Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 1081 * 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 1081 ESCAPE_HEADING 0 ROLL_MIN 145 ALTIM_PING_DEPTH 80

D_SURF 3 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 500 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 63 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 -95598.844 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 45 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 500

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 3 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 45 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 -95598.844

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 63 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 1081 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 190537,4807.827,-12222.956,26,1.2,31,18.3 TGT_NAME KAYAKPT

_CALLS 1 TGT_LATLONG 4808.000,-12223.000

_XMS_NAKs 6 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.041,0.196

_SM_DEPTHo 2.34 KALMAN_X -24071.5,-163.2,-172.8,24176.9,-6.1

_SM_ANGLEo -67.2 KALMAN_Y 4030.3,-32.8,105.8,-1331.2,78.7

GPS2 191256,4807.907,-12223.012,10,1.4,15,18.3 MHEAD_RNG_PITCHd_Wd 353.6,173,-44.0,-20.000

SPEED_LIMITS 0.200,0.364 D_GRID 103

Post-dive calculations and measurements:

FINISH 1.5,1.021333 XPDR_PINGS 0

SM_CCo 1488,61.20,0.652,0,0,460,500.17 ALTIM_BOTTOM_PING 79.4,45.0

SM_GC 2.63,0.00,0.00,61.20,0.000,0.000,0.652,16,2355,460,-8.64,0.14,500.17 _24V_AH 23.9,105.040

IRIDIUM_FIX 4751.72,-12226.29,171007,222229 _10V_AH 10.7,48.421

TT8_MAMPS 0.026845 DATA_FILE_SIZE 9743,195

HUMID 1848 CFSIZE 260165632,228507648

INTERNAL_PRESSURE 9.13121 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.20 GPS 171007,194059,4808.047,-12222.982,10,2.4,29,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 209 123.23 SBE_CT 141 24 80.94

Roll_motor 14 55 19.24 SBE_O2 135 19 61.53

VBD_pump_during_apogee 441 733 7741.11 WL_BB2F 329 105 826.62

VBD_pump_during_surface 61 651 953.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 71.38 nil 0 0 0.00

Iridium_during_connect 33 160 129.25 nil 0 0 0.00

Iridium_during_xfer 185 223 990.34

Transponder_ping 0 420 2.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 9.30

TT8 270 19 57.23

LPSleep 329 2 7.72

TT8_Active 467 19 99.12

TT8_Sampling 439 39 187.14

TT8_CF8 494 45 242.53

TT8_Kalman 33 81 29.17

Analog_circuits 771 12 99.02

GPS_charging 0 0 0.00

Compass 444 8 38.09

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

35 end surface: CONTROL_FINISHED_OK

state 35 begin dive

41 -2.53 -74.6 0.0 0.0 0 91 0.00 0.00 -47.95 0.000 2 0.000 0.000 9 2362 1552

97 -2.65 -170.2 3.1 -2.9 9 154 8.00 2.30 -41.90 0.000 4 0.209 0.056 1910 3754 3197

403 end dive: TARGET_DEPTH_EXCEEDED

state 403 begin apogee

417 -0.28 0.0 103.5 39.7 51 556 2.83 0.00 132.73 0.733 6 0.167 0.000 2687 2129 2500

557 end apogee: CONTROL_FINISHED_OK

state 557 begin climb

563 2.65 170.2 116.1 0.0 65 704 2.78 2.28 130.80 0.703 4 0.064 0.036 3654 764 1804

953 2.65 170.2 25.2 30.4 107 959 0.00 2.22 0.00 0.000 6 0.000 0.031 3655 2150 1803

1167 2.79 280.4 10.2 0.3 144 1260 0.00 2.40 83.90 0.680 4 0.000 0.041 3654 3549 1355

1310 2.94 403.2 5.1 -2.0 169 1416 0.17 2.25 94.30 0.654 6 0.068 0.027 3728 2150 855

1420 end climb: SURFACE_DEPTH_REACHED

state 1420 begin surface coast

1458 end surface coast: CONTROL_FINISHED_OK

state 1458 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	1081	ESCAPE_HEADING	0	ROLL_MIN	145	ALTIM_PING_DEPTH	80
D_SURF	3	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	500	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	63	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	-95598.844	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	45	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	190537,4807.827,-12222.956,26,1.2,31,18.3	TGT_NAME	KAYAKPT
_CALLS	1	TGT_LATLONG	4808.000,-12223.000
_XMS_NAKs	6	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.041,0.196
_SM_DEPTHo	2.34	KALMAN_X	-24071.5,-163.2,-172.8,24176.9,-6.1
_SM_ANGLEo	-67.2	KALMAN_Y	4030.3,-32.8,105.8,-1331.2,78.7
GPS2	191256,4807.907,-12223.012,10,1.4,15,18.3	MHEAD_RNG_PITCHd_Wd	353.6,173,-44.0,-20.000
SPEED_LIMITS	0.200,0.364	D_GRID	103

FINISH	1.5,1.021333	XPDR_PINGS	0
SM_CCo	1488,61.20,0.652,0,0,460,500.17	ALTIM_BOTTOM_PING	79.4,45.0
SM_GC	2.63,0.00,0.00,61.20,0.000,0.000,0.652,16,2355,460,-8.64,0.14,500.17	_24V_AH	23.9,105.040
IRIDIUM_FIX	4751.72,-12226.29,171007,222229	_10V_AH	10.7,48.421
TT8_MAMPS	0.026845	DATA_FILE_SIZE	9743,195
HUMID	1848	CFSIZE	260165632,228507648
INTERNAL_PRESSURE	9.13121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.20	GPS	171007,194059,4808.047,-12222.982,10,2.4,29,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	209	123.23	SBE_CT	141	24	80.94
Roll_motor	14	55	19.24	SBE_O2	135	19	61.53
VBD_pump_during_apogee	441	733	7741.11	WL_BB2F	329	105	826.62
VBD_pump_during_surface	61	651	953.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	71.38	nil	0	0	0.00
Iridium_during_connect	33	160	129.25	nil	0	0	0.00
Iridium_during_xfer	185	223	990.34
Transponder_ping	0	420	2.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	9.30
TT8	270	19	57.23
LPSleep	329	2	7.72
TT8_Active	467	19	99.12
TT8_Sampling	439	39	187.14
TT8_CF8	494	45	242.53
TT8_Kalman	33	81	29.17
Analog_circuits	771	12	99.02
GPS_charging	0	0	0.00
Compass	444	8	38.09
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
35	end surface: CONTROL_FINISHED_OK
state	35	begin dive
41	-2.53	-74.6	0.0	0.0	0	91	0.00	0.00	-47.95	0.000	2	0.000	0.000	9	2362	1552
97	-2.65	-170.2	3.1	-2.9	9	154	8.00	2.30	-41.90	0.000	4	0.209	0.056	1910	3754	3197
403	end dive: TARGET_DEPTH_EXCEEDED
state	403	begin apogee
417	-0.28	0.0	103.5	39.7	51	556	2.83	0.00	132.73	0.733	6	0.167	0.000	2687	2129	2500
557	end apogee: CONTROL_FINISHED_OK
state	557	begin climb
563	2.65	170.2	116.1	0.0	65	704	2.78	2.28	130.80	0.703	4	0.064	0.036	3654	764	1804
953	2.65	170.2	25.2	30.4	107	959	0.00	2.22	0.00	0.000	6	0.000	0.031	3655	2150	1803
1167	2.79	280.4	10.2	0.3	144	1260	0.00	2.40	83.90	0.680	4	0.000	0.041	3654	3549	1355
1310	2.94	403.2	5.1	-2.0	169	1416	0.17	2.25	94.30	0.654	6	0.068	0.027	3728	2150	855
1420	end climb: SURFACE_DEPTH_REACHED
state	1420	begin surface coast
1458	end surface coast: CONTROL_FINISHED_OK
state	1458	begin surface