Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 951 * 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 951 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 563.2088 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 74 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 40 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 53 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE4 -1

T_MISSION 65 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 2500 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 -89146.766 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 563.2088

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 53

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 -89146.766

CALL_WAIT 60 HD_C 9.8541004e-06 ROLL_ADJ_DBAND 0 T_MISSION 65

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 74 USE_ICE 0

C_VBD 2500 MAX_BUOY 150 R_STBD_OVSHOOT 40 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 951 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 143328,4806.868,-12222.942,44,3.3,64,18.3 TGT_NAME SEVEN

_CALLS 2 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.089,0.096

_SM_DEPTHo 2.66 KALMAN_X -9859.5,185.3,27.9,9464.7,-151.7

_SM_ANGLEo -68.5 KALMAN_Y 3219.2,-518.5,-174.1,-1687.8,130.5

GPS2 144223,4806.859,-12222.972,13,3.2,32,18.3 MHEAD_RNG_PITCHd_Wd 24.5,263,-27.5,-7.547

SPEED_LIMITS 0.131,0.237 D_GRID 103

Post-dive calculations and measurements:

SM_CCo 2154,320.70,0.641,0,0,204,563.21 ALTIM_BOTTOM_PING 79.9,41.7

SM_GC 2.83,9.68,0.00,0.00,0.052,0.000,0.000,14,2324,194,-8.58,-0.74,565.66 _24V_AH 24.1,90.225

IRIDIUM_FIX 4748.51,-12219.12,121007,181844 _10V_AH 10.7,42.324

TT8_MAMPS 0.026078 DATA_FILE_SIZE 12864,284

HUMID 1853 CFSIZE 260165632,232034304

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

TCM_TEMP 17.20 GPS 121007,152922,4807.026,-12223.024,8,3.6,27,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 211 114.02 SBE_CT 201 24 116.65

Roll_motor 13 46 15.76 SBE_O2 217 19 99.37

VBD_pump_during_apogee 168 753 3050.44 WL_BB2F 479 105 1212.22

VBD_pump_during_surface 320 641 4955.84 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 50 103 125.24 nil 0 0 0.00

Iridium_during_connect 50 160 193.56 nil 0 0 0.00

Iridium_during_xfer 207 223 1113.62

Transponder_ping 0 420 2.53

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 18.67

TT8 467 19 99.12

LPSleep 1104 2 25.88

TT8_Active 537 19 113.92

TT8_Sampling 599 39 255.26

TT8_CF8 526 45 258.18

TT8_Kalman 33 81 29.17

Analog_circuits 836 12 107.44

GPS_charging 0 0 0.00

Compass 595 8 50.95

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

28 end surface: CONTROL_FINISHED_OK

state 28 begin dive

33 -1.58 -41.5 0.0 0.0 0 73 0.00 0.00 -37.10 0.000 2 0.000 0.000 22 2318 1257

79 -1.64 -92.2 3.2 -1.4 7 147 9.27 2.25 -53.30 0.000 4 0.212 0.047 2245 967 2877

456 -1.64 -92.2 62.5 -18.8 67 460 0.00 2.25 0.00 0.000 6 0.000 0.034 2237 2352 2879

672 end dive: TARGET_DEPTH_EXCEEDED

state 673 begin apogee

684 -0.28 0.0 103.6 18.7 87 761 1.52 0.00 72.93 0.752 6 0.140 0.000 2680 2152 2499

762 end apogee: CONTROL_FINISHED_OK

state 762 begin climb

767 1.64 92.2 108.7 0.0 95 846 1.88 2.42 71.12 0.696 4 0.072 0.041 3306 3559 2122

1000 1.64 92.2 89.1 11.1 115 1008 0.00 2.30 0.00 0.000 6 0.000 0.027 3317 2122 2122

1332 1.64 92.2 55.8 9.9 146 1338 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 2122 2121

1677 1.64 92.2 24.2 8.4 202 1683 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 2122 2121

1893 1.68 122.0 10.2 3.9 239 1922 0.00 2.47 24.00 0.753 4 0.000 0.041 3317 3563 2001

2148 end climb: NO_VERTICAL_VELOCITY

state 2148 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	951	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	563.2088	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	74	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	40	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	53	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE4	-1
T_MISSION	65	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	2500	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	-89146.766	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	143328,4806.868,-12222.942,44,3.3,64,18.3	TGT_NAME	SEVEN
_CALLS	2	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.089,0.096
_SM_DEPTHo	2.66	KALMAN_X	-9859.5,185.3,27.9,9464.7,-151.7
_SM_ANGLEo	-68.5	KALMAN_Y	3219.2,-518.5,-174.1,-1687.8,130.5
GPS2	144223,4806.859,-12222.972,13,3.2,32,18.3	MHEAD_RNG_PITCHd_Wd	24.5,263,-27.5,-7.547
SPEED_LIMITS	0.131,0.237	D_GRID	103

SM_CCo	2154,320.70,0.641,0,0,204,563.21	ALTIM_BOTTOM_PING	79.9,41.7
SM_GC	2.83,9.68,0.00,0.00,0.052,0.000,0.000,14,2324,194,-8.58,-0.74,565.66	_24V_AH	24.1,90.225
IRIDIUM_FIX	4748.51,-12219.12,121007,181844	_10V_AH	10.7,42.324
TT8_MAMPS	0.026078	DATA_FILE_SIZE	12864,284
HUMID	1853	CFSIZE	260165632,232034304
INTERNAL_PRESSURE	9.10191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.20	GPS	121007,152922,4807.026,-12223.024,8,3.6,27,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	211	114.02	SBE_CT	201	24	116.65
Roll_motor	13	46	15.76	SBE_O2	217	19	99.37
VBD_pump_during_apogee	168	753	3050.44	WL_BB2F	479	105	1212.22
VBD_pump_during_surface	320	641	4955.84	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	50	103	125.24	nil	0	0	0.00
Iridium_during_connect	50	160	193.56	nil	0	0	0.00
Iridium_during_xfer	207	223	1113.62
Transponder_ping	0	420	2.53
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	18.67
TT8	467	19	99.12
LPSleep	1104	2	25.88
TT8_Active	537	19	113.92
TT8_Sampling	599	39	255.26
TT8_CF8	526	45	258.18
TT8_Kalman	33	81	29.17
Analog_circuits	836	12	107.44
GPS_charging	0	0	0.00
Compass	595	8	50.95
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
28	end surface: CONTROL_FINISHED_OK
state	28	begin dive
33	-1.58	-41.5	0.0	0.0	0	73	0.00	0.00	-37.10	0.000	2	0.000	0.000	22	2318	1257
79	-1.64	-92.2	3.2	-1.4	7	147	9.27	2.25	-53.30	0.000	4	0.212	0.047	2245	967	2877
456	-1.64	-92.2	62.5	-18.8	67	460	0.00	2.25	0.00	0.000	6	0.000	0.034	2237	2352	2879
672	end dive: TARGET_DEPTH_EXCEEDED
state	673	begin apogee
684	-0.28	0.0	103.6	18.7	87	761	1.52	0.00	72.93	0.752	6	0.140	0.000	2680	2152	2499
762	end apogee: CONTROL_FINISHED_OK
state	762	begin climb
767	1.64	92.2	108.7	0.0	95	846	1.88	2.42	71.12	0.696	4	0.072	0.041	3306	3559	2122
1000	1.64	92.2	89.1	11.1	115	1008	0.00	2.30	0.00	0.000	6	0.000	0.027	3317	2122	2122
1332	1.64	92.2	55.8	9.9	146	1338	0.00	0.00	0.00	0.000	6	0.000	0.000	3317	2122	2121
1677	1.64	92.2	24.2	8.4	202	1683	0.00	0.00	0.00	0.000	6	0.000	0.000	3317	2122	2121
1893	1.68	122.0	10.2	3.9	239	1922	0.00	2.47	24.00	0.753	4	0.000	0.041	3317	3563	2001
2148	end climb: NO_VERTICAL_VELOCITY
state	2148	begin surface