DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 31 * 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  31 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  32 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  -4714.2144 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  205637,6650.832,-5913.719,37,1.0,37,-38.0 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  2.52 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -77.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  210156,6650.848,-5913.792,10,1.5,10,-38.0 MHEAD_RNG_PITCHd_Wd  306.6,54326,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  1008

Post-dive calculations and measurements:
FINISH  1.6,1.023849 _24V_AH  22.9,8.435
SM_CCo  17801,0.00,0.000,0,0,1327,395.67 _10V_AH  10.2,3.590
SM_GC  2.53,8.73,0.00,0.00,0.062,0.000,0.000,145,1857,1327,-8.94,0.20,395.67 FG_AHR_24Vo  0.000
RAFOS_CLK  913 FG_AHR_10Vo  0.000
RAFOS_FIX  0.000000,0.000000,010170,000000,0,0,0.00 MEM  150420
IRIDIUM_FIX  6625.71,-5901.23,190199,161632 DATA_FILE_SIZE  56680,1438
TT8_MAMPS  0.050622 CAP_FILE_SIZE  183320,0
HUMID  38.97 CFSIZE  260165632,249868288
INTERNAL_PRESSURE  9.42419 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  14.90 SOUNDSPEED  1457.9
XPDR_PINGS  0 CURRENT  0.314,170.9,1
ALTIM_BOTTOM_PING  900.2,111.4 GPS  261009,015937,6647.661,-5919.438,34,1.5,34,-37.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23253137.93 SBE_CT100824554.31
Roll_motor15189311.75 SBE_O2107019465.72
VBD_pump_during_apogee480126213893.10 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2510360.02 nil000.00
Iridium_during_connect34160127.73 nil000.00
Iridium_during_xfer168223861.53
Transponder_ping342028.85
GUMSTIX_24V000.00
GPS10505.59
TT80190.00
LPSleep141102332.48
TT8_Active63819129.82
TT8_Sampling2990391217.69
TT8_CF835145164.79
TT8_Kalman000.00
Analog_circuits189312231.77
GPS_charging000.00
Compass23918195.16
RAFOS2520138.56
Transponder26308.10

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 68 0.00 0.00 -53.88 0.000 2 0.000 0.000 143 1862 2344 0 0 0 0 0 0
69 -0.64 -146.0 3.1 -0.7 10 125 10.77 2.38 -39.50 0.000 4 0.254 0.090 2811 436 3536 0 0 0 0 0 0
159 -0.49 -146.0 16.3 -20.4 30 164 0.15 2.30 0.00 0.000 6 0.158 0.061 2866 1839 3537 0 0 0 0 0 0
483 -0.55 -146.0 59.6 -11.5 91 484 0.00 0.00 0.00 0.000 6 0.000 0.000 2866 1839 3538 0 0 0 0 0 0
804 -0.64 -146.0 93.2 -10.3 151 810 0.15 2.35 0.00 0.000 4 0.098 0.078 2802 435 3538 0 0 0 0 0 0
861 -0.61 -146.0 102.1 -16.3 163 867 0.10 2.25 0.00 0.000 6 0.195 0.060 2823 1859 3537 0 0 0 0 0 0
1175 -0.61 -146.0 145.3 -13.3 194 1179 0.00 2.33 0.00 0.000 4 0.000 0.077 2823 446 3537 0 0 0 0 0 0
1214 -0.61 -146.0 150.7 -14.1 198 1220 0.00 2.25 0.00 0.000 6 0.000 0.060 2814 1846 3537 0 0 0 0 0 0
1528 -0.61 -146.0 194.1 -13.9 229 1529 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 1847 3537 0 0 0 0 0 0
1839 -0.61 -146.0 234.0 -12.5 259 1843 0.00 2.28 0.00 0.000 4 0.000 0.077 2807 3260 3537 0 0 0 0 0 0
1860 -0.61 -146.0 236.6 -12.1 261 1866 0.00 2.28 0.00 0.000 6 0.000 0.066 2807 1856 3537 0 0 0 0 0 0
2175 -0.61 -146.0 274.7 -12.0 292 2179 0.00 2.30 0.00 0.000 4 0.000 0.078 2807 445 3536 0 0 0 0 0 0
2248 -0.61 -146.0 284.2 -12.9 300 2255 0.00 2.25 0.00 0.000 6 0.000 0.059 2798 1854 3536 0 0 0 0 0 0
2563 -0.61 -146.0 323.0 -12.1 331 2564 0.10 0.00 0.00 0.000 6 0.195 0.000 2824 1855 3536 0 0 0 0 0 0
2874 -0.67 -146.0 353.6 -9.3 361 2877 0.00 2.30 0.00 0.000 4 0.000 0.077 2824 445 3536 0 0 0 0 0 0
2904 -0.73 -146.0 356.6 -10.1 364 2910 0.00 2.22 0.00 0.000 6 0.000 0.059 2820 1845 3536 0 0 0 0 0 0
3218 -0.78 -146.0 387.3 -9.9 395 3222 0.15 2.30 0.00 0.000 4 0.099 0.077 2755 421 3536 0 0 0 0 0 0
3248 -0.64 -146.0 391.3 -14.8 398 3254 0.20 2.28 0.00 0.000 6 0.146 0.059 2826 1851 3536 0 0 0 0 0 0
3563 -0.71 -146.0 422.7 -9.8 429 3566 0.00 2.30 0.00 0.000 4 0.000 0.076 2826 438 3537 0 0 0 0 0 0
3593 -0.79 -146.0 425.8 -10.3 432 3600 0.12 2.22 0.00 0.000 6 0.068 0.058 2758 1844 3537 0 0 0 0 0 0
3907 -0.68 -146.0 471.2 -14.6 463 3909 0.15 0.00 0.00 0.000 6 0.170 0.000 2801 1845 3537 0 0 0 0 0 0
4217 -0.68 -146.0 505.7 -10.7 493 4218 0.00 0.00 0.00 0.000 6 0.000 0.000 2801 1845 3537 0 0 0 0 0 0
4528 -0.68 -146.0 539.9 -11.2 523 4529 0.00 0.00 0.00 0.000 6 0.000 0.000 2801 1845 3537 0 0 0 0 0 0
4838 -0.68 -146.0 573.6 -10.7 553 4842 0.00 2.28 0.00 0.000 4 0.000 0.076 2801 439 3538 0 0 0 0 0 0
4873 -0.68 -146.0 577.4 -11.4 557 4877 0.00 2.22 0.00 0.000 6 0.000 0.058 2798 1851 3538 0 0 0 0 0 0
5200 -0.68 -146.0 613.5 -11.1 581 5201 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 1850 3538 0 0 0 0 0 0
5503 -0.68 -146.0 647.2 -11.1 591 5503 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 1850 3538 0 0 0 0 0 0
5806 -0.68 -146.0 679.5 -10.5 601 5810 0.00 2.28 0.00 0.000 4 0.000 0.076 2798 445 3539 0 0 0 0 0 0
5849 -0.71 -146.0 684.4 -11.5 602 5853 0.00 2.22 0.00 0.000 6 0.000 0.058 2798 1855 3539 0 0 0 0 0 0
6170 -0.71 -146.0 717.6 -10.5 613 6171 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 1855 3539 0 0 0 0 0 0
6474 -0.75 -146.0 749.5 -10.5 623 6474 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 1856 3539 0 0 0 0 0 0
6777 -0.75 -146.0 783.0 -11.2 633 6781 0.00 2.30 0.00 0.000 4 0.000 0.075 2798 435 3539 0 0 0 0 0 0
6859 -0.75 -146.0 792.7 -12.4 635 6863 0.00 2.22 0.00 0.000 6 0.000 0.058 2798 1851 3539 0 0 0 0 0 0
7171 -0.75 -146.0 827.8 -11.4 646 7172 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 1852 3539 0 0 0 0 0 0
7474 -0.78 -146.0 862.0 -11.3 656 7478 0.00 2.28 0.00 0.000 4 0.000 0.076 2798 441 3539 0 0 0 0 0 0
7513 -0.82 -146.0 866.8 -12.3 657 7517 0.08 2.22 0.00 0.000 6 0.076 0.058 2751 1854 3540 0 0 0 0 0 0
7838 -0.72 -146.0 913.1 -14.2 668 7839 0.12 0.00 0.00 0.000 6 0.177 0.000 2787 1854 3539 0 0 0 0 0 0
8141 -0.72 -146.0 946.6 -10.6 678 8145 0.00 2.28 0.00 0.000 4 0.000 0.076 2787 444 3540 0 0 0 0 0 0
8176 -0.72 -146.0 950.5 -11.2 679 8179 0.00 2.20 0.00 0.000 6 0.000 0.058 2781 1843 3539 0 0 0 0 0 0
8505 -0.72 -146.0 988.1 -11.5 690 8505 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 1843 3539 0 0 0 0 0 0
8534 end dive: TARGET_DEPTH_EXCEEDED
state 8534 begin apogee
8537 -0.13 0.0 991.6 11.5 691 8665 0.60 0.00 125.68 1.262 6 0.143 0.000 2975 1690 2940 0 0 0 0 0 0
8665 end apogee: CONTROL_FINISHED_OK
state 8665 begin climb
8666 0.64 146.0 995.8 0.0 695 8806 0.75 2.53 131.50 1.226 4 0.084 0.074 3242 303 2343 0 0 0 0 0 0
8827 0.49 198.3 994.4 7.6 700 8881 0.17 2.38 49.00 1.192 6 0.157 0.051 3191 1696 2130 0 0 0 0 0 0
9197 0.52 222.2 961.1 8.9 713 9222 0.00 2.42 21.12 1.146 4 0.000 0.067 3191 3108 2034 0 0 0 0 0 0
9278 0.52 222.2 953.4 10.6 714 9283 0.00 2.38 0.00 0.000 6 0.000 0.064 3198 1707 2030 0 0 0 0 0 0
9585 0.53 225.9 923.3 9.8 725 9589 0.00 2.40 0.00 0.000 4 0.000 0.077 3208 288 2028 0 0 0 0 0 0
9611 0.53 225.9 920.6 11.2 725 9616 0.00 2.30 0.00 0.000 6 0.000 0.052 3208 1703 2027 0 0 0 0 0 0
9919 0.53 225.9 887.9 10.6 736 9923 0.00 2.33 0.00 0.000 4 0.000 0.066 3208 3110 2026 0 0 0 0 0 0
9953 0.53 225.9 884.0 12.5 737 9957 0.00 2.35 0.00 0.000 6 0.000 0.064 3218 1694 2026 0 0 0 0 0 0
10282 0.53 225.9 848.0 10.7 748 10286 0.00 2.33 0.00 0.000 4 0.000 0.077 3227 291 2024 0 0 0 0 0 0
10313 0.47 225.9 844.7 11.5 749 10317 0.17 2.20 0.00 0.000 6 0.164 0.051 3178 1703 2024 0 0 0 0 0 0
10642 0.61 272.8 818.2 7.8 760 10691 0.12 0.00 46.12 1.134 6 0.101 0.000 3233 1703 1826 0 0 0 0 0 0
11003 0.61 272.8 774.5 12.5 772 11007 0.00 2.33 0.00 0.000 4 0.000 0.067 3233 3104 1816 0 0 0 0 0 0
11029 0.61 272.8 771.2 13.4 772 11035 0.00 2.33 0.00 0.000 6 0.000 0.063 3243 1701 1815 0 0 0 0 0 0
11336 0.56 272.8 730.6 13.4 783 11340 0.15 2.33 0.00 0.000 4 0.175 0.077 3212 276 1814 0 0 0 0 0 0
11379 0.62 272.8 725.4 12.0 784 11383 0.00 2.28 0.00 0.000 6 0.000 0.053 3212 1701 1814 0 0 0 0 0 0
11701 0.66 272.8 690.0 11.0 795 11705 0.00 2.25 0.00 0.000 4 0.000 0.069 3212 3108 1813 0 0 0 0 0 0
11726 0.70 272.8 686.9 12.0 796 11729 0.00 2.30 0.00 0.000 6 0.000 0.064 3222 1702 1813 0 0 0 0 0 0
12059 0.70 272.8 645.8 12.5 807 12063 0.00 2.33 0.00 0.000 4 0.000 0.077 3232 289 1813 0 0 0 0 0 0
12106 0.70 272.8 639.6 12.5 808 12110 0.00 2.22 0.00 0.000 6 0.000 0.053 3232 1695 1813 0 0 0 0 0 0
12423 0.70 272.8 598.6 12.7 819 12427 0.00 2.30 0.00 0.000 4 0.000 0.070 3232 3108 1812 0 0 0 0 0 0
12457 0.70 272.8 593.9 14.0 823 12461 0.00 2.28 0.00 0.000 6 0.000 0.064 3241 1705 1812 0 0 0 0 0 0
12776 0.67 272.8 549.8 13.4 854 12780 0.00 2.33 0.00 0.000 4 0.000 0.077 3252 282 1812 0 0 0 0 0 0
12802 0.60 272.8 546.2 14.9 857 12806 0.00 2.22 0.00 0.000 6 0.000 0.052 3252 1696 1812 0 0 0 0 0 0
13121 0.54 272.8 502.5 13.5 888 13125 0.17 2.28 0.00 0.000 4 0.170 0.070 3201 3106 1812 0 0 0 0 0 0
13143 0.58 272.8 500.0 11.7 890 13148 0.00 2.25 0.00 0.000 6 0.000 0.064 3210 1691 1812 0 0 0 0 0 0
13457 0.65 280.6 469.7 9.6 921 13467 0.00 2.25 5.47 0.751 4 0.000 0.075 3220 289 1796 0 0 0 0 0 0
13500 0.70 280.6 465.2 10.5 926 13504 0.00 2.22 0.00 0.000 6 0.000 0.052 3220 1703 1795 0 0 0 0 0 0
13819 0.75 281.7 433.4 9.9 957 13820 0.12 0.00 0.00 0.000 6 0.107 0.000 3276 1705 1795 0 0 0 0 0 0
14130 0.64 281.7 388.5 14.3 987 14134 0.15 2.30 0.00 0.000 4 0.173 0.077 3243 282 1795 0 0 0 0 0 0
14164 0.64 281.7 384.2 11.2 991 14168 0.00 2.22 0.00 0.000 6 0.000 0.053 3243 1700 1794 0 0 0 0 0 0
14483 0.64 281.7 347.9 11.4 1022 14483 0.00 0.00 0.00 0.000 6 0.000 0.000 3243 1700 1794 0 0 0 0 0 0
14793 0.64 281.7 311.1 12.1 1052 14794 0.00 0.00 0.00 0.000 6 0.000 0.000 3243 1700 1794 0 0 0 0 0 0
15104 0.64 281.7 274.0 11.6 1082 15105 0.00 0.00 0.00 0.000 6 0.000 0.000 3243 1700 1794 0 0 0 0 0 0
15414 0.64 281.7 239.4 11.1 1112 15418 0.00 2.30 0.00 0.000 4 0.000 0.072 3243 3108 1794 0 0 0 0 0 0
15444 0.64 281.7 235.9 11.7 1115 15450 0.00 2.25 0.00 0.000 6 0.000 0.064 3253 1709 1794 0 0 0 0 0 0
15759 0.64 281.7 201.1 10.2 1146 15762 0.00 2.25 0.00 0.000 4 0.000 0.077 3262 285 1794 0 0 0 0 0 0
15806 0.64 281.7 195.7 12.0 1151 15812 0.00 2.20 0.00 0.000 6 0.000 0.053 3262 1699 1794 0 0 0 0 0 0
16120 0.64 281.7 161.3 11.0 1182 16121 0.00 0.00 0.00 0.000 6 0.000 0.000 3262 1700 1794 0 0 0 0 0 0
16431 0.67 299.0 129.9 9.2 1212 16453 0.00 2.28 17.65 0.726 4 0.000 0.071 3262 3113 1720 0 0 0 0 0 0
16492 0.68 309.7 124.2 9.5 1219 16511 0.00 2.30 10.93 0.685 6 0.000 0.066 3271 1700 1676 0 0 0 0 0 0
16821 0.68 309.7 89.0 11.7 1260 16828 0.00 2.33 0.00 0.000 4 0.000 0.070 3271 3108 1670 0 0 0 0 0 0
16853 0.68 309.7 85.9 10.4 1267 16859 0.10 2.30 0.00 0.000 6 0.158 0.066 3247 1700 1670 0 0 0 0 0 0
17179 0.84 344.0 60.2 8.4 1328 17216 0.15 2.38 30.83 0.696 4 0.099 0.079 3321 287 1536 0 0 0 0 0 0
17298 0.80 344.0 45.1 13.3 1355 17304 0.10 2.28 0.00 0.000 6 0.153 0.054 3287 1701 1531 0 0 0 0 0 0
17623 0.94 393.0 13.2 7.7 1416 17671 0.12 2.35 42.25 0.665 4 0.107 0.071 3339 3114 1335 0 0 0 0 0 0
17688 0.94 393.0 5.4 12.3 1430 17693 0.00 2.33 0.00 0.000 6 0.000 0.065 3349 1700 1333 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