DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 242 * 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  242 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  12 XPDR_VALID  0
D_FINISH  9 FILEMGR  2 R_STBD_OVSHOOT  19 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  -35956.254 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  042913,6642.436,-5935.591,0,5099.2,0,-38.1 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  1.50 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -48.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  094028,6643.016,-5925.538,33,2.4,52,-37.8 MHEAD_RNG_PITCHd_Wd  109.8,119634,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  900

Post-dive calculations and measurements:
FREEZE  0.72,-1.552,-1.771,2,7,0 ALTIM_TOP_PING  19.4,18.5
FINISH  0.7,1.026015 ALTIM_BOTTOM_PING  802.4,10.3
SM_CCo  16877,26.45,0.825,0,0,1475,325.02 _24V_AH  22.4,50.273
SM_GC  2.15,0.00,0.00,26.45,0.000,0.000,0.825,126,2465,1475,-8.02,0.14,325.02 _10V_AH  10.1,26.279
RAFOS_CLK  1201 FG_AHR_24Vo  0.000
RAFOS  0,1259928067,12.033333,12.018611,63,61,57,0,0,0,163,212,126,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6641.427246,-5930.655762,041209,121228,4,94,0.49 MEM  152520
IRIDIUM_FIX  6620.33,-5956.38,270299,070732 DATA_FILE_SIZE  56662,1431
TT8_MAMPS  0.026845 CAP_FILE_SIZE  188586,0
HUMID  50.03 CFSIZE  260165632,230834176
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  1452.8
XPDR_PINGS  10 GPS  041209,122328,6641.427,-5930.656,0,4094.5,0,-37.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor25268151.84 SBE_CT105324566.43
Roll_motor210102483.70 SBE_O2100619428.32
VBD_pump_during_apogee388128711203.82 nil000.00
VBD_pump_during_surface26825488.97 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init98103226.67 nil000.00
Iridium_during_connect84160302.50 nil000.00
Iridium_during_xfer02230.00
Transponder_ping642056.45
GUMSTIX_24V000.00
GPS545027.62
TT8251919506.92
LPSleep112142261.65
TT8_Active62819126.40
TT8_Sampling2565391034.29
TT8_CF858845272.79
TT8_Kalman000.00
Analog_circuits196112237.77
GPS_charging000.00
Compass24778200.20
RAFOS2520138.18
Transponder27308.33

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
16 -0.73 -146.0 0.0 0.0 0 160 0.00 0.00 -135.95 0.000 6 0.000 0.000 126 2470 3396 0 0 0 0 0 0
162 -0.73 -146.0 1.5 -0.1 28 179 10.27 2.58 0.00 0.000 4 0.268 0.097 2453 864 3398 0 0 0 0 0 0
376 -0.52 -146.0 29.7 -14.5 66 382 0.25 2.53 0.00 0.000 6 0.223 0.087 2513 2460 3401 0 0 0 0 0 0
721 -0.60 -146.0 72.5 -12.1 127 726 0.00 2.95 0.00 0.000 4 0.000 0.103 2513 3922 3401 0 0 0 0 0 0
806 -0.70 -146.0 82.1 -10.6 142 812 0.17 2.80 0.00 0.000 6 0.119 0.075 2455 2455 3400 0 0 0 0 0 0
1146 -0.63 -146.0 123.8 -12.1 186 1151 0.12 2.95 0.00 0.000 4 0.227 0.097 2471 3920 3400 0 0 0 0 0 0
1297 -0.63 -146.0 142.2 -12.0 199 1302 0.00 2.78 0.00 0.000 6 0.000 0.073 2471 2463 3400 0 0 0 0 0 0
1621 -0.63 -146.0 176.7 -10.1 229 1626 0.00 2.90 0.00 0.000 4 0.000 0.100 2471 3912 3400 0 0 0 0 0 0
1778 -0.63 -146.0 192.8 -10.2 242 1783 0.00 2.72 0.00 0.000 6 0.000 0.074 2471 2488 3400 0 0 0 0 0 0
2102 -0.63 -146.0 228.9 -11.2 273 2106 0.00 2.88 0.00 0.000 4 0.000 0.100 2470 3919 3400 0 0 0 0 0 0
2174 -0.69 -146.0 236.4 -10.0 279 2179 0.00 2.72 0.00 0.000 6 0.000 0.074 2471 2493 3399 0 0 0 0 0 0
2499 -0.75 -146.0 266.4 -9.1 309 2504 0.00 2.88 0.00 0.000 4 0.000 0.100 2470 3922 3399 0 0 0 0 0 0
2657 -0.82 -146.0 280.7 -8.8 322 2663 0.15 2.70 0.00 0.000 6 0.119 0.074 2421 2509 3399 0 0 0 0 0 0
2981 -0.73 -146.0 314.7 -10.2 353 2987 0.12 2.83 0.00 0.000 4 0.232 0.097 2436 3913 3399 0 0 0 0 0 0
3082 -0.73 -146.0 324.9 -10.1 361 3088 0.00 2.67 0.00 0.000 6 0.000 0.073 2436 2509 3399 0 0 0 0 0 0
3406 -0.73 -146.0 357.0 -10.3 392 3411 0.00 2.83 0.00 0.000 4 0.000 0.100 2436 3912 3399 0 0 0 0 0 0
3552 -0.73 -146.0 373.4 -10.8 404 3557 0.00 2.65 0.00 0.000 6 0.000 0.074 2436 2529 3398 0 0 0 0 0 0
3876 -0.73 -146.0 407.8 -9.8 435 3881 0.00 2.78 0.00 0.000 4 0.000 0.099 2436 3913 3398 0 0 0 0 0 0
3950 -0.73 -146.0 415.1 -10.5 441 3954 0.00 2.62 0.00 0.000 6 0.000 0.073 2436 2541 3398 0 0 0 0 0 0
4275 -0.73 -146.0 446.0 -9.8 471 4280 0.00 2.78 0.00 0.000 4 0.000 0.098 2436 3922 3398 0 0 0 0 0 0
4352 -0.73 -146.0 453.9 -10.1 477 4358 0.00 2.62 0.00 0.000 6 0.000 0.073 2436 2549 3398 0 0 0 0 0 0
4677 -0.73 -146.0 485.7 -9.7 508 4681 0.00 2.75 0.00 0.000 4 0.000 0.097 2436 3921 3399 0 0 0 0 0 0
4761 -0.73 -146.0 493.8 -9.3 515 4765 0.00 2.62 0.00 0.000 6 0.000 0.072 2436 2544 3399 0 0 0 0 0 0
5086 -0.73 -146.0 522.8 -8.6 545 5090 0.00 2.75 0.00 0.000 4 0.000 0.097 2436 3918 3399 0 0 0 0 0 0
5203 -0.73 -146.0 533.3 -8.6 555 5207 0.00 2.58 0.00 0.000 6 0.000 0.071 2436 2566 3399 0 0 0 0 0 0
5529 -0.73 -146.0 559.8 -8.1 585 5533 0.00 2.70 0.00 0.000 4 0.000 0.096 2436 3913 3400 0 0 0 0 0 0
5590 -0.73 -146.0 565.0 -8.6 590 5595 0.00 2.58 0.00 0.000 6 0.000 0.071 2436 2563 3400 0 0 0 0 0 0
5915 -0.73 -146.0 591.8 -8.1 620 5919 0.00 2.70 0.00 0.000 4 0.000 0.096 2436 3913 3400 0 0 0 0 0 0
5953 -0.73 -146.0 595.2 -8.7 623 5958 0.00 2.55 0.00 0.000 6 0.000 0.070 2436 2576 3400 0 0 0 0 0 0
6288 -0.73 -146.0 623.3 -8.6 637 6292 0.00 2.67 0.00 0.000 4 0.000 0.095 2436 3912 3400 0 0 0 0 0 0
6343 -0.73 -146.0 628.2 -9.1 638 6349 0.00 2.55 0.00 0.000 6 0.000 0.069 2436 2575 3400 0 0 0 0 0 0
6657 -0.73 -146.0 654.4 -8.4 649 6661 0.00 2.67 0.00 0.000 4 0.000 0.094 2437 3913 3401 0 0 0 0 0 0
6694 -0.73 -146.0 658.0 -9.3 650 6699 0.00 2.55 0.00 0.000 6 0.000 0.069 2436 2574 3401 0 0 0 0 0 0
7018 -0.73 -146.0 684.3 -8.3 661 7023 0.00 2.67 0.00 0.000 4 0.000 0.094 2436 3913 3401 0 0 0 0 0 0
7073 -0.73 -146.0 688.9 -8.5 662 7079 0.00 2.53 0.00 0.000 6 0.000 0.068 2436 2590 3401 0 0 0 0 0 0
7387 -0.73 -146.0 712.8 -7.4 673 7392 0.00 2.65 0.00 0.000 4 0.000 0.094 2437 3912 3402 0 0 0 0 0 0
7437 -0.78 -146.0 716.7 -7.9 674 7442 0.00 2.53 0.00 0.000 6 0.000 0.069 2436 2591 3402 0 0 0 0 0 0
7750 -0.83 -146.0 739.2 -7.1 684 7751 0.00 0.00 0.00 0.000 6 0.000 0.000 2436 2592 3402 0 0 0 0 0 0
8058 -0.87 -146.0 761.1 -7.3 694 8063 0.00 2.65 0.00 0.000 4 0.000 0.094 2436 3913 3402 0 0 0 0 0 0
8113 -0.92 -146.0 765.4 -7.3 695 8119 0.15 2.53 0.00 0.000 6 0.114 0.068 2386 2586 3402 0 0 0 0 0 0
8429 -0.81 -146.0 794.4 -9.5 706 8434 0.17 2.70 0.00 0.000 4 0.214 0.094 2425 3921 3402 0 0 0 0 0 0
8473 -0.81 -146.0 798.7 -8.5 707 8477 0.00 2.53 0.00 0.000 6 0.000 0.068 2425 2597 3402 0 0 0 0 0 0
8523 end dive: BOTTOM_OBSTACLE_DETECTED
state 8523 begin apogee
8529 -0.16 0.0 802.4 8.1 709 8658 0.77 0.00 125.75 1.287 6 0.191 0.000 2632 1947 2799 0 0 0 0 0 0
8660 end apogee: CONTROL_FINISHED_OK
state 8660 begin climb
8662 0.73 146.0 805.1 0.0 713 8802 0.98 2.75 131.73 1.230 4 0.137 0.096 2923 369 2204 0 0 0 0 0 0
8842 0.64 146.0 791.6 11.5 718 8847 0.00 2.53 0.00 0.000 6 0.000 0.071 2922 1951 2201 0 0 0 0 0 0
9154 0.59 146.0 757.7 10.8 729 9160 0.17 3.12 0.00 0.000 4 0.202 0.087 2881 3537 2196 0 0 0 0 0 0
9221 0.59 146.0 750.8 10.7 731 9226 0.00 3.08 0.00 0.000 6 0.000 0.077 2892 1962 2194 0 0 0 0 0 0
9550 0.64 146.0 719.8 9.5 742 9555 0.00 3.08 0.00 0.000 4 0.000 0.087 2892 3541 2193 0 0 0 0 0 0
9588 0.64 146.0 715.7 10.6 743 9592 0.00 3.03 0.00 0.000 6 0.000 0.076 2905 1965 2192 0 0 0 0 0 0
9912 0.64 146.0 683.3 10.0 754 9917 0.00 3.05 0.00 0.000 4 0.000 0.087 2905 3542 2192 0 0 0 0 0 0
9932 0.64 146.0 680.9 11.2 754 9939 0.00 3.00 0.00 0.000 6 0.000 0.077 2918 1970 2193 0 0 0 0 0 0
10245 0.64 146.0 647.7 10.5 765 10250 0.00 3.00 0.00 0.000 4 0.000 0.087 2917 3543 2192 0 0 0 0 0 0
10295 0.52 146.0 641.9 11.9 766 10300 0.28 3.00 0.00 0.000 6 0.206 0.077 2865 1972 2191 0 0 0 0 0 0
10607 0.68 164.7 615.7 8.4 776 10629 0.15 3.05 15.30 1.115 4 0.118 0.087 2914 3545 2127 0 0 0 0 0 0
10674 0.58 164.7 608.1 12.1 778 10680 0.20 3.00 0.00 0.000 6 0.201 0.077 2880 1985 2126 0 0 0 0 0 0
11004 0.68 169.1 577.8 9.0 804 11015 0.00 3.00 5.10 0.876 4 0.000 0.086 2881 3539 2110 0 0 0 0 0 0
11060 0.68 169.1 571.9 10.3 809 11065 0.00 2.97 0.00 0.000 6 0.000 0.077 2891 1987 2109 0 0 0 0 0 0
11385 0.78 180.0 542.2 8.7 839 11406 0.15 3.00 11.27 1.049 4 0.109 0.087 2944 3538 2064 0 0 0 0 0 0
11441 0.60 180.0 535.4 13.4 844 11446 0.30 2.97 0.00 0.000 6 0.204 0.077 2885 1992 2063 0 0 0 0 0 0
11765 0.69 180.0 504.5 9.4 874 11770 0.00 3.00 0.00 0.000 4 0.000 0.087 2885 3538 2063 0 0 0 0 0 0
11831 0.69 180.0 497.4 10.6 879 11837 0.00 2.95 0.00 0.000 6 0.000 0.077 2895 2005 2063 0 0 0 0 0 0
12156 0.76 180.0 465.4 10.0 910 12162 0.12 3.00 0.00 0.000 4 0.114 0.087 2941 3539 2063 0 0 0 0 0 0
12234 0.64 180.0 455.4 13.6 916 12241 0.22 2.92 0.00 0.000 6 0.199 0.077 2900 2016 2062 0 0 0 0 0 0
12559 0.70 181.0 424.9 9.1 947 12560 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 2017 2062 0 0 0 0 0 0
12879 0.78 181.0 395.1 9.2 977 12885 0.12 3.00 0.00 0.000 4 0.130 0.087 2939 3544 2061 0 0 0 0 0 0
12975 0.65 181.0 382.9 12.9 985 12981 0.20 2.92 0.00 0.000 6 0.202 0.078 2905 2014 2062 0 0 0 0 0 0
13300 0.75 199.8 353.5 8.4 1015 13319 0.00 0.00 17.73 0.981 6 0.000 0.000 2905 2016 1985 0 0 0 0 0 0
13638 0.88 214.8 323.9 8.5 1047 13660 0.20 2.97 14.23 0.950 4 0.108 0.087 2971 3539 1923 0 0 0 0 0 0
13699 0.71 214.8 316.3 14.4 1052 13706 0.25 2.92 0.00 0.000 6 0.208 0.077 2926 2028 1922 0 0 0 0 0 0
14025 0.79 222.9 285.1 8.8 1083 14039 0.00 3.00 8.10 0.878 4 0.000 0.088 2926 3539 1890 0 0 0 0 0 0
14083 0.79 222.9 279.0 11.1 1088 14090 0.00 2.90 0.00 0.000 6 0.000 0.077 2936 2035 1890 0 0 0 0 0 0
14409 0.85 222.9 247.5 9.6 1119 14410 0.00 0.00 0.00 0.000 6 0.000 0.000 2936 2037 1889 0 0 0 0 0 0
14728 0.94 222.9 215.3 10.4 1149 14734 0.17 2.97 0.00 0.000 4 0.100 0.089 2998 3545 1888 0 0 0 0 0 0
14807 0.72 222.9 204.1 14.5 1155 14813 0.35 2.90 0.00 0.000 6 0.207 0.079 2925 2042 1888 0 0 0 0 0 0
15132 0.88 230.3 171.7 8.9 1186 15142 0.15 0.00 7.72 0.841 6 0.120 0.000 2974 2044 1861 0 0 0 0 0 0
15460 0.88 230.3 139.0 9.4 1217 15461 0.00 0.00 0.00 0.000 6 0.000 0.000 2975 2044 1859 0 0 0 0 0 0
15780 0.88 230.3 107.9 9.9 1247 15785 0.00 2.95 0.00 0.000 4 0.000 0.091 2974 3544 1859 0 0 0 0 0 0
15830 0.82 230.3 102.2 11.2 1251 15836 0.15 2.88 0.00 0.000 6 0.203 0.081 2954 2056 1859 0 0 0 0 0 0
16173 0.98 290.1 73.3 6.7 1309 16235 0.17 3.03 51.70 0.861 4 0.119 0.091 3009 3536 1616 0 0 0 0 0 0
16258 0.90 290.1 64.3 12.0 1325 16264 0.17 2.92 0.00 0.000 6 0.201 0.081 2984 2058 1614 0 0 0 0 0 0
16603 0.97 290.1 28.4 12.0 1386 16609 0.00 2.95 0.00 0.000 4 0.000 0.091 2984 3538 1607 0 0 0 0 0 0
16637 0.97 290.1 24.3 12.0 1392 16643 0.00 2.90 0.00 0.000 6 0.000 0.081 2993 2057 1607 0 0 0 0 0 0
16839 end climb: SURFACE_DEPTH_REACHED
state 16839 begin surface coast
16860 end surface coast: CONTROL_FINISHED_OK
state 16860 begin surface