Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 529 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 529 ESCAPE_HEADING 0 ROLL_MIN 145 ALTIM_PING_DEPTH 80

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MAX 4014 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_FREQUENCY 13

D_TGT 90 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2350 ALTIM_PULSE 3

D_ABORT 1090 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2150 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_YINT 0

D_PITCH 0 N_FILEKB 4 ROLL_TIMEOUT 15 DEEPGLIDER 0

D_SAFE 0 FILEMGR 0 R_PORT_OVSHOOT 67 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 42 MOTHERBOARD 4

SURFACE_URGENCY 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE2 20

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE3 35

T_DIVE 30 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE4 -1

T_MISSION 75 CALL_TRIES 5 VBD_MIN 204 DEVICE5 -1

T_ABORT 1440 CALL_WAIT 60 VBD_MAX 3580 DEVICE6 -1

T_TURN 270 CAPUPLOAD 0 C_VBD 2800 SMARTS 0

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTDEVICE1 -1

T_NO_W 120 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE2 -1

USE_BATHY -4 T_GPS 15 VBD_TIMEOUT 360 COMPASS_DEVICE 33

USE_ICE 0 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 GPS_DEVICE 32

D_OFFGRID 100 T_GPS_CHARGE -71570.477 VBD_PUMP_AD_RATE_APOGEE 3 RAFOS_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 XPDR_DEVICE 24

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 SIM_W 0

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_PITCH 0

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SEABIRD_T_G 0.0043805656

COURSE_BIAS 0 PITCH_MIN 25 AH0_24V 150 SEABIRD_T_H 0.00064742006

GLIDE_SLOPE 45 PITCH_MAX 4070 AH0_10V 100 SEABIRD_T_I 2.5554549e-05

SPEED_FACTOR 1 C_PITCH 2740 PRESSURE_YINT -10.508845 SEABIRD_T_J 2.6681391e-06

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_C_G -10.331019

MASS 51503 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_C_H 1.1763502

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012340198

FERRY_MAX 45 PITCH_GAIN 18 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017379176

KALMAN_USE 1 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25

HD_A 0.0038360001 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FLARE 3 PITCH_DBAND 0.1 SMARTS 0

AH0_10V 100 D_NO_BLEED 200 PITCH_GAIN 18 SM_CC 400

AH0_24V 150 D_OFFGRID 100 PITCH_MAX 4070 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 25 D_PITCH 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_MIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 D_TGT 90 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PRESSURE_YINT -10.508845 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.133301

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.4

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 RAFOS_DEVICE -1 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 RAFOS_HIT_WINDOW 3600 T_DIVE 30

APOGEE_PITCH -5 GPS_DEVICE 32 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_NDIVES 1 HD_A 0.0038360001 RELAUNCH 1 T_GPS_ALMANAC 0

CALL_TRIES 5 HD_B 0.010078 RHO 1.023 T_GPS_CHARGE -71570.477

CALL_WAIT 60 HD_C 9.8541004e-06 ROLL_ADJ_DBAND 0 T_MISSION 75

CAPMAXSIZE 100000 HEADING -1 ROLL_ADJ_GAIN 0 T_NO_W 120

CAPUPLOAD 0 HEAD_ERRBAND 10 ROLL_AD_RATE 350 T_RSLEEP 3

CF8_MAXERRORS 1 HEAPDBG 0 ROLL_CNV 0.028270001 T_TURN 270

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 ROLL_DEG 40 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 128 ROLL_MAX 4014 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 UNCOM_BLEED 50

C_PITCH 2740 INT_PRESSURE_YINT 0 ROLL_MIN 145 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2150 KALMAN_USE 1 ROLL_TIMEOUT 15 USE_BATHY -4

C_ROLL_DIVE 2350 MASS 51503 R_PORT_OVSHOOT 67 USE_ICE 0

C_VBD 2800 MAX_BUOY 150 R_STBD_OVSHOOT 42 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -10.331019 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_DBAND 2

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_MAX 3580

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAXERRORS 1

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MIN 204

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_TIMEOUT 360

DIVE 529 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_ABORT 1090 PITCH_ADJ_GAIN 0 SIM_W 0

D_CALL 0 PITCH_AD_RATE 160 SMARTDEVICE1 -1

D_FINISH 0 PITCH_CNV 0.00312576 SMARTDEVICE2 -1

Pre-dive calculations and measurements:

GPS1 013231,4807.334,-12223.286,29,1.1,40,18.3 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 4 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.138,-0.221

_SM_DEPTHo 1.11 KALMAN_X -21882.0,3.6,-147.9,22366.2,0.1

_SM_ANGLEo -67.7 KALMAN_Y -13667.5,221.1,175.6,12654.4,17.9

GPS2 013627,4807.327,-12223.276,10,1.4,10,18.3 MHEAD_RNG_PITCHd_Wd 129.7,5148,-18.2,-10.000

SPEED_LIMITS 0.100,0.261 D_GRID 103

Post-dive calculations and measurements:

FINISH 0.5,1.025221 XPDR_PINGS 1

SM_CCo 2083,91.57,0.667,0,0,1169,400.08 ALTIM_BOTTOM_PING 66.5,45.1

SM_GC 1.11,0.00,0.00,91.57,0.000,0.000,0.667,19,2362,1169,-8.51,0.37,400.08 _24V_AH 24.5,48.358

IRIDIUM_FIX 4748.51,-12221.84,270907,040412 _10V_AH 10.7,24.853

TT8_MAMPS 0.026078 DATA_FILE_SIZE 9674,218

HUMID 1898 CFSIZE 260165632,242896896

INTERNAL_PRESSURE 9.18004 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.80 GPS 270907,021432,4807.207,-12223.029,8,1.5,13,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 204 104.74 SBE_CT 153 24 90.52

Roll_motor 14 46 16.45 SBE_O2 167 19 77.79

VBD_pump_during_apogee 294 760 5485.16 WL_BB2F 367 105 946.34

VBD_pump_during_surface 91 667 1497.12 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 59.54 nil 0 0 0.00

Iridium_during_connect 15 160 59.03 nil 0 0 0.00

Iridium_during_xfer 99 223 545.79

Transponder_ping 0 420 5.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 6.21

TT8 368 19 78.07

LPSleep 899 2 21.07

TT8_Active 378 19 80.29

TT8_Sampling 517 39 220.57

TT8_CF8 266 45 130.52

TT8_Kalman 33 81 29.19

Analog_circuits 676 12 86.91

GPS_charging 0 0 0.00

Compass 525 8 44.97

RAFOS 0 0 0.00

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

26 end surface: CONTROL_FINISHED_OK

state 26 begin dive

30 -1.19 -146.6 0.0 0.0 0 96 0.00 0.00 -64.28 0.000 2 0.000 0.000 7 2360 2850

100 -1.19 -146.6 3.4 -8.3 12 125 9.43 2.33 -10.40 0.000 4 0.205 0.046 2352 966 3400

431 -1.19 -146.6 53.0 -13.3 49 435 0.00 2.22 0.00 0.000 6 0.000 0.033 2346 2343 3404

705 end dive: TARGET_DEPTH_EXCEEDED

state 705 begin apogee

713 -0.28 0.0 91.4 13.7 75 830 0.95 0.00 111.88 0.732 6 0.117 0.000 2641 2139 2800

831 end apogee: CONTROL_FINISHED_OK

state 831 begin climb

835 1.19 146.6 96.8 0.0 87 953 1.42 2.50 110.43 0.686 4 0.072 0.042 3115 3559 2201

1223 1.30 230.9 82.8 6.1 122 1293 0.00 2.22 63.45 0.715 6 0.000 0.027 3126 2157 1858

1612 1.31 239.7 46.9 9.6 159 1623 0.10 0.00 8.50 0.761 6 0.076 0.000 3169 2157 1822

1813 1.31 239.7 25.1 11.1 178 1817 0.00 2.25 0.00 0.000 4 0.000 0.038 3178 756 1821

1842 1.31 239.7 21.9 10.5 180 1849 0.00 2.25 0.00 0.000 6 0.000 0.031 3178 2158 1821

2039 end climb: SURFACE_DEPTH_REACHED

state 2040 begin surface coast

2062 end surface coast: CONTROL_FINISHED_OK

state 2062 begin surface

ID	128	HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	529	ESCAPE_HEADING	0	ROLL_MIN	145	ALTIM_PING_DEPTH	80
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MAX	4014	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_FREQUENCY	13
D_TGT	90	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2350	ALTIM_PULSE	3
D_ABORT	1090	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2150	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_YINT	0
D_PITCH	0	N_FILEKB	4	ROLL_TIMEOUT	15	DEEPGLIDER	0
D_SAFE	0	FILEMGR	0	R_PORT_OVSHOOT	67	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	42	MOTHERBOARD	4
SURFACE_URGENCY	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE2	20
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE3	35
T_DIVE	30	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE4	-1
T_MISSION	75	CALL_TRIES	5	VBD_MIN	204	DEVICE5	-1
T_ABORT	1440	CALL_WAIT	60	VBD_MAX	3580	DEVICE6	-1
T_TURN	270	CAPUPLOAD	0	C_VBD	2800	SMARTS	0
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTDEVICE1	-1
T_NO_W	120	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE2	-1
USE_BATHY	-4	T_GPS	15	VBD_TIMEOUT	360	COMPASS_DEVICE	33
USE_ICE	0	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	GPS_DEVICE	32
D_OFFGRID	100	T_GPS_CHARGE	-71570.477	VBD_PUMP_AD_RATE_APOGEE	3	RAFOS_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	XPDR_DEVICE	24
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	SIM_W	0
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_PITCH	0
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SEABIRD_T_G	0.0043805656
COURSE_BIAS	0	PITCH_MIN	25	AH0_24V	150	SEABIRD_T_H	0.00064742006
GLIDE_SLOPE	45	PITCH_MAX	4070	AH0_10V	100	SEABIRD_T_I	2.5554549e-05
SPEED_FACTOR	1	C_PITCH	2740	PRESSURE_YINT	-10.508845	SEABIRD_T_J	2.6681391e-06
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_C_G	-10.331019
MASS	51503	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_C_H	1.1763502
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012340198
FERRY_MAX	45	PITCH_GAIN	18	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017379176
KALMAN_USE	1	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25
HD_A	0.0038360001	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	013231,4807.334,-12223.286,29,1.1,40,18.3	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	4	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.138,-0.221
_SM_DEPTHo	1.11	KALMAN_X	-21882.0,3.6,-147.9,22366.2,0.1
_SM_ANGLEo	-67.7	KALMAN_Y	-13667.5,221.1,175.6,12654.4,17.9
GPS2	013627,4807.327,-12223.276,10,1.4,10,18.3	MHEAD_RNG_PITCHd_Wd	129.7,5148,-18.2,-10.000
SPEED_LIMITS	0.100,0.261	D_GRID	103

FINISH	0.5,1.025221	XPDR_PINGS	1
SM_CCo	2083,91.57,0.667,0,0,1169,400.08	ALTIM_BOTTOM_PING	66.5,45.1
SM_GC	1.11,0.00,0.00,91.57,0.000,0.000,0.667,19,2362,1169,-8.51,0.37,400.08	_24V_AH	24.5,48.358
IRIDIUM_FIX	4748.51,-12221.84,270907,040412	_10V_AH	10.7,24.853
TT8_MAMPS	0.026078	DATA_FILE_SIZE	9674,218
HUMID	1898	CFSIZE	260165632,242896896
INTERNAL_PRESSURE	9.18004	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.80	GPS	270907,021432,4807.207,-12223.029,8,1.5,13,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	204	104.74	SBE_CT	153	24	90.52
Roll_motor	14	46	16.45	SBE_O2	167	19	77.79
VBD_pump_during_apogee	294	760	5485.16	WL_BB2F	367	105	946.34
VBD_pump_during_surface	91	667	1497.12	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	59.54	nil	0	0	0.00
Iridium_during_connect	15	160	59.03	nil	0	0	0.00
Iridium_during_xfer	99	223	545.79
Transponder_ping	0	420	5.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	6.21
TT8	368	19	78.07
LPSleep	899	2	21.07
TT8_Active	378	19	80.29
TT8_Sampling	517	39	220.57
TT8_CF8	266	45	130.52
TT8_Kalman	33	81	29.19
Analog_circuits	676	12	86.91
GPS_charging	0	0	0.00
Compass	525	8	44.97
RAFOS	0	0	0.00

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
26	end surface: CONTROL_FINISHED_OK
state	26	begin dive
30	-1.19	-146.6	0.0	0.0	0	96	0.00	0.00	-64.28	0.000	2	0.000	0.000	7	2360	2850
100	-1.19	-146.6	3.4	-8.3	12	125	9.43	2.33	-10.40	0.000	4	0.205	0.046	2352	966	3400
431	-1.19	-146.6	53.0	-13.3	49	435	0.00	2.22	0.00	0.000	6	0.000	0.033	2346	2343	3404
705	end dive: TARGET_DEPTH_EXCEEDED
state	705	begin apogee
713	-0.28	0.0	91.4	13.7	75	830	0.95	0.00	111.88	0.732	6	0.117	0.000	2641	2139	2800
831	end apogee: CONTROL_FINISHED_OK
state	831	begin climb
835	1.19	146.6	96.8	0.0	87	953	1.42	2.50	110.43	0.686	4	0.072	0.042	3115	3559	2201
1223	1.30	230.9	82.8	6.1	122	1293	0.00	2.22	63.45	0.715	6	0.000	0.027	3126	2157	1858
1612	1.31	239.7	46.9	9.6	159	1623	0.10	0.00	8.50	0.761	6	0.076	0.000	3169	2157	1822
1813	1.31	239.7	25.1	11.1	178	1817	0.00	2.25	0.00	0.000	4	0.000	0.038	3178	756	1821
1842	1.31	239.7	21.9	10.5	180	1849	0.00	2.25	0.00	0.000	6	0.000	0.031	3178	2158	1821
2039	end climb: SURFACE_DEPTH_REACHED
state	2040	begin surface coast
2062	end surface coast: CONTROL_FINISHED_OK
state	2062	begin surface