DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 43 * 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  43 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  25 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  -4973.3979 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  201837,6644.083,-6021.061,95,1.2,95,-38.1 TGT_NAME  TARGET_W_IN
_CALLS  2 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  24 TGT_RADIUS  2000.000
_XMS_TOUTs  1 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.37 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  202902,6643.956,-6021.220,14,1.4,14,-38.1 MHEAD_RNG_PITCHd_Wd  326.3,3498,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  528

Post-dive calculations and measurements:
FINISH  1.3,1.003940 _24V_AH  23.4,10.222
SM_CCo  9672,0.00,0.000,0,0,1325,396.40 _10V_AH  10.2,4.402
SM_GC  2.72,8.48,0.00,0.00,0.054,0.000,0.000,146,1851,1325,-8.93,0.03,396.40 FG_AHR_24Vo  0.000
RAFOS_CLK  515 FG_AHR_10Vo  0.000
RAFOS_FIX  0.000000,0.000000,010170,000000,0,0,0.00 MEM  150276
IRIDIUM_FIX  6609.62,-6218.27,210199,202010 DATA_FILE_SIZE  44161,1119
TT8_MAMPS  0.051389 CAP_FILE_SIZE  128462,0
HUMID  39.91 CFSIZE  260165632,249028608
INTERNAL_PRESSURE  9.38513 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  14.40 SOUNDSPEED  1450.9
XPDR_PINGS  0 CURRENT  0.196,182.9,1
ALTIM_BOTTOM_PING  450.6,96.4 GPS  271009,231201,6643.354,-6024.995,79,1.7,79,-38.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21243121.75 SBE_CT78524440.94
Roll_motor9789205.47 SBE_O282019364.70
VBD_pump_during_apogee46597810653.73 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init56103135.66 nil000.00
Iridium_during_connect108160406.40 nil000.00
Iridium_during_xfer3062231601.70
Transponder_ping04207.37
GUMSTIX_24V000.00
GPS14507.45
TT80190.00
LPSleep69572163.93
TT8_Active52719107.13
TT8_Sampling222339905.25
TT8_CF857145267.50
TT8_Kalman000.00
Analog_circuits149412182.92
GPS_charging000.00
Compass18088147.54
RAFOS1059116.20
Transponder7302.34

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 50 0.00 0.00 -36.62 0.000 2 0.000 0.000 120 1860 2167 0 0 0 0 0 0
51 -0.64 -146.0 3.1 -0.3 6 114 10.62 2.38 -45.10 0.000 4 0.243 0.090 2805 438 3539 0 0 0 0 0 0
165 -0.49 -146.0 20.9 -20.6 31 171 0.20 2.33 0.00 0.000 6 0.154 0.059 2860 1846 3541 0 0 0 0 0 0
489 -0.49 -146.0 68.1 -12.4 92 490 0.00 0.00 0.00 0.000 6 0.000 0.000 2860 1848 3541 0 0 0 0 0 0
813 -0.54 -146.0 109.6 -13.0 146 816 0.00 2.35 0.00 0.000 4 0.000 0.078 2861 438 3541 0 0 0 0 0 0
860 -0.59 -146.0 116.0 -13.3 151 866 0.00 2.28 0.00 0.000 6 0.000 0.059 2854 1849 3541 0 0 0 0 0 0
1175 -0.63 -146.0 156.7 -11.7 182 1178 0.00 2.35 0.00 0.000 4 0.000 0.079 2854 441 3541 0 0 0 0 0 0
1205 -0.67 -146.0 160.7 -13.0 185 1211 0.12 2.22 0.00 0.000 6 0.108 0.058 2802 1853 3541 0 0 0 0 0 0
1519 -0.61 -146.0 209.8 -14.9 216 1523 0.00 2.33 0.00 0.000 4 0.000 0.078 2798 3256 3540 0 0 0 0 0 0
1561 -0.61 -146.0 215.6 -15.0 220 1567 0.10 2.25 0.00 0.000 6 0.183 0.067 2824 1845 3540 0 0 0 0 0 0
1874 -0.61 -146.0 256.6 -12.9 251 1878 0.00 2.30 0.00 0.000 4 0.000 0.079 2824 443 3540 0 0 0 0 0 0
1930 -0.64 -146.0 263.9 -11.9 257 1936 0.00 2.25 0.00 0.000 6 0.000 0.060 2821 1852 3540 0 0 0 0 0 0
2245 -0.64 -146.0 303.9 -13.1 288 2245 0.00 0.00 0.00 0.000 6 0.000 0.000 2821 1851 3540 0 0 0 0 0 0
2556 -0.64 -146.0 342.5 -12.4 318 2559 0.00 2.28 0.00 0.000 4 0.000 0.079 2821 442 3539 0 0 0 0 0 0
2602 -0.64 -146.0 348.5 -12.3 323 2608 0.00 2.25 0.00 0.000 6 0.000 0.060 2820 1849 3539 0 0 0 0 0 0
2917 -0.68 -146.0 385.4 -11.8 354 2921 0.00 2.33 0.00 0.000 4 0.000 0.078 2820 444 3539 0 0 0 0 0 0
2947 -0.72 -146.0 389.1 -12.6 357 2953 0.00 2.25 0.00 0.000 6 0.000 0.059 2820 1855 3539 0 0 0 0 0 0
3262 -0.76 -146.0 425.8 -11.6 388 3263 0.12 0.00 0.00 0.000 6 0.108 0.000 2766 1854 3539 0 0 0 0 0 0
3572 -0.68 -146.0 472.2 -14.9 418 3576 0.12 2.33 0.00 0.000 4 0.177 0.078 2800 441 3539 0 0 0 0 0 0
3650 -0.68 -146.0 482.5 -12.8 427 3653 0.00 2.25 0.00 0.000 6 0.000 0.060 2798 1854 3539 0 0 0 0 0 0
3968 -0.68 -146.0 520.7 -11.7 458 3969 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 1854 3540 0 0 0 0 0 0
4029 end dive: TARGET_DEPTH_EXCEEDED
state 4030 begin apogee
4033 -0.13 0.0 528.5 12.5 464 4155 0.57 0.00 119.47 0.979 6 0.146 0.000 2981 1698 2940 0 0 0 0 0 0
4155 end apogee: CONTROL_FINISHED_OK
state 4155 begin climb
4156 0.64 146.0 533.7 0.0 476 4290 0.73 2.55 123.90 0.943 4 0.095 0.074 3239 282 2341 0 0 0 0 0 0
4459 0.56 183.3 522.5 8.3 510 4499 0.12 2.35 32.17 0.912 6 0.171 0.051 3207 1705 2191 0 0 0 0 0 0
4807 0.64 244.7 495.6 7.2 545 4869 0.00 2.42 53.40 0.915 4 0.000 0.067 3207 3109 1941 0 0 0 0 0 0
4907 0.71 265.1 486.9 9.1 556 4931 0.08 2.42 19.17 0.868 6 0.081 0.065 3257 1708 1859 0 0 0 0 0 0
5239 0.66 265.1 447.1 12.6 589 5243 0.00 2.42 0.00 0.000 4 0.000 0.077 3266 285 1850 0 0 0 0 0 0
5321 0.60 265.1 436.1 13.7 598 5327 0.12 2.30 0.00 0.000 6 0.146 0.052 3224 1699 1849 0 0 0 0 0 0
5636 0.65 270.8 404.6 9.7 629 5647 0.00 2.33 4.43 0.634 4 0.000 0.069 3224 3111 1836 0 0 0 0 0 0
5698 0.68 270.8 398.2 10.2 636 5702 0.00 2.35 0.00 0.000 6 0.000 0.064 3232 1698 1836 0 0 0 0 0 0
6017 0.73 275.8 366.0 9.8 667 6027 0.00 2.40 6.45 0.731 4 0.000 0.077 3242 280 1814 0 0 0 0 0 0
6074 0.76 275.8 360.0 10.7 673 6080 0.00 2.22 0.00 0.000 6 0.000 0.051 3241 1698 1814 0 0 0 0 0 0
6388 0.76 275.8 326.6 10.5 704 6392 0.00 2.30 0.00 0.000 4 0.000 0.067 3242 3100 1813 0 0 0 0 0 0
6414 0.79 275.8 323.9 10.6 707 6418 0.00 2.30 0.00 0.000 6 0.000 0.064 3250 1697 1813 0 0 0 0 0 0
6733 0.80 282.6 290.9 9.7 738 6745 0.00 2.35 7.57 0.738 4 0.000 0.077 3258 289 1787 0 0 0 0 0 0
6788 0.80 282.6 285.2 11.0 744 6794 0.00 2.22 0.00 0.000 6 0.000 0.051 3258 1691 1786 0 0 0 0 0 0
7103 0.80 282.9 254.0 10.0 775 7107 0.00 2.30 0.00 0.000 4 0.000 0.067 3258 3104 1785 0 0 0 0 0 0
7146 0.80 282.9 249.4 10.8 780 7150 0.00 2.30 0.00 0.000 6 0.000 0.063 3266 1698 1784 0 0 0 0 0 0
7465 0.80 282.9 216.1 10.3 811 7469 0.00 2.33 0.00 0.000 4 0.000 0.077 3276 285 1783 0 0 0 0 0 0
7499 0.80 282.9 212.3 10.4 815 7503 0.00 2.22 0.00 0.000 6 0.000 0.052 3276 1696 1783 0 0 0 0 0 0
7818 0.80 283.2 178.2 10.0 846 7822 0.00 2.30 0.00 0.000 4 0.000 0.070 3275 3106 1783 0 0 0 0 0 0
7843 0.80 283.2 175.3 11.0 849 7847 0.00 2.28 0.00 0.000 6 0.000 0.064 3285 1706 1783 0 0 0 0 0 0
8162 0.83 306.7 143.9 8.9 880 8190 0.00 2.33 22.20 0.751 4 0.000 0.076 3294 287 1690 0 0 0 0 0 0
8263 0.83 306.7 133.8 11.0 891 8268 0.00 2.25 0.00 0.000 6 0.000 0.054 3294 1689 1687 0 0 0 0 0 0
8577 0.83 306.7 100.6 10.5 922 8581 0.00 2.33 0.00 0.000 4 0.000 0.071 3294 3109 1684 0 0 0 0 0 0
8637 0.83 306.7 93.6 11.4 935 8643 0.00 2.30 0.00 0.000 6 0.000 0.066 3304 1708 1683 0 0 0 0 0 0
8962 0.84 311.5 59.2 9.8 996 8969 0.00 0.00 4.62 0.581 6 0.000 0.000 3304 1708 1670 0 0 0 0 0 0
9288 0.94 392.2 32.2 6.3 1057 9367 0.00 2.38 71.80 0.690 4 0.000 0.071 3304 3112 1339 0 0 0 0 0 0
9393 1.00 392.2 22.3 12.1 1080 9399 0.00 2.40 0.00 0.000 6 0.000 0.067 3314 1701 1335 0 0 0 0 0 0
9556 end climb: SURFACE_DEPTH_REACHED
state 9556 begin surface coast
9599 end surface coast: CONTROL_FINISHED_OK
state 9599 begin surface