DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 214 * 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  214 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  19 XPDR_VALID  0
D_FINISH  9 FILEMGR  2 R_STBD_OVSHOOT  18 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  -2 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  2 T_GPS_CHARGE  -34963.957 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  123056,6648.104,-5906.277,0,6104.8,0,-37.8 TGT_NAME  TARGET_W
_CALLS  3 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  0 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.49 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -38.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  123056,6648.104,-5906.277,181,99.0,181,-37.8 MHEAD_RNG_PITCHd_Wd  300.4,58816,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  981

Post-dive calculations and measurements:
FREEZE  6.74,-1.669,-1.767,2,9,0 ALTIM_BOTTOM_PING  852.1,10.2
FINISH1  6.7,1.025894,78 _24V_AH  22.4,46.734
FINISH2  5.0 _10V_AH  10.1,24.216
RAFOS_CLK  1364 FG_AHR_24Vo  0.000
RAFOS  0,1259510464,16.033333,16.017778,69,66,59,0,0,0,182,215,145,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6646.834961,-5909.240234,291109,161617,6,110,0.22 MEM  152596
IRIDIUM_FIX  6620.33,-5850.01,230299,080832 DATA_FILE_SIZE  63000,1631
TT8_MAMPS  0.026845 CAP_FILE_SIZE  195194,0
HUMID  50.15 CFSIZE  260165632,233029632
INTERNAL_PRESSURE  8.90659 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  16.30 SOUNDSPEED  1452.5
XPDR_PINGS  6 GPS  291109,163117,6646.835,-5909.240,0,6109.8,0,-37.8
ALTIM_TOP_PING  19.3,18.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19256111.37 SBE_CT119624643.37
Roll_motor181113460.87 SBE_O2114919489.06
VBD_pump_during_apogee404132111965.34 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init98103227.75 nil000.00
Iridium_during_connect84160301.78 nil000.00
Iridium_during_xfer02230.00
Transponder_ping542049.39
GUMSTIX_24V000.00
GPS1835092.53
TT8275019553.36
LPSleep131662307.19
TT8_Active61919124.70
TT8_Sampling2835391143.27
TT8_CF854945254.91
TT8_Kalman000.00
Analog_circuits200812243.44
GPS_charging000.00
Compass26198211.62
RAFOS2520138.18
Transponder29308.96

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
14 -0.73 -146.0 0.0 0.0 0 132 0.00 0.00 -111.80 0.000 6 0.000 0.000 127 2447 3397 0 0 0 0 0 0
136 -0.73 -146.0 2.5 -0.1 23 152 9.95 2.78 0.00 0.000 4 0.257 0.093 2439 3913 3397 0 0 0 0 0 0
406 -0.21 -146.0 2.4 0.0 71 412 0.73 2.65 0.00 0.000 6 0.232 0.077 2611 2460 3400 0 0 0 0 0 0
749 0.23 -146.0 2.4 -0.3 132 756 0.57 2.72 0.00 0.000 4 0.231 0.088 2746 3913 3400 0 0 0 0 0 0
803 -0.18 -146.0 4.1 -6.5 141 809 0.35 2.62 0.00 0.000 6 0.107 0.070 2632 2449 3400 0 0 0 0 0 0
1150 -1.07 -146.0 35.8 -6.7 202 1156 0.85 2.78 0.00 0.000 4 0.118 0.095 2352 3911 3400 0 0 0 0 0 0
1248 -0.62 -146.0 52.0 -21.5 219 1254 0.57 2.55 0.00 0.000 6 0.233 0.077 2487 2517 3399 0 0 0 0 0 0
1592 -0.62 -146.0 93.6 -11.6 280 1597 0.00 2.67 0.00 0.000 4 0.000 0.100 2487 3919 3400 0 0 0 0 0 0
1751 -0.67 -146.0 110.0 -9.5 300 1755 0.00 2.53 0.00 0.000 6 0.000 0.076 2487 2533 3400 0 0 0 0 0 0
2075 -0.73 -146.0 142.0 -9.7 330 2076 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 2534 3400 0 0 0 0 0 0
2396 -0.79 -146.0 168.4 -7.9 360 2401 0.17 2.65 0.00 0.000 4 0.121 0.099 2429 3912 3399 0 0 0 0 0 0
2469 -0.68 -146.0 175.8 -10.2 366 2474 0.17 2.50 0.00 0.000 6 0.221 0.076 2467 2543 3399 0 0 0 0 0 0
2793 -0.68 -146.0 203.5 -9.7 396 2797 0.00 2.62 0.00 0.000 4 0.000 0.101 2467 3910 3399 0 0 0 0 0 0
2870 -0.68 -146.0 211.6 -10.6 402 2876 0.00 2.45 0.00 0.000 6 0.000 0.075 2467 2571 3399 0 0 0 0 0 0
3195 -0.72 -146.0 244.5 -9.5 433 3199 0.00 2.78 0.00 0.000 4 0.000 0.094 2467 862 3399 0 0 0 0 0 0
3222 -0.72 -146.0 247.2 -10.3 435 3226 0.00 2.78 0.00 0.000 6 0.000 0.085 2467 2576 3399 0 0 0 0 0 0
3548 -0.78 -146.0 275.4 -8.4 465 3552 0.00 2.55 0.00 0.000 4 0.000 0.103 2468 3915 3399 0 0 0 0 0 0
3694 -0.85 -146.0 288.5 -8.9 477 3701 0.15 2.42 0.00 0.000 6 0.124 0.077 2420 2593 3399 0 0 0 0 0 0
4019 -0.76 -146.0 324.0 -10.6 508 4020 0.00 0.00 0.00 0.000 6 0.000 0.000 2420 2594 3399 0 0 0 0 0 0
4340 -0.67 -146.0 356.7 -10.0 538 4346 0.20 2.83 0.00 0.000 4 0.220 0.094 2467 870 3398 0 0 0 0 0 0
4385 -0.74 -146.0 361.1 -8.4 541 4390 0.00 2.78 0.00 0.000 6 0.000 0.085 2467 2582 3399 0 0 0 0 0 0
4710 -0.82 -146.0 385.8 -7.6 572 4715 0.12 2.55 0.00 0.000 4 0.129 0.100 2426 3913 3399 0 0 0 0 0 0
4823 -0.76 -146.0 396.0 -8.8 581 4828 0.00 2.42 0.00 0.000 6 0.000 0.076 2426 2592 3399 0 0 0 0 0 0
5148 -0.72 -146.0 425.4 -9.0 612 5153 0.12 2.55 0.00 0.000 4 0.232 0.098 2443 3910 3399 0 0 0 0 0 0
5192 -0.72 -146.0 429.4 -8.6 615 5197 0.00 2.38 0.00 0.000 6 0.000 0.073 2443 2606 3399 0 0 0 0 0 0
5516 -0.72 -146.0 455.7 -7.9 646 5521 0.00 2.53 0.00 0.000 4 0.000 0.100 2443 3918 3399 0 0 0 0 0 0
5583 -0.72 -146.0 461.4 -8.6 651 5589 0.00 2.38 0.00 0.000 6 0.000 0.072 2443 2614 3399 0 0 0 0 0 0
5907 -0.72 -146.0 488.8 -8.6 682 5909 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 2615 3400 0 0 0 0 0 0
6227 -0.72 -146.0 516.3 -8.4 712 6232 0.00 2.83 0.00 0.000 4 0.000 0.091 2443 866 3399 0 0 0 0 0 0
6282 -0.72 -146.0 521.6 -10.1 716 6288 0.00 2.83 0.00 0.000 6 0.000 0.082 2443 2615 3400 0 0 0 0 0 0
6607 -0.72 -146.0 549.4 -8.3 747 6608 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 2615 3400 0 0 0 0 0 0
6926 -0.72 -146.0 575.0 -7.5 777 6931 0.00 2.85 0.00 0.000 4 0.000 0.091 2443 871 3401 0 0 0 0 0 0
6948 -0.72 -146.0 576.9 -8.2 778 6953 0.00 2.80 0.00 0.000 6 0.000 0.082 2443 2608 3401 0 0 0 0 0 0
7292 -0.72 -146.0 602.7 -7.3 809 7293 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 2608 3401 0 0 0 0 0 0
7598 -0.72 -146.0 624.6 -7.2 819 7600 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 2608 3401 0 0 0 0 0 0
7908 -0.76 -146.0 645.1 -6.7 829 7912 0.00 2.47 0.00 0.000 4 0.000 0.098 2443 3916 3402 0 0 0 0 0 0
7936 -0.81 -146.0 647.2 -7.2 830 7940 0.00 2.38 0.00 0.000 6 0.000 0.071 2443 2608 3402 0 0 0 0 0 0
8279 -0.86 -146.0 671.1 -7.2 841 8280 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 2609 3402 0 0 0 0 0 0
8584 -0.91 -146.0 694.6 -7.7 851 8586 0.15 0.00 0.00 0.000 6 0.118 0.000 2391 2609 3402 0 0 0 0 0 0
8889 -0.79 -146.0 724.2 -9.7 861 8891 0.17 0.00 0.00 0.000 6 0.220 0.000 2430 2610 3402 0 0 0 0 0 0
9194 -0.79 -146.0 748.6 -7.8 871 9195 0.00 0.00 0.00 0.000 6 0.000 0.000 2430 2610 3402 0 0 0 0 0 0
9501 -0.79 -146.0 773.3 -8.1 881 9505 0.00 2.83 0.00 0.000 4 0.000 0.091 2430 864 3403 0 0 0 0 0 0
9539 -0.79 -146.0 776.5 -8.7 882 9543 0.00 2.80 0.00 0.000 6 0.000 0.081 2430 2602 3402 0 0 0 0 0 0
9861 -0.79 -146.0 803.2 -8.2 893 9866 0.00 2.47 0.00 0.000 4 0.000 0.097 2431 3914 3403 0 0 0 0 0 0
9923 -0.79 -146.0 808.5 -8.8 895 9927 0.00 2.38 0.00 0.000 6 0.000 0.070 2431 2607 3403 0 0 0 0 0 0
10263 -0.79 -146.0 836.5 -8.4 906 10264 0.00 0.00 0.00 0.000 6 0.000 0.000 2430 2608 3403 0 0 0 0 0 0
10448 end dive: BOTTOM_OBSTACLE_DETECTED
state 10448 begin apogee
10454 -0.16 0.0 852.1 8.5 912 10584 0.75 0.00 126.20 1.322 6 0.189 0.000 2633 1956 2800 0 0 0 0 0 0
10584 end apogee: CONTROL_FINISHED_OK
state 10585 begin climb
10587 0.73 146.0 856.0 0.0 916 10725 0.98 0.00 133.00 1.262 6 0.137 0.000 2914 1956 2204 0 0 0 0 0 0
11014 0.73 146.0 819.5 10.3 930 11015 0.00 0.00 0.00 0.000 6 0.000 0.000 2914 1956 2196 0 0 0 0 0 0
11320 0.73 146.0 787.4 10.5 940 11325 0.00 2.95 0.00 0.000 4 0.000 0.088 2914 3540 2195 0 0 0 0 0 0
11375 0.62 146.0 781.1 11.9 941 11381 0.15 2.90 0.00 0.000 6 0.202 0.077 2894 1952 2193 0 0 0 0 0 0
11687 0.62 146.0 751.5 9.2 952 11688 0.00 0.00 0.00 0.000 6 0.000 0.000 2894 1953 2193 0 0 0 0 0 0
11993 0.62 146.0 722.8 9.5 962 11998 0.00 2.92 0.00 0.000 4 0.000 0.088 2893 3541 2193 0 0 0 0 0 0
12030 0.62 146.0 718.8 9.8 963 12035 0.00 2.88 0.00 0.000 6 0.000 0.077 2904 1952 2191 0 0 0 0 0 0
12360 0.62 146.0 686.3 9.8 974 12364 0.00 2.53 0.00 0.000 4 0.000 0.097 2915 357 2191 0 0 0 0 0 0
12380 0.62 146.0 684.0 10.7 974 12387 0.00 2.50 0.00 0.000 6 0.000 0.071 2916 1959 2191 0 0 0 0 0 0
12693 0.58 146.0 651.4 10.5 985 12699 0.15 2.88 0.00 0.000 4 0.204 0.088 2881 3544 2191 0 0 0 0 0 0
12732 0.58 146.0 647.3 9.8 986 12736 0.00 2.83 0.00 0.000 6 0.000 0.077 2891 1968 2191 0 0 0 0 0 0
13055 0.58 146.0 616.9 9.3 997 13060 0.00 2.88 0.00 0.000 4 0.000 0.088 2891 3544 2191 0 0 0 0 0 0
13098 0.58 146.0 612.6 9.4 998 13103 0.00 2.80 0.00 0.000 6 0.000 0.077 2903 1983 2190 0 0 0 0 0 0
13420 0.58 146.0 581.1 10.1 1020 13424 0.00 2.85 0.00 0.000 4 0.000 0.088 2903 3544 2190 0 0 0 0 0 0
13440 0.58 146.0 578.6 10.8 1021 13447 0.15 2.80 0.00 0.000 6 0.199 0.077 2882 1984 2190 0 0 0 0 0 0
13765 0.66 146.0 548.0 9.2 1052 13770 0.00 2.58 0.00 0.000 4 0.000 0.096 2891 356 2190 0 0 0 0 0 0
13788 0.73 146.0 545.9 9.7 1053 13794 0.10 2.53 0.00 0.000 6 0.141 0.072 2923 2006 2190 0 0 0 0 0 0
14112 0.68 146.0 509.5 10.9 1084 14117 0.00 2.78 0.00 0.000 4 0.000 0.088 2923 3538 2190 0 0 0 0 0 0
14140 0.59 146.0 506.1 12.7 1086 14145 0.22 2.78 0.00 0.000 6 0.195 0.077 2882 1992 2190 0 0 0 0 0 0
14464 0.72 167.3 477.7 8.3 1116 14485 0.12 0.00 16.88 1.049 6 0.127 0.000 2921 1993 2118 0 0 0 0 0 0
14803 0.72 167.3 442.9 10.5 1148 14804 0.00 0.00 0.00 0.000 6 0.000 0.000 2921 1993 2116 0 0 0 0 0 0
15122 0.72 167.3 411.3 9.5 1178 15127 0.00 2.85 0.00 0.000 4 0.000 0.089 2921 3545 2115 0 0 0 0 0 0
15138 0.72 167.3 409.5 9.5 1179 15143 0.00 2.80 0.00 0.000 6 0.000 0.077 2934 1993 2114 0 0 0 0 0 0
15462 0.72 167.3 378.2 9.4 1209 15463 0.00 0.00 0.00 0.000 6 0.000 0.000 2934 1994 2114 0 0 0 0 0 0
15782 0.72 167.3 347.4 9.6 1239 15787 0.00 2.83 0.00 0.000 4 0.000 0.088 2934 3539 2114 0 0 0 0 0 0
15882 0.62 167.3 336.4 10.6 1247 15889 0.22 2.78 0.00 0.000 6 0.196 0.077 2892 2008 2114 0 0 0 0 0 0
16207 0.80 221.4 312.7 6.9 1278 16259 0.17 2.67 45.70 0.975 4 0.113 0.096 2960 356 1898 0 0 0 0 0 0
16283 0.73 221.4 305.5 10.5 1285 16288 0.15 2.60 0.00 0.000 6 0.191 0.072 2926 2019 1895 0 0 0 0 0 0
16608 0.80 222.8 274.4 9.1 1315 16612 0.00 2.80 0.00 0.000 4 0.000 0.087 2926 3544 1891 0 0 0 0 0 0
16650 0.80 222.8 269.7 10.1 1318 16657 0.00 2.78 0.00 0.000 6 0.000 0.077 2936 2019 1890 0 0 0 0 0 0
16976 0.86 222.8 235.3 10.6 1349 16980 0.00 2.80 0.00 0.000 4 0.000 0.088 2936 3537 1890 0 0 0 0 0 0
17030 0.86 222.8 228.8 12.2 1353 17036 0.00 2.72 0.00 0.000 6 0.000 0.077 2948 2044 1890 0 0 0 0 0 0
17355 0.92 222.8 194.7 9.4 1384 17357 0.12 0.00 0.00 0.000 6 0.120 0.000 2989 2045 1890 0 0 0 0 0 0
17674 0.87 222.8 160.0 10.7 1414 17679 0.00 2.67 0.00 0.000 4 0.000 0.099 3001 361 1889 0 0 0 0 0 0
17702 0.77 222.8 156.8 10.7 1416 17707 0.22 2.62 0.00 0.000 6 0.184 0.075 2945 2063 1888 0 0 0 0 0 0
18027 0.91 261.2 131.1 7.5 1446 18069 0.12 2.75 33.67 0.889 4 0.125 0.091 2985 3541 1733 0 0 0 0 0 0
18119 0.80 261.2 121.0 14.0 1454 18126 0.20 2.70 0.00 0.000 6 0.196 0.079 2950 2072 1731 0 0 0 0 0 0
18449 0.99 318.7 92.8 6.7 1493 18504 0.17 0.00 48.75 0.854 6 0.114 0.000 3006 2073 1498 0 0 0 0 0 0
18842 0.99 318.7 47.5 11.2 1564 18847 0.00 2.78 0.00 0.000 4 0.000 0.101 3018 358 1490 0 0 0 0 0 0
18876 0.99 318.7 43.4 12.5 1570 18881 0.00 2.70 0.00 0.000 6 0.000 0.077 3017 2082 1489 0 0 0 0 0 0
19162 end climb: FINISH_DEPTH_REACHED
state 19162 begin subsurface finish
19169 0.10 78.0 6.7 -13.3 1621 19220 1.02 2.65 -41.08 0.000 4 0.170 0.114 2724 352 2484 0 0 0 0 0 0
19221 end subsurface finish: CONTROL_FINISHED_OK
state 19221 begin surface