Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 167 * 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 167 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 -28478.777 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 166

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 167 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 166 D_PITCH 0 PRESSURE_YINT -0.16054545 T_GPS_CHARGE -28478.777

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 165838,4804.921,-12221.240,16,1.1,16,18.0 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.036,0.083

_SM_DEPTHo -0.00 KALMAN_X 16861.8,167.7,-100.8,-14008.1,148.0

_SM_ANGLEo -50.0 KALMAN_Y -2274.6,-152.8,211.6,-2936.1,-190.6

GPS2 170248,4804.933,-12221.233,15,1.1,16,18.0 MHEAD_RNG_PITCHd_Wd 5.6,314,-25.1,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 100

Post-dive calculations and measurements:

FINISH -0.0,0.997105 AR_CDRIVE_SIZE 4223664128

SM_CCo 3167,135.98,0.004,18,0,1250,300.00 AR_DDRIVE_FREE 2039742464

SM_GC 0.00,0.00,0.00,135.98,0.000,0.000,0.004,531,2221,1250,-9.95,4.33,300.00 AR_DDRIVE_SIZE 59996930048

IRIDIUM_FIX 0.00,0.00,010170,000000 _24V_AH 23.8,17.596

TT8_MAMPS 0.046787 _10V_AH 9.6,36.514

HUMID 1674 DATA_FILE_SIZE 6462,274

INTERNAL_PRESSURE 12.4809 CAP_FILE_SIZE 67271,8

TCM_TEMP 15.00 CFSIZE 260165632,254099456

AR_POSTDIVE_SAMPLENUM 4 ERRORS 0,0,0,0,0,0,0,0,1,0,0,76,287,18,0

AR_CDRIVE_FREE 4122574848 GPS 010808,180133,4805.048,-12221.167,31,1.1,31,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 3 3.01 SBE_CT 215 24 122.93

Roll_motor 70 3 6.42 nil 0 0 0.00

VBD_pump_during_apogee 172 4 18.86 nil 0 0 0.00

VBD_pump_during_surface 135 3 12.41 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 3491 216 17968.67

Iridium_during_xfer 86 223 461.26

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.03

TT8 577 18 99.83

LPSleep 1805 0 6.76

TT8_Active 552 18 95.48

TT8_Sampling 405 38 147.76

TT8_CF8 312 44 132.09

TT8_Kalman 33 80 25.60

Analog_circuits 931 12 107.32

GPS_charging 0 0 0.00

Compass 358 26 89.45

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 23 begin dive

26 -1.61 -35.1 0.0 0.0 0 76 0.00 0.00 -45.50 0.000 6 0.000 0.000 242 2256 2622

80 -1.65 -68.8 0.6 -1.7 5 102 10.52 2.85 -4.53 0.000 4 0.004 0.004 2359 474 2759

114 -1.65 -68.8 4.2 -15.5 8 124 0.30 3.03 0.00 0.000 6 0.004 0.004 2288 2234 2760

156 -1.65 -68.8 10.2 -12.9 12 166 0.38 2.97 0.00 0.000 4 0.004 0.004 2363 471 2760

211 -1.65 -68.8 14.0 -6.2 17 217 0.30 2.92 0.00 0.000 6 0.003 0.004 2283 2238 2759

250 -1.66 -70.2 15.9 -4.9 20 256 0.38 2.47 0.00 0.000 4 0.004 0.004 2356 3650 2760

357 -1.66 -74.0 20.8 -4.6 29 368 0.30 3.15 -0.73 0.000 6 0.003 0.004 2281 1891 2782

400 -1.66 -74.0 23.2 -5.5 33 405 0.38 2.30 0.00 0.000 4 0.004 0.004 2355 545 2782

709 -1.66 -74.0 39.6 -5.8 60 715 0.30 2.78 0.00 0.000 6 0.003 0.004 2279 2200 2781

746 -1.66 -74.0 41.5 -5.2 63 752 0.28 2.90 0.00 0.000 4 0.004 0.004 2354 467 2781

1056 -1.66 -74.0 59.1 -5.6 90 1062 0.30 3.03 0.00 0.000 6 0.004 0.004 2282 2241 2782

1093 -1.66 -74.0 61.4 -6.1 93 1099 0.40 2.85 0.00 0.000 4 0.004 0.004 2352 496 2782

1403 -1.66 -74.0 80.2 -6.4 120 1408 0.00 3.10 0.00 0.000 6 0.000 0.004 2353 2241 2781

1441 -1.66 -74.0 82.4 -5.8 123 1446 0.28 2.70 0.00 0.000 4 0.004 0.004 2280 562 2782

1588 -1.66 -74.0 91.0 -5.8 135 1595 0.47 2.78 0.00 0.000 6 0.003 0.004 2387 2209 2781

1626 -1.66 -74.0 93.3 -6.0 139 1628 0.52 0.00 0.00 0.000 6 0.004 0.000 2269 2208 2782

1657 -1.66 -74.0 95.0 -5.7 142 1661 0.43 0.93 0.00 0.000 3 0.004 0.004 2382 1685 2781

1662 end dive: TARGET_DEPTH_EXCEEDED

state 1662 begin apogee

1670 -0.31 0.0 95.2 5.2 142 1738 1.40 0.00 63.65 0.005 6 0.004 0.000 2684 2193 2473

1739 end apogee: CONTROL_FINISHED_OK

state 1739 begin climb

1742 1.66 74.0 95.2 0.0 149 1814 1.98 2.40 61.88 0.005 4 0.004 0.004 3063 3650 2170

1870 1.66 74.0 84.5 9.5 161 1875 0.00 2.92 0.00 0.000 6 0.000 0.004 3061 1908 2171

1908 1.66 74.0 80.9 9.9 164 1909 0.00 0.00 0.00 0.000 6 0.000 0.000 3061 1906 2171

1939 1.66 74.0 78.2 8.7 167 1941 0.00 0.00 0.00 0.000 6 0.000 0.000 3061 1906 2171

1971 1.66 74.0 75.3 9.2 170 1973 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 1906 2172

2003 1.66 74.0 72.4 9.0 173 2009 0.00 3.22 0.00 0.000 4 0.000 0.004 3061 3659 2170

2126 1.66 74.0 61.0 9.5 183 2132 0.00 3.15 0.00 0.000 6 0.000 0.004 3062 1936 2171

2164 1.66 74.0 57.5 9.7 187 2165 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 1937 2170

2196 1.66 74.0 54.5 9.4 190 2197 0.00 0.00 0.00 0.000 6 0.000 0.000 3060 1935 2170

2228 1.66 74.0 51.5 9.5 193 2229 0.00 0.00 0.00 0.000 6 0.000 0.000 3061 1937 2171

2259 1.66 74.0 48.6 9.3 196 2260 0.00 0.00 0.00 0.000 6 0.000 0.000 3061 1936 2170

2291 1.66 74.0 45.8 8.9 199 2292 0.00 0.00 0.00 0.000 6 0.000 0.000 3061 1936 2171

2323 1.66 74.0 42.8 9.1 202 2324 0.00 0.00 0.00 0.000 6 0.000 0.000 3061 1935 2171

2355 1.66 74.0 39.9 9.1 205 2356 0.00 0.00 0.00 0.000 6 0.000 0.000 3061 1934 2170

2387 1.66 74.0 37.0 9.2 208 2388 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 1935 2172

2419 1.66 74.0 34.2 8.9 211 2423 0.00 2.45 0.00 0.000 4 0.000 0.004 3060 511 2171

2682 1.66 74.0 12.5 8.4 234 2687 0.00 2.95 0.00 0.000 6 0.000 0.004 3060 2250 2170

2719 1.66 74.0 9.4 8.2 237 2724 0.00 2.95 0.00 0.000 4 0.000 0.004 3059 518 2171

2808 1.66 76.4 3.4 4.8 244 2817 0.00 2.78 3.50 0.004 6 0.000 0.004 3061 2262 2160

2857 1.74 142.8 3.7 -1.6 249 2908 0.00 3.10 43.12 0.005 4 0.000 0.003 3061 519 1889

3123 end climb: SURFACE_DEPTH_REACHED

state 3124 begin surface coast

3136 end surface coast: CONTROL_FINISHED_OK

state 3136 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	167	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	-28478.777	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	166
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	165838,4804.921,-12221.240,16,1.1,16,18.0	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.036,0.083
_SM_DEPTHo	-0.00	KALMAN_X	16861.8,167.7,-100.8,-14008.1,148.0
_SM_ANGLEo	-50.0	KALMAN_Y	-2274.6,-152.8,211.6,-2936.1,-190.6
GPS2	170248,4804.933,-12221.233,15,1.1,16,18.0	MHEAD_RNG_PITCHd_Wd	5.6,314,-25.1,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	100

FINISH	-0.0,0.997105	AR_CDRIVE_SIZE	4223664128
SM_CCo	3167,135.98,0.004,18,0,1250,300.00	AR_DDRIVE_FREE	2039742464
SM_GC	0.00,0.00,0.00,135.98,0.000,0.000,0.004,531,2221,1250,-9.95,4.33,300.00	AR_DDRIVE_SIZE	59996930048
IRIDIUM_FIX	0.00,0.00,010170,000000	_24V_AH	23.8,17.596
TT8_MAMPS	0.046787	_10V_AH	9.6,36.514
HUMID	1674	DATA_FILE_SIZE	6462,274
INTERNAL_PRESSURE	12.4809	CAP_FILE_SIZE	67271,8
TCM_TEMP	15.00	CFSIZE	260165632,254099456
AR_POSTDIVE_SAMPLENUM	4	ERRORS	0,0,0,0,0,0,0,0,1,0,0,76,287,18,0
AR_CDRIVE_FREE	4122574848	GPS	010808,180133,4805.048,-12221.167,31,1.1,31,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	3	3.01	SBE_CT	215	24	122.93
Roll_motor	70	3	6.42	nil	0	0	0.00
VBD_pump_during_apogee	172	4	18.86	nil	0	0	0.00
VBD_pump_during_surface	135	3	12.41	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	3491	216	17968.67
Iridium_during_xfer	86	223	461.26
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.03
TT8	577	18	99.83
LPSleep	1805	0	6.76
TT8_Active	552	18	95.48
TT8_Sampling	405	38	147.76
TT8_CF8	312	44	132.09
TT8_Kalman	33	80	25.60
Analog_circuits	931	12	107.32
GPS_charging	0	0	0.00
Compass	358	26	89.45
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	23	begin dive
26	-1.61	-35.1	0.0	0.0	0	76	0.00	0.00	-45.50	0.000	6	0.000	0.000	242	2256	2622
80	-1.65	-68.8	0.6	-1.7	5	102	10.52	2.85	-4.53	0.000	4	0.004	0.004	2359	474	2759
114	-1.65	-68.8	4.2	-15.5	8	124	0.30	3.03	0.00	0.000	6	0.004	0.004	2288	2234	2760
156	-1.65	-68.8	10.2	-12.9	12	166	0.38	2.97	0.00	0.000	4	0.004	0.004	2363	471	2760
211	-1.65	-68.8	14.0	-6.2	17	217	0.30	2.92	0.00	0.000	6	0.003	0.004	2283	2238	2759
250	-1.66	-70.2	15.9	-4.9	20	256	0.38	2.47	0.00	0.000	4	0.004	0.004	2356	3650	2760
357	-1.66	-74.0	20.8	-4.6	29	368	0.30	3.15	-0.73	0.000	6	0.003	0.004	2281	1891	2782
400	-1.66	-74.0	23.2	-5.5	33	405	0.38	2.30	0.00	0.000	4	0.004	0.004	2355	545	2782
709	-1.66	-74.0	39.6	-5.8	60	715	0.30	2.78	0.00	0.000	6	0.003	0.004	2279	2200	2781
746	-1.66	-74.0	41.5	-5.2	63	752	0.28	2.90	0.00	0.000	4	0.004	0.004	2354	467	2781
1056	-1.66	-74.0	59.1	-5.6	90	1062	0.30	3.03	0.00	0.000	6	0.004	0.004	2282	2241	2782
1093	-1.66	-74.0	61.4	-6.1	93	1099	0.40	2.85	0.00	0.000	4	0.004	0.004	2352	496	2782
1403	-1.66	-74.0	80.2	-6.4	120	1408	0.00	3.10	0.00	0.000	6	0.000	0.004	2353	2241	2781
1441	-1.66	-74.0	82.4	-5.8	123	1446	0.28	2.70	0.00	0.000	4	0.004	0.004	2280	562	2782
1588	-1.66	-74.0	91.0	-5.8	135	1595	0.47	2.78	0.00	0.000	6	0.003	0.004	2387	2209	2781
1626	-1.66	-74.0	93.3	-6.0	139	1628	0.52	0.00	0.00	0.000	6	0.004	0.000	2269	2208	2782
1657	-1.66	-74.0	95.0	-5.7	142	1661	0.43	0.93	0.00	0.000	3	0.004	0.004	2382	1685	2781
1662	end dive: TARGET_DEPTH_EXCEEDED
state	1662	begin apogee
1670	-0.31	0.0	95.2	5.2	142	1738	1.40	0.00	63.65	0.005	6	0.004	0.000	2684	2193	2473
1739	end apogee: CONTROL_FINISHED_OK
state	1739	begin climb
1742	1.66	74.0	95.2	0.0	149	1814	1.98	2.40	61.88	0.005	4	0.004	0.004	3063	3650	2170
1870	1.66	74.0	84.5	9.5	161	1875	0.00	2.92	0.00	0.000	6	0.000	0.004	3061	1908	2171
1908	1.66	74.0	80.9	9.9	164	1909	0.00	0.00	0.00	0.000	6	0.000	0.000	3061	1906	2171
1939	1.66	74.0	78.2	8.7	167	1941	0.00	0.00	0.00	0.000	6	0.000	0.000	3061	1906	2171
1971	1.66	74.0	75.3	9.2	170	1973	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	1906	2172
2003	1.66	74.0	72.4	9.0	173	2009	0.00	3.22	0.00	0.000	4	0.000	0.004	3061	3659	2170
2126	1.66	74.0	61.0	9.5	183	2132	0.00	3.15	0.00	0.000	6	0.000	0.004	3062	1936	2171
2164	1.66	74.0	57.5	9.7	187	2165	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	1937	2170
2196	1.66	74.0	54.5	9.4	190	2197	0.00	0.00	0.00	0.000	6	0.000	0.000	3060	1935	2170
2228	1.66	74.0	51.5	9.5	193	2229	0.00	0.00	0.00	0.000	6	0.000	0.000	3061	1937	2171
2259	1.66	74.0	48.6	9.3	196	2260	0.00	0.00	0.00	0.000	6	0.000	0.000	3061	1936	2170
2291	1.66	74.0	45.8	8.9	199	2292	0.00	0.00	0.00	0.000	6	0.000	0.000	3061	1936	2171
2323	1.66	74.0	42.8	9.1	202	2324	0.00	0.00	0.00	0.000	6	0.000	0.000	3061	1935	2171
2355	1.66	74.0	39.9	9.1	205	2356	0.00	0.00	0.00	0.000	6	0.000	0.000	3061	1934	2170
2387	1.66	74.0	37.0	9.2	208	2388	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	1935	2172
2419	1.66	74.0	34.2	8.9	211	2423	0.00	2.45	0.00	0.000	4	0.000	0.004	3060	511	2171
2682	1.66	74.0	12.5	8.4	234	2687	0.00	2.95	0.00	0.000	6	0.000	0.004	3060	2250	2170
2719	1.66	74.0	9.4	8.2	237	2724	0.00	2.95	0.00	0.000	4	0.000	0.004	3059	518	2171
2808	1.66	76.4	3.4	4.8	244	2817	0.00	2.78	3.50	0.004	6	0.000	0.004	3061	2262	2160
2857	1.74	142.8	3.7	-1.6	249	2908	0.00	3.10	43.12	0.005	4	0.000	0.003	3061	519	1889
3123	end climb: SURFACE_DEPTH_REACHED
state	3124	begin surface coast
3136	end surface coast: CONTROL_FINISHED_OK
state	3136	begin surface