DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 76 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  1 HEADING  -1 ROLL_MIN  300 ALTIM_BOTTOM_TURN_MARGIN  0
MISSION  14 ESCAPE_HEADING  0 ROLL_MAX  3750 ALTIM_TOP_TURN_MARGIN  0
DIVE  76 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_TOP_MIN_OBSTACLE  1
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  2025 ALTIM_PING_DEPTH  0
D_FLARE  3 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  2025 ALTIM_PING_DELTA  0
D_TGT  990 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_FREQUENCY  13
D_ABORT  1090 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_PULSE  3
D_NO_BLEED  50 SM_CC  275 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  2
D_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  5 XPDR_VALID  0
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  8 XPDR_INHIBIT  90
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  400 INT_PRESSURE_SLOPE  0.0072730002
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 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  500 MOTHERBOARD  5
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_MAX  3500 DEVICE1  2
T_DIVE  470 CALL_TRIES  5 C_VBD  2500 DEVICE2  -1
T_MISSION  530 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  540 DEVICE5  -1
T_TURN_SAMPINT  5 HEAPDBG  0 PITCH_VBD_SHIFT  0.0012300001 DEVICE6  -1
T_NO_W  120 T_GPS  15 VBD_PUMP_AD_RATE_SURFACE  6 LOGGERS  1
T_LOITER  0 N_GPS  20 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE1  -1
USE_BATHY  -3 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  0 T_GPS_CHARGE  -220693.62 UNCOM_BLEED  250 COMPASS_DEVICE  1
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  2 VBD_MAXERRORS  5 COMPASS2_DEVICE  -1
D_OFFGRID  100 STROBE  0 CF8_MAXERRORS  20 PHONE_DEVICE  32
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_24V  300 GPS_DEVICE  48
RELAUNCH  1 RAFOS_CORR_THRESH  60 AH0_10V  200 RAFOS_DEVICE  48
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_24V  19 XPDR_DEVICE  24
MAX_BUOY  150 PITCH_MIN  450 MINV_10V  8 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3300 FG_AHR_10V  69.703293 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2700 FG_AHR_24V  4.6384048 SEABIRD_T_G  0.0043498399
SPEED_FACTOR  1 PITCH_DBAND  0.1 PHONE_SUPPLY  2 SEABIRD_T_H  0.0006493734
RHO  1.023 PITCH_CNV  0.0046000001 PRESSURE_YINT  -0.036699742 SEABIRD_T_I  2.8112627e-05
MASS  52000 P_OVSHOOT  0.039999999 PRESSURE_SLOPE  9.9999997e-05 SEABIRD_T_J  3.1957888e-06
NAV_MODE  1 PITCH_GAIN  16 AD7714Ch0Gain  1 SEABIRD_C_G  -10.106751
FERRY_MAX  45 PITCH_TIMEOUT  15 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1366181
KALMAN_USE  1 PITCH_AD_RATE  175 TCM_ROLL_OFFSET  0 SEABIRD_C_I  0.00038917549
HD_A  0.0035999999 PITCH_MAXERRORS  1 COMPASS_USE  0 SEABIRD_C_J  7.9540005e-05
HD_B  0.014 PITCH_ADJ_GAIN  0.045000002 ALTIM_BOTTOM_PING_RANGE  0
HD_C  6.1000001e-06 PITCH_ADJ_DBAND  1 ALTIM_TOP_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  141903,6658.057,-5753.967,8,1.1,8,18.0 TGT_NAME  NUUK1
_CALLS  1 TGT_LATLONG  6600.000,-5700.000
_XMS_NAKs  0 TGT_RADIUS  20000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.066,-0.189
_SM_DEPTHo  0.05 KALMAN_X  12356.5,-969.5,-545.2,11457.3,1928.4
_SM_ANGLEo  -50.0 KALMAN_Y  8426.9,1556.5,725.0,-733.2,-1008.0
GPS2  142412,6658.065,-5754.021,23,1.1,23,18.0 MHEAD_RNG_PITCHd_Wd  142.7,114978,-14.2,-7.021
SPEED_LIMITS  0.122,0.200 D_GRID  100

Post-dive calculations and measurements:
FINISH  1.3,1.025239 _24V_AH  23.9,237.149
SM_CCo  22528,0.00,0.000,0,0,588,471.47 _10V_AH  10.7,36.753
SM_GC  0.05,14.68,0.00,0.00,0.000,0.007,0.000,405,2168,588,-10.30,3.93,471.47 FG_AHR_24Vo  4.638
SUPER  3,206,254,0,0,0 FG_AHR_10Vo  69.910
RAFOS_CLK  0 MEM  336324
RAFOS  0,1254931447,16.083334,16.068611,80,0,0,0,0,0,844,0,0,0,0,0 DATA_FILE_SIZE  69191,2092
RAFOS_FIX  6713.935547,-5621.065918,071009,161601,5,80,9.96 CAP_FILE_SIZE  267827,0
IRIDIUM_FIX  0.00,0.00,010170,000000 CFSIZE  260165632,247025664
HUMID  1078149227 ERRORS  0,0,0,0,0,0,0,0,0,0,0,25,1433,2,0
INTERNAL_PRESSURE  16.2421 SOUNDSPEED  1462.7
TCM_TEMP  15.00 GPS  071009,204306,6658.692,-5759.753,9,1.1,9,18.0
XPDR_PINGS  -1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2911982.69 SBE_CT126624726.53
Roll_motor27660397.11 nil000.00
VBD_pump_during_apogee551130017136.66 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init01030.00 nil000.00
Iridium_during_connect000.00 nil000.00
Iridium_during_xfer108223578.92
Transponder_ping000.00
GUMSTIX_24V000.00
GPS245012.85
TT8355819758.39
LPSleep151912375.49
TT8_Active128919274.91
TT8_Sampling220739942.77
TT8_CF864045314.89
TT8_Kalman338129.23
Analog_circuits155912200.29
GPS_charging000.00
Compass210626586.01
RAFOS3240152.00
Transponder150.08

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
22 end surface: CONTROL_FINISHED_OK
state 22 begin dive
25 -1.07 -146.6 0.0 0.0 0 86 0.00 0.00 -58.33 0.000 2 0.007 0.000 394 2204 2357 0 0 0 0 0 0
90 -1.07 -146.6 3.0 -2.1 12 142 10.50 3.40 -24.65 0.000 4 0.000 0.000 2506 370 3103 12 0 19 0 0 0
395 -0.85 -146.6 51.0 -14.7 49 412 0.00 3.53 0.00 0.000 6 0.007 0.000 2502 2306 3101 0 0 21 0 0 0
727 -0.85 -146.6 82.5 -8.9 80 743 0.00 2.97 0.00 0.007 4 0.007 0.000 2508 619 3103 0 0 18 0 0 0
920 end dive: TARGET_DEPTH_EXCEEDED
state 920 begin apogee
931 -0.31 0.0 100.4 8.4 97 1061 0.70 0.00 119.47 0.000 6 0.000 0.000 2674 2128 2502 0 0 0 0 0 0
1062 end apogee: CONTROL_FINISHED_OK
state 1062 begin climb
1064 1.07 146.6 111.4 0.0 110 1208 1.52 3.20 119.78 0.000 4 0.000 0.000 2987 506 1916 1 0 16 0 0 0
1359 2.96 664.5 138.3 -9.7 136 1654 1.67 2.70 263.15 0.000 6 0.000 0.000 3352 2058 599 2 0 14 0 2 0
1968 4.79 1170.4 196.3 -9.3 195 1980 0.00 2.83 4.72 0.000 4 0.007 0.000 3353 338 600 0 0 15 0 0 0
2177 5.40 1668.3 214.9 -9.0 214 2192 0.00 3.45 0.50 0.000 6 0.007 0.000 3355 2190 602 0 0 19 0 0 0
2506 5.99 2150.4 244.0 -8.5 245 2513 0.00 2.55 0.12 0.000 4 0.007 0.000 3352 3573 599 0 0 13 0 0 0
2540 6.61 2649.0 247.1 -9.0 247 2551 0.00 3.12 1.45 0.000 6 0.007 0.000 3355 1633 607 0 0 15 0 0 0
2876 7.20 3131.6 276.8 -8.5 279 2882 0.00 2.17 0.17 0.007 4 0.007 0.000 3354 469 602 0 0 13 0 0 0
3051 7.79 3613.9 291.9 -8.5 294 3067 0.00 3.45 0.57 0.000 6 0.007 0.000 3353 2119 600 0 0 17 0 0 0
3381 8.39 4096.5 320.2 -8.5 325 3396 0.00 2.75 0.20 0.007 4 0.000 0.000 3353 3575 602 0 0 13 0 0 0
3465 9.01 4603.6 327.8 -9.3 332 3480 0.00 2.92 1.10 0.000 6 0.007 0.000 3354 1895 604 0 0 16 0 0 0
3795 9.58 5065.9 355.4 -7.9 363 3811 0.00 3.20 0.12 0.000 4 0.007 0.000 3355 598 600 0 0 19 0 0 0
3867 10.16 5541.0 361.5 -8.3 369 3883 0.00 3.17 0.90 0.000 6 0.007 0.000 3352 2191 600 0 0 16 0 0 0
4197 10.68 5960.6 382.8 -6.5 400 4213 0.00 3.67 0.12 0.007 4 0.000 0.000 3354 3650 600 0 0 23 0 0 0
4466 11.19 6377.3 399.5 -6.4 423 4476 0.00 3.08 1.20 0.000 6 0.007 0.000 3353 1573 600 0 0 18 0 0 0
4801 11.84 6900.2 429.5 -9.8 455 4817 0.00 4.28 0.12 0.000 4 0.007 0.000 3350 3684 597 0 0 21 0 0 0
5069 12.38 7342.0 449.8 -7.2 478 5079 0.00 3.60 0.85 0.000 6 0.007 0.000 3355 1633 600 0 0 19 0 0 0
5404 12.93 7791.6 475.7 -7.5 510 5410 0.00 2.35 0.12 0.000 4 0.007 0.000 3356 328 601 0 0 13 0 0 0
5663 13.51 8262.1 495.1 -8.1 532 5673 0.00 4.12 0.17 0.000 6 0.007 0.000 3355 2403 591 0 0 21 0 0 0
5998 14.07 8712.8 520.1 -7.5 564 6004 0.00 2.45 0.00 0.000 4 0.007 0.000 3355 3634 599 0 0 14 0 0 0
6256 14.60 9143.2 539.0 -6.8 586 6266 0.00 3.47 0.00 0.000 6 0.007 0.000 3355 2024 596 0 0 18 0 0 0
6591 15.16 9601.7 563.1 -7.7 618 6606 0.00 3.08 0.00 0.000 4 0.007 0.000 3353 3557 596 0 0 14 0 0 0
6617 15.71 10050.5 565.1 -7.4 620 6632 0.00 2.88 0.00 0.007 6 0.007 0.000 3353 1877 599 0 0 15 0 0 0
6946 16.29 10520.0 591.1 -8.1 651 6961 0.00 3.90 0.00 0.007 4 0.007 0.000 3354 345 599 0 0 26 0 0 0
7018 16.89 11007.2 597.1 -8.7 657 7034 0.00 3.53 0.00 0.000 6 0.007 0.000 3353 2202 595 0 0 19 0 0 0
7349 17.48 11490.1 625.2 -8.5 688 7355 0.00 2.55 0.00 0.007 4 0.007 0.000 3356 3616 602 0 0 14 0 0 0
7481 18.12 12009.2 637.4 -9.7 699 7496 0.00 3.90 0.00 0.007 6 0.007 0.000 3352 1801 601 0 0 23 0 0 0
7810 18.68 12463.2 662.3 -7.6 730 7817 0.00 2.65 0.00 0.007 4 0.000 0.000 3356 382 602 0 0 13 0 0 0
7885 19.31 12972.7 668.8 -9.4 736 7900 0.00 3.40 0.00 0.007 6 0.007 0.000 3353 2474 600 0 0 15 0 0 0
8214 19.85 13412.7 693.2 -7.1 767 8219 0.00 2.12 0.00 0.007 4 0.007 0.000 3354 3626 601 0 0 10 0 0 0
8288 20.41 13870.4 698.9 -7.7 773 8304 0.00 3.95 0.00 0.007 6 0.007 0.000 3354 2017 603 0 0 22 0 0 0
8618 21.01 14360.7 728.9 -8.8 804 8634 0.00 2.97 0.00 0.007 4 0.007 0.000 3352 227 610 0 0 17 0 0 0
8679 21.59 14829.4 734.1 -8.1 809 8695 0.00 3.55 0.00 0.007 6 0.007 0.000 3356 2266 602 0 0 17 0 0 0
9009 22.15 15284.4 759.7 -7.6 840 9015 0.00 2.22 0.00 0.007 4 0.007 0.000 3354 3578 603 0 0 11 0 0 0
9134 22.74 15765.7 769.9 -8.5 850 9143 0.00 3.00 0.00 0.007 6 0.007 0.000 3354 1784 600 0 0 16 0 0 0
9468 23.30 16218.3 795.5 -7.6 882 9474 0.00 2.45 0.00 0.007 4 0.000 0.000 3353 499 602 0 0 12 0 0 0
9636 23.85 16666.8 807.9 -7.4 896 9646 0.00 3.20 1.10 0.000 6 0.000 0.000 3353 2440 598 0 0 17 0 0 0
9971 24.40 17111.2 832.0 -7.3 928 9988 0.00 3.20 0.25 0.007 4 0.007 0.000 3352 515 605 0 0 18 0 0 0
10045 24.95 17565.6 837.5 -7.6 934 10061 0.00 4.15 0.10 0.007 6 0.007 0.000 3353 2222 600 0 0 24 0 0 0
10376 25.52 18021.8 862.3 -7.7 965 10382 0.00 2.58 0.12 0.007 4 0.007 0.000 3351 3509 601 0 0 13 0 0 0
10522 26.09 18490.3 874.0 -8.1 977 10534 0.00 2.80 1.83 0.000 6 0.007 0.000 3352 1837 601 0 0 15 0 0 0
10858 26.59 18895.9 895.5 -6.0 1009 10865 0.00 2.50 0.12 0.007 4 0.007 0.000 3354 463 601 0 0 12 0 0 0
11102 26.99 19224.0 913.5 -3.5 1030 11117 0.00 3.25 0.82 0.000 6 0.007 0.000 3354 2182 602 0 0 15 0 0 0
11431 26.70 19224.0 895.8 11.4 1061 11438 0.00 2.60 0.12 0.007 4 0.007 0.000 3357 3668 600 0 0 14 0 0 0
11690 26.57 19224.0 866.8 9.1 1083 11701 0.00 3.05 1.77 0.000 6 0.007 0.000 3353 1886 600 0 0 17 0 0 0
12025 26.57 19224.0 839.5 8.3 1115 12031 0.00 2.45 0.15 0.000 4 0.007 0.000 3356 284 600 0 0 13 0 0 0
12283 26.57 19224.0 819.6 8.5 1137 12294 0.00 3.30 1.70 0.000 6 0.007 0.000 3355 2166 602 0 0 15 0 0 0
12618 26.57 19224.0 793.2 7.5 1169 12634 0.00 4.40 0.28 0.007 4 0.007 0.000 3352 354 603 0 0 24 0 0 0
12886 26.57 19224.0 772.7 7.8 1192 12898 0.00 3.92 1.25 0.000 6 0.007 0.000 3355 2234 599 0 0 20 0 0 0
13222 26.57 19224.0 748.1 7.3 1224 13239 0.00 4.15 0.15 0.000 4 0.007 0.000 3355 524 601 0 0 21 0 0 0
13491 26.57 19224.0 728.6 7.5 1247 13502 0.00 3.95 0.90 0.000 6 0.007 0.000 3356 2282 609 0 0 23 0 0 0
13826 26.57 19224.0 703.7 7.1 1279 13842 0.00 3.55 0.15 0.007 4 0.000 0.000 3352 441 602 0 0 18 0 0 0
14094 26.50 19224.0 682.8 8.5 1302 14105 0.00 3.17 1.55 0.000 6 0.007 0.000 3352 2119 599 0 0 17 0 0 0
14429 26.62 19254.3 659.4 6.0 1334 14445 0.00 4.05 0.12 0.000 4 0.007 0.000 3351 3595 601 0 0 24 0 0 0
14462 26.75 19289.7 657.4 5.9 1336 14472 0.00 3.53 0.68 0.000 6 0.007 0.000 3353 1881 599 0 0 19 0 0 0
14797 26.67 19289.7 632.2 8.5 1368 14803 0.00 2.40 0.12 0.007 4 0.000 0.000 3354 503 601 0 0 10 0 0 0
15055 26.75 19289.7 611.8 7.2 1390 15066 0.00 2.97 1.90 0.000 6 0.007 0.000 3354 2161 600 0 0 16 0 0 0
15390 26.82 19289.7 588.1 7.4 1422 15405 0.00 3.03 0.12 0.000 4 0.007 0.000 3355 304 602 0 0 14 0 0 0
15658 26.74 19289.7 568.3 8.8 1445 15668 0.00 3.40 1.15 0.000 6 0.007 0.000 3355 2233 601 0 0 18 0 0 0
15993 26.80 19289.7 536.9 8.0 1477 16008 0.00 3.08 0.12 0.000 4 0.007 0.000 3354 503 599 0 0 15 0 0 0
16261 26.89 19289.7 516.2 7.6 1500 16273 0.00 2.62 2.28 0.000 6 0.007 0.000 3353 2011 601 0 0 11 0 0 0
16597 26.82 19289.7 482.7 9.6 1532 16604 0.00 2.67 0.12 0.007 4 0.007 0.000 3351 469 601 0 0 12 0 0 0
16856 26.91 19289.7 462.7 7.1 1554 16867 0.00 2.78 2.17 0.000 6 0.007 0.000 3352 2191 599 0 0 12 0 0 0
17192 27.13 19315.3 438.8 6.2 1586 17208 0.00 3.53 0.12 0.007 4 0.007 0.000 3351 248 598 0 0 21 0 0 0
17378 27.17 19350.2 424.4 5.9 1602 17393 0.00 3.12 0.90 0.000 6 0.007 0.000 3354 2254 601 0 0 17 0 0 0
17707 27.17 19350.2 403.8 7.7 1633 17722 0.00 3.22 0.12 0.000 4 0.007 0.000 3358 425 599 0 0 15 0 0 0
17975 27.05 19350.2 375.5 10.0 1656 17987 0.00 4.10 0.43 0.007 6 0.007 0.000 3353 2069 600 0 0 20 0 0 0
18311 27.14 19350.2 350.8 7.3 1688 18328 0.00 2.97 0.12 0.007 4 0.000 0.000 3353 388 595 0 0 13 0 0 0
18339 27.06 19350.2 348.0 9.8 1690 18356 0.00 3.42 0.65 0.000 6 0.007 0.000 3353 2140 599 0 0 15 0 0 0
18670 27.13 19350.2 313.2 8.5 1721 18686 0.00 3.38 0.12 0.000 4 0.007 0.000 3351 421 598 0 0 17 0 0 0
18938 27.13 19350.2 290.2 8.7 1744 18949 0.00 4.25 0.17 0.007 6 0.007 0.000 3355 2031 599 0 0 25 0 0 0
19273 27.13 19350.2 259.4 8.9 1776 19280 0.00 2.80 0.17 0.007 4 0.007 0.000 3354 3635 602 0 0 12 0 0 0
19531 27.13 19350.2 235.5 9.0 1798 19542 0.00 3.22 2.00 0.000 6 0.007 0.000 3354 1838 601 0 0 16 0 0 0
19867 27.18 19350.2 207.2 8.1 1830 19874 0.00 2.70 0.12 0.007 4 0.007 0.000 3355 3556 601 0 0 14 0 0 0
20111 27.18 19350.2 187.7 7.8 1851 20126 0.00 2.67 1.42 0.000 6 0.007 0.000 3352 1860 600 0 0 14 0 0 0
20440 27.18 19350.2 160.7 8.0 1882 20455 0.00 2.75 0.12 0.007 4 0.000 0.000 3354 497 602 0 0 13 0 0 0
20635 27.18 19350.2 145.1 8.6 1899 20651 0.00 2.97 1.33 0.000 6 0.007 0.000 3355 2228 600 0 0 14 0 0 0
20965 27.18 19350.2 120.1 7.4 1930 20980 0.00 3.05 0.12 0.000 4 0.007 0.000 3354 3614 599 0 0 16 0 0 0
21232 27.18 19350.2 98.5 8.2 1953 21243 0.00 2.78 2.20 0.000 6 0.007 0.000 3353 1869 589 0 0 11 0 0 0
21567 27.18 19350.2 69.4 8.9 1985 21582 0.00 3.20 0.12 0.007 4 0.007 0.000 3355 3561 598 0 0 15 0 0 0
21677 27.18 19350.2 59.3 9.1 1994 21687 0.00 2.67 2.67 0.000 6 0.007 0.000 3355 1891 592 0 0 13 0 0 0
22012 27.18 19350.2 29.0 7.6 2026 22027 0.00 3.40 0.15 0.007 4 0.000 0.000 3357 3546 594 0 0 17 0 0 0
22043 27.18 19350.2 26.4 7.5 2028 22054 0.00 2.67 2.28 0.000 6 0.007 0.000 3355 1865 591 0 0 11 0 0 0
22252 27.23 19396.3 11.7 5.5 2059 22259 0.00 2.50 0.12 0.007 4 0.007 0.000 3355 438 590 0 0 10 0 0 0
22389 end climb: SURFACE_DEPTH_REACHED
state 22389 begin surface coast
22438 end surface coast: CONTROL_FINISHED_OK
state 22438 begin surface