DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 180 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  143 HEADING  -1 ROLL_MIN  290 ALTIM_BOTTOM_TURN_MARGIN  15
MISSION  10 ESCAPE_HEADING  100 ROLL_MAX  3915 ALTIM_TOP_TURN_MARGIN  5
DIVE  180 ESCAPE_HEADING_DELTA  5 ROLL_DEG  45 ALTIM_TOP_MIN_OBSTACLE  1.8
D_SURF  2 FIX_MISSING_TIMEOUT  5 C_ROLL_DIVE  2460 ALTIM_PING_DEPTH  300
D_FLARE  3 TGT_DEFAULT_LAT  -2030 C_ROLL_CLIMB  1950 ALTIM_PING_DELTA  50
D_TGT  990 TGT_DEFAULT_LON  5900 HEAD_ERRBAND  10 ALTIM_FREQUENCY  13
D_ABORT  1070 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_PULSE  4
D_NO_BLEED  50 SM_CC  325 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  2
D_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  14 XPDR_VALID  0
D_FINISH  9 FILEMGR  2 R_STBD_OVSHOOT  20 XPDR_INHIBIT  90
D_PITCH  1.75 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  500 COMM_SEQ  0 ROLL_MAXERRORS  0 INT_PRESSURE_YINT  0
D_CALL  3 KERMIT  0 ROLL_ADJ_GAIN  1.75 DEEPGLIDER  0
SURFACE_URGENCY  10 N_NOCOMM  0 ROLL_ADJ_DBAND  0.025 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  5 N_NOSURFACE  0 VBD_MIN  442 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  10 UPLOAD_DIVES_MAX  5 VBD_MAX  3793 DEVICE1  2
T_DIVE  360 CALL_TRIES  3 C_VBD  2800 DEVICE2  20
T_MISSION  420 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  720 DEVICE5  -1
T_TURN_SAMPINT  5 HEAPDBG  0 PITCH_VBD_SHIFT  0.0012300001 DEVICE6  -1
T_NO_W  120 T_GPS  3 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERS  0
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  2 T_GPS_CHARGE  -33267.535 UNCOM_BLEED  20 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.1 T_RSLEEP  60 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
D_OFFGRID  100 STROBE  0 CF8_MAXERRORS  0 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_24V  150 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 AH0_10V  100 RAFOS_DEVICE  16
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_24V  19 XPDR_DEVICE  24
MAX_BUOY  150 PITCH_MIN  127 MINV_10V  8 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  4070 FG_AHR_10V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2690 FG_AHR_24V  0 SEABIRD_T_G  0.0043131942
SPEED_FACTOR  1 PITCH_DBAND  0.1 PHONE_SUPPLY  2 SEABIRD_T_H  0.00062854384
RHO  1.0275 PITCH_CNV  0.0031256729 PRESSURE_YINT  -24.446302 SEABIRD_T_I  2.3348166e-05
MASS  51204 P_OVSHOOT  0.039999999 PRESSURE_SLOPE  0.0001163694 SEABIRD_T_J  2.4454023e-06
NAV_MODE  0 PITCH_GAIN  31 AD7714Ch0Gain  128 SEABIRD_C_G  -10.029707
FERRY_MAX  45 PITCH_TIMEOUT  15 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1484355
KALMAN_USE  2 PITCH_AD_RATE  150 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0010294267
HD_A  0.0038360001 PITCH_MAXERRORS  1 COMPASS_USE  1 SEABIRD_C_J  0.00016845814
HD_B  0.010078 PITCH_ADJ_GAIN  0.045000002 ALTIM_BOTTOM_PING_RANGE  0
HD_C  9.8541004e-06 PITCH_ADJ_DBAND  1 ALTIM_TOP_PING_RANGE  20

Pre-dive calculations and measurements:
GPS1  120349,6659.021,-5717.554,13,1.4,31,-37.6 TGT_NAME  TARGET_E
_CALLS  3 TGT_LATLONG  6703.000,-5648.000
_XMS_NAKs  17 TGT_RADIUS  2000.000
_XMS_TOUTs  1 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  3.79 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  0.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  120349,6659.021,-5717.554,13,1.4,31,-37.6 MHEAD_RNG_PITCHd_Wd  108.5,22579,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  786

Post-dive calculations and measurements:
FREEZE  6.88,0.303,-1.817,0,6,0 ALTIM_BOTTOM_PING  600.5,170.5
FINISH1  6.9,1.026525,47 _24V_AH  22.7,41.900
FINISH2  3.3 _10V_AH  10.2,21.324
RAFOS_CLK  1096 FG_AHR_24Vo  0.000
RAFOS  4,1258907586,16.566668,16.551666,67,57,57,0,0,0,204,181,123,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6658.312012,-5724.716309,221109,080822,3,82,0.60 MEM  152548
IRIDIUM_FIX  6631.12,-5718.20,160299,121222 DATA_FILE_SIZE  59788,1495
TT8_MAMPS  0.026845 CAP_FILE_SIZE  164504,0
HUMID  47.91 CFSIZE  260165632,235921408
INTERNAL_PRESSURE  9.00425 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  17.60 SOUNDSPEED  1466.8
XPDR_PINGS  4 GPS  221109,120349,6659.021,-5717.554,13,1.4,31,-37.6
ALTIM_TOP_PING  19.6,17.5

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor621430.23 SBE_CT110024599.50
Roll_motor125125357.30 SBE_O2104019448.95
VBD_pump_during_apogee35212479972.24 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init01030.00 nil000.00
Iridium_during_connect01600.00 nil000.00
Iridium_during_xfer02230.00
Transponder_ping342030.99
GUMSTIX_24V000.00
GPS0500.00
TT8248719505.51
LPSleep112882265.97
TT8_Active4441990.38
TT8_Sampling237739968.04
TT8_CF81844586.64
TT8_Kalman000.00
Analog_circuits166812204.21
GPS_charging000.00
Compass23548192.09
RAFOS3240149.57
Transponder19305.95

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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.73 -146.0 0.0 0.0 0 23 0.00 0.00 -5.65 0.000 2 0.000 0.000 2712 1954 2785 0 0 0 0 0 0
26 -0.73 -146.0 6.1 -0.0 1 52 0.75 1.83 -17.73 0.000 4 0.106 0.107 2461 871 3399 0 0 0 0 0 0
205 -0.68 -146.0 33.8 -20.9 33 210 0.00 2.58 0.00 0.000 6 0.000 0.074 2461 2456 3402 0 0 0 0 0 0
548 -0.68 -146.0 73.5 -11.5 94 553 0.00 2.55 0.00 0.000 4 0.000 0.092 2461 3923 3402 0 0 0 0 0 0
610 -0.68 -146.0 79.5 -9.1 105 616 0.00 2.45 0.00 0.000 6 0.000 0.064 2461 2454 3402 0 0 0 0 0 0
951 -0.68 -146.0 111.9 -9.5 155 953 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 2454 3402 0 0 0 0 0 0
1271 -0.68 -146.0 140.0 -8.0 185 1276 0.00 2.55 0.00 0.000 4 0.000 0.091 2461 3914 3402 0 0 0 0 0 0
1356 -0.68 -146.0 147.2 -8.7 192 1360 0.00 2.42 0.00 0.000 6 0.000 0.064 2461 2458 3401 0 0 0 0 0 0
1682 -0.68 -146.0 174.4 -8.4 222 1686 0.00 2.55 0.00 0.000 4 0.000 0.091 2461 3921 3401 0 0 0 0 0 0
1759 -0.74 -146.0 181.6 -8.9 228 1765 0.00 2.42 0.00 0.000 6 0.000 0.064 2461 2460 3401 0 0 0 0 0 0
2084 -0.74 -146.0 208.3 -8.7 259 2088 0.00 2.53 0.00 0.000 4 0.000 0.090 2461 3913 3401 0 0 0 0 0 0
2134 -0.80 -146.0 212.6 -8.3 263 2139 0.00 2.40 0.00 0.000 6 0.000 0.064 2461 2463 3401 0 0 0 0 0 0
2460 -0.87 -146.0 239.1 -7.9 293 2465 0.15 2.53 0.00 0.000 4 0.110 0.087 2394 3913 3402 0 0 0 0 0 0
2533 -0.71 -146.0 246.9 -11.4 299 2538 0.25 2.38 0.00 0.000 6 0.215 0.061 2454 2476 3401 0 0 0 0 0 0
2858 -0.77 -146.0 274.0 -8.2 329 2859 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2477 3402 0 0 0 0 0 0
3177 -0.83 -146.0 297.3 -7.0 359 3182 0.00 2.50 0.00 0.000 4 0.000 0.087 2454 3924 3402 0 0 0 0 0 0
3262 -0.89 -146.0 304.1 -8.0 366 3268 0.17 2.38 0.00 0.000 6 0.104 0.061 2396 2481 3402 0 0 0 0 0 0
3587 -0.76 -146.0 338.7 -11.0 396 3589 0.17 0.00 0.00 0.000 6 0.210 0.000 2436 2482 3402 0 0 0 0 0 0
3905 -0.76 -146.0 366.4 -8.4 426 3910 0.00 2.47 0.00 0.000 4 0.000 0.087 2436 3915 3402 0 0 0 0 0 0
3983 -0.76 -146.0 373.1 -8.9 432 3989 0.00 2.35 0.00 0.000 6 0.000 0.061 2436 2487 3402 0 0 0 0 0 0
4308 -0.76 -146.0 400.0 -8.2 463 4309 0.00 0.00 0.00 0.000 6 0.000 0.000 2436 2487 3402 0 0 0 0 0 0
4628 -0.76 -146.0 425.4 -7.7 493 4632 0.00 2.47 0.00 0.000 4 0.000 0.087 2436 3924 3403 0 0 0 0 0 0
4739 -0.76 -146.0 434.7 -8.4 502 4744 0.00 2.35 0.00 0.000 6 0.000 0.061 2436 2489 3402 0 0 0 0 0 0
5065 -0.76 -146.0 461.7 -8.5 533 5066 0.00 0.00 0.00 0.000 6 0.000 0.000 2436 2489 3402 0 0 0 0 0 0
5383 -0.76 -146.0 487.8 -8.1 563 5387 0.00 2.47 0.00 0.000 4 0.000 0.087 2436 3923 3402 0 0 0 0 0 0
5433 -0.76 -146.0 491.9 -8.5 567 5437 0.00 2.35 0.00 0.000 6 0.000 0.061 2436 2493 3402 0 0 0 0 0 0
5757 -0.76 -146.0 519.1 -8.8 597 5759 0.00 0.00 0.00 0.000 6 0.000 0.000 2436 2493 3402 0 0 0 0 0 0
6077 -0.76 -146.0 546.0 -8.7 627 6082 0.00 2.45 0.00 0.000 4 0.000 0.087 2435 3913 3403 0 0 0 0 0 0
6121 -0.76 -146.0 549.8 -8.3 630 6128 0.00 2.33 0.00 0.000 6 0.000 0.061 2436 2501 3402 0 0 0 0 0 0
6448 -0.76 -146.0 576.7 -8.6 661 6449 0.00 0.00 0.00 0.000 6 0.000 0.000 2436 2502 3402 0 0 0 0 0 0
6765 -0.76 -146.0 603.0 -8.2 689 6766 0.00 0.00 0.00 0.000 6 0.000 0.000 2436 2502 3402 0 0 0 0 0 0
7070 -0.76 -146.0 627.8 -8.0 699 7074 0.00 2.45 0.00 0.000 4 0.000 0.088 2436 3917 3401 0 0 0 0 0 0
7119 -0.76 -146.0 631.9 -8.3 700 7123 0.00 2.35 0.00 0.000 6 0.000 0.062 2436 2492 3401 0 0 0 0 0 0
7438 -0.76 -146.0 657.0 -7.8 711 7439 0.00 0.00 0.00 0.000 6 0.000 0.000 2436 2493 3401 0 0 0 0 0 0
7743 -0.76 -146.0 682.0 -8.1 721 7744 0.00 0.00 0.00 0.000 6 0.000 0.000 2436 2493 3401 0 0 0 0 0 0
8049 -0.76 -146.0 706.3 -7.9 731 8051 0.00 0.00 0.00 0.000 6 0.000 0.000 2436 2493 3401 0 0 0 0 0 0
8356 -0.76 -146.0 730.9 -8.2 741 8360 0.00 2.47 0.00 0.000 4 0.000 0.089 2436 3918 3400 0 0 0 0 0 0
8417 -0.76 -146.0 736.0 -9.0 743 8421 0.00 2.35 0.00 0.000 6 0.000 0.063 2436 2494 3400 0 0 0 0 0 0
8688 end dive: BOTTOM_OBSTACLE_DETECTED
state 8688 begin apogee
8694 -0.16 0.0 757.4 7.9 752 8819 0.73 0.00 122.03 1.247 6 0.186 0.000 2635 1955 2800 0 0 0 0 0 0
8820 end apogee: CONTROL_FINISHED_OK
state 8820 begin climb
8823 0.73 146.0 760.1 0.0 756 8958 0.95 2.90 126.88 1.194 4 0.133 0.088 2927 362 2203 0 0 0 0 0 0
9014 0.66 146.0 744.8 12.1 762 9019 0.00 2.70 0.00 0.000 6 0.000 0.065 2927 1955 2197 0 0 0 0 0 0
9343 0.60 146.0 707.2 11.5 773 9345 0.17 0.00 0.00 0.000 6 0.191 0.000 2887 1955 2193 0 0 0 0 0 0
9649 0.67 146.0 677.5 9.4 783 9654 0.00 2.72 0.00 0.000 4 0.000 0.082 2887 3545 2192 0 0 0 0 0 0
9682 0.67 146.0 674.2 10.5 784 9686 0.00 2.70 0.00 0.000 6 0.000 0.071 2897 1953 2191 0 0 0 0 0 0
10010 0.67 146.0 642.6 9.6 795 10011 0.00 0.00 0.00 0.000 6 0.000 0.000 2897 1954 2191 0 0 0 0 0 0
10316 0.67 146.0 612.9 9.7 805 10321 0.00 2.72 0.00 0.000 4 0.000 0.084 2897 3546 2191 0 0 0 0 0 0
10354 0.67 146.0 608.9 10.7 806 10358 0.00 2.67 0.00 0.000 6 0.000 0.071 2909 1953 2190 0 0 0 0 0 0
10675 0.67 146.0 577.3 10.0 830 10677 0.00 0.00 0.00 0.000 6 0.000 0.000 2909 1954 2190 0 0 0 0 0 0
10994 0.67 146.0 545.6 10.2 860 10999 0.00 2.70 0.00 0.000 4 0.000 0.084 2909 3539 2189 0 0 0 0 0 0
11034 0.62 146.0 541.2 11.7 863 11040 0.12 2.65 0.00 0.000 6 0.201 0.071 2894 1956 2188 0 0 0 0 0 0
11359 0.68 146.0 510.3 9.4 893 11360 0.00 0.00 0.00 0.000 6 0.000 0.000 2894 1957 2188 0 0 0 0 0 0
11679 0.75 151.2 480.7 8.9 923 11684 0.12 2.72 0.00 0.000 4 0.115 0.084 2935 3546 2188 0 0 0 0 0 0
11707 0.66 151.2 477.4 11.6 925 11712 0.17 2.67 0.00 0.000 6 0.198 0.072 2905 1948 2188 0 0 0 0 0 0
12031 0.66 151.2 445.3 9.7 955 12032 0.00 0.00 0.00 0.000 6 0.000 0.000 2904 1949 2188 0 0 0 0 0 0
12351 0.66 151.2 414.4 9.9 985 12355 0.00 2.70 0.00 0.000 4 0.000 0.084 2904 3538 2188 0 0 0 0 0 0
12389 0.66 151.2 410.3 10.5 988 12394 0.00 2.65 0.00 0.000 6 0.000 0.072 2914 1954 2187 0 0 0 0 0 0
12714 0.66 151.2 378.4 9.6 1018 12716 0.00 0.00 0.00 0.000 6 0.000 0.000 2914 1954 2188 0 0 0 0 0 0
13033 0.66 156.3 350.0 9.0 1048 13047 0.00 2.75 7.18 0.844 4 0.000 0.084 2914 3538 2161 0 0 0 0 0 0
13070 0.62 156.3 346.4 9.9 1051 13077 0.15 2.62 0.00 0.000 6 0.190 0.072 2891 1963 2161 0 0 0 0 0 0
13396 0.72 176.8 320.4 8.3 1082 13416 0.00 0.00 18.20 0.933 6 0.000 0.000 2891 1964 2079 0 0 0 0 0 0
13734 0.83 176.8 288.8 9.8 1114 13739 0.20 2.70 0.00 0.000 4 0.094 0.081 2961 3538 2075 0 0 0 0 0 0
13767 0.67 176.8 284.6 13.7 1116 13773 0.25 2.65 0.00 0.000 6 0.198 0.071 2912 1961 2074 0 0 0 0 0 0
14091 0.72 176.8 251.5 9.9 1147 14093 0.00 0.00 0.00 0.000 6 0.000 0.000 2912 1962 2074 0 0 0 0 0 0
14411 0.76 176.8 218.9 10.8 1177 14412 0.00 0.00 0.00 0.000 6 0.000 0.000 2912 1962 2074 0 0 0 0 0 0
14729 0.82 176.8 185.9 10.3 1207 14730 0.12 0.00 0.00 0.000 6 0.119 0.000 2954 1962 2074 0 0 0 0 0 0
15047 0.76 176.8 149.4 10.9 1237 15048 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 1962 2074 0 0 0 0 0 0
15367 0.71 176.8 114.5 10.4 1267 15373 0.15 2.70 0.00 0.000 4 0.193 0.082 2918 3543 2074 0 0 0 0 0 0
15399 0.71 176.8 110.9 9.8 1269 15406 0.00 2.65 0.00 0.000 6 0.000 0.070 2928 1949 2074 0 0 0 0 0 0
15737 0.78 183.1 79.6 8.9 1319 15747 0.00 0.00 6.03 0.686 6 0.000 0.000 2927 1950 2052 0 0 0 0 0 0
16086 0.89 183.5 53.2 9.1 1381 16093 0.15 2.72 0.00 0.000 4 0.107 0.082 2986 3546 2052 0 0 0 0 0 0
16178 0.75 183.5 42.9 12.0 1397 16184 0.25 2.62 0.00 0.000 6 0.199 0.070 2937 1965 2052 0 0 0 0 0 0
16524 0.82 241.7 19.6 6.7 1458 16580 0.00 2.67 47.47 0.765 4 0.000 0.087 2947 364 1812 0 0 0 0 0 0
16610 0.97 271.0 11.9 7.9 1474 16642 0.15 2.58 24.48 0.732 6 0.111 0.067 2998 1979 1694 0 0 0 0 0 0
16677 end climb: SURFACE_OBSTACLE_DETECTED
state 16677 begin subsurface finish
16683 0.06 47.3 6.9 -3.9 1486 16729 1.00 2.83 -36.62 0.000 4 0.175 0.096 2717 3537 2610 0 0 0 0 0 0
16730 end subsurface finish: CONTROL_FINISHED_OK
state 16730 begin surface