DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 67 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  172 HEADING  -1 ROLL_MIN  160 ALTIM_BOTTOM_TURN_MARGIN  0
MISSION  3 ESCAPE_HEADING  0 ROLL_MAX  3717 ALTIM_TOP_TURN_MARGIN  0
DIVE  67 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_TOP_MIN_OBSTACLE  1
D_SURF  4 FIX_MISSING_TIMEOUT  1 C_ROLL_DIVE  1850 ALTIM_PING_DEPTH  400
D_FLARE  3 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1700 ALTIM_PING_DELTA  50
D_TGT  990 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_FREQUENCY  13
D_ABORT  1070 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_PULSE  1
D_NO_BLEED  500 SM_CC  450 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  3
D_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  16 XPDR_VALID  2
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  30 XPDR_INHIBIT  90
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  400 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  0 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  460 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_MAX  3960 DEVICE1  2
T_DIVE  330 CALL_TRIES  5 C_VBD  2940 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  4 HEAPDBG  0 PITCH_VBD_SHIFT  0.0012300001 DEVICE6  -1
T_NO_W  300 T_GPS  15 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERS  0
T_LOITER  0 N_GPS  20 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE1  -1
USE_BATHY  -2 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  0 T_GPS_CHARGE  -5516.334 UNCOM_BLEED  50 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  15 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
D_OFFGRID  100 STROBE  0 CF8_MAXERRORS  20 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  154 MINV_10V  8 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3948 FG_AHR_10V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  3025 FG_AHR_24V  0 SEABIRD_T_G  0.0043614767
SPEED_FACTOR  1 PITCH_DBAND  0.1 PHONE_SUPPLY  2 SEABIRD_T_H  0.00062996609
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_YINT  -55.981045 SEABIRD_T_I  2.5014444e-05
MASS  51891 P_OVSHOOT  0.039999999 PRESSURE_SLOPE  0.0001168426 SEABIRD_T_J  2.7838146e-06
NAV_MODE  2 PITCH_GAIN  38 AD7714Ch0Gain  128 SEABIRD_C_G  -10.228213
FERRY_MAX  45 PITCH_TIMEOUT  16 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1292607
KALMAN_USE  2 PITCH_AD_RATE  175 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.001076734
HD_A  0.003 PITCH_MAXERRORS  1 COMPASS_USE  0 SEABIRD_C_J  0.00017059842
HD_B  0.0099999998 PITCH_ADJ_GAIN  0.032000002 ALTIM_BOTTOM_PING_RANGE  0
HD_C  9.9999997e-06 PITCH_ADJ_DBAND  1 ALTIM_TOP_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  140900,6650.594,-5917.387,40,1.0,40,-38.0 TGT_NAME  TARGET_ADD3_EB
_CALLS  2 TGT_LATLONG  6655.000,-5823.000
_XMS_NAKs  0 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.45 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -75.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  141850,6650.496,-5917.442,15,1.0,15,-38.0 MHEAD_RNG_PITCHd_Wd  130.9,40402,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  1000

Post-dive calculations and measurements:
FINISH  1.6,1.012184 _24V_AH  22.8,13.978
SM_CCo  18302,48.45,0.667,0,0,1105,450.13 _10V_AH  10.2,6.062
SM_GC  2.30,0.00,0.00,48.45,0.000,0.000,0.667,144,1854,1105,-9.00,0.14,450.13 FG_AHR_24Vo  0.000
RAFOS_CLK  951 FG_AHR_10Vo  0.000
RAFOS_FIX  0.000000,0.000000,010170,000000,0,0,0.00 MEM  150316
IRIDIUM_FIX  6620.33,-5911.55,250199,141423 DATA_FILE_SIZE  59798,1462
TT8_MAMPS  0.051389 CAP_FILE_SIZE  194365,0
HUMID  39.64 CFSIZE  260165632,247156736
INTERNAL_PRESSURE  9.39489 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  14.70 SOUNDSPEED  1457.9
XPDR_PINGS  0 CURRENT  0.333,181.0,1
ALTIM_BOTTOM_PING  900.3,112.7 GPS  311009,192537,6647.043,-5910.739,28,1.3,28,-37.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23248134.14 SBE_CT102224559.44
Roll_motor15591323.70 SBE_O2109419474.12
VBD_pump_during_apogee479126113806.77 nil000.00
VBD_pump_during_surface48667737.13 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init51103121.25 nil000.00
Iridium_during_connect71160262.04 nil000.00
Iridium_during_xfer2992231522.00
Transponder_ping342028.73
GUMSTIX_24V000.00
GPS15508.06
TT80190.00
LPSleep146322344.78
TT8_Active68819139.93
TT8_Sampling3020391229.84
TT8_CF857445269.00
TT8_Kalman000.00
Analog_circuits195212239.02
GPS_charging000.00
Compass24068196.39
RAFOS2471137.81
Transponder25307.91

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
11 end surface: CONTROL_FINISHED_OK
state 11 begin dive
13 -0.64 -146.0 0.0 0.0 0 91 0.00 0.00 -76.82 0.000 2 0.000 0.000 123 1861 2546 0 0 0 0 0 0
93 -0.64 -146.0 3.3 -1.1 14 139 10.73 2.38 -29.73 0.000 4 0.249 0.091 2813 436 3538 0 0 0 0 0 0
360 -0.53 -146.0 50.3 -17.0 75 366 0.15 2.25 0.00 0.000 6 0.179 0.058 2849 1848 3539 0 0 0 0 0 0
684 -0.53 -146.0 95.7 -14.0 136 685 0.00 0.00 0.00 0.000 6 0.000 0.000 2849 1848 3540 0 0 0 0 0 0
1002 -0.57 -146.0 133.3 -11.5 170 1005 0.00 2.30 0.00 0.000 4 0.000 0.077 2849 435 3540 0 0 0 0 0 0
1044 -0.63 -146.0 138.6 -12.6 174 1050 0.00 2.28 0.00 0.000 6 0.000 0.058 2841 1851 3540 0 0 0 0 0 0
1358 -0.66 -146.0 175.0 -10.9 205 1362 0.00 2.33 0.00 0.000 4 0.000 0.077 2841 442 3539 0 0 0 0 0 0
1402 -0.72 -146.0 179.8 -11.0 210 1406 0.10 2.25 0.00 0.000 6 0.071 0.059 2783 1846 3539 0 0 0 0 0 0
1720 -0.60 -146.0 230.8 -17.5 241 1724 0.17 2.30 0.00 0.000 4 0.164 0.077 2834 436 3539 0 0 0 0 0 0
1742 -0.56 -146.0 234.3 -15.7 243 1747 0.00 2.25 0.00 0.000 6 0.000 0.058 2825 1846 3539 0 0 0 0 0 0
2056 -0.56 -146.0 274.0 -12.2 274 2057 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 1846 3538 0 0 0 0 0 0
2367 -0.60 -146.0 311.3 -11.5 304 2370 0.00 2.28 0.00 0.000 4 0.000 0.077 2825 434 3538 0 0 0 0 0 0
2384 -0.60 -146.0 313.3 -12.1 306 2388 0.00 2.25 0.00 0.000 6 0.000 0.058 2820 1849 3538 0 0 0 0 0 0
2702 -0.60 -146.0 348.5 -10.4 337 2707 0.00 2.30 0.00 0.000 4 0.000 0.077 2820 439 3538 0 0 0 0 0 0
2737 -0.63 -146.0 352.4 -11.2 341 2741 0.00 2.22 0.00 0.000 6 0.000 0.058 2820 1844 3538 0 0 0 0 0 0
3056 -0.68 -146.0 386.0 -10.5 372 3056 0.00 0.00 0.00 0.000 6 0.000 0.000 2820 1843 3538 0 0 0 0 0 0
3366 -0.72 -146.0 417.9 -9.8 402 3370 0.00 2.28 0.00 0.000 4 0.000 0.075 2820 418 3538 0 0 0 0 0 0
3392 -0.72 -146.0 420.6 -10.9 405 3395 0.00 2.25 0.00 0.000 6 0.000 0.057 2820 1843 3538 0 0 0 0 0 0
3711 -0.77 -146.0 453.9 -11.0 436 3712 0.12 0.00 0.00 0.000 6 0.104 0.000 2764 1843 3538 0 0 0 0 0 0
4022 -0.65 -146.0 500.9 -15.1 466 4026 0.17 2.28 0.00 0.000 4 0.161 0.075 2814 427 3539 0 0 0 0 0 0
4060 -0.68 -146.0 506.0 -11.6 470 4063 0.00 2.20 0.00 0.000 6 0.000 0.057 2810 1850 3539 0 0 0 0 0 0
4378 -0.68 -146.0 541.3 -10.9 501 4382 0.00 2.30 0.00 0.000 4 0.000 0.075 2810 443 3539 0 0 0 0 0 0
4399 -0.68 -146.0 543.8 -12.3 503 4405 0.00 2.20 0.00 0.000 6 0.000 0.056 2810 1841 3539 0 0 0 0 0 0
4714 -0.68 -146.0 577.6 -10.5 534 4715 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 1841 3540 0 0 0 0 0 0
5023 -0.68 -146.0 609.3 -10.1 558 5026 0.00 2.22 0.00 0.000 4 0.000 0.074 2810 436 3540 0 0 0 0 0 0
5052 -0.68 -146.0 612.4 -10.3 559 5056 0.00 2.22 0.00 0.000 6 0.000 0.056 2810 1849 3540 0 0 0 0 0 0
5386 -0.72 -146.0 646.7 -10.4 570 5387 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 1849 3541 0 0 0 0 0 0
5689 -0.76 -146.0 678.8 -10.6 580 5693 0.00 2.28 0.00 0.000 4 0.000 0.074 2810 437 3541 0 0 0 0 0 0
5732 -0.80 -146.0 683.6 -11.5 581 5737 0.10 2.22 0.00 0.000 6 0.067 0.055 2753 1849 3541 0 0 0 0 0 0
6054 -0.68 -146.0 730.4 -14.8 592 6057 0.17 2.25 0.00 0.000 4 0.156 0.074 2805 435 3541 0 0 0 0 0 0
6070 -0.61 -146.0 732.7 -14.1 592 6074 0.08 2.22 0.00 0.000 6 0.155 0.054 2823 1851 3541 0 0 0 0 0 0
6387 -0.70 -146.0 761.8 -9.1 603 6390 0.00 2.25 0.00 0.000 4 0.000 0.074 2822 429 3542 0 0 0 0 0 0
6407 -0.78 -146.0 763.9 -10.9 603 6413 0.10 2.22 0.00 0.000 6 0.067 0.055 2767 1850 3541 0 0 0 0 0 0
6715 -0.69 -146.0 804.1 -13.3 614 6716 0.12 0.00 0.00 0.000 6 0.170 0.000 2802 1850 3541 0 0 0 0 0 0
7019 -0.73 -146.0 835.2 -10.2 624 7019 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 1850 3542 0 0 0 0 0 0
7322 -0.76 -146.0 866.0 -10.2 634 7326 0.00 2.30 0.00 0.000 4 0.000 0.074 2802 439 3542 0 0 0 0 0 0
7356 -0.80 -146.0 869.7 -11.1 635 7360 0.00 2.22 0.00 0.000 6 0.000 0.056 2797 1854 3542 0 0 0 0 0 0
7685 -0.80 -146.0 903.4 -10.1 646 7686 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 1854 3542 0 0 0 0 0 0
7989 -0.80 -146.0 936.7 -11.5 656 7992 0.00 2.28 0.00 0.000 4 0.000 0.074 2797 443 3542 0 0 0 0 0 0
8015 -0.80 -146.0 939.6 -11.2 656 8020 0.00 2.20 0.00 0.000 6 0.000 0.057 2797 1845 3542 0 0 0 0 0 0
8322 -0.80 -146.0 973.4 -11.2 667 8326 0.00 2.28 0.00 0.000 4 0.000 0.074 2797 438 3542 0 0 0 0 0 0
8343 -0.80 -146.0 976.0 -12.9 667 8347 0.00 2.20 0.00 0.000 6 0.000 0.055 2797 1844 3542 0 0 0 0 0 0
8472 end dive: TARGET_DEPTH_EXCEEDED
state 8472 begin apogee
8475 -0.13 0.0 991.0 11.6 672 8604 0.55 0.00 126.22 1.262 6 0.136 0.000 2977 1690 2940 0 0 0 0 0 0
8604 end apogee: CONTROL_FINISHED_OK
state 8604 begin climb
8605 0.64 146.0 995.9 0.0 676 8740 0.73 0.00 131.73 1.230 6 0.086 0.000 3228 1690 2344 0 0 0 0 0 0
9029 0.57 176.6 973.4 8.6 690 9060 0.00 2.45 27.25 1.172 4 0.000 0.074 3239 288 2219 0 0 0 0 0 0
9082 0.45 187.0 968.6 9.5 691 9099 0.20 2.38 11.07 1.066 6 0.146 0.050 3167 1702 2175 0 0 0 0 0 0
9419 0.62 244.0 944.3 7.4 703 9478 0.17 2.47 51.72 1.187 4 0.087 0.075 3249 294 1944 0 0 0 0 0 0
9508 0.52 244.0 934.0 14.0 706 9512 0.20 2.33 0.00 0.000 6 0.158 0.050 3195 1703 1939 0 0 0 0 0 0
9841 0.57 244.0 897.7 10.7 717 9845 0.00 2.35 0.00 0.000 4 0.000 0.067 3195 3104 1933 0 0 0 0 0 0
9863 0.62 244.0 895.4 10.3 717 9867 0.00 2.33 0.00 0.000 6 0.000 0.062 3204 1713 1933 0 0 0 0 0 0
10175 0.62 244.0 861.2 10.9 728 10178 0.00 2.35 0.00 0.000 4 0.000 0.076 3213 287 1931 0 0 0 0 0 0
10244 0.62 244.0 852.9 12.3 730 10248 0.00 2.28 0.00 0.000 6 0.000 0.051 3213 1705 1931 0 0 0 0 0 0
10569 0.62 244.0 815.1 11.5 741 10569 0.00 0.00 0.00 0.000 6 0.000 0.000 3213 1706 1930 0 0 0 0 0 0
10872 0.62 244.0 781.3 11.0 751 10876 0.00 2.35 0.00 0.000 4 0.000 0.077 3221 289 1930 0 0 0 0 0 0
10898 0.62 244.0 778.3 12.0 751 10904 0.00 2.25 0.00 0.000 6 0.000 0.051 3222 1706 1930 0 0 0 0 0 0
11205 0.62 244.0 743.0 11.4 762 11209 0.00 2.35 0.00 0.000 4 0.000 0.076 3229 282 1930 0 0 0 0 0 0
11222 0.62 244.0 740.9 11.7 762 11227 0.00 2.22 0.00 0.000 6 0.000 0.050 3229 1698 1930 0 0 0 0 0 0
11539 0.62 244.0 702.9 12.2 773 11539 0.00 0.00 0.00 0.000 6 0.000 0.000 3229 1698 1930 0 0 0 0 0 0
11842 0.59 244.0 665.7 12.3 783 11843 0.00 0.00 0.00 0.000 6 0.000 0.000 3229 1698 1929 0 0 0 0 0 0
12146 0.59 244.0 629.7 11.7 793 12149 0.00 2.33 0.00 0.000 4 0.000 0.077 3239 285 1929 0 0 0 0 0 0
12176 0.54 244.0 626.1 11.0 794 12180 0.10 2.20 0.00 0.000 6 0.149 0.051 3205 1691 1929 0 0 0 0 0 0
12491 0.58 247.5 594.9 9.8 807 12491 0.00 0.00 0.00 0.000 6 0.000 0.000 3205 1691 1929 0 0 0 0 0 0
12801 0.61 247.5 564.5 10.1 837 12802 0.00 0.00 0.00 0.000 6 0.000 0.000 3205 1691 1929 0 0 0 0 0 0
13112 0.65 247.5 532.4 10.2 867 13115 0.00 2.25 0.00 0.000 4 0.000 0.077 3215 286 1929 0 0 0 0 0 0
13137 0.65 247.5 529.4 10.6 870 13140 0.00 2.20 0.00 0.000 6 0.000 0.052 3215 1694 1929 0 0 0 0 0 0
13456 0.65 247.5 496.8 10.1 901 13456 0.00 0.00 0.00 0.000 6 0.000 0.000 3215 1694 1929 0 0 0 0 0 0
13766 0.65 247.5 465.2 10.3 931 13767 0.00 0.00 0.00 0.000 6 0.000 0.000 3215 1694 1928 0 0 0 0 0 0
14077 0.65 248.3 434.1 10.0 961 14078 0.00 0.00 0.00 0.000 6 0.000 0.000 3215 1694 1928 0 0 0 0 0 0
14387 0.66 252.9 403.9 9.8 991 14397 0.00 2.33 6.53 0.762 4 0.000 0.069 3215 3108 1907 0 0 0 0 0 0
14422 0.66 252.9 400.3 11.1 995 14426 0.00 2.28 0.00 0.000 6 0.000 0.064 3224 1700 1906 0 0 0 0 0 0
14741 0.66 252.9 367.6 10.0 1026 14745 0.00 2.30 0.00 0.000 4 0.000 0.077 3234 284 1905 0 0 0 0 0 0
14802 0.66 252.9 361.2 10.9 1033 14805 0.00 2.20 0.00 0.000 6 0.000 0.053 3234 1690 1905 0 0 0 0 0 0
15120 0.66 252.9 328.8 10.4 1064 15124 0.00 2.28 0.00 0.000 4 0.000 0.076 3242 288 1905 0 0 0 0 0 0
15146 0.66 252.9 326.0 11.8 1067 15150 0.00 2.20 0.00 0.000 6 0.000 0.052 3242 1693 1905 0 0 0 0 0 0
15465 0.66 252.9 290.3 11.0 1098 15469 0.00 2.28 0.00 0.000 4 0.000 0.069 3242 3104 1905 0 0 0 0 0 0
15486 0.66 252.9 287.8 11.8 1100 15492 0.00 2.25 0.00 0.000 6 0.000 0.064 3252 1706 1905 0 0 0 0 0 0
15801 0.62 253.1 253.8 10.0 1131 15804 0.00 2.28 0.00 0.000 4 0.000 0.076 3261 295 1905 0 0 0 0 0 0
15839 0.57 253.1 249.7 10.4 1135 15845 0.15 2.20 0.00 0.000 6 0.146 0.052 3210 1702 1905 0 0 0 0 0 0
16154 0.71 290.4 224.3 8.3 1166 16195 0.12 2.38 33.55 0.782 4 0.107 0.077 3277 284 1754 0 0 0 0 0 0
16207 0.66 290.4 218.0 12.7 1171 16213 0.10 2.25 0.00 0.000 6 0.146 0.051 3242 1695 1752 0 0 0 0 0 0
16522 0.73 310.0 184.4 9.1 1202 16543 0.00 0.00 17.35 0.742 6 0.000 0.000 3242 1696 1676 0 0 0 0 0 0
16852 0.81 318.5 151.7 9.6 1234 16865 0.12 2.33 8.20 0.683 4 0.107 0.078 3309 287 1641 0 0 0 0 0 0
16895 0.71 318.5 146.6 12.3 1239 16899 0.15 2.28 0.00 0.000 6 0.144 0.054 3259 1701 1640 0 0 0 0 0 0
17214 0.78 328.7 113.4 9.5 1270 17231 0.00 2.33 10.32 0.693 4 0.000 0.077 3270 288 1598 0 0 0 0 0 0
17270 0.83 328.7 107.6 11.0 1276 17275 0.00 2.28 0.00 0.000 6 0.000 0.054 3270 1705 1596 0 0 0 0 0 0
17592 0.91 348.5 77.3 9.1 1329 17615 0.12 2.42 18.30 0.700 4 0.107 0.079 3335 284 1518 0 0 0 0 0 0
17627 0.79 348.5 73.4 11.2 1336 17633 0.20 2.22 0.00 0.000 6 0.163 0.053 3278 1702 1517 0 0 0 0 0 0
17952 0.91 391.7 40.9 8.0 1397 17998 0.12 2.38 37.70 0.691 4 0.104 0.073 3331 3097 1341 0 0 0 0 0 0
18024 0.87 391.7 32.0 10.3 1412 18029 0.12 2.30 0.00 0.000 6 0.186 0.066 3310 1699 1338 0 0 0 0 0 0
18262 end climb: SURFACE_DEPTH_REACHED
state 18262 begin surface coast
18289 end surface coast: CONTROL_FINISHED_OK
state 18289 begin surface