DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 139 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  1 HEADING  -1 ROLL_MIN  300 ALTIM_BOTTOM_TURN_MARGIN  0
MISSION  14 ESCAPE_HEADING  0 ROLL_MAX  3750 ALTIM_TOP_TURN_MARGIN  0
DIVE  139 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_TOP_MIN_OBSTACLE  1
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  2025 ALTIM_PING_DEPTH  0
D_FLARE  3 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  2025 ALTIM_PING_DELTA  0
D_TGT  990 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_FREQUENCY  13
D_ABORT  1090 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_PULSE  3
D_NO_BLEED  50 SM_CC  275 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  2
D_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  2 XPDR_VALID  0
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  3 XPDR_INHIBIT  90
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  400 INT_PRESSURE_SLOPE  0.0072730002
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 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  500 MOTHERBOARD  5
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_MAX  3500 DEVICE1  2
T_DIVE  470 CALL_TRIES  5 C_VBD  2500 DEVICE2  -1
T_MISSION  530 CALL_WAIT  60 VBD_DBAND  2 DEVICE3  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_CNV  -0.24529999 DEVICE4  -1
T_TURN  225 CAPMAXSIZE  100000 VBD_TIMEOUT  540 DEVICE5  -1
T_TURN_SAMPINT  5 HEAPDBG  0 PITCH_VBD_SHIFT  0.0012300001 DEVICE6  -1
T_NO_W  120 T_GPS  15 VBD_PUMP_AD_RATE_SURFACE  6 LOGGERS  1
T_LOITER  0 N_GPS  20 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE1  -1
USE_BATHY  -2 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  0 T_GPS_CHARGE  -222245.78 UNCOM_BLEED  250 COMPASS_DEVICE  1
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  2 VBD_MAXERRORS  5 COMPASS2_DEVICE  -1
D_OFFGRID  900 STROBE  0 CF8_MAXERRORS  20 PHONE_DEVICE  32
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_24V  300 GPS_DEVICE  48
RELAUNCH  3 RAFOS_CORR_THRESH  60 AH0_10V  200 RAFOS_DEVICE  48
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_24V  19 XPDR_DEVICE  24
MAX_BUOY  150 PITCH_MIN  450 MINV_10V  8 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3300 FG_AHR_10V  80.977722 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2700 FG_AHR_24V  4.6384406 SEABIRD_T_G  0.0043498399
SPEED_FACTOR  1 PITCH_DBAND  0.1 PHONE_SUPPLY  2 SEABIRD_T_H  0.0006493734
RHO  1.023 PITCH_CNV  0.0046000001 PRESSURE_YINT  -0.036699742 SEABIRD_T_I  2.8112627e-05
MASS  52000 P_OVSHOOT  0.039999999 PRESSURE_SLOPE  9.9999997e-05 SEABIRD_T_J  3.1957888e-06
NAV_MODE  1 PITCH_GAIN  16 AD7714Ch0Gain  1 SEABIRD_C_G  -10.106751
FERRY_MAX  45 PITCH_TIMEOUT  15 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1366181
KALMAN_USE  1 PITCH_AD_RATE  175 TCM_ROLL_OFFSET  0 SEABIRD_C_I  0.00038917549
HD_A  0.0038000001 PITCH_MAXERRORS  1 COMPASS_USE  0 SEABIRD_C_J  7.9540005e-05
HD_B  0.0099999998 PITCH_ADJ_GAIN  0.045000002 ALTIM_BOTTOM_PING_RANGE  0
HD_C  2.7999999e-06 PITCH_ADJ_DBAND  1 ALTIM_TOP_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  054121,6646.094,-5936.462,26,1.1,26,18.0 TGT_NAME  HOLD
_CALLS  1 TGT_LATLONG  6400.000,-5448.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.141,-0.187
_SM_DEPTHo  0.05 KALMAN_X  -49893.8,540.7,2789.9,-5971.1,-9485.4
_SM_ANGLEo  -50.0 KALMAN_Y  16015.0,747.0,4312.3,-33201.4,-16201.2
GPS2  054746,6646.111,-5936.829,16,1.1,16,18.0 MHEAD_RNG_PITCHd_Wd  125.0,386816,-13.0,-7.021
SPEED_LIMITS  0.122,0.234 D_GRID  900

Post-dive calculations and measurements:
FINISH  1.6,1.012692 _24V_AH  23.9,287.436
SM_CCo  24663,0.00,0.000,0,0,1343,283.81 _10V_AH  10.7,42.135
SM_GC  0.04,14.73,0.00,0.00,0.000,0.007,0.007,467,2018,1343,-9.85,-0.23,283.81 FG_AHR_24Vo  4.638
SUPER  3,206,254,0,0,0 FG_AHR_10Vo  81.206
RAFOS_CLK  0 MEM  330724
RAFOS  0,1256112245,8.083333,8.068055,80,0,0,0,0,0,600,0,0,0,0,0 DATA_FILE_SIZE  75509,2277
RAFOS_FIX  6647.027832,-6123.166504,211009,080836,5,80,8.20 CAP_FILE_SIZE  290022,8
IRIDIUM_FIX  0.00,0.00,010170,000000 CFSIZE  260165632,240984064
HUMID  1078208738 ERRORS  0,1,0,0,0,0,0,0,1,0,0,85,1401,3,0
INTERNAL_PRESSURE  16.1349 SOUNDSPEED  1459.1
TCM_TEMP  15.00 GPS  211009,124150,6645.275,-5928.829,17,1.1,17,18.0
XPDR_PINGS  -1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor57119163.46 SBE_CT136624783.58
Roll_motor27260390.12 nil000.00
VBD_pump_during_apogee450130014011.02 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init01030.00 nil000.00
Iridium_during_connect000.00 nil000.00
Iridium_during_xfer123223656.12
Transponder_ping000.00
GUMSTIX_24V000.00
GPS16509.09
TT8392119835.74
LPSleep166572411.72
TT8_Active121819259.65
TT8_Sampling2518391075.58
TT8_CF872545356.44
TT8_Kalman338129.25
Analog_circuits146512188.13
GPS_charging000.00
Compass241126670.95
RAFOS3240152.00
Transponder350.18

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
25 end surface: CONTROL_FINISHED_OK
state 25 begin dive
27 -0.99 -146.6 0.0 0.0 0 88 0.00 0.00 -57.88 0.000 2 0.007 0.000 438 1721 2373 0 0 0 0 0 0
92 -0.99 -146.6 3.1 -1.8 12 134 10.43 2.28 -24.27 0.000 4 0.000 0.000 2547 381 3105 11 0 13 0 0 0
388 -0.93 -146.6 34.9 -6.8 52 403 0.77 3.60 0.00 0.007 6 0.000 0.000 2419 2369 3106 2 0 18 0 0 0
592 -0.83 -146.6 48.7 -8.3 71 609 0.65 3.58 0.00 0.007 4 0.000 0.000 2582 445 3104 1 0 19 0 0 0
861 -0.94 -146.6 66.5 -5.9 94 872 0.57 3.15 0.00 0.007 6 0.000 0.000 2428 2220 3101 1 0 15 0 0 0
1196 -0.94 -146.6 91.6 -8.1 126 1212 0.45 3.12 0.00 0.007 4 0.007 0.000 2560 461 3103 0 0 13 0 0 0
1465 -0.99 -146.6 110.7 -6.7 149 1476 0.68 3.15 0.00 0.000 6 0.000 0.000 2435 2230 3102 1 0 16 0 0 0
1801 -1.05 -146.6 132.6 -6.5 181 1821 0.25 2.92 0.00 0.007 4 0.000 0.000 2525 432 3103 0 0 15 0 0 0
2072 -1.05 -146.6 152.4 -7.7 204 2080 0.35 3.22 0.00 0.007 6 0.007 0.000 2445 2130 3104 1 0 15 0 0 0
2398 -1.09 -146.6 176.8 -7.8 235 2414 0.00 3.75 0.00 0.007 4 0.007 0.000 2441 490 3105 0 0 21 0 0 0
2665 -1.09 -146.6 199.1 -8.3 258 2672 0.00 3.60 0.00 0.000 6 0.007 0.000 2447 2299 3101 0 0 19 0 0 0
2990 -1.09 -146.6 226.9 -7.9 289 3006 0.00 3.65 0.00 0.007 4 0.007 0.000 2449 244 3103 0 0 22 0 0 0
3258 -1.09 -146.6 248.9 -8.0 312 3269 0.00 3.90 0.00 0.007 6 0.007 0.000 2446 2152 3103 0 0 23 0 0 0
3593 -1.09 -146.6 274.0 -7.1 344 3600 0.00 3.00 0.00 0.007 4 0.000 0.000 2444 444 3098 0 0 11 0 0 0
3851 -1.09 -146.6 292.9 -7.1 366 3859 0.00 3.40 0.00 0.007 6 0.007 0.000 2445 2438 3105 0 0 17 0 0 0
4177 -1.19 -146.6 314.9 -6.2 397 4192 0.00 4.00 0.00 0.007 4 0.007 0.000 2444 377 3101 0 0 17 0 0 0
4445 -1.30 -146.6 329.8 -6.0 420 4455 0.40 3.40 0.00 0.007 6 0.000 0.000 2362 2120 3114 1 0 16 0 0 0
4780 -1.39 -146.6 348.7 -4.9 452 4796 0.28 3.58 0.00 0.007 4 0.007 0.000 2465 521 3105 0 0 21 0 0 0
5049 -1.50 -146.6 362.1 -4.7 475 5059 1.00 3.53 0.00 0.007 6 0.000 0.000 2334 2150 3103 3 0 22 0 0 0
5384 -1.59 -146.6 380.4 -5.2 507 5399 0.00 3.58 0.00 0.000 4 0.007 0.000 2329 540 3097 0 0 21 0 0 0
5652 -1.69 -146.6 394.6 -5.4 530 5659 0.00 2.80 0.00 0.007 6 0.007 0.000 2335 2222 3103 0 0 16 0 0 0
5984 -1.79 -146.6 413.8 -5.2 562 5999 0.30 2.80 0.00 0.007 4 0.000 0.000 2222 403 3103 1 0 16 0 0 0
6251 -1.72 -146.6 428.9 -7.1 585 6259 0.73 2.92 0.00 0.007 6 0.000 0.000 2387 2176 3103 1 0 14 0 0 0
6584 -1.77 -146.6 450.2 -5.5 617 6599 0.57 3.03 0.00 0.000 4 0.000 0.000 2257 331 3114 1 0 16 0 0 0
6852 -1.83 -146.6 464.7 -5.5 640 6862 0.30 3.42 0.00 0.007 6 0.000 0.000 2333 2216 3103 1 0 16 0 0 0
7187 -1.83 -146.6 483.2 -5.8 672 7202 0.30 3.05 0.00 0.024 4 0.024 0.000 2241 470 3103 1 0 13 0 0 0
7454 -1.70 -146.6 502.5 -7.1 695 7465 0.75 3.08 0.00 0.007 6 0.000 0.000 2407 2208 3112 1 0 15 0 0 0
7789 -1.76 -146.6 520.0 -4.7 727 7805 0.68 3.25 0.00 0.007 4 0.000 0.000 2241 400 3098 1 0 18 0 0 0
8058 -1.63 -146.6 537.0 -7.4 750 8068 0.60 3.17 0.00 0.000 6 0.000 0.000 2379 2241 3105 1 0 16 0 0 0
8393 -1.69 -146.6 557.0 -5.2 782 8410 0.30 3.53 0.00 0.007 4 0.000 0.000 2290 421 3105 1 0 18 0 0 0
8663 -1.59 -146.6 571.6 -6.4 805 8673 1.10 2.80 0.00 0.007 6 0.000 0.000 2490 2140 3103 2 0 13 0 0 0
8998 -1.65 -146.6 590.7 -4.6 837 9014 1.23 2.75 0.00 0.007 4 0.000 0.000 2274 445 3103 1 0 12 0 0 0
9267 -1.72 -146.6 603.7 -5.0 860 9277 0.32 2.95 0.00 0.007 6 0.007 0.000 2313 2134 3104 1 0 14 0 0 0
9601 -1.72 -146.6 620.6 -4.9 892 9617 0.00 3.30 0.00 0.007 4 0.007 0.000 2316 488 3104 0 0 17 0 0 0
9871 -1.81 -146.6 633.6 -5.2 915 9880 0.00 3.25 0.00 0.007 6 0.000 0.000 2311 2234 3104 0 0 15 0 0 0
10205 -1.73 -146.6 653.5 -6.4 947 10220 0.00 3.03 0.00 0.007 4 0.000 0.000 2313 494 3101 0 0 14 0 0 0
10472 -1.80 -146.6 667.3 -4.9 970 10482 0.00 3.55 0.00 0.007 6 0.007 0.000 2316 2175 3100 0 0 18 0 0 0
10806 -1.80 -146.6 685.4 -5.4 1002 10821 0.00 3.33 0.00 0.007 4 0.000 0.000 2316 566 3104 0 0 18 0 0 0
11073 -1.80 -146.6 699.9 -5.4 1025 11082 0.00 3.28 0.00 0.007 6 0.007 0.000 2317 2129 3103 0 0 19 0 0 0
11406 -1.80 -146.6 717.6 -5.0 1057 11421 0.00 3.28 0.00 0.000 4 0.007 0.000 2318 291 3107 0 0 19 0 0 0
11673 -1.80 -146.6 732.1 -5.3 1080 11681 0.00 3.70 0.00 0.007 6 0.007 0.000 2313 2132 3103 0 0 19 0 0 0
12005 -1.80 -146.6 749.9 -5.0 1112 12020 0.00 3.35 0.00 0.007 4 0.007 0.000 2316 352 3103 0 0 16 0 0 0
12273 -1.80 -146.6 764.0 -5.1 1135 12279 0.00 3.20 0.00 0.007 6 0.007 0.000 2314 2137 3103 0 0 12 0 0 0
12605 -1.80 -146.6 782.0 -5.5 1167 12620 0.00 3.08 0.00 0.007 4 0.007 0.000 2316 436 3104 0 0 19 0 0 0
12872 -1.80 -146.6 798.9 -6.7 1190 12882 0.00 3.70 0.00 0.007 6 0.007 0.000 2316 2217 3104 0 0 21 0 0 0
13208 -1.80 -146.6 819.5 -6.0 1222 13223 0.00 3.33 0.00 0.007 4 0.007 0.000 2314 603 3102 0 0 14 0 0 0
13475 -1.80 -146.6 836.9 -5.6 1245 13481 0.00 2.90 0.00 0.007 6 0.007 0.000 2315 2184 3104 0 0 13 0 0 0
13799 -1.80 -146.6 858.0 -6.3 1276 13814 0.00 3.22 0.00 0.007 4 0.000 0.000 2314 494 3103 0 0 20 0 0 0
14067 -2.10 -146.6 874.2 -2.7 1299 14077 0.77 2.70 0.00 0.007 6 0.000 0.000 2169 2024 3103 2 0 13 0 0 0
14402 -3.25 -146.6 855.5 6.2 1331 14418 1.08 2.92 0.00 0.007 4 0.000 0.000 1925 576 3103 3 0 15 0 0 0
14671 -3.25 -146.6 837.3 7.5 1354 14681 0.57 2.95 0.00 0.007 6 0.000 0.000 2048 2307 3114 1 0 13 0 0 0
15006 -3.25 -146.6 813.2 7.2 1386 15021 0.52 3.65 0.00 0.007 4 0.000 0.000 1908 451 3102 1 0 18 0 0 0
15274 -3.25 -146.6 798.7 4.3 1409 15286 0.77 3.53 0.00 0.007 6 0.000 0.000 2099 2413 3105 1 0 20 0 0 0
15611 -3.25 -146.6 776.2 6.1 1441 15626 0.85 3.95 0.00 0.007 4 0.000 0.000 1908 521 3104 2 0 19 0 0 0
15879 -3.25 -146.6 753.6 10.1 1464 15889 0.85 2.80 0.00 0.007 6 0.000 0.000 2091 2167 3106 3 0 14 0 0 0
15913 end dive: HALF_MISSION_TIME_EXCEEDED
state 15913 begin apogee
15921 -0.31 0.0 750.1 -9.6 1468 16072 2.95 0.00 143.50 0.000 6 0.000 0.007 2683 1914 2509 2 0 0 0 0 0
16075 end apogee: CONTROL_FINISHED_OK
state 16075 begin climb
16077 0.99 146.6 735.5 0.0 1483 16243 1.20 3.03 144.60 0.000 4 0.000 0.000 2947 3563 1906 2 0 17 0 1 0
16497 1.24 214.2 704.5 4.9 1521 16580 0.50 2.70 66.40 0.000 6 0.007 0.000 3071 2036 1650 1 0 13 0 1 0
16899 1.43 214.2 677.7 8.6 1559 16912 0.50 2.83 3.33 0.000 4 0.000 0.000 2967 418 1644 1 0 13 0 0 0
17074 1.55 214.2 662.5 9.6 1574 17087 0.52 3.03 4.68 0.000 6 0.000 0.000 3092 2217 1622 1 0 16 0 0 0
17404 1.62 214.2 623.0 7.6 1605 17419 0.43 3.10 0.00 0.007 4 0.000 0.000 3005 3622 1630 1 0 17 0 0 0
17671 1.69 214.2 603.7 8.6 1628 17683 0.35 3.53 0.08 0.007 6 0.000 0.000 3087 1812 1630 1 0 17 0 0 0
18007 1.64 214.2 569.5 9.1 1660 18024 0.35 2.78 1.02 0.000 4 0.000 0.000 3004 3592 1627 1 0 14 0 0 0
18276 1.76 221.8 548.3 6.8 1683 18287 0.60 3.12 1.00 0.000 6 0.000 0.000 3126 1857 1630 1 0 15 0 0 0
18612 2.32 221.8 522.9 9.1 1715 18623 0.50 2.90 3.55 0.000 4 0.000 0.000 3256 3562 1623 1 0 14 0 0 0
18747 2.41 221.8 509.4 10.2 1727 18763 0.57 3.05 0.68 0.000 6 0.000 0.000 3130 1806 1624 2 0 17 0 0 0
19077 2.03 221.8 473.0 15.5 1758 19092 0.00 2.85 5.07 0.000 4 0.007 0.000 3127 3469 1611 0 0 16 0 0 0
19345 2.03 221.8 448.0 7.2 1782 19361 0.00 3.15 0.90 0.000 6 0.007 0.000 3128 1843 1607 0 0 16 0 0 0
19674 2.03 221.8 421.0 8.2 1813 19690 0.00 2.85 2.00 0.000 4 0.007 0.000 3128 3589 1611 0 0 17 0 0 0
19943 2.13 240.9 398.9 6.4 1836 19974 0.32 3.67 20.23 0.000 6 0.007 0.000 3169 1877 1531 1 0 19 0 0 0
20298 2.13 240.9 370.4 8.8 1870 20314 0.00 3.17 0.17 0.007 4 0.007 0.000 3169 3621 1524 0 0 17 0 0 0
20566 2.06 240.9 346.2 10.2 1893 20576 0.00 3.60 0.17 0.007 6 0.000 0.000 3167 1926 1534 0 0 21 0 0 0
20901 2.20 248.5 321.5 6.8 1925 20917 0.00 2.83 9.73 0.000 4 0.000 0.000 3173 3546 1498 0 0 13 0 0 0
21170 2.20 248.5 298.3 8.9 1948 21182 0.00 3.53 1.30 0.000 6 0.007 0.000 3172 1849 1498 0 0 19 0 0 0
21506 2.20 248.5 268.3 8.9 1980 21522 0.00 3.50 0.15 0.000 4 0.007 0.000 3170 3785 1499 0 0 19 0 0 0
21774 2.33 250.2 245.9 7.0 2003 21785 0.57 3.40 0.47 0.000 6 0.000 0.000 3288 1839 1503 2 0 20 0 0 0
22110 2.56 264.1 220.8 6.6 2035 22146 0.30 3.62 14.40 0.000 4 0.000 0.000 3209 3582 1453 1 0 17 0 1 0
22376 2.75 264.1 201.8 9.5 2058 22387 0.50 3.40 0.82 0.000 6 0.000 0.000 3350 1747 1453 1 0 20 0 0 0
22711 2.38 264.1 169.0 14.0 2090 22727 0.73 3.47 0.00 0.007 4 0.000 0.000 3174 3769 1453 1 0 15 0 0 0
22980 2.59 281.5 151.6 6.5 2113 23000 0.52 3.53 10.12 0.000 6 0.000 0.000 3309 1887 1410 1 0 18 0 0 0
23325 2.51 281.5 116.7 12.3 2146 23340 0.52 2.67 4.78 0.000 4 0.000 0.000 3168 3535 1402 1 0 11 0 0 0
23593 2.63 281.5 92.2 9.6 2170 23610 1.12 3.08 0.03 0.007 6 0.000 0.000 3340 1980 1395 3 0 16 0 0 0
23924 2.45 281.5 57.6 12.4 2201 23939 0.77 3.58 0.00 0.000 4 0.000 0.000 3175 3637 1398 1 0 19 0 0 0
24192 2.55 281.5 28.3 7.2 2224 24204 0.47 3.28 0.70 0.000 6 0.007 0.000 3324 1976 1397 1 0 21 0 0 0
24399 3.00 289.7 16.1 6.8 2248 24414 0.00 2.92 0.28 0.000 4 0.007 0.000 3325 3634 1397 0 0 16 0 0 0
24501 3.14 295.9 9.4 6.8 2265 24529 0.00 3.17 10.80 0.000 6 0.007 0.000 3329 1888 1340 0 0 16 0 0 0
24549 end climb: SURFACE_DEPTH_REACHED
state 24549 begin surface coast
24573 end surface coast: CONTROL_FINISHED_OK
state 24575 begin surface