DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 9 * 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  9 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_TOP_MIN_OBSTACLE  1
D_SURF  4 FIX_MISSING_TIMEOUT  1 C_ROLL_DIVE  1938 ALTIM_PING_DEPTH  400
D_FLARE  3 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1938 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  19 XPDR_VALID  2
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  20 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  0 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  -4334.8569 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  131137,6657.578,-5720.701,35,1.1,35,-37.6 TGT_NAME  TARGET_W_IN
_CALLS  1 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.02 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -77.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  132008,6657.518,-5720.741,14,1.3,14,-37.6 MHEAD_RNG_PITCHd_Wd  342.1,137821,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  790

Post-dive calculations and measurements:
FINISH  1.1,1.006363 _24V_AH  23.4,5.057
SM_CCo  13910,0.00,0.000,0,0,1576,334.59 _10V_AH  10.3,1.855
SM_GC  2.51,8.43,0.00,0.00,0.067,0.000,0.000,146,1939,1576,-8.95,0.03,334.59 FG_AHR_24Vo  0.000
RAFOS_CLK  698 FG_AHR_10Vo  0.000
RAFOS_FIX  0.000000,0.000000,010170,000000,0,0,0.00 MEM  150284
IRIDIUM_FIX  6625.71,-5719.52,150199,090917 DATA_FILE_SIZE  50466,1274
TT8_MAMPS  0.050622 CAP_FILE_SIZE  168089,0
HUMID  40.03 CFSIZE  260165632,251801600
INTERNAL_PRESSURE  9.44372 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  15.10 SOUNDSPEED  1459.6
XPDR_PINGS  0 CURRENT  0.084,263.6,1
ALTIM_BOTTOM_PING  750.4,81.0 GPS  211009,171307,6658.808,-5726.417,41,1.0,41,-37.6

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21257131.61 SBE_CT89324501.99
Roll_motor14178258.72 SBE_O294819421.84
VBD_pump_during_apogee414113411006.80 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2810369.18 nil000.00
Iridium_during_connect35160134.34 nil000.00
Iridium_during_xfer3352231750.60
Transponder_ping242022.11
GUMSTIX_24V000.00
GPS14507.40
TT80190.00
LPSleep103202245.55
TT8_Active53919110.61
TT8_Sampling3011391238.23
TT8_CF851145242.12
TT8_Kalman000.00
Analog_circuits181312224.19
GPS_charging000.00
Compass24718203.63
RAFOS2520138.93
Transponder20306.23

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
10 end surface: CONTROL_FINISHED_OK
state 10 begin dive
11 -0.64 -146.0 0.0 0.0 0 75 0.00 0.00 -61.80 0.000 2 0.000 0.000 145 1932 2683 0 0 0 0 0 0
76 -0.64 -146.0 3.1 -3.1 12 116 10.95 0.00 -22.52 0.000 6 0.258 0.000 2813 1932 3537 0 0 0 0 0 0
435 -0.64 -146.0 62.6 -14.7 80 436 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 1932 3538 0 0 0 0 0 0
759 -0.64 -146.0 111.1 -14.9 134 763 0.00 2.33 0.00 0.000 4 0.000 0.078 2813 527 3538 0 0 0 0 0 0
854 -0.64 -146.0 125.3 -14.5 145 858 0.00 2.28 0.00 0.000 6 0.000 0.062 2807 1939 3538 0 0 0 0 0 0
1173 -0.64 -146.0 172.7 -14.4 176 1177 0.00 2.33 0.00 0.000 4 0.000 0.078 2807 526 3538 0 0 0 0 0 0
1203 -0.64 -146.0 177.4 -14.7 179 1209 0.00 2.28 0.00 0.000 6 0.000 0.063 2807 1941 3538 0 0 0 0 0 0
1517 -0.64 -146.0 220.4 -13.2 210 1521 0.00 2.33 0.00 0.000 4 0.000 0.078 2807 522 3537 0 0 0 0 0 0
1599 -0.64 -146.0 231.6 -13.1 219 1606 0.00 2.28 0.00 0.000 6 0.000 0.063 2799 1937 3537 0 0 0 0 0 0
1914 -0.64 -146.0 274.0 -13.3 250 1918 0.00 2.30 0.00 0.000 4 0.000 0.077 2798 526 3537 0 0 0 0 0 0
1979 -0.64 -146.0 282.8 -13.4 257 1985 0.00 2.25 0.00 0.000 6 0.000 0.061 2793 1937 3537 0 0 0 0 0 0
2293 -0.64 -146.0 323.6 -12.7 288 2297 0.00 2.30 0.00 0.000 4 0.000 0.077 2793 525 3537 0 0 0 0 0 0
2397 -0.64 -146.0 337.6 -13.3 300 2401 0.00 2.25 0.00 0.000 6 0.000 0.062 2793 1941 3537 0 0 0 0 0 0
2716 -0.64 -146.0 378.5 -12.6 331 2720 0.00 2.28 0.00 0.000 4 0.000 0.076 2793 530 3537 0 0 0 0 0 0
2764 -0.64 -146.0 384.6 -13.0 336 2770 0.00 2.25 0.00 0.000 6 0.000 0.061 2793 1948 3537 0 0 0 0 0 0
3078 -0.64 -146.0 421.7 -11.7 367 3082 0.00 2.30 0.00 0.000 4 0.000 0.075 2793 526 3538 0 0 0 0 0 0
3147 -0.64 -146.0 430.0 -11.6 375 3151 0.00 2.22 0.00 0.000 6 0.000 0.060 2793 1930 3538 0 0 0 0 0 0
3465 -0.64 -146.0 466.5 -11.9 406 3469 0.00 2.28 0.00 0.000 4 0.000 0.075 2793 523 3538 0 0 0 0 0 0
3513 -0.64 -146.0 472.2 -11.6 411 3520 0.00 2.25 0.00 0.000 6 0.000 0.059 2793 1945 3538 0 0 0 0 0 0
3827 -0.64 -146.0 507.9 -11.8 442 3831 0.00 2.28 0.00 0.000 4 0.000 0.075 2794 532 3539 0 0 0 0 0 0
3888 -0.64 -146.0 515.3 -12.0 449 3892 0.00 2.22 0.00 0.000 6 0.000 0.061 2793 1939 3539 0 0 0 0 0 0
4207 -0.64 -146.0 552.4 -11.5 480 4211 0.00 2.28 0.00 0.000 4 0.000 0.075 2793 524 3539 0 0 0 0 0 0
4254 -0.64 -146.0 558.4 -11.9 485 4260 0.00 2.22 0.00 0.000 6 0.000 0.061 2793 1934 3539 0 0 0 0 0 0
4569 -0.64 -146.0 594.9 -11.8 516 4573 0.00 2.28 0.00 0.000 4 0.000 0.076 2794 525 3539 0 0 0 0 0 0
4634 -0.64 -146.0 603.0 -12.7 522 4638 0.00 2.22 0.00 0.000 6 0.000 0.061 2793 1934 3539 0 0 0 0 0 0
4963 -0.64 -146.0 639.6 -10.9 533 4967 0.00 2.28 0.00 0.000 4 0.000 0.076 2793 522 3539 0 0 0 0 0 0
5023 -0.64 -146.0 646.7 -11.8 535 5028 0.00 2.22 0.00 0.000 6 0.000 0.061 2793 1934 3539 0 0 0 0 0 0
5357 -0.64 -146.0 683.4 -11.0 546 5361 0.00 2.28 0.00 0.000 4 0.000 0.076 2793 519 3539 0 0 0 0 0 0
5413 -0.64 -146.0 689.9 -10.7 547 5420 0.00 2.22 0.00 0.000 6 0.000 0.060 2793 1932 3539 0 0 0 0 0 0
5721 -0.64 -146.0 723.7 -10.8 558 5725 0.00 2.28 0.00 0.000 4 0.000 0.077 2793 519 3539 0 0 0 0 0 0
5764 -0.64 -146.0 728.6 -10.7 559 5768 0.00 2.22 0.00 0.000 6 0.000 0.061 2793 1932 3539 0 0 0 0 0 0
6084 -0.64 -146.0 763.5 -10.8 570 6088 0.00 2.25 0.00 0.000 4 0.000 0.075 2793 530 3539 0 0 0 0 0 0
6145 -0.64 -146.0 770.3 -11.0 572 6149 0.00 2.22 0.00 0.000 6 0.000 0.061 2793 1938 3539 0 0 0 0 0 0
6356 end dive: TARGET_DEPTH_EXCEEDED
state 6356 begin apogee
6359 -0.13 0.0 792.5 10.6 579 6484 0.57 0.00 123.20 1.134 6 0.140 0.000 2980 1939 2941 0 0 0 0 0 0
6485 end apogee: CONTROL_FINISHED_OK
state 6485 begin climb
6486 0.64 146.0 797.5 0.0 583 6621 0.73 2.53 127.88 1.098 4 0.086 0.074 3243 529 2343 0 0 0 0 0 0
6869 0.47 146.0 777.1 10.3 595 6875 0.17 2.30 0.00 0.000 6 0.155 0.055 3177 1935 2333 0 0 0 0 0 0
7176 0.55 215.7 755.6 6.8 606 7242 0.00 2.47 60.58 1.079 4 0.000 0.076 3187 534 2059 0 0 0 0 0 0
7359 0.68 253.2 740.6 8.3 612 7399 0.12 2.30 33.92 1.048 6 0.067 0.054 3248 1929 1906 0 0 0 0 0 0
7715 0.62 253.2 695.6 12.7 624 7719 0.00 2.38 0.00 0.000 4 0.000 0.076 3258 523 1895 0 0 0 0 0 0
7828 0.54 253.2 680.7 13.7 627 7832 0.17 2.28 0.00 0.000 6 0.150 0.055 3202 1928 1895 0 0 0 0 0 0
8140 0.62 268.5 650.2 9.3 638 8156 0.00 2.35 12.52 0.967 4 0.000 0.078 3212 523 1845 0 0 0 0 0 0
8251 0.68 268.5 638.9 10.4 641 8255 0.00 2.30 0.00 0.000 6 0.000 0.055 3212 1939 1842 0 0 0 0 0 0
8563 0.73 268.5 605.2 10.9 652 8567 0.12 2.33 0.00 0.000 4 0.106 0.077 3274 526 1840 0 0 0 0 0 0
8684 0.63 268.5 587.2 15.5 661 8688 0.12 2.25 0.00 0.000 6 0.153 0.057 3232 1929 1839 0 0 0 0 0 0
9003 0.63 268.5 546.0 12.8 692 9007 0.00 2.30 0.00 0.000 4 0.000 0.076 3244 531 1839 0 0 0 0 0 0
9089 0.63 268.5 534.4 13.8 702 9094 0.00 2.25 0.00 0.000 6 0.000 0.058 3244 1939 1838 0 0 0 0 0 0
9408 0.63 268.5 492.6 12.8 733 9412 0.00 2.33 0.00 0.000 4 0.000 0.077 3255 526 1838 0 0 0 0 0 0
9504 0.59 268.5 479.9 13.0 744 9508 0.10 2.25 0.00 0.000 6 0.153 0.058 3221 1938 1838 0 0 0 0 0 0
9822 0.59 268.5 444.9 10.5 775 9826 0.00 2.33 0.00 0.000 4 0.000 0.077 3231 521 1837 0 0 0 0 0 0
9922 0.59 268.5 433.6 11.1 786 9927 0.00 2.25 0.00 0.000 6 0.000 0.058 3231 1939 1837 0 0 0 0 0 0
10236 0.59 268.5 397.4 11.5 817 10240 0.00 2.30 0.00 0.000 4 0.000 0.077 3241 530 1837 0 0 0 0 0 0
10305 0.59 268.5 389.2 12.4 825 10309 0.00 2.22 0.00 0.000 6 0.000 0.058 3242 1932 1837 0 0 0 0 0 0
10625 0.59 268.5 351.9 11.6 856 10628 0.00 2.30 0.00 0.000 4 0.000 0.077 3252 521 1837 0 0 0 0 0 0
10706 0.59 268.5 341.9 12.8 865 10712 0.10 2.22 0.00 0.000 6 0.154 0.058 3218 1931 1836 0 0 0 0 0 0
11021 0.63 268.5 309.0 10.0 896 11025 0.00 2.30 0.00 0.000 4 0.000 0.077 3228 522 1836 0 0 0 0 0 0
11151 0.63 268.5 294.3 11.4 911 11155 0.00 2.22 0.00 0.000 6 0.000 0.057 3228 1931 1837 0 0 0 0 0 0
11470 0.63 268.5 257.9 11.1 942 11474 0.00 2.28 0.00 0.000 4 0.000 0.077 3238 527 1836 0 0 0 0 0 0
11578 0.63 268.5 245.1 12.1 954 11584 0.00 2.22 0.00 0.000 6 0.000 0.058 3238 1939 1836 0 0 0 0 0 0
11893 0.63 268.5 209.2 11.2 985 11897 0.00 2.30 0.00 0.000 4 0.000 0.077 3249 520 1836 0 0 0 0 0 0
12006 0.63 268.5 196.0 11.8 998 12009 0.00 2.22 0.00 0.000 6 0.000 0.058 3249 1935 1836 0 0 0 0 0 0
12324 0.63 268.5 157.8 11.6 1029 12328 0.00 2.28 0.00 0.000 4 0.000 0.076 3259 527 1837 0 0 0 0 0 0
12428 0.63 268.5 145.1 11.9 1041 12432 0.08 2.22 0.00 0.000 6 0.153 0.058 3233 1939 1836 0 0 0 0 0 0
12747 0.70 276.6 112.8 9.6 1072 12759 0.00 2.30 7.35 0.658 4 0.000 0.077 3242 530 1812 0 0 0 0 0 0
12854 0.79 303.1 102.7 8.8 1084 12886 0.08 2.22 24.52 0.706 6 0.083 0.058 3287 1941 1703 0 0 0 0 0 0
13205 0.79 303.1 62.7 10.2 1148 13210 0.00 2.33 0.00 0.000 4 0.000 0.077 3298 528 1697 0 0 0 0 0 0
13353 0.75 303.1 45.9 12.1 1182 13359 0.08 2.25 0.00 0.000 6 0.160 0.058 3272 1937 1695 0 0 0 0 0 0
13678 0.82 332.1 14.6 8.7 1243 13707 0.00 0.00 24.67 0.666 6 0.000 0.000 3272 1938 1587 0 0 0 0 0 0
13795 end climb: SURFACE_DEPTH_REACHED
state 13795 begin surface coast
13838 end surface coast: CONTROL_FINISHED_OK
state 13838 begin surface