DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 332 * 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  332 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  425 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  2
D_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  12 XPDR_VALID  0
D_FINISH  9 FILEMGR  2 R_STBD_OVSHOOT  15 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  -42211.867 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  004736,6708.299,-5703.433,32,0.9,32,-37.7 TGT_NAME  TARGET_E
_CALLS  1 TGT_LATLONG  6703.000,-5648.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.36 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -65.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  005244,6708.319,-5703.465,10,1.6,10,-37.7 MHEAD_RNG_PITCHd_Wd  169.1,14891,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  504

Post-dive calculations and measurements:
FREEZE  0.49,0.037,-1.822,0,1,0 ALTIM_TOP_PING  19.9,19.6
FINISH  0.5,1.026680 ALTIM_BOTTOM_PING  400.1,113.1
SM_CCo  10485,124.78,0.712,0,0,1065,425.10 _24V_AH  22.8,62.663
SM_GC  1.39,0.00,0.00,124.78,0.000,0.000,0.712,122,2456,1065,-8.03,-0.11,425.10 _10V_AH  10.2,33.154
RAFOS_CLK  642 FG_AHR_24Vo  0.000
RAFOS  5,1261096864,0.700000,0.684444,80,59,59,0,0,0,646,210,132,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6709.177246,-5710.703613,171209,202056,2,104,0.34 MEM  152520
IRIDIUM_FIX  6641.98,-5701.58,130399,212145 DATA_FILE_SIZE  44155,1126
TT8_MAMPS  0.027612 CAP_FILE_SIZE  127596,0
HUMID  46.57 CFSIZE  260165632,224280576
INTERNAL_PRESSURE  8.85776 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,94,0,0
TCM_TEMP  17.20 SOUNDSPEED  1468.3
XPDR_PINGS  1 GPS  181209,035107,6708.590,-5703.938,29,1.0,29,-37.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22292152.31 SBE_CT81924448.49
Roll_motor13595292.85 SBE_O276619331.94
VBD_pump_during_apogee29410306925.98 nil000.00
VBD_pump_during_surface1247112024.91 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2310356.12 nil000.00
Iridium_during_connect30160110.47 nil000.00
Iridium_during_xfer138223704.41
Transponder_ping142014.36
GUMSTIX_24V000.00
GPS11506.05
TT8192419390.95
LPSleep60372142.25
TT8_Active57619117.20
TT8_Sampling199339811.84
TT8_CF838045178.45
TT8_Kalman000.00
Analog_circuits160012195.95
GPS_charging000.00
Compass19598159.87
RAFOS010.00
Transponder10303.33

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
14 -0.73 -146.0 0.0 0.0 0 134 0.00 0.00 -115.32 0.000 2 0.000 0.000 127 2465 3181 0 0 0 0 0 0
137 -0.73 -146.0 3.3 -4.7 23 159 11.23 2.30 -5.57 0.000 4 0.293 0.095 2447 849 3397 0 0 0 0 0 0
227 -0.73 -146.0 17.7 -10.6 39 232 0.00 2.17 0.00 0.000 6 0.000 0.067 2447 2467 3400 0 0 0 0 0 0
572 -0.73 -146.0 53.2 -11.7 100 578 0.00 3.28 0.00 0.000 4 0.000 0.087 2447 3919 3400 0 0 4 0 0 0
831 -0.73 -146.0 83.0 -12.0 146 837 0.00 3.12 0.00 0.000 6 0.000 0.063 2447 2480 3400 0 0 3 0 0 0
1169 -0.77 -146.0 119.6 -9.4 190 1173 0.00 2.22 0.00 0.000 4 0.000 0.085 2447 862 3399 0 0 0 0 0 0
1428 -0.77 -146.0 143.8 -9.1 213 1432 0.00 2.28 0.00 0.000 6 0.000 0.069 2447 2532 3398 0 0 0 0 0 0
1753 -0.85 -146.0 171.2 -8.2 243 1758 0.00 3.15 0.00 0.000 4 0.000 0.086 2447 3924 3396 0 0 3 0 0 0
1792 -0.95 -146.0 174.4 -8.3 246 1798 0.20 3.00 0.00 0.000 6 0.106 0.062 2379 2542 3397 0 0 3 0 0 0
2117 -0.84 -146.0 207.4 -10.2 276 2123 0.15 3.15 0.00 0.000 4 0.208 0.084 2413 3915 3397 0 0 3 0 0 0
2285 -0.84 -146.0 222.2 -8.2 290 2291 0.00 2.95 0.00 0.000 6 0.000 0.061 2413 2564 3397 0 0 3 0 0 0
2610 -0.84 -146.0 250.1 -8.8 321 2615 0.00 3.08 0.00 0.000 4 0.000 0.083 2413 3916 3397 0 0 3 0 0 0
2823 -0.84 -146.0 269.2 -8.4 339 2828 0.00 2.88 0.00 0.000 6 0.000 0.058 2413 2597 3397 0 0 2 0 0 0
3147 -0.84 -146.0 294.7 -7.9 370 3152 0.00 3.03 0.00 0.000 4 0.000 0.081 2413 3916 3397 0 0 2 0 0 0
3359 -0.84 -146.0 312.4 -8.5 388 3365 0.00 2.83 0.00 0.000 6 0.000 0.058 2413 2621 3398 0 0 2 0 0 0
3684 -0.84 -146.0 339.8 -8.3 419 3689 0.00 2.92 0.00 0.000 4 0.000 0.081 2413 3916 3399 0 0 4 0 0 0
3892 -0.84 -146.0 357.4 -8.7 437 3897 0.00 2.80 0.00 0.000 6 0.000 0.057 2413 2646 3399 0 0 1 0 0 0
4216 -0.84 -146.0 383.2 -7.8 467 4221 0.00 2.90 0.00 0.000 4 0.000 0.079 2412 3928 3400 0 0 3 0 0 0
4334 -0.84 -146.0 393.2 -8.5 477 4339 0.00 2.75 0.00 0.000 6 0.000 0.056 2413 2656 3400 0 0 3 0 0 0
4659 -0.84 -146.0 421.4 -8.5 507 4664 0.00 2.88 0.00 0.000 4 0.000 0.079 2413 3921 3401 0 0 3 0 0 0
4816 -0.84 -146.0 434.9 -8.6 520 4822 0.00 2.72 0.00 0.000 6 0.000 0.055 2413 2661 3401 0 0 3 0 0 0
5141 -0.84 -146.0 462.2 -8.2 551 5146 0.00 2.90 0.00 0.000 4 0.000 0.079 2413 3930 3401 0 0 2 0 0 0
5252 -0.84 -146.0 471.7 -8.3 560 5258 0.00 2.72 0.00 0.000 6 0.000 0.055 2413 2675 3402 0 0 3 0 0 0
5575 end dive: BOTTOM_OBSTACLE_DETECTED
state 5575 begin apogee
5582 -0.16 0.0 498.6 8.2 591 5708 0.75 0.00 120.47 1.030 6 0.172 0.000 2625 1932 2799 0 0 0 0 0 0
5709 end apogee: CONTROL_FINISHED_OK
state 5709 begin climb
5711 0.73 146.0 500.1 0.0 604 5845 0.95 2.17 122.70 0.985 4 0.126 0.084 2922 358 2202 0 0 0 0 0 0
5891 0.67 146.0 483.6 11.9 621 5895 0.00 2.03 0.00 0.000 6 0.000 0.054 2921 1969 2199 0 0 0 0 0 0
6221 0.61 146.0 444.9 12.3 652 6227 0.15 3.45 0.00 0.000 4 0.201 0.071 2881 3529 2195 0 0 3 0 0 0
6366 0.61 146.0 428.2 11.4 664 6373 0.00 3.45 0.00 0.000 6 0.000 0.064 2895 1953 2194 0 0 2 0 0 0
6691 0.61 146.0 394.2 10.6 695 6697 0.00 3.45 0.00 0.000 4 0.000 0.074 2895 3531 2194 0 0 3 0 0 0
6787 0.61 146.0 383.0 12.1 703 6792 0.00 3.42 0.00 0.000 6 0.000 0.067 2910 1976 2192 0 0 1 0 0 0
7111 0.61 146.0 348.4 10.5 733 7116 0.00 3.40 0.00 0.000 4 0.000 0.072 2910 3537 2193 0 0 4 0 0 0
7218 0.53 146.0 336.0 12.0 742 7224 0.25 3.40 0.00 0.000 6 0.196 0.066 2865 1996 2193 0 0 1 0 0 0
7542 0.69 183.7 309.7 7.6 772 7583 0.15 3.40 30.23 0.892 4 0.112 0.073 2916 3529 2049 0 0 4 0 0 0
7712 0.63 183.7 289.5 12.6 787 7719 0.15 3.40 0.00 0.000 6 0.201 0.066 2899 2005 2045 0 0 1 0 0 0
8037 0.63 183.7 255.1 10.5 818 8042 0.00 3.38 0.00 0.000 4 0.000 0.072 2899 3533 2044 0 0 3 0 0 0
8166 0.63 183.7 239.7 11.8 829 8171 0.00 3.35 0.00 0.000 6 0.000 0.065 2911 2031 2045 0 0 1 0 0 0
8492 0.63 183.7 203.3 11.5 859 8497 0.00 3.33 0.00 0.000 4 0.000 0.073 2912 3528 2044 0 0 3 0 0 0
8602 0.63 183.7 189.5 12.7 868 8610 0.12 3.30 0.00 0.000 6 0.200 0.064 2899 2037 2044 0 0 2 0 0 0
8928 0.70 183.7 156.4 10.0 899 8933 0.00 3.33 0.00 0.000 4 0.000 0.071 2899 3529 2044 0 0 2 0 0 0
9080 0.70 183.7 138.5 12.0 912 9085 0.00 3.28 0.00 0.000 6 0.000 0.064 2911 2066 2044 0 0 1 0 0 0
9405 0.76 183.7 103.4 9.6 942 9410 0.00 3.28 0.00 0.000 4 0.000 0.072 2911 3529 2044 0 0 3 0 0 0
9443 0.76 183.7 99.3 10.6 945 9449 0.00 3.28 0.00 0.000 6 0.000 0.064 2926 2063 2044 0 0 1 0 0 0
9787 0.89 209.3 69.1 8.1 1006 9819 0.15 3.33 21.50 0.744 4 0.100 0.072 2981 3523 1945 0 0 3 0 0 0
9943 0.75 209.3 50.6 12.3 1034 9950 0.25 3.25 0.00 0.000 6 0.194 0.065 2935 2082 1943 0 0 2 0 0 0
10289 0.83 210.2 17.4 9.1 1095 10295 0.00 3.28 0.00 0.000 4 0.000 0.074 2934 3526 1942 0 0 3 0 0 0
10410 0.83 210.2 5.6 10.7 1116 10416 0.00 3.25 0.00 0.000 6 0.000 0.067 2948 2103 1942 0 0 1 0 0 0
10449 end climb: SURFACE_DEPTH_REACHED
state 10449 begin surface coast
10468 end surface coast: CONTROL_FINISHED_OK
state 10468 begin surface