OKMC Nov11 * SG169 * Dive index * Mission links * Dive 149 * 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  149 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  300 UPLOAD_DIVES_MAX  -1 C_VBD  2979 DEVICE3  35
T_MISSION  340 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  -10471.544 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  081211,032031,2313.416,12202.892,70,1.1,70,-3.1 TGT_NAME  HEADING
_CALLS  1 TGT_LATLONG  2305.931,12154.597
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.228,0.143
_SM_DEPTHo  0.89 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -57.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  081211,032656,2313.568,12202.898,15,1.1,15,-3.1 MHEAD_RNG_PITCHd_Wd  228.1,20000,-13.7,-11.000
SPEED_LIMITS  0.191,0.365 D_GRID  4198

Post-dive calculations and measurements:
SM_CCo  13132,238.30,0.717,1,0,434,624.04 FG_AHR_24Vo  0.000
SM_GC  1.00,5.18,2.35,0.00,0.030,0.033,0.000,129,2462,449,-5.80,0.23,620.61,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2307.44,12203.80,071211,232351 MEM  324740
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  70397,1053
HUMID  44.92 CAP_FILE_SIZE  152819,8
INTERNAL_PRESSURE  9.45705 CFSIZE  260165632,209162240
TCM_TEMP  19.80 ERRORS  0,1,0,0,0,0,0,0,0,1,0,0,84,3,0
XPDR_PINGS  0 EOP_CODE  MOTOR_MAX_ERRORS_EXCEEDED
_24V_AH  23.3,32.627 RECOV_CODE  ROLL_DEAD
_10V_AH  10.2,22.916 GPS  081211,074525,2314.594,12201.823,37,1.2,37,-3.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1522882.21 SBE_CT71724401.36
Roll_motor13486271.16 AA43301502331155.40
VBD_pump_during_apogee574117315717.32 WL_BB2F000.00
VBD_pump_during_surface2387163979.98 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2910369.76 nil000.00
Iridium_during_connect1616063.17 nil000.00
Iridium_during_xfer2052231067.53 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS17509.02
TT8260119525.38
LPSleep97162217.05
TT8_Active90119182.03
TT8_Sampling228139926.18
TT8_CF828445132.78
TT8_Kalman000.00
Analog_circuits208912255.71
GPS_charging000.00
Compass190515291.53
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 -0.70 -292.0 0.0 0.0 0 120 0.00 0.00 -100.18 0.000 2 0.000 0.000 116 2685 2990 0 0 0 0 0 0 28.83 28.83 28.83
123 -0.70 -292.0 3.6 -8.1 18 154 6.57 1.83 -18.10 0.000 4 0.229 0.059 1765 3825 3963 0 0 0 0 0 0 25.53 26.04 26.44
278 -0.62 -292.0 72.8 -29.6 47 285 0.12 1.85 0.00 0.000 6 0.159 0.025 1806 2571 3964 0 0 0 0 0 0 25.91 26.19 28.83
588 -0.51 -292.0 177.4 -32.0 108 596 0.12 2.03 0.00 0.000 4 0.171 0.024 1850 1166 3964 0 0 0 0 0 0 26.08 26.29 28.83
624 -0.45 -292.0 187.2 -23.9 114 631 0.00 2.28 0.00 0.000 6 0.000 0.044 1840 2658 3964 0 0 0 0 0 0 28.83 26.22 28.83
934 -0.39 -292.0 253.1 -20.9 151 938 0.12 1.75 0.00 0.000 4 0.157 0.047 1872 3813 3963 0 0 0 0 0 0 26.20 26.25 28.83
997 -0.40 -292.0 262.0 -11.7 157 1000 0.00 1.80 0.00 0.000 6 0.000 0.026 1872 2565 3963 0 0 0 0 0 0 28.83 26.43 28.83
1308 -0.41 -292.0 293.5 -9.0 188 1317 0.00 1.98 0.00 0.000 4 0.000 0.047 1863 3820 3963 0 0 0 0 0 0 28.83 26.30 28.83
1344 -0.44 -292.0 295.9 -7.9 191 1350 0.00 1.80 0.00 0.000 6 0.000 0.027 1864 2559 3963 0 0 0 0 0 0 28.83 26.46 28.83
1650 -0.45 -292.0 319.7 -8.6 222 1659 0.00 1.98 0.00 0.000 4 0.000 0.048 1856 3812 3962 0 0 0 0 0 0 28.83 26.32 28.83
1693 -0.47 -292.0 323.2 -8.3 226 1696 0.00 1.80 0.00 0.000 6 0.000 0.027 1856 2563 3961 0 0 0 0 0 0 28.83 26.48 28.83
2004 -0.48 -292.0 353.2 -10.4 257 2005 0.00 0.00 0.00 0.000 6 0.000 0.000 1855 2558 3959 0 0 0 0 0 0 28.83 28.83 28.83
2308 -0.49 -292.0 380.6 -8.2 287 2316 0.00 1.95 0.00 0.000 4 0.000 0.049 1848 3823 3958 0 0 0 0 0 0 28.83 26.34 28.83
2352 -0.52 -292.0 384.2 -8.3 291 2359 0.00 1.80 0.00 0.000 6 0.000 0.027 1849 2559 3957 0 0 0 0 0 0 28.83 26.51 28.83
2661 -0.54 -292.0 407.2 -7.1 322 2670 0.00 2.00 0.00 0.000 4 0.000 0.031 1848 1179 3955 0 0 0 0 0 0 28.83 26.43 28.83
2687 -0.56 -292.0 408.9 -7.0 324 2693 0.00 2.22 0.00 0.000 6 0.000 0.042 1848 2655 3956 0 0 0 0 0 0 28.83 26.36 28.83
2993 -0.58 -292.0 429.7 -6.6 355 3002 0.00 2.17 0.00 0.000 4 0.000 0.031 1848 1176 3953 0 0 0 0 0 0 28.83 26.41 28.83
3017 -0.61 -292.0 431.2 -6.9 357 3024 0.00 2.22 0.00 0.000 6 0.000 0.042 1846 2654 3953 0 0 0 0 0 0 28.83 26.36 28.83
3325 -0.63 -292.0 453.6 -8.1 388 3329 0.12 1.80 0.00 0.000 4 0.076 0.047 1743 3828 3950 0 0 0 0 0 0 26.65 26.33 28.83
3357 -0.61 -292.0 457.9 -11.9 391 3361 0.17 1.85 0.00 0.000 6 0.118 0.027 1816 2560 3950 0 0 0 0 0 0 26.09 26.50 28.83
3669 -0.59 -292.0 499.0 -13.0 422 3678 0.00 1.98 0.00 0.000 4 0.000 0.050 1807 3812 3948 0 0 0 0 0 0 28.83 26.32 28.83
3694 -0.57 -292.0 501.9 -13.1 424 3700 0.00 1.80 0.00 0.000 6 0.000 0.027 1807 2559 3948 0 0 0 0 0 0 28.83 26.51 28.83
4001 -0.53 -292.0 543.9 -14.5 455 4005 0.10 2.00 0.00 0.000 4 0.153 0.031 1835 1185 3946 0 0 0 0 0 0 26.45 26.41 28.83
4045 -0.53 -292.0 548.4 -10.6 459 4052 0.00 2.22 0.00 0.000 6 0.000 0.044 1827 2653 3945 0 0 0 0 0 0 28.83 26.35 28.83
4353 -0.53 -292.0 574.9 -8.5 490 4357 0.00 1.83 0.00 0.000 4 0.000 0.050 1819 3815 3944 0 0 0 0 0 0 28.83 26.32 28.83
4377 -0.53 -292.0 576.9 -8.7 492 4384 0.00 1.80 0.00 0.000 6 0.000 0.027 1818 2562 3944 0 0 0 0 0 0 28.83 26.50 28.83
4686 -0.53 -292.0 607.0 -10.4 520 4691 0.00 2.00 0.00 0.000 4 0.000 0.034 1818 1188 3942 0 0 0 0 0 0 28.83 26.39 28.83
4729 -0.54 -292.0 611.0 -10.4 522 4733 0.00 2.22 0.00 0.000 6 0.000 0.042 1813 2656 3942 0 0 0 0 0 0 28.83 26.34 28.83
5041 -0.53 -292.0 648.2 -12.2 538 5044 0.00 1.77 0.00 0.000 4 0.000 0.050 1804 3813 3938 0 0 0 0 0 0 28.83 26.29 28.83
5071 -0.53 -292.0 650.9 -12.3 539 5075 0.12 1.80 0.00 0.000 6 0.117 0.028 1845 2566 3938 0 0 0 0 0 0 26.28 26.48 28.83
5378 -0.56 -292.0 675.4 -7.1 554 5380 0.00 0.00 0.00 0.000 6 0.000 0.000 1844 2565 3936 0 0 0 0 0 0 28.83 28.83 28.83
5679 -0.60 -292.0 693.4 -5.6 569 5684 0.00 1.98 0.00 0.000 4 0.000 0.050 1837 3820 3933 0 0 0 0 0 0 28.83 26.27 28.83
5708 -0.63 -292.0 694.3 -5.3 570 5716 0.00 1.83 0.00 0.000 6 0.000 0.028 1837 2563 3933 0 0 0 0 0 0 28.83 26.48 28.83
6017 -0.74 -292.0 717.2 -7.9 586 6024 0.17 2.00 0.00 0.000 4 0.090 0.032 1770 1185 3932 0 0 0 0 0 0 26.44 26.36 28.83
6103 -0.85 -292.0 722.8 -6.9 590 6109 0.08 2.20 0.00 0.000 6 0.064 0.041 1726 2657 3931 0 0 0 0 0 0 26.26 26.34 28.83
6417 -0.76 -292.0 783.5 -22.4 606 6419 0.12 0.00 0.00 0.000 6 0.164 0.000 1758 2658 3929 0 0 0 0 0 0 26.29 28.83 28.83
6718 -0.71 -292.0 836.9 -16.4 621 6723 0.00 2.15 0.00 0.000 4 0.000 0.031 1769 1182 3928 0 0 0 0 0 0 28.83 26.34 28.83
6780 -0.68 -292.0 844.8 -13.9 624 6785 0.12 2.22 0.00 0.000 6 0.135 0.044 1796 2654 3927 0 0 0 0 0 0 26.13 26.28 28.83
7095 -0.67 -292.0 876.3 -9.6 640 7096 0.00 0.00 0.00 0.000 6 0.000 0.000 1795 2654 3926 0 0 0 0 0 0 28.83 28.83 28.83
7393 -0.66 -292.0 905.2 -9.6 655 7399 0.00 2.17 0.00 0.000 4 0.000 0.033 1796 1182 3924 0 0 0 0 0 0 28.83 26.32 28.83
7441 -0.66 -292.0 908.8 -9.4 657 7445 0.00 2.25 0.00 0.000 6 0.000 0.045 1787 2652 3924 0 0 0 0 0 0 28.83 26.25 28.83
7748 -0.64 -292.0 941.8 -11.1 672 7750 0.00 0.00 0.00 0.000 6 0.000 0.000 1787 2652 3922 0 0 0 0 0 0 28.83 28.83 28.83
8048 -0.63 -292.0 975.6 -11.5 687 8049 0.00 0.00 0.00 0.000 6 0.000 0.000 1787 2651 3920 0 0 0 0 0 0 28.83 28.83 28.83
8185 end dive: TARGET_DEPTH_EXCEEDED
state 8185 begin apogee
8192 -0.20 0.0 991.4 -11.4 694 8408 0.45 0.12 205.43 1.174 6 0.100 0.086 1946 2530 2967 0 0 0 0 0 0 26.01 24.65 23.89
8409 end apogee: CONTROL_FINISHED_OK
state 8409 begin climb
8411 0.70 292.0 1003.2 0.0 705 8689 0.77 2.28 267.55 1.167 4 0.038 0.050 2255 3810 1777 0 0 0 0 0 0 24.89 24.12 23.34
8852 0.60 292.0 917.5 27.3 727 8858 0.20 2.12 0.00 0.000 6 0.176 0.037 2208 2476 1756 0 0 0 0 0 0 25.08 25.38 28.83
9172 0.53 292.0 850.2 20.5 743 9173 0.00 0.00 0.00 0.000 6 0.000 0.000 2208 2474 1752 0 0 0 0 0 0 28.83 28.83 28.83
9472 0.46 292.0 787.3 20.9 758 9478 0.15 2.12 0.00 0.000 4 0.184 0.044 2163 3822 1751 0 0 0 0 0 0 25.79 26.00 28.83
9515 0.41 292.0 779.1 20.9 760 9519 0.12 2.08 0.00 0.000 6 0.160 0.031 2141 2463 1751 0 0 0 0 0 0 25.84 26.08 28.83
9827 0.40 292.0 737.5 13.1 776 9833 0.00 2.10 0.00 0.000 4 0.000 0.039 2150 1055 1750 0 0 0 0 0 0 28.83 26.11 28.83
9861 0.39 292.0 735.0 12.9 777 9867 0.00 2.25 0.00 0.000 6 0.000 0.041 2151 2523 1749 0 0 0 0 0 0 28.83 26.11 28.83
10167 0.37 292.0 690.7 14.4 793 10173 0.00 2.03 0.00 0.000 4 0.000 0.048 2151 3822 1749 0 0 0 0 0 0 28.83 26.13 28.83
10208 0.35 292.0 684.5 14.8 795 10212 0.15 2.05 0.00 0.000 6 0.150 0.031 2119 2466 1748 0 0 0 0 0 0 25.94 26.22 28.83
10532 0.41 337.8 651.0 9.8 811 10577 0.00 2.20 33.22 0.939 4 0.000 0.039 2130 1066 1601 0 0 0 0 1 0 28.83 25.75 24.83
10611 0.51 401.2 643.5 9.4 815 10682 0.10 2.25 59.62 1.134 6 0.037 0.041 2219 2523 1342 0 0 0 0 1 0 25.82 25.79 24.15
10990 0.45 401.2 563.2 21.8 842 11001 0.20 2.05 1.67 0.175 4 0.158 0.047 2156 3805 1341 0 0 0 0 0 0 25.63 25.84 25.54
11064 0.46 401.2 552.7 11.3 849 11073 0.00 2.03 0.00 0.000 6 0.000 0.032 2166 2465 1351 0 0 0 0 0 0 28.83 25.95 28.83
11376 0.46 401.2 515.3 13.3 880 11385 0.00 2.10 0.00 0.000 4 0.000 0.040 2176 1068 1351 0 0 0 0 0 0 28.83 26.06 28.83
11427 0.47 401.2 509.1 11.2 885 11436 0.00 2.25 0.00 0.000 6 0.000 0.041 2176 2525 1351 0 0 0 0 0 0 28.83 26.08 28.83
11738 0.45 401.2 464.4 15.1 916 11747 0.00 2.20 0.00 0.000 4 0.000 0.039 2187 1070 1350 0 0 0 0 0 0 28.83 26.15 28.83
11760 0.44 401.2 461.2 15.0 918 11769 0.12 2.22 0.00 0.000 6 0.136 0.041 2151 2524 1351 0 0 0 0 0 0 26.00 26.15 28.83
12070 0.45 401.2 426.5 11.5 949 12073 0.00 2.20 0.00 0.000 4 0.000 0.037 2161 1057 1351 0 0 0 0 0 0 28.83 26.20 28.83
12102 0.47 401.2 423.1 11.0 952 12111 0.00 2.22 0.00 0.000 6 0.000 0.040 2161 2522 1351 0 0 0 0 0 0 28.83 26.20 28.83
12411 0.47 401.2 385.1 13.1 983 12420 0.00 2.20 0.00 0.000 4 0.000 0.038 2172 1051 1351 0 0 0 0 0 0 28.83 26.22 28.83
12453 0.50 405.0 380.5 10.9 987 12463 0.00 2.22 3.28 0.561 6 0.000 0.041 2172 2523 1326 0 0 0 0 0 0 28.83 26.22 25.01
12762 0.50 405.0 340.2 13.6 1018 12772 0.00 2.25 2.08 0.252 4 0.000 0.040 2183 1057 1328 0 0 0 0 0 0 28.83 26.27 24.83
12788 0.50 405.0 337.2 13.4 1020 12795 0.00 2.22 0.00 0.000 6 0.000 0.040 2183 2527 1337 0 0 0 0 0 0 28.83 26.25 28.83
13095 0.48 405.0 294.5 14.2 1051 13116 0.00 12.90 1.98 0.181 4 0.000 0.003 2183 3984 1337 0 0 84 1 0 0 28.83 26.20 25.78
13119 end climb: MOTOR_MAX_ERRORS_EXCEEDED