OKMC Nov11 * SG169 * Dive index * Mission links * Dive 141 * 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  141 HEADING  225 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  280 UPLOAD_DIVES_MAX  -1 C_VBD  2979 DEVICE3  35
T_MISSION  320 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  -10458.742 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  300 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  061211,171330,2307.519,12209.689,39,1.0,39,-3.1 TGT_NAME  HEADING
_CALLS  1 TGT_LATLONG  2300.041,12201.407
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.228,0.143
_SM_DEPTHo  0.96 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -63.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  061211,171944,2307.677,12209.703,12,0.9,12,-3.1 MHEAD_RNG_PITCHd_Wd  228.1,20000,-14.6,-11.786
SPEED_LIMITS  0.204,0.374 D_GRID  4818

Post-dive calculations and measurements:
FINISH  0.6,1.022458 _10V_AH  10.2,22.125
SM_CCo  14426,0.00,0.000,0,0,594,585.04 FG_AHR_24Vo  0.000
SM_GC  0.84,5.53,0.35,0.00,0.027,0.053,0.000,130,2678,594,-5.78,-0.11,585.04,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2255.72,12206.53,061211,121227 MEM  324740
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  86915,1299
HUMID  42.36 CAP_FILE_SIZE  162896,0
INTERNAL_PRESSURE  9.48634 CFSIZE  260165632,209829888
TCM_TEMP  24.10 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  0 GPS  061211,212137,2308.732,12209.111,36,1.0,36,-3.1
_24V_AH  23.4,30.773

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1622790.42 SBE_CT87924493.79
Roll_motor12781241.41 AA43301661331282.95
VBD_pump_during_apogee720118019896.96 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2710365.50 nil000.00
Iridium_during_connect1716064.10 nil000.00
Iridium_during_xfer2012231050.04 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS14507.55
TT8303919613.91
LPSleep80602180.06
TT8_Active77419156.37
TT8_Sampling2605391057.63
TT8_CF829645138.68
TT8_Kalman000.00
Analog_circuits208812255.59
GPS_charging000.00
Compass222615340.66
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
16 -0.72 -292.0 0.0 0.0 0 120 0.00 0.00 -101.03 0.000 2 0.000 0.000 117 2559 3062 0 0 0 0 0 0 28.83 28.83 28.83
124 -0.72 -292.0 3.6 -7.5 18 154 6.53 2.05 -16.45 0.000 4 0.228 0.042 1776 1169 3962 0 0 0 0 0 0 25.57 26.10 26.45
201 -0.61 -292.0 42.4 -39.2 32 209 0.17 2.30 0.00 0.000 6 0.168 0.047 1813 2651 3963 0 0 0 0 0 0 25.80 26.06 28.83
513 -0.51 -292.0 154.3 -29.1 93 520 0.12 1.77 0.00 0.000 4 0.175 0.046 1841 3823 3963 0 0 0 0 0 0 26.07 26.20 28.83
562 -0.46 -292.0 167.9 -24.6 102 569 0.00 1.80 0.00 0.000 6 0.000 0.024 1849 2576 3963 0 0 0 0 0 0 28.83 26.34 28.83
878 -0.41 -292.0 230.5 -20.0 149 879 0.00 0.00 0.00 0.000 6 0.000 0.000 1849 2573 3963 0 0 0 0 0 0 28.83 28.83 28.83
1180 -0.39 -292.0 282.7 -15.4 179 1189 0.12 1.95 0.00 0.000 4 0.142 0.048 1883 3815 3962 0 0 0 0 0 0 26.29 26.31 28.83
1255 -0.45 -292.0 290.7 -7.4 186 1262 0.00 1.80 0.00 0.000 6 0.000 0.026 1883 2553 3962 0 0 0 0 0 0 28.83 26.49 28.83
1564 -0.57 -292.0 323.2 -11.0 217 1573 0.15 1.95 0.00 0.000 4 0.113 0.028 1836 1182 3961 0 0 0 0 0 0 26.35 26.42 28.83
1636 -0.67 -292.0 331.0 -10.5 224 1646 0.12 2.20 0.00 0.000 6 0.086 0.039 1789 2658 3961 0 0 0 0 0 0 26.36 26.39 28.83
1947 -0.70 -292.0 357.3 -8.5 255 1950 0.00 1.80 0.00 0.000 4 0.000 0.045 1782 3820 3959 0 0 0 0 0 0 28.83 26.37 28.83
2011 -0.69 -292.0 363.6 -11.2 261 2018 0.00 1.83 0.00 0.000 6 0.000 0.025 1782 2567 3958 0 0 0 0 0 0 28.83 26.51 28.83
2318 -0.64 -292.0 420.4 -19.4 292 2327 0.00 1.95 0.00 0.000 4 0.000 0.045 1773 3822 3956 0 0 0 0 0 0 28.83 26.37 28.83
2350 -0.59 -292.0 426.7 -20.5 295 2359 0.15 1.80 0.00 0.000 6 0.130 0.025 1819 2561 3956 0 0 0 0 0 0 26.25 26.51 28.83
2660 -0.58 -292.0 468.9 -13.3 326 2668 0.00 2.00 0.00 0.000 4 0.000 0.029 1820 1175 3954 0 0 0 0 0 0 28.83 26.45 28.83
2683 -0.58 -292.0 471.7 -12.8 328 2690 0.00 2.25 0.00 0.000 6 0.000 0.041 1810 2654 3954 0 0 0 0 0 0 28.83 26.40 28.83
2993 -0.56 -292.0 513.1 -13.4 359 2996 0.00 1.75 0.00 0.000 4 0.000 0.048 1801 3817 3951 0 0 0 0 0 0 28.83 26.36 28.83
3046 -0.56 -292.0 519.9 -12.8 364 3053 0.00 1.83 0.00 0.000 6 0.000 0.026 1801 2559 3950 0 0 0 0 0 0 28.83 26.53 28.83
3355 -0.54 -292.0 562.4 -14.1 395 3364 0.12 1.92 0.00 0.000 4 0.138 0.047 1836 3811 3947 0 0 0 0 0 0 26.39 26.35 28.83
3411 -0.57 -292.0 567.9 -9.4 400 3417 0.00 1.80 0.00 0.000 6 0.000 0.028 1836 2558 3947 0 0 0 0 0 0 28.83 26.53 28.83
3717 -0.60 -292.0 593.9 -8.1 431 3718 0.00 0.00 0.00 0.000 6 0.000 0.000 1836 2558 3946 0 0 0 0 0 0 28.83 28.83 28.83
4017 -0.63 -292.0 617.5 -7.8 450 4019 0.00 0.00 0.00 0.000 6 0.000 0.000 1836 2558 3944 0 0 0 0 0 0 28.83 28.83 28.83
4320 -0.66 -292.0 641.8 -8.1 465 4326 0.12 1.98 0.00 0.000 4 0.076 0.048 1737 3814 3941 0 0 0 0 0 0 26.63 26.33 28.83
4361 -0.66 -292.0 647.3 -10.6 467 4365 0.20 1.83 0.00 0.000 6 0.129 0.027 1797 2573 3940 0 0 0 0 0 0 26.15 26.51 28.83
4681 -0.65 -292.0 688.7 -12.4 483 4686 0.00 1.98 0.00 0.000 4 0.000 0.032 1797 1187 3936 0 0 0 0 0 0 28.83 26.41 28.83
4712 -0.64 -292.0 691.1 -12.2 484 4719 0.00 2.22 0.00 0.000 6 0.000 0.041 1787 2658 3937 0 0 0 0 0 0 28.83 26.36 28.83
5019 -0.63 -292.0 730.7 -12.2 500 5020 0.00 0.00 0.00 0.000 6 0.000 0.000 1787 2659 3934 0 0 0 0 0 0 28.83 28.83 28.83
5321 -0.61 -292.0 768.2 -12.4 515 5322 0.00 0.00 0.00 0.000 6 0.000 0.000 1788 2659 3932 0 0 0 0 0 0 28.83 28.83 28.83
5619 -0.60 -292.0 805.8 -12.6 530 5625 0.00 2.17 0.00 0.000 4 0.000 0.031 1788 1179 3930 0 0 0 0 0 0 28.83 26.39 28.83
5658 -0.60 -292.0 810.4 -12.1 532 5665 0.12 2.25 0.00 0.000 6 0.129 0.044 1818 2654 3929 0 0 0 0 0 0 26.21 26.34 28.83
5982 -0.62 -292.0 839.0 -8.9 548 5985 0.00 1.77 0.00 0.000 4 0.000 0.052 1810 3818 3927 0 0 0 0 0 0 28.83 26.27 28.83
6016 -0.64 -292.0 841.2 -8.9 549 6023 0.00 1.83 0.00 0.000 6 0.000 0.028 1810 2555 3927 0 0 0 0 0 0 28.83 26.51 28.83
6326 -0.66 -292.0 872.0 -9.6 565 6327 0.00 0.00 0.00 0.000 6 0.000 0.000 1810 2555 3925 0 0 0 0 0 0 28.83 28.83 28.83
6623 -0.68 -292.0 901.3 -9.8 580 6629 0.00 1.98 0.00 0.000 4 0.000 0.049 1801 3816 3923 0 0 0 0 0 0 28.83 26.26 28.83
6667 -0.70 -292.0 905.2 -9.7 582 6671 0.00 1.83 0.00 0.000 6 0.000 0.028 1800 2556 3923 0 0 0 0 0 0 28.83 26.50 28.83
6979 -0.71 -292.0 937.8 -10.3 598 6980 0.00 0.00 0.00 0.000 6 0.000 0.000 1801 2555 3920 0 0 0 0 0 0 28.83 28.83 28.83
7279 -0.72 -292.0 967.3 -9.5 613 7284 0.00 1.95 0.00 0.000 4 0.000 0.050 1791 3812 3919 0 0 0 0 0 0 28.83 26.24 28.83
7312 -0.73 -292.0 969.2 -9.6 614 7319 0.00 1.80 0.00 0.000 6 0.000 0.028 1792 2565 3918 0 0 0 0 0 0 28.83 26.47 28.83
7518 end dive: TARGET_DEPTH_EXCEEDED
state 7518 begin apogee
7523 -0.20 0.0 990.9 -10.1 625 7731 0.43 0.10 201.10 1.180 6 0.096 0.058 1942 2532 2975 0 0 0 0 0 0 26.08 24.67 23.91
7732 end apogee: CONTROL_FINISHED_OK
state 7732 begin climb
7734 0.72 292.0 1000.8 0.0 635 8008 0.80 2.45 265.08 1.171 4 0.045 0.040 2258 1068 1778 0 0 0 0 0 0 24.84 24.20 23.43
8018 0.61 292.0 956.3 27.2 650 8024 0.20 2.40 0.00 0.000 6 0.168 0.041 2210 2521 1763 0 0 0 0 0 0 24.32 24.46 28.83
8333 0.55 292.0 883.7 22.2 666 8338 0.00 2.03 0.00 0.000 4 0.000 0.049 2210 3807 1755 0 0 0 0 0 0 28.83 25.70 28.83
8420 0.48 292.0 864.4 24.2 670 8425 0.20 2.08 0.00 0.000 6 0.166 0.033 2166 2460 1753 0 0 0 0 0 0 25.58 25.85 28.83
8726 0.45 292.0 810.6 16.4 685 8732 0.00 2.12 0.00 0.000 4 0.000 0.047 2166 3810 1752 0 0 0 0 0 0 28.83 25.98 28.83
8760 0.42 292.0 807.3 16.2 686 8767 0.00 2.05 0.00 0.000 6 0.000 0.032 2176 2461 1752 0 0 0 0 0 0 28.83 26.06 28.83
9068 0.39 292.0 753.3 16.5 702 9074 0.12 2.10 0.00 0.000 4 0.171 0.046 2138 3810 1752 0 0 0 0 0 0 25.96 26.08 28.83
9096 0.35 292.0 749.9 16.4 703 9105 0.00 2.03 0.00 0.000 6 0.000 0.031 2148 2463 1751 0 0 0 0 0 0 28.83 26.17 28.83
9408 0.35 292.0 708.8 12.4 719 9411 0.00 2.10 0.00 0.000 4 0.000 0.048 2148 3816 1751 0 0 0 0 0 0 28.83 26.13 28.83
9457 0.34 292.0 702.9 13.3 721 9462 0.15 2.05 0.00 0.000 6 0.148 0.031 2117 2457 1750 0 0 0 0 0 0 25.96 26.22 28.83
9765 0.44 362.3 670.9 9.9 736 9831 0.10 2.17 52.97 1.091 4 0.092 0.038 2191 1061 1506 0 0 0 0 1 0 26.41 25.33 24.46
9858 0.42 362.3 659.2 14.9 740 9867 0.15 2.30 1.98 0.184 6 0.131 0.041 2148 2523 1501 0 0 0 0 0 0 25.40 25.50 25.31
10168 0.43 362.3 617.2 13.0 756 10174 0.00 2.03 1.67 0.194 4 0.000 0.048 2148 3811 1500 0 0 0 0 0 0 28.83 25.91 25.60
10189 0.43 362.3 614.0 13.2 757 10193 0.00 2.05 0.00 0.000 6 0.000 0.031 2158 2459 1507 0 0 0 0 0 0 28.83 25.99 28.83
10503 0.43 362.3 571.2 13.6 783 10513 0.00 2.12 1.50 0.199 4 0.000 0.039 2169 1053 1499 0 0 0 0 0 0 28.83 26.08 25.72
10555 0.45 362.3 564.3 12.5 788 10564 0.00 2.22 0.00 0.000 6 0.000 0.041 2169 2522 1509 0 0 0 0 0 0 28.83 26.10 28.83
10865 0.45 362.3 522.1 13.5 819 10874 0.00 2.00 0.00 0.000 4 0.000 0.048 2170 3821 1510 0 0 0 0 0 0 28.83 26.13 28.83
10906 0.45 362.3 516.1 14.3 823 10915 0.00 2.05 0.00 0.000 6 0.000 0.031 2180 2460 1510 0 0 0 0 0 0 28.83 26.22 28.83
11217 0.43 362.3 471.7 14.3 854 11226 0.00 2.12 0.00 0.000 4 0.000 0.047 2180 3814 1510 0 0 0 0 0 0 28.83 26.17 28.83
11241 0.42 362.3 468.5 14.6 856 11249 0.15 2.03 0.00 0.000 6 0.145 0.031 2148 2465 1510 0 0 0 0 0 0 26.00 26.25 28.83
11549 0.54 448.5 436.7 9.4 887 11643 0.12 2.20 87.88 0.813 4 0.078 0.039 2239 1071 1141 0 0 0 0 0 0 26.44 25.26 24.60
11697 0.53 448.5 410.5 16.8 901 11707 0.20 2.30 0.00 0.000 6 0.127 0.041 2179 2527 1124 0 0 0 0 0 0 25.39 25.53 28.83
12007 0.54 448.5 368.8 13.3 932 12008 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 2528 1122 0 0 0 0 0 0 28.83 28.83 28.83
12311 0.55 448.5 329.9 12.4 962 12319 0.00 2.20 0.00 0.000 4 0.000 0.040 2190 1070 1121 0 0 0 0 0 0 28.83 26.08 28.83
12365 0.67 518.6 324.2 9.9 967 12433 0.10 2.22 59.70 0.734 6 0.091 0.039 2266 2528 854 0 0 0 0 0 0 26.10 26.10 24.83
12732 0.63 518.6 235.0 24.3 1004 12737 0.15 2.03 0.00 0.000 4 0.163 0.045 2220 3820 837 0 0 0 0 0 0 25.74 25.91 28.83
12748 0.59 518.6 232.3 23.7 1005 12754 0.00 2.08 0.00 0.000 6 0.000 0.031 2230 2456 837 0 0 0 0 0 0 28.83 25.98 28.83
13056 0.58 518.6 177.0 16.3 1049 13063 0.12 2.10 0.00 0.000 4 0.161 0.037 2201 1068 836 0 0 0 0 0 0 25.98 26.10 28.83
13096 0.70 578.0 172.0 10.2 1056 13155 0.10 2.20 48.47 0.627 6 0.099 0.037 2260 2523 609 0 0 0 0 0 0 26.10 26.13 25.06
13459 0.69 578.0 106.0 18.1 1126 13466 0.00 2.22 0.00 0.000 4 0.000 0.037 2271 1057 596 0 0 0 0 0 0 28.83 26.01 28.83
13500 0.71 578.0 99.4 14.6 1133 13507 0.12 2.25 0.00 0.000 6 0.125 0.038 2233 2533 595 0 0 0 0 0 0 25.92 26.04 28.83
13813 0.84 578.0 75.7 12.8 1194 13820 0.12 2.00 0.00 0.000 4 0.106 0.044 2286 3824 595 0 0 0 0 0 0 26.22 26.15 28.83
14049 0.98 578.0 41.9 13.5 1240 14056 0.12 2.03 0.00 0.000 6 0.080 0.026 2352 2437 594 0 0 0 0 0 0 26.27 26.32 28.83
14338 end climb: SURFACE_DEPTH_REACHED
state 14338 begin surface coast
14351 end surface coast: CONTROL_FINISHED_OK
state 14351 begin surface