DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 141 * 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  141 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  -222301.03 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  81.45253 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  193736,6646.810,-5922.267,30,1.1,30,18.0 TGT_NAME  HOLD
_CALLS  1 TGT_LATLONG  6400.000,-5448.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.065,-0.224
_SM_DEPTHo  0.05 KALMAN_X  -44267.8,-774.5,-930.2,3986.8,5200.5
_SM_ANGLEo  -50.0 KALMAN_Y  26219.2,315.9,1472.8,-38835.1,290.1
GPS2  194246,6646.808,-5922.371,24,1.1,24,18.0 MHEAD_RNG_PITCHd_Wd  178.2,380861,-13.0,-7.021
SPEED_LIMITS  0.122,0.234 D_GRID  900

Post-dive calculations and measurements:
FINISH  1.6,1.024774 _24V_AH  23.9,289.323
SM_CCo  25561,0.00,0.000,0,0,586,469.01 _10V_AH  10.7,42.360
SM_GC  0.01,13.10,0.00,0.00,0.000,0.007,0.007,357,2124,586,-10.44,2.71,469.01 FG_AHR_24Vo  4.638
SUPER  3,206,254,0,0,0 FG_AHR_10Vo  81.691
RAFOS_CLK  0 MEM  330692
RAFOS  0,1256155442,20.083334,20.067223,80,0,0,0,0,0,639,0,0,0,0,0 DATA_FILE_SIZE  78623,2365
RAFOS_FIX  6704.449707,-6102.957031,221009,000036,5,80,4.69 CAP_FILE_SIZE  297854,0
IRIDIUM_FIX  0.00,0.00,010170,000000 CFSIZE  260165632,240726016
HUMID  1078218220 ERRORS  0,0,0,0,0,0,0,0,0,0,0,112,1455,4,0
INTERNAL_PRESSURE  16.2294 SOUNDSPEED  1460.4
TCM_TEMP  15.00 GPS  221009,025159,6648.036,-5918.727,10,1.1,10,18.0
XPDR_PINGS  -1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor68119193.97 SBE_CT142624818.35
Roll_motor28060402.81 nil000.00
VBD_pump_during_apogee625130019437.39 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_xfer94223505.37
Transponder_ping000.00
GUMSTIX_24V000.00
GPS255013.38
TT8401419855.61
LPSleep171612424.19
TT8_Active140419299.44
TT8_Sampling2639391127.48
TT8_CF868045334.16
TT8_Kalman338129.24
Analog_circuits170312218.72
GPS_charging000.00
Compass251726700.46
RAFOS3600157.78
Transponder350.18

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
22 end surface: CONTROL_FINISHED_OK
state 23 begin dive
25 -0.99 -146.6 0.0 0.0 0 86 0.00 0.00 -58.05 0.000 2 0.007 0.000 386 2179 2595 0 0 0 0 0 0
90 -0.99 -146.6 3.0 -1.7 12 130 10.23 2.92 -16.42 0.000 4 0.000 0.000 2515 3644 3094 10 0 15 0 0 0
137 -0.02 -146.6 3.8 -1.7 20 152 1.45 3.38 0.00 0.007 6 0.000 0.000 2791 1834 3094 3 0 17 0 0 0
221 0.32 -146.6 17.1 -16.4 34 237 0.52 2.90 0.00 0.007 4 0.000 0.000 2678 441 3094 1 0 17 0 0 0
489 0.32 -146.6 44.0 -7.0 59 499 0.62 4.15 0.00 0.007 6 0.000 0.000 2848 2400 3109 2 0 26 0 0 0
696 0.32 -146.6 59.2 -7.9 79 712 0.50 3.20 0.00 0.007 4 0.000 0.000 2712 598 3094 0 0 17 0 0 0
963 0.32 -146.6 81.3 -8.7 102 971 0.73 2.65 0.00 0.007 6 0.000 0.000 2832 2239 3093 2 0 11 0 0 0
1288 0.32 -146.6 108.0 -7.9 133 1306 0.55 3.45 0.00 0.007 4 0.000 0.000 2698 455 3094 1 0 19 0 0 0
1557 0.32 -146.6 129.9 -8.0 156 1565 0.52 3.03 0.00 0.007 6 0.000 0.000 2844 2172 3095 1 0 13 0 0 0
1882 0.32 -146.6 156.1 -8.6 187 1899 0.65 3.50 0.00 0.007 4 0.000 0.000 2723 308 3095 2 0 16 0 0 0
2151 0.32 -146.6 177.2 -8.5 210 2162 0.47 4.12 0.00 0.007 6 0.000 0.000 2835 2271 3091 1 0 24 0 0 0
2486 0.32 -146.6 201.5 -7.0 242 2502 0.45 3.38 0.00 0.007 4 0.000 0.000 2706 442 3094 0 0 15 0 0 0
2753 0.32 -146.6 220.4 -7.3 265 2764 0.70 3.50 0.00 0.007 6 0.000 0.000 2881 2235 3096 1 0 20 0 0 0
3089 0.24 -146.6 239.0 -5.8 297 3105 0.70 3.53 0.00 0.007 4 0.000 0.000 2711 459 3104 0 0 19 0 0 0
3357 0.17 -146.6 255.5 -6.3 320 3367 0.30 3.03 0.00 0.007 6 0.007 0.000 2795 2182 3095 1 0 15 0 0 0
3692 0.23 -146.6 279.0 -7.6 352 3709 0.38 3.50 0.00 0.000 4 0.007 0.000 2707 398 3093 1 0 16 0 0 0
3961 0.15 -146.6 298.7 -7.1 375 3971 0.00 3.92 0.00 0.007 6 0.007 0.000 2702 2269 3095 0 0 24 0 0 0
4296 0.15 -146.6 320.1 -6.1 407 4312 0.38 3.67 0.00 0.007 4 0.000 0.000 2794 450 3093 1 0 20 0 0 0
4564 0.15 -146.6 338.0 -6.4 430 4575 0.52 3.22 0.00 0.007 6 0.000 0.000 2648 2127 3094 1 0 16 0 0 0
4899 0.15 -146.6 359.8 -6.1 462 4914 0.50 2.75 0.00 0.000 4 0.000 0.000 2781 378 3096 0 0 14 0 0 0
5166 0.15 -146.6 376.3 -5.6 485 5178 0.40 2.90 0.00 0.007 6 0.007 0.000 2655 2294 3096 1 0 15 0 0 0
5502 0.15 -146.6 395.9 -6.3 517 5517 0.60 3.97 0.00 0.007 4 0.000 0.000 2780 534 3097 1 0 24 0 0 0
5769 0.15 -146.6 411.6 -5.8 540 5777 0.32 2.65 0.00 0.007 6 0.000 0.000 2737 2211 3094 1 0 13 0 0 0
6094 0.15 -146.6 429.4 -5.4 571 6110 0.00 3.90 0.00 0.007 4 0.007 0.000 2734 508 3097 0 0 20 0 0 0
6362 0.15 -146.6 443.8 -5.2 594 6369 0.00 3.42 0.00 0.007 6 0.007 0.000 2735 2028 3094 0 0 18 0 0 0
6693 0.15 -146.6 461.6 -5.4 626 6708 0.00 3.03 0.00 0.007 4 0.007 0.000 2736 482 3094 0 0 16 0 0 0
6960 0.15 -146.6 476.8 -5.9 649 6967 0.00 3.03 0.00 0.007 6 0.007 0.000 2734 2160 3088 0 0 17 0 0 0
7285 0.15 -146.6 496.6 -6.8 680 7299 0.00 3.17 0.00 0.007 4 0.007 0.000 2738 481 3092 0 0 13 0 0 0
7552 0.15 -146.6 513.9 -6.4 703 7559 0.00 2.95 0.00 0.007 6 0.007 0.000 2735 2042 3097 0 0 15 0 0 0
7876 0.15 -146.6 534.8 -6.1 734 7891 0.00 2.92 0.00 0.007 4 0.007 0.000 2737 505 3094 0 0 15 0 0 0
8144 0.15 -146.6 551.3 -6.6 757 8150 0.00 3.20 0.00 0.000 6 0.007 0.000 2730 2062 3094 0 0 15 0 0 0
8475 0.15 -146.6 572.7 -6.5 789 8489 0.00 3.17 0.00 0.007 4 0.007 0.000 2733 464 3096 0 0 19 0 0 0
8741 0.15 -146.6 589.4 -6.2 812 8748 0.00 3.12 0.00 0.007 6 0.007 0.000 2732 2238 3086 0 0 13 0 0 0
9067 0.15 -146.6 608.0 -5.5 843 9082 0.00 3.65 0.00 0.007 4 0.007 0.000 2733 506 3091 0 0 19 0 0 0
9335 0.15 -146.6 623.2 -5.6 866 9341 0.00 2.90 0.00 0.007 6 0.007 0.000 2733 2181 3092 0 0 17 0 0 0
9660 0.08 -146.6 641.4 -5.2 897 9675 0.00 3.08 0.00 0.007 4 0.000 0.000 2735 507 3107 0 0 17 0 0 0
9927 0.01 -146.6 655.2 -5.5 920 9934 0.30 2.65 0.00 0.007 6 0.000 0.000 2647 2210 3092 1 0 13 0 0 0
10252 0.01 -146.6 673.0 -5.8 951 10267 0.30 3.28 0.00 0.018 4 0.018 0.000 2735 438 3096 1 0 17 0 0 0
10519 0.01 -146.6 687.7 -5.3 974 10530 0.60 3.15 0.00 0.007 6 0.000 0.000 2635 2386 3094 2 0 19 0 0 0
10855 0.01 -146.6 705.8 -5.4 1006 10871 0.45 3.42 0.00 0.000 4 0.000 0.000 2747 463 3091 1 0 19 0 0 0
11123 0.06 -146.6 720.1 -5.5 1029 11133 0.30 3.15 0.00 0.007 6 0.007 0.000 2656 2173 3094 1 0 13 0 0 0
11458 0.06 -146.6 738.7 -5.5 1061 11474 0.40 3.25 0.00 0.007 4 0.000 0.000 2753 282 3105 1 0 16 0 0 0
11726 0.06 -146.6 754.0 -5.9 1084 11734 0.35 2.95 0.00 0.007 6 0.000 0.000 2669 2045 3093 1 0 12 0 0 0
12058 0.06 -146.6 773.0 -5.8 1116 12074 0.40 3.47 0.00 0.007 4 0.000 0.000 2781 555 3095 1 0 21 0 0 0
12327 -0.05 -146.6 786.7 -4.2 1139 12337 0.75 3.00 0.00 0.007 6 0.000 0.000 2584 2279 3094 1 0 16 0 0 0
12662 0.01 -146.6 805.4 -6.3 1171 12678 0.73 3.35 0.00 0.007 4 0.000 0.000 2749 516 3095 1 0 17 0 0 0
12931 -0.06 -146.6 819.9 -4.6 1194 12941 0.52 3.00 0.00 0.000 6 0.000 0.000 2597 2374 3096 1 0 15 0 0 0
13266 -0.14 -146.6 836.7 -5.1 1226 13282 0.55 3.20 0.00 0.007 4 0.000 0.000 2740 536 3094 1 0 16 0 0 0
13534 -0.14 -146.6 852.5 -5.5 1249 13545 0.60 3.12 0.00 0.007 6 0.000 0.000 2536 2338 3095 2 0 14 0 0 0
13870 -0.22 -146.6 869.6 -5.5 1281 13887 1.00 3.40 0.00 0.007 4 0.000 0.000 2752 315 3095 2 0 17 0 0 0
14139 -0.22 -146.6 884.2 -5.0 1304 14150 1.35 3.33 0.00 0.007 6 0.000 0.000 2585 2097 3094 3 0 13 0 0 0
14419 end dive: TARGET_DEPTH_EXCEEDED
state 14419 begin apogee
14426 -0.31 0.0 900.4 5.9 1331 14567 0.70 0.00 135.27 0.000 6 0.000 0.007 2742 1772 2533 2 0 0 0 0 0
14570 end apogee: CONTROL_FINISHED_OK
state 14570 begin climb
14572 0.99 146.6 908.9 0.0 1345 14749 1.40 3.28 148.43 0.000 4 0.000 0.000 2962 3575 1922 3 0 18 0 2 0
15003 2.65 552.9 936.6 -6.0 1384 15340 2.17 3.45 306.45 0.000 6 0.000 0.000 3317 2004 647 4 0 18 0 2 0
15666 2.38 552.9 900.4 11.1 1448 15693 0.45 3.10 9.30 0.000 4 0.000 0.000 3186 3603 615 1 0 13 0 0 0
15944 2.38 552.9 879.6 7.3 1472 15957 0.35 3.80 1.05 0.000 6 0.007 0.000 3273 1890 609 1 0 21 0 0 0
16281 2.38 552.9 855.8 7.1 1504 16297 0.30 3.28 0.00 0.007 4 0.000 0.000 3179 3647 613 1 0 18 0 0 0
16549 2.33 552.9 834.6 7.9 1527 16560 0.32 2.88 1.40 0.000 6 0.000 0.000 3219 1888 616 1 0 14 0 0 0
16885 2.46 588.7 811.1 5.9 1559 16901 0.00 3.53 0.12 0.007 4 0.007 0.000 3220 3679 609 0 0 16 0 0 0
17153 2.46 588.7 791.2 7.9 1582 17164 0.00 3.22 2.20 0.000 6 0.007 0.000 3223 1834 612 0 0 13 0 0 0
17488 2.33 588.7 766.4 11.8 1614 17503 0.00 2.90 0.12 0.000 4 0.007 0.000 3219 3648 596 0 0 14 0 0 0
17755 1.50 588.7 701.6 25.6 1637 17766 1.12 3.15 0.52 0.000 6 0.000 0.000 2992 1701 610 3 0 17 0 0 0
18090 1.50 588.7 662.5 7.6 1669 18106 0.55 3.30 0.00 0.007 4 0.000 0.000 3119 3581 611 1 0 15 0 0 0
18359 1.63 604.3 641.7 6.5 1692 18369 0.50 3.25 0.52 0.000 6 0.000 0.000 2992 1854 613 1 0 17 0 0 0
18694 1.77 621.1 619.2 6.5 1724 18710 0.77 2.72 0.00 0.007 4 0.000 0.000 3132 3436 613 1 0 14 0 0 0
18962 1.86 621.1 602.0 8.3 1747 18973 0.45 2.90 1.40 0.000 6 0.013 0.000 3021 1901 612 1 0 19 0 0 0
19298 2.05 637.9 579.3 6.5 1779 19314 1.02 4.15 3.78 0.000 4 0.000 0.000 3223 3644 606 1 0 24 0 0 0
19567 1.94 637.9 552.2 10.7 1803 19583 0.77 2.85 0.47 0.000 6 0.000 0.000 3029 1839 598 1 0 13 0 0 0
19897 2.05 639.6 525.6 7.0 1834 19914 0.75 3.12 0.00 0.007 4 0.000 0.000 3212 3623 595 0 0 18 0 0 0
20166 2.05 639.6 504.0 7.5 1857 20177 0.60 3.28 1.10 0.000 6 0.000 0.000 3083 1801 606 1 0 15 0 0 0
20502 2.05 639.6 475.9 8.8 1889 20517 0.50 3.78 0.00 0.007 4 0.000 0.000 3212 3558 598 1 0 22 0 0 0
20769 2.05 639.6 452.3 7.2 1912 20781 0.95 3.33 0.85 0.000 6 0.000 0.000 3054 1827 604 2 0 20 0 0 0
21105 2.05 639.6 428.6 10.0 1944 21121 0.47 3.40 0.00 0.007 4 0.000 0.000 3203 3753 604 1 0 17 0 0 0
21373 1.91 639.6 398.9 11.2 1967 21386 0.73 3.28 0.77 0.000 6 0.000 0.000 3077 1646 601 2 0 17 0 0 0
21711 2.00 655.7 376.3 6.5 1999 21726 0.73 4.57 0.00 0.007 4 0.000 0.000 3203 3535 604 1 0 28 0 0 0
21978 1.90 655.7 349.0 9.8 2022 21989 0.85 3.47 0.15 0.000 6 0.000 0.000 2987 1841 607 3 0 20 0 0 0
22314 1.98 655.7 320.9 7.6 2054 22329 0.77 3.53 3.95 0.000 4 0.000 0.000 3178 3714 592 2 0 21 0 0 0
22582 1.87 655.7 295.9 10.0 2078 22598 0.50 3.17 0.40 0.000 6 0.000 0.000 3054 1912 594 1 0 14 0 0 0
22912 1.93 655.7 268.6 7.3 2109 22928 0.52 3.65 0.00 0.007 4 0.000 0.000 3146 3638 598 1 0 19 0 0 0
23180 1.93 655.7 248.5 7.6 2132 23193 0.80 3.03 1.40 0.000 6 0.000 0.000 3050 1911 589 2 0 16 0 0 0
23518 2.00 655.7 222.4 7.5 2164 23535 0.62 3.10 0.00 0.007 4 0.000 0.000 3208 3635 595 2 0 15 0 0 0
23788 1.89 655.7 198.8 10.8 2187 23799 0.57 3.10 0.77 0.000 6 0.000 0.000 3068 1916 584 2 0 13 0 0 0
24124 1.97 655.7 166.5 7.5 2219 24139 0.52 2.65 0.00 0.007 4 0.000 0.000 3187 3578 599 1 0 13 0 0 0
24391 1.85 655.7 146.1 12.3 2242 24404 0.52 3.40 0.80 0.000 6 0.000 0.000 3029 1873 594 1 0 18 0 0 0
24728 2.50 655.7 119.8 9.1 2274 24743 1.15 3.12 3.55 0.000 4 0.000 0.000 3298 3545 588 1 0 15 0 0 0
24996 1.61 655.7 49.0 30.2 2298 25013 1.52 2.65 0.05 0.000 6 0.000 0.000 2955 2025 588 2 0 17 0 0 0
25200 1.56 655.7 18.3 9.0 2318 25216 0.70 3.38 0.00 0.007 4 0.000 0.000 3096 3753 587 1 0 17 0 0 0
25325 1.62 655.7 7.9 7.7 2339 25342 0.30 3.08 0.75 0.000 6 0.000 0.000 3020 2004 589 1 0 15 0 0 0
25407 end climb: SURFACE_DEPTH_REACHED
state 25410 begin surface coast
25475 end surface coast: CONTROL_FINISHED_OK
state 25476 begin surface