OKMC Nov11 * SG169 * Dive index * Mission links * Dive 172 * 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  172 HEADING  260 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  1 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  -10935.932 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  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  121211,103925,2313.817,12144.338,38,1.1,38,-3.1 TGT_NAME  HEADING
_CALLS  3 TGT_LATLONG  2312.116,12132.739
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.228,0.143
_SM_DEPTHo  0.85 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -59.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  121211,105046,2313.991,12144.311,14,2.7,33,-3.1 MHEAD_RNG_PITCHd_Wd  263.1,20000,-16.1,-11.786
SPEED_LIMITS  0.204,0.345 D_GRID  1999

Post-dive calculations and measurements:
FINISH  1.9,1.022820 _10V_AH  10.3,25.368
SM_CCo  14097,0.00,0.000,0,0,598,584.06 FG_AHR_24Vo  0.000
SM_GC  0.80,5.68,2.47,0.00,0.050,0.039,0.000,129,2656,598,-5.79,-0.34,584.06,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2305.10,12143.67,121211,101016 MEM  324536
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  80431,1218
HUMID  44.32 CAP_FILE_SIZE  156745,0
INTERNAL_PRESSURE  9.42775 CFSIZE  260165632,207093760
TCM_TEMP  23.20 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  0 GPS  121211,144736,2313.756,12142.430,64,1.1,64,-3.1
_24V_AH  23.2,37.666

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1522784.36 SBE_CT82624460.44
Roll_motor13186262.97 AA43301609331232.14
VBD_pump_during_apogee733117119941.67 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init84103202.15 nil000.00
Iridium_during_connect96160357.25 nil000.00
Iridium_during_xfer2282231184.72 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS345017.98
TT8285019581.26
LPSleep81212183.19
TT8_Active78319159.85
TT8_Sampling2704391108.50
TT8_CF829845140.88
TT8_Kalman000.00
Analog_circuits205712254.32
GPS_charging000.00
Compass214215331.07
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
16 end surface: CONTROL_FINISHED_OK
state 16 begin dive
19 -0.70 -243.3 0.0 0.0 0 127 0.00 0.00 -106.00 0.000 2 0.000 0.000 117 2682 3216 0 0 0 0 0 0 28.83 28.83 28.83
130 -0.70 -243.3 4.3 -11.0 19 156 6.62 1.83 -12.93 0.000 4 0.228 0.052 1768 3827 3964 0 0 0 0 0 0 25.38 26.03 26.40
245 -0.67 -243.3 57.8 -23.6 40 252 0.00 1.85 0.00 0.000 6 0.000 0.025 1776 2593 3965 0 0 0 0 0 0 28.83 26.13 28.83
556 -0.56 -243.3 177.4 -30.0 101 564 0.15 2.05 0.00 0.000 4 0.182 0.026 1830 1172 3965 0 0 0 0 0 0 25.89 26.22 28.83
591 -0.51 -243.3 186.1 -21.0 107 598 0.00 2.28 0.00 0.000 6 0.000 0.042 1819 2656 3965 0 0 0 0 0 0 28.83 26.16 28.83
909 -0.47 -243.3 246.1 -18.2 145 918 0.12 1.77 0.00 0.000 4 0.159 0.044 1850 3823 3965 0 0 0 0 0 0 26.15 26.20 28.83
931 -0.44 -243.3 250.3 -17.1 147 935 0.00 1.83 0.00 0.000 6 0.000 0.025 1857 2566 3965 0 0 0 0 0 0 28.83 26.38 28.83
1243 -0.46 -243.3 282.9 -10.8 178 1252 0.00 2.03 0.00 0.000 4 0.000 0.031 1857 1179 3965 0 0 0 0 0 0 28.83 26.32 28.83
1289 -0.50 -243.3 286.9 -9.7 182 1295 0.00 2.22 0.00 0.000 6 0.000 0.041 1850 2655 3965 0 0 0 0 0 0 28.83 26.27 28.83
1595 -0.52 -243.3 314.1 -8.4 213 1596 0.00 0.00 0.00 0.000 6 0.000 0.000 1850 2656 3962 0 0 0 0 0 0 28.83 28.83 28.83
1897 -0.55 -243.3 337.4 -7.6 243 1906 0.00 2.15 0.00 0.000 4 0.000 0.030 1850 1186 3960 0 0 0 0 0 0 28.83 26.35 28.83
1932 -0.59 -243.3 340.1 -7.9 246 1939 0.00 2.22 0.00 0.000 6 0.000 0.041 1842 2658 3960 0 0 0 0 0 0 28.83 26.29 28.83
2241 -0.61 -243.3 370.2 -10.7 277 2246 0.00 0.00 0.00 0.000 6 0.000 0.000 1842 2658 3958 0 0 0 0 0 0 28.83 28.83 28.83
2551 -0.64 -243.3 402.5 -9.9 308 2560 0.12 2.12 0.00 0.000 4 0.076 0.028 1754 1188 3955 0 0 0 0 0 0 26.57 26.36 28.83
2615 -0.62 -243.3 411.9 -16.0 314 2623 0.22 2.22 0.00 0.000 6 0.124 0.042 1814 2655 3955 0 0 0 0 0 0 26.05 26.29 28.83
2923 -0.62 -243.3 454.0 -13.0 345 2924 0.00 0.00 0.00 0.000 6 0.000 0.000 1813 2655 3952 0 0 0 0 0 0 28.83 28.83 28.83
3226 -0.62 -243.3 490.7 -12.4 375 3234 0.00 2.15 0.00 0.000 4 0.000 0.031 1814 1188 3950 0 0 0 0 0 0 28.83 26.36 28.83
3268 -0.64 -243.3 495.7 -11.6 379 3277 0.00 2.22 0.00 0.000 6 0.000 0.043 1812 2653 3949 0 0 0 0 0 0 28.83 26.28 28.83
3578 -0.64 -243.3 533.0 -12.4 410 3582 0.00 1.80 0.00 0.000 4 0.000 0.052 1804 3820 3947 0 0 0 0 0 0 28.83 26.23 28.83
3599 -0.64 -243.3 535.9 -12.4 412 3602 0.00 1.80 0.00 0.000 6 0.000 0.026 1804 2574 3947 0 0 0 0 0 0 28.83 26.46 28.83
3910 -0.64 -243.3 575.1 -12.8 443 3911 0.00 0.00 0.00 0.000 6 0.000 0.000 1804 2567 3945 0 0 0 0 0 0 28.83 28.83 28.83
4220 -0.64 -243.3 613.1 -12.1 469 4225 0.00 2.05 0.00 0.000 4 0.000 0.031 1804 1173 3943 0 0 0 0 0 0 28.83 26.34 28.83
4261 -0.65 -243.3 617.6 -11.7 471 4267 0.00 2.25 0.00 0.000 6 0.000 0.044 1799 2649 3943 0 0 0 0 0 0 28.83 26.25 28.83
4580 -0.65 -243.3 656.2 -12.3 487 4581 0.00 0.00 0.00 0.000 6 0.000 0.000 1799 2649 3941 0 0 0 0 0 0 28.83 28.83 28.83
4881 -0.65 -243.3 692.3 -11.8 502 4884 0.00 2.17 0.00 0.000 4 0.000 0.032 1799 1186 3939 0 0 0 0 0 0 28.83 26.30 28.83
4915 -0.65 -243.3 694.9 -11.9 503 4922 0.00 2.25 0.00 0.000 6 0.000 0.045 1799 2650 3938 0 0 0 0 0 0 28.83 26.22 28.83
5223 -0.65 -243.3 732.2 -11.5 519 5228 0.00 2.20 0.00 0.000 4 0.000 0.033 1799 1177 3936 0 0 0 0 0 0 28.83 26.30 28.83
5272 -0.67 -243.3 736.5 -11.2 521 5276 0.00 2.28 0.00 0.000 6 0.000 0.044 1799 2657 3936 0 0 0 0 0 0 28.83 26.23 28.83
5579 -0.67 -243.3 769.5 -10.6 536 5585 0.00 2.17 0.00 0.000 4 0.000 0.031 1799 1187 3934 0 0 0 0 0 0 28.83 26.29 28.83
5611 -0.67 -243.3 771.5 -10.4 537 5618 0.00 2.25 0.00 0.000 6 0.000 0.045 1799 2654 3934 0 0 0 0 0 0 28.83 26.20 28.83
5918 -0.67 -243.3 802.4 -9.9 553 5923 0.00 2.20 0.00 0.000 4 0.000 0.031 1799 1175 3931 0 0 0 0 0 0 28.83 26.28 28.83
5951 -0.68 -243.3 804.3 -9.8 554 5958 0.00 2.28 0.00 0.000 6 0.000 0.045 1799 2656 3931 0 0 0 0 0 0 28.83 26.20 28.83
6261 -0.69 -243.3 834.6 -9.3 570 6266 0.00 2.17 0.00 0.000 4 0.000 0.032 1799 1188 3930 0 0 0 0 0 0 28.83 26.27 28.83
6307 -0.71 -243.3 838.2 -9.0 572 6311 0.00 2.25 0.00 0.000 6 0.000 0.044 1799 2654 3930 0 0 0 0 0 0 28.83 26.19 28.83
6614 -0.72 -243.3 866.2 -9.1 587 6618 0.00 1.80 0.00 0.000 4 0.000 0.050 1791 3817 3927 0 0 0 0 0 0 28.83 26.14 28.83
6645 -0.73 -243.3 868.1 -9.1 588 6648 0.00 1.83 0.00 0.000 6 0.000 0.027 1791 2560 3927 0 0 0 0 0 0 28.83 26.42 28.83
6952 -0.73 -243.3 899.1 -9.8 603 6953 0.00 0.00 0.00 0.000 6 0.000 0.000 1791 2558 3926 0 0 0 0 0 0 28.83 28.83 28.83
7251 -0.73 -243.3 928.6 -10.0 618 7257 0.00 1.95 0.00 0.000 4 0.000 0.052 1781 3819 3924 0 0 0 0 0 0 28.83 26.10 28.83
7293 -0.74 -243.3 932.6 -10.0 620 7297 0.00 1.83 0.00 0.000 6 0.000 0.028 1781 2568 3924 0 0 0 0 0 0 28.83 26.39 28.83
7605 -0.74 -243.3 966.2 -10.8 636 7611 0.00 2.05 0.00 0.000 4 0.000 0.033 1781 1185 3922 0 0 0 0 0 0 28.83 26.22 28.83
7654 -0.74 -243.3 970.3 -10.7 638 7658 0.00 2.25 0.00 0.000 6 0.000 0.045 1771 2651 3922 0 0 0 0 0 0 28.83 26.13 28.83
7838 end dive: TARGET_DEPTH_EXCEEDED
state 7838 begin apogee
7844 -0.20 0.0 992.0 -11.6 647 8061 0.50 0.12 208.90 1.169 6 0.107 0.086 1942 2533 2970 0 0 0 0 0 0 25.80 24.56 23.72
8062 end apogee: CONTROL_FINISHED_OK
state 8062 begin climb
8064 0.70 243.3 1001.0 0.0 658 8301 0.80 2.20 226.23 1.171 4 0.044 0.047 2248 3811 1974 0 0 0 0 0 0 24.75 24.01 23.18
8452 0.59 243.3 924.4 30.4 677 8457 0.22 2.12 0.00 0.000 6 0.195 0.034 2204 2466 1955 0 0 0 0 0 0 24.92 25.29 28.83
8760 0.53 243.3 856.9 19.7 692 8764 0.00 2.12 0.00 0.000 4 0.000 0.050 2204 3810 1952 0 0 0 0 0 0 28.83 25.78 28.83
8870 0.45 243.3 834.5 22.0 697 8874 0.20 2.08 0.00 0.000 6 0.177 0.034 2161 2463 1951 0 0 0 0 0 0 25.54 25.93 28.83
9177 0.42 243.3 783.9 15.7 712 9183 0.00 2.12 0.00 0.000 4 0.000 0.050 2161 3816 1949 0 0 0 0 0 0 28.83 25.96 28.83
9205 0.39 243.3 780.5 16.0 713 9209 0.12 2.05 0.00 0.000 6 0.169 0.031 2140 2465 1949 0 0 0 0 0 0 25.78 26.07 28.83
9512 0.38 243.3 739.0 12.8 728 9517 0.00 2.12 0.00 0.000 4 0.000 0.050 2140 3810 1948 0 0 0 0 0 0 28.83 26.01 28.83
9552 0.36 243.3 733.3 13.5 730 9558 0.00 2.03 0.00 0.000 6 0.000 0.031 2150 2476 1948 0 0 0 0 0 0 28.83 26.13 28.83
9872 0.35 243.3 690.1 13.3 746 9877 0.00 2.15 0.00 0.000 4 0.000 0.041 2160 1059 1947 0 0 0 0 0 0 28.83 26.09 28.83
9900 0.33 243.3 687.4 13.4 747 9905 0.15 2.25 0.00 0.000 6 0.145 0.044 2119 2522 1947 0 0 0 0 0 0 25.84 26.08 28.83
10208 0.41 293.9 655.1 10.1 762 10255 0.00 2.05 36.92 0.995 4 0.000 0.047 2119 3817 1786 0 0 0 0 1 0 28.83 25.63 24.60
10306 0.48 334.2 645.1 10.5 767 10364 0.08 2.08 51.78 0.919 6 0.047 0.030 2191 2462 1612 0 0 0 0 0 0 25.70 25.75 24.39
10664 0.45 334.2 578.7 19.5 790 10673 0.12 2.17 0.00 0.000 4 0.174 0.046 2154 3817 1589 0 0 0 0 0 0 25.68 25.81 28.83
10707 0.44 334.2 571.2 17.9 794 10715 0.00 2.05 0.00 0.000 6 0.000 0.029 2164 2463 1588 0 0 0 0 0 0 28.83 25.92 28.83
11017 0.44 334.2 525.2 15.5 825 11026 0.00 2.08 0.00 0.000 4 0.000 0.038 2174 1069 1587 0 0 0 0 0 0 28.83 26.03 28.83
11051 0.44 334.2 520.4 15.1 828 11058 0.00 2.25 0.00 0.000 6 0.000 0.041 2175 2526 1586 0 0 0 0 0 0 28.83 26.01 28.83
11358 0.42 334.2 469.1 16.8 859 11367 0.00 2.03 0.00 0.000 4 0.000 0.054 2174 3808 1586 0 0 0 0 0 0 28.83 26.03 28.83
11411 0.41 334.2 459.9 18.0 864 11420 0.12 2.03 0.00 0.000 6 0.131 0.033 2143 2464 1585 0 0 0 0 0 0 25.83 26.14 28.83
11720 0.49 377.8 422.8 10.4 895 11763 0.00 0.00 40.35 0.806 6 0.000 0.000 2143 2463 1437 0 0 0 0 0 0 28.83 28.83 24.94
12061 0.63 465.5 390.3 8.9 929 12143 0.20 0.00 79.25 0.789 6 0.054 0.000 2257 2463 1080 0 0 0 0 0 0 26.13 28.83 24.51
12441 0.57 465.5 292.9 28.2 967 12451 0.20 2.15 0.00 0.000 4 0.169 0.039 2209 1070 1053 0 0 0 0 0 0 25.51 25.83 28.83
12535 0.63 474.9 277.5 11.5 976 12544 0.00 2.22 0.00 0.000 6 0.000 0.040 2209 2523 1050 0 0 0 0 0 0 28.83 25.91 28.83
12843 0.63 474.9 228.5 17.2 1007 12852 0.00 2.03 0.00 0.000 4 0.000 0.047 2210 3815 1050 0 0 0 0 0 0 28.83 26.00 28.83
12864 0.63 474.9 224.9 17.2 1009 12873 0.00 2.05 0.00 0.000 6 0.000 0.030 2220 2460 1050 0 0 0 0 0 0 28.83 26.10 28.83
13176 0.64 474.9 173.2 13.7 1057 13183 0.00 2.10 0.00 0.000 4 0.000 0.038 2231 1052 1049 0 0 0 0 0 0 28.83 26.12 28.83
13241 0.82 575.9 166.1 8.5 1069 13338 0.12 2.25 90.47 0.635 6 0.075 0.039 2322 2534 627 0 0 0 0 0 0 26.17 26.13 24.76
13643 0.79 575.9 54.9 23.0 1146 13651 0.17 2.25 0.00 0.000 4 0.165 0.037 2280 1068 600 0 0 0 0 0 0 25.65 25.90 28.83
13666 0.77 575.9 50.1 22.9 1149 13673 0.00 2.22 0.00 0.000 6 0.000 0.037 2280 2523 599 0 0 0 0 0 0 28.83 25.93 28.83
13977 0.78 575.9 7.2 11.8 1210 13984 0.00 2.22 0.00 0.000 4 0.000 0.041 2291 1063 599 0 0 0 0 0 0 28.83 26.06 28.83
14004 end climb: SURFACE_DEPTH_REACHED
state 14004 begin surface coast
14019 end surface coast: CONTROL_FINISHED_OK
state 14020 begin surface