Glider dive log

HoodCanal 23Jun23 * SG245 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 245 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_INHIBIT 90

MISSION 4 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INT 0

DIVE 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 3 SM_CC 686.83997 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

STOP_T 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -1.9

D_SURF 2 FILEMGR 0 VBD_MIN 500 DEEPGLIDER 0

D_FLARE 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDERMB 0

D_TGT 150 COMM_SEQ 7 C_VBD 3300 MOTHERBOARD 6

D_ABORT 175 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

D_NO_BLEED 50 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE2 -1

D_BOOST 0 NOCOMM_ACTION 131 VBD_LP_IGNORE 0 DEVICE3 -1

T_BOOST 0 N_NOSURFACE 0 VBD_TIMEOUT 360 DEVICE4 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_PITCH 0 NETBOX 1 UNCOM_BLEED 20 DEVICE6 -1

D_SAFE 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 1

D_CALL 0 CALL_WAIT 60 C_VBD_AUTO_DELTA 0 LOGGERDEVICE1 7

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_MAX 0 LOGGERDEVICE2 -1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 0 T_GPS 5 DBDW 0 LOGGERDEVICE4 -1

T_DIVE 50 N_GPS 100440 LOITER_W_DBAND 0 COMPASS_DEVICE 66

T_MISSION 75 T_RSLEEP 3 LOITER_DBDW 0 COMPASS2_DEVICE -1

T_ABORT 1440 STROBE 0 LOITER_D_TOP 0 PHONE_DEVICE 33

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 0 GPS_DEVICE 48

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 96

T_NO_W 60 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 NAV_DEVICE 6

T_LOITER 0 RAFOS_MMODEM 0 AH0_24V 575 NAV2_DEVICE 6

T_EPIRB 0 PITCH_MIN 215 AH0_10V 0 NAV3_DEVICE -1

USE_BATHY -10 PITCH_MAX 3600 MINV_24V 11 NAV4_DEVICE -1

USE_ICE 0 C_PITCH 1500 MINV_10V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MAXI_24V 5 PRESSURE_DEVICE 34

D_OFFGRID 100 PITCH_CNV 0.0041299998 MAXI_10V 2 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 18 FG_AHR_10V 1.2727311 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 25 FG_AHR_24V 6.9113541 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.029999999 PRESSURE_YINT -191.55725 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_SLOPE 0.00022631494 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 COMPASS_USE 114692 SEABIRD_C_G -10

MASS 72244 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_H 1

NAV_MODE 1 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 ALTIM_BOTTOM_TURN_MARGIN 0 SEABIRD_C_J 0.00019999999

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 OPTIONS 0

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_RECORDABOVE 2000.0

HD_B 0.0099999998 ROLL_MIN 235 ALTIM_PING_DEPTH 0 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3850 ALTIM_PING_DELTA 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_FREQUENCY 13 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2275 ALTIM_PULSE 3

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2180 ALTIM_SENSITIVITY 2

FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 XPDR_VALID 0

AH0_10V 0 D_PITCH 0 NOCOMM_ACTION 131 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_SAFE 0 N_DIVES 3 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_FILEKB 8 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_TGT 150 N_GPS 100440 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 N_NOCOMM 1 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 FERRY_MAX 45 OPTIONS 0 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 1.2727311 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 6.9113541 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_ADJ_DBAND 1 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_ADJ_GAIN 0.029999999 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_CNV 0.0041299998 SURFACE_URGENCY 0

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 HD_A 0.003 PITCH_GAIN 18 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0099999998 PITCH_GAIN_AUTO_DELTA 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_C 1.6e-05 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HEADING -1 PITCH_MAX 3600 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_MAXERRORS 1 T_ABORT 1440

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 215 T_BOOST 0

COMM_SEQ 7 ID 245 PITCH_TIMEOUT 25 T_DIVE 50

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_VBD_SHIFT 0.0012300001 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT -1.9 PITCH_W_DBAND 0 T_GPS 5

COMPASS_USE 114692 KALMAN_USE 2 PITCH_W_GAIN 0 T_LOITER 0

C_PITCH 1500 LOGGERDEVICE1 7 PRESSURE_DEVICE 34 T_MISSION 75

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 -1 PRESSURE_SLOPE 0.00022631494 T_NO_W 60

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 PRESSURE_YINT -191.55725 T_RSLEEP 3

C_ROLL_CLIMB 2180 LOGGERDEVICE4 -1 PROTOCOL 9 T_TURN 225

C_ROLL_DIVE 2275 LOGGERS 1 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_VBD 3300 LOITER_DBDW 0 RAFOS_DEVICE 96 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0 LOITER_D_BOTTOM 0 RAFOS_HIT_WINDOW 3600 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_D_TOP 0 RAFOS_MMODEM 0 USE_BATHY -10

DBDW 0 LOITER_N_DIVE 0 RAFOS_PEAK_OFFSET 0 USE_ICE 0

DEEPGLIDER 0 LOITER_W_DBAND 0 RELAUNCH 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS 72244 RHO 1.023 VBD_DBAND 2

DEVICE1 -1 MAXI_10V 2 ROLL_ADJ_DBAND 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 5 ROLL_ADJ_GAIN 0 VBD_MAX 3960

DEVICE3 -1 MAX_BUOY 150 ROLL_CNV 0.054945 VBD_MAXERRORS 1

DEVICE4 -1 MINV_10V 11 ROLL_DEG 80 VBD_MIN 500

DEVICE5 -1 MINV_24V 11 ROLL_MAX 3850 VBD_TIMEOUT 360

DEVICE6 -1 MISSION 4 ROLL_MAXERRORS 1 W_ADJ_DBAND 0

DIVE 2 MOTHERBOARD 6 ROLL_MIN 235 XPDR_DEVICE -1

D_ABORT 175 NAV2_DEVICE 6 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_BOOST 0 NAV3_DEVICE -1 SC_NDIVE 1.0 XPDR_INT 0

D_CALL 0 NAV4_DEVICE -1 SC_PROFILE 3.0 XPDR_REP 0

D_FINISH 0 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_VALID 0

D_FLARE 3 NAV_MODE 1 SC_XMITPROFILE 3.0

D_NO_BLEED 50 NETBOX 1 SEABIRD_C_G -10

D_OFFGRID 100 NETWORK_DEVICE 1 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 240623,014158,4736.384,-12256.398,1,0.7,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240623,014507,4736.389,-12256.383,2,0.7,4,15.4 MHEAD_RNG_PITCHd_Wd 197.3,966,-17.6,-10.000,-21.21,2209,0.157

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,0.023397,-0.070985,-0.008082,1.141953,0.157444,0.005634,0.018041,1.117201,-310.103485,-1960.599121,-49.624283

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,0,20230624023532.383034,18,32767,45,0117,0113,07,01,01,00,01,1,029,121,0,5,3,0,150,9.0,3.19,-100,-0.19,-01,0.31,61,10000,5000,0,1,00,00*49 _24V_AH 14.99,7.264

NET_PING 1687574111,29,565.643982,5.400000,-0.755379 _10V_AH 15.00,0.000

NAV 1687575318,0.3,0,stop FG_AHR_24Vo 7.082

MODEM_MSG CACST,8,1,20230624022501.348305,18,32767,45,0128,0000,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,17.1,5.41,-100,-2.41,-01,0.22,73,925,0025,0,-1,00,00*1A FG_AHR_10Vo 1.321

FREEZE 6.08,13.689,-1.533,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 4061.44,300.74,0.892,0,500.8,586.6,415.1,686.63 MEM2 944456,31,101672,91

SM_GC 1.55,0.00,10.94,0.32,0.000,0.050,0.102,497.6,581.2,414.0,198.9,2296.0,0,0,0,30.00,15.62,15.60 DATA_FILE_SIZE 16141,530

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 212250,0

IRIDIUM_FIX 4734.67,-12257.15,240623,013803 SDSIZE 3887104,3872448

TCM_TEMP 16.38 SDFILEDIR 52,3

SC_FREEKB 3878144 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

MODEM 0,1687572000,47.60500,-122.95000,0.221,320.8 MAGCAL 1.000000,-0.005307,-0.084823,0.005181,1.148734,0.137783,0.030164,0.040296,1.074874,-263.9,-1894.7,228.8,29,0.0178,0

RAFOS_FIX 4736.868652,-12257.000000,240623,020201,3,255,0.49 IMPLIED_C_PITCH 1536,18.96,287,0.0,0.00

HUMID 57.41 IMPLIED_C_VBD 3422,28.563503,287,0

TEMP 12.81 GPS 240623,025546,4735.957,-12256.762,2,0.9,4,15.4

INTERNAL_PRESSURE 8.1665

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 731 1069 11730.30 nil 0 0 0.00

Pitch_motor 24 263 96.36 nil 0 0 0.00

Roll_motor 60 203 185.93 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.12 nil 0 0 0.00

Core 2288 5 175.78 SciCon 3733 6 382.11

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1601 0 7.69

Compass 1326 5 99.51

RAFOS 2825 40 1695.21

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.91 16386 -146.63 -1.16 0.00 493.1 573.4 412.8 202.4 2302.8 0.00 0.00 0 94.84 82.10 0.00 0.00 0.005 0.000 0.000 2590.78 2659.56 2522.00 203.31 2303.38 0 0 0 16.16 30.00 30.00

95.36 18467 -146.63 -1.16 0.00 2593.0 2659.9 2526.0 202.9 2302.1 3.32 -2.37 16 148.88 34.50 7.84 0.00 0.005 0.263 0.000 3896.62 3980.31 3812.94 1220.25 2302.94 0 0 0 16.15 15.95 30.00

332.81 2469 -146.63 -0.98 80.00 3899.2 3980.8 3817.6 1220.0 2302.5 25.72 -8.72 61 345.26 0.00 0.30 3.80 0.000 0.169 0.108 3899.03 3981.25 3816.81 1265.25 3742.94 0 0 0 30.00 16.00 16.03

424.55 3237 -146.63 -0.76 0.00 3899.6 3981.0 3818.2 1265.4 3742.1 34.33 -9.55 79 433.39 0.00 0.34 3.56 0.000 0.166 0.042 3901.19 3982.00 3820.38 1315.88 2240.31 0 0 0 30.00 16.02 16.11

617.49 32 -146.63 -0.76 0.00 3900.2 3981.2 3819.1 1316.5 2239.9 46.75 -6.56 117 621.50 0.00 0.00 0.00 0.000 0.000 0.000 3900.16 3980.62 3819.69 1316.44 2240.00 0 0 0 30.00 30.00 30.00

826.51 292 -146.63 -0.76 80.00 3900.8 3981.4 3820.2 1316.6 2239.6 59.43 -6.83 141 835.13 0.00 0.00 3.95 0.000 0.000 0.113 3900.72 3981.19 3820.25 1317.06 3742.31 0 0 0 30.00 30.00 16.09

894.41 1188 -146.63 -0.68 0.00 3900.8 3981.6 3820.0 1316.9 3742.2 66.55 -9.04 154 903.14 0.00 0.00 3.54 0.000 0.000 0.044 3900.56 3981.06 3820.06 1317.12 2242.50 0 0 0 30.00 30.00 16.14

1089.29 32 -146.63 -0.68 0.00 3900.8 3981.1 3820.6 1317.2 2242.6 81.69 -7.56 174 1091.20 0.00 0.00 0.00 0.000 0.000 0.000 3901.06 3981.62 3820.50 1317.06 2242.88 0 0 0 30.00 30.00 30.00

1279.52 420 -146.63 -0.72 80.00 3901.0 3981.5 3820.5 1316.9 2242.7 96.36 -7.89 193 1288.66 0.00 0.00 3.97 0.000 0.000 0.115 3901.88 3982.50 3821.25 1316.75 3742.69 0 0 0 30.00 30.00 16.04

1317.99 1188 -146.63 -0.68 0.00 3900.9 3981.0 3820.9 1316.6 3742.6 99.94 -9.16 200 1326.75 0.00 0.00 3.56 0.000 0.000 0.045 3901.69 3981.12 3822.25 1317.00 2243.94 0 0 0 30.00 30.00 16.10

1513.02 420 -146.63 -0.71 80.00 3901.0 3981.4 3820.7 1317.1 2243.3 115.06 -7.19 220 1522.17 0.00 0.00 3.96 0.000 0.000 0.116 3900.69 3980.50 3820.88 1317.19 3740.94 0 0 0 30.00 30.00 16.02

1551.31 1060 -146.63 -0.71 0.00 3901.1 3981.3 3820.9 1317.1 3741.2 118.28 -7.93 227 1560.26 0.00 0.00 3.52 0.000 0.000 0.045 3900.72 3981.44 3820.00 1317.56 2243.38 0 0 0 30.00 30.00 16.09

1746.50 160 -146.63 -0.77 0.00 3901.1 3981.2 3821.1 1316.8 2243.6 133.20 -7.69 247 1748.41 0.00 0.00 0.00 0.000 0.000 0.000 3901.19 3981.06 3821.31 1317.12 2243.62 0 0 0 30.00 30.00 30.00

1936.52 420 -146.63 -0.84 80.00 3900.5 3980.9 3820.1 1316.9 2243.5 147.99 -7.94 266 1945.66 0.00 0.00 3.94 0.000 0.000 0.120 3900.97 3981.50 3820.44 1317.25 3741.75 0 0 0 30.00 30.00 16.02

1959 end dive: TARGET_DEPTH_EXCEEDED

state 1959 begin apogee

1967.96 10243 0.00 -0.28 0.00 3900.8 3981.4 3820.2 1317.4 2151.2 150.06 -8.21 270 2093.84 111.02 0.77 0.09 1.069 0.131 0.204 3300.56 3400.56 3200.56 1435.69 2206.44 0 0 0 11.09 16.00 15.53

2095 end apogee: CONTROL_FINISHED_OK

state 2095 begin climb

2095.33 10759 146.63 1.16 -80.00 3296.2 3395.5 3197.0 1435.8 2206.6 155.46 0.00 282 2234.02 115.19 2.32 4.08 1.031 0.104 0.152 2702.16 2806.94 2597.38 1783.62 715.69 0 0 0 11.29 15.57 15.42

2247.47 1156 146.63 1.07 0.00 2696.5 2797.3 2595.6 1783.4 715.5 143.05 12.96 308 2256.00 0.00 0.00 3.79 0.000 0.000 0.070 2697.12 2797.75 2596.50 1783.69 2194.19 0 0 0 30.00 30.00 15.60

2443.27 20611 146.63 1.03 0.00 2693.2 2793.6 2592.8 1783.4 2193.6 116.52 13.80 328 2445.68 0.00 0.31 0.00 0.000 0.180 0.000 2692.44 2792.56 2592.31 1744.06 2194.56 0 0 0 30.00 15.81 30.00

2633.26 16774 146.63 1.09 80.00 2691.9 2793.4 2590.5 1744.3 2193.7 95.17 10.53 347 2642.40 0.00 0.00 3.87 0.000 0.000 0.129 2692.56 2794.00 2591.12 1744.31 3645.31 0 0 0 30.00 30.00 15.93

2731.74 17542 146.63 1.06 0.00 2691.5 2792.6 2590.5 1744.4 3644.9 82.99 12.53 366 2740.59 0.00 0.00 3.58 0.000 0.000 0.056 2690.03 2790.75 2589.31 1744.25 2157.62 0 0 0 30.00 30.00 16.04

2926.76 18563 146.63 1.13 0.00 2690.8 2792.1 2589.4 1744.2 2158.1 62.95 10.30 386 2929.08 0.00 0.20 0.00 0.000 0.077 0.000 2691.38 2791.81 2590.94 1783.56 2157.94 0 0 0 30.00 16.08 30.00

3111.62 16646 146.63 1.13 80.00 2690.5 2791.6 2589.4 1783.4 2157.7 42.84 10.66 411 3120.84 0.00 0.00 3.96 0.000 0.000 0.130 2689.38 2791.06 2587.69 1784.25 3644.44 0 0 0 30.00 30.00 16.03

3245.10 21639 146.63 1.01 0.00 2690.1 2791.2 2588.9 1783.6 3643.8 25.23 12.43 437 3253.94 0.00 0.32 3.55 0.000 0.175 0.058 2688.78 2789.50 2588.06 1741.31 2157.19 0 0 0 30.00 16.02 16.11

3438.23 10403 235.83 1.24 0.00 2688.9 2791.1 2586.8 1740.9 2156.9 11.14 5.87 475 3520.44 65.36 0.41 0.00 0.931 0.062 0.000 2336.78 2457.25 2216.31 1814.19 2156.56 0 0 0 11.18 16.12 30.00

3704.72 10663 461.63 1.71 80.00 2329.0 2449.2 2208.9 1814.9 2156.2 6.17 -0.46 525 3731.83 22.88 0.64 0.00 0.891 0.054 0.000 2217.75 2343.88 2091.62 1928.69 2156.88 0 0 0 11.36 15.91 30.00

3732 end climb: NO_VERTICAL_VELOCITY

state 3732 begin surface

ID	245	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_INHIBIT	90
MISSION	4	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INT	0
DIVE	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	3	SM_CC	686.83997	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
STOP_T	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-1.9
D_SURF	2	FILEMGR	0	VBD_MIN	500	DEEPGLIDER	0
D_FLARE	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDERMB	0
D_TGT	150	COMM_SEQ	7	C_VBD	3300	MOTHERBOARD	6
D_ABORT	175	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
D_NO_BLEED	50	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_BOOST	0	NOCOMM_ACTION	131	VBD_LP_IGNORE	0	DEVICE3	-1
T_BOOST	0	N_NOSURFACE	0	VBD_TIMEOUT	360	DEVICE4	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_PITCH	0	NETBOX	1	UNCOM_BLEED	20	DEVICE6	-1
D_SAFE	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	1
D_CALL	0	CALL_WAIT	60	C_VBD_AUTO_DELTA	0	LOGGERDEVICE1	7
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_MAX	0	LOGGERDEVICE2	-1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	0	T_GPS	5	DBDW	0	LOGGERDEVICE4	-1
T_DIVE	50	N_GPS	100440	LOITER_W_DBAND	0	COMPASS_DEVICE	66
T_MISSION	75	T_RSLEEP	3	LOITER_DBDW	0	COMPASS2_DEVICE	-1
T_ABORT	1440	STROBE	0	LOITER_D_TOP	0	PHONE_DEVICE	33
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	0	GPS_DEVICE	48
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	96
T_NO_W	60	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	NAV_DEVICE	6
T_LOITER	0	RAFOS_MMODEM	0	AH0_24V	575	NAV2_DEVICE	6
T_EPIRB	0	PITCH_MIN	215	AH0_10V	0	NAV3_DEVICE	-1
USE_BATHY	-10	PITCH_MAX	3600	MINV_24V	11	NAV4_DEVICE	-1
USE_ICE	0	C_PITCH	1500	MINV_10V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MAXI_24V	5	PRESSURE_DEVICE	34
D_OFFGRID	100	PITCH_CNV	0.0041299998	MAXI_10V	2	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	18	FG_AHR_10V	1.2727311	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	FG_AHR_24V	6.9113541	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.029999999	PRESSURE_YINT	-191.55725	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_SLOPE	0.00022631494	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	COMPASS_USE	114692	SEABIRD_C_G	-10
MASS	72244	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_H	1
NAV_MODE	1	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	ALTIM_BOTTOM_TURN_MARGIN	0	SEABIRD_C_J	0.00019999999
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	OPTIONS	0
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_RECORDABOVE	2000.0
HD_B	0.0099999998	ROLL_MIN	235	ALTIM_PING_DEPTH	0	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3850	ALTIM_PING_DELTA	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_FREQUENCY	13	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2275	ALTIM_PULSE	3
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2180	ALTIM_SENSITIVITY	2
FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	XPDR_VALID	0

GPS1	240623,014158,4736.384,-12256.398,1,0.7,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240623,014507,4736.389,-12256.383,2,0.7,4,15.4	MHEAD_RNG_PITCHd_Wd	197.3,966,-17.6,-10.000,-21.21,2209,0.157
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.023397,-0.070985,-0.008082,1.141953,0.157444,0.005634,0.018041,1.117201,-310.103485,-1960.599121,-49.624283
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NET	CACST,8,0,20230624023532.383034,18,32767,45,0117,0113,07,01,01,00,01,1,029,121,0,5,3,0,150,9.0,3.19,-100,-0.19,-01,0.31,61,10000,5000,0,1,00,00*49	_24V_AH	14.99,7.264
NET_PING	1687574111,29,565.643982,5.400000,-0.755379	_10V_AH	15.00,0.000
NAV	1687575318,0.3,0,stop	FG_AHR_24Vo	7.082
MODEM_MSG	CACST,8,1,20230624022501.348305,18,32767,45,0128,0000,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,17.1,5.41,-100,-2.41,-01,0.22,73,925,0025,0,-1,00,00*1A	FG_AHR_10Vo	1.321
FREEZE	6.08,13.689,-1.533,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	4061.44,300.74,0.892,0,500.8,586.6,415.1,686.63	MEM2	944456,31,101672,91
SM_GC	1.55,0.00,10.94,0.32,0.000,0.050,0.102,497.6,581.2,414.0,198.9,2296.0,0,0,0,30.00,15.62,15.60	DATA_FILE_SIZE	16141,530
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	212250,0
IRIDIUM_FIX	4734.67,-12257.15,240623,013803	SDSIZE	3887104,3872448
TCM_TEMP	16.38	SDFILEDIR	52,3
SC_FREEKB	3878144	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
MODEM	0,1687572000,47.60500,-122.95000,0.221,320.8	MAGCAL	1.000000,-0.005307,-0.084823,0.005181,1.148734,0.137783,0.030164,0.040296,1.074874,-263.9,-1894.7,228.8,29,0.0178,0
RAFOS_FIX	4736.868652,-12257.000000,240623,020201,3,255,0.49	IMPLIED_C_PITCH	1536,18.96,287,0.0,0.00
HUMID	57.41	IMPLIED_C_VBD	3422,28.563503,287,0
TEMP	12.81	GPS	240623,025546,4735.957,-12256.762,2,0.9,4,15.4
INTERNAL_PRESSURE	8.1665

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	731	1069	11730.30	nil	0	0	0.00
Pitch_motor	24	263	96.36	nil	0	0	0.00
Roll_motor	60	203	185.93	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.12	nil	0	0	0.00
Core	2288	5	175.78	SciCon	3733	6	382.11
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1601	0	7.69
Compass	1326	5	99.51
RAFOS	2825	40	1695.21
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.91	16386	-146.63	-1.16	0.00	493.1	573.4	412.8	202.4	2302.8	0.00	0.00	0	94.84	82.10	0.00	0.00	0.005	0.000	0.000	2590.78	2659.56	2522.00	203.31	2303.38	0	0	0	16.16	30.00	30.00
95.36	18467	-146.63	-1.16	0.00	2593.0	2659.9	2526.0	202.9	2302.1	3.32	-2.37	16	148.88	34.50	7.84	0.00	0.005	0.263	0.000	3896.62	3980.31	3812.94	1220.25	2302.94	0	0	0	16.15	15.95	30.00
332.81	2469	-146.63	-0.98	80.00	3899.2	3980.8	3817.6	1220.0	2302.5	25.72	-8.72	61	345.26	0.00	0.30	3.80	0.000	0.169	0.108	3899.03	3981.25	3816.81	1265.25	3742.94	0	0	0	30.00	16.00	16.03
424.55	3237	-146.63	-0.76	0.00	3899.6	3981.0	3818.2	1265.4	3742.1	34.33	-9.55	79	433.39	0.00	0.34	3.56	0.000	0.166	0.042	3901.19	3982.00	3820.38	1315.88	2240.31	0	0	0	30.00	16.02	16.11
617.49	32	-146.63	-0.76	0.00	3900.2	3981.2	3819.1	1316.5	2239.9	46.75	-6.56	117	621.50	0.00	0.00	0.00	0.000	0.000	0.000	3900.16	3980.62	3819.69	1316.44	2240.00	0	0	0	30.00	30.00	30.00
826.51	292	-146.63	-0.76	80.00	3900.8	3981.4	3820.2	1316.6	2239.6	59.43	-6.83	141	835.13	0.00	0.00	3.95	0.000	0.000	0.113	3900.72	3981.19	3820.25	1317.06	3742.31	0	0	0	30.00	30.00	16.09
894.41	1188	-146.63	-0.68	0.00	3900.8	3981.6	3820.0	1316.9	3742.2	66.55	-9.04	154	903.14	0.00	0.00	3.54	0.000	0.000	0.044	3900.56	3981.06	3820.06	1317.12	2242.50	0	0	0	30.00	30.00	16.14
1089.29	32	-146.63	-0.68	0.00	3900.8	3981.1	3820.6	1317.2	2242.6	81.69	-7.56	174	1091.20	0.00	0.00	0.00	0.000	0.000	0.000	3901.06	3981.62	3820.50	1317.06	2242.88	0	0	0	30.00	30.00	30.00
1279.52	420	-146.63	-0.72	80.00	3901.0	3981.5	3820.5	1316.9	2242.7	96.36	-7.89	193	1288.66	0.00	0.00	3.97	0.000	0.000	0.115	3901.88	3982.50	3821.25	1316.75	3742.69	0	0	0	30.00	30.00	16.04
1317.99	1188	-146.63	-0.68	0.00	3900.9	3981.0	3820.9	1316.6	3742.6	99.94	-9.16	200	1326.75	0.00	0.00	3.56	0.000	0.000	0.045	3901.69	3981.12	3822.25	1317.00	2243.94	0	0	0	30.00	30.00	16.10
1513.02	420	-146.63	-0.71	80.00	3901.0	3981.4	3820.7	1317.1	2243.3	115.06	-7.19	220	1522.17	0.00	0.00	3.96	0.000	0.000	0.116	3900.69	3980.50	3820.88	1317.19	3740.94	0	0	0	30.00	30.00	16.02
1551.31	1060	-146.63	-0.71	0.00	3901.1	3981.3	3820.9	1317.1	3741.2	118.28	-7.93	227	1560.26	0.00	0.00	3.52	0.000	0.000	0.045	3900.72	3981.44	3820.00	1317.56	2243.38	0	0	0	30.00	30.00	16.09
1746.50	160	-146.63	-0.77	0.00	3901.1	3981.2	3821.1	1316.8	2243.6	133.20	-7.69	247	1748.41	0.00	0.00	0.00	0.000	0.000	0.000	3901.19	3981.06	3821.31	1317.12	2243.62	0	0	0	30.00	30.00	30.00
1936.52	420	-146.63	-0.84	80.00	3900.5	3980.9	3820.1	1316.9	2243.5	147.99	-7.94	266	1945.66	0.00	0.00	3.94	0.000	0.000	0.120	3900.97	3981.50	3820.44	1317.25	3741.75	0	0	0	30.00	30.00	16.02
1959	end dive: TARGET_DEPTH_EXCEEDED
state	1959	begin apogee
1967.96	10243	0.00	-0.28	0.00	3900.8	3981.4	3820.2	1317.4	2151.2	150.06	-8.21	270	2093.84	111.02	0.77	0.09	1.069	0.131	0.204	3300.56	3400.56	3200.56	1435.69	2206.44	0	0	0	11.09	16.00	15.53
2095	end apogee: CONTROL_FINISHED_OK
state	2095	begin climb
2095.33	10759	146.63	1.16	-80.00	3296.2	3395.5	3197.0	1435.8	2206.6	155.46	0.00	282	2234.02	115.19	2.32	4.08	1.031	0.104	0.152	2702.16	2806.94	2597.38	1783.62	715.69	0	0	0	11.29	15.57	15.42
2247.47	1156	146.63	1.07	0.00	2696.5	2797.3	2595.6	1783.4	715.5	143.05	12.96	308	2256.00	0.00	0.00	3.79	0.000	0.000	0.070	2697.12	2797.75	2596.50	1783.69	2194.19	0	0	0	30.00	30.00	15.60
2443.27	20611	146.63	1.03	0.00	2693.2	2793.6	2592.8	1783.4	2193.6	116.52	13.80	328	2445.68	0.00	0.31	0.00	0.000	0.180	0.000	2692.44	2792.56	2592.31	1744.06	2194.56	0	0	0	30.00	15.81	30.00
2633.26	16774	146.63	1.09	80.00	2691.9	2793.4	2590.5	1744.3	2193.7	95.17	10.53	347	2642.40	0.00	0.00	3.87	0.000	0.000	0.129	2692.56	2794.00	2591.12	1744.31	3645.31	0	0	0	30.00	30.00	15.93
2731.74	17542	146.63	1.06	0.00	2691.5	2792.6	2590.5	1744.4	3644.9	82.99	12.53	366	2740.59	0.00	0.00	3.58	0.000	0.000	0.056	2690.03	2790.75	2589.31	1744.25	2157.62	0	0	0	30.00	30.00	16.04
2926.76	18563	146.63	1.13	0.00	2690.8	2792.1	2589.4	1744.2	2158.1	62.95	10.30	386	2929.08	0.00	0.20	0.00	0.000	0.077	0.000	2691.38	2791.81	2590.94	1783.56	2157.94	0	0	0	30.00	16.08	30.00
3111.62	16646	146.63	1.13	80.00	2690.5	2791.6	2589.4	1783.4	2157.7	42.84	10.66	411	3120.84	0.00	0.00	3.96	0.000	0.000	0.130	2689.38	2791.06	2587.69	1784.25	3644.44	0	0	0	30.00	30.00	16.03
3245.10	21639	146.63	1.01	0.00	2690.1	2791.2	2588.9	1783.6	3643.8	25.23	12.43	437	3253.94	0.00	0.32	3.55	0.000	0.175	0.058	2688.78	2789.50	2588.06	1741.31	2157.19	0	0	0	30.00	16.02	16.11
3438.23	10403	235.83	1.24	0.00	2688.9	2791.1	2586.8	1740.9	2156.9	11.14	5.87	475	3520.44	65.36	0.41	0.00	0.931	0.062	0.000	2336.78	2457.25	2216.31	1814.19	2156.56	0	0	0	11.18	16.12	30.00
3704.72	10663	461.63	1.71	80.00	2329.0	2449.2	2208.9	1814.9	2156.2	6.17	-0.46	525	3731.83	22.88	0.64	0.00	0.891	0.054	0.000	2217.75	2343.88	2091.62	1928.69	2156.88	0	0	0	11.36	15.91	30.00
3732	end climb: NO_VERTICAL_VELOCITY
state	3732	begin surface