DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 73 * 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  73 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  23 XPDR_VALID  2
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  21 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  -3 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  0 T_GPS_CHARGE  -5599.6221 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  203125,6649.819,-5837.619,87,1.4,87,-37.8 TGT_NAME  TARGET_ADD3_EB
_CALLS  1 TGT_LATLONG  6655.000,-5823.000
_XMS_NAKs  4 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.21 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -68.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  204414,6649.602,-5837.414,9,1.2,9,-37.8 MHEAD_RNG_PITCHd_Wd  39.1,14474,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  860

Post-dive calculations and measurements:
FINISH  1.4,1.025126 _24V_AH  22.8,15.058
SM_CCo  15927,85.22,0.666,0,0,1104,450.13 _10V_AH  10.2,6.528
SM_GC  2.30,0.00,0.00,85.22,0.000,0.000,0.666,144,1862,1104,-9.00,0.34,450.13 FG_AHR_24Vo  0.000
RAFOS_CLK  839 FG_AHR_10Vo  0.000
RAFOS  3,1257107102,20.433332,20.417223,41,38,38,0,0,0,39,838,1681,0,0,0 MEM  151792
RAFOS_FIX  0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE  53517,1392
IRIDIUM_FIX  6620.33,-5851.86,260199,151502 CAP_FILE_SIZE  161452,0
TT8_MAMPS  0.051389 CFSIZE  260165632,246538240
HUMID  39.28 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE  9.40466 SOUNDSPEED  1456.8
TCM_TEMP  14.80 CURRENT  0.090, 60.6,1
XPDR_PINGS  0 GPS  021109,011336,6652.420,-5835.705,72,1.2,72,-37.8
ALTIM_BOTTOM_PING  851.2,69.3

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22237119.29 SBE_CT97524533.64
Roll_motor10088204.28 SBE_O2103919450.20
VBD_pump_during_apogee435118511754.33 nil000.00
VBD_pump_during_surface856651293.65 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2710365.52 nil000.00
Iridium_during_connect37160137.11 nil000.00
Iridium_during_xfer6082233093.66
Transponder_ping342028.73
GUMSTIX_24V000.00
GPS9504.74
TT80190.00
LPSleep125222295.06
TT8_Active64319130.80
TT8_Sampling2797391138.98
TT8_CF883945393.25
TT8_Kalman000.00
Analog_circuits179912220.30
GPS_charging000.00
Compass22418182.94
RAFOS2824143.21
Transponder26308.17

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
10 end surface: CONTROL_FINISHED_OK
state 10 begin dive
12 -0.64 -146.0 0.0 0.0 0 83 0.00 0.00 -69.68 0.000 2 0.000 0.000 121 1857 2362 0 0 0 0 0 0
85 -0.64 -146.0 3.0 -0.8 13 142 10.45 2.38 -41.97 0.000 4 0.237 0.089 2808 438 3537 0 0 0 0 0 0
198 -0.52 -146.0 20.3 -18.5 38 204 0.15 2.30 0.00 0.000 6 0.145 0.058 2850 1846 3538 0 0 0 0 0 0
522 -0.52 -146.0 64.4 -11.7 99 523 0.00 0.00 0.00 0.000 6 0.000 0.000 2849 1847 3538 0 0 0 0 0 0
848 -0.56 -146.0 102.7 -11.1 158 851 0.00 2.33 0.00 0.000 4 0.000 0.077 2849 445 3538 0 0 0 0 0 0
912 -0.61 -146.0 110.3 -11.1 165 918 0.00 2.25 0.00 0.000 6 0.000 0.058 2841 1845 3538 0 0 0 0 0 0
1227 -0.61 -146.0 144.2 -10.9 196 1228 0.00 0.00 0.00 0.000 6 0.000 0.000 2841 1845 3538 0 0 0 0 0 0
1538 -0.66 -146.0 178.2 -10.9 226 1541 0.00 2.28 0.00 0.000 4 0.000 0.078 2841 442 3538 0 0 0 0 0 0
1585 -0.71 -146.0 183.8 -12.1 231 1592 0.05 2.25 0.00 0.000 6 0.087 0.059 2781 1848 3538 0 0 0 0 0 0
1899 -0.60 -146.0 232.2 -15.2 262 1903 0.17 2.30 0.00 0.000 4 0.160 0.079 2832 437 3538 0 0 0 0 0 0
1929 -0.60 -146.0 236.2 -12.6 265 1934 0.00 2.22 0.00 0.000 6 0.000 0.058 2823 1856 3538 0 0 0 0 0 0
2243 -0.64 -146.0 273.7 -11.9 296 2247 0.00 2.33 0.00 0.000 4 0.000 0.077 2823 442 3538 0 0 0 0 0 0
2282 -0.64 -146.0 278.5 -11.9 300 2288 0.00 2.25 0.00 0.000 6 0.000 0.058 2822 1853 3538 0 0 0 0 0 0
2597 -0.68 -146.0 314.8 -11.7 331 2597 0.00 0.00 0.00 0.000 6 0.000 0.000 2823 1853 3538 0 0 0 0 0 0
2908 -0.74 -146.0 349.1 -10.3 361 2911 0.10 2.28 0.00 0.000 4 0.117 0.077 2775 442 3538 0 0 0 0 0 0
2963 -0.65 -146.0 356.8 -14.3 367 2967 0.12 2.22 0.00 0.000 6 0.146 0.059 2810 1842 3538 0 0 0 0 0 0
3282 -0.65 -146.0 394.2 -12.2 398 3285 0.00 2.28 0.00 0.000 4 0.000 0.076 2810 448 3538 0 0 0 0 0 0
3312 -0.65 -146.0 398.2 -12.9 401 3317 0.00 2.22 0.00 0.000 6 0.000 0.058 2807 1850 3537 0 0 0 0 0 0
3626 -0.65 -146.0 436.2 -11.9 432 3627 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1850 3538 0 0 0 0 0 0
3937 -0.65 -146.0 472.4 -11.9 462 3940 0.00 2.30 0.00 0.000 4 0.000 0.076 2807 450 3539 0 0 0 0 0 0
3963 -0.65 -146.0 475.5 -12.9 465 3966 0.00 2.20 0.00 0.000 6 0.000 0.057 2807 1845 3539 0 0 0 0 0 0
4281 -0.65 -146.0 513.1 -11.4 496 4282 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1845 3539 0 0 0 0 0 0
4592 -0.65 -146.0 549.2 -11.4 526 4596 0.00 2.28 0.00 0.000 4 0.000 0.075 2808 444 3539 0 0 0 0 0 0
4656 -0.75 -146.0 556.6 -10.3 533 4662 0.00 2.22 0.00 0.000 6 0.000 0.057 2807 1852 3539 0 0 0 0 0 0
4971 -0.75 -146.0 592.2 -11.6 564 4972 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1852 3540 0 0 0 0 0 0
5286 -0.75 -146.0 630.3 -12.1 579 5290 0.00 2.28 0.00 0.000 4 0.000 0.075 2807 446 3540 0 0 0 0 0 0
5351 -0.75 -146.0 638.5 -12.1 581 5355 0.00 2.20 0.00 0.000 6 0.000 0.056 2807 1843 3540 0 0 0 0 0 0
5681 -0.75 -146.0 676.5 -11.4 592 5684 0.00 2.22 0.00 0.000 4 0.000 0.074 2807 442 3540 0 0 0 0 0 0
5719 -0.75 -146.0 681.2 -11.4 593 5723 0.00 2.20 0.00 0.000 6 0.000 0.056 2807 1842 3540 0 0 0 0 0 0
6044 -0.75 -146.0 716.3 -10.5 604 6045 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1842 3541 0 0 0 0 0 0
6347 -0.75 -146.0 749.3 -10.8 614 6351 0.00 2.25 0.00 0.000 4 0.000 0.075 2807 449 3541 0 0 0 0 0 0
6416 -0.75 -146.0 757.4 -11.9 616 6420 0.00 2.20 0.00 0.000 6 0.000 0.057 2807 1846 3541 0 0 0 0 0 0
6742 -0.75 -146.0 792.3 -10.7 627 6745 0.00 2.22 0.00 0.000 4 0.000 0.074 2807 442 3541 0 0 0 0 0 0
6767 -0.75 -146.0 795.2 -11.7 627 6774 0.00 2.20 0.00 0.000 6 0.000 0.056 2807 1842 3541 0 0 0 0 0 0
7075 -0.79 -146.0 828.3 -10.6 638 7079 0.10 2.28 0.00 0.000 4 0.115 0.074 2757 443 3541 0 0 0 0 0 0
7109 -0.66 -146.0 832.9 -14.4 639 7113 0.15 2.20 0.00 0.000 6 0.141 0.057 2809 1842 3541 0 0 0 0 0 0
7376 end dive: TARGET_DEPTH_EXCEEDED
state 7376 begin apogee
7379 -0.13 0.0 860.2 9.8 648 7505 0.50 0.00 123.88 1.185 6 0.130 0.000 2977 1699 2940 0 0 0 0 0 0
7505 end apogee: CONTROL_FINISHED_OK
state 7505 begin climb
7507 0.64 146.0 864.9 0.0 652 7642 0.73 2.58 128.20 1.151 4 0.078 0.065 3234 3109 2343 0 0 0 0 0 0
7681 0.52 192.6 864.0 7.9 658 7729 0.20 2.42 42.55 1.118 6 0.166 0.061 3193 1700 2154 0 0 1 0 0 0
8041 0.55 217.1 834.2 8.9 670 8064 0.00 0.00 21.83 1.087 6 0.000 0.000 3193 1700 2055 0 0 0 0 0 0
8345 0.61 228.7 805.7 9.5 680 8361 0.00 2.45 11.27 1.021 4 0.000 0.077 3203 285 2007 0 0 0 0 0 0
8400 0.65 228.7 800.4 10.2 681 8405 0.00 2.33 0.00 0.000 6 0.000 0.051 3203 1699 2005 0 0 0 0 0 0
8707 0.65 228.7 769.1 10.2 692 8708 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 1699 2003 0 0 0 0 0 0
9011 0.65 230.9 738.6 9.9 702 9011 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 1699 2002 0 0 0 0 0 0
9314 0.66 236.2 709.0 9.8 712 9323 0.00 0.00 7.53 0.930 6 0.000 0.000 3203 1699 1977 0 0 0 0 0 0
9618 0.69 236.2 678.7 10.1 722 9619 0.12 0.00 0.00 0.000 6 0.106 0.000 3257 1700 1974 0 0 0 0 0 0
9921 0.58 236.2 637.4 13.7 732 9922 0.15 0.00 0.00 0.000 6 0.163 0.000 3215 1700 1974 0 0 0 0 0 0
10224 0.58 236.2 604.2 10.8 742 10225 0.00 0.00 0.00 0.000 6 0.000 0.000 3215 1700 1973 0 0 0 0 0 0
10534 0.58 236.2 570.9 10.8 768 10537 0.00 2.35 0.00 0.000 4 0.000 0.077 3225 285 1973 0 0 0 0 0 0
10563 0.58 236.2 567.5 12.1 771 10569 0.00 2.25 0.00 0.000 6 0.000 0.053 3225 1702 1973 0 0 0 0 0 0
10878 0.58 236.2 531.0 11.7 802 10879 0.00 0.00 0.00 0.000 6 0.000 0.000 3225 1703 1973 0 0 0 0 0 0
11189 0.58 236.2 497.3 10.2 832 11192 0.00 2.28 0.00 0.000 4 0.000 0.070 3225 3128 1973 0 0 0 0 0 0
11214 0.58 236.2 494.4 11.5 835 11218 0.00 2.30 0.00 0.000 6 0.000 0.061 3235 1697 1973 0 0 0 0 0 0
11533 0.54 236.2 460.1 10.9 866 11534 0.12 0.00 0.00 0.000 6 0.174 0.000 3200 1697 1972 0 0 0 0 0 0
11844 0.65 272.4 434.2 8.3 896 11878 0.10 0.00 32.42 0.913 6 0.120 0.000 3244 1697 1829 0 0 0 0 0 0
12184 0.61 272.4 394.7 12.2 929 12185 0.00 0.00 0.00 0.000 6 0.000 0.000 3244 1697 1821 0 0 0 0 0 0
12494 0.61 272.4 356.7 11.9 959 12495 0.00 0.00 0.00 0.000 6 0.000 0.000 3244 1697 1820 0 0 0 0 0 0
12804 0.61 272.4 320.1 11.3 989 12805 0.00 0.00 0.00 0.000 6 0.000 0.000 3244 1697 1819 0 0 0 0 0 0
13115 0.61 272.4 285.6 11.8 1019 13119 0.00 2.30 0.00 0.000 4 0.000 0.074 3255 288 1819 0 0 0 0 0 0
13149 0.61 272.4 281.7 11.8 1023 13154 0.08 2.22 0.00 0.000 6 0.145 0.051 3228 1704 1818 0 0 0 0 0 0
13468 0.66 272.4 249.7 10.3 1054 13469 0.00 0.00 0.00 0.000 6 0.000 0.000 3229 1705 1818 0 0 0 0 0 0
13779 0.71 272.8 218.1 10.0 1084 13780 0.00 0.00 0.00 0.000 6 0.000 0.000 3228 1704 1818 0 0 0 0 0 0
14089 0.82 306.6 188.9 8.4 1114 14122 0.17 0.00 29.83 0.772 6 0.089 0.000 3305 1705 1688 0 0 0 0 0 0
14430 0.72 306.6 142.1 14.2 1147 14433 0.17 2.30 0.00 0.000 4 0.163 0.076 3266 289 1681 0 0 0 0 0 0
14460 0.72 306.6 138.5 10.6 1150 14465 0.00 2.22 0.00 0.000 6 0.000 0.052 3266 1690 1680 0 0 0 0 0 0
14774 0.76 313.2 107.0 9.7 1181 14784 0.00 2.30 5.75 0.624 4 0.000 0.068 3266 3113 1661 0 0 0 0 0 0
14814 0.80 313.2 103.1 10.1 1185 14819 0.00 2.30 0.00 0.000 6 0.000 0.064 3275 1702 1660 0 0 0 0 0 0
15137 0.80 313.2 69.3 10.1 1243 15138 0.00 0.00 0.00 0.000 6 0.000 0.000 3276 1702 1659 0 0 0 0 0 0
15458 0.85 313.2 39.8 10.6 1303 15463 0.00 2.28 0.00 0.000 4 0.000 0.078 3286 289 1658 0 0 0 0 0 0
15519 0.86 316.1 33.4 9.9 1317 15524 0.00 2.22 0.00 0.000 6 0.000 0.054 3285 1691 1658 0 0 0 0 0 0
15844 0.90 348.4 7.7 8.5 1378 15880 0.00 0.00 31.80 0.686 6 0.000 0.000 3286 1692 1518 0 0 0 0 0 0
15887 end climb: SURFACE_DEPTH_REACHED
state 15887 begin surface coast
15914 end surface coast: CONTROL_FINISHED_OK
state 15915 begin surface