Glider dive log

Shilshole 11Mar10 * SG500 * Dive index * Mission links * Dive 21 * 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 21 SM_CC 200 ROLL_ADJ_GAIN 0 DEVICE3 -1

D_SURF 3 N_FILEKB 8 ROLL_ADJ_DBAND 0 DEVICE4 -1

D_FLARE 3 FILEMGR 0 VBD_MIN 475 DEVICE5 -1

D_TGT 150 CALL_NDIVES 1 VBD_MAX 3942 DEVICE6 -1

D_ABORT 1050 COMM_SEQ 0 C_VBD 3325 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 4 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 63 T_GPS 15 CF8_MAXERRORS 20 XPDR_DEVICE 24

T_MISSION 70 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 -100435.49 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 2918 TCM_PITCH_OFFSET 0 AR_DIVENUM 20

RELAUNCH 1 PITCH_DBAND 0.1 TCM_ROLL_OFFSET 0 AR_SAMPLENUM 4

APOGEE_PITCH -7 PITCH_CNV 0.003125763 COMPASS_USE 0 AR_OUTLEVEL 2

MAX_BUOY 155 P_OVSHOOT 0.039999999 ALTIM_BOTTOM_PING_RANGE 0 AR_LOGFILE C:\ARS.LOG

COURSE_BIAS 0 PITCH_GAIN 30 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 80 AR_UPLOADEXTS PSD

NAV_MODE 1 PITCH_ADJ_DBAND 0 ALTIM_PING_DELTA 5 AR_HEAPDBG 0

FERRY_MAX 45 ROLL_MIN 213 ALTIM_FREQUENCY 13 AR_ARSMODEL 3

KALMAN_USE 1 ROLL_MAX 3849 ALTIM_PULSE 6 AR_ARSSERIAL 5

HD_A 0.003 ROLL_DEG 45 ALTIM_SENSITIVITY 3 AR_ARSCH1GAIN 200

HD_B 0.0099999998 C_ROLL_DIVE 2200 XPDR_VALID 6 AR_ARSCH2GAIN 0

HD_C 9.9999997e-06 C_ROLL_CLIMB 2100 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 33 DEEPGLIDERMB 0 AR_EPOCHTS 0

TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 48 MOTHERBOARD 4

AD7714Ch0Gain 128 C_VBD 3325 MASS 51642 SEABIRD_C_J 7.8038953e-05

AH0_10V 100 DEEPGLIDER 0 MAX_BUOY 155 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 5 DEVICE4 -1 NAV_MODE 1 SIM_W 0

ALTIM_PING_DEPTH 80 DEVICE5 -1 N_FILEKB 8 SM_CC 200

ALTIM_PULSE 6 DEVICE6 -1 N_GPS 20 SPEED_FACTOR 1

ALTIM_SENSITIVITY 3 DIVE 21 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 -7 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 30 T_ABORT 1440

AR_ARSSERIAL 5 D_SURF 3 PITCH_MAX 3893 T_DIVE 63

AR_CHKOPENFILES 1 D_TGT 150 PITCH_MAXERRORS 1 T_GPS 15

AR_DIVENUM 20 ESCAPE_HEADING 0 PITCH_MIN 157 T_GPS_ALMANAC 0

AR_EPOCHTS 0 ESCAPE_HEADING_DELTA 10 PITCH_TIMEOUT 17 T_GPS_CHARGE -100435.49

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 70

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 4 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 45 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 4

COMPASS_USE 0 LOGGERDEVICE1 -1 R_PORT_OVSHOOT 33 VBD_TIMEOUT 720

COURSE_BIAS 0 LOGGERDEVICE2 5 R_STBD_OVSHOOT 48 XPDR_DEVICE 24

C_PITCH 2918 LOGGERDEVICE3 -1 SEABIRD_C_G -9.868659 XPDR_INHIBIT 90

C_ROLL_CLIMB 2100 LOGGERDEVICE4 -1 SEABIRD_C_H 1.1169316 XPDR_VALID 6

C_ROLL_DIVE 2200 LOGGERS 2 SEABIRD_C_I 0.00023590792

Pre-dive calculations and measurements:

GPS1 120310,110536,4743.456,-12224.096,7,1.7,23,18.2 TGT_NAME SE

_CALLS 1 TGT_LATLONG 4743.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.020,-0.163

_SM_DEPTHo 1.17 KALMAN_X 15.7,106.8,148.5,-587.1,36.6

_SM_ANGLEo -76.5 KALMAN_Y -202.3,-258.9,-227.1,-2179.6,-206.8

GPS2 120310,111132,4743.444,-12224.094,13,1.7,13,18.2 MHEAD_RNG_PITCHd_Wd 154.7,831,-22.4,-7.937

SPEED_LIMITS 0.137,0.243 D_GRID 150

Post-dive calculations and measurements:

FINISH 0.3,1.022233 AR_DDRIVE_FREE 58917650432

SM_CCo 2651,64.20,0.525,1,0,2508,200.16 AR_DDRIVE_SIZE 59996930048

SM_GC 1.02,0.00,0.00,64.20,0.000,0.000,0.525,147,2204,2508,-8.67,0.11,200.16 _24V_AH 24.1,6.633

IRIDIUM_FIX 4726.11,-12220.67,050911,040417 _10V_AH 10.0,5.678

TT8_MAMPS 0.151099 FG_AHR_24Vo 0.000

HUMID 1077678047 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.10069 MEM 334948

TCM_TEMP 18.60 DATA_FILE_SIZE 16799,468

XPDR_PINGS 99 CAP_FILE_SIZE 59565,0

ALTIM_BOTTOM_PING 135.4,12.3 CFSIZE 260165632,257957888

AR_POSTDIVE_SAMPLENUM 5 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

AR_CDRIVE_FREE 8449949696 GPS 120310,115844,4743.041,-12224.085,8,1.2,8,18.2

AR_CDRIVE_SIZE 8453062656

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 259 127.46 SBE_CT 203 24 117.67

Roll_motor 38 94 86.74 nil 0 0 0.00

VBD_pump_during_apogee 143 724 2496.60 nil 0 0 0.00

VBD_pump_during_surface 64 524 811.71 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 0 0.00 nil 0 0 0.00

Iridium_during_connect 25 0 0.00 nil 0 0 0.00

Iridium_during_xfer 207 0 0.00 ARS 0 0 0.00

Transponder_ping 28 420 283.42 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 0 0.00

TT8 622 19 123.28

LPSleep 1129 2 24.73

TT8_Active 288 19 57.11

TT8_Sampling 1011 39 402.59

TT8_CF8 45 45 20.81

TT8_Kalman 32 0 0.00

Analog_circuits 686 12 82.36

GPS_charging 0 0 0.00

Compass 680 15 102.02

RAFOS 0 0 0.00

Transponder 22 30 6.88

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

23 -0.82 -63.3 0.0 0.0 0 72 0.00 0.00 -45.20 0.000 6 0.000 0.000 140 2215 3588 0 0 0 0 0 0

74 -0.86 -90.0 2.8 -5.7 9 90 10.32 0.00 -3.08 0.000 6 0.259 0.000 2633 2215 3692 0 0 0 0 0 0

157 -0.86 -90.0 11.8 -11.9 24 162 0.00 2.35 0.00 0.000 4 0.000 0.055 2626 3773 3694 0 0 0 0 0 0

201 -0.86 -90.0 17.3 -12.5 32 207 0.00 2.35 0.00 0.000 6 0.000 0.041 2623 2189 3694 0 0 0 0 0 0

274 -0.86 -90.0 25.9 -11.7 45 278 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2188 3694 0 0 0 0 0 0

345 -0.86 -90.0 34.3 -11.7 58 351 0.00 2.42 0.00 0.000 4 0.000 0.054 2611 3780 3694 0 0 0 0 0 0

373 -0.86 -90.0 37.8 -12.5 63 379 0.10 2.33 0.00 0.000 6 0.196 0.041 2635 2199 3697 0 0 0 0 0 0

445 -0.86 -90.0 46.8 -12.2 76 452 0.00 2.40 0.00 0.000 4 0.000 0.057 2636 618 3694 0 0 0 0 0 0

530 -0.86 -90.0 56.5 -11.0 91 534 0.00 2.35 0.00 0.000 6 0.000 0.047 2626 2199 3694 0 0 0 0 0 0

668 -0.86 -90.0 70.3 -8.9 116 675 0.00 2.42 0.00 0.000 4 0.000 0.054 2613 3788 3694 0 0 0 0 0 0

769 -0.86 -90.0 81.3 -11.5 134 775 0.00 2.38 0.00 0.000 6 0.000 0.041 2613 2196 3694 0 0 0 0 0 0

910 -0.86 -90.0 96.5 -11.6 159 913 0.00 0.00 0.00 0.000 6 0.000 0.000 2613 2195 3694 0 0 0 0 0 0

1049 -0.86 -90.0 113.8 -12.5 184 1054 0.00 0.00 0.00 0.000 6 0.000 0.000 2616 2195 3694 0 0 0 0 0 0

1190 -0.86 -90.0 130.5 -11.9 209 1194 0.00 2.42 0.00 0.000 4 0.000 0.055 2602 3789 3694 0 0 0 0 0 0

1256 -0.86 -90.0 139.0 -13.0 221 1261 0.15 2.35 0.00 0.000 6 0.179 0.041 2640 2191 3694 0 0 0 0 0 0

1360 end dive: TARGET_DEPTH_EXCEEDED

state 1360 begin apogee

1364 -0.23 0.0 150.3 10.9 240 1440 0.62 0.00 68.43 0.724 6 0.163 0.000 2834 2083 3327 0 0 0 0 0 0

1449 end apogee: CONTROL_FINISHED_OK

state 1449 begin climb

1450 0.86 90.0 153.1 0.0 255 1525 1.05 0.00 69.47 0.696 6 0.114 0.000 3184 2080 2959 0 0 0 0 0 0

1659 0.86 90.0 128.0 15.4 294 1660 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 2081 2958 0 0 0 0 0 0

1794 0.86 90.0 107.9 14.8 318 1798 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 2081 2955 0 0 0 0 0 0

1933 0.86 90.0 87.5 14.8 343 1936 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 2081 2958 0 0 0 0 0 0

2072 0.86 90.0 67.2 15.0 368 2076 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 2080 2958 0 0 0 0 0 0

2211 0.86 90.0 48.3 12.8 393 2215 0.00 2.45 0.00 0.000 4 0.000 0.057 3185 3686 2958 0 0 0 0 0 0

2271 0.86 90.0 39.5 14.7 404 2277 0.00 2.40 0.00 0.000 6 0.000 0.054 3197 2105 2958 0 0 0 0 0 0

2344 0.86 90.0 32.2 8.9 417 2350 0.00 2.38 0.00 0.000 4 0.000 0.057 3208 517 2958 0 0 0 0 0 0

2405 0.86 94.2 27.2 7.6 428 2417 0.00 2.35 5.18 0.512 6 0.000 0.048 3208 2095 2940 0 0 0 0 0 0

2484 0.86 94.2 19.7 10.6 442 2488 0.00 0.00 0.00 0.000 6 0.000 0.000 3208 2095 2940 0 0 0 0 0 0

2555 0.86 94.2 11.0 12.7 455 2561 0.00 2.42 0.00 0.000 4 0.000 0.058 3208 3688 2940 0 0 0 0 0 0

2610 end climb: SURFACE_DEPTH_REACHED

state 2610 begin surface coast

2628 end surface coast: CONTROL_FINISHED_OK

state 2628 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	21	SM_CC	200	ROLL_ADJ_GAIN	0	DEVICE3	-1
D_SURF	3	N_FILEKB	8	ROLL_ADJ_DBAND	0	DEVICE4	-1
D_FLARE	3	FILEMGR	0	VBD_MIN	475	DEVICE5	-1
D_TGT	150	CALL_NDIVES	1	VBD_MAX	3942	DEVICE6	-1
D_ABORT	1050	COMM_SEQ	0	C_VBD	3325	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	4	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	63	T_GPS	15	CF8_MAXERRORS	20	XPDR_DEVICE	24
T_MISSION	70	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	-100435.49	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	2918	TCM_PITCH_OFFSET	0	AR_DIVENUM	20
RELAUNCH	1	PITCH_DBAND	0.1	TCM_ROLL_OFFSET	0	AR_SAMPLENUM	4
APOGEE_PITCH	-7	PITCH_CNV	0.003125763	COMPASS_USE	0	AR_OUTLEVEL	2
MAX_BUOY	155	P_OVSHOOT	0.039999999	ALTIM_BOTTOM_PING_RANGE	0	AR_LOGFILE	C:\ARS.LOG
COURSE_BIAS	0	PITCH_GAIN	30	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	80	AR_UPLOADEXTS	PSD
NAV_MODE	1	PITCH_ADJ_DBAND	0	ALTIM_PING_DELTA	5	AR_HEAPDBG	0
FERRY_MAX	45	ROLL_MIN	213	ALTIM_FREQUENCY	13	AR_ARSMODEL	3
KALMAN_USE	1	ROLL_MAX	3849	ALTIM_PULSE	6	AR_ARSSERIAL	5
HD_A	0.003	ROLL_DEG	45	ALTIM_SENSITIVITY	3	AR_ARSCH1GAIN	200
HD_B	0.0099999998	C_ROLL_DIVE	2200	XPDR_VALID	6	AR_ARSCH2GAIN	0
HD_C	9.9999997e-06	C_ROLL_CLIMB	2100	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	33	DEEPGLIDERMB	0	AR_EPOCHTS	0
TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	48	MOTHERBOARD	4

GPS1	120310,110536,4743.456,-12224.096,7,1.7,23,18.2	TGT_NAME	SE
_CALLS	1	TGT_LATLONG	4743.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.020,-0.163
_SM_DEPTHo	1.17	KALMAN_X	15.7,106.8,148.5,-587.1,36.6
_SM_ANGLEo	-76.5	KALMAN_Y	-202.3,-258.9,-227.1,-2179.6,-206.8
GPS2	120310,111132,4743.444,-12224.094,13,1.7,13,18.2	MHEAD_RNG_PITCHd_Wd	154.7,831,-22.4,-7.937
SPEED_LIMITS	0.137,0.243	D_GRID	150

FINISH	0.3,1.022233	AR_DDRIVE_FREE	58917650432
SM_CCo	2651,64.20,0.525,1,0,2508,200.16	AR_DDRIVE_SIZE	59996930048
SM_GC	1.02,0.00,0.00,64.20,0.000,0.000,0.525,147,2204,2508,-8.67,0.11,200.16	_24V_AH	24.1,6.633
IRIDIUM_FIX	4726.11,-12220.67,050911,040417	_10V_AH	10.0,5.678
TT8_MAMPS	0.151099	FG_AHR_24Vo	0.000
HUMID	1077678047	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.10069	MEM	334948
TCM_TEMP	18.60	DATA_FILE_SIZE	16799,468
XPDR_PINGS	99	CAP_FILE_SIZE	59565,0
ALTIM_BOTTOM_PING	135.4,12.3	CFSIZE	260165632,257957888
AR_POSTDIVE_SAMPLENUM	5	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
AR_CDRIVE_FREE	8449949696	GPS	120310,115844,4743.041,-12224.085,8,1.2,8,18.2
AR_CDRIVE_SIZE	8453062656

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	259	127.46	SBE_CT	203	24	117.67
Roll_motor	38	94	86.74	nil	0	0	0.00
VBD_pump_during_apogee	143	724	2496.60	nil	0	0	0.00
VBD_pump_during_surface	64	524	811.71	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	0	0.00	nil	0	0	0.00
Iridium_during_connect	25	0	0.00	nil	0	0	0.00
Iridium_during_xfer	207	0	0.00	ARS	0	0	0.00
Transponder_ping	28	420	283.42	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	0	0.00
TT8	622	19	123.28
LPSleep	1129	2	24.73
TT8_Active	288	19	57.11
TT8_Sampling	1011	39	402.59
TT8_CF8	45	45	20.81
TT8_Kalman	32	0	0.00
Analog_circuits	686	12	82.36
GPS_charging	0	0	0.00
Compass	680	15	102.02
RAFOS	0	0	0.00
Transponder	22	30	6.88

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
23	-0.82	-63.3	0.0	0.0	0	72	0.00	0.00	-45.20	0.000	6	0.000	0.000	140	2215	3588	0	0	0	0	0	0
74	-0.86	-90.0	2.8	-5.7	9	90	10.32	0.00	-3.08	0.000	6	0.259	0.000	2633	2215	3692	0	0	0	0	0	0
157	-0.86	-90.0	11.8	-11.9	24	162	0.00	2.35	0.00	0.000	4	0.000	0.055	2626	3773	3694	0	0	0	0	0	0
201	-0.86	-90.0	17.3	-12.5	32	207	0.00	2.35	0.00	0.000	6	0.000	0.041	2623	2189	3694	0	0	0	0	0	0
274	-0.86	-90.0	25.9	-11.7	45	278	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2188	3694	0	0	0	0	0	0
345	-0.86	-90.0	34.3	-11.7	58	351	0.00	2.42	0.00	0.000	4	0.000	0.054	2611	3780	3694	0	0	0	0	0	0
373	-0.86	-90.0	37.8	-12.5	63	379	0.10	2.33	0.00	0.000	6	0.196	0.041	2635	2199	3697	0	0	0	0	0	0
445	-0.86	-90.0	46.8	-12.2	76	452	0.00	2.40	0.00	0.000	4	0.000	0.057	2636	618	3694	0	0	0	0	0	0
530	-0.86	-90.0	56.5	-11.0	91	534	0.00	2.35	0.00	0.000	6	0.000	0.047	2626	2199	3694	0	0	0	0	0	0
668	-0.86	-90.0	70.3	-8.9	116	675	0.00	2.42	0.00	0.000	4	0.000	0.054	2613	3788	3694	0	0	0	0	0	0
769	-0.86	-90.0	81.3	-11.5	134	775	0.00	2.38	0.00	0.000	6	0.000	0.041	2613	2196	3694	0	0	0	0	0	0
910	-0.86	-90.0	96.5	-11.6	159	913	0.00	0.00	0.00	0.000	6	0.000	0.000	2613	2195	3694	0	0	0	0	0	0
1049	-0.86	-90.0	113.8	-12.5	184	1054	0.00	0.00	0.00	0.000	6	0.000	0.000	2616	2195	3694	0	0	0	0	0	0
1190	-0.86	-90.0	130.5	-11.9	209	1194	0.00	2.42	0.00	0.000	4	0.000	0.055	2602	3789	3694	0	0	0	0	0	0
1256	-0.86	-90.0	139.0	-13.0	221	1261	0.15	2.35	0.00	0.000	6	0.179	0.041	2640	2191	3694	0	0	0	0	0	0
1360	end dive: TARGET_DEPTH_EXCEEDED
state	1360	begin apogee
1364	-0.23	0.0	150.3	10.9	240	1440	0.62	0.00	68.43	0.724	6	0.163	0.000	2834	2083	3327	0	0	0	0	0	0
1449	end apogee: CONTROL_FINISHED_OK
state	1449	begin climb
1450	0.86	90.0	153.1	0.0	255	1525	1.05	0.00	69.47	0.696	6	0.114	0.000	3184	2080	2959	0	0	0	0	0	0
1659	0.86	90.0	128.0	15.4	294	1660	0.00	0.00	0.00	0.000	6	0.000	0.000	3184	2081	2958	0	0	0	0	0	0
1794	0.86	90.0	107.9	14.8	318	1798	0.00	0.00	0.00	0.000	6	0.000	0.000	3184	2081	2955	0	0	0	0	0	0
1933	0.86	90.0	87.5	14.8	343	1936	0.00	0.00	0.00	0.000	6	0.000	0.000	3184	2081	2958	0	0	0	0	0	0
2072	0.86	90.0	67.2	15.0	368	2076	0.00	0.00	0.00	0.000	6	0.000	0.000	3184	2080	2958	0	0	0	0	0	0
2211	0.86	90.0	48.3	12.8	393	2215	0.00	2.45	0.00	0.000	4	0.000	0.057	3185	3686	2958	0	0	0	0	0	0
2271	0.86	90.0	39.5	14.7	404	2277	0.00	2.40	0.00	0.000	6	0.000	0.054	3197	2105	2958	0	0	0	0	0	0
2344	0.86	90.0	32.2	8.9	417	2350	0.00	2.38	0.00	0.000	4	0.000	0.057	3208	517	2958	0	0	0	0	0	0
2405	0.86	94.2	27.2	7.6	428	2417	0.00	2.35	5.18	0.512	6	0.000	0.048	3208	2095	2940	0	0	0	0	0	0
2484	0.86	94.2	19.7	10.6	442	2488	0.00	0.00	0.00	0.000	6	0.000	0.000	3208	2095	2940	0	0	0	0	0	0
2555	0.86	94.2	11.0	12.7	455	2561	0.00	2.42	0.00	0.000	4	0.000	0.058	3208	3688	2940	0	0	0	0	0	0
2610	end climb: SURFACE_DEPTH_REACHED
state	2610	begin surface coast
2628	end surface coast: CONTROL_FINISHED_OK
state	2628	begin surface