OKMC Nov11 * SG169 * Dive index * Mission links * Dive 143 * 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  143 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  -10461.446 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  071211,014336,2309.205,12208.615,57,1.1,57,-3.1 TGT_NAME  HEADING
_CALLS  1 TGT_LATLONG  2301.753,12200.352
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.228,0.143
_SM_DEPTHo  0.98 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -67.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  071211,015008,2309.389,12208.648,11,2.0,11,-3.1 MHEAD_RNG_PITCHd_Wd  228.1,20000,-14.6,-11.786
SPEED_LIMITS  0.204,0.374 D_GRID  4660

Post-dive calculations and measurements:
FINISH  0.4,1.022278 _10V_AH  10.2,22.327
SM_CCo  14977,0.00,0.000,0,0,453,619.63 FG_AHR_24Vo  0.000
SM_GC  0.77,5.53,0.20,0.00,0.024,0.067,0.000,120,2666,453,-5.80,-0.20,619.63,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2300.41,12209.76,061211,212128 MEM  324740
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  86965,1318
HUMID  43.38 CAP_FILE_SIZE  164026,0
INTERNAL_PRESSURE  9.45705 CFSIZE  260165632,209653760
TCM_TEMP  23.70 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
XPDR_PINGS  0 GPS  071211,060107,2309.455,12206.962,30,1.1,30,-3.1
_24V_AH  23.4,31.237

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1521375.91 SBE_CT89224501.41
Roll_motor13184262.24 AA43301733331338.60
VBD_pump_during_apogee761117820989.92 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2810367.84 nil000.00
Iridium_during_connect45160169.55 nil000.00
Iridium_during_xfer1932231011.14 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS12506.23
TT8306519619.05
LPSleep84872189.60
TT8_Active81419164.56
TT8_Sampling2663391081.40
TT8_CF831845148.65
TT8_Kalman000.00
Analog_circuits215212263.43
GPS_charging000.00
Compass226115346.07
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
15 end surface: CONTROL_FINISHED_OK
state 15 begin dive
17 -0.72 -292.0 0.0 0.0 0 115 0.00 0.00 -94.80 0.000 2 0.000 0.000 110 2696 2886 0 0 0 0 0 0 28.83 28.83 28.83
118 -0.72 -292.0 3.1 -5.9 17 154 6.30 2.28 -21.00 0.000 4 0.213 0.044 1777 1175 3962 0 0 0 0 0 0 25.49 26.07 26.43
243 -0.66 -292.0 47.6 -26.1 40 250 0.00 2.28 0.00 0.000 6 0.000 0.046 1766 2652 3963 0 0 0 0 0 0 28.83 26.07 28.83
554 -0.52 -292.0 171.7 -36.8 101 562 0.22 2.12 0.00 0.000 4 0.168 0.025 1843 1174 3964 0 0 0 0 0 0 25.91 26.29 28.83
610 -0.52 -292.0 184.7 -13.8 111 617 0.00 2.25 0.00 0.000 6 0.000 0.044 1832 2655 3963 0 0 0 0 0 0 28.83 26.22 28.83
926 -0.47 -292.0 245.2 -19.3 151 929 0.00 1.77 0.00 0.000 4 0.000 0.049 1823 3814 3963 0 0 0 0 0 0 28.83 26.27 28.83
989 -0.43 -292.0 256.9 -18.0 157 998 0.15 1.80 0.00 0.000 6 0.125 0.026 1869 2555 3964 0 0 0 0 0 0 26.17 26.41 28.83
1297 -0.44 -292.0 293.5 -10.8 188 1306 0.00 1.98 0.00 0.000 4 0.000 0.047 1860 3822 3963 0 0 0 0 0 0 28.83 26.31 28.83
1343 -0.46 -292.0 297.7 -10.3 192 1349 0.00 1.80 0.00 0.000 6 0.000 0.026 1860 2559 3963 0 0 0 0 0 0 28.83 26.47 28.83
1649 -0.48 -292.0 328.6 -10.0 223 1658 0.00 1.98 0.00 0.000 4 0.000 0.048 1851 3816 3962 0 0 0 0 0 0 28.83 26.33 28.83
1705 -0.51 -292.0 333.2 -8.7 228 1711 0.00 1.80 0.00 0.000 6 0.000 0.026 1851 2556 3961 0 0 0 0 0 0 28.83 26.49 28.83
2011 -0.53 -292.0 359.0 -8.4 259 2012 0.00 0.00 0.00 0.000 6 0.000 0.000 1851 2556 3960 0 0 0 0 0 0 28.83 28.83 28.83
2313 -0.54 -292.0 385.9 -9.0 289 2317 0.00 2.00 0.00 0.000 4 0.000 0.047 1843 3823 3958 0 0 0 0 0 0 28.83 26.36 28.83
2358 -0.57 -292.0 389.8 -9.0 293 2364 0.00 1.80 0.00 0.000 6 0.000 0.027 1842 2559 3958 0 0 0 0 0 0 28.83 26.52 28.83
2665 -0.59 -292.0 417.4 -8.9 324 2669 0.00 2.00 0.00 0.000 4 0.000 0.032 1842 1184 3956 0 0 0 0 0 0 28.83 26.43 28.83
2689 -0.60 -292.0 419.4 -9.1 326 2696 0.00 2.20 0.00 0.000 6 0.000 0.041 1834 2655 3955 0 0 0 0 0 0 28.83 26.39 28.83
2998 -0.60 -292.0 450.4 -9.0 357 3001 0.00 1.77 0.00 0.000 4 0.000 0.049 1825 3818 3953 0 0 0 0 0 0 28.83 26.36 28.83
3062 -0.63 -292.0 456.0 -8.8 363 3069 0.00 1.80 0.00 0.000 6 0.000 0.026 1825 2555 3953 0 0 0 0 0 0 28.83 26.53 28.83
3369 -0.63 -292.0 489.8 -11.6 394 3378 0.00 1.95 0.00 0.000 4 0.000 0.047 1816 3813 3950 0 0 0 0 0 0 28.83 26.36 28.83
3400 -0.63 -292.0 493.3 -11.3 397 3404 0.00 1.80 0.00 0.000 6 0.000 0.026 1816 2563 3950 0 0 0 0 0 0 28.83 26.53 28.83
3713 -0.63 -292.0 528.1 -11.3 428 3722 0.00 1.98 0.00 0.000 4 0.000 0.030 1816 1172 3948 0 0 0 0 0 0 28.83 26.44 28.83
3768 -0.65 -292.0 533.7 -10.4 433 3775 0.00 2.22 0.00 0.000 6 0.000 0.043 1812 2655 3948 0 0 0 0 0 0 28.83 26.37 28.83
4074 -0.65 -292.0 568.3 -11.0 464 4078 0.00 1.77 0.00 0.000 4 0.000 0.050 1803 3813 3946 0 0 0 0 0 0 28.83 26.34 28.83
4106 -0.65 -292.0 571.7 -11.2 467 4109 0.00 1.80 0.00 0.000 6 0.000 0.027 1803 2565 3946 0 0 0 0 0 0 28.83 26.52 28.83
4429 -0.63 -292.0 609.3 -11.3 495 4435 0.00 1.98 0.00 0.000 4 0.000 0.050 1794 3822 3944 0 0 0 0 0 0 28.83 26.32 28.83
4488 -0.63 -292.0 616.1 -11.2 498 4491 0.00 1.83 0.00 0.000 6 0.000 0.029 1794 2574 3943 0 0 0 0 0 0 28.83 26.50 28.83
4809 -0.62 -292.0 653.5 -12.0 514 4815 0.00 2.03 0.00 0.000 4 0.000 0.031 1794 1180 3941 0 0 0 0 0 0 28.83 26.41 28.83
4838 -0.60 -292.0 655.9 -12.1 515 4842 0.12 2.25 0.00 0.000 6 0.129 0.044 1823 2657 3941 0 0 0 0 0 0 26.22 26.35 28.83
5147 -0.62 -292.0 681.8 -8.1 530 5150 0.00 1.77 0.00 0.000 4 0.000 0.050 1815 3813 3937 0 0 0 0 0 0 28.83 26.32 28.83
5183 -0.64 -292.0 683.8 -8.2 531 5189 0.00 1.80 0.00 0.000 6 0.000 0.028 1814 2558 3937 0 0 0 0 0 0 28.83 26.51 28.83
5489 -0.65 -292.0 711.6 -8.7 547 5494 0.00 1.98 0.00 0.000 4 0.000 0.051 1806 3812 3935 0 0 0 0 0 0 28.83 26.29 28.83
5522 -0.66 -292.0 713.3 -8.8 548 5528 0.00 1.80 0.00 0.000 6 0.000 0.028 1806 2561 3935 0 0 0 0 0 0 28.83 26.50 28.83
5829 -0.66 -292.0 745.9 -10.3 564 5830 0.00 0.00 0.00 0.000 6 0.000 0.000 1806 2560 3932 0 0 0 0 0 0 28.83 28.83 28.83
6128 -0.66 -292.0 774.6 -9.4 579 6134 0.00 1.95 0.00 0.000 4 0.000 0.050 1797 3815 3931 0 0 0 0 0 0 28.83 26.27 28.83
6197 -0.67 -292.0 780.2 -9.4 582 6201 0.00 1.83 0.00 0.000 6 0.000 0.028 1797 2560 3930 0 0 0 0 0 0 28.83 26.48 28.83
6503 -0.67 -292.0 812.3 -10.3 597 6504 0.00 0.00 0.00 0.000 6 0.000 0.000 1797 2558 3928 0 0 0 0 0 0 28.83 28.83 28.83
6803 -0.67 -292.0 844.5 -10.6 612 6809 0.00 2.00 0.00 0.000 4 0.000 0.052 1789 3821 3927 0 0 0 0 0 0 28.83 26.24 28.83
6844 -0.67 -292.0 848.9 -10.9 614 6848 0.00 1.88 0.00 0.000 6 0.000 0.030 1788 2570 3927 0 0 0 0 0 0 28.83 26.46 28.83
7166 -0.66 -292.0 888.5 -12.4 630 7167 0.00 0.00 0.00 0.000 6 0.000 0.000 1788 2568 3925 0 0 0 0 0 0 28.83 28.83 28.83
7466 -0.65 -292.0 925.4 -12.3 645 7471 0.00 1.98 0.00 0.000 4 0.000 0.050 1778 3819 3923 0 0 0 0 0 0 28.83 26.23 28.83
7489 -0.65 -292.0 928.0 -12.3 646 7492 0.00 1.83 0.00 0.000 6 0.000 0.028 1778 2569 3923 0 0 0 0 0 0 28.83 26.46 28.83
7801 -0.63 -292.0 968.7 -12.6 662 7802 0.00 0.00 0.00 0.000 6 0.000 0.000 1778 2567 3921 0 0 0 0 0 0 28.83 28.83 28.83
7978 end dive: TARGET_DEPTH_EXCEEDED
state 7978 begin apogee
7984 -0.20 0.0 991.2 -12.5 671 8193 0.47 0.12 203.18 1.178 6 0.101 0.085 1944 2539 2978 0 0 0 0 0 0 26.01 24.67 23.89
8194 end apogee: CONTROL_FINISHED_OK
state 8194 begin climb
8196 0.72 292.0 1001.7 0.0 681 8476 0.80 2.47 266.38 1.169 4 0.045 0.039 2259 1073 1772 0 0 0 0 0 0 24.82 24.18 23.38
8487 0.61 292.0 961.7 25.4 695 8492 0.20 2.40 0.00 0.000 6 0.164 0.042 2210 2523 1763 0 0 0 0 0 0 24.32 24.46 28.83
8795 0.55 292.0 889.4 22.6 710 8800 0.00 2.00 0.00 0.000 4 0.000 0.047 2210 3812 1755 0 0 0 0 0 0 28.83 25.67 28.83
8847 0.47 292.0 880.2 22.5 712 8854 0.20 2.08 0.00 0.000 6 0.167 0.033 2166 2465 1754 0 0 0 0 0 0 25.53 25.80 28.83
9155 0.44 292.0 826.5 16.0 728 9159 0.00 2.12 0.00 0.000 4 0.000 0.047 2166 3820 1753 0 0 0 0 0 0 28.83 25.96 28.83
9199 0.41 292.0 819.3 16.6 730 9204 0.12 2.08 0.00 0.000 6 0.164 0.031 2144 2465 1753 0 0 0 0 0 0 25.80 26.05 28.83
9512 0.40 292.0 777.0 12.6 746 9518 0.00 2.10 0.00 0.000 4 0.000 0.040 2154 1063 1751 0 0 0 0 0 0 28.83 26.10 28.83
9534 0.39 292.0 774.5 12.5 747 9539 0.00 2.25 0.00 0.000 6 0.000 0.041 2154 2530 1751 0 0 0 0 0 0 28.83 26.10 28.83
9848 0.38 292.0 733.3 13.4 763 9853 0.00 1.98 0.00 0.000 4 0.000 0.048 2154 3818 1751 0 0 0 0 0 0 28.83 26.12 28.83
9890 0.36 292.0 727.4 13.8 765 9895 0.15 2.05 0.00 0.000 6 0.154 0.032 2124 2463 1751 0 0 0 0 0 0 25.93 26.20 28.83
10206 0.48 381.4 696.1 9.4 781 10286 0.12 2.28 68.65 1.152 4 0.079 0.047 2194 3814 1426 0 0 0 0 1 0 26.39 25.09 24.23
10307 0.44 381.4 679.7 17.6 786 10316 0.20 2.12 1.77 0.191 6 0.148 0.032 2149 2464 1424 0 0 0 0 0 0 25.21 25.34 25.14
10625 0.44 381.4 638.1 12.8 802 10631 0.00 2.17 1.80 0.189 4 0.000 0.040 2160 1055 1423 0 0 0 0 0 0 28.83 25.89 25.57
10688 0.46 389.9 631.9 11.6 805 10719 0.00 2.25 16.67 0.915 6 0.000 0.041 2160 2523 1378 0 0 0 0 1 0 28.83 25.94 24.43
11020 0.46 389.9 590.8 12.3 825 11021 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2523 1376 0 0 0 0 0 0 28.83 28.83 28.83
11321 0.46 389.9 551.9 12.9 855 11327 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2523 1375 0 0 0 0 0 0 28.83 28.83 28.83
11630 0.46 389.9 513.2 12.3 886 11639 0.00 2.15 0.00 0.000 4 0.000 0.038 2170 1071 1374 0 0 0 0 0 0 28.83 26.16 28.83
11686 0.55 438.4 507.5 10.5 891 11744 0.00 2.22 51.10 0.837 6 0.000 0.041 2170 2535 1186 0 0 0 0 0 0 28.83 26.18 24.84
12052 0.56 438.4 462.5 12.7 928 12061 0.00 2.22 0.00 0.000 4 0.000 0.040 2182 1072 1167 0 0 0 0 0 0 28.83 25.93 28.83
12097 0.59 445.8 457.7 11.6 932 12104 0.00 2.22 0.00 0.000 6 0.000 0.041 2181 2522 1165 0 0 0 0 0 0 28.83 25.96 28.83
12406 0.59 445.8 416.9 14.1 963 12414 0.00 2.20 0.00 0.000 4 0.000 0.038 2192 1061 1166 0 0 0 0 0 0 28.83 26.09 28.83
12449 0.60 445.8 411.1 13.1 967 12456 0.00 2.25 0.00 0.000 6 0.000 0.041 2193 2529 1165 0 0 0 0 0 0 28.83 26.10 28.83
12758 0.60 445.8 363.4 15.0 998 12766 0.00 2.20 0.00 0.000 4 0.000 0.040 2203 1070 1165 0 0 0 0 0 0 28.83 26.16 28.83
12792 0.60 445.8 358.8 14.8 1001 12799 0.00 2.22 0.00 0.000 6 0.000 0.041 2204 2533 1164 0 0 0 0 0 0 28.83 26.17 28.83
13099 0.58 445.8 307.5 17.1 1032 13100 0.00 0.00 0.00 0.000 6 0.000 0.000 2204 2533 1164 0 0 0 0 0 0 28.83 28.83 28.83
13403 0.57 445.8 257.6 17.2 1062 13411 0.00 2.20 0.00 0.000 4 0.000 0.041 2215 1071 1165 0 0 0 0 0 0 28.83 26.23 28.83
13445 0.57 445.8 250.0 16.6 1066 13453 0.00 2.22 0.00 0.000 6 0.000 0.041 2215 2525 1164 0 0 0 0 0 0 28.83 26.25 28.83
13755 0.55 445.8 195.1 17.2 1099 13762 0.00 2.20 0.00 0.000 4 0.000 0.041 2226 1058 1164 0 0 0 0 0 0 28.83 26.26 28.83
13779 0.55 445.8 191.2 16.9 1103 13786 0.15 2.22 0.00 0.000 6 0.132 0.041 2181 2523 1165 0 0 0 0 0 0 26.08 26.27 28.83
14092 0.75 579.6 161.8 8.2 1164 14215 0.17 2.33 112.05 0.618 4 0.063 0.039 2297 1065 599 0 0 0 0 0 0 26.49 25.38 24.81
14244 0.72 579.6 126.9 24.6 1190 14252 0.17 2.28 0.00 0.000 6 0.138 0.040 2246 2525 589 0 0 0 0 0 0 25.40 25.54 28.83
14558 0.84 647.1 74.4 10.0 1251 14609 0.10 0.00 39.80 0.573 6 0.091 0.000 2328 2525 442 0 0 0 0 1 0 26.14 28.83 24.90
14891 end climb: SURFACE_DEPTH_REACHED
state 14891 begin surface coast
14902 end surface coast: CONTROL_FINISHED_OK
state 14903 begin surface