Glider dive log

Shilshole 11Mar10 * SG500 * Dive index * Mission links * Dive 22 * 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 22 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 -100455.5 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 21

RELAUNCH 1 PITCH_DBAND 0.1 TCM_ROLL_OFFSET 0 AR_SAMPLENUM 5

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 30 DEEPGLIDERMB 0 AR_EPOCHTS 0

TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 35 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 22 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 21 ESCAPE_HEADING 0 PITCH_MIN 157 T_GPS_ALMANAC 0

AR_EPOCHTS 0 ESCAPE_HEADING_DELTA 10 PITCH_TIMEOUT 17 T_GPS_CHARGE -100455.5

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 5 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 30 VBD_TIMEOUT 720

COURSE_BIAS 0 LOGGERDEVICE2 5 R_STBD_OVSHOOT 35 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 120310,115844,4743.041,-12224.085,8,1.2,8,18.2 TGT_NAME SE

_CALLS 2 TGT_LATLONG 4743.000,-12224.000

_XMS_NAKs 10 TGT_RADIUS 100.000

_XMS_TOUTs 3 KALMAN_CONTROL -0.011,-0.137

_SM_DEPTHo 1.20 KALMAN_X 27.2,161.2,154.2,-509.6,-22.7

_SM_ANGLEo -76.8 KALMAN_Y -86.7,-311.4,-314.6,-2789.7,-21.3

GPS2 120310,120856,4743.103,-12223.971,16,1.5,16,18.2 MHEAD_RNG_PITCHd_Wd 166.4,193,-26.9,-7.937

SPEED_LIMITS 0.137,0.243 D_GRID 150

Post-dive calculations and measurements:

FINISH 0.3,1.022299 AR_DDRIVE_FREE 58804797440

SM_CCo 2443,74.85,0.537,1,0,2509,200.16 AR_DDRIVE_SIZE 59996930048

SM_GC 1.39,0.00,0.00,74.85,0.000,0.000,0.537,150,2198,2509,-8.65,-0.03,200.16 _24V_AH 24.2,6.695

IRIDIUM_FIX 4719.74,-12337.86,050911,060604 _10V_AH 9.9,5.789

TT8_MAMPS 0.059826 FG_AHR_24Vo 0.000

HUMID 1077701272 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.10069 MEM 334904

TCM_TEMP 18.60 DATA_FILE_SIZE 13488,428

XPDR_PINGS 82 CAP_FILE_SIZE 62397,0

ALTIM_BOTTOM_PING 135.1,41.0 CFSIZE 260165632,257916928

AR_POSTDIVE_SAMPLENUM 3 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

AR_CDRIVE_FREE 8449916928 GPS 120310,125324,4742.904,-12224.040,24,1.2,41,18.2

AR_CDRIVE_SIZE 8453062656

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 259 131.75 SBE_CT 187 24 109.05

Roll_motor 57 63 88.70 nil 0 0 0.00

VBD_pump_during_apogee 108 724 1895.69 nil 0 0 0.00

VBD_pump_during_surface 74 536 972.52 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 57 0 0.00 nil 0 0 0.00

Iridium_during_connect 72 0 0.00 nil 0 0 0.00

Iridium_during_xfer 316 0 0.00 ARS 8853 34 7393.78

Transponder_ping 23 420 241.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 0 0.00

TT8 596 19 116.96

LPSleep 1084 2 23.51

TT8_Active 281 19 55.11

TT8_Sampling 1142 39 450.04

TT8_CF8 49 45 22.41

TT8_Kalman 33 0 0.00

Analog_circuits 650 12 77.24

GPS_charging 0 0 0.00

Compass 624 15 92.77

RAFOS 0 0 0.00

Transponder 22 30 6.70

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 23 begin dive

24 -0.95 -44.6 0.0 0.0 0 72 0.00 0.00 -42.30 0.000 6 0.000 0.000 145 2204 3506 0 0 0 0 0 0

74 -0.97 -58.8 3.0 -6.2 9 95 10.20 2.47 -1.75 0.000 4 0.259 0.064 2599 602 3568 0 0 0 0 0 0

105 -0.97 -58.8 6.9 -11.4 15 111 0.00 2.40 0.00 0.000 6 0.000 0.046 2587 2201 3567 0 0 0 0 0 0

178 -0.97 -58.8 12.6 -8.9 28 184 0.00 2.40 0.00 0.000 4 0.000 0.056 2576 3785 3567 0 0 0 0 0 0

297 -0.98 -64.6 22.9 -7.2 49 303 0.00 2.35 -0.35 0.000 6 0.000 0.041 2576 2181 3591 0 0 0 0 0 0

372 -0.98 -69.2 28.2 -7.4 62 377 0.00 0.00 -0.25 0.000 6 0.000 0.000 2576 2183 3613 0 0 0 0 0 0

444 -0.98 -69.2 35.4 -11.0 75 450 0.00 2.42 0.00 0.000 4 0.000 0.060 2564 3789 3613 0 0 0 0 0 0

466 -0.98 -69.2 38.2 -12.2 79 472 0.12 2.35 0.00 0.000 6 0.196 0.041 2594 2205 3613 0 0 0 0 0 0

539 -0.98 -69.2 47.8 -12.9 92 545 0.00 2.40 0.00 0.000 4 0.000 0.054 2594 623 3613 0 0 0 0 0 0

628 -0.98 -69.2 59.6 -12.9 108 634 0.00 2.38 0.00 0.000 6 0.000 0.053 2580 2196 3613 0 0 0 0 0 0

769 -0.98 -69.2 75.5 -11.0 133 773 0.00 2.40 0.00 0.000 4 0.000 0.054 2571 3791 3614 0 0 0 0 0 0

986 -0.98 -69.2 101.7 -12.5 172 992 0.00 2.38 0.00 0.000 6 0.000 0.048 2571 2198 3613 0 0 0 0 0 0

1127 -0.98 -69.2 117.8 -11.3 197 1132 0.12 2.38 0.00 0.000 4 0.198 0.054 2590 3792 3614 0 0 0 0 0 0

1249 -0.98 -69.2 133.1 -13.0 219 1254 0.00 2.35 0.00 0.000 6 0.000 0.041 2590 2192 3614 0 0 0 0 0 0

1390 -0.98 -69.2 149.3 -11.7 244 1396 0.00 2.40 0.00 0.000 4 0.000 0.054 2578 3797 3614 0 0 0 0 0 0

1399 end dive: TARGET_DEPTH_EXCEEDED

state 1399 begin apogee

1405 -0.23 0.0 150.4 11.4 246 1465 0.85 0.00 54.25 0.725 6 0.183 0.000 2829 2088 3324 0 0 0 0 0 0

1467 end apogee: CONTROL_FINISHED_OK

state 1468 begin climb

1469 0.98 69.2 153.3 0.0 258 1530 1.20 2.47 53.83 0.700 4 0.116 0.054 3241 521 3043 0 0 0 0 0 0

1562 0.98 69.2 144.5 13.1 276 1569 0.00 2.45 0.00 0.000 6 0.000 0.047 3241 2088 3041 0 0 0 0 0 0

1704 0.98 69.2 123.7 15.5 301 1708 0.00 0.00 0.00 0.000 6 0.000 0.000 3240 2089 3041 0 0 0 0 0 0

1843 0.98 69.2 100.0 17.4 326 1849 0.00 2.47 0.00 0.000 4 0.000 0.056 3240 3683 3041 0 0 0 0 0 0

1876 0.98 69.2 93.9 18.3 332 1883 0.00 2.40 0.00 0.000 6 0.000 0.046 3253 2106 3040 0 0 0 0 0 0

2017 0.98 69.2 67.7 19.6 357 2022 0.00 2.40 0.00 0.000 4 0.000 0.056 3252 3688 3041 0 0 0 0 0 0

2074 0.98 69.2 57.2 18.2 367 2079 0.00 2.38 0.00 0.000 6 0.000 0.046 3264 2089 3042 0 0 0 0 0 0

2214 0.98 69.2 33.9 17.2 392 2220 0.00 2.38 0.00 0.000 4 0.000 0.059 3277 512 3041 0 0 0 0 0 0

2237 0.98 69.2 30.1 17.4 396 2243 0.15 2.35 0.00 0.000 6 0.196 0.047 3239 2106 3041 0 0 0 0 0 0

2312 0.98 69.2 17.5 16.6 409 2317 0.00 2.40 0.00 0.000 4 0.000 0.057 3239 3683 3041 0 0 0 0 0 0

2400 end climb: SURFACE_DEPTH_REACHED

state 2400 begin surface coast

2418 end surface coast: CONTROL_FINISHED_OK

state 2418 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	22	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	-100455.5	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	21
RELAUNCH	1	PITCH_DBAND	0.1	TCM_ROLL_OFFSET	0	AR_SAMPLENUM	5
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	30	DEEPGLIDERMB	0	AR_EPOCHTS	0
TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	35	MOTHERBOARD	4

GPS1	120310,115844,4743.041,-12224.085,8,1.2,8,18.2	TGT_NAME	SE
_CALLS	2	TGT_LATLONG	4743.000,-12224.000
_XMS_NAKs	10	TGT_RADIUS	100.000
_XMS_TOUTs	3	KALMAN_CONTROL	-0.011,-0.137
_SM_DEPTHo	1.20	KALMAN_X	27.2,161.2,154.2,-509.6,-22.7
_SM_ANGLEo	-76.8	KALMAN_Y	-86.7,-311.4,-314.6,-2789.7,-21.3
GPS2	120310,120856,4743.103,-12223.971,16,1.5,16,18.2	MHEAD_RNG_PITCHd_Wd	166.4,193,-26.9,-7.937
SPEED_LIMITS	0.137,0.243	D_GRID	150

FINISH	0.3,1.022299	AR_DDRIVE_FREE	58804797440
SM_CCo	2443,74.85,0.537,1,0,2509,200.16	AR_DDRIVE_SIZE	59996930048
SM_GC	1.39,0.00,0.00,74.85,0.000,0.000,0.537,150,2198,2509,-8.65,-0.03,200.16	_24V_AH	24.2,6.695
IRIDIUM_FIX	4719.74,-12337.86,050911,060604	_10V_AH	9.9,5.789
TT8_MAMPS	0.059826	FG_AHR_24Vo	0.000
HUMID	1077701272	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.10069	MEM	334904
TCM_TEMP	18.60	DATA_FILE_SIZE	13488,428
XPDR_PINGS	82	CAP_FILE_SIZE	62397,0
ALTIM_BOTTOM_PING	135.1,41.0	CFSIZE	260165632,257916928
AR_POSTDIVE_SAMPLENUM	3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
AR_CDRIVE_FREE	8449916928	GPS	120310,125324,4742.904,-12224.040,24,1.2,41,18.2
AR_CDRIVE_SIZE	8453062656

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	259	131.75	SBE_CT	187	24	109.05
Roll_motor	57	63	88.70	nil	0	0	0.00
VBD_pump_during_apogee	108	724	1895.69	nil	0	0	0.00
VBD_pump_during_surface	74	536	972.52	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	57	0	0.00	nil	0	0	0.00
Iridium_during_connect	72	0	0.00	nil	0	0	0.00
Iridium_during_xfer	316	0	0.00	ARS	8853	34	7393.78
Transponder_ping	23	420	241.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	0	0.00
TT8	596	19	116.96
LPSleep	1084	2	23.51
TT8_Active	281	19	55.11
TT8_Sampling	1142	39	450.04
TT8_CF8	49	45	22.41
TT8_Kalman	33	0	0.00
Analog_circuits	650	12	77.24
GPS_charging	0	0	0.00
Compass	624	15	92.77
RAFOS	0	0	0.00
Transponder	22	30	6.70

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	23	begin dive
24	-0.95	-44.6	0.0	0.0	0	72	0.00	0.00	-42.30	0.000	6	0.000	0.000	145	2204	3506	0	0	0	0	0	0
74	-0.97	-58.8	3.0	-6.2	9	95	10.20	2.47	-1.75	0.000	4	0.259	0.064	2599	602	3568	0	0	0	0	0	0
105	-0.97	-58.8	6.9	-11.4	15	111	0.00	2.40	0.00	0.000	6	0.000	0.046	2587	2201	3567	0	0	0	0	0	0
178	-0.97	-58.8	12.6	-8.9	28	184	0.00	2.40	0.00	0.000	4	0.000	0.056	2576	3785	3567	0	0	0	0	0	0
297	-0.98	-64.6	22.9	-7.2	49	303	0.00	2.35	-0.35	0.000	6	0.000	0.041	2576	2181	3591	0	0	0	0	0	0
372	-0.98	-69.2	28.2	-7.4	62	377	0.00	0.00	-0.25	0.000	6	0.000	0.000	2576	2183	3613	0	0	0	0	0	0
444	-0.98	-69.2	35.4	-11.0	75	450	0.00	2.42	0.00	0.000	4	0.000	0.060	2564	3789	3613	0	0	0	0	0	0
466	-0.98	-69.2	38.2	-12.2	79	472	0.12	2.35	0.00	0.000	6	0.196	0.041	2594	2205	3613	0	0	0	0	0	0
539	-0.98	-69.2	47.8	-12.9	92	545	0.00	2.40	0.00	0.000	4	0.000	0.054	2594	623	3613	0	0	0	0	0	0
628	-0.98	-69.2	59.6	-12.9	108	634	0.00	2.38	0.00	0.000	6	0.000	0.053	2580	2196	3613	0	0	0	0	0	0
769	-0.98	-69.2	75.5	-11.0	133	773	0.00	2.40	0.00	0.000	4	0.000	0.054	2571	3791	3614	0	0	0	0	0	0
986	-0.98	-69.2	101.7	-12.5	172	992	0.00	2.38	0.00	0.000	6	0.000	0.048	2571	2198	3613	0	0	0	0	0	0
1127	-0.98	-69.2	117.8	-11.3	197	1132	0.12	2.38	0.00	0.000	4	0.198	0.054	2590	3792	3614	0	0	0	0	0	0
1249	-0.98	-69.2	133.1	-13.0	219	1254	0.00	2.35	0.00	0.000	6	0.000	0.041	2590	2192	3614	0	0	0	0	0	0
1390	-0.98	-69.2	149.3	-11.7	244	1396	0.00	2.40	0.00	0.000	4	0.000	0.054	2578	3797	3614	0	0	0	0	0	0
1399	end dive: TARGET_DEPTH_EXCEEDED
state	1399	begin apogee
1405	-0.23	0.0	150.4	11.4	246	1465	0.85	0.00	54.25	0.725	6	0.183	0.000	2829	2088	3324	0	0	0	0	0	0
1467	end apogee: CONTROL_FINISHED_OK
state	1468	begin climb
1469	0.98	69.2	153.3	0.0	258	1530	1.20	2.47	53.83	0.700	4	0.116	0.054	3241	521	3043	0	0	0	0	0	0
1562	0.98	69.2	144.5	13.1	276	1569	0.00	2.45	0.00	0.000	6	0.000	0.047	3241	2088	3041	0	0	0	0	0	0
1704	0.98	69.2	123.7	15.5	301	1708	0.00	0.00	0.00	0.000	6	0.000	0.000	3240	2089	3041	0	0	0	0	0	0
1843	0.98	69.2	100.0	17.4	326	1849	0.00	2.47	0.00	0.000	4	0.000	0.056	3240	3683	3041	0	0	0	0	0	0
1876	0.98	69.2	93.9	18.3	332	1883	0.00	2.40	0.00	0.000	6	0.000	0.046	3253	2106	3040	0	0	0	0	0	0
2017	0.98	69.2	67.7	19.6	357	2022	0.00	2.40	0.00	0.000	4	0.000	0.056	3252	3688	3041	0	0	0	0	0	0
2074	0.98	69.2	57.2	18.2	367	2079	0.00	2.38	0.00	0.000	6	0.000	0.046	3264	2089	3042	0	0	0	0	0	0
2214	0.98	69.2	33.9	17.2	392	2220	0.00	2.38	0.00	0.000	4	0.000	0.059	3277	512	3041	0	0	0	0	0	0
2237	0.98	69.2	30.1	17.4	396	2243	0.15	2.35	0.00	0.000	6	0.196	0.047	3239	2106	3041	0	0	0	0	0	0
2312	0.98	69.2	17.5	16.6	409	2317	0.00	2.40	0.00	0.000	4	0.000	0.057	3239	3683	3041	0	0	0	0	0	0
2400	end climb: SURFACE_DEPTH_REACHED
state	2400	begin surface coast
2418	end surface coast: CONTROL_FINISHED_OK
state	2418	begin surface