DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 219 * 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  219 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  18 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  -2 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  2 T_GPS_CHARGE  -35332.465 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  122410,6643.154,-5929.364,0,6119.3,0,-37.8 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  12.09 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -2.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  122410,6643.154,-5929.364,0,6119.3,0,-37.8 MHEAD_RNG_PITCHd_Wd  310.0,41462,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  872

Post-dive calculations and measurements:
FREEZE  8.48,-1.769,-1.769,2,14,0 ALTIM_BOTTOM_PING  750.8,10.3
FINISH1  8.5,1.025914,77 _24V_AH  22.5,47.407
FINISH2  5.6 _10V_AH  10.1,24.631
RAFOS_CLK  1072 FG_AHR_24Vo  0.000
RAFOS  2,1259597825,16.299999,16.284721,107,63,54,0,0,0,626,152,203,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6643.005859,-5935.108887,301109,161635,5,107,0.29 MEM  152564
IRIDIUM_FIX  6620.33,-5850.01,230299,080832 DATA_FILE_SIZE  53567,1331
TT8_MAMPS  0.029146 CAP_FILE_SIZE  165576,0
HUMID  49.33 CFSIZE  260165632,232632320
INTERNAL_PRESSURE  8.89683 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  16.20 SOUNDSPEED  1452.9
XPDR_PINGS  7 GPS  301109,162835,6643.006,-5935.109,0,5107.0,0,-37.8
ALTIM_TOP_PING  19.7,18.5

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor622733.57 SBE_CT97524526.83
Roll_motor189113484.32 SBE_O293919401.43
VBD_pump_during_apogee407126011559.90 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_ping542047.25
GUMSTIX_24V000.00
GPS0500.00
TT8230819464.38
LPSleep101892237.72
TT8_Active52919106.54
TT8_Sampling229339924.63
TT8_CF81794583.36
TT8_Kalman000.00
Analog_circuits173912210.84
GPS_charging000.00
Compass22588182.52
RAFOS3240149.09
Transponder26307.89

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 22 0.00 0.00 -5.15 0.000 2 0.000 0.000 2728 353 2714 0 0 0 0 0 0
25 -0.73 -146.0 13.0 -0.0 1 51 0.82 6.10 -15.62 0.000 4 0.124 0.094 2461 3919 3399 0 0 0 0 0 0
301 -0.62 -146.0 51.6 -14.9 50 306 0.00 2.65 0.00 0.000 6 0.000 0.074 2460 2459 3400 0 0 0 0 0 0
645 -0.56 -146.0 98.1 -12.5 111 651 0.17 2.78 0.00 0.000 4 0.228 0.097 2491 3909 3401 0 0 0 0 0 0
848 -0.64 -146.0 121.3 -10.2 131 852 0.00 2.60 0.00 0.000 6 0.000 0.073 2491 2473 3401 0 0 0 0 0 0
1175 -0.70 -146.0 149.0 -9.4 161 1180 0.00 2.75 0.00 0.000 4 0.000 0.100 2491 3918 3400 0 0 0 0 0 0
1275 -0.79 -146.0 159.5 -10.5 169 1281 0.17 2.62 0.00 0.000 6 0.122 0.074 2434 2470 3400 0 0 0 0 0 0
1599 -0.70 -146.0 200.3 -13.4 200 1604 0.00 2.75 0.00 0.000 4 0.000 0.100 2433 3911 3400 0 0 0 0 0 0
1655 -0.60 -146.0 207.9 -13.4 204 1661 0.25 2.62 0.00 0.000 6 0.216 0.074 2492 2469 3400 0 0 0 0 0 0
1979 -0.73 -146.0 234.0 -6.7 235 1985 0.12 2.75 0.00 0.000 4 0.136 0.097 2441 3906 3400 0 0 0 0 0 0
2051 -0.73 -146.0 240.9 -10.4 241 2056 0.00 2.58 0.00 0.000 6 0.000 0.072 2441 2486 3400 0 0 0 0 0 0
2376 -0.73 -146.0 277.7 -11.8 271 2380 0.00 2.72 0.00 0.000 4 0.000 0.101 2441 3906 3400 0 0 0 0 0 0
2470 -0.73 -146.0 288.9 -11.3 279 2475 0.00 2.58 0.00 0.000 6 0.000 0.074 2441 2493 3399 0 0 0 0 0 0
2795 -0.73 -146.0 324.1 -10.7 309 2799 0.00 2.70 0.00 0.000 4 0.000 0.100 2441 3907 3399 0 0 0 0 0 0
2883 -0.73 -146.0 334.1 -10.9 316 2889 0.00 2.60 0.00 0.000 6 0.000 0.074 2441 2506 3399 0 0 0 0 0 0
3208 -0.73 -146.0 367.3 -9.9 347 3213 0.00 2.70 0.00 0.000 4 0.000 0.100 2441 3916 3399 0 0 0 0 0 0
3307 -0.73 -146.0 377.4 -9.6 355 3313 0.00 2.60 0.00 0.000 6 0.000 0.074 2441 2481 3399 0 0 0 0 0 0
3632 -0.73 -146.0 407.6 -9.1 386 3637 0.00 2.72 0.00 0.000 4 0.000 0.100 2441 3906 3399 0 0 0 0 0 0
3698 -0.73 -146.0 413.8 -9.4 391 3704 0.00 2.58 0.00 0.000 6 0.000 0.074 2441 2519 3399 0 0 0 0 0 0
4025 -0.73 -146.0 444.2 -9.1 422 4029 0.00 2.67 0.00 0.000 4 0.000 0.099 2441 3915 3399 0 0 0 0 0 0
4079 -0.73 -146.0 449.6 -9.9 426 4085 0.00 2.58 0.00 0.000 6 0.000 0.073 2441 2524 3399 0 0 0 0 0 0
4404 -0.73 -146.0 479.5 -8.7 457 4409 0.00 2.65 0.00 0.000 4 0.000 0.098 2441 3907 3399 0 0 0 0 0 0
4481 -0.73 -146.0 486.7 -8.6 463 4487 0.00 2.50 0.00 0.000 6 0.000 0.072 2441 2537 3398 0 0 0 0 0 0
4806 -0.73 -146.0 514.0 -8.4 494 4811 0.00 2.62 0.00 0.000 4 0.000 0.097 2441 3907 3399 0 0 0 0 0 0
4836 -0.73 -146.0 516.4 -8.7 496 4840 0.00 2.50 0.00 0.000 6 0.000 0.072 2441 2535 3399 0 0 0 0 0 0
5161 -0.73 -146.0 544.2 -8.7 526 5165 0.00 2.62 0.00 0.000 4 0.000 0.097 2441 3907 3400 0 0 0 0 0 0
5244 -0.73 -146.0 551.5 -8.6 533 5248 0.00 2.47 0.00 0.000 6 0.000 0.071 2441 2550 3399 0 0 0 0 0 0
5568 -0.73 -146.0 578.2 -8.0 563 5573 0.00 2.60 0.00 0.000 4 0.000 0.096 2441 3909 3400 0 0 0 0 0 0
5634 -0.73 -146.0 583.5 -8.2 568 5640 0.00 2.45 0.00 0.000 6 0.000 0.070 2441 2563 3400 0 0 0 0 0 0
5977 -0.73 -146.0 608.9 -7.3 593 5981 0.00 2.58 0.00 0.000 4 0.000 0.096 2440 3910 3401 0 0 0 0 0 0
6014 -0.73 -146.0 611.8 -7.9 594 6019 0.00 2.42 0.00 0.000 6 0.000 0.070 2441 2573 3400 0 0 0 0 0 0
6344 -0.73 -146.0 637.3 -7.9 605 6345 0.00 0.00 0.00 0.000 6 0.000 0.000 2442 2574 3401 0 0 0 0 0 0
6651 -0.78 -146.0 661.4 -8.0 615 6655 0.00 2.55 0.00 0.000 4 0.000 0.095 2441 3908 3401 0 0 0 0 0 0
6694 -0.83 -146.0 665.3 -9.1 616 6699 0.00 2.42 0.00 0.000 6 0.000 0.068 2441 2569 3401 0 0 0 0 0 0
7012 -0.88 -146.0 691.3 -8.4 627 7014 0.00 0.00 0.00 0.000 6 0.000 0.000 2441 2570 3402 0 0 0 0 0 0
7319 -0.93 -146.0 716.7 -8.2 637 7324 0.15 2.58 0.00 0.000 4 0.120 0.092 2380 3913 3402 0 0 0 0 0 0
7408 -0.75 -146.0 726.3 -10.7 639 7414 0.28 2.42 0.00 0.000 6 0.219 0.068 2442 2574 3402 0 0 0 0 0 0
7721 end dive: BOTTOM_OBSTACLE_DETECTED
state 7721 begin apogee
7727 -0.16 0.0 750.8 7.7 650 7855 0.70 0.00 124.10 1.261 6 0.186 0.000 2632 1954 2800 0 0 0 0 0 0
7856 end apogee: CONTROL_FINISHED_OK
state 7856 begin climb
7857 0.73 146.0 754.0 0.0 654 7998 0.98 2.80 130.65 1.201 4 0.138 0.094 2925 367 2202 0 0 0 0 0 0
8020 0.66 146.0 742.0 10.7 659 8024 0.00 2.65 0.00 0.000 6 0.000 0.071 2925 1951 2199 0 0 0 0 0 0
8344 0.60 146.0 704.1 12.0 670 8350 0.17 3.00 0.00 0.000 4 0.194 0.086 2881 3540 2194 0 0 0 0 0 0
8416 0.60 146.0 695.8 11.1 672 8421 0.00 2.95 0.00 0.000 6 0.000 0.076 2892 1959 2192 0 0 0 0 0 0
8740 0.65 146.0 662.9 10.0 683 8744 0.00 2.95 0.00 0.000 4 0.000 0.087 2892 3542 2192 0 0 0 0 0 0
8778 0.65 146.0 658.7 11.3 684 8782 0.00 2.88 0.00 0.000 6 0.000 0.077 2904 1978 2190 0 0 0 0 0 0
9103 0.65 146.0 624.6 10.6 695 9104 0.00 0.00 0.00 0.000 6 0.000 0.000 2904 1979 2190 0 0 0 0 0 0
9410 0.65 146.0 592.6 10.5 709 9414 0.00 2.88 0.00 0.000 4 0.000 0.087 2904 3538 2190 0 0 0 0 0 0
9449 0.58 146.0 588.4 12.0 712 9454 0.15 2.83 0.00 0.000 6 0.202 0.077 2883 1985 2189 0 0 0 0 0 0
9774 0.67 150.9 559.1 9.0 742 9778 0.00 2.88 0.00 0.000 4 0.000 0.087 2883 3545 2189 0 0 0 0 0 0
9806 0.67 150.9 555.9 9.8 744 9812 0.00 2.83 0.00 0.000 6 0.000 0.077 2893 1992 2189 0 0 0 0 0 0
10131 0.72 150.9 525.3 9.2 775 10135 0.00 2.85 0.00 0.000 4 0.000 0.087 2893 3541 2190 0 0 0 0 0 0
10208 0.72 150.9 517.2 10.0 781 10214 0.00 2.75 0.00 0.000 6 0.000 0.076 2905 2019 2190 0 0 0 0 0 0
10532 0.73 159.4 487.4 8.8 812 10548 0.00 2.60 10.32 1.009 4 0.000 0.095 2916 358 2149 0 0 0 0 0 0
10598 0.73 159.4 480.7 10.7 817 10604 0.00 2.53 0.00 0.000 6 0.000 0.072 2916 2017 2148 0 0 0 0 0 0
10922 0.73 159.4 447.8 10.6 848 10927 0.00 2.80 0.00 0.000 4 0.000 0.087 2916 3545 2148 0 0 0 0 0 0
10988 0.66 159.4 440.2 12.0 853 10994 0.00 2.75 0.00 0.000 6 0.000 0.077 2928 2033 2147 0 0 0 0 0 0
11314 0.66 159.4 403.4 11.7 884 11318 0.00 2.65 0.00 0.000 4 0.000 0.097 2940 354 2147 0 0 0 0 0 0
11347 0.60 159.4 399.4 12.0 886 11353 0.22 2.58 0.00 0.000 6 0.189 0.072 2886 2042 2147 0 0 0 0 0 0
11671 0.73 170.0 369.3 8.7 917 11684 0.12 0.00 10.20 0.951 6 0.126 0.000 2925 2042 2107 0 0 0 0 0 0
12000 0.75 189.6 338.1 8.3 948 12024 0.00 2.80 18.10 0.976 4 0.000 0.089 2925 3532 2025 0 0 0 0 0 0
12054 0.70 190.4 333.4 9.1 953 12058 0.00 2.75 0.00 0.000 6 0.000 0.077 2938 2034 2024 0 0 0 0 0 0
12378 0.70 190.7 303.6 9.2 983 12382 0.00 2.80 0.00 0.000 4 0.000 0.087 2938 3544 2023 0 0 0 0 0 0
12410 0.64 190.7 300.1 10.5 985 12417 0.20 2.72 0.00 0.000 6 0.196 0.077 2903 2054 2023 0 0 0 0 0 0
12735 0.78 208.5 272.5 8.4 1016 12755 0.12 0.00 17.15 0.941 6 0.125 0.000 2943 2055 1948 0 0 0 0 0 0
13073 0.78 208.5 238.5 9.7 1048 13078 0.00 2.70 0.00 0.000 4 0.000 0.097 2955 355 1944 0 0 0 0 0 0
13094 0.78 208.5 236.3 10.3 1049 13100 0.00 2.62 0.00 0.000 6 0.000 0.074 2955 2063 1945 0 0 0 0 0 0
13418 0.78 208.5 203.2 9.4 1080 13423 0.00 2.72 0.00 0.000 4 0.000 0.089 2955 3541 1945 0 0 0 0 0 0
13484 0.78 208.5 196.5 10.0 1085 13490 0.00 2.67 0.00 0.000 6 0.000 0.077 2966 2072 1943 0 0 0 0 0 0
13809 0.78 208.5 166.0 10.7 1116 13813 0.00 2.72 0.00 0.000 4 0.000 0.098 2978 355 1943 0 0 0 0 0 0
13847 0.73 208.5 161.6 11.9 1119 13853 0.20 2.65 0.00 0.000 6 0.189 0.076 2930 2080 1943 0 0 0 0 0 0
14172 0.86 208.5 131.6 9.3 1149 14177 0.12 2.72 0.00 0.000 4 0.122 0.091 2970 3543 1943 0 0 0 0 0 0
14269 0.77 208.5 120.4 11.3 1157 14274 0.17 2.67 0.00 0.000 6 0.193 0.080 2941 2083 1942 0 0 0 0 0 0
14593 1.03 324.9 101.9 4.3 1187 14701 0.25 2.90 96.93 0.861 4 0.104 0.100 3035 367 1473 0 0 0 0 0 0
14748 0.94 324.9 84.8 15.2 1213 14754 0.17 2.75 0.00 0.000 6 0.193 0.076 2995 2094 1467 0 0 0 0 0 0
15094 0.94 324.9 42.6 11.4 1274 15099 0.00 2.70 0.00 0.000 4 0.000 0.091 2995 3537 1461 0 0 0 0 0 0
15127 0.94 324.9 38.2 11.8 1280 15133 0.00 2.72 0.00 0.000 6 0.000 0.081 3005 2072 1461 0 0 0 0 0 0
15364 end climb: FINISH_DEPTH_REACHED
state 15364 begin subsurface finish
15370 0.09 77.0 8.5 -13.3 1322 15417 0.98 2.55 -37.90 0.000 4 0.172 0.114 2729 357 2488 0 0 0 0 0 0
15418 end subsurface finish: CONTROL_FINISHED_OK
state 15418 begin surface