Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 730 * 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 730 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 30 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 30 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 730 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 2.31 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -7.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 123616,6654.764,-5631.727,0,2087.0,0,-37.3 MHEAD_RNG_PITCHd_Wd 229.2,103635,-13.0,-7.021

SPEED_LIMITS 0.122,0.233 D_GRID 403

Post-dive calculations and measurements:

FREEZE 6.90,-1.727,-1.813 TCM_TEMP 15.50

FINISH1 6.9,1.026551,54 XPDR_PINGS 155

FINISH2 5.2 _24V_AH 22.3,109.971

RAFOS_CLK 481 _10V_AH 10.4,49.263

RAFOS 0,1232942641,4.083333,4.066945,59,57,57,56,55,53,184,172,223,210,148,194 DATA_FILE_SIZE 28426,802

RAFOS_FIX 6654.764160,-5631.726562,250109,121216,2,87,0.33 CAP_FILE_SIZE 105744,0

IRIDIUM_FIX 6548.42,-5642.25,160498,050538 CFSIZE 260165632,206880768

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

HUMID 1824 SOUNDSPEED 1456.0

INTERNAL_PRESSURE 9.96132 GPS 250109,123616,6654.764,-5631.727,0,2087.0,0,-37.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 8 141 27.38 SBE_CT 557 24 298.16

Roll_motor 126 70 198.78 SBE_O2 0 0 0.00

VBD_pump_during_apogee 471 1028 10806.58 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 38 420 362.93

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1463 19 303.12

LPSleep 7541 2 181.17

TT8_Active 558 19 115.70

TT8_Sampling 1560 39 648.05

TT8_CF8 297 45 142.18

TT8_Kalman 0 0 0.00

Analog_circuits 1429 12 178.37

GPS_charging 0 0 0.00

Compass 1542 8 128.29

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 63 0.00 0.00 -41.72 0.000 6 0.000 0.000 2692 1742 3247

68 -0.99 -146.0 2.0 -1.3 8 75 0.65 3.00 0.00 0.000 4 0.075 0.064 2453 3603 3248

332 -0.83 -146.0 29.5 -10.2 54 339 0.17 2.15 0.00 0.000 6 0.139 0.044 2501 2211 3250

681 -0.83 -146.0 62.1 -11.0 115 687 0.00 2.28 0.00 0.000 4 0.000 0.067 2493 3599 3250

717 -0.83 -146.0 65.9 -10.4 121 724 0.00 2.12 0.00 0.000 6 0.000 0.044 2493 2225 3250

1065 -0.83 -146.0 98.9 -9.6 182 1071 0.00 2.22 0.00 0.000 4 0.000 0.058 2493 818 3249

1208 -0.75 -146.0 112.9 -9.4 190 1212 0.12 2.30 0.00 0.000 6 0.130 0.057 2517 2236 3248

1538 -0.83 -146.0 132.7 -4.6 206 1542 0.00 2.28 0.00 0.000 4 0.000 0.057 2519 823 3247

1624 -0.89 -146.0 137.7 -5.8 209 1631 0.10 2.30 0.00 0.000 6 0.080 0.057 2465 2240 3247

1941 -0.80 -146.0 162.0 -8.2 225 1946 0.15 2.30 0.00 0.000 4 0.140 0.057 2510 820 3247

2058 -0.80 -146.0 170.2 -7.2 230 2062 0.00 2.30 0.00 0.000 6 0.000 0.058 2503 2233 3247

2394 -0.85 -146.0 195.2 -8.1 246 2397 0.00 2.28 0.00 0.000 4 0.000 0.057 2503 823 3246

2497 -0.85 -146.0 205.2 -10.5 250 2501 0.00 2.30 0.00 0.000 6 0.000 0.058 2493 2237 3245

2819 -0.85 -146.0 237.3 -9.4 266 2824 0.00 2.28 0.00 0.000 4 0.000 0.057 2493 823 3245

2893 -0.85 -146.0 243.5 -7.6 269 2897 0.00 2.30 0.00 0.000 6 0.000 0.057 2483 2240 3245

3223 -0.85 -146.0 258.8 -3.1 285 3227 0.00 2.28 0.00 0.000 4 0.000 0.056 2484 827 3245

3280 -0.85 -146.0 260.6 -3.0 287 3284 0.00 2.30 0.00 0.000 6 0.000 0.056 2474 2245 3245

3603 -0.85 -146.0 269.7 -3.1 303 3608 0.10 2.30 0.00 0.000 4 0.141 0.054 2500 823 3245

3639 -0.90 -146.0 270.8 -3.0 304 3643 0.00 2.30 0.00 0.000 6 0.000 0.054 2493 2245 3245

3965 -0.96 -146.0 283.9 -4.8 320 3968 0.00 2.30 0.00 0.000 4 0.000 0.054 2493 814 3245

4034 -0.96 -146.0 288.2 -6.0 323 4038 0.00 2.30 0.00 0.000 6 0.000 0.054 2483 2241 3245

4369 -0.96 -146.0 311.8 -7.3 339 4373 0.00 2.28 0.00 0.000 4 0.000 0.054 2483 821 3245

4443 -0.96 -146.0 317.7 -7.8 342 4447 0.00 2.30 0.00 0.000 6 0.000 0.054 2473 2247 3245

4771 -0.96 -146.0 337.7 -5.5 358 4776 0.00 2.28 0.00 0.000 4 0.000 0.053 2473 825 3246

4825 -0.91 -146.0 340.5 -5.1 360 4829 0.00 2.28 0.00 0.000 6 0.000 0.053 2463 2238 3246

5154 -0.91 -146.0 357.5 -5.2 376 5158 0.00 2.28 0.00 0.000 4 0.000 0.053 2463 817 3246

5213 -0.82 -146.0 360.8 -5.9 378 5217 0.17 2.28 0.00 0.000 6 0.123 0.051 2503 2236 3246

5535 -0.94 -146.0 375.3 -4.7 394 5540 0.10 2.25 0.00 0.000 4 0.081 0.051 2454 821 3247

5583 -0.81 -146.0 378.1 -6.9 396 5587 0.22 2.28 0.00 0.000 6 0.123 0.051 2509 2239 3247

5918 -0.95 -146.0 393.3 -4.4 412 5922 0.12 2.28 0.00 0.000 4 0.075 0.051 2449 817 3248

5947 -0.85 -146.0 394.8 -6.1 413 5952 0.20 2.28 0.00 0.000 6 0.125 0.051 2497 2238 3248

6140 end dive: TARGET_DEPTH_EXCEEDED

state 6140 begin apogee

6151 -0.31 0.0 403.8 4.5 421 6277 0.38 0.00 123.82 1.029 6 0.113 0.000 2618 1735 2650

6278 end apogee: CONTROL_FINISHED_OK

state 6278 begin climb

6282 0.99 146.0 405.3 0.0 424 6418 0.82 2.55 126.72 0.965 4 0.088 0.055 2895 3157 2054

6452 0.71 146.0 391.3 11.2 430 6457 0.28 2.35 0.00 0.000 6 0.125 0.041 2829 1738 2050

6781 0.73 160.2 369.4 6.6 446 6799 0.00 0.00 12.27 0.880 6 0.000 0.000 2829 1738 1996

7110 0.79 160.8 347.0 7.0 462 7115 0.10 2.28 0.00 0.000 4 0.076 0.055 2884 3164 1994

7146 0.56 160.8 343.5 11.6 463 7153 0.32 2.22 0.00 0.000 6 0.126 0.041 2797 1720 1995

7463 0.82 207.4 324.9 5.5 479 7510 0.20 2.25 41.03 0.951 4 0.056 0.055 2912 334 1804

7535 0.70 207.4 317.8 10.9 482 7540 0.28 2.25 0.00 0.000 6 0.118 0.042 2828 1749 1802

7863 0.81 207.4 293.0 7.6 498 7868 0.10 2.20 0.00 0.000 4 0.072 0.055 2885 3154 1797

7955 0.63 207.4 282.4 12.2 502 7959 0.28 2.20 0.00 0.000 6 0.119 0.041 2812 1725 1796

8277 0.86 216.0 259.5 6.7 518 8292 0.17 2.28 7.53 0.784 4 0.059 0.054 2910 328 1769

8311 0.78 216.0 256.3 10.8 519 8316 0.22 2.22 0.00 0.000 6 0.122 0.042 2842 1750 1769

8630 0.87 216.0 230.8 8.4 534 8635 0.10 2.20 0.00 0.000 4 0.075 0.056 2897 3153 1768

8729 0.66 216.0 219.1 12.1 538 8734 0.28 2.20 0.00 0.000 6 0.121 0.041 2824 1725 1767

9052 0.96 287.4 200.0 4.7 554 9122 0.20 2.33 63.70 0.887 4 0.057 0.054 2937 330 1478

9155 0.87 287.4 190.5 11.0 558 9163 0.25 2.25 0.00 0.000 6 0.120 0.043 2861 1739 1475

9474 1.00 287.4 167.0 7.5 574 9478 0.12 2.22 0.00 0.000 4 0.067 0.055 2926 3160 1468

9575 0.81 287.4 153.3 14.0 578 9580 0.28 2.20 0.00 0.000 6 0.120 0.042 2853 1734 1465

9894 1.09 327.4 132.8 5.7 593 9937 0.20 2.30 34.22 0.845 4 0.058 0.056 2963 334 1315

9978 1.02 327.4 123.3 12.7 596 9985 0.22 2.25 0.00 0.000 6 0.123 0.044 2896 1749 1312

10305 1.10 327.4 92.7 8.0 621 10312 0.10 2.22 0.00 0.000 4 0.075 0.058 2951 3161 1308

10399 0.92 327.4 82.1 11.2 637 10406 0.28 2.22 0.00 0.000 6 0.120 0.044 2878 1727 1307

10748 1.22 399.3 65.7 4.7 698 10820 0.20 2.35 61.85 0.834 4 0.059 0.058 2987 324 1021

10858 1.18 399.3 53.9 12.3 716 10865 0.20 2.28 0.00 0.000 6 0.122 0.047 2929 1740 1018

11206 1.26 399.3 18.6 9.8 777 11213 0.10 2.25 0.00 0.000 4 0.076 0.061 2979 3158 1011

11272 1.05 399.3 10.4 14.6 788 11279 0.28 2.22 0.00 0.000 6 0.128 0.045 2908 1732 1010

11301 end climb: FINISH_DEPTH_REACHED

state 11301 begin subsurface finish

11312 0.07 54.0 6.9 -11.5 793 11365 0.62 2.33 -43.17 0.000 4 0.100 0.071 2693 327 2435

11366 end subsurface finish: CONTROL_FINISHED_OK

state 11366 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	730	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	30	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	2.31	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-7.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	123616,6654.764,-5631.727,0,2087.0,0,-37.3	MHEAD_RNG_PITCHd_Wd	229.2,103635,-13.0,-7.021
SPEED_LIMITS	0.122,0.233	D_GRID	403

FREEZE	6.90,-1.727,-1.813	TCM_TEMP	15.50
FINISH1	6.9,1.026551,54	XPDR_PINGS	155
FINISH2	5.2	_24V_AH	22.3,109.971
RAFOS_CLK	481	_10V_AH	10.4,49.263
RAFOS	0,1232942641,4.083333,4.066945,59,57,57,56,55,53,184,172,223,210,148,194	DATA_FILE_SIZE	28426,802
RAFOS_FIX	6654.764160,-5631.726562,250109,121216,2,87,0.33	CAP_FILE_SIZE	105744,0
IRIDIUM_FIX	6548.42,-5642.25,160498,050538	CFSIZE	260165632,206880768
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1824	SOUNDSPEED	1456.0
INTERNAL_PRESSURE	9.96132	GPS	250109,123616,6654.764,-5631.727,0,2087.0,0,-37.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	8	141	27.38	SBE_CT	557	24	298.16
Roll_motor	126	70	198.78	SBE_O2	0	0	0.00
VBD_pump_during_apogee	471	1028	10806.58	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	38	420	362.93
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1463	19	303.12
LPSleep	7541	2	181.17
TT8_Active	558	19	115.70
TT8_Sampling	1560	39	648.05
TT8_CF8	297	45	142.18
TT8_Kalman	0	0	0.00
Analog_circuits	1429	12	178.37
GPS_charging	0	0	0.00
Compass	1542	8	128.29
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	63	0.00	0.00	-41.72	0.000	6	0.000	0.000	2692	1742	3247
68	-0.99	-146.0	2.0	-1.3	8	75	0.65	3.00	0.00	0.000	4	0.075	0.064	2453	3603	3248
332	-0.83	-146.0	29.5	-10.2	54	339	0.17	2.15	0.00	0.000	6	0.139	0.044	2501	2211	3250
681	-0.83	-146.0	62.1	-11.0	115	687	0.00	2.28	0.00	0.000	4	0.000	0.067	2493	3599	3250
717	-0.83	-146.0	65.9	-10.4	121	724	0.00	2.12	0.00	0.000	6	0.000	0.044	2493	2225	3250
1065	-0.83	-146.0	98.9	-9.6	182	1071	0.00	2.22	0.00	0.000	4	0.000	0.058	2493	818	3249
1208	-0.75	-146.0	112.9	-9.4	190	1212	0.12	2.30	0.00	0.000	6	0.130	0.057	2517	2236	3248
1538	-0.83	-146.0	132.7	-4.6	206	1542	0.00	2.28	0.00	0.000	4	0.000	0.057	2519	823	3247
1624	-0.89	-146.0	137.7	-5.8	209	1631	0.10	2.30	0.00	0.000	6	0.080	0.057	2465	2240	3247
1941	-0.80	-146.0	162.0	-8.2	225	1946	0.15	2.30	0.00	0.000	4	0.140	0.057	2510	820	3247
2058	-0.80	-146.0	170.2	-7.2	230	2062	0.00	2.30	0.00	0.000	6	0.000	0.058	2503	2233	3247
2394	-0.85	-146.0	195.2	-8.1	246	2397	0.00	2.28	0.00	0.000	4	0.000	0.057	2503	823	3246
2497	-0.85	-146.0	205.2	-10.5	250	2501	0.00	2.30	0.00	0.000	6	0.000	0.058	2493	2237	3245
2819	-0.85	-146.0	237.3	-9.4	266	2824	0.00	2.28	0.00	0.000	4	0.000	0.057	2493	823	3245
2893	-0.85	-146.0	243.5	-7.6	269	2897	0.00	2.30	0.00	0.000	6	0.000	0.057	2483	2240	3245
3223	-0.85	-146.0	258.8	-3.1	285	3227	0.00	2.28	0.00	0.000	4	0.000	0.056	2484	827	3245
3280	-0.85	-146.0	260.6	-3.0	287	3284	0.00	2.30	0.00	0.000	6	0.000	0.056	2474	2245	3245
3603	-0.85	-146.0	269.7	-3.1	303	3608	0.10	2.30	0.00	0.000	4	0.141	0.054	2500	823	3245
3639	-0.90	-146.0	270.8	-3.0	304	3643	0.00	2.30	0.00	0.000	6	0.000	0.054	2493	2245	3245
3965	-0.96	-146.0	283.9	-4.8	320	3968	0.00	2.30	0.00	0.000	4	0.000	0.054	2493	814	3245
4034	-0.96	-146.0	288.2	-6.0	323	4038	0.00	2.30	0.00	0.000	6	0.000	0.054	2483	2241	3245
4369	-0.96	-146.0	311.8	-7.3	339	4373	0.00	2.28	0.00	0.000	4	0.000	0.054	2483	821	3245
4443	-0.96	-146.0	317.7	-7.8	342	4447	0.00	2.30	0.00	0.000	6	0.000	0.054	2473	2247	3245
4771	-0.96	-146.0	337.7	-5.5	358	4776	0.00	2.28	0.00	0.000	4	0.000	0.053	2473	825	3246
4825	-0.91	-146.0	340.5	-5.1	360	4829	0.00	2.28	0.00	0.000	6	0.000	0.053	2463	2238	3246
5154	-0.91	-146.0	357.5	-5.2	376	5158	0.00	2.28	0.00	0.000	4	0.000	0.053	2463	817	3246
5213	-0.82	-146.0	360.8	-5.9	378	5217	0.17	2.28	0.00	0.000	6	0.123	0.051	2503	2236	3246
5535	-0.94	-146.0	375.3	-4.7	394	5540	0.10	2.25	0.00	0.000	4	0.081	0.051	2454	821	3247
5583	-0.81	-146.0	378.1	-6.9	396	5587	0.22	2.28	0.00	0.000	6	0.123	0.051	2509	2239	3247
5918	-0.95	-146.0	393.3	-4.4	412	5922	0.12	2.28	0.00	0.000	4	0.075	0.051	2449	817	3248
5947	-0.85	-146.0	394.8	-6.1	413	5952	0.20	2.28	0.00	0.000	6	0.125	0.051	2497	2238	3248
6140	end dive: TARGET_DEPTH_EXCEEDED
state	6140	begin apogee
6151	-0.31	0.0	403.8	4.5	421	6277	0.38	0.00	123.82	1.029	6	0.113	0.000	2618	1735	2650
6278	end apogee: CONTROL_FINISHED_OK
state	6278	begin climb
6282	0.99	146.0	405.3	0.0	424	6418	0.82	2.55	126.72	0.965	4	0.088	0.055	2895	3157	2054
6452	0.71	146.0	391.3	11.2	430	6457	0.28	2.35	0.00	0.000	6	0.125	0.041	2829	1738	2050
6781	0.73	160.2	369.4	6.6	446	6799	0.00	0.00	12.27	0.880	6	0.000	0.000	2829	1738	1996
7110	0.79	160.8	347.0	7.0	462	7115	0.10	2.28	0.00	0.000	4	0.076	0.055	2884	3164	1994
7146	0.56	160.8	343.5	11.6	463	7153	0.32	2.22	0.00	0.000	6	0.126	0.041	2797	1720	1995
7463	0.82	207.4	324.9	5.5	479	7510	0.20	2.25	41.03	0.951	4	0.056	0.055	2912	334	1804
7535	0.70	207.4	317.8	10.9	482	7540	0.28	2.25	0.00	0.000	6	0.118	0.042	2828	1749	1802
7863	0.81	207.4	293.0	7.6	498	7868	0.10	2.20	0.00	0.000	4	0.072	0.055	2885	3154	1797
7955	0.63	207.4	282.4	12.2	502	7959	0.28	2.20	0.00	0.000	6	0.119	0.041	2812	1725	1796
8277	0.86	216.0	259.5	6.7	518	8292	0.17	2.28	7.53	0.784	4	0.059	0.054	2910	328	1769
8311	0.78	216.0	256.3	10.8	519	8316	0.22	2.22	0.00	0.000	6	0.122	0.042	2842	1750	1769
8630	0.87	216.0	230.8	8.4	534	8635	0.10	2.20	0.00	0.000	4	0.075	0.056	2897	3153	1768
8729	0.66	216.0	219.1	12.1	538	8734	0.28	2.20	0.00	0.000	6	0.121	0.041	2824	1725	1767
9052	0.96	287.4	200.0	4.7	554	9122	0.20	2.33	63.70	0.887	4	0.057	0.054	2937	330	1478
9155	0.87	287.4	190.5	11.0	558	9163	0.25	2.25	0.00	0.000	6	0.120	0.043	2861	1739	1475
9474	1.00	287.4	167.0	7.5	574	9478	0.12	2.22	0.00	0.000	4	0.067	0.055	2926	3160	1468
9575	0.81	287.4	153.3	14.0	578	9580	0.28	2.20	0.00	0.000	6	0.120	0.042	2853	1734	1465
9894	1.09	327.4	132.8	5.7	593	9937	0.20	2.30	34.22	0.845	4	0.058	0.056	2963	334	1315
9978	1.02	327.4	123.3	12.7	596	9985	0.22	2.25	0.00	0.000	6	0.123	0.044	2896	1749	1312
10305	1.10	327.4	92.7	8.0	621	10312	0.10	2.22	0.00	0.000	4	0.075	0.058	2951	3161	1308
10399	0.92	327.4	82.1	11.2	637	10406	0.28	2.22	0.00	0.000	6	0.120	0.044	2878	1727	1307
10748	1.22	399.3	65.7	4.7	698	10820	0.20	2.35	61.85	0.834	4	0.059	0.058	2987	324	1021
10858	1.18	399.3	53.9	12.3	716	10865	0.20	2.28	0.00	0.000	6	0.122	0.047	2929	1740	1018
11206	1.26	399.3	18.6	9.8	777	11213	0.10	2.25	0.00	0.000	4	0.076	0.061	2979	3158	1011
11272	1.05	399.3	10.4	14.6	788	11279	0.28	2.22	0.00	0.000	6	0.128	0.045	2908	1732	1010
11301	end climb: FINISH_DEPTH_REACHED
state	11301	begin subsurface finish
11312	0.07	54.0	6.9	-11.5	793	11365	0.62	2.33	-43.17	0.000	4	0.100	0.071	2693	327	2435
11366	end subsurface finish: CONTROL_FINISHED_OK
state	11366	begin surface