Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 176 * 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 176 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 -28729.945 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 175

T_WATCHDOG 10 C_PITCH 2692 ALTIM_BOTTOM_PING_RANGE 25 AR_SAMPLENUM 6

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 176 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 175 D_PITCH 0 PRESSURE_YINT -0.16054545 T_GPS_CHARGE -28729.945

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 6 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 033645,4807.294,-12223.260,10,1.1,10,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.093,0.127

_SM_DEPTHo 0.00 KALMAN_X 17017.1,-160.0,-83.2,-16360.4,-43.1

_SM_ANGLEo -50.0 KALMAN_Y -1738.7,169.8,219.6,578.9,75.8

GPS2 034110,4807.300,-12223.258,18,1.1,18,18.0 MHEAD_RNG_PITCHd_Wd 305.9,1589,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.3,0.997405 AR_CDRIVE_SIZE 4223664128

SM_CCo 3735,116.05,0.004,15,0,1249,300.00 AR_DDRIVE_FREE 0

SM_GC -0.00,0.00,0.00,116.05,0.000,0.000,0.004,144,2193,1249,-11.71,3.53,300.00 AR_DDRIVE_SIZE 59996930048

IRIDIUM_FIX 0.00,0.00,010170,000000 _24V_AH 23.8,18.747

TT8_MAMPS 0.04602 _10V_AH 9.7,38.921

HUMID 1667 DATA_FILE_SIZE 9581,332

INTERNAL_PRESSURE 12.5005 CAP_FILE_SIZE 91702,8

TCM_TEMP 15.00 CFSIZE 260165632,253685760

AR_POSTDIVE_SAMPLENUM 7 ERRORS 0,0,0,0,0,0,0,0,1,0,0,99,204,15,0

AR_CDRIVE_FREE 1686994944 GPS 020808,044843,4807.643,-12223.528,26,1.1,26,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 44 4 4.92 SBE_CT 260 24 148.93

Roll_motor 48 3 4.44 nil 0 0 0.00

VBD_pump_during_apogee 259 4 28.43 nil 0 0 0.00

VBD_pump_during_surface 116 3 10.59 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 4001 216 20589.91

Iridium_during_xfer 92 223 489.89

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 50 9.15

TT8 721 18 126.00

LPSleep 2062 0 7.80

TT8_Active 610 18 106.52

TT8_Sampling 416 38 153.43

TT8_CF8 390 44 166.81

TT8_Kalman 33 80 25.87

Analog_circuits 1027 12 119.62

GPS_charging 0 0 0.00

Compass 363 26 91.70

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 92 0.00 0.00 -60.55 0.000 6 0.000 0.000 146 1893 3078

95 -0.84 -146.6 0.6 -0.8 7 116 12.02 2.15 0.00 0.000 4 0.004 0.003 2561 538 3077

420 -0.84 -146.6 25.4 -5.4 36 426 0.45 2.80 0.00 0.000 6 0.003 0.004 2446 2163 3078

458 -0.84 -146.6 27.4 -5.4 39 460 0.57 0.00 0.00 0.000 6 0.003 0.000 2556 2165 3076

490 -0.84 -146.6 29.0 -5.2 42 492 0.40 0.00 0.00 0.000 6 0.004 0.000 2480 2163 3077

522 -0.84 -146.6 30.6 -5.0 45 524 0.30 0.00 0.00 0.000 6 0.003 0.000 2553 2163 3076

553 -0.84 -146.6 32.3 -5.2 48 556 0.30 0.00 0.00 0.000 6 0.004 0.000 2480 2164 3077

586 -0.84 -146.6 33.8 -4.9 51 592 0.38 2.97 0.00 0.000 4 0.005 0.004 2552 508 3077

843 -0.84 -146.6 46.9 -5.3 73 851 0.30 3.05 0.00 0.000 6 0.003 0.004 2481 2245 3077

882 -0.84 -146.6 48.7 -5.0 77 884 0.43 0.00 0.00 0.000 6 0.004 0.000 2554 2245 3077

914 -0.84 -146.6 50.4 -5.0 80 916 0.43 0.00 0.00 0.000 6 0.004 0.000 2475 2247 3077

946 -0.84 -146.6 51.9 -4.9 83 948 0.43 0.00 0.00 0.000 6 0.003 0.000 2553 2246 3077

978 -0.84 -146.6 53.4 -4.7 86 980 0.43 0.00 0.00 0.000 6 0.004 0.000 2475 2247 3076

1010 -0.84 -146.6 55.0 -5.0 89 1012 0.32 0.00 0.00 0.000 6 0.003 0.000 2550 2246 3076

1041 -0.84 -146.6 56.6 -5.1 92 1043 0.28 0.00 0.00 0.000 6 0.004 0.000 2476 2246 3077

1073 -0.84 -146.6 58.2 -5.0 95 1076 0.35 0.00 0.00 0.000 6 0.003 0.000 2553 2245 3077

1105 -0.84 -146.6 59.9 -5.3 98 1107 0.40 0.00 0.00 0.000 6 0.004 0.000 2473 2248 3077

1138 -0.84 -146.6 61.5 -5.0 101 1140 0.30 0.00 0.00 0.000 6 0.004 0.000 2551 2246 3077

1168 -0.84 -146.6 63.1 -4.9 104 1170 0.43 0.00 0.00 0.000 6 0.003 0.000 2476 2245 3077

1201 -0.84 -146.6 64.8 -5.4 107 1203 0.43 0.00 0.00 0.000 6 0.004 0.000 2551 2245 3077

1231 -0.84 -146.6 66.3 -5.0 110 1233 0.30 0.00 0.00 0.000 6 0.003 0.000 2475 2246 3077

1263 -0.84 -146.6 68.0 -5.2 113 1265 0.35 0.00 0.00 0.000 6 0.004 0.000 2551 2246 3077

1295 -0.84 -146.6 69.6 -5.2 116 1297 0.32 0.00 0.00 0.000 6 0.004 0.000 2514 2246 3076

1327 -0.84 -146.6 71.3 -5.2 119 1328 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2245 3076

1359 -0.84 -146.6 72.7 -4.7 122 1360 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2245 3077

1391 -0.84 -146.6 74.3 -4.8 125 1392 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2246 3077

1423 -0.84 -146.6 75.9 -5.0 128 1424 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2245 3077

1454 -0.84 -146.6 77.5 -4.9 131 1455 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2249 3077

1486 -0.84 -146.6 79.0 -4.8 134 1487 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2246 3077

1518 -0.84 -146.6 80.7 -5.1 137 1519 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2246 3078

1550 -0.84 -146.6 82.2 -4.8 140 1551 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2245 3076

1582 -0.84 -146.6 83.6 -4.7 143 1583 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2247 3078

1614 -0.84 -146.6 85.2 -4.7 146 1615 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2245 3077

1646 -0.84 -146.6 86.6 -4.7 149 1647 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2246 3077

1677 -0.84 -146.6 88.3 -5.0 152 1678 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2246 3077

1709 -0.84 -146.6 89.9 -4.9 155 1710 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2247 3077

1741 -0.84 -146.6 91.4 -5.0 158 1742 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2245 3077

1773 -0.84 -146.6 93.0 -5.0 161 1774 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2249 3077

1804 -0.84 -146.6 94.7 -5.1 164 1809 0.00 2.80 0.00 0.000 4 0.000 0.004 2513 511 3078

1811 end dive: TARGET_DEPTH_EXCEEDED

state 1811 begin apogee

1821 -0.31 0.0 95.2 4.9 164 1948 0.70 0.00 122.12 0.005 6 0.004 0.000 2661 2260 2473

1949 end apogee: CONTROL_FINISHED_OK

state 1949 begin climb

1952 0.84 146.6 96.7 0.0 177 2079 1.45 0.00 120.80 0.005 6 0.004 0.000 2927 2262 1875

2111 0.84 146.6 89.1 5.9 193 2113 0.38 0.00 0.00 0.000 6 0.003 0.000 2851 2262 1874

2142 0.84 146.6 87.2 6.0 196 2144 0.28 0.00 0.00 0.000 6 0.004 0.000 2922 2262 1876

2176 0.84 146.6 85.3 6.3 199 2182 0.32 2.97 0.00 0.000 4 0.004 0.004 2848 519 1875

2395 0.84 146.6 71.7 6.2 218 2402 0.30 2.97 0.00 0.000 6 0.004 0.004 2921 2174 1874

2434 0.84 146.6 69.3 6.4 221 2437 0.32 0.00 0.00 0.000 6 0.004 0.000 2847 2174 1875

2465 0.84 146.6 67.2 6.4 224 2467 0.43 0.00 0.00 0.000 6 0.003 0.000 2922 2174 1875

2498 0.84 146.6 65.2 6.3 227 2500 0.38 0.00 0.00 0.000 6 0.004 0.000 2846 2174 1877

2528 0.84 146.6 63.4 5.9 230 2530 0.40 0.00 0.00 0.000 6 0.004 0.000 2921 2174 1874

2560 0.84 146.6 61.5 6.1 233 2562 0.40 0.00 0.00 0.000 6 0.003 0.000 2847 2175 1875

2592 0.84 146.6 59.6 5.8 236 2597 0.35 2.47 0.00 0.000 4 0.004 0.004 2919 3599 1875

2746 0.84 146.6 50.7 6.2 249 2752 0.30 2.78 0.00 0.000 6 0.003 0.004 2844 1949 1877

2783 0.84 146.6 48.2 6.2 252 2789 0.40 2.47 0.00 0.000 4 0.005 0.003 2918 500 1875

2834 0.84 146.6 45.3 5.7 256 2840 0.30 2.90 0.00 0.000 6 0.004 0.004 2839 2238 1875

2872 0.84 146.6 43.2 5.5 259 2877 0.38 2.30 0.00 0.000 4 0.004 0.004 2912 3574 1875

3136 0.84 146.6 27.7 6.2 282 3142 0.30 2.60 0.00 0.000 6 0.004 0.004 2838 1950 1875

3173 0.84 146.6 25.4 6.3 285 3176 0.35 0.00 0.00 0.000 6 0.004 0.000 2911 1949 1876

3205 0.84 146.6 23.6 5.7 288 3210 0.28 2.17 0.00 0.000 4 0.004 0.004 2834 557 1875

3334 0.84 146.6 16.4 5.1 299 3340 0.30 2.85 0.00 0.000 6 0.003 0.004 2910 2196 1875

3372 0.84 146.6 14.3 5.7 302 3374 0.35 0.00 0.00 0.000 6 0.004 0.000 2834 2195 1874

3404 0.84 146.6 12.6 5.4 305 3406 0.40 0.00 0.00 0.000 6 0.004 0.000 2910 2195 1876

3436 0.84 146.6 11.0 5.1 308 3438 0.38 0.00 0.00 0.000 6 0.004 0.000 2837 2197 1874

3467 0.84 146.6 9.3 5.3 311 3470 0.45 0.00 0.00 0.000 6 0.004 0.000 2909 2197 1875

3499 0.84 146.6 7.5 5.2 314 3501 0.43 0.00 0.00 0.000 6 0.003 0.000 2838 2196 1876

3531 0.85 154.8 6.1 4.8 317 3542 0.32 0.00 7.45 0.005 6 0.003 0.000 2872 2196 1839

3573 0.85 154.8 3.9 5.2 321 3574 0.00 0.00 0.00 0.000 6 0.000 0.000 2873 2198 1839

3605 0.87 166.5 2.5 4.7 324 3620 0.00 2.90 9.18 0.005 4 0.000 0.004 2873 557 1793

3622 end climb: SURFACE_DEPTH_REACHED

state 3622 begin surface coast

3702 end surface coast: CONTROL_FINISHED_OK

state 3702 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	176	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	-28729.945	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	175
T_WATCHDOG	10	C_PITCH	2692	ALTIM_BOTTOM_PING_RANGE	25	AR_SAMPLENUM	6
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	033645,4807.294,-12223.260,10,1.1,10,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.093,0.127
_SM_DEPTHo	0.00	KALMAN_X	17017.1,-160.0,-83.2,-16360.4,-43.1
_SM_ANGLEo	-50.0	KALMAN_Y	-1738.7,169.8,219.6,578.9,75.8
GPS2	034110,4807.300,-12223.258,18,1.1,18,18.0	MHEAD_RNG_PITCHd_Wd	305.9,1589,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	100

FINISH	0.3,0.997405	AR_CDRIVE_SIZE	4223664128
SM_CCo	3735,116.05,0.004,15,0,1249,300.00	AR_DDRIVE_FREE	0
SM_GC	-0.00,0.00,0.00,116.05,0.000,0.000,0.004,144,2193,1249,-11.71,3.53,300.00	AR_DDRIVE_SIZE	59996930048
IRIDIUM_FIX	0.00,0.00,010170,000000	_24V_AH	23.8,18.747
TT8_MAMPS	0.04602	_10V_AH	9.7,38.921
HUMID	1667	DATA_FILE_SIZE	9581,332
INTERNAL_PRESSURE	12.5005	CAP_FILE_SIZE	91702,8
TCM_TEMP	15.00	CFSIZE	260165632,253685760
AR_POSTDIVE_SAMPLENUM	7	ERRORS	0,0,0,0,0,0,0,0,1,0,0,99,204,15,0
AR_CDRIVE_FREE	1686994944	GPS	020808,044843,4807.643,-12223.528,26,1.1,26,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	44	4	4.92	SBE_CT	260	24	148.93
Roll_motor	48	3	4.44	nil	0	0	0.00
VBD_pump_during_apogee	259	4	28.43	nil	0	0	0.00
VBD_pump_during_surface	116	3	10.59	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	4001	216	20589.91
Iridium_during_xfer	92	223	489.89
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	50	9.15
TT8	721	18	126.00
LPSleep	2062	0	7.80
TT8_Active	610	18	106.52
TT8_Sampling	416	38	153.43
TT8_CF8	390	44	166.81
TT8_Kalman	33	80	25.87
Analog_circuits	1027	12	119.62
GPS_charging	0	0	0.00
Compass	363	26	91.70
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	92	0.00	0.00	-60.55	0.000	6	0.000	0.000	146	1893	3078
95	-0.84	-146.6	0.6	-0.8	7	116	12.02	2.15	0.00	0.000	4	0.004	0.003	2561	538	3077
420	-0.84	-146.6	25.4	-5.4	36	426	0.45	2.80	0.00	0.000	6	0.003	0.004	2446	2163	3078
458	-0.84	-146.6	27.4	-5.4	39	460	0.57	0.00	0.00	0.000	6	0.003	0.000	2556	2165	3076
490	-0.84	-146.6	29.0	-5.2	42	492	0.40	0.00	0.00	0.000	6	0.004	0.000	2480	2163	3077
522	-0.84	-146.6	30.6	-5.0	45	524	0.30	0.00	0.00	0.000	6	0.003	0.000	2553	2163	3076
553	-0.84	-146.6	32.3	-5.2	48	556	0.30	0.00	0.00	0.000	6	0.004	0.000	2480	2164	3077
586	-0.84	-146.6	33.8	-4.9	51	592	0.38	2.97	0.00	0.000	4	0.005	0.004	2552	508	3077
843	-0.84	-146.6	46.9	-5.3	73	851	0.30	3.05	0.00	0.000	6	0.003	0.004	2481	2245	3077
882	-0.84	-146.6	48.7	-5.0	77	884	0.43	0.00	0.00	0.000	6	0.004	0.000	2554	2245	3077
914	-0.84	-146.6	50.4	-5.0	80	916	0.43	0.00	0.00	0.000	6	0.004	0.000	2475	2247	3077
946	-0.84	-146.6	51.9	-4.9	83	948	0.43	0.00	0.00	0.000	6	0.003	0.000	2553	2246	3077
978	-0.84	-146.6	53.4	-4.7	86	980	0.43	0.00	0.00	0.000	6	0.004	0.000	2475	2247	3076
1010	-0.84	-146.6	55.0	-5.0	89	1012	0.32	0.00	0.00	0.000	6	0.003	0.000	2550	2246	3076
1041	-0.84	-146.6	56.6	-5.1	92	1043	0.28	0.00	0.00	0.000	6	0.004	0.000	2476	2246	3077
1073	-0.84	-146.6	58.2	-5.0	95	1076	0.35	0.00	0.00	0.000	6	0.003	0.000	2553	2245	3077
1105	-0.84	-146.6	59.9	-5.3	98	1107	0.40	0.00	0.00	0.000	6	0.004	0.000	2473	2248	3077
1138	-0.84	-146.6	61.5	-5.0	101	1140	0.30	0.00	0.00	0.000	6	0.004	0.000	2551	2246	3077
1168	-0.84	-146.6	63.1	-4.9	104	1170	0.43	0.00	0.00	0.000	6	0.003	0.000	2476	2245	3077
1201	-0.84	-146.6	64.8	-5.4	107	1203	0.43	0.00	0.00	0.000	6	0.004	0.000	2551	2245	3077
1231	-0.84	-146.6	66.3	-5.0	110	1233	0.30	0.00	0.00	0.000	6	0.003	0.000	2475	2246	3077
1263	-0.84	-146.6	68.0	-5.2	113	1265	0.35	0.00	0.00	0.000	6	0.004	0.000	2551	2246	3077
1295	-0.84	-146.6	69.6	-5.2	116	1297	0.32	0.00	0.00	0.000	6	0.004	0.000	2514	2246	3076
1327	-0.84	-146.6	71.3	-5.2	119	1328	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2245	3076
1359	-0.84	-146.6	72.7	-4.7	122	1360	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2245	3077
1391	-0.84	-146.6	74.3	-4.8	125	1392	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2246	3077
1423	-0.84	-146.6	75.9	-5.0	128	1424	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2245	3077
1454	-0.84	-146.6	77.5	-4.9	131	1455	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2249	3077
1486	-0.84	-146.6	79.0	-4.8	134	1487	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2246	3077
1518	-0.84	-146.6	80.7	-5.1	137	1519	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2246	3078
1550	-0.84	-146.6	82.2	-4.8	140	1551	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2245	3076
1582	-0.84	-146.6	83.6	-4.7	143	1583	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2247	3078
1614	-0.84	-146.6	85.2	-4.7	146	1615	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2245	3077
1646	-0.84	-146.6	86.6	-4.7	149	1647	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2246	3077
1677	-0.84	-146.6	88.3	-5.0	152	1678	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2246	3077
1709	-0.84	-146.6	89.9	-4.9	155	1710	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2247	3077
1741	-0.84	-146.6	91.4	-5.0	158	1742	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2245	3077
1773	-0.84	-146.6	93.0	-5.0	161	1774	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2249	3077
1804	-0.84	-146.6	94.7	-5.1	164	1809	0.00	2.80	0.00	0.000	4	0.000	0.004	2513	511	3078
1811	end dive: TARGET_DEPTH_EXCEEDED
state	1811	begin apogee
1821	-0.31	0.0	95.2	4.9	164	1948	0.70	0.00	122.12	0.005	6	0.004	0.000	2661	2260	2473
1949	end apogee: CONTROL_FINISHED_OK
state	1949	begin climb
1952	0.84	146.6	96.7	0.0	177	2079	1.45	0.00	120.80	0.005	6	0.004	0.000	2927	2262	1875
2111	0.84	146.6	89.1	5.9	193	2113	0.38	0.00	0.00	0.000	6	0.003	0.000	2851	2262	1874
2142	0.84	146.6	87.2	6.0	196	2144	0.28	0.00	0.00	0.000	6	0.004	0.000	2922	2262	1876
2176	0.84	146.6	85.3	6.3	199	2182	0.32	2.97	0.00	0.000	4	0.004	0.004	2848	519	1875
2395	0.84	146.6	71.7	6.2	218	2402	0.30	2.97	0.00	0.000	6	0.004	0.004	2921	2174	1874
2434	0.84	146.6	69.3	6.4	221	2437	0.32	0.00	0.00	0.000	6	0.004	0.000	2847	2174	1875
2465	0.84	146.6	67.2	6.4	224	2467	0.43	0.00	0.00	0.000	6	0.003	0.000	2922	2174	1875
2498	0.84	146.6	65.2	6.3	227	2500	0.38	0.00	0.00	0.000	6	0.004	0.000	2846	2174	1877
2528	0.84	146.6	63.4	5.9	230	2530	0.40	0.00	0.00	0.000	6	0.004	0.000	2921	2174	1874
2560	0.84	146.6	61.5	6.1	233	2562	0.40	0.00	0.00	0.000	6	0.003	0.000	2847	2175	1875
2592	0.84	146.6	59.6	5.8	236	2597	0.35	2.47	0.00	0.000	4	0.004	0.004	2919	3599	1875
2746	0.84	146.6	50.7	6.2	249	2752	0.30	2.78	0.00	0.000	6	0.003	0.004	2844	1949	1877
2783	0.84	146.6	48.2	6.2	252	2789	0.40	2.47	0.00	0.000	4	0.005	0.003	2918	500	1875
2834	0.84	146.6	45.3	5.7	256	2840	0.30	2.90	0.00	0.000	6	0.004	0.004	2839	2238	1875
2872	0.84	146.6	43.2	5.5	259	2877	0.38	2.30	0.00	0.000	4	0.004	0.004	2912	3574	1875
3136	0.84	146.6	27.7	6.2	282	3142	0.30	2.60	0.00	0.000	6	0.004	0.004	2838	1950	1875
3173	0.84	146.6	25.4	6.3	285	3176	0.35	0.00	0.00	0.000	6	0.004	0.000	2911	1949	1876
3205	0.84	146.6	23.6	5.7	288	3210	0.28	2.17	0.00	0.000	4	0.004	0.004	2834	557	1875
3334	0.84	146.6	16.4	5.1	299	3340	0.30	2.85	0.00	0.000	6	0.003	0.004	2910	2196	1875
3372	0.84	146.6	14.3	5.7	302	3374	0.35	0.00	0.00	0.000	6	0.004	0.000	2834	2195	1874
3404	0.84	146.6	12.6	5.4	305	3406	0.40	0.00	0.00	0.000	6	0.004	0.000	2910	2195	1876
3436	0.84	146.6	11.0	5.1	308	3438	0.38	0.00	0.00	0.000	6	0.004	0.000	2837	2197	1874
3467	0.84	146.6	9.3	5.3	311	3470	0.45	0.00	0.00	0.000	6	0.004	0.000	2909	2197	1875
3499	0.84	146.6	7.5	5.2	314	3501	0.43	0.00	0.00	0.000	6	0.003	0.000	2838	2196	1876
3531	0.85	154.8	6.1	4.8	317	3542	0.32	0.00	7.45	0.005	6	0.003	0.000	2872	2196	1839
3573	0.85	154.8	3.9	5.2	321	3574	0.00	0.00	0.00	0.000	6	0.000	0.000	2873	2198	1839
3605	0.87	166.5	2.5	4.7	324	3620	0.00	2.90	9.18	0.005	4	0.000	0.004	2873	557	1793
3622	end climb: SURFACE_DEPTH_REACHED
state	3622	begin surface coast
3702	end surface coast: CONTROL_FINISHED_OK
state	3702	begin surface