DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 195 * 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  195 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  17 XPDR_VALID  0
D_FINISH  9 FILEMGR  2 R_STBD_OVSHOOT  18 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  -33619.641 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  051932,6702.275,-5728.878,52,1.0,52,-37.7 TGT_NAME  TARGET_W
_CALLS  3 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  0 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.29 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -66.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  053401,6702.237,-5728.892,14,1.4,31,-37.7 MHEAD_RNG_PITCHd_Wd  293.1,133895,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  823

Post-dive calculations and measurements:
FREEZE  0.50,-0.101,-1.828,0,2,0 ALTIM_TOP_PING  19.6,18.7
FINISH  0.5,1.026774 ALTIM_BOTTOM_PING  750.6,86.5
SM_CCo  17563,49.83,0.750,0,0,1475,325.02 _24V_AH  22.6,43.870
SM_GC  1.36,0.00,0.00,49.83,0.000,0.000,0.750,124,2461,1475,-8.02,0.03,325.02 _10V_AH  10.2,22.488
RAFOS_CLK  1169 FG_AHR_24Vo  0.000
RAFOS  0,1259136089,8.033334,8.024722,60,58,57,0,0,0,206,170,228,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6701.192871,-5738.825684,251109,080856,2,102,0.64 MEM  152516
IRIDIUM_FIX  6631.12,-5725.81,190299,050519 DATA_FILE_SIZE  56698,1472
TT8_MAMPS  0.026845 CAP_FILE_SIZE  195815,0
HUMID  48.42 CFSIZE  260165632,234811392
INTERNAL_PRESSURE  8.88706 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  17.60 SOUNDSPEED  1463.0
XPDR_PINGS  10 GPS  251109,102937,6701.522,-5735.516,48,0.9,48,-37.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor25298173.46 SBE_CT107524583.46
Roll_motor172107419.71 SBE_O2103919446.54
VBD_pump_during_apogee357130310537.07 nil000.00
VBD_pump_during_surface49750844.68 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init83103194.03 nil000.00
Iridium_during_connect108160391.24 nil000.00
Iridium_during_xfer3892231964.50
Transponder_ping542052.21
GUMSTIX_24V000.00
GPS335016.97
TT8255919519.99
LPSleep120752284.53
TT8_Active58319118.56
TT8_Sampling241439983.20
TT8_CF884445395.66
TT8_Kalman000.00
Analog_circuits184412225.73
GPS_charging000.00
Compass23538192.07
RAFOS2520138.56
Transponder24307.40

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
14 -0.73 -146.0 0.0 0.0 0 113 0.00 0.00 -95.65 0.000 2 0.000 0.000 130 2474 3110 0 0 0 0 0 0
115 -0.73 -146.0 3.7 -7.1 19 142 11.27 2.62 -7.60 0.000 4 0.298 0.107 2447 3913 3398 0 0 0 0 0 0
395 -0.64 -146.0 45.7 -12.0 69 401 0.12 2.50 0.00 0.000 6 0.222 0.067 2475 2458 3400 0 0 0 0 0 0
739 -0.64 -146.0 84.1 -10.2 130 744 0.00 2.62 0.00 0.000 4 0.000 0.094 2474 3915 3401 0 0 0 0 0 0
835 -0.69 -146.0 94.1 -10.1 147 841 0.00 2.50 0.00 0.000 6 0.000 0.067 2474 2458 3401 0 0 0 0 0 0
1169 -0.75 -146.0 125.9 -9.0 183 1173 0.00 2.60 0.00 0.000 4 0.000 0.085 2475 862 3401 0 0 0 0 0 0
1190 -0.75 -146.0 127.8 -8.8 184 1196 0.00 2.62 0.00 0.000 6 0.000 0.076 2475 2485 3401 0 0 0 0 0 0
1515 -0.83 -146.0 152.2 -6.9 215 1520 0.17 2.55 0.00 0.000 4 0.106 0.091 2413 3913 3401 0 0 0 0 0 0
1616 -0.70 -146.0 162.0 -9.4 223 1623 0.20 2.45 0.00 0.000 6 0.213 0.067 2459 2475 3401 0 0 0 0 0 0
1940 -0.70 -146.0 189.5 -9.5 254 1945 0.00 2.55 0.00 0.000 4 0.000 0.091 2459 3911 3401 0 0 0 0 0 0
2007 -0.76 -146.0 195.8 -9.4 259 2013 0.00 2.42 0.00 0.000 6 0.000 0.066 2459 2483 3401 0 0 0 0 0 0
2332 -0.81 -146.0 222.9 -8.4 290 2337 0.00 2.55 0.00 0.000 4 0.000 0.091 2459 3915 3402 0 0 0 0 0 0
2417 -0.87 -146.0 230.1 -8.4 297 2422 0.17 2.40 0.00 0.000 6 0.111 0.064 2401 2500 3402 0 0 0 0 0 0
2742 -0.75 -146.0 265.0 -10.6 327 2743 0.17 0.00 0.00 0.000 6 0.211 0.000 2441 2501 3402 0 0 0 0 0 0
3060 -0.75 -146.0 291.8 -8.0 357 3064 0.00 2.50 0.00 0.000 4 0.000 0.091 2441 3911 3403 0 0 0 0 0 0
3161 -0.75 -146.0 300.7 -9.6 365 3166 0.00 2.38 0.00 0.000 6 0.000 0.064 2442 2506 3403 0 0 0 0 0 0
3485 -0.75 -146.0 330.1 -9.3 396 3486 0.00 0.00 0.00 0.000 6 0.000 0.000 2442 2507 3403 0 0 0 0 0 0
3805 -0.75 -146.0 359.8 -9.4 426 3809 0.00 2.50 0.00 0.000 4 0.000 0.091 2441 3915 3403 0 0 0 0 0 0
3836 -0.75 -146.0 363.0 -9.9 428 3843 0.00 2.40 0.00 0.000 6 0.000 0.064 2442 2519 3403 0 0 0 0 0 0
4161 -0.75 -146.0 392.5 -8.9 459 4163 0.00 0.00 0.00 0.000 6 0.000 0.000 2442 2519 3403 0 0 0 0 0 0
4481 -0.75 -146.0 420.8 -9.2 489 4485 0.00 2.47 0.00 0.000 4 0.000 0.090 2442 3913 3403 0 0 0 0 0 0
4542 -0.75 -146.0 426.5 -9.4 494 4546 0.00 2.38 0.00 0.000 6 0.000 0.064 2441 2508 3403 0 0 0 0 0 0
4866 -0.75 -146.0 455.5 -9.1 524 4868 0.00 0.00 0.00 0.000 6 0.000 0.000 2442 2509 3403 0 0 0 0 0 0
5187 -0.75 -146.0 483.4 -8.4 554 5191 0.00 2.50 0.00 0.000 4 0.000 0.091 2442 3915 3403 0 0 0 0 0 0
5225 -0.75 -146.0 486.9 -8.7 557 5230 0.00 2.35 0.00 0.000 6 0.000 0.064 2442 2525 3403 0 0 0 0 0 0
5550 -0.75 -146.0 513.6 -7.8 587 5554 0.00 2.47 0.00 0.000 4 0.000 0.091 2442 3917 3403 0 0 0 0 0 0
5577 -0.75 -146.0 515.9 -8.3 589 5581 0.00 2.35 0.00 0.000 6 0.000 0.064 2441 2525 3403 0 0 0 0 0 0
5903 -0.75 -146.0 541.7 -7.7 619 5904 0.00 0.00 0.00 0.000 6 0.000 0.000 2441 2526 3403 0 0 0 0 0 0
6221 -0.75 -146.0 567.1 -7.9 649 6222 0.00 0.00 0.00 0.000 6 0.000 0.000 2442 2526 3403 0 0 0 0 0 0
6542 -0.75 -146.0 592.6 -8.1 679 6543 0.00 0.00 0.00 0.000 6 0.000 0.000 2441 2526 3403 0 0 0 0 0 0
6848 -0.75 -146.0 616.7 -7.8 695 6852 0.00 2.47 0.00 0.000 4 0.000 0.092 2442 3910 3402 0 0 0 0 0 0
6876 -0.75 -146.0 618.9 -8.1 695 6881 0.00 2.35 0.00 0.000 6 0.000 0.065 2441 2521 3402 0 0 0 0 0 0
7188 -0.75 -146.0 644.7 -8.4 706 7189 0.00 0.00 0.00 0.000 6 0.000 0.000 2442 2521 3401 0 0 0 0 0 0
7494 -0.75 -146.0 670.5 -8.5 716 7498 0.00 2.50 0.00 0.000 4 0.000 0.092 2441 3915 3402 0 0 0 0 0 0
7521 -0.75 -146.0 672.9 -8.8 716 7526 0.00 2.35 0.00 0.000 6 0.000 0.065 2442 2526 3402 0 0 0 0 0 0
7833 -0.75 -146.0 698.9 -8.4 727 7837 0.00 2.67 0.00 0.000 4 0.000 0.085 2442 873 3402 0 0 0 0 0 0
7853 -0.75 -146.0 700.9 -9.3 727 7859 0.00 2.67 0.00 0.000 6 0.000 0.076 2442 2533 3401 0 0 0 0 0 0
8167 -0.80 -146.0 727.5 -8.5 738 8168 0.00 0.00 0.00 0.000 6 0.000 0.000 2442 2533 3402 0 0 0 0 0 0
8473 -0.85 -146.0 753.1 -8.4 748 8477 0.00 2.45 0.00 0.000 4 0.000 0.092 2442 3920 3401 0 0 0 0 0 0
8511 -0.90 -146.0 756.4 -8.9 749 8516 0.15 2.35 0.00 0.000 6 0.112 0.065 2392 2531 3401 0 0 0 0 0 0
8837 -0.78 -146.0 789.4 -10.4 760 8839 0.17 0.00 0.00 0.000 6 0.207 0.000 2432 2532 3401 0 0 0 0 0 0
9141 -0.78 -146.0 815.9 -8.3 770 9142 0.00 0.00 0.00 0.000 6 0.000 0.000 2433 2532 3401 0 0 0 0 0 0
9229 end dive: TARGET_DEPTH_EXCEEDED
state 9229 begin apogee
9235 -0.16 0.0 823.6 8.2 773 9363 0.73 0.00 124.00 1.304 6 0.188 0.000 2631 1952 2800 0 0 0 0 0 0
9364 end apogee: CONTROL_FINISHED_OK
state 9364 begin climb
9366 0.73 146.0 826.8 0.0 777 9505 0.98 2.88 129.40 1.242 4 0.136 0.091 2926 370 2202 0 0 0 0 0 0
9517 0.73 146.0 816.5 9.6 782 9522 0.00 2.72 0.00 0.000 6 0.000 0.067 2926 1951 2200 0 0 0 0 0 0
9851 0.73 146.0 780.4 10.8 793 9855 0.00 2.83 0.00 0.000 4 0.000 0.084 2926 3537 2194 0 0 0 0 0 0
9916 0.60 146.0 772.5 11.5 795 9922 0.22 2.78 0.00 0.000 6 0.195 0.072 2886 1958 2193 0 0 0 0 0 0
10248 0.68 156.3 742.7 8.7 806 10258 0.00 0.00 8.35 1.064 6 0.000 0.000 2887 1959 2162 0 0 0 0 0 0
10552 0.77 166.7 715.7 8.7 816 10569 0.17 2.80 10.48 1.109 4 0.108 0.084 2945 3547 2118 0 0 0 0 0 0
10597 0.60 166.7 710.6 12.6 817 10602 0.28 2.75 0.00 0.000 6 0.200 0.074 2890 1958 2118 0 0 0 0 0 0
10917 0.68 171.9 681.6 8.9 828 10925 0.00 0.00 5.62 0.946 6 0.000 0.000 2890 1959 2099 0 0 0 0 0 0
11224 0.76 171.9 653.7 9.2 838 11229 0.15 2.78 0.00 0.000 4 0.114 0.086 2938 3538 2099 0 0 0 0 0 0
11262 0.62 171.9 649.0 12.4 839 11267 0.22 2.72 0.00 0.000 6 0.194 0.074 2896 1958 2098 0 0 0 0 0 0
11587 0.69 171.9 618.5 9.3 850 11588 0.00 0.00 0.00 0.000 6 0.000 0.000 2896 1959 2098 0 0 0 0 0 0
11896 0.78 179.1 590.0 8.9 866 11911 0.15 2.80 7.88 1.025 4 0.114 0.086 2945 3540 2068 0 0 0 0 0 0
11944 0.63 179.1 584.1 12.7 870 11950 0.25 2.67 0.00 0.000 6 0.195 0.074 2896 1981 2068 0 0 0 0 0 0
12269 0.72 179.1 553.7 9.2 901 12270 0.00 0.00 0.00 0.000 6 0.000 0.000 2896 1982 2066 0 0 0 0 0 0
12589 0.79 179.1 523.2 9.5 931 12594 0.15 2.75 0.00 0.000 4 0.115 0.087 2946 3547 2066 0 0 0 0 0 0
12617 0.69 179.1 519.7 12.0 933 12622 0.17 2.67 0.00 0.000 6 0.196 0.075 2917 1987 2066 0 0 0 0 0 0
12941 0.69 179.1 485.5 9.9 963 12945 0.00 2.65 0.00 0.000 4 0.000 0.094 2927 351 2066 0 0 0 0 0 0
12961 0.69 179.1 483.2 10.9 964 12968 0.00 2.58 0.00 0.000 6 0.000 0.071 2927 1995 2066 0 0 0 0 0 0
13286 0.69 179.1 449.6 10.3 995 13291 0.00 2.67 0.00 0.000 4 0.000 0.087 2927 3539 2066 0 0 0 0 0 0
13314 0.64 179.1 446.6 11.3 997 13319 0.17 2.67 0.00 0.000 6 0.193 0.075 2898 1978 2065 0 0 0 0 0 0
13639 0.73 185.6 417.9 8.9 1027 13652 0.00 2.67 6.57 0.902 4 0.000 0.095 2907 356 2043 0 0 0 0 0 0
13664 0.82 190.1 415.5 9.0 1029 13675 0.15 2.55 5.93 0.857 6 0.120 0.071 2957 1989 2024 0 0 0 0 0 0
13993 0.71 190.1 373.6 13.1 1060 13999 0.15 2.70 0.00 0.000 4 0.202 0.087 2921 3540 2022 0 0 0 0 0 0
14037 0.71 190.1 368.1 11.9 1063 14043 0.00 2.67 0.00 0.000 6 0.000 0.076 2931 1984 2021 0 0 0 0 0 0
14362 0.71 190.1 332.0 10.7 1094 14366 0.00 2.65 0.00 0.000 4 0.000 0.096 2943 354 2021 0 0 0 0 0 0
14405 0.66 190.1 327.1 11.7 1097 14412 0.15 2.58 0.00 0.000 6 0.196 0.073 2908 1990 2021 0 0 0 0 0 0
14730 0.73 192.7 297.5 9.1 1128 14735 0.00 2.67 0.00 0.000 4 0.000 0.087 2908 3538 2021 0 0 0 0 0 0
14769 0.73 192.7 293.6 10.3 1131 14774 0.00 2.65 0.00 0.000 6 0.000 0.075 2918 1996 2021 0 0 0 0 0 0
15093 0.73 192.7 260.7 11.0 1161 15098 0.00 2.65 0.00 0.000 4 0.000 0.094 2930 357 2021 0 0 0 0 0 0
15136 0.73 192.7 255.5 11.9 1164 15143 0.00 2.60 0.00 0.000 6 0.000 0.071 2930 2011 2021 0 0 0 0 0 0
15463 0.73 192.7 218.8 11.1 1195 15467 0.00 2.70 0.00 0.000 4 0.000 0.095 2941 361 2021 0 0 0 0 0 0
15495 0.73 192.7 214.8 11.2 1197 15501 0.00 2.58 0.00 0.000 6 0.000 0.072 2941 2004 2021 0 0 0 0 0 0
15819 0.73 192.7 177.3 11.7 1228 15824 0.00 2.67 0.00 0.000 4 0.000 0.095 2953 362 2021 0 0 0 0 0 0
15836 0.73 192.7 175.3 11.9 1229 15840 0.00 2.55 0.00 0.000 6 0.000 0.072 2953 1986 2021 0 0 0 0 0 0
16160 0.66 192.7 136.4 12.2 1259 16162 0.20 0.00 0.00 0.000 6 0.194 0.000 2904 1986 2021 0 0 0 0 0 0
16479 0.78 199.6 108.3 8.9 1289 16494 0.12 2.67 8.82 0.769 4 0.118 0.087 2946 3540 1986 0 0 0 0 0 0
16516 0.72 199.6 104.1 11.6 1292 16523 0.15 2.65 0.00 0.000 6 0.196 0.075 2924 1987 1985 0 0 0 0 0 0
16860 0.92 260.0 72.5 6.6 1350 16917 0.20 2.78 50.53 0.792 4 0.098 0.084 2991 3546 1738 0 0 0 0 0 0
16985 0.82 260.0 58.9 12.5 1373 16992 0.20 2.67 0.00 0.000 6 0.193 0.074 2957 2012 1735 0 0 0 0 0 0
17333 0.87 260.0 24.3 9.9 1434 17339 0.00 2.70 0.00 0.000 4 0.000 0.091 2967 354 1731 0 0 0 0 0 0
17406 0.87 260.0 15.5 13.2 1447 17412 0.00 2.60 0.00 0.000 6 0.000 0.069 2968 2001 1731 0 0 0 0 0 0
17528 end climb: SURFACE_DEPTH_REACHED
state 17528 begin surface coast
17546 end surface coast: CONTROL_FINISHED_OK
state 17546 begin surface