SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 23 * 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  23 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  14 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  -13558.88 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  22

Pre-dive calculations and measurements:
GPS1  230415,173653,-3431.059,2549.308,40,2.0,40,-27.9 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  2.06 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  230415,174535,-3431.190,2549.012,29,1.4,30,-27.9 MHEAD_RNG_PITCHd_Wd  65.2,11568,-15.1,-10.417
SPEED_LIMITS  0.180,0.319 D_GRID  500

Post-dive calculations and measurements:
FINISH  1.4,1.013359 _10V_AH  10.3,4.131
SM_CCo  7310,8.65,0.495,0,0,1232,375.06 FG_AHR_24Vo  0.000
SM_GC  3.04,0.00,0.00,8.65,0.000,0.000,0.495,67,2173,1232,-9.32,0.11,375.06 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -3414.71,2724.20,180208,040453 MEM  331544
TT8_MAMPS  0.026964 DATA_FILE_SIZE  83917,1166
HUMID  60.67 CAP_FILE_SIZE  142621,0
INTERNAL_PRESSURE  9.30389 CFSIZE  2097086464,2089418752
TCM_TEMP  17.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS  0 CURRENT  0.371,250.0,1
ALTIM_BOTTOM_PING  390.7,7.7 GPS  230415,194916,-3430.711,2548.392,34,1.3,45,-27.9
_24V_AH  23.9,5.708

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23259146.12 SBE_CT79523441.33
Roll_motor135129418.07 AA43303015171241.61
VBD_pump_during_apogee4678439409.31 WL_BB2F20551055158.24
VBD_pump_during_surface8494102.32 QSP21503255171340.59
VBD_valve000.00 nil000.00
Iridium_during_init349176.11 nil000.00
Iridium_during_connect69160265.74 nil000.00
Iridium_during_xfer2942231567.36 nil000.00
Transponder_ping742077.79 nil000.00
GUMSTIX_24V000.00
GPS32279.38
TT8274513392.78
LPSleep549212.39
TT8_Active6731396.29
TT8_Sampling3732401570.54
TT8_CF81385072.30
TT8_Kalman000.00
Analog_circuits184915291.91
GPS_charging000.00
Compass296315480.12
RAFOS000.00
Transponder503015.76

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 23 begin dive
24 -1.02 -223.8 0.0 0.0 0 78 0.00 0.00 -51.53 0.000 2 0.000 0.000 70 2177 2470 0 0 0 0 0 0
80 -1.02 -223.8 3.2 -3.2 6 141 11.38 2.40 -38.08 0.000 4 0.259 0.088 2701 3590 3679 0 0 0 0 0 0
212 -0.87 -223.8 17.2 -18.3 24 222 0.20 2.40 0.00 0.000 6 0.155 0.072 2761 2170 3682 0 0 0 0 0 0
298 -0.78 -223.8 30.9 -15.0 37 305 0.12 0.00 0.00 0.000 6 0.194 0.000 2792 2170 3682 0 0 0 0 0 0
409 -0.78 -223.8 44.2 -10.8 56 417 0.00 0.00 0.00 0.000 6 0.000 0.000 2792 2170 3682 0 0 0 0 0 0
523 -0.78 -223.8 55.2 -9.5 75 530 0.00 0.00 0.00 0.000 6 0.000 0.000 2792 2170 3683 0 0 0 0 0 0
636 -0.78 -223.8 66.7 -10.7 94 645 0.00 0.00 0.00 0.000 6 0.000 0.000 2792 2170 3684 0 0 0 0 0 0
751 -0.78 -223.8 78.5 -10.1 113 757 0.00 0.00 0.00 0.000 6 0.000 0.000 2792 2170 3684 0 0 0 0 0 0
863 -0.81 -223.8 90.4 -11.1 132 872 0.00 2.42 0.00 0.000 4 0.000 0.094 2792 752 3686 0 0 0 0 0 0
914 -0.81 -223.8 95.8 -10.4 140 923 0.00 2.50 0.00 0.000 6 0.000 0.101 2783 2158 3686 0 0 0 0 0 0
1030 -0.81 -223.8 108.3 -11.0 159 1037 0.00 2.35 0.00 0.000 4 0.000 0.083 2772 3598 3686 0 0 0 0 0 0
1074 -0.83 -223.8 113.5 -11.2 166 1083 0.00 2.42 0.00 0.000 6 0.000 0.083 2772 2176 3686 0 0 0 0 0 0
1189 -0.83 -223.8 126.5 -11.5 185 1196 0.00 2.47 0.00 0.000 4 0.000 0.103 2772 728 3686 0 0 0 0 0 0
1239 -0.83 -223.8 132.5 -12.2 193 1246 0.08 2.50 0.00 0.000 6 0.225 0.092 2776 2180 3686 0 0 0 0 0 0
1353 -0.83 -223.8 146.4 -11.5 212 1362 0.00 2.35 0.00 0.000 4 0.000 0.087 2767 3584 3687 0 0 0 0 0 0
1388 -0.83 -223.8 150.6 -12.3 217 1395 0.00 2.40 0.00 0.000 6 0.000 0.086 2767 2161 3687 0 0 0 0 0 0
1501 -0.83 -223.8 164.8 -12.0 236 1511 0.05 2.45 0.00 0.000 4 0.197 0.103 2777 739 3687 0 0 0 0 0 0
1550 -0.83 -223.8 170.5 -12.8 243 1558 0.00 2.47 0.00 0.000 6 0.000 0.093 2768 2178 3686 0 0 0 0 0 0
1663 -0.83 -223.8 185.2 -13.2 262 1672 0.00 2.38 0.00 0.000 4 0.000 0.089 2757 3594 3687 0 0 0 0 0 0
1710 -0.83 -223.8 190.5 -12.3 269 1717 0.10 2.42 0.00 0.000 6 0.175 0.091 2780 2164 3686 0 0 0 0 0 0
1823 -0.83 -223.8 203.8 -11.7 288 1832 0.00 2.45 0.00 0.000 4 0.000 0.103 2781 747 3686 0 0 0 0 0 0
1869 -0.83 -223.8 208.9 -11.8 295 1877 0.00 2.45 0.00 0.000 6 0.000 0.093 2772 2172 3686 0 0 0 0 0 0
1984 -0.83 -223.8 223.0 -11.9 314 1992 0.00 0.00 0.00 0.000 6 0.000 0.000 2772 2171 3686 0 0 0 0 0 0
2098 -0.83 -223.8 236.5 -12.2 333 2105 0.00 2.35 0.00 0.000 4 0.000 0.092 2761 3592 3686 0 0 0 0 0 0
2125 -0.83 -223.8 239.7 -11.8 337 2133 0.08 2.42 0.00 0.000 6 0.180 0.093 2777 2166 3686 0 0 0 0 0 0
2240 -0.83 -223.8 252.8 -11.4 356 2249 0.00 2.47 0.00 0.000 4 0.000 0.103 2777 734 3686 0 0 0 0 0 0
2297 -0.83 -223.8 259.3 -11.0 365 2305 0.00 2.47 0.00 0.000 6 0.000 0.092 2768 2176 3686 0 0 0 0 0 0
2410 -0.83 -223.8 273.1 -12.0 384 2419 0.00 2.38 0.00 0.000 4 0.000 0.093 2757 3584 3685 0 0 0 0 0 0
2456 -0.83 -223.8 278.2 -11.3 391 2465 0.10 2.42 0.00 0.000 6 0.176 0.094 2780 2164 3685 0 0 0 0 0 0
2574 -0.83 -223.8 291.0 -10.6 410 2582 0.00 2.47 0.00 0.000 4 0.000 0.104 2780 734 3685 0 0 0 0 0 0
2631 -0.83 -223.8 297.1 -10.9 419 2639 0.00 2.45 0.00 0.000 6 0.000 0.090 2771 2169 3685 0 0 0 0 0 0
2746 -0.83 -223.8 310.1 -11.2 438 2755 0.00 2.40 0.00 0.000 4 0.000 0.094 2761 3589 3685 0 0 0 0 0 0
2774 -0.83 -223.8 313.4 -11.4 442 2784 0.05 2.47 0.00 0.000 6 0.159 0.097 2776 2170 3684 0 0 0 0 0 0
2891 -0.83 -223.8 326.1 -11.3 461 2898 0.00 2.45 0.00 0.000 4 0.000 0.106 2776 735 3685 0 0 0 0 0 0
2943 -0.83 -223.8 332.3 -11.7 469 2950 0.00 2.42 0.00 0.000 6 0.000 0.087 2766 2168 3684 0 0 0 0 0 0
3057 -0.83 -223.8 345.9 -12.1 488 3066 0.05 2.42 0.00 0.000 4 0.258 0.096 2765 3601 3684 0 0 0 0 0 0
3091 -0.83 -223.8 349.9 -11.8 493 3102 0.08 2.47 0.00 0.000 6 0.183 0.100 2780 2167 3683 0 0 0 0 0 0
3209 -0.85 -223.8 363.0 -11.1 512 3218 0.00 2.47 0.00 0.000 4 0.000 0.103 2780 732 3684 0 0 0 0 0 0
3273 -0.85 -223.8 370.1 -11.3 522 3282 0.00 2.47 0.00 0.000 6 0.000 0.089 2771 2162 3683 0 0 0 0 0 0
3390 -0.85 -223.8 383.6 -11.2 541 3397 0.00 2.40 0.00 0.000 4 0.000 0.099 2760 3595 3683 0 0 0 0 0 0
3429 -0.85 -223.8 388.1 -11.5 547 3437 0.03 2.47 0.00 0.000 6 0.245 0.103 2769 2168 3683 0 0 0 0 0 0
3451 end dive: BOTTOM_OBSTACLE_DETECTED
state 3451 begin apogee
3456 -0.25 0.0 390.7 11.2 550 3640 0.60 0.00 175.60 0.843 6 0.145 0.000 2962 1661 2761 0 0 0 0 0 0
3640 end apogee: CONTROL_FINISHED_OK
state 3641 begin climb
3642 1.02 223.8 400.3 0.0 575 3834 1.25 2.45 182.73 0.815 4 0.092 0.056 3386 242 1849 0 0 0 0 0 0
3998 0.86 223.8 363.3 15.7 629 4006 0.22 2.33 0.00 0.000 6 0.158 0.037 3326 1698 1842 0 0 0 0 0 0
4113 0.78 223.8 348.8 11.9 648 4122 0.10 0.00 0.00 0.000 6 0.192 0.000 3302 1704 1841 0 0 0 0 0 0
4228 0.74 223.8 336.1 10.5 667 4236 0.05 2.40 0.00 0.000 4 0.228 0.059 3302 238 1840 0 0 0 0 0 0
4267 0.68 223.8 331.6 11.6 673 4277 0.12 2.30 0.00 0.000 6 0.165 0.039 3269 1686 1840 0 0 0 0 0 0
4382 0.71 246.6 320.3 9.7 692 4407 0.00 2.35 19.35 0.767 4 0.000 0.061 3269 3086 1756 0 0 0 0 0 0
4427 0.73 262.7 316.1 9.9 698 4451 0.00 2.38 15.27 0.741 6 0.000 0.060 3277 1665 1690 0 0 0 0 0 0
4557 0.73 262.7 302.4 10.7 719 4564 0.00 2.33 0.00 0.000 4 0.000 0.059 3289 250 1685 0 0 0 0 0 0
4606 0.73 262.7 296.8 11.3 727 4613 0.00 2.28 0.00 0.000 6 0.000 0.037 3289 1683 1684 0 0 0 0 0 0
4719 0.73 265.1 284.9 10.3 746 4727 0.00 0.00 0.00 0.000 6 0.000 0.000 3288 1683 1684 0 0 0 0 0 0
4834 0.73 265.1 273.1 10.8 765 4841 0.00 0.00 0.00 0.000 6 0.000 0.000 3289 1683 1684 0 0 0 0 0 0
4945 0.76 287.3 261.4 9.7 784 4970 0.00 0.00 21.58 0.745 6 0.000 0.000 3288 1683 1590 0 0 0 0 0 0
5076 0.76 287.3 248.2 10.6 805 5083 0.00 0.00 0.00 0.000 6 0.000 0.000 3289 1683 1586 0 0 0 0 0 0
5187 0.78 309.1 237.2 9.7 824 5212 0.00 0.00 19.62 0.739 6 0.000 0.000 3289 1683 1500 0 0 0 0 0 0
5319 0.84 334.1 225.0 9.6 845 5349 0.10 0.00 22.52 0.721 6 0.097 0.000 3340 1683 1397 0 0 0 0 0 0
5455 0.80 334.1 208.5 13.3 867 5462 0.12 2.38 0.00 0.000 4 0.151 0.059 3317 257 1393 0 0 0 0 0 0
5499 0.80 334.1 203.1 11.4 874 5508 0.00 2.30 0.00 0.000 6 0.000 0.039 3317 1677 1392 0 0 0 0 0 0
5614 0.80 334.1 190.2 11.2 893 5621 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 1677 1392 0 0 0 0 0 0
5726 0.80 334.1 177.5 10.8 912 5734 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 1677 1391 0 0 0 0 0 0
5839 0.80 334.1 165.1 10.9 931 5846 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 1677 1391 0 0 0 0 0 0
5950 0.80 334.1 152.5 11.0 950 5958 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 1677 1390 0 0 0 0 0 0
6065 0.80 334.1 139.8 11.2 969 6073 0.00 2.33 0.00 0.000 4 0.000 0.059 3326 249 1390 0 0 0 0 0 0
6094 0.80 334.1 136.4 12.2 973 6102 0.05 2.25 0.00 0.000 6 0.193 0.039 3311 1683 1390 0 0 0 0 0 0
6207 0.80 334.1 123.2 11.6 992 6215 0.00 0.00 0.00 0.000 6 0.000 0.000 3311 1686 1389 0 0 0 0 0 0
6322 0.80 334.1 110.7 11.5 1011 6328 0.00 0.00 0.00 0.000 6 0.000 0.000 3311 1686 1389 0 0 0 0 0 0
6433 0.80 334.1 97.6 11.9 1030 6441 0.00 0.00 0.00 0.000 6 0.000 0.000 3311 1686 1389 0 0 0 0 0 0
6548 0.80 334.1 84.2 12.5 1049 6556 0.00 2.33 0.00 0.000 4 0.000 0.059 3322 248 1389 0 0 0 0 0 0
6580 0.80 334.1 79.9 12.8 1054 6589 0.00 2.28 0.00 0.000 6 0.000 0.040 3322 1683 1389 0 0 0 0 0 0
6695 0.80 334.1 66.2 11.8 1073 6702 0.00 0.00 0.00 0.000 6 0.000 0.000 3322 1683 1389 0 0 0 0 0 0
6806 0.80 334.1 52.8 12.6 1092 6815 0.00 2.22 0.00 0.000 4 0.000 0.060 3322 3071 1388 0 0 0 0 0 0
6841 0.80 334.1 48.4 14.0 1097 6849 0.08 2.22 0.00 0.000 6 0.180 0.056 3311 1663 1388 0 0 0 0 0 0
6954 0.80 334.1 34.5 11.3 1116 6963 0.00 2.28 0.00 0.000 4 0.000 0.060 3322 266 1388 0 0 0 0 0 0
7019 0.80 334.1 27.8 10.8 1126 7028 0.03 2.22 0.00 0.000 6 0.146 0.041 3311 1667 1387 0 0 0 0 0 0
7105 0.86 352.3 19.8 9.8 1139 7123 0.00 2.28 8.48 0.552 4 0.000 0.060 3311 3078 1324 0 0 0 0 0 0
7157 0.86 356.8 14.8 10.3 1146 7167 0.00 2.25 1.85 0.082 6 0.000 0.058 3317 1688 1308 0 0 0 0 0 0
7243 0.86 356.8 5.5 13.1 1159 7252 0.00 2.33 0.00 0.000 4 0.000 0.059 3331 261 1306 0 0 0 0 0 0
7266 end climb: SURFACE_DEPTH_REACHED
state 7266 begin surface coast
7292 end surface coast: CONTROL_FINISHED_OK
state 7293 begin surface