OKMC Mar13 * SG169 * Dive index * Mission links * Dive 349 * 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  349 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  -22759.68 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  280513,224136,1942.597,12352.244,31,1.3,32,-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  0.22 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -73.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  280513,225219,1942.455,12352.162,17,1.6,17,-2.4 MHEAD_RNG_PITCHd_Wd  39.7,54396,-4.8,-10.645,-18.86,3512
SPEED_LIMITS  0.184,0.312 D_GRID  5403

Post-dive calculations and measurements:
FINISH  -0.5,1.021622 _10V_AH  10.2,35.560
SM_CCo  11787,14.75,0.130,0,0,1096,430.01 FG_AHR_24Vo  0.000
SM_GC  0.31,6.65,0.17,14.75,0.025,0.048,0.130,138,2511,1096,-6.93,0.34,430.01,0,0,0,0,0,0,26.08,26.36,25.66 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1936.66,12352.20,280513,191946 MEM  328968
TT8_MAMPS  0.021721,0.021721 DATA_FILE_SIZE  20104,528
HUMID  53.62 CAP_FILE_SIZE  277765,0
INTERNAL_PRESSURE  9.36915 CFSIZE  260034560,198832128
TCM_TEMP  23.40 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS  0 CURRENT  0.155,226.1,1
SC_FREEKB  3844640 GPS  290513,021036,1943.286,12352.225,30,1.4,31,-2.4
_24V_AH  23.5,45.982

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1622790.81 nil000.00
Roll_motor10590223.80 nil000.00
VBD_pump_during_apogee559103513615.11 nil000.00
VBD_pump_during_surface1413045.08 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1182541291.62
Iridium_during_xfer3811181063.26 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS18326.08
TT8208114301.66
LPSleep74102165.53
TT8_Active6421493.15
TT8_Sampling170340702.35
TT8_CF858747287.05
TT8_Kalman000.00
Analog_circuits181112221.73
GPS_charging000.00
Compass12388104.11
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
23 -0.73 -243.3 121 2566 1268 939 0.0 0.0 0 102 0.00 0.00 -76.00 0.000 16386 0.000 0.000 121 2566 3102 3033 3172 0 0 0 0 0 0 28.83 28.83 28.83
107 -0.73 -243.3 121 2566 3034 3172 4.3 -10.5 10 133 8.23 2.22 -11.65 0.000 18692 0.228 0.060 2127 3845 3847 3712 3982 0 0 0 0 0 0 25.32 25.94 26.44
175 -0.73 -243.3 2126 3845 3714 3982 39.8 -44.1 17 182 0.00 2.12 0.00 0.000 1030 0.000 0.028 2127 2526 3848 3715 3982 0 0 0 0 0 0 28.83 26.08 28.83
495 -0.73 -243.3 2126 2523 3717 3981 142.4 -31.9 34 501 0.00 2.53 0.00 0.000 516 0.000 0.031 2127 1088 3848 3716 3981 0 0 0 0 0 0 28.83 26.13 28.83
551 -0.73 -243.3 2130 1088 3717 3981 155.9 -29.7 36 558 0.00 2.67 0.00 0.000 1030 0.000 0.038 2125 2558 3849 3717 3981 0 0 0 0 0 0 28.83 26.09 28.83
868 -0.73 -243.3 2125 2556 3717 3981 246.4 -28.3 52 874 0.00 2.62 0.00 0.000 516 0.000 0.031 2125 1085 3849 3717 3981 0 0 0 0 0 0 28.83 26.22 28.83
904 -0.73 -243.3 2125 1085 3717 3981 253.2 -27.7 53 910 0.00 2.67 0.00 0.000 1030 0.000 0.039 2125 2556 3849 3717 3981 0 0 0 0 0 0 28.83 26.15 28.83
1219 -0.73 -243.3 2126 2553 3717 3981 342.1 -26.7 69 1220 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2553 3848 3716 3981 0 0 0 0 0 0 28.83 28.83 28.83
1519 -0.73 -243.3 2125 2552 3716 3981 412.8 -22.0 84 1525 0.00 2.62 0.00 0.000 516 0.000 0.031 2125 1076 3849 3716 3982 0 0 0 0 0 0 28.83 26.27 28.83
1548 -0.73 -243.3 2125 1076 3716 3981 417.7 -21.0 85 1555 0.00 2.65 0.00 0.000 1030 0.000 0.037 2124 2555 3849 3717 3981 0 0 0 0 0 0 28.83 26.21 28.83
1872 -0.73 -243.3 2125 2551 3715 3981 486.0 -21.7 101 1873 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2551 3847 3715 3980 0 0 0 0 0 0 28.83 28.83 28.83
2171 -0.73 -243.3 2124 2551 3713 3981 548.0 -19.8 116 2177 0.00 2.60 0.00 0.000 516 0.000 0.030 2124 1082 3847 3713 3981 0 0 0 0 0 0 28.83 26.26 28.83
2220 -0.73 -243.3 2124 1082 3713 3981 557.2 -20.0 118 2226 0.00 2.62 0.00 0.000 1030 0.000 0.037 2117 2556 3847 3713 3981 0 0 0 0 0 0 28.83 26.20 28.83
2556 -0.73 -243.3 2112 2553 3709 3978 619.8 -18.2 133 2562 0.00 2.15 0.00 0.000 260 0.000 0.051 2107 3829 3844 3709 3980 0 0 0 0 0 0 28.83 26.11 28.83
2597 -0.73 -243.3 2107 3829 3706 3981 626.7 -18.5 134 2604 0.12 2.10 0.00 0.000 3078 0.142 0.026 2141 2518 3843 3706 3981 0 0 0 0 0 0 26.11 26.44 28.83
2929 -0.73 -243.3 2141 2518 3703 3981 680.5 -15.6 145 2935 0.00 2.47 0.00 0.000 516 0.000 0.032 2142 1085 3842 3703 3981 0 0 0 0 0 0 28.83 26.22 28.83
2959 -0.73 -243.3 2142 1085 3703 3980 680.5 -15.6 145 2967 0.00 2.60 0.00 0.000 1030 0.000 0.034 2138 2557 3841 3702 3981 0 0 0 0 0 0 28.83 26.20 28.83
3268 -0.73 -243.3 2141 2554 3696 3980 730.0 -14.0 156 3274 0.00 2.58 0.00 0.000 516 0.000 0.031 2141 1079 3838 3696 3980 0 0 0 0 0 0 28.83 26.22 28.83
3297 -0.73 -243.3 2141 1079 3696 3979 730.0 -14.0 156 3305 0.00 2.62 0.00 0.000 1030 0.000 0.035 2141 2561 3837 3696 3979 0 0 0 0 0 0 28.83 26.17 28.83
3606 -0.73 -243.3 2141 2558 3692 3977 774.4 -13.6 167 3612 0.00 2.15 0.00 0.000 260 0.000 0.052 2136 3824 3834 3691 3977 0 0 0 0 0 0 28.83 26.06 28.83
3654 -0.73 -243.3 2135 3824 3690 3977 779.0 -13.2 168 3660 0.00 2.10 0.00 0.000 1030 0.000 0.027 2136 2525 3833 3690 3977 0 0 0 0 0 0 28.83 26.41 28.83
3980 -0.73 -243.3 2135 2524 3687 3974 825.7 -14.1 179 3981 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2524 3831 3687 3975 0 0 0 0 0 0 28.83 28.83 28.83
4280 -0.73 -243.3 2135 2524 3684 3972 866.3 -13.7 189 4286 0.00 2.30 0.00 0.000 260 0.000 0.050 2125 3837 3828 3684 3972 0 0 0 0 0 0 28.83 26.00 28.83
4305 -0.73 -243.3 2125 3836 3683 3974 866.3 -13.7 189 4312 0.00 2.12 0.00 0.000 1030 0.000 0.028 2125 2523 3827 3683 3972 0 0 0 0 0 0 28.83 26.38 28.83
4625 -0.73 -243.3 2125 2522 3679 3971 917.0 -14.9 200 4626 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2523 3825 3679 3971 0 0 0 0 0 0 28.83 28.83 28.83
4922 -0.73 -243.3 2125 2523 3676 3969 961.8 -15.0 210 4923 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2523 3822 3676 3969 0 0 0 0 0 0 28.83 28.83 28.83
5128 end dive: TARGET_DEPTH_EXCEEDED
state 5128 begin apogee
5135 -0.12 0.0 2125 2717 3674 3968 993.5 -15.1 217 5349 0.62 0.08 206.85 1.035 10246 0.104 0.090 2339 2659 2849 2893 2805 0 0 0 0 0 0 25.64 24.68 23.89
5352 end apogee: CONTROL_FINISHED_OK
state 5355 begin climb
5357 0.73 243.3 2339 2659 2889 2786 1005.7 0.0 223 5590 0.73 2.05 222.12 1.018 10500 0.034 0.039 2623 3844 1850 1986 1715 0 0 0 0 0 0 24.96 24.28 23.46
5747 0.73 243.3 2624 3844 1976 1690 950.0 22.6 237 5753 0.00 1.80 0.00 0.000 1030 0.000 0.015 2633 2615 1833 1977 1690 0 0 0 0 0 0 28.83 25.65 28.83
6083 0.73 243.3 2633 2612 1976 1685 881.1 20.8 248 6088 0.00 2.03 0.00 0.000 260 0.000 0.040 2624 3841 1831 1977 1685 0 0 0 0 0 0 28.83 25.96 28.83
6130 0.73 243.3 2624 3841 1976 1685 873.1 21.1 249 6136 0.00 1.75 0.00 0.000 1030 0.000 0.016 2633 2609 1830 1976 1685 0 0 0 0 0 0 28.83 26.22 28.83
6455 0.73 243.3 2634 2606 1974 1684 804.3 20.3 260 6461 0.00 2.03 0.00 0.000 260 0.000 0.041 2625 3851 1828 1973 1683 0 0 0 0 0 0 28.83 26.08 28.83
6512 0.73 243.3 2624 3851 1973 1683 796.8 20.6 261 6518 0.00 1.75 0.00 0.000 1030 0.000 0.016 2634 2610 1829 1973 1685 0 0 0 0 0 0 28.83 26.36 28.83
6831 0.73 243.3 2634 2608 1972 1682 730.1 19.5 272 6836 0.00 2.00 0.00 0.000 260 0.000 0.040 2624 3840 1827 1973 1682 0 0 0 0 0 0 28.83 26.12 28.83
6892 0.73 243.3 2625 3840 1972 1682 722.5 19.6 273 6900 0.00 1.73 0.00 0.000 1030 0.000 0.016 2634 2611 1830 1972 1688 0 0 0 0 0 0 28.83 26.43 28.83
7200 0.73 243.3 2634 2611 1970 1682 659.2 18.6 284 7201 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 2611 1826 1971 1681 0 0 0 0 0 0 28.83 28.83 28.83
7499 0.73 243.3 2634 2611 1970 1680 605.1 17.6 294 7504 0.00 2.00 0.00 0.000 260 0.000 0.041 2625 3852 1825 1970 1680 0 0 0 0 0 0 28.83 26.13 28.83
7534 0.73 243.3 2625 3852 1970 1681 598.0 18.0 295 7540 0.00 1.75 0.00 0.000 1030 0.000 0.017 2634 2611 1825 1970 1681 0 0 0 0 0 0 28.83 26.47 28.83
7850 0.73 243.3 2634 2612 1970 1679 543.1 17.3 311 7857 0.00 1.98 0.00 0.000 260 0.000 0.041 2625 3848 1825 1971 1679 0 0 0 0 0 0 28.83 26.13 28.83
7940 0.73 243.3 2625 3848 1970 1679 526.6 18.4 315 7946 0.00 1.73 0.00 0.000 1030 0.000 0.017 2635 2613 1824 1970 1679 0 0 0 0 0 0 28.83 26.49 28.83
8268 0.73 243.3 2635 2613 1970 1677 470.9 17.2 331 8273 0.00 1.98 0.00 0.000 260 0.000 0.041 2626 3837 1824 1970 1679 0 0 0 0 0 0 28.83 26.13 28.83
8336 0.73 243.3 2625 3837 1970 1677 458.6 17.4 334 8342 0.00 1.73 0.00 0.000 1030 0.000 0.016 2635 2610 1823 1970 1677 0 0 0 0 0 0 28.83 26.51 28.83
8664 0.73 243.3 2635 2608 1970 1676 410.3 13.9 350 8670 0.00 1.98 0.00 0.000 260 0.000 0.039 2627 3833 1823 1970 1676 0 0 0 0 0 0 28.83 26.12 28.83
8692 0.73 243.3 1664 3833 1933 1671 406.4 13.8 351 8698 0.00 1.70 0.00 0.000 1030 0.000 0.016 2637 2608 1823 1970 1676 0 0 0 0 0 0 28.83 26.51 28.83
9015 0.73 243.3 2637 2607 1970 1676 360.0 14.0 367 9021 0.00 1.98 0.00 0.000 260 0.000 0.039 2633 3842 1823 1970 1676 0 0 0 0 0 0 28.83 26.12 28.83
9068 0.73 243.3 2633 3842 1971 1675 352.3 14.8 369 9074 0.00 1.73 0.00 0.000 1030 0.000 0.016 2643 2605 1823 1970 1676 0 0 0 0 0 0 28.83 26.52 28.83
9391 0.73 243.3 2639 2604 1970 1676 302.7 14.7 385 9392 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2604 1823 1970 1676 0 0 0 0 0 0 28.83 28.83 28.83
9688 0.73 243.3 2644 2604 1970 1676 262.7 12.7 400 9694 0.00 2.00 0.00 0.000 260 0.000 0.039 2643 3845 1821 1966 1676 0 0 0 0 0 0 28.83 26.11 28.83
9746 0.73 243.3 2643 3846 1970 1676 256.2 13.6 402 9752 0.15 1.73 0.00 0.000 5126 0.165 0.015 2613 2608 1823 1970 1676 0 0 0 0 0 0 25.93 26.53 28.83
10064 0.81 278.0 2612 2606 1970 1676 221.8 9.6 418 10102 0.00 2.00 30.67 0.567 8452 0.000 0.037 2603 3848 1703 1857 1550 0 0 0 0 0 0 28.83 26.10 25.29
10124 0.85 290.9 2603 3848 1852 1542 216.4 10.3 420 10141 0.12 1.75 11.15 0.563 11270 0.076 0.015 2684 2608 1662 1820 1505 0 0 0 0 0 0 26.11 26.25 25.14
10438 0.85 290.9 2684 2609 1811 1483 164.1 17.2 436 10445 0.12 1.98 0.00 0.000 4356 0.163 0.036 2635 3834 1646 1811 1482 0 0 0 0 0 0 25.94 26.03 28.83
10458 0.85 290.9 2635 3834 1811 1482 164.1 17.2 436 10467 0.00 1.73 0.00 0.000 1030 0.000 0.015 2645 2601 1646 1811 1482 0 0 0 0 0 0 28.83 26.34 28.83
10764 0.85 290.9 2645 2601 1811 1482 122.0 11.5 452 10771 0.00 2.03 0.00 0.000 260 0.000 0.038 2644 3853 1646 1811 1481 0 0 0 0 0 0 28.83 26.08 28.83
10808 0.85 290.9 2644 3853 1811 1482 118.7 11.6 453 10816 0.00 1.77 0.00 0.000 1030 0.000 0.015 2654 2611 1646 1811 1482 0 0 0 0 0 0 28.83 26.43 28.83
11111 0.85 290.9 2654 2611 1811 1482 83.9 10.7 469 11117 0.00 1.98 0.00 0.000 260 0.000 0.037 2654 3846 1647 1811 1483 0 0 0 0 0 0 28.83 26.15 28.83
11137 0.85 290.9 2654 3846 1811 1483 80.8 11.3 470 11143 0.00 1.73 0.00 0.000 1030 0.000 0.015 2665 2601 1647 1811 1483 0 0 0 0 0 0 28.83 26.49 28.83
11454 0.94 330.3 2669 2601 1811 1483 45.8 9.5 487 11494 0.00 2.00 29.00 0.207 8452 0.000 0.036 2664 3837 1512 1682 1342 0 0 0 0 0 0 28.83 26.23 25.70
11512 1.13 405.5 2664 3837 1678 1357 41.0 8.4 491 11580 0.20 1.70 59.95 0.198 11270 0.055 0.014 2777 2604 1200 1383 1018 0 0 0 0 0 0 26.31 26.44 25.62
11745 end climb: SURFACE_DEPTH_REACHED
state 11745 begin surface coast
11767 end surface coast: CONTROL_FINISHED_OK
state 11767 begin surface