SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 21 * 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  21 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  500 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_ABORT  600 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  23 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  160 CALL_TRIES  5 VBD_DBAND  2 DEVICE5  -1
T_MISSION  180 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  -13551.623 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  20

Pre-dive calculations and measurements:
GPS1  230415,131616,-3431.625,2551.548,24,1.4,35,-28.0 TGT_NAME  DEPLOY
_CALLS  1 TGT_LATLONG  -3425.000,2548.000
_XMS_NAKs  0 TGT_RADIUS  1000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.229,0.204
_SM_DEPTHo  2.03 KALMAN_X  -18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo  -69.4 KALMAN_Y  -14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2  230415,132435,-3431.715,2551.313,42,1.0,43,-28.0 MHEAD_RNG_PITCHd_Wd  50.9,13427,-15.1,-10.417
SPEED_LIMITS  0.180,0.319 D_GRID  500

Post-dive calculations and measurements:
FINISH  1.2,1.009344 _10V_AH  10.3,3.782
SM_CCo  7098,0.00,0.000,0,0,1162,392.47 FG_AHR_24Vo  0.000
SM_GC  2.23,8.65,0.00,0.00,0.040,0.000,0.000,68,2176,1162,-9.17,0.20,392.47 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -3422.54,2545.92,180208,020259 MEM  331588
TT8_MAMPS  0.026964 DATA_FILE_SIZE  80698,1107
HUMID  60.00 CAP_FILE_SIZE  143032,0
INTERNAL_PRESSURE  9.31366 CFSIZE  2097086464,2089680896
TCM_TEMP  17.20 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS  0 CURRENT  0.388,238.3,1
ALTIM_BOTTOM_PING  370.8,7.7 GPS  230415,152429,-3431.421,2550.376,41,1.2,41,-28.0
_24V_AH  23.9,5.441

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23261148.20 SBE_CT75423418.53
Roll_motor141134455.01 AA43302863171179.34
VBD_pump_during_apogee4988329911.91 WL_BB2F19591054917.13
VBD_pump_during_surface000.00 QSP21503097171275.51
VBD_valve000.00 nil000.00
Iridium_during_init379181.28 nil000.00
Iridium_during_connect43160166.80 nil000.00
Iridium_during_xfer2822231505.64 nil000.00
Transponder_ping742072.78 nil000.00
GUMSTIX_24V000.00
GPS442712.78
TT8260613372.91
LPSleep630214.23
TT8_Active6681395.69
TT8_Sampling3551401494.16
TT8_CF81365070.88
TT8_Kalman000.00
Analog_circuits181015285.70
GPS_charging000.00
Compass281715456.42
RAFOS000.00
Transponder473014.79

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
24 -1.02 -223.8 0.0 0.0 0 86 0.00 0.00 -59.60 0.000 2 0.000 0.000 77 2178 2556 0 0 0 0 0 0
88 -1.02 -223.8 3.1 -3.4 7 141 11.40 2.45 -34.65 0.000 4 0.262 0.099 2701 3585 3678 0 0 0 0 0 0
356 -0.90 -223.8 43.2 -14.4 48 366 0.17 2.38 0.00 0.000 6 0.148 0.072 2755 2176 3681 0 0 0 0 0 0
477 -0.87 -223.8 56.5 -12.2 67 484 0.00 2.40 0.00 0.000 4 0.000 0.086 2746 3593 3683 0 0 0 0 0 0
497 -0.84 -223.8 59.1 -11.3 70 507 0.08 2.42 0.00 0.000 6 0.149 0.080 2770 2173 3683 0 0 0 0 0 0
617 -0.84 -223.8 71.8 -11.3 89 624 0.00 2.47 0.00 0.000 4 0.000 0.101 2770 730 3684 0 0 0 0 0 0
669 -0.84 -223.8 77.5 -11.1 97 676 0.08 2.55 0.00 0.000 6 0.207 0.106 2776 2168 3684 0 0 0 0 0 0
784 -0.84 -223.8 90.4 -10.2 116 794 0.00 2.42 0.00 0.000 4 0.000 0.092 2766 3590 3685 0 0 0 0 0 0
824 -0.84 -223.8 94.9 -11.4 122 833 0.00 2.45 0.00 0.000 6 0.000 0.086 2766 2164 3685 0 0 0 0 0 0
943 -0.84 -223.8 107.8 -11.7 141 950 0.00 2.45 0.00 0.000 4 0.000 0.106 2766 743 3686 0 0 0 0 0 0
995 -0.81 -223.8 114.0 -12.1 149 1002 0.12 2.50 0.00 0.000 6 0.200 0.102 2785 2169 3686 0 0 0 0 0 0
1112 -0.81 -223.8 126.8 -10.3 168 1121 0.00 2.40 0.00 0.000 4 0.000 0.091 2775 3584 3686 0 0 0 0 0 0
1149 -0.83 -223.8 130.4 -10.5 173 1156 0.00 2.40 0.00 0.000 6 0.000 0.086 2775 2161 3686 0 0 0 0 0 0
1264 -0.83 -223.8 142.8 -10.2 192 1274 0.00 2.50 0.00 0.000 4 0.000 0.108 2775 738 3686 0 0 0 0 0 0
1312 -0.83 -223.8 148.0 -11.9 199 1320 0.05 2.50 0.00 0.000 6 0.251 0.099 2773 2171 3686 0 0 0 0 0 0
1431 -0.83 -223.8 161.2 -10.7 218 1440 0.00 2.42 0.00 0.000 4 0.000 0.096 2763 3595 3686 0 0 0 0 0 0
1466 -0.83 -223.8 164.8 -11.2 223 1473 0.08 2.42 0.00 0.000 6 0.181 0.090 2779 2166 3686 0 0 0 0 0 0
1584 -0.83 -223.8 177.4 -10.6 242 1593 0.00 2.50 0.00 0.000 4 0.000 0.111 2779 744 3686 0 0 0 0 0 0
1636 -0.83 -223.8 183.2 -11.3 250 1645 0.00 2.53 0.00 0.000 6 0.000 0.101 2770 2163 3686 0 0 0 0 0 0
1755 -0.83 -223.8 196.1 -11.7 269 1762 0.00 2.40 0.00 0.000 4 0.000 0.098 2759 3599 3686 0 0 0 0 0 0
1800 -0.83 -223.8 201.5 -11.1 276 1811 0.05 2.47 0.00 0.000 6 0.161 0.095 2774 2176 3686 0 0 0 0 0 0
1922 -0.83 -223.8 214.5 -11.3 295 1929 0.00 2.47 0.00 0.000 4 0.000 0.107 2774 735 3686 0 0 0 0 0 0
1992 -0.83 -223.8 222.4 -10.5 306 2001 0.00 2.55 0.00 0.000 6 0.000 0.099 2765 2178 3686 0 0 0 0 0 0
2111 -0.83 -223.8 235.7 -11.8 325 2118 0.05 0.00 0.00 0.000 6 0.261 0.000 2773 2178 3686 0 0 0 0 0 0
2228 -0.83 -223.8 249.5 -11.5 344 2241 0.00 2.42 0.00 0.000 4 0.000 0.099 2764 3596 3685 0 0 0 0 0 0
2259 -0.83 -223.8 253.0 -11.1 348 2270 0.03 2.50 0.00 0.000 6 0.139 0.098 2772 2164 3685 0 0 0 0 0 0
2379 -0.83 -223.8 266.0 -11.5 367 2386 0.00 2.45 0.00 0.000 4 0.000 0.109 2772 740 3683 0 0 0 0 0 0
2420 -0.83 -223.8 270.7 -12.2 373 2428 0.08 2.47 0.00 0.000 6 0.234 0.094 2776 2178 3684 0 0 0 0 0 0
2537 -0.83 -223.8 284.2 -11.7 392 2547 0.00 2.42 0.00 0.000 4 0.000 0.103 2766 3586 3684 0 0 0 0 0 0
2573 -0.83 -223.8 287.9 -11.1 397 2581 0.00 2.45 0.00 0.000 6 0.000 0.098 2766 2164 3684 0 0 0 0 0 0
2690 -0.83 -223.8 301.3 -11.5 416 2700 0.00 2.50 0.00 0.000 4 0.000 0.109 2766 736 3684 0 0 0 0 0 0
2755 -0.83 -223.8 309.1 -12.2 426 2764 0.08 2.47 0.00 0.000 6 0.201 0.089 2777 2164 3683 0 0 0 0 0 0
2871 -0.83 -223.8 322.4 -11.5 445 2878 0.00 2.45 0.00 0.000 4 0.000 0.106 2766 3602 3683 0 0 0 0 0 0
2902 -0.83 -223.8 326.2 -11.8 450 2912 0.03 2.50 0.00 0.000 6 0.132 0.097 2775 2170 3683 0 0 0 0 0 0
3022 -0.83 -223.8 339.5 -11.0 469 3033 0.00 2.45 0.00 0.000 4 0.000 0.107 2776 737 3683 0 0 0 0 0 0
3068 -0.83 -223.8 345.2 -11.5 476 3078 0.00 2.50 0.00 0.000 6 0.000 0.093 2766 2171 3683 0 0 0 0 0 0
3187 -0.83 -223.8 359.2 -12.4 495 3195 0.00 2.40 0.00 0.000 4 0.000 0.102 2756 3593 3683 0 0 0 0 0 0
3228 -0.83 -223.8 364.1 -12.4 501 3236 0.10 2.47 0.00 0.000 6 0.183 0.102 2778 2162 3682 0 0 0 0 0 0
3287 end dive: BOTTOM_OBSTACLE_DETECTED
state 3287 begin apogee
3292 -0.25 0.0 370.8 11.4 510 3475 0.57 0.00 174.73 0.832 6 0.138 0.000 2965 1672 2763 0 0 0 0 0 0
3476 end apogee: CONTROL_FINISHED_OK
state 3476 begin climb
3477 1.02 223.8 381.1 0.0 535 3671 1.23 2.47 182.75 0.803 4 0.091 0.060 3383 243 1848 0 0 0 0 0 0
3766 0.86 223.8 358.5 14.4 577 3774 0.20 2.35 0.00 0.000 6 0.157 0.041 3330 1695 1843 0 0 0 0 0 0
3880 0.78 223.8 345.6 10.9 596 3889 0.10 0.00 0.00 0.000 6 0.187 0.000 3306 1701 1842 0 0 0 0 0 0
3996 0.77 252.6 334.4 9.5 615 4025 0.00 0.00 24.60 0.769 6 0.000 0.000 3306 1701 1731 0 0 0 0 0 0
4132 0.77 286.4 321.0 9.4 637 4168 0.00 2.47 29.05 0.769 4 0.000 0.060 3317 247 1594 0 0 0 0 0 0
4192 0.74 286.4 314.4 10.5 646 4202 0.08 2.35 0.00 0.000 6 0.143 0.041 3293 1667 1592 0 0 0 0 0 0
4308 0.76 307.9 303.4 9.7 665 4330 0.00 0.00 19.65 0.750 6 0.000 0.000 3293 1667 1505 0 0 0 0 0 0
4434 0.78 325.6 290.9 9.9 686 4459 0.00 2.42 15.90 0.734 4 0.000 0.062 3302 257 1435 0 0 0 0 0 0
4472 0.80 340.9 287.3 9.9 691 4495 0.00 2.30 14.48 0.720 6 0.000 0.041 3302 1671 1373 0 0 0 0 0 0
4601 0.84 352.7 273.8 10.0 712 4616 0.00 0.00 11.38 0.702 6 0.000 0.000 3302 1671 1323 0 0 0 0 0 0
4722 0.87 357.1 261.3 10.3 732 4732 0.08 0.00 4.50 0.546 6 0.119 0.000 3344 1671 1306 0 0 0 0 0 0
4838 0.83 357.1 246.9 12.7 751 4846 0.10 0.00 0.00 0.000 6 0.160 0.000 3319 1677 1306 0 0 0 0 0 0
4952 0.83 357.1 232.5 12.3 770 4961 0.00 2.40 0.00 0.000 4 0.000 0.063 3329 248 1303 0 0 0 0 0 0
4999 0.80 357.1 226.6 12.9 777 5006 0.08 2.28 0.00 0.000 6 0.169 0.041 3311 1681 1305 0 0 0 0 0 0
5111 0.80 357.1 213.1 12.0 796 5119 0.00 0.00 0.00 0.000 6 0.000 0.000 3311 1681 1304 0 0 0 0 0 0
5224 0.80 357.1 199.8 12.3 815 5231 0.00 0.00 0.00 0.000 6 0.000 0.000 3311 1681 1304 0 0 0 0 0 0
5336 0.80 357.1 186.3 12.2 834 5345 0.00 2.38 0.00 0.000 4 0.000 0.062 3321 255 1304 0 0 0 0 0 0
5364 0.80 357.1 183.0 12.3 838 5373 0.00 2.28 0.00 0.000 6 0.000 0.042 3321 1670 1304 0 0 0 0 0 0
5479 0.80 357.1 168.8 12.5 857 5486 0.00 2.28 0.00 0.000 4 0.000 0.067 3321 3086 1304 0 0 0 0 0 0
5499 0.80 357.1 166.1 12.3 860 5508 0.05 2.33 0.00 0.000 6 0.142 0.059 3313 1657 1304 0 0 0 0 0 0
5615 0.80 357.1 152.2 12.1 879 5622 0.00 2.25 0.00 0.000 4 0.000 0.062 3323 263 1304 0 0 0 0 0 0
5670 0.80 357.1 145.1 13.1 888 5680 0.03 2.25 0.00 0.000 6 0.141 0.041 3313 1671 1303 0 0 0 0 0 0
5785 0.80 357.1 131.9 11.1 907 5793 0.00 0.00 0.00 0.000 6 0.000 0.000 3312 1671 1303 0 0 0 0 0 0
5897 0.80 357.1 119.2 11.1 926 5905 0.00 0.00 0.00 0.000 6 0.000 0.000 3313 1671 1303 0 0 0 0 0 0
6011 0.80 357.1 106.9 11.1 945 6018 0.00 2.30 0.00 0.000 4 0.000 0.061 3322 255 1303 0 0 0 0 0 0
6042 0.80 357.1 103.0 12.0 950 6052 0.03 2.28 0.00 0.000 6 0.160 0.043 3312 1684 1302 0 0 0 0 0 0
6158 0.80 357.1 90.3 10.9 969 6164 0.00 0.00 0.00 0.000 6 0.000 0.000 3312 1684 1302 0 0 0 0 0 0
6269 0.80 357.1 78.0 11.3 988 6277 0.00 0.00 0.00 0.000 6 0.000 0.000 3312 1684 1302 0 0 0 0 0 0
6382 0.80 357.1 65.5 11.2 1007 6389 0.00 0.00 0.00 0.000 6 0.000 0.000 3312 1684 1302 0 0 0 0 0 0
6493 0.80 357.1 52.7 10.8 1026 6502 0.00 2.35 0.00 0.000 4 0.000 0.062 3322 257 1302 0 0 0 0 0 0
6527 0.80 357.1 49.1 11.4 1031 6535 0.00 2.22 0.00 0.000 6 0.000 0.043 3323 1674 1302 0 0 0 0 0 0
6641 0.81 366.9 36.8 10.1 1050 6657 0.00 2.25 8.90 0.575 4 0.000 0.064 3322 3084 1267 0 0 0 0 0 0
6755 0.81 366.9 25.7 10.8 1068 6764 0.05 2.28 0.00 0.000 6 0.136 0.059 3312 1679 1266 0 0 0 0 0 0
6842 0.86 374.8 17.0 10.2 1081 6852 0.00 2.38 4.57 0.452 4 0.000 0.064 3323 253 1232 0 0 0 0 0 0
6885 0.88 374.8 12.4 11.2 1087 6895 0.00 2.30 0.00 0.000 6 0.000 0.046 3323 1676 1231 0 0 0 0 0 0
6972 0.95 400.0 3.4 9.6 1100 6982 0.10 0.00 7.78 0.480 2 0.097 0.000 3377 1677 1168 0 0 0 0 0 0
6983 end climb: SURFACE_DEPTH_REACHED
state 6983 begin surface coast
7022 end surface coast: CONTROL_FINISHED_OK
state 7022 begin surface