DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 193 * 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  15
MISSION  10 ESCAPE_HEADING  100 ROLL_MAX  3915 ALTIM_TOP_TURN_MARGIN  5
DIVE  193 ESCAPE_HEADING_DELTA  5 ROLL_DEG  45 ALTIM_TOP_MIN_OBSTACLE  1.8
D_SURF  2 FIX_MISSING_TIMEOUT  5 C_ROLL_DIVE  2460 ALTIM_PING_DEPTH  300
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  325 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  2
D_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  18 XPDR_VALID  0
D_FINISH  9 FILEMGR  2 R_STBD_OVSHOOT  23 XPDR_INHIBIT  90
D_PITCH  1.75 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  500 COMM_SEQ  0 ROLL_MAXERRORS  0 INT_PRESSURE_YINT  0
D_CALL  3 KERMIT  0 ROLL_ADJ_GAIN  1.75 DEEPGLIDER  0
SURFACE_URGENCY  10 N_NOCOMM  0 ROLL_ADJ_DBAND  0.025 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  5 N_NOSURFACE  0 VBD_MIN  442 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  10 UPLOAD_DIVES_MAX  5 VBD_MAX  3793 DEVICE1  2
T_DIVE  360 CALL_TRIES  3 C_VBD  2800 DEVICE2  20
T_MISSION  420 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  720 DEVICE5  -1
T_TURN_SAMPINT  5 HEAPDBG  0 PITCH_VBD_SHIFT  0.0012300001 DEVICE6  -1
T_NO_W  120 T_GPS  3 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERS  0
T_LOITER  0 N_GPS  20 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE1  -1
USE_BATHY  -3 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  2 T_GPS_CHARGE  -33568.926 UNCOM_BLEED  20 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.1 T_RSLEEP  60 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
D_OFFGRID  100 STROBE  0 CF8_MAXERRORS  0 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  2690 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  0 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  0.045000002 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  195837,6703.887,-5718.276,65,0.9,65,-37.7 TGT_NAME  TARGET_W
_CALLS  1 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  13 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.27 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -69.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  200556,6703.904,-5718.374,12,1.2,12,-37.7 MHEAD_RNG_PITCHd_Wd  292.7,142124,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  785

Post-dive calculations and measurements:
FREEZE  0.64,0.280,-1.810,0,1,0 ALTIM_TOP_PING  19.6,19.3
FINISH  0.6,1.026503 ALTIM_BOTTOM_PING  752.1,7.2
SM_CCo  15685,56.78,0.741,0,0,1473,325.02 _24V_AH  22.8,43.564
SM_GC  1.12,0.00,0.00,56.78,0.000,0.000,0.741,128,2463,1473,-8.01,0.08,325.02 _10V_AH  10.2,22.314
RAFOS_CLK  991 FG_AHR_24Vo  0.000
RAFOS  1,1259093343,20.166666,20.150833,58,57,56,0,0,0,188,121,991,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6704.034668,-5722.948730,241109,202044,3,86,1.46 MEM  152456
IRIDIUM_FIX  6636.54,-5713.57,180299,151541 DATA_FILE_SIZE  56674,1400
TT8_MAMPS  0.029913 CAP_FILE_SIZE  167094,0
HUMID  48.30 CFSIZE  260165632,235008000
INTERNAL_PRESSURE  8.90659 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  17.70 SOUNDSPEED  1467.4
XPDR_PINGS  4 GPS  251109,003024,6703.330,-5724.177,30,1.3,48,-37.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23293160.41 SBE_CT103224565.09
Roll_motor13898312.78 SBE_O296919420.04
VBD_pump_during_apogee33112309284.59 nil000.00
VBD_pump_during_surface56740959.10 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010370.73 nil000.00
Iridium_during_connect37160135.02 nil000.00
Iridium_during_xfer2462231255.61
Transponder_ping442040.70
GUMSTIX_24V000.00
GPS13506.90
TT8237219482.08
LPSleep104592246.46
TT8_Active54119110.01
TT8_Sampling226639922.91
TT8_CF853945252.65
TT8_Kalman000.00
Analog_circuits170712208.97
GPS_charging000.00
Compass22298181.94
RAFOS3600155.08
Transponder25307.94

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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
15 -0.73 -146.0 0.0 0.0 0 108 0.00 0.00 -90.15 0.000 2 0.000 0.000 123 2472 3041 0 0 0 0 0 0
110 -0.73 -146.0 3.1 -4.9 18 137 11.15 2.58 -9.60 0.000 4 0.294 0.099 2446 3908 3397 0 0 0 0 0 0
392 -0.64 -146.0 44.9 -12.6 68 398 0.15 2.47 0.00 0.000 6 0.210 0.062 2481 2446 3399 0 0 0 0 0 0
737 -0.70 -146.0 81.3 -10.2 129 742 0.00 2.60 0.00 0.000 4 0.000 0.088 2481 3913 3399 0 0 0 0 0 0
812 -0.78 -146.0 88.4 -9.5 142 818 0.15 2.47 0.00 0.000 6 0.109 0.062 2430 2446 3399 0 0 0 0 0 0
1144 -0.69 -146.0 123.6 -10.7 182 1149 0.15 2.58 0.00 0.000 4 0.209 0.086 2454 3906 3399 0 0 0 0 0 0
1306 -0.69 -146.0 139.5 -9.7 196 1310 0.00 2.42 0.00 0.000 6 0.000 0.061 2455 2460 3398 0 0 0 0 0 0
1630 -0.69 -146.0 170.2 -9.6 226 1634 0.00 2.55 0.00 0.000 4 0.000 0.087 2454 3911 3398 0 0 0 0 0 0
1680 -0.69 -146.0 174.9 -10.0 230 1684 0.00 2.40 0.00 0.000 6 0.000 0.061 2454 2474 3398 0 0 0 0 0 0
2003 -0.69 -146.0 205.7 -9.7 260 2008 0.00 2.53 0.00 0.000 4 0.000 0.087 2454 3912 3398 0 0 0 0 0 0
2076 -0.69 -146.0 212.7 -10.2 266 2080 0.00 2.40 0.00 0.000 6 0.000 0.061 2454 2484 3398 0 0 0 0 0 0
2405 -0.69 -146.0 242.2 -8.9 297 2407 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2485 3398 0 0 0 0 0 0
2726 -0.69 -146.0 270.4 -9.1 327 2730 0.00 2.50 0.00 0.000 4 0.000 0.086 2454 3914 3398 0 0 0 0 0 0
2759 -0.69 -146.0 273.5 -9.2 329 2765 0.00 2.38 0.00 0.000 6 0.000 0.060 2454 2490 3399 0 0 0 0 0 0
3084 -0.74 -146.0 303.2 -9.4 360 3088 0.00 2.47 0.00 0.000 4 0.000 0.085 2454 3906 3399 0 0 0 0 0 0
3173 -0.79 -146.0 311.6 -9.4 367 3179 0.00 2.35 0.00 0.000 6 0.000 0.059 2454 2493 3399 0 0 0 0 0 0
3498 -0.84 -146.0 338.6 -7.9 398 3503 0.12 2.60 0.00 0.000 4 0.113 0.078 2410 872 3400 0 0 0 0 0 0
3531 -0.72 -146.0 342.0 -11.0 400 3538 0.17 2.58 0.00 0.000 6 0.218 0.069 2451 2503 3399 0 0 0 0 0 0
3856 -0.78 -146.0 367.1 -7.5 431 3861 0.00 2.45 0.00 0.000 4 0.000 0.085 2451 3920 3400 0 0 0 0 0 0
3889 -0.84 -146.0 369.8 -8.2 433 3895 0.00 2.35 0.00 0.000 6 0.000 0.058 2452 2503 3400 0 0 0 0 0 0
4215 -0.89 -146.0 395.5 -8.4 464 4217 0.15 0.00 0.00 0.000 6 0.108 0.000 2398 2504 3400 0 0 0 0 0 0
4532 -0.77 -146.0 430.0 -10.9 494 4537 0.17 2.47 0.00 0.000 4 0.209 0.082 2429 3911 3400 0 0 0 0 0 0
4583 -0.77 -146.0 435.1 -10.0 498 4587 0.00 2.35 0.00 0.000 6 0.000 0.058 2429 2495 3400 0 0 0 0 0 0
4907 -0.77 -146.0 463.5 -8.4 528 4908 0.00 0.00 0.00 0.000 6 0.000 0.000 2429 2495 3401 0 0 0 0 0 0
5227 -0.77 -146.0 489.8 -8.2 558 5231 0.00 2.47 0.00 0.000 4 0.000 0.084 2429 3914 3401 0 0 0 0 0 0
5277 -0.77 -146.0 494.2 -8.4 562 5281 0.00 2.35 0.00 0.000 6 0.000 0.058 2429 2500 3401 0 0 0 0 0 0
5601 -0.77 -146.0 520.5 -8.2 592 5602 0.00 0.00 0.00 0.000 6 0.000 0.000 2429 2501 3401 0 0 0 0 0 0
5921 -0.77 -146.0 546.4 -8.6 622 5925 0.00 2.47 0.00 0.000 4 0.000 0.085 2429 3912 3401 0 0 0 0 0 0
5987 -0.77 -146.0 552.3 -8.4 627 5993 0.00 2.33 0.00 0.000 6 0.000 0.060 2429 2510 3401 0 0 0 0 0 0
6312 -0.77 -146.0 580.6 -8.8 658 6316 0.00 2.45 0.00 0.000 4 0.000 0.085 2429 3911 3401 0 0 0 0 0 0
6350 -0.77 -146.0 584.2 -9.4 661 6354 0.00 2.33 0.00 0.000 6 0.000 0.059 2429 2513 3401 0 0 0 0 0 0
6691 -0.77 -146.0 614.2 -9.1 683 6692 0.00 0.00 0.00 0.000 6 0.000 0.000 2430 2514 3401 0 0 0 0 0 0
6996 -0.77 -146.0 640.7 -8.6 693 7000 0.00 2.45 0.00 0.000 4 0.000 0.085 2429 3912 3401 0 0 0 0 0 0
7030 -0.77 -146.0 643.9 -9.4 694 7034 0.00 2.33 0.00 0.000 6 0.000 0.059 2429 2514 3401 0 0 0 0 0 0
7358 -0.77 -146.0 671.7 -8.3 705 7360 0.00 0.00 0.00 0.000 6 0.000 0.000 2429 2515 3401 0 0 0 0 0 0
7666 -0.77 -146.0 697.8 -8.4 715 7667 0.00 0.00 0.00 0.000 6 0.000 0.000 2429 2515 3401 0 0 0 0 0 0
7971 -0.77 -146.0 723.2 -8.3 725 7975 0.00 2.45 0.00 0.000 4 0.000 0.086 2429 3913 3401 0 0 0 0 0 0
8037 -0.77 -146.0 729.0 -8.7 727 8041 0.00 2.33 0.00 0.000 6 0.000 0.059 2429 2514 3401 0 0 0 0 0 0
8313 end dive: BOTTOM_OBSTACLE_DETECTED
state 8313 begin apogee
8319 -0.16 0.0 752.1 8.5 736 8444 0.75 0.00 121.65 1.230 6 0.182 0.000 2634 1950 2800 0 0 0 0 0 0
8444 end apogee: CONTROL_FINISHED_OK
state 8445 begin climb
8446 0.73 146.0 755.6 0.0 740 8577 0.93 0.00 126.78 1.178 6 0.124 0.000 2914 1950 2204 0 0 0 0 0 0
8903 0.73 146.0 714.7 10.3 755 8908 0.00 2.80 0.00 0.000 4 0.000 0.078 2914 3539 2196 0 0 0 0 0 0
8931 0.66 146.0 711.4 12.0 756 8936 0.00 2.75 0.00 0.000 6 0.000 0.067 2927 1952 2194 0 0 0 0 0 0
9265 0.60 146.0 672.5 11.7 767 9267 0.17 0.00 0.00 0.000 6 0.193 0.000 2885 1953 2193 0 0 0 0 0 0
9572 0.67 150.7 644.7 9.0 777 9577 0.00 2.72 0.00 0.000 4 0.000 0.079 2885 3540 2193 0 0 0 0 0 0
9599 0.67 150.7 641.9 9.6 778 9604 0.00 2.65 0.00 0.000 6 0.000 0.067 2895 1972 2192 0 0 0 0 0 0
9935 0.67 156.0 611.1 8.9 789 9949 0.00 2.62 7.62 0.975 4 0.000 0.087 2907 365 2164 0 0 0 0 0 0
9971 0.67 156.0 607.4 9.3 790 9975 0.00 2.55 0.00 0.000 6 0.000 0.064 2906 1976 2164 0 0 0 0 0 0
10296 0.67 156.0 574.7 10.6 815 10301 0.00 2.67 0.00 0.000 4 0.000 0.081 2906 3547 2163 0 0 0 0 0 0
10358 0.62 156.0 567.6 12.2 820 10362 0.00 2.65 0.00 0.000 6 0.000 0.067 2918 1975 2162 0 0 0 0 0 0
10682 0.62 156.0 533.6 10.3 850 10683 0.00 0.00 0.00 0.000 6 0.000 0.000 2918 1976 2162 0 0 0 0 0 0
11001 0.62 156.0 500.8 10.2 880 11002 0.00 0.00 0.00 0.000 6 0.000 0.000 2918 1976 2162 0 0 0 0 0 0
11320 0.62 156.0 467.8 10.5 910 11325 0.00 2.67 0.00 0.000 4 0.000 0.081 2918 3538 2162 0 0 0 0 0 0
11360 0.54 156.0 463.2 11.4 913 11365 0.25 2.62 0.00 0.000 6 0.191 0.069 2869 1979 2162 0 0 0 0 0 0
11684 0.73 188.1 438.4 7.8 943 11719 0.17 2.75 27.55 1.029 4 0.105 0.081 2928 3534 2032 0 0 0 0 0 0
11742 0.66 188.1 432.1 12.6 948 11749 0.15 2.62 0.00 0.000 6 0.189 0.069 2906 1999 2030 0 0 0 0 0 0
12067 0.70 188.1 397.4 10.4 979 12071 0.00 2.65 0.00 0.000 4 0.000 0.088 2916 358 2028 0 0 0 0 0 0
12116 0.70 188.1 391.8 11.3 983 12121 0.00 2.55 0.00 0.000 6 0.000 0.065 2916 1996 2027 0 0 0 0 0 0
12440 0.70 188.1 354.8 11.6 1013 12445 0.00 2.65 0.00 0.000 4 0.000 0.089 2928 364 2027 0 0 0 0 0 0
12462 0.70 188.1 352.2 12.5 1014 12468 0.00 2.53 0.00 0.000 6 0.000 0.066 2927 1986 2027 0 0 0 0 0 0
12786 0.70 188.1 313.2 11.8 1045 12787 0.00 0.00 0.00 0.000 6 0.000 0.000 2927 1986 2027 0 0 0 0 0 0
13106 0.70 188.1 276.4 11.6 1075 13110 0.00 2.62 0.00 0.000 4 0.000 0.090 2939 360 2027 0 0 0 0 0 0
13144 0.70 188.1 271.7 12.1 1078 13149 0.00 2.53 0.00 0.000 6 0.000 0.067 2939 1988 2027 0 0 0 0 0 0
13468 0.70 188.1 231.9 11.7 1108 13470 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 1988 2027 0 0 0 0 0 0
13788 0.70 188.1 192.1 13.2 1138 13793 0.00 2.62 0.00 0.000 4 0.000 0.088 2951 355 2027 0 0 0 0 0 0
13827 0.65 188.1 186.9 13.0 1141 13832 0.20 2.53 0.00 0.000 6 0.184 0.066 2901 1989 2027 0 0 0 0 0 0
14152 0.76 188.6 154.3 9.1 1171 14154 0.12 0.00 0.00 0.000 6 0.117 0.000 2943 1989 2026 0 0 0 0 0 0
14471 0.76 188.6 118.0 11.1 1201 14472 0.00 0.00 0.00 0.000 6 0.000 0.000 2943 1989 2027 0 0 0 0 0 0
14797 0.76 188.6 83.0 10.1 1245 14803 0.00 2.65 0.00 0.000 4 0.000 0.082 2944 3547 2026 0 0 0 0 0 0
14854 0.71 188.6 76.9 10.7 1255 14860 0.15 2.65 0.00 0.000 6 0.189 0.070 2921 1972 2026 0 0 0 0 0 0
15199 0.93 246.8 52.6 6.7 1316 15256 0.20 2.78 47.40 0.777 4 0.094 0.081 2990 3535 1791 0 0 0 0 0 0
15335 0.85 246.8 36.1 14.3 1341 15341 0.15 2.65 0.00 0.000 6 0.195 0.069 2969 1989 1788 0 0 0 0 0 0
15648 end climb: SURFACE_DEPTH_REACHED
state 15648 begin surface coast
15668 end surface coast: CONTROL_FINISHED_OK
state 15668 begin surface