Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 741 * 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 741 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 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 500 CALL_NDIVES 1 R_STBD_OVSHOOT 29 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 -137541.14 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 -137541.14

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 32 VBD_BLEED_AD_RATE 8

C_VBD 2650 MAX_BUOY 150 R_STBD_OVSHOOT 29 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 741 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 110407,6627.269,-5630.110,11,1.7,11,-36.7 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 3.12 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 110407,6627.269,-5630.110,11,1.7,11,-36.7 MHEAD_RNG_PITCHd_Wd 240.7,55294,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 424

Post-dive calculations and measurements:

FREEZE 0.97,-1.694,-0.919 TCM_TEMP 16.00

FINISH 1.0,1.013548 XPDR_PINGS 225

SM_CCo 12563,0.00,0.000,0,0,1466,290.19 _24V_AH 22.5,111.240

SM_GC 1.75,7.07,0.00,0.00,0.058,0.000,0.000,340,2243,1466,-10.67,0.37,290.19 _10V_AH 10.4,49.946

RAFOS_CLK 508 DATA_FILE_SIZE 28420,879

RAFOS 0,1233072241,16.083334,16.066944,73,61,57,54,51,50,146,158,207,237,117,171 CAP_FILE_SIZE 114877,0

RAFOS_FIX 6636.974609,-5639.870605,260109,121257,3,66,0.39 CFSIZE 260165632,206282752

IRIDIUM_FIX 6558.99,-5621.58,230498,111143 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.026845 SOUNDSPEED 1460.8

HUMID 1772 GPS 270109,194057,6625.697,-5627.078,34,1.7,37,-36.6

INTERNAL_PRESSURE 9.89296

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 242 132.52 SBE_CT 610 24 329.45

Roll_motor 122 67 186.68 SBE_O2 0 0 0.00

VBD_pump_during_apogee 377 1003 8529.70 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 56 420 531.56

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1570 19 325.28

LPSleep 8646 2 207.73

TT8_Active 508 19 105.39

TT8_Sampling 1555 39 645.73

TT8_CF8 343 45 164.26

TT8_Kalman 0 0 0.00

Analog_circuits 1364 12 170.26

GPS_charging 0 0 0.00

Compass 1551 8 129.09

RAFOS 1440 1 22.46

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

18 -0.99 -146.0 0.0 0.0 0 76 0.00 0.00 -55.95 0.000 2 0.000 0.000 330 2241 2830

81 -0.99 -146.0 3.1 -0.7 10 111 8.88 2.35 -13.40 0.000 4 0.242 0.067 2462 814 3248

159 -0.68 -146.0 10.8 -8.9 23 166 0.28 2.28 0.00 0.000 6 0.135 0.053 2533 2234 3251

508 -0.76 -146.0 32.1 -3.0 84 514 0.00 2.20 0.00 0.000 4 0.000 0.066 2525 3601 3251

771 -0.87 -146.0 49.0 -7.9 130 778 0.12 2.15 0.00 0.000 6 0.079 0.044 2467 2213 3250

1120 -0.76 -146.0 88.0 -11.4 191 1126 0.17 2.20 0.00 0.000 4 0.133 0.056 2524 829 3249

1209 -0.76 -146.0 96.9 -9.5 206 1215 0.00 2.28 0.00 0.000 6 0.000 0.056 2517 2233 3249

1537 -0.84 -146.0 123.8 -6.9 226 1540 0.00 2.28 0.00 0.000 4 0.000 0.056 2516 821 3247

1571 -0.84 -146.0 126.3 -6.6 227 1576 0.00 2.30 0.00 0.000 6 0.000 0.056 2506 2239 3247

1890 -0.90 -146.0 141.8 -4.2 242 1895 0.10 2.30 0.00 0.000 4 0.083 0.055 2457 817 3246

1902 -0.90 -146.0 142.5 -4.1 242 1909 0.15 2.30 0.00 0.000 6 0.137 0.055 2486 2235 3246

2220 -0.90 -146.0 160.1 -5.7 258 2223 0.00 2.28 0.00 0.000 4 0.000 0.054 2486 820 3246

2268 -0.90 -146.0 163.0 -6.2 260 2272 0.00 2.30 0.00 0.000 6 0.000 0.054 2479 2243 3245

2596 -0.90 -146.0 178.0 -3.8 276 2600 0.00 2.28 0.00 0.000 4 0.000 0.054 2479 827 3245

2704 -0.90 -146.0 182.3 -3.6 280 2711 0.00 2.28 0.00 0.000 6 0.000 0.054 2469 2238 3245

3023 -0.90 -146.0 196.4 -5.4 296 3027 0.00 2.28 0.00 0.000 4 0.000 0.054 2469 820 3245

3077 -0.82 -146.0 199.6 -6.3 298 3082 0.17 2.28 0.00 0.000 6 0.127 0.053 2508 2234 3245

3401 -0.92 -146.0 216.0 -5.6 314 3405 0.12 2.28 0.00 0.000 4 0.076 0.051 2452 814 3246

3470 -0.79 -146.0 221.4 -8.3 317 3475 0.22 2.28 0.00 0.000 6 0.127 0.051 2507 2234 3246

3799 -0.91 -146.0 240.7 -6.1 333 3803 0.10 2.25 0.00 0.000 4 0.084 0.050 2460 825 3247

3857 -0.81 -146.0 244.8 -7.6 335 3863 0.20 2.28 0.00 0.000 6 0.126 0.051 2507 2246 3247

4174 -0.92 -146.0 259.3 -4.1 351 4179 0.12 2.28 0.00 0.000 4 0.077 0.051 2451 823 3248

4244 -0.79 -146.0 263.5 -6.7 354 4249 0.25 2.28 0.00 0.000 6 0.125 0.051 2514 2246 3248

4567 -0.93 -146.0 276.6 -4.1 370 4572 0.15 2.28 0.00 0.000 4 0.072 0.050 2449 821 3249

4625 -0.77 -146.0 279.9 -6.5 372 4632 0.25 2.28 0.00 0.000 6 0.125 0.050 2510 2246 3249

4943 -0.90 -146.0 293.6 -4.3 388 4948 0.10 2.28 0.00 0.000 4 0.083 0.049 2464 815 3250

4985 -0.79 -146.0 296.0 -5.7 390 4990 0.20 2.28 0.00 0.000 6 0.124 0.049 2511 2246 3250

5315 -0.93 -146.0 308.0 -3.5 406 5319 0.12 2.28 0.00 0.000 4 0.074 0.048 2454 813 3250

5329 -1.01 -146.0 308.5 -3.3 406 5335 0.00 2.28 0.00 0.000 6 0.000 0.048 2443 2245 3250

5647 -0.89 -146.0 325.6 -5.7 422 5652 0.15 2.28 0.00 0.000 4 0.131 0.049 2487 818 3251

5732 -0.89 -146.0 331.1 -6.2 425 5739 0.00 2.25 0.00 0.000 6 0.000 0.048 2479 2234 3251

6050 -0.89 -146.0 349.5 -5.7 441 6054 0.00 2.15 0.00 0.000 4 0.000 0.060 2469 3595 3252

6108 -0.89 -146.0 352.9 -5.9 443 6112 0.00 2.10 0.00 0.000 6 0.000 0.037 2469 2208 3252

6431 -0.89 -146.0 370.0 -4.3 459 6433 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 2208 3252

6741 -0.89 -146.0 384.2 -4.7 474 6744 0.00 2.12 0.00 0.000 4 0.000 0.049 2469 832 3253

6754 -0.89 -146.0 384.8 -4.4 474 6759 0.10 2.22 0.00 0.000 6 0.130 0.047 2485 2238 3253

7097 -1.04 -146.0 402.7 -4.9 490 7099 0.12 0.00 0.00 0.000 6 0.070 0.000 2420 2237 3254

7336 end dive: NO_VERTICAL_VELOCITY

state 7336 begin apogee

7346 -0.31 0.0 402.6 0.0 496 7476 0.60 0.00 127.12 1.003 6 0.092 0.000 2623 1742 2650

7477 end apogee: CONTROL_FINISHED_OK

state 7477 begin climb

7482 0.99 146.0 402.1 0.0 499 7617 0.85 2.47 124.97 0.946 4 0.087 0.053 2905 3149 2053

7657 0.69 146.0 385.1 11.5 506 7662 0.32 2.30 0.00 0.000 6 0.127 0.039 2823 1731 2049

7981 0.79 170.2 362.3 6.2 522 8007 0.10 2.30 20.42 0.907 4 0.074 0.053 2878 3153 1956

8037 0.60 170.2 357.0 10.8 524 8042 0.28 2.20 0.00 0.000 6 0.124 0.039 2806 1730 1953

8355 0.83 186.9 337.6 6.5 539 8378 0.17 2.22 15.35 0.886 4 0.057 0.053 2901 328 1887

8396 0.69 186.9 333.1 11.9 540 8403 0.25 2.22 0.00 0.000 6 0.124 0.041 2826 1748 1887

8715 0.79 186.9 309.3 8.4 556 8719 0.10 2.17 0.00 0.000 4 0.076 0.053 2878 3142 1885

8812 0.61 186.9 297.9 13.1 560 8817 0.28 2.17 0.00 0.000 6 0.120 0.041 2805 1728 1884

9134 0.83 186.9 274.4 7.2 576 9139 0.17 2.20 0.00 0.000 4 0.058 0.053 2898 324 1883

9164 0.83 186.9 271.5 10.6 577 9168 0.15 2.22 0.00 0.000 6 0.125 0.040 2855 1752 1884

9486 0.83 186.9 241.9 8.9 593 9489 0.00 2.17 0.00 0.000 4 0.000 0.054 2855 3152 1883

9573 0.72 186.9 233.4 9.7 596 9580 0.10 2.17 0.00 0.000 6 0.138 0.040 2834 1732 1883

9891 0.80 186.9 209.3 7.6 612 9893 0.00 0.00 0.00 0.000 6 0.000 0.000 2834 1732 1883

10200 0.90 202.1 188.1 6.5 627 10222 0.15 2.30 13.35 0.819 4 0.064 0.053 2906 3143 1825

10242 0.67 202.1 183.8 12.4 628 10249 0.30 2.17 0.00 0.000 6 0.124 0.040 2825 1731 1824

10560 0.84 215.9 161.8 6.6 644 10578 0.12 0.00 13.00 0.799 6 0.067 0.000 2893 1731 1769

10889 0.76 215.9 130.3 9.4 660 10891 0.17 0.00 0.00 0.000 6 0.117 0.000 2839 1731 1767

11199 0.98 270.1 112.5 5.3 675 11250 0.17 0.00 47.95 0.819 6 0.059 0.000 2923 1731 1549

11568 0.92 270.1 73.3 12.1 722 11575 0.17 2.28 0.00 0.000 4 0.120 0.053 2869 3148 1540

11589 0.92 270.1 70.9 11.8 725 11595 0.00 2.17 0.00 0.000 6 0.000 0.040 2875 1734 1540

11937 1.12 287.8 45.5 6.4 786 11961 0.15 2.28 15.70 0.757 4 0.065 0.054 2963 338 1475

11992 1.03 287.8 40.2 10.3 795 11999 0.20 2.22 0.00 0.000 6 0.120 0.042 2903 1747 1475

12341 1.15 287.8 16.5 10.5 856 12348 0.10 2.22 0.00 0.000 4 0.076 0.056 2958 3150 1471

12374 1.10 287.8 13.0 10.7 861 12381 0.20 2.17 0.00 0.000 6 0.136 0.040 2911 1736 1471

12448 end climb: SURFACE_DEPTH_REACHED

state 12448 begin surface coast

12480 end surface coast: FINISH_DEPTH_REACHED

state 12480 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	741	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	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	500	CALL_NDIVES	1	R_STBD_OVSHOOT	29	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	-137541.14	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	110407,6627.269,-5630.110,11,1.7,11,-36.7	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	3.12	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	110407,6627.269,-5630.110,11,1.7,11,-36.7	MHEAD_RNG_PITCHd_Wd	240.7,55294,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	424

FREEZE	0.97,-1.694,-0.919	TCM_TEMP	16.00
FINISH	1.0,1.013548	XPDR_PINGS	225
SM_CCo	12563,0.00,0.000,0,0,1466,290.19	_24V_AH	22.5,111.240
SM_GC	1.75,7.07,0.00,0.00,0.058,0.000,0.000,340,2243,1466,-10.67,0.37,290.19	_10V_AH	10.4,49.946
RAFOS_CLK	508	DATA_FILE_SIZE	28420,879
RAFOS	0,1233072241,16.083334,16.066944,73,61,57,54,51,50,146,158,207,237,117,171	CAP_FILE_SIZE	114877,0
RAFOS_FIX	6636.974609,-5639.870605,260109,121257,3,66,0.39	CFSIZE	260165632,206282752
IRIDIUM_FIX	6558.99,-5621.58,230498,111143	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.026845	SOUNDSPEED	1460.8
HUMID	1772	GPS	270109,194057,6625.697,-5627.078,34,1.7,37,-36.6
INTERNAL_PRESSURE	9.89296

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	242	132.52	SBE_CT	610	24	329.45
Roll_motor	122	67	186.68	SBE_O2	0	0	0.00
VBD_pump_during_apogee	377	1003	8529.70	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	56	420	531.56
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1570	19	325.28
LPSleep	8646	2	207.73
TT8_Active	508	19	105.39
TT8_Sampling	1555	39	645.73
TT8_CF8	343	45	164.26
TT8_Kalman	0	0	0.00
Analog_circuits	1364	12	170.26
GPS_charging	0	0	0.00
Compass	1551	8	129.09
RAFOS	1440	1	22.46
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
18	-0.99	-146.0	0.0	0.0	0	76	0.00	0.00	-55.95	0.000	2	0.000	0.000	330	2241	2830
81	-0.99	-146.0	3.1	-0.7	10	111	8.88	2.35	-13.40	0.000	4	0.242	0.067	2462	814	3248
159	-0.68	-146.0	10.8	-8.9	23	166	0.28	2.28	0.00	0.000	6	0.135	0.053	2533	2234	3251
508	-0.76	-146.0	32.1	-3.0	84	514	0.00	2.20	0.00	0.000	4	0.000	0.066	2525	3601	3251
771	-0.87	-146.0	49.0	-7.9	130	778	0.12	2.15	0.00	0.000	6	0.079	0.044	2467	2213	3250
1120	-0.76	-146.0	88.0	-11.4	191	1126	0.17	2.20	0.00	0.000	4	0.133	0.056	2524	829	3249
1209	-0.76	-146.0	96.9	-9.5	206	1215	0.00	2.28	0.00	0.000	6	0.000	0.056	2517	2233	3249
1537	-0.84	-146.0	123.8	-6.9	226	1540	0.00	2.28	0.00	0.000	4	0.000	0.056	2516	821	3247
1571	-0.84	-146.0	126.3	-6.6	227	1576	0.00	2.30	0.00	0.000	6	0.000	0.056	2506	2239	3247
1890	-0.90	-146.0	141.8	-4.2	242	1895	0.10	2.30	0.00	0.000	4	0.083	0.055	2457	817	3246
1902	-0.90	-146.0	142.5	-4.1	242	1909	0.15	2.30	0.00	0.000	6	0.137	0.055	2486	2235	3246
2220	-0.90	-146.0	160.1	-5.7	258	2223	0.00	2.28	0.00	0.000	4	0.000	0.054	2486	820	3246
2268	-0.90	-146.0	163.0	-6.2	260	2272	0.00	2.30	0.00	0.000	6	0.000	0.054	2479	2243	3245
2596	-0.90	-146.0	178.0	-3.8	276	2600	0.00	2.28	0.00	0.000	4	0.000	0.054	2479	827	3245
2704	-0.90	-146.0	182.3	-3.6	280	2711	0.00	2.28	0.00	0.000	6	0.000	0.054	2469	2238	3245
3023	-0.90	-146.0	196.4	-5.4	296	3027	0.00	2.28	0.00	0.000	4	0.000	0.054	2469	820	3245
3077	-0.82	-146.0	199.6	-6.3	298	3082	0.17	2.28	0.00	0.000	6	0.127	0.053	2508	2234	3245
3401	-0.92	-146.0	216.0	-5.6	314	3405	0.12	2.28	0.00	0.000	4	0.076	0.051	2452	814	3246
3470	-0.79	-146.0	221.4	-8.3	317	3475	0.22	2.28	0.00	0.000	6	0.127	0.051	2507	2234	3246
3799	-0.91	-146.0	240.7	-6.1	333	3803	0.10	2.25	0.00	0.000	4	0.084	0.050	2460	825	3247
3857	-0.81	-146.0	244.8	-7.6	335	3863	0.20	2.28	0.00	0.000	6	0.126	0.051	2507	2246	3247
4174	-0.92	-146.0	259.3	-4.1	351	4179	0.12	2.28	0.00	0.000	4	0.077	0.051	2451	823	3248
4244	-0.79	-146.0	263.5	-6.7	354	4249	0.25	2.28	0.00	0.000	6	0.125	0.051	2514	2246	3248
4567	-0.93	-146.0	276.6	-4.1	370	4572	0.15	2.28	0.00	0.000	4	0.072	0.050	2449	821	3249
4625	-0.77	-146.0	279.9	-6.5	372	4632	0.25	2.28	0.00	0.000	6	0.125	0.050	2510	2246	3249
4943	-0.90	-146.0	293.6	-4.3	388	4948	0.10	2.28	0.00	0.000	4	0.083	0.049	2464	815	3250
4985	-0.79	-146.0	296.0	-5.7	390	4990	0.20	2.28	0.00	0.000	6	0.124	0.049	2511	2246	3250
5315	-0.93	-146.0	308.0	-3.5	406	5319	0.12	2.28	0.00	0.000	4	0.074	0.048	2454	813	3250
5329	-1.01	-146.0	308.5	-3.3	406	5335	0.00	2.28	0.00	0.000	6	0.000	0.048	2443	2245	3250
5647	-0.89	-146.0	325.6	-5.7	422	5652	0.15	2.28	0.00	0.000	4	0.131	0.049	2487	818	3251
5732	-0.89	-146.0	331.1	-6.2	425	5739	0.00	2.25	0.00	0.000	6	0.000	0.048	2479	2234	3251
6050	-0.89	-146.0	349.5	-5.7	441	6054	0.00	2.15	0.00	0.000	4	0.000	0.060	2469	3595	3252
6108	-0.89	-146.0	352.9	-5.9	443	6112	0.00	2.10	0.00	0.000	6	0.000	0.037	2469	2208	3252
6431	-0.89	-146.0	370.0	-4.3	459	6433	0.00	0.00	0.00	0.000	6	0.000	0.000	2469	2208	3252
6741	-0.89	-146.0	384.2	-4.7	474	6744	0.00	2.12	0.00	0.000	4	0.000	0.049	2469	832	3253
6754	-0.89	-146.0	384.8	-4.4	474	6759	0.10	2.22	0.00	0.000	6	0.130	0.047	2485	2238	3253
7097	-1.04	-146.0	402.7	-4.9	490	7099	0.12	0.00	0.00	0.000	6	0.070	0.000	2420	2237	3254
7336	end dive: NO_VERTICAL_VELOCITY
state	7336	begin apogee
7346	-0.31	0.0	402.6	0.0	496	7476	0.60	0.00	127.12	1.003	6	0.092	0.000	2623	1742	2650
7477	end apogee: CONTROL_FINISHED_OK
state	7477	begin climb
7482	0.99	146.0	402.1	0.0	499	7617	0.85	2.47	124.97	0.946	4	0.087	0.053	2905	3149	2053
7657	0.69	146.0	385.1	11.5	506	7662	0.32	2.30	0.00	0.000	6	0.127	0.039	2823	1731	2049
7981	0.79	170.2	362.3	6.2	522	8007	0.10	2.30	20.42	0.907	4	0.074	0.053	2878	3153	1956
8037	0.60	170.2	357.0	10.8	524	8042	0.28	2.20	0.00	0.000	6	0.124	0.039	2806	1730	1953
8355	0.83	186.9	337.6	6.5	539	8378	0.17	2.22	15.35	0.886	4	0.057	0.053	2901	328	1887
8396	0.69	186.9	333.1	11.9	540	8403	0.25	2.22	0.00	0.000	6	0.124	0.041	2826	1748	1887
8715	0.79	186.9	309.3	8.4	556	8719	0.10	2.17	0.00	0.000	4	0.076	0.053	2878	3142	1885
8812	0.61	186.9	297.9	13.1	560	8817	0.28	2.17	0.00	0.000	6	0.120	0.041	2805	1728	1884
9134	0.83	186.9	274.4	7.2	576	9139	0.17	2.20	0.00	0.000	4	0.058	0.053	2898	324	1883
9164	0.83	186.9	271.5	10.6	577	9168	0.15	2.22	0.00	0.000	6	0.125	0.040	2855	1752	1884
9486	0.83	186.9	241.9	8.9	593	9489	0.00	2.17	0.00	0.000	4	0.000	0.054	2855	3152	1883
9573	0.72	186.9	233.4	9.7	596	9580	0.10	2.17	0.00	0.000	6	0.138	0.040	2834	1732	1883
9891	0.80	186.9	209.3	7.6	612	9893	0.00	0.00	0.00	0.000	6	0.000	0.000	2834	1732	1883
10200	0.90	202.1	188.1	6.5	627	10222	0.15	2.30	13.35	0.819	4	0.064	0.053	2906	3143	1825
10242	0.67	202.1	183.8	12.4	628	10249	0.30	2.17	0.00	0.000	6	0.124	0.040	2825	1731	1824
10560	0.84	215.9	161.8	6.6	644	10578	0.12	0.00	13.00	0.799	6	0.067	0.000	2893	1731	1769
10889	0.76	215.9	130.3	9.4	660	10891	0.17	0.00	0.00	0.000	6	0.117	0.000	2839	1731	1767
11199	0.98	270.1	112.5	5.3	675	11250	0.17	0.00	47.95	0.819	6	0.059	0.000	2923	1731	1549
11568	0.92	270.1	73.3	12.1	722	11575	0.17	2.28	0.00	0.000	4	0.120	0.053	2869	3148	1540
11589	0.92	270.1	70.9	11.8	725	11595	0.00	2.17	0.00	0.000	6	0.000	0.040	2875	1734	1540
11937	1.12	287.8	45.5	6.4	786	11961	0.15	2.28	15.70	0.757	4	0.065	0.054	2963	338	1475
11992	1.03	287.8	40.2	10.3	795	11999	0.20	2.22	0.00	0.000	6	0.120	0.042	2903	1747	1475
12341	1.15	287.8	16.5	10.5	856	12348	0.10	2.22	0.00	0.000	4	0.076	0.056	2958	3150	1471
12374	1.10	287.8	13.0	10.7	861	12381	0.20	2.17	0.00	0.000	6	0.136	0.040	2911	1736	1471
12448	end climb: SURFACE_DEPTH_REACHED
state	12448	begin surface coast
12480	end surface coast: FINISH_DEPTH_REACHED
state	12480	begin surface