Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 536 * 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 536 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 44 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 2850 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 -71709.945 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 2720 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 -71709.945

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 2720 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 2850 MAX_BUOY 150 R_STBD_OVSHOOT 44 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 536 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 063650,4805.835,-12221.784,11,1.5,28,18.3 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.144,-0.217

_SM_DEPTHo 1.11 KALMAN_X -21814.4,-15.0,44.9,23968.4,-14.8

_SM_ANGLEo -68.9 KALMAN_Y -13285.3,113.8,-45.4,9832.6,4.1

GPS2 064039,4805.833,-12221.787,12,1.5,12,18.3 MHEAD_RNG_PITCHd_Wd 128.2,1824,-18.2,-10.000

SPEED_LIMITS 0.100,0.261 D_GRID 110

Post-dive calculations and measurements:

FINISH 0.3,1.003686 XPDR_PINGS 0

SM_CCo 1852,62.97,0.673,0,0,1218,400.08 ALTIM_BOTTOM_PING 66.0,46.8

SM_GC 0.96,0.00,0.00,62.97,0.000,0.000,0.673,21,2363,1218,-8.44,0.37,400.08 _24V_AH 24.4,48.980

IRIDIUM_FIX 4751.72,-12203.06,270907,090945 _10V_AH 10.7,25.077

TT8_MAMPS 0.026078 DATA_FILE_SIZE 9669,196

HUMID 1902 CFSIZE 260165632,242733056

INTERNAL_PRESSURE 9.17027 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 GPS 270907,071421,4805.645,-12221.636,10,1.2,10,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 202 102.52 SBE_CT 139 24 81.43

Roll_motor 9 44 10.72 SBE_O2 148 19 68.64

VBD_pump_during_apogee 332 737 5979.91 WL_BB2F 330 105 847.55

VBD_pump_during_surface 62 672 1033.60 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 61.13 nil 0 0 0.00

Iridium_during_connect 16 160 63.39 nil 0 0 0.00

Iridium_during_xfer 86 223 473.17

Transponder_ping 0 420 2.56

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.66

TT8 319 19 67.74

LPSleep 763 2 17.88

TT8_Active 373 19 79.21

TT8_Sampling 455 39 194.16

TT8_CF8 251 45 123.29

TT8_Kalman 33 81 29.17

Analog_circuits 653 12 83.96

GPS_charging 0 0 0.00

Compass 460 8 39.42

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

26 end surface: CONTROL_FINISHED_OK

state 26 begin dive

30 -1.19 -146.6 0.0 0.0 0 91 0.00 0.00 -58.90 0.000 2 0.000 0.000 19 2368 2768

95 -1.19 -146.6 3.2 -7.7 11 125 9.23 2.28 -13.57 0.000 4 0.202 0.044 2333 956 3450

425 -1.19 -146.6 54.4 -14.2 49 429 0.00 2.25 0.00 0.000 6 0.000 0.033 2325 2347 3453

668 end dive: TARGET_DEPTH_EXCEEDED

state 668 begin apogee

676 -0.28 0.0 91.2 14.9 72 793 0.98 0.00 111.72 0.738 6 0.118 0.000 2626 2130 2849

794 end apogee: CONTROL_FINISHED_OK

state 794 begin climb

797 1.19 146.6 97.2 0.0 84 915 1.42 2.47 110.43 0.686 4 0.075 0.041 3097 3552 2250

995 1.37 292.2 97.0 3.3 102 1116 0.15 2.25 110.00 0.693 6 0.062 0.028 3167 2157 1657

1434 1.37 292.2 46.9 12.8 144 1435 0.00 0.00 0.00 0.000 6 0.000 0.000 3167 2156 1655

1625 1.37 292.2 23.0 12.4 162 1626 0.00 0.00 0.00 0.000 6 0.000 0.000 3167 2157 1655

1806 end climb: SURFACE_DEPTH_REACHED

state 1806 begin surface coast

1830 end surface coast: CONTROL_FINISHED_OK

state 1831 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	536	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	44	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	2850	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	-71709.945	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	2720	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	063650,4805.835,-12221.784,11,1.5,28,18.3	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.144,-0.217
_SM_DEPTHo	1.11	KALMAN_X	-21814.4,-15.0,44.9,23968.4,-14.8
_SM_ANGLEo	-68.9	KALMAN_Y	-13285.3,113.8,-45.4,9832.6,4.1
GPS2	064039,4805.833,-12221.787,12,1.5,12,18.3	MHEAD_RNG_PITCHd_Wd	128.2,1824,-18.2,-10.000
SPEED_LIMITS	0.100,0.261	D_GRID	110

FINISH	0.3,1.003686	XPDR_PINGS	0
SM_CCo	1852,62.97,0.673,0,0,1218,400.08	ALTIM_BOTTOM_PING	66.0,46.8
SM_GC	0.96,0.00,0.00,62.97,0.000,0.000,0.673,21,2363,1218,-8.44,0.37,400.08	_24V_AH	24.4,48.980
IRIDIUM_FIX	4751.72,-12203.06,270907,090945	_10V_AH	10.7,25.077
TT8_MAMPS	0.026078	DATA_FILE_SIZE	9669,196
HUMID	1902	CFSIZE	260165632,242733056
INTERNAL_PRESSURE	9.17027	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	270907,071421,4805.645,-12221.636,10,1.2,10,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	202	102.52	SBE_CT	139	24	81.43
Roll_motor	9	44	10.72	SBE_O2	148	19	68.64
VBD_pump_during_apogee	332	737	5979.91	WL_BB2F	330	105	847.55
VBD_pump_during_surface	62	672	1033.60	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	61.13	nil	0	0	0.00
Iridium_during_connect	16	160	63.39	nil	0	0	0.00
Iridium_during_xfer	86	223	473.17
Transponder_ping	0	420	2.56
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.66
TT8	319	19	67.74
LPSleep	763	2	17.88
TT8_Active	373	19	79.21
TT8_Sampling	455	39	194.16
TT8_CF8	251	45	123.29
TT8_Kalman	33	81	29.17
Analog_circuits	653	12	83.96
GPS_charging	0	0	0.00
Compass	460	8	39.42
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
26	end surface: CONTROL_FINISHED_OK
state	26	begin dive
30	-1.19	-146.6	0.0	0.0	0	91	0.00	0.00	-58.90	0.000	2	0.000	0.000	19	2368	2768
95	-1.19	-146.6	3.2	-7.7	11	125	9.23	2.28	-13.57	0.000	4	0.202	0.044	2333	956	3450
425	-1.19	-146.6	54.4	-14.2	49	429	0.00	2.25	0.00	0.000	6	0.000	0.033	2325	2347	3453
668	end dive: TARGET_DEPTH_EXCEEDED
state	668	begin apogee
676	-0.28	0.0	91.2	14.9	72	793	0.98	0.00	111.72	0.738	6	0.118	0.000	2626	2130	2849
794	end apogee: CONTROL_FINISHED_OK
state	794	begin climb
797	1.19	146.6	97.2	0.0	84	915	1.42	2.47	110.43	0.686	4	0.075	0.041	3097	3552	2250
995	1.37	292.2	97.0	3.3	102	1116	0.15	2.25	110.00	0.693	6	0.062	0.028	3167	2157	1657
1434	1.37	292.2	46.9	12.8	144	1435	0.00	0.00	0.00	0.000	6	0.000	0.000	3167	2156	1655
1625	1.37	292.2	23.0	12.4	162	1626	0.00	0.00	0.00	0.000	6	0.000	0.000	3167	2157	1655
1806	end climb: SURFACE_DEPTH_REACHED
state	1806	begin surface coast
1830	end surface coast: CONTROL_FINISHED_OK
state	1831	begin surface