SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 18 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  573 HD_B  0.010078 ROLL_MIN  150 ALTIM_TOP_TURN_MARGIN  0
MISSION  9 HD_C  9.8500004e-06 ROLL_MAX  3785 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  18 HEADING  -1 ROLL_DEG  40 ALTIM_PING_DEPTH  100
D_SURF  3 ESCAPE_HEADING  0 C_ROLL_DIVE  2169 ALTIM_PING_DELTA  10
D_FLARE  3 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  1673 ALTIM_FREQUENCY  13
D_TGT  750 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_ABORT  850 TGT_DEFAULT_LAT  -3415 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  3
D_NO_BLEED  500 TGT_DEFAULT_LON  2600 ROLL_TIMEOUT  15 XPDR_VALID  5
D_BOOST  0 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  26 XPDR_INHIBIT  90
T_BOOST  0 SM_CC  375 R_STBD_OVSHOOT  14 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST_BLACKOUT  0 N_FILEKB  4 ROLL_AD_RATE  350 INT_PRESSURE_YINT  -0.55000001
D_FINISH  0 FILEMGR  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_PITCH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
D_SAFE  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
D_CALL  0 KERMIT  0 ROLL_GAIN_P  0 DEVICE1  2
SURFACE_URGENCY  0 N_NOCOMM  1 VBD_MIN  409 DEVICE2  101
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MAX  3959 DEVICE3  35
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 C_VBD  2762 DEVICE4  135
T_DIVE  220 CALL_TRIES  5 VBD_DBAND  2 DEVICE5  -1
T_MISSION  250 CALL_WAIT  60 VBD_CNV  -0.245296 DEVICE6  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_TIMEOUT  720 LOGGERS  1
T_TURN  225 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012000001 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE2  -1
T_NO_W  120 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE3  -1
T_LOITER  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE4  -1
USE_BATHY  0 T_GPS_ALMANAC  0 UNCOM_BLEED  60 COMPASS_DEVICE  33
USE_ICE  0 T_GPS_CHARGE  -13541.373 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  1 CF8_MAXERRORS  20 PHONE_DEVICE  48
D_OFFGRID  100 STROBE  0 AH0_24V  150 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  100 RAFOS_DEVICE  -1
RELAUNCH  0 RAFOS_CORR_THRESH  60 MINV_24V  20 XPDR_DEVICE  24
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  8 SIM_W  0
MAX_BUOY  230 PITCH_MIN  100 FG_AHR_10V  0 SIM_PITCH  0
COURSE_BIAS  0 PITCH_MAX  3858 FG_AHR_24V  0 SEABIRD_T_G  0.0042828661
GLIDE_SLOPE  30 C_PITCH  3050 PHONE_SUPPLY  2 SEABIRD_T_H  0.00061930995
SPEED_FACTOR  1 PITCH_DBAND  0.0099999998 PRESSURE_YINT  -86.704987 SEABIRD_T_I  2.1971719e-05
RHO  1.0278 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.00011693723 SEABIRD_T_J  2.301111e-06
MASS  52922 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_C_G  -9.9469662
LENGTH  1.8 PITCH_GAIN  20 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.155618
NAV_MODE  2 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0016006827
DIRECT_CONTROL  0 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_J  0.00019558761
FERRY_MAX  45 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 EBE_ENABLE  0
KALMAN_USE  2 PITCH_ADJ_GAIN  0.02 ALTIM_TOP_PING_RANGE  0 GC_WINDOW  0
HD_A  0.0038360001 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  20 GC_LAST_COLLECTION  17

Pre-dive calculations and measurements:
GPS1  230415,064735,-3431.956,2556.013,25,1.2,25,-28.0 TGT_NAME  WP_NORTH
_CALLS  1 TGT_LATLONG  -3420.000,2552.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.229,0.204
_SM_DEPTHo  2.00 KALMAN_X  -18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo  -65.2 KALMAN_Y  -14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2  230415,065605,-3432.095,2555.815,43,0.9,44,-28.0 MHEAD_RNG_PITCHd_Wd  58.4,23148,-16.3,-11.364
SPEED_LIMITS  0.197,0.329 D_GRID  750

Post-dive calculations and measurements:
FINISH  1.2,1.021443 _10V_AH  10.4,3.274
SM_CCo  6795,0.00,0.000,0,0,1106,406.46 FG_AHR_24Vo  0.000
SM_GC  2.08,8.60,0.00,0.00,0.037,0.000,0.000,69,2184,1106,-9.18,0.42,406.46 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -3419.93,2555.27,170208,202015 MEM  331364
TT8_MAMPS  0.026215 DATA_FILE_SIZE  80476,1074
HUMID  61.06 CAP_FILE_SIZE  135990,0
INTERNAL_PRESSURE  9.32343 CFSIZE  2097086464,2090074112
TCM_TEMP  17.40 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS  0 CURRENT  0.462,250.0,1
ALTIM_BOTTOM_PING  390.6,7.3 GPS  230415,085053,-3431.817,2554.738,37,1.5,37,-28.0
_24V_AH  23.9,5.017

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23260148.85 SBE_CT73023405.52
Roll_motor144132456.82 AA43302766171139.18
VBD_pump_during_apogee51384410356.41 WL_BB2F18761054708.82
VBD_pump_during_surface000.00 QSP21502988171230.55
VBD_valve000.00 nil000.00
Iridium_during_init319167.46 nil000.00
Iridium_during_connect42160161.99 nil000.00
Iridium_during_xfer2972231584.48 nil000.00
Transponder_ping842080.30 nil000.00
GUMSTIX_24V000.00
GPS452713.22
TT8251213362.90
LPSleep544212.41
TT8_Active6611395.50
TT8_Sampling3452401466.59
TT8_CF81305068.65
TT8_Kalman000.00
Analog_circuits176515281.27
GPS_charging000.00
Compass272015445.06
RAFOS000.00
Transponder533016.79

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
22 end surface: CONTROL_FINISHED_OK
state 22 begin dive
23 -1.08 -223.8 0.0 0.0 0 77 0.00 0.00 -52.03 0.000 2 0.000 0.000 87 2185 2526 0 0 0 0 0 0
79 -1.08 -223.8 3.4 -4.0 6 132 11.25 2.55 -28.92 0.000 4 0.261 0.116 2691 761 3678 0 0 0 0 0 0
281 -0.92 -223.8 40.8 -21.2 36 290 0.22 2.65 0.00 0.000 6 0.177 0.125 2747 2168 3681 0 0 0 0 0 0
396 -0.86 -223.8 59.0 -13.7 55 404 0.10 0.00 0.00 0.000 6 0.196 0.000 2770 2168 3682 0 0 0 0 0 0
508 -0.86 -223.8 71.4 -10.7 74 517 0.00 2.47 0.00 0.000 4 0.000 0.103 2760 3583 3684 0 0 0 0 0 0
593 -0.86 -223.8 81.3 -11.6 88 602 0.00 2.42 0.00 0.000 6 0.000 0.089 2760 2179 3684 0 0 0 0 0 0
708 -0.86 -223.8 94.0 -11.6 107 716 0.00 2.50 0.00 0.000 4 0.000 0.112 2760 747 3685 0 0 0 0 0 0
748 -0.86 -223.8 98.6 -11.9 113 755 0.08 2.65 0.00 0.000 6 0.211 0.129 2766 2173 3685 0 0 0 0 0 0
865 -0.86 -223.8 111.2 -10.3 132 874 0.00 2.47 0.00 0.000 4 0.000 0.108 2756 3587 3685 0 0 0 0 0 0
927 -0.88 -223.8 117.9 -9.9 142 936 0.00 2.42 0.00 0.000 6 0.000 0.088 2756 2176 3685 0 0 0 0 0 0
1045 -0.88 -223.8 131.3 -12.4 161 1052 0.00 2.47 0.00 0.000 4 0.000 0.109 2756 746 3686 0 0 0 0 0 0
1072 -0.88 -223.8 134.6 -12.5 165 1080 0.08 2.58 0.00 0.000 6 0.216 0.118 2761 2172 3686 0 0 0 0 0 0
1185 -0.88 -223.8 149.0 -12.9 184 1194 0.00 2.47 0.00 0.000 4 0.000 0.112 2751 3581 3687 0 0 0 0 0 0
1218 -0.88 -223.8 153.2 -12.7 189 1225 0.00 2.40 0.00 0.000 6 0.000 0.090 2751 2168 3686 0 0 0 0 0 0
1330 -0.88 -223.8 167.2 -12.2 208 1339 0.00 2.50 0.00 0.000 4 0.000 0.109 2752 746 3687 0 0 0 0 0 0
1381 -0.88 -223.8 174.2 -13.5 216 1391 0.05 2.58 0.00 0.000 6 0.183 0.110 2756 2169 3687 0 0 0 0 0 0
1497 -0.88 -223.8 189.2 -13.3 235 1506 0.00 2.45 0.00 0.000 4 0.000 0.106 2746 3597 3687 0 0 0 0 0 0
1541 -0.88 -223.8 195.0 -13.2 242 1551 0.03 2.47 0.00 0.000 6 0.135 0.093 2755 2167 3687 0 0 0 0 0 0
1659 -0.88 -223.8 209.8 -13.2 261 1667 0.00 2.45 0.00 0.000 4 0.000 0.107 2755 742 3687 0 0 0 0 0 0
1686 -0.88 -223.8 213.4 -13.0 265 1693 0.08 2.55 0.00 0.000 6 0.225 0.112 2759 2167 3687 0 0 0 0 0 0
1801 -0.88 -223.8 228.6 -12.6 284 1810 0.00 2.55 0.00 0.000 4 0.000 0.121 2749 3592 3686 0 0 0 0 0 0
1839 -0.88 -223.8 233.6 -13.3 290 1848 0.00 2.47 0.00 0.000 6 0.000 0.099 2749 2173 3686 0 0 0 0 0 0
1954 -0.88 -223.8 248.7 -13.4 309 1961 0.05 2.50 0.00 0.000 4 0.196 0.114 2759 734 3686 0 0 0 0 0 0
2009 -0.88 -223.8 256.4 -13.1 318 2018 0.00 2.62 0.00 0.000 6 0.000 0.118 2750 2169 3686 0 0 0 0 0 0
2125 -0.88 -223.8 272.0 -13.7 337 2133 0.00 2.50 0.00 0.000 4 0.000 0.118 2739 3598 3686 0 0 0 0 0 0
2164 -0.88 -223.8 277.1 -13.7 343 2172 0.10 2.50 0.00 0.000 6 0.166 0.106 2763 2163 3685 0 0 0 0 0 0
2278 -0.88 -223.8 291.8 -12.5 362 2287 0.00 2.50 0.00 0.000 4 0.000 0.109 2763 740 3685 0 0 0 0 0 0
2324 -0.88 -223.8 297.4 -13.0 369 2331 0.00 2.58 0.00 0.000 6 0.000 0.117 2754 2173 3685 0 0 0 0 0 0
2438 -0.88 -223.8 312.7 -13.6 388 2447 0.00 2.53 0.00 0.000 4 0.000 0.122 2744 3583 3685 0 0 0 0 0 0
2475 -0.88 -223.8 317.8 -13.7 394 2485 0.05 2.47 0.00 0.000 6 0.148 0.103 2759 2176 3685 0 0 0 0 0 0
2593 -0.88 -223.8 331.9 -12.6 413 2600 0.00 2.50 0.00 0.000 4 0.000 0.111 2760 734 3685 0 0 0 0 0 0
2642 -0.88 -223.8 338.1 -12.8 421 2650 0.00 2.60 0.00 0.000 6 0.000 0.119 2751 2169 3685 0 0 0 0 0 0
2756 -0.88 -223.8 352.7 -13.0 440 2765 0.00 2.58 0.00 0.000 4 0.000 0.132 2740 3580 3685 0 0 0 0 0 0
2801 -0.88 -223.8 358.6 -13.9 447 2810 0.10 2.45 0.00 0.000 6 0.168 0.104 2763 2168 3684 0 0 0 0 0 0
2918 -0.88 -223.8 373.0 -11.6 466 2927 0.00 2.47 0.00 0.000 4 0.000 0.104 2764 743 3684 0 0 0 0 0 0
2976 -0.88 -223.8 379.8 -12.3 475 2984 0.00 2.55 0.00 0.000 6 0.000 0.115 2755 2169 3684 0 0 0 0 0 0
3064 end dive: BOTTOM_OBSTACLE_DETECTED
state 3064 begin apogee
3068 -0.25 0.0 390.6 12.6 489 3251 0.65 0.00 175.00 0.845 6 0.151 0.000 2960 1660 2762 0 0 0 0 0 0
3252 end apogee: CONTROL_FINISHED_OK
state 3252 begin climb
3253 1.08 223.8 400.9 0.0 514 3446 1.30 2.47 182.27 0.815 4 0.092 0.065 3399 247 1849 0 0 0 0 0 0
3685 0.92 223.8 354.3 15.8 581 3693 0.20 2.35 0.00 0.000 6 0.160 0.050 3347 1689 1844 0 0 0 0 0 0
3799 0.84 223.8 339.5 11.9 600 3808 0.10 0.00 0.00 0.000 6 0.195 0.000 3323 1694 1843 0 0 0 0 0 0
3915 0.80 231.4 326.7 11.1 619 3930 0.05 0.00 6.62 0.657 6 0.233 0.000 3311 1694 1820 0 0 0 0 0 0
4037 0.79 258.5 313.7 10.4 639 4068 0.00 2.47 24.58 0.759 4 0.000 0.076 3322 249 1708 0 0 0 0 0 0
4093 0.76 264.8 307.4 11.2 647 4110 0.10 2.35 6.45 0.636 6 0.176 0.054 3298 1676 1683 0 0 0 0 0 0
4215 0.81 303.1 295.0 10.1 667 4251 0.00 0.00 33.85 0.767 6 0.000 0.000 3298 1676 1526 0 0 0 0 0 0
4357 0.86 327.0 280.7 10.5 690 4388 0.10 2.53 21.20 0.744 4 0.093 0.083 3360 247 1428 0 0 0 0 0 0
4424 0.79 327.0 271.9 13.6 700 4434 0.15 2.40 0.00 0.000 6 0.140 0.054 3314 1674 1425 0 0 0 0 0 0
4539 0.79 327.3 258.6 11.4 719 4546 0.00 0.00 0.00 0.000 6 0.000 0.000 3314 1677 1422 0 0 0 0 0 0
4650 0.80 335.9 246.1 11.1 738 4666 0.00 2.45 8.15 0.627 4 0.000 0.081 3324 254 1392 0 0 0 0 0 0
4709 0.80 335.9 239.4 12.0 747 4717 0.05 2.33 0.00 0.000 6 0.197 0.056 3313 1668 1391 0 0 0 0 0 0
4823 0.83 335.9 226.3 11.7 766 4831 0.00 0.00 0.00 0.000 6 0.000 0.000 3313 1669 1390 0 0 0 0 0 0
4937 0.85 335.9 213.7 11.6 785 4944 0.00 2.42 0.00 0.000 4 0.000 0.083 3323 250 1390 0 0 0 0 0 0
4969 0.85 335.9 209.7 12.3 790 4978 0.00 2.35 0.00 0.000 6 0.000 0.056 3323 1664 1390 0 0 0 0 0 0
5083 0.85 335.9 195.9 12.2 809 5090 0.00 0.00 0.00 0.000 6 0.000 0.000 3323 1664 1389 0 0 0 0 0 0
5195 0.85 335.9 182.4 11.8 828 5203 0.00 0.00 0.00 0.000 6 0.000 0.000 3323 1664 1389 0 0 0 0 0 0
5309 0.85 335.9 168.9 12.2 847 5316 0.00 2.38 0.00 0.000 4 0.000 0.081 3333 253 1389 0 0 0 0 0 0
5340 0.85 335.9 164.7 12.9 852 5348 0.00 2.35 0.00 0.000 6 0.000 0.057 3332 1673 1389 0 0 0 0 0 0
5454 0.85 335.9 150.5 13.0 871 5460 0.00 0.00 0.00 0.000 6 0.000 0.000 3333 1673 1388 0 0 0 0 0 0
5565 0.85 335.9 136.6 11.5 890 5574 0.00 2.40 0.00 0.000 4 0.000 0.080 3341 257 1388 0 0 0 0 0 0
5601 0.83 335.9 132.3 13.9 895 5609 0.10 2.30 0.00 0.000 6 0.161 0.054 3315 1677 1388 0 0 0 0 0 0
5714 0.83 335.9 118.8 11.9 914 5722 0.00 0.00 0.00 0.000 6 0.000 0.000 3315 1680 1388 0 0 0 0 0 0
5828 0.83 335.9 105.9 12.3 933 5836 0.00 2.38 0.00 0.000 4 0.000 0.077 3325 247 1388 0 0 0 0 0 0
5872 0.83 335.9 100.5 12.2 940 5881 0.00 2.33 0.00 0.000 6 0.000 0.054 3326 1667 1388 0 0 0 0 0 0
5987 0.83 335.9 87.5 11.8 959 5994 0.00 2.42 0.00 0.000 4 0.000 0.099 3326 3092 1387 0 0 0 0 0 0
6002 0.83 335.9 85.8 11.4 961 6010 0.08 2.33 0.00 0.000 6 0.177 0.068 3317 1649 1387 0 0 0 0 0 0
6116 0.88 377.8 74.0 9.9 980 6162 0.00 2.38 35.35 0.669 4 0.000 0.074 3327 265 1220 0 0 0 0 0 0
6217 0.88 377.8 62.2 13.7 995 6225 0.00 2.33 0.00 0.000 6 0.000 0.056 3328 1673 1217 0 0 0 0 0 0
6329 0.94 392.9 48.9 10.8 1014 6354 0.08 2.45 12.98 0.596 4 0.116 0.090 3375 3078 1160 0 0 0 0 0 0
6391 0.90 392.9 41.0 14.5 1023 6399 0.15 2.28 0.00 0.000 6 0.151 0.060 3344 1678 1159 0 0 0 0 0 0
6507 0.94 404.6 27.4 11.0 1042 6525 0.00 2.40 6.62 0.530 4 0.000 0.071 3354 263 1112 0 0 0 0 0 0
6632 0.94 404.6 10.5 14.0 1061 6642 0.00 2.33 0.00 0.000 6 0.000 0.053 3354 1668 1109 0 0 0 0 0 0
6692 end climb: SURFACE_DEPTH_REACHED
state 6692 begin surface coast
6719 end surface coast: CONTROL_FINISHED_OK
state 6719 begin surface