DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 244 * 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  244 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  15 XPDR_VALID  0
D_FINISH  9 FILEMGR  2 R_STBD_OVSHOOT  17 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  -36694.277 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  162453,6643.960,-5924.914,0,6098.0,0,-37.8 TGT_NAME  TARGET_E
_CALLS  3 TGT_LATLONG  6703.000,-5648.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.92 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -30.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  162453,6643.960,-5924.914,181,99.0,181,-37.8 MHEAD_RNG_PITCHd_Wd  110.5,118674,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  906

Post-dive calculations and measurements:
FREEZE  0.66,-1.632,-1.774,2,9,0 ALTIM_TOP_PING  19.6,18.8
FINISH  0.7,1.026058 ALTIM_BOTTOM_PING  800.5,10.3
SM_CCo  16501,63.17,0.825,0,0,1475,325.02 _24V_AH  22.3,50.555
SM_GC  2.44,0.00,0.00,63.17,0.000,0.000,0.825,127,2476,1475,-8.01,0.45,325.02 _10V_AH  10.1,26.465
RAFOS_CLK  1175 FG_AHR_24Vo  0.000
RAFOS  0,1259956865,20.033333,20.018055,83,63,62,0,0,0,777,196,184,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6643.060059,-5920.615234,041209,202053,6,115,0.25 MEM  152452
IRIDIUM_FIX  6620.33,-5956.38,270299,070732 DATA_FILE_SIZE  53586,1403
TT8_MAMPS  0.026845 CAP_FILE_SIZE  185963,0
HUMID  49.84 CFSIZE  260165632,230666240
INTERNAL_PRESSURE  8.80893 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  16.10 SOUNDSPEED  1453.1
XPDR_PINGS  6 GPS  041209,202453,6643.060,-5920.615,0,6115.0,0,-37.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor26308180.49 SBE_CT103624554.93
Roll_motor204111510.74 SBE_O298919419.07
VBD_pump_during_apogee34612869932.41 nil000.00
VBD_pump_during_surface638241161.59 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init98103226.03 nil000.00
Iridium_during_connect84160300.38 nil000.00
Iridium_during_xfer02230.00
Transponder_ping542046.83
GUMSTIX_24V000.00
GPS1835092.53
TT8247319497.59
LPSleep109362255.15
TT8_Active60519121.79
TT8_Sampling2716391095.39
TT8_CF857945268.87
TT8_Kalman000.00
Analog_circuits192912233.86
GPS_charging000.00
Compass24988201.85
RAFOS2520138.18
Transponder27308.43

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
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
16 -0.73 -146.0 0.0 0.0 0 124 0.00 0.00 -104.70 0.000 2 0.000 0.000 120 2468 3161 0 0 0 0 0 0
128 -0.73 -146.0 3.7 -6.6 21 154 11.57 2.60 -6.00 0.000 4 0.308 0.112 2446 875 3399 0 0 0 0 0 0
329 -0.62 -146.0 40.5 -13.3 57 335 0.17 2.47 0.00 0.000 6 0.228 0.084 2487 2463 3402 0 0 0 0 0 0
673 -0.67 -146.0 77.9 -10.4 118 679 0.00 2.92 0.00 0.000 4 0.000 0.102 2487 3911 3402 0 0 0 0 0 0
881 -0.76 -146.0 99.8 -10.0 155 887 0.12 2.80 0.00 0.000 6 0.132 0.075 2449 2465 3402 0 0 0 0 0 0
1205 -0.70 -146.0 137.6 -12.0 186 1210 0.00 2.92 0.00 0.000 4 0.000 0.100 2448 3912 3402 0 0 0 0 0 0
1361 -0.70 -146.0 157.6 -12.2 199 1367 0.00 2.78 0.00 0.000 6 0.000 0.075 2449 2482 3401 0 0 0 0 0 0
1685 -0.70 -146.0 193.6 -10.9 230 1690 0.00 2.90 0.00 0.000 4 0.000 0.101 2448 3913 3402 0 0 0 0 0 0
1920 -0.70 -146.0 220.1 -11.0 250 1926 0.00 2.72 0.00 0.000 6 0.000 0.076 2448 2508 3402 0 0 0 0 0 0
2244 -0.70 -146.0 253.8 -10.4 281 2249 0.00 2.85 0.00 0.000 4 0.000 0.101 2448 3910 3401 0 0 0 0 0 0
2397 -0.70 -146.0 268.8 -9.6 294 2401 0.00 2.70 0.00 0.000 6 0.000 0.076 2448 2526 3401 0 0 0 0 0 0
2721 -0.70 -146.0 298.9 -9.4 324 2725 0.00 2.85 0.00 0.000 4 0.000 0.101 2448 3918 3401 0 0 0 0 0 0
2838 -0.70 -146.0 310.1 -9.6 334 2843 0.00 2.70 0.00 0.000 6 0.000 0.076 2448 2532 3401 0 0 0 0 0 0
3162 -0.70 -146.0 340.9 -9.3 364 3167 0.00 2.83 0.00 0.000 4 0.000 0.100 2448 3916 3401 0 0 0 0 0 0
3318 -0.75 -146.0 354.6 -8.6 377 3324 0.00 2.67 0.00 0.000 6 0.000 0.076 2448 2544 3400 0 0 0 0 0 0
3643 -0.80 -146.0 379.2 -7.8 408 3648 0.00 2.80 0.00 0.000 4 0.000 0.100 2448 3917 3400 0 0 0 0 0 0
3784 -0.85 -146.0 390.4 -7.7 420 3789 0.00 2.65 0.00 0.000 6 0.000 0.075 2448 2554 3401 0 0 0 0 0 0
4109 -0.91 -146.0 415.2 -7.5 450 4114 0.15 2.80 0.00 0.000 4 0.122 0.097 2386 3919 3401 0 0 0 0 0 0
4171 -0.74 -146.0 421.7 -11.4 455 4176 0.28 2.62 0.00 0.000 6 0.222 0.072 2449 2563 3401 0 0 0 0 0 0
4496 -0.80 -146.0 448.6 -8.3 485 4500 0.00 2.75 0.00 0.000 4 0.000 0.097 2449 3916 3401 0 0 0 0 0 0
4563 -0.88 -146.0 454.4 -8.7 490 4570 0.10 2.60 0.00 0.000 6 0.099 0.073 2410 2571 3401 0 0 0 0 0 0
4887 -0.82 -146.0 486.2 -10.0 521 4891 0.00 2.72 0.00 0.000 4 0.000 0.097 2410 3910 3401 0 0 0 0 0 0
4960 -0.76 -146.0 493.5 -10.7 527 4965 0.15 2.60 0.00 0.000 6 0.217 0.073 2442 2572 3401 0 0 0 0 0 0
5285 -0.81 -146.0 520.0 -8.0 557 5290 0.00 2.72 0.00 0.000 4 0.000 0.096 2442 3914 3402 0 0 0 0 0 0
5363 -0.88 -146.0 526.6 -8.1 563 5369 0.12 2.58 0.00 0.000 6 0.129 0.071 2405 2583 3402 0 0 0 0 0 0
5688 -0.82 -146.0 557.3 -9.8 594 5692 0.00 2.70 0.00 0.000 4 0.000 0.096 2404 3911 3402 0 0 0 0 0 0
5787 -0.75 -146.0 567.6 -10.2 602 5794 0.17 2.58 0.00 0.000 6 0.214 0.071 2443 2584 3403 0 0 0 0 0 0
6113 -0.82 -146.0 594.8 -7.9 633 6117 0.00 2.70 0.00 0.000 4 0.000 0.095 2443 3912 3403 0 0 0 0 0 0
6180 -0.90 -146.0 600.8 -8.9 638 6185 0.15 2.55 0.00 0.000 6 0.123 0.070 2396 2594 3403 0 0 0 0 0 0
6509 -0.82 -146.0 633.0 -9.7 649 6514 0.12 2.70 0.00 0.000 4 0.208 0.094 2414 3913 3403 0 0 0 0 0 0
6564 -0.82 -146.0 638.4 -9.1 650 6570 0.00 2.55 0.00 0.000 6 0.000 0.069 2415 2590 3403 0 0 0 0 0 0
6879 -0.82 -146.0 666.0 -8.8 661 6883 0.00 2.70 0.00 0.000 4 0.000 0.095 2414 3920 3404 0 0 0 0 0 0
6973 -0.82 -146.0 674.7 -8.9 664 6978 0.00 2.55 0.00 0.000 6 0.000 0.069 2414 2603 3404 0 0 0 0 0 0
7308 -0.82 -146.0 704.3 -9.0 675 7312 0.00 2.67 0.00 0.000 4 0.000 0.094 2414 3916 3404 0 0 0 0 0 0
7413 -0.82 -146.0 714.5 -9.8 678 7417 0.00 2.53 0.00 0.000 6 0.000 0.069 2414 2616 3403 0 0 0 0 0 0
7737 -0.82 -146.0 743.4 -9.1 689 7742 0.00 2.65 0.00 0.000 4 0.000 0.094 2414 3916 3404 0 0 0 0 0 0
7815 -0.82 -146.0 751.0 -9.9 691 7819 0.00 2.50 0.00 0.000 6 0.000 0.069 2414 2627 3404 0 0 0 0 0 0
8133 -0.82 -146.0 779.5 -8.9 702 8137 0.00 2.62 0.00 0.000 4 0.000 0.094 2415 3913 3405 0 0 0 0 0 0
8187 -0.82 -146.0 784.6 -9.0 703 8193 0.00 2.50 0.00 0.000 6 0.000 0.068 2414 2623 3405 0 0 0 0 0 0
8380 end dive: BOTTOM_OBSTACLE_DETECTED
state 8380 begin apogee
8386 -0.16 0.0 800.5 8.2 710 8516 0.82 0.00 126.20 1.286 6 0.193 0.000 2632 1942 2799 0 0 0 0 0 0
8516 end apogee: CONTROL_FINISHED_OK
state 8516 begin climb
8518 0.73 146.0 803.6 0.0 714 8659 0.98 2.72 131.95 1.227 4 0.139 0.095 2921 365 2203 0 0 0 0 0 0
8722 0.65 146.0 787.3 11.9 720 8726 0.00 2.50 0.00 0.000 6 0.000 0.069 2921 1953 2199 0 0 0 0 0 0
9039 0.59 146.0 752.7 10.9 731 9045 0.17 3.15 0.00 0.000 4 0.200 0.086 2881 3539 2194 0 0 0 0 0 0
9106 0.59 146.0 745.8 10.3 733 9111 0.00 3.12 0.00 0.000 6 0.000 0.076 2892 1956 2193 0 0 0 0 0 0
9442 0.65 155.5 716.2 8.8 744 9456 0.00 3.12 7.88 1.038 4 0.000 0.087 2892 3532 2165 0 0 0 0 0 0
9523 0.60 155.5 708.2 10.0 746 9528 0.00 3.05 0.00 0.000 6 0.000 0.077 2905 1959 2164 0 0 0 0 0 0
9840 0.60 155.5 677.1 9.9 757 9845 0.00 3.08 0.00 0.000 4 0.000 0.087 2905 3539 2164 0 0 0 0 0 0
9890 0.52 155.5 671.7 11.4 758 9896 0.22 3.03 0.00 0.000 6 0.206 0.077 2865 1970 2164 0 0 0 0 0 0
10202 0.69 180.6 645.9 8.1 768 10234 0.15 3.12 22.90 1.155 4 0.118 0.087 2914 3535 2062 0 0 0 0 0 0
10298 0.60 180.6 635.7 12.1 770 10305 0.17 3.03 0.00 0.000 6 0.203 0.077 2888 1985 2060 0 0 0 0 0 0
10610 0.67 180.6 605.4 9.4 781 10615 0.00 3.05 0.00 0.000 4 0.000 0.087 2887 3543 2058 0 0 0 0 0 0
10665 0.67 180.6 599.6 11.1 782 10671 0.00 3.00 0.00 0.000 6 0.000 0.077 2898 1991 2058 0 0 0 0 0 0
10990 0.71 180.6 566.3 10.5 813 10995 0.00 3.03 0.00 0.000 4 0.000 0.087 2898 3542 2058 0 0 0 0 0 0
11045 0.71 180.6 559.9 12.3 817 11051 0.00 2.95 0.00 0.000 6 0.000 0.077 2911 2009 2056 0 0 0 0 0 0
11369 0.71 180.6 524.7 10.3 848 11374 0.00 2.97 0.00 0.000 4 0.000 0.087 2911 3537 2056 0 0 0 0 0 0
11408 0.71 180.6 520.1 12.3 851 11412 0.00 2.95 0.00 0.000 6 0.000 0.078 2923 2007 2056 0 0 0 0 0 0
11732 0.71 180.6 483.0 11.4 881 11736 0.00 3.00 0.00 0.000 4 0.000 0.087 2923 3545 2056 0 0 0 0 0 0
11760 0.64 180.6 479.7 12.4 883 11765 0.17 2.95 0.00 0.000 6 0.208 0.077 2897 2011 2056 0 0 0 0 0 0
12084 0.71 180.6 446.8 10.5 913 12089 0.00 2.97 0.00 0.000 4 0.000 0.086 2897 3542 2056 0 0 0 0 0 0
12134 0.71 180.6 441.1 11.9 917 12138 0.00 2.92 0.00 0.000 6 0.000 0.077 2906 2021 2056 0 0 0 0 0 0
12459 0.76 180.6 406.4 10.3 947 12464 0.00 2.95 0.00 0.000 4 0.000 0.086 2907 3538 2056 0 0 0 0 0 0
12502 0.76 180.6 401.4 12.3 950 12508 0.00 2.90 0.00 0.000 6 0.000 0.076 2919 2027 2056 0 0 0 0 0 0
12827 0.76 180.6 366.4 10.5 981 12832 0.00 2.95 0.00 0.000 4 0.000 0.087 2919 3540 2056 0 0 0 0 0 0
12911 0.69 180.6 356.6 12.3 988 12915 0.00 2.88 0.00 0.000 6 0.000 0.077 2931 2046 2056 0 0 0 0 0 0
13236 0.69 180.6 322.8 9.8 1018 13237 0.00 0.00 0.00 0.000 6 0.000 0.000 2931 2047 2056 0 0 0 0 0 0
13555 0.69 180.6 287.4 11.3 1048 13559 0.00 2.92 0.00 0.000 4 0.000 0.087 2931 3544 2056 0 0 0 0 0 0
13594 0.60 180.6 282.5 12.4 1051 13599 0.22 2.88 0.00 0.000 6 0.202 0.077 2891 2048 2056 0 0 0 0 0 0
13919 0.82 229.8 256.0 7.1 1081 13971 0.20 3.03 41.55 0.940 4 0.107 0.087 2959 3537 1861 0 0 0 0 0 0
14039 0.71 229.8 242.4 12.6 1092 14044 0.20 2.90 0.00 0.000 6 0.202 0.077 2925 2062 1858 0 0 0 0 0 0
14363 0.80 229.8 211.2 9.4 1122 14364 0.00 0.00 0.00 0.000 6 0.000 0.000 2925 2064 1855 0 0 0 0 0 0
14683 0.94 247.4 181.8 8.4 1152 14705 0.20 2.92 15.80 0.884 4 0.110 0.088 2990 3537 1789 0 0 0 0 0 0
14733 0.78 247.4 176.1 12.1 1156 14740 0.25 2.90 0.00 0.000 6 0.207 0.078 2944 2056 1788 0 0 0 0 0 0
15058 0.89 247.4 144.2 10.7 1187 15059 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2057 1786 0 0 0 0 0 0
15378 1.00 250.3 112.7 9.0 1217 15380 0.20 0.00 0.00 0.000 6 0.108 0.000 3009 2057 1784 0 0 0 0 0 0
15707 0.94 250.3 74.3 11.8 1266 15713 0.00 2.95 0.00 0.000 4 0.000 0.092 3009 3545 1784 0 0 0 0 0 0
15770 0.78 250.3 66.5 12.6 1277 15776 0.32 2.90 0.00 0.000 6 0.199 0.081 2942 2057 1784 0 0 0 0 0 0
16115 0.95 250.3 38.1 9.5 1338 16122 0.17 2.95 0.00 0.000 4 0.114 0.092 2999 3536 1783 0 0 0 0 0 0
16208 0.85 250.3 27.3 11.9 1354 16214 0.20 2.88 0.00 0.000 6 0.206 0.082 2966 2066 1782 0 0 0 0 0 0
16466 end climb: SURFACE_DEPTH_REACHED
state 16466 begin surface coast
16484 end surface coast: CONTROL_FINISHED_OK
state 16484 begin surface