OKMC Nov11 * SG169 * Dive index * Mission links * Dive 168 * 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  168 HEADING  -1 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  -10929.664 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  2 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  111211,181837,2314.438,12147.958,32,1.2,32,-3.1 TGT_NAME  N1A
_CALLS  1 TGT_LATLONG  2319.000,12130.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.228,0.143
_SM_DEPTHo  0.83 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -60.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  111211,182450,2314.614,12147.957,11,1.7,11,-3.1 MHEAD_RNG_PITCHd_Wd  243.0,31603,-16.1,-11.786
SPEED_LIMITS  0.204,0.345 D_GRID  2796

Post-dive calculations and measurements:
FINISH  -0.1,1.022913 _10V_AH  10.2,24.979
SM_CCo  14307,0.00,0.000,0,0,456,618.89 FG_AHR_24Vo  0.000
SM_GC  0.65,5.57,0.20,0.00,0.031,0.063,0.000,123,2669,456,-5.79,-0.14,618.89,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2305.10,12152.12,111211,141459 MEM  324380
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  83735,1245
HUMID  43.34 CAP_FILE_SIZE  163098,0
INTERNAL_PRESSURE  9.41798 CFSIZE  260165632,207421440
TCM_TEMP  23.30 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  1 CURRENT  0.358, 49.1,1
_24V_AH  23.2,36.776 GPS  111211,222506,2314.484,12147.427,57,1.0,57,-3.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1622587.96 SBE_CT84424470.26
Roll_motor13763202.73 AA43301662331272.69
VBD_pump_during_apogee769118421149.41 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2310355.93 nil000.00
Iridium_during_connect2316085.69 nil000.00
Iridium_during_xfer2012231043.30 nil000.00
Transponder_ping04202.44 nil000.00
GUMSTIX_24V000.00
GPS13507.07
TT8330619667.74
LPSleep75922169.60
TT8_Active81719165.02
TT8_Sampling2638391071.15
TT8_CF830745143.66
TT8_Kalman000.00
Analog_circuits216112264.58
GPS_charging000.00
Compass224815343.97
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 -0.70 -243.3 0.0 0.0 0 119 0.00 0.00 -99.78 0.000 2 0.000 0.000 116 2664 3131 0 0 0 0 0 0 28.83 28.83 28.83
122 -0.70 -243.3 4.0 -10.1 16 151 6.55 1.83 -14.68 0.000 4 0.226 0.054 1764 3825 3963 0 0 0 0 0 0 25.38 26.00 26.38
324 -0.61 -243.3 90.9 -32.9 53 332 0.15 1.83 0.00 0.000 6 0.164 0.027 1811 2582 3964 0 0 0 0 0 0 25.79 26.15 28.83
646 -0.53 -243.3 191.5 -28.2 114 653 0.00 2.05 0.00 0.000 4 0.000 0.029 1819 1171 3964 0 0 0 0 0 0 28.83 26.23 28.83
753 -0.56 -243.3 209.1 -10.7 127 764 0.00 2.22 0.00 0.000 6 0.000 0.042 1810 2647 3965 0 0 0 0 0 0 28.83 26.20 28.83
1064 -0.51 -243.3 264.8 -19.7 158 1073 0.12 1.80 0.00 0.000 4 0.164 0.046 1841 3824 3965 0 0 0 0 0 0 26.15 26.21 28.83
1107 -0.50 -243.3 272.8 -18.2 162 1116 0.00 1.83 0.00 0.000 6 0.000 0.024 1841 2556 3965 0 0 0 0 0 0 28.83 26.39 28.83
1417 -0.50 -243.3 312.9 -12.8 193 1426 0.00 1.98 0.00 0.000 4 0.000 0.046 1831 3828 3965 0 0 0 0 0 0 28.83 26.25 28.83
1453 -0.50 -243.3 317.2 -13.0 196 1459 0.00 1.83 0.00 0.000 6 0.000 0.024 1831 2557 3965 0 0 0 0 0 0 28.83 26.42 28.83
1760 -0.50 -243.3 355.7 -11.6 227 1771 0.00 2.00 0.00 0.000 4 0.000 0.029 1831 1180 3963 0 0 0 0 0 0 28.83 26.34 28.83
1784 -0.50 -243.3 358.4 -11.5 229 1793 0.00 2.20 0.00 0.000 6 0.000 0.042 1823 2648 3963 0 0 0 0 0 0 28.83 26.29 28.83
2095 -0.50 -243.3 398.2 -13.5 260 2098 0.00 1.80 0.00 0.000 4 0.000 0.048 1814 3822 3961 0 0 0 0 0 0 28.83 26.27 28.83
2118 -0.50 -243.3 401.2 -13.3 262 2126 0.12 1.83 0.00 0.000 6 0.124 0.025 1853 2555 3960 0 0 0 0 0 0 26.22 26.45 28.83
2426 -0.54 -243.3 428.3 -7.3 293 2430 0.00 2.00 0.00 0.000 4 0.000 0.031 1853 1175 3959 0 0 0 0 0 0 28.83 26.35 28.83
2448 -0.59 -243.3 429.6 -6.8 295 2460 0.00 2.25 0.00 0.000 6 0.000 0.041 1852 2657 3958 0 0 0 0 0 0 28.83 26.30 28.83
2759 -0.63 -243.3 449.1 -6.5 326 2768 0.12 1.77 0.00 0.000 4 0.076 0.044 1746 3815 3955 0 0 0 0 0 0 26.58 26.27 28.83
2792 -0.63 -243.3 453.0 -10.8 329 2801 0.20 1.80 0.00 0.000 6 0.133 0.024 1813 2556 3955 0 0 0 0 0 0 26.03 26.46 28.83
3100 -0.63 -243.3 493.6 -12.9 360 3104 0.00 1.98 0.00 0.000 4 0.000 0.030 1813 1183 3953 0 0 0 0 0 0 28.83 26.36 28.83
3142 -0.66 -243.3 498.3 -11.3 364 3153 0.00 2.22 0.00 0.000 6 0.000 0.043 1812 2654 3953 0 0 0 0 0 0 28.83 26.29 28.83
3453 -0.67 -243.3 533.3 -11.3 395 3454 0.00 0.00 0.00 0.000 6 0.000 0.000 1812 2654 3950 0 0 0 0 0 0 28.83 28.83 28.83
3756 -0.68 -243.3 567.6 -10.7 425 3764 0.00 2.15 0.00 0.000 4 0.000 0.031 1812 1188 3948 0 0 0 0 0 0 28.83 26.34 28.83
3790 -0.70 -243.3 571.5 -10.9 428 3799 0.00 2.22 0.00 0.000 6 0.000 0.044 1812 2654 3948 0 0 0 0 0 0 28.83 26.27 28.83
4111 -0.71 -243.3 607.4 -11.7 457 4112 0.00 0.00 0.00 0.000 6 0.000 0.000 1812 2654 3946 0 0 0 0 0 0 28.83 28.83 28.83
4408 -0.72 -243.3 642.9 -11.1 472 4414 0.12 2.15 0.00 0.000 4 0.078 0.029 1727 1189 3944 0 0 0 0 0 0 26.58 26.34 28.83
4496 -0.71 -243.3 655.2 -15.4 476 4501 0.22 2.25 0.00 0.000 6 0.135 0.043 1784 2659 3945 0 0 0 0 0 0 25.95 26.27 28.83
4804 -0.70 -243.3 696.6 -12.6 491 4809 0.00 2.15 0.00 0.000 4 0.000 0.031 1785 1190 3942 0 0 0 0 0 0 28.83 26.32 28.83
4845 -0.70 -243.3 701.2 -12.0 493 4850 0.00 2.25 0.00 0.000 6 0.000 0.044 1776 2649 3943 0 0 0 0 0 0 28.83 26.25 28.83
5166 -0.68 -243.3 741.7 -12.6 509 5171 0.00 2.15 0.00 0.000 4 0.000 0.031 1776 1189 3940 0 0 0 0 0 0 28.83 26.30 28.83
5247 -0.69 -243.3 750.3 -10.5 513 5252 0.00 2.25 0.00 0.000 6 0.000 0.043 1766 2658 3939 0 0 0 0 0 0 28.83 26.25 28.83
5562 -0.66 -243.3 794.4 -14.9 529 5567 0.00 2.15 0.00 0.000 4 0.000 0.031 1766 1188 3937 0 0 0 0 0 0 28.83 26.28 28.83
5620 -0.66 -243.3 802.6 -14.1 532 5627 0.15 2.25 0.00 0.000 6 0.129 0.044 1802 2657 3937 0 0 0 0 0 0 26.04 26.22 28.83
5942 -0.67 -243.3 835.9 -10.2 548 5946 0.00 1.80 0.00 0.000 4 0.000 0.050 1794 3809 3934 0 0 0 0 0 0 28.83 26.17 28.83
5968 -0.68 -243.3 838.4 -10.1 549 5971 0.00 1.80 0.00 0.000 6 0.000 0.028 1794 2568 3934 0 0 0 0 0 0 28.83 26.44 28.83
6285 -0.68 -243.3 873.0 -11.1 565 6287 0.00 0.00 0.00 0.000 6 0.000 0.000 1794 2560 3932 0 0 0 0 0 0 28.83 28.83 28.83
6586 -0.69 -243.3 907.7 -11.4 580 6587 0.00 0.00 0.00 0.000 6 0.000 0.000 1794 2560 3931 0 0 0 0 0 0 28.83 28.83 28.83
6885 -0.70 -243.3 940.4 -11.1 595 6890 0.00 2.00 0.00 0.000 4 0.000 0.050 1785 3820 3930 0 0 0 0 0 0 28.83 26.13 28.83
6907 -0.71 -243.3 942.7 -11.0 596 6911 0.00 1.83 0.00 0.000 6 0.000 0.028 1784 2567 3929 0 0 0 0 0 0 28.83 26.41 28.83
7219 -0.71 -243.3 980.5 -11.9 612 7225 0.00 2.05 0.00 0.000 4 0.000 0.034 1784 1179 3927 0 0 0 0 0 0 28.83 26.25 28.83
7273 -0.72 -243.3 985.3 -11.6 614 7280 0.00 2.28 0.00 0.000 6 0.000 0.044 1776 2658 3927 0 0 0 0 0 0 28.83 26.17 28.83
7319 end dive: TARGET_DEPTH_EXCEEDED
state 7319 begin apogee
7325 -0.20 0.0 991.8 -10.9 617 7540 0.47 0.10 205.05 1.184 6 0.105 0.057 1941 2532 2969 0 0 0 0 0 0 25.88 24.56 23.74
7541 end apogee: CONTROL_FINISHED_OK
state 7541 begin climb
7544 0.70 243.3 1004.9 0.0 628 7780 0.80 2.47 225.00 1.177 4 0.049 0.043 2252 1071 1972 0 0 0 0 0 0 24.76 24.03 23.18
7884 0.64 243.3 956.5 19.8 645 7891 0.12 2.35 0.00 0.000 6 0.177 0.042 2224 2524 1957 0 0 0 0 0 0 24.84 25.06 28.83
8205 0.57 243.3 885.5 22.7 661 8210 0.00 2.00 0.00 0.000 4 0.000 0.047 2223 3813 1953 0 0 0 0 0 0 28.83 25.78 28.83
8314 0.48 243.3 860.8 24.5 666 8319 0.25 2.08 0.00 0.000 6 0.173 0.034 2166 2466 1951 0 0 0 0 0 0 25.51 25.91 28.83
8622 0.45 243.3 810.3 14.9 681 8626 0.00 2.12 0.00 0.000 4 0.000 0.047 2166 3817 1950 0 0 0 0 0 0 28.83 25.96 28.83
8726 0.41 243.3 792.9 17.1 686 8732 0.08 2.05 0.00 0.000 6 0.147 0.031 2150 2469 1950 0 0 0 0 0 0 25.82 26.08 28.83
9047 0.40 243.3 750.1 13.2 702 9048 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2467 1949 0 0 0 0 0 0 28.83 28.83 28.83
9345 0.38 243.3 710.8 12.8 717 9348 0.00 2.12 0.00 0.000 4 0.000 0.051 2150 3814 1949 0 0 0 0 0 0 28.83 26.04 28.83
9388 0.37 243.3 704.6 13.7 719 9394 0.08 2.05 0.00 0.000 6 0.143 0.031 2134 2463 1949 0 0 0 0 0 0 25.90 26.17 28.83
9707 0.37 243.3 665.8 12.6 735 9712 0.00 2.12 0.00 0.000 4 0.000 0.047 2133 3819 1949 0 0 0 0 0 0 28.83 26.08 28.83
9768 0.37 243.3 657.5 13.7 738 9773 0.00 2.05 0.00 0.000 6 0.000 0.029 2144 2461 1948 0 0 0 0 0 0 28.83 26.21 28.83
10089 0.37 243.3 613.2 14.0 754 10094 0.00 2.12 0.00 0.000 4 0.000 0.048 2144 3816 1948 0 0 0 0 0 0 28.83 26.10 28.83
10130 0.36 243.3 607.2 14.3 756 10134 0.00 2.05 0.00 0.000 6 0.000 0.030 2154 2456 1948 0 0 0 0 0 0 28.83 26.22 28.83
10442 0.34 243.3 564.5 13.1 785 10454 0.12 2.12 0.00 0.000 4 0.175 0.046 2116 3814 1948 0 0 0 0 0 0 26.06 26.10 28.83
10530 0.38 259.6 554.2 11.3 793 10548 0.00 2.03 13.02 0.845 6 0.000 0.031 2127 2463 1919 0 0 0 0 0 0 28.83 26.24 25.24
10848 0.47 313.4 519.5 10.0 825 10911 0.10 2.22 56.17 0.842 4 0.093 0.048 2186 3806 1691 0 0 0 0 0 0 26.35 25.44 24.68
10933 0.44 313.4 507.6 16.0 833 10943 0.15 2.08 0.00 0.000 6 0.155 0.030 2156 2463 1678 0 0 0 0 0 0 25.37 25.58 28.83
11241 0.44 313.4 467.7 12.5 864 11244 0.00 2.15 0.00 0.000 4 0.000 0.047 2156 3814 1674 0 0 0 0 0 0 28.83 25.84 28.83
11263 0.44 313.4 464.8 13.1 866 11272 0.00 2.03 0.00 0.000 6 0.000 0.029 2166 2464 1673 0 0 0 0 0 0 28.83 25.97 28.83
11573 0.44 313.4 422.6 14.0 897 11584 0.00 2.10 0.00 0.000 4 0.000 0.048 2167 3804 1673 0 0 0 0 0 0 28.83 25.97 28.83
11657 0.44 313.4 410.2 14.1 905 11661 0.00 2.03 0.00 0.000 6 0.000 0.028 2177 2453 1672 0 0 0 0 0 0 28.83 26.11 28.83
11968 0.44 313.4 367.0 14.0 936 11977 0.00 2.15 0.00 0.000 4 0.000 0.048 2177 3812 1672 0 0 0 0 0 0 28.83 26.05 28.83
11993 0.43 313.4 364.0 13.9 938 12001 0.15 2.03 0.00 0.000 6 0.155 0.031 2146 2464 1672 0 0 0 0 0 0 25.84 26.17 28.83
12301 0.54 380.5 332.4 9.6 969 12371 0.12 2.17 59.08 0.751 4 0.081 0.046 2224 3818 1410 0 0 0 0 0 0 26.40 25.54 24.82
12407 0.50 380.5 313.4 22.0 979 12416 0.22 2.10 0.00 0.000 6 0.143 0.031 2169 2466 1401 0 0 0 0 0 0 25.44 25.67 28.83
12716 0.52 380.5 273.9 12.7 1010 12725 0.00 2.10 0.00 0.000 4 0.000 0.038 2179 1071 1398 0 0 0 0 0 0 28.83 25.92 28.83
12740 0.54 380.5 271.0 12.7 1012 12747 0.00 2.22 0.00 0.000 6 0.000 0.040 2178 2524 1396 0 0 0 0 0 0 28.83 25.93 28.83
13048 0.59 414.2 233.9 10.7 1043 13082 0.00 2.05 29.27 0.672 4 0.000 0.046 2178 3804 1280 0 0 0 0 0 0 28.83 25.83 25.13
13136 0.77 523.0 226.3 8.2 1051 13235 0.20 2.03 91.95 0.663 6 0.053 0.028 2304 2460 845 0 0 0 0 0 0 25.94 25.90 24.59
13546 0.71 523.0 108.5 29.5 1120 13554 0.20 2.12 0.00 0.000 4 0.171 0.036 2255 1067 816 0 0 0 0 0 0 25.57 25.87 28.83
13608 0.85 596.8 98.6 9.4 1131 13680 0.00 2.22 61.00 0.703 6 0.000 0.037 2255 2524 546 0 0 0 0 1 0 28.83 25.93 24.58
13993 1.01 683.4 59.2 9.0 1202 14027 0.17 2.30 26.95 0.233 4 0.060 0.036 2381 1053 437 0 0 0 0 0 0 26.10 25.86 25.36
14065 0.97 683.4 42.4 27.1 1214 14074 0.20 2.28 2.30 0.169 6 0.148 0.043 2324 2526 434 0 0 0 0 0 0 25.63 25.87 25.48
14219 end climb: SURFACE_DEPTH_REACHED
state 14220 begin surface coast
14233 end surface coast: CONTROL_FINISHED_OK
state 14233 begin surface