DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 69 * 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  69 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  450 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  26 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  -5546.6201 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  002230,6649.458,-5905.917,38,1.2,38,-37.9 TGT_NAME  TARGET_ADD3_EB
_CALLS  1 TGT_LATLONG  6655.000,-5823.000
_XMS_NAKs  0 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.31 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -73.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  003349,6649.438,-5906.006,12,1.6,17,-37.9 MHEAD_RNG_PITCHd_Wd  101.0,32882,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  1000

Post-dive calculations and measurements:
FINISH  1.4,1.024713 _24V_AH  22.7,14.346
SM_CCo  18004,70.60,0.670,0,0,1104,450.13 _10V_AH  10.1,6.218
SM_GC  2.31,0.00,0.00,70.60,0.000,0.000,0.670,144,1864,1104,-9.00,0.40,450.13 FG_AHR_24Vo  0.000
RAFOS_CLK  941 FG_AHR_10Vo  0.000
RAFOS_FIX  0.000000,0.000000,010170,000000,0,0,0.00 MEM  150760
IRIDIUM_FIX  6620.33,-5859.36,250199,191920 DATA_FILE_SIZE  56677,1419
TT8_MAMPS  0.052156 CAP_FILE_SIZE  176989,0
HUMID  39.13 CFSIZE  260165632,246927360
INTERNAL_PRESSURE  9.39489 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
TCM_TEMP  14.70 SOUNDSPEED  1457.9
XPDR_PINGS  0 CURRENT  0.288,160.8,1
ALTIM_BOTTOM_PING  852.2,174.7 GPS  011109,053607,6648.073,-5857.443,35,2.0,35,-37.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23250132.09 SBE_CT99524542.34
Roll_motor12389252.34 SBE_O2105619455.85
VBD_pump_during_apogee465126713407.98 nil000.00
VBD_pump_during_surface706701074.33 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2410356.25 nil000.00
Iridium_during_connect30160110.93 nil000.00
Iridium_during_xfer5282232675.22
Transponder_ping242026.22
GUMSTIX_24V000.00
GPS18509.11
TT80190.00
LPSleep144672337.55
TT8_Active68119137.06
TT8_Sampling2874391159.08
TT8_CF870845328.48
TT8_Kalman000.00
Analog_circuits186912226.62
GPS_charging000.00
Compass22728183.65
RAFOS3177148.13
Transponder24307.52

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 87 0.00 0.00 -72.85 0.000 2 0.000 0.000 135 1857 2448 0 0 0 0 0 0
89 -0.64 -146.0 3.2 -2.3 14 141 10.75 2.38 -34.67 0.000 4 0.251 0.090 2809 436 3537 0 0 0 0 0 0
279 -0.51 -146.0 37.7 -19.7 57 285 0.17 2.30 0.00 0.000 6 0.150 0.058 2871 1843 3539 0 0 0 0 0 0
604 -0.60 -146.0 77.9 -10.9 118 605 0.12 0.00 0.00 0.000 6 0.104 0.000 2816 1843 3539 0 0 0 0 0 0
919 -0.55 -146.0 124.9 -14.6 162 923 0.10 2.30 0.00 0.000 4 0.184 0.076 2843 439 3539 0 0 0 0 0 0
940 -0.55 -146.0 128.0 -14.7 164 947 0.00 2.28 0.00 0.000 6 0.000 0.058 2834 1850 3539 0 0 0 0 0 0
1254 -0.55 -146.0 169.5 -12.3 195 1258 0.00 2.35 0.00 0.000 4 0.000 0.077 2834 441 3539 0 0 0 0 0 0
1280 -0.55 -146.0 172.8 -13.6 198 1284 0.00 2.25 0.00 0.000 6 0.000 0.058 2834 1845 3539 0 0 0 0 0 0
1599 -0.58 -146.0 212.3 -12.3 229 1600 0.00 0.00 0.00 0.000 6 0.000 0.000 2834 1845 3538 0 0 0 0 0 0
1910 -0.63 -146.0 247.0 -10.5 259 1913 0.00 2.28 0.00 0.000 4 0.000 0.077 2834 435 3538 0 0 0 0 0 0
1948 -0.68 -146.0 251.9 -12.1 263 1954 0.00 2.25 0.00 0.000 6 0.000 0.058 2834 1842 3538 0 0 0 0 0 0
2263 -0.74 -146.0 288.9 -11.5 294 2264 0.15 0.00 0.00 0.000 6 0.096 0.000 2770 1842 3538 0 0 0 0 0 0
2573 -0.63 -146.0 338.0 -15.6 324 2577 0.17 2.30 0.00 0.000 4 0.163 0.077 2820 424 3538 0 0 0 0 0 0
2616 -0.67 -146.0 343.7 -12.0 329 2620 0.00 2.28 0.00 0.000 6 0.000 0.058 2811 1850 3538 0 0 0 0 0 0
2935 -0.67 -146.0 381.7 -12.1 360 2935 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 1850 3538 0 0 0 0 0 0
3245 -0.67 -146.0 418.6 -12.1 390 3249 0.00 2.33 0.00 0.000 4 0.000 0.077 2811 440 3538 0 0 0 0 0 0
3288 -0.67 -146.0 424.0 -12.1 395 3292 0.00 2.25 0.00 0.000 6 0.000 0.058 2807 1856 3538 0 0 0 0 0 0
3607 -0.67 -146.0 460.2 -11.1 426 3611 0.00 2.30 0.00 0.000 4 0.000 0.074 2807 442 3539 0 0 0 0 0 0
3637 -0.67 -146.0 463.7 -11.6 429 3643 0.00 2.22 0.00 0.000 6 0.000 0.057 2807 1850 3538 0 0 0 0 0 0
3951 -0.67 -146.0 498.2 -10.9 460 3952 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1850 3538 0 0 0 0 0 0
4262 -0.67 -146.0 532.2 -10.6 490 4266 0.00 2.33 0.00 0.000 4 0.000 0.075 2807 435 3539 0 0 0 0 0 0
4296 -0.67 -146.0 536.2 -11.6 494 4300 0.00 2.25 0.00 0.000 6 0.000 0.057 2807 1859 3539 0 0 0 0 0 0
4615 -0.67 -146.0 571.7 -11.0 525 4618 0.00 2.30 0.00 0.000 4 0.000 0.074 2807 438 3540 0 0 0 0 0 0
4636 -0.67 -146.0 574.3 -11.7 527 4642 0.00 2.22 0.00 0.000 6 0.000 0.055 2807 1850 3540 0 0 0 0 0 0
4949 -0.67 -146.0 607.3 -10.6 554 4950 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1850 3540 0 0 0 0 0 0
5253 -0.67 -146.0 638.6 -10.3 564 5257 0.00 2.30 0.00 0.000 4 0.000 0.074 2807 445 3541 0 0 0 0 0 0
5283 -0.67 -146.0 641.9 -10.1 565 5287 0.00 2.20 0.00 0.000 6 0.000 0.056 2807 1843 3540 0 0 0 0 0 0
5616 -0.71 -146.0 676.7 -10.5 576 5617 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1843 3541 0 0 0 0 0 0
5920 -0.71 -146.0 708.3 -10.4 586 5924 0.00 2.25 0.00 0.000 4 0.000 0.074 2807 445 3541 0 0 0 0 0 0
5950 -0.71 -146.0 711.6 -11.3 587 5954 0.00 2.20 0.00 0.000 6 0.000 0.056 2807 1848 3541 0 0 0 0 0 0
6284 -0.74 -146.0 746.1 -10.4 598 6285 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1848 3541 0 0 0 0 0 0
6587 -0.77 -146.0 778.5 -10.7 608 6588 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1848 3542 0 0 0 0 0 0
6890 -0.82 -146.0 810.7 -10.6 618 6894 0.12 2.28 0.00 0.000 4 0.103 0.074 2748 424 3542 0 0 0 0 0 0
6908 -0.75 -146.0 812.9 -13.0 618 6912 0.08 2.22 0.00 0.000 6 0.163 0.056 2779 1844 3542 0 0 0 0 0 0
7227 -0.71 -146.0 852.2 -12.2 629 7228 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 1843 3541 0 0 0 0 0 0
7527 -0.68 -146.0 889.1 -12.1 639 7528 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 1843 3541 0 0 0 0 0 0
7831 -0.64 -146.0 926.2 -12.0 649 7832 0.12 0.00 0.00 0.000 6 0.176 0.000 2815 1844 3541 0 0 0 0 0 0
8134 -0.72 -146.0 954.0 -9.0 659 8138 0.00 2.28 0.00 0.000 4 0.000 0.074 2815 436 3542 0 0 0 0 0 0
8156 -0.79 -146.0 956.1 -10.1 659 8160 0.08 2.22 0.00 0.000 6 0.071 0.056 2764 1850 3541 0 0 0 0 0 0
8436 end dive: TARGET_DEPTH_EXCEEDED
state 8436 begin apogee
8439 -0.13 0.0 991.5 12.6 669 8567 0.68 0.00 125.60 1.268 6 0.141 0.000 2982 1693 2940 0 0 0 0 0 0
8567 end apogee: CONTROL_FINISHED_OK
state 8567 begin climb
8568 0.64 146.0 996.3 0.0 673 8706 0.70 2.53 131.05 1.236 4 0.084 0.072 3238 297 2343 0 0 0 0 0 0
8753 0.50 174.7 994.0 8.7 679 8786 0.15 2.40 26.80 1.175 6 0.149 0.050 3194 1697 2226 0 0 0 0 0 0
9101 0.53 202.4 964.5 8.7 691 9128 0.00 0.00 25.48 1.171 6 0.000 0.000 3194 1697 2114 0 0 0 0 0 0
9405 0.59 224.2 937.7 9.0 701 9427 0.00 0.00 20.62 1.153 6 0.000 0.000 3194 1697 2024 0 0 0 0 0 0
9709 0.65 236.9 909.4 9.4 711 9725 0.12 2.38 12.05 1.091 4 0.105 0.075 3257 294 1972 0 0 0 0 0 0
9746 0.53 236.9 904.8 14.6 712 9750 0.17 2.33 0.00 0.000 6 0.146 0.051 3202 1706 1971 0 0 0 0 0 0
10071 0.53 241.0 872.3 9.8 723 10076 0.00 0.00 4.75 0.837 6 0.000 0.000 3202 1707 1956 0 0 0 0 0 0
10374 0.57 245.1 842.4 9.8 733 10386 0.00 2.33 5.22 0.872 4 0.000 0.074 3211 293 1940 0 0 0 0 0 0
10402 0.57 245.1 839.4 10.6 734 10406 0.00 2.25 0.00 0.000 6 0.000 0.051 3212 1696 1940 0 0 0 0 0 0
10736 0.57 245.1 805.1 10.3 745 10736 0.00 0.00 0.00 0.000 6 0.000 0.000 3212 1697 1938 0 0 0 0 0 0
11039 0.57 245.2 774.6 10.0 755 11040 0.00 0.00 0.00 0.000 6 0.000 0.000 3212 1697 1937 0 0 0 0 0 0
11343 0.57 248.4 744.7 9.9 765 11348 0.00 0.00 4.32 0.770 6 0.000 0.000 3212 1697 1927 0 0 0 0 0 0
11646 0.57 248.4 713.5 10.3 775 11650 0.00 2.30 0.00 0.000 4 0.000 0.077 3222 302 1926 0 0 0 0 0 0
11685 0.57 248.4 709.1 12.3 776 11689 0.00 2.20 0.00 0.000 6 0.000 0.051 3222 1696 1925 0 0 0 0 0 0
12010 0.57 248.4 672.9 11.1 787 12010 0.00 0.00 0.00 0.000 6 0.000 0.000 3223 1696 1925 0 0 0 0 0 0
12313 0.57 248.4 639.5 10.9 797 12314 0.00 0.00 0.00 0.000 6 0.000 0.000 3222 1696 1925 0 0 0 0 0 0
12617 0.57 248.4 606.0 11.1 807 12617 0.00 0.00 0.00 0.000 6 0.000 0.000 3221 1696 1924 0 0 0 0 0 0
12926 0.57 248.4 572.6 10.5 833 12930 0.00 2.28 0.00 0.000 4 0.000 0.077 3232 298 1924 0 0 0 0 0 0
12956 0.57 248.4 569.3 11.8 836 12962 0.00 2.20 0.00 0.000 6 0.000 0.052 3232 1698 1924 0 0 0 0 0 0
13271 0.54 248.4 535.0 10.9 867 13272 0.12 0.00 0.00 0.000 6 0.176 0.000 3198 1698 1924 0 0 0 0 0 0
13581 0.63 265.8 507.2 9.2 897 13602 0.00 2.33 16.52 0.931 4 0.000 0.077 3208 302 1856 0 0 0 0 0 0
13637 0.72 276.8 501.9 9.5 903 13653 0.10 2.22 11.80 0.885 6 0.068 0.051 3263 1708 1810 0 0 0 0 0 0
13968 0.62 276.8 455.5 13.9 936 13969 0.12 0.00 0.00 0.000 6 0.171 0.000 3227 1708 1804 0 0 0 0 0 0
14278 0.62 276.8 419.2 11.6 966 14282 0.00 2.33 0.00 0.000 4 0.000 0.075 3238 294 1803 0 0 0 0 0 0
14330 0.62 276.8 412.9 11.1 972 14334 0.00 2.22 0.00 0.000 6 0.000 0.051 3238 1705 1803 0 0 0 0 0 0
14648 0.62 276.8 373.9 12.5 1003 14649 0.00 0.00 0.00 0.000 6 0.000 0.000 3238 1706 1803 0 0 0 0 0 0
14959 0.62 276.8 336.3 11.3 1033 14963 0.00 2.30 0.00 0.000 4 0.000 0.076 3248 302 1803 0 0 0 0 0 0
15002 0.62 276.8 330.9 12.7 1038 15006 0.00 2.20 0.00 0.000 6 0.000 0.051 3248 1701 1803 0 0 0 0 0 0
15321 0.62 276.8 292.6 12.1 1069 15325 0.00 2.30 0.00 0.000 4 0.000 0.075 3258 295 1802 0 0 0 0 0 0
15352 0.58 276.8 288.9 11.5 1072 15357 0.15 2.17 0.00 0.000 6 0.166 0.051 3215 1707 1802 0 0 0 0 0 0
15666 0.70 298.0 259.1 9.0 1103 15687 0.10 0.00 18.62 0.798 6 0.121 0.000 3260 1709 1725 0 0 0 0 0 0
15996 0.70 298.0 218.1 12.1 1135 16000 0.00 2.33 0.00 0.000 4 0.000 0.075 3271 295 1720 0 0 0 0 0 0
16017 0.66 298.0 215.6 13.4 1137 16024 0.08 2.22 0.00 0.000 6 0.150 0.051 3244 1701 1719 0 0 0 0 0 0
16332 0.70 305.1 182.6 9.7 1168 16345 0.00 2.35 6.85 0.681 4 0.000 0.069 3244 3115 1695 0 0 0 0 0 0
16362 0.75 305.3 179.7 10.0 1171 16367 0.00 2.28 0.00 0.000 6 0.000 0.065 3254 1701 1694 0 0 0 0 0 0
16676 0.80 322.1 148.6 9.2 1202 16697 0.00 2.35 16.38 0.739 4 0.000 0.078 3264 295 1626 0 0 0 0 0 0
16758 0.84 322.1 140.3 11.2 1211 16763 0.10 2.20 0.00 0.000 6 0.119 0.053 3309 1700 1625 0 0 0 0 0 0
17073 0.76 322.1 96.5 14.9 1244 17074 0.12 0.00 0.00 0.000 6 0.173 0.000 3275 1701 1622 0 0 0 0 0 0
17394 0.84 353.3 62.9 8.6 1304 17428 0.00 2.35 28.08 0.709 4 0.000 0.079 3285 287 1498 0 0 0 0 0 0
17449 0.90 353.3 57.5 11.0 1316 17454 0.00 2.28 0.00 0.000 6 0.000 0.054 3285 1698 1496 0 0 0 0 0 0
17774 0.99 366.4 26.2 9.4 1377 17790 0.15 2.40 11.73 0.665 4 0.098 0.078 3357 287 1446 0 0 0 0 0 0
17806 0.87 366.4 22.4 12.1 1384 17812 0.15 2.28 0.00 0.000 6 0.156 0.054 3309 1703 1444 0 0 0 0 0 0
17953 end climb: SURFACE_DEPTH_REACHED
state 17953 begin surface coast
17991 end surface coast: CONTROL_FINISHED_OK
state 17991 begin surface