DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 40 * 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  40 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  20 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  -2 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  0 T_GPS_CHARGE  -4889.2139 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  111431,6643.855,-6009.096,43,1.8,43,-38.0 TGT_NAME  TARGET_W_IN
_CALLS  2 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  12 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.38 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -79.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  112450,6643.759,-6009.281,18,1.8,18,-38.0 MHEAD_RNG_PITCHd_Wd  343.5,12239,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  568

Post-dive calculations and measurements:
FINISH  1.4,1.015214 _24V_AH  23.4,9.780
SM_CCo  10399,0.00,0.000,0,0,1554,339.74 _10V_AH  10.2,4.213
SM_GC  2.77,8.52,0.00,0.00,0.074,0.000,0.000,148,1843,1554,-8.93,-0.20,339.74 FG_AHR_24Vo  0.000
RAFOS_CLK  550 FG_AHR_10Vo  0.000
RAFOS_FIX  0.000000,0.000000,010170,000000,0,0,0.00 MEM  150572
IRIDIUM_FIX  6614.97,-6006.54,210199,111142 DATA_FILE_SIZE  47247,1183
TT8_MAMPS  0.050622 CAP_FILE_SIZE  134133,0
HUMID  40.70 CFSIZE  260165632,249221120
INTERNAL_PRESSURE  9.41442 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  14.60 SOUNDSPEED  1452.8
XPDR_PINGS  0 CURRENT  0.232,195.6,1
ALTIM_BOTTOM_PING  500.0,90.7 GPS  271009,141945,6643.332,-6013.551,48,3.4,67,-38.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22248130.69 SBE_CT82824465.39
Roll_motor9795216.60 SBE_O286719385.88
VBD_pump_during_apogee41010039647.35 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init53103129.94 nil000.00
Iridium_during_connect66160249.72 nil000.00
Iridium_during_xfer3292231719.32
Transponder_ping14209.83
GUMSTIX_24V000.00
GPS18509.42
TT80190.00
LPSleep75812178.64
TT8_Active49319100.35
TT8_Sampling236539963.32
TT8_CF855645260.76
TT8_Kalman000.00
Analog_circuits149412182.95
GPS_charging000.00
Compass19038155.31
RAFOS2471137.81
Transponder9302.96

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 66 0.00 0.00 -52.42 0.000 2 0.000 0.000 121 1860 2295 0 0 0 0 0 0
67 -0.64 -146.0 3.2 -2.2 10 128 10.77 2.42 -41.55 0.000 4 0.249 0.095 2804 3257 3538 0 0 0 0 0 0
210 -0.55 -146.0 27.1 -19.3 42 215 0.08 2.35 0.00 0.000 6 0.165 0.065 2842 1849 3540 0 0 0 0 0 0
534 -0.55 -146.0 78.6 -14.7 103 535 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 1848 3540 0 0 0 0 0 0
849 -0.55 -146.0 124.1 -13.7 147 853 0.00 2.33 0.00 0.000 4 0.000 0.077 2842 444 3540 0 0 0 0 0 0
958 -0.55 -146.0 138.8 -13.3 159 963 0.00 2.25 0.00 0.000 6 0.000 0.060 2838 1842 3540 0 0 0 0 0 0
1272 -0.55 -146.0 180.6 -13.0 190 1276 0.00 2.33 0.00 0.000 4 0.000 0.077 2837 439 3540 0 0 0 0 0 0
1302 -0.55 -146.0 184.8 -14.0 193 1309 0.00 2.28 0.00 0.000 6 0.000 0.059 2838 1854 3540 0 0 0 0 0 0
1617 -0.58 -146.0 224.7 -12.7 224 1621 0.00 2.33 0.00 0.000 4 0.000 0.079 2837 446 3539 0 0 0 0 0 0
1704 -0.63 -146.0 235.6 -11.7 234 1708 0.00 2.25 0.00 0.000 6 0.000 0.060 2837 1850 3540 0 0 0 0 0 0
2022 -0.68 -146.0 271.9 -11.1 265 2023 0.00 0.00 0.00 0.000 6 0.000 0.000 2837 1850 3539 0 0 0 0 0 0
2333 -0.74 -146.0 306.2 -10.8 295 2337 0.15 2.30 0.00 0.000 4 0.099 0.080 2774 439 3539 0 0 0 0 0 0
2440 -0.63 -146.0 323.2 -16.8 307 2444 0.12 2.25 0.00 0.000 6 0.157 0.061 2823 1845 3539 0 0 0 0 0 0
2759 -0.67 -146.0 361.9 -11.8 338 2760 0.00 0.00 0.00 0.000 6 0.000 0.000 2823 1845 3538 0 0 0 0 0 0
3070 -0.71 -146.0 398.0 -11.5 368 3073 0.00 2.28 0.00 0.000 4 0.000 0.077 2813 3258 3538 0 0 0 0 0 0
3104 -0.83 -146.0 402.0 -10.8 372 3108 0.12 2.28 0.00 0.000 6 0.068 0.067 2749 1855 3538 0 0 0 0 0 0
3422 -0.67 -146.0 454.7 -16.1 403 3426 0.20 2.33 0.00 0.000 4 0.170 0.079 2806 441 3538 0 0 0 0 0 0
3461 -0.67 -146.0 460.2 -13.7 407 3467 0.00 2.25 0.00 0.000 6 0.000 0.058 2807 1852 3538 0 0 0 0 0 0
3776 -0.67 -146.0 497.9 -11.5 438 3779 0.00 2.33 0.00 0.000 4 0.000 0.078 2807 434 3539 0 0 0 0 0 0
3828 -0.67 -146.0 504.2 -11.7 444 3832 0.00 2.25 0.00 0.000 6 0.000 0.059 2807 1852 3538 0 0 0 0 0 0
4146 -0.67 -146.0 539.8 -10.8 475 4147 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1853 3539 0 0 0 0 0 0
4404 end dive: TARGET_DEPTH_EXCEEDED
state 4404 begin apogee
4407 -0.13 0.0 569.1 11.8 500 4529 0.52 0.00 119.62 1.003 6 0.140 0.000 2976 1685 2940 0 0 0 0 0 0
4530 end apogee: CONTROL_FINISHED_OK
state 4530 begin climb
4531 0.64 146.0 574.4 0.0 512 4665 0.77 2.47 123.78 0.970 4 0.093 0.073 3246 287 2342 0 0 0 0 0 0
4725 0.53 195.8 571.6 7.7 534 4777 0.10 2.38 43.67 0.943 6 0.148 0.051 3202 1703 2140 0 0 0 0 0 0
5086 0.58 229.5 541.8 8.4 570 5121 0.00 2.40 29.33 0.927 4 0.000 0.067 3203 3110 2002 0 0 0 0 0 0
5173 0.61 229.5 533.6 10.0 580 5176 0.00 2.38 0.00 0.000 6 0.000 0.064 3212 1701 1999 0 0 0 0 0 0
5491 0.61 229.5 501.2 10.1 611 5495 0.00 2.38 0.00 0.000 4 0.000 0.076 3221 294 1996 0 0 0 0 0 0
5517 0.61 229.5 498.6 10.5 614 5521 0.00 2.28 0.00 0.000 6 0.000 0.051 3221 1698 1995 0 0 0 0 0 0
5835 0.61 229.5 465.7 10.2 645 5839 0.00 2.38 0.00 0.000 4 0.000 0.076 3229 285 1995 0 0 0 0 0 0
5857 0.61 229.5 463.5 10.6 647 5862 0.00 2.28 0.00 0.000 6 0.000 0.051 3229 1703 1995 0 0 0 0 0 0
6171 0.61 229.5 430.2 10.4 678 6175 0.00 2.30 0.00 0.000 4 0.000 0.066 3229 3107 1995 0 0 0 0 0 0
6219 0.57 229.5 424.9 11.5 683 6224 0.00 2.30 0.00 0.000 6 0.000 0.063 3238 1704 1995 0 0 0 0 0 0
6533 0.57 229.5 390.4 10.6 714 6537 0.00 2.33 0.00 0.000 4 0.000 0.075 3247 288 1995 0 0 0 0 0 0
6559 0.53 229.5 387.6 11.6 717 6563 0.12 2.22 0.00 0.000 6 0.149 0.051 3193 1696 1994 0 0 0 0 0 0
6878 0.70 282.6 361.7 7.6 748 6931 0.17 2.35 46.05 0.855 4 0.087 0.067 3269 3108 1785 0 0 0 0 0 0
7018 0.65 282.6 343.9 13.9 764 7022 0.12 2.35 0.00 0.000 6 0.153 0.063 3238 1701 1779 0 0 0 0 0 0
7336 0.69 285.4 310.9 9.9 795 7340 0.00 2.35 0.00 0.000 4 0.000 0.075 3248 288 1776 0 0 0 0 0 0
7427 0.69 285.4 301.1 11.4 805 7433 0.00 2.25 0.00 0.000 6 0.000 0.052 3249 1693 1775 0 0 0 0 0 0
7741 0.72 285.4 267.9 10.7 836 7742 0.00 0.00 0.00 0.000 6 0.000 0.000 3248 1693 1775 0 0 0 0 0 0
8052 0.77 285.4 235.5 10.3 866 8053 0.00 0.00 0.00 0.000 6 0.000 0.000 3248 1694 1774 0 0 0 0 0 0
8362 0.85 318.7 206.5 8.5 896 8398 0.15 2.33 31.48 0.772 4 0.099 0.075 3323 287 1639 0 0 0 0 0 0
8433 0.71 318.7 198.0 14.2 904 8436 0.22 2.25 0.00 0.000 6 0.163 0.054 3259 1706 1636 0 0 0 0 0 0
8751 0.80 331.0 165.7 9.4 935 8769 0.00 2.40 10.75 0.718 4 0.000 0.079 3269 291 1589 0 0 0 0 0 0
8820 0.88 331.0 159.1 10.2 943 8824 0.00 2.28 0.00 0.000 6 0.000 0.054 3269 1700 1588 0 0 0 0 0 0
9139 0.97 336.9 128.1 9.7 974 9149 0.17 2.38 6.28 0.651 4 0.090 0.072 3340 3110 1566 0 0 0 0 0 0
9183 0.84 336.9 122.1 14.9 979 9187 0.12 2.35 0.00 0.000 6 0.171 0.067 3297 1698 1565 0 0 0 0 0 0
9506 0.84 336.9 84.1 11.2 1022 9511 0.00 2.33 0.00 0.000 4 0.000 0.079 3307 293 1563 0 0 0 0 0 0
9610 0.84 336.9 71.7 12.2 1046 9616 0.00 2.25 0.00 0.000 6 0.000 0.055 3307 1700 1562 0 0 0 0 0 0
9935 0.84 336.9 36.3 10.8 1107 9936 0.00 0.00 0.00 0.000 6 0.000 0.000 3307 1701 1561 0 0 0 0 0 0
10255 0.84 336.9 5.3 10.7 1167 10261 0.00 2.30 0.00 0.000 4 0.000 0.074 3307 3101 1559 0 0 0 0 0 0
10272 end climb: SURFACE_DEPTH_REACHED
state 10273 begin surface coast
10324 end surface coast: CONTROL_FINISHED_OK
state 10325 begin surface