OKMC Mar13 * SG169 * Dive index * Mission links * Dive 343 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  169 HEADING  -1 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
MISSION  8 ESCAPE_HEADING  0 C_ROLL_DIVE  2550 ALTIM_TOP_MIN_OBSTACLE  0
DIVE  343 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2700 ALTIM_PING_DEPTH  0
N_DIVES  0 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PING_DELTA  0
D_SURF  3 TGT_DEFAULT_LAT  4736 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13
D_FLARE  3 TGT_DEFAULT_LON  -12218 ROLL_TIMEOUT  15 ALTIM_PULSE  7
D_TGT  990 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  -10 ALTIM_SENSITIVITY  2
D_ABORT  1020 SM_CC  430 R_STBD_OVSHOOT  -10 XPDR_VALID  4
D_NO_BLEED  200 N_FILEKB  4 ROLL_AD_RATE  200 XPDR_INHIBIT  90
D_BOOST  130 FILEMGR  0 ROLL_MAXERRORS  1 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  4 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  -1.1
D_FINISH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_PITCH  0 PROTOCOL  9 VBD_MIN  435 DEEPGLIDERMB  0
D_SAFE  0 N_NOCOMM  1 VBD_MAX  3960 MOTHERBOARD  4
D_CALL  0 NOCOMM_ACTION  163 C_VBD  2852 DEVICE1  -1
SURFACE_URGENCY  0 N_NOSURFACE  0 VBD_DBAND  2 DEVICE2  -1
SURFACE_URGENCY_TRY  0 UPLOAD_DIVES_MAX  -1 VBD_CNV  -0.24529999 DEVICE3  -1
SURFACE_URGENCY_FORCE  0 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE4  -1
T_DIVE  310 CALL_WAIT  60 PITCH_VBD_SHIFT  0.0024999999 DEVICE5  -1
T_MISSION  330 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  3 DEVICE6  -1
T_ABORT  1440 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  2 LOGGERS  1
T_TURN  225 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_TURN_SAMPINT  5 T_GPS  15 UNCOM_BLEED  20 LOGGERDEVICE2  -1
T_NO_W  120 N_GPS  20 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS_ALMANAC  0 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
T_EPIRB  0 T_GPS_CHARGE  -21849.293 DBDW  0 COMPASS_DEVICE  33
USE_BATHY  -6 T_RSLEEP  2 PITCH_W_GAIN  0 COMPASS2_DEVICE  150
USE_ICE  0 STROBE  0 PITCH_W_DBAND  0 PHONE_DEVICE  48
ICE_FREEZE_MARGIN  0.30000001 RAFOS_PEAK_OFFSET  1.5 CF8_MAXERRORS  20 GPS_DEVICE  32
D_OFFGRID  1000 RAFOS_CORR_THRESH  60 AH0_24V  150 RAFOS_DEVICE  -1
T_WATCHDOG  10 RAFOS_HIT_WINDOW  3600 AH0_10V  100 XPDR_DEVICE  24
RELAUNCH  1 PITCH_MIN  146 MINV_24V  22 SIM_W  0
APOGEE_PITCH  -5 PITCH_MAX  3945 MINV_10V  9.5 SIM_PITCH  0
MAX_BUOY  250 C_PITCH  2380 FG_AHR_10V  0 SEABIRD_T_G  0.0042608725
COURSE_BIAS  0 PITCH_DBAND  0.1 FG_AHR_24V  0 SEABIRD_T_H  0.00061783189
GLIDE_SLOPE  30 PITCH_CNV  0.003125763 PHONE_SUPPLY  -2 SEABIRD_T_I  2.1692709e-05
SPEED_FACTOR  1 P_OVSHOOT  0.039999999 PRESSURE_YINT  -154.03682 SEABIRD_T_J  2.1724361e-06
RHO  1.0275 PITCH_GAIN  40 PRESSURE_SLOPE  0.0001078585 SEABIRD_C_G  -10.034778
MASS  52063 PITCH_TIMEOUT  16 AD7714Ch0Gain  1 SEABIRD_C_H  1.1503564
NAV_MODE  2 PITCH_AD_RATE  165 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.0019294197
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.0002327933
KALMAN_USE  2 PITCH_ADJ_GAIN  0 COMPASS_USE  4 SC_RECORDABOVE  2000.0
HD_A  0.00091300003 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_PING_RANGE  0 SC_PROFILE  3.0
HD_B  0.0119 ROLL_MIN  220 ALTIM_TOP_PING_RANGE  0 SC_XMITPROFILE  3.0
HD_C  2.0500001e-07 ROLL_MAX  3795 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  280513,002724,1943.119,12346.421,37,1.3,38,-2.4 TGT_NAME  DOGLEG
_CALLS  1 TGT_LATLONG  1947.000,12423.000
_XMS_NAKs  0 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.21 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  280513,003819,1942.967,12346.249,13,1.1,13,-2.4 MHEAD_RNG_PITCHd_Wd  54.5,64479,-4.8,-10.645,-18.86,3512
SPEED_LIMITS  0.184,0.312 D_GRID  5027

Post-dive calculations and measurements:
FINISH  -0.2,1.021776 _10V_AH  10.2,35.109
SM_CCo  12156,10.07,0.133,0,0,1098,430.01 FG_AHR_24Vo  0.000
SM_GC  1.19,6.60,0.47,10.07,0.022,0.027,0.133,128,2515,1098,-6.96,0.17,430.01,0,0,0,0,0,0,25.98,26.20,25.56 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1936.66,12345.21,270513,202016 MEM  329016
TT8_MAMPS  0.021721,0.021721 DATA_FILE_SIZE  20096,545
HUMID  55.23 CAP_FILE_SIZE  286711,0
INTERNAL_PRESSURE  9.35939 CFSIZE  260034560,199585792
TCM_TEMP  23.30 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.210,250.6,1
SC_FREEKB  3847488 GPS  280513,040235,1943.671,12346.202,25,1.0,26,-2.4
_24V_AH  23.5,45.151

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1722891.51 nil000.00
Roll_motor11092240.91 nil000.00
VBD_pump_during_apogee616100014504.37 nil000.00
VBD_pump_during_surface1013331.52 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1219441302.41
Iridium_during_xfer3991181112.79 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS14324.95
TT8215614312.58
LPSleep76082169.96
TT8_Active69814101.20
TT8_Sampling173440715.44
TT8_CF860347294.95
TT8_Kalman000.00
Analog_circuits189212231.64
GPS_charging000.00
Compass12728106.95
RAFOS000.00
Transponder050.03

Guidance and control:
st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
20 end surface: CONTROL_FINISHED_OK
state 20 begin dive
24 -0.73 -243.3 121 2568 1275 928 0.0 0.0 0 101 0.00 0.00 -74.70 0.000 16386 0.000 0.000 122 2568 3032 2968 3096 0 0 0 0 0 0 28.83 28.83 28.83
107 -0.73 -243.3 121 2572 2968 3096 3.8 -8.9 10 141 8.23 2.22 -13.25 0.000 18692 0.229 0.057 2125 3828 3846 3711 3982 0 0 0 0 0 0 25.39 25.95 26.44
200 -0.73 -243.3 2125 3828 3713 3982 48.5 -37.6 20 206 0.00 2.12 0.00 0.000 1030 0.000 0.027 2125 2529 3847 3713 3982 0 0 0 0 0 0 28.83 26.09 28.83
515 -0.73 -243.3 2125 2528 3714 3981 158.4 -30.2 36 521 0.00 2.50 0.00 0.000 516 0.000 0.028 2125 1077 3847 3714 3981 0 0 0 0 0 0 28.83 26.15 28.83
572 -0.73 -243.3 2125 1077 3714 3981 171.3 -29.5 38 579 0.00 2.65 0.00 0.000 1030 0.000 0.039 2123 2555 3847 3714 3981 0 0 0 0 0 0 28.83 26.10 28.83
889 -0.73 -243.3 2123 2552 3714 3981 266.5 -29.5 54 895 0.00 2.60 0.00 0.000 516 0.000 0.032 2123 1079 3847 3714 3981 0 0 0 0 0 0 28.83 26.20 28.83
939 -0.73 -243.3 2123 1079 3714 3981 279.7 -28.6 56 945 0.12 2.65 0.00 0.000 3078 0.164 0.038 2147 2555 3847 3714 3981 0 0 0 0 0 0 25.91 26.15 28.83
1268 -0.73 -243.3 2147 2551 3714 3981 354.1 -20.8 72 1269 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2552 3847 3714 3981 0 0 0 0 0 0 28.83 28.83 28.83
1565 -0.73 -243.3 2147 2551 3714 3980 409.8 -17.1 87 1566 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2551 3847 3714 3981 0 0 0 0 0 0 28.83 28.83 28.83
1865 -0.73 -243.3 2147 2551 3713 3981 458.9 -16.5 102 1871 0.00 2.15 0.00 0.000 260 0.000 0.048 2138 3826 3847 3713 3981 0 0 0 0 0 0 28.83 26.15 28.83
1900 -0.73 -243.3 2138 3826 3712 3981 463.0 -16.5 103 1906 0.00 2.08 0.00 0.000 1030 0.000 0.025 2138 2517 3846 3712 3980 0 0 0 0 0 0 28.83 26.45 28.83
2216 -0.73 -243.3 2138 2518 3710 3980 522.5 -19.0 119 2222 0.00 2.47 0.00 0.000 516 0.000 0.032 2138 1091 3845 3710 3980 0 0 0 0 0 0 28.83 26.24 28.83
2243 -0.73 -243.3 2137 1090 3710 3980 527.3 -19.0 120 2249 0.00 2.60 0.00 0.000 1030 0.000 0.034 2138 2563 3845 3710 3981 0 0 0 0 0 0 28.83 26.22 28.83
2570 -0.73 -243.3 2138 2560 3703 3980 584.9 -17.4 136 2571 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 2560 3842 3704 3980 0 0 0 0 0 0 28.83 28.83 28.83
2880 -0.73 -243.3 2138 2560 3699 3980 634.3 -15.3 148 2887 0.00 2.15 0.00 0.000 260 0.000 0.049 2129 3836 3839 3699 3980 0 0 0 0 0 0 28.83 26.11 28.83
2906 -0.73 -243.3 2128 3836 3697 3981 634.3 -15.3 148 2912 0.00 2.10 0.00 0.000 1030 0.000 0.026 2129 2522 3838 3697 3980 0 0 0 0 0 0 28.83 26.43 28.83
3226 -0.73 -243.3 2128 2522 3693 3979 688.5 -15.9 159 3227 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2522 3836 3694 3979 0 0 0 0 0 0 28.83 28.83 28.83
3523 -0.73 -243.3 2128 2522 3690 3976 737.5 -16.6 169 3529 0.00 2.47 0.00 0.000 516 0.000 0.033 2125 1091 3833 3690 3976 0 0 0 0 0 0 28.83 26.16 28.83
3546 -0.73 -243.3 1312 1091 3686 3974 737.5 -16.6 169 3552 0.00 2.58 0.00 0.000 1030 0.000 0.034 2125 2559 3832 3690 3975 0 0 0 0 0 0 28.83 26.17 28.83
3865 -0.73 -243.3 2126 2556 3685 3974 797.2 -18.1 180 3871 0.00 2.17 0.00 0.000 260 0.000 0.048 2115 3844 3829 3685 3974 0 0 0 0 0 0 28.83 26.06 28.83
3890 -0.73 -243.3 2115 3844 3684 3974 797.2 -18.1 180 3896 0.10 2.15 0.00 0.000 3078 0.148 0.026 2141 2525 3831 3684 3979 0 0 0 0 0 0 26.13 26.39 28.83
4206 -0.73 -243.3 2141 2523 3681 3971 850.6 -14.2 191 4207 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2524 3826 3681 3971 0 0 0 0 0 0 28.83 28.83 28.83
4507 -0.73 -243.3 2141 2524 3678 3969 890.5 -12.8 201 4514 0.00 2.33 0.00 0.000 260 0.000 0.051 2138 3825 3823 3678 3969 0 0 0 0 0 0 28.83 25.98 28.83
4554 -0.73 -243.3 2138 3825 3676 3969 895.3 -12.8 202 4561 0.00 2.12 0.00 0.000 1030 0.000 0.028 2138 2524 3822 3676 3969 0 0 0 0 0 0 28.83 26.37 28.83
4880 -0.73 -243.3 2138 2524 3674 3967 935.3 -11.8 213 4886 0.00 2.30 0.00 0.000 260 0.000 0.047 2128 3838 3820 3674 3967 0 0 0 0 0 0 28.83 26.01 28.83
4928 -0.73 -243.3 2127 3838 3673 3967 939.7 -11.9 214 4933 0.00 2.15 0.00 0.000 1030 0.000 0.027 2128 2522 3820 3673 3967 0 0 0 0 0 0 28.83 26.36 28.83
5253 -0.73 -243.3 2127 2521 3669 3965 979.6 -11.4 225 5254 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2521 3816 3669 3964 0 0 0 0 0 0 28.83 28.83 28.83
5370 end dive: TARGET_DEPTH_EXCEEDED
state 5370 begin apogee
5378 -0.12 0.0 2125 2719 3668 3964 993.4 -11.5 229 5591 0.62 0.08 205.50 0.956 10246 0.104 0.093 2338 2662 2848 2891 2806 0 0 0 0 0 0 25.60 24.74 23.96
5594 end apogee: CONTROL_FINISHED_OK
state 5596 begin climb
5599 0.73 243.3 2338 2662 2885 2794 1001.8 0.0 235 5834 0.73 2.95 223.30 1.001 10756 0.033 0.023 2647 1234 1848 1983 1713 0 0 0 0 0 0 25.00 24.34 23.50
5868 0.73 243.3 1664 1233 1934 1696 970.4 18.7 245 5874 0.00 2.97 0.00 0.000 1030 0.000 0.028 2634 2717 1838 1974 1702 0 0 0 0 0 0 28.83 24.82 28.83
6203 0.73 243.3 2634 2714 1979 1694 904.5 19.0 256 6209 0.00 1.77 0.00 0.000 260 0.000 0.041 2625 3846 1833 1973 1693 0 0 0 0 0 0 28.83 25.84 28.83
6253 0.73 243.3 2624 3846 1972 1694 896.9 19.6 257 6259 0.00 1.77 0.00 0.000 1030 0.000 0.016 2634 2618 1833 1972 1694 0 0 0 0 0 0 28.83 26.10 28.83
6576 0.73 243.3 2635 2612 1973 1691 835.6 18.4 268 6582 0.00 2.03 0.00 0.000 260 0.000 0.041 2626 3838 1832 1973 1691 0 0 0 0 0 0 28.83 26.03 28.83
6664 0.73 243.3 2625 3838 1972 1692 821.4 19.2 270 6669 0.00 1.75 0.00 0.000 1030 0.000 0.017 2635 2622 1832 1973 1691 0 0 0 0 0 0 28.83 26.32 28.83
6981 0.73 243.3 2635 2620 1972 1688 758.6 19.1 281 6987 0.00 2.00 0.00 0.000 260 0.000 0.040 2625 3846 1831 1973 1689 0 0 0 0 0 0 28.83 26.10 28.83
7032 0.73 243.3 2625 3845 1972 1689 750.8 19.5 282 7037 0.00 1.75 0.00 0.000 1030 0.000 0.016 2635 2617 1830 1972 1689 0 0 0 0 0 0 28.83 26.40 28.83
7352 0.73 243.3 2635 2614 1972 1686 682.7 20.3 293 7353 0.00 0.00 0.00 0.000 6 0.000 0.000 2635 2615 1829 1972 1687 0 0 0 0 0 0 28.83 28.83 28.83
7653 0.73 243.3 2636 2615 1965 1688 621.2 20.5 303 7658 0.00 2.00 0.00 0.000 260 0.000 0.041 2625 3830 1828 1967 1689 0 0 0 0 0 0 28.83 26.12 28.83
7740 0.73 243.3 2625 3830 1965 1690 607.0 20.8 305 7746 0.00 1.75 0.00 0.000 1030 0.000 0.018 2635 2618 1827 1965 1689 0 0 0 0 0 0 28.83 26.45 28.83
8056 0.73 243.3 2635 2616 1966 1688 546.7 16.5 321 8057 0.00 0.00 0.00 0.000 6 0.000 0.000 2635 2616 1826 1965 1688 0 0 0 0 0 0 28.83 28.83 28.83
8356 0.73 243.3 2635 2616 1965 1688 502.8 13.6 336 8361 0.00 2.00 0.00 0.000 260 0.000 0.041 2626 3845 1826 1965 1688 0 0 0 0 0 0 28.83 26.12 28.83
8427 0.73 243.3 2625 3843 1965 1688 492.4 14.6 339 8433 0.00 1.77 0.00 0.000 1030 0.000 0.017 2635 2612 1826 1965 1688 0 0 0 0 0 0 28.83 26.49 28.83
8754 0.73 243.3 2635 2611 1965 1686 443.1 15.7 355 8761 0.00 2.00 0.00 0.000 260 0.000 0.041 2626 3830 1826 1965 1687 0 0 0 0 0 0 28.83 26.08 28.83
8790 0.73 243.3 2625 3830 1965 1687 438.6 15.7 356 8796 0.00 1.75 0.00 0.000 1030 0.000 0.017 2636 2614 1826 1965 1687 0 0 0 0 0 0 28.83 26.48 28.83
9105 0.73 243.3 2636 2613 1964 1686 388.8 15.1 372 9111 0.00 2.03 0.00 0.000 260 0.000 0.040 2626 3853 1825 1965 1685 0 0 0 0 0 0 28.83 26.10 28.83
9229 0.73 243.3 1664 3852 1929 1680 371.3 16.1 377 9237 0.00 1.75 0.00 0.000 1030 0.000 0.017 2636 2620 1825 1965 1686 0 0 0 0 0 0 28.83 26.50 28.83
9535 0.73 243.3 2636 2620 1965 1685 323.6 14.4 393 9541 0.00 2.55 0.00 0.000 516 0.000 0.023 2648 1223 1825 1965 1685 0 0 0 0 0 0 28.83 26.21 28.83
9560 0.73 243.3 2647 1223 1961 1687 320.1 14.0 394 9566 0.00 2.80 0.00 0.000 1030 0.000 0.026 2636 2723 1824 1961 1687 0 0 0 0 0 0 28.83 26.17 28.83
9889 0.73 243.3 2635 2720 1961 1687 280.0 11.5 410 9890 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2720 1824 1961 1687 0 0 0 0 0 0 28.83 28.83 28.83
10186 0.73 243.3 2635 2720 1960 1687 243.8 12.2 425 10192 0.00 2.75 0.00 0.000 516 0.000 0.021 2648 1224 1824 1961 1688 0 0 0 0 0 0 28.83 26.22 28.83
10249 0.73 243.3 2648 1224 1960 1688 238.1 12.2 427 10257 0.00 2.80 0.00 0.000 1030 0.000 0.025 2636 2720 1824 1961 1688 0 0 0 0 0 0 28.83 26.20 28.83
10556 0.73 243.3 2636 2717 1961 1689 195.8 13.1 443 10562 0.00 2.75 0.00 0.000 516 0.000 0.021 2649 1221 1824 1960 1689 0 0 0 0 0 0 28.83 26.23 28.83
10597 0.73 243.3 2648 1221 1961 1689 192.6 12.5 444 10606 0.00 2.80 0.00 0.000 1030 0.000 0.025 2644 2721 1825 1961 1689 0 0 0 0 0 0 28.83 26.20 28.83
10903 0.73 243.3 2644 2718 1961 1691 156.3 11.2 460 10909 0.00 1.70 0.00 0.000 260 0.000 0.039 2649 3845 1826 1961 1691 0 0 0 0 0 0 28.83 26.13 28.83
10954 0.73 243.3 2644 3845 1961 1692 150.2 12.4 462 10961 0.15 1.73 0.00 0.000 5126 0.162 0.015 2613 2604 1826 1961 1692 0 0 0 0 0 0 25.95 26.55 28.83
11279 0.77 260.7 2613 2602 1961 1692 115.9 10.1 478 11302 0.00 2.47 14.25 0.220 8708 0.000 0.020 2625 1222 1802 1926 1678 0 0 0 0 0 0 28.83 26.36 25.35
11323 0.83 283.2 2625 1219 1929 1686 113.4 10.0 479 11371 0.00 2.80 38.05 0.348 9222 0.000 0.024 2616 2723 1701 1848 1555 0 0 0 0 0 0 28.83 26.23 25.49
11681 1.15 413.5 2615 2722 1848 1582 82.0 6.8 497 11823 0.32 2.90 134.02 0.270 10756 0.041 0.021 2802 1236 1165 1356 975 0 0 0 0 0 0 26.34 25.76 25.30
11956 1.15 413.5 2802 1236 1357 996 27.3 19.5 514 11965 0.15 2.85 1.70 0.179 13318 0.150 0.024 2753 2725 1164 1351 978 0 0 0 0 0 0 25.55 25.87 25.43
12113 end climb: SURFACE_DEPTH_REACHED
state 12113 begin surface coast
12138 end surface coast: CONTROL_FINISHED_OK
state 12138 begin surface