Glider dive log

HoodCanal 20Jun23 * SG235 * Dive index * Mission links * Dive 20 * 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 20 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 741.63916 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 3523.3965 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 2210.3813 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 16.568211 MAXI_10V 2 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 25 FG_AHR_10V 1.1260402 SEABIRD_T_G 0.0042874566

GLIDE_SLOPE 45 PITCH_MAXERRORS 1 FG_AHR_24V 5.4781246 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 1.1260402 PHONE_SUPPLY 2 SM_CC 741.63916

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 5.4781246 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 16.568211 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 2210.3813 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 3523.3965 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 20 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 210623,144229,4736.318,-12256.646,2,1.0,32,15.4 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 -67.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,144554,4736.327,-12256.652,2,0.8,3,15.4 MHEAD_RNG_PITCHd_Wd 184.1,721,-19.3,-10.000,-24.09,2233,0.147

SPEED_LIMITS 0.100,0.224 D_GRID 169

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

TGT_LATLONG 4735.950,-12256.800 OSC 8000307

Post-dive calculations and measurements:

NET CACST,8,0,20230621153241.835426,18,32767,45,0107,0113,07,00,00,00,00,1,029,235,0,5,1,0,150,14.5,6.29,-100,-3.29,-01,0.08,62,10000,5000,0,-1,00,00*57 _24V_AH 15.02,6.538

NET_PING 1687361563,29,493.916992,14.500000,68.576904 _10V_AH 15.00,0.000

NAV 1687361233,94.3,2,stop FG_AHR_24Vo 5.629

MODEM_MSG CACST,8,2,20230621151000.312253,18,32767,45,0101,0000,00,00,00,00,00,-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*0B FG_AHR_10Vo 1.171

FREEZE 2.35,15.252,-1.391,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 4024.53,196.85,0.757,0,500.7,408.2,593.1,741.38 MEM2 944892,26,101776,69

SM_GC 1.72,0.00,16.25,0.09,0.000,0.055,0.157,496.1,408.1,584.2,216.3,2723.6,0,0,0,30.00,15.67,15.68 DATA_FILE_SIZE 16097,600

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 214672,0

IRIDIUM_FIX 4735.53,-12254.47,210623,133351 SDSIZE 3918848,3901088

TCM_TEMP 14.25 SDFILEDIR 223,21

SC_FREEKB 3872288 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK -1 SOUNDSPEED 1465.0

MODEM 0,1687359600,47.60500,-122.95000,0.253,371.3 CURRENT 0.037, 65.8,1

RAFOS_FIX 4736.692383,-12257.000000,210623,151500,4,255,0.95 MAGCAL 1.000000,-0.008635,-0.081227,-0.121296,1.106593,0.012321,0.122666,-0.030772,1.188715,-826.9,-50.9,172.1,36,0.0601,0

HUMID 49.47 IMPLIED_C_PITCH 2215,16.13,269,2212.5,16.35

TEMP 11.87 IMPLIED_C_VBD 3604,98.919670,152,3563.9

INTERNAL_PRESSURE 8.52437 GPS 210623,155558,4736.058,-12256.725,2,1.0,4,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 758 954 10874.91 nil 0 0 0.00

Pitch_motor 39 281 166.98 nil 0 0 0.00

Roll_motor 70 233 248.55 nil 0 0 0.00

Iridium 130 212 415.13 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.85 nil 0 0 0.00

Core 2446 5 187.89 SciCon 3830 6 379.17

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1667 0 8.00

Compass 1205 5 90.42

RAFOS 1692 40 1015.25

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

7.92 16386 -146.63 -1.75 0.00 494.9 415.6 574.2 214.1 2765.6 0.00 0.00 0 85.99 76.51 0.00 0.00 0.005 0.000 0.000 2214.75 2206.44 2223.06 214.19 2765.31 0 0 0 15.93 30.00 30.00

86.23 18983 -146.63 -1.75 -80.00 2213.9 2205.7 2222.2 214.2 2764.7 3.20 -2.18 15 165.81 56.16 12.02 3.74 0.005 0.282 0.121 3959.84 3944.81 3974.88 1786.31 1282.00 0 0 0 15.99 15.79 15.90

208.87 19591 -146.63 -1.37 0.00 3960.8 3945.4 3976.1 1786.1 1281.9 12.93 -13.22 39 216.03 0.00 0.62 3.43 0.000 0.178 0.060 3962.00 3946.38 3977.62 1879.38 2768.06 0 0 0 30.00 15.90 15.96

399.60 17062 -146.63 -1.28 -80.00 3962.0 3945.8 3978.2 1879.4 2768.6 28.14 -7.76 76 405.87 0.00 0.00 3.74 0.000 0.000 0.119 3963.00 3946.25 3979.75 1879.06 1281.38 0 0 0 30.00 30.00 15.92

449.61 19623 -146.63 -1.11 0.00 3962.0 3945.3 3978.7 1880.1 1281.0 32.70 -9.39 86 456.66 0.00 0.41 3.43 0.000 0.169 0.059 3961.47 3945.38 3977.56 1943.25 2770.81 0 0 0 30.00 15.89 15.95

639.86 16546 -146.63 -1.15 0.00 3962.4 3945.8 3979.0 1943.4 2769.9 45.64 -6.77 124 643.44 0.00 0.00 0.00 0.000 0.000 0.000 3963.09 3945.56 3980.62 1943.56 2770.62 0 0 0 30.00 30.00 30.00

832.70 676 -146.63 -1.19 -80.00 3962.7 3945.8 3979.5 1943.4 2769.8 58.49 -6.77 150 838.87 0.00 0.00 3.72 0.000 0.000 0.120 3963.53 3946.75 3980.31 1942.44 1281.44 0 0 0 30.00 30.00 16.01

887.65 1060 -146.63 -1.19 0.00 3962.7 3945.5 3979.9 1943.6 1281.7 63.04 -8.50 161 893.72 0.00 0.00 3.40 0.000 0.000 0.060 3963.41 3946.44 3980.38 1943.69 2770.12 0 0 0 30.00 30.00 16.05

1082.73 4773 -146.63 -1.25 -80.00 3962.9 3945.3 3980.5 1943.6 2770.7 77.79 -7.55 181 1090.18 0.00 0.31 3.73 0.000 0.080 0.121 3963.09 3945.50 3980.69 1889.19 1281.88 0 0 0 30.00 16.05 16.02

1112.74 3237 -146.63 -1.15 0.00 3963.0 3945.7 3980.3 1889.0 1281.7 80.98 -9.23 187 1119.66 0.00 0.32 3.40 0.000 0.171 0.061 3963.66 3946.44 3980.88 1933.19 2770.69 0 0 0 30.00 15.99 16.06

1308.49 160 -146.63 -1.19 0.00 3962.7 3944.9 3980.4 1932.3 2770.1 97.32 -7.90 207 1310.04 0.00 0.00 0.00 0.000 0.000 0.000 3963.16 3945.44 3980.88 1932.25 2770.00 0 0 0 30.00 30.00 30.00

1498.50 676 -146.63 -1.23 -80.00 3963.3 3945.6 3981.0 1932.2 2769.8 112.81 -8.04 226 1504.80 0.00 0.00 3.65 0.000 0.000 0.125 3963.28 3945.31 3981.25 1932.19 1281.38 0 0 0 30.00 30.00 16.04

1586.39 1060 -146.63 -1.23 0.00 3963.1 3945.8 3980.4 1932.0 1280.9 121.01 -9.27 243 1592.74 0.00 0.00 3.40 0.000 0.000 0.062 3963.66 3946.38 3980.94 1932.38 2770.06 0 0 0 30.00 30.00 16.07

1781.48 4257 -146.63 -1.28 0.00 3963.0 3945.1 3980.9 1932.2 2769.9 137.00 -8.14 263 1783.27 0.00 0.28 0.00 0.000 0.080 0.000 3963.66 3945.44 3981.88 1879.31 2770.00 0 0 0 30.00 16.08 30.00

1911 end dive: TARGET_DEPTH_EXCEEDED

state 1911 begin apogee

1912.68 10243 0.00 -0.30 0.00 3963.8 3945.8 3981.9 1880.4 2726.1 150.30 -10.53 276 1995.45 75.64 1.79 0.08 0.954 0.139 0.234 3523.16 3458.44 3587.88 2139.19 2770.25 0 0 0 12.02 16.05 15.81

1997 end apogee: CONTROL_FINISHED_OK

state 1997 begin climb

1997.95 10503 146.63 1.75 80.00 3519.6 3454.6 3584.5 2138.7 2770.0 152.04 0.00 284 2119.17 107.46 3.19 3.13 0.905 0.089 0.120 2924.34 2840.50 3008.19 2639.81 4010.50 0 0 0 11.95 15.83 15.60

2179.77 5253 146.63 1.36 0.00 2917.4 2839.2 2995.6 2640.8 4009.6 131.54 18.53 318 2189.59 0.00 0.87 3.13 0.000 0.223 0.060 2918.19 2840.62 2995.75 2535.38 2724.81 0 0 0 30.00 15.24 14.79

2375.87 17030 146.63 1.29 -80.00 2915.1 2834.9 2995.2 2534.2 2726.4 105.01 12.73 338 2382.27 0.00 0.00 3.70 0.000 0.000 0.127 2914.28 2834.75 2993.81 2534.75 1281.50 0 0 0 30.00 30.00 15.78

2465.16 21639 146.63 1.13 0.00 2913.3 2835.8 2990.8 2535.7 1281.6 92.09 14.54 356 2471.85 0.00 0.38 3.42 0.000 0.204 0.059 2915.66 2837.12 2994.19 2479.12 2770.38 0 0 0 30.00 15.81 15.89

2660.95 10919 175.63 1.30 -80.00 2913.0 2833.8 2992.2 2479.1 2770.5 72.96 8.67 376 2692.78 22.03 0.32 3.69 0.796 0.071 0.124 2806.03 2718.31 2893.75 2537.44 1280.62 0 0 0 11.89 15.96 15.88

2795.44 5253 175.63 1.18 0.00 2801.0 2717.2 2884.8 2537.2 1281.1 54.77 14.74 402 2806.68 0.00 0.38 3.41 0.000 0.204 0.059 2802.16 2718.62 2885.69 2490.50 2770.50 0 0 0 30.00 15.88 15.94

2990.51 10919 201.59 1.37 -80.00 2799.2 2713.6 2884.8 2490.7 2769.9 35.44 8.81 437 3021.99 21.02 0.34 3.69 0.761 0.072 0.125 2701.72 2612.31 2791.12 2551.19 1281.12 0 0 0 12.00 16.02 15.93

3030.45 5253 201.59 1.31 0.00 2697.6 2609.4 2785.7 2552.2 1281.1 30.99 11.34 445 3037.73 0.00 0.26 3.40 0.000 0.210 0.059 2696.75 2608.25 2785.25 2520.25 2772.62 0 0 0 30.00 15.90 15.98

3220.99 10919 233.01 1.51 -80.00 2695.9 2608.3 2783.5 2520.4 2772.6 12.46 8.56 483 3257.81 26.07 0.38 3.80 0.750 0.072 0.125 2569.84 2482.81 2656.88 2588.62 1281.81 0 0 0 12.06 16.03 15.92

3469.41 11303 472.09 2.46 0.00 2564.8 2482.6 2647.0 2588.7 1281.8 5.45 -0.95 532 3659.96 177.02 1.33 3.39 0.767 0.056 0.057 1596.56 1498.94 1694.19 2822.19 2777.19 0 0 0 12.05 16.02 16.03

3818 end climb: NO_VERTICAL_VELOCITY

state 3818 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	20	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	741.63916	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	3523.3965	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	2210.3813	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	16.568211	MAXI_10V	2	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	25	FG_AHR_10V	1.1260402	SEABIRD_T_G	0.0042874566
GLIDE_SLOPE	45	PITCH_MAXERRORS	1	FG_AHR_24V	5.4781246	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	210623,144229,4736.318,-12256.646,2,1.0,32,15.4	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	-67.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,144554,4736.327,-12256.652,2,0.8,3,15.4	MHEAD_RNG_PITCHd_Wd	184.1,721,-19.3,-10.000,-24.09,2233,0.147
SPEED_LIMITS	0.100,0.224	D_GRID	169
TGT_NAME	S	IRON	1.000000,0.017451,0.014585,-0.089957,1.062811,-0.004192,0.045696,-0.042900,1.093061,-893.957825,-40.148529,230.343018
TGT_LATLONG	4735.950,-12256.800	OSC	8000307

NET	CACST,8,0,20230621153241.835426,18,32767,45,0107,0113,07,00,00,00,00,1,029,235,0,5,1,0,150,14.5,6.29,-100,-3.29,-01,0.08,62,10000,5000,0,-1,00,00*57	_24V_AH	15.02,6.538
NET_PING	1687361563,29,493.916992,14.500000,68.576904	_10V_AH	15.00,0.000
NAV	1687361233,94.3,2,stop	FG_AHR_24Vo	5.629
MODEM_MSG	CACST,8,2,20230621151000.312253,18,32767,45,0101,0000,00,00,00,00,00,-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*0B	FG_AHR_10Vo	1.171
FREEZE	2.35,15.252,-1.391,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	4024.53,196.85,0.757,0,500.7,408.2,593.1,741.38	MEM2	944892,26,101776,69
SM_GC	1.72,0.00,16.25,0.09,0.000,0.055,0.157,496.1,408.1,584.2,216.3,2723.6,0,0,0,30.00,15.67,15.68	DATA_FILE_SIZE	16097,600
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	214672,0
IRIDIUM_FIX	4735.53,-12254.47,210623,133351	SDSIZE	3918848,3901088
TCM_TEMP	14.25	SDFILEDIR	223,21
SC_FREEKB	3872288	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-1	SOUNDSPEED	1465.0
MODEM	0,1687359600,47.60500,-122.95000,0.253,371.3	CURRENT	0.037, 65.8,1
RAFOS_FIX	4736.692383,-12257.000000,210623,151500,4,255,0.95	MAGCAL	1.000000,-0.008635,-0.081227,-0.121296,1.106593,0.012321,0.122666,-0.030772,1.188715,-826.9,-50.9,172.1,36,0.0601,0
HUMID	49.47	IMPLIED_C_PITCH	2215,16.13,269,2212.5,16.35
TEMP	11.87	IMPLIED_C_VBD	3604,98.919670,152,3563.9
INTERNAL_PRESSURE	8.52437	GPS	210623,155558,4736.058,-12256.725,2,1.0,4,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	758	954	10874.91	nil	0	0	0.00
Pitch_motor	39	281	166.98	nil	0	0	0.00
Roll_motor	70	233	248.55	nil	0	0	0.00
Iridium	130	212	415.13	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.85	nil	0	0	0.00
Core	2446	5	187.89	SciCon	3830	6	379.17
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1667	0	8.00
Compass	1205	5	90.42
RAFOS	1692	40	1015.25
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
7.92	16386	-146.63	-1.75	0.00	494.9	415.6	574.2	214.1	2765.6	0.00	0.00	0	85.99	76.51	0.00	0.00	0.005	0.000	0.000	2214.75	2206.44	2223.06	214.19	2765.31	0	0	0	15.93	30.00	30.00
86.23	18983	-146.63	-1.75	-80.00	2213.9	2205.7	2222.2	214.2	2764.7	3.20	-2.18	15	165.81	56.16	12.02	3.74	0.005	0.282	0.121	3959.84	3944.81	3974.88	1786.31	1282.00	0	0	0	15.99	15.79	15.90
208.87	19591	-146.63	-1.37	0.00	3960.8	3945.4	3976.1	1786.1	1281.9	12.93	-13.22	39	216.03	0.00	0.62	3.43	0.000	0.178	0.060	3962.00	3946.38	3977.62	1879.38	2768.06	0	0	0	30.00	15.90	15.96
399.60	17062	-146.63	-1.28	-80.00	3962.0	3945.8	3978.2	1879.4	2768.6	28.14	-7.76	76	405.87	0.00	0.00	3.74	0.000	0.000	0.119	3963.00	3946.25	3979.75	1879.06	1281.38	0	0	0	30.00	30.00	15.92
449.61	19623	-146.63	-1.11	0.00	3962.0	3945.3	3978.7	1880.1	1281.0	32.70	-9.39	86	456.66	0.00	0.41	3.43	0.000	0.169	0.059	3961.47	3945.38	3977.56	1943.25	2770.81	0	0	0	30.00	15.89	15.95
639.86	16546	-146.63	-1.15	0.00	3962.4	3945.8	3979.0	1943.4	2769.9	45.64	-6.77	124	643.44	0.00	0.00	0.00	0.000	0.000	0.000	3963.09	3945.56	3980.62	1943.56	2770.62	0	0	0	30.00	30.00	30.00
832.70	676	-146.63	-1.19	-80.00	3962.7	3945.8	3979.5	1943.4	2769.8	58.49	-6.77	150	838.87	0.00	0.00	3.72	0.000	0.000	0.120	3963.53	3946.75	3980.31	1942.44	1281.44	0	0	0	30.00	30.00	16.01
887.65	1060	-146.63	-1.19	0.00	3962.7	3945.5	3979.9	1943.6	1281.7	63.04	-8.50	161	893.72	0.00	0.00	3.40	0.000	0.000	0.060	3963.41	3946.44	3980.38	1943.69	2770.12	0	0	0	30.00	30.00	16.05
1082.73	4773	-146.63	-1.25	-80.00	3962.9	3945.3	3980.5	1943.6	2770.7	77.79	-7.55	181	1090.18	0.00	0.31	3.73	0.000	0.080	0.121	3963.09	3945.50	3980.69	1889.19	1281.88	0	0	0	30.00	16.05	16.02
1112.74	3237	-146.63	-1.15	0.00	3963.0	3945.7	3980.3	1889.0	1281.7	80.98	-9.23	187	1119.66	0.00	0.32	3.40	0.000	0.171	0.061	3963.66	3946.44	3980.88	1933.19	2770.69	0	0	0	30.00	15.99	16.06
1308.49	160	-146.63	-1.19	0.00	3962.7	3944.9	3980.4	1932.3	2770.1	97.32	-7.90	207	1310.04	0.00	0.00	0.00	0.000	0.000	0.000	3963.16	3945.44	3980.88	1932.25	2770.00	0	0	0	30.00	30.00	30.00
1498.50	676	-146.63	-1.23	-80.00	3963.3	3945.6	3981.0	1932.2	2769.8	112.81	-8.04	226	1504.80	0.00	0.00	3.65	0.000	0.000	0.125	3963.28	3945.31	3981.25	1932.19	1281.38	0	0	0	30.00	30.00	16.04
1586.39	1060	-146.63	-1.23	0.00	3963.1	3945.8	3980.4	1932.0	1280.9	121.01	-9.27	243	1592.74	0.00	0.00	3.40	0.000	0.000	0.062	3963.66	3946.38	3980.94	1932.38	2770.06	0	0	0	30.00	30.00	16.07
1781.48	4257	-146.63	-1.28	0.00	3963.0	3945.1	3980.9	1932.2	2769.9	137.00	-8.14	263	1783.27	0.00	0.28	0.00	0.000	0.080	0.000	3963.66	3945.44	3981.88	1879.31	2770.00	0	0	0	30.00	16.08	30.00
1911	end dive: TARGET_DEPTH_EXCEEDED
state	1911	begin apogee
1912.68	10243	0.00	-0.30	0.00	3963.8	3945.8	3981.9	1880.4	2726.1	150.30	-10.53	276	1995.45	75.64	1.79	0.08	0.954	0.139	0.234	3523.16	3458.44	3587.88	2139.19	2770.25	0	0	0	12.02	16.05	15.81
1997	end apogee: CONTROL_FINISHED_OK
state	1997	begin climb
1997.95	10503	146.63	1.75	80.00	3519.6	3454.6	3584.5	2138.7	2770.0	152.04	0.00	284	2119.17	107.46	3.19	3.13	0.905	0.089	0.120	2924.34	2840.50	3008.19	2639.81	4010.50	0	0	0	11.95	15.83	15.60
2179.77	5253	146.63	1.36	0.00	2917.4	2839.2	2995.6	2640.8	4009.6	131.54	18.53	318	2189.59	0.00	0.87	3.13	0.000	0.223	0.060	2918.19	2840.62	2995.75	2535.38	2724.81	0	0	0	30.00	15.24	14.79
2375.87	17030	146.63	1.29	-80.00	2915.1	2834.9	2995.2	2534.2	2726.4	105.01	12.73	338	2382.27	0.00	0.00	3.70	0.000	0.000	0.127	2914.28	2834.75	2993.81	2534.75	1281.50	0	0	0	30.00	30.00	15.78
2465.16	21639	146.63	1.13	0.00	2913.3	2835.8	2990.8	2535.7	1281.6	92.09	14.54	356	2471.85	0.00	0.38	3.42	0.000	0.204	0.059	2915.66	2837.12	2994.19	2479.12	2770.38	0	0	0	30.00	15.81	15.89
2660.95	10919	175.63	1.30	-80.00	2913.0	2833.8	2992.2	2479.1	2770.5	72.96	8.67	376	2692.78	22.03	0.32	3.69	0.796	0.071	0.124	2806.03	2718.31	2893.75	2537.44	1280.62	0	0	0	11.89	15.96	15.88
2795.44	5253	175.63	1.18	0.00	2801.0	2717.2	2884.8	2537.2	1281.1	54.77	14.74	402	2806.68	0.00	0.38	3.41	0.000	0.204	0.059	2802.16	2718.62	2885.69	2490.50	2770.50	0	0	0	30.00	15.88	15.94
2990.51	10919	201.59	1.37	-80.00	2799.2	2713.6	2884.8	2490.7	2769.9	35.44	8.81	437	3021.99	21.02	0.34	3.69	0.761	0.072	0.125	2701.72	2612.31	2791.12	2551.19	1281.12	0	0	0	12.00	16.02	15.93
3030.45	5253	201.59	1.31	0.00	2697.6	2609.4	2785.7	2552.2	1281.1	30.99	11.34	445	3037.73	0.00	0.26	3.40	0.000	0.210	0.059	2696.75	2608.25	2785.25	2520.25	2772.62	0	0	0	30.00	15.90	15.98
3220.99	10919	233.01	1.51	-80.00	2695.9	2608.3	2783.5	2520.4	2772.6	12.46	8.56	483	3257.81	26.07	0.38	3.80	0.750	0.072	0.125	2569.84	2482.81	2656.88	2588.62	1281.81	0	0	0	12.06	16.03	15.92
3469.41	11303	472.09	2.46	0.00	2564.8	2482.6	2647.0	2588.7	1281.8	5.45	-0.95	532	3659.96	177.02	1.33	3.39	0.767	0.056	0.057	1596.56	1498.94	1694.19	2822.19	2777.19	0	0	0	12.05	16.02	16.03
3818	end climb: NO_VERTICAL_VELOCITY
state	3818	begin surface