HI Oct09 * SG022 * Dive index * Mission links * Dive 83 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  22 HEADING  -1 ROLL_MIN  150 ALTIM_BOTTOM_TURN_MARGIN  0
MISSION  14 ESCAPE_HEADING  0 ROLL_MAX  3954 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  2920 ALTIM_PING_DEPTH  0
D_FLARE  3 TGT_DEFAULT_LAT  19.66667 C_ROLL_CLIMB  2750 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LON  -156.10001 HEAD_ERRBAND  10 ALTIM_FREQUENCY  15
D_ABORT  1090 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_PULSE  5
D_NO_BLEED  200 SM_CC  400 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  2
D_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  40 XPDR_VALID  4
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  32 XPDR_INHIBIT  90
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  100 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  2 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  350 MOTHERBOARD  2
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_MAX  3841 DEVICE1  2
T_DIVE  330 CALL_TRIES  5 C_VBD  2618 DEVICE2  -1
T_MISSION  360 CALL_WAIT  60 VBD_DBAND  2 DEVICE3  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_CNV  -0.24529999 DEVICE4  -1
T_TURN  225 CAPMAXSIZE  150000 VBD_TIMEOUT  720 DEVICE5  -1
T_TURN_SAMPINT  5 HEAPDBG  0 PITCH_VBD_SHIFT  0.00109 DEVICE6  -1
T_NO_W  120 T_GPS  15 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERS  1
T_LOITER  0 N_GPS  20 VBD_PUMP_AD_RATE_APOGEE  1 LOGGERDEVICE1  69
USE_BATHY  0 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  4 LOGGERDEVICE2  -1
USE_ICE  0 T_GPS_CHARGE  -249926.42 UNCOM_BLEED  20 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
D_OFFGRID  1001 STROBE  0 CF8_MAXERRORS  1 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_24V  91.800003 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 AH0_10V  61.200001 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_24V  19 XPDR_DEVICE  19
MAX_BUOY  200 PITCH_MIN  380 MINV_10V  8 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3641 FG_AHR_10V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2495 FG_AHR_24V  0 SEABIRD_T_G  0.0044149966
SPEED_FACTOR  1 PITCH_DBAND  0.1 PHONE_SUPPLY  2 SEABIRD_T_H  0.00064680085
RHO  1.0275 PITCH_CNV  0.0046000001 PRESSURE_YINT  -22.757658 SEABIRD_T_I  2.5778523e-05
MASS  52177 P_OVSHOOT  0.039999999 PRESSURE_SLOPE  0.00011632 SEABIRD_T_J  2.7323422e-06
NAV_MODE  2 PITCH_GAIN  18 AD7714Ch0Gain  128 SEABIRD_C_G  -10.507483
FERRY_MAX  0 PITCH_TIMEOUT  20 TCM_PITCH_OFFSET  1.7 SEABIRD_C_H  1.1800622
KALMAN_USE  1 PITCH_AD_RATE  150 TCM_ROLL_OFFSET  -0.89999998 SEABIRD_C_I  -0.00046262925
HD_A  0.0040048002 PITCH_MAXERRORS  1 COMPASS_USE  0 SEABIRD_C_J  0.00014728548
HD_B  0.010364 PITCH_ADJ_GAIN  0 ALTIM_BOTTOM_PING_RANGE  0 PA_OFFLOAD  1.0
HD_C  5.4717998e-06 PITCH_ADJ_DBAND  0 ALTIM_TOP_PING_RANGE  0 PA_MAXUPLOADSIZE  50000.0

Pre-dive calculations and measurements:
GPS1  121109,100806,1924.987,-15557.254,37,1.2,48,9.7 TGT_NAME  VM
_CALLS  1 TGT_LATLONG  1924.000,-15558.000
_XMS_NAKs  0 TGT_RADIUS  500.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.293,0.013
_SM_DEPTHo  0.68 KALMAN_X  -122574.6,676.5,638.2,153057.1,-9915.2
_SM_ANGLEo  -69.4 KALMAN_Y  44067.2,1088.0,915.4,-104010.1,-2383.7
GPS2  121109,101358,1925.076,-15557.301,15,2.2,34,9.7 MHEAD_RNG_PITCHd_Wd  201.8,2337,-27.9,-10.000
SPEED_LIMITS  0.173,0.294 D_GRID  990

Post-dive calculations and measurements:
FINISH  0.4,1.023068 PA_DATA0  89.6/7836665/814513
SM_CCo  15187,106.35,0.499,0,0,987,400.08 PA_DATA1  85.1/7836665/1171473
SM_GC  0.70,0.00,0.00,106.35,0.000,0.000,0.499,372,2923,987,-9.77,0.08,400.08 PA_USB  87.1/128908/16630
IRIDIUM_FIX  1916.08,-15557.38,080511,000015 _24V_AH  23.1,16.496
TT8_MAMPS  0.135759 _10V_AH  9.9,43.298
HUMID  1078525797 FG_AHR_24Vo  0.000
TCM_TEMP  24.00 FG_AHR_10Vo  0.000
XPDR_PINGS  0 MEM  353816
PA_PMVER  0.2 DATA_FILE_SIZE  15871,444
PA_ROOTFSVER  rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009 CAP_FILE_SIZE  123849,0
PA_DFQS  0/0 CFSIZE  260034560,250163200
PA_CMQS  0/0 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_ROOT  87.1/128908/16630 CURRENT  0.088,343.2,1
PA_HOME  5.9/483886/455447 GPS  121109,143057,1924.491,-15558.507,62,1.8,65,9.7
PA_LOG  3.6/297829/286979

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2416189.30 SBE_CT29624164.52
Roll_motor148193664.93 nil000.00
VBD_pump_during_apogee26113298040.84 nil000.00
VBD_pump_during_surface1064981224.78 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2400.00 nil000.00
Iridium_during_connect2600.00 PAAM157299534687.63
Iridium_during_xfer15300.00
Transponder_ping04200.00
GUMSTIX_24V000.00
GPS3500.00
TT8000.00
LPSleep126522274.31
TT8_Active53719105.31
TT8_Sampling200739791.01
TT8_CF843745198.29
TT8_Kalman3300.00
Analog_circuits149712177.89
GPS_charging000.00
Compass14288113.16
RAFOS000.00
Transponder050.03

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
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
16 -1.62 -64.6 0.0 0.0 0 96 0.00 0.00 -77.00 0.000 2 0.000 0.000 371 2926 2757 0 0 0 0 0 0
98 -1.64 -82.6 3.6 -8.1 15 120 9.48 2.42 -4.80 0.000 4 0.161 0.060 2133 1507 2956 0 0 0 0 0 0
349 -1.64 -82.6 75.4 -20.2 43 354 0.00 2.42 0.00 0.000 6 0.000 0.044 2133 2926 2960 0 0 0 0 0 0
558 -1.64 -82.6 120.5 -22.4 58 562 0.00 2.42 0.00 0.000 4 0.000 0.041 2133 1502 2960 0 0 0 0 0 0
697 -1.64 -82.6 149.5 -22.6 62 701 0.00 2.47 0.00 0.000 6 0.000 0.043 2133 2926 2961 0 0 0 0 0 0
1021 -1.64 -82.6 214.6 -17.7 73 1026 0.00 1.80 0.00 0.000 4 0.000 0.054 2133 3953 2963 0 0 0 0 0 0
1267 -1.64 -82.6 258.9 -16.3 80 1271 0.00 1.77 0.00 0.000 6 0.000 0.038 2133 2883 2964 0 0 0 0 0 0
1611 -1.64 -82.6 312.6 -15.7 91 1612 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2881 2964 0 0 0 0 0 0
1913 -1.64 -82.6 354.6 -13.5 96 1917 0.00 1.92 0.00 0.000 4 0.000 0.057 2133 3953 2964 0 0 0 0 0 0
1934 -1.64 -82.6 357.5 -13.3 96 1938 0.00 1.73 0.00 0.000 6 0.000 0.040 2134 2932 2964 0 0 0 0 0 0
2278 -1.64 -82.6 406.0 -14.6 102 2282 0.00 2.40 0.00 0.000 4 0.000 0.045 2133 1538 2963 0 0 0 0 0 0
2331 -1.64 -82.6 413.4 -13.6 102 2335 0.00 2.45 0.00 0.000 6 0.000 0.047 2133 2926 2962 0 0 0 0 0 0
2644 -1.64 -82.6 454.1 -12.9 108 2644 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2926 2961 0 0 0 0 0 0
2945 -1.64 -82.6 493.6 -13.4 113 2946 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2927 2959 0 0 0 0 0 0
3247 -1.64 -82.6 533.7 -13.3 118 3256 0.00 2.42 0.00 0.000 4 0.000 0.048 2133 1530 2957 0 0 0 0 0 0
3366 -1.64 -82.6 549.0 -12.3 119 3376 0.00 2.40 0.00 0.000 6 0.000 0.051 2133 2934 2956 0 0 0 0 0 0
3675 -1.64 -82.6 591.4 -14.1 125 3683 0.00 1.83 0.00 0.000 4 0.000 0.067 2133 3962 2952 0 0 0 0 0 0
3809 -1.64 -82.6 611.4 -14.1 127 3817 0.00 1.75 0.00 0.000 6 0.000 0.043 2133 2932 2951 0 0 0 0 0 0
4172 -1.64 -82.6 656.7 -12.3 133 4184 0.00 2.47 0.00 0.000 4 0.000 0.059 2133 1528 2948 0 0 0 0 0 0
4209 -1.64 -82.6 661.5 -12.9 133 4217 0.00 2.50 0.00 0.000 6 0.000 0.058 2133 2919 2947 0 0 0 0 0 0
4544 -1.64 -82.6 700.6 -11.5 139 4552 0.00 1.95 0.00 0.000 4 0.000 0.089 2133 3943 2945 0 0 0 0 0 0
4599 -1.64 -82.6 707.5 -12.6 139 4607 0.00 1.77 0.00 0.000 6 0.000 0.049 2133 2929 2945 0 0 0 0 0 0
4913 -1.64 -82.6 742.0 -10.9 145 4921 0.00 2.58 0.00 0.000 4 0.000 0.074 2133 1510 2942 0 0 0 0 0 0
5016 -1.64 -84.9 752.4 -9.8 146 5024 0.00 2.60 0.00 0.000 6 0.000 0.070 2133 2919 2942 0 0 0 0 0 0
5346 -1.64 -84.9 789.2 -11.3 152 5352 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2919 2941 0 0 0 0 0 0
5648 -1.64 -84.9 824.3 -11.7 157 5659 0.00 2.72 0.00 0.000 4 0.000 0.100 2133 1514 2939 0 0 0 0 0 0
5695 -1.64 -84.9 830.0 -11.2 157 5703 0.00 2.75 0.00 0.000 6 0.000 0.100 2133 2917 2939 0 0 0 0 0 0
6009 -1.64 -84.9 865.7 -11.2 163 6017 0.00 2.15 0.00 0.000 4 0.000 0.140 2133 3959 2937 0 0 0 0 0 0
6064 -1.64 -84.9 871.9 -11.5 163 6073 0.00 2.05 0.00 0.000 6 0.000 0.107 2133 2928 2936 0 0 0 0 0 0
6373 -1.65 -88.0 902.3 -9.7 169 6382 0.00 2.92 0.00 0.000 4 0.000 0.140 2133 1504 2935 0 0 0 0 0 0
6439 -1.66 -98.2 908.2 -8.9 170 6448 0.00 3.00 0.00 0.000 6 0.000 0.138 2133 2922 2935 0 0 0 0 0 0
6797 -1.66 -105.8 941.3 -9.2 176 6805 0.00 2.33 0.00 0.000 4 0.000 0.183 2133 3955 2934 0 0 0 0 0 0
6847 -1.66 -105.8 946.6 -10.8 176 6855 0.00 2.30 0.00 0.000 6 0.000 0.155 2134 2915 2933 0 0 0 0 0 0
7155 -1.67 -106.9 977.1 -9.9 181 7164 0.00 3.25 0.00 0.000 4 0.000 0.193 2133 1500 2932 0 0 0 0 0 0
7232 -1.67 -108.9 984.8 -9.8 182 7241 0.00 3.33 0.00 0.000 6 0.000 0.185 2133 2928 2931 0 0 0 0 0 0
7336 end dive: TARGET_DEPTH_EXCEEDED
state 7336 begin apogee
7340 -0.28 0.0 995.9 10.5 184 7420 1.52 0.00 72.32 1.330 6 0.130 0.000 2431 2743 2618 0 0 0 0 0 0
7421 end apogee: CONTROL_FINISHED_OK
state 7421 begin climb
7423 1.67 108.9 998.2 0.0 185 7538 2.03 0.00 107.15 1.302 6 0.083 0.000 2855 2743 2174 0 0 0 0 0 0
7820 1.67 108.9 936.5 18.4 192 7829 0.00 3.05 0.00 0.000 4 0.000 0.156 2855 1334 2161 0 0 0 0 0 0
7876 1.67 108.9 926.1 18.9 192 7885 0.00 2.95 0.00 0.000 6 0.000 0.134 2854 2753 2161 0 0 0 0 0 0
8185 1.67 108.9 868.5 18.9 198 8193 0.00 2.88 0.00 0.000 4 0.000 0.112 2854 1329 2158 0 0 0 0 0 0
8267 1.67 108.9 853.2 18.8 199 8276 0.00 2.83 0.00 0.000 6 0.000 0.098 2855 2756 2158 0 0 0 0 0 0
8608 1.67 108.9 793.7 17.4 205 8617 0.00 2.72 0.00 0.000 4 0.000 0.084 2855 1324 2155 0 0 0 0 0 0
8697 1.67 108.9 779.1 16.9 206 8705 0.00 2.70 0.00 0.000 6 0.000 0.073 2854 2764 2155 0 0 0 0 0 0
9033 1.67 108.9 719.7 18.0 212 9041 0.00 2.65 0.00 0.000 4 0.000 0.068 2855 1326 2153 0 0 0 0 0 0
9099 1.67 108.9 708.6 17.0 213 9107 0.00 2.62 0.00 0.000 6 0.000 0.058 2854 2766 2153 0 0 0 0 0 0
9461 1.67 108.9 652.2 15.1 219 9466 0.00 0.00 0.00 0.000 6 0.000 0.000 2855 2765 2152 0 0 0 0 0 0
9762 1.67 108.9 607.3 15.0 224 9768 0.00 0.00 0.00 0.000 6 0.000 0.000 2854 2765 2151 0 0 0 0 0 0
10064 1.67 108.9 560.2 15.5 229 10073 0.00 2.60 0.00 0.000 4 0.000 0.058 2854 1315 2151 0 0 0 0 0 0
10174 1.67 108.9 544.4 13.4 230 10182 0.00 2.55 0.00 0.000 6 0.000 0.050 2854 2759 2152 0 0 0 0 0 0
10488 1.67 108.9 500.5 13.7 236 10494 0.00 0.00 0.00 0.000 6 0.000 0.000 2855 2760 2150 0 0 0 0 0 0
10789 1.67 108.9 459.6 13.5 241 10793 0.00 2.60 0.00 0.000 4 0.000 0.051 2855 1310 2150 0 0 0 0 0 0
10842 1.67 108.9 452.0 14.9 241 10846 0.00 2.58 0.00 0.000 6 0.000 0.046 2855 2756 2150 0 0 0 0 0 0
11155 1.67 108.9 410.3 13.2 247 11159 0.00 2.53 0.00 0.000 4 0.000 0.050 2855 1314 2149 0 0 0 0 0 0
11256 1.67 108.9 397.5 12.1 248 11260 0.00 2.53 0.00 0.000 6 0.000 0.045 2854 2760 2150 0 0 0 0 0 0
11579 1.67 108.9 355.0 13.3 254 11583 0.00 2.53 0.00 0.000 4 0.000 0.048 2855 1316 2149 0 0 0 0 0 0
11615 1.67 108.9 350.5 12.6 254 11620 0.00 2.55 0.00 0.000 6 0.000 0.044 2855 2761 2149 0 0 0 0 0 0
11944 1.67 108.9 314.1 10.7 260 11948 0.00 2.55 0.00 0.000 4 0.000 0.047 2855 1319 2148 0 0 0 0 0 0
12189 1.67 109.5 288.9 9.9 264 12194 0.00 2.53 0.00 0.000 6 0.000 0.043 2855 2758 2149 0 0 0 0 0 0
12504 1.69 124.9 260.8 8.4 275 12519 0.00 2.55 11.02 0.761 4 0.000 0.044 2855 1304 2106 0 0 0 0 0 0
12711 1.69 124.9 239.3 11.1 281 12715 0.00 2.53 0.00 0.000 6 0.000 0.041 2855 2766 2106 0 0 0 0 0 0
13026 1.69 125.4 207.6 9.9 292 13029 0.00 2.08 0.00 0.000 4 0.000 0.055 2855 3953 2106 0 0 0 0 0 0
13126 1.69 125.4 197.2 10.2 295 13131 0.00 2.15 0.00 0.000 6 0.000 0.038 2855 2690 2104 0 0 0 0 0 0
13457 1.69 132.2 166.5 9.3 306 13470 0.00 2.42 7.70 0.620 4 0.000 0.044 2855 1305 2078 0 0 0 0 0 0
13519 1.69 133.1 160.3 9.9 308 13523 0.00 2.47 0.00 0.000 6 0.000 0.039 2855 2761 2078 0 0 0 0 0 0
13854 1.69 133.1 124.1 11.5 319 13859 0.00 2.53 0.00 0.000 4 0.000 0.042 2854 1304 2078 0 0 0 0 0 0
13934 1.69 133.1 114.7 11.5 321 13938 0.00 2.50 0.00 0.000 6 0.000 0.039 2855 2752 2079 0 0 0 0 0 0
14246 1.70 137.6 83.4 9.5 341 14257 0.00 0.00 6.75 0.522 6 0.000 0.000 2855 2752 2056 0 0 0 0 0 0
14444 1.70 137.6 62.6 11.2 360 14444 0.00 0.00 0.00 0.000 6 0.000 0.000 2855 2752 2056 0 0 0 0 0 0
14629 1.75 185.2 49.7 5.1 378 14675 0.00 2.53 41.70 0.566 4 0.000 0.041 2855 1297 1862 0 0 0 0 0 0
14915 1.77 202.3 27.4 8.2 404 14935 0.08 2.50 15.07 0.509 6 0.063 0.038 2880 2753 1792 0 0 0 0 0 0
15125 1.77 202.3 5.5 11.9 436 15131 0.00 2.50 0.00 0.000 4 0.000 0.042 2879 1302 1788 0 0 0 0 0 0
15144 end climb: SURFACE_DEPTH_REACHED
state 15145 begin surface coast
15166 end surface coast: CONTROL_FINISHED_OK
state 15166 begin surface