OKMC Nov11 * SG169 * Dive index * Mission links * Dive 139 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  169 HD_B  0.010078 PITCH_ADJ_GAIN  0.0070000002 ALTIM_TOP_PING_RANGE  0
MISSION  5 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  139 HEADING  200 ROLL_MIN  220 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3795 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  3 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  3 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  2630 ALTIM_PING_DELTA  0
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  2500 ALTIM_FREQUENCY  13
D_ABORT  1020 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  7
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  2
D_BOOST  110 SM_CC  425 ROLL_TIMEOUT  15 XPDR_VALID  4
T_BOOST  4 N_FILEKB  4 R_PORT_OVSHOOT  -10 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  -10 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  330 INT_PRESSURE_YINT  -1.1
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  9 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  3 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  163 VBD_MIN  435 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  101
T_DIVE  320 UPLOAD_DIVES_MAX  -1 C_VBD  2979 DEVICE3  35
T_MISSION  350 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  -1
T_ABORT  1440 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_TURN  225 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_NO_W  120 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  3 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -8 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -10455.008 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  20 COMPASS2_DEVICE  -1
D_OFFGRID  1000 STROBE  0 AH0_24V  150 PHONE_DEVICE  49
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  110 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  -1
APOGEE_PITCH  -8 RAFOS_HIT_WINDOW  3600 MINV_10V  9.5 XPDR_DEVICE  24
MAX_BUOY  250 PITCH_MIN  146 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3945 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2010 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043354053
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -76.737366 SEABIRD_T_H  0.0006253231
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.000115925 SEABIRD_T_I  2.3840643e-05
MASS  51570 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.5685486e-06
NAV_MODE  0 PITCH_GAIN  40 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.9554796
FERRY_MAX  45 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1274287
KALMAN_USE  2 PITCH_AD_RATE  165 COMPASS_USE  0 SEABIRD_C_I  -0.0019472764
HD_A  0.0038360001 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00023438112

Pre-dive calculations and measurements:
GPS1  061211,082006,2306.385,12209.342,41,1.3,46,-3.1 TGT_NAME  HEADING
_CALLS  1 TGT_LATLONG  2256.364,12205.329
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.228,0.143
_SM_DEPTHo  0.93 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -60.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  061211,082638,2306.511,12209.340,11,1.5,11,-3.1 MHEAD_RNG_PITCHd_Wd  203.1,20000,-14.3,-10.312
SPEED_LIMITS  0.179,0.329 D_GRID  4841

Post-dive calculations and measurements:
FINISH  0.3,1.022523 _10V_AH  10.2,21.919
SM_CCo  14959,0.00,0.000,0,0,447,621.10 FG_AHR_24Vo  0.000
SM_GC  1.01,5.45,0.20,0.00,0.022,0.059,0.000,141,2688,447,-5.78,-0.20,621.10,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2258.07,12206.53,061211,030338 MEM  324740
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  93922,1389
HUMID  40.82 CAP_FILE_SIZE  171360,0
INTERNAL_PRESSURE  9.47658 CFSIZE  260165632,209997824
TCM_TEMP  24.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS  0 GPS  061211,123730,2306.995,12209.535,42,1.3,42,-3.1
_24V_AH  23.6,30.325

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1622388.43 SBE_CT93924532.02
Roll_motor13759193.88 AA43301795331398.64
VBD_pump_during_apogee738117520491.25 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2210355.37 nil000.00
Iridium_during_connect44160167.62 nil000.00
Iridium_during_xfer1982231046.70 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS12506.39
TT8323619653.66
LPSleep81652182.40
TT8_Active79219160.09
TT8_Sampling2816391143.49
TT8_CF831945149.35
TT8_Kalman000.00
Analog_circuits219712269.03
GPS_charging000.00
Compass240915368.69
RAFOS000.00
Transponder050.03

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 pitch_volts roll_volts vbd_volts
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
17 -0.66 -243.3 0.0 0.0 0 120 0.00 0.00 -100.82 0.000 2 0.000 0.000 117 2585 3055 0 0 0 0 0 0 28.83 28.83 28.83
124 -0.66 -243.3 3.7 -7.6 18 154 6.53 1.92 -16.23 0.000 4 0.223 0.054 1778 3818 3962 0 0 0 0 0 0 25.51 26.02 26.41
250 -0.55 -243.3 63.8 -38.2 41 257 0.15 1.83 0.00 0.000 6 0.170 0.026 1825 2566 3963 0 0 0 0 0 0 25.82 26.17 28.83
562 -0.46 -243.3 171.3 -25.5 102 569 0.12 2.03 0.00 0.000 4 0.171 0.026 1872 1165 3963 0 0 0 0 0 0 26.07 26.28 28.83
597 -0.44 -243.3 178.0 -16.3 108 604 0.00 2.25 0.00 0.000 6 0.000 0.041 1862 2655 3963 0 0 0 0 0 0 28.83 26.23 28.83
907 -0.41 -243.3 227.7 -15.0 152 910 0.00 1.77 0.00 0.000 4 0.000 0.047 1852 3818 3963 0 0 0 0 0 0 28.83 26.27 28.83
952 -0.38 -243.3 234.1 -15.3 156 959 0.12 1.80 0.00 0.000 6 0.116 0.024 1894 2555 3963 0 0 0 0 0 0 26.24 26.43 28.83
1258 -0.43 -243.3 255.3 -6.1 187 1260 0.00 0.00 0.00 0.000 6 0.000 0.000 1893 2554 3963 0 0 0 0 0 0 28.83 28.83 28.83
1560 -0.48 -243.3 273.9 -6.1 217 1565 0.12 1.95 0.00 0.000 4 0.077 0.042 1788 3815 3963 0 0 0 0 0 0 26.55 26.35 28.83
1596 -0.49 -243.3 277.2 -8.8 220 1604 0.20 1.80 0.00 0.000 6 0.106 0.024 1854 2556 3962 0 0 0 0 0 0 26.25 26.49 28.83
1903 -0.49 -243.3 311.6 -10.5 251 1912 0.00 1.98 0.00 0.000 4 0.000 0.028 1854 1172 3961 0 0 0 0 0 0 28.83 26.44 28.83
1945 -0.51 -243.3 315.2 -8.8 255 1954 0.00 2.22 0.00 0.000 6 0.000 0.040 1846 2656 3961 0 0 0 0 0 0 28.83 26.39 28.83
2254 -0.51 -243.3 348.1 -11.3 286 2258 0.00 1.75 0.00 0.000 4 0.000 0.047 1837 3815 3959 0 0 0 0 0 0 28.83 26.37 28.83
2338 -0.54 -243.3 356.1 -8.8 294 2345 0.00 1.80 0.00 0.000 6 0.000 0.026 1837 2553 3958 0 0 0 0 0 0 28.83 26.53 28.83
2645 -0.53 -243.3 394.8 -12.4 325 2647 0.00 0.00 0.00 0.000 6 0.000 0.000 1837 2553 3956 0 0 0 0 0 0 28.83 28.83 28.83
2947 -0.53 -243.3 429.8 -11.3 355 2956 0.00 1.98 0.00 0.000 4 0.000 0.045 1827 3821 3955 0 0 0 0 0 0 28.83 26.38 28.83
3009 -0.56 -243.3 436.3 -9.9 361 3013 0.00 1.77 0.00 0.000 6 0.000 0.027 1827 2566 3954 0 0 0 0 0 0 28.83 26.54 28.83
3321 -0.56 -243.3 470.4 -10.1 392 3330 0.00 2.00 0.00 0.000 4 0.000 0.031 1827 1178 3952 0 0 0 0 0 0 28.83 26.44 28.83
3353 -0.57 -243.3 473.2 -9.2 395 3362 0.00 2.22 0.00 0.000 6 0.000 0.042 1819 2655 3952 0 0 0 0 0 0 28.83 26.40 28.83
3662 -0.56 -243.3 506.2 -10.9 426 3664 0.00 0.00 0.00 0.000 6 0.000 0.000 1819 2655 3949 0 0 0 0 0 0 28.83 28.83 28.83
3965 -0.56 -243.3 539.0 -10.6 456 3973 0.00 2.12 0.00 0.000 4 0.000 0.031 1819 1184 3948 0 0 0 0 0 0 28.83 26.43 28.83
3999 -0.56 -243.3 542.4 -10.3 459 4006 0.00 2.22 0.00 0.000 6 0.000 0.042 1812 2657 3947 0 0 0 0 0 0 28.83 26.39 28.83
4306 -0.55 -243.3 578.6 -12.3 490 4307 0.00 0.00 0.00 0.000 6 0.000 0.000 1812 2657 3946 0 0 0 0 0 0 28.83 28.83 28.83
4616 -0.55 -243.3 617.7 -12.3 514 4622 0.00 2.15 0.00 0.000 4 0.000 0.031 1812 1173 3944 0 0 0 0 0 0 28.83 26.42 28.83
4650 -0.55 -243.3 620.3 -12.2 515 4656 0.00 2.25 0.00 0.000 6 0.000 0.043 1803 2659 3943 0 0 0 0 0 0 28.83 26.37 28.83
4958 -0.54 -243.3 661.3 -12.8 531 4964 0.12 1.75 0.00 0.000 4 0.145 0.048 1838 3817 3940 0 0 0 0 0 0 26.36 26.33 28.83
5010 -0.55 -243.3 665.6 -11.9 533 5016 0.00 1.80 0.00 0.000 6 0.000 0.028 1838 2554 3939 0 0 0 0 0 0 28.83 26.53 28.83
5320 -0.66 -243.3 694.9 -9.9 549 5325 0.12 1.98 0.00 0.000 4 0.115 0.031 1794 1186 3937 0 0 0 0 0 0 26.47 26.41 28.83
5401 -0.77 -243.3 703.1 -10.0 553 5405 0.00 2.22 0.00 0.000 6 0.000 0.041 1794 2658 3936 0 0 0 0 0 0 28.83 26.36 28.83
5715 -0.89 -243.3 729.8 -8.6 569 5721 0.17 2.15 0.00 0.000 4 0.098 0.030 1732 1183 3934 0 0 0 0 0 0 26.41 26.40 28.83
5727 -1.02 -243.3 729.8 -8.6 569 5734 0.15 2.22 0.00 0.000 6 0.078 0.041 1667 2659 3933 0 0 0 0 0 0 26.34 26.36 28.83
6036 -0.90 -243.3 810.5 -28.2 585 6042 0.15 2.15 0.00 0.000 4 0.178 0.029 1721 1179 3931 0 0 0 0 0 0 26.09 26.40 28.83
6095 -0.81 -243.3 823.9 -23.8 588 6102 0.12 2.25 0.00 0.000 6 0.159 0.044 1744 2654 3931 0 0 0 0 0 0 26.10 26.33 28.83
6416 -0.76 -243.3 878.6 -17.3 604 6417 0.00 0.00 0.00 0.000 6 0.000 0.000 1744 2653 3929 0 0 0 0 0 0 28.83 28.83 28.83
6715 -0.71 -243.3 929.8 -17.1 619 6722 0.12 2.17 0.00 0.000 4 0.164 0.032 1795 1181 3927 0 0 0 0 0 0 26.27 26.35 28.83
6775 -0.70 -243.3 937.0 -13.1 622 6781 0.00 2.25 0.00 0.000 6 0.000 0.044 1784 2652 3927 0 0 0 0 0 0 28.83 26.31 28.83
7098 -0.69 -243.3 975.6 -12.5 638 7099 0.00 0.00 0.00 0.000 6 0.000 0.000 1784 2652 3925 0 0 0 0 0 0 28.83 28.83 28.83
7213 end dive: TARGET_DEPTH_EXCEEDED
state 7213 begin apogee
7218 -0.20 0.0 990.5 -12.4 644 7428 0.45 0.10 202.68 1.176 6 0.099 0.060 1942 2528 2975 0 0 0 0 0 0 26.08 24.70 23.95
7428 end apogee: CONTROL_FINISHED_OK
state 7429 begin climb
7431 0.66 243.3 1002.7 0.0 654 7660 0.75 2.17 220.75 1.173 4 0.037 0.049 2242 3813 1978 0 0 0 0 0 0 24.89 24.32 23.56
7837 0.54 243.3 927.3 27.5 675 7842 0.25 2.12 0.00 0.000 6 0.194 0.034 2191 2462 1956 0 0 0 0 0 0 25.18 25.49 28.83
8150 0.47 243.3 863.1 20.0 691 8154 0.00 2.15 0.00 0.000 4 0.000 0.047 2190 3822 1952 0 0 0 0 0 0 28.83 25.90 28.83
8225 0.40 243.3 849.7 21.0 694 8233 0.22 2.08 0.00 0.000 6 0.164 0.031 2139 2459 1951 0 0 0 0 0 0 25.69 26.01 28.83
8534 0.38 243.3 802.9 13.4 710 8540 0.00 2.10 0.00 0.000 4 0.000 0.047 2139 3804 1950 0 0 0 0 0 0 28.83 26.07 28.83
8595 0.35 243.3 793.7 14.9 713 8599 0.00 2.03 0.00 0.000 6 0.000 0.031 2149 2463 1950 0 0 0 0 0 0 28.83 26.15 28.83
8908 0.33 243.3 749.1 14.2 729 8914 0.12 2.10 0.00 0.000 4 0.172 0.045 2111 3811 1950 0 0 0 0 0 0 26.01 26.13 28.83
8960 0.31 243.3 743.9 13.7 731 8967 0.00 2.03 0.00 0.000 6 0.000 0.031 2121 2462 1949 0 0 0 0 0 0 28.83 26.22 28.83
9269 0.31 243.3 708.2 10.7 747 9274 0.00 2.08 0.00 0.000 4 0.000 0.037 2131 1067 1949 0 0 0 0 0 0 28.83 26.22 28.83
9310 0.31 243.3 704.2 10.3 749 9314 0.00 2.25 0.00 0.000 6 0.000 0.042 2131 2541 1947 0 0 0 0 0 0 28.83 26.20 28.83
9630 0.30 243.3 669.7 10.7 765 9635 0.00 2.20 0.00 0.000 4 0.000 0.037 2142 1069 1947 0 0 0 0 0 0 28.83 26.24 28.83
9650 0.30 243.3 667.7 10.5 766 9655 0.12 2.22 0.00 0.000 6 0.138 0.044 2107 2532 1947 0 0 0 0 0 0 26.06 26.21 28.83
9965 0.39 307.4 640.9 8.5 782 10024 0.00 2.12 46.60 1.060 4 0.000 0.050 2106 3816 1728 0 0 0 0 1 0 28.83 25.48 24.61
10050 0.49 373.1 633.9 8.4 786 10121 0.15 2.10 60.22 1.133 6 0.067 0.031 2200 2459 1457 0 0 0 0 1 0 25.65 25.63 24.13
10422 0.46 373.1 571.6 16.7 812 10432 0.12 2.15 1.30 0.181 4 0.171 0.047 2162 3815 1458 0 0 0 0 0 0 25.70 25.82 25.56
10478 0.46 373.1 563.9 14.0 817 10485 0.00 2.05 0.00 0.000 6 0.000 0.030 2172 2464 1463 0 0 0 0 0 0 28.83 25.93 28.83
10785 0.45 373.1 523.5 13.3 848 10786 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 2462 1462 0 0 0 0 0 0 28.83 28.83 28.83
11087 0.44 373.1 483.3 14.0 878 11096 0.00 2.10 0.00 0.000 4 0.000 0.047 2172 3813 1462 0 0 0 0 0 0 28.83 26.11 28.83
11150 0.44 373.1 473.9 14.8 884 11158 0.08 2.05 0.00 0.000 6 0.133 0.031 2155 2467 1462 0 0 0 0 0 0 25.98 26.21 28.83
11458 0.44 373.1 438.0 11.3 915 11462 0.00 2.10 0.00 0.000 4 0.000 0.041 2165 1067 1462 0 0 0 0 0 0 28.83 26.20 28.83
11500 0.47 385.5 433.9 10.0 919 11523 0.00 2.22 17.90 0.835 6 0.000 0.041 2166 2528 1406 0 0 0 0 0 0 28.83 26.21 25.29
11824 0.47 385.5 396.0 12.4 951 11825 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2529 1390 0 0 0 0 0 0 28.83 28.83 28.83
12127 0.48 385.5 360.7 11.4 981 12136 0.00 2.20 0.00 0.000 4 0.000 0.040 2176 1061 1389 0 0 0 0 0 0 28.83 26.20 28.83
12170 0.53 402.4 356.3 9.8 985 12191 0.00 2.20 15.85 0.775 6 0.000 0.041 2176 2522 1335 0 0 0 0 0 0 28.83 26.20 25.34
12499 0.53 402.4 318.8 10.8 1018 12508 0.00 1.98 0.00 0.000 4 0.000 0.047 2176 3813 1320 0 0 0 0 0 0 28.83 26.11 28.83
12523 0.53 402.4 316.2 11.4 1020 12530 0.00 2.05 0.00 0.000 6 0.000 0.030 2186 2464 1319 0 0 0 0 0 0 28.83 26.20 28.83
12830 0.53 402.4 277.7 12.1 1051 12839 0.00 2.08 0.00 0.000 4 0.000 0.038 2197 1064 1318 0 0 0 0 0 0 28.83 26.22 28.83
12885 0.55 402.4 272.0 10.6 1056 12892 0.00 2.22 0.00 0.000 6 0.000 0.041 2197 2533 1318 0 0 0 0 0 0 28.83 26.22 28.83
13192 0.55 402.4 229.7 14.2 1087 13201 0.00 1.95 0.00 0.000 4 0.000 0.047 2197 3812 1318 0 0 0 0 0 0 28.83 26.23 28.83
13227 0.55 402.4 225.0 14.8 1090 13234 0.00 2.03 0.00 0.000 6 0.000 0.031 2207 2461 1318 0 0 0 0 0 0 28.83 26.31 28.83
13534 0.54 402.4 181.2 13.2 1134 13541 0.00 2.10 0.00 0.000 4 0.000 0.039 2218 1050 1318 0 0 0 0 0 0 28.83 26.29 28.83
13580 0.56 402.4 175.9 10.7 1142 13587 0.00 2.22 0.00 0.000 6 0.000 0.041 2218 2522 1318 0 0 0 0 0 0 28.83 26.29 28.83
13892 0.54 402.4 132.6 13.7 1203 13900 0.12 2.00 0.00 0.000 4 0.153 0.044 2178 3822 1318 0 0 0 0 0 0 26.24 26.29 28.83
13948 0.72 498.8 126.6 7.6 1213 14034 0.15 2.03 77.18 0.596 6 0.070 0.028 2275 2442 933 0 0 0 0 0 0 26.37 26.40 25.09
14340 0.72 498.8 61.6 14.9 1288 14347 0.12 2.10 0.00 0.000 4 0.155 0.037 2245 1056 920 0 0 0 0 0 0 25.91 26.01 28.83
14376 0.83 558.5 57.7 8.6 1294 14429 0.00 2.25 47.72 0.229 6 0.000 0.038 2245 2535 702 0 0 0 0 0 0 28.83 26.04 25.48
14735 1.00 645.5 33.7 7.8 1363 14789 0.20 2.25 46.30 0.178 4 0.054 0.035 2390 1054 441 0 0 0 0 0 0 26.28 26.01 25.67
14844 0.98 645.5 9.6 22.9 1382 14852 0.22 2.25 1.95 0.159 6 0.141 0.042 2323 2523 432 0 0 0 0 0 0 25.80 26.04 25.77
14873 end climb: SURFACE_DEPTH_REACHED
state 14873 begin surface coast
14884 end surface coast: CONTROL_FINISHED_OK
state 14884 begin surface