DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 243 * 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  243 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  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  -36324.762 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  122328,6641.427,-5930.656,0,4094.5,0,-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  1.96 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -34.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  122328,6641.427,-5930.656,181,99.0,181,-37.8 MHEAD_RNG_PITCHd_Wd  109.0,124070,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  869

Post-dive calculations and measurements:
FREEZE  1.03,-1.613,-1.769,2,8,0 ALTIM_TOP_PING  19.2,18.3
FINISH  1.0,1.025981 ALTIM_BOTTOM_PING  752.1,10.3
SM_CCo  15652,22.40,0.826,0,0,1475,325.02 _24V_AH  22.4,50.412
SM_GC  1.85,0.00,0.00,22.40,0.000,0.000,0.826,120,2467,1475,-8.03,0.20,325.02 _10V_AH  10.1,26.371
RAFOS_CLK  1123 FG_AHR_24Vo  0.000
RAFOS  0,1259942468,16.033333,16.018888,72,59,58,0,0,0,743,192,159,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6643.959961,-5924.913574,041209,161653,6,98,0.43 MEM  152472
IRIDIUM_FIX  6620.33,-5956.38,270299,070732 DATA_FILE_SIZE  53583,1385
TT8_MAMPS  0.026845 CAP_FILE_SIZE  179729,0
HUMID  50.15 CFSIZE  260165632,230760448
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  1452.4
XPDR_PINGS  7 GPS  041209,162453,6643.960,-5924.914,0,6098.0,0,-37.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor24240132.71 SBE_CT102224549.59
Roll_motor193101439.46 SBE_O296919412.83
VBD_pump_during_apogee387125710904.31 nil000.00
VBD_pump_during_surface22826414.48 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init98103227.28 nil000.00
Iridium_during_connect84160301.91 nil000.00
Iridium_during_xfer02230.00
Transponder_ping442044.69
GUMSTIX_24V000.00
GPS1835092.53
TT8242819488.55
LPSleep101812237.55
TT8_Active58819118.32
TT8_Sampling2657391071.40
TT8_CF856545262.10
TT8_Kalman000.00
Analog_circuits188312228.30
GPS_charging000.00
Compass24398197.14
RAFOS2520138.18
Transponder22306.96

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
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
16 -0.73 -146.0 0.0 0.0 0 141 0.00 0.00 -119.82 0.000 6 0.000 0.000 125 2466 3396 0 0 0 0 0 0
143 -0.73 -146.0 1.9 0.2 24 159 9.57 2.55 0.00 0.000 4 0.241 0.093 2450 859 3399 0 0 0 0 0 0
206 -0.52 -146.0 6.3 -9.2 35 212 0.28 2.50 0.00 0.000 6 0.224 0.084 2516 2460 3400 0 0 0 0 0 0
550 -0.64 -146.0 43.4 -10.5 96 556 0.00 2.92 0.00 0.000 4 0.000 0.101 2517 3909 3400 0 0 0 0 0 0
652 -0.78 -146.0 54.1 -10.7 114 658 0.25 2.78 0.00 0.000 6 0.109 0.074 2434 2471 3401 0 0 0 0 0 0
996 -0.66 -146.0 102.1 -13.5 174 1002 0.17 2.92 0.00 0.000 4 0.226 0.097 2462 3911 3401 0 0 0 0 0 0
1253 -0.66 -146.0 130.5 -10.8 196 1260 0.00 2.72 0.00 0.000 6 0.000 0.073 2462 2500 3401 0 0 0 0 0 0
1578 -0.66 -146.0 164.0 -10.8 227 1583 0.00 2.85 0.00 0.000 4 0.000 0.099 2462 3909 3400 0 0 0 0 0 0
1684 -0.66 -146.0 175.1 -10.6 236 1689 0.00 2.72 0.00 0.000 6 0.000 0.074 2462 2507 3400 0 0 0 0 0 0
2008 -0.66 -146.0 207.3 -9.8 266 2009 0.00 0.00 0.00 0.000 6 0.000 0.000 2462 2508 3401 0 0 0 0 0 0
2328 -0.66 -146.0 240.4 -10.1 296 2332 0.00 2.85 0.00 0.000 4 0.000 0.101 2462 3911 3400 0 0 0 0 0 0
2546 -0.72 -146.0 262.7 -10.0 315 2551 0.00 2.70 0.00 0.000 6 0.000 0.075 2462 2520 3400 0 0 0 0 0 0
2871 -0.78 -146.0 293.2 -8.9 345 2876 0.00 2.83 0.00 0.000 4 0.000 0.100 2462 3911 3399 0 0 0 0 0 0
2950 -0.86 -146.0 300.3 -8.9 351 2956 0.15 2.67 0.00 0.000 6 0.124 0.075 2415 2531 3399 0 0 0 0 0 0
3274 -0.77 -146.0 334.9 -10.4 382 3279 0.00 2.80 0.00 0.000 4 0.000 0.100 2413 3908 3399 0 0 0 0 0 0
3385 -0.69 -146.0 346.7 -10.5 391 3391 0.22 2.65 0.00 0.000 6 0.220 0.075 2464 2542 3399 0 0 0 0 0 0
3710 -0.79 -146.0 373.0 -8.3 422 3715 0.00 2.80 0.00 0.000 4 0.000 0.101 2464 3915 3399 0 0 0 0 0 0
3783 -0.90 -146.0 379.2 -8.0 428 3789 0.20 2.65 0.00 0.000 6 0.115 0.074 2401 2549 3398 0 0 0 0 0 0
4108 -0.79 -146.0 414.4 -10.8 458 4113 0.12 2.80 0.00 0.000 4 0.216 0.098 2422 3918 3399 0 0 0 0 0 0
4232 -0.79 -146.0 426.5 -9.8 468 4237 0.00 2.62 0.00 0.000 6 0.000 0.073 2422 2561 3398 0 0 0 0 0 0
4556 -0.79 -146.0 456.6 -9.7 499 4560 0.00 2.75 0.00 0.000 4 0.000 0.099 2421 3919 3399 0 0 0 0 0 0
4622 -0.79 -146.0 463.1 -10.5 504 4627 0.00 2.60 0.00 0.000 6 0.000 0.073 2421 2569 3399 0 0 0 0 0 0
4946 -0.79 -146.0 493.4 -9.4 535 4950 0.00 2.72 0.00 0.000 4 0.000 0.098 2421 3911 3399 0 0 0 0 0 0
5110 -0.79 -146.0 508.5 -8.9 549 5114 0.00 2.58 0.00 0.000 6 0.000 0.073 2420 2582 3399 0 0 0 0 0 0
5434 -0.79 -146.0 537.0 -9.1 579 5439 0.00 2.70 0.00 0.000 4 0.000 0.096 2421 3913 3400 0 0 0 0 0 0
5484 -0.79 -146.0 541.5 -8.9 583 5488 0.00 2.58 0.00 0.000 6 0.000 0.071 2420 2582 3400 0 0 0 0 0 0
5808 -0.79 -146.0 570.4 -9.0 613 5809 0.00 0.00 0.00 0.000 6 0.000 0.000 2420 2583 3400 0 0 0 0 0 0
6128 -0.79 -146.0 598.8 -8.8 643 6132 0.00 2.70 0.00 0.000 4 0.000 0.096 2421 3915 3401 0 0 0 0 0 0
6228 -0.79 -146.0 608.0 -9.1 647 6232 0.00 2.58 0.00 0.000 6 0.000 0.071 2420 2578 3401 0 0 0 0 0 0
6557 -0.79 -146.0 635.5 -8.3 658 6562 0.00 2.70 0.00 0.000 4 0.000 0.095 2421 3915 3401 0 0 0 0 0 0
6646 -0.79 -146.0 643.5 -9.0 660 6652 0.00 2.55 0.00 0.000 6 0.000 0.070 2420 2589 3401 0 0 0 0 0 0
6958 -0.79 -146.0 668.8 -8.1 671 6963 0.00 2.67 0.00 0.000 4 0.000 0.095 2421 3910 3402 0 0 0 0 0 0
7035 -0.79 -146.0 675.5 -8.9 673 7039 0.00 2.53 0.00 0.000 6 0.000 0.069 2421 2603 3402 0 0 0 0 0 0
7360 -0.79 -146.0 702.0 -8.4 684 7365 0.00 2.65 0.00 0.000 4 0.000 0.095 2420 3910 3402 0 0 0 0 0 0
7427 -0.79 -146.0 708.1 -8.9 686 7431 0.00 2.53 0.00 0.000 6 0.000 0.069 2420 2602 3402 0 0 0 0 0 0
7762 -0.79 -146.0 736.4 -8.5 697 7763 0.00 0.00 0.00 0.000 6 0.000 0.000 2420 2602 3403 0 0 0 0 0 0
7948 end dive: BOTTOM_OBSTACLE_DETECTED
state 7948 begin apogee
7953 -0.16 0.0 752.1 8.5 703 8081 0.80 0.00 124.72 1.258 6 0.195 0.000 2632 1953 2800 0 0 0 0 0 0
8082 end apogee: CONTROL_FINISHED_OK
state 8082 begin climb
8085 0.73 146.0 755.5 0.0 707 8225 0.98 2.78 130.43 1.197 4 0.140 0.095 2922 359 2203 0 0 0 0 0 0
8306 0.66 146.0 738.7 10.9 714 8310 0.00 2.50 0.00 0.000 6 0.000 0.070 2922 1952 2199 0 0 0 0 0 0
8640 0.60 146.0 702.9 10.9 725 8646 0.15 3.12 0.00 0.000 4 0.206 0.086 2890 3535 2196 0 0 0 0 0 0
8712 0.60 146.0 694.7 11.2 727 8717 0.00 3.08 0.00 0.000 6 0.000 0.077 2901 1961 2194 0 0 0 0 0 0
9036 0.60 146.0 660.8 10.5 738 9041 0.00 3.08 0.00 0.000 4 0.000 0.087 2901 3535 2193 0 0 0 0 0 0
9108 0.54 146.0 652.2 11.8 740 9113 0.20 3.05 0.00 0.000 6 0.203 0.078 2868 1960 2193 0 0 0 0 0 0
9432 0.67 146.0 621.8 9.4 751 9438 0.12 3.08 0.00 0.000 4 0.126 0.087 2908 3538 2193 0 0 0 0 0 0
9510 0.57 146.0 612.2 11.9 753 9516 0.20 3.00 0.00 0.000 6 0.202 0.078 2874 1979 2192 0 0 0 0 0 0
9837 0.70 163.5 582.4 8.4 776 9859 0.12 3.03 14.43 1.088 4 0.127 0.088 2914 3536 2132 0 0 0 0 0 0
9921 0.60 163.5 572.8 12.5 783 9928 0.17 3.00 0.00 0.000 6 0.203 0.078 2888 1985 2130 0 0 0 0 0 0
10246 0.69 169.8 543.6 8.9 814 10260 0.00 3.08 6.68 0.946 4 0.000 0.087 2887 3536 2107 0 0 0 0 0 0
10316 0.69 169.8 536.9 10.0 820 10322 0.00 2.97 0.00 0.000 6 0.000 0.078 2898 1992 2106 0 0 0 0 0 0
10641 0.75 171.8 508.6 9.1 851 10647 0.10 3.05 0.00 0.000 4 0.130 0.087 2934 3541 2106 0 0 0 0 0 0
10681 0.61 171.8 504.2 11.6 854 10687 0.22 2.95 0.00 0.000 6 0.205 0.077 2894 2006 2106 0 0 0 0 0 0
11006 0.70 185.5 475.4 8.6 884 11027 0.00 3.00 14.90 1.034 4 0.000 0.087 2894 3541 2042 0 0 0 0 0 0
11050 0.70 185.5 471.3 9.3 888 11055 0.00 2.95 0.00 0.000 6 0.000 0.077 2905 2011 2042 0 0 0 0 0 0
11375 0.75 185.5 440.0 9.8 918 11380 0.00 2.97 0.00 0.000 4 0.000 0.087 2904 3536 2041 0 0 0 0 0 0
11425 0.75 185.5 434.9 10.7 922 11430 0.00 2.95 0.00 0.000 6 0.000 0.077 2917 2004 2039 0 0 0 0 0 0
11749 0.75 185.5 402.5 9.7 952 11754 0.00 3.00 0.00 0.000 4 0.000 0.088 2917 3543 2039 0 0 0 0 0 0
11788 0.70 185.5 398.3 11.2 955 11793 0.00 2.92 0.00 0.000 6 0.000 0.077 2930 2020 2039 0 0 0 0 0 0
12112 0.70 185.5 362.9 10.9 985 12117 0.00 2.95 0.00 0.000 4 0.000 0.087 2930 3535 2039 0 0 0 0 0 0
12178 0.61 185.5 355.0 11.5 990 12184 0.22 2.90 0.00 0.000 6 0.199 0.077 2889 2024 2039 0 0 0 0 0 0
12503 0.81 232.1 329.3 7.2 1021 12550 0.20 3.00 40.15 0.986 4 0.109 0.086 2955 3535 1853 0 0 0 0 0 0
12606 0.69 232.1 317.3 13.6 1030 12612 0.22 2.95 0.00 0.000 6 0.200 0.077 2916 2031 1850 0 0 0 0 0 0
12931 0.81 232.1 284.0 10.1 1060 12937 0.12 2.97 0.00 0.000 4 0.127 0.087 2955 3536 1846 0 0 0 0 0 0
12971 0.72 232.1 279.1 13.1 1063 12977 0.17 2.90 0.00 0.000 6 0.199 0.077 2927 2044 1846 0 0 0 0 0 0
13296 0.83 232.1 245.9 9.6 1093 13301 0.00 2.92 0.00 0.000 4 0.000 0.087 2927 3535 1846 0 0 0 0 0 0
13335 0.83 232.1 242.0 10.2 1096 13339 0.00 2.88 0.00 0.000 6 0.000 0.077 2937 2053 1846 0 0 0 0 0 0
13660 0.91 232.1 209.3 9.6 1126 13662 0.12 0.00 0.00 0.000 6 0.117 0.000 2985 2054 1846 0 0 0 0 0 0
13978 0.85 232.1 172.0 12.0 1156 13982 0.00 2.92 0.00 0.000 4 0.000 0.090 2986 3539 1846 0 0 0 0 0 0
14017 0.71 232.1 167.1 12.0 1159 14023 0.30 2.90 0.00 0.000 6 0.198 0.079 2924 2038 1847 0 0 0 0 0 0
14342 0.92 283.3 142.1 7.0 1189 14394 0.20 3.00 43.75 0.890 4 0.107 0.091 2991 3535 1643 0 0 0 0 0 0
14428 0.84 283.3 132.4 13.0 1197 14433 0.17 2.92 0.00 0.000 6 0.206 0.080 2965 2051 1640 0 0 0 0 0 0
14754 0.92 283.3 96.2 11.4 1229 14760 0.00 2.95 0.00 0.000 4 0.000 0.091 2965 3536 1635 0 0 0 0 0 0
14821 0.92 283.3 87.2 13.0 1241 14827 0.00 2.90 0.00 0.000 6 0.000 0.080 2974 2056 1635 0 0 0 0 0 0
15167 1.02 298.0 54.5 8.5 1302 15183 0.15 0.00 11.95 0.829 6 0.110 0.000 3025 2057 1585 0 0 0 0 0 0
15520 0.95 298.0 12.8 12.9 1365 15526 0.12 2.62 0.00 0.000 4 0.215 0.100 3008 350 1581 0 0 0 0 0 0
15615 end climb: SURFACE_DEPTH_REACHED
state 15615 begin surface coast
15633 end surface coast: CONTROL_FINISHED_OK
state 15633 begin surface