Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 31 * 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 31 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 -25281.158 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 30

T_WATCHDOG 10 C_PITCH 2692 ALTIM_BOTTOM_PING_RANGE 25 AR_SAMPLENUM 4

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 31 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 30 D_PITCH 0 PRESSURE_YINT -0.16054545 T_GPS_CHARGE -25281.158

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 4 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 010919,4807.379,-12223.296,30,1.1,30,18.0 TGT_NAME SEVEN

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 50.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.094,-0.216

_SM_DEPTHo 0.00 KALMAN_X 6980.8,-93.9,41.7,-6582.7,54.8

_SM_ANGLEo -50.0 KALMAN_Y -8595.7,213.7,-66.7,7776.4,44.3

GPS2 011323,4807.351,-12223.312,27,1.1,27,18.0 MHEAD_RNG_PITCHd_Wd 138.4,756,-14.0,-7.500

SPEED_LIMITS 0.075,0.236 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.7,0.997345 AR_CDRIVE_SIZE 4223664128

SM_CCo 2830,51.47,0.004,7,0,1044,350.53 AR_DDRIVE_FREE 52355072000

SM_GC -0.00,0.00,0.00,51.47,0.000,0.000,0.004,146,1913,1044,-11.70,-4.38,350.53 AR_DDRIVE_SIZE 59996930048

IRIDIUM_FIX 0.00,0.00,010170,000000 _24V_AH 23.8,2.796

TT8_MAMPS 0.04602 _10V_AH 9.7,6.093

HUMID 1689 DATA_FILE_SIZE 6428,253

INTERNAL_PRESSURE 12.4712 CAP_FILE_SIZE 62506,8

TCM_TEMP 15.00 CFSIZE 260165632,258637824

AR_POSTDIVE_SAMPLENUM 4 ERRORS 0,0,0,0,0,0,0,0,1,0,0,62,133,7,0

AR_CDRIVE_FREE 4122574848 GPS 270708,020400,4807.083,-12222.948,25,1.1,25,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 3 2.98 SBE_CT 193 24 110.66

Roll_motor 34 3 3.15 nil 0 0 0.00

VBD_pump_during_apogee 374 4 41.00 nil 0 0 0.00

VBD_pump_during_surface 51 3 4.70 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 3081 216 15857.56

Iridium_during_xfer 80 223 426.18

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 50 13.24

TT8 498 18 87.08

LPSleep 1451 0 5.49

TT8_Active 587 18 102.51

TT8_Sampling 345 38 127.29

TT8_CF8 284 44 121.45

TT8_Kalman 33 80 25.88

Analog_circuits 914 12 106.47

GPS_charging 0 0 0.00

Compass 297 26 75.02

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

25 -1.06 -146.6 0.0 0.0 0 97 0.00 0.00 -67.45 0.000 6 0.000 0.000 182 2198 3079

100 -1.06 -146.6 0.7 -0.7 7 121 11.20 2.85 0.00 0.000 4 0.004 0.004 2488 475 3079

425 -1.06 -146.6 29.6 -6.7 36 431 0.30 3.05 0.00 0.000 6 0.004 0.004 2414 2231 3078

463 -1.06 -146.6 32.1 -6.8 39 465 0.43 0.00 0.00 0.000 6 0.004 0.000 2485 2232 3078

495 -1.06 -146.6 34.3 -6.8 42 497 0.32 0.00 0.00 0.000 6 0.004 0.000 2448 2231 3079

527 -1.06 -146.6 36.3 -6.6 45 528 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2229 3078

559 -1.06 -146.6 38.5 -6.7 48 560 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2231 3079

590 -1.06 -146.6 40.6 -6.7 51 595 0.00 2.40 0.00 0.000 4 0.000 0.003 2448 3573 3079

724 -1.06 -146.6 49.7 -6.7 62 730 0.00 2.85 0.00 0.000 6 0.000 0.004 2448 1949 3081

762 -1.06 -146.6 51.8 -5.8 66 766 0.00 2.42 0.00 0.000 4 0.000 0.004 2449 520 3079

1070 -1.06 -146.6 73.0 -7.0 93 1076 0.00 2.90 0.00 0.000 6 0.000 0.004 2448 2194 3079

1108 -1.06 -146.6 75.6 -6.8 96 1110 0.00 0.00 0.00 0.000 6 0.000 0.000 2447 2193 3079

1140 -1.06 -146.6 77.8 -7.0 99 1141 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 2194 3078

1172 -1.06 -146.6 80.1 -7.0 102 1173 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2193 3079

1204 -1.06 -146.6 82.2 -6.7 105 1205 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 2194 3079

1236 -1.06 -146.6 84.4 -7.1 108 1237 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 2193 3078

1268 -1.06 -146.6 86.6 -6.9 111 1269 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 2194 3080

1300 -1.06 -146.6 88.8 -6.8 114 1301 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2195 3079

1317 end dive: TARGET_DEPTH_EXCEEDED

state 1318 begin apogee

1325 -0.31 0.0 90.2 7.0 116 1452 1.10 0.00 122.50 0.005 6 0.004 0.000 2674 1891 2472

1453 end apogee: CONTROL_FINISHED_OK

state 1453 begin climb

1456 1.06 146.6 92.4 0.0 129 1581 1.55 0.00 120.80 0.005 6 0.004 0.000 2966 1891 1877

1609 1.07 156.6 84.3 7.2 144 1622 0.30 0.00 10.23 0.005 6 0.003 0.000 2886 1892 1833

1650 1.07 157.5 81.2 7.5 148 1652 0.45 0.00 0.00 0.000 6 0.004 0.000 2962 1891 1833

1682 1.07 158.4 78.8 7.5 151 1684 0.32 0.00 0.00 0.000 6 0.004 0.000 2922 1893 1834

1714 1.08 162.1 76.5 7.4 154 1723 0.00 0.00 6.65 0.005 6 0.000 0.000 2920 1890 1809

1756 1.08 167.8 73.4 7.3 158 1765 0.00 0.00 6.18 0.005 6 0.000 0.000 2922 1891 1788

1797 1.09 174.9 70.4 7.3 162 1808 0.00 0.00 8.12 0.004 6 0.000 0.000 2920 1892 1758

1839 1.11 189.0 67.5 7.0 166 1859 0.00 0.00 13.25 0.005 6 0.000 0.000 2920 1891 1704

1891 1.12 199.7 63.8 7.1 171 1912 0.00 2.83 10.90 0.005 4 0.000 0.004 2921 3672 1657

2216 1.15 218.4 41.1 6.9 200 2239 0.00 2.83 16.70 0.005 6 0.000 0.004 2921 1916 1583

2279 1.15 218.4 36.0 8.4 206 2280 0.00 0.00 0.00 0.000 6 0.000 0.000 2922 1916 1584

2312 1.15 218.4 33.4 8.4 209 2313 0.00 0.00 0.00 0.000 6 0.000 0.000 2920 1916 1583

2343 1.16 227.3 31.1 7.2 212 2355 0.40 0.00 9.73 0.004 6 0.003 0.000 2992 1916 1546

2384 1.16 227.3 27.9 7.7 216 2387 0.35 0.00 0.00 0.000 6 0.003 0.000 2919 1915 1546

2417 1.16 231.5 25.6 7.4 219 2427 0.28 0.00 5.38 0.004 6 0.004 0.000 2999 1916 1528

2459 1.17 239.6 22.5 7.2 223 2474 0.52 2.90 8.62 0.005 4 0.004 0.004 2894 3674 1495

2677 1.20 259.9 7.4 6.8 242 2699 0.47 3.05 14.68 0.005 6 0.004 0.004 3002 1913 1413

2730 1.23 289.9 4.1 6.5 247 2760 0.38 3.00 20.60 0.005 4 0.003 0.004 2930 3668 1290

2763 end climb: SURFACE_DEPTH_REACHED

state 2763 begin surface coast

2799 end surface coast: CONTROL_FINISHED_OK

state 2799 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	31	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	-25281.158	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	30
T_WATCHDOG	10	C_PITCH	2692	ALTIM_BOTTOM_PING_RANGE	25	AR_SAMPLENUM	4
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	010919,4807.379,-12223.296,30,1.1,30,18.0	TGT_NAME	SEVEN
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	50.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.094,-0.216
_SM_DEPTHo	0.00	KALMAN_X	6980.8,-93.9,41.7,-6582.7,54.8
_SM_ANGLEo	-50.0	KALMAN_Y	-8595.7,213.7,-66.7,7776.4,44.3
GPS2	011323,4807.351,-12223.312,27,1.1,27,18.0	MHEAD_RNG_PITCHd_Wd	138.4,756,-14.0,-7.500
SPEED_LIMITS	0.075,0.236	D_GRID	100

FINISH	0.7,0.997345	AR_CDRIVE_SIZE	4223664128
SM_CCo	2830,51.47,0.004,7,0,1044,350.53	AR_DDRIVE_FREE	52355072000
SM_GC	-0.00,0.00,0.00,51.47,0.000,0.000,0.004,146,1913,1044,-11.70,-4.38,350.53	AR_DDRIVE_SIZE	59996930048
IRIDIUM_FIX	0.00,0.00,010170,000000	_24V_AH	23.8,2.796
TT8_MAMPS	0.04602	_10V_AH	9.7,6.093
HUMID	1689	DATA_FILE_SIZE	6428,253
INTERNAL_PRESSURE	12.4712	CAP_FILE_SIZE	62506,8
TCM_TEMP	15.00	CFSIZE	260165632,258637824
AR_POSTDIVE_SAMPLENUM	4	ERRORS	0,0,0,0,0,0,0,0,1,0,0,62,133,7,0
AR_CDRIVE_FREE	4122574848	GPS	270708,020400,4807.083,-12222.948,25,1.1,25,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	3	2.98	SBE_CT	193	24	110.66
Roll_motor	34	3	3.15	nil	0	0	0.00
VBD_pump_during_apogee	374	4	41.00	nil	0	0	0.00
VBD_pump_during_surface	51	3	4.70	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	3081	216	15857.56
Iridium_during_xfer	80	223	426.18
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	50	13.24
TT8	498	18	87.08
LPSleep	1451	0	5.49
TT8_Active	587	18	102.51
TT8_Sampling	345	38	127.29
TT8_CF8	284	44	121.45
TT8_Kalman	33	80	25.88
Analog_circuits	914	12	106.47
GPS_charging	0	0	0.00
Compass	297	26	75.02
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
25	-1.06	-146.6	0.0	0.0	0	97	0.00	0.00	-67.45	0.000	6	0.000	0.000	182	2198	3079
100	-1.06	-146.6	0.7	-0.7	7	121	11.20	2.85	0.00	0.000	4	0.004	0.004	2488	475	3079
425	-1.06	-146.6	29.6	-6.7	36	431	0.30	3.05	0.00	0.000	6	0.004	0.004	2414	2231	3078
463	-1.06	-146.6	32.1	-6.8	39	465	0.43	0.00	0.00	0.000	6	0.004	0.000	2485	2232	3078
495	-1.06	-146.6	34.3	-6.8	42	497	0.32	0.00	0.00	0.000	6	0.004	0.000	2448	2231	3079
527	-1.06	-146.6	36.3	-6.6	45	528	0.00	0.00	0.00	0.000	6	0.000	0.000	2449	2229	3078
559	-1.06	-146.6	38.5	-6.7	48	560	0.00	0.00	0.00	0.000	6	0.000	0.000	2449	2231	3079
590	-1.06	-146.6	40.6	-6.7	51	595	0.00	2.40	0.00	0.000	4	0.000	0.003	2448	3573	3079
724	-1.06	-146.6	49.7	-6.7	62	730	0.00	2.85	0.00	0.000	6	0.000	0.004	2448	1949	3081
762	-1.06	-146.6	51.8	-5.8	66	766	0.00	2.42	0.00	0.000	4	0.000	0.004	2449	520	3079
1070	-1.06	-146.6	73.0	-7.0	93	1076	0.00	2.90	0.00	0.000	6	0.000	0.004	2448	2194	3079
1108	-1.06	-146.6	75.6	-6.8	96	1110	0.00	0.00	0.00	0.000	6	0.000	0.000	2447	2193	3079
1140	-1.06	-146.6	77.8	-7.0	99	1141	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	2194	3078
1172	-1.06	-146.6	80.1	-7.0	102	1173	0.00	0.00	0.00	0.000	6	0.000	0.000	2449	2193	3079
1204	-1.06	-146.6	82.2	-6.7	105	1205	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	2194	3079
1236	-1.06	-146.6	84.4	-7.1	108	1237	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	2193	3078
1268	-1.06	-146.6	86.6	-6.9	111	1269	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	2194	3080
1300	-1.06	-146.6	88.8	-6.8	114	1301	0.00	0.00	0.00	0.000	6	0.000	0.000	2449	2195	3079
1317	end dive: TARGET_DEPTH_EXCEEDED
state	1318	begin apogee
1325	-0.31	0.0	90.2	7.0	116	1452	1.10	0.00	122.50	0.005	6	0.004	0.000	2674	1891	2472
1453	end apogee: CONTROL_FINISHED_OK
state	1453	begin climb
1456	1.06	146.6	92.4	0.0	129	1581	1.55	0.00	120.80	0.005	6	0.004	0.000	2966	1891	1877
1609	1.07	156.6	84.3	7.2	144	1622	0.30	0.00	10.23	0.005	6	0.003	0.000	2886	1892	1833
1650	1.07	157.5	81.2	7.5	148	1652	0.45	0.00	0.00	0.000	6	0.004	0.000	2962	1891	1833
1682	1.07	158.4	78.8	7.5	151	1684	0.32	0.00	0.00	0.000	6	0.004	0.000	2922	1893	1834
1714	1.08	162.1	76.5	7.4	154	1723	0.00	0.00	6.65	0.005	6	0.000	0.000	2920	1890	1809
1756	1.08	167.8	73.4	7.3	158	1765	0.00	0.00	6.18	0.005	6	0.000	0.000	2922	1891	1788
1797	1.09	174.9	70.4	7.3	162	1808	0.00	0.00	8.12	0.004	6	0.000	0.000	2920	1892	1758
1839	1.11	189.0	67.5	7.0	166	1859	0.00	0.00	13.25	0.005	6	0.000	0.000	2920	1891	1704
1891	1.12	199.7	63.8	7.1	171	1912	0.00	2.83	10.90	0.005	4	0.000	0.004	2921	3672	1657
2216	1.15	218.4	41.1	6.9	200	2239	0.00	2.83	16.70	0.005	6	0.000	0.004	2921	1916	1583
2279	1.15	218.4	36.0	8.4	206	2280	0.00	0.00	0.00	0.000	6	0.000	0.000	2922	1916	1584
2312	1.15	218.4	33.4	8.4	209	2313	0.00	0.00	0.00	0.000	6	0.000	0.000	2920	1916	1583
2343	1.16	227.3	31.1	7.2	212	2355	0.40	0.00	9.73	0.004	6	0.003	0.000	2992	1916	1546
2384	1.16	227.3	27.9	7.7	216	2387	0.35	0.00	0.00	0.000	6	0.003	0.000	2919	1915	1546
2417	1.16	231.5	25.6	7.4	219	2427	0.28	0.00	5.38	0.004	6	0.004	0.000	2999	1916	1528
2459	1.17	239.6	22.5	7.2	223	2474	0.52	2.90	8.62	0.005	4	0.004	0.004	2894	3674	1495
2677	1.20	259.9	7.4	6.8	242	2699	0.47	3.05	14.68	0.005	6	0.004	0.004	3002	1913	1413
2730	1.23	289.9	4.1	6.5	247	2760	0.38	3.00	20.60	0.005	4	0.003	0.004	2930	3668	1290
2763	end climb: SURFACE_DEPTH_REACHED
state	2763	begin surface coast
2799	end surface coast: CONTROL_FINISHED_OK
state	2799	begin surface