Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 737 * 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 737 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 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 -136791.58 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 -136791.58

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 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 737 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 192402,6634.198,-5625.873,7,1.8,7,-36.8 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 1.91 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -21.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 192402,6634.198,-5625.873,7,1.8,7,-36.8 MHEAD_RNG_PITCHd_Wd 238.9,68353,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 325

Post-dive calculations and measurements:

FREEZE 1.80,-1.680,-1.811 TCM_TEMP 15.40

FINISH 1.8,1.026582 XPDR_PINGS 306

SM_CCo 12475,0.00,0.000,0,0,1306,329.44 _24V_AH 22.4,110.801

SM_GC 2.95,7.18,0.00,0.00,0.063,0.000,0.000,323,2203,1306,-10.70,-0.76,329.44 _10V_AH 10.4,49.671

RAFOS_CLK 558 DATA_FILE_SIZE 44121,1301

RAFOS 0,1233029060,4.083333,4.072222,65,62,60,59,57,54,166,212,125,196,221,147 CAP_FILE_SIZE 130750,0

RAFOS_FIX 6636.974609,-5639.870605,260109,121257,3,66,0.39 CFSIZE 260165632,206471168

IRIDIUM_FIX 6609.62,-5626.11,220498,191942 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.028379 SOUNDSPEED 1448.0

HUMID 1810 GPS 260109,192402,6634.198,-5625.873,7,1.8,7,-36.8

INTERNAL_PRESSURE 9.85389

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 174 90.00 SBE_CT 908 24 488.17

Roll_motor 112 77 195.87 SBE_O2 0 0 0.00

VBD_pump_during_apogee 406 981 8949.96 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 99 103 228.98 nil 0 0 0.00

Iridium_during_connect 85 160 306.16 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 76 420 719.71

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 183 50 95.27

TT8 2152 19 445.89

LPSleep 7414 2 178.12

TT8_Active 556 19 115.32

TT8_Sampling 2345 39 973.74

TT8_CF8 1045 45 499.22

TT8_Kalman 0 0 0.00

Analog_circuits 1672 12 208.71

GPS_charging 0 0 0.00

Compass 2147 8 178.68

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 0 136 0.00 0.00 -114.12 0.000 6 0.000 0.000 323 2251 3246

142 -0.99 -146.0 2.0 -0.3 21 155 7.15 2.17 0.00 0.000 4 0.146 0.061 2456 3591 3249

412 -0.53 -146.0 2.0 0.0 68 419 0.35 2.12 0.00 0.000 6 0.156 0.041 2562 2189 3250

761 -0.08 -146.0 2.0 0.1 129 768 0.32 2.35 0.00 0.000 4 0.170 0.074 2649 3594 3250

1026 0.31 -146.0 2.0 -0.0 175 1033 0.32 2.10 0.00 0.000 6 0.158 0.043 2745 2234 3250

1375 0.79 -146.0 2.0 -0.0 236 1381 0.35 2.30 0.00 0.000 4 0.166 0.074 2839 3593 3250

1639 1.03 -146.0 1.9 0.2 282 1646 0.22 2.12 0.00 0.000 6 0.175 0.044 2907 2216 3249

1988 1.41 -146.0 2.0 0.0 343 1995 0.25 2.35 0.00 0.000 4 0.173 0.077 2971 3595 3249

2252 1.41 -146.0 2.0 -0.1 389 2259 0.00 2.12 0.00 0.000 6 0.000 0.044 2978 2230 3249

2601 1.41 -146.0 2.0 -0.1 450 2607 0.00 2.30 0.00 0.000 4 0.000 0.077 2971 3594 3249

2773 -0.15 -146.0 2.0 2.5 479 2780 1.08 2.15 0.00 0.000 6 0.116 0.048 2643 2227 3250

3122 -0.94 -146.0 21.9 -7.4 540 3129 0.47 2.28 0.00 0.000 4 0.075 0.068 2464 3588 3249

3188 -0.76 -146.0 28.2 -10.3 551 3195 0.17 2.15 0.00 0.000 6 0.142 0.050 2512 2227 3249

3537 -0.76 -146.0 57.9 -8.3 612 3543 0.00 2.25 0.00 0.000 4 0.000 0.061 2513 821 3249

3608 -0.76 -146.0 62.8 -6.8 624 3614 0.00 2.30 0.00 0.000 6 0.000 0.060 2505 2223 3249

3956 -0.76 -146.0 77.8 -4.2 685 3962 0.00 2.30 0.00 0.000 4 0.000 0.061 2505 818 3249

4021 -0.76 -146.0 82.0 -6.9 696 4027 0.00 2.33 0.00 0.000 6 0.000 0.060 2495 2233 3249

4359 -0.76 -146.0 116.5 -10.8 737 4364 0.00 2.33 0.00 0.000 4 0.000 0.061 2495 815 3248

4452 -0.76 -146.0 123.0 -5.5 741 4456 0.12 2.33 0.00 0.000 6 0.135 0.059 2518 2232 3247

4787 -0.86 -146.0 128.5 -2.9 757 4789 0.10 0.00 0.00 0.000 6 0.081 0.000 2472 2232 3247

5095 -0.81 -146.0 157.9 -11.2 772 5100 0.12 2.30 0.00 0.000 4 0.145 0.058 2510 820 3247

5259 -0.86 -146.0 170.9 -6.2 779 5263 0.00 2.33 0.00 0.000 6 0.000 0.058 2503 2244 3247

5593 -0.93 -146.0 184.7 -4.0 795 5598 0.10 2.33 0.00 0.000 4 0.081 0.058 2453 822 3247

5709 -0.79 -146.0 193.3 -8.5 800 5714 0.22 2.30 0.00 0.000 6 0.130 0.058 2506 2234 3247

6043 -0.89 -146.0 215.8 -6.0 816 6047 0.00 2.20 0.00 0.000 4 0.000 0.068 2498 3595 3247

6085 -0.99 -146.0 218.2 -5.8 817 6092 0.12 2.15 0.00 0.000 6 0.078 0.044 2443 2214 3247

6403 -0.89 -146.0 235.9 -5.3 833 6408 0.15 2.30 0.00 0.000 4 0.137 0.064 2477 3604 3247

6433 -0.89 -146.0 237.4 -5.0 834 6437 0.00 2.15 0.00 0.000 6 0.000 0.043 2477 2218 3247

6762 -0.89 -146.0 255.4 -6.6 850 6766 0.00 2.20 0.00 0.000 4 0.000 0.054 2477 823 3248

6922 -0.84 -146.0 268.5 -8.5 857 6927 0.12 2.30 0.00 0.000 6 0.130 0.054 2501 2245 3249

7257 -0.95 -146.0 291.7 -5.8 873 7262 0.10 2.30 0.00 0.000 4 0.082 0.052 2455 818 3250

7366 -0.83 -146.0 299.0 -6.6 877 7373 0.20 2.30 0.00 0.000 6 0.128 0.052 2502 2245 3250

7684 -0.96 -146.0 313.3 -4.6 893 7688 0.12 2.28 0.00 0.000 4 0.076 0.051 2447 827 3252

7765 -0.81 -146.0 318.6 -6.6 896 7770 0.25 2.28 0.00 0.000 6 0.124 0.052 2509 2240 3252

7918 end dive: TARGET_DEPTH_EXCEEDED

state 7918 begin apogee

7928 -0.31 0.0 325.9 4.4 904 8055 0.32 0.00 123.85 0.982 6 0.113 0.000 2614 1739 2650

8056 end apogee: CONTROL_FINISHED_OK

state 8056 begin climb

8061 0.99 146.0 327.0 0.0 910 8194 0.85 2.53 124.90 0.920 4 0.095 0.055 2894 3150 2053

8236 0.73 146.0 311.0 12.3 918 8243 0.25 2.35 0.00 0.000 6 0.127 0.042 2836 1726 2049

8553 0.73 146.0 284.4 7.9 934 8557 0.00 2.22 0.00 0.000 4 0.000 0.057 2844 327 2048

8588 0.80 146.0 281.7 7.9 935 8592 0.00 2.25 0.00 0.000 6 0.000 0.044 2844 1751 2048

8911 0.85 186.8 260.8 5.7 951 8953 0.00 2.28 34.10 0.897 4 0.000 0.057 2844 3148 1887

9012 0.78 186.8 254.2 7.6 955 9016 0.00 2.20 0.00 0.000 6 0.000 0.041 2855 1731 1884

9334 0.78 186.8 231.5 7.5 971 9338 0.00 2.25 0.00 0.000 4 0.000 0.054 2854 3149 1883

9375 0.70 186.8 227.9 9.9 972 9382 0.12 2.20 0.00 0.000 6 0.132 0.041 2828 1724 1882

9694 0.88 219.1 207.4 6.0 988 9724 0.15 0.00 27.77 0.866 6 0.064 0.000 2903 1724 1756

10021 0.78 219.1 172.1 11.4 1004 10023 0.20 0.00 0.00 0.000 6 0.119 0.000 2842 1723 1751

10332 0.99 231.1 148.9 6.6 1019 10350 0.17 0.00 11.38 0.785 6 0.061 0.000 2928 1724 1706

10660 0.86 231.1 116.2 10.0 1035 10665 0.20 2.28 0.00 0.000 4 0.120 0.054 2863 3145 1704

10706 0.86 231.1 112.2 8.2 1037 10710 0.00 2.17 0.00 0.000 6 0.000 0.041 2870 1736 1703

11035 1.04 286.4 93.4 5.2 1069 11093 0.12 2.33 48.92 0.832 4 0.072 0.056 2944 332 1482

11114 0.95 286.4 86.6 10.1 1082 11121 0.20 2.25 0.00 0.000 6 0.121 0.044 2885 1740 1479

11467 1.16 305.5 64.3 6.4 1143 11491 0.15 2.25 16.48 0.788 4 0.064 0.057 2958 3160 1404

11557 0.97 305.5 54.7 11.3 1158 11564 0.28 2.22 0.00 0.000 6 0.127 0.043 2886 1730 1401

11909 1.14 327.0 36.4 6.3 1219 11935 0.15 2.30 19.58 0.800 4 0.071 0.059 2963 338 1316

11978 1.08 327.0 31.4 8.1 1230 11985 0.17 2.25 0.00 0.000 6 0.116 0.046 2911 1754 1314

12329 1.15 327.0 6.6 8.3 1291 12336 0.00 2.22 0.00 0.000 4 0.000 0.061 2911 3163 1310

12369 end climb: SURFACE_DEPTH_REACHED

state 12369 begin surface coast

12387 end surface coast: CONTROL_FINISHED_OK

state 12391 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	737	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	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	-136791.58	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	192402,6634.198,-5625.873,7,1.8,7,-36.8	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	1.91	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-21.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	192402,6634.198,-5625.873,7,1.8,7,-36.8	MHEAD_RNG_PITCHd_Wd	238.9,68353,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	325

FREEZE	1.80,-1.680,-1.811	TCM_TEMP	15.40
FINISH	1.8,1.026582	XPDR_PINGS	306
SM_CCo	12475,0.00,0.000,0,0,1306,329.44	_24V_AH	22.4,110.801
SM_GC	2.95,7.18,0.00,0.00,0.063,0.000,0.000,323,2203,1306,-10.70,-0.76,329.44	_10V_AH	10.4,49.671
RAFOS_CLK	558	DATA_FILE_SIZE	44121,1301
RAFOS	0,1233029060,4.083333,4.072222,65,62,60,59,57,54,166,212,125,196,221,147	CAP_FILE_SIZE	130750,0
RAFOS_FIX	6636.974609,-5639.870605,260109,121257,3,66,0.39	CFSIZE	260165632,206471168
IRIDIUM_FIX	6609.62,-5626.11,220498,191942	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.028379	SOUNDSPEED	1448.0
HUMID	1810	GPS	260109,192402,6634.198,-5625.873,7,1.8,7,-36.8
INTERNAL_PRESSURE	9.85389

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	174	90.00	SBE_CT	908	24	488.17
Roll_motor	112	77	195.87	SBE_O2	0	0	0.00
VBD_pump_during_apogee	406	981	8949.96	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	228.98	nil	0	0	0.00
Iridium_during_connect	85	160	306.16	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	76	420	719.71
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	183	50	95.27
TT8	2152	19	445.89
LPSleep	7414	2	178.12
TT8_Active	556	19	115.32
TT8_Sampling	2345	39	973.74
TT8_CF8	1045	45	499.22
TT8_Kalman	0	0	0.00
Analog_circuits	1672	12	208.71
GPS_charging	0	0	0.00
Compass	2147	8	178.68
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	136	0.00	0.00	-114.12	0.000	6	0.000	0.000	323	2251	3246
142	-0.99	-146.0	2.0	-0.3	21	155	7.15	2.17	0.00	0.000	4	0.146	0.061	2456	3591	3249
412	-0.53	-146.0	2.0	0.0	68	419	0.35	2.12	0.00	0.000	6	0.156	0.041	2562	2189	3250
761	-0.08	-146.0	2.0	0.1	129	768	0.32	2.35	0.00	0.000	4	0.170	0.074	2649	3594	3250
1026	0.31	-146.0	2.0	-0.0	175	1033	0.32	2.10	0.00	0.000	6	0.158	0.043	2745	2234	3250
1375	0.79	-146.0	2.0	-0.0	236	1381	0.35	2.30	0.00	0.000	4	0.166	0.074	2839	3593	3250
1639	1.03	-146.0	1.9	0.2	282	1646	0.22	2.12	0.00	0.000	6	0.175	0.044	2907	2216	3249
1988	1.41	-146.0	2.0	0.0	343	1995	0.25	2.35	0.00	0.000	4	0.173	0.077	2971	3595	3249
2252	1.41	-146.0	2.0	-0.1	389	2259	0.00	2.12	0.00	0.000	6	0.000	0.044	2978	2230	3249
2601	1.41	-146.0	2.0	-0.1	450	2607	0.00	2.30	0.00	0.000	4	0.000	0.077	2971	3594	3249
2773	-0.15	-146.0	2.0	2.5	479	2780	1.08	2.15	0.00	0.000	6	0.116	0.048	2643	2227	3250
3122	-0.94	-146.0	21.9	-7.4	540	3129	0.47	2.28	0.00	0.000	4	0.075	0.068	2464	3588	3249
3188	-0.76	-146.0	28.2	-10.3	551	3195	0.17	2.15	0.00	0.000	6	0.142	0.050	2512	2227	3249
3537	-0.76	-146.0	57.9	-8.3	612	3543	0.00	2.25	0.00	0.000	4	0.000	0.061	2513	821	3249
3608	-0.76	-146.0	62.8	-6.8	624	3614	0.00	2.30	0.00	0.000	6	0.000	0.060	2505	2223	3249
3956	-0.76	-146.0	77.8	-4.2	685	3962	0.00	2.30	0.00	0.000	4	0.000	0.061	2505	818	3249
4021	-0.76	-146.0	82.0	-6.9	696	4027	0.00	2.33	0.00	0.000	6	0.000	0.060	2495	2233	3249
4359	-0.76	-146.0	116.5	-10.8	737	4364	0.00	2.33	0.00	0.000	4	0.000	0.061	2495	815	3248
4452	-0.76	-146.0	123.0	-5.5	741	4456	0.12	2.33	0.00	0.000	6	0.135	0.059	2518	2232	3247
4787	-0.86	-146.0	128.5	-2.9	757	4789	0.10	0.00	0.00	0.000	6	0.081	0.000	2472	2232	3247
5095	-0.81	-146.0	157.9	-11.2	772	5100	0.12	2.30	0.00	0.000	4	0.145	0.058	2510	820	3247
5259	-0.86	-146.0	170.9	-6.2	779	5263	0.00	2.33	0.00	0.000	6	0.000	0.058	2503	2244	3247
5593	-0.93	-146.0	184.7	-4.0	795	5598	0.10	2.33	0.00	0.000	4	0.081	0.058	2453	822	3247
5709	-0.79	-146.0	193.3	-8.5	800	5714	0.22	2.30	0.00	0.000	6	0.130	0.058	2506	2234	3247
6043	-0.89	-146.0	215.8	-6.0	816	6047	0.00	2.20	0.00	0.000	4	0.000	0.068	2498	3595	3247
6085	-0.99	-146.0	218.2	-5.8	817	6092	0.12	2.15	0.00	0.000	6	0.078	0.044	2443	2214	3247
6403	-0.89	-146.0	235.9	-5.3	833	6408	0.15	2.30	0.00	0.000	4	0.137	0.064	2477	3604	3247
6433	-0.89	-146.0	237.4	-5.0	834	6437	0.00	2.15	0.00	0.000	6	0.000	0.043	2477	2218	3247
6762	-0.89	-146.0	255.4	-6.6	850	6766	0.00	2.20	0.00	0.000	4	0.000	0.054	2477	823	3248
6922	-0.84	-146.0	268.5	-8.5	857	6927	0.12	2.30	0.00	0.000	6	0.130	0.054	2501	2245	3249
7257	-0.95	-146.0	291.7	-5.8	873	7262	0.10	2.30	0.00	0.000	4	0.082	0.052	2455	818	3250
7366	-0.83	-146.0	299.0	-6.6	877	7373	0.20	2.30	0.00	0.000	6	0.128	0.052	2502	2245	3250
7684	-0.96	-146.0	313.3	-4.6	893	7688	0.12	2.28	0.00	0.000	4	0.076	0.051	2447	827	3252
7765	-0.81	-146.0	318.6	-6.6	896	7770	0.25	2.28	0.00	0.000	6	0.124	0.052	2509	2240	3252
7918	end dive: TARGET_DEPTH_EXCEEDED
state	7918	begin apogee
7928	-0.31	0.0	325.9	4.4	904	8055	0.32	0.00	123.85	0.982	6	0.113	0.000	2614	1739	2650
8056	end apogee: CONTROL_FINISHED_OK
state	8056	begin climb
8061	0.99	146.0	327.0	0.0	910	8194	0.85	2.53	124.90	0.920	4	0.095	0.055	2894	3150	2053
8236	0.73	146.0	311.0	12.3	918	8243	0.25	2.35	0.00	0.000	6	0.127	0.042	2836	1726	2049
8553	0.73	146.0	284.4	7.9	934	8557	0.00	2.22	0.00	0.000	4	0.000	0.057	2844	327	2048
8588	0.80	146.0	281.7	7.9	935	8592	0.00	2.25	0.00	0.000	6	0.000	0.044	2844	1751	2048
8911	0.85	186.8	260.8	5.7	951	8953	0.00	2.28	34.10	0.897	4	0.000	0.057	2844	3148	1887
9012	0.78	186.8	254.2	7.6	955	9016	0.00	2.20	0.00	0.000	6	0.000	0.041	2855	1731	1884
9334	0.78	186.8	231.5	7.5	971	9338	0.00	2.25	0.00	0.000	4	0.000	0.054	2854	3149	1883
9375	0.70	186.8	227.9	9.9	972	9382	0.12	2.20	0.00	0.000	6	0.132	0.041	2828	1724	1882
9694	0.88	219.1	207.4	6.0	988	9724	0.15	0.00	27.77	0.866	6	0.064	0.000	2903	1724	1756
10021	0.78	219.1	172.1	11.4	1004	10023	0.20	0.00	0.00	0.000	6	0.119	0.000	2842	1723	1751
10332	0.99	231.1	148.9	6.6	1019	10350	0.17	0.00	11.38	0.785	6	0.061	0.000	2928	1724	1706
10660	0.86	231.1	116.2	10.0	1035	10665	0.20	2.28	0.00	0.000	4	0.120	0.054	2863	3145	1704
10706	0.86	231.1	112.2	8.2	1037	10710	0.00	2.17	0.00	0.000	6	0.000	0.041	2870	1736	1703
11035	1.04	286.4	93.4	5.2	1069	11093	0.12	2.33	48.92	0.832	4	0.072	0.056	2944	332	1482
11114	0.95	286.4	86.6	10.1	1082	11121	0.20	2.25	0.00	0.000	6	0.121	0.044	2885	1740	1479
11467	1.16	305.5	64.3	6.4	1143	11491	0.15	2.25	16.48	0.788	4	0.064	0.057	2958	3160	1404
11557	0.97	305.5	54.7	11.3	1158	11564	0.28	2.22	0.00	0.000	6	0.127	0.043	2886	1730	1401
11909	1.14	327.0	36.4	6.3	1219	11935	0.15	2.30	19.58	0.800	4	0.071	0.059	2963	338	1316
11978	1.08	327.0	31.4	8.1	1230	11985	0.17	2.25	0.00	0.000	6	0.116	0.046	2911	1754	1314
12329	1.15	327.0	6.6	8.3	1291	12336	0.00	2.22	0.00	0.000	4	0.000	0.061	2911	3163	1310
12369	end climb: SURFACE_DEPTH_REACHED
state	12369	begin surface coast
12387	end surface coast: CONTROL_FINISHED_OK
state	12391	begin surface