Glider dive log

HoodCanal 23Jun23 * SG245 * Dive index * Mission links * Dive 34 * 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 34 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 50 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 2.7855084 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 25 FG_AHR_24V 12.787136 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 50 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 2.7855084 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 12.787136 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 34 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 250623,105423,4735.952,-12256.896,1,0.8,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.68 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250623,105728,4735.948,-12256.896,2,0.9,4,15.4 MHEAD_RNG_PITCHd_Wd 10.9,1202,-17.6,-10.000,-21.21,2209,0.153

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 8000266

Post-dive calculations and measurements:

NAV 1687694563,0.4,start _24V_AH 14.80,14.130

NET xmit ok outbox0029.n 1715 27 _10V_AH 14.77,0.000

NET_PING 1687692911,29,594.478516,9.900000,-0.793789 FG_AHR_24Vo 12.968

MODEM_MSG CACST,8,0,20230625112500.383170,18,32767,45,0101,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-1.5,9.17,-100,-6.17,-01,0.22,88,925,0025,0,1,00,00*0A FG_AHR_10Vo 2.840

FREEZE 3.46,15.595,-1.449,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3767.16,252.27,0.906,0,500.9,582.6,419.2,686.62 MEM2 944440,33,101648,91

SM_GC 1.60,0.00,10.59,0.22,0.000,0.042,0.120,496.3,576.3,416.4,195.0,2289.7,0,0,0,30.00,15.45,15.44 DATA_FILE_SIZE 12907,490

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 213682,0

IRIDIUM_FIX 4736.87,-12256.21,250623,100209 SDSIZE 3887104,3861728

TCM_TEMP 15.57 SDFILEDIR 323,35

SC_FREEKB 3867904 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 0,1687690800,47.60500,-122.95000,0.397,575.6 MAGCAL 1.000000,-0.045539,-0.149765,0.010736,1.180973,0.233321,-0.018626,-0.099026,1.258931,-186.6,-2066.6,-950.3,34,0.0776,0

RAFOS_FIX 4736.950684,-9418.126953,250623,111100,3,255,1587.10 IMPLIED_C_PITCH 1538,18.40,260,0.0,0.00

HUMID 52.21 IMPLIED_C_VBD 3309,43.002232,260,0

TEMP 10.74 GPS 250623,120339,4736.349,-12256.468,1,0.8,17,15.4

INTERNAL_PRESSURE 8.04245

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 746 1101 12168.50 nil 0 0 0.00

Pitch_motor 25 247 94.30 nil 0 0 0.00

Roll_motor 86 199 254.21 nil 0 0 0.00

Iridium 110 202 331.47 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.06 nil 0 0 0.00

Core 2411 5 182.38 SciCon 3496 7 370.38

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1356 0 6.41

Compass 1221 5 90.23

RAFOS 2193 40 1295.76

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 0.00 493.9 571.1 416.6 194.9 2250.6 0.00 0.00 0 82.10 69.99 0.00 0.00 0.005 0.000 0.000 2343.69 2425.75 2261.62 194.88 2251.38 0 0 0 15.79 30.00 30.00

82.62 18727 -146.63 -1.16 80.00 2346.3 2427.0 2265.6 195.0 2251.9 3.28 -3.25 11 151.08 42.07 8.20 4.03 0.005 0.248 0.121 3898.25 3985.81 3810.69 1219.50 3740.81 0 0 0 15.80 15.65 15.72

255.13 3205 -146.63 -0.79 0.00 3900.4 3985.1 3815.8 1219.7 3741.7 27.62 -16.06 43 263.90 0.00 0.65 3.59 0.000 0.170 0.044 3900.69 3985.81 3815.56 1310.94 2245.00 0 0 0 30.00 15.74 15.80

446.75 292 -146.63 -0.79 80.00 3901.0 3985.2 3816.8 1310.5 2245.8 45.80 -8.65 79 459.38 0.00 0.00 4.16 0.000 0.000 0.119 3901.53 3985.56 3817.50 1311.38 3740.25 0 0 0 30.00 30.00 15.10

509.12 1156 -146.63 -0.69 0.00 3901.6 3985.4 3817.8 1311.7 3739.9 52.50 -11.13 91 521.37 0.00 0.00 3.70 0.000 0.000 0.045 3901.84 3985.88 3817.81 1310.69 2245.25 0 0 0 30.00 30.00 15.01

708.98 548 -146.63 -0.69 -80.00 3901.9 3985.6 3818.3 1311.1 2246.0 69.59 -8.63 112 718.03 0.00 0.00 3.86 0.000 0.000 0.127 3901.88 3984.06 3819.69 1310.69 808.19 0 0 0 30.00 30.00 15.58

741.34 1060 -146.63 -0.69 0.00 3902.3 3986.0 3818.6 1311.7 808.1 72.65 -8.98 118 749.79 0.00 0.00 3.79 0.000 0.000 0.056 3902.66 3985.94 3819.38 1311.38 2292.06 0 0 0 30.00 30.00 15.66

937.13 292 -146.63 -0.69 80.00 3902.7 3985.9 3819.5 1311.4 2292.1 88.91 -8.07 138 946.28 0.00 0.00 3.96 0.000 0.000 0.123 3902.38 3985.50 3819.25 1311.69 3740.25 0 0 0 30.00 30.00 15.74

995.46 3205 -146.63 -0.63 0.00 3902.6 3985.8 3819.4 1311.3 3740.5 94.81 -10.51 149 1004.98 0.00 0.26 3.64 0.000 0.149 0.042 3902.75 3985.94 3819.56 1349.75 2246.12 0 0 0 30.00 15.74 15.80

1190.62 4517 -146.63 -0.73 80.00 3903.1 3986.2 3819.9 1349.9 2246.2 108.80 -6.75 169 1203.80 0.00 0.24 4.09 0.000 0.068 0.123 3903.28 3986.25 3820.31 1302.44 3739.19 0 0 0 30.00 15.83 15.81

1233.13 3237 -146.63 -0.66 0.00 3902.8 3985.6 3820.0 1303.0 3739.6 112.68 -9.38 177 1242.30 0.00 0.30 3.59 0.000 0.150 0.043 3903.16 3985.50 3820.81 1343.25 2246.00 0 0 0 30.00 15.81 15.86

1428.14 4257 -146.63 -0.75 0.00 3903.3 3986.6 3820.1 1343.6 2245.8 127.36 -7.51 197 1430.46 0.00 0.21 0.00 0.000 0.074 0.000 3903.47 3986.62 3820.31 1299.12 2245.06 0 0 0 30.00 15.85 30.00

1617.99 32 -146.63 -0.75 0.00 3903.3 3986.1 3820.4 1298.8 2245.5 144.30 -9.03 216 1619.90 0.00 0.00 0.00 0.000 0.000 0.000 3903.47 3986.31 3820.62 1299.00 2246.12 0 0 0 30.00 30.00 30.00

1688 end dive: TARGET_DEPTH_EXCEEDED

state 1688 begin apogee

1689.77 10243 0.00 -0.28 0.00 3903.3 3986.1 3820.6 1298.0 2151.4 150.36 -8.63 223 1819.72 114.54 0.96 0.09 1.102 0.131 0.200 3300.41 3397.00 3203.81 1435.56 2203.00 0 0 0 11.56 15.87 15.31

1821 end apogee: CONTROL_FINISHED_OK

state 1821 begin climb

1821.55 10759 146.63 1.16 -80.00 3297.1 3393.1 3201.1 1435.8 2203.3 155.08 0.00 235 1964.29 118.79 2.37 4.29 1.062 0.102 0.152 2700.00 2799.44 2600.56 1784.00 715.38 0 0 0 11.32 15.38 15.18

1983.53 1156 146.63 1.08 0.00 2695.7 2791.9 2599.4 1783.6 715.5 141.72 12.85 263 1992.69 0.00 0.00 3.90 0.000 0.000 0.073 2694.44 2790.31 2598.56 1784.00 2192.75 0 0 0 30.00 30.00 15.41

2178.56 20871 146.63 1.05 80.00 2692.5 2788.6 2596.3 1783.8 2192.8 115.92 13.27 283 2192.05 0.00 0.31 4.07 0.000 0.184 0.136 2692.31 2788.75 2595.88 1748.12 3643.81 0 0 0 30.00 15.65 15.67

2240.13 17542 146.63 0.99 0.00 2691.7 2787.5 2595.8 1748.0 3643.9 107.45 13.95 294 2252.41 0.00 0.00 3.69 0.000 0.000 0.053 2691.72 2787.50 2595.94 1748.12 2159.19 0 0 0 30.00 30.00 15.70

2436.59 16774 146.63 1.05 80.00 2691.0 2787.5 2594.6 1748.1 2159.2 86.61 10.06 315 2446.02 0.00 0.00 4.13 0.000 0.000 0.132 2690.62 2787.38 2593.88 1747.62 3643.62 0 0 0 30.00 30.00 15.79

2475.07 17414 146.63 1.05 0.00 2690.8 2787.2 2594.4 1747.7 3643.3 82.21 11.31 322 2484.20 0.00 0.00 3.64 0.000 0.000 0.053 2690.28 2786.88 2593.69 1748.25 2158.00 0 0 0 30.00 30.00 15.85

2670.35 10663 159.82 1.14 80.00 2690.6 2787.2 2594.0 1747.9 2157.9 63.11 9.39 342 2695.09 11.35 0.22 4.13 0.877 0.085 0.134 2646.97 2745.69 2548.25 1783.31 3643.88 0 0 0 11.53 15.91 15.81

2714.32 5253 159.82 1.04 0.00 2645.6 2743.1 2548.0 1783.8 3644.2 58.05 12.35 350 2723.70 0.00 0.29 3.64 0.000 0.182 0.053 2645.12 2743.38 2546.88 1746.44 2158.31 0 0 0 30.00 15.80 15.86

2907.97 10663 188.46 1.17 80.00 2643.8 2743.1 2544.6 1746.7 2158.0 39.82 8.67 380 2945.08 24.05 0.26 4.17 0.941 0.079 0.134 2528.50 2633.50 2423.50 1791.69 3643.62 0 0 0 11.42 15.87 15.70

2989.31 5253 188.46 1.09 0.00 2527.0 2631.9 2422.1 1791.4 3643.5 30.56 12.92 395 2998.44 0.00 0.26 3.67 0.000 0.181 0.055 2527.81 2632.62 2423.00 1758.12 2157.38 0 0 0 30.00 15.71 15.75

3181.63 10919 225.54 1.25 -80.00 2524.8 2630.0 2419.7 1759.1 2157.6 13.10 8.28 432 3224.14 29.81 0.34 3.99 0.924 0.076 0.148 2378.78 2491.19 2266.38 1813.81 715.38 0 0 0 11.29 15.82 15.60

3314.83 11431 338.46 1.45 0.00 2373.7 2482.5 2264.9 1813.1 715.8 4.19 4.77 457 3416.21 83.58 0.25 3.79 0.926 0.078 0.065 1917.97 2049.19 1786.75 1862.69 2196.50 0 0 0 11.47 15.75 15.75

3490 end climb: NO_VERTICAL_VELOCITY

state 3490 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	34	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	50	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	2.7855084	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	FG_AHR_24V	12.787136	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	250623,105423,4735.952,-12256.896,1,0.8,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.68	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250623,105728,4735.948,-12256.896,2,0.9,4,15.4	MHEAD_RNG_PITCHd_Wd	10.9,1202,-17.6,-10.000,-21.21,2209,0.153
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	8000266

NAV	1687694563,0.4,start	_24V_AH	14.80,14.130
NET	xmit ok outbox0029.n 1715 27	_10V_AH	14.77,0.000
NET_PING	1687692911,29,594.478516,9.900000,-0.793789	FG_AHR_24Vo	12.968
MODEM_MSG	CACST,8,0,20230625112500.383170,18,32767,45,0101,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-1.5,9.17,-100,-6.17,-01,0.22,88,925,0025,0,1,00,00*0A	FG_AHR_10Vo	2.840
FREEZE	3.46,15.595,-1.449,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3767.16,252.27,0.906,0,500.9,582.6,419.2,686.62	MEM2	944440,33,101648,91
SM_GC	1.60,0.00,10.59,0.22,0.000,0.042,0.120,496.3,576.3,416.4,195.0,2289.7,0,0,0,30.00,15.45,15.44	DATA_FILE_SIZE	12907,490
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	213682,0
IRIDIUM_FIX	4736.87,-12256.21,250623,100209	SDSIZE	3887104,3861728
TCM_TEMP	15.57	SDFILEDIR	323,35
SC_FREEKB	3867904	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	0,1687690800,47.60500,-122.95000,0.397,575.6	MAGCAL	1.000000,-0.045539,-0.149765,0.010736,1.180973,0.233321,-0.018626,-0.099026,1.258931,-186.6,-2066.6,-950.3,34,0.0776,0
RAFOS_FIX	4736.950684,-9418.126953,250623,111100,3,255,1587.10	IMPLIED_C_PITCH	1538,18.40,260,0.0,0.00
HUMID	52.21	IMPLIED_C_VBD	3309,43.002232,260,0
TEMP	10.74	GPS	250623,120339,4736.349,-12256.468,1,0.8,17,15.4
INTERNAL_PRESSURE	8.04245

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	746	1101	12168.50	nil	0	0	0.00
Pitch_motor	25	247	94.30	nil	0	0	0.00
Roll_motor	86	199	254.21	nil	0	0	0.00
Iridium	110	202	331.47	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.06	nil	0	0	0.00
Core	2411	5	182.38	SciCon	3496	7	370.38
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1356	0	6.41
Compass	1221	5	90.23
RAFOS	2193	40	1295.76
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	493.9	571.1	416.6	194.9	2250.6	0.00	0.00	0	82.10	69.99	0.00	0.00	0.005	0.000	0.000	2343.69	2425.75	2261.62	194.88	2251.38	0	0	0	15.79	30.00	30.00
82.62	18727	-146.63	-1.16	80.00	2346.3	2427.0	2265.6	195.0	2251.9	3.28	-3.25	11	151.08	42.07	8.20	4.03	0.005	0.248	0.121	3898.25	3985.81	3810.69	1219.50	3740.81	0	0	0	15.80	15.65	15.72
255.13	3205	-146.63	-0.79	0.00	3900.4	3985.1	3815.8	1219.7	3741.7	27.62	-16.06	43	263.90	0.00	0.65	3.59	0.000	0.170	0.044	3900.69	3985.81	3815.56	1310.94	2245.00	0	0	0	30.00	15.74	15.80
446.75	292	-146.63	-0.79	80.00	3901.0	3985.2	3816.8	1310.5	2245.8	45.80	-8.65	79	459.38	0.00	0.00	4.16	0.000	0.000	0.119	3901.53	3985.56	3817.50	1311.38	3740.25	0	0	0	30.00	30.00	15.10
509.12	1156	-146.63	-0.69	0.00	3901.6	3985.4	3817.8	1311.7	3739.9	52.50	-11.13	91	521.37	0.00	0.00	3.70	0.000	0.000	0.045	3901.84	3985.88	3817.81	1310.69	2245.25	0	0	0	30.00	30.00	15.01
708.98	548	-146.63	-0.69	-80.00	3901.9	3985.6	3818.3	1311.1	2246.0	69.59	-8.63	112	718.03	0.00	0.00	3.86	0.000	0.000	0.127	3901.88	3984.06	3819.69	1310.69	808.19	0	0	0	30.00	30.00	15.58
741.34	1060	-146.63	-0.69	0.00	3902.3	3986.0	3818.6	1311.7	808.1	72.65	-8.98	118	749.79	0.00	0.00	3.79	0.000	0.000	0.056	3902.66	3985.94	3819.38	1311.38	2292.06	0	0	0	30.00	30.00	15.66
937.13	292	-146.63	-0.69	80.00	3902.7	3985.9	3819.5	1311.4	2292.1	88.91	-8.07	138	946.28	0.00	0.00	3.96	0.000	0.000	0.123	3902.38	3985.50	3819.25	1311.69	3740.25	0	0	0	30.00	30.00	15.74
995.46	3205	-146.63	-0.63	0.00	3902.6	3985.8	3819.4	1311.3	3740.5	94.81	-10.51	149	1004.98	0.00	0.26	3.64	0.000	0.149	0.042	3902.75	3985.94	3819.56	1349.75	2246.12	0	0	0	30.00	15.74	15.80
1190.62	4517	-146.63	-0.73	80.00	3903.1	3986.2	3819.9	1349.9	2246.2	108.80	-6.75	169	1203.80	0.00	0.24	4.09	0.000	0.068	0.123	3903.28	3986.25	3820.31	1302.44	3739.19	0	0	0	30.00	15.83	15.81
1233.13	3237	-146.63	-0.66	0.00	3902.8	3985.6	3820.0	1303.0	3739.6	112.68	-9.38	177	1242.30	0.00	0.30	3.59	0.000	0.150	0.043	3903.16	3985.50	3820.81	1343.25	2246.00	0	0	0	30.00	15.81	15.86
1428.14	4257	-146.63	-0.75	0.00	3903.3	3986.6	3820.1	1343.6	2245.8	127.36	-7.51	197	1430.46	0.00	0.21	0.00	0.000	0.074	0.000	3903.47	3986.62	3820.31	1299.12	2245.06	0	0	0	30.00	15.85	30.00
1617.99	32	-146.63	-0.75	0.00	3903.3	3986.1	3820.4	1298.8	2245.5	144.30	-9.03	216	1619.90	0.00	0.00	0.00	0.000	0.000	0.000	3903.47	3986.31	3820.62	1299.00	2246.12	0	0	0	30.00	30.00	30.00
1688	end dive: TARGET_DEPTH_EXCEEDED
state	1688	begin apogee
1689.77	10243	0.00	-0.28	0.00	3903.3	3986.1	3820.6	1298.0	2151.4	150.36	-8.63	223	1819.72	114.54	0.96	0.09	1.102	0.131	0.200	3300.41	3397.00	3203.81	1435.56	2203.00	0	0	0	11.56	15.87	15.31
1821	end apogee: CONTROL_FINISHED_OK
state	1821	begin climb
1821.55	10759	146.63	1.16	-80.00	3297.1	3393.1	3201.1	1435.8	2203.3	155.08	0.00	235	1964.29	118.79	2.37	4.29	1.062	0.102	0.152	2700.00	2799.44	2600.56	1784.00	715.38	0	0	0	11.32	15.38	15.18
1983.53	1156	146.63	1.08	0.00	2695.7	2791.9	2599.4	1783.6	715.5	141.72	12.85	263	1992.69	0.00	0.00	3.90	0.000	0.000	0.073	2694.44	2790.31	2598.56	1784.00	2192.75	0	0	0	30.00	30.00	15.41
2178.56	20871	146.63	1.05	80.00	2692.5	2788.6	2596.3	1783.8	2192.8	115.92	13.27	283	2192.05	0.00	0.31	4.07	0.000	0.184	0.136	2692.31	2788.75	2595.88	1748.12	3643.81	0	0	0	30.00	15.65	15.67
2240.13	17542	146.63	0.99	0.00	2691.7	2787.5	2595.8	1748.0	3643.9	107.45	13.95	294	2252.41	0.00	0.00	3.69	0.000	0.000	0.053	2691.72	2787.50	2595.94	1748.12	2159.19	0	0	0	30.00	30.00	15.70
2436.59	16774	146.63	1.05	80.00	2691.0	2787.5	2594.6	1748.1	2159.2	86.61	10.06	315	2446.02	0.00	0.00	4.13	0.000	0.000	0.132	2690.62	2787.38	2593.88	1747.62	3643.62	0	0	0	30.00	30.00	15.79
2475.07	17414	146.63	1.05	0.00	2690.8	2787.2	2594.4	1747.7	3643.3	82.21	11.31	322	2484.20	0.00	0.00	3.64	0.000	0.000	0.053	2690.28	2786.88	2593.69	1748.25	2158.00	0	0	0	30.00	30.00	15.85
2670.35	10663	159.82	1.14	80.00	2690.6	2787.2	2594.0	1747.9	2157.9	63.11	9.39	342	2695.09	11.35	0.22	4.13	0.877	0.085	0.134	2646.97	2745.69	2548.25	1783.31	3643.88	0	0	0	11.53	15.91	15.81
2714.32	5253	159.82	1.04	0.00	2645.6	2743.1	2548.0	1783.8	3644.2	58.05	12.35	350	2723.70	0.00	0.29	3.64	0.000	0.182	0.053	2645.12	2743.38	2546.88	1746.44	2158.31	0	0	0	30.00	15.80	15.86
2907.97	10663	188.46	1.17	80.00	2643.8	2743.1	2544.6	1746.7	2158.0	39.82	8.67	380	2945.08	24.05	0.26	4.17	0.941	0.079	0.134	2528.50	2633.50	2423.50	1791.69	3643.62	0	0	0	11.42	15.87	15.70
2989.31	5253	188.46	1.09	0.00	2527.0	2631.9	2422.1	1791.4	3643.5	30.56	12.92	395	2998.44	0.00	0.26	3.67	0.000	0.181	0.055	2527.81	2632.62	2423.00	1758.12	2157.38	0	0	0	30.00	15.71	15.75
3181.63	10919	225.54	1.25	-80.00	2524.8	2630.0	2419.7	1759.1	2157.6	13.10	8.28	432	3224.14	29.81	0.34	3.99	0.924	0.076	0.148	2378.78	2491.19	2266.38	1813.81	715.38	0	0	0	11.29	15.82	15.60
3314.83	11431	338.46	1.45	0.00	2373.7	2482.5	2264.9	1813.1	715.8	4.19	4.77	457	3416.21	83.58	0.25	3.79	0.926	0.078	0.065	1917.97	2049.19	1786.75	1862.69	2196.50	0	0	0	11.47	15.75	15.75
3490	end climb: NO_VERTICAL_VELOCITY
state	3490	begin surface