DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 241 * 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  241 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  16 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  002707,6642.433,-5938.487,0,7096.4,0,-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  13.70 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -2.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  002707,6642.433,-5938.487,0,7096.4,0,-38.1 MHEAD_RNG_PITCHd_Wd  110.9,128874,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  852

Post-dive calculations and measurements:
FREEZE  0.84,-1.655,-1.767,2,6,0 ALTIM_TOP_PING  19.8,19.8
FINISH  0.8,1.025960 ALTIM_BOTTOM_PING  750.2,157.3
SM_CCo  17792,0.00,0.000,0,0,1469,326.49 _24V_AH  22.3,50.129
SM_GC  2.40,8.70,0.00,0.00,0.091,0.000,0.000,127,2464,1469,-7.97,0.11,326.49 _10V_AH  10.1,26.188
RAFOS_CLK  1229 FG_AHR_24Vo  0.000
RAFOS  3,1259900704,4.433333,4.417778,80,73,60,0,0,0,692,208,172,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6642.436035,-5935.590820,041209,040413,5,99,0.15 MEM  152468
IRIDIUM_FIX  6620.33,-5958.37,270299,070748 DATA_FILE_SIZE  56744,1446
TT8_MAMPS  0.026845 CAP_FILE_SIZE  185931,0
HUMID  50.51 CFSIZE  260165632,230924288
INTERNAL_PRESSURE  8.80893 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  16.20 SOUNDSPEED  1453.2
XPDR_PINGS  7 GPS  041209,042913,6642.436,-5935.591,0,5099.2,0,-38.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1422070.20 SBE_CT106324569.43
Roll_motor223101504.44 SBE_O2101519430.47
VBD_pump_during_apogee412132112149.16 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_ping442044.49
GUMSTIX_24V000.00
GPS0500.00
TT8259519522.27
LPSleep119742279.37
TT8_Active53219107.08
TT8_Sampling2556391030.78
TT8_CF82154599.97
TT8_Kalman000.00
Analog_circuits187012226.66
GPS_charging000.00
Compass25178203.42
RAFOS3600154.54
Transponder24307.36

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 -5.15 0.000 2 0.000 0.000 2730 352 2704 0 0 0 0 0 0
25 -0.73 -146.0 13.4 -0.0 1 51 0.82 6.18 -16.25 0.000 4 0.123 0.092 2465 3919 3399 0 0 0 0 0 0
217 -0.73 -146.0 33.6 -12.3 35 222 0.00 2.78 0.00 0.000 6 0.000 0.073 2465 2448 3401 0 0 0 0 0 0
561 -0.68 -146.0 77.8 -13.0 96 566 0.00 2.92 0.00 0.000 4 0.000 0.099 2465 3919 3401 0 0 0 0 0 0
735 -0.68 -146.0 99.6 -12.7 127 740 0.00 2.72 0.00 0.000 6 0.000 0.073 2465 2484 3402 0 0 0 0 0 0
1058 -0.68 -146.0 138.1 -12.0 158 1063 0.00 2.80 0.00 0.000 4 0.000 0.100 2465 3911 3401 0 0 0 0 0 0
1232 -0.68 -146.0 159.4 -11.9 173 1236 0.00 2.70 0.00 0.000 6 0.000 0.074 2465 2497 3401 0 0 0 0 0 0
1556 -0.68 -146.0 191.8 -8.9 203 1561 0.00 2.85 0.00 0.000 4 0.000 0.100 2465 3921 3401 0 0 0 0 0 0
1709 -0.68 -146.0 205.2 -8.6 216 1713 0.00 2.70 0.00 0.000 6 0.000 0.074 2465 2509 3401 0 0 0 0 0 0
2033 -0.68 -146.0 233.4 -8.6 246 2038 0.00 2.83 0.00 0.000 4 0.000 0.100 2465 3916 3400 0 0 0 0 0 0
2146 -0.74 -146.0 243.2 -8.6 255 2151 0.00 2.67 0.00 0.000 6 0.000 0.075 2465 2517 3400 0 0 0 0 0 0
2470 -0.79 -146.0 272.4 -8.9 286 2475 0.00 2.80 0.00 0.000 4 0.000 0.100 2465 3909 3400 0 0 0 0 0 0
2559 -0.87 -146.0 280.7 -9.2 293 2565 0.17 2.65 0.00 0.000 6 0.123 0.075 2409 2525 3400 0 0 0 0 0 0
2884 -0.75 -146.0 317.3 -11.1 324 2889 0.15 2.80 0.00 0.000 4 0.220 0.098 2431 3910 3400 0 0 0 0 0 0
2979 -0.75 -146.0 327.4 -10.1 332 2984 0.00 2.62 0.00 0.000 6 0.000 0.074 2431 2538 3400 0 0 0 0 0 0
3303 -0.75 -146.0 361.6 -10.4 362 3308 0.00 2.78 0.00 0.000 4 0.000 0.099 2431 3921 3400 0 0 0 0 0 0
3398 -0.75 -146.0 371.6 -10.1 370 3402 0.00 2.62 0.00 0.000 6 0.000 0.074 2431 2545 3399 0 0 0 0 0 0
3722 -0.75 -146.0 401.4 -8.4 400 3727 0.00 2.75 0.00 0.000 4 0.000 0.099 2431 3915 3399 0 0 0 0 0 0
3806 -0.75 -146.0 408.6 -8.6 407 3810 0.00 2.60 0.00 0.000 6 0.000 0.073 2431 2555 3399 0 0 0 0 0 0
4130 -0.75 -146.0 437.6 -8.8 437 4135 0.00 2.72 0.00 0.000 4 0.000 0.098 2431 3911 3399 0 0 0 0 0 0
4219 -0.75 -146.0 446.1 -9.0 444 4225 0.00 2.58 0.00 0.000 6 0.000 0.072 2430 2560 3399 0 0 0 0 0 0
4543 -0.75 -146.0 474.9 -8.4 475 4545 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 2561 3399 0 0 0 0 0 0
4865 -0.75 -146.0 501.3 -8.0 505 4869 0.00 2.72 0.00 0.000 4 0.000 0.097 2431 3919 3400 0 0 0 0 0 0
4976 -0.75 -146.0 511.1 -8.9 514 4982 0.00 2.58 0.00 0.000 6 0.000 0.071 2431 2568 3400 0 0 0 0 0 0
5301 -0.75 -146.0 538.3 -8.8 545 5305 0.00 2.70 0.00 0.000 4 0.000 0.097 2431 3913 3400 0 0 0 0 0 0
5340 -0.75 -146.0 541.7 -8.5 548 5344 0.00 2.58 0.00 0.000 6 0.000 0.070 2431 2559 3400 0 0 0 0 0 0
5664 -0.75 -146.0 568.6 -8.4 578 5669 0.00 2.70 0.00 0.000 4 0.000 0.096 2431 3912 3401 0 0 0 0 0 0
5759 -0.75 -146.0 577.0 -8.7 586 5764 0.00 2.55 0.00 0.000 6 0.000 0.070 2431 2576 3401 0 0 0 0 0 0
6092 -0.75 -146.0 605.2 -8.4 613 6097 0.00 2.67 0.00 0.000 4 0.000 0.095 2430 3911 3401 0 0 0 0 0 0
6169 -0.75 -146.0 612.3 -9.2 615 6174 0.00 2.53 0.00 0.000 6 0.000 0.069 2431 2583 3401 0 0 0 0 0 0
6493 -0.75 -146.0 639.2 -8.3 626 6498 0.00 2.67 0.00 0.000 4 0.000 0.094 2431 3921 3402 0 0 0 0 0 0
6531 -0.75 -146.0 642.8 -9.2 627 6535 0.00 2.55 0.00 0.000 6 0.000 0.069 2431 2581 3402 0 0 0 0 0 0
6861 -0.75 -146.0 672.7 -8.9 638 6866 0.00 2.65 0.00 0.000 4 0.000 0.094 2431 3912 3402 0 0 0 0 0 0
6899 -0.75 -146.0 676.2 -9.4 639 6904 0.00 2.55 0.00 0.000 6 0.000 0.068 2431 2598 3402 0 0 0 0 0 0
7229 -0.75 -146.0 704.8 -8.8 650 7233 0.00 2.62 0.00 0.000 4 0.000 0.094 2431 3912 3402 0 0 0 0 0 0
7272 -0.75 -146.0 708.7 -8.6 651 7276 0.00 2.53 0.00 0.000 6 0.000 0.068 2431 2585 3402 0 0 0 0 0 0
7597 -0.75 -146.0 736.7 -8.6 662 7601 0.00 2.65 0.00 0.000 4 0.000 0.094 2431 3911 3402 0 0 0 0 0 0
7668 -0.75 -146.0 743.2 -9.0 664 7672 0.00 2.50 0.00 0.000 6 0.000 0.068 2431 2600 3402 0 0 0 0 0 0
7998 -0.75 -146.0 770.9 -8.4 675 8002 0.00 2.62 0.00 0.000 4 0.000 0.094 2431 3912 3403 0 0 0 0 0 0
8047 -0.75 -146.0 775.2 -9.1 676 8051 0.00 2.50 0.00 0.000 6 0.000 0.067 2431 2599 3403 0 0 0 0 0 0
8359 -0.81 -146.0 801.5 -8.4 686 8360 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 2600 3404 0 0 0 0 0 0
8666 -0.85 -146.0 827.7 -8.3 696 8667 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 2600 3403 0 0 0 0 0 0
8969 end dive: TARGET_DEPTH_EXCEEDED
state 8970 begin apogee
8975 -0.16 0.0 853.1 8.2 706 9105 0.77 0.00 126.35 1.322 6 0.193 0.000 2634 1950 2800 0 0 0 0 0 0
9106 end apogee: CONTROL_FINISHED_OK
state 9106 begin climb
9108 0.73 146.0 855.9 0.0 710 9249 0.98 2.72 132.98 1.262 4 0.137 0.095 2923 364 2203 0 0 0 0 0 0
9305 0.64 146.0 840.5 11.3 716 9309 0.00 2.53 0.00 0.000 6 0.000 0.070 2923 1950 2199 0 0 0 0 0 0
9629 0.57 146.0 804.4 11.3 727 9635 0.20 3.12 0.00 0.000 4 0.199 0.084 2877 3537 2194 0 0 0 0 0 0
9679 0.57 146.0 799.0 10.8 728 9684 0.00 3.08 0.00 0.000 6 0.000 0.077 2888 1956 2193 0 0 0 0 0 0
9991 0.57 146.0 769.8 9.4 738 9996 0.00 3.08 0.00 0.000 4 0.000 0.086 2888 3543 2192 0 0 0 0 0 0
10023 0.57 146.0 766.3 10.4 739 10028 0.00 3.03 0.00 0.000 6 0.000 0.077 2901 1960 2191 0 0 0 0 0 0
10352 0.57 146.0 732.4 10.1 750 10357 0.00 3.05 0.00 0.000 4 0.000 0.086 2901 3545 2191 0 0 0 0 0 0
10407 0.48 146.0 726.1 11.9 751 10413 0.28 3.00 0.00 0.000 6 0.197 0.077 2847 1966 2190 0 0 0 0 0 0
10720 0.71 178.3 701.6 7.8 762 10755 0.22 3.15 26.52 1.195 4 0.104 0.087 2923 3544 2073 0 0 0 0 0 0
10800 0.58 178.3 691.9 13.5 764 10806 0.22 3.03 0.00 0.000 6 0.204 0.077 2884 1973 2070 0 0 0 0 0 0
11121 0.66 178.3 659.4 10.0 775 11125 0.00 3.03 0.00 0.000 4 0.000 0.087 2884 3538 2068 0 0 0 0 0 0
11192 0.66 178.3 651.1 11.6 777 11196 0.00 2.95 0.00 0.000 6 0.000 0.077 2894 1991 2068 0 0 0 0 0 0
11522 0.71 178.3 615.3 10.9 788 11527 0.00 2.97 0.00 0.000 4 0.000 0.087 2894 3538 2068 0 0 0 0 0 0
11576 0.71 178.3 608.6 12.0 789 11584 0.00 2.92 0.00 0.000 6 0.000 0.077 2907 1998 2067 0 0 0 0 0 0
11899 0.71 178.3 572.6 11.1 814 11904 0.00 2.97 0.00 0.000 4 0.000 0.087 2907 3546 2067 0 0 0 0 0 0
11938 0.66 178.3 567.7 12.5 817 11943 0.00 2.95 0.00 0.000 6 0.000 0.077 2919 1990 2067 0 0 0 0 0 0
12263 0.66 178.3 529.9 12.1 847 12267 0.00 2.97 0.00 0.000 4 0.000 0.087 2919 3542 2067 0 0 0 0 0 0
12335 0.57 178.3 520.6 13.6 853 12341 0.22 2.90 0.00 0.000 6 0.199 0.077 2878 2007 2067 0 0 0 0 0 0
12660 0.70 178.3 490.0 9.2 883 12666 0.12 2.97 0.00 0.000 4 0.124 0.087 2919 3539 2067 0 0 0 0 0 0
12700 0.61 178.3 485.4 11.9 886 12705 0.17 2.90 0.00 0.000 6 0.202 0.077 2891 2009 2067 0 0 0 0 0 0
13024 0.67 178.3 454.0 10.3 916 13029 0.00 2.95 0.00 0.000 4 0.000 0.087 2892 3539 2067 0 0 0 0 0 0
13112 0.67 178.3 444.1 11.2 923 13118 0.00 2.88 0.00 0.000 6 0.000 0.077 2902 2025 2067 0 0 0 0 0 0
13437 0.76 178.3 409.9 9.9 954 13442 0.00 2.92 0.00 0.000 4 0.000 0.087 2902 3546 2067 0 0 0 0 0 0
13469 0.76 178.3 406.2 11.5 956 13475 0.00 2.88 0.00 0.000 6 0.000 0.077 2914 2032 2067 0 0 0 0 0 0
13794 0.76 178.3 373.9 9.5 987 13795 0.00 0.00 0.00 0.000 6 0.000 0.000 2914 2033 2067 0 0 0 0 0 0
14113 0.76 178.3 343.2 9.5 1017 14117 0.00 2.90 0.00 0.000 4 0.000 0.088 2914 3538 2067 0 0 0 0 0 0
14174 0.70 178.3 336.6 11.6 1022 14179 0.00 2.85 0.00 0.000 6 0.000 0.077 2926 2039 2067 0 0 0 0 0 0
14498 0.70 178.3 304.2 9.8 1052 14503 0.00 2.85 0.00 0.000 4 0.000 0.087 2926 3540 2067 0 0 0 0 0 0
14538 0.64 178.3 300.1 11.2 1055 14543 0.17 2.85 0.00 0.000 6 0.202 0.077 2899 2039 2067 0 0 0 0 0 0
14862 0.77 194.7 273.3 8.5 1085 14884 0.12 2.90 14.52 0.925 4 0.128 0.087 2940 3544 2006 0 0 0 0 0 0
14919 0.68 194.7 267.4 11.7 1090 14924 0.17 2.85 0.00 0.000 6 0.199 0.077 2913 2048 2004 0 0 0 0 0 0
15244 0.81 224.3 239.0 7.9 1120 15274 0.12 0.00 26.35 0.930 6 0.128 0.000 2952 2050 1884 0 0 0 0 0 0
15592 0.82 237.3 207.6 8.6 1153 15613 0.00 2.95 12.35 0.884 4 0.000 0.088 2952 3533 1832 0 0 0 0 0 0
15629 0.82 237.3 203.9 10.0 1156 15635 0.00 2.88 0.00 0.000 6 0.000 0.077 2965 2039 1831 0 0 0 0 0 0
15955 0.82 237.3 170.9 9.6 1187 15960 0.00 2.92 0.00 0.000 4 0.000 0.088 2965 3539 1829 0 0 0 0 0 0
15976 0.82 237.3 168.5 10.0 1188 15982 0.00 2.88 0.00 0.000 6 0.000 0.078 2977 2044 1829 0 0 0 0 0 0
16300 0.82 237.3 133.3 11.7 1219 16301 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 2045 1828 0 0 0 0 0 0
16621 0.82 237.3 95.9 11.6 1252 16627 0.00 2.92 0.00 0.000 4 0.000 0.091 2978 3546 1827 0 0 0 0 0 0
16655 0.82 237.3 92.0 12.2 1258 16661 0.15 2.88 0.00 0.000 6 0.203 0.080 2957 2048 1828 0 0 0 0 0 0
17000 0.99 286.8 64.9 7.1 1319 17052 0.17 3.00 42.25 0.854 4 0.117 0.091 3012 3539 1629 0 0 0 0 0 0
17091 0.89 286.8 55.4 13.0 1336 17097 0.20 2.90 0.00 0.000 6 0.203 0.081 2980 2055 1627 0 0 0 0 0 0
17437 0.99 323.3 29.3 7.6 1397 17474 0.00 2.67 30.92 0.822 4 0.000 0.101 2989 352 1480 0 0 0 0 0 0
17521 1.06 323.3 22.0 9.2 1412 17527 0.12 2.58 0.00 0.000 6 0.126 0.074 3028 2065 1476 0 0 0 0 0 0
17696 end climb: SURFACE_DEPTH_REACHED
state 17696 begin surface coast
17715 end surface coast: CONTROL_FINISHED_OK
state 17715 begin surface