DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 251 * 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  251 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  19 XPDR_VALID  0
D_FINISH  9 FILEMGR  2 R_STBD_OVSHOOT  16 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  -3 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  2 T_GPS_CHARGE  -37075.062 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  042328,6640.565,-5848.040,0,4089.0,0,-37.6 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  8.98 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  1.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  042328,6640.565,-5848.040,0,4089.0,0,-37.6 MHEAD_RNG_PITCHd_Wd  102.0,96129,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  773

Post-dive calculations and measurements:
FREEZE  8.66,-1.796,-1.803,2,16,0 ALTIM_BOTTOM_PING  650.8,98.7
FINISH1  8.7,1.026394,54 _24V_AH  22.4,51.445
FINISH2  7.2 _10V_AH  10.1,27.051
RAFOS_CLK  1078 FG_AHR_24Vo  0.000
RAFOS  6,1260074945,4.833333,4.818056,91,60,56,0,0,0,724,210,120,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6642.019531,-5847.505859,061209,040413,5,89,7.89 MEM  152500
IRIDIUM_FIX  6614.97,-5838.87,020399,000019 DATA_FILE_SIZE  53554,1389
TT8_MAMPS  0.026845 CAP_FILE_SIZE  172439,0
HUMID  50.23 CFSIZE  260165632,229949440
INTERNAL_PRESSURE  8.90659 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  16.20 SOUNDSPEED  1454.2
XPDR_PINGS  5 GPS  061209,042328,6640.565,-5848.040,0,4089.0,0,-37.6
ALTIM_TOP_PING  19.7,19.4

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor622330.37 SBE_CT102424550.77
Roll_motor208111522.19 SBE_O297319414.44
VBD_pump_during_apogee34612449658.09 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_ping442037.63
GUMSTIX_24V000.00
GPS0500.00
TT8248019499.03
LPSleep100792235.17
TT8_Active4821997.11
TT8_Sampling2540391024.51
TT8_CF82014593.67
TT8_Kalman000.00
Analog_circuits178812216.81
GPS_charging000.00
Compass25008202.05
RAFOS2880143.63
Transponder25307.62

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 -5.18 0.000 2 0.000 0.000 2721 3546 2776 0 0 0 0 0 0
25 -0.73 -146.0 10.4 -0.0 1 46 0.80 0.00 -16.12 0.000 6 0.114 0.000 2460 3546 3399 0 0 0 0 0 0
384 -0.73 -146.0 51.6 -11.9 65 394 0.00 4.80 0.00 0.000 4 0.000 0.086 2460 867 3402 0 0 0 0 0 0
630 -0.73 -146.0 82.9 -12.8 109 635 0.00 2.40 0.00 0.000 6 0.000 0.081 2460 2439 3403 0 0 0 0 0 0
968 -0.73 -146.0 118.8 -9.8 154 973 0.00 3.00 0.00 0.000 4 0.000 0.097 2460 3913 3403 0 0 0 0 0 0
1127 -0.78 -146.0 133.9 -10.2 167 1132 0.00 2.90 0.00 0.000 6 0.000 0.074 2460 2440 3402 0 0 0 0 0 0
1451 -0.78 -146.0 163.0 -9.0 198 1456 0.00 3.03 0.00 0.000 4 0.000 0.099 2460 3911 3402 0 0 0 0 0 0
1629 -0.78 -146.0 181.6 -10.7 213 1635 0.00 2.88 0.00 0.000 6 0.000 0.074 2460 2453 3401 0 0 0 0 0 0
1954 -0.83 -146.0 214.6 -10.4 244 1960 0.12 3.03 0.00 0.000 4 0.133 0.097 2413 3912 3402 0 0 0 0 0 0
2134 -0.74 -146.0 236.4 -11.5 259 2140 0.15 2.85 0.00 0.000 6 0.223 0.074 2444 2470 3401 0 0 0 0 0 0
2458 -0.74 -146.0 268.3 -9.5 290 2463 0.00 3.00 0.00 0.000 4 0.000 0.099 2444 3920 3401 0 0 0 0 0 0
2588 -0.74 -146.0 280.6 -9.0 301 2593 0.00 2.85 0.00 0.000 6 0.000 0.074 2444 2480 3400 0 0 0 0 0 0
2913 -0.74 -146.0 309.3 -8.8 331 2917 0.00 2.97 0.00 0.000 4 0.000 0.098 2444 3919 3400 0 0 0 0 0 0
3102 -0.80 -146.0 325.8 -8.8 347 3108 0.00 2.80 0.00 0.000 6 0.000 0.074 2444 2507 3400 0 0 0 0 0 0
3427 -0.85 -146.0 353.7 -8.6 378 3432 0.00 2.92 0.00 0.000 4 0.000 0.097 2444 3917 3400 0 0 0 0 0 0
3551 -0.92 -146.0 365.0 -9.0 388 3557 0.17 2.80 0.00 0.000 6 0.123 0.073 2390 2508 3400 0 0 0 0 0 0
3875 -0.79 -146.0 399.4 -10.4 419 3881 0.17 2.95 0.00 0.000 4 0.215 0.096 2427 3918 3400 0 0 0 0 0 0
3983 -0.79 -146.0 409.2 -9.3 428 3988 0.00 2.78 0.00 0.000 6 0.000 0.072 2427 2527 3400 0 0 0 0 0 0
4307 -0.79 -146.0 435.4 -8.0 458 4312 0.00 2.88 0.00 0.000 4 0.000 0.096 2426 3914 3400 0 0 0 0 0 0
4460 -0.79 -146.0 447.5 -8.3 471 4465 0.00 2.75 0.00 0.000 6 0.000 0.071 2426 2539 3400 0 0 0 0 0 0
4784 -0.79 -146.0 471.0 -7.0 501 4789 0.00 2.88 0.00 0.000 4 0.000 0.094 2426 3921 3400 0 0 0 0 0 0
4914 -0.79 -146.0 480.2 -6.6 512 4919 0.00 2.72 0.00 0.000 6 0.000 0.071 2426 2548 3401 0 0 0 0 0 0
5239 -0.79 -146.0 504.3 -7.7 542 5243 0.00 2.85 0.00 0.000 4 0.000 0.094 2426 3917 3401 0 0 0 0 0 0
5301 -0.79 -146.0 509.2 -8.2 547 5305 0.00 2.70 0.00 0.000 6 0.000 0.070 2426 2556 3401 0 0 0 0 0 0
5625 -0.79 -146.0 535.0 -7.7 577 5629 0.00 2.83 0.00 0.000 4 0.000 0.093 2426 3914 3401 0 0 0 0 0 0
5691 -0.79 -146.0 540.4 -8.1 582 5697 0.00 2.67 0.00 0.000 6 0.000 0.070 2426 2564 3402 0 0 0 0 0 0
6016 -0.79 -146.0 565.1 -7.3 613 6020 0.00 2.80 0.00 0.000 4 0.000 0.093 2426 3914 3402 0 0 0 0 0 0
6055 -0.79 -146.0 568.2 -8.2 616 6059 0.00 2.67 0.00 0.000 6 0.000 0.069 2426 2561 3402 0 0 0 0 0 0
6379 -0.79 -146.0 594.5 -8.2 646 6384 0.00 2.80 0.00 0.000 4 0.000 0.092 2426 3914 3402 0 0 0 0 0 0
6529 -0.79 -146.0 607.4 -8.8 654 6533 0.00 2.65 0.00 0.000 6 0.000 0.068 2426 2573 3402 0 0 0 0 0 0
6849 -0.79 -146.0 633.2 -8.3 665 6853 0.00 2.78 0.00 0.000 4 0.000 0.092 2426 3914 3403 0 0 0 0 0 0
6949 -0.79 -146.0 641.7 -8.2 668 6954 0.00 2.62 0.00 0.000 6 0.000 0.068 2426 2583 3402 0 0 0 0 0 0
7278 -0.79 -146.0 668.2 -8.1 679 7282 0.00 2.75 0.00 0.000 4 0.000 0.092 2426 3914 3403 0 0 0 0 0 0
7389 -0.79 -146.0 677.7 -8.7 682 7393 0.00 2.62 0.00 0.000 6 0.000 0.067 2426 2580 3403 0 0 0 0 0 0
7706 -0.79 -146.0 702.6 -7.6 693 7711 0.00 2.78 0.00 0.000 4 0.000 0.092 2426 3922 3404 0 0 0 0 0 0
7830 -0.84 -146.0 712.5 -8.5 696 7835 0.00 2.62 0.00 0.000 6 0.000 0.067 2426 2589 3404 0 0 0 0 0 0
8140 end dive: BOTTOM_OBSTACLE_DETECTED
state 8140 begin apogee
8146 -0.16 0.0 736.8 7.8 707 8274 0.77 0.00 124.90 1.244 6 0.189 0.000 2634 1943 2799 0 0 0 0 0 0
8275 end apogee: CONTROL_FINISHED_OK
state 8275 begin climb
8277 0.73 146.0 739.8 0.0 711 8418 0.98 2.65 130.88 1.183 4 0.142 0.095 2923 367 2203 0 0 0 0 0 0
8463 0.62 146.0 725.6 11.8 717 8469 0.15 2.45 0.00 0.000 6 0.201 0.069 2893 1958 2198 0 0 0 0 0 0
8798 0.62 146.0 692.5 9.7 728 8803 0.00 3.22 0.00 0.000 4 0.000 0.086 2893 3543 2195 0 0 0 0 0 0
8887 0.57 146.0 682.4 11.4 730 8893 0.00 3.17 0.00 0.000 6 0.000 0.076 2905 1964 2193 0 0 0 0 0 0
9199 0.57 146.0 649.0 10.8 741 9204 0.00 3.15 0.00 0.000 4 0.000 0.086 2904 3535 2192 0 0 0 0 0 0
9261 0.48 146.0 641.8 11.7 743 9267 0.28 3.12 0.00 0.000 6 0.202 0.077 2853 1964 2192 0 0 0 0 0 0
9598 0.68 178.9 614.6 7.8 754 9633 0.17 3.22 27.35 1.133 4 0.111 0.086 2911 3532 2070 0 0 0 0 0 0
9717 0.59 178.9 601.0 12.4 757 9723 0.17 3.10 0.00 0.000 6 0.206 0.077 2886 1979 2066 0 0 0 0 0 0
10041 0.66 178.9 570.6 9.2 785 10046 0.00 3.12 0.00 0.000 4 0.000 0.085 2886 3536 2065 0 0 0 0 0 0
10113 0.66 178.9 563.4 9.8 791 10118 0.00 3.08 0.00 0.000 6 0.000 0.077 2896 1983 2065 0 0 0 0 0 0
10437 0.66 178.9 532.8 9.8 821 10442 0.00 3.10 0.00 0.000 4 0.000 0.086 2897 3537 2064 0 0 0 0 0 0
10487 0.66 178.9 527.6 10.4 825 10492 0.00 3.05 0.00 0.000 6 0.000 0.077 2909 1995 2064 0 0 0 0 0 0
10811 0.66 178.9 493.8 10.3 855 10816 0.00 3.08 0.00 0.000 4 0.000 0.085 2909 3536 2063 0 0 0 0 0 0
10865 0.60 178.9 487.4 12.1 859 10872 0.15 3.03 0.00 0.000 6 0.206 0.076 2889 2006 2063 0 0 0 0 0 0
11190 0.67 178.9 456.2 9.7 890 11195 0.00 3.05 0.00 0.000 4 0.000 0.085 2889 3536 2063 0 0 0 0 0 0
11267 0.67 178.9 447.7 11.0 896 11274 0.00 3.00 0.00 0.000 6 0.000 0.077 2900 2016 2063 0 0 0 0 0 0
11594 0.72 178.9 414.7 10.2 927 11599 0.00 3.05 0.00 0.000 4 0.000 0.087 2900 3539 2063 0 0 0 0 0 0
11648 0.72 178.9 408.3 10.9 931 11655 0.00 3.00 0.00 0.000 6 0.000 0.076 2913 2022 2063 0 0 0 0 0 0
11973 0.72 178.9 374.5 10.3 962 11978 0.00 3.03 0.00 0.000 4 0.000 0.085 2913 3536 2063 0 0 0 0 0 0
12024 0.66 178.9 369.0 11.2 966 12028 0.00 2.97 0.00 0.000 6 0.000 0.076 2926 2031 2063 0 0 0 0 0 0
12348 0.66 178.9 333.0 10.8 996 12352 0.00 3.03 0.00 0.000 4 0.000 0.085 2926 3539 2063 0 0 0 0 0 0
12398 0.56 178.9 327.2 11.2 1000 12403 0.25 2.97 0.00 0.000 6 0.202 0.076 2879 2034 2063 0 0 0 0 0 0
12722 0.75 213.6 300.2 7.7 1030 12759 0.17 3.05 29.45 0.955 4 0.112 0.086 2938 3536 1928 0 0 0 0 0 0
12776 0.69 213.6 294.5 10.6 1034 12782 0.15 3.00 0.00 0.000 6 0.212 0.075 2918 2036 1927 0 0 0 0 0 0
13100 0.75 213.6 260.3 10.9 1065 13105 0.00 3.03 0.00 0.000 4 0.000 0.084 2918 3536 1922 0 0 0 0 0 0
13144 0.75 213.6 255.2 11.3 1068 13150 0.00 2.97 0.00 0.000 6 0.000 0.075 2929 2042 1922 0 0 0 0 0 0
13469 0.80 213.6 221.3 10.1 1099 13473 0.00 3.03 0.00 0.000 4 0.000 0.085 2929 3541 1922 0 0 0 0 0 0
13507 0.80 213.6 216.8 11.6 1102 13512 0.00 2.95 0.00 0.000 6 0.000 0.075 2942 2062 1922 0 0 0 0 0 0
13832 0.80 213.6 179.1 10.1 1132 13833 0.00 0.00 0.00 0.000 6 0.000 0.000 2942 2063 1922 0 0 0 0 0 0
14152 0.80 214.8 150.2 9.1 1162 14157 0.00 3.00 0.00 0.000 4 0.000 0.087 2942 3541 1922 0 0 0 0 0 0
14179 0.80 214.8 147.5 9.2 1164 14184 0.00 2.95 0.00 0.000 6 0.000 0.077 2954 2063 1922 0 0 0 0 0 0
14503 0.80 214.8 116.7 10.1 1194 14508 0.00 3.00 0.00 0.000 4 0.000 0.087 2954 3538 1922 0 0 0 0 0 0
14558 0.73 214.8 110.6 11.5 1198 14564 0.17 2.90 0.00 0.000 6 0.199 0.077 2927 2079 1922 0 0 0 0 0 0
14893 0.91 253.4 85.4 7.5 1246 14935 0.17 3.00 34.00 0.851 4 0.114 0.089 2984 3540 1766 0 0 0 0 0 0
14959 0.86 253.4 78.9 10.8 1258 14965 0.00 2.95 0.00 0.000 6 0.000 0.077 2997 2080 1764 0 0 0 0 0 0
15304 0.80 253.4 41.4 10.9 1319 15309 0.20 0.00 0.00 0.000 6 0.207 0.000 2951 2082 1760 0 0 0 0 0 0
15648 0.87 253.4 9.7 11.4 1380 15654 0.00 2.58 0.00 0.000 4 0.000 0.100 2959 356 1759 0 0 0 0 0 0
15659 end climb: FINISH_DEPTH_REACHED
state 15659 begin subsurface finish
15667 0.07 53.7 8.7 -10.5 1382 15704 0.85 2.40 -28.12 0.000 4 0.179 0.112 2722 354 2585 0 0 0 0 0 0
15705 end subsurface finish: CONTROL_FINISHED_OK
state 15705 begin surface