DavisStrait 22Sep09 * SG001 * Dive index * Mission links * Dive 83 * 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  83 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  3 XPDR_VALID  0
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  4 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  -220874.03 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  3 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  71.271797 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2700 FG_AHR_24V  4.6384068 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  0.0038000001 PITCH_MAXERRORS  1 COMPASS_USE  0 SEABIRD_C_J  7.9540005e-05
HD_B  0.0099999998 PITCH_ADJ_GAIN  0.045000002 ALTIM_BOTTOM_PING_RANGE  0
HD_C  2.7999999e-06 PITCH_ADJ_DBAND  1 ALTIM_TOP_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  122852,6651.565,-5828.142,8,1.1,9,18.0 TGT_NAME  HOLD
_CALLS  1 TGT_LATLONG  6400.000,-5448.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.104,-0.209
_SM_DEPTHo  0.05 KALMAN_X  232.1,-1656.1,-4456.6,3690.3,1156.8
_SM_ANGLEo  -50.0 KALMAN_Y  6072.2,-475.1,-1060.0,-6683.0,1712.3
GPS2  123547,6651.482,-5827.839,16,1.1,16,18.0 MHEAD_RNG_PITCHd_Wd  135.6,364300,-13.0,-7.021
SPEED_LIMITS  0.122,0.234 D_GRID  100

Post-dive calculations and measurements:
FINISH  1.4,1.025460 _24V_AH  23.9,243.857
SM_CCo  21890,0.00,0.000,0,0,599,465.58 _10V_AH  10.7,37.491
SM_GC  0.03,14.60,0.00,0.00,0.000,0.007,0.007,411,2029,599,-10.29,0.28,465.58 FG_AHR_24Vo  4.638
SUPER  3,206,254,0,0,0 FG_AHR_10Vo  71.473
RAFOS_CLK  0 MEM  337092
RAFOS  2,1255091046,12.416667,12.401667,80,0,0,0,0,0,625,0,0,0,0,0 DATA_FILE_SIZE  69217,2031
RAFOS_FIX  6638.763672,-5646.080078,091009,161601,5,80,5.67 CAP_FILE_SIZE  252412,8
IRIDIUM_FIX  0.00,0.00,010170,000000 CFSIZE  260165632,246231040
HUMID  1078163180 ERRORS  0,0,0,0,0,0,0,0,1,0,0,32,1291,3,0
INTERNAL_PRESSURE  16.3225 SOUNDSPEED  1461.5
TCM_TEMP  15.00 GPS  091009,184403,6651.814,-5832.889,34,1.1,34,18.0
XPDR_PINGS  -1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2811980.91 SBE_CT122224701.38
Roll_motor25260362.69 nil000.00
VBD_pump_during_apogee517130016073.29 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_xfer149223794.99
Transponder_ping000.00
GUMSTIX_24V000.00
GPS16509.03
TT8342419729.97
LPSleep147742365.19
TT8_Active121219258.33
TT8_Sampling220539942.19
TT8_CF868745337.77
TT8_Kalman338129.23
Analog_circuits144712185.80
GPS_charging000.00
Compass211626588.87
RAFOS2160134.67
Transponder350.17

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
24 end surface: CONTROL_FINISHED_OK
state 24 begin dive
27 -0.99 -146.6 0.0 0.0 0 98 0.00 0.00 -68.43 0.000 2 0.007 0.000 412 1982 2688 0 0 0 0 0 0
102 -0.99 -146.6 3.1 -1.6 14 134 10.27 2.47 -13.32 0.000 4 0.000 0.000 2545 370 3096 12 0 10 0 0 0
259 -0.62 -146.6 23.5 -18.6 41 275 0.00 3.90 0.00 0.007 6 0.007 0.000 2548 2382 3097 0 0 24 0 0 0
461 -0.62 -146.6 52.0 -9.9 60 475 0.00 4.80 0.00 0.007 4 0.007 0.000 2545 393 3096 0 0 28 0 0 0
727 -0.62 -146.6 76.2 -8.8 83 737 0.00 4.22 0.00 0.007 6 0.007 0.000 2545 2233 3095 0 0 25 0 0 0
987 end dive: TARGET_DEPTH_EXCEEDED
state 987 begin apogee
995 -0.31 0.0 100.5 9.5 108 1124 0.52 0.00 118.30 0.000 6 0.000 0.007 2680 1958 2528 1 0 0 0 1 0
1125 end apogee: CONTROL_FINISHED_OK
state 1125 begin climb
1130 0.99 146.6 113.0 0.0 121 1268 1.38 3.05 122.28 0.000 4 0.000 0.000 2999 3761 1913 1 0 16 0 0 0
1520 2.77 638.7 147.7 -8.7 156 1813 1.67 4.40 265.60 0.000 6 0.000 0.000 3376 1576 599 2 0 26 0 2 0
2137 4.55 1161.1 203.2 -9.7 216 2153 0.00 3.88 0.12 0.000 4 0.007 0.000 3374 3724 600 0 0 22 0 0 0
2405 5.06 1575.2 223.1 -6.2 239 2415 0.00 3.03 1.62 0.000 6 0.007 0.000 3378 1843 599 0 0 13 0 0 0
2740 5.56 1976.2 242.9 -5.8 271 2756 0.00 3.42 0.12 0.007 4 0.000 0.000 3376 3609 577 0 0 17 0 0 0
3008 6.09 2405.3 262.2 -6.7 294 3019 0.00 3.90 0.68 0.000 6 0.007 0.000 3377 1853 598 0 0 22 0 0 0
3343 6.74 2937.8 288.1 -10.0 326 3359 0.00 3.65 0.12 0.007 4 0.007 0.000 3378 3698 603 0 0 21 0 0 0
3457 7.42 3486.9 299.1 -10.6 335 3466 0.00 3.15 0.98 0.000 6 0.007 0.000 3381 1831 598 0 0 12 0 0 0
3791 7.94 3909.9 325.9 -6.5 367 3807 0.00 3.35 0.12 0.000 4 0.007 0.000 3378 3785 597 0 0 15 0 0 0
4032 8.45 4324.5 341.2 -6.3 388 4048 0.00 3.20 0.90 0.000 6 0.007 0.000 3377 1933 601 0 0 14 0 0 0
4362 8.99 4769.6 364.9 -7.2 419 4377 0.00 2.75 0.12 0.000 4 0.007 0.000 3377 3785 596 0 0 14 0 0 0
4630 9.53 5206.9 384.7 -7.0 442 4640 0.00 3.00 1.45 0.000 6 0.007 0.000 3373 1854 598 0 0 12 0 0 0
4965 10.04 5620.4 408.4 -6.2 474 4980 0.00 3.10 0.12 0.007 4 0.000 0.000 3380 3750 600 0 0 14 0 0 0
5233 10.55 6037.9 425.8 -6.3 497 5243 0.00 3.53 1.05 0.000 6 0.000 0.000 3373 1912 599 0 0 16 0 0 0
5568 11.08 6464.2 447.9 -6.6 529 5583 0.00 3.17 0.12 0.007 4 0.007 0.000 3376 3555 600 0 0 16 0 0 0
5836 11.62 6906.2 465.6 -7.1 552 5847 0.00 2.78 1.90 0.000 6 0.007 0.000 3376 1750 596 0 0 12 0 0 0
6172 12.21 7380.9 493.9 -8.2 584 6189 0.00 4.00 0.12 0.007 4 0.000 0.000 3375 3658 598 0 0 22 0 0 0
6442 12.72 7798.6 510.9 -6.4 607 6452 0.00 2.90 1.45 0.000 6 0.007 0.000 3376 1882 599 0 0 16 0 0 0
6776 13.24 8225.3 534.4 -6.6 639 6792 0.00 4.28 0.12 0.007 4 0.007 0.000 3375 3767 599 0 0 25 0 0 0
7045 13.89 8752.0 555.0 -9.8 662 7054 0.00 3.53 0.00 0.007 6 0.007 0.000 3378 1865 597 0 0 20 0 0 0
7379 14.44 9200.8 584.5 -7.3 694 7394 0.00 3.03 0.00 0.007 4 0.007 0.000 3378 3782 601 0 0 14 0 0 0
7646 15.00 9655.5 603.6 -7.5 717 7655 0.00 3.28 0.00 0.007 6 0.007 0.000 3376 1874 601 0 0 15 0 0 0
7980 15.54 10095.5 627.6 -7.1 749 7995 0.00 3.17 0.00 0.000 4 0.007 0.000 3375 3696 598 0 0 17 0 0 0
8247 16.11 10556.9 647.6 -7.8 772 8256 0.00 4.85 0.00 0.000 6 0.007 0.000 3376 1837 600 0 0 26 0 0 0
8582 16.65 10993.1 671.2 -6.9 804 8588 0.00 2.70 0.00 0.007 4 0.007 0.000 3378 3471 590 0 0 14 0 0 0
8757 17.19 11435.4 683.6 -7.1 819 8772 0.00 3.03 0.00 0.007 6 0.007 0.000 3374 1843 600 0 0 17 0 0 0
9086 17.68 11831.9 705.7 -5.7 850 9101 0.00 2.90 0.00 0.007 4 0.007 0.000 3374 3681 610 0 0 14 0 0 0
9353 18.20 12253.0 721.7 -6.5 873 9362 0.00 3.45 0.00 0.007 6 0.007 0.000 3374 1746 611 0 0 21 0 0 0
9687 18.71 12671.4 742.8 -6.4 905 9702 0.00 3.20 0.00 0.007 4 0.007 0.000 3374 3456 605 0 0 15 0 0 0
9954 19.32 13161.6 760.6 -8.7 928 9965 0.00 3.90 0.00 0.007 6 0.007 0.000 3376 1634 606 0 0 21 0 0 0
10289 19.86 13605.6 788.5 -7.2 960 10305 0.00 3.97 0.00 0.007 4 0.007 0.000 3375 3767 598 0 0 20 0 0 0
10474 20.40 14045.5 801.0 -7.1 976 10489 0.00 3.15 0.00 0.000 6 0.007 0.000 3378 1849 599 0 0 17 0 0 0
10803 20.93 14472.1 824.1 -6.6 1007 10818 0.00 3.12 0.00 0.007 4 0.000 0.000 3377 3563 594 0 0 15 0 0 0
11070 21.48 14925.2 842.7 -7.5 1030 11078 0.00 3.15 0.00 0.007 6 0.007 0.000 3377 1822 600 0 0 16 0 0 0
11395 22.01 15354.8 865.6 -6.7 1061 11410 0.00 3.28 0.00 0.007 4 0.007 0.000 3376 3630 598 0 0 14 0 0 0
11663 22.36 15634.3 883.0 -1.9 1084 11669 0.00 3.12 0.00 0.007 6 0.007 0.000 3375 1828 599 0 0 14 0 0 0
11994 22.29 15634.3 866.8 8.1 1116 12009 0.00 3.70 0.00 0.007 4 0.007 0.000 3378 3518 602 0 0 23 0 0 0
12261 22.29 15634.3 847.7 7.3 1139 12270 0.00 3.03 0.00 0.007 6 0.007 0.000 3376 1836 601 0 0 14 0 0 0
12587 22.41 15672.0 828.0 5.8 1170 12602 0.00 3.20 0.00 0.007 4 0.007 0.000 3378 3540 600 0 0 18 0 0 0
12854 22.45 15708.1 810.8 5.9 1193 12863 0.00 3.75 0.00 0.007 6 0.007 0.000 3377 1854 601 0 0 20 0 0 0
13188 22.50 15708.1 785.4 7.8 1225 13203 0.00 3.38 0.00 0.007 4 0.007 0.000 3375 3645 597 0 0 19 0 0 0
13455 22.59 15727.3 767.7 6.4 1248 13462 0.00 3.20 0.00 0.007 6 0.007 0.000 3378 1773 600 0 0 15 0 0 0
13787 22.65 15776.6 747.3 5.4 1280 13801 0.00 3.05 0.00 0.007 4 0.007 0.000 3375 3640 599 0 0 16 0 0 0
14054 22.69 15809.4 729.3 6.0 1303 14060 0.00 2.95 0.00 0.000 6 0.007 0.000 3378 1860 603 0 0 15 0 0 0
14378 22.69 15809.4 705.6 8.6 1334 14393 0.00 3.15 0.00 0.000 4 0.007 0.000 3377 3508 602 0 0 16 0 0 0
14438 22.75 15809.4 700.5 8.8 1339 14444 0.00 2.80 0.00 0.007 6 0.000 0.000 3377 1831 601 0 0 12 0 0 0
14762 22.67 15809.4 669.9 8.9 1369 14778 0.00 3.60 0.00 0.007 4 0.007 0.000 3378 3544 588 0 0 18 0 0 0
14952 22.62 15809.4 652.3 9.0 1385 14960 0.00 2.53 0.00 0.007 6 0.007 0.000 3377 1916 603 0 0 11 0 0 0
15277 22.67 15850.9 630.2 5.7 1416 15292 0.00 3.28 0.00 0.007 4 0.000 0.000 3378 3689 598 0 0 17 0 0 0
15544 22.54 15850.9 606.8 10.9 1439 15551 0.00 3.25 0.00 0.007 6 0.007 0.000 3378 1868 600 0 0 15 0 0 0
15869 22.73 15892.8 578.9 5.7 1470 15875 0.00 2.70 0.00 0.007 4 0.007 0.000 3373 3566 598 0 0 13 0 0 0
16127 22.73 15892.8 560.9 9.7 1492 16137 0.00 2.72 0.00 0.007 6 0.000 0.000 3377 1851 587 0 0 13 0 0 0
16453 22.82 15892.8 539.4 7.7 1523 16468 0.00 3.75 0.00 0.000 4 0.007 0.000 3377 3640 609 0 0 22 0 0 0
16716 22.65 15892.8 507.5 12.0 1546 16730 0.00 2.92 0.00 0.007 6 0.000 0.000 3376 1762 599 0 0 12 0 0 0
17045 22.81 15895.6 482.1 6.9 1577 17060 0.00 3.17 0.00 0.007 4 0.007 0.000 3375 3595 598 0 0 14 0 0 0
17312 22.81 15895.6 459.2 8.9 1600 17318 0.00 3.28 0.00 0.007 6 0.007 0.000 3378 1888 599 0 0 14 0 0 0
17637 22.66 15895.6 425.2 13.6 1631 17651 0.00 3.00 0.00 0.007 4 0.007 0.000 3377 3653 603 0 0 16 0 0 0
17690 22.52 15895.6 417.7 13.3 1635 17697 0.00 2.90 0.00 0.007 6 0.007 0.002 3377 1848 596 0 0 16 0 0 0
18015 22.62 15895.6 383.9 8.4 1666 18030 0.00 3.35 0.00 0.007 4 0.007 0.000 3372 3627 599 0 0 16 0 0 0
18282 22.62 15895.6 357.7 9.8 1689 18292 0.00 3.80 0.00 0.007 6 0.007 0.000 3376 1721 594 0 0 22 0 0 0
18616 22.62 15895.6 323.2 10.8 1721 18631 0.00 3.38 0.00 0.000 4 0.007 0.000 3379 3680 601 0 0 17 0 0 0
18883 22.56 15895.6 294.9 11.5 1744 18890 0.00 2.95 0.00 0.000 6 0.007 0.000 3375 1854 603 0 0 12 0 0 0
19208 22.56 15895.6 257.9 11.7 1775 19222 0.00 2.90 0.00 0.007 4 0.007 0.000 3376 3756 601 0 0 17 0 0 0
19475 22.51 15895.6 226.1 11.6 1798 19484 0.00 3.75 0.00 0.007 6 0.007 0.000 3376 1832 598 0 0 16 0 0 0
19809 22.65 15895.6 195.6 7.7 1830 19824 0.00 3.42 0.00 0.007 4 0.007 0.000 3376 3618 600 0 0 19 0 0 0
20076 22.58 15895.6 169.3 11.6 1853 20083 0.00 3.15 0.00 0.007 6 0.007 0.000 3377 1797 601 0 0 18 0 0 0
20401 22.69 15895.6 140.6 8.1 1884 20417 0.00 2.92 0.00 0.007 4 0.007 0.000 3373 3617 591 0 0 16 0 0 0
20670 22.63 15895.6 114.5 11.3 1907 20679 0.00 3.50 0.00 0.007 6 0.007 0.000 3377 1776 597 0 0 18 0 0 0
21004 22.71 15895.6 80.7 8.1 1939 21018 0.00 3.33 0.00 0.007 4 0.007 0.000 3376 3514 599 0 0 16 0 0 0
21169 22.82 15895.6 67.1 8.4 1953 21177 0.00 2.78 0.00 0.007 6 0.007 0.000 3380 1844 595 0 0 13 0 0 0
21494 22.65 15895.6 29.5 12.7 1984 21511 0.00 3.58 0.00 0.007 4 0.007 0.000 3376 3613 603 0 0 17 0 0 0
21764 22.65 15895.6 3.3 9.6 2024 21769 0.00 2.88 0.00 0.000 3 0.000 0.000 3378 2033 598 0 0 14 0 0 0
21770 end climb: SURFACE_DEPTH_REACHED
state 21770 begin surface coast
21803 end surface coast: CONTROL_FINISHED_OK
state 21803 begin surface