Glider dive log

Shilshole 11Mar10 * SG500 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 500 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 350 DEVICE1 2

MISSION 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 DEVICE2 -1

DIVE 5 SM_CC 250 ROLL_ADJ_GAIN 0 DEVICE3 -1

D_SURF 4 N_FILEKB 8 ROLL_ADJ_DBAND 0 DEVICE4 -1

D_FLARE 3 FILEMGR 0 VBD_MIN 475 DEVICE5 -1

D_TGT 130 CALL_NDIVES 1 VBD_MAX 3942 DEVICE6 -1

D_ABORT 1050 COMM_SEQ 0 C_VBD 3125 LOGGERS 2

D_NO_BLEED 200 KERMIT 0 VBD_DBAND 2 LOGGERDEVICE1 -1

D_BOOST 4 N_NOCOMM 1 VBD_CNV -0.245296 LOGGERDEVICE2 5

D_FINISH 0 N_NOSURFACE 0 VBD_TIMEOUT 720 LOGGERDEVICE3 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE4 -1

D_SAFE 0 CALL_TRIES 7 VBD_PUMP_AD_RATE_SURFACE 5 COMPASS_DEVICE 33

D_CALL 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 1 COMPASS2_DEVICE -1

SURFACE_URGENCY 0 CAPUPLOAD 1 VBD_BLEED_AD_RATE 8 PHONE_DEVICE 48

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 UNCOM_BLEED 20 GPS_DEVICE 32

SURFACE_URGENCY_FORCE 0 HEAPDBG 0 VBD_MAXERRORS 1 RAFOS_DEVICE -1

T_DIVE 54 T_GPS 15 CF8_MAXERRORS 20 XPDR_DEVICE 24

T_MISSION 60 N_GPS 20 AH0_24V 150 SIM_W 0

T_ABORT 1440 T_GPS_ALMANAC 0 AH0_10V 100 SIM_PITCH 0

T_TURN 225 T_GPS_CHARGE -100158.46 MINV_24V 19 SEABIRD_T_G 0.0042834957

T_TURN_SAMPINT 5 T_RSLEEP 3 MINV_10V 8 SEABIRD_T_H 0.0006203251

T_NO_W 120 STROBE 0 FG_AHR_10V 0 SEABIRD_T_I 2.2469603e-05

T_LOITER 0 RAFOS_PEAK_OFFSET 1.5 FG_AHR_24V 0 SEABIRD_T_J 2.3267601e-06

USE_BATHY 0 RAFOS_CORR_THRESH 60 PHONE_SUPPLY 2 SEABIRD_C_G -9.868659

USE_ICE 0 RAFOS_HIT_WINDOW 3600 PRESSURE_YINT -65.908394 SEABIRD_C_H 1.1169316

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 157 PRESSURE_SLOPE 0.00011603366 SEABIRD_C_I 0.00023590792

D_OFFGRID 1001 PITCH_MAX 3893 AD7714Ch0Gain 128 SEABIRD_C_J 7.8038953e-05

T_WATCHDOG 10 C_PITCH 2943 TCM_PITCH_OFFSET 0 AR_DIVENUM 4

RELAUNCH 1 PITCH_DBAND 0.1 TCM_ROLL_OFFSET 0 AR_SAMPLENUM 7

APOGEE_PITCH -5 PITCH_CNV 0.003125763 COMPASS_USE 0 AR_OUTLEVEL 2

MAX_BUOY 100 P_OVSHOOT 0.039999999 ALTIM_BOTTOM_PING_RANGE 0 AR_LOGFILE C:\ARS.LOG

COURSE_BIAS 0 PITCH_GAIN 32 ALTIM_TOP_PING_RANGE 0 AR_FGSLOPE 0.0033

GLIDE_SLOPE 30 PITCH_TIMEOUT 17 ALTIM_BOTTOM_TURN_MARGIN 0 AR_FGYINT -0.045

SPEED_FACTOR 1 PITCH_AD_RATE 175 ALTIM_TOP_TURN_MARGIN 0 AR_FORCETOHOST 0

RHO 1.0275 PITCH_MAXERRORS 1 ALTIM_TOP_MIN_OBSTACLE 1 AR_WARMUP 20

MASS 51642 PITCH_ADJ_GAIN 0 ALTIM_PING_DEPTH 70 AR_UPLOADEXTS PSD

NAV_MODE 1 PITCH_ADJ_DBAND 0 ALTIM_PING_DELTA 3 AR_HEAPDBG 0

FERRY_MAX 45 ROLL_MIN 213 ALTIM_FREQUENCY 13 AR_ARSMODEL 3

KALMAN_USE 1 ROLL_MAX 3849 ALTIM_PULSE 4 AR_ARSSERIAL 5

HD_A 0.003 ROLL_DEG 40 ALTIM_SENSITIVITY 1 AR_ARSCH1GAIN 200

HD_B 0.0099999998 C_ROLL_DIVE 2050 XPDR_VALID 6 AR_ARSCH2GAIN 0

HD_C 9.9999997e-06 C_ROLL_CLIMB 2050 XPDR_INHIBIT 90 AR_ARSCH1FLT 30000

HEADING -1 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003 AR_ARSCH2FLT 1200

ESCAPE_HEADING 0 ROLL_CNV 0.028270001 INT_PRESSURE_YINT 1.2 AR_FGCLKCORR 0.940588

ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 DEEPGLIDER 0 AR_CHKOPENFILES 1

FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 34 DEEPGLIDERMB 0 AR_EPOCHTS 0

TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 31 MOTHERBOARD 4

AD7714Ch0Gain 128 C_VBD 3125 MASS 51642 SEABIRD_C_J 7.8038953e-05

AH0_10V 100 DEEPGLIDER 0 MAX_BUOY 100 SEABIRD_T_G 0.0042834957

AH0_24V 150 DEEPGLIDERMB 0 MINV_10V 8 SEABIRD_T_H 0.0006203251

ALTIM_BOTTOM_PING_RANGE 0 DEVICE1 2 MINV_24V 19 SEABIRD_T_I 2.2469603e-05

ALTIM_BOTTOM_TURN_MARGIN 0 DEVICE2 -1 MISSION 2 SEABIRD_T_J 2.3267601e-06

ALTIM_FREQUENCY 13 DEVICE3 -1 MOTHERBOARD 4 SIM_PITCH 0

ALTIM_PING_DELTA 3 DEVICE4 -1 NAV_MODE 1 SIM_W 0

ALTIM_PING_DEPTH 70 DEVICE5 -1 N_FILEKB 8 SM_CC 250

ALTIM_PULSE 4 DEVICE6 -1 N_GPS 20 SPEED_FACTOR 1

ALTIM_SENSITIVITY 1 DIVE 5 N_NOCOMM 1 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 1 D_ABORT 1050 N_NOSURFACE 0 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 D_BOOST 4 PHONE_DEVICE 48 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 D_CALL 0 PHONE_SUPPLY 2 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 D_FINISH 0 PITCH_ADJ_DBAND 0 TCM_PITCH_OFFSET 0

AR_ARSCH1FLT 30000 D_FLARE 3 PITCH_ADJ_GAIN 0 TCM_ROLL_OFFSET 0

AR_ARSCH1GAIN 200 D_NO_BLEED 200 PITCH_AD_RATE 175 TGT_AUTO_DEFAULT 0

AR_ARSCH2FLT 1200 D_OFFGRID 1001 PITCH_CNV 0.003125763 TGT_DEFAULT_LAT 4736

AR_ARSCH2GAIN 0 D_PITCH 0 PITCH_DBAND 0.1 TGT_DEFAULT_LON -12218

AR_ARSMODEL 3 D_SAFE 0 PITCH_GAIN 32 T_ABORT 1440

AR_ARSSERIAL 5 D_SURF 4 PITCH_MAX 3893 T_DIVE 54

AR_CHKOPENFILES 1 D_TGT 130 PITCH_MAXERRORS 1 T_GPS 15

AR_DIVENUM 4 ESCAPE_HEADING 0 PITCH_MIN 157 T_GPS_ALMANAC 0

AR_EPOCHTS 0 ESCAPE_HEADING_DELTA 10 PITCH_TIMEOUT 17 T_GPS_CHARGE -100158.46

AR_FGCLKCORR 0.940588 FERRY_MAX 45 PITCH_VBD_SHIFT 0.0012300001 T_LOITER 0

AR_FGSLOPE 0.0033 FG_AHR_10V 0 PRESSURE_SLOPE 0.00011603366 T_MISSION 60

AR_FGYINT -0.045 FG_AHR_24V 0 PRESSURE_YINT -65.908394 T_NO_W 120

AR_FORCETOHOST 0 FILEMGR 0 P_OVSHOOT 0.039999999 T_RSLEEP 3

AR_HEAPDBG 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_TURN 225

AR_LOGFILE C:\ARS.LOG GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_TURN_SAMPINT 5

AR_OUTLEVEL 2 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_WATCHDOG 10

AR_SAMPLENUM 7 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20

AR_UPLOADEXTS PSD HD_B 0.0099999998 RELAUNCH 1 UPLOAD_DIVES_MAX -1

AR_WARMUP 20 HD_C 9.9999997e-06 RHO 1.0275 USE_BATHY 0

CALL_NDIVES 1 HEADING -1 ROLL_ADJ_DBAND 0 USE_ICE 0

CALL_TRIES 7 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 VBD_BLEED_AD_RATE 8

CALL_WAIT 60 HEAPDBG 0 ROLL_AD_RATE 350 VBD_CNV -0.245296

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 VBD_DBAND 2

CAPUPLOAD 1 ID 500 ROLL_DEG 40 VBD_MAX 3942

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3849 VBD_MAXERRORS 1

COMM_SEQ 0 INT_PRESSURE_YINT 1.2 ROLL_MAXERRORS 1 VBD_MIN 475

COMPASS2_DEVICE -1 KALMAN_USE 1 ROLL_MIN 213 VBD_PUMP_AD_RATE_APOGEE 1

COMPASS_DEVICE 33 KERMIT 0 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_SURFACE 5

COMPASS_USE 0 LOGGERDEVICE1 -1 R_PORT_OVSHOOT 34 VBD_TIMEOUT 720

COURSE_BIAS 0 LOGGERDEVICE2 5 R_STBD_OVSHOOT 31 XPDR_DEVICE 24

C_PITCH 2943 LOGGERDEVICE3 -1 SEABIRD_C_G -9.868659 XPDR_INHIBIT 90

C_ROLL_CLIMB 2050 LOGGERDEVICE4 -1 SEABIRD_C_H 1.1169316 XPDR_VALID 6

C_ROLL_DIVE 2050 LOGGERS 2 SEABIRD_C_I 0.00023590792

Pre-dive calculations and measurements:

GPS1 110310,230822,4745.598,-12224.350,14,2.8,33,18.2 TGT_NAME SE

_CALLS 1 TGT_LATLONG 4743.000,-12224.000

_XMS_NAKs 17 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.010,-0.201

_SM_DEPTHo 0.98 KALMAN_X 261.0,90.9,53.0,3.0,45.4

_SM_ANGLEo -69.3 KALMAN_Y 2642.9,1123.3,610.6,-615.2,494.5

GPS2 110310,231514,4745.696,-12224.344,11,1.7,11,18.2 MHEAD_RNG_PITCHd_Wd 164.6,5011,-17.9,-8.025

SPEED_LIMITS 0.139,0.201 D_GRID 130

Post-dive calculations and measurements:

FINISH 0.3,1.022682 AR_DDRIVE_FREE 59722301440

SM_CCo 2643,77.62,0.545,1,0,2104,250.69 AR_DDRIVE_SIZE 59996930048

SM_GC 1.02,0.00,0.00,77.62,0.000,0.000,0.545,137,2048,2104,-8.77,-0.03,250.69 _24V_AH 24.1,5.516

IRIDIUM_FIX 4729.30,-12215.26,040911,161600 _10V_AH 10.2,5.056

TT8_MAMPS 0.072098 FG_AHR_24Vo 0.000

HUMID 1077732240 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.06163 MEM 334972

TCM_TEMP 18.60 DATA_FILE_SIZE 13441,466

XPDR_PINGS 129 CAP_FILE_SIZE 61946,0

ALTIM_BOTTOM_PING 70.0,7.1 CFSIZE 260165632,258535424

AR_POSTDIVE_SAMPLENUM 6 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

AR_CDRIVE_FREE 8168800256 GPS 120310,000307,4745.836,-12224.419,36,0.9,36,18.2

AR_CDRIVE_SIZE 8453062656

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 261 128.11 SBE_CT 215 24 124.55

Roll_motor 42 62 63.15 nil 0 0 0.00

VBD_pump_during_apogee 148 689 2461.92 nil 0 0 0.00

VBD_pump_during_surface 77 544 1018.76 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 0 0.00 nil 0 0 0.00

Iridium_during_connect 32 0 0.00 nil 0 0 0.00

Iridium_during_xfer 265 0 0.00 ARS 0 0 0.00

Transponder_ping 32 420 331.50 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 0 0.00

TT8 633 19 127.90

LPSleep 1099 2 24.57

TT8_Active 319 19 64.44

TT8_Sampling 1071 39 434.81

TT8_CF8 42 45 19.90

TT8_Kalman 33 0 0.00

Analog_circuits 725 12 88.82

GPS_charging 0 0 0.00

Compass 677 15 103.64

RAFOS 0 0 0.00

Transponder 5 30 1.66

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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

24 -0.68 -97.3 0.0 0.0 0 92 0.00 0.00 -62.62 0.000 6 0.000 0.000 146 2045 3521 0 0 0 0 0 0

94 -0.68 -97.3 2.7 -5.0 13 109 10.75 0.00 0.00 0.000 6 0.262 0.000 2713 2045 3521 0 0 0 0 0 0

176 -0.68 -97.3 7.8 -5.7 28 181 0.00 2.15 0.00 0.000 4 0.000 0.062 2704 3464 3521 0 0 0 0 0 0

209 -0.68 -97.3 9.5 -5.1 34 215 0.00 2.10 0.00 0.000 6 0.000 0.044 2704 2039 3519 0 0 0 0 0 0

281 -0.68 -97.3 15.1 -8.0 47 286 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2038 3522 0 0 0 0 0 0

353 -0.68 -97.3 20.2 -7.3 60 358 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2038 3521 0 0 0 0 0 0

425 -0.68 -97.3 24.1 -4.6 73 430 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2038 3522 0 0 0 0 0 0

497 -0.68 -97.3 28.3 -6.6 86 503 0.00 2.08 0.00 0.000 4 0.000 0.054 2704 644 3524 0 0 0 0 0 0

581 -0.68 -97.3 34.3 -7.2 101 587 0.12 2.10 0.00 0.000 6 0.198 0.048 2723 2063 3522 0 0 0 0 0 0

654 -0.68 -97.3 39.0 -6.3 114 660 0.00 2.12 0.00 0.000 4 0.000 0.054 2724 640 3522 0 0 0 0 0 0

682 -0.68 -97.3 40.4 -5.4 119 686 0.00 2.10 0.00 0.000 6 0.000 0.048 2715 2057 3522 0 0 0 0 0 0

821 -0.68 -97.3 47.0 -3.9 144 827 0.00 2.12 0.00 0.000 4 0.000 0.061 2704 3471 3522 0 0 0 0 0 0

905 -0.68 -97.3 51.3 -5.7 159 909 0.00 2.10 0.00 0.000 6 0.000 0.044 2704 2041 3522 0 0 0 0 0 0

1045 -0.68 -97.3 57.6 -5.2 184 1050 0.00 2.12 0.00 0.000 4 0.000 0.055 2693 3474 3522 0 0 0 0 0 0

1119 -0.68 -97.3 60.8 -4.3 197 1124 0.12 2.08 0.00 0.000 6 0.177 0.043 2725 2043 3522 0 0 0 0 0 0

1259 -0.68 -97.3 69.7 -7.6 222 1267 0.00 2.10 0.00 0.000 4 0.000 0.055 2715 3464 3521 0 0 0 0 0 0

1334 -0.68 -97.3 74.9 -6.8 235 1338 0.00 2.08 0.00 0.000 6 0.000 0.044 2715 2049 3522 0 0 0 0 0 0

1473 -0.68 -97.3 82.0 -4.8 260 1478 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 2048 3522 0 0 0 0 0 0

1614 -0.68 -97.3 88.4 -4.4 285 1618 0.00 2.05 0.00 0.000 4 0.000 0.054 2715 644 3521 0 0 0 0 0 0

1752 -0.68 -97.3 95.0 -5.1 310 1758 0.00 2.10 0.00 0.000 6 0.000 0.048 2705 2084 3522 0 0 0 0 0 0

1806 end dive: HALF_MISSION_TIME_EXCEEDED

state 1807 begin apogee

1810 -0.16 0.0 97.6 4.9 320 1886 0.57 0.00 72.57 0.690 6 0.157 0.000 2885 2084 3127 0 0 0 0 0 0

1889 end apogee: CONTROL_FINISHED_OK

state 1889 begin climb

1890 0.68 97.3 97.9 0.0 335 1972 0.80 0.00 75.57 0.662 6 0.106 0.000 3158 2085 2728 0 0 0 0 0 0

2106 0.68 97.3 70.9 14.9 375 2110 0.00 0.00 0.00 0.000 6 0.000 0.000 3158 2084 2724 0 0 0 0 0 0

2245 0.68 97.3 52.7 11.8 400 2251 0.00 2.12 0.00 0.000 4 0.000 0.055 3158 3456 2723 0 0 0 0 0 0

2278 0.68 97.3 47.7 15.2 406 2285 0.00 2.15 0.00 0.000 6 0.000 0.048 3167 2049 2723 0 0 0 0 0 0

2419 0.68 97.3 27.7 14.1 431 2425 0.00 2.12 0.00 0.000 4 0.000 0.058 3167 3456 2723 0 0 0 0 0 0

2463 0.68 97.3 21.7 12.1 439 2470 0.00 2.15 0.00 0.000 6 0.000 0.048 3178 2044 2723 0 0 0 0 0 0

2536 0.68 97.3 11.5 15.4 452 2542 0.00 2.08 0.00 0.000 4 0.000 0.056 3189 641 2723 0 0 0 0 0 0

2587 end climb: SURFACE_DEPTH_REACHED

state 2587 begin surface coast

2614 end surface coast: CONTROL_FINISHED_OK

state 2614 begin surface

ID	500	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	350	DEVICE1	2
MISSION	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	DEVICE2	-1
DIVE	5	SM_CC	250	ROLL_ADJ_GAIN	0	DEVICE3	-1
D_SURF	4	N_FILEKB	8	ROLL_ADJ_DBAND	0	DEVICE4	-1
D_FLARE	3	FILEMGR	0	VBD_MIN	475	DEVICE5	-1
D_TGT	130	CALL_NDIVES	1	VBD_MAX	3942	DEVICE6	-1
D_ABORT	1050	COMM_SEQ	0	C_VBD	3125	LOGGERS	2
D_NO_BLEED	200	KERMIT	0	VBD_DBAND	2	LOGGERDEVICE1	-1
D_BOOST	4	N_NOCOMM	1	VBD_CNV	-0.245296	LOGGERDEVICE2	5
D_FINISH	0	N_NOSURFACE	0	VBD_TIMEOUT	720	LOGGERDEVICE3	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE4	-1
D_SAFE	0	CALL_TRIES	7	VBD_PUMP_AD_RATE_SURFACE	5	COMPASS_DEVICE	33
D_CALL	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	1	COMPASS2_DEVICE	-1
SURFACE_URGENCY	0	CAPUPLOAD	1	VBD_BLEED_AD_RATE	8	PHONE_DEVICE	48
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	UNCOM_BLEED	20	GPS_DEVICE	32
SURFACE_URGENCY_FORCE	0	HEAPDBG	0	VBD_MAXERRORS	1	RAFOS_DEVICE	-1
T_DIVE	54	T_GPS	15	CF8_MAXERRORS	20	XPDR_DEVICE	24
T_MISSION	60	N_GPS	20	AH0_24V	150	SIM_W	0
T_ABORT	1440	T_GPS_ALMANAC	0	AH0_10V	100	SIM_PITCH	0
T_TURN	225	T_GPS_CHARGE	-100158.46	MINV_24V	19	SEABIRD_T_G	0.0042834957
T_TURN_SAMPINT	5	T_RSLEEP	3	MINV_10V	8	SEABIRD_T_H	0.0006203251
T_NO_W	120	STROBE	0	FG_AHR_10V	0	SEABIRD_T_I	2.2469603e-05
T_LOITER	0	RAFOS_PEAK_OFFSET	1.5	FG_AHR_24V	0	SEABIRD_T_J	2.3267601e-06
USE_BATHY	0	RAFOS_CORR_THRESH	60	PHONE_SUPPLY	2	SEABIRD_C_G	-9.868659
USE_ICE	0	RAFOS_HIT_WINDOW	3600	PRESSURE_YINT	-65.908394	SEABIRD_C_H	1.1169316
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	157	PRESSURE_SLOPE	0.00011603366	SEABIRD_C_I	0.00023590792
D_OFFGRID	1001	PITCH_MAX	3893	AD7714Ch0Gain	128	SEABIRD_C_J	7.8038953e-05
T_WATCHDOG	10	C_PITCH	2943	TCM_PITCH_OFFSET	0	AR_DIVENUM	4
RELAUNCH	1	PITCH_DBAND	0.1	TCM_ROLL_OFFSET	0	AR_SAMPLENUM	7
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	COMPASS_USE	0	AR_OUTLEVEL	2
MAX_BUOY	100	P_OVSHOOT	0.039999999	ALTIM_BOTTOM_PING_RANGE	0	AR_LOGFILE	C:\ARS.LOG
COURSE_BIAS	0	PITCH_GAIN	32	ALTIM_TOP_PING_RANGE	0	AR_FGSLOPE	0.0033
GLIDE_SLOPE	30	PITCH_TIMEOUT	17	ALTIM_BOTTOM_TURN_MARGIN	0	AR_FGYINT	-0.045
SPEED_FACTOR	1	PITCH_AD_RATE	175	ALTIM_TOP_TURN_MARGIN	0	AR_FORCETOHOST	0
RHO	1.0275	PITCH_MAXERRORS	1	ALTIM_TOP_MIN_OBSTACLE	1	AR_WARMUP	20
MASS	51642	PITCH_ADJ_GAIN	0	ALTIM_PING_DEPTH	70	AR_UPLOADEXTS	PSD
NAV_MODE	1	PITCH_ADJ_DBAND	0	ALTIM_PING_DELTA	3	AR_HEAPDBG	0
FERRY_MAX	45	ROLL_MIN	213	ALTIM_FREQUENCY	13	AR_ARSMODEL	3
KALMAN_USE	1	ROLL_MAX	3849	ALTIM_PULSE	4	AR_ARSSERIAL	5
HD_A	0.003	ROLL_DEG	40	ALTIM_SENSITIVITY	1	AR_ARSCH1GAIN	200
HD_B	0.0099999998	C_ROLL_DIVE	2050	XPDR_VALID	6	AR_ARSCH2GAIN	0
HD_C	9.9999997e-06	C_ROLL_CLIMB	2050	XPDR_INHIBIT	90	AR_ARSCH1FLT	30000
HEADING	-1	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003	AR_ARSCH2FLT	1200
ESCAPE_HEADING	0	ROLL_CNV	0.028270001	INT_PRESSURE_YINT	1.2	AR_FGCLKCORR	0.940588
ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	DEEPGLIDER	0	AR_CHKOPENFILES	1
FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	34	DEEPGLIDERMB	0	AR_EPOCHTS	0
TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	31	MOTHERBOARD	4

GPS1	110310,230822,4745.598,-12224.350,14,2.8,33,18.2	TGT_NAME	SE
_CALLS	1	TGT_LATLONG	4743.000,-12224.000
_XMS_NAKs	17	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.010,-0.201
_SM_DEPTHo	0.98	KALMAN_X	261.0,90.9,53.0,3.0,45.4
_SM_ANGLEo	-69.3	KALMAN_Y	2642.9,1123.3,610.6,-615.2,494.5
GPS2	110310,231514,4745.696,-12224.344,11,1.7,11,18.2	MHEAD_RNG_PITCHd_Wd	164.6,5011,-17.9,-8.025
SPEED_LIMITS	0.139,0.201	D_GRID	130

FINISH	0.3,1.022682	AR_DDRIVE_FREE	59722301440
SM_CCo	2643,77.62,0.545,1,0,2104,250.69	AR_DDRIVE_SIZE	59996930048
SM_GC	1.02,0.00,0.00,77.62,0.000,0.000,0.545,137,2048,2104,-8.77,-0.03,250.69	_24V_AH	24.1,5.516
IRIDIUM_FIX	4729.30,-12215.26,040911,161600	_10V_AH	10.2,5.056
TT8_MAMPS	0.072098	FG_AHR_24Vo	0.000
HUMID	1077732240	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.06163	MEM	334972
TCM_TEMP	18.60	DATA_FILE_SIZE	13441,466
XPDR_PINGS	129	CAP_FILE_SIZE	61946,0
ALTIM_BOTTOM_PING	70.0,7.1	CFSIZE	260165632,258535424
AR_POSTDIVE_SAMPLENUM	6	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
AR_CDRIVE_FREE	8168800256	GPS	120310,000307,4745.836,-12224.419,36,0.9,36,18.2
AR_CDRIVE_SIZE	8453062656

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	261	128.11	SBE_CT	215	24	124.55
Roll_motor	42	62	63.15	nil	0	0	0.00
VBD_pump_during_apogee	148	689	2461.92	nil	0	0	0.00
VBD_pump_during_surface	77	544	1018.76	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	0	0.00	nil	0	0	0.00
Iridium_during_connect	32	0	0.00	nil	0	0	0.00
Iridium_during_xfer	265	0	0.00	ARS	0	0	0.00
Transponder_ping	32	420	331.50	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	0	0.00
TT8	633	19	127.90
LPSleep	1099	2	24.57
TT8_Active	319	19	64.44
TT8_Sampling	1071	39	434.81
TT8_CF8	42	45	19.90
TT8_Kalman	33	0	0.00
Analog_circuits	725	12	88.82
GPS_charging	0	0	0.00
Compass	677	15	103.64
RAFOS	0	0	0.00
Transponder	5	30	1.66

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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
24	-0.68	-97.3	0.0	0.0	0	92	0.00	0.00	-62.62	0.000	6	0.000	0.000	146	2045	3521	0	0	0	0	0	0
94	-0.68	-97.3	2.7	-5.0	13	109	10.75	0.00	0.00	0.000	6	0.262	0.000	2713	2045	3521	0	0	0	0	0	0
176	-0.68	-97.3	7.8	-5.7	28	181	0.00	2.15	0.00	0.000	4	0.000	0.062	2704	3464	3521	0	0	0	0	0	0
209	-0.68	-97.3	9.5	-5.1	34	215	0.00	2.10	0.00	0.000	6	0.000	0.044	2704	2039	3519	0	0	0	0	0	0
281	-0.68	-97.3	15.1	-8.0	47	286	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2038	3522	0	0	0	0	0	0
353	-0.68	-97.3	20.2	-7.3	60	358	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2038	3521	0	0	0	0	0	0
425	-0.68	-97.3	24.1	-4.6	73	430	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2038	3522	0	0	0	0	0	0
497	-0.68	-97.3	28.3	-6.6	86	503	0.00	2.08	0.00	0.000	4	0.000	0.054	2704	644	3524	0	0	0	0	0	0
581	-0.68	-97.3	34.3	-7.2	101	587	0.12	2.10	0.00	0.000	6	0.198	0.048	2723	2063	3522	0	0	0	0	0	0
654	-0.68	-97.3	39.0	-6.3	114	660	0.00	2.12	0.00	0.000	4	0.000	0.054	2724	640	3522	0	0	0	0	0	0
682	-0.68	-97.3	40.4	-5.4	119	686	0.00	2.10	0.00	0.000	6	0.000	0.048	2715	2057	3522	0	0	0	0	0	0
821	-0.68	-97.3	47.0	-3.9	144	827	0.00	2.12	0.00	0.000	4	0.000	0.061	2704	3471	3522	0	0	0	0	0	0
905	-0.68	-97.3	51.3	-5.7	159	909	0.00	2.10	0.00	0.000	6	0.000	0.044	2704	2041	3522	0	0	0	0	0	0
1045	-0.68	-97.3	57.6	-5.2	184	1050	0.00	2.12	0.00	0.000	4	0.000	0.055	2693	3474	3522	0	0	0	0	0	0
1119	-0.68	-97.3	60.8	-4.3	197	1124	0.12	2.08	0.00	0.000	6	0.177	0.043	2725	2043	3522	0	0	0	0	0	0
1259	-0.68	-97.3	69.7	-7.6	222	1267	0.00	2.10	0.00	0.000	4	0.000	0.055	2715	3464	3521	0	0	0	0	0	0
1334	-0.68	-97.3	74.9	-6.8	235	1338	0.00	2.08	0.00	0.000	6	0.000	0.044	2715	2049	3522	0	0	0	0	0	0
1473	-0.68	-97.3	82.0	-4.8	260	1478	0.00	0.00	0.00	0.000	6	0.000	0.000	2715	2048	3522	0	0	0	0	0	0
1614	-0.68	-97.3	88.4	-4.4	285	1618	0.00	2.05	0.00	0.000	4	0.000	0.054	2715	644	3521	0	0	0	0	0	0
1752	-0.68	-97.3	95.0	-5.1	310	1758	0.00	2.10	0.00	0.000	6	0.000	0.048	2705	2084	3522	0	0	0	0	0	0
1806	end dive: HALF_MISSION_TIME_EXCEEDED
state	1807	begin apogee
1810	-0.16	0.0	97.6	4.9	320	1886	0.57	0.00	72.57	0.690	6	0.157	0.000	2885	2084	3127	0	0	0	0	0	0
1889	end apogee: CONTROL_FINISHED_OK
state	1889	begin climb
1890	0.68	97.3	97.9	0.0	335	1972	0.80	0.00	75.57	0.662	6	0.106	0.000	3158	2085	2728	0	0	0	0	0	0
2106	0.68	97.3	70.9	14.9	375	2110	0.00	0.00	0.00	0.000	6	0.000	0.000	3158	2084	2724	0	0	0	0	0	0
2245	0.68	97.3	52.7	11.8	400	2251	0.00	2.12	0.00	0.000	4	0.000	0.055	3158	3456	2723	0	0	0	0	0	0
2278	0.68	97.3	47.7	15.2	406	2285	0.00	2.15	0.00	0.000	6	0.000	0.048	3167	2049	2723	0	0	0	0	0	0
2419	0.68	97.3	27.7	14.1	431	2425	0.00	2.12	0.00	0.000	4	0.000	0.058	3167	3456	2723	0	0	0	0	0	0
2463	0.68	97.3	21.7	12.1	439	2470	0.00	2.15	0.00	0.000	6	0.000	0.048	3178	2044	2723	0	0	0	0	0	0
2536	0.68	97.3	11.5	15.4	452	2542	0.00	2.08	0.00	0.000	4	0.000	0.056	3189	641	2723	0	0	0	0	0	0
2587	end climb: SURFACE_DEPTH_REACHED
state	2587	begin surface coast
2614	end surface coast: CONTROL_FINISHED_OK
state	2614	begin surface