OKMC Nov12 * SG170 * Dive index * Mission links * Dive 21 * 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  270 ROLL_MAX  3698 ALTIM_PING_DEPTH  500
DIVE  21 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  59 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  20 N_FILEKB  8 R_STBD_OVSHOOT  23 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  1 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  -8 T_GPS_CHARGE  -142805.08 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  250 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  081112,044211,2134.763,12030.790,16,1.1,16,-3.0 TGT_NAME  HEADING
_CALLS  1 TGT_LATLONG  2134.623,12019.172
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.89 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -77.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  081112,044617,2134.623,12030.785,20,1.4,20,-3.0 MHEAD_RNG_PITCHd_Wd  273.0,20000,-14.0,-10.000,-16.19
SPEED_LIMITS  0.173,0.345 D_GRID  1586

Post-dive calculations and measurements:
FINISH  1.3,0.998383 _24V_AH  24.1,4.427
SM_CCo  12832,0.00,0.000,0,0,458,566.89 _10V_AH  10.2,1.846
SM_GC  2.05,7.97,0.65,0.00,0.042,0.060,0.000,135,3414,458,-9.24,-0.57,566.89,0,0,0,0,0,0,26.42,26.45,28.83 FG_AHR_24Vo  0.000
IRIDIUM_FIX  2124.90,12030.40,081112,040423 FG_AHR_10Vo  0.000
TT8_MAMPS  0.025466,0.025466 MEM  323616
HUMID  56.61 DATA_FILE_SIZE  23402,604
INTERNAL_PRESSURE  9.52734 CAP_FILE_SIZE  275430,0
TCM_TEMP  24.40 CFSIZE  260034560,248987648
XPDR_PINGS  20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
SC_FREEKB  4012064 GPS  081112,082204,2133.221,12028.631,35,0.9,35,-3.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor31238183.78 nil000.00
Roll_motor91123273.73 nil000.00
VBD_pump_during_apogee679144723699.61 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1273582753.32
Iridium_during_xfer000.00 nil000.00
Transponder_ping742075.92 nil000.00
GUMSTIX_24V000.00
GPS21306.74
TT8203313274.55
LPSleep82542184.38
TT8_Active7121396.17
TT8_Sampling174338688.23
TT8_CF81874586.98
TT8_Kalman000.00
Analog_circuits170115277.24
GPS_charging000.00
Compass16648139.94
RAFOS000.00
Transponder20306.34

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 -0.50 -243.3 0.0 0.0 0 111 0.00 0.00 -89.35 0.000 2 0.000 0.000 133 3392 2656 0 0 0 0 0 0 28.83 28.83 28.83
115 -0.50 -243.3 3.2 -3.9 16 152 10.80 0.52 -21.30 0.000 4 0.239 0.124 2943 3712 3764 0 0 0 0 0 0 26.47 26.65 26.93
159 0.19 -243.3 19.1 -36.7 23 166 0.70 0.43 0.00 0.000 6 0.169 0.040 3161 3397 3764 0 0 0 0 0 0 26.53 26.71 28.83
349 -0.15 -243.3 40.0 -10.1 43 355 0.25 0.47 0.00 0.000 4 0.077 0.059 3051 3700 3764 0 0 0 0 0 0 26.73 26.70 28.83
438 -0.47 -243.3 48.8 -11.6 51 444 0.22 0.00 0.00 0.000 6 0.083 0.000 2951 3699 3764 0 0 0 0 0 0 26.74 28.83 28.83
623 -0.77 -243.3 69.9 -11.3 61 629 0.22 2.47 0.00 0.000 4 0.080 0.024 2848 1951 3764 0 0 0 0 0 0 26.78 26.83 28.83
681 -0.92 -243.3 75.8 -12.8 63 687 0.00 2.78 0.00 0.000 6 0.000 0.060 2847 3704 3763 0 0 0 0 0 0 28.83 26.74 28.83
867 -0.51 -243.3 147.4 -35.4 73 872 0.30 0.00 0.00 0.000 4 0.194 0.000 2937 3704 3763 0 0 0 0 0 0 26.66 28.83 28.83
1099 -0.63 -243.3 175.8 -5.3 84 1103 0.00 0.00 0.00 0.000 6 0.000 0.000 2937 3704 3763 0 0 0 0 0 0 28.83 28.83 28.83
1291 -0.77 -243.3 186.2 -4.9 94 1293 0.20 0.00 0.00 0.000 6 0.070 0.000 2835 3704 3763 0 0 0 0 0 0 26.84 28.83 28.83
1471 -0.45 -243.3 230.8 -29.6 103 1473 0.43 0.00 0.00 0.000 6 0.165 0.000 2964 3704 3763 0 0 0 0 0 0 26.70 28.83 28.83
1651 -0.83 -243.3 249.3 -10.4 112 1656 0.30 0.00 0.00 0.000 4 0.086 0.000 2843 3704 3762 0 0 0 0 0 0 26.79 28.83 28.83
1775 -0.98 -243.3 260.7 -8.5 118 1780 0.10 0.00 0.00 0.000 6 0.100 0.000 2766 3704 3761 0 0 0 0 0 0 26.88 28.83 28.83
2098 -0.55 -243.3 357.8 -33.3 134 2104 0.52 2.50 0.00 0.000 4 0.185 0.024 2927 1966 3759 0 0 0 0 0 0 26.71 26.88 28.83
2162 -0.48 -243.3 365.9 -17.8 137 2167 0.00 2.75 0.00 0.000 6 0.000 0.060 2927 3697 3759 0 0 0 0 0 0 28.83 26.79 28.83
2485 -0.81 -243.3 397.8 -11.6 153 2487 0.22 0.00 0.00 0.000 6 0.092 0.000 2840 3697 3755 0 0 0 0 0 0 26.81 28.83 28.83
2786 -1.13 -243.3 427.4 -9.7 168 2788 0.28 0.00 0.00 0.000 6 0.085 0.000 2733 3697 3752 0 0 0 0 0 0 26.82 28.83 28.83
3085 -0.73 -243.3 514.9 -32.9 183 3091 0.45 2.50 0.00 0.000 4 0.192 0.024 2866 1975 3749 0 0 0 0 0 0 26.70 26.89 28.83
3153 -0.62 -243.3 525.1 -19.9 186 3159 0.15 2.75 0.00 0.000 6 0.138 0.063 2916 3698 3748 0 0 0 0 0 0 26.77 26.80 28.83
3472 -0.96 -243.3 559.0 -12.1 202 3478 0.30 2.53 0.00 0.000 4 0.086 0.027 2794 1948 3745 0 0 0 0 0 0 26.82 26.88 28.83
3516 -1.22 -243.3 563.9 -11.7 204 3522 0.22 2.80 0.00 0.000 6 0.066 0.063 2684 3693 3745 0 0 0 0 0 0 26.86 26.80 28.83
3849 -0.73 -243.3 683.1 -37.1 217 3852 0.68 0.00 0.00 0.000 6 0.203 0.000 2875 3691 3742 0 0 0 0 0 0 26.67 28.83 28.83
4151 -0.84 -243.3 713.8 -7.4 227 4157 0.12 2.50 0.00 0.000 4 0.090 0.028 2796 1953 3739 0 0 0 0 0 0 26.88 26.88 28.83
4215 -0.91 -243.3 720.7 -9.0 229 4220 0.00 2.83 0.00 0.000 6 0.000 0.067 2795 3694 3738 0 0 0 0 0 0 28.83 26.79 28.83
4550 -0.76 -243.3 774.7 -16.1 240 4555 0.20 2.53 0.00 0.000 4 0.161 0.028 2861 1984 3734 0 0 0 0 0 0 26.73 26.87 28.83
4597 -0.67 -243.3 778.6 -14.7 241 4603 0.12 2.72 0.00 0.000 6 0.146 0.067 2902 3672 3734 0 0 0 0 0 0 26.77 26.80 28.83
4918 -1.01 -243.3 806.0 -9.4 252 4924 0.30 2.50 0.00 0.000 4 0.087 0.028 2782 1949 3731 0 0 0 0 0 0 26.81 26.89 28.83
4956 -1.31 -243.3 809.1 -9.1 253 4962 0.25 2.72 0.00 0.000 6 0.063 0.067 2662 3643 3730 0 0 0 0 0 0 26.85 26.80 28.83
5285 -0.82 -243.3 912.6 -33.3 264 5291 0.62 0.08 0.00 0.000 4 0.211 0.091 2839 3702 3727 0 0 0 0 0 0 26.67 26.77 28.83
5503 -0.85 -243.3 936.1 -8.4 271 5507 0.00 0.00 0.00 0.000 6 0.000 0.000 2839 3702 3726 0 0 0 0 0 0 28.83 28.83 28.83
5831 -0.88 -243.3 964.6 -8.8 282 5837 0.00 2.53 0.00 0.000 4 0.000 0.028 2839 1963 3723 0 0 0 0 0 0 28.83 26.90 28.83
5909 -0.95 -243.3 970.2 -8.9 284 5915 0.10 2.70 0.00 0.000 6 0.109 0.067 2790 3633 3722 0 0 0 0 0 0 26.82 26.81 28.83
6046 end dive: TARGET_DEPTH_EXCEEDED
state 6046 begin apogee
6052 -0.12 0.0 990.5 -14.7 289 6252 0.82 0.00 193.77 1.447 4 0.143 0.000 3062 3004 2768 0 0 0 0 0 0 26.72 28.83 24.18
6253 end apogee: CONTROL_FINISHED_OK
state 6253 begin climb
6255 0.50 243.3 1001.4 0.0 295 6473 0.55 2.22 208.85 1.409 4 0.049 0.028 3285 1562 1777 0 0 0 0 0 0 25.20 25.22 24.13
6592 0.27 243.3 954.3 19.8 307 6598 0.30 2.38 0.00 0.000 6 0.168 0.058 3201 2997 1770 0 0 0 0 0 0 25.79 25.89 28.83
6926 0.07 243.3 891.8 18.8 318 6932 0.20 2.10 0.00 0.000 4 0.164 0.028 3146 1570 1767 0 0 0 0 0 0 26.29 26.44 28.83
7058 0.07 243.3 879.0 10.1 322 7064 0.00 2.30 0.00 0.000 6 0.000 0.056 3146 3008 1765 0 0 0 0 0 0 28.83 26.45 28.83
7383 0.00 243.3 837.0 13.0 333 7388 0.12 1.10 0.00 0.000 4 0.158 0.060 3105 3695 1765 0 0 0 0 0 0 26.53 26.58 28.83
7470 -0.04 243.3 830.1 11.8 335 7477 0.00 1.02 0.00 0.000 6 0.000 0.034 3105 3008 1764 0 0 0 0 0 0 28.83 26.67 28.83
7778 0.04 285.1 800.5 8.8 346 7820 0.00 1.20 34.92 1.321 4 0.000 0.068 3105 3701 1605 0 0 0 0 0 0 28.83 25.76 24.98
7858 0.10 317.6 794.8 9.1 348 7892 0.08 1.02 28.65 1.287 6 0.063 0.033 3165 3023 1474 0 0 0 0 0 0 25.98 26.04 24.63
8200 0.04 317.6 741.1 15.7 360 8202 0.15 0.00 0.00 0.000 6 0.150 0.000 3122 3024 1468 0 0 0 0 0 0 26.25 28.83 28.83
8502 0.13 357.7 713.1 8.9 370 8539 0.00 1.20 33.70 1.268 4 0.000 0.068 3122 3703 1309 0 0 0 0 0 0 28.83 25.67 24.92
8582 0.23 394.4 707.7 9.0 372 8623 0.15 1.02 32.10 1.243 6 0.046 0.033 3207 3029 1162 0 0 0 0 0 0 25.94 25.97 24.57
8922 0.05 394.4 631.1 23.2 384 8928 0.25 2.12 0.00 0.000 4 0.147 0.027 3132 1570 1156 0 0 0 0 0 0 26.18 26.31 28.83
8980 -0.05 394.4 626.1 21.4 385 8988 0.12 2.30 0.00 0.000 6 0.102 0.051 3088 3016 1155 0 0 0 0 0 0 26.30 26.32 28.83
9287 0.30 394.4 592.4 11.3 397 9293 0.32 1.10 0.00 0.000 4 0.093 0.061 3210 3700 1154 0 0 0 0 0 0 26.47 26.48 28.83
9405 0.63 405.5 581.8 9.7 402 9421 0.25 1.00 9.93 1.079 6 0.057 0.036 3324 3034 1115 0 0 0 0 0 0 26.55 26.59 25.53
9734 0.21 405.5 461.0 40.9 419 9740 0.45 2.12 0.00 0.000 4 0.178 0.028 3196 1567 1113 0 0 0 0 0 0 26.39 26.55 28.83
9819 0.15 405.5 445.2 18.2 423 9825 0.12 2.30 0.00 0.000 6 0.132 0.056 3158 3006 1112 0 0 0 0 0 0 26.48 26.52 28.83
10143 0.25 446.9 419.3 8.9 439 10183 0.00 1.17 34.45 1.084 4 0.000 0.063 3158 3702 947 0 0 0 0 0 0 28.83 25.86 25.17
10261 0.36 478.8 409.9 9.1 444 10296 0.15 1.08 27.92 1.050 6 0.050 0.035 3241 2998 817 0 0 0 0 0 0 26.12 26.15 24.89
10609 0.15 478.8 319.6 28.7 462 10614 0.25 2.08 0.00 0.000 4 0.150 0.028 3171 1582 812 0 0 0 0 0 0 26.19 26.33 28.83
10677 0.17 478.8 311.1 17.2 465 10682 0.00 2.17 0.00 0.000 6 0.000 0.048 3171 2971 812 0 0 0 0 0 0 28.83 26.34 28.83
10995 0.50 478.8 275.6 12.9 481 11001 0.28 1.15 0.00 0.000 4 0.096 0.060 3277 3691 811 0 0 0 0 0 0 26.47 26.48 28.83
11228 0.78 478.8 249.4 11.3 492 11234 0.20 1.08 0.00 0.000 6 0.079 0.033 3362 2971 811 0 0 0 0 0 0 26.53 26.63 28.83
11423 0.42 478.8 186.7 38.0 502 11425 0.40 0.00 0.00 0.000 6 0.174 0.000 3245 2971 811 0 0 0 0 0 0 26.47 28.83 28.83
11602 0.38 478.8 153.7 15.6 511 11607 0.00 1.17 0.00 0.000 4 0.000 0.061 3245 3696 810 0 0 0 0 0 0 28.83 26.62 28.83
11706 0.34 478.8 137.0 15.7 516 11711 0.00 1.02 0.00 0.000 6 0.000 0.034 3246 3017 810 0 0 0 0 0 0 28.83 26.70 28.83
11911 0.48 499.4 115.2 9.4 526 11930 0.00 0.00 17.05 0.811 6 0.000 0.000 3247 3016 733 0 0 0 0 0 0 28.83 28.83 25.76
12110 0.80 703.4 104.1 4.4 536 12178 0.32 2.22 58.08 0.805 4 0.061 0.029 3393 1582 459 0 0 0 0 0 0 26.51 25.69 25.08
12216 0.63 703.4 82.0 25.5 541 12222 0.28 2.35 0.00 0.000 6 0.134 0.055 3309 3022 459 0 0 0 0 0 0 25.77 25.84 28.83
12416 0.57 703.4 46.8 18.5 551 12417 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 3022 458 0 0 0 0 0 0 28.83 28.83 28.83
12596 0.52 703.4 16.5 18.8 574 12603 0.12 2.15 0.00 0.000 4 0.155 0.029 3268 1586 458 0 0 0 0 0 0 26.30 26.39 28.83
12620 0.56 703.4 12.7 15.2 578 12627 0.00 2.28 0.00 0.000 6 0.000 0.055 3268 3009 458 0 0 0 0 0 0 28.83 26.36 28.83
12733 end climb: SURFACE_DEPTH_REACHED
state 12733 begin surface coast
12755 end surface coast: CONTROL_FINISHED_OK
state 12755 begin surface