Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 1072 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 1072 ESCAPE_HEADING 0 ROLL_MIN 145 ALTIM_PING_DEPTH 80

D_SURF 5 ESCAPE_HEADING_DELTA 10 ROLL_MAX 4014 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_FREQUENCY 13

D_TGT 120 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2350 ALTIM_PULSE 3

D_ABORT 1090 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2150 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 SM_CC 550 ROLL_CNV 0.028270001 INT_PRESSURE_YINT 0

D_PITCH 0 N_FILEKB 8 ROLL_TIMEOUT 15 DEEPGLIDER 0

D_SAFE 0 FILEMGR 0 R_PORT_OVSHOOT 56 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 40 MOTHERBOARD 4

SURFACE_URGENCY 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE2 20

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE3 35

T_DIVE 20 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE4 -1

T_MISSION 30 CALL_TRIES 5 VBD_MIN 204 DEVICE5 -1

T_ABORT 1440 CALL_WAIT 60 VBD_MAX 3580 DEVICE6 -1

T_TURN 270 CAPUPLOAD 0 C_VBD 2500 SMARTS 0

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTDEVICE1 -1

T_NO_W 120 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE2 -1

USE_BATHY -4 T_GPS 15 VBD_TIMEOUT 360 COMPASS_DEVICE 33

USE_ICE 0 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 GPS_DEVICE 32

D_OFFGRID 100 T_GPS_CHARGE -95426.172 VBD_PUMP_AD_RATE_APOGEE 3 RAFOS_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 XPDR_DEVICE 24

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 SIM_W 0

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_PITCH 0

MAX_BUOY 200 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SEABIRD_T_G 0.0043805656

COURSE_BIAS 0 PITCH_MIN 25 AH0_24V 150 SEABIRD_T_H 0.00064742006

GLIDE_SLOPE 30 PITCH_MAX 4070 AH0_10V 100 SEABIRD_T_I 2.5554549e-05

SPEED_FACTOR 1 C_PITCH 2780 PRESSURE_YINT -10.508845 SEABIRD_T_J 2.6681391e-06

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162386 SEABIRD_C_G -10.331019

MASS 51503 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_C_H 1.1763502

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012340198

FERRY_MAX 45 PITCH_GAIN 18 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017379176

KALMAN_USE 1 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25

HD_A 0.0038360001 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FLARE 3 PITCH_DBAND 0.1 SMARTS 0

AH0_10V 100 D_NO_BLEED 200 PITCH_GAIN 18 SM_CC 550

AH0_24V 150 D_OFFGRID 100 PITCH_MAX 4070 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 25 D_PITCH 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_MIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_SURF 5 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 D_TGT 120 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PRESSURE_SLOPE 0.0001162386 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PRESSURE_YINT -10.508845 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.133301

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.4

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 RAFOS_DEVICE -1 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 RAFOS_HIT_WINDOW 3600 T_DIVE 20

APOGEE_PITCH -5 GPS_DEVICE 32 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_NDIVES 1 HD_A 0.0038360001 RELAUNCH 1 T_GPS_ALMANAC 0

CALL_TRIES 5 HD_B 0.010078 RHO 1.023 T_GPS_CHARGE -95426.172

CALL_WAIT 60 HD_C 9.8541004e-06 ROLL_ADJ_DBAND 0 T_MISSION 30

CAPMAXSIZE 100000 HEADING -1 ROLL_ADJ_GAIN 0 T_NO_W 120

CAPUPLOAD 0 HEAD_ERRBAND 10 ROLL_AD_RATE 350 T_RSLEEP 3

CF8_MAXERRORS 1 HEAPDBG 0 ROLL_CNV 0.028270001 T_TURN 270

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 ROLL_DEG 40 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 128 ROLL_MAX 4014 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 UNCOM_BLEED 50

C_PITCH 2780 INT_PRESSURE_YINT 0 ROLL_MIN 145 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2150 KALMAN_USE 1 ROLL_TIMEOUT 15 USE_BATHY -4

C_ROLL_DIVE 2350 MASS 51503 R_PORT_OVSHOOT 56 USE_ICE 0

C_VBD 2500 MAX_BUOY 200 R_STBD_OVSHOOT 40 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -10.331019 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_DBAND 2

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_MAX 3580

DEVICE2 20 N_FILEKB 8 SEABIRD_C_J 0.00017379176 VBD_MAXERRORS 1

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MIN 204

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_TIMEOUT 360

DIVE 1072 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_ABORT 1090 PITCH_ADJ_GAIN 0 SIM_W 0

D_CALL 0 PITCH_AD_RATE 160 SMARTDEVICE1 -1

D_FINISH 0 PITCH_CNV 0.00312576 SMARTDEVICE2 -1

Pre-dive calculations and measurements:

GPS1 130001,4806.454,-12222.547,29,1.6,40,18.3 TGT_NAME SEVEN

_CALLS 2 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.199,0.305

_SM_DEPTHo 2.35 KALMAN_X -23359.2,-91.4,180.6,23624.9,30.0

_SM_ANGLEo -68.5 KALMAN_Y 3558.2,-84.3,-167.6,-3152.7,-25.6

GPS2 130945,4806.491,-12222.540,12,1.1,12,18.3 MHEAD_RNG_PITCHd_Wd 308.6,1101,-27.2,-20.000

SPEED_LIMITS 0.346,0.364 D_GRID 105

Post-dive calculations and measurements:

FINISH 2.8,1.020467 XPDR_PINGS 2

SM_CCo 1700,109.05,0.646,0,0,256,550.21 ALTIM_BOTTOM_PING 80.7,44.1

SM_GC 2.43,0.00,0.00,109.05,0.000,0.000,0.646,15,2357,256,-8.64,0.23,550.21 _24V_AH 24.0,104.039

IRIDIUM_FIX 4748.51,-12220.12,171007,171730 _10V_AH 10.7,48.116

TT8_MAMPS 0.026078 DATA_FILE_SIZE 9684,215

HUMID 1871 CFSIZE 260165632,228724736

INTERNAL_PRESSURE 9.11168 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.80 GPS 171007,134151,4806.664,-12222.777,10,1.8,10,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 210 117.06 SBE_CT 156 24 90.27

Roll_motor 14 46 15.79 SBE_O2 152 19 69.74

VBD_pump_during_apogee 428 733 7542.52 WL_BB2F 363 105 914.96

VBD_pump_during_surface 109 645 1690.22 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 103 135.03 nil 0 0 0.00

Iridium_during_connect 81 160 311.97 nil 0 0 0.00

Iridium_during_xfer 234 223 1252.41

Transponder_ping 0 420 7.56

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 50 9.86

TT8 303 19 64.28

LPSleep 557 2 13.07

TT8_Active 508 19 107.69

TT8_Sampling 453 39 193.05

TT8_CF8 587 45 287.89

TT8_Kalman 33 81 29.17

Analog_circuits 811 12 104.17

GPS_charging 0 0 0.00

Compass 462 8 39.60

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

30 end surface: CONTROL_FINISHED_OK

state 30 begin dive

36 -1.75 -195.5 0.0 0.0 0 81 0.00 0.00 -42.78 0.000 2 0.000 0.000 10 2366 1435

87 -1.75 -195.5 3.0 -2.2 8 149 9.18 2.30 -46.72 0.000 4 0.211 0.046 2212 948 3299

397 -1.75 -195.5 68.4 -22.9 55 401 0.00 2.28 0.00 0.000 6 0.000 0.035 2203 2351 3302

550 end dive: TARGET_DEPTH_EXCEEDED

state 550 begin apogee

562 -0.28 0.0 107.1 25.4 69 720 1.62 0.00 151.90 0.733 6 0.137 0.000 2680 2137 2500

720 end apogee: CONTROL_FINISHED_OK

state 720 begin climb

726 1.75 195.5 116.7 0.0 85 888 1.98 2.35 149.35 0.697 4 0.071 0.038 3347 774 1703

946 1.75 195.5 91.1 21.2 105 953 0.00 2.28 0.00 0.000 6 0.000 0.031 3347 2151 1702

1284 1.75 195.5 22.4 20.8 148 1291 0.00 2.25 0.00 0.000 4 0.000 0.037 3357 768 1701

1380 2.00 395.9 8.5 6.3 164 1514 0.15 2.25 127.35 0.664 2 0.052 0.031 3425 2156 1020

1519 end climb: SURFACE_DEPTH_REACHED

state 1519 begin surface coast

1671 end surface coast: CONTROL_FINISHED_OK

state 1671 begin surface

ID	128	HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	1072	ESCAPE_HEADING	0	ROLL_MIN	145	ALTIM_PING_DEPTH	80
D_SURF	5	ESCAPE_HEADING_DELTA	10	ROLL_MAX	4014	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_FREQUENCY	13
D_TGT	120	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2350	ALTIM_PULSE	3
D_ABORT	1090	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2150	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	SM_CC	550	ROLL_CNV	0.028270001	INT_PRESSURE_YINT	0
D_PITCH	0	N_FILEKB	8	ROLL_TIMEOUT	15	DEEPGLIDER	0
D_SAFE	0	FILEMGR	0	R_PORT_OVSHOOT	56	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	40	MOTHERBOARD	4
SURFACE_URGENCY	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE2	20
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE3	35
T_DIVE	20	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE4	-1
T_MISSION	30	CALL_TRIES	5	VBD_MIN	204	DEVICE5	-1
T_ABORT	1440	CALL_WAIT	60	VBD_MAX	3580	DEVICE6	-1
T_TURN	270	CAPUPLOAD	0	C_VBD	2500	SMARTS	0
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTDEVICE1	-1
T_NO_W	120	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE2	-1
USE_BATHY	-4	T_GPS	15	VBD_TIMEOUT	360	COMPASS_DEVICE	33
USE_ICE	0	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	GPS_DEVICE	32
D_OFFGRID	100	T_GPS_CHARGE	-95426.172	VBD_PUMP_AD_RATE_APOGEE	3	RAFOS_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	XPDR_DEVICE	24
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	SIM_W	0
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_PITCH	0
MAX_BUOY	200	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SEABIRD_T_G	0.0043805656
COURSE_BIAS	0	PITCH_MIN	25	AH0_24V	150	SEABIRD_T_H	0.00064742006
GLIDE_SLOPE	30	PITCH_MAX	4070	AH0_10V	100	SEABIRD_T_I	2.5554549e-05
SPEED_FACTOR	1	C_PITCH	2780	PRESSURE_YINT	-10.508845	SEABIRD_T_J	2.6681391e-06
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162386	SEABIRD_C_G	-10.331019
MASS	51503	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_C_H	1.1763502
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012340198
FERRY_MAX	45	PITCH_GAIN	18	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017379176
KALMAN_USE	1	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25
HD_A	0.0038360001	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	130001,4806.454,-12222.547,29,1.6,40,18.3	TGT_NAME	SEVEN
_CALLS	2	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.199,0.305
_SM_DEPTHo	2.35	KALMAN_X	-23359.2,-91.4,180.6,23624.9,30.0
_SM_ANGLEo	-68.5	KALMAN_Y	3558.2,-84.3,-167.6,-3152.7,-25.6
GPS2	130945,4806.491,-12222.540,12,1.1,12,18.3	MHEAD_RNG_PITCHd_Wd	308.6,1101,-27.2,-20.000
SPEED_LIMITS	0.346,0.364	D_GRID	105

FINISH	2.8,1.020467	XPDR_PINGS	2
SM_CCo	1700,109.05,0.646,0,0,256,550.21	ALTIM_BOTTOM_PING	80.7,44.1
SM_GC	2.43,0.00,0.00,109.05,0.000,0.000,0.646,15,2357,256,-8.64,0.23,550.21	_24V_AH	24.0,104.039
IRIDIUM_FIX	4748.51,-12220.12,171007,171730	_10V_AH	10.7,48.116
TT8_MAMPS	0.026078	DATA_FILE_SIZE	9684,215
HUMID	1871	CFSIZE	260165632,228724736
INTERNAL_PRESSURE	9.11168	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.80	GPS	171007,134151,4806.664,-12222.777,10,1.8,10,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	210	117.06	SBE_CT	156	24	90.27
Roll_motor	14	46	15.79	SBE_O2	152	19	69.74
VBD_pump_during_apogee	428	733	7542.52	WL_BB2F	363	105	914.96
VBD_pump_during_surface	109	645	1690.22	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	103	135.03	nil	0	0	0.00
Iridium_during_connect	81	160	311.97	nil	0	0	0.00
Iridium_during_xfer	234	223	1252.41
Transponder_ping	0	420	7.56
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	50	9.86
TT8	303	19	64.28
LPSleep	557	2	13.07
TT8_Active	508	19	107.69
TT8_Sampling	453	39	193.05
TT8_CF8	587	45	287.89
TT8_Kalman	33	81	29.17
Analog_circuits	811	12	104.17
GPS_charging	0	0	0.00
Compass	462	8	39.60
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
30	end surface: CONTROL_FINISHED_OK
state	30	begin dive
36	-1.75	-195.5	0.0	0.0	0	81	0.00	0.00	-42.78	0.000	2	0.000	0.000	10	2366	1435
87	-1.75	-195.5	3.0	-2.2	8	149	9.18	2.30	-46.72	0.000	4	0.211	0.046	2212	948	3299
397	-1.75	-195.5	68.4	-22.9	55	401	0.00	2.28	0.00	0.000	6	0.000	0.035	2203	2351	3302
550	end dive: TARGET_DEPTH_EXCEEDED
state	550	begin apogee
562	-0.28	0.0	107.1	25.4	69	720	1.62	0.00	151.90	0.733	6	0.137	0.000	2680	2137	2500
720	end apogee: CONTROL_FINISHED_OK
state	720	begin climb
726	1.75	195.5	116.7	0.0	85	888	1.98	2.35	149.35	0.697	4	0.071	0.038	3347	774	1703
946	1.75	195.5	91.1	21.2	105	953	0.00	2.28	0.00	0.000	6	0.000	0.031	3347	2151	1702
1284	1.75	195.5	22.4	20.8	148	1291	0.00	2.25	0.00	0.000	4	0.000	0.037	3357	768	1701
1380	2.00	395.9	8.5	6.3	164	1514	0.15	2.25	127.35	0.664	2	0.052	0.031	3425	2156	1020
1519	end climb: SURFACE_DEPTH_REACHED
state	1519	begin surface coast
1671	end surface coast: CONTROL_FINISHED_OK
state	1671	begin surface