SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 22 * 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  22 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  22 XPDR_INHIBIT  90
T_BOOST  0 SM_CC  375 R_STBD_OVSHOOT  18 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  -13555.333 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  21

Pre-dive calculations and measurements:
GPS1  230415,152429,-3431.421,2550.376,41,1.2,41,-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  1.97 KALMAN_X  -18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo  -71.6 KALMAN_Y  -14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2  230415,153305,-3431.516,2550.095,42,0.9,43,-28.0 MHEAD_RNG_PITCHd_Wd  58.1,12484,-15.1,-10.417
SPEED_LIMITS  0.180,0.319 D_GRID  500

Post-dive calculations and measurements:
FINISH  1.2,1.021810 _10V_AH  10.3,3.956
SM_CCo  7320,11.07,0.514,0,0,1232,375.06 FG_AHR_24Vo  0.000
SM_GC  2.68,0.00,0.00,11.07,0.000,0.000,0.514,70,2176,1232,-9.31,0.20,375.06 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -3417.32,2544.78,180208,020219 MEM  331568
TT8_MAMPS  0.026964 DATA_FILE_SIZE  83848,1150
HUMID  60.78 CAP_FILE_SIZE  147155,0
INTERNAL_PRESSURE  9.31366 CFSIZE  2097086464,2089549824
TCM_TEMP  17.40 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS  0 CURRENT  0.369,245.6,1
ALTIM_BOTTOM_PING  380.6,7.7 GPS  230415,173653,-3431.059,2549.308,40,2.0,40,-27.9
_24V_AH  23.9,5.575

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23265148.93 SBE_CT78323434.84
Roll_motor162130504.77 AA43302966171221.71
VBD_pump_during_apogee4748419542.07 WL_BB2F20221055075.16
VBD_pump_during_surface11514136.07 QSP21503204171319.78
VBD_valve000.00 nil000.00
Iridium_during_init349175.74 nil000.00
Iridium_during_connect49160190.14 nil000.00
Iridium_during_xfer2952231576.09 nil000.00
Transponder_ping742075.28 nil000.00
GUMSTIX_24V000.00
GPS452712.97
TT8272913390.55
LPSleep613213.84
TT8_Active6911398.97
TT8_Sampling3675401546.35
TT8_CF81355070.79
TT8_Kalman000.00
Analog_circuits187315295.55
GPS_charging000.00
Compass291615472.57
RAFOS000.00
Transponder493015.27

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
23 end surface: CONTROL_FINISHED_OK
state 23 begin dive
24 -1.02 -223.8 0.0 0.0 0 87 0.00 0.00 -60.72 0.000 2 0.000 0.000 67 2175 2669 0 0 0 0 0 0
89 -1.02 -223.8 3.2 -3.8 7 133 11.30 2.40 -27.52 0.000 4 0.258 0.090 2704 3584 3678 0 0 0 0 0 0
242 -0.88 -223.8 24.5 -18.3 29 251 0.20 2.38 0.00 0.000 6 0.154 0.071 2765 2179 3681 0 0 0 0 0 0
327 -0.81 -223.8 37.3 -12.8 42 336 0.10 2.35 0.00 0.000 4 0.199 0.072 2780 3578 3682 0 0 0 0 0 0
387 -0.81 -223.8 43.0 -9.0 51 394 0.00 2.38 0.00 0.000 6 0.000 0.076 2780 2161 3683 0 0 0 0 0 0
503 -0.81 -223.8 53.5 -8.9 70 512 0.00 2.40 0.00 0.000 4 0.000 0.076 2771 3590 3683 0 0 0 0 0 0
527 -0.81 -223.8 55.6 -9.5 73 534 0.08 2.40 0.00 0.000 6 0.178 0.081 2786 2166 3683 0 0 0 0 0 0
644 -0.81 -223.8 67.7 -9.6 92 653 0.00 2.50 0.00 0.000 4 0.000 0.104 2786 739 3684 0 0 0 0 0 0
727 -0.81 -223.8 76.2 -10.6 105 734 0.00 2.53 0.00 0.000 6 0.000 0.106 2777 2162 3685 0 0 0 0 0 0
842 -0.81 -223.8 88.6 -11.1 124 852 0.00 2.40 0.00 0.000 4 0.000 0.086 2767 3593 3686 0 0 0 0 0 0
907 -0.81 -223.8 95.7 -11.0 134 916 0.05 2.45 0.00 0.000 6 0.147 0.087 2782 2173 3686 0 0 0 0 0 0
1026 -0.81 -223.8 108.3 -11.0 153 1033 0.00 2.47 0.00 0.000 4 0.000 0.106 2782 736 3686 0 0 0 0 0 0
1094 -0.81 -223.8 116.1 -11.3 164 1104 0.03 2.55 0.00 0.000 6 0.220 0.102 2779 2167 3686 0 0 0 0 0 0
1214 -0.81 -223.8 129.0 -11.5 183 1221 0.00 2.38 0.00 0.000 4 0.000 0.089 2769 3604 3686 0 0 0 0 0 0
1246 -0.81 -223.8 132.8 -11.5 188 1257 0.05 2.47 0.00 0.000 6 0.165 0.090 2784 2171 3686 0 0 0 0 0 0
1367 -0.81 -223.8 145.1 -10.4 207 1374 0.00 2.47 0.00 0.000 4 0.000 0.106 2784 727 3687 0 0 0 0 0 0
1423 -0.81 -223.8 151.4 -11.1 216 1432 0.00 2.55 0.00 0.000 6 0.000 0.099 2774 2166 3687 0 0 0 0 0 0
1542 -0.81 -223.8 164.3 -11.1 235 1549 0.00 2.38 0.00 0.000 4 0.000 0.088 2764 3607 3687 0 0 0 0 0 0
1570 -0.81 -223.8 167.3 -11.3 239 1577 0.10 2.45 0.00 0.000 6 0.186 0.092 2786 2168 3687 0 0 0 0 0 0
1688 -0.81 -223.8 179.7 -10.3 258 1700 0.00 2.50 0.00 0.000 4 0.000 0.106 2787 735 3686 0 0 0 0 0 0
1726 -0.81 -223.8 183.8 -10.8 263 1733 0.00 2.53 0.00 0.000 6 0.000 0.099 2777 2183 3686 0 0 0 0 0 0
1843 -0.81 -223.8 196.9 -11.0 282 1851 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 2183 3686 0 0 0 0 0 0
1961 -0.81 -223.8 209.8 -11.0 301 1969 0.00 2.33 0.00 0.000 4 0.000 0.089 2766 3595 3686 0 0 0 0 0 0
2001 -0.81 -223.8 214.3 -11.6 307 2008 0.08 2.42 0.00 0.000 6 0.187 0.092 2782 2168 3686 0 0 0 0 0 0
2117 -0.81 -223.8 227.0 -10.9 326 2126 0.00 2.47 0.00 0.000 4 0.000 0.105 2782 740 3686 0 0 0 0 0 0
2177 -0.81 -223.8 233.3 -11.2 335 2184 0.05 2.50 0.00 0.000 6 0.265 0.100 2780 2176 3686 0 0 0 0 0 0
2294 -0.81 -223.8 246.3 -10.4 354 2303 0.00 2.40 0.00 0.000 4 0.000 0.096 2771 3590 3685 0 0 0 0 0 0
2342 -0.83 -223.8 251.0 -10.8 361 2349 0.00 2.45 0.00 0.000 6 0.000 0.099 2770 2168 3685 0 0 0 0 0 0
2458 -0.83 -223.8 263.9 -11.0 380 2468 0.00 2.47 0.00 0.000 4 0.000 0.106 2770 744 3685 0 0 0 0 0 0
2534 -0.83 -223.8 272.7 -11.9 392 2544 0.05 2.47 0.00 0.000 6 0.205 0.091 2774 2169 3685 0 0 0 0 0 0
2655 -0.83 -223.8 286.2 -12.0 411 2662 0.00 0.00 0.00 0.000 6 0.000 0.000 2774 2169 3685 0 0 0 0 0 0
2772 -0.83 -223.8 299.5 -11.2 430 2784 0.00 2.45 0.00 0.000 4 0.000 0.102 2764 3595 3684 0 0 0 0 0 0
2811 -0.83 -223.8 303.6 -11.1 435 2819 0.08 2.50 0.00 0.000 6 0.176 0.105 2779 2161 3684 0 0 0 0 0 0
2928 -0.83 -223.8 316.3 -10.9 454 2937 0.00 2.45 0.00 0.000 4 0.000 0.103 2779 741 3684 0 0 0 0 0 0
2999 -0.83 -223.8 324.0 -11.4 465 3006 0.00 2.45 0.00 0.000 6 0.000 0.094 2770 2169 3684 0 0 0 0 0 0
3115 -0.83 -223.8 337.4 -11.1 484 3125 0.00 2.42 0.00 0.000 4 0.000 0.100 2760 3587 3684 0 0 0 0 0 0
3163 -0.83 -223.8 342.6 -11.3 491 3170 0.08 2.47 0.00 0.000 6 0.188 0.105 2775 2167 3683 0 0 0 0 0 0
3279 -0.83 -223.8 355.2 -10.6 510 3288 0.00 2.47 0.00 0.000 4 0.000 0.106 2775 740 3682 0 0 0 0 0 0
3339 -0.83 -223.8 361.5 -10.8 519 3347 0.05 2.45 0.00 0.000 6 0.256 0.091 2774 2175 3682 0 0 0 0 0 0
3455 -0.83 -223.8 374.5 -11.1 538 3464 0.00 2.45 0.00 0.000 4 0.000 0.104 2764 3596 3682 0 0 0 0 0 0
3484 -0.83 -223.8 377.5 -10.7 542 3493 0.05 2.55 0.00 0.000 6 0.164 0.113 2779 2176 3682 0 0 0 0 0 0
3515 end dive: BOTTOM_OBSTACLE_DETECTED
state 3515 begin apogee
3520 -0.25 0.0 380.6 10.7 546 3704 0.57 0.00 174.95 0.842 6 0.142 0.000 2964 1667 2762 0 0 0 0 0 0
3705 end apogee: CONTROL_FINISHED_OK
state 3705 begin climb
3706 1.02 223.8 390.1 0.0 571 3900 1.23 2.45 182.60 0.811 4 0.093 0.058 3381 250 1848 0 0 0 0 0 0
4021 0.87 223.8 362.7 14.0 617 4029 0.17 2.33 0.00 0.000 6 0.158 0.039 3335 1694 1841 0 0 0 0 0 0
4135 0.78 223.8 349.3 11.1 636 4144 0.12 0.00 0.00 0.000 6 0.181 0.000 3304 1700 1841 0 0 0 0 0 0
4251 0.76 246.6 338.0 9.7 655 4282 0.00 2.47 19.67 0.765 4 0.000 0.060 3314 250 1755 0 0 0 0 0 0
4302 0.73 261.7 333.0 9.9 662 4327 0.08 2.33 14.15 0.735 6 0.145 0.040 3290 1668 1694 0 0 0 0 0 0
4432 0.76 287.1 320.8 9.6 683 4463 0.00 2.35 22.38 0.762 4 0.000 0.063 3290 3082 1591 0 0 0 0 0 0
4482 0.79 311.6 316.1 9.6 690 4513 0.00 2.42 22.80 0.753 6 0.000 0.064 3299 1660 1490 0 0 0 0 0 0
4618 0.79 311.6 302.1 10.4 712 4627 0.00 2.38 0.00 0.000 4 0.000 0.060 3310 256 1484 0 0 0 0 0 0
4676 0.77 311.6 295.9 11.6 721 4684 0.00 2.28 0.00 0.000 6 0.000 0.040 3309 1671 1483 0 0 0 0 0 0
4790 0.77 311.6 283.4 10.9 740 4799 0.00 0.00 0.00 0.000 6 0.000 0.000 3310 1671 1483 0 0 0 0 0 0
4904 0.77 311.6 271.4 10.7 759 4910 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 1672 1482 0 0 0 0 0 0
5015 0.78 321.4 259.7 10.1 778 5031 0.00 2.33 8.48 0.650 4 0.000 0.058 3319 260 1451 0 0 0 0 0 0
5051 0.78 321.4 255.9 11.1 783 5059 0.08 2.25 0.00 0.000 6 0.162 0.040 3301 1677 1450 0 0 0 0 0 0
5166 0.79 329.8 244.0 10.2 802 5181 0.00 2.28 8.50 0.645 4 0.000 0.062 3301 3081 1417 0 0 0 0 0 0
5201 0.79 329.8 240.1 11.2 807 5208 0.00 2.30 0.00 0.000 6 0.000 0.060 3310 1665 1417 0 0 0 0 0 0
5314 0.79 329.8 227.6 10.7 826 5323 0.00 2.33 0.00 0.000 4 0.000 0.060 3321 261 1416 0 0 0 0 0 0
5384 0.76 329.8 219.4 12.4 837 5392 0.10 2.22 0.00 0.000 6 0.154 0.040 3295 1674 1415 0 0 0 0 0 0
5498 0.79 340.3 207.4 10.1 856 5513 0.00 0.00 10.62 0.692 6 0.000 0.000 3294 1674 1374 0 0 0 0 0 0
5619 0.84 350.8 195.2 10.1 876 5636 0.08 0.00 10.30 0.652 6 0.116 0.000 3339 1674 1330 0 0 0 0 0 0
5741 0.81 350.8 180.0 12.9 896 5751 0.10 2.35 0.00 0.000 4 0.156 0.060 3323 267 1328 0 0 0 0 0 0
5775 0.81 350.8 176.0 12.3 901 5783 0.00 2.22 0.00 0.000 6 0.000 0.040 3324 1676 1328 0 0 0 0 0 0
5888 0.81 350.8 162.3 12.3 920 5897 0.00 2.30 0.00 0.000 4 0.000 0.064 3323 3080 1328 0 0 0 0 0 0
5910 0.81 350.8 159.9 12.0 923 5918 0.10 2.30 0.00 0.000 6 0.164 0.057 3307 1645 1327 0 0 0 0 0 0
6022 0.81 350.8 146.9 10.9 942 6031 0.00 2.28 0.00 0.000 4 0.000 0.060 3317 263 1327 0 0 0 0 0 0
6080 0.81 350.8 140.2 12.8 951 6087 0.00 2.22 0.00 0.000 6 0.000 0.041 3317 1674 1327 0 0 0 0 0 0
6192 0.81 350.8 127.1 11.3 970 6200 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 1674 1327 0 0 0 0 0 0
6306 0.81 350.8 114.4 10.7 989 6313 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 1674 1327 0 0 0 0 0 0
6417 0.81 350.8 101.7 11.3 1008 6426 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 1674 1326 0 0 0 0 0 0
6531 0.81 350.8 89.4 11.2 1027 6537 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 1674 1326 0 0 0 0 0 0
6642 0.81 350.8 76.5 11.3 1046 6651 0.00 2.33 0.00 0.000 4 0.000 0.060 3326 264 1326 0 0 0 0 0 0
6677 0.81 350.8 72.5 12.4 1051 6684 0.05 2.22 0.00 0.000 6 0.194 0.041 3314 1686 1326 0 0 0 0 0 0
6789 0.81 350.8 59.3 11.9 1070 6798 0.00 2.25 0.00 0.000 4 0.000 0.063 3314 3080 1325 0 0 0 0 0 0
6812 0.81 350.8 56.7 12.6 1073 6820 0.00 2.25 0.00 0.000 6 0.000 0.060 3323 1669 1326 0 0 0 0 0 0
6924 0.81 350.8 41.9 12.8 1092 6933 0.00 2.30 0.00 0.000 4 0.000 0.066 3323 3076 1325 0 0 0 0 0 0
6970 0.81 350.8 36.4 13.1 1099 6977 0.08 2.22 0.00 0.000 6 0.177 0.059 3313 1674 1325 0 0 0 0 0 0
7088 0.84 350.8 24.2 10.8 1118 7097 0.00 2.30 0.00 0.000 4 0.000 0.061 3324 257 1324 0 0 0 0 0 0
7130 0.84 350.8 19.5 11.0 1124 7140 0.00 2.25 0.00 0.000 6 0.000 0.043 3324 1665 1324 0 0 0 0 0 0
7217 0.84 350.8 10.0 11.2 1137 7226 0.00 2.30 0.00 0.000 4 0.000 0.063 3324 3092 1323 0 0 0 0 0 0
7277 end climb: SURFACE_DEPTH_REACHED
state 7277 begin surface coast
7304 end surface coast: CONTROL_FINISHED_OK
state 7304 begin surface