Abaco Apr17 * SG038 * Dive index * Mission links * Dive 16 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  38 HD_B  0.013 ROLL_DEG  45 ALTIM_TOP_PING_RANGE  20
MISSION  9 HD_C  2.4999999e-05 C_ROLL_DIVE  1750 ALTIM_BOTTOM_TURN_MARGIN  50
DIVE  16 HEADING  30 C_ROLL_CLIMB  1750 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 HEAD_ERRBAND  15 ALTIM_TOP_MIN_OBSTACLE  0
STOP_T  0 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.028270001 ALTIM_PING_DEPTH  800
D_SURF  5 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 ALTIM_PING_DELTA  10
D_FLARE  3 TGT_DEFAULT_LAT  2630 R_PORT_OVSHOOT  49 ALTIM_FREQUENCY  12
D_TGT  1080 TGT_DEFAULT_LON  -7630 R_STBD_OVSHOOT  81 ALTIM_PULSE  1
D_ABORT  6000 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  300 ALTIM_SENSITIVITY  3
D_NO_BLEED  50 SM_CC  400 ROLL_MAXERRORS  2 XPDR_VALID  2
D_BOOST  0 N_FILEKB  4 ROLL_ADJ_GAIN  0 XPDR_INHIBIT  90
T_BOOST  0 FILEMGR  0 ROLL_ADJ_DBAND  0 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  0 CALL_NDIVES  1 VBD_MIN  200 INT_PRESSURE_YINT  1.2
D_PITCH  0 COMM_SEQ  0 VBD_MAX  3900 DEEPGLIDER  1
D_SAFE  0 PROTOCOL  9 C_VBD  2348 MOTHERBOARD  4
D_CALL  0 N_NOCOMM  1 VBD_DBAND  2 DEVICE1  2
SURFACE_URGENCY  0 NOCOMM_ACTION  384 VBD_CNV  -0.29049 DEVICE2  101
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_LP_IGNORE  0 DEVICE3  -1
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_TIMEOUT  720 DEVICE4  -1
T_DIVE  240 CALL_TRIES  10 PITCH_VBD_SHIFT  0.00030000001 DEVICE5  -1
T_MISSION  390 CALL_WAIT  60 VBD_PUMP_AD_RATE_SURFACE  3 DEVICE6  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERS  0
T_TURN  540 CAPMAXSIZE  200000 VBD_BLEED_AD_RATE  2 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 HEAPDBG  0 UNCOM_BLEED  50 LOGGERDEVICE2  -1
T_NO_W  120 T_GPS  -15 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_LOITER  0 N_GPS  50840 W_ADJ_DBAND  2 LOGGERDEVICE4  -1
T_SLOITER  0 T_RSLEEP  13 DBDW  0 COMPASS_DEVICE  33
T_EPIRB  0 STROBE  0 PITCH_W_GAIN  0 COMPASS2_DEVICE  -1
USE_BATHY  0 RAFOS_PEAK_OFFSET  1.5 PITCH_W_DBAND  0 PHONE_DEVICE  49
USE_ICE  0 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  2 GPS_DEVICE  32
ICE_FREEZE_MARGIN  0 RAFOS_HIT_WINDOW  3600 AH0_24V  150 RAFOS_DEVICE  -1
D_OFFGRID  100 PITCH_MIN  150 AH0_10V  100 XPDR_DEVICE  24
T_WATCHDOG  10 PITCH_MAX  3880 MINV_24V  17 SIM_W  0
RELAUNCH  0 C_PITCH  3037 MINV_10V  8 SIM_PITCH  0
APOGEE_PITCH  -5 PITCH_DBAND  0.1 MAXI_24V  0.80000001 SEABIRD_T_G  0.004410191
MAX_BUOY  450 PITCH_CNV  0.003125763 MAXI_10V  0.60000002 SEABIRD_T_H  0.00064652628
COURSE_BIAS  0 P_OVSHOOT  0.026000001 FG_AHR_10V  0 SEABIRD_T_I  2.6235177e-05
GLIDE_SLOPE  45 P_OVSHOOT_WITHG  0.1286 FG_AHR_24V  0 SEABIRD_T_J  3.227025e-06
SPEED_FACTOR  1 PITCH_GAIN  17 PHONE_SUPPLY  2 SEABIRD_C_G  -9.5423679
RHO  1.0275 PITCH_TIMEOUT  20 PRESSURE_YINT  -20.293694 SEABIRD_C_H  1.1030561
MASS  80833 PITCH_AD_RATE  160 PRESSURE_SLOPE  0 SEABIRD_C_I  -0.0018197452
MASS_COMP  11240.1 PITCH_MAXERRORS  1 AD7714Ch0Gain  32 SEABIRD_C_J  0.00021177332
NAV_MODE  2 PITCH_ADJ_GAIN  0.02 TCM_PITCH_OFFSET  0 SEABIRD_C_Z  2945.9399
FERRY_MAX  45 PITCH_ADJ_DBAND  2.5 TCM_ROLL_OFFSET  0
KALMAN_USE  2 ROLL_MIN  150 COMPASS_USE  4
HD_A  0.0049999999 ROLL_MAX  3925 ALTIM_BOTTOM_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  100417,081608,2745.0691,-7811.3545,22,0.9,35,-7.9,0.6,344.2,9,4.8 TGT_NAME  HEADING
_CALLS  1 TGT_LATLONG  2841.252,-7734.515
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000000,0.000000
_SM_DEPTHo  0.53 KALMAN_X  0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo  -41.3 KALMAN_Y  0.000000,0.000000,0.000000,0.000000,0.000000
GPS2  100417,082025,2745.1382,-7811.4453,6,0.9,14,-7.9,0.8,324.5,9,4.7 MHEAD_RNG_PITCHd_Wd  82.9,120000,-16.8,-15.000,-19.18,4444
SPEED_LIMITS  0.150,0.431 D_GRID  1080

Post-dive calculations and measurements:
FINISH  -0.3,1.024815 _10V_AH  10.65,1.682
SM_CCo  12608,0.00,0.000,0,0,194,625.72 FG_AHR_24Vo  0.000
SM_GC  0.96,8.20,0.00,0.00,0.084,0.000,0.000,161,1771,194,-8.90,0.59,625.72,0,0,0,0,0,0,26.87,27.15,26.93 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2732.37,-7813.70,100417,043336 MEM  284284
TT8_MAMPS  0.021721,0.226198 DATA_FILE_SIZE  38176,548
HUMID  8.53 CAP_FILE_SIZE  109254,0
INTERNAL_PRESSURE  8.74912 CFSIZE  2047311872,2039283712
TCM_TEMP  20.40 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,6,1,0
XPDR_PINGS  0 INTR  0,6957.10,0x213da2,1,24
ALTIM_TOP_PING  19.0,18.4 CURRENT  0.388,300.55,1
ALTIM_BOTTOM_PING  905.2,181.6 GPS  100417,115203,2747.083,-7810.858,18,0.9,27,-7.9,0.8,349.3,10,4.6
_24V_AH  23.85,8.098

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20255127.63 SBE_CT36523202.58
Roll_motor9586197.32 AA433072813234.12
VBD_pump_during_apogee905147431849.60 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve3311531217.23 nil000.00
Iridium_during_init2312669.65 nil000.00
Iridium_during_connect1916074.29 nil000.00
Iridium_during_xfer127223677.16 nil000.00
Transponder_ping342035.06 nil000.00
GUMSTIX_24V000.00
GPS15264.46
TT8167115275.46
LPSleep84272196.55
TT8_Active111415183.69
TT8_Sampling158541703.57
TT8_CF8786453.97
TT8_Kalman000.00
Analog_circuits198710211.64
GPS_charging000.00
Compass13548118.90
RAFOS000.00
Transponder333010.69

Guidance and control:
st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts int_press humidity
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
16 -1.12 -438.0 167 1774 192 193 0.0 0.0 0 301 0.00 0.00 -282.08 0.146 16386 0.000 0.000 165 1774 2745 2781 2710 0 0 0 0 0 0 26.88 28.83 26.89 8.81 8.14
303 -1.12 -438.0 165 1773 2781 2709 3.4 -3.5 28 371 9.30 2.28 -49.45 0.154 18692 0.256 0.077 2665 3304 3857 3901 3814 0 0 0 0 0 0 26.06 26.19 26.11 9.08 7.86
393 -1.12 -438.0 2663 3304 3900 3813 18.1 -14.6 37 398 0.00 2.25 0.00 0.000 1030 0.000 0.062 2664 1738 3856 3900 3813 0 0 0 0 0 0 26.33 26.28 26.34 9.20 7.90
699 -1.12 -438.0 2663 1738 3895 3810 65.2 -15.0 67 708 0.00 2.33 0.00 0.000 260 0.000 0.074 2653 3310 3852 3895 3810 0 0 0 0 0 0 26.77 26.51 26.78 9.22 8.10
750 -1.12 -438.0 2652 3309 3895 3810 73.0 -15.2 72 754 0.00 2.20 0.00 0.000 1030 0.000 0.062 2653 1750 3852 3895 3810 0 0 0 0 0 0 26.62 26.57 26.63 9.22 7.78
1062 -1.12 -438.0 2652 1750 3894 3809 123.2 -16.5 103 1065 0.00 2.30 0.00 0.000 516 0.000 0.082 2653 202 3851 3894 3809 0 0 0 0 0 0 26.91 26.64 26.93 9.22 7.90
1105 -1.12 -438.0 2652 183 3893 3810 130.2 -16.9 107 1114 0.10 2.20 0.00 0.000 3078 0.181 0.060 2677 1750 3851 3893 3809 0 0 0 0 0 0 26.57 26.71 26.65 9.22 7.98
1413 -1.12 -438.0 2677 1750 3893 3809 178.8 -16.0 129 1419 0.00 2.25 0.00 0.000 260 0.000 0.077 2666 3315 3851 3893 3809 0 0 0 0 0 0 26.99 26.72 27.01 9.23 8.10
1452 -1.12 -438.0 2666 3315 3893 3809 185.0 -15.7 131 1457 0.00 2.20 0.00 0.000 1030 0.000 0.062 2667 1744 3850 3893 3808 0 0 0 0 0 0 26.82 26.77 26.83 9.22 8.29
1769 -1.12 -438.0 2666 1744 3893 3809 234.9 -15.6 147 1773 0.00 2.30 0.00 0.000 516 0.000 0.079 2666 186 3850 3893 3808 0 0 0 0 0 0 27.04 26.77 27.05 9.22 7.98
1863 -1.12 -438.0 2666 185 3893 3809 248.1 -16.3 151 1871 0.00 2.20 0.00 0.000 1030 0.000 0.060 2655 1763 3851 3893 3809 0 0 0 0 0 0 26.88 26.84 26.89 9.22 7.90
2170 -1.12 -438.0 2654 1763 3893 3808 298.9 -16.3 167 2174 0.00 2.22 0.00 0.000 260 0.000 0.077 2643 3304 3850 3892 3809 0 0 0 0 0 0 27.08 26.80 27.09 9.21 8.29
2226 -1.12 -438.0 2643 3304 3893 3808 308.2 -16.3 170 2231 0.10 2.17 0.00 0.000 3078 0.194 0.062 2678 1737 3849 3891 3808 0 0 0 0 0 0 26.72 26.85 26.84 9.21 8.06
2554 -1.12 -438.0 2677 1738 3893 3808 358.7 -15.3 181 2560 0.00 2.30 0.00 0.000 516 0.000 0.082 2678 178 3851 3893 3809 0 0 0 0 0 0 27.10 26.82 27.11 9.20 8.45
2614 -1.12 -438.0 2677 178 3892 3808 368.6 -16.0 183 2618 0.00 2.17 0.00 0.000 1030 0.000 0.060 2668 1745 3850 3892 3808 0 0 0 0 0 0 26.94 26.89 26.94 9.19 7.78
2945 -1.12 -438.0 2667 1747 3892 3808 422.4 -16.7 194 2947 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 1747 3850 3892 3808 0 0 0 0 0 0 27.12 27.13 27.13 9.19 8.06
3245 -1.12 -438.0 2667 1747 3891 3808 474.5 -17.7 204 3249 0.00 2.25 0.00 0.000 260 0.000 0.077 2656 3304 3849 3891 3808 0 0 0 0 0 0 27.13 26.85 27.14 9.18 7.78
3289 -1.12 -438.0 2656 3304 3891 3808 479.4 -17.8 205 3294 0.00 2.17 0.00 0.000 1030 0.000 0.062 2656 1750 3849 3891 3808 0 0 0 0 0 0 26.95 26.90 26.96 9.18 8.57
3601 -1.12 -438.0 2656 1750 3890 3808 539.3 -18.1 216 3606 0.00 2.33 0.00 0.000 516 0.000 0.079 2656 175 3849 3890 3808 0 0 0 0 0 0 27.13 26.86 27.15 9.17 7.78
3636 -1.12 -438.0 2656 175 3891 3808 545.3 -18.2 217 3641 0.10 2.20 0.00 0.000 3078 0.206 0.060 2678 1751 3849 3890 3808 0 0 0 0 0 0 26.77 26.92 26.90 9.16 8.06
3963 -1.12 -438.0 2677 1751 3890 3808 602.1 -17.5 228 3967 0.00 2.25 0.00 0.000 260 0.000 0.077 2667 3310 3848 3890 3807 0 0 0 0 0 0 27.15 26.87 27.15 9.16 7.78
4027 -1.12 -438.0 2667 3310 3890 3807 611.9 -17.5 230 4031 0.00 2.20 0.00 0.000 1030 0.000 0.062 2668 1739 3848 3890 3807 0 0 0 0 0 0 26.96 26.91 26.98 9.15 7.94
4350 -1.12 -438.0 2667 1738 3889 3807 670.6 -18.2 241 4355 0.00 2.30 0.00 0.000 516 0.000 0.079 2667 181 3847 3889 3806 0 0 0 0 0 0 27.15 26.88 27.16 9.14 8.41
4387 -1.12 -438.0 2667 180 3889 3807 676.4 -18.4 242 4392 0.00 2.20 0.00 0.000 1030 0.000 0.060 2657 1747 3848 3889 3807 0 0 0 0 0 0 26.97 26.92 26.98 9.14 8.06
4704 -1.12 -438.0 2656 1748 3889 3806 737.8 -19.4 253 4708 0.00 2.28 0.00 0.000 260 0.000 0.077 2645 3317 3847 3889 3806 0 0 0 0 0 0 27.15 26.88 27.16 9.11 7.86
4773 -1.12 -438.0 2644 3317 3889 3806 748.9 -19.8 255 4779 0.10 2.20 0.00 0.000 3078 0.201 0.062 2678 1747 3847 3889 3805 0 0 0 0 0 0 26.79 26.92 26.91 9.11 7.70
5092 -1.12 -438.0 2677 1747 3888 3806 812.8 -19.7 266 5094 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 1747 3846 3887 3806 0 0 0 0 0 0 27.13 27.15 27.15 9.10 7.94
5392 -1.12 -438.0 2677 1747 3886 3805 873.1 -20.3 276 5399 0.00 2.30 0.00 0.000 516 0.000 0.082 2678 165 3845 3886 3805 0 0 0 0 0 0 27.13 26.89 27.15 9.07 7.82
5434 -1.12 -438.0 2677 165 3886 3805 879.4 -20.6 277 5439 0.00 2.22 0.00 0.000 1030 0.000 0.060 2668 1762 3845 3886 3805 0 0 0 0 0 0 26.98 26.93 27.00 9.07 8.33
5752 -1.12 -438.0 2667 1762 3884 3805 950.6 -21.6 288 5757 0.00 2.22 0.00 0.000 260 0.000 0.077 2656 3306 3844 3884 3805 0 0 0 0 0 0 27.16 26.89 27.17 9.04 8.10
5819 -1.12 -438.0 2656 3305 3884 3804 963.5 -21.7 290 5823 0.00 2.20 0.00 0.000 1030 0.000 0.062 2656 1752 3844 3884 3804 0 0 0 0 0 0 26.96 26.93 26.97 9.03 7.98
6170 end dive: BOTTOM_OBSTACLE_DETECTED
state 6170 begin apogee
6174 -0.29 0.0 2656 1752 3882 3803 1044.8 -22.9 299 6506 0.85 0.00 328.27 1.475 10246 0.164 0.000 2947 1749 2348 2380 2316 0 0 0 0 0 0 26.80 24.77 24.04 9.01 7.66
6507 end apogee: CONTROL_FINISHED_OK
state 6507 begin climb
6508 1.12 438.0 2946 1749 2380 2315 1069.1 0.0 304 6960 1.17 2.58 410.23 1.420 11012 0.122 0.087 3362 181 838 824 852 0 0 0 0 6 0 24.92 24.57 23.85 8.87 7.59
7096 1.43 766.8 3361 181 808 840 1058.4 7.4 314 7272 0.28 2.33 166.93 1.423 11270 0.092 0.060 3486 1765 200 200 201 0 0 0 0 0 0 25.73 25.75 23.91 8.67 7.51
7610 1.55 893.2 3485 1765 194 197 994.7 12.1 323 7614 0.00 2.28 0.00 0.000 2308 0.000 0.077 3486 3283 195 194 197 0 0 0 0 0 0 26.42 26.15 26.43 8.59 7.74
7635 1.66 1019.6 3485 3287 194 197 994.7 12.1 323 7643 0.12 2.25 0.00 0.000 3078 0.107 0.062 3569 1745 196 195 197 0 0 0 0 0 0 26.21 26.21 26.27 8.59 8.06
7942 1.66 1019.6 3568 1745 194 197 936.7 18.2 334 7948 0.00 2.40 0.00 0.000 516 0.000 0.084 3581 170 195 194 196 0 0 0 0 0 0 26.70 26.43 26.71 8.58 7.94
8044 1.66 1019.6 3581 170 194 197 919.1 19.4 337 8049 0.00 2.25 0.00 0.000 1030 0.000 0.060 3581 1730 195 193 197 0 0 0 0 0 0 26.58 26.53 26.60 8.59 8.41
8362 1.60 1019.6 3581 1729 194 196 851.7 20.7 348 8363 0.00 0.00 0.00 0.000 6 0.000 0.000 3581 1730 194 193 196 0 0 0 0 0 0 26.86 26.89 26.88 8.58 8.49
8662 1.53 1019.6 3581 1730 193 196 786.8 22.1 358 8664 0.17 0.00 0.00 0.000 4102 0.186 0.000 3525 1736 195 194 196 0 0 0 0 0 0 26.58 26.74 26.71 8.59 8.57
8961 1.53 1019.6 3524 1735 193 196 729.2 19.3 368 8963 0.00 0.00 0.00 0.000 6 0.000 0.000 3525 1736 194 193 196 0 0 0 0 0 0 26.98 27.00 27.00 8.61 8.33
9262 1.53 1019.6 3524 1735 193 196 670.6 19.8 378 9263 0.00 0.00 0.00 0.000 6 0.000 0.000 3525 1736 194 193 196 0 0 0 0 0 0 27.02 27.03 27.03 8.62 8.81
9561 1.53 1019.6 3524 1736 193 196 609.0 20.6 388 9568 0.00 2.38 0.00 0.000 516 0.000 0.082 3536 172 194 193 196 0 0 0 0 0 0 27.04 26.76 27.05 8.64 9.12
9660 1.47 1019.6 3535 172 193 196 589.8 21.3 391 9664 0.00 2.25 0.00 0.000 1030 0.000 0.060 3535 1752 194 193 196 0 0 0 0 0 0 26.87 26.82 26.89 8.64 9.36
9977 1.39 1019.6 3535 1752 193 196 514.8 23.6 402 9982 0.15 2.30 0.00 0.000 4356 0.206 0.077 3486 3318 194 193 196 0 0 0 0 0 0 26.69 26.79 26.79 8.66 8.85
10012 1.33 1019.6 3486 3318 193 196 507.3 23.5 403 10017 0.12 2.25 0.00 0.000 5126 0.201 0.062 3455 1745 194 193 195 0 0 0 0 0 0 26.71 26.82 26.84 8.67 9.16
10339 1.33 1019.6 3455 1745 193 196 446.7 18.6 414 10345 0.00 2.35 0.00 0.000 516 0.000 0.084 3467 178 194 192 196 0 0 0 0 0 0 27.08 26.80 27.10 8.68 8.85
10437 1.33 1019.6 3466 178 194 196 429.8 18.9 417 10441 0.00 2.25 0.00 0.000 1030 0.000 0.060 3467 1765 194 193 196 0 0 0 0 0 0 26.91 26.86 26.93 8.69 8.57
10759 1.33 1019.6 3466 1766 193 196 361.6 21.0 428 10760 0.00 0.00 0.00 0.000 6 0.000 0.000 3467 1765 194 193 196 0 0 0 0 0 0 27.10 27.12 27.11 8.70 8.77
11059 1.33 1019.6 3466 1766 193 196 301.6 19.8 438 11060 0.00 0.00 0.00 0.000 6 0.000 0.000 3467 1766 194 192 196 0 0 0 0 0 0 27.11 27.13 27.12 8.72 8.73
11371 1.33 1019.6 3467 1766 193 196 237.1 21.0 453 11372 0.00 0.00 0.00 0.000 6 0.000 0.000 3466 1766 194 193 196 0 0 0 0 0 0 27.12 27.13 27.13 8.74 8.41
11669 1.33 1019.6 3466 1766 193 196 173.9 21.2 468 11670 0.00 0.00 0.00 0.000 6 0.000 0.000 3467 1766 194 193 196 0 0 0 0 0 0 27.13 27.13 27.13 8.76 8.45
11970 1.27 1019.6 3466 1766 193 196 106.7 22.5 492 11975 0.00 2.40 0.00 0.000 516 0.000 0.079 3478 165 195 194 196 0 0 0 0 0 0 27.13 26.85 27.14 8.77 8.77
12002 1.22 1019.6 3478 165 193 196 99.0 23.0 495 12012 0.15 2.25 0.00 0.000 5126 0.171 0.060 3426 1769 194 193 196 0 0 0 0 0 0 26.77 26.89 26.90 8.78 8.53
12312 1.22 1019.6 3425 1769 193 196 39.6 17.9 526 12313 0.00 0.00 0.00 0.000 6 0.000 0.000 3426 1769 194 193 196 0 0 0 0 0 0 27.13 27.14 27.14 8.80 8.45
12511 end climb: SURFACE_DEPTH_REACHED
state 12511 begin surface coast
12533 end surface coast: CONTROL_FINISHED_OK
state 12533 begin surface