DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 29 * 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  29 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  18 XPDR_VALID  2
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  20 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  -2 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  0 T_GPS_CHARGE  -4689.4536 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  104955,6650.646,-5858.844,68,0.9,68,-37.9 TGT_NAME  TARGET_W_IN
_CALLS  1 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  13 TGT_RADIUS  2000.000
_XMS_TOUTs  1 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.54 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -76.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  105632,6650.632,-5858.737,14,1.2,14,-37.9 MHEAD_RNG_PITCHd_Wd  338.3,65009,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  991

Post-dive calculations and measurements:
FINISH  1.6,1.017060 _24V_AH  23.1,8.105
SM_CCo  17801,0.00,0.000,0,0,1336,393.46 _10V_AH  10.2,3.436
SM_GC  2.39,8.70,0.00,0.00,0.063,0.000,0.000,146,1862,1336,-8.95,0.34,393.46 FG_AHR_24Vo  0.000
RAFOS_CLK  916 FG_AHR_10Vo  0.000
RAFOS_FIX  0.000000,0.000000,010170,000000,0,0,0.00 MEM  150364
IRIDIUM_FIX  6625.71,-5851.86,190199,050544 DATA_FILE_SIZE  56716,1403
TT8_MAMPS  0.050622 CAP_FILE_SIZE  175622,0
HUMID  38.77 CFSIZE  260165632,250048512
INTERNAL_PRESSURE  9.41442 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP  15.00 SOUNDSPEED  1458.3
XPDR_PINGS  0 CURRENT  0.139,199.7,1
ALTIM_BOTTOM_PING  953.3,82.9 GPS  251009,155407,6650.684,-5906.121,28,1.2,28,-37.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor24255142.78 SBE_CT98424545.64
Roll_motor11085217.46 SBE_O2105019461.24
VBD_pump_during_apogee477126013919.49 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2210354.10 nil000.00
Iridium_during_connect38160143.50 nil000.00
Iridium_during_xfer2372231224.52
Transponder_ping342033.96
GUMSTIX_24V000.00
GPS14507.30
TT80190.00
LPSleep142772336.40
TT8_Active56619115.15
TT8_Sampling2904391182.76
TT8_CF842045196.76
TT8_Kalman000.00
Analog_circuits177612217.49
GPS_charging000.00
Compass23268189.82
RAFOS2520138.56
Transponder30309.42

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 40 0.00 0.00 -26.65 0.000 2 0.000 0.000 145 1851 2077 0 0 0 0 0 0
41 -0.64 -146.0 3.0 -2.7 5 117 10.80 0.00 -59.90 0.000 6 0.255 0.000 2810 1850 3537 0 0 0 0 0 0
435 -0.59 -146.0 65.9 -14.6 80 436 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 1850 3538 0 0 0 0 0 0
759 -0.54 -146.0 114.5 -14.9 132 763 0.12 2.35 0.00 0.000 4 0.182 0.076 2846 436 3538 0 0 0 0 0 0
815 -0.62 -146.0 122.1 -12.3 138 820 0.00 2.28 0.00 0.000 6 0.000 0.058 2838 1850 3538 0 0 0 0 0 0
1129 -0.67 -146.0 159.0 -11.2 169 1130 0.00 0.00 0.00 0.000 6 0.000 0.000 2838 1852 3538 0 0 0 0 0 0
1440 -0.74 -146.0 193.9 -10.5 199 1444 0.15 2.30 0.00 0.000 4 0.095 0.077 2773 436 3538 0 0 0 0 0 0
1500 -0.64 -146.0 202.9 -16.0 206 1504 0.12 2.28 0.00 0.000 6 0.150 0.061 2811 1852 3538 0 0 0 0 0 0
1818 -0.64 -146.0 241.6 -12.0 237 1819 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 1851 3538 0 0 0 0 0 0
2129 -0.64 -146.0 280.1 -12.2 267 2130 0.00 0.00 0.00 0.000 6 0.000 0.000 2812 1852 3537 0 0 0 0 0 0
2440 -0.67 -146.0 314.6 -10.4 297 2441 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 1852 3537 0 0 0 0 0 0
2750 -0.72 -146.0 347.2 -10.7 327 2754 0.00 2.28 0.00 0.000 4 0.000 0.076 2812 429 3537 0 0 0 0 0 0
2785 -0.77 -146.0 351.1 -11.6 331 2788 0.00 2.25 0.00 0.000 6 0.000 0.058 2807 1848 3537 0 0 0 0 0 0
3103 -0.80 -146.0 387.2 -11.4 362 3104 0.12 0.00 0.00 0.000 6 0.102 0.000 2748 1847 3537 0 0 0 0 0 0
3413 -0.67 -146.0 435.8 -15.4 392 3417 0.20 2.30 0.00 0.000 4 0.158 0.077 2807 441 3537 0 0 0 0 0 0
3465 -0.72 -146.0 442.6 -11.6 398 3468 0.00 2.22 0.00 0.000 6 0.000 0.058 2807 1848 3538 0 0 0 0 0 0
3783 -0.76 -146.0 478.6 -11.2 429 3784 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1849 3537 0 0 0 0 0 0
4094 -0.81 -146.0 511.8 -10.9 459 4098 0.12 2.28 0.00 0.000 4 0.101 0.075 2746 433 3538 0 0 0 0 0 0
4133 -0.68 -146.0 517.2 -15.0 463 4138 0.17 2.25 0.00 0.000 6 0.146 0.058 2799 1853 3538 0 0 0 0 0 0
4447 -0.68 -146.0 552.7 -11.2 494 4448 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 1853 3538 0 0 0 0 0 0
4758 -0.68 -146.0 587.6 -11.0 524 4758 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 1853 3538 0 0 0 0 0 0
5084 -0.68 -146.0 624.1 -10.9 542 5087 0.00 2.30 0.00 0.000 4 0.000 0.077 2799 435 3539 0 0 0 0 0 0
5122 -0.71 -146.0 628.6 -12.0 543 5126 0.00 2.22 0.00 0.000 6 0.000 0.058 2799 1843 3539 0 0 0 0 0 0
5448 -0.71 -146.0 664.5 -11.0 554 5448 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 1843 3539 0 0 0 0 0 0
5751 -0.75 -146.0 697.4 -10.8 564 5752 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 1843 3539 0 0 0 0 0 0
6054 -0.79 -146.0 730.0 -10.7 574 6055 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 1843 3539 0 0 0 0 0 0
6358 -0.83 -146.0 761.8 -10.6 584 6359 0.12 0.00 0.00 0.000 6 0.103 0.000 2739 1843 3539 0 0 0 0 0 0
6664 -0.70 -146.0 807.0 -15.1 594 6668 0.20 2.25 0.00 0.000 4 0.159 0.074 2799 430 3539 0 0 0 0 0 0
6693 -0.70 -146.0 811.1 -12.4 595 6697 0.00 2.25 0.00 0.000 6 0.000 0.058 2798 1854 3540 0 0 0 0 0 0
7022 -0.74 -146.0 845.7 -10.4 606 7023 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 1854 3540 0 0 0 0 0 0
7326 -0.78 -146.0 877.9 -10.6 616 7329 0.00 2.28 0.00 0.000 4 0.000 0.076 2798 441 3540 0 0 0 0 0 0
7360 -0.82 -146.0 881.7 -11.1 617 7364 0.08 2.22 0.00 0.000 6 0.074 0.058 2751 1853 3540 0 0 0 0 0 0
7690 -0.73 -146.0 926.4 -13.8 628 7691 0.12 0.00 0.00 0.000 6 0.173 0.000 2786 1853 3540 0 0 0 0 0 0
7993 -0.73 -146.0 960.1 -11.0 638 7994 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1853 3540 0 0 0 0 0 0
8295 end dive: TARGET_DEPTH_EXCEEDED
state 8295 begin apogee
8298 -0.13 0.0 993.2 10.9 648 8425 0.60 0.00 125.10 1.261 6 0.139 0.000 2982 1685 2940 0 0 0 0 0 0
8426 end apogee: CONTROL_FINISHED_OK
state 8426 begin climb
8427 0.64 146.0 998.0 0.0 652 8564 0.70 2.55 130.02 1.226 4 0.086 0.067 3227 3115 2344 0 0 0 0 0 0
8611 0.51 187.0 995.7 8.1 658 8657 0.17 2.42 38.15 1.187 6 0.174 0.064 3194 1697 2175 0 0 1 0 0 0
8958 0.54 214.8 965.1 8.7 670 8985 0.00 0.00 25.38 1.165 6 0.000 0.000 3194 1697 2064 0 0 0 0 0 0
9262 0.60 231.4 937.9 9.2 680 9282 0.00 2.42 15.88 1.124 4 0.000 0.078 3204 285 1995 0 0 0 0 0 0
9303 0.60 233.1 933.7 9.9 681 9307 0.00 2.35 0.00 0.000 6 0.000 0.052 3204 1702 1994 0 0 0 0 0 0
9624 0.60 234.3 901.8 9.9 692 9628 0.00 2.35 0.00 0.000 4 0.000 0.069 3204 3108 1991 0 0 0 0 0 0
9663 0.60 237.2 898.0 9.9 693 9675 0.00 2.35 6.07 0.933 6 0.000 0.066 3213 1703 1972 0 0 0 0 0 0
9987 0.60 237.2 864.8 10.3 704 9990 0.00 2.38 0.00 0.000 4 0.000 0.078 3224 260 1969 0 0 0 0 0 0
10021 0.60 237.2 860.9 11.9 705 10025 0.00 2.33 0.00 0.000 6 0.000 0.053 3223 1702 1969 0 0 0 0 0 0
10350 0.60 237.2 824.2 11.1 716 10354 0.00 2.30 0.00 0.000 4 0.000 0.067 3223 3106 1969 0 0 0 0 0 0
10384 0.60 237.2 820.2 13.1 717 10388 0.00 2.30 0.00 0.000 6 0.000 0.064 3232 1705 1968 0 0 0 0 0 0
10714 0.56 237.2 782.2 11.3 728 10717 0.00 2.30 0.00 0.000 4 0.000 0.077 3242 282 1968 0 0 0 0 0 0
10739 0.48 237.2 779.2 12.0 728 10746 0.17 2.25 0.00 0.000 6 0.151 0.052 3186 1698 1967 0 0 0 0 0 0
11047 0.62 275.9 753.3 8.2 739 11085 0.12 0.00 36.17 1.098 6 0.104 0.000 3241 1698 1815 0 0 0 0 0 0
11379 0.58 275.9 712.8 12.5 750 11380 0.00 0.00 0.00 0.000 6 0.000 0.000 3240 1698 1806 0 0 0 0 0 0
11682 0.55 275.9 673.7 12.8 760 11686 0.15 2.33 0.00 0.000 4 0.163 0.071 3199 3103 1805 0 0 0 0 0 0
11712 0.64 275.9 670.3 10.5 761 11716 0.00 2.28 0.00 0.000 6 0.000 0.064 3208 1696 1804 0 0 0 0 0 0
12045 0.70 275.9 633.4 11.1 772 12049 0.12 2.33 0.00 0.000 4 0.107 0.077 3270 284 1805 0 0 0 0 0 0
12097 0.61 275.9 625.8 17.0 773 12102 0.15 2.25 0.00 0.000 6 0.153 0.053 3221 1700 1804 0 0 0 0 0 0
12411 0.64 275.9 589.1 11.3 790 12415 0.00 2.28 0.00 0.000 4 0.000 0.070 3221 3117 1803 0 0 0 0 0 0
12441 0.64 275.9 585.6 12.1 793 12447 0.00 2.30 0.00 0.000 6 0.000 0.064 3231 1706 1803 0 0 0 0 0 0
12755 0.64 275.9 548.4 11.8 824 12759 0.00 2.33 0.00 0.000 4 0.000 0.077 3241 285 1803 0 0 0 0 0 0
12790 0.64 275.9 544.1 12.6 828 12794 0.00 2.22 0.00 0.000 6 0.000 0.053 3241 1695 1803 0 0 0 0 0 0
13108 0.64 275.9 505.4 11.8 859 13109 0.00 0.00 0.00 0.000 6 0.000 0.000 3241 1696 1803 0 0 0 0 0 0
13419 0.64 275.9 469.1 11.4 889 13420 0.00 0.00 0.00 0.000 6 0.000 0.000 3241 1696 1802 0 0 0 0 0 0
13730 0.64 275.9 435.0 11.0 919 13733 0.00 2.25 0.00 0.000 4 0.000 0.072 3240 3108 1803 0 0 0 0 0 0
13768 0.64 275.9 430.6 11.3 923 13774 0.00 2.28 0.00 0.000 6 0.000 0.065 3250 1700 1802 0 0 0 0 0 0
14083 0.61 275.9 393.6 11.4 954 14086 0.00 2.30 0.00 0.000 4 0.000 0.077 3260 285 1802 0 0 0 0 0 0
14135 0.57 275.9 386.8 12.2 960 14139 0.15 2.22 0.00 0.000 6 0.150 0.053 3210 1705 1802 0 0 0 0 0 0
14453 0.66 277.1 355.7 9.9 991 14454 0.00 0.00 0.00 0.000 6 0.000 0.000 3210 1706 1801 0 0 0 0 0 0
14764 0.76 292.1 326.8 9.3 1021 14784 0.17 2.30 13.73 0.819 4 0.091 0.077 3296 286 1748 0 0 0 0 0 0
14801 0.62 292.1 321.9 14.3 1025 14805 0.20 2.22 0.00 0.000 6 0.153 0.053 3230 1697 1748 0 0 0 0 0 0
15120 0.67 292.1 288.9 10.1 1056 15120 0.00 0.00 0.00 0.000 6 0.000 0.000 3230 1697 1745 0 0 0 0 0 0
15430 0.73 292.1 257.1 10.1 1086 15434 0.00 2.25 0.00 0.000 4 0.000 0.070 3230 3114 1744 0 0 0 0 0 0
15469 0.80 292.1 252.8 11.0 1090 15475 0.10 2.30 0.00 0.000 6 0.068 0.065 3295 1694 1743 0 0 0 0 0 0
15783 0.69 292.1 206.3 14.6 1121 15787 0.15 2.30 0.00 0.000 4 0.173 0.075 3263 288 1744 0 0 0 0 0 0
15835 0.69 292.1 199.8 11.7 1127 15838 0.00 2.20 0.00 0.000 6 0.000 0.052 3263 1691 1744 0 0 0 0 0 0
16153 0.69 292.1 163.3 11.8 1158 16157 0.00 2.28 0.00 0.000 4 0.000 0.070 3264 3099 1743 0 0 0 0 0 0
16223 0.69 292.1 154.7 12.4 1166 16226 0.00 2.25 0.00 0.000 6 0.000 0.065 3273 1702 1743 0 0 0 0 0 0
16541 0.69 292.1 119.1 10.8 1197 16542 0.00 0.00 0.00 0.000 6 0.000 0.000 3273 1702 1743 0 0 0 0 0 0
16856 0.71 301.9 87.2 9.5 1239 16869 0.00 0.00 9.32 0.683 6 0.000 0.000 3273 1702 1708 0 0 0 0 0 0
17188 0.78 333.5 58.3 8.5 1301 17219 0.00 0.00 29.30 0.698 6 0.000 0.000 3273 1702 1579 0 0 0 0 0 0
17538 0.95 389.9 25.4 7.4 1367 17592 0.17 0.00 48.75 0.670 6 0.091 0.000 3344 1702 1348 0 0 0 0 0 0
17701 end climb: SURFACE_DEPTH_REACHED
state 17701 begin surface coast
17728 end surface coast: CONTROL_FINISHED_OK
state 17728 begin surface