7	-5.4	423	5523	0.20	2.30	0.00	0.000	6	0.123	0.051	2508	2246	3247
5842	-0.92	-146.0	346.7	-3.2	439	5846	0.12	2.28	0.00	0.000	4	0.074	0.051	2451	821	3248
5916	-0.78	-146.0	350.6	-5.8	442	5921	0.25	2.28	0.00	0.000	6	0.124	0.051	2513	2238	3248
6240	-0.93	-146.0	362.4	-3.7	458	6244	0.12	2.28	0.00	0.000	4	0.075	0.050	2455	817	3248
6314	-0.82	-146.0	366.7	-6.0	461	6319	0.20	2.28	0.00	0.000	6	0.123	0.051	2503	2234	3248
6638	-0.94	-146.0	380.1	-4.0	477	6642	0.10	2.25	0.00	0.000	4	0.080	0.049	2454	825	3249
6650	-1.01	-146.0	380.8	-4.0	477	6654	0.00	2.25	0.00	0.000	6	0.000	0.050	2445	2232	3248
6973	-0.91	-146.0	397.9	-5.0	493	6977	0.15	2.25	0.00	0.000	4	0.130	0.049	2487	826	3249
6998	-0.91	-146.0	399.0	-4.6	494	7002	0.00	2.25	0.00	0.000	6	0.000	0.049	2480	2237	3249
7099	end dive: TARGET_DEPTH_EXCEEDED
state	7100	begin apogee
7110	-0.31	0.0	403.1	3.8	497	7237	0.43	0.00	124.12	1.023	6	0.117	0.000	2614	1732	2650
7237	end apogee: CONTROL_FINISHED_OK
state	7237	begin climb
7242	0.99	146.0	403.5	0.0	500	7376	0.85	2.53	125.75	0.960	4	0.091	0.054	2898	3151	2053
7427	0.71	146.0	384.4	13.2	507	7432	0.28	2.33	0.00	0.000	6	0.124	0.041	2831	1734	2050
7744	0.71	146.0	360.0	7.5	522	7747	0.00	2.22	0.00	0.000	4	0.000	0.056	2839	333	2048
7774	0.78	146.0	357.7	7.9	523	7778	0.00	2.22	0.00	0.000	6	0.000	0.042	2839	1758	2048
8101	0.78	146.0	332.7	7.5	539	8105	0.00	2.17	0.00	0.000	4	0.000	0.056	2839	3155	2048
8187	0.69	146.0	325.2	8.8	542	8193	0.00	2.20	0.00	0.000	6	0.000	0.041	2849	1726	2047
8507	0.69	147.9	302.2	7.0	558	8510	0.00	2.20	0.00	0.000	4	0.000	0.054	2859	327	2047
8543	0.69	147.9	299.5	7.3	559	8547	0.12	2.22	0.00	0.000	6	0.112	0.043	2822	1748	2048
8865	0.81	147.9	275.8	8.2	575	8870	0.12	2.17	0.00	0.000	4	0.064	0.054	2888	3149	2048
8958	0.58	147.9	264.0	13.7	579	8963	0.32	2.17	0.00	0.000	6	0.124	0.041	2801	1734	2048
9286	0.87	212.7	241.8	4.9	595	9350	0.20	2.28	55.62	0.907	4	0.054	0.054	2916	337	1782
9376	0.75	212.7	234.5	8.7	599	9381	0.25	2.25	0.00	0.000	6	0.121	0.042	2841	1749	1780
9706	0.88	241.4	217.5	6.1	615	9736	0.12	2.25	24.62	0.864	4	0.065	0.055	2906	3145	1666
9838	0.68	241.4	202.7	12.7	620	9845	0.30	2.17	0.00	0.000	6	0.120	0.041	2825	1739	1661
10155	1.02	249.1	181.8	6.8	636	10170	0.20	2.30	7.10	0.726	4	0.073	0.055	2912	328	1634
10189	1.26	249.1	178.7	8.9	637	10194	0.15	2.22	0.00	0.000	6	0.062	0.041	2982	1753	1634
10513	0.98	249.1	130.0	16.5	653	10518	0.28	2.20	0.00	0.000	4	0.129	0.055	2895	3153	1635
10627	0.87	249.1	114.3	13.4	658	10632	0.12	2.20	0.00	0.000	6	0.126	0.042	2867	1726	1632
10962	1.05	249.1	82.7	8.3	699	10969	0.15	2.22	0.00	0.000	4	0.061	0.056	2953	328	1632
11000	1.05	249.1	78.9	9.9	705	11007	0.17	2.22	0.00	0.000	6	0.126	0.044	2902	1742	1632
11349	1.12	249.1	48.4	8.5	766	11355	0.08	2.22	0.00	0.000	4	0.088	0.058	2952	3153	1632
11392	0.97	249.1	43.6	11.1	773	11399	0.25	2.20	0.00	0.000	6	0.123	0.044	2888	1735	1632
11741	1.19	330.2	22.4	4.4	834	11822	0.17	2.33	72.32	0.813	4	0.058	0.058	2980	343	1302
11863	1.10	330.2	11.1	9.9	854	11870	0.22	2.25	0.00	0.000	6	0.122	0.047	2914	1742	1299
11925	end climb: SURFACE_DEPTH_REACHED
state	11925	begin surface coast
11952	end surface coast: CONTROL_FINISHED_OK
state	11952	begin surface