OKMC Nov11 * SG169 * Dive index * Mission links * Dive 170 * 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  170 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  -10933.416 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  121211,022937,2314.152,12147.160,39,1.2,39,-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  0.92 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -62.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  121211,023556,2314.302,12147.231,12,1.8,12,-3.1 MHEAD_RNG_PITCHd_Wd  244.6,30571,-16.1,-11.786
SPEED_LIMITS  0.204,0.345 D_GRID  2796

Post-dive calculations and measurements:
FINISH  -0.0,1.022686 _10V_AH  10.2,25.177
SM_CCo  14530,0.00,0.000,0,0,601,583.32 FG_AHR_24Vo  0.000
SM_GC  0.60,5.55,0.17,0.00,0.022,0.077,0.000,124,2656,601,-5.80,-0.51,583.32,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2307.44,12144.90,111211,222203 MEM  324388
TT8_MAMPS  0.025466,0.025466 DATA_FILE_SIZE  83589,1261
HUMID  44.68 CAP_FILE_SIZE  160357,0
INTERNAL_PRESSURE  9.41798 CFSIZE  260165632,207249408
TCM_TEMP  22.70 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  0 CURRENT  0.317, 56.5,1
_24V_AH  23.2,37.205 GPS  121211,063936,2313.676,12146.194,38,1.2,38,-3.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1522582.59 SBE_CT85524476.37
Roll_motor13578246.88 AA43301661331272.09
VBD_pump_during_apogee757117720690.49 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2410359.23 nil000.00
Iridium_during_connect2016076.34 nil000.00
Iridium_during_xfer2082231080.19 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS14507.29
TT8332219671.04
LPSleep78412175.16
TT8_Active81919165.56
TT8_Sampling2596391054.17
TT8_CF830945144.71
TT8_Kalman000.00
Analog_circuits213512261.37
GPS_charging000.00
Compass220715337.76
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 0 110 0.00 0.00 -91.25 0.000 2 0.000 0.000 117 2675 2948 0 0 0 0 0 0 28.83 28.83 28.83
114 -0.70 -243.3 3.5 -7.9 15 148 6.55 1.80 -19.02 0.000 4 0.226 0.057 1763 3826 3963 0 0 0 0 0 0 25.41 26.00 26.41
311 -0.61 -243.3 75.6 -30.9 51 319 0.15 1.85 0.00 0.000 6 0.161 0.026 1811 2576 3964 0 0 0 0 0 0 25.81 26.15 28.83
632 -0.53 -243.3 173.3 -27.7 112 640 0.00 2.03 0.00 0.000 4 0.000 0.030 1817 1185 3964 0 0 0 0 0 0 28.83 26.22 28.83
720 -0.53 -243.3 190.6 -14.8 128 727 0.10 2.25 0.00 0.000 6 0.146 0.044 1837 2657 3964 0 0 0 0 0 0 26.08 26.18 28.83
1036 -0.50 -243.3 247.8 -17.1 165 1047 0.00 2.17 0.00 0.000 4 0.000 0.029 1837 1175 3965 0 0 0 0 0 0 28.83 26.30 28.83
1063 -0.47 -243.3 251.6 -16.4 167 1070 0.00 2.25 0.00 0.000 6 0.000 0.041 1827 2659 3965 0 0 0 0 0 0 28.83 26.25 28.83
1372 -0.45 -243.3 299.1 -15.5 198 1374 0.12 0.00 0.00 0.000 6 0.155 0.000 1862 2659 3965 0 0 0 0 0 0 26.25 28.83 28.83
1672 -0.49 -243.3 325.9 -7.2 228 1681 0.00 2.12 0.00 0.000 4 0.000 0.031 1862 1184 3964 0 0 0 0 0 0 28.83 26.34 28.83
1714 -0.55 -243.3 328.8 -6.8 232 1723 0.00 2.22 0.00 0.000 6 0.000 0.041 1861 2655 3964 0 0 0 0 0 0 28.83 26.29 28.83
2025 -0.68 -243.3 356.3 -9.4 263 2027 0.20 0.00 0.00 0.000 6 0.077 0.000 1783 2655 3961 0 0 0 0 0 0 26.39 28.83 28.83
2326 -0.73 -243.3 382.1 -8.9 293 2329 0.00 1.80 0.00 0.000 4 0.000 0.050 1776 3823 3959 0 0 0 0 0 0 28.83 26.26 28.83
2370 -0.76 -243.3 386.4 -9.8 297 2379 0.00 1.80 0.00 0.000 6 0.000 0.025 1775 2564 3959 0 0 0 0 0 0 28.83 26.46 28.83
2679 -0.71 -243.3 442.1 -19.4 328 2688 0.00 2.00 0.00 0.000 4 0.000 0.032 1775 1190 3957 0 0 0 0 0 0 28.83 26.36 28.83
2714 -0.68 -243.3 448.3 -18.3 331 2721 0.00 2.22 0.00 0.000 6 0.000 0.042 1765 2657 3957 0 0 0 0 0 0 28.83 26.29 28.83
3023 -0.63 -243.3 509.6 -19.8 362 3032 0.12 2.12 0.00 0.000 4 0.167 0.028 1811 1185 3955 0 0 0 0 0 0 26.23 26.36 28.83
3087 -0.66 -243.3 517.8 -9.5 368 3091 0.00 2.22 0.00 0.000 6 0.000 0.042 1805 2658 3954 0 0 0 0 0 0 28.83 26.29 28.83
3401 -0.66 -243.3 551.4 -11.1 399 3407 0.00 0.00 0.00 0.000 6 0.000 0.000 1805 2658 3951 0 0 0 0 0 0 28.83 28.83 28.83
3710 -0.66 -243.3 583.0 -9.9 430 3721 0.00 2.17 0.00 0.000 4 0.000 0.030 1805 1184 3949 0 0 0 0 0 0 28.83 26.35 28.83
3746 -0.68 -243.3 586.3 -9.4 433 3753 0.00 2.22 0.00 0.000 6 0.000 0.043 1799 2651 3948 0 0 0 0 0 0 28.83 26.27 28.83
4054 -0.68 -243.3 616.3 -9.8 456 4055 0.00 0.00 0.00 0.000 6 0.000 0.000 1799 2650 3946 0 0 0 0 0 0 28.83 28.83 28.83
4355 -0.68 -243.3 647.8 -11.1 471 4360 0.00 2.15 0.00 0.000 4 0.000 0.031 1799 1181 3945 0 0 0 0 0 0 28.83 26.33 28.83
4422 -0.70 -243.3 653.8 -10.3 474 4427 0.00 2.25 0.00 0.000 6 0.000 0.044 1799 2654 3945 0 0 0 0 0 0 28.83 26.25 28.83
4728 -0.70 -243.3 689.7 -11.9 489 4732 0.00 1.77 0.00 0.000 4 0.000 0.050 1791 3812 3942 0 0 0 0 0 0 28.83 26.21 28.83
4749 -0.70 -243.3 692.3 -12.0 490 4753 0.00 1.83 0.00 0.000 6 0.000 0.027 1791 2559 3943 0 0 0 0 0 0 28.83 26.46 28.83
5071 -0.70 -243.3 731.8 -12.5 506 5076 0.00 2.00 0.00 0.000 4 0.000 0.031 1791 1185 3940 0 0 0 0 0 0 28.83 26.32 28.83
5098 -0.70 -243.3 734.1 -12.3 507 5103 0.00 2.25 0.00 0.000 6 0.000 0.044 1781 2658 3940 0 0 0 0 0 0 28.83 26.25 28.83
5407 -0.69 -243.3 775.1 -13.6 522 5413 0.00 2.15 0.00 0.000 4 0.000 0.031 1781 1181 3937 0 0 0 0 0 0 28.83 26.30 28.83
5459 -0.69 -243.3 780.2 -13.4 524 5466 0.00 2.25 0.00 0.000 6 0.000 0.044 1771 2657 3936 0 0 0 0 0 0 28.83 26.22 28.83
5767 -0.67 -243.3 826.2 -15.3 540 5772 0.00 2.17 0.00 0.000 4 0.000 0.031 1771 1185 3935 0 0 0 0 0 0 28.83 26.29 28.83
5795 -0.65 -243.3 829.2 -15.3 541 5800 0.12 2.25 0.00 0.000 6 0.132 0.044 1799 2656 3934 0 0 0 0 0 0 26.06 26.21 28.83
6103 -0.67 -243.3 864.3 -10.9 556 6105 0.00 0.00 0.00 0.000 6 0.000 0.000 1799 2656 3932 0 0 0 0 0 0 28.83 28.83 28.83
6404 -0.68 -243.3 894.0 -9.5 571 6405 0.00 0.00 0.00 0.000 6 0.000 0.000 1799 2656 3931 0 0 0 0 0 0 28.83 28.83 28.83
6703 -0.70 -243.3 920.7 -8.9 586 6704 0.00 0.00 0.00 0.000 6 0.000 0.000 1799 2656 3929 0 0 0 0 0 0 28.83 28.83 28.83
7002 -0.71 -243.3 948.3 -9.6 601 7008 0.00 2.17 0.00 0.000 4 0.000 0.031 1799 1185 3928 0 0 0 0 0 0 28.83 26.27 28.83
7026 -0.74 -243.3 950.1 -9.7 602 7032 0.00 2.25 0.00 0.000 6 0.000 0.045 1799 2651 3928 0 0 0 0 0 0 28.83 26.16 28.83
7343 -0.75 -243.3 981.5 -10.1 618 7346 0.00 1.80 0.00 0.000 4 0.000 0.053 1791 3810 3926 0 0 0 0 0 0 28.83 26.10 28.83
7367 -0.77 -243.3 983.6 -9.9 619 7371 0.00 1.83 0.00 0.000 6 0.000 0.028 1791 2563 3926 0 0 0 0 0 0 28.83 26.41 28.83
7442 end dive: TARGET_DEPTH_EXCEEDED
state 7442 begin apogee
7448 -0.20 0.0 991.8 -10.2 623 7664 0.43 0.10 206.90 1.177 6 0.099 0.057 1941 2530 2970 0 0 0 0 0 0 25.94 24.55 23.75
7665 end apogee: CONTROL_FINISHED_OK
state 7665 begin climb
7668 0.70 243.3 1004.4 0.0 634 7905 0.80 2.45 225.25 1.174 4 0.046 0.039 2253 1068 1973 0 0 0 0 0 0 24.79 24.05 23.23
7994 0.63 243.3 958.1 21.3 650 8000 0.12 2.33 0.00 0.000 6 0.161 0.043 2217 2521 1957 0 0 0 0 0 0 24.75 25.00 28.83
8309 0.56 243.3 888.1 21.4 666 8314 0.00 2.05 0.00 0.000 4 0.000 0.049 2217 3821 1954 0 0 0 0 0 0 28.83 25.76 28.83
8435 0.47 243.3 859.0 24.3 672 8441 0.22 2.08 0.00 0.000 6 0.180 0.031 2168 2461 1952 0 0 0 0 0 0 25.51 25.93 28.83
8752 0.44 243.3 809.1 14.3 688 8757 0.00 2.10 0.00 0.000 4 0.000 0.050 2168 3810 1950 0 0 0 0 0 0 28.83 25.97 28.83
8834 0.40 243.3 796.6 15.7 692 8839 0.15 2.05 0.00 0.000 6 0.163 0.030 2139 2456 1950 0 0 0 0 0 0 25.76 26.09 28.83
9150 0.43 277.0 762.8 10.7 708 9187 0.00 2.20 25.23 0.974 4 0.000 0.047 2138 3817 1846 0 0 0 0 1 0 28.83 25.76 24.77
9235 0.44 288.0 753.2 11.4 712 9258 0.00 2.08 18.48 0.945 6 0.000 0.029 2149 2462 1803 0 0 0 0 0 0 28.83 25.85 24.72
9567 0.44 288.0 712.4 12.8 729 9572 0.00 2.12 0.00 0.000 4 0.000 0.049 2149 3804 1784 0 0 0 0 0 0 28.83 25.91 28.83
9588 0.43 288.0 709.6 13.0 730 9592 0.00 2.05 0.00 0.000 6 0.000 0.030 2159 2458 1784 0 0 0 0 0 0 28.83 26.01 28.83
9907 0.42 288.0 665.4 13.6 746 9912 0.00 2.15 0.00 0.000 4 0.000 0.049 2160 3817 1783 0 0 0 0 0 0 28.83 26.03 28.83
9950 0.41 288.0 659.2 14.4 748 9954 0.00 2.05 0.00 0.000 6 0.000 0.030 2170 2461 1783 0 0 0 0 0 0 28.83 26.12 28.83
10270 0.39 288.0 612.4 14.4 764 10276 0.12 2.12 0.00 0.000 4 0.170 0.046 2131 3812 1782 0 0 0 0 0 0 25.98 26.08 28.83
10317 0.38 288.0 607.0 13.7 766 10321 0.00 2.03 0.00 0.000 6 0.000 0.030 2142 2465 1782 0 0 0 0 0 0 28.83 26.19 28.83
10629 0.38 293.4 571.3 11.6 794 10633 0.00 2.10 0.00 0.000 4 0.000 0.048 2142 3810 1782 0 0 0 0 0 0 28.83 26.09 28.83
10681 0.38 293.4 564.6 12.9 799 10692 0.00 2.03 0.00 0.000 6 0.000 0.031 2152 2463 1781 0 0 0 0 0 0 28.83 26.21 28.83
10993 0.38 293.4 522.9 13.6 830 11002 0.00 2.10 0.00 0.000 4 0.000 0.048 2152 3811 1781 0 0 0 0 0 0 28.83 26.11 28.83
11035 0.38 293.4 516.4 14.8 834 11044 0.00 2.05 0.00 0.000 6 0.000 0.030 2162 2452 1781 0 0 0 0 0 0 28.83 26.23 28.83
11347 0.37 293.4 474.6 13.5 865 11356 0.12 2.12 0.00 0.000 4 0.168 0.047 2124 3815 1780 0 0 0 0 0 0 26.09 26.12 28.83
11370 0.37 293.4 471.6 12.9 867 11373 0.00 2.03 0.00 0.000 6 0.000 0.030 2133 2465 1781 0 0 0 0 0 0 28.83 26.25 28.83
11681 0.42 311.0 438.2 11.2 898 11712 0.00 2.12 22.95 0.797 4 0.000 0.035 2144 1063 1703 0 0 0 0 0 0 28.83 26.03 25.19
11728 0.49 347.4 433.7 10.6 902 11774 0.00 2.25 36.12 0.808 6 0.000 0.041 2144 2528 1550 0 0 0 0 0 0 28.83 26.00 24.80
12076 0.56 381.5 395.9 10.7 937 12115 0.12 2.05 31.08 0.799 4 0.078 0.048 2221 3813 1409 0 0 0 0 0 0 26.10 25.57 24.82
12150 0.53 381.5 381.7 22.0 944 12160 0.15 2.08 0.00 0.000 6 0.141 0.032 2182 2465 1400 0 0 0 0 0 0 25.44 25.68 28.83
12458 0.53 381.5 332.9 14.9 975 12469 0.00 2.15 0.00 0.000 4 0.000 0.047 2182 3818 1398 0 0 0 0 0 0 28.83 25.90 28.83
12481 0.53 381.5 329.2 15.0 977 12490 0.00 2.05 0.00 0.000 6 0.000 0.029 2192 2464 1398 0 0 0 0 0 0 28.83 26.01 28.83
12793 0.52 381.5 280.5 15.7 1008 12802 0.00 2.10 0.00 0.000 4 0.000 0.038 2203 1067 1396 0 0 0 0 0 0 28.83 26.06 28.83
12845 0.54 381.5 273.1 13.4 1013 12854 0.00 2.25 0.00 0.000 6 0.000 0.041 2203 2528 1394 0 0 0 0 0 0 28.83 26.07 28.83
13157 0.53 381.5 226.7 15.3 1044 13166 0.00 2.20 0.00 0.000 4 0.000 0.040 2215 1071 1395 0 0 0 0 0 0 28.83 26.13 28.83
13202 0.54 381.5 220.7 14.0 1048 13209 0.12 2.22 0.00 0.000 6 0.133 0.042 2176 2525 1394 0 0 0 0 0 0 25.97 26.13 28.83
13517 0.62 431.8 183.4 10.2 1092 13569 0.10 2.05 42.05 0.658 4 0.096 0.049 2240 3816 1202 0 0 0 0 0 0 26.44 25.82 25.13
13655 0.62 431.8 156.5 17.8 1116 13662 0.15 2.08 0.00 0.000 6 0.150 0.031 2208 2460 1195 0 0 0 0 0 0 25.65 25.89 28.83
13973 0.66 444.6 114.3 11.4 1177 13994 0.00 2.15 9.60 0.585 4 0.000 0.038 2219 1067 1156 0 0 0 0 0 0 28.83 26.06 25.24
14030 0.91 587.6 109.3 7.1 1186 14180 0.22 2.22 139.85 0.321 6 0.051 0.038 2340 2531 586 0 0 0 0 0 0 26.10 26.02 25.12
14442 end climb: SURFACE_DEPTH_REACHED
state 14442 begin surface coast
14454 end surface coast: CONTROL_FINISHED_OK
state 14455 begin surface