HI Oct09 * SG022 * Dive index * Mission links * Dive 52 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  22 HEADING  -1 ROLL_MIN  150 ALTIM_BOTTOM_TURN_MARGIN  0
MISSION  14 ESCAPE_HEADING  0 ROLL_MAX  3954 ALTIM_TOP_TURN_MARGIN  0
DIVE  52 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_TOP_MIN_OBSTACLE  1
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  2925 ALTIM_PING_DEPTH  0
D_FLARE  3 TGT_DEFAULT_LAT  19.66667 C_ROLL_CLIMB  2790 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LON  -156.10001 HEAD_ERRBAND  10 ALTIM_FREQUENCY  15
D_ABORT  1090 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_PULSE  5
D_NO_BLEED  200 SM_CC  400 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  2
D_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  47 XPDR_VALID  4
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  29 XPDR_INHIBIT  90
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  100 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  2 INT_PRESSURE_YINT  0
D_CALL  0 KERMIT  0 ROLL_ADJ_GAIN  0 DEEPGLIDER  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MIN  350 MOTHERBOARD  2
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_MAX  3841 DEVICE1  2
T_DIVE  330 CALL_TRIES  5 C_VBD  2618 DEVICE2  -1
T_MISSION  360 CALL_WAIT  60 VBD_DBAND  2 DEVICE3  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_CNV  -0.24529999 DEVICE4  -1
T_TURN  225 CAPMAXSIZE  150000 VBD_TIMEOUT  720 DEVICE5  -1
T_TURN_SAMPINT  5 HEAPDBG  0 PITCH_VBD_SHIFT  0.00109 DEVICE6  -1
T_NO_W  120 T_GPS  15 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERS  1
T_LOITER  0 N_GPS  20 VBD_PUMP_AD_RATE_APOGEE  1 LOGGERDEVICE1  69
USE_BATHY  0 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  4 LOGGERDEVICE2  -1
USE_ICE  0 T_GPS_CHARGE  -248345.03 UNCOM_BLEED  20 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
D_OFFGRID  1001 STROBE  0 CF8_MAXERRORS  1 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_24V  91.800003 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 AH0_10V  61.200001 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_24V  19 XPDR_DEVICE  19
MAX_BUOY  200 PITCH_MIN  380 MINV_10V  8 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3641 FG_AHR_10V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2520 FG_AHR_24V  0 SEABIRD_T_G  0.0044149966
SPEED_FACTOR  1 PITCH_DBAND  0.1 PHONE_SUPPLY  2 SEABIRD_T_H  0.00064680085
RHO  1.0275 PITCH_CNV  0.0046000001 PRESSURE_YINT  -22.757658 SEABIRD_T_I  2.5778523e-05
MASS  52177 P_OVSHOOT  0.039999999 PRESSURE_SLOPE  0.00011632 SEABIRD_T_J  2.7323422e-06
NAV_MODE  2 PITCH_GAIN  17 AD7714Ch0Gain  128 SEABIRD_C_G  -10.507483
FERRY_MAX  0 PITCH_TIMEOUT  20 TCM_PITCH_OFFSET  1.7 SEABIRD_C_H  1.1800622
KALMAN_USE  1 PITCH_AD_RATE  150 TCM_ROLL_OFFSET  -0.89999998 SEABIRD_C_I  -0.00046262925
HD_A  0.0040048002 PITCH_MAXERRORS  1 COMPASS_USE  0 SEABIRD_C_J  0.00014728548
HD_B  0.010364 PITCH_ADJ_GAIN  0 ALTIM_BOTTOM_PING_RANGE  0 PA_OFFLOAD  1.0
HD_C  5.4717998e-06 PITCH_ADJ_DBAND  0 ALTIM_TOP_PING_RANGE  0 PA_MAXUPLOADSIZE  100000.0

Pre-dive calculations and measurements:
GPS1  061109,061825,1948.856,-15612.216,39,1.2,39,9.7 TGT_NAME  K0
_CALLS  1 TGT_LATLONG  1940.000,-15605.000
_XMS_NAKs  3 TGT_RADIUS  1852.000
_XMS_TOUTs  1 KALMAN_CONTROL  0.130,-0.263
_SM_DEPTHo  0.69 KALMAN_X  -16965.7,300.8,-108.0,22442.4,-3147.4
_SM_ANGLEo  -66.2 KALMAN_Y  23692.0,-1381.3,-516.2,-35330.8,5953.5
GPS2  061109,062726,1949.047,-15612.346,34,1.2,34,9.7 MHEAD_RNG_PITCHd_Wd  132.9,21092,-15.9,-10.000
SPEED_LIMITS  0.173,0.294 D_GRID  990

Post-dive calculations and measurements:
FINISH  0.2,1.022943 PA_DATA0  36.5/7836665/4976867
SM_CCo  17020,29.10,0.494,0,0,986,400.08 PA_DATA1  34.4/7836665/5139618
SM_GC  0.97,0.00,0.00,29.10,0.000,0.000,0.494,373,2913,986,-9.88,-0.34,400.08 PA_USB  54.3/30829585/14086328
IRIDIUM_FIX  1941.24,-15614.11,010511,191928 _24V_AH  23.4,11.056
TT8_MAMPS  0.156468 _10V_AH  9.9,28.820
HUMID  1078550313 FG_AHR_24Vo  0.000
TCM_TEMP  23.90 FG_AHR_10Vo  0.000
XPDR_PINGS  0 MEM  354072
PA_PMVER  0.2 DATA_FILE_SIZE  15878,487
PA_ROOTFSVER  rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009 CAP_FILE_SIZE  139360,0
PA_DFQS  0/0 CFSIZE  260034560,252514304
PA_CMQS  592/592 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_ROOT  87.1/128908/16630 CURRENT  0.119,322.6,1
PA_HOME  4.5/483886/461887 GPS  061109,111337,1947.865,-15611.381,61,1.4,61,9.7
PA_LOG  3.6/297829/286991

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2316490.78 SBE_CT32424182.43
Roll_motor177190791.13 nil000.00
VBD_pump_during_apogee481130314699.56 nil000.00
VBD_pump_during_surface29493336.35 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2900.00 nil000.00
Iridium_during_connect2600.00 PAAM176798535570.34
Iridium_during_xfer28700.00
Transponder_ping04200.00
GUMSTIX_24V000.00
GPS3400.00
TT8000.00
LPSleep145212314.84
TT8_Active65119127.72
TT8_Sampling179939709.18
TT8_CF860445273.99
TT8_Kalman3300.00
Analog_circuits148612176.56
GPS_charging000.00
Compass13488106.83
RAFOS000.00
Transponder050.03

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
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
16 -1.15 -194.6 0.0 0.0 0 90 0.00 0.00 -71.03 0.000 2 0.000 0.000 375 2936 2626 0 0 0 0 0 0
92 -1.15 -194.6 3.5 -9.8 14 130 10.30 2.45 -18.90 0.000 4 0.165 0.054 2267 1525 3414 0 0 0 0 0 0
235 -1.15 -194.6 34.3 -19.1 34 241 0.00 2.45 0.00 0.000 6 0.000 0.046 2267 2920 3414 0 0 0 0 0 0
427 -1.15 -194.6 72.5 -19.0 53 431 0.00 1.83 0.00 0.000 4 0.000 0.058 2267 3950 3416 0 0 0 0 0 0
474 -1.15 -194.6 81.6 -18.5 57 480 0.00 1.73 0.00 0.000 6 0.000 0.037 2267 2899 3415 0 0 0 0 0 0
674 -1.15 -194.6 117.1 -17.0 71 675 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 2896 3416 0 0 0 0 0 0
978 -1.15 -194.6 166.8 -16.3 81 979 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 2896 3418 0 0 0 0 0 0
1281 -1.15 -194.6 213.8 -15.1 91 1285 0.00 2.30 0.00 0.000 4 0.000 0.042 2267 1542 3418 0 0 0 0 0 0
1334 -1.15 -194.6 221.3 -13.3 92 1338 0.00 2.42 0.00 0.000 6 0.000 0.044 2267 2932 3418 0 0 0 0 0 0
1648 -1.15 -194.6 265.3 -14.0 103 1652 0.00 2.38 0.00 0.000 4 0.000 0.042 2267 1549 3420 0 0 0 0 0 0
1695 -1.15 -194.6 271.2 -11.9 104 1700 0.00 2.42 0.00 0.000 6 0.000 0.045 2267 2935 3419 0 0 0 0 0 0
2015 -1.15 -194.6 309.7 -12.4 114 2018 0.00 2.40 0.00 0.000 4 0.000 0.043 2266 1547 3418 0 0 0 0 0 0
2051 -1.15 -194.6 314.5 -12.3 114 2056 0.00 2.42 0.00 0.000 6 0.000 0.048 2267 2923 3418 0 0 0 0 0 0
2380 -1.15 -194.6 358.7 -13.4 120 2384 0.00 2.38 0.00 0.000 4 0.000 0.043 2267 1554 3418 0 0 0 0 0 0
2406 -1.15 -194.6 362.0 -12.9 120 2410 0.00 2.42 0.00 0.000 6 0.000 0.048 2267 2927 3418 0 0 0 0 0 0
2745 -1.15 -194.6 402.8 -12.1 126 2746 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 2927 3414 0 0 0 0 0 0
3047 -1.15 -194.6 434.0 -10.1 131 3051 0.00 2.40 0.00 0.000 4 0.000 0.045 2267 1551 3413 0 0 0 0 0 0
3073 -1.15 -194.6 436.4 -9.3 131 3077 0.00 2.45 0.00 0.000 6 0.000 0.049 2267 2930 3413 0 0 0 0 0 0
3412 -1.15 -194.6 466.4 -8.9 137 3413 0.00 0.00 0.00 0.000 6 0.000 0.000 2266 2930 3409 0 0 0 0 0 0
3714 -1.15 -194.6 492.5 -8.7 142 3718 0.00 2.42 0.00 0.000 4 0.000 0.047 2266 1548 3406 0 0 0 0 0 0
3745 -1.15 -194.6 495.4 -9.0 142 3749 0.00 2.47 0.00 0.000 6 0.000 0.050 2267 2934 3406 0 0 0 0 0 0
4079 -1.15 -194.6 527.4 -9.7 148 4083 0.00 2.40 0.00 0.000 4 0.000 0.048 2266 1550 3403 0 0 0 0 0 0
4137 -1.15 -194.6 532.5 -8.8 148 4144 0.00 2.47 0.00 0.000 6 0.000 0.051 2267 2932 3404 0 0 0 0 0 0
4444 -1.15 -194.6 560.5 -9.2 154 4448 0.00 2.45 0.00 0.000 4 0.000 0.051 2267 1554 3399 0 0 0 0 0 0
4503 -1.15 -194.6 566.1 -8.9 154 4509 0.00 2.47 0.00 0.000 6 0.000 0.052 2267 2936 3399 0 0 0 0 0 0
4810 -1.15 -194.6 599.8 -11.2 160 4814 0.00 1.88 0.00 0.000 4 0.000 0.071 2266 3958 3397 0 0 0 0 0 0
4836 -1.15 -194.6 603.2 -13.0 160 4840 0.00 1.75 0.00 0.000 6 0.000 0.043 2267 2949 3397 0 0 0 0 0 0
5175 -1.15 -194.6 643.2 -11.5 166 5176 0.00 0.00 0.00 0.000 6 0.000 0.000 2266 2945 3395 0 0 0 0 0 0
5476 -1.15 -194.6 676.3 -10.9 171 5481 0.00 2.55 0.00 0.000 4 0.000 0.061 2267 1530 3393 0 0 0 0 0 0
5541 -1.15 -194.6 682.3 -8.6 172 5545 0.00 2.58 0.00 0.000 6 0.000 0.061 2267 2929 3393 0 0 0 0 0 0
5906 -1.15 -194.6 719.1 -10.4 178 5910 0.00 2.58 0.00 0.000 4 0.000 0.066 2267 1534 3390 0 0 0 0 0 0
5965 -1.15 -194.6 724.6 -9.5 178 5971 0.00 2.60 0.00 0.000 6 0.000 0.067 2267 2955 3391 0 0 0 0 0 0
6271 -1.15 -194.6 753.5 -9.3 184 6272 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 2955 3389 0 0 0 0 0 0
6573 -1.15 -194.6 782.2 -9.6 189 6578 0.00 2.72 0.00 0.000 4 0.000 0.087 2267 1537 3387 0 0 0 0 0 0
6621 -1.15 -194.6 786.5 -9.4 189 6625 0.00 2.62 0.00 0.000 6 0.000 0.082 2267 2931 3386 0 0 0 0 0 0
6933 -1.15 -194.6 816.2 -9.7 195 6934 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 2931 3385 0 0 0 0 0 0
7235 -1.15 -194.6 844.4 -9.3 200 7239 0.00 2.80 0.00 0.000 4 0.000 0.112 2267 1542 3384 0 0 0 0 0 0
7278 -1.15 -194.6 848.2 -9.7 200 7282 0.00 2.78 0.00 0.000 6 0.000 0.113 2267 2928 3384 0 0 0 0 0 0
7595 -1.15 -194.6 876.1 -8.7 206 7599 0.00 2.22 0.00 0.000 4 0.000 0.153 2266 3956 3385 0 0 0 0 0 0
7648 -1.15 -194.6 881.1 -9.8 206 7652 0.00 2.08 0.00 0.000 6 0.000 0.113 2266 2954 3384 0 0 0 0 0 0
7960 -1.15 -194.6 906.2 -8.0 212 7964 0.00 3.00 0.00 0.000 4 0.000 0.143 2267 1510 3382 0 0 0 0 0 0
7991 -1.15 -194.6 908.5 -7.2 212 7996 0.00 3.05 0.00 0.000 6 0.000 0.145 2267 2933 3382 0 0 0 0 0 0
8320 -1.15 -194.6 934.4 -7.9 218 8321 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 2933 3381 0 0 0 0 0 0
8621 -1.15 -194.6 957.9 -7.8 223 8626 0.00 3.28 0.00 0.000 4 0.000 0.180 2267 1502 3379 0 0 0 0 0 0
8648 -1.15 -194.6 959.9 -7.4 223 8653 0.00 3.25 0.00 0.000 6 0.000 0.175 2267 2925 3380 0 0 0 0 0 0
8976 -1.15 -194.6 981.1 -6.4 229 8977 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 2926 3379 0 0 0 0 0 0
9155 end dive: TARGET_DEPTH_EXCEEDED
state 9155 begin apogee
9160 -0.29 0.0 992.8 6.5 232 9332 0.90 0.00 169.52 1.304 6 0.111 0.000 2451 2790 2618 0 0 0 0 0 0
9332 end apogee: CONTROL_FINISHED_OK
state 9332 begin climb
9335 1.15 194.6 994.7 0.0 234 9525 1.50 3.47 180.68 1.291 4 0.084 0.191 2766 1370 1823 0 0 0 0 0 0
9578 1.15 194.6 965.5 16.2 238 9583 0.00 3.33 0.00 0.000 6 0.000 0.170 2766 2793 1817 0 0 0 0 0 0
9944 1.15 194.6 906.1 16.1 244 9949 0.00 3.05 0.00 0.000 4 0.000 0.136 2766 1362 1808 0 0 0 0 0 0
9976 1.15 194.6 900.6 16.4 244 9980 0.00 3.00 0.00 0.000 6 0.000 0.126 2766 2797 1808 0 0 0 0 0 0
10304 1.15 194.6 846.3 16.6 250 10305 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 2797 1807 0 0 0 0 0 0
10606 1.15 194.6 798.4 15.8 255 10610 0.00 2.78 0.00 0.000 4 0.000 0.085 2766 1372 1805 0 0 0 0 0 0
10643 1.15 194.6 792.6 15.0 255 10647 0.00 2.75 0.00 0.000 6 0.000 0.079 2766 2796 1805 0 0 0 0 0 0
10971 1.15 194.6 742.1 15.3 261 10975 0.00 2.67 0.00 0.000 4 0.000 0.071 2766 1360 1804 0 0 0 0 0 0
11019 1.15 194.6 734.7 15.2 261 11023 0.00 2.70 0.00 0.000 6 0.000 0.064 2766 2804 1803 0 0 0 0 0 0
11336 1.15 194.6 685.7 15.6 267 11341 0.00 2.22 0.00 0.000 4 0.000 0.089 2766 3949 1803 0 0 0 0 0 0
11363 1.15 194.6 681.4 15.9 267 11367 0.00 2.12 0.00 0.000 6 0.000 0.046 2766 2766 1802 0 0 0 0 0 0
11702 1.15 194.6 631.2 14.5 273 11706 0.00 2.50 0.00 0.000 4 0.000 0.059 2766 1381 1801 0 0 0 0 0 0
11808 1.15 194.6 616.0 13.3 274 11812 0.00 2.58 0.00 0.000 6 0.000 0.051 2766 2806 1802 0 0 0 0 0 0
12131 1.15 194.6 568.0 14.9 280 12135 0.00 2.10 0.00 0.000 4 0.000 0.067 2766 3944 1801 0 0 0 0 0 0
12216 1.15 194.6 555.1 14.6 281 12220 0.00 2.08 0.00 0.000 6 0.000 0.044 2766 2775 1800 0 0 0 0 0 0
12561 1.15 194.6 506.6 14.1 287 12565 0.00 2.45 0.00 0.000 4 0.000 0.054 2766 1374 1800 0 0 0 0 0 0
12662 1.15 194.6 493.7 12.5 288 12666 0.00 2.55 0.00 0.000 6 0.000 0.048 2766 2800 1801 0 0 0 0 0 0
12990 1.15 194.6 451.2 13.1 294 12994 0.00 2.10 0.00 0.000 4 0.000 0.065 2766 3944 1801 0 0 0 0 0 0
13075 1.15 194.6 438.6 14.3 295 13079 0.00 2.05 0.00 0.000 6 0.000 0.044 2766 2785 1800 0 0 0 0 0 0
13419 1.15 194.6 387.1 15.1 301 13420 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 2784 1800 0 0 0 0 0 0
13721 1.15 194.6 341.9 14.8 306 13722 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 2785 1800 0 0 0 0 0 0
14023 1.15 194.6 302.5 12.9 311 14028 0.00 2.45 0.00 0.000 4 0.000 0.051 2767 1389 1800 0 0 0 0 0 0
14049 1.15 194.6 299.3 12.1 311 14053 0.00 2.47 0.00 0.000 6 0.000 0.044 2766 2793 1800 0 0 0 0 0 0
14360 1.15 194.6 262.0 11.7 321 14364 0.00 2.45 0.00 0.000 4 0.000 0.048 2765 1382 1800 0 0 0 0 0 0
14402 1.15 194.6 257.2 11.8 322 14406 0.00 2.47 0.00 0.000 6 0.000 0.044 2766 2789 1800 0 0 0 0 0 0
14727 1.15 194.6 223.2 10.5 333 14727 0.00 0.00 0.00 0.000 6 0.000 0.000 2766 2790 1800 0 0 0 0 0 0
15030 1.15 194.6 192.7 10.2 343 15034 0.00 2.47 0.00 0.000 4 0.000 0.045 2766 1378 1800 0 0 0 0 0 0
15094 1.15 194.6 186.0 10.1 345 15098 0.00 2.47 0.00 0.000 6 0.000 0.042 2766 2796 1800 0 0 0 0 0 0
15429 1.15 194.6 152.3 10.2 356 15434 0.00 2.47 0.00 0.000 4 0.000 0.044 2766 1373 1801 0 0 0 0 0 0
15477 1.15 194.6 147.3 10.9 357 15482 0.00 2.47 0.00 0.000 6 0.000 0.041 2766 2802 1801 0 0 0 0 0 0
15796 1.16 201.9 117.3 9.7 368 15801 0.00 2.05 0.00 0.000 4 0.000 0.055 2766 3953 1802 0 0 0 0 0 0
15822 1.17 219.1 114.7 9.4 368 15847 0.00 2.00 18.92 0.644 6 0.000 0.037 2766 2761 1723 0 0 0 0 0 0
16156 1.17 219.1 81.3 10.2 391 16159 0.00 2.33 0.00 0.000 4 0.000 0.043 2766 1401 1721 0 0 0 0 0 0
16283 1.17 219.1 66.9 10.8 403 16288 0.00 2.40 0.00 0.000 6 0.000 0.040 2766 2797 1722 0 0 0 0 0 0
16480 1.20 243.0 48.3 9.2 422 16506 0.00 2.05 21.95 0.568 4 0.000 0.054 2766 3950 1626 0 0 0 0 0 0
16543 1.21 254.0 42.3 9.6 427 16559 0.00 1.98 10.70 0.524 6 0.000 0.036 2766 2789 1580 0 0 0 0 0 0
16746 1.32 348.9 27.9 6.7 447 16833 0.17 2.42 80.00 0.548 4 0.075 0.048 2813 1396 1193 0 0 0 0 0 0
16907 1.32 348.9 11.4 10.6 469 16913 0.00 2.42 0.00 0.000 6 0.000 0.041 2813 2790 1189 0 0 0 0 0 0
16977 1.32 348.9 3.4 10.6 482 16982 0.00 2.08 0.00 0.000 4 0.000 0.056 2813 3958 1189 0 0 0 0 0 0
16984 end climb: SURFACE_DEPTH_REACHED
state 16984 begin surface coast
17000 end surface coast: CONTROL_FINISHED_OK
state 17000 begin surface