DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 106 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  108 HD_B  0.0115 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  20
MISSION  21 HD_C  1.7999999e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  15
DIVE  106 HEADING  -1 ROLL_MIN  294 ALTIM_TOP_TURN_MARGIN  5
N_DIVES  0 ESCAPE_HEADING  100 ROLL_MAX  3598 ALTIM_TOP_MIN_OBSTACLE  2.8
D_SURF  4 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  300
D_FLARE  3 FIX_MISSING_TIMEOUT  5 C_ROLL_DIVE  2100 ALTIM_PING_DELTA  50
D_TGT  990 TGT_DEFAULT_LAT  6000 C_ROLL_CLIMB  1900 ALTIM_FREQUENCY  13
D_ABORT  1030 TGT_DEFAULT_LON  -5500 HEAD_ERRBAND  10 ALTIM_PULSE  4
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  4
D_BOOST  20 SM_CC  400 ROLL_TIMEOUT  15 XPDR_VALID  5
T_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  65 XPDR_INHIBIT  90
D_FINISH  9 FILEMGR  2 R_STBD_OVSHOOT  47 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  1.75 CALL_NDIVES  1 ROLL_AD_RATE  300 INT_PRESSURE_YINT  0
D_SAFE  500 COMM_SEQ  0 ROLL_MAXERRORS  0 DEEPGLIDER  0
D_CALL  3 PROTOCOL  0 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
SURFACE_URGENCY  10 N_NOCOMM  6 ROLL_ADJ_DBAND  0.029999999 MOTHERBOARD  4
SURFACE_URGENCY_TRY  5 NOCOMM_ACTION  161 VBD_MIN  448 DEVICE1  2
SURFACE_URGENCY_FORCE  10 N_NOSURFACE  0 VBD_MAX  4001 DEVICE2  20
T_DIVE  360 UPLOAD_DIVES_MAX  5 C_VBD  3029 DEVICE3  -1
T_MISSION  440 CALL_TRIES  3 VBD_DBAND  2 DEVICE4  -1
T_ABORT  1440 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_TURN  225 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_NO_W  120 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  3 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -3 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  2 T_GPS_CHARGE  -191220 VBD_MAXERRORS  1 COMPASS_DEVICE  97
ICE_FREEZE_MARGIN  0.1 T_RSLEEP  10 CF8_MAXERRORS  0 COMPASS2_DEVICE  -1
D_OFFGRID  250 STROBE  0 AH0_24V  150 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  100 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  64
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
MAX_BUOY  150 PITCH_MIN  350 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3700 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  3130 PHONE_SUPPLY  -1 SEABIRD_T_G  0.0044220644
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -22.860044 SEABIRD_T_H  0.00065538363
RHO  1.023 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.0001161151 SEABIRD_T_I  2.8550956e-05
MASS  51396 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  3.214675e-06
NAV_MODE  2 PITCH_GAIN  30 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -10.084064
FERRY_MAX  45 PITCH_TIMEOUT  20 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1288997
KALMAN_USE  2 PITCH_AD_RATE  150 COMPASS_USE  4 SEABIRD_C_I  -0.0014441535
HD_A  0.00275 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00017831143

Pre-dive calculations and measurements:
GPS1  080712,214134,6650.764,-5756.972,38,0.7,38,-33.5 TGT_NAME  TARGET_E
_CALLS  1 TGT_LATLONG  6703.000,-5648.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.34 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -73.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  080712,214929,6650.688,-5757.044,15,1.2,15,-33.5 MHEAD_RNG_PITCHd_Wd  102.4,54826,-16.3,-9.167
SPEED_LIMITS  0.159,0.240 D_GRID  757

Post-dive calculations and measurements:
FREEZE  1.32,3.291,-1.797,0,1,0 ALTIM_BOTTOM_PING  751.6,17.1
FINISH  1.3,1.026090 _24V_AH  23.2,14.794
SM_CCo  14998,95.22,0.071,0,0,1397,400.08 _10V_AH  10.2,17.190
SM_GC  2.14,8.02,0.28,95.22,0.052,0.065,0.071,338,2108,1397,-8.66,-1.16,400.08,0,0,0,0,0,0,26.60,26.63,26.44 FG_AHR_24Vo  0.000
RAFOS_CLK  766 FG_AHR_10Vo  0.000
RAFOS  0,1341792062,0.033333,0.017222,48,46,45,44,41,40,370,1871,1064,489,322,486 MEM  151548
RAFOS_FIX  0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE  66739,1443
IRIDIUM_FIX  6620.33,-5803.15,080712,171718 CAP_FILE_SIZE  165425,0
TT8_MAMPS  0.026215,0.026215 CFSIZE  260165632,237002752
HUMID  39.76 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE  9.01402 SOUNDSPEED  1460.9
TCM_TEMP  15.80 CURRENT  0.054,135.1,1
XPDR_PINGS  0 GPS  090712,020305,6650.875,-5752.049,39,0.8,39,-33.5
ALTIM_TOP_PING  19.6,999.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20260124.22 SBE_CT100123556.95
Roll_motor11965179.97 SBE_O211455159.13
VBD_pump_during_apogee26413188089.89 nil000.00
VBD_pump_during_surface9571157.17 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 nil000.00
Iridium_during_xfer3372742144.05 nil000.00
Transponder_ping342031.67 nil000.00
GUMSTIX_24V000.00
GPS16264.34
TT8369617677.09
LPSleep81802192.75
TT8_Active57917106.12
TT8_Sampling2735401128.21
TT8_CF837048184.05
TT8_Kalman000.00
Analog_circuits219512268.74
GPS_charging000.00
Compass23747181.44
RAFOS2520377.11
Transponder26307.98

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 pitch_volts roll_volts vbd_volts
15 end surface: CONTROL_FINISHED_OK
state 15 begin dive
18 -0.72 -146.6 0.0 0.0 0 95 0.00 0.00 -73.93 0.000 2 0.000 0.000 346 2120 3122 0 0 0 0 0 0 28.83 28.83 28.83
99 -0.72 -146.6 3.1 -2.0 13 131 10.18 2.15 -14.43 0.000 4 0.261 0.054 2897 709 3628 0 0 0 0 0 0 26.10 26.39 26.67
226 -0.72 -146.6 19.7 -12.9 36 233 0.00 2.15 0.00 0.000 6 0.000 0.041 2890 2096 3633 0 0 0 0 0 0 28.83 26.41 28.83
537 -0.72 -146.6 53.6 -10.2 97 544 0.00 2.17 0.00 0.000 4 0.000 0.052 2879 3520 3635 0 0 0 0 0 0 28.83 26.44 28.83
658 -0.72 -146.6 66.8 -11.7 120 665 0.00 2.10 0.00 0.000 6 0.000 0.032 2879 2100 3635 0 0 0 0 0 0 28.83 26.53 28.83
975 -0.72 -146.6 102.1 -10.1 180 983 0.00 2.17 0.00 0.000 4 0.000 0.051 2869 3511 3636 0 0 0 0 0 0 28.83 26.50 28.83
1057 -0.72 -146.6 110.9 -10.8 188 1066 0.00 2.08 0.00 0.000 6 0.000 0.031 2869 2097 3635 0 0 0 0 0 0 28.83 26.58 28.83
1366 -0.72 -146.6 143.5 -10.7 219 1376 0.00 2.10 0.00 0.000 4 0.000 0.039 2869 695 3634 0 0 0 0 0 0 28.83 26.55 28.83
1403 -0.72 -146.6 147.3 -11.4 222 1410 0.15 2.20 0.00 0.000 6 0.176 0.041 2898 2116 3634 0 0 0 0 0 0 26.38 26.55 28.83
1709 -0.72 -146.6 176.6 -9.0 253 1718 0.00 2.08 0.00 0.000 4 0.000 0.052 2889 3505 3633 0 0 0 0 0 0 28.83 26.55 28.83
1834 -0.72 -146.6 187.9 -9.2 265 1841 0.00 2.08 0.00 0.000 6 0.000 0.031 2889 2097 3633 0 0 0 0 0 0 28.83 26.63 28.83
2142 -0.72 -146.6 212.3 -7.3 296 2151 0.00 2.17 0.00 0.000 4 0.000 0.051 2879 3512 3632 0 0 0 0 0 0 28.83 26.58 28.83
2178 -0.72 -146.6 214.9 -7.7 299 2185 0.00 2.08 0.00 0.000 6 0.000 0.031 2879 2097 3632 0 0 0 0 0 0 28.83 26.65 28.83
2484 -0.72 -146.6 240.6 -8.6 330 2485 0.00 0.00 0.00 0.000 6 0.000 0.000 2879 2097 3632 0 0 0 0 0 0 28.83 28.83 28.83
2787 -0.72 -146.6 267.8 -9.1 360 2795 0.00 2.05 0.00 0.000 4 0.000 0.038 2879 711 3632 0 0 0 0 0 0 28.83 26.63 28.83
2841 -0.72 -146.6 273.0 -9.6 365 2848 0.00 2.15 0.00 0.000 6 0.000 0.039 2870 2109 3632 0 0 0 0 0 0 28.83 26.63 28.83
3149 -0.72 -146.6 302.1 -9.1 396 3153 0.00 2.10 0.00 0.000 4 0.000 0.050 2859 3503 3632 0 0 0 0 0 0 28.83 26.62 28.83
3245 -0.72 -146.6 311.4 -10.1 405 3252 0.12 2.08 0.00 0.000 6 0.180 0.030 2892 2085 3632 0 0 0 0 0 0 26.48 26.70 28.83
3552 -0.72 -146.6 337.7 -8.5 436 3553 0.00 0.00 0.00 0.000 6 0.000 0.000 2892 2085 3632 0 0 0 0 0 0 28.83 28.83 28.83
3853 -0.72 -146.6 361.8 -8.1 466 3862 0.00 2.17 0.00 0.000 4 0.000 0.050 2884 3509 3632 0 0 0 0 0 0 28.83 26.64 28.83
3929 -0.72 -146.6 368.2 -9.0 473 3936 0.00 2.08 0.00 0.000 6 0.000 0.031 2884 2091 3632 0 0 0 0 0 0 28.83 26.72 28.83
4236 -0.72 -146.6 392.2 -7.4 504 4245 0.00 2.15 0.00 0.000 4 0.000 0.049 2873 3501 3633 0 0 0 0 0 0 28.83 26.65 28.83
4291 -0.72 -146.6 396.3 -8.3 509 4298 0.00 2.05 0.00 0.000 6 0.000 0.030 2873 2094 3633 0 0 0 0 0 0 28.83 26.72 28.83
4598 -0.72 -146.6 418.7 -6.9 540 4607 0.00 2.15 0.00 0.000 4 0.000 0.049 2863 3511 3633 0 0 0 0 0 0 28.83 26.66 28.83
4664 -0.72 -146.6 423.5 -8.2 546 4672 0.12 2.08 0.00 0.000 6 0.174 0.030 2894 2085 3633 0 0 0 0 0 0 26.51 26.73 28.83
4970 -0.72 -146.6 442.1 -5.7 577 4974 0.00 2.17 0.00 0.000 4 0.000 0.050 2886 3506 3633 0 0 0 0 0 0 28.83 26.66 28.83
5006 -0.72 -146.6 444.1 -5.9 580 5012 0.00 2.05 0.00 0.000 6 0.000 0.029 2886 2094 3633 0 0 0 0 0 0 28.83 26.74 28.83
5313 -0.72 -146.6 462.4 -5.9 611 5322 0.00 2.12 0.00 0.000 4 0.000 0.049 2875 3499 3634 0 0 0 0 0 0 28.83 26.67 28.83
5366 -0.72 -146.6 465.8 -6.8 616 5375 0.00 2.00 0.00 0.000 6 0.000 0.030 2875 2104 3634 0 0 0 0 0 0 28.83 26.74 28.83
5676 -0.72 -146.6 487.5 -7.5 647 5685 0.00 2.12 0.00 0.000 4 0.000 0.049 2865 3503 3634 0 0 0 0 0 0 28.83 26.67 28.83
5739 -0.72 -146.6 492.6 -7.9 653 5748 0.08 2.05 0.00 0.000 6 0.156 0.030 2890 2090 3634 0 0 0 0 0 0 26.53 26.75 28.83
6049 -0.72 -146.6 514.3 -7.2 684 6058 0.00 2.15 0.00 0.000 4 0.000 0.048 2882 3509 3634 0 0 0 0 0 0 28.83 26.68 28.83
6112 -0.72 -146.6 519.2 -8.0 690 6120 0.00 2.05 0.00 0.000 6 0.000 0.029 2882 2091 3634 0 0 0 0 0 0 28.83 26.75 28.83
6421 -0.72 -146.6 542.9 -7.6 721 6430 0.00 2.15 0.00 0.000 4 0.000 0.048 2871 3509 3635 0 0 0 0 0 0 28.83 26.69 28.83
6474 -0.72 -146.6 547.2 -8.6 726 6482 0.00 2.05 0.00 0.000 6 0.000 0.030 2871 2091 3635 0 0 0 0 0 0 28.83 26.76 28.83
6784 -0.72 -146.6 572.2 -7.9 757 6792 0.00 2.15 0.00 0.000 4 0.000 0.049 2861 3509 3635 0 0 0 0 0 0 28.83 26.69 28.83
6826 -0.72 -146.6 575.9 -8.7 761 6831 0.12 2.05 0.00 0.000 6 0.173 0.030 2892 2091 3635 0 0 0 0 0 0 26.54 26.76 28.83
7140 -0.72 -146.6 599.0 -7.3 792 7141 0.00 0.00 0.00 0.000 6 0.000 0.000 2892 2091 3635 0 0 0 0 0 0 28.83 28.83 28.83
7461 -0.72 -146.6 622.2 -7.3 804 7466 0.00 2.15 0.00 0.000 4 0.000 0.049 2884 3506 3635 0 0 0 0 0 0 28.83 26.70 28.83
7539 -0.72 -146.6 626.9 -7.5 806 7548 0.00 2.05 0.00 0.000 6 0.000 0.030 2884 2094 3635 0 0 0 0 0 0 28.83 26.77 28.83
7851 -0.72 -146.6 651.7 -7.5 817 7856 0.00 2.15 0.00 0.000 4 0.000 0.049 2874 3514 3635 0 0 0 0 0 0 28.83 26.70 28.83
7903 -0.72 -146.6 654.1 -7.6 818 7910 0.00 2.05 0.00 0.000 6 0.000 0.030 2874 2101 3635 0 0 0 0 0 0 28.83 26.77 28.83
8210 -0.72 -146.6 678.9 -7.4 829 8215 0.00 2.12 0.00 0.000 4 0.000 0.049 2864 3502 3635 0 0 0 0 0 0 28.83 26.70 28.83
8264 -0.72 -146.6 681.3 -7.6 830 8271 0.12 2.03 0.00 0.000 6 0.171 0.030 2895 2094 3635 0 0 0 0 0 0 26.55 26.77 28.83
8570 -0.72 -146.6 703.6 -6.6 841 8571 0.00 0.00 0.00 0.000 6 0.000 0.000 2895 2094 3635 0 0 0 0 0 0 28.83 28.83 28.83
8870 -0.72 -146.6 723.1 -6.3 851 8871 0.00 0.00 0.00 0.000 6 0.000 0.000 2895 2094 3635 0 0 0 0 0 0 28.83 28.83 28.83
9172 -0.72 -146.6 742.0 -6.1 861 9173 0.00 0.00 0.00 0.000 6 0.000 0.000 2895 2094 3635 0 0 0 0 0 0 28.83 28.83 28.83
9378 end dive: BOTTOM_OBSTACLE_DETECTED
state 9378 begin apogee
9385 -0.17 0.0 755.1 -6.1 868 9512 0.55 0.00 123.30 1.318 6 0.141 0.000 3074 1892 3029 0 0 0 0 0 0 26.55 28.83 23.80
9516 end apogee: CONTROL_FINISHED_OK
state 9516 begin climb
9519 0.72 146.6 755.9 0.0 872 9655 0.85 2.33 126.80 1.286 4 0.092 0.036 3367 527 2430 0 0 0 0 0 0 24.79 24.11 23.22
9676 0.72 146.6 738.9 11.8 878 9680 0.00 2.33 0.00 0.000 6 0.000 0.035 3367 1901 2426 0 0 0 0 0 0 28.83 24.46 28.83
9999 0.72 146.6 689.1 15.2 889 10000 0.00 0.00 0.00 0.000 6 0.000 0.000 3367 1902 2418 0 0 0 0 0 0 28.83 28.83 28.83
10298 0.72 146.6 642.6 15.4 899 10304 0.00 2.20 0.00 0.000 4 0.000 0.048 3367 3317 2416 0 0 0 0 0 0 28.83 25.89 28.83
10331 0.72 146.6 637.7 15.6 900 10336 0.00 2.15 0.00 0.000 6 0.000 0.031 3376 1902 2415 0 0 0 0 0 0 28.83 25.96 28.83
10648 0.72 146.6 586.2 16.2 916 10656 0.00 2.12 0.00 0.000 4 0.000 0.039 3386 513 2414 0 0 0 0 0 0 28.83 26.13 28.83
10702 0.72 146.6 577.5 15.7 921 10709 0.00 2.20 0.00 0.000 6 0.000 0.036 3386 1915 2414 0 0 0 0 0 0 28.83 26.16 28.83
11010 0.72 146.6 524.6 16.9 952 11011 0.00 0.00 0.00 0.000 6 0.000 0.000 3386 1914 2413 0 0 0 0 0 0 28.83 28.83 28.83
11309 0.72 146.6 473.6 16.7 982 11318 0.00 2.12 0.00 0.000 4 0.000 0.048 3386 3301 2412 0 0 0 0 0 0 28.83 26.32 28.83
11334 0.72 146.6 469.8 17.1 984 11342 0.12 2.10 0.00 0.000 6 0.187 0.031 3366 1891 2412 0 0 0 0 0 0 26.19 26.38 28.83
11642 0.72 146.6 422.0 14.9 1015 11643 0.00 0.00 0.00 0.000 6 0.000 0.000 3366 1891 2411 0 0 0 0 0 0 28.83 28.83 28.83
11943 0.72 146.6 378.8 14.5 1045 11949 0.00 0.00 0.00 0.000 6 0.000 0.000 3366 1891 2411 0 0 0 0 0 0 28.83 28.83 28.83
12255 0.72 146.6 333.4 14.8 1076 12264 0.00 2.10 0.00 0.000 4 0.000 0.040 3375 510 2411 0 0 0 0 0 0 28.83 26.49 28.83
12320 0.72 146.6 324.0 14.3 1082 12327 0.00 2.17 0.00 0.000 6 0.000 0.037 3374 1916 2411 0 0 0 0 0 0 28.83 26.51 28.83
12628 0.72 146.6 276.9 15.4 1113 12629 0.00 0.00 0.00 0.000 6 0.000 0.000 3375 1916 2411 0 0 0 0 0 0 28.83 28.83 28.83
12931 0.72 146.6 231.9 14.5 1143 12940 0.00 2.12 0.00 0.000 4 0.000 0.048 3375 3310 2411 0 0 0 0 0 0 28.83 26.53 28.83
12966 0.72 146.6 226.4 14.7 1146 12973 0.00 2.10 0.00 0.000 6 0.000 0.030 3384 1885 2410 0 0 0 0 0 0 28.83 26.59 28.83
13273 0.72 146.6 179.5 14.2 1177 13282 0.00 2.10 0.00 0.000 4 0.000 0.040 3394 501 2411 0 0 0 0 0 0 28.83 26.57 28.83
13306 0.72 146.6 174.8 14.8 1180 13315 0.08 2.12 0.00 0.000 6 0.150 0.036 3370 1906 2410 0 0 0 0 0 0 26.44 26.59 28.83
13615 0.72 146.6 136.7 11.1 1211 13617 0.00 0.00 0.00 0.000 6 0.000 0.000 3370 1906 2411 0 0 0 0 0 0 28.83 28.83 28.83
13918 0.72 146.6 102.5 11.8 1241 13924 0.00 0.00 0.00 0.000 6 0.000 0.000 3370 1906 2411 0 0 0 0 0 0 28.83 28.83 28.83
14227 0.72 146.6 67.4 10.0 1300 14233 0.00 0.00 0.00 0.000 6 0.000 0.000 3370 1906 2410 0 0 0 0 0 0 28.83 28.83 28.83
14538 0.72 146.6 38.5 10.4 1361 14544 0.00 2.15 0.00 0.000 4 0.000 0.041 3376 516 2411 0 0 0 0 0 0 28.83 26.64 28.83
14572 0.72 146.6 34.9 10.6 1367 14580 0.00 2.12 0.00 0.000 6 0.000 0.037 3377 1907 2411 0 0 0 0 0 0 28.83 26.65 28.83
14890 0.83 229.4 4.7 5.7 1428 14906 0.00 0.00 14.45 0.074 2 0.000 0.000 3376 1908 2288 0 0 0 0 0 0 28.83 28.83 28.83
14907 end climb: SURFACE_DEPTH_REACHED
state 14907 begin surface coast
14978 end surface coast: CONTROL_FINISHED_OK
state 14978 begin surface