Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 40 * 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 40 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 10 DEVICE5 -1

D_SURF 2 SM_CC 350 ROLL_ADJ_GAIN 0 DEVICE6 -1

D_FLARE 3 N_FILEKB 4 ROLL_ADJ_DBAND 0 SMARTS 1

D_TGT 90 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 40 HEAPDBG 0 VBD_MAXERRORS 1 SEABIRD_T_H 0.00064742006

T_MISSION 60 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 -25477.617 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 39

T_WATCHDOG 10 C_PITCH 2692 ALTIM_BOTTOM_PING_RANGE 25 AR_SAMPLENUM 3

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 0.0038360001 ROLL_DEG 40 INT_PRESSURE_SLOPE 0.0097660003 AR_ARSCH2GAIN 0

HD_B 0.010078 C_ROLL_DIVE 2069 INT_PRESSURE_YINT 0 AR_ARSCH1FLT 30000

HD_C 9.8541004e-06 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 350

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 40 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 40

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 39 D_PITCH 0 PRESSURE_YINT -0.16054545 T_GPS_CHARGE -25477.617

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 60

AR_FGSLOPE 0.0033 D_TGT 90 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 0.0038360001 ROLL_CNV 0.028270001 USE_ICE 0

AR_SAMPLENUM 3 HD_B 0.010078 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

AR_UPLOADEXTS PSD HD_C 9.8541004e-06 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 091503,4805.968,-12222.006,7,1.1,7,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.120,0.203

_SM_DEPTHo -0.00 KALMAN_X 7316.0,-52.0,-64.6,-5222.5,12.0

_SM_ANGLEo -50.0 KALMAN_Y -8197.0,217.6,107.0,4612.9,-67.0

GPS2 091903,4805.955,-12221.993,28,1.1,28,18.0 MHEAD_RNG_PITCHd_Wd 311.5,4527,-14.0,-7.500

SPEED_LIMITS 0.075,0.236 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.5,0.997229 AR_CDRIVE_SIZE 4223664128

SM_CCo 2760,175.40,0.004,23,0,1044,350.04 AR_DDRIVE_FREE 49337335808

SM_GC 0.00,0.00,0.00,175.40,0.000,0.000,0.004,145,2248,1044,-11.71,5.12,350.04 AR_DDRIVE_SIZE 59996930048

IRIDIUM_FIX 0.00,0.00,010170,000000 _24V_AH 23.8,3.683

TT8_MAMPS 0.04602 _10V_AH 9.6,7.922

HUMID 1828 DATA_FILE_SIZE 6446,242

INTERNAL_PRESSURE 12.4809 CAP_FILE_SIZE 60940,8

TCM_TEMP 15.00 CFSIZE 260165632,258355200

AR_POSTDIVE_SAMPLENUM 4 ERRORS 0,0,0,0,0,0,0,0,1,0,0,64,164,23,0

AR_CDRIVE_FREE 4122574848 GPS 270708,101202,4806.232,-12222.152,34,1.1,35,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 3 2.87 SBE_CT 187 24 107.35

Roll_motor 42 3 3.91 nil 0 0 0.00

VBD_pump_during_apogee 242 4 26.59 nil 0 0 0.00

VBD_pump_during_surface 175 3 16.01 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 3154 216 16233.63

Iridium_during_xfer 80 223 424.73

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 28 50 13.68

TT8 495 18 85.62

LPSleep 1507 0 5.64

TT8_Active 658 18 113.86

TT8_Sampling 354 38 129.27

TT8_CF8 281 44 119.09

TT8_Kalman 33 80 25.60

Analog_circuits 983 12 113.35

GPS_charging 0 0 0.00

Compass 302 26 75.42

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 -1.06 -146.6 0.0 0.0 0 96 0.00 0.00 -67.38 0.000 6 0.000 0.000 351 1936 3074

99 -1.06 -146.6 0.3 -0.3 7 116 10.65 2.33 0.00 0.000 4 0.004 0.003 2516 499 3075

420 -1.06 -146.6 24.2 -6.8 35 426 0.30 2.92 0.00 0.000 6 0.003 0.004 2438 2251 3075

457 -1.06 -146.6 26.8 -6.8 38 460 0.30 0.00 0.00 0.000 6 0.004 0.000 2514 2250 3075

489 -1.06 -146.6 29.1 -6.9 41 492 0.68 0.00 0.00 0.000 6 0.003 0.000 2410 2253 3075

521 -1.06 -146.6 31.3 -6.9 44 526 0.35 2.28 0.00 0.000 4 0.004 0.004 2484 3586 3076

680 -1.06 -146.6 42.5 -7.3 57 686 0.30 2.78 0.00 0.000 6 0.004 0.004 2409 1938 3076

717 -1.06 -146.6 45.1 -6.8 61 720 0.40 0.00 0.00 0.000 6 0.003 0.000 2484 1938 3076

749 -1.06 -146.6 47.2 -6.6 64 750 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 1938 3075

781 -1.06 -146.6 49.4 -6.8 67 782 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 1937 3075

813 -1.06 -146.6 51.5 -6.8 70 814 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 1938 3075

845 -1.06 -146.6 53.7 -6.8 73 846 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 1938 3075

877 -1.06 -146.6 55.8 -6.5 76 882 0.00 2.97 0.00 0.000 4 0.000 0.004 2485 3664 3076

905 -1.06 -146.6 57.7 -6.9 78 910 0.00 2.78 0.00 0.000 6 0.000 0.004 2483 1891 3076

943 -1.06 -146.6 60.2 -6.6 81 945 0.35 0.00 0.00 0.000 6 0.003 0.000 2410 1891 3075

974 -1.06 -146.6 62.5 -7.0 84 977 0.45 0.00 0.00 0.000 6 0.004 0.000 2486 1890 3075

1006 -1.06 -146.6 64.6 -6.7 87 1012 0.38 2.97 0.00 0.000 4 0.004 0.004 2413 3683 3075

1287 -1.06 -146.6 83.9 -6.8 111 1294 0.28 2.90 0.00 0.000 6 0.004 0.004 2486 1954 3075

1325 -1.06 -146.6 86.4 -6.8 115 1328 0.30 0.00 0.00 0.000 6 0.003 0.000 2410 1953 3075

1357 -1.06 -146.6 88.6 -7.0 118 1359 0.45 0.00 0.00 0.000 6 0.003 0.000 2521 1954 3075

1375 end dive: TARGET_DEPTH_EXCEEDED

state 1375 begin apogee

1382 -0.31 0.0 90.1 6.8 120 1509 0.60 0.00 122.10 0.005 6 0.004 0.000 2668 2238 2474

1510 end apogee: CONTROL_FINISHED_OK

state 1510 begin climb

1513 1.06 146.6 92.1 0.0 133 1639 1.42 0.00 120.65 0.005 6 0.004 0.000 2933 2239 1875

1668 1.06 146.6 83.8 7.6 148 1670 0.00 0.00 0.00 0.000 6 0.000 0.000 2934 2238 1875

1698 1.06 146.6 81.2 8.2 151 1702 0.00 2.08 0.00 0.000 4 0.000 0.004 2933 3578 1875

2007 1.06 146.6 55.9 9.2 178 2011 0.00 2.60 0.00 0.000 6 0.000 0.004 2933 1952 1874

2044 1.06 146.6 52.6 8.9 181 2045 0.00 0.00 0.00 0.000 6 0.000 0.000 2933 1951 1875

2076 1.06 146.6 49.8 8.6 184 2077 0.00 0.00 0.00 0.000 6 0.000 0.000 2934 1952 1874

2108 1.06 146.6 47.2 8.3 187 2109 0.00 0.00 0.00 0.000 6 0.000 0.000 2933 1951 1875

2140 1.06 146.6 44.7 8.0 190 2144 0.00 2.47 0.00 0.000 4 0.000 0.004 2934 518 1874

2407 1.06 146.6 23.9 7.9 213 2413 0.00 2.90 0.00 0.000 6 0.000 0.004 2933 2179 1874

2445 1.06 146.6 21.0 7.8 217 2446 0.00 0.00 0.00 0.000 6 0.000 0.000 2934 2178 1875

2477 1.06 146.6 18.5 7.7 220 2478 0.00 0.00 0.00 0.000 6 0.000 0.000 2933 2180 1875

2509 1.06 147.7 16.2 7.5 223 2513 0.00 2.38 0.00 0.000 4 0.000 0.004 2934 3623 1875

2619 1.06 147.7 7.5 8.5 232 2626 0.00 2.65 0.00 0.000 6 0.000 0.004 2935 1964 1874

2658 1.06 147.7 4.5 7.9 236 2662 0.00 2.30 0.00 0.000 4 0.000 0.004 2934 506 1876

2694 end climb: SURFACE_DEPTH_REACHED

state 2694 begin surface coast

2729 end surface coast: CONTROL_FINISHED_OK

state 2729 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	40	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	10	DEVICE5	-1
D_SURF	2	SM_CC	350	ROLL_ADJ_GAIN	0	DEVICE6	-1
D_FLARE	3	N_FILEKB	4	ROLL_ADJ_DBAND	0	SMARTS	1
D_TGT	90	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	40	HEAPDBG	0	VBD_MAXERRORS	1	SEABIRD_T_H	0.00064742006
T_MISSION	60	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	-25477.617	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	39
T_WATCHDOG	10	C_PITCH	2692	ALTIM_BOTTOM_PING_RANGE	25	AR_SAMPLENUM	3
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	0.0038360001	ROLL_DEG	40	INT_PRESSURE_SLOPE	0.0097660003	AR_ARSCH2GAIN	0
HD_B	0.010078	C_ROLL_DIVE	2069	INT_PRESSURE_YINT	0	AR_ARSCH1FLT	30000
HD_C	9.8541004e-06	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	091503,4805.968,-12222.006,7,1.1,7,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.120,0.203
_SM_DEPTHo	-0.00	KALMAN_X	7316.0,-52.0,-64.6,-5222.5,12.0
_SM_ANGLEo	-50.0	KALMAN_Y	-8197.0,217.6,107.0,4612.9,-67.0
GPS2	091903,4805.955,-12221.993,28,1.1,28,18.0	MHEAD_RNG_PITCHd_Wd	311.5,4527,-14.0,-7.500
SPEED_LIMITS	0.075,0.236	D_GRID	100

FINISH	0.5,0.997229	AR_CDRIVE_SIZE	4223664128
SM_CCo	2760,175.40,0.004,23,0,1044,350.04	AR_DDRIVE_FREE	49337335808
SM_GC	0.00,0.00,0.00,175.40,0.000,0.000,0.004,145,2248,1044,-11.71,5.12,350.04	AR_DDRIVE_SIZE	59996930048
IRIDIUM_FIX	0.00,0.00,010170,000000	_24V_AH	23.8,3.683
TT8_MAMPS	0.04602	_10V_AH	9.6,7.922
HUMID	1828	DATA_FILE_SIZE	6446,242
INTERNAL_PRESSURE	12.4809	CAP_FILE_SIZE	60940,8
TCM_TEMP	15.00	CFSIZE	260165632,258355200
AR_POSTDIVE_SAMPLENUM	4	ERRORS	0,0,0,0,0,0,0,0,1,0,0,64,164,23,0
AR_CDRIVE_FREE	4122574848	GPS	270708,101202,4806.232,-12222.152,34,1.1,35,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	3	2.87	SBE_CT	187	24	107.35
Roll_motor	42	3	3.91	nil	0	0	0.00
VBD_pump_during_apogee	242	4	26.59	nil	0	0	0.00
VBD_pump_during_surface	175	3	16.01	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	3154	216	16233.63
Iridium_during_xfer	80	223	424.73
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	28	50	13.68
TT8	495	18	85.62
LPSleep	1507	0	5.64
TT8_Active	658	18	113.86
TT8_Sampling	354	38	129.27
TT8_CF8	281	44	119.09
TT8_Kalman	33	80	25.60
Analog_circuits	983	12	113.35
GPS_charging	0	0	0.00
Compass	302	26	75.42
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	-1.06	-146.6	0.0	0.0	0	96	0.00	0.00	-67.38	0.000	6	0.000	0.000	351	1936	3074
99	-1.06	-146.6	0.3	-0.3	7	116	10.65	2.33	0.00	0.000	4	0.004	0.003	2516	499	3075
420	-1.06	-146.6	24.2	-6.8	35	426	0.30	2.92	0.00	0.000	6	0.003	0.004	2438	2251	3075
457	-1.06	-146.6	26.8	-6.8	38	460	0.30	0.00	0.00	0.000	6	0.004	0.000	2514	2250	3075
489	-1.06	-146.6	29.1	-6.9	41	492	0.68	0.00	0.00	0.000	6	0.003	0.000	2410	2253	3075
521	-1.06	-146.6	31.3	-6.9	44	526	0.35	2.28	0.00	0.000	4	0.004	0.004	2484	3586	3076
680	-1.06	-146.6	42.5	-7.3	57	686	0.30	2.78	0.00	0.000	6	0.004	0.004	2409	1938	3076
717	-1.06	-146.6	45.1	-6.8	61	720	0.40	0.00	0.00	0.000	6	0.003	0.000	2484	1938	3076
749	-1.06	-146.6	47.2	-6.6	64	750	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	1938	3075
781	-1.06	-146.6	49.4	-6.8	67	782	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	1937	3075
813	-1.06	-146.6	51.5	-6.8	70	814	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	1938	3075
845	-1.06	-146.6	53.7	-6.8	73	846	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	1938	3075
877	-1.06	-146.6	55.8	-6.5	76	882	0.00	2.97	0.00	0.000	4	0.000	0.004	2485	3664	3076
905	-1.06	-146.6	57.7	-6.9	78	910	0.00	2.78	0.00	0.000	6	0.000	0.004	2483	1891	3076
943	-1.06	-146.6	60.2	-6.6	81	945	0.35	0.00	0.00	0.000	6	0.003	0.000	2410	1891	3075
974	-1.06	-146.6	62.5	-7.0	84	977	0.45	0.00	0.00	0.000	6	0.004	0.000	2486	1890	3075
1006	-1.06	-146.6	64.6	-6.7	87	1012	0.38	2.97	0.00	0.000	4	0.004	0.004	2413	3683	3075
1287	-1.06	-146.6	83.9	-6.8	111	1294	0.28	2.90	0.00	0.000	6	0.004	0.004	2486	1954	3075
1325	-1.06	-146.6	86.4	-6.8	115	1328	0.30	0.00	0.00	0.000	6	0.003	0.000	2410	1953	3075
1357	-1.06	-146.6	88.6	-7.0	118	1359	0.45	0.00	0.00	0.000	6	0.003	0.000	2521	1954	3075
1375	end dive: TARGET_DEPTH_EXCEEDED
state	1375	begin apogee
1382	-0.31	0.0	90.1	6.8	120	1509	0.60	0.00	122.10	0.005	6	0.004	0.000	2668	2238	2474
1510	end apogee: CONTROL_FINISHED_OK
state	1510	begin climb
1513	1.06	146.6	92.1	0.0	133	1639	1.42	0.00	120.65	0.005	6	0.004	0.000	2933	2239	1875
1668	1.06	146.6	83.8	7.6	148	1670	0.00	0.00	0.00	0.000	6	0.000	0.000	2934	2238	1875
1698	1.06	146.6	81.2	8.2	151	1702	0.00	2.08	0.00	0.000	4	0.000	0.004	2933	3578	1875
2007	1.06	146.6	55.9	9.2	178	2011	0.00	2.60	0.00	0.000	6	0.000	0.004	2933	1952	1874
2044	1.06	146.6	52.6	8.9	181	2045	0.00	0.00	0.00	0.000	6	0.000	0.000	2933	1951	1875
2076	1.06	146.6	49.8	8.6	184	2077	0.00	0.00	0.00	0.000	6	0.000	0.000	2934	1952	1874
2108	1.06	146.6	47.2	8.3	187	2109	0.00	0.00	0.00	0.000	6	0.000	0.000	2933	1951	1875
2140	1.06	146.6	44.7	8.0	190	2144	0.00	2.47	0.00	0.000	4	0.000	0.004	2934	518	1874
2407	1.06	146.6	23.9	7.9	213	2413	0.00	2.90	0.00	0.000	6	0.000	0.004	2933	2179	1874
2445	1.06	146.6	21.0	7.8	217	2446	0.00	0.00	0.00	0.000	6	0.000	0.000	2934	2178	1875
2477	1.06	146.6	18.5	7.7	220	2478	0.00	0.00	0.00	0.000	6	0.000	0.000	2933	2180	1875
2509	1.06	147.7	16.2	7.5	223	2513	0.00	2.38	0.00	0.000	4	0.000	0.004	2934	3623	1875
2619	1.06	147.7	7.5	8.5	232	2626	0.00	2.65	0.00	0.000	6	0.000	0.004	2935	1964	1874
2658	1.06	147.7	4.5	7.9	236	2662	0.00	2.30	0.00	0.000	4	0.000	0.004	2934	506	1876
2694	end climb: SURFACE_DEPTH_REACHED
state	2694	begin surface coast
2729	end surface coast: CONTROL_FINISHED_OK
state	2729	begin surface