Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 794 * 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 794 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 120 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2350 ALTIM_PULSE 3

D_ABORT 1090 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2200 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 SM_CC 530 ROLL_CNV 0.028270001 INT_PRESSURE_YINT 0

D_PITCH 0 N_FILEKB 8 ROLL_TIMEOUT 15 DEEPGLIDER 0

D_SAFE 0 FILEMGR 0 R_PORT_OVSHOOT 37 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 42 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 20 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE4 -1

T_MISSION 30 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 2400 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 -84170.672 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 0.0001162386 SEABIRD_C_G -10.331019

MASS 51503 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_C_H 1.1763502

NAV_MODE 0 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 2 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 530

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 120 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PRESSURE_SLOPE 0.0001162386 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 20

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 -84170.672

CALL_WAIT 60 HD_C 9.8541004e-06 ROLL_ADJ_DBAND 0 T_MISSION 30

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 2200 KALMAN_USE 2 ROLL_TIMEOUT 15 USE_BATHY -4

C_ROLL_DIVE 2350 MASS 51503 R_PORT_OVSHOOT 37 USE_ICE 0

C_VBD 2400 MAX_BUOY 150 R_STBD_OVSHOOT 42 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 0 SEABIRD_C_I -0.0012340198 VBD_MAX 3580

DEVICE2 20 N_FILEKB 8 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 794 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 125540,4809.441,-12225.536,9,1.8,9,18.4 TGT_NAME EIGHT

_CALLS 4 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.182,-0.186

_SM_DEPTHo 2.42 KALMAN_X -80.8,-80.8,-80.8,31.2,-149.4

_SM_ANGLEo -66.7 KALMAN_Y 77.3,77.3,77.3,-128.7,142.9

GPS2 131137,4809.410,-12225.412,12,1.6,28,18.4 MHEAD_RNG_PITCHd_Wd 127.8,3140,-31.3,-20.000

SPEED_LIMITS 0.200,0.312 D_GRID 76

Post-dive calculations and measurements:

FINISH 1.6,1.015902 XPDR_PINGS 0

SM_CCo 1334,91.32,0.622,0,0,239,530.09 ALTIM_BOTTOM_PING 51.0,38.3

SM_GC 2.81,0.00,0.00,91.32,0.000,0.000,0.622,20,2358,239,-8.50,0.20,530.09 _24V_AH 24.3,72.950

IRIDIUM_FIX 4751.72,-12228.02,071007,171717 _10V_AH 10.7,36.277

TT8_MAMPS 0.026078 DATA_FILE_SIZE 9694,182

HUMID 1797 CFSIZE 260165632,235843584

INTERNAL_PRESSURE 9.11168 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.10 GPS 071007,133645,4809.503,-12225.354,15,1.4,15,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 200 110.48 SBE_CT 133 24 77.78

Roll_motor 9 49 11.30 SBE_O2 126 19 58.23

VBD_pump_during_apogee 402 717 7012.47 WL_BB2F 307 105 785.21

VBD_pump_during_surface 91 622 1380.42 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 107 103 268.00 nil 0 0 0.00

Iridium_during_connect 107 160 416.81 nil 0 0 0.00

Iridium_during_xfer 406 223 2200.77

Transponder_ping 0 420 2.55

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 16.12

TT8 256 19 54.32

LPSleep 476 2 11.17

TT8_Active 451 19 95.61

TT8_Sampling 419 39 178.51

TT8_CF8 796 45 390.33

TT8_Kalman 0 81 0.00

Analog_circuits 730 12 93.78

GPS_charging 0 0 0.00

Compass 410 8 35.10

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

31 -1.92 -146.6 0.0 0.0 0 70 0.00 0.00 -37.10 0.000 2 0.000 0.000 16 2336 1264

75 -1.92 -146.6 3.1 -2.4 7 137 8.43 2.33 -44.22 0.000 4 0.201 0.048 2120 936 3002

413 end dive: TARGET_DEPTH_EXCEEDED

state 413 begin apogee

425 -0.28 0.0 77.0 23.4 57 543 1.85 0.00 112.85 0.717 6 0.148 0.000 2643 2198 2400

544 end apogee: CONTROL_FINISHED_OK

state 544 begin climb

548 1.92 146.6 85.0 0.0 69 668 2.12 2.45 111.12 0.667 4 0.076 0.048 3352 3606 1801

890 1.92 146.6 25.6 21.3 109 896 0.00 2.30 0.00 0.000 6 0.000 0.030 3363 2190 1799

1104 2.27 429.8 14.3 -5.8 146 1286 0.25 0.00 178.43 0.647 2 0.059 0.000 3467 2190 820

1291 end climb: SURFACE_DEPTH_REACHED

state 1291 begin surface coast

1307 end surface coast: CONTROL_FINISHED_OK

state 1307 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	794	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	120	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2350	ALTIM_PULSE	3
D_ABORT	1090	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2200	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	SM_CC	530	ROLL_CNV	0.028270001	INT_PRESSURE_YINT	0
D_PITCH	0	N_FILEKB	8	ROLL_TIMEOUT	15	DEEPGLIDER	0
D_SAFE	0	FILEMGR	0	R_PORT_OVSHOOT	37	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	42	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	20	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE4	-1
T_MISSION	30	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	2400	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	-84170.672	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	0.0001162386	SEABIRD_C_G	-10.331019
MASS	51503	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_C_H	1.1763502
NAV_MODE	0	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	2	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	125540,4809.441,-12225.536,9,1.8,9,18.4	TGT_NAME	EIGHT
_CALLS	4	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.182,-0.186
_SM_DEPTHo	2.42	KALMAN_X	-80.8,-80.8,-80.8,31.2,-149.4
_SM_ANGLEo	-66.7	KALMAN_Y	77.3,77.3,77.3,-128.7,142.9
GPS2	131137,4809.410,-12225.412,12,1.6,28,18.4	MHEAD_RNG_PITCHd_Wd	127.8,3140,-31.3,-20.000
SPEED_LIMITS	0.200,0.312	D_GRID	76

FINISH	1.6,1.015902	XPDR_PINGS	0
SM_CCo	1334,91.32,0.622,0,0,239,530.09	ALTIM_BOTTOM_PING	51.0,38.3
SM_GC	2.81,0.00,0.00,91.32,0.000,0.000,0.622,20,2358,239,-8.50,0.20,530.09	_24V_AH	24.3,72.950
IRIDIUM_FIX	4751.72,-12228.02,071007,171717	_10V_AH	10.7,36.277
TT8_MAMPS	0.026078	DATA_FILE_SIZE	9694,182
HUMID	1797	CFSIZE	260165632,235843584
INTERNAL_PRESSURE	9.11168	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	GPS	071007,133645,4809.503,-12225.354,15,1.4,15,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	200	110.48	SBE_CT	133	24	77.78
Roll_motor	9	49	11.30	SBE_O2	126	19	58.23
VBD_pump_during_apogee	402	717	7012.47	WL_BB2F	307	105	785.21
VBD_pump_during_surface	91	622	1380.42	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	107	103	268.00	nil	0	0	0.00
Iridium_during_connect	107	160	416.81	nil	0	0	0.00
Iridium_during_xfer	406	223	2200.77
Transponder_ping	0	420	2.55
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	16.12
TT8	256	19	54.32
LPSleep	476	2	11.17
TT8_Active	451	19	95.61
TT8_Sampling	419	39	178.51
TT8_CF8	796	45	390.33
TT8_Kalman	0	81	0.00
Analog_circuits	730	12	93.78
GPS_charging	0	0	0.00
Compass	410	8	35.10
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
31	-1.92	-146.6	0.0	0.0	0	70	0.00	0.00	-37.10	0.000	2	0.000	0.000	16	2336	1264
75	-1.92	-146.6	3.1	-2.4	7	137	8.43	2.33	-44.22	0.000	4	0.201	0.048	2120	936	3002
413	end dive: TARGET_DEPTH_EXCEEDED
state	413	begin apogee
425	-0.28	0.0	77.0	23.4	57	543	1.85	0.00	112.85	0.717	6	0.148	0.000	2643	2198	2400
544	end apogee: CONTROL_FINISHED_OK
state	544	begin climb
548	1.92	146.6	85.0	0.0	69	668	2.12	2.45	111.12	0.667	4	0.076	0.048	3352	3606	1801
890	1.92	146.6	25.6	21.3	109	896	0.00	2.30	0.00	0.000	6	0.000	0.030	3363	2190	1799
1104	2.27	429.8	14.3	-5.8	146	1286	0.25	0.00	178.43	0.647	2	0.059	0.000	3467	2190	820
1291	end climb: SURFACE_DEPTH_REACHED
state	1291	begin surface coast
1307	end surface coast: CONTROL_FINISHED_OK
state	1307	begin surface