DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 196 * 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  196 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  16 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  -33704.762 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  102937,6701.522,-5735.516,48,0.9,48,-37.7 TGT_NAME  TARGET_W
_CALLS  3 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  32 TGT_RADIUS  10000.000
_XMS_TOUTs  2 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.34 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -66.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  104646,6701.396,-5735.685,63,99.0,82,-37.7 MHEAD_RNG_PITCHd_Wd  293.2,128694,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  837

Post-dive calculations and measurements:
FREEZE  0.68,0.240,-1.817,0,3,0 ALTIM_TOP_PING  19.5,18.2
FINISH  0.7,1.026606 ALTIM_BOTTOM_PING  701.4,162.8
SM_CCo  17462,55.92,0.754,0,0,1474,325.02 _24V_AH  22.6,44.038
SM_GC  1.23,0.00,0.00,55.92,0.000,0.000,0.754,125,2464,1474,-8.02,0.14,325.02 _10V_AH  10.2,22.579
RAFOS_CLK  1174 FG_AHR_24Vo  0.000
RAFOS  0,1259150469,12.033333,12.019167,62,57,56,0,0,0,213,176,140,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6701.199707,-5740.854980,251109,121244,2,98,0.54 MEM  152548
IRIDIUM_FIX  6631.12,-5730.46,190299,101003 DATA_FILE_SIZE  56798,1408
TT8_MAMPS  0.026845 CAP_FILE_SIZE  193793,0
HUMID  49.44 CFSIZE  260165632,234696704
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  1463.4
XPDR_PINGS  4 GPS  251109,154121,6700.139,-5741.335,63,2.5,83,-37.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor24292159.25 SBE_CT102924558.23
Roll_motor186107453.02 SBE_O299619427.80
VBD_pump_during_apogee338131110046.24 nil000.00
VBD_pump_during_surface55753952.94 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init83103194.25 nil000.00
Iridium_during_connect143160520.18 nil000.00
Iridium_during_xfer4372232207.40
Transponder_ping342035.59
GUMSTIX_24V000.00
GPS845043.09
TT8246219500.35
LPSleep120962285.01
TT8_Active61419124.81
TT8_Sampling241239982.52
TT8_CF895445447.14
TT8_Kalman000.00
Analog_circuits183912225.11
GPS_charging000.00
Compass23038187.94
RAFOS2520138.56
Transponder21306.61

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
15 -0.73 -146.0 0.0 0.0 0 114 0.00 0.00 -95.78 0.000 2 0.000 0.000 122 2466 3109 0 0 0 0 0 0
117 -0.73 -146.0 3.6 -5.8 19 143 11.12 2.65 -7.72 0.000 4 0.293 0.107 2447 3920 3399 0 0 0 0 0 0
364 -0.66 -146.0 40.0 -13.2 63 370 0.12 2.53 0.00 0.000 6 0.221 0.067 2475 2450 3401 0 0 0 0 0 0
708 -0.66 -146.0 79.7 -12.2 124 713 0.00 2.62 0.00 0.000 4 0.000 0.094 2475 3911 3401 0 0 0 0 0 0
815 -0.66 -146.0 93.0 -12.3 143 820 0.00 2.47 0.00 0.000 6 0.000 0.067 2475 2466 3401 0 0 0 0 0 0
1143 -0.72 -146.0 127.2 -10.2 179 1147 0.00 2.60 0.00 0.000 4 0.000 0.094 2475 3918 3401 0 0 0 0 0 0
1260 -0.79 -146.0 138.7 -9.2 189 1265 0.12 2.45 0.00 0.000 6 0.127 0.067 2435 2482 3401 0 0 0 0 0 0
1585 -0.74 -146.0 171.4 -9.4 219 1589 0.00 2.62 0.00 0.000 4 0.000 0.085 2435 871 3401 0 0 0 0 0 0
1623 -0.66 -146.0 175.2 -9.6 222 1629 0.17 2.62 0.00 0.000 6 0.219 0.077 2474 2482 3401 0 0 0 0 0 0
1948 -0.75 -146.0 200.2 -7.9 252 1953 0.00 2.53 0.00 0.000 4 0.000 0.092 2474 3913 3401 0 0 0 0 0 0
2060 -0.84 -146.0 209.7 -9.2 261 2067 0.17 2.42 0.00 0.000 6 0.110 0.066 2415 2483 3402 0 0 0 0 0 0
2385 -0.74 -146.0 244.7 -10.4 292 2390 0.15 2.58 0.00 0.000 4 0.210 0.089 2440 3921 3402 0 0 0 0 0 0
2504 -0.74 -146.0 255.9 -9.5 302 2508 0.00 2.40 0.00 0.000 6 0.000 0.063 2440 2496 3402 0 0 0 0 0 0
2828 -0.74 -146.0 282.7 -7.8 332 2832 0.00 2.50 0.00 0.000 4 0.000 0.089 2440 3914 3403 0 0 0 0 0 0
2868 -0.74 -146.0 285.9 -8.4 335 2872 0.00 2.38 0.00 0.000 6 0.000 0.063 2440 2504 3403 0 0 0 0 0 0
3192 -0.74 -146.0 311.1 -7.6 365 3197 0.00 2.50 0.00 0.000 4 0.000 0.089 2439 3918 3404 0 0 0 0 0 0
3232 -0.74 -146.0 314.3 -8.4 368 3236 0.00 2.38 0.00 0.000 6 0.000 0.063 2440 2507 3404 0 0 0 0 0 0
3556 -0.74 -146.0 340.2 -7.8 398 3560 0.00 2.50 0.00 0.000 4 0.000 0.089 2439 3922 3404 0 0 0 0 0 0
3640 -0.74 -146.0 347.2 -8.6 405 3646 0.00 2.33 0.00 0.000 6 0.000 0.062 2439 2535 3404 0 0 0 0 0 0
3965 -0.74 -146.0 374.2 -8.5 436 3966 0.00 0.00 0.00 0.000 6 0.000 0.000 2439 2536 3405 0 0 0 0 0 0
4285 -0.74 -146.0 402.3 -8.8 466 4289 0.00 2.45 0.00 0.000 4 0.000 0.089 2440 3921 3404 0 0 0 0 0 0
4305 -0.74 -146.0 404.5 -9.5 467 4311 0.00 2.35 0.00 0.000 6 0.000 0.063 2440 2547 3404 0 0 0 0 0 0
4630 -0.74 -146.0 433.0 -8.5 498 4631 0.00 0.00 0.00 0.000 6 0.000 0.000 2439 2548 3404 0 0 0 0 0 0
4949 -0.74 -146.0 461.0 -8.7 528 4953 0.00 2.42 0.00 0.000 4 0.000 0.090 2440 3917 3404 0 0 0 0 0 0
4987 -0.74 -146.0 464.4 -9.8 531 4992 0.00 2.33 0.00 0.000 6 0.000 0.064 2440 2538 3404 0 0 0 0 0 0
5312 -0.74 -146.0 492.1 -8.5 561 5313 0.00 0.00 0.00 0.000 6 0.000 0.000 2439 2539 3404 0 0 0 0 0 0
5630 -0.74 -146.0 518.0 -7.8 591 5635 0.00 2.67 0.00 0.000 4 0.000 0.083 2439 875 3404 0 0 0 0 0 0
5669 -0.74 -146.0 521.4 -8.9 594 5674 0.00 2.67 0.00 0.000 6 0.000 0.075 2439 2538 3404 0 0 0 0 0 0
5993 -0.74 -146.0 548.0 -8.6 624 5998 0.00 2.42 0.00 0.000 4 0.000 0.092 2439 3913 3404 0 0 0 0 0 0
6026 -0.74 -146.0 550.9 -8.7 626 6032 0.00 2.35 0.00 0.000 6 0.000 0.064 2440 2521 3404 0 0 0 0 0 0
6351 -0.74 -146.0 578.5 -8.5 657 6355 0.00 2.47 0.00 0.000 4 0.000 0.091 2439 3913 3404 0 0 0 0 0 0
6372 -0.74 -146.0 580.4 -8.8 658 6377 0.00 2.30 0.00 0.000 6 0.000 0.064 2439 2541 3404 0 0 0 0 0 0
6705 -0.74 -146.0 608.2 -8.6 684 6706 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2542 3404 0 0 0 0 0 0
7010 -0.74 -146.0 633.3 -8.3 694 7014 0.00 2.70 0.00 0.000 4 0.000 0.084 2440 872 3404 0 0 0 0 0 0
7030 -0.74 -146.0 635.3 -8.8 694 7036 0.00 2.70 0.00 0.000 6 0.000 0.076 2439 2549 3404 0 0 0 0 0 0
7346 -0.74 -146.0 661.1 -8.3 705 7347 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2548 3403 0 0 0 0 0 0
7650 -0.74 -146.0 686.5 -8.2 715 7655 0.00 2.40 0.00 0.000 4 0.000 0.091 2440 3912 3402 0 0 0 0 0 0
7705 -0.74 -146.0 691.3 -8.8 716 7712 0.00 2.30 0.00 0.000 6 0.000 0.065 2440 2549 3403 0 0 0 0 0 0
8019 -0.74 -146.0 715.6 -7.7 727 8023 0.00 2.72 0.00 0.000 4 0.000 0.085 2439 866 3403 0 0 0 0 0 0
8046 -0.74 -146.0 717.9 -9.0 728 8051 0.00 2.72 0.00 0.000 6 0.000 0.076 2439 2550 3403 0 0 0 0 0 0
8381 -0.74 -146.0 743.4 -7.5 739 8385 0.00 2.40 0.00 0.000 4 0.000 0.091 2440 3912 3402 0 0 0 0 0 0
8430 -0.74 -146.0 747.3 -8.6 740 8434 0.00 2.30 0.00 0.000 6 0.000 0.065 2439 2552 3402 0 0 0 0 0 0
8749 -0.74 -146.0 770.7 -7.4 751 8754 0.00 2.72 0.00 0.000 4 0.000 0.085 2440 872 3402 0 0 0 0 0 0
8783 -0.74 -146.0 773.6 -8.0 752 8788 0.00 2.70 0.00 0.000 6 0.000 0.077 2440 2544 3402 0 0 0 0 0 0
9112 -0.74 -146.0 799.4 -7.8 763 9116 0.00 2.42 0.00 0.000 4 0.000 0.093 2440 3914 3402 0 0 0 0 0 0
9155 -0.74 -146.0 802.9 -8.3 764 9159 0.00 2.33 0.00 0.000 6 0.000 0.065 2439 2541 3402 0 0 0 0 0 0
9480 -0.74 -146.0 828.0 -7.9 775 9484 0.00 2.45 0.00 0.000 4 0.000 0.093 2440 3913 3402 0 0 0 0 0 0
9518 -0.74 -146.0 831.3 -8.8 776 9522 0.00 2.30 0.00 0.000 6 0.000 0.065 2440 2554 3402 0 0 0 0 0 0
9599 end dive: TARGET_DEPTH_EXCEEDED
state 9600 begin apogee
9606 -0.16 0.0 837.9 8.0 779 9734 0.73 0.00 124.70 1.312 6 0.190 0.000 2634 1946 2800 0 0 0 0 0 0
9734 end apogee: CONTROL_FINISHED_OK
state 9735 begin climb
9736 0.73 146.0 840.3 0.0 783 9871 0.98 0.00 130.98 1.249 6 0.137 0.000 2916 1946 2204 0 0 0 0 0 0
10164 0.73 146.0 801.9 10.2 797 10169 0.00 2.90 0.00 0.000 4 0.000 0.085 2916 3543 2195 0 0 0 0 0 0
10242 0.62 146.0 793.1 11.4 799 10247 0.15 2.78 0.00 0.000 6 0.199 0.071 2896 1974 2194 0 0 0 0 0 0
10561 0.62 146.0 763.2 9.3 810 10562 0.00 0.00 0.00 0.000 6 0.000 0.000 2896 1975 2193 0 0 0 0 0 0
10866 0.62 146.0 735.1 9.2 820 10870 0.00 2.75 0.00 0.000 4 0.000 0.085 2896 3540 2192 0 0 0 0 0 0
10893 0.62 146.0 732.2 10.5 821 10898 0.00 2.72 0.00 0.000 6 0.000 0.074 2906 1965 2191 0 0 0 0 0 0
11226 0.62 146.0 699.2 9.8 832 11231 0.00 2.60 0.00 0.000 4 0.000 0.094 2917 361 2191 0 0 0 0 0 0
11247 0.62 146.0 696.9 10.8 832 11253 0.00 2.55 0.00 0.000 6 0.000 0.070 2918 1983 2191 0 0 0 0 0 0
11559 0.62 146.0 664.6 10.2 843 11564 0.00 2.70 0.00 0.000 4 0.000 0.087 2917 3538 2190 0 0 0 0 0 0
11608 0.53 146.0 659.1 10.4 844 11614 0.28 2.67 0.00 0.000 6 0.194 0.074 2862 1984 2189 0 0 0 0 0 0
11922 0.74 186.7 635.3 7.5 854 11958 0.20 0.00 33.47 1.176 6 0.104 0.000 2930 1984 2038 0 0 0 0 0 0
12257 0.74 186.7 596.8 11.7 865 12258 0.00 0.00 0.00 0.000 6 0.000 0.000 2929 1985 2032 0 0 0 0 0 0
12577 0.74 186.7 560.0 11.5 895 12578 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 1985 2031 0 0 0 0 0 0
12895 0.74 186.7 524.2 11.4 925 12899 0.00 2.72 0.00 0.000 4 0.000 0.087 2930 3539 2030 0 0 0 0 0 0
12916 0.68 186.7 521.5 12.6 926 12922 0.12 2.67 0.00 0.000 6 0.196 0.075 2914 1987 2030 0 0 0 0 0 0
13240 0.68 186.7 488.3 9.8 957 13244 0.00 2.65 0.00 0.000 4 0.000 0.094 2924 352 2029 0 0 0 0 0 0
13272 0.68 186.7 484.8 10.0 959 13278 0.00 2.58 0.00 0.000 6 0.000 0.071 2924 1993 2030 0 0 0 0 0 0
13597 0.68 186.7 449.2 11.3 990 13601 0.00 2.67 0.00 0.000 4 0.000 0.088 2924 3540 2030 0 0 0 0 0 0
13629 0.63 186.7 445.2 12.0 992 13635 0.17 2.65 0.00 0.000 6 0.188 0.076 2894 2000 2029 0 0 0 0 0 0
13954 0.73 186.7 414.8 9.3 1023 13955 0.00 0.00 0.00 0.000 6 0.000 0.000 2894 2001 2029 0 0 0 0 0 0
14274 0.85 194.2 385.7 8.9 1053 14288 0.20 2.70 6.30 0.870 4 0.104 0.094 2974 360 2008 0 0 0 0 0 0
14299 0.76 194.2 382.5 12.2 1055 14305 0.15 2.58 0.00 0.000 6 0.199 0.071 2940 2009 2008 0 0 0 0 0 0
14624 0.70 194.2 344.6 11.2 1086 14628 0.00 2.65 0.00 0.000 4 0.000 0.087 2939 3540 2008 0 0 0 0 0 0
14651 0.62 194.2 341.2 12.0 1088 14656 0.22 2.65 0.00 0.000 6 0.186 0.075 2894 2001 2007 0 0 0 0 0 0
14976 0.79 244.3 316.2 7.1 1118 15027 0.15 2.78 43.47 0.973 4 0.115 0.087 2944 3545 1802 0 0 0 0 0 0
15038 0.79 244.3 310.1 11.3 1124 15043 0.00 2.70 0.00 0.000 6 0.000 0.075 2956 2015 1801 0 0 0 0 0 0
15362 0.72 244.3 268.5 13.7 1154 15368 0.12 2.72 0.00 0.000 4 0.204 0.094 2939 355 1795 0 0 0 0 0 0
15453 0.72 244.3 256.7 13.5 1161 15459 0.00 2.62 0.00 0.000 6 0.000 0.071 2939 2012 1794 0 0 0 0 0 0
15777 0.72 244.3 215.1 12.5 1192 15781 0.00 2.72 0.00 0.000 4 0.000 0.095 2951 357 1793 0 0 0 0 0 0
15809 0.72 244.3 210.6 13.7 1194 15815 0.00 2.58 0.00 0.000 6 0.000 0.071 2951 1996 1793 0 0 0 0 0 0
16133 0.72 244.3 166.4 13.5 1225 16138 0.00 2.70 0.00 0.000 4 0.000 0.087 2951 3544 1793 0 0 0 0 0 0
16165 0.67 244.3 161.9 13.6 1227 16172 0.22 2.70 0.00 0.000 6 0.188 0.075 2908 1987 1793 0 0 0 0 0 0
16490 0.82 244.3 130.1 10.2 1258 16496 0.15 2.62 0.00 0.000 4 0.114 0.094 2971 361 1792 0 0 0 0 0 0
16523 0.82 244.3 126.0 12.6 1260 16529 0.00 2.58 0.00 0.000 6 0.000 0.070 2970 2009 1793 0 0 0 0 0 0
16856 0.82 244.3 78.1 14.3 1304 16861 0.00 2.70 0.00 0.000 4 0.000 0.094 2982 352 1792 0 0 0 0 0 0
16985 0.82 244.3 59.8 15.7 1327 16991 0.00 2.53 0.00 0.000 6 0.000 0.070 2982 1971 1792 0 0 0 0 0 0
17331 0.82 244.3 14.3 13.2 1388 17336 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 1971 1792 0 0 0 0 0 0
17425 end climb: SURFACE_DEPTH_REACHED
state 17425 begin surface coast
17444 end surface coast: CONTROL_FINISHED_OK
state 17444 begin surface