Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 873 * 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 873 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 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 59 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 44 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 38 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 -87047.594 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 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 20 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 -87047.594

CALL_WAIT 60 HD_C 9.8541004e-06 ROLL_ADJ_DBAND 0 T_MISSION 38

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 59 USE_ICE 0

C_VBD 2400 MAX_BUOY 150 R_STBD_OVSHOOT 44 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 873 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 144839,4805.848,-12221.839,8,1.9,8,18.3 TGT_NAME SIX

_CALLS 2 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 9 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.292,0.465

_SM_DEPTHo 2.36 KALMAN_X 837.1,25.3,-61.7,3815.3,-69.8

_SM_ANGLEo -69.2 KALMAN_Y -4718.9,-683.0,-60.9,-2308.8,63.1

GPS2 145745,4805.863,-12221.850,13,1.4,13,18.3 MHEAD_RNG_PITCHd_Wd 309.6,315,-18.0,-20.000

SPEED_LIMITS 0.549,0.559 D_GRID 108

Post-dive calculations and measurements:

FINISH 1.9,1.014391 XPDR_PINGS 3

SM_CCo 1736,48.30,0.665,0,0,239,530.09 ALTIM_BOTTOM_PING 81.3,47.8

SM_GC 2.72,0.00,0.00,48.30,0.000,0.000,0.665,18,2368,239,-8.51,0.51,530.09 _24V_AH 23.9,81.551

IRIDIUM_FIX 4748.51,-12220.12,091007,181844 _10V_AH 10.7,38.812

TT8_MAMPS 0.026078 DATA_FILE_SIZE 9699,207

HUMID 1830 CFSIZE 260165632,234127360

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

TCM_TEMP 17.10 GPS 091007,152956,4805.881,-12222.142,11,1.9,28,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 198 102.08 SBE_CT 148 24 85.35

Roll_motor 13 45 14.90 SBE_O2 151 19 68.60

VBD_pump_during_apogee 460 743 8176.77 WL_BB2F 349 105 876.66

VBD_pump_during_surface 48 664 767.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 48 103 119.61 nil 0 0 0.00

Iridium_during_connect 33 160 129.32 nil 0 0 0.00

Iridium_during_xfer 243 223 1298.80

Transponder_ping 1 420 12.55

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.25

TT8 321 19 68.08

LPSleep 557 2 13.06

TT8_Active 463 19 98.18

TT8_Sampling 483 39 205.82

TT8_CF8 538 45 263.85

TT8_Kalman 33 81 29.16

Analog_circuits 791 12 101.58

GPS_charging 0 0 0.00

Compass 481 8 41.23

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

36 -1.18 -146.6 0.0 0.0 0 43 0.00 0.00 -5.10 0.000 2 0.000 0.000 9 2367 362

48 -1.18 -146.6 2.4 -0.0 1 165 9.40 2.33 -96.30 0.000 4 0.199 0.045 2358 959 3000

476 -1.18 -146.6 54.9 -15.0 73 482 0.00 2.25 0.00 0.000 6 0.000 0.034 2350 2356 3002

803 -1.18 -146.6 105.4 -15.1 104 807 0.00 2.22 0.00 0.000 4 0.000 0.033 2350 959 3002

817 end dive: TARGET_DEPTH_EXCEEDED

state 817 begin apogee

830 -0.28 0.0 108.4 14.7 105 948 1.00 0.00 113.47 0.743 6 0.127 0.000 2645 2207 2400

948 end apogee: CONTROL_FINISHED_OK

state 949 begin climb

953 1.18 146.6 114.9 0.0 117 1073 1.45 2.40 112.40 0.698 4 0.084 0.042 3115 3604 1801

1216 1.56 454.9 93.2 11.1 140 1460 0.32 2.25 234.45 0.679 6 0.048 0.026 3251 2191 544

1692 end climb: SURFACE_DEPTH_REACHED

state 1692 begin surface coast

1710 end surface coast: CONTROL_FINISHED_OK

state 1710 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	873	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	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	59	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	44	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	38	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	-87047.594	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	144839,4805.848,-12221.839,8,1.9,8,18.3	TGT_NAME	SIX
_CALLS	2	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	9	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.292,0.465
_SM_DEPTHo	2.36	KALMAN_X	837.1,25.3,-61.7,3815.3,-69.8
_SM_ANGLEo	-69.2	KALMAN_Y	-4718.9,-683.0,-60.9,-2308.8,63.1
GPS2	145745,4805.863,-12221.850,13,1.4,13,18.3	MHEAD_RNG_PITCHd_Wd	309.6,315,-18.0,-20.000
SPEED_LIMITS	0.549,0.559	D_GRID	108

FINISH	1.9,1.014391	XPDR_PINGS	3
SM_CCo	1736,48.30,0.665,0,0,239,530.09	ALTIM_BOTTOM_PING	81.3,47.8
SM_GC	2.72,0.00,0.00,48.30,0.000,0.000,0.665,18,2368,239,-8.51,0.51,530.09	_24V_AH	23.9,81.551
IRIDIUM_FIX	4748.51,-12220.12,091007,181844	_10V_AH	10.7,38.812
TT8_MAMPS	0.026078	DATA_FILE_SIZE	9699,207
HUMID	1830	CFSIZE	260165632,234127360
INTERNAL_PRESSURE	9.10191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	GPS	091007,152956,4805.881,-12222.142,11,1.9,28,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	198	102.08	SBE_CT	148	24	85.35
Roll_motor	13	45	14.90	SBE_O2	151	19	68.60
VBD_pump_during_apogee	460	743	8176.77	WL_BB2F	349	105	876.66
VBD_pump_during_surface	48	664	767.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	48	103	119.61	nil	0	0	0.00
Iridium_during_connect	33	160	129.32	nil	0	0	0.00
Iridium_during_xfer	243	223	1298.80
Transponder_ping	1	420	12.55
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.25
TT8	321	19	68.08
LPSleep	557	2	13.06
TT8_Active	463	19	98.18
TT8_Sampling	483	39	205.82
TT8_CF8	538	45	263.85
TT8_Kalman	33	81	29.16
Analog_circuits	791	12	101.58
GPS_charging	0	0	0.00
Compass	481	8	41.23
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
36	-1.18	-146.6	0.0	0.0	0	43	0.00	0.00	-5.10	0.000	2	0.000	0.000	9	2367	362
48	-1.18	-146.6	2.4	-0.0	1	165	9.40	2.33	-96.30	0.000	4	0.199	0.045	2358	959	3000
476	-1.18	-146.6	54.9	-15.0	73	482	0.00	2.25	0.00	0.000	6	0.000	0.034	2350	2356	3002
803	-1.18	-146.6	105.4	-15.1	104	807	0.00	2.22	0.00	0.000	4	0.000	0.033	2350	959	3002
817	end dive: TARGET_DEPTH_EXCEEDED
state	817	begin apogee
830	-0.28	0.0	108.4	14.7	105	948	1.00	0.00	113.47	0.743	6	0.127	0.000	2645	2207	2400
948	end apogee: CONTROL_FINISHED_OK
state	949	begin climb
953	1.18	146.6	114.9	0.0	117	1073	1.45	2.40	112.40	0.698	4	0.084	0.042	3115	3604	1801
1216	1.56	454.9	93.2	11.1	140	1460	0.32	2.25	234.45	0.679	6	0.048	0.026	3251	2191	544
1692	end climb: SURFACE_DEPTH_REACHED
state	1692	begin surface coast
1710	end surface coast: CONTROL_FINISHED_OK
state	1710	begin surface