Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 855 * 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 855 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 2 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 55 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 38 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 26 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE4 -1

T_MISSION 38 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 -86673.617 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 20 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 1 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 1 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 2 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 20 RAFOS_HIT_WINDOW 3600 T_DIVE 26

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 -86673.617

CALL_WAIT 60 HD_C 9.8541004e-06 ROLL_ADJ_DBAND 0 T_MISSION 38

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 1 ROLL_TIMEOUT 15 USE_BATHY -4

C_ROLL_DIVE 2350 MASS 51503 R_PORT_OVSHOOT 55 USE_ICE 0

C_VBD 2400 MAX_BUOY 150 R_STBD_OVSHOOT 38 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 1 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 855 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 023151,4806.215,-12222.036,9,1.7,9,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.018,-0.422

_SM_DEPTHo 2.39 KALMAN_X 669.9,11.2,-9.3,3766.6,6.7

_SM_ANGLEo -65.3 KALMAN_Y -2352.3,-508.7,-170.9,-4157.4,50.5

GPS2 023621,4806.181,-12221.990,10,1.4,10,18.3 MHEAD_RNG_PITCHd_Wd 164.1,335,-17.7,-15.385

SPEED_LIMITS 0.423,0.433 D_GRID 108

Post-dive calculations and measurements:

SM_CCo 2079,63.00,0.653,0,0,204,538.68 ALTIM_BOTTOM_PING 83.5,41.7

SM_GC 2.63,9.10,0.00,0.00,0.042,0.000,0.000,17,2343,193,-8.46,-0.20,541.38 _24V_AH 24.1,79.497

IRIDIUM_FIX 4748.51,-12226.29,091007,050517 _10V_AH 10.7,38.209

TT8_MAMPS 0.026845 DATA_FILE_SIZE 12778,262

HUMID 1907 CFSIZE 260165632,234557440

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

TCM_TEMP 15.40 GPS 091007,031829,4805.804,-12221.919,11,2.4,30,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 196 99.61 SBE_CT 192 24 111.19

Roll_motor 13 58 19.14 SBE_O2 193 19 88.68

VBD_pump_during_apogee 431 739 7690.34 WL_BB2F 442 105 1119.60

VBD_pump_during_surface 63 653 992.18 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 58.12 nil 0 0 0.00

Iridium_during_connect 12 160 49.76 nil 0 0 0.00

Iridium_during_xfer 109 223 589.36

Transponder_ping 0 420 7.59

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 6.28

TT8 399 19 84.59

LPSleep 947 2 22.21

TT8_Active 499 19 105.73

TT8_Sampling 503 39 214.37

TT8_CF8 332 45 163.00

TT8_Kalman 33 81 29.17

Analog_circuits 805 12 103.37

GPS_charging 0 0 0.00

Compass 518 8 44.39

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

30 end surface: CONTROL_FINISHED_OK

state 30 begin dive

35 -1.16 -146.6 0.0 0.0 0 42 0.00 0.00 -5.12 0.000 2 0.000 0.000 22 2359 360

47 -1.16 -146.6 2.4 -0.0 1 164 9.30 2.33 -100.12 0.000 4 0.196 0.058 2352 3754 2999

456 -1.16 -146.6 50.4 -15.2 73 460 0.00 2.22 0.00 0.000 6 0.000 0.026 2351 2321 3001

783 -1.16 -146.6 99.2 -14.2 103 787 0.00 2.15 0.00 0.000 4 0.000 0.034 2352 965 3001

824 -1.16 -146.6 105.2 -15.2 106 830 0.00 2.22 0.00 0.000 6 0.000 0.035 2342 2352 3002

849 end dive: TARGET_DEPTH_EXCEEDED

state 849 begin apogee

859 -0.28 0.0 109.4 14.6 109 977 1.00 0.00 113.30 0.739 6 0.126 0.000 2644 2192 2400

977 end apogee: CONTROL_FINISHED_OK

state 978 begin climb

982 1.16 146.6 116.1 0.0 121 1100 1.42 0.00 112.57 0.699 6 0.084 0.000 3106 2191 1801

1420 1.40 335.9 79.9 9.2 163 1569 0.22 0.00 144.07 0.691 6 0.052 0.000 3200 2191 1029

1907 1.52 434.5 4.1 12.1 233 1974 0.00 2.47 61.62 0.670 4 0.000 0.043 3200 3612 627

2073 end climb: NO_VERTICAL_VELOCITY

state 2073 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	855	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	2	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	55	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	38	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	26	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE4	-1
T_MISSION	38	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	-86673.617	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	20	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	1	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	1	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	023151,4806.215,-12222.036,9,1.7,9,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.018,-0.422
_SM_DEPTHo	2.39	KALMAN_X	669.9,11.2,-9.3,3766.6,6.7
_SM_ANGLEo	-65.3	KALMAN_Y	-2352.3,-508.7,-170.9,-4157.4,50.5
GPS2	023621,4806.181,-12221.990,10,1.4,10,18.3	MHEAD_RNG_PITCHd_Wd	164.1,335,-17.7,-15.385
SPEED_LIMITS	0.423,0.433	D_GRID	108

SM_CCo	2079,63.00,0.653,0,0,204,538.68	ALTIM_BOTTOM_PING	83.5,41.7
SM_GC	2.63,9.10,0.00,0.00,0.042,0.000,0.000,17,2343,193,-8.46,-0.20,541.38	_24V_AH	24.1,79.497
IRIDIUM_FIX	4748.51,-12226.29,091007,050517	_10V_AH	10.7,38.209
TT8_MAMPS	0.026845	DATA_FILE_SIZE	12778,262
HUMID	1907	CFSIZE	260165632,234557440
INTERNAL_PRESSURE	9.10191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.40	GPS	091007,031829,4805.804,-12221.919,11,2.4,30,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	196	99.61	SBE_CT	192	24	111.19
Roll_motor	13	58	19.14	SBE_O2	193	19	88.68
VBD_pump_during_apogee	431	739	7690.34	WL_BB2F	442	105	1119.60
VBD_pump_during_surface	63	653	992.18	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	58.12	nil	0	0	0.00
Iridium_during_connect	12	160	49.76	nil	0	0	0.00
Iridium_during_xfer	109	223	589.36
Transponder_ping	0	420	7.59
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	6.28
TT8	399	19	84.59
LPSleep	947	2	22.21
TT8_Active	499	19	105.73
TT8_Sampling	503	39	214.37
TT8_CF8	332	45	163.00
TT8_Kalman	33	81	29.17
Analog_circuits	805	12	103.37
GPS_charging	0	0	0.00
Compass	518	8	44.39
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
30	end surface: CONTROL_FINISHED_OK
state	30	begin dive
35	-1.16	-146.6	0.0	0.0	0	42	0.00	0.00	-5.12	0.000	2	0.000	0.000	22	2359	360
47	-1.16	-146.6	2.4	-0.0	1	164	9.30	2.33	-100.12	0.000	4	0.196	0.058	2352	3754	2999
456	-1.16	-146.6	50.4	-15.2	73	460	0.00	2.22	0.00	0.000	6	0.000	0.026	2351	2321	3001
783	-1.16	-146.6	99.2	-14.2	103	787	0.00	2.15	0.00	0.000	4	0.000	0.034	2352	965	3001
824	-1.16	-146.6	105.2	-15.2	106	830	0.00	2.22	0.00	0.000	6	0.000	0.035	2342	2352	3002
849	end dive: TARGET_DEPTH_EXCEEDED
state	849	begin apogee
859	-0.28	0.0	109.4	14.6	109	977	1.00	0.00	113.30	0.739	6	0.126	0.000	2644	2192	2400
977	end apogee: CONTROL_FINISHED_OK
state	978	begin climb
982	1.16	146.6	116.1	0.0	121	1100	1.42	0.00	112.57	0.699	6	0.084	0.000	3106	2191	1801
1420	1.40	335.9	79.9	9.2	163	1569	0.22	0.00	144.07	0.691	6	0.052	0.000	3200	2191	1029
1907	1.52	434.5	4.1	12.1	233	1974	0.00	2.47	61.62	0.670	4	0.000	0.043	3200	3612	627
2073	end climb: NO_VERTICAL_VELOCITY
state	2073	begin surface