Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 171 * 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 171 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 -28593.006 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 170

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 2 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 171 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 170 D_PITCH 0 PRESSURE_YINT -0.16054545 T_GPS_CHARGE -28593.006

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 2 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 212354,4805.483,-12221.260,15,1.1,15,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.117,0.105

_SM_DEPTHo -0.00 KALMAN_X 17130.8,54.7,39.6,-14339.7,72.6

_SM_ANGLEo -50.0 KALMAN_Y -2040.4,-217.6,-221.8,-1577.0,100.8

GPS2 212817,4805.527,-12221.259,27,1.1,27,18.0 MHEAD_RNG_PITCHd_Wd 294.0,5697,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.6,0.997259 AR_CDRIVE_SIZE 4223664128

SM_CCo 4019,114.95,0.004,15,0,1249,300.00 AR_DDRIVE_FREE 291012608

SM_GC 0.00,0.00,0.00,114.95,0.000,0.000,0.004,146,2206,1249,-11.71,3.90,300.00 AR_DDRIVE_SIZE 59996930048

IRIDIUM_FIX 0.00,0.00,010170,000000 _24V_AH 23.8,18.074

TT8_MAMPS 0.04602 _10V_AH 9.7,37.551

HUMID 1574 DATA_FILE_SIZE 9563,362

INTERNAL_PRESSURE 12.5102 CAP_FILE_SIZE 89680,8

TCM_TEMP 15.00 CFSIZE 260165632,253931520

AR_POSTDIVE_SAMPLENUM 5 ERRORS 0,0,0,0,0,0,0,0,1,0,0,53,179,15,0

AR_CDRIVE_FREE 4122574848 GPS 010808,224033,4805.861,-12221.665,28,1.1,28,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 3 2.70 SBE_CT 284 24 162.76

Roll_motor 44 3 4.05 nil 0 0 0.00

VBD_pump_during_apogee 261 4 28.67 nil 0 0 0.00

VBD_pump_during_surface 114 3 10.49 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 4276 216 22008.46

Iridium_during_xfer 86 223 458.35

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 50 13.26

TT8 751 18 131.26

LPSleep 2294 0 8.68

TT8_Active 604 18 105.49

TT8_Sampling 443 38 163.34

TT8_CF8 387 44 165.19

TT8_Kalman 33 80 25.87

Analog_circuits 1043 12 121.46

GPS_charging 0 0 0.00

Compass 380 26 96.01

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 -0.84 -146.6 0.0 0.0 0 92 0.00 0.00 -60.65 0.000 6 0.000 0.000 143 2013 3075

95 -0.84 -146.6 0.6 -0.9 7 116 11.88 2.45 0.00 0.000 4 0.004 0.004 2525 473 3075

420 -0.84 -146.6 23.0 -4.7 36 426 0.00 3.28 0.00 0.000 6 0.000 0.004 2529 2225 3076

458 -0.84 -146.6 24.9 -5.3 39 463 0.00 3.10 0.00 0.000 4 0.000 0.004 2529 471 3075

703 -0.84 -146.6 36.9 -5.1 60 710 0.00 2.90 0.00 0.000 6 0.000 0.003 2527 2214 3075

742 -0.84 -146.6 38.5 -4.4 64 743 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2212 3076

773 -0.84 -146.6 40.0 -4.6 67 775 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2212 3075

806 -0.84 -146.6 41.5 -4.7 70 807 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2213 3076

837 -0.84 -146.6 43.0 -4.5 73 838 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2210 3076

869 -0.84 -146.6 44.4 -4.7 76 870 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2214 3076

901 -0.84 -146.6 45.8 -4.4 79 902 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2213 3076

933 -0.84 -146.6 47.3 -4.6 82 934 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2214 3076

965 -0.84 -146.6 48.8 -4.7 85 966 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2213 3076

997 -0.84 -146.6 50.2 -4.6 88 998 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2211 3076

1029 -0.84 -146.6 51.7 -4.4 91 1033 0.00 2.42 0.00 0.000 4 0.000 0.004 2529 3633 3075

1128 -0.84 -146.6 56.2 -4.4 99 1134 0.00 2.72 0.00 0.000 6 0.000 0.004 2528 1974 3076

1166 -0.84 -146.6 57.8 -4.5 103 1168 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1975 3076

1198 -0.84 -146.6 59.3 -4.5 106 1199 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 1975 3074

1230 -0.84 -146.6 60.6 -4.3 109 1231 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1973 3075

1262 -0.84 -146.6 62.0 -4.5 112 1263 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 1974 3076

1294 -0.84 -146.6 63.4 -4.4 115 1295 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1973 3076

1326 -0.84 -146.6 64.7 -4.2 118 1327 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 1974 3075

1358 -0.84 -146.6 66.1 -4.3 121 1359 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1974 3076

1389 -0.84 -146.6 67.5 -4.5 124 1394 0.00 2.78 0.00 0.000 4 0.000 0.003 2528 3619 3076

1489 -0.84 -146.6 72.0 -4.9 132 1496 0.00 2.83 0.00 0.000 6 0.000 0.004 2527 1953 3076

1527 -0.84 -146.6 73.6 -4.3 136 1528 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 1953 3075

1559 -0.84 -146.6 75.0 -4.4 139 1560 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 1953 3076

1591 -0.84 -146.6 76.4 -4.5 142 1592 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 1952 3076

1623 -0.84 -146.6 77.8 -4.3 145 1624 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 1953 3075

1655 -0.84 -146.6 79.3 -4.6 148 1656 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 1953 3076

1687 -0.84 -146.6 80.6 -4.4 151 1688 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 1953 3076

1719 -0.84 -146.6 82.1 -4.5 154 1720 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1954 3075

1750 -0.84 -146.6 83.5 -4.5 157 1752 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 1953 3076

1782 -0.84 -146.6 85.0 -4.6 160 1784 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 1954 3076

1814 -0.84 -146.6 86.4 -4.5 163 1815 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 1953 3076

1846 -0.84 -146.6 87.8 -4.6 166 1847 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 1954 3076

1878 -0.84 -146.6 89.2 -4.4 169 1879 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 1953 3076

1910 -0.84 -146.6 90.6 -4.3 172 1911 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 1953 3075

1942 -0.84 -146.6 92.0 -4.3 175 1943 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 1953 3075

1973 -0.84 -146.6 93.4 -4.3 178 1975 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1953 3075

2006 -0.84 -146.6 94.7 -4.1 181 2008 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 1954 3076

2013 end dive: TARGET_DEPTH_EXCEEDED

state 2013 begin apogee

2020 -0.31 0.0 95.0 4.0 182 2147 0.57 0.00 121.78 0.005 6 0.004 0.000 2676 2262 2473

2148 end apogee: CONTROL_FINISHED_OK

state 2148 begin climb

2151 0.84 146.6 96.2 0.0 195 2277 1.00 0.00 120.97 0.005 6 0.004 0.000 2905 2260 1874

2309 0.84 146.6 89.3 5.7 211 2311 0.35 0.00 0.00 0.000 6 0.004 0.000 2833 2261 1875

2340 0.84 146.6 87.5 5.7 214 2343 0.30 0.00 0.00 0.000 6 0.004 0.000 2911 2262 1875

2372 0.84 146.6 85.6 5.7 217 2375 0.35 0.00 0.00 0.000 6 0.004 0.000 2836 2260 1874

2404 0.84 146.6 83.9 5.5 220 2406 0.30 0.00 0.00 0.000 6 0.003 0.000 2911 2260 1875

2436 0.84 146.6 82.0 5.6 223 2438 0.32 0.00 0.00 0.000 6 0.004 0.000 2871 2260 1875

2468 0.84 146.6 80.2 5.8 226 2469 0.00 0.00 0.00 0.000 6 0.000 0.000 2870 2258 1874

2500 0.84 146.6 78.5 5.5 229 2504 0.00 2.10 0.00 0.000 4 0.000 0.004 2871 3606 1875

2595 0.84 146.6 73.1 6.2 237 2599 0.00 2.60 0.00 0.000 6 0.000 0.004 2872 1963 1874

2632 0.84 146.6 70.9 5.7 240 2637 0.00 2.40 0.00 0.000 4 0.000 0.004 2871 533 1873

2941 0.84 146.6 53.9 5.4 267 2946 0.00 2.92 0.00 0.000 6 0.000 0.004 2871 2188 1873

2978 0.84 146.6 51.9 5.2 270 2979 0.00 0.00 0.00 0.000 6 0.000 0.000 2870 2189 1874

3010 0.84 146.6 50.2 5.3 273 3011 0.00 0.00 0.00 0.000 6 0.000 0.000 2871 2189 1874

3042 0.84 146.6 48.5 5.3 276 3043 0.00 0.00 0.00 0.000 6 0.000 0.000 2871 2189 1875

3074 0.84 146.6 46.9 5.0 279 3075 0.00 0.00 0.00 0.000 6 0.000 0.000 2871 2189 1875

3106 0.84 146.6 45.2 5.5 282 3107 0.00 0.00 0.00 0.000 6 0.000 0.000 2870 2188 1874

3138 0.84 146.6 43.5 5.2 285 3139 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2189 1874

3169 0.84 146.6 41.9 5.2 288 3170 0.00 0.00 0.00 0.000 6 0.000 0.000 2871 2190 1874

3201 0.84 146.6 40.3 5.1 291 3202 0.00 0.00 0.00 0.000 6 0.000 0.000 2872 2189 1875

3233 0.84 146.6 38.6 5.1 294 3234 0.00 0.00 0.00 0.000 6 0.000 0.000 2871 2188 1874

3265 0.84 146.6 37.0 5.1 297 3266 0.00 0.00 0.00 0.000 6 0.000 0.000 2872 2189 1875

3297 0.84 146.6 35.3 5.3 300 3298 0.00 0.00 0.00 0.000 6 0.000 0.000 2872 2189 1874

3328 0.84 146.6 33.6 5.5 303 3333 0.00 2.80 0.00 0.000 4 0.000 0.004 2871 539 1875

3457 0.84 146.6 26.9 5.4 314 3462 0.00 2.78 0.00 0.000 6 0.000 0.004 2872 2202 1874

3495 0.84 146.6 25.0 5.3 317 3499 0.00 2.28 0.00 0.000 4 0.000 0.004 2871 3664 1874

3701 0.84 146.6 13.8 5.8 335 3706 0.00 2.97 0.00 0.000 6 0.000 0.004 2872 1902 1874

3739 0.84 146.6 11.9 5.1 338 3740 0.00 0.00 0.00 0.000 6 0.000 0.000 2871 1902 1874

3771 0.84 146.6 10.3 5.0 341 3772 0.00 0.00 0.00 0.000 6 0.000 0.000 2871 1902 1875

3803 0.84 148.3 8.7 5.0 344 3804 0.00 0.00 0.00 0.000 6 0.000 0.000 2871 1902 1874

3835 0.84 149.2 7.1 5.0 347 3844 0.00 0.00 4.00 0.004 6 0.000 0.000 2871 1902 1862

3877 0.85 157.3 5.1 4.8 351 3887 0.00 0.00 6.93 0.005 6 0.000 0.000 2871 1905 1830

3918 0.87 167.0 3.1 4.7 355 3929 0.00 0.00 8.07 0.004 6 0.000 0.000 2872 1902 1791

3947 end climb: SURFACE_DEPTH_REACHED

state 3947 begin surface coast

3990 end surface coast: CONTROL_FINISHED_OK

state 3991 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	171	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	-28593.006	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	170
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	2	DEVICE2	-1

GPS1	212354,4805.483,-12221.260,15,1.1,15,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.117,0.105
_SM_DEPTHo	-0.00	KALMAN_X	17130.8,54.7,39.6,-14339.7,72.6
_SM_ANGLEo	-50.0	KALMAN_Y	-2040.4,-217.6,-221.8,-1577.0,100.8
GPS2	212817,4805.527,-12221.259,27,1.1,27,18.0	MHEAD_RNG_PITCHd_Wd	294.0,5697,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	100

FINISH	0.6,0.997259	AR_CDRIVE_SIZE	4223664128
SM_CCo	4019,114.95,0.004,15,0,1249,300.00	AR_DDRIVE_FREE	291012608
SM_GC	0.00,0.00,0.00,114.95,0.000,0.000,0.004,146,2206,1249,-11.71,3.90,300.00	AR_DDRIVE_SIZE	59996930048
IRIDIUM_FIX	0.00,0.00,010170,000000	_24V_AH	23.8,18.074
TT8_MAMPS	0.04602	_10V_AH	9.7,37.551
HUMID	1574	DATA_FILE_SIZE	9563,362
INTERNAL_PRESSURE	12.5102	CAP_FILE_SIZE	89680,8
TCM_TEMP	15.00	CFSIZE	260165632,253931520
AR_POSTDIVE_SAMPLENUM	5	ERRORS	0,0,0,0,0,0,0,0,1,0,0,53,179,15,0
AR_CDRIVE_FREE	4122574848	GPS	010808,224033,4805.861,-12221.665,28,1.1,28,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	3	2.70	SBE_CT	284	24	162.76
Roll_motor	44	3	4.05	nil	0	0	0.00
VBD_pump_during_apogee	261	4	28.67	nil	0	0	0.00
VBD_pump_during_surface	114	3	10.49	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	4276	216	22008.46
Iridium_during_xfer	86	223	458.35
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	50	13.26
TT8	751	18	131.26
LPSleep	2294	0	8.68
TT8_Active	604	18	105.49
TT8_Sampling	443	38	163.34
TT8_CF8	387	44	165.19
TT8_Kalman	33	80	25.87
Analog_circuits	1043	12	121.46
GPS_charging	0	0	0.00
Compass	380	26	96.01
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	-0.84	-146.6	0.0	0.0	0	92	0.00	0.00	-60.65	0.000	6	0.000	0.000	143	2013	3075
95	-0.84	-146.6	0.6	-0.9	7	116	11.88	2.45	0.00	0.000	4	0.004	0.004	2525	473	3075
420	-0.84	-146.6	23.0	-4.7	36	426	0.00	3.28	0.00	0.000	6	0.000	0.004	2529	2225	3076
458	-0.84	-146.6	24.9	-5.3	39	463	0.00	3.10	0.00	0.000	4	0.000	0.004	2529	471	3075
703	-0.84	-146.6	36.9	-5.1	60	710	0.00	2.90	0.00	0.000	6	0.000	0.003	2527	2214	3075
742	-0.84	-146.6	38.5	-4.4	64	743	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2212	3076
773	-0.84	-146.6	40.0	-4.6	67	775	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2212	3075
806	-0.84	-146.6	41.5	-4.7	70	807	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2213	3076
837	-0.84	-146.6	43.0	-4.5	73	838	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2210	3076
869	-0.84	-146.6	44.4	-4.7	76	870	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2214	3076
901	-0.84	-146.6	45.8	-4.4	79	902	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2213	3076
933	-0.84	-146.6	47.3	-4.6	82	934	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2214	3076
965	-0.84	-146.6	48.8	-4.7	85	966	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2213	3076
997	-0.84	-146.6	50.2	-4.6	88	998	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2211	3076
1029	-0.84	-146.6	51.7	-4.4	91	1033	0.00	2.42	0.00	0.000	4	0.000	0.004	2529	3633	3075
1128	-0.84	-146.6	56.2	-4.4	99	1134	0.00	2.72	0.00	0.000	6	0.000	0.004	2528	1974	3076
1166	-0.84	-146.6	57.8	-4.5	103	1168	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1975	3076
1198	-0.84	-146.6	59.3	-4.5	106	1199	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	1975	3074
1230	-0.84	-146.6	60.6	-4.3	109	1231	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1973	3075
1262	-0.84	-146.6	62.0	-4.5	112	1263	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	1974	3076
1294	-0.84	-146.6	63.4	-4.4	115	1295	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1973	3076
1326	-0.84	-146.6	64.7	-4.2	118	1327	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	1974	3075
1358	-0.84	-146.6	66.1	-4.3	121	1359	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1974	3076
1389	-0.84	-146.6	67.5	-4.5	124	1394	0.00	2.78	0.00	0.000	4	0.000	0.003	2528	3619	3076
1489	-0.84	-146.6	72.0	-4.9	132	1496	0.00	2.83	0.00	0.000	6	0.000	0.004	2527	1953	3076
1527	-0.84	-146.6	73.6	-4.3	136	1528	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	1953	3075
1559	-0.84	-146.6	75.0	-4.4	139	1560	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	1953	3076
1591	-0.84	-146.6	76.4	-4.5	142	1592	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	1952	3076
1623	-0.84	-146.6	77.8	-4.3	145	1624	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	1953	3075
1655	-0.84	-146.6	79.3	-4.6	148	1656	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	1953	3076
1687	-0.84	-146.6	80.6	-4.4	151	1688	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	1953	3076
1719	-0.84	-146.6	82.1	-4.5	154	1720	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1954	3075
1750	-0.84	-146.6	83.5	-4.5	157	1752	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	1953	3076
1782	-0.84	-146.6	85.0	-4.6	160	1784	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	1954	3076
1814	-0.84	-146.6	86.4	-4.5	163	1815	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	1953	3076
1846	-0.84	-146.6	87.8	-4.6	166	1847	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	1954	3076
1878	-0.84	-146.6	89.2	-4.4	169	1879	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	1953	3076
1910	-0.84	-146.6	90.6	-4.3	172	1911	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	1953	3075
1942	-0.84	-146.6	92.0	-4.3	175	1943	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	1953	3075
1973	-0.84	-146.6	93.4	-4.3	178	1975	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1953	3075
2006	-0.84	-146.6	94.7	-4.1	181	2008	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	1954	3076
2013	end dive: TARGET_DEPTH_EXCEEDED
state	2013	begin apogee
2020	-0.31	0.0	95.0	4.0	182	2147	0.57	0.00	121.78	0.005	6	0.004	0.000	2676	2262	2473
2148	end apogee: CONTROL_FINISHED_OK
state	2148	begin climb
2151	0.84	146.6	96.2	0.0	195	2277	1.00	0.00	120.97	0.005	6	0.004	0.000	2905	2260	1874
2309	0.84	146.6	89.3	5.7	211	2311	0.35	0.00	0.00	0.000	6	0.004	0.000	2833	2261	1875
2340	0.84	146.6	87.5	5.7	214	2343	0.30	0.00	0.00	0.000	6	0.004	0.000	2911	2262	1875
2372	0.84	146.6	85.6	5.7	217	2375	0.35	0.00	0.00	0.000	6	0.004	0.000	2836	2260	1874
2404	0.84	146.6	83.9	5.5	220	2406	0.30	0.00	0.00	0.000	6	0.003	0.000	2911	2260	1875
2436	0.84	146.6	82.0	5.6	223	2438	0.32	0.00	0.00	0.000	6	0.004	0.000	2871	2260	1875
2468	0.84	146.6	80.2	5.8	226	2469	0.00	0.00	0.00	0.000	6	0.000	0.000	2870	2258	1874
2500	0.84	146.6	78.5	5.5	229	2504	0.00	2.10	0.00	0.000	4	0.000	0.004	2871	3606	1875
2595	0.84	146.6	73.1	6.2	237	2599	0.00	2.60	0.00	0.000	6	0.000	0.004	2872	1963	1874
2632	0.84	146.6	70.9	5.7	240	2637	0.00	2.40	0.00	0.000	4	0.000	0.004	2871	533	1873
2941	0.84	146.6	53.9	5.4	267	2946	0.00	2.92	0.00	0.000	6	0.000	0.004	2871	2188	1873
2978	0.84	146.6	51.9	5.2	270	2979	0.00	0.00	0.00	0.000	6	0.000	0.000	2870	2189	1874
3010	0.84	146.6	50.2	5.3	273	3011	0.00	0.00	0.00	0.000	6	0.000	0.000	2871	2189	1874
3042	0.84	146.6	48.5	5.3	276	3043	0.00	0.00	0.00	0.000	6	0.000	0.000	2871	2189	1875
3074	0.84	146.6	46.9	5.0	279	3075	0.00	0.00	0.00	0.000	6	0.000	0.000	2871	2189	1875
3106	0.84	146.6	45.2	5.5	282	3107	0.00	0.00	0.00	0.000	6	0.000	0.000	2870	2188	1874
3138	0.84	146.6	43.5	5.2	285	3139	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2189	1874
3169	0.84	146.6	41.9	5.2	288	3170	0.00	0.00	0.00	0.000	6	0.000	0.000	2871	2190	1874
3201	0.84	146.6	40.3	5.1	291	3202	0.00	0.00	0.00	0.000	6	0.000	0.000	2872	2189	1875
3233	0.84	146.6	38.6	5.1	294	3234	0.00	0.00	0.00	0.000	6	0.000	0.000	2871	2188	1874
3265	0.84	146.6	37.0	5.1	297	3266	0.00	0.00	0.00	0.000	6	0.000	0.000	2872	2189	1875
3297	0.84	146.6	35.3	5.3	300	3298	0.00	0.00	0.00	0.000	6	0.000	0.000	2872	2189	1874
3328	0.84	146.6	33.6	5.5	303	3333	0.00	2.80	0.00	0.000	4	0.000	0.004	2871	539	1875
3457	0.84	146.6	26.9	5.4	314	3462	0.00	2.78	0.00	0.000	6	0.000	0.004	2872	2202	1874
3495	0.84	146.6	25.0	5.3	317	3499	0.00	2.28	0.00	0.000	4	0.000	0.004	2871	3664	1874
3701	0.84	146.6	13.8	5.8	335	3706	0.00	2.97	0.00	0.000	6	0.000	0.004	2872	1902	1874
3739	0.84	146.6	11.9	5.1	338	3740	0.00	0.00	0.00	0.000	6	0.000	0.000	2871	1902	1874
3771	0.84	146.6	10.3	5.0	341	3772	0.00	0.00	0.00	0.000	6	0.000	0.000	2871	1902	1875
3803	0.84	148.3	8.7	5.0	344	3804	0.00	0.00	0.00	0.000	6	0.000	0.000	2871	1902	1874
3835	0.84	149.2	7.1	5.0	347	3844	0.00	0.00	4.00	0.004	6	0.000	0.000	2871	1902	1862
3877	0.85	157.3	5.1	4.8	351	3887	0.00	0.00	6.93	0.005	6	0.000	0.000	2871	1905	1830
3918	0.87	167.0	3.1	4.7	355	3929	0.00	0.00	8.07	0.004	6	0.000	0.000	2872	1902	1791
3947	end climb: SURFACE_DEPTH_REACHED
state	3947	begin surface coast
3990	end surface coast: CONTROL_FINISHED_OK
state	3991	begin surface