DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 252 * 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  252 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  21 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  -3 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  2 T_GPS_CHARGE  -37075.062 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  042328,6640.565,-5848.040,0,4089.0,0,-37.6 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  6.34 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  0.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  042328,6640.565,-5848.040,0,4089.0,0,-37.6 MHEAD_RNG_PITCHd_Wd  102.0,96129,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  773

Post-dive calculations and measurements:
FREEZE  8.64,-1.788,-1.804,2,17,0 ALTIM_BOTTOM_PING  650.4,65.9
FINISH1  8.6,1.026401,53 _24V_AH  22.4,51.555
FINISH2  6.6 _10V_AH  10.1,27.126
RAFOS_CLK  1031 FG_AHR_24Vo  0.000
RAFOS  0,1260100871,12.033333,12.019722,63,59,54,0,0,0,211,176,140,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6642.060547,-5839.446289,061209,121213,5,90,0.24 MEM  152520
IRIDIUM_FIX  6614.97,-5838.87,020399,000019 DATA_FILE_SIZE  53519,1369
TT8_MAMPS  0.026845 CAP_FILE_SIZE  165084,0
HUMID  49.76 CFSIZE  260165632,229875712
INTERNAL_PRESSURE  8.90659 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  16.20 SOUNDSPEED  1454.0
XPDR_PINGS  9 GPS  061209,122913,6642.061,-5839.446,0,5090.2,0,-37.6
ALTIM_TOP_PING  19.5,19.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor622433.85 SBE_CT100624541.02
Roll_motor187115484.18 SBE_O296119409.30
VBD_pump_during_apogee33612219193.64 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
TT8241319485.51
LPSleep95352222.47
TT8_Active4611992.75
TT8_Sampling245739990.79
TT8_CF81904588.49
TT8_Kalman000.00
Analog_circuits172112208.62
GPS_charging000.00
Compass24198195.47
RAFOS2520138.18
Transponder20306.22

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 13 begin dive
15 -0.73 -146.0 0.0 0.0 0 22 0.00 0.00 -5.00 0.000 2 0.000 0.000 2721 355 2726 0 0 0 0 0 0
25 -0.73 -146.0 6.1 -0.0 1 56 0.80 0.75 -23.27 0.000 4 0.123 0.115 2463 888 3398 0 0 0 0 0 0
90 -0.65 -146.0 11.2 -9.9 13 96 0.00 2.38 0.00 0.000 6 0.000 0.081 2463 2457 3400 0 0 0 0 0 0
433 -0.65 -146.0 50.5 -11.2 74 439 0.00 3.00 0.00 0.000 4 0.000 0.100 2463 3913 3400 0 0 0 0 0 0
603 -0.65 -146.0 71.7 -13.0 104 609 0.00 2.88 0.00 0.000 6 0.000 0.074 2463 2460 3400 0 0 0 0 0 0
946 -0.65 -146.0 112.0 -10.0 155 951 0.00 3.00 0.00 0.000 4 0.000 0.098 2463 3912 3400 0 0 0 0 0 0
1192 -0.70 -146.0 135.6 -9.0 176 1198 0.00 2.83 0.00 0.000 6 0.000 0.074 2463 2486 3400 0 0 0 0 0 0
1517 -0.70 -146.0 163.6 -8.8 207 1521 0.00 2.97 0.00 0.000 4 0.000 0.099 2463 3921 3400 0 0 0 0 0 0
1640 -0.78 -146.0 175.1 -9.3 217 1646 0.00 2.83 0.00 0.000 6 0.000 0.074 2463 2499 3399 0 0 0 0 0 0
1965 -0.84 -146.0 204.5 -9.0 248 1971 0.12 2.97 0.00 0.000 4 0.133 0.097 2413 3921 3399 0 0 0 0 0 0
2090 -0.74 -146.0 218.9 -11.9 258 2096 0.15 2.83 0.00 0.000 6 0.225 0.072 2444 2494 3399 0 0 0 0 0 0
2414 -0.74 -146.0 253.4 -10.3 289 2419 0.00 2.97 0.00 0.000 4 0.000 0.098 2444 3923 3398 0 0 0 0 0 0
2520 -0.74 -146.0 264.2 -10.1 298 2525 0.00 2.83 0.00 0.000 6 0.000 0.074 2444 2509 3397 0 0 0 0 0 0
2845 -0.79 -146.0 291.5 -8.0 328 2850 0.00 2.92 0.00 0.000 4 0.000 0.097 2444 3914 3397 0 0 0 0 0 0
3001 -0.79 -146.0 304.2 -8.0 341 3007 0.00 2.78 0.00 0.000 6 0.000 0.074 2444 2523 3397 0 0 0 0 0 0
3326 -0.84 -146.0 328.1 -7.6 372 3331 0.00 2.92 0.00 0.000 4 0.000 0.097 2444 3916 3397 0 0 0 0 0 0
3461 -0.89 -146.0 339.3 -8.3 383 3467 0.15 2.75 0.00 0.000 6 0.129 0.072 2398 2537 3397 0 0 0 0 0 0
3785 -0.78 -146.0 371.2 -10.3 414 3791 0.15 2.90 0.00 0.000 4 0.208 0.095 2427 3913 3397 0 0 0 0 0 0
3909 -0.78 -146.0 382.9 -9.9 424 3915 0.00 2.75 0.00 0.000 6 0.000 0.071 2427 2538 3397 0 0 0 0 0 0
4233 -0.78 -146.0 412.1 -9.2 455 4238 0.00 2.88 0.00 0.000 4 0.000 0.095 2426 3915 3397 0 0 0 0 0 0
4397 -0.78 -146.0 427.2 -9.1 469 4402 0.00 2.72 0.00 0.000 6 0.000 0.071 2426 2551 3397 0 0 0 0 0 0
4722 -0.78 -146.0 455.4 -8.2 499 4726 0.00 2.85 0.00 0.000 4 0.000 0.094 2426 3913 3398 0 0 0 0 0 0
4828 -0.78 -146.0 464.5 -8.5 508 4833 0.00 2.72 0.00 0.000 6 0.000 0.071 2426 2550 3398 0 0 0 0 0 0
5153 -0.78 -146.0 491.0 -8.8 538 5158 0.00 2.85 0.00 0.000 4 0.000 0.094 2426 3916 3398 0 0 0 0 0 0
5383 -0.78 -146.0 511.4 -8.9 558 5387 0.00 2.67 0.00 0.000 6 0.000 0.069 2426 2572 3399 0 0 0 0 0 0
5707 -0.78 -146.0 538.5 -7.9 588 5712 0.00 2.83 0.00 0.000 4 0.000 0.093 2426 3920 3399 0 0 0 0 0 0
5854 -0.78 -146.0 550.4 -8.3 600 5859 0.00 2.65 0.00 0.000 6 0.000 0.068 2426 2584 3399 0 0 0 0 0 0
6178 -0.78 -146.0 576.3 -8.1 631 6183 0.00 2.78 0.00 0.000 4 0.000 0.093 2426 3913 3399 0 0 0 0 0 0
6284 -0.78 -146.0 585.0 -8.1 640 6289 0.00 2.62 0.00 0.000 6 0.000 0.068 2426 2594 3399 0 0 0 0 0 0
6615 -0.78 -146.0 609.5 -7.2 663 6620 0.00 2.78 0.00 0.000 4 0.000 0.093 2426 3923 3400 0 0 0 0 0 0
6721 -0.78 -146.0 618.0 -7.8 666 6725 0.00 2.62 0.00 0.000 6 0.000 0.068 2426 2600 3400 0 0 0 0 0 0
7044 -0.78 -146.0 642.8 -7.8 677 7049 0.00 2.75 0.00 0.000 4 0.000 0.093 2426 3915 3401 0 0 0 0 0 0
7110 -0.78 -146.0 648.6 -8.7 679 7114 0.00 2.60 0.00 0.000 6 0.000 0.067 2426 2607 3400 0 0 0 0 0 0
7445 -0.78 -146.0 674.8 -7.3 690 7449 0.00 2.75 0.00 0.000 4 0.000 0.092 2426 3924 3401 0 0 0 0 0 0
7561 -0.78 -146.0 683.9 -7.5 693 7565 0.00 2.62 0.00 0.000 6 0.000 0.067 2426 2602 3401 0 0 0 0 0 0
7755 end dive: BOTTOM_OBSTACLE_DETECTED
state 7755 begin apogee
7761 -0.16 0.0 701.4 9.1 700 7888 0.77 0.00 123.82 1.221 6 0.195 0.000 2632 1941 2800 0 0 0 0 0 0
7889 end apogee: CONTROL_FINISHED_OK
state 7889 begin climb
7891 0.73 146.0 705.3 0.0 704 8026 0.98 0.00 130.32 1.164 6 0.143 0.000 2910 1941 2204 0 0 0 0 0 0
8344 0.73 146.0 664.0 9.9 719 8349 0.00 3.33 0.00 0.000 4 0.000 0.086 2911 3541 2195 0 0 0 0 0 0
8382 0.64 146.0 659.7 11.6 720 8387 0.00 3.22 0.00 0.000 6 0.000 0.076 2924 1963 2193 0 0 0 0 0 0
8706 0.58 146.0 625.7 10.9 731 8712 0.20 3.20 0.00 0.000 4 0.208 0.084 2876 3538 2193 0 0 0 0 0 0
8750 0.58 146.0 621.0 10.4 732 8755 0.00 3.15 0.00 0.000 6 0.000 0.077 2889 1963 2192 0 0 0 0 0 0
9071 0.60 164.3 593.4 8.4 747 9092 0.00 3.20 14.85 1.079 4 0.000 0.087 2889 3540 2129 0 0 0 0 0 0
9142 0.60 164.3 586.5 9.7 753 9148 0.00 3.12 0.00 0.000 6 0.000 0.077 2902 1975 2128 0 0 0 0 0 0
9467 0.60 164.3 554.8 9.9 784 9472 0.00 3.15 0.00 0.000 4 0.000 0.087 2902 3538 2128 0 0 0 0 0 0
9533 0.55 164.3 547.4 11.5 789 9539 0.20 3.10 0.00 0.000 6 0.201 0.077 2869 1975 2126 0 0 0 0 0 0
9858 0.68 181.1 520.4 8.5 820 9880 0.12 3.15 15.60 1.060 4 0.127 0.085 2909 3539 2061 0 0 0 0 0 0
9930 0.61 181.1 512.1 12.9 826 9937 0.15 3.10 0.00 0.000 6 0.209 0.077 2890 1988 2059 0 0 0 0 0 0
10255 0.67 181.1 480.4 9.9 857 10256 0.00 0.00 0.00 0.000 6 0.000 0.000 2890 1989 2058 0 0 0 0 0 0
10575 0.74 181.1 447.2 10.5 887 10581 0.12 3.15 0.00 0.000 4 0.128 0.087 2929 3539 2058 0 0 0 0 0 0
10684 0.63 181.1 432.8 13.4 896 10689 0.20 3.05 0.00 0.000 6 0.206 0.077 2896 2006 2058 0 0 0 0 0 0
11009 0.68 181.1 397.5 10.3 926 11013 0.00 3.08 0.00 0.000 4 0.000 0.086 2896 3539 2056 0 0 0 0 0 0
11047 0.68 181.1 393.4 10.9 929 11052 0.00 3.03 0.00 0.000 6 0.000 0.076 2907 2015 2056 0 0 0 0 0 0
11371 0.68 181.1 359.8 10.3 959 11376 0.00 3.08 0.00 0.000 4 0.000 0.085 2907 3547 2056 0 0 0 0 0 0
11425 0.68 181.1 353.6 11.8 963 11432 0.00 3.03 0.00 0.000 6 0.000 0.076 2920 2020 2056 0 0 0 0 0 0
11751 0.68 181.1 319.7 10.5 994 11756 0.00 3.08 0.00 0.000 4 0.000 0.086 2920 3544 2056 0 0 0 0 0 0
11801 0.62 181.1 314.1 10.8 998 11807 0.17 3.03 0.00 0.000 6 0.202 0.077 2893 2020 2056 0 0 0 0 0 0
12126 0.74 187.7 285.0 8.9 1028 12141 0.12 3.05 6.65 0.842 4 0.130 0.086 2933 3539 2034 0 0 0 0 0 0
12170 0.64 187.7 280.1 11.6 1032 12175 0.20 3.00 0.00 0.000 6 0.202 0.077 2899 2023 2033 0 0 0 0 0 0
12495 0.76 195.5 251.8 8.8 1062 12509 0.12 3.05 8.40 0.862 4 0.130 0.086 2938 3547 2003 0 0 0 0 0 0
12565 0.65 195.5 243.6 12.2 1068 12572 0.20 3.00 0.00 0.000 6 0.204 0.075 2905 2035 2002 0 0 0 0 0 0
12892 0.78 205.9 212.1 8.7 1099 12909 0.12 3.03 10.60 0.873 4 0.127 0.086 2945 3539 1959 0 0 0 0 0 0
12967 0.69 205.9 204.0 11.3 1105 12973 0.17 2.97 0.00 0.000 6 0.206 0.076 2918 2045 1958 0 0 0 0 0 0
13294 0.81 227.0 176.3 8.3 1135 13319 0.10 3.05 19.27 0.884 4 0.138 0.087 2949 3541 1873 0 0 0 0 0 0
13366 0.75 227.0 169.1 11.1 1141 13372 0.10 3.00 0.00 0.000 6 0.189 0.077 2937 2049 1872 0 0 0 0 0 0
13697 0.84 233.3 141.0 8.9 1172 13707 0.00 0.00 6.60 0.779 6 0.000 0.000 2937 2050 1847 0 0 0 0 0 0
14026 0.94 233.3 105.3 12.0 1203 14028 0.17 0.00 0.00 0.000 6 0.113 0.000 2993 2050 1845 0 0 0 0 0 0
14359 0.94 233.3 65.3 10.4 1259 14365 0.00 2.50 0.00 0.000 4 0.000 0.100 3004 356 1845 0 0 0 0 0 0
14433 0.83 233.3 57.2 10.8 1272 14440 0.20 2.42 0.00 0.000 6 0.196 0.074 2957 2059 1844 0 0 0 0 0 0
14779 0.89 233.3 27.7 11.4 1333 14785 0.00 2.97 0.00 0.000 4 0.000 0.088 2957 3539 1844 0 0 0 0 0 0
14858 0.89 233.3 18.8 13.0 1347 14864 0.00 2.92 0.00 0.000 6 0.000 0.081 2968 2075 1843 0 0 0 0 0 0
14949 end climb: FINISH_DEPTH_REACHED
state 14949 begin subsurface finish
14956 0.07 53.3 8.6 -6.9 1363 14988 0.90 2.40 -25.73 0.000 4 0.184 0.112 2719 352 2586 0 0 0 0 0 0
14989 end subsurface finish: CONTROL_FINISHED_OK
state 14989 begin surface