DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 411 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  143 HEADING  90 ROLL_MIN  290 ALTIM_BOTTOM_TURN_MARGIN  15
MISSION  10 ESCAPE_HEADING  100 ROLL_MAX  3915 ALTIM_TOP_TURN_MARGIN  5
DIVE  411 ESCAPE_HEADING_DELTA  5 ROLL_DEG  45 ALTIM_TOP_MIN_OBSTACLE  1.8
D_SURF  2 FIX_MISSING_TIMEOUT  5 C_ROLL_DIVE  2800 ALTIM_PING_DEPTH  300
D_FLARE  3 TGT_DEFAULT_LAT  -2030 C_ROLL_CLIMB  2400 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  18 XPDR_VALID  0
D_FINISH  9 FILEMGR  2 R_STBD_OVSHOOT  14 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  0 DEEPGLIDER  0
SURFACE_URGENCY  10 N_NOCOMM  0 ROLL_ADJ_DBAND  0 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  -44418.34 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  154630,6731.186,-5745.089,28,1.9,44,-38.4 TGT_NAME  HEADING
_CALLS  3 TGT_LATLONG  6731.218,-5716.986
_XMS_NAKs  7 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.99 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -64.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  155855,6731.218,-5745.230,13,1.8,18,-38.4 MHEAD_RNG_PITCHd_Wd  128.4,20000,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  233

Post-dive calculations and measurements:
FREEZE  6.54,-0.897,-1.828,0,1,0 ALTIM_TOP_PING  19.9,17.9
FINISH1  6.5,1.026744,37 _24V_AH  22.9,72.375
FINISH2  3.4 _10V_AH  10.0,38.622
RAFOS_CLK  338 FG_AHR_24Vo  0.000
RAFOS  0,1262016063,16.033333,16.017500,61,56,55,0,0,0,190,199,217,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6728.032227,-5800.452148,271209,161644,2,78,0.00 MEM  152596
IRIDIUM_FIX  6703.95,-5748.96,240399,151506 DATA_FILE_SIZE  25363,648
TT8_MAMPS  0.027612 CAP_FILE_SIZE  76242,0
HUMID  47.63 CFSIZE  260165632,218816512
INTERNAL_PRESSURE  8.97495 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,88,0,0
TCM_TEMP  17.20 SOUNDSPEED  1458.7
XPDR_PINGS  5 GPS  281209,155855,6731.218,-5745.230,13,1.8,18,-38.4

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor17294116.51 SBE_CT47224259.61
Roll_motor6897152.74 SBE_O243619189.73
VBD_pump_during_apogee3508967200.29 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init83103196.74 nil000.00
Iridium_during_connect160160586.32 nil000.00
Iridium_during_xfer2542231301.17
Transponder_ping142014.43
GUMSTIX_24V000.00
GPS19509.87
TT8101119201.50
LPSleep2739263.28
TT8_Active4511989.93
TT8_Sampling106539425.49
TT8_CF863645292.41
TT8_Kalman000.00
Analog_circuits105212126.31
GPS_charging000.00
Compass1043883.45
RAFOS2520137.80
Transponder2300.79

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 0 114 0.00 0.00 -96.65 0.000 2 0.000 0.000 127 2795 3083 0 0 0 0 0 0
118 -0.73 -146.0 3.4 -7.3 19 144 11.38 2.47 -8.40 0.000 4 0.295 0.097 2448 1184 3399 0 0 0 0 0 0
156 -0.01 -146.0 11.6 -15.8 26 163 0.88 2.42 0.00 0.000 6 0.200 0.073 2678 2805 3400 0 0 0 0 0 0
503 -0.98 -146.0 26.0 -6.5 87 508 0.90 0.00 0.00 0.000 6 0.107 0.000 2380 2804 3402 0 0 0 0 0 0
846 -0.81 -146.0 71.5 -15.1 148 852 0.20 2.45 0.00 0.000 4 0.232 0.085 2426 1200 3401 0 0 0 0 0 0
1106 -0.81 -146.0 99.0 -10.9 194 1112 0.00 2.40 0.00 0.000 6 0.000 0.076 2426 2808 3401 0 0 0 0 0 0
1436 -0.81 -146.0 131.3 -8.9 226 1441 0.00 2.78 0.00 0.000 4 0.000 0.094 2425 3915 3399 0 0 6 0 0 0
1581 -0.81 -146.0 144.5 -9.5 238 1588 0.00 2.75 0.00 0.000 6 0.000 0.065 2426 2791 3398 0 0 5 0 0 0
1908 -0.81 -146.0 171.4 -8.2 269 1913 0.00 2.85 0.00 0.000 4 0.000 0.091 2426 3927 3398 0 0 7 0 0 0
2038 -0.81 -146.0 182.4 -8.1 280 2043 0.00 2.70 0.00 0.000 6 0.000 0.063 2426 2797 3398 0 0 5 0 0 0
2362 -0.81 -146.0 208.7 -8.0 310 2367 0.00 2.85 0.00 0.000 4 0.000 0.089 2426 3923 3398 0 0 6 0 0 0
2462 -0.81 -146.0 216.9 -8.5 318 2468 0.00 2.67 0.00 0.000 6 0.000 0.062 2426 2800 3398 0 0 6 0 0 0
2668 end dive: TARGET_DEPTH_EXCEEDED
state 2668 begin apogee
2675 -0.16 0.0 233.4 7.9 338 2795 0.73 0.00 116.95 0.897 6 0.189 0.000 2627 2392 2800 0 0 0 0 0 0
2796 end apogee: CONTROL_FINISHED_OK
state 2796 begin climb
2798 0.73 146.0 236.3 0.0 350 2927 0.98 2.08 120.00 0.850 4 0.143 0.085 2924 809 2202 0 0 0 0 0 0
3043 0.73 146.0 214.8 11.0 372 3049 0.00 1.98 0.00 0.000 6 0.000 0.061 2923 2404 2198 0 0 0 0 0 0
3369 0.73 146.0 178.2 11.4 403 3378 0.00 3.72 0.00 0.000 4 0.000 0.081 2924 3920 2196 0 0 6 0 0 0
3406 0.61 146.0 173.6 12.2 406 3413 0.22 3.65 0.00 0.000 6 0.201 0.067 2888 2408 2194 0 0 5 0 0 0
3731 0.75 184.7 146.4 7.5 437 3773 0.15 3.78 31.30 0.796 4 0.114 0.081 2938 3916 2046 0 0 7 0 0 0
3845 0.62 184.7 133.2 12.5 447 3852 0.25 3.67 0.00 0.000 6 0.195 0.067 2895 2396 2044 0 0 4 0 0 0
4171 0.75 194.9 104.5 8.7 478 4187 0.12 3.72 9.75 0.721 4 0.123 0.080 2936 3917 2004 0 0 6 0 0 0
4257 0.65 194.9 94.2 12.8 488 4264 0.20 3.62 0.00 0.000 6 0.196 0.066 2906 2399 2004 0 0 5 0 0 0
4603 0.88 281.2 69.6 5.5 549 4685 0.20 3.85 72.68 0.754 4 0.104 0.080 2974 3911 1652 0 0 4 0 0 0
4727 0.81 281.2 55.0 15.2 572 4734 0.17 3.70 0.00 0.000 6 0.196 0.067 2952 2400 1649 0 0 5 0 0 0
5073 0.88 281.2 12.5 15.3 633 5079 0.00 3.72 0.00 0.000 4 0.000 0.081 2951 3917 1643 0 0 6 0 0 0
5106 end climb: SURFACE_OBSTACLE_DETECTED
state 5106 begin subsurface finish
5117 0.05 36.7 6.5 -16.9 639 5163 0.90 0.00 -39.75 0.000 6 0.182 0.000 2714 2391 2652 0 0 0 0 0 0
5163 end subsurface finish: CONTROL_FINISHED_OK
state 5164 begin surface