Glider dive log

HoodCanal 20Jun23 * SG235 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2750 ALTIM_PULSE 3

MISSION 10 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 11 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 6

N_DIVES 15 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 735.00653 ROLL_MAXERRORS 1 XPDR_INT 13

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 11.5

D_FLARE 3 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 150 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT 0.5

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3496.3577 DEEPGLIDERMB 0

D_BOOST 3 N_NOCOMM 1 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 131 VBD_CNV -0.24529999 DEVICE1 -1

D_FINISH 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE3 -1

D_SAFE 0 NETBOX 1 PITCH_VBD_SHIFT 0.0040000002 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 100 LOGGERDEVICE1 7

T_DIVE 50 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_MISSION 75 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_RSLEEP 2 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 120 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_LOITER 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE 96

USE_BATHY -10 PITCH_MIN 230 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3900 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2205.5911 MINV_24V 11 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 16.573214 MAXI_10V 2 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 25 FG_AHR_10V 0.64657557 SEABIRD_T_G 0.0042874566

GLIDE_SLOPE 45 PITCH_MAXERRORS 1 FG_AHR_24V 4.0678382 SEABIRD_T_H 0.00062267116

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.1947648e-05

RHO 1.023 PITCH_ADJ_DBAND 1 PRESSURE_YINT -158.29968 SEABIRD_T_J 2.2037441e-06

MASS 72024 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_G -9.9419231

NAV_MODE 2 C_PITCH_AUTO_MAX 200 COMPASS_USE 114692 SEABIRD_C_H 1.1375728

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0016241658

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0002088599

HD_A 0.00281838 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0139236 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 5.7000002e-06 ROLL_MIN 1200 ALTIM_TOP_MIN_OBSTACLE 0 SC_PROFILE 7.0

HEADING -1 ROLL_MAX 4000 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

ESCAPE_HEADING 0 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2750 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1.1375728

AH0_24V 575 D_PITCH 0 N_DIVES 15 SEABIRD_C_I -0.0016241658

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.0002088599

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0042874566

ALTIM_PING_DELTA 0 D_TGT 150 N_NOCOMM 1 SEABIRD_T_H 0.00062267116

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.1947648e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 2.2037441e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0.64657557 PHONE_SUPPLY 2 SM_CC 735.00653

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 4.0678382 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 45 PITCH_DBAND 0.1 SURFACE_URGENCY 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 16.573214 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.00281838 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0139236 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 HD_C 5.7000002e-06 PITCH_MAX 3900 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 230 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 25 T_BOOST 0

COMPASS2_DEVICE -1 ID 235 PITCH_VBD_SHIFT 0.0040000002 T_DIVE 50

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 114692 INT_PRESSURE_YINT 0.5 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 2205.5911 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022957686 T_MISSION 75

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PRESSURE_YINT -158.29968 T_NO_W 120

C_ROLL_CLIMB 2750 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2750 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3496.3577 LOGGERS 1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 100 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -10

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 0 RHO 1.023 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72024 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 2 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE3 -1 MAXI_24V 5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 150 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE5 -1 MINV_10V 11 ROLL_MAX 4000 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 11 MISSION 10 ROLL_MIN 1200 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_BOOST 3 NAV2_DEVICE 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE 6 SC_PROFILE 7.0 XPDR_INT 13

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_REP 11.5

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 6

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -9.9419231

Pre-dive calculations and measurements:

GPS1 210623,043148,4736.290,-12256.594,1,0.9,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.66 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,043514,4736.308,-12256.601,2,0.9,3,15.4 MHEAD_RNG_PITCHd_Wd 185.5,708,-19.3,-10.000,-24.09,2233,0.165

SPEED_LIMITS 0.100,0.224 D_GRID 169

TGT_NAME S IRON 1.000000,0.017451,0.014585,-0.089957,1.062811,-0.004192,0.045696,-0.042900,1.093061,-893.957825,-40.148529,230.343018

TGT_LATLONG 4735.950,-12256.800 OSC 8000307

Post-dive calculations and measurements:

MODEM_MSG CACST,8,2,20230621042500.335181,18,32767,45,0181,0000,00,00,00,00,00,-1,-01,-01,0,-1,1,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025,0,-1,00,00*0A _10V_AH 15.00,0.000

NAV 1687325655,7.3,0,stop FG_AHR_24Vo 4.217

NET xmit part outbox0006.n 1075 0 FG_AHR_10Vo 0.671

NET_PING 1687324961,29,529.834473,14.300000,59.291294 MEM0 60020,1,0,0

FREEZE 6.98,13.972,-1.523,0,1,0 MEM1 65508,1,0,0

SURF forcing MEM2 945136,24,101592,68

SM_CCo 3869.84,303.42,0.752,0,500.5,410.1,590.9,734.80 DATA_FILE_SIZE 16129,540

SM_GC 1.92,0.00,16.64,0.08,0.000,0.052,0.163,496.7,410.5,582.9,217.6,2727.9,0,0,0,30.00,15.66,15.67 CAP_FILE_SIZE 206858,0

SUPER 19,71,254,1,0,0 SDSIZE 3918848,3904224

IRIDIUM_FIX 4735.53,-12254.47,210623,032309 SDFILEDIR 143,12

TCM_TEMP 12.89 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3875168 SOUNDSPEED 1465.0

RAFOS_CLK 0 CURRENT 0.030, 90.5,1

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 MAGCAL 1.000000,0.004875,0.025313,-0.098209,1.090827,-0.021853,-0.022765,-0.008462,1.091141,-920.3,-35.7,252.0,35,0.0508,0

HUMID 49.72 IMPLIED_C_PITCH 2206,16.38,269,2205.8,16.48

TEMP 11.55 IMPLIED_C_VBD 3519,24.928589,170,3507.9

INTERNAL_PRESSURE 8.51221 GPS 210623,054301,4736.003,-12256.686,1,0.9,31,15.4

_24V_AH 15.03,4.893

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 747 949 10667.23 nil 0 0 0.00

Pitch_motor 40 274 167.73 nil 0 0 0.00

Roll_motor 69 234 243.95 nil 0 0 0.00

Iridium 132 207 413.15 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 11 15 2.68 nil 0 0 0.00

Core 2199 5 168.95 SciCon 3565 6 351.06

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1650 0 7.92

Compass 1087 5 81.57

RAFOS 556 40 333.68

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

7.93 16386 -146.63 -1.75 0.00 495.2 416.5 574.0 216.4 2773.3 0.00 0.00 0 81.68 72.14 0.00 0.00 0.005 0.000 0.000 2135.12 2131.75 2138.50 216.44 2773.75 0 0 0 15.92 30.00 30.00

81.94 18983 -146.63 -1.75 -80.00 2133.3 2129.4 2137.2 216.4 2774.0 3.41 -2.57 14 152.37 48.12 12.44 3.60 0.005 0.275 0.122 3960.25 3944.31 3976.19 1781.50 1282.19 0 0 0 15.97 15.79 15.90

155.46 19623 -146.63 -1.24 0.00 3959.9 3944.9 3974.9 1780.9 1282.1 9.46 -6.82 28 162.68 0.01 0.88 3.41 0.302 0.182 0.060 3960.19 3944.25 3976.12 1904.88 2769.69 0 0 0 30.36 15.87 15.93

345.47 16934 -146.63 -1.24 -80.00 3962.3 3944.9 3979.7 1905.1 2769.8 23.38 -6.36 65 351.32 0.00 0.00 3.60 0.000 0.000 0.121 3962.25 3944.50 3980.00 1905.31 1279.75 0 0 0 30.00 30.00 15.97

423.64 19623 -146.63 -1.12 0.00 3962.0 3943.9 3980.1 1905.1 1279.9 29.94 -9.21 79 432.96 0.00 0.19 3.40 0.000 0.177 0.059 3962.62 3945.12 3980.12 1934.50 2773.62 0 0 0 30.00 15.93 15.99

617.16 16546 -146.63 -1.16 0.00 3962.6 3944.6 3980.7 1934.8 2773.9 44.57 -7.05 118 620.76 0.00 0.00 0.00 0.000 0.000 0.000 3963.28 3945.69 3980.88 1934.44 2773.69 0 0 0 30.00 30.00 30.00

802.17 160 -146.63 -1.19 0.00 3963.8 3944.9 3982.6 1934.6 2773.1 56.54 -6.55 145 803.69 0.00 0.00 0.00 0.000 0.000 0.000 3963.94 3945.44 3982.44 1934.62 2773.50 0 0 0 30.00 30.00 30.00

992.18 4773 -146.63 -1.23 -80.00 3964.2 3944.8 3983.7 1934.4 2773.6 70.06 -7.49 164 998.43 0.00 0.25 3.59 0.000 0.078 0.123 3964.09 3944.81 3983.38 1888.38 1281.31 0 0 0 30.00 16.12 16.07

1070.40 3205 -146.63 -1.09 0.00 3964.1 3944.4 3983.8 1888.7 1281.4 78.84 -11.73 179 1076.69 0.00 0.41 3.37 0.000 0.166 0.061 3964.03 3944.56 3983.50 1943.25 2771.94 0 0 0 30.00 16.05 16.12

1265.43 676 -146.63 -1.15 -80.00 3964.7 3944.8 3984.5 1942.8 2772.8 94.74 -8.11 199 1271.63 0.00 0.00 3.58 0.000 0.000 0.124 3964.53 3944.62 3984.44 1943.12 1279.81 0 0 0 30.00 30.00 16.10

1314.69 1060 -146.63 -1.15 0.00 3964.5 3945.6 3983.4 1943.6 1280.0 99.03 -8.73 209 1321.34 0.00 0.00 3.37 0.000 0.000 0.062 3964.97 3945.12 3984.81 1943.19 2772.00 0 0 0 30.00 30.00 16.14

1510.51 4773 -146.63 -1.21 -80.00 3964.3 3944.2 3984.4 1943.0 2771.5 114.19 -7.51 229 1516.97 0.00 0.26 3.58 0.000 0.078 0.125 3964.34 3945.06 3983.62 1892.25 1279.88 0 0 0 30.00 16.15 16.13

1535.51 3237 -146.63 -1.17 0.00 3964.2 3944.5 3984.0 1892.1 1280.2 116.69 -8.42 234 1541.89 0.00 0.25 3.37 0.000 0.175 0.063 3964.88 3944.81 3984.94 1924.19 2772.06 0 0 0 30.00 16.10 16.17

1726.52 160 -146.63 -1.20 0.00 3964.5 3944.9 3984.0 1923.1 2771.8 133.82 -9.06 254 1728.08 0.00 0.00 0.00 0.000 0.000 0.000 3964.75 3945.75 3983.75 1923.44 2770.88 0 0 0 30.00 30.00 30.00

1916 end dive: TARGET_DEPTH_EXCEEDED

state 1916 begin apogee

1917.78 10243 0.00 -0.30 0.00 3964.3 3944.4 3984.2 1923.6 2725.7 150.09 -8.28 273 2003.60 79.70 1.43 0.08 0.949 0.131 0.235 3493.66 3426.06 3561.25 2133.19 2772.00 0 0 0 11.84 16.14 15.89

2005 end apogee: CONTROL_FINISHED_OK

state 2005 begin climb

2006.03 10503 146.63 1.75 80.00 3493.4 3427.3 3559.6 2133.2 2772.7 151.71 0.00 281 2126.33 106.69 3.22 3.06 0.908 0.086 0.120 2895.31 2812.19 2978.44 2636.00 4010.44 0 0 0 11.80 15.90 15.66

2188.85 21639 146.63 1.38 0.00 2889.0 2811.3 2966.6 2635.5 4009.1 129.88 19.73 316 2195.78 0.00 0.81 2.98 0.000 0.212 0.061 2890.41 2812.06 2968.75 2532.81 2724.25 0 0 0 30.00 15.73 15.81

2377.39 17030 146.63 1.31 -80.00 2887.0 2807.9 2966.2 2532.6 2724.3 103.24 13.74 336 2383.70 0.00 0.00 3.53 0.000 0.000 0.128 2887.78 2809.88 2965.69 2530.12 1281.25 0 0 0 30.00 30.00 15.89

2466.68 21639 146.63 1.16 0.00 2885.5 2806.8 2964.2 2532.6 1280.8 89.84 14.55 354 2473.59 0.00 0.34 3.40 0.000 0.205 0.059 2886.12 2807.81 2964.44 2481.25 2772.50 0 0 0 30.00 15.89 15.97

2662.47 10919 157.39 1.26 -80.00 2884.2 2804.9 2963.6 2480.8 2772.7 69.89 9.51 374 2678.44 8.64 0.21 3.61 0.675 0.085 0.125 2851.81 2769.44 2934.19 2522.38 1281.12 0 0 0 11.84 16.02 15.97

2756.72 5253 157.39 1.14 0.00 2850.2 2768.6 2931.7 2522.5 1281.1 58.35 12.89 393 2763.63 0.00 0.36 3.38 0.000 0.203 0.059 2850.09 2768.31 2931.88 2476.25 2772.69 0 0 0 30.00 15.96 16.04

2946.88 10919 200.91 1.41 -80.00 2849.2 2766.4 2932.1 2476.7 2772.2 41.80 8.01 422 2989.93 33.75 0.47 3.62 0.792 0.066 0.124 2673.75 2585.06 2762.44 2558.94 1281.75 0 0 0 11.74 16.02 15.90

3048.16 5253 200.91 1.28 0.00 2670.5 2585.3 2755.7 2559.3 1282.2 29.27 13.95 442 3055.36 0.00 0.38 3.39 0.000 0.201 0.060 2668.69 2582.56 2754.81 2508.75 2771.12 0 0 0 30.00 15.89 15.98

3236.78 10919 237.67 1.55 -80.00 2667.6 2582.4 2752.8 2508.9 2771.4 11.74 8.32 478 3274.60 29.69 0.48 3.63 0.753 0.064 0.125 2525.38 2436.94 2613.81 2593.31 1281.00 0 0 0 11.91 16.00 15.89

3292.79 11303 284.06 1.74 0.00 2521.5 2434.6 2608.5 2593.7 1280.8 7.44 7.87 489 3339.96 37.63 0.19 3.40 0.747 0.094 0.059 2337.19 2236.44 2437.94 2636.81 2774.69 0 0 0 11.77 15.92 15.94

3521.52 10919 512.65 2.69 -80.00 2327.9 2231.9 2423.9 2637.1 2774.5 7.36 -0.47 534 3552.91 27.83 1.36 0.00 0.744 0.056 0.000 2197.28 2101.75 2292.81 2869.38 2775.19 0 0 0 11.72 15.93 30.00

3553 end climb: NO_VERTICAL_VELOCITY

state 3553 begin surface

ID	235	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2750	ALTIM_PULSE	3
MISSION	10	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	11	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	6
N_DIVES	15	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	735.00653	ROLL_MAXERRORS	1	XPDR_INT	13
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	11.5
D_FLARE	3	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	150	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	0.5
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3496.3577	DEEPGLIDERMB	0
D_BOOST	3	N_NOCOMM	1	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	131	VBD_CNV	-0.24529999	DEVICE1	-1
D_FINISH	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE3	-1
D_SAFE	0	NETBOX	1	PITCH_VBD_SHIFT	0.0040000002	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	100	LOGGERDEVICE1	7
T_DIVE	50	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_MISSION	75	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_RSLEEP	2	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	120	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_LOITER	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	96
USE_BATHY	-10	PITCH_MIN	230	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3900	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2205.5911	MINV_24V	11	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	16.573214	MAXI_10V	2	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	25	FG_AHR_10V	0.64657557	SEABIRD_T_G	0.0042874566
GLIDE_SLOPE	45	PITCH_MAXERRORS	1	FG_AHR_24V	4.0678382	SEABIRD_T_H	0.00062267116
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.1947648e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-158.29968	SEABIRD_T_J	2.2037441e-06
MASS	72024	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_G	-9.9419231
NAV_MODE	2	C_PITCH_AUTO_MAX	200	COMPASS_USE	114692	SEABIRD_C_H	1.1375728
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0016241658
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0002088599
HD_A	0.00281838	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0139236	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	5.7000002e-06	ROLL_MIN	1200	ALTIM_TOP_MIN_OBSTACLE	0	SC_PROFILE	7.0
HEADING	-1	ROLL_MAX	4000	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
ESCAPE_HEADING	0	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2750	ALTIM_FREQUENCY	13

GPS1	210623,043148,4736.290,-12256.594,1,0.9,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.66	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,043514,4736.308,-12256.601,2,0.9,3,15.4	MHEAD_RNG_PITCHd_Wd	185.5,708,-19.3,-10.000,-24.09,2233,0.165
SPEED_LIMITS	0.100,0.224	D_GRID	169
TGT_NAME	S	IRON	1.000000,0.017451,0.014585,-0.089957,1.062811,-0.004192,0.045696,-0.042900,1.093061,-893.957825,-40.148529,230.343018
TGT_LATLONG	4735.950,-12256.800	OSC	8000307

MODEM_MSG	CACST,8,2,20230621042500.335181,18,32767,45,0181,0000,00,00,00,00,00,-1,-01,-01,0,-1,1,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025,0,-1,00,00*0A	_10V_AH	15.00,0.000
NAV	1687325655,7.3,0,stop	FG_AHR_24Vo	4.217
NET	xmit part outbox0006.n 1075 0	FG_AHR_10Vo	0.671
NET_PING	1687324961,29,529.834473,14.300000,59.291294	MEM0	60020,1,0,0
FREEZE	6.98,13.972,-1.523,0,1,0	MEM1	65508,1,0,0
SURF	forcing	MEM2	945136,24,101592,68
SM_CCo	3869.84,303.42,0.752,0,500.5,410.1,590.9,734.80	DATA_FILE_SIZE	16129,540
SM_GC	1.92,0.00,16.64,0.08,0.000,0.052,0.163,496.7,410.5,582.9,217.6,2727.9,0,0,0,30.00,15.66,15.67	CAP_FILE_SIZE	206858,0
SUPER	19,71,254,1,0,0	SDSIZE	3918848,3904224
IRIDIUM_FIX	4735.53,-12254.47,210623,032309	SDFILEDIR	143,12
TCM_TEMP	12.89	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3875168	SOUNDSPEED	1465.0
RAFOS_CLK	0	CURRENT	0.030, 90.5,1
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	MAGCAL	1.000000,0.004875,0.025313,-0.098209,1.090827,-0.021853,-0.022765,-0.008462,1.091141,-920.3,-35.7,252.0,35,0.0508,0
HUMID	49.72	IMPLIED_C_PITCH	2206,16.38,269,2205.8,16.48
TEMP	11.55	IMPLIED_C_VBD	3519,24.928589,170,3507.9
INTERNAL_PRESSURE	8.51221	GPS	210623,054301,4736.003,-12256.686,1,0.9,31,15.4
_24V_AH	15.03,4.893

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	747	949	10667.23	nil	0	0	0.00
Pitch_motor	40	274	167.73	nil	0	0	0.00
Roll_motor	69	234	243.95	nil	0	0	0.00
Iridium	132	207	413.15	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	11	15	2.68	nil	0	0	0.00
Core	2199	5	168.95	SciCon	3565	6	351.06
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1650	0	7.92
Compass	1087	5	81.57
RAFOS	556	40	333.68
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
7.93	16386	-146.63	-1.75	0.00	495.2	416.5	574.0	216.4	2773.3	0.00	0.00	0	81.68	72.14	0.00	0.00	0.005	0.000	0.000	2135.12	2131.75	2138.50	216.44	2773.75	0	0	0	15.92	30.00	30.00
81.94	18983	-146.63	-1.75	-80.00	2133.3	2129.4	2137.2	216.4	2774.0	3.41	-2.57	14	152.37	48.12	12.44	3.60	0.005	0.275	0.122	3960.25	3944.31	3976.19	1781.50	1282.19	0	0	0	15.97	15.79	15.90
155.46	19623	-146.63	-1.24	0.00	3959.9	3944.9	3974.9	1780.9	1282.1	9.46	-6.82	28	162.68	0.01	0.88	3.41	0.302	0.182	0.060	3960.19	3944.25	3976.12	1904.88	2769.69	0	0	0	30.36	15.87	15.93
345.47	16934	-146.63	-1.24	-80.00	3962.3	3944.9	3979.7	1905.1	2769.8	23.38	-6.36	65	351.32	0.00	0.00	3.60	0.000	0.000	0.121	3962.25	3944.50	3980.00	1905.31	1279.75	0	0	0	30.00	30.00	15.97
423.64	19623	-146.63	-1.12	0.00	3962.0	3943.9	3980.1	1905.1	1279.9	29.94	-9.21	79	432.96	0.00	0.19	3.40	0.000	0.177	0.059	3962.62	3945.12	3980.12	1934.50	2773.62	0	0	0	30.00	15.93	15.99
617.16	16546	-146.63	-1.16	0.00	3962.6	3944.6	3980.7	1934.8	2773.9	44.57	-7.05	118	620.76	0.00	0.00	0.00	0.000	0.000	0.000	3963.28	3945.69	3980.88	1934.44	2773.69	0	0	0	30.00	30.00	30.00
802.17	160	-146.63	-1.19	0.00	3963.8	3944.9	3982.6	1934.6	2773.1	56.54	-6.55	145	803.69	0.00	0.00	0.00	0.000	0.000	0.000	3963.94	3945.44	3982.44	1934.62	2773.50	0	0	0	30.00	30.00	30.00
992.18	4773	-146.63	-1.23	-80.00	3964.2	3944.8	3983.7	1934.4	2773.6	70.06	-7.49	164	998.43	0.00	0.25	3.59	0.000	0.078	0.123	3964.09	3944.81	3983.38	1888.38	1281.31	0	0	0	30.00	16.12	16.07
1070.40	3205	-146.63	-1.09	0.00	3964.1	3944.4	3983.8	1888.7	1281.4	78.84	-11.73	179	1076.69	0.00	0.41	3.37	0.000	0.166	0.061	3964.03	3944.56	3983.50	1943.25	2771.94	0	0	0	30.00	16.05	16.12
1265.43	676	-146.63	-1.15	-80.00	3964.7	3944.8	3984.5	1942.8	2772.8	94.74	-8.11	199	1271.63	0.00	0.00	3.58	0.000	0.000	0.124	3964.53	3944.62	3984.44	1943.12	1279.81	0	0	0	30.00	30.00	16.10
1314.69	1060	-146.63	-1.15	0.00	3964.5	3945.6	3983.4	1943.6	1280.0	99.03	-8.73	209	1321.34	0.00	0.00	3.37	0.000	0.000	0.062	3964.97	3945.12	3984.81	1943.19	2772.00	0	0	0	30.00	30.00	16.14
1510.51	4773	-146.63	-1.21	-80.00	3964.3	3944.2	3984.4	1943.0	2771.5	114.19	-7.51	229	1516.97	0.00	0.26	3.58	0.000	0.078	0.125	3964.34	3945.06	3983.62	1892.25	1279.88	0	0	0	30.00	16.15	16.13
1535.51	3237	-146.63	-1.17	0.00	3964.2	3944.5	3984.0	1892.1	1280.2	116.69	-8.42	234	1541.89	0.00	0.25	3.37	0.000	0.175	0.063	3964.88	3944.81	3984.94	1924.19	2772.06	0	0	0	30.00	16.10	16.17
1726.52	160	-146.63	-1.20	0.00	3964.5	3944.9	3984.0	1923.1	2771.8	133.82	-9.06	254	1728.08	0.00	0.00	0.00	0.000	0.000	0.000	3964.75	3945.75	3983.75	1923.44	2770.88	0	0	0	30.00	30.00	30.00
1916	end dive: TARGET_DEPTH_EXCEEDED
state	1916	begin apogee
1917.78	10243	0.00	-0.30	0.00	3964.3	3944.4	3984.2	1923.6	2725.7	150.09	-8.28	273	2003.60	79.70	1.43	0.08	0.949	0.131	0.235	3493.66	3426.06	3561.25	2133.19	2772.00	0	0	0	11.84	16.14	15.89
2005	end apogee: CONTROL_FINISHED_OK
state	2005	begin climb
2006.03	10503	146.63	1.75	80.00	3493.4	3427.3	3559.6	2133.2	2772.7	151.71	0.00	281	2126.33	106.69	3.22	3.06	0.908	0.086	0.120	2895.31	2812.19	2978.44	2636.00	4010.44	0	0	0	11.80	15.90	15.66
2188.85	21639	146.63	1.38	0.00	2889.0	2811.3	2966.6	2635.5	4009.1	129.88	19.73	316	2195.78	0.00	0.81	2.98	0.000	0.212	0.061	2890.41	2812.06	2968.75	2532.81	2724.25	0	0	0	30.00	15.73	15.81
2377.39	17030	146.63	1.31	-80.00	2887.0	2807.9	2966.2	2532.6	2724.3	103.24	13.74	336	2383.70	0.00	0.00	3.53	0.000	0.000	0.128	2887.78	2809.88	2965.69	2530.12	1281.25	0	0	0	30.00	30.00	15.89
2466.68	21639	146.63	1.16	0.00	2885.5	2806.8	2964.2	2532.6	1280.8	89.84	14.55	354	2473.59	0.00	0.34	3.40	0.000	0.205	0.059	2886.12	2807.81	2964.44	2481.25	2772.50	0	0	0	30.00	15.89	15.97
2662.47	10919	157.39	1.26	-80.00	2884.2	2804.9	2963.6	2480.8	2772.7	69.89	9.51	374	2678.44	8.64	0.21	3.61	0.675	0.085	0.125	2851.81	2769.44	2934.19	2522.38	1281.12	0	0	0	11.84	16.02	15.97
2756.72	5253	157.39	1.14	0.00	2850.2	2768.6	2931.7	2522.5	1281.1	58.35	12.89	393	2763.63	0.00	0.36	3.38	0.000	0.203	0.059	2850.09	2768.31	2931.88	2476.25	2772.69	0	0	0	30.00	15.96	16.04
2946.88	10919	200.91	1.41	-80.00	2849.2	2766.4	2932.1	2476.7	2772.2	41.80	8.01	422	2989.93	33.75	0.47	3.62	0.792	0.066	0.124	2673.75	2585.06	2762.44	2558.94	1281.75	0	0	0	11.74	16.02	15.90
3048.16	5253	200.91	1.28	0.00	2670.5	2585.3	2755.7	2559.3	1282.2	29.27	13.95	442	3055.36	0.00	0.38	3.39	0.000	0.201	0.060	2668.69	2582.56	2754.81	2508.75	2771.12	0	0	0	30.00	15.89	15.98
3236.78	10919	237.67	1.55	-80.00	2667.6	2582.4	2752.8	2508.9	2771.4	11.74	8.32	478	3274.60	29.69	0.48	3.63	0.753	0.064	0.125	2525.38	2436.94	2613.81	2593.31	1281.00	0	0	0	11.91	16.00	15.89
3292.79	11303	284.06	1.74	0.00	2521.5	2434.6	2608.5	2593.7	1280.8	7.44	7.87	489	3339.96	37.63	0.19	3.40	0.747	0.094	0.059	2337.19	2236.44	2437.94	2636.81	2774.69	0	0	0	11.77	15.92	15.94
3521.52	10919	512.65	2.69	-80.00	2327.9	2231.9	2423.9	2637.1	2774.5	7.36	-0.47	534	3552.91	27.83	1.36	0.00	0.744	0.056	0.000	2197.28	2101.75	2292.81	2869.38	2775.19	0	0	0	11.72	15.93	30.00
3553	end climb: NO_VERTICAL_VELOCITY
state	3553	begin surface