Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 734 * 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 734 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 34 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 -136410.45 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 -136410.45

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 34 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 33 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 734 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 122557,6636.975,-5639.871,0,3066.0,0,-37.3 TGT_NAME NUUK1

_CALLS 3 TGT_LATLONG 6600.000,-5700.000

_XMS_NAKs 0 TGT_RADIUS 20000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.99 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 122557,6636.975,-5639.871,0,3066.0,0,-37.3 MHEAD_RNG_PITCHd_Wd 229.8,70135,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 523

Post-dive calculations and measurements:

FREEZE 1.04,-2.057,-1.135 TCM_TEMP 15.70

FINISH 1.0,1.016744 XPDR_PINGS 231

SM_CCo 12677,0.00,0.000,0,0,1667,240.88 _24V_AH 22.5,110.432

SM_GC 1.91,7.10,0.00,0.00,0.052,0.000,0.000,334,2204,1667,-10.69,-0.74,240.88 _10V_AH 10.4,49.483

RAFOS_CLK 564 DATA_FILE_SIZE 31510,915

RAFOS 0,1232985846,16.083334,16.068333,60,60,56,53,52,51,191,217,134,207,116,170 CAP_FILE_SIZE 119235,0

RAFOS_FIX 6636.974609,-5639.870605,260109,121257,3,66,0.39 CFSIZE 260165632,206643200

IRIDIUM_FIX 6625.71,-5641.36,200498,070728 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1458.5

HUMID 1801 GPS 260109,190708,6634.405,-5626.350,41,1.4,41,-36.8

INTERNAL_PRESSURE 9.90272

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 215 107.66 SBE_CT 635 24 343.21

Roll_motor 121 82 224.91 SBE_O2 0 0 0.00

VBD_pump_during_apogee 331 1007 7523.45 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 99 103 230.34 nil 0 0 0.00

Iridium_during_connect 85 160 308.38 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 57 420 545.74

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 183 50 95.27

TT8 1625 19 336.70

LPSleep 8819 2 211.89

TT8_Active 457 19 94.77

TT8_Sampling 1800 39 747.69

TT8_CF8 1027 45 490.81

TT8_Kalman 0 0 0.00

Analog_circuits 1345 12 167.87

GPS_charging 0 0 0.00

Compass 1609 8 133.89

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 -5.35 0.000 2 0.000 0.000 333 2244 1402

29 -0.99 -146.0 3.0 -0.0 1 133 8.30 2.28 -89.07 0.000 4 0.216 0.082 2453 3601 3247

391 -0.81 -146.0 30.9 -10.5 64 398 0.20 2.15 0.00 0.000 6 0.138 0.046 2509 2217 3250

739 -0.81 -146.0 58.0 -7.2 125 745 0.00 2.28 0.00 0.000 4 0.000 0.070 2502 3598 3251

759 -0.81 -146.0 59.5 -7.2 128 765 0.00 2.15 0.00 0.000 6 0.000 0.046 2502 2217 3251

1106 -0.81 -146.0 88.6 -7.5 189 1112 0.00 2.22 0.00 0.000 4 0.000 0.059 2502 818 3250

1304 -0.76 -146.0 101.5 -5.9 220 1309 0.10 2.30 0.00 0.000 6 0.131 0.059 2519 2230 3250

1628 -0.85 -146.0 121.7 -6.8 236 1630 0.10 0.00 0.00 0.000 6 0.082 0.000 2472 2230 3249

1940 -0.79 -146.0 145.4 -6.7 251 1944 0.15 2.25 0.00 0.000 4 0.138 0.071 2505 3606 3249

1958 -0.79 -146.0 146.6 -6.2 252 1962 0.00 2.15 0.00 0.000 6 0.000 0.046 2506 2228 3249

2293 -0.85 -146.0 163.0 -5.0 268 2297 0.00 2.22 0.00 0.000 4 0.000 0.059 2505 826 3248

2346 -0.85 -146.0 165.9 -5.6 270 2350 0.00 2.30 0.00 0.000 6 0.000 0.058 2496 2240 3248

2676 -0.85 -146.0 187.3 -6.8 286 2680 0.00 2.30 0.00 0.000 4 0.000 0.058 2495 820 3248

2727 -0.85 -146.0 191.4 -7.5 288 2732 0.00 2.30 0.00 0.000 6 0.000 0.056 2486 2234 3248

3051 -0.85 -146.0 211.8 -5.9 304 3055 0.00 2.30 0.00 0.000 4 0.000 0.056 2486 812 3248

3086 -0.85 -146.0 214.1 -6.4 305 3090 0.00 2.30 0.00 0.000 6 0.000 0.055 2476 2232 3248

3405 -0.85 -146.0 233.2 -6.2 320 3407 0.00 0.00 0.00 0.000 6 0.000 0.000 2476 2232 3248

3712 -0.85 -146.0 252.8 -6.1 335 3716 0.00 2.25 0.00 0.000 4 0.000 0.054 2476 821 3249

3753 -0.80 -146.0 255.3 -6.2 336 3760 0.15 2.30 0.00 0.000 6 0.125 0.054 2508 2244 3249

4072 -0.92 -146.0 268.1 -4.0 352 4077 0.12 2.30 0.00 0.000 4 0.076 0.054 2452 817 3250

4169 -0.77 -146.0 274.2 -6.1 356 4174 0.25 2.30 0.00 0.000 6 0.124 0.053 2514 2244 3250

4487 -0.92 -146.0 287.2 -4.0 371 4492 0.12 2.28 0.00 0.000 4 0.077 0.053 2457 821 3251

4545 -0.79 -146.0 290.4 -6.0 373 4550 0.22 2.28 0.00 0.000 6 0.124 0.053 2512 2235 3251

4867 -0.94 -146.0 301.8 -3.5 388 4871 0.15 2.28 0.00 0.000 4 0.071 0.051 2446 812 3252

4915 -0.77 -146.0 304.3 -5.5 390 4920 0.28 2.28 0.00 0.000 6 0.123 0.051 2516 2238 3252

5249 -0.93 -146.0 316.2 -3.4 406 5254 0.15 2.28 0.00 0.000 4 0.070 0.051 2448 815 3253

5330 -0.78 -146.0 320.7 -5.7 409 5337 0.25 2.28 0.00 0.000 6 0.123 0.051 2511 2238 3253

5649 -0.92 -146.0 331.9 -3.4 425 5654 0.12 2.28 0.00 0.000 4 0.074 0.050 2454 813 3254

5692 -0.79 -146.0 334.0 -5.4 427 5697 0.22 2.28 0.00 0.000 6 0.123 0.050 2509 2239 3254

6022 -0.93 -146.0 346.6 -3.8 443 6027 0.12 2.28 0.00 0.000 4 0.074 0.049 2450 812 3255

6064 -0.78 -146.0 349.0 -5.7 445 6069 0.25 2.28 0.00 0.000 6 0.122 0.049 2513 2240 3255

6395 -0.93 -146.0 362.9 -4.0 461 6400 0.15 2.28 0.00 0.000 4 0.068 0.049 2445 812 3256

6463 -0.79 -146.0 367.7 -8.2 464 6468 0.25 2.28 0.00 0.000 6 0.122 0.049 2508 2240 3256

6787 -0.93 -146.0 379.5 -3.3 480 6792 0.12 2.28 0.00 0.000 4 0.076 0.048 2450 809 3257

6800 -1.00 -146.0 380.0 -3.6 480 6807 0.10 2.28 0.00 0.000 6 0.132 0.048 2465 2242 3257

7118 -1.00 -146.0 396.2 -4.2 496 7119 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 2241 3257

7360 end dive: NO_VERTICAL_VELOCITY

state 7360 begin apogee

7370 -0.31 0.0 399.3 0.0 508 7503 0.45 0.00 125.10 1.008 6 0.083 0.000 2625 1737 2650

7503 end apogee: CONTROL_FINISHED_OK

state 7504 begin climb

7508 0.99 146.0 398.3 0.0 515 7642 0.80 2.47 125.10 0.951 4 0.087 0.054 2906 333 2054

7712 0.84 146.0 377.8 12.1 524 7717 0.17 2.33 0.00 0.000 6 0.125 0.043 2858 1747 2051

8034 0.79 146.0 348.9 8.3 540 8038 0.00 2.20 0.00 0.000 4 0.000 0.055 2858 3161 2048

8115 0.63 146.0 340.8 10.4 543 8120 0.17 2.20 0.00 0.000 6 0.126 0.040 2815 1733 2047

8433 0.74 146.0 317.4 7.1 558 8434 0.10 0.00 0.00 0.000 6 0.074 0.000 2871 1732 2047

8743 0.65 146.0 286.9 9.9 573 8748 0.17 2.25 0.00 0.000 4 0.117 0.053 2817 3147 2047

8777 0.65 146.0 283.8 7.9 574 8783 0.00 2.17 0.00 0.000 6 0.000 0.040 2824 1730 2047

9094 0.73 146.0 261.4 7.1 590 9098 0.00 2.25 0.00 0.000 4 0.000 0.053 2824 3151 2047

9131 0.73 146.0 258.5 8.1 591 9135 0.00 2.17 0.00 0.000 6 0.000 0.040 2834 1731 2047

9454 0.79 146.0 233.1 7.6 607 9458 0.00 2.25 0.00 0.000 4 0.000 0.053 2834 3159 2047

9495 0.79 146.0 229.7 9.2 608 9501 0.00 2.17 0.00 0.000 6 0.000 0.040 2843 1730 2047

9813 0.80 155.4 207.3 6.7 624 9823 0.00 0.00 8.15 0.775 6 0.000 0.000 2843 1730 2016

10121 0.80 155.4 186.2 7.1 639 10125 0.00 2.25 0.00 0.000 4 0.000 0.054 2843 3151 2015

10161 0.74 155.4 183.0 8.3 640 10168 0.00 2.17 0.00 0.000 6 0.000 0.040 2853 1732 2014

10481 0.74 155.4 159.4 7.7 656 10485 0.00 2.25 0.00 0.000 4 0.000 0.054 2853 3154 2015

10510 0.74 155.4 156.9 7.9 657 10514 0.00 2.17 0.00 0.000 6 0.000 0.040 2862 1730 2014

10838 0.75 158.3 133.8 6.9 673 10844 0.00 0.00 4.35 0.598 6 0.000 0.000 2862 1730 2004

11148 0.75 158.3 113.4 7.2 688 11151 0.00 2.25 0.00 0.000 4 0.000 0.054 2862 3146 2004

11218 0.69 158.3 107.1 9.8 691 11222 0.17 2.17 0.00 0.000 6 0.118 0.041 2819 1732 2003

11558 1.10 166.3 81.7 6.8 737 11572 0.28 2.33 8.32 0.742 4 0.064 0.055 2932 3146 1971

11733 0.81 166.3 63.6 11.5 767 11740 0.30 2.17 0.00 0.000 6 0.127 0.042 2852 1737 1970

12082 1.08 237.4 41.9 4.7 828 12152 0.20 2.33 60.75 0.813 4 0.056 0.057 2960 341 1682

12205 0.98 237.4 30.6 10.4 848 12212 0.25 2.25 0.00 0.000 6 0.121 0.046 2885 1750 1677

12558 1.12 237.4 4.8 7.3 909 12565 0.12 2.22 0.00 0.000 4 0.073 0.060 2945 3153 1671

12575 end climb: SURFACE_DEPTH_REACHED

state 12575 begin surface coast

12593 end surface coast: FINISH_DEPTH_REACHED

state 12593 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	734	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	34	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	-136410.45	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	122557,6636.975,-5639.871,0,3066.0,0,-37.3	TGT_NAME	NUUK1
_CALLS	3	TGT_LATLONG	6600.000,-5700.000
_XMS_NAKs	0	TGT_RADIUS	20000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.99	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	122557,6636.975,-5639.871,0,3066.0,0,-37.3	MHEAD_RNG_PITCHd_Wd	229.8,70135,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	523

FREEZE	1.04,-2.057,-1.135	TCM_TEMP	15.70
FINISH	1.0,1.016744	XPDR_PINGS	231
SM_CCo	12677,0.00,0.000,0,0,1667,240.88	_24V_AH	22.5,110.432
SM_GC	1.91,7.10,0.00,0.00,0.052,0.000,0.000,334,2204,1667,-10.69,-0.74,240.88	_10V_AH	10.4,49.483
RAFOS_CLK	564	DATA_FILE_SIZE	31510,915
RAFOS	0,1232985846,16.083334,16.068333,60,60,56,53,52,51,191,217,134,207,116,170	CAP_FILE_SIZE	119235,0
RAFOS_FIX	6636.974609,-5639.870605,260109,121257,3,66,0.39	CFSIZE	260165632,206643200
IRIDIUM_FIX	6625.71,-5641.36,200498,070728	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1458.5
HUMID	1801	GPS	260109,190708,6634.405,-5626.350,41,1.4,41,-36.8
INTERNAL_PRESSURE	9.90272

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	215	107.66	SBE_CT	635	24	343.21
Roll_motor	121	82	224.91	SBE_O2	0	0	0.00
VBD_pump_during_apogee	331	1007	7523.45	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	99	103	230.34	nil	0	0	0.00
Iridium_during_connect	85	160	308.38	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	57	420	545.74
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	183	50	95.27
TT8	1625	19	336.70
LPSleep	8819	2	211.89
TT8_Active	457	19	94.77
TT8_Sampling	1800	39	747.69
TT8_CF8	1027	45	490.81
TT8_Kalman	0	0	0.00
Analog_circuits	1345	12	167.87
GPS_charging	0	0	0.00
Compass	1609	8	133.89
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	-5.35	0.000	2	0.000	0.000	333	2244	1402
29	-0.99	-146.0	3.0	-0.0	1	133	8.30	2.28	-89.07	0.000	4	0.216	0.082	2453	3601	3247
391	-0.81	-146.0	30.9	-10.5	64	398	0.20	2.15	0.00	0.000	6	0.138	0.046	2509	2217	3250
739	-0.81	-146.0	58.0	-7.2	125	745	0.00	2.28	0.00	0.000	4	0.000	0.070	2502	3598	3251
759	-0.81	-146.0	59.5	-7.2	128	765	0.00	2.15	0.00	0.000	6	0.000	0.046	2502	2217	3251
1106	-0.81	-146.0	88.6	-7.5	189	1112	0.00	2.22	0.00	0.000	4	0.000	0.059	2502	818	3250
1304	-0.76	-146.0	101.5	-5.9	220	1309	0.10	2.30	0.00	0.000	6	0.131	0.059	2519	2230	3250
1628	-0.85	-146.0	121.7	-6.8	236	1630	0.10	0.00	0.00	0.000	6	0.082	0.000	2472	2230	3249
1940	-0.79	-146.0	145.4	-6.7	251	1944	0.15	2.25	0.00	0.000	4	0.138	0.071	2505	3606	3249
1958	-0.79	-146.0	146.6	-6.2	252	1962	0.00	2.15	0.00	0.000	6	0.000	0.046	2506	2228	3249
2293	-0.85	-146.0	163.0	-5.0	268	2297	0.00	2.22	0.00	0.000	4	0.000	0.059	2505	826	3248
2346	-0.85	-146.0	165.9	-5.6	270	2350	0.00	2.30	0.00	0.000	6	0.000	0.058	2496	2240	3248
2676	-0.85	-146.0	187.3	-6.8	286	2680	0.00	2.30	0.00	0.000	4	0.000	0.058	2495	820	3248
2727	-0.85	-146.0	191.4	-7.5	288	2732	0.00	2.30	0.00	0.000	6	0.000	0.056	2486	2234	3248
3051	-0.85	-146.0	211.8	-5.9	304	3055	0.00	2.30	0.00	0.000	4	0.000	0.056	2486	812	3248
3086	-0.85	-146.0	214.1	-6.4	305	3090	0.00	2.30	0.00	0.000	6	0.000	0.055	2476	2232	3248
3405	-0.85	-146.0	233.2	-6.2	320	3407	0.00	0.00	0.00	0.000	6	0.000	0.000	2476	2232	3248
3712	-0.85	-146.0	252.8	-6.1	335	3716	0.00	2.25	0.00	0.000	4	0.000	0.054	2476	821	3249
3753	-0.80	-146.0	255.3	-6.2	336	3760	0.15	2.30	0.00	0.000	6	0.125	0.054	2508	2244	3249
4072	-0.92	-146.0	268.1	-4.0	352	4077	0.12	2.30	0.00	0.000	4	0.076	0.054	2452	817	3250
4169	-0.77	-146.0	274.2	-6.1	356	4174	0.25	2.30	0.00	0.000	6	0.124	0.053	2514	2244	3250
4487	-0.92	-146.0	287.2	-4.0	371	4492	0.12	2.28	0.00	0.000	4	0.077	0.053	2457	821	3251
4545	-0.79	-146.0	290.4	-6.0	373	4550	0.22	2.28	0.00	0.000	6	0.124	0.053	2512	2235	3251
4867	-0.94	-146.0	301.8	-3.5	388	4871	0.15	2.28	0.00	0.000	4	0.071	0.051	2446	812	3252
4915	-0.77	-146.0	304.3	-5.5	390	4920	0.28	2.28	0.00	0.000	6	0.123	0.051	2516	2238	3252
5249	-0.93	-146.0	316.2	-3.4	406	5254	0.15	2.28	0.00	0.000	4	0.070	0.051	2448	815	3253
5330	-0.78	-146.0	320.7	-5.7	409	5337	0.25	2.28	0.00	0.000	6	0.123	0.051	2511	2238	3253
5649	-0.92	-146.0	331.9	-3.4	425	5654	0.12	2.28	0.00	0.000	4	0.074	0.050	2454	813	3254
5692	-0.79	-146.0	334.0	-5.4	427	5697	0.22	2.28	0.00	0.000	6	0.123	0.050	2509	2239	3254
6022	-0.93	-146.0	346.6	-3.8	443	6027	0.12	2.28	0.00	0.000	4	0.074	0.049	2450	812	3255
6064	-0.78	-146.0	349.0	-5.7	445	6069	0.25	2.28	0.00	0.000	6	0.122	0.049	2513	2240	3255
6395	-0.93	-146.0	362.9	-4.0	461	6400	0.15	2.28	0.00	0.000	4	0.068	0.049	2445	812	3256
6463	-0.79	-146.0	367.7	-8.2	464	6468	0.25	2.28	0.00	0.000	6	0.122	0.049	2508	2240	3256
6787	-0.93	-146.0	379.5	-3.3	480	6792	0.12	2.28	0.00	0.000	4	0.076	0.048	2450	809	3257
6800	-1.00	-146.0	380.0	-3.6	480	6807	0.10	2.28	0.00	0.000	6	0.132	0.048	2465	2242	3257
7118	-1.00	-146.0	396.2	-4.2	496	7119	0.00	0.00	0.00	0.000	6	0.000	0.000	2466	2241	3257
7360	end dive: NO_VERTICAL_VELOCITY
state	7360	begin apogee
7370	-0.31	0.0	399.3	0.0	508	7503	0.45	0.00	125.10	1.008	6	0.083	0.000	2625	1737	2650
7503	end apogee: CONTROL_FINISHED_OK
state	7504	begin climb
7508	0.99	146.0	398.3	0.0	515	7642	0.80	2.47	125.10	0.951	4	0.087	0.054	2906	333	2054
7712	0.84	146.0	377.8	12.1	524	7717	0.17	2.33	0.00	0.000	6	0.125	0.043	2858	1747	2051
8034	0.79	146.0	348.9	8.3	540	8038	0.00	2.20	0.00	0.000	4	0.000	0.055	2858	3161	2048
8115	0.63	146.0	340.8	10.4	543	8120	0.17	2.20	0.00	0.000	6	0.126	0.040	2815	1733	2047
8433	0.74	146.0	317.4	7.1	558	8434	0.10	0.00	0.00	0.000	6	0.074	0.000	2871	1732	2047
8743	0.65	146.0	286.9	9.9	573	8748	0.17	2.25	0.00	0.000	4	0.117	0.053	2817	3147	2047
8777	0.65	146.0	283.8	7.9	574	8783	0.00	2.17	0.00	0.000	6	0.000	0.040	2824	1730	2047
9094	0.73	146.0	261.4	7.1	590	9098	0.00	2.25	0.00	0.000	4	0.000	0.053	2824	3151	2047
9131	0.73	146.0	258.5	8.1	591	9135	0.00	2.17	0.00	0.000	6	0.000	0.040	2834	1731	2047
9454	0.79	146.0	233.1	7.6	607	9458	0.00	2.25	0.00	0.000	4	0.000	0.053	2834	3159	2047
9495	0.79	146.0	229.7	9.2	608	9501	0.00	2.17	0.00	0.000	6	0.000	0.040	2843	1730	2047
9813	0.80	155.4	207.3	6.7	624	9823	0.00	0.00	8.15	0.775	6	0.000	0.000	2843	1730	2016
10121	0.80	155.4	186.2	7.1	639	10125	0.00	2.25	0.00	0.000	4	0.000	0.054	2843	3151	2015
10161	0.74	155.4	183.0	8.3	640	10168	0.00	2.17	0.00	0.000	6	0.000	0.040	2853	1732	2014
10481	0.74	155.4	159.4	7.7	656	10485	0.00	2.25	0.00	0.000	4	0.000	0.054	2853	3154	2015
10510	0.74	155.4	156.9	7.9	657	10514	0.00	2.17	0.00	0.000	6	0.000	0.040	2862	1730	2014
10838	0.75	158.3	133.8	6.9	673	10844	0.00	0.00	4.35	0.598	6	0.000	0.000	2862	1730	2004
11148	0.75	158.3	113.4	7.2	688	11151	0.00	2.25	0.00	0.000	4	0.000	0.054	2862	3146	2004
11218	0.69	158.3	107.1	9.8	691	11222	0.17	2.17	0.00	0.000	6	0.118	0.041	2819	1732	2003
11558	1.10	166.3	81.7	6.8	737	11572	0.28	2.33	8.32	0.742	4	0.064	0.055	2932	3146	1971
11733	0.81	166.3	63.6	11.5	767	11740	0.30	2.17	0.00	0.000	6	0.127	0.042	2852	1737	1970
12082	1.08	237.4	41.9	4.7	828	12152	0.20	2.33	60.75	0.813	4	0.056	0.057	2960	341	1682
12205	0.98	237.4	30.6	10.4	848	12212	0.25	2.25	0.00	0.000	6	0.121	0.046	2885	1750	1677
12558	1.12	237.4	4.8	7.3	909	12565	0.12	2.22	0.00	0.000	4	0.073	0.060	2945	3153	1671
12575	end climb: SURFACE_DEPTH_REACHED
state	12575	begin surface coast
12593	end surface coast: FINISH_DEPTH_REACHED
state	12593	begin surface