DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 239 * 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  239 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  17 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  162725,6646.117,-5948.983,0,7115.3,0,-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  5.41 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  162725,6646.117,-5948.983,0,7115.3,0,-38.1 MHEAD_RNG_PITCHd_Wd  114.6,134384,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  783

Post-dive calculations and measurements:
FREEZE  8.84,-1.740,-1.763,2,4,0 ALTIM_BOTTOM_PING  752.5,10.2
FINISH1  8.8,1.025820,82 _24V_AH  22.4,49.865
FINISH2  7.6 _10V_AH  10.2,26.027
RAFOS_CLK  1107 FG_AHR_24Vo  0.000
RAFOS  0,1259870464,20.033333,20.017778,96,61,56,0,0,0,704,213,120,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6644.146973,-5943.714844,031209,202016,7,101,0.37 MEM  152468
IRIDIUM_FIX  6620.33,-5958.37,270299,070748 DATA_FILE_SIZE  53574,1409
TT8_MAMPS  0.026845 CAP_FILE_SIZE  170866,0
HUMID  50.03 CFSIZE  260165632,231108608
INTERNAL_PRESSURE  8.89683 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  16.20 SOUNDSPEED  1452.0
XPDR_PINGS  7 GPS  031209,202716,6644.147,-5943.715,0,7101.0,0,-38.1
ALTIM_TOP_PING  19.7,19.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor824346.16 SBE_CT104024559.59
Roll_motor180118479.41 SBE_O299319422.76
VBD_pump_during_apogee393125911089.69 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_ping442044.69
GUMSTIX_24V000.00
GPS0500.00
TT8241619491.08
LPSleep105392248.34
TT8_Active51119103.86
TT8_Sampling239539975.30
TT8_CF82004593.99
TT8_Kalman000.00
Analog_circuits176212215.75
GPS_charging000.00
Compass23688193.26
RAFOS2520138.56
Transponder24307.49

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 22 0.00 0.00 -5.45 0.000 2 0.000 0.000 2729 1942 2620 0 0 0 0 0 0
25 -0.73 -146.0 6.2 -0.0 1 57 0.80 1.73 -25.70 0.000 4 0.114 0.119 2463 870 3399 0 0 0 0 0 0
115 -0.65 -146.0 17.0 -14.3 17 120 0.00 2.50 0.00 0.000 6 0.000 0.085 2463 2462 3402 0 0 0 0 0 0
458 -0.56 -146.0 64.4 -13.0 78 464 0.17 2.88 0.00 0.000 4 0.243 0.098 2491 3913 3402 0 0 0 0 0 0
626 -0.56 -146.0 82.8 -10.0 108 632 0.00 2.75 0.00 0.000 6 0.000 0.074 2491 2468 3402 0 0 0 0 0 0
967 -0.61 -146.0 115.6 -9.5 155 971 0.00 2.88 0.00 0.000 4 0.000 0.100 2491 3910 3402 0 0 0 0 0 0
1041 -0.69 -146.0 122.6 -9.4 161 1045 0.00 2.72 0.00 0.000 6 0.000 0.075 2491 2480 3402 0 0 0 0 0 0
1365 -0.76 -146.0 152.7 -9.8 191 1370 0.15 2.85 0.00 0.000 4 0.127 0.098 2428 3911 3402 0 0 0 0 0 0
1466 -0.65 -146.0 165.8 -13.2 199 1472 0.20 2.70 0.00 0.000 6 0.226 0.074 2472 2489 3401 0 0 0 0 0 0
1791 -0.69 -146.0 201.8 -10.7 230 1795 0.00 2.85 0.00 0.000 4 0.000 0.100 2472 3917 3402 0 0 0 0 0 0
1914 -0.76 -146.0 214.1 -9.4 240 1920 0.00 2.70 0.00 0.000 6 0.000 0.074 2472 2499 3401 0 0 0 0 0 0
2239 -0.84 -146.0 244.9 -8.9 271 2244 0.17 2.85 0.00 0.000 4 0.123 0.099 2413 3921 3401 0 0 0 0 0 0
2370 -0.73 -146.0 260.9 -13.0 282 2375 0.17 2.67 0.00 0.000 6 0.222 0.074 2451 2515 3401 0 0 0 0 0 0
2694 -0.73 -146.0 294.3 -10.6 312 2698 0.00 2.80 0.00 0.000 4 0.000 0.100 2451 3917 3401 0 0 0 0 0 0
2777 -0.73 -146.0 303.1 -10.6 319 2782 0.00 2.67 0.00 0.000 6 0.000 0.075 2451 2514 3400 0 0 0 0 0 0
3102 -0.73 -146.0 334.7 -9.1 349 3106 0.00 2.80 0.00 0.000 4 0.000 0.101 2451 3910 3400 0 0 0 0 0 0
3174 -0.73 -146.0 341.6 -9.4 355 3179 0.00 2.67 0.00 0.000 6 0.000 0.076 2451 2513 3400 0 0 0 0 0 0
3500 -0.73 -146.0 369.7 -8.2 385 3505 0.00 2.80 0.00 0.000 4 0.000 0.100 2451 3910 3400 0 0 0 0 0 0
3654 -0.80 -146.0 382.5 -8.0 398 3659 0.00 2.65 0.00 0.000 6 0.000 0.075 2451 2522 3399 0 0 0 0 0 0
3979 -0.85 -146.0 407.1 -7.4 428 3984 0.12 2.83 0.00 0.000 4 0.132 0.100 2413 3921 3399 0 0 0 0 0 0
4030 -0.77 -146.0 411.7 -9.6 432 4034 0.00 2.65 0.00 0.000 6 0.000 0.074 2413 2530 3399 0 0 0 0 0 0
4354 -0.71 -146.0 443.9 -10.3 462 4359 0.20 2.78 0.00 0.000 4 0.223 0.097 2455 3911 3400 0 0 0 0 0 0
4421 -0.79 -146.0 449.7 -8.0 467 4428 0.00 2.62 0.00 0.000 6 0.000 0.073 2455 2532 3400 0 0 0 0 0 0
4746 -0.87 -146.0 475.5 -7.9 498 4751 0.15 2.78 0.00 0.000 4 0.117 0.097 2400 3912 3400 0 0 0 0 0 0
4796 -0.75 -146.0 480.6 -9.9 502 4802 0.20 2.60 0.00 0.000 6 0.217 0.072 2445 2544 3400 0 0 0 0 0 0
5121 -0.80 -146.0 505.9 -7.4 532 5126 0.00 2.75 0.00 0.000 4 0.000 0.097 2444 3912 3400 0 0 0 0 0 0
5269 -0.86 -146.0 517.8 -8.3 544 5275 0.00 2.60 0.00 0.000 6 0.000 0.071 2445 2546 3400 0 0 0 0 0 0
5596 -0.92 -146.0 543.6 -7.6 575 5601 0.17 2.75 0.00 0.000 4 0.122 0.094 2377 3921 3401 0 0 0 0 0 0
5629 -0.74 -146.0 547.2 -11.3 577 5635 0.30 2.58 0.00 0.000 6 0.224 0.070 2446 2557 3401 0 0 0 0 0 0
5955 -0.81 -146.0 573.1 -7.3 608 5959 0.00 2.70 0.00 0.000 4 0.000 0.095 2446 3912 3401 0 0 0 0 0 0
6016 -0.88 -146.0 578.2 -8.5 613 6021 0.12 2.58 0.00 0.000 6 0.133 0.071 2408 2557 3401 0 0 0 0 0 0
6347 -0.82 -146.0 608.9 -9.4 638 6352 0.00 2.72 0.00 0.000 4 0.000 0.096 2408 3919 3401 0 0 0 0 0 0
6392 -0.76 -146.0 613.2 -9.6 639 6397 0.15 2.58 0.00 0.000 6 0.217 0.070 2440 2563 3402 0 0 0 0 0 0
6711 -0.81 -146.0 638.9 -7.9 650 6715 0.00 2.70 0.00 0.000 4 0.000 0.095 2440 3916 3402 0 0 0 0 0 0
6783 -0.88 -146.0 645.0 -8.4 652 6787 0.00 2.55 0.00 0.000 6 0.000 0.070 2440 2575 3402 0 0 0 0 0 0
7106 -0.94 -146.0 670.7 -8.1 663 7108 0.17 0.00 0.00 0.000 6 0.117 0.000 2384 2577 3403 0 0 0 0 0 0
7413 -0.81 -146.0 701.2 -10.1 673 7415 0.17 0.00 0.00 0.000 6 0.219 0.000 2422 2577 3403 0 0 0 0 0 0
7718 -0.81 -146.0 726.8 -8.3 683 7719 0.00 0.00 0.00 0.000 6 0.000 0.000 2422 2577 3403 0 0 0 0 0 0
8025 end dive: BOTTOM_OBSTACLE_DETECTED
state 8025 begin apogee
8031 -0.16 0.0 752.5 8.5 693 8159 0.80 0.00 124.70 1.259 6 0.193 0.000 2634 1944 2800 0 0 0 0 0 0
8160 end apogee: CONTROL_FINISHED_OK
state 8160 begin climb
8162 0.73 146.0 755.9 0.0 697 8303 0.98 2.78 131.02 1.200 4 0.139 0.095 2924 360 2203 0 0 0 0 0 0
8358 0.65 146.0 741.4 11.3 703 8363 0.00 2.55 0.00 0.000 6 0.000 0.071 2924 1957 2199 0 0 0 0 0 0
8688 0.60 146.0 706.8 10.5 714 8693 0.17 3.10 0.00 0.000 4 0.199 0.087 2881 3537 2194 0 0 0 0 0 0
8754 0.60 146.0 699.9 10.2 716 8759 0.00 3.05 0.00 0.000 6 0.000 0.077 2893 1958 2193 0 0 0 0 0 0
9083 0.60 146.0 669.2 9.3 727 9088 0.00 3.05 0.00 0.000 4 0.000 0.087 2893 3537 2192 0 0 0 0 0 0
9127 0.55 146.0 664.9 10.1 728 9132 0.15 3.00 0.00 0.000 6 0.199 0.077 2874 1959 2191 0 0 0 0 0 0
9445 0.68 158.4 637.4 8.6 739 9461 0.12 3.03 10.05 1.057 4 0.126 0.086 2913 3538 2153 0 0 0 0 0 0
9535 0.57 158.4 627.2 12.0 741 9542 0.20 2.97 0.00 0.000 6 0.206 0.077 2881 1977 2152 0 0 0 0 0 0
9847 0.67 158.4 597.7 9.4 752 9852 0.00 3.00 0.00 0.000 4 0.000 0.087 2881 3540 2151 0 0 0 0 0 0
9901 0.67 158.4 591.9 10.9 756 9908 0.00 2.95 0.00 0.000 6 0.000 0.077 2891 1989 2151 0 0 0 0 0 0
10227 0.73 158.4 560.7 9.5 787 10232 0.10 3.00 0.00 0.000 4 0.130 0.087 2931 3537 2151 0 0 0 0 0 0
10282 0.57 158.4 554.1 12.8 791 10289 0.28 2.92 0.00 0.000 6 0.203 0.077 2877 1996 2149 0 0 0 0 0 0
10607 0.72 183.4 526.9 8.1 822 10639 0.15 3.05 22.27 1.091 4 0.120 0.087 2925 3538 2051 0 0 0 0 0 0
10667 0.63 183.4 520.4 12.8 827 10673 0.17 2.95 0.00 0.000 6 0.206 0.077 2899 2002 2050 0 0 0 0 0 0
10992 0.68 183.4 489.5 9.3 858 10993 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 2003 2048 0 0 0 0 0 0
11312 0.74 183.4 458.5 9.9 888 11316 0.00 2.97 0.00 0.000 4 0.000 0.087 2898 3544 2047 0 0 0 0 0 0
11395 0.74 183.4 449.2 11.5 895 11400 0.00 2.92 0.00 0.000 6 0.000 0.077 2909 2003 2047 0 0 0 0 0 0
11719 0.74 183.4 414.8 9.9 925 11724 0.00 2.95 0.00 0.000 4 0.000 0.087 2910 3539 2047 0 0 0 0 0 0
11773 0.74 183.4 408.6 11.6 929 11780 0.00 2.90 0.00 0.000 6 0.000 0.077 2922 2011 2047 0 0 0 0 0 0
12098 0.74 183.4 374.7 10.3 960 12103 0.00 2.92 0.00 0.000 4 0.000 0.087 2922 3537 2047 0 0 0 0 0 0
12141 0.69 183.4 369.8 11.6 963 12147 0.00 2.88 0.00 0.000 6 0.000 0.077 2934 2021 2047 0 0 0 0 0 0
12466 0.69 183.4 335.2 10.1 994 12467 0.00 0.00 0.00 0.000 6 0.000 0.000 2934 2023 2047 0 0 0 0 0 0
12786 0.69 183.4 303.3 9.9 1024 12790 0.00 2.92 0.00 0.000 4 0.000 0.088 2934 3540 2047 0 0 0 0 0 0
12813 0.69 183.4 300.4 10.2 1026 12819 0.15 2.88 0.00 0.000 6 0.205 0.077 2914 2023 2047 0 0 0 0 0 0
13138 0.77 185.5 272.1 9.1 1056 13143 0.00 2.92 0.00 0.000 4 0.000 0.088 2914 3544 2046 0 0 0 0 0 0
13199 0.77 185.5 265.8 10.0 1061 13204 0.00 2.85 0.00 0.000 6 0.000 0.077 2924 2042 2047 0 0 0 0 0 0
13524 0.85 192.5 236.2 8.9 1091 13535 0.12 0.00 8.75 0.874 6 0.120 0.000 2968 2044 2015 0 0 0 0 0 0
13853 0.80 192.5 203.7 9.3 1122 13855 0.00 0.00 0.00 0.000 6 0.000 0.000 2968 2044 2014 0 0 0 0 0 0
14173 0.83 211.9 175.5 8.4 1152 14193 0.00 0.00 17.75 0.903 6 0.000 0.000 2968 2044 1935 0 0 0 0 0 0
14510 0.83 211.9 143.6 10.0 1184 14511 0.00 0.00 0.00 0.000 6 0.000 0.000 2968 2045 1932 0 0 0 0 0 0
14831 0.83 212.4 111.7 9.1 1214 14836 0.00 2.92 0.00 0.000 4 0.000 0.092 2968 3540 1931 0 0 0 0 0 0
14874 0.76 212.4 107.3 9.8 1217 14881 0.20 2.88 0.00 0.000 6 0.199 0.080 2934 2042 1931 0 0 0 0 0 0
15213 1.01 294.9 82.4 5.7 1270 15295 0.25 3.03 70.57 0.858 4 0.107 0.091 3022 3543 1595 0 0 0 0 0 0
15318 0.91 294.9 70.8 12.8 1290 15325 0.22 2.95 0.00 0.000 6 0.203 0.081 2985 2050 1593 0 0 0 0 0 0
15663 0.92 304.8 41.1 8.8 1351 15679 0.00 2.67 7.97 0.771 4 0.000 0.103 2993 363 1555 0 0 0 0 0 0
15702 0.98 304.8 37.1 10.1 1358 15708 0.00 2.55 0.00 0.000 6 0.000 0.077 2993 2058 1554 0 0 0 0 0 0
15948 end climb: FINISH_DEPTH_REACHED
state 15949 begin subsurface finish
15955 0.10 81.6 8.8 -10.6 1402 15991 0.95 0.00 -31.65 0.000 6 0.180 0.000 2729 1941 2469 0 0 0 0 0 0
15992 end subsurface finish: CONTROL_FINISHED_OK
state 15992 begin surface