DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 81 * 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  81 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  275 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  3
D_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  20 XPDR_VALID  2
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  31 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  1 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  -3 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  0 T_GPS_CHARGE  -5780.7026 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  101807,6654.678,-5747.651,31,1.3,31,-37.6 TGT_NAME  TARGET_ADD4_EB
_CALLS  1 TGT_LATLONG  6659.000,-5735.000
_XMS_NAKs  13 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.53 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -75.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  102856,6654.748,-5747.767,10,1.4,10,-37.6 MHEAD_RNG_PITCHd_Wd  42.2,12144,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  821

Post-dive calculations and measurements:
FINISH  2.2,1.025222 _24V_AH  22.9,16.476
SM_CCo  14884,0.00,0.000,0,0,1554,339.99 _10V_AH  10.2,7.174
SM_GC  2.81,8.32,0.00,0.00,0.060,0.000,0.000,145,1849,1554,-8.93,-0.03,339.99 FG_AHR_24Vo  0.000
RAFOS_CLK  754 FG_AHR_10Vo  0.000
RAFOS_FIX  0.000000,0.000000,010170,000000,0,0,0.00 MEM  188720
IRIDIUM_FIX  6625.71,-5752.72,280199,050528 DATA_FILE_SIZE  50468,1247
TT8_MAMPS  0.026078 CAP_FILE_SIZE  161800,0
HUMID  41.57 CFSIZE  260165632,245137408
INTERNAL_PRESSURE  9.51208 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  15.00 SOUNDSPEED  1458.9
XPDR_PINGS  0 CURRENT  0.152, 0.6,1
ALTIM_BOTTOM_PING  802.5,81.0 GPS  031109,143837,6658.289,-5747.431,35,1.2,35,-37.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23244128.87 SBE_CT87324480.16
Roll_motor11485224.31 SBE_O294019409.21
VBD_pump_during_apogee426116211363.28 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010371.76 nil000.00
Iridium_during_connect32160117.48 nil000.00
Iridium_during_xfer4522232310.52
Transponder_ping242026.45
GUMSTIX_24V000.00
GPS10505.54
TT8240519488.75
LPSleep98242231.48
TT8_Active54919111.56
TT8_Sampling210339856.54
TT8_CF862945294.80
TT8_Kalman000.00
Analog_circuits161712198.00
GPS_charging000.00
Compass20758169.34
RAFOS2491138.11
Transponder25307.91

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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.64 -146.0 0.0 0.0 0 63 0.00 0.00 -45.42 0.000 2 0.000 0.000 122 1863 2415 0 0 0 0 0 0
66 -0.64 -146.0 3.1 -1.7 9 124 10.65 2.38 -41.45 0.000 4 0.245 0.086 2807 436 3537 0 0 0 0 0 0
256 -0.53 -146.0 31.9 -18.2 50 262 0.17 2.25 0.00 0.000 6 0.161 0.058 2849 1847 3539 0 0 0 0 0 0
599 -0.57 -146.0 77.6 -12.1 111 606 0.00 2.33 0.00 0.000 4 0.000 0.077 2842 3258 3539 0 0 0 0 0 0
665 -0.68 -146.0 85.1 -10.9 125 671 0.10 2.28 0.00 0.000 6 0.112 0.064 2791 1843 3539 0 0 0 0 0 0
995 -0.58 -146.0 140.5 -17.0 164 1000 0.15 2.28 0.00 0.000 4 0.170 0.075 2834 440 3539 0 0 0 0 0 0
1066 -0.63 -146.0 150.7 -13.7 171 1070 0.00 2.22 0.00 0.000 6 0.000 0.057 2824 1856 3539 0 0 0 0 0 0
1389 -0.63 -146.0 193.8 -13.4 201 1393 0.00 2.30 0.00 0.000 4 0.000 0.075 2824 434 3539 0 0 0 0 0 0
1412 -0.63 -146.0 197.3 -14.7 203 1416 0.00 2.22 0.00 0.000 6 0.000 0.058 2814 1851 3539 0 0 0 0 0 0
1737 -0.63 -146.0 240.5 -12.6 233 1738 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 1851 3538 0 0 0 0 0 0
2055 -0.63 -146.0 281.0 -12.6 263 2056 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 1851 3538 0 0 0 0 0 0
2373 -0.63 -146.0 319.2 -11.3 293 2374 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 1851 3538 0 0 0 0 0 0
2692 -0.63 -146.0 354.2 -10.8 323 2696 0.00 2.28 0.00 0.000 4 0.000 0.075 2814 433 3538 0 0 0 0 0 0
2734 -0.63 -146.0 359.2 -11.1 327 2738 0.00 2.22 0.00 0.000 6 0.000 0.058 2814 1857 3538 0 0 0 0 0 0
3057 -0.63 -146.0 394.9 -10.7 357 3058 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 1858 3538 0 0 0 0 0 0
3376 -0.66 -146.0 429.8 -10.6 387 3380 0.00 2.28 0.00 0.000 4 0.000 0.074 2814 432 3538 0 0 0 0 0 0
3418 -0.71 -146.0 434.5 -12.0 391 3422 0.00 2.20 0.00 0.000 6 0.000 0.057 2814 1851 3538 0 0 0 0 0 0
3742 -0.74 -146.0 469.1 -10.7 421 3743 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 1851 3538 0 0 0 0 0 0
4061 -0.78 -146.0 501.8 -10.4 451 4066 0.12 2.28 0.00 0.000 4 0.100 0.075 2755 439 3538 0 0 0 0 0 0
4088 -0.65 -146.0 505.6 -15.4 453 4095 0.22 2.17 0.00 0.000 6 0.151 0.057 2814 1852 3538 0 0 0 0 0 0
4413 -0.70 -146.0 539.7 -10.6 484 4414 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 1852 3539 0 0 0 0 0 0
4731 -0.75 -146.0 572.4 -10.3 514 4732 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 1852 3539 0 0 0 0 0 0
5058 -0.81 -146.0 606.2 -10.2 541 5063 0.15 2.28 0.00 0.000 4 0.087 0.074 2741 436 3539 0 0 0 0 0 0
5087 -0.65 -146.0 610.2 -14.9 542 5092 0.22 2.20 0.00 0.000 6 0.152 0.058 2811 1855 3539 0 0 0 0 0 0
5422 -0.69 -146.0 644.9 -10.1 553 5423 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 1855 3539 0 0 0 0 0 0
5729 -0.74 -146.0 676.6 -10.5 563 5733 0.00 2.25 0.00 0.000 4 0.000 0.074 2811 439 3539 0 0 0 0 0 0
5765 -0.79 -146.0 680.8 -10.7 564 5770 0.12 2.17 0.00 0.000 6 0.102 0.057 2753 1852 3539 0 0 0 0 0 0
6091 -0.67 -146.0 727.8 -14.8 575 6093 0.17 0.00 0.00 0.000 6 0.153 0.000 2806 1852 3539 0 0 0 0 0 0
6397 -0.71 -146.0 762.6 -11.0 585 6401 0.00 2.25 0.00 0.000 4 0.000 0.074 2806 435 3539 0 0 0 0 0 0
6434 -0.75 -146.0 767.0 -12.5 586 6438 0.00 2.20 0.00 0.000 6 0.000 0.057 2806 1855 3539 0 0 0 0 0 0
6773 -0.79 -146.0 802.5 -10.6 597 6774 0.10 0.00 0.00 0.000 6 0.112 0.000 2757 1855 3539 0 0 0 0 0 0
6919 end dive: TARGET_DEPTH_EXCEEDED
state 6919 begin apogee
6923 -0.13 0.0 824.0 14.4 602 7050 0.68 0.00 123.45 1.163 6 0.137 0.000 2976 1695 2940 0 0 0 0 0 0
7051 end apogee: CONTROL_FINISHED_OK
state 7051 begin climb
7053 0.64 146.0 830.1 0.0 606 7191 0.75 2.50 129.05 1.131 4 0.081 0.071 3246 295 2343 0 0 0 0 0 0
7241 0.52 193.1 829.3 7.8 612 7290 0.20 2.35 43.05 1.096 6 0.163 0.050 3195 1701 2152 0 0 0 0 0 0
7621 0.57 232.6 799.6 8.2 625 7661 0.00 2.45 35.25 1.088 4 0.000 0.068 3195 3104 1990 0 0 0 0 0 0
7699 0.61 232.6 792.6 10.2 627 7703 0.00 2.40 0.00 0.000 6 0.000 0.063 3204 1700 1985 0 0 0 0 0 0
8015 0.61 235.9 762.1 9.8 638 8019 0.00 2.38 0.00 0.000 4 0.000 0.075 3214 287 1982 0 0 0 0 0 0
8069 0.62 242.3 756.4 9.7 639 8083 0.00 2.25 8.62 0.951 6 0.000 0.051 3213 1702 1952 0 0 0 0 0 0
8416 0.62 242.3 720.5 10.4 651 8420 0.00 2.30 0.00 0.000 4 0.000 0.068 3214 3105 1949 0 0 0 0 0 0
8445 0.62 245.1 717.1 9.9 652 8449 0.00 2.30 0.00 0.000 6 0.000 0.063 3223 1698 1948 0 0 0 0 0 0
8801 0.62 245.1 680.4 11.0 663 8805 0.00 2.30 0.00 0.000 4 0.000 0.076 3233 290 1948 0 0 0 0 0 0
8846 0.62 245.1 673.5 10.1 664 8850 0.00 2.20 0.00 0.000 6 0.000 0.051 3232 1701 1947 0 0 0 0 0 0
9167 0.59 245.1 637.3 11.3 675 9171 0.00 2.28 0.00 0.000 4 0.000 0.069 3233 3110 1947 0 0 0 0 0 0
9203 0.54 245.1 632.9 12.0 676 9208 0.15 2.28 0.00 0.000 6 0.175 0.065 3202 1700 1946 0 0 0 0 0 0
9530 0.63 273.1 603.7 8.7 687 9563 0.00 2.35 28.40 1.006 4 0.000 0.077 3212 289 1825 0 0 0 0 0 0
9606 0.71 276.1 596.7 9.9 690 9615 0.12 2.25 3.90 0.640 6 0.104 0.051 3264 1705 1813 0 0 0 0 0 0
9939 0.61 276.1 552.1 13.8 722 9941 0.15 0.00 0.00 0.000 6 0.165 0.000 3222 1706 1809 0 0 0 0 0 0
10258 0.64 276.1 518.1 10.6 752 10260 0.00 0.00 0.00 0.000 6 0.000 0.000 3222 1706 1808 0 0 0 0 0 0
10577 0.64 276.1 484.4 11.1 782 10581 0.00 2.30 0.00 0.000 4 0.000 0.077 3232 289 1807 0 0 0 0 0 0
10612 0.64 276.1 480.1 11.7 785 10618 0.00 2.20 0.00 0.000 6 0.000 0.052 3232 1703 1807 0 0 0 0 0 0
10937 0.64 276.1 443.4 11.2 816 10938 0.00 0.00 0.00 0.000 6 0.000 0.000 3232 1703 1806 0 0 0 0 0 0
11255 0.64 276.1 407.2 11.3 846 11256 0.00 0.00 0.00 0.000 6 0.000 0.000 3232 1703 1807 0 0 0 0 0 0
11576 0.64 276.1 372.2 11.3 876 11581 0.00 2.28 0.00 0.000 4 0.000 0.077 3242 289 1806 0 0 0 0 0 0
11609 0.64 276.1 368.2 11.2 879 11613 0.00 2.17 0.00 0.000 6 0.000 0.052 3242 1701 1806 0 0 0 0 0 0
11932 0.64 276.1 330.7 10.8 909 11933 0.00 0.00 0.00 0.000 6 0.000 0.000 3242 1702 1806 0 0 0 0 0 0
12251 0.64 276.1 293.8 11.7 939 12255 0.00 2.28 0.00 0.000 4 0.000 0.076 3252 284 1806 0 0 0 0 0 0
12275 0.64 276.1 291.0 11.5 941 12279 0.00 2.20 0.00 0.000 6 0.000 0.051 3252 1707 1806 0 0 0 0 0 0
12603 0.64 276.1 251.3 11.9 972 12604 0.00 0.00 0.00 0.000 6 0.000 0.000 3251 1708 1806 0 0 0 0 0 0
12922 0.64 276.1 215.1 10.9 1002 12923 0.00 0.00 0.00 0.000 6 0.000 0.000 3252 1708 1806 0 0 0 0 0 0
13241 0.64 276.1 179.8 11.1 1032 13245 0.00 2.22 0.00 0.000 4 0.000 0.070 3252 3105 1806 0 0 0 0 0 0
13292 0.64 276.1 173.6 11.3 1037 13296 0.00 2.22 0.00 0.000 6 0.000 0.063 3259 1699 1805 0 0 0 0 0 0
13620 0.64 276.1 138.4 10.2 1068 13624 0.00 2.25 0.00 0.000 4 0.000 0.075 3270 283 1805 0 0 0 0 0 0
13665 0.66 292.9 133.5 9.2 1072 13688 0.10 2.17 14.90 0.719 6 0.183 0.052 3243 1701 1745 0 0 0 0 0 0
14006 0.76 320.2 102.8 8.7 1105 14036 0.00 2.33 25.02 0.710 4 0.000 0.077 3253 289 1633 0 0 0 0 0 0
14057 0.86 335.9 98.3 9.3 1112 14078 0.15 2.22 15.10 0.679 6 0.097 0.052 3317 1703 1570 0 0 0 0 0 0
14415 0.76 335.9 43.8 16.2 1176 14422 0.17 2.30 0.00 0.000 4 0.166 0.077 3280 289 1561 0 0 0 0 0 0
14441 0.76 335.9 40.6 12.7 1181 14446 0.00 2.20 0.00 0.000 6 0.000 0.052 3280 1699 1560 0 0 0 0 0 0
14783 0.76 335.9 4.6 11.4 1242 14788 0.00 2.30 0.00 0.000 4 0.000 0.076 3289 284 1558 0 0 0 0 0 0
14793 end climb: SURFACE_DEPTH_REACHED
state 14793 begin surface coast
14807 end surface coast: CONTROL_FINISHED_OK
state 14807 begin surface