OKMC Nov12 * SG170 * Dive index * Mission links * Dive 190 * 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  -1 ROLL_MAX  3698 ALTIM_PING_DEPTH  0
DIVE  190 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DELTA  0
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2600 ALTIM_FREQUENCY  13
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  2120 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  59 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  20 N_FILEKB  8 R_STBD_OVSHOOT  42 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  0 MOTHERBOARD  4
D_SAFE  0 PROTOCOL  1 ROLL_ADJ_DBAND  0 DEVICE1  -1
D_CALL  0 N_NOCOMM  3 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  380 CALL_TRIES  5 VBD_CNV  -0.24529999 DEVICE6  -1
T_MISSION  400 CALL_WAIT  60 VBD_TIMEOUT  540 LOGGERS  1
T_ABORT  1440 CAPUPLOAD  0 PITCH_VBD_SHIFT  0.00039999999 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  -5 T_GPS_CHARGE  -143331.09 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  175 PITCH_MAX  3933 PHONE_SUPPLY  -2 SEABIRD_T_H  0.00062550703
COURSE_BIAS  0 C_PITCH  3050 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  34 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0015582878
NAV_MODE  2 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  0.0049999999 ALTIM_BOTTOM_TURN_MARGIN  0 SC_XMITPROFILE  3.0
HD_B  0.0089999996 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  121212,185319,1837.452,12031.873,17,1.5,17,-2.4 TGT_NAME  W3A
_CALLS  1 TGT_LATLONG  1900.000,12000.000
_XMS_NAKs  0 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.35 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -73.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  121212,190122,1837.798,12031.960,40,0.9,40,-2.4 MHEAD_RNG_PITCHd_Wd  263.7,69447,-14.9,-8.684,-17.18
SPEED_LIMITS  0.150,0.281 D_GRID  515

Post-dive calculations and measurements:
FINISH  1.5,1.021033 _10V_AH  10.0,19.274
SM_CCo  11605,0.00,0.000,0,0,457,567.13 FG_AHR_24Vo  0.000
SM_GC  2.34,8.48,0.73,0.00,0.054,0.044,0.000,140,2618,457,-9.06,-1.02,567.13,0,0,0,0,0,0,26.04,26.35,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1830.49,12032.08,121212,161647 MEM  338040
TT8_MAMPS  0.025466,0.025466 DATA_FILE_SIZE  26731,677
HUMID  53.62 CAP_FILE_SIZE  167743,0
INTERNAL_PRESSURE  9.54687 CFSIZE  260034560,231452672
TCM_TEMP  24.40 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  1 CURRENT  0.158, 43.1,1
SC_FREEKB  3947136 GPS  121212,221628,1838.274,12031.005,35,0.8,35,-2.4
_24V_AH  24.2,41.816

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22250136.02 nil000.00
Roll_motor12165193.96 nil000.00
VBD_pump_during_apogee602112416396.50 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon11561133716.55
Iridium_during_xfer282130888.93 nil000.00
Transponder_ping04202.54 nil000.00
GUMSTIX_24V000.00
GPS413012.80
TT8208613276.29
LPSleep70902155.29
TT8_Active6941391.99
TT8_Sampling194838754.35
TT8_CF827345124.51
TT8_Kalman000.00
Analog_circuits192215307.05
GPS_charging000.00
Compass15428127.14
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
17 end surface: CONTROL_FINISHED_OK
state 17 begin dive
19 -0.51 -170.3 0.0 0.0 0 82 0.00 0.00 -60.10 0.000 2 0.000 0.000 142 2621 1821 0 0 0 0 0 0 28.83 28.83 28.83
85 -0.51 -170.3 3.1 -2.6 10 152 11.45 1.75 -50.17 0.000 4 0.251 0.066 2878 3694 3465 0 0 0 0 0 0 25.65 26.21 26.62
196 -0.41 -170.3 26.5 -38.8 29 204 0.12 1.62 0.00 0.000 6 0.165 0.023 2913 2558 3466 0 0 0 0 0 0 26.09 26.40 28.83
382 -0.38 -170.3 61.0 -16.2 45 388 0.00 1.92 0.00 0.000 4 0.000 0.025 2913 1203 3466 0 0 0 0 0 0 28.83 26.45 28.83
394 -0.36 -170.3 61.0 -16.2 45 400 0.00 2.12 0.00 0.000 6 0.000 0.039 2914 2592 3466 0 0 0 0 0 0 28.83 26.36 28.83
589 -0.34 -170.3 89.7 -12.1 55 594 0.00 2.00 0.00 0.000 4 0.000 0.025 2913 1215 3466 0 0 0 0 0 0 28.83 26.51 28.83
656 -0.33 -170.3 97.6 -12.9 58 661 0.00 2.12 0.00 0.000 6 0.000 0.040 2913 2606 3466 0 0 0 0 0 0 28.83 26.41 28.83
854 -0.32 -170.3 120.6 -11.3 68 859 0.12 2.03 0.00 0.000 4 0.153 0.025 2959 1221 3466 0 0 0 0 0 0 26.39 26.53 28.83
901 -0.33 -170.3 124.3 -10.0 70 906 0.00 2.10 0.00 0.000 6 0.000 0.040 2958 2600 3466 0 0 0 0 0 0 28.83 26.44 28.83
1101 -0.36 -170.3 136.5 -5.8 80 1102 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2601 3466 0 0 0 0 0 0 28.83 28.83 28.83
1280 -0.40 -170.3 144.3 -4.4 89 1287 0.12 2.00 0.00 0.000 4 0.085 0.026 2879 1221 3466 0 0 0 0 0 0 26.64 26.55 28.83
1366 -0.40 -170.3 151.6 -8.5 93 1373 0.15 2.12 0.00 0.000 6 0.136 0.041 2925 2606 3466 0 0 0 0 0 0 26.31 26.46 28.83
1573 -0.42 -170.3 168.4 -8.9 103 1579 0.00 2.03 0.00 0.000 4 0.000 0.028 2926 1230 3465 0 0 0 0 0 0 28.83 26.54 28.83
1631 -0.45 -170.3 172.5 -8.9 105 1638 0.00 2.10 0.00 0.000 6 0.000 0.042 2925 2601 3465 0 0 0 0 0 0 28.83 26.46 28.83
1818 -0.47 -170.3 185.0 -5.3 115 1819 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2601 3465 0 0 0 0 0 0 28.83 28.83 28.83
1997 -0.50 -170.3 196.3 -6.4 124 1999 0.12 0.00 0.00 0.000 6 0.089 0.000 2858 2602 3465 0 0 0 0 0 0 26.63 28.83 28.83
2177 -0.49 -170.3 210.5 -10.3 133 2184 0.12 2.03 0.00 0.000 4 0.148 0.026 2906 1217 3463 0 0 0 0 0 0 26.44 26.57 28.83
2217 -0.49 -170.3 210.0 -6.2 134 2224 0.00 2.12 0.00 0.000 6 0.000 0.043 2904 2598 3464 0 0 0 0 0 0 28.83 26.46 28.83
2405 -0.50 -170.3 221.3 -8.3 144 2406 0.00 0.00 0.00 0.000 6 0.000 0.000 2902 2598 3462 0 0 0 0 0 0 28.83 28.83 28.83
2583 -0.52 -170.3 233.6 -5.1 153 2588 0.00 2.03 0.00 0.000 4 0.000 0.028 2904 1227 3461 0 0 0 0 0 0 28.83 26.54 28.83
2641 -0.53 -170.3 237.5 -5.5 155 2647 0.00 2.12 0.00 0.000 6 0.000 0.044 2904 2599 3461 0 0 0 0 0 0 28.83 26.44 28.83
2826 -0.55 -170.3 255.5 -9.2 165 2828 0.00 0.00 0.00 0.000 6 0.000 0.000 2904 2599 3460 0 0 0 0 0 0 28.83 28.83 28.83
3127 -0.57 -170.3 281.7 -8.6 180 3133 0.12 2.03 0.00 0.000 4 0.088 0.028 2825 1227 3458 0 0 0 0 0 0 26.64 26.52 28.83
3236 -0.56 -170.3 296.0 -14.2 185 3242 0.15 2.15 0.00 0.000 6 0.148 0.046 2869 2610 3457 0 0 0 0 0 0 26.25 26.43 28.83
3555 -0.57 -170.3 335.0 -11.1 201 3561 0.00 1.70 0.00 0.000 4 0.000 0.055 2869 3701 3455 0 0 0 0 0 0 28.83 26.41 28.83
3599 -0.58 -170.3 339.4 -10.2 203 3604 0.00 1.58 0.00 0.000 6 0.000 0.024 2869 2613 3455 0 0 0 0 0 0 28.83 26.65 28.83
3923 -0.59 -170.3 368.4 -7.8 219 3924 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2610 3453 0 0 0 0 0 0 28.83 28.83 28.83
4224 -0.60 -170.3 389.5 -6.5 234 4229 0.00 2.08 0.00 0.000 4 0.000 0.029 2869 1194 3452 0 0 0 0 0 0 28.83 26.53 28.83
4268 -0.61 -170.3 392.5 -6.5 236 4273 0.00 2.17 0.00 0.000 6 0.000 0.047 2869 2603 3452 0 0 0 0 0 0 28.83 26.42 28.83
4591 -0.62 -170.3 417.0 -7.7 252 4597 0.00 2.10 0.00 0.000 4 0.000 0.031 2869 1199 3449 0 0 0 0 0 0 28.83 26.48 28.83
4630 -0.63 -170.3 418.8 -7.6 253 4638 0.00 2.20 0.00 0.000 6 0.000 0.047 2869 2606 3449 0 0 0 0 0 0 28.83 26.39 28.83
4935 -0.64 -170.3 439.1 -6.4 269 4941 0.00 2.10 0.00 0.000 4 0.000 0.030 2869 1203 3447 0 0 0 0 0 0 28.83 26.50 28.83
4969 -0.65 -170.3 440.7 -6.5 270 4974 0.00 2.20 0.00 0.000 6 0.000 0.048 2869 2602 3447 0 0 0 0 0 0 28.83 26.38 28.83
5282 -0.66 -170.3 464.2 -5.7 286 5288 0.00 1.73 0.00 0.000 4 0.000 0.055 2869 3700 3445 0 0 0 0 0 0 28.83 26.38 28.83
5307 -0.68 -170.3 465.4 -5.6 287 5314 0.08 1.65 0.00 0.000 6 0.065 0.024 2818 2591 3444 0 0 0 0 0 0 26.48 26.65 28.83
5632 -0.67 -170.3 499.2 -11.6 303 5637 0.00 2.03 0.00 0.000 4 0.000 0.028 2818 1202 3442 0 0 0 0 0 0 28.83 26.53 28.83
5666 -0.65 -170.3 502.1 -11.9 304 5671 0.00 2.20 0.00 0.000 6 0.000 0.047 2818 2606 3442 0 0 0 0 0 0 28.83 26.39 28.83
5756 end dive: TARGET_DEPTH_EXCEEDED
state 5756 begin apogee
5763 -0.15 0.0 515.2 -12.7 309 5901 0.52 0.00 132.75 1.125 6 0.118 0.000 2998 2109 2769 0 0 0 0 0 0 26.11 28.83 24.37
5903 end apogee: CONTROL_FINISHED_OK
state 5903 begin climb
5905 0.51 170.3 523.4 0.0 316 6062 0.57 2.22 141.65 1.089 4 0.065 0.038 3215 754 2071 0 0 0 0 0 0 25.34 25.00 24.18
6109 0.51 236.0 517.0 6.4 326 6170 0.00 2.17 53.92 1.064 6 0.000 0.040 3215 2122 1805 0 0 0 0 0 0 28.83 25.53 24.30
6488 0.50 236.0 477.3 13.0 345 6494 0.00 2.25 0.00 0.000 4 0.000 0.053 3215 3532 1797 0 0 0 0 0 0 28.83 26.10 28.83
6532 0.48 236.0 470.3 14.7 347 6538 0.00 2.12 0.00 0.000 6 0.000 0.028 3215 2139 1797 0 0 0 0 0 0 28.83 26.27 28.83
6856 0.47 236.0 421.5 12.5 363 6861 0.00 2.12 0.00 0.000 4 0.000 0.037 3215 719 1795 0 0 0 0 0 0 28.83 26.35 28.83
6980 0.47 236.0 407.0 11.6 369 6985 0.00 2.17 0.00 0.000 6 0.000 0.038 3216 2130 1794 0 0 0 0 0 0 28.83 26.36 28.83
7303 0.46 236.0 372.6 9.3 385 7308 0.00 2.17 0.00 0.000 4 0.000 0.050 3215 3530 1794 0 0 0 0 0 0 28.83 26.35 28.83
7377 0.45 236.0 366.0 10.0 388 7383 0.00 2.12 0.00 0.000 6 0.000 0.027 3216 2106 1793 0 0 0 0 0 0 28.83 26.50 28.83
7691 0.44 236.0 335.7 8.9 404 7696 0.00 2.05 0.00 0.000 4 0.000 0.036 3215 726 1793 0 0 0 0 0 0 28.83 26.44 28.83
7763 0.45 255.6 330.7 8.0 407 7788 0.00 2.15 16.05 0.965 6 0.000 0.038 3215 2130 1725 0 0 0 0 0 0 28.83 26.41 25.22
8095 0.45 255.6 294.9 10.7 424 8101 0.00 2.20 0.00 0.000 4 0.000 0.050 3215 3530 1722 0 0 0 0 0 0 28.83 26.25 28.83
8148 0.45 255.6 289.8 11.0 426 8153 0.00 2.10 0.00 0.000 6 0.000 0.026 3215 2106 1722 0 0 0 0 0 0 28.83 26.44 28.83
8461 0.45 255.6 251.7 11.2 442 8462 0.00 0.00 0.00 0.000 6 0.000 0.000 3215 2105 1720 0 0 0 0 0 0 28.83 28.83 28.83
8762 0.45 255.6 217.9 11.7 457 8767 0.00 2.05 0.00 0.000 4 0.000 0.034 3215 728 1720 0 0 0 0 0 0 28.83 26.44 28.83
8819 0.45 255.6 213.2 11.1 459 8826 0.00 2.12 0.00 0.000 6 0.000 0.037 3216 2123 1719 0 0 0 0 0 0 28.83 26.40 28.83
9005 0.45 255.6 192.5 10.2 469 9006 0.00 0.00 0.00 0.000 6 0.000 0.000 3215 2125 1719 0 0 0 0 0 0 28.83 28.83 28.83
9186 0.46 289.6 177.2 7.5 478 9219 0.00 2.30 28.52 0.884 4 0.000 0.050 3216 3534 1587 0 0 0 0 0 0 28.83 26.03 25.18
9276 0.46 289.6 169.8 9.1 482 9281 0.00 2.12 0.00 0.000 6 0.000 0.026 3216 2117 1585 0 0 0 0 0 0 28.83 26.18 28.83
9472 0.49 315.1 152.9 7.8 492 9500 0.00 2.10 21.65 0.846 4 0.000 0.034 3215 728 1482 0 0 0 0 0 0 28.83 26.01 25.16
9568 0.51 315.1 145.0 9.4 496 9575 0.00 2.15 0.00 0.000 6 0.000 0.037 3216 2121 1480 0 0 0 0 0 0 28.83 26.05 28.83
9753 0.54 321.3 126.6 8.5 506 9768 0.00 2.25 6.10 0.687 4 0.000 0.049 3215 3527 1459 0 0 0 0 0 0 28.83 26.18 25.20
9811 0.57 339.7 123.1 8.1 508 9836 0.00 2.10 16.70 0.805 6 0.000 0.024 3215 2112 1383 0 0 0 0 0 0 28.83 26.30 25.18
10018 0.63 406.4 108.2 6.4 519 10080 0.10 2.15 54.05 0.822 4 0.104 0.034 3281 741 1110 0 0 0 0 0 0 26.34 25.61 24.86
10159 0.64 406.4 95.0 9.1 526 10164 0.00 2.15 0.00 0.000 6 0.000 0.036 3281 2121 1108 0 0 0 0 0 0 28.83 25.91 28.83
10363 0.65 406.4 75.3 10.7 536 10369 0.00 2.22 0.00 0.000 4 0.000 0.048 3281 3535 1107 0 0 0 0 0 0 28.83 26.13 28.83
10391 0.66 406.4 72.6 10.9 537 10397 0.00 2.10 0.00 0.000 6 0.000 0.024 3281 2125 1106 0 0 0 0 0 0 28.83 26.29 28.83
10592 0.69 412.8 54.3 8.5 547 10606 0.00 2.12 5.97 0.627 4 0.000 0.033 3281 720 1085 0 0 0 0 0 0 28.83 26.31 25.30
10706 0.76 485.1 47.2 6.2 554 10771 0.00 2.12 59.50 0.765 6 0.000 0.035 3281 2136 790 0 0 0 0 0 0 28.83 26.31 24.94
10960 0.87 633.6 34.5 3.6 579 11032 0.15 2.17 65.62 0.741 4 0.082 0.032 3367 725 459 0 0 0 0 0 0 26.20 25.56 24.86
11086 0.92 681.4 23.4 7.0 593 11094 0.00 2.15 0.00 0.000 6 0.000 0.031 3366 2129 458 0 0 0 0 0 0 28.83 25.85 28.83
11280 1.02 817.5 10.7 4.0 630 11286 0.00 0.00 0.00 0.000 6 0.000 0.000 3366 2133 458 0 0 0 0 0 0 28.83 28.83 28.83
11473 1.07 860.2 4.6 7.2 667 11479 0.00 0.00 0.00 0.000 6 0.000 0.000 3367 2133 457 0 0 0 0 0 0 28.83 28.83 28.83
11490 end climb: SURFACE_DEPTH_REACHED
state 11490 begin surface coast
11527 end surface coast: CONTROL_FINISHED_OK
state 11527 begin surface