DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 27 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  172 HEADING  -1 ROLL_MIN  160 ALTIM_BOTTOM_TURN_MARGIN  0
MISSION  3 ESCAPE_HEADING  0 ROLL_MAX  3717 ALTIM_TOP_TURN_MARGIN  0
DIVE  27 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_TOP_MIN_OBSTACLE  1
D_SURF  4 FIX_MISSING_TIMEOUT  1 C_ROLL_DIVE  1850 ALTIM_PING_DEPTH  400
D_FLARE  3 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1700 ALTIM_PING_DELTA  50
D_TGT  990 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_FREQUENCY  13
D_ABORT  1070 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_PULSE  1
D_NO_BLEED  500 SM_CC  275 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  3
D_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  19 XPDR_VALID  2
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  21 XPDR_INHIBIT  90
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  400 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  0 INT_PRESSURE_YINT  0
D_CALL  0 KERMIT  0 ROLL_ADJ_GAIN  0 DEEPGLIDER  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MIN  460 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_MAX  3960 DEVICE1  2
T_DIVE  330 CALL_TRIES  5 C_VBD  2940 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  4 HEAPDBG  0 PITCH_VBD_SHIFT  0.0012300001 DEVICE6  -1
T_NO_W  300 T_GPS  15 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  0 T_GPS_CHARGE  -4643.0498 UNCOM_BLEED  50 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  15 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
D_OFFGRID  100 STROBE  0 CF8_MAXERRORS  20 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  154 MINV_10V  8 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3948 FG_AHR_10V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  3025 FG_AHR_24V  0 SEABIRD_T_G  0.0043614767
SPEED_FACTOR  1 PITCH_DBAND  0.1 PHONE_SUPPLY  2 SEABIRD_T_H  0.00062996609
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_YINT  -55.981045 SEABIRD_T_I  2.5014444e-05
MASS  51891 P_OVSHOOT  0.039999999 PRESSURE_SLOPE  0.0001168426 SEABIRD_T_J  2.7838146e-06
NAV_MODE  2 PITCH_GAIN  38 AD7714Ch0Gain  128 SEABIRD_C_G  -10.228213
FERRY_MAX  45 PITCH_TIMEOUT  16 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1292607
KALMAN_USE  2 PITCH_AD_RATE  175 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.001076734
HD_A  0.003 PITCH_MAXERRORS  1 COMPASS_USE  0 SEABIRD_C_J  0.00017059842
HD_B  0.0099999998 PITCH_ADJ_GAIN  0.032000002 ALTIM_BOTTOM_PING_RANGE  0
HD_C  9.9999997e-06 PITCH_ADJ_DBAND  1 ALTIM_TOP_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  003601,6651.530,-5845.427,68,1.4,68,-37.8 TGT_NAME  TARGET_W_IN
_CALLS  1 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  14 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.60 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  004256,6651.464,-5845.233,15,1.3,15,-37.8 MHEAD_RNG_PITCHd_Wd  342.2,75002,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  970

Post-dive calculations and measurements:
FINISH  1.6,1.013537 _24V_AH  23.0,7.773
SM_CCo  17601,0.00,0.000,0,0,1472,360.10 _10V_AH  10.2,3.276
SM_GC  2.69,8.48,0.00,0.00,0.063,0.000,0.000,152,1849,1472,-8.93,-0.03,360.10 FG_AHR_24Vo  0.000
RAFOS_CLK  908 FG_AHR_10Vo  0.000
RAFOS_FIX  0.000000,0.000000,010170,000000,0,0,0.00 MEM  150316
IRIDIUM_FIX  6625.71,-5841.50,180199,191923 DATA_FILE_SIZE  56722,1397
TT8_MAMPS  0.050622 CAP_FILE_SIZE  166864,0
HUMID  38.93 CFSIZE  260165632,250228736
INTERNAL_PRESSURE  9.44372 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP  15.00 SOUNDSPEED  1458.6
XPDR_PINGS  0 CURRENT  0.160,198.2,1
ALTIM_BOTTOM_PING  902.6,90.3 GPS  251009,053725,6651.549,-5852.268,41,1.4,41,-37.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22250129.68 SBE_CT98324542.75
Roll_motor10991230.45 SBE_O2104219455.62
VBD_pump_during_apogee445124712765.93 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2710365.52 nil000.00
Iridium_during_connect33160122.12 nil000.00
Iridium_during_xfer2592231330.40
Transponder_ping342031.39
GUMSTIX_24V000.00
GPS15507.92
TT80190.00
LPSleep141642333.74
TT8_Active58019117.91
TT8_Sampling2810391144.24
TT8_CF843345203.19
TT8_Kalman000.00
Analog_circuits173512212.42
GPS_charging000.00
Compass22378182.57
RAFOS2880144.06
Transponder28308.81

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
10 end surface: CONTROL_FINISHED_OK
state 10 begin dive
12 -0.64 -146.0 0.0 0.0 0 49 0.00 0.00 -35.60 0.000 2 0.000 0.000 122 1853 2220 0 0 0 0 0 0
50 -0.64 -146.0 3.0 -2.0 6 120 10.68 2.38 -51.25 0.000 4 0.250 0.091 2812 446 3538 0 0 0 0 0 0
215 -0.57 -146.0 26.9 -18.4 43 221 0.08 2.28 0.00 0.000 6 0.156 0.061 2836 1841 3540 0 0 0 0 0 0
540 -0.57 -146.0 75.7 -12.3 104 546 0.00 2.35 0.00 0.000 4 0.000 0.077 2826 3254 3539 0 0 0 0 0 0
579 -0.65 -146.0 80.7 -12.0 113 586 0.00 2.30 0.00 0.000 6 0.000 0.066 2826 1851 3539 0 0 0 0 0 0
899 -0.65 -146.0 121.7 -13.0 158 903 0.00 2.33 0.00 0.000 4 0.000 0.077 2826 440 3539 0 0 0 0 0 0
972 -0.65 -146.0 131.0 -12.4 166 978 0.00 2.25 0.00 0.000 6 0.000 0.059 2822 1842 3539 0 0 0 0 0 0
1287 -0.65 -146.0 172.2 -13.6 197 1287 0.00 0.00 0.00 0.000 6 0.000 0.000 2823 1842 3539 0 0 0 0 0 0
1598 -0.65 -146.0 212.3 -12.0 227 1599 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 1843 3539 0 0 0 0 0 0
1908 -0.65 -146.0 247.2 -10.7 257 1909 0.00 0.00 0.00 0.000 6 0.000 0.000 2822 1843 3538 0 0 0 0 0 0
2219 -0.70 -146.0 280.8 -10.6 287 2222 0.00 2.25 0.00 0.000 4 0.000 0.078 2822 439 3538 0 0 0 0 0 0
2244 -0.73 -146.0 283.6 -11.7 290 2248 0.00 2.25 0.00 0.000 6 0.000 0.061 2820 1850 3538 0 0 0 0 0 0
2563 -0.78 -146.0 318.0 -10.8 321 2564 0.15 0.00 0.00 0.000 6 0.097 0.000 2755 1850 3538 0 0 0 0 0 0
2873 -0.64 -146.0 366.1 -16.2 351 2874 0.20 0.00 0.00 0.000 6 0.164 0.000 2813 1850 3538 0 0 0 0 0 0
3185 -0.67 -146.0 400.3 -11.0 381 3185 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 1850 3538 0 0 0 0 0 0
3494 -0.71 -146.0 435.6 -11.7 411 3498 0.00 2.30 0.00 0.000 4 0.000 0.078 2814 425 3539 0 0 0 0 0 0
3550 -0.76 -146.0 442.5 -12.0 417 3557 0.00 2.28 0.00 0.000 6 0.000 0.060 2809 1856 3538 0 0 0 0 0 0
3865 -0.79 -146.0 479.2 -11.7 448 3866 0.12 0.00 0.00 0.000 6 0.105 0.000 2751 1856 3539 0 0 0 0 0 0
4175 -0.66 -146.0 528.2 -15.7 478 4176 0.20 0.00 0.00 0.000 6 0.165 0.000 2810 1857 3539 0 0 0 0 0 0
4485 -0.70 -146.0 561.8 -10.5 508 4489 0.00 2.30 0.00 0.000 4 0.000 0.077 2810 439 3540 0 0 0 0 0 0
4533 -0.74 -146.0 567.1 -11.2 513 4540 0.00 2.22 0.00 0.000 6 0.000 0.058 2807 1846 3540 0 0 0 0 0 0
4848 -0.78 -146.0 600.0 -9.9 544 4848 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1846 3540 0 0 0 0 0 0
5161 -0.82 -146.0 632.0 -10.5 555 5162 0.12 0.00 0.00 0.000 6 0.104 0.000 2750 1847 3540 0 0 0 0 0 0
5465 -0.69 -146.0 677.9 -15.5 565 5469 0.17 2.30 0.00 0.000 4 0.166 0.077 2801 440 3540 0 0 0 0 0 0
5516 -0.69 -146.0 684.7 -12.1 566 5520 0.00 2.22 0.00 0.000 6 0.000 0.058 2798 1850 3540 0 0 0 0 0 0
5828 -0.69 -146.0 720.0 -11.3 577 5829 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 1850 3541 0 0 0 0 0 0
6132 -0.69 -146.0 754.8 -11.6 587 6135 0.00 2.30 0.00 0.000 4 0.000 0.077 2798 442 3541 0 0 0 0 0 0
6170 -0.69 -146.0 759.6 -12.7 588 6174 0.00 2.22 0.00 0.000 6 0.000 0.058 2798 1852 3540 0 0 0 0 0 0
6495 -0.69 -146.0 796.5 -11.4 599 6496 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 1852 3541 0 0 0 0 0 0
6799 -0.69 -146.0 831.2 -11.5 609 6803 0.00 2.28 0.00 0.000 4 0.000 0.077 2798 443 3540 0 0 0 0 0 0
6824 -0.69 -146.0 834.5 -14.1 609 6831 0.00 2.20 0.00 0.000 6 0.000 0.058 2797 1842 3541 0 0 0 0 0 0
7132 -0.69 -146.0 870.1 -11.6 620 7133 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 1842 3541 0 0 0 0 0 0
7439 -0.69 -146.0 902.6 -10.5 630 7442 0.00 2.22 0.00 0.000 4 0.000 0.076 2798 438 3541 0 0 0 0 0 0
7463 -0.69 -146.0 905.7 -12.0 631 7467 0.00 2.22 0.00 0.000 6 0.000 0.058 2798 1850 3541 0 0 0 0 0 0
7797 -0.72 -146.0 940.7 -10.9 642 7798 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 1851 3541 0 0 0 0 0 0
8069 end dive: TARGET_DEPTH_EXCEEDED
state 8069 begin apogee
8072 -0.13 0.0 970.1 10.5 651 8199 0.55 0.00 125.05 1.247 6 0.143 0.000 2976 1694 2940 0 0 0 0 0 0
8199 end apogee: CONTROL_FINISHED_OK
state 8199 begin climb
8200 0.64 146.0 975.1 0.0 655 8341 0.77 2.50 129.85 1.213 4 0.090 0.066 3236 3108 2345 0 0 0 0 0 0
8366 0.49 193.9 975.4 7.8 660 8416 0.20 2.42 44.62 1.179 6 0.160 0.064 3178 1715 2148 0 0 1 0 0 0
8732 0.61 235.5 947.5 8.1 673 8774 0.12 2.50 37.55 1.173 4 0.105 0.077 3239 287 1978 0 0 0 0 0 0
8804 0.53 235.5 939.4 12.6 675 8808 0.10 2.38 0.00 0.000 6 0.152 0.053 3197 1697 1974 0 0 0 0 0 0
9125 0.58 244.8 908.0 9.6 686 9137 0.00 2.38 8.52 1.016 4 0.000 0.071 3197 3111 1941 0 0 0 0 0 0
9162 0.62 244.8 904.2 10.1 687 9166 0.00 2.40 0.00 0.000 6 0.000 0.064 3206 1694 1938 0 0 0 0 0 0
9483 0.62 244.8 869.6 10.9 698 9486 0.00 2.35 0.00 0.000 4 0.000 0.077 3216 292 1937 0 0 0 0 0 0
9513 0.62 244.8 866.3 12.0 699 9517 0.00 2.28 0.00 0.000 6 0.000 0.053 3215 1699 1936 0 0 0 0 0 0
9846 0.62 244.8 829.8 10.6 710 9847 0.00 0.00 0.00 0.000 6 0.000 0.000 3216 1700 1936 0 0 0 0 0 0
10150 0.62 244.8 797.8 10.6 720 10151 0.00 0.00 0.00 0.000 6 0.000 0.000 3216 1700 1935 0 0 0 0 0 0
10453 0.62 244.8 765.4 10.7 730 10454 0.00 0.00 0.00 0.000 6 0.000 0.000 3216 1701 1934 0 0 0 0 0 0
10757 0.62 244.8 732.7 10.6 740 10757 0.00 0.00 0.00 0.000 6 0.000 0.000 3216 1701 1934 0 0 0 0 0 0
11060 0.62 244.8 701.2 10.3 750 11061 0.00 0.00 0.00 0.000 6 0.000 0.000 3216 1700 1934 0 0 0 0 0 0
11364 0.62 247.8 670.6 9.9 760 11364 0.00 0.00 0.00 0.000 6 0.000 0.000 3216 1700 1934 0 0 0 0 0 0
11667 0.62 247.8 640.1 10.1 770 11668 0.00 0.00 0.00 0.000 6 0.000 0.000 3216 1700 1934 0 0 0 0 0 0
11970 0.62 247.8 609.5 10.3 780 11971 0.00 0.00 0.00 0.000 6 0.000 0.000 3216 1700 1934 0 0 0 0 0 0
12279 0.62 247.8 576.7 10.4 804 12283 0.00 2.30 0.00 0.000 4 0.000 0.073 3216 3102 1934 0 0 0 0 0 0
12313 0.62 247.8 572.8 11.5 808 12317 0.00 2.28 0.00 0.000 6 0.000 0.068 3226 1698 1933 0 0 0 0 0 0
12632 0.62 247.8 537.5 10.9 839 12636 0.00 2.28 0.00 0.000 4 0.000 0.078 3235 295 1933 0 0 0 0 0 0
12688 0.58 247.8 530.8 11.2 845 12695 0.00 2.20 0.00 0.000 6 0.000 0.055 3235 1697 1933 0 0 0 0 0 0
13003 0.54 247.8 495.2 10.9 876 13007 0.12 2.30 0.00 0.000 4 0.188 0.073 3202 3105 1933 0 0 0 0 0 0
13042 0.59 247.8 491.2 10.7 880 13047 0.00 2.25 0.00 0.000 6 0.000 0.064 3211 1705 1933 0 0 0 0 0 0
13356 0.60 254.3 460.7 9.7 911 13368 0.00 2.30 8.52 0.847 4 0.000 0.078 3221 281 1903 0 0 0 0 0 0
13407 0.60 254.3 455.3 10.2 917 13411 0.00 2.25 0.00 0.000 6 0.000 0.054 3221 1703 1902 0 0 0 0 0 0
13725 0.60 254.3 421.8 10.6 948 13729 0.00 2.28 0.00 0.000 4 0.000 0.072 3221 3107 1901 0 0 0 0 0 0
13773 0.60 254.3 416.5 11.3 953 13780 0.00 2.28 0.00 0.000 6 0.000 0.064 3231 1697 1901 0 0 0 0 0 0
14087 0.60 254.3 381.0 10.9 984 14088 0.00 0.00 0.00 0.000 6 0.000 0.000 3231 1697 1900 0 0 0 0 0 0
14398 0.60 254.3 347.1 10.9 1014 14399 0.00 0.00 0.00 0.000 6 0.000 0.000 3231 1697 1901 0 0 0 0 0 0
14708 0.60 254.3 313.2 11.5 1044 14709 0.00 0.00 0.00 0.000 6 0.000 0.000 3231 1697 1901 0 0 0 0 0 0
15019 0.60 254.3 278.1 11.2 1074 15020 0.00 0.00 0.00 0.000 6 0.000 0.000 3231 1697 1900 0 0 0 0 0 0
15329 0.60 254.3 244.7 10.3 1104 15333 0.00 2.28 0.00 0.000 4 0.000 0.077 3241 288 1900 0 0 0 0 0 0
15376 0.60 254.3 239.6 10.1 1109 15383 0.00 2.20 0.00 0.000 6 0.000 0.054 3241 1693 1900 0 0 0 0 0 0
15691 0.60 254.3 205.5 10.6 1140 15695 0.00 2.28 0.00 0.000 4 0.000 0.072 3241 3107 1901 0 0 0 0 0 0
15743 0.60 254.3 199.5 11.1 1146 15747 0.08 2.25 0.00 0.000 6 0.163 0.064 3224 1706 1900 0 0 0 0 0 0
16062 0.72 304.8 171.7 7.7 1177 16108 0.00 0.00 45.28 0.756 6 0.000 0.000 3224 1706 1697 0 0 0 0 0 0
16412 0.91 343.4 143.0 8.2 1211 16448 0.25 0.00 34.10 0.726 6 0.080 0.000 3324 1706 1540 0 0 0 0 0 0
16754 0.80 343.4 90.8 17.9 1249 16761 0.15 2.33 0.00 0.000 4 0.174 0.076 3294 275 1529 0 0 0 0 0 0
16790 0.80 343.4 85.4 15.8 1257 16797 0.00 2.28 0.00 0.000 6 0.000 0.055 3294 1691 1528 0 0 0 0 0 0
17115 0.80 343.4 43.3 14.2 1318 17121 0.00 2.33 0.00 0.000 4 0.000 0.072 3295 3101 1525 0 0 0 0 0 0
17146 0.80 343.4 39.2 13.8 1325 17153 0.00 2.30 0.00 0.000 6 0.000 0.066 3305 1700 1524 0 0 0 0 0 0
17471 0.87 358.2 5.1 9.3 1386 17487 0.00 1.88 11.55 0.653 3 0.000 0.078 3312 572 1477 0 0 0 0 0 0
17487 end climb: SURFACE_DEPTH_REACHED
state 17487 begin surface coast
17527 end surface coast: CONTROL_FINISHED_OK
state 17527 begin surface