OKMC Nov11 * SG169 * Dive index * Mission links * Dive 236 * 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  236 HEADING  50 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  320 UPLOAD_DIVES_MAX  -1 C_VBD  2979 DEVICE3  35
T_MISSION  360 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  -9 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -11018.745 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  225 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  241211,164806,2321.765,12349.887,37,1.3,37,-3.3 TGT_NAME  HEADING
_CALLS  1 TGT_LATLONG  2328.660,12358.807
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.228,0.143
_SM_DEPTHo  1.12 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -60.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  241211,165507,2321.719,12349.787,11,1.5,16,-3.3 MHEAD_RNG_PITCHd_Wd  53.3,20000,-15.1,-10.312
SPEED_LIMITS  0.179,0.315 D_GRID  3838

Post-dive calculations and measurements:
FINISH  0.7,1.023303 _10V_AH  10.1,32.316
SM_CCo  15919,0.00,0.000,0,0,949,497.96 FG_AHR_24Vo  0.000
SM_GC  1.26,5.45,0.17,0.00,0.034,0.067,0.000,120,2677,949,-5.79,-0.42,497.96,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2312.13,12348.56,241211,121256 MEM  330404
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  93641,1392
HUMID  41.96 CAP_FILE_SIZE  165432,0
INTERNAL_PRESSURE  9.49611 CFSIZE  260165632,201207808
TCM_TEMP  24.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  0 GPS  241211,212214,2321.366,12351.174,39,2.2,58,-3.3
_24V_AH  23.1,50.556

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1623789.70 SBE_CT94524524.13
Roll_motor11284217.76 AA43301811331380.77
VBD_pump_during_apogee676117818413.45 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2210353.96 nil000.00
Iridium_during_connect2316088.67 nil000.00
Iridium_during_xfer2402231238.93 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS17508.64
TT8327219654.36
LPSleep92192203.94
TT8_Active76019152.11
TT8_Sampling2737391100.36
TT8_CF832545150.41
TT8_Kalman000.00
Analog_circuits206112249.89
GPS_charging000.00
Compass230515349.33
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
13 end surface: CONTROL_FINISHED_OK
state 14 begin dive
16 -0.65 -219.0 0.0 0.0 0 113 0.00 0.00 -94.40 0.000 2 0.000 0.000 115 2686 3045 0 0 0 0 0 0 28.83 28.83 28.83
117 -0.65 -219.0 3.3 -5.9 17 146 6.95 0.00 -16.50 0.000 6 0.237 0.000 1789 2686 3872 0 0 0 0 0 0 25.22 28.83 26.48
450 -0.47 -219.0 160.8 -49.9 82 458 0.20 2.22 0.00 0.000 4 0.181 0.026 1858 1181 3872 0 0 0 0 0 0 25.71 26.20 28.83
541 -0.52 -219.0 181.1 -8.7 99 548 0.00 2.22 0.00 0.000 6 0.000 0.039 1848 2656 3872 0 0 0 0 0 0 28.83 26.16 28.83
856 -0.48 -219.0 237.1 -18.8 142 859 0.00 1.77 0.00 0.000 4 0.000 0.047 1839 3814 3872 0 0 0 0 0 0 28.83 26.17 28.83
928 -0.46 -219.0 250.9 -17.0 149 936 0.00 1.80 0.00 0.000 6 0.000 0.024 1838 2559 3872 0 0 0 0 0 0 28.83 26.41 28.83
1239 -0.44 -219.0 301.3 -16.0 180 1245 0.00 0.00 0.00 0.000 6 0.000 0.000 1839 2559 3872 0 0 0 0 0 0 28.83 28.83 28.83
1550 -0.42 -219.0 346.1 -13.9 211 1559 0.12 1.98 0.00 0.000 4 0.138 0.044 1873 3808 3872 0 0 0 0 0 0 26.31 26.22 28.83
1615 -0.49 -219.0 351.9 -7.0 217 1622 0.00 1.77 0.00 0.000 6 0.000 0.025 1873 2556 3871 0 0 0 0 0 0 28.83 26.48 28.83
1922 -0.61 -219.0 377.5 -8.2 248 1927 0.15 2.00 0.00 0.000 4 0.102 0.026 1817 1173 3871 0 0 0 0 0 0 26.41 26.36 28.83
1965 -0.73 -219.0 380.8 -7.4 252 1974 0.12 2.25 0.00 0.000 6 0.079 0.037 1742 2662 3870 0 0 0 0 0 0 26.29 26.30 28.83
2275 -0.63 -219.0 447.4 -26.7 283 2277 0.22 0.00 0.00 0.000 6 0.151 0.000 1806 2663 3869 0 0 0 0 0 0 25.98 28.83 28.83
2576 -0.61 -219.0 489.2 -11.8 313 2580 0.00 1.77 0.00 0.000 4 0.000 0.046 1798 3820 3868 0 0 0 0 0 0 28.83 26.22 28.83
2628 -0.61 -219.0 495.5 -11.7 318 2631 0.00 1.80 0.00 0.000 6 0.000 0.024 1798 2573 3867 0 0 0 0 0 0 28.83 26.46 28.83
2939 -0.60 -219.0 531.4 -11.2 349 2940 0.00 0.00 0.00 0.000 6 0.000 0.000 1798 2563 3866 0 0 0 0 0 0 28.83 28.83 28.83
3241 -0.59 -219.0 566.1 -11.6 379 3250 0.00 1.95 0.00 0.000 4 0.000 0.047 1789 3811 3863 0 0 0 0 0 0 28.83 26.20 28.83
3302 -0.59 -219.0 573.1 -10.9 385 3306 0.10 1.80 0.00 0.000 6 0.132 0.027 1819 2562 3862 0 0 0 0 0 0 26.23 26.44 28.83
3618 -0.60 -219.0 601.6 -8.2 415 3619 0.00 0.00 0.00 0.000 6 0.000 0.000 1819 2561 3860 0 0 0 0 0 0 28.83 28.83 28.83
3919 -0.61 -219.0 623.9 -8.0 430 3925 0.00 1.95 0.00 0.000 4 0.000 0.046 1810 3812 3859 0 0 0 0 0 0 28.83 26.18 28.83
3959 -0.63 -219.0 627.1 -8.0 432 3964 0.00 1.83 0.00 0.000 6 0.000 0.024 1810 2558 3858 0 0 0 0 0 0 28.83 26.45 28.83
4280 -0.63 -219.0 655.2 -9.2 448 4281 0.00 0.00 0.00 0.000 6 0.000 0.000 1810 2557 3855 0 0 0 0 0 0 28.83 28.83 28.83
4578 -0.64 -219.0 684.9 -10.2 463 4583 0.00 1.98 0.00 0.000 4 0.000 0.045 1802 3819 3852 0 0 0 0 0 0 28.83 26.16 28.83
4612 -0.64 -219.0 686.9 -10.2 464 4618 0.00 1.83 0.00 0.000 6 0.000 0.025 1802 2558 3851 0 0 0 0 0 0 28.83 26.43 28.83
4917 -0.64 -219.0 719.4 -9.8 480 4923 0.00 2.03 0.00 0.000 4 0.000 0.029 1801 1168 3849 0 0 0 0 0 0 28.83 26.28 28.83
4940 -0.64 -219.0 721.5 -9.8 481 4944 0.00 2.28 0.00 0.000 6 0.000 0.040 1792 2660 3849 0 0 0 0 0 0 28.83 26.20 28.83
5255 -0.64 -219.0 753.1 -10.2 497 5258 0.00 1.75 0.00 0.000 4 0.000 0.047 1783 3814 3847 0 0 0 0 0 0 28.83 26.13 28.83
5299 -0.64 -219.0 757.9 -10.8 499 5303 0.00 1.83 0.00 0.000 6 0.000 0.025 1783 2571 3846 0 0 0 0 0 0 28.83 26.41 28.83
5619 -0.64 -219.0 795.0 -11.5 515 5625 0.00 1.95 0.00 0.000 4 0.000 0.047 1774 3834 3845 0 0 0 0 0 0 28.83 26.11 28.83
5647 -0.63 -219.0 797.3 -11.4 516 5651 0.12 1.83 0.00 0.000 6 0.125 0.024 1812 2557 3845 0 0 0 0 0 0 26.13 26.40 28.83
5954 -0.64 -219.0 826.0 -9.0 531 5955 0.00 0.00 0.00 0.000 6 0.000 0.000 1812 2557 3843 0 0 0 0 0 0 28.83 28.83 28.83
6254 -0.66 -219.0 851.2 -8.2 546 6255 0.00 0.00 0.00 0.000 6 0.000 0.000 1812 2557 3841 0 0 0 0 0 0 28.83 28.83 28.83
6554 -0.68 -219.0 876.4 -8.3 561 6560 0.00 1.95 0.00 0.000 4 0.000 0.047 1803 3819 3839 0 0 0 0 0 0 28.83 26.07 28.83
6596 -0.70 -219.0 879.8 -8.4 563 6600 0.00 1.83 0.00 0.000 6 0.000 0.026 1803 2562 3838 0 0 0 0 0 0 28.83 26.38 28.83
6909 -0.71 -219.0 908.2 -9.6 579 6915 0.00 1.95 0.00 0.000 4 0.000 0.048 1795 3822 3836 0 0 0 0 0 0 28.83 26.03 28.83
6948 -0.73 -219.0 912.3 -9.9 581 6953 0.00 1.80 0.00 0.000 6 0.000 0.027 1795 2568 3836 0 0 0 0 0 0 28.83 26.36 28.83
7270 -0.74 -219.0 948.7 -11.9 597 7271 0.00 0.00 0.00 0.000 6 0.000 0.000 1795 2567 3835 0 0 0 0 0 0 28.83 28.83 28.83
7568 -0.75 -219.0 982.6 -11.1 612 7569 0.00 0.00 0.00 0.000 6 0.000 0.000 1795 2567 3833 0 0 0 0 0 0 28.83 28.83 28.83
7645 end dive: TARGET_DEPTH_EXCEEDED
state 7645 begin apogee
7652 -0.20 0.0 991.8 -11.6 616 7850 0.43 0.12 190.25 1.167 6 0.093 0.084 1946 2534 2975 0 0 0 0 0 0 25.89 24.64 23.65
7851 end apogee: CONTROL_FINISHED_OK
state 7851 begin climb
7853 0.65 219.0 1006.4 0.0 626 8068 0.75 0.00 210.18 1.179 6 0.046 0.000 2231 2534 2082 0 0 0 0 0 0 24.84 28.83 23.07
8368 0.56 219.0 932.4 19.5 652 8370 0.15 0.00 0.00 0.000 6 0.193 0.000 2195 2534 2051 0 0 0 0 0 0 25.52 28.83 28.83
8668 0.50 219.0 882.6 16.8 667 8673 0.00 2.03 0.00 0.000 4 0.000 0.048 2193 3814 2050 0 0 0 0 0 0 28.83 25.94 28.83
8748 0.44 219.0 867.9 18.5 671 8754 0.15 2.05 0.00 0.000 6 0.159 0.031 2156 2464 2048 0 0 0 0 0 0 25.63 26.06 28.83
9068 0.41 219.0 825.3 13.1 687 9073 0.00 2.10 0.00 0.000 4 0.000 0.037 2166 1054 2046 0 0 0 0 0 0 28.83 26.07 28.83
9111 0.39 219.0 820.1 13.1 689 9115 0.00 2.25 0.00 0.000 6 0.000 0.040 2167 2524 2045 0 0 0 0 0 0 28.83 26.06 28.83
9423 0.36 219.0 776.1 13.8 705 9429 0.12 2.03 0.00 0.000 4 0.163 0.044 2127 3819 2045 0 0 0 0 0 0 26.01 26.06 28.83
9456 0.33 219.0 773.4 13.7 706 9463 0.00 2.05 0.00 0.000 6 0.000 0.029 2138 2458 2044 0 0 0 0 0 0 28.83 26.18 28.83
9764 0.34 237.4 740.4 9.7 722 9786 0.00 2.17 15.30 0.938 4 0.000 0.046 2138 3806 2003 0 0 0 0 0 0 28.83 26.02 24.84
9837 0.34 237.4 733.8 10.6 725 9844 0.00 2.05 0.00 0.000 6 0.000 0.030 2148 2458 1991 0 0 0 0 0 0 28.83 26.04 28.83
10144 0.32 237.4 698.4 11.3 741 10150 0.12 2.08 0.00 0.000 4 0.165 0.035 2120 1055 1988 0 0 0 0 0 0 25.97 26.07 28.83
10176 0.32 237.4 696.4 11.1 742 10183 0.00 2.25 0.00 0.000 6 0.000 0.039 2120 2530 1988 0 0 0 0 0 0 28.83 26.06 28.83
10485 0.42 299.1 669.3 8.4 758 10543 0.00 0.00 50.25 1.107 6 0.000 0.000 2120 2530 1761 0 0 0 0 1 0 28.83 28.83 24.20
10845 0.52 356.0 640.3 8.5 776 10917 0.12 2.30 64.88 0.927 4 0.076 0.038 2211 1068 1518 0 0 0 0 0 0 26.12 25.25 24.28
10945 0.50 356.0 625.5 15.7 780 10951 0.15 2.30 0.00 0.000 6 0.133 0.040 2168 2524 1505 0 0 0 0 0 0 25.28 25.44 28.83
11261 0.50 356.0 581.2 14.0 802 11262 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2524 1500 0 0 0 0 0 0 28.83 28.83 28.83
11561 0.50 356.0 542.9 11.9 832 11570 0.00 2.17 0.00 0.000 4 0.000 0.037 2179 1072 1498 0 0 0 0 0 0 28.83 26.02 28.83
11606 0.52 356.0 538.1 11.2 836 11612 0.00 2.22 0.00 0.000 6 0.000 0.039 2178 2524 1497 0 0 0 0 0 0 28.83 26.02 28.83
11912 0.52 356.0 499.4 12.9 867 11921 0.00 2.20 0.00 0.000 4 0.000 0.037 2190 1059 1497 0 0 0 0 0 0 28.83 26.07 28.83
11936 0.52 356.0 496.6 13.0 869 11943 0.00 2.25 0.00 0.000 6 0.000 0.038 2189 2521 1496 0 0 0 0 0 0 28.83 26.10 28.83
12245 0.52 356.0 455.5 13.5 900 12246 0.00 0.00 0.00 0.000 6 0.000 0.000 2190 2521 1496 0 0 0 0 0 0 28.83 28.83 28.83
12547 0.52 356.0 416.2 13.1 930 12555 0.00 2.17 0.00 0.000 4 0.000 0.037 2201 1058 1496 0 0 0 0 0 0 28.83 26.11 28.83
12591 0.53 356.0 410.5 12.9 934 12598 0.00 2.25 0.00 0.000 6 0.000 0.041 2201 2530 1495 0 0 0 0 0 0 28.83 26.10 28.83
12899 0.52 356.0 370.3 12.2 965 12908 0.00 2.20 0.00 0.000 4 0.000 0.039 2212 1055 1495 0 0 0 0 0 0 28.83 26.11 28.83
12933 0.52 356.0 366.6 11.4 968 12941 0.12 2.22 0.00 0.000 6 0.135 0.039 2176 2524 1495 0 0 0 0 0 0 25.94 26.13 28.83
13241 0.56 385.4 336.5 9.4 999 13270 0.00 0.00 25.27 0.731 6 0.000 0.000 2176 2524 1400 0 0 0 0 0 0 28.83 28.83 24.99
13572 0.63 417.3 303.7 9.3 1032 13611 0.12 2.33 28.45 0.711 4 0.080 0.037 2264 1054 1261 0 0 0 0 0 0 26.31 25.86 24.90
13648 0.61 417.3 291.6 18.9 1039 13655 0.20 2.28 0.00 0.000 6 0.131 0.037 2205 2533 1254 0 0 0 0 0 0 25.60 25.84 28.83
13954 0.61 417.3 248.5 13.8 1070 13955 0.00 0.00 0.00 0.000 6 0.000 0.000 2205 2532 1253 0 0 0 0 0 0 28.83 28.83 28.83
14256 0.67 447.1 214.8 9.4 1100 14287 0.00 2.30 25.35 0.642 4 0.000 0.039 2216 1057 1147 0 0 0 0 0 0 28.83 25.97 25.04
14319 0.72 462.5 208.7 9.8 1106 14337 0.00 2.25 13.15 0.623 6 0.000 0.037 2217 2531 1092 0 0 0 0 0 0 28.83 25.94 24.87
14642 0.75 462.5 175.2 10.7 1161 14649 0.10 0.00 0.00 0.000 6 0.092 0.000 2278 2531 1076 0 0 0 0 0 0 26.29 28.83 28.83
14953 0.73 462.5 112.8 16.7 1222 14961 0.12 2.25 0.00 0.000 4 0.162 0.037 2251 1055 1076 0 0 0 0 0 0 26.05 26.10 28.83
15004 0.83 501.7 106.5 9.1 1231 15058 0.00 2.22 45.12 0.337 6 0.000 0.037 2251 2527 943 0 0 0 0 0 0 28.83 26.13 25.27
15365 0.84 501.7 68.4 11.6 1300 15372 0.00 0.00 2.85 0.161 6 0.000 0.000 2251 2527 933 0 0 0 0 0 0 28.83 28.83 25.33
15676 0.86 501.7 30.2 13.3 1361 15685 0.10 2.30 2.67 0.143 4 0.094 0.038 2323 1054 939 0 0 0 0 0 0 26.45 26.15 25.48
15707 0.85 501.7 25.3 15.8 1366 15716 0.15 2.22 2.45 0.155 6 0.145 0.037 2280 2531 932 0 0 0 0 0 0 25.89 26.16 25.53
15827 end climb: SURFACE_DEPTH_REACHED
state 15827 begin surface coast
15844 end surface coast: CONTROL_FINISHED_OK
state 15844 begin surface