DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 109 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  143 HEADING  -1 ROLL_MIN  290 ALTIM_BOTTOM_TURN_MARGIN  8
MISSION  10 ESCAPE_HEADING  0 ROLL_MAX  3915 ALTIM_TOP_TURN_MARGIN  0
DIVE  109 ESCAPE_HEADING_DELTA  10 ROLL_DEG  45 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  2 FIX_MISSING_TIMEOUT  0.5 C_ROLL_DIVE  2460 ALTIM_PING_DEPTH  0
D_FLARE  3 TGT_DEFAULT_LAT  -2030 C_ROLL_CLIMB  1950 ALTIM_PING_DELTA  50
D_TGT  990 TGT_DEFAULT_LON  5900 HEAD_ERRBAND  10 ALTIM_FREQUENCY  13
D_ABORT  1070 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_PULSE  4
D_NO_BLEED  50 SM_CC  578.41736 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  2
D_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  18 XPDR_VALID  0
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  18 XPDR_INHIBIT  90
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  0 INT_PRESSURE_YINT  0
D_CALL  0 KERMIT  0 ROLL_ADJ_GAIN  1.75 DEEPGLIDER  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0.025 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MIN  442 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_MAX  3793 DEVICE1  2
T_DIVE  360 CALL_TRIES  5 C_VBD  2800 DEVICE2  20
T_MISSION  420 CALL_WAIT  60 VBD_DBAND  2 DEVICE3  -1
T_ABORT  720 CAPUPLOAD  0 VBD_CNV  -0.24529999 DEVICE4  -1
T_TURN  225 CAPMAXSIZE  100000 VBD_TIMEOUT  720 DEVICE5  -1
T_TURN_SAMPINT  5 HEAPDBG  0 PITCH_VBD_SHIFT  0.0012300001 DEVICE6  -1
T_NO_W  120 T_GPS  15 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERS  0
T_LOITER  0 N_GPS  20 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE1  -1
USE_BATHY  -2 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  0 T_GPS_CHARGE  -27452.334 UNCOM_BLEED  20 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
D_OFFGRID  100 STROBE  0 CF8_MAXERRORS  20 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_24V  150 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 AH0_10V  100 RAFOS_DEVICE  16
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_24V  19 XPDR_DEVICE  24
MAX_BUOY  150 PITCH_MIN  127 MINV_10V  8 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  4070 FG_AHR_10V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2390 FG_AHR_24V  0 SEABIRD_T_G  0.0043131942
SPEED_FACTOR  1 PITCH_DBAND  0.1 PHONE_SUPPLY  2 SEABIRD_T_H  0.00062854384
RHO  1.0275 PITCH_CNV  0.0031256729 PRESSURE_YINT  -24.446302 SEABIRD_T_I  2.3348166e-05
MASS  51204 P_OVSHOOT  0.039999999 PRESSURE_SLOPE  0.0001163694 SEABIRD_T_J  2.4454023e-06
NAV_MODE  2 PITCH_GAIN  31 AD7714Ch0Gain  128 SEABIRD_C_G  -10.029707
FERRY_MAX  45 PITCH_TIMEOUT  15 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1484355
KALMAN_USE  2 PITCH_AD_RATE  150 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0010294267
HD_A  0.0038360001 PITCH_MAXERRORS  1 COMPASS_USE  1 SEABIRD_C_J  0.00016845814
HD_B  0.010078 PITCH_ADJ_GAIN  0 ALTIM_BOTTOM_PING_RANGE  0
HD_C  9.8541004e-06 PITCH_ADJ_DBAND  1 ALTIM_TOP_PING_RANGE  20

Pre-dive calculations and measurements:
GPS1  095336,6646.276,-5941.498,37,1.7,48,-38.0 TGT_NAME  TARGET_ADD1_EB
_CALLS  5 TGT_LATLONG  6647.000,-5956.000
_XMS_NAKs  0 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.25 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -66.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  095336,6646.276,-5941.498,901,99.0,901,-38.0 MHEAD_RNG_PITCHd_Wd  320.5,10672,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  854

Post-dive calculations and measurements:
FINISH  0.3,1.026143 _24V_AH  22.6,29.414
SM_CCo  17990,266.38,0.772,0,0,441,578.42 _10V_AH  10.1,15.419
SM_GC  1.08,0.00,0.00,266.38,0.000,0.000,0.772,126,2465,441,-7.08,0.14,578.42 FG_AHR_24Vo  0.000
RAFOS_CLK  1325 FG_AHR_10Vo  0.000
RAFOS  0,1257768065,12.033333,12.018056,58,58,58,0,0,0,152,174,184,0,0,0 MEM  187980
RAFOS_FIX  6649.929688,-5938.609863,091109,080824,2,75,0.75 DATA_FILE_SIZE  56733,1453
IRIDIUM_FIX  6620.33,-5938.72,030299,101013 CAP_FILE_SIZE  184923,0
TT8_MAMPS  0.026845 CFSIZE  260165632,241385472
HUMID  46.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  8.72104 SOUNDSPEED  1454.7
TCM_TEMP  16.20 CURRENT  0.154,169.9,1
XPDR_PINGS  7 GPS  091109,153606,6645.302,-5945.961,39,1.8,39,-38.0
ALTIM_TOP_PING  19.6,18.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19319142.04 SBE_CT107324582.47
Roll_motor151117401.00 SBE_O2101719436.94
VBD_pump_during_apogee334132510005.22 nil000.00
VBD_pump_during_surface2667724649.72 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init157103365.81 nil000.00
Iridium_during_connect200160723.54 nil000.00
Iridium_during_xfer4982232513.46
Transponder_ping242018.98
GUMSTIX_24V000.00
GPS90450456.59
TT8264719532.57
LPSleep125472292.74
TT8_Active76619154.14
TT8_Sampling3304391332.24
TT8_CF8116845542.00
TT8_Kalman000.00
Analog_circuits202712245.79
GPS_charging000.00
Compass23848192.67
RAFOS2520138.18
Transponder2300.79

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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
15 -0.73 -146.0 0.0 0.0 0 111 0.00 0.00 -93.12 0.000 2 0.000 0.000 130 2447 2858 0 0 0 0 0 0
114 -0.73 -146.0 3.0 -4.7 18 152 10.02 2.62 -17.38 0.000 4 0.320 0.117 2148 3917 3398 0 0 0 0 0 0
405 -0.73 -146.0 51.1 -14.9 70 410 0.00 2.42 0.00 0.000 6 0.000 0.077 2149 2456 3401 0 0 0 0 0 0
751 -0.73 -146.0 106.3 -14.8 128 755 0.00 2.53 0.00 0.000 4 0.000 0.104 2149 3917 3401 0 0 0 0 0 0
919 -0.73 -146.0 129.2 -13.1 142 924 0.00 2.42 0.00 0.000 6 0.000 0.077 2149 2449 3401 0 0 0 0 0 0
1243 -0.73 -146.0 170.4 -11.5 173 1248 0.00 2.53 0.00 0.000 4 0.000 0.104 2149 3909 3401 0 0 0 0 0 0
1339 -0.73 -146.0 181.4 -10.9 181 1343 0.00 2.38 0.00 0.000 6 0.000 0.077 2149 2471 3401 0 0 0 0 0 0
1663 -0.73 -146.0 214.5 -9.2 211 1668 0.00 2.65 0.00 0.000 4 0.000 0.097 2149 871 3401 0 0 0 0 0 0
1704 -0.73 -146.0 218.4 -9.5 214 1708 0.00 2.65 0.00 0.000 6 0.000 0.087 2149 2471 3401 0 0 0 0 0 0
2028 -0.73 -146.0 250.3 -11.2 244 2029 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2471 3401 0 0 0 0 0 0
2347 -0.73 -146.0 283.9 -9.9 274 2348 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2471 3401 0 0 0 0 0 0
2666 -0.73 -146.0 316.2 -9.9 304 2667 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2471 3401 0 0 0 0 0 0
2985 -0.73 -146.0 346.9 -9.4 334 2989 0.00 2.45 0.00 0.000 4 0.000 0.104 2149 3915 3401 0 0 0 0 0 0
3035 -0.73 -146.0 351.9 -9.6 338 3039 0.00 2.40 0.00 0.000 6 0.000 0.077 2149 2454 3400 0 0 0 0 0 0
3359 -0.73 -146.0 380.2 -7.8 368 3364 0.00 2.60 0.00 0.000 4 0.000 0.095 2149 871 3401 0 0 0 0 0 0
3381 -0.73 -146.0 382.2 -9.0 369 3386 0.00 2.62 0.00 0.000 6 0.000 0.086 2149 2465 3401 0 0 0 0 0 0
3705 -0.73 -146.0 406.6 -7.2 400 3710 0.00 2.65 0.00 0.000 4 0.000 0.095 2150 864 3401 0 0 0 0 0 0
3733 -0.73 -146.0 408.6 -7.1 402 3737 0.00 2.62 0.00 0.000 6 0.000 0.086 2149 2464 3401 0 0 0 0 0 0
4057 -0.73 -146.0 430.8 -7.1 432 4058 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2464 3401 0 0 0 0 0 0
4377 -0.73 -146.0 454.6 -7.6 462 4378 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2464 3402 0 0 0 0 0 0
4695 -0.73 -146.0 478.8 -7.9 492 4696 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2464 3402 0 0 0 0 0 0
5014 -0.73 -146.0 503.6 -7.9 522 5019 0.00 2.62 0.00 0.000 4 0.000 0.092 2149 872 3403 0 0 0 0 0 0
5046 -0.73 -146.0 506.4 -8.3 524 5053 0.00 2.60 0.00 0.000 6 0.000 0.082 2149 2467 3403 0 0 0 0 0 0
5371 -0.73 -146.0 529.8 -7.3 555 5372 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2468 3404 0 0 0 0 0 0
5691 -0.73 -146.0 553.6 -7.7 585 5696 0.00 2.62 0.00 0.000 4 0.000 0.091 2149 871 3404 0 0 0 0 0 0
5723 -0.73 -146.0 556.4 -8.1 587 5729 0.00 2.60 0.00 0.000 6 0.000 0.082 2149 2466 3404 0 0 0 0 0 0
6048 -0.73 -146.0 581.5 -7.8 618 6052 0.00 2.62 0.00 0.000 4 0.000 0.091 2149 867 3404 0 0 0 0 0 0
6080 -0.73 -146.0 584.4 -8.9 620 6087 0.00 2.58 0.00 0.000 6 0.000 0.081 2149 2452 3405 0 0 0 0 0 0
6401 -0.73 -146.0 610.1 -8.1 643 6402 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2452 3405 0 0 0 0 0 0
6707 -0.73 -146.0 634.0 -7.8 653 6711 0.00 2.60 0.00 0.000 4 0.000 0.091 2149 866 3405 0 0 0 0 0 0
6745 -0.73 -146.0 637.1 -8.0 654 6749 0.00 2.55 0.00 0.000 6 0.000 0.081 2149 2442 3405 0 0 0 0 0 0
7068 -0.73 -146.0 659.2 -6.4 665 7070 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2442 3406 0 0 0 0 0 0
7375 -0.73 -146.0 678.8 -6.5 675 7376 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2443 3406 0 0 0 0 0 0
7680 -0.73 -146.0 698.6 -6.5 685 7681 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2443 3406 0 0 0 0 0 0
7986 -0.73 -146.0 718.7 -6.7 695 7990 0.00 2.45 0.00 0.000 4 0.000 0.097 2149 3909 3407 0 0 0 0 0 0
8018 -0.73 -146.0 721.0 -7.3 696 8022 0.00 2.38 0.00 0.000 6 0.000 0.070 2149 2438 3407 0 0 0 0 0 0
8353 -0.73 -146.0 744.7 -7.2 707 8354 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2438 3407 0 0 0 0 0 0
8660 -0.73 -146.0 766.9 -7.2 717 8662 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2438 3407 0 0 0 0 0 0
8966 -0.73 -146.0 789.2 -7.2 727 8967 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2438 3407 0 0 0 0 0 0
9272 -0.73 -146.0 811.0 -7.5 737 9274 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2438 3407 0 0 0 0 0 0
9578 -0.73 -146.0 834.1 -8.1 747 9579 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2438 3407 0 0 0 0 0 0
9886 -0.73 -146.0 852.3 -3.1 757 9890 0.00 2.55 0.00 0.000 4 0.000 0.090 2149 867 3407 0 0 0 0 0 0
10018 end dive: NO_VERTICAL_VELOCITY
state 10018 begin apogee
10025 -0.16 0.0 852.3 0.0 761 10152 0.57 0.00 123.95 1.325 6 0.153 0.000 2329 1960 2800 0 0 0 0 0 0
10153 end apogee: CONTROL_FINISHED_OK
state 10153 begin climb
10155 0.73 146.0 852.2 0.0 765 10293 0.98 2.97 128.90 1.266 4 0.138 0.086 2613 3532 2204 0 0 0 0 0 0
10411 0.73 146.0 827.2 13.1 773 10416 0.00 2.80 0.00 0.000 6 0.000 0.074 2625 1947 2198 0 0 0 0 0 0
10739 0.73 146.0 787.9 12.3 784 10740 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 1947 2194 0 0 0 0 0 0
11045 0.73 146.0 750.5 12.3 794 11050 0.00 2.72 0.00 0.000 4 0.000 0.089 2625 3542 2193 0 0 0 0 0 0
11077 0.73 146.0 746.0 13.4 795 11081 0.00 2.67 0.00 0.000 6 0.000 0.077 2636 1945 2191 0 0 0 0 0 0
11412 0.73 146.0 702.5 12.9 806 11416 0.00 2.65 0.00 0.000 4 0.000 0.097 2649 360 2191 0 0 0 0 0 0
11432 0.73 146.0 699.5 14.3 806 11439 0.00 2.60 0.00 0.000 6 0.000 0.074 2649 1959 2191 0 0 0 0 0 0
11746 0.73 146.0 657.8 12.8 817 11750 0.00 2.65 0.00 0.000 4 0.000 0.090 2649 3547 2191 0 0 0 0 0 0
11777 0.73 146.0 653.0 14.2 818 11783 0.15 2.62 0.00 0.000 6 0.215 0.077 2629 1957 2190 0 0 0 0 0 0
12113 0.73 146.0 612.8 11.9 829 12117 0.00 2.65 0.00 0.000 4 0.000 0.096 2638 363 2190 0 0 0 0 0 0
12150 0.73 146.0 607.9 13.6 830 12155 0.00 2.58 0.00 0.000 6 0.000 0.074 2638 1961 2190 0 0 0 0 0 0
12478 0.73 146.0 566.6 12.6 856 12479 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 1962 2190 0 0 0 0 0 0
12798 0.73 146.0 526.5 12.4 886 12799 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 1962 2190 0 0 0 0 0 0
13116 0.73 146.0 487.7 11.6 916 13121 0.00 2.60 0.00 0.000 4 0.000 0.090 2638 3540 2190 0 0 0 0 0 0
13138 0.73 146.0 484.9 12.1 917 13144 0.00 2.60 0.00 0.000 6 0.000 0.077 2650 1951 2190 0 0 0 0 0 0
13462 0.73 146.0 445.2 12.6 948 13467 0.00 2.62 0.00 0.000 4 0.000 0.096 2662 353 2190 0 0 0 0 0 0
13540 0.73 146.0 434.7 13.2 954 13547 0.15 2.55 0.00 0.000 6 0.211 0.074 2629 1952 2190 0 0 0 0 0 0
13865 0.73 146.0 397.4 11.0 985 13869 0.00 2.62 0.00 0.000 4 0.000 0.090 2628 3545 2190 0 0 0 0 0 0
13916 0.73 146.0 391.2 12.9 989 13920 0.00 2.60 0.00 0.000 6 0.000 0.077 2638 1952 2190 0 0 0 0 0 0
14240 0.73 146.0 354.3 11.2 1019 14244 0.00 2.60 0.00 0.000 4 0.000 0.096 2650 363 2190 0 0 0 0 0 0
14272 0.73 146.0 350.6 11.0 1021 14278 0.00 2.55 0.00 0.000 6 0.000 0.074 2650 1963 2190 0 0 0 0 0 0
14596 0.73 146.0 316.9 9.7 1052 14601 0.00 2.60 0.00 0.000 4 0.000 0.090 2650 3544 2190 0 0 0 0 0 0
14658 0.73 146.0 310.5 10.6 1057 14663 0.15 2.55 0.00 0.000 6 0.207 0.077 2628 1979 2190 0 0 0 0 0 0
14982 0.74 155.4 282.4 8.8 1087 14996 0.00 2.72 6.85 0.846 4 0.000 0.097 2638 363 2166 0 0 0 0 0 0
15081 0.74 155.4 272.8 9.8 1096 15086 0.00 2.58 0.00 0.000 6 0.000 0.074 2638 1970 2165 0 0 0 0 0 0
15406 0.74 155.7 242.5 9.2 1126 15410 0.00 2.60 0.00 0.000 4 0.000 0.091 2638 3545 2165 0 0 0 0 0 0
15494 0.74 155.7 233.3 10.7 1133 15500 0.00 2.55 0.00 0.000 6 0.000 0.078 2649 1986 2165 0 0 0 0 0 0
15818 0.74 155.7 201.6 9.3 1164 15820 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 1986 2164 0 0 0 0 0 0
16139 0.76 172.5 173.0 8.5 1194 16157 0.00 0.00 15.75 0.895 6 0.000 0.000 2650 1986 2094 0 0 0 0 0 0
16476 0.79 201.0 144.2 8.0 1226 16508 0.00 2.67 24.30 0.893 4 0.000 0.095 2650 3535 1978 0 0 0 0 0 0
16581 0.79 201.0 133.8 10.8 1235 16587 0.00 2.60 0.00 0.000 6 0.000 0.081 2661 1992 1975 0 0 0 0 0 0
16905 0.79 201.0 102.0 9.5 1266 16909 0.00 2.75 0.00 0.000 4 0.000 0.101 2673 356 1973 0 0 0 0 0 0
16926 0.82 219.3 99.9 8.4 1267 16948 0.00 2.67 15.62 0.860 6 0.000 0.077 2673 1995 1905 0 0 0 0 0 0
17286 0.82 219.7 63.2 9.1 1331 17291 0.00 2.78 0.00 0.000 4 0.000 0.101 2685 363 1900 0 0 0 0 0 0
17308 0.83 228.4 61.0 8.8 1335 17325 0.00 2.65 8.25 0.802 6 0.000 0.079 2685 1980 1868 0 0 0 0 0 0
17663 0.84 238.8 28.2 8.7 1398 17680 0.00 2.78 10.40 0.813 4 0.000 0.104 2697 363 1825 0 0 0 0 0 0
17737 0.84 238.8 20.9 10.0 1411 17743 0.15 2.62 0.00 0.000 6 0.202 0.079 2664 1957 1824 0 0 0 0 0 0
17951 end climb: SURFACE_DEPTH_REACHED
state 17951 begin surface coast
17974 end surface coast: CONTROL_FINISHED_OK
state 17974 begin surface