DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 74 * 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  74 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  22 XPDR_VALID  2
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  32 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  -5613.9893 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  011336,6652.420,-5835.705,72,1.2,72,-37.8 TGT_NAME  TARGET_ADD3_EB
_CALLS  1 TGT_LATLONG  6655.000,-5823.000
_XMS_NAKs  5 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.25 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -67.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  012644,6652.374,-5835.523,13,1.3,13,-37.8 MHEAD_RNG_PITCHd_Wd  100.0,10312,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  933

Post-dive calculations and measurements:
FINISH  1.5,1.022748 _24V_AH  22.8,15.254
SM_CCo  16525,93.15,0.660,0,0,1104,450.13 _10V_AH  10.1,6.610
SM_GC  2.31,0.00,0.00,93.15,0.000,0.000,0.660,126,1858,1104,-9.00,0.23,450.13 FG_AHR_24Vo  0.000
RAFOS_CLK  866 FG_AHR_10Vo  0.000
RAFOS_FIX  0.000000,0.000000,010170,000000,0,0,0.00 MEM  150660
IRIDIUM_FIX  6625.71,-5836.82,260199,202054 DATA_FILE_SIZE  53581,1372
TT8_MAMPS  0.051389 CAP_FILE_SIZE  178718,0
HUMID  39.84 CFSIZE  260165632,245633024
INTERNAL_PRESSURE  9.40466 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  14.80 SOUNDSPEED  1457.8
XPDR_PINGS  0 CURRENT  0.304,156.3,1
ALTIM_BOTTOM_PING  852.8,90.6 GPS  021109,060437,6651.137,-5826.986,27,1.9,27,-37.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22240123.43 SBE_CT96024525.53
Roll_motor15988324.32 SBE_O2102419443.91
VBD_pump_during_apogee432123412174.24 nil000.00
VBD_pump_during_surface936601402.54 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2310355.74 nil000.00
Iridium_during_connect33160120.72 nil000.00
Iridium_during_xfer6372233238.78
Transponder_ping242026.33
GUMSTIX_24V000.00
GPS13506.94
TT80190.00
LPSleep129592302.36
TT8_Active68619138.18
TT8_Sampling2909391173.12
TT8_CF882745383.80
TT8_Kalman000.00
Analog_circuits191812232.58
GPS_charging000.00
Compass23258187.88
RAFOS2471137.44
Transponder24307.42

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 87 0.00 0.00 -72.97 0.000 2 0.000 0.000 120 1864 2428 0 0 0 0 0 0
88 -0.64 -146.0 3.0 -2.5 14 141 10.57 2.38 -35.40 0.000 4 0.240 0.089 2809 439 3537 0 0 0 0 0 0
274 -0.51 -146.0 36.6 -19.4 56 280 0.15 2.28 0.00 0.000 6 0.146 0.057 2851 1836 3538 0 0 0 0 0 0
599 -0.56 -146.0 79.4 -11.5 117 605 0.00 2.30 0.00 0.000 4 0.000 0.075 2851 452 3539 0 0 0 0 0 0
625 -0.60 -146.0 82.6 -12.7 123 631 0.00 2.25 0.00 0.000 6 0.000 0.057 2847 1848 3539 0 0 0 0 0 0
944 -0.65 -146.0 121.1 -12.5 168 948 0.00 2.33 0.00 0.000 4 0.000 0.076 2848 439 3539 0 0 0 0 0 0
975 -0.71 -146.0 125.0 -12.9 171 980 0.08 2.25 0.00 0.000 6 0.071 0.058 2786 1842 3539 0 0 0 0 0 0
1289 -0.61 -146.0 176.0 -15.6 202 1293 0.15 2.30 0.00 0.000 4 0.166 0.077 2828 432 3539 0 0 0 0 0 0
1314 -0.61 -146.0 179.6 -12.8 205 1318 0.00 2.28 0.00 0.000 6 0.000 0.058 2820 1849 3539 0 0 0 0 0 0
1633 -0.61 -146.0 217.7 -11.9 236 1634 0.00 0.00 0.00 0.000 6 0.000 0.000 2820 1850 3538 0 0 0 0 0 0
1944 -0.61 -146.0 254.8 -12.1 266 1948 0.00 2.28 0.00 0.000 4 0.000 0.077 2820 442 3538 0 0 0 0 0 0
2005 -0.66 -146.0 262.6 -12.6 273 2008 0.00 2.25 0.00 0.000 6 0.000 0.059 2820 1851 3538 0 0 0 0 0 0
2323 -0.69 -146.0 299.5 -11.1 304 2327 0.00 2.33 0.00 0.000 4 0.000 0.077 2820 443 3538 0 0 0 0 0 0
2379 -0.75 -146.0 305.9 -11.6 310 2386 0.08 2.22 0.00 0.000 6 0.072 0.058 2773 1843 3538 0 0 0 0 0 0
2694 -0.66 -146.0 349.9 -14.2 341 2697 0.12 2.28 0.00 0.000 4 0.168 0.076 2808 437 3538 0 0 0 0 0 0
2711 -0.61 -146.0 352.2 -13.6 343 2714 0.00 2.22 0.00 0.000 6 0.000 0.057 2807 1844 3538 0 0 0 0 0 0
3029 -0.61 -146.0 389.2 -11.5 374 3033 0.00 2.28 0.00 0.000 4 0.000 0.075 2807 450 3538 0 0 0 0 0 0
3059 -0.61 -146.0 392.9 -12.6 377 3065 0.00 2.22 0.00 0.000 6 0.000 0.058 2807 1851 3538 0 0 0 0 0 0
3374 -0.61 -146.0 428.8 -11.5 408 3374 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 1851 3538 0 0 0 0 0 0
3684 -0.61 -146.0 464.2 -11.6 438 3688 0.00 2.28 0.00 0.000 4 0.000 0.075 2807 428 3539 0 0 0 0 0 0
3736 -0.61 -146.0 470.6 -12.6 444 3740 0.00 2.25 0.00 0.000 6 0.000 0.057 2807 1850 3539 0 0 0 0 0 0
4055 -0.61 -146.0 507.1 -11.2 475 4056 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1850 3539 0 0 0 0 0 0
4366 -0.64 -146.0 542.1 -11.3 505 4369 0.00 2.28 0.00 0.000 4 0.000 0.075 2807 435 3539 0 0 0 0 0 0
4422 -0.64 -146.0 549.0 -12.6 511 4427 0.00 2.22 0.00 0.000 6 0.000 0.057 2807 1845 3539 0 0 0 0 0 0
4736 -0.68 -146.0 585.1 -11.7 542 4740 0.00 2.28 0.00 0.000 4 0.000 0.074 2807 442 3539 0 0 0 0 0 0
4775 -0.71 -146.0 589.9 -12.1 546 4781 0.00 2.22 0.00 0.000 6 0.000 0.057 2807 1852 3539 0 0 0 0 0 0
5085 -0.75 -146.0 624.9 -11.2 563 5088 0.00 2.25 0.00 0.000 4 0.000 0.074 2807 437 3540 0 0 0 0 0 0
5127 -0.80 -146.0 629.9 -12.6 564 5131 0.05 2.22 0.00 0.000 6 0.051 0.056 2752 1850 3540 0 0 0 0 0 0
5448 -0.69 -146.0 677.5 -15.0 575 5451 0.17 2.25 0.00 0.000 4 0.156 0.074 2805 442 3540 0 0 0 0 0 0
5469 -0.65 -146.0 680.3 -13.6 575 5472 0.00 2.20 0.00 0.000 6 0.000 0.055 2797 1845 3541 0 0 0 0 0 0
5780 -0.65 -146.0 715.0 -10.9 586 5784 0.00 2.28 0.00 0.000 4 0.000 0.074 2797 441 3541 0 0 0 0 0 0
5801 -0.65 -146.0 717.5 -11.5 586 5805 0.00 2.22 0.00 0.000 6 0.000 0.056 2797 1853 3541 0 0 0 0 0 0
6114 -0.65 -146.0 751.0 -10.6 597 6118 0.00 2.25 0.00 0.000 4 0.000 0.074 2797 442 3541 0 0 0 0 0 0
6152 -0.65 -146.0 755.4 -11.8 598 6156 0.00 2.22 0.00 0.000 6 0.000 0.057 2797 1852 3541 0 0 0 0 0 0
6477 -0.65 -146.0 790.1 -10.6 609 6481 0.00 2.28 0.00 0.000 4 0.000 0.074 2797 443 3541 0 0 0 0 0 0
6498 -0.65 -146.0 792.5 -10.7 609 6502 0.00 2.20 0.00 0.000 6 0.000 0.057 2797 1843 3541 0 0 0 0 0 0
6810 -0.65 -146.0 824.8 -10.2 620 6813 0.00 2.25 0.00 0.000 4 0.000 0.074 2797 449 3541 0 0 0 0 0 0
6840 -0.65 -146.0 828.1 -10.6 621 6844 0.00 2.20 0.00 0.000 6 0.000 0.056 2797 1848 3541 0 0 0 0 0 0
7173 -0.65 -146.0 862.3 -10.5 632 7177 0.00 2.28 0.00 0.000 4 0.000 0.075 2796 442 3541 0 0 0 0 0 0
7198 -0.65 -146.0 865.0 -10.8 632 7204 0.00 2.20 0.00 0.000 6 0.000 0.056 2797 1844 3541 0 0 0 0 0 0
7506 -0.68 -146.0 896.6 -10.5 643 7510 0.00 2.25 0.00 0.000 4 0.000 0.074 2797 448 3541 0 0 0 0 0 0
7536 -0.68 -146.0 900.2 -12.1 644 7540 0.00 2.20 0.00 0.000 6 0.000 0.057 2797 1850 3541 0 0 0 0 0 0
7869 end dive: TARGET_DEPTH_EXCEEDED
state 7869 begin apogee
7872 -0.13 0.0 934.7 10.2 655 7998 0.55 0.00 124.78 1.235 6 0.133 0.000 2977 1698 2940 0 0 0 0 0 0
7999 end apogee: CONTROL_FINISHED_OK
state 7999 begin climb
8000 0.64 146.0 936.9 0.0 659 8139 0.75 2.53 129.82 1.199 4 0.089 0.071 3240 294 2342 0 0 0 0 0 0
8234 0.50 161.2 929.7 9.3 667 8254 0.20 2.38 13.82 1.081 6 0.160 0.050 3188 1715 2282 0 0 0 0 0 0
8561 0.55 202.0 903.2 8.1 678 8605 0.00 2.42 37.25 1.157 4 0.000 0.067 3188 3109 2114 0 0 0 0 0 0
8614 0.64 241.0 898.8 8.2 679 8656 0.10 2.40 36.78 1.140 6 0.114 0.063 3238 1704 1955 0 0 0 0 0 0
8981 0.59 241.0 850.8 13.4 692 8985 0.00 2.40 0.00 0.000 4 0.000 0.074 3248 277 1944 0 0 0 0 0 0
9020 0.52 241.0 845.5 13.5 693 9024 0.12 2.33 0.00 0.000 6 0.145 0.051 3197 1694 1944 0 0 0 0 0 0
9345 0.59 241.0 811.3 10.5 704 9345 0.00 0.00 0.00 0.000 6 0.000 0.000 3196 1694 1943 0 0 0 0 0 0
9648 0.66 247.0 781.2 9.7 714 9656 0.12 2.33 3.95 0.718 4 0.104 0.069 3250 3107 1933 0 0 0 0 0 0
9673 0.59 247.0 778.1 13.2 714 9679 0.12 2.33 0.00 0.000 6 0.151 0.063 3219 1703 1932 0 0 0 0 0 0
9980 0.59 247.0 743.6 10.8 725 9985 0.00 2.33 0.00 0.000 4 0.000 0.076 3228 294 1932 0 0 0 0 0 0
10019 0.59 247.0 739.3 12.1 726 10023 0.00 2.22 0.00 0.000 6 0.000 0.051 3228 1694 1931 0 0 0 0 0 0
10344 0.59 247.0 704.2 10.7 737 10345 0.00 0.00 0.00 0.000 6 0.000 0.000 3228 1694 1932 0 0 0 0 0 0
10647 0.59 247.0 670.2 11.5 747 10648 0.00 0.00 0.00 0.000 6 0.000 0.000 3228 1694 1932 0 0 0 0 0 0
10951 0.59 247.0 636.1 11.1 757 10955 0.00 2.30 0.00 0.000 4 0.000 0.071 3229 3099 1931 0 0 0 0 0 0
10972 0.59 247.0 633.6 11.4 757 10976 0.00 2.28 0.00 0.000 6 0.000 0.064 3238 1699 1931 0 0 0 0 0 0
11284 0.59 247.0 597.4 11.5 768 11288 0.00 2.33 0.00 0.000 4 0.000 0.076 3247 288 1931 0 0 0 0 0 0
11340 0.53 247.0 590.4 13.4 774 11346 0.10 2.22 0.00 0.000 6 0.147 0.052 3200 1704 1931 0 0 0 0 0 0
11656 0.63 260.8 560.4 9.4 805 11671 0.00 0.00 13.90 0.951 6 0.000 0.000 3200 1705 1876 0 0 0 0 0 0
11975 0.74 276.7 530.1 9.3 836 11995 0.17 0.00 15.30 0.935 6 0.090 0.000 3273 1706 1811 0 0 0 0 0 0
12304 0.63 276.7 481.9 14.7 868 12307 0.15 2.35 0.00 0.000 4 0.170 0.077 3242 281 1807 0 0 0 0 0 0
12337 0.63 276.7 477.3 12.2 872 12341 0.00 2.25 0.00 0.000 6 0.000 0.053 3241 1696 1807 0 0 0 0 0 0
12656 0.63 276.7 438.4 12.0 903 12657 0.00 0.00 0.00 0.000 6 0.000 0.000 3242 1696 1805 0 0 0 0 0 0
12967 0.63 276.7 399.9 12.4 933 12968 0.00 0.00 0.00 0.000 6 0.000 0.000 3242 1696 1804 0 0 0 0 0 0
13278 0.63 276.7 360.1 13.0 963 13281 0.00 2.28 0.00 0.000 4 0.000 0.077 3252 285 1804 0 0 0 0 0 0
13303 0.63 276.7 356.6 13.7 966 13307 0.00 2.22 0.00 0.000 6 0.000 0.053 3252 1694 1804 0 0 0 0 0 0
13622 0.63 276.7 313.6 12.6 997 13625 0.00 2.28 0.00 0.000 4 0.000 0.068 3252 3096 1804 0 0 0 0 0 0
13652 0.63 276.7 309.7 12.9 1000 13658 0.08 2.25 0.00 0.000 6 0.159 0.064 3234 1708 1804 0 0 0 0 0 0
13966 0.63 283.8 276.7 9.7 1031 13977 0.00 2.35 6.53 0.714 4 0.000 0.076 3244 289 1782 0 0 0 0 0 0
14028 0.63 283.8 269.8 10.8 1038 14032 0.00 2.22 0.00 0.000 6 0.000 0.053 3244 1698 1782 0 0 0 0 0 0
14347 0.63 283.8 233.6 11.6 1069 14351 0.00 2.30 0.00 0.000 4 0.000 0.076 3254 295 1782 0 0 0 0 0 0
14377 0.63 283.8 230.1 11.6 1072 14383 0.00 2.22 0.00 0.000 6 0.000 0.053 3254 1701 1782 0 0 0 0 0 0
14691 0.63 283.8 193.6 10.6 1103 14695 0.00 2.28 0.00 0.000 4 0.000 0.071 3254 3102 1781 0 0 0 0 0 0
14717 0.63 283.8 190.6 12.7 1106 14721 0.08 2.28 0.00 0.000 6 0.156 0.064 3236 1698 1781 0 0 0 0 0 0
15036 0.70 283.8 159.1 10.2 1137 15040 0.00 2.30 0.00 0.000 4 0.000 0.077 3246 290 1781 0 0 0 0 0 0
15096 0.75 283.8 152.5 10.8 1144 15100 0.00 2.22 0.00 0.000 6 0.000 0.054 3246 1699 1781 0 0 0 0 0 0
15415 0.82 300.2 119.1 9.2 1175 15437 0.12 0.00 16.08 0.719 6 0.106 0.000 3303 1700 1715 0 0 0 0 0 0
15752 0.74 300.2 75.1 13.3 1224 15757 0.12 2.30 0.00 0.000 4 0.172 0.077 3279 287 1711 0 0 0 0 0 0
15773 0.74 300.2 72.5 13.1 1229 15779 0.00 2.25 0.00 0.000 6 0.000 0.054 3279 1702 1710 0 0 0 0 0 0
16098 0.74 300.2 40.3 11.6 1290 16103 0.00 2.33 0.00 0.000 4 0.000 0.078 3289 289 1710 0 0 0 0 0 0
16177 0.79 338.7 33.0 8.2 1308 16215 0.00 2.22 34.20 0.687 6 0.000 0.055 3289 1694 1559 0 0 0 0 0 0
16480 end climb: SURFACE_DEPTH_REACHED
state 16480 begin surface coast
16512 end surface coast: CONTROL_FINISHED_OK
state 16512 begin surface