DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 253 * 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  253 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  122913,6642.061,-5839.446,0,5090.2,0,-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  8.78 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -0.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  122913,6642.061,-5839.446,0,5090.2,0,-37.6 MHEAD_RNG_PITCHd_Wd  101.9,89336,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  739

Post-dive calculations and measurements:
FREEZE  8.70,-1.780,-1.805,2,18,0 ALTIM_BOTTOM_PING  600.2,122.6
FINISH1  8.7,1.026426,52 _24V_AH  22.4,51.674
FINISH2  4.8 _10V_AH  10.1,27.201
RAFOS_CLK  1015 FG_AHR_24Vo  0.000
RAFOS  0,1260115262,16.033333,16.017221,62,59,56,0,0,0,209,220,167,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6643.846191,-5840.981934,061209,161636,4,102,0.24 MEM  152524
IRIDIUM_FIX  6614.97,-5838.87,020399,000019 DATA_FILE_SIZE  50494,1340
TT8_MAMPS  0.026845 CAP_FILE_SIZE  163853,0
HUMID  49.29 CFSIZE  260165632,229797888
INTERNAL_PRESSURE  8.90659 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP  16.20 SOUNDSPEED  1454.1
XPDR_PINGS  8 GPS  061209,163336,6643.846,-5840.982,0,4101.5,0,-37.6
ALTIM_TOP_PING  19.7,19.2

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor722739.04 SBE_CT99124532.91
Roll_motor187113475.75 SBE_O293919399.64
VBD_pump_during_apogee369122510131.55 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_ping442042.34
GUMSTIX_24V000.00
GPS0500.00
TT8233719470.30
LPSleep94352220.13
TT8_Active49819100.31
TT8_Sampling240839971.13
TT8_CF81904588.48
TT8_Kalman000.00
Analog_circuits173712210.60
GPS_charging000.00
Compass23768192.05
RAFOS2520138.18
Transponder21306.37

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 2720 352 2776 0 0 0 0 0 0
25 -0.73 -146.0 9.2 -0.0 1 56 0.80 6.18 -17.48 0.000 4 0.124 0.091 2460 3913 3398 0 0 0 0 0 0
168 -0.73 -146.0 27.7 -16.2 27 173 0.00 2.88 0.00 0.000 6 0.000 0.071 2460 2449 3400 0 0 0 0 0 0
511 -0.73 -146.0 66.8 -11.3 88 516 0.00 3.03 0.00 0.000 4 0.000 0.097 2460 3915 3400 0 0 0 0 0 0
690 -0.73 -146.0 87.2 -11.4 120 696 0.00 2.85 0.00 0.000 6 0.000 0.074 2460 2480 3400 0 0 0 0 0 0
1027 -0.73 -146.0 122.2 -10.4 162 1028 0.00 0.00 0.00 0.000 6 0.000 0.000 2460 2480 3400 0 0 0 0 0 0
1347 -0.78 -146.0 157.0 -11.5 192 1352 0.00 2.97 0.00 0.000 4 0.000 0.097 2460 3915 3400 0 0 0 0 0 0
1509 -0.78 -146.0 175.2 -10.9 206 1514 0.00 2.85 0.00 0.000 6 0.000 0.074 2460 2481 3399 0 0 0 0 0 0
1834 -0.83 -146.0 206.2 -8.7 236 1840 0.12 3.00 0.00 0.000 4 0.133 0.097 2413 3913 3399 0 0 0 0 0 0
1975 -0.74 -146.0 221.5 -11.1 248 1981 0.15 2.83 0.00 0.000 6 0.228 0.074 2444 2494 3399 0 0 0 0 0 0
2299 -0.74 -146.0 252.9 -9.6 278 2304 0.00 2.97 0.00 0.000 4 0.000 0.098 2444 3917 3399 0 0 0 0 0 0
2523 -0.79 -146.0 274.8 -8.9 297 2529 0.00 2.80 0.00 0.000 6 0.000 0.074 2444 2514 3398 0 0 0 0 0 0
2848 -0.79 -146.0 302.2 -8.0 328 2852 0.00 2.92 0.00 0.000 4 0.000 0.098 2444 3913 3398 0 0 0 0 0 0
3012 -0.83 -146.0 316.0 -8.8 342 3017 0.00 2.78 0.00 0.000 6 0.000 0.074 2444 2527 3397 0 0 0 0 0 0
3337 -0.90 -146.0 343.0 -8.6 372 3342 0.15 2.92 0.00 0.000 4 0.125 0.094 2387 3919 3397 0 0 0 0 0 0
3527 -0.74 -146.0 364.9 -11.9 388 3534 0.25 2.75 0.00 0.000 6 0.218 0.071 2444 2537 3397 0 0 0 0 0 0
3852 -0.80 -146.0 394.4 -8.9 419 3857 0.00 2.88 0.00 0.000 4 0.000 0.095 2444 3915 3398 0 0 0 0 0 0
4016 -0.86 -146.0 409.5 -9.4 433 4021 0.00 2.72 0.00 0.000 6 0.000 0.071 2444 2551 3397 0 0 0 0 0 0
4341 -0.93 -146.0 441.5 -9.7 463 4346 0.17 2.88 0.00 0.000 4 0.118 0.094 2385 3919 3398 0 0 0 0 0 0
4426 -0.80 -146.0 451.9 -12.4 470 4431 0.17 2.72 0.00 0.000 6 0.217 0.070 2423 2552 3398 0 0 0 0 0 0
4750 -0.80 -146.0 483.9 -9.0 500 4755 0.00 2.85 0.00 0.000 4 0.000 0.094 2423 3916 3398 0 0 0 0 0 0
4903 -0.80 -146.0 498.8 -9.6 513 4907 0.00 2.70 0.00 0.000 6 0.000 0.069 2423 2564 3398 0 0 0 0 0 0
5227 -0.80 -146.0 529.1 -9.1 543 5231 0.00 2.83 0.00 0.000 4 0.000 0.093 2423 3915 3398 0 0 0 0 0 0
5326 -0.80 -146.0 538.7 -9.9 551 5332 0.00 2.67 0.00 0.000 6 0.000 0.069 2423 2574 3398 0 0 0 0 0 0
5652 -0.80 -146.0 568.5 -9.0 582 5656 0.00 2.80 0.00 0.000 4 0.000 0.093 2423 3913 3399 0 0 0 0 0 0
5762 -0.80 -146.0 578.6 -8.9 591 5768 0.00 2.65 0.00 0.000 6 0.000 0.068 2423 2582 3399 0 0 0 0 0 0
6105 -0.80 -146.0 608.0 -8.6 618 6109 0.00 2.78 0.00 0.000 4 0.000 0.092 2423 3913 3400 0 0 0 0 0 0
6142 -0.80 -146.0 611.5 -8.8 619 6147 0.00 2.65 0.00 0.000 6 0.000 0.067 2423 2583 3399 0 0 0 0 0 0
6472 -0.80 -146.0 638.7 -8.3 630 6477 0.00 2.78 0.00 0.000 4 0.000 0.093 2423 3918 3400 0 0 1 0 0 0
6561 -0.80 -146.0 646.5 -9.1 632 6566 0.00 2.65 0.00 0.000 6 0.000 0.068 2423 2586 3400 0 0 0 0 0 0
6873 -0.80 -146.0 672.8 -8.6 643 6877 0.00 2.78 0.00 0.000 4 0.000 0.092 2423 3914 3400 0 0 0 0 0 0
6983 -0.80 -146.0 683.3 -9.2 646 6988 0.00 2.62 0.00 0.000 6 0.000 0.068 2423 2597 3400 0 0 0 0 0 0
7301 end dive: BOTTOM_OBSTACLE_DETECTED
state 7301 begin apogee
7306 -0.16 0.0 709.4 8.0 657 7433 0.77 0.00 123.80 1.226 6 0.191 0.000 2630 1950 2800 0 0 0 0 0 0
7434 end apogee: CONTROL_FINISHED_OK
state 7434 begin climb
7437 0.73 146.0 714.8 0.0 661 7577 1.00 2.67 130.57 1.170 4 0.142 0.094 2925 355 2203 0 0 0 0 0 0
7623 0.62 146.0 703.9 12.1 667 7628 0.15 2.45 0.00 0.000 6 0.192 0.067 2895 1960 2199 0 0 0 0 0 0
7957 0.62 146.0 675.5 9.4 678 7962 0.00 3.22 0.00 0.000 4 0.000 0.084 2895 3534 2195 0 0 0 0 0 0
8063 0.55 146.0 664.4 10.8 681 8068 0.17 3.17 0.00 0.000 6 0.201 0.076 2868 1963 2193 0 0 0 0 0 0
8388 0.67 152.3 635.9 8.9 692 8399 0.12 3.17 4.85 0.844 4 0.123 0.087 2909 3540 2179 0 0 0 0 0 0
8472 0.57 152.3 625.9 12.3 694 8478 0.20 3.12 0.00 0.000 6 0.202 0.077 2876 1975 2178 0 0 0 0 0 0
8786 0.68 163.2 597.2 8.7 706 8807 0.00 3.15 11.00 1.054 4 0.000 0.086 2875 3535 2134 0 0 0 0 0 0
8867 0.68 163.2 589.0 10.8 713 8874 0.00 3.10 0.00 0.000 6 0.000 0.077 2887 1984 2134 0 0 0 0 0 0
9194 0.74 163.2 558.3 9.5 744 9200 0.12 3.15 0.00 0.000 4 0.110 0.085 2932 3537 2132 0 0 0 0 0 0
9268 0.58 163.2 549.2 13.0 750 9273 0.28 3.08 0.00 0.000 6 0.204 0.077 2880 1997 2131 0 0 0 0 0 0
9592 0.68 165.2 519.7 9.1 780 9597 0.00 3.10 0.00 0.000 4 0.000 0.086 2880 3534 2131 0 0 0 0 0 0
9665 0.68 165.2 512.5 10.4 786 9669 0.00 3.05 0.00 0.000 6 0.000 0.077 2891 2008 2131 0 0 0 0 0 0
9990 0.74 165.2 482.3 9.4 816 9996 0.12 3.10 0.00 0.000 4 0.114 0.085 2938 3536 2131 0 0 0 0 0 0
10046 0.56 165.2 475.5 13.1 820 10053 0.30 3.03 0.00 0.000 6 0.203 0.077 2878 2018 2131 0 0 0 0 0 0
10371 0.69 179.7 447.7 8.6 851 10393 0.10 3.05 15.52 1.023 4 0.139 0.084 2910 3534 2065 0 0 0 0 0 0
10467 0.62 179.7 437.2 11.7 859 10473 0.12 3.03 0.00 0.000 6 0.209 0.076 2897 2027 2064 0 0 0 0 0 0
10792 0.68 179.7 404.6 9.7 890 10797 0.00 3.05 0.00 0.000 4 0.000 0.086 2897 3535 2063 0 0 0 0 0 0
10846 0.68 179.7 398.7 10.6 894 10853 0.00 3.00 0.00 0.000 6 0.000 0.075 2907 2033 2063 0 0 0 0 0 0
11172 0.69 180.8 367.4 9.1 925 11173 0.00 0.00 0.00 0.000 6 0.000 0.000 2907 2034 2063 0 0 0 0 0 0
11491 0.74 183.0 338.5 9.1 955 11502 0.00 3.03 3.85 0.673 4 0.000 0.087 2907 3535 2053 0 0 0 0 0 0
11570 0.74 183.0 330.5 10.0 962 11575 0.00 3.00 0.00 0.000 6 0.000 0.076 2920 2028 2053 0 0 0 0 0 0
11894 0.74 183.0 298.6 10.2 992 11899 0.00 3.05 0.00 0.000 4 0.000 0.086 2920 3538 2053 0 0 0 0 0 0
11961 0.68 183.0 290.9 11.5 997 11966 0.00 2.97 0.00 0.000 6 0.000 0.076 2932 2043 2053 0 0 0 0 0 0
12285 0.68 183.0 253.0 12.5 1028 12290 0.00 3.03 0.00 0.000 4 0.000 0.086 2933 3540 2053 0 0 0 0 0 0
12324 0.61 183.0 248.1 13.4 1031 12329 0.22 2.97 0.00 0.000 6 0.202 0.077 2892 2046 2053 0 0 0 0 0 0
12650 0.78 214.0 217.7 7.9 1061 12681 0.15 0.00 27.80 0.912 6 0.119 0.000 2941 2046 1927 0 0 0 0 0 0
12996 0.78 214.0 183.0 9.9 1094 13001 0.00 3.05 0.00 0.000 4 0.000 0.087 2940 3539 1922 0 0 0 0 0 0
13109 0.73 214.0 170.7 11.4 1103 13114 0.00 2.97 0.00 0.000 6 0.000 0.077 2954 2059 1920 0 0 0 0 0 0
13433 0.73 214.0 136.3 10.4 1134 13437 0.00 2.53 0.00 0.000 4 0.000 0.098 2965 348 1921 0 0 0 0 0 0
13495 0.68 214.0 129.4 11.6 1139 13500 0.22 2.42 0.00 0.000 6 0.193 0.072 2911 2058 1920 0 0 0 0 0 0
13819 0.89 255.2 102.8 7.4 1169 13862 0.20 3.03 35.65 0.858 4 0.105 0.087 2977 3539 1757 0 0 0 0 0 0
13980 0.81 255.2 83.8 13.0 1195 13986 0.17 3.00 0.00 0.000 6 0.202 0.080 2950 2068 1753 0 0 0 0 0 0
14325 0.90 255.2 51.1 9.5 1256 14330 0.00 3.00 0.00 0.000 4 0.000 0.087 2950 3535 1752 0 0 0 0 0 0
14386 0.90 255.2 44.4 10.8 1267 14392 0.00 2.95 0.00 0.000 6 0.000 0.079 2961 2078 1752 0 0 0 0 0 0
14732 1.04 325.9 10.3 6.2 1328 14750 0.20 0.00 15.98 0.808 2 0.114 0.000 3026 2080 1682 0 0 0 0 0 0
14751 end climb: FINISH_DEPTH_REACHED
state 14751 begin subsurface finish
14757 0.06 52.2 8.7 -7.6 1331 14804 1.17 2.42 -36.03 0.000 4 0.212 0.114 2718 350 2590 0 0 0 0 0 0
14805 end subsurface finish: CONTROL_FINISHED_OK
state 14805 begin surface