DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 30 * 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  30 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  33 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  -4702.6265 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  155407,6650.684,-5906.121,28,1.2,28,-37.9 TGT_NAME  TARGET_W_IN
_CALLS  1 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.49 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -76.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  155938,6650.658,-5906.223,12,1.1,12,-37.9 MHEAD_RNG_PITCHd_Wd  323.0,59650,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  1015

Post-dive calculations and measurements:
FINISH  1.6,1.024603 _24V_AH  23.1,8.271
SM_CCo  17756,0.00,0.000,0,0,1326,395.67 _10V_AH  10.2,3.513
SM_GC  2.63,8.55,0.00,0.00,0.054,0.000,0.000,145,1862,1326,-8.95,0.34,395.67 FG_AHR_24Vo  0.000
RAFOS_CLK  910 FG_AHR_10Vo  0.000
RAFOS_FIX  0.000000,0.000000,010170,000000,0,0,0.00 MEM  150372
IRIDIUM_FIX  6620.33,-5902.17,190199,111111 DATA_FILE_SIZE  56655,1424
TT8_MAMPS  0.052156 CAP_FILE_SIZE  179857,0
HUMID  39.40 CFSIZE  260165632,249958400
INTERNAL_PRESSURE  9.40466 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  14.60 SOUNDSPEED  1457.5
XPDR_PINGS  0 CURRENT  0.068,203.0,1
ALTIM_BOTTOM_PING  901.1,142.5 GPS  251009,205637,6650.832,-5913.719,37,1.0,37,-38.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23252139.75 SBE_CT99924554.23
Roll_motor12888264.51 SBE_O2106719468.48
VBD_pump_during_apogee488125814191.38 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2910370.04 nil000.00
Iridium_during_connect36160134.84 nil000.00
Iridium_during_xfer174223899.46
Transponder_ping342029.11
GUMSTIX_24V000.00
GPS12506.40
TT80190.00
LPSleep141562333.55
TT8_Active61219124.38
TT8_Sampling2929391192.80
TT8_CF836245169.80
TT8_Kalman000.00
Analog_circuits182812223.82
GPS_charging000.00
Compass23258189.73
RAFOS5040177.11
Transponder25307.94

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 60 0.00 0.00 -46.25 0.000 2 0.000 0.000 144 1861 2209 0 0 0 0 0 0
61 -0.64 -146.0 3.0 -1.1 9 127 10.70 2.38 -49.03 0.000 4 0.252 0.089 2815 436 3538 0 0 0 0 0 0
221 -0.53 -146.0 26.3 -19.5 45 227 0.10 2.30 0.00 0.000 6 0.158 0.061 2853 1836 3538 0 0 0 0 0 0
546 -0.57 -146.0 69.3 -11.6 106 546 0.00 0.00 0.00 0.000 6 0.000 0.000 2853 1837 3538 0 0 0 0 0 0
865 -0.65 -146.0 105.1 -11.1 162 869 0.12 2.35 0.00 0.000 4 0.104 0.077 2796 3268 3538 0 0 0 0 0 0
890 -0.65 -146.0 108.5 -13.6 165 894 0.00 2.30 0.00 0.000 6 0.000 0.064 2796 1851 3538 0 0 0 0 0 0
1210 -0.58 -146.0 155.7 -14.6 196 1211 0.15 0.00 0.00 0.000 6 0.177 0.000 2838 1851 3538 0 0 0 0 0 0
1521 -0.64 -146.0 190.0 -10.8 226 1524 0.00 2.28 0.00 0.000 4 0.000 0.077 2839 435 3538 0 0 0 0 0 0
1554 -0.70 -146.0 194.1 -12.2 229 1560 0.00 2.25 0.00 0.000 6 0.000 0.058 2830 1846 3538 0 0 0 0 0 0
1868 -0.76 -146.0 231.6 -11.7 260 1870 0.15 0.00 0.00 0.000 6 0.094 0.000 2765 1847 3538 0 0 0 0 0 0
2179 -0.64 -146.0 282.3 -16.2 290 2183 0.17 2.33 0.00 0.000 4 0.169 0.077 2815 442 3537 0 0 0 0 0 0
2217 -0.64 -146.0 287.8 -12.8 294 2223 0.00 2.25 0.00 0.000 6 0.000 0.059 2807 1851 3537 0 0 0 0 0 0
2532 -0.64 -146.0 325.4 -11.2 325 2536 0.00 2.30 0.00 0.000 4 0.000 0.077 2807 3257 3537 0 0 0 0 0 0
2558 -0.71 -146.0 328.3 -10.9 328 2562 0.00 2.28 0.00 0.000 6 0.000 0.063 2807 1845 3537 0 0 0 0 0 0
2877 -0.75 -146.0 363.9 -10.7 359 2880 0.00 2.28 0.00 0.000 4 0.000 0.076 2807 442 3537 0 0 0 0 0 0
2928 -0.75 -146.0 369.8 -11.0 365 2932 0.00 2.22 0.00 0.000 6 0.000 0.058 2807 1846 3537 0 0 0 0 0 0
3247 -0.75 -146.0 404.7 -11.1 396 3248 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1846 3537 0 0 0 0 0 0
3558 -0.75 -146.0 439.8 -11.1 426 3558 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1846 3537 0 0 0 0 0 0
3868 -0.78 -146.0 473.7 -11.0 456 3872 0.10 2.30 0.00 0.000 4 0.116 0.074 2758 439 3537 0 0 0 0 0 0
3915 -0.67 -146.0 480.5 -14.9 461 3921 0.15 2.22 0.00 0.000 6 0.147 0.057 2803 1849 3538 0 0 0 0 0 0
4230 -0.67 -146.0 515.6 -11.1 492 4231 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 1849 3538 0 0 0 0 0 0
4541 -0.67 -146.0 549.6 -11.1 522 4541 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 1849 3538 0 0 0 0 0 0
4851 -0.71 -146.0 583.1 -10.8 552 4852 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 1849 3539 0 0 0 0 0 0
5169 -0.75 -146.0 616.8 -10.6 573 5172 0.00 2.22 0.00 0.000 4 0.000 0.074 2803 440 3539 0 0 0 0 0 0
5202 -0.79 -146.0 620.6 -10.5 574 5206 0.00 2.22 0.00 0.000 6 0.000 0.056 2795 1852 3539 0 0 0 0 0 0
5532 -0.79 -146.0 657.3 -11.1 585 5532 0.00 0.00 0.00 0.000 6 0.000 0.000 2795 1852 3539 0 0 0 0 0 0
5835 -0.79 -146.0 691.5 -11.4 595 5836 0.00 0.00 0.00 0.000 6 0.000 0.000 2795 1852 3539 0 0 0 0 0 0
6139 -0.79 -146.0 726.6 -11.8 605 6142 0.00 2.28 0.00 0.000 4 0.000 0.074 2795 438 3539 0 0 0 0 0 0
6181 -0.79 -146.0 732.1 -13.0 606 6186 0.00 2.22 0.00 0.000 6 0.000 0.057 2795 1853 3539 0 0 0 0 0 0
6503 -0.79 -146.0 768.8 -11.3 617 6503 0.00 0.00 0.00 0.000 6 0.000 0.000 2795 1853 3540 0 0 0 0 0 0
6807 -0.79 -146.0 802.9 -11.2 627 6810 0.00 2.25 0.00 0.000 4 0.000 0.076 2795 436 3540 0 0 0 0 0 0
6845 -0.79 -146.0 807.7 -11.8 628 6848 0.00 2.22 0.00 0.000 6 0.000 0.058 2795 1852 3539 0 0 0 0 0 0
7165 -0.79 -146.0 843.8 -11.4 639 7166 0.00 0.00 0.00 0.000 6 0.000 0.000 2795 1852 3540 0 0 0 0 0 0
7468 -0.79 -146.0 877.7 -11.0 649 7469 0.00 0.00 0.00 0.000 6 0.000 0.000 2795 1851 3540 0 0 0 0 0 0
7772 -0.82 -146.0 910.9 -10.8 659 7773 0.10 0.00 0.00 0.000 6 0.118 0.000 2744 1852 3540 0 0 0 0 0 0
8076 -0.72 -146.0 955.2 -15.0 669 8080 0.17 2.28 0.00 0.000 4 0.161 0.077 2796 432 3540 0 0 0 0 0 0
8136 -0.76 -146.0 962.9 -11.9 671 8140 0.00 2.22 0.00 0.000 6 0.000 0.059 2795 1847 3540 0 0 0 0 0 0
8378 end dive: TARGET_DEPTH_EXCEEDED
state 8378 begin apogee
8381 -0.13 0.0 990.1 11.3 679 8508 0.55 0.00 125.43 1.259 6 0.138 0.000 2975 1693 2940 0 0 0 0 0 0
8509 end apogee: CONTROL_FINISHED_OK
state 8509 begin climb
8510 0.64 146.0 995.9 0.0 683 8649 0.75 2.53 131.05 1.226 4 0.084 0.066 3231 3112 2343 0 0 0 0 0 0
8687 0.51 187.9 995.5 8.1 689 8732 0.17 2.45 38.95 1.188 6 0.159 0.061 3179 1709 2172 0 0 0 0 0 0
9039 0.62 232.1 968.0 8.0 701 9084 0.15 2.50 40.28 1.185 4 0.095 0.076 3248 287 1992 0 0 0 0 0 0
9131 0.52 232.1 958.2 12.4 704 9135 0.17 2.38 0.00 0.000 6 0.150 0.051 3196 1701 1987 0 0 0 0 0 0
9456 0.57 240.7 926.9 9.6 715 9465 0.00 0.00 7.97 1.011 6 0.000 0.000 3196 1701 1958 0 0 0 0 0 0
9759 0.63 250.6 897.8 9.5 725 9771 0.00 0.00 10.30 1.065 6 0.000 0.000 3196 1701 1918 0 0 0 0 0 0
10063 0.69 252.9 867.8 9.9 735 10064 0.15 0.00 0.00 0.000 6 0.096 0.000 3257 1702 1914 0 0 0 0 0 0
10366 0.58 252.9 824.7 14.6 745 10367 0.15 0.00 0.00 0.000 6 0.166 0.000 3216 1701 1914 0 0 0 0 0 0
10669 0.58 252.9 789.3 11.5 755 10670 0.00 0.00 0.00 0.000 6 0.000 0.000 3216 1702 1914 0 0 0 0 0 0
10973 0.58 252.9 754.7 11.4 765 10977 0.00 2.35 0.00 0.000 4 0.000 0.078 3226 282 1913 0 0 0 0 0 0
10994 0.58 252.9 752.3 11.5 765 10998 0.00 2.25 0.00 0.000 6 0.000 0.053 3226 1700 1913 0 0 0 0 0 0
11306 0.58 252.9 716.3 11.6 776 11310 0.00 2.35 0.00 0.000 4 0.000 0.078 3235 286 1913 0 0 0 0 0 0
11349 0.54 252.9 710.9 12.7 777 11353 0.10 2.22 0.00 0.000 6 0.151 0.053 3202 1698 1912 0 0 0 0 0 0
11670 0.59 252.9 677.4 10.3 788 11671 0.00 0.00 0.00 0.000 6 0.000 0.000 3202 1698 1912 0 0 0 0 0 0
11973 0.65 252.9 646.9 10.1 798 11977 0.00 2.30 0.00 0.000 4 0.000 0.078 3212 291 1912 0 0 0 0 0 0
12012 0.66 258.0 643.0 9.8 799 12024 0.00 2.20 7.03 0.893 6 0.000 0.053 3212 1695 1888 0 0 0 0 0 0
12336 0.66 261.4 610.2 9.8 810 12342 0.00 0.00 4.90 0.772 6 0.000 0.000 3212 1695 1874 0 0 0 0 0 0
12644 0.69 261.4 580.5 10.0 832 12648 0.10 2.30 0.00 0.000 4 0.120 0.079 3265 285 1873 0 0 0 0 0 0
12678 0.57 261.4 576.3 13.4 836 12682 0.12 2.22 0.00 0.000 6 0.154 0.052 3212 1698 1872 0 0 0 0 0 0
12996 0.61 264.7 545.1 9.8 867 13002 0.00 0.00 4.38 0.706 6 0.000 0.000 3212 1698 1861 0 0 0 0 0 0
13307 0.67 282.8 515.4 9.2 897 13333 0.00 2.33 18.52 0.934 4 0.000 0.077 3222 284 1785 0 0 0 0 0 0
13345 0.73 294.7 511.7 9.5 901 13362 0.08 2.25 12.48 0.882 6 0.078 0.052 3265 1691 1738 0 0 0 0 0 0
13676 0.64 294.7 466.6 13.3 934 13680 0.12 2.30 0.00 0.000 4 0.176 0.068 3230 3109 1731 0 0 0 0 0 0
13701 0.64 294.7 463.3 12.2 937 13705 0.00 2.33 0.00 0.000 6 0.000 0.065 3240 1698 1730 0 0 0 0 0 0
14020 0.64 294.7 424.8 12.6 968 14024 0.00 2.33 0.00 0.000 4 0.000 0.077 3250 290 1729 0 0 0 0 0 0
14063 0.64 294.7 419.2 12.6 973 14067 0.00 2.22 0.00 0.000 6 0.000 0.053 3250 1693 1729 0 0 0 0 0 0
14382 0.64 294.7 376.2 13.3 1004 14385 0.00 2.30 0.00 0.000 4 0.000 0.070 3250 3103 1729 0 0 0 0 0 0
14412 0.64 294.7 372.1 13.6 1007 14417 0.00 2.28 0.00 0.000 6 0.000 0.064 3260 1700 1728 0 0 0 0 0 0
14726 0.60 294.7 328.1 13.6 1038 14730 0.15 2.33 0.00 0.000 4 0.174 0.077 3227 290 1728 0 0 0 0 0 0
14761 0.67 294.7 323.8 11.3 1042 14764 0.00 2.22 0.00 0.000 6 0.000 0.054 3227 1700 1728 0 0 0 0 0 0
15080 0.74 300.7 290.6 9.7 1073 15090 0.10 0.00 5.12 0.667 6 0.122 0.000 3273 1701 1714 0 0 0 0 0 0
15398 0.68 300.7 248.4 13.2 1104 15402 0.00 2.30 0.00 0.000 4 0.000 0.078 3284 294 1713 0 0 0 0 0 0
15442 0.60 300.7 242.2 14.9 1109 15446 0.15 2.22 0.00 0.000 6 0.143 0.054 3218 1700 1713 0 0 0 0 0 0
15761 0.76 335.1 213.9 8.4 1140 15799 0.15 2.38 32.47 0.778 4 0.101 0.079 3292 296 1572 0 0 0 0 0 0
15833 0.71 335.1 204.5 14.9 1148 15841 0.10 2.25 0.00 0.000 6 0.154 0.053 3259 1699 1569 0 0 0 0 0 0
16148 0.75 335.1 168.4 11.7 1179 16152 0.00 2.30 0.00 0.000 4 0.000 0.078 3269 287 1564 0 0 0 0 0 0
16182 0.75 335.1 164.1 12.2 1183 16186 0.00 2.25 0.00 0.000 6 0.000 0.053 3270 1697 1564 0 0 0 0 0 0
16501 0.75 335.1 124.2 11.8 1214 16505 0.00 2.33 0.00 0.000 4 0.000 0.079 3280 295 1563 0 0 0 0 0 0
16527 0.75 335.1 120.9 14.1 1217 16531 0.00 2.22 0.00 0.000 6 0.000 0.054 3280 1700 1563 0 0 0 0 0 0
16851 0.75 335.1 82.8 11.1 1262 16856 0.00 2.25 0.00 0.000 4 0.000 0.071 3280 3108 1562 0 0 0 0 0 0
16872 0.75 335.1 80.1 13.4 1267 16879 0.00 2.30 0.00 0.000 6 0.000 0.066 3290 1698 1561 0 0 0 0 0 0
17198 0.75 335.1 43.5 10.7 1328 17204 0.00 2.30 0.00 0.000 4 0.000 0.080 3300 295 1560 0 0 0 0 0 0
17277 0.75 335.1 34.5 12.1 1346 17283 0.08 2.22 0.00 0.000 6 0.152 0.054 3273 1700 1560 0 0 0 0 0 0
17602 0.95 409.6 8.9 6.6 1407 17654 0.15 0.00 49.22 0.676 2 0.097 0.000 3335 1701 1336 0 0 0 0 0 0
17655 end climb: SURFACE_DEPTH_REACHED
state 17655 begin surface coast
17684 end surface coast: CONTROL_FINISHED_OK
state 17684 begin surface