OKMC Nov11 * SG169 * Dive index * Mission links * Dive 81 * 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  81 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  -10373.753 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  230 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  241111,164906,2203.029,12355.058,40,1.0,40,-3.0 TGT_NAME  N3
_CALLS  1 TGT_LATLONG  2130.000,12400.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.059,-0.319
_SM_DEPTHo  0.97 KALMAN_X  8607383.0,0.0,0.0,5162049.0,-2284.0
_SM_ANGLEo  -64.7 KALMAN_Y  2470394.5,0.0,0.0,-19998.1,2032.2
GPS2  241111,165520,2203.021,12354.921,16,1.4,16,-3.0 MHEAD_RNG_PITCHd_Wd  129.9,61778,-15.1,-11.000
SPEED_LIMITS  0.191,0.324 D_GRID  5052

Post-dive calculations and measurements:
FINISH  0.0,1.022379 _10V_AH  10.4,15.219
SM_CCo  15107,0.00,0.000,0,0,408,630.67 FG_AHR_24Vo  0.000
SM_GC  1.02,5.60,0.20,0.00,0.030,0.065,0.000,108,2669,408,-5.80,-0.17,630.67,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2157.39,12353.02,241111,121207 MEM  330360
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  83579,1250
HUMID  40.98 CAP_FILE_SIZE  162982,0
INTERNAL_PRESSURE  9.46681 CFSIZE  260165632,215379968
TCM_TEMP  24.30 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  0 CURRENT  0.364,272.7,1
_24V_AH  23.8,19.013 GPS  241111,210836,2200.947,12355.369,33,1.0,33,-3.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1622988.49 SBE_CT84524482.73
Roll_motor12989276.40 AA433097833768.47
VBD_pump_during_apogee740119020970.64 WL_BB2F5691051423.81
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2810370.44 nil000.00
Iridium_during_connect1916073.75 nil000.00
Iridium_during_xfer1922231022.50 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS17508.92
TT8332119683.90
LPSleep81792186.29
TT8_Active80419165.74
TT8_Sampling2863391185.18
TT8_CF829745141.90
TT8_Kalman0810.32
Analog_circuits213612266.64
GPS_charging000.00
Compass256515400.22
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 -0.65 -223.8 0.0 0.0 0 123 0.00 0.00 -103.78 0.000 2 0.000 0.000 117 2677 3157 0 0 0 0 0 0 28.83 28.83 28.83
127 -0.65 -223.8 4.4 -9.3 14 153 6.55 2.28 -13.00 0.000 4 0.230 0.047 1803 1178 3895 0 0 0 0 0 0 25.79 26.16 26.46
270 -0.59 -223.8 63.3 -29.8 37 279 0.00 2.28 0.00 0.000 6 0.000 0.049 1793 2655 3894 0 0 0 0 0 0 28.83 26.20 28.83
619 -0.45 -223.8 205.6 -37.2 97 631 0.22 2.15 0.00 0.000 4 0.174 0.029 1869 1179 3895 0 0 0 0 0 0 26.13 26.38 28.83
686 -0.45 -223.8 221.6 -15.3 103 694 0.00 2.22 0.00 0.000 6 0.000 0.044 1859 2655 3895 0 0 0 0 0 0 28.83 26.37 28.83
997 -0.40 -223.8 278.1 -19.5 134 998 0.00 0.00 0.00 0.000 6 0.000 0.000 1859 2655 3895 0 0 0 0 0 0 28.83 28.83 28.83
1297 -0.37 -223.8 323.4 -13.8 164 1306 0.10 1.77 0.00 0.000 4 0.167 0.047 1878 3821 3893 0 0 0 0 0 0 26.43 26.45 28.83
1322 -0.35 -223.8 326.6 -13.7 166 1329 0.00 1.80 0.00 0.000 6 0.000 0.028 1882 2562 3894 0 0 0 0 0 0 28.83 26.54 28.83
1630 -0.38 -223.8 344.8 -5.3 197 1639 0.00 2.00 0.00 0.000 4 0.000 0.033 1883 1181 3893 0 0 0 0 0 0 28.83 26.52 28.83
1655 -0.42 -223.8 345.9 -5.1 199 1661 0.00 2.22 0.00 0.000 6 0.000 0.041 1878 2659 3893 0 0 0 0 0 0 28.83 26.51 28.83
1963 -0.45 -223.8 364.2 -6.8 230 1967 0.00 1.80 0.00 0.000 4 0.000 0.049 1870 3817 3891 0 0 0 0 0 0 28.83 26.50 28.83
2005 -0.50 -223.8 367.3 -7.5 234 2008 0.00 1.80 0.00 0.000 6 0.000 0.028 1870 2561 3891 0 0 0 0 0 0 28.83 26.60 28.83
2317 -0.53 -223.8 392.4 -8.1 265 2325 0.00 1.98 0.00 0.000 4 0.000 0.031 1870 1170 3890 0 0 0 0 0 0 28.83 26.56 28.83
2351 -0.57 -223.8 395.0 -8.2 268 2359 0.12 2.22 0.00 0.000 6 0.081 0.042 1791 2654 3890 0 0 0 0 0 0 26.55 26.53 28.83
2661 -0.50 -223.8 459.5 -21.7 299 2670 0.15 1.75 0.00 0.000 4 0.151 0.047 1831 3817 3888 0 0 0 0 0 0 26.41 26.52 28.83
2707 -0.47 -223.8 466.8 -16.1 303 2713 0.00 1.80 0.00 0.000 6 0.000 0.028 1831 2559 3888 0 0 0 0 0 0 28.83 26.61 28.83
3014 -0.47 -223.8 501.0 -10.8 334 3018 0.00 1.98 0.00 0.000 4 0.000 0.033 1831 1181 3886 0 0 0 0 0 0 28.83 26.57 28.83
3070 -0.50 -223.8 505.7 -8.7 339 3076 0.00 2.22 0.00 0.000 6 0.000 0.044 1823 2658 3886 0 0 0 0 0 0 28.83 26.55 28.83
3377 -0.50 -223.8 543.0 -12.7 370 3378 0.00 0.00 0.00 0.000 6 0.000 0.000 1823 2658 3884 0 0 0 0 0 0 28.83 28.83 28.83
3679 -0.50 -223.8 579.0 -11.3 400 3685 0.00 0.00 0.00 0.000 6 0.000 0.000 1823 2658 3881 0 0 0 0 0 0 28.83 28.83 28.83
3996 -0.50 -223.8 616.3 -11.4 425 4002 0.00 2.15 0.00 0.000 4 0.000 0.032 1823 1172 3878 0 0 0 0 0 0 28.83 26.57 28.83
4046 -0.51 -223.8 620.6 -10.9 427 4051 0.10 2.25 0.00 0.000 6 0.140 0.044 1846 2659 3879 0 0 0 0 0 0 26.46 26.55 28.83
4354 -0.54 -223.8 642.9 -6.0 442 4355 0.00 0.00 0.00 0.000 6 0.000 0.000 1846 2659 3876 0 0 0 0 0 0 28.83 28.83 28.83
4653 -0.57 -223.8 658.8 -5.3 457 4658 0.00 2.12 0.00 0.000 4 0.000 0.033 1846 1185 3873 0 0 0 0 0 0 28.83 26.57 28.83
4685 -0.60 -223.8 659.9 -5.3 458 4693 0.00 2.22 0.00 0.000 6 0.000 0.044 1839 2657 3873 0 0 0 0 0 0 28.83 26.54 28.83
4994 -0.63 -223.8 681.7 -7.9 474 4998 0.00 1.75 0.00 0.000 4 0.000 0.052 1830 3818 3870 0 0 0 0 0 0 28.83 26.51 28.83
5024 -0.65 -223.8 683.5 -7.9 475 5027 0.00 1.80 0.00 0.000 6 0.000 0.030 1830 2573 3870 0 0 0 0 0 0 28.83 26.62 28.83
5336 -0.67 -223.8 711.7 -8.8 491 5342 0.12 2.03 0.00 0.000 4 0.078 0.031 1745 1177 3869 0 0 0 0 0 0 26.67 26.55 28.83
5365 -0.68 -223.8 713.9 -9.3 492 5370 0.17 2.25 0.00 0.000 6 0.147 0.047 1786 2658 3868 0 0 0 0 0 0 26.34 26.53 28.83
5671 -0.65 -223.8 758.7 -14.5 507 5676 0.00 2.17 0.00 0.000 4 0.000 0.034 1787 1178 3865 0 0 0 0 0 0 28.83 26.55 28.83
5745 -0.65 -223.8 766.1 -13.0 510 5752 0.00 2.25 0.00 0.000 6 0.000 0.048 1776 2657 3864 0 0 0 0 0 0 28.83 26.53 28.83
6053 -0.61 -223.8 811.1 -14.1 526 6059 0.12 1.75 0.00 0.000 4 0.155 0.050 1810 3818 3863 0 0 0 0 0 0 26.44 26.49 28.83
6085 -0.59 -223.8 813.8 -13.8 527 6091 0.00 1.80 0.00 0.000 6 0.000 0.030 1810 2568 3862 0 0 0 0 0 0 28.83 26.60 28.83
6392 -0.59 -223.8 847.5 -11.1 543 6397 0.00 2.03 0.00 0.000 4 0.000 0.034 1810 1175 3860 0 0 0 0 0 0 28.83 26.55 28.83
6432 -0.60 -223.8 852.0 -11.2 545 6437 0.00 2.22 0.00 0.000 6 0.000 0.047 1802 2652 3860 0 0 0 0 0 0 28.83 26.51 28.83
6752 -0.60 -223.8 892.2 -12.7 561 6756 0.00 1.80 0.00 0.000 4 0.000 0.054 1793 3811 3858 0 0 0 0 0 0 28.83 26.48 28.83
6797 -0.60 -223.8 897.5 -12.8 563 6800 0.00 1.83 0.00 0.000 6 0.000 0.031 1793 2568 3858 0 0 0 0 0 0 28.83 26.60 28.83
7115 -0.59 -223.8 935.3 -11.0 579 7120 0.00 2.00 0.00 0.000 4 0.000 0.036 1793 1181 3855 0 0 0 0 0 0 28.83 26.52 28.83
7157 -0.59 -223.8 939.5 -10.9 581 7162 0.12 2.22 0.00 0.000 6 0.132 0.048 1823 2651 3856 0 0 0 0 0 0 26.40 26.49 28.83
7472 -0.61 -223.8 963.8 -7.6 597 7473 0.00 0.00 0.00 0.000 6 0.000 0.000 1822 2651 3854 0 0 0 0 0 0 28.83 28.83 28.83
7771 -0.63 -223.8 988.7 -9.0 612 7772 0.00 0.00 0.00 0.000 6 0.000 0.000 1822 2651 3853 0 0 0 0 0 0 28.83 28.83 28.83
7788 end dive: TARGET_DEPTH_EXCEEDED
state 7788 begin apogee
7793 -0.20 0.0 990.5 -9.1 613 7992 0.32 0.12 188.65 1.161 6 0.093 0.090 1944 2536 2970 0 0 0 0 0 0 26.41 24.77 24.08
7993 end apogee: CONTROL_FINISHED_OK
state 7993 begin climb
7995 0.65 223.8 1002.7 0.0 623 8212 0.73 2.45 202.88 1.161 4 0.040 0.044 2245 1067 2047 0 0 0 0 0 0 25.01 24.55 23.82
8306 0.58 223.8 963.9 20.3 638 8315 0.17 2.30 0.00 0.000 6 0.176 0.047 2202 2518 2031 0 0 0 0 0 0 25.16 25.31 28.83
8617 0.50 223.8 899.6 20.3 654 8623 0.00 2.00 0.00 0.000 4 0.000 0.053 2201 3807 2029 0 0 0 0 0 0 28.83 25.88 28.83
8762 0.41 223.8 868.9 21.6 661 8768 0.25 2.05 0.00 0.000 6 0.180 0.037 2145 2464 2027 0 0 0 0 0 0 25.78 26.03 28.83
9077 0.38 223.8 822.9 13.5 677 9081 0.00 2.12 0.00 0.000 4 0.000 0.050 2144 3822 2025 0 0 0 0 0 0 28.83 26.13 28.83
9113 0.35 223.8 819.7 13.8 678 9120 0.12 2.05 0.00 0.000 6 0.171 0.034 2123 2459 2025 0 0 0 0 0 0 25.99 26.19 28.83
9422 0.35 236.8 783.1 10.6 694 9439 0.00 2.17 6.80 0.906 4 0.000 0.050 2123 3810 2010 0 0 0 0 0 0 28.83 26.15 25.32
9510 0.34 236.8 773.3 12.1 698 9514 0.00 2.05 0.00 0.000 6 0.000 0.034 2133 2460 2002 0 0 0 0 0 0 28.83 26.20 28.83
9818 0.33 243.1 738.1 10.8 713 9822 0.00 0.00 2.28 0.356 6 0.000 0.000 2133 2458 1985 0 0 0 0 0 0 28.83 28.83 25.08
10117 0.31 243.1 704.4 11.1 728 10123 0.00 2.10 0.00 0.000 4 0.000 0.050 2133 3810 1994 0 0 0 0 0 0 28.83 26.28 28.83
10171 0.30 243.1 699.5 11.6 730 10179 0.15 2.03 0.00 0.000 6 0.161 0.034 2103 2463 1995 0 0 0 0 0 0 26.12 26.34 28.83
10479 0.44 346.3 673.1 7.6 746 10585 0.15 2.30 92.65 1.190 4 0.070 0.050 2184 3813 1575 0 0 0 0 1 0 26.46 24.93 24.15
10619 0.39 346.3 651.9 16.5 753 10627 0.17 2.10 2.17 0.282 6 0.139 0.033 2140 2466 1565 0 0 0 0 0 0 25.22 25.34 24.51
10938 0.40 349.3 616.5 10.9 769 10947 0.00 2.12 3.17 0.602 4 0.000 0.040 2150 1068 1553 0 0 0 0 0 0 28.83 25.94 24.91
10989 0.41 349.3 612.1 11.1 771 10996 0.00 2.25 0.00 0.000 6 0.000 0.044 2150 2521 1561 0 0 0 0 0 0 28.83 25.94 28.83
11298 0.41 349.3 571.3 13.0 798 11307 0.00 1.95 1.77 0.190 4 0.000 0.049 2150 3810 1556 0 0 0 0 0 0 28.83 26.10 25.89
11351 0.41 349.3 563.6 13.9 803 11361 0.00 2.03 1.67 0.193 6 0.000 0.033 2160 2461 1554 0 0 0 0 0 0 28.83 26.16 25.91
11662 0.41 349.3 521.4 13.0 834 11671 0.00 2.10 1.52 0.197 4 0.000 0.041 2171 1055 1553 0 0 0 0 0 0 28.83 26.22 25.98
11715 0.43 349.3 515.0 11.9 839 11724 0.00 2.22 0.00 0.000 6 0.000 0.045 2171 2520 1561 0 0 0 0 0 0 28.83 26.23 28.83
12026 0.41 349.3 472.2 13.5 870 12034 0.00 0.00 1.48 0.200 6 0.000 0.000 2171 2520 1555 0 0 0 0 0 0 28.83 28.83 26.03
12335 0.40 349.3 429.5 13.9 901 12347 0.12 2.20 1.40 0.179 4 0.159 0.041 2142 1064 1557 0 0 0 0 0 0 26.22 26.34 26.07
12359 0.40 349.3 426.6 12.6 903 12368 0.00 2.22 0.00 0.000 6 0.000 0.044 2142 2524 1563 0 0 0 0 0 0 28.83 26.33 28.83
12672 0.47 379.9 397.8 10.0 934 12715 0.00 2.08 38.12 0.768 4 0.000 0.051 2142 3813 1422 0 0 0 0 0 0 28.83 25.84 25.23
12747 0.58 433.2 390.8 9.2 941 12806 0.12 2.05 46.50 0.776 6 0.076 0.031 2247 2462 1198 0 0 0 0 0 0 25.94 25.94 24.77
13105 0.51 433.2 297.3 27.6 977 13114 0.22 2.12 0.00 0.000 4 0.169 0.039 2192 1064 1188 0 0 0 0 0 0 25.76 25.96 28.83
13159 0.51 433.2 286.8 16.9 982 13170 0.00 2.25 0.00 0.000 6 0.000 0.044 2192 2521 1186 0 0 0 0 0 0 28.83 26.01 28.83
13471 0.52 433.2 249.8 12.4 1013 13477 0.00 0.00 0.00 0.000 6 0.000 0.000 2192 2521 1186 0 0 0 0 0 0 28.83 28.83 28.83
13781 0.53 433.2 210.0 11.5 1044 13785 0.00 2.17 0.00 0.000 4 0.000 0.041 2203 1065 1186 0 0 0 0 0 0 28.83 26.28 28.83
13815 0.56 438.5 206.3 10.8 1047 13824 0.00 2.20 0.00 0.000 6 0.000 0.044 2202 2522 1186 0 0 0 0 0 0 28.83 26.29 28.83
14156 0.57 438.5 160.7 13.1 1103 14164 0.00 0.00 0.00 0.000 6 0.000 0.000 2203 2522 1185 0 0 0 0 0 0 28.83 28.83 28.83
14505 0.65 484.3 122.9 9.5 1164 14552 0.00 2.28 40.47 0.581 4 0.000 0.038 2213 1068 993 0 0 0 0 0 0 28.83 26.00 25.46
14577 0.98 687.6 118.5 4.3 1174 14695 0.25 2.25 108.68 0.565 6 0.037 0.040 2336 2525 426 0 0 0 0 0 0 26.07 26.03 24.83
15017 end climb: SURFACE_DEPTH_REACHED
state 15018 begin surface coast
15032 end surface coast: CONTROL_FINISHED_OK
state 15033 begin surface