DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 192 * 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  192 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  19 XPDR_VALID  0
D_FINISH  9 FILEMGR  2 R_STBD_OVSHOOT  19 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  -33554.773 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  151407,6703.246,-5709.983,31,1.3,31,-37.6 TGT_NAME  TARGET_W
_CALLS  1 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  2 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.23 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -68.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  152014,6703.246,-5710.043,13,1.3,13,-37.6 MHEAD_RNG_PITCHd_Wd  293.6,147719,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  734

Post-dive calculations and measurements:
FREEZE  0.35,0.283,-0.914,0,1,0 ALTIM_TOP_PING  19.7,18.8
FINISH  0.4,1.013505 ALTIM_BOTTOM_PING  651.6,106.1
SM_CCo  16515,45.20,0.716,0,0,1474,325.02 _24V_AH  22.9,43.427
SM_GC  1.44,0.00,0.00,45.20,0.000,0.000,0.716,124,2471,1474,-8.02,0.28,325.02 _10V_AH  10.2,22.233
RAFOS_CLK  1026 FG_AHR_24Vo  0.000
RAFOS  0,1259078470,16.033333,16.019444,77,67,64,0,0,0,211,144,199,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6703.862305,-5716.077148,241109,161622,3,93,0.90 MEM  152496
IRIDIUM_FIX  6636.54,-5647.69,180299,111100 DATA_FILE_SIZE  56695,1485
TT8_MAMPS  0.026845 CAP_FILE_SIZE  185620,0
HUMID  46.85 CFSIZE  260165632,235073536
INTERNAL_PRESSURE  8.91636 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  17.80 SOUNDSPEED  1469.9
XPDR_PINGS  4 GPS  241109,195837,6703.887,-5718.276,65,0.9,65,-37.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor25296171.53 SBE_CT109324600.86
Roll_motor16898381.05 SBE_O2102419445.57
VBD_pump_during_apogee33412119265.94 nil000.00
VBD_pump_during_surface45715740.71 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2110351.70 nil000.00
Iridium_during_connect37160137.30 nil000.00
Iridium_during_xfer182223934.27
Transponder_ping342036.07
GUMSTIX_24V000.00
GPS15507.75
TT8254019516.18
LPSleep109412257.80
TT8_Active55819113.48
TT8_Sampling240639979.85
TT8_CF848445227.06
TT8_Kalman000.00
Analog_circuits180912221.45
GPS_charging000.00
Compass23648192.95
RAFOS2520138.56
Transponder22306.95

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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
15 -0.73 -146.0 0.0 0.0 0 108 0.00 0.00 -90.28 0.000 2 0.000 0.000 129 2463 3059 0 0 0 0 0 0
110 -0.73 -146.0 3.1 -5.1 18 137 11.18 2.58 -9.27 0.000 4 0.296 0.099 2443 3910 3396 0 0 0 0 0 0
364 -0.63 -146.0 39.9 -12.8 63 370 0.17 2.45 0.00 0.000 6 0.206 0.062 2486 2457 3399 0 0 0 0 0 0
708 -0.68 -146.0 75.9 -9.2 124 714 0.00 2.55 0.00 0.000 4 0.000 0.087 2486 3910 3399 0 0 0 0 0 0
772 -0.79 -146.0 81.5 -9.0 135 778 0.17 2.42 0.00 0.000 6 0.104 0.062 2425 2469 3399 0 0 0 0 0 0
1107 -0.68 -146.0 119.7 -11.5 180 1112 0.17 2.55 0.00 0.000 4 0.206 0.086 2457 3914 3399 0 0 0 0 0 0
1191 -0.68 -146.0 128.5 -9.6 187 1195 0.00 2.40 0.00 0.000 6 0.000 0.060 2457 2473 3398 0 0 0 0 0 0
1515 -0.68 -146.0 159.9 -9.3 217 1519 0.00 2.53 0.00 0.000 4 0.000 0.087 2457 3918 3398 0 0 0 0 0 0
1565 -0.68 -146.0 164.6 -9.3 221 1569 0.00 2.38 0.00 0.000 6 0.000 0.061 2456 2490 3398 0 0 0 0 0 0
1889 -0.68 -146.0 195.3 -8.8 251 1893 0.00 2.47 0.00 0.000 4 0.000 0.087 2456 3911 3398 0 0 0 0 0 0
1909 -0.68 -146.0 197.5 -9.4 252 1916 0.00 2.42 0.00 0.000 6 0.000 0.060 2457 2482 3398 0 0 0 0 0 0
2235 -0.68 -146.0 225.1 -8.5 283 2239 0.00 2.50 0.00 0.000 4 0.000 0.086 2456 3917 3398 0 0 0 0 0 0
2284 -0.68 -146.0 229.4 -8.6 287 2289 0.00 2.38 0.00 0.000 6 0.000 0.060 2456 2488 3398 0 0 0 0 0 0
2609 -0.68 -146.0 255.4 -7.8 317 2613 0.00 2.47 0.00 0.000 4 0.000 0.085 2456 3912 3399 0 0 0 0 0 0
2674 -0.68 -146.0 260.9 -7.9 322 2680 0.00 2.35 0.00 0.000 6 0.000 0.059 2456 2493 3399 0 0 0 0 0 0
3000 -0.73 -146.0 286.4 -7.6 353 3001 0.00 0.00 0.00 0.000 6 0.000 0.000 2457 2494 3399 0 0 0 0 0 0
3318 -0.78 -146.0 311.1 -8.0 383 3323 0.00 2.47 0.00 0.000 4 0.000 0.084 2456 3920 3400 0 0 0 0 0 0
3340 -0.78 -146.0 312.9 -7.6 384 3346 0.00 2.35 0.00 0.000 6 0.000 0.058 2456 2491 3400 0 0 0 0 0 0
3665 -0.83 -146.0 339.2 -8.0 415 3670 0.10 2.50 0.00 0.000 4 0.123 0.084 2413 3920 3400 0 0 0 0 0 0
3720 -0.74 -146.0 344.6 -9.7 419 3726 0.15 2.35 0.00 0.000 6 0.210 0.058 2446 2495 3400 0 0 0 0 0 0
4045 -0.74 -146.0 369.7 -7.4 450 4049 0.00 2.45 0.00 0.000 4 0.000 0.084 2446 3912 3400 0 0 0 0 0 0
4106 -0.74 -146.0 374.6 -8.2 455 4110 0.00 2.33 0.00 0.000 6 0.000 0.058 2446 2503 3401 0 0 0 0 0 0
4430 -0.74 -146.0 398.1 -7.4 485 4434 0.00 2.45 0.00 0.000 4 0.000 0.084 2446 3917 3401 0 0 0 0 0 0
4459 -0.74 -146.0 400.2 -7.3 487 4463 0.00 2.33 0.00 0.000 6 0.000 0.058 2446 2510 3401 0 0 0 0 0 0
4784 -0.74 -146.0 423.6 -7.5 517 4788 0.00 2.45 0.00 0.000 4 0.000 0.084 2446 3923 3402 0 0 0 0 0 0
4838 -0.78 -146.0 428.0 -8.8 521 4844 0.00 2.33 0.00 0.000 6 0.000 0.058 2446 2516 3402 0 0 0 0 0 0
5163 -0.83 -146.0 452.8 -7.9 552 5164 0.00 0.00 0.00 0.000 6 0.000 0.000 2446 2517 3401 0 0 0 0 0 0
5482 -0.88 -146.0 478.2 -8.4 582 5487 0.12 2.45 0.00 0.000 4 0.116 0.083 2399 3916 3402 0 0 0 0 0 0
5526 -0.76 -146.0 482.7 -10.6 585 5532 0.17 2.30 0.00 0.000 6 0.209 0.058 2440 2519 3402 0 0 0 0 0 0
5851 -0.76 -146.0 510.2 -8.5 616 5852 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2520 3402 0 0 0 0 0 0
6170 -0.76 -146.0 534.6 -7.5 646 6171 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2520 3402 0 0 0 0 0 0
6489 -0.76 -146.0 557.7 -7.2 676 6493 0.00 2.42 0.00 0.000 4 0.000 0.084 2439 3917 3402 0 0 0 0 0 0
6521 -0.76 -146.0 560.0 -7.4 678 6527 0.00 2.28 0.00 0.000 6 0.000 0.058 2439 2530 3403 0 0 0 0 0 0
6846 -0.76 -146.0 583.2 -7.0 709 6850 0.00 2.40 0.00 0.000 4 0.000 0.084 2440 3914 3402 0 0 0 0 0 0
6873 -0.76 -146.0 585.2 -7.8 711 6877 0.00 2.30 0.00 0.000 6 0.000 0.058 2440 2532 3402 0 0 0 0 0 0
7211 -0.76 -146.0 610.0 -7.7 735 7215 0.00 2.40 0.00 0.000 4 0.000 0.084 2439 3915 3402 0 0 0 0 0 0
7238 -0.76 -146.0 612.3 -8.3 736 7242 0.00 2.28 0.00 0.000 6 0.000 0.058 2439 2538 3402 0 0 0 0 0 0
7572 -0.76 -146.0 638.5 -7.6 747 7576 0.00 2.65 0.00 0.000 4 0.000 0.077 2440 868 3402 0 0 0 0 0 0
7610 -0.76 -146.0 641.6 -7.9 748 7615 0.00 2.65 0.00 0.000 6 0.000 0.068 2440 2543 3402 0 0 0 0 0 0
7933 -0.80 -146.0 664.5 -6.8 759 7937 0.00 2.38 0.00 0.000 4 0.000 0.084 2440 3923 3402 0 0 0 0 0 0
7965 -0.80 -146.0 666.9 -7.4 760 7969 0.00 2.30 0.00 0.000 6 0.000 0.058 2440 2532 3401 0 0 0 0 0 0
8301 -0.80 -146.0 689.4 -6.7 771 8302 0.00 0.00 0.00 0.000 6 0.000 0.000 2439 2533 3401 0 0 0 0 0 0
8606 -0.80 -146.0 710.3 -6.9 781 8607 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2533 3401 0 0 0 0 0 0
8913 -0.85 -146.0 731.5 -7.0 791 8914 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2533 3401 0 0 0 0 0 0
8973 end dive: TARGET_DEPTH_EXCEEDED
state 8973 begin apogee
8979 -0.16 0.0 735.8 7.1 793 9104 0.70 0.00 121.30 1.211 6 0.178 0.000 2635 1953 2800 0 0 0 0 0 0
9105 end apogee: CONTROL_FINISHED_OK
state 9105 begin climb
9106 0.73 146.0 737.3 0.0 797 9243 0.93 3.05 125.80 1.157 4 0.121 0.075 2917 3537 2202 0 0 0 0 0 0
9260 0.62 146.0 724.5 12.2 802 9266 0.17 2.90 0.00 0.000 6 0.190 0.064 2892 1950 2199 0 0 0 0 0 0
9596 0.62 146.0 688.6 10.8 813 9600 0.00 2.60 0.00 0.000 4 0.000 0.085 2902 363 2194 0 0 0 0 0 0
9634 0.62 146.0 684.4 10.4 814 9638 0.00 2.50 0.00 0.000 6 0.000 0.060 2902 1954 2195 0 0 0 0 0 0
9957 0.62 146.0 649.2 11.2 825 9962 0.00 2.70 0.00 0.000 4 0.000 0.077 2902 3539 2194 0 0 0 0 0 0
9989 0.57 146.0 645.5 12.2 826 9995 0.15 2.70 0.00 0.000 6 0.186 0.067 2880 1945 2192 0 0 0 0 0 0
10320 0.65 146.0 614.5 9.5 837 10324 0.00 2.55 0.00 0.000 4 0.000 0.086 2889 355 2192 0 0 0 0 0 0
10347 0.71 146.0 611.6 10.1 838 10352 0.00 2.47 0.00 0.000 6 0.000 0.061 2889 1955 2192 0 0 0 0 0 0
10669 0.77 146.0 581.2 9.4 859 10675 0.15 2.67 0.00 0.000 4 0.106 0.077 2942 3544 2192 0 0 0 0 0 0
10725 0.60 146.0 574.3 13.1 863 10731 0.28 2.65 0.00 0.000 6 0.194 0.067 2885 1965 2191 0 0 0 0 0 0
11050 0.67 148.5 545.1 9.1 894 11051 0.00 0.00 0.00 0.000 6 0.000 0.000 2885 1966 2191 0 0 0 0 0 0
11369 0.75 148.5 516.2 9.2 924 11371 0.15 0.00 0.00 0.000 6 0.110 0.000 2936 1965 2191 0 0 0 0 0 0
11687 0.66 148.5 476.1 13.0 954 11693 0.12 2.70 0.00 0.000 4 0.201 0.079 2908 3540 2191 0 0 0 0 0 0
11709 0.59 148.5 473.1 13.0 955 11715 0.15 2.65 0.00 0.000 6 0.193 0.067 2883 1957 2191 0 0 0 0 0 0
12034 0.69 148.5 439.5 10.1 986 12035 0.00 0.00 0.00 0.000 6 0.000 0.000 2883 1958 2191 0 0 0 0 0 0
12354 0.78 148.5 408.2 9.5 1016 12359 0.17 2.70 0.00 0.000 4 0.103 0.079 2944 3535 2191 0 0 0 0 0 0
12398 0.62 148.5 402.4 12.9 1019 12405 0.25 2.60 0.00 0.000 6 0.196 0.067 2894 1976 2190 0 0 0 0 0 0
12723 0.68 148.5 371.0 9.4 1050 12727 0.00 2.58 0.00 0.000 4 0.000 0.086 2904 356 2190 0 0 0 0 0 0
12750 0.68 148.5 368.3 10.0 1052 12754 0.00 2.50 0.00 0.000 6 0.000 0.064 2904 1979 2190 0 0 0 0 0 0
13074 0.68 148.5 336.0 9.7 1082 13078 0.00 2.62 0.00 0.000 4 0.000 0.079 2904 3537 2190 0 0 0 0 0 0
13094 0.68 148.5 333.7 10.2 1083 13101 0.00 2.62 0.00 0.000 6 0.000 0.068 2916 1972 2190 0 0 0 0 0 0
13421 0.68 148.5 299.7 10.5 1114 13422 0.00 0.00 0.00 0.000 6 0.000 0.000 2916 1972 2190 0 0 0 0 0 0
13739 0.68 148.5 267.1 10.2 1144 13743 0.00 2.67 0.00 0.000 4 0.000 0.080 2916 3544 2190 0 0 0 0 0 0
13778 0.62 148.5 262.8 11.7 1147 13783 0.15 2.65 0.00 0.000 6 0.191 0.068 2893 1963 2190 0 0 0 0 0 0
14102 0.72 160.9 234.5 8.6 1177 14115 0.00 0.00 11.23 0.825 6 0.000 0.000 2893 1963 2143 0 0 0 0 0 0
14431 0.83 173.7 205.3 8.6 1208 14453 0.20 2.75 11.88 0.815 4 0.094 0.078 2963 3537 2090 0 0 0 0 0 0
14487 0.65 173.7 198.5 12.9 1213 14492 0.30 2.65 0.00 0.000 6 0.193 0.068 2899 1966 2089 0 0 0 0 0 0
14812 0.75 174.2 168.5 9.1 1243 14816 0.00 2.58 0.00 0.000 4 0.000 0.085 2910 351 2088 0 0 0 0 0 0
14844 0.82 174.2 165.1 10.8 1245 14850 0.12 2.50 0.00 0.000 6 0.122 0.062 2953 1974 2088 0 0 0 0 0 0
15169 0.76 174.2 126.1 12.3 1276 15173 0.00 2.65 0.00 0.000 4 0.000 0.078 2953 3541 2088 0 0 0 0 0 0
15219 0.63 174.2 119.8 12.5 1280 15224 0.28 2.62 0.00 0.000 6 0.188 0.067 2896 1978 2088 0 0 0 0 0 0
15549 0.79 190.6 91.5 8.5 1318 15571 0.15 2.65 15.02 0.769 4 0.109 0.077 2948 3535 2021 0 0 0 0 0 0
15600 0.74 190.6 85.5 12.6 1327 15606 0.12 2.58 0.00 0.000 6 0.197 0.067 2933 2004 2019 0 0 0 0 0 0
15946 0.88 207.0 51.0 8.5 1388 15967 0.12 2.62 14.05 0.742 4 0.107 0.085 2988 362 1955 0 0 0 0 0 0
16092 0.83 207.0 34.4 12.0 1414 16098 0.12 2.53 0.00 0.000 6 0.191 0.062 2961 1994 1954 0 0 0 0 0 0
16436 0.88 249.2 4.4 7.4 1475 16473 0.00 0.00 34.83 0.742 2 0.000 0.000 2961 1994 1784 0 0 0 0 0 0
16474 end climb: SURFACE_DEPTH_REACHED
state 16474 begin surface coast
16498 end surface coast: CONTROL_FINISHED_OK
state 16498 begin surface