Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 528 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 528 ESCAPE_HEADING 0 ROLL_MIN 145 ALTIM_PING_DEPTH 80

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MAX 4014 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_FREQUENCY 13

D_TGT 90 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2350 ALTIM_PULSE 3

D_ABORT 1090 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2150 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_YINT 0

D_PITCH 0 N_FILEKB 4 ROLL_TIMEOUT 15 DEEPGLIDER 0

D_SAFE 0 FILEMGR 0 R_PORT_OVSHOOT 57 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 38 MOTHERBOARD 4

SURFACE_URGENCY 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE2 20

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE3 35

T_DIVE 30 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE4 -1

T_MISSION 75 CALL_TRIES 5 VBD_MIN 204 DEVICE5 -1

T_ABORT 1440 CALL_WAIT 60 VBD_MAX 3580 DEVICE6 -1

T_TURN 270 CAPUPLOAD 0 C_VBD 2800 SMARTS 0

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTDEVICE1 -1

T_NO_W 120 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE2 -1

USE_BATHY -4 T_GPS 15 VBD_TIMEOUT 360 COMPASS_DEVICE 33

USE_ICE 0 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 GPS_DEVICE 32

D_OFFGRID 100 T_GPS_CHARGE -71558.25 VBD_PUMP_AD_RATE_APOGEE 3 RAFOS_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 XPDR_DEVICE 24

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 SIM_W 0

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_PITCH 0

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SEABIRD_T_G 0.0043805656

COURSE_BIAS 0 PITCH_MIN 25 AH0_24V 150 SEABIRD_T_H 0.00064742006

GLIDE_SLOPE 45 PITCH_MAX 4070 AH0_10V 100 SEABIRD_T_I 2.5554549e-05

SPEED_FACTOR 1 C_PITCH 2740 PRESSURE_YINT -10.508845 SEABIRD_T_J 2.6681391e-06

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_C_G -10.331019

MASS 51503 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_C_H 1.1763502

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012340198

FERRY_MAX 45 PITCH_GAIN 18 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017379176

KALMAN_USE 1 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25

HD_A 0.0038360001 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FLARE 3 PITCH_DBAND 0.1 SMARTS 0

AH0_10V 100 D_NO_BLEED 200 PITCH_GAIN 18 SM_CC 400

AH0_24V 150 D_OFFGRID 100 PITCH_MAX 4070 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 25 D_PITCH 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_MIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 D_TGT 90 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PRESSURE_YINT -10.508845 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.133301

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.4

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 RAFOS_DEVICE -1 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 RAFOS_HIT_WINDOW 3600 T_DIVE 30

APOGEE_PITCH -5 GPS_DEVICE 32 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_NDIVES 1 HD_A 0.0038360001 RELAUNCH 1 T_GPS_ALMANAC 0

CALL_TRIES 5 HD_B 0.010078 RHO 1.023 T_GPS_CHARGE -71558.25

CALL_WAIT 60 HD_C 9.8541004e-06 ROLL_ADJ_DBAND 0 T_MISSION 75

CAPMAXSIZE 100000 HEADING -1 ROLL_ADJ_GAIN 0 T_NO_W 120

CAPUPLOAD 0 HEAD_ERRBAND 10 ROLL_AD_RATE 350 T_RSLEEP 3

CF8_MAXERRORS 1 HEAPDBG 0 ROLL_CNV 0.028270001 T_TURN 270

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 ROLL_DEG 40 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 128 ROLL_MAX 4014 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 UNCOM_BLEED 50

C_PITCH 2740 INT_PRESSURE_YINT 0 ROLL_MIN 145 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2150 KALMAN_USE 1 ROLL_TIMEOUT 15 USE_BATHY -4

C_ROLL_DIVE 2350 MASS 51503 R_PORT_OVSHOOT 57 USE_ICE 0

C_VBD 2800 MAX_BUOY 150 R_STBD_OVSHOOT 38 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -10.331019 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_DBAND 2

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_MAX 3580

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAXERRORS 1

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MIN 204

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_TIMEOUT 360

DIVE 528 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_ABORT 1090 PITCH_ADJ_GAIN 0 SIM_W 0

D_CALL 0 PITCH_AD_RATE 160 SMARTDEVICE1 -1

D_FINISH 0 PITCH_CNV 0.00312576 SMARTDEVICE2 -1

Pre-dive calculations and measurements:

GPS1 005327,4807.487,-12223.553,10,1.4,10,18.3 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.170,-0.197

_SM_DEPTHo 1.13 KALMAN_X -21958.8,31.4,-117.1,22050.1,-69.6

_SM_ANGLEo -68.1 KALMAN_Y -13743.6,242.1,176.4,13004.8,9.5

GPS2 005733,4807.486,-12223.547,15,1.4,15,18.3 MHEAD_RNG_PITCHd_Wd 120.9,5580,-18.2,-10.000

SPEED_LIMITS 0.100,0.261 D_GRID 103

Post-dive calculations and measurements:

FINISH 0.5,1.024886 XPDR_PINGS 0

SM_CCo 1882,78.68,0.671,0,0,1168,400.08 ALTIM_BOTTOM_PING 65.1,46.5

SM_GC 1.44,0.00,0.00,78.68,0.000,0.000,0.671,7,2359,1168,-8.54,0.25,400.08 _24V_AH 24.5,48.274

IRIDIUM_FIX 4748.51,-12219.12,270907,040418 _10V_AH 10.7,24.820

TT8_MAMPS 0.026078 DATA_FILE_SIZE 9704,198

HUMID 1888 CFSIZE 260165632,242917376

INTERNAL_PRESSURE 9.18004 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.00 GPS 270907,013231,4807.334,-12223.286,29,1.1,40,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 205 105.00 SBE_CT 141 24 83.35

Roll_motor 9 46 11.20 SBE_O2 150 19 70.09

VBD_pump_during_apogee 311 731 5583.84 WL_BB2F 334 105 859.43

VBD_pump_during_surface 78 671 1293.62 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 79.01 nil 0 0 0.00

Iridium_during_connect 16 160 65.10 nil 0 0 0.00

Iridium_during_xfer 92 223 506.86

Transponder_ping 0 420 2.57

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 9.24

TT8 328 19 69.53

LPSleep 796 2 18.66

TT8_Active 377 19 79.94

TT8_Sampling 457 39 195.03

TT8_CF8 267 45 131.05

TT8_Kalman 33 81 29.19

Analog_circuits 649 12 83.35

GPS_charging 0 0 0.00

Compass 462 8 39.59

RAFOS 0 0 0.00

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

27 end surface: CONTROL_FINISHED_OK

state 27 begin dive

30 -1.19 -146.6 0.0 0.0 0 97 0.00 0.00 -63.83 0.000 2 0.000 0.000 14 2329 2864

101 -1.19 -146.6 3.8 -9.7 12 125 9.40 2.30 -9.68 0.000 4 0.206 0.046 2353 944 3400

430 -1.19 -146.6 53.4 -14.3 49 434 0.00 2.28 0.00 0.000 6 0.000 0.034 2349 2355 3403

705 end dive: TARGET_DEPTH_EXCEEDED

state 705 begin apogee

713 -0.28 0.0 90.8 13.3 75 830 0.95 0.00 111.78 0.732 6 0.117 0.000 2643 2138 2800

831 end apogee: CONTROL_FINISHED_OK

state 831 begin climb

835 1.19 146.6 96.1 0.0 87 953 1.42 2.33 110.75 0.686 4 0.071 0.036 3127 767 2201

1049 1.34 264.7 94.1 4.6 106 1144 0.12 2.28 88.95 0.696 6 0.068 0.030 3177 2159 1720

1464 1.34 264.7 45.5 12.9 145 1465 0.00 0.00 0.00 0.000 6 0.000 0.000 3177 2159 1718

1655 1.34 264.7 22.0 12.2 163 1656 0.00 0.00 0.00 0.000 6 0.000 0.000 3177 2159 1718

1836 end climb: SURFACE_DEPTH_REACHED

state 1836 begin surface coast

1861 end surface coast: CONTROL_FINISHED_OK

state 1861 begin surface

ID	128	HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	528	ESCAPE_HEADING	0	ROLL_MIN	145	ALTIM_PING_DEPTH	80
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MAX	4014	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_FREQUENCY	13
D_TGT	90	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2350	ALTIM_PULSE	3
D_ABORT	1090	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2150	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_YINT	0
D_PITCH	0	N_FILEKB	4	ROLL_TIMEOUT	15	DEEPGLIDER	0
D_SAFE	0	FILEMGR	0	R_PORT_OVSHOOT	57	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	38	MOTHERBOARD	4
SURFACE_URGENCY	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE2	20
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE3	35
T_DIVE	30	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE4	-1
T_MISSION	75	CALL_TRIES	5	VBD_MIN	204	DEVICE5	-1
T_ABORT	1440	CALL_WAIT	60	VBD_MAX	3580	DEVICE6	-1
T_TURN	270	CAPUPLOAD	0	C_VBD	2800	SMARTS	0
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTDEVICE1	-1
T_NO_W	120	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE2	-1
USE_BATHY	-4	T_GPS	15	VBD_TIMEOUT	360	COMPASS_DEVICE	33
USE_ICE	0	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	GPS_DEVICE	32
D_OFFGRID	100	T_GPS_CHARGE	-71558.25	VBD_PUMP_AD_RATE_APOGEE	3	RAFOS_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	XPDR_DEVICE	24
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	SIM_W	0
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_PITCH	0
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SEABIRD_T_G	0.0043805656
COURSE_BIAS	0	PITCH_MIN	25	AH0_24V	150	SEABIRD_T_H	0.00064742006
GLIDE_SLOPE	45	PITCH_MAX	4070	AH0_10V	100	SEABIRD_T_I	2.5554549e-05
SPEED_FACTOR	1	C_PITCH	2740	PRESSURE_YINT	-10.508845	SEABIRD_T_J	2.6681391e-06
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_C_G	-10.331019
MASS	51503	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_C_H	1.1763502
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012340198
FERRY_MAX	45	PITCH_GAIN	18	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017379176
KALMAN_USE	1	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25
HD_A	0.0038360001	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	005327,4807.487,-12223.553,10,1.4,10,18.3	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.170,-0.197
_SM_DEPTHo	1.13	KALMAN_X	-21958.8,31.4,-117.1,22050.1,-69.6
_SM_ANGLEo	-68.1	KALMAN_Y	-13743.6,242.1,176.4,13004.8,9.5
GPS2	005733,4807.486,-12223.547,15,1.4,15,18.3	MHEAD_RNG_PITCHd_Wd	120.9,5580,-18.2,-10.000
SPEED_LIMITS	0.100,0.261	D_GRID	103

FINISH	0.5,1.024886	XPDR_PINGS	0
SM_CCo	1882,78.68,0.671,0,0,1168,400.08	ALTIM_BOTTOM_PING	65.1,46.5
SM_GC	1.44,0.00,0.00,78.68,0.000,0.000,0.671,7,2359,1168,-8.54,0.25,400.08	_24V_AH	24.5,48.274
IRIDIUM_FIX	4748.51,-12219.12,270907,040418	_10V_AH	10.7,24.820
TT8_MAMPS	0.026078	DATA_FILE_SIZE	9704,198
HUMID	1888	CFSIZE	260165632,242917376
INTERNAL_PRESSURE	9.18004	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	GPS	270907,013231,4807.334,-12223.286,29,1.1,40,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	205	105.00	SBE_CT	141	24	83.35
Roll_motor	9	46	11.20	SBE_O2	150	19	70.09
VBD_pump_during_apogee	311	731	5583.84	WL_BB2F	334	105	859.43
VBD_pump_during_surface	78	671	1293.62	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	79.01	nil	0	0	0.00
Iridium_during_connect	16	160	65.10	nil	0	0	0.00
Iridium_during_xfer	92	223	506.86
Transponder_ping	0	420	2.57
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	9.24
TT8	328	19	69.53
LPSleep	796	2	18.66
TT8_Active	377	19	79.94
TT8_Sampling	457	39	195.03
TT8_CF8	267	45	131.05
TT8_Kalman	33	81	29.19
Analog_circuits	649	12	83.35
GPS_charging	0	0	0.00
Compass	462	8	39.59
RAFOS	0	0	0.00

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
27	end surface: CONTROL_FINISHED_OK
state	27	begin dive
30	-1.19	-146.6	0.0	0.0	0	97	0.00	0.00	-63.83	0.000	2	0.000	0.000	14	2329	2864
101	-1.19	-146.6	3.8	-9.7	12	125	9.40	2.30	-9.68	0.000	4	0.206	0.046	2353	944	3400
430	-1.19	-146.6	53.4	-14.3	49	434	0.00	2.28	0.00	0.000	6	0.000	0.034	2349	2355	3403
705	end dive: TARGET_DEPTH_EXCEEDED
state	705	begin apogee
713	-0.28	0.0	90.8	13.3	75	830	0.95	0.00	111.78	0.732	6	0.117	0.000	2643	2138	2800
831	end apogee: CONTROL_FINISHED_OK
state	831	begin climb
835	1.19	146.6	96.1	0.0	87	953	1.42	2.33	110.75	0.686	4	0.071	0.036	3127	767	2201
1049	1.34	264.7	94.1	4.6	106	1144	0.12	2.28	88.95	0.696	6	0.068	0.030	3177	2159	1720
1464	1.34	264.7	45.5	12.9	145	1465	0.00	0.00	0.00	0.000	6	0.000	0.000	3177	2159	1718
1655	1.34	264.7	22.0	12.2	163	1656	0.00	0.00	0.00	0.000	6	0.000	0.000	3177	2159	1718
1836	end climb: SURFACE_DEPTH_REACHED
state	1836	begin surface coast
1861	end surface coast: CONTROL_FINISHED_OK
state	1861	begin surface