OKMC Nov11 * SG169 * Dive index * Mission links * Dive 346 * 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  346 HEADING  260 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  -8 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -11158.015 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  140112,172736,2240.565,12215.156,26,2.0,26,-3.0 TGT_NAME  HEADING
_CALLS  1 TGT_LATLONG  2238.849,12203.715
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.228,0.143
_SM_DEPTHo  0.93 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -62.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  140112,173428,2240.724,12215.238,13,3.0,32,-3.0 MHEAD_RNG_PITCHd_Wd  263.0,20000,-15.1,-10.312
SPEED_LIMITS  0.179,0.315 D_GRID  4894

Post-dive calculations and measurements:
FINISH  1.0,1.023332 _10V_AH  10.0,44.111
SM_CCo  15211,0.00,0.000,0,0,695,560.27 FG_AHR_24Vo  0.000
SM_GC  0.92,5.53,2.45,0.00,0.037,0.034,0.000,117,2651,695,-5.80,-0.51,560.27,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2232.34,12219.14,140112,131357 MEM  324608
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  86780,1313
HUMID  45.47 CAP_FILE_SIZE  163213,0
INTERNAL_PRESSURE  9.43751 CFSIZE  260165632,191262720
TCM_TEMP  23.20 ERRORS  0,2,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS  0 GPS  140112,214930,2240.637,12213.745,41,0.9,41,-3.0
_24V_AH  23.0,73.893

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1521880.26 SBE_CT89124491.97
Roll_motor13184254.51 AA43301727331311.29
VBD_pump_during_apogee708118019233.77 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2710364.45 nil000.00
Iridium_during_connect1716065.09 nil000.00
Iridium_during_xfer2142231100.57 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS345017.05
TT8306219606.30
LPSleep88002192.74
TT8_Active76819152.26
TT8_Sampling2645391053.00
TT8_CF832345147.98
TT8_Kalman000.00
Analog_circuits208512250.23
GPS_charging000.00
Compass222615334.04
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
16 -0.65 -219.0 0.0 0.0 0 126 0.00 0.00 -106.40 0.000 2 0.000 0.000 117 2694 3129 0 0 0 0 0 0 28.83 28.83 28.83
130 -0.65 -219.0 3.3 -7.3 19 160 6.68 2.30 -14.30 0.000 4 0.219 0.036 1799 1163 3874 0 0 0 0 0 0 24.89 26.12 26.54
234 -0.60 -219.0 41.4 -22.6 38 241 0.00 2.30 0.00 0.000 6 0.000 0.041 1789 2656 3874 0 0 0 0 0 0 28.83 26.02 28.83
546 -0.47 -219.0 159.1 -35.5 99 554 0.20 2.17 0.00 0.000 4 0.174 0.025 1858 1172 3874 0 0 0 0 0 0 25.79 26.22 28.83
638 -0.53 -219.0 175.7 -7.2 116 644 0.00 2.25 0.00 0.000 6 0.000 0.039 1850 2651 3874 0 0 0 0 0 0 28.83 26.15 28.83
953 -0.50 -219.0 231.6 -15.9 161 957 0.00 1.80 0.00 0.000 4 0.000 0.046 1842 3814 3874 0 0 0 0 0 0 28.83 26.15 28.83
977 -0.47 -219.0 235.2 -15.9 163 984 0.00 1.83 0.00 0.000 6 0.000 0.022 1841 2566 3874 0 0 0 0 0 0 28.83 26.41 28.83
1284 -0.44 -219.0 289.0 -17.1 194 1286 0.00 0.00 0.00 0.000 6 0.000 0.000 1841 2564 3874 0 0 0 0 0 0 28.83 28.83 28.83
1587 -0.43 -219.0 330.2 -14.3 224 1591 0.10 2.03 0.00 0.000 4 0.148 0.027 1872 1175 3874 0 0 0 0 0 0 26.41 26.30 28.83
1629 -0.47 -219.0 334.9 -10.5 228 1638 0.00 2.25 0.00 0.000 6 0.000 0.038 1870 2656 3874 0 0 0 0 0 0 28.83 26.22 28.83
1939 -0.58 -219.0 366.6 -9.3 259 1949 0.12 2.17 0.00 0.000 4 0.086 0.026 1770 1174 3874 0 0 0 0 0 0 26.54 26.31 28.83
1974 -0.66 -219.0 369.3 -8.7 262 1983 0.08 2.20 0.00 0.000 6 0.103 0.037 1794 2644 3874 0 0 0 0 0 0 26.07 26.25 28.83
2282 -0.62 -219.0 417.7 -16.8 293 2285 0.00 1.80 0.00 0.000 4 0.000 0.045 1785 3819 3874 0 0 0 0 0 0 28.83 26.17 28.83
2305 -0.58 -219.0 421.1 -16.2 295 2313 0.08 1.83 0.00 0.000 6 0.109 0.023 1826 2563 3873 0 0 0 0 0 0 26.11 26.43 28.83
2613 -0.59 -219.0 453.2 -10.6 326 2617 0.00 2.00 0.00 0.000 4 0.000 0.028 1826 1175 3872 0 0 0 0 0 0 28.83 26.30 28.83
2635 -0.60 -219.0 455.4 -10.6 328 2644 0.00 2.25 0.00 0.000 6 0.000 0.039 1819 2651 3872 0 0 0 0 0 0 28.83 26.21 28.83
2945 -0.60 -219.0 488.7 -11.1 359 2946 0.00 0.00 0.00 0.000 6 0.000 0.000 1819 2650 3869 0 0 0 0 0 0 28.83 28.83 28.83
3246 -0.61 -219.0 518.0 -9.5 389 3255 0.00 2.17 0.00 0.000 4 0.000 0.029 1819 1176 3867 0 0 0 0 0 0 28.83 26.27 28.83
3271 -0.62 -219.0 520.2 -9.7 391 3278 0.00 2.25 0.00 0.000 6 0.000 0.041 1811 2650 3867 0 0 0 0 0 0 28.83 26.17 28.83
3578 -0.62 -219.0 551.3 -10.3 422 3579 0.00 0.00 0.00 0.000 6 0.000 0.000 1811 2650 3865 0 0 0 0 0 0 28.83 28.83 28.83
3881 -0.63 -219.0 581.7 -10.1 452 3887 0.00 0.00 0.00 0.000 6 0.000 0.000 1811 2650 3863 0 0 0 0 0 0 28.83 28.83 28.83
4198 -0.64 -219.0 615.6 -11.0 477 4203 0.00 2.20 0.00 0.000 4 0.000 0.030 1812 1178 3860 0 0 0 0 0 0 28.83 26.24 28.83
4242 -0.66 -219.0 619.6 -10.6 479 4246 0.00 2.28 0.00 0.000 6 0.000 0.042 1809 2652 3860 0 0 0 0 0 0 28.83 26.14 28.83
4555 -0.66 -219.0 653.2 -10.7 495 4556 0.00 0.00 0.00 0.000 6 0.000 0.000 1809 2651 3858 0 0 0 0 0 0 28.83 28.83 28.83
4855 -0.67 -219.0 686.4 -11.2 510 4856 0.00 0.00 0.00 0.000 6 0.000 0.000 1809 2651 3856 0 0 0 0 0 0 28.83 28.83 28.83
5154 -0.68 -219.0 718.3 -10.0 525 5157 0.00 1.83 0.00 0.000 4 0.000 0.049 1801 3818 3853 0 0 0 0 0 0 28.83 26.06 28.83
5195 -0.70 -219.0 722.2 -9.6 527 5199 0.00 1.83 0.00 0.000 6 0.000 0.026 1800 2574 3853 0 0 0 0 0 0 28.83 26.37 28.83
5518 -0.70 -219.0 751.7 -8.8 543 5519 0.00 0.00 0.00 0.000 6 0.000 0.000 1800 2565 3851 0 0 0 0 0 0 28.83 28.83 28.83
5817 -0.70 -219.0 778.2 -9.2 558 5823 0.00 2.00 0.00 0.000 4 0.000 0.050 1792 3817 3849 0 0 0 0 0 0 28.83 26.03 28.83
5850 -0.71 -219.0 780.2 -9.4 559 5857 0.00 1.83 0.00 0.000 6 0.000 0.027 1791 2567 3849 0 0 0 0 0 0 28.83 26.34 28.83
6159 -0.71 -219.0 813.4 -10.9 575 6160 0.00 0.00 0.00 0.000 6 0.000 0.000 1792 2566 3847 0 0 0 0 0 0 28.83 28.83 28.83
6457 -0.71 -219.0 845.5 -10.2 590 6462 0.00 2.03 0.00 0.000 4 0.000 0.050 1782 3819 3845 0 0 0 0 0 0 28.83 25.99 28.83
6497 -0.71 -219.0 849.7 -10.5 592 6501 0.00 1.83 0.00 0.000 6 0.000 0.026 1782 2577 3845 0 0 0 0 0 0 28.83 26.34 28.83
6818 -0.70 -219.0 885.1 -11.2 608 6824 0.00 2.05 0.00 0.000 4 0.000 0.031 1782 1179 3843 0 0 0 0 0 0 28.83 26.15 28.83
6840 -0.70 -219.0 887.4 -11.3 609 6844 0.00 2.28 0.00 0.000 6 0.000 0.041 1772 2648 3843 0 0 0 0 0 0 28.83 26.06 28.83
7159 -0.69 -219.0 925.3 -12.0 625 7161 0.00 0.00 0.00 0.000 6 0.000 0.000 1771 2648 3841 0 0 0 0 0 0 28.83 28.83 28.83
7460 -0.67 -219.0 960.7 -11.7 640 7461 0.00 0.00 0.00 0.000 6 0.000 0.000 1772 2648 3840 0 0 0 0 0 0 28.83 28.83 28.83
7716 end dive: TARGET_DEPTH_EXCEEDED
state 7716 begin apogee
7723 -0.20 0.0 990.9 -11.6 653 7923 0.50 0.12 192.85 1.180 6 0.102 0.084 1944 2535 2978 0 0 0 0 0 0 25.72 24.65 23.30
7924 end apogee: CONTROL_FINISHED_OK
state 7924 begin climb
7926 0.65 219.0 1001.0 0.0 663 8148 0.75 2.25 209.85 1.180 4 0.047 0.047 2228 3812 2072 0 0 0 0 0 0 24.89 24.32 22.96
8161 0.55 219.0 977.3 19.8 675 8167 0.20 2.20 0.00 0.000 6 0.181 0.030 2190 2464 2062 0 0 0 0 0 0 24.43 24.75 28.83
8483 0.49 219.0 919.1 17.7 691 8489 0.00 2.12 0.00 0.000 4 0.000 0.046 2190 3813 2051 0 0 0 0 0 0 28.83 25.90 28.83
8556 0.43 219.0 907.7 18.8 694 8563 0.17 2.05 0.00 0.000 6 0.161 0.030 2153 2465 2050 0 0 0 0 0 0 25.65 26.03 28.83
8863 0.40 219.0 863.7 13.1 710 8864 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2463 2049 0 0 0 0 0 0 28.83 28.83 28.83
9163 0.38 219.0 824.2 13.2 725 9168 0.00 2.15 0.00 0.000 4 0.000 0.045 2152 3818 2048 0 0 0 0 0 0 28.83 26.05 28.83
9184 0.35 219.0 821.6 13.1 726 9189 0.15 2.03 0.00 0.000 6 0.154 0.029 2122 2464 2047 0 0 0 0 0 0 25.82 26.16 28.83
9503 0.37 231.6 788.3 9.9 742 9516 0.00 2.10 8.32 0.939 4 0.000 0.035 2132 1064 2030 0 0 0 0 0 0 28.83 26.06 24.07
9552 0.39 239.9 784.6 10.0 743 9562 0.00 2.22 3.70 0.714 6 0.000 0.039 2132 2524 1999 0 0 0 0 0 0 28.83 26.05 23.91
9880 0.39 239.9 747.8 10.9 760 9886 0.00 2.00 0.00 0.000 4 0.000 0.046 2133 3806 2009 0 0 0 0 0 0 28.83 26.02 28.83
9912 0.39 239.9 745.6 10.9 761 9919 0.00 2.05 0.00 0.000 6 0.000 0.028 2143 2453 2009 0 0 0 0 0 0 28.83 26.15 28.83
10221 0.38 239.9 709.6 11.3 777 10227 0.00 2.05 0.00 0.000 4 0.000 0.037 2154 1064 2009 0 0 0 0 0 0 28.83 26.09 28.83
10240 0.38 239.9 707.2 11.3 778 10246 0.00 2.22 0.00 0.000 6 0.000 0.039 2153 2525 2009 0 0 0 0 0 0 28.83 26.08 28.83
10560 0.36 239.9 668.4 12.0 794 10565 0.00 2.03 0.00 0.000 4 0.000 0.047 2153 3813 2009 0 0 0 0 0 0 28.83 26.03 28.83
10600 0.34 239.9 663.0 12.7 796 10606 0.15 2.05 0.00 0.000 6 0.153 0.029 2124 2455 2008 0 0 0 0 0 0 25.82 26.19 28.83
10922 0.40 275.5 632.7 9.2 812 10967 0.00 2.12 34.85 0.991 4 0.000 0.036 2134 1062 1856 0 0 0 0 1 0 28.83 25.73 23.94
11010 0.48 321.8 626.1 8.8 816 11067 0.00 2.28 46.20 1.088 6 0.000 0.039 2134 2530 1666 0 0 0 0 1 0 28.83 25.77 23.63
11375 0.50 321.8 588.2 10.5 840 11385 0.12 2.22 0.00 0.000 4 0.077 0.035 2226 1065 1675 0 0 0 0 0 0 26.18 25.89 28.83
11401 0.51 321.8 585.4 11.4 842 11408 0.17 2.25 0.00 0.000 6 0.138 0.041 2175 2526 1674 0 0 0 0 0 0 25.62 25.90 28.83
11708 0.49 321.8 537.1 15.3 873 11712 0.00 2.00 0.00 0.000 4 0.000 0.047 2175 3813 1674 0 0 0 0 0 0 28.83 25.95 28.83
11774 0.47 321.8 527.1 16.0 879 11780 0.00 2.05 0.00 0.000 6 0.000 0.029 2185 2458 1674 0 0 0 0 0 0 28.83 26.10 28.83
12080 0.46 321.8 481.3 15.0 910 12088 0.00 2.10 0.00 0.000 4 0.000 0.041 2196 1059 1673 0 0 0 0 0 0 28.83 26.04 28.83
12111 0.44 321.8 476.8 14.4 913 12121 0.15 2.25 0.00 0.000 6 0.124 0.038 2150 2526 1672 0 0 0 0 0 0 25.85 26.06 28.83
12422 0.49 343.3 446.8 9.6 944 12455 0.00 2.22 28.48 0.825 4 0.000 0.034 2161 1065 1572 0 0 0 0 0 0 28.83 25.86 24.44
12472 0.55 376.3 442.4 9.3 948 12511 0.00 2.25 32.47 0.808 6 0.000 0.037 2162 2532 1440 0 0 0 0 0 0 28.83 25.86 24.25
12819 0.65 431.1 410.6 8.6 983 12879 0.12 2.35 49.92 0.793 4 0.076 0.038 2257 1061 1207 0 0 0 0 0 0 26.22 25.50 24.25
12905 0.61 431.1 395.8 20.3 991 12914 0.12 2.25 0.00 0.000 6 0.117 0.040 2213 2516 1200 0 0 0 0 0 0 25.39 25.61 28.83
13213 0.59 431.1 343.3 16.8 1022 13217 0.00 2.05 0.00 0.000 4 0.000 0.047 2213 3820 1198 0 0 0 0 0 0 28.83 25.89 28.83
13277 0.59 431.1 332.6 16.3 1028 13284 0.00 2.08 0.00 0.000 6 0.000 0.028 2224 2456 1196 0 0 0 0 0 0 28.83 26.04 28.83
13586 0.58 431.1 278.2 18.7 1059 13594 0.00 2.05 0.00 0.000 4 0.000 0.039 2234 1067 1196 0 0 0 0 0 0 28.83 26.04 28.83
13657 0.60 431.1 267.0 13.6 1066 13666 0.00 2.22 0.00 0.000 6 0.000 0.037 2234 2529 1194 0 0 0 0 0 0 28.83 26.07 28.83
13969 0.58 431.1 210.6 17.6 1097 13975 0.12 0.00 0.00 0.000 6 0.155 0.000 2200 2530 1194 0 0 0 0 0 0 26.15 28.83 28.83
14279 0.64 446.9 178.4 9.8 1150 14298 0.00 2.30 12.82 0.614 4 0.000 0.036 2211 1049 1148 0 0 0 0 0 0 28.83 26.11 24.56
14331 0.84 553.1 174.2 7.0 1159 14429 0.20 2.22 88.97 0.620 6 0.054 0.033 2332 2530 714 0 0 0 0 0 0 26.17 26.11 24.41
14734 0.78 553.1 56.2 26.7 1236 14741 0.22 2.00 0.00 0.000 4 0.164 0.041 2261 3815 697 0 0 0 0 0 0 25.59 25.93 28.83
14779 0.78 553.1 46.5 17.6 1244 14786 0.00 2.05 0.00 0.000 6 0.000 0.027 2272 2453 696 0 0 0 0 0 0 28.83 26.07 28.83
15090 0.79 553.1 5.6 13.9 1305 15097 0.00 2.08 0.00 0.000 4 0.000 0.035 2283 1063 696 0 0 0 0 0 0 28.83 26.11 28.83
15113 end climb: SURFACE_DEPTH_REACHED
state 15113 begin surface coast
15134 end surface coast: CONTROL_FINISHED_OK
state 15134 begin surface