Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 156 * 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 156 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 -28225.775 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 155

T_WATCHDOG 10 C_PITCH 2692 ALTIM_BOTTOM_PING_RANGE 25 AR_SAMPLENUM 4

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 156 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 155 D_PITCH 0 PRESSURE_YINT -0.16054545 T_GPS_CHARGE -28225.775

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 4 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 041804,4808.006,-12224.076,26,1.1,26,18.0 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.079,-0.136

_SM_DEPTHo -0.00 KALMAN_X 15523.7,16.6,-122.9,-15999.7,4.4

_SM_ANGLEo -50.0 KALMAN_Y -2579.4,176.8,224.9,2709.2,71.0

GPS2 042159,4808.003,-12224.064,14,1.1,14,18.0 MHEAD_RNG_PITCHd_Wd 132.0,6731,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 100

Post-dive calculations and measurements:

FINISH 1.3,0.997073 AR_CDRIVE_SIZE 4223664128

SM_CCo 3601,129.30,0.004,17,0,1249,300.00 AR_DDRIVE_FREE 6851887104

SM_GC 0.00,0.00,0.00,129.30,0.000,0.000,0.004,144,2251,1249,-11.72,5.12,300.00 AR_DDRIVE_SIZE 59996930048

IRIDIUM_FIX 0.00,0.00,010170,000000 _24V_AH 23.8,16.226

TT8_MAMPS 0.04602 _10V_AH 9.7,33.718

HUMID 1688 DATA_FILE_SIZE 9554,322

INTERNAL_PRESSURE 12.4321 CAP_FILE_SIZE 79078,8

TCM_TEMP 15.00 CFSIZE 260165632,254488576

AR_POSTDIVE_SAMPLENUM 5 ERRORS 0,0,0,0,0,0,0,0,1,0,0,93,163,17,0

AR_CDRIVE_FREE 4122574848 GPS 010808,052738,4807.938,-12223.980,22,1.1,22,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 39 3 3.65 SBE_CT 252 24 144.39

Roll_motor 39 3 3.63 nil 0 0 0.00

VBD_pump_during_apogee 248 4 27.21 nil 0 0 0.00

VBD_pump_during_surface 129 3 11.80 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 3887 216 20005.32

Iridium_during_xfer 81 223 432.80

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.12

TT8 670 18 117.15

LPSleep 2030 0 7.68

TT8_Active 613 18 107.08

TT8_Sampling 408 38 150.48

TT8_CF8 340 44 145.47

TT8_Kalman 33 80 25.88

Analog_circuits 1012 12 117.88

GPS_charging 0 0 0.00

Compass 361 26 91.19

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

26 -0.84 -146.6 0.0 0.0 0 89 0.00 0.00 -60.58 0.000 6 0.000 0.000 231 1970 3078

93 -0.84 -146.6 0.3 -0.6 6 114 11.38 2.65 0.00 0.000 4 0.004 0.004 2541 3623 3078

417 -0.84 -146.6 22.0 -5.8 35 423 0.30 2.90 0.00 0.000 6 0.004 0.004 2465 1934 3079

455 -0.84 -146.6 24.0 -5.5 38 460 0.32 2.70 0.00 0.000 4 0.004 0.003 2539 3597 3078

764 -0.84 -146.6 40.5 -5.4 65 770 0.28 2.78 0.00 0.000 6 0.003 0.004 2466 1950 3078

802 -0.84 -146.6 42.5 -5.5 68 804 0.40 0.00 0.00 0.000 6 0.003 0.000 2536 1950 3079

833 -0.84 -146.6 44.2 -5.4 71 836 0.35 0.00 0.00 0.000 6 0.003 0.000 2461 1950 3078

865 -0.84 -146.6 45.9 -5.1 74 867 0.32 0.00 0.00 0.000 6 0.003 0.000 2536 1949 3079

897 -0.84 -146.6 47.6 -5.4 77 899 0.30 0.00 0.00 0.000 6 0.003 0.000 2460 1950 3079

929 -0.84 -146.6 49.3 -5.4 80 931 0.40 0.00 0.00 0.000 6 0.004 0.000 2532 1951 3078

961 -0.84 -146.6 51.0 -5.3 83 963 0.30 0.00 0.00 0.000 6 0.003 0.000 2459 1949 3078

993 -0.84 -146.6 52.7 -5.3 86 995 0.40 0.00 0.00 0.000 6 0.003 0.000 2536 1950 3078

1025 -0.84 -146.6 54.4 -5.3 89 1027 0.43 0.00 0.00 0.000 6 0.004 0.000 2458 1950 3078

1058 -0.84 -146.6 56.1 -5.4 92 1060 0.38 0.00 0.00 0.000 6 0.003 0.000 2497 1949 3079

1089 -0.84 -146.6 57.7 -5.0 95 1090 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 1950 3078

1120 -0.84 -146.6 59.3 -5.1 98 1121 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 1951 3078

1152 -0.84 -146.6 61.0 -5.4 101 1153 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 1950 3078

1184 -0.84 -146.6 62.7 -5.2 104 1185 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 1949 3078

1216 -0.84 -146.6 64.3 -5.0 107 1217 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 1949 3079

1248 -0.84 -146.6 65.8 -4.9 110 1249 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 1949 3077

1280 -0.84 -146.6 67.3 -4.9 113 1281 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 1951 3077

1312 -0.84 -146.6 69.0 -4.9 116 1313 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 1950 3078

1343 -0.84 -146.6 70.5 -4.9 119 1345 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 1949 3078

1375 -0.84 -146.6 72.1 -4.9 122 1377 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 1948 3078

1407 -0.84 -146.6 73.8 -5.1 125 1408 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 1949 3079

1439 -0.84 -146.6 75.4 -5.3 128 1440 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 1949 3078

1471 -0.84 -146.6 77.1 -5.1 131 1475 0.00 2.53 0.00 0.000 4 0.000 0.004 2497 521 3078

1733 -0.84 -146.6 90.7 -5.2 154 1738 0.00 2.78 0.00 0.000 6 0.000 0.004 2496 2184 3078

1771 -0.84 -146.6 92.6 -5.0 157 1772 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2184 3078

1803 -0.84 -146.6 94.3 -5.2 160 1804 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2184 3078

1821 end dive: TARGET_DEPTH_EXCEEDED

state 1821 begin apogee

1828 -0.31 0.0 95.2 4.5 162 1956 0.73 0.00 122.18 0.005 6 0.004 0.000 2651 1981 2471

1956 end apogee: CONTROL_FINISHED_OK

state 1957 begin climb

1960 0.84 146.6 96.2 0.0 175 2086 1.25 0.00 121.03 0.005 6 0.004 0.000 2903 1979 1875

2118 0.84 146.6 88.0 6.2 191 2128 0.38 3.12 0.00 0.000 4 0.004 0.003 2829 3633 1875

2341 0.84 146.6 74.1 5.9 211 2347 0.28 2.80 0.00 0.000 6 0.004 0.004 2902 1978 1874

2378 0.84 146.6 71.9 5.9 214 2380 0.30 0.00 0.00 0.000 6 0.003 0.000 2828 1977 1874

2410 0.84 146.6 70.1 5.8 217 2416 0.35 2.80 0.00 0.000 4 0.004 0.004 2902 3636 1874

2720 0.84 146.6 50.9 6.1 244 2729 0.30 3.15 0.00 0.000 6 0.003 0.004 2825 1886 1875

2762 0.84 146.6 48.0 7.1 248 2765 0.40 0.00 0.00 0.000 6 0.003 0.000 2905 1886 1875

2793 0.84 146.6 45.9 6.6 251 2795 0.28 0.00 0.00 0.000 6 0.004 0.000 2826 1886 1875

2825 0.84 146.6 43.9 6.3 254 2827 0.35 0.00 0.00 0.000 6 0.003 0.000 2900 1886 1875

2857 0.84 146.6 42.0 6.1 257 2859 0.35 0.00 0.00 0.000 6 0.003 0.000 2824 1888 1874

2889 0.84 146.6 40.1 6.2 260 2891 0.35 0.00 0.00 0.000 6 0.004 0.000 2902 1886 1874

2921 0.84 146.6 38.2 6.0 263 2923 0.38 0.00 0.00 0.000 6 0.004 0.000 2825 1887 1874

2952 0.84 146.6 36.2 6.3 266 2954 0.30 0.00 0.00 0.000 6 0.003 0.000 2902 1888 1875

2984 0.84 146.6 34.3 5.9 269 2986 0.30 0.00 0.00 0.000 6 0.004 0.000 2828 1888 1875

3016 0.84 146.6 32.3 6.1 272 3018 0.45 0.00 0.00 0.000 6 0.004 0.000 2901 1887 1874

3048 0.84 146.6 30.3 6.1 275 3050 0.30 0.00 0.00 0.000 6 0.004 0.000 2826 1885 1875

3080 0.84 146.6 28.5 6.0 278 3082 0.40 0.00 0.00 0.000 6 0.004 0.000 2897 1887 1877

3112 0.84 146.6 26.5 6.2 281 3113 0.00 0.00 0.00 0.000 6 0.000 0.000 2896 1887 1873

3144 0.84 146.6 24.7 5.6 284 3150 0.30 2.90 0.00 0.000 4 0.004 0.004 2816 3635 1876

3379 0.84 146.6 11.2 5.7 304 3387 0.50 2.95 0.00 0.000 6 0.003 0.003 2931 1905 1874

3417 0.84 146.6 9.2 5.5 308 3420 0.55 0.00 0.00 0.000 6 0.003 0.000 2815 1906 1874

3449 0.84 146.6 7.3 5.8 311 3452 0.55 0.00 0.00 0.000 6 0.004 0.000 2925 1905 1874

3481 0.84 146.6 5.6 5.4 314 3483 0.55 0.00 0.00 0.000 6 0.003 0.000 2814 1906 1874

3513 0.85 151.5 4.1 4.9 317 3526 0.43 2.53 5.28 0.004 4 0.004 0.003 2929 466 1853

3557 end climb: SURFACE_DEPTH_REACHED

state 3557 begin surface coast

3569 end surface coast: CONTROL_FINISHED_OK

state 3569 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	156	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	-28225.775	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	155
T_WATCHDOG	10	C_PITCH	2692	ALTIM_BOTTOM_PING_RANGE	25	AR_SAMPLENUM	4
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	041804,4808.006,-12224.076,26,1.1,26,18.0	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.079,-0.136
_SM_DEPTHo	-0.00	KALMAN_X	15523.7,16.6,-122.9,-15999.7,4.4
_SM_ANGLEo	-50.0	KALMAN_Y	-2579.4,176.8,224.9,2709.2,71.0
GPS2	042159,4808.003,-12224.064,14,1.1,14,18.0	MHEAD_RNG_PITCHd_Wd	132.0,6731,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	100

FINISH	1.3,0.997073	AR_CDRIVE_SIZE	4223664128
SM_CCo	3601,129.30,0.004,17,0,1249,300.00	AR_DDRIVE_FREE	6851887104
SM_GC	0.00,0.00,0.00,129.30,0.000,0.000,0.004,144,2251,1249,-11.72,5.12,300.00	AR_DDRIVE_SIZE	59996930048
IRIDIUM_FIX	0.00,0.00,010170,000000	_24V_AH	23.8,16.226
TT8_MAMPS	0.04602	_10V_AH	9.7,33.718
HUMID	1688	DATA_FILE_SIZE	9554,322
INTERNAL_PRESSURE	12.4321	CAP_FILE_SIZE	79078,8
TCM_TEMP	15.00	CFSIZE	260165632,254488576
AR_POSTDIVE_SAMPLENUM	5	ERRORS	0,0,0,0,0,0,0,0,1,0,0,93,163,17,0
AR_CDRIVE_FREE	4122574848	GPS	010808,052738,4807.938,-12223.980,22,1.1,22,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	39	3	3.65	SBE_CT	252	24	144.39
Roll_motor	39	3	3.63	nil	0	0	0.00
VBD_pump_during_apogee	248	4	27.21	nil	0	0	0.00
VBD_pump_during_surface	129	3	11.80	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	3887	216	20005.32
Iridium_during_xfer	81	223	432.80
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.12
TT8	670	18	117.15
LPSleep	2030	0	7.68
TT8_Active	613	18	107.08
TT8_Sampling	408	38	150.48
TT8_CF8	340	44	145.47
TT8_Kalman	33	80	25.88
Analog_circuits	1012	12	117.88
GPS_charging	0	0	0.00
Compass	361	26	91.19
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
26	-0.84	-146.6	0.0	0.0	0	89	0.00	0.00	-60.58	0.000	6	0.000	0.000	231	1970	3078
93	-0.84	-146.6	0.3	-0.6	6	114	11.38	2.65	0.00	0.000	4	0.004	0.004	2541	3623	3078
417	-0.84	-146.6	22.0	-5.8	35	423	0.30	2.90	0.00	0.000	6	0.004	0.004	2465	1934	3079
455	-0.84	-146.6	24.0	-5.5	38	460	0.32	2.70	0.00	0.000	4	0.004	0.003	2539	3597	3078
764	-0.84	-146.6	40.5	-5.4	65	770	0.28	2.78	0.00	0.000	6	0.003	0.004	2466	1950	3078
802	-0.84	-146.6	42.5	-5.5	68	804	0.40	0.00	0.00	0.000	6	0.003	0.000	2536	1950	3079
833	-0.84	-146.6	44.2	-5.4	71	836	0.35	0.00	0.00	0.000	6	0.003	0.000	2461	1950	3078
865	-0.84	-146.6	45.9	-5.1	74	867	0.32	0.00	0.00	0.000	6	0.003	0.000	2536	1949	3079
897	-0.84	-146.6	47.6	-5.4	77	899	0.30	0.00	0.00	0.000	6	0.003	0.000	2460	1950	3079
929	-0.84	-146.6	49.3	-5.4	80	931	0.40	0.00	0.00	0.000	6	0.004	0.000	2532	1951	3078
961	-0.84	-146.6	51.0	-5.3	83	963	0.30	0.00	0.00	0.000	6	0.003	0.000	2459	1949	3078
993	-0.84	-146.6	52.7	-5.3	86	995	0.40	0.00	0.00	0.000	6	0.003	0.000	2536	1950	3078
1025	-0.84	-146.6	54.4	-5.3	89	1027	0.43	0.00	0.00	0.000	6	0.004	0.000	2458	1950	3078
1058	-0.84	-146.6	56.1	-5.4	92	1060	0.38	0.00	0.00	0.000	6	0.003	0.000	2497	1949	3079
1089	-0.84	-146.6	57.7	-5.0	95	1090	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	1950	3078
1120	-0.84	-146.6	59.3	-5.1	98	1121	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	1951	3078
1152	-0.84	-146.6	61.0	-5.4	101	1153	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	1950	3078
1184	-0.84	-146.6	62.7	-5.2	104	1185	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	1949	3078
1216	-0.84	-146.6	64.3	-5.0	107	1217	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	1949	3079
1248	-0.84	-146.6	65.8	-4.9	110	1249	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	1949	3077
1280	-0.84	-146.6	67.3	-4.9	113	1281	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	1951	3077
1312	-0.84	-146.6	69.0	-4.9	116	1313	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	1950	3078
1343	-0.84	-146.6	70.5	-4.9	119	1345	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	1949	3078
1375	-0.84	-146.6	72.1	-4.9	122	1377	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	1948	3078
1407	-0.84	-146.6	73.8	-5.1	125	1408	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	1949	3079
1439	-0.84	-146.6	75.4	-5.3	128	1440	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	1949	3078
1471	-0.84	-146.6	77.1	-5.1	131	1475	0.00	2.53	0.00	0.000	4	0.000	0.004	2497	521	3078
1733	-0.84	-146.6	90.7	-5.2	154	1738	0.00	2.78	0.00	0.000	6	0.000	0.004	2496	2184	3078
1771	-0.84	-146.6	92.6	-5.0	157	1772	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2184	3078
1803	-0.84	-146.6	94.3	-5.2	160	1804	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2184	3078
1821	end dive: TARGET_DEPTH_EXCEEDED
state	1821	begin apogee
1828	-0.31	0.0	95.2	4.5	162	1956	0.73	0.00	122.18	0.005	6	0.004	0.000	2651	1981	2471
1956	end apogee: CONTROL_FINISHED_OK
state	1957	begin climb
1960	0.84	146.6	96.2	0.0	175	2086	1.25	0.00	121.03	0.005	6	0.004	0.000	2903	1979	1875
2118	0.84	146.6	88.0	6.2	191	2128	0.38	3.12	0.00	0.000	4	0.004	0.003	2829	3633	1875
2341	0.84	146.6	74.1	5.9	211	2347	0.28	2.80	0.00	0.000	6	0.004	0.004	2902	1978	1874
2378	0.84	146.6	71.9	5.9	214	2380	0.30	0.00	0.00	0.000	6	0.003	0.000	2828	1977	1874
2410	0.84	146.6	70.1	5.8	217	2416	0.35	2.80	0.00	0.000	4	0.004	0.004	2902	3636	1874
2720	0.84	146.6	50.9	6.1	244	2729	0.30	3.15	0.00	0.000	6	0.003	0.004	2825	1886	1875
2762	0.84	146.6	48.0	7.1	248	2765	0.40	0.00	0.00	0.000	6	0.003	0.000	2905	1886	1875
2793	0.84	146.6	45.9	6.6	251	2795	0.28	0.00	0.00	0.000	6	0.004	0.000	2826	1886	1875
2825	0.84	146.6	43.9	6.3	254	2827	0.35	0.00	0.00	0.000	6	0.003	0.000	2900	1886	1875
2857	0.84	146.6	42.0	6.1	257	2859	0.35	0.00	0.00	0.000	6	0.003	0.000	2824	1888	1874
2889	0.84	146.6	40.1	6.2	260	2891	0.35	0.00	0.00	0.000	6	0.004	0.000	2902	1886	1874
2921	0.84	146.6	38.2	6.0	263	2923	0.38	0.00	0.00	0.000	6	0.004	0.000	2825	1887	1874
2952	0.84	146.6	36.2	6.3	266	2954	0.30	0.00	0.00	0.000	6	0.003	0.000	2902	1888	1875
2984	0.84	146.6	34.3	5.9	269	2986	0.30	0.00	0.00	0.000	6	0.004	0.000	2828	1888	1875
3016	0.84	146.6	32.3	6.1	272	3018	0.45	0.00	0.00	0.000	6	0.004	0.000	2901	1887	1874
3048	0.84	146.6	30.3	6.1	275	3050	0.30	0.00	0.00	0.000	6	0.004	0.000	2826	1885	1875
3080	0.84	146.6	28.5	6.0	278	3082	0.40	0.00	0.00	0.000	6	0.004	0.000	2897	1887	1877
3112	0.84	146.6	26.5	6.2	281	3113	0.00	0.00	0.00	0.000	6	0.000	0.000	2896	1887	1873
3144	0.84	146.6	24.7	5.6	284	3150	0.30	2.90	0.00	0.000	4	0.004	0.004	2816	3635	1876
3379	0.84	146.6	11.2	5.7	304	3387	0.50	2.95	0.00	0.000	6	0.003	0.003	2931	1905	1874
3417	0.84	146.6	9.2	5.5	308	3420	0.55	0.00	0.00	0.000	6	0.003	0.000	2815	1906	1874
3449	0.84	146.6	7.3	5.8	311	3452	0.55	0.00	0.00	0.000	6	0.004	0.000	2925	1905	1874
3481	0.84	146.6	5.6	5.4	314	3483	0.55	0.00	0.00	0.000	6	0.003	0.000	2814	1906	1874
3513	0.85	151.5	4.1	4.9	317	3526	0.43	2.53	5.28	0.004	4	0.004	0.003	2929	466	1853
3557	end climb: SURFACE_DEPTH_REACHED
state	3557	begin surface coast
3569	end surface coast: CONTROL_FINISHED_OK
state	3569	begin surface