Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 791 * 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 791 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 120 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2350 ALTIM_PULSE 3

D_ABORT 1090 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2200 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 SM_CC 530 ROLL_CNV 0.028270001 INT_PRESSURE_YINT 0

D_PITCH 0 N_FILEKB 8 ROLL_TIMEOUT 15 DEEPGLIDER 0

D_SAFE 0 FILEMGR 0 R_PORT_OVSHOOT 39 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 20 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE4 -1

T_MISSION 30 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 2400 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 -84107.922 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 0.0001162386 SEABIRD_C_G -10.331019

MASS 51503 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_C_H 1.1763502

NAV_MODE 0 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 2 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 530

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 120 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PRESSURE_SLOPE 0.0001162386 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 20

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 -84107.922

CALL_WAIT 60 HD_C 9.8541004e-06 ROLL_ADJ_DBAND 0 T_MISSION 30

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 2200 KALMAN_USE 2 ROLL_TIMEOUT 15 USE_BATHY -4

C_ROLL_DIVE 2350 MASS 51503 R_PORT_OVSHOOT 39 USE_ICE 0

C_VBD 2400 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 0 SEABIRD_C_I -0.0012340198 VBD_MAX 3580

DEVICE2 20 N_FILEKB 8 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 791 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 111353,4809.610,-12225.984,74,3.3,93,18.4 TGT_NAME EIGHT

_CALLS 2 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.182,-0.186

_SM_DEPTHo 2.49 KALMAN_X -80.8,-80.8,-80.8,31.2,-149.4

_SM_ANGLEo -69.2 KALMAN_Y 77.3,77.3,77.3,-128.7,142.9

GPS2 112237,4809.574,-12225.956,36,0.9,40,18.4 MHEAD_RNG_PITCHd_Wd 121.9,3787,-31.3,-20.000

SPEED_LIMITS 0.200,0.312 D_GRID 72

Post-dive calculations and measurements:

FINISH 1.6,1.018188 XPDR_PINGS 0

SM_CCo 1391,14.80,0.673,0,0,239,530.09 ALTIM_BOTTOM_PING 48.0,10.7

SM_GC 3.21,0.00,0.00,14.80,0.000,0.000,0.673,15,2344,239,-8.51,-0.17,530.09 _24V_AH 24.2,72.605

IRIDIUM_FIX 4751.72,-12228.02,071007,151559 _10V_AH 10.7,36.182

TT8_MAMPS 0.026078 DATA_FILE_SIZE 9657,194

HUMID 1820 CFSIZE 260165632,235917312

INTERNAL_PRESSURE 9.10191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.10 GPS 071007,114745,4809.588,-12225.928,17,1.7,35,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 200 111.85 SBE_CT 142 24 82.82

Roll_motor 13 62 20.75 SBE_O2 132 19 60.82

VBD_pump_during_apogee 499 720 8720.80 WL_BB2F 328 105 834.00

VBD_pump_during_surface 14 672 240.92 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 52 103 131.24 nil 0 0 0.00

Iridium_during_connect 43 160 170.35 nil 0 0 0.00

Iridium_during_xfer 205 223 1107.00

Transponder_ping 0 420 2.54

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 42 50 22.65

TT8 250 19 52.97

LPSleep 327 2 7.67

TT8_Active 438 19 92.91

TT8_Sampling 448 39 191.15

TT8_CF8 482 45 236.28

TT8_Kalman 0 81 0.00

Analog_circuits 751 12 96.46

GPS_charging 0 0 0.00

Compass 426 8 36.52

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

31 -1.92 -146.6 0.0 0.0 0 65 0.00 0.00 -31.90 0.000 2 0.000 0.000 21 2341 1143

70 -1.92 -146.6 3.1 -3.8 6 132 8.40 2.40 -45.55 0.000 4 0.201 0.062 2112 3763 3001

141 -1.92 -146.6 13.9 -22.2 18 147 0.00 2.28 0.00 0.000 6 0.000 0.025 2112 2314 3002

218 -1.92 -146.6 33.3 -21.8 31 224 0.00 2.17 0.00 0.000 4 0.000 0.035 2112 979 3002

389 end dive: TARGET_DEPTH_EXCEEDED

state 389 begin apogee

401 -0.28 0.0 72.5 22.8 53 518 1.88 0.00 112.90 0.721 6 0.148 0.000 2642 2213 2400

519 end apogee: CONTROL_FINISHED_OK

state 519 begin climb

524 1.92 146.6 81.5 0.0 65 643 2.12 2.45 110.97 0.666 4 0.075 0.048 3357 3607 1801

956 2.15 336.0 12.0 2.7 122 1105 0.17 2.22 141.55 0.652 6 0.064 0.029 3434 2224 1030

1180 2.42 551.4 4.9 0.4 161 1318 0.20 0.00 134.40 0.627 2 0.058 0.000 3522 2221 315

1319 end climb: SURFACE_DEPTH_REACHED

state 1319 begin surface coast

1365 end surface coast: CONTROL_FINISHED_OK

state 1365 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	791	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	120	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2350	ALTIM_PULSE	3
D_ABORT	1090	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2200	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	SM_CC	530	ROLL_CNV	0.028270001	INT_PRESSURE_YINT	0
D_PITCH	0	N_FILEKB	8	ROLL_TIMEOUT	15	DEEPGLIDER	0
D_SAFE	0	FILEMGR	0	R_PORT_OVSHOOT	39	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	20	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE4	-1
T_MISSION	30	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	2400	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	-84107.922	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	0.0001162386	SEABIRD_C_G	-10.331019
MASS	51503	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_C_H	1.1763502
NAV_MODE	0	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	2	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	111353,4809.610,-12225.984,74,3.3,93,18.4	TGT_NAME	EIGHT
_CALLS	2	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.182,-0.186
_SM_DEPTHo	2.49	KALMAN_X	-80.8,-80.8,-80.8,31.2,-149.4
_SM_ANGLEo	-69.2	KALMAN_Y	77.3,77.3,77.3,-128.7,142.9
GPS2	112237,4809.574,-12225.956,36,0.9,40,18.4	MHEAD_RNG_PITCHd_Wd	121.9,3787,-31.3,-20.000
SPEED_LIMITS	0.200,0.312	D_GRID	72

FINISH	1.6,1.018188	XPDR_PINGS	0
SM_CCo	1391,14.80,0.673,0,0,239,530.09	ALTIM_BOTTOM_PING	48.0,10.7
SM_GC	3.21,0.00,0.00,14.80,0.000,0.000,0.673,15,2344,239,-8.51,-0.17,530.09	_24V_AH	24.2,72.605
IRIDIUM_FIX	4751.72,-12228.02,071007,151559	_10V_AH	10.7,36.182
TT8_MAMPS	0.026078	DATA_FILE_SIZE	9657,194
HUMID	1820	CFSIZE	260165632,235917312
INTERNAL_PRESSURE	9.10191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	GPS	071007,114745,4809.588,-12225.928,17,1.7,35,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	200	111.85	SBE_CT	142	24	82.82
Roll_motor	13	62	20.75	SBE_O2	132	19	60.82
VBD_pump_during_apogee	499	720	8720.80	WL_BB2F	328	105	834.00
VBD_pump_during_surface	14	672	240.92	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	52	103	131.24	nil	0	0	0.00
Iridium_during_connect	43	160	170.35	nil	0	0	0.00
Iridium_during_xfer	205	223	1107.00
Transponder_ping	0	420	2.54
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	42	50	22.65
TT8	250	19	52.97
LPSleep	327	2	7.67
TT8_Active	438	19	92.91
TT8_Sampling	448	39	191.15
TT8_CF8	482	45	236.28
TT8_Kalman	0	81	0.00
Analog_circuits	751	12	96.46
GPS_charging	0	0	0.00
Compass	426	8	36.52
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
31	-1.92	-146.6	0.0	0.0	0	65	0.00	0.00	-31.90	0.000	2	0.000	0.000	21	2341	1143
70	-1.92	-146.6	3.1	-3.8	6	132	8.40	2.40	-45.55	0.000	4	0.201	0.062	2112	3763	3001
141	-1.92	-146.6	13.9	-22.2	18	147	0.00	2.28	0.00	0.000	6	0.000	0.025	2112	2314	3002
218	-1.92	-146.6	33.3	-21.8	31	224	0.00	2.17	0.00	0.000	4	0.000	0.035	2112	979	3002
389	end dive: TARGET_DEPTH_EXCEEDED
state	389	begin apogee
401	-0.28	0.0	72.5	22.8	53	518	1.88	0.00	112.90	0.721	6	0.148	0.000	2642	2213	2400
519	end apogee: CONTROL_FINISHED_OK
state	519	begin climb
524	1.92	146.6	81.5	0.0	65	643	2.12	2.45	110.97	0.666	4	0.075	0.048	3357	3607	1801
956	2.15	336.0	12.0	2.7	122	1105	0.17	2.22	141.55	0.652	6	0.064	0.029	3434	2224	1030
1180	2.42	551.4	4.9	0.4	161	1318	0.20	0.00	134.40	0.627	2	0.058	0.000	3522	2221	315
1319	end climb: SURFACE_DEPTH_REACHED
state	1319	begin surface coast
1365	end surface coast: CONTROL_FINISHED_OK
state	1365	begin surface