Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 75 * 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 75 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 50 HEAPDBG 0 VBD_MAXERRORS 1 SEABIRD_T_H 0.00064742006

T_MISSION 65 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 -26267.246 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 74

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 75 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 50

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 74 D_PITCH 0 PRESSURE_YINT -0.16054545 T_GPS_CHARGE -26267.246

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 65

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 183144,4807.745,-12223.509,18,1.1,18,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.160,0.057

_SM_DEPTHo -0.00 KALMAN_X 10582.5,39.3,44.0,-10538.8,43.6

_SM_ANGLEo -50.0 KALMAN_Y -6423.9,-22.3,-79.1,6582.3,153.7

GPS2 183559,4807.748,-12223.489,37,1.1,37,18.0 MHEAD_RNG_PITCHd_Wd 271.6,785,-13.2,-6.000

SPEED_LIMITS 0.060,0.170 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.6,0.997219 AR_CDRIVE_SIZE 4223664128

SM_CCo 2801,175.12,0.004,23,0,1044,350.04 AR_DDRIVE_FREE 36890968064

SM_GC 0.00,0.00,0.00,175.12,0.000,0.000,0.004,145,2188,1044,-11.71,3.34,350.04 AR_DDRIVE_SIZE 59996930048

IRIDIUM_FIX 0.00,0.00,010170,000000 _24V_AH 23.8,7.317

TT8_MAMPS 0.04602 _10V_AH 9.6,15.386

HUMID 1590 DATA_FILE_SIZE 6436,246

INTERNAL_PRESSURE 12.4907 CAP_FILE_SIZE 59913,8

TCM_TEMP 15.00 CFSIZE 260165632,257216512

AR_POSTDIVE_SAMPLENUM 4 ERRORS 0,0,0,0,0,0,0,0,1,0,0,63,198,23,0

AR_CDRIVE_FREE 4122574848 GPS 280708,192938,4807.956,-12223.834,26,1.1,26,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 3 2.79 SBE_CT 190 24 108.80

Roll_motor 49 3 4.50 nil 0 0 0.00

VBD_pump_during_apogee 242 4 26.58 nil 0 0 0.00

VBD_pump_during_surface 175 3 15.98 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 3224 216 16591.08

Iridium_during_xfer 81 223 433.64

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 37 50 18.18

TT8 500 18 86.41

LPSleep 1535 0 5.75

TT8_Active 666 18 115.22

TT8_Sampling 366 38 133.57

TT8_CF8 289 44 122.46

TT8_Kalman 33 80 25.62

Analog_circuits 998 12 115.08

GPS_charging 0 0 0.00

Compass 304 26 76.12

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

21 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.00 -146.6 0.0 0.0 0 96 0.00 0.00 -67.38 0.000 6 0.000 0.000 145 2169 3075

100 -1.00 -146.6 0.6 -0.8 7 120 11.80 2.33 0.00 0.000 4 0.004 0.004 2495 3619 3077

406 -1.00 -146.6 31.2 -6.9 34 413 0.30 3.03 0.00 0.000 6 0.003 0.004 2426 1900 3076

444 -1.00 -146.6 33.7 -6.7 38 446 0.30 0.00 0.00 0.000 6 0.004 0.000 2497 1900 3077

476 -1.00 -146.6 35.9 -6.9 41 478 0.32 0.00 0.00 0.000 6 0.004 0.000 2425 1901 3076

508 -1.00 -146.6 38.1 -6.8 44 510 0.32 0.00 0.00 0.000 6 0.004 0.000 2460 1901 3077

540 -1.00 -146.6 40.1 -6.6 47 541 0.00 0.00 0.00 0.000 6 0.000 0.000 2460 1901 3078

571 -1.00 -146.6 42.2 -6.6 50 573 0.00 0.00 0.00 0.000 6 0.000 0.000 2460 1900 3077

603 -1.00 -146.6 44.3 -6.7 53 605 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 1901 3076

635 -1.00 -146.6 46.5 -6.8 56 637 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 1900 3077

667 -1.00 -146.6 48.6 -6.7 59 668 0.00 0.00 0.00 0.000 6 0.000 0.000 2459 1901 3077

699 -1.00 -146.6 50.8 -6.6 62 703 0.00 2.40 0.00 0.000 4 0.000 0.004 2462 477 3076

816 -1.00 -146.6 58.5 -6.6 72 821 0.00 3.03 0.00 0.000 6 0.000 0.004 2460 2228 3077

854 -1.00 -146.6 60.8 -6.3 75 858 0.00 2.30 0.00 0.000 4 0.000 0.004 2461 3659 3076

1162 -1.00 -146.6 81.1 -6.9 102 1167 0.00 3.00 0.00 0.000 6 0.000 0.004 2464 1905 3076

1200 -1.00 -146.6 83.6 -6.5 105 1201 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 1905 3076

1232 -1.00 -146.6 85.7 -6.8 108 1233 0.00 0.00 0.00 0.000 6 0.000 0.000 2460 1905 3077

1263 -1.00 -146.6 87.8 -6.4 111 1268 0.00 2.80 0.00 0.000 4 0.000 0.004 2462 3572 3076

1300 end dive: TARGET_DEPTH_EXCEEDED

state 1300 begin apogee

1309 -0.31 0.0 90.1 6.2 114 1436 1.02 0.00 122.12 0.005 6 0.004 0.000 2680 1922 2473

1437 end apogee: CONTROL_FINISHED_OK

state 1437 begin climb

1440 1.00 146.6 91.4 0.0 127 1565 1.27 0.00 120.55 0.005 6 0.004 0.000 2936 1923 1874

1593 1.00 146.6 82.5 7.4 142 1603 0.32 2.90 0.00 0.000 4 0.004 0.004 2862 3588 1875

1907 1.00 146.6 59.8 7.9 170 1913 0.30 2.78 0.00 0.000 6 0.003 0.004 2939 1935 1874

1945 1.00 146.6 56.8 7.6 173 1947 0.32 0.00 0.00 0.000 6 0.004 0.000 2900 1934 1875

1976 1.00 146.6 54.5 7.3 176 1978 0.00 0.00 0.00 0.000 6 0.000 0.000 2902 1935 1875

2008 1.00 146.6 52.3 7.1 179 2009 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 1935 1875

2040 1.00 146.6 50.0 7.2 182 2042 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 1937 1873

2072 1.00 146.6 47.9 6.8 185 2073 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 1935 1875

2104 1.00 146.6 45.6 6.8 188 2108 0.00 2.33 0.00 0.000 4 0.000 0.004 2901 502 1875

2315 1.00 146.6 30.8 6.7 206 2321 0.00 3.03 0.00 0.000 6 0.000 0.004 2902 2179 1874

2353 1.00 146.6 28.2 7.2 210 2354 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 2180 1875

2385 1.00 146.6 26.0 6.8 213 2390 0.00 2.65 0.00 0.000 4 0.000 0.004 2899 3613 1874

2565 1.00 146.6 13.6 7.3 228 2571 0.00 2.65 0.00 0.000 6 0.000 0.004 2901 1978 1875

2603 1.00 146.6 11.1 6.8 232 2604 0.00 0.00 0.00 0.000 6 0.000 0.000 2901 1979 1874

2634 1.00 146.6 9.0 6.6 235 2639 0.00 2.85 0.00 0.000 4 0.000 0.004 2902 3631 1875

2651 1.00 146.6 7.8 6.8 236 2656 0.00 2.78 0.00 0.000 6 0.000 0.004 2903 1964 1875

2688 1.00 146.6 4.9 7.8 239 2693 0.00 2.85 0.00 0.000 4 0.000 0.004 2901 3621 1874

2716 1.00 146.6 2.8 7.3 241 2720 0.00 2.65 0.00 0.000 6 0.000 0.004 2900 1981 1874

2740 end climb: SURFACE_DEPTH_REACHED

state 2740 begin surface coast

2773 end surface coast: CONTROL_FINISHED_OK

state 2773 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	75	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	50	HEAPDBG	0	VBD_MAXERRORS	1	SEABIRD_T_H	0.00064742006
T_MISSION	65	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	-26267.246	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	74
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	183144,4807.745,-12223.509,18,1.1,18,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.160,0.057
_SM_DEPTHo	-0.00	KALMAN_X	10582.5,39.3,44.0,-10538.8,43.6
_SM_ANGLEo	-50.0	KALMAN_Y	-6423.9,-22.3,-79.1,6582.3,153.7
GPS2	183559,4807.748,-12223.489,37,1.1,37,18.0	MHEAD_RNG_PITCHd_Wd	271.6,785,-13.2,-6.000
SPEED_LIMITS	0.060,0.170	D_GRID	100

FINISH	0.6,0.997219	AR_CDRIVE_SIZE	4223664128
SM_CCo	2801,175.12,0.004,23,0,1044,350.04	AR_DDRIVE_FREE	36890968064
SM_GC	0.00,0.00,0.00,175.12,0.000,0.000,0.004,145,2188,1044,-11.71,3.34,350.04	AR_DDRIVE_SIZE	59996930048
IRIDIUM_FIX	0.00,0.00,010170,000000	_24V_AH	23.8,7.317
TT8_MAMPS	0.04602	_10V_AH	9.6,15.386
HUMID	1590	DATA_FILE_SIZE	6436,246
INTERNAL_PRESSURE	12.4907	CAP_FILE_SIZE	59913,8
TCM_TEMP	15.00	CFSIZE	260165632,257216512
AR_POSTDIVE_SAMPLENUM	4	ERRORS	0,0,0,0,0,0,0,0,1,0,0,63,198,23,0
AR_CDRIVE_FREE	4122574848	GPS	280708,192938,4807.956,-12223.834,26,1.1,26,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	3	2.79	SBE_CT	190	24	108.80
Roll_motor	49	3	4.50	nil	0	0	0.00
VBD_pump_during_apogee	242	4	26.58	nil	0	0	0.00
VBD_pump_during_surface	175	3	15.98	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	3224	216	16591.08
Iridium_during_xfer	81	223	433.64
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	37	50	18.18
TT8	500	18	86.41
LPSleep	1535	0	5.75
TT8_Active	666	18	115.22
TT8_Sampling	366	38	133.57
TT8_CF8	289	44	122.46
TT8_Kalman	33	80	25.62
Analog_circuits	998	12	115.08
GPS_charging	0	0	0.00
Compass	304	26	76.12
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
21	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.00	-146.6	0.0	0.0	0	96	0.00	0.00	-67.38	0.000	6	0.000	0.000	145	2169	3075
100	-1.00	-146.6	0.6	-0.8	7	120	11.80	2.33	0.00	0.000	4	0.004	0.004	2495	3619	3077
406	-1.00	-146.6	31.2	-6.9	34	413	0.30	3.03	0.00	0.000	6	0.003	0.004	2426	1900	3076
444	-1.00	-146.6	33.7	-6.7	38	446	0.30	0.00	0.00	0.000	6	0.004	0.000	2497	1900	3077
476	-1.00	-146.6	35.9	-6.9	41	478	0.32	0.00	0.00	0.000	6	0.004	0.000	2425	1901	3076
508	-1.00	-146.6	38.1	-6.8	44	510	0.32	0.00	0.00	0.000	6	0.004	0.000	2460	1901	3077
540	-1.00	-146.6	40.1	-6.6	47	541	0.00	0.00	0.00	0.000	6	0.000	0.000	2460	1901	3078
571	-1.00	-146.6	42.2	-6.6	50	573	0.00	0.00	0.00	0.000	6	0.000	0.000	2460	1900	3077
603	-1.00	-146.6	44.3	-6.7	53	605	0.00	0.00	0.00	0.000	6	0.000	0.000	2461	1901	3076
635	-1.00	-146.6	46.5	-6.8	56	637	0.00	0.00	0.00	0.000	6	0.000	0.000	2461	1900	3077
667	-1.00	-146.6	48.6	-6.7	59	668	0.00	0.00	0.00	0.000	6	0.000	0.000	2459	1901	3077
699	-1.00	-146.6	50.8	-6.6	62	703	0.00	2.40	0.00	0.000	4	0.000	0.004	2462	477	3076
816	-1.00	-146.6	58.5	-6.6	72	821	0.00	3.03	0.00	0.000	6	0.000	0.004	2460	2228	3077
854	-1.00	-146.6	60.8	-6.3	75	858	0.00	2.30	0.00	0.000	4	0.000	0.004	2461	3659	3076
1162	-1.00	-146.6	81.1	-6.9	102	1167	0.00	3.00	0.00	0.000	6	0.000	0.004	2464	1905	3076
1200	-1.00	-146.6	83.6	-6.5	105	1201	0.00	0.00	0.00	0.000	6	0.000	0.000	2461	1905	3076
1232	-1.00	-146.6	85.7	-6.8	108	1233	0.00	0.00	0.00	0.000	6	0.000	0.000	2460	1905	3077
1263	-1.00	-146.6	87.8	-6.4	111	1268	0.00	2.80	0.00	0.000	4	0.000	0.004	2462	3572	3076
1300	end dive: TARGET_DEPTH_EXCEEDED
state	1300	begin apogee
1309	-0.31	0.0	90.1	6.2	114	1436	1.02	0.00	122.12	0.005	6	0.004	0.000	2680	1922	2473
1437	end apogee: CONTROL_FINISHED_OK
state	1437	begin climb
1440	1.00	146.6	91.4	0.0	127	1565	1.27	0.00	120.55	0.005	6	0.004	0.000	2936	1923	1874
1593	1.00	146.6	82.5	7.4	142	1603	0.32	2.90	0.00	0.000	4	0.004	0.004	2862	3588	1875
1907	1.00	146.6	59.8	7.9	170	1913	0.30	2.78	0.00	0.000	6	0.003	0.004	2939	1935	1874
1945	1.00	146.6	56.8	7.6	173	1947	0.32	0.00	0.00	0.000	6	0.004	0.000	2900	1934	1875
1976	1.00	146.6	54.5	7.3	176	1978	0.00	0.00	0.00	0.000	6	0.000	0.000	2902	1935	1875
2008	1.00	146.6	52.3	7.1	179	2009	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	1935	1875
2040	1.00	146.6	50.0	7.2	182	2042	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	1937	1873
2072	1.00	146.6	47.9	6.8	185	2073	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	1935	1875
2104	1.00	146.6	45.6	6.8	188	2108	0.00	2.33	0.00	0.000	4	0.000	0.004	2901	502	1875
2315	1.00	146.6	30.8	6.7	206	2321	0.00	3.03	0.00	0.000	6	0.000	0.004	2902	2179	1874
2353	1.00	146.6	28.2	7.2	210	2354	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	2180	1875
2385	1.00	146.6	26.0	6.8	213	2390	0.00	2.65	0.00	0.000	4	0.000	0.004	2899	3613	1874
2565	1.00	146.6	13.6	7.3	228	2571	0.00	2.65	0.00	0.000	6	0.000	0.004	2901	1978	1875
2603	1.00	146.6	11.1	6.8	232	2604	0.00	0.00	0.00	0.000	6	0.000	0.000	2901	1979	1874
2634	1.00	146.6	9.0	6.6	235	2639	0.00	2.85	0.00	0.000	4	0.000	0.004	2902	3631	1875
2651	1.00	146.6	7.8	6.8	236	2656	0.00	2.78	0.00	0.000	6	0.000	0.004	2903	1964	1875
2688	1.00	146.6	4.9	7.8	239	2693	0.00	2.85	0.00	0.000	4	0.000	0.004	2901	3621	1874
2716	1.00	146.6	2.8	7.3	241	2720	0.00	2.65	0.00	0.000	6	0.000	0.004	2900	1981	1874
2740	end climb: SURFACE_DEPTH_REACHED
state	2740	begin surface coast
2773	end surface coast: CONTROL_FINISHED_OK
state	2773	begin surface