DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 271 * 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  271 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  -40015.625 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  201225,6658.078,-5702.342,83,1.3,83,-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  1.21 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -56.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  201225,6658.078,-5702.342,181,99.0,181,-37.5 MHEAD_RNG_PITCHd_Wd  86.1,13797,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  699

Post-dive calculations and measurements:
FREEZE  0.57,-0.515,-1.813,0,36,0 ALTIM_TOP_PING  20.0,20.0
FINISH  0.6,1.026584 ALTIM_BOTTOM_PING  600.1,119.9
SM_CCo  15223,171.18,0.746,0,0,1066,425.10 _24V_AH  22.5,54.386
SM_GC  1.19,0.00,0.00,171.18,0.000,0.000,0.746,123,2475,1066,-8.02,0.42,425.10 _10V_AH  10.1,28.804
RAFOS_CLK  1012 FG_AHR_24Vo  0.000
RAFOS  4,1260390785,20.566668,20.551390,72,67,63,0,0,0,852,184,205,0,0,0 FG_AHR_10Vo  0.000
RAFOS_FIX  6658.150391,-5712.716309,091209,121256,2,83,0.36 MEM  152388
IRIDIUM_FIX  6631.12,-5711.93,050399,151531 DATA_FILE_SIZE  56725,1427
TT8_MAMPS  0.026845 CAP_FILE_SIZE  178688,0
HUMID  46.14 CFSIZE  260165632,227086336
INTERNAL_PRESSURE  8.8187 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
TCM_TEMP  16.80 SOUNDSPEED  1461.5
XPDR_PINGS  5 GPS  101209,004507,6658.656,-5657.456,109,2.0,109,-37.5

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor26300175.89 SBE_CT105424569.42
Roll_motor197105467.59 SBE_O299119423.95
VBD_pump_during_apogee31011888288.22 nil000.00
VBD_pump_during_surface1717452871.34 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init89103207.81 nil000.00
Iridium_during_connect208160752.13 nil000.00
Iridium_during_xfer41223208.92
Transponder_ping342035.44
GUMSTIX_24V000.00
GPS1835092.53
TT8246719496.53
LPSleep95992223.96
TT8_Active71119143.08
TT8_Sampling2764391114.80
TT8_CF863145292.90
TT8_Kalman000.00
Analog_circuits202912245.97
GPS_charging000.00
Compass25488205.90
RAFOS2880143.63
Transponder20306.36

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 0 140 0.00 0.00 -120.47 0.000 2 0.000 0.000 124 2467 3031 0 0 0 0 0 0
144 -0.73 -146.0 3.1 -4.2 24 175 11.43 2.47 -11.10 0.000 4 0.301 0.105 2446 866 3398 0 0 0 0 0 0
355 -0.65 -146.0 29.0 -12.7 62 361 0.15 2.35 0.00 0.000 6 0.227 0.079 2479 2463 3401 0 0 0 0 0 0
699 -0.73 -146.0 64.2 -10.2 123 705 0.00 3.10 0.00 0.000 4 0.000 0.096 2479 3920 3401 0 0 1 0 0 0
812 -0.83 -146.0 75.6 -9.8 143 818 0.17 2.97 0.00 0.000 6 0.111 0.070 2422 2468 3401 0 0 0 0 0 0
1154 -0.77 -146.0 115.0 -11.4 193 1159 0.00 3.10 0.00 0.000 4 0.000 0.094 2422 3926 3401 0 0 1 0 0 0
1388 -0.72 -146.0 140.6 -10.0 213 1396 0.10 2.95 0.00 0.000 6 0.214 0.071 2447 2478 3401 0 0 0 0 0 0
1714 -0.77 -146.0 166.8 -9.1 244 1718 0.00 3.08 0.00 0.000 4 0.000 0.094 2447 3915 3400 0 0 0 0 0 0
1914 -0.84 -146.0 188.3 -10.6 261 1920 0.00 2.92 0.00 0.000 6 0.000 0.071 2447 2488 3400 0 0 0 0 0 0
2239 -0.91 -146.0 220.5 -8.6 292 2245 0.17 3.05 0.00 0.000 4 0.112 0.091 2375 3924 3399 0 0 1 0 0 0
2364 -0.74 -146.0 233.7 -10.8 302 2370 0.30 2.88 0.00 0.000 6 0.219 0.068 2445 2515 3399 0 0 0 0 0 0
2689 -0.80 -146.0 255.1 -6.5 333 2693 0.00 2.97 0.00 0.000 4 0.000 0.092 2445 3917 3399 0 0 1 0 0 0
2801 -0.87 -146.0 262.9 -7.4 342 2808 0.12 2.85 0.00 0.000 6 0.130 0.067 2408 2509 3399 0 0 1 0 0 0
3127 -0.81 -146.0 292.0 -9.1 373 3132 0.00 3.00 0.00 0.000 4 0.000 0.091 2407 3927 3400 0 0 1 0 0 0
3278 -0.75 -146.0 305.9 -9.2 386 3283 0.15 2.85 0.00 0.000 6 0.211 0.067 2440 2532 3400 0 0 0 0 0 0
3603 -0.80 -146.0 328.7 -6.5 416 3608 0.00 2.95 0.00 0.000 4 0.000 0.091 2440 3916 3401 0 0 0 0 0 0
3816 -0.87 -146.0 343.7 -6.8 434 3821 0.00 2.83 0.00 0.000 6 0.000 0.067 2440 2539 3401 0 0 0 0 0 0
4141 -0.94 -146.0 367.9 -7.9 465 4146 0.17 2.95 0.00 0.000 4 0.109 0.088 2368 3920 3401 0 0 1 0 0 0
4261 -0.77 -146.0 380.8 -10.9 475 4266 0.30 2.80 0.00 0.000 6 0.217 0.066 2438 2550 3401 0 0 0 0 0 0
4586 -0.84 -146.0 406.3 -7.5 505 4591 0.00 2.92 0.00 0.000 4 0.000 0.090 2438 3917 3401 0 0 0 0 0 0
4739 -0.91 -146.0 418.2 -7.6 518 4744 0.12 2.80 0.00 0.000 6 0.125 0.066 2399 2551 3401 0 0 0 0 0 0
5063 -0.85 -146.0 447.5 -9.5 548 5068 0.00 2.90 0.00 0.000 4 0.000 0.089 2398 3917 3401 0 0 1 0 0 0
5219 -0.80 -146.0 463.0 -9.9 561 5225 0.12 2.75 0.00 0.000 6 0.210 0.064 2425 2571 3401 0 0 0 0 0 0
5544 -0.80 -146.0 491.9 -8.9 592 5548 0.00 2.90 0.00 0.000 4 0.000 0.088 2425 3927 3402 0 0 1 0 0 0
5706 -0.80 -146.0 506.8 -9.0 606 5711 0.00 2.75 0.00 0.000 6 0.000 0.064 2425 2581 3402 0 0 0 0 0 0
6030 -0.80 -146.0 532.8 -7.3 636 6035 0.00 2.85 0.00 0.000 4 0.000 0.087 2425 3917 3403 0 0 1 0 0 0
6166 -0.85 -146.0 542.7 -7.3 647 6171 0.00 2.72 0.00 0.000 6 0.000 0.064 2425 2593 3403 0 0 0 0 0 0
6491 -0.89 -146.0 566.0 -7.5 678 6496 0.00 2.83 0.00 0.000 4 0.000 0.087 2425 3917 3403 0 0 1 0 0 0
6586 -0.94 -146.0 573.6 -8.1 686 6592 0.12 2.70 0.00 0.000 6 0.125 0.063 2386 2602 3404 0 0 0 0 0 0
6930 -0.86 -146.0 605.7 -9.1 714 6935 0.00 2.83 0.00 0.000 4 0.000 0.087 2386 3924 3404 0 0 1 0 0 0
7052 -0.77 -146.0 617.3 -9.5 717 7058 0.22 2.70 0.00 0.000 6 0.201 0.064 2439 2606 3404 0 0 0 0 0 0
7365 -0.87 -146.0 637.9 -6.5 728 7370 0.00 2.83 0.00 0.000 4 0.000 0.087 2439 3924 3404 0 0 1 0 0 0
7500 -0.97 -146.0 646.9 -7.1 732 7505 0.20 2.67 0.00 0.000 6 0.104 0.063 2372 2622 3404 0 0 0 0 0 0
7830 -0.85 -146.0 676.5 -9.2 743 7835 0.17 2.83 0.00 0.000 4 0.209 0.087 2411 3924 3404 0 0 1 0 0 0
7960 -0.85 -146.0 687.0 -7.3 747 7965 0.00 2.65 0.00 0.000 6 0.000 0.063 2411 2626 3404 0 0 1 0 0 0
8108 end dive: TARGET_DEPTH_EXCEEDED
state 8108 begin apogee
8115 -0.16 0.0 699.0 7.9 752 8242 0.82 0.00 124.20 1.188 6 0.186 0.000 2634 1951 2800 0 0 0 0 0 0
8243 end apogee: CONTROL_FINISHED_OK
state 8243 begin climb
8245 0.73 146.0 700.7 0.0 756 8380 0.93 0.00 129.18 1.134 6 0.127 0.000 2911 1951 2204 0 0 0 0 0 0
8672 0.66 146.0 656.4 11.9 770 8678 0.00 3.35 0.00 0.000 4 0.000 0.080 2911 3541 2195 0 0 1 0 0 0
8722 0.52 146.0 649.7 13.1 771 8728 0.28 3.30 0.00 0.000 6 0.205 0.071 2862 1956 2194 0 0 0 0 0 0
9035 0.63 160.9 622.2 8.5 781 9054 0.00 3.33 12.12 1.023 4 0.000 0.081 2862 3543 2144 0 0 1 0 0 0
9151 0.63 160.9 610.9 10.1 784 9156 0.00 3.22 0.00 0.000 6 0.000 0.072 2873 1970 2142 0 0 0 0 0 0
9478 0.70 164.6 581.9 9.0 807 9490 0.12 3.22 4.72 0.788 4 0.111 0.081 2923 3542 2129 0 0 0 0 0 0
9540 0.54 164.6 574.2 13.1 812 9546 0.30 3.17 0.00 0.000 6 0.206 0.072 2865 1978 2128 0 0 0 0 0 0
9865 0.67 186.2 546.1 8.3 843 9891 0.12 3.22 19.95 1.049 4 0.124 0.080 2906 3541 2039 0 0 0 0 0 0
9998 0.60 186.2 530.6 11.8 854 10005 0.15 3.15 0.00 0.000 6 0.206 0.072 2888 2008 2037 0 0 0 0 0 0
10324 0.65 186.2 497.3 10.5 885 10329 0.00 3.17 0.00 0.000 4 0.000 0.081 2887 3545 2035 0 0 0 0 0 0
10413 0.65 186.2 487.2 11.5 892 10419 0.00 3.12 0.00 0.000 6 0.000 0.072 2899 2012 2034 0 0 0 0 0 0
10739 0.65 186.2 451.9 11.4 923 10744 0.00 3.15 0.00 0.000 4 0.000 0.080 2898 3542 2034 0 0 0 0 0 0
10795 0.60 186.2 444.8 12.4 927 10800 0.00 3.10 0.00 0.000 6 0.000 0.073 2912 2027 2034 0 0 0 0 0 0
11119 0.60 186.2 403.5 13.0 958 11123 0.00 3.15 0.00 0.000 4 0.000 0.081 2912 3548 2033 0 0 0 0 0 0
11174 0.50 186.2 395.7 15.0 962 11180 0.28 3.10 0.00 0.000 6 0.201 0.072 2858 2031 2032 0 0 0 0 0 0
11498 0.66 186.2 364.5 9.2 993 11504 0.15 3.12 0.00 0.000 4 0.117 0.081 2909 3545 2032 0 0 0 0 0 0
11588 0.60 186.2 353.0 12.8 1000 11595 0.15 3.05 0.00 0.000 6 0.206 0.072 2887 2061 2032 0 0 0 0 0 0
11913 0.68 186.2 318.4 10.6 1031 11918 0.00 3.08 0.00 0.000 4 0.000 0.081 2887 3542 2033 0 0 0 0 0 0
11952 0.68 186.2 313.9 10.9 1034 11957 0.00 3.03 0.00 0.000 6 0.000 0.071 2898 2069 2032 0 0 0 0 0 0
12276 0.74 186.2 280.2 10.1 1064 12281 0.00 3.08 0.00 0.000 4 0.000 0.081 2898 3547 2032 0 0 0 0 0 0
12331 0.74 186.2 274.0 12.2 1068 12337 0.00 3.03 0.00 0.000 6 0.000 0.071 2911 2077 2032 0 0 0 0 0 0
12656 0.74 186.2 241.4 9.7 1099 12661 0.00 3.08 0.00 0.000 4 0.000 0.081 2911 3548 2032 0 0 0 0 0 0
12733 0.74 186.2 233.2 10.6 1105 12739 0.00 3.03 0.00 0.000 6 0.000 0.071 2924 2080 2032 0 0 0 0 0 0
13057 0.74 186.2 201.8 9.9 1136 13062 0.00 3.05 0.00 0.000 4 0.000 0.081 2924 3541 2032 0 0 0 0 0 0
13131 0.65 186.2 193.8 11.1 1142 13136 0.15 3.00 0.00 0.000 6 0.211 0.072 2905 2092 2032 0 0 0 0 0 0
13456 0.72 188.6 165.7 9.1 1172 13461 0.00 3.05 0.00 0.000 4 0.000 0.082 2904 3543 2032 0 0 0 0 0 0
13488 0.72 188.6 162.3 10.7 1174 13494 0.00 3.00 0.00 0.000 6 0.000 0.071 2915 2095 2032 0 0 0 0 0 0
13813 0.72 188.6 129.5 10.6 1205 13818 0.00 3.05 0.00 0.000 4 0.000 0.081 2915 3546 2032 0 0 0 0 0 0
13863 0.72 188.6 123.7 11.3 1209 13868 0.00 2.97 0.00 0.000 6 0.000 0.072 2928 2112 2032 0 0 0 0 0 0
14196 0.78 188.6 88.5 10.3 1248 14201 0.00 3.00 0.00 0.000 4 0.000 0.081 2928 3542 2032 0 0 1 0 0 0
14219 0.78 188.6 85.9 10.2 1252 14225 0.00 2.97 0.00 0.000 6 0.000 0.072 2941 2113 2032 0 0 0 0 0 0
14563 0.78 188.6 55.2 11.7 1313 14569 0.00 3.03 0.00 0.000 4 0.000 0.083 2941 3550 2032 0 0 1 0 0 0
14654 0.73 188.6 43.4 12.1 1329 14659 0.00 2.97 0.00 0.000 6 0.000 0.072 2954 2121 2032 0 0 0 0 0 0
14999 0.69 210.3 16.5 8.3 1390 15025 0.17 0.00 19.88 0.767 6 0.206 0.000 2913 2122 1943 0 0 0 0 0 0
15176 end climb: SURFACE_DEPTH_REACHED
state 15176 begin surface coast
15206 end surface coast: CONTROL_FINISHED_OK
state 15206 begin surface