Glider dive log

PortSusan 28Aug07 * SG112 * Dive index * Mission links * Dive 27 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 112 HD_B 0.015 PITCH_AD_RATE 65 ALTIM_TOP_PING_RANGE 20

MISSION 3 HD_C 5.5e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 27 HEADING -1 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_MIN_OBSTACLE 2

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 168 ALTIM_PING_DEPTH 0

D_TGT 60 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3823 ALTIM_PING_DELTA 0

D_ABORT 1090 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2000 ALTIM_FREQUENCY 13

D_NO_BLEED 50 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2200 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 350 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 36 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 9 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 250 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 20 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 30 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.059999999 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 289 DEVICE4 -1

T_TURN 300 CALL_WAIT 60 VBD_MAX 3753 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2787 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 N_GPS 20 PITCH_VBD_SHIFT 0.00167 COMPASS_DEVICE 49

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -27228.141 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE 0

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 0.2 UNCOM_BLEED 75 XPDR_DEVICE 24

MAX_BUOY 200 RAFOS_CORR_THRESH 80 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 5400 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 679 AH0_24V 150 SEABIRD_T_G 0.0043712994

SPEED_FACTOR 1 PITCH_MAX 3252 AH0_10V 80 SEABIRD_T_H 0.00064806995

RHO 1.023 C_PITCH 2675 PRESSURE_YINT -3.8012359 SEABIRD_T_I 2.9318924e-05

MASS 51502 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.129227e-05 SEABIRD_T_J 3.4945006e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.125542

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1422628

KALMAN_USE 1 PITCH_GAIN 21 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00066794927

HD_A 0.0049999999 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00014236888

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 65 SMARTDEVICE1 -1

AH0_10V 80 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 50 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 21 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3252 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 679 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 60 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00167 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.129227e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2 FERRY_MAX 0 PRESSURE_YINT -3.8012359 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 80 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 0 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 5400 T_DIVE 20

CALL_TRIES 5 HD_A 0.0049999999 RAFOS_PEAK_OFFSET 0.2 T_GPS 15

CALL_WAIT 60 HD_B 0.015 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 5.5e-06 RHO 1.023 T_GPS_CHARGE -27228.141

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.059999999 T_MISSION 30

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 49 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN 300

COURSE_BIAS 0 ID 112 ROLL_MAX 3823 T_TURN_SAMPINT 5

C_PITCH 2675 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 0 ROLL_MIN 168 UNCOM_BLEED 75

C_ROLL_DIVE 2000 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2787 MASS 51502 R_PORT_OVSHOOT 36 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 9 USE_ICE 0

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.125542 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1422628 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00066794927 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00014236888 VBD_MAX 3753

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043712994 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064806995 VBD_MIN 289

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.9318924e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 27 PHONE_DEVICE 48 SEABIRD_T_J 3.4945006e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0.02 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 170345,4806.681,-12222.520,10,1.2,10,18.3 TGT_NAME KAYAKPT

_CALLS 1 TGT_LATLONG 4808.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.047,0.244

_SM_DEPTHo 1.94 KALMAN_X -482.3,448.5,145.9,1925.3,-0.1

_SM_ANGLEo -48.1 KALMAN_Y 2921.6,33.8,-190.9,-5009.1,-55.3

GPS2 170757,4806.682,-12222.534,12,1.2,12,18.3 MHEAD_RNG_PITCHd_Wd 328.4,2508,-18.8,-10.000

SPEED_LIMITS 0.173,0.249 D_GRID 107

Post-dive calculations and measurements:

FINISH 0.9,1.004366 XPDR_PINGS 0

SM_CCo 1287,58.62,0.607,0,0,1359,350.04 ALTIM_TOP_PING 19.2,18.1

SM_GC 2.02,0.00,0.00,58.62,0.000,0.000,0.607,680,1991,1359,-9.18,-0.25,350.04 _24V_AH 20.5,2.602

RAFOS_CLK 47 _10V_AH 10.8,0.618

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 3341,155

IRIDIUM_FIX 4748.51,-12221.84,290807,202003 CFSIZE 260165632,256782336

TT8_MAMPS 0.025311 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 2031 SOUNDSPEED 1487.9

INTERNAL_PRESSURE 10.557 GPS 290807,173208,4806.808,-12222.614,6,1.4,11,18.3

TCM_TEMP 10.60

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 289 196.06 SBE_CT 108 24 53.45

Roll_motor 12 95 24.96 SBE_O2 104 19 40.80

VBD_pump_during_apogee 365 643 4818.05 nil 0 0 0.00

VBD_pump_during_surface 58 607 730.06 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 48 103 101.91 nil 0 0 0.00

Iridium_during_connect 51 160 169.31 nil 0 0 0.00

Iridium_during_xfer 78 223 360.92

Transponder_ping 0 420 2.15

GPS 13 50 7.49

TT8 243 19 52.42

LPSleep 494 2 12.33

TT8_Active 488 19 105.07

TT8_Sampling 176 39 76.05

TT8_CF8 215 45 106.90

TT8_Kalman 33 81 29.47

Analog_circuits 659 12 85.53

GPS_charging 0 0 0.00

Compass 172 20 37.16

RAFOS 360 1 5.83

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

15 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.22 -195.5 0.0 0.0 0 51 0.00 0.00 -30.70 0.000 2 0.000 0.000 678 1973 2254

53 -1.22 -195.5 3.2 -6.4 6 119 17.42 3.08 -40.35 0.000 4 0.289 0.084 2402 3414 3586

247 -1.14 -195.5 30.5 -18.4 37 253 0.15 2.70 0.00 0.000 6 0.155 0.033 2422 2009 3586

442 end dive: TARGET_DEPTH_EXCEEDED

state 442 begin apogee

446 -0.24 0.0 61.4 15.2 55 616 1.25 0.00 163.25 0.644 6 0.147 0.000 2621 2216 2787

616 end apogee: CONTROL_FINISHED_OK

state 616 begin climb

618 1.22 195.5 66.9 0.0 72 791 1.75 3.22 163.15 0.630 4 0.090 0.096 2938 3602 1989

840 1.07 195.5 43.5 17.1 93 848 0.20 2.83 0.00 0.000 6 0.144 0.037 2910 2201 1989

1039 1.01 195.5 17.9 12.0 113 1043 0.00 0.00 0.00 0.000 6 0.000 0.000 2910 2201 1989

1110 0.95 195.5 9.0 12.1 126 1115 0.17 0.00 0.00 0.000 6 0.133 0.000 2885 2201 1989

1182 1.26 356.5 4.0 4.5 139 1224 0.32 0.00 38.83 0.624 2 0.051 0.000 2950 2201 1744

1225 end climb: SURFACE_DEPTH_REACHED

state 1225 begin surface coast

1268 end surface coast: CONTROL_FINISHED_OK

state 1268 begin surface

ID	112	HD_B	0.015	PITCH_AD_RATE	65	ALTIM_TOP_PING_RANGE	20
MISSION	3	HD_C	5.5e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	27	HEADING	-1	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_MIN_OBSTACLE	2
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	168	ALTIM_PING_DEPTH	0
D_TGT	60	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3823	ALTIM_PING_DELTA	0
D_ABORT	1090	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2000	ALTIM_FREQUENCY	13
D_NO_BLEED	50	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2200	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	350	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	36	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	9	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	250	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	20	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	30	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.059999999	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	289	DEVICE4	-1
T_TURN	300	CALL_WAIT	60	VBD_MAX	3753	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2787	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	N_GPS	20	PITCH_VBD_SHIFT	0.00167	COMPASS_DEVICE	49
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-27228.141	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	0
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	0.2	UNCOM_BLEED	75	XPDR_DEVICE	24
MAX_BUOY	200	RAFOS_CORR_THRESH	80	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	5400	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	679	AH0_24V	150	SEABIRD_T_G	0.0043712994
SPEED_FACTOR	1	PITCH_MAX	3252	AH0_10V	80	SEABIRD_T_H	0.00064806995
RHO	1.023	C_PITCH	2675	PRESSURE_YINT	-3.8012359	SEABIRD_T_I	2.9318924e-05
MASS	51502	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.129227e-05	SEABIRD_T_J	3.4945006e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.125542
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1422628
KALMAN_USE	1	PITCH_GAIN	21	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00066794927
HD_A	0.0049999999	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014236888

GPS1	170345,4806.681,-12222.520,10,1.2,10,18.3	TGT_NAME	KAYAKPT
_CALLS	1	TGT_LATLONG	4808.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.047,0.244
_SM_DEPTHo	1.94	KALMAN_X	-482.3,448.5,145.9,1925.3,-0.1
_SM_ANGLEo	-48.1	KALMAN_Y	2921.6,33.8,-190.9,-5009.1,-55.3
GPS2	170757,4806.682,-12222.534,12,1.2,12,18.3	MHEAD_RNG_PITCHd_Wd	328.4,2508,-18.8,-10.000
SPEED_LIMITS	0.173,0.249	D_GRID	107

FINISH	0.9,1.004366	XPDR_PINGS	0
SM_CCo	1287,58.62,0.607,0,0,1359,350.04	ALTIM_TOP_PING	19.2,18.1
SM_GC	2.02,0.00,0.00,58.62,0.000,0.000,0.607,680,1991,1359,-9.18,-0.25,350.04	_24V_AH	20.5,2.602
RAFOS_CLK	47	_10V_AH	10.8,0.618
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	3341,155
IRIDIUM_FIX	4748.51,-12221.84,290807,202003	CFSIZE	260165632,256782336
TT8_MAMPS	0.025311	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	2031	SOUNDSPEED	1487.9
INTERNAL_PRESSURE	10.557	GPS	290807,173208,4806.808,-12222.614,6,1.4,11,18.3
TCM_TEMP	10.60

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	289	196.06	SBE_CT	108	24	53.45
Roll_motor	12	95	24.96	SBE_O2	104	19	40.80
VBD_pump_during_apogee	365	643	4818.05	nil	0	0	0.00
VBD_pump_during_surface	58	607	730.06	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	48	103	101.91	nil	0	0	0.00
Iridium_during_connect	51	160	169.31	nil	0	0	0.00
Iridium_during_xfer	78	223	360.92
Transponder_ping	0	420	2.15
GPS	13	50	7.49
TT8	243	19	52.42
LPSleep	494	2	12.33
TT8_Active	488	19	105.07
TT8_Sampling	176	39	76.05
TT8_CF8	215	45	106.90
TT8_Kalman	33	81	29.47
Analog_circuits	659	12	85.53
GPS_charging	0	0	0.00
Compass	172	20	37.16
RAFOS	360	1	5.83

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
15	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.22	-195.5	0.0	0.0	0	51	0.00	0.00	-30.70	0.000	2	0.000	0.000	678	1973	2254
53	-1.22	-195.5	3.2	-6.4	6	119	17.42	3.08	-40.35	0.000	4	0.289	0.084	2402	3414	3586
247	-1.14	-195.5	30.5	-18.4	37	253	0.15	2.70	0.00	0.000	6	0.155	0.033	2422	2009	3586
442	end dive: TARGET_DEPTH_EXCEEDED
state	442	begin apogee
446	-0.24	0.0	61.4	15.2	55	616	1.25	0.00	163.25	0.644	6	0.147	0.000	2621	2216	2787
616	end apogee: CONTROL_FINISHED_OK
state	616	begin climb
618	1.22	195.5	66.9	0.0	72	791	1.75	3.22	163.15	0.630	4	0.090	0.096	2938	3602	1989
840	1.07	195.5	43.5	17.1	93	848	0.20	2.83	0.00	0.000	6	0.144	0.037	2910	2201	1989
1039	1.01	195.5	17.9	12.0	113	1043	0.00	0.00	0.00	0.000	6	0.000	0.000	2910	2201	1989
1110	0.95	195.5	9.0	12.1	126	1115	0.17	0.00	0.00	0.000	6	0.133	0.000	2885	2201	1989
1182	1.26	356.5	4.0	4.5	139	1224	0.32	0.00	38.83	0.624	2	0.051	0.000	2950	2201	1744
1225	end climb: SURFACE_DEPTH_REACHED
state	1225	begin surface coast
1268	end surface coast: CONTROL_FINISHED_OK
state	1268	begin surface