DavisStrait 20Oct09 * SG172 * Dive index * Mission links * Dive 96 * 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  96 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_TOP_MIN_OBSTACLE  1
D_SURF  4 FIX_MISSING_TIMEOUT  1 C_ROLL_DIVE  1850 ALTIM_PING_DEPTH  400
D_FLARE  3 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1700 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  24 XPDR_VALID  2
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  39 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  -6040.8843 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  002724,6702.561,-5704.433,37,1.6,37,-37.6 TGT_NAME  TARGET_E_IN
_CALLS  1 TGT_LATLONG  6703.000,-5648.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.45 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -77.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  003313,6702.614,-5704.517,26,1.1,31,-37.6 MHEAD_RNG_PITCHd_Wd  117.0,11949,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  688

Post-dive calculations and measurements:
FINISH  2.2,1.025370 _24V_AH  23.6,18.640
SM_CCo  13053,0.00,0.000,0,0,1702,303.68 _10V_AH  10.2,8.311
SM_GC  2.82,8.23,0.00,0.00,0.054,0.000,0.000,142,1847,1702,-8.93,-0.08,303.68 FG_AHR_24Vo  0.000
RAFOS_CLK  591 FG_AHR_10Vo  0.000
RAFOS  2,1257466652,0.300000,0.292222,41,39,38,0,0,0,215,511,233,0,0,0 MEM  188492
RAFOS_FIX  0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE  50482,1251
IRIDIUM_FIX  6636.54,-5702.96,300199,202051 CAP_FILE_SIZE  146380,0
TT8_MAMPS  0.026845 CFSIZE  260165632,243507200
HUMID  39.36 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,7
INTERNAL_PRESSURE  9.60974 SOUNDSPEED  1471.2
TCM_TEMP  16.40 CURRENT  0.203,312.8,1
XPDR_PINGS  0 GPS  061109,041231,6703.913,-5702.738,42,1.1,42,-37.6
ALTIM_BOTTOM_PING  600.5,77.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21238122.58 SBE_CT86824492.07
Roll_motor11581222.00 SBE_O292119413.08
VBD_pump_during_apogee37610319157.18 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2710366.04 nil000.00
Iridium_during_connect36160137.20 nil000.00
Iridium_during_xfer158223834.74
Transponder_ping142017.35
GUMSTIX_24V000.00
GPS315016.11
TT8228819465.02
LPSleep81292191.55
TT8_Active4521991.91
TT8_Sampling216939883.32
TT8_CF835945168.36
TT8_Kalman000.00
Analog_circuits157212192.48
GPS_charging000.00
Compass21138172.43
RAFOS48017.34
Transponder16305.12

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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
14 -0.64 -146.0 0.0 0.0 0 62 0.00 0.00 -46.08 0.000 2 0.000 0.000 134 1861 2643 0 0 0 0 0 0
65 -0.64 -146.0 3.0 -0.5 9 109 10.32 2.30 -26.80 0.000 4 0.239 0.081 2809 443 3535 0 0 0 0 0 0
200 -0.56 -146.0 23.9 -16.4 38 206 0.15 2.20 0.00 0.000 6 0.163 0.052 2843 1838 3537 0 0 0 0 0 0
543 -0.56 -146.0 68.1 -12.4 99 549 0.00 2.25 0.00 0.000 4 0.000 0.069 2844 442 3536 0 0 0 0 0 0
568 -0.59 -146.0 71.5 -13.4 104 574 0.00 2.20 0.00 0.000 6 0.000 0.053 2838 1854 3536 0 0 0 0 0 0
911 -0.64 -146.0 110.5 -10.7 157 915 0.00 2.25 0.00 0.000 4 0.000 0.070 2838 3264 3535 0 0 0 0 0 0
994 -0.79 -146.0 118.3 -9.1 165 1000 0.20 2.22 0.00 0.000 6 0.077 0.057 2747 1844 3535 0 0 0 0 0 0
1318 -0.62 -146.0 175.3 -17.9 196 1323 0.25 2.25 0.00 0.000 4 0.148 0.068 2830 440 3534 0 0 0 0 0 0
1392 -0.69 -146.0 185.4 -11.8 203 1399 0.00 2.17 0.00 0.000 6 0.000 0.051 2822 1851 3535 0 0 0 0 0 0
1716 -0.74 -146.0 222.8 -11.3 234 1718 0.10 0.00 0.00 0.000 6 0.112 0.000 2770 1851 3534 0 0 0 0 0 0
2035 -0.65 -146.0 269.6 -14.1 264 2040 0.15 2.25 0.00 0.000 4 0.156 0.068 2814 442 3535 0 0 0 0 0 0
2087 -0.69 -146.0 276.2 -12.1 269 2091 0.00 2.17 0.00 0.000 6 0.000 0.051 2807 1852 3535 0 0 0 0 0 0
2415 -0.69 -146.0 313.7 -11.1 300 2416 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 1852 3535 0 0 0 0 0 0
2734 -0.69 -146.0 347.4 -10.2 330 2737 0.00 2.22 0.00 0.000 4 0.000 0.067 2807 442 3536 0 0 0 0 0 0
2764 -0.69 -146.0 350.8 -11.4 333 2770 0.00 2.15 0.00 0.000 6 0.000 0.051 2798 1851 3535 0 0 0 0 0 0
3090 -0.69 -146.0 383.1 -10.1 364 3094 0.00 2.22 0.00 0.000 4 0.000 0.067 2798 441 3535 0 0 0 0 0 0
3107 -0.69 -146.0 385.2 -10.3 365 3113 0.00 2.15 0.00 0.000 6 0.000 0.051 2798 1851 3535 0 0 0 0 0 0
3431 -0.69 -146.0 417.3 -10.1 396 3435 0.00 2.22 0.00 0.000 4 0.000 0.067 2798 440 3536 0 0 0 0 0 0
3454 -0.69 -146.0 419.8 -11.3 398 3458 0.00 2.17 0.00 0.000 6 0.000 0.051 2798 1858 3536 0 0 0 0 0 0
3782 -0.69 -146.0 453.6 -10.6 429 3783 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 1859 3535 0 0 0 0 0 0
4101 -0.69 -146.0 486.7 -10.5 459 4105 0.00 2.22 0.00 0.000 4 0.000 0.066 2798 435 3535 0 0 0 0 0 0
4152 -0.69 -146.0 492.4 -11.2 464 4156 0.00 2.17 0.00 0.000 6 0.000 0.050 2798 1855 3536 0 0 0 0 0 0
4480 -0.69 -146.0 526.0 -10.2 495 4481 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 1855 3536 0 0 0 0 0 0
4799 -0.69 -146.0 557.4 -9.6 525 4803 0.00 2.22 0.00 0.000 4 0.000 0.067 2798 441 3536 0 0 0 0 0 0
4813 -0.69 -146.0 558.7 -10.1 526 4817 0.00 2.15 0.00 0.000 6 0.000 0.051 2798 1850 3536 0 0 0 0 0 0
5142 -0.69 -146.0 590.6 -9.9 557 5146 0.00 2.22 0.00 0.000 4 0.000 0.067 2797 442 3536 0 0 0 0 0 0
5175 -0.69 -146.0 594.2 -11.1 560 5179 0.00 2.15 0.00 0.000 6 0.000 0.051 2797 1850 3536 0 0 0 0 0 0
5513 -0.69 -146.0 627.9 -9.9 575 5517 0.00 2.25 0.00 0.000 4 0.000 0.067 2798 440 3536 0 0 0 0 0 0
5526 -0.69 -146.0 629.4 -9.9 575 5530 0.00 2.15 0.00 0.000 6 0.000 0.050 2798 1851 3536 0 0 0 0 0 0
5850 -0.69 -146.0 663.7 -10.6 586 5851 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 1851 3536 0 0 0 0 0 0
6158 -1.02 -146.0 668.4 0.0 596 6163 0.25 2.20 0.00 0.000 4 0.079 0.062 2683 436 3536 0 0 0 0 0 0
6304 end dive: NO_VERTICAL_VELOCITY
state 6304 begin apogee
6310 -0.13 0.0 668.4 0.0 600 6433 0.82 0.00 119.62 1.032 6 0.111 0.000 2977 1702 2940 0 0 0 0 0 0
6434 end apogee: CONTROL_FINISHED_OK
state 6434 begin climb
6435 0.64 146.0 668.1 0.0 604 6568 0.73 2.40 123.38 1.003 4 0.091 0.058 3227 3106 2343 0 0 0 0 0 0
6777 0.50 146.0 652.3 10.8 615 6782 0.17 2.30 0.00 0.000 6 0.170 0.054 3191 1700 2335 0 0 0 0 0 0
7112 0.54 183.1 625.2 8.3 626 7147 0.00 0.00 31.25 0.963 6 0.000 0.000 3191 1700 2193 0 0 0 0 0 0
7460 0.58 189.8 592.0 9.7 642 7473 0.00 2.35 6.55 0.788 4 0.000 0.060 3191 3110 2166 0 0 0 0 0 0
7488 0.58 189.8 589.2 10.6 645 7492 0.00 2.30 0.00 0.000 6 0.000 0.058 3200 1698 2164 0 0 0 0 0 0
7813 0.58 189.8 555.1 11.2 675 7817 0.00 2.28 0.00 0.000 4 0.000 0.069 3210 289 2163 0 0 0 0 0 0
7844 0.58 189.8 551.2 11.7 678 7848 0.00 2.20 0.00 0.000 6 0.000 0.046 3210 1706 2162 0 0 0 0 0 0
8172 0.58 189.8 513.9 11.1 709 8173 0.00 0.00 0.00 0.000 6 0.000 0.000 3210 1706 2162 0 0 0 0 0 0
8492 0.58 189.8 479.9 10.7 739 8496 0.00 2.22 0.00 0.000 4 0.000 0.062 3210 3104 2162 0 0 0 0 0 0
8546 0.58 189.8 473.7 11.6 744 8552 0.00 2.22 0.00 0.000 6 0.000 0.058 3219 1700 2161 0 0 0 0 0 0
8871 0.55 192.2 440.3 9.9 775 8875 0.00 2.25 0.00 0.000 4 0.000 0.070 3229 290 2161 0 0 0 0 0 0
8907 0.50 192.2 436.5 10.6 778 8913 0.15 2.17 0.00 0.000 6 0.159 0.047 3186 1708 2161 0 0 0 0 0 0
9231 0.64 254.9 411.7 7.1 809 9293 0.12 0.00 55.90 0.868 6 0.098 0.000 3246 1708 1899 0 0 0 0 0 0
9611 0.60 254.9 368.8 11.8 846 9612 0.00 0.00 0.00 0.000 6 0.000 0.000 3245 1708 1889 0 0 0 0 0 0
9930 0.56 254.9 332.0 11.6 876 9935 0.12 2.30 0.00 0.000 4 0.158 0.069 3220 288 1888 0 0 0 0 0 0
9976 0.62 254.9 326.7 10.2 880 9981 0.00 2.15 0.00 0.000 6 0.000 0.046 3220 1701 1887 0 0 0 0 0 0
10299 0.67 254.9 293.8 10.6 911 10303 0.00 2.22 0.00 0.000 4 0.000 0.061 3220 3103 1887 0 0 0 0 0 0
10341 0.71 254.9 289.1 11.0 915 10345 0.00 2.25 0.00 0.000 6 0.000 0.058 3228 1693 1887 0 0 0 0 0 0
10665 0.71 254.9 251.3 11.6 945 10669 0.00 2.25 0.00 0.000 4 0.000 0.071 3238 288 1887 0 0 0 0 0 0
10714 0.71 254.9 244.9 12.9 950 10718 0.00 2.17 0.00 0.000 6 0.000 0.047 3238 1706 1886 0 0 0 0 0 0
11042 0.71 254.9 204.8 11.4 981 11043 0.00 0.00 0.00 0.000 6 0.000 0.000 3238 1706 1886 0 0 0 0 0 0
11362 0.71 255.8 171.7 10.0 1011 11365 0.00 2.20 0.00 0.000 4 0.000 0.061 3238 3104 1886 0 0 0 0 0 0
11411 0.71 255.8 166.0 11.9 1016 11416 0.00 2.22 0.00 0.000 6 0.000 0.058 3245 1693 1885 0 0 0 0 0 0
11734 0.71 255.8 130.8 11.0 1047 11738 0.00 2.25 0.00 0.000 4 0.000 0.071 3255 285 1885 0 0 0 0 0 0
11793 0.68 255.8 123.8 11.3 1053 11799 0.00 2.17 0.00 0.000 6 0.000 0.046 3255 1707 1886 0 0 0 0 0 0
12123 0.68 255.8 86.6 10.7 1094 12129 0.00 2.20 0.00 0.000 4 0.000 0.061 3255 3110 1885 0 0 0 0 0 0
12156 0.68 255.8 82.9 11.4 1101 12162 0.00 2.22 0.00 0.000 6 0.000 0.058 3261 1700 1885 0 0 0 0 0 0
12498 0.68 255.8 47.0 10.1 1162 12504 0.00 2.25 0.00 0.000 4 0.000 0.071 3271 284 1885 0 0 0 0 0 0
12550 0.68 263.3 41.7 9.7 1173 12561 0.00 2.15 6.15 0.567 6 0.000 0.046 3271 1702 1866 0 0 0 0 0 0
12898 0.73 300.9 9.8 8.3 1235 12941 0.00 2.35 33.28 0.627 4 0.000 0.071 3280 291 1711 0 0 0 0 0 0
12962 end climb: SURFACE_DEPTH_REACHED
state 12962 begin surface coast
12976 end surface coast: CONTROL_FINISHED_OK
state 12976 begin surface