Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 141 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 80 TGT_DEFAULT_LAT 47.599998 R_STBD_OVSHOOT 1 DEVICE3 -1

MISSION 11 TGT_DEFAULT_LON -122.3 ROLL_AD_RATE 400 DEVICE4 -1

DIVE 141 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 10 DEVICE5 -1

D_SURF 2 SM_CC 300 ROLL_ADJ_GAIN 0 DEVICE6 -1

D_FLARE 3 N_FILEKB 4 ROLL_ADJ_DBAND 0 SMARTS 1

D_TGT 95 FILEMGR 0 VBD_MIN 188 SMARTDEVICE1 3

D_ABORT 1090 CALL_NDIVES 1 VBD_MAX 3616 SMARTDEVICE2 -1

D_NO_BLEED 200 COMM_SEQ 0 C_VBD 2473 COMPASS_DEVICE 1

D_BOOST 0 KERMIT 0 VBD_DBAND 2 COMPASS2_DEVICE -1

D_FINISH 0 N_NOCOMM 1 VBD_CNV -0.24529999 PHONE_DEVICE 32

D_PITCH 0 N_NOSURFACE 0 VBD_TIMEOUT 360 GPS_DEVICE 48

D_SAFE 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 RAFOS_DEVICE -1

D_CALL 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 6 XPDR_DEVICE -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 4 SIM_W 0

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 SIM_PITCH 0

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 UNCOM_BLEED 20 SEABIRD_T_G 0.0043805656

T_DIVE 63 HEAPDBG 0 VBD_MAXERRORS 1 SEABIRD_T_H 0.00064742006

T_MISSION 75 T_GPS 15 CF8_MAXERRORS 0 SEABIRD_T_I 2.5554549e-05

T_ABORT 1440 N_GPS 20 AH0_24V 91.800003 SEABIRD_T_J 2.6681391e-06

T_TURN 270 T_GPS_ALMANAC 0 AH0_10V 61.200001 SEABIRD_C_G -10.331019

T_TURN_SAMPINT 5 T_GPS_CHARGE -27855.338 PHONE_SUPPLY 2 SEABIRD_C_H 1.1763502

T_NO_W 120 T_RSLEEP 3 PRESSURE_YINT -0.16054545 SEABIRD_C_I -0.0012340198

T_LOITER 0 RAFOS_PEAK_OFFSET 1.5 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_C_J 0.00017379176

USE_BATHY -4 RAFOS_CORR_THRESH 60 AD7714Ch0Gain 1 AR_RESETARS 0.0

USE_ICE 0 RAFOS_HIT_WINDOW 3600 TCM_PITCH_OFFSET 0 AR_RECORDBELOW 0.0

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 30 TCM_ROLL_OFFSET 0 AR_NOTIFYAPOGEE 0.0

D_OFFGRID 100 PITCH_MAX 4065 COMPASS_USE 0 AR_DIVENUM 140

T_WATCHDOG 10 C_PITCH 2692 ALTIM_BOTTOM_PING_RANGE 25 AR_SAMPLENUM 5

RELAUNCH 1 PITCH_DBAND 0.1 ALTIM_TOP_PING_RANGE 0 AR_OUTLEVEL 2

APOGEE_PITCH -5 PITCH_CNV 0.0046000001 ALTIM_BOTTOM_TURN_MARGIN 0 AR_LOGFILE C:\ARS.LOG

MAX_BUOY 150 P_OVSHOOT 0.039999999 ALTIM_TOP_TURN_MARGIN 0 AR_FGSLOPE 0.0033

COURSE_BIAS 0 PITCH_GAIN 16 ALTIM_TOP_MIN_OBSTACLE 1 AR_FGYINT -0.045

GLIDE_SLOPE 45 PITCH_TIMEOUT 15 ALTIM_PING_DEPTH 80 AR_FORCETOHOST 0

SPEED_FACTOR 1 PITCH_AD_RATE 175 ALTIM_PING_DELTA 10 AR_WARMUP 20

RHO 1.023 PITCH_MAXERRORS 10 ALTIM_FREQUENCY 13 AR_UPLOADEXTS PSD

MASS 52000 PITCH_ADJ_GAIN 0 ALTIM_PULSE 3 AR_HEAPDBG 0

NAV_MODE 1 PITCH_ADJ_DBAND 0 ALTIM_SENSITIVITY 2 AR_ARSMODEL 3

FERRY_MAX 45 ROLL_MIN 300 XPDR_VALID 0 AR_ARSSERIAL 5

KALMAN_USE 1 ROLL_MAX 3750 XPDR_INHIBIT 90 AR_ARSCH1GAIN 200

HD_A 0.0043390002 ROLL_DEG 40 INT_PRESSURE_SLOPE 0.0097660003 AR_ARSCH2GAIN 0

HD_B 0.013382 C_ROLL_DIVE 2069 INT_PRESSURE_YINT 0 AR_ARSCH1FLT 30000

HD_C 5.8987e-05 C_ROLL_CLIMB 2069 DEEPGLIDER 0 AR_ARSCH2FLT 1200

HEADING -1 HEAD_ERRBAND 10 DEEPGLIDERMB 0 AR_FGCLKCORR 0.940588

ESCAPE_HEADING 0 ROLL_CNV 0.028270001 MOTHERBOARD 4 AR_CHKOPENFILES 1

ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 DEVICE1 2 AR_EPOCHTS 1

FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 1 DEVICE2 -1

AD7714Ch0Gain 1 COURSE_BIAS 0 MISSION 11 SEABIRD_T_I 2.5554549e-05

AH0_10V 61.200001 C_PITCH 2692 MOTHERBOARD 4 SEABIRD_T_J 2.6681391e-06

AH0_24V 91.800003 C_ROLL_CLIMB 2069 NAV_MODE 1 SIM_PITCH 0

ALTIM_BOTTOM_PING_RANGE 25 C_ROLL_DIVE 2069 N_FILEKB 4 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 C_VBD 2473 N_GPS 20 SMARTDEVICE1 3

ALTIM_FREQUENCY 13 DEEPGLIDER 0 N_NOCOMM 1 SMARTDEVICE2 -1

ALTIM_PING_DELTA 10 DEEPGLIDERMB 0 N_NOSURFACE 0 SMARTS 1

ALTIM_PING_DEPTH 80 DEVICE1 2 PHONE_DEVICE 32 SM_CC 300

ALTIM_PULSE 3 DEVICE2 -1 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_SENSITIVITY 2 DEVICE3 -1 PITCH_ADJ_DBAND 0 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 DEVICE4 -1 PITCH_ADJ_GAIN 0 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 DEVICE5 -1 PITCH_AD_RATE 175 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 DEVICE6 -1 PITCH_CNV 0.0046000001 TCM_PITCH_OFFSET 0

APOGEE_PITCH -5 DIVE 141 PITCH_DBAND 0.1 TCM_ROLL_OFFSET 0

AR_ARSCH1FLT 30000 D_ABORT 1090 PITCH_GAIN 16 TGT_AUTO_DEFAULT 0

AR_ARSCH1GAIN 200 D_BOOST 0 PITCH_MAX 4065 TGT_DEFAULT_LAT 47.599998

AR_ARSCH2FLT 1200 D_CALL 0 PITCH_MAXERRORS 10 TGT_DEFAULT_LON -122.3

AR_ARSCH2GAIN 0 D_FINISH 0 PITCH_MIN 30 T_ABORT 1440

AR_ARSMODEL 3 D_FLARE 3 PITCH_TIMEOUT 15 T_DIVE 63

AR_ARSSERIAL 5 D_NO_BLEED 200 PITCH_VBD_SHIFT 0.0012300001 T_GPS 15

AR_CHKOPENFILES 1 D_OFFGRID 100 PRESSURE_SLOPE 9.9999997e-05 T_GPS_ALMANAC 0

AR_DIVENUM 140 D_PITCH 0 PRESSURE_YINT -0.16054545 T_GPS_CHARGE -27855.338

AR_EPOCHTS 1 D_SAFE 0 P_OVSHOOT 0.039999999 T_LOITER 0

AR_FGCLKCORR 0.940588 D_SURF 2 RAFOS_CORR_THRESH 60 T_MISSION 75

AR_FGSLOPE 0.0033 D_TGT 95 RAFOS_DEVICE -1 T_NO_W 120

AR_FGYINT -0.045 ESCAPE_HEADING 0 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

AR_FORCETOHOST 0 ESCAPE_HEADING_DELTA 10 RAFOS_PEAK_OFFSET 1.5 T_TURN 270

AR_HEAPDBG 0 FERRY_MAX 45 RELAUNCH 1 T_TURN_SAMPINT 5

AR_LOGFILE C:\ARS.LOG FILEMGR 0 RHO 1.023 T_WATCHDOG 10

AR_NOTIFYAPOGEE 0.0 FIX_MISSING_TIMEOUT 0 ROLL_ADJ_DBAND 0 UNCOM_BLEED 20

AR_OUTLEVEL 2 GLIDE_SLOPE 45 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

AR_RECORDBELOW 0.0 GPS_DEVICE 48 ROLL_AD_RATE 400 USE_BATHY -4

AR_RESETARS 0.0 HD_A 0.0043390002 ROLL_CNV 0.028270001 USE_ICE 0

AR_SAMPLENUM 5 HD_B 0.013382 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

AR_UPLOADEXTS PSD HD_C 5.8987e-05 ROLL_MAX 3750 VBD_CNV -0.24529999

AR_WARMUP 20 HEADING -1 ROLL_MAXERRORS 10 VBD_DBAND 2

CALL_NDIVES 1 HEAD_ERRBAND 10 ROLL_MIN 300 VBD_MAX 3616

CALL_TRIES 5 HEAPDBG 0 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

CALL_WAIT 60 ICE_FREEZE_MARGIN 0.30000001 R_PORT_OVSHOOT 1 VBD_MIN 188

CAPMAXSIZE 100000 ID 80 R_STBD_OVSHOOT 1 VBD_PUMP_AD_RATE_APOGEE 4

CAPUPLOAD 0 INT_PRESSURE_SLOPE 0.0097660003 SEABIRD_C_G -10.331019 VBD_PUMP_AD_RATE_SURFACE 6

CF8_MAXERRORS 0 INT_PRESSURE_YINT 0 SEABIRD_C_H 1.1763502 VBD_TIMEOUT 360

COMM_SEQ 0 KALMAN_USE 1 SEABIRD_C_I -0.0012340198 XPDR_DEVICE -1

COMPASS2_DEVICE -1 KERMIT 0 SEABIRD_C_J 0.00017379176 XPDR_INHIBIT 90

COMPASS_DEVICE 1 MASS 52000 SEABIRD_T_G 0.0043805656 XPDR_VALID 0

COMPASS_USE 0 MAX_BUOY 150 SEABIRD_T_H 0.00064742006

Pre-dive calculations and measurements:

GPS1 114652,4805.036,-12221.164,16,1.1,16,18.0 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.048,-0.049

_SM_DEPTHo 0.00 KALMAN_X 15509.1,29.9,-11.2,-12550.2,46.2

_SM_ANGLEo -50.0 KALMAN_Y -4319.1,-171.1,30.9,-471.3,86.8

GPS2 115118,4805.053,-12221.186,22,1.1,22,18.0 MHEAD_RNG_PITCHd_Wd 117.8,250,-33.0,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 100

Post-dive calculations and measurements:

FINISH 1.6,0.997293 AR_CDRIVE_SIZE 4223664128

SM_CCo 3607,5.90,0.004,0,0,185,560.76 AR_DDRIVE_FREE 13062668288

SM_GC 0.00,13.82,0.00,0.00,0.003,0.000,0.000,148,2202,186,-11.45,3.73,561.25 AR_DDRIVE_SIZE 59996930048

IRIDIUM_FIX 0.00,0.00,010170,000000 _24V_AH 23.7,14.438

TT8_MAMPS 0.04602 _10V_AH 9.7,30.030

HUMID 1525 DATA_FILE_SIZE 6451,256

INTERNAL_PRESSURE 12.4809 CAP_FILE_SIZE 68851,24

TCM_TEMP 15.00 CFSIZE 260165632,255033344

AR_POSTDIVE_SAMPLENUM 4 ERRORS 0,0,0,0,0,0,0,0,1,0,2,99,154,58,0

AR_CDRIVE_FREE 4122574848 GPS 310708,125526,4805.027,-12221.179,22,1.1,22,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 36 4 3.97 SBE_CT 202 24 115.16

Roll_motor 39 3 3.56 nil 0 0 0.00

VBD_pump_during_apogee 102 4 11.18 nil 0 0 0.00

VBD_pump_during_surface 434 3 39.49 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 0 0.00 ARS 3826 216 19606.11

Iridium_during_xfer 90 223 476.03

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 50 11.24

TT8 559 18 97.66

LPSleep 1794 0 6.79

TT8_Active 961 18 167.83

TT8_Sampling 362 38 133.78

TT8_CF8 321 44 137.36

TT8_Kalman 33 80 25.87

Analog_circuits 1298 12 151.10

GPS_charging 0 0 0.00

Compass 313 26 79.12

RAFOS 0 0 0.00

Transponder 0 0 0.00

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -2.09 -20.8 0.0 0.0 0 72 0.00 0.00 -43.55 0.000 6 0.000 0.000 145 2177 2564

75 -2.11 -42.3 0.5 -1.5 5 97 11.12 2.47 -2.85 0.000 4 0.004 0.004 2265 3644 2650

400 -2.11 -42.3 23.5 -6.4 34 406 0.30 2.90 0.00 0.000 6 0.004 0.004 2192 1890 2651

438 -2.11 -42.3 25.8 -6.0 37 444 0.25 3.03 0.00 0.000 4 0.003 0.004 2265 3635 2650

747 -2.11 -42.3 44.0 -5.6 64 757 0.30 3.15 0.00 0.000 6 0.004 0.004 2186 1884 2651

788 -2.11 -42.3 46.3 -5.7 68 794 0.25 3.03 0.00 0.000 4 0.004 0.004 2260 3641 2651

1098 -2.12 -47.5 61.6 -4.2 95 1109 0.30 2.60 -0.75 0.000 6 0.004 0.004 2186 1973 2673

1140 -2.12 -50.2 63.5 -4.6 99 1142 0.38 0.00 0.00 0.000 6 0.003 0.000 2264 1974 2672

1172 -2.13 -53.0 65.0 -4.6 102 1176 0.40 0.00 -0.75 0.000 6 0.004 0.000 2193 1974 2696

1204 -2.13 -53.0 66.7 -5.2 105 1209 0.30 2.67 0.00 0.000 4 0.004 0.004 2267 3639 2697

1412 -2.13 -53.0 77.4 -5.3 123 1418 0.30 3.03 0.00 0.000 6 0.004 0.004 2194 1892 2696

1449 -2.13 -53.0 79.3 -5.2 126 1452 0.30 0.00 0.00 0.000 6 0.005 0.000 2270 1894 2696

1481 -2.13 -54.4 80.8 -4.8 129 1484 0.35 0.00 0.00 0.000 6 0.004 0.000 2195 1892 2697

1513 -2.13 -55.7 82.4 -4.8 132 1515 0.32 0.00 0.00 0.000 6 0.004 0.000 2267 1894 2697

1545 -2.13 -58.1 83.8 -4.6 135 1549 0.32 0.00 -0.75 0.000 6 0.003 0.000 2192 1892 2718

1577 -2.14 -61.3 85.3 -4.5 138 1582 0.32 2.35 0.00 0.000 4 0.003 0.004 2266 529 2718

1794 end dive: TARGET_DEPTH_EXCEEDED

state 1794 begin apogee

1803 -0.31 0.0 95.1 5.0 157 1859 2.00 0.00 50.90 0.005 6 0.004 0.000 2677 2190 2472

1860 end apogee: CONTROL_FINISHED_OK

state 1860 begin climb

1863 2.14 61.3 94.8 0.0 163 1926 2.50 2.53 51.60 0.005 4 0.004 0.004 3189 3634 2223

1975 2.14 61.3 83.6 10.8 173 1982 0.30 2.58 0.00 0.000 6 0.004 0.004 3113 1969 2222

2013 2.14 61.3 79.7 10.6 177 2016 0.38 0.00 0.00 0.000 6 0.004 0.000 3187 1970 2222

2045 2.14 61.3 76.5 10.3 180 2048 0.45 0.00 0.00 0.000 6 0.003 0.000 3116 1971 2222

2077 2.14 61.3 73.2 10.4 183 2079 0.40 0.00 0.00 0.000 6 0.003 0.000 3190 1970 2222

2109 2.14 61.3 69.9 10.1 186 2111 0.40 0.00 0.00 0.000 6 0.003 0.000 3115 1969 2222

2141 2.14 61.3 66.5 10.5 189 2143 0.30 0.00 0.00 0.000 6 0.003 0.000 3197 1971 2222

2173 2.14 61.3 63.2 10.5 192 2175 0.32 0.00 0.00 0.000 6 0.004 0.000 3158 1969 2222

2205 2.14 61.3 60.0 10.1 195 2206 0.00 0.00 0.00 0.000 6 0.000 0.000 3161 1969 2223

2236 2.14 61.3 56.8 10.2 198 2238 0.00 0.00 0.00 0.000 6 0.000 0.000 3158 1973 2223

2269 2.14 61.3 53.4 10.5 201 2270 0.00 0.00 0.00 0.000 6 0.000 0.000 3159 1970 2223

2300 2.14 61.3 50.0 10.4 204 2301 0.00 0.00 0.00 0.000 6 0.000 0.000 3161 1970 2222

2332 2.14 61.3 46.7 10.3 207 2333 0.00 0.00 0.00 0.000 6 0.000 0.000 3160 1970 2222

2364 2.14 61.3 43.6 9.8 210 2365 0.00 0.00 0.00 0.000 6 0.000 0.000 3159 1969 2222

2396 2.14 61.3 40.5 10.0 213 2397 0.00 0.00 0.00 0.000 6 0.000 0.000 3158 1969 2222

2428 2.14 61.3 37.4 9.5 216 2429 0.00 0.00 0.00 0.000 6 0.000 0.000 3158 1969 2223

2459 2.14 61.3 34.4 9.7 219 2461 0.00 0.00 0.00 0.000 6 0.000 0.000 3159 1970 2223

2492 2.14 61.3 31.3 9.6 222 2496 0.00 2.85 0.00 0.000 4 0.000 0.004 3159 3639 2223

2721 2.14 61.3 10.7 8.0 242 2726 0.00 2.78 0.00 0.000 6 0.000 0.004 3158 1885 2223

2758 2.14 61.3 7.7 8.4 245 2759 0.00 0.00 0.00 0.000 6 0.000 0.000 3159 1885 2222

2790 2.14 61.3 5.1 8.1 248 2791 0.00 0.00 0.00 0.000 6 0.000 0.000 3159 1887 2222

2822 2.14 61.3 3.0 7.0 251 2824 0.00 0.00 0.00 0.000 6 0.000 0.000 3160 1885 2223

2840 end climb: SURFACE_DEPTH_REACHED

state 2840 begin surface coast

2874 end surface coast: CONTROL_FINISHED_OK

state 2874 begin surface

ID	80	TGT_DEFAULT_LAT	47.599998	R_STBD_OVSHOOT	1	DEVICE3	-1
MISSION	11	TGT_DEFAULT_LON	-122.3	ROLL_AD_RATE	400	DEVICE4	-1
DIVE	141	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	10	DEVICE5	-1
D_SURF	2	SM_CC	300	ROLL_ADJ_GAIN	0	DEVICE6	-1
D_FLARE	3	N_FILEKB	4	ROLL_ADJ_DBAND	0	SMARTS	1
D_TGT	95	FILEMGR	0	VBD_MIN	188	SMARTDEVICE1	3
D_ABORT	1090	CALL_NDIVES	1	VBD_MAX	3616	SMARTDEVICE2	-1
D_NO_BLEED	200	COMM_SEQ	0	C_VBD	2473	COMPASS_DEVICE	1
D_BOOST	0	KERMIT	0	VBD_DBAND	2	COMPASS2_DEVICE	-1
D_FINISH	0	N_NOCOMM	1	VBD_CNV	-0.24529999	PHONE_DEVICE	32
D_PITCH	0	N_NOSURFACE	0	VBD_TIMEOUT	360	GPS_DEVICE	48
D_SAFE	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	RAFOS_DEVICE	-1
D_CALL	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	6	XPDR_DEVICE	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	4	SIM_W	0
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	SIM_PITCH	0
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	UNCOM_BLEED	20	SEABIRD_T_G	0.0043805656
T_DIVE	63	HEAPDBG	0	VBD_MAXERRORS	1	SEABIRD_T_H	0.00064742006
T_MISSION	75	T_GPS	15	CF8_MAXERRORS	0	SEABIRD_T_I	2.5554549e-05
T_ABORT	1440	N_GPS	20	AH0_24V	91.800003	SEABIRD_T_J	2.6681391e-06
T_TURN	270	T_GPS_ALMANAC	0	AH0_10V	61.200001	SEABIRD_C_G	-10.331019
T_TURN_SAMPINT	5	T_GPS_CHARGE	-27855.338	PHONE_SUPPLY	2	SEABIRD_C_H	1.1763502
T_NO_W	120	T_RSLEEP	3	PRESSURE_YINT	-0.16054545	SEABIRD_C_I	-0.0012340198
T_LOITER	0	RAFOS_PEAK_OFFSET	1.5	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_C_J	0.00017379176
USE_BATHY	-4	RAFOS_CORR_THRESH	60	AD7714Ch0Gain	1	AR_RESETARS	0.0
USE_ICE	0	RAFOS_HIT_WINDOW	3600	TCM_PITCH_OFFSET	0	AR_RECORDBELOW	0.0
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	30	TCM_ROLL_OFFSET	0	AR_NOTIFYAPOGEE	0.0
D_OFFGRID	100	PITCH_MAX	4065	COMPASS_USE	0	AR_DIVENUM	140
T_WATCHDOG	10	C_PITCH	2692	ALTIM_BOTTOM_PING_RANGE	25	AR_SAMPLENUM	5
RELAUNCH	1	PITCH_DBAND	0.1	ALTIM_TOP_PING_RANGE	0	AR_OUTLEVEL	2
APOGEE_PITCH	-5	PITCH_CNV	0.0046000001	ALTIM_BOTTOM_TURN_MARGIN	0	AR_LOGFILE	C:\ARS.LOG
MAX_BUOY	150	P_OVSHOOT	0.039999999	ALTIM_TOP_TURN_MARGIN	0	AR_FGSLOPE	0.0033
COURSE_BIAS	0	PITCH_GAIN	16	ALTIM_TOP_MIN_OBSTACLE	1	AR_FGYINT	-0.045
GLIDE_SLOPE	45	PITCH_TIMEOUT	15	ALTIM_PING_DEPTH	80	AR_FORCETOHOST	0
SPEED_FACTOR	1	PITCH_AD_RATE	175	ALTIM_PING_DELTA	10	AR_WARMUP	20
RHO	1.023	PITCH_MAXERRORS	10	ALTIM_FREQUENCY	13	AR_UPLOADEXTS	PSD
MASS	52000	PITCH_ADJ_GAIN	0	ALTIM_PULSE	3	AR_HEAPDBG	0
NAV_MODE	1	PITCH_ADJ_DBAND	0	ALTIM_SENSITIVITY	2	AR_ARSMODEL	3
FERRY_MAX	45	ROLL_MIN	300	XPDR_VALID	0	AR_ARSSERIAL	5
KALMAN_USE	1	ROLL_MAX	3750	XPDR_INHIBIT	90	AR_ARSCH1GAIN	200
HD_A	0.0043390002	ROLL_DEG	40	INT_PRESSURE_SLOPE	0.0097660003	AR_ARSCH2GAIN	0
HD_B	0.013382	C_ROLL_DIVE	2069	INT_PRESSURE_YINT	0	AR_ARSCH1FLT	30000
HD_C	5.8987e-05	C_ROLL_CLIMB	2069	DEEPGLIDER	0	AR_ARSCH2FLT	1200
HEADING	-1	HEAD_ERRBAND	10	DEEPGLIDERMB	0	AR_FGCLKCORR	0.940588
ESCAPE_HEADING	0	ROLL_CNV	0.028270001	MOTHERBOARD	4	AR_CHKOPENFILES	1
ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	DEVICE1	2	AR_EPOCHTS	1
FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	1	DEVICE2	-1

GPS1	114652,4805.036,-12221.164,16,1.1,16,18.0	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.048,-0.049
_SM_DEPTHo	0.00	KALMAN_X	15509.1,29.9,-11.2,-12550.2,46.2
_SM_ANGLEo	-50.0	KALMAN_Y	-4319.1,-171.1,30.9,-471.3,86.8
GPS2	115118,4805.053,-12221.186,22,1.1,22,18.0	MHEAD_RNG_PITCHd_Wd	117.8,250,-33.0,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	100

FINISH	1.6,0.997293	AR_CDRIVE_SIZE	4223664128
SM_CCo	3607,5.90,0.004,0,0,185,560.76	AR_DDRIVE_FREE	13062668288
SM_GC	0.00,13.82,0.00,0.00,0.003,0.000,0.000,148,2202,186,-11.45,3.73,561.25	AR_DDRIVE_SIZE	59996930048
IRIDIUM_FIX	0.00,0.00,010170,000000	_24V_AH	23.7,14.438
TT8_MAMPS	0.04602	_10V_AH	9.7,30.030
HUMID	1525	DATA_FILE_SIZE	6451,256
INTERNAL_PRESSURE	12.4809	CAP_FILE_SIZE	68851,24
TCM_TEMP	15.00	CFSIZE	260165632,255033344
AR_POSTDIVE_SAMPLENUM	4	ERRORS	0,0,0,0,0,0,0,0,1,0,2,99,154,58,0
AR_CDRIVE_FREE	4122574848	GPS	310708,125526,4805.027,-12221.179,22,1.1,22,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	36	4	3.97	SBE_CT	202	24	115.16
Roll_motor	39	3	3.56	nil	0	0	0.00
VBD_pump_during_apogee	102	4	11.18	nil	0	0	0.00
VBD_pump_during_surface	434	3	39.49	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	0	0.00	ARS	3826	216	19606.11
Iridium_during_xfer	90	223	476.03
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	50	11.24
TT8	559	18	97.66
LPSleep	1794	0	6.79
TT8_Active	961	18	167.83
TT8_Sampling	362	38	133.78
TT8_CF8	321	44	137.36
TT8_Kalman	33	80	25.87
Analog_circuits	1298	12	151.10
GPS_charging	0	0	0.00
Compass	313	26	79.12
RAFOS	0	0	0.00
Transponder	0	0	0.00

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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-2.09	-20.8	0.0	0.0	0	72	0.00	0.00	-43.55	0.000	6	0.000	0.000	145	2177	2564
75	-2.11	-42.3	0.5	-1.5	5	97	11.12	2.47	-2.85	0.000	4	0.004	0.004	2265	3644	2650
400	-2.11	-42.3	23.5	-6.4	34	406	0.30	2.90	0.00	0.000	6	0.004	0.004	2192	1890	2651
438	-2.11	-42.3	25.8	-6.0	37	444	0.25	3.03	0.00	0.000	4	0.003	0.004	2265	3635	2650
747	-2.11	-42.3	44.0	-5.6	64	757	0.30	3.15	0.00	0.000	6	0.004	0.004	2186	1884	2651
788	-2.11	-42.3	46.3	-5.7	68	794	0.25	3.03	0.00	0.000	4	0.004	0.004	2260	3641	2651
1098	-2.12	-47.5	61.6	-4.2	95	1109	0.30	2.60	-0.75	0.000	6	0.004	0.004	2186	1973	2673
1140	-2.12	-50.2	63.5	-4.6	99	1142	0.38	0.00	0.00	0.000	6	0.003	0.000	2264	1974	2672
1172	-2.13	-53.0	65.0	-4.6	102	1176	0.40	0.00	-0.75	0.000	6	0.004	0.000	2193	1974	2696
1204	-2.13	-53.0	66.7	-5.2	105	1209	0.30	2.67	0.00	0.000	4	0.004	0.004	2267	3639	2697
1412	-2.13	-53.0	77.4	-5.3	123	1418	0.30	3.03	0.00	0.000	6	0.004	0.004	2194	1892	2696
1449	-2.13	-53.0	79.3	-5.2	126	1452	0.30	0.00	0.00	0.000	6	0.005	0.000	2270	1894	2696
1481	-2.13	-54.4	80.8	-4.8	129	1484	0.35	0.00	0.00	0.000	6	0.004	0.000	2195	1892	2697
1513	-2.13	-55.7	82.4	-4.8	132	1515	0.32	0.00	0.00	0.000	6	0.004	0.000	2267	1894	2697
1545	-2.13	-58.1	83.8	-4.6	135	1549	0.32	0.00	-0.75	0.000	6	0.003	0.000	2192	1892	2718
1577	-2.14	-61.3	85.3	-4.5	138	1582	0.32	2.35	0.00	0.000	4	0.003	0.004	2266	529	2718
1794	end dive: TARGET_DEPTH_EXCEEDED
state	1794	begin apogee
1803	-0.31	0.0	95.1	5.0	157	1859	2.00	0.00	50.90	0.005	6	0.004	0.000	2677	2190	2472
1860	end apogee: CONTROL_FINISHED_OK
state	1860	begin climb
1863	2.14	61.3	94.8	0.0	163	1926	2.50	2.53	51.60	0.005	4	0.004	0.004	3189	3634	2223
1975	2.14	61.3	83.6	10.8	173	1982	0.30	2.58	0.00	0.000	6	0.004	0.004	3113	1969	2222
2013	2.14	61.3	79.7	10.6	177	2016	0.38	0.00	0.00	0.000	6	0.004	0.000	3187	1970	2222
2045	2.14	61.3	76.5	10.3	180	2048	0.45	0.00	0.00	0.000	6	0.003	0.000	3116	1971	2222
2077	2.14	61.3	73.2	10.4	183	2079	0.40	0.00	0.00	0.000	6	0.003	0.000	3190	1970	2222
2109	2.14	61.3	69.9	10.1	186	2111	0.40	0.00	0.00	0.000	6	0.003	0.000	3115	1969	2222
2141	2.14	61.3	66.5	10.5	189	2143	0.30	0.00	0.00	0.000	6	0.003	0.000	3197	1971	2222
2173	2.14	61.3	63.2	10.5	192	2175	0.32	0.00	0.00	0.000	6	0.004	0.000	3158	1969	2222
2205	2.14	61.3	60.0	10.1	195	2206	0.00	0.00	0.00	0.000	6	0.000	0.000	3161	1969	2223
2236	2.14	61.3	56.8	10.2	198	2238	0.00	0.00	0.00	0.000	6	0.000	0.000	3158	1973	2223
2269	2.14	61.3	53.4	10.5	201	2270	0.00	0.00	0.00	0.000	6	0.000	0.000	3159	1970	2223
2300	2.14	61.3	50.0	10.4	204	2301	0.00	0.00	0.00	0.000	6	0.000	0.000	3161	1970	2222
2332	2.14	61.3	46.7	10.3	207	2333	0.00	0.00	0.00	0.000	6	0.000	0.000	3160	1970	2222
2364	2.14	61.3	43.6	9.8	210	2365	0.00	0.00	0.00	0.000	6	0.000	0.000	3159	1969	2222
2396	2.14	61.3	40.5	10.0	213	2397	0.00	0.00	0.00	0.000	6	0.000	0.000	3158	1969	2222
2428	2.14	61.3	37.4	9.5	216	2429	0.00	0.00	0.00	0.000	6	0.000	0.000	3158	1969	2223
2459	2.14	61.3	34.4	9.7	219	2461	0.00	0.00	0.00	0.000	6	0.000	0.000	3159	1970	2223
2492	2.14	61.3	31.3	9.6	222	2496	0.00	2.85	0.00	0.000	4	0.000	0.004	3159	3639	2223
2721	2.14	61.3	10.7	8.0	242	2726	0.00	2.78	0.00	0.000	6	0.000	0.004	3158	1885	2223
2758	2.14	61.3	7.7	8.4	245	2759	0.00	0.00	0.00	0.000	6	0.000	0.000	3159	1885	2222
2790	2.14	61.3	5.1	8.1	248	2791	0.00	0.00	0.00	0.000	6	0.000	0.000	3159	1887	2222
2822	2.14	61.3	3.0	7.0	251	2824	0.00	0.00	0.00	0.000	6	0.000	0.000	3160	1885	2223
2840	end climb: SURFACE_DEPTH_REACHED
state	2840	begin surface coast
2874	end surface coast: CONTROL_FINISHED_OK
state	2874	begin surface