Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 531 * 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 531 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 53 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 40 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 2750 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 -71596.422 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 2725 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 -71596.422

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 2725 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 53 USE_ICE 0

C_VBD 2750 MAX_BUOY 150 R_STBD_OVSHOOT 40 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 531 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 025921,4807.010,-12222.782,8,1.2,8,18.3 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.105,-0.239

_SM_DEPTHo 1.14 KALMAN_X -21754.7,-11.2,-137.9,22852.0,57.3

_SM_ANGLEo -67.6 KALMAN_Y -13427.5,194.4,140.3,11863.2,17.3

GPS2 030321,4806.996,-12222.785,11,1.3,11,18.3 MHEAD_RNG_PITCHd_Wd 137.9,4306,-18.2,-10.000

SPEED_LIMITS 0.100,0.261 D_GRID 105

Post-dive calculations and measurements:

FINISH 0.7,1.024611 XPDR_PINGS 0

SM_CCo 2079,85.07,0.663,0,0,1119,400.08 ALTIM_BOTTOM_PING 65.5,59.8

SM_GC 1.44,0.00,0.00,85.07,0.000,0.000,0.663,16,2357,1119,-8.47,0.20,400.08 _24V_AH 24.5,48.534

IRIDIUM_FIX 4748.51,-12229.01,270907,060632 _10V_AH 10.7,24.917

TT8_MAMPS 0.026845 DATA_FILE_SIZE 9625,219

HUMID 1897 CFSIZE 260165632,242847744

INTERNAL_PRESSURE 9.17027 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 GPS 270907,034115,4806.771,-12222.560,10,1.6,10,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 207 106.04 SBE_CT 154 24 90.88

Roll_motor 9 45 11.00 SBE_O2 169 19 78.88

VBD_pump_during_apogee 308 775 5869.97 WL_BB2F 369 105 950.69

VBD_pump_during_surface 85 662 1381.27 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 59.94 nil 0 0 0.00

Iridium_during_connect 12 160 49.13 nil 0 0 0.00

Iridium_during_xfer 97 223 533.11

Transponder_ping 0 420 2.57

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.86

TT8 363 19 77.11

LPSleep 908 2 21.29

TT8_Active 381 19 80.87

TT8_Sampling 501 39 213.44

TT8_CF8 270 45 132.63

TT8_Kalman 33 81 29.19

Analog_circuits 670 12 86.11

GPS_charging 0 0 0.00

Compass 509 8 43.63

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

27 -1.19 -146.6 0.0 0.0 0 93 0.00 0.00 -64.15 0.000 2 0.000 0.000 20 2355 2864

97 -1.19 -146.6 3.6 -9.4 12 122 9.35 2.30 -9.05 0.000 4 0.207 0.045 2334 940 3351

427 -1.19 -146.6 55.3 -14.4 48 431 0.00 2.28 0.00 0.000 6 0.000 0.033 2327 2347 3354

675 end dive: TARGET_DEPTH_EXCEEDED

state 675 begin apogee

683 -0.28 0.0 91.4 14.2 71 800 0.98 0.00 111.70 0.732 6 0.123 0.000 2626 2128 2749

801 end apogee: CONTROL_FINISHED_OK

state 801 begin climb

804 1.19 146.6 97.0 0.0 83 923 1.45 2.50 110.30 0.684 4 0.077 0.041 3102 3552 2152

1089 1.28 215.4 87.1 6.9 109 1146 0.00 2.22 52.50 0.714 6 0.000 0.027 3112 2154 1871

1466 1.31 241.6 53.6 8.8 144 1489 0.00 0.00 21.38 0.749 6 0.000 0.000 3112 2154 1763

1810 1.33 257.1 21.9 9.3 176 1826 0.12 0.00 13.10 0.775 6 0.068 0.000 3164 2154 1702

2016 end climb: SURFACE_DEPTH_REACHED

state 2016 begin surface coast

2057 end surface coast: CONTROL_FINISHED_OK

state 2057 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	531	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	53	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	40	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	2750	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	-71596.422	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	2725	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	025921,4807.010,-12222.782,8,1.2,8,18.3	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.105,-0.239
_SM_DEPTHo	1.14	KALMAN_X	-21754.7,-11.2,-137.9,22852.0,57.3
_SM_ANGLEo	-67.6	KALMAN_Y	-13427.5,194.4,140.3,11863.2,17.3
GPS2	030321,4806.996,-12222.785,11,1.3,11,18.3	MHEAD_RNG_PITCHd_Wd	137.9,4306,-18.2,-10.000
SPEED_LIMITS	0.100,0.261	D_GRID	105

FINISH	0.7,1.024611	XPDR_PINGS	0
SM_CCo	2079,85.07,0.663,0,0,1119,400.08	ALTIM_BOTTOM_PING	65.5,59.8
SM_GC	1.44,0.00,0.00,85.07,0.000,0.000,0.663,16,2357,1119,-8.47,0.20,400.08	_24V_AH	24.5,48.534
IRIDIUM_FIX	4748.51,-12229.01,270907,060632	_10V_AH	10.7,24.917
TT8_MAMPS	0.026845	DATA_FILE_SIZE	9625,219
HUMID	1897	CFSIZE	260165632,242847744
INTERNAL_PRESSURE	9.17027	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	270907,034115,4806.771,-12222.560,10,1.6,10,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	207	106.04	SBE_CT	154	24	90.88
Roll_motor	9	45	11.00	SBE_O2	169	19	78.88
VBD_pump_during_apogee	308	775	5869.97	WL_BB2F	369	105	950.69
VBD_pump_during_surface	85	662	1381.27	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	59.94	nil	0	0	0.00
Iridium_during_connect	12	160	49.13	nil	0	0	0.00
Iridium_during_xfer	97	223	533.11
Transponder_ping	0	420	2.57
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.86
TT8	363	19	77.11
LPSleep	908	2	21.29
TT8_Active	381	19	80.87
TT8_Sampling	501	39	213.44
TT8_CF8	270	45	132.63
TT8_Kalman	33	81	29.19
Analog_circuits	670	12	86.11
GPS_charging	0	0	0.00
Compass	509	8	43.63
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
27	-1.19	-146.6	0.0	0.0	0	93	0.00	0.00	-64.15	0.000	2	0.000	0.000	20	2355	2864
97	-1.19	-146.6	3.6	-9.4	12	122	9.35	2.30	-9.05	0.000	4	0.207	0.045	2334	940	3351
427	-1.19	-146.6	55.3	-14.4	48	431	0.00	2.28	0.00	0.000	6	0.000	0.033	2327	2347	3354
675	end dive: TARGET_DEPTH_EXCEEDED
state	675	begin apogee
683	-0.28	0.0	91.4	14.2	71	800	0.98	0.00	111.70	0.732	6	0.123	0.000	2626	2128	2749
801	end apogee: CONTROL_FINISHED_OK
state	801	begin climb
804	1.19	146.6	97.0	0.0	83	923	1.45	2.50	110.30	0.684	4	0.077	0.041	3102	3552	2152
1089	1.28	215.4	87.1	6.9	109	1146	0.00	2.22	52.50	0.714	6	0.000	0.027	3112	2154	1871
1466	1.31	241.6	53.6	8.8	144	1489	0.00	0.00	21.38	0.749	6	0.000	0.000	3112	2154	1763
1810	1.33	257.1	21.9	9.3	176	1826	0.12	0.00	13.10	0.775	6	0.068	0.000	3164	2154	1702
2016	end climb: SURFACE_DEPTH_REACHED
state	2016	begin surface coast
2057	end surface coast: CONTROL_FINISHED_OK
state	2057	begin surface