Faroes Jun09 * SG016 * Dive index * Mission links * Dive 128 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  16 HEADING  -1 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
MISSION  13 ESCAPE_HEADING  45 ROLL_MIN  196 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  128 ESCAPE_HEADING_DELTA  10 ROLL_MAX  3869 ALTIM_PING_DEPTH  150
D_SURF  3 FIX_MISSING_TIMEOUT  0 ROLL_DEG  40 ALTIM_PING_DELTA  25
D_FLARE  4 TGT_DEFAULT_LAT  62 C_ROLL_DIVE  2600 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LON  -6.8000002 C_ROLL_CLIMB  2300 ALTIM_PULSE  5
D_ABORT  1090 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  15 ALTIM_SENSITIVITY  4
D_NO_BLEED  200 SM_CC  250 ROLL_CNV  0.028270001 XPDR_VALID  3
D_FINISH  0 N_FILEKB  4 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_PITCH  0 FILEMGR  0 R_PORT_OVSHOOT  26 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 CALL_NDIVES  1 R_STBD_OVSHOOT  27 INT_PRESSURE_YINT  20
D_CALL  0 COMM_SEQ  0 ROLL_AD_RATE  400 DEEPGLIDER  0
SURFACE_URGENCY  0 KERMIT  0 ROLL_MAXERRORS  1 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOCOMM  1 ROLL_ADJ_GAIN  0 MOTHERBOARD  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 ROLL_ADJ_DBAND  0 DEVICE1  2
T_DIVE  440 UPLOAD_DIVES_MAX  -1 VBD_MIN  509 DEVICE2  20
T_MISSION  480 CALL_TRIES  5 VBD_MAX  3836 DEVICE3  35
T_ABORT  1440 CALL_WAIT  60 C_VBD  2817 DEVICE4  -1
T_TURN  225 CAPUPLOAD  0 VBD_DBAND  2 DEVICE5  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 VBD_CNV  -0.24529999 DEVICE6  -1
T_NO_W  200 HEAPDBG  0 VBD_TIMEOUT  720 SMARTS  0
USE_BATHY  0 T_GPS  15 PITCH_VBD_SHIFT  0.00109 SMARTDEVICE1  -1
USE_ICE  0 N_GPS  20 VBD_PUMP_AD_RATE_SURFACE  5 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_APOGEE  3 COMPASS_DEVICE  33
D_OFFGRID  1001 T_GPS_CHARGE  -2109866 VBD_BLEED_AD_RATE  4 COMPASS2_DEVICE  -1
T_WATCHDOG  10 T_RSLEEP  27 UNCOM_BLEED  20 PHONE_DEVICE  16
RELAUNCH  1 RAFOS_PEAK_OFFSET  1.5 VBD_MAXERRORS  1 GPS_DEVICE  32
APOGEE_PITCH  -5 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  2 RAFOS_DEVICE  -1
MAX_BUOY  150 RAFOS_HIT_WINDOW  3600 AH0_24V  100 XPDR_DEVICE  21
COURSE_BIAS  0 PITCH_MIN  78 AH0_10V  61.200001 SIM_W  0
GLIDE_SLOPE  30 PITCH_MAX  3321 PHONE_SUPPLY  2 SIM_PITCH  0
SPEED_FACTOR  1 C_PITCH  2360 PRESSURE_YINT  -20.343216 SEABIRD_T_G  0.0043199998
RHO  1.023 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.0001162269 SEABIRD_T_H  0.000619
MASS  52000 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_T_I  2.055e-05
NAV_MODE  0 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_T_J  1.86e-06
FERRY_MAX  22 PITCH_GAIN  16 TCM_ROLL_OFFSET  0 SEABIRD_C_G  -9.8699999
KALMAN_USE  2 PITCH_TIMEOUT  15 COMPASS_USE  0 SEABIRD_C_H  1.1
HD_A  0.0038945 PITCH_AD_RATE  150 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_I  -0.000612
HD_B  0.0099684997 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.000141
HD_C  2.576e-06 PITCH_ADJ_GAIN  0.039999999 ALTIM_BOTTOM_TURN_MARGIN  10

Pre-dive calculations and measurements:
GPS1  065936,6353.119,-1316.113,37,1.3,42,-12.5 TGT_NAME  K1
_CALLS  1 TGT_LATLONG  6350.000,-1310.000
_XMS_NAKs  19 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.081,-0.225
_SM_DEPTHo  1.48 KALMAN_X  -87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo  -60.6 KALMAN_Y  197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2  070619,6353.112,-1316.230,11,1.8,16,-12.5 MHEAD_RNG_PITCHd_Wd  151.1,7689,-13.9,-7.500
SPEED_LIMITS  0.130,0.240 D_GRID  990

Post-dive calculations and measurements:
FINISH  1.4,1.026635 ALTIM_BOTTOM_PING  775.1,76.7
SM_CCo  19487,0.00,0.000,0,0,1777,255.11 _24V_AH  23.6,23.687
SM_GC  1.60,11.73,0.00,0.00,0.080,0.000,0.000,73,2607,1777,-10.47,0.23,255.11 _10V_AH  10.1,11.680
IRIDIUM_FIX  0.00,0.00,010170,000000 DATA_FILE_SIZE  47349,930
TT8_MAMPS  0.023777 CAP_FILE_SIZE  147901,0
HUMID  1731 CFSIZE  260165632,251068416
TCM_TEMP  17.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS  0 GPS  290609,123237,6351.329,-1317.323,37,1.4,37,-12.5

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor27179115.21 SBE_CT68524388.45
Roll_motor19276348.13 SBE_O263519284.75
VBD_pump_during_apogee35811299548.22 WL_BB2F5431051346.01
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init1810343.91 nil000.00
Iridium_during_connect28160108.51 nil000.00
Iridium_during_xfer2452231293.56
Transponder_ping642066.91
Mmodem_TX000.00
Mmodem_RX000.00
GPS15508.08
TT8173319346.67
LPSleep149712331.16
TT8_Active52719105.39
TT8_Sampling206539830.28
TT8_CF859345274.59
TT8_Kalman0810.00
Analog_circuits159012192.79
GPS_charging000.00
Compass20108162.47
RAFOS000.00
Transponder463014.06

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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
15 -1.03 -146.6 0.0 0.0 0 98 0.00 0.00 -80.88 0.000 2 0.000 0.000 71 2605 3084
101 -1.03 -146.6 4.0 -4.1 4 126 11.93 2.35 -6.35 0.000 4 0.179 0.077 2132 3846 3417
177 -0.98 -146.6 17.5 -10.2 7 183 0.00 2.15 0.00 0.000 6 0.000 0.026 2131 2569 3418
493 -0.98 -146.6 47.2 -9.2 23 494 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2569 3418
804 -0.98 -146.6 74.0 -8.6 38 808 0.00 2.40 0.00 0.000 4 0.000 0.039 2132 1209 3418
853 -0.98 -146.6 78.5 -8.2 40 857 0.00 2.45 0.00 0.000 6 0.000 0.035 2132 2600 3418
1171 -0.98 -146.6 105.6 -8.7 55 1175 0.00 2.33 0.00 0.000 4 0.000 0.064 2132 3860 3418
1211 -0.98 -146.6 109.5 -9.7 57 1214 0.00 2.12 0.00 0.000 6 0.000 0.027 2132 2600 3418
1543 -0.98 -146.6 139.3 -9.3 73 1547 0.00 2.45 0.00 0.000 4 0.000 0.039 2132 1210 3418
1584 -0.98 -146.6 143.0 -9.6 75 1588 0.00 2.45 0.00 0.000 6 0.000 0.036 2132 2602 3419
1911 -0.98 -146.6 174.7 -10.1 91 1916 0.00 2.33 0.00 0.000 4 0.000 0.064 2132 3861 3418
1944 -0.98 -146.6 178.3 -11.4 92 1947 0.00 2.12 0.00 0.000 6 0.000 0.027 2132 2600 3418
2265 -0.98 -146.6 210.0 -9.7 108 2269 0.00 2.45 0.00 0.000 4 0.000 0.040 2132 1212 3418
2304 -0.98 -146.6 213.6 -9.3 110 2309 0.00 2.45 0.00 0.000 6 0.000 0.036 2132 2608 3419
2631 -0.98 -146.6 244.0 -9.6 126 2633 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2608 3419
2941 -0.98 -146.6 273.8 -10.0 141 2942 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2608 3418
3250 -0.98 -146.6 305.1 -10.2 156 3254 0.00 2.45 0.00 0.000 4 0.000 0.039 2132 1217 3418
3291 -1.03 -146.6 308.9 -9.3 158 3295 0.00 2.45 0.00 0.000 6 0.000 0.036 2132 2606 3418
3617 -1.03 -146.6 341.1 -9.9 174 3618 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2606 3418
3927 -1.03 -146.6 370.1 -9.2 189 3931 0.00 2.45 0.00 0.000 4 0.000 0.039 2132 1215 3418
3971 -1.08 -146.6 374.4 -9.4 191 3975 0.00 2.42 0.00 0.000 6 0.000 0.036 2132 2599 3417
4291 -1.08 -146.6 402.7 -8.7 207 4296 0.00 2.45 0.00 0.000 4 0.000 0.038 2132 1205 3418
4321 -1.08 -146.6 405.0 -8.5 208 4325 0.00 2.45 0.00 0.000 6 0.000 0.036 2132 2602 3418
4636 -1.08 -146.6 430.5 -8.2 223 4637 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2602 3418
4945 -1.08 -146.6 456.9 -8.8 238 4949 0.00 2.45 0.00 0.000 4 0.000 0.039 2132 1211 3418
4979 -1.12 -146.6 459.8 -8.3 239 4984 0.00 2.45 0.00 0.000 6 0.000 0.036 2132 2608 3418
5295 -1.12 -146.6 487.9 -8.7 254 5296 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2608 3418
5604 -1.12 -146.6 514.7 -8.6 269 5608 0.00 2.45 0.00 0.000 4 0.000 0.039 2132 1216 3418
5637 -1.12 -146.6 517.7 -8.6 270 5643 0.00 2.42 0.00 0.000 6 0.000 0.037 2132 2600 3418
5953 -1.12 -146.6 544.0 -7.8 286 5954 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2600 3418
6263 -1.12 -146.6 564.2 -6.2 301 6267 0.00 2.45 0.00 0.000 4 0.000 0.040 2132 1207 3417
6291 -1.12 -146.6 566.1 -6.7 302 6295 0.00 2.45 0.00 0.000 6 0.000 0.036 2132 2601 3418
6612 -1.12 -146.6 587.6 -6.6 318 6616 0.00 2.45 0.00 0.000 4 0.000 0.039 2131 1211 3417
6652 -1.17 -146.6 590.2 -6.3 320 6657 0.12 2.45 0.00 0.000 6 0.047 0.036 2091 2607 3417
6980 -1.06 -146.6 618.8 -8.8 336 6985 0.17 2.33 0.00 0.000 4 0.099 0.069 2124 3857 3417
7052 -1.06 -146.6 626.6 -11.6 339 7056 0.00 2.12 0.00 0.000 6 0.000 0.028 2124 2595 3418
7373 -1.06 -146.6 661.6 -10.3 355 7377 0.00 2.35 0.00 0.000 4 0.000 0.067 2124 3857 3417
7430 -1.06 -146.6 667.8 -10.9 357 7437 0.00 2.12 0.00 0.000 6 0.000 0.028 2124 2606 3418
7747 -1.06 -146.6 701.5 -11.1 373 7751 0.00 2.47 0.00 0.000 4 0.000 0.045 2124 1211 3417
7854 -1.13 -146.6 712.6 -9.7 378 7858 0.00 2.42 0.00 0.000 6 0.000 0.038 2124 2599 3417
8187 -1.13 -146.6 744.6 -9.0 394 8191 0.00 2.45 0.00 0.000 4 0.000 0.041 2124 1209 3417
8295 -1.17 -146.6 753.1 -8.1 399 8299 0.00 2.45 0.00 0.000 6 0.000 0.039 2124 2598 3416
8623 -1.17 -146.6 776.5 -7.1 415 8627 0.00 2.47 0.00 0.000 4 0.000 0.042 2124 1204 3416
8702 -1.23 -146.6 782.3 -7.3 418 8708 0.15 2.47 0.00 0.000 6 0.048 0.040 2081 2600 3416
9018 -1.12 -146.6 811.5 -9.2 434 9019 0.17 0.00 0.00 0.000 6 0.100 0.000 2114 2600 3415
9326 -1.12 -146.6 837.9 -9.1 449 9331 0.00 2.47 0.00 0.000 4 0.000 0.045 2114 1211 3414
9360 -1.12 -146.6 840.5 -8.6 450 9366 0.00 2.47 0.00 0.000 6 0.000 0.042 2114 2605 3414
9384 end dive: BOTTOM_OBSTACLE_DETECTED
state 9384 begin apogee
9391 -0.31 0.0 843.1 9.4 452 9527 0.88 0.00 131.32 1.129 6 0.106 0.000 2289 2307 2817
9528 end apogee: CONTROL_FINISHED_OK
state 9528 begin climb
9531 1.03 146.6 849.1 0.0 459 9676 1.38 2.78 132.12 1.120 4 0.074 0.072 2579 3705 2218
9917 0.88 146.6 826.2 9.7 476 9922 0.15 2.45 0.00 0.000 6 0.114 0.033 2553 2314 2213
10233 0.83 149.3 802.9 7.4 491 10237 0.00 2.60 0.00 0.000 4 0.000 0.054 2553 894 2210
10255 0.76 149.3 800.7 9.2 492 10260 0.15 2.50 0.00 0.000 6 0.097 0.038 2525 2303 2209
10576 0.76 149.3 774.3 8.8 508 10580 0.00 2.58 0.00 0.000 4 0.000 0.050 2524 890 2208
10631 0.76 149.3 769.2 9.5 510 10637 0.00 2.50 0.00 0.000 6 0.000 0.037 2524 2301 2207
10947 0.76 149.3 740.3 9.8 526 10948 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2302 2207
11256 0.76 149.3 711.3 8.7 541 11261 0.00 2.55 0.00 0.000 4 0.000 0.048 2525 895 2207
11351 0.76 149.3 703.7 7.6 545 11356 0.00 2.50 0.00 0.000 6 0.000 0.038 2525 2309 2205
11667 0.85 232.6 686.6 4.7 560 11749 0.10 0.00 76.47 1.036 6 0.060 0.000 2555 2309 1867
12062 0.85 232.6 656.1 8.7 579 12066 0.00 2.58 0.00 0.000 4 0.000 0.048 2555 892 1859
12128 0.85 232.6 648.5 10.7 582 12132 0.00 2.50 0.00 0.000 6 0.000 0.035 2555 2308 1857
12449 0.85 232.6 619.7 8.1 598 12450 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2308 1857
12759 0.92 253.3 596.8 6.8 613 12783 0.00 2.67 18.42 0.918 4 0.000 0.061 2555 3701 1783
12818 0.92 253.3 592.2 9.0 615 12825 0.00 2.47 0.00 0.000 6 0.000 0.029 2555 2294 1782
13135 0.97 253.3 567.6 8.2 631 13136 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2294 1780
13444 1.03 253.3 542.7 8.2 646 13449 0.15 2.60 0.00 0.000 4 0.056 0.058 2594 3707 1780
13471 0.97 253.3 539.8 10.4 647 13476 0.12 2.45 0.00 0.000 6 0.108 0.028 2572 2298 1780
13787 0.97 253.3 513.2 8.3 662 13791 0.00 2.50 0.00 0.000 4 0.000 0.048 2572 898 1779
13820 0.97 253.3 510.2 8.7 663 13824 0.00 2.47 0.00 0.000 6 0.000 0.034 2572 2311 1778
14136 0.97 253.3 483.6 8.8 678 14140 0.00 2.55 0.00 0.000 4 0.000 0.058 2572 3705 1779
14163 0.97 253.3 481.0 9.3 679 14167 0.00 2.45 0.00 0.000 6 0.000 0.028 2572 2293 1779
14478 0.97 253.3 454.1 8.5 694 14479 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2293 1778
14787 0.97 253.3 424.9 9.7 709 14789 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2293 1779
15097 0.97 253.3 392.9 10.1 724 15101 0.00 2.58 0.00 0.000 4 0.000 0.058 2572 3701 1780
15124 0.97 253.3 389.9 10.9 725 15128 0.00 2.42 0.00 0.000 6 0.000 0.028 2572 2298 1779
15439 0.97 253.3 358.3 9.6 740 15443 0.00 2.47 0.00 0.000 4 0.000 0.045 2572 901 1779
15455 0.97 253.3 356.7 9.1 740 15462 0.00 2.45 0.00 0.000 6 0.000 0.033 2572 2309 1779
15772 0.97 253.3 327.4 9.2 756 15776 0.00 2.55 0.00 0.000 4 0.000 0.058 2573 3707 1780
15805 0.97 253.3 323.9 9.7 757 15809 0.00 2.45 0.00 0.000 6 0.000 0.028 2572 2293 1779
16121 0.97 253.3 293.4 10.0 772 16124 0.00 2.47 0.00 0.000 4 0.000 0.044 2572 893 1780
16144 0.97 253.3 291.0 10.2 773 16148 0.00 2.45 0.00 0.000 6 0.000 0.033 2572 2302 1779
16470 0.97 253.3 257.7 9.9 789 16474 0.00 2.55 0.00 0.000 4 0.000 0.058 2572 3700 1780
16504 0.97 253.3 254.2 10.6 790 16510 0.00 2.42 0.00 0.000 6 0.000 0.028 2572 2293 1780
16820 0.97 253.3 224.0 9.1 806 16821 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2292 1780
17129 0.97 253.3 197.0 8.6 821 17133 0.00 2.58 0.00 0.000 4 0.000 0.056 2572 3700 1779
17150 0.97 253.3 194.9 8.6 822 17155 0.00 2.42 0.00 0.000 6 0.000 0.028 2572 2296 1780
17472 0.97 253.3 167.1 8.7 838 17473 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2296 1780
17781 0.97 253.3 139.3 9.0 853 17786 0.00 2.58 0.00 0.000 4 0.000 0.056 2572 3702 1780
17821 0.97 253.3 135.3 9.9 855 17825 0.00 2.40 0.00 0.000 6 0.000 0.028 2572 2299 1781
18155 0.97 253.3 105.0 8.7 871 18159 0.00 2.50 0.00 0.000 4 0.000 0.044 2572 892 1780
18182 0.97 253.3 102.2 10.0 872 18186 0.00 2.45 0.00 0.000 6 0.000 0.033 2572 2304 1780
18500 0.97 253.3 75.6 8.1 887 18504 0.00 2.50 0.00 0.000 4 0.000 0.043 2572 895 1780
18595 0.97 253.3 67.4 9.0 891 18599 0.00 2.45 0.00 0.000 6 0.000 0.033 2572 2304 1781
18912 0.97 253.3 42.1 7.7 906 18916 0.00 2.55 0.00 0.000 4 0.000 0.058 2572 3701 1780
18967 0.97 253.3 37.1 8.7 908 18974 0.00 2.42 0.00 0.000 6 0.000 0.028 2572 2293 1780
19284 1.02 253.3 11.7 8.0 924 19288 0.00 2.58 0.00 0.000 4 0.000 0.055 2572 3704 1781
19373 1.02 253.3 3.9 8.8 928 19377 0.00 2.42 0.00 0.000 6 0.000 0.028 2572 2296 1781
19382 end climb: SURFACE_DEPTH_REACHED
state 19382 begin surface coast
19404 end surface coast: CONTROL_FINISHED_OK
state 19404 begin surface