OKMC Nov12 * SG170 * Dive index * Mission links * Dive 361 * 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  -1 ROLL_MAX  3698 ALTIM_PING_DEPTH  0
DIVE  361 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DELTA  0
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2475 ALTIM_FREQUENCY  13
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  2120 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  62 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  20 N_FILEKB  8 R_STBD_OVSHOOT  43 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  0 MOTHERBOARD  4
D_SAFE  0 PROTOCOL  1 ROLL_ADJ_DBAND  0 DEVICE1  -1
D_CALL  0 N_NOCOMM  3 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  2853 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  0.00039999999 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  -7 T_GPS_CHARGE  -143550.14 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  225 PITCH_MAX  3933 PHONE_SUPPLY  -2 SEABIRD_T_H  0.00062550703
COURSE_BIAS  0 C_PITCH  3050 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  51760 PITCH_GAIN  34 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0015582878
NAV_MODE  2 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  0.0070000002 ALTIM_BOTTOM_TURN_MARGIN  0 SC_XMITPROFILE  3.0
HD_B  0.0089999996 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  130113,080412,2206.200,12012.761,17,1.0,17,-3.1 TGT_NAME  W2
_CALLS  2 TGT_LATLONG  2145.000,12000.000
_XMS_NAKs  0 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.36 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  130113,081450,2206.297,12012.420,19,1.0,19,-3.1 MHEAD_RNG_PITCHd_Wd  189.0,44857,-14.8,-10.000,-16.90
SPEED_LIMITS  0.173,0.329 D_GRID  723

Post-dive calculations and measurements:
FINISH  1.4,1.022477 _10V_AH  9.7,36.574
SM_CCo  11602,0.00,0.000,0,0,455,587.98 FG_AHR_24Vo  0.000
SM_GC  2.27,8.55,0.57,0.00,0.045,0.060,0.000,136,2469,455,-9.06,-1.22,587.98,0,0,0,0,0,0,25.91,26.26,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2159.71,12013.54,130113,040434 MEM  324280
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  23414,636
HUMID  59.21 CAP_FILE_SIZE  169590,0
INTERNAL_PRESSURE  9.43945 CFSIZE  260034560,214085632
TCM_TEMP  22.80 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  2 CURRENT  0.270,318.8,1
SC_FREEKB  3881568 GPS  130113,112958,2206.785,12010.967,40,0.9,40,-3.1
_24V_AH  23.3,72.913

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23232125.04 nil000.00
Roll_motor13968221.86 nil000.00
VBD_pump_during_apogee689118118996.30 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon11560113109.62
Iridium_during_xfer3531321090.07 nil000.00
Transponder_ping04204.89 nil000.00
GUMSTIX_24V000.00
GPS20305.99
TT8209213268.78
LPSleep69202147.00
TT8_Active7731399.29
TT8_Sampling206438775.19
TT8_CF838145168.29
TT8_Kalman000.00
Analog_circuits213015330.08
GPS_charging000.00
Compass16188129.39
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
18 end surface: CONTROL_FINISHED_OK
state 18 begin dive
21 -0.52 -219.0 0.0 0.0 0 105 0.00 0.00 -81.20 0.000 2 0.000 0.000 135 2498 2267 0 0 0 0 0 0 28.83 28.83 28.83
109 -0.52 -219.0 3.0 -1.3 14 170 11.18 1.98 -43.70 0.000 4 0.233 0.068 2874 3693 3748 0 0 0 0 0 0 25.29 26.11 26.64
256 -0.52 -219.0 20.6 -12.4 40 263 0.00 1.83 0.00 0.000 6 0.000 0.023 2874 2454 3748 0 0 0 0 0 0 28.83 26.37 28.83
447 -0.51 -219.0 45.8 -12.1 62 452 0.00 2.03 0.00 0.000 4 0.000 0.036 2875 1099 3748 0 0 0 0 0 0 28.83 26.30 28.83
520 -0.49 -219.0 52.7 -10.2 67 526 0.00 2.15 0.00 0.000 6 0.000 0.048 2874 2473 3747 0 0 0 0 0 0 28.83 26.22 28.83
715 -0.50 -219.0 73.1 -9.5 77 720 0.00 2.10 0.00 0.000 4 0.000 0.041 2876 1095 3747 0 0 0 0 0 0 28.83 26.23 28.83
749 -0.51 -219.0 75.6 -9.7 78 755 0.00 2.15 0.00 0.000 6 0.000 0.044 2874 2487 3748 0 0 0 0 0 0 28.83 26.28 28.83
943 -0.58 -219.0 97.0 -10.9 88 949 0.00 2.10 0.00 0.000 4 0.000 0.033 2874 1084 3748 0 0 0 0 0 0 28.83 26.36 28.83
1050 -0.63 -219.0 106.4 -8.9 93 1055 0.00 2.15 0.00 0.000 6 0.000 0.044 2875 2488 3748 0 0 0 0 0 0 28.83 26.30 28.83
1256 -0.70 -219.0 123.2 -9.2 103 1263 0.12 2.08 0.00 0.000 4 0.086 0.030 2798 1082 3748 0 0 0 0 0 0 26.55 26.36 28.83
1301 -0.74 -219.0 128.6 -10.5 105 1307 0.00 2.15 0.00 0.000 6 0.000 0.044 2797 2477 3748 0 0 0 0 0 0 28.83 26.29 28.83
1507 -0.72 -219.0 153.5 -12.2 115 1512 0.00 2.08 0.00 0.000 4 0.000 0.031 2798 1084 3748 0 0 0 0 0 0 28.83 26.38 28.83
1534 -0.71 -219.0 156.3 -11.7 116 1540 0.00 2.17 0.00 0.000 6 0.000 0.048 2797 2476 3748 0 0 0 0 0 0 28.83 26.26 28.83
1736 -0.70 -219.0 177.7 -10.3 126 1741 0.00 2.10 0.00 0.000 4 0.000 0.037 2798 1082 3748 0 0 0 0 0 0 28.83 26.38 28.83
1783 -0.70 -219.0 182.7 -10.8 128 1788 0.00 2.15 0.00 0.000 6 0.000 0.042 2798 2485 3748 0 0 0 0 0 0 28.83 26.32 28.83
1984 -0.69 -219.0 203.1 -9.7 138 1990 0.00 1.88 0.00 0.000 4 0.000 0.051 2798 3688 3749 0 0 0 0 0 0 28.83 26.25 28.83
2052 -0.69 -219.0 209.4 -9.5 141 2058 0.00 1.73 0.00 0.000 6 0.000 0.021 2798 2427 3748 0 0 0 0 0 0 28.83 26.55 28.83
2255 -0.68 -219.0 226.7 -8.2 151 2262 0.12 1.88 0.00 0.000 4 0.151 0.026 2841 1126 3747 0 0 0 0 0 0 26.31 26.39 28.83
2301 -0.69 -219.0 230.0 -7.3 153 2307 0.00 2.05 0.00 0.000 6 0.000 0.040 2841 2484 3747 0 0 0 0 0 0 28.83 26.34 28.83
2509 -0.74 -219.0 242.6 -6.6 163 2515 0.00 2.00 0.00 0.000 4 0.000 0.028 2841 1126 3746 0 0 0 0 0 0 28.83 26.39 28.83
2597 -0.80 -219.0 249.1 -7.4 167 2603 0.15 2.05 0.00 0.000 6 0.079 0.039 2765 2484 3746 0 0 0 0 0 0 26.33 26.34 28.83
2799 -0.81 -219.0 271.0 -11.6 177 2804 0.00 2.00 0.00 0.000 4 0.000 0.028 2765 1135 3745 0 0 0 0 0 0 28.83 26.39 28.83
2872 -0.81 -219.0 279.4 -12.6 180 2878 0.00 2.05 0.00 0.000 6 0.000 0.041 2765 2470 3744 0 0 0 0 0 0 28.83 26.32 28.83
3188 -0.80 -219.0 319.9 -11.2 196 3193 0.00 1.90 0.00 0.000 4 0.000 0.050 2765 3689 3743 0 0 0 0 0 0 28.83 26.25 28.83
3260 -0.78 -219.0 327.2 -11.1 199 3266 0.12 1.70 0.00 0.000 6 0.141 0.024 2803 2481 3742 0 0 0 0 0 0 26.22 26.55 28.83
3576 -0.78 -219.0 358.6 -8.7 215 3577 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 2476 3741 0 0 0 0 0 0 28.83 28.83 28.83
3877 -0.78 -219.0 383.5 -9.0 230 3882 0.00 1.92 0.00 0.000 4 0.000 0.052 2803 3695 3739 0 0 0 0 0 0 28.83 26.23 28.83
3945 -0.79 -219.0 390.0 -9.8 233 3952 0.00 1.75 0.00 0.000 6 0.000 0.025 2803 2484 3738 0 0 0 0 0 0 28.83 26.54 28.83
4266 -0.80 -219.0 417.5 -7.8 249 4271 0.00 1.92 0.00 0.000 4 0.000 0.051 2803 3689 3736 0 0 0 0 0 0 28.83 26.23 28.83
4299 -0.81 -219.0 419.4 -7.9 250 4306 0.00 1.73 0.00 0.000 6 0.000 0.025 2803 2461 3736 0 0 0 0 0 0 28.83 26.53 28.83
4615 -0.82 -219.0 445.3 -8.5 266 4620 0.00 1.98 0.00 0.000 4 0.000 0.052 2803 3692 3734 0 0 0 0 0 0 28.83 26.22 28.83
4649 -0.83 -219.0 447.3 -8.4 267 4655 0.00 1.77 0.00 0.000 6 0.000 0.027 2803 2478 3734 0 0 0 0 0 0 28.83 26.52 28.83
4963 -0.86 -219.0 476.0 -9.7 283 4970 0.00 2.03 0.00 0.000 4 0.000 0.029 2803 1102 3732 0 0 0 0 0 0 28.83 26.37 28.83
4994 -0.89 -219.0 478.6 -9.8 284 5000 0.12 2.12 0.00 0.000 6 0.092 0.040 2745 2485 3732 0 0 0 0 0 0 26.26 26.31 28.83
5313 -0.86 -219.0 521.8 -13.4 300 5319 0.00 1.90 0.00 0.000 4 0.000 0.052 2744 3692 3730 0 0 0 0 0 0 28.83 26.21 28.83
5352 -0.83 -219.0 525.4 -13.9 301 5360 0.12 1.77 0.00 0.000 6 0.151 0.026 2780 2469 3730 0 0 0 0 0 0 26.17 26.53 28.83
5657 -0.83 -219.0 559.1 -10.1 317 5662 0.00 1.95 0.00 0.000 4 0.000 0.052 2780 3695 3728 0 0 0 0 0 0 28.83 26.20 28.83
5725 -0.83 -219.0 567.1 -12.1 320 5730 0.00 1.77 0.00 0.000 6 0.000 0.027 2780 2479 3728 0 0 0 0 0 0 28.83 26.52 28.83
6044 -0.97 -219.0 590.3 -1.3 336 6050 0.12 2.03 0.00 0.000 4 0.116 0.028 2728 1109 3726 0 0 0 0 0 0 26.44 26.36 28.83
6279 -1.14 -219.0 593.2 -0.1 347 6285 0.15 2.10 0.00 0.000 6 0.115 0.037 2677 2486 3724 0 0 0 0 0 0 26.15 26.32 28.83
6311 end dive: NO_VERTICAL_VELOCITY
state 6311 begin apogee
6319 -0.15 0.0 593.1 0.0 349 6502 0.82 0.00 177.02 1.182 6 0.040 0.000 3036 2126 2852 0 0 0 0 0 0 26.41 28.83 23.65
6504 end apogee: CONTROL_FINISHED_OK
state 6504 begin climb
6507 0.52 219.0 605.3 0.0 358 6705 0.47 2.20 187.73 1.157 4 0.045 0.034 3247 747 1957 0 0 0 0 0 0 25.33 24.89 23.48
6724 0.65 676.9 616.9 -4.0 365 7060 0.00 2.20 325.05 1.133 6 0.000 0.042 3247 2123 460 0 0 0 0 0 0 28.83 25.29 23.25
7369 0.78 676.9 561.5 10.7 395 7375 0.12 2.22 0.00 0.000 4 0.129 0.045 3288 3527 457 0 0 0 0 0 0 26.18 26.15 28.83
7460 0.86 676.9 547.8 15.9 399 7466 0.10 2.08 0.00 0.000 6 0.104 0.026 3351 2139 457 0 0 0 0 0 0 26.26 26.36 28.83
7779 0.82 676.9 488.9 22.0 415 7786 0.12 2.20 0.00 0.000 4 0.156 0.044 3309 3540 456 0 0 0 0 0 0 26.25 26.27 28.83
7876 0.81 676.9 474.4 16.7 419 7882 0.00 2.12 0.00 0.000 6 0.000 0.026 3311 2122 456 0 0 0 0 0 0 28.83 26.44 28.83
8191 0.82 676.9 430.9 15.1 435 8196 0.00 2.12 0.00 0.000 4 0.000 0.037 3311 716 456 0 0 0 0 0 0 28.83 26.34 28.83
8278 0.84 676.9 418.5 14.5 439 8284 0.00 2.15 0.00 0.000 6 0.000 0.033 3311 2136 456 0 0 0 0 0 0 28.83 26.35 28.83
8598 0.85 676.9 373.1 14.4 455 8603 0.00 2.20 0.00 0.000 4 0.000 0.047 3311 3533 456 0 0 0 0 0 0 28.83 26.25 28.83
8630 0.86 676.9 369.5 14.3 456 8637 0.00 2.12 0.00 0.000 6 0.000 0.027 3311 2108 455 0 0 0 0 0 0 28.83 26.46 28.83
8946 0.87 676.9 325.8 12.8 472 8951 0.00 2.08 0.00 0.000 4 0.000 0.036 3311 719 456 0 0 0 0 0 0 28.83 26.34 28.83
9013 0.89 676.9 318.0 12.3 475 9018 0.00 2.10 0.00 0.000 6 0.000 0.032 3311 2128 455 0 0 0 0 0 0 28.83 26.35 28.83
9332 0.90 676.9 280.7 10.6 491 9338 0.00 2.20 0.00 0.000 4 0.000 0.047 3311 3527 456 0 0 0 0 0 0 28.83 26.23 28.83
9362 0.92 676.9 278.0 10.6 492 9368 0.10 2.10 0.00 0.000 6 0.107 0.026 3370 2117 456 0 0 0 0 0 0 26.34 26.47 28.83
9681 0.90 676.9 219.8 18.0 508 9687 0.12 2.08 0.00 0.000 4 0.150 0.035 3326 730 456 0 0 0 0 0 0 26.30 26.32 28.83
9749 0.91 676.9 211.2 14.1 511 9756 0.00 2.08 0.00 0.000 6 0.000 0.032 3326 2121 456 0 0 0 0 0 0 28.83 26.33 28.83
9950 0.93 676.9 186.0 12.5 521 9956 0.00 2.17 0.00 0.000 4 0.000 0.048 3326 3520 456 0 0 0 0 0 0 28.83 26.21 28.83
9974 0.94 676.9 182.4 13.1 522 9981 0.00 2.08 0.00 0.000 6 0.000 0.027 3327 2109 456 0 0 0 0 0 0 28.83 26.46 28.83
10182 0.96 676.9 155.9 12.5 532 10187 0.00 2.08 0.00 0.000 4 0.000 0.035 3326 734 455 0 0 0 0 0 0 28.83 26.32 28.83
10247 0.98 676.9 148.3 11.6 535 10253 0.12 2.10 0.00 0.000 6 0.092 0.031 3396 2135 456 0 0 0 0 0 0 26.29 26.34 28.83
10453 0.97 676.9 114.8 16.7 545 10459 0.12 2.15 0.00 0.000 4 0.147 0.046 3352 3520 456 0 0 0 0 0 0 26.30 26.20 28.83
10507 0.96 676.9 108.5 14.6 547 10514 0.00 2.08 0.00 0.000 6 0.000 0.026 3355 2122 456 0 0 0 0 0 0 28.83 26.45 28.83
10702 0.98 676.9 85.7 10.7 557 10707 0.00 2.08 0.00 0.000 4 0.000 0.036 3355 735 456 0 0 0 0 0 0 28.83 26.30 28.83
10761 1.01 676.9 80.5 11.3 559 10767 0.00 2.08 0.00 0.000 6 0.000 0.032 3355 2129 456 0 0 0 0 0 0 28.83 26.32 28.83
10946 1.02 676.9 58.8 10.2 569 10952 0.00 2.15 0.00 0.000 4 0.000 0.046 3355 3523 455 0 0 0 0 0 0 28.83 26.21 28.83
10971 1.04 676.9 56.1 10.4 570 10978 0.00 2.08 0.00 0.000 6 0.000 0.025 3362 2109 455 0 0 0 0 0 0 28.83 26.46 28.83
11167 1.19 782.0 41.5 6.8 585 11173 0.17 2.05 0.00 0.000 4 0.089 0.033 3435 737 455 0 0 0 0 0 0 26.40 26.32 28.83
11262 1.29 829.4 33.4 8.6 594 11267 0.00 2.08 0.00 0.000 6 0.000 0.034 3435 2132 456 0 0 0 0 0 0 28.83 26.32 28.83
11451 1.29 829.4 8.2 10.1 624 11458 0.00 2.17 0.00 0.000 4 0.000 0.046 3435 3532 456 0 0 0 0 0 0 28.83 26.23 28.83
11486 1.25 829.4 3.1 14.3 630 11494 0.00 2.05 0.00 0.000 6 0.000 0.024 3437 2122 456 0 0 0 0 0 0 28.83 26.45 28.83
11499 end climb: SURFACE_DEPTH_REACHED
state 11499 begin surface coast
11521 end surface coast: CONTROL_FINISHED_OK
state 11521 begin surface