OKMC Nov12 * SG170 * Dive index * Mission links * Dive 16 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  170 HD_C  8e-06 ROLL_MIN  165 ALTIM_TOP_MIN_OBSTACLE  0
MISSION  10 HEADING  10 ROLL_MAX  3698 ALTIM_PING_DEPTH  500
DIVE  16 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DELTA  50
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  3400 ALTIM_FREQUENCY  13
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  3000 ALTIM_PULSE  5
D_FLARE  3 TGT_DEFAULT_LAT  4736 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_TGT  990 TGT_DEFAULT_LON  -12218 ROLL_CNV  0.028270001 XPDR_VALID  3
D_ABORT  1040 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_NO_BLEED  200 SM_CC  450 R_PORT_OVSHOOT  54 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  20 N_FILEKB  8 R_STBD_OVSHOOT  29 INT_PRESSURE_YINT  -0.60000002
T_BOOST  0 FILEMGR  0 ROLL_AD_RATE  300 DEEPGLIDER  0
D_FINISH  0 CALL_NDIVES  1 ROLL_MAXERRORS  1 DEEPGLIDERMB  0
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_GAIN  2.5 MOTHERBOARD  4
D_SAFE  0 PROTOCOL  9 ROLL_ADJ_DBAND  0.029999999 DEVICE1  -1
D_CALL  0 N_NOCOMM  2 VBD_MIN  460 DEVICE2  -1
SURFACE_URGENCY  0 NOCOMM_ACTION  163 VBD_MAX  3960 DEVICE3  -1
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 C_VBD  2769 DEVICE4  -1
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_DBAND  2 DEVICE5  -1
T_DIVE  330 CALL_TRIES  5 VBD_CNV  -0.24529999 DEVICE6  -1
T_MISSION  350 CALL_WAIT  60 VBD_TIMEOUT  540 LOGGERS  1
T_ABORT  1440 CAPUPLOAD  0 PITCH_VBD_SHIFT  0.00060000003 LOGGERDEVICE1  53
T_TURN  225 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE2  -1
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE3  -1
T_NO_W  120 T_GPS  5 VBD_BLEED_AD_RATE  8 LOGGERDEVICE4  -1
T_LOITER  0 N_GPS  20 UNCOM_BLEED  20 COMPASS_DEVICE  97
T_EPIRB  0 T_GPS_ALMANAC  0 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
USE_BATHY  -7 T_GPS_CHARGE  -141941.69 CF8_MAXERRORS  20 PHONE_DEVICE  49
USE_ICE  0 T_RSLEEP  3 AH0_24V  150 GPS_DEVICE  32
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 AH0_10V  100 RAFOS_DEVICE  -1
D_OFFGRID  1000 RAFOS_PEAK_OFFSET  1.5 MINV_24V  22 XPDR_DEVICE  24
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 MINV_10V  9.5 SIM_W  0
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 FG_AHR_10V  0 SIM_PITCH  0
APOGEE_PITCH  -5 PITCH_MIN  139 FG_AHR_24V  0 SEABIRD_T_G  0.0043559377
MAX_BUOY  200 PITCH_MAX  3933 PHONE_SUPPLY  -2 SEABIRD_T_H  0.00062550703
COURSE_BIAS  0 C_PITCH  3110 PRESSURE_YINT  -48.120956 SEABIRD_T_I  2.3551509e-05
GLIDE_SLOPE  30 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.0001164274 SEABIRD_T_J  2.509174e-06
SPEED_FACTOR  1 PITCH_CNV  0.003125763 AD7714Ch0Gain  128 SEABIRD_C_G  -10.138787
RHO  1.0275 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1450038
MASS  51479 PITCH_GAIN  40 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0015582878
NAV_MODE  0 PITCH_TIMEOUT  16 COMPASS_USE  4 SEABIRD_C_J  0.00020114503
FERRY_MAX  45 PITCH_AD_RATE  155 ALTIM_BOTTOM_PING_RANGE  0 SC_RECORDABOVE  2000.0
KALMAN_USE  2 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SC_PROFILE  3.0
HD_A  0.0049999999 PITCH_ADJ_GAIN  0.02 ALTIM_BOTTOM_TURN_MARGIN  20 SC_XMITPROFILE  3.0
HD_B  0.0089999996 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  071112,142337,2145.580,12026.223,39,2.0,39,-3.1 TGT_NAME  HEADING
_CALLS  1 TGT_LATLONG  2156.025,12028.261
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.11 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -75.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  071112,143004,2145.390,12026.239,38,1.0,38,-3.1 MHEAD_RNG_PITCHd_Wd  13.1,20000,-15.6,-10.000,-17.73
SPEED_LIMITS  0.173,0.313 D_GRID  846

Post-dive calculations and measurements:
FINISH  1.5,1.022128 _24V_AH  24.1,3.522
SM_CCo  11188,0.00,0.000,0,0,533,548.25 _10V_AH  9.9,1.451
SM_GC  2.09,8.18,0.68,0.00,0.047,0.063,0.000,132,3403,533,-9.26,-0.93,548.25,0,0,0,0,0,0,25.96,25.98,28.83 FG_AHR_24Vo  0.000
IRIDIUM_FIX  2136.49,12019.23,071112,111107 FG_AHR_10Vo  0.000
TT8_MAMPS  0.025466,0.025466 MEM  324536
HUMID  50.59 DATA_FILE_SIZE  20110,565
INTERNAL_PRESSURE  9.51758 CAP_FILE_SIZE  157041,0
TCM_TEMP  24.60 CFSIZE  260034560,249450496
XPDR_PINGS  0 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING  651.9,78.6 GPS  071112,173754,2145.966,12026.495,20,1.6,20,-3.1
SC_FREEKB  4013984

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor27250167.51 nil000.00
Roll_motor9268151.41 nil000.00
VBD_pump_during_apogee583124217482.48 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1113192670.23
Iridium_during_xfer217132693.40 nil000.00
Transponder_ping142012.65 nil000.00
GUMSTIX_24V000.00
GPS393012.00
TT8187713246.16
LPSleep69892151.55
TT8_Active6491385.12
TT8_Sampling186738715.53
TT8_CF81934587.12
TT8_Kalman000.00
Analog_circuits177915281.36
GPS_charging000.00
Compass15318124.97
RAFOS000.00
Transponder11303.30

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
16 end surface: CONTROL_FINISHED_OK
state 17 begin dive
19 -0.51 -194.6 0.0 0.0 0 99 0.00 0.00 -77.62 0.000 2 0.000 0.000 131 3408 2615 0 0 0 0 0 0 28.83 28.83 28.83
102 -0.51 -194.6 3.1 -1.8 14 139 11.32 2.15 -19.60 0.000 4 0.251 0.041 2940 1982 3565 0 0 0 0 0 0 26.10 26.39 26.60
167 -0.22 -194.6 25.2 -36.4 25 175 0.32 2.30 0.00 0.000 6 0.170 0.059 3034 3405 3565 0 0 0 0 0 0 26.22 26.32 28.83
353 -0.28 -194.6 55.9 -12.9 42 358 0.00 0.45 0.00 0.000 4 0.000 0.068 3034 3699 3566 0 0 0 0 0 0 28.83 26.44 28.83
545 -0.43 -194.6 73.1 -9.0 51 551 0.15 0.40 0.00 0.000 6 0.050 0.043 2943 3413 3566 0 0 0 0 0 0 26.55 26.58 28.83
740 -0.22 -194.6 121.6 -24.9 61 745 0.30 0.47 0.00 0.000 4 0.164 0.063 3036 3704 3566 0 0 0 0 0 0 26.48 26.58 28.83
824 -0.41 -194.6 128.7 -7.8 65 830 0.15 0.38 0.00 0.000 6 0.111 0.042 2981 3436 3567 0 0 0 0 0 0 26.55 26.66 28.83
1029 -0.76 -194.6 152.4 -11.6 75 1035 0.30 2.08 0.00 0.000 4 0.092 0.024 2863 1965 3567 0 0 0 0 0 0 26.61 26.70 28.83
1067 -1.08 -194.6 155.0 -10.7 76 1074 0.28 2.33 0.00 0.000 6 0.061 0.059 2739 3429 3567 0 0 0 0 0 0 26.67 26.62 28.83
1254 -0.60 -194.6 216.0 -34.5 86 1260 0.57 2.08 0.00 0.000 4 0.194 0.022 2909 1946 3568 0 0 0 0 0 0 26.53 26.72 28.83
1282 -0.22 -194.6 222.0 -32.4 87 1288 0.40 2.30 0.00 0.000 6 0.126 0.062 3040 3399 3570 0 0 0 0 0 0 26.59 26.64 28.83
1482 -0.64 -194.6 234.4 -7.0 97 1488 0.35 2.05 0.00 0.000 4 0.088 0.024 2905 1962 3568 0 0 0 0 0 0 26.67 26.76 28.83
1670 -0.99 -194.6 251.6 -10.0 106 1676 0.32 2.53 0.00 0.000 6 0.079 0.060 2778 3566 3568 0 0 0 0 0 0 26.69 26.69 28.83
1989 -0.69 -194.6 321.8 -23.7 122 1994 0.35 2.30 0.00 0.000 4 0.182 0.023 2885 1930 3568 0 0 0 0 0 0 26.61 26.79 28.83
2088 -0.71 -194.6 329.7 -9.0 126 2094 0.00 2.55 0.00 0.000 6 0.000 0.060 2885 3536 3567 0 0 0 0 0 0 28.83 26.72 28.83
2393 -0.74 -194.6 352.5 -9.0 142 2398 0.00 2.28 0.00 0.000 4 0.000 0.027 2885 1935 3566 0 0 0 0 0 0 28.83 26.82 28.83
2416 -0.79 -194.6 353.6 -7.2 143 2422 0.00 2.50 0.00 0.000 6 0.000 0.058 2885 3510 3566 0 0 0 0 0 0 28.83 26.73 28.83
2739 -0.84 -194.6 383.9 -10.3 159 2745 0.12 2.22 0.00 0.000 4 0.093 0.024 2810 1940 3564 0 0 0 0 0 0 26.80 26.84 28.83
2764 -0.87 -194.6 385.9 -9.1 160 2769 0.00 2.47 0.00 0.000 6 0.000 0.058 2810 3495 3564 0 0 0 0 0 0 28.83 26.74 28.83
3087 -0.69 -194.6 441.9 -18.2 176 3092 0.22 0.30 0.00 0.000 4 0.173 0.065 2880 3700 3561 0 0 0 0 0 0 26.67 26.77 28.83
3320 -0.74 -194.6 467.1 -11.0 187 3325 0.00 0.22 0.00 0.000 6 0.000 0.054 2880 3522 3560 0 0 0 0 0 0 28.83 26.84 28.83
3634 -0.81 -194.6 498.2 -8.5 203 3635 0.00 0.00 0.00 0.000 6 0.000 0.000 2880 3521 3558 0 0 0 0 0 0 28.83 28.83 28.83
3934 -0.87 -194.6 520.0 -7.2 218 3940 0.12 2.22 0.00 0.000 4 0.097 0.026 2809 1939 3556 0 0 0 0 0 0 26.83 26.87 28.83
3979 -0.90 -194.6 524.4 -8.5 220 3984 0.00 2.50 0.00 0.000 6 0.000 0.059 2808 3517 3556 0 0 0 0 0 0 28.83 26.77 28.83
4302 -0.76 -194.6 575.0 -17.3 236 4308 0.17 0.28 0.00 0.000 4 0.176 0.067 2863 3708 3554 0 0 0 0 0 0 26.70 26.79 28.83
4416 -0.76 -194.6 587.9 -11.3 241 4421 0.00 0.25 0.00 0.000 6 0.000 0.053 2864 3520 3552 0 0 0 0 0 0 28.83 26.85 28.83
4731 -0.80 -194.6 619.5 -9.7 254 4736 0.00 2.25 0.00 0.000 4 0.000 0.028 2864 1945 3551 0 0 0 0 0 0 28.83 26.88 28.83
4783 -0.86 -194.6 622.7 -9.7 255 4788 0.00 2.50 0.00 0.000 6 0.000 0.061 2863 3509 3551 0 0 0 0 0 0 28.83 26.77 28.83
5098 -0.93 -194.6 654.5 -8.9 266 5100 0.15 0.00 0.00 0.000 6 0.083 0.000 2786 3509 3549 0 0 0 0 0 0 26.84 28.83 28.83
5396 -0.75 -194.6 703.3 -17.2 276 5401 0.25 0.28 0.00 0.000 4 0.174 0.067 2864 3701 3547 0 0 0 0 0 0 26.69 26.79 28.83
5429 -0.62 -194.6 708.2 -16.9 277 5435 0.10 0.28 0.00 0.000 6 0.133 0.050 2903 3510 3546 0 0 0 0 0 0 26.72 26.86 28.83
5491 end dive: BOTTOM_OBSTACLE_DETECTED
state 5491 begin apogee
5496 -0.12 0.0 711.2 -10.4 279 5658 0.45 0.00 153.32 1.242 4 0.087 0.000 3073 3006 2768 0 0 0 0 0 0 26.77 28.83 24.14
5659 end apogee: CONTROL_FINISHED_OK
state 5659 begin climb
5661 0.51 194.6 711.9 0.0 284 5833 0.52 1.23 162.85 1.206 4 0.037 0.061 3311 3700 1975 0 0 0 0 0 0 25.10 25.05 24.08
6061 0.03 194.6 626.8 31.0 297 6068 0.60 1.08 0.00 0.000 6 0.177 0.033 3124 2996 1967 0 0 0 0 0 0 25.86 26.05 28.83
6368 0.05 232.0 588.2 8.7 310 6407 0.00 2.17 30.58 1.129 4 0.000 0.030 3132 1596 1821 0 0 0 0 0 0 28.83 25.70 24.96
6494 0.20 290.6 578.0 8.0 316 6551 0.12 2.30 49.47 1.130 6 0.091 0.058 3195 3012 1583 0 0 0 0 0 0 25.97 25.94 24.44
6850 0.10 290.6 509.4 18.0 334 6852 0.17 0.00 0.00 0.000 6 0.158 0.000 3145 3013 1577 0 0 0 0 0 0 26.06 28.83 28.83
7151 0.14 290.6 474.9 11.2 349 7156 0.00 1.12 0.00 0.000 4 0.000 0.062 3145 3704 1576 0 0 0 0 0 0 28.83 26.37 28.83
7188 0.18 290.6 472.2 11.1 350 7194 0.00 1.05 0.00 0.000 6 0.000 0.034 3145 3012 1576 0 0 0 0 0 0 28.83 26.45 28.83
7494 0.24 308.6 439.1 9.4 366 7515 0.12 1.17 14.82 1.017 4 0.094 0.063 3220 3702 1511 0 0 0 0 0 0 26.54 26.17 25.49
7574 0.17 308.6 428.8 14.9 369 7581 0.15 1.02 0.00 0.000 6 0.143 0.032 3173 3021 1509 0 0 0 0 0 0 26.17 26.32 28.83
7878 0.15 308.6 384.9 13.1 385 7883 0.00 2.12 0.00 0.000 4 0.000 0.030 3173 1580 1507 0 0 0 0 0 0 28.83 26.48 28.83
7909 0.15 308.6 382.1 12.9 386 7914 0.00 2.30 0.00 0.000 6 0.000 0.060 3173 3021 1507 0 0 0 0 0 0 28.83 26.44 28.83
8222 0.15 308.6 339.8 13.2 402 8227 0.00 1.08 0.00 0.000 4 0.000 0.063 3173 3695 1507 0 0 0 0 0 0 28.83 26.54 28.83
8359 0.11 308.6 323.3 13.1 408 8366 0.00 0.98 0.00 0.000 6 0.000 0.032 3173 3032 1506 0 0 0 0 0 0 28.83 26.65 28.83
8665 0.11 308.6 289.5 10.4 424 8670 0.00 2.10 0.00 0.000 4 0.000 0.029 3173 1585 1506 0 0 0 0 0 0 28.83 26.67 28.83
8708 0.17 308.6 285.4 10.0 426 8713 0.00 2.28 0.00 0.000 6 0.000 0.055 3173 3029 1505 0 0 0 0 0 0 28.83 26.62 28.83
9031 0.19 308.6 251.5 12.2 442 9037 0.00 2.12 0.00 0.000 4 0.000 0.028 3173 1582 1506 0 0 0 0 0 0 28.83 26.71 28.83
9064 0.23 308.6 248.8 12.3 443 9069 0.00 2.28 0.00 0.000 6 0.000 0.058 3173 3021 1505 0 0 0 0 0 0 28.83 26.65 28.83
9257 0.28 308.6 227.3 10.7 453 9262 0.00 1.08 0.00 0.000 4 0.000 0.062 3173 3698 1505 0 0 0 0 0 0 28.83 26.67 28.83
9383 0.28 308.6 212.0 12.7 459 9388 0.00 0.95 0.00 0.000 6 0.000 0.031 3173 3043 1506 0 0 0 0 0 0 28.83 26.75 28.83
9582 0.38 349.4 192.9 8.6 469 9622 0.15 2.22 33.22 0.882 4 0.083 0.029 3268 1586 1343 0 0 0 0 0 0 26.74 26.14 25.49
9694 0.32 349.4 176.3 17.3 474 9700 0.17 2.33 0.00 0.000 6 0.143 0.055 3216 3040 1340 0 0 0 0 0 0 26.14 26.20 28.83
9887 0.32 349.4 151.0 12.3 484 9893 0.00 2.15 0.00 0.000 4 0.000 0.028 3215 1590 1339 0 0 0 0 0 0 28.83 26.41 28.83
9951 0.42 370.2 145.6 9.3 487 9975 0.00 2.25 17.23 0.814 6 0.000 0.057 3215 2984 1259 0 0 0 0 0 0 28.83 26.39 25.53
10173 0.56 404.7 127.5 8.8 498 10207 0.17 1.12 28.30 0.810 4 0.078 0.058 3306 3702 1118 0 0 0 0 0 0 26.37 25.87 25.32
10324 0.42 404.7 102.6 18.7 505 10329 0.17 1.05 0.00 0.000 6 0.126 0.028 3248 2983 1115 0 0 0 0 0 0 26.05 26.21 28.83
10519 0.60 467.0 88.8 7.9 515 10577 0.15 0.00 50.05 0.776 6 0.083 0.000 3314 2980 865 0 0 0 0 0 0 26.34 28.83 25.08
10758 0.54 467.0 58.3 18.4 527 10763 0.00 2.03 0.00 0.000 4 0.000 0.027 3322 1600 862 0 0 0 0 0 0 28.83 26.16 28.83
10791 0.51 467.0 54.1 18.8 528 10797 0.15 2.25 0.00 0.000 6 0.128 0.054 3275 3005 862 0 0 0 0 0 0 26.08 26.13 28.83
10985 0.63 547.6 30.9 7.2 546 11037 0.12 1.10 44.05 0.699 4 0.089 0.057 3353 3706 534 0 0 0 0 0 0 26.36 25.73 25.26
11075 0.45 547.6 8.7 30.1 559 11082 0.30 1.02 0.00 0.000 6 0.131 0.029 3255 3007 534 0 0 0 0 0 0 25.81 25.96 28.83
11098 end climb: SURFACE_DEPTH_REACHED
state 11098 begin surface coast
11109 end surface coast: CONTROL_FINISHED_OK
state 11109 begin surface