Glider dive log

DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 731 * 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 731 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 -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 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 731 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 2.64 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -4.2 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 6.99,-1.736,-1.814 TCM_TEMP 15.40

FINISH1 7.0,1.026560,53 XPDR_PINGS 202

FINISH2 5.3 _24V_AH 22.3,110.099

RAFOS_CLK 484 _10V_AH 10.4,49.313

RAFOS 0,1232957041,8.083333,8.066944,54,53,52,52,50,50,212,157,193,223,100,134 DATA_FILE_SIZE 28375,860

RAFOS_FIX 6654.764160,-5631.726562,250109,121216,2,87,0.33 CAP_FILE_SIZE 104762,0

IRIDIUM_FIX 6548.42,-5642.25,160498,050538 CFSIZE 260165632,206827520

TT8_MAMPS 0.029146 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1816 SOUNDSPEED 1454.6

INTERNAL_PRESSURE 9.95155 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 26.83 SBE_CT 598 24 320.10

Roll_motor 120 75 203.20 SBE_O2 0 0 0.00

VBD_pump_during_apogee 455 1039 10564.23 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 50 420 472.98

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 0 50 0.00

TT8 1505 19 311.91

LPSleep 7561 2 181.66

TT8_Active 542 19 112.46

TT8_Sampling 1535 39 637.68

TT8_CF8 310 45 148.17

TT8_Kalman 0 0 0.00

Analog_circuits 1395 12 174.18

GPS_charging 0 0 0.00

Compass 1528 8 127.13

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 63 0.00 0.00 -39.28 0.000 6 0.000 0.000 2693 327 3247

68 -0.99 -146.0 2.8 -2.3 8 74 0.62 0.80 0.00 0.000 4 0.062 0.046 2452 836 3248

139 -0.68 -146.0 10.7 -12.4 20 146 0.32 2.22 0.00 0.000 6 0.135 0.055 2535 2243 3249

488 -0.76 -146.0 40.3 -7.6 81 494 0.00 2.30 0.00 0.000 4 0.000 0.056 2536 811 3250

548 -0.76 -146.0 44.2 -6.6 91 554 0.00 2.30 0.00 0.000 6 0.000 0.055 2528 2240 3250

895 -0.84 -146.0 62.5 -4.5 152 902 0.12 2.30 0.00 0.000 4 0.074 0.056 2465 814 3250

956 -0.65 -146.0 66.9 -8.0 162 963 0.30 2.30 0.00 0.000 6 0.135 0.057 2542 2236 3249

1306 -0.80 -146.0 88.2 -8.2 223 1312 0.12 2.30 0.00 0.000 4 0.074 0.056 2485 813 3248

1321 -0.91 -146.0 89.5 -8.1 225 1327 0.00 2.30 0.00 0.000 6 0.000 0.057 2475 2234 3248

1650 -0.85 -146.0 124.7 -10.1 253 1651 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2234 3247

1957 -0.78 -146.0 150.5 -7.4 268 1961 0.15 2.30 0.00 0.000 4 0.137 0.056 2519 816 3247

1968 -0.78 -146.0 151.5 -7.4 268 1972 0.00 2.30 0.00 0.000 6 0.000 0.056 2512 2235 3247

2292 -0.86 -146.0 170.0 -5.6 284 2293 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2235 3247

2602 -0.94 -146.0 186.9 -5.6 299 2607 0.12 2.30 0.00 0.000 4 0.074 0.056 2451 814 3246

2671 -0.77 -146.0 192.4 -8.3 302 2676 0.25 2.30 0.00 0.000 6 0.131 0.057 2512 2232 3246

3001 -0.86 -146.0 208.2 -3.8 318 3005 0.00 2.30 0.00 0.000 4 0.000 0.057 2512 807 3246

3026 -0.93 -146.0 209.2 -3.9 319 3031 0.10 2.30 0.00 0.000 6 0.077 0.056 2458 2234 3246

3360 -0.84 -146.0 227.4 -5.5 335 3365 0.15 2.30 0.00 0.000 4 0.141 0.055 2500 815 3246

3413 -0.84 -146.0 229.8 -3.9 337 3417 0.00 2.30 0.00 0.000 6 0.000 0.055 2492 2238 3246

3742 -0.90 -146.0 244.6 -5.3 353 3745 0.00 2.30 0.00 0.000 4 0.000 0.055 2493 811 3245

3806 -0.90 -146.0 248.5 -6.3 355 3812 0.00 2.30 0.00 0.000 6 0.000 0.054 2483 2237 3245

4122 -0.90 -146.0 272.8 -8.3 371 4126 0.00 2.30 0.00 0.000 4 0.000 0.054 2483 805 3245

4147 -0.90 -146.0 275.0 -8.9 372 4151 0.00 2.30 0.00 0.000 6 0.000 0.052 2473 2236 3245

4481 -0.90 -146.0 302.8 -7.9 388 4485 0.00 2.28 0.00 0.000 4 0.000 0.054 2473 816 3245

4533 -0.82 -146.0 306.8 -8.2 390 4538 0.15 2.30 0.00 0.000 6 0.127 0.053 2504 2245 3245

4856 -0.93 -146.0 325.6 -5.2 406 4861 0.10 2.30 0.00 0.000 4 0.082 0.053 2457 814 3246

4944 -0.80 -146.0 331.3 -6.5 410 4949 0.22 2.30 0.00 0.000 6 0.126 0.053 2512 2246 3246

5278 -0.94 -146.0 347.1 -4.7 426 5282 0.12 2.30 0.00 0.000 4 0.075 0.052 2454 814 3246

5326 -0.80 -146.0 350.1 -7.0 428 5331 0.22 2.30 0.00 0.000 6 0.125 0.052 2509 2246 3246

5655 -0.94 -146.0 367.9 -5.3 444 5659 0.12 2.30 0.00 0.000 4 0.074 0.051 2452 811 3247

5696 -0.79 -146.0 370.6 -6.8 446 5701 0.25 2.30 0.00 0.000 6 0.127 0.051 2513 2246 3247

6026 -0.94 -146.0 386.0 -4.9 462 6030 0.15 2.30 0.00 0.000 4 0.068 0.051 2445 811 3247

6055 -0.84 -146.0 388.1 -7.8 463 6059 0.22 2.30 0.00 0.000 6 0.127 0.051 2499 2247 3247

6387 end dive: TARGET_DEPTH_EXCEEDED

state 6387 begin apogee

6399 -0.31 0.0 404.4 4.9 477 6525 0.35 0.00 123.90 1.039 6 0.114 0.000 2613 1730 2650

6526 end apogee: CONTROL_FINISHED_OK

state 6526 begin climb

6530 0.99 146.0 406.6 0.0 480 6664 0.85 2.50 126.50 0.972 4 0.090 0.056 2896 3148 2053

6744 0.71 146.0 387.5 11.8 487 6749 0.28 2.30 0.00 0.000 6 0.126 0.041 2829 1736 2049

7073 0.79 156.1 365.4 6.7 503 7088 0.08 2.28 8.85 0.839 4 0.087 0.057 2887 338 2014

7113 0.69 156.1 361.9 9.6 504 7120 0.20 2.22 0.00 0.000 6 0.118 0.044 2827 1748 2013

7430 0.79 156.1 337.6 7.5 520 7435 0.10 2.20 0.00 0.000 4 0.073 0.057 2881 3155 2013

7527 0.58 156.1 327.7 10.0 524 7532 0.30 2.20 0.00 0.000 6 0.123 0.041 2802 1727 2012

7851 0.92 272.3 314.0 3.3 540 7955 0.20 0.00 101.22 0.945 6 0.055 0.000 2908 1727 1539

8267 0.82 272.3 275.3 10.0 560 8271 0.17 2.30 0.00 0.000 4 0.121 0.055 2855 3159 1528

8296 0.82 272.3 272.2 8.8 561 8300 0.00 2.20 0.00 0.000 6 0.000 0.042 2862 1736 1526

8625 0.82 272.3 245.1 8.2 577 8629 0.00 2.22 0.00 0.000 4 0.000 0.057 2872 330 1524

8665 0.92 272.3 241.7 8.2 578 8671 0.00 2.22 0.00 0.000 6 0.000 0.044 2872 1743 1524

8983 0.92 272.3 213.0 9.1 594 8987 0.00 2.22 0.00 0.000 4 0.000 0.058 2872 3158 1523

9063 0.83 272.3 205.4 8.9 597 9067 0.00 2.20 0.00 0.000 6 0.000 0.042 2882 1735 1521

9386 0.83 272.3 180.0 8.0 613 9390 0.00 2.22 0.00 0.000 4 0.000 0.056 2892 333 1522

9417 0.88 272.3 177.4 8.5 614 9421 0.00 2.22 0.00 0.000 6 0.000 0.043 2892 1753 1522

9745 0.88 272.3 138.5 14.8 630 9749 0.00 2.20 0.00 0.000 4 0.000 0.058 2892 3153 1522

9837 0.80 272.3 124.1 15.1 634 9843 0.17 2.20 0.00 0.000 6 0.120 0.042 2849 1729 1522

10174 1.14 364.5 100.0 4.1 650 10262 0.22 2.33 78.68 0.835 4 0.058 0.058 2966 334 1163

10297 1.04 364.5 89.6 9.6 670 10304 0.22 2.25 0.00 0.000 6 0.120 0.044 2899 1737 1160

10645 1.25 364.5 63.4 7.4 731 10652 0.17 2.25 0.00 0.000 4 0.060 0.058 2983 3163 1153

10740 1.04 364.5 51.7 12.9 747 10746 0.30 2.22 0.00 0.000 6 0.126 0.044 2904 1733 1152

11088 1.24 385.1 31.7 6.4 808 11112 0.15 2.25 16.67 0.794 4 0.064 0.059 2989 335 1080

11154 1.16 385.1 23.9 13.4 819 11161 0.22 2.25 0.00 0.000 6 0.123 0.047 2923 1751 1079

11342 end climb: FINISH_DEPTH_REACHED

state 11342 begin subsurface finish

11352 0.07 53.5 7.0 -10.9 852 11400 0.68 2.33 -41.40 0.000 4 0.102 0.076 2683 3158 2434

11400 end subsurface finish: CONTROL_FINISHED_OK

state 11401 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	731	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	-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	2.64	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-4.2	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	6.99,-1.736,-1.814	TCM_TEMP	15.40
FINISH1	7.0,1.026560,53	XPDR_PINGS	202
FINISH2	5.3	_24V_AH	22.3,110.099
RAFOS_CLK	484	_10V_AH	10.4,49.313
RAFOS	0,1232957041,8.083333,8.066944,54,53,52,52,50,50,212,157,193,223,100,134	DATA_FILE_SIZE	28375,860
RAFOS_FIX	6654.764160,-5631.726562,250109,121216,2,87,0.33	CAP_FILE_SIZE	104762,0
IRIDIUM_FIX	6548.42,-5642.25,160498,050538	CFSIZE	260165632,206827520
TT8_MAMPS	0.029146	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1816	SOUNDSPEED	1454.6
INTERNAL_PRESSURE	9.95155	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	26.83	SBE_CT	598	24	320.10
Roll_motor	120	75	203.20	SBE_O2	0	0	0.00
VBD_pump_during_apogee	455	1039	10564.23	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	50	420	472.98
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	0	50	0.00
TT8	1505	19	311.91
LPSleep	7561	2	181.66
TT8_Active	542	19	112.46
TT8_Sampling	1535	39	637.68
TT8_CF8	310	45	148.17
TT8_Kalman	0	0	0.00
Analog_circuits	1395	12	174.18
GPS_charging	0	0	0.00
Compass	1528	8	127.13
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	63	0.00	0.00	-39.28	0.000	6	0.000	0.000	2693	327	3247
68	-0.99	-146.0	2.8	-2.3	8	74	0.62	0.80	0.00	0.000	4	0.062	0.046	2452	836	3248
139	-0.68	-146.0	10.7	-12.4	20	146	0.32	2.22	0.00	0.000	6	0.135	0.055	2535	2243	3249
488	-0.76	-146.0	40.3	-7.6	81	494	0.00	2.30	0.00	0.000	4	0.000	0.056	2536	811	3250
548	-0.76	-146.0	44.2	-6.6	91	554	0.00	2.30	0.00	0.000	6	0.000	0.055	2528	2240	3250
895	-0.84	-146.0	62.5	-4.5	152	902	0.12	2.30	0.00	0.000	4	0.074	0.056	2465	814	3250
956	-0.65	-146.0	66.9	-8.0	162	963	0.30	2.30	0.00	0.000	6	0.135	0.057	2542	2236	3249
1306	-0.80	-146.0	88.2	-8.2	223	1312	0.12	2.30	0.00	0.000	4	0.074	0.056	2485	813	3248
1321	-0.91	-146.0	89.5	-8.1	225	1327	0.00	2.30	0.00	0.000	6	0.000	0.057	2475	2234	3248
1650	-0.85	-146.0	124.7	-10.1	253	1651	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	2234	3247
1957	-0.78	-146.0	150.5	-7.4	268	1961	0.15	2.30	0.00	0.000	4	0.137	0.056	2519	816	3247
1968	-0.78	-146.0	151.5	-7.4	268	1972	0.00	2.30	0.00	0.000	6	0.000	0.056	2512	2235	3247
2292	-0.86	-146.0	170.0	-5.6	284	2293	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2235	3247
2602	-0.94	-146.0	186.9	-5.6	299	2607	0.12	2.30	0.00	0.000	4	0.074	0.056	2451	814	3246
2671	-0.77	-146.0	192.4	-8.3	302	2676	0.25	2.30	0.00	0.000	6	0.131	0.057	2512	2232	3246
3001	-0.86	-146.0	208.2	-3.8	318	3005	0.00	2.30	0.00	0.000	4	0.000	0.057	2512	807	3246
3026	-0.93	-146.0	209.2	-3.9	319	3031	0.10	2.30	0.00	0.000	6	0.077	0.056	2458	2234	3246
3360	-0.84	-146.0	227.4	-5.5	335	3365	0.15	2.30	0.00	0.000	4	0.141	0.055	2500	815	3246
3413	-0.84	-146.0	229.8	-3.9	337	3417	0.00	2.30	0.00	0.000	6	0.000	0.055	2492	2238	3246
3742	-0.90	-146.0	244.6	-5.3	353	3745	0.00	2.30	0.00	0.000	4	0.000	0.055	2493	811	3245
3806	-0.90	-146.0	248.5	-6.3	355	3812	0.00	2.30	0.00	0.000	6	0.000	0.054	2483	2237	3245
4122	-0.90	-146.0	272.8	-8.3	371	4126	0.00	2.30	0.00	0.000	4	0.000	0.054	2483	805	3245
4147	-0.90	-146.0	275.0	-8.9	372	4151	0.00	2.30	0.00	0.000	6	0.000	0.052	2473	2236	3245
4481	-0.90	-146.0	302.8	-7.9	388	4485	0.00	2.28	0.00	0.000	4	0.000	0.054	2473	816	3245
4533	-0.82	-146.0	306.8	-8.2	390	4538	0.15	2.30	0.00	0.000	6	0.127	0.053	2504	2245	3245
4856	-0.93	-146.0	325.6	-5.2	406	4861	0.10	2.30	0.00	0.000	4	0.082	0.053	2457	814	3246
4944	-0.80	-146.0	331.3	-6.5	410	4949	0.22	2.30	0.00	0.000	6	0.126	0.053	2512	2246	3246
5278	-0.94	-146.0	347.1	-4.7	426	5282	0.12	2.30	0.00	0.000	4	0.075	0.052	2454	814	3246
5326	-0.80	-146.0	350.1	-7.0	428	5331	0.22	2.30	0.00	0.000	6	0.125	0.052	2509	2246	3246
5655	-0.94	-146.0	367.9	-5.3	444	5659	0.12	2.30	0.00	0.000	4	0.074	0.051	2452	811	3247
5696	-0.79	-146.0	370.6	-6.8	446	5701	0.25	2.30	0.00	0.000	6	0.127	0.051	2513	2246	3247
6026	-0.94	-146.0	386.0	-4.9	462	6030	0.15	2.30	0.00	0.000	4	0.068	0.051	2445	811	3247
6055	-0.84	-146.0	388.1	-7.8	463	6059	0.22	2.30	0.00	0.000	6	0.127	0.051	2499	2247	3247
6387	end dive: TARGET_DEPTH_EXCEEDED
state	6387	begin apogee
6399	-0.31	0.0	404.4	4.9	477	6525	0.35	0.00	123.90	1.039	6	0.114	0.000	2613	1730	2650
6526	end apogee: CONTROL_FINISHED_OK
state	6526	begin climb
6530	0.99	146.0	406.6	0.0	480	6664	0.85	2.50	126.50	0.972	4	0.090	0.056	2896	3148	2053
6744	0.71	146.0	387.5	11.8	487	6749	0.28	2.30	0.00	0.000	6	0.126	0.041	2829	1736	2049
7073	0.79	156.1	365.4	6.7	503	7088	0.08	2.28	8.85	0.839	4	0.087	0.057	2887	338	2014
7113	0.69	156.1	361.9	9.6	504	7120	0.20	2.22	0.00	0.000	6	0.118	0.044	2827	1748	2013
7430	0.79	156.1	337.6	7.5	520	7435	0.10	2.20	0.00	0.000	4	0.073	0.057	2881	3155	2013
7527	0.58	156.1	327.7	10.0	524	7532	0.30	2.20	0.00	0.000	6	0.123	0.041	2802	1727	2012
7851	0.92	272.3	314.0	3.3	540	7955	0.20	0.00	101.22	0.945	6	0.055	0.000	2908	1727	1539
8267	0.82	272.3	275.3	10.0	560	8271	0.17	2.30	0.00	0.000	4	0.121	0.055	2855	3159	1528
8296	0.82	272.3	272.2	8.8	561	8300	0.00	2.20	0.00	0.000	6	0.000	0.042	2862	1736	1526
8625	0.82	272.3	245.1	8.2	577	8629	0.00	2.22	0.00	0.000	4	0.000	0.057	2872	330	1524
8665	0.92	272.3	241.7	8.2	578	8671	0.00	2.22	0.00	0.000	6	0.000	0.044	2872	1743	1524
8983	0.92	272.3	213.0	9.1	594	8987	0.00	2.22	0.00	0.000	4	0.000	0.058	2872	3158	1523
9063	0.83	272.3	205.4	8.9	597	9067	0.00	2.20	0.00	0.000	6	0.000	0.042	2882	1735	1521
9386	0.83	272.3	180.0	8.0	613	9390	0.00	2.22	0.00	0.000	4	0.000	0.056	2892	333	1522
9417	0.88	272.3	177.4	8.5	614	9421	0.00	2.22	0.00	0.000	6	0.000	0.043	2892	1753	1522
9745	0.88	272.3	138.5	14.8	630	9749	0.00	2.20	0.00	0.000	4	0.000	0.058	2892	3153	1522
9837	0.80	272.3	124.1	15.1	634	9843	0.17	2.20	0.00	0.000	6	0.120	0.042	2849	1729	1522
10174	1.14	364.5	100.0	4.1	650	10262	0.22	2.33	78.68	0.835	4	0.058	0.058	2966	334	1163
10297	1.04	364.5	89.6	9.6	670	10304	0.22	2.25	0.00	0.000	6	0.120	0.044	2899	1737	1160
10645	1.25	364.5	63.4	7.4	731	10652	0.17	2.25	0.00	0.000	4	0.060	0.058	2983	3163	1153
10740	1.04	364.5	51.7	12.9	747	10746	0.30	2.22	0.00	0.000	6	0.126	0.044	2904	1733	1152
11088	1.24	385.1	31.7	6.4	808	11112	0.15	2.25	16.67	0.794	4	0.064	0.059	2989	335	1080
11154	1.16	385.1	23.9	13.4	819	11161	0.22	2.25	0.00	0.000	6	0.123	0.047	2923	1751	1079
11342	end climb: FINISH_DEPTH_REACHED
state	11342	begin subsurface finish
11352	0.07	53.5	7.0	-10.9	852	11400	0.68	2.33	-41.40	0.000	4	0.102	0.076	2683	3158	2434
11400	end subsurface finish: CONTROL_FINISHED_OK
state	11401	begin surface