OKMC Nov11 * SG169 * Dive index * Mission links * Dive 286 * 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  286 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  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  -11081.758 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  030112,083206,2130.058,12352.331,36,0.9,42,-2.8 TGT_NAME  N1
_CALLS  1 TGT_LATLONG  2303.600,12125.840
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.228,0.143
_SM_DEPTHo  0.97 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -63.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  030112,083920,2130.035,12352.351,14,1.2,14,-2.8 MHEAD_RNG_PITCHd_Wd  307.6,303900,-14.3,-10.312
SPEED_LIMITS  0.179,0.329 D_GRID  5144

Post-dive calculations and measurements:
FINISH  0.2,1.023483 _10V_AH  10.1,37.713
SM_CCo  15301,0.00,0.000,0,0,437,623.31 FG_AHR_24Vo  0.000
SM_GC  1.04,5.38,0.20,0.00,0.028,0.061,0.000,122,2681,437,-5.78,-0.11,623.31,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2122.58,12355.54,030112,040401 MEM  330408
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  90512,1352
HUMID  43.18 CAP_FILE_SIZE  167812,0
INTERNAL_PRESSURE  9.44728 CFSIZE  260165632,196685824
TCM_TEMP  24.00 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  0 GPS  030112,125554,2130.441,12350.129,43,1.4,43,-2.8
_24V_AH  23.0,61.057

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1623189.43 SBE_CT91524505.50
Roll_motor13474229.72 AA43301723331308.46
VBD_pump_during_apogee769119821202.38 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2810368.07 nil000.00
Iridium_during_connect2216082.86 nil000.00
Iridium_during_xfer2492231280.27 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS15507.84
TT8317119634.17
LPSleep85892189.99
TT8_Active84719169.43
TT8_Sampling2758391108.77
TT8_CF834645160.07
TT8_Kalman000.00
Analog_circuits219912266.64
GPS_charging000.00
Compass233115353.16
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
17 -0.66 -243.3 0.0 0.0 0 124 0.00 0.00 -104.95 0.000 2 0.000 0.000 135 2554 3101 0 0 0 0 0 0 28.83 28.83 28.83
127 -0.66 -243.3 3.1 -5.7 19 158 6.80 2.03 -16.80 0.000 4 0.232 0.057 1780 3815 3961 0 0 0 0 0 0 25.10 26.00 26.53
282 -0.59 -243.3 58.2 -25.4 48 290 0.12 1.83 0.00 0.000 6 0.157 0.024 1816 2576 3962 0 0 0 0 0 0 25.89 26.22 28.83
593 -0.49 -243.3 159.0 -31.8 109 601 0.12 2.03 0.00 0.000 4 0.177 0.023 1864 1171 3961 0 0 0 0 0 0 26.07 26.29 28.83
654 -0.50 -243.3 171.2 -12.7 120 660 0.00 2.25 0.00 0.000 6 0.000 0.037 1853 2660 3961 0 0 0 0 0 0 28.83 26.20 28.83
970 -0.45 -243.3 225.6 -19.2 169 971 0.00 0.00 0.00 0.000 6 0.000 0.000 1853 2660 3961 0 0 0 0 0 0 28.83 28.83 28.83
1271 -0.42 -243.3 276.6 -15.4 199 1279 0.00 2.17 0.00 0.000 4 0.000 0.027 1853 1162 3962 0 0 0 0 0 0 28.83 26.34 28.83
1315 -0.42 -243.3 282.3 -13.1 203 1322 0.00 2.25 0.00 0.000 6 0.000 0.038 1851 2655 3962 0 0 0 0 0 0 28.83 26.27 28.83
1623 -0.40 -243.3 320.8 -13.3 234 1626 0.00 1.75 0.00 0.000 4 0.000 0.045 1843 3816 3962 0 0 0 0 0 0 28.83 26.25 28.83
1657 -0.39 -243.3 325.2 -14.2 237 1664 0.15 1.77 0.00 0.000 6 0.118 0.022 1891 2556 3962 0 0 0 0 0 0 26.18 26.48 28.83
1964 -0.50 -243.3 353.4 -12.7 268 1968 0.12 1.98 0.00 0.000 4 0.099 0.042 1827 3822 3961 0 0 0 0 0 0 26.49 26.25 28.83
2081 -0.61 -243.3 366.6 -11.1 279 2087 0.00 1.80 0.00 0.000 6 0.000 0.024 1833 2557 3961 0 0 0 0 0 0 28.83 26.48 28.83
2387 -0.72 -243.3 398.0 -9.0 310 2388 0.17 0.00 0.00 0.000 6 0.074 0.000 1762 2557 3959 0 0 0 0 0 0 26.48 28.83 28.83
2687 -0.64 -243.3 454.2 -23.7 340 2696 0.12 1.98 0.00 0.000 4 0.160 0.041 1791 3821 3958 0 0 0 0 0 0 26.26 26.26 28.83
2788 -0.64 -243.3 470.8 -12.4 350 2792 0.00 1.80 0.00 0.000 6 0.000 0.024 1792 2572 3958 0 0 0 0 0 0 28.83 26.47 28.83
3100 -0.60 -243.3 517.1 -15.0 381 3108 0.00 2.03 0.00 0.000 4 0.000 0.028 1792 1170 3956 0 0 0 0 0 0 28.83 26.35 28.83
3151 -0.60 -243.3 523.2 -11.5 386 3160 0.12 2.25 0.00 0.000 6 0.119 0.039 1825 2659 3956 0 0 0 0 0 0 26.16 26.27 28.83
3462 -0.61 -243.3 552.3 -10.2 417 3465 0.00 1.75 0.00 0.000 4 0.000 0.045 1817 3815 3954 0 0 0 0 0 0 28.83 26.22 28.83
3525 -0.65 -243.3 558.0 -8.8 423 3529 0.00 1.80 0.00 0.000 6 0.000 0.024 1817 2564 3953 0 0 0 0 0 0 28.83 26.47 28.83
3836 -0.65 -243.3 591.4 -10.7 454 3837 0.00 0.00 0.00 0.000 6 0.000 0.000 1817 2559 3951 0 0 0 0 0 0 28.83 28.83 28.83
4137 -0.66 -243.3 622.1 -9.7 473 4142 0.00 1.98 0.00 0.000 4 0.000 0.045 1809 3821 3948 0 0 0 0 0 0 28.83 26.20 28.83
4198 -0.69 -243.3 627.2 -8.8 476 4201 0.00 1.83 0.00 0.000 6 0.000 0.024 1809 2563 3948 0 0 0 0 0 0 28.83 26.45 28.83
4520 -0.69 -243.3 657.2 -10.4 492 4521 0.00 0.00 0.00 0.000 6 0.000 0.000 1809 2559 3946 0 0 0 0 0 0 28.83 28.83 28.83
4820 -0.69 -243.3 688.2 -9.6 507 4826 0.00 1.95 0.00 0.000 4 0.000 0.046 1801 3807 3944 0 0 0 0 0 0 28.83 26.17 28.83
4883 -0.71 -243.3 693.5 -8.9 510 4886 0.00 1.80 0.00 0.000 6 0.000 0.026 1801 2563 3944 0 0 0 0 0 0 28.83 26.44 28.83
5200 -0.71 -243.3 725.9 -10.6 526 5203 0.00 1.98 0.00 0.000 4 0.000 0.046 1793 3814 3941 0 0 0 0 0 0 28.83 26.15 28.83
5269 -0.72 -243.3 732.5 -10.5 529 5273 0.00 1.80 0.00 0.000 6 0.000 0.024 1793 2569 3940 0 0 0 0 0 0 28.83 26.44 28.83
5581 -0.72 -243.3 766.2 -10.6 545 5586 0.00 1.98 0.00 0.000 4 0.000 0.045 1783 3816 3937 0 0 0 0 0 0 28.83 26.13 28.83
5622 -0.72 -243.3 770.4 -10.6 547 5625 0.00 1.83 0.00 0.000 6 0.000 0.024 1783 2565 3937 0 0 0 0 0 0 28.83 26.42 28.83
5943 -0.71 -243.3 806.9 -11.3 563 5949 0.00 1.98 0.00 0.000 4 0.000 0.046 1774 3823 3935 0 0 0 0 0 0 28.83 26.13 28.83
5971 -0.69 -243.3 809.2 -11.3 564 5975 0.00 1.83 0.00 0.000 6 0.000 0.024 1774 2563 3934 0 0 0 0 0 0 28.83 26.41 28.83
6279 -0.68 -243.3 846.6 -12.3 579 6284 0.00 1.95 0.00 0.000 4 0.000 0.047 1764 3814 3933 0 0 0 0 0 0 28.83 26.10 28.83
6331 -0.66 -243.3 851.9 -13.0 581 6338 0.12 1.80 0.00 0.000 6 0.125 0.024 1802 2562 3932 0 0 0 0 0 0 26.13 26.40 28.83
6639 -0.67 -243.3 884.9 -10.1 597 6645 0.00 1.98 0.00 0.000 4 0.000 0.047 1794 3817 3930 0 0 0 0 0 0 28.83 26.08 28.83
6666 -0.69 -243.3 886.9 -9.9 598 6670 0.00 1.83 0.00 0.000 6 0.000 0.025 1794 2560 3930 0 0 0 0 0 0 28.83 26.39 28.83
6973 -0.69 -243.3 917.8 -9.4 613 6979 0.00 2.00 0.00 0.000 4 0.000 0.047 1784 3821 3928 0 0 0 0 0 0 28.83 26.07 28.83
7018 -0.70 -243.3 921.8 -9.6 615 7023 0.00 1.83 0.00 0.000 6 0.000 0.025 1785 2563 3928 0 0 0 0 0 0 28.83 26.39 28.83
7333 -0.70 -243.3 957.7 -11.7 631 7338 0.00 1.95 0.00 0.000 4 0.000 0.047 1775 3814 3925 0 0 0 0 0 0 28.83 26.05 28.83
7385 -0.70 -243.3 962.5 -11.8 633 7392 0.00 1.83 0.00 0.000 6 0.000 0.025 1775 2560 3926 0 0 0 0 0 0 28.83 26.38 28.83
7612 end dive: TARGET_DEPTH_EXCEEDED
state 7612 begin apogee
7619 -0.20 0.0 990.8 -11.5 645 7834 0.47 0.15 207.65 1.176 6 0.099 0.074 1941 2546 2974 0 0 0 0 0 0 25.81 24.66 23.50
7835 end apogee: CONTROL_FINISHED_OK
state 7835 begin climb
7838 0.66 243.3 1002.6 0.0 656 8074 0.77 2.22 228.65 1.173 4 0.047 0.044 2234 3814 1978 0 0 0 0 0 0 24.85 24.19 23.04
8086 0.54 243.3 977.1 20.5 668 8091 0.22 2.20 0.00 0.000 6 0.187 0.030 2192 2468 1965 0 0 0 0 0 0 24.25 24.53 28.83
8394 0.48 243.3 916.4 17.7 683 8400 0.00 2.10 0.00 0.000 4 0.000 0.045 2191 3814 1954 0 0 0 0 0 0 28.83 25.89 28.83
8426 0.42 243.3 912.6 18.1 684 8434 0.20 2.05 0.00 0.000 6 0.162 0.030 2147 2466 1954 0 0 0 0 0 0 25.61 25.98 28.83
8737 0.40 243.3 866.9 13.6 700 8742 0.00 2.10 0.00 0.000 4 0.000 0.036 2157 1057 1952 0 0 0 0 0 0 28.83 26.08 28.83
8765 0.38 243.3 863.9 13.7 701 8774 0.00 2.25 0.00 0.000 6 0.000 0.040 2157 2530 1951 0 0 0 0 0 0 28.83 26.06 28.83
9075 0.35 243.3 821.9 12.6 717 9082 0.12 2.00 0.00 0.000 4 0.158 0.044 2119 3822 1950 0 0 0 0 0 0 26.03 26.08 28.83
9119 0.33 243.3 817.1 12.5 719 9123 0.00 2.05 0.00 0.000 6 0.000 0.028 2129 2458 1949 0 0 0 0 0 0 28.83 26.19 28.83
9430 0.33 243.3 784.9 10.4 735 9436 0.00 2.08 0.00 0.000 4 0.000 0.039 2139 1060 1948 0 0 0 0 0 0 28.83 26.13 28.83
9474 0.33 243.3 780.8 10.3 737 9478 0.00 2.22 0.00 0.000 6 0.000 0.039 2140 2525 1947 0 0 0 0 0 0 28.83 26.13 28.83
9786 0.32 243.3 745.5 10.8 753 9787 0.00 0.00 0.00 0.000 6 0.000 0.000 2140 2525 1947 0 0 0 0 0 0 28.83 28.83 28.83
10086 0.31 243.3 714.0 10.6 768 10092 0.00 2.20 0.00 0.000 4 0.000 0.036 2150 1060 1947 0 0 0 0 0 0 28.83 26.15 28.83
10114 0.31 243.3 712.0 10.6 769 10119 0.15 2.22 0.00 0.000 6 0.128 0.040 2106 2524 1947 0 0 0 0 0 0 25.93 26.13 28.83
10423 0.47 356.3 689.0 7.1 784 10525 0.12 2.10 90.78 1.199 4 0.077 0.045 2191 3810 1528 0 0 0 0 1 0 26.47 25.04 23.73
10548 0.43 356.3 672.0 15.9 790 10560 0.20 2.12 1.85 0.188 6 0.142 0.030 2147 2461 1524 0 0 0 0 0 0 25.13 25.37 25.01
10862 0.49 399.3 639.9 9.1 806 10919 0.00 0.00 52.62 0.903 6 0.000 0.000 2147 2459 1341 0 0 0 0 0 0 28.83 28.83 24.28
11223 0.61 467.6 610.3 8.4 824 11293 0.15 2.17 64.15 0.903 4 0.067 0.038 2249 1060 1063 0 0 0 0 0 0 26.16 25.29 24.25
11327 0.58 467.6 590.4 20.9 829 11337 0.17 2.30 0.00 0.000 6 0.131 0.039 2199 2528 1049 0 0 0 0 0 0 25.34 25.51 28.83
11637 0.56 467.6 536.9 17.8 860 11646 0.00 2.03 0.00 0.000 4 0.000 0.046 2199 3815 1046 0 0 0 0 0 0 28.83 25.92 28.83
11658 0.55 467.6 532.9 17.9 862 11667 0.00 2.05 0.00 0.000 6 0.000 0.028 2209 2459 1045 0 0 0 0 0 0 28.83 26.03 28.83
11968 0.53 467.6 475.9 16.6 893 11977 0.00 2.12 0.00 0.000 4 0.000 0.040 2220 1059 1044 0 0 0 0 0 0 28.83 26.05 28.83
12004 0.53 467.6 470.9 16.2 896 12011 0.12 2.22 0.00 0.000 6 0.125 0.038 2181 2525 1043 0 0 0 0 0 0 25.93 26.08 28.83
12310 0.56 467.6 438.4 12.5 927 12311 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 2526 1043 0 0 0 0 0 0 28.83 28.83 28.83
12613 0.59 468.8 404.5 10.3 957 12616 0.00 2.22 0.00 0.000 4 0.000 0.036 2192 1056 1043 0 0 0 0 0 0 28.83 26.15 28.83
12654 0.69 507.8 400.4 9.2 961 12697 0.12 2.25 35.70 0.776 6 0.080 0.035 2274 2534 902 0 0 0 0 0 0 26.17 26.17 24.69
13006 0.63 507.8 306.5 26.1 996 13015 0.20 2.03 0.00 0.000 4 0.167 0.045 2213 3817 882 0 0 0 0 0 0 25.67 25.96 28.83
13061 0.62 507.8 296.5 17.2 1001 13068 0.00 2.05 0.00 0.000 6 0.000 0.030 2224 2467 881 0 0 0 0 0 0 28.83 26.09 28.83
13368 0.62 507.8 264.4 11.9 1032 13376 0.00 2.10 0.00 0.000 4 0.000 0.037 2235 1058 880 0 0 0 0 0 0 28.83 26.11 28.83
13412 0.64 507.8 259.8 11.3 1036 13420 0.00 2.20 0.00 0.000 6 0.000 0.034 2234 2528 879 0 0 0 0 0 0 28.83 26.15 28.83
13719 0.64 507.8 208.2 16.0 1067 13728 0.00 2.20 0.00 0.000 4 0.000 0.037 2245 1058 880 0 0 0 0 0 0 28.83 26.15 28.83
13761 0.65 507.8 202.6 13.5 1071 13770 0.00 2.22 0.00 0.000 6 0.000 0.035 2245 2534 879 0 0 0 0 0 0 28.83 26.18 28.83
14072 0.65 507.8 155.6 17.3 1130 14079 0.00 2.00 0.00 0.000 4 0.000 0.045 2244 3820 879 0 0 0 0 0 0 28.83 26.14 28.83
14116 0.65 507.8 147.6 17.9 1138 14123 0.12 2.05 0.00 0.000 6 0.138 0.028 2219 2452 879 0 0 0 0 0 0 26.04 26.28 28.83
14431 0.84 616.3 119.4 7.2 1199 14524 0.15 2.20 87.60 0.568 4 0.067 0.035 2339 1056 457 0 0 0 0 0 0 26.53 25.66 24.75
14583 0.84 616.3 88.6 16.2 1226 14590 0.20 2.25 0.00 0.000 6 0.116 0.036 2276 2527 439 0 0 0 0 0 0 25.59 25.79 28.83
14897 0.85 616.3 47.4 13.4 1287 14902 0.00 0.00 0.00 0.000 6 0.000 0.000 2276 2528 437 0 0 0 0 0 0 28.83 28.83 28.83
15204 end climb: SURFACE_DEPTH_REACHED
state 15204 begin surface coast
15227 end surface coast: CONTROL_FINISHED_OK
state 15227 begin surface