DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 221 * 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  221 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  12 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  -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  002725,6641.597,-5941.015,0,7094.3,0,-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  10.80 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -1.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  002725,6641.597,-5941.015,0,7094.3,0,-37.8 MHEAD_RNG_PITCHd_Wd  315.5,33209,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  812

Post-dive calculations and measurements:
FREEZE  8.47,-1.751,-1.765,2,16,0 ALTIM_BOTTOM_PING  701.1,137.4
FINISH1  8.5,1.025843,80 _24V_AH  22.4,47.672
FINISH2  6.4 _10V_AH  10.1,24.791
RAFOS_CLK  1155 FG_AHR_24Vo  0.000
RAFOS  0,1259640065,4.033333,4.018055,66,60,60,0,0,0,214,205,196,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6641.034668,-5944.564453,011209,040438,6,102,0.19 MEM  152564
IRIDIUM_FIX  6620.33,-5850.01,230299,080832 DATA_FILE_SIZE  53598,1397
TT8_MAMPS  0.027612 CAP_FILE_SIZE  179476,0
HUMID  50.31 CFSIZE  260165632,232448000
INTERNAL_PRESSURE  8.88706 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  16.20 SOUNDSPEED  1452.4
XPDR_PINGS  8 GPS  011209,043138,6641.035,-5944.564,0,6102.2,0,-37.8
ALTIM_TOP_PING  19.9,18.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor722635.99 SBE_CT102024548.66
Roll_motor211150713.22 SBE_O298319418.43
VBD_pump_during_apogee374129610870.08 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_ping442044.69
GUMSTIX_24V000.00
GPS0500.00
TT8250919504.79
LPSleep111752260.74
TT8_Active51419103.43
TT8_Sampling2482391001.01
TT8_CF81954590.64
TT8_Kalman000.00
Analog_circuits181612220.22
GPS_charging000.00
Compass24388197.00
RAFOS2520138.18
Transponder21306.53

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 -5.50 0.000 2 0.000 0.000 2732 3542 2681 0 0 0 0 0 0
25 -0.73 -146.0 10.3 -0.0 1 51 0.80 0.62 -20.15 0.000 4 0.107 0.150 2465 3918 3395 0 0 0 0 0 0
137 -0.65 -146.0 20.8 -14.9 21 143 0.00 2.70 0.00 0.000 6 0.000 0.076 2464 2456 3398 0 0 0 0 0 0
482 -0.55 -146.0 71.4 -14.1 82 489 0.17 2.78 0.00 0.000 4 0.226 0.095 2494 3916 3398 0 0 0 0 0 0
680 -0.55 -146.0 96.0 -12.4 117 686 0.00 2.65 0.00 0.000 6 0.000 0.073 2494 2471 3399 0 0 0 0 0 0
1012 -0.60 -146.0 133.6 -10.4 151 1017 0.00 2.78 0.00 0.000 4 0.000 0.098 2493 3916 3398 0 0 0 0 0 0
1118 -0.68 -146.0 144.2 -9.9 160 1123 0.00 2.62 0.00 0.000 6 0.000 0.073 2494 2484 3398 0 0 0 0 0 0
1443 -0.76 -146.0 175.8 -9.1 190 1449 0.15 2.78 0.00 0.000 4 0.126 0.097 2432 3920 3399 0 0 0 0 0 0
1578 -0.68 -146.0 192.0 -12.5 201 1584 0.15 2.62 0.00 0.000 6 0.225 0.073 2463 2493 3398 0 0 0 0 0 0
1902 -0.68 -146.0 225.4 -9.8 232 1907 0.00 2.75 0.00 0.000 4 0.000 0.100 2463 3911 3398 0 0 0 0 0 0
1975 -0.68 -146.0 232.1 -9.1 238 1980 0.00 2.60 0.00 0.000 6 0.000 0.075 2463 2505 3398 0 0 0 0 0 0
2299 -0.68 -146.0 263.4 -9.7 268 2304 0.00 2.75 0.00 0.000 4 0.000 0.100 2463 3915 3398 0 0 0 0 0 0
2384 -0.68 -146.0 271.2 -9.1 275 2388 0.00 2.60 0.00 0.000 6 0.000 0.074 2464 2507 3397 0 0 0 0 0 0
2709 -0.68 -146.0 300.7 -8.6 305 2714 0.00 2.72 0.00 0.000 4 0.000 0.101 2464 3910 3397 0 0 0 0 0 0
2828 -0.74 -146.0 311.2 -9.2 315 2832 0.00 2.58 0.00 0.000 6 0.000 0.076 2464 2522 3397 0 0 0 0 0 0
3154 -0.80 -146.0 339.5 -8.8 345 3158 0.00 2.70 0.00 0.000 4 0.000 0.100 2463 3909 3398 0 0 0 0 0 0
3220 -0.88 -146.0 345.9 -9.2 350 3227 0.17 2.58 0.00 0.000 6 0.122 0.075 2410 2521 3396 0 0 0 0 0 0
3545 -0.77 -146.0 381.7 -10.6 381 3550 0.12 2.72 0.00 0.000 4 0.226 0.098 2428 3916 3396 0 0 0 0 0 0
3707 -0.77 -146.0 397.5 -9.8 395 3711 0.00 2.55 0.00 0.000 6 0.000 0.074 2428 2542 3396 0 0 0 0 0 0
4032 -0.77 -146.0 427.2 -9.4 425 4037 0.00 2.67 0.00 0.000 4 0.000 0.100 2428 3916 3396 0 0 0 0 0 0
4185 -0.77 -146.0 441.8 -9.4 438 4189 0.00 2.53 0.00 0.000 6 0.000 0.074 2428 2557 3396 0 0 0 0 0 0
4509 -0.77 -146.0 471.6 -9.3 468 4514 0.00 2.65 0.00 0.000 4 0.000 0.099 2428 3920 3396 0 0 0 0 0 0
4559 -0.77 -146.0 476.6 -9.9 472 4563 0.00 2.53 0.00 0.000 6 0.000 0.073 2428 2558 3396 0 0 0 0 0 0
4883 -0.77 -146.0 506.7 -9.6 502 4887 0.00 2.62 0.00 0.000 4 0.000 0.099 2428 3908 3396 0 0 0 0 0 0
4971 -0.77 -146.0 515.5 -10.0 509 4977 0.00 2.50 0.00 0.000 6 0.000 0.072 2428 2581 3396 0 0 0 0 0 0
5296 -0.77 -146.0 544.5 -8.8 540 5301 0.00 2.75 0.00 0.000 4 0.000 0.091 2428 863 3397 0 0 0 0 0 0
5340 -0.73 -146.0 548.6 -9.1 543 5345 0.00 2.72 0.00 0.000 6 0.000 0.083 2427 2579 3397 0 0 0 0 0 0
5664 -0.73 -146.0 576.4 -8.5 574 5668 0.00 2.58 0.00 0.000 4 0.000 0.098 2427 3912 3397 0 0 0 0 0 0
5702 -0.73 -146.0 579.8 -9.2 577 5707 0.00 2.50 0.00 0.000 6 0.000 0.072 2426 2562 3397 0 0 0 0 0 0
6045 -0.73 -146.0 607.7 -7.9 603 6049 0.00 2.62 0.00 0.000 4 0.000 0.097 2427 3917 3397 0 0 0 0 0 0
6082 -0.73 -146.0 611.0 -8.4 604 6086 0.00 2.47 0.00 0.000 6 0.000 0.071 2427 2574 3397 0 0 0 0 0 0
6412 -0.73 -146.0 637.8 -8.2 615 6416 0.00 2.60 0.00 0.000 4 0.000 0.097 2427 3914 3398 0 0 0 0 0 0
6455 -0.73 -146.0 641.7 -9.5 616 6459 0.00 2.47 0.00 0.000 6 0.000 0.071 2426 2568 3398 0 0 0 0 0 0
6779 -0.73 -146.0 669.4 -8.6 627 6784 0.00 2.60 0.00 0.000 4 0.000 0.095 2426 3912 3398 0 0 0 0 0 0
6864 -0.73 -146.0 676.7 -8.9 629 6869 0.00 2.45 0.00 0.000 6 0.000 0.071 2426 2586 3398 0 0 0 0 0 0
7176 -0.73 -146.0 703.7 -8.8 639 7177 0.00 0.00 0.00 0.000 6 0.000 0.000 2426 2587 3399 0 0 0 0 0 0
7483 -0.73 -146.0 731.5 -9.0 649 7484 0.00 0.00 0.00 0.000 6 0.000 0.000 2426 2587 3399 0 0 0 0 0 0
7789 -0.73 -146.0 758.1 -8.6 659 7794 0.00 2.58 0.00 0.000 4 0.000 0.095 2426 3919 3399 0 0 0 0 0 0
7844 -0.73 -146.0 763.1 -9.1 660 7850 0.00 2.45 0.00 0.000 6 0.000 0.070 2426 2588 3399 0 0 0 0 0 0
8156 -0.73 -146.0 790.0 -8.5 671 8161 0.00 2.55 0.00 0.000 4 0.000 0.094 2426 3910 3399 0 0 0 0 0 0
8240 -0.73 -146.0 797.3 -8.5 673 8244 0.00 2.42 0.00 0.000 6 0.000 0.069 2426 2594 3399 0 0 0 0 0 0
8427 end dive: TARGET_DEPTH_EXCEEDED
state 8427 begin apogee
8433 -0.16 0.0 812.7 8.1 679 8561 0.77 0.00 124.72 1.297 6 0.193 0.000 2632 1944 2800 0 0 0 0 0 0
8562 end apogee: CONTROL_FINISHED_OK
state 8562 begin climb
8564 0.73 146.0 815.4 0.0 683 8705 0.98 2.83 131.50 1.238 4 0.135 0.095 2925 368 2203 0 0 0 0 0 0
8738 0.64 146.0 802.2 11.7 688 8743 0.00 2.60 0.00 0.000 6 0.000 0.071 2925 1949 2200 0 0 0 0 0 0
9052 0.54 146.0 766.3 11.6 698 9057 0.22 3.05 0.00 0.000 4 0.188 0.085 2869 3541 2195 0 0 0 0 0 0
9123 0.54 146.0 758.9 9.9 700 9128 0.00 2.97 0.00 0.000 6 0.000 0.075 2880 1963 2194 0 0 0 0 0 0
9457 0.62 152.4 730.2 8.9 711 9467 0.00 2.95 5.28 0.913 4 0.000 0.087 2880 3539 2177 0 0 0 0 0 0
9522 0.62 152.4 723.0 10.8 713 9527 0.00 2.90 0.00 0.000 6 0.000 0.077 2892 1976 2176 0 0 0 0 0 0
9858 0.62 152.4 691.2 9.4 724 9863 0.00 2.92 0.00 0.000 4 0.000 0.087 2892 3539 2176 0 0 0 0 0 0
9885 0.62 152.4 688.4 10.2 725 9890 0.00 2.88 0.00 0.000 6 0.000 0.077 2904 1983 2176 0 0 0 0 0 0
10218 0.62 152.4 654.4 10.1 736 10223 0.00 2.90 0.00 0.000 4 0.000 0.087 2904 3538 2176 0 0 0 0 0 0
10262 0.56 152.4 649.5 11.4 737 10267 0.17 2.83 0.00 0.000 6 0.193 0.077 2876 2004 2176 0 0 0 0 0 0
10581 0.67 161.7 621.5 8.8 748 10596 0.00 2.88 9.30 1.058 4 0.000 0.087 2876 3544 2140 0 0 0 0 0 0
10624 0.73 161.7 617.4 10.5 749 10629 0.12 2.80 0.00 0.000 6 0.121 0.077 2927 2022 2138 0 0 0 0 0 0
10948 0.66 161.7 580.3 11.4 770 10952 0.00 2.60 0.00 0.000 4 0.000 0.096 2938 358 2138 0 0 0 0 0 0
10980 0.56 161.7 576.4 11.8 772 10987 0.25 2.53 0.00 0.000 6 0.189 0.072 2877 2026 2138 0 0 0 0 0 0
11305 0.71 188.3 548.7 8.0 803 11337 0.15 2.85 23.88 1.106 4 0.113 0.087 2927 3541 2031 0 0 0 0 0 0
11390 0.61 188.3 539.1 13.6 810 11396 0.20 2.83 0.00 0.000 6 0.196 0.077 2893 2027 2029 0 0 0 0 0 0
11714 0.68 188.3 508.5 9.4 841 11719 0.00 2.62 0.00 0.000 4 0.000 0.097 2902 358 2027 0 0 0 0 0 0
11780 0.68 188.3 501.7 9.8 846 11786 0.00 2.58 0.00 0.000 6 0.000 0.071 2902 2029 2027 0 0 0 0 0 0
12106 0.73 188.3 469.9 9.6 877 12110 0.00 2.80 0.00 0.000 4 0.000 0.087 2902 3538 2026 0 0 0 0 0 0
12160 0.73 188.3 463.8 11.9 881 12166 0.00 2.78 0.00 0.000 6 0.000 0.077 2914 2036 2026 0 0 0 0 0 0
12485 0.73 188.3 429.5 10.6 912 12486 0.00 0.00 0.00 0.000 6 0.000 0.000 2914 2037 2026 0 0 0 0 0 0
12804 0.73 188.3 396.4 10.2 942 12805 0.00 0.00 0.00 0.000 6 0.000 0.000 2914 2037 2026 0 0 0 0 0 0
13123 0.73 188.3 363.6 10.4 972 13128 0.00 2.80 0.00 0.000 4 0.000 0.089 2914 3538 2026 0 0 0 0 0 0
13200 0.73 188.3 354.8 11.1 978 13206 0.00 2.75 0.00 0.000 6 0.000 0.077 2926 2041 2026 0 0 0 0 0 0
13525 0.73 188.3 322.1 10.1 1009 13529 0.00 2.65 0.00 0.000 4 0.000 0.097 2937 352 2026 0 0 0 0 0 0
13568 0.73 188.3 317.3 11.5 1012 13574 0.00 2.53 0.00 0.000 6 0.000 0.073 2937 2030 2026 0 0 0 0 0 0
13893 0.73 188.3 281.2 11.1 1043 13898 0.00 2.80 0.00 0.000 4 0.000 0.088 2937 3538 2026 0 0 0 0 0 0
13948 0.67 188.3 274.6 11.8 1047 13954 0.17 2.78 0.00 0.000 6 0.192 0.078 2908 2030 2026 0 0 0 0 0 0
14273 0.83 207.3 246.4 8.4 1078 14298 0.15 2.88 16.48 0.930 4 0.114 0.088 2959 3538 1954 0 0 0 0 0 0
14373 0.71 207.3 235.5 11.5 1087 14378 0.20 2.75 0.00 0.000 6 0.196 0.078 2924 2058 1952 0 0 0 0 0 0
14698 0.86 246.6 209.8 7.5 1117 14740 0.15 2.72 34.58 0.927 4 0.117 0.099 2985 349 1793 0 0 0 0 0 0
14780 0.78 246.6 201.4 11.5 1124 14786 0.17 2.65 0.00 0.000 6 0.189 0.074 2945 2070 1790 0 0 0 0 0 0
15105 0.87 246.6 169.3 10.0 1155 15109 0.00 2.78 0.00 0.000 4 0.000 0.090 2944 3541 1787 0 0 0 0 0 0
15148 0.92 246.6 164.6 10.9 1158 15154 0.00 2.75 0.00 0.000 6 0.000 0.080 2954 2074 1786 0 0 0 0 0 0
15473 1.02 250.9 134.8 9.0 1189 15485 0.20 2.70 3.72 0.627 4 0.100 0.100 3034 359 1776 0 0 0 0 0 0
15535 0.84 250.9 127.0 13.2 1194 15541 0.28 2.62 0.00 0.000 6 0.193 0.076 2967 2077 1776 0 0 0 0 0 0
15864 0.93 251.6 92.9 9.1 1231 15869 0.00 2.75 0.00 0.000 4 0.000 0.091 2967 3539 1775 0 0 0 0 0 0
15942 0.93 251.6 85.5 9.6 1245 15948 0.00 2.72 0.00 0.000 6 0.000 0.081 2976 2079 1775 0 0 0 0 0 0
16289 1.04 278.1 57.4 8.0 1306 16321 0.15 2.72 24.70 0.856 4 0.110 0.102 3039 359 1665 0 0 0 0 0 0
16338 0.94 278.1 52.1 10.8 1315 16345 0.17 2.65 0.00 0.000 6 0.202 0.077 2999 2081 1664 0 0 0 0 0 0
16683 0.94 278.1 18.1 9.8 1376 16689 0.00 2.78 0.00 0.000 4 0.000 0.093 2999 3545 1660 0 0 0 0 0 0
16735 0.88 278.1 12.0 13.3 1385 16741 0.15 2.75 0.00 0.000 6 0.194 0.084 2975 2086 1659 0 0 0 0 0 0
16764 end climb: FINISH_DEPTH_REACHED
state 16764 begin subsurface finish
16771 0.10 80.5 8.5 -11.6 1390 16808 0.85 2.50 -29.77 0.000 4 0.160 0.111 2725 361 2472 0 0 0 0 0 0
16808 end subsurface finish: CONTROL_FINISHED_OK
state 16808 begin surface