OKMC Nov11 * SG169 * Dive index * Mission links * Dive 67 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  169 HD_B  0.0099999998 PITCH_ADJ_GAIN  0.0070000002 ALTIM_TOP_PING_RANGE  0
MISSION  5 HD_C  9.9999997e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  67 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  9 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  300 UPLOAD_DIVES_MAX  -1 C_VBD  2979 DEVICE3  35
T_MISSION  330 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  -10354.822 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  2 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  13 PITCH_AD_RATE  165 COMPASS_USE  0 SEABIRD_C_I  -0.0019472764
HD_A  0.003 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00023438112

Pre-dive calculations and measurements:
GPS1  221111,043130,2249.407,12408.407,42,1.2,42,-3.2 TGT_NAME  N3
_CALLS  1 TGT_LATLONG  2130.000,12400.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.037,-0.334
_SM_DEPTHo  0.92 KALMAN_X  8633260.0,0.0,0.0,5161172.5,3002.0
_SM_ANGLEo  -64.3 KALMAN_Y  2083320.8,0.0,0.0,452251.4,18852.2
GPS2  221111,043720,2249.361,12408.407,12,1.1,12,-3.2 MHEAD_RNG_PITCHd_Wd  233.8,147688,-14.4,-11.000
SPEED_LIMITS  0.191,0.336 D_GRID  5809

Post-dive calculations and measurements:
FINISH  0.3,1.022359 _10V_AH  10.3,13.529
SM_CCo  14414,0.00,0.000,0,0,410,630.18 FG_AHR_24Vo  0.000
SM_GC  0.84,5.55,0.20,0.00,0.032,0.060,0.000,122,2689,410,-5.79,-0.23,630.18,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2244.02,12411.24,221111,000036 MEM  330380
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  80453,1233
HUMID  39.84 CAP_FILE_SIZE  155357,0
INTERNAL_PRESSURE  9.47658 CFSIZE  260165632,216592384
TCM_TEMP  24.40 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS  0 CURRENT  0.335, 91.8,1
_24V_AH  23.8,15.889 GPS  221111,083906,2246.566,12407.515,36,1.1,36,-3.2

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1623393.43 SBE_CT83324476.16
Roll_motor116100276.91 AA4330102333803.77
VBD_pump_during_apogee763115721027.46 WL_BB2F6401051599.82
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2910372.85 nil000.00
Iridium_during_connect2216087.56 nil000.00
Iridium_during_xfer179223951.61 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS13506.91
TT8327919668.89
LPSleep75622170.60
TT8_Active81919167.21
TT8_Sampling2792391144.77
TT8_CF829745140.32
TT8_Kalman0810.32
Analog_circuits209712259.24
GPS_charging000.00
Compass252915390.87
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 0 118 0.00 0.00 -98.75 0.000 2 0.000 0.000 117 2670 3017 0 0 0 0 0 0 28.83 28.83 28.83
121 -0.66 -243.3 3.7 -6.8 14 153 6.57 2.22 -17.27 0.000 4 0.233 0.049 1801 1181 3963 0 0 0 0 0 0 25.86 26.17 26.48
274 -0.60 -243.3 64.9 -27.5 39 283 0.00 2.28 0.00 0.000 6 0.000 0.050 1791 2654 3964 0 0 0 0 0 0 28.83 26.23 28.83
621 -0.47 -243.3 211.9 -33.9 100 630 0.20 2.17 0.00 0.000 4 0.168 0.031 1861 1187 3964 0 0 0 0 0 0 26.20 26.40 28.83
669 -0.44 -243.3 222.9 -18.8 107 678 0.00 2.22 0.00 0.000 6 0.000 0.047 1850 2653 3964 0 0 0 0 0 0 28.83 26.37 28.83
1002 -0.40 -243.3 278.3 -17.2 153 1011 0.10 1.77 0.00 0.000 4 0.164 0.051 1870 3811 3964 0 0 0 0 0 0 26.41 26.42 28.83
1069 -0.41 -243.3 287.2 -11.9 159 1078 0.00 1.77 0.00 0.000 6 0.000 0.028 1870 2563 3964 0 0 0 0 0 0 28.83 26.52 28.83
1375 -0.41 -243.3 323.1 -12.1 190 1376 0.00 0.00 0.00 0.000 6 0.000 0.000 1870 2562 3963 0 0 0 0 0 0 28.83 28.83 28.83
1679 -0.42 -243.3 355.4 -9.7 220 1688 0.00 1.95 0.00 0.000 4 0.000 0.050 1860 3815 3962 0 0 0 0 0 0 28.83 26.50 28.83
1724 -0.44 -243.3 359.6 -9.4 224 1728 0.00 1.80 0.00 0.000 6 0.000 0.029 1860 2563 3962 0 0 0 0 0 0 28.83 26.59 28.83
2037 -0.46 -243.3 388.3 -9.4 255 2043 0.00 0.00 0.00 0.000 6 0.000 0.000 1860 2557 3961 0 0 0 0 0 0 28.83 28.83 28.83
2349 -0.47 -243.3 418.0 -10.8 286 2354 0.00 0.00 0.00 0.000 6 0.000 0.000 1860 2557 3960 0 0 0 0 0 0 28.83 28.83 28.83
2658 -0.50 -243.3 448.2 -8.3 317 2664 0.00 0.00 0.00 0.000 6 0.000 0.000 1859 2557 3957 0 0 0 0 0 0 28.83 28.83 28.83
2970 -0.53 -243.3 470.8 -7.4 348 2978 0.00 1.98 0.00 0.000 4 0.000 0.052 1853 3812 3955 0 0 0 0 0 0 28.83 26.55 28.83
3004 -0.57 -243.3 473.6 -7.6 351 3014 0.00 1.80 0.00 0.000 6 0.000 0.030 1853 2558 3954 0 0 0 0 0 0 28.83 26.65 28.83
3313 -0.59 -243.3 500.4 -9.5 382 3322 0.00 1.92 0.00 0.000 4 0.000 0.052 1845 3810 3952 0 0 0 0 0 0 28.83 26.55 28.83
3358 -0.62 -243.3 504.3 -9.3 386 3365 0.12 1.80 0.00 0.000 6 0.088 0.029 1780 2559 3952 0 0 0 0 0 0 26.59 26.64 28.83
3667 -0.58 -243.3 559.4 -17.7 417 3676 0.12 1.98 0.00 0.000 4 0.148 0.033 1822 1186 3950 0 0 0 0 0 0 26.49 26.60 28.83
3719 -0.58 -243.3 566.3 -11.6 422 3723 0.00 2.20 0.00 0.000 6 0.000 0.046 1813 2656 3950 0 0 0 0 0 0 28.83 26.58 28.83
4041 -0.56 -243.3 605.6 -12.1 452 4047 0.00 2.10 0.00 0.000 4 0.000 0.034 1813 1196 3948 0 0 0 0 0 0 28.83 26.60 28.83
4094 -0.56 -243.3 610.3 -12.0 454 4101 0.00 2.20 0.00 0.000 6 0.000 0.047 1812 2652 3948 0 0 0 0 0 0 28.83 26.58 28.83
4401 -0.56 -243.3 647.3 -11.4 470 4405 0.00 1.80 0.00 0.000 4 0.000 0.053 1804 3818 3945 0 0 0 0 0 0 28.83 26.55 28.83
4472 -0.56 -243.3 654.0 -11.0 473 4475 0.00 1.80 0.00 0.000 6 0.000 0.029 1804 2570 3945 0 0 0 0 0 0 28.83 26.64 28.83
4785 -0.55 -243.3 692.5 -12.6 489 4790 0.00 1.92 0.00 0.000 4 0.000 0.053 1795 3821 3943 0 0 0 0 0 0 28.83 26.55 28.83
4806 -0.54 -243.3 695.1 -12.7 490 4810 0.12 1.83 0.00 0.000 6 0.129 0.030 1834 2575 3943 0 0 0 0 0 0 26.48 26.64 28.83
5126 -0.56 -243.3 726.0 -9.3 506 5131 0.00 2.00 0.00 0.000 4 0.000 0.035 1834 1186 3941 0 0 0 0 0 0 28.83 26.58 28.83
5147 -0.59 -243.3 727.9 -9.3 507 5152 0.00 2.22 0.00 0.000 6 0.000 0.047 1826 2655 3940 0 0 0 0 0 0 28.83 26.57 28.83
5461 -0.60 -243.3 756.5 -8.6 523 5462 0.00 0.00 0.00 0.000 6 0.000 0.000 1826 2655 3937 0 0 0 0 0 0 28.83 28.83 28.83
5760 -0.62 -243.3 781.1 -8.1 538 5761 0.00 0.00 0.00 0.000 6 0.000 0.000 1826 2654 3934 0 0 0 0 0 0 28.83 28.83 28.83
6060 -0.64 -243.3 806.9 -8.7 553 6066 0.00 2.17 0.00 0.000 4 0.000 0.036 1826 1182 3932 0 0 0 0 0 0 28.83 26.57 28.83
6094 -0.66 -243.3 808.7 -8.8 554 6103 0.00 2.22 0.00 0.000 6 0.000 0.048 1826 2651 3931 0 0 0 0 0 0 28.83 26.56 28.83
6400 -0.68 -243.3 836.4 -8.6 570 6406 0.10 1.77 0.00 0.000 4 0.093 0.054 1753 3810 3929 0 0 0 0 0 0 26.69 26.53 28.83
6429 -0.69 -243.3 838.5 -9.0 571 6433 0.10 1.80 0.00 0.000 6 0.151 0.031 1783 2569 3929 0 0 0 0 0 0 26.46 26.62 28.83
6735 -0.67 -243.3 879.5 -12.8 586 6736 0.00 0.00 0.00 0.000 6 0.000 0.000 1783 2567 3927 0 0 0 0 0 0 28.83 28.83 28.83
7035 -0.65 -243.3 918.5 -13.5 601 7036 0.00 0.00 0.00 0.000 6 0.000 0.000 1783 2568 3925 0 0 0 0 0 0 28.83 28.83 28.83
7337 -0.63 -243.3 960.8 -14.4 616 7338 0.00 0.00 0.00 0.000 6 0.000 0.000 1784 2568 3923 0 0 0 0 0 0 28.83 28.83 28.83
7552 end dive: TARGET_DEPTH_EXCEEDED
state 7552 begin apogee
7558 -0.20 0.0 992.0 -13.7 627 7767 0.45 0.10 202.20 1.157 6 0.103 0.100 1943 2528 2973 0 0 0 0 0 0 26.43 24.73 24.07
7768 end apogee: CONTROL_FINISHED_OK
state 7768 begin climb
7770 0.66 243.3 1005.5 0.0 637 7998 0.75 2.17 219.20 1.157 4 0.044 0.054 2234 3815 1978 0 0 0 0 0 0 24.94 24.53 23.84
8150 0.55 243.3 942.1 27.9 656 8157 0.22 2.12 0.00 0.000 6 0.192 0.037 2188 2463 1957 0 0 0 0 0 0 25.32 25.49 28.83
8458 0.48 243.3 876.0 19.7 672 8464 0.00 2.10 0.00 0.000 4 0.000 0.051 2188 3809 1953 0 0 0 0 0 0 28.83 25.93 28.83
8519 0.41 243.3 863.2 21.1 675 8524 0.20 2.05 0.00 0.000 6 0.171 0.034 2145 2468 1952 0 0 0 0 0 0 25.81 26.01 28.83
8833 0.38 243.3 816.8 14.3 691 8838 0.00 2.10 0.00 0.000 4 0.000 0.055 2145 3813 1951 0 0 0 0 0 0 28.83 26.13 28.83
8876 0.35 243.3 810.7 14.7 693 8880 0.12 2.05 0.00 0.000 6 0.170 0.036 2123 2463 1951 0 0 0 0 0 0 26.01 26.19 28.83
9190 0.34 247.0 774.7 10.9 709 9191 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2461 1950 0 0 0 0 0 0 28.83 28.83 28.83
9490 0.34 251.5 741.6 10.9 724 9495 0.00 2.10 0.00 0.000 4 0.000 0.051 2123 3816 1949 0 0 0 0 0 0 28.83 26.29 28.83
9528 0.33 251.5 736.9 11.4 726 9533 0.00 2.05 0.00 0.000 6 0.000 0.034 2133 2461 1949 0 0 0 0 0 0 28.83 26.34 28.83
9849 0.33 266.0 701.8 10.6 742 9874 0.00 0.00 17.88 0.832 6 0.000 0.000 2133 2459 1892 0 0 0 0 1 0 28.83 28.83 25.44
10168 0.32 266.0 666.7 11.0 758 10174 0.00 2.12 0.00 0.000 4 0.000 0.052 2133 3809 1892 0 0 0 0 0 0 28.83 26.21 28.83
10196 0.30 266.0 664.4 11.3 759 10201 0.12 2.03 0.00 0.000 6 0.163 0.033 2111 2462 1892 0 0 0 0 0 0 26.10 26.27 28.83
10504 0.41 343.7 635.7 8.6 774 10584 0.00 2.28 68.38 1.124 4 0.000 0.051 2110 3806 1580 0 0 0 0 1 0 28.83 25.10 24.31
10621 0.55 439.7 627.4 8.1 779 10730 0.20 2.10 99.45 0.898 6 0.052 0.032 2231 2459 1177 0 0 0 0 0 0 25.48 25.44 24.28
11028 0.49 439.7 534.9 24.5 813 11038 0.20 2.12 0.00 0.000 4 0.165 0.041 2181 1068 1156 0 0 0 0 0 0 25.71 25.86 28.83
11081 0.49 439.7 525.8 14.4 818 11090 0.00 2.25 0.00 0.000 6 0.000 0.044 2181 2526 1155 0 0 0 0 0 0 28.83 25.91 28.83
11393 0.48 439.7 481.7 16.1 849 11402 0.00 2.00 0.00 0.000 4 0.000 0.054 2181 3814 1155 0 0 0 0 0 0 28.83 26.10 28.83
11417 0.47 439.7 477.8 16.6 851 11424 0.00 2.05 0.00 0.000 6 0.000 0.034 2192 2462 1154 0 0 0 0 0 0 28.83 26.15 28.83
11726 0.45 439.7 420.1 18.6 882 11735 0.12 2.10 0.00 0.000 4 0.164 0.041 2162 1068 1153 0 0 0 0 0 0 26.13 26.24 28.83
11752 0.44 439.7 416.2 17.4 884 11758 0.00 2.22 0.00 0.000 6 0.000 0.044 2162 2529 1152 0 0 0 0 0 0 28.83 26.24 28.83
12059 0.60 536.9 385.9 8.0 915 12149 0.12 2.15 82.70 0.756 4 0.075 0.052 2248 3819 779 0 0 0 0 0 0 26.43 25.30 24.71
12166 0.54 536.9 364.3 26.2 925 12173 0.28 2.12 0.00 0.000 6 0.163 0.035 2184 2462 767 0 0 0 0 0 0 25.32 25.46 28.83
12475 0.64 589.8 324.0 9.4 956 12526 0.10 2.17 45.58 0.699 4 0.093 0.044 2270 1069 564 0 0 0 0 0 0 26.09 25.47 24.87
12564 0.61 589.8 307.1 24.2 964 12572 0.22 2.28 0.00 0.000 6 0.133 0.046 2204 2518 549 0 0 0 0 0 0 25.52 25.61 28.83
12870 0.63 589.8 262.4 12.0 995 12881 0.00 2.22 0.00 0.000 4 0.000 0.042 2215 1067 547 0 0 0 0 0 0 28.83 26.03 28.83
12895 0.67 589.8 259.5 11.9 997 12904 0.00 2.20 0.00 0.000 6 0.000 0.042 2215 2519 547 0 0 0 0 0 0 28.83 26.06 28.83
13246 0.69 589.8 222.9 11.2 1049 13253 0.00 2.20 0.00 0.000 4 0.000 0.041 2225 1068 547 0 0 0 0 0 0 28.83 26.23 28.83
13292 0.82 649.2 218.0 9.2 1056 13331 0.10 2.22 27.95 0.631 6 0.045 0.040 2306 2522 422 0 0 0 0 0 0 26.27 26.27 25.32
13670 0.76 649.2 99.2 31.5 1121 13678 0.15 1.98 0.00 0.000 4 0.175 0.048 2259 3812 411 0 0 0 0 0 0 26.03 26.17 28.83
13733 0.78 649.2 85.0 17.3 1131 13742 0.00 2.03 0.00 0.000 6 0.000 0.033 2269 2462 410 0 0 0 0 0 0 28.83 26.23 28.83
14091 1.06 836.4 56.9 5.3 1192 14100 0.20 2.12 0.00 0.000 4 0.055 0.039 2415 1061 410 0 0 0 0 0 0 26.44 26.34 28.83
14208 1.02 836.4 32.3 22.3 1211 14217 0.25 2.22 0.00 0.000 6 0.144 0.047 2339 2518 410 0 0 0 0 0 0 26.22 26.36 28.83
14325 end climb: SURFACE_DEPTH_REACHED
state 14325 begin surface coast
14339 end surface coast: CONTROL_FINISHED_OK
state 14339 begin surface