HI Oct09 * SG022 * Dive index * Mission links * Dive 85 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  22 HEADING  -1 ROLL_MIN  150 ALTIM_BOTTOM_TURN_MARGIN  0
MISSION  14 ESCAPE_HEADING  0 ROLL_MAX  3954 ALTIM_TOP_TURN_MARGIN  0
DIVE  85 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_TOP_MIN_OBSTACLE  1
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  2920 ALTIM_PING_DEPTH  0
D_FLARE  3 TGT_DEFAULT_LAT  19.66667 C_ROLL_CLIMB  2750 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LON  -156.10001 HEAD_ERRBAND  10 ALTIM_FREQUENCY  15
D_ABORT  1090 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_PULSE  5
D_NO_BLEED  200 SM_CC  400 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  2
D_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  43 XPDR_VALID  4
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  43 XPDR_INHIBIT  90
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  100 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  2 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  350 MOTHERBOARD  2
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_MAX  3841 DEVICE1  2
T_DIVE  330 CALL_TRIES  5 C_VBD  2618 DEVICE2  -1
T_MISSION  360 CALL_WAIT  60 VBD_DBAND  2 DEVICE3  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_CNV  -0.24529999 DEVICE4  -1
T_TURN  225 CAPMAXSIZE  150000 VBD_TIMEOUT  720 DEVICE5  -1
T_TURN_SAMPINT  5 HEAPDBG  0 PITCH_VBD_SHIFT  0.00109 DEVICE6  -1
T_NO_W  120 T_GPS  15 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERS  1
T_LOITER  0 N_GPS  20 VBD_PUMP_AD_RATE_APOGEE  1 LOGGERDEVICE1  69
USE_BATHY  0 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  4 LOGGERDEVICE2  -1
USE_ICE  0 T_GPS_CHARGE  -249968.8 UNCOM_BLEED  20 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
D_OFFGRID  1001 STROBE  0 CF8_MAXERRORS  1 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_24V  91.800003 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 AH0_10V  61.200001 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_24V  19 XPDR_DEVICE  19
MAX_BUOY  200 PITCH_MIN  380 MINV_10V  8 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3641 FG_AHR_10V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2495 FG_AHR_24V  0 SEABIRD_T_G  0.0044149966
SPEED_FACTOR  1 PITCH_DBAND  0.1 PHONE_SUPPLY  2 SEABIRD_T_H  0.00064680085
RHO  1.0275 PITCH_CNV  0.0046000001 PRESSURE_YINT  -22.757658 SEABIRD_T_I  2.5778523e-05
MASS  52177 P_OVSHOOT  0.039999999 PRESSURE_SLOPE  0.00011632 SEABIRD_T_J  2.7323422e-06
NAV_MODE  2 PITCH_GAIN  18 AD7714Ch0Gain  128 SEABIRD_C_G  -10.507483
FERRY_MAX  0 PITCH_TIMEOUT  20 TCM_PITCH_OFFSET  1.7 SEABIRD_C_H  1.1800622
KALMAN_USE  1 PITCH_AD_RATE  150 TCM_ROLL_OFFSET  -0.89999998 SEABIRD_C_I  -0.00046262925
HD_A  0.0040048002 PITCH_MAXERRORS  1 COMPASS_USE  0 SEABIRD_C_J  0.00014728548
HD_B  0.010364 PITCH_ADJ_GAIN  0 ALTIM_BOTTOM_PING_RANGE  0 PA_OFFLOAD  1.0
HD_C  5.4717998e-06 PITCH_ADJ_DBAND  0 ALTIM_TOP_PING_RANGE  0 PA_MAXUPLOADSIZE  50000.0

Pre-dive calculations and measurements:
GPS1  121109,182557,1923.724,-15557.390,37,3.1,56,9.7 TGT_NAME  VM
_CALLS  1 TGT_LATLONG  1924.000,-15558.000
_XMS_NAKs  0 TGT_RADIUS  500.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.291,-0.041
_SM_DEPTHo  0.80 KALMAN_X  -134405.5,1071.1,890.9,164085.4,-12087.7
_SM_ANGLEo  -69.1 KALMAN_Y  45723.1,-1132.3,-623.1,-104247.3,3081.5
GPS2  121109,183106,1923.804,-15557.401,28,1.4,28,9.7 MHEAD_RNG_PITCHd_Wd  279.4,1105,-27.9,-10.000
SPEED_LIMITS  0.173,0.294 D_GRID  990

Post-dive calculations and measurements:
FINISH  0.0,1.010311 PA_DATA0  96.2/7836665/297971
SM_CCo  15361,96.90,0.513,0,0,986,400.08 PA_DATA1  100.0/7836665/764
SM_GC  0.76,0.00,0.00,96.90,0.000,0.000,0.513,376,2932,986,-9.75,0.34,400.08 PA_USB  87.1/128908/16630
IRIDIUM_FIX  1918.37,-15557.38,080511,080833 _24V_AH  23.4,16.726
TT8_MAMPS  0.310635 _10V_AH  9.8,44.152
HUMID  1078545152 FG_AHR_24Vo  0.000
TCM_TEMP  23.60 FG_AHR_10Vo  0.000
XPDR_PINGS  0 MEM  353836
PA_PMVER  0.2 DATA_FILE_SIZE  15858,437
PA_ROOTFSVER  rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009 CAP_FILE_SIZE  134795,0
PA_DFQS  0/0 CFSIZE  260034560,250036224
PA_CMQS  0/0 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_ROOT  87.1/128908/16630 CURRENT  0.012,316.2,1
PA_HOME  5.9/483886/455160 GPS  121109,225025,1924.550,-15559.009,39,1.2,39,9.7
PA_LOG  3.7/297829/286909

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2416190.55 SBE_CT29224164.02
Roll_motor169200792.13 nil000.00
VBD_pump_during_apogee28113298760.70 nil000.00
VBD_pump_during_surface965131163.49 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2300.00 nil000.00
Iridium_during_connect2500.00 PAAM1588410037238.65
Iridium_during_xfer13100.00
Transponder_ping04200.00
GUMSTIX_24V000.00
GPS3000.00
TT8000.00
LPSleep124972268.23
TT8_Active51819100.70
TT8_Sampling230539899.17
TT8_CF843745196.19
TT8_Kalman3300.00
Analog_circuits171012201.16
GPS_charging000.00
Compass15528121.75
RAFOS000.00
Transponder050.03

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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
15 -1.62 -64.6 0.0 0.0 0 88 0.00 0.00 -70.22 0.000 2 0.000 0.000 372 2939 2554 0 0 0 0 0 0
90 -1.64 -87.1 3.1 -7.7 13 116 9.45 1.75 -11.27 0.000 4 0.161 0.069 2130 3946 2973 0 0 0 0 0 0
318 -1.64 -87.1 73.8 -27.8 40 327 0.00 1.70 0.00 0.000 6 0.000 0.038 2130 2890 2975 0 0 0 0 0 0
519 -1.64 -87.1 120.9 -21.2 54 525 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2886 2976 0 0 0 0 0 0
823 -1.64 -87.1 183.8 -20.3 64 831 0.00 2.25 0.00 0.000 4 0.000 0.041 2130 1528 2979 0 0 0 0 0 0
861 -1.64 -87.1 190.4 -16.8 65 869 0.00 2.35 0.00 0.000 6 0.000 0.044 2131 2910 2979 0 0 0 0 0 0
1183 -1.64 -87.1 245.0 -17.7 76 1192 0.00 2.33 0.00 0.000 4 0.000 0.042 2130 1533 2981 0 0 0 0 0 0
1431 -1.64 -87.1 283.9 -15.6 83 1439 0.00 2.40 0.00 0.000 6 0.000 0.044 2131 2927 2982 0 0 0 0 0 0
1770 -1.64 -87.1 339.1 -16.0 90 1778 0.00 2.35 0.00 0.000 4 0.000 0.043 2130 1540 2983 0 0 0 0 0 0
1942 -1.64 -87.1 366.1 -15.5 92 1951 0.00 2.40 0.00 0.000 6 0.000 0.046 2130 2925 2982 0 0 0 0 0 0
2257 -1.64 -87.1 410.7 -14.1 98 2266 0.00 2.38 0.00 0.000 4 0.000 0.044 2130 1534 2981 0 0 0 0 0 0
2356 -1.64 -87.1 423.1 -12.3 99 2365 0.00 2.42 0.00 0.000 6 0.000 0.048 2130 2929 2981 0 0 0 0 0 0
2682 -1.64 -87.1 466.6 -13.4 105 2691 0.00 1.80 0.00 0.000 4 0.000 0.062 2130 3955 2978 0 0 0 0 0 0
2705 -1.64 -87.1 469.9 -13.9 105 2713 0.00 1.75 0.00 0.000 6 0.000 0.042 2130 2933 2978 0 0 0 0 0 0
3052 -1.64 -87.1 517.4 -13.8 111 3060 0.00 1.83 0.00 0.000 4 0.000 0.062 2129 3954 2977 0 0 0 0 0 0
3145 -1.64 -87.1 531.3 -14.7 112 3154 0.00 1.77 0.00 0.000 6 0.000 0.043 2130 2905 2976 0 0 0 0 0 0
3486 -1.64 -87.1 574.2 -12.3 118 3494 0.00 2.38 0.00 0.000 4 0.000 0.050 2131 1522 2975 0 0 0 0 0 0
3557 -1.64 -87.1 583.0 -12.2 119 3565 0.00 2.47 0.00 0.000 6 0.000 0.052 2130 2921 2975 0 0 0 0 0 0
3918 -1.64 -87.1 626.4 -12.1 125 3928 0.00 1.85 0.00 0.000 4 0.000 0.070 2130 3954 2972 0 0 0 0 0 0
3996 -1.64 -87.1 636.7 -12.6 126 4004 0.00 1.75 0.00 0.000 6 0.000 0.044 2130 2927 2971 0 0 0 0 0 0
4353 -1.64 -87.1 677.0 -11.3 132 4360 0.00 1.90 0.00 0.000 4 0.000 0.072 2130 3955 2969 0 0 0 0 0 0
4381 -1.64 -87.1 680.5 -13.3 132 4388 0.00 1.80 0.00 0.000 6 0.000 0.045 2131 2914 2969 0 0 0 0 0 0
4721 -1.64 -87.1 721.3 -12.1 138 4728 0.00 1.95 0.00 0.000 4 0.000 0.081 2130 3950 2967 0 0 0 0 0 0
4802 -1.64 -87.1 731.6 -13.2 139 4810 0.00 1.83 0.00 0.000 6 0.000 0.052 2130 2921 2966 0 0 0 0 0 0
5153 -1.64 -87.1 773.0 -11.9 145 5161 0.00 1.98 0.00 0.000 4 0.000 0.091 2130 3950 2964 0 0 0 0 0 0
5181 -1.64 -87.1 776.3 -12.7 145 5188 0.00 1.88 0.00 0.000 6 0.000 0.062 2131 2924 2964 0 0 0 0 0 0
5521 -1.64 -87.1 815.6 -11.6 151 5529 0.00 2.70 0.00 0.000 4 0.000 0.099 2130 1502 2962 0 0 0 0 0 0
5560 -1.64 -87.1 820.3 -11.2 151 5568 0.00 2.72 0.00 0.000 6 0.000 0.094 2130 2912 2962 0 0 0 0 0 0
5880 -1.64 -87.1 858.0 -11.8 157 5888 0.00 2.12 0.00 0.000 4 0.000 0.132 2131 3958 2960 0 0 0 0 0 0
5967 -1.64 -87.1 869.4 -13.3 158 5975 0.00 2.05 0.00 0.000 6 0.000 0.106 2130 2925 2960 0 0 0 0 0 0
6302 -1.64 -87.1 908.4 -11.6 164 6312 0.00 2.95 0.00 0.000 4 0.000 0.145 2130 1502 2959 0 0 0 0 0 0
6337 -1.64 -87.1 912.6 -12.5 164 6346 0.00 3.00 0.00 0.000 6 0.000 0.140 2130 2924 2958 0 0 0 0 0 0
6663 -1.64 -87.1 949.8 -11.5 170 6672 0.00 3.20 0.00 0.000 4 0.000 0.173 2130 1504 2957 0 0 0 0 0 0
6724 -1.64 -87.1 956.7 -11.0 171 6733 0.00 3.20 0.00 0.000 6 0.000 0.166 2131 2928 2957 0 0 0 0 0 0
7025 end dive: TARGET_DEPTH_EXCEEDED
state 7025 begin apogee
7029 -0.28 0.0 990.1 11.0 176 7114 1.52 0.00 77.22 1.330 6 0.128 0.000 2430 2752 2617 0 0 0 0 0 0
7115 end apogee: CONTROL_FINISHED_OK
state 7115 begin climb
7117 1.64 87.1 991.7 0.0 177 7217 1.98 3.53 84.18 1.296 4 0.083 0.200 2847 1335 2261 0 0 0 0 0 0
7269 1.64 87.1 974.8 15.6 179 7278 0.00 3.28 0.00 0.000 6 0.000 0.169 2847 2757 2257 0 0 0 0 0 0
7605 1.64 87.1 920.9 16.0 185 7612 0.00 0.00 0.00 0.000 6 0.000 0.000 2848 2757 2251 0 0 0 0 0 0
7907 1.64 87.1 873.1 15.9 190 7916 0.00 2.90 0.00 0.000 4 0.000 0.114 2847 1328 2247 0 0 0 0 0 0
8085 1.64 87.1 843.6 16.9 192 8095 0.00 2.80 0.00 0.000 6 0.000 0.091 2847 2768 2246 0 0 0 0 0 0
8394 1.64 87.1 791.5 16.9 197 8403 0.00 2.72 0.00 0.000 4 0.000 0.079 2847 1321 2245 0 0 0 0 0 0
8513 1.64 87.1 772.3 15.6 198 8524 0.00 2.62 0.00 0.000 6 0.000 0.069 2847 2766 2245 0 0 0 0 0 0
8822 1.64 87.1 726.6 14.7 204 8831 0.00 2.65 0.00 0.000 4 0.000 0.067 2847 1323 2243 0 0 0 0 0 0
8899 1.64 87.1 715.6 13.7 205 8907 0.00 2.62 0.00 0.000 6 0.000 0.058 2847 2766 2244 0 0 0 0 0 0
9252 1.64 87.1 667.0 13.8 211 9261 0.00 2.62 0.00 0.000 4 0.000 0.061 2847 1312 2242 0 0 0 0 0 0
9292 1.64 87.1 661.4 13.3 211 9300 0.00 2.58 0.00 0.000 6 0.000 0.054 2847 2756 2241 0 0 0 0 0 0
9611 1.64 87.1 619.1 13.4 217 9619 0.00 2.58 0.00 0.000 4 0.000 0.056 2847 1313 2241 0 0 0 0 0 0
9661 1.64 87.1 612.4 13.4 217 9669 0.00 2.55 0.00 0.000 6 0.000 0.051 2847 2757 2241 0 0 0 0 0 0
9970 1.64 87.1 570.9 13.6 222 9978 0.00 2.58 0.00 0.000 4 0.000 0.054 2847 1306 2239 0 0 0 0 0 0
10035 1.64 87.1 561.9 13.8 223 10044 0.00 2.58 0.00 0.000 6 0.000 0.048 2847 2767 2240 0 0 0 0 0 0
10392 1.64 87.1 515.7 13.0 229 10401 0.00 2.58 0.00 0.000 4 0.000 0.052 2847 1310 2240 0 0 0 0 0 0
10464 1.64 87.1 506.8 12.8 230 10472 0.00 2.55 0.00 0.000 6 0.000 0.047 2847 2765 2240 0 0 0 0 0 0
10821 1.64 87.1 463.6 11.7 236 10829 0.00 2.55 0.00 0.000 4 0.000 0.051 2847 1316 2240 0 0 0 0 0 0
11015 1.64 87.1 442.0 10.6 239 11024 0.00 2.53 0.00 0.000 6 0.000 0.046 2848 2764 2239 0 0 0 0 0 0
11379 1.64 87.1 402.9 11.0 245 11387 0.00 2.55 0.00 0.000 4 0.000 0.049 2847 1309 2239 0 0 0 0 0 0
11541 1.64 87.1 384.4 10.1 247 11549 0.00 2.53 0.00 0.000 6 0.000 0.045 2848 2761 2239 0 0 0 0 0 0
11866 1.65 94.4 353.8 9.2 253 11874 0.00 2.53 0.00 0.000 4 0.000 0.048 2848 1315 2238 0 0 0 0 0 0
11964 1.66 104.8 344.0 8.9 254 11986 0.00 2.50 12.85 0.851 6 0.000 0.044 2848 2757 2189 0 0 0 0 0 0
12298 1.66 104.8 306.9 11.3 260 12304 0.00 0.00 0.00 0.000 6 0.000 0.000 2848 2757 2187 0 0 0 0 0 0
12600 1.67 107.0 275.4 9.8 268 12609 0.00 2.53 0.00 0.000 4 0.000 0.047 2850 1303 2187 0 0 0 0 0 0
12720 1.68 120.2 264.8 8.6 271 12743 0.00 2.45 14.70 0.802 6 0.000 0.043 2848 2762 2129 0 0 0 0 0 0
13058 1.69 133.0 234.7 8.7 283 13080 0.00 2.60 12.93 0.759 4 0.000 0.045 2848 1314 2074 0 0 0 0 0 0
13127 1.69 133.0 227.9 10.5 285 13135 0.00 2.53 0.00 0.000 6 0.000 0.042 2847 2765 2073 0 0 0 0 0 0
13459 1.69 133.0 188.9 11.6 296 13469 0.00 2.53 0.00 0.000 4 0.000 0.044 2848 1302 2072 0 0 0 0 0 0
13649 1.70 140.8 169.5 9.2 302 13665 0.00 2.53 7.55 0.644 6 0.000 0.041 2848 2751 2044 0 0 0 0 0 0
13983 1.70 140.8 134.2 11.3 313 13989 0.00 2.12 0.00 0.000 4 0.000 0.053 2848 3944 2042 0 0 0 0 0 0
14009 1.70 140.8 131.2 11.4 313 14017 0.00 2.12 0.00 0.000 6 0.000 0.037 2848 2688 2041 0 0 0 0 0 0
14318 1.70 140.8 97.8 11.7 324 14321 0.00 0.00 0.00 0.000 6 0.000 0.000 2847 2687 2041 0 0 0 0 0 0
14504 1.70 140.8 76.4 11.7 342 14510 0.00 2.38 0.00 0.000 4 0.000 0.043 2848 1302 2042 0 0 0 0 0 0
14578 1.71 145.6 68.9 9.5 349 14592 0.00 2.47 5.90 0.507 6 0.000 0.039 2848 2767 2024 0 0 0 0 0 0
14776 1.71 149.7 51.3 9.6 368 14789 0.00 2.45 5.50 0.481 4 0.000 0.041 2848 1302 2006 0 0 0 0 0 0
14902 1.72 159.2 39.4 9.0 379 14917 0.00 2.40 9.65 0.528 6 0.000 0.039 2848 2755 1968 0 0 0 0 0 0
15104 1.78 209.2 26.1 4.8 399 15154 0.15 2.15 43.03 0.557 4 0.081 0.052 2885 3938 1763 0 0 0 0 0 0
15176 1.79 217.1 20.4 9.2 406 15191 0.00 2.08 8.00 0.479 6 0.000 0.037 2885 2689 1731 0 0 0 0 0 0
15254 1.79 217.1 11.7 10.5 420 15260 0.00 2.38 0.00 0.000 4 0.000 0.044 2885 1302 1729 0 0 0 0 0 0
15285 1.79 217.1 7.7 12.4 426 15292 0.00 2.50 0.00 0.000 6 0.000 0.040 2885 2749 1728 0 0 0 0 0 0
15321 end climb: SURFACE_DEPTH_REACHED
state 15321 begin surface coast
15343 end surface coast: CONTROL_FINISHED_OK
state 15343 begin surface