DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 235 * 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  235 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  15 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  -35700.973 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  003117,6645.514,-6002.987,0,6109.5,0,-37.8 TGT_NAME  TARGET_E
_CALLS  3 TGT_LATLONG  6703.000,-5648.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  9.27 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -2.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  003117,6645.514,-6002.987,0,6109.5,0,-37.8 MHEAD_RNG_PITCHd_Wd  114.8,144485,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  644

Post-dive calculations and measurements:
FREEZE  0.55,-2.059,-1.706,2,30,2 ALTIM_TOP_PING  19.9,19.4
FINISH  0.6,1.025088 ALTIM_BOTTOM_PING  600.6,95.3
SM_CCo  13504,0.00,0.000,0,0,1377,349.06 _24V_AH  22.5,49.333
SM_GC  1.47,8.73,0.00,0.00,0.087,0.000,0.000,127,2467,1377,-7.98,0.20,349.06 _10V_AH  10.1,25.722
RAFOS_CLK  946 FG_AHR_24Vo  0.000
RAFOS  0,1259812864,4.033333,4.017778,107,55,54,0,0,0,648,203,194,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6645.652832,-6001.670410,031209,040416,7,102,0.07 MEM  152568
IRIDIUM_FIX  6620.33,-5850.01,230299,080832 DATA_FILE_SIZE  50414,1300
TT8_MAMPS  0.026845 CAP_FILE_SIZE  158121,0
HUMID  49.80 CFSIZE  260165632,231432192
INTERNAL_PRESSURE  8.7894 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  16.30 SOUNDSPEED  1451.0
XPDR_PINGS  9 GPS  031209,070331,6647.342,-6000.942,37,1.5,37,-38.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1523584.64 SBE_CT96324520.42
Roll_motor174102400.00 SBE_O290319386.28
VBD_pump_during_apogee427119111467.43 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init01030.00 nil000.00
Iridium_during_connect01600.00 nil000.00
Iridium_during_xfer02230.00
Transponder_ping442044.89
GUMSTIX_24V000.00
GPS0500.00
TT8228819460.37
LPSleep83902195.77
TT8_Active51319103.41
TT8_Sampling220739890.02
TT8_CF81764581.81
TT8_Kalman000.00
Analog_circuits166712202.06
GPS_charging000.00
Compass21768175.83
RAFOS2520138.18
Transponder20306.33

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 22 0.00 0.00 -4.85 0.000 2 0.000 0.000 2729 364 2611 0 0 0 0 0 0
25 -0.73 -146.0 10.0 -0.0 1 57 0.82 6.12 -20.52 0.000 4 0.121 0.095 2460 3922 3395 0 0 0 0 0 0
248 -0.62 -146.0 37.5 -13.7 41 254 0.00 2.75 0.00 0.000 6 0.000 0.074 2460 2458 3396 0 0 0 0 0 0
594 -0.54 -146.0 85.3 -13.5 102 600 0.22 2.88 0.00 0.000 4 0.227 0.096 2502 3922 3398 0 0 0 0 0 0
743 -0.63 -146.0 101.8 -10.4 127 748 0.00 2.72 0.00 0.000 6 0.000 0.073 2501 2468 3397 0 0 0 0 0 0
1068 -0.73 -146.0 134.8 -9.7 157 1073 0.15 2.85 0.00 0.000 4 0.128 0.097 2440 3918 3397 0 0 0 0 0 0
1154 -0.62 -146.0 145.3 -12.6 164 1159 0.20 2.70 0.00 0.000 6 0.224 0.074 2484 2475 3397 0 0 0 0 0 0
1479 -0.68 -146.0 175.7 -8.3 194 1483 0.00 2.85 0.00 0.000 4 0.000 0.101 2484 3922 3397 0 0 0 0 0 0
1556 -0.78 -146.0 182.4 -8.6 200 1563 0.15 2.70 0.00 0.000 6 0.130 0.075 2438 2486 3396 0 0 0 0 0 0
1881 -0.70 -146.0 219.0 -11.6 231 1886 0.00 2.83 0.00 0.000 4 0.000 0.100 2437 3922 3396 0 0 0 0 0 0
1965 -0.65 -146.0 228.8 -11.6 238 1970 0.17 2.67 0.00 0.000 6 0.226 0.075 2475 2498 3396 0 0 0 0 0 0
2290 -0.71 -146.0 259.2 -9.0 268 2295 0.00 2.80 0.00 0.000 4 0.000 0.102 2475 3914 3395 0 0 0 0 0 0
2409 -0.80 -146.0 269.9 -8.9 278 2415 0.15 2.65 0.00 0.000 6 0.131 0.076 2429 2506 3396 0 0 0 0 0 0
2734 -0.71 -146.0 303.7 -10.0 308 2739 0.12 2.80 0.00 0.000 4 0.235 0.100 2447 3917 3396 0 0 0 0 0 0
2829 -0.71 -146.0 313.1 -9.8 316 2834 0.00 2.62 0.00 0.000 6 0.000 0.074 2447 2519 3396 0 0 0 0 0 0
3153 -0.71 -146.0 342.6 -9.1 346 3158 0.00 2.75 0.00 0.000 4 0.000 0.101 2447 3913 3396 0 0 0 0 0 0
3288 -0.71 -146.0 355.3 -9.2 357 3293 0.00 2.62 0.00 0.000 6 0.000 0.074 2447 2520 3395 0 0 0 0 0 0
3612 -0.71 -146.0 384.4 -8.2 388 3617 0.00 2.75 0.00 0.000 4 0.000 0.101 2447 3917 3396 0 0 0 0 0 0
3668 -0.71 -146.0 389.2 -9.0 393 3672 0.00 2.62 0.00 0.000 6 0.000 0.076 2447 2533 3395 0 0 0 0 0 0
3993 -0.71 -146.0 416.4 -8.2 423 3994 0.00 0.00 0.00 0.000 6 0.000 0.000 2447 2534 3395 0 0 0 0 0 0
4312 -0.71 -146.0 443.4 -9.1 453 4317 0.00 2.75 0.00 0.000 4 0.000 0.101 2447 3921 3395 0 0 0 0 0 0
4414 -0.76 -146.0 453.2 -10.1 461 4419 0.00 2.60 0.00 0.000 6 0.000 0.074 2447 2538 3395 0 0 0 0 0 0
4739 -0.81 -146.0 482.9 -8.6 492 4743 0.00 2.72 0.00 0.000 4 0.000 0.100 2447 3917 3395 0 0 0 0 0 0
4845 -0.87 -146.0 492.5 -9.6 501 4850 0.12 2.60 0.00 0.000 6 0.131 0.074 2407 2534 3395 0 0 0 0 0 0
5170 -0.79 -146.0 523.1 -9.0 531 5174 0.00 2.72 0.00 0.000 4 0.000 0.099 2407 3916 3395 0 0 0 0 0 0
5213 -0.70 -146.0 527.2 -9.6 534 5219 0.22 2.58 0.00 0.000 6 0.215 0.074 2459 2545 3395 0 0 0 0 0 0
5544 -0.81 -146.0 550.6 -7.4 565 5549 0.00 2.70 0.00 0.000 4 0.000 0.097 2459 3914 3396 0 0 0 0 0 0
5606 -0.91 -146.0 555.9 -7.4 570 5611 0.20 2.58 0.00 0.000 6 0.117 0.072 2395 2541 3396 0 0 0 0 0 0
5930 -0.82 -146.0 589.8 -11.2 600 5935 0.12 2.70 0.00 0.000 4 0.216 0.094 2413 3914 3396 0 0 0 0 0 0
6019 -0.76 -146.0 599.0 -9.9 607 6026 0.12 2.55 0.00 0.000 6 0.219 0.071 2438 2554 3396 0 0 0 0 0 0
6343 -0.81 -146.0 625.9 -8.2 619 6348 0.00 2.67 0.00 0.000 4 0.000 0.096 2438 3915 3397 0 0 0 0 0 0
6439 -0.87 -146.0 633.5 -8.1 622 6444 0.00 2.55 0.00 0.000 6 0.000 0.071 2439 2553 3397 0 0 0 0 0 0
6589 end dive: TARGET_DEPTH_EXCEEDED
state 6589 begin apogee
6595 -0.16 0.0 645.6 7.9 627 6720 0.73 0.00 121.78 1.191 6 0.193 0.000 2633 1949 2799 0 0 0 0 0 0
6721 end apogee: CONTROL_FINISHED_OK
state 6721 begin climb
6723 0.73 146.0 648.5 0.0 631 6860 0.98 2.75 128.88 1.134 4 0.143 0.095 2923 363 2201 0 0 0 0 0 0
6910 0.66 146.0 634.5 11.6 637 6914 0.00 2.58 0.00 0.000 6 0.000 0.071 2922 1951 2197 0 0 0 0 0 0
7245 0.59 146.0 600.0 10.1 648 7251 0.17 3.10 0.00 0.000 4 0.202 0.088 2881 3546 2193 0 0 0 0 0 0
7296 0.59 146.0 595.1 9.3 651 7301 0.00 3.08 0.00 0.000 6 0.000 0.078 2892 1947 2192 0 0 0 0 0 0
7621 0.66 155.3 567.2 8.8 681 7635 0.00 3.10 7.40 0.955 4 0.000 0.088 2892 3535 2166 0 0 0 0 0 0
7697 0.66 155.3 559.4 10.6 688 7702 0.00 3.00 0.00 0.000 6 0.000 0.078 2904 1953 2165 0 0 0 0 0 0
8021 0.66 155.3 526.5 10.4 718 8026 0.00 3.03 0.00 0.000 4 0.000 0.088 2904 3541 2164 0 0 0 0 0 0
8076 0.61 155.3 520.0 11.4 722 8083 0.12 2.95 0.00 0.000 6 0.210 0.078 2892 1971 2164 0 0 0 0 0 0
8401 0.68 166.7 490.4 8.7 753 8422 0.00 2.97 11.35 1.006 4 0.000 0.087 2892 3539 2118 0 0 0 0 0 0
8471 0.68 166.7 483.9 9.6 759 8478 0.00 2.95 0.00 0.000 6 0.000 0.078 2902 1971 2117 0 0 0 0 0 0
8797 0.76 183.2 456.6 8.5 790 8819 0.10 3.00 15.40 1.019 4 0.131 0.087 2939 3540 2051 0 0 0 0 0 0
8864 0.64 183.2 448.9 12.7 796 8870 0.22 2.97 0.00 0.000 6 0.202 0.078 2899 1974 2049 0 0 0 0 0 0
9189 0.72 183.2 415.9 10.6 826 9194 0.00 2.97 0.00 0.000 4 0.000 0.087 2899 3540 2049 0 0 0 0 0 0
9220 0.72 183.2 412.1 11.9 828 9227 0.00 2.92 0.00 0.000 6 0.000 0.076 2909 1978 2049 0 0 0 0 0 0
9546 0.78 183.2 379.1 9.8 859 9547 0.00 0.00 0.00 0.000 6 0.000 0.000 2909 1979 2049 0 0 0 0 0 0
9866 0.86 183.2 350.5 9.4 889 9871 0.17 3.00 0.00 0.000 4 0.104 0.088 2970 3548 2048 0 0 0 0 0 0
9921 0.66 183.2 343.2 14.2 893 9928 0.32 2.92 0.00 0.000 6 0.209 0.077 2904 1985 2049 0 0 0 0 0 0
10247 0.82 222.5 315.2 7.5 924 10289 0.15 3.00 33.70 0.975 4 0.119 0.087 2953 3540 1892 0 0 0 0 0 0
10335 0.74 222.5 306.3 11.8 932 10341 0.15 2.95 0.00 0.000 6 0.199 0.077 2933 1990 1890 0 0 0 0 0 0
10659 0.81 222.5 275.5 9.8 962 10661 0.00 0.00 0.00 0.000 6 0.000 0.000 2933 1991 1887 0 0 0 0 0 0
10979 0.88 222.5 246.4 9.4 992 10985 0.12 2.97 0.00 0.000 4 0.127 0.089 2972 3539 1887 0 0 0 0 0 0
11019 0.77 222.5 241.9 11.7 995 11025 0.20 2.92 0.00 0.000 6 0.205 0.079 2938 1985 1887 0 0 0 0 0 0
11344 0.88 247.9 211.4 8.1 1025 11369 0.12 0.00 22.55 0.923 6 0.129 0.000 2976 1985 1789 0 0 0 0 0 0
11683 0.88 247.9 175.3 10.6 1057 11688 0.00 2.97 0.00 0.000 4 0.000 0.090 2976 3538 1785 0 0 0 0 0 0
11738 0.80 247.9 168.6 12.5 1061 11744 0.17 2.92 0.00 0.000 6 0.201 0.080 2949 1992 1785 0 0 0 0 0 0
12063 0.92 256.0 135.5 8.8 1092 12078 0.12 3.00 7.68 0.829 4 0.131 0.091 2987 3539 1755 0 0 0 0 0 0
12111 0.82 256.0 130.5 10.5 1096 12118 0.20 2.92 0.00 0.000 6 0.198 0.081 2954 1992 1755 0 0 0 0 0 0
12437 0.95 262.1 102.5 8.9 1127 12452 0.12 3.00 6.93 0.802 4 0.130 0.092 2991 3534 1730 0 0 0 0 0 0
12492 0.87 262.1 96.1 12.1 1134 12498 0.12 2.90 0.00 0.000 6 0.209 0.082 2978 2006 1730 0 0 0 0 0 0
12837 1.02 309.8 65.0 7.2 1195 12889 0.12 3.08 41.40 0.857 4 0.130 0.092 3015 3539 1536 0 0 0 0 0 0
12934 0.96 309.8 56.0 10.6 1213 12940 0.00 2.95 0.00 0.000 6 0.000 0.082 3028 2014 1534 0 0 0 0 0 0
13280 0.96 346.3 17.3 7.6 1274 13317 0.00 2.62 30.83 0.819 4 0.000 0.102 3039 359 1386 0 0 0 0 0 0
13411 end climb: SURFACE_DEPTH_REACHED
state 13411 begin surface coast
13423 end surface coast: CONTROL_FINISHED_OK
state 13423 begin surface