DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 255 * 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  255 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  18 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  204344,6648.349,-5818.250,0,3089.3,0,-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  0.75 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  1.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  204344,6648.349,-5818.250,0,3089.3,0,-37.6 MHEAD_RNG_PITCHd_Wd  105.0,70597,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  747

Post-dive calculations and measurements:
FREEZE  0.63,-1.786,-1.801,2,20,2 ALTIM_TOP_PING  19.4,18.5
FINISH  0.6,1.026446 ALTIM_BOTTOM_PING  600.4,90.3
SM_CCo  14117,47.30,0.815,0,0,1474,325.02 _24V_AH  22.5,51.948
SM_GC  1.25,0.00,0.00,47.30,0.000,0.000,0.815,128,2464,1474,-8.00,0.11,325.02 _10V_AH  10.1,27.355
RAFOS_CLK  970 FG_AHR_24Vo  0.000
RAFOS  0,1260144070,0.033333,0.019444,57,57,51,0,0,0,177,214,975,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6647.394043,-5811.248535,071209,000022,3,112,0.38 MEM  152524
IRIDIUM_FIX  6614.97,-5838.87,020399,000019 DATA_FILE_SIZE  53606,1338
TT8_MAMPS  0.026845 CAP_FILE_SIZE  160782,0
HUMID  49.01 CFSIZE  260165632,229629952
INTERNAL_PRESSURE  8.8187 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  16.30 SOUNDSPEED  1454.2
XPDR_PINGS  8 GPS  071209,014837,6644.341,-5806.466,32,1.2,32,-37.5

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1321968.73 SBE_CT97924528.71
Roll_motor18098402.00 SBE_O294219402.82
VBD_pump_during_apogee35912049733.04 nil000.00
VBD_pump_during_surface47815867.71 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init01030.00 nil000.00
Iridium_during_connect01600.00 nil000.00
Iridium_during_xfer02230.00
Transponder_ping442040.16
GUMSTIX_24V000.00
GPS0500.00
TT8233519469.89
LPSleep88082205.51
TT8_Active53619107.89
TT8_Sampling237539957.71
TT8_CF81784582.81
TT8_Kalman000.00
Analog_circuits176112213.51
GPS_charging000.00
Compass23388188.92
RAFOS2520138.18
Transponder19305.84

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
15 -0.73 -146.0 0.0 0.0 0 82 0.00 0.00 -61.75 0.000 6 0.000 0.000 2717 1943 3395 0 0 0 0 0 0
84 -0.73 -146.0 1.4 -3.4 13 90 0.77 1.62 0.00 0.000 4 0.100 0.094 2457 863 3396 0 0 0 0 0 0
182 -0.73 -146.0 15.6 -10.9 30 188 0.00 2.47 0.00 0.000 6 0.000 0.079 2457 2459 3397 0 0 0 0 0 0
526 -0.73 -146.0 54.5 -11.4 91 531 0.00 3.00 0.00 0.000 4 0.000 0.099 2457 3920 3397 0 0 0 0 0 0
695 -0.73 -146.0 72.8 -10.1 121 701 0.00 2.88 0.00 0.000 6 0.000 0.073 2457 2462 3397 0 0 0 0 0 0
1039 -0.73 -146.0 108.2 -10.4 176 1044 0.00 3.00 0.00 0.000 4 0.000 0.098 2457 3921 3397 0 0 0 0 0 0
1191 -0.73 -146.0 124.8 -12.0 189 1196 0.00 2.85 0.00 0.000 6 0.000 0.073 2457 2471 3397 0 0 0 0 0 0
1515 -0.73 -146.0 160.4 -10.0 219 1520 0.00 2.97 0.00 0.000 4 0.000 0.098 2457 3920 3397 0 0 0 0 0 0
1682 -0.77 -146.0 176.7 -9.4 233 1688 0.00 2.83 0.00 0.000 6 0.000 0.074 2457 2483 3397 0 0 0 0 0 0
2007 -0.77 -146.0 205.9 -8.5 264 2011 0.00 2.95 0.00 0.000 4 0.000 0.099 2457 3914 3397 0 0 0 0 0 0
2073 -0.84 -146.0 211.6 -8.5 269 2080 0.12 2.80 0.00 0.000 6 0.133 0.074 2418 2496 3396 0 0 0 0 0 0
2399 -0.77 -146.0 243.5 -10.5 300 2404 0.00 2.92 0.00 0.000 4 0.000 0.098 2418 3914 3396 0 0 0 0 0 0
2535 -0.70 -146.0 258.3 -10.9 311 2542 0.17 2.78 0.00 0.000 6 0.219 0.073 2456 2510 3396 0 0 0 0 0 0
2862 -0.79 -146.0 287.5 -8.9 342 2867 0.00 2.90 0.00 0.000 4 0.000 0.098 2456 3914 3396 0 0 0 0 0 0
2957 -0.88 -146.0 296.1 -8.6 350 2963 0.15 2.78 0.00 0.000 6 0.126 0.072 2411 2508 3395 0 0 0 0 0 0
3282 -0.81 -146.0 330.8 -10.9 380 3286 0.00 2.90 0.00 0.000 4 0.000 0.096 2410 3915 3395 0 0 0 0 0 0
3399 -0.74 -146.0 343.8 -11.1 390 3405 0.15 2.75 0.00 0.000 6 0.216 0.071 2442 2521 3396 0 0 0 0 0 0
3724 -0.79 -146.0 372.1 -8.7 420 3729 0.00 2.88 0.00 0.000 4 0.000 0.096 2442 3914 3396 0 0 0 0 0 0
3859 -0.84 -146.0 383.8 -8.8 431 3865 0.00 2.72 0.00 0.000 6 0.000 0.070 2442 2536 3396 0 0 0 0 0 0
4184 -0.89 -146.0 410.3 -8.2 462 4189 0.12 2.88 0.00 0.000 4 0.127 0.094 2400 3916 3396 0 0 0 0 0 0
4315 -0.79 -146.0 423.6 -10.3 473 4320 0.12 2.72 0.00 0.000 6 0.218 0.070 2425 2536 3396 0 0 0 0 0 0
4640 -0.79 -146.0 454.0 -9.1 503 4644 0.00 2.85 0.00 0.000 4 0.000 0.094 2425 3915 3396 0 0 0 0 0 0
4757 -0.79 -146.0 465.4 -9.5 513 4761 0.00 2.70 0.00 0.000 6 0.000 0.069 2425 2548 3396 0 0 0 0 0 0
5081 -0.79 -146.0 496.1 -9.6 543 5086 0.00 2.83 0.00 0.000 4 0.000 0.093 2425 3919 3396 0 0 0 0 0 0
5198 -0.79 -146.0 507.6 -10.1 553 5203 0.00 2.67 0.00 0.000 6 0.000 0.067 2425 2563 3396 0 0 0 0 0 0
5522 -0.79 -146.0 536.0 -8.7 583 5527 0.00 2.80 0.00 0.000 4 0.000 0.093 2425 3916 3396 0 0 0 0 0 0
5640 -0.79 -146.0 545.8 -8.0 593 5644 0.00 2.65 0.00 0.000 6 0.000 0.067 2425 2571 3396 0 0 0 0 0 0
5964 -0.79 -146.0 572.1 -8.1 623 5969 0.00 2.78 0.00 0.000 4 0.000 0.092 2425 3915 3396 0 0 0 0 0 0
6048 -0.79 -146.0 579.0 -8.7 630 6052 0.00 2.65 0.00 0.000 6 0.000 0.067 2425 2572 3396 0 0 0 0 0 0
6380 -0.79 -146.0 605.1 -7.6 657 6385 0.00 2.78 0.00 0.000 4 0.000 0.093 2425 3914 3397 0 0 0 0 0 0
6454 -0.79 -146.0 610.6 -7.5 659 6458 0.00 2.62 0.00 0.000 6 0.000 0.067 2425 2581 3397 0 0 0 0 0 0
6776 -0.79 -146.0 638.4 -9.3 670 6781 0.00 2.78 0.00 0.000 4 0.000 0.093 2425 3922 3397 0 0 0 0 0 0
6893 -0.79 -146.0 649.1 -8.7 673 6897 0.00 2.62 0.00 0.000 6 0.000 0.067 2425 2581 3397 0 0 0 0 0 0
7211 -0.79 -146.0 675.6 -7.9 684 7216 0.00 2.78 0.00 0.000 6 0.000 0.093 2425 3919 3397 0 0 0 0 0 0
7217 end dive: BOTTOM_OBSTACLE_DETECTED
state 7217 begin apogee
7225 -0.16 0.0 676.1 7.9 684 7351 0.75 0.00 122.12 1.205 6 0.193 0.000 2627 1953 2800 0 0 0 0 0 0
7351 end apogee: CONTROL_FINISHED_OK
state 7351 begin climb
7353 0.73 146.0 680.0 0.0 688 7490 1.00 2.62 128.73 1.149 4 0.146 0.094 2922 357 2202 0 0 0 0 0 0
7592 0.65 146.0 659.6 12.8 695 7596 0.00 2.42 0.00 0.000 6 0.000 0.068 2922 1958 2196 0 0 0 0 0 0
7904 0.55 146.0 622.9 11.3 705 7910 0.22 3.22 0.00 0.000 4 0.200 0.084 2856 3543 2193 0 0 0 0 0 0
7971 0.61 147.6 616.2 9.1 707 7976 0.00 3.17 0.00 0.000 6 0.000 0.074 2868 1956 2192 0 0 0 0 0 0
8296 0.71 147.6 587.2 9.2 725 8301 0.15 3.20 0.00 0.000 4 0.116 0.084 2921 3544 2191 0 0 0 0 0 0
8374 0.57 147.6 576.8 13.7 731 8380 0.25 3.12 0.00 0.000 6 0.206 0.076 2874 1962 2191 0 0 0 0 0 0
8699 0.67 154.0 548.1 8.9 762 8711 0.00 3.12 6.00 0.900 4 0.000 0.085 2875 3535 2171 0 0 0 0 0 0
8768 0.67 154.0 541.7 9.7 768 8773 0.00 3.08 0.00 0.000 6 0.000 0.077 2886 1980 2171 0 0 0 0 0 0
9093 0.75 164.7 513.6 8.7 798 9114 0.15 3.12 10.82 1.015 4 0.106 0.085 2941 3542 2127 0 0 0 0 0 0
9177 0.57 164.7 503.6 12.4 805 9183 0.32 3.10 0.00 0.000 6 0.209 0.077 2877 1981 2126 0 0 0 0 0 0
9501 0.72 204.5 477.2 7.5 836 9543 0.15 3.20 34.75 1.070 4 0.123 0.087 2924 3539 1965 0 0 0 0 0 0
9616 0.63 204.5 464.2 12.8 846 9622 0.17 3.10 0.00 0.000 6 0.207 0.077 2899 2001 1961 0 0 0 0 0 0
9941 0.68 204.5 432.1 9.9 877 9946 0.00 3.10 0.00 0.000 4 0.000 0.086 2899 3538 1959 0 0 0 0 0 0
9991 0.68 204.5 426.7 11.6 881 9996 0.00 3.05 0.00 0.000 6 0.000 0.076 2909 2008 1958 0 0 0 0 0 0
10315 0.68 204.5 395.0 9.6 911 10316 0.00 0.00 0.00 0.000 6 0.000 0.000 2909 2009 1957 0 0 0 0 0 0
10633 0.68 204.5 364.0 10.2 941 10638 0.00 3.08 0.00 0.000 4 0.000 0.086 2909 3544 1957 0 0 0 0 0 0
10710 0.68 204.5 355.5 11.3 947 10716 0.00 3.03 0.00 0.000 6 0.000 0.077 2922 2018 1956 0 0 0 0 0 0
11036 0.68 204.5 322.9 10.0 978 11041 0.00 3.05 0.00 0.000 4 0.000 0.085 2921 3541 1957 0 0 0 0 0 0
11087 0.61 204.5 317.1 12.0 982 11092 0.17 3.00 0.00 0.000 6 0.205 0.076 2895 2025 1957 0 0 0 0 0 0
11411 0.75 229.3 287.0 8.1 1012 11442 0.12 3.05 20.92 0.943 4 0.130 0.085 2935 3537 1863 0 0 0 0 0 0
11466 0.70 229.3 281.3 11.3 1017 11471 0.12 3.00 0.00 0.000 6 0.207 0.076 2922 2034 1862 0 0 0 0 0 0
11790 0.71 238.6 251.5 8.8 1047 11805 0.00 3.05 9.07 0.864 4 0.000 0.087 2922 3542 1826 0 0 0 0 0 0
11850 0.71 238.6 245.2 11.0 1052 11855 0.00 3.00 0.00 0.000 6 0.000 0.076 2933 2041 1825 0 0 0 0 0 0
12174 0.71 238.6 207.6 12.5 1082 12179 0.00 3.03 0.00 0.000 4 0.000 0.086 2933 3536 1824 0 0 0 0 0 0
12229 0.71 238.6 200.1 13.5 1086 12235 0.00 2.97 0.00 0.000 6 0.000 0.076 2945 2046 1824 0 0 0 0 0 0
12554 0.71 238.6 162.0 10.4 1117 12559 0.00 3.03 0.00 0.000 4 0.000 0.086 2945 3542 1823 0 0 0 0 0 0
12620 0.71 238.6 154.3 12.8 1122 12626 0.15 2.97 0.00 0.000 6 0.206 0.077 2925 2052 1823 0 0 0 0 0 0
12945 0.84 248.8 125.1 8.7 1153 12958 0.10 0.00 10.10 0.834 6 0.141 0.000 2956 2053 1785 0 0 0 0 0 0
13278 0.90 266.4 91.2 8.4 1192 13304 0.00 3.10 16.48 0.848 4 0.000 0.088 2956 3543 1712 0 0 0 0 0 0
13338 0.90 266.4 85.4 10.4 1203 13344 0.00 3.00 0.00 0.000 6 0.000 0.078 2969 2051 1711 0 0 0 0 0 0
13683 0.90 266.4 45.5 12.2 1264 13688 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 2053 1708 0 0 0 0 0 0
14027 0.90 266.4 6.4 11.5 1325 14032 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 2053 1707 0 0 0 0 0 0
14076 end climb: SURFACE_DEPTH_REACHED
state 14076 begin surface coast
14100 end surface coast: CONTROL_FINISHED_OK
state 14100 begin surface