Glider dive log

HoodCanal 20Jun23 * SG235 * Dive index * Mission links * Dive 21 * 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 21 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 6

N_DIVES 30 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 751.57635 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 3563.907 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 2212.4863 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 16.347517 MAXI_10V 2 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 25 FG_AHR_10V 1.1718485 SEABIRD_T_G 0.0042874566

GLIDE_SLOPE 45 PITCH_MAXERRORS 1 FG_AHR_24V 5.637042 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 30 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 1.1718485 PHONE_SUPPLY 2 SM_CC 751.57635

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 5.637042 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 16.347517 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 2212.4863 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 3563.907 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 21 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 210623,155558,4736.058,-12256.725,2,1.0,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,155931,4736.061,-12256.733,2,1.0,4,15.4 MHEAD_RNG_PITCHd_Wd 358.7,928,-19.3,-10.000,-24.09,2233,0.163

SPEED_LIMITS 0.100,0.224 D_GRID 166

TGT_NAME N 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 4736.530,-12256.470 OSC 8000307

Post-dive calculations and measurements:

NAV 1687366744,4.0,start INTERNAL_PRESSURE 8.51523

NET CARFP,2023-06-21T16:43:12.221096,0,12,121,1,1,0,0,1;8;080c7903203000ff,1;5;ac017baefb;1;13;ad1fb0315c3c680078006395b7;1;13;d7390e70e32e4fc841802ef75d;1;13;f7400000000050c20197baefba;1;13;dc55eebbee94ce2c0830f75df7;0;13;;0;2;,*2C _24V_AH 14.96,6.720

NET_PING 1687365761,29,534.688477,5.800000,69.293991 _10V_AH 15.00,0.000

MODEM_MSG CACST,8,2,20230621162459.326243,18,32767,45,0101,0000,00,00,00,00,00,-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*08 FG_AHR_24Vo 5.786

WARN HSCICON missed fuel gauge read FG_AHR_10Vo 1.216

FREEZE 4.07,14.795,-1.443,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3952.41,253.89,0.749,0,500.7,407.6,593.7,751.19 MEM2 944808,28,101820,69

SM_GC 1.85,0.00,15.86,3.46,0.000,0.053,0.058,496.8,410.2,583.3,216.5,2773.4,0,0,0,30.00,15.64,15.66 DATA_FILE_SIZE 16123,558

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 210190,0

IRIDIUM_FIX 4738.33,-12256.21,210623,144345 SDSIZE 3918848,3900768

TCM_TEMP 13.52 SDFILEDIR 231,22

SC_FREEKB 3871968 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

MODEM 2,1687364699,47.60500,-122.95000,299.326,438512.9 CURRENT 0.055, 56.9,1

RAFOS_FIX 4736.692383,-12257.000000,210623,151500,4,255,0.95 MAGCAL 1.000000,-0.034132,-0.056734,-0.087156,1.104583,-0.124689,0.066393,0.032559,1.250346,-852.2,20.3,139.4,36,0.0479,0

HUMID 49.46 IMPLIED_C_PITCH 2208,16.39,269,2210.4,16.37

TEMP 11.77 GPS 210623,170839,4736.403,-12256.417,2,0.8,23,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 757 946 10727.42 nil 0 0 0.00

Pitch_motor 36 273 150.01 nil 0 0 0.00

Roll_motor 76 210 242.55 nil 0 0 0.00

Iridium 135 202 412.28 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.02 nil 0 0 0.00

Core 2290 5 175.89 SciCon 3699 8 466.02

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1700 0 8.16

Compass 1120 5 84.02

RAFOS 1632 40 979.50

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

7.85 16386 -146.63 -1.77 0.00 494.7 413.9 575.5 216.1 2765.5 0.00 0.00 0 85.33 75.81 0.00 0.00 0.005 0.000 0.000 2198.44 2191.38 2205.50 216.25 2764.50 0 0 0 15.94 30.00 30.00

85.58 18727 -146.63 -1.77 80.00 2197.0 2189.5 2204.5 216.1 2765.0 3.03 -1.51 13 165.22 57.74 12.15 3.12 0.005 0.274 0.125 3959.19 3945.06 3973.31 1784.25 4010.44 0 0 0 15.20 15.80 14.95

393.43 19623 -146.63 -1.44 0.00 3961.6 3946.3 3976.9 1784.1 4010.6 30.13 -9.94 73 399.33 0.00 0.53 3.03 0.000 0.173 0.064 3961.50 3946.31 3976.69 1864.62 2725.94 0 0 0 30.00 15.92 15.97

583.47 18855 -146.63 -1.33 80.00 3962.4 3946.5 3978.3 1863.6 2724.8 45.62 -7.94 111 589.22 0.00 0.16 3.19 0.000 0.178 0.117 3963.44 3946.38 3980.50 1889.94 4011.31 0 0 0 30.00 15.96 15.97

657.77 1188 -146.63 -1.23 0.00 3962.2 3946.2 3978.2 1890.2 4009.3 52.56 -9.56 126 664.06 0.00 0.00 2.98 0.000 0.000 0.062 3962.75 3946.25 3979.25 1891.31 2724.00 0 0 0 30.00 30.00 16.01

853.83 2725 -146.63 -1.18 -80.00 3963.1 3946.8 3979.5 1890.2 2724.2 69.30 -8.94 146 860.13 0.00 0.23 3.64 0.000 0.163 0.125 3961.97 3944.62 3979.31 1928.56 1281.94 0 0 0 30.00 15.89 15.90

918.82 1188 -146.63 -1.13 0.00 3962.3 3945.6 3979.1 1928.1 1281.9 75.31 -9.35 159 924.88 0.00 0.00 3.41 0.000 0.000 0.059 3962.84 3945.50 3980.19 1928.31 2770.56 0 0 0 30.00 30.00 15.96

1113.76 32 -146.63 -1.13 0.00 3963.0 3945.9 3980.1 1928.8 2770.9 91.12 -8.26 179 1115.28 0.00 0.00 0.00 0.000 0.000 0.000 3963.59 3945.94 3981.25 1928.56 2770.56 0 0 0 30.00 30.00 30.00

1303.78 548 -146.63 -1.13 -80.00 3963.5 3946.3 3980.8 1928.2 2769.6 106.17 -7.92 198 1310.15 0.00 0.00 3.76 0.000 0.000 0.122 3963.97 3946.38 3981.56 1928.06 1282.00 0 0 0 30.00 30.00 15.99

1356.67 1060 -146.63 -1.13 0.00 3963.3 3946.1 3980.4 1928.2 1282.4 111.17 -9.65 208 1363.39 0.00 0.00 3.41 0.000 0.000 0.061 3964.38 3947.06 3981.69 1929.12 2770.81 0 0 0 30.00 30.00 16.02

1552.45 676 -146.63 -1.17 -80.00 3963.1 3946.2 3979.9 1927.4 2769.4 127.29 -8.02 228 1558.82 0.00 0.00 3.75 0.000 0.000 0.123 3962.66 3945.81 3979.50 1928.31 1282.12 0 0 0 30.00 30.00 16.00

1591.65 1060 -146.63 -1.17 0.00 3963.3 3946.4 3980.3 1928.3 1282.3 130.89 -9.03 236 1598.37 0.00 0.00 3.41 0.000 0.000 0.062 3964.34 3946.69 3982.00 1928.31 2770.31 0 0 0 30.00 30.00 16.05

1787.47 676 -146.63 -1.21 -80.00 3963.0 3946.1 3979.9 1928.1 2769.3 146.42 -7.95 256 1793.82 0.00 0.00 3.76 0.000 0.000 0.125 3963.97 3947.88 3980.06 1928.12 1281.88 0 0 0 30.00 30.00 16.05

1822.47 1060 -146.63 -1.21 0.00 3963.4 3946.4 3980.4 1927.7 1281.8 149.67 -8.83 263 1827.41 0.00 0.00 2.88 0.000 0.000 0.059 3963.75 3945.81 3981.69 1928.50 2546.88 0 0 0 30.00 30.00 16.10

1828 end dive: TARGET_DEPTH_EXCEEDED

state 1828 begin apogee

1829.24 10243 0.00 -0.31 0.00 3963.2 3946.5 3980.0 1928.8 2772.6 150.07 -9.29 264 1905.47 68.85 1.41 0.08 0.947 0.135 0.211 3563.94 3504.19 3623.69 2140.88 2722.94 0 0 0 12.03 16.04 15.86

1915 end apogee: CONTROL_FINISHED_OK

state 1915 begin climb

1915.91 10243 146.63 1.77 0.00 3560.4 3500.0 3620.8 2140.4 2723.4 151.69 0.00 272 2032.10 107.29 3.22 0.00 0.907 0.085 0.000 2964.62 2882.06 3047.19 2646.19 2723.00 0 0 0 11.86 15.87 30.00

2215.31 21127 146.63 1.49 -80.00 2955.2 2878.1 3032.3 2646.6 2723.1 113.80 16.85 306 2223.05 0.00 0.63 3.58 0.000 0.217 0.121 2958.31 2881.81 3034.81 2565.62 1281.81 0 0 0 30.00 15.81 15.83

2261.31 21639 146.63 1.25 0.00 2954.7 2878.5 3030.9 2566.0 1282.2 106.25 16.49 315 2267.83 0.00 0.40 3.42 0.000 0.224 0.059 2957.66 2881.88 3033.44 2510.56 2771.00 0 0 0 30.00 15.82 15.90

2456.22 16902 146.63 1.25 -80.00 2953.4 2875.9 3030.9 2509.5 2771.5 83.67 10.83 335 2462.73 0.00 0.00 3.79 0.000 0.000 0.123 2951.91 2875.00 3028.81 2509.62 1282.81 0 0 0 30.00 30.00 15.94

2556.60 17542 146.63 1.14 0.00 2952.8 2875.9 3029.6 2510.2 1282.4 72.36 11.79 354 2566.07 0.00 0.00 3.41 0.000 0.000 0.059 2954.66 2878.88 3030.44 2507.75 2771.12 0 0 0 30.00 30.00 15.97

2749.08 8742 170.24 1.23 -80.00 2952.3 2875.1 3029.4 2509.4 2772.7 54.04 8.92 375 2775.49 17.91 0.00 3.79 0.769 0.000 0.123 2865.94 2782.06 2949.81 2509.00 1281.88 0 0 0 11.95 30.00 15.96

2869.14 1156 170.24 1.17 0.00 2863.2 2781.4 2944.9 2508.9 1281.9 41.31 11.26 399 2875.17 0.00 0.00 3.39 0.000 0.000 0.060 2865.25 2784.38 2946.12 2508.19 2773.94 0 0 0 30.00 30.00 16.03

3059.20 10919 213.31 1.38 -80.00 2861.7 2778.9 2944.4 2510.1 2773.4 23.99 8.03 437 3102.25 34.45 0.26 3.80 0.770 0.080 0.124 2689.34 2599.69 2779.00 2557.50 1282.06 0 0 0 12.02 16.06 15.92

3155.61 5253 213.31 1.29 0.00 2686.2 2600.1 2772.4 2557.2 1282.3 13.79 12.66 455 3165.37 0.00 0.32 3.40 0.000 0.209 0.060 2686.25 2600.81 2771.69 2517.56 2770.12 0 0 0 30.00 15.91 15.98

3349.21 10919 402.95 2.22 -80.00 2683.7 2598.0 2769.4 2517.2 2770.2 6.30 1.31 494 3505.12 141.52 1.46 3.84 0.761 0.055 0.122 1915.12 1812.44 2017.81 2763.19 1281.12 0 0 0 12.00 16.04 15.70

3686 end climb: NO_VERTICAL_VELOCITY

state 3686 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	21	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	6
N_DIVES	30	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	751.57635	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	3563.907	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	2212.4863	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	16.347517	MAXI_10V	2	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	25	FG_AHR_10V	1.1718485	SEABIRD_T_G	0.0042874566
GLIDE_SLOPE	45	PITCH_MAXERRORS	1	FG_AHR_24V	5.637042	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	210623,155558,4736.058,-12256.725,2,1.0,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,155931,4736.061,-12256.733,2,1.0,4,15.4	MHEAD_RNG_PITCHd_Wd	358.7,928,-19.3,-10.000,-24.09,2233,0.163
SPEED_LIMITS	0.100,0.224	D_GRID	166
TGT_NAME	N	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	4736.530,-12256.470	OSC	8000307

NAV	1687366744,4.0,start	INTERNAL_PRESSURE	8.51523
NET	CARFP,2023-06-21T16:43:12.221096,0,12,121,1,1,0,0,1;8;080c7903203000ff,1;5;ac017baefb;1;13;ad1fb0315c3c680078006395b7;1;13;d7390e70e32e4fc841802ef75d;1;13;f7400000000050c20197baefba;1;13;dc55eebbee94ce2c0830f75df7;0;13;;0;2;,*2C	_24V_AH	14.96,6.720
NET_PING	1687365761,29,534.688477,5.800000,69.293991	_10V_AH	15.00,0.000
MODEM_MSG	CACST,8,2,20230621162459.326243,18,32767,45,0101,0000,00,00,00,00,00,-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*08	FG_AHR_24Vo	5.786
WARN	HSCICON missed fuel gauge read	FG_AHR_10Vo	1.216
FREEZE	4.07,14.795,-1.443,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3952.41,253.89,0.749,0,500.7,407.6,593.7,751.19	MEM2	944808,28,101820,69
SM_GC	1.85,0.00,15.86,3.46,0.000,0.053,0.058,496.8,410.2,583.3,216.5,2773.4,0,0,0,30.00,15.64,15.66	DATA_FILE_SIZE	16123,558
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	210190,0
IRIDIUM_FIX	4738.33,-12256.21,210623,144345	SDSIZE	3918848,3900768
TCM_TEMP	13.52	SDFILEDIR	231,22
SC_FREEKB	3871968	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
MODEM	2,1687364699,47.60500,-122.95000,299.326,438512.9	CURRENT	0.055, 56.9,1
RAFOS_FIX	4736.692383,-12257.000000,210623,151500,4,255,0.95	MAGCAL	1.000000,-0.034132,-0.056734,-0.087156,1.104583,-0.124689,0.066393,0.032559,1.250346,-852.2,20.3,139.4,36,0.0479,0
HUMID	49.46	IMPLIED_C_PITCH	2208,16.39,269,2210.4,16.37
TEMP	11.77	GPS	210623,170839,4736.403,-12256.417,2,0.8,23,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	757	946	10727.42	nil	0	0	0.00
Pitch_motor	36	273	150.01	nil	0	0	0.00
Roll_motor	76	210	242.55	nil	0	0	0.00
Iridium	135	202	412.28	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.02	nil	0	0	0.00
Core	2290	5	175.89	SciCon	3699	8	466.02
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1700	0	8.16
Compass	1120	5	84.02
RAFOS	1632	40	979.50
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
7.85	16386	-146.63	-1.77	0.00	494.7	413.9	575.5	216.1	2765.5	0.00	0.00	0	85.33	75.81	0.00	0.00	0.005	0.000	0.000	2198.44	2191.38	2205.50	216.25	2764.50	0	0	0	15.94	30.00	30.00
85.58	18727	-146.63	-1.77	80.00	2197.0	2189.5	2204.5	216.1	2765.0	3.03	-1.51	13	165.22	57.74	12.15	3.12	0.005	0.274	0.125	3959.19	3945.06	3973.31	1784.25	4010.44	0	0	0	15.20	15.80	14.95
393.43	19623	-146.63	-1.44	0.00	3961.6	3946.3	3976.9	1784.1	4010.6	30.13	-9.94	73	399.33	0.00	0.53	3.03	0.000	0.173	0.064	3961.50	3946.31	3976.69	1864.62	2725.94	0	0	0	30.00	15.92	15.97
583.47	18855	-146.63	-1.33	80.00	3962.4	3946.5	3978.3	1863.6	2724.8	45.62	-7.94	111	589.22	0.00	0.16	3.19	0.000	0.178	0.117	3963.44	3946.38	3980.50	1889.94	4011.31	0	0	0	30.00	15.96	15.97
657.77	1188	-146.63	-1.23	0.00	3962.2	3946.2	3978.2	1890.2	4009.3	52.56	-9.56	126	664.06	0.00	0.00	2.98	0.000	0.000	0.062	3962.75	3946.25	3979.25	1891.31	2724.00	0	0	0	30.00	30.00	16.01
853.83	2725	-146.63	-1.18	-80.00	3963.1	3946.8	3979.5	1890.2	2724.2	69.30	-8.94	146	860.13	0.00	0.23	3.64	0.000	0.163	0.125	3961.97	3944.62	3979.31	1928.56	1281.94	0	0	0	30.00	15.89	15.90
918.82	1188	-146.63	-1.13	0.00	3962.3	3945.6	3979.1	1928.1	1281.9	75.31	-9.35	159	924.88	0.00	0.00	3.41	0.000	0.000	0.059	3962.84	3945.50	3980.19	1928.31	2770.56	0	0	0	30.00	30.00	15.96
1113.76	32	-146.63	-1.13	0.00	3963.0	3945.9	3980.1	1928.8	2770.9	91.12	-8.26	179	1115.28	0.00	0.00	0.00	0.000	0.000	0.000	3963.59	3945.94	3981.25	1928.56	2770.56	0	0	0	30.00	30.00	30.00
1303.78	548	-146.63	-1.13	-80.00	3963.5	3946.3	3980.8	1928.2	2769.6	106.17	-7.92	198	1310.15	0.00	0.00	3.76	0.000	0.000	0.122	3963.97	3946.38	3981.56	1928.06	1282.00	0	0	0	30.00	30.00	15.99
1356.67	1060	-146.63	-1.13	0.00	3963.3	3946.1	3980.4	1928.2	1282.4	111.17	-9.65	208	1363.39	0.00	0.00	3.41	0.000	0.000	0.061	3964.38	3947.06	3981.69	1929.12	2770.81	0	0	0	30.00	30.00	16.02
1552.45	676	-146.63	-1.17	-80.00	3963.1	3946.2	3979.9	1927.4	2769.4	127.29	-8.02	228	1558.82	0.00	0.00	3.75	0.000	0.000	0.123	3962.66	3945.81	3979.50	1928.31	1282.12	0	0	0	30.00	30.00	16.00
1591.65	1060	-146.63	-1.17	0.00	3963.3	3946.4	3980.3	1928.3	1282.3	130.89	-9.03	236	1598.37	0.00	0.00	3.41	0.000	0.000	0.062	3964.34	3946.69	3982.00	1928.31	2770.31	0	0	0	30.00	30.00	16.05
1787.47	676	-146.63	-1.21	-80.00	3963.0	3946.1	3979.9	1928.1	2769.3	146.42	-7.95	256	1793.82	0.00	0.00	3.76	0.000	0.000	0.125	3963.97	3947.88	3980.06	1928.12	1281.88	0	0	0	30.00	30.00	16.05
1822.47	1060	-146.63	-1.21	0.00	3963.4	3946.4	3980.4	1927.7	1281.8	149.67	-8.83	263	1827.41	0.00	0.00	2.88	0.000	0.000	0.059	3963.75	3945.81	3981.69	1928.50	2546.88	0	0	0	30.00	30.00	16.10
1828	end dive: TARGET_DEPTH_EXCEEDED
state	1828	begin apogee
1829.24	10243	0.00	-0.31	0.00	3963.2	3946.5	3980.0	1928.8	2772.6	150.07	-9.29	264	1905.47	68.85	1.41	0.08	0.947	0.135	0.211	3563.94	3504.19	3623.69	2140.88	2722.94	0	0	0	12.03	16.04	15.86
1915	end apogee: CONTROL_FINISHED_OK
state	1915	begin climb
1915.91	10243	146.63	1.77	0.00	3560.4	3500.0	3620.8	2140.4	2723.4	151.69	0.00	272	2032.10	107.29	3.22	0.00	0.907	0.085	0.000	2964.62	2882.06	3047.19	2646.19	2723.00	0	0	0	11.86	15.87	30.00
2215.31	21127	146.63	1.49	-80.00	2955.2	2878.1	3032.3	2646.6	2723.1	113.80	16.85	306	2223.05	0.00	0.63	3.58	0.000	0.217	0.121	2958.31	2881.81	3034.81	2565.62	1281.81	0	0	0	30.00	15.81	15.83
2261.31	21639	146.63	1.25	0.00	2954.7	2878.5	3030.9	2566.0	1282.2	106.25	16.49	315	2267.83	0.00	0.40	3.42	0.000	0.224	0.059	2957.66	2881.88	3033.44	2510.56	2771.00	0	0	0	30.00	15.82	15.90
2456.22	16902	146.63	1.25	-80.00	2953.4	2875.9	3030.9	2509.5	2771.5	83.67	10.83	335	2462.73	0.00	0.00	3.79	0.000	0.000	0.123	2951.91	2875.00	3028.81	2509.62	1282.81	0	0	0	30.00	30.00	15.94
2556.60	17542	146.63	1.14	0.00	2952.8	2875.9	3029.6	2510.2	1282.4	72.36	11.79	354	2566.07	0.00	0.00	3.41	0.000	0.000	0.059	2954.66	2878.88	3030.44	2507.75	2771.12	0	0	0	30.00	30.00	15.97
2749.08	8742	170.24	1.23	-80.00	2952.3	2875.1	3029.4	2509.4	2772.7	54.04	8.92	375	2775.49	17.91	0.00	3.79	0.769	0.000	0.123	2865.94	2782.06	2949.81	2509.00	1281.88	0	0	0	11.95	30.00	15.96
2869.14	1156	170.24	1.17	0.00	2863.2	2781.4	2944.9	2508.9	1281.9	41.31	11.26	399	2875.17	0.00	0.00	3.39	0.000	0.000	0.060	2865.25	2784.38	2946.12	2508.19	2773.94	0	0	0	30.00	30.00	16.03
3059.20	10919	213.31	1.38	-80.00	2861.7	2778.9	2944.4	2510.1	2773.4	23.99	8.03	437	3102.25	34.45	0.26	3.80	0.770	0.080	0.124	2689.34	2599.69	2779.00	2557.50	1282.06	0	0	0	12.02	16.06	15.92
3155.61	5253	213.31	1.29	0.00	2686.2	2600.1	2772.4	2557.2	1282.3	13.79	12.66	455	3165.37	0.00	0.32	3.40	0.000	0.209	0.060	2686.25	2600.81	2771.69	2517.56	2770.12	0	0	0	30.00	15.91	15.98
3349.21	10919	402.95	2.22	-80.00	2683.7	2598.0	2769.4	2517.2	2770.2	6.30	1.31	494	3505.12	141.52	1.46	3.84	0.761	0.055	0.122	1915.12	1812.44	2017.81	2763.19	1281.12	0	0	0	12.00	16.04	15.70
3686	end climb: NO_VERTICAL_VELOCITY
state	3686	begin surface