DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 140 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  1 HEADING  -1 ROLL_MIN  300 ALTIM_BOTTOM_TURN_MARGIN  0
MISSION  14 ESCAPE_HEADING  0 ROLL_MAX  3750 ALTIM_TOP_TURN_MARGIN  0
DIVE  140 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_TOP_MIN_OBSTACLE  1
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  2025 ALTIM_PING_DEPTH  0
D_FLARE  3 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  2025 ALTIM_PING_DELTA  0
D_TGT  990 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_FREQUENCY  13
D_ABORT  1090 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_PULSE  3
D_NO_BLEED  50 SM_CC  275 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  2
D_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  4 XPDR_VALID  0
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  3 XPDR_INHIBIT  90
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  400 INT_PRESSURE_SLOPE  0.0072730002
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 INT_PRESSURE_YINT  0
D_CALL  0 KERMIT  0 ROLL_ADJ_GAIN  0 DEEPGLIDER  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MIN  500 MOTHERBOARD  5
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_MAX  3500 DEVICE1  2
T_DIVE  470 CALL_TRIES  5 C_VBD  2500 DEVICE2  -1
T_MISSION  530 CALL_WAIT  60 VBD_DBAND  2 DEVICE3  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_CNV  -0.24529999 DEVICE4  -1
T_TURN  225 CAPMAXSIZE  100000 VBD_TIMEOUT  540 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  6 LOGGERS  1
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  -222275.03 UNCOM_BLEED  250 COMPASS_DEVICE  1
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  2 VBD_MAXERRORS  5 COMPASS2_DEVICE  -1
D_OFFGRID  900 STROBE  0 CF8_MAXERRORS  20 PHONE_DEVICE  32
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_24V  300 GPS_DEVICE  48
RELAUNCH  3 RAFOS_CORR_THRESH  60 AH0_10V  200 RAFOS_DEVICE  48
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_24V  19 XPDR_DEVICE  24
MAX_BUOY  150 PITCH_MIN  450 MINV_10V  8 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3300 FG_AHR_10V  81.218071 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2700 FG_AHR_24V  4.6384406 SEABIRD_T_G  0.0043498399
SPEED_FACTOR  1 PITCH_DBAND  0.1 PHONE_SUPPLY  2 SEABIRD_T_H  0.0006493734
RHO  1.023 PITCH_CNV  0.0046000001 PRESSURE_YINT  -0.036699742 SEABIRD_T_I  2.8112627e-05
MASS  52000 P_OVSHOOT  0.039999999 PRESSURE_SLOPE  9.9999997e-05 SEABIRD_T_J  3.1957888e-06
NAV_MODE  1 PITCH_GAIN  16 AD7714Ch0Gain  1 SEABIRD_C_G  -10.106751
FERRY_MAX  45 PITCH_TIMEOUT  15 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1366181
KALMAN_USE  1 PITCH_AD_RATE  175 TCM_ROLL_OFFSET  0 SEABIRD_C_I  0.00038917549
HD_A  0.0038000001 PITCH_MAXERRORS  1 COMPASS_USE  0 SEABIRD_C_J  7.9540005e-05
HD_B  0.0099999998 PITCH_ADJ_GAIN  0.045000002 ALTIM_BOTTOM_PING_RANGE  0
HD_C  2.7999999e-06 PITCH_ADJ_DBAND  1 ALTIM_TOP_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  124150,6645.275,-5928.829,17,1.1,17,18.0 TGT_NAME  HOLD
_CALLS  1 TGT_LATLONG  6400.000,-5448.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.197,-0.125
_SM_DEPTHo  0.05 KALMAN_X  -46569.6,-10.9,1127.3,-1124.3,-1755.0
_SM_ANGLEo  -50.0 KALMAN_Y  20921.6,-211.3,1478.7,-35957.2,-1734.2
GPS2  124837,6645.230,-5928.657,28,1.1,28,18.0 MHEAD_RNG_PITCHd_Wd  104.4,381520,-13.0,-7.021
SPEED_LIMITS  0.122,0.234 D_GRID  900

Post-dive calculations and measurements:
FINISH  0.1,1.012198 _24V_AH  23.9,288.380
SM_CCo  24349,0.00,0.000,0,0,831,408.67 _10V_AH  10.7,42.244
SM_GC  0.05,13.30,0.00,0.00,0.000,0.007,0.007,389,2182,831,-10.46,4.38,408.67 FG_AHR_24Vo  4.638
SUPER  3,206,254,0,0,0 FG_AHR_10Vo  81.443
RAFOS_CLK  0 MEM  330640
RAFOS  3,1256128445,12.583333,12.568055,80,0,0,0,0,0,707,0,0,0,0,0 DATA_FILE_SIZE  75614,2243
RAFOS_FIX  6649.572754,-6112.612793,211009,161636,5,80,5.85 CAP_FILE_SIZE  283581,0
IRIDIUM_FIX  0.00,0.00,010170,000000 CFSIZE  260165632,240865280
HUMID  1078235017 ERRORS  0,1,0,0,0,0,0,0,0,0,0,107,1293,7,0
INTERNAL_PRESSURE  16.1775 SOUNDSPEED  1460.1
TCM_TEMP  15.00 GPS  211009,193736,6646.810,-5922.267,30,1.1,30,18.0
XPDR_PINGS  -1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor61119175.20 SBE_CT135124775.16
Roll_motor25560366.32 nil000.00
VBD_pump_during_apogee583130018113.81 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init01030.00 nil000.00
Iridium_during_connect000.00 nil000.00
Iridium_during_xfer120223643.35
Transponder_ping000.00
GUMSTIX_24V000.00
GPS285015.12
TT8377619804.85
LPSleep164972407.76
TT8_Active128819274.63
TT8_Sampling2458391050.19
TT8_CF871845353.06
TT8_Kalman338129.24
Analog_circuits154912198.99
GPS_charging000.00
Compass233126648.53
RAFOS1800128.89
Transponder450.23

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
24 end surface: CONTROL_FINISHED_OK
state 24 begin dive
27 -0.99 -146.6 0.0 0.0 0 90 0.00 0.00 -57.92 0.000 6 0.007 0.007 470 2020 3107 0 0 0 0 0 0
93 -0.99 -146.6 3.0 -1.3 12 120 10.35 3.58 0.00 0.007 4 0.000 0.000 2545 515 3096 11 0 21 0 0 0
311 -0.71 -146.6 31.6 -13.3 44 326 0.00 3.05 0.00 0.007 6 0.007 0.000 2547 2268 3106 0 0 17 0 0 0
512 -0.71 -146.6 51.4 -8.4 63 528 0.00 3.33 0.00 0.007 4 0.007 0.000 2544 516 3105 0 0 19 0 0 0
780 -0.71 -146.6 74.3 -8.5 86 787 0.00 3.03 0.00 0.007 6 0.007 0.000 2541 2173 3079 0 0 17 0 0 0
1106 -0.71 -146.6 102.3 -8.3 117 1121 0.00 3.40 0.00 0.007 4 0.007 0.000 2543 421 3106 0 0 18 0 0 0
1373 -0.71 -146.6 124.3 -7.8 140 1380 0.00 3.42 0.00 0.007 6 0.007 0.000 2542 2205 3106 0 0 17 0 0 0
1699 -0.77 -146.6 147.5 -6.5 171 1705 0.00 2.67 0.00 0.007 4 0.007 0.000 2541 466 3106 0 0 10 0 0 0
1958 -0.88 -146.6 162.5 -5.7 193 1968 0.47 3.12 0.00 0.007 6 0.000 0.000 2434 2295 3107 1 0 17 0 0 0
2293 -0.96 -146.6 186.3 -6.9 225 2309 0.62 4.15 0.00 0.007 4 0.000 0.000 2596 230 3110 2 0 23 0 0 0
2561 -1.04 -146.6 206.1 -7.1 248 2573 1.02 3.28 0.00 0.007 6 0.000 0.000 2380 2219 3106 3 0 15 0 0 0
2897 -0.91 -146.6 228.9 -8.6 280 2913 1.17 3.50 0.00 0.007 4 0.000 0.000 2581 482 3103 3 0 19 0 0 0
3060 -0.82 -146.6 242.3 -8.4 294 3077 0.50 2.62 0.00 0.007 6 0.000 0.000 2467 2198 3107 1 0 12 0 0 0
3390 -0.82 -146.6 265.6 -6.9 325 3407 0.30 2.78 0.00 0.000 4 0.007 0.000 2564 313 3109 1 0 15 0 0 0
3659 -0.82 -146.6 284.7 -6.9 348 3670 0.43 3.45 0.00 0.007 6 0.000 0.000 2476 2309 3106 1 0 20 0 0 0
3994 -0.92 -146.6 308.6 -6.5 380 4010 0.00 3.22 0.00 0.000 4 0.007 0.000 2477 443 3112 0 0 14 0 0 0
4262 -1.03 -146.6 323.8 -5.7 403 4271 0.00 3.28 0.00 0.007 6 0.007 0.000 2477 2189 3106 0 0 17 0 0 0
4596 -0.99 -146.6 346.8 -6.7 435 4603 0.00 2.80 0.00 0.007 4 0.007 0.000 2479 427 3107 0 0 13 0 0 0
4855 -1.09 -146.6 360.7 -4.9 457 4862 0.00 3.00 0.00 0.007 6 0.007 0.000 2477 2126 3106 0 0 12 0 0 0
5181 -1.04 -146.6 382.6 -7.1 488 5183 0.00 0.00 0.00 0.007 6 0.007 0.007 2481 2121 3101 0 0 0 0 0 0
5500 -1.04 -146.6 405.5 -7.5 518 5515 0.00 3.50 0.00 0.000 4 0.007 0.000 2478 186 3108 0 0 19 0 0 0
5767 -1.04 -146.6 426.4 -8.0 541 5773 0.00 3.17 0.00 0.007 6 0.007 0.000 2478 2206 3105 0 0 15 0 0 0
6091 -1.04 -146.6 453.2 -8.0 572 6106 0.00 3.28 0.00 0.007 4 0.007 0.000 2482 420 3104 0 0 15 0 0 0
6358 -1.13 -146.6 471.6 -6.8 595 6365 0.32 2.65 0.00 0.007 6 0.000 0.000 2430 2140 3106 1 0 11 0 0 0
6683 -1.13 -146.6 492.3 -6.1 626 6698 0.30 4.32 0.00 0.000 4 0.007 0.000 2509 508 3106 1 0 25 0 0 0
6950 -1.13 -146.6 508.7 -6.1 649 6958 0.35 2.80 0.00 0.007 6 0.007 0.000 2425 2215 3106 1 0 13 0 0 0
7275 -1.13 -146.6 526.9 -5.5 680 7291 0.47 3.42 0.00 0.000 4 0.000 0.000 2523 504 3107 1 0 18 0 0 0
7543 -1.13 -146.6 541.3 -5.2 703 7550 0.38 2.92 0.00 0.007 6 0.007 0.000 2412 2297 3108 1 0 16 0 0 0
7868 -1.13 -146.6 557.9 -5.0 734 7884 0.43 3.53 0.00 0.007 4 0.000 0.000 2525 470 3104 1 0 22 0 0 0
8136 -1.13 -146.6 570.4 -4.8 757 8147 0.77 2.83 0.00 0.000 6 0.000 0.000 2314 2041 3107 2 0 13 0 0 0
8472 -1.13 -146.6 586.3 -4.9 789 8489 0.85 3.03 0.00 0.000 4 0.000 0.000 2504 415 3122 1 0 17 0 0 0
8741 -1.13 -146.6 600.0 -5.8 812 8751 0.43 3.22 0.00 0.007 6 0.007 0.000 2399 2207 3106 1 0 15 0 0 0
9076 -1.21 -146.6 617.1 -5.1 844 9091 0.47 3.78 0.00 0.000 4 0.000 0.000 2492 247 3108 1 0 21 0 0 0
9344 -1.28 -146.6 630.9 -5.0 867 9354 0.50 3.05 0.00 0.007 6 0.000 0.000 2374 2218 3110 1 0 13 0 0 0
9679 -1.38 -146.6 649.7 -5.2 899 9694 0.40 3.85 0.00 0.007 4 0.000 0.000 2463 505 3106 1 0 23 0 0 0
9946 -1.38 -146.6 665.1 -6.4 922 9957 0.50 3.20 0.00 0.007 6 0.000 0.000 2338 2133 3107 1 0 15 0 0 0
10282 -1.48 -146.6 682.6 -4.9 954 10297 0.30 2.78 0.00 0.000 4 0.007 0.000 2378 472 3107 1 0 15 0 0 0
10550 -1.59 -146.6 696.2 -5.1 977 10559 0.00 3.05 0.00 0.007 6 0.007 0.000 2380 2186 3109 0 0 13 0 0 0
10884 -1.68 -146.6 714.5 -4.9 1009 10900 0.30 3.55 0.00 0.007 4 0.000 0.000 2287 343 3108 1 0 17 0 0 0
11152 -1.77 -146.6 728.2 -5.0 1032 11164 0.30 3.38 0.00 0.007 6 0.000 0.000 2371 2358 3107 1 0 18 0 0 0
11489 -1.64 -146.6 749.8 -7.1 1064 11493 0.85 0.00 0.00 0.007 6 0.000 0.007 2250 2355 3112 3 0 0 0 0 0
11806 -1.64 -146.6 769.2 -5.6 1094 11821 0.70 4.28 0.00 0.007 4 0.000 0.000 2403 357 3108 1 0 23 0 0 0
12074 -1.64 -146.6 784.0 -5.3 1117 12084 0.60 3.15 0.00 0.007 6 0.000 0.000 2325 2152 3109 2 0 12 0 0 0
12408 -1.64 -146.6 802.6 -5.6 1149 12424 0.55 3.28 0.00 0.007 4 0.000 0.000 2448 269 3103 1 0 18 0 0 0
12676 -1.64 -146.6 818.5 -5.7 1172 12688 0.85 4.10 0.00 0.007 6 0.000 0.000 2296 2156 3106 3 0 23 0 0 0
13013 -1.64 -146.6 839.6 -6.6 1204 13029 0.30 3.20 0.00 0.007 4 0.007 0.000 2401 599 3105 1 0 15 0 0 0
13281 -1.77 -146.6 852.7 -4.8 1227 13292 0.52 2.97 0.00 0.007 6 0.000 0.000 2272 2308 3108 1 0 17 0 0 0
13617 -1.68 -146.6 870.3 -6.6 1259 13633 0.47 2.90 0.00 0.007 4 0.000 0.000 2407 343 3105 0 0 14 0 0 0
13885 -1.78 -146.6 887.0 -5.7 1282 13897 0.85 3.60 0.00 0.007 6 0.000 0.000 2248 2346 3101 2 0 18 0 0 0
14144 end dive: TARGET_DEPTH_EXCEEDED
state 14144 begin apogee
14152 -0.31 0.0 900.6 6.7 1307 14300 2.05 0.00 138.50 0.000 6 0.000 0.007 2690 1832 2529 1 0 0 0 0 0
14303 end apogee: CONTROL_FINISHED_OK
state 14304 begin climb
14306 0.99 146.6 905.3 0.0 1322 14493 1.40 3.72 152.32 0.000 4 0.000 0.000 2912 3588 1929 3 0 17 0 3 0
14745 0.74 146.6 863.6 9.0 1362 14755 0.30 2.65 2.35 0.000 6 0.000 0.000 2786 1923 1920 1 0 11 0 0 0
15079 0.74 146.6 838.7 8.0 1394 15091 0.62 3.58 2.80 0.000 4 0.000 0.000 2917 3783 1907 1 0 19 0 0 0
15343 0.89 174.7 820.9 6.1 1417 15386 0.30 3.67 29.95 0.000 6 0.000 0.000 2833 1906 1791 1 0 17 0 0 0
15711 1.13 216.4 796.5 5.7 1452 15768 0.82 3.40 42.33 0.000 4 0.000 0.000 2995 3591 1629 2 0 16 0 1 0
16020 1.38 241.4 775.0 6.2 1479 16050 0.00 3.28 22.40 0.000 6 0.007 0.000 2997 1898 1548 0 0 18 0 0 0
16370 1.20 241.4 747.1 11.3 1512 16385 0.52 0.00 4.12 0.000 6 0.000 0.007 2873 1895 1535 1 0 0 0 0 0
16699 1.27 241.4 709.8 8.4 1543 16715 0.77 3.03 0.68 0.000 4 0.000 0.000 3045 3588 1533 1 0 17 0 0 0
16967 1.27 241.4 688.3 8.7 1566 16981 0.50 4.28 3.62 0.000 6 0.000 0.000 2923 1921 1528 1 0 27 0 0 0
17297 1.27 241.4 663.0 8.9 1597 17313 0.57 3.08 1.15 0.000 4 0.000 0.000 3033 3430 1525 2 0 15 0 0 0
17565 1.14 241.4 635.8 10.8 1620 17576 0.62 2.45 0.85 0.000 6 0.000 0.000 2896 1900 1526 1 0 9 0 0 0
17900 1.19 241.4 610.8 7.1 1652 17916 0.57 3.33 0.70 0.000 4 0.000 0.000 3042 3500 1527 2 0 17 0 0 0
18169 1.28 256.7 591.7 6.5 1675 18200 0.47 2.65 17.67 0.000 6 0.000 0.000 2897 1730 1471 1 0 13 0 1 0
18519 1.29 259.7 567.0 6.9 1708 18535 0.47 2.97 8.10 0.000 4 0.000 0.000 3030 3609 1443 0 0 16 0 0 0
18787 1.29 259.7 548.7 7.4 1731 18795 0.32 3.50 0.00 0.007 6 0.000 0.000 2946 1741 1445 1 0 14 0 0 0
19119 1.35 259.7 525.7 7.1 1763 19135 0.30 3.12 0.00 0.007 4 0.007 0.000 3055 3566 1443 1 0 11 0 0 0
19387 1.19 259.7 503.6 10.4 1786 19394 0.55 2.78 0.00 0.000 6 0.000 0.000 2932 1767 1444 1 0 13 0 0 0
19712 1.13 259.7 468.5 9.3 1817 19727 0.00 3.58 0.00 0.007 4 0.007 0.000 2932 3697 1443 0 0 18 0 0 0
19979 1.13 259.7 446.2 8.1 1840 19989 0.00 4.22 0.00 0.007 6 0.007 0.000 2932 1834 1440 0 0 25 0 0 0
20314 1.30 290.4 423.2 6.0 1872 20361 0.30 4.40 28.40 0.000 4 0.000 0.000 3020 3427 1341 1 0 23 0 1 0
20616 1.92 290.4 401.4 7.3 1899 20634 0.75 2.67 0.80 0.000 6 0.000 0.000 3150 1872 1333 2 0 13 0 0 0
20948 1.54 290.4 362.2 16.0 1930 20964 0.73 3.20 0.00 0.007 4 0.000 0.000 2978 3603 1339 1 0 15 0 0 0
21216 1.63 297.2 327.0 6.8 1953 21238 0.77 2.90 5.85 0.000 6 0.000 0.000 3122 1852 1325 1 0 13 0 0 0
21552 1.68 297.2 303.6 7.3 1985 21567 0.57 3.05 0.00 0.007 4 0.000 0.000 3022 3636 1327 2 0 17 0 0 0
21820 1.73 297.2 283.5 8.4 2008 21832 0.80 2.83 0.93 0.000 6 0.000 0.000 3237 1818 1321 2 0 14 0 0 0
22157 1.98 318.1 259.4 6.4 2040 22193 1.05 3.38 18.62 0.000 4 0.000 0.000 3061 3437 1254 2 0 17 0 0 0
22446 1.57 318.1 215.0 20.0 2065 22456 0.00 2.70 2.25 0.000 6 0.007 0.000 3059 1895 1251 0 0 12 0 0 0
22781 2.26 318.1 173.3 8.8 2097 22796 0.70 0.00 3.70 0.000 6 0.000 0.007 3228 1886 1244 1 0 0 0 0 0
23110 1.66 318.1 120.6 22.2 2128 23124 1.00 2.85 1.60 0.000 4 0.000 0.000 2979 3557 1242 2 0 12 0 0 0
23187 1.08 318.1 103.8 20.3 2134 23199 0.30 2.67 4.38 0.000 6 0.000 0.000 2903 1808 1229 1 0 11 0 0 0
23517 1.26 353.0 67.3 5.9 2165 23559 0.80 2.90 28.62 0.000 4 0.000 0.000 3010 3573 1108 2 0 15 0 1 0
23815 1.53 414.2 45.1 5.1 2192 23871 0.50 2.90 40.90 0.000 6 0.016 0.000 3140 1907 909 1 0 15 0 0 0
24058 2.18 434.8 30.2 6.4 2215 24083 0.38 3.65 14.68 0.000 4 0.000 0.000 3250 3640 846 1 0 18 0 0 0
24117 1.95 434.8 24.9 8.9 2220 24140 0.80 3.95 4.72 0.000 6 0.000 0.000 3070 1826 831 2 0 25 0 0 0
24243 end climb: SURFACE_DEPTH_REACHED
state 24244 begin surface coast
24262 end surface coast: CONTROL_FINISHED_OK
state 24262 begin surface