DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 151 * 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  151 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  1 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  -3 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  0 T_GPS_CHARGE  -222554.45 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  84.058929 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2700 FG_AHR_24V  4.6384478 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  233845,6655.419,-5816.356,15,1.1,15,18.0 TGT_NAME  HOLD
_CALLS  1 TGT_LATLONG  6400.000,-5448.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.133,-0.192
_SM_DEPTHo  0.05 KALMAN_X  4934.3,218.8,-53.8,1008.1,3701.1
_SM_ANGLEo  -50.0 KALMAN_Y  96803.0,521.3,-193.5,-92114.7,4285.8
GPS2  234641,6655.360,-5816.283,21,1.1,22,18.0 MHEAD_RNG_PITCHd_Wd  196.6,366152,-13.0,-7.021
SPEED_LIMITS  0.122,0.234 D_GRID  900

Post-dive calculations and measurements:
FINISH  1.6,1.023797 _24V_AH  23.9,299.298
SM_CCo  25281,0.00,0.000,0,0,585,469.99 _10V_AH  10.7,43.597
SM_GC  0.05,14.18,0.00,0.00,0.000,0.000,0.007,416,1438,585,-9.20,-16.62,469.99 FG_AHR_24Vo  4.638
SUPER  3,206,254,0,0,0 FG_AHR_10Vo  84.307
RAFOS_CLK  0 MEM  337176
RAFOS  0,1256429051,0.083333,0.069722,80,0,0,0,0,0,786,0,0,0,0,0 DATA_FILE_SIZE  78534,2329
RAFOS_FIX  6718.623535,-5641.151367,251009,040448,5,80,4.81 CAP_FILE_SIZE  306109,8
IRIDIUM_FIX  0.00,0.00,010170,000000 CFSIZE  260165632,239427584
HUMID  1078196315 ERRORS  0,0,8,0,0,32,0,0,1,0,0,263,2370,10,0
INTERNAL_PRESSURE  16.3334 SOUNDSPEED  1460.9
TCM_TEMP  15.00 GPS  251009,065135,6654.223,-5807.673,30,1.1,31,18.0
XPDR_PINGS  -1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor104119295.86 SBE_CT138824796.29
Roll_motor35260504.77 nil000.00
VBD_pump_during_apogee641130019943.83 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_xfer1912231019.85
Transponder_ping000.00
GUMSTIX_24V000.00
GPS225011.99
TT8403219859.41
LPSleep160842397.55
TT8_Active140719300.01
TT8_Sampling3412391457.57
TT8_CF882145403.57
TT8_Kalman338129.25
Analog_circuits177512228.00
GPS_charging000.00
Compass328026912.63
RAFOS3600157.78
Transponder350.17

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
24 end surface: CONTROL_FINISHED_OK
state 24 begin dive
27 -0.99 -146.6 0.0 0.0 0 99 0.00 0.00 -68.32 0.000 2 0.007 0.000 627 1282 2657 0 0 0 0 0 0
102 -0.99 -146.6 3.0 -1.3 14 136 10.07 1.73 -14.73 0.000 4 0.000 0.000 2541 528 3121 23 0 12 0 0 0
142 -0.26 -146.6 4.8 -3.8 21 158 0.85 3.50 0.00 0.007 6 0.000 0.000 2814 2795 3121 3 0 22 0 0 0
227 0.09 -146.6 16.7 -14.6 35 243 0.68 3.80 0.00 0.007 4 0.000 0.000 2616 409 3125 2 0 26 0 0 0
495 0.09 -146.6 46.8 -7.7 60 506 0.93 4.68 0.00 0.007 6 0.000 0.000 2832 2700 3119 3 0 33 0 0 0
705 0.09 -146.6 63.7 -8.3 80 719 0.90 4.82 0.00 0.007 4 0.000 0.000 2632 200 3121 3 0 34 0 0 0
971 0.09 -146.6 85.0 -7.8 103 982 0.75 4.62 0.00 0.007 6 0.000 0.000 2829 2359 3120 2 0 31 0 0 0
1308 0.01 -146.6 108.2 -5.6 135 1324 0.88 3.30 0.00 0.007 4 0.000 0.000 2617 189 3121 3 0 23 0 0 0
1576 0.14 -146.6 123.6 -6.6 158 1587 0.85 3.65 0.00 0.007 6 0.000 0.000 2828 2650 3122 3 0 24 0 0 0
1911 0.06 -146.6 147.6 -6.2 190 1927 1.05 3.45 0.00 0.007 4 0.000 0.000 2593 546 3128 3 0 23 0 0 0
2179 0.17 -146.6 166.5 -8.5 213 2192 1.25 3.17 0.00 0.007 6 0.000 0.000 2920 2838 3117 4 0 20 0 0 0
2517 0.08 -146.6 195.1 -6.9 245 2530 1.95 4.38 0.00 0.007 4 0.001 0.000 2467 345 3122 4 0 29 0 0 0
2782 0.08 -146.6 212.3 -5.8 268 2795 1.40 3.95 0.00 0.007 6 0.000 0.000 2809 2728 3124 3 0 27 0 0 0
3119 0.08 -146.6 235.8 -7.2 300 3133 1.15 3.83 0.00 0.007 4 0.000 0.000 2654 578 3122 4 0 25 0 0 0
3385 0.08 -146.6 254.9 -7.2 323 3394 1.25 3.30 0.00 0.000 6 0.000 0.000 2832 2501 3121 4 0 22 0 0 0
3710 0.01 -146.6 275.4 -5.2 354 3726 1.62 3.12 0.00 0.007 4 0.000 0.000 2452 482 3124 3 0 21 0 0 0
3977 -0.06 -146.6 290.5 -5.7 377 3989 1.88 2.70 0.00 0.007 6 0.000 0.000 2892 2496 3121 5 0 16 0 0 0
4313 -0.06 -146.6 311.4 -6.3 409 4327 1.02 4.32 0.00 0.007 4 0.000 0.000 2655 197 3123 2 0 29 0 0 0
4579 -0.06 -146.6 329.1 -6.8 432 4590 1.05 3.53 0.00 0.007 6 0.000 0.000 2960 2517 3121 3 0 24 0 0 0
4914 -0.06 -146.6 351.9 -7.1 464 4925 2.17 4.40 0.00 0.000 4 0.000 0.000 2472 488 3123 5 0 30 0 0 0
5178 -0.16 -146.6 368.8 -5.9 487 5188 1.98 4.25 0.00 0.007 6 0.000 0.000 2915 2762 3120 5 0 28 0 0 0
5508 -0.16 -146.6 388.0 -6.2 518 5521 1.52 4.40 0.00 0.007 4 0.000 0.000 2615 199 3121 3 0 30 0 0 0
5773 -0.16 -146.6 404.0 -6.1 541 5785 1.10 3.40 0.00 0.007 6 0.000 0.000 2928 2521 3123 3 0 23 0 0 0
6110 -0.16 -146.6 424.3 -6.0 573 6120 2.35 4.40 0.00 0.007 4 0.000 0.000 2542 407 3120 5 0 30 0 0 0
6373 -0.11 -146.6 440.8 -5.9 596 6384 1.98 4.28 0.00 0.007 6 0.000 0.000 2998 2768 3121 5 0 30 0 0 0
6703 -0.17 -146.6 458.5 -5.4 627 6713 2.95 3.72 0.00 0.007 4 0.000 0.000 2357 607 3121 6 0 24 0 0 0
6966 -0.24 -146.6 473.4 -5.6 650 6976 1.40 4.03 0.00 0.007 6 0.000 0.000 2735 2808 3121 3 0 28 0 0 0
7301 -0.24 -146.6 495.0 -6.5 682 7312 1.33 5.30 0.00 0.007 4 0.000 0.000 2562 198 3117 4 0 36 0 0 0
7564 -0.24 -146.6 510.9 -5.6 705 7576 0.93 4.78 0.00 0.007 6 0.000 0.000 2805 2788 3124 3 0 32 0 0 0
7900 -0.24 -146.6 530.6 -6.0 737 7918 1.12 3.80 0.00 0.000 4 0.000 0.000 2581 302 3120 4 0 24 0 0 0
8170 -0.19 -146.6 546.7 -6.2 760 8181 0.93 3.80 0.00 0.007 6 0.000 0.000 2851 2517 3123 3 0 26 0 0 0
8506 -0.24 -146.6 566.0 -5.2 792 8518 3.10 3.78 0.00 0.007 4 0.000 0.000 2328 196 3119 8 0 25 0 0 0
8772 -0.24 -146.6 580.6 -5.7 816 8784 2.53 3.75 0.00 0.007 6 0.000 0.000 2941 2487 3123 5 0 25 0 0 0
9101 -0.24 -146.6 600.5 -6.4 847 9114 2.22 3.78 0.00 0.000 4 0.000 0.000 2434 192 3121 5 0 27 0 0 0
9368 -0.24 -146.6 617.3 -6.1 870 9379 1.88 4.93 0.00 0.007 6 0.000 0.000 2917 2254 3124 5 0 33 0 0 0
9697 -0.24 -146.6 638.0 -6.4 901 9713 1.45 2.90 0.00 0.007 4 0.000 0.000 2492 321 3122 2 0 20 0 0 0
9965 -0.17 -146.6 655.7 -6.4 924 9976 2.30 3.72 0.00 0.007 6 0.000 0.000 2807 2434 3121 5 0 25 0 0 0
10295 -0.25 -146.6 674.5 -5.0 955 10311 1.48 3.15 0.00 0.007 4 0.000 0.000 2445 360 3122 4 0 21 0 0 0
10563 -0.13 -146.6 691.6 -7.3 978 10574 1.95 2.85 0.00 0.000 6 0.000 0.000 2934 2527 3122 6 0 18 0 0 0
10899 -0.21 -146.6 712.4 -5.7 1010 10912 1.92 4.22 0.00 0.007 4 0.000 0.000 2503 501 3122 4 0 29 0 0 0
11164 -0.09 -146.6 728.6 -7.1 1033 11175 1.15 3.80 0.00 0.007 6 0.000 0.000 2739 2617 3119 3 0 26 0 0 0
11500 -0.16 -146.6 749.2 -5.2 1065 11516 0.80 4.05 0.00 0.000 4 0.000 0.000 2538 328 3122 2 0 29 0 0 0
11769 -0.16 -146.6 763.4 -5.0 1088 11779 1.02 3.53 0.00 0.007 6 0.000 0.000 2849 2762 3129 3 0 24 0 0 0
12104 -0.16 -146.6 782.1 -6.0 1120 12115 1.12 5.35 0.00 0.007 4 0.000 0.000 2613 445 3123 4 0 36 0 0 0
12368 -0.16 -146.6 797.1 -5.9 1143 12379 0.93 4.65 0.00 0.007 6 0.000 0.000 2820 2872 3124 3 0 31 0 0 0
12704 -0.16 -146.6 815.7 -5.5 1175 12720 1.00 4.03 0.00 0.007 4 0.000 0.000 2591 462 3121 3 0 29 0 0 0
12973 -0.16 -146.6 831.1 -5.8 1198 12983 1.15 2.92 0.00 0.007 6 0.000 0.000 2904 2644 3122 4 0 19 0 0 0
13308 -0.16 -146.6 851.3 -6.0 1230 13323 1.62 5.72 0.00 0.000 4 0.000 0.000 2516 229 3120 3 0 39 0 0 0
13577 -0.10 -146.6 868.2 -5.8 1254 13594 1.00 4.18 0.00 0.007 6 0.000 0.000 2745 2862 3121 3 0 29 0 0 0
13908 -0.20 -146.6 884.9 -4.9 1285 13924 0.98 4.03 0.00 0.007 4 0.000 0.000 2568 417 3121 2 0 27 0 0 0
14177 -0.31 -146.6 898.1 -4.1 1308 14187 0.90 3.78 0.00 0.007 6 0.000 0.000 2762 2595 3118 3 0 26 0 0 0
14223 end dive: TARGET_DEPTH_EXCEEDED
state 14223 begin apogee
14233 -0.31 0.0 900.3 4.7 1313 14397 1.15 0.00 147.35 0.000 6 0.000 0.007 2590 1323 2506 4 0 0 0 0 0
14398 end apogee: CONTROL_FINISHED_OK
state 14398 begin climb
14400 0.99 146.6 907.9 0.0 1329 14567 1.67 4.78 141.18 0.000 4 0.000 0.000 3014 3787 1926 4 0 32 0 2 0
14823 2.65 553.4 928.2 -6.0 1368 15213 1.40 3.83 328.15 0.000 6 0.000 0.000 3346 1146 614 3 0 25 0 8 0
15528 2.74 564.4 892.0 6.7 1436 15544 0.77 3.97 3.97 0.000 4 0.000 0.000 3238 3787 603 2 0 25 0 0 0
15799 3.17 578.9 873.9 6.6 1460 15815 0.85 3.85 0.08 0.000 6 0.000 0.000 3437 1257 605 3 0 26 0 0 0
16129 3.17 582.4 848.3 6.9 1491 16145 1.33 4.10 3.30 0.000 4 0.000 0.000 3335 3513 603 4 0 27 0 0 0
16400 3.07 582.4 828.6 8.1 1515 16416 0.00 3.62 0.22 0.000 6 0.007 0.000 3338 1399 606 0 0 24 0 0 0
16732 3.23 610.7 810.2 6.1 1546 16747 0.00 4.12 0.12 0.007 4 0.000 0.000 3337 3789 603 0 0 27 0 0 0
17000 3.89 610.7 789.1 8.7 1569 17010 0.00 3.40 0.50 0.007 6 0.007 0.000 3336 1482 604 0 0 22 0 0 0
17335 3.47 610.7 746.1 16.2 1601 17351 0.00 3.97 0.12 0.007 4 0.007 0.000 3336 3591 602 0 0 26 0 0 0
17602 3.43 610.7 709.1 9.4 1624 17613 0.00 4.00 0.62 0.000 6 0.007 0.000 3337 1244 606 0 0 27 0 0 0
17937 3.43 610.7 678.4 8.8 1656 17953 0.00 4.45 0.12 0.007 4 0.007 0.000 3334 3786 606 0 0 29 0 0 0
18205 3.43 610.7 657.3 8.2 1679 18216 0.00 4.28 0.20 0.000 6 0.007 0.000 3344 1262 605 0 0 29 0 0 0
18541 3.43 610.7 632.5 8.3 1711 18557 0.00 4.55 0.15 0.007 4 0.000 0.000 3341 3657 605 0 0 30 0 0 0
18810 2.96 610.7 596.0 19.3 1734 18822 0.00 4.32 0.00 0.007 6 0.007 0.000 3335 1499 606 0 0 30 0 0 0
19147 2.90 610.7 545.0 9.0 1766 19162 0.00 3.72 0.12 0.007 4 0.000 0.000 3337 3785 607 0 0 25 0 0 0
19414 2.90 610.7 520.6 8.4 1789 19425 0.00 3.15 1.95 0.000 6 0.000 0.000 3340 1468 607 0 0 20 0 0 0
19750 2.94 610.7 494.8 7.3 1821 19767 0.00 3.72 0.25 0.000 4 0.007 0.000 3339 3787 602 0 0 24 0 0 0
20020 3.00 616.8 475.7 6.8 1844 20042 0.00 5.05 3.45 0.000 6 0.000 0.000 3338 1745 599 0 0 36 0 0 0
20356 3.00 616.8 450.4 7.4 1876 20372 0.00 3.40 0.12 0.007 4 0.007 0.000 3338 3784 600 0 0 23 0 0 0
20624 3.00 616.8 430.5 7.6 1899 20636 0.00 4.80 0.12 0.007 6 0.000 0.000 3336 1223 596 0 0 33 0 0 0
20961 3.37 687.2 407.9 4.8 1931 20973 0.00 6.00 0.12 0.007 4 0.007 0.000 3341 3786 598 0 0 40 0 0 0
21225 2.86 687.2 384.2 13.2 1954 21236 0.00 4.03 0.38 0.000 6 0.007 0.000 3338 1175 598 0 0 27 0 0 0
21560 2.77 687.2 323.0 13.2 1986 21576 0.57 4.05 0.00 0.007 4 0.000 0.000 3155 3561 594 2 0 27 0 0 0
21828 2.77 687.2 296.2 8.5 2009 21850 1.30 4.90 3.17 0.000 6 0.000 0.000 3503 1229 589 3 0 35 0 0 0
22164 3.29 687.2 267.5 7.1 2041 22180 1.02 4.28 3.65 0.000 4 0.000 0.000 3285 3785 587 2 0 28 0 0 0
22433 2.88 687.2 241.8 13.6 2065 22451 0.00 3.05 0.88 0.000 6 0.007 0.000 3289 1448 583 0 0 20 0 0 0
22765 2.88 687.2 201.2 7.3 2096 22780 0.00 4.03 0.12 0.007 4 0.007 0.000 3288 3781 583 0 0 27 0 0 0
23034 2.88 687.2 180.9 8.2 2119 23045 0.00 3.67 0.20 0.007 6 0.007 0.000 3286 1067 585 0 0 25 0 0 0
23370 2.88 687.2 154.8 7.9 2151 23386 0.00 4.62 0.12 0.007 4 0.000 0.000 3292 3784 578 0 0 29 0 0 0
23638 2.88 687.2 132.7 8.1 2174 23648 0.00 5.47 0.00 0.007 6 0.007 0.000 3293 1229 584 0 0 39 0 0 0
23973 3.05 712.9 109.2 6.2 2206 23986 0.00 5.85 0.12 0.007 4 0.007 0.000 3291 3741 585 0 0 40 0 0 0
24239 3.23 745.5 89.5 6.0 2229 24249 0.00 3.72 0.62 0.000 6 0.007 0.000 3287 1734 576 0 0 24 0 0 0
24574 3.55 817.9 63.8 4.7 2261 24591 0.00 4.05 0.12 0.007 4 0.000 0.000 3286 3781 584 0 0 27 0 0 0
24843 4.21 817.9 42.9 9.6 2284 24856 0.00 4.43 0.10 0.007 6 0.000 0.000 3289 1531 588 0 0 29 0 0 0
25048 3.88 817.9 19.0 13.0 2304 25060 0.00 6.28 0.15 0.007 4 0.007 0.000 3288 3786 585 0 0 43 0 0 0
25167 end climb: SURFACE_DEPTH_REACHED
state 25167 begin surface coast
25189 end surface coast: CONTROL_FINISHED_OK
state 25189 begin surface