SODA 11Oct18 * SG230 * Dive index * Mission links * Dive 4 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  230 HD_C  1.6e-05 ROLL_MAX  3945 ALTIM_TOP_TURN_MARGIN  0
MISSION  4 HEADING  -1 ROLL_DEG  60 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  4 ESCAPE_HEADING  0 C_ROLL_DIVE  2200 ALTIM_PING_DEPTH  0
N_DIVES  4 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2200 ALTIM_PING_DELTA  5
STOP_T  0 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_FREQUENCY  13
D_SURF  2 TGT_DEFAULT_LAT  4736 ROLL_CNV  0.047120001 ALTIM_PULSE  3
D_FLARE  3 TGT_DEFAULT_LON  -12218 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  2
D_TGT  360 TGT_AUTO_DEFAULT  0 ROLL_MAXERRORS  1 XPDR_VALID  4
D_ABORT  1020 SM_CC  631.70477 ROLL_ADJ_GAIN  0 XPDR_INHIBIT  90
D_NO_BLEED  200 N_FILEKB  8 ROLL_ADJ_DBAND  0 INT_PRESSURE_SLOPE  1.9639999e-06
D_BOOST  4 FILEMGR  0 VBD_MIN  550 INT_PRESSURE_YINT  2.3
T_BOOST  0 CALL_NDIVES  1 VBD_MAX  3960 DEEPGLIDER  0
D_FINISH  0 COMM_SEQ  0 C_VBD  3350 DEEPGLIDERMB  0
D_PITCH  0 PROTOCOL  9 VBD_DBAND  2 MOTHERBOARD  6
D_SAFE  0 N_NOCOMM  1 VBD_CNV  -0.24529999 DEVICE1  10
D_CALL  0 NOCOMM_ACTION  161 VBD_LP_IGNORE  0 DEVICE2  38
SURFACE_URGENCY  0 N_NOSURFACE  0 VBD_TIMEOUT  720 DEVICE3  55
SURFACE_URGENCY_TRY  0 UPLOAD_DIVES_MAX  -1 PITCH_VBD_SHIFT  0.003 DEVICE4  67
SURFACE_URGENCY_FORCE  0 CALL_TRIES  5 UNCOM_BLEED  20 DEVICE5  -1
T_DIVE  120 CALL_WAIT  60 VBD_MAXERRORS  1 DEVICE6  -1
T_MISSION  160 CAPUPLOAD  0 W_ADJ_DBAND  0 LOGGERS  0
T_ABORT  1440 CAPMAXSIZE  100000 DBDW  0 LOGGERDEVICE1  -1
T_TURN  225 T_GPS  5 LOITER_W_DBAND  0 LOGGERDEVICE2  -1
T_TURN_SAMPINT  -5 N_GPS  100440 LOITER_DBDW  0 LOGGERDEVICE3  -1
T_NO_W  120 T_RSLEEP  2 LOITER_D_TOP  0 LOGGERDEVICE4  -1
T_LOITER  0 STROBE  0 LOITER_D_BOTTOM  0 COMPASS_DEVICE  66
T_EPIRB  0 RAFOS_PEAK_OFFSET  0 LOITER_N_DIVE  0 COMPASS2_DEVICE  -1
USE_BATHY  0 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  20 PHONE_DEVICE  33
USE_ICE  0 RAFOS_HIT_WINDOW  3600 AH0_24V  575 GPS_DEVICE  48
ICE_FREEZE_MARGIN  0.30000001 RAFOS_MMODEM  0 AH0_10V  0 RAFOS_DEVICE  104
D_OFFGRID  1020 PITCH_MIN  150 MINV_24V  11 XPDR_DEVICE  0
RELAUNCH  1 PITCH_MAX  3830 MINV_10V  11 SIM_W  0
APOGEE_PITCH  -5 C_PITCH  2250 MAXI_24V  5 SEABIRD_T_G  0.0044273403
MAX_BUOY  150 PITCH_DBAND  0.1 MAXI_10V  1.4 SEABIRD_T_H  0.00064357114
GLIDE_SLOPE  30 PITCH_CNV  0.0031300001 FG_AHR_10V  2.7241859 SEABIRD_T_I  2.694588e-05
SPEED_FACTOR  1 PITCH_GAIN  40 FG_AHR_24V  8.2699862 SEABIRD_T_J  3.3888193e-06
RHO  1.0275 PITCH_TIMEOUT  20 PHONE_SUPPLY  2 SEABIRD_C_G  -10.022948
MASS  72271 PITCH_MAXERRORS  1 PRESSURE_YINT  -163.05225 SEABIRD_C_H  1.1522003
NAV_MODE  2 PITCH_ADJ_GAIN  0 PRESSURE_SLOPE  0.00010820606 SEABIRD_C_I  -0.0021515235
FERRY_MAX  45 PITCH_ADJ_DBAND  0 COMPASS_USE  4 SEABIRD_C_J  0.00023982119
KALMAN_USE  2 PITCH_W_GAIN  0 ALTIM_PING_FIT  883
HD_A  0.003 PITCH_W_DBAND  0 ALTIM_TOP_PING_RANGE  0
HD_B  0.0099999998 ROLL_MIN  425 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  111018,191531,7432.243,-14613.337,1,0.6,2,18.4 TGT_LATLONG  7415.000,-14625.000
_CALLS  1 TGT_RADIUS  2000.000
_SM_DEPTHo  1.72 KALMAN_CONTROL  0.000,0.000
_SM_ANGLEo  -78.5 KALMAN_X  0.0,0.0,0.0,0.0,0.0
GPS2  111018,191804,7432.241,-14613.364,2,0.6,4,18.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS  0.173,0.257 MHEAD_RNG_PITCHd_Wd  135.4,32462,-17.6,-10.000,-21.24
TGT_NAME  AB2 D_GRID  360

Post-dive calculations and measurements:
MODEM_MSG  CACST,6,1,20181011201047.519126,18,6115,37,0057,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*03 INTERNAL_PRESSURE  9.16008
FINISH  0.1,1.021448 _24V_AH  14.63,16.184
SM_CCo  6472.81,0.00,0.000,0,544.2,399.7,688.8,688.26 _10V_AH  14.73,0.000
SM_GC  1.86,0.00,8.66,3.84,0.000,0.079,0.086,544.2,399.7,688.8,139.6,2212.4,0,0,0,30.00,15.44,15.43 FG_AHR_24Vo  8.449
SUPER  59,70,254,1,0,0 FG_AHR_10Vo  2.756
IRIDIUM_FIX  7432.40,-14623.07,111018,191238 MEM  1155216,33,23724,83
TCM_TEMP  5.25 DATA_FILE_SIZE  64992,822
XPDR_PINGS  468 CAP_FILE_SIZE  255889,0
RAFOS_CLK  -4 SDSIZE  3918848,3905280
MODEM  0,1539288207,73.00043,-148.33627,207.549,304059.6 ERRORS  0,0,0,0,0,0,0,2
RAFOS_FIX  7439.927734,-14443.363281,111018,202001,3,255,14.91 SOUNDSPEED  1465.0
HUMID  44.99 CURRENT  0.265,316.7,1
TEMP  0.10 GPS  111018,210647,7432.445,-14615.348,1,1.1,4,18.4

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump821185922360.73 SBE_CT78724276.40
Pitch_motor20414124.03 WL_BB2F392105602.68
Roll_motor107209329.76 AA383056733273.87
Iridium000.00 irrad34320100.37
Transponder_ping149420915.55 nil000.00
GPS12152.81 nil000.00
Core264719776.75 nil000.00
LPSleep38862132.24 nil000.00
Compass876564.54 nil000.00
RAFOS2212481563.97
Transponder1283056.56

Altimeter Analysis:
m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2
depth range fit R obstacle m R fit R obstacle m R
21.7 5.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00
34.3 5.90 9000.00 0.0 0.00 0.00 5.90 0.0 0.01 1.00
52.1 5.80 9000.00 0.0 0.00 0.03 5.80 57.9 -0.01 1.00
68.8 6.00 9000.00 0.0 0.00 0.02 6.00 0.0 0.01 1.00
79.4 5.80 9000.00 0.0 0.00 0.02 5.80 85.2 -0.02 1.00
84.6 5.90 9000.00 0.0 -0.01 0.60 5.90 0.0 0.02 1.00
90.3 5.90 9000.00 0.0 0.01 1.00 0.00 0.0 0.00 0.00
103.3 5.90 9000.00 0.0 0.00 0.54 0.00 0.0 0.00 0.00
120.3 6.00 9000.00 0.0 0.00 0.81 6.00 0.0 0.01 1.00
125.4 5.90 9000.00 0.0 0.00 0.19 5.90 131.3 -0.02 1.00
148.3 6.00 9000.00 0.0 0.00 0.17 6.00 0.0 0.00 1.00
167.7 6.00 9000.00 0.0 0.00 0.99 0.00 0.0 0.00 0.00
184.4 6.00 9000.00 0.0 0.00 0.00 0.00 0.0 0.00 0.00
194.7 6.00 9000.00 0.0 0.00 0.00 0.00 0.0 0.00 0.00
200.2 6.10 9000.00 0.0 0.01 0.62 6.10 0.0 0.02 1.00
206.0 6.10 9000.00 0.0 0.01 0.80 0.00 0.0 0.00 0.00
229.3 6.10 9000.00 0.0 0.00 0.79 0.00 0.0 0.00 0.00
235.5 6.10 9000.00 0.0 0.00 0.46 0.00 0.0 0.00 0.00
264.8 6.10 9000.00 0.0 0.00 0.00 0.00 0.0 0.00 0.00
282.8 6.10 9000.00 0.0 0.00 0.00 0.00 0.0 0.00 0.00
315.4 6.10 9000.00 0.0 0.00 0.00 0.00 0.0 0.00 0.00
346.2 6.10 9000.00 0.0 0.00 0.00 0.00 0.0 0.00 0.00
335.1 6.10 9000.00 0.0 0.00 0.00 0.00 0.0 0.00 0.00
315.8 6.10 9000.00 0.0 0.00 0.00 0.00 0.0 0.00 0.00
308.8 6.10 9000.00 0.0 0.00 0.00 0.00 0.0 0.00 0.00
303.2 6.10 9000.00 0.0 0.00 0.00 0.00 0.0 0.00 0.00
298.0 6.10 9000.00 0.0 0.00 0.00 0.00 0.0 0.00 0.00
282.5 6.10 9000.00 0.0 0.00 0.00 0.00 0.0 0.00 0.00
277.1 6.10 9000.00 0.0 0.00 0.00 0.00 0.0 0.00 0.00
272.0 6.10 9000.00 0.0 0.00 0.00 0.00 0.0 0.00 0.00
266.5 6.10 9000.00 0.0 0.00 0.00 0.00 0.0 0.00 0.00
261.1 6.10 9000.00 0.0 0.00 0.00 0.00 0.0 0.00 0.00
256.0 6.10 9000.00 0.0 0.00 0.00 0.00 0.0 0.00 0.00
240.1 6.10 9000.00 0.0 0.00 0.00 0.00 0.0 0.00 0.00
234.4 6.10 9000.00 0.0 0.00 0.00 0.00 0.0 0.00 0.00
228.6 6.10 9000.00 0.0 0.00 1.00 0.00 0.0 0.00 0.00
217.3 6.10 9000.00 0.0 0.00 0.00 0.00 0.0 0.00 0.00
167.9 177.00 9000.00 0.0 -3.01 0.97 177.00 0.0 -3.46 1.00
157.6 6.00 9000.00 0.0 -1.09 0.12 6.00 151.6 16.60 1.00
140.7 6.00 9000.00 0.0 5.69 0.62 0.00 0.0 0.00 0.00
130.0 6.00 9000.00 0.0 0.00 0.63 0.00 0.0 0.00 0.00
124.6 6.00 9000.00 0.0 0.00 0.88 0.00 0.0 0.00 0.00
113.8 6.10 9000.00 0.0 0.00 0.89 6.10 0.0 -0.01 1.00
108.0 6.00 9000.00 0.0 0.00 0.03 6.00 102.0 0.02 1.00
102.5 6.00 9000.00 0.0 0.00 0.76 0.00 0.0 0.00 0.00
91.4 5.90 9000.00 0.0 0.01 0.90 5.90 85.5 0.01 1.00
86.0 6.20 9000.00 0.0 -0.01 0.14 6.20 0.0 -0.06 1.00
48.7 5.90 9000.00 0.0 0.00 0.24 5.90 42.8 0.01 1.00
38.3 5.90 9000.00 0.0 0.01 0.93 0.00 0.0 0.00 0.00
32.9 5.80 9000.00 0.0 0.00 0.39 5.80 27.1 0.02 1.00
27.8 5.80 9000.00 0.0 0.01 0.77 0.00 0.0 0.00 0.00
22.8 5.80 9000.00 0.0 0.00 0.00 0.00 0.0 0.00 0.00
12.0 5.70 9000.00 0.0 0.00 0.91 5.70 6.3 0.01 1.00
6.6 6.20 9000.00 0.0 -0.02 0.49 6.20 0.0 -0.09 1.00

Guidance and control:
st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts
1 end surface: CONTROL_FINISHED_OK
state 1 begin dive
2.03 2 -145.99 -0.88 0.00 547.0 411.7 682.2 140.6 2219.2 0.00 0.00 0 84.32 81.76 0.00 0.00 0.005 0.000 0.000 1731.69 1592.75 1870.62 140.62 2219.12 0 0 0 14.79 30.00 30.00
84.75 551 -145.99 -0.88 -60.00 1731.8 1593.1 1870.6 140.3 2215.2 3.24 -2.29 8 161.59 60.91 8.44 3.88 0.005 0.415 0.122 3947.41 3852.75 4042.06 1983.31 917.56 0 0 0 13.83 15.67 14.04
384.75 1028 -145.99 -0.88 0.00 3948.0 3853.8 4042.3 1983.5 917.6 83.86 -14.84 62 394.35 0.00 0.00 3.78 0.000 0.000 0.095 3948.94 3854.81 4043.06 1968.69 2210.81 0 0 0 30.00 30.00 15.90
575.94 260 -145.99 -0.88 60.00 3948.4 3853.6 4043.3 1968.1 2216.9 114.17 -15.40 82 584.55 0.00 0.00 3.76 0.000 0.000 0.120 3950.12 3854.62 4045.62 1953.06 3475.81 0 0 0 30.00 30.00 15.03
736.23 1028 -145.99 -0.88 0.00 3948.2 3852.3 4044.1 1952.2 3477.8 136.50 -14.17 113 742.77 0.00 0.00 3.72 0.000 0.000 0.088 3947.25 3852.62 4041.88 1966.00 2187.06 0 0 0 30.00 30.00 15.90
931.88 260 -145.99 -0.88 60.00 3947.9 3852.4 4043.4 1965.4 2186.3 167.74 -16.26 134 938.19 0.00 0.00 3.87 0.000 0.000 0.116 3947.50 3852.00 4043.00 1951.44 3478.00 0 0 0 30.00 30.00 15.93
1165.16 1028 -145.99 -0.88 0.00 3947.9 3851.6 4044.2 1950.8 3478.0 200.89 -13.55 181 1171.04 0.00 0.00 3.73 0.000 0.000 0.089 3948.03 3851.69 4044.38 1962.94 2185.88 0 0 0 30.00 30.00 15.94
1350.25 260 -145.99 -0.88 60.00 3947.8 3850.9 4044.6 1962.5 2184.6 228.57 -14.88 200 1359.85 0.00 0.00 3.88 0.000 0.000 0.118 3949.12 3852.88 4045.38 1948.31 3478.38 0 0 0 30.00 30.00 15.94
1381.33 1028 -145.99 -0.88 0.00 3947.6 3849.8 4045.4 1948.4 3479.7 232.90 -13.98 206 1386.95 0.00 0.00 3.73 0.000 0.000 0.089 3947.88 3850.88 4044.88 1960.31 2186.62 0 0 0 30.00 30.00 15.96
1576.86 260 -145.99 -0.88 60.00 3947.3 3850.6 4044.0 1960.8 2186.6 259.35 -13.80 223 1583.18 0.00 0.00 3.88 0.000 0.000 0.119 3947.22 3849.94 4044.50 1946.50 3478.69 0 0 0 30.00 30.00 15.95
1733.77 1028 -145.99 -0.88 0.00 3947.6 3850.5 4044.8 1946.1 3478.9 278.05 -10.68 255 1739.14 0.00 0.00 3.73 0.000 0.000 0.090 3947.28 3850.81 4043.75 1954.31 2187.81 0 0 0 30.00 30.00 15.97
2053.75 0 -145.99 -0.88 0.00 3947.0 3849.5 4044.5 1954.0 2186.4 313.42 -10.10 274 2055.09 0.00 0.00 0.00 0.000 0.000 0.000 3947.72 3850.75 4044.69 1954.50 2185.62 0 0 0 30.00 30.00 30.00
2356.08 32 -145.99 -0.88 0.00 3947.0 3850.1 4043.9 1954.2 2185.8 341.42 -9.31 289 2357.41 0.00 0.00 0.00 0.000 0.000 0.000 3947.06 3848.62 4045.50 1954.31 2185.56 0 0 0 30.00 30.00 30.00
2573 end dive: TARGET_DEPTH_EXCEEDED
state 2573 begin apogee
2574.80 3 0.00 -0.12 0.00 3947.8 3850.2 4045.2 1954.3 2217.6 361.26 -9.03 300 2696.40 118.73 0.83 0.10 1.860 0.197 0.209 3350.84 3191.94 3509.75 2211.00 2181.88 0 0 0 12.51 15.90 15.29
2696 end apogee: CONTROL_FINISHED_OK
state 2696 begin climb
2696.84 263 145.99 0.88 60.00 3343.2 3182.8 3503.6 2211.8 2181.3 363.48 0.00 306 2826.40 121.43 0.93 4.09 1.751 0.061 0.112 2747.16 2570.06 2924.25 2537.94 3480.25 0 0 0 12.37 15.37 15.03
2958.80 1030 145.99 0.88 0.00 2738.4 2567.2 2909.6 2537.8 3481.0 344.94 13.08 359 2964.28 0.00 0.00 3.88 0.000 0.000 0.088 2740.03 2568.38 2911.69 2552.81 2188.38 0 0 0 30.00 30.00 14.76
3273.90 518 145.99 0.88 -60.00 2733.8 2559.1 2908.5 2553.7 2188.2 306.73 11.41 377 3279.32 0.00 0.00 3.79 0.000 0.000 0.110 2735.84 2560.56 2911.12 2569.44 916.19 0 0 0 30.00 30.00 15.61
3404.09 1031 145.99 0.88 0.00 2731.9 2559.1 2904.7 2569.8 916.1 291.99 10.63 403 3409.80 0.00 0.12 3.81 0.000 0.338 0.089 2734.69 2560.44 2908.94 2525.00 2216.19 0 0 0 30.00 15.55 15.66
3714.19 551 284.69 1.29 -60.00 2730.5 2555.6 2905.4 2525.2 2221.7 276.46 3.55 420 3832.30 111.05 0.42 4.03 1.677 0.119 0.112 2184.66 2010.62 2358.69 2687.56 917.62 0 0 0 12.37 15.71 14.35
4054.43 1030 284.69 1.29 0.00 2171.4 2000.6 2342.2 2688.3 917.6 230.18 16.82 488 4060.12 0.00 0.00 3.86 0.000 0.000 0.090 2172.03 2001.00 2343.06 2674.56 2209.94 0 0 0 30.00 30.00 14.90
4244.59 262 284.69 1.29 60.00 2169.4 1996.6 2342.2 2674.6 2217.9 203.71 13.52 508 4250.13 0.00 0.00 3.80 0.000 0.000 0.111 2169.69 1997.38 2342.00 2659.12 3480.44 0 0 0 30.00 30.00 15.61
4339.52 1030 284.69 1.29 0.00 2169.4 1996.6 2342.1 2658.4 3480.5 190.88 12.83 527 4349.48 0.00 0.00 3.81 0.000 0.000 0.089 2170.66 1997.69 2343.62 2673.31 2185.00 0 0 0 30.00 30.00 14.83
4528.75 518 284.69 1.29 -60.00 2167.5 1993.4 2341.6 2674.0 2186.2 167.86 12.11 546 4535.17 0.00 0.00 3.76 0.000 0.000 0.111 2168.41 1994.25 2342.56 2689.75 917.81 0 0 0 30.00 30.00 15.68
4611.49 1030 284.69 1.29 0.00 2167.3 1993.9 2340.8 2689.2 917.8 156.82 12.73 563 4617.13 0.00 0.00 3.81 0.000 0.000 0.091 2169.06 1995.19 2342.94 2675.69 2209.50 0 0 0 30.00 30.00 15.70
4796.59 262 284.69 1.29 60.00 2166.7 1992.8 2340.6 2675.1 2221.3 136.45 10.61 582 4802.23 0.00 0.00 3.74 0.000 0.000 0.112 2166.88 1993.00 2340.75 2660.50 3480.38 0 0 0 30.00 30.00 15.75
4972.52 1030 284.69 1.29 0.00 2167.1 1993.4 2340.8 2659.7 3480.5 118.13 10.12 617 4978.36 0.00 0.00 3.77 0.000 0.000 0.089 2170.12 1995.88 2344.38 2674.38 2187.00 0 0 0 30.00 30.00 15.79
5157.64 34 312.86 1.38 0.00 2165.6 1990.7 2340.4 2674.2 2186.8 100.82 8.69 636 5181.15 22.25 0.00 0.00 1.475 0.000 0.000 2066.59 1889.31 2243.88 2674.38 2186.88 0 0 0 12.42 30.00 30.00
5361.56 295 381.14 1.58 60.00 2063.4 1884.6 2242.1 2674.4 2187.1 85.97 6.82 656 5429.04 56.65 0.25 3.96 1.468 0.113 0.114 1787.38 1616.06 1958.69 2751.62 3479.38 0 0 0 12.48 15.76 15.45
5594.79 1063 443.90 1.77 0.00 1782.9 1615.1 1950.7 2751.4 3479.6 64.66 7.08 702 5652.57 50.80 0.15 3.80 1.421 0.137 0.087 1534.12 1367.06 1701.19 2823.56 2187.12 0 0 0 12.41 15.63 15.65
5831.60 295 551.81 2.10 60.00 1527.8 1357.4 1698.1 2822.7 2186.9 51.02 4.98 732 5926.71 86.97 0.28 4.03 1.391 0.104 0.111 1094.41 930.75 1258.06 2913.94 3480.44 0 0 0 12.52 15.60 14.31
5969.93 1028 551.81 2.10 0.00 1092.8 930.7 1255.0 2913.8 3480.4 39.74 10.37 758 5978.02 0.00 0.00 3.89 0.000 0.000 0.089 1093.16 930.31 1256.00 2929.44 2188.31 0 0 0 30.00 30.00 15.34
6157.29 551 686.49 2.50 -60.00 1090.3 925.6 1255.0 2929.5 2188.5 29.16 3.73 777 6275.72 111.25 0.35 3.94 1.356 0.097 0.117 546.81 401.81 691.81 3076.44 917.44 0 0 0 12.37 15.57 15.15
6384 end climb: SURFACE_DEPTH_REACHED
state 6384 begin surface coast
6397 end surface coast: CONTROL_FINISHED_OK
state 6397 begin surface