DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 236 * 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  236 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  15 XPDR_VALID  0
D_FINISH  9 FILEMGR  2 R_STBD_OVSHOOT  17 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  -35716.281 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  070331,6647.342,-6000.942,37,1.5,37,-38.1 TGT_NAME  TARGET_E
_CALLS  2 TGT_LATLONG  6703.000,-5648.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.95 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -35.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  072150,6647.049,-6000.751,12,1.1,12,-38.1 MHEAD_RNG_PITCHd_Wd  116.1,142295,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  687

Post-dive calculations and measurements:
FREEZE  8.95,-1.762,-1.758,2,1,0 ALTIM_BOTTOM_PING  600.8,128.1
FINISH1  9.0,1.025745,85 _24V_AH  22.5,49.500
FINISH2  7.6 _10V_AH  10.1,25.810
RAFOS_CLK  1017 FG_AHR_24Vo  0.000
RAFOS  0,1259827267,8.033334,8.018611,115,64,55,0,0,0,640,196,220,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6644.035645,-5958.902832,031209,080806,6,122,1.56 MEM  152432
IRIDIUM_FIX  6620.33,-5958.37,270299,070748 DATA_FILE_SIZE  53531,1371
TT8_MAMPS  0.027612 CAP_FILE_SIZE  183649,0
HUMID  50.59 CFSIZE  260165632,231333888
INTERNAL_PRESSURE  8.88706 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  16.00 SOUNDSPEED  1450.8
XPDR_PINGS  7 GPS  031209,082306,6644.036,-5958.903,0,6121.7,0,-38.1
ALTIM_TOP_PING  19.9,20.3

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor17265106.88 SBE_CT101024545.45
Roll_motor171139539.05 SBE_O295719409.18
VBD_pump_during_apogee366122010058.76 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init48103113.45 nil000.00
Iridium_during_connect64160231.61 nil000.00
Iridium_during_xfer6952233488.75
Transponder_ping442037.80
GUMSTIX_24V000.00
GPS14507.41
TT8233219469.37
LPSleep91932214.50
TT8_Active57519115.84
TT8_Sampling232439937.15
TT8_CF8114645531.75
TT8_Kalman000.00
Analog_circuits180412218.70
GPS_charging000.00
Compass22778184.03
RAFOS2520138.18
Transponder17305.45

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 0 174 0.00 0.00 -151.45 0.000 6 0.000 0.000 126 2467 3397 0 0 0 0 0 0
176 -0.73 -146.0 1.2 -0.6 31 193 10.27 2.62 0.00 0.000 4 0.265 0.097 2453 867 3400 0 0 0 0 0 0
362 -0.26 -146.0 35.0 -20.4 64 368 0.60 2.55 0.00 0.000 6 0.239 0.087 2595 2458 3401 0 0 0 0 0 0
709 -0.42 -146.0 68.2 -8.1 125 715 0.15 2.88 0.00 0.000 4 0.122 0.100 2536 3913 3402 0 0 0 0 0 0
777 -0.42 -146.0 76.2 -12.0 137 783 0.00 2.75 0.00 0.000 6 0.000 0.075 2536 2462 3401 0 0 0 0 0 0
1114 -0.49 -146.0 111.3 -9.9 188 1119 0.00 2.88 0.00 0.000 4 0.000 0.102 2536 3917 3401 0 0 0 0 0 0
1273 -0.59 -146.0 126.9 -10.0 201 1279 0.12 2.72 0.00 0.000 6 0.124 0.076 2496 2479 3401 0 0 0 0 0 0
1597 -0.59 -146.0 162.4 -10.3 232 1602 0.00 2.85 0.00 0.000 4 0.000 0.101 2495 3914 3401 0 0 0 0 0 0
1754 -0.63 -146.0 179.5 -11.3 245 1760 0.00 2.67 0.00 0.000 6 0.000 0.077 2495 2498 3401 0 0 0 0 0 0
2079 -0.68 -146.0 213.1 -10.5 276 2083 0.00 2.80 0.00 0.000 4 0.000 0.101 2495 3914 3401 0 0 0 0 0 0
2220 -0.75 -146.0 228.0 -10.6 288 2225 0.15 2.65 0.00 0.000 6 0.120 0.077 2444 2511 3401 0 0 0 0 0 0
2545 -0.66 -146.0 267.2 -11.0 318 2550 0.12 2.78 0.00 0.000 4 0.232 0.099 2460 3913 3401 0 0 0 0 0 0
2640 -0.66 -146.0 277.0 -10.1 326 2645 0.00 2.62 0.00 0.000 6 0.000 0.074 2460 2517 3400 0 0 0 0 0 0
2966 -0.66 -146.0 305.2 -8.6 356 2971 0.00 2.78 0.00 0.000 4 0.000 0.102 2460 3917 3401 0 0 0 0 0 0
3084 -0.66 -146.0 316.6 -9.7 366 3088 0.00 2.62 0.00 0.000 6 0.000 0.076 2460 2527 3400 0 0 0 0 0 0
3408 -0.66 -146.0 348.0 -10.2 396 3412 0.00 2.75 0.00 0.000 4 0.000 0.102 2460 3914 3400 0 0 0 0 0 0
3451 -0.66 -146.0 352.6 -10.3 399 3457 0.00 2.65 0.00 0.000 6 0.000 0.075 2460 2534 3400 0 0 0 0 0 0
3776 -0.66 -146.0 385.8 -9.5 430 3781 0.00 2.72 0.00 0.000 4 0.000 0.101 2460 3913 3400 0 0 0 0 0 0
3820 -0.71 -146.0 390.3 -9.9 434 3825 0.00 2.62 0.00 0.000 6 0.000 0.074 2460 2521 3400 0 0 0 0 0 0
4145 -0.76 -146.0 422.3 -9.7 464 4149 0.00 2.72 0.00 0.000 4 0.000 0.100 2460 3921 3400 0 0 0 0 0 0
4252 -0.82 -146.0 432.3 -8.8 473 4258 0.08 2.58 0.00 0.000 6 0.097 0.074 2427 2550 3400 0 0 0 0 0 0
4583 -0.77 -146.0 465.9 -9.9 504 4588 0.00 2.70 0.00 0.000 4 0.000 0.100 2427 3913 3400 0 0 0 0 0 0
4638 -0.72 -146.0 471.5 -10.3 508 4644 0.12 2.58 0.00 0.000 6 0.222 0.074 2452 2545 3400 0 0 0 0 0 0
4964 -0.77 -146.0 499.1 -7.7 539 4969 0.00 2.72 0.00 0.000 4 0.000 0.100 2452 3924 3400 0 0 0 0 0 0
5009 -0.83 -146.0 502.8 -7.8 542 5014 0.00 2.58 0.00 0.000 6 0.000 0.074 2452 2558 3400 0 0 0 0 0 0
5333 -0.89 -146.0 526.6 -7.3 573 5339 0.15 2.70 0.00 0.000 4 0.123 0.096 2397 3920 3401 0 0 0 0 0 0
5411 -0.75 -146.0 534.2 -10.0 579 5418 0.20 2.55 0.00 0.000 6 0.219 0.071 2441 2562 3401 0 0 0 0 0 0
5736 -0.75 -146.0 560.2 -8.1 610 5740 0.00 2.67 0.00 0.000 4 0.000 0.097 2441 3918 3401 0 0 0 0 0 0
5780 -0.75 -146.0 563.8 -8.4 613 5785 0.00 2.55 0.00 0.000 6 0.000 0.071 2442 2562 3401 0 0 0 0 0 0
6104 -0.75 -146.0 590.8 -8.5 644 6105 0.00 0.00 0.00 0.000 6 0.000 0.000 2442 2563 3402 0 0 0 0 0 0
6436 -0.75 -146.0 618.7 -8.3 662 6440 0.00 2.67 0.00 0.000 4 0.000 0.097 2441 3920 3402 0 0 0 0 0 0
6485 -0.81 -146.0 623.2 -9.3 663 6489 0.00 2.53 0.00 0.000 6 0.000 0.071 2442 2573 3402 0 0 0 0 0 0
6805 -0.86 -146.0 649.2 -7.8 674 6806 0.00 0.00 0.00 0.000 6 0.000 0.000 2442 2574 3403 0 0 0 0 0 0
7110 -0.86 -146.0 673.1 -7.7 684 7111 0.00 0.00 0.00 0.000 6 0.000 0.000 2442 2574 3403 0 0 0 0 0 0
7291 end dive: TARGET_DEPTH_EXCEEDED
state 7291 begin apogee
7296 -0.16 0.0 687.0 7.5 690 7423 0.70 0.00 123.60 1.220 6 0.186 0.000 2632 1941 2800 0 0 0 0 0 0
7424 end apogee: CONTROL_FINISHED_OK
state 7424 begin climb
7426 0.73 146.0 689.7 0.0 694 7564 0.98 2.72 129.05 1.162 4 0.136 0.096 2925 365 2203 0 0 0 0 0 0
7655 0.64 146.0 669.8 12.7 701 7659 0.00 2.55 0.00 0.000 6 0.000 0.071 2924 1961 2198 0 0 0 0 0 0
7979 0.58 146.0 634.7 10.5 712 7984 0.20 3.08 0.00 0.000 4 0.201 0.086 2877 3540 2195 0 0 0 0 0 0
8028 0.58 146.0 629.4 10.0 713 8033 0.00 3.05 0.00 0.000 6 0.000 0.078 2888 1951 2193 0 0 0 0 0 0
8348 0.67 159.8 601.3 8.6 724 8367 0.00 3.05 11.40 1.052 4 0.000 0.087 2888 3537 2147 0 0 0 0 0 0
8401 0.67 159.8 596.1 11.2 727 8406 0.00 3.00 0.00 0.000 6 0.000 0.078 2901 1957 2147 0 0 0 0 0 0
8725 0.67 159.8 564.4 9.6 757 8730 0.00 3.03 0.00 0.000 4 0.000 0.087 2901 3543 2146 0 0 0 0 0 0
8757 0.67 159.8 561.0 11.0 759 8763 0.00 2.97 0.00 0.000 6 0.000 0.078 2914 1965 2145 0 0 0 0 0 0
9083 0.67 159.8 527.6 10.1 790 9087 0.00 3.00 0.00 0.000 4 0.000 0.089 2914 3540 2145 0 0 0 0 0 0
9149 0.56 159.8 519.9 12.0 795 9155 0.22 2.95 0.00 0.000 6 0.202 0.079 2874 1972 2144 0 0 0 0 0 0
9474 0.74 200.7 493.4 7.4 826 9518 0.17 3.05 35.83 1.081 4 0.114 0.087 2930 3541 1979 0 0 0 0 0 0
9548 0.64 200.7 485.5 12.7 833 9553 0.20 3.00 0.00 0.000 6 0.205 0.078 2898 1976 1977 0 0 0 0 0 0
9873 0.72 202.2 454.5 9.1 863 9877 0.00 3.00 0.00 0.000 4 0.000 0.087 2898 3546 1974 0 0 0 0 0 0
9922 0.72 202.2 449.4 10.8 867 9927 0.00 2.95 0.00 0.000 6 0.000 0.077 2908 1983 1973 0 0 0 0 0 0
10247 0.78 202.2 417.0 10.2 897 10248 0.00 0.00 0.00 0.000 6 0.000 0.000 2908 1984 1973 0 0 0 0 0 0
10567 0.84 202.2 384.8 10.1 927 10572 0.15 2.97 0.00 0.000 4 0.104 0.088 2961 3538 1973 0 0 0 0 0 0
10629 0.68 202.2 376.4 14.6 932 10635 0.25 2.90 0.00 0.000 6 0.203 0.077 2914 1992 1972 0 0 0 0 0 0
10954 0.77 204.0 344.4 9.1 962 10958 0.00 2.92 0.00 0.000 4 0.000 0.087 2914 3539 1972 0 0 0 0 0 0
11003 0.77 204.0 339.0 10.9 966 11008 0.00 2.90 0.00 0.000 6 0.000 0.077 2924 1990 1972 0 0 0 0 0 0
11329 0.84 204.0 306.8 9.7 996 11331 0.12 0.00 0.00 0.000 6 0.115 0.000 2968 1991 1973 0 0 0 0 0 0
11646 0.79 204.0 272.0 10.9 1026 11650 0.00 2.50 0.00 0.000 4 0.000 0.098 2979 355 1972 0 0 0 0 0 0
11667 0.70 204.0 269.6 11.0 1027 11674 0.25 2.42 0.00 0.000 6 0.196 0.074 2918 1992 1972 0 0 0 0 0 0
11992 0.84 225.4 242.4 8.3 1058 12023 0.15 2.95 20.77 0.940 4 0.112 0.088 2968 3542 1879 0 0 0 0 0 0
12074 0.73 225.4 233.1 13.2 1065 12081 0.22 2.92 0.00 0.000 6 0.198 0.080 2928 1997 1878 0 0 0 0 0 0
12399 0.87 225.4 202.9 9.5 1096 12405 0.12 2.97 0.00 0.000 4 0.127 0.090 2967 3539 1876 0 0 0 0 0 0
12462 0.79 225.4 195.3 12.5 1101 12467 0.15 2.90 0.00 0.000 6 0.201 0.081 2945 2006 1876 0 0 0 0 0 0
12787 0.92 256.0 167.2 7.9 1131 12822 0.12 3.00 26.98 0.912 4 0.127 0.090 2984 3533 1755 0 0 0 0 0 0
12856 0.83 256.0 160.0 11.9 1137 12862 0.15 2.92 0.00 0.000 6 0.206 0.080 2964 2007 1754 0 0 0 0 0 0
13180 0.91 258.6 127.1 9.1 1168 13182 0.00 0.00 0.00 0.000 6 0.000 0.000 2964 2008 1751 0 0 0 0 0 0
13501 1.05 277.2 98.9 8.4 1199 13528 0.20 2.97 18.73 0.872 4 0.113 0.092 3027 3537 1669 0 0 0 0 0 0
13575 0.90 277.2 90.4 12.3 1212 13581 0.25 2.92 0.00 0.000 6 0.203 0.082 2982 2013 1668 0 0 0 0 0 0
13920 1.00 277.2 59.3 9.9 1273 13924 0.00 0.00 0.00 0.000 6 0.000 0.000 2981 2015 1664 0 0 0 0 0 0
14262 1.08 277.2 24.9 9.7 1334 14268 0.17 2.97 0.00 0.000 4 0.116 0.094 3037 3540 1663 0 0 0 0 0 0
14320 0.93 277.2 18.5 11.5 1344 14326 0.22 2.90 0.00 0.000 6 0.206 0.084 2996 2022 1663 0 0 0 0 0 0
14434 end climb: FINISH_DEPTH_REACHED
state 14434 begin subsurface finish
14440 0.10 85.3 9.0 -7.6 1364 14477 0.90 2.50 -26.90 0.000 4 0.166 0.114 2733 365 2457 0 0 0 0 0 0
14477 end subsurface finish: CONTROL_FINISHED_OK
state 14478 begin surface