Glider dive log

Shilshole 11Mar10 * SG500 * Dive index * Mission links * Dive 6 * 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 6 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 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 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 -100173.4 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 5

RELAUNCH 1 PITCH_DBAND 0.1 TCM_ROLL_OFFSET 0 AR_SAMPLENUM 6

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 2200 XPDR_VALID 6 AR_ARSCH2GAIN 0

HD_C 9.9999997e-06 C_ROLL_CLIMB 2150 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 35 DEEPGLIDERMB 0 AR_EPOCHTS 0

TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 31 MOTHERBOARD 4

AD7714Ch0Gain 128 C_VBD 3325 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 6 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 5 ESCAPE_HEADING 0 PITCH_MIN 157 T_GPS_ALMANAC 0

AR_EPOCHTS 0 ESCAPE_HEADING_DELTA 10 PITCH_TIMEOUT 17 T_GPS_CHARGE -100173.4

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 6 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 35 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 2150 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 120310,000307,4745.836,-12224.419,36,0.9,36,18.2 TGT_NAME SE

_CALLS 1 TGT_LATLONG 4743.000,-12224.000

_XMS_NAKs 2 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.011,-0.201

_SM_DEPTHo 0.98 KALMAN_X 224.1,89.3,36.1,-35.3,-42.2

_SM_ANGLEo -69.1 KALMAN_Y 3692.4,1253.7,428.6,-1234.6,732.5

GPS2 120310,000837,4745.898,-12224.420,12,1.1,12,18.2 MHEAD_RNG_PITCHd_Wd 158.8,5392,-17.9,-8.025

SPEED_LIMITS 0.139,0.201 D_GRID 130

Post-dive calculations and measurements:

FINISH 0.3,1.022665 AR_DDRIVE_FREE 59722301440

SM_CCo 2683,78.03,0.548,1,0,2306,250.20 AR_DDRIVE_SIZE 59996930048

SM_GC 1.13,0.00,0.00,78.03,0.000,0.000,0.548,133,2200,2306,-8.78,0.00,250.20 _24V_AH 24.1,5.576

IRIDIUM_FIX 4726.11,-12222.38,040911,171727 _10V_AH 10.2,5.082

TT8_MAMPS 0.070564 FG_AHR_24Vo 0.000

HUMID 1077732240 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.08116 MEM 334904

TCM_TEMP 18.60 DATA_FILE_SIZE 16815,473

XPDR_PINGS 147 CAP_FILE_SIZE 59225,0

ALTIM_BOTTOM_PING 76.3,7.1 CFSIZE 260165632,258502656

AR_POSTDIVE_SAMPLENUM 7 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

AR_CDRIVE_FREE 8070332416 GPS 120310,005644,4745.943,-12224.447,10,1.6,10,18.2

AR_CDRIVE_SIZE 8453062656

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 262 128.65 SBE_CT 205 24 118.73

Roll_motor 38 158 147.17 nil 0 0 0.00

VBD_pump_during_apogee 147 711 2527.89 nil 0 0 0.00

VBD_pump_during_surface 78 547 1029.78 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 0 0.00 nil 0 0 0.00

Iridium_during_connect 23 0 0.00 nil 0 0 0.00

Iridium_during_xfer 192 0 0.00 ARS 0 0 0.00

Transponder_ping 37 420 382.11 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 0 0.00

TT8 627 19 126.67

LPSleep 1135 2 25.36

TT8_Active 316 19 63.90

TT8_Sampling 1001 39 406.60

TT8_CF8 43 45 20.09

TT8_Kalman 33 0 0.00

Analog_circuits 722 12 88.46

GPS_charging 0 0 0.00

Compass 686 15 105.05

RAFOS 0 0 0.00

Transponder 8 30 2.60

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 97 0.00 0.00 -69.65 0.000 6 0.000 0.000 137 2049 3720 0 0 0 0 0 0

99 -0.68 -97.3 3.0 -5.8 14 115 10.80 2.40 0.00 0.000 4 0.262 0.052 2704 3623 3723 0 0 0 0 0 0

210 -0.68 -97.3 15.0 -10.6 34 216 0.00 2.12 0.00 0.000 6 0.000 0.043 2704 2179 3723 0 0 0 0 0 0

284 -0.68 -97.3 23.2 -10.9 47 289 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2178 3721 0 0 0 0 0 0

356 -0.68 -97.3 28.1 -7.1 60 361 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2178 3723 0 0 0 0 0 0

428 -0.68 -97.3 35.1 -8.8 73 432 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2178 3723 0 0 0 0 0 0

498 -0.68 -97.3 41.0 -8.2 86 500 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2178 3723 0 0 0 0 0 0

633 -0.68 -97.3 53.4 -11.2 110 638 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2178 3723 0 0 0 0 0 0

774 -0.68 -97.3 66.4 -8.9 135 778 0.00 2.15 0.00 0.000 4 0.000 0.057 2696 3609 3723 0 0 0 0 0 0

841 -0.68 -97.3 73.1 -9.8 147 847 0.10 2.08 0.00 0.000 6 0.177 0.044 2715 2200 3723 0 0 0 0 0 0

981 -0.68 -97.3 84.0 -6.2 172 986 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2199 3722 0 0 0 0 0 0

1122 -0.68 -97.3 91.1 -4.7 197 1126 0.00 2.10 0.00 0.000 4 0.000 0.054 2719 782 3720 0 0 0 0 0 0

1204 -0.68 -97.3 96.5 -6.3 212 1211 0.00 2.12 0.00 0.000 6 0.000 0.049 2710 2200 3722 0 0 0 0 0 0

1347 -0.68 -97.3 106.6 -8.5 237 1351 0.00 2.15 0.00 0.000 4 0.000 0.057 2699 3612 3723 0 0 0 0 0 0

1395 -0.68 -97.3 110.9 -9.1 246 1401 0.00 2.10 0.00 0.000 6 0.000 0.043 2699 2203 3723 0 0 0 0 0 0

1536 -0.68 -97.3 123.1 -7.9 271 1540 0.00 2.10 0.00 0.000 4 0.000 0.053 2699 780 3723 0 0 0 0 0 0

1603 -0.68 -97.3 129.4 -9.9 283 1608 0.12 2.12 0.00 0.000 6 0.189 0.048 2720 2199 3723 0 0 0 0 0 0

1612 end dive: TARGET_DEPTH_EXCEEDED

state 1612 begin apogee

1616 -0.16 0.0 130.4 10.0 285 1692 0.50 0.00 72.15 0.711 6 0.146 0.000 2883 2151 3326 0 0 0 0 0 0

1695 end apogee: CONTROL_FINISHED_OK

state 1695 begin climb

1696 0.68 97.3 131.9 0.0 300 1776 0.77 0.00 75.38 0.683 6 0.098 0.000 3153 2146 2927 0 0 0 0 0 0

1910 0.68 97.3 108.9 13.1 340 1916 0.00 2.17 0.00 0.000 4 0.000 0.060 3164 752 2925 0 0 0 0 0 0

1983 0.68 97.3 98.8 14.3 353 1988 0.00 2.15 0.00 0.000 6 0.000 0.050 3164 2149 2925 0 0 0 0 0 0

2122 0.68 97.3 78.6 15.5 378 2128 0.00 2.17 0.00 0.000 4 0.000 0.058 3174 741 2925 0 0 0 0 0 0

2139 0.68 97.3 76.1 15.5 381 2144 0.00 2.15 0.00 0.000 6 0.000 0.050 3174 2149 2925 0 0 0 0 0 0

2279 0.68 97.3 55.8 15.7 406 2283 0.00 0.00 0.00 0.000 6 0.000 0.000 3174 2152 2925 0 0 0 0 0 0

2418 0.68 97.3 37.0 13.7 431 2423 0.00 2.15 0.00 0.000 4 0.000 0.057 3175 3567 2925 0 0 0 0 0 0

2490 0.68 97.3 26.4 14.6 444 2496 0.00 2.12 0.00 0.000 6 0.000 0.047 3184 2157 2925 0 0 0 0 0 0

2563 0.68 97.3 15.1 14.8 457 2569 0.00 2.12 0.00 0.000 4 0.000 0.055 3185 3572 2925 0 0 0 0 0 0

2629 end climb: SURFACE_DEPTH_REACHED

state 2629 begin surface coast

2652 end surface coast: CONTROL_FINISHED_OK

state 2653 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	6	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	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	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	-100173.4	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	5
RELAUNCH	1	PITCH_DBAND	0.1	TCM_ROLL_OFFSET	0	AR_SAMPLENUM	6
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	2200	XPDR_VALID	6	AR_ARSCH2GAIN	0
HD_C	9.9999997e-06	C_ROLL_CLIMB	2150	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	35	DEEPGLIDERMB	0	AR_EPOCHTS	0
TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	31	MOTHERBOARD	4

GPS1	120310,000307,4745.836,-12224.419,36,0.9,36,18.2	TGT_NAME	SE
_CALLS	1	TGT_LATLONG	4743.000,-12224.000
_XMS_NAKs	2	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.011,-0.201
_SM_DEPTHo	0.98	KALMAN_X	224.1,89.3,36.1,-35.3,-42.2
_SM_ANGLEo	-69.1	KALMAN_Y	3692.4,1253.7,428.6,-1234.6,732.5
GPS2	120310,000837,4745.898,-12224.420,12,1.1,12,18.2	MHEAD_RNG_PITCHd_Wd	158.8,5392,-17.9,-8.025
SPEED_LIMITS	0.139,0.201	D_GRID	130

FINISH	0.3,1.022665	AR_DDRIVE_FREE	59722301440
SM_CCo	2683,78.03,0.548,1,0,2306,250.20	AR_DDRIVE_SIZE	59996930048
SM_GC	1.13,0.00,0.00,78.03,0.000,0.000,0.548,133,2200,2306,-8.78,0.00,250.20	_24V_AH	24.1,5.576
IRIDIUM_FIX	4726.11,-12222.38,040911,171727	_10V_AH	10.2,5.082
TT8_MAMPS	0.070564	FG_AHR_24Vo	0.000
HUMID	1077732240	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.08116	MEM	334904
TCM_TEMP	18.60	DATA_FILE_SIZE	16815,473
XPDR_PINGS	147	CAP_FILE_SIZE	59225,0
ALTIM_BOTTOM_PING	76.3,7.1	CFSIZE	260165632,258502656
AR_POSTDIVE_SAMPLENUM	7	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
AR_CDRIVE_FREE	8070332416	GPS	120310,005644,4745.943,-12224.447,10,1.6,10,18.2
AR_CDRIVE_SIZE	8453062656

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	262	128.65	SBE_CT	205	24	118.73
Roll_motor	38	158	147.17	nil	0	0	0.00
VBD_pump_during_apogee	147	711	2527.89	nil	0	0	0.00
VBD_pump_during_surface	78	547	1029.78	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	0	0.00	nil	0	0	0.00
Iridium_during_connect	23	0	0.00	nil	0	0	0.00
Iridium_during_xfer	192	0	0.00	ARS	0	0	0.00
Transponder_ping	37	420	382.11	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	0	0.00
TT8	627	19	126.67
LPSleep	1135	2	25.36
TT8_Active	316	19	63.90
TT8_Sampling	1001	39	406.60
TT8_CF8	43	45	20.09
TT8_Kalman	33	0	0.00
Analog_circuits	722	12	88.46
GPS_charging	0	0	0.00
Compass	686	15	105.05
RAFOS	0	0	0.00
Transponder	8	30	2.60

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	97	0.00	0.00	-69.65	0.000	6	0.000	0.000	137	2049	3720	0	0	0	0	0	0
99	-0.68	-97.3	3.0	-5.8	14	115	10.80	2.40	0.00	0.000	4	0.262	0.052	2704	3623	3723	0	0	0	0	0	0
210	-0.68	-97.3	15.0	-10.6	34	216	0.00	2.12	0.00	0.000	6	0.000	0.043	2704	2179	3723	0	0	0	0	0	0
284	-0.68	-97.3	23.2	-10.9	47	289	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2178	3721	0	0	0	0	0	0
356	-0.68	-97.3	28.1	-7.1	60	361	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2178	3723	0	0	0	0	0	0
428	-0.68	-97.3	35.1	-8.8	73	432	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2178	3723	0	0	0	0	0	0
498	-0.68	-97.3	41.0	-8.2	86	500	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2178	3723	0	0	0	0	0	0
633	-0.68	-97.3	53.4	-11.2	110	638	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2178	3723	0	0	0	0	0	0
774	-0.68	-97.3	66.4	-8.9	135	778	0.00	2.15	0.00	0.000	4	0.000	0.057	2696	3609	3723	0	0	0	0	0	0
841	-0.68	-97.3	73.1	-9.8	147	847	0.10	2.08	0.00	0.000	6	0.177	0.044	2715	2200	3723	0	0	0	0	0	0
981	-0.68	-97.3	84.0	-6.2	172	986	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2199	3722	0	0	0	0	0	0
1122	-0.68	-97.3	91.1	-4.7	197	1126	0.00	2.10	0.00	0.000	4	0.000	0.054	2719	782	3720	0	0	0	0	0	0
1204	-0.68	-97.3	96.5	-6.3	212	1211	0.00	2.12	0.00	0.000	6	0.000	0.049	2710	2200	3722	0	0	0	0	0	0
1347	-0.68	-97.3	106.6	-8.5	237	1351	0.00	2.15	0.00	0.000	4	0.000	0.057	2699	3612	3723	0	0	0	0	0	0
1395	-0.68	-97.3	110.9	-9.1	246	1401	0.00	2.10	0.00	0.000	6	0.000	0.043	2699	2203	3723	0	0	0	0	0	0
1536	-0.68	-97.3	123.1	-7.9	271	1540	0.00	2.10	0.00	0.000	4	0.000	0.053	2699	780	3723	0	0	0	0	0	0
1603	-0.68	-97.3	129.4	-9.9	283	1608	0.12	2.12	0.00	0.000	6	0.189	0.048	2720	2199	3723	0	0	0	0	0	0
1612	end dive: TARGET_DEPTH_EXCEEDED
state	1612	begin apogee
1616	-0.16	0.0	130.4	10.0	285	1692	0.50	0.00	72.15	0.711	6	0.146	0.000	2883	2151	3326	0	0	0	0	0	0
1695	end apogee: CONTROL_FINISHED_OK
state	1695	begin climb
1696	0.68	97.3	131.9	0.0	300	1776	0.77	0.00	75.38	0.683	6	0.098	0.000	3153	2146	2927	0	0	0	0	0	0
1910	0.68	97.3	108.9	13.1	340	1916	0.00	2.17	0.00	0.000	4	0.000	0.060	3164	752	2925	0	0	0	0	0	0
1983	0.68	97.3	98.8	14.3	353	1988	0.00	2.15	0.00	0.000	6	0.000	0.050	3164	2149	2925	0	0	0	0	0	0
2122	0.68	97.3	78.6	15.5	378	2128	0.00	2.17	0.00	0.000	4	0.000	0.058	3174	741	2925	0	0	0	0	0	0
2139	0.68	97.3	76.1	15.5	381	2144	0.00	2.15	0.00	0.000	6	0.000	0.050	3174	2149	2925	0	0	0	0	0	0
2279	0.68	97.3	55.8	15.7	406	2283	0.00	0.00	0.00	0.000	6	0.000	0.000	3174	2152	2925	0	0	0	0	0	0
2418	0.68	97.3	37.0	13.7	431	2423	0.00	2.15	0.00	0.000	4	0.000	0.057	3175	3567	2925	0	0	0	0	0	0
2490	0.68	97.3	26.4	14.6	444	2496	0.00	2.12	0.00	0.000	6	0.000	0.047	3184	2157	2925	0	0	0	0	0	0
2563	0.68	97.3	15.1	14.8	457	2569	0.00	2.12	0.00	0.000	4	0.000	0.055	3185	3572	2925	0	0	0	0	0	0
2629	end climb: SURFACE_DEPTH_REACHED
state	2629	begin surface coast
2652	end surface coast: CONTROL_FINISHED_OK
state	2653	begin surface