Glider dive log

HoodCanal 23Jun23 * SG245 * Dive index * Mission links * Dive 22 * 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 22 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 30 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 540 DEVICE4 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_PITCH 0 NETBOX 2 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 2.18121 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 25 FG_AHR_24V 10.610894 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 30 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 2.18121 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 10.610894 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 540

DEVICE6 -1 MISSION 4 ROLL_MAXERRORS 1 W_ADJ_DBAND 0

DIVE 22 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 2 SEABIRD_C_G -10

D_OFFGRID 100 NETWORK_DEVICE 1 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 240623,230642,4735.963,-12256.681,1,1.0,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.64 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240623,231009,4735.948,-12256.683,3,1.3,5,15.4 MHEAD_RNG_PITCHd_Wd 358.5,1110,-17.6,-10.000,-21.21,2209,0.127

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,0.008902,-0.074451,0.008482,1.100989,0.134700,0.045723,0.073014,1.050180,-261.842438,-1948.178467,293.406006

TGT_LATLONG 4736.530,-12256.470 OSC 8000307

Post-dive calculations and measurements:

NET CACST,8,1,20230625000510.438854,18,956,29,0141,0096,07,00,00,00,00,-1,-01,-01,1,3,580,0,150,18.8,0.15,-100,2.85,-01,1.61,68,10000,5000,0,-1,00,00*58 _24V_AH 14.75,11.609

MODEM_MSG CACST,8,0,20230624232500.413989,18,32767,45,0103,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-3.1,6.56,-100,-3.56,-01,0.04,88,925,0025,0,1,00,00*01 _10V_AH 14.75,0.000

NAV 1687651142,49.6,start FG_AHR_24Vo 10.791

FREEZE 5.50,12.799,-1.566,0,1,0 FG_AHR_10Vo 2.225

SURF forcing MEM0 59828,1,0,0

SM_CCo 3886.55,324.08,0.912,0,501.0,583.6,418.4,686.59 MEM1 65508,1,0,0

SM_GC 1.96,0.00,10.80,0.33,0.000,0.048,0.102,497.1,577.8,416.4,198.8,2293.2,0,0,0,30.00,15.43,15.42 MEM2 944420,34,101648,91

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 12928,496

IRIDIUM_FIX 4736.00,-12258.89,240623,220211 CAP_FILE_SIZE 185914,0

TCM_TEMP 15.44 SDSIZE 3887104,3865664

SC_FREEKB 3871744 SDFILEDIR 225,23

RAFOS_CLK 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 1,1687648200,47.60500,-122.95000,0.530,776.9 SOUNDSPEED 1465.0

RAFOS_FIX 4736.520996,-12257.508789,240623,232300,3,255,1.66 MAGCAL 1.000000,0.006255,-0.064033,0.006587,1.100572,0.146109,0.030662,0.068615,1.058808,-331.4,-1990.6,216.7,35,0.0113,0

HUMID 52.22 IMPLIED_C_PITCH 1544,18.68,274,0.0,0.00

TEMP 10.61 IMPLIED_C_VBD 3333,19.503511,274,0

INTERNAL_PRESSURE 8.02763 GPS 250623,001809,4736.309,-12256.587,1,1.2,22,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 742 1107 12122.07 nil 0 0 0.00

Pitch_motor 26 263 101.74 nil 0 0 0.00

Roll_motor 62 200 183.93 nil 0 0 0.00

Iridium 131 211 411.11 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.21 nil 0 0 0.00

Core 2267 5 171.24 SciCon 3537 7 374.06

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1564 0 7.39

Compass 1243 5 91.67

RAFOS 1727 40 1019.34

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

6.84 16386 -146.63 -1.16 0.00 494.9 566.8 423.1 196.4 2253.4 0.00 0.00 0 67.68 56.44 0.00 0.00 0.005 0.000 0.000 1933.25 2020.69 1845.81 195.75 2254.00 0 0 0 15.72 30.00 30.00

68.21 18983 -146.63 -1.16 -80.00 1936.4 2024.3 1848.4 195.6 2254.2 3.21 -3.14 11 151.53 54.83 8.47 3.85 0.005 0.263 0.126 3898.38 3984.62 3812.12 1219.69 808.00 0 0 0 15.74 15.58 15.67

185.60 3205 -146.63 -0.85 0.00 3900.0 3984.6 3815.4 1219.4 807.4 14.24 -14.26 32 197.97 0.00 0.56 3.74 0.000 0.171 0.062 3900.31 3985.00 3815.62 1295.44 2292.31 0 0 0 30.00 15.68 15.74

382.17 420 -146.63 -0.80 80.00 3901.4 3985.8 3817.1 1295.2 2292.4 33.46 -9.13 71 390.93 0.00 0.00 3.94 0.000 0.000 0.125 3901.38 3985.50 3817.25 1295.50 3741.38 0 0 0 30.00 30.00 15.77

445.11 3205 -146.63 -0.64 0.00 3901.2 3985.4 3816.9 1296.3 3740.6 40.44 -11.31 83 454.06 0.00 0.34 3.56 0.000 0.157 0.044 3901.75 3985.69 3817.81 1345.81 2243.88 0 0 0 30.00 15.77 15.83

642.82 160 -146.63 -0.71 0.00 3902.1 3985.8 3818.5 1346.3 2243.4 54.90 -6.89 114 644.68 0.00 0.00 0.00 0.000 0.000 0.000 3902.09 3985.62 3818.56 1346.25 2243.69 0 0 0 30.00 30.00 30.00

832.85 4257 -146.63 -0.78 0.00 3902.6 3985.5 3819.6 1346.2 2244.1 68.53 -7.39 133 835.11 0.00 0.29 0.00 0.000 0.067 0.000 3902.31 3985.81 3818.81 1292.00 2243.75 0 0 0 30.00 15.86 30.00

1022.73 292 -146.63 -0.78 80.00 3903.1 3986.1 3820.1 1291.8 2243.9 86.72 -9.46 152 1031.93 0.00 0.00 4.01 0.000 0.000 0.124 3903.16 3986.12 3820.19 1290.75 3741.06 0 0 0 30.00 30.00 15.88

1075.32 3205 -146.63 -0.66 0.00 3903.1 3986.1 3820.1 1291.6 3740.9 93.07 -12.50 162 1083.93 0.00 0.38 3.55 0.000 0.155 0.044 3902.69 3985.81 3819.56 1341.81 2245.06 0 0 0 30.00 15.88 15.94

1271.20 160 -146.63 -0.74 0.00 3903.2 3986.2 3820.2 1341.6 2245.3 108.48 -7.28 182 1273.06 0.00 0.00 0.00 0.000 0.000 0.000 3902.72 3985.44 3820.00 1342.00 2244.94 0 0 0 30.00 30.00 30.00

1464.27 4517 -146.63 -0.84 80.00 3903.2 3986.1 3820.2 1342.2 2245.0 121.71 -7.14 201 1477.24 0.00 0.34 4.03 0.000 0.064 0.129 3902.97 3986.25 3819.69 1277.38 3739.94 0 0 0 30.00 15.96 15.93

1550.69 3205 -146.63 -0.71 0.00 3903.4 3986.4 3820.4 1276.9 3739.8 132.01 -11.88 218 1560.62 0.00 0.40 3.52 0.000 0.155 0.045 3904.41 3987.00 3821.81 1329.19 2243.50 0 0 0 30.00 15.96 16.01

1744.88 160 -146.63 -0.79 0.00 3903.7 3986.5 3820.8 1329.4 2243.6 147.10 -7.55 238 1746.79 0.00 0.00 0.00 0.000 0.000 0.000 3902.84 3985.81 3819.88 1329.62 2244.00 0 0 0 30.00 30.00 30.00

1784 end dive: TARGET_DEPTH_EXCEEDED

state 1785 begin apogee

1786.52 10243 0.00 -0.28 0.00 3903.4 3986.2 3820.5 1329.8 2151.0 150.08 -7.47 242 1912.27 113.36 0.72 0.10 1.107 0.128 0.201 3298.03 3393.19 3202.88 1436.00 2203.00 0 0 0 11.59 16.00 15.38

1913 end apogee: CONTROL_FINISHED_OK

state 1914 begin climb

1913.83 10759 146.63 1.16 -80.00 3297.1 3391.8 3202.4 1435.9 2203.1 154.62 0.00 253 2055.45 117.29 2.40 4.25 1.068 0.105 0.154 2699.38 2796.19 2602.56 1783.31 715.56 0 0 0 11.28 15.43 15.17

2059.01 1156 146.63 1.10 0.00 2696.8 2791.0 2602.6 1783.4 715.6 144.11 11.96 276 2068.73 0.00 0.00 3.90 0.000 0.000 0.074 2695.44 2789.38 2601.50 1783.81 2193.00 0 0 0 30.00 30.00 15.34

2252.90 20871 146.63 1.07 80.00 2693.1 2787.1 2599.0 1783.6 2192.6 119.25 13.23 296 2262.64 0.00 0.26 4.04 0.000 0.186 0.138 2692.16 2786.62 2597.69 1753.94 3645.25 0 0 0 30.00 15.59 15.60

2311.88 17542 146.63 1.01 0.00 2692.4 2786.3 2598.4 1754.1 3644.6 111.08 13.88 307 2320.84 0.00 0.00 3.68 0.000 0.000 0.055 2690.94 2784.88 2597.00 1754.62 2156.88 0 0 0 30.00 30.00 15.68

2506.92 16514 146.63 1.05 0.00 2691.4 2786.2 2596.5 1754.2 2158.1 89.81 10.20 327 2508.82 0.00 0.00 0.00 0.000 0.000 0.000 2691.03 2785.81 2596.25 1754.00 2157.38 0 0 0 30.00 30.00 30.00

2697.04 8614 151.60 1.11 80.00 2691.2 2786.2 2596.1 1754.1 2157.5 70.68 9.77 346 2711.69 4.92 0.00 4.07 0.591 0.000 0.136 2679.53 2775.19 2583.88 1754.44 3644.81 0 0 0 11.45 30.00 15.81

2785.92 1156 151.60 1.07 0.00 2679.8 2775.3 2584.4 1754.6 3645.3 60.90 11.47 363 2794.87 0.00 0.00 3.61 0.000 0.000 0.055 2678.31 2774.25 2582.38 1754.12 2157.88 0 0 0 30.00 30.00 15.89

2980.05 10403 171.37 1.16 0.00 2679.8 2775.2 2584.4 1754.2 2157.5 42.45 9.08 389 3001.28 18.09 0.20 0.00 0.928 0.084 0.000 2599.84 2698.12 2501.56 1786.75 2156.88 0 0 0 11.49 15.90 30.00

3185.32 260 171.37 1.16 80.00 2594.8 2693.1 2496.4 1788.4 2157.5 21.54 10.21 430 3194.59 0.00 0.00 4.07 0.000 0.000 0.136 2594.94 2692.69 2497.19 1787.50 3642.50 0 0 0 30.00 30.00 15.80

3273.54 5253 171.37 1.08 0.00 2594.5 2692.7 2496.3 1788.6 3642.5 11.12 11.87 446 3286.69 0.00 0.26 3.62 0.000 0.187 0.056 2595.28 2692.88 2497.69 1754.94 2157.31 0 0 0 30.00 15.76 15.82

3470.96 10403 377.02 1.52 0.00 2593.7 2692.4 2494.9 1755.9 2157.7 6.25 0.48 485 3531.21 53.35 0.76 0.00 0.942 0.057 0.000 2318.50 2432.44 2204.56 1879.88 2157.56 0 0 0 11.36 15.85 30.00

3532 end climb: NO_VERTICAL_VELOCITY

state 3532 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	22	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	30	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	540	DEVICE4	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_PITCH	0	NETBOX	2	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	2.18121	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	FG_AHR_24V	10.610894	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	240623,230642,4735.963,-12256.681,1,1.0,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.64	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240623,231009,4735.948,-12256.683,3,1.3,5,15.4	MHEAD_RNG_PITCHd_Wd	358.5,1110,-17.6,-10.000,-21.21,2209,0.127
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.008902,-0.074451,0.008482,1.100989,0.134700,0.045723,0.073014,1.050180,-261.842438,-1948.178467,293.406006
TGT_LATLONG	4736.530,-12256.470	OSC	8000307

NET	CACST,8,1,20230625000510.438854,18,956,29,0141,0096,07,00,00,00,00,-1,-01,-01,1,3,580,0,150,18.8,0.15,-100,2.85,-01,1.61,68,10000,5000,0,-1,00,00*58	_24V_AH	14.75,11.609
MODEM_MSG	CACST,8,0,20230624232500.413989,18,32767,45,0103,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-3.1,6.56,-100,-3.56,-01,0.04,88,925,0025,0,1,00,00*01	_10V_AH	14.75,0.000
NAV	1687651142,49.6,start	FG_AHR_24Vo	10.791
FREEZE	5.50,12.799,-1.566,0,1,0	FG_AHR_10Vo	2.225
SURF	forcing	MEM0	59828,1,0,0
SM_CCo	3886.55,324.08,0.912,0,501.0,583.6,418.4,686.59	MEM1	65508,1,0,0
SM_GC	1.96,0.00,10.80,0.33,0.000,0.048,0.102,497.1,577.8,416.4,198.8,2293.2,0,0,0,30.00,15.43,15.42	MEM2	944420,34,101648,91
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	12928,496
IRIDIUM_FIX	4736.00,-12258.89,240623,220211	CAP_FILE_SIZE	185914,0
TCM_TEMP	15.44	SDSIZE	3887104,3865664
SC_FREEKB	3871744	SDFILEDIR	225,23
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	1,1687648200,47.60500,-122.95000,0.530,776.9	SOUNDSPEED	1465.0
RAFOS_FIX	4736.520996,-12257.508789,240623,232300,3,255,1.66	MAGCAL	1.000000,0.006255,-0.064033,0.006587,1.100572,0.146109,0.030662,0.068615,1.058808,-331.4,-1990.6,216.7,35,0.0113,0
HUMID	52.22	IMPLIED_C_PITCH	1544,18.68,274,0.0,0.00
TEMP	10.61	IMPLIED_C_VBD	3333,19.503511,274,0
INTERNAL_PRESSURE	8.02763	GPS	250623,001809,4736.309,-12256.587,1,1.2,22,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	742	1107	12122.07	nil	0	0	0.00
Pitch_motor	26	263	101.74	nil	0	0	0.00
Roll_motor	62	200	183.93	nil	0	0	0.00
Iridium	131	211	411.11	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.21	nil	0	0	0.00
Core	2267	5	171.24	SciCon	3537	7	374.06
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1564	0	7.39
Compass	1243	5	91.67
RAFOS	1727	40	1019.34
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
6.84	16386	-146.63	-1.16	0.00	494.9	566.8	423.1	196.4	2253.4	0.00	0.00	0	67.68	56.44	0.00	0.00	0.005	0.000	0.000	1933.25	2020.69	1845.81	195.75	2254.00	0	0	0	15.72	30.00	30.00
68.21	18983	-146.63	-1.16	-80.00	1936.4	2024.3	1848.4	195.6	2254.2	3.21	-3.14	11	151.53	54.83	8.47	3.85	0.005	0.263	0.126	3898.38	3984.62	3812.12	1219.69	808.00	0	0	0	15.74	15.58	15.67
185.60	3205	-146.63	-0.85	0.00	3900.0	3984.6	3815.4	1219.4	807.4	14.24	-14.26	32	197.97	0.00	0.56	3.74	0.000	0.171	0.062	3900.31	3985.00	3815.62	1295.44	2292.31	0	0	0	30.00	15.68	15.74
382.17	420	-146.63	-0.80	80.00	3901.4	3985.8	3817.1	1295.2	2292.4	33.46	-9.13	71	390.93	0.00	0.00	3.94	0.000	0.000	0.125	3901.38	3985.50	3817.25	1295.50	3741.38	0	0	0	30.00	30.00	15.77
445.11	3205	-146.63	-0.64	0.00	3901.2	3985.4	3816.9	1296.3	3740.6	40.44	-11.31	83	454.06	0.00	0.34	3.56	0.000	0.157	0.044	3901.75	3985.69	3817.81	1345.81	2243.88	0	0	0	30.00	15.77	15.83
642.82	160	-146.63	-0.71	0.00	3902.1	3985.8	3818.5	1346.3	2243.4	54.90	-6.89	114	644.68	0.00	0.00	0.00	0.000	0.000	0.000	3902.09	3985.62	3818.56	1346.25	2243.69	0	0	0	30.00	30.00	30.00
832.85	4257	-146.63	-0.78	0.00	3902.6	3985.5	3819.6	1346.2	2244.1	68.53	-7.39	133	835.11	0.00	0.29	0.00	0.000	0.067	0.000	3902.31	3985.81	3818.81	1292.00	2243.75	0	0	0	30.00	15.86	30.00
1022.73	292	-146.63	-0.78	80.00	3903.1	3986.1	3820.1	1291.8	2243.9	86.72	-9.46	152	1031.93	0.00	0.00	4.01	0.000	0.000	0.124	3903.16	3986.12	3820.19	1290.75	3741.06	0	0	0	30.00	30.00	15.88
1075.32	3205	-146.63	-0.66	0.00	3903.1	3986.1	3820.1	1291.6	3740.9	93.07	-12.50	162	1083.93	0.00	0.38	3.55	0.000	0.155	0.044	3902.69	3985.81	3819.56	1341.81	2245.06	0	0	0	30.00	15.88	15.94
1271.20	160	-146.63	-0.74	0.00	3903.2	3986.2	3820.2	1341.6	2245.3	108.48	-7.28	182	1273.06	0.00	0.00	0.00	0.000	0.000	0.000	3902.72	3985.44	3820.00	1342.00	2244.94	0	0	0	30.00	30.00	30.00
1464.27	4517	-146.63	-0.84	80.00	3903.2	3986.1	3820.2	1342.2	2245.0	121.71	-7.14	201	1477.24	0.00	0.34	4.03	0.000	0.064	0.129	3902.97	3986.25	3819.69	1277.38	3739.94	0	0	0	30.00	15.96	15.93
1550.69	3205	-146.63	-0.71	0.00	3903.4	3986.4	3820.4	1276.9	3739.8	132.01	-11.88	218	1560.62	0.00	0.40	3.52	0.000	0.155	0.045	3904.41	3987.00	3821.81	1329.19	2243.50	0	0	0	30.00	15.96	16.01
1744.88	160	-146.63	-0.79	0.00	3903.7	3986.5	3820.8	1329.4	2243.6	147.10	-7.55	238	1746.79	0.00	0.00	0.00	0.000	0.000	0.000	3902.84	3985.81	3819.88	1329.62	2244.00	0	0	0	30.00	30.00	30.00
1784	end dive: TARGET_DEPTH_EXCEEDED
state	1785	begin apogee
1786.52	10243	0.00	-0.28	0.00	3903.4	3986.2	3820.5	1329.8	2151.0	150.08	-7.47	242	1912.27	113.36	0.72	0.10	1.107	0.128	0.201	3298.03	3393.19	3202.88	1436.00	2203.00	0	0	0	11.59	16.00	15.38
1913	end apogee: CONTROL_FINISHED_OK
state	1914	begin climb
1913.83	10759	146.63	1.16	-80.00	3297.1	3391.8	3202.4	1435.9	2203.1	154.62	0.00	253	2055.45	117.29	2.40	4.25	1.068	0.105	0.154	2699.38	2796.19	2602.56	1783.31	715.56	0	0	0	11.28	15.43	15.17
2059.01	1156	146.63	1.10	0.00	2696.8	2791.0	2602.6	1783.4	715.6	144.11	11.96	276	2068.73	0.00	0.00	3.90	0.000	0.000	0.074	2695.44	2789.38	2601.50	1783.81	2193.00	0	0	0	30.00	30.00	15.34
2252.90	20871	146.63	1.07	80.00	2693.1	2787.1	2599.0	1783.6	2192.6	119.25	13.23	296	2262.64	0.00	0.26	4.04	0.000	0.186	0.138	2692.16	2786.62	2597.69	1753.94	3645.25	0	0	0	30.00	15.59	15.60
2311.88	17542	146.63	1.01	0.00	2692.4	2786.3	2598.4	1754.1	3644.6	111.08	13.88	307	2320.84	0.00	0.00	3.68	0.000	0.000	0.055	2690.94	2784.88	2597.00	1754.62	2156.88	0	0	0	30.00	30.00	15.68
2506.92	16514	146.63	1.05	0.00	2691.4	2786.2	2596.5	1754.2	2158.1	89.81	10.20	327	2508.82	0.00	0.00	0.00	0.000	0.000	0.000	2691.03	2785.81	2596.25	1754.00	2157.38	0	0	0	30.00	30.00	30.00
2697.04	8614	151.60	1.11	80.00	2691.2	2786.2	2596.1	1754.1	2157.5	70.68	9.77	346	2711.69	4.92	0.00	4.07	0.591	0.000	0.136	2679.53	2775.19	2583.88	1754.44	3644.81	0	0	0	11.45	30.00	15.81
2785.92	1156	151.60	1.07	0.00	2679.8	2775.3	2584.4	1754.6	3645.3	60.90	11.47	363	2794.87	0.00	0.00	3.61	0.000	0.000	0.055	2678.31	2774.25	2582.38	1754.12	2157.88	0	0	0	30.00	30.00	15.89
2980.05	10403	171.37	1.16	0.00	2679.8	2775.2	2584.4	1754.2	2157.5	42.45	9.08	389	3001.28	18.09	0.20	0.00	0.928	0.084	0.000	2599.84	2698.12	2501.56	1786.75	2156.88	0	0	0	11.49	15.90	30.00
3185.32	260	171.37	1.16	80.00	2594.8	2693.1	2496.4	1788.4	2157.5	21.54	10.21	430	3194.59	0.00	0.00	4.07	0.000	0.000	0.136	2594.94	2692.69	2497.19	1787.50	3642.50	0	0	0	30.00	30.00	15.80
3273.54	5253	171.37	1.08	0.00	2594.5	2692.7	2496.3	1788.6	3642.5	11.12	11.87	446	3286.69	0.00	0.26	3.62	0.000	0.187	0.056	2595.28	2692.88	2497.69	1754.94	2157.31	0	0	0	30.00	15.76	15.82
3470.96	10403	377.02	1.52	0.00	2593.7	2692.4	2494.9	1755.9	2157.7	6.25	0.48	485	3531.21	53.35	0.76	0.00	0.942	0.057	0.000	2318.50	2432.44	2204.56	1879.88	2157.56	0	0	0	11.36	15.85	30.00
3532	end climb: NO_VERTICAL_VELOCITY
state	3532	begin surface