Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 56 * 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 56 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 45 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 -25829.568 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 55

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 0.0041149999 ROLL_DEG 40 INT_PRESSURE_SLOPE 0.0097660003 AR_ARSCH2GAIN 0

HD_B 0.014024 C_ROLL_DIVE 2069 INT_PRESSURE_YINT 0 AR_ARSCH1FLT 30000

HD_C 5.5727e-05 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 56 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 45

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 55 D_PITCH 0 PRESSURE_YINT -0.16054545 T_GPS_CHARGE -25829.568

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 0.0041149999 ROLL_CNV 0.028270001 USE_ICE 0

AR_SAMPLENUM 4 HD_B 0.014024 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

AR_UPLOADEXTS PSD HD_C 5.5727e-05 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 001050,4806.821,-12222.668,27,1.1,27,18.0 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.067,-0.167

_SM_DEPTHo -0.00 KALMAN_X 9046.2,165.2,-83.8,-8012.7,44.5

_SM_ANGLEo -50.0 KALMAN_Y -7506.0,-5.3,34.0,5830.8,45.4

GPS2 001441,4806.827,-12222.688,16,1.1,16,18.0 MHEAD_RNG_PITCHd_Wd 140.1,1753,-14.8,-6.667

SPEED_LIMITS 0.067,0.180 D_GRID 100

Post-dive calculations and measurements:

FINISH 1.5,0.997284 AR_CDRIVE_SIZE 4223664128

SM_CCo 2632,174.95,0.004,23,0,1045,350.04 AR_DDRIVE_FREE 43736006656

SM_GC 0.00,0.00,0.00,174.95,0.000,0.000,0.004,147,1959,1045,-11.72,-3.17,350.04 AR_DDRIVE_SIZE 59996930048

IRIDIUM_FIX 0.00,0.00,010170,000000 _24V_AH 23.8,5.312

TT8_MAMPS 0.04602 _10V_AH 9.7,11.263

HUMID 1769 DATA_FILE_SIZE 6447,232

INTERNAL_PRESSURE 12.5102 CAP_FILE_SIZE 58178,8

TCM_TEMP 15.00 CFSIZE 260165632,257835008

AR_POSTDIVE_SAMPLENUM 4 ERRORS 0,0,0,0,0,0,0,0,1,0,0,73,137,23,0

AR_CDRIVE_FREE 4122574848 GPS 280708,010527,4806.605,-12222.392,24,1.1,24,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 35 4 3.88 SBE_CT 179 24 102.45

Roll_motor 33 3 3.05 nil 0 0 0.00

VBD_pump_during_apogee 243 4 26.72 nil 0 0 0.00

VBD_pump_during_surface 174 3 15.97 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 3056 216 15730.97

Iridium_during_xfer 80 223 426.86

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.18

TT8 479 18 83.63

LPSleep 1429 0 5.41

TT8_Active 664 18 116.01

TT8_Sampling 310 38 114.41

TT8_CF8 282 44 120.36

TT8_Kalman 33 80 25.88

Analog_circuits 963 12 112.12

GPS_charging 0 0 0.00

Compass 273 26 69.09

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -1.11 -146.6 0.0 0.0 0 98 0.00 0.00 -67.20 0.000 6 0.000 0.000 146 1920 3079

101 -1.11 -146.6 0.6 -0.7 7 122 11.80 2.30 0.00 0.000 4 0.004 0.004 2506 470 3080

392 -1.11 -146.6 29.4 -7.5 33 398 0.47 2.90 0.00 0.000 6 0.003 0.004 2398 2218 3080

429 -1.11 -146.6 32.1 -7.3 36 432 0.35 0.00 0.00 0.000 6 0.003 0.000 2476 2217 3080

461 -1.11 -146.6 34.5 -7.7 39 463 0.40 0.00 0.00 0.000 6 0.004 0.000 2400 2218 3079

493 -1.11 -146.6 36.8 -7.2 42 499 0.35 2.50 0.00 0.000 4 0.004 0.004 2477 3659 3079

611 -1.11 -146.6 45.3 -7.6 52 617 0.30 2.92 0.00 0.000 6 0.003 0.004 2406 1906 3080

649 -1.11 -146.6 48.1 -7.5 55 651 0.30 0.00 0.00 0.000 6 0.004 0.000 2479 1905 3081

681 -1.11 -146.6 50.4 -7.3 58 683 0.38 0.00 0.00 0.000 6 0.003 0.000 2405 1907 3079

712 -1.11 -146.6 52.8 -7.2 61 715 0.38 0.00 0.00 0.000 6 0.004 0.000 2479 1907 3078

744 -1.11 -146.6 55.2 -7.6 64 747 0.32 0.00 0.00 0.000 6 0.004 0.000 2402 1906 3079

776 -1.11 -146.6 57.6 -7.6 67 778 0.52 0.00 0.00 0.000 6 0.004 0.000 2508 1906 3080

809 -1.11 -146.6 59.9 -7.3 70 811 0.47 0.00 0.00 0.000 6 0.003 0.000 2396 1907 3080

840 -1.11 -146.6 62.2 -6.8 73 845 0.47 2.47 0.00 0.000 4 0.004 0.004 2508 479 3079

1149 -1.11 -146.6 84.4 -7.4 100 1155 0.47 2.92 0.00 0.000 6 0.003 0.004 2394 2244 3079

1187 -1.11 -146.6 87.3 -7.9 103 1189 0.60 0.00 0.00 0.000 6 0.004 0.000 2473 2244 3079

1219 -1.11 -146.6 89.7 -7.6 106 1220 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2244 3080

1226 end dive: TARGET_DEPTH_EXCEEDED

state 1227 begin apogee

1234 -0.31 0.0 90.5 7.6 107 1361 1.05 0.00 122.80 0.005 6 0.004 0.000 2661 1943 2472

1362 end apogee: CONTROL_FINISHED_OK

state 1362 begin climb

1365 1.11 146.6 92.7 0.0 120 1491 1.40 0.00 121.12 0.005 6 0.004 0.000 2964 1944 1875

1523 1.11 146.6 83.0 8.2 136 1525 0.30 0.00 0.00 0.000 6 0.003 0.000 2890 1944 1874

1554 1.11 146.6 80.5 8.0 139 1557 0.43 0.00 0.00 0.000 6 0.004 0.000 2962 1943 1875

1586 1.11 146.6 78.1 8.0 142 1592 0.30 2.65 0.00 0.000 4 0.005 0.004 2923 3586 1874

1839 1.11 146.6 57.4 9.3 164 1844 0.00 2.78 0.00 0.000 6 0.000 0.004 2923 1969 1876

1877 1.11 146.6 54.4 8.3 167 1878 0.00 0.00 0.00 0.000 6 0.000 0.000 2921 1969 1874

1908 1.11 146.6 51.8 8.0 170 1910 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 1967 1874

1941 1.11 146.6 49.3 8.0 173 1942 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 1969 1874

1972 1.11 146.6 46.7 8.0 176 1973 0.00 0.00 0.00 0.000 6 0.000 0.000 2924 1969 1874

2004 1.11 146.6 44.3 7.7 179 2005 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 1969 1875

2036 1.11 146.6 41.7 8.0 182 2037 0.00 0.00 0.00 0.000 6 0.000 0.000 2924 1968 1875

2068 1.11 146.6 39.4 7.4 185 2069 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 1970 1874

2100 1.11 146.6 37.0 7.7 188 2101 0.00 0.00 0.00 0.000 6 0.000 0.000 2924 1969 1874

2131 1.11 146.6 34.6 7.3 191 2133 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 1969 1873

2164 1.11 146.6 32.2 7.5 194 2165 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 1967 1875

2195 1.11 146.6 29.9 7.3 197 2200 0.00 3.03 0.00 0.000 4 0.000 0.004 2923 3619 1874

2504 1.11 146.6 7.7 7.0 224 2509 0.00 2.92 0.00 0.000 6 0.000 0.004 2922 1943 1874

2541 1.11 146.6 4.8 7.6 227 2546 0.00 2.78 0.00 0.000 4 0.000 0.004 2923 3583 1874

2588 end climb: SURFACE_DEPTH_REACHED

state 2588 begin surface coast

2601 end surface coast: CONTROL_FINISHED_OK

state 2601 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	56	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	45	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	-25829.568	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	55
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	0.0041149999	ROLL_DEG	40	INT_PRESSURE_SLOPE	0.0097660003	AR_ARSCH2GAIN	0
HD_B	0.014024	C_ROLL_DIVE	2069	INT_PRESSURE_YINT	0	AR_ARSCH1FLT	30000
HD_C	5.5727e-05	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	001050,4806.821,-12222.668,27,1.1,27,18.0	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.067,-0.167
_SM_DEPTHo	-0.00	KALMAN_X	9046.2,165.2,-83.8,-8012.7,44.5
_SM_ANGLEo	-50.0	KALMAN_Y	-7506.0,-5.3,34.0,5830.8,45.4
GPS2	001441,4806.827,-12222.688,16,1.1,16,18.0	MHEAD_RNG_PITCHd_Wd	140.1,1753,-14.8,-6.667
SPEED_LIMITS	0.067,0.180	D_GRID	100

FINISH	1.5,0.997284	AR_CDRIVE_SIZE	4223664128
SM_CCo	2632,174.95,0.004,23,0,1045,350.04	AR_DDRIVE_FREE	43736006656
SM_GC	0.00,0.00,0.00,174.95,0.000,0.000,0.004,147,1959,1045,-11.72,-3.17,350.04	AR_DDRIVE_SIZE	59996930048
IRIDIUM_FIX	0.00,0.00,010170,000000	_24V_AH	23.8,5.312
TT8_MAMPS	0.04602	_10V_AH	9.7,11.263
HUMID	1769	DATA_FILE_SIZE	6447,232
INTERNAL_PRESSURE	12.5102	CAP_FILE_SIZE	58178,8
TCM_TEMP	15.00	CFSIZE	260165632,257835008
AR_POSTDIVE_SAMPLENUM	4	ERRORS	0,0,0,0,0,0,0,0,1,0,0,73,137,23,0
AR_CDRIVE_FREE	4122574848	GPS	280708,010527,4806.605,-12222.392,24,1.1,24,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	35	4	3.88	SBE_CT	179	24	102.45
Roll_motor	33	3	3.05	nil	0	0	0.00
VBD_pump_during_apogee	243	4	26.72	nil	0	0	0.00
VBD_pump_during_surface	174	3	15.97	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	3056	216	15730.97
Iridium_during_xfer	80	223	426.86
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.18
TT8	479	18	83.63
LPSleep	1429	0	5.41
TT8_Active	664	18	116.01
TT8_Sampling	310	38	114.41
TT8_CF8	282	44	120.36
TT8_Kalman	33	80	25.88
Analog_circuits	963	12	112.12
GPS_charging	0	0	0.00
Compass	273	26	69.09
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-1.11	-146.6	0.0	0.0	0	98	0.00	0.00	-67.20	0.000	6	0.000	0.000	146	1920	3079
101	-1.11	-146.6	0.6	-0.7	7	122	11.80	2.30	0.00	0.000	4	0.004	0.004	2506	470	3080
392	-1.11	-146.6	29.4	-7.5	33	398	0.47	2.90	0.00	0.000	6	0.003	0.004	2398	2218	3080
429	-1.11	-146.6	32.1	-7.3	36	432	0.35	0.00	0.00	0.000	6	0.003	0.000	2476	2217	3080
461	-1.11	-146.6	34.5	-7.7	39	463	0.40	0.00	0.00	0.000	6	0.004	0.000	2400	2218	3079
493	-1.11	-146.6	36.8	-7.2	42	499	0.35	2.50	0.00	0.000	4	0.004	0.004	2477	3659	3079
611	-1.11	-146.6	45.3	-7.6	52	617	0.30	2.92	0.00	0.000	6	0.003	0.004	2406	1906	3080
649	-1.11	-146.6	48.1	-7.5	55	651	0.30	0.00	0.00	0.000	6	0.004	0.000	2479	1905	3081
681	-1.11	-146.6	50.4	-7.3	58	683	0.38	0.00	0.00	0.000	6	0.003	0.000	2405	1907	3079
712	-1.11	-146.6	52.8	-7.2	61	715	0.38	0.00	0.00	0.000	6	0.004	0.000	2479	1907	3078
744	-1.11	-146.6	55.2	-7.6	64	747	0.32	0.00	0.00	0.000	6	0.004	0.000	2402	1906	3079
776	-1.11	-146.6	57.6	-7.6	67	778	0.52	0.00	0.00	0.000	6	0.004	0.000	2508	1906	3080
809	-1.11	-146.6	59.9	-7.3	70	811	0.47	0.00	0.00	0.000	6	0.003	0.000	2396	1907	3080
840	-1.11	-146.6	62.2	-6.8	73	845	0.47	2.47	0.00	0.000	4	0.004	0.004	2508	479	3079
1149	-1.11	-146.6	84.4	-7.4	100	1155	0.47	2.92	0.00	0.000	6	0.003	0.004	2394	2244	3079
1187	-1.11	-146.6	87.3	-7.9	103	1189	0.60	0.00	0.00	0.000	6	0.004	0.000	2473	2244	3079
1219	-1.11	-146.6	89.7	-7.6	106	1220	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2244	3080
1226	end dive: TARGET_DEPTH_EXCEEDED
state	1227	begin apogee
1234	-0.31	0.0	90.5	7.6	107	1361	1.05	0.00	122.80	0.005	6	0.004	0.000	2661	1943	2472
1362	end apogee: CONTROL_FINISHED_OK
state	1362	begin climb
1365	1.11	146.6	92.7	0.0	120	1491	1.40	0.00	121.12	0.005	6	0.004	0.000	2964	1944	1875
1523	1.11	146.6	83.0	8.2	136	1525	0.30	0.00	0.00	0.000	6	0.003	0.000	2890	1944	1874
1554	1.11	146.6	80.5	8.0	139	1557	0.43	0.00	0.00	0.000	6	0.004	0.000	2962	1943	1875
1586	1.11	146.6	78.1	8.0	142	1592	0.30	2.65	0.00	0.000	4	0.005	0.004	2923	3586	1874
1839	1.11	146.6	57.4	9.3	164	1844	0.00	2.78	0.00	0.000	6	0.000	0.004	2923	1969	1876
1877	1.11	146.6	54.4	8.3	167	1878	0.00	0.00	0.00	0.000	6	0.000	0.000	2921	1969	1874
1908	1.11	146.6	51.8	8.0	170	1910	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	1967	1874
1941	1.11	146.6	49.3	8.0	173	1942	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	1969	1874
1972	1.11	146.6	46.7	8.0	176	1973	0.00	0.00	0.00	0.000	6	0.000	0.000	2924	1969	1874
2004	1.11	146.6	44.3	7.7	179	2005	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	1969	1875
2036	1.11	146.6	41.7	8.0	182	2037	0.00	0.00	0.00	0.000	6	0.000	0.000	2924	1968	1875
2068	1.11	146.6	39.4	7.4	185	2069	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	1970	1874
2100	1.11	146.6	37.0	7.7	188	2101	0.00	0.00	0.00	0.000	6	0.000	0.000	2924	1969	1874
2131	1.11	146.6	34.6	7.3	191	2133	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	1969	1873
2164	1.11	146.6	32.2	7.5	194	2165	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	1967	1875
2195	1.11	146.6	29.9	7.3	197	2200	0.00	3.03	0.00	0.000	4	0.000	0.004	2923	3619	1874
2504	1.11	146.6	7.7	7.0	224	2509	0.00	2.92	0.00	0.000	6	0.000	0.004	2922	1943	1874
2541	1.11	146.6	4.8	7.6	227	2546	0.00	2.78	0.00	0.000	4	0.000	0.004	2923	3583	1874
2588	end climb: SURFACE_DEPTH_REACHED
state	2588	begin surface coast
2601	end surface coast: CONTROL_FINISHED_OK
state	2601	begin surface