Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 907 * 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 907 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 3 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 2150 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 SM_CC 514.1488 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 64 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 30 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE4 -1

T_MISSION 40 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 2300 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 -87995.195 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 30 PITCH_MAX 4070 AH0_10V 100 SEABIRD_T_I 2.5554549e-05

SPEED_FACTOR 1 C_PITCH 2780 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 3 PITCH_DBAND 0.1 SMARTS 0

AH0_10V 100 D_NO_BLEED 200 PITCH_GAIN 18 SM_CC 514.1488

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 30 RAFOS_HIT_WINDOW 3600 T_DIVE 30

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 -87995.195

CALL_WAIT 60 HD_C 9.8541004e-06 ROLL_ADJ_DBAND 0 T_MISSION 40

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 2780 INT_PRESSURE_YINT 0 ROLL_MIN 145 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2150 KALMAN_USE 1 ROLL_TIMEOUT 15 USE_BATHY -4

C_ROLL_DIVE 2350 MASS 51503 R_PORT_OVSHOOT 64 USE_ICE 0

C_VBD 2300 MAX_BUOY 150 R_STBD_OVSHOOT 35 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 907 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 164417,4806.388,-12222.665,9,2.2,28,18.3 TGT_NAME SIX

_CALLS 2 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.223,-0.177

_SM_DEPTHo 2.34 KALMAN_X -4065.6,-674.1,-211.3,5126.9,-3.0

_SM_ANGLEo -68.0 KALMAN_Y 4885.4,797.4,170.6,-5820.2,-45.2

GPS2 165305,4806.427,-12222.686,11,2.8,30,18.3 MHEAD_RNG_PITCHd_Wd 110.2,1159,-23.0,-13.333

SPEED_LIMITS 0.231,0.284 D_GRID 103

Post-dive calculations and measurements:

FINISH 1.4,1.003110 XPDR_PINGS 0

SM_CCo 1891,89.22,0.634,0,0,204,514.15 ALTIM_BOTTOM_PING 81.2,43.9

SM_GC 2.23,0.00,0.00,89.22,0.000,0.000,0.634,21,2361,204,-8.62,0.31,514.15 _24V_AH 24.1,85.134

IRIDIUM_FIX 4748.51,-12226.29,101007,202026 _10V_AH 10.7,40.076

TT8_MAMPS 0.026078 DATA_FILE_SIZE 12734,244

HUMID 1843 CFSIZE 260165632,233295872

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

TCM_TEMP 17.10 GPS 101007,172757,4806.294,-12222.552,11,1.1,11,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 211 114.28 SBE_CT 175 24 101.54

Roll_motor 14 58 20.19 SBE_O2 177 19 81.46

VBD_pump_during_apogee 366 727 6413.60 WL_BB2F 411 105 1042.48

VBD_pump_during_surface 89 634 1363.97 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 50 103 124.67 nil 0 0 0.00

Iridium_during_connect 46 160 180.39 nil 0 0 0.00

Iridium_during_xfer 211 223 1137.31

Transponder_ping 0 420 7.59

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 17.44

TT8 356 19 75.54

LPSleep 702 2 16.47

TT8_Active 436 19 92.44

TT8_Sampling 513 39 218.79

TT8_CF8 512 45 251.32

TT8_Kalman 33 81 29.17

Analog_circuits 745 12 95.69

GPS_charging 0 0 0.00

Compass 501 8 42.95

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

27 end surface: CONTROL_FINISHED_OK

state 27 begin dive

33 -1.46 -146.6 0.0 0.0 0 99 0.00 0.00 -63.83 0.000 2 0.000 0.000 24 2350 1883

105 -1.46 -146.6 3.3 -2.4 12 151 9.45 2.40 -27.17 0.000 4 0.212 0.058 2294 3756 2899

403 -1.46 -146.6 51.0 -17.5 64 407 0.00 2.20 0.00 0.000 6 0.000 0.026 2294 2338 2902

726 end dive: TARGET_DEPTH_EXCEEDED

state 726 begin apogee

737 -0.28 0.0 104.4 17.2 94 855 1.30 0.00 113.57 0.727 6 0.135 0.000 2679 2149 2299

855 end apogee: CONTROL_FINISHED_OK

state 855 begin climb

861 1.46 146.6 110.5 0.0 106 981 1.73 2.42 112.25 0.683 4 0.080 0.041 3241 3555 1701

1014 1.46 146.6 95.8 16.6 119 1021 0.00 2.25 0.00 0.000 6 0.000 0.027 3251 2169 1700

1346 1.46 146.6 42.3 15.5 154 1352 0.00 2.30 0.00 0.000 4 0.000 0.038 3262 745 1699

1442 1.46 146.6 27.8 15.1 170 1448 0.00 2.28 0.00 0.000 6 0.000 0.031 3261 2164 1699

1656 1.75 380.5 2.9 -0.9 207 1800 0.20 0.00 140.18 0.656 2 0.058 0.000 3352 2164 850

1801 end climb: SURFACE_DEPTH_REACHED

state 1801 begin surface coast

1864 end surface coast: CONTROL_FINISHED_OK

state 1864 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	907	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	3	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	2150	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	SM_CC	514.1488	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	64	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	30	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE4	-1
T_MISSION	40	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	2300	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	-87995.195	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	30	PITCH_MAX	4070	AH0_10V	100	SEABIRD_T_I	2.5554549e-05
SPEED_FACTOR	1	C_PITCH	2780	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	164417,4806.388,-12222.665,9,2.2,28,18.3	TGT_NAME	SIX
_CALLS	2	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.223,-0.177
_SM_DEPTHo	2.34	KALMAN_X	-4065.6,-674.1,-211.3,5126.9,-3.0
_SM_ANGLEo	-68.0	KALMAN_Y	4885.4,797.4,170.6,-5820.2,-45.2
GPS2	165305,4806.427,-12222.686,11,2.8,30,18.3	MHEAD_RNG_PITCHd_Wd	110.2,1159,-23.0,-13.333
SPEED_LIMITS	0.231,0.284	D_GRID	103

FINISH	1.4,1.003110	XPDR_PINGS	0
SM_CCo	1891,89.22,0.634,0,0,204,514.15	ALTIM_BOTTOM_PING	81.2,43.9
SM_GC	2.23,0.00,0.00,89.22,0.000,0.000,0.634,21,2361,204,-8.62,0.31,514.15	_24V_AH	24.1,85.134
IRIDIUM_FIX	4748.51,-12226.29,101007,202026	_10V_AH	10.7,40.076
TT8_MAMPS	0.026078	DATA_FILE_SIZE	12734,244
HUMID	1843	CFSIZE	260165632,233295872
INTERNAL_PRESSURE	9.10191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	GPS	101007,172757,4806.294,-12222.552,11,1.1,11,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	211	114.28	SBE_CT	175	24	101.54
Roll_motor	14	58	20.19	SBE_O2	177	19	81.46
VBD_pump_during_apogee	366	727	6413.60	WL_BB2F	411	105	1042.48
VBD_pump_during_surface	89	634	1363.97	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	50	103	124.67	nil	0	0	0.00
Iridium_during_connect	46	160	180.39	nil	0	0	0.00
Iridium_during_xfer	211	223	1137.31
Transponder_ping	0	420	7.59
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	17.44
TT8	356	19	75.54
LPSleep	702	2	16.47
TT8_Active	436	19	92.44
TT8_Sampling	513	39	218.79
TT8_CF8	512	45	251.32
TT8_Kalman	33	81	29.17
Analog_circuits	745	12	95.69
GPS_charging	0	0	0.00
Compass	501	8	42.95
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
27	end surface: CONTROL_FINISHED_OK
state	27	begin dive
33	-1.46	-146.6	0.0	0.0	0	99	0.00	0.00	-63.83	0.000	2	0.000	0.000	24	2350	1883
105	-1.46	-146.6	3.3	-2.4	12	151	9.45	2.40	-27.17	0.000	4	0.212	0.058	2294	3756	2899
403	-1.46	-146.6	51.0	-17.5	64	407	0.00	2.20	0.00	0.000	6	0.000	0.026	2294	2338	2902
726	end dive: TARGET_DEPTH_EXCEEDED
state	726	begin apogee
737	-0.28	0.0	104.4	17.2	94	855	1.30	0.00	113.57	0.727	6	0.135	0.000	2679	2149	2299
855	end apogee: CONTROL_FINISHED_OK
state	855	begin climb
861	1.46	146.6	110.5	0.0	106	981	1.73	2.42	112.25	0.683	4	0.080	0.041	3241	3555	1701
1014	1.46	146.6	95.8	16.6	119	1021	0.00	2.25	0.00	0.000	6	0.000	0.027	3251	2169	1700
1346	1.46	146.6	42.3	15.5	154	1352	0.00	2.30	0.00	0.000	4	0.000	0.038	3262	745	1699
1442	1.46	146.6	27.8	15.1	170	1448	0.00	2.28	0.00	0.000	6	0.000	0.031	3261	2164	1699
1656	1.75	380.5	2.9	-0.9	207	1800	0.20	0.00	140.18	0.656	2	0.058	0.000	3352	2164	850
1801	end climb: SURFACE_DEPTH_REACHED
state	1801	begin surface coast
1864	end surface coast: CONTROL_FINISHED_OK
state	1864	begin surface