Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 839 * 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 839 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 2 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 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 54 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 43 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 40 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 -86370.055 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 20 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 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 2 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 90 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 20 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 -86370.055

CALL_WAIT 60 HD_C 9.8541004e-06 ROLL_ADJ_DBAND 0 T_MISSION 40

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 1 ROLL_TIMEOUT 15 USE_BATHY -4

C_ROLL_DIVE 2350 MASS 51503 R_PORT_OVSHOOT 54 USE_ICE 0

C_VBD 2400 MAX_BUOY 150 R_STBD_OVSHOOT 43 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 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 839 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 134003,4807.486,-12223.665,8,1.6,8,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.211,-0.191

_SM_DEPTHo 2.62 KALMAN_X 220.9,150.3,-23.5,2037.0,-81.5

_SM_ANGLEo -68.4 KALMAN_Y -28.9,32.3,-40.7,-4772.9,-51.4

GPS2 134444,4807.464,-12223.655,12,1.6,12,18.3 MHEAD_RNG_PITCHd_Wd 113.9,3398,-16.4,-10.000

SPEED_LIMITS 0.275,0.285 D_GRID 103

Post-dive calculations and measurements:

SM_CCo 2226,96.93,0.642,0,0,204,538.68 ALTIM_BOTTOM_PING 66.2,6.3

SM_GC 2.59,9.18,0.00,0.00,0.044,0.000,0.000,9,2359,193,-8.46,0.25,541.38 _24V_AH 24.2,77.816

IRIDIUM_FIX 4748.51,-12224.57,081007,161625 _10V_AH 10.7,37.570

TT8_MAMPS 0.026078 DATA_FILE_SIZE 15957,300

HUMID 1888 CFSIZE 260165632,234971136

INTERNAL_PRESSURE 9.10191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.00 GPS 081007,142857,4807.282,-12223.382,11,1.4,11,18.3

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 200 102.34 SBE_CT 215 24 125.29

Roll_motor 19 46 21.27 SBE_O2 220 19 101.53

VBD_pump_during_apogee 410 740 7353.22 WL_BB2F 506 105 1286.92

VBD_pump_during_surface 96 641 1505.82 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 61.84 nil 0 0 0.00

Iridium_during_connect 12 160 48.95 nil 0 0 0.00

Iridium_during_xfer 116 223 630.72

Transponder_ping 0 420 5.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.46

TT8 452 19 95.97

LPSleep 947 2 22.20

TT8_Active 481 19 101.99

TT8_Sampling 605 39 257.71

TT8_CF8 350 45 171.74

TT8_Kalman 33 81 29.16

Analog_circuits 849 12 109.11

GPS_charging 0 0 0.00

Compass 619 8 53.02

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

27 end surface: CONTROL_FINISHED_OK

state 27 begin dive

32 -1.09 -146.6 0.0 0.0 0 39 0.00 0.00 -5.12 0.000 2 0.000 0.000 14 2364 324

44 -1.09 -146.6 2.6 -0.0 1 150 9.50 2.35 -86.62 0.000 4 0.200 0.046 2384 946 3001

456 -1.09 -146.6 52.4 -13.0 72 463 0.00 2.28 0.00 0.000 6 0.000 0.034 2377 2352 3003

736 end dive: TARGET_DEPTH_EXCEEDED

state 736 begin apogee

747 -0.28 0.0 90.6 13.4 99 864 0.88 0.00 113.22 0.726 6 0.124 0.000 2643 2178 2400

865 end apogee: CONTROL_FINISHED_OK

state 865 begin climb

870 1.09 146.6 96.9 0.0 111 990 1.38 2.53 111.50 0.681 4 0.085 0.043 3087 3607 1802

1105 1.09 146.6 79.8 10.0 132 1112 0.00 2.22 0.00 0.000 6 0.000 0.026 3096 2215 1800

1437 1.13 176.0 49.8 8.9 163 1465 0.00 0.00 23.83 0.741 6 0.000 0.000 3097 2214 1681

1673 1.14 182.5 27.4 9.8 204 1686 0.00 2.28 7.03 0.705 4 0.000 0.035 3107 806 1654

1706 1.17 208.6 24.3 9.0 209 1734 0.00 2.28 21.05 0.689 6 0.000 0.031 3107 2216 1546

1942 1.39 385.2 7.6 3.4 250 2085 0.20 2.40 133.48 0.655 4 0.052 0.036 3206 816 827

2220 end climb: NO_VERTICAL_VELOCITY

state 2220 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	839	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	2	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	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	54	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	43	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	40	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	-86370.055	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	20	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	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	134003,4807.486,-12223.665,8,1.6,8,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.211,-0.191
_SM_DEPTHo	2.62	KALMAN_X	220.9,150.3,-23.5,2037.0,-81.5
_SM_ANGLEo	-68.4	KALMAN_Y	-28.9,32.3,-40.7,-4772.9,-51.4
GPS2	134444,4807.464,-12223.655,12,1.6,12,18.3	MHEAD_RNG_PITCHd_Wd	113.9,3398,-16.4,-10.000
SPEED_LIMITS	0.275,0.285	D_GRID	103

SM_CCo	2226,96.93,0.642,0,0,204,538.68	ALTIM_BOTTOM_PING	66.2,6.3
SM_GC	2.59,9.18,0.00,0.00,0.044,0.000,0.000,9,2359,193,-8.46,0.25,541.38	_24V_AH	24.2,77.816
IRIDIUM_FIX	4748.51,-12224.57,081007,161625	_10V_AH	10.7,37.570
TT8_MAMPS	0.026078	DATA_FILE_SIZE	15957,300
HUMID	1888	CFSIZE	260165632,234971136
INTERNAL_PRESSURE	9.10191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	GPS	081007,142857,4807.282,-12223.382,11,1.4,11,18.3
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	200	102.34	SBE_CT	215	24	125.29
Roll_motor	19	46	21.27	SBE_O2	220	19	101.53
VBD_pump_during_apogee	410	740	7353.22	WL_BB2F	506	105	1286.92
VBD_pump_during_surface	96	641	1505.82	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	61.84	nil	0	0	0.00
Iridium_during_connect	12	160	48.95	nil	0	0	0.00
Iridium_during_xfer	116	223	630.72
Transponder_ping	0	420	5.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.46
TT8	452	19	95.97
LPSleep	947	2	22.20
TT8_Active	481	19	101.99
TT8_Sampling	605	39	257.71
TT8_CF8	350	45	171.74
TT8_Kalman	33	81	29.16
Analog_circuits	849	12	109.11
GPS_charging	0	0	0.00
Compass	619	8	53.02
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
27	end surface: CONTROL_FINISHED_OK
state	27	begin dive
32	-1.09	-146.6	0.0	0.0	0	39	0.00	0.00	-5.12	0.000	2	0.000	0.000	14	2364	324
44	-1.09	-146.6	2.6	-0.0	1	150	9.50	2.35	-86.62	0.000	4	0.200	0.046	2384	946	3001
456	-1.09	-146.6	52.4	-13.0	72	463	0.00	2.28	0.00	0.000	6	0.000	0.034	2377	2352	3003
736	end dive: TARGET_DEPTH_EXCEEDED
state	736	begin apogee
747	-0.28	0.0	90.6	13.4	99	864	0.88	0.00	113.22	0.726	6	0.124	0.000	2643	2178	2400
865	end apogee: CONTROL_FINISHED_OK
state	865	begin climb
870	1.09	146.6	96.9	0.0	111	990	1.38	2.53	111.50	0.681	4	0.085	0.043	3087	3607	1802
1105	1.09	146.6	79.8	10.0	132	1112	0.00	2.22	0.00	0.000	6	0.000	0.026	3096	2215	1800
1437	1.13	176.0	49.8	8.9	163	1465	0.00	0.00	23.83	0.741	6	0.000	0.000	3097	2214	1681
1673	1.14	182.5	27.4	9.8	204	1686	0.00	2.28	7.03	0.705	4	0.000	0.035	3107	806	1654
1706	1.17	208.6	24.3	9.0	209	1734	0.00	2.28	21.05	0.689	6	0.000	0.031	3107	2216	1546
1942	1.39	385.2	7.6	3.4	250	2085	0.20	2.40	133.48	0.655	4	0.052	0.036	3206	816	827
2220	end climb: NO_VERTICAL_VELOCITY
state	2220	begin surface