DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 269 * 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  269 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  425 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  2
D_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  18 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  -3 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  2 T_GPS_CHARGE  -39647.926 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  105356,6656.878,-5711.876,46,99.0,65,-37.5 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  1.22 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -61.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  105356,6656.878,-5711.876,181,99.0,181,-37.5 MHEAD_RNG_PITCHd_Wd  94.2,20636,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  753

Post-dive calculations and measurements:
FREEZE  0.58,-0.923,-1.820,0,34,0 ALTIM_TOP_PING  19.7,19.3
FINISH  0.6,1.026701 ALTIM_BOTTOM_PING  650.4,110.6
SM_CCo  16031,127.18,0.765,0,0,1066,425.10 _24V_AH  22.4,54.071
SM_GC  1.23,0.00,0.00,127.18,0.000,0.000,0.765,130,2462,1066,-8.00,0.06,425.10 _10V_AH  10.1,28.617
RAFOS_CLK  1093 FG_AHR_24Vo  0.000
RAFOS  0,1260360063,12.033333,12.017500,60,59,59,0,0,0,197,160,119,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6658.150391,-5712.716309,091209,121256,2,83,0.36 MEM  152392
IRIDIUM_FIX  6631.12,-5707.31,050399,111121 DATA_FILE_SIZE  56710,1426
TT8_MAMPS  0.026845 CAP_FILE_SIZE  186300,0
HUMID  47.71 CFSIZE  260165632,227373056
INTERNAL_PRESSURE  8.79917 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,12,0,0
TCM_TEMP  16.30 SOUNDSPEED  1457.4
XPDR_PINGS  7 GPS  091209,154007,6656.564,-5706.354,41,1.6,41,-37.5

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor26306178.68 SBE_CT104524562.13
Roll_motor210105499.26 SBE_O2100219426.46
VBD_pump_during_apogee362124710122.60 nil000.00
VBD_pump_during_surface1277652180.60 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init86103200.28 nil000.00
Iridium_during_connect167160600.76 nil000.00
Iridium_during_xfer132223660.51
Transponder_ping442039.98
GUMSTIX_24V000.00
GPS1835092.53
TT8251019505.05
LPSleep102992240.30
TT8_Active70119141.11
TT8_Sampling2804391130.70
TT8_CF873245339.94
TT8_Kalman000.00
Analog_circuits206012249.77
GPS_charging000.00
Compass25818208.57
RAFOS2520138.18
Transponder21306.46

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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.73 -146.0 0.0 0.0 0 145 0.00 0.00 -125.20 0.000 2 0.000 0.000 125 2465 3095 0 0 0 0 0 0
148 -0.73 -146.0 3.5 -5.5 25 175 11.52 2.45 -8.20 0.000 4 0.307 0.106 2446 866 3400 0 0 0 0 0 0
238 -0.62 -146.0 20.0 -12.3 41 244 0.17 2.38 0.00 0.000 6 0.226 0.081 2487 2456 3401 0 0 0 0 0 0
583 -0.73 -146.0 55.5 -8.2 102 588 0.00 3.12 0.00 0.000 4 0.000 0.097 2487 3923 3402 0 0 0 0 0 0
737 -0.86 -146.0 68.0 -8.0 129 743 0.22 2.95 0.00 0.000 6 0.104 0.071 2413 2476 3402 0 0 0 0 0 0
1089 -0.75 -146.0 100.9 -8.4 190 1091 0.15 0.00 0.00 0.000 6 0.220 0.000 2445 2477 3402 0 0 0 0 0 0
1404 -0.75 -146.0 127.0 -9.3 220 1409 0.00 3.08 0.00 0.000 4 0.000 0.097 2446 3914 3402 0 0 0 0 0 0
1661 -0.75 -146.0 157.7 -14.3 242 1667 0.00 2.95 0.00 0.000 6 0.000 0.073 2446 2470 3402 0 0 0 0 0 0
1986 -0.80 -146.0 197.8 -11.2 273 1991 0.00 3.08 0.00 0.000 4 0.000 0.097 2446 3919 3400 0 0 1 0 0 0
2149 -0.85 -146.0 214.1 -9.7 287 2154 0.00 2.92 0.00 0.000 6 0.000 0.074 2446 2487 3400 0 0 0 0 0 0
2474 -0.91 -146.0 241.4 -8.1 317 2479 0.15 3.05 0.00 0.000 4 0.120 0.094 2388 3923 3400 0 0 1 0 0 0
2637 -0.77 -146.0 260.1 -12.3 331 2643 0.20 2.90 0.00 0.000 6 0.215 0.071 2433 2501 3400 0 0 0 0 0 0
2961 -0.77 -146.0 292.9 -9.6 361 2966 0.00 3.00 0.00 0.000 4 0.000 0.094 2433 3915 3400 0 0 1 0 0 0
3117 -0.77 -146.0 307.6 -8.7 374 3123 0.00 2.88 0.00 0.000 6 0.000 0.071 2434 2504 3400 0 0 0 0 0 0
3442 -0.77 -146.0 335.4 -8.2 405 3447 0.00 3.03 0.00 0.000 4 0.000 0.094 2433 3927 3400 0 0 0 0 0 0
3609 -0.77 -146.0 349.9 -8.7 419 3616 0.00 2.85 0.00 0.000 6 0.000 0.070 2433 2530 3400 0 0 0 0 0 0
3936 -0.82 -146.0 376.4 -7.9 450 3941 0.00 2.97 0.00 0.000 4 0.000 0.094 2433 3923 3401 0 0 0 0 0 0
4077 -0.87 -146.0 387.5 -7.9 462 4082 0.00 2.85 0.00 0.000 6 0.000 0.069 2433 2528 3401 0 0 0 0 0 0
4402 -0.92 -146.0 409.9 -6.9 492 4408 0.12 2.97 0.00 0.000 4 0.128 0.091 2388 3916 3401 0 0 0 0 0 0
4588 -0.81 -146.0 427.4 -10.0 508 4593 0.17 2.80 0.00 0.000 6 0.214 0.068 2426 2548 3401 0 0 0 0 0 0
4913 -0.81 -146.0 453.0 -8.0 538 4917 0.00 2.92 0.00 0.000 4 0.000 0.091 2427 3923 3402 0 0 1 0 0 0
5091 -0.81 -146.0 468.3 -8.9 553 5098 0.00 2.80 0.00 0.000 6 0.000 0.067 2427 2553 3402 0 0 0 0 0 0
5415 -0.81 -146.0 497.6 -9.3 584 5420 0.00 2.92 0.00 0.000 4 0.000 0.091 2427 3926 3403 0 0 1 0 0 0
5577 -0.81 -146.0 513.1 -9.6 598 5582 0.00 2.78 0.00 0.000 6 0.000 0.067 2427 2575 3403 0 0 0 0 0 0
5902 -0.81 -146.0 539.8 -8.0 628 5906 0.00 2.88 0.00 0.000 4 0.000 0.091 2427 3917 3403 0 0 1 0 0 0
6036 -0.81 -146.0 550.8 -8.6 639 6042 0.00 2.75 0.00 0.000 6 0.000 0.067 2427 2583 3403 0 0 0 0 0 0
6362 -0.81 -146.0 576.8 -8.1 670 6366 0.00 2.88 0.00 0.000 4 0.000 0.091 2427 3916 3403 0 0 0 0 0 0
6468 -0.81 -146.0 585.8 -8.7 679 6473 0.00 2.72 0.00 0.000 6 0.000 0.067 2427 2596 3403 0 0 0 0 0 0
6809 -0.86 -146.0 612.0 -7.6 701 6814 0.00 2.85 0.00 0.000 4 0.000 0.091 2427 3921 3403 0 0 1 0 0 0
6909 -0.86 -146.0 620.2 -7.8 704 6914 0.00 2.72 0.00 0.000 6 0.000 0.067 2427 2600 3403 0 0 0 0 0 0
7238 -0.92 -146.0 645.2 -7.6 715 7243 0.00 2.85 0.00 0.000 4 0.000 0.091 2427 3923 3403 0 0 1 0 0 0
7369 -0.97 -146.0 655.2 -7.0 719 7375 0.15 2.72 0.00 0.000 6 0.117 0.067 2379 2604 3403 0 0 0 0 0 0
7705 -0.86 -146.0 685.7 -9.2 730 7711 0.12 2.85 0.00 0.000 4 0.214 0.089 2395 3919 3403 0 0 1 0 0 0
7784 -0.80 -146.0 693.0 -8.8 732 7789 0.15 2.70 0.00 0.000 6 0.212 0.067 2427 2614 3403 0 0 0 0 0 0
8104 -0.85 -146.0 716.8 -7.5 743 8108 0.00 2.83 0.00 0.000 4 0.000 0.092 2428 3916 3403 0 0 0 0 0 0
8170 -0.91 -146.0 721.9 -7.6 745 8175 0.00 2.67 0.00 0.000 6 0.000 0.067 2428 2625 3404 0 0 0 0 0 0
8498 end dive: BOTTOM_OBSTACLE_DETECTED
state 8498 begin apogee
8504 -0.16 0.0 747.1 7.7 756 8632 0.75 0.00 125.00 1.247 6 0.183 0.000 2633 1953 2800 0 0 0 0 0 0
8633 end apogee: CONTROL_FINISHED_OK
state 8633 begin climb
8635 0.73 146.0 749.6 0.0 760 8775 0.95 2.53 129.68 1.188 4 0.133 0.094 2920 355 2205 0 0 0 0 0 0
8866 0.63 146.0 729.7 12.2 767 8870 0.00 2.33 0.00 0.000 6 0.000 0.067 2920 1958 2199 0 0 0 0 0 0
9190 0.52 146.0 692.2 11.8 778 9196 0.25 3.33 0.00 0.000 4 0.204 0.083 2852 3534 2196 0 0 0 0 0 0
9280 0.58 146.0 682.9 9.8 780 9286 0.00 3.28 0.00 0.000 6 0.000 0.075 2864 1956 2194 0 0 0 0 0 0
9592 0.70 163.5 656.2 8.4 791 9614 0.15 3.30 14.65 1.105 4 0.108 0.086 2917 3536 2132 0 0 0 0 0 0
9665 0.55 163.5 647.6 12.8 793 9671 0.25 3.25 0.00 0.000 6 0.209 0.077 2874 1959 2130 0 0 1 0 0 0
9990 0.63 163.5 616.9 9.4 804 9995 0.00 3.28 0.00 0.000 4 0.000 0.085 2873 3538 2129 0 0 0 0 0 0
10072 0.63 163.5 608.1 11.1 806 10077 0.00 3.20 0.00 0.000 6 0.000 0.077 2885 1980 2128 0 0 0 0 0 0
10395 0.63 163.5 575.5 9.7 830 10400 0.00 3.22 0.00 0.000 4 0.000 0.086 2885 3534 2128 0 0 0 0 0 0
10472 0.63 163.5 566.8 10.9 836 10479 0.00 3.17 0.00 0.000 6 0.000 0.077 2899 1990 2127 0 0 0 0 0 0
10797 0.63 163.5 532.8 10.4 867 10802 0.00 3.20 0.00 0.000 4 0.000 0.086 2898 3535 2127 0 0 0 0 0 0
10863 0.56 163.5 525.3 11.4 872 10870 0.17 3.15 0.00 0.000 6 0.206 0.077 2873 2003 2127 0 0 0 0 0 0
11189 0.67 180.1 497.8 8.5 903 11211 0.10 3.20 14.80 1.046 4 0.140 0.087 2903 3542 2064 0 0 0 0 0 0
11262 0.60 180.1 490.1 11.6 909 11268 0.15 3.17 0.00 0.000 6 0.210 0.077 2885 2005 2063 0 0 0 0 0 0
11586 0.68 196.5 461.2 8.5 940 11608 0.00 3.20 15.05 1.021 4 0.000 0.085 2885 3535 1998 0 0 0 0 0 0
11664 0.68 196.5 453.5 10.3 947 11669 0.00 3.15 0.00 0.000 6 0.000 0.077 2896 2019 1996 0 0 0 0 0 0
11988 0.68 196.5 421.4 9.4 977 11993 0.00 3.17 0.00 0.000 4 0.000 0.086 2896 3540 1994 0 0 0 0 0 0
12029 0.68 196.5 417.4 10.1 980 12034 0.00 3.12 0.00 0.000 6 0.000 0.076 2909 2026 1994 0 0 0 0 0 0
12353 0.68 196.5 384.6 10.1 1010 12358 0.00 3.15 0.00 0.000 4 0.000 0.085 2909 3543 1994 0 0 1 0 0 0
12404 0.62 196.5 378.9 11.1 1014 12410 0.12 3.12 0.00 0.000 6 0.213 0.076 2897 2028 1994 0 0 0 0 0 0
12729 0.68 196.5 346.4 10.7 1044 12734 0.00 3.12 0.00 0.000 4 0.000 0.084 2897 3535 1993 0 0 1 0 0 0
12795 0.68 196.5 338.4 11.9 1049 12801 0.00 3.08 0.00 0.000 6 0.000 0.076 2908 2044 1993 0 0 0 0 0 0
13119 0.68 196.5 300.6 11.5 1080 13124 0.00 3.12 0.00 0.000 4 0.000 0.084 2908 3539 1994 0 0 0 0 0 0
13170 0.68 196.5 294.3 12.8 1084 13175 0.00 3.08 0.00 0.000 6 0.000 0.075 2921 2049 1993 0 0 0 0 0 0
13494 0.68 196.5 255.5 11.4 1114 13499 0.00 3.12 0.00 0.000 4 0.000 0.085 2920 3543 1993 0 0 0 0 0 0
13545 0.61 196.5 249.4 12.1 1118 13550 0.20 3.05 0.00 0.000 6 0.204 0.076 2888 2069 1993 0 0 0 0 0 0
13869 0.74 196.5 217.9 9.3 1148 13875 0.12 3.10 0.00 0.000 4 0.125 0.084 2929 3537 1993 0 0 0 0 0 0
13925 0.66 196.5 210.9 12.8 1152 13932 0.17 3.03 0.00 0.000 6 0.206 0.075 2903 2078 1993 0 0 0 0 0 0
14250 0.74 196.5 176.4 9.6 1183 14255 0.00 3.08 0.00 0.000 4 0.000 0.084 2903 3542 1993 0 0 0 0 0 0
14305 0.74 196.5 170.4 10.6 1187 14311 0.00 3.03 0.00 0.000 6 0.000 0.075 2914 2087 1993 0 0 0 0 0 0
14630 0.81 200.2 140.0 9.0 1218 14641 0.12 3.05 3.80 0.611 4 0.115 0.085 2963 3540 1984 0 0 0 0 0 0
14658 0.72 200.2 136.6 12.0 1220 14664 0.22 3.03 0.00 0.000 6 0.210 0.076 2924 2083 1984 0 0 0 0 0 0
14983 0.81 219.5 106.4 8.4 1251 15003 0.00 0.00 17.98 0.836 6 0.000 0.000 2924 2085 1904 0 0 0 0 0 0
15336 0.89 226.4 75.3 8.9 1307 15352 0.17 3.10 7.10 0.755 4 0.114 0.087 2981 3527 1876 0 0 0 0 0 0
15445 0.72 226.4 60.8 13.5 1326 15451 0.28 3.03 0.00 0.000 6 0.203 0.077 2929 2090 1875 0 0 0 0 0 0
15791 0.87 265.9 28.2 7.5 1387 15833 0.12 3.12 34.30 0.808 4 0.127 0.089 2969 3540 1715 0 0 0 0 0 0
15871 0.80 265.9 19.7 13.7 1401 15877 0.15 3.08 0.00 0.000 6 0.209 0.077 2951 2092 1713 0 0 0 0 0 0
15994 end climb: SURFACE_DEPTH_REACHED
state 15994 begin surface coast
16014 end surface coast: CONTROL_FINISHED_OK
state 16014 begin surface